Benedikt Kičin / Mbed 2 deprecated kicin2vytah

Benedikt Kicin, vytah semestralka

Dependencies:   mbed

MMA8451Q.cpp@0:2574b54351ed, 2018-01-24 (annotated)

Committer:
kicin2
Date:
Wed Jan 24 07:55:50 2018 +0000
Revision:
0:2574b54351ed
kicin2 vytah

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kicin2 0:2574b54351ed 1 /* Copyright (c) 2010-2011 mbed.org, MIT License
kicin2 0:2574b54351ed 2 *
kicin2 0:2574b54351ed 3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
kicin2 0:2574b54351ed 4 * and associated documentation files (the "Software"), to deal in the Software without
kicin2 0:2574b54351ed 5 * restriction, including without limitation the rights to use, copy, modify, merge, publish,
kicin2 0:2574b54351ed 6 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
kicin2 0:2574b54351ed 7 * Software is furnished to do so, subject to the following conditions:
kicin2 0:2574b54351ed 8 *
kicin2 0:2574b54351ed 9 * The above copyright notice and this permission notice shall be included in all copies or
kicin2 0:2574b54351ed 10 * substantial portions of the Software.
kicin2 0:2574b54351ed 11 *
kicin2 0:2574b54351ed 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
kicin2 0:2574b54351ed 13 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
kicin2 0:2574b54351ed 14 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
kicin2 0:2574b54351ed 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
kicin2 0:2574b54351ed 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
kicin2 0:2574b54351ed 17 */
kicin2 0:2574b54351ed 18
kicin2 0:2574b54351ed 19 #include "MMA8451Q.h"
kicin2 0:2574b54351ed 20
kicin2 0:2574b54351ed 21 #define REG_STATUS 0x00
kicin2 0:2574b54351ed 22 #define REG_WHO_AM_I 0x0D
kicin2 0:2574b54351ed 23 #define REG_CTRL_REG_1 0x2A
kicin2 0:2574b54351ed 24 #define REG_CTRL_REG_2 0x2B
kicin2 0:2574b54351ed 25 #define REG_CTRL_REG_4 0x2D
kicin2 0:2574b54351ed 26 #define REG_CTRL_REG_5 0x2E
kicin2 0:2574b54351ed 27 #define REG_INT_SRC 0x0C
kicin2 0:2574b54351ed 28 #define REG_FF_MT_CFG 0x15
kicin2 0:2574b54351ed 29 #define REG_FF_MT_SRC 0x16
kicin2 0:2574b54351ed 30 #define REG_FF_MT_THS 0x17
kicin2 0:2574b54351ed 31 #define REG_FF_MT_CNT 0x18
kicin2 0:2574b54351ed 32 #define REG_DBCNTM 0x11
kicin2 0:2574b54351ed 33 #define REG_DBNCE 0x12
kicin2 0:2574b54351ed 34 #define REG_BKFR 0x13
kicin2 0:2574b54351ed 35 #define REG_P_L_THS 0x14
kicin2 0:2574b54351ed 36 #define REG_PL_STATUS 0x10
kicin2 0:2574b54351ed 37
kicin2 0:2574b54351ed 38 //
kicin2 0:2574b54351ed 39 #define REG_OUT_X_MSB 0x01
kicin2 0:2574b54351ed 40 #define REG_OUT_Y_MSB 0x03
kicin2 0:2574b54351ed 41 #define REG_OUT_Z_MSB 0x05
kicin2 0:2574b54351ed 42
kicin2 0:2574b54351ed 43 #define UINT14_MAX 16383
kicin2 0:2574b54351ed 44
kicin2 0:2574b54351ed 45 //
kicin2 0:2574b54351ed 46 #define ZYXDR 0x08
kicin2 0:2574b54351ed 47 #define ZDR 0x04
kicin2 0:2574b54351ed 48 #define YDR 0x02
kicin2 0:2574b54351ed 49 #define XDR 0x01
kicin2 0:2574b54351ed 50
kicin2 0:2574b54351ed 51 /**
kicin2 0:2574b54351ed 52 *Interrupt schema
kicin2 0:2574b54351ed 53 */
kicin2 0:2574b54351ed 54 void (*MMA8451Q_usr2_fptr)(void); // Pointers to user function called after
kicin2 0:2574b54351ed 55 void (*MMA8451Q_usr1_fptr)(void); // IRQ assertion.
