Revision 0:08ed32d49eca, committed 2015-12-25

Comitter:

Rhyme

Date:

Fri Dec 25 05:41:05 2015 +0000

Commit message:

First working version. Only init and read from the data sheet implemented.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FXOS8700CQ.cpp	Fri Dec 25 05:41:05 2015 +0000
@@ -0,0 +1,207 @@
+#include "mbed.h"
+#include "FXOS8700CQ.h"
+
+/* Register Address definitions */
+#define REG_STATUS           0x00
+#define REG_OUT_X_MSB        0x01
+#define REG_OUT_X_LSB        0x02
+#define REG_OUT_Y_MSB        0x03
+#define REG_OUT_Y_LSB        0x04
+#define REG_OUT_Z_MSB        0x05
+#define REG_OUT_Z_LSB        0x06
+/* RESERVED                  0x07 */
+/* RESERVED                  0x08 */
+#define REG_F_SETUP          0x09
+#define REG_TRIG_CFG         0x0A
+#define REG_SYSMOD           0x0B
+#define REG_INT_SOURCE       0x0C
+#define REG_WHO_AM_I         0x0D
+#define REG_XYZ_DATA_CFG     0x0E
+#define REG_HP_FILTER_CUTOFF 0x0F
+#define REG_PL_STATUS        0x10
+#define REG_PL_CFG           0x11
+#define REG_PL_COUNT         0x12
+#define REG_PL_BF_ZCOMP      0x13
+#define REG_PL_THS_REG       0x14
+#define REG_A_FFMT_CFG       0x15
+#define REG_A_FFMT_SRC       0x16
+#define REG_A_FFMT_THS       0x17
+#define REG_A_FFMT_COUNT     0x18
+/* RESERVED                  0x19 */
+/* RESERVED                  0x1A */
+/* RESERVED                  0x1B */
+/* RESERVED                  0x1C */
+#define REG_TRANSIENT_CFG    0x1D
+#define REG_TRANSIENT_SRC    0x1E
+#define REG_TRANSIENT_THS    0x1F
+#define REG_TRANSIENT_COUNT  0x20
+#define REG_PULSE_CFG        0x21
+#define REG_PULSE_SRC        0x22
+#define REG_PULSE_THSX       0x23
+#define REG_PULSE_THSY       0x24
+#define REG_PULSE_THSZ       0x25
+#define REG_PULSE_TMLT       0x26
+#define REG_PULSE_LTCY       0x27
+#define REG_PULSE_WIND       0x28
+#define REG_ASLP_COUNT       0x29
+#define REG_CTRL_REG1        0x2A
+#define REG_CTRL_REG2        0x2B
+#define REG_CTRL_REG3        0x2C
+#define REG_CTRL_REG4        0x2D
+#define REG_CTRL_REG5        0x2E
+#define REG_OFF_X            0x2F
+#define REG_OFF_Y            0x30
+#define REG_OFF_Z            0x31
+#define REG_M_DR_STATUS      0x32
+#define REG_M_OUT_X_MSB      0x33
+#define REG_M_OUT_X_LSB      0x34
+#define REG_M_OUT_Y_MSB      0x35
+#define REG_M_OUT_Y_LSB      0x36
+#define REG_M_OUT_Z_MSB      0x37
+#define REG_M_OUT_Z_LSB      0x38
+#define REG_CMP_X_MSB        0x39
+#define REG_CMP_X_LSB        0x3A
+#define REG_CMP_Y_MSB        0x3B
+#define REG_CMP_Y_LSB        0x3C
+#define REG_CMP_Z_MSB        0x3D
+#define REG_CMP_Z_LSB        0x3E
