Przemek Dawid / Mbed 2 deprecated KL46Z-Lab2_szkolenie

akcelerometr i czujnik swiatla

Dependencies:   MAG3110 MMA8451Q SLCD- TSI USBDevice mbed

MMA8451Q/MMA8451Q.cpp@0:9f7e045dcaa5, 2014-04-16 (annotated)

Committer:
zochmen
Date:
Wed Apr 16 12:20:13 2014 +0000
Revision:
0:9f7e045dcaa5
akcelerometr; czujnika swiatla;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
zochmen 0:9f7e045dcaa5 1 /* Copyright (c) 2010-2011 mbed.org, MIT License
zochmen 0:9f7e045dcaa5 2 *
zochmen 0:9f7e045dcaa5 3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
zochmen 0:9f7e045dcaa5 4 * and associated documentation files (the "Software"), to deal in the Software without
zochmen 0:9f7e045dcaa5 5 * restriction, including without limitation the rights to use, copy, modify, merge, publish,
zochmen 0:9f7e045dcaa5 6 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
zochmen 0:9f7e045dcaa5 7 * Software is furnished to do so, subject to the following conditions:
zochmen 0:9f7e045dcaa5 8 *
zochmen 0:9f7e045dcaa5 9 * The above copyright notice and this permission notice shall be included in all copies or
zochmen 0:9f7e045dcaa5 10 * substantial portions of the Software.
zochmen 0:9f7e045dcaa5 11 *
zochmen 0:9f7e045dcaa5 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
zochmen 0:9f7e045dcaa5 13 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
zochmen 0:9f7e045dcaa5 14 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
zochmen 0:9f7e045dcaa5 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
zochmen 0:9f7e045dcaa5 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
zochmen 0:9f7e045dcaa5 17 */
zochmen 0:9f7e045dcaa5 18
zochmen 0:9f7e045dcaa5 19 #include "MMA8451Q.h"
zochmen 0:9f7e045dcaa5 20
zochmen 0:9f7e045dcaa5 21 #define INT_SOURCE 0x0C
zochmen 0:9f7e045dcaa5 22 #define REG_WHO_AM_I 0x0D
zochmen 0:9f7e045dcaa5 23 #define HP_FILTER_CUTOFF 0x0F
zochmen 0:9f7e045dcaa5 24 #define PULSE_CFG 0x21
zochmen 0:9f7e045dcaa5 25 #define PULSE_SRC 0x22
zochmen 0:9f7e045dcaa5 26 #define PULSE_THSX 0x23
zochmen 0:9f7e045dcaa5 27 #define PULSE_THSY 0x24
zochmen 0:9f7e045dcaa5 28 #define PULSE_THSZ 0x25
zochmen 0:9f7e045dcaa5 29 #define PULSE_TMLT 0x26
zochmen 0:9f7e045dcaa5 30 #define PULSE_LTCY 0x27
zochmen 0:9f7e045dcaa5 31 #define PULSE_WIND 0x28
zochmen 0:9f7e045dcaa5 32 #define REG_CTRL_REG_1 0x2A
zochmen 0:9f7e045dcaa5 33 #define CTRL_REG2 0x2B
zochmen 0:9f7e045dcaa5 34 #define CTRL_REG4 0x2D
zochmen 0:9f7e045dcaa5 35 #define CTRL_REG5 0x2E
zochmen 0:9f7e045dcaa5 36 #define REG_OUT_X_MSB 0x01
zochmen 0:9f7e045dcaa5 37 #define REG_OUT_Y_MSB 0x03
zochmen 0:9f7e045dcaa5 38 #define REG_OUT_Z_MSB 0x05
zochmen 0:9f7e045dcaa5 39
zochmen 0:9f7e045dcaa5 40 #define UINT14_MAX 16383
zochmen 0:9f7e045dcaa5 41
zochmen 0:9f7e045dcaa5 42 MMA8451Q::MMA8451Q(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
zochmen 0:9f7e045dcaa5 43 // activate the peripheral
