Jose Escalona
Republished Library, to be refined for use with the SparkFun 9DOF in HARP project.
Fork of
ADXL345
by 
Tyler Weaver
Diff: ADXL345.h
- Revision:
- 11:c0fe48a352ca
- Parent:
- 10:d81793e01ec4
--- a/ADXL345.h Tue Nov 06 17:36:40 2012 +0000
+++ b/ADXL345.h Wed Jan 16 11:10:19 2013 +0000
@@ -1,12 +1,10 @@
/**
- * @file ADXL345.h
- * @author Tyler Weaver
- * @author Uwe Gartmann
- * @author Used ITG3200 library developed Peter Swanson as template
- * A special thanks to Ewout van Bekkum for all his patient help in developing this library!
+ * @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
@@ -27,26 +25,22 @@
*
* @section DESCRIPTION
*
- * ADXL345, triple axis, I2C interface, accelerometer.
- *
- * Modified for use with 9DOF sensor stick (no interupt pin access) on HARP project.
+ * 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.
@@ -93,156 +87,53 @@
#define ADXL345_12HZ5 0x07
#define ADXL345_6HZ25 0x06
-// DATA_FORMAT register
-#define ADXL345_2G 0x00
-#define ADXL345_4G 0x01
-#define ADXL345_8G 0x02
-#define ADXL345_16G 0x03
-#define ADXL345_LJUST 0x04
-#define ADXL345_FULL_RES 0x08
-#define ADXL345_INT_LOW 0x10
-#define ADXL345_SELF_TEST 0x80
-
-// read or write bytes
-#define ADXL345_READ 0xA7
-#define ADXL345_WRITE 0xA6
-#define ADXL345_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_READ 0x3B
-//#define ADXL345_WRITE 0x3A
-//#define ADXL345_ADDRESS 0x1D
+#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
-// modes
-#define MeasurementMode 0x08
-
/**
- * ADXL345 triple axis accelerometer.
+ * ADXL345 triple axis, digital interface, accelerometer.
*/
-class ADXL345
-{
+class ADXL345 {
public:
- static const char RANGE_BITS = 0x3;
- static const char RANGE_2G = 0x0;
- static const char RANGE_4G = 0x1;
- static const char RANGE_8G = 0x2;
- static const char RANGE_16G = 0x3;
-
/**
* 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(PinName sda, PinName scl);
-
-
- /**
- * Constructor that accepts external i2c interface object.
- *
- * @param i2c The I2C interface object to use.
+ * @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(I2C &i2c) : i2c_(i2c), myI2c(NULL) {init();}
-
- /**
- * Destructor that frees self-allocated I2C object.
- */
- ~ADXL345();
-
- void init();
-
- /**
- * 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 getXYZ(int16_t* readings);
+ ADXL345(PinName mosi, PinName miso, PinName sck, PinName cs);
/**
* 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);
-
- /**
- * Get the BW_RATE register contents
- *
- * @returns The contents of BW_RATE register
- */
- char getBwRateReg();
-
- /**
- * Set the BW_RATE register contents
- *
- * @param Byte to write to BW_RATE register
- */
- int setBwRateReg(char);
-
- /**
- * Set the power control settings.
- *
- * See datasheet for details.
- *
- * @param The control byte to write to the POWER_CTL register.
- */
- int setPowerControl(char settings);
+ int getDevId(void);
/**
- * 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.
+ * Read the tap threshold on the device.
*
- * @return The contents of the DATA_FORMAT register.
+ * @return The tap threshold as an 8-bit number with a scale factor of
+ * 62.5mg/LSB.
*/
-
- char getDataFormatControl(void);
+ int getTapThreshold(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 format settings with only specified bits.
+ * Set the tap threshold.
*
- * @param settings The control byte to write to the DATA_FORMAT register.
- * @param mask The mask bits that
+ * @param The tap threshold as an 8-bit number with a scale factor of
+ * 62.5mg/LSB.
*/
- int setDataFormatControl(char settings, char mask, char *prev = NULL);
-
- /**
- * Set the data rate.
- *
- * @param rate The rate code (see #defines or datasheet).
- */
- int setDataRate(char rate);
-
+ void setTapThreshold(int threshold);
/**
* Get the current offset for a particular axis.
