Added code to manage Orientation, FreeFall and Motion Detection. Data is also available via IRQ.
Dependents: Test_FRDM_MMA8451Q AccelTest FRDM-KL46-Template KL25Z_Demo ... more
Fork of MMA8451Q by
MMA8451Q.h@8:7e6013f11b10, 2013-05-28 (annotated)
- Committer:
- clemente
- Date:
- Tue May 28 17:18:30 2013 +0000
- Revision:
- 8:7e6013f11b10
- Parent:
- 7:ba0016258d5d
- Child:
- 9:2aa9b1668d14
Orientation tested. Freefall need some more tests.
Who changed what in which revision?
User | Revision | Line number | New 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 | #ifndef MMA8451Q_H |
emilmont | 0:6149091f755d | 20 | #define MMA8451Q_H |
emilmont | 0:6149091f755d | 21 | |
emilmont | 0:6149091f755d | 22 | #include "mbed.h" |
emilmont | 0:6149091f755d | 23 | |
samux | 1:d2630136d51e | 24 | /** |
samux | 1:d2630136d51e | 25 | * MMA8451Q accelerometer example |
samux | 2:a077541cbadc | 26 | * |
samux | 2:a077541cbadc | 27 | * @code |
samux | 1:d2630136d51e | 28 | * #include "mbed.h" |
samux | 1:d2630136d51e | 29 | * #include "MMA8451Q.h" |
chris | 3:db7126dbd63f | 30 | * |
samux | 1:d2630136d51e | 31 | * #define MMA8451_I2C_ADDRESS (0x1d<<1) |
chris | 3:db7126dbd63f | 32 | * |
chris | 4:c4d879a39775 | 33 | * int main(void) { |
chris | 4:c4d879a39775 | 34 | * |
chris | 3:db7126dbd63f | 35 | * MMA8451Q acc(P_E25, P_E24, MMA8451_I2C_ADDRESS); |
chris | 3:db7126dbd63f | 36 | * PwmOut rled(LED_RED); |
chris | 3:db7126dbd63f | 37 | * PwmOut gled(LED_GREEN); |
chris | 3:db7126dbd63f | 38 | * PwmOut bled(LED_BLUE); |
chris | 3:db7126dbd63f | 39 | * |
chris | 3:db7126dbd63f | 40 | * while (true) { |
chris | 3:db7126dbd63f | 41 | * rled = 1.0 - abs(acc.getAccX()); |
chris | 3:db7126dbd63f | 42 | * gled = 1.0 - abs(acc.getAccY()); |
chris | 3:db7126dbd63f | 43 | * bled = 1.0 - abs(acc.getAccZ()); |
chris | 3:db7126dbd63f | 44 | * wait(0.1); |
chris | 3:db7126dbd63f | 45 | * } |
samux | 1:d2630136d51e | 46 | * } |
samux | 2:a077541cbadc | 47 | * @endcode |
samux | 1:d2630136d51e | 48 | */ |
clemente | 6:c52175d13e0a | 49 | |
clemente | 6:c52175d13e0a | 50 | // Z-Lock Threshold Angles |
clemente | 6:c52175d13e0a | 51 | #define Z_LOCKOUT_14 0 // Angle to 14° |
clemente | 6:c52175d13e0a | 52 | #define Z_LOCKOUT_18 1 // Angle to 18° |
clemente | 6:c52175d13e0a | 53 | #define Z_LOCKOUT_21 2 // Angle to 21° |
clemente | 6:c52175d13e0a | 54 | #define Z_LOCKOUT_25 3 // Angle to 25° |
clemente | 6:c52175d13e0a | 55 | #define Z_LOCKOUT_29 4 // Angle to 29° |
clemente | 6:c52175d13e0a | 56 | #define Z_LOCKOUT_33 5 // Angle to 33° |
clemente | 6:c52175d13e0a | 57 | #define Z_LOCKOUT_37 6 // Angle to 37° |
clemente | 6:c52175d13e0a | 58 | #define Z_LOCKOUT_42 7 // Angle to 42° |
clemente | 6:c52175d13e0a | 59 | // Back/Front Orientation Definition |
clemente | 6:c52175d13e0a | 60 | #define Z_BKFR_80 0 // Back and Front trip angle |
clemente | 6:c52175d13e0a | 61 | #define Z_BKFR_75 1 // Back and Front trip angle |
clemente | 6:c52175d13e0a | 62 | #define Z_BKFR_70 2 // Back and Front trip angle |
clemente | 6:c52175d13e0a | 63 | #define Z_BKFR_65 3 // Back and Front trip angle |
clemente | 6:c52175d13e0a | 64 | // Threshold Angle Thresholds Lookup Table |
clemente | 6:c52175d13e0a | 65 | #define PL_THS_15 0x07 // Set Threshold to 15° |
