Diff: MMA8451Q.cpp

Revision:

0:2574b54351ed

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MMA8451Q.cpp	Wed Jan 24 07:55:50 2018 +0000
@@ -0,0 +1,265 @@
+/* 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 "MMA8451Q.h"
+
+#define REG_STATUS        0x00
+#define REG_WHO_AM_I      0x0D
+#define REG_CTRL_REG_1    0x2A
+#define REG_CTRL_REG_2    0x2B
+#define REG_CTRL_REG_4    0x2D
+#define REG_CTRL_REG_5    0x2E
+#define REG_INT_SRC       0x0C
+#define REG_FF_MT_CFG     0x15
+#define REG_FF_MT_SRC     0x16
+#define REG_FF_MT_THS     0x17
+#define REG_FF_MT_CNT     0x18
+#define REG_DBCNTM        0x11
+#define REG_DBNCE         0x12
+#define REG_BKFR          0x13
+#define REG_P_L_THS       0x14
+#define REG_PL_STATUS     0x10
+
+//
+#define REG_OUT_X_MSB     0x01
+#define REG_OUT_Y_MSB     0x03
+#define REG_OUT_Z_MSB     0x05
+
+#define UINT14_MAX        16383
+
+//
+#define ZYXDR           0x08
+#define ZDR             0x04
+#define YDR             0x02
+#define XDR             0x01
+
+/**
+*Interrupt schema
+*/
+void (*MMA8451Q_usr2_fptr)(void);               // Pointers to user function called after
+void (*MMA8451Q_usr1_fptr)(void);               // IRQ assertion.
+
+//
+InterruptIn MMA8451Q_Int1( PTC5);      // INTERRUPT1
+InterruptIn MMA8451Q_Int2( PTD1);      // INTERRUPT2
+
+// Constructor with features
+MMA8451Q::MMA8451Q(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
+
+    MMA8451Q_Int1.fall( NULL);
+    MMA8451Q_Int2.fall( NULL);
+    MMA8451Q_usr2_fptr = NULL;
+    MMA8451Q_usr1_fptr = NULL;
+
+    Reset();
+    Active();
+}
+
+// Constructor
+MMA8451Q::~MMA8451Q()
+{
+     MMA8451Q_Int1.fall( NULL);
+     MMA8451Q_Int2.fall( NULL);
+     MMA8451Q_usr2_fptr = NULL;
+     MMA8451Q_usr1_fptr = NULL;
+}
+
+void MMA8451Q::Reset( void)
+{
+    // Soft reset
+    uint8_t data[2] = {REG_CTRL_REG_2, 0x40};
+    writeRegs(data, 2);
+    wait( 0.1);
+}
+
+void MMA8451Q::MotionDetection( void(*fptr)(void))
+{
+    Reset();
+
+    // Step 1:
+    unsigned char data[2] = {REG_CTRL_REG_1, 0x18};
+    writeRegs(data, 2);
+
+    // Step 2:
+    data[0] = REG_FF_MT_CFG;
+    data[1] = 0xD8;
+    writeRegs(data, 2);
+
+    // Step 3:
+    data[0] = REG_FF_MT_THS;
+    data[1] = 0x10;
+    writeRegs(data, 2);
+
+    // Step 4:
+    data[0] = REG_FF_MT_CNT;
+    data[1] = 0x0A;
+    writeRegs(data, 2);
+
+    // Step 5:
+    data[0] = REG_CTRL_REG_4;
+    data[1] = 0x04;
+    writeRegs(data, 2);
+
+    // Step 6:
+    data[0] = REG_CTRL_REG_5;
+    data[1] = 0x00;
+    writeRegs(data, 2);
+
+    // Step 7:
+    data[0] = REG_CTRL_REG_1;
+    data[1] = 0x19;
+    writeRegs(data, 2);
+
+    MMA8451Q_usr2_fptr = fptr;
+    MMA8451Q_Int2.fall( this, &MMA8451Q::Motion_IRQ);
+
+}
+
+void MMA8451Q::Motion_IRQ( void)
+{