kicin2 0:2574b54351ed 56
kicin2 0:2574b54351ed 57 //
kicin2 0:2574b54351ed 58 InterruptIn MMA8451Q_Int1( PTC5); // INTERRUPT1
kicin2 0:2574b54351ed 59 InterruptIn MMA8451Q_Int2( PTD1); // INTERRUPT2
kicin2 0:2574b54351ed 60
kicin2 0:2574b54351ed 61 // Constructor with features
kicin2 0:2574b54351ed 62 MMA8451Q::MMA8451Q(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
kicin2 0:2574b54351ed 63
kicin2 0:2574b54351ed 64 MMA8451Q_Int1.fall( NULL);
kicin2 0:2574b54351ed 65 MMA8451Q_Int2.fall( NULL);
kicin2 0:2574b54351ed 66 MMA8451Q_usr2_fptr = NULL;
kicin2 0:2574b54351ed 67 MMA8451Q_usr1_fptr = NULL;
kicin2 0:2574b54351ed 68
kicin2 0:2574b54351ed 69 Reset();
kicin2 0:2574b54351ed 70 Active();
kicin2 0:2574b54351ed 71 }
kicin2 0:2574b54351ed 72
kicin2 0:2574b54351ed 73 // Constructor
kicin2 0:2574b54351ed 74 MMA8451Q::~MMA8451Q()
kicin2 0:2574b54351ed 75 {
kicin2 0:2574b54351ed 76 MMA8451Q_Int1.fall( NULL);
kicin2 0:2574b54351ed 77 MMA8451Q_Int2.fall( NULL);
kicin2 0:2574b54351ed 78 MMA8451Q_usr2_fptr = NULL;
kicin2 0:2574b54351ed 79 MMA8451Q_usr1_fptr = NULL;
kicin2 0:2574b54351ed 80 }
kicin2 0:2574b54351ed 81
kicin2 0:2574b54351ed 82 void MMA8451Q::Reset( void)
kicin2 0:2574b54351ed 83 {
kicin2 0:2574b54351ed 84 // Soft reset
kicin2 0:2574b54351ed 85 uint8_t data[2] = {REG_CTRL_REG_2, 0x40};
kicin2 0:2574b54351ed 86 writeRegs(data, 2);
kicin2 0:2574b54351ed 87 wait( 0.1);
kicin2 0:2574b54351ed 88 }
kicin2 0:2574b54351ed 89
kicin2 0:2574b54351ed 90 void MMA8451Q::MotionDetection( void(*fptr)(void))
kicin2 0:2574b54351ed 91 {
kicin2 0:2574b54351ed 92 Reset();
kicin2 0:2574b54351ed 93
kicin2 0:2574b54351ed 94 // Step 1:
kicin2 0:2574b54351ed 95 unsigned char data[2] = {REG_CTRL_REG_1, 0x18};
kicin2 0:2574b54351ed 96 writeRegs(data, 2);
kicin2 0:2574b54351ed 97
kicin2 0:2574b54351ed 98 // Step 2:
kicin2 0:2574b54351ed 99 data[0] = REG_FF_MT_CFG;
kicin2 0:2574b54351ed 100 data[1] = 0xD8;
kicin2 0:2574b54351ed 101 writeRegs(data, 2);
kicin2 0:2574b54351ed 102
kicin2 0:2574b54351ed 103 // Step 3:
kicin2 0:2574b54351ed 104 data[0] = REG_FF_MT_THS;
kicin2 0:2574b54351ed 105 data[1] = 0x10;
kicin2 0:2574b54351ed 106 writeRegs(data, 2);
kicin2 0:2574b54351ed 107
kicin2 0:2574b54351ed 108 // Step 4:
kicin2 0:2574b54351ed 109 data[0] = REG_FF_MT_CNT;
kicin2 0:2574b54351ed 110 data[1] = 0x0A;
kicin2 0:2574b54351ed 111 writeRegs(data, 2);
kicin2 0:2574b54351ed 112
kicin2 0:2574b54351ed 113 // Step 5:
kicin2 0:2574b54351ed 114 data[0] = REG_CTRL_REG_4;
kicin2 0:2574b54351ed 115 data[1] = 0x04;
kicin2 0:2574b54351ed 116 writeRegs(data, 2);
kicin2 0:2574b54351ed 117
kicin2 0:2574b54351ed 118 // Step 6:
kicin2 0:2574b54351ed 119 data[0] = REG_CTRL_REG_5;
kicin2 0:2574b54351ed 120 data[1] = 0x00;
kicin2 0:2574b54351ed 121 writeRegs(data, 2);
kicin2 0:2574b54351ed 122
kicin2 0:2574b54351ed 123 // Step 7:
kicin2 0:2574b54351ed 124 data[0] = REG_CTRL_REG_1;
kicin2 0:2574b54351ed 125 data[1] = 0x19;
kicin2 0:2574b54351ed 126 writeRegs(data, 2);
kicin2 0:2574b54351ed 127
