Diff: FXOS8700Q.cpp

Revision:

10:d1554d18e419

Parent:

7:c53dda05b8cf

--- a/FXOS8700Q.cpp	Fri Apr 25 16:45:51 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,294 +0,0 @@
-/* Copyright (c) 2010-2011 mbed.org, MIT License
-*
-* Permission is hereby granted, free of charge, to any person obtaining a copy of this software
-* and associated documentation files (the "Software"), to deal in the Software without
-* restriction, including without limitation the rights to use, copy, modify, merge, publish,
-* distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
-* Software is furnished to do so, subject to the following conditions:
-*
-* The above copyright notice and this permission notice shall be included in all copies or
-* substantial portions of the Software.
-*
-* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
-* BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
-* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
-* DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-*/
-
-#include "FXOS8700Q.h"
-#define UINT14_MAX        16383
-
-
-FXOS8700Q_acc::FXOS8700Q_acc(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
-    // activate the peripheral
-    uint8_t data[2] = {FXOS8700Q_CTRL_REG1, 0x00};
-    m_i2c.frequency(400000);
-    writeRegs(data, 2);
-    data[0] = FXOS8700Q_M_CTRL_REG1;
-    data[1] = 0x1F;
-    writeRegs(data, 2);
-    data[0] = FXOS8700Q_M_CTRL_REG2;
-    data[1] = 0x20;
-    writeRegs(data, 2);
-    data[0] = FXOS8700Q_XYZ_DATA_CFG;
-    data[1] = 0x00;
-    writeRegs(data, 2);
-    data[0] = FXOS8700Q_CTRL_REG1;
-    data[1] = 0x18;//0x1D;
-    writeRegs(data, 2);
-}
-
-FXOS8700Q_acc::~FXOS8700Q_acc() { }
-
-void FXOS8700Q_acc::enable(void) {
-    uint8_t data[2];
-    readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
-    data[1] |= 0x01;
-    data[0] = FXOS8700Q_CTRL_REG1;
-    writeRegs(data, 2);
-}
-
-void FXOS8700Q_acc::disable(void) {
-    uint8_t data[2];
-    readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
-    data[1] &= 0xFE;
-    data[0] = FXOS8700Q_CTRL_REG1;
-    writeRegs(data, 2);
-}
-
-
-
-uint32_t FXOS8700Q_acc::whoAmI() {
-    uint8_t who_am_i = 0;
-    readRegs(FXOS8700Q_WHOAMI, &who_am_i, 1);
-    return (uint32_t) who_am_i;
-}
-
-uint32_t FXOS8700Q_acc::dataReady(void) {
-    uint8_t stat = 0;
-    readRegs(FXOS8700Q_STATUS, &stat, 1);
-    return (uint32_t) stat;
-}
-
-uint32_t FXOS8700Q_acc::sampleRate(uint32_t f) {
-    return(50); // for now sample rate is fixed at 50Hz
-}
-
-void FXOS8700Q_acc::getX(float * x) {
-    *x = (float(getAccAxis(FXOS8700Q_OUT_X_MSB))/4096.0f);
-}
-
-void FXOS8700Q_acc::getY(float * y) {
-    *y = (float(getAccAxis(FXOS8700Q_OUT_Y_MSB))/4096.0f);
-}
-
-void FXOS8700Q_acc::getZ(float * z) {
-    *z = (float(getAccAxis(FXOS8700Q_OUT_Z_MSB))/4096.0f);
-}
-
-void FXOS8700Q_acc::getX(int16_t * d) {
-    *d = getAccAxis(FXOS8700Q_OUT_X_MSB);
-}
-
-void FXOS8700Q_acc::getY(int16_t * d) {
-    *d = getAccAxis(FXOS8700Q_OUT_Y_MSB);
-}
-
-void FXOS8700Q_acc::getZ(int16_t * d) {
-    *d = getAccAxis(FXOS8700Q_OUT_Z_MSB);
-}
-
-
-void FXOS8700Q_acc::getAxis(MotionSensorDataUnits &data) {
-    int16_t acc, t[3];
-    uint8_t res[6];
-   readRegs(FXOS8700Q_OUT_X_MSB, res, 6);
-
-    acc = (res[0] << 6) | (res[1] >> 2);
-    if (acc > UINT14_MAX/2)
-        acc -= UINT14_MAX;
-    t[0] = acc;
-    acc = (res[2] << 6) | (res[3] >> 2);
-    if (acc > UINT14_MAX/2)
-        acc -= UINT14_MAX;
-    t[1] = acc;
-    acc = (res[4] << 6) | (res[5] >> 2);
-    if (acc > UINT14_MAX/2)
-        acc -= UINT14_MAX;
-    t[2] = acc;
-    data.x = ((float) t[0]) / 4096.0f;
-    data.y = ((float) t[1]) / 4096.0f;
-    data.z = ((float) t[2]) / 4096.0f;
-}
-
-
-void FXOS8700Q_acc::getAxis(MotionSensorDataCounts &data) {
-    int16_t acc;
-    uint8_t res[6];
-    readRegs(FXOS8700Q_OUT_X_MSB, res, 6);
-
-    acc = (res[0] << 6) | (res[1] >> 2);
-    if (acc > UINT14_MAX/2)
