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Make all accelerometers I2C bus aware

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Update accelerometers_common.h
This commit is contained in:
Ben V. Brown
2023-07-22 18:18:07 +10:00
parent 964d37a8e8
commit 1396363eaa
7 changed files with 47 additions and 39 deletions
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11
source/Core/Drivers/MMA8652FC.cpp
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@@ -8,9 +8,10 @@
#include <array>
#include "MMA8652FC.hpp"
#include "accelerometers_common.h"
#include "cmsis_os.h"
static const FRToSI2C::I2C_REG i2c_registers[] = {
static const ACCEL_I2C_CLASS::I2C_REG i2c_registers[] = {
{CTRL_REG2, 0, 0}, // Normal mode
{CTRL_REG2, 0x40, 2}, // Reset all registers to POR values
{FF_MT_CFG_REG, 0x78, 0}, // Enable motion detection for X, Y, Z axis, latch disabled
@@ -26,11 +27,11 @@ static const FRToSI2C::I2C_REG i2c_registers[] = {
{CTRL_REG1, 0x19, 0} // ODR=12 Hz, Active mode
};
bool MMA8652FC::initalize() { return FRToSI2C::writeRegistersBulk(MMA8652FC_I2C_ADDRESS, i2c_registers, sizeof(i2c_registers) / sizeof(i2c_registers[0])); }
bool MMA8652FC::initalize() { return ACCEL_I2C_CLASS::writeRegistersBulk(MMA8652FC_I2C_ADDRESS, i2c_registers, sizeof(i2c_registers) / sizeof(i2c_registers[0])); }
Orientation MMA8652FC::getOrientation() {
// First read the PL_STATUS register
uint8_t plStatus = FRToSI2C::I2C_RegisterRead(MMA8652FC_I2C_ADDRESS, PL_STATUS_REG);
uint8_t plStatus = ACCEL_I2C_CLASS::I2C_RegisterRead(MMA8652FC_I2C_ADDRESS, PL_STATUS_REG);
if ((plStatus & 0b10000000) == 0b10000000) {
plStatus >>= 1; // We don't need the up/down bit
plStatus &= 0x03; // mask to the two lower bits
@@ -47,11 +48,11 @@ Orientation MMA8652FC::getOrientation() {
void MMA8652FC::getAxisReadings(int16_t &x, int16_t &y, int16_t &z) {
std::array<int16_t, 3> sensorData;
FRToSI2C::Mem_Read(MMA8652FC_I2C_ADDRESS, OUT_X_MSB_REG, reinterpret_cast<uint8_t *>(sensorData.begin()), sensorData.size() * sizeof(int16_t));
ACCEL_I2C_CLASS::Mem_Read(MMA8652FC_I2C_ADDRESS, OUT_X_MSB_REG, reinterpret_cast<uint8_t *>(sensorData.begin()), sensorData.size() * sizeof(int16_t));
x = static_cast<int16_t>(__builtin_bswap16(*reinterpret_cast<uint16_t *>(&sensorData[0])));
y = static_cast<int16_t>(__builtin_bswap16(*reinterpret_cast<uint16_t *>(&sensorData[1])));
z = static_cast<int16_t>(__builtin_bswap16(*reinterpret_cast<uint16_t *>(&sensorData[2])));
}
bool MMA8652FC::detect() { return FRToSI2C::probe(MMA8652FC_I2C_ADDRESS); }
bool MMA8652FC::detect() { return ACCEL_I2C_CLASS::probe(MMA8652FC_I2C_ADDRESS); }