File content as of revision 9:5553a64d0762:

/* Copyright (c) 2010-2011 mbed.org, MIT License
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of this software
* and associated documentation files (the "Software"), to deal in the Software without
* restriction, including without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
* Software is furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all copies or
* substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
* BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
* DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/

#include "FXOS8700Q.h"
#define UINT14_MAX        16383

uint8_t SensorBuffer[12];
int     MagReadStatus;

FXOS8700Q_acc::FXOS8700Q_acc(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
    // activate the peripheral
    uint8_t data[2] = {FXOS8700Q_CTRL_REG1, 0x00};
    m_i2c.frequency(400000);
    writeRegs(data, 2);
    data[0] = FXOS8700Q_M_CTRL_REG1;
    data[1] = 0x1F;
    writeRegs(data, 2);
    data[0] = FXOS8700Q_M_CTRL_REG2;
    data[1] = 0x20;
    writeRegs(data, 2);
    data[0] = FXOS8700Q_XYZ_DATA_CFG;
    data[1] = 0x00;
    writeRegs(data, 2);
    data[0] = FXOS8700Q_CTRL_REG1;
    data[1] = 0x1C;
    writeRegs(data, 2);
    MagReadStatus = 0;
}

FXOS8700Q_acc::~FXOS8700Q_acc() { }

void FXOS8700Q_acc::enable(void) {
    uint8_t data[2];
    readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
    data[1] |= 0x01;
    data[0] = FXOS8700Q_CTRL_REG1;
    writeRegs(data, 2);
    MagReadStatus = 0;
}

void FXOS8700Q_acc::disable(void) {
    uint8_t data[2];
    readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
    data[1] &= 0xFE;
    data[0] = FXOS8700Q_CTRL_REG1;
    writeRegs(data, 2);
    MagReadStatus = 0;
}



uint32_t FXOS8700Q_acc::whoAmI() {
    uint8_t who_am_i = 0;
    readRegs(FXOS8700Q_WHOAMI, &who_am_i, 1);
    return (uint32_t) who_am_i;
}

uint32_t FXOS8700Q_acc::dataReady(void) {
    uint8_t stat = 0;
    readRegs(FXOS8700Q_STATUS, &stat, 1);
    return (uint32_t) stat;
}

uint32_t FXOS8700Q_acc::sampleRate(uint32_t f) {
    return(50); // for now sample rate is fixed at 50Hz
}

void FXOS8700Q_acc::getX(float * x) {
    *x = (float(getAccAxis(FXOS8700Q_OUT_X_MSB))/4096.0f);
}

void FXOS8700Q_acc::getY(float * y) {
    *y = (float(getAccAxis(FXOS8700Q_OUT_Y_MSB))/4096.0f);
}

void FXOS8700Q_acc::getZ(float * z) {
    *z = (float(getAccAxis(FXOS8700Q_OUT_Z_MSB))/4096.0f);
}

void FXOS8700Q_acc::getX(int16_t * d) {
    *d = getAccAxis(FXOS8700Q_OUT_X_MSB);
}

void FXOS8700Q_acc::getY(int16_t * d) {
    *d = getAccAxis(FXOS8700Q_OUT_Y_MSB);
}

void FXOS8700Q_acc::getZ(int16_t * d) {
    *d = getAccAxis(FXOS8700Q_OUT_Z_MSB);
}


void FXOS8700Q_acc::getAxis(MotionSensorDataUnits &data) {
    int16_t acc, t[3];

   readRegs(FXOS8700Q_OUT_X_MSB, SensorBuffer, 12);

    acc = (SensorBuffer[0] << 6) | (SensorBuffer[1] >> 2);
    if (acc > UINT14_MAX/2)
        acc -= UINT14_MAX;
    t[0] = acc;
    acc = (SensorBuffer[2] << 6) | (SensorBuffer[3] >> 2);
    if (acc > UINT14_MAX/2)
        acc -= UINT14_MAX;
    t[1] = acc;
    acc = (SensorBuffer[4] << 6) | (SensorBuffer[5] >> 2);
    if (acc > UINT14_MAX/2)
        acc -= UINT14_MAX;
    t[2] = acc;
    data.x = ((float) t[0]) / 4096.0f;
    data.y = ((float) t[1]) / 4096.0f;
    data.z = ((float) t[2]) / 4096.0f;
    MagReadStatus = 1;
}


void FXOS8700Q_acc::getAxis(MotionSensorDataCounts &data) {
    int16_t acc;
    readRegs(FXOS8700Q_OUT_X_MSB, SensorBuffer, 12);

    acc = (SensorBuffer[0] << 6) | (SensorBuffer[1] >> 2);
    if (acc > UINT14_MAX/2)
        acc -= UINT14_MAX;
    data.x = acc;
    acc = (SensorBuffer[2] << 6) | (SensorBuffer[3] >> 2);
    if (acc > UINT14_MAX/2)
        acc -= UINT14_MAX;
    data.y = acc;
    acc = (SensorBuffer[4] << 6) | (SensorBuffer[5] >> 2);
    if (acc > UINT14_MAX/2)
        acc -= UINT14_MAX;
    data.z = acc;
    MagReadStatus = 1;
}

void FXOS8700Q_acc::readRegs(int addr, uint8_t * data, int len) {
    char t[1] = {addr};
    m_i2c.write(m_addr, t, 1, true);
    m_i2c.read(m_addr, (char *)data, len);
}

