Chen Zhai
project
Revision 0:5ca44aa85a30, committed 2013-03-12
- Comitter:
- chenzhai
- Date:
- Tue Mar 12 21:56:17 2013 +0000
- Commit message:
- 6dof sensor wireless
Changed in this revision
diff -r 000000000000 -r 5ca44aa85a30 ADXL345_I2C.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ADXL345_I2C.cpp Tue Mar 12 21:56:17 2013 +0000
@@ -0,0 +1,423 @@
+/**
+ * @author Peter Swanson
+ * A personal note from me: Jesus Christ has changed my life so much it blows my mind. I say this because
+ * today, religion is thought of as something that you do or believe and has about as
+ * little impact on a person as their political stance. But for me, God gives me daily
+ * strength and has filled my life with the satisfaction that I could never find in any
+ * of the other things that I once looked for it in.
+ * If your interested, heres verse that changed my life:
+ * Rom 8:1-3: "Therefore, there is now no condemnation for those who are in Christ Jesus,
+ * because through Christ Jesus, the law of the Spirit who gives life has set
+ * me free from the law of sin (which brings...) and death. For what the law
+ * was powerless to do in that it was weakened by the flesh, God did by sending
+ * His own Son in the likeness of sinful flesh to be a sin offering. And so He
+ * condemned sin in the flesh in order that the righteous requirements of the
+ * (God's) law might be fully met in us, who live not according to the flesh
+ * but according to the Spirit."
+ *
+ * A special thanks to Ewout van Bekkum for all his patient help in developing this library!
+ *
+ * @section LICENSE
+ *
+ * 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, I2C interface, accelerometer.
+ *
+ * Datasheet:
+ *
+ * http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf
+ */
+
+/**
+ * Includes
+ */
+#include "ADXL345_I2C.h"
+
+//#include "mbed.h"
+
+ADXL345_I2C::ADXL345_I2C(PinName sda, PinName scl) : i2c_(sda, scl) {
+
+ //400kHz, allowing us to use the fastest data rates.
+ i2c_.frequency(400000);
+// initialize the BW data rate
+ char tx[2];
+ tx[0] = ADXL345_BW_RATE_REG;
+ tx[1] = ADXL345_1600HZ; //value greater than or equal to 0x0A is written into the rate bits (Bit D3 through Bit D0) in the BW_RATE register
+ i2c_.write( ADXL345_I2C_WRITE , tx, 2);
+
+//Data format (for +-16g) - This is done by setting Bit D3 of the DATA_FORMAT register (Address 0x31) and writing a value of 0x03 to the range bits (Bit D1 and Bit D0) of the DATA_FORMAT register (Address 0x31).
+
+ char rx[2];
+ rx[0] = ADXL345_DATA_FORMAT_REG;
+ rx[1] = 0x0B;
+ // full res and +_16g
+ i2c_.write( ADXL345_I2C_WRITE , rx, 2);
+
+ // Set Offset - programmed into the OFSX, OFSY, and OFXZ registers, respectively, as 0xFD, 0x03 and 0xFE.
