Revision 0:cd40b5e776b0, committed 2017-12-07

Comitter:

asyrofi

Date:

Thu Dec 07 06:30:16 2017 +0000

Commit message:

siplah;

Changed in this revision

diff -r 000000000000 -r cd40b5e776b0 ADXL345.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ADXL345.cpp	Thu Dec 07 06:30:16 2017 +0000
@@ -0,0 +1,405 @@
+/**
+ * @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) {
+
+    //2MHz, allowing us to use the fastest data rates.
+    spi_.frequency(2000000);
+    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);
+
+}
+
+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_STATUS, 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;
+
+}

diff -r 000000000000 -r cd40b5e776b0 ADXL345.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ADXL345.h	Thu Dec 07 06:30:16 2017 +0000
@@ -0,0 +1,537 @@
+/**
+ * @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
+ */  
+
+#ifndef ADXL345_H
+#define ADXL345_H
+
+/**
+ * Includes
+ */
+#include "mbed.h"
+
+/**
+ * Defines
+ */
+//Registers.
+#define ADXL345_DEVID_REG          0x00
+#define ADXL345_THRESH_TAP_REG     0x1D
+#define ADXL345_OFSX_REG           0x1E
+#define ADXL345_OFSY_REG           0x1F
+#define ADXL345_OFSZ_REG           0x20
+#define ADXL345_DUR_REG            0x21
+#define ADXL345_LATENT_REG         0x22
+#define ADXL345_WINDOW_REG         0x23
+#define ADXL345_THRESH_ACT_REG     0x24
+#define ADXL345_THRESH_INACT_REG   0x25
+#define ADXL345_TIME_INACT_REG     0x26
+#define ADXL345_ACT_INACT_CTL_REG  0x27
+#define ADXL345_THRESH_FF_REG      0x28
+#define ADXL345_TIME_FF_REG        0x29
+#define ADXL345_TAP_AXES_REG       0x2A
+#define ADXL345_ACT_TAP_STATUS_REG 0x2B
+#define ADXL345_BW_RATE_REG        0x2C
+#define ADXL345_POWER_CTL_REG      0x2D
+#define ADXL345_INT_ENABLE_REG     0x2E
+#define ADXL345_INT_MAP_REG        0x2F
+#define ADXL345_INT_SOURCE_REG     0x30
+#define ADXL345_DATA_FORMAT_REG    0x31
+#define ADXL345_DATAX0_REG         0x32
+#define ADXL345_DATAX1_REG         0x33
+#define ADXL345_DATAY0_REG         0x34
+#define ADXL345_DATAY1_REG         0x35
+#define ADXL345_DATAZ0_REG         0x36
+#define ADXL345_DATAZ1_REG         0x37
+#define ADXL345_FIFO_CTL           0x38
+#define ADXL345_FIFO_STATUS        0x39
+
+//Data rate codes.
+#define ADXL345_3200HZ      0x0F
+#define ADXL345_1600HZ      0x0E
+#define ADXL345_800HZ       0x0D
+#define ADXL345_400HZ       0x0C
+#define ADXL345_200HZ       0x0B
+#define ADXL345_100HZ       0x0A
+#define ADXL345_50HZ        0x09
+#define ADXL345_25HZ        0x08
+#define ADXL345_12HZ5       0x07
+#define ADXL345_6HZ25       0x06
+
+#define ADXL345_SPI_READ    0x80
+#define ADXL345_SPI_WRITE   0x00
+#define ADXL345_MULTI_BYTE  0x60
+
+#define ADXL345_X           0x00
+#define ADXL345_Y           0x01
+#define ADXL345_Z           0x02
+
+/**
+ * ADXL345 triple axis, digital interface, accelerometer.
+ */
+class ADXL345 {
+
+public:
+
+    /**
+     * Constructor.
+     *
+     * @param mosi mbed pin to use for MOSI line of SPI interface.
+     * @param miso mbed pin to use for MISO line of SPI interface.
+     * @param sck mbed pin to use for SCK line of SPI interface.
+     * @param cs mbed pin to use for not chip select line of SPI interface.
+     */
+    ADXL345(PinName mosi, PinName miso, PinName sck, PinName cs);
+
+    /**
+     * Read the device ID register on the device.
+     *
+     * @return The device ID code [0xE5]
+     */
+    int getDevId(void);
+
+    /**
+     * Read the tap threshold on the device.
+     *
+     * @return The tap threshold as an 8-bit number with a scale factor of
+     *         62.5mg/LSB.
+     */
+    int getTapThreshold(void);
+
+    /**
+     * Set the tap threshold.
+     *
+     * @param The tap threshold as an 8-bit number with a scale factor of
+     *        62.5mg/LSB.
+     */
+    void setTapThreshold(int threshold);
+
+    /**
+     * Get the current offset for a particular axis.
+     *
+     * @param axis 0x00 -> X-axis
+     *             0x01 -> Y-axis
+     *             0x02 -> Z-axis
+     * @return The current offset as an 8-bit 2's complement number with scale
+     *         factor 15.6mg/LSB.
+     */
+    int getOffset(int axis);
+
+    /**
+     * Set the offset for a particular axis.
