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Reduce code size for accelerometer support (#288)

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* Reduce the LIS2DH12 driver's code size.
* Reduce the MMA8652FC driver's code size.
* Make orientation detection smaller.


* Inlined C++ class constructor.
* De-unroll I2C register writes.
* Removed unused setSensitivity method.
This commit is contained in:
Alessandro Gatti
2018-05-10 02:02:29 +02:00
committed by Ben V. Brown
parent 4718efe79b
commit 215fe8e9e8
6 changed files with 76 additions and 75 deletions
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66
workspace/TS100/src/MMA8652FC.cpp
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@@ -8,9 +8,26 @@
#include <MMA8652FC.hpp>
#include "cmsis_os.h"
MMA8652FC::MMA8652FC(FRToSI2C* i2cHandle) {
i2c = i2cHandle;
}
typedef struct {
const uint8_t reg;
const uint8_t val;
} MMA_REG;
static const MMA_REG i2c_registers[] = {
{CTRL_REG2, 0}, //Normal mode
{CTRL_REG2, 0x40}, // Reset all registers to POR values
{FF_MT_CFG_REG, 0x78}, // Enable motion detection for X, Y, Z axis, latch disabled
{PL_CFG_REG, 0x40}, //Enable the orientation detection
{PL_COUNT_REG, 200}, //200 count debounce
{PL_BF_ZCOMP_REG, 0b01000111}, //Set the threshold to 42 degrees
{P_L_THS_REG, 0b10011100}, //Up the trip angles
{CTRL_REG4, 0x01 | (1 << 4)}, // Enable dataready interrupt & orientation interrupt
{CTRL_REG5, 0x01}, // Route data ready interrupts to INT1 ->PB5 ->EXTI5, leaving orientation routed to INT2
{CTRL_REG2, 0x12}, //Set maximum resolution oversampling
{XYZ_DATA_CFG_REG, (1 << 4)}, //select high pass filtered data
{HP_FILTER_CUTOFF_REG, 0x03}, //select high pass filtered data
{CTRL_REG1, 0x19} // ODR=12 Hz, Active mode
};
void MMA8652FC::I2C_RegisterWrite(uint8_t reg, uint8_t data) {
i2c->Mem_Write( MMA8652FC_I2C_ADDRESS, reg, I2C_MEMADD_SIZE_8BIT, &data, 1);
@@ -24,47 +41,34 @@ uint8_t MMA8652FC::I2C_RegisterRead(uint8_t reg) {
return tx_data[0];
}
void MMA8652FC::initalize() {
size_t index = 0;
//send all the init commands to the unit
I2C_RegisterWrite(CTRL_REG2, 0); //Normal mode
I2C_RegisterWrite( CTRL_REG2, 0x40); // Reset all registers to POR values
I2C_RegisterWrite(i2c_registers[index].reg, i2c_registers[index].val); index++;
I2C_RegisterWrite(i2c_registers[index].reg, i2c_registers[index].val); index++;
HAL_Delay(2); // ~1ms delay
I2C_RegisterWrite(FF_MT_CFG_REG, 0x78); // Enable motion detection for X, Y, Z axis, latch disabled
I2C_RegisterWrite(PL_CFG_REG, 0x40); //Enable the orientation detection
I2C_RegisterWrite(PL_COUNT_REG, 200); //200 count debounce
I2C_RegisterWrite(PL_BF_ZCOMP_REG, 0b01000111); //Set the threshold to 42 degrees
I2C_RegisterWrite(P_L_THS_REG, 0b10011100); //Up the trip angles
I2C_RegisterWrite( CTRL_REG4, 0); // Disable IRQ's
I2C_RegisterWrite( CTRL_REG5, 0x01); // Route data ready interrupts to INT1 ->PB5 ->EXTI5, leaving orientation routed to INT2
I2C_RegisterWrite( CTRL_REG2, 0x12); //Set maximum resolution oversampling
I2C_RegisterWrite( XYZ_DATA_CFG_REG, (1 << 4)); //select high pass filtered data
I2C_RegisterWrite( HP_FILTER_CUTOFF_REG, 0x03); //select high pass filtered data
I2C_RegisterWrite( CTRL_REG1, 0x19); // ODR=12 Hz, Active mode
while (index < (sizeof(i2c_registers) / sizeof(i2c_registers[0]))) {
I2C_RegisterWrite(i2c_registers[index].reg, i2c_registers[index].val); index++;
}
}
void MMA8652FC::setSensitivity(uint8_t threshold, uint8_t filterTime) {
uint8_t sens = 9 * 2 + 17;
sens -= 2 * threshold;
I2C_RegisterWrite( CTRL_REG1, 0); // sleep mode
I2C_RegisterWrite(FF_MT_THS_REG, (sens & 0x7F));// Set accumulation threshold
I2C_RegisterWrite(FF_MT_COUNT_REG, filterTime); // Set debounce threshold
I2C_RegisterWrite( CTRL_REG1, 0x31); // ODR=12 Hz, Active mode
}
uint8_t MMA8652FC::getOrientation() {
Orientation MMA8652FC::getOrientation() {
//First read the PL_STATUS register
uint8_t plStatus = I2C_RegisterRead(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
//0 == left handed
//1 == right handed
return plStatus == 0 ? 2 : 1;
} else
return 0;
return static_cast<Orientation>(plStatus);
}
return ORIENTATION_FLAT;
}
void MMA8652FC::getAxisReadings(int16_t *x, int16_t *y, int16_t *z) {
uint8_t tempArr[6];