1 files changed, 118 insertions, 0 deletions
diff --git a/examples/imx7_colibri_m4/demo_apps/sensor_demo/common/fxas21002.c b/examples/imx7_colibri_m4/demo_apps/sensor_demo/common/fxas21002.c
new file mode 100644
index 0000000..4764390
--- /dev/null
+++ b/examples/imx7_colibri_m4/demo_apps/sensor_demo/common/fxas21002.c
@@ -0,0 +1,118 @@
+/*
+ * Copyright (c) 2015, Freescale Semiconductor, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *
+ * o Redistributions of source code must retain the above copyright notice, this list
+ *   of conditions and the following disclaimer.
+ *
+ * o Redistributions in binary form must reproduce the above copyright notice, this
+ *   list of conditions and the following disclaimer in the documentation and/or
+ *   other materials provided with the distribution.
+ *
+ * o Neither the name of Freescale Semiconductor, Inc. nor the names of its
+ *   contributors may be used to endorse or promote products derived from this
+ *   software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+ * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "board.h"
+#include "i2c_xfer.h"
+#include "fxas21002.h"
+
+/*FUNCTION****************************************************************
+*
+* Function Name    : fxas21002_init
+* Returned Value   : result
+* Comments         : Initialize FXAS21002 Gyro sensor.
+*
+*END*********************************************************************/
+bool fxas21002_init(gyro_sensor_t* pThisGyro)
+{
+    uint8_t txBuffer;
+    uint8_t cmdBuffer[2];
+
+    pThisGyro->fDegPerSecPerCount = FXAS21002_DEGPERSECPERCOUNT;
+
+    // Write 0000 0000 = 0x00 to CTRL_REG1 to place FXOS21002 in Standby
+    // [7]: ZR_cond=0
+    // [6]: RST=0
+    // [5]: ST=0 self test disabled
+    // [4-2]: DR[2-0]=000 for 800Hz
+    // [1-0]: Active=0, Ready=0 for Standby mode
+    cmdBuffer[0] = BOARD_I2C_FXAS21002_ADDR << 1;
+    cmdBuffer[1] = FXAS21002_CTRL_REG1;
+    txBuffer = 0x00;
+    if (!I2C_XFER_SendDataBlocking(cmdBuffer, 2, &txBuffer, 1))
+        return false;
+
+    // write 0000 0000 = 0x00 to CTRL_REG0 to configure range and filters
+    // [7-6]: BW[1-0]=00, LPF disabled
+    // [5]: SPIW=0 4 wire SPI (irrelevant)
+    // [4-3]: SEL[1-0]=00 for 10Hz HPF at 200Hz ODR
+    // [2]: HPF_EN=0 disable HPF
+    // [1-0]: FS[1-0]=00 for 1600dps (TBD CHANGE TO 2000dps when final trimmed parts available)
+    cmdBuffer[0] = BOARD_I2C_FXAS21002_ADDR << 1;
+    cmdBuffer[1] = FXAS21002_CTRL_REG0;
+    txBuffer = 0x00;
+    if (!I2C_XFER_SendDataBlocking(cmdBuffer, 2, &txBuffer, 1))
+        return false;
+
+    // write 0000 0010 = 0x02 to CTRL_REG1 to configure 800Hz ODR and enter Active mode
+    // [7]: ZR_cond=0
+    // [6]: RST=0
+    // [5]: ST=0 self test disabled
+    // [4-2]: DR[2-0]=000 for 800Hz ODR
+    // [1-0]: Active=1, Ready=0 for Active mode
+    cmdBuffer[0] = BOARD_I2C_FXAS21002_ADDR << 1;
+    cmdBuffer[1] = FXAS21002_CTRL_REG1;
+    txBuffer = 0x02;
+    if (!I2C_XFER_SendDataBlocking(cmdBuffer, 2, &txBuffer, 1))
+        return false;
+
+    return true;
+}
+
+/*FUNCTION****************************************************************
+*
+* Function Name    : fxas21002_read_data
+* Returned Value   : result
+* Comments         : Get current height and temperature from fxas21002.
+*
+*END*********************************************************************/
+bool fxas21002_read_data(gyro_sensor_t* pThisGyro)
+{
+    uint8_t rxBuffer[6];
+    uint8_t cmdBuffer[3];
+
+    // store the gain terms in the GyroSensor structure
+    cmdBuffer[0] = BOARD_I2C_FXAS21002_ADDR << 1;
+    cmdBuffer[1] = FXAS21002_OUT_X_MSB;
+    cmdBuffer[2] = (BOARD_I2C_FXAS21002_ADDR << 1) + 1;
+    if (!I2C_XFER_ReceiveDataBlocking(cmdBuffer, 3, rxBuffer, 6))
+        return false;
+
+    pThisGyro->iYpFast[0] = (rxBuffer[0] << 8) | rxBuffer[1];
+    pThisGyro->iYpFast[1] = (rxBuffer[2] << 8) | rxBuffer[3];
+    pThisGyro->iYpFast[2] = (rxBuffer[4] << 8) | rxBuffer[5];
+
+    return true;
+}
+
+/*******************************************************************************
+ * EOF
+ ******************************************************************************/