NOT FINISHED YET!!! My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.
Diff: Sensors/Acc/ADXL345.h
- Revision:
- 2:93f703d2c4d7
- Parent:
- 0:0c4fafa398b4
- Child:
- 10:953afcbcebfc
--- a/Sensors/Acc/ADXL345.h Fri Sep 28 13:24:03 2012 +0000 +++ b/Sensors/Acc/ADXL345.h Tue Oct 02 17:53:40 2012 +0000 @@ -1,530 +1,84 @@ -// based on http://mbed.org/users/Digixx/code/ADXL345/ - -/* - * ADXL345, triple axis, I2C interface, accelerometer. - * - * Datasheet: - * - * http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf - */ - - - -#ifndef __ADXL345_H -#define __ADXL345_H - -#include "mbed.h" - -// register addresses -#define ADXL345_DEVID_REG 0x00 -#define ADXL345_THRESH_TAP_REG 0x1D -#define ADXL345_OFSX_REG 0x1E -#define ADXL345_OFSY_REG 0x1F -#define ADXL345_OFSZ_REG 0x20 -#define ADXL345_DUR_REG 0x21 -#define ADXL345_LATENT_REG 0x22 -#define ADXL345_WINDOW_REG 0x23 -#define ADXL345_THRESH_ACT_REG 0x24 -#define ADXL345_THRESH_INACT_REG 0x25 -#define ADXL345_TIME_INACT_REG 0x26 -#define ADXL345_ACT_INACT_CTL_REG 0x27 -#define ADXL345_THRESH_FF_REG 0x28 -#define ADXL345_TIME_FF_REG 0x29 -#define ADXL345_TAP_AXES_REG 0x2A -#define ADXL345_ACT_TAP_STATUS_REG 0x2B -#define ADXL345_BW_RATE_REG 0x2C -#define ADXL345_POWER_CTL_REG 0x2D -#define ADXL345_INT_ENABLE_REG 0x2E -#define ADXL345_INT_MAP_REG 0x2F -#define ADXL345_INT_SOURCE_REG 0x30 -#define ADXL345_DATA_FORMAT_REG 0x31 -#define ADXL345_DATAX0_REG 0x32 -#define ADXL345_DATAX1_REG 0x33 -#define ADXL345_DATAY0_REG 0x34 -#define ADXL345_DATAY1_REG 0x35 -#define ADXL345_DATAZ0_REG 0x36 -#define ADXL345_DATAZ1_REG 0x37 - -#define ADXL345_FIFO_CTL 0x38 -#define ADXL345_FIFO_STATUS 0x39 - -// data rate codes -#define ADXL345_3200HZ 0x0F -#define ADXL345_1600HZ 0x0E -#define ADXL345_800HZ 0x0D -#define ADXL345_400HZ 0x0C -#define ADXL345_200HZ 0x0B -#define ADXL345_100HZ 0x0A -#define ADXL345_50HZ 0x09 -#define ADXL345_25HZ 0x08 -#define ADXL345_12HZ5 0x07 -#define ADXL345_6HZ25 0x06 - -// 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_X 0x00 -#define ADXL345_Y 0x01 -#define ADXL345_Z 0x02 - -// modes -#define MeasurementMode 0x08 - - - - - - - -class ADXL345 { - -public: - - /** - * 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); - - /** - * 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); - - /** - * 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); - - /** - * Set the power control settings. - * - * See datasheet for details. - * - * @param The control byte to write to the POWER_CTL register. - */ - int setPowerControl(char settings); - /** - * 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. - * - * @return The contents of the DATA_FORMAT register. - */ - - char getDataFormatControl(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 rate. - * - * @param rate The rate code (see #defines or datasheet). - */ - int setDataRate(char rate); - - - /** - * Get the current offset for a particular axis. - * - * @param axis 0x00 -> X-axis - * 0x01 -> Y-axis - * 0x02 -> Z-axis - * @return The current offset as an 8-bit 2's complement number with scale - * factor 15.6mg/LSB. - */ - - char getOffset(char axis); - - /** - * Set the offset for a particular axis. - * - * @param axis 0x00 -> X-axis - * 0x01 -> Y-axis - * 0x02 -> Z-axis - * @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); - - /** - * Get the tap duration required to trigger an event. - * - * @return The max time that an event must be above the tap threshold to - * qualify as a tap event, in microseconds. - */ - float getTapDuration(void); - - /** - * Set the tap duration required to trigger an event. - * - * @param duration_us The max time that an event must be above the tap - * threshold to qualify as a tap event, in microseconds. - * Time will be normalized by the scale factor which is - * 625us/LSB. A value of 0 disables the single/double - * tap functions. - */ - int setTapDuration(short int duration_us); - - /** - * Get the tap latency between the detection of a tap and the time window. - * - * @return The wait time from the detection of a tap event to the start of - * the time window during which a possible second tap event can be - * detected in milliseconds. - */ - float getTapLatency(void); - - /** - * Set the tap latency