+#define REG_M_OFF_X_MSB      0x3F
+#define REG_M_OFF_X_LSB      0x40
+#define REG_M_OFF_Y_MSB      0x41
+#define REG_M_OFF_Y_LSB      0x42
+#define REG_M_OFF_Z_MSB      0x43
+#define REG_M_OFF_Z_LSB      0x44
+#define REG_MAX_X_MSB        0x45
+#define REG_MAX_X_LSB        0x46
+#define REG_MAX_Y_MSB        0x47
+#define REG_MAX_Y_LSB        0x48
+#define REG_MAX_Z_MSB        0x49
+#define REG_MAX_Z_LSB        0x4A
+#define REG_MIN_X_MSB        0x4B
+#define REG_MIN_X_LSB        0x4C
+#define REG_MIN_Y_MSB        0x4D
+#define REG_MIN_Y_LSB        0x4E
+#define REG_MIN_Z_MSB        0x4F
+#define REG_MIN_Z_LSB        0x50
+#define REG_TEMP             0x51
+#define REG_M_THS_CFG        0x52
+#define REG_M_THS_SRC        0x53
+#define REG_M_THS_X_MSB      0x54
+#define REG_M_THS_X_LSB      0x55
+#define REG_M_THS_Y_MSB      0x56
+#define REG_M_THS_Y_LSB      0x57
+#define REG_M_THS_Z_MSB      0x58
+#define REG_M_THS_Z_LSB      0x59
+#define REG_M_THS_COUNT      0x5A
+#define REG_M_CTRL_REG1      0x5B
+#define REG_M_CTRL_REG2      0x5C
+#define REG_M_CTRL_REG3      0x5D
+#define REG_M_INT_SRC        0x5E
+#define REG_A_VECM_CFG       0x5F
+#define REG_A_VECM_THS_MSB   0x60
+#define REG_A_VECM_THS_LSB   0x61
+#define REG_A_VECM_CNT       0x62
+#define REG_A_VECM_INITX_MSB 0x63
+#define REG_A_VECM_INITX_LSB 0x64
+#define REG_A_VECM_INITY_MSB 0x65
+#define REG_A_VECM_INITY_LSB 0x66
+#define REG_A_VECM_INITZ_MSB 0x67
+#define REG_A_VECM_INITZ_LSB 0x68
+#define REG_M_VECM_CFG       0x69
+#define REG_M_VECM_THS_MSB   0x6A
+#define REG_M_VECM_THS_LSB   0x6B
+#define REG_M_VECM_CNT       0x6C
+#define REG_M_VECM_INITX_MSB 0x6D
+#define REG_M_VECM_INITX_LSB 0x6E
+#define REG_M_VECM_INITY_MSB 0x6F
+#define REG_M_VECM_INITY_LSB 0x70
+#define REG_M_VECM_INITZ_MSB 0x71
+#define REG_M_VECM_INITZ_LSB 0x72
+#define REG_A_FFMT_THS_X_MSB 0x73
+#define REG_A_FFMT_THS_X_LSB 0x74
+#define REG_A_FFMT_THS_Y_MSB 0x75
+#define REG_A_FFMT_THS_Y_LSB 0x76
+#define REG_A_FFMT_THS_Z_MSB 0x77
+#define REG_A_FFMT_THS_Z_LSB 0x78
+/* RESERVED                  0x79 */
+
+#define FXOS8700CQ_WHO_AM_I 0xC7
+
+FXOS8700CQ::FXOS8700CQ(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr<<1) 
+{
+    // activate the peripheral
+}
+
+FXOS8700CQ::~FXOS8700CQ() { }
+
+void FXOS8700CQ::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 FXOS8700CQ::writeRegs(uint8_t * data, int len) 
+{
+   m_i2c.write(m_addr, (char *)data, len) ;
+}
+
+void FXOS8700CQ::standby(void) 
+{
+    uint8_t data[2] ;
+    data[0] = REG_CTRL_REG1 ;
+    data[1] = 0x00 ;
+    writeRegs(data, 2) ;
+}
+
+void FXOS8700CQ::activate(void) 
