Hello Tomas,
I am writing my code using mbed, I have included all my code below as requested.
Thankfully
Kas
#include "mbed.h"
#include "SDFileSystem.h"
//FXOS8700CQ
#define FXOS_ADDRESS_W 0x3C
#define FXOS_ADDRESS_R 0x3D
#define FXOS_STATUS 0x00
#define FXOS_OUT_X_MSB 0x01
#define FXOS_F_SETUP 0x09
#define FXOS_TRIG_CFG 0x0A
#define FXOS_SYS_MOD 0x0B
#define FXOS_INT_SOURCE 0x0C
#define FXOS_WHO_AM_I 0x0D
#define FXOS_ID 0xC7
#define FXOS_XYZ_DATA_CFG 0x0E
#define FXOS_TRANSIENT_CFG 0x1D
#define FXOS_TRANSIENT_SRC 0x1E
#define FXOS_ASLP_COUNT 0x29
#define FXOS_CTRL_REG_1 0x2A
#define FXOS_CTRL_REG_2 0x2B
#define FXOS_CTRL_REG_3 0x2C
#define FXOS_CTRL_REG_4 0x2D
#define FXOS_CTRL_REG_5 0x2E
#define FXOS_OFF_X 0x2F
#define FXOS_OFF_Y 0x30
#define FXOS_OFF_Z 0x31
#define FXOS_TEMP 0x51
#define FXOS_M_CTRL_REG_1 0x5B
#define FXOS_M_CTRL_REG_2 0x5C
#define FXOS_M_CTRL_REG_3 0x5D
//FXAS21002C
#define FXAS_ADDRESS_W 0x40
#define FXAS_ADDRESS_R 0x41
#define FXAS_STATUS 0x00
#define FXAS_OUT_X_MSB 0x01
#define FXAS_F_SETUP 0x09
#define FXAS_F_EVENT 0x0A
#define FXAS_INT_SRC_FLAG 0x0B
#define FXAS_WHO_AM_I 0x0C
#define FXAS_ID 0xD7
#define FXAS_CTRL_REG_0 0x0D
#define FXAS_RT_CFG 0x0E
#define FXAS_TEMP 0x12
#define FXAS_CTRL_REG_1 0x13
#define FXAS_CTRL_REG_2 0x14
#define FXAS_CTRL_REG_3 0x15
//Global variables
int FXAS_FIFO_FULL_FLAG = 0;
int FXOS_FIFO_FULL_FLAG = 0;
char fxos_data_1[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
char fxas_data_1[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
//Setup UART to PC
Serial pc(USBTX, USBRX);
//Setup I2C
I2C sensors(PTE0, PTE1);
//FXOS8700C Control Pins
InterruptIn fxos_int1_8700(PTD4); //INT1-8700
InterruptIn fxos_int2_8700(PTA4); //INT2-8700
//FXAS21002C Control Pins
InterruptIn fxas_int1_21002(PTA5); //INT1-21002
InterruptIn fxas_int2_21002(PTA13); //INT2-21002
//SD File System
SDFileSystem sd(PTD2, PTD3, PTD1, PTD0, "sd");
////LED Setup
DigitalOut led_1(LED1, 1); //red
DigitalOut led_2(LED2, 1); //green
//DigitalOut led_3(LED3, 1); //blue <- NB!! Wont play nice with SDFileSystem
//****************************************************************//
//Functions
int i2c_write(char address, char device_register, char data){
sensors.start();
sensors.write((char)address);
sensors.write((char)device_register);
sensors.write((char)data);
sensors.stop();
return 0;
}
int i2c_write(char address, char device_register, int stop){
sensors.start();
sensors.write((char)address);
sensors.write((char)device_register);
if(stop == 1){
sensors.stop();
}
return 0;
}
char i2c_read(char address, char device_register){
char data;
sensors.start();
sensors.write(address);
sensors.write(device_register);
sensors.start();
