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I2C into nicer wrapper for FreeRToS

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This commit is contained in:
Ben V. Brown
2018-04-14 13:37:42 +10:00
parent cc09157106
commit f599624b6f
14 changed files with 223 additions and 104 deletions
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25
workspace/TS100/src/MMA8652FC.cpp
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@@ -8,20 +8,18 @@
#include <MMA8652FC.hpp>
#include "cmsis_os.h"
MMA8652FC::MMA8652FC(I2C_HandleTypeDef* i2cHandle) {
MMA8652FC::MMA8652FC(FRToSI2C* i2cHandle) {
i2c = i2cHandle;
}
void MMA8652FC::I2C_RegisterWrite(uint8_t reg, uint8_t data) {
HAL_I2C_Mem_Write(i2c, MMA8652FC_I2C_ADDRESS, reg, I2C_MEMADD_SIZE_8BIT,
&data, 1, 500);
i2c->Mem_Write( MMA8652FC_I2C_ADDRESS, reg, I2C_MEMADD_SIZE_8BIT, &data, 1);
}
uint8_t MMA8652FC::I2C_RegisterRead(uint8_t reg) {
uint8_t tx_data[1];
HAL_I2C_Mem_Read(i2c, MMA8652FC_I2C_ADDRESS, reg, I2C_MEMADD_SIZE_8BIT,
tx_data, 1, 500);
i2c->Mem_Read( MMA8652FC_I2C_ADDRESS, reg, I2C_MEMADD_SIZE_8BIT, tx_data,
1);
return tx_data[0];
}
@@ -43,44 +41,35 @@ void MMA8652FC::initalize() {
I2C_RegisterWrite( HP_FILTER_CUTOFF_REG, 0x03); //select high pass filtered data
I2C_RegisterWrite( CTRL_REG1, 0x19); // ODR=12 Hz, Active mode
HAL_Delay(2); // ~1ms delay
}
void MMA8652FC::setSensitivity(uint8_t threshold, uint8_t filterTime) {
uint8_t sens = 9 * 2 + 17;
sens -= 2 * threshold;
taskENTER_CRITICAL();
I2C_RegisterWrite( CTRL_REG1, 0); // sleep mode
I2C_RegisterWrite(FF_MT_THS_REG, (sens & 0x7F));// Set accumulation threshold
I2C_RegisterWrite(FF_MT_COUNT_REG, filterTime); // Set debounce threshold
I2C_RegisterWrite( CTRL_REG1, 0x31); // ODR=12 Hz, Active mode
taskEXIT_CRITICAL();
}
uint8_t MMA8652FC::getOrientation() {
//First read the PL_STATUS register
taskENTER_CRITICAL();
uint8_t plStatus = I2C_RegisterRead(PL_STATUS_REG);
taskEXIT_CRITICAL();
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 plStatus==0?2:1;
return plStatus == 0 ? 2 : 1;
} else
return 0;
}
void MMA8652FC::getAxisReadings(int16_t *x, int16_t *y, int16_t *z) {
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();
i2c->Mem_Read( MMA8652FC_I2C_ADDRESS, OUT_X_MSB_REG,I2C_MEMADD_SIZE_8BIT, (uint8_t*) tempArr, 6);
(*x) = tempArr[0] << 8 | tempArr[1];
(*y) = tempArr[2] << 8 | tempArr[3];
(*z) = tempArr[4] << 8 | tempArr[5];