Víctor Najarro / FXLS8471Q

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Fork of FXLS8471Q by Jim Carver

FXLS8471Q.cpp@2:6aae25fe9ab4, 2014-06-02 (annotated)

Committer:
screamer
Date:
Mon Jun 02 17:14:15 2014 +0000
Revision:
2:6aae25fe9ab4
Parent:
1:c80be04510fe
Child:
4:b6e0c4ad3aee
Updated documentation (now visible)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JimCarver 1:c80be04510fe 1 /* Copyright (c) 2010-2011 mbed.org, MIT License
JimCarver 1:c80be04510fe 2 *
JimCarver 1:c80be04510fe 3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
JimCarver 1:c80be04510fe 4 * and associated documentation files (the "Software"), to deal in the Software without
JimCarver 1:c80be04510fe 5 * restriction, including without limitation the rights to use, copy, modify, merge, publish,
JimCarver 1:c80be04510fe 6 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
JimCarver 1:c80be04510fe 7 * Software is furnished to do so, subject to the following conditions:
JimCarver 1:c80be04510fe 8 *
JimCarver 1:c80be04510fe 9 * The above copyright notice and this permission notice shall be included in all copies or
JimCarver 1:c80be04510fe 10 * substantial portions of the Software.
JimCarver 1:c80be04510fe 11 *
JimCarver 1:c80be04510fe 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
JimCarver 1:c80be04510fe 13 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
JimCarver 1:c80be04510fe 14 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
JimCarver 1:c80be04510fe 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
JimCarver 1:c80be04510fe 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
JimCarver 1:c80be04510fe 17 */
JimCarver 1:c80be04510fe 18
JimCarver 1:c80be04510fe 19
screamer 2:6aae25fe9ab4 20 #include "FXLS8471Q.h"
screamer 2:6aae25fe9ab4 21 #define UINT14_MAX 16383
screamer 2:6aae25fe9ab4 22
screamer 2:6aae25fe9ab4 23 FXLS8471Q::FXLS8471Q(PinName mosi, PinName miso, PinName sck, PinName cs) : _spi(mosi, miso, sck), _spi_cs(cs)
screamer 2:6aae25fe9ab4 24 {
JimCarver 0:f89f2dc4b003 25 _spi_cs = 1;
JimCarver 0:f89f2dc4b003 26 wait(0.1);
JimCarver 0:f89f2dc4b003 27 begin();
JimCarver 0:f89f2dc4b003 28 }
JimCarver 0:f89f2dc4b003 29
JimCarver 0:f89f2dc4b003 30 void FXLS8471Q::RegWrite( int reg, int *d, int len)
JimCarver 0:f89f2dc4b003 31 {
JimCarver 0:f89f2dc4b003 32 int ob[2];
JimCarver 0:f89f2dc4b003 33 int c = 0;
JimCarver 0:f89f2dc4b003 34 ob[1] = 0;
JimCarver 0:f89f2dc4b003 35 ob[0] = reg + 128;
JimCarver 0:f89f2dc4b003 36 _spi_cs = 0;
JimCarver 0:f89f2dc4b003 37 _spi.write(ob[0]);
JimCarver 0:f89f2dc4b003 38 _spi.write(ob[1]);
JimCarver 0:f89f2dc4b003 39 while(c < len) _spi.write(d[c++]);
JimCarver 0:f89f2dc4b003 40 _spi_cs = 1;
JimCarver 0:f89f2dc4b003 41 }
screamer 2:6aae25fe9ab4 42
JimCarver 0:f89f2dc4b003 43 void FXLS8471Q::RegRead( int reg, int *d, int len)
JimCarver 0:f89f2dc4b003 44 {
JimCarver 0:f89f2dc4b003 45 int ob[2];
JimCarver 0:f89f2dc4b003 46 int c = 0;
JimCarver 0:f89f2dc4b003 47 ob[0] = reg;
JimCarver 0:f89f2dc4b003 48 ob[1] = 0;
JimCarver 0:f89f2dc4b003 49 _spi_cs = 0;
JimCarver 0:f89f2dc4b003 50 _spi.write(ob[0]);
JimCarver 0:f89f2dc4b003 51 _spi.write(ob[1]);
JimCarver 0:f89f2dc4b003 52 while(c < len) d[c++] = _spi.write(0xff);
JimCarver 0:f89f2dc4b003 53 _spi_cs = 1;
JimCarver 0:f89f2dc4b003 54 }
JimCarver 0:f89f2dc4b003 55
JimCarver 1:c80be04510fe 56 char FXLS8471Q::getWhoAmI(void)
JimCarver 1:c80be04510fe 57 {
JimCarver 1:c80be04510fe 58 int d;
JimCarver 1:c80be04510fe 59 RegRead( FXLS8471Q_WHOAMI, &d, 1);
JimCarver 1:c80be04510fe 60 return((char) d);
