Vali Abdrakhmanov / MMA8452_my

1

MMA8452.h@16:d6dde2318edc, 2014-03-05 (annotated)

Committer:
ashleymills
Date:
Wed Mar 05 16:47:13 2014 +0000
Revision:
16:d6dde2318edc
Parent:
15:7620a11149b8
Child:
17:6e4232c421c0
Added data ready query commands for each independent axes.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ashleymills 15:7620a11149b8 1 #pragma once
ashleymills 15:7620a11149b8 2
ashleymills 14:0602b45ca70f 3 // Authors: Ashley Mills, Nicholas Herriot
nherriot 0:bcf2aa85d7f9 4 /* Copyright (c) 2013 Vodafone, MIT License
nherriot 0:bcf2aa85d7f9 5 *
nherriot 0:bcf2aa85d7f9 6 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
nherriot 0:bcf2aa85d7f9 7 * and associated documentation files (the "Software"), to deal in the Software without restriction,
nherriot 0:bcf2aa85d7f9 8 * including without limitation the rights to use, copy, modify, merge, publish, distribute,
nherriot 0:bcf2aa85d7f9 9 * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
nherriot 0:bcf2aa85d7f9 10 * furnished to do so, subject to the following conditions:
nherriot 0:bcf2aa85d7f9 11 *
nherriot 0:bcf2aa85d7f9 12 * The above copyright notice and this permission notice shall be included in all copies or
nherriot 0:bcf2aa85d7f9 13 * substantial portions of the Software.
nherriot 0:bcf2aa85d7f9 14 *
nherriot 0:bcf2aa85d7f9 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
nherriot 0:bcf2aa85d7f9 16 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
nherriot 0:bcf2aa85d7f9 17 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
nherriot 0:bcf2aa85d7f9 18 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
nherriot 0:bcf2aa85d7f9 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
nherriot 0:bcf2aa85d7f9 20 */
nherriot 0:bcf2aa85d7f9 21
nherriot 0:bcf2aa85d7f9 22 // the SparkFun breakout board defaults to 1, set to 0 if SA0 jumper on the bottom of the board is set
nherriot 0:bcf2aa85d7f9 23 // see the Table 10. I2C Device Address Sequence in Freescale MMA8452Q pdf
nherriot 0:bcf2aa85d7f9 24
ashleymills 11:dfd1e0afcb7b 25
ashleymills 11:dfd1e0afcb7b 26 #define DBG(...) pc.printf(__VA_ARGS__); pc.printf("\r\n");
ashleymills 11:dfd1e0afcb7b 27 #define DBGX(...) pc.print(__VA_ARGS__);
nherriot 0:bcf2aa85d7f9 28
ashleymills 15:7620a11149b8 29 #include "mbed.h"
nherriot 0:bcf2aa85d7f9 30
nherriot 0:bcf2aa85d7f9 31 // 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
nherriot 0:bcf2aa85d7f9 32 #define SA0 1
nherriot 0:bcf2aa85d7f9 33 #if SA0
ashleymills 11:dfd1e0afcb7b 34 #define MMA8452_ADDRESS 0x3A // 0x1D<<1 // SA0 is high, 0x1C if low -
nherriot 0:bcf2aa85d7f9 35 #else
ashleymills 11:dfd1e0afcb7b 36 #define MMA8452_ADDRESS 0x38 // 0x1C<<1
