Witek Ewert / Mbed 2 deprecated KL46Z-Lab2_lodz

Sensor reporting over USB CDC

Dependencies:   MAG3110 MMA8451Q SLCD- TSI USBDevice mbed

MMA8451Q/MMA8451Q.cpp@0:7b58cdacf811, 2014-04-16 (annotated)

Committer:
wue
Date:
Wed Apr 16 12:20:12 2014 +0000
Revision:
0:7b58cdacf811
Sensor reporting over USB CDC

Who changed what in which revision?

UserRevisionLine numberNew contents of line
wue 0:7b58cdacf811 1 /* Copyright (c) 2010-2011 mbed.org, MIT License
wue 0:7b58cdacf811 2 *
wue 0:7b58cdacf811 3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
wue 0:7b58cdacf811 4 * and associated documentation files (the "Software"), to deal in the Software without
wue 0:7b58cdacf811 5 * restriction, including without limitation the rights to use, copy, modify, merge, publish,
wue 0:7b58cdacf811 6 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
wue 0:7b58cdacf811 7 * Software is furnished to do so, subject to the following conditions:
wue 0:7b58cdacf811 8 *
wue 0:7b58cdacf811 9 * The above copyright notice and this permission notice shall be included in all copies or
wue 0:7b58cdacf811 10 * substantial portions of the Software.
wue 0:7b58cdacf811 11 *
wue 0:7b58cdacf811 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
wue 0:7b58cdacf811 13 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
wue 0:7b58cdacf811 14 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
wue 0:7b58cdacf811 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
wue 0:7b58cdacf811 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
wue 0:7b58cdacf811 17 */
wue 0:7b58cdacf811 18
wue 0:7b58cdacf811 19 #include "MMA8451Q.h"
wue 0:7b58cdacf811 20
wue 0:7b58cdacf811 21 #define INT_SOURCE 0x0C
wue 0:7b58cdacf811 22 #define REG_WHO_AM_I 0x0D
wue 0:7b58cdacf811 23 #define HP_FILTER_CUTOFF 0x0F
wue 0:7b58cdacf811 24 #define PULSE_CFG 0x21
wue 0:7b58cdacf811 25 #define PULSE_SRC 0x22
wue 0:7b58cdacf811 26 #define PULSE_THSX 0x23
wue 0:7b58cdacf811 27 #define PULSE_THSY 0x24
wue 0:7b58cdacf811 28 #define PULSE_THSZ 0x25
wue 0:7b58cdacf811 29 #define PULSE_TMLT 0x26
wue 0:7b58cdacf811 30 #define PULSE_LTCY 0x27
wue 0:7b58cdacf811 31 #define PULSE_WIND 0x28
wue 0:7b58cdacf811 32 #define REG_CTRL_REG_1 0x2A
wue 0:7b58cdacf811 33 #define CTRL_REG2 0x2B
wue 0:7b58cdacf811 34 #define CTRL_REG4 0x2D
wue 0:7b58cdacf811 35 #define CTRL_REG5 0x2E
wue 0:7b58cdacf811 36 #define REG_OUT_X_MSB 0x01
wue 0:7b58cdacf811 37 #define REG_OUT_Y_MSB 0x03
wue 0:7b58cdacf811 38 #define REG_OUT_Z_MSB 0x05
wue 0:7b58cdacf811 39
wue 0:7b58cdacf811 40 #define UINT14_MAX 16383
wue 0:7b58cdacf811 41
wue 0:7b58cdacf811 42 MMA8451Q::MMA8451Q(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
wue 0:7b58cdacf811 43 // activate the peripheral
