File content as of revision 1:166ddf929155:

#include "HeptaAccel.h"
#include "mbed.h"

HeptaAccel::HeptaAccel(PinName sda, PinName scl, int aaddr ) : accel(sda,scl),addr(aaddr)
{
    _cmd[0] = 0x2A;//CTL_REG
    _cmd[1] = 0x01;//ACTIVE
    accel.write(addr, _cmd, 2);
    accel.start();
    accel.write(addr);
    accel.stop(); 
}

void HeptaAccel::setup()
{
    _cmd[0] = 0x2A;
    _cmd[1] = 0x01;
    accel.frequency(100000);
    accel.write(addr, _cmd, 2);
    accel.start();
    accel.write(addr);
    accel.stop();
}

void HeptaAccel::sensing(float *ax,float *ay,float *az)
{
    int16_t acc;
    accel.start();//start
    accel.write(addr);//write address
    accel.write(0x01);//X-axis_MSB_REG
    accel.start();//restart, switch from write to read
    accel.write(addr|0x01);//read address
    _xmsb = accel.read(0);//read from selected register with NACK
    accel.stop();
    accel.start();
    accel.write(addr);
    accel.write(0x02);//X-axis_LSB_REG
    accel.start();
    accel.write(addr|0x01);
    _xlsb = accel.read(0);
    accel.stop();
    acc = (_xmsb << 6) | (_xlsb >> 2);
    if (acc > UINT14_MAX/2)
    {
        acc -= UINT14_MAX;
    }
    *ax = acc/4096.0*9.81;
    
    accel.start();
    accel.write(addr);
    accel.write(0x03);
    accel.start();
    accel.write(addr|0x01);
    _ymsb = accel.read(0);
    accel.stop();
    accel.start();
    accel.write(addr);
    accel.write(0x04);
    accel.start();
    accel.write(addr|0x01);
    _ylsb = accel.read(0);
    accel.stop();
    acc = (_ymsb << 6) | (_ylsb >> 2);
    if (acc > UINT14_MAX/2)
    {
        acc -= UINT14_MAX;
    }
    *ay = acc/4096.0*9.81;   
        
    accel.start();
    accel.write(addr);
    accel.write(0x05);
    accel.start();
    accel.write(addr|0x01);
    _zmsb = accel.read(0);
    accel.stop();
    accel.start();
    accel.write(addr);
    accel.write(0x06);
    accel.start();
    accel.write(addr|0x01);
    _zlsb = accel.read(0);
    accel.stop();
    acc = (_zmsb << 6) | (_zlsb >> 2);
    if (acc > UINT14_MAX/2)
    {
        acc -= UINT14_MAX;
    }   
    *az = acc/4096.0*9.81;  
}
    
float HeptaAccel::x()
{  
    int16_t acc;
    float ax;
    accel.start();
    accel.write(addr);
    accel.write(0x01);
    accel.start();
    accel.write(addr|0x01);
    _xmsb = accel.read(0);
    accel.stop();
    accel.start();
    accel.write(addr);
    accel.write(0x02);
    accel.start();
    accel.write(addr|0x01);
    _xlsb = accel.read(0);
    accel.stop();  
    acc = (_xmsb << 6) | (_xlsb >> 2);
    if (acc > UINT14_MAX/2)
    {
        acc -= UINT14_MAX;
    }
    ax = acc/4096.0*9.81;
    return(ax);
}
    
float HeptaAccel::y()
{
    int16_t acc;
    float ay;
    accel.start();
    accel.write(addr);
    accel.write(0x03);
    accel.start();
    accel.write(addr|0x01);
    _ymsb = accel.read(0);
    accel.stop();
    accel.start();
    accel.write(addr);
    accel.write(0x04);
    accel.start();
    accel.write(addr|0x01);
    _ylsb = accel.read(0);
    accel.stop();
    acc = (_ymsb << 6) | (_ylsb >> 2);
    if (acc > UINT14_MAX/2)
    {
        acc -= UINT14_MAX;
    }   
    ay = acc/4096.0*9.81;
    return(ay);
}
    
float HeptaAccel::z()
{
    int16_t acc;
    float az;
    accel.start();
    accel.write(addr);
    accel.write(0x2C);
    accel.start();
    accel.write(addr|0x01);
    _zmsb = accel.read(0);
    accel.stop();
    accel.start();
    accel.write(addr);
    accel.write(0x2D);
    accel.start();
    accel.write(addr|0x01);
    _zlsb = accel.read(0);
    accel.stop();
    acc = (_zmsb << 6) | (_zlsb >> 2);
    if (acc > UINT14_MAX/2)
    {
        acc -= UINT14_MAX;
    }   
    az = acc/4096.0*9.81;
    return(az);
}
    
