Luke Hanks
2036 mbed lab4
Dependencies: 4DGL-uLCD-SE PinDetect
MMA8452.cpp@0:bbda88bee65a, 2022-03-28 (annotated)
- Committer:
- lhanks02
- Date:
- Mon Mar 28 18:44:30 2022 +0000
- Revision:
- 0:bbda88bee65a
lab4
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| lhanks02 | 0:bbda88bee65a | 1 | // Authors: Ashley Mills, Nicholas Herriot |
| lhanks02 | 0:bbda88bee65a | 2 | /* Copyright (c) 2013 Vodafone, MIT License |
| lhanks02 | 0:bbda88bee65a | 3 | * |
| lhanks02 | 0:bbda88bee65a | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy of this software |
| lhanks02 | 0:bbda88bee65a | 5 | * and associated documentation files (the "Software"), to deal in the Software without restriction, |
| lhanks02 | 0:bbda88bee65a | 6 | * including without limitation the rights to use, copy, modify, merge, publish, distribute, |
| lhanks02 | 0:bbda88bee65a | 7 | * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is |
| lhanks02 | 0:bbda88bee65a | 8 | * furnished to do so, subject to the following conditions: |
| lhanks02 | 0:bbda88bee65a | 9 | * |
| lhanks02 | 0:bbda88bee65a | 10 | * The above copyright notice and this permission notice shall be included in all copies or |
| lhanks02 | 0:bbda88bee65a | 11 | * substantial portions of the Software. |
| lhanks02 | 0:bbda88bee65a | 12 | * |
| lhanks02 | 0:bbda88bee65a | 13 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING |
| lhanks02 | 0:bbda88bee65a | 14 | * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
| lhanks02 | 0:bbda88bee65a | 15 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, |
| lhanks02 | 0:bbda88bee65a | 16 | * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| lhanks02 | 0:bbda88bee65a | 17 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
| lhanks02 | 0:bbda88bee65a | 18 | */ |
| lhanks02 | 0:bbda88bee65a | 19 | |
| lhanks02 | 0:bbda88bee65a | 20 | #include "MMA8452.h" |
| lhanks02 | 0:bbda88bee65a | 21 | #include "mbed.h" |
| lhanks02 | 0:bbda88bee65a | 22 | |
| lhanks02 | 0:bbda88bee65a | 23 | #ifdef MMA8452_DEBUG |
| lhanks02 | 0:bbda88bee65a | 24 | // you need to define Serial pc(USBTX,USBRX) somewhere for the below line to make sense |
| lhanks02 | 0:bbda88bee65a | 25 | extern Serial pc; |
| lhanks02 | 0:bbda88bee65a | 26 | #define MMA8452_DBG(...) pc.printf(__VA_ARGS__); pc.printf("\r\n"); |
| lhanks02 | 0:bbda88bee65a | 27 | #else |
| lhanks02 | 0:bbda88bee65a | 28 | #define MMA8452_DBG(...) |
| lhanks02 | 0:bbda88bee65a | 29 | #endif |
| lhanks02 | 0:bbda88bee65a | 30 | |
| lhanks02 | 0:bbda88bee65a | 31 | // Connect module at I2C address using I2C port pins sda and scl |
| lhanks02 | 0:bbda88bee65a | 32 | MMA8452::MMA8452(PinName sda, PinName scl, int frequency) : _i2c(sda, scl) , _frequency(frequency) { |
| lhanks02 | 0:bbda88bee65a | 33 | MMA8452_DBG("Creating MMA8452"); |
| lhanks02 | 0:bbda88bee65a | 34 | |
| lhanks02 | 0:bbda88bee65a | 35 | // set I2C frequency |
| lhanks02 | 0:bbda88bee65a | 36 | _i2c.frequency(_frequency); |
| lhanks02 | 0:bbda88bee65a | 37 | |
| lhanks02 | 0:bbda88bee65a | 38 | // setup read and write addresses for convenience |
| lhanks02 | 0:bbda88bee65a | 39 | _readAddress = MMA8452_ADDRESS | 0x01; |
| lhanks02 | 0:bbda88bee65a | 40 | _writeAddress = MMA8452_ADDRESS & 0xFE; |
| lhanks02 | 0:bbda88bee65a | 41 | |
| lhanks02 | 0:bbda88bee65a | 42 | // set some defaults |
| lhanks02 | 0:bbda88bee65a | 43 | _bitDepth = BIT_DEPTH_UNKNOWN; |
| lhanks02 | 0:bbda88bee65a | 44 | setBitDepth(BIT_DEPTH_12); |
| lhanks02 | 0:bbda88bee65a | 45 | _dynamicRange = DYNAMIC_RANGE_UNKNOWN; |
| lhanks02 | 0:bbda88bee65a | 46 | setDynamicRange(DYNAMIC_RANGE_2G); |
| lhanks02 | 0:bbda88bee65a | 47 | |
| lhanks02 | 0:bbda88bee65a | 48 | MMA8452_DBG("Done"); |
| lhanks02 | 0:bbda88bee65a | 49 | } |
| lhanks02 | 0:bbda88bee65a | 50 | |
| lhanks02 | 0:bbda88bee65a | 51 | |
| lhanks02 | 0:bbda88bee65a | 52 | // Destroys instance |
| lhanks02 | 0:bbda88bee65a | 53 | MMA8452::~MMA8452() {} |
| lhanks02 | 0:bbda88bee65a | 54 | |
| lhanks02 | 0:bbda88bee65a | 55 | // Setting the control register bit 1 to true to activate the MMA8452 |
| lhanks02 | 0:bbda88bee65a | 56 | int MMA8452::activate() { |
