e38da13306
This moves all of the I2C code to IRQ based (not DMA _yet_). But it does drastically improve reliability, especially of reads.
64 lines
2.3 KiB
C++
64 lines
2.3 KiB
C++
/*
|
|
* MMA8652FC.cpp
|
|
*
|
|
* Created on: 31Aug.,2017
|
|
* Author: Ben V. Brown
|
|
*/
|
|
|
|
#include <array>
|
|
|
|
#include "MMA8652FC.hpp"
|
|
#include "cmsis_os.h"
|
|
|
|
|
|
static const FRToSI2C::I2C_REG i2c_registers[] = { { CTRL_REG2, 0, 0 }, //Normal mode
|
|
{ CTRL_REG2, 0x40, 2 }, // Reset all registers to POR values
|
|
{ FF_MT_CFG_REG, 0x78, 0 }, // Enable motion detection for X, Y, Z axis, latch disabled
|
|
{ PL_CFG_REG, 0x40, 0 }, //Enable the orientation detection
|
|
{ PL_COUNT_REG, 200, 0 }, //200 count debounce
|
|
{ PL_BF_ZCOMP_REG, 0b01000111, 0 }, //Set the threshold to 42 degrees
|
|
{ P_L_THS_REG, 0b10011100, 0 }, //Up the trip angles
|
|
{ CTRL_REG4, 0x01 | (1 << 4), 0 }, // Enable dataready interrupt & orientation interrupt
|
|
{ CTRL_REG5, 0x01, 0 }, // Route data ready interrupts to INT1 ->PB5 ->EXTI5, leaving orientation routed to INT2
|
|
{ CTRL_REG2, 0x12, 0 }, //Set maximum resolution oversampling
|
|
{ XYZ_DATA_CFG_REG, (1 << 4), 0 }, //select high pass filtered data
|
|
{ HP_FILTER_CUTOFF_REG, 0x03, 0 }, //select high pass filtered data
|
|
{ CTRL_REG1, 0x19, 0 } // ODR=12 Hz, Active mode
|
|
};
|
|
|
|
bool MMA8652FC::initalize() {
|
|
return FRToSI2C::writeRegistersBulk(MMA8652FC_I2C_ADDRESS, i2c_registers, sizeof(i2c_registers) / sizeof(i2c_registers[0]));
|
|
|
|
}
|
|
|
|
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, 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() {
|
|
return FRToSI2C::probe(MMA8652FC_I2C_ADDRESS);
|
|
}
|