Marek Trojan / FXOS8700Q

skm

Dependencies:   MotionSensor

Fork of FXOS8700Q by Jim Carver

FXOS8700Q.cpp@11:ae8d7de91a46, 2015-06-18 (annotated)

Committer:
marcus255
Date:
Thu Jun 18 16:19:34 2015 +0000
Revision:
11:ae8d7de91a46
Parent:
10:499c7734bd73 
changes in constructor to achieve some extra functionality

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;
marcus255 11:ae8d7de91a46 35 data[1] = 0x02; // 0x02 for +/- 8g range, 0x00 for 2g mode // added by m255
JimCarver 1:8b53edef272f 36 writeRegs(data, 2);
JimCarver 1:8b53edef272f 37 data[0] = FXOS8700Q_CTRL_REG1;
JimCarver 6:cdc362f08339 38 data[1] = 0x18;//0x1D;
JimCarver 6:cdc362f08339 39 writeRegs(data, 2);
JimCarver 6:cdc362f08339 40 }
JimCarver 6:cdc362f08339 41
JimCarver 6:cdc362f08339 42 FXOS8700Q_acc::~FXOS8700Q_acc() { }
JimCarver 6:cdc362f08339 43
JimCarver 6:cdc362f08339 44 void FXOS8700Q_acc::enable(void) {
JimCarver 6:cdc362f08339 45 uint8_t data[2];
JimCarver 6:cdc362f08339 46 readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
JimCarver 6:cdc362f08339 47 data[1] |= 0x01;
JimCarver 6:cdc362f08339 48 data[0] = FXOS8700Q_CTRL_REG1;
JimCarver 6:cdc362f08339 49 writeRegs(data, 2);
JimCarver 6:cdc362f08339 50 }
JimCarver 6:cdc362f08339 51
JimCarver 6:cdc362f08339 52 void FXOS8700Q_acc::disable(void) {
JimCarver 6:cdc362f08339 53 uint8_t data[2];
JimCarver 6:cdc362f08339 54 readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
JimCarver 6:cdc362f08339 55 data[1] &= 0xFE;
JimCarver 6:cdc362f08339 56 data[0] = FXOS8700Q_CTRL_REG1;
JimCarver 1:8b53edef272f 57 writeRegs(data, 2);
JimCarver 1:8b53edef272f 58 }
JimCarver 0:2562215f5bc0 59
JimCarver 0:2562215f5bc0 60
JimCarver 1:8b53edef272f 61
JimCarver 6:cdc362f08339 62 uint32_t FXOS8700Q_acc::whoAmI() {
JimCarver 1:8b53edef272f 63 uint8_t who_am_i = 0;
JimCarver 1:8b53edef272f 64 readRegs(FXOS8700Q_WHOAMI, &who_am_i, 1);
JimCarver 6:cdc362f08339 65 return (uint32_t) who_am_i;
JimCarver 6:cdc362f08339 66 }
JimCarver 6:cdc362f08339 67
JimCarver 6:cdc362f08339 68 uint32_t FXOS8700Q_acc::dataReady(void) {
JimCarver 6:cdc362f08339 69 uint8_t stat = 0;
JimCarver 6:cdc362f08339 70 readRegs(FXOS8700Q_STATUS, &stat, 1);
JimCarver 6:cdc362f08339 71 return (uint32_t) stat;
JimCarver 6:cdc362f08339 72 }
JimCarver 6:cdc362f08339 73
JimCarver 6:cdc362f08339 74 uint32_t FXOS8700Q_acc::sampleRate(uint32_t f) {
JimCarver 6:cdc362f08339 75 return(50); // for now sample rate is fixed at 50Hz
JimCarver 1:8b53edef272f 76 }
JimCarver 1:8b53edef272f 77
JimCarver 6:cdc362f08339 78 void FXOS8700Q_acc::getX(float * x) {
JimCarver 6:cdc362f08339 79 *x = (float(getAccAxis(FXOS8700Q_OUT_X_MSB))/4096.0f);
JimCarver 6:cdc362f08339 80 }
JimCarver 6:cdc362f08339 81
