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/**
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* @author Aaron Berk
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*
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* @section LICENSE
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*
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* Copyright (c) 2010 ARM Limited
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*
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* @section DESCRIPTION
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*
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* ADXL345, triple axis, digital interface, accelerometer.
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*
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* Datasheet:
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*
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* http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf
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*/
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/**
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* Includes
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*/
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#include "ADXL345.h"
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ADXL345::ADXL345(PinName mosi,
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PinName miso,
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PinName sck,
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PinName cs) : spi_(mosi, miso, sck), nCS_(cs) {
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//2MHz, allowing us to use the fastest data rates.
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spi_.frequency(2000000);
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spi_.format(8,3);
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nCS_ = 1;
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wait_us(500);
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}
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int ADXL345::getDevId(void) {
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return oneByteRead(ADXL345_DEVID_REG);
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}
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int ADXL345::getTapThreshold(void) {
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return oneByteRead(ADXL345_THRESH_TAP_REG);
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}
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void ADXL345::setTapThreshold(int threshold) {
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oneByteWrite(ADXL345_THRESH_TAP_REG, threshold);
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}
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int ADXL345::getOffset(int axis) {
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int address = 0;
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if (axis == ADXL345_X) {
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address = ADXL345_OFSX_REG;
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} else if (axis == ADXL345_Y) {
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address = ADXL345_OFSY_REG;
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} else if (axis == ADXL345_Z) {
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address = ADXL345_OFSZ_REG;
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}
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return oneByteRead(address);
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}
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void ADXL345::setOffset(int axis, char offset) {
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int address = 0;
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if (axis == ADXL345_X) {
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address = ADXL345_OFSX_REG;
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} else if (axis == ADXL345_Y) {
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address = ADXL345_OFSY_REG;
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} else if (axis == ADXL345_Z) {
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address = ADXL345_OFSZ_REG;
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}
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return oneByteWrite(address, offset);
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}
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int ADXL345::getTapDuration(void) {
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return oneByteRead(ADXL345_DUR_REG)*625;
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}
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void ADXL345::setTapDuration(int duration_us) {
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int tapDuration = duration_us / 625;
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oneByteWrite(ADXL345_DUR_REG, tapDuration);
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}
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float ADXL345::getTapLatency(void) {
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return oneByteRead(ADXL345_LATENT_REG)*1.25;
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}
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void ADXL345::setTapLatency(int latency_ms) {
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int tapLatency = latency_ms / 1.25;
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oneByteWrite(ADXL345_LATENT_REG, tapLatency);
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}
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float ADXL345::getWindowTime(void) {
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return oneByteRead(ADXL345_WINDOW_REG)*1.25;
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}
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void ADXL345::setWindowTime(int window_ms) {
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int windowTime = window_ms / 1.25;
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oneByteWrite(ADXL345_WINDOW_REG, windowTime);
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}
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int ADXL345::getActivityThreshold(void) {
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return oneByteRead(ADXL345_THRESH_ACT_REG);
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}
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void ADXL345::setActivityThreshold(int threshold) {
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oneByteWrite(ADXL345_THRESH_ACT_REG, threshold);
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}
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int ADXL345::getInactivityThreshold(void) {
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return oneByteRead(ADXL345_THRESH_INACT_REG);
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}
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void ADXL345::setInactivityThreshold(int threshold) {
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return oneByteWrite(ADXL345_THRESH_INACT_REG, threshold);
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}
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int ADXL345::getTimeInactivity(void) {
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return oneByteRead(ADXL345_TIME_INACT_REG);
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}
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void ADXL345::setTimeInactivity(int timeInactivity) {
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oneByteWrite(ADXL345_TIME_INACT_REG, timeInactivity);
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}
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int ADXL345::getActivityInactivityControl(void) {
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return oneByteRead(ADXL345_ACT_INACT_CTL_REG);
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}
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void ADXL345::setActivityInactivityControl(int settings) {
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oneByteWrite(ADXL345_ACT_INACT_CTL_REG, settings);
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}
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int ADXL345::getFreefallThreshold(void) {
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return oneByteRead(ADXL345_THRESH_FF_REG);
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}
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void ADXL345::setFreefallThreshold(int threshold) {
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oneByteWrite(ADXL345_THRESH_FF_REG, threshold);
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}
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int ADXL345::getFreefallTime(void) {
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return oneByteRead(ADXL345_TIME_FF_REG)*5;
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}
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void ADXL345::setFreefallTime(int freefallTime_ms) {
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int freefallTime = freefallTime_ms / 5;
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oneByteWrite(ADXL345_TIME_FF_REG, freefallTime);
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}
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int ADXL345::getTapAxisControl(void) {
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return oneByteRead(ADXL345_TAP_AXES_REG);
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}
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void ADXL345::setTapAxisControl(int settings) {
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oneByteWrite(ADXL345_TAP_AXES_REG, settings);
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}
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int ADXL345::getTapSource(void) {
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return oneByteRead(ADXL345_ACT_TAP_STATUS_REG);
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}
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void ADXL345::setPowerMode(char mode) {
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//Get the current register contents, so we don't clobber the rate value.