between the detection of a tap and the time window. - * - * @param latency_ms The wait time from the detection of a tap event to the - * start of the time window during which a possible - * second tap event can be detected in milliseconds. - * A value of 0 disables the double tap function. - */ - int setTapLatency(short int latency_ms); - - /** - * Get the time of window between tap latency and a double tap. - * - * @return The amount of time after the expiration of the latency time - * during which a second valid tap can begin, in milliseconds. - */ - float getWindowTime(void); - - /** - * Set the time of the window between tap latency and a double tap. - * - * @param window_ms The amount of time after the expiration of the latency - * time during which a second valid tap can begin, - * in milliseconds. - */ - int setWindowTime(short int window_ms); - - /** - * Get the threshold value for detecting activity. - * - * @return The threshold value for detecting activity as an 8-bit number. - * Scale factor is 62.5mg/LSB. - */ - char getActivityThreshold(void); - - /** - * Set the threshold value for detecting activity. - * - * @param threshold The threshold value for detecting activity as an 8-bit - * number. Scale factor is 62.5mg/LSB. A value of 0 may - * result in undesirable behavior if the activity - * interrupt is enabled. - */ - int setActivityThreshold(char threshold); - - /** - * Get the threshold value for detecting inactivity. - * - * @return The threshold value for detecting inactivity as an 8-bit number. - * Scale factor is 62.5mg/LSB. - */ - char getInactivityThreshold(void); - - /** - * Set the threshold value for detecting inactivity. - * - * @param threshold The threshold value for detecting inactivity as an - * 8-bit number. Scale factor is 62.5mg/LSB. - */ - int setInactivityThreshold(char threshold); - - /** - * Get the time required for inactivity to be declared. - * - * @return The amount of time that acceleration must be less than the - * inactivity threshold for inactivity to be declared, in - * seconds. - */ - char getTimeInactivity(void); - - /** - * Set the time required for inactivity to be declared. - * - * @param inactivity The amount of time that acceleration must be less than - * the inactivity threshold for inactivity to be - * declared, in seconds. A value of 0 results in an - * interrupt when the output data is less than the - * threshold inactivity. - */ - int setTimeInactivity(char timeInactivity); - - /** - * Get the activity/inactivity control settings. - * - * D7 D6 D5 D4 - * +-----------+--------------+--------------+--------------+ - * | ACT ac/dc | ACT_X enable | ACT_Y enable | ACT_Z enable | - * +-----------+--------------+--------------+--------------+ - * - * D3 D2 D1 D0 - * +-------------+----------------+----------------+----------------+ - * | INACT ac/dc | INACT_X enable | INACT_Y enable | INACT_Z enable | - * +-------------+----------------+----------------+----------------+ - * - * See datasheet for details. - * - * @return The contents of the ACT_INACT_CTL register. - */ - char getActivityInactivityControl(void); - - /** - * Set the activity/inactivity control settings. - * - * D7 D6 D5 D4 - * +-----------+--------------+--------------+--------------+ - * | ACT ac/dc | ACT_X enable | ACT_Y enable | ACT_Z enable | - * +-----------+--------------+--------------+--------------+ - * - * D3 D2 D1 D0 - * +-------------+----------------+----------------+----------------+ - * | INACT ac/dc | INACT_X enable | INACT_Y enable | INACT_Z enable | - * +-------------+----------------+----------------+----------------+ - * - * See datasheet for details. - * - * @param settings The control byte to write to the ACT_INACT_CTL register. - */ - int setActivityInactivityControl(char 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); - - /** - * 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 - * 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); - - /** - * Get 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. - */ - char 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 - * and 350 ms (0x14 to 0x46) are recommended. - */ - int setFreefallTime(short int freefallTime_ms); - - /** - * Get the axis tap settings. - * - * D3 