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58 lines
2.4 KiB
C++
58 lines
2.4 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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static const FRToSI2C::I2C_REG i2c_registers[] = {
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{CTRL_REG2, 0, 0}, // Normal mode
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{CTRL_REG2, 0x40, 2}, // Reset all registers to POR values
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{FF_MT_CFG_REG, 0x78, 0}, // Enable motion detection for X, Y, Z axis, latch disabled
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{PL_CFG_REG, 0x40, 0}, // Enable the orientation detection
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{PL_COUNT_REG, 200, 0}, // 200 count debounce
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{PL_BF_ZCOMP_REG, 0b01000111, 0}, // Set the threshold to 42 degrees
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{P_L_THS_REG, 0b10011100, 0}, // Up the trip angles
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{CTRL_REG4, 0x01 | (1 << 4), 0}, // Enable dataready interrupt & orientation interrupt
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{CTRL_REG5, 0x01, 0}, // Route data ready interrupts to INT1 ->PB5 ->EXTI5, leaving orientation routed to INT2
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{CTRL_REG2, 0x12, 0}, // Set maximum resolution oversampling
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{XYZ_DATA_CFG_REG, (1 << 4), 0}, // select high pass filtered data
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{HP_FILTER_CUTOFF_REG, 0x03, 0}, // select high pass filtered data
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{CTRL_REG1, 0x19, 0} // ODR=12 Hz, Active mode
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};
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bool MMA8652FC::initalize() { return FRToSI2C::writeRegistersBulk(MMA8652FC_I2C_ADDRESS, i2c_registers, sizeof(i2c_registers) / sizeof(i2c_registers[0])); }
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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, reinterpret_cast<uint8_t *>(sensorData.begin()), 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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bool MMA8652FC::detect() { return FRToSI2C::probe(MMA8652FC_I2C_ADDRESS); }
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