driver_FXLS8471Q.c File Reference

Include dependency graph for driver_FXLS8471Q.c:

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Macros
#define	FXLS8471Q_COUNTSPERG   8192.0
#define	FXLS8471Q_ACCEL_FIFO_SIZE   32

Functions
int8_t	FXLS8471Q_Init (PhysicalSensor *sensor, SensorFusionGlobals *sfg)
int8_t	FXLS8471Q_Read (PhysicalSensor *sensor, SensorFusionGlobals *sfg)
int8_t	FXLS8471Q_Idle (PhysicalSensor *sensor, SensorFusionGlobals *sfg)

Variables
const registerreadlist_t	FXLS8471Q_WHO_AM_I_READ []
const registerreadlist_t	FXLS8471Q_F_STATUS_READ []
registerreadlist_t	FXLS8471Q_DATA_READ []
const registerwritelist_t	FXLS8471Q_Initialization []
const registerwritelist_t	FXLS8471Q_IDLE []

Detailed Description

Supports both I2C and SPI Interfaces. Supply sensor address=0x00 when when installing sensor for SPI. Supply I2C address otherwise.

Definition in file driver_FXLS8471Q.c.

Macro Definition Documentation

#define FXLS8471Q_ACCEL_FIFO_SIZE   32

Definition at line 47 of file driver_FXLS8471Q.c.

Referenced by FXLS8471Q_Read().

#define FXLS8471Q_COUNTSPERG   8192.0

Definition at line 46 of file driver_FXLS8471Q.c.

Referenced by FXLS8471Q_Init().

Function Documentation

int8_t FXLS8471Q_Idle	(	PhysicalSensor *	sensor,
		SensorFusionGlobals *	sfg
	)

Definition at line 234 of file driver_FXLS8471Q.c.

{
    int32_t     status;
    if(sensor->isInitialized == F_USING_ACCEL) {
        if (sensor->addr == SPI_ADDR) {
            status = Sensor_SPI_Write(sensor->bus_driver, &(sensor->slaveParams), FXLS8471Q_IDLE );
        } else {
            status = Sensor_I2C_Write(sensor->bus_driver, sensor->addr, FXLS8471Q_IDLE );
        }
        sensor->isInitialized = 0;
        sfg->Accel.isEnabled = false;
    } else {
      return SENSOR_ERROR_INIT;
    }
    return status;
}

int8_t FXLS8471Q_Init	(	PhysicalSensor *	sensor,
		SensorFusionGlobals *	sfg
	)

Definition at line 135 of file driver_FXLS8471Q.c.

{
    GENERIC_DRIVER_GPIO *pGPIODriver = &Driver_GPIO_KSDK;
    int32_t status;
    uint8_t reg;
    if (sensor->addr == SPI_ADDR) {
        // Initialize the Slave Select Pin.
        pGPIODriver->pin_init(&FXLS8471_SPI_CS, GPIO_DIRECTION_OUT, NULL, NULL, NULL);
        // Initialize SPI parameters used by ISSDK SPI routines
        sensor->slaveParams.pReadPreprocessFN  = FXLS8471Q_SPI_ReadPreprocess;
        sensor->slaveParams.pWritePreprocessFN = FXLS8471Q_SPI_WritePreprocess;
        sensor->slaveParams.pTargetSlavePinID = &FXLS8471_SPI_CS;
        sensor->slaveParams.spiCmdLen = FXLS8471Q_SPI_CMD_LEN;
        sensor->slaveParams.ssActiveValue = FXLS8471Q_SS_ACTIVE_VALUE;
        // Read the WhoAmI
        status = Register_SPI_Read(sensor->bus_driver, &(sensor->slaveParams), FXLS8471Q_WHO_AM_I, 1, &reg);
    } else {
        status = Register_I2C_Read(sensor->bus_driver, sensor->addr, FXLS8471Q_WHO_AM_I, 1, &reg);
    }
    if (status==SENSOR_ERROR_NONE) {
        sfg->Accel.iWhoAmI = reg;
        if (reg!=FXLS8471Q_WHO_AM_I_WHOAMI_VALUE) return(SENSOR_ERROR_INIT);
    } else {
       return(status);
    }

    // Configure and start the FXLS8471Q sensor.  This does multiple register writes
    if (sensor->addr == SPI_ADDR)
        status = Sensor_SPI_Write(sensor->bus_driver, &(sensor->slaveParams), FXLS8471Q_Initialization );
    else
        status = Sensor_I2C_Write(sensor->bus_driver, sensor->addr, FXLS8471Q_Initialization );

    // Stash some needed constants in the SF data structure for this sensor
    sfg->Accel.iCountsPerg = FXLS8471Q_COUNTSPERG;
    sfg->Accel.fgPerCount = 1.0F / FXLS8471Q_COUNTSPERG;

    sensor->isInitialized = F_USING_ACCEL;
    sfg->Accel.isEnabled = true;

    return (status);
}

int8_t FXLS8471Q_Read	(	PhysicalSensor *	sensor,
		SensorFusionGlobals *	sfg
	)

Definition at line 177 of file driver_FXLS8471Q.c.

