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Move Accel probe into class

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This commit is contained in:
Ben V. Brown
2020-05-29 20:46:19 +10:00
parent 3b0fc9c6f8
commit ef5ba8b650
5 changed files with 232 additions and 203 deletions
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88
workspace/TS100/Core/Inc/LIS2DH12.hpp
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@@ -1,42 +1,46 @@
/*
* LIS2DH12.hpp
*
* Created on: 27Feb.,2018
* Author: Ralim
*/
#ifndef LIS2DH12_HPP_
#define LIS2DH12_HPP_
#include "stm32f1xx_hal.h"
#include "FRToSI2C.hpp"
#include "LIS2DH12_defines.hpp"
#include "hardware.h"
class LIS2DH12 {
public:
static void initalize();
//1 = rh, 2,=lh, 8=flat
static Orientation getOrientation() {
#ifdef MODEL_TS80
uint8_t val = (FRToSI2C::I2C_RegisterRead(LIS2DH_I2C_ADDRESS,
LIS_INT2_SRC) >> 2);
if (val == 8)
val = 3;
else if (val == 1)
val = 1;
else if (val == 2)
val = 0;
else
val = 3;
return static_cast<Orientation>(val);
#endif
#ifdef MODEL_TS100
return static_cast<Orientation>((FRToSI2C::I2C_RegisterRead(LIS2DH_I2C_ADDRESS,LIS_INT2_SRC) >> 2) - 1);
#endif
}
static void getAxisReadings(int16_t& x, int16_t& y, int16_t& z);
private:
};
#endif /* LIS2DH12_HPP_ */
/*
* LIS2DH12.hpp
*
* Created on: 27Feb.,2018
* Author: Ralim
*/
#ifndef LIS2DH12_HPP_
#define LIS2DH12_HPP_
#include "stm32f1xx_hal.h"
#include "FRToSI2C.hpp"
#include "LIS2DH12_defines.hpp"
#include "hardware.h"
#ifdef MODEL_TS80
#define LIS_ORI_FLIP
#endif
class LIS2DH12 {
public:
static bool detect();
static void initalize();
//1 = rh, 2,=lh, 8=flat
static Orientation getOrientation() {
#ifdef LIS_ORI_FLIP
uint8_t val = (FRToSI2C::I2C_RegisterRead(LIS2DH_I2C_ADDRESS,
LIS_INT2_SRC) >> 2);
if (val == 8)
val = 3;
else if (val == 1)
val = 1;
else if (val == 2)
val = 0;
else
val = 3;
return static_cast<Orientation>(val);
#endif
#ifdef MODEL_TS100
return static_cast<Orientation>((FRToSI2C::I2C_RegisterRead(LIS2DH_I2C_ADDRESS,LIS_INT2_SRC) >> 2) - 1);
#endif
}
static void getAxisReadings(int16_t& x, int16_t& y, int16_t& z);
private:
};
#endif /* LIS2DH12_HPP_ */

55
workspace/TS100/Core/Inc/MMA8652FC.hpp
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@@ -1,27 +1,28 @@
/*
* MMA8652FC.h
*
* Created on: 31Aug.,2017
* Author: Ben V. Brown
*/
#ifndef MMA8652FC_HPP_
#define MMA8652FC_HPP_
#include "stm32f1xx_hal.h"
#include "MMA8652FC_defines.h"
#include "FRToSI2C.hpp"
#include "hardware.h"
class MMA8652FC {
public:
static void initalize(); // Initalize the system
static Orientation getOrientation();// Reads the I2C register and returns the orientation (true == left)
static void getAxisReadings(int16_t& x, int16_t& y, int16_t& z);
private:
};
#endif /* MMA8652FC_HPP_ */
/*
* MMA8652FC.h
*
* Created on: 31Aug.,2017
* Author: Ben V. Brown
*/
#ifndef MMA8652FC_HPP_
#define MMA8652FC_HPP_
#include "stm32f1xx_hal.h"
#include "MMA8652FC_defines.h"
#include "FRToSI2C.hpp"
#include "hardware.h"
class MMA8652FC {
public:
//Returns true if this accelerometer is detected
static bool detect();
//Init any internal state
