complete
Dependencies: FatFileSystem mbed
Fork of SnakeSnakeGame by
MMA7660/MMA7660.cpp@0:8b08136c5edd, 2014-03-24 (annotated)
- Committer:
- pbhatnagar3
- Date:
- Mon Mar 24 17:48:19 2014 +0000
- Revision:
- 0:8b08136c5edd
3-D snake game for the mbed application board.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
pbhatnagar3 | 0:8b08136c5edd | 1 | #include "MMA7660.h" |
pbhatnagar3 | 0:8b08136c5edd | 2 | |
pbhatnagar3 | 0:8b08136c5edd | 3 | MMA7660::MMA7660(PinName sda, PinName scl, bool active) : _i2c(sda, scl) |
pbhatnagar3 | 0:8b08136c5edd | 4 | { |
pbhatnagar3 | 0:8b08136c5edd | 5 | setActive(active); |
pbhatnagar3 | 0:8b08136c5edd | 6 | samplerate = 64; |
pbhatnagar3 | 0:8b08136c5edd | 7 | |
pbhatnagar3 | 0:8b08136c5edd | 8 | } |
pbhatnagar3 | 0:8b08136c5edd | 9 | |
pbhatnagar3 | 0:8b08136c5edd | 10 | //Since the MMA lacks a WHO_AM_I register, we can only check if there is a device that answers to the I2C address |
pbhatnagar3 | 0:8b08136c5edd | 11 | bool MMA7660::testConnection( void ) |
pbhatnagar3 | 0:8b08136c5edd | 12 | { |
pbhatnagar3 | 0:8b08136c5edd | 13 | if (_i2c.write(MMA7660_ADDRESS, NULL, 0) == 0 ) |
pbhatnagar3 | 0:8b08136c5edd | 14 | return true; |
pbhatnagar3 | 0:8b08136c5edd | 15 | else |
pbhatnagar3 | 0:8b08136c5edd | 16 | return false; |
pbhatnagar3 | 0:8b08136c5edd | 17 | } |
pbhatnagar3 | 0:8b08136c5edd | 18 | |
pbhatnagar3 | 0:8b08136c5edd | 19 | void MMA7660::setActive(bool state) |
pbhatnagar3 | 0:8b08136c5edd | 20 | { |
pbhatnagar3 | 0:8b08136c5edd | 21 | char modereg = read(MMA7660_MODE_R); |
pbhatnagar3 | 0:8b08136c5edd | 22 | modereg &= ~(1<<0); |
pbhatnagar3 | 0:8b08136c5edd | 23 | |
pbhatnagar3 | 0:8b08136c5edd | 24 | //If it somehow was in testmode, disable that |
pbhatnagar3 | 0:8b08136c5edd | 25 | if (modereg && (1<<2)) { |
pbhatnagar3 | 0:8b08136c5edd | 26 | modereg &= ~(1<<2); |
pbhatnagar3 | 0:8b08136c5edd | 27 | write(MMA7660_MODE_R, modereg); |
pbhatnagar3 | 0:8b08136c5edd | 28 | } |
pbhatnagar3 | 0:8b08136c5edd | 29 | |
pbhatnagar3 | 0:8b08136c5edd | 30 | modereg += state; |
pbhatnagar3 | 0:8b08136c5edd | 31 | write(MMA7660_MODE_R, modereg); |
pbhatnagar3 | 0:8b08136c5edd | 32 | } |
pbhatnagar3 | 0:8b08136c5edd | 33 | |
pbhatnagar3 | 0:8b08136c5edd | 34 | void MMA7660::readData(int *data) |
pbhatnagar3 | 0:8b08136c5edd | 35 | { |
pbhatnagar3 | 0:8b08136c5edd | 36 | if (!active) { |
pbhatnagar3 | 0:8b08136c5edd | 37 | setActive(true); |
pbhatnagar3 | 0:8b08136c5edd | 38 | active = true; |
pbhatnagar3 | 0:8b08136c5edd | 39 | wait(0.012 + 1/samplerate); //Wait until new sample is ready, my experience is that 1/samplerate isnt needed, but datasheet says so |
pbhatnagar3 | 0:8b08136c5edd | 40 | } |
pbhatnagar3 | 0:8b08136c5edd | 41 | |
pbhatnagar3 | 0:8b08136c5edd | 42 | char temp[3]; |
pbhatnagar3 | 0:8b08136c5edd | 43 | bool alert; |
