oops, forgot to commit mma845x driver.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@158 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61

src/drv_mma845x.c

@@ -0,0 +1,102 @@
+#include "board.h"
+
+// MMA8452QT, Standard address 0x1C
+
+#define MMA8452_ADDRESS     0x1C
+
+#define MMA8452_DEVICE_SIGNATURE    0x2A
+
+#define MMA8452_STATUS              0x00
+#define MMA8452_OUT_X_MSB           0x01
+#define MMA8452_WHO_AM_I            0x0D
+#define MMA8452_XYZ_DATA_CFG        0x0E
+#define MMA8452_HP_FILTER_CUTOFF    0x0F
+#define MMA8452_CTRL_REG1           0x2A
+#define MMA8452_CTRL_REG2           0x2B
+#define MMA8452_CTRL_REG3           0x2C
+#define MMA8452_CTRL_REG4           0x2D
+#define MMA8452_CTRL_REG5           0x2E
+
+#define MMA8452_FS_RANGE_8G         0x02
+#define MMA8452_FS_RANGE_4G         0x01
+#define MMA8452_FS_RANGE_2G         0x00
+
+#define MMA8452_HPF_CUTOFF_LV1      0x00
+#define MMA8452_HPF_CUTOFF_LV2      0x01
+#define MMA8452_HPF_CUTOFF_LV3      0x02
+#define MMA8452_HPF_CUTOFF_LV4      0x03
+
+#define MMA8452_CTRL_REG2_B7_ST     0x80
+#define MMA8452_CTRL_REG2_B6_RST    0x40
+#define MMA8452_CTRL_REG2_B4_SMODS1 0x10
+#define MMA8452_CTRL_REG2_B3_SMODS0 0x08
+#define MMA8452_CTRL_REG2_B2_SLPE   0x04
+#define MMA8452_CTRL_REG2_B1_MODS1  0x02
+#define MMA8452_CTRL_REG2_B0_MODS0  0x01
+
+#define MMA8452_CTRL_REG2_MODS_LP   0x03
+#define MMA8452_CTRL_REG2_MODS_HR   0x02
+#define MMA8452_CTRL_REG2_MODS_LNLP 0x01
+#define MMA8452_CTRL_REG2_MODS_NOR  0x00
+
+#define MMA8452_CTRL_REG3_IPOL          0x02
+#define MMA8452_CTRL_REG4_INT_EN_DRDY   0x01
+
+#define MMA8452_CTRL_REG1_LNOISE        0x04
+#define MMA8452_CTRL_REG1_ACTIVE        0x01
+
+extern uint16_t acc_1G;
+
+static void mma8452Init(void);
+static void mma8452Read(int16_t *accelData);
+static void mma8452Align(int16_t *accelData);
+
+bool mma8452Detect(sensor_t *acc)
+{
+    bool ack = false;
+    uint8_t sig = 0;
+
+    ack = i2cRead(MMA8452_ADDRESS, MMA8452_WHO_AM_I, 1, &sig);
+    if (!ack || sig != MMA8452_DEVICE_SIGNATURE)
+        return false;
+
+    acc->init = mma8452Init;
+    acc->read = mma8452Read;
+    acc->align = mma8452Align;
+    return true;
+}
+
+static void mma8452Init(void)
+{
+    i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG1, 0); // Put device in standby to configure stuff
+    i2cWrite(MMA8452_ADDRESS, MMA8452_XYZ_DATA_CFG, MMA8452_FS_RANGE_8G);
+    i2cWrite(MMA8452_ADDRESS, MMA8452_HP_FILTER_CUTOFF, MMA8452_HPF_CUTOFF_LV4);
+    i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG2, MMA8452_CTRL_REG2_MODS_HR | MMA8452_CTRL_REG2_MODS_HR << 3); // High resolution measurement in both sleep and active modes
+    i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG3, MMA8452_CTRL_REG3_IPOL); // Interrupt polarity (active HIGH)
+    i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG4, MMA8452_CTRL_REG4_INT_EN_DRDY); // Enable DRDY interrupt (unused by this driver)
+    i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG5, 0); // DRDY routed to INT2
+    i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG1, MMA8452_CTRL_REG1_LNOISE | MMA8452_CTRL_REG1_ACTIVE); // Turn on measurements, low noise at max scale mode, Data Rate 800Hz. LNoise mode makes range +-4G.
+    
+    acc_1G = 256;
+}
+
+static void mma8452Read(int16_t *accelData)
+{
+    uint8_t buf[6];
+
+    i2cRead(MMA8452_ADDRESS, MMA8452_OUT_X_MSB, 6, buf);
+    accelData[0] = (buf[0] << 8) | buf[1];
+    accelData[1] = (buf[2] << 8) | buf[3];
+    accelData[2] = (buf[4] << 8) | buf[5];
+    
+    accelData[0] >>= 2;
+    accelData[1] >>= 2;
+    accelData[2] >>= 2;
+}
+
+static void mma8452Align(int16_t *accelData)
+{
+    accelData[0] = -accelData[0] / 4;
+    accelData[1] = -accelData[1] / 4;
+    accelData[2] = accelData[2] / 4;
+}

src/drv_mma845x.h

@@ -0,0 +1,3 @@
+#pragma once
+
+bool mma8452Detect(sensor_t *acc);