Dimiter Kendri
Created October 24, 2017

Android Things Smart Parking

Smart Parking lot occupancy detector, IOT enabled

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Android Things Smart Parking

Things used in this project

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Schematics

Parking lot node

FXOS8700 magnetometer with Arduino 101 BLE enabled board

Code

Parking Lot sensor node

Arduino
Main program of sensor node.
/* Arduino 101 Smart parking with Android Things
 * Copyright (C) 2017 by Dimiter Kendri
 *
 *
 * This Library is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This Library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with the Arduino 101 Curie Lake monitor.  If not, see
 * <http://www.gnu.org/licenses/>.
 */


#include <CurieBLE.h>
#include <Wire.h>
#include "FXOS8700.h"


FXOS8700CQ magnetometer = FXOS8700CQ(0x1F);

/*********************************************************************************/

const char *moduleName = "AndroidParking";

BLEPeripheral blePeripheral;

// Environment sensing service UUID
// https://developer.bluetooth.org/gatt/services/Pages/ServiceViewer.aspx?u=org.bluetooth.service.environmental_sensing.xml
#define SERVICE_PARKING "181A"           
#define CHAR_UUID_MAGX "2A6E"        	// magx UUID
#define CHAR_UUID_MAGY "2A6F"           // magy UUID
#define CHAR_UUID_MAGZ "2A6F"           // magz UUID

BLEService MagServ(SERVICE_PARKING);

// We want notifications to be supported
BLEShortCharacteristic MagxChar(CHAR_UUID_MAGX,  BLERead | BLENotify);
BLEShortCharacteristic MagyChar(CHAR_UUID_MAGY,  BLERead | BLENotify);
BLEShortCharacteristic MagzChar(CHAR_UUID_MAGZ,  BLERead | BLENotify);

/*********************************************************************************/

const byte MagInterruptPin = 2;
 
void setupMagnetometer(void);
void updateCharacteristic(void);

void setup() {
  Serial.begin(9600);
  while (!Serial);    // wait for the serial port to open

  Wire.begin();
  
  setupMagnetometer();
  
  // Set BLE name for the module
  blePeripheral.setLocalName(moduleName);
  // Add the service UUID
  blePeripheral.setAdvertisedServiceUuid(MagServ.uuid());
  // Add the BLE service
  blePeripheral.addAttribute(MagServ);
  // Add characteristics
  blePeripheral.addAttribute(MagxChar);
  blePeripheral.addAttribute(MagyChar);
  blePeripheral.addAttribute(MagzChar);
  

  
  // Set initial values
  updateCharacteristic();

  /* Activate the BLE device.  It will start continuously transmitting BLE
     advertising packets and will be visible to remote BLE central devices
     until it receives a new connection */
  blePeripheral.begin();
  
  pinMode(MagInterruptPin, INPUT_PULLUP);
  attachInterrupt(digitalPinToInterrupt(MagInterruptPin), updateCharacteristic, RISING );
  
  Serial.println("Bluetooth device active, waiting for connections...");
}

void loop() {

  // poll peripheral
  blePeripheral.poll();
}


void setupMagnetometer(void)
{
  Serial.println("Initializing FXOS8700 device...");
  // Initialize the FXOS8700CQ
  magnetometer.init();
}

  
// Get data from sensors, process and push to BLE characteristics
void updateCharacteristic(void)
{
  magnetometer.readMagData();
  
  // Magnometer
  Serial.print("Mag ");
  Serial.print("X: ");
  Serial.print((int)magnetometer.magData.x);
  Serial.print(" Y: ");
  Serial.print((int)magnetometer.magData.y);
  Serial.print(" Z: ");
  Serial.println((int)magnetometer.magData.z);
  
  MagxChar.setValue((int)magnetometer.magData.x);
  MagyChar.setValue((int)magnetometer.magData.y);
  MagzChar.setValue((int)magnetometer.magData.z);
		
}

FXOS8700.cpp

Arduino
Magnetometer sensor
#include <Wire.h>
#include <math.h>

#include "FXOS8700.h"
#include "MemoryMapRegs.h"

// Public Methods //////////////////////////////////////////////////////////////

FXOS8700CQ::FXOS8700CQ(byte addr)
{
	address = addr;
	accelFSR = AFS_2g;     // Set the scale below either 2, 4 or 8
	accelODR = AODR_200HZ; // In hybrid mode, accel/mag data sample rates are half of this value
	magOSR = MOSR_5;     // Choose magnetometer oversample rate
}

