Patrik Rendek
a
Fork of
FRDM_MMA8451Q
by 
clemente di caprio
Diff: MMA8451Q.cpp
- Revision:
- 12:37acb52ade50
- Parent:
- 11:13e2af71e2cf
--- a/MMA8451Q.cpp Sun Aug 25 21:53:40 2013 +0000
+++ b/MMA8451Q.cpp Sat Dec 17 21:22:50 2016 +0000
@@ -1,21 +1,3 @@
-/* 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
@@ -35,39 +17,17 @@
#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
-*
-* :: The FreeFall and Motion detection share the same IRQ2.
-*
-* FreeFall --+ +-- Fall_IRQ -----+
-* \ / \
-* +-- MMA8451Q_Int2.fall ---+ +--- MMA8451Q_usr2_fptr
-* / \ /
-* Motion ----+ +-- Motion_IRQ ---+
-*
-* :: The Orientation Detect use the IRQ1
-*
-* Orientation Detect -- MMA8451Q_Int1.fall --- Orientation_IRQ --- MMA8451Q_usr1_fptr
-*
-*
-* :: The data ready use the IRQ2
-*
-* Data Ready -- MMA8451Q_Int2.fall --- DataReady_IRQ --- usr2_fptr
-*
-*/
void (*MMA8451Q_usr2_fptr)(void); // Pointers to user function called after
void (*MMA8451Q_usr1_fptr)(void); // IRQ assertion.
@@ -102,96 +62,34 @@
wait( 0.1);
}
-void MMA8451Q::FreeFallDetection( void(*fptr)(void))
-{
- // Soft Reset
- Reset();
-
- // Example Steps for Configuring Linear Freefall Detection
- // X AND Y AND Z < 0.2g using MFF Function, 50 Hz ODR
- // Step 1: Put the device in Standby Mode: Register 0x2A CTRL_REG1
- unsigned char data[2] = {REG_CTRL_REG_1, 0x20};
- writeRegs(data, 2);
-
- // Step 2: Configuration Register set for Freefall Detection enabling “AND” condition, OAE = 0, Enabling X,
- // Y, Z and the Latch
- data[0] = REG_FF_MT_CFG;
- data[1] = 0x01;
- writeRegs(data, 2);
-
- // Step 3: Threshold Setting Value for the resulting acceleration < 0.2g
- // Note: The step count is 0.063g/count
- // • 0.2g/0.063g = 3.17 counts //Round to 3 counts
- data[0] = REG_FF_MT_THS;
- data[1] = 0x03;
- writeRegs(data, 2);
-
- // Step 4: Set the debounce counter to eliminate false positive readings for 50Hz sample rate with a
- // requirement of 120 ms timer, assuming Normal Mode.
- // Note: 120 ms/20 ms (steps) = 6 counts
- data[0] = REG_FF_MT_CNT;
- data[1] = 0x06;
- writeRegs(data, 2);
-
- // Step 5: Enable Motion/Freefall Interrupt Function in the System (CTRL_REG4)
- data[0] = REG_CTRL_REG_4;
- data[1] = 0x04;
- writeRegs(data, 2);
-
- // Step 6: Route the Motion/Freefall Interrupt Function to INT2 hardware pin (CTRL_REG5)
- data[0] = REG_CTRL_REG_5;
- data[1] = 0x00;
- writeRegs(data, 2);
-
- // Step 7: Put the device in Active Mode, 50 Hz
- data[0] = REG_CTRL_REG_1;
- data[1] = 0x21;
- writeRegs(data, 2);
-
- MMA8451Q_usr2_fptr = fptr;
- MMA8451Q_Int2.fall( this, &MMA8451Q::Fall_IRQ);
-}
-
-void MMA8451Q::Fall_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::MotionDetection( void(*fptr)(void))
{
- // Soft Reset
Reset();
+ //data sheet MMA8451Q.pdf strana 45
// 6.1 Example Steps for Configuring Motion Detection
// X or Y > 3g using MFF Function 4g, 100 Hz ODR, Normal Mode
// Step 1: Put the device into Standby Mode: Register 0x2A CTRL_REG1
unsigned char data[2] = {REG_CTRL_REG_1, 0x18}; // Set the device in 100 Hz ODR, Standby
writeRegs(data, 2);
-
+ //data sheet MMA8451Q.pdf strana 32
// Step 2: Set Configuration Register for Motion Detection by setting the “OR” condition OAE = 1, enabling
// X, Y, and the latch
data[0] = REG_FF_MT_CFG;
data[1] = 0xD8;
writeRegs(data, 2);
+ //data sheet MMA8451Q.pdf strana 34
// Step 3: Threshold Setting Value for the Motion detection of > 2g
// Note: The step count is 0.063g/ count
// • 1g/0.063g = 15.8; //Round up to 16
data[0] = REG_FF_MT_THS;
- data[1] = 0x10;
+ data[1] = 0x08;
writeRegs(data, 2);
+ //data sheet MMA8451Q.pdf strana 32
// Step 4: Set the debounce counter to eliminate false readings for 100 Hz sample rate with a requirement
// of 100 ms timer.
