Revision 10:834488c11340, committed 2015-06-18

Comitter:

sam_grove

Date:

Thu Jun 18 22:53:07 2015 +0000

Parent:

9:5553a64d0762

Child:

11:aee7dea904e2

Child:

12:192bb7e45280

Commit message:

Update driver based on changes to MotionSensor

Changed in this revision

--- a/FXOS8700Q.cpp	Wed May 07 18:08:08 2014 +0000
+++ b/FXOS8700Q.cpp	Thu Jun 18 22:53:07 2015 +0000
@@ -1,31 +1,37 @@
-/* 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.
-*/
+/* FXOS8700Q sensor driver
+ * Copyright (c) 2014-2015 ARM Limited
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
 
 #include "FXOS8700Q.h"
-#define UINT14_MAX        16383
+
+const uint16_t uint14_max = 0x3FFF;
+void static inline normalize_14bits(int16_t &x)
+{
+    x = ((x) > (uint14_max/2)) ? (x - uint14_max) : (x);
+}
 
-uint8_t SensorBuffer[12];
-int     MagReadStatus;
+static int16_t dummy_int16_t = 0;
+static float dummy_float = 0.0f;
 
-FXOS8700Q_acc::FXOS8700Q_acc(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
+FXOS8700Q::FXOS8700Q(I2C &i2c, uint8_t addr)
+{
+    _i2c = &i2c;
+    _addr = addr;
     // activate the peripheral
     uint8_t data[2] = {FXOS8700Q_CTRL_REG1, 0x00};
-    m_i2c.frequency(400000);
+    _i2c->frequency(400000);
     writeRegs(data, 2);
     data[0] = FXOS8700Q_M_CTRL_REG1;
     data[1] = 0x1F;
@@ -39,270 +45,186 @@
     data[0] = FXOS8700Q_CTRL_REG1;
     data[1] = 0x1C;
     writeRegs(data, 2);
-    MagReadStatus = 0;
+}
+
+FXOS8700Q::~FXOS8700Q()
+{
+    _i2c = 0;
+    _addr = 0;
+}
+
+void FXOS8700Q::readRegs(int addr, uint8_t *data, uint32_t len) const
+{
+    char t[1] = {addr};
+    _i2c->write(_addr, t, sizeof(t), true);
+    _i2c->read(_addr, (char *)data, len);
+}
+
+uint8_t FXOS8700Q::whoAmI() const
+{
+    uint8_t who_am_i = 0;
+    readRegs(FXOS8700Q_WHOAMI, &who_am_i, sizeof(who_am_i));
+    return who_am_i;
 }
 
-FXOS8700Q_acc::~FXOS8700Q_acc() { }
+void FXOS8700Q::writeRegs(uint8_t * data, uint32_t len) const
+{
+    _i2c->write(_addr, (char *)data, len);
+}
 
-void FXOS8700Q_acc::enable(void) {
+int16_t FXOS8700Q::getSensorAxis(uint8_t addr) const
+{
+    uint8_t res[2];
+    readRegs(addr, res, sizeof(res));
+    return static_cast<int16_t>((res[0] << 8) | res[1]);
+}
+
+void FXOS8700Q::enable(void) const
+{
     uint8_t data[2];
-    readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
+    readRegs(FXOS8700Q_CTRL_REG1, &data[1], 1);
     data[1] |= 0x01;
     data[0] = FXOS8700Q_CTRL_REG1;
-    writeRegs(data, 2);
-    MagReadStatus = 0;
+    writeRegs(data, sizeof(data));
 }
 
-void FXOS8700Q_acc::disable(void) {
+void FXOS8700Q::disable(void) const
+{
     uint8_t data[2];
-    readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
+    readRegs(FXOS8700Q_CTRL_REG1, &data[1], 1);
     data[1] &= 0xFE;
     data[0] = FXOS8700Q_CTRL_REG1;
-    writeRegs(data, 2);
-    MagReadStatus = 0;
+    writeRegs(data, sizeof(data));
 }
 
