Khalid Kaiksow / FXOS8700Q

A basic library for the FXOS8700Q combination accelerometer / magnetometer

Dependencies:   MotionSensor

Fork of FXOS8700Q by Jim Carver

FXOS8700Q.cpp@10:1efb0564e0a4, 2015-10-29 (annotated)

Committer:
co657_kk351
Date:
Thu Oct 29 17:38:41 2015 +0000
Revision:
10:1efb0564e0a4
Parent:
9:5553a64d0762 
.

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 9:5553a64d0762 22 uint8_t SensorBuffer[12];
JimCarver 9:5553a64d0762 23 int MagReadStatus;
JimCarver 1:8b53edef272f 24
JimCarver 5:c4176a12f7d5 25 FXOS8700Q_acc::FXOS8700Q_acc(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
JimCarver 1:8b53edef272f 26 // activate the peripheral
JimCarver 1:8b53edef272f 27 uint8_t data[2] = {FXOS8700Q_CTRL_REG1, 0x00};
JimCarver 4:be6abf9f2d59 28 m_i2c.frequency(400000);
JimCarver 1:8b53edef272f 29 writeRegs(data, 2);
JimCarver 1:8b53edef272f 30 data[0] = FXOS8700Q_M_CTRL_REG1;
JimCarver 1:8b53edef272f 31 data[1] = 0x1F;
JimCarver 1:8b53edef272f 32 writeRegs(data, 2);
JimCarver 1:8b53edef272f 33 data[0] = FXOS8700Q_M_CTRL_REG2;
JimCarver 1:8b53edef272f 34 data[1] = 0x20;
JimCarver 1:8b53edef272f 35 writeRegs(data, 2);
JimCarver 1:8b53edef272f 36 data[0] = FXOS8700Q_XYZ_DATA_CFG;
JimCarver 1:8b53edef272f 37 data[1] = 0x00;
JimCarver 1:8b53edef272f 38 writeRegs(data, 2);
JimCarver 1:8b53edef272f 39 data[0] = FXOS8700Q_CTRL_REG1;
JimCarver 8:52116f8fb3da 40 data[1] = 0x1C;
JimCarver 6:cdc362f08339 41 writeRegs(data, 2);
JimCarver 9:5553a64d0762 42 MagReadStatus = 0;
JimCarver 6:cdc362f08339 43 }
JimCarver 6:cdc362f08339 44
JimCarver 6:cdc362f08339 45 FXOS8700Q_acc::~FXOS8700Q_acc() { }
JimCarver 6:cdc362f08339 46
JimCarver 6:cdc362f08339 47 void FXOS8700Q_acc::enable(void) {
JimCarver 6:cdc362f08339 48 uint8_t data[2];
JimCarver 6:cdc362f08339 49 readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
JimCarver 6:cdc362f08339 50 data[1] |= 0x01;
JimCarver 6:cdc362f08339 51 data[0] = FXOS8700Q_CTRL_REG1;
JimCarver 6:cdc362f08339 52 writeRegs(data, 2);
JimCarver 9:5553a64d0762 53 MagReadStatus = 0;
JimCarver 6:cdc362f08339 54 }
JimCarver 6:cdc362f08339 55
JimCarver 6:cdc362f08339 56 void FXOS8700Q_acc::disable(void) {
JimCarver 6:cdc362f08339 57 uint8_t data[2];
JimCarver 6:cdc362f08339 58 readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
JimCarver 6:cdc362f08339 59 data[1] &= 0xFE;
JimCarver 6:cdc362f08339 60 data[0] = FXOS8700Q_CTRL_REG1;
JimCarver 1:8b53edef272f 61 writeRegs(data, 2);
JimCarver 9:5553a64d0762 62 MagReadStatus = 0;
