Source code for FXOS8700CQR1
#!/usr/bin/python
__author__ = "D.Qendri"
__copyright__ = "Copyright 2015 Sensorian"
__license__ = "GPL V3"
__version__ = "1.0"
import math
import sys
import time
from ctypes import *
FXO = CDLL("./libFXO.so")
#########################################################################################################
FXOS8700CQR1_ADDRESS =0x1E
FXOS8700CQ_WHOAMI_VAL =0xC7 # FXOS8700CQ WHOAMI production register value
FXOS8700CQ_READ_LEN =12 # 6 channels of two bytes = 12 bytes
UINT14_MAX =16383 # For processing the accelerometer data to right-justified 2's complement
#######################################Memory Map########################################################
STATUS = 0x00
OUT_X_MSB = 0x01
OUT_X_LSB = 0x02
OUT_Y_MSB = 0x03
OUT_Y_LSB = 0x04
OUT_Z_MSB = 0x05
OUT_Z_LSB = 0x05
F_SETUP = 0x09
TRIG_CFG = 0x0A
SYSMOD = 0x0B
INT_SOURCE = 0x0C
WHO_AM_I = 0x0D
XYZ_DATA_CFG = 0x0E
HP_FILTER_CUTOFF = 0x0F
PL_STATUS = 0x10
PL_CFG = 0x11
PL_COUNT = 0x12
PL_BF_ZCOMP = 0x13
PL_THS_REG = 0x14
A_FFMT_CFG = 0x15
A_FFMT_SRC = 0x16
A_FFMT_THS = 0x17
A_FFMT_COUNT = 0x18
TRANSIENT_CFG = 0x1D
TRANSIENT_SRC = 0x1E
TRANSIENT_THS = 0x1F
TRANSIENT_COUNT = 0x20
PULSE_CFG = 0x21
PULSE_SRC = 0x22
PULSE_THSX = 0x23
PULSE_THSY = 0x24
PULSE_THSZ = 0x25
PULSE_TMLT = 0x26
PULSE_LTCY = 0x27
PULSE_WIND = 0x28
ASLP_COUNT = 0x29
CTRL_REG1 = 0x2A
CTRL_REG2 = 0x2B
CTRL_REG3 = 0x2C
CTRL_REG4 = 0x2D
CTRL_REG5 = 0x2E
OFF_X = 0x2F
OFF_Y = 0x30
OFF_Z = 0x31
M_DR_STATUS = 0x32
M_OUT_X_MSB = 0x33
M_OUT_X_LSB = 0x34
M_OUT_Y_MSB = 0x35
M_OUT_Y_LSB = 0x36
M_OUT_Z_MSB = 0x37
M_OUT_Z_LSB = 0x38
CMP_X_MSB = 0x39
CMP_X_LSB = 0x3A
CMP_Y_MSB = 0x3B
CMP_Y_LSB = 0x3C
CMP_Z_MSB = 0x3D
CMP_Z_LSB = 0x3E
M_OFF_X_MSB = 0x3F
M_OFF_X_LSB = 0x40
M_OFF_Y_MSB = 0x41
M_OFF_Y_LSB = 0x42
M_OFF_Z_MSB = 0x43
M_OFF_Z_LSB = 0x44
MAX_X_MSB = 0x45
MAX_X_LSB = 0x46
MAX_Y_MSB = 0x47
MAX_Y_LSB = 0x48
MAX_Z_MSB = 0x49
MAX_Z_LSB = 0x4A
MIN_X_MSB = 0x4B
MIN_X_LSB = 0x4C
MIN_Y_MSB = 0x4D
MIN_Y_LSB = 0x4E
MIN_Z_MSB = 0x4F
MIN_Z_LSB = 0x50
TEMP = 0x51
M_THS_CFG = 0x52
M_THS_SRC = 0x53
M_THS_X_MSB = 0x54
M_THS_X_LSB = 0x55
M_THS_Y_MSB = 0x56
M_THS_Y_LSB = 0x57
M_THS_Z_MSB = 0x58
M_THS_Z_LSB = 0x59
M_THS_COUNT = 0x5A
M_CTRL_REG1 = 0x5B
M_CTRL_REG2 = 0x5C
M_CTRL_REG3 = 0x5D
M_INT_SRC = 0x5E
A_VECM_CFG = 0x5F
A_VECM_THS_MSB = 0x60
A_VECM_THS_LSB = 0x61
A_VECM_CNT = 0x62
A_VECM_INITX_MSB = 0x63
A_VECM_INITX_LSB = 0x64
A_VECM_INITY_MSB = 0x65
A_VECM_INITY_LSB = 0x66
A_VECM_INITZ_MSB = 0x67
A_VECM_INITZ_LSB = 0x68
M_VECM_CFG = 0x69
M_VECM_THS_MSB = 0x6A
M_VECM_THS_LSB = 0x6B
M_VECM_CNT = 0x6C
M_VECM_INITX_MSB = 0x6D
M_VECM_INITX_LSB = 0x6E
M_VECM_INITY_MSB = 0x6F
M_VECM_INITY_LSB = 0x70
M_VECM_INITZ_MSB = 0x71
M_VECM_INITZ_LSB = 0x72
A_FFMT_THS_X_MSB = 0x73
A_FFMT_THS_X_LSB = 0x74
A_FFMT_THS_Y_MSB = 0x75
A_FFMT_THS_Y_LSB = 0x76
A_FFMT_THS_Z_MSB = 0x77