+ char x[2];
+ x[0] = ADXL345_OFSX_REG ;
+ x[1] = 0xFD;
+ i2c_.write( ADXL345_I2C_WRITE , x, 2);
+ char y[2];
+ y[0] = ADXL345_OFSY_REG ;
+ y[1] = 0x03;
+ i2c_.write( ADXL345_I2C_WRITE , y, 2);
+ char z[2];
+ z[0] = ADXL345_OFSZ_REG ;
+ z[1] = 0xFE;
+ i2c_.write( ADXL345_I2C_WRITE , z, 2);
+}
+
+
+char ADXL345_I2C::SingleByteRead(char address){
+ char tx = address;
+ char output;
+ i2c_.write( ADXL345_I2C_WRITE , &tx, 1); //tell it what you want to read
+ i2c_.read( ADXL345_I2C_READ , &output, 1); //tell it where to store the data
+ return output;
+
+}
+
+
+/*
+***info on the i2c_.write***
+address 8-bit I2C slave address [ addr | 0 ]
+data Pointer to the byte-array data to send
+length Number of bytes to send
+repeated Repeated start, true - do not send stop at end
+returns 0 on success (ack), or non-0 on failure (nack)
+*/
+
+int ADXL345_I2C::SingleByteWrite(char address, char data){
+ int ack = 0;
+ char tx[2];
+ tx[0] = address;
+ tx[1] = data;
+ return ack | i2c_.write( ADXL345_I2C_WRITE , tx, 2);
+}
+
+
+
+void ADXL345_I2C::multiByteRead(char address, char* output, int size) {
+ i2c_.write( ADXL345_I2C_WRITE, &address, 1); //tell it where to read from
+ i2c_.read( ADXL345_I2C_READ , output, size); //tell it where to store the data read
+}
+
+
+int ADXL345_I2C::multiByteWrite(char address, char* ptr_data, int size) {
+ int ack;
+
+ ack = i2c_.write( ADXL345_I2C_WRITE, &address, 1); //tell it where to write to
+ return ack | i2c_.write( ADXL345_I2C_READ, ptr_data, size); //tell it what data to write
+
+}
+
+
+void ADXL345_I2C::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];
+
+}
+
+
+
+char ADXL345_I2C::getDeviceID() {
+ return SingleByteRead(ADXL345_DEVID_REG);
+ }
+//
+int ADXL345_I2C::setPowerMode(char mode) {
+
+ //Get the current register contents, so we don't clobber the rate value.
+ char registerContents = (mode << 4) | SingleByteRead(ADXL345_BW_RATE_REG);
+
+ return SingleByteWrite(ADXL345_BW_RATE_REG, registerContents);
+
+}
+
+char ADXL345_I2C::getPowerControl() {
+ return SingleByteRead(ADXL345_POWER_CTL_REG);
+}
+
+int ADXL345_I2C::setPowerControl(char settings) {
+ return SingleByteWrite(ADXL345_POWER_CTL_REG, settings);
+
+}
+
+
+
+char ADXL345_I2C::getDataFormatControl(void){
+
+ return SingleByteRead(ADXL345_DATA_FORMAT_REG);
+}
+
+int ADXL345_I2C::setDataFormatControl(char settings){
+
+ return SingleByteWrite(ADXL345_DATA_FORMAT_REG, settings);
+
+}
+
+int ADXL345_I2C::setDataRate(char rate) {
+
+ //Get the current register contents, so we don't clobber the power bit.
+ char registerContents = SingleByteRead(ADXL345_BW_RATE_REG);
+
+ registerContents &= 0x10;
+ registerContents |= rate;
+
+ return SingleByteWrite(ADXL345_BW_RATE_REG, registerContents);
+
+}
+
+
+char ADXL345_I2C::getOffset(char axis) {
+
+ char 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 SingleByteRead(address);
+}
+
+int ADXL345_I2C::setOffset(char axis, char offset) {
+
+ char 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 SingleByteWrite(address, offset);
+
+}
+
+
+char ADXL345_I2C::getFifoControl(void){
+
+ return SingleByteRead(ADXL345_FIFO_CTL);
+
+}
+
+int ADXL345_I2C::setFifoControl(char settings){
