Jim Carver / FXOS8700Q

A basic library for the FXOS8700Q combination accelerometer / magnetometer

Dependencies:   MotionSensor

Dependents:   K64F_eCompass_LCD Hello_FXOS8700Q rtos_compass K64F_eCompass ... more

This library supports the 6 axis combination Accelerometer / Magnetometer. Functions are provided to retrieve data in raw 16 bit signed integers or unit converted G's and micro-teslas

FXOS8700Q.h@9:5553a64d0762, 2014-05-07 (annotated)

Committer:
JimCarver
Date:
Wed May 07 18:08:08 2014 +0000
Revision:
9:5553a64d0762
Parent:
6:cdc362f08339 
Minor change to improve efficiency to I2C usage

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JimCarver 3:eb1271ef90bc 1 /* Copyright (c) 2010-2011 mbed.org, MIT License
JimCarver 3:eb1271ef90bc 2 *
JimCarver 3:eb1271ef90bc 3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
JimCarver 3:eb1271ef90bc 4 * and associated documentation files (the "Software"), to deal in the Software without
JimCarver 3:eb1271ef90bc 5 * restriction, including without limitation the rights to use, copy, modify, merge, publish,
JimCarver 3:eb1271ef90bc 6 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
JimCarver 3:eb1271ef90bc 7 * Software is furnished to do so, subject to the following conditions:
JimCarver 3:eb1271ef90bc 8 *
JimCarver 3:eb1271ef90bc 9 * The above copyright notice and this permission notice shall be included in all copies or
JimCarver 3:eb1271ef90bc 10 * substantial portions of the Software.
JimCarver 3:eb1271ef90bc 11 *
JimCarver 3:eb1271ef90bc 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
JimCarver 3:eb1271ef90bc 13 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
JimCarver 3:eb1271ef90bc 14 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
JimCarver 3:eb1271ef90bc 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
JimCarver 3:eb1271ef90bc 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
JimCarver 3:eb1271ef90bc 17 */
JimCarver 3:eb1271ef90bc 18
JimCarver 0:2562215f5bc0 19 #ifndef FXOS8700Q_H
JimCarver 0:2562215f5bc0 20 #define FXOS8700Q_H
JimCarver 0:2562215f5bc0 21
JimCarver 0:2562215f5bc0 22 #include "mbed.h"
JimCarver 5:c4176a12f7d5 23 #include "MotionSensor.h"
JimCarver 0:2562215f5bc0 24 // FXOS8700CQ I2C address
JimCarver 1:8b53edef272f 25 #define FXOS8700CQ_SLAVE_ADDR0 (0x1E<<1) // with pins SA0=0, SA1=0
JimCarver 1:8b53edef272f 26 #define FXOS8700CQ_SLAVE_ADDR1 (0x1D<<1) // with pins SA0=1, SA1=0
JimCarver 1:8b53edef272f 27 #define FXOS8700CQ_SLAVE_ADDR2 (0x1C<<1) // with pins SA0=0, SA1=1
JimCarver 1:8b53edef272f 28 #define FXOS8700CQ_SLAVE_ADDR3 (0x1F<<1) // with pins SA0=1, SA1=1
JimCarver 0:2562215f5bc0 29 // FXOS8700CQ internal register addresses
JimCarver 1:8b53edef272f 30 #define FXOS8700Q_STATUS 0x00
JimCarver 1:8b53edef272f 31 #define FXOS8700Q_OUT_X_MSB 0x01