static void initalize();
static Orientation getOrientation(); // Reads the I2C register and returns the orientation (true == left)
static void getAxisReadings(int16_t &x, int16_t &y, int16_t &z);
private:
};
#endif /* MMA8652FC_HPP_ */

110
workspace/TS100/Core/Src/LIS2DH12.cpp
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@@ -1,50 +1,60 @@
/*
* LIS2DH12.cpp
*
* Created on: 27Feb.,2018
* Author: Ralim
*/
#include <array>
#include "LIS2DH12.hpp"
#include "cmsis_os.h"
typedef struct {
const uint8_t reg;
const uint8_t value;
} LIS_REG;
static const LIS_REG i2c_registers[] = {
{LIS_CTRL_REG1, 0x17}, // 25Hz
{LIS_CTRL_REG2, 0b00001000}, // Highpass filter off
{LIS_CTRL_REG3, 0b01100000}, // Setup interrupt pins
{LIS_CTRL_REG4, 0b00001000}, // Block update mode off, HR on
{LIS_CTRL_REG5, 0b00000010},
{LIS_CTRL_REG6, 0b01100010},
//Basically setup the unit to run, and enable 4D orientation detection
{LIS_INT2_CFG, 0b01111110}, //setup for movement detection
{LIS_INT2_THS, 0x28},
{LIS_INT2_DURATION, 64},
{LIS_INT1_CFG, 0b01111110},
{LIS_INT1_THS, 0x28},
{LIS_INT1_DURATION, 64}
};
void LIS2DH12::initalize() {
for (size_t index = 0; index < (sizeof(i2c_registers) / sizeof(i2c_registers[0])); index++) {
FRToSI2C::I2C_RegisterWrite(LIS2DH_I2C_ADDRESS,i2c_registers[index].reg, i2c_registers[index].value);
}
}
void LIS2DH12::getAxisReadings(int16_t& x, int16_t& y, int16_t& z) {
std::array<int16_t, 3> sensorData;
FRToSI2C::Mem_Read(LIS2DH_I2C_ADDRESS, 0xA8, I2C_MEMADD_SIZE_8BIT,
reinterpret_cast<uint8_t*>(sensorData.begin()),
sensorData.size() * sizeof(int16_t));
x = sensorData[0];
y = sensorData[1];
z = sensorData[2];
}
/*
* LIS2DH12.cpp
*
* Created on: 27Feb.,2018
* Author: Ralim
*/
#include <array>
#include "LIS2DH12.hpp"
#include "cmsis_os.h"
typedef struct {
const uint8_t reg;
const uint8_t value;
} LIS_REG;
static const LIS_REG i2c_registers[] =
{ { LIS_CTRL_REG1, 0x17 }, // 25Hz
{ LIS_CTRL_REG2, 0b00001000 }, // Highpass filter off
{ LIS_CTRL_REG3, 0b01100000 }, // Setup interrupt pins
{ LIS_CTRL_REG4, 0b00001000 }, // Block update mode off, HR on
{ LIS_CTRL_REG5, 0b00000010 }, { LIS_CTRL_REG6, 0b01100010 },
//Basically setup the unit to run, and enable 4D orientation detection
{ LIS_INT2_CFG, 0b01111110 }, //setup for movement detection
{ LIS_INT2_THS, 0x28 }, { LIS_INT2_DURATION, 64 }, {
LIS_INT1_CFG, 0b01111110 }, { LIS_INT1_THS, 0x28 }, {
LIS_INT1_DURATION, 64 } };
void LIS2DH12::initalize() {
for (size_t index = 0;
index < (sizeof(i2c_registers) / sizeof(i2c_registers[0]));
index++) {
FRToSI2C::I2C_RegisterWrite(LIS2DH_I2C_ADDRESS,
i2c_registers[index].reg, i2c_registers[index].value);
}
}
void LIS2DH12::getAxisReadings(int16_t &x, int16_t &y, int16_t &z) {
std::array<int16_t, 3> sensorData;
FRToSI2C::Mem_Read(LIS2DH_I2C_ADDRESS, 0xA8, I2C_MEMADD_SIZE_8BIT,
reinterpret_cast<uint8_t*>(sensorData.begin()),
sensorData.size() * sizeof(int16_t));
x = sensorData[0];
y = sensorData[1];
z = sensorData[2];
}
bool LIS2DH12::detect() {
uint8_t buffer[1];
if (HAL_I2C_Mem_Read(&hi2c1, 25 << 1, 0x0F, I2C_MEMADD_SIZE_8BIT, buffer, 1,
1000) == HAL_OK) {
