Mateusz Kaduk / FXAS21000

Reimplemented FXAS21000 library for Freescale Gyro

Fork of FXAS21000 by Jim Carver

FXAS21000.h@4:41bd7f360406, 2015-07-08 (annotated)

Committer:
Mashu
Date:
Wed Jul 08 13:34:46 2015 +0000
Revision:
4:41bd7f360406
Parent:
3:a8f83b52f4df 
Reimplemented FXAS21000 library based on FXOS8700Q and updated MotionSensor data types.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JimCarver 1:88a036a417bf 1 /* Copyright (c) 2010-2011 mbed.org, MIT License
JimCarver 1:88a036a417bf 2 *
JimCarver 1:88a036a417bf 3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
JimCarver 1:88a036a417bf 4 * and associated documentation files (the "Software"), to deal in the Software without
JimCarver 1:88a036a417bf 5 * restriction, including without limitation the rights to use, copy, modify, merge, publish,
JimCarver 1:88a036a417bf 6 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
JimCarver 1:88a036a417bf 7 * Software is furnished to do so, subject to the following conditions:
JimCarver 1:88a036a417bf 8 *
JimCarver 1:88a036a417bf 9 * The above copyright notice and this permission notice shall be included in all copies or
JimCarver 1:88a036a417bf 10 * substantial portions of the Software.
JimCarver 1:88a036a417bf 11 *
JimCarver 1:88a036a417bf 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
JimCarver 1:88a036a417bf 13 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
JimCarver 1:88a036a417bf 14 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
JimCarver 1:88a036a417bf 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
JimCarver 1:88a036a417bf 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
JimCarver 1:88a036a417bf 17 */
JimCarver 1:88a036a417bf 18
JimCarver 0:4cfc774d6d85 19 #ifndef FXAS21000_H
JimCarver 0:4cfc774d6d85 20 #define FXAS21000_H
JimCarver 0:4cfc774d6d85 21
JimCarver 0:4cfc774d6d85 22 #include "mbed.h"
Mashu 4:41bd7f360406 23 #include "MotionSensor.h"
JimCarver 0:4cfc774d6d85 24
screamer 2:cd21ef326977 25 /**
Mashu 4:41bd7f360406 26 * FXAS21000 Slave Address
screamer 2:cd21ef326977 27 */
JimCarver 0:4cfc774d6d85 28 #define FXAS21000_SLAVE_ADDR 0x40
JimCarver 0:4cfc774d6d85 29
Mashu 4:41bd7f360406 30 // FXAS21000 internal register addresses
JimCarver 0:4cfc774d6d85 31 #define FXAS21000_STATUS 0x00
JimCarver 0:4cfc774d6d85 32 #define FXAS21000_WHOAMI 0x0C
JimCarver 0:4cfc774d6d85 33 #define FXAS21000_XYZ_DATA_CFG 0x0E
JimCarver 0:4cfc774d6d85 34 #define FXAS21000_CTRL_REG0 0x0D
JimCarver 0:4cfc774d6d85 35 #define FXAS21000_CTRL_REG1 0x13
JimCarver 0:4cfc774d6d85 36 #define FXAS21000_WHOAMI_VAL 0xD1
Mashu 4:41bd7f360406 37 #define FXAS21000_OUT_X_MSB 0x01
Mashu 4:41bd7f360406 38 #define FXAS21000_OUT_Y_MSB 0x03
Mashu 4:41bd7f360406 39 #define FXAS21000_OUT_Z_MSB 0x05
JimCarver 0:4cfc774d6d85 40
screamer 2:cd21ef326977 41 /**
Mashu 4:41bd7f360406 42 * FXAS21000 driver class
screamer 2:cd21ef326977 43 */
