Diff: RemovedSources/IMUManager.h.txt

Branch:

Drift

Revision:

87:15fcf7891bf9

Parent:

64:43ab429a37e0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RemovedSources/IMUManager.h.txt	Wed Apr 19 04:06:01 2017 +0000
@@ -0,0 +1,121 @@
+#if 0
+
+#pragma once
+#ifndef IMU_MANAGER_H
+#define IMU_MANAGER_H
+
+#define ACCEL_MAG_SA0_0
+//#define ACCEL_MAG_SA0_1
+#define ACCEL_MAG_SA1_0
+//#define ACCEL_MAG_SA1_1
+
+#if   defined(ACCEL_MAG_SA1_0) && defined(ACCEL_MAG_SA0_0)
+    #define ACCEL_MAG_SA1 0
+    #define ACCEL_MAG_SA0 0
+    #define FXOS8700CQ_SLAVE_ADDR 0x1E
+#elif defined(ACCEL_MAG_SA1_0) && defined(ACCEL_MAG_SA0_1)
+    #define ACCEL_MAG_SA1 0
+    #define ACCEL_MAG_SA0 1
+    #define FXOS8700CQ_SLAVE_ADDR 0x1D
+#elif defined(ACCEL_MAG_SA1_1) && defined(ACCEL_MAG_SA0_0)
+    #define ACCEL_MAG_SA1 1
+    #define ACCEL_MAG_SA0 0
+    #define FXOS8700CQ_SLAVE_ADDR 0x1C
+#elif defined(ACCEL_MAG_SA1_1) && defined(ACCEL_MAG_SA0_1)
+    #define ACCEL_MAG_SA1 1
+    #define ACCEL_MAG_SA0 1
+    #define FXOS8700CQ_SLAVE_ADDR 0x1F
+#else
+    #error Must choose a SA0 and SA1 value for Accel and Mag
+#endif
+
+#define FXOS8700CQ_STATUS       0x00
+
+#define FXOS8700CQ_F_SETUP      0x09
+
+#define FXOS8700CQ_SYSMOD       0x0B
+
+#define FXOS8700CQ_WHOAMI       0x0D
+#define FXOS8700CQ_WHOAMI_VAL  0xC7
+
+#define FXOS8700CQ_XYZ_DATA_CFG 0x0E
+#define FXOS8700CQ_XYZ_DATA_2G 0x00
+#define FXOS8700CQ_XYZ_DATA_4G 0x01
+#define FXOS8700CQ_XYZ_DATA_8G 0x02
+
+#define FXOS8700CQ_XYZ_DATA_SC FXOS8700CQ_XYZ_DATA_2G
+
+#if FXOS8700CQ_XYZ_DATA_SC == FXOS8700CQ_XYZ_DATA_2G
+    #define ACCELER_SCALE_F_MG 0.244f
+#elif FXOS8700CQ_XYZ_DATA_SC == FXOS8700CQ_XYZ_DATA_4G
+    #define ACCELER_SCALE_F_MG 0.488f
+#elif FXOS8700CQ_XYZ_DATA_SC == FXOS8700CQ_XYZ_DATA_8G
+    #define ACCELER_SCALE_F_MG 0.976f
+#else
+    #error Must define a scale for accelerometer!
+#endif
+
+#define FXOS8700CQ_HP_FILTER_CUTOFF   0x0F
+
+#define FXOS8700CQ_CTRL_REG1    0x2A
+#define FXOS8700CQ_CTRL_REG1_v 0x05
+
+#define FXOS8700CQ_CTRL_REG2    0x2B
+#define FXOS8700CQ_RESET_MASK 0x40
+
+#define FXOS8700CQ_OFF_X        0x2F
+
+#define FXOS8700CQ_OFF_Y        0x30
+
+#define FXOS8700CQ_OFF_Z        0x31
+#define OFFSET_SCALE_F  2.0f
+
+#define FXOS8700CQ_TEMP         0x51
+
+#define FXOS8700CQ_M_CTRL_REG1  0x5B
+
+#define FXOS8700CQ_M_CTRL_REG2  0x5C
+
+#define FXOS8700CQ_READ_LEN 7 // status plus 6 channels = 13 bytes
+
+#define IMU_UPDATE_TICK_RATE 0.002f
+#define IMU_DEFAULT_G 9.8f
+
+#include <mbed.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct imu_vec3
+{
+    float x;
+    float y;
+    float z;
+};
+
+uint8_t imu_manager_init();
+
+void imu_manager_calibrate();
+
+void imu_manager_begin_tick();
+
+void imu_manager_update();
+
+const volatile struct imu_vec3* imu_manager_get_accl();
+
+const volatile struct imu_vec3* imu_manager_get_velocity();
+
+const volatile struct imu_vec3* imu_manager_get_position();
+
+float imu_manager_get_temp();
+
+//const volatile struct imu_vec3* imu_manager_get_magt();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif //IMU_MANAGER_H
+
+#endif //if 0
\ No newline at end of file