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ADXL343 support #3

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ADXL343 support #3

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40 changes: 23 additions & 17 deletions elisa3/sensors.c
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Original file line number Diff line number Diff line change
Expand Up @@ -278,6 +278,7 @@ void readAccelXY() {
// reg 0x03: 10 bits output value Y MSB
// reg 0x04: 10 bits output value Z LSB
// reg 0x05: 10 bits output value Z MSB
// The sensitivity is 64 LSB/g.

i2c_start(accelAddress+I2C_WRITE); // set device address and write mode
i2c_write(0x00); // sends address to read from (X LSB)
Expand Down Expand Up @@ -306,6 +307,7 @@ void readAccelXY() {
// reg 0x35: 10 bits output value Y MSB
// reg 0x36: 10 bits output value Z LSB
// reg 0x37: 10 bits output value Z MSB
// The sensitivity is 256 LSB/g so scale the values to be compatible with the MMA7455.

i2c_start(accelAddress+I2C_WRITE); // set device address and write mode
i2c_write(0x32); // sends address to read from (X LSB)
Expand All @@ -318,11 +320,11 @@ void readAccelXY() {
i2c_stop(); // set stop conditon = release bus

if(startCalibration) { // if performing the calibration, then return the raw values
accX = ((signed int)buff[1]<<8)|buff[0]; // X axis
accY = ((signed int)buff[3]<<8)|buff[2]; // Y axis
accX = (((int16_t)buff[1])<<6)|(((uint8_t)buff[0])>>2); // X axis
accY = (((int16_t)buff[3])<<6)|(((uint8_t)buff[2])>>2); // Y axis
} else { // else return the calibrated values
accX = (((signed int)buff[1]<<8)|buff[0])-accOffsetX; // X axis
accY = (((signed int)buff[3]<<8)|buff[2])-accOffsetY; // Y axis
accX = ((((int16_t)buff[1])<<6)|(((uint8_t)buff[0])>>2))-accOffsetX; // X axis
accY = ((((int16_t)buff[3])<<6)|(((uint8_t)buff[2])>>2))-accOffsetY; // Y axis
}

} else {
Expand All @@ -348,6 +350,7 @@ void readAccelXYZ() {
// reg 0x03: 10 bits output value Y MSB
// reg 0x04: 10 bits output value Z LSB
// reg 0x05: 10 bits output value Z MSB
// The sensitivity is 64 LSB/g.

i2c_start(accelAddress+I2C_WRITE); // set device address and write mode
i2c_write(0x00); // sends address to read from (X LSB)
Expand Down Expand Up @@ -378,6 +381,7 @@ void readAccelXYZ() {
// reg 0x35: 10 bits output value Y MSB
// reg 0x36: 10 bits output value Z LSB
// reg 0x37: 10 bits output value Z MSB
// The sensitivity is 256 LSB/g so scale the values to be compatible with the MMA7455.

i2c_start(accelAddress+I2C_WRITE); // set device address and write mode
i2c_write(0x32); // sends address to read from (X LSB)
Expand All @@ -387,16 +391,16 @@ void readAccelXYZ() {
buff[i] = i2c_readAck(); // read one byte at a time
}
buff[i] = i2c_readNak(); // read last byte sending NACK
i2c_stop(); // set stop conditon = release bus
i2c_stop(); // set stop conditon = release bus

if(startCalibration) { // if performing the calibration, then return the raw values
accX = ((signed int)buff[1]<<8)|buff[0]; // X axis
accY = ((signed int)buff[3]<<8)|buff[2]; // Y axis
accZ = ((signed int)buff[5]<<8)|buff[4]; // Z axis
accX = (((int16_t)buff[1])<<6)|(((uint8_t)buff[0])>>2); // X axis
accY = (((int16_t)buff[3])<<6)|(((uint8_t)buff[2])>>2); // Y axis
accZ = (((int16_t)buff[5])<<6)|(((uint8_t)buff[4])>>2); // Z axis
} else { // else return the calibrated values
accX = (((signed int)buff[1]<<8)|buff[0])-accOffsetX; // X axis
accY = (((signed int)buff[3]<<8)|buff[2])-accOffsetY; // Y axis
accZ = (((signed int)buff[5]<<8)|buff[4]); // Z axis
accX = ((((int16_t)buff[1])<<6)|(((uint8_t)buff[0])>>2))-accOffsetX; // X axis
accY = ((((int16_t)buff[3])<<6)|(((uint8_t)buff[2])>>2))-accOffsetY; // Y axis
accZ = (((int16_t)buff[5])<<6)|(((uint8_t)buff[4])>>2); // Z axis
}

} else {
Expand All @@ -422,6 +426,7 @@ void readAccelXYZ_1() {
// reg 0x03: 10 bits output value Y MSB
// reg 0x04: 10 bits output value Z LSB
// reg 0x05: 10 bits output value Z MSB
// The sensitivity is 64 LSB/g.

i2c_start(accelAddress+I2C_WRITE); // set device address and write mode
i2c_write(0x00); // sends address to read from (X LSB)
Expand All @@ -441,6 +446,7 @@ void readAccelXYZ_1() {
// reg 0x35: 10 bits output value Y MSB
// reg 0x36: 10 bits output value Z LSB
// reg 0x37: 10 bits output value Z MSB
// The sensitivity is 256 LSB/g so scale the values to be compatible with the MMA7455.

i2c_start(accelAddress+I2C_WRITE); // set device address and write mode
i2c_write(0x32); // sends address to read from (X LSB)
Expand Down Expand Up @@ -492,13 +498,13 @@ void readAccelXYZ_2() {
i2c_stop(); // set stop conditon = release bus

if(startCalibration) { // if performing the calibration, then return the raw values
accX = ((signed int)accBuff[1]<<8)|accBuff[0]; // X axis
accY = ((signed int)accBuff[3]<<8)|accBuff[2]; // Y axis
accZ = ((signed int)accBuff[5]<<8)|accBuff[4]; // Z axis
accX = (((int16_t)accBuff[1])<<6)|(((uint8_t)accBuff[0])>>2); // X axis
accY = (((int16_t)accBuff[3])<<6)|(((uint8_t)accBuff[2])>>2); // Y axis
accZ = (((int16_t)accBuff[5])<<6)|(((uint8_t)accBuff[4])>>2); // Z axis
} else { // else return the calibrated values
accX = (((signed int)accBuff[1]<<8)|accBuff[0])-accOffsetX; // X axis
accY = (((signed int)accBuff[3]<<8)|accBuff[2])-accOffsetY; // Y axis
accZ = (((signed int)accBuff[5]<<8)|accBuff[4]); // Z axis
accX = ((((int16_t)accBuff[1])<<6)|(((uint8_t)accBuff[0])>>2))-accOffsetX; // X axis
accY = ((((int16_t)accBuff[3])<<6)|(((uint8_t)accBuff[2])>>2))-accOffsetY; // Y axis
accZ = (((int16_t)accBuff[5])<<6)|(((uint8_t)accBuff[4])>>2); // Z axis
}

} else {
Expand Down