// Writes a register
void FXOS8700CQ::writeReg(byte reg, byte value)
{
	Wire.beginTransmission(address);
	Wire.write(reg);
	Wire.write(value);
	Wire.endTransmission();
}

// Reads a register
byte FXOS8700CQ::readReg(byte reg)
{
	byte value;

	Wire.beginTransmission(address);
	Wire.write(reg);
	Wire.endTransmission();
	Wire.requestFrom(address, (uint8_t)1);
	value = Wire.read();
	Wire.endTransmission();

	return value;
}

void FXOS8700CQ::readRegs(byte reg, uint8_t count, byte dest[])
{
	uint8_t i = 0;

	Wire.beginTransmission(address);   // Initialize the Tx buffer
	Wire.write(reg);            	   // Put slave register address in Tx buffer
	Wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
	Wire.requestFrom(address, count);  // Read bytes from slave register address 

	while (Wire.available()) {
		dest[i++] = Wire.read();   // Put read results in the Rx buffer
	}
}



// Read the magnometer data
void FXOS8700CQ::readMagData()
{
	uint8_t rawData[6];  // x/y/z accel register data stored here

	readRegs(M_OUT_X_MSB, 6, &rawData[0]);  // Read the six raw data registers into data array
	magData.x = ((int16_t) rawData[0] << 8 | rawData[1]) >> 2;
	magData.y = ((int16_t) rawData[2] << 8 | rawData[3]) >> 2;
	magData.z = ((int16_t) rawData[4] << 8 | rawData[5]) >> 2;
}

// Read the temperature data
void FXOS8700CQ::readTempData()
{
	tempData = readReg(TEMP);
}

// Put the FXOS8700CQ into standby mode.
// It must be in standby for modifying most registers
void FXOS8700CQ::standby()
{
	byte c = readReg(CTRL_REG1);
	writeReg(CTRL_REG1, c & ~(0x01));
}

// Put the FXOS8700CQ into active mode.
// Needs to be in this mode to output data.
void FXOS8700CQ::active()
{
	byte c = readReg(CTRL_REG1);
	writeReg(CTRL_REG1, c | 0x01);
}

void FXOS8700CQ::init()
{
	standby();  // Must be in standby to change registers

    uint16_t magThreshold = 0x200;                               //counts;
    uint8_t magThresholdHi = (magThreshold & 0xFF00) >> 8;
    uint8_t magThresholdLo = magThreshold & 0xFF;
    writeReg(M_THS_Z_MSB, magThresholdHi);        // Debounce countered cleared to zero when threshold is not longer true
    writeReg(M_THS_Z_LSB, magThresholdLo);
    
    magThreshold = 0x200;                               //counts;
    magThresholdHi = (magThreshold & 0xFF00) >> 8;
    magThresholdLo = magThreshold & 0xFF;
    writeReg(M_THS_Y_MSB, magThresholdHi);        // Debounce countered cleared to zero when threshold is not longer true
    writeReg(M_THS_Y_LSB, magThresholdLo);
    
    
    writeReg( M_THS_X_MSB, 0x03); // Threshold value MSB  
    writeReg( M_THS_X_LSB, 0xE8); // Threshold value LSB  
    //FXOS8700CQ_WriteByte( M_THS_CFG, 0xCA); // Event flag latch enabled, logic OR of enabled axes, only X-axis enabled, threshold interrupt enabled and routed to INT2
    
    writeReg(M_THS_CFG, M_THS_ELE | M_THS_OAE | M_THS_ZEFE | M_THS_YEFE | M_THS_XEFE | M_THS_INT_EN );  //M_INT_threshold on INT2 pin (MCU_INT1), OR INT of all axes for threshold, latch disabled.

        
    writeReg( M_THS_COUNT, 0x02); // 100ms at 100Hz ODR and magnetometer mode only 
    writeReg( M_CTRL_REG1, 0x1D); // Max OSR, only magnetometer is active 
    writeReg( CTRL_REG3, 0x00); // Push-pull, active low interrupt 
   
    writeReg(CTRL_REG3, IPOL_MASK);                     // Active HIGH on INT, push-pull mode
    writeReg( CTRL_REG1, 0x19); // ODR = 100Hz, Active mode    


	active();  // Set to active to start reading
}

// Get accelerometer resolution
float FXOS8700CQ::getAres(void)
{
	switch (accelFSR)
	{
		// Possible accelerometer scales (and their register bit settings) are:
		// 2 gs (00), 4 gs (01), 8 gs (10). 
		case AFS_2g:
			return 2.0/8192.0;
		break;
		case AFS_4g:
			return 4.0/8192.0;
		break;
		case AFS_8g:
			return 8.0/8192.0;
		break;
	}

	return 0.0;
}

// Get magnometer resolution
float FXOS8700CQ::getMres(void)
{
	return 10./32768.;
}
// Private Methods //////////////////////////////////////////////////////////////

