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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 "fxas21002.h"
/*FUNCTION****************************************************************
*
* Function Name : FXAS_Init
* Returned Value : result
* Comments : Initialize FXAS21002 Gyro sensor.
*
*END*********************************************************************/
bool FXAS_Init(fxas_handle_t *handle, const fxas_init_t *fxas_config)
{
// 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;
if (!FXAS_ReadReg(handle, FXAS21002_CTRL_REG1, ®Val))
return false;
/* 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, ®Val))
return false;
/* 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, ®Val, 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 : FXAS_ReadData
* Returned Value : result
* Comments : Get 3-Axes Gyro from fxas21002.
*
*END*********************************************************************/
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 data structure.
cmdBuffer[0] = handle->address << 1;
cmdBuffer[1] = FXAS21002_OUT_X_MSB;
cmdBuffer[2] = (handle->address << 1) + 1;
if (!I2C_XFER_ReceiveDataBlocking(handle->device, cmdBuffer, 3, rxBuffer, 6))
return false;
val->gyroX = (rxBuffer[0] << 8) | rxBuffer[1];
val->gyroY = (rxBuffer[2] << 8) | rxBuffer[3];
val->gyroZ = (rxBuffer[4] << 8) | rxBuffer[5];
return true;
}
/*******************************************************************************
* EOF
******************************************************************************/
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