carlos ruiz / Mbed 2 deprecated ACELEROMETRO

programa para ver la posición de la tarjeta por medio del acelerometro que trae incorporado

Dependencies:   TextLCD3libreriatexlcd mbed

Fork of MMA8451Q by Johan Kritzinger

MMA8451Q.cpp@6:dc999681de1a, 2013-12-07 (annotated)

Committer:
caaruizze
Date:
Sat Dec 07 13:07:58 2013 +0000
Revision:
6:dc999681de1a
Parent:
5:2d14600116fc 
Programa para visualizar la posici?n de la tarjeta KL25Z en un lcd 16x2 por medio del acelerometro que trae incorporado

Who changed what in which revision?

UserRevisionLine numberNew contents of line
samux 1:d2630136d51e 1 /* Copyright (c) 2010-2011 mbed.org, MIT License
samux 1:d2630136d51e 2 *
samux 1:d2630136d51e 3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
samux 1:d2630136d51e 4 * and associated documentation files (the "Software"), to deal in the Software without
samux 1:d2630136d51e 5 * restriction, including without limitation the rights to use, copy, modify, merge, publish,
samux 1:d2630136d51e 6 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
samux 1:d2630136d51e 7 * Software is furnished to do so, subject to the following conditions:
samux 1:d2630136d51e 8 *
samux 1:d2630136d51e 9 * The above copyright notice and this permission notice shall be included in all copies or
samux 1:d2630136d51e 10 * substantial portions of the Software.
samux 1:d2630136d51e 11 *
samux 1:d2630136d51e 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
samux 1:d2630136d51e 13 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
samux 1:d2630136d51e 14 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
samux 1:d2630136d51e 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
samux 1:d2630136d51e 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
samux 1:d2630136d51e 17 */
samux 1:d2630136d51e 18
emilmont 0:6149091f755d 19 #include "MMA8451Q.h"
emilmont 0:6149091f755d 20
JoKer 5:2d14600116fc 21 #define INT_SOURCE 0x0C
samux 1:d2630136d51e 22 #define REG_WHO_AM_I 0x0D
JoKer 5:2d14600116fc 23 #define HP_FILTER_CUTOFF 0x0F
JoKer 5:2d14600116fc 24 #define PULSE_CFG 0x21
JoKer 5:2d14600116fc 25 #define PULSE_SRC 0x22
JoKer 5:2d14600116fc 26 #define PULSE_THSX 0x23
JoKer 5:2d14600116fc 27 #define PULSE_THSY 0x24
JoKer 5:2d14600116fc 28 #define PULSE_THSZ 0x25
JoKer 5:2d14600116fc 29 #define PULSE_TMLT 0x26
JoKer 5:2d14600116fc 30 #define PULSE_LTCY 0x27
JoKer 5:2d14600116fc 31 #define PULSE_WIND 0x28
JoKer 5:2d14600116fc 32 #define REG_CTRL_REG_1 0x2A
JoKer 5:2d14600116fc 33 #define CTRL_REG2 0x2B
JoKer 5:2d14600116fc 34 #define CTRL_REG4 0x2D
JoKer 5:2d14600116fc 35 #define CTRL_REG5 0x2E
emilmont 0:6149091f755d 36 #define REG_OUT_X_MSB 0x01
emilmont 0:6149091f755d 37 #define REG_OUT_Y_MSB 0x03
emilmont 0:6149091f755d 38 #define REG_OUT_Z_MSB 0x05
emilmont 0:6149091f755d 39
samux 1:d2630136d51e 40 #define UINT14_MAX 16383
emilmont 0:6149091f755d 41
