82 lines
2.4 KiB
C++
82 lines
2.4 KiB
C++
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/* Copyright (c) 2010-2011 mbed.org, MIT License
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of this software
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* and associated documentation files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all copies or
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* substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
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* BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
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* DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include "MMA8451Q.h"
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#define REG_WHO_AM_I 0x0D
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#define REG_CTRL_REG_1 0x2A
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#define REG_OUT_X_MSB 0x01
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#define REG_OUT_Y_MSB 0x03
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#define REG_OUT_Z_MSB 0x05
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#define UINT14_MAX 16383
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MMA8451Q::MMA8451Q(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
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// activate the peripheral
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uint8_t data[2] = {REG_CTRL_REG_1, 0x01};
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writeRegs(data, 2);
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}
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MMA8451Q::~MMA8451Q() { }
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uint8_t MMA8451Q::getWhoAmI() {
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uint8_t who_am_i = 0;
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readRegs(REG_WHO_AM_I, &who_am_i, 1);
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return who_am_i;
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}
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int16_t MMA8451Q::getAccX() {
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return getAccAxis(REG_OUT_X_MSB);
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}
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int16_t MMA8451Q::getAccY() {
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return getAccAxis(REG_OUT_Y_MSB);
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}
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int16_t MMA8451Q::getAccZ() {
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return getAccAxis(REG_OUT_Z_MSB);
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}
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void MMA8451Q::getAccAllAxis(int16_t * res) {
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res[0] = getAccX();
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res[1] = getAccY();
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res[2] = getAccZ();
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}
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int16_t MMA8451Q::getAccAxis(uint8_t addr) {
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int16_t acc;
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uint8_t res[2];
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readRegs(addr, res, 2);
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acc = (res[0] << 6) | (res[1] >> 2);
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if (acc > UINT14_MAX/2)
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acc -= UINT14_MAX;
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return acc;
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}
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void MMA8451Q::readRegs(int addr, uint8_t * data, int len) {
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char t[1] = {addr};
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m_i2c.write(m_addr, t, 1, true);
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m_i2c.read(m_addr, (char *)data, len);
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}
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void MMA8451Q::writeRegs(uint8_t * data, int len) {
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m_i2c.write(m_addr, (char *)data, len);
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}
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