+ return SingleByteWrite(ADXL345_FIFO_STATUS, settings);
+
+}
+
+char ADXL345_I2C::getFifoStatus(void){
+
+ return SingleByteRead(ADXL345_FIFO_STATUS);
+
+}
+
+
+
+char ADXL345_I2C::getTapThreshold(void) {
+
+ return SingleByteRead(ADXL345_THRESH_TAP_REG);
+}
+
+int ADXL345_I2C::setTapThreshold(char threshold) {
+
+ return SingleByteWrite(ADXL345_THRESH_TAP_REG, threshold);
+
+}
+
+
+float ADXL345_I2C::getTapDuration(void) {
+
+ return (float)SingleByteRead(ADXL345_DUR_REG)*625;
+}
+
+int ADXL345_I2C::setTapDuration(short int duration_us) {
+
+ short int tapDuration = duration_us / 625;
+ char tapChar[2];
+ tapChar[0] = (tapDuration & 0x00FF);
+ tapChar[1] = (tapDuration >> 8) & 0x00FF;
+ return multiByteWrite(ADXL345_DUR_REG, tapChar, 2);
+
+}
+
+float ADXL345_I2C::getTapLatency(void) {
+
+ return (float)SingleByteRead(ADXL345_LATENT_REG)*1.25;
+}
+
+int ADXL345_I2C::setTapLatency(short int latency_ms) {
+
+ latency_ms = latency_ms / 1.25;
+ char latChar[2];
+ latChar[0] = (latency_ms & 0x00FF);
+ latChar[1] = (latency_ms << 8) & 0xFF00;
+ return multiByteWrite(ADXL345_LATENT_REG, latChar, 2);
+
+}
+
+float ADXL345_I2C::getWindowTime(void) {
+
+ return (float)SingleByteRead(ADXL345_WINDOW_REG)*1.25;
+}
+
+int ADXL345_I2C::setWindowTime(short int window_ms) {
+
+ window_ms = window_ms / 1.25;
+ char windowChar[2];
+ windowChar[0] = (window_ms & 0x00FF);
+ windowChar[1] = ((window_ms << 8) & 0xFF00);
+ return multiByteWrite(ADXL345_WINDOW_REG, windowChar, 2);
+
+}
+
+char ADXL345_I2C::getActivityThreshold(void) {
+
+ return SingleByteRead(ADXL345_THRESH_ACT_REG);
+}
+
+int ADXL345_I2C::setActivityThreshold(char threshold) {
+ return SingleByteWrite(ADXL345_THRESH_ACT_REG, threshold);
+
+}
+
+char ADXL345_I2C::getInactivityThreshold(void) {
+ return SingleByteRead(ADXL345_THRESH_INACT_REG);
+
+}
+
+//int FUNCTION(short int * ptr_Output)
+//short int FUNCTION ()
+
+int ADXL345_I2C::setInactivityThreshold(char threshold) {
+ return SingleByteWrite(ADXL345_THRESH_INACT_REG, threshold);
+
+}
+
+char ADXL345_I2C::getTimeInactivity(void) {
+
+ return SingleByteRead(ADXL345_TIME_INACT_REG);
+
+}
+
+int ADXL345_I2C::setTimeInactivity(char timeInactivity) {
+ return SingleByteWrite(ADXL345_TIME_INACT_REG, timeInactivity);
+
+}
+
+char ADXL345_I2C::getActivityInactivityControl(void) {
+
+ return SingleByteRead(ADXL345_ACT_INACT_CTL_REG);
+
+}
+
+int ADXL345_I2C::setActivityInactivityControl(char settings) {
+ return SingleByteWrite(ADXL345_ACT_INACT_CTL_REG, settings);
+
+}
+
+char ADXL345_I2C::getFreefallThreshold(void) {
+
+ return SingleByteRead(ADXL345_THRESH_FF_REG);
+
+}
+
+int ADXL345_I2C::setFreefallThreshold(char threshold) {
+ return SingleByteWrite(ADXL345_THRESH_FF_REG, threshold);
+
+}
+
+char ADXL345_I2C::getFreefallTime(void) {
+
+ return SingleByteRead(ADXL345_TIME_FF_REG)*5;
+
+}
+
+int ADXL345_I2C::setFreefallTime(short int freefallTime_ms) {
+ freefallTime_ms = freefallTime_ms / 5;
+ char fallChar[2];
+ fallChar[0] = (freefallTime_ms & 0x00FF);
+ fallChar[1] = (freefallTime_ms << 8) & 0xFF00;
+
+ return multiByteWrite(ADXL345_TIME_FF_REG, fallChar, 2);
+
+}
+
+char ADXL345_I2C::getTapAxisControl(void) {