nherriot 0:bcf2aa85d7f9 37 #endif
nherriot 0:bcf2aa85d7f9 38
nherriot 0:bcf2aa85d7f9 39 // Register descriptions found in section 6 of pdf
ashleymills 12:172540ff6b8b 40 #define MMA8452_STATUS 0x00 // Type 'read' : Status of the data registers
ashleymills 12:172540ff6b8b 41 #define MMA8452_OUT_X_MSB 0x01 // Type 'read' : x axis - MSB of 2 byte sample
ashleymills 12:172540ff6b8b 42 #define MMA8452_OUT_X_LSB 0x02 // Type 'read' : x axis - LSB of 2 byte sample
ashleymills 12:172540ff6b8b 43 #define MMA8452_OUT_Y_MSB 0x03 // Type 'read' : y axis - MSB of 2 byte sample
ashleymills 12:172540ff6b8b 44 #define MMA8452_OUT_Y_LSB 0x04 // Type 'read' : y axis - LSB of 2 byte sample
ashleymills 12:172540ff6b8b 45 #define MMA8452_OUT_Z_MSB 0x05 // Type 'read' : z axis - MSB of 2 byte sample
ashleymills 12:172540ff6b8b 46 #define MMA8452_OUT_Z_LSB 0x06 // Type 'read' : z axis - LSB of 2 byte sample
nherriot 0:bcf2aa85d7f9 47
ashleymills 12:172540ff6b8b 48 // register definitions
ashleymills 12:172540ff6b8b 49 #define MMA8452_XYZ_DATA_CFG 0x0E
ashleymills 12:172540ff6b8b 50
ashleymills 12:172540ff6b8b 51 #define MMA8452_SYSMOD 0x0B // Type 'read' : This tells you if device is active, sleep or standy 0x00=STANDBY 0x01=WAKE 0x02=SLEEP
ashleymills 12:172540ff6b8b 52 #define MMA8452_WHO_AM_I 0x0D // Type 'read' : This should return the device id of 0x2A
nherriot 0:bcf2aa85d7f9 53
ashleymills 12:172540ff6b8b 54 #define MMA8452_PL_STATUS 0x10 // Type 'read' : This shows portrait landscape mode orientation
ashleymills 12:172540ff6b8b 55 #define MMA8452_PL_CFG 0x11 // Type 'read/write' : This allows portrait landscape configuration
ashleymills 12:172540ff6b8b 56 #define MMA8452_PL_COUNT 0x12 // Type 'read' : This is the portraint landscape debounce counter
ashleymills 12:172540ff6b8b 57 #define MMA8452_PL_BF_ZCOMP 0x13 // Type 'read' :
ashleymills 12:172540ff6b8b 58 #define MMA8452_PL_THS_REG 0x14 // Type 'read' :
nherriot 0:bcf2aa85d7f9 59
ashleymills 12:172540ff6b8b 60 #define MMA8452_FF_MT_CFG 0X15 // Type 'read/write' : Freefaul motion functional block configuration
ashleymills 12:172540ff6b8b 61 #define MMA8452_FF_MT_SRC 0X16 // Type 'read' : Freefaul motion event source register
ashleymills 12:172540ff6b8b 62 #define MMA8452_FF_MT_THS 0X17 // Type 'read' : Freefaul motion threshold register
ashleymills 12:172540ff6b8b 63 #define MMA8452_FF_COUNT 0X18 // Type 'read' : Freefaul motion debouce counter
nherriot 0:bcf2aa85d7f9 64
ashleymills 12:172540ff6b8b 65 #define MMA8452_ASLP_COUNT 0x29 // Type 'read/write' : Counter settings for auto sleep
ashleymills 12:172540ff6b8b 66 #define MMA8452_CTRL_REG_1 0x2A // Type 'read/write' :
ashleymills 12:172540ff6b8b 67 #define MMA8452_CTRL_REG_2 0x2B // Type 'read/write' :
