Diff: FXOS8700Q.cpp

Revision:

0:cf7bca71c4e3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FXOS8700Q.cpp	Tue Nov 29 20:30:41 2016 +0000
@@ -0,0 +1,348 @@
+#include "FXOS8700Q.h"
+#define UINT14_MAX        16383
+
+uint8_t SensorBuffer[12];
+int     MagReadStatus;
+
+FXOS8700Q_acc::FXOS8700Q_acc(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
+    
+    // activate the peripheral
+    uint8_t data[2] = {FXOS8700Q_CTRL_REG1, 0x00};
+    m_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] = 0x11;
+    writeRegs(data, 2);
+    
+    data[0] = FXOS8700Q_CTRL_REG1;
+    data[1] = 0x54;
+    writeRegs(data, 2);
+
+    // Initialize XYZ Data Configuration
+    data[0] = FXOS8700Q_XYZ_DATA_CFG;
+    data[1] = 0x11;  // high pass active, +/- 4g mode
+    writeRegs(data,2);
+
+    // Initialize Motion Detection Register (A_FFMT_CFG)
+    data[0] = FXOS8700Q_A_FFMT_CFG;
+    data[1] = 0xE0;  // latch, motion, z thresh active
+    writeRegs(data, 2);
+    
+    // Initialize Motion Threshold Register (A_FFMT_THS)
+    data[0] = FXOS8700Q_A_FFMT_THS;
+    data[1] = 0x10;
+    writeRegs(data, 2);
+
+    // Initialize Motion Count (A_FFMT_COUNT)
+    data[0] = FXOS8700Q_A_FFMT_COUNT;
+    data[1] = 0x0A;  // 10 time steps x 5ms ODR = 50ms debounce period 
+    writeRegs(data, 2);
+    
+   
+
+    // // Initialize CTRL REG 2
+    // data[0] = FXOS8700Q_CTRL_REG2;
+    // data[1] = 0x1D;  // low power sleep, auto-sleep, low power/noise OSR
+    // writeRegs(data, 2);
+
+    // Iniitialize CTRL REG 3
+    data[0] = FXOS8700Q_CTRL_REG3;
+    data[1] = 0x00;  // default settings ==> interrupts are active low!
+    writeRegs(data, 2);
+
+    // Initialize CTRL REG 4
+    data[0] = FXOS8700Q_CTRL_REG4;
+    data[1] = 0x04;  // freefall/motion interrupt enabled
+                     // could change: 0x06 to enable ffmt and a_vecm
+    writeRegs(data, 2);
+    // Initialize CTRL REG 5
+    data[0] = FXOS8700Q_CTRL_REG5;
+    data[1] = 0x04;  // ffmt on INT1 pin, a_vecm on INT2 pin
+    writeRegs(data, 2);
+    
+    MagReadStatus = 0;
+}
+
+FXOS8700Q_acc::~FXOS8700Q_acc() { }
+
+void FXOS8700Q_acc::enable(void) {
+    uint8_t data[2];
+    readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
+    printf("Is this working %04x \r\n", &data[1]);
+    data[1] |= 0x01;
+    data[0] = FXOS8700Q_CTRL_REG1;
+    writeRegs(data, 2);
+    MagReadStatus = 0;
+}
+
+void FXOS8700Q_acc::disable(void) {
+    uint8_t data[2];
+    readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
+    data[1] &= 0xFE;
+    data[0] = FXOS8700Q_CTRL_REG1;
+    writeRegs(data, 2);
+    MagReadStatus = 0;
+}
+
+uint32_t FXOS8700Q_acc::whoAmI() {
+    uint8_t who_am_i = 0;
+    readRegs(FXOS8700Q_WHOAMI, &who_am_i, 1);
+    return (uint32_t) who_am_i;
+}
+
+uint32_t FXOS8700Q_acc::dataReady(void) {
+    uint8_t stat = 0;
+    readRegs(FXOS8700Q_STATUS, &stat, 1);
+    return (uint32_t) stat;
+}
+
+uint32_t FXOS8700Q_acc::sampleRate(uint32_t f) {