emilmont 0:6149091f755d 42 MMA8451Q::MMA8451Q(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
emilmont 0:6149091f755d 43 // activate the peripheral
emilmont 0:6149091f755d 44 uint8_t data[2] = {REG_CTRL_REG_1, 0x01};
samux 1:d2630136d51e 45 writeRegs(data, 2);
emilmont 0:6149091f755d 46 }
emilmont 0:6149091f755d 47
emilmont 0:6149091f755d 48 MMA8451Q::~MMA8451Q() { }
emilmont 0:6149091f755d 49
emilmont 0:6149091f755d 50 uint8_t MMA8451Q::getWhoAmI() {
emilmont 0:6149091f755d 51 uint8_t who_am_i = 0;
samux 1:d2630136d51e 52 readRegs(REG_WHO_AM_I, &who_am_i, 1);
emilmont 0:6149091f755d 53 return who_am_i;
emilmont 0:6149091f755d 54 }
emilmont 0:6149091f755d 55
chris 3:db7126dbd63f 56 float MMA8451Q::getAccX() {
JoKer 5:2d14600116fc 57 //divide by 4096 b/c MMA output is 4096 counts per g so this f outputs accelorometer value formatted to g (gravity)
chris 3:db7126dbd63f 58 return (float(getAccAxis(REG_OUT_X_MSB))/4096.0);
emilmont 0:6149091f755d 59 }
emilmont 0:6149091f755d 60
chris 3:db7126dbd63f 61 float MMA8451Q::getAccY() {
chris 3:db7126dbd63f 62 return (float(getAccAxis(REG_OUT_Y_MSB))/4096.0);
emilmont 0:6149091f755d 63 }
emilmont 0:6149091f755d 64
chris 3:db7126dbd63f 65 float MMA8451Q::getAccZ() {
chris 3:db7126dbd63f 66 return (float(getAccAxis(REG_OUT_Z_MSB))/4096.0);
emilmont 0:6149091f755d 67 }
emilmont 0:6149091f755d 68
chris 3:db7126dbd63f 69 void MMA8451Q::getAccAllAxis(float * res) {
emilmont 0:6149091f755d 70 res[0] = getAccX();
emilmont 0:6149091f755d 71 res[1] = getAccY();
emilmont 0:6149091f755d 72 res[2] = getAccZ();
emilmont 0:6149091f755d 73 }
emilmont 0:6149091f755d 74
emilmont 0:6149091f755d 75 int16_t MMA8451Q::getAccAxis(uint8_t addr) {
emilmont 0:6149091f755d 76 int16_t acc;
emilmont 0:6149091f755d 77 uint8_t res[2];
samux 1:d2630136d51e 78 readRegs(addr, res, 2);
emilmont 0:6149091f755d 79
emilmont 0:6149091f755d 80 acc = (res[0] << 6) | (res[1] >> 2);
emilmont 0:6149091f755d 81 if (acc > UINT14_MAX/2)
emilmont 0:6149091f755d 82 acc -= UINT14_MAX;
emilmont 0:6149091f755d 83
emilmont 0:6149091f755d 84 return acc;
emilmont 0:6149091f755d 85 }
emilmont 0:6149091f755d 86
JoKer 5:2d14600116fc 87 void MMA8451Q::setDoubleTap(void){
JoKer 5:2d14600116fc 88 //Implemented directly from Freescale's AN4072
JoKer 5:2d14600116fc 89 //Added to MMA8451Q lib
JoKer 5:2d14600116fc 90
JoKer 5:2d14600116fc 91 uint8_t CTRL_REG1_Data;
JoKer 5:2d14600116fc 92 // int adds;
JoKer 5:2d14600116fc 93 uint8_t data[2] = {REG_CTRL_REG_1, 0x08};
JoKer 5:2d14600116fc 94
JoKer 5:2d14600116fc 95 //400 Hz, Standby Mode
JoKer 5:2d14600116fc 96 writeRegs(data,2);
JoKer 5:2d14600116fc 97
JoKer 5:2d14600116fc 98 //Enable X, Y and Z Double Pulse with DPA = 0 no double pulse abort
JoKer 5:2d14600116fc 99 data[0]=PULSE_CFG;data[1]=0x2A;
JoKer 5:2d14600116fc 100 writeRegs(data,2);
JoKer 5:2d14600116fc 101
JoKer 5:2d14600116fc 102 //SetThreshold 3g on X and Y and 5g on Z
JoKer 5:2d14600116fc 103 //Note: Every step is 0.063g
