This library enables users to communicate with the ADXL345 accelerometer through the I2C bus on the mbed. The API names are similar and work nearly the same way as those made in the SPI libraries for the ADXL345.
ADXL345_I2C.h
00001 /** 00002 * @author Peter Swanson 00003 * A personal note from me: Jesus Christ has changed my life so much it blows my mind. I say this because 00004 * today, religion is thought of as something that you do or believe and has about as 00005 * little impact on a person as their political stance. But for me, God gives me daily 00006 * strength and has filled my life with the satisfaction that I could never find in any 00007 * of the other things that I once looked for it in. 00008 * If your interested, heres verse that changed my life: 00009 * Rom 8:1-3: "Therefore, there is now no condemnation for those who are in Christ Jesus, 00010 * because through Christ Jesus, the law of the Spirit who gives life has set 00011 * me free from the law of sin (which brings...) and death. For what the law 00012 * was powerless to do in that it was weakened by the flesh, God did by sending 00013 * His own Son in the likeness of sinful flesh to be a sin offering. And so He 00014 * condemned sin in the flesh in order that the righteous requirements of the 00015 * (God's) law might be fully met in us, who live not according to the flesh 00016 * but according to the Spirit." 00017 * 00018 * A special thanks to Ewout van Bekkum for all his patient help in developing this library! 00019 * 00020 * @section LICENSE 00021 * 00022 * Permission is hereby granted, free of charge, to any person obtaining a copy 00023 * of this software and associated documentation files (the "Software"), to deal 00024 * in the Software without restriction, including without limitation the rights 00025 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 00026 * copies of the Software, and to permit persons to whom the Software is 00027 * furnished to do so, subject to the following conditions: 00028 * 00029 * The above copyright notice and this permission notice shall be included in 00030 * all copies or substantial portions of the Software. 00031 * 00032 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00033 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00034 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 00035 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00036 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00037 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 00038 * THE SOFTWARE. 00039 * 00040 * @section DESCRIPTION 00041 * 00042 * ADXL345, triple axis, I2C interface, accelerometer. 00043 * 00044 * Datasheet: 00045 * 00046 * http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf 00047 */ 00048 00049 00050 00051 #ifndef ADXL345_I2C_H 00052 #define ADXL345_I2C_H 00053 00054 /** 00055 * Includes 00056 */ 00057 #include "mbed.h" 00058 00059 /** 00060 * Defines 00061 */ 00062 //Registers. 00063 #define ADXL345_DEVID_REG 0x00 00064 #define ADXL345_THRESH_TAP_REG 0x1D 00065 #define ADXL345_OFSX_REG 0x1E 00066 #define ADXL345_OFSY_REG 0x1F 00067 #define ADXL345_OFSZ_REG 0x20 00068 #define ADXL345_DUR_REG 0x21 00069 #define ADXL345_LATENT_REG 0x22 00070 #define ADXL345_WINDOW_REG 0x23 00071 #define ADXL345_THRESH_ACT_REG 0x24 00072 #define ADXL345_THRESH_INACT_REG 0x25 00073 #define ADXL345_TIME_INACT_REG 0x26 00074 #define ADXL345_ACT_INACT_CTL_REG 0x27 00075 #define ADXL345_THRESH_FF_REG 0x28 00076 #define ADXL345_TIME_FF_REG 0x29 00077 #define ADXL345_TAP_AXES_REG 0x2A 00078 #define ADXL345_ACT_TAP_STATUS_REG 0x2B 00079 #define ADXL345_BW_RATE_REG 0x2C 00080 #define ADXL345_POWER_CTL_REG 0x2D 00081 #define ADXL345_INT_ENABLE_REG 0x2E 00082 #define ADXL345_INT_MAP_REG 0x2F 00083 #define ADXL345_INT_SOURCE_REG 0x30 00084 #define ADXL345_DATA_FORMAT_REG 0x31 00085 #define ADXL345_DATAX0_REG 0x32 00086 #define ADXL345_DATAX1_REG 0x33 00087 #define ADXL345_DATAY0_REG 0x34 00088 #define ADXL345_DATAY1_REG 0x35 00089 #define ADXL345_DATAZ0_REG 0x36 00090 #define ADXL345_DATAZ1_REG 0x37 00091 #define ADXL345_FIFO_CTL 0x38 00092 #define ADXL345_FIFO_STATUS 0x39 00093 00094 //Data rate codes. 