Analog Devices 3-axis accelerometer. I2C interface
ADXL345.cpp@0:21a3f84ad1c9, 2017-09-23 (annotated)
- Committer:
- kenjiArai
- Date:
- Sat Sep 23 22:21:33 2017 +0000
- Revision:
- 0:21a3f84ad1c9
1st rev. I2C interface. Analog Devices 3-axis accelerometer
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kenjiArai | 0:21a3f84ad1c9 | 1 | /* |
kenjiArai | 0:21a3f84ad1c9 | 2 | * mbed library program |
kenjiArai | 0:21a3f84ad1c9 | 3 | * ADXL345: 3-axis accelerometer, made by Analog Devices |
kenjiArai | 0:21a3f84ad1c9 | 4 | * http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf |
kenjiArai | 0:21a3f84ad1c9 | 5 | * |
kenjiArai | 0:21a3f84ad1c9 | 6 | * Copyright (c) 2017 Kenji Arai / JH1PJL |
kenjiArai | 0:21a3f84ad1c9 | 7 | * http://www.page.sannet.ne.jp/kenjia/index.html |
kenjiArai | 0:21a3f84ad1c9 | 8 | * http://mbed.org/users/kenjiArai/ |
kenjiArai | 0:21a3f84ad1c9 | 9 | * Modify: August 13th, 2017 |
kenjiArai | 0:21a3f84ad1c9 | 10 | * Revised: September 23rd, 2017 |
kenjiArai | 0:21a3f84ad1c9 | 11 | * |
kenjiArai | 0:21a3f84ad1c9 | 12 | */ |
kenjiArai | 0:21a3f84ad1c9 | 13 | |
kenjiArai | 0:21a3f84ad1c9 | 14 | #include "ADXL345.h" |
kenjiArai | 0:21a3f84ad1c9 | 15 | |
kenjiArai | 0:21a3f84ad1c9 | 16 | // definition for Nomalization |
kenjiArai | 0:21a3f84ad1c9 | 17 | #define ADXL345_SENSITIVITY_2G 4.0f |
kenjiArai | 0:21a3f84ad1c9 | 18 | #define ADXL345_SENSITIVITY_4G 8.0f |
kenjiArai | 0:21a3f84ad1c9 | 19 | #define ADXL345_SENSITIVITY_8G 16.0f |
kenjiArai | 0:21a3f84ad1c9 | 20 | #define ADXL345_SENSITIVITY_16G 32.0f |
kenjiArai | 0:21a3f84ad1c9 | 21 | #define ADXL345_SEN_FULL_RES 4.0f |
kenjiArai | 0:21a3f84ad1c9 | 22 | |
kenjiArai | 0:21a3f84ad1c9 | 23 | //Gravity at Earth's surface in m/s/s |
kenjiArai | 0:21a3f84ad1c9 | 24 | #define GRAVITY (9.80665f / 1000) |
kenjiArai | 0:21a3f84ad1c9 | 25 | |
kenjiArai | 0:21a3f84ad1c9 | 26 | #if MBED_MAJOR_VERSION == 2 |
kenjiArai | 0:21a3f84ad1c9 | 27 | #define WAIT_MS(x) wait_ms(x) |
kenjiArai | 0:21a3f84ad1c9 | 28 | #elif MBED_MAJOR_VERSION == 5 |
kenjiArai | 0:21a3f84ad1c9 | 29 | #define WAIT_MS(x) Thread::wait(x) |
kenjiArai | 0:21a3f84ad1c9 | 30 | #else |
kenjiArai | 0:21a3f84ad1c9 | 31 | #error "Running on Unknown OS" |
kenjiArai | 0:21a3f84ad1c9 | 32 | #endif |
kenjiArai | 0:21a3f84ad1c9 | 33 | |
kenjiArai | 0:21a3f84ad1c9 | 34 | ADXL345::ADXL345 (PinName p_sda, PinName p_scl, |
kenjiArai | 0:21a3f84ad1c9 | 35 | uint8_t addr, uint8_t data_rate, uint8_t fullscale) : |
kenjiArai | 0:21a3f84ad1c9 | 36 | _i2c_p(new I2C(p_sda, p_scl)), _i2c(*_i2c_p) |
kenjiArai | 0:21a3f84ad1c9 | 37 | { |
kenjiArai | 0:21a3f84ad1c9 | 38 | _i2c.frequency(400000); |
kenjiArai | 0:21a3f84ad1c9 | 39 | initialize (addr, data_rate, fullscale); |
