ADXL345 triple axis, digital accelerometer library.
Diff: ADXL345.cpp
- Revision:
- 0:745335502422
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ADXL345.cpp Thu Jan 20 20:11:51 2011 +0000 @@ -0,0 +1,435 @@ +/** + * @author Aaron Berk + * + * @section LICENSE + * + * Copyright (c) 2010 ARM Limited + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + * + * @section DESCRIPTION + * + * ADXL345, triple axis, digital interface, accelerometer. + * + * Datasheet: + * + * http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf + */ + +/** + * Includes + */ +#include "ADXL345.h" + +ADXL345::ADXL345(PinName mosi, + PinName miso, + PinName sck, + PinName cs) : spi_(mosi, miso, sck), nCS_(cs) { + + //1.5MHz, allowing us to use the fastest data rates without problems with the FIFO (must be less than 1.6MHz) + spi_.frequency(1500000); + spi_.format(8,3); + + nCS_ = 1; + + wait_us(500); + +} + +int ADXL345::getDevId(void) { + + return oneByteRead(ADXL345_DEVID_REG); + +} + +int ADXL345::getTapThreshold(void) { + + return oneByteRead(ADXL345_THRESH_TAP_REG); + +} + +void ADXL345::setTapThreshold(int threshold) { + + oneByteWrite(ADXL345_THRESH_TAP_REG, threshold); + +} + +int ADXL345::getOffset(int axis) { + + int address = 0; + + if (axis == ADXL345_X) { + address = ADXL345_OFSX_REG; + } else if (axis == ADXL345_Y) { + address = ADXL345_OFSY_REG; + } else if (axis == ADXL345_Z) { + address = ADXL345_OFSZ_REG; + } + + return oneByteRead(address); + +} + +void ADXL345::setOffset(int axis, char offset) { + + int address = 0; + + if (axis == ADXL345_X) { + address = ADXL345_OFSX_REG; + } else if (axis == ADXL345_Y) { + address = ADXL345_OFSY_REG; + } else if (axis == ADXL345_Z) { + address = ADXL345_OFSZ_REG; + } + + return oneByteWrite(address, offset); + +} + +int ADXL345::getTapDuration(void) { + + return oneByteRead(ADXL345_DUR_REG)*625; + +} + +void ADXL345::setTapDuration(int duration_us) { + + int tapDuration = duration_us / 625; + + oneByteWrite(ADXL345_DUR_REG, tapDuration); + +} + +float ADXL345::getTapLatency(void) { + + return oneByteRead(ADXL345_LATENT_REG)*1.25; + +} + +void ADXL345::setTapLatency(int latency_ms) { + + int tapLatency = latency_ms / 1.25; + + oneByteWrite(ADXL345_LATENT_REG, tapLatency); + +} + +float ADXL345::getWindowTime(void) { + + return oneByteRead(ADXL345_WINDOW_REG)*1.25; + +} + +void ADXL345::setWindowTime(int window_ms) { + + int windowTime = window_ms / 1.25; + + oneByteWrite(ADXL345_WINDOW_REG, windowTime); + +} + +int ADXL345::getActivityThreshold(void) { + + return oneByteRead(ADXL345_THRESH_ACT_REG); + +} + +void ADXL345::setActivityThreshold(int threshold) { + + oneByteWrite(ADXL345_THRESH_ACT_REG, threshold); + +} + +int ADXL345::getInactivityThreshold(void) { + + return oneByteRead(ADXL345_THRESH_INACT_REG); + +} + +void ADXL345::setInactivityThreshold(int threshold) { + + return oneByteWrite(ADXL345_THRESH_INACT_REG, threshold); + +} + +int ADXL345::getTimeInactivity(void) { + + return oneByteRead(ADXL345_TIME_INACT_REG); + +} + +void ADXL345::setTimeInactivity(int timeInactivity) { + + oneByteWrite(ADXL345_TIME_INACT_REG, timeInactivity); + +} + +int ADXL345::getActivityInactivityControl(void) { + + return oneByteRead(ADXL345_ACT_INACT_CTL_REG); + +} + +void ADXL345::setActivityInactivityControl(int settings) { + + oneByteWrite(ADXL345_ACT_INACT_CTL_REG, settings); + +} + +int ADXL345::getFreefallThreshold(void) { + + return oneByteRead(ADXL345_THRESH_FF_REG); + +} + +void ADXL345::setFreefallThreshold(int threshold) { + + oneByteWrite(ADXL345_THRESH_FF_REG, threshold); + +} + +int ADXL345::getFreefallTime(void) { + + return oneByteRead(ADXL345_TIME_FF_REG)*5; + +} + +void ADXL345::setFreefallTime(int freefallTime_ms) { + + int freefallTime = freefallTime_ms / 5; + + oneByteWrite(ADXL345_TIME_FF_REG, freefallTime); + +} + +int ADXL345::getTapAxisControl(void) { + + return