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sensor.accel.3dof.mma8452q.spin
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{
--------------------------------------------
Filename: sensor.accel.3dof.mma8452q.spin
Author: Jesse Burt
Description: Driver for the MMA8452Q 3DoF accelerometer
Copyright (c) 2022
Started May 9, 2021
Updated Nov 5, 2022
See end of file for terms of use.
--------------------------------------------
}
#include "sensor.accel.common.spinh"
CON
SLAVE_WR = core#SLAVE_ADDR
SLAVE_RD = core#SLAVE_ADDR|1
DEF_SCL = 28
DEF_SDA = 29
DEF_HZ = 100_000
DEF_ADDR = 0
I2C_MAX_FREQ = core#I2C_MAX_FREQ
' Indicate to user apps how many Degrees of Freedom each sub-sensor has
' (also imply whether or not it has a particular sensor)
ACCEL_DOF = 3
GYRO_DOF = 0
MAG_DOF = 0
BARO_DOF = 0
DOF = ACCEL_DOF + GYRO_DOF + MAG_DOF + BARO_DOF
R = 0
W = 1
' Scales and data rates used during calibration/bias/offset process
CAL_XL_SCL = 2
CAL_G_SCL = 0
CAL_M_SCL = 0
CAL_XL_DR = 800
CAL_G_DR = 0
CAL_M_DR = 0
' Accelerometer operating modes
STDBY = 0
ACTIVE = 1
SLEEP = 2
' Accelerometer power modes
NORMAL = 0
LONOISE_LOPWR = 1
HIGHRES = 2
LOPWR = 3
' Interrupt sources
INT_AUTOSLPWAKE = 1 << 7
INT_TRANS = 1 << 5
INT_ORIENT = 1 << 4
INT_PULSE = 1 << 3
INT_FFALL = 1 << 2
INT_DRDY = 1
' Axis-specific constants
X_AXIS = 2
Y_AXIS = 1
Z_AXIS = 0
ALL_AXES = 3
' Orientation
PORTUP_FR = %000
PORTUP_BK = %001
PORTDN_FR = %010
PORTDN_BK = %011
LANDRT_FR = %100
LANDRT_BK = %101
LANDLT_FR = %110
LANDLT_BK = %111
' Low noise modes
' NORMAL = 0
LOWNOISE = 1
' Wake on interrupt sources
WAKE_TRANS = 1 << 3
WAKE_ORIENT = 1 << 2
WAKE_PULSE = 1 << 1
WAKE_FFALL = 1
' Interrupt active state
LOW = 0
HIGH = 1
VAR
long _accel_time_res
byte _opmode_orig
byte _addr_bits
OBJ
{ decide: Bytecode I2C engine, or PASM? Default is PASM if BC isn't specified }
#ifdef MMA8452Q_I2C_BC
i2c : "com.i2c.nocog" ' BC I2C engine
#else
i2c : "com.i2c" ' PASM I2C engine
#endif
core: "core.con.mma8452q" ' hw-specific low-level const's
time: "time" ' basic timing functions
PUB null{}
' This is not a top-level object
PUB start{}: status
' Start using "standard" Propeller I2C pins and 100kHz
return startx(DEF_SCL, DEF_SDA, DEF_HZ, DEF_ADDR)
PUB startx(SCL_PIN, SDA_PIN, I2C_HZ, ADDR_BITS): status
' Start using custom IO pins and I2C bus frequency
' validate I/O pins, bus freq, and I2C address bit(s)
if lookdown(SCL_PIN: 0..31) and lookdown(SDA_PIN: 0..31) and {
} I2C_HZ =< core#I2C_MAX_FREQ and lookdown(ADDR_BITS: 0, 1)
if (status := i2c.init(SCL_PIN, SDA_PIN, I2C_HZ))
time.usleep(core#T_POR) ' wait for device startup
_addr_bits := ADDR_BITS << 1
' test device bus presence
if (dev_id{} == core#DEVID_RESP)
return
' if this point is reached, something above failed
' Re-check I/O pin assignments, bus speed, connections, power
' Lastly - make sure you have at least one free core/cog
return FALSE
PUB stop{}
' Stop the driver
i2c.deinit{}
_opmode_orig := 0
PUB defaults{}
