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Diffstat (limited to 'examples/imx7_colibri_m4/demo_apps/sensor_demo/common/fxas21002.h')
| -rw-r--r-- | examples/imx7_colibri_m4/demo_apps/sensor_demo/common/fxas21002.h | 98 |
1 files changed, 98 insertions, 0 deletions
diff --git a/examples/imx7_colibri_m4/demo_apps/sensor_demo/common/fxas21002.h b/examples/imx7_colibri_m4/demo_apps/sensor_demo/common/fxas21002.h new file mode 100644 index 0000000..a3adbae --- /dev/null +++ b/examples/imx7_colibri_m4/demo_apps/sensor_demo/common/fxas21002.h @@ -0,0 +1,98 @@ +/* + * 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. + */ + +#ifndef __FXAS21002_H__ +#define __FXAS21002_H__ + +#define OVERSAMPLE_RATIO (64) // int32: 8x: 3DOF, 6DOF, 9DOF run at SENSORFS / OVERSAMPLE_RATIO Hz + +// place the gain in the gyro structure +#define FXAS21002_COUNTSPERDEGPERSEC (16.0F) // for production 2000dps range (2000dps=32000) +#define FXAS21002_DEGPERSECPERCOUNT (0.0625F) // must be reciprocal of FCOUNTSPERDEGPERSEC + +/* I2C Slave Address define */ +#define FXAS21002_ADDRESS_0 (0x20) +#define FXAS21002_ADDRESS_1 (0x21) +#define FXAS21002_ADDRESS_DEFAULT (FXAS21002_ADDRESS_0) + +/* FXAS21002 device ID number */ +#define FXAS21002_DEVICE_ID (0xD7) + +/* FXAS21002 Registers address definition */ +#define FXAS21002_STATUS (0x00) +#define FXAS21002_OUT_X_MSB (0x01) +#define FXAS21002_OUT_X_LSB (0x02) +#define FXAS21002_OUT_Y_MSB (0x03) +#define FXAS21002_OUT_Y_LSB (0x04) +#define FXAS21002_OUT_Z_MSB (0x05) +#define FXAS21002_OUT_Z_LSB (0x06) +#define FXAS21002_DR_STATUS (0x07) +#define FXAS21002_F_STATUS (0x08) +#define FXAS21002_F_SETUP (0x09) +#define FXAS21002_F_EVENT (0x0A) +#define FXAS21002_INT_SRC_FLAG (0x0B) +#define FXAS21002_WHO_AM_I (0x0C) +#define FXAS21002_CTRL_REG0 (0x0D) +#define FXAS21002_RT_CFG (0x0E) +#define FXAS21002_RT_SRC (0x0F) +#define FXAS21002_RT_THS (0x10) +#define FXAS21002_RT_COUNT (0x11) +#define FXAS21002_TEMP (0x12) +#define FXAS21002_CTRL_REG1 (0x13) +#define FXAS21002_CTRL_REG2 (0x14) +#define FXAS21002_CTRL_REG3 (0x15) + +// gyro sensor structure definition +typedef struct _gyro_sensor +{ + int32_t iSumYpFast[3]; // sum of fast measurements + float fYp[3]; // raw gyro sensor output (deg/s) + float fDegPerSecPerCount; // initialized to FDEGPERSECPERCOUNT + int16_t iYpFast[3]; // fast (typically 200Hz) readings + int16_t iYp[3]; // averaged gyro sensor output (counts) +} gyro_sensor_t; + +/* Function prototypes */ +#if defined(__cplusplus) +extern "C" { +#endif + +bool fxas21002_init(gyro_sensor_t*); +bool fxas21002_read_data(gyro_sensor_t*); + +#ifdef __cplusplus +} +#endif + + +#endif /* __FXAS21002_H__ */ +/******************************************************************************* + * EOF + ******************************************************************************/ |