Rev 0.1 Simple operation of just X, Y, Z values in floating point G's
Dependents: Hello_FXLS8471Q Multi-Sensor sensor AerCloud_MutliTech_Socket_Modem_Example ... more
FXLS8471Q.cpp@2:6aae25fe9ab4, 2014-06-02 (annotated)
- Committer:
- screamer
- Date:
- Mon Jun 02 17:14:15 2014 +0000
- Revision:
- 2:6aae25fe9ab4
- Parent:
- 1:c80be04510fe
Updated documentation (now visible)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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JimCarver | 1:c80be04510fe | 1 | /* Copyright (c) 2010-2011 mbed.org, MIT License |
JimCarver | 1:c80be04510fe | 2 | * |
JimCarver | 1:c80be04510fe | 3 | * Permission is hereby granted, free of charge, to any person obtaining a copy of this software |
JimCarver | 1:c80be04510fe | 4 | * and associated documentation files (the "Software"), to deal in the Software without |
JimCarver | 1:c80be04510fe | 5 | * restriction, including without limitation the rights to use, copy, modify, merge, publish, |
JimCarver | 1:c80be04510fe | 6 | * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the |
JimCarver | 1:c80be04510fe | 7 | * Software is furnished to do so, subject to the following conditions: |
JimCarver | 1:c80be04510fe | 8 | * |
JimCarver | 1:c80be04510fe | 9 | * The above copyright notice and this permission notice shall be included in all copies or |
JimCarver | 1:c80be04510fe | 10 | * substantial portions of the Software. |
JimCarver | 1:c80be04510fe | 11 | * |
JimCarver | 1:c80be04510fe | 12 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING |
JimCarver | 1:c80be04510fe | 13 | * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
JimCarver | 1:c80be04510fe | 14 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, |
JimCarver | 1:c80be04510fe | 15 | * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
JimCarver | 1:c80be04510fe | 16 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
JimCarver | 1:c80be04510fe | 17 | */ |
JimCarver | 1:c80be04510fe | 18 | |
JimCarver | 1:c80be04510fe | 19 | |
screamer | 2:6aae25fe9ab4 | 20 | #include "FXLS8471Q.h" |
screamer | 2:6aae25fe9ab4 | 21 | #define UINT14_MAX 16383 |
screamer | 2:6aae25fe9ab4 | 22 | |
screamer | 2:6aae25fe9ab4 | 23 | FXLS8471Q::FXLS8471Q(PinName mosi, PinName miso, PinName sck, PinName cs) : _spi(mosi, miso, sck), _spi_cs(cs) |
screamer | 2:6aae25fe9ab4 | 24 | { |
JimCarver | 0:f89f2dc4b003 | 25 | _spi_cs = 1; |
JimCarver | 0:f89f2dc4b003 | 26 | wait(0.1); |
JimCarver | 0:f89f2dc4b003 | 27 | begin(); |
JimCarver | 0:f89f2dc4b003 | 28 | } |
JimCarver | 0:f89f2dc4b003 | 29 | |
JimCarver | 0:f89f2dc4b003 | 30 | void FXLS8471Q::RegWrite( int reg, int *d, int len) |
JimCarver | 0:f89f2dc4b003 | 31 | { |
JimCarver | 0:f89f2dc4b003 | 32 | int ob[2]; |