-
-
-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::dataReady(void) const
+{
+    uint8_t stat = 0;
+    readRegs(FXOS8700Q_STATUS, &stat, 1);
+    return (uint32_t)stat;
 }
 
-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) {
+uint32_t FXOS8700Q::sampleRate(uint32_t frequency) const
+{
     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);
+int16_t FXOS8700QAccelerometer::getX(int16_t &x = dummy_int16_t) const
+{
+    x = getSensorAxis(FXOS8700Q_OUT_X_MSB) >> 2;
+    normalize_14bits(x);
+    return x;
 }
 
-void FXOS8700Q_acc::getZ(int16_t * d) {
-    *d = getAccAxis(FXOS8700Q_OUT_Z_MSB);
+int16_t FXOS8700QAccelerometer::getY(int16_t &y = dummy_int16_t) const
+{
+    y = getSensorAxis(FXOS8700Q_OUT_Y_MSB) >> 2;
+    normalize_14bits(y);
+    return y;
 }
 
-
-void FXOS8700Q_acc::getAxis(MotionSensorDataUnits &data) {
-    int16_t acc, t[3];
-
-   readRegs(FXOS8700Q_OUT_X_MSB, SensorBuffer, 12);
-
-    acc = (SensorBuffer[0] << 6) | (SensorBuffer[1] >> 2);
-    if (acc > UINT14_MAX/2)
-        acc -= UINT14_MAX;
-    t[0] = acc;
-    acc = (SensorBuffer[2] << 6) | (SensorBuffer[3] >> 2);
-    if (acc > UINT14_MAX/2)
-        acc -= UINT14_MAX;
-    t[1] = acc;
-    acc = (SensorBuffer[4] << 6) | (SensorBuffer[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;
-    MagReadStatus = 1;
+int16_t FXOS8700QAccelerometer::getZ(int16_t &z = dummy_int16_t) const
+{
+    z = getSensorAxis(FXOS8700Q_OUT_Z_MSB) >> 2;
+    normalize_14bits(z);
+    return z;
 }
 
-
-void FXOS8700Q_acc::getAxis(MotionSensorDataCounts &data) {
-    int16_t acc;
-    readRegs(FXOS8700Q_OUT_X_MSB, SensorBuffer, 12);
-
-    acc = (SensorBuffer[0] << 6) | (SensorBuffer[1] >> 2);
-    if (acc > UINT14_MAX/2)
-        acc -= UINT14_MAX;
-    data.x = acc;
-    acc = (SensorBuffer[2] << 6) | (SensorBuffer[3] >> 2);
-    if (acc > UINT14_MAX/2)
-        acc -= UINT14_MAX;
-    data.y = acc;
-    acc = (SensorBuffer[4] << 6) | (SensorBuffer[5] >> 2);
-    if (acc > UINT14_MAX/2)
-        acc -= UINT14_MAX;
-    data.z = acc;
-    MagReadStatus = 1;
+float FXOS8700QAccelerometer::getX(float &x = dummy_float) const
+{
+    int16_t val = getSensorAxis(FXOS8700Q_OUT_X_MSB) >> 2;
+    normalize_14bits(val);
+    x = val / 4096.0f;
+    return x;
 }
 
-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);
+float FXOS8700QAccelerometer::getY(float &y = dummy_float) const
+{
+    int16_t val = getSensorAxis(FXOS8700Q_OUT_Y_MSB) >> 2;
+    normalize_14bits(val);
+    y = val / 4096.0f;
+    return y;
 }
 
-
-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;
+float FXOS8700QAccelerometer::getZ(float &z = dummy_float) const
+{
+    int16_t val = getSensorAxis(FXOS8700Q_OUT_Z_MSB) >> 2;
+    normalize_14bits(val);
+    z = val / 4096.0f;
+    return z;
 }
 
