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Dependencies:   MMA8451Q USBDevice mbed

MMA8451Q/MMA8451Q.cpp@0:22a7d22635fa, 2014-05-12 (annotated)

Committer:
mdestroyer
Date:
Mon May 12 12:14:48 2014 +0000
Revision:
0:22a7d22635fa
Spremenil ime lab1 v lab2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mdestroyer 0:22a7d22635fa 1 /* Copyright (c) 2010-2011 mbed.org, MIT License
mdestroyer 0:22a7d22635fa 2 *
mdestroyer 0:22a7d22635fa 3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
mdestroyer 0:22a7d22635fa 4 * and associated documentation files (the "Software"), to deal in the Software without
mdestroyer 0:22a7d22635fa 5 * restriction, including without limitation the rights to use, copy, modify, merge, publish,
mdestroyer 0:22a7d22635fa 6 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
mdestroyer 0:22a7d22635fa 7 * Software is furnished to do so, subject to the following conditions:
mdestroyer 0:22a7d22635fa 8 *
mdestroyer 0:22a7d22635fa 9 * The above copyright notice and this permission notice shall be included in all copies or
mdestroyer 0:22a7d22635fa 10 * substantial portions of the Software.
mdestroyer 0:22a7d22635fa 11 *
mdestroyer 0:22a7d22635fa 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
mdestroyer 0:22a7d22635fa 13 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
mdestroyer 0:22a7d22635fa 14 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
mdestroyer 0:22a7d22635fa 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
mdestroyer 0:22a7d22635fa 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
mdestroyer 0:22a7d22635fa 17 */
mdestroyer 0:22a7d22635fa 18
mdestroyer 0:22a7d22635fa 19 #include "MMA8451Q.h"
mdestroyer 0:22a7d22635fa 20
mdestroyer 0:22a7d22635fa 21 #define INT_SOURCE 0x0C
mdestroyer 0:22a7d22635fa 22 #define REG_WHO_AM_I 0x0D
mdestroyer 0:22a7d22635fa 23 #define HP_FILTER_CUTOFF 0x0F
mdestroyer 0:22a7d22635fa 24 #define PULSE_CFG 0x21
mdestroyer 0:22a7d22635fa 25 #define PULSE_SRC 0x22
mdestroyer 0:22a7d22635fa 26 #define PULSE_THSX 0x23
mdestroyer 0:22a7d22635fa 27 #define PULSE_THSY 0x24
mdestroyer 0:22a7d22635fa 28 #define PULSE_THSZ 0x25
mdestroyer 0:22a7d22635fa 29 #define PULSE_TMLT 0x26
mdestroyer 0:22a7d22635fa 30 #define PULSE_LTCY 0x27
mdestroyer 0:22a7d22635fa 31 #define PULSE_WIND 0x28
mdestroyer 0:22a7d22635fa 32 #define REG_CTRL_REG_1 0x2A
mdestroyer 0:22a7d22635fa 33 #define CTRL_REG2 0x2B
mdestroyer 0:22a7d22635fa 34 #define CTRL_REG4 0x2D
mdestroyer 0:22a7d22635fa 35 #define CTRL_REG5 0x2E
mdestroyer 0:22a7d22635fa 36 #define REG_OUT_X_MSB 0x01
mdestroyer 0:22a7d22635fa 37 #define REG_OUT_Y_MSB 0x03
mdestroyer 0:22a7d22635fa 38 #define REG_OUT_Z_MSB 0x05
mdestroyer 0:22a7d22635fa 39
mdestroyer 0:22a7d22635fa 40 #define UINT14_MAX 16383
mdestroyer 0:22a7d22635fa 41
mdestroyer 0:22a7d22635fa 42 MMA8451Q::MMA8451Q(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
mdestroyer 0:22a7d22635fa 43 // activate the peripheral
mdestroyer 0:22a7d22635fa 44 uint8_t data[2] = {REG_CTRL_REG_1, 0x01};
