I think there was a bug with debug mode
Dependents: Generic_Platformer
MMA8452.h
- Committer:
- ashleymills
- Date:
- 2014-03-04
- Revision:
- 11:dfd1e0afcb7b
- Parent:
- 10:ca9ba7ad4e94
- Child:
- 12:172540ff6b8b
File content as of revision 11:dfd1e0afcb7b:
// Author: Nicholas Herriot, Ashley Mills /* Copyright (c) 2013 Vodafone, MIT License * * Permission is hereby granted, free of charge, to any person obtaining a copy of this software * and associated documentation files (the "Software"), to deal in the Software without restriction, * including without limitation the rights to use, copy, modify, merge, publish, distribute, * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in all copies or * substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ // the SparkFun breakout board defaults to 1, set to 0 if SA0 jumper on the bottom of the board is set // see the Table 10. I2C Device Address Sequence in Freescale MMA8452Q pdf #define DBG(...) pc.printf(__VA_ARGS__); pc.printf("\r\n"); #define DBGX(...) pc.print(__VA_ARGS__); //#define SA0 1 //#if SA0 //#define MMA8452_ADDRESS 0x3A // SA0 is high, 0x1C if low - it should be 0x1D, but we shift now to save shifting in the code //#else //#define MMA8452_ADDRESS 0x1C //#endif //#ifndef MBED_MMA8452 //#define MBED_MMA8452 #include "mbed.h" /** Accelerometer MMA8452 class * * Example: * @code * * #include "mbed.h" * #include "MMA8452.h" * * * Accelerometer_MMA8452 Acc(p28, p27); * serial pc(USBTX, USBRX); * * int main() * { * Acc.init(); * while(1) * { * int x=0, y=0, z=0; * Acc.read_Tilt(&x, &y, &z); * pc.printf("Tilt x: %2.2f degree \n", x); // Print the tilt orientation of the X axis * pc.printf("Tilt y: %2.2f degree \n", y); // Print the tilt orientation of the Y axis * pc.printf("Tilt z: %2.2f degree \n", z); // Print the tilt orientation of the Z axis * wait(1); * } * } * @endcode */ // More info on MCU Master address can be found on section 5.10.1 of http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=MMA8452Q #define SA0 1 #if SA0 #define MMA8452_ADDRESS 0x3A // 0x1D<<1 // SA0 is high, 0x1C if low - #else #define MMA8452_ADDRESS 0x38 // 0x1C<<1 #endif // Register descriptions found in section 6 of pdf #define STATUS 0x00 // Type 'read' : Real time status, should return 0x00 #define OUT_X_MSB 0x01 // Type 'read' : x axis - 8 most significatn bit of a 12 bit sample #define OUT_X_LSB 0x02 // Type 'read' : x axis - 4 least significatn bit of a 12 bit sample #define OUT_Y_MSB 0x03 // Type 'read' : y axis - 8 most significatn bit of a 12 bit sample #define OUT_Y_LSB 0x04 // Type 'read' : y axis - 4 least significatn bit of a 12 bit sample #define OUT_Z_MSB 0x05 // Type 'read' : z axis - 8 most significatn bit of a 12 bit sample #define OUT_Z_LSB 0x06 // Type 'read' : z axis - 4 least significatn bit of a 12 bit sample #define SYSMOD 0x0B // Type 'read' : This tells you if device is active, sleep or standy 0x00=STANDBY 0x01=WAKE 0x02=SLEEP #define WHO_AM_I 0x0D // Type 'read' : This should return the device id of 0x2A #define PL_STATUS 0x10 // Type 'read' : This shows portrait landscape mode orientation #define PL_CFG 0x11 // Type 'read/write' : This allows portrait landscape configuration #define PL_COUNT 0x12 // Type 'read' : This is the portraint landscape debounce counter #define PL_BF_ZCOMP 0x13 // Type 'read' : #define PL_THS_REG 0x14 // Type 'read' : #define FF_MT_CFG 0X15 // Type 'read/write' : Freefaul motion functional block configuration #define FF_MT_SRC 0X16 // Type 'read' : Freefaul motion event source register #define FF_MT_THS 0X17 // Type 'read' : Freefaul motion threshold register #define FF_COUNT 0X18 // Type 'read' : Freefaul motion debouce counter #define ASLP_COUNT 0x29 // Type 'read/write' : Counter settings for auto sleep #define CTRL_REG_1 0x2A // Type 'read/write' : #define CTRL_REG_2 0x2B // Type 'read/write' : #define CTRL_REG_3 0x2C // Type 'read/write' : #define CTRL_REG_4 0x2D // Type 'read/write' : #define CTRL_REG_5 0x2E // Type 'read/write' : // Defined in table 13 of the Freescale PDF #define STANDBY 0x00 // State value returned after a SYSMOD request, it can be in state STANDBY, WAKE or SLEEP #define WAKE 0x01 // State value returned after a SYSMOD request, it can be in state STANDBY, WAKE or SLEEP #define SLEEP 0x02 // State value returned after a SYSMOD request, it can be in state STANDBY, WAKE or SLEEP #define ACTIVE 0x01 // Stage value returned and set in Control Register 1, it can be STANDBY=00, or ACTIVE=01 #define TILT_STATUS 0x03 // Tilt Status (Read only) #define SRST_STATUS 0x04 // Sample Rate Status Register (Read