Diff: FXOS8700CQ/FXOS8700CQ.cpp

Revision:

5:0b31909caf7f

Parent:

4:035448357749

Child:

6:747335f697d6

--- a/FXOS8700CQ/FXOS8700CQ.cpp	Mon Apr 08 15:10:28 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,185 +0,0 @@
-/* FXOS8700CQ Library
-
-Sample code from ELEC2645 - demonstrates how to create a library
-for the K64F on-board accelerometer and magnetometer
-
-(c) Craig A. Evans, University of Leeds, Jan 2017
-
-*/ 
-
-#include "FXOS8700CQ.h"
-
-// constructor is called when the object is created - use it to set pins and frequency
-FXOS8700CQ::FXOS8700CQ(PinName sda, PinName scl)
-{
-    i2c = new I2C(sda,scl);        // create new I2C instance and initialise
-}
-
-// destructor is called when the object goes out of scope
-FXOS8700CQ::~FXOS8700CQ()
-{
-    delete i2c;        // free memory
-}
-
-// based on 13.4 in datasheet - 200 Hz hybrid mode (both acc and mag)
-void FXOS8700CQ::init()
-{
-    // i2c fast-mode - 10.1.1 data sheet
-    i2c->frequency(400000);       // I2C Fast Mode - 400kHz
-
-    // the device has an ID number so we check the value to ensure the correct
-    // drive is on the i2c bus
-    char data = read_byte_from_reg(FXOS8700CQ_WHO_AM_I);
-    if (data != FXOS8700CQ_WHO_AM_I_VAL) { // if correct ID not found, hang and flash error message
-        error("Incorrect ID!");
-    }
-
-    // write 0000 0000 = 0x00 to accelerometer control register 1 to place
-    // FXOS8700CQ into standby
-    // [7-1] = 0000 000
-    // [0]: active=0
-    data = 0x00;
-    send_byte_to_reg(data,FXOS8700CQ_CTRL_REG1);
-
-    // write 0001 1111 = 0x1F to magnetometer control register 1
-    // [7]: m_acal=0: auto calibration disabled
-    // [6]: m_rst=0: no one-shot magnetic reset
-    // [5]: m_ost=0: no one-shot magnetic measurement
-    // [4-2]: m_os=111=7: 8x oversampling (for 200Hz) to reduce magnetometer noise
-    // [1-0]: m_hms=11=3: select hybrid mode with accel and magnetometer active
-    data = 0x1F;
-    send_byte_to_reg(data,FXOS8700CQ_M_CTRL_REG1);
-
-    // write 0010 0000 = 0x20 to magnetometer control register 2
-    // [7]: reserved
-    // [6]: reserved
-    // [5]: hyb_autoinc_mode=1 to map the magnetometer registers to follow
-    // the accelerometer registers
-    // [4]: m_maxmin_dis=0 to retain default min/max latching even though not used
-    // [3]: m_maxmin_dis_ths=0
-    // [2]: m_maxmin_rst=0
-    // [1-0]: m_rst_cnt=00 to enable magnetic reset each cycle
-    data = 0x20;
-    send_byte_to_reg(data,FXOS8700CQ_M_CTRL_REG2);
-
-    // write 0000 0001= 0x01 to XYZ_DATA_CFG register
-    // [7]: reserved
-    // [6]: reserved
-    // [5]: reserved
-    // [4]: hpf_out=0
-    // [3]: reserved
-    // [2]: reserved
-    // [1-0]: fs=01 for accelerometer range of +/-4g range with 0.488mg/LSB
-    data = 0x01;
-    send_byte_to_reg(data,FXOS8700CQ_XYZ_DATA_CFG);
-
-    // write 0000 1101 = 0x0D to accelerometer control register 1
-    // [7-6]: aslp_rate=00
-    // [5-3]: dr=001 for 200Hz data rate (when in hybrid mode)
-    // [2]: lnoise=1 for low noise mode
-    // [1]: f_read=0 for normal 16 bit reads
-    // [0]: active=1 to take the part out of standby and enable sampling
-    data = 0x0D;
-    send_byte_to_reg(data,FXOS8700CQ_CTRL_REG1);
-
-}
-
-Data FXOS8700CQ::get_values()
-{
-    // 13 bytes - status plus 6 channels (2 bytes each)