kenjiArai | 0:21a3f84ad1c9 | 40 | } |
kenjiArai | 0:21a3f84ad1c9 | 41 | |
kenjiArai | 0:21a3f84ad1c9 | 42 | ADXL345::ADXL345 (PinName p_sda, PinName p_scl, uint8_t addr) : |
kenjiArai | 0:21a3f84ad1c9 | 43 | _i2c_p(new I2C(p_sda, p_scl)), _i2c(*_i2c_p) |
kenjiArai | 0:21a3f84ad1c9 | 44 | { |
kenjiArai | 0:21a3f84ad1c9 | 45 | _i2c.frequency(400000); |
kenjiArai | 0:21a3f84ad1c9 | 46 | initialize (addr, ADXL345_DR_200HZ, ADXL345_FULL_RES_16G); |
kenjiArai | 0:21a3f84ad1c9 | 47 | } |
kenjiArai | 0:21a3f84ad1c9 | 48 | |
kenjiArai | 0:21a3f84ad1c9 | 49 | ADXL345::ADXL345 (PinName p_sda, PinName p_scl) : |
kenjiArai | 0:21a3f84ad1c9 | 50 | _i2c_p(new I2C(p_sda, p_scl)), _i2c(*_i2c_p) |
kenjiArai | 0:21a3f84ad1c9 | 51 | { |
kenjiArai | 0:21a3f84ad1c9 | 52 | _i2c.frequency(400000); |
kenjiArai | 0:21a3f84ad1c9 | 53 | initialize(ADXL345_V_CHIP_ADDR, ADXL345_DR_200HZ, ADXL345_FULL_RES_16G); |
kenjiArai | 0:21a3f84ad1c9 | 54 | if (acc_ready == false){ |
kenjiArai | 0:21a3f84ad1c9 | 55 | initialize(ADXL345_G_CHIP_ADDR, ADXL345_DR_200HZ, ADXL345_FULL_RES_16G); |
kenjiArai | 0:21a3f84ad1c9 | 56 | } |
kenjiArai | 0:21a3f84ad1c9 | 57 | } |
kenjiArai | 0:21a3f84ad1c9 | 58 | |
kenjiArai | 0:21a3f84ad1c9 | 59 | ADXL345::ADXL345 (I2C& p_i2c, |
kenjiArai | 0:21a3f84ad1c9 | 60 | uint8_t addr, uint8_t data_rate, uint8_t fullscale) : _i2c(p_i2c) |
kenjiArai | 0:21a3f84ad1c9 | 61 | { |
kenjiArai | 0:21a3f84ad1c9 | 62 | _i2c.frequency(400000); |
kenjiArai | 0:21a3f84ad1c9 | 63 | initialize (addr, data_rate, fullscale); |
kenjiArai | 0:21a3f84ad1c9 | 64 | } |
kenjiArai | 0:21a3f84ad1c9 | 65 | |
kenjiArai | 0:21a3f84ad1c9 | 66 | ADXL345::ADXL345 (I2C& p_i2c, uint8_t addr) : _i2c(p_i2c) |
kenjiArai | 0:21a3f84ad1c9 | 67 | { |
kenjiArai | 0:21a3f84ad1c9 | 68 | _i2c.frequency(400000); |
kenjiArai | 0:21a3f84ad1c9 | 69 | initialize (addr, ADXL345_DR_200HZ, ADXL345_FULL_RES_16G); |
kenjiArai | 0:21a3f84ad1c9 | 70 | } |
kenjiArai | 0:21a3f84ad1c9 | 71 | |
kenjiArai | 0:21a3f84ad1c9 | 72 | ADXL345::ADXL345 (I2C& p_i2c) : _i2c(p_i2c) |
kenjiArai | 0:21a3f84ad1c9 | 73 | { |
kenjiArai | 0:21a3f84ad1c9 | 74 | _i2c.frequency(400000); |
kenjiArai | 0:21a3f84ad1c9 | 75 | initialize(ADXL345_V_CHIP_ADDR, ADXL345_DR_200HZ, ADXL345_FULL_RES_16G); |
kenjiArai | 0:21a3f84ad1c9 | 76 | if (acc_ready == false){ |
kenjiArai | 0:21a3f84ad1c9 | 77 | initialize(ADXL345_G_CHIP_ADDR, ADXL345_DR_200HZ, ADXL345_FULL_RES_16G); |
kenjiArai | 0:21a3f84ad1c9 | 78 | } |
kenjiArai | 0:21a3f84ad1c9 | 79 | } |
kenjiArai | 0:21a3f84ad1c9 | 80 | |
kenjiArai | 0:21a3f84ad1c9 | 81 | void ADXL345::initialize (uint8_t addr, uint8_t data_rate, uint8_t fullscale) |
kenjiArai | 0:21a3f84ad1c9 | 82 | { |
