Tim Hadwen
Device driver for the Freescale MMA845x family of accelerometers.
Diff: MMA845x.cpp
- Revision:
- 2:555f8ba0c959
- Parent:
- 1:37ddb4739f02
diff -r 37ddb4739f02 -r 555f8ba0c959 MMA845x.cpp
--- a/MMA845x.cpp Thu Jan 05 06:41:39 2017 +0000
+++ b/MMA845x.cpp Wed Jan 11 04:12:05 2017 +0000
@@ -1,13 +1,13 @@
/**
* @file MMA845x.cpp
- * @brief Device driver - MMA845X 3-axis accelerometer IC
- * @author sam grove
+ * @brief Device driver - MMA845X 3-axis accelerometer IC W/RTOS support
+ * @author Tim Barr
* @version 1.0
* @see http://cache.freescale.com/files/sensors/doc/data_sheet/MMA8451Q.pdf
* @see http://cache.freescale.com/files/sensors/doc/data_sheet/MMA8452Q.pdf
* @see http://cache.freescale.com/files/sensors/doc/data_sheet/MMA8453Q.pdf
*
- * Copyright (c) 2013
+ * Copyright (c) 2015
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
@@ -20,153 +20,304 @@
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
+ *
+ * 5/5/2015 Forked from https://developer.mbed.org/users/sam_grove/code/MMA845x/
+ *
+ * 6/20/2015 TAB Added setup functions and polling data capability. Also added RTOS calls
+ * TODO Still need to add interrupt support for other Accelerometer mode support
*/
-
-#include "MMA845x.h"
-
-MMA845x::MMA845x(I2C &i2c, InterruptIn &int1, InterruptIn &int2) {
- _i2c = &i2c;
- _int1 = &int1;
- _int2 = &int2;
-
- _i2c_addr = (0x1c << 2) | (0 << 0x1);
-
- return;
-}
-void MMA845x::init(void) const {
- uint8_t reg_val = 0;
-
- _i2c->frequency(400000);
-
- // Reset all registers to POR values
- MMA845x::writeRegister(CTRL_REG2, 0xFF); //REG 0x2B
- do{
- // wait for the reset bit to clear
- reg_val = MMA845x::readRegister(CTRL_REG2) & 0x40;
- }while(reg_val);
-
- // setup the registers that are common among modes
- MMA845x::writeRegister(CTRL_REG1, 0xd8); //REG 0x2A
- MMA845x::writeRegister(CTRL_REG2, 0x00); //REG 0x2B
- MMA845x::writeRegister(CTRL_REG3, 0x00); //REG 0x2C
-
- MMA845x::writeRegister(XYZ_DATA_CFG, 0x0); //REG 0xE HPF / scale +/-2,4,8g
- MMA845x::writeRegister(HP_FILTER_CUTOFF, 0x0); //REG 0xF HPF settings
-
- return;
-}
+#include "MMA845x.h"
+#include "mbed_debug.h"
+#include "rtos.h"
+#include "MTSLog.h"
-void MMA845x::enableDataReadyMode(void) const
+MMA845x::MMA845x(I2C &i2c, SA0 const i2c_addr, InterruptIn* int1, InterruptIn* int2)
{
- MMA845x::init();
- MMA845x::writeRegister(SYSMOD, 0x1); //REG 0x0B
- MMA845x::writeRegister(INT_SOURCE, 0x1); //REG 0x0C
- // need to finish up these config registers..... 3/8/13
-
-}
+ _i2c = &i2c;
+ _int1 = int1;
+ _int2 = int2;
-void MMA845x::enableMotionMode(void) const{}
-void MMA845x::enablePulseMode(void) const{}
+ _i2c_addr = (0x1c | i2c_addr) << 1;
-void MMA845x::enableOrientationMode(void) const
-{
- uint16_t who_am_i = MMA845x::readRegister(WHO_AM_I);
- if(who_am_i != MMA8451)
- {
- error("%s %d: Feature not compatible with the connected device.\n", __FILE__, __LINE__);
- }
-
+ MMA845x::init();
+
return;
}
-void MMA845x::enableTransitMode(void) const{}
-void MMA845x::enableAutoSleepMode(void) const{}
-
-void MMA845x::enableFIFOMode(void) const
+uint8_t MMA845x::init(void)
{
- uint16_t who_am_i = MMA845x::readRegister(WHO_AM_I);
- if(who_am_i != MMA8451)
- {
- error("%s %d: Feature not compatible with the connected device.\n", __FILE__, __LINE__);
+ uint8_t result = 0;
+ uint8_t i = 0;
+ char reg_val[1];
+
+ _i2c->frequency(100000);
+ _who_am_i = 0x00;
+
+ // Reset all registers to POR values
+ result = MMA845x::writeRegister(CTRL_REG2, 0xFF); //REG 0x2B
+ if (result == 0) {
+
+ do {
+ // wait for the reset bit to clear. readRegister may error out so we re-try 10 times
+ osDelay(200);
+ reg_val[0] = 0x40;
