XJEL2645 (19/20) / Mbed 2 deprecated el17y2z

Yunting Zou 201199716

Dependencies:   mbed MotionSensor

FXOS8700Q/FXOS8700Q.h@3:4bd22344278d, 2020-05-14 (annotated)

Committer:
zhouyun123
Date:
Thu May 14 17:18:58 2020 +0000
Revision:
3:4bd22344278d
Parent:
0:047e14f53977 
Final Submission. I have read and agreed with Statement of Academic Integrity.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
zhouyun123 0:047e14f53977 1 /* FXOS8700Q sensor driver
zhouyun123 0:047e14f53977 2 * Copyright (c) 2014-2015 ARM Limited
zhouyun123 0:047e14f53977 3 *
zhouyun123 0:047e14f53977 4 * Licensed under the Apache License, Version 2.0 (the "License");
zhouyun123 0:047e14f53977 5 * you may not use this file except in compliance with the License.
zhouyun123 0:047e14f53977 6 * You may obtain a copy of the License at
zhouyun123 0:047e14f53977 7 *
zhouyun123 0:047e14f53977 8 * http://www.apache.org/licenses/LICENSE-2.0
zhouyun123 0:047e14f53977 9 *
zhouyun123 0:047e14f53977 10 * Unless required by applicable law or agreed to in writing, software
zhouyun123 0:047e14f53977 11 * distributed under the License is distributed on an "AS IS" BASIS,
zhouyun123 0:047e14f53977 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
zhouyun123 0:047e14f53977 13 * See the License for the specific language governing permissions and
zhouyun123 0:047e14f53977 14 * limitations under the License.
zhouyun123 0:047e14f53977 15 */
zhouyun123 0:047e14f53977 16
zhouyun123 0:047e14f53977 17 #ifndef FXOS8700Q_H
zhouyun123 0:047e14f53977 18 #define FXOS8700Q_H
zhouyun123 0:047e14f53977 19
zhouyun123 0:047e14f53977 20 #include "mbed.h"
zhouyun123 0:047e14f53977 21 #include "MotionSensor.h"
zhouyun123 0:047e14f53977 22
zhouyun123 0:047e14f53977 23 // FXOS8700CQ I2C address
zhouyun123 0:047e14f53977 24 #define FXOS8700CQ_SLAVE_ADDR0 (0x1E<<1) // with pins SA0=0, SA1=0
zhouyun123 0:047e14f53977 25 #define FXOS8700CQ_SLAVE_ADDR1 (0x1D<<1) // with pins SA0=1, SA1=0
zhouyun123 0:047e14f53977 26 #define FXOS8700CQ_SLAVE_ADDR2 (0x1C<<1) // with pins SA0=0, SA1=1
zhouyun123 0:047e14f53977 27 #define FXOS8700CQ_SLAVE_ADDR3 (0x1F<<1) // with pins SA0=1, SA1=1
zhouyun123 0:047e14f53977 28 // FXOS8700CQ internal register addresses
zhouyun123 0:047e14f53977 29 #define FXOS8700Q_STATUS 0x00
zhouyun123 0:047e14f53977 30 #define FXOS8700Q_OUT_X_MSB 0x01
zhouyun123 0:047e14f53977 31 #define FXOS8700Q_OUT_Y_MSB 0x03
zhouyun123 0:047e14f53977 32 #define FXOS8700Q_OUT_Z_MSB 0x05
zhouyun123 0:047e14f53977 33 #define FXOS8700Q_M_OUT_X_MSB 0x33
zhouyun123 0:047e14f53977 34 #define FXOS8700Q_M_OUT_Y_MSB 0x35
zhouyun123 0:047e14f53977 35 #define FXOS8700Q_M_OUT_Z_MSB 0x37
zhouyun123 0:047e14f53977 36 #define FXOS8700Q_WHOAMI 0x0D
zhouyun123 0:047e14f53977 37 #define FXOS8700Q_XYZ_DATA_CFG 0x0E
zhouyun123 0:047e14f53977 38 #define FXOS8700Q_CTRL_REG1 0x2A
zhouyun123 0:047e14f53977 39 #define FXOS8700Q_M_CTRL_REG1 0x5B
zhouyun123 0:047e14f53977 40 #define FXOS8700Q_M_CTRL_REG2 0x5C
zhouyun123 0:047e14f53977 41 #define FXOS8700Q_WHOAMI_VAL 0xC7
zhouyun123 0:047e14f53977 42
zhouyun123 0:047e14f53977 43
zhouyun123 0:047e14f53977 44 /** FXOS8700Q accelerometer example
