Kenji Arai
Analog Devices 3-axis accelerometer. I2C interface
Diff: ADXL345.h
- Revision:
- 0:21a3f84ad1c9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ADXL345.h Sat Sep 23 22:21:33 2017 +0000
@@ -0,0 +1,247 @@
+/*
+ * mbed library program
+ * ADXL345: 3-axis accelerometer, made by Analog Devices
+ * http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf
+ *
+ * Copyright (c) 2017 Kenji Arai / JH1PJL
+ * http://www.page.sannet.ne.jp/kenjia/index.html
+ * http://mbed.org/users/kenjiArai/
+ * Modify: August 13th, 2017
+ * Revised: September 23rd, 2017
+ *
+ */
+
+#ifndef ADXL345_H
+#define ADXL345_H
+
+#include "mbed.h"
+
+// ADXL345 Address
+// 7bit address = 0x1D or 0x53 (depends on ALT ADDRESS pin)
+#define ADXL345_G_CHIP_ADDR (0x53 << 1) // ALT ADDRESS = Ground
+#define ADXL345_V_CHIP_ADDR (0x1D << 1) // ALT ADDRESS = Vdd
+
+// ADXL345 ID
+#define ADXL345_DEVICE_ID 0xE5
+
+// Register's definition
+#define ADXL345_DEVID 0x00
+#define ADXL345_THRESH_TAP 0x1D
+#define ADXL345_OFSX 0x1E
+#define ADXL345_OFSY 0x1F
+#define ADXL345_OFSZ 0x20
+#define ADXL345_DUR 0x21
+#define ADXL345_LATENT 0x22
+#define ADXL345_WINDOW 0x23
+#define ADXL345_THRESH_ACT 0x24
+#define ADXL345_THRESH_INACT 0x25
+#define ADXL345_TIME_INACT 0x26
+#define ADXL345_ACT_INACT_CTL 0x27
+#define ADXL345_THRESH_FF 0x28
+#define ADXL345_TIME_FF 0x29
+#define ADXL345_TAP_AXES 0x2A
+#define ADXL345_ACT_TAP_STATUS 0x2B
+#define ADXL345_BW_RATE 0x2C
+#define ADXL345_POWER_CTL 0x2D
+#define ADXL345_INT_ENABLE 0x2E
+#define ADXL345_INT_MAP 0x2F
+#define ADXL345_INT_SOURCE 0x30
+#define ADXL345_DATA_FORMAT 0x31
+#define ADXL345_DATAX0 0x32
+#define ADXL345_DATAX1 0x33
+#define ADXL345_DATAY0 0x34
+#define ADXL345_DATAY1 0x35
+#define ADXL345_DATAZ0 0x36
+#define ADXL345_DATAZ1 0x37
+#define ADXL345_FIFO_CTL 0x38
+#define ADXL345_FIFO_STATUS 0x39
+
+// Data Rate
+#define ADXL345_LOW_PWR 0x10
+#define ADXL345_NOT_LOW_PWR 0x00
+#define ADXL345_DR_R10HZ 0x00
+#define ADXL345_DR_R20HZ 0x01
+#define ADXL345_DR_R39HZ 0x02
+#define ADXL345_DR_R78HZ 0x03
+#define ADXL345_DR_1R56HZ 0x04
+#define ADXL345_DR_3R13HZ 0x05
+#define ADXL345_DR_6R25HZ 0x06
+#define ADXL345_DR_12R5HZ 0x07
+#define ADXL345_DR_25HZ 0x08
+#define ADXL345_DR_50HZ 0x09
+#define ADXL345_DR_100HZ 0x0A
+#define ADXL345_DR_200HZ 0x0B
+#define ADXL345_DR_400HZ 0x0C
+#define ADXL345_DR_800HZ 0x0D
+#define ADXL345_DR_1R6KHZ 0x0E
+#define ADXL345_DR_3R2KHZ 0x0F
+
+// FIFO Mode
+#define ADXL345_FIFO_BYPASS 0x00 // Not use FIFO
+#define ADXL345_FIFO_FIFO 0x40 // FIFO collects 32 then stop
+#define ADXL345_FIFO_STREAM 0x80 // last 32 & continue sampling
+#define ADXL345_FIFO_TRIGER 0xC0 // Start by trigger
+
+// FIFO Trigger Source
+#define ADXL345_FIFO_TRG_INT1 0x00
+#define ADXL345_FIFO_TRG_INT2 0x20
+
+// FIFO Trigger Source
+#define ADXL345_FIFO_SAMPLES 0x31 // default value
+
+// Full Scale
+#define ADXL345_FS_2G 0x00
+#define ADXL345_FS_4G 0x01
+#define ADXL345_FS_8G 0x02
+#define ADXL345_FS_16G 0x03
+#define ADXL345_FULL_RES_16G 0x0B
+
+/** Interface for Analog Devices : 3-axis accelerometer
+ * Chip: ADXL345
+ *
+ * @code
+ * #include "mbed.h"
+ *
+ * // I2C Communication
+ * I2C i2c(D14,D15); // SDA, SCL
+ * ADXL345 acc(i2c);
+ *
+ * int main() {
+ * float f[3];
+ * while(1){
+ * acc.read_data(f);
+ * }
+ * }
+ * @endcode
+ */
+
+class ADXL345
+{
+public:
+ /** Configure data pin (with other devices on I2C line)
