Jim Carver / MMA8451Q

Added function to retrieve raw data from sensor

Dependencies:   MotionSensor

Dependents:   KL46_eCompass KL46_eCompass_TiltCompensed_Acel-Mag Ragnarok_2ejes compass_acc ... more

Fork of MMA8451Q by Emilio Monti

MMA8451Q.cpp@6:d3f7851ff32e, 2014-05-16 (annotated)

Committer:
JimCarver
Date:
Fri May 16 18:21:49 2014 +0000
Revision:
6:d3f7851ff32e
Parent:
5:b8512e0de86b 
Implements new virtual MotionSensor class

Who changed what in which revision?

UserRevisionLine numberNew contents of line
samux 1:d2630136d51e 1 /* Copyright (c) 2010-2011 mbed.org, MIT License
samux 1:d2630136d51e 2 *
samux 1:d2630136d51e 3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
samux 1:d2630136d51e 4 * and associated documentation files (the "Software"), to deal in the Software without
samux 1:d2630136d51e 5 * restriction, including without limitation the rights to use, copy, modify, merge, publish,
samux 1:d2630136d51e 6 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
samux 1:d2630136d51e 7 * Software is furnished to do so, subject to the following conditions:
samux 1:d2630136d51e 8 *
samux 1:d2630136d51e 9 * The above copyright notice and this permission notice shall be included in all copies or
samux 1:d2630136d51e 10 * substantial portions of the Software.
samux 1:d2630136d51e 11 *
samux 1:d2630136d51e 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
samux 1:d2630136d51e 13 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
samux 1:d2630136d51e 14 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
samux 1:d2630136d51e 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
samux 1:d2630136d51e 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
samux 1:d2630136d51e 17 */
samux 1:d2630136d51e 18
emilmont 0:6149091f755d 19 #include "MMA8451Q.h"
JimCarver 6:d3f7851ff32e 20 #include "MotionSensor.h"
emilmont 0:6149091f755d 21
JimCarver 6:d3f7851ff32e 22 #define REG_WHOAMI 0x0D
samux 1:d2630136d51e 23 #define REG_CTRL_REG_1 0x2A
JimCarver 6:d3f7851ff32e 24 #define REG_DR_STATUS 0x00
emilmont 0:6149091f755d 25 #define REG_OUT_X_MSB 0x01
emilmont 0:6149091f755d 26 #define REG_OUT_Y_MSB 0x03
emilmont 0:6149091f755d 27 #define REG_OUT_Z_MSB 0x05
emilmont 0:6149091f755d 28
samux 1:d2630136d51e 29 #define UINT14_MAX 16383
emilmont 0:6149091f755d 30
JimCarver 6:d3f7851ff32e 31 float countsperG = 4096.0f; // default 2G range
JimCarver 6:d3f7851ff32e 32
emilmont 0:6149091f755d 33 MMA8451Q::MMA8451Q(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
emilmont 0:6149091f755d 34 // activate the peripheral
JimCarver 6:d3f7851ff32e 35 uint8_t data[2] = {REG_CTRL_REG_1, 0x00};