clemente | 6:c52175d13e0a | 66 | #define PL_THS_20 0x09 // Set Threshold to 20° |
clemente | 6:c52175d13e0a | 67 | #define PL_THS_30 0x0C // Set Threshold to 30° |
clemente | 6:c52175d13e0a | 68 | #define PL_THS_35 0x0D // Set Threshold to 35° |
clemente | 6:c52175d13e0a | 69 | #define PL_THS_40 0x0F // Set Threshold to 40° |
clemente | 6:c52175d13e0a | 70 | #define PL_THS_45 0x10 // Set Threshold to 45° |
clemente | 6:c52175d13e0a | 71 | #define PL_THS_55 0x13 // Set Threshold to 55° |
clemente | 6:c52175d13e0a | 72 | #define PL_THS_60 0x14 // Set Threshold to 60° |
clemente | 6:c52175d13e0a | 73 | #define PL_THS_70 0x17 // Set Threshold to 70° |
clemente | 6:c52175d13e0a | 74 | #define PL_THS_75 0x19 // Set Threshold to 75° |
clemente | 6:c52175d13e0a | 75 | // Trip Angles with Hysteresis for 45° Angle |
clemente | 6:c52175d13e0a | 76 | #define PL_HYS_0 0x00 // Set Hysteresis to ±0° |
clemente | 6:c52175d13e0a | 77 | #define PL_HYS_4 0x01 // Set Hysteresis to ±4° |
clemente | 6:c52175d13e0a | 78 | #define PL_HYS_7 0x02 // Set Hysteresis to ±7° |
clemente | 6:c52175d13e0a | 79 | #define PL_HYS_11 0x03 // Set Hysteresis to ±11° |
clemente | 6:c52175d13e0a | 80 | #define PL_HYS_14 0x04 // Set Hysteresis to ±14° |
clemente | 6:c52175d13e0a | 81 | #define PL_HYS_17 0x05 // Set Hysteresis to ±17° |
clemente | 6:c52175d13e0a | 82 | #define PL_HYS_21 0x06 // Set Hysteresis to ±21° |
clemente | 6:c52175d13e0a | 83 | #define PL_HYS_24 0x07 // Set Hysteresis to ±24° |
clemente | 8:7e6013f11b10 | 84 | // Landscape/Portrait orientation |
clemente | 8:7e6013f11b10 | 85 | #define cLAPO_PU 0 // Portrait Up: Equipment standing vertically in the normal orientation |
clemente | 8:7e6013f11b10 | 86 | #define cLAPO_PD 1 // Portrait Down: Equipment standing vertically in the inverted orientation |
clemente | 8:7e6013f11b10 | 87 | #define cLAPO_LR 2 // Landscape Right: Equipment is in landscape mode to the right |
clemente | 8:7e6013f11b10 | 88 | #define cLAPO_LL 3 // Landscape Left: Equipment is in landscape mode to the left. |
clemente | 6:c52175d13e0a | 89 | |
emilmont | 0:6149091f755d | 90 | class MMA8451Q |
emilmont | 0:6149091f755d | 91 | { |
emilmont | 0:6149091f755d | 92 | public: |
clemente | 5:695063448f2a | 93 | /** |
clemente | 5:695063448f2a | 94 | * MMA8451Q constructor |
clemente | 5:695063448f2a | 95 | * |
clemente | 5:695063448f2a | 96 | * @param sda SDA pin |
clemente | 5:695063448f2a | 97 | * @param sdl SCL pin |
clemente | 5:695063448f2a | 98 | * @param addr addr of the I2C peripheral |
clemente | 5:695063448f2a | 99 | */ |
clemente | 5:695063448f2a | 100 | MMA8451Q(PinName sda, PinName scl, int addr); |
clemente | 5:695063448f2a | 101 | |
clemente | 5:695063448f2a | 102 | /** |
clemente | 5:695063448f2a | 103 | * MMA8451Q destructor |
clemente | 5:695063448f2a | 104 | */ |
clemente | 5:695063448f2a | 105 | ~MMA8451Q(); |
clemente | 5:695063448f2a | 106 | |
clemente | 5:695063448f2a | 107 | /** |
clemente | 5:695063448f2a | 108 | * Get the value of the WHO_AM_I register |
clemente | 5:695063448f2a | 109 | * |
clemente | 5:695063448f2a | 110 | * @returns WHO_AM_I value |
clemente | 5:695063448f2a | 111 | */ |
clemente | 5:695063448f2a | 112 | uint8_t getWhoAmI(); |
clemente | 5:695063448f2a | 113 | |
