Manuel Caballero
/
ADXL345
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ADXL345.h
- Committer:
- mcm
- Date:
- 2017-08-19
- Revision:
- 1:186b5a33dce3
- Parent:
- 0:5e0fa5be068d
- Child:
- 2:b96d481934ae
File content as of revision 1:186b5a33dce3:
/**
* @brief ADXL345.h
* @details 3-Axis, ±2 g/±4 g/±8 g/±16 g Digital Accelerometer.
* Header file.
*
*
* @return NA
*
* @author Manuel Caballero
* @date 19/August/2017
* @version 19/August/2017 The ORIGIN
* @pre Although the ADXL345 can be handled by SPI or I2C, this library is only
* adapted to be used by I2C.
* @pre FIFO functions are NOT implemented.
* @warning NaN
* @pre This code belongs to AqueronteBlog ( http://unbarquero.blogspot.com ).
*/
#ifndef ADXL345_H
#define ADXL345_H
#include "mbed.h"
/**
Example:
#include "mbed.h"
#include "ADXL345.h"
// ADXL345 myLightSensor ( I2C_SDA, I2C_SCL, ADXL345::ADXL345_ADDR_L, 400000 ); //[todo]
Serial pc ( USBTX, USBRX ); // tx, rx
Ticker serial;
DigitalOut myled(LED1);
void sendDATA ( void )
{
float myLux = 0;
myled = 0;
// pc.printf( "Lux: %0.1f\r\n", myLux );
myled = 1;
}
int main() {
pc.baud ( 115200 );
serial.attach( &sendDATA, 0.5 ); // the address of the function to be attached ( sendDATA ) and the interval ( 0.5s )
// Let the callbacks take care of everything
while(1) sleep();
}
*/
/*!
Library for the ADXL345 3-Axis, ±2 g/±4 g/±8 g/±16 g Digital Accelerometer.
*/
class ADXL345
{
public:
/**
* @brief DEFAULT ADDRESSES
*/
typedef enum {
ADXL345_ALT_ADDRESS_LOW = ( 0x53 << 1 ), /**< Addr pin = GND */
ADXL345_ALT_ADDRESS_HIGH = ( 0x1D << 1 ) /**< Addr pin = VDD */
} ADXL345_address_t;
/**
* @brief REGISTERS MAP
*/
#define ADXL345_DEVID 0x00 /*!< Device ID */
#define ADXL345_THRESH_TAP 0x1D /*!< Tap threshold */
#define ADXL345_OFSX 0x1E /*!< X-axis offset */
#define ADXL345_OFSY 0x1F /*!< Y-axis offset */
#define ADXL345_OFSZ 0x20 /*!< Z-axis offset */
#define ADXL345_DUR 0x21 /*!< Tap duration */
#define ADXL345_LATENT 0x22 /*!< Tap latency */
#define ADXL345_WINDOW 0x23 /*!< Tap window */
#define ADXL345_THRESH_ACT 0x24 /*!< Activity threshold */
#define ADXL345_THRESH_INACT 0x25 /*!< Inactivity threshold */
#define ADXL345_TIME_INACT 0x26 /*!< Inactivity time */
#define ADXL345_ACT_INACT_CTL 0x27 /*!< Axis enable control for activity and inactivity detection */
#define ADXL345_THRESH_FF 0x28 /*!< Free-fall threshold */
#define ADXL345_TIME_FF 0x29 /*!< Free-fall time */