+     *
+     * @param axis 0x00 -> X-axis
+     *             0x01 -> Y-axis
+     *             0x02 -> Z-axis
+     * @param offset The offset as an 8-bit 2's complement number with scale
+     *               factor 15.6mg/LSB.
+     */
+    void setOffset(int axis, char offset);
+
+    /**
+     * Get the tap duration required to trigger an event.
+     *
+     * @return The max time that an event must be above the tap threshold to
+     *         qualify as a tap event, in microseconds.
+     */
+    int getTapDuration(void);
+
+    /**
+     * Set the tap duration required to trigger an event.
+     *
+     * @param duration_us The max time that an event must be above the tap
+     *                    threshold to qualify as a tap event, in microseconds.
+     *                    Time will be normalized by the scale factor which is
+     *                    625us/LSB. A value of 0 disables the single/double
+     *                    tap functions.
+     */
+    void setTapDuration(int duration_us);
+
+    /**
+     * Get the tap latency between the detection of a tap and the time window.
+     *
+     * @return The wait time from the detection of a tap event to the start of
+     *         the time window during which a possible second tap event can be
+     *         detected in milliseconds.
+     */
+    float getTapLatency(void);
+
+    /**
+     * Set the tap latency between the detection of a tap and the time window.
+     *
+     * @param latency_ms The wait time from the detection of a tap event to the
+     *                   start of the time window during which a possible
+     *                   second tap event can be detected in milliseconds.
+     *                   A value of 0 disables the double tap function.
+     */
+    void setTapLatency(int latency_ms);
+
+    /**
+     * Get the time of window between tap latency and a double tap.
+     *
+     * @return The amount of time after the expiration of the latency time
+     *         during which a second valid tap can begin, in milliseconds.
+     */
+    float getWindowTime(void);
+
+    /**
+     * Set the time of the window between tap latency and a double tap.
+     *
+     * @param window_ms The amount of time after the expiration of the latency
+     *                  time during which a second valid tap can begin,
+     *                  in milliseconds.
+     */
+    void setWindowTime(int window_ms);
+
+    /**
+     * Get the threshold value for detecting activity.
+     *
+     * @return The threshold value for detecting activity as an 8-bit number.
+     *         Scale factor is 62.5mg/LSB.
+     */
+    int getActivityThreshold(void);
+
+    /**
+     * Set the threshold value for detecting activity.
+     *
+     * @param threshold The threshold value for detecting activity as an 8-bit
+     *                  number. Scale factor is 62.5mg/LSB. A value of 0 may
+     *                  result in undesirable behavior if the activity
+     *                  interrupt is enabled.
+     */
+    void setActivityThreshold(int threshold);
+
+    /**
+     * Get the threshold value for detecting inactivity.
+     *
+     * @return The threshold value for detecting inactivity as an 8-bit number.
+     *         Scale factor is 62.5mg/LSB.
+     */
+    int getInactivityThreshold(void);
+
+    /**
+     * Set the threshold value for detecting inactivity.
+     *
+     * @param threshold The threshold value for detecting inactivity as an
+     *                  8-bit number. Scale factor is 62.5mg/LSB.
+     */
+    void setInactivityThreshold(int threshold);
+
+    /**
+     * Get the time required for inactivity to be declared.
+     *
+     * @return The amount of time that acceleration must be less than the
+     *         inactivity threshold for inactivity to be declared, in
+     *         seconds.
+     */
+    int getTimeInactivity(void);
+    
+    /**
+     * Set the time required for inactivity to be declared.
+     *
+     * @param inactivity The amount of time that acceleration must be less than
+     *                   the inactivity threshold for inactivity to be
+     *                   declared, in seconds. A value of 0 results in an
