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FXOS8700CQ.h
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FXOS8700CQ.h
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/*
* FXOS8700CQ
* Author: Matt Warner <[email protected]>
*
* The FXOS8700CQ is an accelerometer I2C sensor which is 3.3V tolerant.
*/
#ifndef FXOS8700CQ_H_
#define FXOS8700CQ_H_
#include <Arduino.h> // for byte data type
// register addresses
#define FXOS8700CQ_STATUS 0x00
#define FXOS8700CQ_DR_STATUS 0x00
#define FXOS8700CQ_F_STATUS 0x00
#define FXOS8700CQ_OUT_X_MSB 0x01
#define FXOS8700CQ_OUT_X_LSB 0x02
#define FXOS8700CQ_OUT_Y_MSB 0x03
#define FXOS8700CQ_OUT_Y_LSB 0x04
#define FXOS8700CQ_OUT_Z_MSB 0x05
#define FXOS8700CQ_OUT_Z_LSB 0x06
#define FXOS8700CQ_F_SETUP 0x09
#define FXOS8700CQ_TRIG_CFG 0x0A
#define FXOS8700CQ_SYSMOD 0x0B
#define FXOS8700CQ_INT_SOURCE 0x0C
#define FXOS8700CQ_WHO_AM_I 0x0D
#define FXOS8700CQ_XYZ_DATA_CFG 0x0E
#define FXOS8700CQ_HP_FILTER_CUTOFF 0x0F
#define FXOS8700CQ_PL_STATUS 0x10
#define FXOS8700CQ_PL_CFG 0x11
#define FXOS8700CQ_PL_COUNT 0x12
#define FXOS8700CQ_PL_BF_ZCOMP 0x13
#define FXOS8700CQ_P_L_THS_REG 0x14
#define FXOS8700CQ_A_FFMT_CFG 0x15
#define FXOS8700CQ_A_FFMT_SRC 0x16
#define FXOS8700CQ_A_FFMT_THS 0x17
#define FXOS8700CQ_A_FFMT_COUNT 0x18
#define FXOS8700CQ_TRANSIENT_CFG 0x1D
#define FXOS8700CQ_TRANSIENT_SRC 0x1E
#define FXOS8700CQ_TRANSIENT_THS 0x1F
#define FXOS8700CQ_TRANSIENT_COUNT 0x20
#define FXOS8700CQ_PULSE_CFG 0x21
#define FXOS8700CQ_PULSE_SRC 0x22
#define FXOS8700CQ_PULSE_THSX 0x23
#define FXOS8700CQ_PULSE_THSY 0x24
#define FXOS8700CQ_PULSE_THSZ 0x25
#define FXOS8700CQ_PULSE_TMLT 0x26
#define FXOS8700CQ_PULSE_LTCY 0x27
#define FXOS8700CQ_PULSE_WIND 0x28
#define FXOS8700CQ_ASLP_COUNT 0x29
#define FXOS8700CQ_CTRL_REG1 0x2A
#define FXOS8700CQ_CTRL_REG2 0x2B
#define FXOS8700CQ_CTRL_REG3 0x2C
#define FXOS8700CQ_CTRL_REG4 0x2D
#define FXOS8700CQ_CTRL_REG5 0x2E
#define FXOS8700CQ_OFF_X 0x2F
#define FXOS8700CQ_OFF_Y 0x30
#define FXOS8700CQ_OFF_Z 0x31
#define FXOS8700CQ_M_DR_STATUS 0x32
#define FXOS8700CQ_M_OUT_X_MSB 0x33
#define FXOS8700CQ_M_OUT_X_LSB 0x34
#define FXOS8700CQ_M_OUT_Y_MSB 0x35
#define FXOS8700CQ_M_OUT_Y_LSB 0x36
#define FXOS8700CQ_M_OUT_Z_MSB 0x37
#define FXOS8700CQ_M_OUT_Z_LSB 0x38
#define FXOS8700CQ_CMP_OUT_X_MSB 0x39
#define FXOS8700CQ_CMP_OUT_X_LSB 0x3A
#define FXOS8700CQ_CMP_OUT_Y_MSB 0x3B
#define FXOS8700CQ_CMP_OUT_Y_LSB 0x3C
#define FXOS8700CQ_CMP_OUT_Z_MSB 0x3D
#define FXOS8700CQ_CMP_OUT_Z_LSB 0x3E
#define FXOS8700CQ_M_OFF_X_MSB 0x3F
#define FXOS8700CQ_M_OFF_X_LSB 0x40
#define FXOS8700CQ_M_OFF_Y_MSB 0x41
#define FXOS8700CQ_M_OFF_Y_LSB 0x42
#define FXOS8700CQ_M_OFF_Z_MSB 0x43
#define FXOS8700CQ_M_OFF_Z_LSB 0x44
#define FXOS8700CQ_MAX_X_MSB 0x45
#define FXOS8700CQ_MAX_X_LSB 0x46
#define FXOS8700CQ_MAX_Y_MSB 0x47
#define FXOS8700CQ_MAX_Y_LSB 0x48
#define FXOS8700CQ_MAX_Z_MSB 0x49
#define FXOS8700CQ_MAX_Z_LSB 0x4A