JimCarver 6:cdc362f08339 82 void FXOS8700Q_acc::getY(float * y) {
JimCarver 6:cdc362f08339 83 *y = (float(getAccAxis(FXOS8700Q_OUT_Y_MSB))/4096.0f);
JimCarver 0:2562215f5bc0 84 }
JimCarver 1:8b53edef272f 85
JimCarver 6:cdc362f08339 86 void FXOS8700Q_acc::getZ(float * z) {
JimCarver 6:cdc362f08339 87 *z = (float(getAccAxis(FXOS8700Q_OUT_Z_MSB))/4096.0f);
JimCarver 1:8b53edef272f 88 }
JimCarver 1:8b53edef272f 89
JimCarver 6:cdc362f08339 90 void FXOS8700Q_acc::getX(int16_t * d) {
JimCarver 6:cdc362f08339 91 *d = getAccAxis(FXOS8700Q_OUT_X_MSB);
JimCarver 6:cdc362f08339 92 }
JimCarver 6:cdc362f08339 93
JimCarver 6:cdc362f08339 94 void FXOS8700Q_acc::getY(int16_t * d) {
JimCarver 6:cdc362f08339 95 *d = getAccAxis(FXOS8700Q_OUT_Y_MSB);
JimCarver 6:cdc362f08339 96 }
JimCarver 6:cdc362f08339 97
JimCarver 6:cdc362f08339 98 void FXOS8700Q_acc::getZ(int16_t * d) {
JimCarver 6:cdc362f08339 99 *d = getAccAxis(FXOS8700Q_OUT_Z_MSB);
JimCarver 1:8b53edef272f 100 }
JimCarver 1:8b53edef272f 101
JimCarver 1:8b53edef272f 102
JimCarver 6:cdc362f08339 103 void FXOS8700Q_acc::getAxis(MotionSensorDataUnits &data) {
JimCarver 6:cdc362f08339 104 int16_t acc, t[3];
JimCarver 6:cdc362f08339 105 uint8_t res[6];
JimCarver 6:cdc362f08339 106 readRegs(FXOS8700Q_OUT_X_MSB, res, 6);
JimCarver 6:cdc362f08339 107
JimCarver 6:cdc362f08339 108 acc = (res[0] << 6) | (res[1] >> 2);
JimCarver 6:cdc362f08339 109 if (acc > UINT14_MAX/2)
JimCarver 6:cdc362f08339 110 acc -= UINT14_MAX;
JimCarver 6:cdc362f08339 111 t[0] = acc;
JimCarver 6:cdc362f08339 112 acc = (res[2] << 6) | (res[3] >> 2);
JimCarver 6:cdc362f08339 113 if (acc > UINT14_MAX/2)
JimCarver 6:cdc362f08339 114 acc -= UINT14_MAX;
JimCarver 6:cdc362f08339 115 t[1] = acc;
JimCarver 6:cdc362f08339 116 acc = (res[4] << 6) | (res[5] >> 2);
JimCarver 6:cdc362f08339 117 if (acc > UINT14_MAX/2)
JimCarver 6:cdc362f08339 118 acc -= UINT14_MAX;
JimCarver 6:cdc362f08339 119 t[2] = acc;
marcus255 11:ae8d7de91a46 120 data.x = ((float) t[0]) / 1024.0f; // division by 1024 for 8g measurement, by 4096 for 2g mode
marcus255 11:ae8d7de91a46 121 data.y = ((float) t[1]) / 1024.0f; // added by m255
marcus255 11:ae8d7de91a46 122 data.z = ((float) t[2]) / 1024.0f;
JimCarver 0:2562215f5bc0 123 }
JimCarver 0:2562215f5bc0 124
JimCarver 6:cdc362f08339 125
marcus255 10:499c7734bd73 126 void FXOS8700Q_acc::getAxis(MotionSensorDataCounts &data, uint8_t * scopeData) {
JimCarver 1:8b53edef272f 127 int16_t acc;
JimCarver 1:8b53edef272f 128 uint8_t res[6];
JimCarver 1:8b53edef272f 129 readRegs(FXOS8700Q_OUT_X_MSB, res, 6);
JimCarver 0:2562215f5bc0 130
marcus255 10:499c7734bd73 131 // added by m255
marcus255 10:499c7734bd73 132 for (uint8_t i = 0; i < 6; i++)
marcus255 10:499c7734bd73 133 scopeData[i] = res[i];
marcus255 10:499c7734bd73 134