00095 #define ADXL345_3200HZ 0x0F 00096 #define ADXL345_1600HZ 0x0E 00097 #define ADXL345_800HZ 0x0D 00098 #define ADXL345_400HZ 0x0C 00099 #define ADXL345_200HZ 0x0B 00100 #define ADXL345_100HZ 0x0A 00101 #define ADXL345_50HZ 0x09 00102 #define ADXL345_25HZ 0x08 00103 #define ADXL345_12HZ5 0x07 00104 #define ADXL345_6HZ25 0x06 00105 00106 // read or write bytes 00107 #define ADXL345_I2C_READ 0xA7 00108 #define ADXL345_I2C_WRITE 0xA6 00109 #define ADXL345_I2C_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 00110 00111 /////////////when ALT ADDRESS pin is high: 00112 //#define ADXL345_I2C_READ 0x3B 00113 //#define ADXL345_I2C_WRITE 0x3A 00114 //#define ADXL345_I2C_ADDRESS 0x1D 00115 00116 #define ADXL345_X 0x00 00117 #define ADXL345_Y 0x01 00118 #define ADXL345_Z 0x02 00119 00120 00121 00122 // modes 00123 #define MeasurementMode 0x08 00124 00125 00126 00127 00128 00129 00130 00131 class ADXL345_I2C { 00132 00133 public: 00134 00135 /** 00136 * Constructor. 00137 * 00138 * @param mosi mbed pin to use for SDA line of I2C interface. 00139 * @param sck mbed pin to use for SCL line of I2C interface. 00140 */ 00141 ADXL345_I2C(PinName sda, PinName scl); 00142 00143 /** 00144 * Get the output of all three axes. 00145 * 00146 * @param Pointer to a buffer to hold the accelerometer value for the 00147 * x-axis, y-axis and z-axis [in that order]. 00148 */ 00149 void getOutput(int* readings); 00150 00151 /** 00152 * Read the device ID register on the device. 00153 * 00154 * @return The device ID code [0xE5] 00155 */ 00156 char getDeviceID(void); 00157 00158 00159 00160 /** 00161 * Set the power mode. 00162 * 00163 * @param mode 0 -> Normal operation. 00164 * 1 -> Reduced power operation. 00165 */ 00166 int setPowerMode(char mode); 00167 00168 /** 00169 * Set the power control settings. 00170 * 00171 * See datasheet for details. 00172 * 00173 * @param The control byte to write to the POWER_CTL register. 00174 */ 00175 int setPowerControl(char settings); 00176 /** 00177 * Get the power control settings. 00178 * 00179 * See datasheet for details. 00180 * 00181 * @return The contents of the POWER_CTL register. 00182 */ 00183 char getPowerControl(void); 00184 00185 00186 /** 00187 * Get the data format settings. 00188 * 00189 * @return The contents of the DATA_FORMAT register. 00190 */ 00191 00192 char getDataFormatControl(void); 00193 00194 /** 00195 * Set the data format settings. 00196 * 00197 * @param settings The control byte to write to the DATA_FORMAT register. 00198 */ 00199 int setDataFormatControl(char settings); 00200 00201 /** 00202 * Set the data rate. 00203 * 00204 * @param rate The rate code (see #defines or datasheet). 00205 */ 00206 int setDataRate(char rate); 00207 00208 00209 /** 00210 * Get the current offset for a particular axis. 00211 * 00212 * @param axis 0x00 -> X-axis 00213 * 0x01 -> Y-axis 00214 * 0x02 -> Z-axis 00215 * @return The current offset as an 8-bit 2's complement number with scale 00216 * factor 15.6mg/LSB. 00217 */ 00218 00219 char getOffset(char axis); 00220 00221 /** 00222 * Set the offset for a particular axis. 00223 * 00224 * @param axis 0x00 -> X-axis 00225 * 0x01 -> Y-axis 00226 * 0x02 -> Z-axis 00227 * @param offset The offset as an 8-bit 2's complement number with scale 00228 * factor 15.6mg/LSB. 00229 */ 00230 int setOffset(char axis, char offset); 00231 00232 00233 00234 /** 00235 * Get the FIFO control settings. 