void FXOS8700Q_acc::writeRegs(uint8_t * data, int len) {
    m_i2c.write(m_addr, (char *)data, len);
}


int16_t FXOS8700Q_acc::getAccAxis(uint8_t addr) {
    int16_t acc;
    uint8_t res[2];
    readRegs(addr, res, 2);

    acc = (res[0] << 6) | (res[1] >> 2);
    if (acc > UINT14_MAX/2)
        acc -= UINT14_MAX;

    return acc;
}



FXOS8700Q_mag::FXOS8700Q_mag(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
    // activate the peripheral
    uint8_t data[2] = {FXOS8700Q_CTRL_REG1, 0x00};
    m_i2c.frequency(400000);
    writeRegs(data, 2);
    data[0] = FXOS8700Q_M_CTRL_REG1;
    data[1] = 0x1F;
    writeRegs(data, 2);
    data[0] = FXOS8700Q_M_CTRL_REG2;
    data[1] = 0x20;
    writeRegs(data, 2);
    data[0] = FXOS8700Q_XYZ_DATA_CFG;
    data[1] = 0x00;
    writeRegs(data, 2);
    data[0] = FXOS8700Q_CTRL_REG1;
    data[1] = 0x18;//0x1D;
    writeRegs(data, 2);
    MagReadStatus = 0;
}

FXOS8700Q_mag::~FXOS8700Q_mag() { }

void FXOS8700Q_mag::enable(void) {
    uint8_t data[2];
    readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
    data[1] |= 0x01;
    data[0] = FXOS8700Q_CTRL_REG1;
    writeRegs(data, 2);
    MagReadStatus = 0;
}

void FXOS8700Q_mag::disable(void) {
    uint8_t data[2];
    readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
    data[1] &= 0xFE;
    data[0] = FXOS8700Q_CTRL_REG1;
    writeRegs(data, 2);
    MagReadStatus = 0;
}



uint32_t FXOS8700Q_mag::whoAmI() {
    uint8_t who_am_i = 0;
    readRegs(FXOS8700Q_WHOAMI, &who_am_i, 1);
    return (uint32_t) who_am_i;
}

uint32_t FXOS8700Q_mag::dataReady(void) {
    uint8_t stat = 0;
    readRegs(FXOS8700Q_STATUS, &stat, 1);
    return (uint32_t) stat;
}

uint32_t FXOS8700Q_mag::sampleRate(uint32_t f) {
    return(50); // for now sample rate is fixed at 50Hz
}

void FXOS8700Q_mag::getX(float * x) {
    *x = (float(getAccAxis(FXOS8700Q_M_OUT_X_MSB)) * 0.1f);
}

void FXOS8700Q_mag::getY(float * y) {
    *y = (float(getAccAxis(FXOS8700Q_M_OUT_Y_MSB)) * 0.1f);
}

void FXOS8700Q_mag::getZ(float * z) {
    *z = (float(getAccAxis(FXOS8700Q_M_OUT_Z_MSB)) * 0.1f);
}

void FXOS8700Q_mag::getX(int16_t * d) {
    *d = getAccAxis(FXOS8700Q_M_OUT_X_MSB);
}

void FXOS8700Q_mag::getY(int16_t * d) {
    *d = getAccAxis(FXOS8700Q_M_OUT_Y_MSB);
}

void FXOS8700Q_mag::getZ(int16_t * d) {
    *d = getAccAxis(FXOS8700Q_M_OUT_Z_MSB);
}


void FXOS8700Q_mag::getAxis(MotionSensorDataUnits &data) {
    int16_t t[3];
    uint8_t res[6];
    
   if(MagReadStatus) {
        t[0] = (SensorBuffer[6] << 8) | SensorBuffer[7];
        t[1] = (SensorBuffer[8] << 8) | SensorBuffer[9];
        t[2] = (SensorBuffer[10] << 8) | SensorBuffer[11];        
        } else {
        readRegs(FXOS8700Q_M_OUT_X_MSB, res, 6);
        t[0] = (res[0] << 8) | res[1];
        t[1] = (res[2] << 8) | res[3];
        t[2] = (res[4] << 8) | res[5];
        }
    data.x = ((float) t[0]) * 0.1f;
    data.y = ((float) t[1]) * 0.1f;
    data.z = ((float) t[2]) * 0.1f;
}


void FXOS8700Q_mag::getAxis(MotionSensorDataCounts &data) {

    uint8_t res[6];
    readRegs(FXOS8700Q_M_OUT_X_MSB, res, 6);

    data.x = (res[0] << 8) | res[1];
    data.y = (res[2] << 8) | res[3];
    data.z = (res[4] << 8) | res[5];
}

void FXOS8700Q_mag::readRegs(int addr, uint8_t * data, int len) {
    char t[1] = {addr};
    m_i2c.write(m_addr, t, 1, true);
    m_i2c.read(m_addr, (char *)data, len);
}

void FXOS8700Q_mag::writeRegs(uint8_t * data, int len) {
    m_i2c.write(m_addr, (char *)data, len);
}


int16_t FXOS8700Q_mag::getAccAxis(uint8_t addr) {
    int16_t acc;
    uint8_t res[2];
    readRegs(addr, res, 2);

    acc = (res[0] << 8) | res[1];

    return acc;
}