diff --git a/source/Core/Drivers/BMA223.cpp b/source/Core/Drivers/BMA223.cpp index cffe109d..416e6aa2 100644 --- a/source/Core/Drivers/BMA223.cpp +++ b/source/Core/Drivers/BMA223.cpp @@ -5,14 +5,16 @@ * Author: Ralim */ +#include "accelerometers_common.h" #include #include + bool BMA223::detect() { - if (FRToSI2C::probe(BMA223_ADDRESS)) { + if (ACCEL_I2C_CLASS::probe(BMA223_ADDRESS)) { // Read chip id to ensure its not an address collision uint8_t id = 0; - if (FRToSI2C::Mem_Read(BMA223_ADDRESS, BMA223_BGW_CHIPID, &id, 1)) { + if (ACCEL_I2C_CLASS::Mem_Read(BMA223_ADDRESS, BMA223_BGW_CHIPID, &id, 1)) { return id == 0b11111000; } } @@ -20,7 +22,7 @@ bool BMA223::detect() { return false; } -static const FRToSI2C::I2C_REG i2c_registers[] = { +static const ACCEL_I2C_CLASS::I2C_REG i2c_registers[] = { // // {BMA223_PMU_RANGE, 0b00000011, 0}, // 2G range @@ -44,7 +46,7 @@ bool BMA223::initalize() { // Hysteresis is set to ~ 16 counts // Theta blocking is set to 0b10 - return FRToSI2C::writeRegistersBulk(BMA223_ADDRESS, i2c_registers, sizeof(i2c_registers) / sizeof(i2c_registers[0])); + return ACCEL_I2C_CLASS::writeRegistersBulk(BMA223_ADDRESS, i2c_registers, sizeof(i2c_registers) / sizeof(i2c_registers[0])); } void BMA223::getAxisReadings(int16_t &x, int16_t &y, int16_t &z) { @@ -52,7 +54,7 @@ void BMA223::getAxisReadings(int16_t &x, int16_t &y, int16_t &z) { // And yet there are MSB and LSB registers _sigh_. uint8_t sensorData[6] = {0, 0, 0, 0, 0, 0}; - if (FRToSI2C::Mem_Read(BMA223_ADDRESS, BMA223_ACCD_X_LSB, sensorData, 6) == false) { + if (ACCEL_I2C_CLASS::Mem_Read(BMA223_ADDRESS, BMA223_ACCD_X_LSB, sensorData, 6) == false) { x = y = z = 0; return; } diff --git a/source/Core/Drivers/BMA223.hpp b/source/Core/Drivers/BMA223.hpp index 5e033784..863cdf4c 100644 --- a/source/Core/Drivers/BMA223.hpp +++ b/source/Core/Drivers/BMA223.hpp @@ -9,6 +9,7 @@ #define CORE_DRIVERS_BMA223_HPP_ #include "BMA223_defines.h" #include "BSP.h" +#include "accelerometers_common.h" #include "I2C_Wrapper.hpp" class BMA223 { @@ -17,7 +18,7 @@ public: static bool initalize(); // 1 = rh, 2,=lh, 8=flat static Orientation getOrientation() { - uint8_t val = FRToSI2C::I2C_RegisterRead(BMA223_ADDRESS, BMA223_INT_STATUS_3); + uint8_t val = ACCEL_I2C_CLASS::I2C_RegisterRead(BMA223_ADDRESS, BMA223_INT_STATUS_3); val >>= 4; // we dont need high values val &= 0b11; if (val & 0b10) { diff --git a/source/Core/Drivers/MMA8652FC.cpp b/source/Core/Drivers/MMA8652FC.cpp index 3d0fa0d7..ce59095b 100644 --- a/source/Core/Drivers/MMA8652FC.cpp +++ b/source/Core/Drivers/MMA8652FC.cpp @@ -8,9 +8,10 @@ #include #include "MMA8652FC.hpp" +#include "accelerometers_common.h" #include "cmsis_os.h" -static const FRToSI2C::I2C_REG i2c_registers[] = { +static const ACCEL_I2C_CLASS::I2C_REG i2c_registers[] = { {CTRL_REG2, 0, 0}, // Normal mode {CTRL_REG2, 0x40, 2}, // Reset all registers to POR values {FF_MT_CFG_REG, 0x78, 0}, // Enable