ashleymills 12:172540ff6b8b 68 #define MMA8452_CTRL_REG_3 0x2C // Type 'read/write' :
ashleymills 12:172540ff6b8b 69 #define MMA8452_CTRL_REG_4 0x2D // Type 'read/write' :
ashleymills 12:172540ff6b8b 70 #define MMA8452_CTRL_REG_5 0x2E // Type 'read/write' :
nherriot 0:bcf2aa85d7f9 71
nherriot 3:ffb0b1650ca2 72 // Defined in table 13 of the Freescale PDF
ashleymills 12:172540ff6b8b 73 /// xxx these all need to have better names
nherriot 3:ffb0b1650ca2 74 #define STANDBY 0x00 // State value returned after a SYSMOD request, it can be in state STANDBY, WAKE or SLEEP
nherriot 3:ffb0b1650ca2 75 #define WAKE 0x01 // State value returned after a SYSMOD request, it can be in state STANDBY, WAKE or SLEEP
nherriot 3:ffb0b1650ca2 76 #define SLEEP 0x02 // State value returned after a SYSMOD request, it can be in state STANDBY, WAKE or SLEEP
nherriot 3:ffb0b1650ca2 77 #define ACTIVE 0x01 // Stage value returned and set in Control Register 1, it can be STANDBY=00, or ACTIVE=01
nherriot 0:bcf2aa85d7f9 78
nherriot 0:bcf2aa85d7f9 79 #define TILT_STATUS 0x03 // Tilt Status (Read only)
nherriot 0:bcf2aa85d7f9 80 #define SRST_STATUS 0x04 // Sample Rate Status Register (Read only)
nherriot 0:bcf2aa85d7f9 81 #define SPCNT_STATUS 0x05 // Sleep Count Register (Read/Write)
nherriot 0:bcf2aa85d7f9 82 #define INTSU_STATUS 0x06 // Interrupt Setup Register
nherriot 0:bcf2aa85d7f9 83 #define MODE_STATUS 0x07 // Mode Register (Read/Write)
nherriot 0:bcf2aa85d7f9 84 #define SR_STATUS 0x08 // Auto-Wake and Active Mode Portrait/Landscape Samples per Seconds Register (Read/Write)
nherriot 0:bcf2aa85d7f9 85 #define PDET_STATUS 0x09 // Tap/Pulse Detection Register (Read/Write)
nherriot 0:bcf2aa85d7f9 86 #define PD_STATUS 0xA // Tap/Pulse Debounce Count Register (Read/Write)
nherriot 0:bcf2aa85d7f9 87
ashleymills 12:172540ff6b8b 88 // masks for enabling/disabling standby
ashleymills 11:dfd1e0afcb7b 89 #define MMA8452_ACTIVE_MASK 0x01
ashleymills 11:dfd1e0afcb7b 90 #define MMA8452_STANDBY_MASK 0xFE
ashleymills 11:dfd1e0afcb7b 91
ashleymills 12:172540ff6b8b 92 // mask for dynamic range reading and writing
ashleymills 11:dfd1e0afcb7b 93 #define MMA8452_DYNAMIC_RANGE_MASK 0xFC
ashleymills 11:dfd1e0afcb7b 94
ashleymills 12:172540ff6b8b 95 // mask and shift for data rate reading and writing
ashleymills 11:dfd1e0afcb7b 96 #define MMA8452_DATA_RATE_MASK 0xC7
ashleymills 11:dfd1e0afcb7b 97 #define MMA8452_DATA_RATE_MASK_SHIFT 0x03
ashleymills 11:dfd1e0afcb7b 98
ashleymills 12:172540ff6b8b 99 // mask and shift for general reading and writing
ashleymills 11:dfd1e0afcb7b 100 #define MMA8452_WRITE_MASK 0xFE
ashleymills 11:dfd1e0afcb7b 101 #define MMA8452_READ_MASK 0x01
