flight/pios/inc/pios_adxl345.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup PIOS PIOS Core hardware abstraction layer
   4  * @{
   5  * @addtogroup PIOS_ADXL345 ADXL345 Functions
   6  * @brief Data from the ADXL345 sensors
   7  * @{
   8  * @file       pios_adxl345.h
   9  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  10  * @brief      PiOS SPI ADXL345
  11  * @see        The GNU Public License (GPL) Version 3
  12  *
  13  *****************************************************************************/
  14 /*
  15  * This program is free software; you can redistribute it and/or modify
  16  * it under the terms of the GNU General Public License as published by
  17  * the Free Software Foundation; either version 3 of the License, or
  18  * (at your option) any later version.
  19  *
  20  * This program is distributed in the hope that it will be useful, but
  21  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  22  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  23  * for more details.
  24  *
  25  * You should have received a copy of the GNU General Public License along
  26  * with this program; if not, write to the Free Software Foundation, Inc.,
  27  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  28  */
  29 #ifndef PIOS_ADXL345_H
  30 #define PIOS_ADXL345_H
  31
  32 // Defined by data rate, not BW
  33
  34 #define ADXL_READ_BIT        0x80
  35 #define ADXL_MULTI_BIT       0x40
  36
  37 #define ADXL_WHOAMI          0x00
  38 #define ADXL_DEVICE_ID       0xE5
  39 #define ADXL_X0_ADDR         0x32
  40 #define ADXL_FIFOSTATUS_ADDR 0x39
  41
  42 #define ADXL_RATE_ADDR       0x2C
  43 #define ADXL_RATE_100        0x0A
  44 #define ADXL_RATE_200        0x0B
  45 #define ADXL_RATE_400        0x0C
  46 #define ADXL_RATE_800        0x0D
  47 #define ADXL_RATE_1600       0x0E
  48 #define ADXL_RATE_3200       0x0F
  49
  50 #define ADXL_POWER_ADDR      0x2D
  51 #define ADXL_MEAURE          0x08
  52
  53 #define ADXL_FORMAT_ADDR     0x31
  54 #define ADXL_FULL_RES        0x08
  55 #define ADXL_4WIRE           0x00
  56 #define ADXL_RANGE_2G        0x00
  57 #define ADXL_RANGE_4G        0x01
  58 #define ADXL_RANGE_8G        0x02
  59 #define ADXL_RANGE_16G       0x03
  60
  61 #define ADXL_FIFO_ADDR       0x38
  62 #define ADXL_FIFO_STREAM     0x80
  63
  64
  65 struct pios_adxl345_data {
  66     int16_t x;
  67     int16_t y;
  68     int16_t z;
  69 };
  70
  71 int32_t PIOS_ADXL345_SelectRate(uint8_t rate);
  72 int32_t PIOS_ADXL345_SetRange(uint8_t range);
  73 int32_t PIOS_ADXL345_Init(uint32_t spi_id, uint32_t slave_num);
  74 uint8_t PIOS_ADXL345_Read(struct pios_adxl345_data *data);
  75 int8_t PIOS_ADXL345_ReadAndAccumulateSamples(struct pios_adxl345_data *data, uint8_t samples);
  76 int32_t PIOS_ADXL345_FifoElements();
  77 int32_t PIOS_ADXL345_Test();
  78
  79 #endif /* PIOS_ADXL345_H */
  80
  81 /**
  82  * @}
  83  * @}
  84  */