-
-
-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);
-    MagReadStatus = 0;
+void FXOS8700QAccelerometer::getAxis(motion_data_counts_t &xyz) const
+{
+    uint8_t res[6];
+    readRegs(FXOS8700Q_OUT_X_MSB, res, sizeof(res));
+    xyz.x = static_cast<int16_t>((res[0] << 8) | res[1]) >> 2;
+    xyz.y = static_cast<int16_t>((res[2] << 8) | res[3]) >> 2;
+    xyz.z = static_cast<int16_t>((res[4] << 8) | res[5]) >> 2;
+    normalize_14bits(xyz.x);
+    normalize_14bits(xyz.y);
+    normalize_14bits(xyz.z);
 }
 
-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);
-    MagReadStatus = 0;
-}
-
-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);
-    MagReadStatus = 0;
+void FXOS8700QAccelerometer::getAxis(motion_data_units_t &xyz) const
+{
+    motion_data_counts_t _xyz;
+    FXOS8700QAccelerometer::getAxis(_xyz);
+    xyz.x = _xyz.x / 4096.0f;
+    xyz.y = _xyz.y / 4096.0f;
+    xyz.z = _xyz.z / 4096.0f;
 }
 
-
-
-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;
+int16_t FXOS8700QMagnetometer::getX(int16_t &x = dummy_int16_t) const
+{
+    x = getSensorAxis(FXOS8700Q_M_OUT_X_MSB);
+    return x;
 }
 
-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);
+int16_t FXOS8700QMagnetometer::getY(int16_t &y = dummy_int16_t) const
+{
+    y = getSensorAxis(FXOS8700Q_M_OUT_Y_MSB);
+    return y;
 }
 
-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);
+int16_t FXOS8700QMagnetometer::getZ(int16_t &z = dummy_int16_t) const
+{
+    z = getSensorAxis(FXOS8700Q_M_OUT_Z_MSB);
+    return z;
 }
 
-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);
+float FXOS8700QMagnetometer::getX(float &x = dummy_float) const
+{
+    x = static_cast<float>(getSensorAxis(FXOS8700Q_M_OUT_X_MSB)) * 0.1f;
+    return x;
 }
 
+float FXOS8700QMagnetometer::getY(float &y = dummy_float) const
+{
+    y = static_cast<float>(getSensorAxis(FXOS8700Q_M_OUT_Y_MSB)) * 0.1f;
+    return y;
+}
 
-void FXOS8700Q_mag::getAxis(MotionSensorDataUnits &data) {
-    int16_t t[3];
-    uint8_t res[6];
-    
-   if(MagReadStatus) {
-        t[0] = (SensorBuffer[6] << 8) | SensorBuffer[7];
-        t[1] = (SensorBuffer[8] << 8) | SensorBuffer[9];
-        t[2] = (SensorBuffer[10] << 8) | SensorBuffer[11];        
-        } else {
-        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;
+float FXOS8700QMagnetometer::getZ(float &z = dummy_float) const
+{
+    z = static_cast<float>(getSensorAxis(FXOS8700Q_M_OUT_Z_MSB)) * 0.1f;
+    return z;
 }
 
-
-void FXOS8700Q_mag::getAxis(MotionSensorDataCounts &data) {
-
+void FXOS8700QMagnetometer::getAxis(motion_data_counts_t &xyz) const
+{
     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];
+    readRegs(FXOS8700Q_M_OUT_X_MSB, res, sizeof(res));
+    xyz.x = (res[0] << 8) | res[1];
+    xyz.y = (res[2] << 8) | res[3];
+    xyz.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);
+void FXOS8700QMagnetometer::getAxis(motion_data_units_t &xyz) const
+{
+    motion_data_counts_t _xyz;
+    FXOS8700QMagnetometer::getAxis(_xyz);
+    xyz.x = static_cast<float>(_xyz.x * 0.1f);
+    xyz.y = static_cast<float>(_xyz.y * 0.1f);
+    xyz.z = static_cast<float>(_xyz.z * 0.1f);
 }
-
-
-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;
-}

--- a/FXOS8700Q.h	Wed May 07 18:08:08 2014 +0000
+++ b/FXOS8700Q.h	Thu Jun 18 22:53:07 2015 +0000
@@ -1,26 +1,25 @@
-/* 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.
-*/
+/* FXOS8700Q sensor driver
+ * Copyright (c) 2014-2015 ARM Limited
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
 
