/* * 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 #include #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 ******************************************************************************/