@@ -253,7 +144,7 @@
* @return The current offset as an 8-bit 2's complement number with scale
* factor 15.6mg/LSB.
*/
- char getOffset(char axis);
+ int getOffset(int axis);
/**
* Set the offset for a particular axis.
@@ -264,44 +155,7 @@
* @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);
+ void setOffset(int axis, char offset);
/**
* Get the tap duration required to trigger an event.
@@ -309,7 +163,7 @@
* @return The max time that an event must be above the tap threshold to
* qualify as a tap event, in microseconds.
*/
- float getTapDuration(void);
+ int getTapDuration(void);
/**
* Set the tap duration required to trigger an event.
@@ -320,7 +174,7 @@
* 625us/LSB. A value of 0 disables the single/double
* tap functions.
*/
- int setTapDuration(short int duration_us);
+ void setTapDuration(int duration_us);
/**
* Get the tap latency between the detection of a tap and the time window.
@@ -339,7 +193,7 @@
* second tap event can be detected in milliseconds.
* A value of 0 disables the double tap function.
*/
- int setTapLatency(short int latency_ms);
+ void setTapLatency(int latency_ms);
/**
* Get the time of window between tap latency and a double tap.
@@ -356,7 +210,7 @@
* time during which a second valid tap can begin,
* in milliseconds.
*/
- int setWindowTime(short int window_ms);
+ void setWindowTime(int window_ms);
/**
* Get the threshold value for detecting activity.
@@ -364,7 +218,7 @@
* @return The threshold value for detecting activity as an 8-bit number.
* Scale factor is 62.5mg/LSB.
*/
- char getActivityThreshold(void);
+ int getActivityThreshold(void);
/**
* Set the threshold value for detecting activity.
@@ -374,7 +228,7 @@
* result in undesirable behavior if the activity
* interrupt is enabled.
*/
- int setActivityThreshold(char threshold);
+ void setActivityThreshold(int threshold);
/**
* Get the threshold value for detecting inactivity.
@@ -382,7 +236,7 @@
* @return The threshold value for detecting inactivity as an 8-bit number.
* Scale factor is 62.5mg/LSB.
*/
- char getInactivityThreshold(void);
+ int getInactivityThreshold(void);
/**
* Set the threshold value for detecting inactivity.
@@ -390,7 +244,7 @@
* @param threshold The threshold value for detecting inactivity as an
* 8-bit number. Scale factor is 62.5mg/LSB.
*/
- int setInactivityThreshold(char threshold);
+ void setInactivityThreshold(int threshold);
/**
* Get the time required for inactivity to be declared.
@@ -399,8 +253,8 @@
* inactivity threshold for inactivity to be declared, in
* seconds.
*/
- char getTimeInactivity(void);
-
+ int getTimeInactivity(void);
+
/**
* Set the time required for inactivity to be declared.
*
@@ -410,8 +264,8 @@
* interrupt when the output data is less than the
* threshold inactivity.
*/
- int setTimeInactivity(char timeInactivity);
-
+ void setTimeInactivity(int timeInactivity);
+
/**
* Get the activity/inactivity control settings.
*
@@ -429,8 +283,8 @@
*
* @return The contents of the ACT_INACT_CTL register.
*/
- char getActivityInactivityControl(void);
-
+ int getActivityInactivityControl(void);
+
/**
* Set the activity/inactivity control settings.
*
@@ -448,26 +302,26 @@
*
* @param settings The control byte to write to the ACT_INACT_CTL register.
*/
- int setActivityInactivityControl(char settings);
-
+ 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.
*/
- char getFreefallThreshold(void);
-
+ 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
+ * 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);
-
+ void setFreefallThreshold(int threshold);
+
/**
* Get the time required to generate a free fall interrupt.
*
@@ -475,19 +329,19 @@
* the freefall threshold to generate a free-fall interrupt, in
* milliseconds.
*/
- char getFreefallTime(void);
-
+ 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
+ * 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);
-
+ void setFreefallTime(int freefallTime_ms);
+
/**
* Get the axis tap settings.
*
@@ -501,9 +355,9 @@
* See datasheet for more details.
*
* @return The contents of the TAP_AXES register.
- */
- char getTapAxisControl(void);
-
+ */
+ int getTapAxisControl(void);
+
/**
* Set the axis tap settings.
