Diff: FXOS8700CQ.cpp

Revision:

7:26db88bf6b70

Parent:

6:75494f28f57f

--- a/FXOS8700CQ.cpp	Mon Dec 05 09:24:27 2016 +0000
+++ b/FXOS8700CQ.cpp	Thu Jan 18 07:51:57 2018 +0000
@@ -4,10 +4,9 @@
 uint8_t raw[FXOS8700CQ_READ_LEN]; // Buffer for reading out stored data
 
 // Construct class and its contents
-FXOS8700CQ::FXOS8700CQ(PinName sda, PinName scl, int addr) : dev_i2c(sda, scl), dev_addr(addr)
+FXOS8700CQ::FXOS8700CQ(I2C* puntero, int addr) : dev_i2c(puntero), dev_addr(addr)
 {
     // Initialization of the FXOS8700CQ
-    dev_i2c.frequency(200000); // Use maximum I2C frequency
     uint8_t data[6] = {0, 0, 0, 0, 0, 0}; // to write over I2C: device register, up to 5 bytes data
 
     // TODO: verify WHOAMI?
@@ -20,18 +19,17 @@
     // Now that the device is in standby, configure registers at will
 
     // Setup for write-though for CTRL_REG series
-    // Keep data[0] as FXOS8700CQ_CTRL_REG1
-    data[1] =
-        FXOS8700CQ_CTRL_REG1_ASLP_RATE2(1) | // 0b01 gives sleep rate of 12.5Hz
-        FXOS8700CQ_CTRL_REG1_DR3(1); // 0x001 gives ODR of 400Hz/200Hz hybrid
-
+    
+     //FXOS8700CQ_CTRL_REG1
+    data[1] = 0b00001100; //data 400Hz ODR Active mode and Low noise
+    
     // FXOS8700CQ_CTRL_REG2;
     data[2] =
-        FXOS8700CQ_CTRL_REG2_SMODS2(3) | // 0b11 gives low power sleep oversampling mode
-        FXOS8700CQ_CTRL_REG2_MODS2(1); // 0b01 gives low noise, low power oversampling mode
+        FXOS8700CQ_CTRL_REG2_SMODS2(2) | // 0b10 High Resolution
+        FXOS8700CQ_CTRL_REG2_MODS2(2); // 0b10 
 
     // No configuration changes from default 0x00 in CTRL_REG3
-    // Interrupts will be active low, their outputs in push-pull mode
+    // Interrupts will be active low, their outputs in push pull mode
     data[3] = 0x00;
 
     // FXOS8700CQ_CTRL_REG4;
@@ -54,14 +52,9 @@
 
     // Setup for write-through for M_CTRL_REG series
     data[0] = FXOS8700CQ_M_CTRL_REG1;
-    data[1] =
-        FXOS8700CQ_M_CTRL_REG1_M_ACAL | // set automatic calibration
-        FXOS8700CQ_M_CTRL_REG1_MO_OS3(7) | // use maximum magnetic oversampling
-        FXOS8700CQ_M_CTRL_REG1_M_HMS2(3); // enable hybrid sampling (both sensors)
-
+    data[1] = FXOS8700CQ_M_CTRL_REG1_M_HMS2(0); // only acelerometer
     // FXOS8700CQ_M_CTRL_REG2
-    data[2] =
-        FXOS8700CQ_M_CTRL_REG2_HYB_AUTOINC_MODE;
+    data[2] =0x00; 
 
     // FXOS8700CQ_M_CTRL_REG3
     data[3] =
@@ -153,15 +146,15 @@
         return 1;
     }
 
-    read_regs(FXOS8700CQ_M_OUT_X_MSB, raw, FXOS8700CQ_READ_LEN);
+    read_regs(FXOS8700CQ_OUT_X_MSB, raw, 6);
 
     // Pull out 16-bit, 2's complement magnetometer data
 
 
     // Pull out 14-bit, 2's complement, right-justified accelerometer data
-    accel_data->x = (raw[6] << 8) | raw[7];
-    accel_data->y = (raw[8] << 8) | raw[9];
-    accel_data->z = (raw[10] << 8) | raw[11];
+    accel_data->x = (raw[0] << 6) | raw[1]>>2;
+    accel_data->y = (raw[2] << 6) | raw[3]>>2;
+    accel_data->z = (raw[4] << 6) | raw[5]>>2;
 
     // Have to apply corrections to make the int16_t correct
     if(accel_data->x > UINT14_MAX/2) {
@@ -200,16 +193,16 @@
 
 // Private methods
 
-// Excepting the call to dev_i2c.frequency() in the constructor,
+// Excepting the call to dev_i2c->frequency() in the constructor,
 // the use of the mbed I2C class is restricted to these methods
 void FXOS8700CQ::read_regs(int reg_addr, uint8_t* data, int len)
 {
     char t[1] = {reg_addr};
-    dev_i2c.write(dev_addr, t, 1, true);
-    dev_i2c.read(dev_addr, (char *)data, len);
+    dev_i2c->write(dev_addr, t, 1, true);
+    dev_i2c->read(dev_addr, (char *)data, len);
 }
 
 void FXOS8700CQ::write_regs(uint8_t* data, int len)
 {
-    dev_i2c.write(dev_addr, (char*)data, len);
+    dev_i2c->write(dev_addr, (char*)data, len);
 }