kenjiArai | 0:21a3f84ad1c9 | 83 | // Check acc is available or not |
kenjiArai | 0:21a3f84ad1c9 | 84 | acc_addr = addr; |
kenjiArai | 0:21a3f84ad1c9 | 85 | dt[0] = ADXL345_DEVID; |
kenjiArai | 0:21a3f84ad1c9 | 86 | _i2c.write(acc_addr, dt, 1, true); |
kenjiArai | 0:21a3f84ad1c9 | 87 | _i2c.read(acc_addr, dt, 1, false); |
kenjiArai | 0:21a3f84ad1c9 | 88 | if (dt[0] == ADXL345_DEVICE_ID){ |
kenjiArai | 0:21a3f84ad1c9 | 89 | acc_ready = true; |
kenjiArai | 0:21a3f84ad1c9 | 90 | } else { |
kenjiArai | 0:21a3f84ad1c9 | 91 | acc_ready = false; |
kenjiArai | 0:21a3f84ad1c9 | 92 | return; // acc chip is NOT on I2C line then terminate |
kenjiArai | 0:21a3f84ad1c9 | 93 | } |
kenjiArai | 0:21a3f84ad1c9 | 94 | // BW Rate |
kenjiArai | 0:21a3f84ad1c9 | 95 | dt[0] = ADXL345_BW_RATE; |
kenjiArai | 0:21a3f84ad1c9 | 96 | dt[1] = data_rate | ADXL345_NOT_LOW_PWR; // normal(not low power mode) |
kenjiArai | 0:21a3f84ad1c9 | 97 | setting_data[0] = dt[1]; |
kenjiArai | 0:21a3f84ad1c9 | 98 | _i2c.write(acc_addr, dt, 2, false); |
kenjiArai | 0:21a3f84ad1c9 | 99 | // Data format (measurement range) |
kenjiArai | 0:21a3f84ad1c9 | 100 | dt[0] = ADXL345_DATA_FORMAT; |
kenjiArai | 0:21a3f84ad1c9 | 101 | dt[1] = fullscale; |
kenjiArai | 0:21a3f84ad1c9 | 102 | setting_data[1] = dt[1]; |
kenjiArai | 0:21a3f84ad1c9 | 103 | _i2c.write(acc_addr, dt, 2, false); |
kenjiArai | 0:21a3f84ad1c9 | 104 | switch (fullscale){ |
kenjiArai | 0:21a3f84ad1c9 | 105 | case ADXL345_FS_2G: |
kenjiArai | 0:21a3f84ad1c9 | 106 | fs_factor = ADXL345_SENSITIVITY_2G; |
kenjiArai | 0:21a3f84ad1c9 | 107 | break; |
kenjiArai | 0:21a3f84ad1c9 | 108 | case ADXL345_FS_4G: |
kenjiArai | 0:21a3f84ad1c9 | 109 | fs_factor = ADXL345_SENSITIVITY_4G; |
kenjiArai | 0:21a3f84ad1c9 | 110 | break; |
kenjiArai | 0:21a3f84ad1c9 | 111 | case ADXL345_FS_8G: |
kenjiArai | 0:21a3f84ad1c9 | 112 | fs_factor = ADXL345_SENSITIVITY_8G; |
kenjiArai | 0:21a3f84ad1c9 | 113 | break; |
kenjiArai | 0:21a3f84ad1c9 | 114 | case ADXL345_FS_16G: |
kenjiArai | 0:21a3f84ad1c9 | 115 | fs_factor = ADXL345_SENSITIVITY_16G; |
kenjiArai | 0:21a3f84ad1c9 | 116 | break; |
kenjiArai | 0:21a3f84ad1c9 | 117 | case ADXL345_FULL_RES_16G: |
kenjiArai | 0:21a3f84ad1c9 | 118 | fs_factor = ADXL345_SEN_FULL_RES; |
kenjiArai | 0:21a3f84ad1c9 | 119 | break; |
kenjiArai | 0:21a3f84ad1c9 | 120 | default: |
kenjiArai | 0:21a3f84ad1c9 | 121 | fs_factor = 1.0f; |
kenjiArai | 0:21a3f84ad1c9 | 122 | break; |
kenjiArai | 0:21a3f84ad1c9 | 123 | } |
kenjiArai | 0:21a3f84ad1c9 | 124 | // Data ready flag |
kenjiArai | 0:21a3f84ad1c9 | 125 | dt[0] = ADXL345_INT_ENABLE; |
kenjiArai | 0:21a3f84ad1c9 | 126 | dt[1] = 0x80; |
kenjiArai | 0:21a3f84ad1c9 | 127 | setting_data[2] = dt[1]; |