| lhanks02 | 0:bbda88bee65a | 57 | // perform write and return error code |
| lhanks02 | 0:bbda88bee65a | 58 | return logicalORRegister(MMA8452_CTRL_REG_1,MMA8452_ACTIVE_MASK); |
| lhanks02 | 0:bbda88bee65a | 59 | } |
| lhanks02 | 0:bbda88bee65a | 60 | |
| lhanks02 | 0:bbda88bee65a | 61 | // Setting the control register bit 1 to 0 to standby the MMA8452 |
| lhanks02 | 0:bbda88bee65a | 62 | int MMA8452::standby() { |
| lhanks02 | 0:bbda88bee65a | 63 | // perform write and return error code |
| lhanks02 | 0:bbda88bee65a | 64 | return logicalANDRegister(MMA8452_CTRL_REG_1,MMA8452_STANDBY_MASK); |
| lhanks02 | 0:bbda88bee65a | 65 | } |
| lhanks02 | 0:bbda88bee65a | 66 | |
| lhanks02 | 0:bbda88bee65a | 67 | // this reads a register, applies a bitmask with logical AND, sets a value with logical OR, |
| lhanks02 | 0:bbda88bee65a | 68 | // and optionally goes into and out of standby at the beginning and end of the function respectively |
| lhanks02 | 0:bbda88bee65a | 69 | int MMA8452::maskAndApplyRegister(char reg, char mask, char value, int toggleActivation) { |
| lhanks02 | 0:bbda88bee65a | 70 | if(toggleActivation) { |
| lhanks02 | 0:bbda88bee65a | 71 | if(standby()) { |
| lhanks02 | 0:bbda88bee65a | 72 | return 1; |
| lhanks02 | 0:bbda88bee65a | 73 | } |
| lhanks02 | 0:bbda88bee65a | 74 | } |
| lhanks02 | 0:bbda88bee65a | 75 | |
| lhanks02 | 0:bbda88bee65a | 76 | // read from register |
| lhanks02 | 0:bbda88bee65a | 77 | char oldValue = 0; |
| lhanks02 | 0:bbda88bee65a | 78 | if(readRegister(reg,&oldValue)) { |
| lhanks02 | 0:bbda88bee65a | 79 | return 1; |
| lhanks02 | 0:bbda88bee65a | 80 | } |
| lhanks02 | 0:bbda88bee65a | 81 | |
| lhanks02 | 0:bbda88bee65a | 82 | // apply bitmask |
| lhanks02 | 0:bbda88bee65a | 83 | oldValue &= mask; |
| lhanks02 | 0:bbda88bee65a | 84 | |
| lhanks02 | 0:bbda88bee65a | 85 | // set value |
| lhanks02 | 0:bbda88bee65a | 86 | oldValue |= value; |
| lhanks02 | 0:bbda88bee65a | 87 | |
| lhanks02 | 0:bbda88bee65a | 88 | // write back to register |
| lhanks02 | 0:bbda88bee65a | 89 | if(writeRegister(reg,oldValue)) { |
| lhanks02 | 0:bbda88bee65a | 90 | return 1; |
| lhanks02 | 0:bbda88bee65a | 91 | } |
| lhanks02 | 0:bbda88bee65a | 92 | |
| lhanks02 | 0:bbda88bee65a | 93 | if(toggleActivation) { |
| lhanks02 | 0:bbda88bee65a | 94 | if(activate()) { |
| lhanks02 | 0:bbda88bee65a | 95 | return 1; |
| lhanks02 | 0:bbda88bee65a | 96 | } |
| lhanks02 | 0:bbda88bee65a | 97 | } |
| lhanks02 | 0:bbda88bee65a | 98 | return 0; |
| lhanks02 | 0:bbda88bee65a | 99 | } |
| lhanks02 | 0:bbda88bee65a | 100 | |
| lhanks02 | 0:bbda88bee65a | 101 | int MMA8452::setDynamicRange(DynamicRange range, int toggleActivation) { |
| lhanks02 | 0:bbda88bee65a | 102 | _dynamicRange = range; |
| lhanks02 | 0:bbda88bee65a | 103 | return maskAndApplyRegister( |
| lhanks02 | 0:bbda88bee65a | 104 | MMA8452_XYZ_DATA_CFG, |
| lhanks02 | 0:bbda88bee65a | 105 | MMA8452_DYNAMIC_RANGE_MASK, |
| lhanks02 | 0:bbda88bee65a | 106 | range, |
| lhanks02 | 0:bbda88bee65a | 107 | toggleActivation |
| lhanks02 | 0:bbda88bee65a | 108 | ); |
| lhanks02 | 0:bbda88bee65a | 109 | } |
| lhanks02 | 0:bbda88bee65a | 110 | |
| lhanks02 | 0:bbda88bee65a | 111 | int MMA8452::setDataRate(DataRateHz dataRate, int toggleActivation) { |
| lhanks02 | 0:bbda88bee65a | 112 | return maskAndApplyRegister( |
| lhanks02 | 0:bbda88bee65a | 113 | MMA8452_CTRL_REG_1, |
| lhanks02 | 0:bbda88bee65a | 114 | MMA8452_DATA_RATE_MASK, |
| lhanks02 | 0:bbda88bee65a | 115 | dataRate<<MMA8452_DATA_RATE_MASK_SHIFT, |
| lhanks02 | 0:bbda88bee65a | 116 | toggleActivation |
| lhanks02 | 0:bbda88bee65a | 117 | ); |
| lhanks02 | 0:bbda88bee65a | 118 | } |
| lhanks02 | 0:bbda88bee65a | 119 | |
| lhanks02 | 0:bbda88bee65a | 120 | int MMA8452::setBitDepth(BitDepth depth,int toggleActivation) { |
| lhanks02 | 0:bbda88bee65a | 121 | _bitDepth = depth; |
| lhanks02 | 0:bbda88bee65a | 122 | return maskAndApplyRegister( |
| lhanks02 | 0:bbda88bee65a | 123 | MMA8452_CTRL_REG_1, |
| lhanks02 | 0:bbda88bee65a | 124 | MMA8452_BIT_DEPTH_MASK, |
| lhanks02 | 0:bbda88bee65a | 125 | depth<<MMA8452_BIT_DEPTH_MASK_SHIFT, |
| lhanks02 | 0:bbda88bee65a | 126 | toggleActivation |