oneByteRead(ADXL345_TAP_AXES_REG); + +} + +void ADXL345::setTapAxisControl(int settings) { + + oneByteWrite(ADXL345_TAP_AXES_REG, settings); + +} + +int ADXL345::getTapSource(void) { + + return oneByteRead(ADXL345_ACT_TAP_STATUS_REG); + +} + +void ADXL345::setPowerMode(char mode) { + + //Get the current register contents, so we don't clobber the rate value. + char registerContents = oneByteRead(ADXL345_BW_RATE_REG); + + registerContents = (mode << 4) | registerContents; + + oneByteWrite(ADXL345_BW_RATE_REG, registerContents); + +} + +int ADXL345::getPowerControl(void) { + + return oneByteRead(ADXL345_POWER_CTL_REG); + +} + +void ADXL345::setPowerControl(int settings) { + + oneByteWrite(ADXL345_POWER_CTL_REG, settings); + +} + +int ADXL345::getInterruptEnableControl(void) { + + return oneByteRead(ADXL345_INT_ENABLE_REG); + +} + +void ADXL345::setInterruptEnableControl(int settings) { + + oneByteWrite(ADXL345_INT_ENABLE_REG, settings); + +} + +int ADXL345::getInterruptMappingControl(void) { + + return oneByteRead(ADXL345_INT_MAP_REG); + +} + +void ADXL345::setInterruptMappingControl(int settings) { + + oneByteWrite(ADXL345_INT_MAP_REG, settings); + +} + +int ADXL345::getInterruptSource(void){ + + return oneByteRead(ADXL345_INT_SOURCE_REG); + +} + +int ADXL345::getDataFormatControl(void){ + + return oneByteRead(ADXL345_DATA_FORMAT_REG); + +} + +void ADXL345::setDataFormatControl(int settings){ + + oneByteWrite(ADXL345_DATA_FORMAT_REG, settings); + +} + +void ADXL345::setDataRate(int rate) { + + //Get the current register contents, so we don't clobber the power bit. + char registerContents = oneByteRead(ADXL345_BW_RATE_REG); + + registerContents &= 0x10; + registerContents |= rate; + + oneByteWrite(ADXL345_BW_RATE_REG, registerContents); + +} + +int ADXL345::getAx(){ + + char buffer[2]; + + multiByteRead(ADXL345_DATAX0_REG, buffer, 2); + + return ((int)buffer[1] << 8 | (int)buffer[0]); +} + + +int ADXL345::getAy(){ + + char buffer[2]; + + multiByteRead(ADXL345_DATAY0_REG, buffer, 2); + + return ((int)buffer[1] << 8 | (int)buffer[0]); +} + +int ADXL345::getAz(){ + + char buffer[2]; + + multiByteRead(ADXL345_DATAZ0_REG, buffer, 2); + + return ((int)buffer[1] << 8 | (int)buffer[0]); +} + + + +void ADXL345::getOutput(int* readings){ + + char buffer[6]; + + multiByteRead(ADXL345_DATAX0_REG, buffer, 6); + + readings[0] = (int)buffer[1] << 8 | (int)buffer[0]; + readings[1] = (int)buffer[3] << 8 | (int)buffer[2]; + readings[2] = (int)buffer[5] << 8 | (int)buffer[4]; + +} + +int ADXL345::getFifoControl(void){ + + return oneByteRead(ADXL345_FIFO_CTL); + +} + +void ADXL345::setFifoControl(int settings){ + + oneByteWrite(ADXL345_FIFO_CTL, settings); + +} + +int ADXL345::getFifoStatus(void){ + + return oneByteRead(ADXL345_FIFO_STATUS); + +} + +int ADXL345::oneByteRead(int address) { + + int tx = (ADXL345_SPI_READ | (address & 0x3F)); + int rx = 0; + + nCS_ = 0; + //Send address to read from. + spi_.write(tx); + //Read back contents of address. + rx = spi_.write(0x00); + nCS_ = 1; + + return rx; + +} + +void ADXL345::oneByteWrite(int address, char data) { + + int tx = (ADXL345_SPI_WRITE | (address & 0x3F)); + + nCS_ = 0; + //Send address to write to. + spi_.write(tx); + //Send data to be written. + spi_.write(data); + nCS_ = 1; + +} + +void ADXL345::multiByteRead(int startAddress, char* buffer, int size) { + + int tx = (ADXL345_SPI_READ | ADXL345_MULTI_BYTE | (startAddress & 0x3F)); + + nCS_ = 0; + //Send address to start reading from. + spi_.write(tx); + + for (int i = 0; i < size; i++) { + buffer[i] = spi_.write(0x00); + } + + nCS_ = 1; + +} + +void ADXL345::multiByteWrite(int startAddress, char* buffer, int size) { + + int tx = (ADXL345_SPI_WRITE | ADXL345_MULTI_BYTE | (startAddress & 0x3F)); + + nCS_ = 0; + //Send address to start reading from. + spi_.write(tx); + + for (int i = 0; i < size; i++) { + buffer[i] = spi_.write(0x00); + } + + nCS_ = 1; + +}