motion detection for X, Y, Z axis, latch disabled @@ -26,11 +27,11 @@ static const FRToSI2C::I2C_REG i2c_registers[] = { {CTRL_REG1, 0x19, 0} // ODR=12 Hz, Active mode }; -bool MMA8652FC::initalize() { return FRToSI2C::writeRegistersBulk(MMA8652FC_I2C_ADDRESS, i2c_registers, sizeof(i2c_registers) / sizeof(i2c_registers[0])); } +bool MMA8652FC::initalize() { return ACCEL_I2C_CLASS::writeRegistersBulk(MMA8652FC_I2C_ADDRESS, i2c_registers, sizeof(i2c_registers) / sizeof(i2c_registers[0])); } Orientation MMA8652FC::getOrientation() { // First read the PL_STATUS register - uint8_t plStatus = FRToSI2C::I2C_RegisterRead(MMA8652FC_I2C_ADDRESS, PL_STATUS_REG); + uint8_t plStatus = ACCEL_I2C_CLASS::I2C_RegisterRead(MMA8652FC_I2C_ADDRESS, PL_STATUS_REG); if ((plStatus & 0b10000000) == 0b10000000) { plStatus >>= 1; // We don't need the up/down bit plStatus &= 0x03; // mask to the two lower bits @@ -47,11 +48,11 @@ Orientation MMA8652FC::getOrientation() { void MMA8652FC::getAxisReadings(int16_t &x, int16_t &y, int16_t &z) { std::array sensorData; - FRToSI2C::Mem_Read(MMA8652FC_I2C_ADDRESS, OUT_X_MSB_REG, reinterpret_cast(sensorData.begin()), sensorData.size() * sizeof(int16_t)); + ACCEL_I2C_CLASS::Mem_Read(MMA8652FC_I2C_ADDRESS, OUT_X_MSB_REG, reinterpret_cast(sensorData.begin()), sensorData.size() * sizeof(int16_t)); x = static_cast(__builtin_bswap16(*reinterpret_cast(&sensorData[0]))); y = static_cast(__builtin_bswap16(*reinterpret_cast(&sensorData[1]))); z = static_cast(__builtin_bswap16(*reinterpret_cast(&sensorData[2]))); } -bool MMA8652FC::detect() { return FRToSI2C::probe(MMA8652FC_I2C_ADDRESS); } +bool MMA8652FC::detect() { return ACCEL_I2C_CLASS::probe(MMA8652FC_I2C_ADDRESS); } diff --git a/source/Core/Drivers/MSA301.cpp b/source/Core/Drivers/MSA301.cpp index 3e1b9e46..1f6f707e 100644 --- a/source/Core/Drivers/MSA301.cpp +++ b/source/Core/Drivers/MSA301.cpp @@ -6,11 +6,12 @@ */ #include "MSA301_defines.h" +#include "accelerometers_common.h" #include #define MSA301_I2C_ADDRESS 0x26 << 1 -bool MSA301::detect() { return FRToSI2C::probe(MSA301_I2C_ADDRESS); } +bool MSA301::detect() { return ACCEL_I2C_CLASS::probe(MSA301_I2C_ADDRESS); } -static const FRToSI2C::I2C_REG i2c_registers[] = { +static const ACCEL_I2C_CLASS::I2C_REG i2c_registers[] = { // // {MSA301_REG_ODR, 0b00001000, 1}, // X/Y/Z enabled @ 250Hz @@ -21,11 +22,11 @@ static const FRToSI2C::I2C_REG i2c_registers[] = { }; -bool MSA301::initalize() { return FRToSI2C::writeRegistersBulk(MSA301_I2C_ADDRESS, i2c_registers, sizeof(i2c_registers) / sizeof(i2c_registers[0])); } +bool MSA301::initalize() { return ACCEL_I2C_CLASS::writeRegistersBulk(MSA301_I2C_ADDRESS, i2c_registers, sizeof(i2c_registers) / sizeof(i2c_registers[0])); } Orientation MSA301::getOrientation() { uint8_t temp = 0; - FRToSI2C::Mem_Read(MSA301_I2C_ADDRESS, MSA301_REG_ORIENT_STATUS, &temp, 1); + ACCEL_I2C_CLASS::Mem_Read(MSA301_I2C_ADDRESS, MSA301_REG_ORIENT_STATUS, &temp, 