Jordan Brack / SmartWheelsPublic

SmartWheels self-driving race car. Designed for NXP Cup. Uses FRDM-KL25Z, area-scan camera, and simple image processing to detect and navigate any NXP spec track.

Dependencies:   TSI USBDevice mbed-dev

Fork of SmartWheels by haofan Zheng

Hardwares/IMUManager.h@59:b709711bc566, 2017-04-08 (annotated)

Committer:
hazheng
Date:
Sat Apr 08 17:40:13 2017 +0000
Revision:
59:b709711bc566
Child:
62:bc5caf59fe39
Added IMUManager Class.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hazheng 59:b709711bc566 1 #pragma once
hazheng 59:b709711bc566 2 #ifndef IMU_MANAGER_H
hazheng 59:b709711bc566 3 #define IMU_MANAGER_H
hazheng 59:b709711bc566 4
hazheng 59:b709711bc566 5 #define ACCEL_MAG_SA0_0
hazheng 59:b709711bc566 6 //#define ACCEL_MAG_SA0_1
hazheng 59:b709711bc566 7 #define ACCEL_MAG_SA1_0
hazheng 59:b709711bc566 8 //#define ACCEL_MAG_SA1_1
hazheng 59:b709711bc566 9
hazheng 59:b709711bc566 10 #if defined(ACCEL_MAG_SA1_0) && defined(ACCEL_MAG_SA0_0)
hazheng 59:b709711bc566 11 #define ACCEL_MAG_SA1 0
hazheng 59:b709711bc566 12 #define ACCEL_MAG_SA0 0
hazheng 59:b709711bc566 13 #define FXOS8700CQ_SLAVE_ADDR 0x1E
hazheng 59:b709711bc566 14 #elif defined(ACCEL_MAG_SA1_0) && defined(ACCEL_MAG_SA0_1)
hazheng 59:b709711bc566 15 #define ACCEL_MAG_SA1 0
hazheng 59:b709711bc566 16 #define ACCEL_MAG_SA0 1
hazheng 59:b709711bc566 17 #define FXOS8700CQ_SLAVE_ADDR 0x1D
hazheng 59:b709711bc566 18 #elif defined(ACCEL_MAG_SA1_1) && defined(ACCEL_MAG_SA0_0)
hazheng 59:b709711bc566 19 #define ACCEL_MAG_SA1 1
hazheng 59:b709711bc566 20 #define ACCEL_MAG_SA0 0
hazheng 59:b709711bc566 21 #define FXOS8700CQ_SLAVE_ADDR 0x1C
hazheng 59:b709711bc566 22 #elif defined(ACCEL_MAG_SA1_1) && defined(ACCEL_MAG_SA0_1)
hazheng 59:b709711bc566 23 #define ACCEL_MAG_SA1 1
hazheng 59:b709711bc566 24 #define ACCEL_MAG_SA0 1
hazheng 59:b709711bc566 25 #define FXOS8700CQ_SLAVE_ADDR 0x1F
hazheng 59:b709711bc566 26 #else
hazheng 59:b709711bc566 27 #error Must choose a SA0 and SA1 value for Accel and Mag
hazheng 59:b709711bc566 28 #endif
hazheng 59:b709711bc566 29
hazheng 59:b709711bc566 30 #define FXOS8700CQ_STATUS 0x00
hazheng 59:b709711bc566 31
hazheng 59:b709711bc566 32 #define FXOS8700CQ_WHOAMI 0x0D
hazheng 59:b709711bc566 33 #define FXOS8700CQ_WHOAMI_VAL 0xC7
hazheng 59:b709711bc566 34
hazheng 59:b709711bc566 35 #define FXOS8700CQ_XYZ_DATA_CFG 0x0E
hazheng 59:b709711bc566 36
hazheng 59:b709711bc566 37 #define FXOS8700CQ_CTRL_REG1 0x2A
hazheng 59:b709711bc566 38
hazheng 59:b709711bc566 39 #define FXOS8700CQ_M_CTRL_REG1 0x5B
hazheng 59:b709711bc566 40
hazheng 59:b709711bc566 41 #define FXOS8700CQ_M_CTRL_REG2 0x5C
hazheng 59:b709711bc566 42
hazheng 59:b709711bc566 43 #define FXOS8700CQ_READ_LEN 13 // status plus 6 channels = 13 bytes
hazheng 59:b709711bc566 44
hazheng 59:b709711bc566 45 #include <mbed.h>
hazheng 59:b709711bc566 46
hazheng 59:b709711bc566 47 #ifdef __cplusplus
hazheng 59:b709711bc566 48 extern "C" {
hazheng 59:b709711bc566 49 #endif
hazheng 59:b709711bc566 50
hazheng 59:b709711bc566 51 struct imu_vec3
hazheng 59:b709711bc566 52 {
hazheng 59:b709711bc566 53 uint16_t x;
hazheng 59:b709711bc566 54 uint16_t y;
hazheng 59:b709711bc566 55 uint16_t z;
hazheng 59:b709711bc566 56 };
hazheng 59:b709711bc566 57
hazheng 59:b709711bc566 58 uint8_t imu_manager_init();
hazheng 59:b709711bc566 59
hazheng 59:b709711bc566 60 void imu_manager_update();
hazheng 59:b709711bc566 61
hazheng 59:b709711bc566 62 const volatile struct imu_vec3* imu_manager_get_accl();
hazheng 59:b709711bc566 63
hazheng 59:b709711bc566 64 const volatile struct imu_vec3* imu_manager_get_magt();
hazheng 59:b709711bc566 65
hazheng 59:b709711bc566 66 #ifdef __cplusplus
hazheng 59:b709711bc566 67 }
hazheng 59:b709711bc566 68 #endif
hazheng 59:b709711bc566 69
hazheng 59:b709711bc566 70 #endif //IMU_MANAGER_H