kenjiArai | 0:21a3f84ad1c9 | 128 | _i2c.write(acc_addr, dt, 2, false); |
kenjiArai | 0:21a3f84ad1c9 | 129 | // Start measurement mode |
kenjiArai | 0:21a3f84ad1c9 | 130 | dt[0] = ADXL345_POWER_CTL; |
kenjiArai | 0:21a3f84ad1c9 | 131 | dt[1] = 0x08; |
kenjiArai | 0:21a3f84ad1c9 | 132 | setting_data[3] = dt[1]; |
kenjiArai | 0:21a3f84ad1c9 | 133 | _i2c.write(acc_addr, dt, 2, false); |
kenjiArai | 0:21a3f84ad1c9 | 134 | // offset compensation |
kenjiArai | 0:21a3f84ad1c9 | 135 | dt[0] = ADXL345_OFSX; |
kenjiArai | 0:21a3f84ad1c9 | 136 | dt[1] = 0x01; |
kenjiArai | 0:21a3f84ad1c9 | 137 | _i2c.write(acc_addr, dt, 2, false); |
kenjiArai | 0:21a3f84ad1c9 | 138 | dt[0] = ADXL345_OFSY; |
kenjiArai | 0:21a3f84ad1c9 | 139 | dt[1] = 0x00; |
kenjiArai | 0:21a3f84ad1c9 | 140 | _i2c.write(acc_addr, dt, 2, false); |
kenjiArai | 0:21a3f84ad1c9 | 141 | dt[0] = ADXL345_OFSZ; |
kenjiArai | 0:21a3f84ad1c9 | 142 | dt[1] = 0x00; |
kenjiArai | 0:21a3f84ad1c9 | 143 | _i2c.write(acc_addr, dt, 2, false); |
kenjiArai | 0:21a3f84ad1c9 | 144 | } |
kenjiArai | 0:21a3f84ad1c9 | 145 | |
kenjiArai | 0:21a3f84ad1c9 | 146 | void ADXL345::read_reg_data(char *data) |
kenjiArai | 0:21a3f84ad1c9 | 147 | { |
kenjiArai | 0:21a3f84ad1c9 | 148 | // read all of X,Y & Z |
kenjiArai | 0:21a3f84ad1c9 | 149 | dt[0] = ADXL345_DATAX0; |
kenjiArai | 0:21a3f84ad1c9 | 150 | _i2c.write(acc_addr, dt, 1, true); |
kenjiArai | 0:21a3f84ad1c9 | 151 | _i2c.read(acc_addr, data, 6, false); |
kenjiArai | 0:21a3f84ad1c9 | 152 | } |
kenjiArai | 0:21a3f84ad1c9 | 153 | |
kenjiArai | 0:21a3f84ad1c9 | 154 | void ADXL345::read_mg_data(float *dt_usr) |
kenjiArai | 0:21a3f84ad1c9 | 155 | { |
kenjiArai | 0:21a3f84ad1c9 | 156 | return read_mg_g_data(dt_usr, 0); |
kenjiArai | 0:21a3f84ad1c9 | 157 | } |
kenjiArai | 0:21a3f84ad1c9 | 158 | |
kenjiArai | 0:21a3f84ad1c9 | 159 | void ADXL345::read_g_data(float *dt_usr) |
kenjiArai | 0:21a3f84ad1c9 | 160 | { |
kenjiArai | 0:21a3f84ad1c9 | 161 | return read_mg_g_data(dt_usr, 1); |
kenjiArai | 0:21a3f84ad1c9 | 162 | } |
kenjiArai | 0:21a3f84ad1c9 | 163 | |
kenjiArai | 0:21a3f84ad1c9 | 164 | void ADXL345::read_data(float *dt_usr) |
kenjiArai | 0:21a3f84ad1c9 | 165 | { |
kenjiArai | 0:21a3f84ad1c9 | 166 | return read_mg_g_data(dt_usr, 2); |
kenjiArai | 0:21a3f84ad1c9 | 167 | } |
kenjiArai | 0:21a3f84ad1c9 | 168 | |
kenjiArai | 0:21a3f84ad1c9 | 169 | void ADXL345::read_mg_g_data(float *dt_usr, uint8_t n) |
kenjiArai | 0:21a3f84ad1c9 | 170 | { |
kenjiArai | 0:21a3f84ad1c9 | 171 | char data[6]; |
kenjiArai | 0:21a3f84ad1c9 | 172 | float fct; |
kenjiArai | 0:21a3f84ad1c9 | 173 | |
kenjiArai | 0:21a3f84ad1c9 | 174 | if (acc_ready == false){ |
kenjiArai | 0:21a3f84ad1c9 | 175 | dt_usr[0] = 0; |
kenjiArai | 0:21a3f84ad1c9 | 176 | dt_usr[1] = 0; |