#define ADXL345_TAP_AXES 0x2A /*!< Axis control for single tap/double tap */
#define ADXL345_ACT_TAP_STATUS 0x2B /*!< Source of single tap/double tap */
#define ADXL345_BW_RATE 0x2C /*!< Data rate and power mode control */
#define ADXL345_POWER_CTL 0x2D /*!< Power-saving features control */
#define ADXL345_INT_ENABLE 0x2E /*!< Interrupt enable control */
#define ADXL345_INT_MAP 0x2F /*!< Interrupt mapping control */
#define ADXL345_INT_SOURCE 0x30 /*!< Source of interrupts */
#define ADXL345_DATA_FORMAT 0x31 /*!< Data format control */
#define ADXL345_DATAX0 0x32 /*!< X-Axis Data 0 */
#define ADXL345_DATAX1 0x33 /*!< X-Axis Data 1 */
#define ADXL345_DATAY0 0x34 /*!< Y-Axis Data 0 */
#define ADXL345_DATAY1 0x35 /*!< Y-Axis Data 1 */
#define ADXL345_DATAZ0 0x36 /*!< Z-Axis Data 0 */
#define ADXL345_DATAZ1 0x37 /*!< Z-Axis Data 1 */
#define ADXL345_FIFO_CTL 0x38 /*!< FIFO control */
#define ADXL345_FIFO_STATUS 0x39 /*!< FIFO status */
/* Commands Registers */
/**
* @brief DEVID
*/
#define DEVID_ID 0xE5 /*!< A fixed device ID code */
/**
* @brief ACT_INACT_CTL
*/
/* Bit 7 : ACT ac/dc ( D7 ). */
typedef enum {
ACTIVITY_DC_Enabled = 1, /*!< Activity DC-Coupled Enabled. */
ACTIVITY_AC_Enabled = 2 /*!< Activity AC-Coupled Enabled. */
} ADXL345_act_inact_ctl_activity_dc_coupled_t;
/* Bit 6 - 4 : ACT_X ( D6 ), ACT_Y ( D5 ) y ACT_Z enable ( D4 ). */
typedef enum {
ACT_X_Enabled = 1, /*!< X-axis Enabled. */
ACT_Y_Enabled = 2, /*!< Y-axis Enabled. */
ACT_Z_Enabled = 3, /*!< Z-axis Enabled. */
ACT_YZ_Enabled = 4, /*!< YZ-axis Enabled. */
ACT_XZ_Enabled = 5, /*!< XZ-axis Enabled. */
ACT_XY_Enabled = 6, /*!< XY-axis Enabled. */
ACT_XYZ_Enabled = 7, /*!< XYZ-axis Enabled. */
ACT_XYZ_Disabled = 8 /*!< XYZ-axis Disabled. */
} ADXL345_act_inact_ctl_activity_axis_t;
/* Bit 3 : INACT ac/dc ( D3 ). */
typedef enum {
INACTIVITY_DC_Enabled = 1, /*!< Inactivity DC-Coupled Enabled. */
INACTIVITY_AC_Enabled = 2 /*!< Inactivity AC-Coupled Enabled. */
} ADXL345_act_inact_ctl_inactivity_dc_coupled_t;
/* Bit 2 - 0 : INACT_X ( D2 ), INACT_X ( D1 ) y INACT_X enable ( D0 ). */
typedef enum {
INACT_X_Enabled = 1, /*!< X-axis Enabled. */
INACT_Y_Enabled = 2, /*!< Y-axis Enabled. */
INACT_Z_Enabled = 3, /*!< Z-axis Enabled. */
INACT_YZ_Enabled = 4, /*!< YZ-axis Enabled. */
INACT_XZ_Enabled = 5, /*!< XZ-axis Enabled. */
INACT_XY_Enabled = 6, /*!< XY-axis Enabled. */
INACT_XYZ_Enabled = 7, /*!< XYZ-axis Enabled. */
INACT_XYZ_Disabled = 8 /*!< XYZ-axis Disabled. */
