Yehowshua Immanuel / MMA8452

I think there was a bug with debug mode

Dependents:   Generic_Platformer

MMA8452.cpp@9:dfb0f6a7a455, 2013-10-17 (annotated)

Committer:
ashleymills
Date:
Thu Oct 17 10:21:37 2013 +0000
Revision:
9:dfb0f6a7a455
Parent:
8:89272163f395
Child:
10:ca9ba7ad4e94
super clean

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nherriot 0:bcf2aa85d7f9 1 // Author: Nicholas Herriot
nherriot 0:bcf2aa85d7f9 2 /* Copyright (c) 2013 Vodafone, MIT License
nherriot 0:bcf2aa85d7f9 3 *
nherriot 0:bcf2aa85d7f9 4 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
nherriot 0:bcf2aa85d7f9 5 * and associated documentation files (the "Software"), to deal in the Software without restriction,
nherriot 0:bcf2aa85d7f9 6 * including without limitation the rights to use, copy, modify, merge, publish, distribute,
nherriot 0:bcf2aa85d7f9 7 * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
nherriot 0:bcf2aa85d7f9 8 * furnished to do so, subject to the following conditions:
nherriot 0:bcf2aa85d7f9 9 *
nherriot 0:bcf2aa85d7f9 10 * The above copyright notice and this permission notice shall be included in all copies or
nherriot 0:bcf2aa85d7f9 11 * substantial portions of the Software.
nherriot 0:bcf2aa85d7f9 12 *
nherriot 0:bcf2aa85d7f9 13 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
nherriot 0:bcf2aa85d7f9 14 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
nherriot 0:bcf2aa85d7f9 15 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
nherriot 0:bcf2aa85d7f9 16 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
nherriot 0:bcf2aa85d7f9 17 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
nherriot 0:bcf2aa85d7f9 18 */
nherriot 0:bcf2aa85d7f9 19
nherriot 0:bcf2aa85d7f9 20 # include "MMA8452.h"
nherriot 0:bcf2aa85d7f9 21
nherriot 0:bcf2aa85d7f9 22 // Connect module at I2C address using I2C port pins sda and scl
nherriot 1:ef026bf28798 23 Accelerometer_MMA8452::Accelerometer_MMA8452(PinName sda, PinName scl,int frequency) : m_i2c(sda, scl) , m_frequency(frequency)
nherriot 0:bcf2aa85d7f9 24 {
nherriot 0:bcf2aa85d7f9 25 //m_i2c.frequency(m_frequency);
ashleymills 6:f6bde04bf8be 26
ashleymills 6:f6bde04bf8be 27 // setup read and write addresses to avoid duplication
ashleymills 6:f6bde04bf8be 28 _readAddress = (MMA8452_ADDRESS<<1) | 0x01;
ashleymills 6:f6bde04bf8be 29 _writeAddress = (MMA8452_ADDRESS<<1) & 0xFE;
nherriot 0:bcf2aa85d7f9 30 }
nherriot 0:bcf2aa85d7f9 31
nherriot 0:bcf2aa85d7f9 32
nherriot 0:bcf2aa85d7f9 33 // Destroys instance
ashleymills 6:f6bde04bf8be 34 Accelerometer_MMA8452::~Accelerometer_MMA8452()
nherriot 0:bcf2aa85d7f9 35 {
nherriot 0:bcf2aa85d7f9 36
nherriot 0:bcf2aa85d7f9 37 }
nherriot 0:bcf2aa85d7f9 38
nherriot 0:bcf2aa85d7f9 39 // Setting the control register bit 1 to true to activate the MMA8452
nherriot 0:bcf2aa85d7f9 40 int Accelerometer_MMA8452::activate()
nherriot 0:bcf2aa85d7f9 41 {
ashleymills 6:f6bde04bf8be 42 // set control register 1 to active
ashleymills 6:f6bde04bf8be 43 char init[2] = {CTRL_REG_1,ACTIVE};
nherriot 3:ffb0b1650ca2 44
ashleymills 6:f6bde04bf8be 45 // perform write and return error code
ashleymills 6:f6bde04bf8be 46 return m_i2c.write(_writeAddress,init,2);
nherriot 3:ffb0b1650ca2 47 }
nherriot 3:ffb0b1650ca2 48
nherriot 3:ffb0b1650ca2 49
nherriot 5:b3d0abd97e55 50 // Get 'Fast Read Mode' called F_READ. If bit 1 is set '1' then F_READ is active. Fast read will skip LSB when reading xyz
nherriot 5:b3d0abd97e55 51 // resisters from 0x01 to 0x06. When F_READ is '0' then all 6 registers will be read.