JimCarver 1:c80be04510fe 61 }
JimCarver 1:c80be04510fe 62
JimCarver 1:c80be04510fe 63
JimCarver 0:f89f2dc4b003 64 void FXLS8471Q::begin(void)
JimCarver 0:f89f2dc4b003 65 {
JimCarver 0:f89f2dc4b003 66 int databyte;
JimCarver 0:f89f2dc4b003 67
JimCarver 0:f89f2dc4b003 68 // write 0000 0000 = 0x00 to accelerometer control register 1 to place FXLS8471Q into
JimCarver 0:f89f2dc4b003 69 // standby
JimCarver 0:f89f2dc4b003 70 // [7-1] = 0000 000
JimCarver 0:f89f2dc4b003 71 // [0]: active=0
JimCarver 0:f89f2dc4b003 72 databyte = 0x00;
JimCarver 0:f89f2dc4b003 73 RegWrite(FXLS8471Q_CTRL_REG1, &databyte, 1);
JimCarver 0:f89f2dc4b003 74
JimCarver 0:f89f2dc4b003 75 // write 0000 0001= 0x01 to XYZ_DATA_CFG register
JimCarver 0:f89f2dc4b003 76 // [7]: reserved
JimCarver 0:f89f2dc4b003 77 // [6]: reserved
JimCarver 0:f89f2dc4b003 78 // [5]: reserved
JimCarver 0:f89f2dc4b003 79 // [4]: hpf_out=0
JimCarver 0:f89f2dc4b003 80 // [3]: reserved
JimCarver 0:f89f2dc4b003 81 // [2]: reserved
JimCarver 0:f89f2dc4b003 82 // [1-0]: fs=00 for accelerometer range of +/-2g with 0.244mg/LSB
JimCarver 0:f89f2dc4b003 83 databyte = 0x00;
JimCarver 0:f89f2dc4b003 84 RegWrite(FXLS8471Q_XYZ_DATA_CFG, &databyte, 1);
JimCarver 0:f89f2dc4b003 85
JimCarver 0:f89f2dc4b003 86 // write 0001 0101b = 0x15 to accelerometer control register 1
JimCarver 0:f89f2dc4b003 87 // [7-6]: aslp_rate=00
JimCarver 0:f89f2dc4b003 88 // [5-3]: dr=010 for 200Hz data rate
JimCarver 0:f89f2dc4b003 89 // [2]: lnoise=1 for low noise mode
JimCarver 0:f89f2dc4b003 90 // [1]: f_read=0 for normal 16 bit reads
JimCarver 0:f89f2dc4b003 91 // [0]: active=1 to take the part out of standby and enable sampling
JimCarver 0:f89f2dc4b003 92 databyte = 0x15;
screamer 2:6aae25fe9ab4 93 RegWrite(FXLS8471Q_CTRL_REG1, &databyte, 1);
JimCarver 0:f89f2dc4b003 94 }
JimCarver 0:f89f2dc4b003 95
JimCarver 0:f89f2dc4b003 96 void FXLS8471Q::ReadXYZ(float * fdata)
JimCarver 0:f89f2dc4b003 97 {
screamer 2:6aae25fe9ab4 98 int raw[7];
screamer 2:6aae25fe9ab4 99 int16_t ix, iy, iz;
screamer 2:6aae25fe9ab4 100 RegRead(FXLS8471Q_STATUS, raw, 7);
JimCarver 0:f89f2dc4b003 101
screamer 2:6aae25fe9ab4 102 ix = ((raw[1] * 256) + raw[2]);// / 4;
screamer 2:6aae25fe9ab4 103 iy = ((raw[3] * 256) + raw[4]);// / 4;
screamer 2:6aae25fe9ab4 104 iz = ((raw[5] * 256) + raw[6]);// / 4;
screamer 2:6aae25fe9ab4 105 fdata[0] = ((float) ix) / 16384.0;
screamer 2:6aae25fe9ab4 106 fdata[1] = ((float) iy) / 16384.0;
screamer 2:6aae25fe9ab4 107 fdata[2] = ((float) iz) / 16384.0;
JimCarver 0:f89f2dc4b003 108 }
JimCarver 1:c80be04510fe 109
JimCarver 1:c80be04510fe 110 void FXLS8471Q::ReadXYZraw(int16_t * d)
JimCarver 1:c80be04510fe 111 {
screamer 2:6aae25fe9ab4 112 int res[6];
screamer 2:6aae25fe9ab4 113 int16_t acc;
JimCarver 1:c80be04510fe 114 RegRead(FXLS8471Q_OUT_X_MSB, res, 6);
JimCarver 1:c80be04510fe 115
JimCarver 1:c80be04510fe 116 acc = (res[0] << 6) | (res[1] >> 2);
JimCarver 1:c80be04510fe 117 if (acc > UINT14_MAX/2)
JimCarver 1:c80be04510fe 118 acc -= UINT14_MAX;
JimCarver 1:c80be04510fe 119 d[0] = acc;
JimCarver 1:c80be04510fe 120 acc = (res[2] << 6) | (res[3] >> 2);
JimCarver 1:c80be04510fe 121 if (acc > UINT14_MAX/2)
JimCarver 1:c80be04510fe 122 acc -= UINT14_MAX;
JimCarver 1:c80be04510fe 123 d[1] = acc;
JimCarver 1:c80be04510fe 124 acc = (res[4] << 6) | (res[5] >> 2);
JimCarver 1:c80be04510fe 125 if (acc > UINT14_MAX/2)
JimCarver 1:c80be04510fe 126 acc -= UINT14_MAX;
JimCarver 1:c80be04510fe 127 d[2] = acc;
JimCarver 1:c80be04510fe 128 }
screamer 2:6aae25fe9ab4 129