Hiroshi Yamaguchi / MMA7361L

MMA7361L interface

Dependents:   MMA7361L_Example ARLISS2012_Hidaka

MMA7361L.cpp@2:ce1a0d55f3c9, 2013-05-20 (annotated)

Committer:
yamaguch
Date:
Mon May 20 05:24:57 2013 +0000
Revision:
2:ce1a0d55f3c9
Parent:
1:19444721f19a 
rename sleep to nSleep

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yamaguch 0:d66a303c5664 1 #include "MMA7361L.h"
yamaguch 0:d66a303c5664 2
yamaguch 0:d66a303c5664 3 MMA7361L::MMA7361L(PinName xoutPin, PinName youtPin,PinName zoutPin,
yamaguch 2:ce1a0d55f3c9 4 PinName zeroGDetectPin, PinName gSelectPin, PinName nSleepPin) :
yamaguch 0:d66a303c5664 5 xout(xoutPin), yout(youtPin), zout(zoutPin),
yamaguch 2:ce1a0d55f3c9 6 zeroGDetect(zeroGDetectPin), gSelect(gSelectPin), nSleep(nSleepPin),
yamaguch 0:d66a303c5664 7 flags(-1) {
yamaguch 0:d66a303c5664 8 zeroGDetectEnabled = zeroGDetectPin != NC;
yamaguch 0:d66a303c5664 9 gSelectEnabled = gSelectPin != NC;
yamaguch 2:ce1a0d55f3c9 10 sleepEnabled = nSleepPin != NC;
yamaguch 0:d66a303c5664 11 setSleep(false);
yamaguch 0:d66a303c5664 12 setScale(SCALE_1_5G);
yamaguch 0:d66a303c5664 13 for (int i = 0; i < 2; i++) {
yamaguch 0:d66a303c5664 14 calib[i].minX = -1;
yamaguch 0:d66a303c5664 15 calib[i].maxX = 1;
yamaguch 0:d66a303c5664 16 calib[i].minY = -1;
yamaguch 0:d66a303c5664 17 calib[i].maxY = 1;
yamaguch 0:d66a303c5664 18 calib[i].minZ = -1;
yamaguch 0:d66a303c5664 19 calib[i].maxZ = 1;
yamaguch 0:d66a303c5664 20 }
yamaguch 0:d66a303c5664 21 }
yamaguch 0:d66a303c5664 22
yamaguch 0:d66a303c5664 23 float MMA7361L::getAccel(bool forceRead) {
yamaguch 0:d66a303c5664 24 prepare(ACCEL, forceRead);
yamaguch 0:d66a303c5664 25 return sqrt(accelX * accelX + accelY * accelY + accelZ * accelZ);
yamaguch 0:d66a303c5664 26 }
yamaguch 0:d66a303c5664 27
yamaguch 0:d66a303c5664 28 float MMA7361L::getAccelX(bool forceRead) {
yamaguch 0:d66a303c5664 29 prepare(ACCEL_X, forceRead);
yamaguch 0:d66a303c5664 30 return accelX;
yamaguch 0:d66a303c5664 31 }
yamaguch 0:d66a303c5664 32
yamaguch 0:d66a303c5664 33 float MMA7361L::getAccelY(bool forceRead) {
yamaguch 0:d66a303c5664 34 prepare(ACCEL_Y, forceRead);
yamaguch 0:d66a303c5664 35 return accelY;
yamaguch 0:d66a303c5664 36 }
yamaguch 0:d66a303c5664 37
yamaguch 0:d66a303c5664 38 float MMA7361L::getAccelZ(bool forceRead) {
yamaguch 0:d66a303c5664 39 prepare(ACCEL_Z, forceRead);
yamaguch 0:d66a303c5664 40 return accelZ;
yamaguch 0:d66a303c5664 41 }
yamaguch 0:d66a303c5664 42
yamaguch 0:d66a303c5664 43 float MMA7361L::getTiltX(bool forceRead) {
yamaguch 0:d66a303c5664 44 prepare(TILT_X, forceRead);
yamaguch 0:d66a303c5664 45 return asin(accelX / sqrt(accelX * accelX + accelY * accelY + accelZ * accelZ));
yamaguch 0:d66a303c5664 46 }
yamaguch 0:d66a303c5664 47
yamaguch 0:d66a303c5664 48 float MMA7361L::getTiltY(bool forceRead) {
yamaguch 0:d66a303c5664 49 prepare(TILT_Y, forceRead);
yamaguch 0:d66a303c5664 50 return asin(accelY / sqrt(accelX * accelX + accelY * accelY + accelZ * accelZ));
yamaguch 0:d66a303c5664 51 }
yamaguch 0:d66a303c5664 52
yamaguch 0:d66a303c5664 53 float MMA7361L::getTiltZ(bool forceRead) {
yamaguch 0:d66a303c5664 54 prepare(TILT_Z, forceRead);
