TrekkingPhoenix / Mbed 2 deprecated TrekkingControllerV1-4_WinterChallenge20

Ironcup Mar 2020

Dependencies:   mbed mbed-rtos MotionSensor EthernetInterface

SensorsLibrary/FXOS8700Q.cpp@22:b7cca3089dfe, 2020-09-21 (annotated)

Committer:
starling
Date:
Mon Sep 21 21:45:08 2020 +0000
Revision:
22:b7cca3089dfe
Parent:
0:88faaa1afb83 
01 mar 2020

Who changed what in which revision?

UserRevisionLine numberNew contents of line
drelliak 0:88faaa1afb83 1 /* Copyright (c) 2010-2011 mbed.org, MIT License
drelliak 0:88faaa1afb83 2 *
drelliak 0:88faaa1afb83 3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
drelliak 0:88faaa1afb83 4 * and associated documentation files (the "Software"), to deal in the Software without
drelliak 0:88faaa1afb83 5 * restriction, including without limitation the rights to use, copy, modify, merge, publish,
drelliak 0:88faaa1afb83 6 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
drelliak 0:88faaa1afb83 7 * Software is furnished to do so, subject to the following conditions:
drelliak 0:88faaa1afb83 8 *
drelliak 0:88faaa1afb83 9 * The above copyright notice and this permission notice shall be included in all copies or
drelliak 0:88faaa1afb83 10 * substantial portions of the Software.
drelliak 0:88faaa1afb83 11 *
drelliak 0:88faaa1afb83 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
drelliak 0:88faaa1afb83 13 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
drelliak 0:88faaa1afb83 14 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
drelliak 0:88faaa1afb83 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
drelliak 0:88faaa1afb83 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
drelliak 0:88faaa1afb83 17 */
drelliak 0:88faaa1afb83 18
drelliak 0:88faaa1afb83 19 #include "FXOS8700Q.h"
drelliak 0:88faaa1afb83 20 #define UINT14_MAX 16383
drelliak 0:88faaa1afb83 21
drelliak 0:88faaa1afb83 22
drelliak 0:88faaa1afb83 23 FXOS8700Q_acc::FXOS8700Q_acc(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
drelliak 0:88faaa1afb83 24 // activate the peripheral
drelliak 0:88faaa1afb83 25 uint8_t data[2] = {FXOS8700Q_CTRL_REG1, 0x00};
drelliak 0:88faaa1afb83 26 m_i2c.frequency(400000);
drelliak 0:88faaa1afb83 27 writeRegs(data, 2);
drelliak 0:88faaa1afb83 28 data[0] = FXOS8700Q_M_CTRL_REG1;
drelliak 0:88faaa1afb83 29 data[1] = 0x1F;
drelliak 0:88faaa1afb83 30 writeRegs(data, 2);
drelliak 0:88faaa1afb83 31 data[0] = FXOS8700Q_M_CTRL_REG2;
drelliak 0:88faaa1afb83 32 data[1] = 0x20;
drelliak 0:88faaa1afb83 33 writeRegs(data, 2);
drelliak 0:88faaa1afb83 34 data[0] = FXOS8700Q_XYZ_DATA_CFG;