zhouyun123 0:047e14f53977 45 @code
zhouyun123 0:047e14f53977 46 #include "mbed.h"
zhouyun123 0:047e14f53977 47 #include "FXOS8700Q.h"
zhouyun123 0:047e14f53977 48 I2C i2c(PTE25, PTE24);
zhouyun123 0:047e14f53977 49 FXOS8700QAccelerometer acc(i2c, FXOS8700CQ_SLAVE_ADDR1); // Configured for the FRDM-K64F with onboard sensors
zhouyun123 0:047e14f53977 50 FXOS8700QMagnetometer mag(i2c, FXOS8700CQ_SLAVE_ADDR1);
zhouyun123 0:047e14f53977 51 int main(void)
zhouyun123 0:047e14f53977 52 {
zhouyun123 0:047e14f53977 53 motion_data_units_t acc_data, mag_data;
zhouyun123 0:047e14f53977 54 motion_data_counts_t acc_raw, mag_raw;
zhouyun123 0:047e14f53977 55 float faX, faY, faZ, fmX, fmY, fmZ, tmp_float;
zhouyun123 0:047e14f53977 56 int16_t raX, raY, raZ, rmX, rmY, rmZ, tmp_int;
zhouyun123 0:047e14f53977 57 acc.enable();
zhouyun123 0:047e14f53977 58 mag.enable();
zhouyun123 0:047e14f53977 59 while (true) {
zhouyun123 0:047e14f53977 60 // counts based results
zhouyun123 0:047e14f53977 61 acc.getAxis(acc_raw);
zhouyun123 0:047e14f53977 62 mag.getAxis(mag_raw);
zhouyun123 0:047e14f53977 63 acc.getX(raX);
zhouyun123 0:047e14f53977 64 acc.getY(raY);
zhouyun123 0:047e14f53977 65 acc.getZ(raZ);
zhouyun123 0:047e14f53977 66 mag.getX(rmX);
zhouyun123 0:047e14f53977 67 mag.getY(rmY);
zhouyun123 0:047e14f53977 68 mag.getZ(rmZ);
zhouyun123 0:047e14f53977 69 // unit based results
zhouyun123 0:047e14f53977 70 acc.getAxis(acc_data);
zhouyun123 0:047e14f53977 71 mag.getAxis(mag_data);
zhouyun123 0:047e14f53977 72 acc.getX(faX);
zhouyun123 0:047e14f53977 73 acc.getY(faY);
zhouyun123 0:047e14f53977 74 acc.getZ(faZ);
zhouyun123 0:047e14f53977 75 mag.getX(fmX);
zhouyun123 0:047e14f53977 76 mag.getY(fmY);
zhouyun123 0:047e14f53977 77 mag.getZ(fmZ);
zhouyun123 0:047e14f53977 78 wait(0.1f);
zhouyun123 0:047e14f53977 79 }
zhouyun123 0:047e14f53977 80 }
zhouyun123 0:047e14f53977 81 @endcode
zhouyun123 0:047e14f53977 82 */
zhouyun123 0:047e14f53977 83
zhouyun123 0:047e14f53977 84 /** FXOS8700Q driver class
zhouyun123 0:047e14f53977 85 */
zhouyun123 0:047e14f53977 86 class FXOS8700Q : public MotionSensor
zhouyun123 0:047e14f53977 87 {
zhouyun123 0:047e14f53977 88 public:
zhouyun123 0:047e14f53977 89
zhouyun123 0:047e14f53977 90 /** Read a device register
zhouyun123 0:047e14f53977 91 @param addr The address to read from
zhouyun123 0:047e14f53977 92 @param data The data to read from it
zhouyun123 0:047e14f53977 93 @param len The amount of data to read from it
zhouyun123 0:047e14f53977 94 @return 0 if successful, negative number otherwise
zhouyun123 0:047e14f53977 95 */
zhouyun123 0:047e14f53977 96 void readRegs(uint8_t addr, uint8_t *data, uint32_t len) const;
zhouyun123 0:047e14f53977 97
zhouyun123 0:047e14f53977 98 /** Read the ID from a whoAmI register
zhouyun123 0:047e14f53977 99 @return The device whoAmI register contents
zhouyun123 0:047e14f53977 100 */
zhouyun123 0:047e14f53977 101 uint8_t whoAmI(void) const;
zhouyun123 0:047e14f53977 102
zhouyun123 0:047e14f53977 103 virtual void enable(void) const;
zhouyun123 0:047e14f53977 104 virtual void disable(void) const;
zhouyun123 0:047e14f53977 105 virtual uint32_t sampleRate(uint32_t frequency) const;