// Note: 100 ms/10 ms (steps) = 10 counts
@@ -199,16 +97,19 @@
data[1] = 0x0A;
writeRegs(data, 2);
+ //data sheet MMA8451Q.pdf strana 48
// Step 5: Enable Motion/Freefall Interrupt Function in the System (CTRL_REG4)
data[0] = REG_CTRL_REG_4;
data[1] = 0x04;
writeRegs(data, 2);
+ //data sheet MMA8451Q.pdf strana 48
// Step 6: Route the Motion/Freefall Interrupt Function to INT2 hardware pin (CTRL_REG5)
data[0] = REG_CTRL_REG_5;
data[1] = 0x00;
writeRegs(data, 2);
+
// Step 7: Put the device in Active Mode
data[0] = REG_CTRL_REG_1;
data[1] = 0x19;
@@ -216,212 +117,23 @@
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::OrientationDetect( void(*fptr)(void))
-{
- OrientationDetect( fptr, Z_LOCKOUT_14, Z_BKFR_80, PL_THS_15, PL_HYS_0);
-}
-
-void MMA8451Q::OrientationDetect( void(*fptr)(void), unsigned int Z_LockOut, unsigned int Z_BkFr, unsigned int PL_Thsld, unsigned int PL_Hyst)
-{
- unsigned char t;
-
- // Soft Reset
- Reset();
-
- // Reset orientation value.
- OrientationState = 0;
- OrientationStateUpdated = 0;
-
- // Step 1: Put the part into Standby Mode
- Standby();
-
- // Step 2: Set the data rate to 50 Hz (for example, but can choose any sample rate).
- readRegs( REG_CTRL_REG_1, &t, 1); // Note: Can combine this step with above
- t &= 0xC7; // Clear the sample rate bits
- t |= 0x20; // Set the sample rate bits to 50 Hz
- unsigned char data[2] = {REG_CTRL_REG_1, t};
- writeRegs(data, 2); // Write updated value into the register.
-
-
- // Step 3: Set the PL_EN bit in Register 0x11 PL_CFG. This will enable the orientation detection.
- readRegs( REG_DBCNTM, &t, 1);
- data[0] = REG_DBCNTM;
- data[1] = t | 0x40;
- writeRegs(data, 2);
-
- // Step 4: Set the Back/Front Angle trip points in register 0x13 following the table in the data sheet.
- // NOTE: This register is readable in all versions of MMA845xQ but it is only modifiable in the
- // MMA8451Q.
- readRegs( REG_BKFR, &t, 1);
- t &= 0x3F; // Clear bit 7 and 6
- data[0] = REG_BKFR;
- data[1] = t | Z_BkFr;
- writeRegs(data, 2); // Write in the updated Back/Front Angle
-
- // Step 5: Set the Z-Lockout angle trip point in register 0x13 following the table in the data sheet.
- // NOTE: This register is readable in all versions of MMA845xQ but it is only modifiable in the
- // MMA8451Q.
- readRegs( REG_BKFR, &t, 1);
- t &= 0xF8; // Clear the last three bits of the register
- data[0] = REG_BKFR;
- data[1] = t | Z_LockOut;
- writeRegs(data, 2); // Write in the updated Z-lockout angle
-
- // Step 6: Set the Trip Threshold Angle
- // NOTE: This register is readable in all versions of MMA845xQ but it is only modifiable in the
- // MMA8451Q.
- // Select the angle desired in the table, and,
- // Enter in the values given in the table for the corresponding angle.
- // Refer to Figure 7 for the reference frame of the trip angles.
- readRegs( REG_P_L_THS, &t, 1);
- t &= 0x07; // Clear the Threshold values
- data[0] = REG_P_L_THS;
- data[1] = t | (PL_Thsld<<3);
- writeRegs(data, 2);
-
- // Step 7: Set the Hysteresis Angle
- // NOTE: This register is readable in all versions of MMA845xQ but it is only modifiable in the
- // MMA8451Q.
- // Select the hysteresis value based on the desired final trip points (threshold + hysteresis)
- // Enter in the values given in the table for that corresponding angle.