kenjiArai | 0:21a3f84ad1c9 | 177 | dt_usr[2] = 0; |
kenjiArai | 0:21a3f84ad1c9 | 178 | return; |
kenjiArai | 0:21a3f84ad1c9 | 179 | } |
kenjiArai | 0:21a3f84ad1c9 | 180 | read_reg_data(data); |
kenjiArai | 0:21a3f84ad1c9 | 181 | if (n == 0){ |
kenjiArai | 0:21a3f84ad1c9 | 182 | fct = fs_factor; |
kenjiArai | 0:21a3f84ad1c9 | 183 | } else if (n == 1){ |
kenjiArai | 0:21a3f84ad1c9 | 184 | fct = fs_factor / 1000.0f; |
kenjiArai | 0:21a3f84ad1c9 | 185 | } else { |
kenjiArai | 0:21a3f84ad1c9 | 186 | fct = fs_factor * GRAVITY; |
kenjiArai | 0:21a3f84ad1c9 | 187 | } |
kenjiArai | 0:21a3f84ad1c9 | 188 | // change data type |
kenjiArai | 0:21a3f84ad1c9 | 189 | dt_usr[0] = float(int16_t((data[1] << 8) | data[0])) * fct; |
kenjiArai | 0:21a3f84ad1c9 | 190 | dt_usr[1] = float(int16_t((data[3] << 8) | data[2])) * fct; |
kenjiArai | 0:21a3f84ad1c9 | 191 | dt_usr[2] = float(int16_t((data[5] << 8) | data[4])) * fct; |
kenjiArai | 0:21a3f84ad1c9 | 192 | } |
kenjiArai | 0:21a3f84ad1c9 | 193 | |
kenjiArai | 0:21a3f84ad1c9 | 194 | uint8_t ADXL345::read_id() |
kenjiArai | 0:21a3f84ad1c9 | 195 | { |
kenjiArai | 0:21a3f84ad1c9 | 196 | dt[0] = ADXL345_DEVID; |
kenjiArai | 0:21a3f84ad1c9 | 197 | _i2c.write(acc_addr, dt, 1, true); |
kenjiArai | 0:21a3f84ad1c9 | 198 | _i2c.read(acc_addr, dt, 1, false); |
kenjiArai | 0:21a3f84ad1c9 | 199 | return (uint8_t)dt[0]; |
kenjiArai | 0:21a3f84ad1c9 | 200 | } |
kenjiArai | 0:21a3f84ad1c9 | 201 | |
kenjiArai | 0:21a3f84ad1c9 | 202 | bool ADXL345::data_ready() |
kenjiArai | 0:21a3f84ad1c9 | 203 | { |
kenjiArai | 0:21a3f84ad1c9 | 204 | if (acc_ready == true){ |
kenjiArai | 0:21a3f84ad1c9 | 205 | dt[0] = ADXL345_INT_SOURCE; |
kenjiArai | 0:21a3f84ad1c9 | 206 | _i2c.write(acc_addr, dt, 1, true); |
kenjiArai | 0:21a3f84ad1c9 | 207 | _i2c.read(acc_addr, dt, 1, false); |
kenjiArai | 0:21a3f84ad1c9 | 208 | if (dt[0] & 0x80){ // Check ready bit |
kenjiArai | 0:21a3f84ad1c9 | 209 | return true; |
kenjiArai | 0:21a3f84ad1c9 | 210 | } else { |
kenjiArai | 0:21a3f84ad1c9 | 211 | return false; |
kenjiArai | 0:21a3f84ad1c9 | 212 | } |
kenjiArai | 0:21a3f84ad1c9 | 213 | } |
kenjiArai | 0:21a3f84ad1c9 | 214 | return false; |
kenjiArai | 0:21a3f84ad1c9 | 215 | } |
kenjiArai | 0:21a3f84ad1c9 | 216 | |
kenjiArai | 0:21a3f84ad1c9 | 217 | void ADXL345::frequency(int hz) |
kenjiArai | 0:21a3f84ad1c9 | 218 | { |
kenjiArai | 0:21a3f84ad1c9 | 219 | _i2c.frequency(hz); |
kenjiArai | 0:21a3f84ad1c9 | 220 | } |
kenjiArai | 0:21a3f84ad1c9 | 221 | |
kenjiArai | 0:21a3f84ad1c9 | 222 | uint8_t ADXL345::read_reg(uint8_t addr) |
kenjiArai | 0:21a3f84ad1c9 | 223 | { |
kenjiArai | 0:21a3f84ad1c9 | 224 | if (acc_ready == true){ |
kenjiArai | 0:21a3f84ad1c9 | 225 | dt[0] = addr; |
