Merge pull request #786 from Ralim/adding-sc7a20

Adding SC7A20 Accelerometer support

workspace/TS100/Core/BSP/Pine64/Model_Config.h

@@ -23,6 +23,7 @@
 #define ENABLE_QC2
 #define TEMP_TMP36
 #define ACCEL_BMA
+#define ACCEL_SC7
 #define HALL_SENSOR
 #define HALL_SI7210
 #define BATTFILTERDEPTH 32

workspace/TS100/Core/Drivers/BMA223.cpp

@@ -9,7 +9,15 @@
 #include <array>
 
 bool BMA223::detect() {
-	return FRToSI2C::probe(BMA223_ADDRESS);
+	if (FRToSI2C::probe(BMA223_ADDRESS)) {
+		//Read chip id to ensure its not an address collision
+		uint8_t id = 0;
+		if (FRToSI2C::Mem_Read(BMA223_ADDRESS, BMA223_BGW_CHIPID, &id, 1)) {
+			return id == 0b11111000;
+		}
+	}
+
+	return false;
 }
 
 static const FRToSI2C::I2C_REG i2c_registers[] = { //

workspace/TS100/Core/Drivers/SC7A20.cpp

@@ -0,0 +1,69 @@
+/*
+ * SC7A20.cpp
+ *
+ *  Created on: 18 Sep. 2020
+ *      Author: Ralim
+ */
+
+#include <SC7A20.hpp>
+#include <SC7A20_defines.h>
+#include <array>
+
+bool SC7A20::detect() {
+	if (FRToSI2C::probe(SC7A20_ADDRESS)) {
+		//Read chip id to ensure its not an address collision
+		uint8_t id = 0;
+		if (FRToSI2C::Mem_Read(SC7A20_ADDRESS, SC7A20_WHO_AMI_I, &id, 1)) {
+			return id == 0b00010001;
+		}
+	}
+
+	return false;
+}
+
+static const FRToSI2C::I2C_REG i2c_registers[] = { //
+		//
+				{ SC7A20_CTRL_REG1, 0b01100111, 0 },    //200Hz, XYZ enabled
+				{ SC7A20_CTRL_REG2, 0b00000000, 0 },    //Setup filter to 0x00 ??
+				{ SC7A20_CTRL_REG3, 0b00000000, 0 },    //int1 off
+				{ SC7A20_CTRL_REG4, 0b01001000, 0 },    //Block mode off,little-endian,2G,High-pres,self test off
+				{ SC7A20_CTRL_REG5, 0b00000100, 0 },    //fifo off, D4D on int1
+				{ SC7A20_CTRL_REG6, 0x00, 0 },    //INT2 off
+				//Basically setup the unit to run, and enable 4D orientation detection
+				{ SC7A20_INT2_CFG, 0b01111110, 0 }, //setup for movement detection
+				{ SC7A20_INT2_THS, 0x28, 0 }, //
+				{ SC7A20_INT2_DURATION, 64, 0 }, //
+				{ SC7A20_INT1_CFG, 0b01111110, 0 }, //
+				{ SC7A20_INT1_THS, 0x28, 0 }, //
+				{ SC7A20_INT1_DURATION, 64, 0 }
+
+		//
+		};
+bool SC7A20::initalize() {
+	//Setup acceleration readings
+	//2G range
+	//bandwidth = 250Hz
+	//High pass filter on (Slow compensation)
+	//Turn off IRQ output pins
+	//Orientation recognition in symmetrical mode
+	// Hysteresis is set to ~ 16 counts
+	//Theta blocking is set to 0b10
+
+	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) {
+		x = y = z = 0;
+		return;
+	}
+	//Shift 6 to make its range ~= the other accelerometers
+	x = sensorData[0];
+	y = sensorData[1];
+	z = sensorData[2];
+
+}

