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Putting guards on I2C

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This commit is contained in:
Ben V. Brown
2017-10-28 13:19:20 +11:00
parent 3bf52cfc69
commit 812fbcd902
3 changed files with 60 additions and 45 deletions
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34
workspace/TS100/src/MMA8652FC.cpp
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@@ -6,6 +6,7 @@
*/
#include <MMA8652FC.hpp>
#include "cmsis_os.h"
MMA8652FC::MMA8652FC(I2C_HandleTypeDef* i2cHandle) {
i2c = i2cHandle;
@@ -54,8 +55,10 @@ void MMA8652FC::setSensitivity(uint8_t threshold, uint8_t filterTime) {
}
bool MMA8652FC::getOrientation() {
//First read the PL_STATUS register
//First read the PL_STATUS registertaskENTER_CRITICAL();
taskENTER_CRITICAL();
uint8_t plStatus = I2C_RegisterRead(PL_STATUS_REG);
taskEXIT_CRITICAL();
plStatus >>= 1; //We don't need the up/down bit
plStatus &= 0x03; //mask to the two lower bits
//0 == left handed
@@ -64,23 +67,14 @@ bool MMA8652FC::getOrientation() {
return !plStatus;
}
void MMA8652FC::getAxisReadings(int16_t *x, int16_t *y, int16_t *z) {
uint8_t temp = 0;
HAL_I2C_Mem_Read(i2c, MMA8652FC_I2C_ADDRESS, OUT_X_MSB_REG, I2C_MEMADD_SIZE_8BIT, (uint8_t*) &temp, 1, 0xFFFF);
(*x) = temp;
(*x) <<= 8;
HAL_I2C_Mem_Read(i2c, MMA8652FC_I2C_ADDRESS, OUT_X_LSB_REG, I2C_MEMADD_SIZE_8BIT, (uint8_t*) &temp, 1, 0xFFFF);
(*x) |= temp;
HAL_I2C_Mem_Read(i2c, MMA8652FC_I2C_ADDRESS, OUT_Y_MSB_REG, I2C_MEMADD_SIZE_8BIT, (uint8_t*) &temp, 1, 0xFFFF);
(*y) = temp;
(*y) <<= 8;
HAL_I2C_Mem_Read(i2c, MMA8652FC_I2C_ADDRESS, OUT_Y_LSB_REG, I2C_MEMADD_SIZE_8BIT, (uint8_t*) &temp, 1, 0xFFFF);
(*y) |= temp;
HAL_I2C_Mem_Read(i2c, MMA8652FC_I2C_ADDRESS, OUT_Z_MSB_REG, I2C_MEMADD_SIZE_8BIT, (uint8_t*) &temp, 1, 0xFFFF);
(*z) = temp;
(*z) <<= 8;
HAL_I2C_Mem_Read(i2c, MMA8652FC_I2C_ADDRESS, OUT_Z_LSB_REG, I2C_MEMADD_SIZE_8BIT, (uint8_t*) &temp, 1, 0xFFFF);
(*z) |= temp;
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) {
HAL_Delay(5);
}
taskEXIT_CRITICAL();
(*x) = tempArr[0] << 8 | tempArr[1];
(*y) = tempArr[2] << 8 | tempArr[3];
(*z) = tempArr[4] << 8 | tempArr[5];
}