pbhatnagar3 | 0:8b08136c5edd | 44 | |
pbhatnagar3 | 0:8b08136c5edd | 45 | do { |
pbhatnagar3 | 0:8b08136c5edd | 46 | alert = false; |
pbhatnagar3 | 0:8b08136c5edd | 47 | read(MMA7660_XOUT_R, temp, 3); |
pbhatnagar3 | 0:8b08136c5edd | 48 | for (int i = 0; i<3; i++) { |
pbhatnagar3 | 0:8b08136c5edd | 49 | if (temp[i] > 63) |
pbhatnagar3 | 0:8b08136c5edd | 50 | alert = true; |
pbhatnagar3 | 0:8b08136c5edd | 51 | if (temp[i] > 31) |
pbhatnagar3 | 0:8b08136c5edd | 52 | temp[i] += 128+64; |
pbhatnagar3 | 0:8b08136c5edd | 53 | data[i] = (signed char)temp[i]; |
pbhatnagar3 | 0:8b08136c5edd | 54 | } |
pbhatnagar3 | 0:8b08136c5edd | 55 | } while (alert); |
pbhatnagar3 | 0:8b08136c5edd | 56 | |
pbhatnagar3 | 0:8b08136c5edd | 57 | if (!active) |
pbhatnagar3 | 0:8b08136c5edd | 58 | setActive(false); |
pbhatnagar3 | 0:8b08136c5edd | 59 | } |
pbhatnagar3 | 0:8b08136c5edd | 60 | |
pbhatnagar3 | 0:8b08136c5edd | 61 | |
pbhatnagar3 | 0:8b08136c5edd | 62 | void MMA7660::readData(float *data) |
pbhatnagar3 | 0:8b08136c5edd | 63 | { |
pbhatnagar3 | 0:8b08136c5edd | 64 | int intdata[3]; |
pbhatnagar3 | 0:8b08136c5edd | 65 | readData(intdata); |
pbhatnagar3 | 0:8b08136c5edd | 66 | for (int i = 0; i<3; i++) |
pbhatnagar3 | 0:8b08136c5edd | 67 | data[i] = intdata[i]/MMA7660_SENSITIVITY; |
pbhatnagar3 | 0:8b08136c5edd | 68 | } |
pbhatnagar3 | 0:8b08136c5edd | 69 | |
pbhatnagar3 | 0:8b08136c5edd | 70 | float MMA7660::x( void ) |
pbhatnagar3 | 0:8b08136c5edd | 71 | { |
pbhatnagar3 | 0:8b08136c5edd | 72 | return getSingle(0); |
pbhatnagar3 | 0:8b08136c5edd | 73 | } |
pbhatnagar3 | 0:8b08136c5edd | 74 | |
pbhatnagar3 | 0:8b08136c5edd | 75 | float MMA7660::y( void ) |
pbhatnagar3 | 0:8b08136c5edd | 76 | { |
pbhatnagar3 | 0:8b08136c5edd | 77 | return getSingle(1); |
pbhatnagar3 | 0:8b08136c5edd | 78 | } |
pbhatnagar3 | 0:8b08136c5edd | 79 | |
pbhatnagar3 | 0:8b08136c5edd | 80 | float MMA7660::z( void ) |
pbhatnagar3 | 0:8b08136c5edd | 81 | { |
pbhatnagar3 | 0:8b08136c5edd | 82 | return getSingle(2); |
pbhatnagar3 | 0:8b08136c5edd | 83 | } |
pbhatnagar3 | 0:8b08136c5edd | 84 | |
pbhatnagar3 | 0:8b08136c5edd | 85 | |
pbhatnagar3 | 0:8b08136c5edd | 86 | void MMA7660::setSampleRate(int samplerate) |
pbhatnagar3 | 0:8b08136c5edd | 87 | { |
pbhatnagar3 | 0:8b08136c5edd | 88 | setActive(false); //Not allowed to be active to change anything |
pbhatnagar3 | 0:8b08136c5edd | 89 | int rates[] = {120, 64, 32, 16, 8, 4, 2, 1}; //Alowed samplerates (and their number in array is also number required for MMA) |
pbhatnagar3 | 0:8b08136c5edd | 90 | int sampleLoc = 0, sampleError = 10000, temp; |
pbhatnagar3 | 0:8b08136c5edd | 91 | for (int i = 0; i<8; i++) { |
pbhatnagar3 | 0:8b08136c5edd | 92 | temp = abs( rates[i] - samplerate ); |
pbhatnagar3 | 0:8b08136c5edd | 93 | if (temp<sampleError) { |
pbhatnagar3 | 0:8b08136c5edd | 94 | sampleLoc = i; |
