Diff: accel_mag.cpp

Revision:

0:a84d2425acba

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/accel_mag.cpp	Fri Jul 26 13:37:55 2019 +0000
@@ -0,0 +1,79 @@
+#include "accel_mag.h"
+#include "mbed.h"
+
+FXOS8700::FXOS8700(PinName sda, PinName scl) : FXOS8700_i2c(sda,scl)
+ {
+       
+ }
+    
+ /*Configure the accelerometer*/
+void FXOS8700::configureAccelerometer(void)
+ {
+   char d[2]; 
+//Put accelerometer in standby mode
+   d[0] = FXOS8700_CTRL_REG1;                     
+   d[1] = 0x00; 
+   FXOS8700_i2c.write(FXOS8700_I2C_ADDRESS, d,2);   
+          
+//Put accelerometer in active mode
+   d[0] = FXOS8700_CTRL_REG1;                     
+   d[1] = 0x01;
+   FXOS8700_i2c.write(FXOS8700_I2C_ADDRESS, d, 2);   
+      
+ }
+ /*Configure the magnetometer*/
+  void FXOS8700:: configureMagnetometer(void)
+ {
+   char d[2];
+   d[0] = FXOS8700_CTRL_REG1;                     //Standby mode (Magnetometer)
+   d[1] = 0x00;
+   FXOS8700_i2c.write(FXOS8700_I2C_ADDRESS, d,2);   
+          
+   
+   d[0] = FXOS8700_M_CTRL_REG1;                   //hybrid mode (both accelerometer and magnetometer are active)
+   d[1] = 0x03;
+   FXOS8700_i2c.write(FXOS8700_I2C_ADDRESS, d, 2);   
+   
+
+   d[0] = FXOS8700_CTRL_REG1;                     //Active mode (Magnetometer)
+   d[1] = 0x01;
+   FXOS8700_i2c.write(FXOS8700_I2C_ADDRESS, d,2);  
+   
+ }
+ 
+ void FXOS8700::getAccelData(float * accelData)
+ {
+  
+   char data_bytes[7];
+   char d[1];
+   d[0]=FXOS8700_STATUS;
+   FXOS8700_i2c.write(FXOS8700_I2C_ADDRESS,d,1,true);
+//Read data from X Y Z
+   FXOS8700_i2c.read(FXOS8700_I2C_ADDRESS,data_bytes,7);
+   
+/*Calculation derived from the datasheet*/
+/*256 = 2^8  or >>8 can be used*/
+   accelData[0] =  ((float)((int16_t)(((data_bytes[1]<<8) + (data_bytes[2])))>> 2) * 0.000244);
+   accelData[1] =  ((float)((int16_t)(((data_bytes[3]<<8) + (data_bytes[4])))>> 2) * 0.000244);
+   accelData[2] =  ((float)((int16_t)(((data_bytes[5]<<8) + (data_bytes[6])))>> 2) * 0.000244);
+   
+ }
+
+ void FXOS8700::getMagData(float * magData)
+ {
+  
+   char data_bytes[7];
+   char d[1];
+   d[0]=FXOS8700_MDR_STATUS;
+   FXOS8700_i2c.write(FXOS8700_I2C_ADDRESS,d,1,true);  // Read data from X Y Z
+   FXOS8700_i2c.read(FXOS8700_I2C_ADDRESS,data_bytes,7);
+   
+   magData[0] =  (float)((int16_t)((data_bytes[1]<<8) + (data_bytes[2]))) * 0.1;
+   magData[1] =  (float)((int16_t)((data_bytes[3]<<8) + (data_bytes[4]))) * 0.1;
+   magData[2] =  (float)((int16_t)((data_bytes[5]<<8) + (data_bytes[6]))) * 0.1;
+   
+ }
+     
+     
+
+