I think there was a bug with debug mode
Dependents: Generic_Platformer
Diff: MMA8452.cpp
- Revision:
- 3:ffb0b1650ca2
- Parent:
- 2:66db0f91b215
- Child:
- 4:27aa3cd43234
--- a/MMA8452.cpp Tue Oct 08 16:13:14 2013 +0000 +++ b/MMA8452.cpp Wed Oct 16 14:11:04 2013 +0000 @@ -21,8 +21,6 @@ -float TILT_XY[64] = {0, 2.69, 5.38, 8.08, 10.81, 13.55, 16.33, 19.16, 22.02, 24.95, 27.95, 31.04, 34.23, 37.54, 41.01, 44.68, 48.59, 52.83, 57.54, 62.95, 69.64, 79.86, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -79.86, -69.64, -62.95, -57.54, -52.83, -48.59, -44.68, -41.01, -37.54, -34.23, -31.04, -27.95, -24.95, -22.02, -19.16, -16.33, -13.55, -10.81, -8.08, -5.38, -2.69}; -float TILT_Z[64] = {90.00, 87.31, 84.62, 81.92, 79.19, 76.45, 73.67, 70.84, 67.98, 65.05, 62.05, 58.96, 55.77, 52.46, 48.99, 45.32, 41.41, 37.17, 32.46, 27.05, 20.36, 10.14, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -10.14, -20.36, -27.05, -32.46, -37.17, -41.41, -45.32, -48.99, -52.46, -55.77, -58.96, -62.05, -65.05, -67.98, -70.84, -73.67, -76.45, -79.19, -81.92, -84.62}; @@ -45,8 +43,27 @@ char mcu_address = (MMA8452_ADDRESS<<1); char init[2]; init[0] = CTRL_REG_1; // control register 1 - init[1] = 0x01; // set to active - //while(m_i2c.write(mcu_address,init,2)); + init[1] = ACTIVE; // set to active + + if(m_i2c.write(mcu_address,init,2) == 0) + { + return 0; // return 0 to indicate success + } + else + { + return 1; // crumbs it failed!!! + } + +} + + +// Setting the control register bit 1 to true to activate the MMA8452 +int Accelerometer_MMA8452::standby() +{ + char mcu_address = (MMA8452_ADDRESS<<1); + char init[2]; + init[0] = CTRL_REG_1; // control register 1 + init[1] = STANDBY; // set to standby if(m_i2c.write(mcu_address,init,2) == 0) { @@ -62,6 +79,7 @@ } + // Device initialization void Accelerometer_MMA8452::init() { @@ -72,79 +90,230 @@ } +// Get real time status of device - it can be STANDBY, WAKE or SLEEP +int Accelerometer_MMA8452::get_SystemMode(int& deviceSystemMode) +{ + char mcu_address = (MMA8452_ADDRESS<<1); + m_i2c.start(); + if( m_i2c.write( mcu_address & 0xFE) == 0) // just good practice to force bit 1 to a '0' by ANDing with 0xFE + { + return 1; // we failed to write the mcu address on the bus to initiate dialogue + } + if( m_i2c.write( SYSMOD) == 0) + { + return 1; // we failed to write 'status' to the chip + } + m_i2c.start(); + 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... + { + return 1; // we failed to request a read from that mcu - this really is just writing the mcu vaule on the bus + } + deviceSystemMode = m_i2c.read(0); + m_i2c.stop(); + return 0; + + +} + + + +// Get real time status of device - it can be STANDBY, WAKE or SLEEP +int Accelerometer_MMA8452::get_Status(int& deviceStatus) +{ + char mcu_address = (MMA8452_ADDRESS<<1); + m_i2c.start(); + if( m_i2c.write( mcu_address & 0xFE) == 0) // just good practice to force bit 1 to a '0' by ANDing with 0xFE + { + return 1; // we failed to write the mcu address on the bus to initiate dialogue + } + if( m_i2c.write( STATUS) == 0) + { + return 1; // we failed to write 'status' to the chip + } + m_i2c.start(); + 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... + { + return 1; // we failed to request a read from that mcu - this really is just writing the mcu vaule on the bus + } + deviceStatus = m_i2c.read(0); + m_i2c.stop(); + return 0; + + +} + // Get device