drelliak 0:88faaa1afb83 35 data[1] = 0x00;
drelliak 0:88faaa1afb83 36 writeRegs(data, 2);
drelliak 0:88faaa1afb83 37 data[0] = FXOS8700Q_CTRL_REG1;
drelliak 0:88faaa1afb83 38 data[1] = 0x18;//0x1D;
drelliak 0:88faaa1afb83 39 writeRegs(data, 2);
drelliak 0:88faaa1afb83 40 }
drelliak 0:88faaa1afb83 41
drelliak 0:88faaa1afb83 42 FXOS8700Q_acc::~FXOS8700Q_acc() { }
drelliak 0:88faaa1afb83 43
drelliak 0:88faaa1afb83 44 void FXOS8700Q_acc::enable(void) {
drelliak 0:88faaa1afb83 45 uint8_t data[2];
drelliak 0:88faaa1afb83 46 readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
drelliak 0:88faaa1afb83 47 data[1] |= 0x01;
drelliak 0:88faaa1afb83 48 data[0] = FXOS8700Q_CTRL_REG1;
drelliak 0:88faaa1afb83 49 writeRegs(data, 2);
drelliak 0:88faaa1afb83 50 }
drelliak 0:88faaa1afb83 51
drelliak 0:88faaa1afb83 52 void FXOS8700Q_acc::disable(void) {
drelliak 0:88faaa1afb83 53 uint8_t data[2];
drelliak 0:88faaa1afb83 54 readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
drelliak 0:88faaa1afb83 55 data[1] &= 0xFE;
drelliak 0:88faaa1afb83 56 data[0] = FXOS8700Q_CTRL_REG1;
drelliak 0:88faaa1afb83 57 writeRegs(data, 2);
drelliak 0:88faaa1afb83 58 }
drelliak 0:88faaa1afb83 59
drelliak 0:88faaa1afb83 60
drelliak 0:88faaa1afb83 61
drelliak 0:88faaa1afb83 62 uint32_t FXOS8700Q_acc::whoAmI() {
drelliak 0:88faaa1afb83 63 uint8_t who_am_i = 0;
drelliak 0:88faaa1afb83 64 readRegs(FXOS8700Q_WHOAMI, &who_am_i, 1);
drelliak 0:88faaa1afb83 65 return (uint32_t) who_am_i;
drelliak 0:88faaa1afb83 66 }
drelliak 0:88faaa1afb83 67
drelliak 0:88faaa1afb83 68 uint32_t FXOS8700Q_acc::dataReady(void) {
drelliak 0:88faaa1afb83 69 uint8_t stat = 0;
drelliak 0:88faaa1afb83 70 readRegs(FXOS8700Q_STATUS, &stat, 1);
drelliak 0:88faaa1afb83 71 return (uint32_t) stat;
drelliak 0:88faaa1afb83 72 }
drelliak 0:88faaa1afb83 73
drelliak 0:88faaa1afb83 74 uint32_t FXOS8700Q_acc::sampleRate(uint32_t f) {
drelliak 0:88faaa1afb83 75 return(50); // for now sample rate is fixed at 50Hz
drelliak 0:88faaa1afb83 76 }
drelliak 0:88faaa1afb83 77
drelliak 0:88faaa1afb83 78 void FXOS8700Q_acc::getX(float * x) {
drelliak 0:88faaa1afb83 79 *x = (float(getAccAxis(FXOS8700Q_OUT_X_MSB))/4096.0f);
drelliak 0:88faaa1afb83 80 }
drelliak 0:88faaa1afb83 81
drelliak 0:88faaa1afb83 82 void FXOS8700Q_acc::getY(float * y) {
drelliak 0:88faaa1afb83 83 *y = (float(getAccAxis(FXOS8700Q_OUT_Y_MSB))/4096.0f);
drelliak 0:88faaa1afb83 84 }
drelliak 0:88faaa1afb83 85
drelliak 0:88faaa1afb83 86 void FXOS8700Q_acc::getZ(float * z) {
