kopia lustrzana https://github.com/pimoroni/pimoroni-pico
MSA301 Driver and example tweaks
ZodiusInfuser
Phil Howard
rodzic
f211fe67e6
commit
c4b166d4d9
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@ -25,6 +25,85 @@ namespace pimoroni {
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set_range_and_resolution(Range::G_2, Resolution::BITS_14);
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}
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void MSA301::reset() {
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i2c_reg_write_uint8(SOFT_RESET, 0b00100100);
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sleep_ms(1);
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}
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uint8_t MSA301::part_id() {
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return i2c_reg_read_uint8(PART_ID);
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}
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float MSA301::get_axis(Axis 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((int)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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float MSA301::get_x_axis(uint8_t sample_count) {
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return get_axis(MSA301::X, sample_count);
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}
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float MSA301::get_y_axis(uint8_t sample_count) {
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return get_axis(MSA301::Y, sample_count);
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}
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float MSA301::get_z_axis(uint8_t sample_count) {
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return get_axis(MSA301::Z, sample_count);
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}
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MSA301::Orientation MSA301::get_orientation() {
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return (Orientation)((i2c_reg_read_uint8(ORIENTATION_STATUS) >> 4) & 0b11);
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}
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void MSA301::set_power_mode(MSA301::PowerMode power_mode) {
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i2c_reg_write_uint8(POWER_MODE_BANDWIDTH, power_mode);
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}
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void MSA301::set_range_and_resolution(Range range, MSA301::Resolution resolution) {
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i2c_reg_write_uint8(RESOLUTION_RANGE, range | resolution);
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}
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void MSA301::set_axis_polarity(int polarity) {
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i2c_reg_write_uint8(SET_AXIS_POLARITY, polarity);
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}
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void MSA301::disable_all_interrupts() {
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enable_interrupts(MSA301::Interrupt::NONE);
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}
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void MSA301::enable_interrupts(int interrupts) {
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i2c_reg_write_uint8(INTERRUPT_ENABLE_0, interrupts & 0xff);
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i2c_reg_write_uint8(INTERRUPT_ENABLE_1, (interrupts & 0xff00) >> 8);
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}
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void MSA301::set_interrupt_latch(MSA301::InterruptLatchPeriod latch_period, bool reset_latched = false) {
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i2c_reg_write_uint8(INTERRUPT_LATCH_PERIOD, latch_period | (reset_latched ? 0b10000000: 0b0));
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}
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bool MSA301::read_interrupt(Interrupt interrupt) {
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if(interrupt == NEW_DATA) {
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return i2c_reg_read_uint8(DATA_INTERRUPT) & 0b1;
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}
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// determine which bit indicates the status of this interrupt
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uint8_t bit = 0;
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if(interrupt == FREEFALL) bit = 0;
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if(interrupt == ACTIVE) bit = 2;
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if(interrupt == DOUBLE_TAP) bit = 4;
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if(interrupt == SINGLE_TAP) bit = 5;
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if(interrupt == ORIENTATION) bit = 6;
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return i2c_reg_read_uint8(MOTION_INTERRUPT) & (1U << bit);
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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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@ -44,71 +123,4 @@ namespace pimoroni {
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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(SOFT_RESET, 0b00100100);
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sleep_ms(1);
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}
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uint8_t MSA301::part_id() {
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return i2c_reg_read_uint8(PART_ID);
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}
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float MSA301::get_axis(Axis 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(int(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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MSA301::Orientation MSA301::get_orientation() {
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return (Orientation)((i2c_reg_read_uint8(ORIENTATION_STATUS) >> 4) & 0b11);
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}
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void MSA301::set_power_mode(MSA301::PowerMode power_mode) {
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i2c_reg_write_uint8(POWER_MODE_BANDWIDTH, power_mode);
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}
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void MSA301::set_range_and_resolution(Range range, MSA301::Resolution resolution) {
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i2c_reg_write_uint8(RESOLUTION_RANGE, range | resolution);
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}
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void MSA301::set_axis_polarity(int polarity) {
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i2c_reg_write_uint8(SET_AXIS_POLARITY, polarity);
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}
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void MSA301::disable_all_interrupts() {
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enable_interrupts(MSA301::Interrupt::NONE);
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}
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void MSA301::enable_interrupts(int interrupts) {
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i2c_reg_write_uint8(INTERRUPT_ENABLE_0, interrupts & 0xff);
