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@33:fd98776b6cc7, 2013-04-04 (annotated)

Committer:
maetugr
Date:
Thu Apr 04 14:25:21 2013 +0000
Revision:
33:fd98776b6cc7
Parent:
26:96a072233d7a
Child:
40:2ca410923691
New version developed in eastern holidays, ported Madgwick Filter, added support for chaning PID values while flying over bluetooth, still not flying stable or even controllable

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 33:fd98776b6cc7 56 virtual void read(); // read all axis to array
maetugr 33:fd98776b6cc7 57
maetugr 33:fd98776b6cc7 58 float offset[3]; // offset that's subtracted from every measurement
maetugr 33:fd98776b6cc7 59 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 60
maetugr 2:93f703d2c4d7 61 private:
maetugr 33:fd98776b6cc7 62 virtual void readraw();
maetugr 2:93f703d2c4d7 63 };
maetugr 2:93f703d2c4d7 64
maetugr 2:93f703d2c4d7 65 #endif