Revision 0:4cfc774d6d85, committed 2014-04-19

Comitter:

JimCarver

Date:

Sat Apr 19 00:10:49 2014 +0000

Child:

1:88a036a417bf

Commit message:

Improved version, added getWhoAmI() and readXYXraw()

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FXAS21000.cpp	Sat Apr 19 00:10:49 2014 +0000
@@ -0,0 +1,73 @@
+ #include "FXAS21000.h"
+ 
+FXAS21000::FXAS21000(PinName sda, PinName scl) : _i2c(sda, scl) {
+ 
+    begin();
+}
+              
+void FXAS21000::RegRead( char reg, char * d, int len)
+{
+    char cmd[1];
+    cmd[0] = reg;
+char i2c_addr = FXAS21000_SLAVE_ADDR;
+_i2c.write( i2c_addr, cmd, 1, true);
+_i2c.read ( i2c_addr, d, len);
+}
+
+void FXAS21000::begin(void)
+{
+    char data[2];
+    // write 0000 1000 = 0x08 to gyro control register 1 to place FXAS21000 into
+    // standby
+    // [7-1] = 0000 000
+    // [0]: active=0
+    data[0] = FXAS21000_CTRL_REG1;
+    data[1] = 0x08;
+    _i2c.write( FXAS21000_SLAVE_ADDR, data, 2);
+    
+    // write 0001 1011 to CRTL_REG0 register
+
+    data[0] = FXAS21000_CTRL_REG0;
+    data[1] = 0x1B;
+    _i2c.write( FXAS21000_SLAVE_ADDR, data, 2);
+
+    // write 0000 1001 to gyro control register 1
+
+    data[0] = FXAS21000_CTRL_REG1;
+    data[1] = 0x0A;
+    _i2c.write( FXAS21000_SLAVE_ADDR, data, 2);
+}
+
+char FXAS21000::getWhoAmI(void)
+{
+    char d;
+    RegRead( FXAS21000_WHOAMI, &d, 1);
+    return(d);
+}
+
+void FXAS21000::ReadXYZ(float * a)
+{
+    char d[7];
+    int16_t t[6];
+
+    RegRead( FXAS21000_STATUS, d, 7);
+    t[0] = ((d[1] * 256) + ((unsigned short) d[2]));
+    t[1] = ((d[3] * 256) + ((unsigned short) d[4]));
+    t[2] = ((d[5] * 256) + ((unsigned short) d[6]));
+    //printf("%X\r\n", (int) d[0]);
+
+    a[0] = (float) t[0] * 0.003125;
+    a[1] = (float) t[1] * 0.003125;
+    a[2] = (float) t[2] * 0.003125;
+  
+}
+
+void FXAS21000::ReadXYZraw(int16_t * t)
+{
+    char d[7];
+
+    RegRead( FXAS21000_STATUS, d, 7);
+    t[0] = ((d[1] * 256) + ((unsigned short) d[2]));
+    t[1] = ((d[3] * 256) + ((unsigned short) d[4]));
+    t[2] = ((d[5] * 256) + ((unsigned short) d[6]));
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FXAS21000.h	Sat Apr 19 00:10:49 2014 +0000
@@ -0,0 +1,69 @@
+#ifndef FXAS21000_H
+#define FXAS21000_H
+
+#include "mbed.h"
+
+
+// MMA8652 Slave Address
+#define FXAS21000_SLAVE_ADDR 0x40
+
+// MMA8652 internal register addresses
+#define FXAS21000_STATUS 0x00
+#define FXAS21000_WHOAMI 0x0C
+#define FXAS21000_XYZ_DATA_CFG 0x0E
+#define FXAS21000_CTRL_REG0 0x0D
+#define FXAS21000_CTRL_REG1 0x13
+#define FXAS21000_WHOAMI_VAL 0xD1
+
+class FXAS21000
+{
+public:
+    /**
+    * FXAS21000 constructor
+    *
+    * @param sda SDA pin
+    * @param sdl SCL pin
+    * 
+    */
+    FXAS21000(PinName sda, PinName scl);
+ 
+    
+    /**
+    * Get the Gyro values
+    * Result is floating point degrees / second
+    *
+    * @param floating point array where the results will be placed
+    */
+    void ReadXYZ(float * a);
+
+    
+    /**
+    * Get the Gyro values
+    * Result is signed 16 bit value
+    *
+    * @param int16_t point array where the results will be placed
+    */
+    void ReadXYZraw(int16_t * t);
+
+   
+    /**
+    * Get the value of the WHO_AM_I register
+    *
+    * @returns DEVICE_ID value == 0xD1
+    */
+    //char getWhoAmI();
+    char getWhoAmI(void);
+    
+private:
+
+    I2C _i2c;
+    /** Set the device in active mode
+    */
+    void begin( void);
+    
+    void RegRead( char reg, char * d, int len);
+
+
+};
+
+#endif