Revision 0:2e21c4508cab, committed 2016-05-18

Comitter:

adisuciu

Date:

Wed May 18 15:17:10 2016 +0000

Child:

1:ae171c032dc0

Commit message:

Initial revision

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ADXL362.cpp	Wed May 18 15:17:10 2016 +0000
@@ -0,0 +1,602 @@
+/**
+*   @file     ADXL362.cpp
+*   @brief    Source file for ADXL362
+*   @author   Analog Devices Inc.
+*
+* For support please go to:
+* Github: https://github.com/analogdevicesinc/mbed-adi
+* Support: https://ez.analog.com/community/linux-device-drivers/microcontroller-no-os-drivers
+* Product: http://www.analog.com/adxl362
+* More: https://wiki.analog.com/resources/tools-software/mbed-drivers-all
+
+********************************************************************************
+* Copyright 2016(c) Analog Devices, Inc.
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*  - Redistributions of source code must retain the above copyright
+*    notice, this list of conditions and the following disclaimer.
+*  - Redistributions in binary form must reproduce the above copyright
+*    notice, this list of conditions and the following disclaimer in
+*    the documentation and/or other materials provided with the
+*    distribution.
+*  - Neither the name of Analog Devices, Inc. nor the names of its
+*    contributors may be used to endorse or promote products derived
+*    from this software without specific prior written permission.
+*  - The use of this software may or may not infringe the patent rights
+*    of one or more patent holders.  This license does not release you
+*    from the requirement that you obtain separate licenses from these
+*    patent holders to use this software.
+*  - Use of the software either in source or binary form, must be run
+*    on or directly connected to an Analog Devices Inc. component.
+*
+* THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES "AS IS" AND ANY EXPRESS OR
+* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, NON-INFRINGEMENT,
+* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+* IN NO EVENT SHALL ANALOG DEVICES BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+* LIMITED TO, INTELLECTUAL PROPERTY RIGHTS, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*
+********************************************************************************/
+
+#include <stdint.h>
+#include "mbed.h"
+#include "ADXL362.h"
+
+/**
+ * ADXL362 constructor. Sets CS and SPI bus
+ * @param CS - CS pin of the ADXL362
+ * @param MOSI - MOSI pin of the ADXL362
+ * @param MISO - MISO pin of the ADXL362
+ * @param SCK- SCK pin of the ADXL362
+ */
+ADXL362::ADXL362(PinName CS, PinName MOSI, PinName MISO, PinName SCK) :
+    adxl362(MOSI, MISO, SCK), cs(CS), _int1(NULL), _int2(NULL), _int1_poll(NC), _int2_poll(
+        NC)
+{
+    cs = true; // cs is active low
+    adxl362.format(8, _SPI_MODE);
+    _temp_stored_in_fifo = false;
+    _int1_act_low = true;
+    _int2_act_low = true;
+}
+
+/**
+ * Sets ADXL362 SPI bus frequency
+ * @param hz - frequency in hz
+ */
+void ADXL362::frequency(int hz)
+{
+    adxl362.frequency(hz);
+}
+
+/**
+ * Resets the ADXL362
+ * A latency of approximately 0.5 ms is required after soft reset.
+ */
+void ADXL362::reset()
+{
+    adxl362.format(8, _SPI_MODE);
+    cs = false;
+    // Writing Code 0x52 (representing the letter, R, in ASCII or unicode) to this register immediately resets the ADXL362.