nherriot 5:b3d0abd97e55 52
ashleymills 9:dfb0f6a7a455 53 int Accelerometer_MMA8452::get_CTRL_Reg1(int* dst)
ashleymills 9:dfb0f6a7a455 54 {
ashleymills 9:dfb0f6a7a455 55 return read_reg(CTRL_REG_1,dst);
nherriot 5:b3d0abd97e55 56 }
nherriot 5:b3d0abd97e55 57
nherriot 3:ffb0b1650ca2 58 // Setting the control register bit 1 to true to activate the MMA8452
nherriot 3:ffb0b1650ca2 59 int Accelerometer_MMA8452::standby()
nherriot 3:ffb0b1650ca2 60 {
ashleymills 8:89272163f395 61 // set control register 1 to standby
ashleymills 8:89272163f395 62 char init[2] = {CTRL_REG_1,STANDBY};
nherriot 1:ef026bf28798 63
ashleymills 8:89272163f395 64 // write to the register and return the error code
ashleymills 8:89272163f395 65 return m_i2c.write(_writeAddress,init,2);
nherriot 0:bcf2aa85d7f9 66 }
nherriot 0:bcf2aa85d7f9 67
nherriot 0:bcf2aa85d7f9 68
nherriot 3:ffb0b1650ca2 69
nherriot 0:bcf2aa85d7f9 70 // Device initialization
nherriot 0:bcf2aa85d7f9 71 void Accelerometer_MMA8452::init()
nherriot 0:bcf2aa85d7f9 72 {
nherriot 0:bcf2aa85d7f9 73
nherriot 0:bcf2aa85d7f9 74 write_reg(INTSU_STATUS, 0x10); // automatic interrupt after every measurement
nherriot 0:bcf2aa85d7f9 75 write_reg(SR_STATUS, 0x00); // 120 Samples/Second
nherriot 0:bcf2aa85d7f9 76 write_reg(MODE_STATUS, 0x01); // Active Mode
nherriot 0:bcf2aa85d7f9 77
nherriot 0:bcf2aa85d7f9 78 }
nherriot 0:bcf2aa85d7f9 79
nherriot 3:ffb0b1650ca2 80 // Get real time status of device - it can be STANDBY, WAKE or SLEEP
ashleymills 9:dfb0f6a7a455 81 int Accelerometer_MMA8452::get_SystemMode(int *dst)
nherriot 3:ffb0b1650ca2 82 {
ashleymills 9:dfb0f6a7a455 83 return read_reg(SYSMOD,dst);
nherriot 3:ffb0b1650ca2 84 }
nherriot 3:ffb0b1650ca2 85
nherriot 3:ffb0b1650ca2 86
nherriot 3:ffb0b1650ca2 87
nherriot 3:ffb0b1650ca2 88 // Get real time status of device - it can be STANDBY, WAKE or SLEEP
ashleymills 9:dfb0f6a7a455 89 int Accelerometer_MMA8452::get_Status(int* dst)
nherriot 3:ffb0b1650ca2 90 {
ashleymills 9:dfb0f6a7a455 91 return read_reg(STATUS,dst);
nherriot 3:ffb0b1650ca2 92 }
nherriot 3:ffb0b1650ca2 93
nherriot 0:bcf2aa85d7f9 94
nherriot 1:ef026bf28798 95 // Get device ID
ashleymills 9:dfb0f6a7a455 96 int Accelerometer_MMA8452::get_DeviceID(int *dst)
nherriot 1:ef026bf28798 97 {
ashleymills 9:dfb0f6a7a455 98 return read_reg(WHO_AM_I,dst);
nherriot 1:ef026bf28798 99 }
nherriot 1:ef026bf28798 100
nherriot 1:ef026bf28798 101
nherriot 3:ffb0b1650ca2 102 /*
nherriot 3:ffb0b1650ca2 103 // Reads x data
