enhancing Multitech's library for some accelerometer
Fork of MMA845x by
MMA845x.cpp@13:77a8994b3bb2, 2018-07-03 (annotated)
- Committer:
- amateusz
- Date:
- Tue Jul 03 00:11:57 2018 +0000
- Revision:
- 13:77a8994b3bb2
- Parent:
- 12:92294b5ca1c1
- Child:
- 14:683234dfe179
generic interface for enabling/disabling interrupts
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sam_grove | 0:9d1e3a344e4f | 1 | /** |
sam_grove | 0:9d1e3a344e4f | 2 | * @file MMA845x.cpp |
falingtrea | 1:41af2b3eefb5 | 3 | * @brief Device driver - MMA845X 3-axis accelerometer IC W/RTOS support |
falingtrea | 1:41af2b3eefb5 | 4 | * @author Tim Barr |
sam_grove | 0:9d1e3a344e4f | 5 | * @version 1.0 |
sam_grove | 0:9d1e3a344e4f | 6 | * @see http://cache.freescale.com/files/sensors/doc/data_sheet/MMA8451Q.pdf |
sam_grove | 0:9d1e3a344e4f | 7 | * @see http://cache.freescale.com/files/sensors/doc/data_sheet/MMA8452Q.pdf |
sam_grove | 0:9d1e3a344e4f | 8 | * @see http://cache.freescale.com/files/sensors/doc/data_sheet/MMA8453Q.pdf |
sam_grove | 0:9d1e3a344e4f | 9 | * |
falingtrea | 1:41af2b3eefb5 | 10 | * Copyright (c) 2015 |
sam_grove | 0:9d1e3a344e4f | 11 | * |
sam_grove | 0:9d1e3a344e4f | 12 | * Licensed under the Apache License, Version 2.0 (the "License"); |
sam_grove | 0:9d1e3a344e4f | 13 | * you may not use this file except in compliance with the License. |
sam_grove | 0:9d1e3a344e4f | 14 | * You may obtain a copy of the License at |
sam_grove | 0:9d1e3a344e4f | 15 | * |
sam_grove | 0:9d1e3a344e4f | 16 | * http://www.apache.org/licenses/LICENSE-2.0 |
sam_grove | 0:9d1e3a344e4f | 17 | * |
sam_grove | 0:9d1e3a344e4f | 18 | * Unless required by applicable law or agreed to in writing, software |
sam_grove | 0:9d1e3a344e4f | 19 | * distributed under the License is distributed on an "AS IS" BASIS, |
sam_grove | 0:9d1e3a344e4f | 20 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
sam_grove | 0:9d1e3a344e4f | 21 | * See the License for the specific language governing permissions and |
sam_grove | 0:9d1e3a344e4f | 22 | * limitations under the License. |
falingtrea | 1:41af2b3eefb5 | 23 | * |
falingtrea | 1:41af2b3eefb5 | 24 | * 5/5/2015 Forked from https://developer.mbed.org/users/sam_grove/code/MMA845x/ |
falingtrea | 1:41af2b3eefb5 | 25 | * |
falingtrea | 1:41af2b3eefb5 | 26 | * 6/20/2015 TAB Added setup functions and polling data capability. Also added RTOS calls |
falingtrea | 1:41af2b3eefb5 | 27 | * TODO Still need to add interrupt support for other Accelerometer mode support |
sam_grove | 0:9d1e3a344e4f | 28 | */ |
mfiore | 2:70df6adad015 | 29 | |
sam_grove | 0:9d1e3a344e4f | 30 | #include "MMA845x.h" |
falingtrea | 1:41af2b3eefb5 | 31 | #include "mbed_debug.h" |
falingtrea | 1:41af2b3eefb5 | 32 | #include "rtos.h" |