void HeptaAccel::sensing_u16(char* ax_u16,char* ay_u16,char* az_u16, int *dsize)
{
    char a1[8]={0x00},a2[8]={0x00};
    accel.start();
    accel.write(addr);
    accel.write(0x01);
    accel.start();
    accel.write(addr|0x01);
    _xmsb = accel.read(0);
    accel.stop();
    accel.start();
    accel.write(addr);
    accel.write(0x02);
    accel.start();
    accel.write(addr|0x01);
    _xlsb = accel.read(0);
    accel.stop();  
    sprintf( a1, "%02X", ((_xmsb)) & 0xFF);
    sprintf( a2, "%02X", ((_xlsb)) & 0xFF);
    ax_u16[0]=a1[0];
    ax_u16[1]=a1[1];
    ax_u16[2]=a2[0];
    ax_u16[3]=a2[1];
        
    accel.start();
    accel.write(addr);
    accel.write(0x03);
    accel.start();
    accel.write(addr|0x01);
    _ymsb = accel.read(0);
    accel.stop();
    accel.start();
    accel.write(addr);
    accel.write(0x04);
    accel.start();
    accel.write(addr|0x01);
    _ylsb = accel.read(0);
    accel.stop();  
    sprintf( a1, "%02X", ((_ymsb)) & 0xFF);
    sprintf( a2, "%02X", ((_ylsb)) & 0xFF);
    ay_u16[0]=a1[0];
    ay_u16[1]=a1[1];
    ay_u16[2]=a2[0];
    ay_u16[3]=a2[1];
        
    accel.start();
    accel.write(addr);
    accel.write(0x05);
    accel.start();
    accel.write(addr|0x01);
    _zmsb = accel.read(0);
    accel.stop();
    accel.start();
    accel.write(addr);
    accel.write(0x06);
    accel.start();
    accel.write(addr|0x01);
    _zlsb = accel.read(0);
    accel.stop();  
    sprintf( a1, "%02X", ((_zmsb)) & 0xFF);
    sprintf( a2, "%02X", ((_zlsb)) & 0xFF);
    az_u16[0]=a1[0];
    az_u16[1]=a1[1];
    az_u16[2]=a2[0];
    az_u16[3]=a2[1];
    *dsize = 4;
}
        
void HeptaAccel::x_u16(char* a_u16, int *dsize)
{
    char a1[8]={0x00},a2[8]={0x00};
    accel.start();
    accel.write(addr);
    accel.write(0x01);
    accel.start();
    accel.write(addr|0x01);
    _xmsb = accel.read(0);
    accel.stop();
    accel.start();
    accel.write(addr);
    accel.write(0x02);
    accel.start();
    accel.write(addr|0x01);
    _xlsb = accel.read(0);
    accel.stop();  
    sprintf( a1, "%02X", ((_xmsb)) & 0xFF);
    sprintf( a2, "%02X", ((_xlsb)) & 0xFF);
    a_u16[0]=a1[0];
    a_u16[1]=a1[1];
    a_u16[2]=a2[0];
    a_u16[3]=a2[1];
    *dsize = 4;
}
    
void HeptaAccel::y_u16(char* a_u16, int *dsize)
{
    char a1[8]={0x00},a2[8]={0x00};
    accel.start();
    accel.write(addr);
    accel.write(0x03);
    accel.start();
    accel.write(addr|0x01);
    _ymsb = accel.read(0);
    accel.stop();
    accel.start();
    accel.write(addr);
    accel.write(0x04);
    accel.start();
    accel.write(addr|0x01);
    _ylsb = accel.read(0);
    accel.stop();  
    sprintf( a1, "%02X", ((_ymsb)) & 0xFF);
    sprintf( a2, "%02X", ((_ylsb)) & 0xFF);
    a_u16[0]=a1[0];
    a_u16[1]=a1[1];
    a_u16[2]=a2[0];
    a_u16[3]=a2[1];
    *dsize = 4;
}
     
void HeptaAccel::z_u16(char* a_u16, int *dsize)
{
    char a1[8]={0x00},a2[8]={0x00};
    accel.start();
    accel.write(addr);
    accel.write(0x05);
    accel.start();
    accel.write(addr|0x01);
    _zmsb = accel.read(0);
    accel.stop();
    accel.start();
    accel.write(addr);
    accel.write(0x06);
    accel.start();
    accel.write(addr|0x01);
    _zlsb = accel.read(0);
    accel.stop();  
    sprintf( a1, "%02X", ((_zmsb)) & 0xFF);
    sprintf( a2, "%02X", ((_zlsb)) & 0xFF);
    a_u16[0]=a1[0];
    a_u16[1]=a1[1];
    a_u16[2]=a2[0];
    a_u16[3]=a2[1];
    *dsize = 4;
}