nherriot 3:ffb0b1650ca2 104 int Accelerometer_MMA8452::read_x(int& xaxisLSB)
nherriot 0:bcf2aa85d7f9 105 {
nherriot 3:ffb0b1650ca2 106 char mcu_address = (MMA8452_ADDRESS<<1);
nherriot 3:ffb0b1650ca2 107 m_i2c.start();
nherriot 3:ffb0b1650ca2 108 if( m_i2c.write( mcu_address & 0xFE) == 0) // just good practice to force bit 1 to a '0' by ANDing with 0xFE
nherriot 3:ffb0b1650ca2 109 {
nherriot 3:ffb0b1650ca2 110 return 1; // we failed to write the mcu address on the bus to initiate dialogue
nherriot 3:ffb0b1650ca2 111 }
nherriot 3:ffb0b1650ca2 112 if( m_i2c.write( OUT_X_MSB) == 0)
nherriot 3:ffb0b1650ca2 113 {
nherriot 3:ffb0b1650ca2 114 return 1; // we failed to write 'X axis LSB' to the chip
nherriot 3:ffb0b1650ca2 115 }
nherriot 3:ffb0b1650ca2 116 m_i2c.start();
nherriot 3:ffb0b1650ca2 117 if( m_i2c.write( mcu_address | 0x01) == 0) // this is asking to read the slave mcu address - even though it's a 'write' method!!! Crap API...
nherriot 3:ffb0b1650ca2 118 {
nherriot 3:ffb0b1650ca2 119 return 1; // we failed to request a read from that mcu - this really is just writing the mcu vaule on the bus
nherriot 3:ffb0b1650ca2 120 }
nherriot 3:ffb0b1650ca2 121 xaxisLSB = m_i2c.read(0);
nherriot 3:ffb0b1650ca2 122 m_i2c.stop();
nherriot 3:ffb0b1650ca2 123 return 0;
nherriot 3:ffb0b1650ca2 124 }
nherriot 3:ffb0b1650ca2 125 */
nherriot 0:bcf2aa85d7f9 126
ashleymills 8:89272163f395 127 int Accelerometer_MMA8452::read_raw(char src, char *dst, int len) {
ashleymills 8:89272163f395 128 // this is the register we want to get data from
ashleymills 8:89272163f395 129 char register_address[1];
ashleymills 8:89272163f395 130 register_address[0] = src;
ashleymills 8:89272163f395 131
ashleymills 8:89272163f395 132 if(m_i2c.write(_writeAddress,register_address,1,true) == 0)
ashleymills 8:89272163f395 133 {
ashleymills 8:89272163f395 134 if(m_i2c.read(_readAddress,dst,len)==0)
ashleymills 8:89272163f395 135 {
ashleymills 8:89272163f395 136 return 0;
ashleymills 8:89272163f395 137 }
ashleymills 8:89272163f395 138 }
ashleymills 8:89272163f395 139
ashleymills 8:89272163f395 140 // failure case, zero array and return error
ashleymills 8:89272163f395 141 for(int i=0; i<len; i++) {
ashleymills 8:89272163f395 142 dst[i] = 0x00;
ashleymills 8:89272163f395 143 }
ashleymills 8:89272163f395 144 return 1;
ashleymills 8:89272163f395 145 }
nherriot 3:ffb0b1650ca2 146
nherriot 3:ffb0b1650ca2 147 // Reads x data. This method reads two registers containing the x-axis values from the accelerometer.