+    write_reg(SOFT_RESET, 0x52);
+    cs = true;
+
+}
+
+/**
+ * Writes the reg register with data
+ * @param reg - ADXL362_register_t register to be written
+ * @param data - data to be written
+ */
+void ADXL362::write_reg(ADXL362_register_t reg, uint8_t data)
+{
+    adxl362.format(8, _SPI_MODE);
+    cs = false;
+    adxl362.write(_WRITE_REG_CMD);
+    adxl362.write(static_cast<uint8_t>(reg));
+    adxl362.write(static_cast<uint8_t>(data));
+    cs = true;
+}
+
+/**
+ * Reads the reg register
+ * @param reg -  ADXL362_register_t register to be read
+ * @return - data read from the register
+ */
+uint8_t ADXL362::read_reg(ADXL362_register_t reg)
+{
+    uint8_t ret_val;
+    adxl362.format(8, _SPI_MODE);
+    cs = false;
+    adxl362.write(_READ_REG_CMD);
+    adxl362.write(static_cast<uint8_t>(reg));
+    ret_val = adxl362.write(_DUMMY_BYTE);
+    cs = true;
+    return ret_val;
+}
+
+/**
+ * Writes 16 bit registers to the ADXL362. Performs conversion from Intel to Motorola byte order
+ * @param reg -  ADXL362_register_t register to be written
+ * @param data -  data to be written
+ */
+void ADXL362::write_reg_u16(ADXL362_register_t reg, uint16_t data)
+{
+    adxl362.format(8, _SPI_MODE);
+
+    cs = false;
+    adxl362.write(_WRITE_REG_CMD);
+    adxl362.write(static_cast<uint8_t>(reg));
+    adxl362.write(static_cast<uint8_t>(data & 0xff));
+    adxl362.write(static_cast<uint8_t>((data & 0xff00) >> 8));
+
+    cs = true;
+}
+
+/**
+ * Reads 16 bit registers from the ADXL362. Performs conversion from Motorola to Intel Byte order
+ * @param reg - ADXL362_register_t register to be read
+ * @return - data read from the ADXL362
+ */
+uint16_t ADXL362::read_reg_u16(ADXL362_register_t reg)
+{
+    uint16_t ret_val = 0;
+    adxl362.format(8, _SPI_MODE);
+
+    cs = false;
+    adxl362.write(_READ_REG_CMD);
+    adxl362.write(static_cast<uint8_t>(reg));
+    ret_val = adxl362.write(_DUMMY_BYTE);
+    ret_val = ret_val | (adxl362.write(_DUMMY_BYTE) << 8);
+    cs = true;
+
+    return ret_val;
+}
+
+/**
+ * Scans the X,Y,Z,T registers for data.
+ * ADXL362 needs to be in measurement mode to read data
+ * ADXL362 is set in measurement mode using ADXL362::set_mode(ADXL362::MEASUREMENT)
+ * @return a 64 bit integer with the following format 0xXXYYZZTT
+ */
+uint64_t ADXL362::scan()
+{
+    uint64_t ret_val = 0;
+    uint16_t x, y, z, t = 0;
+
+    adxl362.format(8, _SPI_MODE);
+    cs = false;
+    adxl362.write(_READ_REG_CMD);
+    adxl362.write(static_cast<uint8_t>(XDATA_L));
+
+    x = adxl362.write(_DUMMY_BYTE);
+    x = x | static_cast<uint16_t>(adxl362.write(_DUMMY_BYTE) << 8);
+    y = adxl362.write(_DUMMY_BYTE);
+    y = y | static_cast<uint16_t>(adxl362.write(_DUMMY_BYTE) << 8);
+    z = adxl362.write(_DUMMY_BYTE);
+    z = z | static_cast<uint16_t>(adxl362.write(_DUMMY_BYTE) << 8);
+    t = adxl362.write(_DUMMY_BYTE);
+    t = t | static_cast<uint16_t>(adxl362.write(_DUMMY_BYTE) << 8);
+
+    ret_val = static_cast<uint64_t>(x) << 48;
+    ret_val |= static_cast<uint64_t>(y) << 32;
+    ret_val |= static_cast<uint64_t>(z) << 16;
+    ret_val |= static_cast<uint64_t>(t);
+    cs = true;
+    return ret_val;
+}
+
+/**
+ * Reads the X 8 bit register from the ADXL362
+ * ADXL362 is set in measurement mode using ADXL362::set_mode(ADXL362::MEASUREMENT)
