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

Committer:
hazheng
Date:
2017-04-08
Revision:
59:b709711bc566
Child:
62:bc5caf59fe39

File content as of revision 59:b709711bc566:

#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_WHOAMI 0x0D
#define FXOS8700CQ_WHOAMI_VAL 0xC7

#define FXOS8700CQ_XYZ_DATA_CFG 0x0E

#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

#include <mbed.h>

#ifdef __cplusplus
extern "C" {
#endif

struct imu_vec3
{
    uint16_t x;
    uint16_t y;
    uint16_t z;
};

uint8_t imu_manager_init();

void imu_manager_update();

const volatile struct imu_vec3* imu_manager_get_accl();

const volatile struct imu_vec3* imu_manager_get_magt();

#ifdef __cplusplus
}
#endif

#endif //IMU_MANAGER_H