KXTJ3.cpp

00001 /* Copyright (c) 2015 ARM Ltd., 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 *  KXTJ3 Accelerometer library
00020 *
00021 *  @author  Toyomasa Watarai
00022 *  @version 1.0
00023 *  @date    30-December-2015
00024 *
00025 *  Library for "KXTJ3 Accelerometer library" from Kionix a Rohm group
00026 *    http://www.kionix.com/product/KXTJ3-1020
00027 *
00028 */
00029 
00030 #include "mbed.h"
00031 #include "KXTJ3.h"
00032 
00033 //KXTJ3::KXTJ3(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr)
00034 //{
00035 //    initialize();
00036 //}
00037 
00038 KXTJ3::KXTJ3(I2C* i2c_obj, int addr) : m_i2c(i2c_obj), m_addr(addr)
00039 {
00040     initialize();
00041 }
00042 
00043 KXTJ3::~KXTJ3()
00044 {
00045 }
00046 
00047 void KXTJ3::initialize()
00048 {
00049 //    unsigned char buf;
00050     unsigned char reg[2];
00051 /*
00052     DEBUG_PRINT("KXTJ3 init started\n\r");
00053     readRegs(KXTJ3_WHO_AM_I, &buf, 1);
00054     if (buf != KXTJ3_WAI_VAL) {
00055         DEBUG_PRINT("KXTJ3 initialization error. (WAI %d, not %d)\n\r", buf, KXTJ3_WAI_VAL);
00056         DEBUG_PRINT("Trying to config anyway, in case there is some compatible sensor connected.\n\r");
00057     }
00058 */
00059 
00060     readRegs(KXTJ3_CNTL1, reg, 1);
00061     if(reg[0]!=0xC0){
00062 
00063         reg[0] = KXTJ3_CNTL1;
00064         reg[1] = 0x40;
00065         writeRegs(reg, 2);
00066 
00067         reg[0] = KXTJ3_ODCNTL;
00068         reg[1] = 0x01;
00069         writeRegs(reg, 2);
00070 
00071         reg[0] = KXTJ3_CNTL1;
00072         reg[1] = 0xC0;
00073         writeRegs(reg, 2);}
00074 }
00075     
00076 float KXTJ3::getAccX()
00077 {
00078     return (float(getAccAxis(KXTJ3_XOUT_L))/16384);
00079 }
00080 
00081 float KXTJ3::getAccY()
00082 {
00083     return (float(getAccAxis(KXTJ3_YOUT_L))/16384);
00084 }
00085 
00086 float KXTJ3::getAccZ()
00087 {
00088     return (float(getAccAxis(KXTJ3_ZOUT_L))/16384);
00089 }
00090 
00091 void KXTJ3::getAccAllAxis(float * res)
00092 {
00093     res[0] = getAccX();
00094     res[1] = getAccY();
00095     res[2] = getAccZ();
00096 }
00097 
00098 int16_t KXTJ3::getAccAxis(uint8_t addr)
00099 {
00100     int16_t acc;
00101     uint8_t res[2];
00102 
00103     readRegs(addr, res, 2);
00104     acc = ((res[1] << 8) | res[0]);
00105     return acc;
00106 }
00107 
00108 void KXTJ3::readRegs(int addr, uint8_t * data, int len)
00109 {
00110     int read_nok;
00111     char t[1] = {addr};
00112     
00113     m_i2c->write(m_addr, t, 1,true);
00114     read_nok = m_i2c->read(m_addr, (char *)data, len);
00115     if (read_nok){
00116         DEBUG_PRINT("Read fail\n\r");        
00117         }
00118 }
00119 
00120 void KXTJ3::writeRegs(uint8_t * data, int len)
00121 {
00122     m_i2c->write(m_addr, (char *)data, len);
00123 }