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Update MSA301 driver to fix orientation detection and cleanup

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This commit is contained in:
Ben V. Brown
2021-01-04 20:45:10 +11:00
parent 0cef5f8eb6
commit adc2b1ff70
1 changed files with 17 additions and 8 deletions
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25
workspace/TS100/Core/Drivers/MSA301.cpp
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@@ -18,23 +18,32 @@ static const FRToSI2C::I2C_REG i2c_registers[] = { //
{ MSA301_REG_POWERMODE, 0b0001001, 1 }, // Normal mode
{ MSA301_REG_RESRANGE, 0b00000001, 0 }, // 14bit resolution @ 4G range
{ MSA301_REG_ORIENT_HY, 0b01000000, 0 }, // 4*62.5mg hyst, no blocking, symmetrical
{ MSA301_REG_ORIENT_HY, 0b01000000, 0 }, // 4*62.5mg hyst, no blocking, symmetrical
{ MSA301_REG_INTSET0, 1 << 6, 0 }, // Turn on orientation detection (by enabling its interrupt)
};
bool MSA301::initalize() {
// Enable X/Y/Z
// Normal mode
// 250Hz filter
// 4G range
// 14 bit resolution
return FRToSI2C::writeRegistersBulk(MSA301_I2C_ADDRESS, i2c_registers, sizeof(i2c_registers) / sizeof(i2c_registers[0]));
}
Orientation MSA301::getOrientation() {
//read MSA301_REG_ORIENT_STATUS
uint8_t temp = 0;
FRToSI2C::Mem_Read(MSA301_I2C_ADDRESS, MSA301_REG_ORIENT_STATUS, &temp, 1);
switch (temp) {
case 112:
return Orientation::ORIENTATION_LEFT_HAND;
case 96:
return Orientation::ORIENTATION_RIGHT_HAND;
}
return Orientation::ORIENTATION_FLAT;
}
void MSA301::getAxisReadings(int16_t &x, int16_t &y, int16_t &z) {
uint8_t temp[6];
//Bulk read all 6 regs
FRToSI2C::Mem_Read(MSA301_I2C_ADDRESS, MSA301_REG_OUT_X_L, temp, 6);
x = int16_t(((int16_t) temp[1]) << 8 | temp[0]) >> 2;
y = int16_t(((int16_t) temp[3]) << 8 | temp[2]) >> 2;
z = int16_t(((int16_t) temp[5]) << 8 | temp[4]) >> 2;
}