Diff: SensorsLibrary/FXOS8700Q.cpp

Revision:

0:8f5db5085df7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SensorsLibrary/FXOS8700Q.cpp	Mon Sep 21 21:42:07 2020 +0000
@@ -0,0 +1,294 @@
+/* Copyright (c) 2010-2011 mbed.org, MIT License
+*
+* Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+* and associated documentation files (the "Software"), to deal in the Software without
+* restriction, including without limitation the rights to use, copy, modify, merge, publish,
+* distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
+* Software is furnished to do so, subject to the following conditions:
+*
+* The above copyright notice and this permission notice shall be included in all copies or
+* substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+* BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+* DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+#include "FXOS8700Q.h"
+#define UINT14_MAX        16383
+
+
+FXOS8700Q_acc::FXOS8700Q_acc(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
+    // activate the peripheral
+    uint8_t data[2] = {FXOS8700Q_CTRL_REG1, 0x00};
+    m_i2c.frequency(400000);
+    writeRegs(data, 2);
+    data[0] = FXOS8700Q_M_CTRL_REG1;
+    data[1] = 0x1F;
+    writeRegs(data, 2);
+    data[0] = FXOS8700Q_M_CTRL_REG2;
+    data[1] = 0x20;
+    writeRegs(data, 2);
+    data[0] = FXOS8700Q_XYZ_DATA_CFG;
+    data[1] = 0x00;
+    writeRegs(data, 2);
+    data[0] = FXOS8700Q_CTRL_REG1;
+    data[1] = 0x18;//0x1D;
+    writeRegs(data, 2);
+}
+
+FXOS8700Q_acc::~FXOS8700Q_acc() { }
+
+void FXOS8700Q_acc::enable(void) {
+    uint8_t data[2];
+    readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
+    data[1] |= 0x01;
+    data[0] = FXOS8700Q_CTRL_REG1;
+    writeRegs(data, 2);
+}
+
+void FXOS8700Q_acc::disable(void) {
+    uint8_t data[2];
+    readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
+    data[1] &= 0xFE;
+    data[0] = FXOS8700Q_CTRL_REG1;
+    writeRegs(data, 2);
+}
+
+
+
+uint32_t FXOS8700Q_acc::whoAmI() {
+    uint8_t who_am_i = 0;
+    readRegs(FXOS8700Q_WHOAMI, &who_am_i, 1);
+    return (uint32_t) who_am_i;
+}
+
+uint32_t FXOS8700Q_acc::dataReady(void) {
+    uint8_t stat = 0;
+    readRegs(FXOS8700Q_STATUS, &stat, 1);
+    return (uint32_t) stat;
+}
+
+uint32_t FXOS8700Q_acc::sampleRate(uint32_t f) {
+    return(50); // for now sample rate is fixed at 50Hz
+}
+
+void FXOS8700Q_acc::getX(float * x) {
+    *x = (float(getAccAxis(FXOS8700Q_OUT_X_MSB))/4096.0f);
+}
+
+void FXOS8700Q_acc::getY(float * y) {
+    *y = (float(getAccAxis(FXOS8700Q_OUT_Y_MSB))/4096.0f);
+}
+
+void FXOS8700Q_acc::getZ(float * z) {
+    *z = (float(getAccAxis(FXOS8700Q_OUT_Z_MSB))/4096.0f);
+}
+
+void FXOS8700Q_acc::getX(int16_t * d) {
+    *d = getAccAxis(FXOS8700Q_OUT_X_MSB);
+}
+
+void FXOS8700Q_acc::getY(int16_t * d) {
+    *d = getAccAxis(FXOS8700Q_OUT_Y_MSB);
+}
+
+void FXOS8700Q_acc::getZ(int16_t * d) {
+    *d = getAccAxis(FXOS8700Q_OUT_Z_MSB);
+}
+
+
+void FXOS8700Q_acc::getAxis(MotionSensorDataUnits &data) {
+    int16_t acc, t[3];
+    uint8_t res[6];
+   readRegs(FXOS8700Q_OUT_X_MSB, res, 6);
+
+    acc = (res[0] << 6) | (res[1] >> 2);
+    if (acc > UINT14_MAX/2)
+        acc -= UINT14_MAX;
+    t[0] = acc;
+    acc = (res[2] << 6) | (res[3] >> 2);
+    if (acc > UINT14_MAX/2)
+        acc -= UINT14_MAX;
+    t[1] = acc;
+    acc = (res[4] << 6) | (res[5] >> 2);
+    if (acc > UINT14_MAX/2)
+        acc -= UINT14_MAX;
+    t[2] = acc;
+    data.x = ((float) t[0]) / 4096.0f;
+    data.y = ((float) t[1]) / 4096.0f;
+    data.z = ((float) t[2]) / 4096.0f;
+}
+
+
+void FXOS8700Q_acc::getAxis(MotionSensorDataCounts &data) {
+    int16_t acc;
+    uint8_t res[6];
+    readRegs(FXOS8700Q_OUT_X_MSB, res, 6);
+
+    acc = (res[0] << 6) | (res[1] >> 2);