JimCarver | 0:f89f2dc4b003 | 33 | int c = 0; |
JimCarver | 0:f89f2dc4b003 | 34 | ob[1] = 0; |
JimCarver | 0:f89f2dc4b003 | 35 | ob[0] = reg + 128; |
JimCarver | 0:f89f2dc4b003 | 36 | _spi_cs = 0; |
JimCarver | 0:f89f2dc4b003 | 37 | _spi.write(ob[0]); |
JimCarver | 0:f89f2dc4b003 | 38 | _spi.write(ob[1]); |
JimCarver | 0:f89f2dc4b003 | 39 | while(c < len) _spi.write(d[c++]); |
JimCarver | 0:f89f2dc4b003 | 40 | _spi_cs = 1; |
JimCarver | 0:f89f2dc4b003 | 41 | } |
screamer | 2:6aae25fe9ab4 | 42 | |
JimCarver | 0:f89f2dc4b003 | 43 | void FXLS8471Q::RegRead( int reg, int *d, int len) |
JimCarver | 0:f89f2dc4b003 | 44 | { |
JimCarver | 0:f89f2dc4b003 | 45 | int ob[2]; |
JimCarver | 0:f89f2dc4b003 | 46 | int c = 0; |
JimCarver | 0:f89f2dc4b003 | 47 | ob[0] = reg; |
JimCarver | 0:f89f2dc4b003 | 48 | ob[1] = 0; |
JimCarver | 0:f89f2dc4b003 | 49 | _spi_cs = 0; |
JimCarver | 0:f89f2dc4b003 | 50 | _spi.write(ob[0]); |
JimCarver | 0:f89f2dc4b003 | 51 | _spi.write(ob[1]); |
JimCarver | 0:f89f2dc4b003 | 52 | while(c < len) d[c++] = _spi.write(0xff); |
JimCarver | 0:f89f2dc4b003 | 53 | _spi_cs = 1; |
JimCarver | 0:f89f2dc4b003 | 54 | } |
JimCarver | 0:f89f2dc4b003 | 55 | |
JimCarver | 1:c80be04510fe | 56 | char FXLS8471Q::getWhoAmI(void) |
JimCarver | 1:c80be04510fe | 57 | { |
JimCarver | 1:c80be04510fe | 58 | int d; |
JimCarver | 1:c80be04510fe | 59 | RegRead( FXLS8471Q_WHOAMI, &d, 1); |
JimCarver | 1:c80be04510fe | 60 | return((char) d); |
JimCarver | 1:c80be04510fe | 61 | } |
JimCarver | 1:c80be04510fe | 62 | |
JimCarver | 1:c80be04510fe | 63 | |
JimCarver | 0:f89f2dc4b003 | 64 | void FXLS8471Q::begin(void) |
JimCarver | 0:f89f2dc4b003 | 65 | { |
JimCarver | 0:f89f2dc4b003 | 66 | int databyte; |
JimCarver | 0:f89f2dc4b003 | 67 | |
JimCarver | 0:f89f2dc4b003 | 68 | // write 0000 0000 = 0x00 to accelerometer control register 1 to place FXLS8471Q into |
JimCarver | 0:f89f2dc4b003 | 69 | // standby |
JimCarver | 0:f89f2dc4b003 | 70 | // [7-1] = 0000 000 |
JimCarver | 0:f89f2dc4b003 | 71 | // [0]: active=0 |
JimCarver | 0:f89f2dc4b003 | 72 | databyte = 0x00; |
JimCarver | 0:f89f2dc4b003 | 73 | RegWrite(FXLS8471Q_CTRL_REG1, &databyte, 1); |
JimCarver | 0:f89f2dc4b003 | 74 | |
JimCarver | 0:f89f2dc4b003 | 75 | // write 0000 0001= 0x01 to XYZ_DATA_CFG register |
JimCarver | 0:f89f2dc4b003 | 76 | // [7]: reserved |
JimCarver | 0:f89f2dc4b003 | 77 | // [6]: reserved |
JimCarver | 0:f89f2dc4b003 | 78 | // [5]: reserved |
JimCarver | 0:f89f2dc4b003 | 79 | // [4]: hpf_out=0 |
JimCarver | 0:f89f2dc4b003 | 80 | // [3]: reserved |
JimCarver | 0:f89f2dc4b003 | 81 | // [2]: reserved |
JimCarver | 0:f89f2dc4b003 | 82 | // [1-0]: fs=00 for accelerometer range of +/-2g with 0.244mg/LSB |
JimCarver | 0:f89f2dc4b003 | 83 | databyte = 0x00; |
