mirror of
https://github.com/Ralim/IronOS.git
synced 2025-07-23 20:30:38 +02:00
08002e0d33
* Silence undef * Update Makefile * Fix task priorities * Bump CI host images * Format c++ * Update make_translation.py * Update bl702_common.c
48 lines
1.6 KiB
C++
48 lines
1.6 KiB
C++
/*
|
|
* MSA301.cpp
|
|
*
|
|
* Created on: 3 Jan 2021
|
|
* Author: Ralim
|
|
*/
|
|
|
|
#include "MSA301_defines.h"
|
|
#include "accelerometers_common.h"
|
|
#include <MSA301.h>
|
|
|
|
#define MSA301_I2C_ADDRESS 0x26 << 1
|
|
bool MSA301::detect() { return ACCEL_I2C_CLASS::probe(MSA301_I2C_ADDRESS); }
|
|
|
|
static const ACCEL_I2C_CLASS::I2C_REG i2c_registers[] = {
|
|
//
|
|
//
|
|
{ MSA301_REG_ODR, 0b00001000, 1}, // X/Y/Z enabled @ 250Hz
|
|
{MSA301_REG_POWERMODE, 0b0001001, 1}, // Normal mode
|
|
{ MSA301_REG_RESRANGE, 0b00000001, 0}, // 14bit resolution @ 4G range
|
|
{MSA301_REG_ORIENT_HY, 0b01000000, 0}, // 4*62.5mg hyst, no blocking, symmetrical
|
|
{ MSA301_REG_INTSET0, 1 << 6, 0}, // Turn on orientation detection (by enabling its interrupt)
|
|
};
|
|
|
|
bool MSA301::initalize() { return ACCEL_I2C_CLASS::writeRegistersBulk(MSA301_I2C_ADDRESS, i2c_registers, sizeof(i2c_registers) / sizeof(i2c_registers[0])); }
|
|
|
|
Orientation MSA301::getOrientation() {
|
|
uint8_t temp = 0;
|
|
ACCEL_I2C_CLASS::Mem_Read(MSA301_I2C_ADDRESS, MSA301_REG_ORIENT_STATUS, &temp, 1);
|
|
switch (temp) {
|
|
case 112:
|
|
return Orientation::ORIENTATION_LEFT_HAND;
|
|
case 96:
|
|
return Orientation::ORIENTATION_RIGHT_HAND;
|
|
default:
|
|
return Orientation::ORIENTATION_FLAT;
|
|
}
|
|
}
|
|
|
|
void MSA301::getAxisReadings(int16_t &x, int16_t &y, int16_t &z) {
|
|
uint8_t temp[6];
|
|
// Bulk read all 6 regs
|
|
ACCEL_I2C_CLASS::Mem_Read(MSA301_I2C_ADDRESS, MSA301_REG_OUT_X_L, temp, 6);
|
|
x = int16_t(((int16_t)temp[1]) << 8 | temp[0]) >> 2;
|
|
y = int16_t(((int16_t)temp[3]) << 8 | temp[2]) >> 2;
|
|
z = int16_t(((int16_t)temp[5]) << 8 | temp[4]) >> 2;
|
|
}
|