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i2c_reg_write_uint8(INTERRUPT_ENABLE_1, (interrupts & 0xff00) >> 8);
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}
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bool MSA301::read_interrupt(Interrupt interrupt) {
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if(interrupt == NEW_DATA) {
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return i2c_reg_read_uint8(DATA_INTERRUPT) & 0b1;
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}
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// determine which bit indicates the status of this interrupt
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uint8_t bit = 0;
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if(interrupt == FREEFALL) bit = 0;
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if(interrupt == ACTIVE) bit = 2;
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if(interrupt == DOUBLE_TAP) bit = 4;
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if(interrupt == SINGLE_TAP) bit = 5;
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if(interrupt == ORIENTATION) bit = 6;
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return i2c_reg_read_uint8(MOTION_INTERRUPT) & (1U << bit);
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}
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void MSA301::set_interrupt_latch(MSA301::InterruptLatchPeriod latch_period, bool reset_latched = false) {
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i2c_reg_write_uint8(INTERRUPT_LATCH_PERIOD, latch_period | (reset_latched ? 0b10000000: 0b0));
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}
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}
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@ -22,35 +22,18 @@ namespace pimoroni {
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static const uint8_t DATA_INTERRUPT = 0x0a;
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static const uint8_t ORIENTATION_STATUS = 0x0c;
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static const uint8_t RESOLUTION_RANGE = 0x0f;
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static const uint8_t POWER_MODE_BANDWIDTH = 0x11;
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static const uint8_t POWER_MODE_BANDWIDTH = 0x11;
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static const uint8_t SET_AXIS_POLARITY = 0x12;
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static const uint8_t INTERRUPT_ENABLE_0 = 0x16;
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static const uint8_t INTERRUPT_ENABLE_1 = 0x17;
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static const uint8_t INTERRUPT_LATCH_PERIOD = 0x21;
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static const uint8_t FREEFALL_DURATION = 0x22;
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private:
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i2c_inst_t *i2c = i2c0;
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// interface pins with our standard defaults where appropriate
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int8_t address = DEFAULT_I2C_ADDRESS;
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int8_t sda = DEFAULT_SDA_PIN;
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int8_t scl = DEFAULT_SCL_PIN;
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int8_t interrupt = DEFAULT_INT_PIN;
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//--------------------------------------------------
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// Enums
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//--------------------------------------------------
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public:
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MSA301() {}
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MSA301(i2c_inst_t *i2c, uint8_t sda, uint8_t scl, uint8_t interrupt) :
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i2c(i2c), sda(sda), scl(scl), interrupt(interrupt) {}
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void init();
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void reset();
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void i2c_reg_write_uint8(uint8_t reg, uint8_t value);
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uint8_t i2c_reg_read_uint8(uint8_t reg);
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int16_t i2c_reg_read_int16(uint8_t reg);
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enum Axis {
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X = 0x02,
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Y = 0x04,
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@ -58,54 +41,54 @@ namespace pimoroni {
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};
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enum Orientation {
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PORTRAIT = 0b00,
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PORTRAIT_INVERTED = 0b01,
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LANDSCAPE = 0b10,
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PORTRAIT = 0b00,
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PORTRAIT_INVERTED = 0b01,
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LANDSCAPE = 0b10,
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LANDSCAPE_INVERTED = 0b11
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};
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enum PowerMode {
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NORMAL = 0b00,
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LOW = 0b01,
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NORMAL = 0b00,
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LOW = 0b01,
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SUSPEND = 0b10
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};
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enum Range {
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G_2 = 0b00,
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G_4 = 0b01,
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G_8 = 0b10,
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G_2 = 0b00,
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G_4 = 0b01,
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G_8 = 0b10,
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G_16 = 0b11
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};
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enum Resolution {
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BITS_14 = 0b0000,
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BITS_12 = 0b0100,
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BITS_10 = 0b1000,
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BITS_14 = 0b0000,
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BITS_12 = 0b0100,
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BITS_10 = 0b1000,
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BITS_8 = 0b1100
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};
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enum AxisPolarity {
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INVERT_X = 0b1000,
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INVERT_Y = 0b0100,
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INVERT_Z = 0b0010,
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INVERT_X = 0b1000,
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INVERT_Y = 0b0100,
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INVERT_Z = 0b0010,
