Thundersoft / Mbed OS FRDM_FXS_MULTI_B_for_TT_Mxx

Create a project for TT_Mxx.

FRDM_FXS_MULTI_B/FXLS8471Q.cpp@0:369a1b265ddb, 2019-03-21 (annotated)

Committer:
ThunderSoft
Date:
Thu Mar 21 09:03:32 2019 +0000
Revision:
0:369a1b265ddb
Add code for FRDM_FXS_MULTI_B

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ThunderSoft 0:369a1b265ddb 1 /* Copyright (c) 2010-2011 mbed.org, MIT License
ThunderSoft 0:369a1b265ddb 2 *
ThunderSoft 0:369a1b265ddb 3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
ThunderSoft 0:369a1b265ddb 4 * and associated documentation files (the "Software"), to deal in the Software without
ThunderSoft 0:369a1b265ddb 5 * restriction, including without limitation the rights to use, copy, modify, merge, publish,
ThunderSoft 0:369a1b265ddb 6 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
ThunderSoft 0:369a1b265ddb 7 * Software is furnished to do so, subject to the following conditions:
ThunderSoft 0:369a1b265ddb 8 *
ThunderSoft 0:369a1b265ddb 9 * The above copyright notice and this permission notice shall be included in all copies or
ThunderSoft 0:369a1b265ddb 10 * substantial portions of the Software.
ThunderSoft 0:369a1b265ddb 11 *
ThunderSoft 0:369a1b265ddb 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
ThunderSoft 0:369a1b265ddb 13 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
ThunderSoft 0:369a1b265ddb 14 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
ThunderSoft 0:369a1b265ddb 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
ThunderSoft 0:369a1b265ddb 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
ThunderSoft 0:369a1b265ddb 17 */
ThunderSoft 0:369a1b265ddb 18
ThunderSoft 0:369a1b265ddb 19
ThunderSoft 0:369a1b265ddb 20 #include "FXLS8471Q.h"
ThunderSoft 0:369a1b265ddb 21 #define UINT14_MAX 16383
ThunderSoft 0:369a1b265ddb 22
ThunderSoft 0:369a1b265ddb 23 FXLS8471Q::FXLS8471Q(PinName mosi, PinName miso, PinName sck, PinName cs) : _spi(mosi, miso, sck), _spi_cs(cs)
ThunderSoft 0:369a1b265ddb 24 {
ThunderSoft 0:369a1b265ddb 25 _spi_cs = 1;
ThunderSoft 0:369a1b265ddb 26 wait(0.1);
ThunderSoft 0:369a1b265ddb 27 begin();
ThunderSoft 0:369a1b265ddb 28 }
ThunderSoft 0:369a1b265ddb 29
ThunderSoft 0:369a1b265ddb 30 void FXLS8471Q::RegWrite( int reg, int *d, int len)
ThunderSoft 0:369a1b265ddb 31 {
ThunderSoft 0:369a1b265ddb 32 int ob[2];
ThunderSoft 0:369a1b265ddb 33 int c = 0;
ThunderSoft 0:369a1b265ddb 34 ob[1] = 0;
ThunderSoft 0:369a1b265ddb 35 ob[0] = reg + 128;
ThunderSoft 0:369a1b265ddb 36 _spi_cs = 0;
ThunderSoft 0:369a1b265ddb 37 _spi.write(ob[0]);
ThunderSoft 0:369a1b265ddb 38 _spi.write(ob[1]);
ThunderSoft 0:369a1b265ddb 39 while(c < len) _spi.write(d[c++]);
ThunderSoft 0:369a1b265ddb 40 _spi_cs = 1;
ThunderSoft 0:369a1b265ddb 41 }
ThunderSoft 0:369a1b265ddb 42
ThunderSoft 0:369a1b265ddb 43 void FXLS8471Q::RegRead( int reg, int *d, int len)
ThunderSoft 0:369a1b265ddb 44 {
ThunderSoft 0:369a1b265ddb 45 int ob[2];
ThunderSoft 0:369a1b265ddb 46 int c = 0;
ThunderSoft 0:369a1b265ddb 47 ob[0] = reg;
ThunderSoft 0:369a1b265ddb 48 ob[1] = 0;
ThunderSoft 0:369a1b265ddb 49 _spi_cs = 0;
ThunderSoft 0:369a1b265ddb 50 _spi.write(ob[0]);
ThunderSoft 0:369a1b265ddb 51 _spi.write(ob[1]);
ThunderSoft 0:369a1b265ddb 52 while(c < len) d[c++] = _spi.write(0x00);
ThunderSoft 0:369a1b265ddb 53 _spi_cs = 1;
ThunderSoft 0:369a1b265ddb 54 }
ThunderSoft 0:369a1b265ddb 55
ThunderSoft 0:369a1b265ddb 56 char FXLS8471Q::getWhoAmI(void)
ThunderSoft 0:369a1b265ddb 57 {
ThunderSoft 0:369a1b265ddb 58 int d;
ThunderSoft 0:369a1b265ddb 59 RegRead( FXLS8471Q_WHOAMI, &d, 1);
ThunderSoft 0:369a1b265ddb 60 return((char) d);
ThunderSoft 0:369a1b265ddb 61 }