+ * @return 8 bit X data
+ */
+uint8_t ADXL362::scanx_u8()
+{
+    return read_reg(XDATA);
+}
+
+/**
+ * Reads the X 16 bit register from the ADXL362
+ * ADXL362 is set in measurement mode using ADXL362::set_mode(ADXL362::MEASUREMENT)
+ * @return 16 bit X data
+ */
+uint16_t ADXL362::scanx()
+{
+    return read_reg_u16(XDATA_L);
+}
+
+/**
+ * Reads the Y 8 bit register from the ADXL362
+ * ADXL362 is set in measurement mode using ADXL362::set_mode(ADXL362::MEASUREMENT)
+ * @return 8 bit Y data
+ */
+uint8_t ADXL362::scany_u8()
+{
+    return read_reg(YDATA);
+}
+
+/**
+ * Reads the Y 16 bit register from the ADXL362
+ * ADXL362 is set in measurement mode using ADXL362::set_mode(ADXL362::MEASUREMENT)
+ * @return 16 bit Y data
+ */
+uint16_t ADXL362::scany()
+{
+    return read_reg_u16(YDATA_L);
+}
+
+/**
+ * Reads the Z 8 bit register from the ADXL362
+ * ADXL362 is set in measurement mode using ADXL362::set_mode(ADXL362::MEASUREMENT)
+ * @return 8 bit Z data
+ */
+uint8_t ADXL362::scanz_u8()
+{
+    return read_reg(ZDATA);
+}
+
+/**
+ * Reads the Z 16 bit register from the ADXL362
+ * ADXL362 is set in measurement mode using ADXL362::set_mode(ADXL362::MEASUREMENT)
+ * @return 16 bit Z data
+ */
+uint16_t ADXL362::scanz()
+{
+    return read_reg_u16(ZDATA_L);
+}
+
+/**
+ * Reads the T 16 bit register from the ADXL362
+ * ADXL362 is set in measurement mode using ADXL362::set_mode(ADXL362::MEASUREMENT)
+ * @return 16 bit T data
+ */
+uint16_t ADXL362::scant()
+{
+    return read_reg_u16(TEMP_L);
+}
+
+/**
+ * Sets the STANDBY/MEASUREMENT mode of the ADXL362
+ * @param mode - ADXL362_modes_t STANDBY/MEASUREMENT mode
+ */
+void ADXL362::set_mode(ADXL362_modes_t mode)
+{
+    uint8_t reg_val;
+    reg_val = read_reg(POWER_CTL);
+    reg_val = reg_val | static_cast<uint8_t>(mode);
+    write_reg(POWER_CTL, reg_val);
+}
+
+/**
+ * Sets the activity threshold registers
+ * To enable activity/inactivity, the ACT_INACT_CTL reg must also be set
+ * using the ADXL362::set_act_inact_ctl_reg(uint8_t data) method
+ * @param threshold - activity threshold in natural format
+ */
+void ADXL362::set_activity_threshold(uint16_t threshold)
+{
+    write_reg_u16(THRESH_ACT_L, threshold);
+}
+
+/**
+ * Sets the activity time register
+ * To enable activity/inactivity, the ACT_INACT_CTL reg must also be set
+ * using the ADXL362::set_act_inact_ctl_reg(uint8_t data) method
+ * @param time - activity time
+ */
+void ADXL362::set_activity_time(uint8_t time)
+{
+    write_reg(TIME_ACT, time);
+}
+
+/**
+ * Sets the inactivity threshold register
+ * To enable activity/inactivity, the ACT_INACT_CTL reg must also be set
+ * using the ADXL362::set_act_inact_ctl_reg(uint8_t data) method
+ * @param threshold - inactivity threshold in natural format
+ */
+void ADXL362::set_inactivity_threshold(uint16_t threshold)
+{
+    write_reg_u16(THRESH_INACT_L, threshold);
+}
+
+/**
+ * Sets the inactivity time register
+ * To enable activity/inactivity, the ACT_INACT_CTL reg must also be set
+ * using the ADXL362::set_act_inact_ctl_reg(uint8_t data) method
+ * @param time - inactivity time in natural format
+ */
+void ADXL362::set_inactivity_time(uint16_t time)
+{
+    write_reg_u16(TIME_INACT_L, time);
+}
+
+/**
+ * Sets the ACT_INACT_CTL register of the ADXL362
+ * @param data - data to be written to the register
