enhancing Multitech's library for some accelerometer
Fork of MMA845x by
MMA845x.cpp@1:41af2b3eefb5, 2015-07-06 (annotated)
- Committer:
- falingtrea
- Date:
- Mon Jul 06 19:53:27 2015 +0000
- Revision:
- 1:41af2b3eefb5
- Parent:
- 0:9d1e3a344e4f
- Child:
- 2:70df6adad015
Added basic setup functions and added RTOS calls. Set data get to poll if interrupt pointers are set to NULL.
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 | */ |
sam_grove | 0:9d1e3a344e4f | 29 | |
sam_grove | 0:9d1e3a344e4f | 30 | #include "MMA845x.h" |
falingtrea | 1:41af2b3eefb5 | 31 | #include "mbed_debug.h" |
falingtrea | 1:41af2b3eefb5 | 32 | #include "rtos.h" |
sam_grove | 0:9d1e3a344e4f | 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; |
sam_grove | 0:9d1e3a344e4f | 39 | |
falingtrea | 1:41af2b3eefb5 | 40 | _i2c_addr = (0x1c | i2c_addr) << 1; |
falingtrea | 1:41af2b3eefb5 | 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]; |
falingtrea | 1:41af2b3eefb5 | 52 | |
falingtrea | 1:41af2b3eefb5 | 53 | _i2c->frequency(100000); |
falingtrea | 1:41af2b3eefb5 | 54 | _who_am_i = 0x00; |
falingtrea | 1:41af2b3eefb5 | 55 | |
falingtrea | 1:41af2b3eefb5 | 56 | // Reset all registers to POR values |
falingtrea | 1:41af2b3eefb5 | 57 | result = MMA845x::writeRegister(CTRL_REG2, 0xFF); //REG 0x2B |
falingtrea | 1:41af2b3eefb5 | 58 | if (result == 0){ |
falingtrea | 1:41af2b3eefb5 | 59 | |
falingtrea | 1:41af2b3eefb5 | 60 | do{ |
falingtrea | 1:41af2b3eefb5 | 61 | // wait for the reset bit to clear. readRegister may error out so we re-try 10 times |
falingtrea | 1:41af2b3eefb5 | 62 | osDelay(200); |
falingtrea | 1:41af2b3eefb5 | 63 | reg_val[0] = 0x40; |
falingtrea | 1:41af2b3eefb5 | 64 | result = MMA845x::readRegister(CTRL_REG2,1,reg_val); |
falingtrea | 1:41af2b3eefb5 | 65 | reg_val[0] = reg_val[0] & 0x40; |
falingtrea | 1:41af2b3eefb5 | 66 | i++; |
falingtrea | 1:41af2b3eefb5 | 67 | }while(((reg_val[0] != 0)||( result != 0)) && (i<=10)); |
falingtrea | 1:41af2b3eefb5 | 68 | } |
falingtrea | 1:41af2b3eefb5 | 69 | |
falingtrea | 1:41af2b3eefb5 | 70 | if (result == 0){ |
falingtrea | 1:41af2b3eefb5 | 71 | result = MMA845x::readRegister(WHO_AM_I,1,reg_val); |
falingtrea | 1:41af2b3eefb5 | 72 | } |
falingtrea | 1:41af2b3eefb5 | 73 | |
falingtrea | 1:41af2b3eefb5 | 74 | switch (reg_val[0]){ |
falingtrea | 1:41af2b3eefb5 | 75 | case MMA8451: |
falingtrea | 1:41af2b3eefb5 | 76 | case MMA8452: |
falingtrea | 1:41af2b3eefb5 | 77 | case MMA8453: |
falingtrea | 1:41af2b3eefb5 | 78 | _who_am_i= reg_val[0]; |
falingtrea | 1:41af2b3eefb5 | 79 | if ((_int1 == NULL) && (_int2 == NULL)) |
falingtrea | 1:41af2b3eefb5 | 80 | _polling_mode = true; |
falingtrea | 1:41af2b3eefb5 | 81 | else _polling_mode = false; |
falingtrea | 1:41af2b3eefb5 | 82 | break; |
falingtrea | 1:41af2b3eefb5 | 83 | default: |
falingtrea | 1:41af2b3eefb5 | 84 | debug ("Device not supported by this library!\n\r"); |
falingtrea | 1:41af2b3eefb5 | 85 | result = 1; |
