Jordan Brack
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
Diff: Hardwares/IMUManager.h
- Revision:
- 62:bc5caf59fe39
- Parent:
- 59:b709711bc566
- Child:
- 63:d9a81b3d69f5
--- a/Hardwares/IMUManager.h Sat Apr 08 17:40:13 2017 +0000
+++ b/Hardwares/IMUManager.h Sun Apr 09 18:20:57 2017 +0000
@@ -27,18 +27,37 @@
#error Must choose a SA0 and SA1 value for Accel and Mag
#endif
-#define FXOS8700CQ_STATUS 0x00
+#define FXOS8700CQ_STATUS 0x00
+
+#define FXOS8700CQ_F_SETUP 0x09
-#define FXOS8700CQ_WHOAMI 0x0D
-#define FXOS8700CQ_WHOAMI_VAL 0xC7
+#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_CTRL_REG1 0x2A
+#define FXOS8700CQ_XYZ_DATA_SC FXOS8700CQ_XYZ_DATA_2G
-#define FXOS8700CQ_M_CTRL_REG1 0x5B
+#if FXOS8700CQ_XYZ_DATA_SC == FXOS8700CQ_XYZ_DATA_2G
+ #define ACCELER_SCALE_F 0.000244f
+#elif FXOS8700CQ_XYZ_DATA_SC == FXOS8700CQ_XYZ_DATA_4G
+ #define ACCELER_SCALE_F 0.000488f
+#elif FXOS8700CQ_XYZ_DATA_SC == FXOS8700CQ_XYZ_DATA_8G
+ #define ACCELER_SCALE_F 0.000976f
+#else
+ #error Must define a scale for accelerometer!
+#endif
-#define FXOS8700CQ_M_CTRL_REG2 0x5C
+#define FXOS8700CQ_CTRL_REG1 0x2A
+
+#define FXOS8700CQ_M_CTRL_REG1 0x5B
+
+#define FXOS8700CQ_M_CTRL_REG2 0x5C
#define FXOS8700CQ_READ_LEN 13 // status plus 6 channels = 13 bytes
@@ -50,9 +69,9 @@
struct imu_vec3
{
- uint16_t x;
- uint16_t y;
- uint16_t z;
+ float x;
+ float y;
+ float z;
};
uint8_t imu_manager_init();
@@ -61,7 +80,7 @@
const volatile struct imu_vec3* imu_manager_get_accl();
-const volatile struct imu_vec3* imu_manager_get_magt();
+//const volatile struct imu_vec3* imu_manager_get_magt();
#ifdef __cplusplus
}