A_FFMT_THS_Z_LSB = 0x78
######################################################################################################################
FXOS8700CQ_ADDRESS = 0x1E
#############*STATUS Register################/
ZYXOW_MASK = 0x80
ZOW_MASK = 0x40
YOW_MASK = 0x20
XOW_MASK = 0x10
ZYXDR_MASK = 0x08
ZDR_MASK = 0x04
YDR_MASK = 0x02
XDR_MASK = 0x01
##############STATUS Register#################
F_OVF_MASK = 0x80
F_WMRK_FLAG_MASK = 0x40
F_CNT5_MASK = 0x20
F_CNT4_MASK = 0x10
F_CNT3_MASK = 0x08
F_CNT2_MASK = 0x04
F_CNT1_MASK = 0x02
F_CNT0_MASK = 0x01
F_CNT_MASK = 0x3F
##############STATUS Register################/
OUT_X_MSB_REG = 0x01
OUT_X_LSB_REG = 0x02
OUT_Y_MSB_REG = 0x03
OUT_Y_LSB_REG = 0x04
OUT_Z_MSB_REG = 0x05
OUT_Z_LSB_REG = 0x06
#############*FIFO Register################/
F_MODE1_MASK = 0x80
F_MODE0_MASK = 0x40
F_WMRK5_MASK = 0x20
F_WMRK4_MASK = 0x10
F_WMRK3_MASK = 0x08
F_WMRK2_MASK = 0x04
F_WMRK1_MASK = 0x02
F_WMRK0_MASK = 0x01
F_MODE_MASK = 0xC0
F_WMRK_MASK = 0x3F
F_MODE_DISABLED = 0x00
F_MODE_CIRCULAR = (F_MODE0_MASK)
F_MODE_FILL = (F_MODE1_MASK)
F_MODE_TRIGGER = (F_MODE1_MASK+F_MODE0_MASK)
#############*TRIG_CFG Register################/
TRIG_TRANS_MASK = 0x20
TRIG_LNDPRT_MASK = 0x10
TRIG_PULSE_MASK = 0x08
TRIG_FF_MT_MASK = 0x04
#############*SYSMOD Register################/
FGERR_MASK = 0x80
FGT_4_MASK = 0x40
FGT_3_MASK = 0x20
FGT_2_MASK = 0x10
FGT_1_MASK = 0x08
FGT_0_MASK = 0x04
FGT_MASK = 0x7C
SYSMOD1_MASK = 0x02
SYSMOD0_MASK = 0x01
SYSMOD_MASK = 0x03
SYSMOD_STANDBY = 0x00
SYSMOD_WAKE = (SYSMOD0_MASK)
SYSMOD_SLEEP = (SYSMOD1_MASK)
#############*INT_SOURCE Register################/
SRC_ASLP_MASK = 0x80
SRC_FIFO_MASK = 0x40
SRC_TRANS_MASK = 0x20
SRC_LNDPRT_MASK = 0x10
SRC_PULSE_MASK = 0x08
SRC_FF_MT_MASK = 0x04
SRC_DRDY_MASK = 0x01
############WHO_AM_I Device ID Register##############/
FXOS8700CQ = 0xC7
MXOS8700CQ = 0xC4
########*XYZ_DATA_CFG Sensor Data Configuration Register########
HPF_OUT_MASK = 0x10 # MMA8451 and MMA8452 only
FS1_MASK = 0x02
FS0_MASK = 0x01
FS_MASK = 0x03
FULL_SCALE_2G = 0x00
FULL_SCALE_4G = (FS0_MASK)
FULL_SCALE_8G = (FS1_MASK)
######*HP_FILTER_CUTOFF High Pass Filter Register ###########/
PULSE_HPF_BYP_MASK = 0x20
PULSE_LPF_EN_MASK = 0x10
SEL1_MASK = 0x02
SEL0_MASK = 0x01
SEL_MASK = 0x03
#######PL_STATUS Portrait/Landscape Status Register ##########
NEWLP_MASK = 0x80
LO_MASK = 0x40
LAPO1_MASK = 0x04
LAPO0_MASK = 0x02
BAFRO_MASK = 0x01
LAPO_MASK = 0x06
#######* PL_CFG Portrait/Landscape Configuration Register########
DBCNTM_MASK = 0x80
PL_EN_MASK = 0x40
###PL_BF_ZCOMP Back/Front and Z Compensation Register############
BKFR1_MASK = 0x80
BKFR0_MASK = 0x40
ZLOCK2_MASK = 0x04
ZLOCK1_MASK = 0x02
ZLOCK0_MASK = 0x01
BKFR_MASK = 0xC0
ZLOCK_MASK = 0x07
######*PL_P_L_THS Portrait to Landscape Threshold Register########
PL_P_L_THS_REG = 0x14
P_L_THS4_MASK = 0x80