ashleymills 11:dfd1e0afcb7b 102
ashleymills 12:172540ff6b8b 103 // mask and shift for bit depth reading and writing
ashleymills 11:dfd1e0afcb7b 104 #define MMA8452_BIT_DEPTH_MASK 0xFD
ashleymills 11:dfd1e0afcb7b 105 #define MMA8452_BIT_DEPTH_MASK_SHIFT 0x01
ashleymills 12:172540ff6b8b 106
ashleymills 12:172540ff6b8b 107 // status masks and shifts
ashleymills 12:172540ff6b8b 108 #define MMA8452_STATUS_ZYXDR_MASK 0x08
ashleymills 16:d6dde2318edc 109 #define MMA8452_STATUS_ZDR_MASK 0x04
ashleymills 16:d6dde2318edc 110 #define MMA8452_STATUS_YDR_MASK 0x02
ashleymills 16:d6dde2318edc 111 #define MMA8452_STATUS_XDR_MASK 0x01
ashleymills 11:dfd1e0afcb7b 112
ashleymills 10:ca9ba7ad4e94 113 class MMA8452
nherriot 0:bcf2aa85d7f9 114 {
nherriot 0:bcf2aa85d7f9 115 public:
ashleymills 10:ca9ba7ad4e94 116
ashleymills 11:dfd1e0afcb7b 117 enum DynamicRange {
ashleymills 11:dfd1e0afcb7b 118 DYNAMIC_RANGE_2G=0x00,
ashleymills 11:dfd1e0afcb7b 119 DYNAMIC_RANGE_4G,
ashleymills 11:dfd1e0afcb7b 120 DYNAMIC_RANGE_8G,
ashleymills 11:dfd1e0afcb7b 121 DYNAMIC_RANGE_UNKNOWN
ashleymills 10:ca9ba7ad4e94 122 };
nherriot 0:bcf2aa85d7f9 123
ashleymills 10:ca9ba7ad4e94 124 enum BitDepth {
ashleymills 11:dfd1e0afcb7b 125 BIT_DEPTH_12=0x00,
ashleymills 12:172540ff6b8b 126 BIT_DEPTH_8, // 1 sets fast read mode, hence the inversion
ashleymills 12:172540ff6b8b 127 BIT_DEPTH_UNKNOWN
ashleymills 10:ca9ba7ad4e94 128 };
ashleymills 11:dfd1e0afcb7b 129
ashleymills 11:dfd1e0afcb7b 130 enum DataRateHz {
ashleymills 11:dfd1e0afcb7b 131 RATE_800=0x00,
ashleymills 11:dfd1e0afcb7b 132 RATE_400,
ashleymills 11:dfd1e0afcb7b 133 RATE_200,
ashleymills 11:dfd1e0afcb7b 134 RATE_100,
ashleymills 11:dfd1e0afcb7b 135 RATE_50,
ashleymills 11:dfd1e0afcb7b 136 RATE_12_5,
ashleymills 11:dfd1e0afcb7b 137 RATE_6_25,
ashleymills 11:dfd1e0afcb7b 138 RATE_1_563,
ashleymills 11:dfd1e0afcb7b 139 RATE_UNKNOWN
ashleymills 11:dfd1e0afcb7b 140 };
ashleymills 11:dfd1e0afcb7b 141
nherriot 0:bcf2aa85d7f9 142
ashleymills 15:7620a11149b8 143 /**
ashleymills 15:7620a11149b8 144 * Create an accelerometer object connected to the specified I2C pins.
nherriot 0:bcf2aa85d7f9 145 *
nherriot 0:bcf2aa85d7f9 146 * @param sda I2C data port
ashleymills 15:7620a11149b8 147 * @param scl I2C clock port
ashleymills 15:7620a11149b8 148 * @param frequency
nherriot 0:bcf2aa85d7f9 149 *
nherriot 0:bcf2aa85d7f9 150 */
ashleymills 10:ca9ba7ad4e94 151 MMA8452(PinName sda, PinName scl, int frequency);
nherriot 0:bcf2aa85d7f9 152
ashleymills 15:7620a11149b8 153 /// Destructor
ashleymills 10:ca9ba7ad4e94 154 ~MMA8452();
nherriot 3:ffb0b1650ca2 155
ashleymills 15:7620a11149b8 156 /**
ashleymills 15:7620a11149b8 157 * Puts the MMA8452 in active mode.
