Diff: SPI_9dSensor.h

Revision:

0:830ddddc129f

Child:

1:709be64ca63c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SPI_9dSensor.h	Thu Jun 09 09:46:38 2016 +0000
@@ -0,0 +1,81 @@
+#ifndef SPI_9DSENSOR_H_INCLUDED
+#define SPI_9DSENSOR_H_INCLUDED
+
+#include "mbed.h" // GPIO
+
+#define sensorG_CTRL_REG1_address    0x20
+#define sensorXM_CTRL_REG0_address   0x1F
+#define sensorG_OUT_X_L_address      0x28
+#define sensorXM_OUT_X_L_A_address   0x28
+#define sensorXM_OUT_X_L_M_address   0x08
+
+#define CSG     0
+#define CSXM    1
+
+#define INDEX_GYRO_X    1
+#define INDEX_GYRO_Y    2
+#define INDEX_GYRO_Z    3
+#define INDEX_ACCE_X    4
+#define INDEX_ACCE_Y    5
+#define INDEX_ACCE_Z    6
+#define INDEX_MAGN_X    7
+#define INDEX_MAGN_Y    8
+#define INDEX_MAGN_Z    9
+
+#define GX_offset   35
+#define GY_offset   -28
+#define GZ_offset   151
+#define AX_offset   -715///-908
+#define AY_offset   -501
+#define AZ_offset   215
+#define MX_offset   136
+#define MY_offset   -108
+#define MZ_offset   -102
+
+#define Mag_backgnd 0.36435f ///gauss, Magnetic field in Hsinchu
+#define Gyro_gainx  0.001065f///2000dps/2^15 = 61 miliDegree/s = 0.001065rad/s
+#define Gyro_gainy  0.001065f///0.001212716
+#define Gyro_gainz  0.001065f///0.0012375596
+#define Acce_gainx  -0.002394f///=8*9.81/2^15
+#define Acce_gainy  -0.002394f///=8*9.81/2^15
+#define Acce_gainz  -0.002394f///=8*9.81/2^15
+#define Magn_gain   0.000244f ///8gauss/2^15 = 0.000244gauss
+
+extern Serial pc;
+
+extern int volatile interrupt;
+
+extern const int speed;
+
+extern unsigned char sensorG_CTRL_REG[6], sensorXM_CTRL_REG[9];
+
+extern short int Gyro_axis_data[3], Gyro_axis_zero[3];
+extern float Gyro_scale[3];
+
+extern short int Acce_axis_data[3], Acce_axis_zero[3];
+extern float Acce_scale[3];
+
+extern short int Magn_axis_data[3], Magn_axis_zero[3];
+extern float Magn_scale[3];
+
+extern float B_x, B_y, B_z, B_total;
+extern float u_cali[9], u_old[9];
+
+extern void sig_handler(int signo);
+extern void setup_spi(void);
+void close(int fd);
+
+extern void init_Sensors(void);
+extern void sensorG_setup(void);
+extern void sensorXM_setup(void);
+extern void sensorG_read_3axis(void);
+extern void sensorX_read_3axis(void);
+extern void sensorM_read_3axis(void);
+
+extern short int filted_sensor_data(unsigned char axis_index, float freq);
+extern void reset_gyro_offset(void);
+extern void reset_acceX_offset(void);
+
+extern void get_9axis_scale(void);
+
+#endif // SPI_9DSENSOR_H_INCLUDED