Johnathan Chin / Mbed 2 deprecated robot_tilt_move

moves a robot using an accelerometer

Dependencies:   4DGL-uLCD-SE PinDetect mbed

MMA8452.h@0:69997732b823, 2017-10-03 (annotated)

Committer:
jchin32
Date:
Tue Oct 03 11:41:34 2017 +0000
Revision:
0:69997732b823
Moves a robot sprite using an accelerometer

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jchin32 0:69997732b823 1 #pragma once
jchin32 0:69997732b823 2
jchin32 0:69997732b823 3 // Authors: Ashley Mills, Nicholas Herriot
jchin32 0:69997732b823 4 /* Copyright (c) 2013 Vodafone, MIT License
jchin32 0:69997732b823 5 *
jchin32 0:69997732b823 6 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
jchin32 0:69997732b823 7 * and associated documentation files (the "Software"), to deal in the Software without restriction,
jchin32 0:69997732b823 8 * including without limitation the rights to use, copy, modify, merge, publish, distribute,
jchin32 0:69997732b823 9 * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
jchin32 0:69997732b823 10 * furnished to do so, subject to the following conditions:
jchin32 0:69997732b823 11 *
jchin32 0:69997732b823 12 * The above copyright notice and this permission notice shall be included in all copies or
jchin32 0:69997732b823 13 * substantial portions of the Software.
jchin32 0:69997732b823 14 *
jchin32 0:69997732b823 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
jchin32 0:69997732b823 16 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
jchin32 0:69997732b823 17 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
jchin32 0:69997732b823 18 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
jchin32 0:69997732b823 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
jchin32 0:69997732b823 20 */
jchin32 0:69997732b823 21
jchin32 0:69997732b823 22 // the SparkFun breakout board defaults to 1, set to 0 if SA0 jumper on the bottom of the board is set
jchin32 0:69997732b823 23 // see the Table 10. I2C Device Address Sequence in Freescale MMA8452Q pdf
jchin32 0:69997732b823 24
jchin32 0:69997732b823 25 #include "mbed.h"
jchin32 0:69997732b823 26
jchin32 0:69997732b823 27 #define MMA8452_DEBUG 1
jchin32 0:69997732b823 28
jchin32 0:69997732b823 29 // More info on MCU Master address can be found on section 5.10.1 of http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=MMA8452Q
jchin32 0:69997732b823 30 #define SA0 1
jchin32 0:69997732b823 31 #if SA0
jchin32 0:69997732b823 32 #define MMA8452_ADDRESS 0x3A // 0x1D<<1 // SA0 is high, 0x1C if low -
jchin32 0:69997732b823 33 #else
jchin32 0:69997732b823 34 #define MMA8452_ADDRESS 0x38 // 0x1C<<1
jchin32 0:69997732b823 35 #endif
jchin32 0:69997732b823 36
jchin32 0:69997732b823 37 // Register descriptions found in section 6 of pdf
jchin32 0:69997732b823 38 #define MMA8452_STATUS 0x00 // Type 'read' : Status of the data registers
jchin32 0:69997732b823 39 #define MMA8452_OUT_X_MSB 0x01 // Type 'read' : x axis - MSB of 2 byte sample
jchin32 0:69997732b823 40 #define MMA8452_OUT_X_LSB 0x02 // Type 'read' : x axis - LSB of 2 byte sample
jchin32 0:69997732b823 41 #define MMA8452_OUT_Y_MSB 0x03 // Type 'read' : y axis - MSB of 2 byte sample
jchin32 0:69997732b823 42 #define MMA8452_OUT_Y_LSB 0x04 // Type 'read' : y axis - LSB of 2 byte sample
jchin32 0:69997732b823 43 #define MMA8452_OUT_Z_MSB 0x05 // Type 'read' : z axis - MSB of 2 byte sample
jchin32 0:69997732b823 44 #define MMA8452_OUT_Z_LSB 0x06 // Type 'read' : z axis - LSB of 2 byte sample