+ */
+void ADXL362::set_act_inact_ctl_reg(uint8_t data)
+{
+    write_reg(ACT_INACT_CTL, data);
+}
+
+/**
+ * Configures INT1 output of the ADXL362 for polling use
+ * @param in - uC pin connected to ADXL362's INT1
+ * @param data - data to be written to INTMAP1
+ * @param pull - (optional) configures pullup on In pin
+ */
+void ADXL362::set_polling_interrupt1_pin(PinName in, uint8_t data,
+        PinMode pull)
+{
+    if ((data & 0x7F) != 0) {
+        write_reg(INTMAP1, data);
+        _int1_poll = DigitalIn(in);
+        _int1_poll.mode(pull);
+        if (data & 0x80) {
+            _int1_act_low = true;
+        } else {
+            _int1_act_low = false;
+        }
+    }
+}
+
+/**
+ * Configures INT2 output of the ADXL362 for polling use
+ * @param in - uC pin connected to ADXL362's INT2
+ * @param data - data to be written to INTMAP2
+ * @param pull - (optional) configures pullup on In pin
+ */
+void ADXL362::set_polling_interrupt2_pin(PinName in, uint8_t data,
+        PinMode pull)
+{
+    if ((data & 0x7F) != 0) {
+        write_reg(INTMAP2, data);
+        _int2_poll = DigitalIn(in);
+        _int2_poll.mode(pull);
+        if (data & 0x80) {
+            _int2_act_low = true;
+        } else {
+            _int2_act_low = false;
+        }
+    }
+}
+
+/**
+ * Gets the active state of the INT1 pin
+ * @return true if active, false if not active
+ */
+bool ADXL362::get_int1()
+{
+    if(_int1_poll != NC) return (_int1_poll.read() != _int1_act_low);  // boolean XOR
+    else return (_int1->read() != _int1_act_low);
+}
+
+/**
+ * Gets the active state of the INT2 pin
+ * @return true if active, false if not active
+ */
+bool ADXL362::get_int2()
+{
+    if(_int2_poll != NC) return (_int1_poll.read() != _int1_act_low); // boolean XOR
+    else return (_int2->read() != _int2_act_low);
+}
+
+
+/**
+ * Configures the INT1 pin of the ADXL362 to be used in interrupt mode
+ * @param in - uC pin connected to ADXL362's INT1
+ * @param data -  data to be written to INTMAP1
+ * @param callback_rising - rising edge interrupt callback - can be set to NULL if no callback is required for rising edge
+ * @param callback_falling - falling edge interrupt callback - can be set to NULL if no callback is required for falling edge
+ * @param pull - (optional) configures pullup on In pin
+ */
+void ADXL362::set_interrupt1_pin(PinName in, uint8_t data,
+                                 void (*callback_rising)(void), void (*callback_falling)(void), PinMode pull)
+{
+    if ((data & 0x7F) != 0) {
+        write_reg(INTMAP1, data);
+        delete _int1;
+        _int1 = new InterruptIn(in);
+        _int1->mode(pull);
+        if(callback_falling != NULL) _int1->fall(callback_falling);
+        if(callback_rising != NULL) _int1->rise(callback_rising);
+        if (data & 0x80) {
+            _int1_act_low = true;
+        } else {
+            _int1_act_low = false;
+        }
+    }
+}
+
+
+/**
+ * Configures the INT2 pin of the ADXL362 to be used in interrupt mode
+ * @param in - uC pin connected to ADXL362's INT2
+ * @param data -  data to be written to INTMAP2
+ * @param callback_rising - rising edge interrupt callback - can be set to NULL if no callback is required for rising edge
+ * @param callback_falling - falling edge interrupt callback - can be set to NULL if no callback is required for falling edge