JimCarver 1:8b53edef272f 32 #define FXOS8700Q_OUT_Y_MSB 0x03
JimCarver 1:8b53edef272f 33 #define FXOS8700Q_OUT_Z_MSB 0x05
JimCarver 1:8b53edef272f 34 #define FXOS8700Q_M_OUT_X_MSB 0x33
JimCarver 1:8b53edef272f 35 #define FXOS8700Q_M_OUT_Y_MSB 0x35
JimCarver 1:8b53edef272f 36 #define FXOS8700Q_M_OUT_Z_MSB 0x37
JimCarver 1:8b53edef272f 37 #define FXOS8700Q_WHOAMI 0x0D
JimCarver 1:8b53edef272f 38 #define FXOS8700Q_XYZ_DATA_CFG 0x0E
JimCarver 1:8b53edef272f 39 #define FXOS8700Q_CTRL_REG1 0x2A
JimCarver 1:8b53edef272f 40 #define FXOS8700Q_M_CTRL_REG1 0x5B
JimCarver 1:8b53edef272f 41 #define FXOS8700Q_M_CTRL_REG2 0x5C
JimCarver 1:8b53edef272f 42 #define FXOS8700Q_WHOAMI_VAL 0xC7
JimCarver 0:2562215f5bc0 43
JimCarver 3:eb1271ef90bc 44
JimCarver 3:eb1271ef90bc 45 /**
JimCarver 3:eb1271ef90bc 46 * MMA8451Q accelerometer example
JimCarver 3:eb1271ef90bc 47 *
JimCarver 3:eb1271ef90bc 48 * @code
JimCarver 3:eb1271ef90bc 49 * #include "mbed.h"
JimCarver 3:eb1271ef90bc 50 * #include "FXOS8700Q.h"
JimCarver 3:eb1271ef90bc 51 *
JimCarver 3:eb1271ef90bc 52 *
JimCarver 3:eb1271ef90bc 53 * int main(void) {
JimCarver 3:eb1271ef90bc 54 *
JimCarver 3:eb1271ef90bc 55 * FXOS8700Q combo( A4, A5, FXOS8700Q_I2C_ADDRESS0);
JimCarver 3:eb1271ef90bc 56 * PwmOut rled(LED_RED);
JimCarver 3:eb1271ef90bc 57 * PwmOut gled(LED_GREEN);
JimCarver 3:eb1271ef90bc 58 * PwmOut bled(LED_BLUE);
JimCarver 3:eb1271ef90bc 59 *
JimCarver 3:eb1271ef90bc 60 * while (true) {
JimCarver 6:cdc362f08339 61 * rled1.0 - combo(acc.getAccX());
JimCarver 6:cdc362f08339 62 * gled1.0 - combo(acc.getAccY());
JimCarver 6:cdc362f08339 63 * bled1.0 - combo(acc.getAccZ());
JimCarver 3:eb1271ef90bc 64 * wait(0.1);
JimCarver 3:eb1271ef90bc 65 * }
JimCarver 3:eb1271ef90bc 66 * }
JimCarver 3:eb1271ef90bc 67 * @endcode
JimCarver 3:eb1271ef90bc 68 */
JimCarver 3:eb1271ef90bc 69
JimCarver 6:cdc362f08339 70 class FXOS8700Q_acc : public MotionSensor
JimCarver 0:2562215f5bc0 71 {
JimCarver 0:2562215f5bc0 72 public:
JimCarver 1:8b53edef272f 73 /**
JimCarver 1:8b53edef272f 74 * FXOS8700Q constructor
JimCarver 1:8b53edef272f 75 *
JimCarver 1:8b53edef272f 76 * @param sda SDA pin
JimCarver 1:8b53edef272f 77 * @param sdl SCL pin
JimCarver 1:8b53edef272f 78 * @param addr addr of the I2C peripheral
JimCarver 1:8b53edef272f 79 */
JimCarver 1:8b53edef272f 80
JimCarver 6:cdc362f08339 81 FXOS8700Q_acc(PinName sda, PinName scl, int addr);
JimCarver 1:8b53edef272f 82
JimCarver 1:8b53edef272f 83 /**
JimCarver 1:8b53edef272f 84 * FXOS8700Q destructor
JimCarver 1:8b53edef272f 85 */
JimCarver 6:cdc362f08339 86 ~FXOS8700Q_acc();
JimCarver 1:8b53edef272f 87
JimCarver 6:cdc362f08339 88 void enable(void);
JimCarver 6:cdc362f08339 89 void disable(void);
JimCarver 6:cdc362f08339 90 uint32_t sampleRate(uint32_t frequency);
JimCarver 6:cdc362f08339 91 uint32_t whoAmI(void);