//ACK'd
return true;
}
//NAK'd
return false;
}

173
workspace/TS100/Core/Src/MMA8652FC.cpp
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@@ -1,78 +1,95 @@
/*
* MMA8652FC.cpp
*
* Created on: 31Aug.,2017
* Author: Ben V. Brown
*/
#include <array>
#include "MMA8652FC.hpp"
#include "cmsis_os.h"
typedef struct {
const uint8_t reg;
const uint8_t val;
} MMA_REG;
static const MMA_REG i2c_registers[] = { { CTRL_REG2, 0 }, //Normal mode
{ CTRL_REG2, 0x40 }, // Reset all registers to POR values
{ FF_MT_CFG_REG, 0x78 }, // Enable motion detection for X, Y, Z axis, latch disabled
{ PL_CFG_REG, 0x40 }, //Enable the orientation detection
{ PL_COUNT_REG, 200 }, //200 count debounce
{ PL_BF_ZCOMP_REG, 0b01000111 }, //Set the threshold to 42 degrees
{ P_L_THS_REG, 0b10011100 }, //Up the trip angles
{ CTRL_REG4, 0x01 | (1 << 4) }, // Enable dataready interrupt & orientation interrupt
{ CTRL_REG5, 0x01 }, // Route data ready interrupts to INT1 ->PB5 ->EXTI5, leaving orientation routed to INT2
{ CTRL_REG2, 0x12 }, //Set maximum resolution oversampling
{ XYZ_DATA_CFG_REG, (1 << 4) }, //select high pass filtered data
{ HP_FILTER_CUTOFF_REG, 0x03 }, //select high pass filtered data
{ CTRL_REG1, 0x19 } // ODR=12 Hz, Active mode
};
void MMA8652FC::initalize() {
size_t index = 0;
//send all the init commands to the unit
FRToSI2C::I2C_RegisterWrite(MMA8652FC_I2C_ADDRESS,i2c_registers[index].reg, i2c_registers[index].val);
index++;
FRToSI2C::I2C_RegisterWrite(MMA8652FC_I2C_ADDRESS,i2c_registers[index].reg, i2c_registers[index].val);
index++;
HAL_Delay(2); // ~1ms delay
while (index < (sizeof(i2c_registers) / sizeof(i2c_registers[0]))) {
FRToSI2C::I2C_RegisterWrite(MMA8652FC_I2C_ADDRESS,i2c_registers[index].reg, i2c_registers[index].val);
index++;
}
}
Orientation MMA8652FC::getOrientation() {
//First read the PL_STATUS register
uint8_t plStatus = FRToSI2C::I2C_RegisterRead(MMA8652FC_I2C_ADDRESS,PL_STATUS_REG);
if ((plStatus & 0b10000000) == 0b10000000) {
plStatus >>= 1; //We don't need the up/down bit
plStatus &= 0x03; //mask to the two lower bits
//0 == left handed
//1 == right handed
return static_cast<Orientation>(plStatus);
}
return ORIENTATION_FLAT;
}
void MMA8652FC::getAxisReadings(int16_t& x, int16_t& y, int16_t& z) {
std::array<int16_t, 3> sensorData;
FRToSI2C::Mem_Read(MMA8652FC_I2C_ADDRESS, OUT_X_MSB_REG, I2C_MEMADD_SIZE_8BIT,
reinterpret_cast<uint8_t*>(sensorData.begin()),
sensorData.size() * sizeof(int16_t));
x = static_cast<int16_t>(__builtin_bswap16(*reinterpret_cast<uint16_t*>(&sensorData[0])));
y = static_cast<int16_t>(__builtin_bswap16(*reinterpret_cast<uint16_t*>(&sensorData[1])));
z = static_cast<int16_t>(__builtin_bswap16(*reinterpret_cast<uint16_t*>(&sensorData[2])));
}
/*
* MMA8652FC.cpp
*
* Created on: 31Aug.,2017
* Author: Ben V. Brown
*/
#include <array>
#include "MMA8652FC.hpp"
#include "cmsis_os.h"
typedef struct {
const uint8_t reg;
const uint8_t val;
} MMA_REG;
static const MMA_REG i2c_registers[] = { { CTRL_REG2, 0 }, //Normal mode
{ CTRL_REG2, 0x40 }, // Reset all registers to POR values