ID int Accelerometer_MMA8452::get_DeviceID(int& deviceID) { char mcu_address = (MMA8452_ADDRESS<<1); - int z = 0; m_i2c.start(); - wait( 0.1); - if( m_i2c.write( mcu_address) == 0) + if( m_i2c.write( mcu_address & 0xFE) == 0) // just good practice to force bit 1 to a '0' by ANDing with 0xFE { - //printf( "GetDeviceId NAK on writing address"); - return 1; + return 1; // we failed to write the mcu address on the bus to initiate dialogue } - wait( 0.1); if( m_i2c.write( WHO_AM_I) == 0) { - //printf( "GetDeviceId NAK on writing register address"); - - return 1; + return 1; // we failed to write 'who am i' to the chip } - wait( 0.1); m_i2c.start(); - wait( 0.1); - if( m_i2c.write( mcu_address | 0x01) == 0) // this is asking to read the slave address - even though it's a 'write' method!!! Crap API... + 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... { - //printf( "GetDeviceId NAK on writing address"); - - return 1; + return 1; // we failed to request a read from that mcu - this really is just writing the mcu vaule on the bus } - wait( 0.1); deviceID = m_i2c.read(0); - z = m_i2c.read(0); - wait( 0.1); m_i2c.stop(); return 0; } -// Reads the tilt angle -void Accelerometer_MMA8452::read_Tilt(float *x, float *y, float *z) +/* +// Reads x data +int Accelerometer_MMA8452::read_x(int& xaxisLSB) { + char mcu_address = (MMA8452_ADDRESS<<1); + m_i2c.start(); + if( m_i2c.write( mcu_address & 0xFE) == 0) // just good practice to force bit 1 to a '0' by ANDing with 0xFE + { + return 1; // we failed to write the mcu address on the bus to initiate dialogue + } + if( m_i2c.write( OUT_X_MSB) == 0) + { + return 1; // we failed to write 'X axis LSB' to the chip + } + m_i2c.start(); + 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... + { + return 1; // we failed to request a read from that mcu - this really is just writing the mcu vaule on the bus + } + xaxisLSB = m_i2c.read(0); + m_i2c.stop(); + return 0; +} +*/ - const char Addr_X = OUT_X_MSB; - char buf[3] = {0,0,0}; + +// Reads x data. This method reads two registers containing the x-axis values from the accelerometer. +// It takes a 2 byte char array and copies the register values into the buffer. If it fails the char array +// is set to '0'. It returns '0' success '1' fail. This method does nothing to the registers - just returns +// the raw data. +//int Accelerometer_MMA8452::read_x(int& xaxisLSB) +int Accelerometer_MMA8452::read_x_raw(char *xaxis) +{ + char mcu_address = (MMA8452_ADDRESS<<1); // this is the slave address on the bus we want data from + char xaxis_buffer[2]; // this will contain data from that register + char xaxis_register[1]; + xaxis_register[0] = OUT_X_MSB; // this is the register we want to get data from + //signed short s = 0; - m_i2c.write(MMA8452_ADDRESS, &Addr_X, 1); // Pointer to the OUT_X_MSB register - m_i2c.read(MMA8452_ADDRESS, buf, 3); // Read register content into buffer with 6bit - - // returns the x, y, z coordinates transformed into full degrees - *x = TILT_XY[(int)buf[0]]; - *y = TILT_XY[(int)buf[1]]; - *z = TILT_Z[(int)buf[2]]; - + if(m_i2c.write(mcu_address,xaxis_register,1) == 0) + { + if(m_i2c.read(mcu_address,xaxis_buffer,2) == 0) + { + //strcpy(xaxis, xaxis_buffer); + memcpy(xaxis, xaxis_buffer, 2); + //xaxis[0] = 0x00; // make sure the array is set to zero + //xaxis[1] = 0x00; + //s = *reinterpret_cast<short*>(&xaxis); + return 0; // great