jchin32 0:69997732b823 45
jchin32 0:69997732b823 46 // register definitions
jchin32 0:69997732b823 47 #define MMA8452_XYZ_DATA_CFG 0x0E
jchin32 0:69997732b823 48
jchin32 0:69997732b823 49 #define MMA8452_SYSMOD 0x0B // Type 'read' : This tells you if device is active, sleep or standy 0x00=STANDBY 0x01=WAKE 0x02=SLEEP
jchin32 0:69997732b823 50 #define MMA8452_WHO_AM_I 0x0D // Type 'read' : This should return the device id of 0x2A
jchin32 0:69997732b823 51
jchin32 0:69997732b823 52 #define MMA8452_PL_STATUS 0x10 // Type 'read' : This shows portrait landscape mode orientation
jchin32 0:69997732b823 53 #define MMA8452_PL_CFG 0x11 // Type 'read/write' : This allows portrait landscape configuration
jchin32 0:69997732b823 54 #define MMA8452_PL_COUNT 0x12 // Type 'read' : This is the portraint landscape debounce counter
jchin32 0:69997732b823 55 #define MMA8452_PL_BF_ZCOMP 0x13 // Type 'read' :
jchin32 0:69997732b823 56 #define MMA8452_PL_THS_REG 0x14 // Type 'read' :
jchin32 0:69997732b823 57
jchin32 0:69997732b823 58 #define MMA8452_FF_MT_CFG 0X15 // Type 'read/write' : Freefaul motion functional block configuration
jchin32 0:69997732b823 59 #define MMA8452_FF_MT_SRC 0X16 // Type 'read' : Freefaul motion event source register
jchin32 0:69997732b823 60 #define MMA8452_FF_MT_THS 0X17 // Type 'read' : Freefaul motion threshold register
jchin32 0:69997732b823 61 #define MMA8452_FF_COUNT 0X18 // Type 'read' : Freefaul motion debouce counter
jchin32 0:69997732b823 62
jchin32 0:69997732b823 63 #define MMA8452_ASLP_COUNT 0x29 // Type 'read/write' : Counter settings for auto sleep
jchin32 0:69997732b823 64 #define MMA8452_CTRL_REG_1 0x2A // Type 'read/write' :
jchin32 0:69997732b823 65 #define MMA8452_CTRL_REG_2 0x2B // Type 'read/write' :
jchin32 0:69997732b823 66 #define MMA8452_CTRL_REG_3 0x2C // Type 'read/write' :
jchin32 0:69997732b823 67 #define MMA8452_CTRL_REG_4 0x2D // Type 'read/write' :
jchin32 0:69997732b823 68 #define MMA8452_CTRL_REG_5 0x2E // Type 'read/write' :
jchin32 0:69997732b823 69
jchin32 0:69997732b823 70 // Defined in table 13 of the Freescale PDF
jchin32 0:69997732b823 71 /// xxx these all need to have better names
jchin32 0:69997732b823 72 #define STANDBY 0x00 // State value returned after a SYSMOD request, it can be in state STANDBY, WAKE or SLEEP
jchin32 0:69997732b823 73 #define WAKE 0x01 // State value returned after a SYSMOD request, it can be in state STANDBY, WAKE or SLEEP
jchin32 0:69997732b823 74 #define SLEEP 0x02 // State value returned after a SYSMOD request, it can be in state STANDBY, WAKE or SLEEP
jchin32 0:69997732b823 75 #define ACTIVE 0x01 // Stage value returned and set in Control Register 1, it can be STANDBY=00, or ACTIVE=01
jchin32 0:69997732b823 76
jchin32 0:69997732b823 77 #define TILT_STATUS 0x03 // Tilt Status (Read only)
jchin32 0:69997732b823 78 #define SRST_STATUS 0x04 // Sample Rate Status Register (Read only)
jchin32 0:69997732b823 79 #define SPCNT_STATUS 0x05 // Sleep Count Register (Read/Write)
jchin32 0:69997732b823 80 #define INTSU_STATUS 0x06 // Interrupt Setup Register
jchin32 0:69997732b823 81 #define MODE_STATUS 0x07 // Mode Register (Read/Write)
jchin32 0:69997732b823 82 #define SR_STATUS 0x08 // Auto-Wake and Active Mode Portrait/Landscape Samples per Seconds Register (Read/Write)
jchin32 0:69997732b823 83 #define PDET_STATUS 0x09 // Tap/Pulse Detection Register (Read/Write)
