CruizCore XG1300L Sensor [Other]

Files
file	microinfinity-cruizcore.h
	MicroInfinity CruizCore XG1300L driver.
Defines
#define	MICC_I2C_ADDR   0x02
#define	MICC_ACC_ANG   0x42
#define	MICC_TURN_RATE   0x44
#define	MICC_X_ACCEL   0x46
#define	MICC_Y_ACCEL   0x48
#define	MICC_Z_ACCEL   0x4A
#define	MICC_CMD_RESET   0x60
#define	MICC_CMD_RANGE_2G   0x61
#define	MICC_CMD_RANGE_4G   0x62
#define	MICC_CMD_RANGE_8G   0x63
#define	MICCsetRange2G(x)   MICCsendCmd(x, MICC_CMD_RANGE_2G)
#define	MICCsetRange4G(x)   MICCsendCmd(x, MICC_CMD_RANGE_4G)
#define	MICCsetRange8G(x)   MICCsendCmd(x, MICC_CMD_RANGE_8G)
#define	MICCreset(x)   MICCsendCmd(x, MICC_CMD_RESET)
Functions
int	MICCreadRelativeHeading (tSensors link)
int	MICCreadTurnRate (tSensors link)
bool	MICCreadAccel (tSensors link, int &x_accel, int &y_accel, int &z_accel)
bool	MICCsendCmd (tSensors link, ubyte command)
Variables
tByteArray	MICC_I2CRequest
tByteArray	MICC_I2CReply

---

Detailed Description

CruizCore XG1300L

---

Define Documentation

#define MICC_ACC_ANG   0x42

MICC Accumulated angle (2 bytes)

Definition at line 44 of file microinfinity-cruizcore.h.

#define MICC_CMD_RANGE_2G   0x61

MICC Acceleration up to 2G

Definition at line 53 of file microinfinity-cruizcore.h.

#define MICC_CMD_RANGE_4G   0x62

MICC Acceleration up to 4G

Definition at line 54 of file microinfinity-cruizcore.h.

#define MICC_CMD_RANGE_8G   0x63

MICC Acceleration up to 8G

Definition at line 55 of file microinfinity-cruizcore.h.

#define MICC_CMD_RESET   0x60

MICC Reset the device

Definition at line 52 of file microinfinity-cruizcore.h.

#define MICC_I2C_ADDR   0x02

MICC I2C device address

Definition at line 42 of file microinfinity-cruizcore.h.

#define MICC_TURN_RATE   0x44

MICC Rate of Turn (2 bytes)

Definition at line 46 of file microinfinity-cruizcore.h.

#define MICC_X_ACCEL   0x46

MICC X acceleration data (2 bytes)

Definition at line 48 of file microinfinity-cruizcore.h.

#define MICC_Y_ACCEL   0x48

MICC Y acceleration data (2 bytes)

Definition at line 49 of file microinfinity-cruizcore.h.

#define MICC_Z_ACCEL   0x4A

MICC Z acceleration data (2 bytes)

Definition at line 50 of file microinfinity-cruizcore.h.

#define MICCreset

(

x )

MICCsendCmd(x, MICC_CMD_RESET)

Macro for resetting sensor

Examples:

microinfinity-cruizcore-test1.c, and microinfinity-cruizcore-test2.c.

Definition at line 65 of file microinfinity-cruizcore.h.

#define MICCsetRange2G

(

x )

MICCsendCmd(x, MICC_CMD_RANGE_2G)

Macro for setting sensor to 2G range

Definition at line 62 of file microinfinity-cruizcore.h.

#define MICCsetRange4G

(

x )

MICCsendCmd(x, MICC_CMD_RANGE_4G)

Macro for setting sensor to 4G range

Definition at line 63 of file microinfinity-cruizcore.h.

#define MICCsetRange8G

(

x )

MICCsendCmd(x, MICC_CMD_RANGE_8G)

Macro for setting sensor to 8G range

Examples:

microinfinity-cruizcore-test1.c, and microinfinity-cruizcore-test2.c.

Definition at line 64 of file microinfinity-cruizcore.h.

---

Function Documentation

bool MICCreadAccel	(	tSensors	link,
		int &	x_accel,
		int &	y_accel,
		int &	z_accel
	)

Read acceleration data from the sensor

Parameters:

link	the sensor port number
x_accel	X acceleration data
y_accel	Y acceleration data
z_accel	Z acceleration data

Returns:

true if no error occured, false if it did

Examples:

microinfinity-cruizcore-test1.c, and microinfinity-cruizcore-test2.c.

Definition at line 117 of file microinfinity-cruizcore.h.

int MICCreadRelativeHeading

(

tSensors

link )

Return the current relative heading, value between -179 and 180 degrees.
Angle is measured in 100th degrees. So 12899 = 128.99 degrees.

Returns:

the relative heading

Examples:

microinfinity-cruizcore-test1.c, and microinfinity-cruizcore-test2.c.

Definition at line 76 of file microinfinity-cruizcore.h.

int MICCreadTurnRate

(

tSensors

link )

Return the Rate of Turn in degrees per second

Returns:

the current rate of turn

Examples:

microinfinity-cruizcore-test1.c, and microinfinity-cruizcore-test2.c.

Definition at line 95 of file microinfinity-cruizcore.h.

bool MICCsendCmd	(	tSensors	link,
		ubyte	command
	)

Send a command to the sensor

Parameters:

link	the sensor port number
command	the command to be sent

Returns:

true if no error occured, false if it did

Definition at line 141 of file microinfinity-cruizcore.h.

---

Variable Documentation

tByteArray MICC_I2CReply

Array to hold I2C reply data

Definition at line 68 of file microinfinity-cruizcore.h.

tByteArray MICC_I2CRequest

Array to hold I2C command data

Definition at line 67 of file microinfinity-cruizcore.h.