JimCarver 1:8b53edef272f 63 }
JimCarver 0:2562215f5bc0 64
JimCarver 0:2562215f5bc0 65
JimCarver 1:8b53edef272f 66
JimCarver 6:cdc362f08339 67 uint32_t FXOS8700Q_acc::whoAmI() {
JimCarver 1:8b53edef272f 68 uint8_t who_am_i = 0;
JimCarver 1:8b53edef272f 69 readRegs(FXOS8700Q_WHOAMI, &who_am_i, 1);
JimCarver 6:cdc362f08339 70 return (uint32_t) who_am_i;
JimCarver 6:cdc362f08339 71 }
JimCarver 6:cdc362f08339 72
JimCarver 6:cdc362f08339 73 uint32_t FXOS8700Q_acc::dataReady(void) {
JimCarver 6:cdc362f08339 74 uint8_t stat = 0;
JimCarver 6:cdc362f08339 75 readRegs(FXOS8700Q_STATUS, &stat, 1);
JimCarver 6:cdc362f08339 76 return (uint32_t) stat;
JimCarver 6:cdc362f08339 77 }
JimCarver 6:cdc362f08339 78
JimCarver 6:cdc362f08339 79 uint32_t FXOS8700Q_acc::sampleRate(uint32_t f) {
JimCarver 6:cdc362f08339 80 return(50); // for now sample rate is fixed at 50Hz
JimCarver 1:8b53edef272f 81 }
JimCarver 1:8b53edef272f 82
JimCarver 6:cdc362f08339 83 void FXOS8700Q_acc::getX(float * x) {
JimCarver 6:cdc362f08339 84 *x = (float(getAccAxis(FXOS8700Q_OUT_X_MSB))/4096.0f);
JimCarver 6:cdc362f08339 85 }
JimCarver 6:cdc362f08339 86
JimCarver 6:cdc362f08339 87 void FXOS8700Q_acc::getY(float * y) {
JimCarver 6:cdc362f08339 88 *y = (float(getAccAxis(FXOS8700Q_OUT_Y_MSB))/4096.0f);
JimCarver 0:2562215f5bc0 89 }
JimCarver 1:8b53edef272f 90
JimCarver 6:cdc362f08339 91 void FXOS8700Q_acc::getZ(float * z) {
JimCarver 6:cdc362f08339 92 *z = (float(getAccAxis(FXOS8700Q_OUT_Z_MSB))/4096.0f);
JimCarver 1:8b53edef272f 93 }
JimCarver 1:8b53edef272f 94
JimCarver 6:cdc362f08339 95 void FXOS8700Q_acc::getX(int16_t * d) {
JimCarver 6:cdc362f08339 96 *d = getAccAxis(FXOS8700Q_OUT_X_MSB);
JimCarver 6:cdc362f08339 97 }
JimCarver 6:cdc362f08339 98
JimCarver 6:cdc362f08339 99 void FXOS8700Q_acc::getY(int16_t * d) {
JimCarver 6:cdc362f08339 100 *d = getAccAxis(FXOS8700Q_OUT_Y_MSB);
JimCarver 6:cdc362f08339 101 }
JimCarver 6:cdc362f08339 102
JimCarver 6:cdc362f08339 103 void FXOS8700Q_acc::getZ(int16_t * d) {
JimCarver 6:cdc362f08339 104 *d = getAccAxis(FXOS8700Q_OUT_Z_MSB);
JimCarver 1:8b53edef272f 105 }
JimCarver 1:8b53edef272f 106
JimCarver 1:8b53edef272f 107
JimCarver 6:cdc362f08339 108 void FXOS8700Q_acc::getAxis(MotionSensorDataUnits &data) {
JimCarver 6:cdc362f08339 109 int16_t acc, t[3];
JimCarver 6:cdc362f08339 110
JimCarver 9:5553a64d0762 111 readRegs(FXOS8700Q_OUT_X_MSB, SensorBuffer, 12);
JimCarver 9:5553a64d0762 112
JimCarver 9:5553a64d0762 113 acc = (SensorBuffer[0] << 6) | (SensorBuffer[1] >> 2);