+ * @param pull - (optional) configures pullup on In pin
+ */
+void ADXL362::set_interrupt2_pin(PinName in, uint8_t data,
+                                 void (*callback_rising)(void), void (*callback_falling)(void), PinMode pull)
+{
+    if ((data & 0x7F) != 0) {
+        write_reg(INTMAP2, data);
+        delete _int2;
+        _int2 = new InterruptIn(in);
+        _int2->mode(pull);
+        if(callback_falling != NULL) _int2->fall(callback_falling);
+        if(callback_rising != NULL) _int2->rise(callback_rising);
+        if (data & 0x80) {
+            _int2_act_low = true;
+        } else {
+            _int2_act_low = false;
+        }
+    }
+}
+
+/**
+ * Enables external interrupt registration for pin configured as INT1
+ * To enable this interrupt, it must first be configured using ADXL362::set_interrupt1_pin()
+ */
+void ADXL362::enable_interrupt1()
+{
+    _int1->enable_irq();
+}
+
+/**
+ * Enables external interrupt registration  for pin configured as INT2
+ * * To enable this interrupt, it must first be configured using ADXL362::set_interrupt2_pin()
+ */
+void ADXL362::enable_interrupt2()
+{
+    _int2->enable_irq();
+}
+
+/**
+ * Disables external interrupt registration  for pin configured as INT1
+ */
+void ADXL362::disable_interrupt1()
+{
+    _int1->disable_irq();
+}
+
+/**
+ * Disables external interrupt registration  for pin configured as INT2
+ */
+void ADXL362::disable_interrupt2()
+{
+    _int2->disable_irq();
+}
+
+/**
+ * Sets the POWER_CTL register
+ * @param data - data to be written to the register
+ */
+void ADXL362::set_power_ctl_reg(uint8_t data)
+{
+    write_reg(POWER_CTL, data);
+}
+
+/**
+ * Sets the FILTER_CTL register
+ * @param data - data to be written to the register
+ */
+void ADXL362::set_filter_ctl_reg(uint8_t data)
+{
+    write_reg(FILTER_CTL, data);
+}
+
+/**
+ * Reads the STATUS register of the ADXL362
+ * @return - data in the status register
+ */
+uint8_t ADXL362::read_status()
+{
+    return read_reg(STATUS);
+}
+
+/**
+ * Reads the FIFO_ENTRIES_L and FIFO_ENTRIES_H register
+ * @return the number of entries in the FIFO
+ */
+uint16_t ADXL362::fifo_read_nr_of_entries()
+{
+    return read_reg_u16(FIFO_ENTRIES_L);
+}
+
+/**
+ * Setup for the FIFO
+ * @param store_temp - boolean, true - temperature will be stored in the fifo. false otherwise
+ * @param mode - ADXL362_FIFO_modes_t fifo mode
+ * @param nr_of_entries - number of entries in the FIFO
+ */
+void ADXL362::fifo_setup(bool store_temp, ADXL362_FIFO_modes_t mode, uint16_t nr_of_entries)
+{
+    uint8_t fifo_ctl = static_cast<uint8_t>(mode);
+    _temp_stored_in_fifo = store_temp;
+
+    fifo_ctl = fifo_ctl | (static_cast<uint8_t>(_temp_stored_in_fifo) << 2);
+
+    if (nr_of_entries > 0xff) {
+        fifo_ctl = fifo_ctl | static_cast<uint8_t>(AH);
+    }
+    write_reg(FIFO_CONTROL, fifo_ctl);
+    write_reg(FIFO_SAMPLES, static_cast<uint8_t>(nr_of_entries & 0xff));
+
+}
+
+/**
+ * Reads a FIFO entry
+ * @return FIFO entry
+ */
+uint16_t ADXL362::fifo_read_u16()
+{
+    uint16_t ret_val = 0;
+    adxl362.format(8, _SPI_MODE);
+
+    cs = false;
+    adxl362.write(_READ_FIFO_CMD);
+    ret_val = adxl362.write(_DUMMY_BYTE);
+    ret_val = (ret_val) | static_cast<uint16_t>(adxl362.write(_DUMMY_BYTE) << 8);
+    cs = true;
