Revision 0:6e26fb9d0a78, committed 2017-01-20

Comitter:

remembervin

Date:

Fri Jan 20 12:31:37 2017 +0000

Commit message:

FXOS8700Q 9-axis accelerometer(+e-compass) drivers

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FXOS8700Q.cpp	Fri Jan 20 12:31:37 2017 +0000
@@ -0,0 +1,232 @@
+/* FXOS8700Q sensor driver
+ * Copyright (c) 2014-2015 ARM Limited
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "FXOS8700Q.h"
+
+const uint16_t uint14_max = 0x3FFF;
+void static inline normalize_14bits(int16_t &x)
+{
+    x = ((x) > (uint14_max/2)) ? (x - uint14_max) : (x);
+}
+
+static int16_t dummy_int16_t = 0;
+static float dummy_float = 0.0f;
+
+FXOS8700Q::FXOS8700Q(I2C &i2c, uint8_t addr)
+{
+    _i2c = &i2c;
+    _addr = addr;
+    // activate the peripheral
+    uint8_t data[2] = {FXOS8700Q_CTRL_REG1, 0x00};
+    _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);
+}
+
+FXOS8700Q::~FXOS8700Q()
+{
+    _i2c = 0;
+    _addr = 0;
+}
+
+void FXOS8700Q::readRegs(uint8_t addr, uint8_t *data, uint32_t len) const
+{
+    uint8_t t[1] = {addr};
+    _i2c->write(_addr, (char *)t, sizeof(t), true);
+    _i2c->read(_addr, (char *)data, len);
+}
+
+uint8_t FXOS8700Q::whoAmI() const
+{
+    uint8_t who_am_i = 0;
+    readRegs(FXOS8700Q_WHOAMI, &who_am_i, sizeof(who_am_i));
+    return who_am_i;
+}
+
+void FXOS8700Q::writeRegs(uint8_t * data, uint32_t len) const
+{
+    _i2c->write(_addr, (char *)data, len);
+}
+
+
+int16_t FXOS8700Q::getSensorAxis(uint8_t addr) const
+{
+    uint8_t res[2];
+    readRegs(addr, res, sizeof(res));
+    return static_cast<int16_t>((res[0] << 8) | res[1]);
+}
+
+void FXOS8700Q::enable(void) const
+{
+    uint8_t data[2];
+    readRegs(FXOS8700Q_CTRL_REG1, &data[1], 1);
+    data[1] |= 0x01;
+    data[0] = FXOS8700Q_CTRL_REG1;
+    writeRegs(data, sizeof(data));
+}
+
+void FXOS8700Q::disable(void) const
+{
+    uint8_t data[2];
+    readRegs(FXOS8700Q_CTRL_REG1, &data[1], 1);
+    data[1] &= 0xFE;
+    data[0] = FXOS8700Q_CTRL_REG1;
+    writeRegs(data, sizeof(data));
+}
+
+uint32_t FXOS8700Q::dataReady(void) const
+{
+    uint8_t stat = 0;
+    readRegs(FXOS8700Q_STATUS, &stat, 1);
+    return (uint32_t)stat;
+}
+
+uint32_t FXOS8700Q::sampleRate(uint32_t frequency) const
+{
+    frequency = 50;
+    return(50); // for now sample rate is fixed at 50Hz
+}
+
+int16_t FXOS8700QAccelerometer::getX(int16_t &x = dummy_int16_t) const
+{
+    x = getSensorAxis(FXOS8700Q_OUT_X_MSB) >> 2;
+    normalize_14bits(x);
+    return x;
+}
+
+int16_t FXOS8700QAccelerometer::getY(int16_t &y = dummy_int16_t) const
+{
+    y = getSensorAxis(FXOS8700Q_OUT_Y_MSB) >> 2;
+    normalize_14bits(y);
+    return y;
+}
+
+int16_t FXOS8700QAccelerometer::getZ(int16_t &z = dummy_int16_t) const
+{
+    z = getSensorAxis(FXOS8700Q_OUT_Z_MSB) >> 2;
+    normalize_14bits(z);
+    return z;
+}
+
+float FXOS8700QAccelerometer::getX(float &x = dummy_float) const
+{
+    int16_t val = getSensorAxis(FXOS8700Q_OUT_X_MSB) >> 2;
+    normalize_14bits(val);
+    x = val / 4096.0f;
+    return x;
+}
+
+float FXOS8700QAccelerometer::getY(float &y = dummy_float) const
+{
+    int16_t val = getSensorAxis(FXOS8700Q_OUT_Y_MSB) >> 2;
+    normalize_14bits(val);
+    y = val / 4096.0f;
+    return y;
+}
+
+float FXOS8700QAccelerometer::getZ(float &z = dummy_float) const
+{
+    int16_t val = getSensorAxis(FXOS8700Q_OUT_Z_MSB) >> 2;
+    normalize_14bits(val);
+    z = val / 4096.0f;
+    return z;
+}
+
+void FXOS8700QAccelerometer::getAxis(motion_data_counts_t &xyz) const
+{
+    uint8_t res[6];