falingtrea | 1:41af2b3eefb5 | 86 | } |
falingtrea | 1:41af2b3eefb5 | 87 | |
falingtrea | 1:41af2b3eefb5 | 88 | if(result != 0) |
sam_grove | 0:9d1e3a344e4f | 89 | { |
falingtrea | 1:41af2b3eefb5 | 90 | debug("MMA845x:init failed\n\r"); |
falingtrea | 1:41af2b3eefb5 | 91 | } |
falingtrea | 1:41af2b3eefb5 | 92 | |
falingtrea | 1:41af2b3eefb5 | 93 | |
falingtrea | 1:41af2b3eefb5 | 94 | return result; |
falingtrea | 1:41af2b3eefb5 | 95 | } |
falingtrea | 1:41af2b3eefb5 | 96 | |
falingtrea | 1:41af2b3eefb5 | 97 | uint8_t MMA845x::setCommonParameters(RANGE range, RESOLUTION resolution, LOW_NOISE lo_noise, |
falingtrea | 1:41af2b3eefb5 | 98 | DATA_RATE data_rate, OVERSAMPLE_MODE os_mode, HPF_MODE hpf_mode) const |
falingtrea | 1:41af2b3eefb5 | 99 | { |
falingtrea | 1:41af2b3eefb5 | 100 | uint8_t result = 0; |
falingtrea | 1:41af2b3eefb5 | 101 | char datain[1]; |
falingtrea | 1:41af2b3eefb5 | 102 | uint8_t dataout = 0; |
falingtrea | 1:41af2b3eefb5 | 103 | |
falingtrea | 1:41af2b3eefb5 | 104 | result |= MMA845x::readRegister(SYSMOD,1,datain); // Make sure MMA845x is in Stand-By mode |
falingtrea | 1:41af2b3eefb5 | 105 | if ((datain[0] & 0x03) != 0 ){ |
falingtrea | 1:41af2b3eefb5 | 106 | debug ("MMA845x not in STAND BY mode\n\f"); |
falingtrea | 1:41af2b3eefb5 | 107 | debug("MMA845x:setCommonParameters failed\n\r"); |
falingtrea | 1:41af2b3eefb5 | 108 | result = 1; |
falingtrea | 1:41af2b3eefb5 | 109 | return result; |
falingtrea | 1:41af2b3eefb5 | 110 | } |
falingtrea | 1:41af2b3eefb5 | 111 | |
falingtrea | 1:41af2b3eefb5 | 112 | result |= MMA845x::readRegister(CTRL_REG1, 1, datain); |
falingtrea | 1:41af2b3eefb5 | 113 | dataout = (datain[0] & 0xB1) | resolution | lo_noise | data_rate; |
falingtrea | 1:41af2b3eefb5 | 114 | result |= MMA845x::writeRegister(CTRL_REG1, dataout); // Set resolution, Low Noise mode, and data rate |
falingtrea | 1:41af2b3eefb5 | 115 | |
falingtrea | 1:41af2b3eefb5 | 116 | result |= MMA845x::readRegister(CTRL_REG2,1, datain); |
falingtrea | 1:41af2b3eefb5 | 117 | dataout = (datain[0] & 0xFB) | os_mode; |
falingtrea | 1:41af2b3eefb5 | 118 | result |= MMA845x::writeRegister(CTRL_REG2, dataout); // Set Oversample mode |
falingtrea | 1:41af2b3eefb5 | 119 | |
falingtrea | 1:41af2b3eefb5 | 120 | result |= MMA845x::readRegister(XYZ_DATA_CFG,1, datain); |
falingtrea | 1:41af2b3eefb5 | 121 | dataout = range | hpf_mode; |
falingtrea | 1:41af2b3eefb5 | 122 | result |= MMA845x::writeRegister(XYZ_DATA_CFG, dataout); //Set HPF mode and range |
falingtrea | 1:41af2b3eefb5 | 123 | |
falingtrea | 1:41af2b3eefb5 | 124 | // result |= MMA845x::readRegister(HP_FILTER_CUTOFF,1, datain); |
falingtrea | 1:41af2b3eefb5 | 125 | // result |= MMA845x::writeRegister(HP_FILTER_CUTOFF, dataout); //REG 0xF HPF settings |
falingtrea | 1:41af2b3eefb5 | 126 | |
falingtrea | 1:41af2b3eefb5 | 127 | if(result != 0) |
falingtrea | 1:41af2b3eefb5 | 128 | { |