JoKer 5:2d14600116fc 104 //3 g/0.063g = 48 counts
JoKer 5:2d14600116fc 105 //5g/0.063g = 79 counts
JoKer 5:2d14600116fc 106 data[0]=PULSE_THSX;data[1]=0x30;
JoKer 5:2d14600116fc 107 writeRegs(data,2);//Set X Threshold to 3g
JoKer 5:2d14600116fc 108 data[0]=PULSE_THSY;data[1]=0x30;
JoKer 5:2d14600116fc 109 writeRegs(data,2);//Set Y Threshold to 3g
JoKer 5:2d14600116fc 110 data[0]=PULSE_THSZ;data[1]=0x4F;
JoKer 5:2d14600116fc 111 writeRegs(data,2);//Set Z Threshold to 5g
JoKer 5:2d14600116fc 112
JoKer 5:2d14600116fc 113 //Set Time Limit for Tap Detection to 60 ms LP Mode
JoKer 5:2d14600116fc 114 //Note: 400 Hz ODR, Time step is 1.25 ms per step
JoKer 5:2d14600116fc 115 //60 ms/1.25 ms = 48 counts
JoKer 5:2d14600116fc 116 data[0]=PULSE_TMLT;data[1]=0x30;
JoKer 5:2d14600116fc 117 writeRegs(data,2);//60 ms
JoKer 5:2d14600116fc 118
JoKer 5:2d14600116fc 119 //Set Latency Time to 200 ms
JoKer 5:2d14600116fc 120 //Note: 400 Hz ODR LPMode, Time step is 2.5 ms per step 00 ms/2.5 ms = 80 counts
JoKer 5:2d14600116fc 121 data[0]=PULSE_LTCY;data[1]=0x50;
JoKer 5:2d14600116fc 122 writeRegs(data,2);//200 ms
JoKer 5:2d14600116fc 123
JoKer 5:2d14600116fc 124 //Set Time Window for second tap to 300 ms
JoKer 5:2d14600116fc 125 //Note: 400 Hz ODR LP Mode, Time step is 2.5 ms per step
JoKer 5:2d14600116fc 126 //300 ms/2.5 ms = 120 counts
JoKer 5:2d14600116fc 127 data[0]=PULSE_WIND;data[1]=0x78;
JoKer 5:2d14600116fc 128 writeRegs(data,2);//300 ms
JoKer 5:2d14600116fc 129
JoKer 5:2d14600116fc 130 //Route INT1 to System Interrupt
JoKer 5:2d14600116fc 131 data[0]=CTRL_REG4;data[1]=0x08;
JoKer 5:2d14600116fc 132 writeRegs(data,2);//Enable Pulse Interrupt in System CTRL_REG4
JoKer 5:2d14600116fc 133 data[0]=CTRL_REG5;data[1]=0x08;
JoKer 5:2d14600116fc 134 writeRegs(data,2);//Route Pulse Interrupt to INT1 hardware Pin CTRL_REG5
JoKer 5:2d14600116fc 135
JoKer 5:2d14600116fc 136 //Set the device to Active Mode
JoKer 5:2d14600116fc 137 readRegs(0x2A,&CTRL_REG1_Data,1);//Read out the contents of the register
JoKer 5:2d14600116fc 138 CTRL_REG1_Data |= 0x01; //Change the value in the register to Active Mode.
JoKer 5:2d14600116fc 139 data[0]=REG_CTRL_REG_1;
JoKer 5:2d14600116fc 140 data[1]=CTRL_REG1_Data;
JoKer 5:2d14600116fc 141 writeRegs(data,2);//Write in the updated value to put the device in Active Mode
JoKer 5:2d14600116fc 142 }
JoKer 5:2d14600116fc 143
JoKer 5:2d14600116fc 144
samux 1:d2630136d51e 145 void MMA8451Q::readRegs(int addr, uint8_t * data, int len) {
emilmont 0:6149091f755d 146 char t[1] = {addr};
emilmont 0:6149091f755d 147 m_i2c.write(m_addr, t, 1, true);
emilmont 0:6149091f755d 148 m_i2c.read(m_addr, (char *)data, len);
emilmont 0:6149091f755d 149 }
emilmont 0:6149091f755d 150
JoKer 5:2d14600116fc 151
JoKer 5:2d14600116fc 152
samux 1:d2630136d51e 153 void MMA8451Q::writeRegs(uint8_t * data, int len) {
emilmont 0:6149091f755d 154 m_i2c.write(m_addr, (char *)data, len);
emilmont 0:6149091f755d 155 }