+
+    return ret_val;
+}
+
+/**
+ * Reads 3(4) bytes from the FIFO(if store_temp was set), assembles the data in the format used by the scan method
+ * ADXL362::fifo_setup() needs to be called before calling fifo_scan to ensure correct fifo operation
+ * fifo_scan and fifo_read_u16 should not be used as fifo_read_u16 disaligns the fifo therefore
+ * fifo_scan will return data from multiple samples
+ * @return scanned data from the fifo in the 0xXXYYZZTT format
+ */
+uint64_t ADXL362::fifo_scan()
+{
+
+    uint64_t ret_val = 0;
+    uint16_t x = 0, y = 0, z = 0, dummy, t = 0, sample_type;
+
+    adxl362.format(8, _SPI_MODE);
+    cs = false;
+    adxl362.write(_READ_FIFO_CMD);
+    uint8_t samples = (_temp_stored_in_fifo) ? 4 : 3;
+    for(uint8_t i = 0; i < samples; i++) {
+        dummy = adxl362.write(_DUMMY_BYTE);
+        dummy = dummy | static_cast<uint16_t>(adxl362.write(_DUMMY_BYTE) << 8);
+        sample_type = (dummy & 0xc000) >> 14;
+        dummy = dummy & 0x3fff;
+        switch(sample_type) {
+            case 0: // x
+                x = dummy;
+                break;
+            case 1: // y
+                y = dummy;
+                break;
+            case 2: // z
+                z = dummy;
+                break;
+            case 3: // temp
+                t = dummy;
+                break;
+        }
+
+    }
+
+    // format xxyyzztt
+    ret_val = static_cast<uint64_t> (x) << 48;
+    ret_val |= static_cast<uint64_t>(y) << 32;
+    ret_val |= static_cast<uint64_t>(z) << 16;
+    ret_val |= static_cast<uint64_t>(t);
+    cs = true;
+    return ret_val;
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ADXL362.h	Wed May 18 15:17:10 2016 +0000
@@ -0,0 +1,257 @@
+#ifndef ADXL362_H_
+#define ADXL362_H_
+
+/**
+*   @file     ADXL362.cpp
+*   @brief    Header file for ADXL362
+*   @author   Analog Devices Inc.
+*
+* For support please go to:
+* Github: https://github.com/analogdevicesinc/mbed-adi
+* Support: https://ez.analog.com/community/linux-device-drivers/microcontroller-no-os-drivers
+* Product: http://www.analog.com/adxl362
+* More: https://wiki.analog.com/resources/tools-software/mbed-drivers-all
+
+********************************************************************************
+* Copyright 2016(c) Analog Devices, Inc.
+*
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*  - Redistributions of source code must retain the above copyright
+*    notice, this list of conditions and the following disclaimer.
+*  - Redistributions in binary form must reproduce the above copyright
+*    notice, this list of conditions and the following disclaimer in
+*    the documentation and/or other materials provided with the
+*    distribution.
+*  - Neither the name of Analog Devices, Inc. nor the names of its
+*    contributors may be used to endorse or promote products derived
+*    from this software without specific prior written permission.
+*  - The use of this software may or may not infringe the patent rights
+*    of one or more patent holders.  This license does not release you
+*    from the requirement that you obtain separate licenses from these
+*    patent holders to use this software.
+*  - Use of the software either in source or binary form, must be run
+*    on or directly connected to an Analog Devices Inc. component.
