428 lines
15 KiB
C++
428 lines
15 KiB
C++
/**************************************************************************/
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/*!
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@file Adafruit_MSA301.cpp
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@author Limor Fried (Adafruit Industries)
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@license BSD (see license.txt)
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This is a library for the Adafruit MSA301 Accel breakout board
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----> https://www.adafruit.com
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Adafruit invests time and resources providing this open source code,
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please support Adafruit and open-source hardware by purchasing
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products from Adafruit!
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*/
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/**************************************************************************/
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#if ARDUINO >= 100
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#include "Arduino.h"
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#else
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#include "WProgram.h"
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#endif
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#include <Adafruit_MSA301.h>
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#include <Wire.h>
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/**************************************************************************/
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/*!
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@brief Instantiates a new MSA301 class
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*/
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/**************************************************************************/
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Adafruit_MSA301::Adafruit_MSA301() {}
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/*!
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* @brief Sets up the hardware and initializes I2C
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* @param i2c_address
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* The I2C address to be used.
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* @param wire
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* The Wire object to be used for I2C connections.
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* @return True if initialization was successful, otherwise false.
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*/
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bool Adafruit_MSA301::begin(uint8_t i2c_address, TwoWire *wire) {
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i2c_dev = new Adafruit_I2CDevice(i2c_address, wire);
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if (!i2c_dev->begin()) {
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Serial.println("Failed to init i2c address");
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return false;
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}
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// Check connection
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Adafruit_BusIO_Register chip_id =
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Adafruit_BusIO_Register(i2c_dev, MSA301_REG_PARTID, 1);
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// make sure we're talking to the right chip
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if (chip_id.read() != 0x13) {
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// No MSA301 detected ... return false
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return false;
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}
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// enable all axes
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enableAxes(true, true, true);
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// normal mode
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setPowerMode(MSA301_NORMALMODE);
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// 500Hz rate
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setDataRate(MSA301_DATARATE_500_HZ);
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// 250Hz bw
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setBandwidth(MSA301_BANDWIDTH_250_HZ);
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setRange(MSA301_RANGE_4_G);
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setResolution(MSA301_RESOLUTION_14);
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/*
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// DRDY on INT1
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writeRegister8(MSA301_REG_CTRL3, 0x10);
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// Turn on orientation config
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//writeRegister8(MSA301_REG_PL_CFG, 0x40);
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*/
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/*
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for (uint8_t i=0; i<0x30; i++) {
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Serial.print("$");
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Serial.print(i, HEX); Serial.print(" = 0x");
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Serial.println(readRegister8(i), HEX);
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}
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*/
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return true;
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}
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/**************************************************************************/
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/*!
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@brief Sets the data rate for the MSA301 (controls power consumption)
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*/
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/**************************************************************************/
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void Adafruit_MSA301::setDataRate(msa301_dataRate_t dataRate) {
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Adafruit_BusIO_Register ODR =
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Adafruit_BusIO_Register(i2c_dev, MSA301_REG_ODR, 1);
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Adafruit_BusIO_RegisterBits dataratebits =
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Adafruit_BusIO_RegisterBits(&ODR, 4, 0);
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dataratebits.write((uint8_t)dataRate);
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}
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/**************************************************************************/
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/*!
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@brief Sets the data rate for the MSA301 (controls power consumption)
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*/
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/**************************************************************************/
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msa301_dataRate_t Adafruit_MSA301::getDataRate(void) {
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Adafruit_BusIO_Register ODR =
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Adafruit_BusIO_Register(i2c_dev, MSA301_REG_ODR, 1);
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Adafruit_BusIO_RegisterBits dataratebits =
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Adafruit_BusIO_RegisterBits(&ODR, 4, 0);
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return (msa301_dataRate_t)dataratebits.read();
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}
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void Adafruit_MSA301::enableAxes(bool enableX, bool enableY, bool enableZ) {
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Adafruit_BusIO_Register ODR =
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Adafruit_BusIO_Register(i2c_dev, MSA301_REG_ODR, 1);
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Adafruit_BusIO_RegisterBits x = Adafruit_BusIO_RegisterBits(&ODR, 1, 7);
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Adafruit_BusIO_RegisterBits y = Adafruit_BusIO_RegisterBits(&ODR, 1, 6);
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Adafruit_BusIO_RegisterBits z = Adafruit_BusIO_RegisterBits(&ODR, 1, 5);
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x.write(!enableX); // these are *disable* bits, yeah...