JimCarver 6:cdc362f08339 114 if (acc > UINT14_MAX/2)
JimCarver 6:cdc362f08339 115 acc -= UINT14_MAX;
JimCarver 6:cdc362f08339 116 t[0] = acc;
JimCarver 9:5553a64d0762 117 acc = (SensorBuffer[2] << 6) | (SensorBuffer[3] >> 2);
JimCarver 6:cdc362f08339 118 if (acc > UINT14_MAX/2)
JimCarver 6:cdc362f08339 119 acc -= UINT14_MAX;
JimCarver 6:cdc362f08339 120 t[1] = acc;
JimCarver 9:5553a64d0762 121 acc = (SensorBuffer[4] << 6) | (SensorBuffer[5] >> 2);
JimCarver 6:cdc362f08339 122 if (acc > UINT14_MAX/2)
JimCarver 6:cdc362f08339 123 acc -= UINT14_MAX;
JimCarver 6:cdc362f08339 124 t[2] = acc;
JimCarver 6:cdc362f08339 125 data.x = ((float) t[0]) / 4096.0f;
JimCarver 6:cdc362f08339 126 data.y = ((float) t[1]) / 4096.0f;
JimCarver 6:cdc362f08339 127 data.z = ((float) t[2]) / 4096.0f;
JimCarver 9:5553a64d0762 128 MagReadStatus = 1;
JimCarver 0:2562215f5bc0 129 }
JimCarver 0:2562215f5bc0 130
JimCarver 6:cdc362f08339 131
JimCarver 6:cdc362f08339 132 void FXOS8700Q_acc::getAxis(MotionSensorDataCounts &data) {
JimCarver 1:8b53edef272f 133 int16_t acc;
JimCarver 9:5553a64d0762 134 readRegs(FXOS8700Q_OUT_X_MSB, SensorBuffer, 12);
JimCarver 0:2562215f5bc0 135
JimCarver 9:5553a64d0762 136 acc = (SensorBuffer[0] << 6) | (SensorBuffer[1] >> 2);
JimCarver 1:8b53edef272f 137 if (acc > UINT14_MAX/2)
JimCarver 1:8b53edef272f 138 acc -= UINT14_MAX;
JimCarver 6:cdc362f08339 139 data.x = acc;
JimCarver 9:5553a64d0762 140 acc = (SensorBuffer[2] << 6) | (SensorBuffer[3] >> 2);
JimCarver 1:8b53edef272f 141 if (acc > UINT14_MAX/2)
JimCarver 1:8b53edef272f 142 acc -= UINT14_MAX;
JimCarver 6:cdc362f08339 143 data.y = acc;
JimCarver 9:5553a64d0762 144 acc = (SensorBuffer[4] << 6) | (SensorBuffer[5] >> 2);
JimCarver 1:8b53edef272f 145 if (acc > UINT14_MAX/2)
JimCarver 1:8b53edef272f 146 acc -= UINT14_MAX;
JimCarver 6:cdc362f08339 147 data.z = acc;
JimCarver 9:5553a64d0762 148 MagReadStatus = 1;
JimCarver 0:2562215f5bc0 149 }
JimCarver 0:2562215f5bc0 150
JimCarver 6:cdc362f08339 151 void FXOS8700Q_acc::readRegs(int addr, uint8_t * data, int len) {
JimCarver 6:cdc362f08339 152 char t[1] = {addr};
JimCarver 6:cdc362f08339 153 m_i2c.write(m_addr, t, 1, true);
JimCarver 6:cdc362f08339 154 m_i2c.read(m_addr, (char *)data, len);
JimCarver 1:8b53edef272f 155 }
JimCarver 1:8b53edef272f 156
JimCarver 6:cdc362f08339 157 void FXOS8700Q_acc::writeRegs(uint8_t * data, int len) {
JimCarver 6:cdc362f08339 158 m_i2c.write(m_addr, (char *)data, len);
JimCarver 6:cdc362f08339 159 }