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char registerContents = oneByteRead(ADXL345_BW_RATE_REG);
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registerContents = (mode << 4) | registerContents;
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oneByteWrite(ADXL345_BW_RATE_REG, registerContents);
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}
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int ADXL345::getPowerControl(void) {
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|
return oneByteRead(ADXL345_POWER_CTL_REG);
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|
}
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|
void ADXL345::setPowerControl(int settings) {
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|
oneByteWrite(ADXL345_POWER_CTL_REG, settings);
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}
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int ADXL345::getInterruptEnableControl(void) {
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|
return oneByteRead(ADXL345_INT_ENABLE_REG);
|
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|
}
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|
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|
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|
void ADXL345::setInterruptEnableControl(int settings) {
|
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|
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|
oneByteWrite(ADXL345_INT_ENABLE_REG, settings);
|
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|
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|
}
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|
int ADXL345::getInterruptMappingControl(void) {
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|
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|
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|
return oneByteRead(ADXL345_INT_MAP_REG);
|
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|
277
|
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|
}
|
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|
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|
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280
|
void ADXL345::setInterruptMappingControl(int settings) {
|
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|
281
|
|
| donatien |
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|
oneByteWrite(ADXL345_INT_MAP_REG, settings);
|
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|
283
|
|
| donatien |
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|
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|
}
|
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|
285
|
|
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|
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|
int ADXL345::getInterruptSource(void){
|
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|
287
|
|
| donatien |
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|
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|
return oneByteRead(ADXL345_INT_SOURCE_REG);
|
| donatien |
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|
289
|
|
| donatien |
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|
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|
}
|
| donatien |
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|
291
|
|
| donatien |
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|
292
|
int ADXL345::getDataFormatControl(void){
|
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|
293
|
|
| donatien |
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|
294
|
return oneByteRead(ADXL345_DATA_FORMAT_REG);
|
| donatien |
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|
295
|
|
| donatien |
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|
296
|
}
|
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|
297
|
|
| donatien |
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|
298
|
void ADXL345::setDataFormatControl(int settings){
|
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|
299
|
|
| donatien |
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|
300
|
oneByteWrite(ADXL345_DATA_FORMAT_REG, settings);
|
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|
301
|
|
| donatien |
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|
302
|
}
|
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|
303
|
|
| donatien |
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|
304
|
void ADXL345::setDataRate(int rate) {
|
| donatien |
0:5c1bd3cd668d
|
305
|
|
| donatien |
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|
306
|
//Get the current register contents, so we don't clobber the power bit.