JimCarver 1:8b53edef272f 135 acc = (res[0] << 6) | (res[1] >> 2);
JimCarver 1:8b53edef272f 136 if (acc > UINT14_MAX/2)
JimCarver 1:8b53edef272f 137 acc -= UINT14_MAX;
JimCarver 6:cdc362f08339 138 data.x = acc;
JimCarver 1:8b53edef272f 139 acc = (res[2] << 6) | (res[3] >> 2);
JimCarver 1:8b53edef272f 140 if (acc > UINT14_MAX/2)
JimCarver 1:8b53edef272f 141 acc -= UINT14_MAX;
JimCarver 6:cdc362f08339 142 data.y = acc;
JimCarver 1:8b53edef272f 143 acc = (res[4] << 6) | (res[5] >> 2);
JimCarver 1:8b53edef272f 144 if (acc > UINT14_MAX/2)
JimCarver 1:8b53edef272f 145 acc -= UINT14_MAX;
JimCarver 6:cdc362f08339 146 data.z = acc;
JimCarver 0:2562215f5bc0 147 }
JimCarver 0:2562215f5bc0 148
JimCarver 6:cdc362f08339 149 void FXOS8700Q_acc::readRegs(int addr, uint8_t * data, int len) {
JimCarver 6:cdc362f08339 150 char t[1] = {addr};
JimCarver 6:cdc362f08339 151 m_i2c.write(m_addr, t, 1, true);
JimCarver 6:cdc362f08339 152 m_i2c.read(m_addr, (char *)data, len);
JimCarver 1:8b53edef272f 153 }
JimCarver 1:8b53edef272f 154
JimCarver 6:cdc362f08339 155 void FXOS8700Q_acc::writeRegs(uint8_t * data, int len) {
JimCarver 6:cdc362f08339 156 m_i2c.write(m_addr, (char *)data, len);
JimCarver 6:cdc362f08339 157 }
JimCarver 6:cdc362f08339 158
JimCarver 6:cdc362f08339 159
JimCarver 5:c4176a12f7d5 160 int16_t FXOS8700Q_acc::getAccAxis(uint8_t addr) {
JimCarver 1:8b53edef272f 161 int16_t acc;
JimCarver 1:8b53edef272f 162 uint8_t res[2];
JimCarver 1:8b53edef272f 163 readRegs(addr, res, 2);
JimCarver 0:2562215f5bc0 164
JimCarver 1:8b53edef272f 165 acc = (res[0] << 6) | (res[1] >> 2);
JimCarver 1:8b53edef272f 166 if (acc > UINT14_MAX/2)
JimCarver 1:8b53edef272f 167 acc -= UINT14_MAX;
JimCarver 1:8b53edef272f 168
JimCarver 1:8b53edef272f 169 return acc;
JimCarver 1:8b53edef272f 170 }
JimCarver 0:2562215f5bc0 171
JimCarver 6:cdc362f08339 172
JimCarver 6:cdc362f08339 173
JimCarver 6:cdc362f08339 174 FXOS8700Q_mag::FXOS8700Q_mag(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
JimCarver 6:cdc362f08339 175 // activate the peripheral
JimCarver 6:cdc362f08339 176 uint8_t data[2] = {FXOS8700Q_CTRL_REG1, 0x00};
JimCarver 6:cdc362f08339 177 m_i2c.frequency(400000);
JimCarver 6:cdc362f08339 178 writeRegs(data, 2);
JimCarver 6:cdc362f08339 179 data[0] = FXOS8700Q_M_CTRL_REG1;
JimCarver 6:cdc362f08339 180 data[1] = 0x1F;
JimCarver 6:cdc362f08339 181 writeRegs(data, 2);
JimCarver 6:cdc362f08339 182 data[0] = FXOS8700Q_M_CTRL_REG2;
JimCarver 6:cdc362f08339 183 data[1] = 0x20;
JimCarver 6:cdc362f08339 184 writeRegs(data, 2);
JimCarver 6:cdc362f08339 185 data[0] = FXOS8700Q_XYZ_DATA_CFG;
JimCarver 6:cdc362f08339 186 data[1] = 0x00;
JimCarver 6:cdc362f08339 187 writeRegs(data, 2);
JimCarver 6:cdc362f08339 188 data[0] = FXOS8700Q_CTRL_REG1;