mdestroyer 0:22a7d22635fa 45 writeRegs(data, 2);
mdestroyer 0:22a7d22635fa 46 }
mdestroyer 0:22a7d22635fa 47
mdestroyer 0:22a7d22635fa 48 MMA8451Q::~MMA8451Q() { }
mdestroyer 0:22a7d22635fa 49
mdestroyer 0:22a7d22635fa 50 uint8_t MMA8451Q::getWhoAmI() {
mdestroyer 0:22a7d22635fa 51 uint8_t who_am_i = 0;
mdestroyer 0:22a7d22635fa 52 readRegs(REG_WHO_AM_I, &who_am_i, 1);
mdestroyer 0:22a7d22635fa 53 return who_am_i;
mdestroyer 0:22a7d22635fa 54 }
mdestroyer 0:22a7d22635fa 55
mdestroyer 0:22a7d22635fa 56 float MMA8451Q::getAccX() {
mdestroyer 0:22a7d22635fa 57 //divide by 4096 b/c MMA output is 4096 counts per g so this f outputs accelorometer value formatted to g (gravity)
mdestroyer 0:22a7d22635fa 58 return (float(getAccAxis(REG_OUT_X_MSB))/4096.0);
mdestroyer 0:22a7d22635fa 59 }
mdestroyer 0:22a7d22635fa 60
mdestroyer 0:22a7d22635fa 61 float MMA8451Q::getAccY() {
mdestroyer 0:22a7d22635fa 62 return (float(getAccAxis(REG_OUT_Y_MSB))/4096.0);
mdestroyer 0:22a7d22635fa 63 }
mdestroyer 0:22a7d22635fa 64
mdestroyer 0:22a7d22635fa 65 float MMA8451Q::getAccZ() {
mdestroyer 0:22a7d22635fa 66 return (float(getAccAxis(REG_OUT_Z_MSB))/4096.0);
mdestroyer 0:22a7d22635fa 67 }
mdestroyer 0:22a7d22635fa 68
mdestroyer 0:22a7d22635fa 69 void MMA8451Q::getAccAllAxis(float * res) {
mdestroyer 0:22a7d22635fa 70 res[0] = getAccX();
mdestroyer 0:22a7d22635fa 71 res[1] = getAccY();
mdestroyer 0:22a7d22635fa 72 res[2] = getAccZ();
mdestroyer 0:22a7d22635fa 73 }
mdestroyer 0:22a7d22635fa 74
mdestroyer 0:22a7d22635fa 75 int16_t MMA8451Q::getAccAxis(uint8_t addr) {
mdestroyer 0:22a7d22635fa 76 int16_t acc;
mdestroyer 0:22a7d22635fa 77 uint8_t res[2];
mdestroyer 0:22a7d22635fa 78 readRegs(addr, res, 2);
mdestroyer 0:22a7d22635fa 79
mdestroyer 0:22a7d22635fa 80 acc = (res[0] << 6) | (res[1] >> 2);
mdestroyer 0:22a7d22635fa 81 if (acc > UINT14_MAX/2)
mdestroyer 0:22a7d22635fa 82 acc -= UINT14_MAX;
mdestroyer 0:22a7d22635fa 83
mdestroyer 0:22a7d22635fa 84 return acc;
mdestroyer 0:22a7d22635fa 85 }
mdestroyer 0:22a7d22635fa 86
mdestroyer 0:22a7d22635fa 87 void MMA8451Q::setDoubleTap(void){
mdestroyer 0:22a7d22635fa 88 //Implemented directly from Freescale's AN4072
mdestroyer 0:22a7d22635fa 89 //Added to MMA8451Q lib
mdestroyer 0:22a7d22635fa 90
mdestroyer 0:22a7d22635fa 91 uint8_t CTRL_REG1_Data;
mdestroyer 0:22a7d22635fa 92 // int adds;
mdestroyer 0:22a7d22635fa 93 uint8_t data[2] = {REG_CTRL_REG_1, 0x08};
mdestroyer 0:22a7d22635fa 94
mdestroyer 0:22a7d22635fa 95 //400 Hz, Standby Mode
mdestroyer 0:22a7d22635fa 96 writeRegs(data,2);
mdestroyer 0:22a7d22635fa 97
mdestroyer 0:22a7d22635fa 98 //Enable X, Y and Z Double Pulse with DPA = 0 no double pulse abort
mdestroyer 0:22a7d22635fa 99 data[0]=PULSE_CFG;data[1]=0x2A;
mdestroyer 0:22a7d22635fa 100 writeRegs(data,2);
mdestroyer 0:22a7d22635fa 101
mdestroyer 0:22a7d22635fa 102 //SetThreshold 3g on X and Y and 5g on Z
mdestroyer 0:22a7d22635fa 103 //Note: Every step is 0.063g
mdestroyer 0:22a7d22635fa 104 //3 g/0.063g = 48 counts
mdestroyer 0:22a7d22635fa 105 //5g/0.063g = 79 counts