|
| donatien |
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|
307
|
char registerContents = oneByteRead(ADXL345_BW_RATE_REG);
|
| donatien |
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|
308
|
|
| donatien |
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|
309
|
registerContents &= 0x10;
|
| donatien |
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|
310
|
registerContents |= rate;
|
| donatien |
0:5c1bd3cd668d
|
311
|
|
| donatien |
0:5c1bd3cd668d
|
312
|
oneByteWrite(ADXL345_BW_RATE_REG, registerContents);
|
| donatien |
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|
313
|
|
| donatien |
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|
314
|
}
|
| donatien |
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|
315
|
|
| donatien |
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|
316
|
void ADXL345::getOutput(int* readings){
|
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|
317
|
|
| donatien |
0:5c1bd3cd668d
|
318
|
char buffer[6];
|
| donatien |
0:5c1bd3cd668d
|
319
|
|
| donatien |
0:5c1bd3cd668d
|
320
|
multiByteRead(ADXL345_DATAX0_REG, buffer, 6);
|
| donatien |
0:5c1bd3cd668d
|
321
|
|
| donatien |
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|
322
|
readings[0] = (int)buffer[1] << 8 | (int)buffer[0];
|
| donatien |
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|
323
|
readings[1] = (int)buffer[3] << 8 | (int)buffer[2];
|
| donatien |
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|
324
|
readings[2] = (int)buffer[5] << 8 | (int)buffer[4];
|
| donatien |
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|
325
|
|
| donatien |
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|
326
|
}
|
| donatien |
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|
327
|
|
| donatien |
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|
328
|
int ADXL345::getFifoControl(void){
|
| donatien |
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|
329
|
|
| donatien |
0:5c1bd3cd668d
|
330
|
return oneByteRead(ADXL345_FIFO_CTL);
|
| donatien |
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|
331
|
|
| donatien |
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|
332
|
}
|
| donatien |
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|
333
|
|
| donatien |
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|
334
|
void ADXL345::setFifoControl(int settings){
|
| donatien |
0:5c1bd3cd668d
|
335
|
|
| donatien |
0:5c1bd3cd668d
|
336
|
oneByteWrite(ADXL345_FIFO_STATUS, settings);
|
| donatien |
0:5c1bd3cd668d
|
337
|
|
| donatien |
0:5c1bd3cd668d
|
338
|
}
|
| donatien |
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|
339
|
|
| donatien |
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|
340
|
int ADXL345::getFifoStatus(void){
|
| donatien |
0:5c1bd3cd668d
|
341
|
|
| donatien |
0:5c1bd3cd668d
|
342
|
return oneByteRead(ADXL345_FIFO_STATUS);
|
| donatien |
0:5c1bd3cd668d
|
343
|
|
| donatien |
0:5c1bd3cd668d
|
344
|
}
|
| donatien |
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|
345
|
|
| donatien |
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|
346
|
int ADXL345::oneByteRead(int address) {
|
| donatien |
0:5c1bd3cd668d
|
347
|
|
| donatien |
0:5c1bd3cd668d
|
348
|
int tx = (ADXL345_SPI_READ | (address & 0x3F));
|
| donatien |
0:5c1bd3cd668d
|
349
|
int rx = 0;
|
| donatien |
0:5c1bd3cd668d
|
350
|
|
| donatien |
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|
351
|
nCS_ = 0;
|
| donatien |
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|
352
|
//Send address to read from.
|
| donatien |
0:5c1bd3cd668d
|
353
|
spi_.write(tx);
|
| donatien |
0:5c1bd3cd668d
|
354
|
//Read back contents of address.
|
| donatien |
0:5c1bd3cd668d
|
355
|
rx = spi_.write(0x00);
|
| donatien |
0:5c1bd3cd668d
|
356
|
nCS_ = 1;
|
| donatien |
0:5c1bd3cd668d
|
357
|
|
| donatien |
0:5c1bd3cd668d
|
358
|
return rx;
|
| donatien |
0:5c1bd3cd668d
|
359
|
|
| donatien |
0:5c1bd3cd668d
|
360
|
}
|
| donatien |
0:5c1bd3cd668d
|
361
|
|
| donatien |
0:5c1bd3cd668d
|
362
|
void ADXL345::oneByteWrite(int address, char data) {
|
| donatien |
0:5c1bd3cd668d
|
363
|
|
| donatien |
0:5c1bd3cd668d
|
364
|
int tx = (ADXL345_SPI_WRITE | (address & 0x3F));
|
| donatien |
0:5c1bd3cd668d
|
365
|
|
| donatien |
0:5c1bd3cd668d
|
366
|
nCS_ = 0;
|
| donatien |
0:5c1bd3cd668d
|
367
|
//Send address to write to.