P_L_THS3_MASK = 0x40
P_L_THS2_MASK = 0x20
P_L_THS1_MASK = 0x10
P_L_THS0_MASK = 0x08
HYS2_MASK = 0x04
HYS1_MASK = 0x02
HYS0_MASK = 0x01
P_L_THS_MASK = 0xF8
HYS_MASK = 0x07
##########*FF_MT_CFG Freefall and Motion Configuration Register###/
FF_MT_CFG_REG = 0x15
ELE_MASK = 0x80
OAE_MASK = 0x40
ZEFE_MASK = 0x20
YEFE_MASK = 0x10
XEFE_MASK = 0x08
#####*FF_MT_SRC Freefall and Motion Source Registers###########/
FF_MT_SRC_REG = 0x16
EA_MASK = 0x80
ZHE_MASK = 0x20
ZHP_MASK = 0x10
YHE_MASK = 0x08
YHP_MASK = 0x04
XHE_MASK = 0x02
XHP_MASK = 0x01
###FF_MT_THS Freefall and Motion Threshold Registers###########
FT_MT_THS_REG = 0x17
TRANSIENT_THS_REG = 0x1F
DBCNTM_MASK = 0x80
THS6_MASK = 0x40
THS5_MASK = 0x20
THS4_MASK = 0x10
THS3_MASK = 0x08
THS2_MASK = 0x04
TXS1_MASK = 0x02
THS0_MASK = 0x01
THS_MASK = 0x7F
####*FF_MT_COUNT Freefall Motion Count Registers############/
FF_MT_COUNT_REG = 0x18
########*TRANSIENT_CFG Transient Configuration Register########/
TELE_MASK = 0x10
ZTEFE_MASK = 0x08
YTEFE_MASK = 0x04
XTEFE_MASK = 0x02
HPF_BYP_MASK = 0x01
######TRANSIENT_SRC Transient Source Register##############/
TEA_MASK = 0x40
ZTRANSE_MASK = 0x20
Z_TRANS_POL_MASK = 0x10
YTRANSE_MASK = 0x08
Y_TRANS_POL_MASK = 0x04
XTRANSE_MASK = 0x02
X_TRANS_POL_MASK = 0x01
#############*PULSE_CFG Register##############/
DPA_MASK = 0x80
PELE_MASK = 0x40
ZDPEFE_MASK = 0x20
ZSPEFE_MASK = 0x10
YDPEFE_MASK = 0x08
YSPEFE_MASK = 0x04
XDPEFE_MASK = 0x02
XSPEFE_MASK = 0x01
#############*PULSE_SRC Register################/
PEA_MASK = 0x80
AXZ_MASK = 0x40
AXY_MASK = 0x20
AXX_MASK = 0x10
DPE_MASK = 0x08
POLZ_MASK = 0x04
POLY_MASK = 0x02
POLX_MASK = 0x01
PTHS_MASK = 0x7F
########CTRL_REG1 System Control 1 Register##############/
ASLP_RATE1_MASK = 0x80
ASLP_RATE0_MASK = 0x40
DR2_MASK = 0x20
DR1_MASK = 0x10
DR0_MASK = 0x08
LNOISE_MASK = 0x04
FREAD_MASK = 0x02
ACTIVE_MASK = 0x01
ASLP_RATE_MASK = 0xC0
DR_MASK = 0x38
ASLP_RATE_20MS = 0x00
ASLP_RATE_80MS = (ASLP_RATE0_MASK)
ASLP_RATE_160MS = (ASLP_RATE1_MASK)
ASLP_RATE_640MS = (ASLP_RATE1_MASK+ASLP_RATE0_MASK)
ASLP_RATE_50HZ = (ASLP_RATE_20MS)
ASLP_RATE_12_5HZ = (ASLP_RATE_80MS)
ASLP_RATE_6_25HZ = (ASLP_RATE_160MS)
ASLP_RATE_1_56HZ = (ASLP_RATE_640MS)
HYB_ASLP_RATE_25HZ = (ASLP_RATE_20MS)
HYB_ASLP_RATE_6_25HZ = (ASLP_RATE_80MS)
HYB_ASLP_RATE_1_56HZ = (ASLP_RATE_160MS)
HYB_ASLP_RATE_0_8HZ = (ASLP_RATE_640MS)
DATA_RATE_1250US = 0x00
DATA_RATE_2500US = (DR0_MASK)
DATA_RATE_5MS = (DR1_MASK)
DATA_RATE_10MS = (DR1_MASK+DR0_MASK)
DATA_RATE_20MS = (DR2_MASK)
DATA_RATE_80MS = (DR2_MASK+DR0_MASK)
DATA_RATE_160MS = (DR2_MASK+DR1_MASK)
DATA_RATE_640MS = (DR2_MASK+DR1_MASK+DR0_MASK)
DATA_RATE_800HZ = (DATA_RATE_1250US)
DATA_RATE_400HZ = (DATA_RATE_2500US)
DATA_RATE_200HZ = (DATA_RATE_5MS)
DATA_RATE_100HZ = (DATA_RATE_10MS)
DATA_RATE_50HZ = (DATA_RATE_20MS)
DATA_RATE_12_5HZ = (DATA_RATE_80MS)
