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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