1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
|
/*
* 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.
*/
#ifndef __FXAS21002_H__
#define __FXAS21002_H__
/*!
* @addtogroup fxas21002
* @{
*/
/*******************************************************************************
* Definitions
******************************************************************************/
/*! @brief FXAS21002 I2C address. */
#define FXAS21002_ADDRESS_0 (0x20)
#define FXAS21002_ADDRESS_1 (0x21)
#define FXAS21002_ADDRESS_DEFAULT (FXAS21002_ADDRESS_0)
/*! @brief FXAS21002 device ID number. */
#define FXAS21002_DEVICE_ID (0xD7)
/*! @brief FXAS21002 Registers address definition. */
#define FXAS21002_STATUS (0x00)
#define FXAS21002_OUT_X_MSB (0x01)
#define FXAS21002_OUT_X_LSB (0x02)
#define FXAS21002_OUT_Y_MSB (0x03)
#define FXAS21002_OUT_Y_LSB (0x04)
#define FXAS21002_OUT_Z_MSB (0x05)
#define FXAS21002_OUT_Z_LSB (0x06)
#define FXAS21002_DR_STATUS (0x07)
#define FXAS21002_F_STATUS (0x08)
#define FXAS21002_F_SETUP (0x09)
#define FXAS21002_F_EVENT (0x0A)
#define FXAS21002_INT_SRC_FLAG (0x0B)
#define FXAS21002_WHO_AM_I (0x0C)
#define FXAS21002_CTRL_REG0 (0x0D)
#define FXAS21002_RT_CFG (0x0E)
#define FXAS21002_RT_SRC (0x0F)
#define FXAS21002_RT_THS (0x10)
#define FXAS21002_RT_COUNT (0x11)
#define FXAS21002_TEMP (0x12)
#define FXAS21002_CTRL_REG1 (0x13)
#define FXAS21002_CTRL_REG2 (0x14)
#define FXAS21002_CTRL_REG3 (0x15)
/*
* Field Definitions.
*/
/*! @brief fxas21002 output data rate configuration. */
typedef enum _fxas_data_rate_cfg
{
fxasDataRate800Hz = 0x0 << 2,
fxasDataRate400HZ = 0x1 << 2,
fxasDataRate200HZ = 0x2 << 2,
fxasDataRate100HZ = 0x3 << 2,
fxasDataRate50HZ = 0x4 << 2,
fxasDataRate25HZ = 0x5 << 2,
fxasDataRate12_5HZ = 0x6 << 2,
} fxas_data_rate_cfg_t;
/*! @brief fxas21002 gyroscope full-scale range */
typedef enum _fxas_range_cfg
{
fxasRange2000Dps = 0x0, /*!< +-2000 dps mode */
fxasRange1000Dps = 0x1, /*!< +-1000 dps mode */
fxasRange500Dps = 0x2, /*!< +-500 dps mode */
fxasRange250Dps = 0x3 /*!< +-250 dps mode */
} fxas_range_cfg_t;
/*! @brief fxas21002 configure definition. */
typedef struct _fxas_handle
{
/* I2C relevant definition. */
i2c_handle_t *device; /*!< I2C handle. */
uint8_t address; /*!< fxas21002 I2C bus address. */
} fxas_handle_t;
/*! @brief Initialize structure of fxas21002 */
typedef struct _fxas_init
{
fxas_data_rate_cfg_t dataRate; /*!< Output data rate selection */
fxas_range_cfg_t range; /*!< Accelerometer full scale range selection */
} fxas_init_t;
/*! @brief fxas gyroscope data struct */
typedef struct _fxas_data
{
int16_t gyroX;
int16_t gyroY;
int16_t gyroZ;
} fxas_data_t;
/* Function prototypes */
#if defined(__cplusplus)
extern "C" {
#endif
/*!
* @brief fxas21002 initialize function.
*
* This function should be called after i2c module initialize, and in this function,
* some configurations are fixed. The second parameter is the initialize structure to fxas21002.
* If users want to change the settings after initialization, they have to use FXAS_writeReg()
* to set the register value of fxas21002.
* @param handle fxas21002 handle structure.
* @param fxos_config fxas21002 configuration structure.
*/
bool FXAS_Init(fxas_handle_t *handle, const fxas_init_t *fxas_config);
/*!
* @brief Deinit the fxas21002 sensor.
*
* Mainly used to set fxas21002 to standby mode and reset its registers content.
* @param handle fxas21002 handle structure pointer.
*/
bool FXAS_Deinit(fxas_handle_t *handle);
/*!
* @brief Enable the FXAS21002 sensor.
* @param handle FXAS21002 handler structure.
*/
bool FXAS_Enable(fxas_handle_t *handle);
/*!
* @brief Disable the FXAS21002 sensor.
* @param handle FXAS21002 handler structure.
*/
bool FXAS_Disable(fxas_handle_t *handle);
/*!
* @brief Write register to fxas21002 using I2C.
* @param handle fxas21002 handle structure.
* @param regAddr The register address in fxas21002.
* @param regVal Value needs to write into the register.
*/
bool FXAS_WriteReg(fxas_handle_t *handle, uint8_t regAddr, uint8_t regVal);
/*!
* @brief Read register from fxas21002 using I2C.
* @param handle fxas21002 handle structure.
* @param regAddr The register address in fxas21002.
* @param regValPtr The read value buffer pointer.
*/
bool FXAS_ReadReg(fxas_handle_t *handle, uint8_t regAddr, uint8_t *regValPtr);
/*!
* @brief Read sensor data from fxas21002 using I2C
* @param handler fxas21002 handler structure.
* @param val Sensor data read from fxas21002.
*/
bool FXAS_ReadData(fxas_handle_t *handle, fxas_data_t *val);
#ifdef __cplusplus
}
#endif
/*! @} */
#endif /* __FXAS21002_H__ */
/*******************************************************************************
* EOF
******************************************************************************/
|
