Diff: FXAS21002CQ.h

Revision:

0:8aa01dbab64e

Child:

1:816ba6bfbb20

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FXAS21002CQ.h	Wed Jul 22 13:23:44 2015 +0000
@@ -0,0 +1,154 @@
+/* FXAS21002CQ sensor driver
+ * Copyright (c) 2015 WD
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef FXAS21002CQ_H
+#define FXAS21002CQ_H
+
+#include "mbed.h"
+#include "MotionSensor.h"
+
+// FXAS21002CQ I2C address
+#define FXAS21002CQ_SLAVE_ADDR0 (0x20<<1) // with pins SA0=0, 
+#define FXAS21002CQ_SLAVE_ADDR1 (0x21<<1) // with pins SA0=1, 
+// FXAS21002CQ internal register addresses
+#define FXAS21002CQ_STATUS 0x00
+#define FXAS21002CQ_OUT_X_MSB 0x01
+#define FXAS21002CQ_OUT_X_LSB 0x02
+#define FXAS21002CQ_OUT_Y_MSB 0x03
+#define FXAS21002CQ_OUT_Y_LSB 0x04
+#define FXAS21002CQ_OUT_Z_MSB 0x05
+#define FXAS21002CQ_OUT_Z_LSB 0x06
+#define FXAS21002CQ_DR_STATUS 0x07
+#define FXAS21002CQ_F_STATUS 0x08
+#define FXAS21002CQ_F_SETUP 0x09
+#define FXAS21002CQ_F_EVENT 0x0A
+#define FXAS21002CQ_INT_SRC_FLAG 0x0B
+#define FXAS21002CQ_WHO_AM_I 0x0C
+#define FXAS21002CQ_CTRL_REG0 0x0D
+#define FXAS21002CQ_RT_CFG 0x0E
+#define FXAS21002CQ_RT_SRC 0x0F
+#define FXAS21002CQ_RT_THS 0x10
+#define FXAS21002CQ_RT_COUNT 0x11
+#define FXAS21002CQ_TEMP 0x12
+#define FXAS21002CQ_CTRL_REG1 0x13
+#define FXAS21002CQ_CTRL_REG2 0x14
+#define FXAS21002CQ_CTRL_REG3 0x15
+
+struct FXAS21002CQ_Config_struct 
+{
+    struct FXAS21002CQ_F_SETUP_struct
+    {
+        enum {DISABLED=0, CIRCULAR=1, STOP=2} F_MODE;
+        uint8_t F_WMRK;
+    } F_SETUP;
+    struct FXAS21002CQ_CTRL_REG0_struct
+    {
+        enum {HIGH_BW=0, MEDIUM_BW=1, LOW_BW=2} BW;
+        enum {SPI4=0, SPI3=1} SPIW;
+        enum {HIGH_HP=0, MEDIUM_HIGH_HP=1, MEDIUM_LOW_HP=2, LOW_HP=3} SEL;
+        enum {DISABLED_HP=0, ENABLED_HP=1} HPF_EN;
+        enum {RANGE_2000=0, RANGE_1000=1, RANGE_500=2, RANGE_250=3} FS;
+    } CTRL_REG0;
+
+};
+
+/** FXAS21002CQ giro example
+    @code
+    #include "mbed.h"
+    #include "FXOS8700Q.h"
+    I2C i2c(PTE25, PTE24);
+    FXAS21002CQ_Giro giro(i2c, FXOS8700CQ_SLAVE_ADDR1);    // Configured for the STTBC-AGM01
+    int main(void)
+    {
+        motion_data_units_t acc_data, mag_data;
+        motion_data_counts_t acc_raw, mag_raw;
+        float faX, faY, faZ, fmX, fmY, fmZ, tmp_float;
+        int16_t raX, raY, raZ, rmX, rmY, rmZ, tmp_int;
+        giro.enable();
+        mag.enable();
+        while (true) {
+            // counts based results
+            acc.getAxis(acc_raw);
+            mag.getAxis(mag_raw);
+            acc.getX(raX);
+            acc.getY(raY);
+            acc.getZ(raZ);
+            mag.getX(rmX);
+            mag.getY(rmY);
+            mag.getZ(rmZ);
+            // unit based results
+            acc.getAxis(acc_data);
+            mag.getAxis(mag_data);
+            acc.getX(faX);
+            acc.getY(faY);
+            acc.getZ(faZ);
+            mag.getX(fmX);
+            mag.getY(fmY);
+            mag.getZ(fmZ);
+            wait(0.1f);
+        }
+    }
+    @endcode
+ */
+
+/** FXOS8700Q driver class
+ */
+class FXAS21002CQ : public MotionSensor
+{
+public:
+
+    /** Read a device register
+        @param addr The address to read from
+        @param data The data to read from it
+        @param len The amount of data to read from it
+        @return 0 if successful, negative number otherwise
+     */
+    void readRegs(uint8_t addr, uint8_t *data, uint32_t len) ;
+
+    /** Read the ID from a whoAmI register
+        @return The device whoAmI register contents
+     */
+    uint8_t whoAmI(void) ;
+
+    virtual void enable(void) const;
+    virtual void disable(void) const;
+    virtual uint32_t sampleRate(uint32_t frequency) const;
+    virtual uint32_t dataReady(void) const;
+
+    virtual int16_t getX(int16_t &x) const;
+    virtual int16_t getY(int16_t &y) const;
+    virtual int16_t getZ(int16_t &z) const;
+    virtual float getX(float &x) const;
+    virtual float getY(float &y) const;
+    virtual float getZ(float &z) const;
+    virtual void getAxis(motion_data_counts_t &xyz) const;
+    virtual void getAxis(motion_data_units_t &xyz) const;
+    
+    int8_t getTemperature(void);
+
+    /** FXAS21002CQ constructor
+        @param i2c a configured i2c object
+        @param addr addr of the I2C peripheral as wired
+     */
+    FXAS21002CQ(I2C &i2c, uint8_t addr);
+
+    /** FXAS21002CQ deconstructor
+     */
+    ~FXAS21002CQ();
+    
+protected:
+    I2C *_i2c;
+    uint8_t _addr;
+    
+    void writeRegs(uint8_t *data, uint32_t len) const;
+    int16_t getSensorAxis(uint8_t addr) const;
+};
+
+#endif