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.cpp@3:eb1271ef90bc, 2014-04-17 (annotated)

Committer:
JimCarver
Date:
Thu Apr 17 17:54:13 2014 +0000
Revision:
3:eb1271ef90bc
Parent:
1:8b53edef272f
Child:
4:be6abf9f2d59
Added necessary Comments and API documentation

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 #include "FXOS8700Q.h"
JimCarver 1:8b53edef272f 20 #define UINT14_MAX 16383
JimCarver 1:8b53edef272f 21
JimCarver 1:8b53edef272f 22
JimCarver 1:8b53edef272f 23 FXOS8700Q::FXOS8700Q(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
JimCarver 1:8b53edef272f 24 // activate the peripheral
JimCarver 1:8b53edef272f 25 uint8_t data[2] = {FXOS8700Q_CTRL_REG1, 0x00};
JimCarver 1:8b53edef272f 26 writeRegs(data, 2);
JimCarver 1:8b53edef272f 27 data[0] = FXOS8700Q_M_CTRL_REG1;
JimCarver 1:8b53edef272f 28 data[1] = 0x1F;
JimCarver 1:8b53edef272f 29 writeRegs(data, 2);
JimCarver 1:8b53edef272f 30 data[0] = FXOS8700Q_M_CTRL_REG2;
JimCarver 1:8b53edef272f 31 data[1] = 0x20;
JimCarver 1:8b53edef272f 32 writeRegs(data, 2);
JimCarver 1:8b53edef272f 33 data[0] = FXOS8700Q_XYZ_DATA_CFG;
JimCarver 1:8b53edef272f 34 data[1] = 0x00;
JimCarver 1:8b53edef272f 35 writeRegs(data, 2);
JimCarver 1:8b53edef272f 36 data[0] = FXOS8700Q_CTRL_REG1;
JimCarver 1:8b53edef272f 37 data[1] = 0x19;//0x1D;
JimCarver 1:8b53edef272f 38 writeRegs(data, 2);
JimCarver 1:8b53edef272f 39 }
JimCarver 0:2562215f5bc0 40
JimCarver 0:2562215f5bc0 41
JimCarver 1:8b53edef272f 42 FXOS8700Q::~FXOS8700Q() { }
JimCarver 1:8b53edef272f 43
JimCarver 1:8b53edef272f 44 uint8_t FXOS8700Q::getWhoAmI() {
JimCarver 1:8b53edef272f 45 uint8_t who_am_i = 0;
JimCarver 1:8b53edef272f 46 readRegs(FXOS8700Q_WHOAMI, &who_am_i, 1);
JimCarver 1:8b53edef272f 47 return who_am_i;
JimCarver 1:8b53edef272f 48 }
JimCarver 1:8b53edef272f 49
JimCarver 1:8b53edef272f 50 float FXOS8700Q::getAccX() {
JimCarver 1:8b53edef272f 51 return (float(getAccAxis(FXOS8700Q_OUT_X_MSB))/4096.0);
JimCarver 0:2562215f5bc0 52 }
JimCarver 1:8b53edef272f 53
JimCarver 1:8b53edef272f 54 float FXOS8700Q::getAccY() {
JimCarver 1:8b53edef272f 55 return (float(getAccAxis(FXOS8700Q_OUT_Y_MSB))/4096.0);
JimCarver 1:8b53edef272f 56 }
JimCarver 1:8b53edef272f 57
JimCarver 1:8b53edef272f 58 float FXOS8700Q::getAccZ() {
JimCarver 1:8b53edef272f 59 return (float(getAccAxis(FXOS8700Q_OUT_Z_MSB))/4096.0);
JimCarver 1:8b53edef272f 60 }
JimCarver 1:8b53edef272f 61
JimCarver 1:8b53edef272f 62
JimCarver 1:8b53edef272f 63 void FXOS8700Q::getAccAllAxis(float * res) {
JimCarver 1:8b53edef272f 64 res[0] = getAccX();
JimCarver 1:8b53edef272f 65 res[1] = getAccY();
