valeria toffoli / Mbed OS COG4050_adxrs290_adxrs453

driver for gyro

Dependencies:   COG4050_ADT7420

Fork of COG4050_adxl355_adxl357-ver2 by ADI_CAC

ADXRS453/ADXRS453.h@9:1afd906c5ed2, 2018-09-07 (annotated)

Committer:
vtoffoli
Date:
Fri Sep 07 15:49:25 2018 +0000
Revision:
9:1afd906c5ed2
basic driver;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vtoffoli 9:1afd906c5ed2 1
vtoffoli 9:1afd906c5ed2 2 #ifndef ADXRS453_H_
vtoffoli 9:1afd906c5ed2 3 #define ADXRS453_H_
vtoffoli 9:1afd906c5ed2 4
vtoffoli 9:1afd906c5ed2 5 class ADXRS453
vtoffoli 9:1afd906c5ed2 6 {
vtoffoli 9:1afd906c5ed2 7 public:
vtoffoli 9:1afd906c5ed2 8 #define gyro_sens 0.0125; // 80 [LSB/°/s]
vtoffoli 9:1afd906c5ed2 9 #define t_sens 0.2; // 5 [LSB/°C]
vtoffoli 9:1afd906c5ed2 10 // -------------------------- //
vtoffoli 9:1afd906c5ed2 11 // REGISTERS //
vtoffoli 9:1afd906c5ed2 12 // -------------------------- //
vtoffoli 9:1afd906c5ed2 13 typedef enum {
vtoffoli 9:1afd906c5ed2 14 RATE1 = 0x00,
vtoffoli 9:1afd906c5ed2 15 RATE0 = 0x01,
vtoffoli 9:1afd906c5ed2 16 TEMP1 = 0x02,
vtoffoli 9:1afd906c5ed2 17 TEMP0 = 0x03,
vtoffoli 9:1afd906c5ed2 18 LOCST1 = 0x04,
vtoffoli 9:1afd906c5ed2 19 LOCST0 = 0x05,
vtoffoli 9:1afd906c5ed2 20 HICST1 = 0x06,
vtoffoli 9:1afd906c5ed2 21 HICST0 = 0x07,
vtoffoli 9:1afd906c5ed2 22 QUAD1 = 0x08,
vtoffoli 9:1afd906c5ed2 23 QUAD0 = 0x09,
vtoffoli 9:1afd906c5ed2 24 FAULT1 = 0x0A,
vtoffoli 9:1afd906c5ed2 25 FAULT0 = 0x0B,
vtoffoli 9:1afd906c5ed2 26 PID1 = 0x0C,
vtoffoli 9:1afd906c5ed2 27 PID0 = 0x0D,
vtoffoli 9:1afd906c5ed2 28 SN3 = 0x0E,
vtoffoli 9:1afd906c5ed2 29 SN2 = 0x0F,
vtoffoli 9:1afd906c5ed2 30 SN1 = 0x10,
vtoffoli 9:1afd906c5ed2 31 SN0 = 0x11
vtoffoli 9:1afd906c5ed2 32 } ADXRS453_register_t;
vtoffoli 9:1afd906c5ed2 33 // -------------------------- //
vtoffoli 9:1afd906c5ed2 34 // OUTPUT DATA //
vtoffoli 9:1afd906c5ed2 35 // -------------------------- //
vtoffoli 9:1afd906c5ed2 36 typedef struct {
vtoffoli 9:1afd906c5ed2 37 float rt_x;
vtoffoli 9:1afd906c5ed2 38 float rt_y;
vtoffoli 9:1afd906c5ed2 39 float rt_z;
vtoffoli 9:1afd906c5ed2 40 } ADXRS453_rate_t;
vtoffoli 9:1afd906c5ed2 41 ADXRS453_rate_t rate_data;
vtoffoli 9:1afd906c5ed2 42 ADXRS453_rate_t selftest_data;
vtoffoli 9:1afd906c5ed2 43 // -------------------------- //
vtoffoli 9:1afd906c5ed2 44 // FUNCTIONS //
vtoffoli 9:1afd906c5ed2 45 // -------------------------- //
vtoffoli 9:1afd906c5ed2 46 // SPI configuration & constructor
vtoffoli 9:1afd906c5ed2 47 ADXRS453(PinName cs_pin , PinName MOSI , PinName MISO , PinName SCK );
vtoffoli 9:1afd906c5ed2 48 void frequency(int hz);
vtoffoli 9:1afd906c5ed2 49 // SPI configuration & constructor
vtoffoli 9:1afd906c5ed2 50 void write_reg(ADXRS453_register_t reg, uint16_t data);
vtoffoli 9:1afd906c5ed2 51 uint16_t read_reg(ADXRS453_register_t reg);
vtoffoli 9:1afd906c5ed2 52 // ADXRS X/T/SelfTest scanning methods
vtoffoli 9:1afd906c5ed2 53 uint16_t scanx();
vtoffoli 9:1afd906c5ed2 54 uint16_t scant();
vtoffoli 9:1afd906c5ed2 55 uint16_t scanst();
vtoffoli 9:1afd906c5ed2 56 uint16_t fault();
vtoffoli 9:1afd906c5ed2 57 //
vtoffoli 9:1afd906c5ed2 58 void st();
vtoffoli 9:1afd906c5ed2 59 private:
vtoffoli 9:1afd906c5ed2 60 // SPI adxl355; ///< SPI instance of the ADXL
vtoffoli 9:1afd906c5ed2 61 SPI adxrs453; DigitalOut cs;
vtoffoli 9:1afd906c5ed2 62 const static uint8_t _DEVICE_AD = 0xR01; // contect of DEVID_AD (only-read) register
vtoffoli 9:1afd906c5ed2 63 const static uint8_t _DUMMY_BYTE = 0xAA; // 10101010
vtoffoli 9:1afd906c5ed2 64 const static uint8_t _WRITE_REG_CMD = 0x40; // write register
vtoffoli 9:1afd906c5ed2 65 const static uint8_t _READ_REG_CMD = 0x80; // read register
vtoffoli 9:1afd906c5ed2 66 const static uint8_t _SPI_MODE = 0; // timing scheme
vtoffoli 9:1afd906c5ed2 67 };
vtoffoli 9:1afd906c5ed2 68
vtoffoli 9:1afd906c5ed2 69 #endif