| lhanks02 | 0:bbda88bee65a | 127 | ); |
| lhanks02 | 0:bbda88bee65a | 128 | } |
| lhanks02 | 0:bbda88bee65a | 129 | |
| lhanks02 | 0:bbda88bee65a | 130 | char MMA8452::getMaskedRegister(int addr, char mask) { |
| lhanks02 | 0:bbda88bee65a | 131 | char rval = 0; |
| lhanks02 | 0:bbda88bee65a | 132 | if(readRegister(addr,&rval)) { |
| lhanks02 | 0:bbda88bee65a | 133 | return 0; |
| lhanks02 | 0:bbda88bee65a | 134 | } |
| lhanks02 | 0:bbda88bee65a | 135 | return (rval&mask); |
| lhanks02 | 0:bbda88bee65a | 136 | } |
| lhanks02 | 0:bbda88bee65a | 137 | |
| lhanks02 | 0:bbda88bee65a | 138 | int MMA8452::isXYZReady() { |
| lhanks02 | 0:bbda88bee65a | 139 | return getMaskedRegister(MMA8452_STATUS,MMA8452_STATUS_ZYXDR_MASK)>0; |
| lhanks02 | 0:bbda88bee65a | 140 | } |
| lhanks02 | 0:bbda88bee65a | 141 | |
| lhanks02 | 0:bbda88bee65a | 142 | int MMA8452::isXReady() { |
| lhanks02 | 0:bbda88bee65a | 143 | return getMaskedRegister(MMA8452_STATUS,MMA8452_STATUS_XDR_MASK)>0; |
| lhanks02 | 0:bbda88bee65a | 144 | } |
| lhanks02 | 0:bbda88bee65a | 145 | |
| lhanks02 | 0:bbda88bee65a | 146 | int MMA8452::isYReady() { |
| lhanks02 | 0:bbda88bee65a | 147 | return getMaskedRegister(MMA8452_STATUS,MMA8452_STATUS_YDR_MASK)>0; |
| lhanks02 | 0:bbda88bee65a | 148 | } |
| lhanks02 | 0:bbda88bee65a | 149 | |
| lhanks02 | 0:bbda88bee65a | 150 | int MMA8452::isZReady() { |
| lhanks02 | 0:bbda88bee65a | 151 | return getMaskedRegister(MMA8452_STATUS,MMA8452_STATUS_ZDR_MASK)>0; |
| lhanks02 | 0:bbda88bee65a | 152 | } |
| lhanks02 | 0:bbda88bee65a | 153 | |
| lhanks02 | 0:bbda88bee65a | 154 | |
| lhanks02 | 0:bbda88bee65a | 155 | int MMA8452::getDeviceID(char *dst) { |
| lhanks02 | 0:bbda88bee65a | 156 | return readRegister(MMA8452_WHO_AM_I,dst); |
| lhanks02 | 0:bbda88bee65a | 157 | } |
| lhanks02 | 0:bbda88bee65a | 158 | |
| lhanks02 | 0:bbda88bee65a | 159 | int MMA8452::getStatus(char* dst) { |
| lhanks02 | 0:bbda88bee65a | 160 | return readRegister(MMA8452_STATUS,dst); |
| lhanks02 | 0:bbda88bee65a | 161 | } |
| lhanks02 | 0:bbda88bee65a | 162 | |
| lhanks02 | 0:bbda88bee65a | 163 | MMA8452::DynamicRange MMA8452::getDynamicRange() { |
| lhanks02 | 0:bbda88bee65a | 164 | char rval = 0; |
| lhanks02 | 0:bbda88bee65a | 165 | if(readRegister(MMA8452_XYZ_DATA_CFG,&rval)) { |
| lhanks02 | 0:bbda88bee65a | 166 | return MMA8452::DYNAMIC_RANGE_UNKNOWN; |
| lhanks02 | 0:bbda88bee65a | 167 | } |
| lhanks02 | 0:bbda88bee65a | 168 | rval &= (MMA8452_DYNAMIC_RANGE_MASK^0xFF); |
| lhanks02 | 0:bbda88bee65a | 169 | return (MMA8452::DynamicRange)rval; |
| lhanks02 | 0:bbda88bee65a | 170 | } |
| lhanks02 | 0:bbda88bee65a | 171 | |
| lhanks02 | 0:bbda88bee65a | 172 | MMA8452::DataRateHz MMA8452::getDataRate() { |
| lhanks02 | 0:bbda88bee65a | 173 | char rval = 0; |
| lhanks02 | 0:bbda88bee65a | 174 | if(readRegister(MMA8452_CTRL_REG_1,&rval)) { |
| lhanks02 | 0:bbda88bee65a | 175 | return MMA8452::RATE_UNKNOWN; |
| lhanks02 | 0:bbda88bee65a | 176 | } |
| lhanks02 | 0:bbda88bee65a | 177 | // logical AND with inverse of mask |
| lhanks02 | 0:bbda88bee65a | 178 | rval = rval&(MMA8452_DATA_RATE_MASK^0xFF); |
| lhanks02 | 0:bbda88bee65a | 179 | // shift back into position |
| lhanks02 | 0:bbda88bee65a | 180 | rval >>= MMA8452_DATA_RATE_MASK_SHIFT; |
| lhanks02 | 0:bbda88bee65a | 181 | return (MMA8452::DataRateHz)rval; |
| lhanks02 | 0:bbda88bee65a | 182 | } |
| lhanks02 | 0:bbda88bee65a | 183 | |
| lhanks02 | 0:bbda88bee65a | 184 | // Reads xyz |
| lhanks02 | 0:bbda88bee65a | 185 | int MMA8452::readXYZRaw(char *dst) { |
| lhanks02 | 0:bbda88bee65a | 186 | if(_bitDepth==BIT_DEPTH_UNKNOWN) { |
| lhanks02 | 0:bbda88bee65a | 187 | return 1; |
| lhanks02 | 0:bbda88bee65a | 188 | } |
| lhanks02 | 0:bbda88bee65a | 189 | int readLen = 3; |
| lhanks02 | 0:bbda88bee65a | 190 | if(_bitDepth==BIT_DEPTH_12) { |
| lhanks02 | 0:bbda88bee65a | 191 | readLen = 6; |
| lhanks02 | 0:bbda88bee65a | 192 | } |
| lhanks02 | 0:bbda88bee65a | 193 | return readRegister(MMA8452_OUT_X_MSB,dst,readLen); |
| lhanks02 | 0:bbda88bee65a | 194 | } |
| lhanks02 | 0:bbda88bee65a | 195 | |
| lhanks02 | 0:bbda88bee65a | 196 | int MMA8452::readXRaw(char *dst) { |
