Revision 6:cdc362f08339, committed 2014-04-24

Comitter:

JimCarver

Date:

Thu Apr 24 16:30:31 2014 +0000

Parent:

5:c4176a12f7d5

Child:

7:c53dda05b8cf

Commit message:

Added Virtual Motion Sensor Class

Changed in this revision

--- a/FXOS8700Q.cpp	Wed Apr 23 17:12:15 2014 +0000
+++ b/FXOS8700Q.cpp	Thu Apr 24 16:30:31 2014 +0000
@@ -35,39 +35,95 @@
     data[1] = 0x00;
     writeRegs(data, 2);
     data[0] = FXOS8700Q_CTRL_REG1;
-    data[1] = 0x19;//0x1D;
+    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);
 }
 
 
-FXOS8700Q_acc::~FXOS8700Q_acc() { }
 
-uint8_t FXOS8700Q_acc::getWhoAmI() {
+uint32_t FXOS8700Q_acc::whoAmI() {
     uint8_t who_am_i = 0;
     readRegs(FXOS8700Q_WHOAMI, &who_am_i, 1);
-    return who_am_i;
+    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
 }
 
-float FXOS8700Q_acc::getAccX() {
-    return (float(getAccAxis(FXOS8700Q_OUT_X_MSB))/4096.0);
+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);
 }
 
-float FXOS8700Q_acc::getAccY() {
-    return (float(getAccAxis(FXOS8700Q_OUT_Y_MSB))/4096.0);
+void FXOS8700Q_acc::getZ(float * z) {
+    *z = (float(getAccAxis(FXOS8700Q_OUT_Z_MSB))/4096.0f);
 }
 
-float FXOS8700Q_acc::getAccZ() {
-    return (float(getAccAxis(FXOS8700Q_OUT_Z_MSB))/4096.0);
+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) {
-    data->x = getAccX();
-    data->y = getAccY();
-    data->z = getAccZ();
+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 {
+
+void FXOS8700Q_acc::getAxis(MotionSensorDataCounts &data) {
     int16_t acc;
     uint8_t res[6];
     readRegs(FXOS8700Q_OUT_X_MSB, res, 6);
@@ -75,35 +131,28 @@
     acc = (res[0] << 6) | (res[1] >> 2);
     if (acc > UINT14_MAX/2)
         acc -= UINT14_MAX;
-    data->x = acc;
+    data.x = acc;
     acc = (res[2] << 6) | (res[3] >> 2);
     if (acc > UINT14_MAX/2)
         acc -= UINT14_MAX;
-    data->y = acc;
+    data.y = acc;
     acc = (res[4] << 6) | (res[5] >> 2);
     if (acc > UINT14_MAX/2)
         acc -= UINT14_MAX;
-    data->z = acc;
+    data.z = acc;
 }
 
-void FXOS8700Q_acc::MagXYZraw(int16_t * d) {
-    int16_t acc;
-    uint8_t res[6];
-    readRegs(FXOS8700Q_M_OUT_X_MSB, res, 6);
-
-    d[0] = (res[0] << 8) | res[1];
-    d[1] = (res[2] << 8) | res[3]; 
-    d[2] = (res[4] << 8) | res[5];
+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::getMagAllAxis(float * res) {
-    int16_t raw[3];
-    MagXYZraw( raw);
-    res[0] = (float) raw[0] * 0.1f;
-    res[1] = (float) raw[1] * 0.1f;
-    res[2] = (float) raw[2] * 0.1f;
-}        
-    
+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];
@@ -116,14 +165,130 @@
     return acc;
 }
 
-void FXOS8700Q_acc::readRegs(int addr, uint8_t * data, int len) {
+
+
+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))/4096.0f);
+}
+
+void FXOS8700Q_mag::getY(float * y) {
+    *y = (float(getAccAxis(FXOS8700Q_M_OUT_Y_MSB))/4096.0f);
+}
+
+void FXOS8700Q_mag::getZ(float * z) {
+    *z = (float(getAccAxis(FXOS8700Q_M_OUT_Z_MSB))/4096.0f);
+}
+
+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_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_acc::writeRegs(uint8_t * data, int len) {
+void FXOS8700Q_mag::writeRegs(uint8_t * data, int len) {
     m_i2c.write(m_addr, (char *)data, len);
 }
 
-    
\ No newline at end of file
+
+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;
+}