pbhatnagar3 | 0:8b08136c5edd | 95 | sampleError=temp; |
pbhatnagar3 | 0:8b08136c5edd | 96 | } |
pbhatnagar3 | 0:8b08136c5edd | 97 | } |
pbhatnagar3 | 0:8b08136c5edd | 98 | |
pbhatnagar3 | 0:8b08136c5edd | 99 | //Update the samplerate reg |
pbhatnagar3 | 0:8b08136c5edd | 100 | temp = read(MMA7660_SR_R); |
pbhatnagar3 | 0:8b08136c5edd | 101 | temp &= ~0x07; //Awake sample rate are lowest 3 bit |
pbhatnagar3 | 0:8b08136c5edd | 102 | temp |= sampleLoc; |
pbhatnagar3 | 0:8b08136c5edd | 103 | write(MMA7660_SR_R, temp); |
pbhatnagar3 | 0:8b08136c5edd | 104 | this->samplerate = rates[sampleLoc]; |
pbhatnagar3 | 0:8b08136c5edd | 105 | setActive(active); //Restore previous active state |
pbhatnagar3 | 0:8b08136c5edd | 106 | } |
pbhatnagar3 | 0:8b08136c5edd | 107 | |
pbhatnagar3 | 0:8b08136c5edd | 108 | |
pbhatnagar3 | 0:8b08136c5edd | 109 | MMA7660::Orientation MMA7660::getSide( void ) |
pbhatnagar3 | 0:8b08136c5edd | 110 | { |
pbhatnagar3 | 0:8b08136c5edd | 111 | char tiltreg = read(MMA7660_TILT_R); |
pbhatnagar3 | 0:8b08136c5edd | 112 | |
pbhatnagar3 | 0:8b08136c5edd | 113 | //We care about 2 LSBs |
pbhatnagar3 | 0:8b08136c5edd | 114 | tiltreg &= 0x03; |
pbhatnagar3 | 0:8b08136c5edd | 115 | if (tiltreg == 0x01) |
pbhatnagar3 | 0:8b08136c5edd | 116 | return MMA7660::Front; |
pbhatnagar3 | 0:8b08136c5edd | 117 | if (tiltreg == 0x02) |
pbhatnagar3 | 0:8b08136c5edd | 118 | return MMA7660::Back; |
pbhatnagar3 | 0:8b08136c5edd | 119 | return MMA7660::Unknown; |
pbhatnagar3 | 0:8b08136c5edd | 120 | } |
pbhatnagar3 | 0:8b08136c5edd | 121 | |
pbhatnagar3 | 0:8b08136c5edd | 122 | MMA7660::Orientation MMA7660::getOrientation( void ) |
pbhatnagar3 | 0:8b08136c5edd | 123 | { |
pbhatnagar3 | 0:8b08136c5edd | 124 | char tiltreg = read(MMA7660_TILT_R); |
pbhatnagar3 | 0:8b08136c5edd | 125 | |
pbhatnagar3 | 0:8b08136c5edd | 126 | //We care about bit 2, 3 and 4 (counting from zero) |
pbhatnagar3 | 0:8b08136c5edd | 127 | tiltreg &= 0x07<<2; |
pbhatnagar3 | 0:8b08136c5edd | 128 | tiltreg >>= 2; |
pbhatnagar3 | 0:8b08136c5edd | 129 | if (tiltreg == 0x01) |
pbhatnagar3 | 0:8b08136c5edd | 130 | return MMA7660::Left; |
pbhatnagar3 | 0:8b08136c5edd | 131 | if (tiltreg == 0x02) |
pbhatnagar3 | 0:8b08136c5edd | 132 | return MMA7660::Right; |
pbhatnagar3 | 0:8b08136c5edd | 133 | if (tiltreg == 0x05) |
pbhatnagar3 | 0:8b08136c5edd | 134 | return MMA7660::Down; |
pbhatnagar3 | 0:8b08136c5edd | 135 | if (tiltreg == 0x06) |
pbhatnagar3 | 0:8b08136c5edd | 136 | return MMA7660::Up; |
pbhatnagar3 | 0:8b08136c5edd | 137 | return MMA7660::Unknown; |
pbhatnagar3 | 0:8b08136c5edd | 138 | } |
pbhatnagar3 | 0:8b08136c5edd | 139 | |
pbhatnagar3 | 0:8b08136c5edd | 140 | |
pbhatnagar3 | 0:8b08136c5edd | 141 | |
pbhatnagar3 | 0:8b08136c5edd | 142 | ////////////////////////////////////////////// |
pbhatnagar3 | 0:8b08136c5edd | 143 | ///////////////PRIVATE//////////////////////// |
