BOOL Accel_Init(const TAccelSetup* const accelSetup)
{
TAccelMode CurrentMode;
DataCallback = accelSetup->dataReadyCallbackFunction;
DataCallbackArgument = accelSetup->dataReadyCallbackArguments;
ReadCallback = accelSetup->readCompleteCallbackFunction;
ReadCallbackArgument = accelSetup->readCompleteCallbackArguments;
//Let there be clocks!
SIM_SCGC5 |= SIM_SCGC5_PORTB_MASK;
/*portb GPIO, clear interrupt, interrupt on falling edge.*/
PORTB_PCR7 = (PORT_PCR_MUX(0x01) | PORT_PCR_ISF_MASK | PORT_PCR_IRQC(0x0A));
/* NVICIP88: PRI88=0x80 */
NVICIP88 = NVIC_IP_PRI88(0x80);
/* NVICISER2: SETENA|=0x01000000 */
NVICISER2 |= NVIC_ISER_SETENA(0x01000000);
//Check if we are connected to the correct device
uint8_t whoAmI;
I2C_SelectSlaveDevice(MMA8451Q_ADDR_SA0_HIGH);
//TODO: uncomment
/*
I2C_PollRead(MMA8451Q_WHO_AM_I, &whoAmI, 1);
if (whoAmI != MMA8451Q_WHO_AM_I_VALUE)
{
//This is not the i2c device we are looking for
return bFALSE;
}
*/
//Reset the accelerometer
//TODO: uncomment
/*I2C_Write(MMA8451Q_CTRL_REG2, MMA8451Q_CTRL_REG2_RST_MASK, bFALSE);
uint8_t reg2 = MMA8451Q_CTRL_REG2_RST_MASK;
while (reg2 & MMA8451Q_CTRL_REG2_RST_MASK)
{
I2C_PollRead(MMA8451Q_CTRL_REG2, ®2, 1);
}*/
/*
* activate
* enable fast read
* low noise
* data rate 1.56Hz (0x38)
*
*/
I2C_Write(MMA8451Q_CTRL_REG1, (0x38 | MMA8451Q_CTRL_REG1_ACTIVE_MASK | MMA8451Q_CTRL_REG1_F_READ_MASK | MMA8451Q_CTRL_REG1_LNOISE_MASK), bFALSE);
return bTRUE;
}
// read MMA8652 accelerometer and magnetometer data over I2C
void mma8652ReadData (LDD_TDeviceData *DeviceDataPtr, struct AccelSensor *pthisAccel)
{
LDD_I2C_TBusState BusState; // I2C bus state
// set up the MMA8652 I2C address
I2C_SelectSlaveDevice (DeviceDataPtr, LDD_I2C_ADDRTYPE_7BITS, MMA8652_I2C_ADDR);
// set up the address of the first output register
I2C_Buf[0] = MMA8652_OUT_X_MSB;
mqxglobals.I2C_Status &= ~I2C_SENT_FLAG;
I2C_MasterSendBlock (DeviceDataPtr, I2C_Buf, 1, LDD_I2C_NO_SEND_STOP);
// wait until the I2C sent callback function sets the sent flag
while ((mqxglobals.I2C_Status & I2C_SENT_FLAG) == 0)
;
// read the 6 bytes of sequential sensor data
mqxglobals.I2C_Status &= ~I2C_RCVD_FLAG;
I2C_MasterReceiveBlock (DeviceDataPtr, I2C_Buf, 6, LDD_I2C_SEND_STOP);
// wait until the I2C received callback function sets the received flag
while ((mqxglobals.I2C_Status & I2C_RCVD_FLAG) == 0)
;
// wait until the I2C bus is idle
do {
I2C_CheckBus (DeviceDataPtr, &BusState);
} while (BusState != LDD_I2C_IDLE);
// place the 12 bytes read into the 16 bit accelerometer structure
pthisAccel->iGpFast[X] = (I2C_Buf[0] << 8) | I2C_Buf[1];
pthisAccel->iGpFast[Y] = (I2C_Buf[2] << 8) | I2C_Buf[3];
pthisAccel->iGpFast[Z] = (I2C_Buf[4] << 8) | I2C_Buf[5];
// finally check for -32768 in the accelerometer since
// this value cannot be negated in a later HAL operation
if (pthisAccel->iGpFast[X] == -32768)
pthisAccel->iGpFast[X]++;
if (pthisAccel->iGpFast[Y] == -32768)
pthisAccel->iGpFast[Y]++;
if (pthisAccel->iGpFast[Z] == -32768)
pthisAccel->iGpFast[Z]++;
return;
}
