85 lines
2.9 KiB
C++
85 lines
2.9 KiB
C++
/*
|
|
* MMA8652FC.cpp
|
|
*
|
|
* Created on: 31Aug.,2017
|
|
* Author: Ben V. Brown
|
|
*/
|
|
|
|
#include <MMA8652FC.hpp>
|
|
#include "cmsis_os.h"
|
|
|
|
MMA8652FC::MMA8652FC(I2C_HandleTypeDef* 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);
|
|
}
|
|
|
|
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);
|
|
|
|
return tx_data[0];
|
|
}
|
|
void MMA8652FC::initalize() {
|
|
//send all the init commands to the unit
|
|
I2C_RegisterWrite(CTRL_REG2, 0); //Normal mode
|
|
I2C_RegisterWrite( CTRL_REG2, 0x40); // Reset all registers to POR values
|
|
HAL_Delay(2); // ~1ms delay
|
|
I2C_RegisterWrite(FF_MT_CFG_REG, 0x78); // Enable motion detection for X, Y, Z axis, latch disabled
|
|
|
|
I2C_RegisterWrite(PL_CFG_REG, 0x40); //Enable the orientation detection
|
|
I2C_RegisterWrite(PL_COUNT_REG, 200); //200 count debounce
|
|
I2C_RegisterWrite(PL_BF_ZCOMP_REG, 0b01000111); //Set the threshold to 42 degrees
|
|
I2C_RegisterWrite(P_L_THS_REG, 0b10011100); //Up the trip angles
|
|
I2C_RegisterWrite( CTRL_REG4, 0x01 | (1 << 4)); // Enable dataready interrupt & orientation interrupt
|
|
I2C_RegisterWrite( CTRL_REG5, 0x01); // Route data ready interrupts to INT1 ->PB5 ->EXTI5, leaving orientation routed to INT2
|
|
I2C_RegisterWrite( CTRL_REG2, 0x12); //Set maximum resolution oversampling
|
|
I2C_RegisterWrite( XYZ_DATA_CFG_REG, (1 << 4)); //select high pass filtered data
|
|
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();
|
|
}
|
|
|
|
bool MMA8652FC::getOrientation() {
|
|
//First read the PL_STATUS registertaskENTER_CRITICAL();
|
|
taskENTER_CRITICAL();
|
|
uint8_t plStatus = I2C_RegisterRead(PL_STATUS_REG);
|
|
taskEXIT_CRITICAL();
|
|
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;
|
|
}
|
|
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();
|
|
(*x) = tempArr[0] << 8 | tempArr[1];
|
|
(*y) = tempArr[2] << 8 | tempArr[3];
|
|
(*z) = tempArr[4] << 8 | tempArr[5];
|
|
}
|