nherriot 3:ffb0b1650ca2 148 // It takes a 2 byte char array and copies the register values into the buffer. If it fails the char array
nherriot 3:ffb0b1650ca2 149 // is set to '0'. It returns '0' success '1' fail. This method does nothing to the registers - just returns
nherriot 3:ffb0b1650ca2 150 // the raw data.
nherriot 3:ffb0b1650ca2 151 //int Accelerometer_MMA8452::read_x(int& xaxisLSB)
nherriot 3:ffb0b1650ca2 152 int Accelerometer_MMA8452::read_x_raw(char *xaxis)
ashleymills 8:89272163f395 153 {
ashleymills 9:dfb0f6a7a455 154 return read_raw(OUT_X_MSB,xaxis,2);
nherriot 0:bcf2aa85d7f9 155 }
nherriot 0:bcf2aa85d7f9 156
nherriot 0:bcf2aa85d7f9 157
nherriot 3:ffb0b1650ca2 158 // Reads y data. This method reads two registers containing the x-axis values from the accelerometer.
nherriot 3:ffb0b1650ca2 159 // It takes a 2 byte char array and copies the register values into the buffer. If it fails the char array
nherriot 3:ffb0b1650ca2 160 // is set to '0'. It returns '0' success '1' fail. This method does nothing to the registers - just returns
nherriot 3:ffb0b1650ca2 161 // the raw data.
nherriot 3:ffb0b1650ca2 162
ashleymills 8:89272163f395 163 int Accelerometer_MMA8452::read_y_raw(char *yaxis) {
ashleymills 8:89272163f395 164 return read_raw(OUT_Y_MSB,yaxis,2);
nherriot 3:ffb0b1650ca2 165 }
nherriot 3:ffb0b1650ca2 166
nherriot 0:bcf2aa85d7f9 167
nherriot 3:ffb0b1650ca2 168
nherriot 3:ffb0b1650ca2 169 // Reads z data. This method reads two registers containing the x-axis values from the accelerometer.
nherriot 3:ffb0b1650ca2 170 // It takes a 2 byte char array and copies the register values into the buffer. If it fails the char array
nherriot 3:ffb0b1650ca2 171 // is set to '0'. It returns '0' success '1' fail. This method does nothing to the registers - just returns
nherriot 3:ffb0b1650ca2 172 // the raw data.
nherriot 3:ffb0b1650ca2 173
nherriot 3:ffb0b1650ca2 174 int Accelerometer_MMA8452::read_z_raw(char *zaxis)
nherriot 3:ffb0b1650ca2 175 {
ashleymills 8:89272163f395 176 return read_raw(OUT_Z_MSB,zaxis,2);
nherriot 3:ffb0b1650ca2 177 }
nherriot 0:bcf2aa85d7f9 178
nherriot 0:bcf2aa85d7f9 179
nherriot 0:bcf2aa85d7f9 180
nherriot 0:bcf2aa85d7f9 181 // Reads y data
nherriot 0:bcf2aa85d7f9 182 int Accelerometer_MMA8452::read_y()
nherriot 0:bcf2aa85d7f9 183 {
nherriot 1:ef026bf28798 184 char mcu_address = (MMA8452_ADDRESS <<1);
nherriot 0:bcf2aa85d7f9 185
nherriot 0:bcf2aa85d7f9 186 m_i2c.start(); // Start
nherriot 0:bcf2aa85d7f9 187 m_i2c.write(mcu_address); // A write to device 0x98
nherriot 0:bcf2aa85d7f9 188 m_i2c.write(OUT_Y_MSB); // Register to read