DATA_RATE_6_25HZ = (DATA_RATE_160MS)
DATA_RATE_1_56HZ = (DATA_RATE_640MS)
HYB_DATA_RATE_400HZ =(DATA_RATE_1250US)
HYB_DATA_RATE_200HZ =(DATA_RATE_2500US)
HYB_DATA_RATE_100HZ =(DATA_RATE_5MS)
HYB_DATA_RATE_50HZ =(DATA_RATE_10MS)
HYB_DATA_RATE_25HZ =(DATA_RATE_20MS)
HYB_DATA_RATE_6_25HZ =(DATA_RATE_80MS)
HYB_DATA_RATE_3_15HZ =(DATA_RATE_160MS)
HYB_DATA_RATE_0_8HZ =(DATA_RATE_640MS)
ACTIVE = (ACTIVE_MASK)
STANDBY = 0x00
########CTRL_REG2 System Control 2 Register##############/
CTRL_REG2 = 0x2B
ST_MASK = 0x80
RST_MASK = 0x40
SMODS1_MASK = 0x10
SMODS0_MASK = 0x08
SLPE_MASK = 0x04
MODS1_MASK = 0x02
MODS0_MASK = 0x01
SMODS_MASK = 0x18
MODS_MASK = 0x03
SMOD_NORMAL = 0x00
SMOD_LOW_NOISE = (SMODS0_MASK)
SMOD_HIGH_RES = (SMODS1_MASK)
SMOD_LOW_POWER = (SMODS1_MASK+SMODS0_MASK)
MOD_NORMAL = 0x00
MOD_LOW_NOISE = (MODS0_MASK)
MOD_HIGH_RES = (MODS1_MASK)
MOD_LOW_POWER = (MODS1_MASK+MODS0_MASK)
########CTRL_REG3 System Control 3 Register##############/
FIFO_GATE_MASK = 0x80
WAKE_TRANS_MASK = 0x40
WAKE_LNDPRT_MASK = 0x20
WAKE_PULSE_MASK = 0x10
WAKE_FF_MT_MASK = 0x08
IPOL_MASK = 0x02
PP_OD_MASK = 0x01
########CTRL_REG4 System Control 4 Register##############/
INT_EN_ASLP_MASK =0x80
INT_EN_FIFO_MASK =0x40
INT_EN_TRANS_MASK =0x20
INT_EN_LNDPRT_MASK =0x10
INT_EN_PULSE_MASK =0x08
INT_EN_FF_MT_MASK =0x04
INT_EN_DRDY_MASK =0x01
########CTRL_REG5 System Control 5 Register##############/
INT_CFG_ASLP_MASK =0x80
INT_CFG_FIFO_MASK =0x40
INT_CFG_TRANS_MASK =0x20
INT_CFG_LNDPRT_MASK =0x10
INT_CFG_PULSE_MASK =0x08
INT_CFG_FF_MT_MASK =0x04
INT_CFG_DRDY_MASK =0x01
#
# XYZ Offset Correction Registers
#
OFF_X_REG = 0x2F
OFF_Y_REG = 0x30
OFF_Z_REG = 0x31
#
# MAG CTRL_REG1 System Control 1 Register
#
M_ACAL_MASK = 0x80
M_RST_MASK = 0x40
M_OST_MASK = 0x20
M_OSR2_MASK = 0x10
M_OSR1_MASK = 0x08
M_OSR0_MASK = 0x04
M_HMS1_MASK = 0x02
M_HMS0_MASK = 0x01
M_OSR_MASK = 0x1C
M_HMS_MASK = 0x03
#OSR Selections
M_OSR_1_56_HZ = 0x00
M_OSR_6_25_HZ = M_OSR0_MASK
M_OSR_12_5_HZ = M_OSR1_MASK
M_OSR_50_HZ = M_OSR1_MASK+M_OSR0_MASK
M_OSR_100_HZ = M_OSR2_MASK
M_OSR_200_HZ = M_OSR2_MASK+M_OSR0_MASK
M_OSR_400_HZ = M_OSR2_MASK+M_OSR1_MASK
M_OSR_800_HZ = M_OSR2_MASK+M_OSR1_MASK+M_OSR0_MASK
#Hybrid Mode Selection
ACCEL_ACTIVE = 0x00
MAG_ACTIVE = M_HMS0_MASK
HYBRID_ACTIVE = (M_HMS1_MASK | M_HMS0_MASK)
#
# MAG CTRL_REG2 System Control 2 Register
#
M_HYB_AUTOINC_MASK = 0x20
M_MAXMIN_DIS_MASK = 0x10
M_MAXMIN_DIS_THS_MASK = 0x08
M_MAXMIN_RST_MASK = 0x04
M_RST_CNT1_MASK = 0x02
M_RST_CNT0_MASK = 0x01
#Mag Auto-Reset De-Gauss Frequency
RST_ODR_CYCLE = 0x00
RST_16_ODR_CYCLE = M_RST_CNT0_MASK
RST_512_ODR_CYCLE = M_RST_CNT1_MASK
RST_DISABLED = M_RST_CNT1_MASK+M_RST_CNT0_MASK
#
# MAG CTRL_REG3 System Control 3 Register
#
M_RAW_MASK = 0x80
M_ASLP_OS_2_MASK = 0x40
M_ASLP_OS_1_MASK = 0x20
M_ASLP_OS_0_MASK = 0x10
M_THS_XYZ_MASK = 0x08
M_ST_Z_MASK = 0x04
M_ST_XY1_MASK = 0x02