JimCarver 6:cdc362f08339 92 uint32_t dataReady(void);
JimCarver 6:cdc362f08339 93 void getX(int16_t * x);
JimCarver 6:cdc362f08339 94 void getY(int16_t * y);
JimCarver 6:cdc362f08339 95 void getZ(int16_t * z);
JimCarver 6:cdc362f08339 96 void getX(float * x);
JimCarver 6:cdc362f08339 97 void getY(float * y);
JimCarver 6:cdc362f08339 98 void getZ(float * z);
JimCarver 6:cdc362f08339 99 void getAxis(MotionSensorDataCounts &data);
JimCarver 6:cdc362f08339 100 void getAxis(MotionSensorDataUnits &data);
JimCarver 6:cdc362f08339 101
JimCarver 6:cdc362f08339 102 void readRegs(int addr, uint8_t * data, int len);
JimCarver 6:cdc362f08339 103
JimCarver 6:cdc362f08339 104 private:
JimCarver 6:cdc362f08339 105 I2C m_i2c;
JimCarver 6:cdc362f08339 106 int m_addr;
JimCarver 0:2562215f5bc0 107
JimCarver 6:cdc362f08339 108 void writeRegs(uint8_t * data, int len);
JimCarver 6:cdc362f08339 109 int16_t getAccAxis(uint8_t addr);
JimCarver 6:cdc362f08339 110
JimCarver 6:cdc362f08339 111 };
JimCarver 1:8b53edef272f 112
JimCarver 6:cdc362f08339 113 class FXOS8700Q_mag : public MotionSensor
JimCarver 6:cdc362f08339 114 {
JimCarver 6:cdc362f08339 115 public:
JimCarver 6:cdc362f08339 116 FXOS8700Q_mag(PinName sda, PinName scl, int addr);
JimCarver 0:2562215f5bc0 117
JimCarver 1:8b53edef272f 118 /**
JimCarver 6:cdc362f08339 119 * FXOS8700Q destructor
JimCarver 6:cdc362f08339 120 */
JimCarver 6:cdc362f08339 121 ~FXOS8700Q_mag();
JimCarver 6:cdc362f08339 122
JimCarver 6:cdc362f08339 123 void enable(void);
JimCarver 6:cdc362f08339 124 void disable(void);
JimCarver 6:cdc362f08339 125 uint32_t sampleRate(uint32_t fequency);
JimCarver 6:cdc362f08339 126 uint32_t whoAmI(void);
JimCarver 6:cdc362f08339 127 uint32_t dataReady(void);
JimCarver 6:cdc362f08339 128 void getX(int16_t * x);
JimCarver 6:cdc362f08339 129 void getY(int16_t * y);
JimCarver 6:cdc362f08339 130 void getZ(int16_t * z);
JimCarver 6:cdc362f08339 131 void getX(float * x);
JimCarver 6:cdc362f08339 132 void getY(float * y);
JimCarver 6:cdc362f08339 133 void getZ(float * z);
JimCarver 6:cdc362f08339 134 void getAxis(MotionSensorDataCounts &data);
JimCarver 6:cdc362f08339 135 void getAxis(MotionSensorDataUnits &data);
JimCarver 4:be6abf9f2d59 136
JimCarver 1:8b53edef272f 137 void readRegs(int addr, uint8_t * data, int len);
JimCarver 1:8b53edef272f 138
JimCarver 1:8b53edef272f 139 private:
JimCarver 1:8b53edef272f 140 I2C m_i2c;
JimCarver 1:8b53edef272f 141 int m_addr;
JimCarver 9:5553a64d0762 142 char sbuf[12];
JimCarver 9:5553a64d0762 143 int sstatus;
JimCarver 9:5553a64d0762 144
JimCarver 1:8b53edef272f 145 void writeRegs(uint8_t * data, int len);
JimCarver 1:8b53edef272f 146 int16_t getAccAxis(uint8_t addr);
JimCarver 0:2562215f5bc0 147
JimCarver 0:2562215f5bc0 148 };
JimCarver 0:2562215f5bc0 149
JimCarver 0:2562215f5bc0 150 #endif