TrekkingPhoenix / Mbed 2 deprecated TrekkingControllerV1-4_WinterChallenge20

Ironcup Mar 2020

Dependencies:   mbed mbed-rtos MotionSensor EthernetInterface

SensorsLibrary/FXOS8700Q.h@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 #ifndef FXOS8700Q_H
drelliak 0:88faaa1afb83 20 #define FXOS8700Q_H
drelliak 0:88faaa1afb83 21
drelliak 0:88faaa1afb83 22 #include "mbed.h"
drelliak 0:88faaa1afb83 23 #include "MotionSensor.h"
drelliak 0:88faaa1afb83 24 // FXOS8700CQ I2C address
drelliak 0:88faaa1afb83 25 #define FXOS8700CQ_SLAVE_ADDR0 (0x1E<<1) // with pins SA0=0, SA1=0
drelliak 0:88faaa1afb83 26 #define FXOS8700CQ_SLAVE_ADDR1 (0x1D<<1) // with pins SA0=1, SA1=0
drelliak 0:88faaa1afb83 27 #define FXOS8700CQ_SLAVE_ADDR2 (0x1C<<1) // with pins SA0=0, SA1=1
drelliak 0:88faaa1afb83 28 #define FXOS8700CQ_SLAVE_ADDR3 (0x1F<<1) // with pins SA0=1, SA1=1
drelliak 0:88faaa1afb83 29 // FXOS8700CQ internal register addresses
drelliak 0:88faaa1afb83 30 #define FXOS8700Q_STATUS 0x00
drelliak 0:88faaa1afb83 31 #define FXOS8700Q_OUT_X_MSB 0x01
drelliak 0:88faaa1afb83 32 #define FXOS8700Q_OUT_Y_MSB 0x03
drelliak 0:88faaa1afb83 33 #define FXOS8700Q_OUT_Z_MSB 0x05
drelliak 0:88faaa1afb83 34 #define FXOS8700Q_M_OUT_X_MSB 0x33
drelliak 0:88faaa1afb83 35 #define FXOS8700Q_M_OUT_Y_MSB 0x35
drelliak 0:88faaa1afb83 36 #define FXOS8700Q_M_OUT_Z_MSB 0x37
drelliak 0:88faaa1afb83 37 #define FXOS8700Q_WHOAMI 0x0D
drelliak 0:88faaa1afb83 38 #define FXOS8700Q_XYZ_DATA_CFG 0x0E
drelliak 0:88faaa1afb83 39 #define FXOS8700Q_CTRL_REG1 0x2A
drelliak 0:88faaa1afb83 40 #define FXOS8700Q_M_CTRL_REG1 0x5B
drelliak 0:88faaa1afb83 41 #define FXOS8700Q_M_CTRL_REG2 0x5C
drelliak 0:88faaa1afb83 42 #define FXOS8700Q_WHOAMI_VAL 0xC7
drelliak 0:88faaa1afb83 43
drelliak 0:88faaa1afb83 44
drelliak 0:88faaa1afb83 45 /**
drelliak 0:88faaa1afb83 46 * MMA8451Q accelerometer example
drelliak 0:88faaa1afb83 47 *
drelliak 0:88faaa1afb83 48 * @code
drelliak 0:88faaa1afb83 49 * #include "mbed.h"
drelliak 0:88faaa1afb83 50 * #include "FXOS8700Q.h"
drelliak 0:88faaa1afb83 51 *
drelliak 0:88faaa1afb83 52 *
drelliak 0:88faaa1afb83 53 * int main(void) {
drelliak 0:88faaa1afb83 54 *
drelliak 0:88faaa1afb83 55 * FXOS8700Q combo( A4, A5, FXOS8700Q_I2C_ADDRESS0);
drelliak 0:88faaa1afb83 56 * PwmOut rled(LED_RED);
drelliak 0:88faaa1afb83 57 * PwmOut gled(LED_GREEN);
drelliak 0:88faaa1afb83 58 * PwmOut bled(LED_BLUE);
drelliak 0:88faaa1afb83 59 *
drelliak 0:88faaa1afb83 60 * while (true) {
drelliak 0:88faaa1afb83 61 * rled1.0 - combo(acc.getAccX());
drelliak 0:88faaa1afb83 62 * gled1.0 - combo(acc.getAccY());
drelliak 0:88faaa1afb83 63 * bled1.0 - combo(acc.getAccZ());
drelliak 0:88faaa1afb83 64 * wait(0.1);
drelliak 0:88faaa1afb83 65 * }
drelliak 0:88faaa1afb83 66 * }
drelliak 0:88faaa1afb83 67 * @endcode
drelliak 0:88faaa1afb83 68 */
drelliak 0:88faaa1afb83 69
drelliak 0:88faaa1afb83 70 class FXOS8700Q_acc : public MotionSensor
drelliak 0:88faaa1afb83 71 {
drelliak 0:88faaa1afb83 72 public:
drelliak 0:88faaa1afb83 73 /**
drelliak 0:88faaa1afb83 74 * FXOS8700Q constructor
drelliak 0:88faaa1afb83 75 *
drelliak 0:88faaa1afb83 76 * @param sda SDA pin
drelliak 0:88faaa1afb83 77 * @param sdl SCL pin
drelliak 0:88faaa1afb83 78 * @param addr addr of the I2C peripheral