FXOS8700.h

Arduino
#ifndef FXOS8700_H_
#define FXOS8700_H_

#include <Arduino.h> // for byte data type

// register addresses
#define STATUS 				0x00
#define OUT_X_MSB 			0x01
#define OUT_X_LSB			0x02
#define OUT_Y_MSB			0x03
#define OUT_Y_LSB			0x04
#define OUT_Z_MSB			0x05
#define OUT_Z_LSB			0x05
#define F_SETUP				0x09
#define TRIG_CFG			0x0A
#define SYSMOD				0x0B
#define INT_SOURCE			0x0C
#define WHO_AM_I			0x0D
#define XYZ_DATA_CFG		0x0E
#define HP_FILTER_CUTOFF	0x0F
#define PL_STATUS			0x10
#define PL_CFG				0x11
#define PL_COUNT			0x12
#define PL_BF_ZCOMP			0x13
#define PL_THS_REG			0x14
#define A_FFMT_CFG			0x15
#define A_FFMT_SRC			0x16
#define A_FFMT_THS			0x17
#define A_FFMT_COUNT		0x18
#define TRANSIENT_CFG		0x1D
#define TRANSIENT_SRC		0x1E
#define TRANSIENT_THS		0x1F
#define TRANSIENT_COUNT		0x20
#define PULSE_CFG			0x21
#define PULSE_SRC			0x22
#define PULSE_THSX			0x23
#define PULSE_THSY			0x24
#define PULSE_THSZ			0x25
#define PULSE_TMLT			0x26
#define PULSE_LTCY			0x27
#define PULSE_WIND			0x28
#define ASLP_COUNT			0x29
#define CTRL_REG1			0x2A
#define CTRL_REG2			0x2B
#define CTRL_REG3			0x2C
#define CTRL_REG4			0x2D
#define CTRL_REG5			0x2E
#define OFF_X				0x2F
#define OFF_Y				0x30
#define OFF_Z				0x31
#define M_DR_STATUS			0x32
#define M_OUT_X_MSB			0x33
#define M_OUT_X_LSB			0x34
#define M_OUT_Y_MSB			0x35
#define M_OUT_Y_LSB			0x36
#define M_OUT_Z_MSB			0x37
#define M_OUT_Z_LSB			0x38
#define CMP_X_MSB			0x39
#define CMP_X_LSB			0x3A
#define CMP_Y_MSB			0x3B
#define CMP_Y_LSB			0x3C
#define CMP_Z_MSB			0x3D
#define CMP_Z_LSB			0x3E
#define M_OFF_X_MSB			0x3F
#define M_OFF_X_LSB			0x40
#define M_OFF_Y_MSB			0x41
#define M_OFF_Y_LSB			0x42
#define M_OFF_Z_MSB			0x43
#define M_OFF_Z_LSB			0x44
#define MAX_X_MSB			0x45
#define MAX_X_LSB			0x46
#define MAX_Y_MSB			0x47
#define MAX_Y_LSB			0x48
#define MAX_Z_MSB			0x49
#define MAX_Z_LSB			0x4A
#define MIN_X_MSB			0x4B
#define MIN_X_LSB			0x4C
#define MIN_Y_MSB			0x4D
#define MIN_Y_LSB			0x4E
#define MIN_Z_MSB			0x4F
#define MIN_Z_LSB			0x50
#define TEMP				0x51
#define M_THS_CFG			0x52
#define M_THS_SRC			0x53
#define M_THS_X_MSB			0x54
#define M_THS_X_LSB			0x55
#define M_THS_Y_MSB			0x56
#define M_THS_Y_LSB			0x57
#define M_THS_Z_MSB			0x58
#define M_THS_Z_LSB			0x59
#define M_THS_COUNT			0x5A
#define M_CTRL_REG1			0x5B
#define M_CTRL_REG2			0x5C
#define M_CTRL_REG3			0x5D
#define M_INT_SRC			0x5E
#define A_VECM_CFG			0x5F
#define A_VECM_THS_MSB		0x60
#define A_VECM_THS_LSB		0x61
#define A_VECM_CNT			0x62
#define A_VECM_INITX_MSB	0x63
#define A_VECM_INITX_LSB	0x64
#define A_VECM_INITY_MSB 	0x65
#define A_VECM_INITY_LSB	0x66
#define A_VECM_INITZ_MSB	0x67
#define A_VECM_INITZ_LSB	0x68
#define M_VECM_CFG			0x69
#define M_VECM_THS_MSB		0x6A
#define M_VECM_THS_LSB		0x6B
#define M_VECM_CNT			0x6C
#define M_VECM_INITX_MSB	0x6D
#define M_VECM_INITX_LSB	0x6E
#define M_VECM_INITY_MSB	0x6F
#define M_VECM_INITY_LSB	0x70
#define M_VECM_INITZ_MSB	0x71
#define M_VECM_INITZ_LSB	0x72
#define A_FFMT_THS_X_MSB	0x73
#define A_FFMT_THS_X_LSB	0x74
#define A_FFMT_THS_Y_MSB	0x75
#define A_FFMT_THS_Y_LSB	0x76
#define A_FFMT_THS_Z_MSB	0x77
#define 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