-        acc -= UINT14_MAX;
-    data.x = acc;
-    acc = (res[2] << 6) | (res[3] >> 2);
-    if (acc > UINT14_MAX/2)
-        acc -= UINT14_MAX;
-    data.y = acc;
-    acc = (res[4] << 6) | (res[5] >> 2);
-    if (acc > UINT14_MAX/2)
-        acc -= UINT14_MAX;
-    data.z = acc;
-}
-
-void FXOS8700Q_acc::readRegs(int addr, uint8_t * data, int len) {
-    char t[1] = {addr};
-    m_i2c.write(m_addr, t, 1, true);
-    m_i2c.read(m_addr, (char *)data, len);
-}
-
-void FXOS8700Q_acc::writeRegs(uint8_t * data, int len) {
-    m_i2c.write(m_addr, (char *)data, len);
-}
-
-
-int16_t FXOS8700Q_acc::getAccAxis(uint8_t addr) {
-    int16_t acc;
-    uint8_t res[2];
-    readRegs(addr, res, 2);
-
-    acc = (res[0] << 6) | (res[1] >> 2);
-    if (acc > UINT14_MAX/2)
-        acc -= UINT14_MAX;
-
-    return acc;
-}
-
-
-
-FXOS8700Q_mag::FXOS8700Q_mag(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
-    // activate the peripheral
-    uint8_t data[2] = {FXOS8700Q_CTRL_REG1, 0x00};
-    m_i2c.frequency(400000);
-    writeRegs(data, 2);
-    data[0] = FXOS8700Q_M_CTRL_REG1;
-    data[1] = 0x1F;
-    writeRegs(data, 2);
-    data[0] = FXOS8700Q_M_CTRL_REG2;
-    data[1] = 0x20;
-    writeRegs(data, 2);
-    data[0] = FXOS8700Q_XYZ_DATA_CFG;
-    data[1] = 0x00;
-    writeRegs(data, 2);
-    data[0] = FXOS8700Q_CTRL_REG1;
-    data[1] = 0x18;//0x1D;
-    writeRegs(data, 2);
-}
-
-FXOS8700Q_mag::~FXOS8700Q_mag() { }
-
-void FXOS8700Q_mag::enable(void) {
-    uint8_t data[2];
-    readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
-    data[1] |= 0x01;
-    data[0] = FXOS8700Q_CTRL_REG1;
-    writeRegs(data, 2);
-}
-
-void FXOS8700Q_mag::disable(void) {
-    uint8_t data[2];
-    readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
-    data[1] &= 0xFE;
-    data[0] = FXOS8700Q_CTRL_REG1;
-    writeRegs(data, 2);
-}
-
-
-
-uint32_t FXOS8700Q_mag::whoAmI() {
-    uint8_t who_am_i = 0;
-    readRegs(FXOS8700Q_WHOAMI, &who_am_i, 1);
-    return (uint32_t) who_am_i;
-}
-
-uint32_t FXOS8700Q_mag::dataReady(void) {
-    uint8_t stat = 0;
-    readRegs(FXOS8700Q_STATUS, &stat, 1);
-    return (uint32_t) stat;
-}
-
-uint32_t FXOS8700Q_mag::sampleRate(uint32_t f) {
-    return(50); // for now sample rate is fixed at 50Hz
-}
-
-void FXOS8700Q_mag::getX(float * x) {
-    *x = (float(getAccAxis(FXOS8700Q_M_OUT_X_MSB)) * 0.1f);
-}
-
-void FXOS8700Q_mag::getY(float * y) {
-    *y = (float(getAccAxis(FXOS8700Q_M_OUT_Y_MSB)) * 0.1f);
-}
-
-void FXOS8700Q_mag::getZ(float * z) {
-    *z = (float(getAccAxis(FXOS8700Q_M_OUT_Z_MSB)) * 0.1f);
-}
-
-void FXOS8700Q_mag::getX(int16_t * d) {
-    *d = getAccAxis(FXOS8700Q_M_OUT_X_MSB);
-}
-
-void FXOS8700Q_mag::getY(int16_t * d) {
-    *d = getAccAxis(FXOS8700Q_M_OUT_Y_MSB);
-}
-
-void FXOS8700Q_mag::getZ(int16_t * d) {
-    *d = getAccAxis(FXOS8700Q_M_OUT_Z_MSB);
-}
-
-
-void FXOS8700Q_mag::getAxis(MotionSensorDataUnits &data) {
-    int16_t t[3];
-    uint8_t res[6];
-   readRegs(FXOS8700Q_M_OUT_X_MSB, res, 6);
-
-    t[0] = (res[0] << 8) | res[1];
-    t[1] = (res[2] << 8) | res[3];
-    t[2] = (res[4] << 8) | res[5];
-
-    data.x = ((float) t[0]) * 0.1f;
-    data.y = ((float) t[1]) * 0.1f;
-    data.z = ((float) t[2]) * 0.1f;
-}
-
-
-void FXOS8700Q_mag::getAxis(MotionSensorDataCounts &data) {
-    int16_t acc;
-    uint8_t res[6];
-    readRegs(FXOS8700Q_M_OUT_X_MSB, res, 6);
-
-    data.x = (res[0] << 8) | res[1];
-    data.y = (res[2] << 8) | res[3];
-    data.z = (res[4] << 8) | res[5];
-}
-
-void FXOS8700Q_mag::readRegs(int addr, uint8_t * data, int len) {
-    char t[1] = {addr};
-    m_i2c.write(m_addr, t, 1, true);
-    m_i2c.read(m_addr, (char *)data, len);
-}
-
-void FXOS8700Q_mag::writeRegs(uint8_t * data, int len) {
-    m_i2c.write(m_addr, (char *)data, len);
-}
-
-
-int16_t FXOS8700Q_mag::getAccAxis(uint8_t addr) {
-    int16_t acc;
-    uint8_t res[2];
-    readRegs(addr, res, 2);
-
-    acc = (res[0] << 8) | res[1];
-
-    return acc;
-}