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The LIS2DH12 driver performed an unnecessary endianness conversion, as data from the sensor was already coming in little-endian format. The MMA8652FC driver is now using the rev16 opcode to perform the swap rather than doing all the bitshuffling operations in multiple steps.
79 lines
2.6 KiB
C++
79 lines
2.6 KiB
C++
/*
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* MMA8652FC.cpp
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*
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* Created on: 31Aug.,2017
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* Author: Ben V. Brown
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*/
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#include <array>
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#include "MMA8652FC.hpp"
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#include "cmsis_os.h"
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typedef struct {
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const uint8_t reg;
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const uint8_t val;
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} MMA_REG;
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static const MMA_REG i2c_registers[] = { { CTRL_REG2, 0 }, //Normal mode
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{ CTRL_REG2, 0x40 }, // Reset all registers to POR values
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{ FF_MT_CFG_REG, 0x78 }, // Enable motion detection for X, Y, Z axis, latch disabled
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{ PL_CFG_REG, 0x40 }, //Enable the orientation detection
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{ PL_COUNT_REG, 200 }, //200 count debounce
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{ PL_BF_ZCOMP_REG, 0b01000111 }, //Set the threshold to 42 degrees
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{ P_L_THS_REG, 0b10011100 }, //Up the trip angles
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{ CTRL_REG4, 0x01 | (1 << 4) }, // Enable dataready interrupt & orientation interrupt
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{ CTRL_REG5, 0x01 }, // Route data ready interrupts to INT1 ->PB5 ->EXTI5, leaving orientation routed to INT2
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{ CTRL_REG2, 0x12 }, //Set maximum resolution oversampling
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{ XYZ_DATA_CFG_REG, (1 << 4) }, //select high pass filtered data
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{ HP_FILTER_CUTOFF_REG, 0x03 }, //select high pass filtered data
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{ CTRL_REG1, 0x19 } // ODR=12 Hz, Active mode
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};
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void MMA8652FC::initalize() {
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size_t index = 0;
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//send all the init commands to the unit
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FRToSI2C::I2C_RegisterWrite(MMA8652FC_I2C_ADDRESS,i2c_registers[index].reg, i2c_registers[index].val);
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index++;
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FRToSI2C::I2C_RegisterWrite(MMA8652FC_I2C_ADDRESS,i2c_registers[index].reg, i2c_registers[index].val);
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index++;
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HAL_Delay(2); // ~1ms delay
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while (index < (sizeof(i2c_registers) / sizeof(i2c_registers[0]))) {
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FRToSI2C::I2C_RegisterWrite(MMA8652FC_I2C_ADDRESS,i2c_registers[index].reg, i2c_registers[index].val);
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index++;
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}
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}
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Orientation MMA8652FC::getOrientation() {
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//First read the PL_STATUS register
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uint8_t plStatus = FRToSI2C::I2C_RegisterRead(MMA8652FC_I2C_ADDRESS,PL_STATUS_REG);
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if ((plStatus & 0b10000000) == 0b10000000) {
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plStatus >>= 1; //We don't need the up/down bit
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plStatus &= 0x03; //mask to the two lower bits
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//0 == left handed
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//1 == right handed
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return static_cast<Orientation>(plStatus);
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}
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return ORIENTATION_FLAT;
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}
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void MMA8652FC::getAxisReadings(int16_t& x, int16_t& y, int16_t& z) {
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std::array<int16_t, 3> sensorData;
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FRToSI2C::Mem_Read(MMA8652FC_I2C_ADDRESS, OUT_X_MSB_REG, I2C_MEMADD_SIZE_8BIT,
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reinterpret_cast<uint8_t*>(sensorData.begin()),
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sensorData.size() * sizeof(int16_t));
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x = static_cast<int16_t>(__builtin_bswap16(*reinterpret_cast<uint16_t*>(&sensorData[0])));
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y = static_cast<int16_t>(__builtin_bswap16(*reinterpret_cast<uint16_t*>(&sensorData[1])));
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z = static_cast<int16_t>(__builtin_bswap16(*reinterpret_cast<uint16_t*>(&sensorData[2])));
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}
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