Amanda Travieso
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Diff: ADXL345.h
- Revision:
- 6:aa3219001d18
diff -r 14a21c3812ed -r aa3219001d18 ADXL345.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ADXL345.h Fri Oct 30 18:51:47 2015 +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 */