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y.write(!enableY);
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z.write(!enableZ);
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}
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void Adafruit_MSA301::setPowerMode(msa301_powermode_t mode) {
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Adafruit_BusIO_Register PowerMode =
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Adafruit_BusIO_Register(i2c_dev, MSA301_REG_POWERMODE, 1);
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Adafruit_BusIO_RegisterBits powermodebits =
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Adafruit_BusIO_RegisterBits(&PowerMode, 2, 6);
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powermodebits.write((uint8_t)mode);
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}
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msa301_powermode_t Adafruit_MSA301::getPowerMode(void) {
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Adafruit_BusIO_Register PowerMode =
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Adafruit_BusIO_Register(i2c_dev, MSA301_REG_POWERMODE, 1);
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Adafruit_BusIO_RegisterBits powermodebits =
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Adafruit_BusIO_RegisterBits(&PowerMode, 2, 6);
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return (msa301_powermode_t)powermodebits.read();
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}
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void Adafruit_MSA301::setBandwidth(msa301_bandwidth_t bandwidth) {
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Adafruit_BusIO_Register PowerMode =
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Adafruit_BusIO_Register(i2c_dev, MSA301_REG_POWERMODE, 1);
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Adafruit_BusIO_RegisterBits bandwidthbits =
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Adafruit_BusIO_RegisterBits(&PowerMode, 4, 1);
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bandwidthbits.write((uint8_t)bandwidth);
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}
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msa301_bandwidth_t Adafruit_MSA301::getBandwidth(void) {
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Adafruit_BusIO_Register PowerMode =
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Adafruit_BusIO_Register(i2c_dev, MSA301_REG_POWERMODE, 1);
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Adafruit_BusIO_RegisterBits bandwidthbits =
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Adafruit_BusIO_RegisterBits(&PowerMode, 4, 1);
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return (msa301_bandwidth_t)bandwidthbits.read();
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}
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/**************************************************************************/
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/*!
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@brief Sets the g range for the accelerometer
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*/
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/**************************************************************************/
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void Adafruit_MSA301::setRange(msa301_range_t range) {
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Adafruit_BusIO_Register ResRange =
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Adafruit_BusIO_Register(i2c_dev, MSA301_REG_RESRANGE, 1);
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Adafruit_BusIO_RegisterBits rangebits =
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Adafruit_BusIO_RegisterBits(&ResRange, 2, 0);
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rangebits.write((uint8_t)range);
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}
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/**************************************************************************/
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/*!
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@brief Gets the g range for the accelerometer
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*/
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/**************************************************************************/
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msa301_range_t Adafruit_MSA301::getRange(void) {
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Adafruit_BusIO_Register ResRange =
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Adafruit_BusIO_Register(i2c_dev, MSA301_REG_RESRANGE, 1);
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Adafruit_BusIO_RegisterBits rangebits =
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Adafruit_BusIO_RegisterBits(&ResRange, 2, 0);
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return (msa301_range_t)rangebits.read();
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}
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/**************************************************************************/
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/*!
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@brief
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*/
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/**************************************************************************/
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void Adafruit_MSA301::setResolution(msa301_resolution_t resolution) {
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Adafruit_BusIO_Register ResRange =
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Adafruit_BusIO_Register(i2c_dev, MSA301_REG_RESRANGE, 1);
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Adafruit_BusIO_RegisterBits resbits =
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Adafruit_BusIO_RegisterBits(&ResRange, 2, 2);
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resbits.write((uint8_t)resolution);
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}
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/**************************************************************************/
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/*!