} ADXL345_act_inact_ctl_inactivity_axis_t;
/**
* @brief TAP_AXES
*/
/* Bit 3 : SUPPRESS ( D3 ). */
typedef enum {
SUPPRESS_Enabled = 1, /*!< SUPPRESS Enabled. */
SUPPRESS_Disabled = 2 /*!< SUPPRESS Disabled. */
} ADXL345_tap_axes_suppress_t;
/* Bit 2 - 0 : TAP_X ( D2 ), TAP_Y ( D1 ) y TAP_Z enable ( D0 ). */
typedef enum {
TAP_X_Enabled = 1, /*!< X-axis Enabled. */
TAP_Y_Enabled = 2, /*!< Y-axis Enabled. */
TAP_Z_Enabled = 3, /*!< Z-axis Enabled. */
TAP_YZ_Enabled = 4, /*!< YZ-axis Enabled. */
TAP_XZ_Enabled = 5, /*!< XZ-axis Enabled. */
TAP_XY_Enabled = 6, /*!< XY-axis Enabled. */
TAP_XYZ_Enabled = 7, /*!< XYZ-axis Enabled. */
TAP_XYZ_Disabled = 8 /*!< XYZ-axis Disabled. */
} ADXL345_tap_axes_axis_t;
/**
* @brief BW_RATE
*/
/* Bit 4 : LOW_POWER ( D4 ). */
typedef enum {
BW_RATE_LOW_POWER_Enabled = true, /*!< LOW_POWER Enabled. */
BW_RATE_LOW_POWER_Disabled = false /*!< LOW_POWER Disabled. */
} AXDL345_bw_rate_low_power_t;
/* Bit 3 - 0 : RATE ( D3 - D0 ). */
/* Normal operation */
typedef enum {
BW_RATE_RATE_3200HZ = 0x0F, /*!< RATE 3200 Hz. */
BW_RATE_RATE_1600HZ = 0x0E, /*!< RATE 1600 Hz. */
BW_RATE_RATE_800HZ = 0x0D, /*!< RATE 800 Hz. */
BW_RATE_RATE_400HZ = 0x0C, /*!< RATE 400 Hz. */
BW_RATE_RATE_200HZ = 0x0B, /*!< RATE 200 Hz. */
BW_RATE_RATE_100HZ = 0x0A, /*!< RATE 100 Hz. ( DEFAULT ) */
BW_RATE_RATE_50HZ = 0x09, /*!< RATE 50 Hz. */
BW_RATE_RATE_25HZ = 0x08, /*!< RATE 25 Hz. */
BW_RATE_RATE_12_5HZ = 0x07, /*!< RATE 12.5 Hz. */
BW_RATE_RATE_6_25HZ = 0x06, /*!< RATE 6.25 Hz. */
BW_RATE_RATE_3_13HZ = 0x05, /*!< RATE 3.13 Hz. */
BW_RATE_RATE_1_56HZ = 0x04, /*!< RATE 1.56 Hz. */
BW_RATE_RATE_0_78HZ = 0x03, /*!< RATE 0.78 Hz. */
BW_RATE_RATE_0_39HZ = 0x02, /*!< RATE 0.39 Hz. */
BW_RATE_RATE_0_20HZ = 0x01, /*!< RATE 0.20 Hz. */
BW_RATE_RATE_0_10HZ = 0x00 /*!< RATE 0.10 Hz. */
} AXDL345_bw_rate_rate_t;
/**
* @brief POWER_CTL
*/
/* Bit 5 : LINK ( D5 ). */
typedef enum {
LINK_Enabled = 1, /*!< LINK Enabled. */
LINK_Disabled = 0 /*!< LINK Disabled */
} AXDL345_power_ctl_link_t;
/* Bit 4 : AUTO_SLEEP ( D4 ). */
typedef enum {
AUTO_SLEEP_Enabled = 1, /*!< AUTO_SLEEP Enabled. */
AUTO_SLEEP_Disabled = 0 /*!< AUTO_SLEEP Disabled */
} AXDL345_power_ctl_auto_sleep_t;
/* Bit 3 : MEASURE ( D3 ). */
typedef enum {
MEASURE_MODE = true, /*!< MEASURE Enabled. */
STANDBY_MODE = false /*!< MEASURE Disabled, Standby mode. */
} AXDL345_power_ctl_measure_t;
/* Bit 2 : SLEEP ( D2 ). */
typedef enum {