MemoryMapRegs.h

Arduino
#ifndef __MEMMAP_FXO_H__
#define __MEMMAP_FXO_H__


#define FXOS8700CQ_ADDRESS    0x1E
#define READ                  0x00
#define WRITE                 0x80
/**************************STATUS Register********************************/
#define ZYXOW_MASK            0x80
#define ZOW_MASK              0x40
#define YOW_MASK              0x20
#define XOW_MASK              0x10
#define ZYXDR_MASK            0x08
#define ZDR_MASK              0x04
#define YDR_MASK              0x02
#define XDR_MASK              0x01

/**************************STATUS Register********************************/
#define F_OVF_MASK            0x80
#define F_WMRK_FLAG_MASK      0x40
#define F_CNT5_MASK           0x20
#define F_CNT4_MASK           0x10
#define F_CNT3_MASK           0x08
#define F_CNT2_MASK           0x04
#define F_CNT1_MASK           0x02
#define F_CNT0_MASK           0x01
#define F_CNT_MASK            0x3F

/**************************STATUS Register********************************/
#define OUT_X_MSB_REG         0x01
#define OUT_X_LSB_REG         0x02
#define OUT_Y_MSB_REG         0x03
#define OUT_Y_LSB_REG         0x04
#define OUT_Z_MSB_REG         0x05
#define OUT_Z_LSB_REG         0x06

/**************************FIFO Register********************************/
#define F_MODE1_MASK          0x80
#define F_MODE0_MASK          0x40
#define F_WMRK5_MASK          0x20
#define F_WMRK4_MASK          0x10
#define F_WMRK3_MASK          0x08
#define F_WMRK2_MASK          0x04
#define F_WMRK1_MASK          0x02
#define F_WMRK0_MASK          0x01
#define F_MODE_MASK           0xC0
#define F_WMRK_MASK           0x3F

#define F_MODE_DISABLED       0x00
#define F_MODE_CIRCULAR       (F_MODE0_MASK)
#define F_MODE_FILL           (F_MODE1_MASK)
#define F_MODE_TRIGGER        (F_MODE1_MASK+F_MODE0_MASK)

/**************************TRIG_CFG Register********************************/
#define TRIG_TRANS_MASK       0x20
#define TRIG_LNDPRT_MASK      0x10
#define TRIG_PULSE_MASK       0x08
#define TRIG_FF_MT_MASK       0x04

/**************************SYSMOD Register********************************/
#define FGERR_MASK            0x80    
#define FGT_4_MASK            0x40    
#define FGT_3_MASK            0x20    
#define FGT_2_MASK            0x10    
#define FGT_1_MASK            0x08    
#define FGT_0_MASK            0x04    
#define FGT_MASK              0x7C    
#define SYSMOD1_MASK          0x02
#define SYSMOD0_MASK          0x01
#define SYSMOD_MASK           0x03

#define SYSMOD_STANDBY        0x00
#define SYSMOD_WAKE           (SYSMOD0_MASK)
#define SYSMOD_SLEEP          (SYSMOD1_MASK)

/**************************INT_SOURCE Register********************************/
#define SRC_ASLP_MASK         0x80
#define SRC_FIFO_MASK         0x40    
#define SRC_TRANS_MASK        0x20
#define SRC_LNDPRT_MASK       0x10
#define SRC_PULSE_MASK        0x08
#define SRC_FF_MT_MASK        0x04
#define SRC_DRDY_MASK         0x01