drelliak 0:88faaa1afb83 87 *z = (float(getAccAxis(FXOS8700Q_OUT_Z_MSB))/4096.0f);
drelliak 0:88faaa1afb83 88 }
drelliak 0:88faaa1afb83 89
drelliak 0:88faaa1afb83 90 void FXOS8700Q_acc::getX(int16_t * d) {
drelliak 0:88faaa1afb83 91 *d = getAccAxis(FXOS8700Q_OUT_X_MSB);
drelliak 0:88faaa1afb83 92 }
drelliak 0:88faaa1afb83 93
drelliak 0:88faaa1afb83 94 void FXOS8700Q_acc::getY(int16_t * d) {
drelliak 0:88faaa1afb83 95 *d = getAccAxis(FXOS8700Q_OUT_Y_MSB);
drelliak 0:88faaa1afb83 96 }
drelliak 0:88faaa1afb83 97
drelliak 0:88faaa1afb83 98 void FXOS8700Q_acc::getZ(int16_t * d) {
drelliak 0:88faaa1afb83 99 *d = getAccAxis(FXOS8700Q_OUT_Z_MSB);
drelliak 0:88faaa1afb83 100 }
drelliak 0:88faaa1afb83 101
drelliak 0:88faaa1afb83 102
drelliak 0:88faaa1afb83 103 void FXOS8700Q_acc::getAxis(MotionSensorDataUnits &data) {
drelliak 0:88faaa1afb83 104 int16_t acc, t[3];
drelliak 0:88faaa1afb83 105 uint8_t res[6];
drelliak 0:88faaa1afb83 106 readRegs(FXOS8700Q_OUT_X_MSB, res, 6);
drelliak 0:88faaa1afb83 107
drelliak 0:88faaa1afb83 108 acc = (res[0] << 6) | (res[1] >> 2);
drelliak 0:88faaa1afb83 109 if (acc > UINT14_MAX/2)
drelliak 0:88faaa1afb83 110 acc -= UINT14_MAX;
drelliak 0:88faaa1afb83 111 t[0] = acc;
drelliak 0:88faaa1afb83 112 acc = (res[2] << 6) | (res[3] >> 2);
drelliak 0:88faaa1afb83 113 if (acc > UINT14_MAX/2)
drelliak 0:88faaa1afb83 114 acc -= UINT14_MAX;
drelliak 0:88faaa1afb83 115 t[1] = acc;
drelliak 0:88faaa1afb83 116 acc = (res[4] << 6) | (res[5] >> 2);
drelliak 0:88faaa1afb83 117 if (acc > UINT14_MAX/2)
drelliak 0:88faaa1afb83 118 acc -= UINT14_MAX;
drelliak 0:88faaa1afb83 119 t[2] = acc;
drelliak 0:88faaa1afb83 120 data.x = ((float) t[0]) / 4096.0f;
drelliak 0:88faaa1afb83 121 data.y = ((float) t[1]) / 4096.0f;
drelliak 0:88faaa1afb83 122 data.z = ((float) t[2]) / 4096.0f;
drelliak 0:88faaa1afb83 123 }
drelliak 0:88faaa1afb83 124
drelliak 0:88faaa1afb83 125
drelliak 0:88faaa1afb83 126 void FXOS8700Q_acc::getAxis(MotionSensorDataCounts &data) {
drelliak 0:88faaa1afb83 127 int16_t acc;
drelliak 0:88faaa1afb83 128 uint8_t res[6];
drelliak 0:88faaa1afb83 129 readRegs(FXOS8700Q_OUT_X_MSB, res, 6);
drelliak 0:88faaa1afb83 130
drelliak 0:88faaa1afb83 131 acc = (res[0] << 6) | (res[1] >> 2);
drelliak 0:88faaa1afb83 132 if (acc > UINT14_MAX/2)
drelliak 0:88faaa1afb83 133 acc -= UINT14_MAX;
drelliak 0:88faaa1afb83 134 data.x = acc;
drelliak 0:88faaa1afb83 135 acc = (res[2] << 6) | (res[3] >> 2);
drelliak 0:88faaa1afb83 136 if (acc > UINT14_MAX/2)
drelliak 0:88faaa1afb83 137 acc -= UINT14_MAX;
drelliak 0:88faaa1afb83 138 data.y = acc;