kenjiArai | 0:21a3f84ad1c9 | 226 | _i2c.write(acc_addr, dt, 1, true); |
kenjiArai | 0:21a3f84ad1c9 | 227 | _i2c.read(acc_addr, dt, 1, false); |
kenjiArai | 0:21a3f84ad1c9 | 228 | } else { |
kenjiArai | 0:21a3f84ad1c9 | 229 | dt[0] = 0xff; |
kenjiArai | 0:21a3f84ad1c9 | 230 | } |
kenjiArai | 0:21a3f84ad1c9 | 231 | return (uint8_t)dt[0]; |
kenjiArai | 0:21a3f84ad1c9 | 232 | } |
kenjiArai | 0:21a3f84ad1c9 | 233 | |
kenjiArai | 0:21a3f84ad1c9 | 234 | void ADXL345::write_reg(uint8_t addr, uint8_t data) |
kenjiArai | 0:21a3f84ad1c9 | 235 | { |
kenjiArai | 0:21a3f84ad1c9 | 236 | if (acc_ready == true){ |
kenjiArai | 0:21a3f84ad1c9 | 237 | dt[0] = addr; |
kenjiArai | 0:21a3f84ad1c9 | 238 | dt[1] = data; |
kenjiArai | 0:21a3f84ad1c9 | 239 | _i2c.write(acc_addr, dt, 2, false); |
kenjiArai | 0:21a3f84ad1c9 | 240 | } |
kenjiArai | 0:21a3f84ad1c9 | 241 | } |
kenjiArai | 0:21a3f84ad1c9 | 242 | |
kenjiArai | 0:21a3f84ad1c9 | 243 | void ADXL345::debug_print(void) |
kenjiArai | 0:21a3f84ad1c9 | 244 | { |
kenjiArai | 0:21a3f84ad1c9 | 245 | printf("ADXL345 3-axes accelerometer\r\n"); |
kenjiArai | 0:21a3f84ad1c9 | 246 | printf(" DEVID=0x%02x\r\n", read_reg(ADXL345_DEVID)); |
kenjiArai | 0:21a3f84ad1c9 | 247 | printf(" THRESH_TAP=0x%02x\r\n", read_reg(ADXL345_THRESH_TAP)); |
kenjiArai | 0:21a3f84ad1c9 | 248 | printf(" OFSX=0x%02x,", read_reg(ADXL345_OFSX)); |
kenjiArai | 0:21a3f84ad1c9 | 249 | printf(" OFSY=0x%02x,", read_reg(ADXL345_OFSY)); |
kenjiArai | 0:21a3f84ad1c9 | 250 | printf(" OFSZ=0x%02x\r\n", read_reg(ADXL345_OFSZ)); |
kenjiArai | 0:21a3f84ad1c9 | 251 | printf(" DUR=0x%02x,", read_reg(ADXL345_DUR)); |
kenjiArai | 0:21a3f84ad1c9 | 252 | printf(" LATENT=0x%02x,", read_reg(ADXL345_LATENT)); |
kenjiArai | 0:21a3f84ad1c9 | 253 | printf(" WINDOW=0x%02x\r\n", read_reg(ADXL345_WINDOW)); |
kenjiArai | 0:21a3f84ad1c9 | 254 | printf(" THRESH_ACT=0x%02x,", read_reg(ADXL345_THRESH_ACT)); |
kenjiArai | 0:21a3f84ad1c9 | 255 | printf(" THRESH_INACT=0x%02x\r\n", read_reg(ADXL345_THRESH_INACT)); |
kenjiArai | 0:21a3f84ad1c9 | 256 | printf(" TIME_INACT=0x%02x,", read_reg(ADXL345_TIME_INACT)); |
kenjiArai | 0:21a3f84ad1c9 | 257 | printf(" ACT_INACT_CTL=0x%02x\r\n", |
kenjiArai | 0:21a3f84ad1c9 | 258 | read_reg(ADXL345_ACT_INACT_CTL)); |
kenjiArai | 0:21a3f84ad1c9 | 259 | printf(" THRESH_FF=0x%02x,", read_reg(ADXL345_THRESH_FF)); |
kenjiArai | 0:21a3f84ad1c9 | 260 | printf(" TIME_FF=0x%02x,", read_reg(ADXL345_TIME_FF)); |
kenjiArai | 0:21a3f84ad1c9 | 261 | printf(" TAP_AXES=0x%02x,", read_reg(ADXL345_TAP_AXES)); |
kenjiArai | 0:21a3f84ad1c9 | 262 | printf(" ACT_TAP_STATUS=0x%02x\r\n", |
kenjiArai | 0:21a3f84ad1c9 | 263 | read_reg(ADXL345_ACT_TAP_STATUS)); |