M_ST_XY0_MASK = 0x01
M_ASLP_OSR_MASK = 0x70
M_ST_XY_MASK = 0x03
#OSR Selections
M_ASLP_OSR_1_56_HZ = 0x00
M_ASLP_OSR_6_25_HZ = M_ASLP_OS_0_MASK
M_ASLP_OSR_12_5_HZ = M_ASLP_OS_1_MASK
M_ASLP_OSR_50_HZ = M_ASLP_OS_1_MASK+M_ASLP_OS_0_MASK
M_ASLP_OSR_100_HZ = M_ASLP_OS_2_MASK
M_ASLP_OSR_200_HZ = M_ASLP_OS_2_MASK+M_ASLP_OS_0_MASK
M_ASLP_OSR_400_HZ = M_ASLP_OS_2_MASK+M_ASLP_OS_1_MASK
M_ASLP_OSR_800_HZ = M_ASLP_OS_2_MASK+M_ASLP_OS_1_MASK+M_ASLP_OS_0_MASK
#
# MAG INT SOURCE Register
#
M_INT_SOURCE = 0x5E
SRC_M_DRDY_MASK = 0x04
SRC_M_VECM_MASK = 0x02
SRC_M_THS_MASK = 0x01
# ACCEL VECTOR CONFIG Register
A_VECM_INIT_CFG_MASK = 0x40
A_VECM_INIT_EN_MASK = 0x20
A_VECM_WAKE_EN_MASK = 0x10
A_VECM_EN_MASK = 0x08
A_VECM_UPDM_MASK = 0x04
A_VECM_INITM_MASK = 0x02
A_VECM_ELE_MASK = 0x01
# ACCEL VECTOR THS MSB AND LSB Register
A_VECM_DBCNTM_MASK = 0x80
# MAG VECTOR CONFIG Register
M_VECM_INIT_CFG_MASK = 0x40
M_VECM_INIT_EN_MASK = 0x20
M_VECM_WAKE_EN_MASK = 0x10
M_VECM_EN_MASK = 0x08
M_VECM_UPDM_MASK = 0x04
M_VECM_INITM_MASK = 0x02
M_VECM_ELE_MASK = 0x01
# MAG VECTOR THS MSB AND LSB Register
M_VECM_DBCNTM_MASK = 0x80
# ACCEL FFMT THS X MSB AND LSB Register
A_FFMT_THS_XYZ_EN_MASK = 0x80
A_FFMT_THS_X_LSB_MASK = 0xFC
# ACCEL FFMT THS Y MSB AND LSB Register
A_FFMT_THS_Y_EN_MASK = 0x80
A_FFMT_THS_Y_LSB_MASK = 0xFC
# ACCEL FFMT THS Z MSB AND LSB Register
A_FFMT_THS_Z_EN_MASK = 0x80
A_FFMT_THS_Z_LSB_MASK = 0xFC
#########################################################################################################
[docs]class FXOS8700CQR1(object):
"""Representation of an FXOS8700CQ accelerometer/ magnetometer object."""
def __init__(self):
"""
Initializes the accelerometer and magnetometer chip in hybrid mode. Both Accel and mangnetometer functionality are available.
:param none:
:returns: none
"""
self._address = FXOS8700CQR1_ADDRESS
FXO.I2C_Initialize()
FXO.FXOS8700CQ_WriteByte(self._address,CTRL_REG2, RST_MASK) #Reset sensor, and wait for reboot to complete
FXO.bcm2835_delay(2) #Wait at least 1ms after issuing a reset before attempting communications.
FXO.FXOS8700CQ_StandbyMode()
while ((FXO.FXOS8700CQ_ReadByte(self._address,CTRL_REG2) & RST_MASK) == True):
pass
FXO.FXOS8700CQ_WriteByte(self._address,M_CTRL_REG1, (HYBRID_ACTIVE|M_OSR2_MASK|M_OSR1_MASK|M_OSR0_MASK)) #OSR=max, Hybrid Mode
FXO.FXOS8700CQ_WriteByte(self._address,M_CTRL_REG2, M_HYB_AUTOINC_MASK) #Enable Hyb Mode Auto Increments in order to read all data
FXO.FXOS8700CQ_WriteByte(self._address,CTRL_REG4, INT_EN_DRDY_MASK ) #Enable interrupts for DRDY (TO, Aug 2012)
FXO.FXOS8700CQ_WriteByte(self._address,XYZ_DATA_CFG, FULL_SCALE_2G) #Full Scale of +/-2g
FXO.FXOS8700CQ_WriteByte(self._address,CTRL_REG1,(HYB_ASLP_RATE_25HZ|HYB_DATA_RATE_50HZ)) #System Output Data Rate of 200Hz (5ms), Sleep Mode Poll Rate of 50Hz (20ms)
[docs] def getID (self):
"""
Read the chip ID.
