Revision 1:c6e2a348da09, committed 2020-10-25

Comitter:

Jasper Swallen

Date:

Sun Oct 25 15:47:36 2020 -0400

Parent:

0:01d5616ba355

Commit message:

make synchronous & read all accel data at once

Changed in this revision

diff -r 01d5616ba355 -r c6e2a348da09 KX134.cpp
--- a/KX134.cpp	Tue Sep 22 19:36:06 2020 -0400
+++ b/KX134.cpp	Sun Oct 25 15:47:36 2020 -0400
@@ -3,13 +3,13 @@
 
 #define SPI_FREQ 100000
 
-char defaultBuffer[2] = {0}; // allows calling writeRegisterOneByte
-                             // without buf argument
+static uint8_t defaultBuffer[2] = {0}; // allows calling writeRegisterOneByte
+                                       // without buf argument
 
 /* Writes one byte to a register
  */
 void KX134::writeRegisterOneByte(Register addr, uint8_t data,
-                                 char *buf = defaultBuffer)
+                                 uint8_t *buf = defaultBuffer)
 {
     uint8_t _data[1] = {data};
     writeRegister(addr, _data, buf);
@@ -21,7 +21,7 @@
 {
     // set default values for settings variables
     resStatus = 1;   // high performance mode
-    drdyeStatus = 0; // Data Ready Engine disabled
+    drdyeStatus = 1; // Data Ready Engine enabled
     gsel1Status = 0; // +-8g bit 1
     gsel0Status = 0; // +-8g bit 0
     tdteStatus = 0;  // Tap/Double-Tap engine disabled
@@ -78,7 +78,7 @@
     _cs.write(0);
 }
 
-void KX134::readRegister(Register addr, char *rx_buf, int size)
+void KX134::readRegister(Register addr, uint8_t *rx_buf, int size)
 {
     select();
 
@@ -92,7 +92,8 @@
     deselect();
 }
 
-void KX134::writeRegister(Register addr, uint8_t *data, char *rx_buf, int size)
+void KX134::writeRegister(Register addr, uint8_t *data, uint8_t *rx_buf,
+                          int size)
 {
     select();
 
@@ -105,19 +106,20 @@
     deselect();
 }
 
-/* Returns a 16 bit signed integer representation of a 2 address read
- * Assumes 2s Complement
- */
 int16_t KX134::read16BitValue(Register lowAddr, Register highAddr)
 {
     // get contents of register
-    char lowWord[2], highWord[2];
+    uint8_t lowWord[2], highWord[2];
     readRegister(lowAddr, lowWord);
     readRegister(highAddr, highWord);
 
+    return convertTo16BitValue(lowWord[1], highWord[1]);
+}
+
+int16_t KX134::convertTo16BitValue(uint8_t low, uint8_t high)
+{
     // combine low & high words
-    uint16_t val2sComplement =
-        (static_cast<uint16_t>(highWord[1] << 8)) | lowWord[1];
+    uint16_t val2sComplement = (static_cast<uint16_t>(high << 8)) | low;
     int16_t value = static_cast<int16_t>(val2sComplement);
 
     return value;
@@ -153,16 +155,22 @@
 
 void KX134::getAccelerations(int16_t *output)
 {
-    // read X, Y, and Z
-    output[0] = read16BitValue(Register::XOUT_L, Register::XOUT_H);
-    output[1] = read16BitValue(Register::YOUT_L, Register::YOUT_H);
-    output[2] = read16BitValue(Register::ZOUT_L, Register::ZOUT_H);
+    uint8_t words[7];
+
+    // this was the recommended method by Kionix
+    // for some reason, this has *significantly* less noise than reading
+    // one-by-one
+    readRegister(Register::XOUT_L, words, 7);
+
+    output[0] = convertTo16BitValue(words[1], words[2]);
+    output[1] = convertTo16BitValue(words[3], words[4]);
+    output[2] = convertTo16BitValue(words[5], words[6]);
 }
 
 bool KX134::checkExistence()
 {
     // verify WHO_I_AM
-    char whoami[5];
+    uint8_t whoami[2];
     readRegister(Register::WHO_AM_I, whoami);
 
     if(whoami[1] != 0x46)
@@ -171,7 +179,7 @@
     }
 
     // verify COTR
-    char cotr[2];
+    uint8_t cotr[2];
     readRegister(Register::COTR, cotr);
     if(cotr[1] != 0x55)
     {
@@ -250,3 +258,11 @@
 
     registerWritingEnabled = 0;
 }
+
+bool KX134::dataReady()
+{
+    uint8_t buf[2];
+    readRegister(Register::INS2, buf);
+
+    return (buf[1] == 0x10);
+}

diff -r 01d5616ba355 -r c6e2a348da09 KX134.h
--- a/KX134.h	Tue Sep 22 19:36:06 2020 -0400
+++ b/KX134.h	Sun Oct 25 15:47:36 2020 -0400
@@ -169,6 +169,8 @@
     // Set Output Data Rate from Hz
     void setOutputDataRateHz(uint32_t hz);
 
+    bool dataReady();
+
   private:
     // Mbed pin identities
     SPI _spi;
@@ -194,14 +196,14 @@
      * Note: the first byte read should return 0x0, so the data begins at
      * rx_buf[1]
      */
-    void readRegister(Register addr, char *rx_buf, int size = 2);
+    void readRegister(Register addr, uint8_t *rx_buf, int size = 2);
 
     /* Writes a given register a given number of bytes
      *
      * Note: the first byte read should return 0x0, so the data begins at
      * rx_buf[1]
      */
-    void writeRegister(Register addr, uint8_t *data, char *rx_buf,
+    void writeRegister(Register addr, uint8_t *data, uint8_t *rx_buf,
                        int size = 1);
 
     /* Writes a given register 1 byte (convenience function, calls
@@ -210,13 +212,18 @@
      * Note: the first byte read should return 0x0, so the data begins at
      * rx_buf[1]
      */
-    void writeRegisterOneByte(Register addr, uint8_t data, char *buf);
+    void writeRegisterOneByte(Register addr, uint8_t data, uint8_t *buf);
 
     /* Reads a value from a low and high address and combines them to create a
      * signed (2s complement) 16-bit integer
      */
     int16_t read16BitValue(Register lowAddr, Register highAddr);
 
+    /* Converts 2 8-bit unsigned integers to a single signed 16-bit (2s
+     * complement) integer
+     */
+    int16_t convertTo16BitValue(uint8_t low, uint8_t high);
+
     // Settings variables
 
     // CNTL1 vars
@@ -239,4 +246,4 @@
     bool registerWritingEnabled;
 };
 
-#endif // KX134_H
+#endif // KX134_H
\ No newline at end of file