mfiore | 2:70df6adad015 | 33 | |
falingtrea | 1:41af2b3eefb5 | 34 | MMA845x::MMA845x(I2C &i2c, SA0 const i2c_addr, InterruptIn* int1, InterruptIn* int2) |
sam_grove | 0:9d1e3a344e4f | 35 | { |
sam_grove | 0:9d1e3a344e4f | 36 | _i2c = &i2c; |
falingtrea | 1:41af2b3eefb5 | 37 | _int1 = int1; |
falingtrea | 1:41af2b3eefb5 | 38 | _int2 = int2; |
mfiore | 2:70df6adad015 | 39 | |
falingtrea | 1:41af2b3eefb5 | 40 | _i2c_addr = (0x1c | i2c_addr) << 1; |
mfiore | 2:70df6adad015 | 41 | |
sam_grove | 0:9d1e3a344e4f | 42 | MMA845x::init(); |
sam_grove | 0:9d1e3a344e4f | 43 | |
sam_grove | 0:9d1e3a344e4f | 44 | return; |
sam_grove | 0:9d1e3a344e4f | 45 | } |
sam_grove | 0:9d1e3a344e4f | 46 | |
falingtrea | 1:41af2b3eefb5 | 47 | uint8_t MMA845x::init(void) |
sam_grove | 0:9d1e3a344e4f | 48 | { |
falingtrea | 1:41af2b3eefb5 | 49 | uint8_t result = 0; |
falingtrea | 1:41af2b3eefb5 | 50 | uint8_t i = 0; |
falingtrea | 1:41af2b3eefb5 | 51 | char reg_val[1]; |
mfiore | 2:70df6adad015 | 52 | |
falingtrea | 1:41af2b3eefb5 | 53 | _who_am_i = 0x00; |
mfiore | 2:70df6adad015 | 54 | |
falingtrea | 1:41af2b3eefb5 | 55 | // Reset all registers to POR values |
falingtrea | 1:41af2b3eefb5 | 56 | result = MMA845x::writeRegister(CTRL_REG2, 0xFF); //REG 0x2B |
mfiore | 2:70df6adad015 | 57 | if (result == 0) { |
falingtrea | 1:41af2b3eefb5 | 58 | |
mfiore | 2:70df6adad015 | 59 | do { |
mfiore | 2:70df6adad015 | 60 | // wait for the reset bit to clear. readRegister may error out so we re-try 10 times |
mfiore | 2:70df6adad015 | 61 | osDelay(200); |
mfiore | 2:70df6adad015 | 62 | reg_val[0] = 0x40; |
mfiore | 2:70df6adad015 | 63 | result = MMA845x::readRegister(CTRL_REG2,1,reg_val); |
mfiore | 2:70df6adad015 | 64 | reg_val[0] = reg_val[0] & 0x40; |
mfiore | 2:70df6adad015 | 65 | i++; |
mfiore | 2:70df6adad015 | 66 | } while(((reg_val[0] != 0)||( result != 0)) && (i<=10)); |
falingtrea | 1:41af2b3eefb5 | 67 | } |
falingtrea | 1:41af2b3eefb5 | 68 | |
mfiore | 2:70df6adad015 | 69 | if (result == 0) { |
falingtrea | 1:41af2b3eefb5 | 70 | result = MMA845x::readRegister(WHO_AM_I,1,reg_val); |
falingtrea | 1:41af2b3eefb5 | 71 | } |
falingtrea | 1:41af2b3eefb5 | 72 | |
mfiore | 2:70df6adad015 | 73 | switch (reg_val[0]) { |
mfiore | 2:70df6adad015 | 74 | case MMA8451: |
mfiore | 2:70df6adad015 | 75 | case MMA8452: |
mfiore | 2:70df6adad015 | 76 | case MMA8453: |
mfiore | 2:70df6adad015 | 77 | _who_am_i= reg_val[0]; |
mfiore | 2:70df6adad015 | 78 | if ((_int1 == NULL) && (_int2 == NULL)) |
mfiore | 2:70df6adad015 | 79 | _polling_mode = true; |
mfiore | 2:70df6adad015 | 80 | else _polling_mode = false; |
mfiore | 2:70df6adad015 | 81 | break; |
mfiore | 2:70df6adad015 | 82 | default: |