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@brief
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*/
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/**************************************************************************/
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msa301_resolution_t Adafruit_MSA301::getResolution(void) {
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Adafruit_BusIO_Register ResRange =
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Adafruit_BusIO_Register(i2c_dev, MSA301_REG_RESRANGE, 1);
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Adafruit_BusIO_RegisterBits resbits =
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Adafruit_BusIO_RegisterBits(&ResRange, 2, 2);
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return (msa301_resolution_t)resbits.read();
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}
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void Adafruit_MSA301::read(void) {
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uint8_t buffer[6];
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Adafruit_BusIO_Register XYZDataReg =
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Adafruit_BusIO_Register(i2c_dev, MSA301_REG_OUT_X_L, 6);
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XYZDataReg.read(buffer, 6);
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x = buffer[0];
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x |= buffer[1] << 8;
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y = buffer[2];
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y |= buffer[3] << 8;
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z = buffer[4];
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z |= buffer[5] << 8;
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// 14 bits of data in 16 bit range
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x >>= 2;
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y >>= 2;
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z >>= 2;
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msa301_range_t range = getRange();
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float scale = 1;
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if (range == MSA301_RANGE_16_G)
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scale = 512;
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if (range == MSA301_RANGE_8_G)
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scale = 1024;
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if (range == MSA301_RANGE_4_G)
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scale = 2048;
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if (range == MSA301_RANGE_2_G)
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scale = 4096;
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x_g = (float)x / scale;
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y_g = (float)y / scale;
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z_g = (float)z / scale;
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}
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/**************************************************************************/
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/*!
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@brief Set the click detection register thresholds
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@param tap_quiet TAP_QUIET flag (check datasheet for details)
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@param tap_shock TAP_SHOCK flag (check datasheet for details)
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@param tapduration How long to listen for a tap (check datasheet for details)
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@param tapthresh How strong the tap signal has to be (check datasheet for details)
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*/
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/**************************************************************************/
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void Adafruit_MSA301::setClick(bool tap_quiet, bool tap_shock,
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msa301_tapduration_t tapduration,
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uint8_t tapthresh) {
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Adafruit_BusIO_Register TapDur =
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Adafruit_BusIO_Register(i2c_dev, MSA301_REG_TAPDUR, 1);
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Adafruit_BusIO_RegisterBits quietbit =
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Adafruit_BusIO_RegisterBits(&TapDur, 1, 7);
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quietbit.write(tap_quiet);
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Adafruit_BusIO_RegisterBits shockbit =
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Adafruit_BusIO_RegisterBits(&TapDur, 1, 6);
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shockbit.write(tap_shock);
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Adafruit_BusIO_RegisterBits durationbits =
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Adafruit_BusIO_RegisterBits(&TapDur, 3, 0);
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durationbits.write(tapduration);
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Adafruit_BusIO_Register TapTh =
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Adafruit_BusIO_Register(i2c_dev, MSA301_REG_TAPTH, 1);
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Adafruit_BusIO_RegisterBits threshbits =
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Adafruit_BusIO_RegisterBits(&TapTh, 5, 0);
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threshbits.write(tapthresh);
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}
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/**************************************************************************/
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/*!
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@brief Gets the most recent click detect status register value
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@returns 8 bits of interrupt status, check datasheet for what CLICKSTATUS bits are
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*/
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/**************************************************************************/
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uint8_t Adafruit_MSA301::getClick(void) {
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Adafruit_BusIO_Register ClickStatus =
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Adafruit_BusIO_Register(i2c_dev, MSA301_REG_CLICKSTATUS, 1);
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return ClickStatus.read();
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}
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/**************************************************************************/
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/*!
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@brief Set which interrupts are enabled
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@param singletap Whether to trigger INT on single tap interrupt
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@param doubletap Whether to trigger INT on double tap interrupt
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@param activeX Whether to trigger INT on X axis activity interrupt
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@param activeY Whether to trigger INT on Y axis activity interrupt
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@param activeZ Whether to trigger INT on Z axis activity interrupt
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@param newData Whether to trigger INT on new data available interrupt
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@param freefall Whether to trigger INT on freefall interrupt
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@param orient Whether to trigger INT on orientation interrupt
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*/
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/**************************************************************************/
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void Adafruit_MSA301::enableInterrupts(bool singletap, bool doubletap,
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bool activeX, bool activeY, bool activeZ,
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bool newData, bool freefall,
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bool orient) {
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Adafruit_BusIO_Register IntSet0 =
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Adafruit_BusIO_Register(i2c_dev, MSA301_REG_INTSET0, 1);
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Adafruit_BusIO_Register IntSet1 =
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Adafruit_BusIO_Register(i2c_dev, MSA301_REG_INTSET1, 1);
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uint8_t irqs = 0;
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irqs |= orient << 6;
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irqs |= singletap << 5;
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irqs |= doubletap << 4;
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irqs |= activeX << 0;
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irqs |= activeY << 1;
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irqs |= activeZ << 2;
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IntSet0.write(irqs);
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irqs = 0;
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irqs |= newData << 4;
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irqs |= freefall << 3;
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IntSet1.write(irqs);
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}
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/**************************************************************************/
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/*!