zhouyun123 0:047e14f53977 106 virtual uint32_t dataReady(void) const;
zhouyun123 0:047e14f53977 107
zhouyun123 0:047e14f53977 108 protected:
zhouyun123 0:047e14f53977 109 I2C *_i2c;
zhouyun123 0:047e14f53977 110 uint8_t _addr;
zhouyun123 0:047e14f53977 111
zhouyun123 0:047e14f53977 112 /** FXOS8700Q constructor
zhouyun123 0:047e14f53977 113 @param i2c a configured i2c object
zhouyun123 0:047e14f53977 114 @param addr addr of the I2C peripheral as wired
zhouyun123 0:047e14f53977 115 */
zhouyun123 0:047e14f53977 116 FXOS8700Q(I2C &i2c, uint8_t addr);
zhouyun123 0:047e14f53977 117
zhouyun123 0:047e14f53977 118 /** FXOS8700Q deconstructor
zhouyun123 0:047e14f53977 119 */
zhouyun123 0:047e14f53977 120 ~FXOS8700Q();
zhouyun123 0:047e14f53977 121
zhouyun123 0:047e14f53977 122 void writeRegs(uint8_t *data, uint32_t len) const;
zhouyun123 0:047e14f53977 123 int16_t getSensorAxis(uint8_t addr) const;
zhouyun123 0:047e14f53977 124 };
zhouyun123 0:047e14f53977 125
zhouyun123 0:047e14f53977 126 /** FXOS8700QAccelerometer interface
zhouyun123 0:047e14f53977 127 */
zhouyun123 0:047e14f53977 128 class FXOS8700QAccelerometer : public FXOS8700Q
zhouyun123 0:047e14f53977 129 {
zhouyun123 0:047e14f53977 130 public:
zhouyun123 0:047e14f53977 131
zhouyun123 0:047e14f53977 132 FXOS8700QAccelerometer(I2C &i2c, uint8_t addr) : FXOS8700Q(i2c, addr) {}
zhouyun123 0:047e14f53977 133
zhouyun123 0:047e14f53977 134 virtual int16_t getX(int16_t &x) const;
zhouyun123 0:047e14f53977 135 virtual int16_t getY(int16_t &y) const;
zhouyun123 0:047e14f53977 136 virtual int16_t getZ(int16_t &z) const;
zhouyun123 0:047e14f53977 137 virtual float getX(float &x) const;
zhouyun123 0:047e14f53977 138 virtual float getY(float &y) const;
zhouyun123 0:047e14f53977 139 virtual float getZ(float &z) const;
zhouyun123 0:047e14f53977 140 virtual void getAxis(motion_data_counts_t &xyz) const;
zhouyun123 0:047e14f53977 141 virtual void getAxis(motion_data_units_t &xyz) const;
zhouyun123 0:047e14f53977 142
zhouyun123 0:047e14f53977 143 };
zhouyun123 0:047e14f53977 144
zhouyun123 0:047e14f53977 145 /** FXOS8700QMagnetometer interface
zhouyun123 0:047e14f53977 146 */
zhouyun123 0:047e14f53977 147 class FXOS8700QMagnetometer : public FXOS8700Q
zhouyun123 0:047e14f53977 148 {
zhouyun123 0:047e14f53977 149 public:
zhouyun123 0:047e14f53977 150
zhouyun123 0:047e14f53977 151 FXOS8700QMagnetometer(I2C &i2c, uint8_t addr) : FXOS8700Q(i2c, addr) {}
zhouyun123 0:047e14f53977 152
zhouyun123 0:047e14f53977 153 virtual int16_t getX(int16_t &x) const;
zhouyun123 0:047e14f53977 154 virtual int16_t getY(int16_t &y) const;
zhouyun123 0:047e14f53977 155 virtual int16_t getZ(int16_t &z) const;
zhouyun123 0:047e14f53977 156 virtual float getX(float &x) const;
zhouyun123 0:047e14f53977 157 virtual float getY(float &y) const;
zhouyun123 0:047e14f53977 158 virtual float getZ(float &z) const;
zhouyun123 0:047e14f53977 159 virtual void getAxis(motion_data_counts_t &xyz) const;
zhouyun123 0:047e14f53977 160 virtual void getAxis(motion_data_units_t &xyz) const;
zhouyun123 0:047e14f53977 161
zhouyun123 0:047e14f53977 162 };
zhouyun123 0:047e14f53977 163
zhouyun123 0:047e14f53977 164 #endif