sensors.h

00001 #include "mbed.h"
00002 
00003 #ifndef SENSORS_H
00004 #define SENSORS_H
00005 
00006 
00007 // Register names, can look up in the datasheet
00008 
00009 #define SMPRT_DIV    0x19 //
00010 #define CONFIG       0x1A //
00011 #define GYRO_CONFIG  0x1B //
00012 #define ACCEL_CONFIG 0x1C //
00013 #define FIFO_EN      0x23 //
00014 #define I2C_MST_CTRL 0x24 //
00015 #define INT_PIN_CFG  0x37 //
00016 #define INT_ENABLE   0x38 //
00017 
00018 #define ACCX158      0x3B //
00019 #define ACCX70       0x3C //
00020 #define ACCY158      0x3D //
00021 #define ACCY70       0x3E //
00022 #define ACCZ158      0x3F //
00023 #define ACCZ70       0x40 //
00024 #define TEMP158      0x41 //
00025 #define TEMP70       0x42 // Temperature in C = ((signed int16_t) value)/340   + 36.53
00026 #define GYROX158     0x43 //
00027 #define GYROX70      0x44 //
00028 #define GYROY158     0x45 //
00029 #define GYROY70      0x46 //
00030 #define GYROZ158     0x47 //
00031 #define GYROZ70      0x48 //
00032 
00033 #define USER_CTRL    0x6A //
00034 #define PWR_MGMT_1   0x6B //
00035 #define PWR_MGMT_2   0x6C //
00036 #define WHO_AM_I     0x75 // Check device number to see if it works
00037 
00038 const uint8_t ACC_LEFT  = 0x68; //    0b01101000
00039 const uint8_t ACC_RIGHT = 0x69; //    0b01101001
00040 
00041 
00042 
00043 
00044 typedef struct {
00045 
00046         uint16_t flex[12];
00047         // Order of the flex sensors:
00048         // 0 - right thumb, 4 - right pinky, 5 - R elbow;
00049         // 6 - left thumb, 10 left pinky, 11 - L elbow;
00050         uint16_t acc[2][7];
00051         // 7th value is the temperature value
00052         uint16_t temp;
00053 
00054 
00055 } Datapacket;
00056 
00057 typedef struct {
00058 
00059         uint8_t pixels[8];
00060 
00061 } Screen;
00062 
00063 
00064 void readacc(Datapacket data);
00065 
00066 void setupacc(uint8_t ADDRESS);
00067 
00068 void WriteBytes(uint8_t addr, uint8_t *pbuf, uint16_t length, uint8_t DEV_ADDR);
00069 
00070 void WriteByte(uint8_t addr, uint8_t buf, uint8_t DEV_ADDR);
00071 
00072 void ReadBytes(uint8_t addr, uint8_t *pbuf, uint16_t length, uint8_t DEV_ADDR);
00073 
00074 void readflexs(Datapacket *data);
00075 
00076 void readacc(Datapacket *data, uint8_t accadr);
00077 
00078 void setupI2C(void);
00079 
00080 
00081 
00082 
00083 
00084 
00085 
00086 #endif