nherriot 0:bcf2aa85d7f9 189 m_i2c.start();
nherriot 0:bcf2aa85d7f9 190 m_i2c.write(mcu_address); // Read from device 0x99
nherriot 1:ef026bf28798 191 int y = m_i2c.read(0); // Read the data
nherriot 0:bcf2aa85d7f9 192 m_i2c.stop();
nherriot 0:bcf2aa85d7f9 193
nherriot 1:ef026bf28798 194 return y;
nherriot 0:bcf2aa85d7f9 195
nherriot 0:bcf2aa85d7f9 196 }
nherriot 0:bcf2aa85d7f9 197
nherriot 0:bcf2aa85d7f9 198
nherriot 0:bcf2aa85d7f9 199 // Reads z data
nherriot 0:bcf2aa85d7f9 200 int Accelerometer_MMA8452::read_z()
nherriot 0:bcf2aa85d7f9 201 {
nherriot 1:ef026bf28798 202 char mcu_address = (MMA8452_ADDRESS <<1);
nherriot 0:bcf2aa85d7f9 203
nherriot 0:bcf2aa85d7f9 204 m_i2c.start(); // Start
nherriot 0:bcf2aa85d7f9 205 m_i2c.write(mcu_address); // A write to device 0x98
nherriot 0:bcf2aa85d7f9 206 m_i2c.write(OUT_Z_MSB); // Register to read
nherriot 0:bcf2aa85d7f9 207 m_i2c.start();
nherriot 0:bcf2aa85d7f9 208 m_i2c.write(mcu_address); // Read from device 0x99
nherriot 1:ef026bf28798 209 int z = m_i2c.read(0); // Read the data
nherriot 0:bcf2aa85d7f9 210 m_i2c.stop();
nherriot 0:bcf2aa85d7f9 211
nherriot 1:ef026bf28798 212 return z;
nherriot 0:bcf2aa85d7f9 213
nherriot 0:bcf2aa85d7f9 214 }
nherriot 0:bcf2aa85d7f9 215
nherriot 0:bcf2aa85d7f9 216
nherriot 0:bcf2aa85d7f9 217 // Reads xyz
nherriot 1:ef026bf28798 218 int Accelerometer_MMA8452::read_xyz(char *x, char *y, char *z)
nherriot 1:ef026bf28798 219 {
nherriot 1:ef026bf28798 220
nherriot 1:ef026bf28798 221
nherriot 1:ef026bf28798 222 char mcu_address = (MMA8452_ADDRESS <<1);
nherriot 1:ef026bf28798 223 char register_buffer[6] ={0,0,0,0,0,0};
nherriot 1:ef026bf28798 224 const char Addr_X = OUT_X_MSB;
nherriot 1:ef026bf28798 225 m_i2c.write(mcu_address); // A write to device 0x98
nherriot 1:ef026bf28798 226 m_i2c.write(MMA8452_ADDRESS, &Addr_X, 1); // Pointer to the OUT_X_MSB register
nherriot 1:ef026bf28798 227
nherriot 1:ef026bf28798 228 if(m_i2c.write(mcu_address,&Addr_X,1) == 0)
nherriot 1:ef026bf28798 229 {
nherriot 1:ef026bf28798 230 if(m_i2c.read(mcu_address,register_buffer,6) == 0)
nherriot 1:ef026bf28798 231 {
nherriot 1:ef026bf28798 232 *x = register_buffer[1];
nherriot 1:ef026bf28798 233 *y = register_buffer[3];
nherriot 1:ef026bf28798 234 *z = register_buffer[5];
nherriot 1:ef026bf28798 235 return 0; // yahoooooo
nherriot 1:ef026bf28798 236 }
nherriot 1:ef026bf28798 237 else
nherriot 1:ef026bf28798 238 {
nherriot 1:ef026bf28798 239 return 1; // failed oh nooo!
nherriot 1:ef026bf28798 240 }
nherriot 1:ef026bf28798 241 }
nherriot 1:ef026bf28798 242 else
nherriot 1:ef026bf28798 243 {
nherriot 1:ef026bf28798 244 return 1; // failed oh nooo!