SLEEP_Enabled = 1, /*!< SLEEP Enabled. */
SLEEP_Disabled = 0 /*!< SLEEP Disabled */
} AXDL345_power_ctl_sleep_t;
/* Bit 1 - 0 : WAKEUP ( D1 - D0 ). */
typedef enum {
WAKEUP_FREQ_8HZ = 0, /*!< WAKEUP frequency 8Hz. */
WAKEUP_FREQ_4HZ = 1, /*!< WAKEUP frequency 4Hz. */
WAKEUP_FREQ_2HZ = 2, /*!< WAKEUP frequency 2Hz. */
WAKEUP_FREQ_1HZ = 3 /*!< WAKEUP frequency 1Hz. */
} AXDL345_power_ctl_wakeup_t;
/**
* @brief INT_MAP
*/
/* Bit 7 - 0 : */
typedef enum {
INT_DATA_READY = 0x80, /*!< Data ready. */
INT_SINGLE_TAP = 0x40, /*!< single tap. */
INT_DOUBLE_TAP = 0x20, /*!< double tap. */
INT_ACTIVITY = 0x10, /*!< activity. */
INT_INACTIVITY = 0x08, /*!< inactivity. */
INT_FREE_FALL = 0x04, /*!< Free fall. */
INT_WATERMARK = 0x02, /*!< Watermark. */
INT_OVERRUN = 0x01 /*!< Overrun. */
} AXDL345_int_map_t;
typedef enum {
INT1_PIN = 0x01, /*!< PIN 1 */
INT2_PIN = 0x02 /*!< PIN 2 */
} AXDL345_int_pin_t;
/**
* @brief DATA_FORMAT
*/
/* Bit 7 : SELF_TEST ( D7 ). */
typedef enum {
DATA_FORMAT_SELF_TEST_Enabled = true, /*!< SELF_TEST Enabled. */
DATA_FORMAT_SELF_TEST_Disabled = false /*!< SELF_TEST Disabled. */
} ADXL345_data_format_self_test_t;
/* Bit 6 : SPI ( D6 ). */
typedef enum {
DATA_FORMAT_SPI_Enabled = true, /*!< 3-wire SPI Enabled. */
DATA_FORMAT_SPI_Disabled = false /*!< 4-wire SPI Enabled. */
} ADXL345_data_format_spi_t;
/* Bit 5 : INT_INVERT ( D5 ). */
typedef enum {
DATA_FORMAT_INT_INVERT_Enabled = true, /*!< INT_INVERT Enabled. */
DATA_FORMAT_INT_INVERT_Disabled = false /*!< INT_INVERT Disabled. */
} ADXL345_data_format_int_invert_t;
/* Bit 3 : FULL_RES ( D3 ). */
typedef enum {
DATA_FORMAT_FULL_RES_Enabled = true, /*!< FULL_RES Enabled. */
DATA_FORMAT_FULL_RES_Disabled = false /*!< FULL_RES Disabled. */
} ADXL345_data_format_full_res_t;
/* Bit 2 : JUSTIFY ( D2 ). */
typedef enum {
DATA_FORMAT_JUSTIFY_Enabled = true, /*!< JUSTIFY Enabled. */
DATA_FORMAT_JUSTIFY_Disabled = false /*!< JUSTIFY Disabled. */
} ADXL345_data_format_justify_t;
/* Bit 1 - 0 : RANGE ( D1 - D0 ). */
typedef enum {
DATA_FORMAT_RANGE_2_G = 0x00, /*!< RANGE ±2g. */
DATA_FORMAT_RANGE_4_G = 0x01, /*!< RANGE ±4g. */
DATA_FORMAT_RANGE_8_G = 0x02, /*!< RANGE ±8g. */
DATA_FORMAT_RANGE_16_G = 0x03 /*!< RANGE ±16g. */
} ADXL345_data_format_range_t;
/**
* @brief FIFO_CTL
*/
/* Bit 7 - 6 : FIFO_MODE ( D7 - D6 ). */
#define FIFO_CTL_FIFO_MODE_Pos 0x07 /*!< Position of FIFO_MODE field. */
#define FIFO_CTL_FIFO_MODE_Mask 0xC0 /*!< Bit mask of FIFO_MODE field. */