kenjiArai | 0:21a3f84ad1c9 | 264 | printf(" BW_RATE=0x%02x\r\n", read_reg(ADXL345_BW_RATE)); |
kenjiArai | 0:21a3f84ad1c9 | 265 | printf(" POWER_CTL=0x%02x\r\n", read_reg(ADXL345_POWER_CTL)); |
kenjiArai | 0:21a3f84ad1c9 | 266 | printf(" INT_ENABLE=0x%02x,", read_reg(ADXL345_INT_ENABLE)); |
kenjiArai | 0:21a3f84ad1c9 | 267 | printf(" INT_MAP=0x%02x,", read_reg(ADXL345_INT_MAP)); |
kenjiArai | 0:21a3f84ad1c9 | 268 | printf(" INT_SOURCE=0x%02x\r\n", read_reg(ADXL345_INT_SOURCE)); |
kenjiArai | 0:21a3f84ad1c9 | 269 | printf(" DATA_FORMAT=0x%02x\r\n", read_reg(ADXL345_DATA_FORMAT)); |
kenjiArai | 0:21a3f84ad1c9 | 270 | printf(" DATAX0=0x%02x,", read_reg(ADXL345_DATAX0)); |
kenjiArai | 0:21a3f84ad1c9 | 271 | printf(" 1=0x%02x,", read_reg(ADXL345_DATAX1)); |
kenjiArai | 0:21a3f84ad1c9 | 272 | printf(" DATAY0=0x%02x,", read_reg(ADXL345_DATAY0)); |
kenjiArai | 0:21a3f84ad1c9 | 273 | printf(" 1=0x%02x,", read_reg(ADXL345_DATAY1)); |
kenjiArai | 0:21a3f84ad1c9 | 274 | printf(" DATAZ0=0x%02x,", read_reg(ADXL345_DATAZ0)); |
kenjiArai | 0:21a3f84ad1c9 | 275 | printf(" 1=0x%02x\r\n", read_reg(ADXL345_DATAZ1)); |
kenjiArai | 0:21a3f84ad1c9 | 276 | printf(" FIFO_CTL=0x%02x,", read_reg(ADXL345_FIFO_CTL)); |
kenjiArai | 0:21a3f84ad1c9 | 277 | printf(" FIFO_STATUS=0x%02x\r\n", read_reg(ADXL345_FIFO_STATUS)); |
kenjiArai | 0:21a3f84ad1c9 | 278 | // internal data |
kenjiArai | 0:21a3f84ad1c9 | 279 | printf(" ---- fs_factor=%f, acc_addr=0x%02x\r\n", fs_factor, acc_addr); |
kenjiArai | 0:21a3f84ad1c9 | 280 | } |
kenjiArai | 0:21a3f84ad1c9 | 281 | |
kenjiArai | 0:21a3f84ad1c9 | 282 | void ADXL345::self_test(void) |
kenjiArai | 0:21a3f84ad1c9 | 283 | { |
kenjiArai | 0:21a3f84ad1c9 | 284 | float dt0[3] ={0}; |
kenjiArai | 0:21a3f84ad1c9 | 285 | float dt1[3] ={0}; |
kenjiArai | 0:21a3f84ad1c9 | 286 | float dt2[3]; |
kenjiArai | 0:21a3f84ad1c9 | 287 | |
kenjiArai | 0:21a3f84ad1c9 | 288 | dt[0] = ADXL345_DATA_FORMAT; |
kenjiArai | 0:21a3f84ad1c9 | 289 | dt[1] = 0x0B; |
kenjiArai | 0:21a3f84ad1c9 | 290 | _i2c.write(acc_addr, dt, 2, false); |
kenjiArai | 0:21a3f84ad1c9 | 291 | dt[0] = ADXL345_POWER_CTL; |
kenjiArai | 0:21a3f84ad1c9 | 292 | dt[1] = 0x08; |
kenjiArai | 0:21a3f84ad1c9 | 293 | _i2c.write(acc_addr, dt, 2, false); |
kenjiArai | 0:21a3f84ad1c9 | 294 | dt[0] = ADXL345_INT_ENABLE; |
kenjiArai | 0:21a3f84ad1c9 | 295 | dt[1] = 0x80; |
kenjiArai | 0:21a3f84ad1c9 | 296 | _i2c.write(acc_addr, dt, 2, false); |
kenjiArai | 0:21a3f84ad1c9 | 297 | WAIT_MS(40); |
kenjiArai | 0:21a3f84ad1c9 | 298 | for(uint8_t n = 0; n < 100; n++){ |
kenjiArai | 0:21a3f84ad1c9 | 299 | read_data(dt2); |
kenjiArai | 0:21a3f84ad1c9 | 300 | dt0[0] += dt2[0]; |
kenjiArai | 0:21a3f84ad1c9 | 301 | dt0[1] += dt2[1]; |
kenjiArai | 0:21a3f84ad1c9 | 302 | dt0[2] += dt2[2]; |