:param none:
:returns: chip id
"""
id = FXO.FXOS8700CQ_ReadByte(self._address,WHO_AM_I)
return id
def readStatusReg(self):
"""
Read the Status register.
:param none:
:returns: status register
"""
return FXO.FXOS8700CQ_ReadByte(self._address,STATUS)
[docs] def activeMode(self):
"""
Put the chip in Active mode.
:param none:
:returns: none
"""
reg1 = FXO.FXOS8700CQ_ReadByte(self._address,CTRL_REG1);
FXO.FXOS8700CQ_WriteByte(self._address,CTRL_REG1, (reg1 | ACTIVE_MASK)) #Set the Active bit in System Control 1 Register.
[docs] def standbyMode(self):
"""
Put the chip in Standby mode.
:param none:
:returns: none
"""
n = FXO.FXOS8700CQ_ReadByte(self._address,CTRL_REG1)
FXO.FXOS8700CQ_WriteByte(self._address,CTRL_REG1, n & (~ACTIVE_MASK))
return (n & ~ACTIVE_MASK)
[docs] def configureAccelerometer(self):
"""
Configure the Accelerometer with default settings +/- 2g.
:param none:
:returns: none
"""
FXO.FXOS8700CQ_StandbyMode()
FXO.FXOS8700CQ_WriteByte(self._address,CTRL_REG4, INT_EN_DRDY_MASK ) # Enable interrupts for DRDY (TO, Aug 2012)
FXO.FXOS8700CQ_WriteByte(self._address,XYZ_DATA_CFG, FULL_SCALE_2G) # Set FSR of accel to +/-2g
FXO.FXOS8700CQ_WriteByte(self._address,CTRL_REG1, (HYB_ASLP_RATE_25HZ|HYB_DATA_RATE_50HZ)) # Set ODRs
FXO.FXOS8700CQ_ActiveMode()
[docs] def configureMagnetometer(self):
"""
Configure the magnetometer with default settigs.
:param none:
:returns: none
"""
FXO.FXOS8700CQ_StandbyMode()
FXO.FXOS8700CQ_WriteByte(self._address,M_CTRL_REG1, (HYBRID_ACTIVE|M_OSR2_MASK|M_OSR1_MASK|M_OSR0_MASK)) # OSR=max, hybrid mode (TO, Aug 2012)
FXO.FXOS8700CQ_WriteByte(self._address,M_CTRL_REG2, M_HYB_AUTOINC_MASK) #enable hybrid autoinc
FXO.FXOS8700CQ_ActiveMode()
[docs] def hybridMode(self):
"""
Configure the chip in hybrid mode with default settigs 50 Hz ouput data rate.
:param none:
:returns: none
"""
FXO.FXOS8700CQ_StandbyMode()
FXO.FXOS8700CQ_WriteByte(self._address,M_CTRL_REG1, (HYBRID_ACTIVE|M_OSR2_MASK|M_OSR1_MASK|M_OSR0_MASK)) #OSR=max, hybrid mode (TO, Aug 2012)
FXO.FXOS8700CQ_WriteByte(self._address,M_CTRL_REG2, M_HYB_AUTOINC_MASK) # enable hybrid autoinc
FXO.FXOS8700CQ_WriteByte(self._address,CTRL_REG4, INT_EN_DRDY_MASK ) # Enable interrupts for DRDY (TO, Aug 2012)
FXO.FXOS8700CQ_WriteByte(self._address,XYZ_DATA_CFG, FULL_SCALE_2G) # Set FSR of accel to +/-2g
FXO.FXOS8700CQ_WriteByte(self._address,CTRL_REG1, (HYB_ASLP_RATE_25HZ|HYB_DATA_RATE_50HZ)) #Set ODRs
FXO.FXOS8700CQ_ActiveMode()
[docs] def pollAccelerometer (self):
"""
Get accelerometer data , these are left justified.
:param none:
:returns: acceleration data (ax, ay, az)
"""
raw0 = FXO.FXOS8700CQ_ReadByte(self._address,OUT_X_MSB)
raw1 = FXO.FXOS8700CQ_ReadByte(self._address,OUT_X_LSB)
raw2 = FXO.FXOS8700CQ_ReadByte(self._address,OUT_Y_MSB)
raw3 = FXO.FXOS8700CQ_ReadByte(self._address,OUT_Y_LSB)
raw4 = FXO.FXOS8700CQ_ReadByte(self._address,OUT_Z_MSB)
raw5 = FXO.FXOS8700CQ_ReadByte(self._address,OUT_Z_LSB)
ax = (raw0 << 8) | raw1 # Pull out 16-bit, 2's complement magnetometer data
ay = (raw2 << 8) | raw3
az = (raw4 << 8) | raw5
if(ax > UINT14_MAX/2):
ax -= UINT14_MAX
if(ay > UINT14_MAX/2):
ay -= UINT14_MAX
if(az > UINT14_MAX/2):
az -= UINT14_MAX
return (ax, ay, az)
[docs] def FIFOMode(self,mode):
"""
Put the sensor in FIFO mode.