we got the two octets + } + else + { + xaxis[0] = 0x00; // make sure the array is set to zero + xaxis[1] = 0x00; + return 1; // failed to read the 12 bit x value + } + } + else + { + xaxis[0] = 0x00; // make sure the array is set to zero + xaxis[1] = 0x00; + return 1; // failed to write and request the OUT_X_MSB bit + } } -// Reads x data -int Accelerometer_MMA8452::read_x() +// Reads y data. This method reads two registers containing the x-axis values from the accelerometer. +// It takes a 2 byte char array and copies the register values into the buffer. If it fails the char array +// is set to '0'. It returns '0' success '1' fail. This method does nothing to the registers - just returns +// the raw data. + +int Accelerometer_MMA8452::read_y_raw(char *yaxis) { - char mcu_address = (MMA8452_ADDRESS <<1); + char mcu_address = (MMA8452_ADDRESS<<1); // this is the slave address on the bus we want data from + char yaxis_buffer[2]; // this will contain data from that register + char yaxis_register[1]; + yaxis_register[0] = OUT_Y_MSB; // this is the register we want to get data from + //signed short s = 0; + + if(m_i2c.write(mcu_address,yaxis_register,1) == 0) + { + if(m_i2c.read(mcu_address,yaxis_buffer,2) == 0) + { + //strcpy(yaxis, yaxis_buffer); + memcpy(yaxis, yaxis_buffer, 2); + //yaxis[0] = 0x00; // make sure the array is set to zero + //yaxis[1] = 0x00; + //s = *reinterpret_cast<short*>(&xaxis); + return 0; // great we got the two octets + } + else + { + yaxis[0] = 0x00; // make sure the array is set to zero + yaxis[1] = 0x00; + return 1; // failed to read the 12 bit y value + } + } + else + { + yaxis[0] = 0x00; // make sure the array is set to zero + yaxis[1] = 0x00; + return 1; // failed to write and request the OUT_Y_MSB bit + } +} + - m_i2c.start(); // Start - m_i2c.write(mcu_address); // A write to devic - m_i2c.write(OUT_X_LSB); // Register to read - m_i2c.start(); - m_i2c.write(mcu_address); // Read from device - int x = m_i2c.read(0); // Read the data - m_i2c.stop(); + +// Reads z data. This method reads two registers containing the x-axis values from the accelerometer. +// It takes a 2 byte char array and copies the register values into the buffer. If it fails the char array +// is set to '0'. It returns '0' success '1' fail. This method does nothing to the registers - just returns +// the raw data. + +int Accelerometer_MMA8452::read_z_raw(char *zaxis) +{ + char mcu_address = (MMA8452_ADDRESS<<1); // this is the slave address on the bus we want data from + char zaxis_buffer[2]; // this will contain data from that register + char zaxis_register[1]; + zaxis_register[0] = OUT_Z_MSB; // this is the register we want to get data from + //signed short s = 0; - return x; + if(m_i2c.write(mcu_address,zaxis_register,1) == 0) + { + if(m_i2c.read(mcu_address,zaxis_buffer,2) == 0) + { + //strcpy(yaxis, yaxis_buffer); + memcpy(zaxis, zaxis_buffer, 2); + //yaxis[0] = 0x00; // make sure the array is set to zero + //yaxis[1] = 0x00; + //s = *reinterpret_cast<short*>(&xaxis); + return 0; // great we got the two octets + } + else + { + zaxis[0] = 0x00; // make sure the array is set to zero + zaxis[1] = 0x00; + return 1; // failed to read the 12 bit y value + } + } + else + { + zaxis[0] = 0x00; // make sure the array is set to zero + zaxis[1] = 0x00; + return 1; // failed to write and request the OUT_Y_MSB bit + } +} -} // Reads y data