Mashu 4:41bd7f360406 44 class FXAS21000 : public MotionSensor
JimCarver 0:4cfc774d6d85 45 {
JimCarver 0:4cfc774d6d85 46 public:
Mashu 4:41bd7f360406 47
Mashu 4:41bd7f360406 48 /** Read a device register
Mashu 4:41bd7f360406 49 @param addr The address to read from
Mashu 4:41bd7f360406 50 @param data The data to read from it
Mashu 4:41bd7f360406 51 @param len The amount of data to read from it
Mashu 4:41bd7f360406 52 @return 0 if successful, negative number otherwise
screamer 2:cd21ef326977 53 */
Mashu 4:41bd7f360406 54 void readRegs(uint8_t addr, uint8_t *data, uint32_t len) const;
Mashu 4:41bd7f360406 55
Mashu 4:41bd7f360406 56 /** Read the ID from a whoAmI register
Mashu 4:41bd7f360406 57 @return The device whoAmI register contents
screamer 2:cd21ef326977 58 */
Mashu 4:41bd7f360406 59 uint8_t whoAmI(void) const;
Mashu 4:41bd7f360406 60
Mashu 4:41bd7f360406 61 virtual void enable(void) const;
Mashu 4:41bd7f360406 62 virtual void disable(void) const;
Mashu 4:41bd7f360406 63 virtual uint32_t sampleRate(uint32_t frequency) const;
Mashu 4:41bd7f360406 64 virtual uint32_t dataReady(void) const;
JimCarver 0:4cfc774d6d85 65
Mashu 4:41bd7f360406 66 protected:
Mashu 4:41bd7f360406 67 I2C *_i2c;
Mashu 4:41bd7f360406 68 uint8_t _addr;
Mashu 4:41bd7f360406 69
Mashu 4:41bd7f360406 70 /** FXAS21000 constructor
Mashu 4:41bd7f360406 71 @param i2c a configured i2c object
Mashu 4:41bd7f360406 72 @param addr addr of the I2C peripheral as wired
screamer 2:cd21ef326977 73 */
Mashu 4:41bd7f360406 74 FXAS21000(I2C &i2c, uint8_t addr);
Mashu 4:41bd7f360406 75
Mashu 4:41bd7f360406 76 /** FXAS21000 deconstructor
screamer 2:cd21ef326977 77 */
Mashu 4:41bd7f360406 78 ~FXAS21000();
JimCarver 0:4cfc774d6d85 79
Mashu 4:41bd7f360406 80 void writeRegs(uint8_t *data, uint32_t len) const;
Mashu 4:41bd7f360406 81 int16_t getSensorAxis(uint8_t addr) const;
Mashu 4:41bd7f360406 82 };
Mashu 4:41bd7f360406 83
Mashu 4:41bd7f360406 84 /** FXAS21000Gyroscpe interface
Mashu 4:41bd7f360406 85 */
Mashu 4:41bd7f360406 86 class FXAS21000Gyroscpe : public FXAS21000
Mashu 4:41bd7f360406 87 {
Mashu 4:41bd7f360406 88 public:
screamer 2:cd21ef326977 89
Mashu 4:41bd7f360406 90 FXAS21000Gyroscpe(I2C &i2c, uint8_t addr) : FXAS21000(i2c, addr) {}
Mashu 4:41bd7f360406 91
Mashu 4:41bd7f360406 92 virtual int16_t getX(int16_t &x) const;
Mashu 4:41bd7f360406 93 virtual int16_t getY(int16_t &y) const;
Mashu 4:41bd7f360406 94 virtual int16_t getZ(int16_t &z) const;
Mashu 4:41bd7f360406 95 virtual float getX(float &x) const;
Mashu 4:41bd7f360406 96 virtual float getY(float &y) const;
Mashu 4:41bd7f360406 97 virtual float getZ(float &z) const;
Mashu 4:41bd7f360406 98 virtual void getAxis(motion_data_counts_t &xyz) const;
Mashu 4:41bd7f360406 99 virtual void getAxis(motion_data_units_t &xyz) const;
Mashu 4:41bd7f360406 100
JimCarver 0:4cfc774d6d85 101 };
JimCarver 0:4cfc774d6d85 102
JimCarver 0:4cfc774d6d85 103 #endif