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