drelliak 0:88faaa1afb83 139 acc = (res[4] << 6) | (res[5] >> 2);
drelliak 0:88faaa1afb83 140 if (acc > UINT14_MAX/2)
drelliak 0:88faaa1afb83 141 acc -= UINT14_MAX;
drelliak 0:88faaa1afb83 142 data.z = acc;
drelliak 0:88faaa1afb83 143 }
drelliak 0:88faaa1afb83 144
drelliak 0:88faaa1afb83 145 void FXOS8700Q_acc::readRegs(int addr, uint8_t * data, int len) {
drelliak 0:88faaa1afb83 146 char t[1] = {addr};
drelliak 0:88faaa1afb83 147 m_i2c.write(m_addr, t, 1, true);
drelliak 0:88faaa1afb83 148 m_i2c.read(m_addr, (char *)data, len);
drelliak 0:88faaa1afb83 149 }
drelliak 0:88faaa1afb83 150
drelliak 0:88faaa1afb83 151 void FXOS8700Q_acc::writeRegs(uint8_t * data, int len) {
drelliak 0:88faaa1afb83 152 m_i2c.write(m_addr, (char *)data, len);
drelliak 0:88faaa1afb83 153 }
drelliak 0:88faaa1afb83 154
drelliak 0:88faaa1afb83 155
drelliak 0:88faaa1afb83 156 int16_t FXOS8700Q_acc::getAccAxis(uint8_t addr) {
drelliak 0:88faaa1afb83 157 int16_t acc;
drelliak 0:88faaa1afb83 158 uint8_t res[2];
drelliak 0:88faaa1afb83 159 readRegs(addr, res, 2);
drelliak 0:88faaa1afb83 160
drelliak 0:88faaa1afb83 161 acc = (res[0] << 6) | (res[1] >> 2);
drelliak 0:88faaa1afb83 162 if (acc > UINT14_MAX/2)
drelliak 0:88faaa1afb83 163 acc -= UINT14_MAX;
drelliak 0:88faaa1afb83 164
drelliak 0:88faaa1afb83 165 return acc;
drelliak 0:88faaa1afb83 166 }
drelliak 0:88faaa1afb83 167
drelliak 0:88faaa1afb83 168
drelliak 0:88faaa1afb83 169
drelliak 0:88faaa1afb83 170 FXOS8700Q_mag::FXOS8700Q_mag(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
drelliak 0:88faaa1afb83 171 // activate the peripheral
drelliak 0:88faaa1afb83 172 uint8_t data[2] = {FXOS8700Q_CTRL_REG1, 0x00};
drelliak 0:88faaa1afb83 173 m_i2c.frequency(400000);
drelliak 0:88faaa1afb83 174 writeRegs(data, 2);
drelliak 0:88faaa1afb83 175 data[0] = FXOS8700Q_M_CTRL_REG1;
drelliak 0:88faaa1afb83 176 data[1] = 0x1F;
drelliak 0:88faaa1afb83 177 writeRegs(data, 2);
drelliak 0:88faaa1afb83 178 data[0] = FXOS8700Q_M_CTRL_REG2;
drelliak 0:88faaa1afb83 179 data[1] = 0x20;
drelliak 0:88faaa1afb83 180 writeRegs(data, 2);
drelliak 0:88faaa1afb83 181 data[0] = FXOS8700Q_XYZ_DATA_CFG;
drelliak 0:88faaa1afb83 182 data[1] = 0x00;
drelliak 0:88faaa1afb83 183 writeRegs(data, 2);
drelliak 0:88faaa1afb83 184 data[0] = FXOS8700Q_CTRL_REG1;
drelliak 0:88faaa1afb83 185 data[1] = 0x18;//0x1D;
drelliak 0:88faaa1afb83 186 writeRegs(data, 2);
drelliak 0:88faaa1afb83 187 }
drelliak 0:88faaa1afb83 188
drelliak 0:88faaa1afb83 189 FXOS8700Q_mag::~FXOS8700Q_mag() { }
drelliak 0:88faaa1afb83 190
