driver_FXOS8700.c File Reference

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Macros
#define	FXOS8700_ACCEL_FIFO_SIZE   32
#define	FXOS8700_MAG_FIFO_SIZE   1
#define	FXOS8700_COUNTSPERG   8192.0
#define	FXOS8700_COUNTSPERUT   10

Functions
int8_t	FXOS8700_Init (PhysicalSensor *sensor, SensorFusionGlobals *sfg)
int8_t	FXOS8700_ReadMagData (PhysicalSensor *sensor, SensorFusionGlobals *sfg)
int8_t	FXOS8700_Read (PhysicalSensor *sensor, SensorFusionGlobals *sfg)
int8_t	FXOS8700_Idle (PhysicalSensor *sensor, SensorFusionGlobals *sfg)

Variables
const registerreadlist_t	FXOS8700_WHO_AM_I_READ []
const registerreadlist_t	FXOS8700_F_STATUS_READ []
registerreadlist_t	FXOS8700_DATA_READ []
const registerwritelist_t	FXOS8700_Initialization []
const registerwritelist_t	FXOS8700_FULL_IDLE []

Macro Definition Documentation

#define FXOS8700_ACCEL_FIFO_SIZE   32

FXOS8700 (accel), MMA8652, FXLS8952 all have 32 element FIFO.

Definition at line 42 of file driver_FXOS8700.c.

Referenced by FXOS8700_Init().

#define FXOS8700_COUNTSPERG   8192.0

Definition at line 144 of file driver_FXOS8700.c.

Referenced by FXOS8700_Init().

#define FXOS8700_COUNTSPERUT   10

Definition at line 145 of file driver_FXOS8700.c.

Referenced by FXOS8700_Init().

#define FXOS8700_MAG_FIFO_SIZE   1

FXOS8700 (mag), MAG3110 have no FIFO so equivalent to 1 element FIFO.

Definition at line 43 of file driver_FXOS8700.c.

Function Documentation

int8_t FXOS8700_Idle	(	PhysicalSensor *	sensor,
		SensorFusionGlobals *	sfg
	)

Definition at line 296 of file driver_FXOS8700.c.

{
    int32_t     status;
    if(sensor->isInitialized == (F_USING_ACCEL|F_USING_MAG)) {
        status = Sensor_I2C_Write(sensor->bus_driver, sensor->addr, FXOS8700_FULL_IDLE );
        sensor->isInitialized = 0;
#if F_USING_ACCEL
        sfg->Accel.isEnabled = false;
#endif
#if F_USING_MAG
        sfg->Mag.isEnabled = false;
#endif
    } else {
      return SENSOR_ERROR_INIT;
    }
    return status;
}

int8_t FXOS8700_Init	(	PhysicalSensor *	sensor,
		SensorFusionGlobals *	sfg
	)

Definition at line 151 of file driver_FXOS8700.c.

Referenced by main().

{
    int32_t status;
    uint8_t reg;
    status = Register_I2C_Read(sensor->bus_driver, sensor->addr, FXOS8700_WHO_AM_I, 1, &reg);

    if (status==SENSOR_ERROR_NONE) {
#if F_USING_ACCEL
       sfg->Accel.iWhoAmI = reg;
       sfg->Accel.iCountsPerg = FXOS8700_COUNTSPERG;
       sfg->Accel.fgPerCount = 1.0F / FXOS8700_COUNTSPERG;
#endif
#if F_USING_MAG
       sfg->Mag.iWhoAmI = reg;
       sfg->Mag.iCountsPeruT = FXOS8700_COUNTSPERUT;
       sfg->Mag.fCountsPeruT = (float) FXOS8700_COUNTSPERUT;
       sfg->Mag.fuTPerCount = 1.0F / FXOS8700_COUNTSPERUT;
#endif
       if (reg != FXOS8700_WHO_AM_I_PROD_VALUE) {
          return SENSOR_ERROR_INIT;  // The whoAmI did not match
       }
    } else {
        // whoAmI will rettain default value of zero
        // return with error
        return status;
    }