+
+ return SingleByteRead(ADXL345_TAP_AXES_REG);
+
+}
+
+int ADXL345_I2C::setTapAxisControl(char settings) {
+ return SingleByteWrite(ADXL345_TAP_AXES_REG, settings);
+
+}
+
+char ADXL345_I2C::getTapSource(void) {
+
+ return SingleByteRead(ADXL345_ACT_TAP_STATUS_REG);
+
+}
+
+
+
+char ADXL345_I2C::getInterruptEnableControl(void) {
+
+ return SingleByteRead(ADXL345_INT_ENABLE_REG);
+
+}
+
+int ADXL345_I2C::setInterruptEnableControl(char settings) {
+ return SingleByteWrite(ADXL345_INT_ENABLE_REG, settings);
+
+}
+
+char ADXL345_I2C::getInterruptMappingControl(void) {
+
+ return SingleByteRead(ADXL345_INT_MAP_REG);
+
+}
+
+int ADXL345_I2C::setInterruptMappingControl(char settings) {
+ return SingleByteWrite(ADXL345_INT_MAP_REG, settings);
+
+}
+
+char ADXL345_I2C::getInterruptSource(void){
+
+ return SingleByteRead(ADXL345_INT_SOURCE_REG);
+
+}
+
+
+
+
diff -r 000000000000 -r 5ca44aa85a30 ADXL345_I2C.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ADXL345_I2C.h Tue Mar 12 21:56:17 2013 +0000
@@ -0,0 +1,577 @@
+/**
+ * @author Peter Swanson
+ * A personal note from me: Jesus Christ has changed my life so much it blows my mind. I say this because
+ * today, religion is thought of as something that you do or believe and has about as
+ * little impact on a person as their political stance. But for me, God gives me daily
+ * strength and has filled my life with the satisfaction that I could never find in any
+ * of the other things that I once looked for it in.
+ * If your interested, heres verse that changed my life:
+ * Rom 8:1-3: "Therefore, there is now no condemnation for those who are in Christ Jesus,
+ * because through Christ Jesus, the law of the Spirit who gives life has set
+ * me free from the law of sin (which brings...) and death. For what the law
+ * was powerless to do in that it was weakened by the flesh, God did by sending
+ * His own Son in the likeness of sinful flesh to be a sin offering. And so He
+ * condemned sin in the flesh in order that the righteous requirements of the
+ * (God's) law might be fully met in us, who live not according to the flesh
+ * but according to the Spirit."
+ *
+ * A special thanks to Ewout van Bekkum for all his patient help in developing this library!
+ *
+ * @section LICENSE
+ *
+ * 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, I2C interface, accelerometer.
+ *
+ * Datasheet:
+ *
+ * http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf
+ */
+
+
+
+#ifndef ADXL345_I2C_H
+#define ADXL345_I2C_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
+
+// read or write bytes
+#define ADXL345_I2C_READ 0xA7
+#define ADXL345_I2C_WRITE 0xA6
+#define ADXL345_I2C_ADDRESS 0x53 //the ADXL345 7-bit address is 0x53 when ALT ADDRESS is low as it is on the sparkfun chip: when ALT ADDRESS is high the address is 0x1D
+
+/////////////when ALT ADDRESS pin is high:
+//#define ADXL345_I2C_READ 0x3B
+//#define ADXL345_I2C_WRITE 0x3A
+//#define ADXL345_I2C_ADDRESS 0x1D
+
+#define ADXL345_X 0x00
+#define ADXL345_Y 0x01
+#define ADXL345_Z 0x02
+
+
+
+// modes
+#define MeasurementMode 0x08
+
+
+
+
+
+
+
+class ADXL345_I2C {
+
+public:
+
+ /**
+ * Constructor.