|
| donatien |
0:5c1bd3cd668d
|
368
|
spi_.write(tx);
|
| donatien |
0:5c1bd3cd668d
|
369
|
//Send data to be written.
|
| donatien |
0:5c1bd3cd668d
|
370
|
spi_.write(data);
|
| donatien |
0:5c1bd3cd668d
|
371
|
nCS_ = 1;
|
| donatien |
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|
372
|
|
| donatien |
0:5c1bd3cd668d
|
373
|
}
|
| donatien |
0:5c1bd3cd668d
|
374
|
|
| donatien |
0:5c1bd3cd668d
|
375
|
void ADXL345::multiByteRead(int startAddress, char* buffer, int size) {
|
| donatien |
0:5c1bd3cd668d
|
376
|
|
| donatien |
0:5c1bd3cd668d
|
377
|
int tx = (ADXL345_SPI_READ | ADXL345_MULTI_BYTE | (startAddress & 0x3F));
|
| donatien |
0:5c1bd3cd668d
|
378
|
|
| donatien |
0:5c1bd3cd668d
|
379
|
nCS_ = 0;
|
| donatien |
0:5c1bd3cd668d
|
380
|
//Send address to start reading from.
|
| donatien |
0:5c1bd3cd668d
|
381
|
spi_.write(tx);
|
| donatien |
0:5c1bd3cd668d
|
382
|
|
| donatien |
0:5c1bd3cd668d
|
383
|
for (int i = 0; i < size; i++) {
|
| donatien |
0:5c1bd3cd668d
|
384
|
buffer[i] = spi_.write(0x00);
|
| donatien |
0:5c1bd3cd668d
|
385
|
}
|
| donatien |
0:5c1bd3cd668d
|
386
|
|
| donatien |
0:5c1bd3cd668d
|
387
|
nCS_ = 1;
|
| donatien |
0:5c1bd3cd668d
|
388
|
|
| donatien |
0:5c1bd3cd668d
|
389
|
}
|
| donatien |
0:5c1bd3cd668d
|
390
|
|
| donatien |
0:5c1bd3cd668d
|
391
|
void ADXL345::multiByteWrite(int startAddress, char* buffer, int size) {
|
| donatien |
0:5c1bd3cd668d
|
392
|
|
| donatien |
0:5c1bd3cd668d
|
393
|
int tx = (ADXL345_SPI_WRITE | ADXL345_MULTI_BYTE | (startAddress & 0x3F));
|
| donatien |
0:5c1bd3cd668d
|
394
|
|
| donatien |
0:5c1bd3cd668d
|
395
|
nCS_ = 0;
|
| donatien |
0:5c1bd3cd668d
|
396
|
//Send address to start reading from.
|
| donatien |
0:5c1bd3cd668d
|
397
|
spi_.write(tx);
|
| donatien |
0:5c1bd3cd668d
|
398
|
|
| donatien |
0:5c1bd3cd668d
|
399
|
for (int i = 0; i < size; i++) {
|
| donatien |
0:5c1bd3cd668d
|
400
|
buffer[i] = spi_.write(0x00);
|
| donatien |
0:5c1bd3cd668d
|
401
|
}
|
| donatien |
0:5c1bd3cd668d
|
402
|
|
| donatien |
0:5c1bd3cd668d
|
403
|
nCS_ = 1;
|
| donatien |
0:5c1bd3cd668d
|
404
|
|
| donatien |
0:5c1bd3cd668d
|
405
|
}
|
Donatien Garnier