sv/IronOS
1
0
Fork 0
forked from me/IronOS
Code Pull Requests Activity

Move watchdog resets to only be in PID

Browse Source
This commit is contained in:
Ben V. Brown
2018-01-26 12:30:09 +11:00
parent 93869b979e
commit 715be0b0b6
4 changed files with 22 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files

30
workspace/TS100/src/MMA8652FC.cpp
View File

@@ -14,12 +14,14 @@ MMA8652FC::MMA8652FC(I2C_HandleTypeDef* i2cHandle) {
void MMA8652FC::I2C_RegisterWrite(uint8_t reg, uint8_t data) {
HAL_I2C_Mem_Write(i2c, MMA8652FC_I2C_ADDRESS, reg, I2C_MEMADD_SIZE_8BIT, &data, 1, 0xFFFF);
HAL_I2C_Mem_Write(i2c, MMA8652FC_I2C_ADDRESS, reg, I2C_MEMADD_SIZE_8BIT,
&data, 1, 500);
}
uint8_t MMA8652FC::I2C_RegisterRead(uint8_t reg) {
uint8_t tx_data[1];
HAL_I2C_Mem_Read(i2c, MMA8652FC_I2C_ADDRESS, reg, I2C_MEMADD_SIZE_8BIT, tx_data, 1, 0xFFFF);
HAL_I2C_Mem_Read(i2c, MMA8652FC_I2C_ADDRESS, reg, I2C_MEMADD_SIZE_8BIT,
tx_data, 1, 500);
return tx_data[0];
}
@@ -28,30 +30,32 @@ void MMA8652FC::initalize() {
I2C_RegisterWrite(CTRL_REG2, 0); //Normal mode
I2C_RegisterWrite( CTRL_REG2, 0x40); // Reset all registers to POR values
HAL_Delay(2); // ~1ms delay
I2C_RegisterWrite(FF_MT_CFG_REG, 0x78); // Enable motion detection for X, Y, Z axis, latch disabled
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(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, 0x01 | (1 << 4)); // Enable dataready interrupt & orientation interrupt
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_REG4, 0x01 | (1 << 4)); // Enable dataready interrupt & orientation interrupt
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
HAL_Delay(2); // ~1ms delay
}
void MMA8652FC::setSensitivity(uint8_t threshold, uint8_t filterTime) {
uint8_t sens = 9 * 2 + 17;
sens -= 2 * threshold;
taskENTER_CRITICAL();
I2C_RegisterWrite( CTRL_REG1, 0); // sleep mode
I2C_RegisterWrite(FF_MT_THS_REG, (sens & 0x7F)); // Set accumulation threshold
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
taskEXIT_CRITICAL();
}
bool MMA8652FC::getOrientation() {
@@ -69,8 +73,8 @@ bool MMA8652FC::getOrientation() {
void MMA8652FC::getAxisReadings(int16_t *x, int16_t *y, int16_t *z) {
uint8_t tempArr[6];
taskENTER_CRITICAL();
while (HAL_I2C_Mem_Read(i2c, MMA8652FC_I2C_ADDRESS, OUT_X_MSB_REG, I2C_MEMADD_SIZE_8BIT, (uint8_t*) tempArr, 6,
0xFFFF) != HAL_OK) {
while (HAL_I2C_Mem_Read(i2c, MMA8652FC_I2C_ADDRESS, OUT_X_MSB_REG,
I2C_MEMADD_SIZE_8BIT, (uint8_t*) tempArr, 6, 0xFFFF) != HAL_OK) {
HAL_Delay(5);
}
taskEXIT_CRITICAL();