*
@@ -518,141 +372,194 @@
*
* @param The control byte to write to the TAP_AXES register.
*/
- int setTapAxisControl(char settings);
-
+ void setTapAxisControl(int settings);
+
/**
* Get the source of a tap.
*
* @return The contents of the ACT_TAP_STATUS register.
*/
- char getTapSource(void);
-
+ 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 interrupt enable settings.
- *
- * @return The contents of the INT_ENABLE register.
- */
-
- char getInterruptEnableControl(void);
-
+ * 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.
*/
- int setInterruptEnableControl(char settings);
-
+ void setInterruptEnableControl(int settings);
+
/**
* Get the interrupt mapping settings.
*
* @return The contents of the INT_MAP register.
*/
- char getInterruptMappingControl(void);
-
+ int getInterruptMappingControl(void);
+
/**
* Set the interrupt mapping settings.
*
* @param settings The control byte to write to the INT_MAP register.
*/
- int setInterruptMappingControl(char settings);
-
+ void setInterruptMappingControl(int settings);
+
/**
* Get the interrupt source.
*
* @return The contents of the INT_SOURCE register.
*/
- char getInterruptSource(void);
-
+ 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);
+
/**
- * Calibrate using the calibrate routine, sets the offset registers
- *
- * 100 samples at 100Hz (1 second)
- * Sensor should be in x=0g,y=0g,z=1g orientation and held still
- *
- * @param pointer to timer object (should already be started)
- * @param store_output true -> stores offsets in local file system, false -> only offset registers are set
- * @param serial output (pc) for debugging
- */
- void calibrate(Timer*, bool, Serial*);
+ * 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 acceleration of X axis.
+ *
+ *@return Accelerometer value for the x-axis.
+ */
+ int getAx();
+
+
+ /**
+ * Get acceleration of Y axis.
+ *
+ *@return Accelerometer value for the y-axis
+ */
+ int getAy();
+
+
+ /**
+ * Get acceleration of Z axis.
+ *
+ *@return Accelerometer value for the z-axis
+ */
+ int getAz();
+
+
+
+
+
/**
- * Calibrate using the calibrate routine, sets the offset registers
- *
- * 100 samples at 100Hz (1 second)
- * Sensor should be in x=0g,y=0g,z=1g orientation and held still
- *
- * @param pointer to timer object (should already be started)
- * @param store_output true -> stores offsets in local file system, false -> only offset registers are set
- */
- void calibrate(Timer*, bool);
-
+ * 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:
- I2C &i2c_;
-
- I2C *myI2c;
+ SPI spi_;
+ DigitalOut nCS_;
/**
* Read one byte from a register on the device.
*
- * @param: - the address to be read from
+ * @param address Address of the register to read.
*
- * @return: the value of the data read
+ * @return The contents of the register address.
*/
- char SingleByteRead(char address);
+ int oneByteRead(int 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
+ * @param address Address of the register to write to.
+ * @param data The data to write into the register.
*/
- 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);
+ void oneByteWrite(int address, char data);
/**
- * Write several consecutive bytes on the device.
+ * Read 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);
-
- /**
- * Converts little-endian 2's complement byte pair to native byte order of
- * the CPU and then sign extend it to the CPU's register size.
- *
- * Implemented here to make the compiler inline expand it.
+ * @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.
*/
- static int wordExtend(const char rx[2]) {
- // Readings are expressed in 16bit 2's complement, so we must first
- // concatenate two bytes to make a word and sign extend it to obtain
- // correct negative values.
- // ARMCC compiles char as unsigned, which means no sign extension is
- // performed during bitwise operations to chars. But we should make sure
- // that lower byte won't extend its sign past upper byte for other
- // compilers if we want to keep it portable.
- return int16_t(((unsigned char)rx[1] << 8) | (unsigned char)rx[0]);
- }
-
+ void multiByteRead(int startAddress, char* buffer, int size);
+
/**
- * Sample 100 times and average
- *
- * @param period of sample rate
- * @param array to hold raw data, should be int16_t[100][3] (sample,axis)
- * @param array to hold averages, should be 3 in length
- * @param pointer to timer object
- */
- void sample100avg(float, int16_t[][3], int16_t*, Timer*);
+ * 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 */