zochmen 0:9f7e045dcaa5 44 uint8_t data[2] = {REG_CTRL_REG_1, 0x01};
zochmen 0:9f7e045dcaa5 45 writeRegs(data, 2);
zochmen 0:9f7e045dcaa5 46 }
zochmen 0:9f7e045dcaa5 47
zochmen 0:9f7e045dcaa5 48 MMA8451Q::~MMA8451Q() { }
zochmen 0:9f7e045dcaa5 49
zochmen 0:9f7e045dcaa5 50 uint8_t MMA8451Q::getWhoAmI() {
zochmen 0:9f7e045dcaa5 51 uint8_t who_am_i = 0;
zochmen 0:9f7e045dcaa5 52 readRegs(REG_WHO_AM_I, &who_am_i, 1);
zochmen 0:9f7e045dcaa5 53 return who_am_i;
zochmen 0:9f7e045dcaa5 54 }
zochmen 0:9f7e045dcaa5 55
zochmen 0:9f7e045dcaa5 56 float MMA8451Q::getAccX() {
zochmen 0:9f7e045dcaa5 57 //divide by 4096 b/c MMA output is 4096 counts per g so this f outputs accelorometer value formatted to g (gravity)
zochmen 0:9f7e045dcaa5 58 return (float(getAccAxis(REG_OUT_X_MSB))/4096.0);
zochmen 0:9f7e045dcaa5 59 }
zochmen 0:9f7e045dcaa5 60
zochmen 0:9f7e045dcaa5 61 float MMA8451Q::getAccY() {
zochmen 0:9f7e045dcaa5 62 return (float(getAccAxis(REG_OUT_Y_MSB))/4096.0);
zochmen 0:9f7e045dcaa5 63 }
zochmen 0:9f7e045dcaa5 64
zochmen 0:9f7e045dcaa5 65 float MMA8451Q::getAccZ() {
zochmen 0:9f7e045dcaa5 66 return (float(getAccAxis(REG_OUT_Z_MSB))/4096.0);
zochmen 0:9f7e045dcaa5 67 }
zochmen 0:9f7e045dcaa5 68
zochmen 0:9f7e045dcaa5 69 void MMA8451Q::getAccAllAxis(float * res) {
zochmen 0:9f7e045dcaa5 70 res[0] = getAccX();
zochmen 0:9f7e045dcaa5 71 res[1] = getAccY();
zochmen 0:9f7e045dcaa5 72 res[2] = getAccZ();
zochmen 0:9f7e045dcaa5 73 }
zochmen 0:9f7e045dcaa5 74
zochmen 0:9f7e045dcaa5 75 int16_t MMA8451Q::getAccAxis(uint8_t addr) {
zochmen 0:9f7e045dcaa5 76 int16_t acc;
zochmen 0:9f7e045dcaa5 77 uint8_t res[2];
zochmen 0:9f7e045dcaa5 78 readRegs(addr, res, 2);
zochmen 0:9f7e045dcaa5 79
zochmen 0:9f7e045dcaa5 80 acc = (res[0] << 6) | (res[1] >> 2);
zochmen 0:9f7e045dcaa5 81 if (acc > UINT14_MAX/2)
zochmen 0:9f7e045dcaa5 82 acc -= UINT14_MAX;
zochmen 0:9f7e045dcaa5 83
zochmen 0:9f7e045dcaa5 84 return acc;
zochmen 0:9f7e045dcaa5 85 }
zochmen 0:9f7e045dcaa5 86
zochmen 0:9f7e045dcaa5 87 void MMA8451Q::setDoubleTap(void){
zochmen 0:9f7e045dcaa5 88 //Implemented directly from Freescale's AN4072
zochmen 0:9f7e045dcaa5 89 //Added to MMA8451Q lib
zochmen 0:9f7e045dcaa5 90
zochmen 0:9f7e045dcaa5 91 uint8_t CTRL_REG1_Data;
zochmen 0:9f7e045dcaa5 92 // int adds;
zochmen 0:9f7e045dcaa5 93 uint8_t data[2] = {REG_CTRL_REG_1, 0x08};
zochmen 0:9f7e045dcaa5 94
zochmen 0:9f7e045dcaa5 95 //400 Hz, Standby Mode
zochmen 0:9f7e045dcaa5 96 writeRegs(data,2);
zochmen 0:9f7e045dcaa5 97
zochmen 0:9f7e045dcaa5 98 //Enable X, Y and Z Double Pulse with DPA = 0 no double pulse abort
zochmen 0:9f7e045dcaa5 99 data[0]=PULSE_CFG;data[1]=0x2A;
zochmen 0:9f7e045dcaa5 100 writeRegs(data,2);
zochmen 0:9f7e045dcaa5 101
zochmen 0:9f7e045dcaa5 102 //SetThreshold 3g on X and Y and 5g on Z
zochmen 0:9f7e045dcaa5 103 //Note: Every step is 0.063g
zochmen 0:9f7e045dcaa5 104 //3 g/0.063g = 48 counts
zochmen 0:9f7e045dcaa5 105 //5g/0.063g = 79 counts