+     *                   interrupt when the output data is less than the
+     *                   threshold inactivity.
+     */
+    void setTimeInactivity(int timeInactivity);
+    
+    /**
+     * Get the activity/inactivity control settings.
+     *
+     *      D7            D6             D5            D4
+     * +-----------+--------------+--------------+--------------+
+     * | ACT ac/dc | ACT_X enable | ACT_Y enable | ACT_Z enable |
+     * +-----------+--------------+--------------+--------------+
+     *
+     *        D3             D2               D1              D0
+     * +-------------+----------------+----------------+----------------+
+     * | INACT ac/dc | INACT_X enable | INACT_Y enable | INACT_Z enable |
+     * +-------------+----------------+----------------+----------------+
+     *
+     * See datasheet for details.
+     *
+     * @return The contents of the ACT_INACT_CTL register.
+     */
+    int getActivityInactivityControl(void);
+    
+    /**
+     * Set the activity/inactivity control settings.
+     *
+     *      D7            D6             D5            D4
+     * +-----------+--------------+--------------+--------------+
+     * | ACT ac/dc | ACT_X enable | ACT_Y enable | ACT_Z enable |
+     * +-----------+--------------+--------------+--------------+
+     *
+     *        D3             D2               D1              D0
+     * +-------------+----------------+----------------+----------------+
+     * | INACT ac/dc | INACT_X enable | INACT_Y enable | INACT_Z enable |
+     * +-------------+----------------+----------------+----------------+
+     *
+     * See datasheet for details.
+     *
+     * @param settings The control byte to write to the ACT_INACT_CTL register.
+     */
+    void setActivityInactivityControl(int settings);
+    
+    /**
+     * Get the threshold for free fall detection.
+     *
+     * @return The threshold value for free-fall detection, as an 8-bit number,
+     *         with scale factor 62.5mg/LSB.
+     */
+    int getFreefallThreshold(void);
+    
+    /**
+     * Set the threshold for free fall detection.
+     *
+     * @return The threshold value for free-fall detection, as an 8-bit number,
+     *         with scale factor 62.5mg/LSB. A value of 0 may result in 
+     *         undesirable behavior if the free-fall interrupt is enabled.
+     *         Values between 300 mg and 600 mg (0x05 to 0x09) are recommended.
+     */
+    void setFreefallThreshold(int threshold);
+    
+    /**
+     * Get the time required to generate a free fall interrupt.
+     *
+     * @return The minimum time that the value of all axes must be less than
+     *         the freefall threshold to generate a free-fall interrupt, in
+     *         milliseconds.
+     */
+    int getFreefallTime(void);
+    
+    /**
+     * Set the time required to generate a free fall interrupt.
+     *
+     * @return The minimum time that the value of all axes must be less than
+     *         the freefall threshold to generate a free-fall interrupt, in
+     *         milliseconds. A value of 0 may result in undesirable behavior
+     *         if the free-fall interrupt is enabled. Values between 100 ms 
+     *         and 350 ms (0x14 to 0x46) are recommended.
+     */
+    void setFreefallTime(int freefallTime_ms);
+    
+    /**
+     * Get the axis tap settings.
+     *
+     *      D3           D2            D1             D0
+     * +----------+--------------+--------------+--------------+
+     * | Suppress | TAP_X enable | TAP_Y enable | TAP_Z enable |
+     * +----------+--------------+--------------+--------------+
+     *
+     * (D7-D4 are 0s).
+     *
+     * See datasheet for more details.
+     *
+     * @return The contents of the TAP_AXES register.
+     */ 
+    int getTapAxisControl(void);
+    
+    /**
+     * Set the axis tap settings.
+     *
+     *      D3           D2            D1             D0
+     * +----------+--------------+--------------+--------------+
+     * | Suppress | TAP_X enable | TAP_Y enable | TAP_Z enable |
+     * +----------+--------------+--------------+--------------+
+     *
+     * (D7-D4 are 0s).
+     *
+     * See datasheet for more details.
+     *
+     * @param The control byte to write to the TAP_AXES register.