/***********************WHO_AM_I Device ID Register****************************/
#define FXOS8700CQ_ID            0xC7
#define MXOS8700CQ_ID            0xC4

/****************XYZ_DATA_CFG Sensor Data Configuration Register***************/
#define HPF_OUT_MASK          0x10    // MMA8451 and MMA8452 only
#define FS1_MASK              0x02
#define FS0_MASK              0x01
#define FS_MASK               0x03

#define FULL_SCALE_2G         0x00
#define FULL_SCALE_4G         (FS0_MASK)
#define FULL_SCALE_8G         (FS1_MASK)


/************HP_FILTER_CUTOFF High Pass Filter Register **********************/
#define PULSE_HPF_BYP_MASK    0x20
#define PULSE_LPF_EN_MASK     0x10
#define SEL1_MASK             0x02
#define SEL0_MASK             0x01
#define SEL_MASK              0x03

/*************PL_STATUS Portrait/Landscape Status Register *******************/
#define NEWLP_MASK            0x80
#define LO_MASK               0x40
#define LAPO1_MASK            0x04
#define LAPO0_MASK            0x02
#define BAFRO_MASK            0x01
#define LAPO_MASK             0x06


/************** PL_CFG Portrait/Landscape Configuration Register***************/
#define DBCNTM_MASK           0x80
#define PL_EN_MASK            0x40

/*****PL_BF_ZCOMP Back/Front and Z Compensation Register***********************/

#define BKFR1_MASK            0x80
#define BKFR0_MASK            0x40
#define ZLOCK2_MASK           0x04
#define ZLOCK1_MASK           0x02
#define ZLOCK0_MASK           0x01
#define BKFR_MASK             0xC0
#define ZLOCK_MASK            0x07

/************PL_P_L_THS Portrait to Landscape Threshold Register***************/
#define PL_P_L_THS_REG        0x14

#define P_L_THS4_MASK         0x80
#define P_L_THS3_MASK         0x40
#define P_L_THS2_MASK         0x20
#define P_L_THS1_MASK         0x10
#define P_L_THS0_MASK         0x08
#define HYS2_MASK             0x04
#define HYS1_MASK             0x02
#define HYS0_MASK             0x01
#define P_L_THS_MASK          0xF8
#define HYS_MASK              0x07

/********************FF_MT_CFG Freefall and Motion Configuration Register******/
#define FF_MT_CFG_REG         0x15

#define ELE_MASK              0x80
#define OAE_MASK              0x40
#define ZEFE_MASK             0x20
#define YEFE_MASK             0x10
#define XEFE_MASK             0x08

/**********FF_MT_SRC Freefall and Motion Source Registers**********************/
#define FF_MT_SRC_REG         0x16

#define EA_MASK               0x80
#define ZHE_MASK              0x20
#define ZHP_MASK              0x10
#define YHE_MASK              0x08
#define YHP_MASK              0x04
#define XHE_MASK              0x02
#define XHP_MASK              0x01

/*****FF_MT_THS Freefall and Motion Threshold Registers*********************/
#define FT_MT_THS_REG         0x17
#define TRANSIENT_THS_REG     0x1F

#define DBCNTM_MASK           0x80
#define THS6_MASK             0x40
#define THS5_MASK             0x20
#define THS4_MASK             0x10
#define THS3_MASK             0x08
#define THS2_MASK             0x04
#define TXS1_MASK             0x02
#define THS0_MASK             0x01
#define THS_MASK              0x7F


/********FF_MT_COUNT Freefall Motion Count Registers************************/
#define FF_MT_COUNT_REG       0x18


/****************TRANSIENT_CFG Transient Configuration Register****************/

#define TELE_MASK             0x10
#define ZTEFE_MASK            0x08
#define YTEFE_MASK            0x04
#define XTEFE_MASK            0x02
#define HPF_BYP_MASK          0x01


/***********TRANSIENT_SRC Transient Source Register****************************/

#define TEA_MASK              0x40
#define ZTRANSE_MASK          0x20
#define Z_TRANS_POL_MASK      0x10
#define YTRANSE_MASK          0x08
#define Y_TRANS_POL_MASK      0x04
#define XTRANSE_MASK          0x02
#define X_TRANS_POL_MASK      0x01