mfiore | 2:70df6adad015 | 83 | debug ("Device not supported by this library!\n\r"); |
mfiore | 2:70df6adad015 | 84 | result = 1; |
falingtrea | 1:41af2b3eefb5 | 85 | } |
falingtrea | 1:41af2b3eefb5 | 86 | |
mfiore | 2:70df6adad015 | 87 | if(result != 0) { |
falingtrea | 1:41af2b3eefb5 | 88 | debug("MMA845x:init failed\n\r"); |
falingtrea | 1:41af2b3eefb5 | 89 | } |
mfiore | 2:70df6adad015 | 90 | |
falingtrea | 1:41af2b3eefb5 | 91 | |
mfiore | 2:70df6adad015 | 92 | return result; |
falingtrea | 1:41af2b3eefb5 | 93 | } |
falingtrea | 1:41af2b3eefb5 | 94 | |
falingtrea | 1:41af2b3eefb5 | 95 | uint8_t MMA845x::setCommonParameters(RANGE range, RESOLUTION resolution, LOW_NOISE lo_noise, |
mfiore | 2:70df6adad015 | 96 | DATA_RATE data_rate, OVERSAMPLE_MODE os_mode, HPF_MODE hpf_mode) const |
falingtrea | 1:41af2b3eefb5 | 97 | { |
falingtrea | 1:41af2b3eefb5 | 98 | uint8_t result = 0; |
falingtrea | 1:41af2b3eefb5 | 99 | char datain[1]; |
falingtrea | 1:41af2b3eefb5 | 100 | uint8_t dataout = 0; |
falingtrea | 1:41af2b3eefb5 | 101 | |
falingtrea | 1:41af2b3eefb5 | 102 | result |= MMA845x::readRegister(SYSMOD,1,datain); // Make sure MMA845x is in Stand-By mode |
mfiore | 2:70df6adad015 | 103 | if ((datain[0] & 0x03) != 0 ) { |
mfiore | 2:70df6adad015 | 104 | debug ("MMA845x not in STAND BY mode\n\f"); |
falingtrea | 1:41af2b3eefb5 | 105 | debug("MMA845x:setCommonParameters failed\n\r"); |
falingtrea | 1:41af2b3eefb5 | 106 | result = 1; |
falingtrea | 1:41af2b3eefb5 | 107 | return result; |
falingtrea | 1:41af2b3eefb5 | 108 | } |
falingtrea | 1:41af2b3eefb5 | 109 | |
falingtrea | 1:41af2b3eefb5 | 110 | result |= MMA845x::readRegister(CTRL_REG1, 1, datain); |
falingtrea | 1:41af2b3eefb5 | 111 | dataout = (datain[0] & 0xB1) | resolution | lo_noise | data_rate; |
falingtrea | 1:41af2b3eefb5 | 112 | result |= MMA845x::writeRegister(CTRL_REG1, dataout); // Set resolution, Low Noise mode, and data rate |
falingtrea | 1:41af2b3eefb5 | 113 | |
falingtrea | 1:41af2b3eefb5 | 114 | result |= MMA845x::readRegister(CTRL_REG2,1, datain); |
amateusz | 9:645f94e7e1d5 | 115 | dataout = (datain[0] & 0xFC) | os_mode; |
amateusz | 9:645f94e7e1d5 | 116 | result |= MMA845x::writeRegister(CTRL_REG2, dataout); // Set Oversample mode for Active State |
falingtrea | 1:41af2b3eefb5 | 117 | |
falingtrea | 1:41af2b3eefb5 | 118 | result |= MMA845x::readRegister(XYZ_DATA_CFG,1, datain); |
falingtrea | 1:41af2b3eefb5 | 119 | dataout = range | hpf_mode; |
falingtrea | 1:41af2b3eefb5 | 120 | result |= MMA845x::writeRegister(XYZ_DATA_CFG, dataout); //Set HPF mode and range |
falingtrea | 1:41af2b3eefb5 | 121 | |
falingtrea | 1:41af2b3eefb5 | 122 | // result |= MMA845x::readRegister(HP_FILTER_CUTOFF,1, datain); |
