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/*
* BMA223.cpp
*
* Created on: 18 Sep. 2020
* Author: Ralim
*/
#include <BMA223.hpp>
#include <array>
bool BMA223::detect() {
if (FRToSI2C::probe(BMA223_ADDRESS)) {
// Read chip id to ensure its not an address collision
uint8_t id = 0;
if (FRToSI2C::Mem_Read(BMA223_ADDRESS, BMA223_BGW_CHIPID, &id, 1)) {
return id == 0b11111000;
}
}
return false;
}
static const FRToSI2C::I2C_REG i2c_registers[] = {
//
//
{BMA223_PMU_RANGE, 0b00000011, 0}, // 2G range
{BMA223_PMU_BW, 0b00001101, 0}, // 250Hz filter
{BMA223_PMU_LPW, 0b00000000, 0}, // Full power
{BMA223_ACCD_HBW, 0b00000000, 0}, // filtered data out
{BMA223_INT_OUT_CTRL, 0b00001010, 0}, // interrupt active low and OD to get it hi-z
{BMA223_INT_RST_LATCH, 0b10000000, 0}, // interrupt active low and OD to get it hi-z
{BMA223_INT_EN_0, 0b01000000, 0}, // Enable orientation
{BMA223_INT_A, 0b00100111, 0}, // Setup orientation detection
//
};
bool BMA223::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(BMA223_ADDRESS, i2c_registers, sizeof(i2c_registers) / sizeof(i2c_registers[0]));
}
void BMA223::getAxisReadings(int16_t &x, int16_t &y, int16_t &z) {
// The BMA is odd in that its output data width is only 8 bits
// And yet there are MSB and LSB registers _sigh_.
uint8_t sensorData[6] = {0, 0, 0, 0, 0, 0};
if (FRToSI2C::Mem_Read(BMA223_ADDRESS, BMA223_ACCD_X_LSB, sensorData, 6) == false) {
x = y = z = 0;
return;
}
// Shift 6 to make its range ~= the other accelerometers
x = sensorData[1] << 6;
y = sensorData[3] << 6;
z = sensorData[5] << 6;
}
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