ashleymills 15:7620a11149b8 158 * @return 0 on success, 1 on failure.
ashleymills 15:7620a11149b8 159 */
nherriot 0:bcf2aa85d7f9 160 int activate();
nherriot 3:ffb0b1650ca2 161
ashleymills 15:7620a11149b8 162 /**
ashleymills 15:7620a11149b8 163 * Puts the MMA8452 in standby.
ashleymills 15:7620a11149b8 164 * @return 0 on success, 1 on failure.
ashleymills 15:7620a11149b8 165 */
ashleymills 15:7620a11149b8 166 int standby();
nherriot 0:bcf2aa85d7f9 167
nherriot 0:bcf2aa85d7f9 168 /** Initialization of device MMA8452 (required)
nherriot 0:bcf2aa85d7f9 169 */
nherriot 0:bcf2aa85d7f9 170 void init();
nherriot 0:bcf2aa85d7f9 171
ashleymills 15:7620a11149b8 172 /**
ashleymills 15:7620a11149b8 173 * Read the device ID from the accelerometer (should be 0x2a)
nherriot 1:ef026bf28798 174 *
ashleymills 15:7620a11149b8 175 * @param pointer to store the ID
ashleymills 15:7620a11149b8 176 * @return 0 on success, 1 on failure.
nherriot 1:ef026bf28798 177 */
ashleymills 11:dfd1e0afcb7b 178 int getDeviceID(char* dst);
nherriot 0:bcf2aa85d7f9 179
ashleymills 12:172540ff6b8b 180 int getStatus(char* dst);
nherriot 1:ef026bf28798 181
ashleymills 12:172540ff6b8b 182 /**
ashleymills 12:172540ff6b8b 183 * Read the x,y, and z registers of the MMA8452.
nherriot 1:ef026bf28798 184 *
ashleymills 12:172540ff6b8b 185 * @param dst The destination buffer. Note that this needs to be 3 bytes for
ashleymills 12:172540ff6b8b 186 * BIT_DEPTH_8 and 6 bytes for BIT_DEPTH_12. It is upto the caller to ensure this.
ashleymills 12:172540ff6b8b 187 * @return 0 for success, and 1 for failure
nherriot 1:ef026bf28798 188 */
ashleymills 15:7620a11149b8 189 int readXYZRaw(char *dst);
ashleymills 15:7620a11149b8 190
ashleymills 15:7620a11149b8 191 /**
ashleymills 15:7620a11149b8 192 * Read the x,y, and z counts of the MMA7452.
ashleymills 15:7620a11149b8 193 */
ashleymills 13:4bd8b4cd479d 194 int readXYZCounts(int *x, int *y, int *z);
ashleymills 13:4bd8b4cd479d 195 int readXYZGravity(double *x, double *y, double *z);
ashleymills 12:172540ff6b8b 196
ashleymills 13:4bd8b4cd479d 197 int isXReady();
ashleymills 13:4bd8b4cd479d 198 int isYReady();
ashleymills 13:4bd8b4cd479d 199 int isZReady();
ashleymills 12:172540ff6b8b 200 int isXYZReady();
nherriot 0:bcf2aa85d7f9 201
ashleymills 15:7620a11149b8 202 /**
ashleymills 15:7620a11149b8 203 * Read from specified MMA8452 register.
ashleymills 12:172540ff6b8b 204 *
ashleymills 12:172540ff6b8b 205 * @param addr The internal registeraddress of the MMA8452
ashleymills 12:172540ff6b8b 206 * @return The value of the register
ashleymills 12:172540ff6b8b 207 */
ashleymills 11:dfd1e0afcb7b 208 int readRegister(char addr, char *dst);
ashleymills 11:dfd1e0afcb7b 209
ashleymills 11:dfd1e0afcb7b 210 int readRegister(char addr, char *dst, int nbytes);
nherriot 0:bcf2aa85d7f9 211
ashleymills 12:172540ff6b8b 212 /**
ashleymills 12:172540ff6b8b 213 * Write to the specified MMA8452 register.