+{
+    uint8_t data[2] ;
+    data[0] = REG_CTRL_REG1 ;
+    data[1] = 0x01 ;
+    writeRegs(data, 2) ;
+}
+
+void FXOS8700CQ::init(void)
+{
+    uint8_t data[2] ;
+    readRegs(REG_WHO_AM_I, data, 1) ;
+    if (data[0] != FXOS8700CQ_WHO_AM_I) {
+        printf("Wrong FXOS8700CQ id[0x%02X], 0x%02X expected\n",
+            data[0], FXOS8700CQ_WHO_AM_I ) ;
+    }
+    /* write 0000_0000 = 0x00 to CTRL_REG1 => standby */
+    data[0] = REG_CTRL_REG1 ;
+    data[1] = 0x00 ;
+    writeRegs(data, 2) ; 
+    /* write 0001_1111 = 0x1F to M_CTRL_REG1 */
+    data[0] = REG_M_CTRL_REG1 ;
+    data[1] = 0x1F ;
+    writeRegs(data, 2) ;
+    /* write 0010_0000 = 0x20 to M_CTRL_REG2 */
+    data[0] = REG_M_CTRL_REG2 ;
+    data[1] = 0x20 ;
+    writeRegs(data, 2) ;
+    /* write 0000_0001 = 0x01 to XYZ_DATA_CFG */
+    data[0] = REG_XYZ_DATA_CFG ;
+    data[1] = 0x01 ;
+    writeRegs(data, 2) ;
+    /* write 0000_1101 = 0x0D to CTRL_REG1 */
+    data[0] = REG_CTRL_REG1 ;
+    data[1] = 0x0D ;
+    writeRegs(data, 2) ;
+}
+
+void FXOS8700CQ::readAccMgnData(int16_t *accData, int16_t *mgnData) 
+{
+    uint8_t buf[13] ; /* status + acc (6bytes) + mgn (6bytes) */
+    readRegs(REG_STATUS, buf, 13) ;
+    // copy the 14 bit accelerometer byte data into 16 bit words
+    accData[0] = (int16_t)((buf[1] << 8) | buf[2]) >> 2 ;
+    accData[1] = (int16_t)((buf[3] << 8) | buf[4]) >> 2 ;
+    accData[2] = (int16_t)((buf[5] << 8) | buf[6]) >> 2 ;
+    // copy the magnetometer byte data into 16 bit words
+    mgnData[0] = (buf[ 7] << 8) | buf[ 8] ;
+    mgnData[1] = (buf[ 9] << 8) | buf[10] ;
+    mgnData[2] = (buf[11] << 8) | buf[12] ;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FXOS8700CQ.h	Fri Dec 25 05:41:05 2015 +0000
@@ -0,0 +1,45 @@
+/**
+ * FXOS8700CQ  
+ * 6-Axis Sensor with Intergrated Linear Accelerometer and Magnetometer
+ */
+#ifndef _FXOS8700CQ_H_
+#define _FXOS8700CQ_H_
+
+/**
+ * 
+ *
+ */
+
+class FXOS8700CQ
+{
+public:
+ /**
+  * FXOS8700CQ
+  *
+  * @param sda SDA pin
+  * @param scl SCL pin
+  * @param addr 7bit address of the I2C peripheral
+  * I2C address
+  * 0x1E (SA1 = 0, SA0 = 0)
+  * 0x1D (SA1 = 0, SA0 = 1)
+  * 0x1C (SA1 = 1, SA0 = 0)
+  * 0x1F (SA1 = 1, SA1 = 1)
+  */
+FXOS8700CQ(PinName sda, PinName scl, int addr) ;
+
+~FXOS8700CQ() ;
+
+void standby(void) ;
+void activate(void) ;
+void init(void) ;
+
+void readAccMgnData(int16_t *accData, int16_t *mgnData) ;
+
+private:
+  I2C m_i2c;
+  int m_addr ;
+  void readRegs(int addr, uint8_t *data, int len) ;
+  void writeRegs(uint8_t *data, int len) ;
+} ;
+
+#endif /* _FXOS8700CQ_H_ */
\ No newline at end of file