1); switch (temp) { case 112: return Orientation::ORIENTATION_LEFT_HAND; @@ -39,7 +40,7 @@ Orientation MSA301::getOrientation() { void MSA301::getAxisReadings(int16_t &x, int16_t &y, int16_t &z) { uint8_t temp[6]; // Bulk read all 6 regs - FRToSI2C::Mem_Read(MSA301_I2C_ADDRESS, MSA301_REG_OUT_X_L, temp, 6); + ACCEL_I2C_CLASS::Mem_Read(MSA301_I2C_ADDRESS, MSA301_REG_OUT_X_L, temp, 6); x = int16_t(((int16_t)temp[1]) << 8 | temp[0]) >> 2; y = int16_t(((int16_t)temp[3]) << 8 | temp[2]) >> 2; z = int16_t(((int16_t)temp[5]) << 8 | temp[4]) >> 2; diff --git a/source/Core/Drivers/SC7A20.cpp b/source/Core/Drivers/SC7A20.cpp index 81c8d1c2..3e6a6a53 100644 --- a/source/Core/Drivers/SC7A20.cpp +++ b/source/Core/Drivers/SC7A20.cpp @@ -6,6 +6,7 @@ */ #include "LIS2DH12_defines.hpp" +#include "accelerometers_common.h" #include #include #include @@ -17,20 +18,20 @@ bool SC7A20::isInImitationMode; */ bool SC7A20::detect() { - if (FRToSI2C::probe(SC7A20_ADDRESS)) { + if (ACCEL_I2C_CLASS::probe(SC7A20_ADDRESS)) { // Read chip id to ensure its not an address collision uint8_t id = 0; - if (FRToSI2C::Mem_Read(SC7A20_ADDRESS, SC7A20_WHO_AMI_I, &id, 1)) { + if (ACCEL_I2C_CLASS::Mem_Read(SC7A20_ADDRESS, SC7A20_WHO_AMI_I, &id, 1)) { if (id == SC7A20_WHO_AM_I_VALUE) { isInImitationMode = false; return true; } } } - if (FRToSI2C::probe(SC7A20_ADDRESS2)) { + if (ACCEL_I2C_CLASS::probe(SC7A20_ADDRESS2)) { // Read chip id to ensure its not an address collision uint8_t id = 0; - if (FRToSI2C::Mem_Read(SC7A20_ADDRESS2, SC7A20_WHO_AMI_I, &id, 1)) { + if (ACCEL_I2C_CLASS::Mem_Read(SC7A20_ADDRESS2, SC7A20_WHO_AMI_I, &id, 1)) { if (id == SC7A20_WHO_AM_I_VALUE) { isInImitationMode = true; return true; @@ -40,7 +41,7 @@ bool SC7A20::detect() { return false; } -static const FRToSI2C::I2C_REG i2c_registers[] = { +static const ACCEL_I2C_CLASS::I2C_REG i2c_registers[] = { // // {SC7A20_CTRL_REG1, 0b01100111, 0}, // 200Hz, XYZ enabled @@ -59,19 +60,19 @@ static const FRToSI2C::I2C_REG i2c_registers[] = { // }; -static const FRToSI2C::I2C_REG i2c_registers_alt[] = {{LIS_CTRL_REG1, 0b00110111, 0}, // 200Hz XYZ - {LIS_CTRL_REG2, 0b00000000, 0}, // - {LIS_CTRL_REG3, 0b01100000, 0}, // Setup interrupt pins - {LIS_CTRL_REG4, 0b00001000, 0}, // Block update mode off, HR on - {LIS_CTRL_REG5, 0b00000010, 0}, // - {LIS_CTRL_REG6, 0b01100010, 0}, - // Basically setup the unit to run, and enable 4D orientation detection - {LIS_INT2_CFG, 0b01111110, 0}, // setup for movement detection - {LIS_INT2_THS, 0x28, 0}, // - {LIS_INT2_DURATION, 64, 0}, // - {LIS_INT1_CFG, 0b01111110, 0}, // - {LIS_INT1_THS, 0x28, 0}, // - {LIS_INT1_DURATION, 64, 0}}; +static const ACCEL_I2C_CLASS::I2C_REG i2c_registers_alt[] = {{LIS_CTRL_REG1, 0b00110111, 0}, // 200Hz XYZ + {LIS_CTRL_REG2, 0b00000000, 0}, // + {LIS_CTRL_REG3, 0b01100000, 0}, // Setup interrupt pins + {LIS_CTRL_REG4, 0b00001000, 0}, // Block update mode off, HR on + {LIS_CTRL_REG5, 0b00000010, 0}, // + {LIS_CTRL_REG6, 0b01100010, 0}, + // Basically setup the unit to run, and enable 4D orientation detection + {LIS_INT2_CFG, 0b01111110, 0}, // setup for movement detection + {LIS_INT2_THS, 0x28, 0}, // + {LIS_INT2_DURATION, 64, 0}, // + {LIS_INT1_CFG, 0b01111110, 0}, // + {LIS_INT1_THS, 0x28, 0}, // + {LIS_INT1_DURATION, 64, 0}}; bool SC7A20::initalize() { // Setup acceleration readings @@ -83,9 +84,9 @@ bool SC7A20::initalize() { // Hysteresis is set to ~ 16 counts // Theta blocking is set to 0b10 if (isInImitationMode) { - return FRToSI2C::writeRegistersBulk(SC7A20_ADDRESS2, i2c_registers_alt, sizeof(i2c_registers_alt) / sizeof(i2c_registers_alt[0])); + return ACCEL_I2C_CLASS::writeRegistersBulk(SC7A20_ADDRESS2, i2c_registers_alt, sizeof(i2c_registers_alt) / sizeof(i2c_registers_alt[0])); } else { - return FRToSI2C::writeRegistersBulk(SC7A20_ADDRESS, i2c_registers, sizeof(i2c_registers) / sizeof(i2c_registers[0])); + return ACCEL_I2C_CLASS::writeRegistersBulk(SC7A20_ADDRESS, i2c_registers, sizeof(i2c_registers) / sizeof(i2c_registers[0])); } } @@ -93,7 +94,7 @@ void SC7A20::getAxisReadings(int16_t &x, int16_t &y, int16_t &z) { // We can tell the accelerometer to output in LE mode which makes this simple uint16_t sensorData[3] = {0, 0, 0}; - if (FRToSI2C::Mem_Read(isInImitationMode ? SC7A20_ADDRESS2 : SC7A20_ADDRESS, isInImitationMode ? SC7A20_OUT_X_L_ALT : SC7A20_OUT_X_L, (uint8_t *)sensorData, 6) == false) { + if (ACCEL_I2C_CLASS::Mem_Read(isInImitationMode ? SC7A20_ADDRESS2 : SC7A20_ADDRESS, isInImitationMode ? SC7A20_OUT_X_L_ALT : SC7A20_OUT_X_L, (uint8_t *)sensorData, 6) == false) { x = y = z = 0; return; } diff --git a/source/Core/Drivers/SC7A20.hpp b/source/Core/Drivers/SC7A20.hpp index ea65f824..d20cb467 100644 --- a/source/Core/Drivers/SC7A20.hpp +++ b/source/Core/Drivers/SC7A20.hpp @@ -10,6 +10,8 @@ #include "BSP.h" #include "I2C_Wrapper.hpp" #include "SC7A20_defines.h" +#include "accelerometers_common.h" + class SC7A20 { public: @@ -17,7 +19,7 @@ public: static bool initalize(); // 1 = rh, 2,=lh, 8=flat static Orientation getOrientation() { - uint8_t val = ((FRToSI2C::I2C_RegisterRead(isInImitationMode ? SC7A20_ADDRESS2 : SC7A20_ADDRESS, SC7A20_INT2_SOURCE) >> 2) - 1); + uint8_t val = ((ACCEL_I2C_CLASS::I2C_RegisterRead(isInImitationMode ? SC7A20_ADDRESS2 : SC7A20_ADDRESS, SC7A20_INT2_SOURCE) >> 2) - 1); if (val == 1) { #ifdef SC7_ORI_FLIP return Orientation::ORIENTATION_RIGHT_HAND; diff --git a/source/Core/Drivers/accelerometers_common.h b/source/Core/Drivers/accelerometers_common.h index 8c0f1aa9..b4f9c3a7 100644 --- a/source/Core/Drivers/accelerometers_common.h +++ b/source/Core/Drivers/accelerometers_common.h @@ -1,6 +1,6 @@ #ifndef CORE_DRIVERS_ACCELEROMTERS_COMMON_H_ #define CORE_DRIVERS_ACCELEROMTERS_COMMON_H_ - +#include "configuration.h" #if defined(ACCEL_I2CBB2) #include "I2CBB2.hpp" #define ACCEL_I2C_CLASS I2CBB2