+ *
+ * @param mosi mbed pin to use for SDA line of I2C interface.
+ * @param sck mbed pin to use for SCL line of I2C interface.
+ */
+ ADXL345_I2C(PinName sda, PinName scl);
+
+ /**
+ * 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);
+
+ /**
+ * Read the device ID register on the device.
+ *
+ * @return The device ID code [0xE5]
+ */
+ char getDeviceID(void);
+
+
+
+ /**
+ * Set the power mode.
+ *
+ * @param mode 0 -> Normal operation.
+ * 1 -> Reduced power operation.
+ */
+int setPowerMode(char mode);
+
+ /**
+ * Set the power control settings.
+ *
+ * See datasheet for details.
+ *
+ * @param The control byte to write to the POWER_CTL register.
+ */
+ int setPowerControl(char settings);
+ /**
+ * Get the power control settings.
+ *
+ * See datasheet for details.
+ *
+ * @return The contents of the POWER_CTL register.
+ */
+ char getPowerControl(void);
+
+
+ /**
+ * Get the data format settings.
+ *
+ * @return The contents of the DATA_FORMAT register.
+ */
+
+ char getDataFormatControl(void);
+
+ /**
+ * Set the data format settings.
+ *
+ * @param settings The control byte to write to the DATA_FORMAT register.
+ */
+ int setDataFormatControl(char settings);
+
+ /**
+ * Set the data rate.
+ *
+ * @param rate The rate code (see #defines or datasheet).
+ */
+ int setDataRate(char rate);
+
+
+ /**
+ * 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.
+ */
+
+ char getOffset(char 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.
+ */
+ int setOffset(char axis, char offset);
+
+
+
+ /**
+ * Get the FIFO control settings.
+ *
+ * @return The contents of the FIFO_CTL register.
+ */
+ char getFifoControl(void);
+
+ /**
+ * Set the FIFO control settings.
+ *
+ * @param The control byte to write to the FIFO_CTL register.
+ */
+ int setFifoControl(char settings);
+
+ /**
+ * Get FIFO status.
+ *
+ * @return The contents of the FIFO_STATUS register.
+ */
+ char getFifoStatus(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.
+ */
+ char getTapThreshold(void);
+
+ /**
+ * Set the tap threshold.
+ *
+ * @param The tap threshold as an 8-bit number with a scale factor of
+ * 62.5mg/LSB.
+ */
+ int setTapThreshold(char threshold);
+
+ /**
+ * 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.
+ */
+ float 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.
+ */
+ int setTapDuration(short 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.
+ */
+ int setTapLatency(short 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.
+ */
+ int setWindowTime(short 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.
+ */
+ char 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.
+ */
+ int setActivityThreshold(char 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.
+ */
+ char 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.
+ */
+ int setInactivityThreshold(char 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.
+ */
+ char 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.
+ */
+ int setTimeInactivity(char 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.
+ */
+ char 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.
+ */
+ int setActivityInactivityControl(char 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.
+ */
+ char 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.
+ */
+ int setFreefallThreshold(char 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.
+ */
+ char 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.
+ */
+ int setFreefallTime(short 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.
+ */
+ char 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.
+ */
+ int setTapAxisControl(char settings);
+
+ /**
+ * Get the source of a tap.
+ *
+ * @return The contents of the ACT_TAP_STATUS register.
+ */
+ char getTapSource(void);
+
+ /**
+ * Get the interrupt enable settings.
+ *
+ * @return The contents of the INT_ENABLE register.
+ */
+
+ char getInterruptEnableControl(void);
+
+ /**
+ * Set the interrupt enable settings.
+ *
+ * @param settings The control byte to write to the INT_ENABLE register.
+ */
+ int setInterruptEnableControl(char settings);
+
+ /**
+ * Get the interrupt mapping settings.
+ *
+ * @return The contents of the INT_MAP register.
