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144 | ------------------------------------------------------------------------------
-- --
-- Copyright (C) 2017, AdaCore --
-- --
-- Redistribution and use in source and binary forms, with or without --
-- modification, are permitted provided that the following conditions are --
-- met: --
-- 1. Redistributions of source code must retain the above copyright --
-- notice, this list of conditions and the following disclaimer. --
-- 2. Redistributions in binary form must reproduce the above copyright --
-- notice, this list of conditions and the following disclaimer in --
-- the documentation and/or other materials provided with the --
-- distribution. --
-- 3. Neither the name of the copyright holder nor the names of its --
-- contributors may be used to endorse or promote products derived --
-- from this software without specific prior written permission. --
-- --
-- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS --
-- "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT --
-- LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR --
-- A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT --
-- HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, --
-- SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT --
-- LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, --
-- DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY --
-- THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT --
-- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE --
-- OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. --
-- --
------------------------------------------------------------------------------
with HAL; use HAL;
with HAL.I2C; use HAL.I2C;
private with Ada.Unchecked_Conversion;
package MMA8653 is
type MMA8653_Accelerometer (Port : not null Any_I2C_Port)
is tagged limited private;
type Oversampling_Mode is (Normal, Low_Noise_Low_Power,
High_Resolution, Low_Power);
type Dynamic_Range is (Two_G, Four_G, Heigh_G);
procedure Configure (This : in out MMA8653_Accelerometer;
Dyna_Range : Dynamic_Range;
Sleep_Oversampling : Oversampling_Mode;
Active_Oversampling : Oversampling_Mode);
function Check_Device_Id (This : MMA8653_Accelerometer) return Boolean;
-- Return False if device ID in incorrect or cannot be read
type Axis_Data is range -2 ** 9 .. 2 ** 9 - 1
with Size => 10;
type All_Axes_Data is record
X, Y, Z : Axis_Data;
end record;
function Read_Data (This : MMA8653_Accelerometer) return All_Axes_Data;
private
type MMA8653_Accelerometer (Port : not null Any_I2C_Port) is tagged limited
null record;
for Oversampling_Mode use (Normal => 0,
Low_Noise_Low_Power => 1,
High_Resolution => 2,
Low_Power => 3);
for Dynamic_Range use (Two_G => 0,
Four_G => 1,
Heigh_G => 2);
type Register_Addresss is new UInt8;
Device_Id : constant := 16#5A#;
Device_Address : constant I2C_Address := 16#3A#;
DATA_STATUS : constant Register_Addresss := 16#00#;
OUT_X_MSB : constant Register_Addresss := 16#01#;
OUT_X_LSB : constant Register_Addresss := 16#02#;
OUT_Y_MSB : constant Register_Addresss := 16#03#;
OUT_Y_LSB : constant Register_Addresss := 16#04#;
OUT_Z_MSB : constant Register_Addresss := 16#05#;
OUT_Z_LSB : constant Register_Addresss := 16#06#;
Who_Am_I : constant Register_Addresss := 16#0D#;
XYZ_DATA_CFG : constant Register_Addresss := 16#0E#;
CTRL_REG1 : constant Register_Addresss := 16#2A#;
CTRL_REG2 : constant Register_Addresss := 16#2B#;
CTRL_REG3 : constant Register_Addresss := 16#2C#;
CTRL_REG4 : constant Register_Addresss := 16#2D#;
CTRL_REG5 : constant Register_Addresss := 16#2E#;
type CTRL_REG1_Register is record
Active : Boolean := False;
F_Read : Boolean := False;
Reserved : Bit := 0;
Data_Rate : UInt3 := 0;
ASLP_Rate : UInt2 := 0;
end record;
for CTRL_REG1_Register use record
Active at 0 range 0 .. 0;
F_Read at 0 range 1 .. 1;
Reserved at 0 range 2 .. 2;
Data_Rate at 0 range 3 .. 5;
ASLP_Rate at 0 range 6 .. 7;
end record;
function To_UInt8 is new Ada.Unchecked_Conversion
(CTRL_REG1_Register, UInt8);
function To_Reg is new Ada.Unchecked_Conversion
(UInt8, CTRL_REG1_Register);
type CTRL_REG2_Register is record
MODS : UInt2 := 0;
SPLE : Boolean := False;
SMODS : UInt2 := 0;
Reserved : Bit := 0;
Reset : Boolean := False;
Self_Test : Boolean := False;
end record;
for CTRL_REG2_Register use record
MODS at 0 range 0 .. 1;
SPLE at 0 range 2 .. 2;
SMODS at 0 range 3 .. 4;
Reserved at 0 range 5 .. 5;
Reset at 0 range 6 .. 6;
Self_Test at 0 range 7 .. 7;
end record;
function To_UInt8 is new Ada.Unchecked_Conversion
(CTRL_REG2_Register, UInt8);
function To_Reg is new Ada.Unchecked_Conversion
(UInt8, CTRL_REG2_Register);
end MMA8653;
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