+*
+* THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES "AS IS" AND ANY EXPRESS OR
+* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, NON-INFRINGEMENT,
+* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+* IN NO EVENT SHALL ANALOG DEVICES BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+* LIMITED TO, INTELLECTUAL PROPERTY RIGHTS, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*
+********************************************************************************/
+
+#include "mbed.h"
+
+class ADXL362
+{
+public:
+
+    /* Temperature parameters */
+    typedef enum {
+        DEVID_AD = 0x00,
+        DEVID_MST = 0x01,
+        PARTID = 0x02,
+        REVID = 0x03,
+        XDATA = 0x08,
+        YDATA = 0x09,
+        ZDATA = 0x0A,
+        STATUS = 0x0B,
+        FIFO_ENTRIES_L = 0x0C,
+        FIFO_ENTRIES_H = 0x0D,
+        XDATA_L = 0x0E,
+        XDATA_H = 0x0F,
+        YDATA_L = 0x10,
+        YDATA_H = 0x11,
+        ZDATA_L = 0x12,
+        ZDATA_H = 0x13,
+        TEMP_L = 0x14,
+        TEMP_H = 0x15,
+        // Reserved = 0x16;
+        // Reserved = 0x17;
+        SOFT_RESET = 0x1F,
+        THRESH_ACT_L = 0x20,
+        THRESH_ACT_H = 0x21,
+        TIME_ACT = 0x22,
+        THRESH_INACT_L = 0x23,
+        THRESH_INACT_H = 0x24,
+        TIME_INACT_L = 0x25,
+        TIME_INACT_H = 0x26,
+        ACT_INACT_CTL = 0x27,
+        FIFO_CONTROL = 0x28,
+        FIFO_SAMPLES = 0x29,
+        INTMAP1 = 0x2A,
+        INTMAP2 = 0x2B,
+        FILTER_CTL = 0x2C,
+        POWER_CTL = 0x2D,
+        SELF_TEST = 0x2E,
+    } ADXL362_register_t;
+
+    typedef enum {
+        STANDBY = 0x00,
+        MEASUREMENT = 0x02
+    } ADXL362_modes_t;
+
+    typedef enum {
+        ERR_USER_REGS = 0x80,
+        AWAKE = 0x40,
+        INACT = 0x20,
+        ACT = 0x10,
+        FIFO_OVERRUN = 0x08,
+        FIFO_WATERMARK = 0x04,
+        FIFO_READY = 0x02,
+        DATA_READY = 0x01
+    } ADXL362_STATUS_reg_bits_t;
+
+    typedef enum {
+        LINKLOOP1 = 0x20,
+        LINKLOOP0 = 0x10,
+        DEFAULTMODE = 0x00,
+        LINKED_MODE = 0x10,
+        LOOP_MODE = 0x30,
+        INACT_REF = 0x08,
+        INACT_EN = 0x04,
+        ACT_REF = 0x02,
+        ACT_EN = 0x01
+    } ADXL362_ACT_INACT_CTL_reg_bits_t;
+
+    typedef enum {
+        AH = 0x08,
+        FIFO_TEMP = 0x04,
+        FIFO_MODE1 = 0x02,
+        FIFO_MODE = 0x01,
+    } ADXL362_FIFO_CONTROL_reg_bits_t;
+
+    typedef enum {
+        FIFO_DISABLED = 0x00,
+        FIFO_OLDEST = 0x01,
+        FIFO_STREAM = 0x02,
+        FIFO_TRIGGERED = 0x03,
+    } ADXL362_FIFO_modes_t;
+
+    typedef enum {
+        INT_LOW = 0x80,
+        INT_AWAKE = 0x40,
+        INT_INACT = 0x20,
+        INT_ACT = 0x10,
+        INT_FIFO_OVERRUN = 0x08,
+        INT_FIFO_WATERMARK = 0x04,
+        INT_FIFO_READY = 0x02,
+        INT_DATA_READY = 0x01
+    } ADXL362_INTMAP_reg_bits_t;
+
+    typedef enum {
+        RANGE1 = 0x80,
+        RANGE0 = 0x40,
+        RANGE2G = 0x00,
+        RANGE4G = 0x40,
+        RANGE8G = 0x80,
+        HALF_BW = 0x10,
+        EXT_SAMPLE = 0x08,
+        ODR2 = 0x04,
+        ODR1 = 0x02,
+        ODR0 = 0x01,
+        ODR12HZ = 0x00,
+        ODR25HZ = 0x01,
