Diff: MMA8652.cpp

Revision:

1:ff30cc4759b4

Parent:

0:3ae1e808e61c

--- a/MMA8652.cpp	Mon Apr 07 00:59:06 2014 +0000
+++ b/MMA8652.cpp	Sat Apr 19 01:28:26 2014 +0000
@@ -1,16 +1,39 @@
- #include "MMA8652.h"
- 
+/* Copyright (c) 2010-2011 mbed.org, MIT License
+*
+* Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+* and associated documentation files (the "Software"), to deal in the Software without
+* restriction, including without limitation the rights to use, copy, modify, merge, publish,
+* distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
+* Software is furnished to do so, subject to the following conditions:
+*
+* The above copyright notice and this permission notice shall be included in all copies or
+* substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+* BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+* DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+#include "MMA8652.h"
+#define UINT14_MAX        16383
+  
 MMA8652::MMA8652(PinName sda, PinName scl) : _i2c(sda, scl) {
  
     begin();
 }
+
+
+MMA8652::~MMA8652() { }
+
               
 void MMA8652::RegRead( char reg, char * d, int len)
 {
     char cmd[1];
     cmd[0] = reg;
 char i2c_addr = MMA8652_SLAVE_ADDR;
-_i2c.write( i2c_addr, cmd, 1);
+_i2c.write( i2c_addr, cmd, 1, true);
 _i2c.read ( i2c_addr, d, len);
 }
 
@@ -48,6 +71,13 @@
     _i2c.write( MMA8652_SLAVE_ADDR, data, 2);
 }
 
+char  MMA8652::getWhoAmI(void)
+{
+    static char d;
+    RegRead( /*MMA8652_WHOAMI*/ 0x0d, &d, 1);
+    return(d);
+}
+
 void MMA8652::ReadXYZ(float * a)
 {
     char d[7];
@@ -62,4 +92,27 @@
     a[1] = (float) t[1] / 16384.0;
     a[2] = (float) t[2] / 16384.0;
   
-}
\ No newline at end of file
+}
+
+
+void MMA8652::ReadXYZraw(int16_t * d)
+{
+char res[6];
+int16_t acc;
+    RegRead( MMA8652_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;
+}
+  
+   
\ No newline at end of file