void Accel_ReadXYZ(uint8_t data[3])
{
I2C_SelectSlaveDevice(MMA8451Q_ADDR_SA0_HIGH);
I2C_IntRead(MMA8451Q_OUT_X_MSB, data, 3, ReadCallback, ReadCallbackArgument);
}
// initialize MMA8652 accelerometer sensor
void mma8652Init (LDD_TDeviceData *DeviceDataPtr, struct AccelSensor *pthisAccel)
{
LDD_I2C_TBusState BusState; // I2C bus state
// set up the MMA8652 I2C address
I2C_SelectSlaveDevice (DeviceDataPtr, LDD_I2C_ADDRTYPE_7BITS, MMA8652_I2C_ADDR);
// write 0000 0000 = 0x00 to CTRL_REG1 to place MMA8652 into standby
// [7-1] = 0000 000
// [0]: active=0
I2C_Buf[0] = MMA8652_CTRL_REG1;
I2C_Buf[1] = 0x00;
mqxglobals.I2C_Status &= ~I2C_SENT_FLAG;
I2C_MasterSendBlock (DeviceDataPtr, I2C_Buf, 2, LDD_I2C_SEND_STOP);
// wait until the I2C sent callback function sets the sent flag
while ((mqxglobals.I2C_Status & I2C_SENT_FLAG) == 0)
;
// wait until the I2C bus is idle
do {
I2C_CheckBus (DeviceDataPtr, &BusState);
} while (BusState != LDD_I2C_IDLE);
// write 0000 0001 = 0x01 to XYZ_DATA_CFG register to set g range
// [7-5]: reserved=000
// [4]: HPF_OUT=0
// [3-2]: reserved=00
// [1-0]: FS=01 for +/-4g: 512 counts / g = 8192 counts / g after 4 bit left shift
I2C_Buf[0] = MMA8652_XYZ_DATA_CFG;
I2C_Buf[1] = 0x01;
mqxglobals.I2C_Status &= ~I2C_SENT_FLAG;
I2C_MasterSendBlock (DeviceDataPtr, I2C_Buf, 2, LDD_I2C_SEND_STOP);
// wait until the I2C sent callback function sets the sent flag
while ((mqxglobals.I2C_Status & I2C_SENT_FLAG) == 0)
;
// wait until the I2C bus is idle
do {
I2C_CheckBus (DeviceDataPtr, &BusState);
} while (BusState != LDD_I2C_IDLE);
// write 0000 0010 = 0x02 to CTRL_REG2 to set MODS bits
// [7]: ST=0: self test disabled
// [6]: RST=0: reset disabled
// [5]: unused
// [4-3]: SMODS=00
// [2]: SLPE=0: auto sleep disabled
// [1-0]: mods=10 for high resolution (maximum over sampling)
I2C_Buf[0] = MMA8652_CTRL_REG2;
I2C_Buf[1] = 0x02;
mqxglobals.I2C_Status &= ~I2C_SENT_FLAG;
I2C_MasterSendBlock (DeviceDataPtr, I2C_Buf, 2, LDD_I2C_SEND_STOP);
// wait until the I2C sent callback function sets the sent flag
while ((mqxglobals.I2C_Status & I2C_SENT_FLAG) == 0)
;
// wait until the I2C bus is idle
do {
I2C_CheckBus (DeviceDataPtr, &BusState);
} while (BusState != LDD_I2C_IDLE);
// write 0001 0001 = 0x11 to CTRL_REG1
// [7-6]: aslp_rate=00
// [5-3]: dr=010 for 200Hz data rate
// [2]: unused=0
// [1]: f_read=0 for normal 16 bit reads
// [0]: active=1 to take the part out of standby and enable sampling
I2C_Buf[0] = MMA8652_CTRL_REG1;
I2C_Buf[1] = 0x11;
mqxglobals.I2C_Status &= ~I2C_SENT_FLAG;
I2C_MasterSendBlock (DeviceDataPtr, I2C_Buf, 2, LDD_I2C_SEND_STOP);
// wait until the I2C sent callback function sets the sent flag
while ((mqxglobals.I2C_Status & I2C_SENT_FLAG) == 0)
;
// wait until the I2C bus is idle
do {
I2C_CheckBus (DeviceDataPtr, &BusState);
} while (BusState != LDD_I2C_IDLE);
// store the gain terms in the accelerometer and magnetometer sensor structures
#define MMA8652_GPERCOUNT 0.0001220703125F // equal to 1/8192
pthisAccel->fgPerCount = MMA8652_GPERCOUNT;
return;
}
