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Dependents: KL46_eCompass KL46_eCompass_TiltCompensed_Acel-Mag Ragnarok_2ejes compass_acc ... more
Fork of
MMA8451Q
by 
Emilio Monti
Revision 5:b8512e0de86b, committed 2014-04-07
- Comitter:
- JimCarver
- Date:
- Mon Apr 07 21:03:37 2014 +0000
- Parent:
- 4:c4d879a39775
- Child:
- 6:d3f7851ff32e
- Commit message:
- Added function to retrieve raw data from sensor
Changed in this revision
| MMA8451Q.cpp | Show annotated file Show diff for this revision Revisions of this file |
| MMA8451Q.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/MMA8451Q.cpp Fri Oct 12 11:35:07 2012 +0000
+++ b/MMA8451Q.cpp Mon Apr 07 21:03:37 2014 +0000
@@ -32,6 +32,7 @@
writeRegs(data, 2);
}
+
MMA8451Q::~MMA8451Q() { }
uint8_t MMA8451Q::getWhoAmI() {
@@ -52,12 +53,32 @@
return (float(getAccAxis(REG_OUT_Z_MSB))/4096.0);
}
+
void MMA8451Q::getAccAllAxis(float * res) {
res[0] = getAccX();
res[1] = getAccY();
res[2] = getAccZ();
}
+void MMA8451Q::getAccXYZraw(int16_t * d) {
+ int16_t acc;
+ uint8_t res[6];
+ readRegs(REG_OUT_X_MSB, res, 6);
+
+ acc = (res[0] << 6) | (res[1] >> 2);
+ if (acc > UINT14_MAX/2)
+ acc -= UINT14_MAX;
+ d[0] = acc;
+ acc = (res[2] << 6) | (res[3] >> 2);
+ if (acc > UINT14_MAX/2)
+ acc -= UINT14_MAX;
+ d[1] = acc;
+ acc = (res[4] << 6) | (res[5] >> 2);
+ if (acc > UINT14_MAX/2)
+ acc -= UINT14_MAX;
+ d[2] = acc;
+}
+
int16_t MMA8451Q::getAccAxis(uint8_t addr) {
int16_t acc;
uint8_t res[2];
--- a/MMA8451Q.h Fri Oct 12 11:35:07 2012 +0000
+++ b/MMA8451Q.h Mon Apr 07 21:03:37 2014 +0000
@@ -97,7 +97,7 @@
* @param res array where acceleration data will be stored
*/
void getAccAllAxis(float * res);
-
+ void getAccXYZraw(int16_t * d);
private:
I2C m_i2c;
int m_addr;