clemente | 5:695063448f2a | 114 | /** |
clemente | 5:695063448f2a | 115 | * Get X axis acceleration |
clemente | 5:695063448f2a | 116 | * |
clemente | 5:695063448f2a | 117 | * @returns X axis acceleration |
clemente | 5:695063448f2a | 118 | */ |
clemente | 5:695063448f2a | 119 | float getAccX(); |
clemente | 5:695063448f2a | 120 | |
clemente | 5:695063448f2a | 121 | /** |
clemente | 5:695063448f2a | 122 | * Get Y axis acceleration |
clemente | 5:695063448f2a | 123 | * |
clemente | 5:695063448f2a | 124 | * @returns Y axis acceleration |
clemente | 5:695063448f2a | 125 | */ |
clemente | 5:695063448f2a | 126 | float getAccY(); |
clemente | 5:695063448f2a | 127 | |
clemente | 5:695063448f2a | 128 | /** |
clemente | 5:695063448f2a | 129 | * Get Z axis acceleration |
clemente | 5:695063448f2a | 130 | * |
clemente | 5:695063448f2a | 131 | * @returns Z axis acceleration |
clemente | 5:695063448f2a | 132 | */ |
clemente | 5:695063448f2a | 133 | float getAccZ(); |
clemente | 5:695063448f2a | 134 | |
clemente | 5:695063448f2a | 135 | /** |
clemente | 5:695063448f2a | 136 | * Get XYZ axis acceleration |
clemente | 5:695063448f2a | 137 | * |
clemente | 5:695063448f2a | 138 | * @param res array where acceleration data will be stored |
clemente | 5:695063448f2a | 139 | */ |
clemente | 5:695063448f2a | 140 | void getAccAllAxis(float * res); |
emilmont | 0:6149091f755d | 141 | |
clemente | 8:7e6013f11b10 | 142 | /** |
clemente | 8:7e6013f11b10 | 143 | * Configure the Accelerometere for free fall detection |
clemente | 8:7e6013f11b10 | 144 | * |
clemente | 8:7e6013f11b10 | 145 | * @param pointer to the user function to execute after IRQ assertion |
clemente | 8:7e6013f11b10 | 146 | * @return none |
clemente | 8:7e6013f11b10 | 147 | */ |
clemente | 8:7e6013f11b10 | 148 | void FreeFallDetection( void(*fptr)(void)); |
clemente | 8:7e6013f11b10 | 149 | |
clemente | 8:7e6013f11b10 | 150 | /** |
clemente | 8:7e6013f11b10 | 151 | * Configure the Accelerometere for motion detection |
clemente | 8:7e6013f11b10 | 152 | * |
clemente | 8:7e6013f11b10 | 153 | * @param pointer to the user function to execute after IRQ assertion |
clemente | 8:7e6013f11b10 | 154 | * @return none |
clemente | 8:7e6013f11b10 | 155 | */ |
clemente | 5:695063448f2a | 156 | void MotionDetection( void(*fptr)(void)); |
clemente | 8:7e6013f11b10 | 157 | |
clemente | 8:7e6013f11b10 | 158 | /** |
clemente | 8:7e6013f11b10 | 159 | * Configure the Accelerometere for orientation detection |
clemente | 8:7e6013f11b10 | 160 | * |
clemente | 8:7e6013f11b10 | 161 | * @param pointer to the user function to execute after IRQ assertion |
clemente | 8:7e6013f11b10 | 162 | * @param Z lockout value, Z Backfront, Port/Landscape Thsld, Port/Landscape Hysteresis |
clemente | 8:7e6013f11b10 | 163 | * @return none |
clemente | 8:7e6013f11b10 | 164 | */ |
clemente | 7:ba0016258d5d | 165 | void OrientationDetect( void(*fptr)(void), unsigned int Z_LockOut, unsigned int Z_BkFr, unsigned int PL_Thsld, unsigned int PL_Hyst); |
clemente | 7:ba0016258d5d | 166 | void OrientationDetect( void(*fptr)(void)); |
clemente | 8:7e6013f11b10 | 167 | |
clemente | 8:7e6013f11b10 | 168 | /** |
clemente | 8:7e6013f11b10 | 169 | * Get the orientation state. |
clemente | 8:7e6013f11b10 | 170 | * |