workspace/TS100/Core/Drivers/SC7A20.hpp

@@ -0,0 +1,33 @@
+/*
+ * BMA223.hpp
+ *
+ *  Created on: 18 Sep. 2020
+ *      Author: Ralim
+ */
+
+#ifndef CORE_DRIVERS_SC7A20_HPP_
+#define CORE_DRIVERS_SC7A20_HPP_
+#include "I2C_Wrapper.hpp"
+#include "BSP.h"
+#include "SC7A20_defines.h"
+
+class SC7A20 {
+public:
+	static bool detect();
+	static bool initalize();
+	//1 = rh, 2,=lh, 8=flat
+	static Orientation getOrientation() {
+		uint8_t val = ((FRToSI2C::I2C_RegisterRead(SC7A20_ADDRESS, SC7A20_INT2_SOURCE) >> 2) - 1);
+		if (val == 1)
+			return Orientation::ORIENTATION_LEFT_HAND;
+		else if (val == 4 || val == 0)
+			return Orientation::ORIENTATION_RIGHT_HAND;
+		else
+			return Orientation::ORIENTATION_FLAT;
+	}
+	static void getAxisReadings(int16_t &x, int16_t &y, int16_t &z);
+
+private:
+};
+
+#endif /* CORE_DRIVERS_BMA223_HPP_ */

workspace/TS100/Core/Drivers/SC7A20_defines.h

@@ -0,0 +1,46 @@
+/*
+ * BMA223_defines.h
+ *
+ *  Created on: 18 Sep. 2020
+ *      Author: Ralim
+ */
+
+#ifndef CORE_DRIVERS_SC7A20_DEFINES_H_
+#define CORE_DRIVERS_SC7A20_DEFINES_H_
+
+#define SC7A20_ADDRESS 0x18<<1
+#define SC7A20_WHO_AMI_I 0x0F
+#define SC7A20_CTRL_REG1 0x20
+#define SC7A20_CTRL_REG2 0x21
+#define SC7A20_CTRL_REG3 0x22
+#define SC7A20_CTRL_REG4 0x23
+#define SC7A20_CTRL_REG5 0x24
+#define SC7A20_CTRL_REG6 0x25
+#define SC7A20_REFERENCE 0x26
+#define SC7A20_STATUS_REG 0x27
+#define SC7A20_OUT_X_L 0x28
+#define SC7A20_OUT_X_H 0x29
+#define SC7A20_OUT_Y_L 0x2A
+#define SC7A20_OUT_Y_H 0x2B
+#define SC7A20_OUT_Z_L 0x2C
+#define SC7A20_OUT_Z_H 0x2D
+#define SC7A20_FIFO_CTRL 0x2E
+#define SC7A20_FIFO_SRC 0x2F
+#define SC7A20_INT1_CFG 0x30
+#define SC7A20_INT1_SOURCE 0x31
+#define SC7A20_INT1_THS 0x32
+#define SC7A20_INT1_DURATION 0x33
+#define SC7A20_INT2_CFG 0x34
+#define SC7A20_INT2_SOURCE 0x35
+#define SC7A20_INT2_THS 0x36
+#define SC7A20_INT2_DURATION 0x37
+#define SC7A20_CLICK_CFG 0x38
+#define SC7A20_CLICK_SRC 0x39
+#define SC7A20_CLICK_THS 0x3A
+#define SC7A20_TIME_LIMIT 0x3B
+#define SC7A20_TIME_LATENCY 0x3C
+#define SC7A20_TIME_WINDOW 0x3D
+#define SC7A20_ACT_THS 0x3E
+#define SC7A20_ACT_DURATION 0x3F
+
+#endif /* CORE_DRIVERS_BMA223_DEFINES_H_ */

workspace/TS100/Core/Threads/MOVThread.cpp

@@ -6,6 +6,7 @@
  */
 
 #include "BMA223.hpp"
+#include "SC7A20.hpp"
 #include "BSP.h"
 #include "FreeRTOS.h"
 #include "I2C_Wrapper.hpp"
@@ -56,6 +57,14 @@ void detectAccelerometerVersion() {
 			DetectedAccelerometerVersion = 4;
 		}
 	} else
+#endif
+#ifdef ACCEL_SC7
+	if (SC7A20::detect()) {
+		// Setup the SC7A20 Accelerometer
+		if (SC7A20::initalize()) {
+			DetectedAccelerometerVersion = 5;
+		}
+	} else
 #endif
 	{
 		// disable imu sensitivity
@@ -86,6 +95,12 @@ inline void readAccelerometer(int16_t &tx, int16_t &ty, int16_t &tz, Orientation
 		MSA301::getAxisReadings(tx, ty, tz);
 		rotation = MSA301::getOrientation();
 	} else
+#endif
+#ifdef ACCEL_SC7
+	if (DetectedAccelerometerVersion == 5) {
+		SC7A20::getAxisReadings(tx, ty, tz);
+		rotation = SC7A20::getOrientation();
+	} else
 #endif
 	{
 		// do nothing :(