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Working auto orientation

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This commit is contained in:
Ben V. Brown
2020-09-24 18:06:20 +10:00
parent e38da13306
commit 088516acea
4 changed files with 48 additions and 45 deletions
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31
workspace/TS100/Core/Drivers/BMA223.hpp
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@@ -8,9 +8,8 @@
#ifndef CORE_DRIVERS_BMA223_HPP_
#define CORE_DRIVERS_BMA223_HPP_
#include "I2C_Wrapper.hpp"
#include "LIS2DH12_defines.hpp"
#include "BSP.h"
#include "BMA223_defines.h"
class BMA223 {
public:
@@ -18,21 +17,19 @@ public:
static bool initalize();
//1 = rh, 2,=lh, 8=flat
static Orientation getOrientation() {
#ifdef ACCEL_ORI_FLIP
uint8_t val = (FRToSI2C::I2C_RegisterRead(LIS2DH_I2C_ADDRESS,
LIS_INT2_SRC) >> 2);
if (val == 8)
val = 3;
else if (val == 1)
val = 1;
else if (val == 2)
val = 0;
else
val = 3;
return static_cast<Orientation>(val);
#else
return static_cast<Orientation>((FRToSI2C::I2C_RegisterRead(LIS2DH_I2C_ADDRESS,LIS_INT2_SRC) >> 2) - 1);
#endif
uint8_t val = FRToSI2C::I2C_RegisterRead(BMA223_ADDRESS,
BMA223_INT_STATUS_3);
val >>= 4; //we dont need high values
val &= 0b11;
if(val &0b10){
return ORIENTATION_FLAT;
}else{
return static_cast<Orientation>(!val);
}
//0 = rhs
//1 =lhs
//2 & 3 == ignore
}
static void getAxisReadings(int16_t& x, int16_t& y, int16_t& z);