zochmen 0:9f7e045dcaa5 106 data[0]=PULSE_THSX;data[1]=0x30;
zochmen 0:9f7e045dcaa5 107 writeRegs(data,2);//Set X Threshold to 3g
zochmen 0:9f7e045dcaa5 108 data[0]=PULSE_THSY;data[1]=0x30;
zochmen 0:9f7e045dcaa5 109 writeRegs(data,2);//Set Y Threshold to 3g
zochmen 0:9f7e045dcaa5 110 data[0]=PULSE_THSZ;data[1]=0x4F;
zochmen 0:9f7e045dcaa5 111 writeRegs(data,2);//Set Z Threshold to 5g
zochmen 0:9f7e045dcaa5 112
zochmen 0:9f7e045dcaa5 113 //Set Time Limit for Tap Detection to 60 ms LP Mode
zochmen 0:9f7e045dcaa5 114 //Note: 400 Hz ODR, Time step is 1.25 ms per step
zochmen 0:9f7e045dcaa5 115 //60 ms/1.25 ms = 48 counts
zochmen 0:9f7e045dcaa5 116 data[0]=PULSE_TMLT;data[1]=0x30;
zochmen 0:9f7e045dcaa5 117 writeRegs(data,2);//60 ms
zochmen 0:9f7e045dcaa5 118
zochmen 0:9f7e045dcaa5 119 //Set Latency Time to 200 ms
zochmen 0:9f7e045dcaa5 120 //Note: 400 Hz ODR LPMode, Time step is 2.5 ms per step 00 ms/2.5 ms = 80 counts
zochmen 0:9f7e045dcaa5 121 data[0]=PULSE_LTCY;data[1]=0x50;
zochmen 0:9f7e045dcaa5 122 writeRegs(data,2);//200 ms
zochmen 0:9f7e045dcaa5 123
zochmen 0:9f7e045dcaa5 124 //Set Time Window for second tap to 300 ms
zochmen 0:9f7e045dcaa5 125 //Note: 400 Hz ODR LP Mode, Time step is 2.5 ms per step
zochmen 0:9f7e045dcaa5 126 //300 ms/2.5 ms = 120 counts
zochmen 0:9f7e045dcaa5 127 data[0]=PULSE_WIND;data[1]=0x78;
zochmen 0:9f7e045dcaa5 128 writeRegs(data,2);//300 ms
zochmen 0:9f7e045dcaa5 129
zochmen 0:9f7e045dcaa5 130 //Route INT1 to System Interrupt
zochmen 0:9f7e045dcaa5 131 data[0]=CTRL_REG4;data[1]=0x08;
zochmen 0:9f7e045dcaa5 132 writeRegs(data,2);//Enable Pulse Interrupt in System CTRL_REG4
zochmen 0:9f7e045dcaa5 133 data[0]=CTRL_REG5;data[1]=0x08;
zochmen 0:9f7e045dcaa5 134 writeRegs(data,2);//Route Pulse Interrupt to INT1 hardware Pin CTRL_REG5
zochmen 0:9f7e045dcaa5 135
zochmen 0:9f7e045dcaa5 136 //Set the device to Active Mode
zochmen 0:9f7e045dcaa5 137 readRegs(0x2A,&CTRL_REG1_Data,1);//Read out the contents of the register
zochmen 0:9f7e045dcaa5 138 CTRL_REG1_Data |= 0x01; //Change the value in the register to Active Mode.
zochmen 0:9f7e045dcaa5 139 data[0]=REG_CTRL_REG_1;
zochmen 0:9f7e045dcaa5 140 data[1]=CTRL_REG1_Data;
zochmen 0:9f7e045dcaa5 141 writeRegs(data,2);//Write in the updated value to put the device in Active Mode
zochmen 0:9f7e045dcaa5 142 }
zochmen 0:9f7e045dcaa5 143
zochmen 0:9f7e045dcaa5 144
zochmen 0:9f7e045dcaa5 145 void MMA8451Q::readRegs(int addr, uint8_t * data, int len) {
zochmen 0:9f7e045dcaa5 146 char t[1] = {addr};
zochmen 0:9f7e045dcaa5 147 m_i2c.write(m_addr, t, 1, true);
zochmen 0:9f7e045dcaa5 148 m_i2c.read(m_addr, (char *)data, len);
zochmen 0:9f7e045dcaa5 149 }
zochmen 0:9f7e045dcaa5 150
zochmen 0:9f7e045dcaa5 151
zochmen 0:9f7e045dcaa5 152
zochmen 0:9f7e045dcaa5 153 void MMA8451Q::writeRegs(uint8_t * data, int len) {
zochmen 0:9f7e045dcaa5 154 m_i2c.write(m_addr, (char *)data, len);
zochmen 0:9f7e045dcaa5 155 }