Khalid Kaiksow / FXOS8700Q

A basic library for the FXOS8700Q combination accelerometer / magnetometer

Dependencies:   MotionSensor

Fork of FXOS8700Q by Jim Carver

FXOS8700Q.cpp@5:c4176a12f7d5, 2014-04-23 (annotated)

Committer:
JimCarver
Date:
Wed Apr 23 17:12:15 2014 +0000
Revision:
5:c4176a12f7d5
Parent:
4:be6abf9f2d59
Child:
6:cdc362f08339
experiment

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 5:c4176a12f7d5 23 FXOS8700Q_acc::FXOS8700Q_acc(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 4:be6abf9f2d59 26 m_i2c.frequency(400000);
JimCarver 1:8b53edef272f 27 writeRegs(data, 2);
JimCarver 1:8b53edef272f 28 data[0] = FXOS8700Q_M_CTRL_REG1;
JimCarver 1:8b53edef272f 29 data[1] = 0x1F;
JimCarver 1:8b53edef272f 30 writeRegs(data, 2);
JimCarver 1:8b53edef272f 31 data[0] = FXOS8700Q_M_CTRL_REG2;
JimCarver 1:8b53edef272f 32 data[1] = 0x20;
JimCarver 1:8b53edef272f 33 writeRegs(data, 2);
JimCarver 1:8b53edef272f 34 data[0] = FXOS8700Q_XYZ_DATA_CFG;
JimCarver 1:8b53edef272f 35 data[1] = 0x00;
JimCarver 1:8b53edef272f 36 writeRegs(data, 2);
JimCarver 1:8b53edef272f 37 data[0] = FXOS8700Q_CTRL_REG1;
JimCarver 1:8b53edef272f 38 data[1] = 0x19;//0x1D;
JimCarver 1:8b53edef272f 39 writeRegs(data, 2);
JimCarver 1:8b53edef272f 40 }
JimCarver 0:2562215f5bc0 41
JimCarver 0:2562215f5bc0 42
JimCarver 5:c4176a12f7d5 43 FXOS8700Q_acc::~FXOS8700Q_acc() { }
JimCarver 1:8b53edef272f 44
JimCarver 5:c4176a12f7d5 45 uint8_t FXOS8700Q_acc::getWhoAmI() {
JimCarver 1:8b53edef272f 46 uint8_t who_am_i = 0;
JimCarver 1:8b53edef272f 47 readRegs(FXOS8700Q_WHOAMI, &who_am_i, 1);
JimCarver 1:8b53edef272f 48 return who_am_i;
JimCarver 1:8b53edef272f 49 }
JimCarver 1:8b53edef272f 50
JimCarver 5:c4176a12f7d5 51 float FXOS8700Q_acc::getAccX() {
JimCarver 1:8b53edef272f 52 return (float(getAccAxis(FXOS8700Q_OUT_X_MSB))/4096.0);
JimCarver 0:2562215f5bc0 53 }
JimCarver 1:8b53edef272f 54
JimCarver 5:c4176a12f7d5 55 float FXOS8700Q_acc::getAccY() {
JimCarver 1:8b53edef272f 56 return (float(getAccAxis(FXOS8700Q_OUT_Y_MSB))/4096.0);
JimCarver 1:8b53edef272f 57 }
JimCarver 1:8b53edef272f 58
JimCarver 5:c4176a12f7d5 59 float FXOS8700Q_acc::getAccZ() {
JimCarver 1:8b53edef272f 60 return (float(getAccAxis(FXOS8700Q_OUT_Z_MSB))/4096.0);
JimCarver 1:8b53edef272f 61 }
JimCarver 1:8b53edef272f 62
JimCarver 1:8b53edef272f 63
JimCarver 5:c4176a12f7d5 64 void FXOS8700Q_acc::getAxis(MotionSensorDataUnits * data) {
JimCarver 5:c4176a12f7d5 65 data->x = getAccX();
JimCarver 5:c4176a12f7d5 66 data->y = getAccY();
JimCarver 5:c4176a12f7d5 67 data->z = getAccZ();
JimCarver 0:2562215f5bc0 68 }
JimCarver 0:2562215f5bc0 69
JimCarver 5:c4176a12f7d5 70 void FXOS8700Q_acc::getAxis(MotionSensorDataCounts * data {
JimCarver 1:8b53edef272f 71 int16_t acc;
JimCarver 1:8b53edef272f 72 uint8_t res[6];