drelliak 0:88faaa1afb83 191 void FXOS8700Q_mag::enable(void) {
drelliak 0:88faaa1afb83 192 uint8_t data[2];
drelliak 0:88faaa1afb83 193 readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
drelliak 0:88faaa1afb83 194 data[1] |= 0x01;
drelliak 0:88faaa1afb83 195 data[0] = FXOS8700Q_CTRL_REG1;
drelliak 0:88faaa1afb83 196 writeRegs(data, 2);
drelliak 0:88faaa1afb83 197 }
drelliak 0:88faaa1afb83 198
drelliak 0:88faaa1afb83 199 void FXOS8700Q_mag::disable(void) {
drelliak 0:88faaa1afb83 200 uint8_t data[2];
drelliak 0:88faaa1afb83 201 readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
drelliak 0:88faaa1afb83 202 data[1] &= 0xFE;
drelliak 0:88faaa1afb83 203 data[0] = FXOS8700Q_CTRL_REG1;
drelliak 0:88faaa1afb83 204 writeRegs(data, 2);
drelliak 0:88faaa1afb83 205 }
drelliak 0:88faaa1afb83 206
drelliak 0:88faaa1afb83 207
drelliak 0:88faaa1afb83 208
drelliak 0:88faaa1afb83 209 uint32_t FXOS8700Q_mag::whoAmI() {
drelliak 0:88faaa1afb83 210 uint8_t who_am_i = 0;
drelliak 0:88faaa1afb83 211 readRegs(FXOS8700Q_WHOAMI, &who_am_i, 1);
drelliak 0:88faaa1afb83 212 return (uint32_t) who_am_i;
drelliak 0:88faaa1afb83 213 }
drelliak 0:88faaa1afb83 214
drelliak 0:88faaa1afb83 215 uint32_t FXOS8700Q_mag::dataReady(void) {
drelliak 0:88faaa1afb83 216 uint8_t stat = 0;
drelliak 0:88faaa1afb83 217 readRegs(FXOS8700Q_STATUS, &stat, 1);
drelliak 0:88faaa1afb83 218 return (uint32_t) stat;
drelliak 0:88faaa1afb83 219 }
drelliak 0:88faaa1afb83 220
drelliak 0:88faaa1afb83 221 uint32_t FXOS8700Q_mag::sampleRate(uint32_t f) {
drelliak 0:88faaa1afb83 222 return(50); // for now sample rate is fixed at 50Hz
drelliak 0:88faaa1afb83 223 }
drelliak 0:88faaa1afb83 224
drelliak 0:88faaa1afb83 225 void FXOS8700Q_mag::getX(float * x) {
drelliak 0:88faaa1afb83 226 *x = (float(getAccAxis(FXOS8700Q_M_OUT_X_MSB)) * 0.1f);
drelliak 0:88faaa1afb83 227 }
drelliak 0:88faaa1afb83 228
drelliak 0:88faaa1afb83 229 void FXOS8700Q_mag::getY(float * y) {
drelliak 0:88faaa1afb83 230 *y = (float(getAccAxis(FXOS8700Q_M_OUT_Y_MSB)) * 0.1f);
drelliak 0:88faaa1afb83 231 }
drelliak 0:88faaa1afb83 232
drelliak 0:88faaa1afb83 233 void FXOS8700Q_mag::getZ(float * z) {
drelliak 0:88faaa1afb83 234 *z = (float(getAccAxis(FXOS8700Q_M_OUT_Z_MSB)) * 0.1f);
drelliak 0:88faaa1afb83 235 }
drelliak 0:88faaa1afb83 236
drelliak 0:88faaa1afb83 237 void FXOS8700Q_mag::getX(int16_t * d) {
drelliak 0:88faaa1afb83 238 *d = getAccAxis(FXOS8700Q_M_OUT_X_MSB);
drelliak 0:88faaa1afb83 239 }
drelliak 0:88faaa1afb83 240
drelliak 0:88faaa1afb83 241 void FXOS8700Q_mag::getY(int16_t * d) {