+    unsigned char t;
+
+    // Determine source of the interrupt by first reading the system interrupt
+    readRegs( REG_INT_SRC, &t, 1);
+    //
+    if ( (t & 0x04) == 0x04) {
+        // Read the Motion/Freefall Function to clear the interrupt
+        readRegs( REG_FF_MT_SRC, &t, 1);
+        // Run the user supplied function
+        MMA8451Q_usr2_fptr();
+    }
+}
+
+
+void MMA8451Q::Active( void)
+{
+    unsigned char t;
+
+    // Activate the peripheral
+    readRegs(REG_CTRL_REG_1, &t, 1);
+    unsigned char data[2] = {REG_CTRL_REG_1, t|0x01};
+    writeRegs(data, 2);
+}
+
+void MMA8451Q::Standby( void)
+{
+    unsigned char t;
+
+    // Standby
+    readRegs(REG_CTRL_REG_1, &t, 1);
+    unsigned char data[2] = {REG_CTRL_REG_1, t&0xFE};
+    writeRegs(data, 2);
+}
+
+uint8_t MMA8451Q::getWhoAmI() {
+    uint8_t who_am_i = 0;
+    readRegs(REG_WHO_AM_I, &who_am_i, 1);
+    return who_am_i;
+}
+
+float MMA8451Q::getAccX() {
+    return (float(getAccAxis(REG_OUT_X_MSB))/4096.0);
+}
+
+float MMA8451Q::getAccY() {
+    return (float(getAccAxis(REG_OUT_Y_MSB))/4096.0);
+}
+
+float MMA8451Q::getAccZ() {
+    return (float(getAccAxis(REG_OUT_Z_MSB))/4096.0);
+}
+
+void MMA8451Q::getAccAllAxis(float * res) {
+    res[0] = getAccX();
+    res[1] = getAccY();
+    res[2] = getAccZ();
+}
+
+int16_t MMA8451Q::getAccAxis(uint8_t addr) {
+    int16_t acc;
+    uint8_t res[2];
+    readRegs(addr, res, 2);
+
+    acc = (res[0] << 6) | (res[1] >> 2);
+    if (acc > UINT14_MAX/2)
+        acc -= UINT14_MAX;
+
+    return acc;
+}
+
+unsigned int MMA8451Q::getAccRawAllAxis( int16_t * res)
+{
+    if ( isDataAvailable() & ZYXDR)
+    {
+        getAccRawX( &res[0]);
+        getAccRawY( &res[1]);
+        getAccRawZ( &res[2]);
+        return 1;
+    } else
+        return 0;
+}
+
+int16_t MMA8451Q::getAccRawX( int16_t * res)
+{
+    if ( isDataAvailable() & XDR)
+    {
+        *res = getAccAxis(REG_OUT_X_MSB);
+        return 1;
+    } else
+        return 0;
+}
+
+int16_t MMA8451Q::getAccRawY( int16_t * res)
+{
+    if ( isDataAvailable() & YDR)
+    {
+        *res = getAccAxis(REG_OUT_Y_MSB);
+        return 1;
+    } else
+        return 0;
+}
+
+int16_t MMA8451Q::getAccRawZ( int16_t * res)
+{
+    if ( isDataAvailable() & ZDR)
+    {
+        *res = getAccAxis(REG_OUT_Z_MSB);
+        return 1;
+    } else
+        return 0;
+}
+
+unsigned int MMA8451Q::isDataAvailable( void)
+{
+    unsigned char status;
+
+    readRegs( REG_STATUS, &status, 1);
+
+    return (status);
+
+}
+
+void MMA8451Q::readRegs(int addr, uint8_t * data, int len) {
+    char t[1] = {addr};
+    m_i2c.write(m_addr, t, 1, true);
+    m_i2c.read(m_addr, (char *)data, len);
+}
+
+void MMA8451Q::writeRegs(uint8_t * data, int len) {
+    m_i2c.write(m_addr, (char *)data, len);
+}