00236 * 00237 * @return The contents of the FIFO_CTL register. 00238 */ 00239 char getFifoControl(void); 00240 00241 /** 00242 * Set the FIFO control settings. 00243 * 00244 * @param The control byte to write to the FIFO_CTL register. 00245 */ 00246 int setFifoControl(char settings); 00247 00248 /** 00249 * Get FIFO status. 00250 * 00251 * @return The contents of the FIFO_STATUS register. 00252 */ 00253 char getFifoStatus(void); 00254 00255 /** 00256 * Read the tap threshold on the device. 00257 * 00258 * @return The tap threshold as an 8-bit number with a scale factor of 00259 * 62.5mg/LSB. 00260 */ 00261 char getTapThreshold(void); 00262 00263 /** 00264 * Set the tap threshold. 00265 * 00266 * @param The tap threshold as an 8-bit number with a scale factor of 00267 * 62.5mg/LSB. 00268 */ 00269 int setTapThreshold(char threshold); 00270 00271 /** 00272 * Get the tap duration required to trigger an event. 00273 * 00274 * @return The max time that an event must be above the tap threshold to 00275 * qualify as a tap event, in microseconds. 00276 */ 00277 float getTapDuration(void); 00278 00279 /** 00280 * Set the tap duration required to trigger an event. 00281 * 00282 * @param duration_us The max time that an event must be above the tap 00283 * threshold to qualify as a tap event, in microseconds. 00284 * Time will be normalized by the scale factor which is 00285 * 625us/LSB. A value of 0 disables the single/double 00286 * tap functions. 00287 */ 00288 int setTapDuration(short int duration_us); 00289 00290 /** 00291 * Get the tap latency between the detection of a tap and the time window. 00292 * 00293 * @return The wait time from the detection of a tap event to the start of 00294 * the time window during which a possible second tap event can be 00295 * detected in milliseconds. 00296 */ 00297 float getTapLatency(void); 00298 00299 /** 00300 * Set the tap latency between the detection of a tap and the time window. 00301 * 00302 * @param latency_ms The wait time from the detection of a tap event to the 00303 * start of the time window during which a possible 00304 * second tap event can be detected in milliseconds. 00305 * A value of 0 disables the double tap function. 00306 */ 00307 int setTapLatency(short int latency_ms); 00308 00309 /** 00310 * Get the time of window between tap latency and a double tap. 00311 * 00312 * @return The amount of time after the expiration of the latency time 00313 * during which a second valid tap can begin, in milliseconds. 00314 */ 00315 float getWindowTime(void); 00316 00317 /** 00318 * Set the time of the window between tap latency and a double tap. 00319 * 00320 * @param window_ms The amount of time after the expiration of the latency 00321 * time during which a second valid tap can begin, 00322 * in milliseconds. 00323 */ 00324 int setWindowTime(short int window_ms); 00325 00326 /** 00327 * Get the threshold value for detecting activity. 00328 * 00329 * @return The threshold value for detecting activity as an 8-bit number. 00330 * Scale factor is 62.5mg/LSB. 00331 */ 00332 char getActivityThreshold(void); 00333 00334 /** 00335 * Set the threshold value for detecting activity. 00336 * 00337 * @param threshold The threshold value for detecting activity as an 8-bit 00338 * number. Scale factor is 62.5mg/LSB. A value of 0 may 00339 * result in undesirable behavior if the activity 00340 * interrupt is enabled. 00341 */ 00342 int setActivityThreshold(char threshold); 00343 00344 /** 00345 * Get the threshold value for detecting inactivity. 00346 * 00347 * @return The threshold value for detecting inactivity as an 8-bit number. 