falingtrea | 1:41af2b3eefb5 | 123 | // result |= MMA845x::writeRegister(HP_FILTER_CUTOFF, dataout); //REG 0xF HPF settings |
falingtrea | 1:41af2b3eefb5 | 124 | |
mfiore | 2:70df6adad015 | 125 | if(result != 0) { |
falingtrea | 1:41af2b3eefb5 | 126 | debug("MMA845x:setParameters failed\n\r"); |
falingtrea | 1:41af2b3eefb5 | 127 | } |
mfiore | 2:70df6adad015 | 128 | |
mfiore | 2:70df6adad015 | 129 | return result; |
mfiore | 2:70df6adad015 | 130 | |
falingtrea | 1:41af2b3eefb5 | 131 | } |
falingtrea | 1:41af2b3eefb5 | 132 | |
falingtrea | 1:41af2b3eefb5 | 133 | uint8_t MMA845x::enableMotionDetect(void) const |
falingtrea | 1:41af2b3eefb5 | 134 | { |
falingtrea | 1:41af2b3eefb5 | 135 | uint8_t result = 0; |
falingtrea | 1:41af2b3eefb5 | 136 | return result; |
mfiore | 2:70df6adad015 | 137 | } |
mfiore | 2:70df6adad015 | 138 | |
falingtrea | 1:41af2b3eefb5 | 139 | uint8_t MMA845x::enablePulseDetect(void) const |
falingtrea | 1:41af2b3eefb5 | 140 | { |
falingtrea | 1:41af2b3eefb5 | 141 | uint8_t result = 0; |
falingtrea | 1:41af2b3eefb5 | 142 | return result; |
mfiore | 2:70df6adad015 | 143 | } |
falingtrea | 1:41af2b3eefb5 | 144 | |
amateusz | 12:92294b5ca1c1 | 145 | uint8_t MMA845x::enableOrientationDetect(uint8_t debounce_steps, INTERRUPT_PIN pin) const |
falingtrea | 1:41af2b3eefb5 | 146 | { |
falingtrea | 1:41af2b3eefb5 | 147 | uint8_t result = 0; |
amateusz | 10:89dd748f9211 | 148 | // if(_who_am_i != MMA8451) { |
amateusz | 10:89dd748f9211 | 149 | // debug("%s %d: Feature not compatible with the connected device.\n", __FILE__, __LINE__); |
amateusz | 10:89dd748f9211 | 150 | // result = 1; |
amateusz | 10:89dd748f9211 | 151 | // } |
amateusz | 10:89dd748f9211 | 152 | // ↑ not true. MMA8451 is the only one supporting variable trip-angle values |
amateusz | 12:92294b5ca1c1 | 153 | |
amateusz | 12:92294b5ca1c1 | 154 | MMA845x::writeRegister(PL_COUNT, debounce_steps); |
amateusz | 12:92294b5ca1c1 | 155 | MMA845x::writeRegister(PL_CFG, 0b11000000); // enable and set debounce counter to clear out of {clear, decrement} |
amateusz | 12:92294b5ca1c1 | 156 | |
amateusz | 13:77a8994b3bb2 | 157 | configInterrupt(INT_LNDPRT, pin); |
mfiore | 2:70df6adad015 | 158 | |
falingtrea | 1:41af2b3eefb5 | 159 | return result; |
falingtrea | 1:41af2b3eefb5 | 160 | } |
falingtrea | 1:41af2b3eefb5 | 161 | |
falingtrea | 1:41af2b3eefb5 | 162 | uint8_t MMA845x::enableTransientDetect(void) const |
falingtrea | 1:41af2b3eefb5 | 163 | { |
falingtrea | 1:41af2b3eefb5 | 164 | uint8_t result = 0; |
falingtrea | 1:41af2b3eefb5 | 165 | return result; |
mfiore | 2:70df6adad015 | 166 | } |
mfiore | 2:70df6adad015 | 167 | |
falingtrea | 1:41af2b3eefb5 | 168 | uint8_t MMA845x::enableAutoSleep(void) const |