| lhanks02 | 0:bbda88bee65a | 197 | if(_bitDepth==BIT_DEPTH_UNKNOWN) { |
| lhanks02 | 0:bbda88bee65a | 198 | return 1; |
| lhanks02 | 0:bbda88bee65a | 199 | } |
| lhanks02 | 0:bbda88bee65a | 200 | int readLen = 1; |
| lhanks02 | 0:bbda88bee65a | 201 | if(_bitDepth==BIT_DEPTH_12) { |
| lhanks02 | 0:bbda88bee65a | 202 | readLen = 2; |
| lhanks02 | 0:bbda88bee65a | 203 | } |
| lhanks02 | 0:bbda88bee65a | 204 | return readRegister(MMA8452_OUT_X_MSB,dst,readLen); |
| lhanks02 | 0:bbda88bee65a | 205 | } |
| lhanks02 | 0:bbda88bee65a | 206 | |
| lhanks02 | 0:bbda88bee65a | 207 | int MMA8452::readYRaw(char *dst) { |
| lhanks02 | 0:bbda88bee65a | 208 | if(_bitDepth==BIT_DEPTH_UNKNOWN) { |
| lhanks02 | 0:bbda88bee65a | 209 | return 1; |
| lhanks02 | 0:bbda88bee65a | 210 | } |
| lhanks02 | 0:bbda88bee65a | 211 | int readLen = 1; |
| lhanks02 | 0:bbda88bee65a | 212 | if(_bitDepth==BIT_DEPTH_12) { |
| lhanks02 | 0:bbda88bee65a | 213 | readLen = 2; |
| lhanks02 | 0:bbda88bee65a | 214 | } |
| lhanks02 | 0:bbda88bee65a | 215 | return readRegister(MMA8452_OUT_Y_MSB,dst,readLen); |
| lhanks02 | 0:bbda88bee65a | 216 | } |
| lhanks02 | 0:bbda88bee65a | 217 | |
| lhanks02 | 0:bbda88bee65a | 218 | int MMA8452::readZRaw(char *dst) { |
| lhanks02 | 0:bbda88bee65a | 219 | if(_bitDepth==BIT_DEPTH_UNKNOWN) { |
| lhanks02 | 0:bbda88bee65a | 220 | return 1; |
| lhanks02 | 0:bbda88bee65a | 221 | } |
| lhanks02 | 0:bbda88bee65a | 222 | int readLen = 1; |
| lhanks02 | 0:bbda88bee65a | 223 | if(_bitDepth==BIT_DEPTH_12) { |
| lhanks02 | 0:bbda88bee65a | 224 | readLen = 2; |
| lhanks02 | 0:bbda88bee65a | 225 | } |
| lhanks02 | 0:bbda88bee65a | 226 | return readRegister(MMA8452_OUT_Z_MSB,dst,readLen); |
| lhanks02 | 0:bbda88bee65a | 227 | } |
| lhanks02 | 0:bbda88bee65a | 228 | |
| lhanks02 | 0:bbda88bee65a | 229 | int MMA8452::readXYZCounts(int *x, int *y, int *z) { |
| lhanks02 | 0:bbda88bee65a | 230 | char buf[6]; |
| lhanks02 | 0:bbda88bee65a | 231 | if(readXYZRaw((char*)&buf)) { |
| lhanks02 | 0:bbda88bee65a | 232 | return 1; |
| lhanks02 | 0:bbda88bee65a | 233 | } |
| lhanks02 | 0:bbda88bee65a | 234 | if(_bitDepth==BIT_DEPTH_12) { |
| lhanks02 | 0:bbda88bee65a | 235 | *x = twelveBitToSigned(&buf[0]); |
| lhanks02 | 0:bbda88bee65a | 236 | *y = twelveBitToSigned(&buf[2]); |
| lhanks02 | 0:bbda88bee65a | 237 | *z = twelveBitToSigned(&buf[4]); |
| lhanks02 | 0:bbda88bee65a | 238 | } else { |
| lhanks02 | 0:bbda88bee65a | 239 | *x = eightBitToSigned(&buf[0]); |
| lhanks02 | 0:bbda88bee65a | 240 | *y = eightBitToSigned(&buf[1]); |
| lhanks02 | 0:bbda88bee65a | 241 | *z = eightBitToSigned(&buf[2]); |
| lhanks02 | 0:bbda88bee65a | 242 | } |
| lhanks02 | 0:bbda88bee65a | 243 | |
| lhanks02 | 0:bbda88bee65a | 244 | return 0; |
| lhanks02 | 0:bbda88bee65a | 245 | } |
| lhanks02 | 0:bbda88bee65a | 246 | |
| lhanks02 | 0:bbda88bee65a | 247 | int MMA8452::readXCount(int *x) { |
| lhanks02 | 0:bbda88bee65a | 248 | char buf[2]; |
| lhanks02 | 0:bbda88bee65a | 249 | if(readXRaw((char*)&buf)) { |
| lhanks02 | 0:bbda88bee65a | 250 | return 1; |
| lhanks02 | 0:bbda88bee65a | 251 | } |
| lhanks02 | 0:bbda88bee65a | 252 | if(_bitDepth==BIT_DEPTH_12) { |
| lhanks02 | 0:bbda88bee65a | 253 | *x = twelveBitToSigned(&buf[0]); |
| lhanks02 | 0:bbda88bee65a | 254 | } else { |
| lhanks02 | 0:bbda88bee65a | 255 | *x = eightBitToSigned(&buf[0]); |
| lhanks02 | 0:bbda88bee65a | 256 | } |
| lhanks02 | 0:bbda88bee65a | 257 | return 0; |
| lhanks02 | 0:bbda88bee65a | 258 | } |
| lhanks02 | 0:bbda88bee65a | 259 | |
| lhanks02 | 0:bbda88bee65a | 260 | int MMA8452::readYCount(int *y) { |
| lhanks02 | 0:bbda88bee65a | 261 | char buf[2]; |
| lhanks02 | 0:bbda88bee65a | 262 | if(readYRaw((char*)&buf)) { |
| lhanks02 | 0:bbda88bee65a | 263 | return 1; |
| lhanks02 | 0:bbda88bee65a | 264 | } |
| lhanks02 | 0:bbda88bee65a | 265 | if(_bitDepth==BIT_DEPTH_12) { |
| lhanks02 | 0:bbda88bee65a | 266 | *y = twelveBitToSigned(&buf[0]); |
| lhanks02 | 0:bbda88bee65a | 267 | } else { |
| lhanks02 | 0:bbda88bee65a | 268 | *y = eightBitToSigned(&buf[0]); |
| lhanks02 | 0:bbda88bee65a | 269 | } |
| lhanks02 | 0:bbda88bee65a | 270 | return 0; |
| lhanks02 | 0:bbda88bee65a | 271 | } |
