1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
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
******************************************************************************/
|
