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MMA8451Q8b.cpp
00001 /* Copyright (c) 2010-2011 mbed.org, MIT License 00002 * 00003 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software 00004 * and associated documentation files (the "Software"), to deal in the Software without 00005 * restriction, including without limitation the rights to use, copy, modify, merge, publish, 00006 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the 00007 * Software is furnished to do so, subject to the following conditions: 00008 * 00009 * The above copyright notice and this permission notice shall be included in all copies or 00010 * substantial portions of the Software. 00011 * 00012 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING 00013 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 00014 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 00015 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00016 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 00017 */ 00018 // Modify to change full scale gravity range 141207 sc 00019 00020 00021 #include "MMA8451Q8b.h" 00022 00023 #define REG_WHO_AM_I 0x0D 00024 #define REG_CTRL_REG_1 0x2A 00025 #define REG_OUT_X_MSB 0x01 00026 #define REG_OUT_Y_MSB 0x03 00027 #define REG_OUT_Z_MSB 0x05 00028 #define XYZ_DATA_CFG 0x0E 00029 00030 #define UINT14_MAX 16383 00031 00032 #define MAX_2G 0x00 00033 #define MAX_4G 0x01 00034 #define MAX_8G 0x02 00035 00036 #define NUM_DATA 2 00037 #define GSCALING 1024.0 00038 #define ADDRESS_INDEX 0 00039 #define DATA_INDEX 1 00040 00041 float gScaling[3] = {4095.0, 2048.0, 1024.0}; //scalin for acceleration of gravity values 00042 00043 MMA8451Q::MMA8451Q(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) { 00044 // activate the peripheral 00045 uint8_t data[2] = {REG_CTRL_REG_1, 0x01}; 00046 writeRegs(data, 2); 00047 } 00048 00049 MMA8451Q::~MMA8451Q() { } 00050 00051 uint8_t MMA8451Q::getWhoAmI() { 00052 uint8_t who_am_i = 0; 00053 readRegs(REG_WHO_AM_I, &who_am_i, 1); 00054 return who_am_i; 00055 } 00056 00057 void MMA8451Q::setStandbyMode() { 00058 #define ACTIVEMASK 0x01 00059 uint8_t registerData[1]; 00060 uint8_t data[NUM_DATA] = {REG_CTRL_REG_1, 0x00}; 00061 00062 readRegs(REG_CTRL_REG_1, registerData, 1); 00063 data[1] = registerData[0] & ~ACTIVEMASK; 00064 writeRegs(data, NUM_DATA); //put in standby 00065 } 00066 00067 void MMA8451Q::setActiveMode(){ 00068 #define ACTIVEMASK 0x01 00069 uint8_t registerData[1]; 00070 uint8_t data[NUM_DATA] = {REG_CTRL_REG_1, 0x00}; 00071 00072 readRegs(REG_CTRL_REG_1, registerData, 1); 00073 data[1] = registerData[0] | ACTIVEMASK; 00074 writeRegs(data, NUM_DATA); //put in standby 00075 } 00076 00077 void MMA8451Q::setGLimit(int gSelect) { 00078 uint8_t data[NUM_DATA] = {REG_CTRL_REG_1, 0x00}; 00079 gChosen = gSelect; 00080 setStandbyMode(); 00081 data[ADDRESS_INDEX] = XYZ_DATA_CFG; 00082 data[DATA_INDEX] = gChosen; 00083 writeRegs(data, 2);// change g limit 00084 setActiveMode(); 00085 } 00086 00087 float MMA8451Q::getAccX() { 00088 return (float(getAccAxis(REG_OUT_X_MSB))/GSCALING); 00089 } 00090 00091 float MMA8451Q::getAccY() { 00092 return (float(getAccAxis(REG_OUT_Y_MSB))/GSCALING); 00093 } 00094 00095 float MMA8451Q::getAccZ() { 00096 return (float(getAccAxis(REG_OUT_Z_MSB))/GSCALING); 00097 } 00098 00099 void MMA8451Q::getAccAllAxis(float * res) { 00100 res[0] = getAccX(); 00101 res[1] = getAccY(); 00102 res[2] = getAccZ(); 00103 } 00104 00105 int16_t MMA8451Q::getAccAxis(uint8_t addr) { 00106 int16_t acc; 00107 uint8_t res[2]; 00108 readRegs(addr, res, 2); 00109 00110 acc = (res[0] << 6) | (res[1] >> 2); 00111 if (acc > UINT14_MAX/2) 00112 acc -= UINT14_MAX; 00113 00114 return acc; 00115 } 00116 00117 void MMA8451Q::readRegs(int addr, uint8_t * data, int len) { 00118 char t[1] = {addr}; 00119 m_i2c.write(m_addr, t, 1, true); 00120 m_i2c.read(m_addr, (char *)data, len); 00121 } 00122 00123 void MMA8451Q::writeRegs(uint8_t * data, int len) { 00124 m_i2c.write(m_addr, (char *)data, len); 00125 }
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