Rough pass updating to add BMA223 support
This commit is contained in:
Ben V. Brown
@@ -19,6 +19,7 @@
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#define POW_PD
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#define POW_QC
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#define TEMP_TMP36
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#define ACCEL_BMA
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#endif
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#endif /* BSP_MINIWARE_MODEL_CONFIG_H_ */
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@@ -6,13 +6,48 @@
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*/
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#include <BMA223.hpp>
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#include "BMA223_defines.h"
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#include <array>
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#define BMA223_ADDRESS 0b00110000
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bool BMA223::detect() {
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return FRToSI2C::probe(BMA223_ADDRESS);
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}
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static const FRToSI2C::I2C_REG i2c_registers[] = { //
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//
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{ BMA223_PMU_RANGE, 0b0011, 0 }, //2G range
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{ BMA223_PMU_BW, 0b1101, 0 }, //250Hz filter
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{ BMA223_PMU_LPW, 0x00, 0 }, //Full power
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{ BMA223_ACCD_HBW, 0b01000000, 0 }, //filtered data out
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{ BMA223_INT_OUT_CTRL, 0b1111, 0 }, //interrupt active high and OD to get it hi-z
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{ BMA223_OFC_CTRL, 0b00000111, 0 }, //High pass en
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//
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};
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void BMA223::initalize() {
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//Setup acceleration readings
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//2G range
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//bandwidth = 250Hz
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//High pass filter on (Slow compensation)
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//Turn off IRQ output pins
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//Orientation recognition in symmetrical mode
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// Hysteresis is set to ~ 16 counts
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//Theta blocking is set to 0b10
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FRToSI2C::writeRegistersBulk(BMA223_ADDRESS, i2c_registers, sizeof(i2c_registers) / sizeof(i2c_registers[0]));
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}
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void BMA223::getAxisReadings(int16_t& x, int16_t& y, int16_t& z) {
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//The BMA is odd in that its output data width is only 8 bits
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//And yet there are MSB and LSB registers _sigh_.
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uint8_t sensorData[6];
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FRToSI2C::Mem_Read(BMA223_ADDRESS, BMA223_ACCD_X_LSB, sensorData, 6);
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x = sensorData[1] << 2;
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y = sensorData[3] << 2;
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z = sensorData[5] << 2;
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}
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67
workspace/TS100/Core/Drivers/BMA223_defines.h
Normal file
67
workspace/TS100/Core/Drivers/BMA223_defines.h
Normal file
@@ -0,0 +1,67 @@
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/*
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* BMA223_defines.h
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*
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* Created on: 18 Sep. 2020
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* Author: Ralim
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*/
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#ifndef CORE_DRIVERS_BMA223_DEFINES_H_
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#define CORE_DRIVERS_BMA223_DEFINES_H_
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#define BMA223_BGW_CHIPID 0x00
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#define BMA223_ACCD_X_LSB 0x02
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#define BMA223_ACCD_X_MSB 0x03
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#define BMA223_ACCD_Y_LSB 0x04
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#define BMA223_ACCD_Y_MSB 0x05
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#define BMA223_ACCD_Z_LSB 0x06
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#define BMA223_ACCD_Z_MSB 0x07
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#define BMA223_ACCD_TEMP 0x08
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#define BMA223_INT_STATUS_0 0x09
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#define BMA223_INT_STATUS_1 0x0A
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#define BMA223_INT_STATUS_2 0x0B
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#define BMA223_INT_STATUS_3 0x0C
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#define BMA223_FIFO_STATUS 0x0E
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#define BMA223_PMU_RANGE 0x0F
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#define BMA223_PMU_BW 0x10
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#define BMA223_PMU_LPW 0x11
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#define BMA223_PMU_LOW_POWER 0x012
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#define BMA223_ACCD_HBW 0x13
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#define BMA223_BGW_SOFTRESET 0x14
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#define BMA223_INT_EN_0 0x16
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#define BMA223_INT_EN_1 0x17
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#define BMA223_INT_EN_2 0x18
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#define BMA223_INT_MAP_0 0x19
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#define BMA223_INT_MAP_1 0x1A
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#define BMA223_INT_MAP_2 0x1B
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#define BMA223_INT_SRC 0x1E
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#define BMA223_INT_OUT_CTRL 0x20
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#define BMA223_INT_RST_LATCH 0x21
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#define BMA223_INT_0 0x22
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#define BMA223_INT_1 0x23
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#define BMA223_INT_2 0x24
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#define BMA223_INT_3 0x25
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#define BMA223_INT_4 0x26
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#define BMA223_INT_5 0x27
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#define BMA223_INT_6 0x28
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#define BMA223_INT_7 0x29
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#define BMA223_INT_8 0x2A
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#define BMA223_INT_9 0x2B
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#define BMA223_INT_A 0x2C
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#define BMA223_INT_B 0x2D
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#define BMA223_INT_C 0x2E
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#define BMA223_INT_D 0x2F
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#define BMA223_FIFO_CONFIG_0 0x30
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#define BMA223_PMU_SELF_TEST 0x32
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#define BMA223_TRIM_NVM_CTRL 0x33