' Set factory defaults
reset{}
PUB preset_active{}
' Like defaults(), but enable sensor power, and set scale
reset{}
accel_opmode(ACTIVE)
accel_scale(2)
PUB preset_clickdet{}
' Preset settings for click detection
reset{}
accel_data_rate(400)
accel_scale(2)
click_axis_ena(%111111) ' enable X, Y, Z single tap det
click_set_thresh_x(1_575000) ' X: 1.575g thresh
click_set_thresh_y(1_575000) ' Y: 1.575g
click_set_thresh_z(2_650000) ' Z: 2.650g
click_set_time(50_000)
click_set_latency(300_000)
dbl_click_set_win(300_000)
accel_int_mask(INT_PULSE) ' enable click/pulse interrupts
accel_int_routing(INT_PULSE) ' route click ints to INT1 pin
accel_opmode(ACTIVE)
PUB preset_freefall{}
' Preset settings for free-fall detection
reset{}
accel_data_rate(400)
accel_scale(2)
freefall_time(30_000) ' 30_000us/30ms min time
freefall_thresh(0_315000) ' 0.315g's
freefall_axis_ena(%111) ' all axes
accel_opmode(ACTIVE)
accel_int_mask(INT_FFALL) ' enable free-fall interrupt
accel_int_routing(INT_FFALL) ' route free-fall ints to INT1
PUB dev_id{}: id
' Read device identification
' Returns: $2A
id := 0
readreg(core#WHO_AM_I, 1, @id)
PUB reset{} | tmp
' Reset the device
tmp := core#RESET
writereg(core#CTRL_REG2, 1, @tmp)
time.usleep(core#T_POR) ' wait for device to come back
PUB sys_mode{}: sysmod 'XXX temporary
' Read current system mode
' STDBY, ACTIVE, SLEEP
sysmod := 0
readreg(core#SYSMOD, 1, @sysmod)
{ re-use code that's common to other NXP accelerometer drivers }
#include "sensor.accel.nxp.common.spinh"
PRI cache_opmode{}
' Store the current operating mode, and switch to standby if different
' (required for modifying some registers)
_opmode_orig := accel_opmode(-2)
if _opmode_orig <> STDBY ' must be in standby to change
accel_opmode(STDBY) ' control regs
PRI restore_opmode{}
' Restore original operating mode
if _opmode_orig <> STDBY ' restore original opmode
accel_opmode(_opmode_orig)
PRI readreg(reg_nr, nr_bytes, ptr_buff) | cmd_pkt
' Read nr_bytes from the device into ptr_buff
case reg_nr ' validate register num
core#OUT_X_MSB, core#OUT_Y_MSB, core#OUT_Z_MSB, {
} core#STATUS, core#SYSMOD..core#FF_MT_CNT, core#TRANSIENT_CFG..core#OFF_Z:
cmd_pkt.byte[0] := (SLAVE_WR | _addr_bits)
cmd_pkt.byte[1] := reg_nr
i2c.start{}
i2c.wrblock_lsbf(@cmd_pkt, 2)
i2c.start{}
i2c.wr_byte(SLAVE_RD | _addr_bits)
i2c.rdblock_msbf(ptr_buff, nr_bytes, i2c#NAK)
i2c.stop{}
other: ' invalid reg_nr
return
PRI writereg(reg_nr, nr_bytes, ptr_buff) | cmd_pkt
' Write nr_bytes to the device from ptr_buff
case reg_nr
core#XYZ_DATA_CFG, core#HP_FILT_CUTOFF, core#PL_CFG, core#FF_MT_CFG, {
} core#FF_MT_THS, core#FF_MT_CNT, core#TRANSIENT_CFG, {
} core#TRANSIENT_THS..core#PULSE_CFG, core#PULSE_THSX..core#OFF_Z:
cmd_pkt.byte[0] := (SLAVE_WR | _addr_bits)
cmd_pkt.byte[1] := reg_nr
i2c.start{}
i2c.wrblock_lsbf(@cmd_pkt, 2)
i2c.wrblock_msbf(ptr_buff, nr_bytes)
i2c.stop{}
other:
return
DAT
{
Copyright 2022 Jesse Burt
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.
}