Diff: Sensors/Acc/ADXL345.cpp
- Revision:
- 2:93f703d2c4d7
- Parent:
- 1:5a64632b1eb9
- Child:
- 10:953afcbcebfc
diff -r 5a64632b1eb9 -r 93f703d2c4d7 Sensors/Acc/ADXL345.cpp
--- a/Sensors/Acc/ADXL345.cpp Fri Sep 28 13:24:03 2012 +0000
+++ b/Sensors/Acc/ADXL345.cpp Tue Oct 02 17:53:40 2012 +0000
@@ -1,379 +1,86 @@
-#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);
-
-}
-
-
-
-
+#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;
+ x[1] = 0x00;
+ i2c.write( ADXL345_WRITE , x, 2);
+ char y[2];
+ y[0] = ADXL345_OFSY_REG ;
+ //y[1] = 0x03;
+ y[1] = 0x00;
+ i2c.write( ADXL345_WRITE , y, 2);
+ char z[2];
+ z[0] = ADXL345_OFSZ_REG ;
+ //z[1] = 0xFE;
+ z[1] = 0x00;
+ i2c.write( ADXL345_WRITE , z, 2);
+
+ // MY INITIALISATION -------------------------------------------------------
+
+ writeReg(ADXL345_POWER_CTL_REG, 0x00); // set power control
+ writeReg(ADXL345_DATA_FORMAT_REG, 0x0B); // set data format
+ setDataRate(ADXL345_3200HZ); // set data rate
+ writeReg(ADXL345_POWER_CTL_REG, 0x08); // set mode
+}
+
+void ADXL345::read(int a[3]){
+ char buffer[6];
+ readMultiReg(ADXL345_DATAX0_REG, buffer, 6);
+
+ a[0] = (short) ((int)buffer[1] << 8 | (int)buffer[0]);
+ a[1] = (short) ((int)buffer[3] << 8 | (int)buffer[2]);
+ a[2] = (short) ((int)buffer[5] << 8 | (int)buffer[4]);
+}
+
+int ADXL345::writeReg(char address, char data){
+ int ack = 0;
+ char tx[2];
+ tx[0] = address;
+ tx[1] = data;
+ return ack | i2c.write(ADXL345_WRITE, tx, 2);
+}
+
+char ADXL345::readReg(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;
+}
+
+void ADXL345::readMultiReg(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::setDataRate(char rate) {
+ //Get the current register contents, so we don't clobber the power bit.
+ char registerContents = readReg(ADXL345_BW_RATE_REG);
+
+ registerContents &= 0x10;
+ registerContents |= rate;
+
+ return writeReg(ADXL345_BW_RATE_REG, registerContents);
+}
\ No newline at end of file
Matthias Grob
