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/*
* MMA8652FC.cpp
*
* Created on: 31Aug.,2017
* Author: Ben V. Brown
*/
#include "MMA8652FC.hpp"
#include "accelerometers_common.h"
#include "cmsis_os.h"
#include <array>
#include "MMA8652FC.hpp"
#include "accelerometers_common.h"
#include "cmsis_os.h"
static const ACCEL_I2C_CLASS::I2C_REG i2c_registers[] = {
{ CTRL_REG2, 0, 0}, // Normal mode
{ CTRL_REG2, 0x40, 2}, // Reset all registers to POR values
{ FF_MT_CFG_REG, 0x78, 0}, // Enable motion detection for X, Y, Z axis, latch disabled
{ PL_CFG_REG, 0x40, 0}, // Enable the orientation detection
{ PL_COUNT_REG, 200, 0}, // 200 count debounce
{ PL_BF_ZCOMP_REG, 0b01000111, 0}, // Set the threshold to 42 degrees
{ P_L_THS_REG, 0b10011100, 0}, // Up the trip angles
{ CTRL_REG4, 0x01 | (1 << 4), 0}, // Enable dataready interrupt & orientation interrupt
{ CTRL_REG5, 0x01, 0}, // Route data ready interrupts to INT1 ->PB5 ->EXTI5, leaving orientation routed to INT2
{ CTRL_REG2, 0x12, 0}, // Set maximum resolution oversampling
{ XYZ_DATA_CFG_REG, (1 << 4), 0}, // select high pass filtered data
{HP_FILTER_CUTOFF_REG, 0x03, 0}, // select high pass filtered data
{ CTRL_REG1, 0x19, 0} // ODR=12 Hz, Active mode
};
bool MMA8652FC::initalize() { return ACCEL_I2C_CLASS::writeRegistersBulk(MMA8652FC_I2C_ADDRESS, i2c_registers, sizeof(i2c_registers) / sizeof(i2c_registers[0])); }
Orientation MMA8652FC::getOrientation() {
// First read the PL_STATUS register
uint8_t plStatus = ACCEL_I2C_CLASS::I2C_RegisterRead(MMA8652FC_I2C_ADDRESS, PL_STATUS_REG);
if ((plStatus & 0b10000000) == 0b10000000) {
plStatus >>= 1; // We don't need the up/down bit
plStatus &= 0x03; // mask to the two lower bits
// 0 == left handed
// 1 == right handed
return static_cast<Orientation>(plStatus);
}
return ORIENTATION_FLAT;
}
void MMA8652FC::getAxisReadings(int16_t &x, int16_t &y, int16_t &z) {
std::array<int16_t, 3> sensorData;
ACCEL_I2C_CLASS::Mem_Read(MMA8652FC_I2C_ADDRESS, OUT_X_MSB_REG, reinterpret_cast<uint8_t *>(sensorData.begin()), sensorData.size() * sizeof(int16_t));
x = static_cast<int16_t>(__builtin_bswap16(*reinterpret_cast<uint16_t *>(&sensorData[0])));
y = static_cast<int16_t>(__builtin_bswap16(*reinterpret_cast<uint16_t *>(&sensorData[1])));
z = static_cast<int16_t>(__builtin_bswap16(*reinterpret_cast<uint16_t *>(&sensorData[2])));
}
bool MMA8652FC::detect() { return ACCEL_I2C_CLASS::probe(MMA8652FC_I2C_ADDRESS); }
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