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NOT FINISHED YET!!! My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.
Sensors/Acc/ADXL345.h@19:40c252b4a792, 2012-11-03 (annotated)
- Committer:
- maetugr
- Date:
- Sat Nov 03 10:48:18 2012 +0000
- Revision:
- 19:40c252b4a792
- Parent:
- 18:c8c09a3913ba
- Child:
- 20:e116e596e540
trotz i2c adress?nderung funktionieren sensoren nicht!
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
maetugr | 2:93f703d2c4d7 | 1 | // based on http://mbed.org/users/Digixx/code/ADXL345/ |
maetugr | 2:93f703d2c4d7 | 2 | |
maetugr | 2:93f703d2c4d7 | 3 | #ifndef ADXL345_H |
maetugr | 2:93f703d2c4d7 | 4 | #define ADXL345_H |
maetugr | 2:93f703d2c4d7 | 5 | |
maetugr | 2:93f703d2c4d7 | 6 | #include "mbed.h" |
maetugr | 17:e096e85f6c36 | 7 | #include "I2C_Sensor.h" |
maetugr | 17:e096e85f6c36 | 8 | |
maetugr | 19:40c252b4a792 | 9 | #define ADXL345_I2C_ADDRESS 0xA6 |
maetugr | 17:e096e85f6c36 | 10 | // read or write bytes |
maetugr | 17:e096e85f6c36 | 11 | //#define ADXL345_READ 0xA7 |
maetugr | 17:e096e85f6c36 | 12 | //#define ADXL345_WRITE 0xA6 |
maetugr | 17:e096e85f6c36 | 13 | //#define ADXL345_ADDRESS 0x53 |
maetugr | 2:93f703d2c4d7 | 14 | |
maetugr | 2:93f703d2c4d7 | 15 | // register addresses |
maetugr | 17:e096e85f6c36 | 16 | #define ADXL345_DEVID_REG 0x00 |
maetugr | 17:e096e85f6c36 | 17 | #define ADXL345_THRESH_TAP_REG 0x1D |
maetugr | 17:e096e85f6c36 | 18 | #define ADXL345_OFSX_REG 0x1E |
maetugr | 17:e096e85f6c36 | 19 | #define ADXL345_OFSY_REG 0x1F |
maetugr | 17:e096e85f6c36 | 20 | #define ADXL345_OFSZ_REG 0x20 |
maetugr | 17:e096e85f6c36 | 21 | #define ADXL345_DUR_REG 0x21 |
maetugr | 17:e096e85f6c36 | 22 | #define ADXL345_LATENT_REG 0x22 |
maetugr | 17:e096e85f6c36 | 23 | #define ADXL345_WINDOW_REG 0x23 |
maetugr | 17:e096e85f6c36 | 24 | #define ADXL345_THRESH_ACT_REG 0x24 |
maetugr | 17:e096e85f6c36 | 25 | #define ADXL345_THRESH_INACT_REG 0x25 |
maetugr | 17:e096e85f6c36 | 26 | #define ADXL345_TIME_INACT_REG 0x26 |
maetugr | 17:e096e85f6c36 | 27 | #define ADXL345_ACT_INACT_CTL_REG 0x27 |
maetugr | 17:e096e85f6c36 | 28 | #define ADXL345_THRESH_FF_REG 0x28 |
maetugr | 17:e096e85f6c36 | 29 | #define ADXL345_TIME_FF_REG 0x29 |
maetugr | 17:e096e85f6c36 | 30 | #define ADXL345_TAP_AXES_REG 0x2A |
maetugr | 17:e096e85f6c36 | 31 | #define ADXL345_ACT_TAP_STATUS_REG 0x2B |
maetugr | 17:e096e85f6c36 | 32 | #define ADXL345_BW_RATE_REG 0x2C |
maetugr | 17:e096e85f6c36 | 33 | #define ADXL345_POWER_CTL_REG 0x2D |
maetugr | 17:e096e85f6c36 | 34 | #define ADXL345_INT_ENABLE_REG 0x2E |
maetugr | 17:e096e85f6c36 | 35 | #define ADXL345_INT_MAP_REG 0x2F |
maetugr | 17:e096e85f6c36 | 36 | #define ADXL345_INT_SOURCE_REG 0x30 |
maetugr | 17:e096e85f6c36 | 37 | #define ADXL345_DATA_FORMAT_REG 0x31 |