+ */
+ char getInterruptMappingControl(void);
+
+ /**
+ * Set the interrupt mapping settings.
+ *
+ * @param settings The control byte to write to the INT_MAP register.
+ */
+ int setInterruptMappingControl(char settings);
+
+ /**
+ * Get the interrupt source.
+ *
+ * @return The contents of the INT_SOURCE register.
+ */
+ char getInterruptSource(void);
+
+
+//private:
+
+ I2C i2c_;
+
+
+ /**
+ * Read one byte from a register on the device.
+ *
+ * @param: - the address to be read from
+ *
+ * @return: the value of the data read
+ */
+ char SingleByteRead(char address);
+
+ /**
+ * Write one byte to a register on the device.
+ *
+ * @param:
+ - address of the register to write to.
+ - the value of the data to store
+ */
+
+
+ int SingleByteWrite(char address, char data);
+
+ /**
+ * Read several consecutive bytes on the device and store them in a given location.
+ *
+ * @param startAddress: The address of the first register to read from.
+ * @param ptr_output: a pointer to the location to store the data being read
+ * @param size: The number of bytes to read.
+ */
+ void multiByteRead(char startAddress, char* ptr_output, int size);
+
+ /**
+ * Write several consecutive bytes on the device.
+ *
+ * @param startAddress: The address of the first register to write to.
+ * @param ptr_data: Pointer to a location which contains the data to write.
+ * @param size: The number of bytes to write.
+ */
+ int multiByteWrite(char startAddress, char* ptr_data, int size);
+
+};
+
+#endif /* ADXL345_I2C_H */
diff -r 000000000000 -r 5ca44aa85a30 ITG3200.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ITG3200.lib Tue Mar 12 21:56:17 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/Digixx/code/ITG3200/#8967cbe04d96
diff -r 000000000000 -r 5ca44aa85a30 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Mar 12 21:56:17 2013 +0000
@@ -0,0 +1,226 @@
+#include "ITG3200.h"
+#include "ADXL345_I2C.h"
+
+Serial pc(USBTX, USBRX);
+ITG3200 gyro(p28, p27);
+ADXL345_I2C accel(p28, p27);
+DigitalOut WakeLed(LED1);
+DigitalOut SleepLed(LED2);
+DigitalOut ReadLed(LED3);
+DigitalOut CalLed(LED4);
+
+double w_last_x=0;
+double w_last_y=0;
+double w_last_z=0;
+int autosleep_counter=100;
+
+int accel_read[3] = {0, 0, 0};
+double twocomp16_to_double(int16_t x);
+int16_t double_to_twocomp16(double x);
+char RegPeekAcc(char address);
+void RegPokeAcc(char address, char value);
+void AccCalib();
+void RegdumpAcc();
+
+void sleep1();
+
+InterruptIn pushbutt(p21);
+void bushbutt_handler()
+{ WakeLed=1;
+ SleepLed=0;
+}
+InterruptIn accinterupt(p22);
+void acc_int_handler()
+{ RegPeekAcc(0x30); //clear interrput
+ WakeLed=1;
+ SleepLed=0;
+}
+
+
+int main() {
+
+
+ char str[512];
+ gyro.setWhoAmI(0x68);
+ pc.printf("Now starting 6-degrees-of-freedom (ITG-3200 ADXL345) test...\n");
+ pc.printf("Accelerometer Device ID is: 0x%02x\n", accel.getDeviceID());
+ pc.printf("Gyro Devide ID is: 0x%02x\n", gyro.getWhoAmI());
+
+ // Accel setup
+ // These are here to test whether any of the initialization fails. It will print the failure
+ if (accel.setPowerControl(0x00)){
+ pc.printf("didn't intitialize power control\n");
+ return 0; }
+ //Full resolution, +/-16g, 4mg/LSB.
+ wait(.001);
+ if(accel.setDataFormatControl(0x0B)){
+ pc.printf("didn't set data format\n");
+ return 0; }
+ wait(.001);
+ //3.2kHz data rate.
