Diff: IMU/Sensors/Acc/ADXL345.h

Revision:

0:12950aa67f2a

Child:

4:b0a60b0b24a9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IMU/Sensors/Acc/ADXL345.h	Mon Sep 02 15:04:22 2013 +0000
@@ -0,0 +1,65 @@
+// based on http://mbed.org/users/Digixx/code/ADXL345/
+
+#ifndef ADXL345_H
+#define ADXL345_H
+
+#include "mbed.h"
+#include "I2C_Sensor.h"
+
+#define ADXL345_I2C_ADDRESS    0xA6
+//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_I2C_ADDRESS    0x3A 
+
+// 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
+
+#define ADXL345_X           0x00
+#define ADXL345_Y           0x01
+#define ADXL345_Z           0x02
+
+typedef char byte;
+
+class ADXL345 : public I2C_Sensor
+{
+    public:
+        ADXL345(PinName sda, PinName scl);                  // constructor, uses I2C_Sensor class
+        virtual void read();                                // read all axis to array
+        
+        float offset[3];                                    // offset that's subtracted from every measurement
+        void calibrate(int times, float separation_time);   // calibration from 'times' measurements with 'separation_time' time between (get an offset while not moving)
+       
+    private:
+        virtual void readraw();
+};
+
+#endif