+    return(50); // for now sample rate is fixed at 50Hz
+}
+
+void FXOS8700Q_acc::getX(float * x) {
+    *x = (float(getAccAxis(FXOS8700Q_OUT_X_MSB))/4096.0f);
+}
+
+void FXOS8700Q_acc::getY(float * y) {
+    *y = (float(getAccAxis(FXOS8700Q_OUT_Y_MSB))/4096.0f);
+}
+
+void FXOS8700Q_acc::getZ(float * z) {
+    *z = (float(getAccAxis(FXOS8700Q_OUT_Z_MSB))/4096.0f);
+}
+
+void FXOS8700Q_acc::getX(int16_t * d) {
+    *d = getAccAxis(FXOS8700Q_OUT_X_MSB);
+}
+
+void FXOS8700Q_acc::getY(int16_t * d) {
+    *d = getAccAxis(FXOS8700Q_OUT_Y_MSB);
+}
+
+void FXOS8700Q_acc::getZ(int16_t * d) {
+    *d = getAccAxis(FXOS8700Q_OUT_Z_MSB);
+}
+
+
+void FXOS8700Q_acc::getAxis(MotionSensorDataUnits &data) {
+    int16_t acc, t[3];
+
+   readRegs(FXOS8700Q_OUT_X_MSB, SensorBuffer, 12);
+
+    acc = (SensorBuffer[0] << 6) | (SensorBuffer[1] >> 2);
+    if (acc > UINT14_MAX/2)
+        acc -= UINT14_MAX;
+    t[0] = acc;
+    acc = (SensorBuffer[2] << 6) | (SensorBuffer[3] >> 2);
+    if (acc > UINT14_MAX/2)
+        acc -= UINT14_MAX;
+    t[1] = acc;
+    acc = (SensorBuffer[4] << 6) | (SensorBuffer[5] >> 2);
+    if (acc > UINT14_MAX/2)
+        acc -= UINT14_MAX;
+    t[2] = acc;
+    data.x = ((float) t[0]) / 4096.0f;
+    data.y = ((float) t[1]) / 4096.0f;
+    data.z = ((float) t[2]) / 4096.0f;
+    MagReadStatus = 1;
+}
+
+
+void FXOS8700Q_acc::getAxis(MotionSensorDataCounts &data) {
+    int16_t acc;
+    readRegs(FXOS8700Q_OUT_X_MSB, SensorBuffer, 12);
+
+    acc = (SensorBuffer[0] << 6) | (SensorBuffer[1] >> 2);
+    if (acc > UINT14_MAX/2)
+        acc -= UINT14_MAX;
+    data.x = acc;
+    acc = (SensorBuffer[2] << 6) | (SensorBuffer[3] >> 2);
+    if (acc > UINT14_MAX/2)
+        acc -= UINT14_MAX;
+    data.y = acc;
+    acc = (SensorBuffer[4] << 6) | (SensorBuffer[5] >> 2);
+    if (acc > UINT14_MAX/2)
+        acc -= UINT14_MAX;
+    data.z = acc;
+    MagReadStatus = 1;
+}
+
+void FXOS8700Q_acc::readRegs(int addr, uint8_t * data, int len) {
+    char t[1] = {addr};
+    m_i2c.write(m_addr, t, 1, true);
+    m_i2c.read(m_addr, (char *)data, len);
+}
+
+void FXOS8700Q_acc::writeRegs(uint8_t * data, int len) {
+    m_i2c.write(m_addr, (char *)data, len);
+}
+
+
+int16_t FXOS8700Q_acc::getAccAxis(uint8_t addr) {
+    int16_t acc;
+    uint8_t res[2];
+    readRegs(addr, res, 2);
+
+    acc = (res[0] << 6) | (res[1] >> 2);
+    if (acc > UINT14_MAX/2)
+        acc -= UINT14_MAX;
+
+    return acc;
+}
+
+uint8_t FXOS8700Q_acc::getStatus(void) {
+    uint8_t stat = 0;
+    readRegs( FXOS8700Q_A_FFMT_SRC, &stat, 1);
+    return stat;
+}
+
+uint8_t FXOS8700Q_acc::getIntSource(void) {
+    uint8_t intSrc = 0;
+    readRegs ( 0x0C, &intSrc, 1);
+    return intSrc;
+}
+
+
+FXOS8700Q_mag::FXOS8700Q_mag(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) {
+    // activate the peripheral
+    uint8_t data[2] = {FXOS8700Q_CTRL_REG1, 0x00};
+    m_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] = 0x18;//0x1D;
