FXOS8700Q.h

00001 /* FXOS8700Q sensor driver
00002  * Copyright (c) 2014-2015 ARM Limited
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *     http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  */
00016 
00017 #ifndef FXOS8700Q_H
00018 #define FXOS8700Q_H
00019 
00020 #include "mbed.h"
00021 #include "MotionSensor.h"
00022 
00023 // FXOS8700CQ I2C address
00024 #define FXOS8700CQ_SLAVE_ADDR0 (0x1E<<1) // with pins SA0=0, SA1=0
00025 #define FXOS8700CQ_SLAVE_ADDR1 (0x1D<<1) // with pins SA0=1, SA1=0
00026 #define FXOS8700CQ_SLAVE_ADDR2 (0x1C<<1) // with pins SA0=0, SA1=1
00027 #define FXOS8700CQ_SLAVE_ADDR3 (0x1F<<1) // with pins SA0=1, SA1=1
00028 // FXOS8700CQ internal register addresses
00029 #define FXOS8700Q_STATUS 0x00
00030 #define FXOS8700Q_OUT_X_MSB 0x01
00031 #define FXOS8700Q_OUT_Y_MSB 0x03
00032 #define FXOS8700Q_OUT_Z_MSB 0x05
00033 #define FXOS8700Q_M_OUT_X_MSB 0x33
00034 #define FXOS8700Q_M_OUT_Y_MSB 0x35
00035 #define FXOS8700Q_M_OUT_Z_MSB 0x37
00036 #define FXOS8700Q_WHOAMI 0x0D
00037 #define FXOS8700Q_XYZ_DATA_CFG 0x0E
00038 #define FXOS8700Q_CTRL_REG1 0x2A
00039 #define FXOS8700Q_M_CTRL_REG1 0x5B
00040 #define FXOS8700Q_M_CTRL_REG2 0x5C
00041 #define FXOS8700Q_WHOAMI_VAL 0xC7
00042 
00043 
00044 /** FXOS8700Q accelerometer example
00045     @code
00046     #include "mbed.h"
00047     #include "FXOS8700Q.h"
00048     I2C i2c(PTE25, PTE24);
00049     FXOS8700QAccelerometer acc(i2c, FXOS8700CQ_SLAVE_ADDR1);    // Configured for the FRDM-K64F with onboard sensors
00050     FXOS8700QMagnetometer mag(i2c, FXOS8700CQ_SLAVE_ADDR1);
00051     int main(void)
00052     {
00053         motion_data_units_t acc_data, mag_data;
00054         motion_data_counts_t acc_raw, mag_raw;
00055         float faX, faY, faZ, fmX, fmY, fmZ, tmp_float;
00056         int16_t raX, raY, raZ, rmX, rmY, rmZ, tmp_int;
00057         acc.enable();
00058         mag.enable();
00059         while (true) {
00060             // counts based results
00061             acc.getAxis(acc_raw);
00062             mag.getAxis(mag_raw);
00063             acc.getX(raX);
00064             acc.getY(raY);
00065             acc.getZ(raZ);
00066             mag.getX(rmX);
00067             mag.getY(rmY);
00068             mag.getZ(rmZ);
00069             // unit based results
00070             acc.getAxis(acc_data);
00071             mag.getAxis(mag_data);
00072             acc.getX(faX);
00073             acc.getY(faY);
00074             acc.getZ(faZ);
00075             mag.getX(fmX);
00076             mag.getY(fmY);
00077             mag.getZ(fmZ);
00078             wait(0.1f);
00079         }
00080     }
00081     @endcode
00082  */
00083 
00084 /** FXOS8700Q driver class
00085  */
00086 class FXOS8700Q : public MotionSensor
00087 {
00088 public:
00089 
00090     /** Read a device register
00091         @param addr The address to read from
00092         @param data The data to read from it
00093         @param len The amount of data to read from it
00094         @return 0 if successful, negative number otherwise
00095      */
00096     void readRegs(uint8_t addr, uint8_t *data, uint32_t len) const;
00097 
00098     /** Read the ID from a whoAmI register
00099         @return The device whoAmI register contents
00100      */
00101     uint8_t whoAmI(void) const;
00102 
00103     virtual void enable(void) const;
00104     virtual void disable(void) const;
00105     virtual uint32_t sampleRate(uint32_t frequency) const;
00106     virtual uint32_t dataReady(void) const;
00107 
00108 protected:
00109     I2C *_i2c;
00110     uint8_t _addr;
00111     
00112     /** FXOS8700Q constructor
00113         @param i2c a configured i2c object
00114         @param addr addr of the I2C peripheral as wired
00115      */
00116     FXOS8700Q(I2C &i2c, uint8_t addr);
00117 
00118     /** FXOS8700Q deconstructor
00119      */
00120     ~FXOS8700Q();
00121     
00122     void writeRegs(uint8_t *data, uint32_t len) const;
00123     int16_t getSensorAxis(uint8_t addr) const;
00124 };
00125 
00126 /** FXOS8700QAccelerometer interface
00127  */
00128 class FXOS8700QAccelerometer : public FXOS8700Q
00129 {
00130 public:
00131 
00132     FXOS8700QAccelerometer(I2C &i2c, uint8_t addr) : FXOS8700Q(i2c, addr) {}
00133 
00134     virtual int16_t getX(int16_t &x) const;
00135     virtual int16_t getY(int16_t &y) const;
00136     virtual int16_t getZ(int16_t &z) const;
00137     virtual float getX(float &x) const;
00138     virtual float getY(float &y) const;
00139     virtual float getZ(float &z) const;
00140     virtual void getAxis(motion_data_counts_t &xyz) const;
00141     virtual void getAxis(motion_data_units_t &xyz) const;
00142 
00143 };
00144 
00145 /** FXOS8700QMagnetometer interface
00146  */
00147 class FXOS8700QMagnetometer : public FXOS8700Q
00148 {
00149 public:
00150 
00151     FXOS8700QMagnetometer(I2C &i2c, uint8_t addr) : FXOS8700Q(i2c, addr) {}
00152 
00153     virtual int16_t getX(int16_t &x) const;
00154     virtual int16_t getY(int16_t &y) const;
00155     virtual int16_t getZ(int16_t &z) const;
00156     virtual float getX(float &x) const;
00157     virtual float getY(float &y) const;
00158     virtual float getZ(float &z) const;
00159     virtual void getAxis(motion_data_counts_t &xyz) const;
00160     virtual void getAxis(motion_data_units_t &xyz) const;
00161 
00162 };
00163 
00164 #endif