+ result = MMA845x::readRegister(CTRL_REG2,1,reg_val);
+ reg_val[0] = reg_val[0] & 0x40;
+ i++;
+ } while(((reg_val[0] != 0)||( result != 0)) && (i<=10));
+ }
+
+ if (result == 0) {
+ result = MMA845x::readRegister(WHO_AM_I,1,reg_val);
+ }
+
+ switch (reg_val[0]) {
+ case MMA8451:
+ case MMA8452:
+ case MMA8453:
+ _who_am_i= reg_val[0];
+ if ((_int1 == NULL) && (_int2 == NULL))
+ _polling_mode = true;
+ else _polling_mode = false;
+ break;
+ default:
+ debug ("Device not supported by this library!\n\r");
+ result = 1;
+ }
+
+ if(result != 0) {
+ debug("MMA845x:init failed\n\r");
}
-
- //MMA845x::writeRegister(
-
- return;
+
+
+ return result;
+}
+
+uint8_t MMA845x::setCommonParameters(RANGE range, RESOLUTION resolution, LOW_NOISE lo_noise,
+ DATA_RATE data_rate, OVERSAMPLE_MODE os_mode, HPF_MODE hpf_mode) const
+{
+ uint8_t result = 0;
+ char datain[1];
+ uint8_t dataout = 0;
+
+ result |= MMA845x::readRegister(SYSMOD,1,datain); // Make sure MMA845x is in Stand-By mode
+ if ((datain[0] & 0x03) != 0 ) {
+ debug ("MMA845x not in STAND BY mode\n\f");
+ debug("MMA845x:setCommonParameters failed\n\r");
+ result = 1;
+ return result;
+ }
+
+ result |= MMA845x::readRegister(CTRL_REG1, 1, datain);
+ dataout = (datain[0] & 0xB1) | resolution | lo_noise | data_rate;
+ result |= MMA845x::writeRegister(CTRL_REG1, dataout); // Set resolution, Low Noise mode, and data rate
+
+ result |= MMA845x::readRegister(CTRL_REG2,1, datain);
+ dataout = (datain[0] & 0xFB) | os_mode;
+ result |= MMA845x::writeRegister(CTRL_REG2, dataout); // Set Oversample mode
+
+ result |= MMA845x::readRegister(XYZ_DATA_CFG,1, datain);
+ dataout = range | hpf_mode;
+ result |= MMA845x::writeRegister(XYZ_DATA_CFG, dataout); //Set HPF mode and range
+
+// result |= MMA845x::readRegister(HP_FILTER_CUTOFF,1, datain);
+// result |= MMA845x::writeRegister(HP_FILTER_CUTOFF, dataout); //REG 0xF HPF settings
+
+ if(result != 0) {
+ debug("MMA845x:setParameters failed\n\r");
+ }
+
+ return result;
+
+}
+
+uint8_t MMA845x::enableMotionDetect(void) const
+{
+ uint8_t result = 0;
+ return result;
+}
+
+uint8_t MMA845x::enablePulseDetect(void) const
+{
+ uint8_t result = 0;
+ return result;
}
-uint16_t MMA845x::getX(void) const
+uint8_t MMA845x::enableOrientationDetect(void) const
+{
+ uint8_t result = 0;
+
+ if(_who_am_i != MMA8451) {
+ debug("%s %d: Feature not compatible with the connected device.\n", __FILE__, __LINE__);
+ result = 1;
+ }
+
+ return result;
+}
+
+uint8_t MMA845x::enableTransientDetect(void) const
+{
+ uint8_t result = 0;
+ return result;
+}
+
+uint8_t MMA845x::enableAutoSleep(void) const
{
- return _data._x;
+ uint8_t result = 0;
+ return result;
+}
+
+uint8_t MMA845x::enableFIFO(void) const
+{
+ uint8_t result = 0;
+
+ if(_who_am_i != MMA8451) {
+ debug("%s %d: Feature not compatible with the connected device.\n", __FILE__, __LINE__);
+ result = 1;
+ }
+
+ return result;
+}
+
+uint8_t MMA845x::activeMode(void) const
+{
+ uint8_t result = 0;
+ char datain[1];
+ uint8_t dataout;
+
+ result |= MMA845x::readRegister(CTRL_REG1,1, datain);
+ dataout = (datain[0] & 0xFE) | 0x01 ;
+ result |= MMA845x::writeRegister(CTRL_REG1, dataout); // Set to active mode
+
+ return result;
}
-
-uint16_t MMA845x::getY(void) const
+uint8_t MMA845x::standbyMode(void) const
+{
+ uint8_t result = 0;
+ char datain[1];
+ uint8_t dataout;
+
+ result |= MMA845x::readRegister(CTRL_REG1,1, datain);
+ dataout = (datain[0] & 0xFE);
+ result |= MMA845x::writeRegister(CTRL_REG1, dataout); // Set to standby mode
+
+ return result;
+}
+
+uint8_t MMA845x::getStatus(void) const
{
+ uint8_t result = 0;
+ char datain[1];
+ uint8_t dataout;
+
