Atsushi Hattori
/
20210627_Logger
hattori&ide
MMA8652/MMA8652.cpp
- Committer:
- hattori_atsushi
- Date:
- 18 months ago
- Revision:
- 0:f77369cabd75
File content as of revision 0:f77369cabd75:
/* Copyright (c) 2010-2011 mbed.org, MIT License * * Permission is hereby granted, free of charge, to any person obtaining a copy of this software * and associated documentation files (the "Software"), to deal in the Software without * restriction, including without limitation the rights to use, copy, modify, merge, publish, * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the * Software is furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in all copies or * substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ #include "MMA8652.h" #define UINT14_MAX 16383 MMA8652::MMA8652(PinName sda, PinName scl) : _i2c(sda, scl) { begin(); } MMA8652::~MMA8652() { } void MMA8652::RegRead( char reg, char * d, int len) { char cmd[1]; cmd[0] = reg; char i2c_addr = MMA8652_SLAVE_ADDR; _i2c.write( i2c_addr, cmd, 1, true); _i2c.read ( i2c_addr, d, len); } void MMA8652::begin(void) { char data[2]; // write 0000 0000 = 0x00 to accelerometer control register 1 to place MMA8652 into // standby // [7-1] = 0000 000 // [0]: active=0 data[0] = MMA8652_CTRL_REG1; data[1] = 0x00; _i2c.write( MMA8652_SLAVE_ADDR, data, 2); // write 0000 0001= 0x01 to XYZ_DATA_CFG register // [7]: reserved // [6]: reserved // [5]: reserved // [4]: hpf_out=0 // [3]: reserved // [2]: reserved // [1-0]: fs=00 for accelerometer range of +/-2g range with 0.244mg/LSB data[0] = MMA8652_XYZ_DATA_CFG; data[1] = 0x00; _i2c.write( MMA8652_SLAVE_ADDR, data, 2); // write 0000 1101 = 0x0D to accelerometer control register 1 // [7-6]: aslp_rate=00 // [5-3]: dr=100 for 50Hz data rate // [2]: 0 // [1]: 0 // [0]: active=1 to take the part out of standby and enable sampling data[0] = MMA8652_CTRL_REG1; data[1] = 0x21; _i2c.write( MMA8652_SLAVE_ADDR, data, 2); } char MMA8652::getWhoAmI(void) { static char d; RegRead( /*MMA8652_WHOAMI*/ 0x0d, &d, 1); return(d); } void MMA8652::ReadXYZ(float * a) { char d[7]; int16_t t[6]; RegRead( MMA8652_STATUS, d, 7); t[0] = ((d[1] * 256) + ((unsigned short) d[2])); t[1] = ((d[3] * 256) + ((unsigned short) d[4])); t[2] = ((d[5] * 256) + ((unsigned short) d[6])); a[0] = (float) t[0] / 16384.0; a[1] = (float) t[1] / 16384.0; a[2] = (float) t[2] / 16384.0; } void MMA8652::ReadXYZraw(int16_t * d) { char res[6]; int16_t acc; RegRead( MMA8652_OUT_X_MSB, res, 6); acc = (res[0] << 6) | (res[1] >> 2); if (acc > UINT14_MAX/2) acc -= UINT14_MAX; d[0] = acc; acc = (res[2] << 6) | (res[3] >> 2); if (acc > UINT14_MAX/2) acc -= UINT14_MAX; d[1] = acc; acc = (res[4] << 6) | (res[5] >> 2); if (acc > UINT14_MAX/2) acc -= UINT14_MAX; d[2] = acc; }