#define FIFO_CTL_FIFO_MODE_BYPASS 0x00 /*!< FIFO_MODE BYPASS mode. */
#define FIFO_CTL_FIFO_MODE_FIFO 0x01 /*!< FIFO_MODE FIFO mode. */
#define FIFO_CTL_FIFO_MODE_STREAM 0x02 /*!< FIFO_MODE STREAM mode. */
#define FIFO_CTL_FIFO_MODE_TRIGGER 0x03 /*!< FIFO_MODE TRIGGER mode. */
/* Bit 5 : TRIGGER ( D5 ). */
#define TRIGGER_FIFO_MODE_Pos 0x05 /*!< Position of TRIGGER field. */
#define TRIGGER_FIFO_MODE_Mask 0x20 /*!< Bit mask of TRIGGER field. */
#define TRIGGER_FIFO_MODE_Enabled 0x01 /*!< TRIGGER Enabled. */
#define TRIGGER_FIFO_MODE_Disabled 0x00 /*!< TRIGGER Disabled. */
/**
* @brief FIFO_STATUS
*/
/* Bit 7 : FIFO_TRIG ( D7 ). */
#define FIFO_STATUS_FIFO_TRIG_Pos 0x07 /*!< Position of FIFO_TRIG field. */
#define FIFO_STATUS_FIFO_TRIG_Mask 0x80 /*!< Bit mask of FIFO_TRIG field. */
#define FIFO_STATUS_FIFO_TRIG_Enabled 0x01 /*!< FIFO_TRIG Enabled. */
#define FIFO_STATUS_FIFO_TRIG_Disabled 0x00 /*!< FIFO_TRIG Disabled. */
#ifndef VECTOR_STRUCT_H
#define VECTOR_STRUCT_H
typedef struct {
int16_t XAxis; /*!< X-axis raw data */
int16_t YAxis; /*!< Y-axis raw data */
int16_t ZAxis; /*!< Z-axis raw data */
} Vector_t; /*!< Struct to get the raw data */
typedef struct {
float Xmg_Axis; /*!< X-axis scaled data */
float Ymg_Axis; /*!< X-axis scaled data */
float Zmg_Axis; /*!< X-axis scaled data */
} Vector_f; /*!< Struct to get the scaled data */
#endif
/**
* @brief INTERNAL CONSTANTS
*/
typedef enum {
ADXL345_SUCCESS = 0, /*!< The communication was fine */
ADXL345_FAILURE = 1, /*!< Something went wrong */
I2C_SUCCESS = 0 /*!< I2C communication was fine */
} ADXL345_status_t;
/** Create an ADXL345 object connected to the specified I2C pins.
*
* @param sda I2C data pin
* @param scl I2C clock pin
* @param addr I2C slave address
* @param freq I2C frequency in Hz.
*/
ADXL345 ( PinName sda, PinName scl, uint32_t addr, uint32_t freq );
/** Delete ADXL345 object.
*/
~ADXL345();
/** It configures the device.
*/
ADXL345_status_t ADXL345_Init ( AXDL345_bw_rate_low_power_t LOWPOWER, AXDL345_bw_rate_rate_t RATE,
ADXL345_data_format_int_invert_t INT_INVERT, ADXL345_data_format_full_res_t FULLRESOLUTION, ADXL345_data_format_justify_t JUSTIFY,
ADXL345_data_format_range_t RANGE );
/** It sets the device in Standby mode or Measure mode.
*/
ADXL345_status_t ADXL345_PowerMode ( AXDL345_power_ctl_measure_t MEASUREMODE );
/** It gets the device ID
*/
ADXL345_status_t ADXL345_GetID ( uint8_t* myID );
/** It gets the range.