+    writeRegs(data, 2);
+    MagReadStatus = 0;
+}
+
+FXOS8700Q_mag::~FXOS8700Q_mag() { }
+
+void FXOS8700Q_mag::enable(void) {
+    uint8_t data[2];
+    readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
+    data[1] |= 0x01;
+    data[0] = FXOS8700Q_CTRL_REG1;
+    writeRegs(data, 2);
+    MagReadStatus = 0;
+}
+
+void FXOS8700Q_mag::disable(void) {
+    uint8_t data[2];
+    readRegs( FXOS8700Q_CTRL_REG1, &data[1], 1);
+    data[1] &= 0xFE;
+    data[0] = FXOS8700Q_CTRL_REG1;
+    writeRegs(data, 2);
+    MagReadStatus = 0;
+}
+
+
+
+uint32_t FXOS8700Q_mag::whoAmI() {
+    uint8_t who_am_i = 0;
+    readRegs(FXOS8700Q_WHOAMI, &who_am_i, 1);
+    return (uint32_t) who_am_i;
+}
+
+uint32_t FXOS8700Q_mag::dataReady(void) {
+    uint8_t stat = 0;
+    readRegs(FXOS8700Q_STATUS, &stat, 1);
+    return (uint32_t) stat;
+}
+
+uint32_t FXOS8700Q_mag::sampleRate(uint32_t f) {
+    return(50); // for now sample rate is fixed at 50Hz
+}
+
+void FXOS8700Q_mag::getX(float * x) {
+    *x = (float(getAccAxis(FXOS8700Q_M_OUT_X_MSB)) * 0.1f);
+}
+
+void FXOS8700Q_mag::getY(float * y) {
+    *y = (float(getAccAxis(FXOS8700Q_M_OUT_Y_MSB)) * 0.1f);
+}
+
+void FXOS8700Q_mag::getZ(float * z) {
+    *z = (float(getAccAxis(FXOS8700Q_M_OUT_Z_MSB)) * 0.1f);
+}
+
+void FXOS8700Q_mag::getX(int16_t * d) {
+    *d = getAccAxis(FXOS8700Q_M_OUT_X_MSB);
+}
+
+void FXOS8700Q_mag::getY(int16_t * d) {
+    *d = getAccAxis(FXOS8700Q_M_OUT_Y_MSB);
+}
+
+void FXOS8700Q_mag::getZ(int16_t * d) {
+    *d = getAccAxis(FXOS8700Q_M_OUT_Z_MSB);
+}
+
+
+void FXOS8700Q_mag::getAxis(MotionSensorDataUnits &data) {
+    int16_t t[3];
+    uint8_t res[6];
+    
+   if(MagReadStatus) {
+        t[0] = (SensorBuffer[6] << 8) | SensorBuffer[7];
+        t[1] = (SensorBuffer[8] << 8) | SensorBuffer[9];
+        t[2] = (SensorBuffer[10] << 8) | SensorBuffer[11];        
+        } else {
+        readRegs(FXOS8700Q_M_OUT_X_MSB, res, 6);
+        t[0] = (res[0] << 8) | res[1];
+        t[1] = (res[2] << 8) | res[3];
+        t[2] = (res[4] << 8) | res[5];
+        }
+    data.x = ((float) t[0]) * 0.1f;
+    data.y = ((float) t[1]) * 0.1f;
+    data.z = ((float) t[2]) * 0.1f;
+}
+
+
+void FXOS8700Q_mag::getAxis(MotionSensorDataCounts &data) {
+
+    uint8_t res[6];
+    readRegs(FXOS8700Q_M_OUT_X_MSB, res, 6);
+
+    data.x = (res[0] << 8) | res[1];
+    data.y = (res[2] << 8) | res[3];
+    data.z = (res[4] << 8) | res[5];
+}
+
+void FXOS8700Q_mag::readRegs(int addr, uint8_t * data, int len) {
+    char t[1] = {addr};
+    m_i2c.write(m_addr, t, 1, true);
+    m_i2c.read(m_addr, (char *)data, len);
+}
+
+void FXOS8700Q_mag::writeRegs(uint8_t * data, int len) {
+    m_i2c.write(m_addr, (char *)data, len);
+}
+
+
+int16_t FXOS8700Q_mag::getAccAxis(uint8_t addr) {
+    int16_t acc;
+    uint8_t res[2];
+    readRegs(addr, res, 2);
+
+    acc = (res[0] << 8) | res[1];
+
+    return acc;
+}
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