JimCarver 6:cdc362f08339 160
JimCarver 6:cdc362f08339 161
JimCarver 5:c4176a12f7d5 162 int16_t FXOS8700Q_acc::getAccAxis(uint8_t addr) {
JimCarver 1:8b53edef272f 163 int16_t acc;
JimCarver 1:8b53edef272f 164 uint8_t res[2];
JimCarver 1:8b53edef272f 165 readRegs(addr, res, 2);
JimCarver 0:2562215f5bc0 166
JimCarver 1:8b53edef272f 167 acc = (res[0] << 6) | (res[1] >> 2);
JimCarver 1:8b53edef272f 168 if (acc > UINT14_MAX/2)
JimCarver 1:8b53edef272f 169 acc -= UINT14_MAX;
JimCarver 1:8b53edef272f 170
JimCarver 1:8b53edef272f 171 return acc;
JimCarver 1:8b53edef272f 172 }
JimCarver 0:2562215f5bc0 173
JimCarver 6:cdc362f08339 174
JimCarver 6:cdc362f08339 175
JimCarver 6:cdc362f08339 176 FXOS8700Q_mag::FXOS8700Q_mag(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
JimCarver 6:cdc362f08339 177 // activate the peripheral
JimCarver 6:cdc362f08339 178 uint8_t data[2] = {FXOS8700Q_CTRL_REG1, 0x00};
JimCarver 6:cdc362f08339 179 m_i2c.frequency(400000);
JimCarver 6:cdc362f08339 180 writeRegs(data, 2);
JimCarver 6:cdc362f08339 181 data[0] = FXOS8700Q_M_CTRL_REG1;
JimCarver 6:cdc362f08339 182 data[1] = 0x1F;
JimCarver 6:cdc362f08339 183 writeRegs(data, 2);
JimCarver 6:cdc362f08339 184 data[0] = FXOS8700Q_M_CTRL_REG2;
JimCarver 6:cdc362f08339 185 data[1] = 0x20;
JimCarver 6:cdc362f08339 186 writeRegs(data, 2);
JimCarver 6:cdc362f08339 187 data[0] = FXOS8700Q_XYZ_DATA_CFG;
JimCarver 6:cdc362f08339 188 data[1] = 0x00;
JimCarver 6:cdc362f08339 189 writeRegs(data, 2);
JimCarver 6:cdc362f08339 190 data[0] = FXOS8700Q_CTRL_REG1;
JimCarver 6:cdc362f08339 191 data[1] = 0x18;//0x1D;
JimCarver 6:cdc362f08339 192 writeRegs(data, 2);
JimCarver 9:5553a64d0762 193 MagReadStatus = 0;
JimCarver 6:cdc362f08339 194 }
JimCarver 6:cdc362f08339 195
JimCarver 6:cdc362f08339 196 FXOS8700Q_mag::~FXOS8700Q_mag() { }
JimCarver 6:cdc362f08339 197
JimCarver 6:cdc362f08339 198 void FXOS8700Q_mag::enable(void) {
JimCarver 6:cdc362f08339 199 uint8_t data[2];
JimCarver 6:cdc362f08339 200 readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
JimCarver 6:cdc362f08339 201 data[1] |= 0x01;
JimCarver 6:cdc362f08339 202 data[0] = FXOS8700Q_CTRL_REG1;
JimCarver 6:cdc362f08339 203 writeRegs(data, 2);
JimCarver 9:5553a64d0762 204 MagReadStatus = 0;
JimCarver 6:cdc362f08339 205 }
JimCarver 6:cdc362f08339 206
JimCarver 6:cdc362f08339 207 void FXOS8700Q_mag::disable(void) {
JimCarver 6:cdc362f08339 208 uint8_t data[2];
JimCarver 6:cdc362f08339 209 readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
