Alessandro Mauri
2ccf069e15
!!! AI GENERATED MESSAGE !!! This commit introduces support for the SC7A20 accelerometer. The accelerometer readings can now be displayed on the screen, and the display mode can be toggled using the encoder. Additionally, the EMA filter constants for voltage and current readings have been updated from K2 to K4 for potentially smoother readings.
55 lines
1.8 KiB
C
55 lines
1.8 KiB
C
#include <ch32fun.h>
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#include "lib_i2c.h"
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#include "sc7a20.h"
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// Initialization values for control registers, in reg-value pairs
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// Basically setup the unit to run, and enable 4D orientation detection
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// TODO: Make better comments and define values
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static const uint8_t i2c_registers[][2] = {
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{ SC7A20_CTRL_REG1, 0b01100111}, // 200Hz, XYZ enabled
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{ SC7A20_CTRL_REG2, 0b00000000}, // Setup filter to 0x00 ??
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{ SC7A20_CTRL_REG3, 0b00000000}, // INT1 off
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{ SC7A20_CTRL_REG4, 0b00001000}, // Block mode off,little-endian,2G,High-pres,self test off
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{ SC7A20_CTRL_REG5, 0b00000100}, // fifo off, D4D on INT1
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{ SC7A20_CTRL_REG6, 0x00}, // INT2 off
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{ SC7A20_INT2_CFG, 0b01111110}, // setup for movement detection
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{ SC7A20_INT2_THS, 0x28}, //
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{SC7A20_INT2_DURATION, 64}, //
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{ SC7A20_INT1_CFG, 0b01111110}, //
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{ SC7A20_INT1_THS, 0x28}, //
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{SC7A20_INT1_DURATION, 64}
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};
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void sc7a20_init()
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{
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// Setup acceleration readings
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// 2G range
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// bandwidth = 250Hz
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// High pass filter on (Slow compensation)
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// Turn off IRQ output pins
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// Orientation recognition in symmetrical mode
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// Hysteresis is set to ~ 16 counts
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// Theta blocking is set to 0b10
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for (uint8_t i = 0; i < sizeof(i2c_registers) / sizeof(i2c_registers[0]); i++) {
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uint8_t bytes[2] = {i2c_registers[i][0], i2c_registers[i][1]};
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i2c_sendBytes(I2C_TARGET, SC7A20_ADDRESS, bytes, 2);
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}
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}
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void sc7a20_get_readings(int16_t *x, int16_t *y, int16_t *z)
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{
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// We can tell the accelerometer to output in LE mode which makes this simple
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int16_t sensorData[3] = {0};
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i2c_sendByte(I2C_TARGET, SC7A20_ADDRESS, SC7A20_OUT_X_L | 0x80);
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i2c_readBytes(I2C_TARGET, SC7A20_ADDRESS, (u8*)sensorData, 6);
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// Lower byte is sent first
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*x = (int16_t)sensorData[0];
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*y = (int16_t)sensorData[1];
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*z = (int16_t)sensorData[2];
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}
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