kicin2 0:2574b54351ed 128 MMA8451Q_usr2_fptr = fptr;
kicin2 0:2574b54351ed 129 MMA8451Q_Int2.fall( this, &MMA8451Q::Motion_IRQ);
kicin2 0:2574b54351ed 130
kicin2 0:2574b54351ed 131 }
kicin2 0:2574b54351ed 132
kicin2 0:2574b54351ed 133 void MMA8451Q::Motion_IRQ( void)
kicin2 0:2574b54351ed 134 {
kicin2 0:2574b54351ed 135 unsigned char t;
kicin2 0:2574b54351ed 136
kicin2 0:2574b54351ed 137 // Determine source of the interrupt by first reading the system interrupt
kicin2 0:2574b54351ed 138 readRegs( REG_INT_SRC, &t, 1);
kicin2 0:2574b54351ed 139 //
kicin2 0:2574b54351ed 140 if ( (t & 0x04) == 0x04) {
kicin2 0:2574b54351ed 141 // Read the Motion/Freefall Function to clear the interrupt
kicin2 0:2574b54351ed 142 readRegs( REG_FF_MT_SRC, &t, 1);
kicin2 0:2574b54351ed 143 // Run the user supplied function
kicin2 0:2574b54351ed 144 MMA8451Q_usr2_fptr();
kicin2 0:2574b54351ed 145 }
kicin2 0:2574b54351ed 146 }
kicin2 0:2574b54351ed 147
kicin2 0:2574b54351ed 148
kicin2 0:2574b54351ed 149 void MMA8451Q::Active( void)
kicin2 0:2574b54351ed 150 {
kicin2 0:2574b54351ed 151 unsigned char t;
kicin2 0:2574b54351ed 152
kicin2 0:2574b54351ed 153 // Activate the peripheral
kicin2 0:2574b54351ed 154 readRegs(REG_CTRL_REG_1, &t, 1);
kicin2 0:2574b54351ed 155 unsigned char data[2] = {REG_CTRL_REG_1, t|0x01};
kicin2 0:2574b54351ed 156 writeRegs(data, 2);
kicin2 0:2574b54351ed 157 }
kicin2 0:2574b54351ed 158
kicin2 0:2574b54351ed 159 void MMA8451Q::Standby( void)
kicin2 0:2574b54351ed 160 {
kicin2 0:2574b54351ed 161 unsigned char t;
kicin2 0:2574b54351ed 162
kicin2 0:2574b54351ed 163 // Standby
kicin2 0:2574b54351ed 164 readRegs(REG_CTRL_REG_1, &t, 1);
kicin2 0:2574b54351ed 165 unsigned char data[2] = {REG_CTRL_REG_1, t&0xFE};
kicin2 0:2574b54351ed 166 writeRegs(data, 2);
kicin2 0:2574b54351ed 167 }
kicin2 0:2574b54351ed 168
kicin2 0:2574b54351ed 169 uint8_t MMA8451Q::getWhoAmI() {
kicin2 0:2574b54351ed 170 uint8_t who_am_i = 0;
kicin2 0:2574b54351ed 171 readRegs(REG_WHO_AM_I, &who_am_i, 1);
kicin2 0:2574b54351ed 172 return who_am_i;
kicin2 0:2574b54351ed 173 }
kicin2 0:2574b54351ed 174
kicin2 0:2574b54351ed 175 float MMA8451Q::getAccX() {
kicin2 0:2574b54351ed 176 return (float(getAccAxis(REG_OUT_X_MSB))/4096.0);
kicin2 0:2574b54351ed 177 }
kicin2 0:2574b54351ed 178
kicin2 0:2574b54351ed 179 float MMA8451Q::getAccY() {
kicin2 0:2574b54351ed 180 return (float(getAccAxis(REG_OUT_Y_MSB))/4096.0);
kicin2 0:2574b54351ed 181 }
kicin2 0:2574b54351ed 182
kicin2 0:2574b54351ed 183 float MMA8451Q::getAccZ() {
kicin2 0:2574b54351ed 184 return (float(getAccAxis(REG_OUT_Z_MSB))/4096.0);
kicin2 0:2574b54351ed 185 }
kicin2 0:2574b54351ed 186
kicin2 0:2574b54351ed 187 void MMA8451Q::getAccAllAxis(float * res) {
kicin2 0:2574b54351ed 188 res[0] = getAccX();
kicin2 0:2574b54351ed 189 res[1] = getAccY();
kicin2 0:2574b54351ed 190 res[2] = getAccZ();
kicin2 0:2574b54351ed 191 }
kicin2 0:2574b54351ed 192
kicin2 0:2574b54351ed 193 int16_t MMA8451Q::getAccAxis(uint8_t addr) {