+        ODR50Hz = 0x02,
+        ODR100HZ = 0x03,
+        ODR200Hz = 0x04,
+        ODR400HZ = 0x07
+    } ADXL362_FILTER_CTL_reg_bits_t;
+
+    typedef enum {
+        EXT_CLK = 0x40,
+        LOW_NOISE1 = 0x20,
+        LOW_NOISE0 = 0x10,
+        NORMAL_OPERATION = 0x00,
+        LOW_NOISE = 0x10,
+        ULTRALOW_NOISE = 0x20,
+        WAKEUP = 0x08,
+        AUTOSLEEP = 0x04,
+        MEASURE1 = 0x02,
+        MEASURE0 = 0x01,
+    } ADXL362_POWER_CTL_reg_bits_t;
+
+    /** SPI configuration & constructor */
+    ADXL362(PinName CS = SPI_CS, PinName MOSI = SPI_MOSI, PinName MISO =
+                SPI_MISO, PinName SCK = SPI_SCK);
+    void frequency(int hz);
+
+    /** Low level SPI bus comm methods */
+    void reset(void);
+    void write_reg(ADXL362_register_t reg, uint8_t data);
+    uint8_t read_reg(ADXL362_register_t reg);
+    uint16_t read_reg_u16(ADXL362_register_t reg);
+    void write_reg_u16(ADXL362_register_t reg, uint16_t data);
+
+    /** ADXL general register R/W methods */
+    void set_power_ctl_reg(uint8_t data);
+    void set_filter_ctl_reg(uint8_t data);
+    uint8_t read_status();
+    void set_mode(ADXL362_modes_t mode);
+
+    /** ADXL X/Y/Z/T scanning methods*/
+    uint64_t scan();
+    uint8_t scanx_u8();
+    uint16_t scanx();
+    uint8_t scany_u8();
+    uint16_t scany();
+    uint8_t scanz_u8();
+    uint16_t scanz();
+    uint16_t scant();
+
+    /** ADXL362 activity methods */
+    void set_activity_threshold(uint16_t threshold);
+    void set_activity_time(uint8_t time);
+    void set_inactivity_threshold(uint16_t threshold);
+    void set_inactivity_time(uint16_t time);
+    void set_act_inact_ctl_reg(uint8_t data);
+
+    /** ADXL362 interrupt methods */
+    void set_interrupt1_pin(PinName in, uint8_t data, void (*callback_rising)(void), void (*callback_falling)(void), PinMode pull = PullNone);
+    void set_interrupt2_pin(PinName in, uint8_t data, void (*callback_rising)(void), void (*callback_falling)(void), PinMode pull = PullNone);
+    void enable_interrupt1();
+    void enable_interrupt2();
+    void disable_interrupt1();
+    void disable_interrupt2();
+
+    void set_polling_interrupt1_pin(PinName in, uint8_t data, PinMode pull = PullNone);
+    void set_polling_interrupt2_pin(PinName in, uint8_t data, PinMode pull = PullNone);
+
+    bool get_int1();
+    bool get_int2();
+
+    /** ADXL362 FIFO methods */
+    uint16_t fifo_read_nr_of_entries();
+    void fifo_setup(bool store_temp, ADXL362_FIFO_modes_t mode, uint16_t nr_of_entries);
+    uint16_t fifo_read_u16();
+    uint64_t fifo_scan();
+
+    SPI adxl362;    ///< SPI instance of the ADXL362
+    DigitalOut cs; ///< DigitalOut instance for the chipselect of the ADXL362
+
+private:
+
+    InterruptIn *_int1;
+    InterruptIn *_int2;
+    DigitalIn _int1_poll;
+    DigitalIn _int2_poll;
+    bool _int1_act_low;
+    bool _int2_act_low;
+    bool _temp_stored_in_fifo;
+
+    const static uint8_t _DUMMY_BYTE = 0xAA;
+    const static uint8_t _WRITE_REG_CMD = 0x0A; // write register
+    const static uint8_t _READ_REG_CMD = 0x0B; // read register
+    const static uint8_t _READ_FIFO_CMD = 0x0D; // read FIFO
+    const static uint8_t _SPI_MODE = 0;
+};
+
+#endif