+     */
+    void setTapAxisControl(int settings);
+    
+    /**
+     * Get the source of a tap.
+     *
+     * @return The contents of the ACT_TAP_STATUS register.
+     */
+    int getTapSource(void);
+    
+    /**
+     * Set the power mode.
+     *
+     * @param mode 0 -> Normal operation.
+     *             1 -> Reduced power operation.
+     */
+    void setPowerMode(char mode);
+    
+    /**
+     * Set the data rate.
+     *
+     * @param rate The rate code (see #defines or datasheet).
+     */
+    void setDataRate(int rate);
+    
+    /**
+     * Get the power control settings.
+     *
+     * See datasheet for details.
+     *
+     * @return The contents of the POWER_CTL register.
+     */
+    int getPowerControl(void);
+    
+    /**
+     * Set the power control settings.
+     *
+     * See datasheet for details.
+     *
+     * @param The control byte to write to the POWER_CTL register.
+     */
+    void setPowerControl(int settings);
+    
+    /**
+     * Get the interrupt enable settings.
+     *
+     * @return The contents of the INT_ENABLE register.
+     */
+    int getInterruptEnableControl(void);
+    
+    /**
+     * Set the interrupt enable settings.
+     *
+     * @param settings The control byte to write to the INT_ENABLE register.
+     */
+    void setInterruptEnableControl(int settings);
+    
+    /**
+     * Get the interrupt mapping settings.
+     *
+     * @return The contents of the INT_MAP register.
+     */
+    int getInterruptMappingControl(void);
+    
+    /**
+     * Set the interrupt mapping settings.
+     *
+     * @param settings The control byte to write to the INT_MAP register.
+     */
+    void setInterruptMappingControl(int settings);
+    
+    /**
+     * Get the interrupt source.
+     *
+     * @return The contents of the INT_SOURCE register.
+     */
+    int getInterruptSource(void);
+    
+    /**
+     * Get the data format settings.
+     *
+     * @return The contents of the DATA_FORMAT register.
+     */
+    int getDataFormatControl(void);
+    
+    /**
+     * Set the data format settings.
+     *
+     * @param settings The control byte to write to the DATA_FORMAT register.
+     */
+    void setDataFormatControl(int settings);
+    
+    /**
+     * Get the output of all three axes.
+     *
+     * @param Pointer to a buffer to hold the accelerometer value for the
+     *        x-axis, y-axis and z-axis [in that order].
+     */
+    void getOutput(int* readings);
+    
+    /**
+     * Get the FIFO control settings.
+     *
+     * @return The contents of the FIFO_CTL register.
+     */
+    int getFifoControl(void);
+    
+    /**
+     * Set the FIFO control settings.
+     *
+     * @param The control byte to write to the FIFO_CTL register.
+     */
+    void setFifoControl(int settings);
+    
+    /**
+     * Get FIFO status.
+     *
+     * @return The contents of the FIFO_STATUS register.
+     */
+    int getFifoStatus(void);
+    
+private:
+
+    SPI        spi_;
+    DigitalOut nCS_;
+
+    /**
+     * Read one byte from a register on the device.
+     *
+     * @param address Address of the register to read.
+     *
+     * @return The contents of the register address.
+     */
+    int oneByteRead(int address);
+
+    /**
+     * Write one byte to a register on the device.
+     *
+     * @param address Address of the register to write to.
+     * @param data The data to write into the register.
+     */
+    void oneByteWrite(int address, char data);
+
+    /**
+     * Read several consecutive bytes on the device.
+     *
+     * @param startAddress The address of the first register to read from.
+     * @param buffer Pointer to a buffer to store data read from the device.
+     * @param size The number of bytes to read.
+     */
+    void multiByteRead(int startAddress, char* buffer, int size);
+
+    /**
+     * Write several consecutive bytes on the device.
+     *
+     * @param startAddress The address of the first register to write to.
+     * @param buffer Pointer to a buffer which contains the data to write.
+     * @param size The number of bytes to write.
+     */
+    void multiByteWrite(int startAddress, char* buffer, int size);
+
+};
+
+#endif /* ADXL345_H */