Matthias Grob / Mbed 2 deprecated FlyBed1

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.

Dependencies:   mbed MODI2C

Sensors/Acc/ADXL345.h@40:2ca410923691, 2014-02-14 (annotated)

Committer:
maetugr
Date:
Fri Feb 14 14:17:32 2014 +0000
Revision:
40:2ca410923691
Parent:
33:fd98776b6cc7 
now with MPU6050 before taking it too FlyBed2

Who changed what in which revision?

UserRevisionLine numberNew 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 33:fd98776b6cc7 7 #include "I2C_Sensor.h"
maetugr 33:fd98776b6cc7 8
maetugr 33:fd98776b6cc7 9 #define ADXL345_I2C_ADDRESS 0xA6
maetugr 33:fd98776b6cc7 10 //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 33:fd98776b6cc7 11 //when ALT ADDRESS pin is high:
maetugr 33:fd98776b6cc7 12 //#define ADXL345_I2C_ADDRESS 0x3A
maetugr 2:93f703d2c4d7 13
maetugr 2:93f703d2c4d7 14 // register addresses
maetugr 20:e116e596e540 15 #define ADXL345_DEVID_REG 0x00
maetugr 20:e116e596e540 16 #define ADXL345_THRESH_TAP_REG 0x1D
maetugr 20:e116e596e540 17 #define ADXL345_OFSX_REG 0x1E
maetugr 20:e116e596e540 18 #define ADXL345_OFSY_REG 0x1F
maetugr 20:e116e596e540 19 #define ADXL345_OFSZ_REG 0x20
maetugr 20:e116e596e540 20 #define ADXL345_DUR_REG 0x21
maetugr 20:e116e596e540 21 #define ADXL345_LATENT_REG 0x22
maetugr 20:e116e596e540 22 #define ADXL345_WINDOW_REG 0x23
maetugr 20:e116e596e540 23 #define ADXL345_THRESH_ACT_REG 0x24
maetugr 20:e116e596e540 24 #define ADXL345_THRESH_INACT_REG 0x25
maetugr 20:e116e596e540 25 #define ADXL345_TIME_INACT_REG 0x26
maetugr 20:e116e596e540 26 #define ADXL345_ACT_INACT_CTL_REG 0x27
maetugr 20:e116e596e540 27 #define ADXL345_THRESH_FF_REG 0x28
maetugr 20:e116e596e540 28 #define ADXL345_TIME_FF_REG 0x29
maetugr 20:e116e596e540 29 #define ADXL345_TAP_AXES_REG 0x2A
maetugr 20:e116e596e540 30 #define ADXL345_ACT_TAP_STATUS_REG 0x2B
maetugr 20:e116e596e540 31 #define ADXL345_BW_RATE_REG 0x2C
maetugr 20:e116e596e540 32 #define ADXL345_POWER_CTL_REG 0x2D
maetugr 20:e116e596e540 33 #define ADXL345_INT_ENABLE_REG 0x2E
maetugr 20:e116e596e540 34 #define ADXL345_INT_MAP_REG 0x2F
maetugr 20:e116e596e540 35 #define ADXL345_INT_SOURCE_REG 0x30
maetugr 20:e116e596e540 36 #define ADXL345_DATA_FORMAT_REG 0x31
maetugr 20:e116e596e540 37 #define ADXL345_DATAX0_REG 0x32
maetugr 20:e116e596e540 38 #define ADXL345_DATAX1_REG 0x33
maetugr 20:e116e596e540 39 #define ADXL345_DATAY0_REG 0x34
maetugr 20:e116e596e540 40 #define ADXL345_DATAY1_REG 0x35
maetugr 20:e116e596e540 41 #define ADXL345_DATAZ0_REG 0x36
maetugr 20:e116e596e540 42 #define ADXL345_DATAZ1_REG 0x37
maetugr 20:e116e596e540 43 #define ADXL345_FIFO_CTL 0x38
maetugr 20:e116e596e540 44 #define ADXL345_FIFO_STATUS 0x39
maetugr 2:93f703d2c4d7 45
maetugr 2:93f703d2c4d7 46 #define ADXL345_X 0x00
maetugr 2:93f703d2c4d7 47 #define ADXL345_Y 0x01
maetugr 2:93f703d2c4d7 48 #define ADXL345_Z 0x02
maetugr 2:93f703d2c4d7 49
maetugr 20:e116e596e540 50 typedef char byte;
maetugr 20:e116e596e540 51
maetugr 33:fd98776b6cc7 52 class ADXL345 : public I2C_Sensor
maetugr 2:93f703d2c4d7 53 {
maetugr 2:93f703d2c4d7 54 public:
maetugr 33:fd98776b6cc7 55 ADXL345(PinName sda, PinName scl); // constructor, uses I2C_Sensor class
maetugr 40:2ca410923691 56 float data[3]; // where the measured data is saved
maetugr 40:2ca410923691 57 void read(); // read all axis to array
maetugr 33:fd98776b6cc7 58
maetugr 33:fd98776b6cc7 59 float offset[3]; // offset that's subtracted from every measurement
maetugr 33:fd98776b6cc7 60 void calibrate(int times, float separation_time); // calibration from 'times' measurements with 'separation_time' time between (get an offset while not moving)
maetugr 2:93f703d2c4d7 61
maetugr 2:93f703d2c4d7 62 private:
maetugr 40:2ca410923691 63 int raw[3];
maetugr 40:2ca410923691 64 void readraw();
maetugr 2:93f703d2c4d7 65 };
maetugr 2:93f703d2c4d7 66
maetugr 2:93f703d2c4d7 67 #endif