falingtrea | 1:41af2b3eefb5 | 129 | debug("MMA845x:setParameters failed\n\r"); |
falingtrea | 1:41af2b3eefb5 | 130 | } |
falingtrea | 1:41af2b3eefb5 | 131 | |
falingtrea | 1:41af2b3eefb5 | 132 | return result; |
falingtrea | 1:41af2b3eefb5 | 133 | |
falingtrea | 1:41af2b3eefb5 | 134 | } |
falingtrea | 1:41af2b3eefb5 | 135 | |
falingtrea | 1:41af2b3eefb5 | 136 | uint8_t MMA845x::enableMotionDetect(void) const |
falingtrea | 1:41af2b3eefb5 | 137 | { |
falingtrea | 1:41af2b3eefb5 | 138 | uint8_t result = 0; |
falingtrea | 1:41af2b3eefb5 | 139 | return result; |
sam_grove | 0:9d1e3a344e4f | 140 | } |
sam_grove | 0:9d1e3a344e4f | 141 | |
falingtrea | 1:41af2b3eefb5 | 142 | uint8_t MMA845x::enablePulseDetect(void) const |
falingtrea | 1:41af2b3eefb5 | 143 | { |
falingtrea | 1:41af2b3eefb5 | 144 | uint8_t result = 0; |
falingtrea | 1:41af2b3eefb5 | 145 | return result; |
falingtrea | 1:41af2b3eefb5 | 146 | } |
falingtrea | 1:41af2b3eefb5 | 147 | |
falingtrea | 1:41af2b3eefb5 | 148 | uint8_t MMA845x::enableOrientationDetect(void) const |
falingtrea | 1:41af2b3eefb5 | 149 | { |
falingtrea | 1:41af2b3eefb5 | 150 | uint8_t result = 0; |
falingtrea | 1:41af2b3eefb5 | 151 | |
falingtrea | 1:41af2b3eefb5 | 152 | if(_who_am_i != MMA8451) |
falingtrea | 1:41af2b3eefb5 | 153 | { |
falingtrea | 1:41af2b3eefb5 | 154 | debug("%s %d: Feature not compatible with the connected device.\n", __FILE__, __LINE__); |
falingtrea | 1:41af2b3eefb5 | 155 | result = 1; |
falingtrea | 1:41af2b3eefb5 | 156 | } |
sam_grove | 0:9d1e3a344e4f | 157 | |
falingtrea | 1:41af2b3eefb5 | 158 | return result; |
falingtrea | 1:41af2b3eefb5 | 159 | } |
falingtrea | 1:41af2b3eefb5 | 160 | |
falingtrea | 1:41af2b3eefb5 | 161 | uint8_t MMA845x::enableTransientDetect(void) const |
falingtrea | 1:41af2b3eefb5 | 162 | { |
falingtrea | 1:41af2b3eefb5 | 163 | uint8_t result = 0; |
falingtrea | 1:41af2b3eefb5 | 164 | return result; |
falingtrea | 1:41af2b3eefb5 | 165 | } |
falingtrea | 1:41af2b3eefb5 | 166 | |
falingtrea | 1:41af2b3eefb5 | 167 | uint8_t MMA845x::enableAutoSleep(void) const |
falingtrea | 1:41af2b3eefb5 | 168 | { |
falingtrea | 1:41af2b3eefb5 | 169 | uint8_t result = 0; |
falingtrea | 1:41af2b3eefb5 | 170 | return result; |
falingtrea | 1:41af2b3eefb5 | 171 | } |
falingtrea | 1:41af2b3eefb5 | 172 | |
falingtrea | 1:41af2b3eefb5 | 173 | uint8_t MMA845x::enableFIFO(void) const |
falingtrea | 1:41af2b3eefb5 | 174 | { |
falingtrea | 1:41af2b3eefb5 | 175 | uint8_t result = 0; |
falingtrea | 1:41af2b3eefb5 | 176 | |
falingtrea | 1:41af2b3eefb5 | 177 | if(_who_am_i != MMA8451) |
falingtrea | 1:41af2b3eefb5 | 178 | { |
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 | } |
falingtrea | 1:41af2b3eefb5 | 182 | |
falingtrea | 1:41af2b3eefb5 | 183 | return result; |
sam_grove | 0:9d1e3a344e4f | 184 | } |
sam_grove | 0:9d1e3a344e4f | 185 | |
falingtrea | 1:41af2b3eefb5 | 186 | uint8_t MMA845x::activeMode(void) const |
