e38da13306
This moves all of the I2C code to IRQ based (not DMA _yet_). But it does drastically improve reliability, especially of reads.
58 lines
1.6 KiB
C++
58 lines
1.6 KiB
C++
/*
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* BMA223.cpp
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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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#include <BMA223.hpp>
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#include "BMA223_defines.h"
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#include <array>
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#define BMA223_ADDRESS 0x18<<1
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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, 0b00000011, 0 }, //2G range
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{ BMA223_PMU_BW, 0b00001101, 0 }, //250Hz filter
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{ BMA223_PMU_LPW, 0b00000000, 0 }, //Full power
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{ BMA223_ACCD_HBW, 0b00000000, 0 }, //filtered data out
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{ BMA223_INT_OUT_CTRL, 0b00001010, 0 }, //interrupt active low and OD to get it hi-z
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{ BMA223_INT_RST_LATCH, 0b10000000, 0 }, //interrupt active low 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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bool 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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return 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] = { 0, 0, 0, 0, 0, 0 };
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if (FRToSI2C::Mem_Read(BMA223_ADDRESS, BMA223_ACCD_X_LSB, sensorData, 6) == false) {
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x = 0xAAFF;
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return;
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}
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x = sensorData[1] << 4;
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y = sensorData[3] << 4;
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z = sensorData[5] << 4;
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}
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