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* Silence undef * Update Makefile * Fix task priorities * Bump CI host images * Format c++ * Update make_translation.py * Update bl702_common.c
108 lines
3.9 KiB
C++
108 lines
3.9 KiB
C++
/*
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* SC7A20.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 "LIS2DH12_defines.hpp"
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#include "accelerometers_common.h"
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#include <SC7A20.hpp>
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#include <SC7A20_defines.h>
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#include <array>
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bool SC7A20::isInImitationMode;
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/*
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- This little accelerometer seems to come in two forms, its "normal" setup, and then one where it imitates the LIS2DH12
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- This can be detected by checking the whoami registers
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*/
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bool SC7A20::detect() {
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if (ACCEL_I2C_CLASS::probe(SC7A20_ADDRESS)) {
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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(SC7A20_ADDRESS, SC7A20_WHO_AMI_I, &id, 1)) {
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if (id == SC7A20_WHO_AM_I_VALUE) {
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isInImitationMode = false;
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return true;
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}
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}
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}
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if (ACCEL_I2C_CLASS::probe(SC7A20_ADDRESS2)) {
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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(SC7A20_ADDRESS2, SC7A20_WHO_AMI_I, &id, 1)) {
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if (id == SC7A20_WHO_AM_I_VALUE) {
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isInImitationMode = true;
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return true;
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}
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}
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}
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return false;
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}
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static const ACCEL_I2C_CLASS::I2C_REG i2c_registers[] = {
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//
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//
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{ SC7A20_CTRL_REG1, 0b01100111, 0}, // 200Hz, XYZ enabled
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{ SC7A20_CTRL_REG2, 0b00000000, 0}, // Setup filter to 0x00 ??
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{ SC7A20_CTRL_REG3, 0b00000000, 0}, // int1 off
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{ SC7A20_CTRL_REG4, 0b01001000, 0}, // Block mode off,little-endian,2G,High-pres,self test off
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{ SC7A20_CTRL_REG5, 0b00000100, 0}, // fifo off, D4D on int1
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{ SC7A20_CTRL_REG6, 0x00, 0}, // INT2 off
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// Basically setup the unit to run, and enable 4D orientation detection
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{ SC7A20_INT2_CFG, 0b01111110, 0}, // setup for movement detection
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{ SC7A20_INT2_THS, 0x28, 0}, //
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{SC7A20_INT2_DURATION, 64, 0}, //
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{ SC7A20_INT1_CFG, 0b01111110, 0}, //
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{ SC7A20_INT1_THS, 0x28, 0}, //
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{SC7A20_INT1_DURATION, 64, 0}
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//
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};
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static const ACCEL_I2C_CLASS::I2C_REG i2c_registers_alt[] = {
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{ LIS_CTRL_REG1, 0b00110111, 0}, // 200Hz XYZ
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{ LIS_CTRL_REG2, 0b00000000, 0}, //
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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 SC7A20::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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if (isInImitationMode) {
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return ACCEL_I2C_CLASS::writeRegistersBulk(SC7A20_ADDRESS2, i2c_registers_alt, sizeof(i2c_registers_alt) / sizeof(i2c_registers_alt[0]));
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} else {
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return ACCEL_I2C_CLASS::writeRegistersBulk(SC7A20_ADDRESS, i2c_registers, sizeof(i2c_registers) / sizeof(i2c_registers[0]));
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}
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}
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void SC7A20::getAxisReadings(int16_t &x, int16_t &y, int16_t &z) {
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// We can tell the accelerometer to output in LE mode which makes this simple
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uint16_t sensorData[3] = {0, 0, 0};
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if (ACCEL_I2C_CLASS::Mem_Read(isInImitationMode ? SC7A20_ADDRESS2 : SC7A20_ADDRESS, isInImitationMode ? SC7A20_OUT_X_L_ALT : SC7A20_OUT_X_L, (uint8_t *)sensorData, 6) == false) {
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x = y = z = 0;
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return;
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}
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// Shift 6 to make its range ~= the other accelerometers
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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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