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* Draft cleanup of the folder definition mess * Move old startup * Fixup! broken hacky includes * Update Makefile * Update Makefile * Update Makefile * Bulk format * Who knew, header guards are a wise idea * Squash some sizing warnings * Drop broken usb stack * Fix BLE headers to be sensible * Cleaning up proper c styling * We have newer clang, it does bracketing now * Run clang-format brackets * We can drop the old messy bracket-checker with newer clang format * WiP formatter * Align grids of scripts by right side Massively easier to read in nearly all cases * Excempt the table for compression from formatter
65 lines
2.0 KiB
C++
65 lines
2.0 KiB
C++
/*
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* BMA223.cpp
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*
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* Created on: 18 Sep. 2020
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* Author: Ralim
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*/
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#include "accelerometers_common.h"
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#include <BMA223.hpp>
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#include <array>
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bool BMA223::detect() {
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if (ACCEL_I2C_CLASS::probe(BMA223_ADDRESS)) {
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// Read chip id to ensure its not an address collision
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uint8_t id = 0;
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if (ACCEL_I2C_CLASS::Mem_Read(BMA223_ADDRESS, BMA223_BGW_CHIPID, &id, 1)) {
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return id == 0b11111000;
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}
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}
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return false;
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}
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static const ACCEL_I2C_CLASS::I2C_REG i2c_registers[] = {
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//
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//
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{ BMA223_PMU_RANGE, 0b00000011, 0}, // 2G range
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{ BMA223_PMU_BW, 0b00001101, 0}, // 250Hz filter
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{ BMA223_PMU_LPW, 0b00000000, 0}, // Full power
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{ BMA223_ACCD_HBW, 0b00000000, 0}, // filtered data out
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{ BMA223_INT_OUT_CTRL, 0b00001010, 0}, // interrupt active low and OD to get it hi-z
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{BMA223_INT_RST_LATCH, 0b10000000, 0}, // interrupt active low and OD to get it hi-z
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{ BMA223_INT_EN_0, 0b01000000, 0}, // Enable orientation
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{ BMA223_INT_A, 0b00100111, 0}, // Setup orientation detection
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//
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};
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bool BMA223::initalize() {
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// Setup acceleration readings
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// 2G range
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// bandwidth = 250Hz
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// High pass filter on (Slow compensation)
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// Turn off IRQ output pins
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// Orientation recognition in symmetrical mode
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// Hysteresis is set to ~ 16 counts
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// Theta blocking is set to 0b10
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return ACCEL_I2C_CLASS::writeRegistersBulk(BMA223_ADDRESS, i2c_registers, sizeof(i2c_registers) / sizeof(i2c_registers[0]));
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}
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void BMA223::getAxisReadings(int16_t &x, int16_t &y, int16_t &z) {
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// The BMA is odd in that its output data width is only 8 bits
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// And yet there are MSB and LSB registers _sigh_.
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uint8_t sensorData[6] = {0, 0, 0, 0, 0, 0};
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if (ACCEL_I2C_CLASS::Mem_Read(BMA223_ADDRESS, BMA223_ACCD_X_LSB, sensorData, 6) == false) {
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x = y = z = 0;
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return;
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}
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// Shift 6 to make its range ~= the other accelerometers
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x = sensorData[1] << 6;
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y = sensorData[3] << 6;
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z = sensorData[5] << 6;
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}
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