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XY_SWAP = 0b0001
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};
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enum Interrupt {
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NONE = 0,
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NONE = 0,
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ACTIVE = 0b0000111,
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NEW_DATA = 0b1000000000000,
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NEW_DATA = 0b1000000000000,
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FREEFALL = 0b0100000000000,
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ORIENTATION = 0b1000000,
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ORIENTATION = 0b1000000,
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SINGLE_TAP = 0b0100000,
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DOUBLE_TAP = 0b0010000,
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Z_ACTIVE = 0b0000100,
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Y_ACTIVE = 0b0000010,
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Z_ACTIVE = 0b0000100,
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Y_ACTIVE = 0b0000010,
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X_ACTIVE = 0b0000001
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};
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enum InterruptLatchPeriod {
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LATCH_1MS = 0b1001,
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LATCH_1MS = 0b1001,
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LATCH_2MS = 0b1011,
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LATCH_25MS = 0b1100,
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LATCH_50MS = 0b1101,
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@ -118,20 +101,57 @@ namespace pimoroni {
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LATCH_8S = 0b0110
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};
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//--------------------------------------------------
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// Variables
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//--------------------------------------------------
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private:
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i2c_inst_t *i2c = i2c0;
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// interface pins with our standard defaults where appropriate
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int8_t address = DEFAULT_I2C_ADDRESS;
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int8_t sda = DEFAULT_SDA_PIN;
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int8_t scl = DEFAULT_SCL_PIN;
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int8_t interrupt = DEFAULT_INT_PIN;
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//--------------------------------------------------
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// Constructors/Destructor
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//--------------------------------------------------
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public:
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MSA301() {}
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MSA301(i2c_inst_t *i2c, uint8_t sda, uint8_t scl, uint8_t interrupt) :
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i2c(i2c), sda(sda), scl(scl), interrupt(interrupt) {}
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//--------------------------------------------------
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// Methods
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//--------------------------------------------------
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public:
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void init();
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void reset();
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uint8_t part_id();
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float get_axis(Axis axis, uint8_t sample_count = 1);
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float get_x_axis(uint8_t sample_count = 1) { return this->get_axis(MSA301::X, sample_count); }
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float get_y_axis(uint8_t sample_count = 1) { return this->get_axis(MSA301::Y, sample_count); }
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float get_z_axis(uint8_t sample_count = 1) { return this->get_axis(MSA301::Z, sample_count); }
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float get_x_axis(uint8_t sample_count = 1);
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float get_y_axis(uint8_t sample_count = 1);
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float get_z_axis(uint8_t sample_count = 1);
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Orientation get_orientation();
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void set_power_mode(MSA301::PowerMode power_mode);
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void set_range_and_resolution(Range range, MSA301::Resolution resolution);
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void set_axis_polarity(int polarity);
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void disable_all_interrupts();
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void enable_interrupts(int interrupts);
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void set_interrupt_latch(InterruptLatchPeriod latch_period, bool reset_latched);
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bool read_interrupt(Interrupt interrupt);
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bool read_interrupt(Interrupt interrupt);
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private:
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void i2c_reg_write_uint8(uint8_t reg, uint8_t value);
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uint8_t i2c_reg_read_uint8(uint8_t reg);
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int16_t i2c_reg_read_int16(uint8_t reg);
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};
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}
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@ -18,9 +18,9 @@ int main() {
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msa301.enable_interrupts(MSA301::FREEFALL | MSA301::ORIENTATION);
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while(true){
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printf("%d\n", msa301.read_interrupt(MSA301::FREEFALL));
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printf("X: %f, Y: %f, Z: %f\n", msa301.get_x_axis(), msa301.get_y_axis(), msa301.get_z_axis());
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printf("%d\n", msa301.get_orientation());
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printf("X: %f, Y: %f, Z: %f", msa301.get_x_axis(), msa301.get_y_axis(), msa301.get_z_axis());
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printf(", Freefall? %d", msa301.read_interrupt(MSA301::FREEFALL));
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printf(", Orientation: %d\n", msa301.get_orientation());
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sleep_ms(100);
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};
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return 0;
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