+    readRegs(FXOS8700Q_OUT_X_MSB, res, sizeof(res));
+    xyz.x = static_cast<int16_t>((res[0] << 8) | res[1]) >> 2;
+    xyz.y = static_cast<int16_t>((res[2] << 8) | res[3]) >> 2;
+    xyz.z = static_cast<int16_t>((res[4] << 8) | res[5]) >> 2;
+    normalize_14bits(xyz.x);
+    normalize_14bits(xyz.y);
+    normalize_14bits(xyz.z);
+}
+
+void FXOS8700QAccelerometer::getAxis(motion_data_units_t &xyz) const
+{
+    motion_data_counts_t _xyz;
+    FXOS8700QAccelerometer::getAxis(_xyz);
+    xyz.x = _xyz.x / 4096.0f;
+    xyz.y = _xyz.y / 4096.0f;
+    xyz.z = _xyz.z / 4096.0f;
+}
+
+int16_t FXOS8700QMagnetometer::getX(int16_t &x = dummy_int16_t) const
+{
+    x = getSensorAxis(FXOS8700Q_M_OUT_X_MSB);
+    return x;
+}
+
+int16_t FXOS8700QMagnetometer::getY(int16_t &y = dummy_int16_t) const
+{
+    y = getSensorAxis(FXOS8700Q_M_OUT_Y_MSB);
+    return y;
+}
+
+int16_t FXOS8700QMagnetometer::getZ(int16_t &z = dummy_int16_t) const
+{
+    z = getSensorAxis(FXOS8700Q_M_OUT_Z_MSB);
+    return z;
+}
+
+float FXOS8700QMagnetometer::getX(float &x = dummy_float) const
+{
+    x = static_cast<float>(getSensorAxis(FXOS8700Q_M_OUT_X_MSB)) * 0.1f;
+    return x;
+}
+
+float FXOS8700QMagnetometer::getY(float &y = dummy_float) const
+{
+    y = static_cast<float>(getSensorAxis(FXOS8700Q_M_OUT_Y_MSB)) * 0.1f;
+    return y;
+}
+
+float FXOS8700QMagnetometer::getZ(float &z = dummy_float) const
+{
+    z = static_cast<float>(getSensorAxis(FXOS8700Q_M_OUT_Z_MSB)) * 0.1f;
+    return z;
+}
+
+void FXOS8700QMagnetometer::getAxis(motion_data_counts_t &xyz) const
+{
+    uint8_t res[6];
+    readRegs(FXOS8700Q_M_OUT_X_MSB, res, sizeof(res));
+    xyz.x = (res[0] << 8) | res[1];
+    xyz.y = (res[2] << 8) | res[3];
+    xyz.z = (res[4] << 8) | res[5];
+}
+
+void FXOS8700QMagnetometer::getAxis(motion_data_units_t &xyz) const
+{
+    motion_data_counts_t _xyz;
+    FXOS8700QMagnetometer::getAxis(_xyz);
+    xyz.x = static_cast<float>(_xyz.x * 0.1f);
+    xyz.y = static_cast<float>(_xyz.y * 0.1f);
+    xyz.z = static_cast<float>(_xyz.z * 0.1f);
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FXOS8700Q.h	Fri Jan 20 12:31:37 2017 +0000
@@ -0,0 +1,180 @@
+/* FXOS8700Q sensor driver
+ * Copyright (c) 2014-2015 ARM Limited
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef FXOS8700Q_H
+#define FXOS8700Q_H
+
+#include "mbed.h"
+
+/** motion_data_counts_t struct
+ *  */
+typedef struct {
+    int16_t x;      /*!< x-axis counts */
+    int16_t y;      /*!< y-axis counts */
+    int16_t z;      /*!< z-axis counts */
+} motion_data_counts_t;
+ 
+/** motion_data_units_t struct
+ *  */
+typedef struct {
+    float x;        /*!< x-axis counts */
+    float y;        /*!< y-axis counts */
+    float z;        /*!< z-axis counts */
+} motion_data_units_t;
+ 
+
+// FXOS8700CQ I2C address
+#define FXOS8700CQ_SLAVE_ADDR0 (0x1E<<1) // with pins SA0=0, SA1=0
+#define FXOS8700CQ_SLAVE_ADDR1 (0x1D<<1) // with pins SA0=1, SA1=0
+#define FXOS8700CQ_SLAVE_ADDR2 (0x1C<<1) // with pins SA0=0, SA1=1
+#define FXOS8700CQ_SLAVE_ADDR3 (0x1F<<1) // with pins SA0=1, SA1=1
+// FXOS8700CQ internal register addresses
+#define FXOS8700Q_STATUS 0x00
+#define FXOS8700Q_OUT_X_MSB 0x01
+#define FXOS8700Q_OUT_Y_MSB 0x03
+#define FXOS8700Q_OUT_Z_MSB 0x05
+#define FXOS8700Q_M_OUT_X_MSB 0x33
+#define FXOS8700Q_M_OUT_Y_MSB 0x35
+#define FXOS8700Q_M_OUT_Z_MSB 0x37
+#define FXOS8700Q_WHOAMI 0x0D
+#define FXOS8700Q_XYZ_DATA_CFG 0x0E
+#define FXOS8700Q_CTRL_REG1 0x2A
+#define FXOS8700Q_M_CTRL_REG1 0x5B
+#define FXOS8700Q_M_CTRL_REG2 0x5C
