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Diffstat (limited to 'examples/imx7d_sdb_m4/demo_apps/sensor_demo/common/fxas21002.c')
-rw-r--r--examples/imx7d_sdb_m4/demo_apps/sensor_demo/common/fxas21002.c153
1 files changed, 107 insertions, 46 deletions
diff --git a/examples/imx7d_sdb_m4/demo_apps/sensor_demo/common/fxas21002.c b/examples/imx7d_sdb_m4/demo_apps/sensor_demo/common/fxas21002.c
index 4764390..4464976 100644
--- a/examples/imx7d_sdb_m4/demo_apps/sensor_demo/common/fxas21002.c
+++ b/examples/imx7d_sdb_m4/demo_apps/sensor_demo/common/fxas21002.c
@@ -36,79 +36,140 @@
/*FUNCTION****************************************************************
*
-* Function Name : fxas21002_init
+* Function Name : FXAS_Init
* Returned Value : result
* Comments : Initialize FXAS21002 Gyro sensor.
*
*END*********************************************************************/
-bool fxas21002_init(gyro_sensor_t* pThisGyro)
+bool FXAS_Init(fxas_handle_t *handle, const fxas_init_t *fxas_config)
{
- uint8_t txBuffer;
- uint8_t cmdBuffer[2];
+ // Place FXAS21002 in Standby.
+ FXAS_WriteReg(handle, FXAS21002_CTRL_REG1, 0x00);
+
+ // Configure full scale range.
+ FXAS_WriteReg(handle, FXAS21002_CTRL_REG0, (uint8_t)fxas_config->range);
+
+ // Configure output data rate.
+ FXAS_WriteReg(handle, FXAS21002_CTRL_REG1, (uint8_t)fxas_config->dataRate);
+
+ return true;
+}
+
+/*FUNCTION**********************************************************************
+ *
+ * Function Name : FXAS_Deinit
+ * Description : Disable the FXAS21002 and reset register content.
+ *
+ *END**************************************************************************/
+bool FXAS_Deinit(fxas_handle_t *handle)
+{
+ // Reset Register content and place FXAS21002 into Standby Mode.
+ return FXAS_WriteReg(handle, FXAS21002_CTRL_REG1, 0x40);
+}
+
+/*FUNCTION****************************************************************
+*
+* Function Name : FXAS_Enable
+* Returned Value : result
+* Comments : Enable the FXAS21002 sensor.
+*
+*END*********************************************************************/
+bool FXAS_Enable(fxas_handle_t *handle)
+{
+ uint8_t regVal;
- 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))
+ if (!FXAS_ReadReg(handle, FXAS21002_CTRL_REG1, &regVal))
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))
+ /* Active FXAS21002 */
+ regVal |= 0x02;
+
+ if (!FXAS_WriteReg(handle, FXAS21002_CTRL_REG1, regVal))
+ return false;
+
+ return true;
+}
+
+/*FUNCTION****************************************************************
+*
+* Function Name : FXAS_Disable
+* Returned Value : result
+* Comments : Disable the FXAS21002 sensor.
+*
+*END*********************************************************************/
+bool FXAS_Disable(fxas_handle_t *handle)
+{
+ uint8_t regVal;
+
+ if (!FXAS_ReadReg(handle, FXAS21002_CTRL_REG1, &regVal))
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))
+ /* De-active FXAS21002 */
+ regVal &= ~0x02;
+
+ if (!FXAS_WriteReg(handle, FXAS21002_CTRL_REG1, regVal))
return false;
return true;
}
+/*FUNCTION**********************************************************************
+ *
+ * Function Name : FXAS_WriteReg
+ * Description : Write the specified register of FXAS21002.
+ * The writing process is through I2C.
+ *
+ *END**************************************************************************/
+bool FXAS_WriteReg(fxas_handle_t *handle, uint8_t regAddr, uint8_t regVal)
+{
+ uint8_t cmdBuffer[2];
+
+ cmdBuffer[0] = handle->address << 1;
+ cmdBuffer[1] = regAddr;
+
+ return I2C_XFER_SendDataBlocking(handle->device, cmdBuffer, 2, &regVal, 1);
+}
+
+/*FUNCTION**********************************************************************
+ *
+ * Function Name : FXAS_ReadReg
+ * Description : Read the specified register value of FXAS21002.
+ * The reading process is through I2C.
+ *
+ *END**************************************************************************/
+bool FXAS_ReadReg(fxas_handle_t *handle, uint8_t regAddr, uint8_t *regValPtr)
+{
+ uint8_t cmdBuffer[3];
+
+ cmdBuffer[0] = handle->address << 1;
+ cmdBuffer[1] = regAddr;
+ cmdBuffer[2] = (handle->address << 1) + 1;
+
+ return I2C_XFER_ReceiveDataBlocking(handle->device, cmdBuffer, 3, regValPtr, 1);
+}
+
/*FUNCTION****************************************************************
*
-* Function Name : fxas21002_read_data
+* Function Name : FXAS_ReadData
* Returned Value : result
-* Comments : Get current height and temperature from fxas21002.
+* Comments : Get 3-Axes Gyro from fxas21002.
*
*END*********************************************************************/
-bool fxas21002_read_data(gyro_sensor_t* pThisGyro)
+bool FXAS_ReadData(fxas_handle_t *handle, fxas_data_t *val)
{
uint8_t rxBuffer[6];
uint8_t cmdBuffer[3];
- // store the gain terms in the GyroSensor structure
- cmdBuffer[0] = BOARD_I2C_FXAS21002_ADDR << 1;
+ // Store the gain terms in the GyroSensor data structure.
+ cmdBuffer[0] = handle->address << 1;
cmdBuffer[1] = FXAS21002_OUT_X_MSB;
- cmdBuffer[2] = (BOARD_I2C_FXAS21002_ADDR << 1) + 1;
- if (!I2C_XFER_ReceiveDataBlocking(cmdBuffer, 3, rxBuffer, 6))
+ cmdBuffer[2] = (handle->address << 1) + 1;
+ if (!I2C_XFER_ReceiveDataBlocking(handle->device, 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];
+ val->gyroX = (rxBuffer[0] << 8) | rxBuffer[1];
+ val->gyroY = (rxBuffer[2] << 8) | rxBuffer[3];
+ val->gyroZ = (rxBuffer[4] << 8) | rxBuffer[5];
return true;
}
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