sensors.write(address | 0x01);
data = (char)sensors.read(0);
sensors.stop();
return data;
}
int i2c_write_verify(char address, char device_register, char data){
char return_data;
int return_val;
sensors.start();
sensors.write((char)address);
sensors.write((char)device_register);
sensors.write((char)data);
sensors.stop();
sensors.start();
sensors.write(address);
sensors.write(device_register);
sensors.start();
sensors.write(address | 0x01);
return_data = sensors.read(0);
sensors.stop();
if (return_data == data){
return_val = 0;
}
else{
return_val = -1;
}
return return_val;
}
int fxas_init() {
int return_val = 0;
int sensor_id = 0;
sensor_id = i2c_read(FXAS_ADDRESS_W, FXAS_WHO_AM_I);
// pc.printf("Expected ID from FXAS21002C is 0xD7\n\r");
// pc.printf("Returned value: %X\n\n\r", sensor_id);
if (sensor_id == FXAS_ID){
return_val = 0;
return_val += i2c_write_verify(FXAS_ADDRESS_W, FXAS_CTRL_REG_1, 0x00);
return_val += i2c_write_verify(FXAS_ADDRESS_W, FXAS_F_SETUP, 0x00);
return_val += i2c_write_verify(FXAS_ADDRESS_W, FXAS_F_SETUP, 0x54);
return_val += i2c_write_verify(FXAS_ADDRESS_W, FXAS_CTRL_REG_0, 0x03);
return_val += i2c_write_verify(FXAS_ADDRESS_W, FXAS_CTRL_REG_2, 0xC2);
return_val += i2c_write_verify(FXAS_ADDRESS_W, FXAS_CTRL_REG_3, 0x00);
return_val += i2c_write_verify(FXAS_ADDRESS_W, FXAS_CTRL_REG_1, 0x13);
}
else{
return_val = -1;
}
return return_val;
}
int fxos_init() {
int return_val = 0;
int sensor_id = 0;
sensor_id = i2c_read(FXOS_ADDRESS_W, FXOS_WHO_AM_I);
// pc.printf("Expected ID from FXOS8700CQ is 0xC7\n\r");
// pc.printf("Returned value: %X\n\n\r", sensor_id);
if (sensor_id == FXOS_ID){
return_val = 0;
return_val += i2c_write_verify(FXOS_ADDRESS_W, FXOS_CTRL_REG_1, 0x00);
return_val += i2c_write_verify(FXOS_ADDRESS_W, FXOS_F_SETUP, 0x00);
return_val += i2c_write_verify(FXOS_ADDRESS_W, FXOS_F_SETUP, 0x54);
return_val += i2c_write_verify(FXOS_ADDRESS_W, FXOS_ASLP_COUNT, 0xFF);
return_val += i2c_write_verify(FXOS_ADDRESS_W, FXOS_XYZ_DATA_CFG, 0x02);
return_val += i2c_write_verify(FXOS_ADDRESS_W, FXOS_CTRL_REG_2, 0x00);
return_val += i2c_write_verify(FXOS_ADDRESS_W, FXOS_CTRL_REG_3, 0x02);
return_val += i2c_write_verify(FXOS_ADDRESS_W, FXOS_CTRL_REG_4, 0x41); //Enable FIFO & DRDY Interrupts
return_val += i2c_write_verify(FXOS_ADDRESS_W, FXOS_CTRL_REG_5, 0x40); //FIFO -> Int_1, DRDY -> Imt_2
return_val += i2c_write_verify(FXOS_ADDRESS_W, FXOS_M_CTRL_REG_1, 0x00);
return_val += i2c_write_verify(FXOS_ADDRESS_W, FXOS_CTRL_REG_1, 0x21);
}
else{
return_val = -1;
}
return return_val;
}
//Interrupt for FXAS21002 INT_1
void read_fxas_data(){
// //Read data from FXAS21002 sensor
if(FXAS_FIFO_FULL_FLAG != 2){
FXAS_FIFO_FULL_FLAG = 1;
}
}
//Interrupt for FXOS8700S INT_1