    // Configure and start the fxos8700 sensor.  This does multiple register writes
    // (see FXOS8700_Initialization definition above)
    status = Sensor_I2C_Write(sensor->bus_driver, sensor->addr, FXOS8700_Initialization );
    sensor->isInitialized = F_USING_ACCEL | F_USING_MAG;
#if F_USING_ACCEL
    sfg->Accel.isEnabled = true;
#endif
#if F_USING_MAG
    sfg->Mag.isEnabled = true;
#endif

    return (status);
}

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int8_t FXOS8700_Read	(	PhysicalSensor *	sensor,
		SensorFusionGlobals *	sfg
	)

Definition at line 265 of file driver_FXOS8700.c.

Referenced by main().

{
    int8_t  sts1 = 0;
    int8_t  sts2 = 0;
#if F_USING_ACCEL
        sts1 = FXOS8700_ReadAccData(sensor, sfg);
#endif

#if F_USING_MAG
        sts2 = FXOS8700_ReadMagData(sensor, sfg);
#endif

    if (sts1)
        return (sts1);
    else
        return (sts2);
}

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int8_t FXOS8700_ReadMagData	(	PhysicalSensor *	sensor,
		SensorFusionGlobals *	sfg
	)

Definition at line 236 of file driver_FXOS8700.c.

Referenced by FXOS8700_Read().

{
    uint8_t                     I2C_Buffer[6];  // I2C read buffer
    int32_t                     status;         // I2C transaction status
    int16_t                     sample[3];

    if(!(sensor->isInitialized & F_USING_MAG))
    {
        return SENSOR_ERROR_INIT;
    }

    // read the six sequential magnetometer output bytes
    FXOS8700_DATA_READ[0].readFrom = FXOS8700_M_OUT_X_MSB;
    FXOS8700_DATA_READ[0].numBytes = 6;
    status =  Sensor_I2C_Read(sensor->bus_driver, sensor->addr, FXOS8700_DATA_READ, I2C_Buffer );
    if (status==SENSOR_ERROR_NONE) {
        // place the 6 bytes read into the magnetometer structure
        sample[CHX] = (I2C_Buffer[0] << 8) | I2C_Buffer[1];
        sample[CHY] = (I2C_Buffer[2] << 8) | I2C_Buffer[3];
        sample[CHZ] = (I2C_Buffer[4] << 8) | I2C_Buffer[5];
        conditionSample(sample);  // truncate negative values to -32767
        addToFifo((FifoSensor*) &(sfg->Mag), MAG_FIFO_SIZE, sample);
    }
    return status;
}

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Variable Documentation

registerreadlist_t FXOS8700_DATA_READ[]

Initial value:

=
{
    { .readFrom = FXOS8700_OUT_X_MSB, .numBytes = 6 }, __END_READ_DATA__
}

Definition at line 58 of file driver_FXOS8700.c.

Referenced by FXOS8700_Init(), and FXOS8700_ReadMagData().

const registerreadlist_t FXOS8700_F_STATUS_READ[]

Initial value:

=
{
    { .readFrom = FXOS8700_STATUS, .numBytes = 1 }, __END_READ_DATA__
}

Definition at line 52 of file driver_FXOS8700.c.

Referenced by FXOS8700_Init().

const registerwritelist_t FXOS8700_FULL_IDLE[]

Initial value:

=
{
  
  { FXOS8700_CTRL_REG1, 0x00, 0x01 },
    __END_WRITE_DATA__
}

Definition at line 284 of file driver_FXOS8700.c.

Referenced by FXOS8700_Idle().

const registerwritelist_t FXOS8700_Initialization[]

Definition at line 64 of file driver_FXOS8700.c.

Referenced by FXOS8700_Init().

const registerreadlist_t FXOS8700_WHO_AM_I_READ[]

Initial value:

=
{
    { .readFrom = FXOS8700_WHO_AM_I, .numBytes = 1 }, __END_READ_DATA__
}

Definition at line 46 of file driver_FXOS8700.c.