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Diffstat (limited to 'examples/imx7_colibri_m4/demo_apps/sensor_demo/common/fxos8700.c')
| -rw-r--r-- | examples/imx7_colibri_m4/demo_apps/sensor_demo/common/fxos8700.c | 158 |
1 files changed, 158 insertions, 0 deletions
diff --git a/examples/imx7_colibri_m4/demo_apps/sensor_demo/common/fxos8700.c b/examples/imx7_colibri_m4/demo_apps/sensor_demo/common/fxos8700.c new file mode 100644 index 0000000..207c594 --- /dev/null +++ b/examples/imx7_colibri_m4/demo_apps/sensor_demo/common/fxos8700.c @@ -0,0 +1,158 @@ +/* + * 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 "fxos8700.h" + +/*FUNCTION**************************************************************** +* +* Function Name : fxos8700_init +* Returned Value : result +* Comments : Initialize FXOS8700 Acc and Mag sensor. +* +*END*********************************************************************/ +bool fxos8700_init(void) +{ + uint8_t txBuffer; + uint8_t cmdBuffer[2]; + + // write 0000 0000 = 0x00 to CTRL_REG1 to place FXOS8700 into standby + // [7-1] = 0000 000 + // [0]: active=0 + cmdBuffer[0] = BOARD_I2C_FXOS8700_ADDR << 1; + cmdBuffer[1] = FXOS8700_CTRL_REG1; + txBuffer = 0x00; + if (!I2C_XFER_SendDataBlocking(cmdBuffer, 2, &txBuffer, 1)) + return false; + + // write 0001 1111 = 0x1F to M_CTRL_REG1 + // [7]: m_acal=0: auto calibration disabled + // [6]: m_rst=0: one-shot magnetic reset disabled + // [5]: m_ost=0: one-shot magnetic measurement disabled + // [4-2]: m_os=111=7: 8x oversampling (for 200Hz) to reduce magnetometer noise + // [1-0]: m_hms=11=3: select hybrid mode with accel and magnetometer active + cmdBuffer[0] = BOARD_I2C_FXOS8700_ADDR << 1; + cmdBuffer[1] = FXOS8700_M_CTRL_REG1; + txBuffer = 0x1F; + if (!I2C_XFER_SendDataBlocking(cmdBuffer, 2, &txBuffer, 1)) + return false; + + // write 0010 0000 = 0x20 to magnetometer control register 2 + // [7]: reserved + // [6]: reserved + // [5]: hyb_autoinc_mode=1 to map the magnetometer registers to follow the accelerometer registers + // [4]: m_maxmin_dis=0 to retain default min/max latching even though not used + // [3]: m_maxmin_dis_ths=0 + // [2]: m_maxmin_rst=0 + // [1-0]: m_rst_cnt=00 to enable magnetic reset each cycle + cmdBuffer[0] = BOARD_I2C_FXOS8700_ADDR << 1; + cmdBuffer[1] = FXOS8700_M_CTRL_REG2; + txBuffer = 0x20; + if (!I2C_XFER_SendDataBlocking(cmdBuffer, 2, &txBuffer, 1)) + return false; + + // write 0000 0001= 0x01 to XYZ_DATA_CFG register + // [7]: reserved + // [6]: reserved + // [5]: reserved + // [4]: hpf_out=0 + // [3]: reserved + // [2]: reserved + // [1-0]: fs=01 for 4g mode: 2048 counts / g = 8192 counts / g after 2 bit left shift + cmdBuffer[0] = BOARD_I2C_FXOS8700_ADDR << 1; + cmdBuffer[1] = FXOS8700_XYZ_DATA_CFG; + txBuffer = 0x01; + if (!I2C_XFER_SendDataBlocking(cmdBuffer, 2, &txBuffer, 1)) + return false; + + // write 0000 0010 = 0x02 to CTRL_REG2 to set MODS bits + // [7]: st=0: self test disabled + // [6]: rst=0: reset disabled + // [5]: unused + // [4-3]: smods=00 + // [2]: slpe=0: auto sleep disabled + // [1-0]: mods=10 for high resolution (maximum over sampling) + cmdBuffer[0] = BOARD_I2C_FXOS8700_ADDR << 1; + cmdBuffer[1] = FXOS8700_CTRL_REG2; + txBuffer = 0x02; + if (!I2C_XFER_SendDataBlocking(cmdBuffer, 2, &txBuffer, 1)) + return false; + + // write 0000 1101 = 0x0D to accelerometer control register 1 + // [7-6]: aslp_rate=00 + // [5-3]: dr=001=1 for 200Hz data rate (when in hybrid mode) + // [2]: lnoise=1 for low noise mode (since we're in 4g mode) + // [1]: f_read=0 for normal 16 bit reads + // [0]: active=1 to take the part out of standby and enable sampling + cmdBuffer[0] = BOARD_I2C_FXOS8700_ADDR << 1; + cmdBuffer[1] = FXOS8700_CTRL_REG1; + txBuffer = 0x0D; + if (!I2C_XFER_SendDataBlocking(cmdBuffer, 2, &txBuffer, 1)) + return false; + + return true; +} + +/*FUNCTION**************************************************************** +* +* Function Name : fxos8700_read_data +* Returned Value : result +* Comments : Get current Acc and Mag from FXOS8700 6-axis sensor. +* +*END*********************************************************************/ +bool fxos8700_read_data(int16_t *Ax, int16_t *Ay, int16_t *Az, + int16_t *Mx, int16_t *My, int16_t *Mz) +{ + uint8_t rxBuffer[12]; + uint8_t cmdBuffer[3]; + + // Fetch Current Acc and Mag in all Axis + cmdBuffer[0] = BOARD_I2C_FXOS8700_ADDR << 1; + cmdBuffer[1] = FXOS8700_OUT_X_MSB; + cmdBuffer[2] = (BOARD_I2C_FXOS8700_ADDR << 1) + 1; + if (!I2C_XFER_ReceiveDataBlocking(cmdBuffer, 3, rxBuffer, 12)) + return false; + + *Ax = (rxBuffer[2] << 8) | rxBuffer[3]; + *Ay = (rxBuffer[0] << 8) | rxBuffer[1]; + *Az = (rxBuffer[4] << 8) | rxBuffer[5]; + *Mx = (rxBuffer[8] << 8) | rxBuffer[9]; + *My = (rxBuffer[6] << 8) | rxBuffer[7]; + *Mz = (rxBuffer[10] << 8) | rxBuffer[11]; + + return true; +} + +/******************************************************************************* + * EOF + ******************************************************************************/ |