MMA8451Q.h

00001 /* Copyright (c) 2010-2011 mbed.org, MIT License
00002 *
00003 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
00004 * and associated documentation files (the "Software"), to deal in the Software without
00005 * restriction, including without limitation the rights to use, copy, modify, merge, publish,
00006 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
00007 * Software is furnished to do so, subject to the following conditions:
00008 *
00009 * The above copyright notice and this permission notice shall be included in all copies or
00010 * substantial portions of the Software.
00011 *
00012 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
00013 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
00014 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
00015 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00016 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
00017 */
00018 
00019 #ifndef MMA8451Q_H
00020 #define MMA8451Q_H
00021 
00022 #include "mbed.h"
00023 
00024 /**
00025 * MMA8451Q accelerometer example
00026 *
00027 * @code
00028 * #include "mbed.h"
00029 * #include "MMA8451Q.h"
00030 * 
00031 * #define MMA8451_I2C_ADDRESS (0x1d<<1)
00032 * 
00033 * int main(void) {
00034 * 
00035 * MMA8451Q acc(P_E25, P_E24, MMA8451_I2C_ADDRESS);
00036 * PwmOut rled(LED_RED);
00037 * PwmOut gled(LED_GREEN);
00038 * PwmOut bled(LED_BLUE);
00039 * 
00040 *     while (true) {       
00041 *         rled = 1.0 - abs(acc.getAccX());
00042 *         gled = 1.0 - abs(acc.getAccY());
00043 *         bled = 1.0 - abs(acc.getAccZ());
00044 *         wait(0.1);
00045 *     }
00046 * }
00047 * @endcode
00048 */
00049 
00050 // Z-Lock Threshold Angles
00051 #define Z_LOCKOUT_14    0       // Angle to 14°
00052 #define Z_LOCKOUT_18    1       // Angle to 18°
00053 #define Z_LOCKOUT_21    2       // Angle to 21°
00054 #define Z_LOCKOUT_25    3       // Angle to 25°
00055 #define Z_LOCKOUT_29    4       // Angle to 29°
00056 #define Z_LOCKOUT_33    5       // Angle to 33°
00057 #define Z_LOCKOUT_37    6       // Angle to 37°
00058 #define Z_LOCKOUT_42    7       // Angle to 42°
00059 // Back/Front Orientation Definition
00060 #define Z_BKFR_80       0       // Back and Front trip angle
00061 #define Z_BKFR_75       1       // Back and Front trip angle
00062 #define Z_BKFR_70       2       // Back and Front trip angle
00063 #define Z_BKFR_65       3       // Back and Front trip angle
00064 // Threshold Angle Thresholds Lookup Table
00065 #define PL_THS_15       0x07    // Set Threshold to 15°
00066 #define PL_THS_20       0x09    // Set Threshold to 20°
00067 #define PL_THS_30       0x0C    // Set Threshold to 30°
00068 #define PL_THS_35       0x0D    // Set Threshold to 35°
00069 #define PL_THS_40       0x0F    // Set Threshold to 40°
00070 #define PL_THS_45       0x10    // Set Threshold to 45°
00071 #define PL_THS_55       0x13    // Set Threshold to 55°
00072 #define PL_THS_60       0x14    // Set Threshold to 60°
00073 #define PL_THS_70       0x17    // Set Threshold to 70°
00074 #define PL_THS_75       0x19    // Set Threshold to 75°
00075 // Trip Angles with Hysteresis for 45° Angle
00076 #define PL_HYS_0        0x00    // Set Hysteresis to ±0°    
00077 #define PL_HYS_4        0x01    // Set Hysteresis to ±4°    
00078 #define PL_HYS_7        0x02    // Set Hysteresis to ±7°
00079 #define PL_HYS_11       0x03    // Set Hysteresis to ±11°
00080 #define PL_HYS_14       0x04    // Set Hysteresis to ±14°
00081 #define PL_HYS_17       0x05    // Set Hysteresis to ±17°
00082 #define PL_HYS_21       0x06    // Set Hysteresis to ±21°
00083 #define PL_HYS_24       0x07    // Set Hysteresis to ±24°
00084 // Landscape/Portrait orientation
00085 #define cLAPO_PU        0       // Portrait Up: Equipment standing vertically in the normal orientation
00086 #define cLAPO_PD        1       // Portrait Down: Equipment standing vertically in the inverted orientation
00087 #define cLAPO_LR        2       // Landscape Right: Equipment is in landscape mode to the right
00088 #define cLAPO_LL        3       // Landscape Left: Equipment is in landscape mode to the left.
