SB-HW-8.1
Fork of MMA8451Q8 by
MMA8451Q8b.cpp@8:31f7a3426768, 2017-03-08 (annotated)
- Committer:
- sbart
- Date:
- Wed Mar 08 04:11:07 2017 +0000
- Revision:
- 8:31f7a3426768
SB-HW-8.1
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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sbart | 8:31f7a3426768 | 1 | /* Copyright (c) 2010-2011 mbed.org, MIT License |
sbart | 8:31f7a3426768 | 2 | * |
sbart | 8:31f7a3426768 | 3 | * Permission is hereby granted, free of charge, to any person obtaining a copy of this software |
sbart | 8:31f7a3426768 | 4 | * and associated documentation files (the "Software"), to deal in the Software without |
sbart | 8:31f7a3426768 | 5 | * restriction, including without limitation the rights to use, copy, modify, merge, publish, |
sbart | 8:31f7a3426768 | 6 | * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the |
sbart | 8:31f7a3426768 | 7 | * Software is furnished to do so, subject to the following conditions: |
sbart | 8:31f7a3426768 | 8 | * |
sbart | 8:31f7a3426768 | 9 | * The above copyright notice and this permission notice shall be included in all copies or |
sbart | 8:31f7a3426768 | 10 | * substantial portions of the Software. |
sbart | 8:31f7a3426768 | 11 | * |
sbart | 8:31f7a3426768 | 12 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING |
sbart | 8:31f7a3426768 | 13 | * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
sbart | 8:31f7a3426768 | 14 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, |
sbart | 8:31f7a3426768 | 15 | * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
sbart | 8:31f7a3426768 | 16 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
sbart | 8:31f7a3426768 | 17 | */ |
sbart | 8:31f7a3426768 | 18 | // Modify to change full scale gravity range 141207 sc |
sbart | 8:31f7a3426768 | 19 | |
sbart | 8:31f7a3426768 | 20 | |
sbart | 8:31f7a3426768 | 21 | #include "MMA8451Q8b.h" |
sbart | 8:31f7a3426768 | 22 | |
sbart | 8:31f7a3426768 | 23 | #define REG_WHO_AM_I 0x0D |
sbart | 8:31f7a3426768 | 24 | #define REG_CTRL_REG_1 0x2A |
sbart | 8:31f7a3426768 | 25 | #define REG_OUT_X_MSB 0x01 |
sbart | 8:31f7a3426768 | 26 | #define REG_OUT_Y_MSB 0x03 |
sbart | 8:31f7a3426768 | 27 | #define REG_OUT_Z_MSB 0x05 |
sbart | 8:31f7a3426768 | 28 | #define XYZ_DATA_CFG 0x0E |
sbart | 8:31f7a3426768 | 29 | |
sbart | 8:31f7a3426768 | 30 | #define UINT14_MAX 16383 |
sbart | 8:31f7a3426768 | 31 | |
sbart | 8:31f7a3426768 | 32 | #define MAX_2G 0x00 |
sbart | 8:31f7a3426768 | 33 | #define MAX_4G 0x01 |
sbart | 8:31f7a3426768 | 34 | #define MAX_8G 0x02 |
sbart | 8:31f7a3426768 | 35 | |
sbart | 8:31f7a3426768 | 36 | #define NUM_DATA 2 |
sbart | 8:31f7a3426768 | 37 | #define GSCALING 1024.0 |
sbart | 8:31f7a3426768 | 38 | #define ADDRESS_INDEX 0 |
sbart | 8:31f7a3426768 | 39 | #define DATA_INDEX 1 |
sbart | 8:31f7a3426768 | 40 | |
sbart | 8:31f7a3426768 | 41 | float gScaling[3] = {4095.0, 2048.0, 1024.0}; //scalin for acceleration of gravity values |
sbart | 8:31f7a3426768 | 42 | |
sbart | 8:31f7a3426768 | 43 | MMA8451Q::MMA8451Q(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) { |
sbart | 8:31f7a3426768 | 44 | // activate the peripheral |
sbart | 8:31f7a3426768 | 45 | uint8_t data[2] = {REG_CTRL_REG_1, 0x01}; |
sbart | 8:31f7a3426768 | 46 | writeRegs(data, 2); |
sbart | 8:31f7a3426768 | 47 | } |
sbart | 8:31f7a3426768 | 48 | |
sbart | 8:31f7a3426768 | 49 | MMA8451Q::~MMA8451Q() { } |
sbart | 8:31f7a3426768 | 50 | |
sbart | 8:31f7a3426768 | 51 | uint8_t MMA8451Q::getWhoAmI() { |
sbart | 8:31f7a3426768 | 52 | uint8_t who_am_i = 0; |
sbart | 8:31f7a3426768 | 53 | readRegs(REG_WHO_AM_I, &who_am_i, 1); |
sbart | 8:31f7a3426768 | 54 | return who_am_i; |
sbart | 8:31f7a3426768 | 55 | } |
sbart | 8:31f7a3426768 | 56 | |