falingtrea | 1:41af2b3eefb5 | 169 | { |
falingtrea | 1:41af2b3eefb5 | 170 | uint8_t result = 0; |
falingtrea | 1:41af2b3eefb5 | 171 | return result; |
mfiore | 2:70df6adad015 | 172 | } |
falingtrea | 1:41af2b3eefb5 | 173 | |
falingtrea | 1:41af2b3eefb5 | 174 | uint8_t MMA845x::enableFIFO(void) const |
falingtrea | 1:41af2b3eefb5 | 175 | { |
falingtrea | 1:41af2b3eefb5 | 176 | uint8_t result = 0; |
falingtrea | 1:41af2b3eefb5 | 177 | |
mfiore | 2:70df6adad015 | 178 | if(_who_am_i != MMA8451) { |
falingtrea | 1:41af2b3eefb5 | 179 | debug("%s %d: Feature not compatible with the connected device.\n", __FILE__, __LINE__); |
falingtrea | 1:41af2b3eefb5 | 180 | result = 1; |
falingtrea | 1:41af2b3eefb5 | 181 | } |
mfiore | 2:70df6adad015 | 182 | |
falingtrea | 1:41af2b3eefb5 | 183 | return result; |
sam_grove | 0:9d1e3a344e4f | 184 | } |
sam_grove | 0:9d1e3a344e4f | 185 | |
amateusz | 13:77a8994b3bb2 | 186 | uint8_t MMA845x::configInterrupt(INTERRUPT_CFG_EN_SOURCE function, INTERRUPT_PIN pin) const |
amateusz | 13:77a8994b3bb2 | 187 | { |
amateusz | 13:77a8994b3bb2 | 188 | uint8_t result = 0; |
amateusz | 13:77a8994b3bb2 | 189 | char datain[1]; |
amateusz | 13:77a8994b3bb2 | 190 | uint8_t dataout; |
amateusz | 13:77a8994b3bb2 | 191 | |
amateusz | 13:77a8994b3bb2 | 192 | if (pin != INT_NONE) { |
amateusz | 13:77a8994b3bb2 | 193 | // enable interrupt |
amateusz | 13:77a8994b3bb2 | 194 | result |= MMA845x::readRegister(CTRL_REG4, 1, datain); |
amateusz | 13:77a8994b3bb2 | 195 | dataout = (datain[0] | function); |
amateusz | 13:77a8994b3bb2 | 196 | result |= MMA845x::writeRegister(CTRL_REG4, dataout); |
amateusz | 13:77a8994b3bb2 | 197 | |
amateusz | 13:77a8994b3bb2 | 198 | //set pin for the interrupt |
amateusz | 13:77a8994b3bb2 | 199 | result |= MMA845x::readRegister(CTRL_REG5, 1, datain); |
amateusz | 13:77a8994b3bb2 | 200 | if (pin == 0) dataout = (datain[0] & ~function); // clearing bit |
amateusz | 13:77a8994b3bb2 | 201 | else dataout = (datain[0] | function); // setting bit |
amateusz | 13:77a8994b3bb2 | 202 | } else { |
amateusz | 13:77a8994b3bb2 | 203 | // disable interrupt |
amateusz | 13:77a8994b3bb2 | 204 | result |= MMA845x::readRegister(CTRL_REG4, 1, datain); |
amateusz | 13:77a8994b3bb2 | 205 | dataout = (datain[0] & ~function); |
amateusz | 13:77a8994b3bb2 | 206 | result |= MMA845x::writeRegister(CTRL_REG4, dataout); |
amateusz | 13:77a8994b3bb2 | 207 | } |
amateusz | 13:77a8994b3bb2 | 208 | return result; |
amateusz | 13:77a8994b3bb2 | 209 | } |
amateusz | 13:77a8994b3bb2 | 210 | |
falingtrea | 1:41af2b3eefb5 | 211 | uint8_t MMA845x::activeMode(void) const |
falingtrea | 1:41af2b3eefb5 | 212 | { |
falingtrea | 1:41af2b3eefb5 | 213 | uint8_t result = 0; |