/**************************PULSE_CFG Register****************************/

#define DPA_MASK              0x80
#define PELE_MASK             0x40
#define ZDPEFE_MASK           0x20
#define ZSPEFE_MASK           0x10
#define YDPEFE_MASK           0x08
#define YSPEFE_MASK           0x04
#define XDPEFE_MASK           0x02
#define XSPEFE_MASK           0x01


/**************************PULSE_SRC Register********************************/

#define PEA_MASK              0x80
#define AXZ_MASK              0x40
#define AXY_MASK              0x20
#define AXX_MASK              0x10
#define DPE_MASK              0x08
#define POLZ_MASK             0x04
#define POLY_MASK             0x02
#define POLX_MASK             0x01

#define PTHS_MASK             0x7F

/***************CTRL_REG1 System Control 1 Register****************************/
#define ASLP_RATE1_MASK       0x80
#define ASLP_RATE0_MASK       0x40
#define DR2_MASK              0x20
#define DR1_MASK              0x10
#define DR0_MASK              0x08
#define LNOISE_MASK           0x04
#define FREAD_MASK            0x02
#define ACTIVE_MASK           0x01

#define ASLP_RATE_MASK        0xC0
#define DR_MASK               0x38

#define ASLP_RATE_20MS        0x00
#define ASLP_RATE_80MS        (ASLP_RATE0_MASK)
#define ASLP_RATE_160MS       (ASLP_RATE1_MASK)
#define ASLP_RATE_640MS       (ASLP_RATE1_MASK+ASLP_RATE0_MASK)

#define ASLP_RATE_50HZ        (ASLP_RATE_20MS)
#define ASLP_RATE_12_5HZ      (ASLP_RATE_80MS)
#define ASLP_RATE_6_25HZ      (ASLP_RATE_160MS)
#define ASLP_RATE_1_56HZ      (ASLP_RATE_640MS)

#define HYB_ASLP_RATE_25HZ        (ASLP_RATE_20MS)
#define HYB_ASLP_RATE_6_25HZ      (ASLP_RATE_80MS)
#define HYB_ASLP_RATE_1_56HZ      (ASLP_RATE_160MS)
#define HYB_ASLP_RATE_0_8HZ       (ASLP_RATE_640MS)

#define DATA_RATE_1250US      0x00
#define DATA_RATE_2500US      (DR0_MASK)
#define DATA_RATE_5MS         (DR1_MASK)
#define DATA_RATE_10MS        (DR1_MASK+DR0_MASK)
#define DATA_RATE_20MS        (DR2_MASK)
#define DATA_RATE_80MS        (DR2_MASK+DR0_MASK)
#define DATA_RATE_160MS       (DR2_MASK+DR1_MASK)
#define DATA_RATE_640MS       (DR2_MASK+DR1_MASK+DR0_MASK)

#define DATA_RATE_800HZ       (DATA_RATE_1250US)
#define DATA_RATE_400HZ       (DATA_RATE_2500US)
#define DATA_RATE_200HZ       (DATA_RATE_5MS)
#define DATA_RATE_100HZ       (DATA_RATE_10MS)
#define DATA_RATE_50HZ        (DATA_RATE_20MS)
#define DATA_RATE_12_5HZ      (DATA_RATE_80MS)
#define DATA_RATE_6_25HZ      (DATA_RATE_160MS)
#define DATA_RATE_1_56HZ      (DATA_RATE_640MS)

#define HYB_DATA_RATE_400HZ   (DATA_RATE_1250US)
#define HYB_DATA_RATE_200HZ   (DATA_RATE_2500US)
#define HYB_DATA_RATE_100HZ   (DATA_RATE_5MS)
#define HYB_DATA_RATE_50HZ    (DATA_RATE_10MS)
#define HYB_DATA_RATE_25HZ    (DATA_RATE_20MS)
#define HYB_DATA_RATE_6_25HZ  (DATA_RATE_80MS)
#define HYB_DATA_RATE_3_15HZ  (DATA_RATE_160MS)
#define HYB_DATA_RATE_0_8HZ   (DATA_RATE_640MS)

#define ACTIVE                (ACTIVE_MASK)
#define STANDBY               0x00


/***************CTRL_REG2 System Control 2 Register****************************/
#define ST_MASK               0x80
#define RST_MASK              0x40
#define SMODS1_MASK           0x10
#define SMODS0_MASK           0x08
#define SLPE_MASK             0x04
#define MODS1_MASK            0x02
#define MODS0_MASK            0x01
#define SMODS_MASK            0x18
#define MODS_MASK             0x03

