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.
Sensors/Acc/ADXL345.cpp
- Committer:
- maetugr
- Date:
- 2012-09-28
- Revision:
- 1:5a64632b1eb9
- Parent:
- 0:0c4fafa398b4
- Child:
- 2:93f703d2c4d7
File content as of revision 1:5a64632b1eb9:
#include "ADXL345.h" #include "mbed.h" ADXL345::ADXL345(PinName sda, PinName scl) : i2c_(sda, scl) { //400kHz, allowing us to use the fastest data rates. //there are other chips on board, sorry 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_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_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_WRITE , x, 2); char y[2]; y[0] = ADXL345_OFSY_REG ; y[1] = 0x03; i2c_.write( ADXL345_WRITE , y, 2); char z[2]; z[0] = ADXL345_OFSZ_REG ; z[1] = 0xFE; i2c_.write( ADXL345_WRITE , z, 2); // MY INITIALISATION ------------------------------------------------------- setPowerControl(0x00); setDataFormatControl(0x0B); setDataRate(ADXL345_3200HZ); setPowerControl(MeasurementMode); } char ADXL345::SingleByteRead(char address){ char tx = address; char output; i2c_.write( ADXL345_WRITE , &tx, 1); //tell it what you want to read i2c_.read( ADXL345_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::SingleByteWrite(char address, char data){ int ack = 0; char tx[2]; tx[0] = address; tx[1] = data; return ack | i2c_.write( ADXL345_WRITE , tx, 2); } void ADXL345::multiByteRead(char address, char* output, int size) { i2c_.write( ADXL345_WRITE, &address, 1); //tell it where to read from i2c_.read( ADXL345_READ , output, size); //tell it where to store the data read } int ADXL345::multiByteWrite(char address, char* ptr_data, int size) { int ack; ack = i2c_.write( ADXL345_WRITE, &address, 1); //tell it where to write to return ack | i2c_.write( ADXL345_READ, ptr_data, size); //tell it what data to write } void ADXL345::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::getDeviceID() { return SingleByteRead(ADXL345_DEVID_REG); } // int ADXL345::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::getPowerControl() { return SingleByteRead(ADXL345_POWER_CTL_REG); } int ADXL345::setPowerControl(char settings) { return SingleByteWrite(ADXL345_POWER_CTL_REG, settings); } char ADXL345::getDataFormatControl(void){ return SingleByteRead(ADXL345_DATA_FORMAT_REG); } int ADXL345::setDataFormatControl(char settings){ return SingleByteWrite(ADXL345_DATA_FORMAT_REG, settings); } int ADXL345::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::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::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::getFifoControl(void){ return SingleByteRead(ADXL345_FIFO_CTL); } int ADXL345::setFifoControl(char settings){ return SingleByteWrite(ADXL345_FIFO_STATUS, settings); } char ADXL345::getFifoStatus(void){ return SingleByteRead(ADXL345_FIFO_STATUS); } char ADXL345::getTapThreshold(void) { return SingleByteRead(ADXL345_THRESH_TAP_REG); } int ADXL345::setTapThreshold(char threshold) { return SingleByteWrite(ADXL345_THRESH_TAP_REG, threshold); } float ADXL345::getTapDuration(void) { return (float)SingleByteRead(ADXL345_DUR_REG)*625; } int ADXL345::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::getTapLatency(void) { return (float)SingleByteRead(ADXL345_LATENT_REG)*1.25; } int ADXL345::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::getWindowTime(void) { return (float)SingleByteRead(ADXL345_WINDOW_REG)*1.25; } int ADXL345::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::getActivityThreshold(void) { return SingleByteRead(ADXL345_THRESH_ACT_REG); } int ADXL345::setActivityThreshold(char threshold) { return SingleByteWrite(ADXL345_THRESH_ACT_REG, threshold); } char ADXL345::getInactivityThreshold(void) { return SingleByteRead(ADXL345_THRESH_INACT_REG); } //int FUNCTION(short int * ptr_Output) //short int FUNCTION () int ADXL345::setInactivityThreshold(char threshold) { return SingleByteWrite(ADXL345_THRESH_INACT_REG, threshold); } char ADXL345::getTimeInactivity(void) { return SingleByteRead(ADXL345_TIME_INACT_REG); } int ADXL345::setTimeInactivity(char timeInactivity) { return SingleByteWrite(ADXL345_TIME_INACT_REG, timeInactivity); } char ADXL345::getActivityInactivityControl(void) { return SingleByteRead(ADXL345_ACT_INACT_CTL_REG); } int ADXL345::setActivityInactivityControl(char settings) { return SingleByteWrite(ADXL345_ACT_INACT_CTL_REG, settings); } char ADXL345::getFreefallThreshold(void) { return SingleByteRead(ADXL345_THRESH_FF_REG); } int ADXL345::setFreefallThreshold(char threshold) { return SingleByteWrite(ADXL345_THRESH_FF_REG, threshold); } char ADXL345::getFreefallTime(void) { return SingleByteRead(ADXL345_TIME_FF_REG)*5; } int ADXL345::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::getTapAxisControl(void) { return SingleByteRead(ADXL345_TAP_AXES_REG); } int ADXL345::setTapAxisControl(char settings) { return SingleByteWrite(ADXL345_TAP_AXES_REG, settings); } char ADXL345::getTapSource(void) { return SingleByteRead(ADXL345_ACT_TAP_STATUS_REG); } char ADXL345::getInterruptEnableControl(void) { return SingleByteRead(ADXL345_INT_ENABLE_REG); } int ADXL345::setInterruptEnableControl(char settings) { return SingleByteWrite(ADXL345_INT_ENABLE_REG, settings); } char ADXL345::getInterruptMappingControl(void) { return SingleByteRead(ADXL345_INT_MAP_REG); } int ADXL345::setInterruptMappingControl(char settings) { return SingleByteWrite(ADXL345_INT_MAP_REG, settings); } char ADXL345::getInterruptSource(void){ return SingleByteRead(ADXL345_INT_SOURCE_REG); }