FXOS8700.cpp

00001 /*
00002  * Copyright (c) 2015 - 2016, Freescale Semiconductor, Inc.
00003  * Copyright 2016-2017 NXP
00004  *
00005  * Redistribution and use in source and binary forms, with or without modification,
00006  * are permitted provided that the following conditions are met:
00007  *
00008  * o Redistributions of source code must retain the above copyright notice, this list
00009  *   of conditions and the following disclaimer.
00010  *
00011  * o Redistributions in binary form must reproduce the above copyright notice, this
00012  *   list of conditions and the following disclaimer in the documentation and/or
00013  *   other materials provided with the distribution.
00014  *
00015  * o Neither the name of the copyright holder nor the names of its
00016  *   contributors may be used to endorse or promote products derived from this
00017  *   software without specific prior written permission.
00018  *
00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00020  * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00021  * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00022  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
00023  * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00024  * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00025  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
00026  * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00027  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00028  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00029  */
00030 
00031 #include "FXOS8700.h"
00032  #include "mbed.h"
00033 
00034 FXOS8700::FXOS8700(PinName sda, PinName scl) : accelmagi2c(sda,scl)
00035  {
00036        
00037  }
00038     
00039  void FXOS8700::accel_config(void)
00040  {
00041    char d[2]; 
00042    d[0] = FXOS8700_CTRL_REG1;                     //Puts device in Standby mode
00043    d[1] = 0x00; 
00044    accelmagi2c.write(FXOS8700_I2C_ADDRESS, d,2);   
00045           
00046    
00047    d[0] = FXOS8700_CTRL_REG1;                     //Puts device in Active mode
00048    d[1] = 0x01;
00049    accelmagi2c.write(FXOS8700_I2C_ADDRESS, d, 2);   
00050       
00051  }
00052  
00053   void FXOS8700::mag_config(void)
00054  {
00055    char d[2];
00056    d[0] = FXOS8700_CTRL_REG1;                     //Puts device in Standby mode
00057    d[1] = 0x00;
00058    accelmagi2c.write(FXOS8700_I2C_ADDRESS, d,2);   
00059           
00060    
00061    d[0] = FXOS8700_M_CTRL_REG1;                   //Puts device in hybrid mode (both accel and mag are active)
00062    d[1] = 0x03;
00063    accelmagi2c.write(FXOS8700_I2C_ADDRESS, d, 2);   
00064    
00065 
00066    d[0] = FXOS8700_CTRL_REG1;                     //Puts device in Active mode
00067    d[1] = 0x01;
00068    accelmagi2c.write(FXOS8700_I2C_ADDRESS, d,2);  
00069    
00070  }
00071  
00072  void FXOS8700::acquire_accel_data_g(float * a_data)
00073  {
00074   
00075    char data_bytes[7];
00076    char d[1];
00077    d[0]=FXOS8700_STATUS;
00078    accelmagi2c.write(FXOS8700_I2C_ADDRESS,d,1,true);  // Read the 6 data bytes - LSB and MSB for X, Y and Z Axes.
00079    accelmagi2c.read(FXOS8700_I2C_ADDRESS,data_bytes,7);
00080    
00081    a_data[0] =  ((float)((int16_t)(((data_bytes[1]*256) + (data_bytes[2])))>> 2) * 0.000244);
00082    a_data[1] =  ((float)((int16_t)(((data_bytes[3]*256) + (data_bytes[4])))>> 2) * 0.000244);
00083    a_data[2] =  ((float)((int16_t)(((data_bytes[5]*256) + (data_bytes[6])))>> 2) * 0.000244);
00084    
00085  }
00086 
00087  void FXOS8700::acquire_mag_data_uT(float * m_data)
00088  {
00089   
00090    char data_bytes[7];
00091    char d[1];
00092    d[0]=FXOS8700_MDR_STATUS;
00093    accelmagi2c.write(FXOS8700_I2C_ADDRESS,d,1,true);  // Read the 6 data bytes - LSB and MSB for X, Y and Z Axes.
00094    accelmagi2c.read(FXOS8700_I2C_ADDRESS,data_bytes,7);
00095    
00096    m_data[0] =  (float)((int16_t)((data_bytes[1]*256) + (data_bytes[2]))) * 0.1;
00097    m_data[1] =  (float)((int16_t)((data_bytes[3]*256) + (data_bytes[4]))) * 0.1;
00098    m_data[2] =  (float)((int16_t)((data_bytes[5]*256) + (data_bytes[6]))) * 0.1;
00099    
00100  }
00101      
00102