60 lines
1.4 KiB
C++
60 lines
1.4 KiB
C++
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#include <cstdlib>
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#include <math.h>
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#include <map>
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#include <vector>
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#include "msa301.hpp"
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namespace pimoroni {
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enum reg {
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RESET = 0x00,
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X_AXIS = 0x02,
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Y_AXIS = 0x04,
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Z_AXIS = 0x06
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// todo: lots of other features
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};
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void MSA301::init() {
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i2c_init(i2c, 400000);
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gpio_set_function(sda, GPIO_FUNC_I2C); gpio_pull_up(sda);
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gpio_set_function(scl, GPIO_FUNC_I2C); gpio_pull_up(scl);
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reset();
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i2c_reg_write_uint8(0x11, 0x00); // set power mode
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i2c_reg_write_uint8(0x0f, 0x00); // set range & resolution
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}
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void MSA301::i2c_reg_write_uint8(uint8_t reg, uint8_t value) {
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uint8_t buffer[2] = {reg, value};
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i2c_write_blocking(i2c, address, buffer, 2, false);
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}
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int16_t MSA301::i2c_reg_read_int16(uint8_t reg) {
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int16_t value;
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i2c_write_blocking(i2c, address, ®, 1, true);
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i2c_read_blocking(i2c, address, (uint8_t *)&value, 2, false);
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return value;
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}
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void MSA301::reset() {
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i2c_reg_write_uint8(reg::RESET, 0b00100100);
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sleep_ms(1);
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}
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float MSA301::get_axis(uint8_t axis, uint8_t sample_count) {
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if(sample_count > 1) {
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int32_t total = 0;
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for(uint8_t i = 0; i < sample_count; i++) {
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total += i2c_reg_read_int16(axis);
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}
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total /= sample_count;
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return total / 16384.0f;
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}
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return i2c_reg_read_int16(axis) / 16384.0f;
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}
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}
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