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#define BMA223_BGW_SPI3_WDT 0x34
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#define BMA223_OFC_CTRL 0x36
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#define BMA223_OFC_SETTING 0x37
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#define BMA223_OFC_OFFSET_X 0x38
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#define BMA223_OFC_OFFSET_Y 0x39
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#define BMA223_OFC_OFFSET_Z 0x3A
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#define BMA223_TRIM_GP0 0x3B
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#define BMA223_TRIM_GP1 0x3C
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#define BMA223_FIFO_CONFIG_1 0x3E
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#define BMA223_FIFO_DATA 0x3F
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#endif /* CORE_DRIVERS_BMA223_DEFINES_H_ */
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@@ -18,11 +18,12 @@
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#include "main.hpp"
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#include "power.hpp"
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#include "stdlib.h"
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#include "BMA223.hpp"
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#include "task.h"
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#define MOVFilter 8
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uint8_t accelInit = 0;
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uint32_t lastMovementTime = 0;
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void startMOVTask(void const *argument __unused) {
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void detectAccelerometerVersion() {
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#ifdef ACCEL_MMA
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if (MMA8652FC::detect()) {
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PCBVersion = 1;
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@@ -33,22 +34,53 @@ void startMOVTask(void const *argument __unused) {
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if (LIS2DH12::detect()) {
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PCBVersion = 2;
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// Setup the ST Accelerometer
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LIS2DH12::initalize(); // startup the accelerometer
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LIS2DH12::initalize();// startup the accelerometer
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} else
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#endif
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#ifdef ACCEL_BMA
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if (BMA223::detect()) {
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PCBVersion = 3;
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// Setup the ST Accelerometer
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BMA223::initalize(); // startup the accelerometer
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} else
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#endif
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{
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PCBVersion = 3;
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PCBVersion = 99;
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systemSettings.SleepTime = 0;
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systemSettings.ShutdownTime = 0; // No accel -> disable sleep
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systemSettings.sensitivity = 0;
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}
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}
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inline void readAccelerometer(int16_t& tx, int16_t& ty, int16_t& tz, Orientation &rotation) {
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#ifdef ACCEL_LIS
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if (PCBVersion == 2) {
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LIS2DH12::getAxisReadings(tx, ty, tz);
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rotation = LIS2DH12::getOrientation();
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} else
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#endif
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#ifdef ACCEL_MMA
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if (PCBVersion == 1) {
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MMA8652FC::getAxisReadings(tx, ty, tz);
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rotation = MMA8652FC::getOrientation();
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} else
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#endif
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#ifdef ACCEL_BMA
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if (PCBVersion == 3) {
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BMA223::getAxisReadings(tx, ty, tz);
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rotation = BMA223::getOrientation();
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} else
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#endif
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{
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//do nothing :(
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}
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}
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void startMOVTask(void const *argument __unused) {
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postRToSInit();
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OLED::setRotation(systemSettings.OrientationMode & 1);
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if ((PCBVersion == 1
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|| PCBVersion == 2)
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&& (systemSettings.autoStartMode == 2
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|| systemSettings.autoStartMode == 3))
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detectAccelerometerVersion();
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if ((systemSettings.autoStartMode == 2 || systemSettings.autoStartMode == 3))
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osDelay(2000);
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lastMovementTime = 0;
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@@ -64,21 +96,7 @@ void startMOVTask(void const *argument __unused) {
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for (;;) {
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int32_t threshold = 1500 + (9 * 200);
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threshold -= systemSettings.sensitivity * 200; // 200 is the step size
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#ifdef ACCEL_LIS
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if (PCBVersion == 2) {
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LIS2DH12::getAxisReadings(tx, ty, tz);
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rotation = LIS2DH12::getOrientation();
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} else
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#endif
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#ifdef ACCEL_MMA
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if (PCBVersion == 1) {
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MMA8652FC::getAxisReadings(tx, ty, tz);
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rotation = MMA8652FC::getOrientation();
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}else
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#endif
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{
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//do nothing :(
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}
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readAccelerometer(tx, ty, tz, rotation);
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if (systemSettings.OrientationMode == 2) {
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if (rotation != ORIENTATION_FLAT) {
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OLED::setRotation(rotation == ORIENTATION_LEFT_HAND); // link the data through
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