ThunderSoft 0:369a1b265ddb 62
ThunderSoft 0:369a1b265ddb 63
ThunderSoft 0:369a1b265ddb 64 void FXLS8471Q::begin(void)
ThunderSoft 0:369a1b265ddb 65 {
ThunderSoft 0:369a1b265ddb 66 int databyte;
ThunderSoft 0:369a1b265ddb 67
ThunderSoft 0:369a1b265ddb 68 // write 0000 0000 = 0x00 to accelerometer control register 1 to place FXLS8471Q into
ThunderSoft 0:369a1b265ddb 69 // standby
ThunderSoft 0:369a1b265ddb 70 // [7-1] = 0000 000
ThunderSoft 0:369a1b265ddb 71 // [0]: active=0
ThunderSoft 0:369a1b265ddb 72 databyte = 0x00;
ThunderSoft 0:369a1b265ddb 73 RegWrite(FXLS8471Q_CTRL_REG1, &databyte, 1);
ThunderSoft 0:369a1b265ddb 74
ThunderSoft 0:369a1b265ddb 75 // write 0000 0001= 0x01 to XYZ_DATA_CFG register
ThunderSoft 0:369a1b265ddb 76 // [7]: reserved
ThunderSoft 0:369a1b265ddb 77 // [6]: reserved
ThunderSoft 0:369a1b265ddb 78 // [5]: reserved
ThunderSoft 0:369a1b265ddb 79 // [4]: hpf_out=0
ThunderSoft 0:369a1b265ddb 80 // [3]: reserved
ThunderSoft 0:369a1b265ddb 81 // [2]: reserved
ThunderSoft 0:369a1b265ddb 82 // [1-0]: fs=00 for accelerometer range of +/-2g with 0.244mg/LSB
ThunderSoft 0:369a1b265ddb 83 databyte = 0x00;
ThunderSoft 0:369a1b265ddb 84 RegWrite(FXLS8471Q_XYZ_DATA_CFG, &databyte, 1);
ThunderSoft 0:369a1b265ddb 85
ThunderSoft 0:369a1b265ddb 86 // write 0001 0101b = 0x15 to accelerometer control register 1
ThunderSoft 0:369a1b265ddb 87 // [7-6]: aslp_rate=00
ThunderSoft 0:369a1b265ddb 88 // [5-3]: dr=010 for 200Hz data rate
ThunderSoft 0:369a1b265ddb 89 // [2]: lnoise=1 for low noise mode
ThunderSoft 0:369a1b265ddb 90 // [1]: f_read=0 for normal 16 bit reads
ThunderSoft 0:369a1b265ddb 91 // [0]: active=1 to take the part out of standby and enable sampling
ThunderSoft 0:369a1b265ddb 92 databyte = 0x15;
ThunderSoft 0:369a1b265ddb 93 RegWrite(FXLS8471Q_CTRL_REG1, &databyte, 1);
ThunderSoft 0:369a1b265ddb 94 }
ThunderSoft 0:369a1b265ddb 95
ThunderSoft 0:369a1b265ddb 96 void FXLS8471Q::ReadXYZ(float * fdata)
ThunderSoft 0:369a1b265ddb 97 {
ThunderSoft 0:369a1b265ddb 98 int raw[7];
ThunderSoft 0:369a1b265ddb 99 int16_t ix, iy, iz;
ThunderSoft 0:369a1b265ddb 100 RegRead(FXLS8471Q_STATUS, raw, 7);
ThunderSoft 0:369a1b265ddb 101
ThunderSoft 0:369a1b265ddb 102 ix = ((raw[1] * 256) + raw[2]);// / 4;
ThunderSoft 0:369a1b265ddb 103 iy = ((raw[3] * 256) + raw[4]);// / 4;
ThunderSoft 0:369a1b265ddb 104 iz = ((raw[5] * 256) + raw[6]);// / 4;
ThunderSoft 0:369a1b265ddb 105 fdata[0] = ((float) ix) / 16384.0;
ThunderSoft 0:369a1b265ddb 106 fdata[1] = ((float) iy) / 16384.0;
ThunderSoft 0:369a1b265ddb 107 fdata[2] = ((float) iz) / 16384.0;
ThunderSoft 0:369a1b265ddb 108 }
ThunderSoft 0:369a1b265ddb 109
ThunderSoft 0:369a1b265ddb 110 void FXLS8471Q::ReadXYZraw(int16_t * d)
ThunderSoft 0:369a1b265ddb 111 {
ThunderSoft 0:369a1b265ddb 112 int res[6];
ThunderSoft 0:369a1b265ddb 113 int16_t acc;
ThunderSoft 0:369a1b265ddb 114 RegRead(FXLS8471Q_OUT_X_MSB, res, 6);
ThunderSoft 0:369a1b265ddb 115
ThunderSoft 0:369a1b265ddb 116 acc = (res[0] << 6) | (res[1] >> 2);
ThunderSoft 0:369a1b265ddb 117 if (acc > UINT14_MAX/2)
ThunderSoft 0:369a1b265ddb 118 acc -= UINT14_MAX;
ThunderSoft 0:369a1b265ddb 119 d[0] = acc;
ThunderSoft 0:369a1b265ddb 120 acc = (res[2] << 6) | (res[3] >> 2);
ThunderSoft 0:369a1b265ddb 121 if (acc > UINT14_MAX/2)
ThunderSoft 0:369a1b265ddb 122 acc -= UINT14_MAX;
ThunderSoft 0:369a1b265ddb 123 d[1] = acc;
ThunderSoft 0:369a1b265ddb 124 acc = (res[4] << 6) | (res[5] >> 2);
ThunderSoft 0:369a1b265ddb 125 if (acc > UINT14_MAX/2)
ThunderSoft 0:369a1b265ddb 126 acc -= UINT14_MAX;
ThunderSoft 0:369a1b265ddb 127 d[2] = acc;
ThunderSoft 0:369a1b265ddb 128 }
ThunderSoft 0:369a1b265ddb 129
ThunderSoft 0:369a1b265ddb 130