JimCarver 6:cdc362f08339 189 data[1] = 0x18;//0x1D;
JimCarver 6:cdc362f08339 190 writeRegs(data, 2);
JimCarver 6:cdc362f08339 191 }
JimCarver 6:cdc362f08339 192
JimCarver 6:cdc362f08339 193 FXOS8700Q_mag::~FXOS8700Q_mag() { }
JimCarver 6:cdc362f08339 194
JimCarver 6:cdc362f08339 195 void FXOS8700Q_mag::enable(void) {
JimCarver 6:cdc362f08339 196 uint8_t data[2];
JimCarver 6:cdc362f08339 197 readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
JimCarver 6:cdc362f08339 198 data[1] |= 0x01;
JimCarver 6:cdc362f08339 199 data[0] = FXOS8700Q_CTRL_REG1;
JimCarver 6:cdc362f08339 200 writeRegs(data, 2);
JimCarver 6:cdc362f08339 201 }
JimCarver 6:cdc362f08339 202
JimCarver 6:cdc362f08339 203 void FXOS8700Q_mag::disable(void) {
JimCarver 6:cdc362f08339 204 uint8_t data[2];
JimCarver 6:cdc362f08339 205 readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
JimCarver 6:cdc362f08339 206 data[1] &= 0xFE;
JimCarver 6:cdc362f08339 207 data[0] = FXOS8700Q_CTRL_REG1;
JimCarver 6:cdc362f08339 208 writeRegs(data, 2);
JimCarver 6:cdc362f08339 209 }
JimCarver 6:cdc362f08339 210
JimCarver 6:cdc362f08339 211
JimCarver 6:cdc362f08339 212
JimCarver 6:cdc362f08339 213 uint32_t FXOS8700Q_mag::whoAmI() {
JimCarver 6:cdc362f08339 214 uint8_t who_am_i = 0;
JimCarver 6:cdc362f08339 215 readRegs(FXOS8700Q_WHOAMI, &who_am_i, 1);
JimCarver 6:cdc362f08339 216 return (uint32_t) who_am_i;
JimCarver 6:cdc362f08339 217 }
JimCarver 6:cdc362f08339 218
JimCarver 6:cdc362f08339 219 uint32_t FXOS8700Q_mag::dataReady(void) {
JimCarver 6:cdc362f08339 220 uint8_t stat = 0;
JimCarver 6:cdc362f08339 221 readRegs(FXOS8700Q_STATUS, &stat, 1);
JimCarver 6:cdc362f08339 222 return (uint32_t) stat;
JimCarver 6:cdc362f08339 223 }
JimCarver 6:cdc362f08339 224
JimCarver 6:cdc362f08339 225 uint32_t FXOS8700Q_mag::sampleRate(uint32_t f) {
JimCarver 6:cdc362f08339 226 return(50); // for now sample rate is fixed at 50Hz
JimCarver 6:cdc362f08339 227 }
JimCarver 6:cdc362f08339 228
JimCarver 6:cdc362f08339 229 void FXOS8700Q_mag::getX(float * x) {
JimCarver 7:c53dda05b8cf 230 *x = (float(getAccAxis(FXOS8700Q_M_OUT_X_MSB)) * 0.1f);
JimCarver 6:cdc362f08339 231 }
JimCarver 6:cdc362f08339 232
JimCarver 6:cdc362f08339 233 void FXOS8700Q_mag::getY(float * y) {
JimCarver 7:c53dda05b8cf 234 *y = (float(getAccAxis(FXOS8700Q_M_OUT_Y_MSB)) * 0.1f);
JimCarver 6:cdc362f08339 235 }
JimCarver 6:cdc362f08339 236
JimCarver 6:cdc362f08339 237 void FXOS8700Q_mag::getZ(float * z) {
JimCarver 7:c53dda05b8cf 238 *z = (float(getAccAxis(FXOS8700Q_M_OUT_Z_MSB)) * 0.1f);
JimCarver 6:cdc362f08339 239 }
JimCarver 6:cdc362f08339 240
JimCarver 6:cdc362f08339 241 void FXOS8700Q_mag::getX(int16_t * d) {
JimCarver 6:cdc362f08339 242 *d = getAccAxis(FXOS8700Q_M_OUT_X_MSB);
