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347968e4ef
Settings menu works Movement working & TMP calibrated Tip reading sensibily Accuracy seems ok Trimmed down overshoot by biasing integral Saving to flash working, detailed idle Sleep mode Description scrolls Building for DFU working Motion detection update Use manual alg instead, using highpass filter, then sum current change vs rolling average Re-shuffle the pwm code organisation
87 lines
3.2 KiB
C++
87 lines
3.2 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 <MMA8652FC.hpp>
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MMA8652FC::MMA8652FC(I2C_HandleTypeDef* i2cHandle) {
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i2c = i2cHandle;
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}
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void MMA8652FC::I2C_RegisterWrite(uint8_t reg, uint8_t data) {
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HAL_I2C_Mem_Write(i2c, MMA8652FC_I2C_ADDRESS, reg, I2C_MEMADD_SIZE_8BIT, &data, 1, 0xFFFF);
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}
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uint8_t MMA8652FC::I2C_RegisterRead(uint8_t reg) {
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uint8_t tx_data[1];
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HAL_I2C_Mem_Read(i2c, MMA8652FC_I2C_ADDRESS, reg, I2C_MEMADD_SIZE_8BIT, tx_data, 1, 0xFFFF);
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return tx_data[0];
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}
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void MMA8652FC::initalize() {
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//send all the init commands to the unit
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I2C_RegisterWrite(CTRL_REG2, 0); //Normal mode
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I2C_RegisterWrite( CTRL_REG2, 0x40); // Reset all registers to POR values
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HAL_Delay(2); // ~1ms delay
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I2C_RegisterWrite(FF_MT_CFG_REG, 0x78); // Enable motion detection for X, Y, Z axis, latch disabled
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I2C_RegisterWrite(PL_CFG_REG, 0x40); //Enable the orientation detection
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I2C_RegisterWrite(PL_COUNT_REG, 200); //200 count debounce
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I2C_RegisterWrite(PL_BF_ZCOMP_REG, 0b01000111); //Set the threshold to 42 degrees
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I2C_RegisterWrite(P_L_THS_REG, 0b10011100); //Up the trip angles
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I2C_RegisterWrite( CTRL_REG4, 0x01 | (1 << 4)); // Enable dataready interrupt & orientation interrupt
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I2C_RegisterWrite( CTRL_REG5, 0x01); // Route data ready interrupts to INT1 ->PB5 ->EXTI5, leaving orientation routed to INT2
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I2C_RegisterWrite( CTRL_REG2, 0x12); //Set maximum resolution oversampling
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I2C_RegisterWrite( XYZ_DATA_CFG_REG, (1 << 4)); //select high pass filtered data
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I2C_RegisterWrite( HP_FILTER_CUTOFF_REG, 0x03); //select high pass filtered data
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I2C_RegisterWrite( CTRL_REG1, 0x19); // ODR=12 Hz, Active mode
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}
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void MMA8652FC::setSensitivity(uint8_t threshold, uint8_t filterTime) {
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uint8_t sens = 9 * 2 + 17;
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sens -= 2 * threshold;
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I2C_RegisterWrite( CTRL_REG1, 0); // sleep mode
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I2C_RegisterWrite(FF_MT_THS_REG, (sens & 0x7F)); // Set accumulation threshold
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I2C_RegisterWrite(FF_MT_COUNT_REG, filterTime); // Set debounce threshold
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I2C_RegisterWrite( CTRL_REG1, 0x31); // ODR=12 Hz, Active mode
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}
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bool MMA8652FC::getOrientation() {
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//First read the PL_STATUS register
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uint8_t plStatus = I2C_RegisterRead(PL_STATUS_REG);
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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 !plStatus;
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}
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void MMA8652FC::getAxisReadings(int16_t *x, int16_t *y, int16_t *z) {
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uint8_t temp = 0;
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HAL_I2C_Mem_Read(i2c, MMA8652FC_I2C_ADDRESS, OUT_X_MSB_REG, I2C_MEMADD_SIZE_8BIT, (uint8_t*) &temp, 1, 0xFFFF);
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(*x) = temp;
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(*x) <<= 8;
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HAL_I2C_Mem_Read(i2c, MMA8652FC_I2C_ADDRESS, OUT_X_LSB_REG, I2C_MEMADD_SIZE_8BIT, (uint8_t*) &temp, 1, 0xFFFF);
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(*x) |= temp;
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HAL_I2C_Mem_Read(i2c, MMA8652FC_I2C_ADDRESS, OUT_Y_MSB_REG, I2C_MEMADD_SIZE_8BIT, (uint8_t*) &temp, 1, 0xFFFF);
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(*y) = temp;
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(*y) <<= 8;
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HAL_I2C_Mem_Read(i2c, MMA8652FC_I2C_ADDRESS, OUT_Y_LSB_REG, I2C_MEMADD_SIZE_8BIT, (uint8_t*) &temp, 1, 0xFFFF);
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(*y) |= temp;
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HAL_I2C_Mem_Read(i2c, MMA8652FC_I2C_ADDRESS, OUT_Z_MSB_REG, I2C_MEMADD_SIZE_8BIT, (uint8_t*) &temp, 1, 0xFFFF);
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(*z) = temp;
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(*z) <<= 8;
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HAL_I2C_Mem_Read(i2c, MMA8652FC_I2C_ADDRESS, OUT_Z_LSB_REG, I2C_MEMADD_SIZE_8BIT, (uint8_t*) &temp, 1, 0xFFFF);
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(*z) |= temp;
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}
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