drelliak 0:88faaa1afb83 242 *d = getAccAxis(FXOS8700Q_M_OUT_Y_MSB);
drelliak 0:88faaa1afb83 243 }
drelliak 0:88faaa1afb83 244
drelliak 0:88faaa1afb83 245 void FXOS8700Q_mag::getZ(int16_t * d) {
drelliak 0:88faaa1afb83 246 *d = getAccAxis(FXOS8700Q_M_OUT_Z_MSB);
drelliak 0:88faaa1afb83 247 }
drelliak 0:88faaa1afb83 248
drelliak 0:88faaa1afb83 249
drelliak 0:88faaa1afb83 250 void FXOS8700Q_mag::getAxis(MotionSensorDataUnits &data) {
drelliak 0:88faaa1afb83 251 int16_t t[3];
drelliak 0:88faaa1afb83 252 uint8_t res[6];
drelliak 0:88faaa1afb83 253 readRegs(FXOS8700Q_M_OUT_X_MSB, res, 6);
drelliak 0:88faaa1afb83 254
drelliak 0:88faaa1afb83 255 t[0] = (res[0] << 8) | res[1];
drelliak 0:88faaa1afb83 256 t[1] = (res[2] << 8) | res[3];
drelliak 0:88faaa1afb83 257 t[2] = (res[4] << 8) | res[5];
drelliak 0:88faaa1afb83 258
drelliak 0:88faaa1afb83 259 data.x = ((float) t[0]) * 0.1f;
drelliak 0:88faaa1afb83 260 data.y = ((float) t[1]) * 0.1f;
drelliak 0:88faaa1afb83 261 data.z = ((float) t[2]) * 0.1f;
drelliak 0:88faaa1afb83 262 }
drelliak 0:88faaa1afb83 263
drelliak 0:88faaa1afb83 264
drelliak 0:88faaa1afb83 265 void FXOS8700Q_mag::getAxis(MotionSensorDataCounts &data) {
drelliak 0:88faaa1afb83 266 int16_t acc;
drelliak 0:88faaa1afb83 267 uint8_t res[6];
drelliak 0:88faaa1afb83 268 readRegs(FXOS8700Q_M_OUT_X_MSB, res, 6);
drelliak 0:88faaa1afb83 269
drelliak 0:88faaa1afb83 270 data.x = (res[0] << 8) | res[1];
drelliak 0:88faaa1afb83 271 data.y = (res[2] << 8) | res[3];
drelliak 0:88faaa1afb83 272 data.z = (res[4] << 8) | res[5];
drelliak 0:88faaa1afb83 273 }
drelliak 0:88faaa1afb83 274
drelliak 0:88faaa1afb83 275 void FXOS8700Q_mag::readRegs(int addr, uint8_t * data, int len) {
drelliak 0:88faaa1afb83 276 char t[1] = {addr};
drelliak 0:88faaa1afb83 277 m_i2c.write(m_addr, t, 1, true);
drelliak 0:88faaa1afb83 278 m_i2c.read(m_addr, (char *)data, len);
drelliak 0:88faaa1afb83 279 }
drelliak 0:88faaa1afb83 280
drelliak 0:88faaa1afb83 281 void FXOS8700Q_mag::writeRegs(uint8_t * data, int len) {
drelliak 0:88faaa1afb83 282 m_i2c.write(m_addr, (char *)data, len);
drelliak 0:88faaa1afb83 283 }
drelliak 0:88faaa1afb83 284
drelliak 0:88faaa1afb83 285
drelliak 0:88faaa1afb83 286 int16_t FXOS8700Q_mag::getAccAxis(uint8_t addr) {
drelliak 0:88faaa1afb83 287 int16_t acc;
drelliak 0:88faaa1afb83 288 uint8_t res[2];
drelliak 0:88faaa1afb83 289 readRegs(addr, res, 2);
drelliak 0:88faaa1afb83 290
drelliak 0:88faaa1afb83 291 acc = (res[0] << 8) | res[1];
drelliak 0:88faaa1afb83 292
drelliak 0:88faaa1afb83 293 return acc;
drelliak 0:88faaa1afb83 294 }