wue 0:7b58cdacf811 44 uint8_t data[2] = {REG_CTRL_REG_1, 0x01};
wue 0:7b58cdacf811 45 writeRegs(data, 2);
wue 0:7b58cdacf811 46 }
wue 0:7b58cdacf811 47
wue 0:7b58cdacf811 48 MMA8451Q::~MMA8451Q() { }
wue 0:7b58cdacf811 49
wue 0:7b58cdacf811 50 uint8_t MMA8451Q::getWhoAmI() {
wue 0:7b58cdacf811 51 uint8_t who_am_i = 0;
wue 0:7b58cdacf811 52 readRegs(REG_WHO_AM_I, &who_am_i, 1);
wue 0:7b58cdacf811 53 return who_am_i;
wue 0:7b58cdacf811 54 }
wue 0:7b58cdacf811 55
wue 0:7b58cdacf811 56 float MMA8451Q::getAccX() {
wue 0:7b58cdacf811 57 //divide by 4096 b/c MMA output is 4096 counts per g so this f outputs accelorometer value formatted to g (gravity)
wue 0:7b58cdacf811 58 return (float(getAccAxis(REG_OUT_X_MSB))/4096.0);
wue 0:7b58cdacf811 59 }
wue 0:7b58cdacf811 60
wue 0:7b58cdacf811 61 float MMA8451Q::getAccY() {
wue 0:7b58cdacf811 62 return (float(getAccAxis(REG_OUT_Y_MSB))/4096.0);
wue 0:7b58cdacf811 63 }
wue 0:7b58cdacf811 64
wue 0:7b58cdacf811 65 float MMA8451Q::getAccZ() {
wue 0:7b58cdacf811 66 return (float(getAccAxis(REG_OUT_Z_MSB))/4096.0);
wue 0:7b58cdacf811 67 }
wue 0:7b58cdacf811 68
wue 0:7b58cdacf811 69 void MMA8451Q::getAccAllAxis(float * res) {
wue 0:7b58cdacf811 70 res[0] = getAccX();
wue 0:7b58cdacf811 71 res[1] = getAccY();
wue 0:7b58cdacf811 72 res[2] = getAccZ();
wue 0:7b58cdacf811 73 }
wue 0:7b58cdacf811 74
wue 0:7b58cdacf811 75 int16_t MMA8451Q::getAccAxis(uint8_t addr) {
wue 0:7b58cdacf811 76 int16_t acc;
wue 0:7b58cdacf811 77 uint8_t res[2];
wue 0:7b58cdacf811 78 readRegs(addr, res, 2);
wue 0:7b58cdacf811 79
wue 0:7b58cdacf811 80 acc = (res[0] << 6) | (res[1] >> 2);
wue 0:7b58cdacf811 81 if (acc > UINT14_MAX/2)
wue 0:7b58cdacf811 82 acc -= UINT14_MAX;
wue 0:7b58cdacf811 83
wue 0:7b58cdacf811 84 return acc;
wue 0:7b58cdacf811 85 }
wue 0:7b58cdacf811 86
wue 0:7b58cdacf811 87 void MMA8451Q::setDoubleTap(void){
wue 0:7b58cdacf811 88 //Implemented directly from Freescale's AN4072
wue 0:7b58cdacf811 89 //Added to MMA8451Q lib
wue 0:7b58cdacf811 90
wue 0:7b58cdacf811 91 uint8_t CTRL_REG1_Data;
wue 0:7b58cdacf811 92 // int adds;
wue 0:7b58cdacf811 93 uint8_t data[2] = {REG_CTRL_REG_1, 0x08};
wue 0:7b58cdacf811 94
wue 0:7b58cdacf811 95 //400 Hz, Standby Mode
wue 0:7b58cdacf811 96 writeRegs(data,2);
wue 0:7b58cdacf811 97
wue 0:7b58cdacf811 98 //Enable X, Y and Z Double Pulse with DPA = 0 no double pulse abort
wue 0:7b58cdacf811 99 data[0]=PULSE_CFG;data[1]=0x2A;
wue 0:7b58cdacf811 100 writeRegs(data,2);
wue 0:7b58cdacf811 101
wue 0:7b58cdacf811 102 //SetThreshold 3g on X and Y and 5g on Z
wue 0:7b58cdacf811 103 //Note: Every step is 0.063g
wue 0:7b58cdacf811 104 //3 g/0.063g = 48 counts
wue 0:7b58cdacf811 105 //5g/0.063g = 79 counts
