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08002e0d33
* Silence undef * Update Makefile * Fix task priorities * Bump CI host images * Format c++ * Update make_translation.py * Update bl702_common.c
65 lines
2.1 KiB
C++
65 lines
2.1 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 "LIS2DH12.hpp"
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#include "cmsis_os.h"
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#include "configuration.h"
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#include <array>
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static const ACCEL_I2C_CLASS::I2C_REG i2c_registers[] = {
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{ LIS_CTRL_REG1, 0x17, 0}, // 25Hz
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{ LIS_CTRL_REG2, 0b00001000, 0}, // Highpass filter off
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{ LIS_CTRL_REG3, 0b01100000, 0}, // Setup interrupt pins
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{ LIS_CTRL_REG4, 0b00001000, 0}, // Block update mode off, HR on
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{ LIS_CTRL_REG5, 0b00000010, 0}, //
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{ LIS_CTRL_REG6, 0b01100010, 0},
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// Basically setup the unit to run, and enable 4D orientation detection
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{ LIS_INT2_CFG, 0b01111110, 0}, // setup for movement detection
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{ LIS_INT2_THS, 0x28, 0}, //
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{LIS_INT2_DURATION, 64, 0}, //
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{ LIS_INT1_CFG, 0b01111110, 0}, //
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{ LIS_INT1_THS, 0x28, 0}, //
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{LIS_INT1_DURATION, 64, 0}
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};
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bool LIS2DH12::initalize() { return ACCEL_I2C_CLASS::writeRegistersBulk(LIS2DH_I2C_ADDRESS, i2c_registers, sizeof(i2c_registers) / sizeof(i2c_registers[0])); }
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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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ACCEL_I2C_CLASS::Mem_Read(LIS2DH_I2C_ADDRESS, 0xA8, reinterpret_cast<uint8_t *>(sensorData.begin()), 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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bool LIS2DH12::detect() {
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if (!ACCEL_I2C_CLASS::probe(LIS2DH_I2C_ADDRESS)) {
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return false;
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}
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// Read chip id to ensure its not an address collision
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uint8_t id = 0;
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if (ACCEL_I2C_CLASS::Mem_Read(LIS2DH_I2C_ADDRESS, LIS2DH_WHOAMI_REG, &id, 1)) {
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#ifdef ACCEL_LIS_CLONE
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return (id == LIS2DH_WHOAMI_ID) || (id == LIS2DH_CLONE_WHOAMI_ID);
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#else
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return (id == LIS2DH_WHOAMI_ID);
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#endif
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}
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return false; // cant read ID
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}
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bool LIS2DH12::isClone() {
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#ifdef ACCEL_LIS_CLONE
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uint8_t id = 0;
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if (ACCEL_I2C_CLASS::Mem_Read(LIS2DH_I2C_ADDRESS, LIS2DH_WHOAMI_REG, &id, 1)) {
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return (id == LIS2DH_CLONE_WHOAMI_ID);
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}
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#endif
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return false;
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} |