 #ifndef FXOS8700Q_H
 #define FXOS8700Q_H
 
 #include "mbed.h"
 #include "MotionSensor.h"
+
 // FXOS8700CQ I2C address
 #define FXOS8700CQ_SLAVE_ADDR0 (0x1E<<1) // with pins SA0=0, SA1=0
 #define FXOS8700CQ_SLAVE_ADDR1 (0x1D<<1) // with pins SA0=1, SA1=0
@@ -42,108 +41,123 @@
 #define FXOS8700Q_WHOAMI_VAL 0xC7
 
 
-/**
-* MMA8451Q accelerometer example
-*
-* @code
-* #include "mbed.h"
-* #include "FXOS8700Q.h"
-* 
-* 
-* int main(void) {
-* 
-* FXOS8700Q combo( A4, A5, FXOS8700Q_I2C_ADDRESS0);
-* PwmOut rled(LED_RED);
-* PwmOut gled(LED_GREEN);
-* PwmOut bled(LED_BLUE);
-* 
-*     while (true) {       
-*         rled1.0 - combo(acc.getAccX());
-*         gled1.0 - combo(acc.getAccY());
-*         bled1.0 - combo(acc.getAccZ());
-*         wait(0.1);
-*     }
-* }
-* @endcode
-*/
+/** FXOS8700Q accelerometer example
+    @code
+    #include "mbed.h"
+    #include "FXOS8700Q.h"
+    I2C i2c(PTE25, PTE24);
+    FXOS8700QAccelerometer acc(i2c, FXOS8700CQ_SLAVE_ADDR1);    // Configured for the FRDM-K64F with onboard sensors
+    FXOS8700QMagnetometer mag(i2c, FXOS8700CQ_SLAVE_ADDR1);
+    int main(void)
+    {
+        motion_data_units_t acc_data, mag_data;
+        motion_data_counts_t acc_raw, mag_raw;
+        float faX, faY, faZ, fmX, fmY, fmZ, tmp_float;
+        int16_t raX, raY, raZ, rmX, rmY, rmZ, tmp_int;
+        acc.enable();
+        mag.enable();
+        while (true) {
+            // counts based results
+            acc.getAxis(acc_raw);
+            mag.getAxis(mag_raw);
+            acc.getX(raX);
+            acc.getY(raY);
+            acc.getZ(raZ);
+            mag.getX(rmX);
+            mag.getY(rmY);
+            mag.getZ(rmZ);
+            // unit based results
+            acc.getAxis(acc_data);
+            mag.getAxis(mag_data);
+            acc.getX(faX);
+            acc.getY(faY);
+            acc.getZ(faZ);
+            mag.getX(fmX);
+            mag.getY(fmY);
+            mag.getZ(fmZ);
+            wait(0.1f);
+        }
+    }
+    @endcode
+ */
 
-class FXOS8700Q_acc : public MotionSensor
+/** FXOS8700Q driver class
+ */
+class FXOS8700Q : public MotionSensor
 {
 public:
-  /**
-  * FXOS8700Q constructor
-  *
-  * @param sda SDA pin
-  * @param sdl SCL pin
-  * @param addr addr of the I2C peripheral
-  */
-  
-  FXOS8700Q_acc(PinName sda, PinName scl, int addr);
+
+    /** Read a device register
+        @param addr The address to read from
+        @param data The data to read from it
+        @param len The amount of data to read from it
+        @return 0 if successful, negative number otherwise
+     */
+    void readRegs(int addr, uint8_t *data, uint32_t len) const;
 
-  /**
-  * FXOS8700Q destructor
-  */
-  ~FXOS8700Q_acc();
+    /** Read the ID from a whoAmI register
+        @return The device whoAmI register contents
+     */
+    uint8_t whoAmI(void) const;
+
+    virtual void enable(void) const;
+    virtual void disable(void) const;
+    virtual uint32_t sampleRate(uint32_t frequency) const;
+    virtual uint32_t dataReady(void) const;
 
