FXOS8700.cpp

00001 /*
00002  *  FXOS8700.cpp
00003  */
00004 
00005 #include "FXOS8700.h"
00006  #include "mbed.h"
00007 
00008 FXOS8700::FXOS8700(PinName sda, PinName scl) : accelmagi2c(sda,scl)
00009  {
00010        
00011  }
00012     
00013  void FXOS8700::accel_config(void)
00014  {
00015    char d[2]; 
00016    d[0] = FXOS8700_CTRL_REG1;                     //Puts device in Standby mode
00017    d[1] = 0x00; 
00018    accelmagi2c.write(FXOS8700_I2C_ADDRESS, d,2);   
00019           
00020    
00021    d[0] = FXOS8700_CTRL_REG1;                     //Puts device in Active mode
00022    d[1] = 0x01;
00023    accelmagi2c.write(FXOS8700_I2C_ADDRESS, d, 2);   
00024       
00025  }
00026  
00027   void FXOS8700::mag_config(void)
00028  {
00029    char d[2];
00030    d[0] = FXOS8700_CTRL_REG1;                     //Puts device in Standby mode
00031    d[1] = 0x00;
00032    accelmagi2c.write(FXOS8700_I2C_ADDRESS, d,2);   
00033           
00034    
00035    d[0] = FXOS8700_M_CTRL_REG1;                   //Puts device in hybrid mode (both accel and mag are active)
00036    d[1] = 0x03;
00037    accelmagi2c.write(FXOS8700_I2C_ADDRESS, d, 2);   
00038    
00039 
00040    d[0] = FXOS8700_CTRL_REG1;                     //Puts device in Active mode
00041    d[1] = 0x01;
00042    accelmagi2c.write(FXOS8700_I2C_ADDRESS, d,2);  
00043    
00044  }
00045  
00046  void FXOS8700::acquire_accel_data_g(float * a_data)
00047  {
00048   
00049    char data_bytes[7];
00050    char d[1];
00051    d[0]=FXOS8700_STATUS;
00052    accelmagi2c.write(FXOS8700_I2C_ADDRESS,d,1,true);  // Read the 6 data bytes - LSB and MSB for X, Y and Z Axes.
00053    accelmagi2c.read(FXOS8700_I2C_ADDRESS,data_bytes,7);
00054    
00055    a_data[0] =  ((float)((int16_t)(((data_bytes[1]*256) + (data_bytes[2])))>> 2) * 0.000244);
00056    a_data[1] =  ((float)((int16_t)(((data_bytes[3]*256) + (data_bytes[4])))>> 2) * 0.000244);
00057    a_data[2] =  ((float)((int16_t)(((data_bytes[5]*256) + (data_bytes[6])))>> 2) * 0.000244);
00058    
00059  }
00060 
00061  void FXOS8700::acquire_mag_data_uT(float * m_data)
00062  {
00063   
00064    char data_bytes[7];
00065    char d[1];
00066    d[0]=FXOS8700_MDR_STATUS;
00067    accelmagi2c.write(FXOS8700_I2C_ADDRESS,d,1,true);  // Read the 6 data bytes - LSB and MSB for X, Y and Z Axes.
00068    accelmagi2c.read(FXOS8700_I2C_ADDRESS,data_bytes,7);
00069    
00070    m_data[0] =  (float)((int16_t)((data_bytes[1]*256) + (data_bytes[2]))) * 0.1;
00071    m_data[1] =  (float)((int16_t)((data_bytes[3]*256) + (data_bytes[4]))) * 0.1;
00072    m_data[2] =  (float)((int16_t)((data_bytes[5]*256) + (data_bytes[6]))) * 0.1;
00073    
00074  }
00075      
00076