el_accelerometer.h

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/*

embedded system library for e-puck

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code distribution:
https://github.com/jianingchen/epucklib

online documentation:
http://jianingchen.github.io/epucklib/html/

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This file is released under the terms of the MIT license (see "el.h").

*/

#ifndef EL_ACCELEROMETER_H
#define EL_ACCELEROMETER_H

#include "el_common.h"
#include "el_clock.h"
#include "el_trigger.h"

#define EL_ACCELEROMETER_OUTPUT_MAX     4095U

#define EL_ACCELEROMETER_ONE            0


typedef enum{
    EL_ACCELERATION_X,          
    EL_ACCELERATION_Y,          
    EL_ACCELERATION_Z,          
    EL_ACCELERATION_ALL_3V,     
} el_accelerometer_output;


void el_enable_accelerometer();


void el_disable_accelerometer();


int el_accelerometer_get(el_index i,el_accelerometer_output u,el_int16*out);


/*
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*/


#ifdef EL_INCLUDE_LIB_INTERNAL_CONTEXT

extern bool el_acc_enabled;
extern el_int8 el_acc_working_phase;
extern void (*el_adc_callback_accelerometer)(const unsigned int*result_3v);

void el_init_accelerometer();
void el_routine_accelerometer_2400hz(void);

#endif

#endif  /* EL_ACCELEROMETER_H */