jchin32 0:69997732b823 84 #define PD_STATUS 0xA // Tap/Pulse Debounce Count Register (Read/Write)
jchin32 0:69997732b823 85
jchin32 0:69997732b823 86 // masks for enabling/disabling standby
jchin32 0:69997732b823 87 #define MMA8452_ACTIVE_MASK 0x01
jchin32 0:69997732b823 88 #define MMA8452_STANDBY_MASK 0xFE
jchin32 0:69997732b823 89
jchin32 0:69997732b823 90 // mask for dynamic range reading and writing
jchin32 0:69997732b823 91 #define MMA8452_DYNAMIC_RANGE_MASK 0xFC
jchin32 0:69997732b823 92
jchin32 0:69997732b823 93 // mask and shift for data rate reading and writing
jchin32 0:69997732b823 94 #define MMA8452_DATA_RATE_MASK 0xC7
jchin32 0:69997732b823 95 #define MMA8452_DATA_RATE_MASK_SHIFT 0x03
jchin32 0:69997732b823 96
jchin32 0:69997732b823 97 // mask and shift for general reading and writing
jchin32 0:69997732b823 98 #define MMA8452_WRITE_MASK 0xFE
jchin32 0:69997732b823 99 #define MMA8452_READ_MASK 0x01
jchin32 0:69997732b823 100
jchin32 0:69997732b823 101 // mask and shift for bit depth reading and writing
jchin32 0:69997732b823 102 #define MMA8452_BIT_DEPTH_MASK 0xFD
jchin32 0:69997732b823 103 #define MMA8452_BIT_DEPTH_MASK_SHIFT 0x01
jchin32 0:69997732b823 104
jchin32 0:69997732b823 105 // status masks and shifts
jchin32 0:69997732b823 106 #define MMA8452_STATUS_ZYXDR_MASK 0x08
jchin32 0:69997732b823 107 #define MMA8452_STATUS_ZDR_MASK 0x04
jchin32 0:69997732b823 108 #define MMA8452_STATUS_YDR_MASK 0x02
jchin32 0:69997732b823 109 #define MMA8452_STATUS_XDR_MASK 0x01
jchin32 0:69997732b823 110
jchin32 0:69997732b823 111 /**
jchin32 0:69997732b823 112 * Wrapper for the MMA8452 I2C driven accelerometer.
jchin32 0:69997732b823 113 */
jchin32 0:69997732b823 114 class MMA8452 {
jchin32 0:69997732b823 115
jchin32 0:69997732b823 116 public:
jchin32 0:69997732b823 117
jchin32 0:69997732b823 118 enum DynamicRange {
jchin32 0:69997732b823 119 DYNAMIC_RANGE_2G=0x00,
jchin32 0:69997732b823 120 DYNAMIC_RANGE_4G,
jchin32 0:69997732b823 121 DYNAMIC_RANGE_8G,
jchin32 0:69997732b823 122 DYNAMIC_RANGE_UNKNOWN
jchin32 0:69997732b823 123 };
jchin32 0:69997732b823 124
jchin32 0:69997732b823 125 enum BitDepth {
jchin32 0:69997732b823 126 BIT_DEPTH_12=0x00,
jchin32 0:69997732b823 127 BIT_DEPTH_8, // 1 sets fast read mode, hence the inversion
jchin32 0:69997732b823 128 BIT_DEPTH_UNKNOWN
jchin32 0:69997732b823 129 };
jchin32 0:69997732b823 130
jchin32 0:69997732b823 131 enum DataRateHz {
jchin32 0:69997732b823 132 RATE_800=0x00,
jchin32 0:69997732b823 133 RATE_400,
jchin32 0:69997732b823 134 RATE_200,
jchin32 0:69997732b823 135 RATE_100,
jchin32 0:69997732b823 136 RATE_50,
jchin32 0:69997732b823 137 RATE_12_5,
jchin32 0:69997732b823 138 RATE_6_25,
jchin32 0:69997732b823 139 RATE_1_563,
jchin32 0:69997732b823 140 RATE_UNKNOWN
jchin32 0:69997732b823 141 };
jchin32 0:69997732b823 142
jchin32 0:69997732b823 143 /**
jchin32 0:69997732b823 144 * Create an accelerometer object connected to the specified I2C pins.
jchin32 0:69997732b823 145 *
jchin32 0:69997732b823 146 * @param sda I2C data port
jchin32 0:69997732b823 147 * @param scl I2C clock port
jchin32 0:69997732b823 148 * @param frequency
jchin32 0:69997732b823 149 *
jchin32 0:69997732b823 150 */
jchin32 0:69997732b823 151 MMA8452(PinName sda, PinName scl, int frequency);
jchin32 0:69997732b823 152
jchin32 0:69997732b823 153 /// Destructor
jchin32 0:69997732b823 154 ~MMA8452();
jchin32 0:69997732b823 155
jchin32 0:69997732b823 156 /**
jchin32 0:69997732b823 157 * Puts the MMA8452 in active mode.