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@brief Set which interrupts are mapped to the INT pin
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@param singletap Whether to trigger INT on single tap interrupt
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@param doubletap Whether to trigger INT on double tap interrupt
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@param activity Whether to trigger INT on activity interrupt
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@param newData Whether to trigger INT on new data available interrupt
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@param freefall Whether to trigger INT on freefall interrupt
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@param orient Whether to trigger INT on orientation interrupt
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*/
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/**************************************************************************/
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void Adafruit_MSA301::mapInterruptPin(bool singletap, bool doubletap,
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bool activity, bool newData,
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bool freefall, bool orient) {
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Adafruit_BusIO_Register IntMap0 =
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Adafruit_BusIO_Register(i2c_dev, MSA301_REG_INTMAP0, 1);
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Adafruit_BusIO_Register IntMap1 =
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Adafruit_BusIO_Register(i2c_dev, MSA301_REG_INTMAP1, 1);
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uint8_t irqs = 0;
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irqs |= orient << 6;
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irqs |= singletap << 5;
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irqs |= doubletap << 4;
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irqs |= activity << 2;
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irqs |= freefall << 0;
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IntMap0.write(irqs);
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irqs = newData << 0;
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IntMap1.write(irqs);
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}
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/**************************************************************************/
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/*!
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@brief Gets the most recent motion interrupt status register value
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@returns 8 bits of interrupt status, check datasheet for what MOTION bits are
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*/
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/**************************************************************************/
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uint8_t Adafruit_MSA301::getMotionInterruptStatus(void) {
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Adafruit_BusIO_Register IntStatus =
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Adafruit_BusIO_Register(i2c_dev, MSA301_REG_MOTIONINT, 1);
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return IntStatus.read();
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}
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/**************************************************************************/
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/*!
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@brief Gets the most recent data interrupt status register value
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@returns 8 bits of interrupt status, check datasheet for what DATAINT bits are
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*/
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/**************************************************************************/
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uint8_t Adafruit_MSA301::getDataInterruptStatus(void) {
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Adafruit_BusIO_Register IntStatus =
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Adafruit_BusIO_Register(i2c_dev, MSA301_REG_DATAINT, 1);
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return IntStatus.read();
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}
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/**************************************************************************/
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/*!
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@brief Gets the most recent sensor event, Adafruit Unified Sensor format
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@param sensor Pointer to an Adafruit Unified sensor_event_t object that we'll fill in
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*/
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/**************************************************************************/
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bool Adafruit_MSA301::getEvent(sensors_event_t *event) {
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/* Clear the event */
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memset(event, 0, sizeof(sensors_event_t));
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event->version = sizeof(sensors_event_t);
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event->sensor_id = _sensorID;
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event->type = SENSOR_TYPE_ACCELEROMETER;
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event->timestamp = 0;
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read();
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event->acceleration.x = x_g * SENSORS_GRAVITY_STANDARD;
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event->acceleration.y = y_g * SENSORS_GRAVITY_STANDARD;
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event->acceleration.z = z_g * SENSORS_GRAVITY_STANDARD;
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return true;
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}
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/**************************************************************************/
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/*!
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@brief Gets the sensor_t device data, Adafruit Unified Sensor format
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@param sensor Pointer to an Adafruit Unified sensor_t object that we'll fill in
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*/
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/**************************************************************************/
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void Adafruit_MSA301::getSensor(sensor_t *sensor) {
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/* Clear the sensor_t object */
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memset(sensor, 0, sizeof(sensor_t));
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/* Insert the sensor name in the fixed length char array */
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strncpy(sensor->name, "MSA301", sizeof(sensor->name) - 1);
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sensor->name[sizeof(sensor->name) - 1] = 0;
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sensor->version = 1;
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sensor->sensor_id = _sensorID;
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sensor->type = SENSOR_TYPE_ACCELEROMETER;
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sensor->min_delay = 0;
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sensor->max_value = 0;
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sensor->min_value = 0;
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sensor->resolution = 0;
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}
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