// =============================== SingleAcc_t =================================
void SingleAcc_t::Init() {
i2c.Init(GPIO, Scl, Sda);
IsOperational = false;
PinSetupIn(GPIO, Irq, pudNone);
// ==== Setup initial registers ====
uint8_t BufW[6];
uint8_t Rslt;
// Setup High-Pass filter and acceleration scale
BufW[0] = ACC_REG_XYZ_DATA_CFG;
BufW[1] = 0x01; // No filter, scale = 4g
Rslt = i2c.WriteBuf(ACC_ADDR, BufW, 2);
if(Rslt) {
IsOperational = false;
return;
}
// Control registers
BufW[0] = ACC_REG_CONTROL1; // CtrReg[0] is register address
BufW[1] = 0x21; // DR=100 => 50Hz data rate; Mode = Active
BufW[2] = 0x00; // Normal mode
BufW[3] = 0x02; // No IRQ; IRQ output active high
BufW[4] = 0x00; // All interrupts disabled
BufW[5] = 0x04; // FreeFall IRQ is routed to INT1 pin
Rslt = i2c.WriteBuf(ACC_ADDR, BufW, 6);
if(Rslt) {
IsOperational = false;
return;
}
IsOperational = true;
ReadAccelerations();
}
void Acc_t::Task() {
if (!IEnabled) return;
if (!Delay.Elapsed(&CheckTimer, 108)) return;
if(klGpioIsSetByN(GPIOB, 5)) { // IRQ occured
Uart.Printf("Irq\r");
IClearIrq();
IsTriggered = true;
Delay.Reset(&EvtTimer);
}
#ifdef ACC_ACCELERATIONS_NEEDED
if(NewData()) Uart.Printf("X: %i; Y: %i; Z: %i\r", Accelerations.xMSB, Accelerations.yMSB, Accelerations.zMSB);
ReadAccelerations();
#endif
// Handle event
if (IsTriggered) {
if (!IsHandled) {
EvtTrigger();
IsHandled = true;
}
if (Delay.Elapsed(&EvtTimer, Delay_ms)) {
// Time to shutdown
IsTriggered = false;
IsHandled = false;
EvtNoTrigger();
}
}
}
void LinearTest(void)
{
TxString("\r\nAccelerometer test:\r\n");
if( _UseLISL )
{
ReadAccelerations();
TxString("LR: \t");
TxVal32(((int32)Ax*1000+512)/1024, 3, 'G');
TxNextLine();
TxString("FB: \t");
TxVal32(((int32)Az*1000+512)/1024, 3, 'G');
TxNextLine();
TxString("DU: \t");
TxVal32(((int32)Ay*1000+512)/1024, 3, 'G');
TxNextLine();
}
else
TxString("\r\n(Acc. not present)\r\n");
} // LinearTest
