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FXOS8700CQ.h
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00001 /** @file FXOS8700CQ.h 00002 00003 @ brief FXOS8700CQ Library 00004 00005 @author Dr Craig A. Evans 00006 @brief (c) University of Leeds, Jan 2017 00007 00008 @code 00009 00010 #include "mbed.h" 00011 #include "FXOS8700CQ.h" 00012 00013 // create object and specifiy pins 00014 FXOS8700CQ device(I2C_SDA,I2C_SCL); 00015 00016 int main() 00017 { 00018 // call initialisation method 00019 device.init(); 00020 00021 while (1) { 00022 00023 // poll the sensor and get the values, storing in a struct 00024 Data values = device.get_values(); 00025 00026 // print each struct member over serial 00027 printf("ax = %f ay = %f az = %f | mx = %f my = %f mz = %f\n" 00028 ,values.ax, values.ay, values.az 00029 ,values.mx, values.my, values.mz); 00030 00031 wait(0.5); 00032 } 00033 } 00034 00035 @endcode 00036 00037 */ 00038 00039 #ifndef FXOS8700CQ_H 00040 #define FXOS8700CQ_H 00041 00042 #include "mbed.h" 00043 00044 // mbed API uses 8-bit addresses so need to left-shift 7-bit addresses by 1 00045 #define FXOS8700CQ_ADDR (0x1D << 1) // for K64F board 00046 // values from 13.2 datasheet 00047 #define FXOS8700CQ_STATUS 0x00 00048 #define FXOS8700CQ_WHO_AM_I 0x0D 00049 #define FXOS8700CQ_XYZ_DATA_CFG 0x0E 00050 #define FXOS8700CQ_CTRL_REG1 0x2A 00051 #define FXOS8700CQ_M_CTRL_REG1 0x5B 00052 #define FXOS8700CQ_M_CTRL_REG2 0x5C 00053 #define FXOS8700CQ_WHO_AM_I_VAL 0xC7 00054 #define FXOS8700CQ_READ_LEN 13 00055 00056 #define PI 3.14159265359f 00057 #define RAD2DEG 57.2957795131f 00058 00059 #ifndef STRUCTS 00060 #define STRUCTS 00061 00062 //STRUCTS 00063 struct Point_2D { 00064 float x; 00065 float y; 00066 }; 00067 struct Line_2D { 00068 Point_2D from; 00069 Point_2D to; 00070 }; 00071 00072 struct Square_2D { 00073 Point_2D TL; 00074 Point_2D BR; 00075 }; 00076 struct Triangle_2D { 00077 Point_2D TL; 00078 Point_2D BR; 00079 int Type; 00080 }; 00081 00082 struct Sprite_2D { 00083 float x; 00084 float y; 00085 int type; 00086 }; 00087 00088 struct Map_Data { 00089 int number_of_track_lines; 00090 int number_of_dotted_lines; 00091 int number_of_sprites; 00092 int number_of_walls; 00093 int number_of_off_track_squares; 00094 int number_of_off_track_triangles; 00095 int number_of_out_of_bounds_squares; 00096 int number_of_out_of_bounds_triangles; 00097 int number_of_gates; 00098 int number_of_boost_plates; 00099 }; 00100 00101 struct Time { 00102 int mins; 00103 int secs; 00104 int milis; 00105 }; 00106 00107 struct Gyro_Data { 00108 float ax; 00109 float ay; 00110 float az; 00111 float mx; 00112 float my; 00113 float mz; 00114 }; 00115 00116 struct Menu_Data { 00117 int Menu_return; 00118 bool Back; 00119 }; 00120 00121 #endif 00122 00123 class FXOS8700CQ 00124 { 00125 00126 public: 00127 FXOS8700CQ(PinName sda, PinName scl); 00128 ~FXOS8700CQ(); 00129 void init(); 00130 Gyro_Data get_values(); 00131 private: 00132 I2C* i2c; 00133 00134 void send_byte_to_reg(char byte,char reg); 00135 char read_byte_from_reg(char reg); 00136 void read_bytes_from_reg(char reg,int number_of_bytes,char bytes[]); 00137 }; 00138 00139 #endif
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