kenjiArai | 0:21a3f84ad1c9 | 303 | } |
kenjiArai | 0:21a3f84ad1c9 | 304 | dt0[0] /= 100; |
kenjiArai | 0:21a3f84ad1c9 | 305 | dt0[1] /= 100; |
kenjiArai | 0:21a3f84ad1c9 | 306 | dt0[2] /= 100; |
kenjiArai | 0:21a3f84ad1c9 | 307 | // |
kenjiArai | 0:21a3f84ad1c9 | 308 | dt[0] = ADXL345_DATA_FORMAT; |
kenjiArai | 0:21a3f84ad1c9 | 309 | dt[1] = 0x8B; |
kenjiArai | 0:21a3f84ad1c9 | 310 | _i2c.write(acc_addr, dt, 2, false); |
kenjiArai | 0:21a3f84ad1c9 | 311 | WAIT_MS(40); |
kenjiArai | 0:21a3f84ad1c9 | 312 | for(uint8_t n = 0; n < 100; n++){ |
kenjiArai | 0:21a3f84ad1c9 | 313 | read_data(dt2); |
kenjiArai | 0:21a3f84ad1c9 | 314 | dt1[0] += dt2[0]; |
kenjiArai | 0:21a3f84ad1c9 | 315 | dt1[1] += dt2[1]; |
kenjiArai | 0:21a3f84ad1c9 | 316 | dt1[2] += dt2[2]; |
kenjiArai | 0:21a3f84ad1c9 | 317 | } |
kenjiArai | 0:21a3f84ad1c9 | 318 | dt1[0] /= 100; |
kenjiArai | 0:21a3f84ad1c9 | 319 | dt1[1] /= 100; |
kenjiArai | 0:21a3f84ad1c9 | 320 | dt1[2] /= 100; |
kenjiArai | 0:21a3f84ad1c9 | 321 | printf("X, 1st, %+8.4f, 2nd, %+8.4f, diff, %+8.4f\r\n", |
kenjiArai | 0:21a3f84ad1c9 | 322 | dt0[0], dt1[0], dt0[0] - dt1[0]); |
kenjiArai | 0:21a3f84ad1c9 | 323 | printf("Y, 1st, %+8.4f, 2nd, %+8.4f, diff, %+8.4f\r\n", |
kenjiArai | 0:21a3f84ad1c9 | 324 | dt0[1], dt1[1], dt0[1] - dt1[1]); |
kenjiArai | 0:21a3f84ad1c9 | 325 | printf("Z, 1st, %+8.4f, 2nd, %+8.4f, diff, %+8.4f\r\n", |
kenjiArai | 0:21a3f84ad1c9 | 326 | dt0[2], dt1[2], dt0[2] - dt1[2]); |
kenjiArai | 0:21a3f84ad1c9 | 327 | //Recover original setting |
kenjiArai | 0:21a3f84ad1c9 | 328 | // BW Rate |
kenjiArai | 0:21a3f84ad1c9 | 329 | dt[0] = ADXL345_BW_RATE; |
kenjiArai | 0:21a3f84ad1c9 | 330 | dt[1] = setting_data[0]; |
kenjiArai | 0:21a3f84ad1c9 | 331 | _i2c.write(acc_addr, dt, 2, false); |
kenjiArai | 0:21a3f84ad1c9 | 332 | // Data format (measurement range) |
kenjiArai | 0:21a3f84ad1c9 | 333 | dt[0] = ADXL345_DATA_FORMAT; |
kenjiArai | 0:21a3f84ad1c9 | 334 | dt[1] = setting_data[1]; |
kenjiArai | 0:21a3f84ad1c9 | 335 | _i2c.write(acc_addr, dt, 2, false); |
kenjiArai | 0:21a3f84ad1c9 | 336 | // Data ready flag |
kenjiArai | 0:21a3f84ad1c9 | 337 | dt[0] = ADXL345_INT_ENABLE; |
kenjiArai | 0:21a3f84ad1c9 | 338 | dt[1] = setting_data[2]; |
kenjiArai | 0:21a3f84ad1c9 | 339 | _i2c.write(acc_addr, dt, 2, false); |
kenjiArai | 0:21a3f84ad1c9 | 340 | // Start measurement mode |
kenjiArai | 0:21a3f84ad1c9 | 341 | dt[0] = ADXL345_POWER_CTL; |
kenjiArai | 0:21a3f84ad1c9 | 342 | dt[1] = setting_data[3]; |
kenjiArai | 0:21a3f84ad1c9 | 343 | _i2c.write(acc_addr, dt, 2, false); |
kenjiArai | 0:21a3f84ad1c9 | 344 | WAIT_MS(40); |
kenjiArai | 0:21a3f84ad1c9 | 345 | read_data(dt2); // dummy read |
kenjiArai | 0:21a3f84ad1c9 | 346 | } |