./workspace/TS100 -> ./source/

source/Core/Drivers/MSA301.cpp

@@ -0,0 +1,50 @@
+/*
+ * MSA301.cpp
+ *
+ *  Created on: 3 Jan 2021
+ *      Author: Ralim
+ */
+
+#include <MSA301.h>
+#include "MSA301_defines.h"
+#define MSA301_I2C_ADDRESS 0x4C
+bool MSA301::detect() {
+	return FRToSI2C::probe(MSA301_I2C_ADDRESS);
+}
+
+static const FRToSI2C::I2C_REG i2c_registers[] = { //
+		//
+				{ MSA301_REG_ODR, 0b00001000, 1 },    //X/Y/Z enabled @ 250Hz
+				{ MSA301_REG_POWERMODE, 0b0001001, 1 },    // Normal mode
+				{ MSA301_REG_RESRANGE, 0b00000001, 0 },    // 14bit resolution @ 4G range
+				{ MSA301_REG_ORIENT_HY, 0b01000000, 0 },    // 4*62.5mg hyst, no blocking, symmetrical
+				{ MSA301_REG_INTSET0, 1 << 6, 0 },    // Turn on orientation detection (by enabling its interrupt)
+
+		};
+
+bool MSA301::initalize() {
+	return FRToSI2C::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);
+	switch (temp) {
+	case 112:
+		return Orientation::ORIENTATION_LEFT_HAND;
+	case 96:
+		return Orientation::ORIENTATION_RIGHT_HAND;
+	default:
+		return Orientation::ORIENTATION_FLAT;
+	}
+}
+
+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);
+	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;
+
+}