samux 1:d2630136d51e 36 writeRegs(data, 2);
emilmont 0:6149091f755d 37 }
emilmont 0:6149091f755d 38
emilmont 0:6149091f755d 39 MMA8451Q::~MMA8451Q() { }
emilmont 0:6149091f755d 40
JimCarver 6:d3f7851ff32e 41 void MMA8451Q::enable(void) {
JimCarver 6:d3f7851ff32e 42 uint8_t data[2];
JimCarver 6:d3f7851ff32e 43 readRegs( REG_CTRL_REG_1, &data[1], 1);
JimCarver 6:d3f7851ff32e 44 data[1] |= 0x01;
JimCarver 6:d3f7851ff32e 45 data[0] = REG_CTRL_REG_1;
JimCarver 6:d3f7851ff32e 46 writeRegs(data, 2);
emilmont 0:6149091f755d 47 }
emilmont 0:6149091f755d 48
JimCarver 6:d3f7851ff32e 49 void MMA8451Q::disable(void) {
JimCarver 6:d3f7851ff32e 50 uint8_t data[2];
JimCarver 6:d3f7851ff32e 51 readRegs( REG_CTRL_REG_1, &data[1], 1);
JimCarver 6:d3f7851ff32e 52 data[1] &= 0xFE;
JimCarver 6:d3f7851ff32e 53 data[0] = REG_CTRL_REG_1;
JimCarver 6:d3f7851ff32e 54 writeRegs(data, 2);
emilmont 0:6149091f755d 55 }
emilmont 0:6149091f755d 56
JimCarver 6:d3f7851ff32e 57 uint32_t MMA8451Q::whoAmI() {
JimCarver 6:d3f7851ff32e 58 uint8_t who_am_i = 0;
JimCarver 6:d3f7851ff32e 59 readRegs(REG_WHOAMI, &who_am_i, 1);
JimCarver 6:d3f7851ff32e 60 return (uint32_t) who_am_i;
emilmont 0:6149091f755d 61 }
emilmont 0:6149091f755d 62
JimCarver 6:d3f7851ff32e 63 uint32_t MMA8451Q::dataReady(void) {
JimCarver 6:d3f7851ff32e 64 uint8_t stat = 0;
JimCarver 6:d3f7851ff32e 65 readRegs(REG_DR_STATUS, &stat, 1);
JimCarver 6:d3f7851ff32e 66 return (uint32_t) stat;
JimCarver 6:d3f7851ff32e 67 }
JimCarver 5:b8512e0de86b 68
JimCarver 6:d3f7851ff32e 69 uint32_t MMA8451Q::sampleRate(uint32_t f) {
JimCarver 6:d3f7851ff32e 70 return(50); // for now sample rate is fixed at 50Hz
JimCarver 6:d3f7851ff32e 71 }
JimCarver 6:d3f7851ff32e 72
JimCarver 6:d3f7851ff32e 73 void MMA8451Q::getX(float * x) {
JimCarver 6:d3f7851ff32e 74 *x = (float(getAccAxis(REG_OUT_X_MSB)) / countsperG);
emilmont 0:6149091f755d 75 }
emilmont 0:6149091f755d 76
JimCarver 6:d3f7851ff32e 77 void MMA8451Q::getY(float * y) {
JimCarver 6:d3f7851ff32e 78 *y = (float(getAccAxis(REG_OUT_Y_MSB)) / countsperG);
JimCarver 6:d3f7851ff32e 79 }
JimCarver 6:d3f7851ff32e 80
JimCarver 6:d3f7851ff32e 81 void MMA8451Q::getZ(float * z) {
JimCarver 6:d3f7851ff32e 82 *z = (float(getAccAxis(REG_OUT_Z_MSB)) / countsperG);
JimCarver 6:d3f7851ff32e 83 }
JimCarver 5:b8512e0de86b 84
JimCarver 6:d3f7851ff32e 85 void MMA8451Q::getX(int16_t * d) {
JimCarver 6:d3f7851ff32e 86 *d = getAccAxis(REG_OUT_X_MSB);
JimCarver 6:d3f7851ff32e 87 }
JimCarver 6:d3f7851ff32e 88
JimCarver 6:d3f7851ff32e 89 void MMA8451Q::getY(int16_t * d) {
JimCarver 6:d3f7851ff32e 90 *d = getAccAxis(REG_OUT_Y_MSB);