falingtrea | 1:41af2b3eefb5 | 187 | { |
falingtrea | 1:41af2b3eefb5 | 188 | uint8_t result = 0; |
falingtrea | 1:41af2b3eefb5 | 189 | char datain[1]; |
falingtrea | 1:41af2b3eefb5 | 190 | uint8_t dataout; |
falingtrea | 1:41af2b3eefb5 | 191 | |
falingtrea | 1:41af2b3eefb5 | 192 | result |= MMA845x::readRegister(CTRL_REG1,1, datain); |
falingtrea | 1:41af2b3eefb5 | 193 | dataout = (datain[0] & 0xFE) | 0x01 ; |
falingtrea | 1:41af2b3eefb5 | 194 | result |= MMA845x::writeRegister(CTRL_REG1, dataout); // Set to active mode |
falingtrea | 1:41af2b3eefb5 | 195 | |
falingtrea | 1:41af2b3eefb5 | 196 | return result; |
falingtrea | 1:41af2b3eefb5 | 197 | } |
falingtrea | 1:41af2b3eefb5 | 198 | uint8_t MMA845x::standbyMode(void) const |
falingtrea | 1:41af2b3eefb5 | 199 | { |
falingtrea | 1:41af2b3eefb5 | 200 | uint8_t result = 0; |
falingtrea | 1:41af2b3eefb5 | 201 | char datain[1]; |
falingtrea | 1:41af2b3eefb5 | 202 | uint8_t dataout; |
falingtrea | 1:41af2b3eefb5 | 203 | |
falingtrea | 1:41af2b3eefb5 | 204 | result |= MMA845x::readRegister(CTRL_REG1,1, datain); |
falingtrea | 1:41af2b3eefb5 | 205 | dataout = (datain[0] & 0xFE); |
falingtrea | 1:41af2b3eefb5 | 206 | result |= MMA845x::writeRegister(CTRL_REG1, dataout); // Set to standby mode |
falingtrea | 1:41af2b3eefb5 | 207 | |
falingtrea | 1:41af2b3eefb5 | 208 | return result; |
falingtrea | 1:41af2b3eefb5 | 209 | } |
falingtrea | 1:41af2b3eefb5 | 210 | |
falingtrea | 1:41af2b3eefb5 | 211 | uint8_t MMA845x::getStatus(void) const |
sam_grove | 0:9d1e3a344e4f | 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(STATUS,1, datain); |
falingtrea | 1:41af2b3eefb5 | 218 | |
falingtrea | 1:41af2b3eefb5 | 219 | if (result != 0) |
falingtrea | 1:41af2b3eefb5 | 220 | dataout = result; |
falingtrea | 1:41af2b3eefb5 | 221 | else |
falingtrea | 1:41af2b3eefb5 | 222 | dataout = datain[0]; |
falingtrea | 1:41af2b3eefb5 | 223 | |
falingtrea | 1:41af2b3eefb5 | 224 | return dataout; |
falingtrea | 1:41af2b3eefb5 | 225 | } |
falingtrea | 1:41af2b3eefb5 | 226 | |
falingtrea | 1:41af2b3eefb5 | 227 | int16_t MMA845x::getX(void) |
falingtrea | 1:41af2b3eefb5 | 228 | { |
falingtrea | 1:41af2b3eefb5 | 229 | char datain[2]; |
falingtrea | 1:41af2b3eefb5 | 230 | |
falingtrea | 1:41af2b3eefb5 | 231 | if (_polling_mode) |
falingtrea | 1:41af2b3eefb5 | 232 | { |
falingtrea | 1:41af2b3eefb5 | 233 | MMA845x::readRegister(OUT_X_MSB,2, datain); |
falingtrea | 1:41af2b3eefb5 | 234 | _data._x = ((datain[0] << 8) | datain[1]); /* data is 14 bit signed with 2 LSB = 0 */ |
falingtrea | 1:41af2b3eefb5 | 235 | _data._x /= 4; /* need to shift first to preserve sign then /4 to remove LSBs */ |
falingtrea | 1:41af2b3eefb5 | 236 | } |
falingtrea | 1:41af2b3eefb5 | 237 | return _data._x; |
falingtrea | 1:41af2b3eefb5 | 238 | |
sam_grove | 0:9d1e3a344e4f | 239 | } |
sam_grove | 0:9d1e3a344e4f | 240 | |
falingtrea | 1:41af2b3eefb5 | 241 | int16_t MMA845x::getY(void) |
sam_grove | 0:9d1e3a344e4f | 242 | { |
