Marcin Kubicz / Mbed 2 deprecated KL46Z-Lab2_full

KL46Z-lab2

Dependencies:   SLCD- mbed TSI MMA8451Q USBDevice MAG3110

MMA8451Q/MMA8451Q.cpp@0:29277ae50860, 2019-02-21 (annotated)

Committer:
Lokkus
Date:
Thu Feb 21 07:41:00 2019 +0000
Revision:
0:29277ae50860
KL46Z-lab2

Who changed what in which revision?

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Lokkus 0:29277ae50860 1 /* Copyright (c) 2010-2011 mbed.org, MIT License
Lokkus 0:29277ae50860 2 *
Lokkus 0:29277ae50860 3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
Lokkus 0:29277ae50860 4 * and associated documentation files (the "Software"), to deal in the Software without
Lokkus 0:29277ae50860 5 * restriction, including without limitation the rights to use, copy, modify, merge, publish,
Lokkus 0:29277ae50860 6 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
Lokkus 0:29277ae50860 7 * Software is furnished to do so, subject to the following conditions:
Lokkus 0:29277ae50860 8 *
Lokkus 0:29277ae50860 9 * The above copyright notice and this permission notice shall be included in all copies or
Lokkus 0:29277ae50860 10 * substantial portions of the Software.
Lokkus 0:29277ae50860 11 *
Lokkus 0:29277ae50860 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
Lokkus 0:29277ae50860 13 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
Lokkus 0:29277ae50860 14 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
Lokkus 0:29277ae50860 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
Lokkus 0:29277ae50860 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
Lokkus 0:29277ae50860 17 */
Lokkus 0:29277ae50860 18
Lokkus 0:29277ae50860 19 #include "MMA8451Q.h"
Lokkus 0:29277ae50860 20
Lokkus 0:29277ae50860 21 #define INT_SOURCE 0x0C
Lokkus 0:29277ae50860 22 #define REG_WHO_AM_I 0x0D
Lokkus 0:29277ae50860 23 #define HP_FILTER_CUTOFF 0x0F
Lokkus 0:29277ae50860 24 #define PULSE_CFG 0x21
Lokkus 0:29277ae50860 25 #define PULSE_SRC 0x22
Lokkus 0:29277ae50860 26 #define PULSE_THSX 0x23
Lokkus 0:29277ae50860 27 #define PULSE_THSY 0x24
Lokkus 0:29277ae50860 28 #define PULSE_THSZ 0x25
Lokkus 0:29277ae50860 29 #define PULSE_TMLT 0x26
Lokkus 0:29277ae50860 30 #define PULSE_LTCY 0x27
Lokkus 0:29277ae50860 31 #define PULSE_WIND 0x28
Lokkus 0:29277ae50860 32 #define REG_CTRL_REG_1 0x2A
Lokkus 0:29277ae50860 33 #define CTRL_REG2 0x2B
Lokkus 0:29277ae50860 34 #define CTRL_REG4 0x2D
Lokkus 0:29277ae50860 35 #define CTRL_REG5 0x2E
Lokkus 0:29277ae50860 36 #define REG_OUT_X_MSB 0x01
Lokkus 0:29277ae50860 37 #define REG_OUT_Y_MSB 0x03
Lokkus 0:29277ae50860 38 #define REG_OUT_Z_MSB 0x05
Lokkus 0:29277ae50860 39
Lokkus 0:29277ae50860 40 #define UINT14_MAX 16383
Lokkus 0:29277ae50860 41
Lokkus 0:29277ae50860 42 MMA8451Q::MMA8451Q(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
Lokkus 0:29277ae50860 43 // activate the peripheral