#define SMOD_NORMAL           0x00
#define SMOD_LOW_NOISE        (SMODS0_MASK)
#define SMOD_HIGH_RES         (SMODS1_MASK)
#define SMOD_LOW_POWER        (SMODS1_MASK+SMODS0_MASK)

#define MOD_NORMAL            0x00
#define MOD_LOW_NOISE         (MODS0_MASK)
#define MOD_HIGH_RES          (MODS1_MASK)
#define MOD_LOW_POWER         (MODS1_MASK+MODS0_MASK)


/***************CTRL_REG3 System Control 3 Register****************************/
#define FIFO_GATE_MASK        0x80    
#define WAKE_TRANS_MASK       0x40
#define WAKE_LNDPRT_MASK      0x20
#define WAKE_PULSE_MASK       0x10
#define WAKE_FF_MT_MASK       0x08
#define WAKE_EN_A_VECM        0x04
#define IPOL_MASK             0x02
#define PP_OD_MASK            0x01

/***************CTRL_REG4 System Control 4 Register****************************/
#define INT_EN_ASLP_MASK      0x80
#define INT_EN_FIFO_MASK      0x40  
#define INT_EN_TRANS_MASK     0x20
#define INT_EN_LNDPRT_MASK    0x10
#define INT_EN_PULSE_MASK     0x08
#define INT_EN_FF_MT_MASK     0x04
#define INT_EN_DRDY_MASK      0x01

/***************CTRL_REG5 System Control 5 Register****************************/
#define INT_CFG_ASLP_MASK     0x80
#define INT_CFG_FIFO_MASK     0x40
#define INT_CFG_TRANS_MASK    0x20
#define INT_CFG_LNDPRT_MASK   0x10
#define INT_CFG_PULSE_MASK    0x08
#define INT_CFG_FF_MT_MASK    0x04
#define INT_CFG_DRDY_MASK     0x01

/*
**  XYZ Offset Correction Registers
*/
#define OFF_X_REG             0x2F
#define OFF_Y_REG             0x30
#define OFF_Z_REG             0x31

/*
**  MAG CTRL_REG1 System Control 1 Register
*/
#define M_ACAL_MASK           0x80
#define M_RST_MASK            0x40
#define M_OST_MASK            0x20
#define M_OSR2_MASK           0x10
#define M_OSR1_MASK           0x08
#define M_OSR0_MASK           0x04
#define M_HMS1_MASK           0x02
#define M_HMS0_MASK           0x01

#define M_OSR_MASK            0x1C
#define M_HMS_MASK            0x03

//OSR Selections
#define M_OSR_1_56_HZ         0x00
#define M_OSR_6_25_HZ         M_OSR0_MASK
#define M_OSR_12_5_HZ         M_OSR1_MASK
#define M_OSR_50_HZ           M_OSR1_MASK+M_OSR0_MASK
#define M_OSR_100_HZ          M_OSR2_MASK
#define M_OSR_200_HZ          M_OSR2_MASK+M_OSR0_MASK
#define M_OSR_400_HZ          M_OSR2_MASK+M_OSR1_MASK
#define M_OSR_800_HZ          M_OSR2_MASK+M_OSR1_MASK+M_OSR0_MASK

//Hybrid Mode Selection
#define ACCEL_ACTIVE          0x00
#define MAG_ACTIVE            M_HMS0_MASK
#define HYBRID_ACTIVE         (M_HMS1_MASK | M_HMS0_MASK)


/*
**  MAG CTRL_REG2 System Control 2 Register
*/

#define M_HYB_AUTOINC_MASK    0x20
#define M_MAXMIN_DIS_MASK     0x10
#define M_MAXMIN_DIS_THS_MASK 0x08
#define M_MAXMIN_RST_MASK     0x04
#define M_RST_CNT1_MASK       0x02
#define M_RST_CNT0_MASK       0x01

//Mag Auto-Reset De-Gauss Frequency
#define RST_ODR_CYCLE         0x00
#define RST_16_ODR_CYCLE      M_RST_CNT0_MASK
#define RST_512_ODR_CYCLE     M_RST_CNT1_MASK
#define RST_DISABLED          M_RST_CNT1_MASK+M_RST_CNT0_MASK

/*
**  MAG CTRL_REG3 System Control 3 Register
*/

#define M_RAW_MASK            0x80
#define M_ASLP_OS_2_MASK      0x40
#define M_ASLP_OS_1_MASK      0x20
#define M_ASLP_OS_0_MASK      0x10
#define M_THS_XYZ_MASK        0x08
#define M_ST_Z_MASK           0x04
#define M_ST_XY1_MASK         0x02
#define M_ST_XY0_MASK         0x01
#define M_ASLP_OSR_MASK       0x70
#define M_ST_XY_MASK          0x03

