File content as of revision 0:bfb567985c64:

/* 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 "mbed.h"
#include "MAG3110.h"
#include "FXOS8700Q.h"
#include "MMA8652.h"
#include "FXLS8471Q.h"
#include "FXAS21000.h"

// Requires a Freescale-compatible platform. Comment if you're getting weird results for the alt or any other sensor. Also check the interrupt params below.
#define FSL_COMPATIBLE
#if defined(FSL_COMPATIBLE)
    #define MPL3115A2_I2C_ADDRESS (0x60<<1)
    #include "MPL3115A2.h" 
    
    MPL3115A2 alt(D14, D15, MPL3115A2_I2C_ADDRESS, D4, D3);
#endif

FXLS8471Q acc1(D11, D12, D13, D10);
MMA8652   acc2(D14, D15);
FXOS8700Q_acc combo_acc(D14, D15, FXOS8700CQ_SLAVE_ADDR0);
FXOS8700Q_mag combo_mag(D14, D15, FXOS8700CQ_SLAVE_ADDR0);
MAG3110   mag2(D14, D15);
FXAS21000 gyro(D14, D15);


Serial pc(USBTX, USBRX);

float print_AltimiterValue( unsigned char *dt)
{
    unsigned short altm;
    float faltm;

    /*
    * dt[0] = Bits 12-19 of 20-bit real-time Altitude sample. (b7-b0)
    * dt[1] = Bits 4-11 of 20-bit real-time Altitude sample. (b7-b0)
    * dt[2] = Bits 0-3 of 20-bit real-time Altitude sample (b7-b4)
    */
    altm = (dt[0]<<8) | dt[1];
    //
    if ( dt[0] > 0x7F) {
        altm = ~altm + 1;
        faltm = (float)altm * -1.0f;
    } else {
        faltm = (float)altm * 1.0f;
    }
    //
    faltm = faltm+((float)(dt[2]>>4) * 0.0625f);
    return faltm;
}

float print_TemperatureValue( unsigned char *dt)
{
    unsigned short temp;
    float ftemp;

    /*
    * dt[0] = Bits 4-11 of 16-bit real-time temperature sample. (b7-b0)
    * dt[1] = Bits 0-3 of 16-bit real-time temperature sample. (b7-b4)
    */
    temp = dt[0];
    //
    if ( dt[0] > 0x7F) {
        temp = ~temp + 1;
        ftemp = (float)temp * -1.0f;
    } else {
        ftemp = (float)temp * 1.0f;
    }
    //
    ftemp = ftemp+((float)(dt[1]>>4) * 0.0625f);
    return ftemp;

}


int main()
{
    float acc_data[3], gyro_data[3];
    MotionSensorDataUnits adata;
    MotionSensorDataUnits mdata;
    int16_t acc_raw[3];

    printf("\r\nStarting\r\n\r\n");

    combo_acc.enable();
    combo_mag.enable();
    mag2.enable();
    printf("FXLS8471 Acc   = %X\r\n", acc1.getWhoAmI());
    printf("MMA8652 Acc    = %X\r\n", acc2.getWhoAmI());
    printf("FXOS8700 Combo = %X\r\n", combo_acc.whoAmI());
    printf("MAG3110 Mag    = %X\r\n", mag2.whoAmI());
    printf("FXAS21000 Gyro = %X\r\n", gyro.getWhoAmI());
    
    #if defined(FSL_COMPATIBLE)
        unsigned char alt_data[8];
        alt.Altimeter_Mode();
        printf("MPL3115A2 Alt  = %X\r\n", alt.getDeviceID());  // May only be used on a Freescale platform, comment out for others
    #endif
    
    wait(3);
    
    while(1) {
        acc1.ReadXYZ(acc_data);
        acc1.ReadXYZraw(acc_raw);
        printf("FXLS8471 Acc:   X:%6.3f Y:%6.3f Z:%6.3f (Raw X:%4d Y:%4d Z:%4d)\r\n", acc_data[0], acc_data[1], acc_data[2], acc_raw[0], acc_raw[1], acc_raw[2]);

        acc2.ReadXYZ(acc_data);
        acc2.ReadXYZraw(acc_raw);
        printf("MMA8652 Acc:    X:%6.3f Y:%6.3f Z:%6.3f (Raw X:%4d Y:%4d Z:%4d)\r\n", acc_data[0], acc_data[1], acc_data[2], acc_raw[0], acc_raw[1], acc_raw[2]);

        combo_acc.getAxis(adata);
        printf("FXOS8700 Acc:   X:%6.3f Y:%6.3f Z:%6.3f\r\n", adata.x, adata.y, adata.z);
        
        combo_mag.getAxis(mdata);
        printf("FXOS8700 Mag:   X:%6.2f Y:%6.2f Z:%6.2f\r\n", mdata.x, mdata.y, mdata.z);

        mag2.getAxis(mdata);
        printf("MAG3110 Mag:    X:%6.2f Y:%6.2f Z:%6.2f\r\n", mdata.x, mdata.y, mdata.z);

        gyro.ReadXYZ(gyro_data);
        printf("FXAS21000 Gyro: X:%6.2f Y:%6.2f Z:%6.2f\r\n", gyro_data[0], gyro_data[1], gyro_data[2]);
        
        #if defined(FSL_COMPATIBLE)
            alt.getAllDataRaw(&alt_data[0]);  // May only be used on a Freescale platform, comment out for others
            printf("MPL3115A2 Alt:  %5.1f\r\n", print_AltimiterValue(&alt_data[0]));  // May only be used on a Freescale platform, comment out for others
            printf("MPL3115A2 Temp: %3.1f\r\n", print_TemperatureValue(&alt_data[3]));  // May only be used on a Freescale platform, comment out for others
        #endif

        printf("\r\n");
        
        wait(1);
    }
}