+    if (acc > UINT14_MAX/2)
+        acc -= UINT14_MAX;
+    data.x = acc;
+    acc = (res[2] << 6) | (res[3] >> 2);
+    if (acc > UINT14_MAX/2)
+        acc -= UINT14_MAX;
+    data.y = acc;
+    acc = (res[4] << 6) | (res[5] >> 2);
+    if (acc > UINT14_MAX/2)
+        acc -= UINT14_MAX;
+    data.z = acc;
+}
+
+void FXOS8700Q_acc::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 FXOS8700Q_acc::writeRegs(uint8_t * data, int len) {
+    m_i2c.write(m_addr, (char *)data, len);
+}
+
+
+int16_t FXOS8700Q_acc::getAccAxis(uint8_t addr) {
+    int16_t acc;
+    uint8_t res[2];
+    readRegs(addr, res, 2);
+
+    acc = (res[0] << 6) | (res[1] >> 2);
+    if (acc > UINT14_MAX/2)
+        acc -= UINT14_MAX;
+
+    return acc;
+}
+
+
+
+FXOS8700Q_mag::FXOS8700Q_mag(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
+    // activate the peripheral
+    uint8_t data[2] = {FXOS8700Q_CTRL_REG1, 0x00};
+    m_i2c.frequency(400000);
+    writeRegs(data, 2);
+    data[0] = FXOS8700Q_M_CTRL_REG1;
+    data[1] = 0x1F;
+    writeRegs(data, 2);
+    data[0] = FXOS8700Q_M_CTRL_REG2;
+    data[1] = 0x20;
+    writeRegs(data, 2);
+    data[0] = FXOS8700Q_XYZ_DATA_CFG;
+    data[1] = 0x00;
+    writeRegs(data, 2);
+    data[0] = FXOS8700Q_CTRL_REG1;
+    data[1] = 0x18;//0x1D;
+    writeRegs(data, 2);
+}
+
+FXOS8700Q_mag::~FXOS8700Q_mag() { }
+
+void FXOS8700Q_mag::enable(void) {
+    uint8_t data[2];
+    readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
+    data[1] |= 0x01;
+    data[0] = FXOS8700Q_CTRL_REG1;
+    writeRegs(data, 2);
+}
+
+void FXOS8700Q_mag::disable(void) {
+    uint8_t data[2];
+    readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
+    data[1] &= 0xFE;
+    data[0] = FXOS8700Q_CTRL_REG1;
+    writeRegs(data, 2);
+}
+
+
+
+uint32_t FXOS8700Q_mag::whoAmI() {
+    uint8_t who_am_i = 0;
+    readRegs(FXOS8700Q_WHOAMI, &who_am_i, 1);
+    return (uint32_t) who_am_i;
+}
+
+uint32_t FXOS8700Q_mag::dataReady(void) {
+    uint8_t stat = 0;
+    readRegs(FXOS8700Q_STATUS, &stat, 1);
+    return (uint32_t) stat;
+}
+
+uint32_t FXOS8700Q_mag::sampleRate(uint32_t f) {
+    return(50); // for now sample rate is fixed at 50Hz
+}
+
+void FXOS8700Q_mag::getX(float * x) {
+    *x = (float(getAccAxis(FXOS8700Q_M_OUT_X_MSB)) * 0.1f);
+}
+
+void FXOS8700Q_mag::getY(float * y) {
+    *y = (float(getAccAxis(FXOS8700Q_M_OUT_Y_MSB)) * 0.1f);
+}
+
+void FXOS8700Q_mag::getZ(float * z) {
+    *z = (float(getAccAxis(FXOS8700Q_M_OUT_Z_MSB)) * 0.1f);
+}
+
+void FXOS8700Q_mag::getX(int16_t * d) {
+    *d = getAccAxis(FXOS8700Q_M_OUT_X_MSB);
+}
+
+void FXOS8700Q_mag::getY(int16_t * d) {
+    *d = getAccAxis(FXOS8700Q_M_OUT_Y_MSB);
+}
+
+void FXOS8700Q_mag::getZ(int16_t * d) {
+    *d = getAccAxis(FXOS8700Q_M_OUT_Z_MSB);
+}
+
+
+void FXOS8700Q_mag::getAxis(MotionSensorDataUnits &data) {
+    int16_t t[3];
+    uint8_t res[6];
+   readRegs(FXOS8700Q_M_OUT_X_MSB, res, 6);
+
+    t[0] = (res[0] << 8) | res[1];
+    t[1] = (res[2] << 8) | res[3];
+    t[2] = (res[4] << 8) | res[5];
+
+    data.x = ((float) t[0]) * 0.1f;
+    data.y = ((float) t[1]) * 0.1f;
+    data.z = ((float) t[2]) * 0.1f;
+}
+
+
+void FXOS8700Q_mag::getAxis(MotionSensorDataCounts &data) {
+    int16_t acc;
+    uint8_t res[6];
+    readRegs(FXOS8700Q_M_OUT_X_MSB, res, 6);
+
+    data.x = (res[0] << 8) | res[1];
+    data.y = (res[2] << 8) | res[3];
+    data.z = (res[4] << 8) | res[5];
+}
+
+void FXOS8700Q_mag::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 FXOS8700Q_mag::writeRegs(uint8_t * data, int len) {
+    m_i2c.write(m_addr, (char *)data, len);
+}
+
+
+int16_t FXOS8700Q_mag::getAccAxis(uint8_t addr) {
+    int16_t acc;
+    uint8_t res[2];
+    readRegs(addr, res, 2);
+
+    acc = (res[0] << 8) | res[1];
+
+    return acc;
+}