:param none:
:returns: none
"""
FXO.FXOS8700CQ_WriteByte(self._address,F_SETUP,6<<mode)
[docs] def highPassFilter(self,status):
"""
Enable the highpass filter.
:param none:
:returns: none
"""
FXO.FXOS8700CQ_WriteByte(self._address,XYZ_DATA_CFG,status)
[docs] def fullScaleRange(self,range):
"""
Configure full scale range.
:param none:
:returns: none
"""
FXO.FXOS8700CQ_WriteByte(self._address,XYZ_DATA_CFG,range)
[docs] def setAccelerometerDynamicRange(self,range):
"""
Configure the sensor accelerometer dynamic range.
:param range: Accelerometer dynamic range
:returns: none
"""
FXO.FXOS8700CQ_StandbyMode()
if range == SCALE2G:
FXO.FXOS8700CQ_WriteByte(self._address,XYZ_DATA_CFG, (FXOS8700CQ_ReadByte(XYZ_DATA_CFG) & ~FS_MASK)) #Write the 2g dynamic range value into register = 0x0E
elif range == SCALE4G:
FXO.FXOS8700CQ_WriteByte(self._address,XYZ_DATA_CFG, (FXOS8700CQ_ReadByte(XYZ_DATA_CFG) & ~FS_MASK)) #Write the 4g dynamic range value into register = 0x0E
FXO.FXOS8700CQ_WriteByte(self._address,XYZ_DATA_CFG, (FXOS8700CQ_ReadByte(XYZ_DATA_CFG) | FULL_SCALE_4G))
elif range ==SCALE8G:
FXO.FXOS8700CQ_WriteByte(self._address,XYZ_DATA_CFG, (FXOS8700CQ_ReadByte(XYZ_DATA_CFG) & ~FS_MASK)) #Write the 8g dynamic range value into register = 0x0E
FXO.FXOS8700CQ_WriteByte(self._address,XYZ_DATA_CFG, (FXOS8700CQ_ReadByte(XYZ_DATA_CFG) | FULL_SCALE_8G))
FXO.FXOS8700CQ_ActiveMode()
[docs] def magnetometerStatus(self):
"""
Configure the accelerometer status.
:param none:
:returns: none
"""
stat = FXO.FXOS8700CQ_ReadByte(self._address,M_DR_STATUS)
return stat
[docs] def pollMagnetometer (self):
"""
Reads the magnetometer data.
:param none:
:returns: magnetometer data (mx, my, mz)
"""
raw0 = FXO.FXOS8700CQ_ReadByte(self._address,M_OUT_X_MSB)
raw1 = FXO.FXOS8700CQ_ReadByte(self._address,M_OUT_X_LSB)
raw2 = FXO.FXOS8700CQ_ReadByte(self._address,M_OUT_Y_MSB)
raw3 = FXO.FXOS8700CQ_ReadByte(self._address,M_OUT_Y_MSB)
raw4 = FXO.FXOS8700CQ_ReadByte(self._address,M_OUT_Z_MSB)
raw5 = FXO.FXOS8700CQ_ReadByte(self._address,M_OUT_Z_MSB)
mx = (raw0 << 8) | raw1 # Pull out 16-bit, 2's complement magnetometer data
my = (raw2 << 8) | raw3
mz = (raw4 << 8) | raw5
return (mx, my, mz)
[docs] def getHeading(self):
"""
Get magnetometer heading .
:param none:
:returns: magnetometer heading
"""
(x, y, z) = self.pollAccelerometer()
heading = (math.atan2((y), (x)) * 180)/math.pi
return heading
[docs] def setODR (self,DataRateValue):
"""
Set the output data rate.
:param DataRateValue: Output data rate
:returns: none
"""
FXO.FXOS8700CQ_SetODR(DataRateValue)
[docs] def getODR (self):
"""
Get the output data rate .
:param none:
:returns: none
"""
FXO.FXOS8700CQ_GetODR()
[docs] def getOrientation(self):
"""
Returns current orientation of the sensor.
:param none:
:returns: current orientation of the Sensorian
"""
orientation = FXO.FXOS8700CQ_ReadByte(self._address,PL_STATUS)
return orientation
[docs] def configureOrientation(self):
"""
Configure Orientation mode.
:param none:
:returns: none
"""
CTRL_REG1_Data = FXO.FXOS8700CQ_ReadByte(self._address,0x2A) #read contents of register
CTRL_REG1_Data &= 0xFE #Set last bit to 0.