falingtrea | 1:41af2b3eefb5 | 243 | char datain[2]; |
falingtrea | 1:41af2b3eefb5 | 244 | |
falingtrea | 1:41af2b3eefb5 | 245 | if (_polling_mode) |
falingtrea | 1:41af2b3eefb5 | 246 | { |
falingtrea | 1:41af2b3eefb5 | 247 | MMA845x::readRegister(OUT_Y_MSB,2, datain); |
falingtrea | 1:41af2b3eefb5 | 248 | _data._y = ((datain[0] << 8) | datain[1]); /* data is 14 bit signed with 2 LSB = 0 */ |
falingtrea | 1:41af2b3eefb5 | 249 | _data._y /= 4; /* need to shift first to preserve sign then /4 to remove LSBs */ |
falingtrea | 1:41af2b3eefb5 | 250 | } |
falingtrea | 1:41af2b3eefb5 | 251 | return _data._y; |
sam_grove | 0:9d1e3a344e4f | 252 | } |
sam_grove | 0:9d1e3a344e4f | 253 | |
falingtrea | 1:41af2b3eefb5 | 254 | int16_t MMA845x::getZ(void) |
sam_grove | 0:9d1e3a344e4f | 255 | { |
falingtrea | 1:41af2b3eefb5 | 256 | char datain[2]; |
falingtrea | 1:41af2b3eefb5 | 257 | |
falingtrea | 1:41af2b3eefb5 | 258 | if (_polling_mode) |
falingtrea | 1:41af2b3eefb5 | 259 | { |
falingtrea | 1:41af2b3eefb5 | 260 | MMA845x::readRegister(OUT_Z_MSB,2, datain); |
falingtrea | 1:41af2b3eefb5 | 261 | _data._z = ((datain[0] << 8) | datain[1]); /* data is 14 bit signed with 2 LSB = 0 */ |
falingtrea | 1:41af2b3eefb5 | 262 | _data._z /= 4; /* need to shift first to preserve sign then /4 to remove LSBs */ |
falingtrea | 1:41af2b3eefb5 | 263 | } |
falingtrea | 1:41af2b3eefb5 | 264 | |
sam_grove | 0:9d1e3a344e4f | 265 | return _data._z; |
sam_grove | 0:9d1e3a344e4f | 266 | } |
sam_grove | 0:9d1e3a344e4f | 267 | |
falingtrea | 1:41af2b3eefb5 | 268 | MMA845x_DATA MMA845x::getXYZ(void) |
sam_grove | 0:9d1e3a344e4f | 269 | { |
falingtrea | 1:41af2b3eefb5 | 270 | char datain[6]; |
falingtrea | 1:41af2b3eefb5 | 271 | |
falingtrea | 1:41af2b3eefb5 | 272 | if (_polling_mode) |
falingtrea | 1:41af2b3eefb5 | 273 | { |
falingtrea | 1:41af2b3eefb5 | 274 | MMA845x::readRegister(OUT_X_MSB,6, datain); /* data is 14 bit signed with 2 LSB = 0 */ |
falingtrea | 1:41af2b3eefb5 | 275 | _data._x = ((datain[0] << 8) | datain[1]); /* need to shift first to preserve sign */ |
falingtrea | 1:41af2b3eefb5 | 276 | _data._x /= 4; /* then /4 to remove LSBs */ |
falingtrea | 1:41af2b3eefb5 | 277 | _data._y = ((datain[2] << 8) | datain[3]); |
falingtrea | 1:41af2b3eefb5 | 278 | _data._y /= 4; |
falingtrea | 1:41af2b3eefb5 | 279 | _data._z = ((datain[4] << 8) | datain[5]); |
falingtrea | 1:41af2b3eefb5 | 280 | _data._z /= 4; |
falingtrea | 1:41af2b3eefb5 | 281 | } |
falingtrea | 1:41af2b3eefb5 | 282 | |
sam_grove | 0:9d1e3a344e4f | 283 | return _data; |
sam_grove | 0:9d1e3a344e4f | 284 | } |
sam_grove | 0:9d1e3a344e4f | 285 | |
falingtrea | 1:41af2b3eefb5 | 286 | char MMA845x::getWhoAmI(void) const |
falingtrea | 1:41af2b3eefb5 | 287 | { |
falingtrea | 1:41af2b3eefb5 | 288 | return _who_am_i; |
falingtrea | 1:41af2b3eefb5 | 289 | } |
falingtrea | 1:41af2b3eefb5 | 290 | |