*/
ADXL345_status_t ADXL345_GetRange ( ADXL345_data_format_range_t* myRANGE );
/** It sets the range.
*/
ADXL345_status_t ADXL345_SetRange ( ADXL345_data_format_range_t myRANGE );
/** It gets the rate.
*/
ADXL345_status_t ADXL345_GetRate ( AXDL345_bw_rate_rate_t* myRATE );
/** It sets the rate.
*/
ADXL345_status_t ADXL345_SetRate ( AXDL345_bw_rate_rate_t myRATE );
/** It reads the raw data.
*/
ADXL345_status_t ADXL345_ReadRawData ( Vector_t* myXYZVector );
/** It reads the scaled data.
*/
ADXL345_status_t ADXL345_ReadScaledData ( Vector_f* myScaled_XYZVector );
/** It sets the free fall threshold.
*/
ADXL345_status_t ADXL345_SetFreeFallThreshold ( uint8_t myThreshold );
/** It sets the free fall duration.
*/
ADXL345_status_t ADXL345_SetFreeFallDuration ( uint8_t myDuration );
/** It sets the tap threshold.
*/
ADXL345_status_t ADXL345_SetTapThreshold ( uint8_t myThreshold );
/** It sets the tap duration.
*/
ADXL345_status_t ADXL345_SetTapDuration ( uint8_t myDuration );
/** It sets the douvble tap latency.
*/
ADXL345_status_t ADXL345_SetDoubleTapLatency ( uint8_t myLatency );
/** It sets the double tap window.
*/
ADXL345_status_t ADXL345_SetDoubleTapWindow ( uint8_t myWindow );
/** It sets the tap axis.
*/
ADXL345_status_t ADXL345_SetTap_Axis ( ADXL345_tap_axes_axis_t myAxisEnabled );
/** It sets the suppress for double tap.
*/
ADXL345_status_t ADXL345_SetDouble_Suppress ( ADXL345_tap_axes_suppress_t mySuppressEnabled );
/** It sets the activity threshold.
*/
ADXL345_status_t ADXL345_SetActivityThreshold ( uint8_t myActivityThreshold );
/** It sets the activity AC or DC coupled.
*/
ADXL345_status_t ADXL345_SetActivity_AC_DC_Coupled ( ADXL345_act_inact_ctl_activity_dc_coupled_t myDC_Coupled );
/** It sets the activity axis.
*/
ADXL345_status_t ADXL345_SetActivity_Axis ( ADXL345_act_inact_ctl_activity_axis_t myAxisEnabled );
/** It reads the ACT_TAP status register.
*/
ADXL345_status_t ADXL345_Read_ACT_TAP_STATUS ( uint8_t* myACT_TAP_STATUS );
/** It sets the inactivity threshold.
*/
ADXL345_status_t ADXL345_SetInactivityThreshold ( uint8_t myInactivityThreshold );
/** It sets the inactivity time.
*/
ADXL345_status_t ADXL345_SetTimeInactivity ( uint8_t myTimeInactivity );
/** It sets the inactivity AC or DC coupled.
*/
ADXL345_status_t ADXL345_SetInactivity_AC_DC_Coupled ( ADXL345_act_inact_ctl_inactivity_dc_coupled_t myDC_Coupled );
/** It sets the inactivity axis.
*/
ADXL345_status_t ADXL345_SetInactivity_Axis ( ADXL345_act_inact_ctl_inactivity_axis_t myAxisEnabled );
/** It sets the interrupt map.
*/
ADXL345_status_t ADXL345_SetInterruptsMap ( AXDL345_int_map_t myInterruptsMap, AXDL345_int_pin_t myInterruptPin );
/** It enables the interrupts.
*/
ADXL345_status_t ADXL345_EnableInterrupts ( AXDL345_int_map_t myInterruptsEnabled );
/** It reads the interrupt sources.
*/
ADXL345_status_t ADXL345_ReadInterruptSource ( uint8_t* myIntSource );
private:
I2C i2c;
uint32_t ADXL345_Addr;
};
#endif