JimCarver 1:8b53edef272f 73 readRegs(FXOS8700Q_OUT_X_MSB, res, 6);
JimCarver 0:2562215f5bc0 74
JimCarver 1:8b53edef272f 75 acc = (res[0] << 6) | (res[1] >> 2);
JimCarver 1:8b53edef272f 76 if (acc > UINT14_MAX/2)
JimCarver 1:8b53edef272f 77 acc -= UINT14_MAX;
JimCarver 5:c4176a12f7d5 78 data->x = acc;
JimCarver 1:8b53edef272f 79 acc = (res[2] << 6) | (res[3] >> 2);
JimCarver 1:8b53edef272f 80 if (acc > UINT14_MAX/2)
JimCarver 1:8b53edef272f 81 acc -= UINT14_MAX;
JimCarver 5:c4176a12f7d5 82 data->y = acc;
JimCarver 1:8b53edef272f 83 acc = (res[4] << 6) | (res[5] >> 2);
JimCarver 1:8b53edef272f 84 if (acc > UINT14_MAX/2)
JimCarver 1:8b53edef272f 85 acc -= UINT14_MAX;
JimCarver 5:c4176a12f7d5 86 data->z = acc;
JimCarver 0:2562215f5bc0 87 }
JimCarver 0:2562215f5bc0 88
JimCarver 5:c4176a12f7d5 89 void FXOS8700Q_acc::MagXYZraw(int16_t * d) {
JimCarver 1:8b53edef272f 90 int16_t acc;
JimCarver 1:8b53edef272f 91 uint8_t res[6];
JimCarver 1:8b53edef272f 92 readRegs(FXOS8700Q_M_OUT_X_MSB, res, 6);
JimCarver 1:8b53edef272f 93
JimCarver 1:8b53edef272f 94 d[0] = (res[0] << 8) | res[1];
JimCarver 1:8b53edef272f 95 d[1] = (res[2] << 8) | res[3];
JimCarver 1:8b53edef272f 96 d[2] = (res[4] << 8) | res[5];
JimCarver 1:8b53edef272f 97 }
JimCarver 1:8b53edef272f 98
JimCarver 5:c4176a12f7d5 99 void FXOS8700Q_acc::getMagAllAxis(float * res) {
JimCarver 4:be6abf9f2d59 100 int16_t raw[3];
JimCarver 4:be6abf9f2d59 101 MagXYZraw( raw);
JimCarver 4:be6abf9f2d59 102 res[0] = (float) raw[0] * 0.1f;
JimCarver 4:be6abf9f2d59 103 res[1] = (float) raw[1] * 0.1f;
JimCarver 4:be6abf9f2d59 104 res[2] = (float) raw[2] * 0.1f;
JimCarver 4:be6abf9f2d59 105 }
JimCarver 4:be6abf9f2d59 106
JimCarver 5:c4176a12f7d5 107 int16_t FXOS8700Q_acc::getAccAxis(uint8_t addr) {
JimCarver 1:8b53edef272f 108 int16_t acc;
JimCarver 1:8b53edef272f 109 uint8_t res[2];
JimCarver 1:8b53edef272f 110 readRegs(addr, res, 2);
JimCarver 0:2562215f5bc0 111
JimCarver 1:8b53edef272f 112 acc = (res[0] << 6) | (res[1] >> 2);
JimCarver 1:8b53edef272f 113 if (acc > UINT14_MAX/2)
JimCarver 1:8b53edef272f 114 acc -= UINT14_MAX;
JimCarver 1:8b53edef272f 115
JimCarver 1:8b53edef272f 116 return acc;
JimCarver 1:8b53edef272f 117 }
JimCarver 0:2562215f5bc0 118
JimCarver 5:c4176a12f7d5 119 void FXOS8700Q_acc::readRegs(int addr, uint8_t * data, int len) {
JimCarver 1:8b53edef272f 120 char t[1] = {addr};
JimCarver 1:8b53edef272f 121 m_i2c.write(m_addr, t, 1, true);
JimCarver 1:8b53edef272f 122 m_i2c.read(m_addr, (char *)data, len);
JimCarver 0:2562215f5bc0 123 }
JimCarver 1:8b53edef272f 124
JimCarver 5:c4176a12f7d5 125 void FXOS8700Q_acc::writeRegs(uint8_t * data, int len) {
JimCarver 1:8b53edef272f 126 m_i2c.write(m_addr, (char *)data, len);
JimCarver 1:8b53edef272f 127 }
JimCarver 1:8b53edef272f 128
JimCarver 0:2562215f5bc0 129