void MMA8452Q::axes(int axes[]) {
uint8_t *data;
uint8_t read_count = 0;
uint8_t val = registerRead(CTRL_REG1);
if (bitRead(val, F_READ) == 0)
read_count = 6;
else
read_count = 3;
data = new uint8_t[read_count];
registersRead(OUT_X_MSB, data, read_count);
for (int i = 0; i < 3; i++) {
axes[i] = data[i * (read_count / 3)] << 8;
if (bitRead(val, F_READ) == 0)
axes[i] |= data[(i * 2) + 1];
axes[i] >>= 4;
}
delete[] data;
}
void MMA8452Q::scale(uint8_t scale) {
uint8_t value = registerRead(XYZ_DATA_CFG);
switch (scale) {
case 2: bitWrite(value, 0, 0); bitWrite(value, 1, 0); break;
case 4: bitWrite(value, 0, 1); bitWrite(value, 1, 0); break;
case 8: bitWrite(value, 0, 0); bitWrite(value, 1, 1); break;
}
}
void _ISR _SI2CInterrupt(void) //I2C slave interrupt
{
IEC0bits.SI2CIE = 0; //Disable interrupts
if((I2CSTATbits.R_W == 0)&&(I2CSTATbits.D_A == 0)) //Address matched, writing register address to slave
{
temp = I2CRCV; //dummy read to remove stored address value
Flag.AddrFlag = 1; //next byte will be address
Flag.DataFlag = 0;
}
else if((I2CSTATbits.R_W == 0)&&(I2CSTATbits.D_A == 1)) //Check for data
{
if(Flag.AddrFlag)
{
Flag.AddrFlag = 0;
Flag.DataFlag = 1; //next byte is data
address = I2CRCV;
I2CCONbits.SCLREL = 1; //Release SCL line
}
else if(Flag.DataFlag)
{
registerWrite(address, I2CRCV);// store data into register
I2CCONbits.SCLREL = 1; //Release SCL line
address++; //Increment address pointer incase stop bit isn't recieved / another byte comes through
}
}
else if((I2CSTATbits.R_W == 1)&&(I2CSTATbits.D_A == 0)) //Been told to put data on bus, must already have desired register address
{
temp = I2CRCV; //ditch stored address
I2CTRN = registerRead(address); //Read data from register & send data to I2C transmit buffer, setting D/A in the process
I2CCONbits.SCLREL = 1; //Release SCL line
address++; //Increment address for next read
}
else if((I2CSTATbits.R_W == 1)&&(I2CSTATbits.D_A == 1)) //D/A hasn't been reset, master must want more data
{
I2CTRN = registerRead(address); //Read data from RAM & send data to I2C master device
I2CCONbits.SCLREL = 1; //Release SCL line
address++;
}
_SI2CIF = 0; //clear I2C1 Slave interrupt flag
IEC0bits.SI2CIE = 1; //Enable interrupts
}
int MMA8452Q::begin(void) {
uint8_t whoami;
Wire.begin();
whoami = registerRead(WHO_AM_I);
if (whoami != 0x2A)
return -1;
this -> active(true);
return 0;
}
static int pixi_spi_get (int channel, int address, int data) {
LIBPIXI_UNUSED(channel);
LIBPIXI_UNUSED(data);
return registerRead (address);
}
bool MMA8452Q::orientation(uint8_t *value) {
*value = registerRead(PL_STATUS);
return bitRead(*value, NEWLP);
}
uint8_t MMA8452Q::intSource(void) {
return registerRead(INT_SOURCE);
}
uint8_t MMA8452Q::sysmod(void) {
return registerRead(SYSMOD);
}
uint8_t MMA8452Q::status(void) {
return registerRead(STATUS);
}
static inline void registerSetBit(uint8_t addr, uint8_t bit, bool value) {
uint8_t val = registerRead(addr);
bitWrite(val, bit, value);
registerWrite(addr, val);
}
