test
Fork of MMA8652 by
Diff: MMA8652.cpp
- Revision:
- 1:ff30cc4759b4
- Parent:
- 0:3ae1e808e61c
--- a/MMA8652.cpp Mon Apr 07 00:59:06 2014 +0000 +++ b/MMA8652.cpp Sat Apr 19 01:28:26 2014 +0000 @@ -1,16 +1,39 @@ - #include "MMA8652.h" - +/* 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 "MMA8652.h" +#define UINT14_MAX 16383 + MMA8652::MMA8652(PinName sda, PinName scl) : _i2c(sda, scl) { begin(); } + + +MMA8652::~MMA8652() { } + void MMA8652::RegRead( char reg, char * d, int len) { char cmd[1]; cmd[0] = reg; char i2c_addr = MMA8652_SLAVE_ADDR; -_i2c.write( i2c_addr, cmd, 1); +_i2c.write( i2c_addr, cmd, 1, true); _i2c.read ( i2c_addr, d, len); } @@ -48,6 +71,13 @@ _i2c.write( MMA8652_SLAVE_ADDR, data, 2); } +char MMA8652::getWhoAmI(void) +{ + static char d; + RegRead( /*MMA8652_WHOAMI*/ 0x0d, &d, 1); + return(d); +} + void MMA8652::ReadXYZ(float * a) { char d[7]; @@ -62,4 +92,27 @@ a[1] = (float) t[1] / 16384.0; a[2] = (float) t[2] / 16384.0; -} \ No newline at end of file +} + + +void MMA8652::ReadXYZraw(int16_t * d) +{ +char res[6]; +int16_t acc; + RegRead( MMA8652_OUT_X_MSB, res, 6); + + acc = (res[0] << 6) | (res[1] >> 2); + if (acc > UINT14_MAX/2) + acc -= UINT14_MAX; + d[0] = acc; + acc = (res[2] << 6) | (res[3] >> 2); + if (acc > UINT14_MAX/2) + acc -= UINT14_MAX; + d[1] = acc; + acc = (res[4] << 6) | (res[5] >> 2); + if (acc > UINT14_MAX/2) + acc -= UINT14_MAX; + d[2] = acc; +} + + \ No newline at end of file