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/*
* 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
******************************************************************************/
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