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cf17569de7
gyro data into attitude raw. Hardcoded calibration for now. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2474 ebee16cc-31ac-478f-84a7-5cbb03baadba
52 lines
1.1 KiB
C
52 lines
1.1 KiB
C
/*
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* pios_adxl345.h
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* OpenPilotOSX
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*
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* Created by James Cotton on 1/16/11.
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* Copyright 2011 OpenPilot. All rights reserved.
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*
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*/
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#ifndef PIOS_ADXL345_H
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#define PIOS_ADXL345_H
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// Defined by data rate, not BW
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#define ADXL_READ_BIT 0x80
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#define ADXL_MULTI_BIT 0x40
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#define ADXL_X0_ADDR 0x32
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#define ADXL_RATE_ADDR 0x2C
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#define ADXL_RATE_100 0x0A
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#define ADXL_RATE_200 0x0B
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#define ADXL_RATE_400 0x0C
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#define ADXL_POWER_ADDR 0x2D
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#define ADXL_MEAURE 0x08
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#define ADXL_FORMAT_ADDR 0x31
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#define ADXL_FULL_RES 0x08
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#define ADXL_4WIRE 0x00
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#define ADXL_RANGE_2G 0x00
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#define ADXL_RANGE_4G 0x01
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#define ADXL_RANGE_8G 0x02
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#define ADXL_RANGE_16G 0x03
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#define ADXL_FIFO_ADDR 0x38
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#define ADXL_FIFO_STREAM 0x80
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struct pios_adxl345_data {
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int16_t x;
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int16_t y;
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int16_t z;
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};
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void PIOS_ADXL345_SelectRate(uint8_t rate);
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void PIOS_ADXL345_SetRange(uint8_t range);
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void PIOS_ADXL345_FifoDepth(uint8_t depth);
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void PIOS_ADXL345_Init();
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uint8_t PIOS_ADXL345_Read(struct pios_adxl345_data * data);
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#endif |