kopia lustrzana https://github.com/pimoroni/pimoroni-pico
142 wiersze
3.8 KiB
C++
142 wiersze
3.8 KiB
C++
#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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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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if(interrupt != PIN_UNUSED) {
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gpio_set_function(interrupt, GPIO_FUNC_SIO);
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gpio_set_dir(interrupt, GPIO_IN);
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gpio_pull_up(interrupt);
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}
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reset();
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set_power_mode(PowerMode::NORMAL);
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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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i2c_inst_t* MSA301::get_i2c() const {
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return i2c;
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}
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int MSA301::get_sda() const {
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return sda;
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}
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int MSA301::get_scl() const {
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return scl;
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}
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int MSA301::get_int() const {
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return interrupt;
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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(uint8_t 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(uint16_t 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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}
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uint8_t MSA301::i2c_reg_read_uint8(uint8_t reg) {
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uint8_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, 1, false);
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return value;
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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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} |