FXO.FXOS8700CQ_WriteByte(self._address,0x2A, CTRL_REG1_Data)
CTRL_REG1_Data = FXO.FXOS8700CQ_ReadByte(self._address,0x2A) #Note: Can combine this step with above
CTRL_REG1_Data &= 0xC7 #Clear the sample rate bits
CTRL_REG1_Data |= 0x20 #Set the sample rate bits to 50 Hz
FXO.FXOS8700CQ_WriteByte(self._address,0x2A, CTRL_REG1_Data) #Write updated value into the register.
#Set the PL_EN bit in Register 0x11 PL_CFG. This will enable the orientation detection.
PLCFG_Data = FXO.FXOS8700CQ_ReadByte (self._address,0x11)
PLCFG_Data |= 0x40
FXO.FXOS8700CQ_WriteByte(self._address,0x11, PLCFG_Data)
#Set the Back/Front Angle trip points in register 0x13 following the table in the data sheet.
PL_BF_ZCOMP_Data = FXO.FXOS8700CQ_ReadByte(self._address,0x13)
PL_BF_ZCOMP_Data &= 0x3F #Clear bit 7 and 6
#Select one of the following to set the B/F angle value:
PL_BF_ZCOMP_Data |= 0x00 #This does nothing additional and keeps bits [7:6] = 00
PL_BF_ZCOMP_Data |= 0x40 # Sets bits[7:6] = 01
PL_BF_ZCOMP_Data |= 0x80 # Sets bits[7:6] = 02
PL_BF_ZCOMP_Data |= 0xC0 # Sets bits[7:6] = 03
FXO.FXOS8700CQ_WriteByte(self._address,0x13, PL_BF_ZCOMP_Data) #Write in the updated Back/Front Angle
PL_BF_ZCOMP_Data = FXO.FXOS8700CQ_ReadByte(0x1C) #Read out contents of the register (can be read by all
PL_BF_ZCOMP_Data &= 0xF8 #Clear the last three bits of the register
PL_BF_ZCOMP_Data |= 0x00
FXO.FXOS8700CQ_WriteByte(self._address,0x13, PL_BF_ZCOMP_Data) #Write in the updated Z-lockout angle
P_L_THS_Data = FXO.FXOS8700CQ_ReadByte(self._address,0x14)
P_L_THS_Data &= 0x07 #Clear the Threshold values
P_L_THS_Data |= (0x07)<<3
FXO.FXOS8700CQ_WriteByte(self._address,0x14,P_L_THS_Data)
#Set the Hysteresis Angle
P_L_THS_Data = FXO.FXOS8700CQ_ReadByte(self._address,0x14)
P_L_THS_Data &= 0xF8 #Clear the Hysteresis values
P_L_THS_Data |= 0x02
FXO.FXOS8700CQ_WriteByte(self._address,0x14,P_L_THS_Data)
CTRL_REG4_Data = FXO.FXOS8700CQ_ReadByte(self._address,0x2D) #Read out the contents of the register
CTRL_REG4_Data |= 0x10 #Set bit 4
FXO.FXOS8700CQ_WriteByte(self._address,0x2D, CTRL_REG4_Data) #Set the bit and write into CTRL_REG4
CTRL_REG5_Data = FXO.FXOS8700CQ_ReadByte(self._address,0x2E)
CTRL_REG5_Data &= 0xEF #Clear bit 4 to choose the interrupt to route to INT2
CTRL_REG5_Data |= 0x10 #Set bit 4 to choose the interrupt to route to INT1
FXO.FXOS8700CQ_WriteByte(self._address,0x2E, CTRL_REG5_Data) #Write in the interrupt routing selection
FXO.FXOS8700CQ_WriteByte(self._address,0x12, 0x05) #This sets the debounce counter to 100 ms at 50 Hz
CTRL_REG1_Data = FXO.FXOS8700CQ_ReadByte(self._address,0x2A) #Read out the contents of the register
CTRL_REG1_Data |= 0x01 #Change the value in the register to Active Mode.
FXO.FXOS8700CQ_WriteByte(self._address,0x2A, CTRL_REG1_Data) #Write in the updated value to put the device in Active Mode
[docs] def getChipMode(self):
"""
Get the current mode of the chip.
:param none:
:returns: none
"""
mode = FXO.FXOS8700CQ_ReadByte(self._address,SYSMOD)
return mode
[docs] def getTemperature(self):
"""
Reads the sensor temperature.
:param none:
:returns: none
"""
temp = FXO.FXOS8700CQ_ReadByte(self._address,TEMP)
return temp
[docs] def readStatusReg(self):
"""
Read contents of status register.
:param none:
:returns: none
"""
return FXO.FXOS8700CQ_ReadByte(self._address,STATUS)
[docs] def writeByte(self,address,reg, value):
"""
Write a data byte on the given register.
:param address: Sensor address
:param reg: Register address
:param value: Register value
:returns: none
"""
FXO.I2C_WriteByteRegister(address,reg,value) #Write value to register
[docs] def readByte(self,address,reg):
"""
Read a data byte from the given register.
:param address: Sensor address
:param reg: Register address
:returns: none
"""
return FXO.I2C_ReadByteRegister(address,reg) #Read register current value