| lhanks02 | 0:bbda88bee65a | 272 | |
| lhanks02 | 0:bbda88bee65a | 273 | int MMA8452::readZCount(int *z) { |
| lhanks02 | 0:bbda88bee65a | 274 | char buf[2]; |
| lhanks02 | 0:bbda88bee65a | 275 | if(readZRaw((char*)&buf)) { |
| lhanks02 | 0:bbda88bee65a | 276 | return 1; |
| lhanks02 | 0:bbda88bee65a | 277 | } |
| lhanks02 | 0:bbda88bee65a | 278 | if(_bitDepth==BIT_DEPTH_12) { |
| lhanks02 | 0:bbda88bee65a | 279 | *z = twelveBitToSigned(&buf[0]); |
| lhanks02 | 0:bbda88bee65a | 280 | } else { |
| lhanks02 | 0:bbda88bee65a | 281 | *z = eightBitToSigned(&buf[0]); |
| lhanks02 | 0:bbda88bee65a | 282 | } |
| lhanks02 | 0:bbda88bee65a | 283 | return 0; |
| lhanks02 | 0:bbda88bee65a | 284 | } |
| lhanks02 | 0:bbda88bee65a | 285 | |
| lhanks02 | 0:bbda88bee65a | 286 | double MMA8452::convertCountToGravity(int count, int countsPerG) { |
| lhanks02 | 0:bbda88bee65a | 287 | return (double)count/(double)countsPerG; |
| lhanks02 | 0:bbda88bee65a | 288 | } |
| lhanks02 | 0:bbda88bee65a | 289 | |
| lhanks02 | 0:bbda88bee65a | 290 | int MMA8452::getCountsPerG() { |
| lhanks02 | 0:bbda88bee65a | 291 | // assume starting with DYNAMIC_RANGE_2G and BIT_DEPTH_12 |
| lhanks02 | 0:bbda88bee65a | 292 | int countsPerG = 1024; |
| lhanks02 | 0:bbda88bee65a | 293 | if(_bitDepth==BIT_DEPTH_8) { |
| lhanks02 | 0:bbda88bee65a | 294 | countsPerG = 64; |
| lhanks02 | 0:bbda88bee65a | 295 | } |
| lhanks02 | 0:bbda88bee65a | 296 | switch(_dynamicRange) { |
| lhanks02 | 0:bbda88bee65a | 297 | case DYNAMIC_RANGE_4G: |
| lhanks02 | 0:bbda88bee65a | 298 | countsPerG /= 2; |
| lhanks02 | 0:bbda88bee65a | 299 | break; |
| lhanks02 | 0:bbda88bee65a | 300 | case DYNAMIC_RANGE_8G: |
| lhanks02 | 0:bbda88bee65a | 301 | countsPerG /= 4; |
| lhanks02 | 0:bbda88bee65a | 302 | break; |
| lhanks02 | 0:bbda88bee65a | 303 | } |
| lhanks02 | 0:bbda88bee65a | 304 | return countsPerG; |
| lhanks02 | 0:bbda88bee65a | 305 | } |
| lhanks02 | 0:bbda88bee65a | 306 | |
| lhanks02 | 0:bbda88bee65a | 307 | int MMA8452::readXYZGravity(double *x, double *y, double *z) { |
| lhanks02 | 0:bbda88bee65a | 308 | int xCount = 0, yCount = 0, zCount = 0; |
| lhanks02 | 0:bbda88bee65a | 309 | if(readXYZCounts(&xCount,&yCount,&zCount)) { |
| lhanks02 | 0:bbda88bee65a | 310 | return 1; |
| lhanks02 | 0:bbda88bee65a | 311 | } |
| lhanks02 | 0:bbda88bee65a | 312 | int countsPerG = getCountsPerG(); |
| lhanks02 | 0:bbda88bee65a | 313 | |
| lhanks02 | 0:bbda88bee65a | 314 | *x = convertCountToGravity(xCount,countsPerG); |
| lhanks02 | 0:bbda88bee65a | 315 | *y = convertCountToGravity(yCount,countsPerG); |
| lhanks02 | 0:bbda88bee65a | 316 | *z = convertCountToGravity(zCount,countsPerG); |
| lhanks02 | 0:bbda88bee65a | 317 | return 0; |
| lhanks02 | 0:bbda88bee65a | 318 | } |
| lhanks02 | 0:bbda88bee65a | 319 | |
| lhanks02 | 0:bbda88bee65a | 320 | int MMA8452::readXGravity(double *x) { |
| lhanks02 | 0:bbda88bee65a | 321 | int xCount = 0; |
| lhanks02 | 0:bbda88bee65a | 322 | if(readXCount(&xCount)) { |
| lhanks02 | 0:bbda88bee65a | 323 | return 1; |
| lhanks02 | 0:bbda88bee65a | 324 | } |
| lhanks02 | 0:bbda88bee65a | 325 | int countsPerG = getCountsPerG(); |
| lhanks02 | 0:bbda88bee65a | 326 | |
| lhanks02 | 0:bbda88bee65a | 327 | *x = convertCountToGravity(xCount,countsPerG); |
| lhanks02 | 0:bbda88bee65a | 328 | return 0; |
| lhanks02 | 0:bbda88bee65a | 329 | } |
| lhanks02 | 0:bbda88bee65a | 330 | |
| lhanks02 | 0:bbda88bee65a | 331 | int MMA8452::readYGravity(double *y) { |
| lhanks02 | 0:bbda88bee65a | 332 | int yCount = 0; |
| lhanks02 | 0:bbda88bee65a | 333 | if(readYCount(&yCount)) { |
| lhanks02 | 0:bbda88bee65a | 334 | return 1; |
| lhanks02 | 0:bbda88bee65a | 335 | } |
| lhanks02 | 0:bbda88bee65a | 336 | int countsPerG = getCountsPerG(); |
| lhanks02 | 0:bbda88bee65a | 337 | |
| lhanks02 | 0:bbda88bee65a | 338 | *y = convertCountToGravity(yCount,countsPerG); |
| lhanks02 | 0:bbda88bee65a | 339 | return 0; |
| lhanks02 | 0:bbda88bee65a | 340 | } |
| lhanks02 | 0:bbda88bee65a | 341 | |
| lhanks02 | 0:bbda88bee65a | 342 | int MMA8452::readZGravity(double *z) { |
| lhanks02 | 0:bbda88bee65a | 343 | int zCount = 0; |
| lhanks02 | 0:bbda88bee65a | 344 | if(readZCount(&zCount)) { |
