mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-12 20:08:48 +01:00
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
/*
|
|
* pios_adxl345.h
|
|
* OpenPilotOSX
|
|
*
|
|
* Created by James Cotton on 1/16/11.
|
|
* Copyright 2011 OpenPilot. All rights reserved.
|
|
*
|
|
*/
|
|
|
|
#ifndef PIOS_ADXL345_H
|
|
#define PIOS_ADXL345_H
|
|
|
|
// Defined by data rate, not BW
|
|
|
|
#define ADXL_READ_BIT 0x80
|
|
#define ADXL_MULTI_BIT 0x40
|
|
|
|
#define ADXL_X0_ADDR 0x32
|
|
|
|
#define ADXL_RATE_ADDR 0x2C
|
|
#define ADXL_RATE_100 0x0A
|
|
#define ADXL_RATE_200 0x0B
|
|
#define ADXL_RATE_400 0x0C
|
|
|
|
#define ADXL_POWER_ADDR 0x2D
|
|
#define ADXL_MEAURE 0x08
|
|
|
|
#define ADXL_FORMAT_ADDR 0x31
|
|
#define ADXL_FULL_RES 0x08
|
|
#define ADXL_4WIRE 0x00
|
|
#define ADXL_RANGE_2G 0x00
|
|
#define ADXL_RANGE_4G 0x01
|
|
#define ADXL_RANGE_8G 0x02
|
|
#define ADXL_RANGE_16G 0x03
|
|
|
|
#define ADXL_FIFO_ADDR 0x38
|
|
#define ADXL_FIFO_STREAM 0x80
|
|
|
|
|
|
struct pios_adxl345_data {
|
|
int16_t x;
|
|
int16_t y;
|
|
int16_t z;
|
|
};
|
|
|
|
void PIOS_ADXL345_SelectRate(uint8_t rate);
|
|
void PIOS_ADXL345_SetRange(uint8_t range);
|
|
void PIOS_ADXL345_FifoDepth(uint8_t depth);
|
|
void PIOS_ADXL345_Init();
|
|
uint8_t PIOS_ADXL345_Read(struct pios_adxl345_data * data);
|
|
|
|
#endif |