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Working auto orientation

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This commit is contained in:
Ben V. Brown
2020-09-24 18:06:20 +10:00
parent e38da13306
commit 088516acea
4 changed files with 48 additions and 45 deletions
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5
workspace/TS100/Core/Drivers/BMA223.cpp
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@@ -6,9 +6,7 @@
*/
#include <BMA223.hpp>
#include "BMA223_defines.h"
#include <array>
#define BMA223_ADDRESS 0x18<<1
bool BMA223::detect() {
return FRToSI2C::probe(BMA223_ADDRESS);
@@ -22,7 +20,8 @@ static const FRToSI2C::I2C_REG i2c_registers[] = { //
{ BMA223_ACCD_HBW, 0b00000000, 0 }, //filtered data out
{ BMA223_INT_OUT_CTRL, 0b00001010, 0 }, //interrupt active low and OD to get it hi-z
{ BMA223_INT_RST_LATCH, 0b10000000, 0 }, //interrupt active low and OD to get it hi-z
// { BMA223_OFC_CTRL, 0b00000111, 0 }, //High pass en
{ BMA223_INT_EN_0, 0b01000000, 0 }, //Enable orientation
{ BMA223_INT_A, 0b00100111, 0 }, //Setup orientation detection
//
};

31
workspace/TS100/Core/Drivers/BMA223.hpp
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@@ -8,9 +8,8 @@
#ifndef CORE_DRIVERS_BMA223_HPP_
#define CORE_DRIVERS_BMA223_HPP_
#include "I2C_Wrapper.hpp"
#include "LIS2DH12_defines.hpp"
#include "BSP.h"
#include "BMA223_defines.h"
class BMA223 {
public:
@@ -18,21 +17,19 @@ public:
static bool initalize();
//1 = rh, 2,=lh, 8=flat
static Orientation getOrientation() {
#ifdef ACCEL_ORI_FLIP
uint8_t val = (FRToSI2C::I2C_RegisterRead(LIS2DH_I2C_ADDRESS,
LIS_INT2_SRC) >> 2);
if (val == 8)
val = 3;
else if (val == 1)
val = 1;
else if (val == 2)
val = 0;
else
val = 3;
return static_cast<Orientation>(val);
#else
return static_cast<Orientation>((FRToSI2C::I2C_RegisterRead(LIS2DH_I2C_ADDRESS,LIS_INT2_SRC) >> 2) - 1);
#endif
uint8_t val = FRToSI2C::I2C_RegisterRead(BMA223_ADDRESS,
BMA223_INT_STATUS_3);
val >>= 4; //we dont need high values
val &= 0b11;
if(val &0b10){
return ORIENTATION_FLAT;
}else{
return static_cast<Orientation>(!val);
}
//0 = rhs
//1 =lhs
//2 & 3 == ignore
}
static void getAxisReadings(int16_t& x, int16_t& y, int16_t& z);

1
workspace/TS100/Core/Drivers/BMA223_defines.h
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@@ -8,6 +8,7 @@
#ifndef CORE_DRIVERS_BMA223_DEFINES_H_
#define CORE_DRIVERS_BMA223_DEFINES_H_
#define BMA223_ADDRESS 0x18<<1
#define BMA223_BGW_CHIPID 0x00
#define BMA223_ACCD_X_LSB 0x02
#define BMA223_ACCD_X_MSB 0x03