mdestroyer 0:22a7d22635fa 106 data[0]=PULSE_THSX;data[1]=0x30;
mdestroyer 0:22a7d22635fa 107 writeRegs(data,2);//Set X Threshold to 3g
mdestroyer 0:22a7d22635fa 108 data[0]=PULSE_THSY;data[1]=0x30;
mdestroyer 0:22a7d22635fa 109 writeRegs(data,2);//Set Y Threshold to 3g
mdestroyer 0:22a7d22635fa 110 data[0]=PULSE_THSZ;data[1]=0x4F;
mdestroyer 0:22a7d22635fa 111 writeRegs(data,2);//Set Z Threshold to 5g
mdestroyer 0:22a7d22635fa 112
mdestroyer 0:22a7d22635fa 113 //Set Time Limit for Tap Detection to 60 ms LP Mode
mdestroyer 0:22a7d22635fa 114 //Note: 400 Hz ODR, Time step is 1.25 ms per step
mdestroyer 0:22a7d22635fa 115 //60 ms/1.25 ms = 48 counts
mdestroyer 0:22a7d22635fa 116 data[0]=PULSE_TMLT;data[1]=0x30;
mdestroyer 0:22a7d22635fa 117 writeRegs(data,2);//60 ms
mdestroyer 0:22a7d22635fa 118
mdestroyer 0:22a7d22635fa 119 //Set Latency Time to 200 ms
mdestroyer 0:22a7d22635fa 120 //Note: 400 Hz ODR LPMode, Time step is 2.5 ms per step 00 ms/2.5 ms = 80 counts
mdestroyer 0:22a7d22635fa 121 data[0]=PULSE_LTCY;data[1]=0x50;
mdestroyer 0:22a7d22635fa 122 writeRegs(data,2);//200 ms
mdestroyer 0:22a7d22635fa 123
mdestroyer 0:22a7d22635fa 124 //Set Time Window for second tap to 300 ms
mdestroyer 0:22a7d22635fa 125 //Note: 400 Hz ODR LP Mode, Time step is 2.5 ms per step
mdestroyer 0:22a7d22635fa 126 //300 ms/2.5 ms = 120 counts
mdestroyer 0:22a7d22635fa 127 data[0]=PULSE_WIND;data[1]=0x78;
mdestroyer 0:22a7d22635fa 128 writeRegs(data,2);//300 ms
mdestroyer 0:22a7d22635fa 129
mdestroyer 0:22a7d22635fa 130 //Route INT1 to System Interrupt
mdestroyer 0:22a7d22635fa 131 data[0]=CTRL_REG4;data[1]=0x08;
mdestroyer 0:22a7d22635fa 132 writeRegs(data,2);//Enable Pulse Interrupt in System CTRL_REG4
mdestroyer 0:22a7d22635fa 133 data[0]=CTRL_REG5;data[1]=0x08;
mdestroyer 0:22a7d22635fa 134 writeRegs(data,2);//Route Pulse Interrupt to INT1 hardware Pin CTRL_REG5
mdestroyer 0:22a7d22635fa 135
mdestroyer 0:22a7d22635fa 136 //Set the device to Active Mode
mdestroyer 0:22a7d22635fa 137 readRegs(0x2A,&CTRL_REG1_Data,1);//Read out the contents of the register
mdestroyer 0:22a7d22635fa 138 CTRL_REG1_Data |= 0x01; //Change the value in the register to Active Mode.
mdestroyer 0:22a7d22635fa 139 data[0]=REG_CTRL_REG_1;
mdestroyer 0:22a7d22635fa 140 data[1]=CTRL_REG1_Data;
mdestroyer 0:22a7d22635fa 141 writeRegs(data,2);//Write in the updated value to put the device in Active Mode
mdestroyer 0:22a7d22635fa 142 }
mdestroyer 0:22a7d22635fa 143
mdestroyer 0:22a7d22635fa 144
mdestroyer 0:22a7d22635fa 145 void MMA8451Q::readRegs(int addr, uint8_t * data, int len) {
mdestroyer 0:22a7d22635fa 146 char t[1] = {addr};
mdestroyer 0:22a7d22635fa 147 m_i2c.write(m_addr, t, 1, true);
mdestroyer 0:22a7d22635fa 148 m_i2c.read(m_addr, (char *)data, len);
mdestroyer 0:22a7d22635fa 149 }
mdestroyer 0:22a7d22635fa 150
mdestroyer 0:22a7d22635fa 151
mdestroyer 0:22a7d22635fa 152
mdestroyer 0:22a7d22635fa 153 void MMA8451Q::writeRegs(uint8_t * data, int len) {
mdestroyer 0:22a7d22635fa 154 m_i2c.write(m_addr, (char *)data, len);
mdestroyer 0:22a7d22635fa 155 }