only) #define SPCNT_STATUS 0x05 // Sleep Count Register (Read/Write) #define INTSU_STATUS 0x06 // Interrupt Setup Register #define MODE_STATUS 0x07 // Mode Register (Read/Write) #define SR_STATUS 0x08 // Auto-Wake and Active Mode Portrait/Landscape Samples per Seconds Register (Read/Write) #define PDET_STATUS 0x09 // Tap/Pulse Detection Register (Read/Write) #define PD_STATUS 0xA // Tap/Pulse Debounce Count Register (Read/Write) #define MMA8452_ACTIVE_MASK 0x01 #define MMA8452_STANDBY_MASK 0xFE #define MMA8452_XYZ_DATA_CFG 0x0E #define MMA8452_CTRL_REG_1 0x2A #define MMA8452_DYNAMIC_RANGE_MASK 0xFC #define MMA8452_DATA_RATE_MASK 0xC7 #define MMA8452_DATA_RATE_MASK_SHIFT 0x03 #define MMA8452_WRITE_MASK 0xFE #define MMA8452_READ_MASK 0x01 #define MMA8452_BIT_DEPTH_MASK 0xFD #define MMA8452_BIT_DEPTH_MASK_SHIFT 0x01 class MMA8452 { public: enum DynamicRange { DYNAMIC_RANGE_2G=0x00, DYNAMIC_RANGE_4G, DYNAMIC_RANGE_8G, DYNAMIC_RANGE_UNKNOWN }; enum BitDepth { BIT_DEPTH_12=0x00, BIT_DEPTH_8 // 1 sets fast read mode, hence the inversion }; enum DataRateHz { RATE_800=0x00, RATE_400, RATE_200, RATE_100, RATE_50, RATE_12_5, RATE_6_25, RATE_1_563, RATE_UNKNOWN }; //void setDynamicRange( /** Create an accelerometer object connected to the specified I2C object * * @param sda I2C data port * @param scl I2C8452 clock port * */ MMA8452(PinName sda, PinName scl, int frequency); //Accelerometer_MMA8452(PinName sda, PinName scl); /** Destroys an MMA8452 object * */ ~MMA8452(); //int setOperationMode(OperationMode m); /** Activate the MMA8452 (required) * returns 0 for success in activating the chip * returns 1 for failure in activating the chip * -currrently no retries or waiting is done, this method tries 1 time the exits. * * This will set the device 'active' even if it's already active. It's just a way to force that state. */ int activate(); /** Standby the MMA8452 (not required) * returns 0 for success in activating the chip * returns 1 for failure in activating the chip * -currrently no retries or waiting is done, this method tries 1 time the exits. * * This will set the device 'standby' even if it's already in standby. It's just a way to force that state. */ int standby(); /** get_CTRL_Reg1 the MMA8452 (not required) * returns 0 for success in activating the chip * returns 1 for failure in activating the chip * -currrently no retries or waiting is done, this method tries 1 time the exits. * * This will return the state of the control register 1. This holds and sets values for auto wake, sleep mode * output data rate, fast read mode and active/standby. More info on 6.7 of pdf for MMA8452 Freescale doc. */ int get_CTRL_Reg1(char* dst); /** Initialization of device MMA8452 (required) */ void init(); /** Read the device ID from the accelerometer * * @param *deviceID Value of device - is should be 0x2A * return 0 for success or * return 1 for failure. */ int getDeviceID(char* dst); int read_y(); int read_z(); /** Read the x register of the MMA8452 * * @returns The value of x acceleration */ int readRawX(char *xaxis); //int read_x(int& xaxisLSB); /** Read the y register of the MMA8452 * * @returns The value of y acceleration */ int readRawY(char *yaxis); /** Read the z register of the MMA8452 * * @returns The value of z acceleration */ int readRawZ(char * zaxis); /** Read the x,y and z registers of the MMA8452 * * takes a 2 byte char buffer to store the value * for each axis. * returns 0 for success, and 1 for failure * */ int readRawXYZ(char *x, char *y, char *z); /** Read from specified MMA8452 register * * @param addr The internal registeraddress of the MMA8452 * @returns The value of the register */ int readRegister(char addr, char *dst); int readRegister(char addr, char *dst, int nbytes); /** Write to specified MMA8452 register * * @param addr The internal registeraddress of the MMA8452 * @param data New value of the register */ int writeRegister(char addr, char data); int writeRegister(char addr, char *data, int nbytes); int logicalANDRegister(char addr, char mask); int logicalORRegister(char addr, char mask); int logicalXORRegister(char addr, char mask); int setDynamicRange(DynamicRange range, int toggleActivation=1); int setBitDepth(BitDepth depth, int toggleActivation=1); int setDataRate(DataRateHz dataRate, int toggleActivation=1); DynamicRange getDynamicRange(); DataRateHz getDataRate(); void debugRegister(char reg); private: int readRaw(char src, char *dst, int len); int maskAndApplyRegister(char reg, char mask, char value, int toggleActivation); I2C _i2c; int _frequency; int _readAddress; int _writeAddress; }; //#endif