| lhanks02 | 0:bbda88bee65a | 345 | return 1; |
| lhanks02 | 0:bbda88bee65a | 346 | } |
| lhanks02 | 0:bbda88bee65a | 347 | int countsPerG = getCountsPerG(); |
| lhanks02 | 0:bbda88bee65a | 348 | |
| lhanks02 | 0:bbda88bee65a | 349 | *z = convertCountToGravity(zCount,countsPerG); |
| lhanks02 | 0:bbda88bee65a | 350 | return 0; |
| lhanks02 | 0:bbda88bee65a | 351 | } |
| lhanks02 | 0:bbda88bee65a | 352 | |
| lhanks02 | 0:bbda88bee65a | 353 | // apply an AND mask to a register. read register value, apply mask, write it back |
| lhanks02 | 0:bbda88bee65a | 354 | int MMA8452::logicalANDRegister(char addr, char mask) { |
| lhanks02 | 0:bbda88bee65a | 355 | char value = 0; |
| lhanks02 | 0:bbda88bee65a | 356 | // read register value |
| lhanks02 | 0:bbda88bee65a | 357 | if(readRegister(addr,&value)) { |
| lhanks02 | 0:bbda88bee65a | 358 | return 0; |
| lhanks02 | 0:bbda88bee65a | 359 | } |
| lhanks02 | 0:bbda88bee65a | 360 | // apply mask |
| lhanks02 | 0:bbda88bee65a | 361 | value &= mask; |
| lhanks02 | 0:bbda88bee65a | 362 | return writeRegister(addr,value); |
| lhanks02 | 0:bbda88bee65a | 363 | } |
| lhanks02 | 0:bbda88bee65a | 364 | |
| lhanks02 | 0:bbda88bee65a | 365 | |
| lhanks02 | 0:bbda88bee65a | 366 | // apply an OR mask to a register. read register value, apply mask, write it back |
| lhanks02 | 0:bbda88bee65a | 367 | int MMA8452::logicalORRegister(char addr, char mask) { |
| lhanks02 | 0:bbda88bee65a | 368 | char value = 0; |
| lhanks02 | 0:bbda88bee65a | 369 | // read register value |
| lhanks02 | 0:bbda88bee65a | 370 | if(readRegister(addr,&value)) { |
| lhanks02 | 0:bbda88bee65a | 371 | return 0; |
| lhanks02 | 0:bbda88bee65a | 372 | } |
| lhanks02 | 0:bbda88bee65a | 373 | // apply mask |
| lhanks02 | 0:bbda88bee65a | 374 | value |= mask; |
| lhanks02 | 0:bbda88bee65a | 375 | return writeRegister(addr,value); |
| lhanks02 | 0:bbda88bee65a | 376 | } |
| lhanks02 | 0:bbda88bee65a | 377 | |
| lhanks02 | 0:bbda88bee65a | 378 | // apply an OR mask to a register. read register value, apply mask, write it back |
| lhanks02 | 0:bbda88bee65a | 379 | int MMA8452::logicalXORRegister(char addr, char mask) { |
| lhanks02 | 0:bbda88bee65a | 380 | char value = 0; |
| lhanks02 | 0:bbda88bee65a | 381 | // read register value |
| lhanks02 | 0:bbda88bee65a | 382 | if(readRegister(addr,&value)) { |
| lhanks02 | 0:bbda88bee65a | 383 | return 0; |
| lhanks02 | 0:bbda88bee65a | 384 | } |
| lhanks02 | 0:bbda88bee65a | 385 | // apply mask |
| lhanks02 | 0:bbda88bee65a | 386 | value ^= mask; |
| lhanks02 | 0:bbda88bee65a | 387 | return writeRegister(addr,value); |
| lhanks02 | 0:bbda88bee65a | 388 | } |
| lhanks02 | 0:bbda88bee65a | 389 | |
| lhanks02 | 0:bbda88bee65a | 390 | // Write register (The device must be placed in Standby Mode to change the value of the registers) |
| lhanks02 | 0:bbda88bee65a | 391 | int MMA8452::writeRegister(char addr, char data) { |
| lhanks02 | 0:bbda88bee65a | 392 | // what this actually does is the following |
| lhanks02 | 0:bbda88bee65a | 393 | // 1. tell I2C bus to start transaction |
| lhanks02 | 0:bbda88bee65a | 394 | // 2. tell slave we want to write (slave address & write flag) |
| lhanks02 | 0:bbda88bee65a | 395 | // 3. send the write address |
| lhanks02 | 0:bbda88bee65a | 396 | // 4. send the data to write |
| lhanks02 | 0:bbda88bee65a | 397 | // 5. tell I2C bus to end transaction |
| lhanks02 | 0:bbda88bee65a | 398 | |
| lhanks02 | 0:bbda88bee65a | 399 | // we can wrap this up in the I2C library write function |
| lhanks02 | 0:bbda88bee65a | 400 | char buf[2] = {0,0}; |
| lhanks02 | 0:bbda88bee65a | 401 | buf[0] = addr; |
| lhanks02 | 0:bbda88bee65a | 402 | buf[1] = data; |
| lhanks02 | 0:bbda88bee65a | 403 | return _i2c.write(MMA8452_ADDRESS, buf,2); |
| lhanks02 | 0:bbda88bee65a | 404 | // note, could also do return writeRegister(addr,&data,1); |
| lhanks02 | 0:bbda88bee65a | 405 | } |
| lhanks02 | 0:bbda88bee65a | 406 | |
| lhanks02 | 0:bbda88bee65a | 407 | int MMA8452::eightBitToSigned(char *buf) { |
| lhanks02 | 0:bbda88bee65a | 408 | return (int8_t)*buf; |
| lhanks02 | 0:bbda88bee65a | 409 | } |
| lhanks02 | 0:bbda88bee65a | 410 | |