maetugr | 17:e096e85f6c36 | 38 | #define ADXL345_DATAX0_REG 0x32 |
maetugr | 17:e096e85f6c36 | 39 | #define ADXL345_DATAX1_REG 0x33 |
maetugr | 17:e096e85f6c36 | 40 | #define ADXL345_DATAY0_REG 0x34 |
maetugr | 17:e096e85f6c36 | 41 | #define ADXL345_DATAY1_REG 0x35 |
maetugr | 17:e096e85f6c36 | 42 | #define ADXL345_DATAZ0_REG 0x36 |
maetugr | 17:e096e85f6c36 | 43 | #define ADXL345_DATAZ1_REG 0x37 |
maetugr | 17:e096e85f6c36 | 44 | #define ADXL345_FIFO_CTL 0x38 |
maetugr | 17:e096e85f6c36 | 45 | #define ADXL345_FIFO_STATUS 0x39 |
maetugr | 2:93f703d2c4d7 | 46 | |
maetugr | 2:93f703d2c4d7 | 47 | // data rate codes |
maetugr | 2:93f703d2c4d7 | 48 | #define ADXL345_3200HZ 0x0F |
maetugr | 2:93f703d2c4d7 | 49 | #define ADXL345_1600HZ 0x0E |
maetugr | 2:93f703d2c4d7 | 50 | #define ADXL345_800HZ 0x0D |
maetugr | 2:93f703d2c4d7 | 51 | #define ADXL345_400HZ 0x0C |
maetugr | 2:93f703d2c4d7 | 52 | #define ADXL345_200HZ 0x0B |
maetugr | 2:93f703d2c4d7 | 53 | #define ADXL345_100HZ 0x0A |
maetugr | 2:93f703d2c4d7 | 54 | #define ADXL345_50HZ 0x09 |
maetugr | 2:93f703d2c4d7 | 55 | #define ADXL345_25HZ 0x08 |
maetugr | 2:93f703d2c4d7 | 56 | #define ADXL345_12HZ5 0x07 |
maetugr | 2:93f703d2c4d7 | 57 | #define ADXL345_6HZ25 0x06 |
maetugr | 2:93f703d2c4d7 | 58 | |
maetugr | 2:93f703d2c4d7 | 59 | //the ADXL345 7-bit address is 0x53 when ALT ADDRESS is low as it is on the sparkfun chip: when ALT ADDRESS is high the address is 0x1D |
maetugr | 2:93f703d2c4d7 | 60 | //when ALT ADDRESS pin is high: |
maetugr | 2:93f703d2c4d7 | 61 | //#define ADXL345_READ 0x3B |
maetugr | 2:93f703d2c4d7 | 62 | //#define ADXL345_WRITE 0x3A |
maetugr | 2:93f703d2c4d7 | 63 | //#define ADXL345_ADDRESS 0x1D |
maetugr | 2:93f703d2c4d7 | 64 | |
maetugr | 2:93f703d2c4d7 | 65 | #define ADXL345_X 0x00 |
maetugr | 2:93f703d2c4d7 | 66 | #define ADXL345_Y 0x01 |
maetugr | 2:93f703d2c4d7 | 67 | #define ADXL345_Z 0x02 |
maetugr | 2:93f703d2c4d7 | 68 | |
maetugr | 17:e096e85f6c36 | 69 | #define RAD2DEG 57.295779513082320876798154814105 |
maetugr | 10:953afcbcebfc | 70 | |
maetugr | 17:e096e85f6c36 | 71 | class ADXL345 : public I2C_Sensor |
maetugr | 2:93f703d2c4d7 | 72 | { |
maetugr | 2:93f703d2c4d7 | 73 | public: |
maetugr | 17:e096e85f6c36 | 74 | ADXL345(PinName sda, PinName scl); // constructor, uses I2C_Sensor |
maetugr | 18:c8c09a3913ba | 75 | virtual void read(); // read all axis from register to array data |
maetugr | 17:e096e85f6c36 | 76 | float angle[3]; // where the calculated angles are stored |
maetugr | 2:93f703d2c4d7 | 77 | |
maetugr | 2:93f703d2c4d7 | 78 | private: |
maetugr | 17:e096e85f6c36 | 79 | void setDataRate(char rate); // data rate configuration (not only a reg to write) |
maetugr | 2:93f703d2c4d7 | 80 | }; |
maetugr | 2:93f703d2c4d7 | 81 | |
maetugr | 2:93f703d2c4d7 | 82 | #endif |