JimCarver 6:d3f7851ff32e 91 }
JimCarver 6:d3f7851ff32e 92
JimCarver 6:d3f7851ff32e 93 void MMA8451Q::getZ(int16_t * d) {
JimCarver 6:d3f7851ff32e 94 *d = getAccAxis(REG_OUT_Z_MSB);
JimCarver 5:b8512e0de86b 95 }
JimCarver 5:b8512e0de86b 96
emilmont 0:6149091f755d 97 int16_t MMA8451Q::getAccAxis(uint8_t addr) {
emilmont 0:6149091f755d 98 int16_t acc;
emilmont 0:6149091f755d 99 uint8_t res[2];
samux 1:d2630136d51e 100 readRegs(addr, res, 2);
emilmont 0:6149091f755d 101
JimCarver 6:d3f7851ff32e 102 acc = (res[0] << 8) | res[1];
JimCarver 6:d3f7851ff32e 103 acc = acc >> 2;
JimCarver 6:d3f7851ff32e 104 return acc;
JimCarver 6:d3f7851ff32e 105 }
JimCarver 6:d3f7851ff32e 106
JimCarver 6:d3f7851ff32e 107
JimCarver 6:d3f7851ff32e 108 void MMA8451Q::getAxis(MotionSensorDataUnits &data) {
JimCarver 6:d3f7851ff32e 109 int16_t t[3];
JimCarver 6:d3f7851ff32e 110 uint8_t res[6];
emilmont 0:6149091f755d 111
JimCarver 6:d3f7851ff32e 112 readRegs(REG_OUT_X_MSB, res, 6);
JimCarver 6:d3f7851ff32e 113 t[0] = (res[0] << 8) | res[1];
JimCarver 6:d3f7851ff32e 114 t[1] = (res[2] << 8) | res[3];
JimCarver 6:d3f7851ff32e 115 t[2] = (res[4] << 8) | res[5];
JimCarver 6:d3f7851ff32e 116 data.x = ((float) (t[0] >> 2)) / countsperG;
JimCarver 6:d3f7851ff32e 117 data.y = ((float) (t[1] >> 2)) / countsperG;
JimCarver 6:d3f7851ff32e 118 data.z = ((float) (t[2] >> 2)) / countsperG;
JimCarver 6:d3f7851ff32e 119 }
JimCarver 6:d3f7851ff32e 120
JimCarver 6:d3f7851ff32e 121
JimCarver 6:d3f7851ff32e 122 void MMA8451Q::getAxis(MotionSensorDataCounts &data) {
JimCarver 6:d3f7851ff32e 123 int16_t acc;
JimCarver 6:d3f7851ff32e 124 uint8_t res[6];
JimCarver 6:d3f7851ff32e 125 readRegs(REG_OUT_X_MSB, res, 6);
JimCarver 6:d3f7851ff32e 126
JimCarver 6:d3f7851ff32e 127
JimCarver 6:d3f7851ff32e 128 acc = (res[0] << 8) | res[1];
JimCarver 6:d3f7851ff32e 129 data.x = acc >> 2;
JimCarver 6:d3f7851ff32e 130 acc = (res[2] << 8) | res[3];
JimCarver 6:d3f7851ff32e 131 data.y = acc >> 2;
JimCarver 6:d3f7851ff32e 132 acc = (res[4] << 8) | res[5];
JimCarver 6:d3f7851ff32e 133 data.z = acc >> 2;
emilmont 0:6149091f755d 134 }
emilmont 0:6149091f755d 135
samux 1:d2630136d51e 136 void MMA8451Q::readRegs(int addr, uint8_t * data, int len) {
emilmont 0:6149091f755d 137 char t[1] = {addr};
emilmont 0:6149091f755d 138 m_i2c.write(m_addr, t, 1, true);
emilmont 0:6149091f755d 139 m_i2c.read(m_addr, (char *)data, len);
emilmont 0:6149091f755d 140 }
emilmont 0:6149091f755d 141
samux 1:d2630136d51e 142 void MMA8451Q::writeRegs(uint8_t * data, int len) {
emilmont 0:6149091f755d 143 m_i2c.write(m_addr, (char *)data, len);
emilmont 0:6149091f755d 144 }