--- a/FXOS8700Q.h	Wed Apr 23 17:12:15 2014 +0000
+++ b/FXOS8700Q.h	Thu Apr 24 16:30:31 2014 +0000
@@ -58,16 +58,16 @@
 * PwmOut bled(LED_BLUE);
 * 
 *     while (true) {       
-*         rled = 1.0 - combo(acc.getAccX());
-*         gled = 1.0 - combo(acc.getAccY());
-*         bled = 1.0 - combo(acc.getAccZ());
+*         rled1.0 - combo(acc.getAccX());
+*         gled1.0 - combo(acc.getAccY());
+*         bled1.0 - combo(acc.getAccZ());
 *         wait(0.1);
 *     }
 * }
 * @endcode
 */
 
-class FXOS8700Q : public MotionSensor
+class FXOS8700Q_acc : public MotionSensor
 {
 public:
   /**
@@ -78,76 +78,62 @@
   * @param addr addr of the I2C peripheral
   */
   
-  FXOS8700Q(PinName sda, PinName scl, int addr);
+  FXOS8700Q_acc(PinName sda, PinName scl, int addr);
 
   /**
   * FXOS8700Q destructor
   */
-  ~FXOS8700Q();
-
-  /**
-   * Get the value of the WHO_AM_I register
-   *
-   * @returns WHO_AM_I value
-   */
-  uint8_t getWhoAmI();
+  ~FXOS8700Q_acc();
 
-  /**
-   * Get X axis acceleration
-   *
-   * @returns X axis acceleration
-   */
-  float getAccX();
+    void enable(void);
+    void disable(void);
+    uint32_t sampleRate(uint32_t frequency);
+    uint32_t whoAmI(void);
+    uint32_t dataReady(void);
+    void getX(int16_t * x);
+    void getY(int16_t * y);
+    void getZ(int16_t * z);
+    void getX(float * x);
+    void getY(float * y);
+    void getZ(float * z);
+    void getAxis(MotionSensorDataCounts &data);
+    void getAxis(MotionSensorDataUnits &data);
+  
+  void readRegs(int addr, uint8_t * data, int len);
+  
+private:
+  I2C m_i2c;
+  int m_addr;
 
-  /**
-   * Get Y axis acceleration
-   *
-   * @returns Y axis acceleration
-   */
-  float getAccY();
+  void writeRegs(uint8_t * data, int len);
+  int16_t getAccAxis(uint8_t addr);
+
+};
 
-  /**
-   * Get Z axis acceleration
-   *
-   * @returns Z axis acceleration
-   */
-  float getAccZ();
+class FXOS8700Q_mag : public MotionSensor
+{
+public:
+  FXOS8700Q_mag(PinName sda, PinName scl, int addr);
 
   /**
-   * Get XYZ axis acceleration in G's
-   *
-   * @param res array where acceleration data will be stored
-   */
-  void getAccAllAxis(float * res);
-  
-  /**
-   * Get XYZ axis magnetic readings in micro-teslas
-   *
-   * @param res array where acceleration data will be stored
-   */
-  void getMagAllAxis(float * res);
+  * FXOS8700Q destructor
+  */
+  ~FXOS8700Q_mag();
+
+    void enable(void);
+    void disable(void);
+    uint32_t sampleRate(uint32_t fequency);
+    uint32_t whoAmI(void);
+    uint32_t dataReady(void);
+    void getX(int16_t * x);
+    void getY(int16_t * y);
+    void getZ(int16_t * z);
+    void getX(float * x);
+    void getY(float * y);
+    void getZ(float * z);
+    void getAxis(MotionSensorDataCounts &data);
+    void getAxis(MotionSensorDataUnits &data);
   
-  /**
-   * Get XYZ axis acceleration, signed 16 bit values
-   *
-   * @param res array where acceleration data will be stored
-   */
-  void AccXYZraw(int16_t * d);
-    
-  /**
-   * Get XYZ axis magnetometer readings, signed 16 bit values
-   *
-   * @param res array where acceleration data will be stored
-   */
-  void MagXYZraw(int16_t * d);
-    
-  /**
-   * Read FXOS8700Q internal registers
-   *
-   * @param Register Address
-   * @param Pointer to whare results will be stored
-   * @param Number of registers to read
-   */ 
   void readRegs(int addr, uint8_t * data, int len);
   
 private:

--- a/MotionSensor.lib	Wed Apr 23 17:12:15 2014 +0000
+++ b/MotionSensor.lib	Thu Apr 24 16:30:31 2014 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/teams/components/code/MotionSensor/#821b100de6e1
+http://mbed.org/teams/components/code/MotionSensor/#4d6e28d4a18a