JimCarver | 0:f89f2dc4b003 | 84 | RegWrite(FXLS8471Q_XYZ_DATA_CFG, &databyte, 1); |
JimCarver | 0:f89f2dc4b003 | 85 | |
JimCarver | 0:f89f2dc4b003 | 86 | // write 0001 0101b = 0x15 to accelerometer control register 1 |
JimCarver | 0:f89f2dc4b003 | 87 | // [7-6]: aslp_rate=00 |
JimCarver | 0:f89f2dc4b003 | 88 | // [5-3]: dr=010 for 200Hz data rate |
JimCarver | 0:f89f2dc4b003 | 89 | // [2]: lnoise=1 for low noise mode |
JimCarver | 0:f89f2dc4b003 | 90 | // [1]: f_read=0 for normal 16 bit reads |
JimCarver | 0:f89f2dc4b003 | 91 | // [0]: active=1 to take the part out of standby and enable sampling |
JimCarver | 0:f89f2dc4b003 | 92 | databyte = 0x15; |
screamer | 2:6aae25fe9ab4 | 93 | RegWrite(FXLS8471Q_CTRL_REG1, &databyte, 1); |
JimCarver | 0:f89f2dc4b003 | 94 | } |
JimCarver | 0:f89f2dc4b003 | 95 | |
JimCarver | 0:f89f2dc4b003 | 96 | void FXLS8471Q::ReadXYZ(float * fdata) |
JimCarver | 0:f89f2dc4b003 | 97 | { |
screamer | 2:6aae25fe9ab4 | 98 | int raw[7]; |
screamer | 2:6aae25fe9ab4 | 99 | int16_t ix, iy, iz; |
screamer | 2:6aae25fe9ab4 | 100 | RegRead(FXLS8471Q_STATUS, raw, 7); |
JimCarver | 0:f89f2dc4b003 | 101 | |
screamer | 2:6aae25fe9ab4 | 102 | ix = ((raw[1] * 256) + raw[2]);// / 4; |
screamer | 2:6aae25fe9ab4 | 103 | iy = ((raw[3] * 256) + raw[4]);// / 4; |
screamer | 2:6aae25fe9ab4 | 104 | iz = ((raw[5] * 256) + raw[6]);// / 4; |
screamer | 2:6aae25fe9ab4 | 105 | fdata[0] = ((float) ix) / 16384.0; |
screamer | 2:6aae25fe9ab4 | 106 | fdata[1] = ((float) iy) / 16384.0; |
screamer | 2:6aae25fe9ab4 | 107 | fdata[2] = ((float) iz) / 16384.0; |
JimCarver | 0:f89f2dc4b003 | 108 | } |
JimCarver | 1:c80be04510fe | 109 | |
JimCarver | 1:c80be04510fe | 110 | void FXLS8471Q::ReadXYZraw(int16_t * d) |
JimCarver | 1:c80be04510fe | 111 | { |
screamer | 2:6aae25fe9ab4 | 112 | int res[6]; |
screamer | 2:6aae25fe9ab4 | 113 | int16_t acc; |
JimCarver | 1:c80be04510fe | 114 | RegRead(FXLS8471Q_OUT_X_MSB, res, 6); |
JimCarver | 1:c80be04510fe | 115 | |
JimCarver | 1:c80be04510fe | 116 | acc = (res[0] << 6) | (res[1] >> 2); |
JimCarver | 1:c80be04510fe | 117 | if (acc > UINT14_MAX/2) |
JimCarver | 1:c80be04510fe | 118 | acc -= UINT14_MAX; |
JimCarver | 1:c80be04510fe | 119 | d[0] = acc; |
JimCarver | 1:c80be04510fe | 120 | acc = (res[2] << 6) | (res[3] >> 2); |
JimCarver | 1:c80be04510fe | 121 | if (acc > UINT14_MAX/2) |
JimCarver | 1:c80be04510fe | 122 | acc -= UINT14_MAX; |
JimCarver | 1:c80be04510fe | 123 | d[1] = acc; |
JimCarver | 1:c80be04510fe | 124 | acc = (res[4] << 6) | (res[5] >> 2); |
JimCarver | 1:c80be04510fe | 125 | if (acc > UINT14_MAX/2) |
JimCarver | 1:c80be04510fe | 126 | acc -= UINT14_MAX; |
JimCarver | 1:c80be04510fe | 127 | d[2] = acc; |
JimCarver | 1:c80be04510fe | 128 | } |
screamer | 2:6aae25fe9ab4 | 129 |