![](/media/cache/profiles/8ad6635f33710af6a535e8fb8486975e.50x50_q85.jpg)
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
- Committer:
- maetugr
- Date:
- 2012-10-31
- Revision:
- 17:e096e85f6c36
- Parent:
- 11:9bf69bc6df45
- Child:
- 18:c8c09a3913ba
File content as of revision 17:e096e85f6c36:
// based on http://mbed.org/users/Digixx/code/ADXL345/ #ifndef ADXL345_H #define ADXL345_H #include "mbed.h" #include "I2C_Sensor.h" #define ADXL345_I2C_ADDRESS 0 // read or write bytes //#define ADXL345_READ 0xA7 //#define ADXL345_WRITE 0xA6 //#define ADXL345_ADDRESS 0x53 // register addresses #define ADXL345_DEVID_REG 0x00 #define ADXL345_THRESH_TAP_REG 0x1D #define ADXL345_OFSX_REG 0x1E #define ADXL345_OFSY_REG 0x1F #define ADXL345_OFSZ_REG 0x20 #define ADXL345_DUR_REG 0x21 #define ADXL345_LATENT_REG 0x22 #define ADXL345_WINDOW_REG 0x23 #define ADXL345_THRESH_ACT_REG 0x24 #define ADXL345_THRESH_INACT_REG 0x25 #define ADXL345_TIME_INACT_REG 0x26 #define ADXL345_ACT_INACT_CTL_REG 0x27 #define ADXL345_THRESH_FF_REG 0x28 #define ADXL345_TIME_FF_REG 0x29 #define ADXL345_TAP_AXES_REG 0x2A #define ADXL345_ACT_TAP_STATUS_REG 0x2B #define ADXL345_BW_RATE_REG 0x2C #define ADXL345_POWER_CTL_REG 0x2D #define ADXL345_INT_ENABLE_REG 0x2E #define ADXL345_INT_MAP_REG 0x2F #define ADXL345_INT_SOURCE_REG 0x30 #define ADXL345_DATA_FORMAT_REG 0x31 #define ADXL345_DATAX0_REG 0x32 #define ADXL345_DATAX1_REG 0x33 #define ADXL345_DATAY0_REG 0x34 #define ADXL345_DATAY1_REG 0x35 #define ADXL345_DATAZ0_REG 0x36 #define ADXL345_DATAZ1_REG 0x37 #define ADXL345_FIFO_CTL 0x38 #define ADXL345_FIFO_STATUS 0x39 // data rate codes #define ADXL345_3200HZ 0x0F #define ADXL345_1600HZ 0x0E #define ADXL345_800HZ 0x0D #define ADXL345_400HZ 0x0C #define ADXL345_200HZ 0x0B #define ADXL345_100HZ 0x0A #define ADXL345_50HZ 0x09 #define ADXL345_25HZ 0x08 #define ADXL345_12HZ5 0x07 #define ADXL345_6HZ25 0x06 //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 //when ALT ADDRESS pin is high: //#define ADXL345_READ 0x3B //#define ADXL345_WRITE 0x3A //#define ADXL345_ADDRESS 0x1D #define ADXL345_X 0x00 #define ADXL345_Y 0x01 #define ADXL345_Z 0x02 #define RAD2DEG 57.295779513082320876798154814105 class ADXL345 : public I2C_Sensor { public: ADXL345(PinName sda, PinName scl); // constructor, uses I2C_Sensor void read(); // reads all axis to array int data[3]; // where the measured data is saved float angle[3]; // where the calculated angles are stored private: void setDataRate(char rate); // data rate configuration (not only a reg to write) }; #endif