JimCarver 6:cdc362f08339 210 data[1] &= 0xFE;
JimCarver 6:cdc362f08339 211 data[0] = FXOS8700Q_CTRL_REG1;
JimCarver 6:cdc362f08339 212 writeRegs(data, 2);
JimCarver 9:5553a64d0762 213 MagReadStatus = 0;
JimCarver 6:cdc362f08339 214 }
JimCarver 6:cdc362f08339 215
JimCarver 6:cdc362f08339 216
JimCarver 6:cdc362f08339 217
JimCarver 6:cdc362f08339 218 uint32_t FXOS8700Q_mag::whoAmI() {
JimCarver 6:cdc362f08339 219 uint8_t who_am_i = 0;
JimCarver 6:cdc362f08339 220 readRegs(FXOS8700Q_WHOAMI, &who_am_i, 1);
JimCarver 6:cdc362f08339 221 return (uint32_t) who_am_i;
JimCarver 6:cdc362f08339 222 }
JimCarver 6:cdc362f08339 223
JimCarver 6:cdc362f08339 224 uint32_t FXOS8700Q_mag::dataReady(void) {
JimCarver 6:cdc362f08339 225 uint8_t stat = 0;
JimCarver 6:cdc362f08339 226 readRegs(FXOS8700Q_STATUS, &stat, 1);
JimCarver 6:cdc362f08339 227 return (uint32_t) stat;
JimCarver 6:cdc362f08339 228 }
JimCarver 6:cdc362f08339 229
JimCarver 6:cdc362f08339 230 uint32_t FXOS8700Q_mag::sampleRate(uint32_t f) {
JimCarver 6:cdc362f08339 231 return(50); // for now sample rate is fixed at 50Hz
JimCarver 6:cdc362f08339 232 }
JimCarver 6:cdc362f08339 233
JimCarver 6:cdc362f08339 234 void FXOS8700Q_mag::getX(float * x) {
JimCarver 7:c53dda05b8cf 235 *x = (float(getAccAxis(FXOS8700Q_M_OUT_X_MSB)) * 0.1f);
JimCarver 6:cdc362f08339 236 }
JimCarver 6:cdc362f08339 237
JimCarver 6:cdc362f08339 238 void FXOS8700Q_mag::getY(float * y) {
JimCarver 7:c53dda05b8cf 239 *y = (float(getAccAxis(FXOS8700Q_M_OUT_Y_MSB)) * 0.1f);
JimCarver 6:cdc362f08339 240 }
JimCarver 6:cdc362f08339 241
JimCarver 6:cdc362f08339 242 void FXOS8700Q_mag::getZ(float * z) {
JimCarver 7:c53dda05b8cf 243 *z = (float(getAccAxis(FXOS8700Q_M_OUT_Z_MSB)) * 0.1f);
JimCarver 6:cdc362f08339 244 }
JimCarver 6:cdc362f08339 245
JimCarver 6:cdc362f08339 246 void FXOS8700Q_mag::getX(int16_t * d) {
JimCarver 6:cdc362f08339 247 *d = getAccAxis(FXOS8700Q_M_OUT_X_MSB);
JimCarver 6:cdc362f08339 248 }
JimCarver 6:cdc362f08339 249
JimCarver 6:cdc362f08339 250 void FXOS8700Q_mag::getY(int16_t * d) {
JimCarver 6:cdc362f08339 251 *d = getAccAxis(FXOS8700Q_M_OUT_Y_MSB);
JimCarver 6:cdc362f08339 252 }
JimCarver 6:cdc362f08339 253
JimCarver 6:cdc362f08339 254 void FXOS8700Q_mag::getZ(int16_t * d) {
JimCarver 6:cdc362f08339 255 *d = getAccAxis(FXOS8700Q_M_OUT_Z_MSB);
JimCarver 6:cdc362f08339 256 }
JimCarver 6:cdc362f08339 257
JimCarver 6:cdc362f08339 258
JimCarver 6:cdc362f08339 259 void FXOS8700Q_mag::getAxis(MotionSensorDataUnits &data) {