JimCarver 1:8b53edef272f 66 res[2] = getAccZ();
JimCarver 0:2562215f5bc0 67 }
JimCarver 0:2562215f5bc0 68
JimCarver 1:8b53edef272f 69 void FXOS8700Q::AccXYZraw(int16_t * d) {
JimCarver 1:8b53edef272f 70 int16_t acc;
JimCarver 1:8b53edef272f 71 uint8_t res[6];
JimCarver 1:8b53edef272f 72 readRegs(FXOS8700Q_OUT_X_MSB, res, 6);
JimCarver 0:2562215f5bc0 73
JimCarver 1:8b53edef272f 74 acc = (res[0] << 6) | (res[1] >> 2);
JimCarver 1:8b53edef272f 75 if (acc > UINT14_MAX/2)
JimCarver 1:8b53edef272f 76 acc -= UINT14_MAX;
JimCarver 1:8b53edef272f 77 d[0] = acc;
JimCarver 1:8b53edef272f 78 acc = (res[2] << 6) | (res[3] >> 2);
JimCarver 1:8b53edef272f 79 if (acc > UINT14_MAX/2)
JimCarver 1:8b53edef272f 80 acc -= UINT14_MAX;
JimCarver 1:8b53edef272f 81 d[1] = acc;
JimCarver 1:8b53edef272f 82 acc = (res[4] << 6) | (res[5] >> 2);
JimCarver 1:8b53edef272f 83 if (acc > UINT14_MAX/2)
JimCarver 1:8b53edef272f 84 acc -= UINT14_MAX;
JimCarver 1:8b53edef272f 85 d[2] = acc;
JimCarver 0:2562215f5bc0 86 }
JimCarver 0:2562215f5bc0 87
JimCarver 1:8b53edef272f 88 void FXOS8700Q::MagXYZraw(int16_t * d) {
JimCarver 1:8b53edef272f 89 int16_t acc;
JimCarver 1:8b53edef272f 90 uint8_t res[6];
JimCarver 1:8b53edef272f 91 readRegs(FXOS8700Q_M_OUT_X_MSB, res, 6);
JimCarver 1:8b53edef272f 92
JimCarver 1:8b53edef272f 93 d[0] = (res[0] << 8) | res[1];
JimCarver 1:8b53edef272f 94 d[1] = (res[2] << 8) | res[3];
JimCarver 1:8b53edef272f 95 d[2] = (res[4] << 8) | res[5];
JimCarver 1:8b53edef272f 96 }
JimCarver 1:8b53edef272f 97
JimCarver 1:8b53edef272f 98 int16_t FXOS8700Q::getAccAxis(uint8_t addr) {
JimCarver 1:8b53edef272f 99 int16_t acc;
JimCarver 1:8b53edef272f 100 uint8_t res[2];
JimCarver 1:8b53edef272f 101 readRegs(addr, res, 2);
JimCarver 0:2562215f5bc0 102
JimCarver 1:8b53edef272f 103 acc = (res[0] << 6) | (res[1] >> 2);
JimCarver 1:8b53edef272f 104 if (acc > UINT14_MAX/2)
JimCarver 1:8b53edef272f 105 acc -= UINT14_MAX;
JimCarver 1:8b53edef272f 106
JimCarver 1:8b53edef272f 107 return acc;
JimCarver 1:8b53edef272f 108 }
JimCarver 0:2562215f5bc0 109
JimCarver 1:8b53edef272f 110 void FXOS8700Q::readRegs(int addr, uint8_t * data, int len) {
JimCarver 1:8b53edef272f 111 char t[1] = {addr};
JimCarver 1:8b53edef272f 112 m_i2c.write(m_addr, t, 1, true);
JimCarver 1:8b53edef272f 113 m_i2c.read(m_addr, (char *)data, len);
JimCarver 0:2562215f5bc0 114 }
JimCarver 1:8b53edef272f 115
JimCarver 1:8b53edef272f 116 void FXOS8700Q::writeRegs(uint8_t * data, int len) {
JimCarver 1:8b53edef272f 117 m_i2c.write(m_addr, (char *)data, len);
JimCarver 1:8b53edef272f 118 }
JimCarver 1:8b53edef272f 119
JimCarver 0:2562215f5bc0 120