nherriot 0:bcf2aa85d7f9 214 *
ashleymills 12:172540ff6b8b 215 * @param addr The internal register address
ashleymills 12:172540ff6b8b 216 * @param data Data to write
nherriot 0:bcf2aa85d7f9 217 */
ashleymills 11:dfd1e0afcb7b 218 int writeRegister(char addr, char data);
ashleymills 12:172540ff6b8b 219
ashleymills 12:172540ff6b8b 220 /**
ashleymills 12:172540ff6b8b 221 * Write a data buffer to the specified MMA8452 register.
ashleymills 12:172540ff6b8b 222 *
ashleymills 12:172540ff6b8b 223 * @param addr The internal register address
ashleymills 12:172540ff6b8b 224 * @param data Data buffer to write
ashleymills 12:172540ff6b8b 225 * @param nbytes The length of the data buffer to write
ashleymills 12:172540ff6b8b 226 */
ashleymills 11:dfd1e0afcb7b 227 int writeRegister(char addr, char *data, int nbytes);
ashleymills 11:dfd1e0afcb7b 228
ashleymills 11:dfd1e0afcb7b 229 int logicalANDRegister(char addr, char mask);
ashleymills 11:dfd1e0afcb7b 230 int logicalORRegister(char addr, char mask);
ashleymills 11:dfd1e0afcb7b 231 int logicalXORRegister(char addr, char mask);
nherriot 0:bcf2aa85d7f9 232
ashleymills 11:dfd1e0afcb7b 233 int setDynamicRange(DynamicRange range, int toggleActivation=1);
ashleymills 11:dfd1e0afcb7b 234 int setBitDepth(BitDepth depth, int toggleActivation=1);
ashleymills 11:dfd1e0afcb7b 235 int setDataRate(DataRateHz dataRate, int toggleActivation=1);
ashleymills 15:7620a11149b8 236
ashleymills 11:dfd1e0afcb7b 237 DynamicRange getDynamicRange();
ashleymills 11:dfd1e0afcb7b 238 DataRateHz getDataRate();
ashleymills 12:172540ff6b8b 239 BitDepth getBitDepth();
ashleymills 11:dfd1e0afcb7b 240
ashleymills 11:dfd1e0afcb7b 241 void debugRegister(char reg);
nherriot 0:bcf2aa85d7f9 242
nherriot 0:bcf2aa85d7f9 243 private:
ashleymills 10:ca9ba7ad4e94 244 int readRaw(char src, char *dst, int len);
ashleymills 11:dfd1e0afcb7b 245 int maskAndApplyRegister(char reg, char mask, char value, int toggleActivation);
ashleymills 13:4bd8b4cd479d 246
ashleymills 13:4bd8b4cd479d 247 int twelveBitToSigned(char *buf);
ashleymills 13:4bd8b4cd479d 248 int eightBitToSigned(char *buf);
ashleymills 13:4bd8b4cd479d 249 double convertCountToGravity(int count, int countsPerG);
ashleymills 16:d6dde2318edc 250 char getMaskedRegister(int reg, char mask);
ashleymills 8:89272163f395 251
ashleymills 11:dfd1e0afcb7b 252 I2C _i2c;
ashleymills 11:dfd1e0afcb7b 253 int _frequency;
ashleymills 6:f6bde04bf8be 254 int _readAddress;
ashleymills 6:f6bde04bf8be 255 int _writeAddress;
ashleymills 12:172540ff6b8b 256
ashleymills 12:172540ff6b8b 257 BitDepth _bitDepth;
ashleymills 13:4bd8b4cd479d 258 DynamicRange _dynamicRange;
nherriot 0:bcf2aa85d7f9 259
ashleymills 15:7620a11149b8 260 };