{
    uint8_t                     Data_Buffer[6 * FXLS8471Q_ACCEL_FIFO_SIZE];    // I2C read buffer
    int8_t                      status=0;       // I2C transaction status
    int8_t                      j;              // scratch
    uint16_t                     sensor_fifo_count = 1;
    int16_t                     sample[3];

    if(sensor->isInitialized != F_USING_ACCEL)
    {
        return SENSOR_ERROR_INIT;
    }

    // read the F_STATUS register (mapped to STATUS) and extract number of measurements available (lower 6 bits)
    if (sensor->addr == SPI_ADDR)
        status =  Sensor_SPI_Read(sensor->bus_driver, &(sensor->slaveParams), FXLS8471Q_F_STATUS_READ, Data_Buffer );
    else
        status =  Sensor_I2C_Read(sensor->bus_driver, sensor->addr, FXLS8471Q_F_STATUS_READ, Data_Buffer );

    sensor_fifo_count = Data_Buffer[0] & 0x3F;
    if (status==SENSOR_ERROR_NONE) {
        // return if there are no measurements in the sensor FIFO.
        // this will only occur when the FAST_LOOP_HZ equals or exceeds ACCEL_ODR_HZ
        if  (sensor_fifo_count == 0) return SENSOR_ERROR_READ;
    } else {
        return(status);
    }

    FXLS8471Q_DATA_READ->numBytes = 6 * sensor_fifo_count;
    if (sensor->addr == SPI_ADDR)
        status =  Sensor_SPI_Read(sensor->bus_driver, &sensor->slaveParams, FXLS8471Q_DATA_READ, &(Data_Buffer[0]) );
    else
        status =  Sensor_I2C_Read(sensor->bus_driver, sensor->addr, FXLS8471Q_DATA_READ, &(Data_Buffer[0]) );

    if (status==SENSOR_ERROR_NONE) {
        for (j=0; j<sensor_fifo_count; j++) {
            sample[CHX] = (Data_Buffer[6*j    ] << 8) | Data_Buffer[6*j + 1] ;
            sample[CHY] = (Data_Buffer[6*j + 2] << 8) | Data_Buffer[6*j + 3] ;
            sample[CHZ] = (Data_Buffer[6*j + 4] << 8) | Data_Buffer[6*j + 5] ;
            conditionSample(sample);  // truncate negative values to -32767
            addToFifo((FifoSensor*) &(sfg->Accel), ACCEL_FIFO_SIZE, sample);
        }
    }

    return (status);
}

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Variable Documentation

registerreadlist_t FXLS8471Q_DATA_READ[]

Initial value:

=
{
    { .readFrom = FXLS8471Q_OUT_X_MSB, .numBytes = 6 }, __END_READ_DATA__
}

Definition at line 62 of file driver_FXLS8471Q.c.

Referenced by FXLS8471Q_Read().

const registerreadlist_t FXLS8471Q_F_STATUS_READ[]

Initial value:

=
{
    { .readFrom = FXLS8471Q_F_STATUS, .numBytes = 1 }, __END_READ_DATA__
}

Definition at line 56 of file driver_FXLS8471Q.c.

Referenced by FXLS8471Q_Read().

const registerwritelist_t FXLS8471Q_IDLE[]

Initial value:

=
{
  
  { FXLS8471Q_CTRL_REG1, 0x00, 0x01 },
    __END_WRITE_DATA__
}

Definition at line 226 of file driver_FXLS8471Q.c.

Referenced by FXLS8471Q_Idle().

const registerwritelist_t FXLS8471Q_Initialization[]

Definition at line 68 of file driver_FXLS8471Q.c.

Referenced by FXLS8471Q_Init().

const registerreadlist_t FXLS8471Q_WHO_AM_I_READ[]

Initial value:

=
{
    { .readFrom = FXLS8471Q_WHO_AM_I, .numBytes = 1 }, __END_READ_DATA__
}

Definition at line 50 of file driver_FXLS8471Q.c.