| lhanks02 | 0:bbda88bee65a | 411 | int MMA8452::twelveBitToSigned(char *buf) { |
| lhanks02 | 0:bbda88bee65a | 412 | // cheat by using the int16_t internal type |
| lhanks02 | 0:bbda88bee65a | 413 | // all we need to do is convert to little-endian format and shift right |
| lhanks02 | 0:bbda88bee65a | 414 | int16_t x = 0; |
| lhanks02 | 0:bbda88bee65a | 415 | ((char*)&x)[1] = buf[0]; |
| lhanks02 | 0:bbda88bee65a | 416 | ((char*)&x)[0] = buf[1]; |
| lhanks02 | 0:bbda88bee65a | 417 | // note this only works because the below is an arithmetic right shift |
| lhanks02 | 0:bbda88bee65a | 418 | return x>>4; |
| lhanks02 | 0:bbda88bee65a | 419 | } |
| lhanks02 | 0:bbda88bee65a | 420 | |
| lhanks02 | 0:bbda88bee65a | 421 | int MMA8452::writeRegister(char addr, char *data, int nbytes) { |
| lhanks02 | 0:bbda88bee65a | 422 | // writing multiple bytes is a little bit annoying because |
| lhanks02 | 0:bbda88bee65a | 423 | // the I2C library doesn't support sending the address separately |
| lhanks02 | 0:bbda88bee65a | 424 | // so we just do it manually |
| lhanks02 | 0:bbda88bee65a | 425 | |
| lhanks02 | 0:bbda88bee65a | 426 | // 1. tell I2C bus to start transaction |
| lhanks02 | 0:bbda88bee65a | 427 | _i2c.start(); |
| lhanks02 | 0:bbda88bee65a | 428 | // 2. tell slave we want to write (slave address & write flag) |
| lhanks02 | 0:bbda88bee65a | 429 | if(_i2c.write(_writeAddress)!=1) { |
| lhanks02 | 0:bbda88bee65a | 430 | return 1; |
| lhanks02 | 0:bbda88bee65a | 431 | } |
| lhanks02 | 0:bbda88bee65a | 432 | // 3. send the write address |
| lhanks02 | 0:bbda88bee65a | 433 | if(_i2c.write(addr)!=1) { |
| lhanks02 | 0:bbda88bee65a | 434 | return 1; |
| lhanks02 | 0:bbda88bee65a | 435 | } |
| lhanks02 | 0:bbda88bee65a | 436 | // 4. send the data to write |
| lhanks02 | 0:bbda88bee65a | 437 | for(int i=0; i<nbytes; i++) { |
| lhanks02 | 0:bbda88bee65a | 438 | if(_i2c.write(data[i])!=1) { |
| lhanks02 | 0:bbda88bee65a | 439 | return 1; |
| lhanks02 | 0:bbda88bee65a | 440 | } |
| lhanks02 | 0:bbda88bee65a | 441 | } |
| lhanks02 | 0:bbda88bee65a | 442 | // 5. tell I2C bus to end transaction |
| lhanks02 | 0:bbda88bee65a | 443 | _i2c.stop(); |
| lhanks02 | 0:bbda88bee65a | 444 | return 0; |
| lhanks02 | 0:bbda88bee65a | 445 | } |
| lhanks02 | 0:bbda88bee65a | 446 | |
| lhanks02 | 0:bbda88bee65a | 447 | int MMA8452::readRegister(char addr, char *dst, int nbytes) { |
| lhanks02 | 0:bbda88bee65a | 448 | // this is a bit odd, but basically proceeds like this |
| lhanks02 | 0:bbda88bee65a | 449 | // 1. Send a start command |
| lhanks02 | 0:bbda88bee65a | 450 | // 2. Tell the slave we want to write (slave address & write flag) |
| lhanks02 | 0:bbda88bee65a | 451 | // 3. Send the address of the register (addr) |
| lhanks02 | 0:bbda88bee65a | 452 | // 4. Send another start command to delineate read portion |
| lhanks02 | 0:bbda88bee65a | 453 | // 5. Tell the slave we want to read (slave address & read flag) |
| lhanks02 | 0:bbda88bee65a | 454 | // 6. Read the register value bytes |
| lhanks02 | 0:bbda88bee65a | 455 | // 7. Send a stop command |
| lhanks02 | 0:bbda88bee65a | 456 | |
| lhanks02 | 0:bbda88bee65a | 457 | // we can wrap this process in the I2C library read and write commands |
| lhanks02 | 0:bbda88bee65a | 458 | if(_i2c.write(MMA8452_ADDRESS,&addr,1,true)) { |
| lhanks02 | 0:bbda88bee65a | 459 | return 1; |
| lhanks02 | 0:bbda88bee65a | 460 | } |
| lhanks02 | 0:bbda88bee65a | 461 | return _i2c.read(MMA8452_ADDRESS,dst,nbytes); |
| lhanks02 | 0:bbda88bee65a | 462 | } |
| lhanks02 | 0:bbda88bee65a | 463 | |
| lhanks02 | 0:bbda88bee65a | 464 | // most registers are 1 byte, so here is a convenience function |
| lhanks02 | 0:bbda88bee65a | 465 | int MMA8452::readRegister(char addr, char *dst) { |
| lhanks02 | 0:bbda88bee65a | 466 | return readRegister(addr,dst,1); |
| lhanks02 | 0:bbda88bee65a | 467 | } |
| lhanks02 | 0:bbda88bee65a | 468 | |
| lhanks02 | 0:bbda88bee65a | 469 | MMA8452::BitDepth MMA8452::getBitDepth() { |
| lhanks02 | 0:bbda88bee65a | 470 | return _bitDepth; |
| lhanks02 | 0:bbda88bee65a | 471 | } |
| lhanks02 | 0:bbda88bee65a | 472 | |
| lhanks02 | 0:bbda88bee65a | 473 | #ifdef MMA8452_DEBUG |