00348 * Scale factor is 62.5mg/LSB. 00349 */ 00350 char getInactivityThreshold(void); 00351 00352 /** 00353 * Set the threshold value for detecting inactivity. 00354 * 00355 * @param threshold The threshold value for detecting inactivity as an 00356 * 8-bit number. Scale factor is 62.5mg/LSB. 00357 */ 00358 int setInactivityThreshold(char threshold); 00359 00360 /** 00361 * Get the time required for inactivity to be declared. 00362 * 00363 * @return The amount of time that acceleration must be less than the 00364 * inactivity threshold for inactivity to be declared, in 00365 * seconds. 00366 */ 00367 char getTimeInactivity(void); 00368 00369 /** 00370 * Set the time required for inactivity to be declared. 00371 * 00372 * @param inactivity The amount of time that acceleration must be less than 00373 * the inactivity threshold for inactivity to be 00374 * declared, in seconds. A value of 0 results in an 00375 * interrupt when the output data is less than the 00376 * threshold inactivity. 00377 */ 00378 int setTimeInactivity(char timeInactivity); 00379 00380 /** 00381 * Get the activity/inactivity control settings. 00382 * 00383 * D7 D6 D5 D4 00384 * +-----------+--------------+--------------+--------------+ 00385 * | ACT ac/dc | ACT_X enable | ACT_Y enable | ACT_Z enable | 00386 * +-----------+--------------+--------------+--------------+ 00387 * 00388 * D3 D2 D1 D0 00389 * +-------------+----------------+----------------+----------------+ 00390 * | INACT ac/dc | INACT_X enable | INACT_Y enable | INACT_Z enable | 00391 * +-------------+----------------+----------------+----------------+ 00392 * 00393 * See datasheet for details. 00394 * 00395 * @return The contents of the ACT_INACT_CTL register. 00396 */ 00397 char getActivityInactivityControl(void); 00398 00399 /** 00400 * Set the activity/inactivity control settings. 00401 * 00402 * D7 D6 D5 D4 00403 * +-----------+--------------+--------------+--------------+ 00404 * | ACT ac/dc | ACT_X enable | ACT_Y enable | ACT_Z enable | 00405 * +-----------+--------------+--------------+--------------+ 00406 * 00407 * D3 D2 D1 D0 00408 * +-------------+----------------+----------------+----------------+ 00409 * | INACT ac/dc | INACT_X enable | INACT_Y enable | INACT_Z enable | 00410 * +-------------+----------------+----------------+----------------+ 00411 * 00412 * See datasheet for details. 00413 * 00414 * @param settings The control byte to write to the ACT_INACT_CTL register. 00415 */ 00416 int setActivityInactivityControl(char settings); 00417 00418 /** 00419 * Get the threshold for free fall detection. 00420 * 00421 * @return The threshold value for free-fall detection, as an 8-bit number, 00422 * with scale factor 62.5mg/LSB. 00423 */ 00424 char getFreefallThreshold(void); 00425 00426 /** 00427 * Set the threshold for free fall detection. 00428 * 00429 * @return The threshold value for free-fall detection, as an 8-bit number, 00430 * with scale factor 62.5mg/LSB. A value of 0 may result in 00431 * undesirable behavior if the free-fall interrupt is enabled. 00432 * Values between 300 mg and 600 mg (0x05 to 0x09) are recommended. 00433 */ 00434 int setFreefallThreshold(char threshold); 00435 00436 /** 00437 * Get the time required to generate a free fall interrupt. 00438 * 00439 * @return The minimum time that the value of all axes must be less than 00440 * the freefall threshold to generate a free-fall interrupt, in 00441 * milliseconds. 00442 */ 00443 char getFreefallTime(void); 00444 00445 /** 00446 * Set the time required to generate a free fall interrupt. 