+ result = MMA845x::readRegister(STATUS,1, datain);
+
+ if (result != 0)
+ dataout = result;
+ else
+ dataout = datain[0];
+
+ return dataout;
+}
+
+int16_t MMA845x::getX(void)
+{
+ char datain[2];
+
+ if (_polling_mode) {
+ MMA845x::readRegister(OUT_X_MSB,2, datain);
+ _data._x = ((datain[0] << 8) | datain[1]); /* data is 14 bit signed with 2 LSB = 0 */
+ _data._x /= 4; /* need to shift first to preserve sign then /4 to remove LSBs */
+ }
+ return _data._x;
+
+}
+
+int16_t MMA845x::getY(void)
+{
+ char datain[2];
+
+ if (_polling_mode) {
+ MMA845x::readRegister(OUT_Y_MSB,2, datain);
+ _data._y = ((datain[0] << 8) | datain[1]); /* data is 14 bit signed with 2 LSB = 0 */
+ _data._y /= 4; /* need to shift first to preserve sign then /4 to remove LSBs */
+ }
return _data._y;
}
-uint16_t MMA845x::getZ(void) const
+int16_t MMA845x::getZ(void)
{
+ char datain[2];
+
+ if (_polling_mode) {
+ MMA845x::readRegister(OUT_Z_MSB,2, datain);
+ _data._z = ((datain[0] << 8) | datain[1]); /* data is 14 bit signed with 2 LSB = 0 */
+ _data._z /= 4; /* need to shift first to preserve sign then /4 to remove LSBs */
+ }
+
return _data._z;
}
-
-MMA845x_DATA MMA845x::getXYZ(void) const
+
+MMA845x_DATA MMA845x::getXYZ(void)
{
+ char datain[6];
+
+ if (_polling_mode) {
+ MMA845x::readRegister(OUT_X_MSB,6, datain); /* data is 14 bit signed with 2 LSB = 0 */
+ _data._x = ((datain[0] << 8) | datain[1]); /* need to shift first to preserve sign */
+ _data._x /= 4; /* then /4 to remove LSBs */
+ _data._y = ((datain[2] << 8) | datain[3]);
+ _data._y /= 4;
+ _data._z = ((datain[4] << 8) | datain[5]);
+ _data._z /= 4;
+ } else {
+ logInfo("NOT POLLING MODE\n\r");
+ }
+
return _data;
}
-void MMA845x::writeRegister(uint8_t const reg, uint8_t const data) const
+char MMA845x::getWhoAmI(void) const
+{
+ return _who_am_i;
+}
+
+uint8_t MMA845x::writeRegister(uint8_t const reg, uint8_t const data) const
{
char buf[2] = {reg, data};
uint8_t result = 0;
-
- __disable_irq(); // Tickers and other timebase events can jack up the I2C bus for some deicse
- result = _i2c->write(_i2c_addr, buf, 2);
- __enable_irq(); // Just need to block during the transaction
-
- if(0 != result)
- {
- error("%s %d: I2c write failed\n", __FILE__, __LINE__);
+
+ buf[0] = reg;
+ buf[1] = data;
+
+ result |= _i2c->write(_i2c_addr, buf, 2);
+
+ if(result != 0) {
+ debug("MMA845x:writeRegister failed r-%d\n\r",result);
}
-
- return;
+
+ return result;
}
-uint8_t MMA845x::readRegister(uint8_t const reg) const
+uint8_t MMA845x::readRegister(uint8_t const reg, uint8_t count, char* data) const
{
- uint8_t result = 1, data = 0;
-
- __disable_irq(); // Tickers and other timebase events can jack up the I2C bus
- _i2c->start();
- result &= _i2c->write(_i2c_addr);
- result &= _i2c->write(reg);
- // issue a repeated start...
- _i2c->start();
- result &= _i2c->write(_i2c_addr | 0x01);
- // read with nak
- data = _i2c->read(0);
- _i2c->stop();
- __enable_irq(); // Just need to block during the transaction
-
- if(1 != result)
- {
- error("%s %d: I2C read failed\n", __FILE__, __LINE__);
+ uint8_t result = 0;
+ char reg_out[1];
+
+ reg_out[0] = reg;
+ result |= _i2c->write(_i2c_addr,reg_out,1,true);
+
+ if(result != 0) {
+ debug("MMA845x::readRegister failed write r- %d\n\r", result);
+ return result;
}
-
- return data;
-}
+
+ result |= _i2c->read(_i2c_addr,data,count,false);
-void MMA845x::registerDump(void) const
-{
- uint8_t reg_val = 0;
-
- for(int i=0; i<0x80; i++)
- {
- reg_val = MMA845x::readRegister(i);
- printf("Reg 0x%02x: 0x%02x \n", i, reg_val);
+ if(result != 0) {
+ debug("MMA845x::readRegister failed read r-%d\n\r",result);
}
-
- return;
+
+ return result;
}
-