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LibrePilot/flight/pios/inc/pios_adxl345.h
2013-04-25 13:13:41 +03:00

84 lines
2.4 KiB
C

/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_ADXL345 ADXL345 Functions
* @brief Data from the ADXL345 sensors
* @{
* @file pios_adxl345.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief PiOS SPI ADXL345
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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 program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#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_WHOAMI 0x00
#define ADXL_DEVICE_ID 0xE5
#define ADXL_X0_ADDR 0x32
#define ADXL_FIFOSTATUS_ADDR 0x39
#define ADXL_RATE_ADDR 0x2C
#define ADXL_RATE_100 0x0A
#define ADXL_RATE_200 0x0B
#define ADXL_RATE_400 0x0C
#define ADXL_RATE_800 0x0D
#define ADXL_RATE_1600 0x0E
#define ADXL_RATE_3200 0x0F
#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;
};
int32_t PIOS_ADXL345_SelectRate(uint8_t rate);
int32_t PIOS_ADXL345_SetRange(uint8_t range);
int32_t PIOS_ADXL345_Init(uint32_t spi_id, uint32_t slave_num);
uint8_t PIOS_ADXL345_Read(struct pios_adxl345_data * data);
int32_t PIOS_ADXL345_FifoElements();
int32_t PIOS_ADXL345_Test();
#endif /* PIOS_ADXL345_H */
/**
* @}
* @}
*/