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/**
* @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."
*
* @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);
}