falingtrea | 1:41af2b3eefb5 | 214 | char datain[1]; |
falingtrea | 1:41af2b3eefb5 | 215 | uint8_t dataout; |
falingtrea | 1:41af2b3eefb5 | 216 | |
falingtrea | 1:41af2b3eefb5 | 217 | result |= MMA845x::readRegister(CTRL_REG1,1, datain); |
falingtrea | 1:41af2b3eefb5 | 218 | dataout = (datain[0] & 0xFE) | 0x01 ; |
falingtrea | 1:41af2b3eefb5 | 219 | result |= MMA845x::writeRegister(CTRL_REG1, dataout); // Set to active mode |
falingtrea | 1:41af2b3eefb5 | 220 | |
falingtrea | 1:41af2b3eefb5 | 221 | return result; |
mfiore | 2:70df6adad015 | 222 | } |
falingtrea | 1:41af2b3eefb5 | 223 | uint8_t MMA845x::standbyMode(void) const |
falingtrea | 1:41af2b3eefb5 | 224 | { |
falingtrea | 1:41af2b3eefb5 | 225 | uint8_t result = 0; |
falingtrea | 1:41af2b3eefb5 | 226 | char datain[1]; |
falingtrea | 1:41af2b3eefb5 | 227 | uint8_t dataout; |
falingtrea | 1:41af2b3eefb5 | 228 | |
falingtrea | 1:41af2b3eefb5 | 229 | result |= MMA845x::readRegister(CTRL_REG1,1, datain); |
falingtrea | 1:41af2b3eefb5 | 230 | dataout = (datain[0] & 0xFE); |
falingtrea | 1:41af2b3eefb5 | 231 | result |= MMA845x::writeRegister(CTRL_REG1, dataout); // Set to standby mode |
falingtrea | 1:41af2b3eefb5 | 232 | |
falingtrea | 1:41af2b3eefb5 | 233 | return result; |
mfiore | 2:70df6adad015 | 234 | } |
falingtrea | 1:41af2b3eefb5 | 235 | |
falingtrea | 1:41af2b3eefb5 | 236 | uint8_t MMA845x::getStatus(void) const |
sam_grove | 0:9d1e3a344e4f | 237 | { |
falingtrea | 1:41af2b3eefb5 | 238 | uint8_t result = 0; |
falingtrea | 1:41af2b3eefb5 | 239 | char datain[1]; |
falingtrea | 1:41af2b3eefb5 | 240 | uint8_t dataout; |
falingtrea | 1:41af2b3eefb5 | 241 | |
falingtrea | 1:41af2b3eefb5 | 242 | result = MMA845x::readRegister(STATUS,1, datain); |
falingtrea | 1:41af2b3eefb5 | 243 | |
falingtrea | 1:41af2b3eefb5 | 244 | if (result != 0) |
mfiore | 2:70df6adad015 | 245 | dataout = result; |
falingtrea | 1:41af2b3eefb5 | 246 | else |
mfiore | 2:70df6adad015 | 247 | dataout = datain[0]; |
falingtrea | 1:41af2b3eefb5 | 248 | |
falingtrea | 1:41af2b3eefb5 | 249 | return dataout; |
mfiore | 2:70df6adad015 | 250 | } |
falingtrea | 1:41af2b3eefb5 | 251 | |
falingtrea | 1:41af2b3eefb5 | 252 | int16_t MMA845x::getX(void) |
falingtrea | 1:41af2b3eefb5 | 253 | { |
falingtrea | 1:41af2b3eefb5 | 254 | char datain[2]; |
falingtrea | 1:41af2b3eefb5 | 255 | |
mfiore | 2:70df6adad015 | 256 | if (_polling_mode) { |
falingtrea | 1:41af2b3eefb5 | 257 | MMA845x::readRegister(OUT_X_MSB,2, datain); |
falingtrea | 1:41af2b3eefb5 | 258 | _data._x = ((datain[0] << 8) | datain[1]); /* data is 14 bit signed with 2 LSB = 0 */ |
falingtrea | 1:41af2b3eefb5 | 259 | _data._x /= 4; /* need to shift first to preserve sign then /4 to remove LSBs */ |
falingtrea | 1:41af2b3eefb5 | 260 | } |