JimCarver 6:cdc362f08339 243 }
JimCarver 6:cdc362f08339 244
JimCarver 6:cdc362f08339 245 void FXOS8700Q_mag::getY(int16_t * d) {
JimCarver 6:cdc362f08339 246 *d = getAccAxis(FXOS8700Q_M_OUT_Y_MSB);
JimCarver 6:cdc362f08339 247 }
JimCarver 6:cdc362f08339 248
JimCarver 6:cdc362f08339 249 void FXOS8700Q_mag::getZ(int16_t * d) {
JimCarver 6:cdc362f08339 250 *d = getAccAxis(FXOS8700Q_M_OUT_Z_MSB);
JimCarver 6:cdc362f08339 251 }
JimCarver 6:cdc362f08339 252
JimCarver 6:cdc362f08339 253
JimCarver 6:cdc362f08339 254 void FXOS8700Q_mag::getAxis(MotionSensorDataUnits &data) {
JimCarver 6:cdc362f08339 255 int16_t t[3];
JimCarver 6:cdc362f08339 256 uint8_t res[6];
JimCarver 6:cdc362f08339 257 readRegs(FXOS8700Q_M_OUT_X_MSB, res, 6);
JimCarver 6:cdc362f08339 258
JimCarver 6:cdc362f08339 259 t[0] = (res[0] << 8) | res[1];
JimCarver 6:cdc362f08339 260 t[1] = (res[2] << 8) | res[3];
JimCarver 6:cdc362f08339 261 t[2] = (res[4] << 8) | res[5];
JimCarver 6:cdc362f08339 262
JimCarver 6:cdc362f08339 263 data.x = ((float) t[0]) * 0.1f;
JimCarver 6:cdc362f08339 264 data.y = ((float) t[1]) * 0.1f;
JimCarver 6:cdc362f08339 265 data.z = ((float) t[2]) * 0.1f;
JimCarver 6:cdc362f08339 266 }
JimCarver 6:cdc362f08339 267
JimCarver 6:cdc362f08339 268
JimCarver 6:cdc362f08339 269 void FXOS8700Q_mag::getAxis(MotionSensorDataCounts &data) {
JimCarver 6:cdc362f08339 270 int16_t acc;
JimCarver 6:cdc362f08339 271 uint8_t res[6];
JimCarver 7:c53dda05b8cf 272 readRegs(FXOS8700Q_M_OUT_X_MSB, res, 6);
JimCarver 6:cdc362f08339 273
JimCarver 6:cdc362f08339 274 data.x = (res[0] << 8) | res[1];
JimCarver 6:cdc362f08339 275 data.y = (res[2] << 8) | res[3];
JimCarver 6:cdc362f08339 276 data.z = (res[4] << 8) | res[5];
JimCarver 6:cdc362f08339 277 }
JimCarver 6:cdc362f08339 278
JimCarver 6:cdc362f08339 279 void FXOS8700Q_mag::readRegs(int addr, uint8_t * data, int len) {
JimCarver 1:8b53edef272f 280 char t[1] = {addr};
JimCarver 1:8b53edef272f 281 m_i2c.write(m_addr, t, 1, true);
JimCarver 1:8b53edef272f 282 m_i2c.read(m_addr, (char *)data, len);
JimCarver 0:2562215f5bc0 283 }
JimCarver 1:8b53edef272f 284
JimCarver 6:cdc362f08339 285 void FXOS8700Q_mag::writeRegs(uint8_t * data, int len) {
JimCarver 1:8b53edef272f 286 m_i2c.write(m_addr, (char *)data, len);
JimCarver 1:8b53edef272f 287 }
JimCarver 1:8b53edef272f 288
JimCarver 6:cdc362f08339 289
JimCarver 6:cdc362f08339 290 int16_t FXOS8700Q_mag::getAccAxis(uint8_t addr) {
JimCarver 6:cdc362f08339 291 int16_t acc;
JimCarver 6:cdc362f08339 292 uint8_t res[2];
JimCarver 6:cdc362f08339 293 readRegs(addr, res, 2);
JimCarver 6:cdc362f08339 294
JimCarver 6:cdc362f08339 295 acc = (res[0] << 8) | res[1];
JimCarver 6:cdc362f08339 296
JimCarver 6:cdc362f08339 297 return acc;
JimCarver 6:cdc362f08339 298 }