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Diffstat (limited to 'examples/imx7d_sdb_m4/demo_apps/sensor_demo/common/fxos8700.c')
-rw-r--r--examples/imx7d_sdb_m4/demo_apps/sensor_demo/common/fxos8700.c198
1 files changed, 120 insertions, 78 deletions
diff --git a/examples/imx7d_sdb_m4/demo_apps/sensor_demo/common/fxos8700.c b/examples/imx7d_sdb_m4/demo_apps/sensor_demo/common/fxos8700.c
index 207c594..a2130fe 100644
--- a/examples/imx7d_sdb_m4/demo_apps/sensor_demo/common/fxos8700.c
+++ b/examples/imx7d_sdb_m4/demo_apps/sensor_demo/common/fxos8700.c
@@ -36,88 +36,75 @@
/*FUNCTION****************************************************************
*
-* Function Name : fxos8700_init
+* Function Name : FXOS_Init
* Returned Value : result
* Comments : Initialize FXOS8700 Acc and Mag sensor.
*
*END*********************************************************************/
-bool fxos8700_init(void)
+bool FXOS_Init(fxos_handle_t *handle, const fxos_init_t *fxos_config)
{
- uint8_t txBuffer;
- uint8_t cmdBuffer[2];
+ // Place FXOS8700 into standby
+ if (!FXOS_WriteReg(handle, FXOS8700_CTRL_REG1, 0x00))
+ return false;
+
+ // Set oversampling to reduce magnetometer noise
+ // Select hybrid mode with accel and magnetometer active
+ if (!FXOS_WriteReg(handle, FXOS8700_M_CTRL_REG1, (uint8_t)fxos_config->osr | (uint8_t)fxos_config->hms))
+ return false;
- // 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))
+ // Map the magnetometer registers to follow the accelerometer registers
+ if (!FXOS_WriteReg(handle, FXOS8700_M_CTRL_REG2, 0x20))
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))
+ // Set accelerometer range(2G, 4G or 8G)
+ if (!FXOS_WriteReg(handle, FXOS8700_XYZ_DATA_CFG, (uint8_t)fxos_config->range))
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))
+ // Setting for high resolution (maximum over sampling)
+ if (!FXOS_WriteReg(handle, FXOS8700_CTRL_REG2, 0x02))
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))
+ // Set the data rate.
+ if (!FXOS_WriteReg(handle, FXOS8700_CTRL_REG1, ((uint8_t)fxos_config->dataRate)))
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 true;
+}
+
+/*FUNCTION**********************************************************************
+ *
+ * Function Name : FXOS_Deinit
+ * Description : Disable the FXOS8700 and reset register content.
+ *
+ *END**************************************************************************/
+bool FXOS_Deinit(fxos_handle_t *handle)
+{
+ // Write 0000 0000 = 0x00 to CTRL_REG1 to place FXOS8700 into standby.
+ if (!FXOS_WriteReg(handle, FXOS8700_CTRL_REG1, 0x00))
+ return false;
+
+ // Reset Register content.
+ return FXOS_WriteReg(handle, FXOS8700_CTRL_REG2, 0x40);
+}
+
+/*FUNCTION****************************************************************
+*
+* Function Name : FXOS_Enable
+* Returned Value : result
+* Comments : Enable the FXOS8700 sensor.
+*
+*END*********************************************************************/
+bool FXOS_Enable(fxos_handle_t *handle)
+{
+ uint8_t regVal;
+
+ if (!FXOS_ReadReg(handle, FXOS8700_CTRL_REG1, &regVal))
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))
+ /* Active FXOS8700 and Enable Reduced noise mode */
+ regVal |= 0x05;
+
+ if (!FXOS_WriteReg(handle, FXOS8700_CTRL_REG1, regVal))
return false;
return true;
@@ -125,30 +112,85 @@ bool fxos8700_init(void)
/*FUNCTION****************************************************************
*
-* Function Name : fxos8700_read_data
+* Function Name : FXOS_Disable
+* Returned Value : result
+* Comments : Disable the FXOS8700 sensor.
+*
+*END*********************************************************************/
+bool FXOS_Disable(fxos_handle_t *handle)
+{
+ uint8_t regVal;
+
+ if (!FXOS_ReadReg(handle, FXOS8700_CTRL_REG1, &regVal))
+ return false;
+
+ /* De-active FXOS8700 & Disable Reduced noise mode*/
+ regVal &= ~0x05;
+
+ if (!FXOS_WriteReg(handle, FXOS8700_CTRL_REG1, regVal))
+ return false;
+
+ return true;
+}
+
+/*FUNCTION**********************************************************************
+ *
+ * Function Name : FXOS_WriteReg
+ * Description : Write the specified register of fxos8700.
+ * The writing process is through I2C.
+ *END**************************************************************************/
+bool FXOS_WriteReg(fxos_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 : FXOS_ReadReg
+ * Description : Read the specified register value of fxos8700.
+ * The reading process is through I2C.
+ *END**************************************************************************/
+bool FXOS_ReadReg(fxos_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 : FXOS_ReadData
* 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)
+bool FXOS_ReadData(fxos_handle_t *handle, fxos_data_t *val)
{
uint8_t rxBuffer[12];
uint8_t cmdBuffer[3];
// Fetch Current Acc and Mag in all Axis
- cmdBuffer[0] = BOARD_I2C_FXOS8700_ADDR << 1;
+ cmdBuffer[0] = handle->address << 1;
cmdBuffer[1] = FXOS8700_OUT_X_MSB;
- cmdBuffer[2] = (BOARD_I2C_FXOS8700_ADDR << 1) + 1;
- if (!I2C_XFER_ReceiveDataBlocking(cmdBuffer, 3, rxBuffer, 12))
+ cmdBuffer[2] = (handle->address << 1) + 1;
+ if (!I2C_XFER_ReceiveDataBlocking(handle->device, 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];
+ val->accX = (rxBuffer[2] << 8) | rxBuffer[3];
+ val->accY = (rxBuffer[0] << 8) | rxBuffer[1];
+ val->accZ = (rxBuffer[4] << 8) | rxBuffer[5];
+ val->magX = (rxBuffer[8] << 8) | rxBuffer[9];
+ val->magY = (rxBuffer[6] << 8) | rxBuffer[7];
+ val->magZ = (rxBuffer[10] << 8) | rxBuffer[11];
return true;
}
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