![](/media/cache/profiles/8631e5b91354a846f00dbbf16ad94259.jpg.50x50_q85.jpg)
Sample program for lab 4
MMA8451Q/MMA8451Q.cpp@5:392ac6e02d80, 2020-02-27 (annotated)
- Committer:
- WilliamMarshQMUL
- Date:
- Thu Feb 27 10:07:17 2020 +0000
- Revision:
- 5:392ac6e02d80
Library converted to folder
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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WilliamMarshQMUL | 5:392ac6e02d80 | 1 | /* Copyright (c) 2010-2011 mbed.org, MIT License |
WilliamMarshQMUL | 5:392ac6e02d80 | 2 | * |
WilliamMarshQMUL | 5:392ac6e02d80 | 3 | * Permission is hereby granted, free of charge, to any person obtaining a copy of this software |
WilliamMarshQMUL | 5:392ac6e02d80 | 4 | * and associated documentation files (the "Software"), to deal in the Software without |
WilliamMarshQMUL | 5:392ac6e02d80 | 5 | * restriction, including without limitation the rights to use, copy, modify, merge, publish, |
WilliamMarshQMUL | 5:392ac6e02d80 | 6 | * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the |
WilliamMarshQMUL | 5:392ac6e02d80 | 7 | * Software is furnished to do so, subject to the following conditions: |
WilliamMarshQMUL | 5:392ac6e02d80 | 8 | * |
WilliamMarshQMUL | 5:392ac6e02d80 | 9 | * The above copyright notice and this permission notice shall be included in all copies or |
WilliamMarshQMUL | 5:392ac6e02d80 | 10 | * substantial portions of the Software. |
WilliamMarshQMUL | 5:392ac6e02d80 | 11 | * |
WilliamMarshQMUL | 5:392ac6e02d80 | 12 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING |
WilliamMarshQMUL | 5:392ac6e02d80 | 13 | * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
WilliamMarshQMUL | 5:392ac6e02d80 | 14 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, |
WilliamMarshQMUL | 5:392ac6e02d80 | 15 | * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
WilliamMarshQMUL | 5:392ac6e02d80 | 16 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
WilliamMarshQMUL | 5:392ac6e02d80 | 17 | */ |
WilliamMarshQMUL | 5:392ac6e02d80 | 18 | |
WilliamMarshQMUL | 5:392ac6e02d80 | 19 | #include "MMA8451Q.h" |
WilliamMarshQMUL | 5:392ac6e02d80 | 20 | |
WilliamMarshQMUL | 5:392ac6e02d80 | 21 | #define REG_WHO_AM_I 0x0D |
WilliamMarshQMUL | 5:392ac6e02d80 | 22 | #define REG_CTRL_REG_1 0x2A |
WilliamMarshQMUL | 5:392ac6e02d80 | 23 | #define REG_OUT_X_MSB 0x01 |
WilliamMarshQMUL | 5:392ac6e02d80 | 24 | #define REG_OUT_Y_MSB 0x03 |
WilliamMarshQMUL | 5:392ac6e02d80 | 25 | #define REG_OUT_Z_MSB 0x05 |
WilliamMarshQMUL | 5:392ac6e02d80 | 26 | |
WilliamMarshQMUL | 5:392ac6e02d80 | 27 | #define UINT14_MAX 16383 |
WilliamMarshQMUL | 5:392ac6e02d80 | 28 | |
WilliamMarshQMUL | 5:392ac6e02d80 | 29 | MMA8451Q::MMA8451Q(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) { |
WilliamMarshQMUL | 5:392ac6e02d80 | 30 | // activate the peripheral |
WilliamMarshQMUL | 5:392ac6e02d80 | 31 | uint8_t data[2] = {REG_CTRL_REG_1, 0x01}; |
WilliamMarshQMUL | 5:392ac6e02d80 | 32 | writeRegs(data, 2); |
WilliamMarshQMUL | 5:392ac6e02d80 | 33 | } |