clemente | 8:7e6013f11b10 | 171 | * 0x10: PL_STATUS Register (Read Only) |
clemente | 8:7e6013f11b10 | 172 | * Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 |
clemente | 8:7e6013f11b10 | 173 | * NEWLP LO — — — LAPO[1] LAPO[0] BAFRO |
clemente | 8:7e6013f11b10 | 174 | * |
clemente | 8:7e6013f11b10 | 175 | * NEWLP |
clemente | 8:7e6013f11b10 | 176 | * Landscape/Portrait status change flag. Default value: 0. |
clemente | 8:7e6013f11b10 | 177 | * 0: No change, 1: BAFRO and/or LAPO and/or Z-Tilt lockout value has changed |
clemente | 8:7e6013f11b10 | 178 | * LO |
clemente | 8:7e6013f11b10 | 179 | * Z-Tilt Angle Lockout. Default value: 0. |
clemente | 8:7e6013f11b10 | 180 | * 0: Lockout condition has not been detected. |
clemente | 8:7e6013f11b10 | 181 | * 1: Z-Tilt lockout trip angle has been exceeded. Lockout has been detected. |
clemente | 8:7e6013f11b10 | 182 | * LAPO[1:0](*) |
clemente | 8:7e6013f11b10 | 183 | * Landscape/Portrait orientation. Default value: 00 |
clemente | 8:7e6013f11b10 | 184 | * 00: Portrait Up: Equipment standing vertically in the normal orientation |
clemente | 8:7e6013f11b10 | 185 | * 01: Portrait Down: Equipment standing vertically in the inverted orientation |
clemente | 8:7e6013f11b10 | 186 | * 10: Landscape Right: Equipment is in landscape mode to the right |
clemente | 8:7e6013f11b10 | 187 | * 11: Landscape Left: Equipment is in landscape mode to the left. |
clemente | 8:7e6013f11b10 | 188 | * (*) The default power up state is BAFRO = 0, LAPO = 0, and LO = 0. |
clemente | 8:7e6013f11b10 | 189 | * BAFRO |
clemente | 8:7e6013f11b10 | 190 | * Back or Front orientation. Default value: 0 |
clemente | 8:7e6013f11b10 | 191 | * 0: Front: Equipment is in the front facing orientation. |
clemente | 8:7e6013f11b10 | 192 | * 1: Back: Equipment is in the back facing orientation. |
clemente | 8:7e6013f11b10 | 193 | */ |
clemente | 8:7e6013f11b10 | 194 | unsigned char GetOrientationState( void); |
clemente | 8:7e6013f11b10 | 195 | |
clemente | 8:7e6013f11b10 | 196 | /** |
clemente | 8:7e6013f11b10 | 197 | * Soft Reset |
clemente | 8:7e6013f11b10 | 198 | * @param none |
clemente | 8:7e6013f11b10 | 199 | * @return none |
clemente | 8:7e6013f11b10 | 200 | */ |
clemente | 8:7e6013f11b10 | 201 | void Reset( void); |
clemente | 5:695063448f2a | 202 | |
emilmont | 0:6149091f755d | 203 | private: |
clemente | 5:695063448f2a | 204 | I2C m_i2c; |
clemente | 5:695063448f2a | 205 | int m_addr; |
clemente | 5:695063448f2a | 206 | void readRegs(int addr, uint8_t * data, int len); |
clemente | 5:695063448f2a | 207 | void writeRegs(uint8_t * data, int len); |
clemente | 5:695063448f2a | 208 | int16_t getAccAxis(uint8_t addr); |
clemente | 5:695063448f2a | 209 | void Standby( void); |
clemente | 5:695063448f2a | 210 | void Active( void); |
clemente | 5:695063448f2a | 211 | void Fall_IRQ( void); |
clemente | 5:695063448f2a | 212 | void Motion_IRQ( void); |
clemente | 7:ba0016258d5d | 213 | void Orientation_IRQ( void); |
clemente | 8:7e6013f11b10 | 214 | // |
clemente | 8:7e6013f11b10 | 215 | unsigned char OrientationState; |
clemente | 8:7e6013f11b10 | 216 | unsigned char OrientationStateUpdated; |
emilmont | 0:6149091f755d | 217 | }; |
emilmont | 0:6149091f755d | 218 | |
emilmont | 0:6149091f755d | 219 | #endif |