fb11e647
 vrobic
reseau statique a...
|
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
|
/*
* Copyright (C) 2014 PHYTEC Messtechnik GmbH
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*
*/
/**
* @ingroup drivers_mma8652
* @{
*
* @file
* @brief Driver for the Freescale MMA8652 accelerometer.
*
* @author Johann Fischer <j.fischer@phytec.de>
* @author Peter Kietzmann <peter.kietzmann@haw-hamburg.de>
*
* @}
*/
#include <stdint.h>
#include <stdbool.h>
#include "periph/i2c.h"
#include "mma8652.h"
#include "mma8652_reg.h"
#define ENABLE_DEBUG (0)
#include "debug.h"
#define I2C_SPEED I2C_SPEED_FAST
int mma8652_test(mma8652_t *dev)
{
uint8_t reg;
/* Acquire exclusive access to the bus. */
i2c_acquire(dev->i2c);
if (i2c_read_regs(dev->i2c, dev->addr, MMA8652_WHO_AM_I, ®, 1) != 1) {
/* Release the bus for other threads. */
i2c_release(dev->i2c);
return -1;
}
i2c_release(dev->i2c);
if (reg != mma8x5x_device_id[dev->type]) {
return -1;
}
return 0;
}
int mma8652_init(mma8652_t *dev, i2c_t i2c, uint8_t address, uint8_t dr, uint8_t range, uint8_t type)
{
uint8_t reg;
/* write device descriptor */
dev->i2c = i2c;
dev->addr = address;
dev->initialized = false;
if (dr > MMA8652_DATARATE_1HZ56 || range > MMA8652_FS_RANGE_8G || type >= MMA8x5x_TYPE_MAX) {
return -1;
}
dev->type = type;
i2c_acquire(dev->i2c);
/* initialize the I2C bus */
if (i2c_init_master(i2c, I2C_SPEED) < 0) {
i2c_release(dev->i2c);
return -2;
}
i2c_release(dev->i2c);
if (mma8652_test(dev)) {
return -3;
}
if (mma8652_set_standby(dev) < 0) {
return -4;
}
reg = MMA8652_XYZ_DATA_CFG_FS(range);
i2c_acquire(dev->i2c);
if (i2c_write_regs(dev->i2c, dev->addr, MMA8652_XYZ_DATA_CFG, ®, 1) != 1) {
i2c_release(dev->i2c);
return -5;
}
reg = MMA8652_CTRL_REG1_DR(dr);
if (i2c_write_regs(dev->i2c, dev->addr, MMA8652_CTRL_REG1, ®, 1) != 1) {
i2c_release(dev->i2c);
return -5;
}
i2c_release(dev->i2c);
dev->initialized = true;
dev->scale = 1024 >> range;
return 0;
}
int mma8652_set_user_offset(mma8652_t *dev, int8_t x, int8_t y, int8_t z)
{
uint8_t buf[3];
buf[0] = (uint8_t)x;
buf[1] = (uint8_t)y;
buf[2] = (uint8_t)z;
i2c_acquire(dev->i2c);
if (i2c_write_regs(dev->i2c, dev->addr, MMA8652_OFF_X, buf, 3) != 3) {
i2c_release(dev->i2c);
return -1;
}
i2c_release(dev->i2c);
return 0;
}
int mma8652_reset(mma8652_t *dev)
{
uint8_t reg;
dev->initialized = false;
reg = MMA8652_CTRL_REG2_RST;
i2c_acquire(dev->i2c);
if (i2c_write_regs(dev->i2c, dev->addr, MMA8652_CTRL_REG2, ®, 1) != 1) {
i2c_release(dev->i2c);
return -1;
}
i2c_release(dev->i2c);
return 0;
}
int mma8652_set_active(mma8652_t *dev)
{
uint8_t reg;
if (dev->initialized == false) {
return -1;
}
i2c_acquire(dev->i2c);
if (i2c_read_regs(dev->i2c, dev->addr, MMA8652_CTRL_REG1, ®, 1) != 1) {
i2c_release(dev->i2c);
return -1;
}
reg |= MMA8652_CTRL_REG1_ACTIVE;
if (i2c_write_regs(dev->i2c, dev->addr, MMA8652_CTRL_REG1, ®, 1) != 1) {
i2c_release(dev->i2c);
return -1;
}
i2c_release(dev->i2c);
return 0;
}
int mma8652_set_standby(mma8652_t *dev)
{
uint8_t reg;
i2c_acquire(dev->i2c);
if (i2c_read_regs(dev->i2c, dev->addr, MMA8652_CTRL_REG1, ®, 1) != 1) {
i2c_release(dev->i2c);
return -1;
}
reg &= ~MMA8652_CTRL_REG1_ACTIVE;
if (i2c_write_regs(dev->i2c, dev->addr, MMA8652_CTRL_REG1, ®, 1) != 1) {
i2c_release(dev->i2c);
return -1;
}
i2c_release(dev->i2c);
return 0;
}
int mma8652_is_ready(mma8652_t *dev)
{
uint8_t reg;
if (dev->initialized == false) {
return -1;
}
i2c_acquire(dev->i2c);
if (i2c_read_regs(dev->i2c, dev->addr, MMA8652_STATUS, ®, 1) != 1) {
i2c_release(dev->i2c);
return -1;
}
i2c_release(dev->i2c);
return reg & MMA8652_STATUS_ZYXDR;
}
int mma8652_read(mma8652_t *dev, int16_t *x, int16_t *y, int16_t *z, uint8_t *status)
{
uint8_t buf[7];
if (dev->initialized == false) {
return -1;
}
i2c_acquire(dev->i2c);
if (i2c_read_regs(dev->i2c, dev->addr, MMA8652_STATUS, buf, 7) != 7) {
i2c_release(dev->i2c);
return -1;
}
i2c_release(dev->i2c);
*status = buf[0];
*x = (int32_t)((int16_t)(((int16_t)buf[1] << 8) | buf[2]) >> 4) * 1000 / dev->scale;
*y = (int32_t)((int16_t)(((int16_t)buf[3] << 8) | buf[4]) >> 4) * 1000 / dev->scale;
*z = (int32_t)((int16_t)(((int16_t)buf[5] << 8) | buf[6]) >> 4) * 1000 / dev->scale;
return 0;
}
|