void read_fxos_data(){
//Read data from FXOS8700C sensor
if(FXOS_FIFO_FULL_FLAG != 2){
FXOS_FIFO_FULL_FLAG = 1;
}
}
int main() {
int initilised = 0;
int index = 0;
int test_index = 0;
int fxos_data_flag_1 = 0;
int fxas_data_flag_1 = 0;
//Configure interrupts
fxas_int1_21002.rise(&read_fxas_data);//FIFO -> Int_1
// fxas_int2_21002.rise(&read_fxas_data);//DRDY -> Int_2
fxos_int1_8700.rise(&read_fxos_data);//FIFO -> Int_1
// fxos_int2_8700.rise(&read_fxos_data);//DRDY -> Int_2
sensors.frequency(450000);
pc.baud(115200);
mkdir("/sd/sensor_data", 0777);
FILE *fp = fopen("/sd/sensor_data/data.txt", "w");
if(fp == NULL) {
error("Could not open file for write\n");
}
fprintf(fp, "Gyro X,\tGyro Y,\tGyro Z,\t\tAcc X,\tACC Y,\tACC Z\n\r\n\r\n\r\n\r");
fclose(fp);
//Initlilise the FXOS8700CQ Accelorometer & the FXAS21002C Gyroscope
initilised = fxas_init() & fxos_init();
// pc.printf("Returned value: %d\n\n\r", initilised);
while(1) {
if (FXOS_FIFO_FULL_FLAG == 1){//0.976mg * (fxos_data >> 2) = total g force (8g scale)
FXOS_FIFO_FULL_FLAG = 0;
i2c_write(FXOS_ADDRESS_W, FXOS_STATUS, 0);
sensors.read(FXOS_ADDRESS_R, fxos_data_1, 139, false);//Reads the status register on every pass 0x06 -> 0x00
fxos_data_flag_1 = 1;
}
if (FXAS_FIFO_FULL_FLAG == 1){//7.8125mdps * fxas_data = total degrees per second (250dps scale)
FXAS_FIFO_FULL_FLAG = 0;
i2c_write(FXAS_ADDRESS_W, FXAS_STATUS, 0);
sensors.read(FXAS_ADDRESS_R, fxas_data_1, 139, false);//Reads the status register on the first if set to otherwise 0x06 -> 0x01
fxas_data_flag_1 = 1;
}
if ((fxos_data_flag_1 == 1) && (fxas_data_flag_1 == 1)){
//Store data on SD card
if (test_index == 0){// <--------- Just till a proper file closing system can be implemented
fp = fopen("/sd/sensor_data/data.txt", "a");
if(fp == NULL) {
error("Could not open file for write\n");
}
}
for (index = 0; index < 139; index += 7){
//move data to SD card
fprintf(fp, "%d\t%d\t%d\t\t", ((int16_t)((fxos_data_1[(index + 1)] << 8) | fxos_data_1[(index + 2)]) >> 2),
((int16_t)((fxos_data_1[(index + 3)] << 8) | fxos_data_1[(index + 4)]) >> 2),
((int16_t)((fxos_data_1[(index + 5)] << 8) | fxos_data_1[(index + 6)]) >> 2));
fprintf(fp, "%d\t%d\t%d\n\r\n\r", ((int16_t)((fxas_data_1[(index + 1)] << 8) | fxas_data_1[(index + 2)])),
((int16_t)((fxas_data_1[(index + 3)] << 8) | fxas_data_1[(index + 4)])),
((int16_t)((fxas_data_1[(index + 5)] << 8) | fxas_data_1[(index + 6)])));
}
fxos_data_flag_1 = 0;
fxas_data_flag_1 = 0;
test_index++;
// fprintf(fp, "\n\r\n\r\n\r\n\r\n\r\n\r");
if (test_index == 30){// <--------- Just till a proper file closing system can be implemented
fclose(fp);
test_index = 0;;
}
for (int i = 0; i < 139; i++){
fxos_data_1[i] = 0;
fxas_data_1[i] = 0;
}
}