| lhanks02 | 0:bbda88bee65a | 474 | void MMA8452::debugRegister(char reg) { |
| lhanks02 | 0:bbda88bee65a | 475 | // get register value |
| lhanks02 | 0:bbda88bee65a | 476 | char v = 0; |
| lhanks02 | 0:bbda88bee65a | 477 | if(readRegister(reg,&v)) { |
| lhanks02 | 0:bbda88bee65a | 478 | MMA8452_DBG("Error reading specified register"); |
| lhanks02 | 0:bbda88bee65a | 479 | return; |
| lhanks02 | 0:bbda88bee65a | 480 | } |
| lhanks02 | 0:bbda88bee65a | 481 | // print out details |
| lhanks02 | 0:bbda88bee65a | 482 | switch(reg) { |
| lhanks02 | 0:bbda88bee65a | 483 | case MMA8452_CTRL_REG_1: |
| lhanks02 | 0:bbda88bee65a | 484 | MMA8452_DBG("CTRL_REG_1 has value: 0x%x",v); |
| lhanks02 | 0:bbda88bee65a | 485 | MMA8452_DBG(" 7 ALSP_RATE_1: %d",(v&0x80)>>7); |
| lhanks02 | 0:bbda88bee65a | 486 | MMA8452_DBG(" 6 ALSP_RATE_0: %d",(v&0x40)>>6); |
| lhanks02 | 0:bbda88bee65a | 487 | MMA8452_DBG(" 5 DR2: %d", (v&0x20)>>5); |
| lhanks02 | 0:bbda88bee65a | 488 | MMA8452_DBG(" 4 DR1: %d", (v&0x10)>>4); |
| lhanks02 | 0:bbda88bee65a | 489 | MMA8452_DBG(" 3 DR0: %d", (v&0x08)>>3); |
| lhanks02 | 0:bbda88bee65a | 490 | MMA8452_DBG(" 2 LNOISE: %d", (v&0x04)>>2); |
| lhanks02 | 0:bbda88bee65a | 491 | MMA8452_DBG(" 1 FREAD: %d", (v&0x02)>>1); |
| lhanks02 | 0:bbda88bee65a | 492 | MMA8452_DBG(" 0 ACTIVE: %d", (v&0x01)); |
| lhanks02 | 0:bbda88bee65a | 493 | break; |
| lhanks02 | 0:bbda88bee65a | 494 | |
| lhanks02 | 0:bbda88bee65a | 495 | case MMA8452_XYZ_DATA_CFG: |
| lhanks02 | 0:bbda88bee65a | 496 | MMA8452_DBG("XYZ_DATA_CFG has value: 0x%x",v); |
| lhanks02 | 0:bbda88bee65a | 497 | MMA8452_DBG(" 7 Unused: %d", (v&0x80)>>7); |
| lhanks02 | 0:bbda88bee65a | 498 | MMA8452_DBG(" 6 0: %d", (v&0x40)>>6); |
| lhanks02 | 0:bbda88bee65a | 499 | MMA8452_DBG(" 5 0: %d", (v&0x20)>>5); |
| lhanks02 | 0:bbda88bee65a | 500 | MMA8452_DBG(" 4 HPF_Out: %d",(v&0x10)>>4); |
| lhanks02 | 0:bbda88bee65a | 501 | MMA8452_DBG(" 3 0: %d", (v&0x08)>>3); |
| lhanks02 | 0:bbda88bee65a | 502 | MMA8452_DBG(" 2 0: %d", (v&0x04)>>2); |
| lhanks02 | 0:bbda88bee65a | 503 | MMA8452_DBG(" 1 FS1: %d", (v&0x02)>>1); |
| lhanks02 | 0:bbda88bee65a | 504 | MMA8452_DBG(" 0 FS0: %d", (v&0x01)); |
| lhanks02 | 0:bbda88bee65a | 505 | switch(v&0x03) { |
| lhanks02 | 0:bbda88bee65a | 506 | case 0: |
| lhanks02 | 0:bbda88bee65a | 507 | MMA8452_DBG("Dynamic range: 2G"); |
| lhanks02 | 0:bbda88bee65a | 508 | break; |
| lhanks02 | 0:bbda88bee65a | 509 | case 1: |
| lhanks02 | 0:bbda88bee65a | 510 | MMA8452_DBG("Dynamic range: 4G"); |
| lhanks02 | 0:bbda88bee65a | 511 | break; |
| lhanks02 | 0:bbda88bee65a | 512 | case 2: |
| lhanks02 | 0:bbda88bee65a | 513 | MMA8452_DBG("Dynamic range: 8G"); |
| lhanks02 | 0:bbda88bee65a | 514 | break; |
| lhanks02 | 0:bbda88bee65a | 515 | default: |
| lhanks02 | 0:bbda88bee65a | 516 | MMA8452_DBG("Unknown dynamic range"); |
| lhanks02 | 0:bbda88bee65a | 517 | break; |
| lhanks02 | 0:bbda88bee65a | 518 | } |
| lhanks02 | 0:bbda88bee65a | 519 | break; |
| lhanks02 | 0:bbda88bee65a | 520 | |
| lhanks02 | 0:bbda88bee65a | 521 | case MMA8452_STATUS: |
| lhanks02 | 0:bbda88bee65a | 522 | MMA8452_DBG("STATUS has value: 0x%x",v); |
| lhanks02 | 0:bbda88bee65a | 523 | MMA8452_DBG(" 7 ZYXOW: %d",(v&0x80)>>7); |
| lhanks02 | 0:bbda88bee65a | 524 | MMA8452_DBG(" 6 ZOW: %d", (v&0x40)>>6); |
| lhanks02 | 0:bbda88bee65a | 525 | MMA8452_DBG(" 5 YOW: %d", (v&0x20)>>5); |
| lhanks02 | 0:bbda88bee65a | 526 | MMA8452_DBG(" 4 XOW: %d", (v&0x10)>>4); |
| lhanks02 | 0:bbda88bee65a | 527 | MMA8452_DBG(" 3 ZYXDR: %d",(v&0x08)>>3); |
| lhanks02 | 0:bbda88bee65a | 528 | MMA8452_DBG(" 2 ZDR: %d", (v&0x04)>>2); |
| lhanks02 | 0:bbda88bee65a | 529 | MMA8452_DBG(" 1 YDR: %d", (v&0x02)>>1); |
| lhanks02 | 0:bbda88bee65a | 530 | MMA8452_DBG(" 0 XDR: %d", (v&0x01)); |
| lhanks02 | 0:bbda88bee65a | 531 | break; |
| lhanks02 | 0:bbda88bee65a | 532 | |
| lhanks02 | 0:bbda88bee65a | 533 | default: |
| lhanks02 | 0:bbda88bee65a | 534 | MMA8452_DBG("Unknown register address: 0x%x",reg); |
| lhanks02 | 0:bbda88bee65a | 535 | break; |
| lhanks02 | 0:bbda88bee65a | 536 | } |
| lhanks02 | 0:bbda88bee65a | 537 | } |
| lhanks02 | 0:bbda88bee65a | 538 | #endif |