mfiore | 2:70df6adad015 | 261 | return _data._x; |
falingtrea | 1:41af2b3eefb5 | 262 | |
sam_grove | 0:9d1e3a344e4f | 263 | } |
mfiore | 2:70df6adad015 | 264 | |
falingtrea | 1:41af2b3eefb5 | 265 | int16_t MMA845x::getY(void) |
sam_grove | 0:9d1e3a344e4f | 266 | { |
falingtrea | 1:41af2b3eefb5 | 267 | char datain[2]; |
falingtrea | 1:41af2b3eefb5 | 268 | |
mfiore | 2:70df6adad015 | 269 | if (_polling_mode) { |
falingtrea | 1:41af2b3eefb5 | 270 | MMA845x::readRegister(OUT_Y_MSB,2, datain); |
falingtrea | 1:41af2b3eefb5 | 271 | _data._y = ((datain[0] << 8) | datain[1]); /* data is 14 bit signed with 2 LSB = 0 */ |
falingtrea | 1:41af2b3eefb5 | 272 | _data._y /= 4; /* need to shift first to preserve sign then /4 to remove LSBs */ |
falingtrea | 1:41af2b3eefb5 | 273 | } |
mfiore | 2:70df6adad015 | 274 | return _data._y; |
sam_grove | 0:9d1e3a344e4f | 275 | } |
sam_grove | 0:9d1e3a344e4f | 276 | |
falingtrea | 1:41af2b3eefb5 | 277 | int16_t MMA845x::getZ(void) |
sam_grove | 0:9d1e3a344e4f | 278 | { |
falingtrea | 1:41af2b3eefb5 | 279 | char datain[2]; |
falingtrea | 1:41af2b3eefb5 | 280 | |
mfiore | 2:70df6adad015 | 281 | if (_polling_mode) { |
falingtrea | 1:41af2b3eefb5 | 282 | MMA845x::readRegister(OUT_Z_MSB,2, datain); |
falingtrea | 1:41af2b3eefb5 | 283 | _data._z = ((datain[0] << 8) | datain[1]); /* data is 14 bit signed with 2 LSB = 0 */ |
falingtrea | 1:41af2b3eefb5 | 284 | _data._z /= 4; /* need to shift first to preserve sign then /4 to remove LSBs */ |
falingtrea | 1:41af2b3eefb5 | 285 | } |
falingtrea | 1:41af2b3eefb5 | 286 | |
sam_grove | 0:9d1e3a344e4f | 287 | return _data._z; |
sam_grove | 0:9d1e3a344e4f | 288 | } |
mfiore | 2:70df6adad015 | 289 | |
falingtrea | 1:41af2b3eefb5 | 290 | MMA845x_DATA MMA845x::getXYZ(void) |
sam_grove | 0:9d1e3a344e4f | 291 | { |
falingtrea | 1:41af2b3eefb5 | 292 | char datain[6]; |
falingtrea | 1:41af2b3eefb5 | 293 | |
mfiore | 2:70df6adad015 | 294 | if (_polling_mode) { |
falingtrea | 1:41af2b3eefb5 | 295 | MMA845x::readRegister(OUT_X_MSB,6, datain); /* data is 14 bit signed with 2 LSB = 0 */ |
falingtrea | 1:41af2b3eefb5 | 296 | _data._x = ((datain[0] << 8) | datain[1]); /* need to shift first to preserve sign */ |
falingtrea | 1:41af2b3eefb5 | 297 | _data._x /= 4; /* then /4 to remove LSBs */ |
falingtrea | 1:41af2b3eefb5 | 298 | _data._y = ((datain[2] << 8) | datain[3]); |
falingtrea | 1:41af2b3eefb5 | 299 | _data._y /= 4; |
falingtrea | 1:41af2b3eefb5 | 300 | _data._z = ((datain[4] << 8) | datain[5]); |
falingtrea | 1:41af2b3eefb5 | 301 | _data._z /= 4; |
falingtrea | 1:41af2b3eefb5 | 302 | } |
falingtrea | 1:41af2b3eefb5 | 303 | |
sam_grove | 0:9d1e3a344e4f | 304 | return _data; |
sam_grove | 0:9d1e3a344e4f | 305 | } |