nherriot 1:ef026bf28798 245 }
nherriot 0:bcf2aa85d7f9 246
nherriot 1:ef026bf28798 247 }
nherriot 0:bcf2aa85d7f9 248
nherriot 0:bcf2aa85d7f9 249 // Write register (The device must be placed in Standby Mode to change the value of the registers)
nherriot 0:bcf2aa85d7f9 250 void Accelerometer_MMA8452::write_reg(char addr, char data)
nherriot 0:bcf2aa85d7f9 251 {
nherriot 0:bcf2aa85d7f9 252
nherriot 0:bcf2aa85d7f9 253 char cmd[2] = {0, 0};
nherriot 0:bcf2aa85d7f9 254
nherriot 0:bcf2aa85d7f9 255 cmd[0] = MODE_STATUS;
nherriot 0:bcf2aa85d7f9 256 cmd[1] = 0x00; // Standby Mode on
nherriot 0:bcf2aa85d7f9 257 m_i2c.write(MMA8452_ADDRESS, cmd, 2);
nherriot 0:bcf2aa85d7f9 258
nherriot 0:bcf2aa85d7f9 259 cmd[0] = addr;
nherriot 0:bcf2aa85d7f9 260 cmd[1] = data; // New value of the register
nherriot 0:bcf2aa85d7f9 261 m_i2c.write(MMA8452_ADDRESS, cmd, 2);
nherriot 0:bcf2aa85d7f9 262
nherriot 0:bcf2aa85d7f9 263 cmd[0] = MODE_STATUS;
nherriot 0:bcf2aa85d7f9 264 cmd[1] = 0x01; // Active Mode on
nherriot 0:bcf2aa85d7f9 265 m_i2c.write(MMA8452_ADDRESS, cmd, 2);
nherriot 0:bcf2aa85d7f9 266
nherriot 0:bcf2aa85d7f9 267 }
nherriot 0:bcf2aa85d7f9 268
nherriot 0:bcf2aa85d7f9 269
nherriot 0:bcf2aa85d7f9 270
nherriot 0:bcf2aa85d7f9 271 // Read from specified MMA7660FC register
ashleymills 9:dfb0f6a7a455 272 int Accelerometer_MMA8452::read_reg(char addr, int *dst)
nherriot 0:bcf2aa85d7f9 273 {
nherriot 0:bcf2aa85d7f9 274
ashleymills 8:89272163f395 275 m_i2c.start();
ashleymills 8:89272163f395 276 if( m_i2c.write(_writeAddress) == 0)
ashleymills 8:89272163f395 277 {
ashleymills 8:89272163f395 278 return 1; // we failed to write the mcu address on the bus to initiate dialogue
ashleymills 8:89272163f395 279 }
ashleymills 9:dfb0f6a7a455 280 if( m_i2c.write(addr) == 0)
ashleymills 8:89272163f395 281 {
ashleymills 8:89272163f395 282 return 1; // we failed to write 'status' to the chip
ashleymills 8:89272163f395 283 }
ashleymills 8:89272163f395 284 m_i2c.start();
ashleymills 8:89272163f395 285 if( m_i2c.write(_readAddress) == 0) // this is asking to read the slave mcu address - even though it's a 'write' method!!! Crap API...
ashleymills 8:89272163f395 286 {
ashleymills 8:89272163f395 287 return 1; // we failed to request a read from that mcu - this really is just writing the mcu vaule on the bus
ashleymills 8:89272163f395 288 }
ashleymills 9:dfb0f6a7a455 289 *dst = m_i2c.read(0);
ashleymills 8:89272163f395 290 m_i2c.stop();
nherriot 0:bcf2aa85d7f9 291
ashleymills 9:dfb0f6a7a455 292 return 0;
nherriot 0:bcf2aa85d7f9 293
nherriot 0:bcf2aa85d7f9 294 }
nherriot 0:bcf2aa85d7f9 295
nherriot 0:bcf2aa85d7f9 296
nherriot 0:bcf2aa85d7f9 297
nherriot 0:bcf2aa85d7f9 298
nherriot 0:bcf2aa85d7f9 299
nherriot 0:bcf2aa85d7f9 300