wue 0:7b58cdacf811 106 data[0]=PULSE_THSX;data[1]=0x30;
wue 0:7b58cdacf811 107 writeRegs(data,2);//Set X Threshold to 3g
wue 0:7b58cdacf811 108 data[0]=PULSE_THSY;data[1]=0x30;
wue 0:7b58cdacf811 109 writeRegs(data,2);//Set Y Threshold to 3g
wue 0:7b58cdacf811 110 data[0]=PULSE_THSZ;data[1]=0x4F;
wue 0:7b58cdacf811 111 writeRegs(data,2);//Set Z Threshold to 5g
wue 0:7b58cdacf811 112
wue 0:7b58cdacf811 113 //Set Time Limit for Tap Detection to 60 ms LP Mode
wue 0:7b58cdacf811 114 //Note: 400 Hz ODR, Time step is 1.25 ms per step
wue 0:7b58cdacf811 115 //60 ms/1.25 ms = 48 counts
wue 0:7b58cdacf811 116 data[0]=PULSE_TMLT;data[1]=0x30;
wue 0:7b58cdacf811 117 writeRegs(data,2);//60 ms
wue 0:7b58cdacf811 118
wue 0:7b58cdacf811 119 //Set Latency Time to 200 ms
wue 0:7b58cdacf811 120 //Note: 400 Hz ODR LPMode, Time step is 2.5 ms per step 00 ms/2.5 ms = 80 counts
wue 0:7b58cdacf811 121 data[0]=PULSE_LTCY;data[1]=0x50;
wue 0:7b58cdacf811 122 writeRegs(data,2);//200 ms
wue 0:7b58cdacf811 123
wue 0:7b58cdacf811 124 //Set Time Window for second tap to 300 ms
wue 0:7b58cdacf811 125 //Note: 400 Hz ODR LP Mode, Time step is 2.5 ms per step
wue 0:7b58cdacf811 126 //300 ms/2.5 ms = 120 counts
wue 0:7b58cdacf811 127 data[0]=PULSE_WIND;data[1]=0x78;
wue 0:7b58cdacf811 128 writeRegs(data,2);//300 ms
wue 0:7b58cdacf811 129
wue 0:7b58cdacf811 130 //Route INT1 to System Interrupt
wue 0:7b58cdacf811 131 data[0]=CTRL_REG4;data[1]=0x08;
wue 0:7b58cdacf811 132 writeRegs(data,2);//Enable Pulse Interrupt in System CTRL_REG4
wue 0:7b58cdacf811 133 data[0]=CTRL_REG5;data[1]=0x08;
wue 0:7b58cdacf811 134 writeRegs(data,2);//Route Pulse Interrupt to INT1 hardware Pin CTRL_REG5
wue 0:7b58cdacf811 135
wue 0:7b58cdacf811 136 //Set the device to Active Mode
wue 0:7b58cdacf811 137 readRegs(0x2A,&CTRL_REG1_Data,1);//Read out the contents of the register
wue 0:7b58cdacf811 138 CTRL_REG1_Data |= 0x01; //Change the value in the register to Active Mode.
wue 0:7b58cdacf811 139 data[0]=REG_CTRL_REG_1;
wue 0:7b58cdacf811 140 data[1]=CTRL_REG1_Data;
wue 0:7b58cdacf811 141 writeRegs(data,2);//Write in the updated value to put the device in Active Mode
wue 0:7b58cdacf811 142 }
wue 0:7b58cdacf811 143
wue 0:7b58cdacf811 144
wue 0:7b58cdacf811 145 void MMA8451Q::readRegs(int addr, uint8_t * data, int len) {
wue 0:7b58cdacf811 146 char t[1] = {addr};
wue 0:7b58cdacf811 147 m_i2c.write(m_addr, t, 1, true);
wue 0:7b58cdacf811 148 m_i2c.read(m_addr, (char *)data, len);
wue 0:7b58cdacf811 149 }
wue 0:7b58cdacf811 150
wue 0:7b58cdacf811 151
wue 0:7b58cdacf811 152
wue 0:7b58cdacf811 153 void MMA8451Q::writeRegs(uint8_t * data, int len) {
wue 0:7b58cdacf811 154 m_i2c.write(m_addr, (char *)data, len);
wue 0:7b58cdacf811 155 }