falingtrea | 1:41af2b3eefb5 | 291 | uint8_t MMA845x::writeRegister(uint8_t const reg, uint8_t const data) const |
sam_grove | 0:9d1e3a344e4f | 292 | { |
sam_grove | 0:9d1e3a344e4f | 293 | char buf[2] = {reg, data}; |
sam_grove | 0:9d1e3a344e4f | 294 | uint8_t result = 0; |
falingtrea | 1:41af2b3eefb5 | 295 | |
falingtrea | 1:41af2b3eefb5 | 296 | buf[0] = reg; |
falingtrea | 1:41af2b3eefb5 | 297 | buf[1] = data; |
sam_grove | 0:9d1e3a344e4f | 298 | |
falingtrea | 1:41af2b3eefb5 | 299 | // __disable_irq(); // Tickers and other timebase events can jack up the I2C bus for some devices |
falingtrea | 1:41af2b3eefb5 | 300 | result |= _i2c->write(_i2c_addr, buf, 2); |
falingtrea | 1:41af2b3eefb5 | 301 | // __enable_irq(); // Just need to block during the transaction |
sam_grove | 0:9d1e3a344e4f | 302 | |
falingtrea | 1:41af2b3eefb5 | 303 | if(result != 0) |
sam_grove | 0:9d1e3a344e4f | 304 | { |
falingtrea | 1:41af2b3eefb5 | 305 | debug("MMA845x:writeRegister failed r-%d\n\r",result); |
sam_grove | 0:9d1e3a344e4f | 306 | } |
sam_grove | 0:9d1e3a344e4f | 307 | |
falingtrea | 1:41af2b3eefb5 | 308 | return result; |
sam_grove | 0:9d1e3a344e4f | 309 | } |
sam_grove | 0:9d1e3a344e4f | 310 | |
falingtrea | 1:41af2b3eefb5 | 311 | uint8_t MMA845x::readRegister(uint8_t const reg, uint8_t count, char* data) const |
sam_grove | 0:9d1e3a344e4f | 312 | { |
falingtrea | 1:41af2b3eefb5 | 313 | uint8_t result = 0; |
falingtrea | 1:41af2b3eefb5 | 314 | char reg_out[1]; |
sam_grove | 0:9d1e3a344e4f | 315 | |
falingtrea | 1:41af2b3eefb5 | 316 | reg_out[0] = reg; |
falingtrea | 1:41af2b3eefb5 | 317 | // __disable_irq(); // Tickers and other timebase events can jack up the I2C bus for some devices |
falingtrea | 1:41af2b3eefb5 | 318 | result |= _i2c->write(_i2c_addr,reg_out,1,true); |
falingtrea | 1:41af2b3eefb5 | 319 | // __enable_irq(); // Just need to block during the transaction |
falingtrea | 1:41af2b3eefb5 | 320 | |
falingtrea | 1:41af2b3eefb5 | 321 | if(result != 0) |
sam_grove | 0:9d1e3a344e4f | 322 | { |
falingtrea | 1:41af2b3eefb5 | 323 | debug("MMA845x::readRegister failed write r- %d\n\r", result); |
falingtrea | 1:41af2b3eefb5 | 324 | return result; |
sam_grove | 0:9d1e3a344e4f | 325 | } |
sam_grove | 0:9d1e3a344e4f | 326 | |
falingtrea | 1:41af2b3eefb5 | 327 | // __disable_irq(); // Tickers and other timebase events can jack up the I2C bus for some devices |
falingtrea | 1:41af2b3eefb5 | 328 | result |= _i2c->read(_i2c_addr,data,count,false); |
falingtrea | 1:41af2b3eefb5 | 329 | // __enable_irq(); // Just need to block during the transaction |
sam_grove | 0:9d1e3a344e4f | 330 | |
falingtrea | 1:41af2b3eefb5 | 331 | if(result != 0) |
sam_grove | 0:9d1e3a344e4f | 332 | { |
falingtrea | 1:41af2b3eefb5 | 333 | debug("MMA845x::readRegister failed read r-%d\n\r",result); |
sam_grove | 0:9d1e3a344e4f | 334 | } |
sam_grove | 0:9d1e3a344e4f | 335 | |
falingtrea | 1:41af2b3eefb5 | 336 | return result; |
sam_grove | 0:9d1e3a344e4f | 337 | } |