+ if(accel.setDataRate(ADXL345_3200HZ)){
+ pc.printf("didn't set data rate\n");
+ return 0; }
+ wait(.001);
+ //Measurement mode.
+ if(accel.setPowerControl(MeasurementMode)) {
+ pc.printf("didn't set the power control to measurement\n");
+ return 0;
+ }
+ // Gyro setup
+ gyro.setLpBandwidth(LPFBW_42HZ);
+
+ //Added for Acc
+ WakeLed=1;
+ AccCalib();
+ RegPokeAcc(0x24,0x9);//set threshold for activity
+ RegPokeAcc(0x27,0xF0);//Activity axis control
+ RegPokeAcc(0x2E,0x10);//interrupt enable
+ RegPeekAcc(0x30); //clear interrput
+ wait(0.1);
+ pushbutt.rise(&bushbutt_handler); //enable mbed trigger detect
+ accinterupt.rise(&acc_int_handler);
+ RegdumpAcc();
+
+
+ if(true)
+ for(int i=0;i<=100000;i++)
+ {
+ wait(0.01);
+
+ if(ReadLed==1) ReadLed=0;
+ else ReadLed=1;
+
+ accel.getOutput(accel_read);
+
+ sprintf(str, "%i,%i,%i,%i,%i,%i,%i\n\r", (int16_t)accel_read[0], (int16_t)accel_read[1], (int16_t)accel_read[2],
+ gyro.getGyroX(), gyro.getGyroY(), gyro.getGyroZ(), (int16_t)gyro.getTemperature());
+
+ double d_accelx=(double) (int16_t)accel_read[0];
+ double d_accely=(double) (int16_t)accel_read[1];
+ double d_accelz=(double) (int16_t)accel_read[2];
+ double wp=6.28e-2; //IIR pole for DC cancellation
+ double w_x,w_y,w_z;
+ double dc_x,dc_y,dc_z;
+
+ //IIR calculate DC term in acceleration
+ w_x=d_accelx+ (1-wp)*w_last_x; dc_x=wp*w_x; w_last_x=w_x;
+ w_y=d_accely+ (1-wp)*w_last_y; dc_y=wp*w_y; w_last_y=w_y;
+ w_z=d_accelz+ (1-wp)*w_last_z; dc_z=wp*w_z; w_last_z=w_z;
+
+ d_accelx=d_accelx-dc_x;
+ d_accely=d_accely-dc_y;
+ d_accelz=d_accelz-dc_z;
+ double mag_accel=d_accelx*d_accelx+d_accely*d_accely+d_accelz*d_accelz;
+ mag_accel=sqrt(mag_accel);
+ pc.printf("With DC Cal:Double %f %f %f . Offset is %f %f %f. Mag %f\n\r",d_accelx,d_accely,d_accelz,dc_x,dc_y,dc_z,mag_accel);
+ RegPeekAcc(0x30);
+
+ if(autosleep_counter>0) autosleep_counter-=1;
+ else
+ { if(mag_accel<15)
+ {sleep1();
+ }
+ }
+
+ /*
+ pc.printf("Gyro[%5i, %5i, %5i] Accel[%4i, %4i, %4i]\n\t",
+ gyro.getGyroX(), gyro.getGyroY(), gyro.getGyroZ(),
+ (int16_t)accel_read[0], (int16_t)accel_read[1], (int16_t)accel_read[2]);
+ */
+ }
+
+
+}
+
+
+double twocomp16_to_double(int16_t x)
+{double a;
+a= double(x);
+return a;
+}
+int16_t double_to_twocomp16(double x)
+{int16_t a;
+ a=(signed int16_t) x;
+ return a;
+}
+
+char RegPeekAcc(char address)
+{
+ char value=accel.SingleByteRead(address);
+ pc.printf("AccReg address: %X value: %X\n\r",address,value);
+ return value;
+}
+void RegPokeAcc(char address, char value)
