5eb3df47df
The LIS2DH12 driver performed an unnecessary endianness conversion, as data from the sensor was already coming in little-endian format. The MMA8652FC driver is now using the rev16 opcode to perform the swap rather than doing all the bitshuffling operations in multiple steps.
51 lines
1.4 KiB
C++
51 lines
1.4 KiB
C++
/*
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* LIS2DH12.cpp
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*
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* Created on: 27Feb.,2018
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* Author: Ralim
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*/
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#include <array>
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#include "LIS2DH12.hpp"
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#include "cmsis_os.h"
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typedef struct {
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const uint8_t reg;
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const uint8_t value;
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} LIS_REG;
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static const LIS_REG i2c_registers[] = {
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{LIS_CTRL_REG1, 0x17}, // 25Hz
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{LIS_CTRL_REG2, 0b00001000}, // Highpass filter off
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{LIS_CTRL_REG3, 0b01100000}, // Setup interrupt pins
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{LIS_CTRL_REG4, 0b00001000}, // Block update mode off, HR on
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{LIS_CTRL_REG5, 0b00000010},
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{LIS_CTRL_REG6, 0b01100010},
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//Basically setup the unit to run, and enable 4D orientation detection
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{LIS_INT2_CFG, 0b01111110}, //setup for movement detection
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{LIS_INT2_THS, 0x28},
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{LIS_INT2_DURATION, 64},
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{LIS_INT1_CFG, 0b01111110},
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{LIS_INT1_THS, 0x28},
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{LIS_INT1_DURATION, 64}
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};
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void LIS2DH12::initalize() {
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for (size_t index = 0; index < (sizeof(i2c_registers) / sizeof(i2c_registers[0])); index++) {
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FRToSI2C::I2C_RegisterWrite(LIS2DH_I2C_ADDRESS,i2c_registers[index].reg, i2c_registers[index].value);
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}
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}
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void LIS2DH12::getAxisReadings(int16_t& x, int16_t& y, int16_t& z) {
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std::array<int16_t, 3> sensorData;
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FRToSI2C::Mem_Read(LIS2DH_I2C_ADDRESS, 0xA8, I2C_MEMADD_SIZE_8BIT,
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reinterpret_cast<uint8_t*>(sensorData.begin()),
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sensorData.size() * sizeof(int16_t));
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x = sensorData[0];
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y = sensorData[1];
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z = sensorData[2];
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}
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