JimCarver 6:cdc362f08339 260 int16_t t[3];
JimCarver 6:cdc362f08339 261 uint8_t res[6];
JimCarver 9:5553a64d0762 262
JimCarver 9:5553a64d0762 263 if(MagReadStatus) {
JimCarver 9:5553a64d0762 264 t[0] = (SensorBuffer[6] << 8) | SensorBuffer[7];
JimCarver 9:5553a64d0762 265 t[1] = (SensorBuffer[8] << 8) | SensorBuffer[9];
JimCarver 9:5553a64d0762 266 t[2] = (SensorBuffer[10] << 8) | SensorBuffer[11];
JimCarver 9:5553a64d0762 267 } else {
JimCarver 9:5553a64d0762 268 readRegs(FXOS8700Q_M_OUT_X_MSB, res, 6);
JimCarver 9:5553a64d0762 269 t[0] = (res[0] << 8) | res[1];
JimCarver 9:5553a64d0762 270 t[1] = (res[2] << 8) | res[3];
JimCarver 9:5553a64d0762 271 t[2] = (res[4] << 8) | res[5];
JimCarver 9:5553a64d0762 272 }
JimCarver 6:cdc362f08339 273 data.x = ((float) t[0]) * 0.1f;
JimCarver 6:cdc362f08339 274 data.y = ((float) t[1]) * 0.1f;
JimCarver 6:cdc362f08339 275 data.z = ((float) t[2]) * 0.1f;
JimCarver 6:cdc362f08339 276 }
JimCarver 6:cdc362f08339 277
JimCarver 6:cdc362f08339 278
JimCarver 6:cdc362f08339 279 void FXOS8700Q_mag::getAxis(MotionSensorDataCounts &data) {
JimCarver 9:5553a64d0762 280
JimCarver 6:cdc362f08339 281 uint8_t res[6];
JimCarver 7:c53dda05b8cf 282 readRegs(FXOS8700Q_M_OUT_X_MSB, res, 6);
JimCarver 6:cdc362f08339 283
JimCarver 6:cdc362f08339 284 data.x = (res[0] << 8) | res[1];
JimCarver 6:cdc362f08339 285 data.y = (res[2] << 8) | res[3];
JimCarver 6:cdc362f08339 286 data.z = (res[4] << 8) | res[5];
JimCarver 6:cdc362f08339 287 }
JimCarver 6:cdc362f08339 288
JimCarver 6:cdc362f08339 289 void FXOS8700Q_mag::readRegs(int addr, uint8_t * data, int len) {
JimCarver 1:8b53edef272f 290 char t[1] = {addr};
JimCarver 1:8b53edef272f 291 m_i2c.write(m_addr, t, 1, true);
JimCarver 1:8b53edef272f 292 m_i2c.read(m_addr, (char *)data, len);
JimCarver 0:2562215f5bc0 293 }
JimCarver 1:8b53edef272f 294
JimCarver 6:cdc362f08339 295 void FXOS8700Q_mag::writeRegs(uint8_t * data, int len) {
JimCarver 1:8b53edef272f 296 m_i2c.write(m_addr, (char *)data, len);
JimCarver 1:8b53edef272f 297 }
JimCarver 1:8b53edef272f 298
JimCarver 6:cdc362f08339 299
JimCarver 6:cdc362f08339 300 int16_t FXOS8700Q_mag::getAccAxis(uint8_t addr) {
JimCarver 6:cdc362f08339 301 int16_t acc;
JimCarver 6:cdc362f08339 302 uint8_t res[2];
JimCarver 6:cdc362f08339 303 readRegs(addr, res, 2);
JimCarver 6:cdc362f08339 304
JimCarver 6:cdc362f08339 305 acc = (res[0] << 8) | res[1];
JimCarver 6:cdc362f08339 306
JimCarver 6:cdc362f08339 307 return acc;
JimCarver 6:cdc362f08339 308 }
co657_kk351 10:1efb0564e0a4 309