+#define FXOS8700Q_WHOAMI_VAL 0xC7
+
+
+/** FXOS8700Q accelerometer example
+    @code
+    #include "mbed.h"
+    #include "FXOS8700Q.h"
+    I2C i2c(PTE25, PTE24);
+    FXOS8700QAccelerometer acc(i2c, FXOS8700CQ_SLAVE_ADDR1);    // Configured for the FRDM-K64F with onboard sensors
+    FXOS8700QMagnetometer mag(i2c, FXOS8700CQ_SLAVE_ADDR1);
+    int main(void)
+    {
+        motion_data_units_t acc_data, mag_data;
+        motion_data_counts_t acc_raw, mag_raw;
+        float faX, faY, faZ, fmX, fmY, fmZ, tmp_float;
+        int16_t raX, raY, raZ, rmX, rmY, rmZ, tmp_int;
+        acc.enable();
+        mag.enable();
+        while (true) {
+            // counts based results
+            acc.getAxis(acc_raw);
+            mag.getAxis(mag_raw);
+            acc.getX(raX);
+            acc.getY(raY);
+            acc.getZ(raZ);
+            mag.getX(rmX);
+            mag.getY(rmY);
+            mag.getZ(rmZ);
+            // unit based results
+            acc.getAxis(acc_data);
+            mag.getAxis(mag_data);
+            acc.getX(faX);
+            acc.getY(faY);
+            acc.getZ(faZ);
+            mag.getX(fmX);
+            mag.getY(fmY);
+            mag.getZ(fmZ);
+            wait(0.1f);
+        }
+    }
+    @endcode
+ */
+
+/** FXOS8700Q driver class
+ */
+class FXOS8700Q
+{
+public:
+
+    /** Read a device register
+        @param addr The address to read from
+        @param data The data to read from it
+        @param len The amount of data to read from it
+        @return 0 if successful, negative number otherwise
+     */
+    void readRegs(uint8_t addr, uint8_t *data, uint32_t len) const;
+
+    /** Read the ID from a whoAmI register
+        @return The device whoAmI register contents
+     */
+    uint8_t whoAmI(void) const;
+
+    virtual void enable(void) const;
+    virtual void disable(void) const;
+    virtual uint32_t sampleRate(uint32_t frequency) const;
+    virtual uint32_t dataReady(void) const;
+
+protected:
+    I2C *_i2c;
+    uint8_t _addr;
+    
+    /** FXOS8700Q constructor
+        @param i2c a configured i2c object
+        @param addr addr of the I2C peripheral as wired
+     */
+    FXOS8700Q(I2C &i2c, uint8_t addr);
+
+    /** FXOS8700Q deconstructor
+     */
+    ~FXOS8700Q();
+    
+    void writeRegs(uint8_t *data, uint32_t len) const;
+    int16_t getSensorAxis(uint8_t addr) const;
+};
+
+/** FXOS8700QAccelerometer interface
+ */
+class FXOS8700QAccelerometer : public FXOS8700Q
+{
+public:
+
+    FXOS8700QAccelerometer(I2C &i2c, uint8_t addr) : FXOS8700Q(i2c, addr) {}
+
+    virtual int16_t getX(int16_t &x) const;
+    virtual int16_t getY(int16_t &y) const;
+    virtual int16_t getZ(int16_t &z) const;
+    virtual float getX(float &x) const;
+    virtual float getY(float &y) const;
+    virtual float getZ(float &z) const;
+    virtual void getAxis(motion_data_counts_t &xyz) const;
+    virtual void getAxis(motion_data_units_t &xyz) const;
+
+};
+
+/** FXOS8700QMagnetometer interface
+ */
+class FXOS8700QMagnetometer : public FXOS8700Q
+{
+public:
+
+    FXOS8700QMagnetometer(I2C &i2c, uint8_t addr) : FXOS8700Q(i2c, addr) {}
+
+    virtual int16_t getX(int16_t &x) const;
+    virtual int16_t getY(int16_t &y) const;
+    virtual int16_t getZ(int16_t &z) const;
+    virtual float getX(float &x) const;
+    virtual float getY(float &y) const;
+    virtual float getZ(float &z) const;
+    virtual void getAxis(motion_data_counts_t &xyz) const;
+    virtual void getAxis(motion_data_units_t &xyz) const;
+
+};
+
+#endif