+ * @param I2C PinName SDA &SDL
+ * @param device address
+ * @param output data rate selection, power down mode, 0.1Hz to 3.2KHz
+ * @param full scale selection, +/-2g to +/-16g
+ */
+ ADXL345(PinName p_sda, PinName p_scl,
+ uint8_t addr, uint8_t data_rate, uint8_t fullscale);
+
+ /** Configure data pin (with other devices on I2C line)
+ * @param I2C previous definition
+ * @param device address
+ */
+ ADXL345(PinName p_sda, PinName p_scl, uint8_t addr);
+
+ /** Configure data pin (with other devices on I2C line)
+ * @param I2C previous definition
+ */
+ ADXL345(PinName p_sda, PinName p_scl);
+
+ /** Configure data pin (with other devices on I2C line)
+ * @param I2C previous definition
+ * @param device address
+ * @param output data rate selection, power down mode, 0.1Hz to 3.2KHz
+ * @param full scale selection, +/-2g to +/-16g
+ */
+ ADXL345(I2C& p_i2c,
+ uint8_t addr, uint8_t data_rate, uint8_t fullscale);
+
+ /** Configure data pin (with other devices on I2C line)
+ * @param I2C previous definition
+ * @default output data rate selection = 100Hz
+ * @default full scale selection = +/-2g
+ */
+ ADXL345(I2C& p_i2c, uint8_t addr);
+
+ /** Configure data pin (with other devices on I2C line)
+ * @param I2C previous definition
+ * @default address check both G & V
+ * @default output data rate selection = 100Hz
+ * @default full scale selection = +/-2g
+ */
+ ADXL345(I2C& p_i2c);
+
+ /** Read a float type data from acc
+ * @param float type of three arry's address, e.g. float dt_usr[3];
+ * @return acc motion data unit: m/s/s(m/s2)
+ * @return dt_usr[0]->x, dt_usr[1]->y, dt_usr[2]->z
+ */
+ void read_data(float *dt_usr);
+
+ /** Read a float type data from acc
+ * @param float type of three arry's address, e.g. float dt_usr[3];
+ * @return acc motion data unit: mg
+ * @return dt_usr[0]->x, dt_usr[1]->y, dt_usr[2]->z
+ */
+ void read_mg_data(float *dt_usr);
+
+ /** Read a float type data from acc
+ * @param float type of three arry's address, e.g. float dt_usr[3];
+ * @return acc motion data unit: g
+ * @return dt_usr[0]->x, dt_usr[1]->y, dt_usr[2]->z
+ */
+ void read_g_data(float *dt_usr);
+
+ /** Read a acc ID number
+ * @param none
+ * @return ID is okay (I_AM_ ADXL345(0x33)) or not
+ */
+ uint8_t read_id();
+
+ /** Read Data Ready flag
+ * @param none
+ * @return true = Ready
+ */
+ bool data_ready();
+
+ /** Set I2C clock frequency
+ * @param freq.
+ * @return none
+ */
+ void frequency(int hz);
+
+ /** Read register (general purpose)
+ * @param register's address
+ * @return register data
+ */
+ uint8_t read_reg(uint8_t addr);
+
+ /** Write register (general purpose)
+ * @param register's address
+ * @param data
+ * @return none
+ */
+ void write_reg(uint8_t addr, uint8_t data);
+
+ /** data print for debug
+ * @param none
+ * @return none
+ */
+ void debug_print(void);
+
+ /** Self-Test Feature
+ * @param none
+ * @return none
+ */
+ void self_test(void);
+
+protected:
+ void initialize(uint8_t, uint8_t, uint8_t);
+ void read_reg_data(char *data);
+ void read_mg_g_data(float *dt_usr, uint8_t n);
+
+ I2C *_i2c_p;
+ I2C &_i2c;
+
+private:
+ float fs_factor; // full scale factor
+ char dt[2]; // working buffer
+ uint8_t acc_addr; // acc sensor address
+ uint8_t acc_id; // acc ID
+ bool acc_ready; // acc is on I2C line = 1, not = 0
+ uint8_t setting_data[4]; // Reg. recovery data
+
+};
+
+#endif // ADXL345_H