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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.
43 lines
850 B
C++
43 lines
850 B
C++
/*
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* LIS2DH12.hpp
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*
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* Created on: 27Feb.,2018
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* Author: Ralim
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*/
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#ifndef LIS2DH12_HPP_
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#define LIS2DH12_HPP_
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#include "stm32f1xx_hal.h"
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#include "FRToSI2C.hpp"
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#include "LIS2DH12_defines.hpp"
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#include "hardware.h"
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class LIS2DH12 {
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public:
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static void initalize();
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//1 = rh, 2,=lh, 8=flat
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static Orientation getOrientation() {
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#ifdef MODEL_TS80
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uint8_t val = (FRToSI2C::I2C_RegisterRead(LIS2DH_I2C_ADDRESS,
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LIS_INT2_SRC) >> 2);
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if (val == 8)
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val = 3;
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else if (val == 1)
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val = 1;
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else if (val == 2)
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val = 0;
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else
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val = 3;
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return static_cast<Orientation>(val);
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#endif
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#ifdef MODEL_TS100
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return static_cast<Orientation>((FRToSI2C::I2C_RegisterRead(LIS2DH_I2C_ADDRESS,LIS_INT2_SRC) >> 2) - 1);
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#endif
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}
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static void getAxisReadings(int16_t& x, int16_t& y, int16_t& z);
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private:
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};
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#endif /* LIS2DH12_HPP_ */
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