SC7A20 tweaks (#1251)

* Clean up handling of addresses

* Update SC7A20.hpp

* Try remapped Accel readings

* Fake LIS setup?

* Refining build options

source/Core/Drivers/SC7A20.cpp

@@ -5,11 +5,16 @@
  *      Author: Ralim
  */
 
+#include "LIS2DH12_defines.hpp"
 #include <SC7A20.hpp>
 #include <SC7A20_defines.h>
 #include <array>
 
-uint8_t SC7A20::activeAddress;
+bool SC7A20::isInImitationMode;
+/*
+- This little accelerometer seems to come in two forms, its "normal" setup, and then one where it imitates the LIS2DH12
+- This can be detected by checking the whoami registers
+*/
 
 bool SC7A20::detect() {
   if (FRToSI2C::probe(SC7A20_ADDRESS)) {
@@ -17,7 +22,7 @@ bool SC7A20::detect() {
     uint8_t id = 0;
     if (FRToSI2C::Mem_Read(SC7A20_ADDRESS, SC7A20_WHO_AMI_I, &id, 1)) {
       if (id == SC7A20_WHO_AM_I_VALUE) {
-        activeAddress = SC7A20_ADDRESS;
+        isInImitationMode = false;
         return true;
       }
     }
@@ -27,7 +32,7 @@ bool SC7A20::detect() {
     uint8_t id = 0;
     if (FRToSI2C::Mem_Read(SC7A20_ADDRESS2, SC7A20_WHO_AMI_I, &id, 1)) {
       if (id == SC7A20_WHO_AM_I_VALUE) {
-        activeAddress = SC7A20_ADDRESS2;
+        isInImitationMode = true;
         return true;
       }
     }
@@ -54,6 +59,20 @@ 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}};
+
 bool SC7A20::initalize() {
   // Setup acceleration readings
   // 2G range
@@ -63,15 +82,18 @@ bool SC7A20::initalize() {
   // Orientation recognition in symmetrical mode
   // Hysteresis is set to ~ 16 counts
   // Theta blocking is set to 0b10
-
+  if (isInImitationMode) {
-  return FRToSI2C::writeRegistersBulk(activeAddress, i2c_registers, sizeof(i2c_registers) / sizeof(i2c_registers[0]));
+    return FRToSI2C::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]));
+  }
 }
 
 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(SC7A20_ADDRESS, SC7A20_OUT_X_L, (uint8_t *)sensorData, 6) == false) {
+  if (FRToSI2C::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;
   }

source/Core/Drivers/SC7A20.hpp

@@ -17,7 +17,7 @@ public:
   static bool initalize();
   // 1 = rh, 2,=lh, 8=flat
   static Orientation getOrientation() {
-    uint8_t val = ((FRToSI2C::I2C_RegisterRead(activeAddress, SC7A20_INT2_SOURCE) >> 2) - 1);
+    uint8_t val = ((FRToSI2C::I2C_RegisterRead(isInImitationMode ? SC7A20_ADDRESS2 : SC7A20_ADDRESS, SC7A20_INT2_SOURCE) >> 2) - 1);
     if (val == 1) {
 #ifdef SC7_ORI_FLIP
       return Orientation::ORIENTATION_RIGHT_HAND;
@@ -36,7 +36,7 @@ public:
   static void getAxisReadings(int16_t &x, int16_t &y, int16_t &z);
 
 private:
-  static uint8_t activeAddress;
+  static bool isInImitationMode;
 };
 
 #endif /* CORE_DRIVERS_BMA223_HPP_ */

source/Core/Drivers/SC7A20_defines.h

@@ -23,6 +23,7 @@
 #define SC7A20_REFERENCE      0x26
 #define SC7A20_STATUS_REG     0x27
 #define SC7A20_OUT_X_L        0x28
+#define SC7A20_OUT_X_L_ALT    0xA8
 #define SC7A20_OUT_X_H        0x29
 #define SC7A20_OUT_Y_L        0x2A
 #define SC7A20_OUT_Y_H        0x2B

source/Makefile

@@ -192,7 +192,7 @@ $(shell find $(DEVICE_BSP_DIR) -type f -name '*.cpp') \
 $(shell find $(SOURCE_MIDDLEWARES_DIR) -type f -name '*.cpp')
 
 # code optimisation ------------------------------------------------------------
-OPTIM=-Os -flto -finline-small-functions -findirect-inlining -fdiagnostics-color -ffunction-sections -fdata-sections -fshort-enums -fsingle-precision-constant -ffreestanding -fno-common
+OPTIM=-Os -flto -finline-small-functions -fshort-wchar -findirect-inlining -fdiagnostics-color -ffunction-sections -fdata-sections -fshort-enums -fsingle-precision-constant  -fno-common
 
 # global defines ---------------------------------------------------------------
 GLOBAL_DEFINES += $(DEV_GLOBAL_DEFS) -D USE_RTOS_SYSTICK -D MODEL_$(model) -D VECT_TAB_OFFSET=$(bootldr_size)U
@@ -293,8 +293,6 @@ CXXFLAGS=$(DEV_CXXFLAGS)         \
 		-fno-non-call-exceptions \
 		-fno-use-cxa-atexit		 \
 		-fno-strict-aliasing 	 \
-		-fno-rtti 			     \
-		-fno-exceptions		     \
 		-fno-threadsafe-statics  \
 		-T$(LDSCRIPT)
 
@@ -307,7 +305,7 @@ CFLAGS=$(DEV_CFLAGS) 			\
 		$(GLOBAL_DEFINES) 		\
 		-D${COMPILER}  			\
 		-MMD 					\
-		-std=gnu99				\
+		-std=gnu11				\
 		$(OPTIM) 				\
 		-T$(LDSCRIPT)			\
 		-c