Lokkus 0:29277ae50860 44 uint8_t data[2] = {REG_CTRL_REG_1, 0x01};
Lokkus 0:29277ae50860 45 writeRegs(data, 2);
Lokkus 0:29277ae50860 46 }
Lokkus 0:29277ae50860 47
Lokkus 0:29277ae50860 48 MMA8451Q::~MMA8451Q() { }
Lokkus 0:29277ae50860 49
Lokkus 0:29277ae50860 50 uint8_t MMA8451Q::getWhoAmI() {
Lokkus 0:29277ae50860 51 uint8_t who_am_i = 0;
Lokkus 0:29277ae50860 52 readRegs(REG_WHO_AM_I, &who_am_i, 1);
Lokkus 0:29277ae50860 53 return who_am_i;
Lokkus 0:29277ae50860 54 }
Lokkus 0:29277ae50860 55
Lokkus 0:29277ae50860 56 float MMA8451Q::getAccX() {
Lokkus 0:29277ae50860 57 //divide by 4096 b/c MMA output is 4096 counts per g so this f outputs accelorometer value formatted to g (gravity)
Lokkus 0:29277ae50860 58 return (float(getAccAxis(REG_OUT_X_MSB))/4096.0);
Lokkus 0:29277ae50860 59 }
Lokkus 0:29277ae50860 60
Lokkus 0:29277ae50860 61 float MMA8451Q::getAccY() {
Lokkus 0:29277ae50860 62 return (float(getAccAxis(REG_OUT_Y_MSB))/4096.0);
Lokkus 0:29277ae50860 63 }
Lokkus 0:29277ae50860 64
Lokkus 0:29277ae50860 65 float MMA8451Q::getAccZ() {
Lokkus 0:29277ae50860 66 return (float(getAccAxis(REG_OUT_Z_MSB))/4096.0);
Lokkus 0:29277ae50860 67 }
Lokkus 0:29277ae50860 68
Lokkus 0:29277ae50860 69 void MMA8451Q::getAccAllAxis(float * res) {
Lokkus 0:29277ae50860 70 res[0] = getAccX();
Lokkus 0:29277ae50860 71 res[1] = getAccY();
Lokkus 0:29277ae50860 72 res[2] = getAccZ();
Lokkus 0:29277ae50860 73 }
Lokkus 0:29277ae50860 74
Lokkus 0:29277ae50860 75 int16_t MMA8451Q::getAccAxis(uint8_t addr) {
Lokkus 0:29277ae50860 76 int16_t acc;
Lokkus 0:29277ae50860 77 uint8_t res[2];
Lokkus 0:29277ae50860 78 readRegs(addr, res, 2);
Lokkus 0:29277ae50860 79
Lokkus 0:29277ae50860 80 acc = (res[0] << 6) | (res[1] >> 2);
Lokkus 0:29277ae50860 81 if (acc > UINT14_MAX/2)
Lokkus 0:29277ae50860 82 acc -= UINT14_MAX;
Lokkus 0:29277ae50860 83
Lokkus 0:29277ae50860 84 return acc;
Lokkus 0:29277ae50860 85 }
Lokkus 0:29277ae50860 86
Lokkus 0:29277ae50860 87 void MMA8451Q::setDoubleTap(void){
Lokkus 0:29277ae50860 88 //Implemented directly from Freescale's AN4072
Lokkus 0:29277ae50860 89 //Added to MMA8451Q lib
Lokkus 0:29277ae50860 90
Lokkus 0:29277ae50860 91 uint8_t CTRL_REG1_Data;
Lokkus 0:29277ae50860 92 // int adds;
Lokkus 0:29277ae50860 93 uint8_t data[2] = {REG_CTRL_REG_1, 0x08};
Lokkus 0:29277ae50860 94
Lokkus 0:29277ae50860 95 //400 Hz, Standby Mode
Lokkus 0:29277ae50860 96 writeRegs(data,2);
Lokkus 0:29277ae50860 97
Lokkus 0:29277ae50860 98 //Enable X, Y and Z Double Pulse with DPA = 0 no double pulse abort
Lokkus 0:29277ae50860 99 data[0]=PULSE_CFG;data[1]=0x2A;
Lokkus 0:29277ae50860 100 writeRegs(data,2);
Lokkus 0:29277ae50860 101
Lokkus 0:29277ae50860 102 //SetThreshold 3g on X and Y and 5g on Z
Lokkus 0:29277ae50860 103 //Note: Every step is 0.063g
Lokkus 0:29277ae50860 104 //3 g/0.063g = 48 counts
Lokkus 0:29277ae50860 105 //5g/0.063g = 79 counts
