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:
- 63:d9a81b3d69f5
- Parent:
- 62:bc5caf59fe39
- Child:
- 64:43ab429a37e0
--- a/Hardwares/IMUManager.h Sun Apr 09 18:20:57 2017 +0000
+++ b/Hardwares/IMUManager.h Sun Apr 09 22:08:34 2017 +0000
@@ -44,16 +44,27 @@
#define FXOS8700CQ_XYZ_DATA_SC FXOS8700CQ_XYZ_DATA_2G
#if FXOS8700CQ_XYZ_DATA_SC == FXOS8700CQ_XYZ_DATA_2G
- #define ACCELER_SCALE_F 0.000244f
+ #define ACCELER_SCALE_F_MG 0.244f
#elif FXOS8700CQ_XYZ_DATA_SC == FXOS8700CQ_XYZ_DATA_4G
- #define ACCELER_SCALE_F 0.000488f
+ #define ACCELER_SCALE_F_MG 0.488f
#elif FXOS8700CQ_XYZ_DATA_SC == FXOS8700CQ_XYZ_DATA_8G
- #define ACCELER_SCALE_F 0.000976f
+ #define ACCELER_SCALE_F_MG 0.976f
#else
#error Must define a scale for accelerometer!
#endif
#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_M_CTRL_REG1 0x5B
@@ -61,6 +72,9 @@
#define FXOS8700CQ_READ_LEN 13 // status plus 6 channels = 13 bytes
+#define IMU_UPDATE_TICK_RATE 0.002f
+#define IMU_DEFAULT_G 9.8f
+
#include <mbed.h>
#ifdef __cplusplus
@@ -76,10 +90,18 @@
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();
+
//const volatile struct imu_vec3* imu_manager_get_magt();
#ifdef __cplusplus