//OSR Selections
#define M_ASLP_OSR_1_56_HZ    0x00
#define M_ASLP_OSR_6_25_HZ    M_ASLP_OS_0_MASK
#define M_ASLP_OSR_12_5_HZ    M_ASLP_OS_1_MASK
#define M_ASLP_OSR_50_HZ      M_ASLP_OS_1_MASK+M_ASLP_OS_0_MASK
#define M_ASLP_OSR_100_HZ     M_ASLP_OS_2_MASK
#define M_ASLP_OSR_200_HZ     M_ASLP_OS_2_MASK+M_ASLP_OS_0_MASK
#define M_ASLP_OSR_400_HZ     M_ASLP_OS_2_MASK+M_ASLP_OS_1_MASK
#define M_ASLP_OSR_800_HZ     M_ASLP_OS_2_MASK+M_ASLP_OS_1_MASK+M_ASLP_OS_0_MASK

/*
**  MAG INT SOURCE M_INT_SRC Register
*/
#define SRC_M_DRDY_MASK       0x01
#define SRC_M_VECM_MASK       0x02
#define SRC_M_THS_MASK        0x04

/*
**  ACCEL VECTOR CONFIG Register
*/


#define A_VECM_INIT_CFG_MASK  0x40
#define A_VECM_INIT_EN_MASK   0x20
#define A_VECM_WAKE_EN_MASK   0x10
#define A_VECM_EN_MASK        0x08
#define A_VECM_UPDM_MASK      0x04
#define A_VECM_INITM_MASK     0x02
#define A_VECM_ELE_MASK       0x01

/*
**  ACCEL VECTOR THS MSB AND LSB Register
*/


#define A_VECM_DBCNTM_MASK    0x80


/*
**  MAG VECTOR CONFIG Register
*/


#define M_VECM_INIT_CFG_MASK  0x40
#define M_VECM_INIT_EN_MASK   0x20
#define M_VECM_WAKE_EN_MASK   0x10
#define M_VECM_EN_MASK        0x08
#define M_VECM_UPDM_MASK      0x04
#define M_VECM_INITM_MASK     0x02
#define M_VECM_ELE_MASK       0x01

/*
**  MAG VECTOR THS MSB AND LSB Register
*/

#define M_VECM_DBCNTM_MASK    0x80

/*
**  ACCEL FFMT THS X MSB AND LSB Register
*/

#define A_FFMT_THS_XYZ_EN_MASK 0x80
#define A_FFMT_THS_X_LSB_MASK  0xFC

/*
**  ACCEL FFMT THS Y MSB AND LSB Register
*/

#define A_FFMT_THS_Y_EN_MASK 0x80
#define A_FFMT_THS_Y_LSB_MASK  0xFC

/*
**  ACCEL FFMT THS Z MSB AND LSB Register
*/

#define A_FFMT_THS_Z_EN_MASK        0x80
#define A_FFMT_THS_Z_LSB_MASK       0xFC

#define FXOS8700CQ_WHOAMI_VAL 	0xC7		// FXOS8700CQ WHOAMI production register value
#define FXOS8700CQ_READ_LEN 	12			// 6 channels of two bytes = 12 bytes 
#define UINT14_MAX 				16383		// For processing the accelerometer data to right-justified 2's complement

/*************************MAG_THS_CFG*****************************/

#define M_THS_ELE       0x80
#define M_THS_OAE       0x40
#define M_THS_ZEFE      0x20
#define M_THS_YEFE      0x80
#define M_THS_XEFE      0x08
#define M_THS_WAKE_EN   0x04
#define M_THS_INT_EN    0x02
#define M_THS_INT_CFG   0x01

#define M_THS_EA        0x80

/*****************************************************************/
#define M_VECM_ELE          0x40
#define M_VECM_INITM        0x20
#define M_VECM_UPDM         0x10
#define M_VECM_EN           0x08
#define M_VECM_WAKE_EN      0x04
#define M_VECM_INT_EN       0x02
#define M_VECM_INIT_CFG     0x01


#endif

Android Things BLE client, prints to serial port.

First version.

Credits

Dimiter Kendri

Dimiter Kendri

22 projects • 151 followers
Working with AI, software, HDL, PCB design , robotics and electro-optics.

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