jchin32 0:69997732b823 158 * @return 0 on success, 1 on failure.
jchin32 0:69997732b823 159 */
jchin32 0:69997732b823 160 int activate();
jchin32 0:69997732b823 161
jchin32 0:69997732b823 162 /**
jchin32 0:69997732b823 163 * Puts the MMA8452 in standby.
jchin32 0:69997732b823 164 * @return 0 on success, 1 on failure.
jchin32 0:69997732b823 165 */
jchin32 0:69997732b823 166 int standby();
jchin32 0:69997732b823 167
jchin32 0:69997732b823 168 /**
jchin32 0:69997732b823 169 * Read the device ID from the accelerometer (should be 0x2a)
jchin32 0:69997732b823 170 *
jchin32 0:69997732b823 171 * @param dst pointer to store the ID
jchin32 0:69997732b823 172 * @return 0 on success, 1 on failure.
jchin32 0:69997732b823 173 */
jchin32 0:69997732b823 174 int getDeviceID(char* dst);
jchin32 0:69997732b823 175
jchin32 0:69997732b823 176 /**
jchin32 0:69997732b823 177 * Read the MMA8452 status register.
jchin32 0:69997732b823 178 *
jchin32 0:69997732b823 179 * @param dst pointer to store the register value.
jchin32 0:69997732b823 180 * @ return 0 on success, 1 on failure.
jchin32 0:69997732b823 181 */
jchin32 0:69997732b823 182 int getStatus(char* dst);
jchin32 0:69997732b823 183
jchin32 0:69997732b823 184 /**
jchin32 0:69997732b823 185 * Read the raw x, y, an z registers of the MMA8452 in one operation.
jchin32 0:69997732b823 186 * All three registers are read sequentially and stored in the provided buffer.
jchin32 0:69997732b823 187 * The stored values are signed 2's complement left-aligned 12 or 8 bit integers.
jchin32 0:69997732b823 188 *
jchin32 0:69997732b823 189 * @param dst The destination buffer. Note that this needs to be 3 bytes for
jchin32 0:69997732b823 190 * BIT_DEPTH_8 and 6 bytes for BIT_DEPTH_12. It is upto the caller to ensure this.
jchin32 0:69997732b823 191 * @return 0 for success, and 1 for failure
jchin32 0:69997732b823 192 * @sa setBitDepth
jchin32 0:69997732b823 193 */
jchin32 0:69997732b823 194 int readXYZRaw(char *dst);
jchin32 0:69997732b823 195
jchin32 0:69997732b823 196 /// Read the raw x register into the provided buffer. @sa readXYZRaw
jchin32 0:69997732b823 197 int readXRaw(char *dst);
jchin32 0:69997732b823 198 /// Read the raw y register into the provided buffer. @sa readXYZRaw
jchin32 0:69997732b823 199 int readYRaw(char *dst);
jchin32 0:69997732b823 200 /// Read the raw z register into the provided buffer. @sa readXYZRaw
jchin32 0:69997732b823 201 int readZRaw(char *dst);
jchin32 0:69997732b823 202
jchin32 0:69997732b823 203 /**
jchin32 0:69997732b823 204 * Read the x, y, and z signed counts of the MMA8452 axes.
jchin32 0:69997732b823 205 *
jchin32 0:69997732b823 206 * Count resolution is either 8 bits or 12 bits, and the range is either +-2G, +-4G, or +-8G
jchin32 0:69997732b823 207 * depending on settings. The number of counts per G are 1024, 512, 256 for 2,4, and 8 G
jchin32 0:69997732b823 208 * respectively at 12 bit resolution and 64, 32, 16 for 2, 4, and 8 G respectively at
jchin32 0:69997732b823 209 * 8 bit resolution.
jchin32 0:69997732b823 210 *
jchin32 0:69997732b823 211 * This function queries the MMA8452 and returns the signed counts for each axes.
jchin32 0:69997732b823 212 *
jchin32 0:69997732b823 213 * @param x Pointer to integer to store x count
jchin32 0:69997732b823 214 * @param y Pointer to integer to store y count
jchin32 0:69997732b823 215 * @param z Pointer to integer to store z count
jchin32 0:69997732b823 216 * @return 0 on success, 1 on failure.