- // Note: Care must be taken. Review the final resulting angles. Make sure there isn’t a resulting trip value
- // greater than 90 or less than 0.
- // The following are the options for setting the hysteresis.
- readRegs( REG_P_L_THS, &t, 1);
- t &= 0xF8; // Clear the Hysteresis values
- data[0] = REG_P_L_THS;
- data[1] = t | PL_Hyst;
- writeRegs(data, 2);
-
- // Step 8: Register 0x2D, Control Register 4 configures all embedded features for interrupt
- // detection.
- // To set this device up to run an interrupt service routine:
- // Program the Orientation Detection bit in Control Register 4.
- // Set bit 4 to enable the orientation detection “INT_EN_LNDPRT”.
- readRegs( REG_CTRL_REG_4, &t, 1);
- data[0] = REG_CTRL_REG_4;
- data[1] = t | 0x10; // Set bit 4
- writeRegs(data, 2);
-
- // Step 9: Register 0x2E is Control Register 5 which gives the option of routing the interrupt to
- // either INT1 or INT2
- // Depending on which interrupt pin is enabled and configured to the processor:
- // Set bit 4 “INT_CFG_LNDPRT” to configure INT1, or,
- // Leave the bit clear to configure INT2.
- readRegs( REG_CTRL_REG_5, &t, 1);
- data[0] = REG_CTRL_REG_5;
- data[1] = t | 0x10; // Set bit 4 to choose the interrupt to route to INT1
- writeRegs(data, 2);
-
- // Step 10: Set the debounce counter in register 0x12
- // This value will scale depending on the application-specific required ODR.
- // If the device is set to go to sleep, reset the debounce counter before the device goes to sleep. This setting
- // helps avoid long delays since the debounce will always scale with the current sample rate. The debounce
- // can be set between 50 ms - 100 ms to avoid long delays.
- data[0] = REG_DBNCE;
- data[1] = 0x05; // This sets the debounce counter to 100 ms at 50 Hz
- writeRegs(data, 2);
-
- // Step 11: Put the device in Active Mode
- Active();
-
- MMA8451Q_usr1_fptr = fptr;
- MMA8451Q_Int1.fall( this, &MMA8451Q::Orientation_IRQ);
-
-}
-
-void MMA8451Q::Orientation_IRQ( void)
-{
- unsigned char t;
-
- // Determine source of the interrupt by first reading the system interrupt
- readRegs( REG_INT_SRC, &t, 1);
- //
- if ( (t & 0x10) == 0x10) {
- // Read the PL State from the Status Register, clear the interrupt
- readRegs( REG_PL_STATUS, &t, 1);
- // Set the orientation state variable
- OrientationState = t;
- OrientationStateUpdated = 1;
- // Run the user supplied function
- MMA8451Q_usr1_fptr();
- }
-}
-
-unsigned char MMA8451Q::GetOrientationState( void)
-{
- if ( OrientationStateUpdated) {
- OrientationStateUpdated = 0;
- return OrientationState;
- }
- //
- return 0;
-}
-
-void MMA8451Q::DataReady( void(*fptr)(void), unsigned char ODR)
-{
- // Soft Reset
- Reset();
-
- // Step 1: Put the device into Standby Mode: Register 0x2A CTRL_REG1
- // Set the device ODR value and Standby
- unsigned char data[2] = {REG_CTRL_REG_1, ((ODR<<3) & 0xFE)};
- writeRegs(data, 2);
-
- // Step 2: Enable Data Ready Interrupt Function in the System (CTRL_REG4)
- data[0] = REG_CTRL_REG_4;
- data[1] = 0x01;
- writeRegs(data, 2);
-
- // Step 6: Route the Data Ready Interrupt Function to INT2 hardware pin (CTRL_REG5)
- data[0] = REG_CTRL_REG_5;
- data[1] = 0x00;
- writeRegs(data, 2);
-
- // Step 7: Put the device in Active Mode
- data[0] = REG_CTRL_REG_1;
- data[1] = ((ODR<<3) | 0x01);
- writeRegs(data, 2);
-
- MMA8451Q_usr2_fptr = fptr;
- MMA8451Q_Int2.fall( this, &MMA8451Q::DataReady_IRQ);
-
-}
-
-void MMA8451Q::DataReady_IRQ( void)
-{
- unsigned char t;
-
- // Determine source of the interrupt by first reading the system interrupt
- readRegs( REG_INT_SRC, &t, 1);
- //
- if ( (t & 0x01) == 0x01) {
- // Read the DataReady_IRQ 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;
@@ -442,12 +154,6 @@
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);
}
@@ -478,58 +184,6 @@
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);