drelliak 0:88faaa1afb83 79 */
drelliak 0:88faaa1afb83 80
drelliak 0:88faaa1afb83 81 FXOS8700Q_acc(PinName sda, PinName scl, int addr);
drelliak 0:88faaa1afb83 82
drelliak 0:88faaa1afb83 83 /**
drelliak 0:88faaa1afb83 84 * FXOS8700Q destructor
drelliak 0:88faaa1afb83 85 */
drelliak 0:88faaa1afb83 86 ~FXOS8700Q_acc();
drelliak 0:88faaa1afb83 87
drelliak 0:88faaa1afb83 88 void enable(void);
drelliak 0:88faaa1afb83 89 void disable(void);
drelliak 0:88faaa1afb83 90 uint32_t sampleRate(uint32_t frequency);
drelliak 0:88faaa1afb83 91 uint32_t whoAmI(void);
drelliak 0:88faaa1afb83 92 uint32_t dataReady(void);
drelliak 0:88faaa1afb83 93 void getX(int16_t * x);
drelliak 0:88faaa1afb83 94 void getY(int16_t * y);
drelliak 0:88faaa1afb83 95 void getZ(int16_t * z);
drelliak 0:88faaa1afb83 96 void getX(float * x);
drelliak 0:88faaa1afb83 97 void getY(float * y);
drelliak 0:88faaa1afb83 98 void getZ(float * z);
drelliak 0:88faaa1afb83 99 void getAxis(MotionSensorDataCounts &data);
drelliak 0:88faaa1afb83 100 void getAxis(MotionSensorDataUnits &data);
drelliak 0:88faaa1afb83 101
drelliak 0:88faaa1afb83 102 void readRegs(int addr, uint8_t * data, int len);
drelliak 0:88faaa1afb83 103
drelliak 0:88faaa1afb83 104 private:
drelliak 0:88faaa1afb83 105 I2C m_i2c;
drelliak 0:88faaa1afb83 106 int m_addr;
drelliak 0:88faaa1afb83 107
drelliak 0:88faaa1afb83 108 void writeRegs(uint8_t * data, int len);
drelliak 0:88faaa1afb83 109 int16_t getAccAxis(uint8_t addr);
drelliak 0:88faaa1afb83 110
drelliak 0:88faaa1afb83 111 };
drelliak 0:88faaa1afb83 112
drelliak 0:88faaa1afb83 113 class FXOS8700Q_mag : public MotionSensor
drelliak 0:88faaa1afb83 114 {
drelliak 0:88faaa1afb83 115 public:
drelliak 0:88faaa1afb83 116 FXOS8700Q_mag(PinName sda, PinName scl, int addr);
drelliak 0:88faaa1afb83 117
drelliak 0:88faaa1afb83 118 /**
drelliak 0:88faaa1afb83 119 * FXOS8700Q destructor
drelliak 0:88faaa1afb83 120 */
drelliak 0:88faaa1afb83 121 ~FXOS8700Q_mag();
drelliak 0:88faaa1afb83 122
drelliak 0:88faaa1afb83 123 void enable(void);
drelliak 0:88faaa1afb83 124 void disable(void);
drelliak 0:88faaa1afb83 125 uint32_t sampleRate(uint32_t fequency);
drelliak 0:88faaa1afb83 126 uint32_t whoAmI(void);
drelliak 0:88faaa1afb83 127 uint32_t dataReady(void);
drelliak 0:88faaa1afb83 128 void getX(int16_t * x);
drelliak 0:88faaa1afb83 129 void getY(int16_t * y);
drelliak 0:88faaa1afb83 130 void getZ(int16_t * z);
drelliak 0:88faaa1afb83 131 void getX(float * x);
drelliak 0:88faaa1afb83 132 void getY(float * y);
drelliak 0:88faaa1afb83 133 void getZ(float * z);
drelliak 0:88faaa1afb83 134 void getAxis(MotionSensorDataCounts &data);
drelliak 0:88faaa1afb83 135 void getAxis(MotionSensorDataUnits &data);
drelliak 0:88faaa1afb83 136
drelliak 0:88faaa1afb83 137 void readRegs(int addr, uint8_t * data, int len);
drelliak 0:88faaa1afb83 138
drelliak 0:88faaa1afb83 139 private:
drelliak 0:88faaa1afb83 140 I2C m_i2c;
drelliak 0:88faaa1afb83 141 int m_addr;
drelliak 0:88faaa1afb83 142
drelliak 0:88faaa1afb83 143 void writeRegs(uint8_t * data, int len);
drelliak 0:88faaa1afb83 144 int16_t getAccAxis(uint8_t addr);
drelliak 0:88faaa1afb83 145
drelliak 0:88faaa1afb83 146 };
drelliak 0:88faaa1afb83 147
drelliak 0:88faaa1afb83 148 #endif