Erik van de Coevering / quadV3

This is my quadcopter prototype software, still in development!

quadv3/accelero.h@1:ac68f0368a77, 2013-07-23 (annotated)

Committer:
Anaesthetix
Date:
Tue Jul 23 14:01:42 2013 +0000
Revision:
1:ac68f0368a77
Parent:
0:978110f7f027 
Other accelerometer added

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Anaesthetix 0:978110f7f027 1 #ifndef ACCELERO_H
Anaesthetix 0:978110f7f027 2 #define ACCELERO_H
Anaesthetix 0:978110f7f027 3
Anaesthetix 0:978110f7f027 4 #include "mbed.h"
Anaesthetix 0:978110f7f027 5 #include "math.h"
Anaesthetix 0:978110f7f027 6 #include "ADXL345.h"
Anaesthetix 0:978110f7f027 7
Anaesthetix 0:978110f7f027 8 #define PI 3.141592654
Anaesthetix 0:978110f7f027 9
Anaesthetix 0:978110f7f027 10 typedef struct
Anaesthetix 0:978110f7f027 11 {
Anaesthetix 0:978110f7f027 12 float x;
Anaesthetix 0:978110f7f027 13 float y;
Anaesthetix 0:978110f7f027 14 float z;
Anaesthetix 0:978110f7f027 15 } Acc;
Anaesthetix 0:978110f7f027 16
Anaesthetix 0:978110f7f027 17
Anaesthetix 0:978110f7f027 18
Anaesthetix 0:978110f7f027 19 int readings[3] = {0, 0, 0};
Anaesthetix 0:978110f7f027 20 float yreading = 0;
Anaesthetix 0:978110f7f027 21 float xreading = 0;
Anaesthetix 0:978110f7f027 22 float zreading = 0;
Anaesthetix 0:978110f7f027 23 float ax = 100;
Anaesthetix 0:978110f7f027 24 float ay = 100;
Anaesthetix 0:978110f7f027 25
Anaesthetix 0:978110f7f027 26
Anaesthetix 0:978110f7f027 27 ADXL345 accel(p5, p6, p7, p8);
Anaesthetix 0:978110f7f027 28 Acc acc;
Anaesthetix 0:978110f7f027 29
Anaesthetix 0:978110f7f027 30
Anaesthetix 0:978110f7f027 31 void accstart(void);
Anaesthetix 0:978110f7f027 32 void accread(void);
Anaesthetix 0:978110f7f027 33 void accsample(void);
Anaesthetix 0:978110f7f027 34
Anaesthetix 0:978110f7f027 35 void accstart(void) {
Anaesthetix 0:978110f7f027 36
Anaesthetix 0:978110f7f027 37 accel.setPowerControl(0x00);
Anaesthetix 0:978110f7f027 38 accel.setDataFormatControl(0x0B);
Anaesthetix 0:978110f7f027 39 accel.setDataRate(ADXL345_3200HZ);
Anaesthetix 0:978110f7f027 40 accel.setPowerControl(0x08);
Anaesthetix 0:978110f7f027 41 }
Anaesthetix 0:978110f7f027 42
Anaesthetix 0:978110f7f027 43 void accread(void) {
Anaesthetix 0:978110f7f027 44
Anaesthetix 0:978110f7f027 45
Anaesthetix 0:978110f7f027 46
Anaesthetix 0:978110f7f027 47
Anaesthetix 0:978110f7f027 48
Anaesthetix 0:978110f7f027 49
Anaesthetix 0:978110f7f027 50
Anaesthetix 0:978110f7f027 51
Anaesthetix 0:978110f7f027 52 }
Anaesthetix 0:978110f7f027 53
Anaesthetix 0:978110f7f027 54
Anaesthetix 0:978110f7f027 55 void accsample(void) {
Anaesthetix 0:978110f7f027 56 accel.getOutput(readings);
Anaesthetix 0:978110f7f027 57 xreading = ((int16_t)readings[0]);
Anaesthetix 0:978110f7f027 58 yreading = ((int16_t)readings[1]);
Anaesthetix 0:978110f7f027 59
Anaesthetix 0:978110f7f027 60 }
Anaesthetix 0:978110f7f027 61
Anaesthetix 0:978110f7f027 62
Anaesthetix 0:978110f7f027 63
Anaesthetix 0:978110f7f027 64
Anaesthetix 0:978110f7f027 65
Anaesthetix 0:978110f7f027 66 #endif