File content as of revision 0:5c1bd3cd668d:
/**
* @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 */
Donatien Garnier