yamaguch 0:d66a303c5664 55 return asin(accelZ / sqrt(accelX * accelX + accelY * accelY + accelZ * accelZ));
yamaguch 0:d66a303c5664 56 }
yamaguch 0:d66a303c5664 57
yamaguch 0:d66a303c5664 58 void MMA7361L::setScale(Scale scale) {
yamaguch 0:d66a303c5664 59 this->scale = scale;
yamaguch 0:d66a303c5664 60 switch (scale) {
yamaguch 0:d66a303c5664 61 case SCALE_1_5G:
yamaguch 0:d66a303c5664 62 ratio = 0.8;
yamaguch 0:d66a303c5664 63 if (gSelectEnabled)
yamaguch 0:d66a303c5664 64 gSelect = 0;
yamaguch 0:d66a303c5664 65 break;
yamaguch 0:d66a303c5664 66 case SCALE_6G:
yamaguch 0:d66a303c5664 67 ratio = 0.206;
yamaguch 0:d66a303c5664 68 if (gSelectEnabled)
yamaguch 0:d66a303c5664 69 gSelect = 1;
yamaguch 0:d66a303c5664 70 break;
yamaguch 0:d66a303c5664 71 }
yamaguch 1:19444721f19a 72 wait_ms(10);
yamaguch 0:d66a303c5664 73 }
yamaguch 0:d66a303c5664 74
yamaguch 0:d66a303c5664 75 void MMA7361L::setSleep(bool on) {
yamaguch 0:d66a303c5664 76 if (sleepEnabled)
yamaguch 2:ce1a0d55f3c9 77 nSleep = !on;
yamaguch 0:d66a303c5664 78 }
yamaguch 0:d66a303c5664 79
yamaguch 0:d66a303c5664 80 bool MMA7361L::zeroGDetected() {
yamaguch 0:d66a303c5664 81 if (zeroGDetectEnabled)
yamaguch 0:d66a303c5664 82 return zeroGDetect;
yamaguch 0:d66a303c5664 83 else
yamaguch 0:d66a303c5664 84 return false;
yamaguch 0:d66a303c5664 85 }
yamaguch 0:d66a303c5664 86
yamaguch 0:d66a303c5664 87 void MMA7361L::setZeroGDetectListener(void (*func)(void)) {
yamaguch 0:d66a303c5664 88 if (zeroGDetectEnabled)
yamaguch 0:d66a303c5664 89 zeroGDetect.rise(func);
yamaguch 0:d66a303c5664 90 }
yamaguch 0:d66a303c5664 91
yamaguch 0:d66a303c5664 92 template<typename T> void MMA7361L::setZeroGDetectListener(T* t, void (T::*func)(void)) {
yamaguch 0:d66a303c5664 93 if (zeroGDetectEnabled)
yamaguch 0:d66a303c5664 94 zeroG.rise(t, func);
yamaguch 0:d66a303c5664 95 }
yamaguch 0:d66a303c5664 96
yamaguch 0:d66a303c5664 97 void MMA7361L::prepare(int type, bool forceRead) {
yamaguch 0:d66a303c5664 98 if (forceRead) {
yamaguch 0:d66a303c5664 99 flags = -1;
yamaguch 0:d66a303c5664 100 switch (type) {
yamaguch 0:d66a303c5664 101 case ACCEL_X:
yamaguch 0:d66a303c5664 102 accelX = calibrate((xout - 0.5) * 3.3 / ratio, ACCEL_X, scale);
yamaguch 0:d66a303c5664 103 return;
yamaguch 0:d66a303c5664 104 case ACCEL_Y:
yamaguch 0:d66a303c5664 105 accelY = calibrate((yout - 0.5) * 3.3 / ratio, ACCEL_Y, scale);
yamaguch 0:d66a303c5664 106 return;
yamaguch 0:d66a303c5664 107 case ACCEL_Z:
yamaguch 0:d66a303c5664 108 accelZ = calibrate((zout - 0.5) * 3.3 / ratio, ACCEL_Z, scale);
yamaguch 0:d66a303c5664 109 return;
yamaguch 0:d66a303c5664 110 }
yamaguch 0:d66a303c5664 111 }
yamaguch 0:d66a303c5664 112
yamaguch 0:d66a303c5664 113 if (flags & type) {
yamaguch 0:d66a303c5664 114 if (!forceRead)
yamaguch 0:d66a303c5664 115 flags = type;
yamaguch 0:d66a303c5664 116 accelX = calibrate((xout - 0.5) * 3.3 / ratio, ACCEL_X, scale);
yamaguch 0:d66a303c5664 117 accelY = calibrate((yout - 0.5) * 3.3 / ratio, ACCEL_Y, scale);
yamaguch 0:d66a303c5664 118 accelZ = calibrate((zout - 0.5) * 3.3 / ratio, ACCEL_Z, scale);
yamaguch 0:d66a303c5664 119 } else
