1 files changed, 69 insertions, 0 deletions
diff --git a/source/Core/Drivers/SC7A20.cpp b/source/Core/Drivers/SC7A20.cpp
new file mode 100644
index 00000000..7bebb29d
--- /dev/null
+++ b/source/Core/Drivers/SC7A20.cpp
@@ -0,0 +1,69 @@
+/*
+ * SC7A20.cpp
+ *
+ *  Created on: 18 Sep. 2020
+ *      Author: Ralim
+ */
+
+#include <SC7A20.hpp>
+#include <SC7A20_defines.h>
+#include <array>
+
+bool SC7A20::detect() {
+	if (FRToSI2C::probe(SC7A20_ADDRESS)) {
+		//Read chip id to ensure its not an address collision
+		uint8_t id = 0;
+		if (FRToSI2C::Mem_Read(SC7A20_ADDRESS, SC7A20_WHO_AMI_I, &id, 1)) {
+			return id == 0b00010001;
+		}
+	}
+
+	return false;
+}
+
+static const FRToSI2C::I2C_REG i2c_registers[] = { //
+		//
+				{ SC7A20_CTRL_REG1, 0b01100111, 0 },    //200Hz, XYZ enabled
+				{ SC7A20_CTRL_REG2, 0b00000000, 0 },    //Setup filter to 0x00 ??
+				{ SC7A20_CTRL_REG3, 0b00000000, 0 },    //int1 off
+				{ SC7A20_CTRL_REG4, 0b01001000, 0 },    //Block mode off,little-endian,2G,High-pres,self test off
+				{ SC7A20_CTRL_REG5, 0b00000100, 0 },    //fifo off, D4D on int1
+				{ SC7A20_CTRL_REG6, 0x00, 0 },    //INT2 off
+				//Basically setup the unit to run, and enable 4D orientation detection
+				{ SC7A20_INT2_CFG, 0b01111110, 0 }, //setup for movement detection
+				{ SC7A20_INT2_THS, 0x28, 0 }, //
+				{ SC7A20_INT2_DURATION, 64, 0 }, //
+				{ SC7A20_INT1_CFG, 0b01111110, 0 }, //
+				{ SC7A20_INT1_THS, 0x28, 0 }, //
+				{ SC7A20_INT1_DURATION, 64, 0 }
+
+		//
+		};
+bool SC7A20::initalize() {
+	//Setup acceleration readings
+	//2G range
+	//bandwidth = 250Hz
+	//High pass filter on (Slow compensation)
+	//Turn off IRQ output pins
+	//Orientation recognition in symmetrical mode
+	// Hysteresis is set to ~ 16 counts
+	//Theta blocking is set to 0b10
+
+	return FRToSI2C::writeRegistersBulk(SC7A20_ADDRESS, i2c_registers, sizeof(i2c_registers) / sizeof(i2c_registers[0]));
+
+}
+
+void SC7A20::getAxisReadings(int16_t &x, int16_t &y, int16_t &z) {
+	//We can tell the accelerometer to output in LE mode which makes this simple
+	uint16_t sensorData[3] = { 0, 0, 0 };
+
+	if (FRToSI2C::Mem_Read(SC7A20_ADDRESS, SC7A20_OUT_X_L, (uint8_t*) sensorData, 6) == false) {
+		x = y = z = 0;
+		return;
+	}
+	//Shift 6 to make its range ~= the other accelerometers
+	x = sensorData[0];
+	y = sensorData[1];
+	z = sensorData[2];
+
+}