-    // x,y,z for accelerometer and magnetometer
-    char data[FXOS8700CQ_READ_LEN];
-    read_bytes_from_reg(FXOS8700CQ_STATUS,FXOS8700CQ_READ_LEN,data);
-
-    // copy the 14 bit accelerometer byte data into 16 bit words
-    int acc_x = (int16_t)(((data[1] << 8) | data[2]))>> 2;
-    int acc_y = (int16_t)(((data[3] << 8) | data[4]))>> 2;
-    int acc_z = (int16_t)(((data[5] << 8) | data[6]))>> 2;
-
-    // copy the magnetometer byte data into 16 bit words
-    int mag_x = (int16_t) (data[7] << 8) | data[8];
-    int mag_y = (int16_t) (data[9] << 8) | data[10];
-    int mag_z = (int16_t) (data[11] << 8) | data[12];
-
-    Data values;  // struct to hold values
-
-    // 0.488 mg/LSB in 4 g mode (8.1 data sheet)
-    values.ax = 0.488e-3*acc_x;
-    values.ay = 0.488e-3*acc_y;
-    values.az = 0.488e-3*acc_z;
-
-    // the magnetometer sensitivity is fixed at 0.1 μT/LSB
-    values.mx = 0.1e-6*mag_x;
-    values.my = 0.1e-6*mag_y;
-    values.mz = 0.1e-6*mag_z;
-
-    return values;
-}
-
-float FXOS8700CQ::get_pitch_angle() {
-    
-    float pitch;
-    Data values = get_values();
-    // calculate pitch
-    float y = -1.0*values.ax;
-    float x = sqrt(pow(values.ay,2)+pow(values.az,2));
-    pitch = atan2(y,x)*(180.0/3.141592653589793238463);
-    
-    return pitch;
-
-    }
-
-float FXOS8700CQ::get_roll_angle() {
-    
-    float roll;
-    Data values = get_values();
-    // calculate roll angle and convert to deg
-    roll = atan2(values.ay,values.az)*(180.0/3.141592653589793238463);
-
-    return roll;
-    }
-
-void FXOS8700CQ::send_byte_to_reg(char byte,char reg)
-{
-    char data[2];
-    data[0] = reg;
-    data[1] = byte;
-    // send the register address, followed by the data
-    int nack = i2c->write(FXOS8700CQ_ADDR,data,2);
-    if (nack)
-        error("No acknowledgement received!");  // if we don't receive acknowledgement, send error message
-
-}
-
-// reads a byte from a specific register
-char FXOS8700CQ::read_byte_from_reg(char reg)
-{
-    int nack = i2c->write(FXOS8700CQ_ADDR,&reg,1,true);  // send the register address to the slave
-    // true as need to send repeated start condition (5.10.1 datasheet)
-    // http://www.i2c-bus.org/repeated-start-condition/
-    if (nack)
-        error("No acknowledgement received!");  // if we don't receive acknowledgement, send error message
-
-    char rx;
-    nack = i2c->read(FXOS8700CQ_ADDR,&rx,1);  // read a byte from the register and store in buffer
-    if (nack)
-        error("No acknowledgement received!");  // if we don't receive acknowledgement, send error message
-
-    return rx;
-}
-
-// reads a series of bytes, starting from a specific register
-void FXOS8700CQ::read_bytes_from_reg(char reg,int number_of_bytes,char bytes[])
-{
-    int nack = i2c->write(FXOS8700CQ_ADDR,&reg,1,true);  // send the slave write address and the configuration register address
-    // true as need to send repeated start condition (5.10.1 datasheet)
-    // http://www.i2c-bus.org/repeated-start-condition/
-
-    if (nack)
-        error("No acknowledgement received!");  // if we don't receive acknowledgement, send error message
-
-    nack = i2c->read(FXOS8700CQ_ADDR,bytes,number_of_bytes);  // read bytes
-    if (nack)
-        error("No acknowledgement received!");  // if we don't receive acknowledgement, send error message
-
-}
\ No newline at end of file