{ FF_MT_CFG_REG, 0x78 }, // Enable motion detection for X, Y, Z axis, latch disabled
{ PL_CFG_REG, 0x40 }, //Enable the orientation detection
{ PL_COUNT_REG, 200 }, //200 count debounce
{ PL_BF_ZCOMP_REG, 0b01000111 }, //Set the threshold to 42 degrees
{ P_L_THS_REG, 0b10011100 }, //Up the trip angles
{ CTRL_REG4, 0x01 | (1 << 4) }, // Enable dataready interrupt & orientation interrupt
{ CTRL_REG5, 0x01 }, // Route data ready interrupts to INT1 ->PB5 ->EXTI5, leaving orientation routed to INT2
{ CTRL_REG2, 0x12 }, //Set maximum resolution oversampling
{ XYZ_DATA_CFG_REG, (1 << 4) }, //select high pass filtered data
{ HP_FILTER_CUTOFF_REG, 0x03 }, //select high pass filtered data
{ CTRL_REG1, 0x19 } // ODR=12 Hz, Active mode
};
void MMA8652FC::initalize() {
size_t index = 0;
//send all the init commands to the unit
FRToSI2C::I2C_RegisterWrite(MMA8652FC_I2C_ADDRESS, i2c_registers[index].reg,
i2c_registers[index].val);
index++;
FRToSI2C::I2C_RegisterWrite(MMA8652FC_I2C_ADDRESS, i2c_registers[index].reg,
i2c_registers[index].val);
index++;
HAL_Delay(2); // ~1ms delay
while (index < (sizeof(i2c_registers) / sizeof(i2c_registers[0]))) {
FRToSI2C::I2C_RegisterWrite(MMA8652FC_I2C_ADDRESS,
i2c_registers[index].reg, i2c_registers[index].val);
index++;
}
}
Orientation MMA8652FC::getOrientation() {
//First read the PL_STATUS register
uint8_t plStatus = FRToSI2C::I2C_RegisterRead(MMA8652FC_I2C_ADDRESS,
PL_STATUS_REG);
if ((plStatus & 0b10000000) == 0b10000000) {
plStatus >>= 1; //We don't need the up/down bit
plStatus &= 0x03; //mask to the two lower bits
//0 == left handed
//1 == right handed
return static_cast<Orientation>(plStatus);
}
return ORIENTATION_FLAT;
}
void MMA8652FC::getAxisReadings(int16_t &x, int16_t &y, int16_t &z) {
std::array<int16_t, 3> sensorData;
FRToSI2C::Mem_Read(MMA8652FC_I2C_ADDRESS, OUT_X_MSB_REG,
I2C_MEMADD_SIZE_8BIT, reinterpret_cast<uint8_t*>(sensorData.begin()),
sensorData.size() * sizeof(int16_t));
x = static_cast<int16_t>(__builtin_bswap16(
*reinterpret_cast<uint16_t*>(&sensorData[0])));
y = static_cast<int16_t>(__builtin_bswap16(
*reinterpret_cast<uint16_t*>(&sensorData[1])));
z = static_cast<int16_t>(__builtin_bswap16(
*reinterpret_cast<uint16_t*>(&sensorData[2])));
}
bool MMA8652FC::detect() {
uint8_t buffer[1];
if (HAL_I2C_Mem_Read(&hi2c1, 29 << 1, 0x0F, I2C_MEMADD_SIZE_8BIT, buffer, 1,
1000) == HAL_OK) {
//The device ACK'd
return true;
}
//NAK'd
return false;
}

9
workspace/TS100/Core/Src/main.cpp
View File

@@ -55,14 +55,11 @@ int main(void) {
OLED::initialize(); // start up the LCD
OLED::setFont(0); // default to bigger font
// Testing for which accelerometer is mounted
uint8_t buffer[1];
HAL_IWDG_Refresh(&hiwdg);
if (HAL_I2C_Mem_Read(&hi2c1, 29 << 1, 0x0F, I2C_MEMADD_SIZE_8BIT, buffer, 1,
1000) == HAL_OK) {
resetWatchdog();
if (MMA8652FC::detect()) {
PCBVersion = 1;
MMA8652FC::initalize(); // this sets up the I2C registers
} else if (HAL_I2C_Mem_Read(&hi2c1, 25 << 1, 0x0F, I2C_MEMADD_SIZE_8BIT,
buffer, 1, 1000) == HAL_OK) {
} else if (LIS2DH12::detect()) {
PCBVersion = 2;
// Setup the ST Accelerometer
LIS2DH12::initalize(); // startup the accelerometer