kicin2 0:2574b54351ed 194 int16_t acc;
kicin2 0:2574b54351ed 195 uint8_t res[2];
kicin2 0:2574b54351ed 196 readRegs(addr, res, 2);
kicin2 0:2574b54351ed 197
kicin2 0:2574b54351ed 198 acc = (res[0] << 6) | (res[1] >> 2);
kicin2 0:2574b54351ed 199 if (acc > UINT14_MAX/2)
kicin2 0:2574b54351ed 200 acc -= UINT14_MAX;
kicin2 0:2574b54351ed 201
kicin2 0:2574b54351ed 202 return acc;
kicin2 0:2574b54351ed 203 }
kicin2 0:2574b54351ed 204
kicin2 0:2574b54351ed 205 unsigned int MMA8451Q::getAccRawAllAxis( int16_t * res)
kicin2 0:2574b54351ed 206 {
kicin2 0:2574b54351ed 207 if ( isDataAvailable() & ZYXDR)
kicin2 0:2574b54351ed 208 {
kicin2 0:2574b54351ed 209 getAccRawX( &res[0]);
kicin2 0:2574b54351ed 210 getAccRawY( &res[1]);
kicin2 0:2574b54351ed 211 getAccRawZ( &res[2]);
kicin2 0:2574b54351ed 212 return 1;
kicin2 0:2574b54351ed 213 } else
kicin2 0:2574b54351ed 214 return 0;
kicin2 0:2574b54351ed 215 }
kicin2 0:2574b54351ed 216
kicin2 0:2574b54351ed 217 int16_t MMA8451Q::getAccRawX( int16_t * res)
kicin2 0:2574b54351ed 218 {
kicin2 0:2574b54351ed 219 if ( isDataAvailable() & XDR)
kicin2 0:2574b54351ed 220 {
kicin2 0:2574b54351ed 221 *res = getAccAxis(REG_OUT_X_MSB);
kicin2 0:2574b54351ed 222 return 1;
kicin2 0:2574b54351ed 223 } else
kicin2 0:2574b54351ed 224 return 0;
kicin2 0:2574b54351ed 225 }
kicin2 0:2574b54351ed 226
kicin2 0:2574b54351ed 227 int16_t MMA8451Q::getAccRawY( int16_t * res)
kicin2 0:2574b54351ed 228 {
kicin2 0:2574b54351ed 229 if ( isDataAvailable() & YDR)
kicin2 0:2574b54351ed 230 {
kicin2 0:2574b54351ed 231 *res = getAccAxis(REG_OUT_Y_MSB);
kicin2 0:2574b54351ed 232 return 1;
kicin2 0:2574b54351ed 233 } else
kicin2 0:2574b54351ed 234 return 0;
kicin2 0:2574b54351ed 235 }
kicin2 0:2574b54351ed 236
kicin2 0:2574b54351ed 237 int16_t MMA8451Q::getAccRawZ( int16_t * res)
kicin2 0:2574b54351ed 238 {
kicin2 0:2574b54351ed 239 if ( isDataAvailable() & ZDR)
kicin2 0:2574b54351ed 240 {
kicin2 0:2574b54351ed 241 *res = getAccAxis(REG_OUT_Z_MSB);
kicin2 0:2574b54351ed 242 return 1;
kicin2 0:2574b54351ed 243 } else
kicin2 0:2574b54351ed 244 return 0;
kicin2 0:2574b54351ed 245 }
kicin2 0:2574b54351ed 246
kicin2 0:2574b54351ed 247 unsigned int MMA8451Q::isDataAvailable( void)
kicin2 0:2574b54351ed 248 {
kicin2 0:2574b54351ed 249 unsigned char status;
kicin2 0:2574b54351ed 250
kicin2 0:2574b54351ed 251 readRegs( REG_STATUS, &status, 1);
kicin2 0:2574b54351ed 252
kicin2 0:2574b54351ed 253 return (status);
kicin2 0:2574b54351ed 254
kicin2 0:2574b54351ed 255 }
kicin2 0:2574b54351ed 256
kicin2 0:2574b54351ed 257 void MMA8451Q::readRegs(int addr, uint8_t * data, int len) {
kicin2 0:2574b54351ed 258 char t[1] = {addr};
kicin2 0:2574b54351ed 259 m_i2c.write(m_addr, t, 1, true);
kicin2 0:2574b54351ed 260 m_i2c.read(m_addr, (char *)data, len);
kicin2 0:2574b54351ed 261 }
kicin2 0:2574b54351ed 262
kicin2 0:2574b54351ed 263 void MMA8451Q::writeRegs(uint8_t * data, int len) {
kicin2 0:2574b54351ed 264 m_i2c.write(m_addr, (char *)data, len);
kicin2 0:2574b54351ed 265 }