00089 // System Output Data Rate for acceleration samples
00090 #define cODR_800HZ      0       // 1.25 ms
00091 #define cODR_400HZ      1       // 2.5 ms
00092 #define cODR_200HZ      2       // 5 ms
00093 #define cODR_100HZ      3       // 10 ms
00094 #define cODR_50HZ       4       // 20 ms
00095 #define cODR_12_5HZ     5       // 80 ms
00096 #define cODR_6_25HZ     6       // 160 ms
00097 #define cODR_1_56HZ     7       // 640 ms
00098 
00099 class MMA8451Q
00100 {
00101 public:
00102     /**
00103     * MMA8451Q constructor
00104     *
00105     * @param sda SDA pin
00106     * @param sdl SCL pin
00107     * @param addr addr of the I2C peripheral
00108     */
00109     MMA8451Q(PinName sda, PinName scl, int addr);
00110     
00111     /**
00112     * MMA8451Q destructor
00113     */
00114     ~MMA8451Q();
00115     
00116     /**
00117     * Get the value of the WHO_AM_I register
00118     *
00119     * @returns WHO_AM_I value
00120     */
00121     uint8_t getWhoAmI();
00122     
00123     /**
00124     * Get X axis acceleration
00125     *
00126     * @returns X axis acceleration
00127     */
00128     float getAccX();
00129     
00130     /**
00131     * Get Y axis acceleration
00132     *
00133     * @returns Y axis acceleration
00134     */
00135     float getAccY();
00136     
00137     /**
00138     * Get Z axis acceleration
00139     *
00140     * @returns Z axis acceleration
00141     */
00142     float getAccZ();
00143     
00144     /**
00145     * Get XYZ axis acceleration
00146     *
00147     * @param res array where acceleration data will be stored
00148     */
00149     void getAccAllAxis(float * res);
00150 
00151     /**
00152     * Get raw value for X axis acceleration
00153     *
00154     * @returns X axis acceleration
00155     */
00156     int16_t getAccRawX( int16_t * res);
00157     
00158     /**
00159     * Get raw value for Y axis acceleration
00160     *
00161     * @returns Y axis acceleration
00162     */
00163     int16_t getAccRawY( int16_t * res);
00164     
00165     /**
00166     * Get raw value for Z axis acceleration
00167     *
00168     * @returns Z axis acceleration
00169     */
00170     int16_t getAccRawZ( int16_t * res);
00171 
00172     /**
00173     * Get raw values for XYZ axis acceleration
00174     *
00175     * @param res array where acceleration data will be stored
00176     */
00177     unsigned int getAccRawAllAxis(int16_t * res);
00178 
00179     /**
00180     * Configure the Accelerometere for free fall detection
00181     *
00182     * @param pointer to the user function to execute after IRQ assertion
00183     * @return none
00184     */
00185     void FreeFallDetection( void(*fptr)(void));
00186 
00187     /**
00188     * Configure the Accelerometere for motion detection
00189     *
00190     * @param pointer to the user function to execute after IRQ assertion
00191     * @return none
00192     */
00193     void MotionDetection( void(*fptr)(void));
00194     
00195     /**
00196     * Configure the Accelerometere for orientation detection
00197     *
00198     * @param pointer to the user function to execute after IRQ assertion
00199     * @param Z lockout value, Z Backfront, Port/Landscape Thsld, Port/Landscape Hysteresis
00200     * @return none
00201     */
00202     void OrientationDetect( void(*fptr)(void), unsigned int Z_LockOut, unsigned int Z_BkFr, unsigned int PL_Thsld, unsigned int PL_Hyst);
00203     void OrientationDetect( void(*fptr)(void));
00204        
00205     /**
00206     * Get the orientation state. 
00207     *
00208     *    0x10: PL_STATUS Register (Read Only)
00209     *    Bit 7   Bit 6   Bit 5   Bit 4   Bit 3   Bit 2   Bit 1   Bit 0
00210     *    NEWLP   LO      —       —       —       LAPO[1] LAPO[0] BAFRO
00211     *
00212     *    NEWLP
00213     *        Landscape/Portrait status change flag. Default value: 0.
00214     *        0: No change, 1: BAFRO and/or LAPO and/or Z-Tilt lockout value has changed
00215     *    LO
00216     *        Z-Tilt Angle Lockout. Default value: 0.
00217     *        0: Lockout condition has not been detected.
00218     *        1: Z-Tilt lockout trip angle has been exceeded. Lockout has been detected.
00219     *    LAPO[1:0](*)
00220     *        Landscape/Portrait orientation. Default value: 00
00221     *        00: Portrait Up: Equipment standing vertically in the normal orientation
00222     *        01: Portrait Down: Equipment standing vertically in the inverted orientation
00223     *        10: Landscape Right: Equipment is in landscape mode to the right
00224     *        11: Landscape Left: Equipment is in landscape mode to the left.
00225     *        (*) The default power up state is BAFRO = 0, LAPO = 0, and LO = 0.        
00226     *    BAFRO
00227     *        Back or Front orientation. Default value: 0
00228     *        0: Front: Equipment is in the front facing orientation.
00229     *        1: Back: Equipment is in the back facing orientation.
00230     */
00231     unsigned char GetOrientationState( void);
00232 
00233     /**
00234     * Configure the Accelerometer to generate a IRQ when a new sample is available
00235     *
00236     * @param pointer to the user function to execute after IRQ assertion
00237     * @return none
00238     */
00239     void DataReady( void(*fptr)(void), unsigned char ODR);
00240     
00241     unsigned int isDataAvailable( void);
00242     
00243     /**
00244     * Soft Reset
00245     * @param none
00246     * @return none
00247     */
00248     void Reset( void);
00249     
00250 private:
00251     I2C m_i2c;
00252     int m_addr;
00253     void readRegs(int addr, uint8_t * data, int len);
00254     void writeRegs(uint8_t * data, int len);
00255     int16_t getAccAxis(uint8_t addr);
00256     void Standby( void);
00257     void Active( void);
00258     void Fall_IRQ( void);
00259     void Motion_IRQ( void);
00260     void Orientation_IRQ( void);
00261     void DataReady_IRQ( void);
00262     //
00263     unsigned char OrientationState;
00264     unsigned char OrientationStateUpdated;
00265 };
00266 
00267 #endif