diff options
| -rw-r--r-- | bma150.h | 33 | ||||
| -rw-r--r-- | main.cpp | 12 |
2 files changed, 44 insertions, 1 deletions
diff --git a/bma150.h b/bma150.h new file mode 100644 index 0000000..2e043ff --- /dev/null +++ b/bma150.h @@ -0,0 +1,33 @@ +#ifndef BMA150_H +#define BMA150_H + +#include "i2c.h" + +class BMA150 { + private: + I2C& i2c; + + public: + int16_t x, y, z; + + BMA150(I2C& i2c_bus) : i2c(i2c_bus) { + + } + + void init() { + uint8_t temp; + i2c.read_reg(0x38, 0x14, 1, &temp); + i2c.write_reg(0x38, 0x14, (temp & 0xe0) | 0x00 | 0x00); // 2g range, 25 Hz bandwidth + } + + void update() { + uint8_t buf[6]; + i2c.read_reg(0x38, 0x02, 6, buf); + + x = (buf[1] << 8 | buf[0]) - 0; + y = (buf[3] << 8 | buf[2]) - 0; + z = (buf[5] << 8 | buf[4]) - 0; + } +}; + +#endif @@ -7,6 +7,7 @@ #include "i2c.h" #include "itg3200.h" +#include "bma150.h" #include "usart.h" #include "xbee.h" @@ -59,6 +60,7 @@ class PID { I2C i2c; ITG3200 gyro(i2c); +BMA150 accel(i2c); void threadmain() { while(1) { @@ -71,9 +73,15 @@ void threadmain() { gyro.y >> 8, gyro.z & 0xff, gyro.z >> 8, + accel.x & 0xff, + accel.x >> 8, + accel.y & 0xff, + accel.y >> 8, + accel.z & 0xff, + accel.z >> 8, }; - xbee_send(6, buf); + xbee_send(sizeof(buf), buf); Time::sleep(100); } } @@ -104,6 +112,7 @@ int main() { //ITG3200 gyro(i2c); gyro.init(); + accel.init(); PPMSum ppmsum; ppmsum.enable(); @@ -134,6 +143,7 @@ int main() { // Read sensors. gyro.update(); + accel.update(); // Update filter. |