init

include/hal/i2c_wrapper.hpp

@@ -0,0 +1,87 @@
+#include <stdint.h>
+#include "nrf_twi_mngr.h"
+
+namespace edge::aidan {
+
+static const uint8_t LSM303AGR_ACC_ADDRESS = 0x19;
+static const uint8_t LSM303AGR_MAG_ADDRESS = 0x1E;
+
+typedef struct {
+  float x_axis;
+  float y_axis;
+  float z_axis;
+} lsm303agr_measurement_t;
+
+// Accel Enums
+typedef enum {
+  STATUS_REG_AUX_A = 0x07,
+  OUT_TEMP_L_A = 0x0C,
+  OUT_TEMP_H_A = 0x0D,
+  INT_COUNTER_REG_A = 0x0E,
+  WHO_AM_I_A = 0x0F,
+  TEMP_CFG_REG_A = 0x1F,
+  CTRL_REG1_A = 0x20,
+  CTRL_REG2_A = 0x21,
+  CTRL_REG3_A = 0x22,
+  CTRL_REG4_A = 0x23,
+  CTRL_REG5_A = 0x24,
+  CTRL_REG6_A = 0x25,
+  REFERENCE_DATACAPTURE_A = 0x26,
+  STATUS_REG_A = 0x27,
+  OUT_X_L_A = 0x28,
+  OUT_X_H_A = 0x29,
+  OUT_Y_L_A = 0x2A,
+  OUT_Y_H_A = 0x2B,
+  OUT_Z_L_A = 0x2C,
+  OUT_Z_H_A = 0x2D,
+  FIFO_CTRL_REG_A = 0x2E,
+  FIFO_SRC_REG_A = 0x2F,
+  INT1_CFG_A = 0x30,
+  INT1_SRC_A = 0x31,
+  INT1_THS_A = 0x32,
+  INT1_DURATION_A = 0x33,
+  INT2_CFG_A = 0x34,
+  INT2_SRC_A = 0x35,
+  INT2_THS_A = 0x36,
+  INT2_DURATION_A = 0x37,
+  CLICK_CFG_A = 0x38,
+  CLICK_SRC_A = 0x39,
+  CLICK_THS_A = 0x3A,
+  TIME_LIMIT_A = 0x3B,
+  TIME_LATENCY_A = 0x3C,
+  TIME_WINDOW_A = 0x3D,
+  ACT_THS_A = 0x3E,
+  ACT_DUR_A = 0x3F,
+} lsm303agr_acc_reg_t;
+
+// Magneto Enums
+typedef enum {
+  OFFSET_X_REG_L_M = 0x45,
+  OFFSET_X_REG_H_M = 0x46,
+  OFFSET_Y_REG_L_M = 0x47,
+  OFFSET_Y_REG_H_M = 0x48,
+  OFFSET_Z_REG_L_M = 0x49,
+  OFFSET_Z_REG_H_M = 0x4A,
+  WHO_AM_I_M = 0x4F,
+  CFG_REG_A_M = 0x60,
+  CFG_REG_B_M = 0x61,
+  CFG_REG_C_M = 0x62,
+  INT_CTRL_REG_M = 0x63,
+  INT_SOURCE_REG_M = 0x64,
+  INT_THS_L_REG_M = 0x65,
+  INT_THS_H_REG_M = 0x66,
+  STATUS_REG_M = 0x67,
+  OUTX_L_REG_M = 0x68,
+  OUTX_H_REG_M = 0x69,
+  OUTY_L_REG_M = 0x6A,
+  OUTY_H_REG_M = 0x6B,
+  OUTZ_L_REG_M = 0x6C,
+  OUTZ_H_REG_M = 0x6D,
+} lsm303agr_mag_reg_t;
+
+static uint8_t i2c_reg_read(uint8_t i2c_addr, uint8_t reg_addr);
+
+static void i2c_reg_write(uint8_t i2c_addr, uint8_t reg_addr, uint8_t data);
+
+void lsm303agr_init(const nrf_twi_mngr_t* i2c);
+} // namespace edge::aidan