-    void enable(void);
-    void disable(void);
-    uint32_t sampleRate(uint32_t frequency);
-    uint32_t whoAmI(void);
-    uint32_t dataReady(void);
-    void getX(int16_t * x);
-    void getY(int16_t * y);
-    void getZ(int16_t * z);
-    void getX(float * x);
-    void getY(float * y);
-    void getZ(float * z);
-    void getAxis(MotionSensorDataCounts &data);
-    void getAxis(MotionSensorDataUnits &data);
-  
-  void readRegs(int addr, uint8_t * data, int len);
-  
-private:
-  I2C m_i2c;
-  int m_addr;
+protected:
+    I2C *_i2c;
+    uint8_t _addr;
+    
+    /** FXOS8700Q constructor
+        @param i2c a configured i2c object
+        @param addr addr of the I2C peripheral as wired
+     */
+    FXOS8700Q(I2C &i2c, uint8_t addr);
 
-  void writeRegs(uint8_t * data, int len);
-  int16_t getAccAxis(uint8_t addr);
+    /** FXOS8700Q deconstructor
+     */
+    ~FXOS8700Q();
+    
+    void writeRegs(uint8_t *data, uint32_t len) const;
+    int16_t getSensorAxis(uint8_t addr) const;
+};
+
+/** FXOS8700QAccelerometer interface
+ */
+class FXOS8700QAccelerometer : public FXOS8700Q
+{
+public:
+
+    FXOS8700QAccelerometer(I2C &i2c, uint8_t addr) : FXOS8700Q(i2c, addr) {}
+
+    virtual int16_t getX(int16_t &x) const;
+    virtual int16_t getY(int16_t &y) const;
+    virtual int16_t getZ(int16_t &z) const;
+    virtual float getX(float &x) const;
+    virtual float getY(float &y) const;
+    virtual float getZ(float &z) const;
+    virtual void getAxis(motion_data_counts_t &xyz) const;
+    virtual void getAxis(motion_data_units_t &xyz) const;
 
 };
 
-class FXOS8700Q_mag : public MotionSensor
+/** FXOS8700QMagnetometer interface
+ */
+class FXOS8700QMagnetometer : public FXOS8700Q
 {
 public:
-  FXOS8700Q_mag(PinName sda, PinName scl, int addr);
 
-  /**
-  * FXOS8700Q destructor
-  */
-  ~FXOS8700Q_mag();
+    FXOS8700QMagnetometer(I2C &i2c, uint8_t addr) : FXOS8700Q(i2c, addr) {}
 
-    void enable(void);
-    void disable(void);
-    uint32_t sampleRate(uint32_t fequency);
-    uint32_t whoAmI(void);
-    uint32_t dataReady(void);
-    void getX(int16_t * x);
-    void getY(int16_t * y);
-    void getZ(int16_t * z);
-    void getX(float * x);
-    void getY(float * y);
-    void getZ(float * z);
-    void getAxis(MotionSensorDataCounts &data);
-    void getAxis(MotionSensorDataUnits &data);
-  
-  void readRegs(int addr, uint8_t * data, int len);
-  
-private:
-  I2C m_i2c;
-  int m_addr;
-  char sbuf[12];
-  int sstatus;
-  
-  void writeRegs(uint8_t * data, int len);
-  int16_t getAccAxis(uint8_t addr);
+    virtual int16_t getX(int16_t &x) const;
+    virtual int16_t getY(int16_t &y) const;
+    virtual int16_t getZ(int16_t &z) const;
+    virtual float getX(float &x) const;
+    virtual float getY(float &y) const;
+    virtual float getZ(float &z) const;
+    virtual void getAxis(motion_data_counts_t &xyz) const;
+    virtual void getAxis(motion_data_units_t &xyz) const;
 
 };
 

--- a/MotionSensor.lib	Wed May 07 18:08:08 2014 +0000
+++ b/MotionSensor.lib	Thu Jun 18 22:53:07 2015 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/teams/components/code/MotionSensor/#4d6e28d4a18a
+http://mbed.org/teams/components/code/MotionSensor/#226520fc09bf