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LIS2DH - Adding support for the new accelerometer (#216)

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+ Creates a new driver for the LIS2DH accelerometer
+ Fixes timing issues since we're already touching a chunk of code

The LIS2DH driver should output similar numbers to the old MMA accelerometer.

Fixes #202
Fixes #189
This commit is contained in:
Ben V. Brown
2018-03-03 15:43:10 +11:00
committed by GitHub
parent 3ce0cc0d99
commit aef8f5f5bb
10 changed files with 221 additions and 119 deletions
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73
workspace/TS100/src/LIS2DH12.cpp Normal file
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/*
* LIS2DH12.cpp
*
* Created on: 27Feb.,2018
* Author: Ralim
*/
#include <LIS2DH12.hpp>
#include "cmsis_os.h"
LIS2DH12::LIS2DH12(I2C_HandleTypeDef* i2cHandle) {
i2c = i2cHandle;
}
void LIS2DH12::initalize() {
I2C_RegisterWrite(LIS_CTRL_REG1, 0x17); //25Hz
I2C_RegisterWrite(LIS_CTRL_REG2, 0b00001000); //Highpass filter off
I2C_RegisterWrite(LIS_CTRL_REG3, 0b01100000); //Setup interrupt pins
I2C_RegisterWrite(LIS_CTRL_REG4, 0b00001000); //Block update mode off,HR on
I2C_RegisterWrite(LIS_CTRL_REG5, 0b00000010);
I2C_RegisterWrite(LIS_CTRL_REG6, 0b01100010);
//Basically setup the unit to run, and enable 4D orientation detection
I2C_RegisterWrite(LIS_INT2_CFG, 0b01111110); //setup for movement detection
I2C_RegisterWrite(LIS_INT2_THS, 0x28);
I2C_RegisterWrite(LIS_INT2_DURATION, 64);
I2C_RegisterWrite(LIS_INT1_CFG, 0b01111110); //setup for movement detection
I2C_RegisterWrite(LIS_INT1_THS, 0x28);
I2C_RegisterWrite(LIS_INT1_DURATION, 64);
}
//0=no change, 1= right handed, 2= left handed
uint8_t LIS2DH12::getOrientation() {
// 8=right handed,4=left,16=flat
//So we ignore if not 8/4
uint8_t pos = I2C_RegisterRead(LIS_INT2_SRC);
if (pos == 8)
return 1;
else if (pos == 4)
return 2;
else
return 0;
}
void LIS2DH12::getAxisReadings(int16_t* x, int16_t* y, int16_t* z) {
uint8_t tempArr[6];
taskENTER_CRITICAL();
while (HAL_I2C_Mem_Read(i2c, LIS2DH_I2C_ADDRESS, 0xA8,
I2C_MEMADD_SIZE_8BIT, (uint8_t*) tempArr, 6, 5000) != HAL_OK) {
HAL_Delay(5);
}
taskEXIT_CRITICAL();
(*x) = ((uint16_t) (tempArr[1] << 8 | tempArr[0]));
(*y) = ((uint16_t) (tempArr[3] << 8 | tempArr[2]));
(*z) = ((uint16_t) (tempArr[5] << 8 | tempArr[4]));
}
void LIS2DH12::setSensitivity(uint8_t threshold, uint8_t filterTime) {
}
void LIS2DH12::I2C_RegisterWrite(uint8_t reg, uint8_t data) {
HAL_I2C_Mem_Write(i2c, LIS2DH_I2C_ADDRESS, reg, I2C_MEMADD_SIZE_8BIT, &data,
1, 500);
}
uint8_t LIS2DH12::I2C_RegisterRead(uint8_t reg) {
uint8_t tx_data[1];
HAL_I2C_Mem_Read(i2c, LIS2DH_I2C_ADDRESS, reg, I2C_MEMADD_SIZE_8BIT,
tx_data, 1, 500);
return tx_data[0];
}