jchin32 0:69997732b823 217 */
jchin32 0:69997732b823 218 int readXYZCounts(int *x, int *y, int *z);
jchin32 0:69997732b823 219
jchin32 0:69997732b823 220 /// Read the x axes signed count. @sa readXYZCounts
jchin32 0:69997732b823 221 int readXCount(int *x);
jchin32 0:69997732b823 222 /// Read the y axes signed count. @sa readXYZCounts
jchin32 0:69997732b823 223 int readYCount(int *y);
jchin32 0:69997732b823 224 /// Read the z axes signed count. @sa readXYZCounts
jchin32 0:69997732b823 225 int readZCount(int *z);
jchin32 0:69997732b823 226
jchin32 0:69997732b823 227 /**
jchin32 0:69997732b823 228 * Read the x, y, and z accelerations measured in G.
jchin32 0:69997732b823 229 *
jchin32 0:69997732b823 230 * The measurement resolution is controlled via setBitDepth which can
jchin32 0:69997732b823 231 * be 8 or 12, and by setDynamicRange, which can be +-2G, +-4G, or +-8G.
jchin32 0:69997732b823 232 *
jchin32 0:69997732b823 233 * @param x A pointer to the double to store the x acceleration in.
jchin32 0:69997732b823 234 * @param y A pointer to the double to store the y acceleration in.
jchin32 0:69997732b823 235 * @param z A pointer to the double to store the z acceleration in.
jchin32 0:69997732b823 236 *
jchin32 0:69997732b823 237 * @return 0 on success, 1 on failure.
jchin32 0:69997732b823 238 */
jchin32 0:69997732b823 239 int readXYZGravity(double *x, double *y, double *z);
jchin32 0:69997732b823 240
jchin32 0:69997732b823 241 /// Read the x gravity in G into the provided double pointer. @sa readXYZGravity
jchin32 0:69997732b823 242 int readXGravity(double *x);
jchin32 0:69997732b823 243 /// Read the y gravity in G into the provided double pointer. @sa readXYZGravity
jchin32 0:69997732b823 244 int readYGravity(double *y);
jchin32 0:69997732b823 245 /// Read the z gravity in G into the provided double pointer. @sa readXYZGravity
jchin32 0:69997732b823 246 int readZGravity(double *z);
jchin32 0:69997732b823 247
jchin32 0:69997732b823 248 /// Returns 1 if data has been internally sampled (is available) for all axes since last read, 0 otherwise.
jchin32 0:69997732b823 249 int isXYZReady();
jchin32 0:69997732b823 250 /// Returns 1 if data has been internally sampled (is available) for the x-axis since last read, 0 otherwise.
jchin32 0:69997732b823 251 int isXReady();
jchin32 0:69997732b823 252 /// Returns 1 if data has been internally sampled (is available) for the y-axis since last read, 0 otherwise.
jchin32 0:69997732b823 253 int isYReady();
jchin32 0:69997732b823 254 /// Returns 1 if data has been internally sampled (is available) for the z-axis since last read, 0 otherwise.
jchin32 0:69997732b823 255 int isZReady();
jchin32 0:69997732b823 256
jchin32 0:69997732b823 257 /**
jchin32 0:69997732b823 258 * Reads a single byte from the specified MMA8452 register.
jchin32 0:69997732b823 259 *
jchin32 0:69997732b823 260 * @param addr The internal register address.
jchin32 0:69997732b823 261 * @param dst The destination buffer address.
jchin32 0:69997732b823 262 * @return 1 on success, 0 on failure.
jchin32 0:69997732b823 263 */
jchin32 0:69997732b823 264 int readRegister(char addr, char *dst);
jchin32 0:69997732b823 265
jchin32 0:69997732b823 266 /**
jchin32 0:69997732b823 267 * Reads n bytes from the specified MMA8452 register.
jchin32 0:69997732b823 268 *
jchin32 0:69997732b823 269 * @param addr The internal register address.
jchin32 0:69997732b823 270 * @param dst The destination buffer address.
jchin32 0:69997732b823 271 * @param nbytes The number of bytes to read.
jchin32 0:69997732b823 272 * @return 1 on success, 0 on failure.
jchin32 0:69997732b823 273 */
jchin32 0:69997732b823 274 int readRegister(char addr, char *dst, int nbytes);
jchin32 0:69997732b823 275
jchin32 0:69997732b823 276 /**
jchin32 0:69997732b823 277 * Write to the specified MMA8452 register.
jchin32 0:69997732b823 278 *
jchin32 0:69997732b823 279 * @param addr The internal register address
jchin32 0:69997732b823 280 * @param data Data byte to write
jchin32 0:69997732b823 281 */
jchin32 0:69997732b823 282 int writeRegister(char addr, char data);
jchin32 0:69997732b823 283
jchin32 0:69997732b823 284 /**
jchin32 0:69997732b823 285 * Write a data buffer to the specified MMA8452 register.