#define FXOS8700CQ_MIN_X_MSB 0x4B
#define FXOS8700CQ_MIN_X_LSB 0x4C
#define FXOS8700CQ_MIN_Y_MSB 0x4D
#define FXOS8700CQ_MIN_Y_LSB 0x4E
#define FXOS8700CQ_MIN_Z_MSB 0x4F
#define FXOS8700CQ_MIN_Z_LSB 0x50
#define FXOS8700CQ_TEMP 0x51
#define FXOS8700CQ_M_THS_CFG 0x52
#define FXOS8700CQ_M_THS_SRC 0x53
#define FXOS8700CQ_M_THS_X_MSB 0x54
#define FXOS8700CQ_M_THS_X_LSB 0x55
#define FXOS8700CQ_M_THS_Y_MSB 0x56
#define FXOS8700CQ_M_THS_Y_LSB 0x57
#define FXOS8700CQ_M_THS_Z_MSB 0x58
#define FXOS8700CQ_M_THS_Z_LSB 0x59
#define FXOS8700CQ_M_THS_COUNT 0x5A
#define FXOS8700CQ_M_CTRL_REG1 0x5B
#define FXOS8700CQ_M_CTRL_REG2 0x5C
#define FXOS8700CQ_M_CTRL_REG3 0x5D
#define FXOS8700CQ_M_INT_SRC 0x5E
#define FXOS8700CQ_A_VECM_CFG 0x5F
#define FXOS8700CQ_A_VECM_THS_MSB 0x60
#define FXOS8700CQ_A_VECM_THS_LSB 0x61
#define FXOS8700CQ_A_VECM_CNT 0x62
#define FXOS8700CQ_A_VECM_INITX_MSB 0x63
#define FXOS8700CQ_A_VECM_INITX_LSB 0x64
#define FXOS8700CQ_A_VECM_INITY_MSB 0x65
#define FXOS8700CQ_A_VECM_INITY_LSB 0x66
#define FXOS8700CQ_A_VECM_INITZ_MSB 0x67
#define FXOS8700CQ_A_VECM_INITZ_LSB 0x68
#define FXOS8700CQ_M_VECM_CFG 0x69
#define FXOS8700CQ_M_VECM_THS_MSB 0x6A
#define FXOS8700CQ_M_VECM_THS_LSB 0x6B
#define FXOS8700CQ_M_VECM_CNT 0x6C
#define FXOS8700CQ_M_VECM_INITX_MSB 0x6D
#define FXOS8700CQ_M_VECM_INITX_LSB 0x6E
#define FXOS8700CQ_M_VECM_INITY_MSB 0x6F
#define FXOS8700CQ_M_VECM_INITY_LSB 0x70
#define FXOS8700CQ_M_VECM_INITZ_MSB 0x71
#define FXOS8700CQ_M_VECM_INITZ_LSB 0x72
#define FXOS8700CQ_A_FFMT_THS_X_MSB 0x73
#define FXOS8700CQ_A_FFMT_THS_X_LSB 0x74
#define FXOS8700CQ_A_FFMT_THS_Y_MSB 0x75
#define FXOS8700CQ_A_FFMT_THS_Y_LSB 0x76
#define FXOS8700CQ_A_FFMT_THS_Z_MSB 0x77
#define FXOS8700CQ_A_FFMT_THS_Z_LSB 0x78
// Set initial input parameters
enum accelFSR {
AFS_2g = 0,
AFS_4g,
AFS_8g
};
enum accelODR {
AODR_800HZ = 0, // 200 Hz
AODR_400HZ,
AODR_200HZ,
AODR_100HZ,
AODR_50HZ,
AODR_12_5HZ, // 12.5 Hz, etc.
AODR_6_25HZ,
AODR_1_56HZ
};
enum magOSR {
MOSR_0 = 0, // oversample ratio 2 at 50 and 200 Hz ODR
MOSR_1,
MOSR_2,
MOSR_3,
MOSR_4,
MOSR_5,
MOSR_6,
MOSR_7 // oversample ratio 8 at 200 Hz ODR, 32 at 50 HZ ODR
};
class FXOS8700CQ
{
public:
typedef struct
{
int16_t x;
int16_t y;
int16_t z;
} SRAWDATA;
// Sensor data
SRAWDATA accelData; // RAW acceleration sensor data
SRAWDATA magData; // RAW magnometer sensor data
int8_t tempData; // RAW temperature data
// Sensor configuration
uint8_t accelFSR;
uint8_t accelODR;
uint8_t magOSR;
FXOS8700CQ(byte addr);
// Register functions
void writeReg(byte reg, byte value);
byte readReg(byte reg);
void readRegs(byte startReg, uint8_t count, byte dest[]);
// FXOS8700CQ functions
// Initialization & Termination
void init(void);
void standby(void);
void active(void);
// Query sensor data
void readAccelData(void);
void readMagData(void);
void readTempData(void);
// Resolution
float getAres(void);
float getMres(void);
private:
// Sensor address
byte address;
};
#endif