WilliamMarshQMUL | 5:392ac6e02d80 | 34 | |
WilliamMarshQMUL | 5:392ac6e02d80 | 35 | MMA8451Q::~MMA8451Q() { } |
WilliamMarshQMUL | 5:392ac6e02d80 | 36 | |
WilliamMarshQMUL | 5:392ac6e02d80 | 37 | uint8_t MMA8451Q::getWhoAmI() { |
WilliamMarshQMUL | 5:392ac6e02d80 | 38 | uint8_t who_am_i = 0; |
WilliamMarshQMUL | 5:392ac6e02d80 | 39 | readRegs(REG_WHO_AM_I, &who_am_i, 1); |
WilliamMarshQMUL | 5:392ac6e02d80 | 40 | return who_am_i; |
WilliamMarshQMUL | 5:392ac6e02d80 | 41 | } |
WilliamMarshQMUL | 5:392ac6e02d80 | 42 | |
WilliamMarshQMUL | 5:392ac6e02d80 | 43 | float MMA8451Q::getAccX() { |
WilliamMarshQMUL | 5:392ac6e02d80 | 44 | return (float(getAccAxis(REG_OUT_X_MSB))/4096.0); |
WilliamMarshQMUL | 5:392ac6e02d80 | 45 | } |
WilliamMarshQMUL | 5:392ac6e02d80 | 46 | |
WilliamMarshQMUL | 5:392ac6e02d80 | 47 | float MMA8451Q::getAccY() { |
WilliamMarshQMUL | 5:392ac6e02d80 | 48 | return (float(getAccAxis(REG_OUT_Y_MSB))/4096.0); |
WilliamMarshQMUL | 5:392ac6e02d80 | 49 | } |
WilliamMarshQMUL | 5:392ac6e02d80 | 50 | |
WilliamMarshQMUL | 5:392ac6e02d80 | 51 | float MMA8451Q::getAccZ() { |
WilliamMarshQMUL | 5:392ac6e02d80 | 52 | return (float(getAccAxis(REG_OUT_Z_MSB))/4096.0); |
WilliamMarshQMUL | 5:392ac6e02d80 | 53 | } |
WilliamMarshQMUL | 5:392ac6e02d80 | 54 | |
WilliamMarshQMUL | 5:392ac6e02d80 | 55 | void MMA8451Q::getAccAllAxis(float * res) { |
WilliamMarshQMUL | 5:392ac6e02d80 | 56 | res[0] = getAccX(); |
WilliamMarshQMUL | 5:392ac6e02d80 | 57 | res[1] = getAccY(); |
WilliamMarshQMUL | 5:392ac6e02d80 | 58 | res[2] = getAccZ(); |
WilliamMarshQMUL | 5:392ac6e02d80 | 59 | } |
WilliamMarshQMUL | 5:392ac6e02d80 | 60 | |
WilliamMarshQMUL | 5:392ac6e02d80 | 61 | int16_t MMA8451Q::getAccAxis(uint8_t addr) { |
WilliamMarshQMUL | 5:392ac6e02d80 | 62 | int16_t acc; |
WilliamMarshQMUL | 5:392ac6e02d80 | 63 | uint8_t res[2]; |
WilliamMarshQMUL | 5:392ac6e02d80 | 64 | readRegs(addr, res, 2); |
WilliamMarshQMUL | 5:392ac6e02d80 | 65 | |
WilliamMarshQMUL | 5:392ac6e02d80 | 66 | acc = (res[0] << 6) | (res[1] >> 2); |
WilliamMarshQMUL | 5:392ac6e02d80 | 67 | if (acc > UINT14_MAX/2) |
WilliamMarshQMUL | 5:392ac6e02d80 | 68 | acc -= UINT14_MAX; |
WilliamMarshQMUL | 5:392ac6e02d80 | 69 | |
WilliamMarshQMUL | 5:392ac6e02d80 | 70 | return acc; |
WilliamMarshQMUL | 5:392ac6e02d80 | 71 | } |
WilliamMarshQMUL | 5:392ac6e02d80 | 72 | |
WilliamMarshQMUL | 5:392ac6e02d80 | 73 | void MMA8451Q::readRegs(int addr, uint8_t * data, int len) { |
WilliamMarshQMUL | 5:392ac6e02d80 | 74 | char t[1] = {(char) addr}; |
WilliamMarshQMUL | 5:392ac6e02d80 | 75 | m_i2c.write(m_addr, t, 1, true); |
WilliamMarshQMUL | 5:392ac6e02d80 | 76 | m_i2c.read(m_addr, (char *)data, len); |
WilliamMarshQMUL | 5:392ac6e02d80 | 77 | } |
WilliamMarshQMUL | 5:392ac6e02d80 | 78 | |
WilliamMarshQMUL | 5:392ac6e02d80 | 79 | void MMA8451Q::writeRegs(uint8_t * data, int len) { |
WilliamMarshQMUL | 5:392ac6e02d80 | 80 | m_i2c.write(m_addr, (char *)data, len); |
WilliamMarshQMUL | 5:392ac6e02d80 | 81 | } |