jchin32 0:69997732b823 286 *
jchin32 0:69997732b823 287 * @param addr The internal register address
jchin32 0:69997732b823 288 * @param data Pointer to data buffer to write
jchin32 0:69997732b823 289 * @param nbytes The length of the data buffer to write
jchin32 0:69997732b823 290 */
jchin32 0:69997732b823 291 int writeRegister(char addr, char *data, int nbytes);
jchin32 0:69997732b823 292
jchin32 0:69997732b823 293 int setDynamicRange(DynamicRange range, int toggleActivation=1);
jchin32 0:69997732b823 294 int setBitDepth(BitDepth depth, int toggleActivation=1);
jchin32 0:69997732b823 295 int setDataRate(DataRateHz dataRate, int toggleActivation=1);
jchin32 0:69997732b823 296
jchin32 0:69997732b823 297 DynamicRange getDynamicRange();
jchin32 0:69997732b823 298 DataRateHz getDataRate();
jchin32 0:69997732b823 299 BitDepth getBitDepth();
jchin32 0:69997732b823 300
jchin32 0:69997732b823 301 #ifdef MMA8452_DEBUG
jchin32 0:69997732b823 302 void debugRegister(char reg);
jchin32 0:69997732b823 303 #endif
jchin32 0:69997732b823 304
jchin32 0:69997732b823 305 private:
jchin32 0:69997732b823 306 /**
jchin32 0:69997732b823 307 * Reads the specified register, applies the mask with logical AND, logical ORs the value
jchin32 0:69997732b823 308 * and writes back the result to the register. If toggleActivation is set to true then the
jchin32 0:69997732b823 309 * device is put in standby before the operation, and activated at the end.
jchin32 0:69997732b823 310 * Setting it to false is useful for setting options on a device that you want to keep in
jchin32 0:69997732b823 311 * standby.
jchin32 0:69997732b823 312 */
jchin32 0:69997732b823 313 int maskAndApplyRegister(char reg, char mask, char value, int toggleActivation);
jchin32 0:69997732b823 314
jchin32 0:69997732b823 315 /// Reads the specified register, applies the mask with logical AND, and writes the result back.
jchin32 0:69997732b823 316 int logicalANDRegister(char addr, char mask);
jchin32 0:69997732b823 317 /// Reads the specified register, applies the mask with logical OR, and writes the result back.
jchin32 0:69997732b823 318 int logicalORRegister(char addr, char mask);
jchin32 0:69997732b823 319 /// Reads the specified register, applies the mask with logical XOR, and writes the result back.
jchin32 0:69997732b823 320 int logicalXORRegister(char addr, char mask);
jchin32 0:69997732b823 321
jchin32 0:69997732b823 322 /// Converts the 12-bit two's complement number in buf to a signed integer. Returns the integer.
jchin32 0:69997732b823 323 int twelveBitToSigned(char *buf);
jchin32 0:69997732b823 324 /// Converts the 8-bit two's complement number in buf to a signed integer. Returns the integer.
jchin32 0:69997732b823 325 int eightBitToSigned(char *buf);
jchin32 0:69997732b823 326
jchin32 0:69997732b823 327 /// Converts a count to a gravity using the supplied countsPerG. Returns the gravity.
jchin32 0:69997732b823 328 double convertCountToGravity(int count, int countsPerG);
jchin32 0:69997732b823 329
jchin32 0:69997732b823 330 /// Reads the register at addr, applies the mask with logical AND, and returns the result.
jchin32 0:69997732b823 331 char getMaskedRegister(int addr, char mask);
jchin32 0:69997732b823 332
jchin32 0:69997732b823 333 /// Get the counts per G for the current settings of bit depth and dynamic range.
jchin32 0:69997732b823 334 int getCountsPerG();
jchin32 0:69997732b823 335
jchin32 0:69997732b823 336 I2C _i2c;
jchin32 0:69997732b823 337 int _frequency;
jchin32 0:69997732b823 338 int _readAddress;
jchin32 0:69997732b823 339 int _writeAddress;
jchin32 0:69997732b823 340
jchin32 0:69997732b823 341 BitDepth _bitDepth;
jchin32 0:69997732b823 342 DynamicRange _dynamicRange;
jchin32 0:69997732b823 343 };
jchin32 0:69997732b823 344