+{
+ accel.SingleByteWrite(address,value);
+}
+
+void AccCalib()
+{ CalLed=1;
+ double acc0=0,acc1=0,acc2=0;
+ double sum0=0,sum1=0,sum2=0;
+ wait(0.1) ;
+ accel.getOutput(accel_read);
+// RegPokeAcc(0x1e,offsetcal((int16_t)accel_read[0]));
+// RegPokeAcc(0x1f,offsetcal((int16_t)accel_read[1]));
+// RegPokeAcc(0x20,offsetcal((int16_t)accel_read[2]));
+ for(int n=1;n<=10;n++){
+ wait(0.1);
+ accel.getOutput(accel_read);
+ acc0=(double)(int16_t)accel_read[0];
+ acc1=(double)(int16_t)accel_read[1];
+ acc2=(double)(int16_t)accel_read[2];
+ sum0+=acc0;sum1+=acc1;sum2+=acc2;
+ }
+ sum0=sum0/10/(-4);
+ sum1=sum1/10/(-4);
+ sum2=sum2/10/(-4);
+ int16_t acc0_16=(signed int16_t)sum0;
+ int16_t acc1_16=(signed int16_t)sum1;
+ int16_t acc2_16=(signed int16_t)sum2;
+ RegPokeAcc(0x1e,acc0_16);
+ RegPokeAcc(0x1f,acc1_16);
+ RegPokeAcc(0x20,acc2_16);
+ // pc.printf("Calibration. Calculated offset %i %i %i\n\r",acc0_16,acc1_16,acc2_16);
+ int valid=1;
+ for(int n=1;n<=10;n++)
+ {wait(0.1);
+ accel.getOutput(accel_read);
+ accel.getOutput(accel_read);
+ acc0=(double)(int16_t)accel_read[0]; if(abs(acc0)>50) valid=0;
+ acc1=(double)(int16_t)accel_read[1];if(abs(acc1)>50) valid=0;
+ acc2=(double)(int16_t)accel_read[2];if(abs(acc2)>50) valid=0;
+ // pc.printf("verifying cal %i,%i,%i \n\r", (int16_t)accel_read[0], (int16_t)accel_read[1], (int16_t)accel_read[2]);
+ // pc.printf("verifying cal (double)%f %f %f\n\r",acc0,acc1,acc2);
+ // pc.printf("valid= %d \n\r",valid);
+ }
+// if(valid==1)
+// CalLed=0;
+// else AccCalib();
+}
+
+void RegdumpAcc()
+{
+pc.printf("\r---------a new regdump start\n\r-------");
+pc.printf("Acc DeviceID \t");RegPeekAcc(0x00);
+pc.printf("X_asis: \t");RegPeekAcc(0x1e);
+pc.printf("Y_asis: \t");RegPeekAcc(0x1f);
+pc.printf("Z_asis: \t");RegPeekAcc(0x20);
+pc.printf("Act Thresh: \t");RegPeekAcc(0x24);
+pc.printf("Axis Enable: \t");RegPeekAcc(0x27);
+pc.printf("Interpt Ctrl: \t");RegPeekAcc(0x2e);
+pc.printf("Interpt Mapping: \t");RegPeekAcc(0x2f);
+//pc.printf("Source of interupt:\t");RegPeekAcc(0x30);
+pc.printf("Data format control\t");RegPeekAcc(0x31);
+pc.printf("FIFO Ctrl:\t");RegPeekAcc(0x38);
+pc.printf("FIFO Status:\t");RegPeekAcc(0x39);
+}
+
+void sleep1()
+{
+WakeLed=0;
+SleepLed=1;
+sleep();
+
+}
\ No newline at end of file
diff -r 000000000000 -r 5ca44aa85a30 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Mar 12 21:56:17 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/3d0ef94e36ec \ No newline at end of file