120 lines
3.2 KiB
C++
120 lines
3.2 KiB
C++
#include <cstdlib>
|
|
#include <math.h>
|
|
#include <map>
|
|
#include <vector>
|
|
|
|
#include "msa301.hpp"
|
|
|
|
namespace pimoroni {
|
|
|
|
bool MSA301::init() {
|
|
if(interrupt != PIN_UNUSED) {
|
|
gpio_set_function(interrupt, GPIO_FUNC_SIO);
|
|
gpio_set_dir(interrupt, GPIO_IN);
|
|
gpio_pull_up(interrupt);
|
|
}
|
|
|
|
reset();
|
|
|
|
set_power_mode(PowerMode::NORMAL);
|
|
set_range_and_resolution(Range::G_2, Resolution::BITS_14);
|
|
|
|
return true;
|
|
}
|
|
|
|
void MSA301::reset() {
|
|
i2c->reg_write_uint8(address, SOFT_RESET, 0b00100100);
|
|
sleep_ms(1);
|
|
}
|
|
|
|
i2c_inst_t* MSA301::get_i2c() const {
|
|
return i2c->get_i2c();
|
|
}
|
|
|
|
int MSA301::get_sda() const {
|
|
return i2c->get_sda();
|
|
}
|
|
|
|
int MSA301::get_scl() const {
|
|
return i2c->get_scl();
|
|
}
|
|
|
|
int MSA301::get_int() const {
|
|
return interrupt;
|
|
}
|
|
|
|
uint8_t MSA301::part_id() {
|
|
return i2c->reg_read_uint8(address, PART_ID);
|
|
}
|
|
|
|
float MSA301::get_axis(Axis axis, uint8_t sample_count) {
|
|
if(sample_count > 1) {
|
|
int32_t total = 0;
|
|
for(uint8_t i = 0; i < sample_count; i++) {
|
|
total += i2c->reg_read_int16(address, (int)axis);
|
|
}
|
|
total /= sample_count;
|
|
return total / 16384.0f;
|
|
}
|
|
|
|
return i2c->reg_read_int16(address, axis) / 16384.0f;
|
|
}
|
|
|
|
float MSA301::get_x_axis(uint8_t sample_count) {
|
|
return get_axis(MSA301::X, sample_count);
|
|
}
|
|
|
|
float MSA301::get_y_axis(uint8_t sample_count) {
|
|
return get_axis(MSA301::Y, sample_count);
|
|
}
|
|
|
|
float MSA301::get_z_axis(uint8_t sample_count) {
|
|
return get_axis(MSA301::Z, sample_count);
|
|
}
|
|
|
|
MSA301::Orientation MSA301::get_orientation() {
|
|
return (Orientation)((i2c->reg_read_uint8(address, ORIENTATION_STATUS) >> 4) & 0b11);
|
|
}
|
|
|
|
void MSA301::set_power_mode(MSA301::PowerMode power_mode) {
|
|
i2c->reg_write_uint8(address, POWER_MODE_BANDWIDTH, power_mode);
|
|
}
|
|
|
|
void MSA301::set_range_and_resolution(Range range, MSA301::Resolution resolution) {
|
|
i2c->reg_write_uint8(address, RESOLUTION_RANGE, range | resolution);
|
|
}
|
|
|
|
void MSA301::set_axis_polarity(uint8_t polarity) {
|
|
i2c->reg_write_uint8(address, SET_AXIS_POLARITY, polarity);
|
|
}
|
|
|
|
void MSA301::disable_all_interrupts() {
|
|
enable_interrupts(MSA301::Interrupt::NONE);
|
|
}
|
|
|
|
void MSA301::enable_interrupts(uint16_t interrupts) {
|
|
i2c->reg_write_uint8(address, INTERRUPT_ENABLE_0, interrupts & 0xff);
|
|
i2c->reg_write_uint8(address, INTERRUPT_ENABLE_1, (interrupts & 0xff00) >> 8);
|
|
}
|
|
|
|
void MSA301::set_interrupt_latch(MSA301::InterruptLatchPeriod latch_period, bool reset_latched = false) {
|
|
i2c->reg_write_uint8(address, INTERRUPT_LATCH_PERIOD, latch_period | (reset_latched ? 0b10000000: 0b0));
|
|
}
|
|
|
|
bool MSA301::read_interrupt(Interrupt interrupt) {
|
|
if(interrupt == NEW_DATA) {
|
|
return i2c->reg_read_uint8(address, DATA_INTERRUPT) & 0b1;
|
|
}
|
|
|
|
// determine which bit indicates the status of this interrupt
|
|
uint8_t bit = 0;
|
|
if(interrupt == FREEFALL) bit = 0;
|
|
if(interrupt == ACTIVE) bit = 2;
|
|
if(interrupt == DOUBLE_TAP) bit = 4;
|
|
if(interrupt == SINGLE_TAP) bit = 5;
|
|
if(interrupt == ORIENTATION) bit = 6;
|
|
|
|
return i2c->reg_read_uint8(address, MOTION_INTERRUPT) & (1U << bit);
|
|
}
|
|
|
|
} |