sam_grove | 0:9d1e3a344e4f | 306 | |
falingtrea | 1:41af2b3eefb5 | 307 | char MMA845x::getWhoAmI(void) const |
falingtrea | 1:41af2b3eefb5 | 308 | { |
falingtrea | 1:41af2b3eefb5 | 309 | return _who_am_i; |
falingtrea | 1:41af2b3eefb5 | 310 | } |
falingtrea | 1:41af2b3eefb5 | 311 | |
falingtrea | 1:41af2b3eefb5 | 312 | uint8_t MMA845x::writeRegister(uint8_t const reg, uint8_t const data) const |
sam_grove | 0:9d1e3a344e4f | 313 | { |
sam_grove | 0:9d1e3a344e4f | 314 | char buf[2] = {reg, data}; |
sam_grove | 0:9d1e3a344e4f | 315 | uint8_t result = 0; |
falingtrea | 1:41af2b3eefb5 | 316 | |
falingtrea | 1:41af2b3eefb5 | 317 | buf[0] = reg; |
falingtrea | 1:41af2b3eefb5 | 318 | buf[1] = data; |
mfiore | 2:70df6adad015 | 319 | |
falingtrea | 1:41af2b3eefb5 | 320 | result |= _i2c->write(_i2c_addr, buf, 2); |
mfiore | 2:70df6adad015 | 321 | |
Evan Hosseini |
5:d662a7003b6f | 322 | if (result != 0) { |
Evan Hosseini |
5:d662a7003b6f | 323 | debug("MMA845x::writeRegister failed r-%d\n\r",result); |
sam_grove | 0:9d1e3a344e4f | 324 | } |
mfiore | 2:70df6adad015 | 325 | |
falingtrea | 1:41af2b3eefb5 | 326 | return result; |
sam_grove | 0:9d1e3a344e4f | 327 | } |
sam_grove | 0:9d1e3a344e4f | 328 | |
falingtrea | 1:41af2b3eefb5 | 329 | uint8_t MMA845x::readRegister(uint8_t const reg, uint8_t count, char* data) const |
sam_grove | 0:9d1e3a344e4f | 330 | { |
falingtrea | 1:41af2b3eefb5 | 331 | uint8_t result = 0; |
falingtrea | 1:41af2b3eefb5 | 332 | char reg_out[1]; |
mfiore | 2:70df6adad015 | 333 | |
falingtrea | 1:41af2b3eefb5 | 334 | reg_out[0] = reg; |
Evan Hosseini |
5:d662a7003b6f | 335 | _i2c->lock(); |
Evan Hosseini |
5:d662a7003b6f | 336 | |
Evan Hosseini |
5:d662a7003b6f | 337 | // MMA8451Q expects a repeated start from the master |
mfiore | 2:70df6adad015 | 338 | result |= _i2c->write(_i2c_addr,reg_out,1,true); |
falingtrea | 1:41af2b3eefb5 | 339 | |
Evan Hosseini |
5:d662a7003b6f | 340 | if (result != 0) { |
falingtrea | 1:41af2b3eefb5 | 341 | debug("MMA845x::readRegister failed write r- %d\n\r", result); |
Evan Hosseini |
5:d662a7003b6f | 342 | goto exit; |
sam_grove | 0:9d1e3a344e4f | 343 | } |
mfiore | 2:70df6adad015 | 344 | |
mfiore | 2:70df6adad015 | 345 | result |= _i2c->read(_i2c_addr,data,count,false); |
mfiore | 2:70df6adad015 | 346 | |
Evan Hosseini |
5:d662a7003b6f | 347 | if (result != 0) { |
falingtrea | 1:41af2b3eefb5 | 348 | debug("MMA845x::readRegister failed read r-%d\n\r",result); |
sam_grove | 0:9d1e3a344e4f | 349 | } |
mfiore | 2:70df6adad015 | 350 | |
Evan Hosseini |
5:d662a7003b6f | 351 | exit: |
Evan Hosseini |
5:d662a7003b6f | 352 | _i2c->unlock(); |
falingtrea | 1:41af2b3eefb5 | 353 | return result; |
sam_grove | 0:9d1e3a344e4f | 354 | } |