sbart | 8:31f7a3426768 | 57 | void MMA8451Q::setStandbyMode() { |
sbart | 8:31f7a3426768 | 58 | #define ACTIVEMASK 0x01 |
sbart | 8:31f7a3426768 | 59 | uint8_t registerData[1]; |
sbart | 8:31f7a3426768 | 60 | uint8_t data[NUM_DATA] = {REG_CTRL_REG_1, 0x00}; |
sbart | 8:31f7a3426768 | 61 | |
sbart | 8:31f7a3426768 | 62 | readRegs(REG_CTRL_REG_1, registerData, 1); |
sbart | 8:31f7a3426768 | 63 | data[1] = registerData[0] & ~ACTIVEMASK; |
sbart | 8:31f7a3426768 | 64 | writeRegs(data, NUM_DATA); //put in standby |
sbart | 8:31f7a3426768 | 65 | } |
sbart | 8:31f7a3426768 | 66 | |
sbart | 8:31f7a3426768 | 67 | void MMA8451Q::setActiveMode(){ |
sbart | 8:31f7a3426768 | 68 | #define ACTIVEMASK 0x01 |
sbart | 8:31f7a3426768 | 69 | uint8_t registerData[1]; |
sbart | 8:31f7a3426768 | 70 | uint8_t data[NUM_DATA] = {REG_CTRL_REG_1, 0x00}; |
sbart | 8:31f7a3426768 | 71 | |
sbart | 8:31f7a3426768 | 72 | readRegs(REG_CTRL_REG_1, registerData, 1); |
sbart | 8:31f7a3426768 | 73 | data[1] = registerData[0] | ACTIVEMASK; |
sbart | 8:31f7a3426768 | 74 | writeRegs(data, NUM_DATA); //put in standby |
sbart | 8:31f7a3426768 | 75 | } |
sbart | 8:31f7a3426768 | 76 | |
sbart | 8:31f7a3426768 | 77 | void MMA8451Q::setGLimit(int gSelect) { |
sbart | 8:31f7a3426768 | 78 | uint8_t data[NUM_DATA] = {REG_CTRL_REG_1, 0x00}; |
sbart | 8:31f7a3426768 | 79 | gChosen = gSelect; |
sbart | 8:31f7a3426768 | 80 | setStandbyMode(); |
sbart | 8:31f7a3426768 | 81 | data[ADDRESS_INDEX] = XYZ_DATA_CFG; |
sbart | 8:31f7a3426768 | 82 | data[DATA_INDEX] = gChosen; |
sbart | 8:31f7a3426768 | 83 | writeRegs(data, 2);// change g limit |
sbart | 8:31f7a3426768 | 84 | setActiveMode(); |
sbart | 8:31f7a3426768 | 85 | } |
sbart | 8:31f7a3426768 | 86 | |
sbart | 8:31f7a3426768 | 87 | float MMA8451Q::getAccX() { |
sbart | 8:31f7a3426768 | 88 | return (float(getAccAxis(REG_OUT_X_MSB))/GSCALING); |
sbart | 8:31f7a3426768 | 89 | } |
sbart | 8:31f7a3426768 | 90 | |
sbart | 8:31f7a3426768 | 91 | float MMA8451Q::getAccY() { |
sbart | 8:31f7a3426768 | 92 | return (float(getAccAxis(REG_OUT_Y_MSB))/GSCALING); |
sbart | 8:31f7a3426768 | 93 | } |
sbart | 8:31f7a3426768 | 94 | |
sbart | 8:31f7a3426768 | 95 | float MMA8451Q::getAccZ() { |
sbart | 8:31f7a3426768 | 96 | return (float(getAccAxis(REG_OUT_Z_MSB))/GSCALING); |
sbart | 8:31f7a3426768 | 97 | } |
sbart | 8:31f7a3426768 | 98 | |
sbart | 8:31f7a3426768 | 99 | void MMA8451Q::getAccAllAxis(float * res) { |
sbart | 8:31f7a3426768 | 100 | res[0] = getAccX(); |
sbart | 8:31f7a3426768 | 101 | res[1] = getAccY(); |
sbart | 8:31f7a3426768 | 102 | res[2] = getAccZ(); |
sbart | 8:31f7a3426768 | 103 | } |
sbart | 8:31f7a3426768 | 104 | |
sbart | 8:31f7a3426768 | 105 | int16_t MMA8451Q::getAccAxis(uint8_t addr) { |
sbart | 8:31f7a3426768 | 106 | int16_t acc; |
sbart | 8:31f7a3426768 | 107 | uint8_t res[2]; |
sbart | 8:31f7a3426768 | 108 | readRegs(addr, res, 2); |
sbart | 8:31f7a3426768 | 109 | |
sbart | 8:31f7a3426768 | 110 | acc = (res[0] << 6) | (res[1] >> 2); |
sbart | 8:31f7a3426768 | 111 | if (acc > UINT14_MAX/2) |
sbart | 8:31f7a3426768 | 112 | acc -= UINT14_MAX; |
sbart | 8:31f7a3426768 | 113 | |
sbart | 8:31f7a3426768 | 114 | return acc; |
sbart | 8:31f7a3426768 | 115 | } |
sbart | 8:31f7a3426768 | 116 | |
sbart | 8:31f7a3426768 | 117 | void MMA8451Q::readRegs(int addr, uint8_t * data, int len) { |
sbart | 8:31f7a3426768 | 118 | char t[1] = {addr}; |
sbart | 8:31f7a3426768 | 119 | m_i2c.write(m_addr, t, 1, true); |
sbart | 8:31f7a3426768 | 120 | m_i2c.read(m_addr, (char *)data, len); |
sbart | 8:31f7a3426768 | 121 | } |
sbart | 8:31f7a3426768 | 122 | |
sbart | 8:31f7a3426768 | 123 | void MMA8451Q::writeRegs(uint8_t * data, int len) { |
sbart | 8:31f7a3426768 | 124 | m_i2c.write(m_addr, (char *)data, len); |
sbart | 8:31f7a3426768 | 125 | } |