00447 * 00448 * @return The minimum time that the value of all axes must be less than 00449 * the freefall threshold to generate a free-fall interrupt, in 00450 * milliseconds. A value of 0 may result in undesirable behavior 00451 * if the free-fall interrupt is enabled. Values between 100 ms 00452 * and 350 ms (0x14 to 0x46) are recommended. 00453 */ 00454 int setFreefallTime(short int freefallTime_ms); 00455 00456 /** 00457 * Get the axis tap settings. 00458 * 00459 * D3 D2 D1 D0 00460 * +----------+--------------+--------------+--------------+ 00461 * | Suppress | TAP_X enable | TAP_Y enable | TAP_Z enable | 00462 * +----------+--------------+--------------+--------------+ 00463 * 00464 * (D7-D4 are 0s). 00465 * 00466 * See datasheet for more details. 00467 * 00468 * @return The contents of the TAP_AXES register. 00469 */ 00470 char getTapAxisControl(void); 00471 00472 /** 00473 * Set the axis tap settings. 00474 * 00475 * D3 D2 D1 D0 00476 * +----------+--------------+--------------+--------------+ 00477 * | Suppress | TAP_X enable | TAP_Y enable | TAP_Z enable | 00478 * +----------+--------------+--------------+--------------+ 00479 * 00480 * (D7-D4 are 0s). 00481 * 00482 * See datasheet for more details. 00483 * 00484 * @param The control byte to write to the TAP_AXES register. 00485 */ 00486 int setTapAxisControl(char settings); 00487 00488 /** 00489 * Get the source of a tap. 00490 * 00491 * @return The contents of the ACT_TAP_STATUS register. 00492 */ 00493 char getTapSource(void); 00494 00495 /** 00496 * Get the interrupt enable settings. 00497 * 00498 * @return The contents of the INT_ENABLE register. 00499 */ 00500 00501 char getInterruptEnableControl(void); 00502 00503 /** 00504 * Set the interrupt enable settings. 00505 * 00506 * @param settings The control byte to write to the INT_ENABLE register. 00507 */ 00508 int setInterruptEnableControl(char settings); 00509 00510 /** 00511 * Get the interrupt mapping settings. 00512 * 00513 * @return The contents of the INT_MAP register. 00514 */ 00515 char getInterruptMappingControl(void); 00516 00517 /** 00518 * Set the interrupt mapping settings. 00519 * 00520 * @param settings The control byte to write to the INT_MAP register. 00521 */ 00522 int setInterruptMappingControl(char settings); 00523 00524 /** 00525 * Get the interrupt source. 00526 * 00527 * @return The contents of the INT_SOURCE register. 00528 */ 00529 char getInterruptSource(void); 00530 00531 00532 private: 00533 00534 I2C i2c_; 00535 00536 00537 /** 00538 * Read one byte from a register on the device. 00539 * 00540 * @param: - the address to be read from 00541 * 00542 * @return: the value of the data read 00543 */ 00544 char SingleByteRead(char address); 00545 00546 /** 00547 * Write one byte to a register on the device. 00548 * 00549 * @param: 00550 - address of the register to write to. 00551 - the value of the data to store 00552 */ 00553 00554 00555 int SingleByteWrite(char address, char data); 00556 00557 /** 00558 * Read several consecutive bytes on the device and store them in a given location. 00559 * 00560 * @param startAddress: The address of the first register to read from. 00561 * @param ptr_output: a pointer to the location to store the data being read 00562 * @param size: The number of bytes to read. 00563 */ 00564 void multiByteRead(char startAddress, char* ptr_output, int size); 00565 00566 /** 00567 * Write several consecutive bytes on the device. 00568 * 00569 * @param startAddress: The address of the first register to write to. 00570 * @param ptr_data: Pointer to a location which contains the data to write. 00571 * @param size: The number of bytes to write. 00572 */ 00573 int multiByteWrite(char startAddress, char* ptr_data, int size); 00574 00575 }; 00576 00577 #endif /* ADXL345_I2C_H */
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