src/hal/i2c_wrapper.cpp

@@ -0,0 +1,79 @@
+#include "hal/i2c_wrapper.hpp"
+#include "cmsis_gcc.h"
+#include "nrf_error.h"
+#include "nrf_twi_mngr.h"
+#include "sdk_errors.h"
+
+namespace edge::aidan {
+
+static const nrf_twi_mngr_t* i2c_manager = NULL;
+
+uint8_t i2c_reg_read(uint8_t i2c_addr, uint8_t reg_addr)
+{
+    uint8_t rx_buf = 0;
+    nrf_twi_mngr_transfer_t const read_transfer[] = {
+        NRF_TWI_MNGR_WRITE(i2c_addr, &reg_addr, 1, NRF_TWI_MNGR_NO_STOP),
+        NRF_TWI_MNGR_READ(i2c_addr, &rx_buf, 1, NRF_TWI_MNGR_NO_STOP)
+    };
+    ret_code_t result = nrf_twi_mngr_perform(i2c_manager, NULL, read_transfer, 2, NULL);
+    if (result != NRF_SUCCESS)
+    {
+        printf("I2C TRANSACTION FAILED!");
+    }
+    return rx_buf;
+};
+
+void i2c_reg_write(uint8_t i2c_addr, uint8_t reg_addr, uint8_t data)
+{
+    uint16_t rx_buf = (reg_addr << 8) | data;
+    rx_buf = (data << 8) | reg_addr;
+    nrf_twi_mngr_transfer_t const write_transfer[] = {
+        NRF_TWI_MNGR_WRITE(i2c_addr, &rx_buf, 2, NRF_TWI_MNGR_NO_STOP),
+    };
+    ret_code_t result = nrf_twi_mngr_perform(i2c_manager, NULL, write_transfer, 1, NULL);
+    if (result != NRF_SUCCESS) 
+    {
+        printf("I2C transaction failed! Error: %lX\n", result);
+    }
+}
+
+void lsm303agr_init(const int *i2c)
+{
+    i2c_manager = i2c;
+
+    i2c_reg_write(LSM303AGR_ACC_ADDRESS, CTRL_REG5_A, 0x80);
+    nrf_delay_ms(100); // needs delay to wait for reboot
+
+    // Enable Block Data Update
+    // Only updates sensor data when both halves of the data has been read
+    i2c_reg_write(LSM303AGR_ACC_ADDRESS, CTRL_REG4_A, 0x80);
+
+    // Configure accelerometer at 100Hz, normal mode (10-bit)
+    // Enable x, y and z axes
+    i2c_reg_write(LSM303AGR_ACC_ADDRESS, CTRL_REG1_A, 0x57);
+
+    // Read WHO AM I register
+    // Always returns the same value if working
+    uint8_t res1 = i2c_reg_read(LSM303AGR_ACC_ADDRESS, WHO_AM_I_A);
+
+    // ---Initialize Magnetometer---
+
+    // Reboot magnetometer
+    i2c_reg_write(LSM303AGR_MAG_ADDRESS, CFG_REG_A_M, 0x40);
+    nrf_delay_ms(100); // needs delay to wait for reboot
+
+    // Enable Block Data Update
+    // Only updates sensor data when both halves of the data has been read
+    i2c_reg_write(LSM303AGR_MAG_ADDRESS, CFG_REG_C_M, 0x10);
+
+    // Configure magnetometer at 100Hz, continuous mode
+    i2c_reg_write(LSM303AGR_MAG_ADDRESS, CFG_REG_A_M, 0x0C);
+
+    // Read WHO AM I register
+    uint8_t res2 = i2c_reg_read(LSM303AGR_MAG_ADDRESS, WHO_AM_I_M);
+
+    i2c_reg_write(LSM303AGR_ACC_ADDRESS, TEMP_CFG_REG_A, 0xC0);
+}
+
+
+}