D2 D1 D0 - * +----------+--------------+--------------+--------------+ - * | Suppress | TAP_X enable | TAP_Y enable | TAP_Z enable | - * +----------+--------------+--------------+--------------+ - * - * (D7-D4 are 0s). - * - * See datasheet for more details. - * - * @return The contents of the TAP_AXES register. - */ - char getTapAxisControl(void); - - /** - * Set the axis tap settings. - * - * D3 D2 D1 D0 - * +----------+--------------+--------------+--------------+ - * | Suppress | TAP_X enable | TAP_Y enable | TAP_Z enable | - * +----------+--------------+--------------+--------------+ - * - * (D7-D4 are 0s). - * - * See datasheet for more details. - * - * @param The control byte to write to the TAP_AXES register. - */ - int setTapAxisControl(char settings); - - /** - * Get the source of a tap. - * - * @return The contents of the ACT_TAP_STATUS register. - */ - char getTapSource(void); - - /** - * Get the interrupt enable settings. - * - * @return The contents of the INT_ENABLE register. - */ - - char getInterruptEnableControl(void); - - /** - * Set the interrupt enable settings. - * - * @param settings The control byte to write to the INT_ENABLE register. - */ - int setInterruptEnableControl(char settings); - - /** - * Get the interrupt mapping settings. - * - * @return The contents of the INT_MAP register. - */ - char getInterruptMappingControl(void); - - /** - * Set the interrupt mapping settings. - * - * @param settings The control byte to write to the INT_MAP register. - */ - int setInterruptMappingControl(char settings); - - /** - * Get the interrupt source. - * - * @return The contents of the INT_SOURCE register. - */ - char getInterruptSource(void); - - -private: - - I2C i2c_; - - - /** - * Read one byte from a register on the device. - * - * @param: - the address to be read from - * - * @return: the value of the data read - */ - char SingleByteRead(char 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 - */ - - - 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); - - /** - * Write 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); - -}; - -#endif +// based on http://mbed.org/users/Digixx/code/ADXL345/ + +#ifndef ADXL345_H +#define ADXL345_H + +#include "mbed.h" + +// register addresses +#define ADXL345_DEVID_REG 0x00 +#define ADXL345_THRESH_TAP_REG 0x1D +#define ADXL345_OFSX_REG 0x1E +#define ADXL345_OFSY_REG 0x1F +#define ADXL345_OFSZ_REG 0x20 +#define ADXL345_DUR_REG 0x21 +#define ADXL345_LATENT_REG 0x22 +#define ADXL345_WINDOW_REG 0x23 +#define ADXL345_THRESH_ACT_REG 0x24 +#define ADXL345_THRESH_INACT_REG 0x25 +#define ADXL345_TIME_INACT_REG 0x26 +#define ADXL345_ACT_INACT_CTL_REG 0x27 +#define ADXL345_THRESH_FF_REG 0x28 +#define ADXL345_TIME_FF_REG 0x29 +#define ADXL345_TAP_AXES_REG 0x2A +#define ADXL345_ACT_TAP_STATUS_REG 0x2B +#define ADXL345_BW_RATE_REG 0x2C +#define ADXL345_POWER_CTL_REG 0x2D +#define ADXL345_INT_ENABLE_REG 0x2E +#define ADXL345_INT_MAP_REG 0x2F +#define ADXL345_INT_SOURCE_REG 0x30 +#define ADXL345_DATA_FORMAT_REG 0x31 +#define ADXL345_DATAX0_REG 0x32 +#define ADXL345_DATAX1_REG 0x33 +#define ADXL345_DATAY0_REG 0x34 +#define ADXL345_DATAY1_REG 0x35 +#define ADXL345_DATAZ0_REG 0x36 +#define ADXL345_DATAZ1_REG 0x37 +#define ADXL345_FIFO_CTL 0x38 +#define ADXL345_FIFO_STATUS 0x39 + +// data rate codes +#define ADXL345_3200HZ 0x0F +#define ADXL345_1600HZ 0x0E +#define ADXL345_800HZ 0x0D +#define ADXL345_400HZ 0x0C +#define ADXL345_200HZ 0x0B +#define ADXL345_100HZ 0x0A +#define ADXL345_50HZ 0x09 +#define ADXL345_25HZ 0x08 +#define ADXL345_12HZ5 0x07 +#define ADXL345_6HZ25 0x06 + +// 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_X 0x00 +#define ADXL345_Y 0x01 +#define ADXL345_Z 0x02 + +typedef char byte; + +class ADXL345 +{ + public: + ADXL345(PinName sda, PinName scl); // constructor, uses i2c + void read(int a[3]); // read all axis to array + + + private: + I2C i2c; // i2c object to communicate + int writeReg(byte reg, byte value); // write one single register to sensor + byte readReg(byte reg); // read one single register from sensor + void readMultiReg(char startAddress, char* ptr_output, int size); // read multiple regs + int setDataRate(char rate); // data rate configuration (not only a reg to write) +}; + +#endif