yamaguch 0:d66a303c5664 120 flags |= type;
yamaguch 0:d66a303c5664 121 }
yamaguch 0:d66a303c5664 122
yamaguch 0:d66a303c5664 123 void MMA7361L::printInfo() {
yamaguch 0:d66a303c5664 124 ::fprintf(stderr,
yamaguch 0:d66a303c5664 125 "zeroGDetectEnabled = %d\n"
yamaguch 0:d66a303c5664 126 "gSelectEnabled = %d\n"
yamaguch 0:d66a303c5664 127 "sleepEnabled = %d\n"
yamaguch 0:d66a303c5664 128 "zeroGDetect(InterruptIn) = %d\n"
yamaguch 0:d66a303c5664 129 "gSelect(DigitalOut) = %d\n"
yamaguch 2:ce1a0d55f3c9 130 "nSleep(DigitalOut) = %d\n"
yamaguch 0:d66a303c5664 131 "scale = %d\n"
yamaguch 0:d66a303c5664 132 "accelX, accelY, accelZ = %4.3f, %4.3f, %4.3f\n"
yamaguch 0:d66a303c5664 133 "calib (1.5G) = %4.3f, %4.3f; %4.3f, %4.3f; %4.3f, %4.3f\n"
yamaguch 0:d66a303c5664 134 "calib (6.0G) = %4.3f, %4.3f; %4.3f, %4.3f; %4.3f, %4.3f\n"
yamaguch 0:d66a303c5664 135 "flags = %02X\n",
yamaguch 0:d66a303c5664 136 zeroGDetectEnabled,
yamaguch 0:d66a303c5664 137 gSelectEnabled,
yamaguch 0:d66a303c5664 138 sleepEnabled,
yamaguch 0:d66a303c5664 139 zeroGDetectEnabled ? zeroGDetect.read() : -1,
yamaguch 0:d66a303c5664 140 gSelectEnabled ? gSelect.read() : -1,
yamaguch 2:ce1a0d55f3c9 141 sleepEnabled ? nSleep.read() : -1,
yamaguch 0:d66a303c5664 142 scale,
yamaguch 0:d66a303c5664 143 accelX, accelY, accelZ,
yamaguch 0:d66a303c5664 144 calib[0].minX, calib[0].maxX, calib[0].minY, calib[0].maxY, calib[0].minZ, calib[0].maxZ,
yamaguch 0:d66a303c5664 145 calib[1].minX, calib[1].maxX, calib[1].minY, calib[1].maxY, calib[1].minZ, calib[1].maxZ,
yamaguch 0:d66a303c5664 146 flags);
yamaguch 0:d66a303c5664 147 }
yamaguch 0:d66a303c5664 148
yamaguch 0:d66a303c5664 149 void MMA7361L::calibrate(Scale scale, float minX, float maxX, float minY, float maxY, float minZ, float maxZ) {
yamaguch 0:d66a303c5664 150 calib[scale].minX = minX;
yamaguch 0:d66a303c5664 151 calib[scale].maxX = maxX;
yamaguch 0:d66a303c5664 152 calib[scale].minY = minY;
yamaguch 0:d66a303c5664 153 calib[scale].maxY = maxY;
yamaguch 0:d66a303c5664 154 calib[scale].minZ = minZ;
yamaguch 0:d66a303c5664 155 calib[scale].maxZ = maxZ;
yamaguch 0:d66a303c5664 156 }
yamaguch 0:d66a303c5664 157
yamaguch 0:d66a303c5664 158 float MMA7361L::calibrate(float value, int type, Scale scale) {
yamaguch 0:d66a303c5664 159 float r = 1, s = 0;
yamaguch 0:d66a303c5664 160 switch (type) {
yamaguch 0:d66a303c5664 161 case ACCEL_X:
yamaguch 0:d66a303c5664 162 r = (calib[scale].maxX - calib[scale].minX) / 2;
yamaguch 0:d66a303c5664 163 s = (calib[scale].minX + calib[scale].maxX) / 2;
yamaguch 0:d66a303c5664 164 break;
yamaguch 0:d66a303c5664 165 case ACCEL_Y:
yamaguch 0:d66a303c5664 166 r = (calib[scale].maxY - calib[scale].minY) / 2;
yamaguch 0:d66a303c5664 167 s = (calib[scale].minY + calib[scale].maxY) / 2;
yamaguch 0:d66a303c5664 168 break;
yamaguch 0:d66a303c5664 169 case ACCEL_Z:
yamaguch 0:d66a303c5664 170 r = (calib[scale].maxZ - calib[scale].minZ) / 2;
yamaguch 0:d66a303c5664 171 s = (calib[scale].minZ + calib[scale].maxZ) / 2;
yamaguch 0:d66a303c5664 172 break;
yamaguch 0:d66a303c5664 173 }
yamaguch 0:d66a303c5664 174 return (value - s) / r;
yamaguch 0:d66a303c5664 175 }