51 lines
1.5 KiB
C++
51 lines
1.5 KiB
C++
/*
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* MSA301.cpp
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*
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* Created on: 3 Jan 2021
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* Author: Ralim
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*/
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#include <MSA301.h>
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#include "MSA301_defines.h"
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#define MSA301_I2C_ADDRESS 0x4C
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bool MSA301::detect() {
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return FRToSI2C::probe(MSA301_I2C_ADDRESS);
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}
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static const FRToSI2C::I2C_REG i2c_registers[] = { //
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//
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{ MSA301_REG_ODR, 0b00001000, 1 }, //X/Y/Z enabled @ 250Hz
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{ MSA301_REG_POWERMODE, 0b0001001, 1 }, // Normal mode
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{ MSA301_REG_RESRANGE, 0b00000001, 0 }, // 14bit resolution @ 4G range
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{ MSA301_REG_ORIENT_HY, 0b01000000, 0 }, // 4*62.5mg hyst, no blocking, symmetrical
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{ MSA301_REG_INTSET0, 1 << 6, 0 }, // Turn on orientation detection (by enabling its interrupt)
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};
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bool MSA301::initalize() {
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return FRToSI2C::writeRegistersBulk(MSA301_I2C_ADDRESS, i2c_registers, sizeof(i2c_registers) / sizeof(i2c_registers[0]));
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}
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Orientation MSA301::getOrientation() {
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uint8_t temp = 0;
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FRToSI2C::Mem_Read(MSA301_I2C_ADDRESS, MSA301_REG_ORIENT_STATUS, &temp, 1);
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switch (temp) {
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case 112:
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return Orientation::ORIENTATION_LEFT_HAND;
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case 96:
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return Orientation::ORIENTATION_RIGHT_HAND;
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default:
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return Orientation::ORIENTATION_FLAT;
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}
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}
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void MSA301::getAxisReadings(int16_t &x, int16_t &y, int16_t &z) {
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uint8_t temp[6];
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//Bulk read all 6 regs
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FRToSI2C::Mem_Read(MSA301_I2C_ADDRESS, MSA301_REG_OUT_X_L, temp, 6);
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x = int16_t(((int16_t) temp[1]) << 8 | temp[0]) >> 2;
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y = int16_t(((int16_t) temp[3]) << 8 | temp[2]) >> 2;
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z = int16_t(((int16_t) temp[5]) << 8 | temp[4]) >> 2;
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}
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