Lokkus 0:29277ae50860 106 data[0]=PULSE_THSX;data[1]=0x30;
Lokkus 0:29277ae50860 107 writeRegs(data,2);//Set X Threshold to 3g
Lokkus 0:29277ae50860 108 data[0]=PULSE_THSY;data[1]=0x30;
Lokkus 0:29277ae50860 109 writeRegs(data,2);//Set Y Threshold to 3g
Lokkus 0:29277ae50860 110 data[0]=PULSE_THSZ;data[1]=0x4F;
Lokkus 0:29277ae50860 111 writeRegs(data,2);//Set Z Threshold to 5g
Lokkus 0:29277ae50860 112
Lokkus 0:29277ae50860 113 //Set Time Limit for Tap Detection to 60 ms LP Mode
Lokkus 0:29277ae50860 114 //Note: 400 Hz ODR, Time step is 1.25 ms per step
Lokkus 0:29277ae50860 115 //60 ms/1.25 ms = 48 counts
Lokkus 0:29277ae50860 116 data[0]=PULSE_TMLT;data[1]=0x30;
Lokkus 0:29277ae50860 117 writeRegs(data,2);//60 ms
Lokkus 0:29277ae50860 118
Lokkus 0:29277ae50860 119 //Set Latency Time to 200 ms
Lokkus 0:29277ae50860 120 //Note: 400 Hz ODR LPMode, Time step is 2.5 ms per step 00 ms/2.5 ms = 80 counts
Lokkus 0:29277ae50860 121 data[0]=PULSE_LTCY;data[1]=0x50;
Lokkus 0:29277ae50860 122 writeRegs(data,2);//200 ms
Lokkus 0:29277ae50860 123
Lokkus 0:29277ae50860 124 //Set Time Window for second tap to 300 ms
Lokkus 0:29277ae50860 125 //Note: 400 Hz ODR LP Mode, Time step is 2.5 ms per step
Lokkus 0:29277ae50860 126 //300 ms/2.5 ms = 120 counts
Lokkus 0:29277ae50860 127 data[0]=PULSE_WIND;data[1]=0x78;
Lokkus 0:29277ae50860 128 writeRegs(data,2);//300 ms
Lokkus 0:29277ae50860 129
Lokkus 0:29277ae50860 130 //Route INT1 to System Interrupt
Lokkus 0:29277ae50860 131 data[0]=CTRL_REG4;data[1]=0x08;
Lokkus 0:29277ae50860 132 writeRegs(data,2);//Enable Pulse Interrupt in System CTRL_REG4
Lokkus 0:29277ae50860 133 data[0]=CTRL_REG5;data[1]=0x08;
Lokkus 0:29277ae50860 134 writeRegs(data,2);//Route Pulse Interrupt to INT1 hardware Pin CTRL_REG5
Lokkus 0:29277ae50860 135
Lokkus 0:29277ae50860 136 //Set the device to Active Mode
Lokkus 0:29277ae50860 137 readRegs(0x2A,&CTRL_REG1_Data,1);//Read out the contents of the register
Lokkus 0:29277ae50860 138 CTRL_REG1_Data |= 0x01; //Change the value in the register to Active Mode.
Lokkus 0:29277ae50860 139 data[0]=REG_CTRL_REG_1;
Lokkus 0:29277ae50860 140 data[1]=CTRL_REG1_Data;
Lokkus 0:29277ae50860 141 writeRegs(data,2);//Write in the updated value to put the device in Active Mode
Lokkus 0:29277ae50860 142 }
Lokkus 0:29277ae50860 143
Lokkus 0:29277ae50860 144
Lokkus 0:29277ae50860 145 void MMA8451Q::readRegs(int addr, uint8_t * data, int len) {
Lokkus 0:29277ae50860 146 char t[1] = {addr};
Lokkus 0:29277ae50860 147 m_i2c.write(m_addr, t, 1, true);
Lokkus 0:29277ae50860 148 m_i2c.read(m_addr, (char *)data, len);
Lokkus 0:29277ae50860 149 }
Lokkus 0:29277ae50860 150
Lokkus 0:29277ae50860 151
Lokkus 0:29277ae50860 152
Lokkus 0:29277ae50860 153 void MMA8451Q::writeRegs(uint8_t * data, int len) {
Lokkus 0:29277ae50860 154 m_i2c.write(m_addr, (char *)data, len);
Lokkus 0:29277ae50860 155 }