pbhatnagar3 | 0:8b08136c5edd | 144 | ////////////////////////////////////////////// |
pbhatnagar3 | 0:8b08136c5edd | 145 | |
pbhatnagar3 | 0:8b08136c5edd | 146 | |
pbhatnagar3 | 0:8b08136c5edd | 147 | void MMA7660::write(char address, char data) |
pbhatnagar3 | 0:8b08136c5edd | 148 | { |
pbhatnagar3 | 0:8b08136c5edd | 149 | char temp[2]; |
pbhatnagar3 | 0:8b08136c5edd | 150 | temp[0]=address; |
pbhatnagar3 | 0:8b08136c5edd | 151 | temp[1]=data; |
pbhatnagar3 | 0:8b08136c5edd | 152 | |
pbhatnagar3 | 0:8b08136c5edd | 153 | _i2c.write(MMA7660_ADDRESS, temp, 2); |
pbhatnagar3 | 0:8b08136c5edd | 154 | } |
pbhatnagar3 | 0:8b08136c5edd | 155 | |
pbhatnagar3 | 0:8b08136c5edd | 156 | char MMA7660::read(char address) |
pbhatnagar3 | 0:8b08136c5edd | 157 | { |
pbhatnagar3 | 0:8b08136c5edd | 158 | char retval; |
pbhatnagar3 | 0:8b08136c5edd | 159 | _i2c.write(MMA7660_ADDRESS, &address, 1, true); |
pbhatnagar3 | 0:8b08136c5edd | 160 | _i2c.read(MMA7660_ADDRESS, &retval, 1); |
pbhatnagar3 | 0:8b08136c5edd | 161 | return retval; |
pbhatnagar3 | 0:8b08136c5edd | 162 | } |
pbhatnagar3 | 0:8b08136c5edd | 163 | |
pbhatnagar3 | 0:8b08136c5edd | 164 | void MMA7660::read(char address, char *data, int length) |
pbhatnagar3 | 0:8b08136c5edd | 165 | { |
pbhatnagar3 | 0:8b08136c5edd | 166 | _i2c.write(MMA7660_ADDRESS, &address, 1, true); |
pbhatnagar3 | 0:8b08136c5edd | 167 | _i2c.read(MMA7660_ADDRESS, data, length); |
pbhatnagar3 | 0:8b08136c5edd | 168 | } |
pbhatnagar3 | 0:8b08136c5edd | 169 | |
pbhatnagar3 | 0:8b08136c5edd | 170 | float MMA7660::getSingle( int number ) |
pbhatnagar3 | 0:8b08136c5edd | 171 | { |
pbhatnagar3 | 0:8b08136c5edd | 172 | if (!active) { |
pbhatnagar3 | 0:8b08136c5edd | 173 | setActive(true); |
pbhatnagar3 | 0:8b08136c5edd | 174 | wait(0.012 + 1/samplerate); //Wait until new sample is ready |
pbhatnagar3 | 0:8b08136c5edd | 175 | } |
pbhatnagar3 | 0:8b08136c5edd | 176 | |
pbhatnagar3 | 0:8b08136c5edd | 177 | signed char temp; |
pbhatnagar3 | 0:8b08136c5edd | 178 | bool alert; |
pbhatnagar3 | 0:8b08136c5edd | 179 | |
pbhatnagar3 | 0:8b08136c5edd | 180 | do { |
pbhatnagar3 | 0:8b08136c5edd | 181 | alert = false; |
pbhatnagar3 | 0:8b08136c5edd | 182 | temp = read(MMA7660_XOUT_R + number); |
pbhatnagar3 | 0:8b08136c5edd | 183 | if (temp > 63) |
pbhatnagar3 | 0:8b08136c5edd | 184 | alert = true; |
pbhatnagar3 | 0:8b08136c5edd | 185 | if (temp > 31) |
pbhatnagar3 | 0:8b08136c5edd | 186 | temp += 128+64; |
pbhatnagar3 | 0:8b08136c5edd | 187 | } while (alert); |
pbhatnagar3 | 0:8b08136c5edd | 188 | |
pbhatnagar3 | 0:8b08136c5edd | 189 | if (!active) |
pbhatnagar3 | 0:8b08136c5edd | 190 | setActive(false); |
pbhatnagar3 | 0:8b08136c5edd | 191 | |
pbhatnagar3 | 0:8b08136c5edd | 192 | return temp / MMA7660_SENSITIVITY; |
pbhatnagar3 | 0:8b08136c5edd | 193 | } |