Josh Schrader
Controller for smartbot and drawbot
Revision 0:43ba2b4b613b, committed 2012-12-14
- Comitter:
- theschrade54
- Date:
- Fri Dec 14 05:03:08 2012 +0000
- Commit message:
- Etch Sketch Controller
Changed in this revision
diff -r 000000000000 -r 43ba2b4b613b ADXL345/ADXL345.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ADXL345/ADXL345.cpp Fri Dec 14 05:03:08 2012 +0000
@@ -0,0 +1,405 @@
+/**
+ * @author Aaron Berk
+ *
+ * @section LICENSE
+ *
+ * Copyright (c) 2010 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * @section DESCRIPTION
+ *
+ * ADXL345, triple axis, digital interface, accelerometer.
+ *
+ * Datasheet:
+ *
+ * http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf
+ */
+
+/**
+ * Includes
+ */
+#include "ADXL345.h"
+
+ADXL345::ADXL345(PinName mosi,
+ PinName miso,
+ PinName sck,
+ PinName cs) : spi_(mosi, miso, sck), nCS_(cs) {
+
+ //2MHz, allowing us to use the fastest data rates.
+ spi_.frequency(2000000);
+ spi_.format(8,3);
+
+ nCS_ = 1;
+
+ wait_us(500);
+
+}
+
+int ADXL345::getDevId(void) {
+
+ return oneByteRead(ADXL345_DEVID_REG);
+
+}
+
+int ADXL345::getTapThreshold(void) {
+
+ return oneByteRead(ADXL345_THRESH_TAP_REG);
+
+}
+
+void ADXL345::setTapThreshold(int threshold) {
+
+ oneByteWrite(ADXL345_THRESH_TAP_REG, threshold);
+
+}
+
+int ADXL345::getOffset(int axis) {
+
+ int 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 oneByteRead(address);
+
+}
+
+void ADXL345::setOffset(int axis, char offset) {
+
+ int 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 oneByteWrite(address, offset);
+
+}
+
+int ADXL345::getTapDuration(void) {
+
+ return oneByteRead(ADXL345_DUR_REG)*625;
+
+}
+
+void ADXL345::setTapDuration(int duration_us) {
+
+ int tapDuration = duration_us / 625;
+
+ oneByteWrite(ADXL345_DUR_REG, tapDuration);
+
+}
+
+float ADXL345::getTapLatency(void) {
+
+ return oneByteRead(ADXL345_LATENT_REG)*1.25;
+
+}
+
+void ADXL345::setTapLatency(int latency_ms) {
+
+ int tapLatency = latency_ms / 1.25;
+
+ oneByteWrite(ADXL345_LATENT_REG, tapLatency);
+
+}
+
+float ADXL345::getWindowTime(void) {
+
+ return oneByteRead(ADXL345_WINDOW_REG)*1.25;
+
+}
+
+void ADXL345::setWindowTime(int window_ms) {
+
+ int windowTime = window_ms / 1.25;
+
+ oneByteWrite(ADXL345_WINDOW_REG, windowTime);
+
+}
+
+int ADXL345::getActivityThreshold(void) {
+
+ return oneByteRead(ADXL345_THRESH_ACT_REG);
+
+}
+
+void ADXL345::setActivityThreshold(int threshold) {
+
+ oneByteWrite(ADXL345_THRESH_ACT_REG, threshold);
+
+}
+
+int ADXL345::getInactivityThreshold(void) {
+
+ return oneByteRead(ADXL345_THRESH_INACT_REG);
+
+}
+
+void ADXL345::setInactivityThreshold(int threshold) {
+
+ return oneByteWrite(ADXL345_THRESH_INACT_REG, threshold);
+
+}
+
+int ADXL345::getTimeInactivity(void) {
+
+ return oneByteRead(ADXL345_TIME_INACT_REG);
+
+}
+
+void ADXL345::setTimeInactivity(int timeInactivity) {
+
+ oneByteWrite(ADXL345_TIME_INACT_REG, timeInactivity);
+
+}
+
+int ADXL345::getActivityInactivityControl(void) {
+
+ return oneByteRead(ADXL345_ACT_INACT_CTL_REG);
+
+}
+
+void ADXL345::setActivityInactivityControl(int settings) {
+
+ oneByteWrite(ADXL345_ACT_INACT_CTL_REG, settings);
+
+}
+
+int ADXL345::getFreefallThreshold(void) {
+
+ return oneByteRead(ADXL345_THRESH_FF_REG);
+
+}
+
+void ADXL345::setFreefallThreshold(int threshold) {
+
+ oneByteWrite(ADXL345_THRESH_FF_REG, threshold);
+
+}
+
+int ADXL345::getFreefallTime(void) {
+
+ return oneByteRead(ADXL345_TIME_FF_REG)*5;
+
+}
+
+void ADXL345::setFreefallTime(int freefallTime_ms) {
+
+ int freefallTime = freefallTime_ms / 5;
+
+ oneByteWrite(ADXL345_TIME_FF_REG, freefallTime);
+
+}
+
+int ADXL345::getTapAxisControl(void) {
+
+ return oneByteRead(ADXL345_TAP_AXES_REG);
+
+}
+
+void ADXL345::setTapAxisControl(int settings) {
+
+ oneByteWrite(ADXL345_TAP_AXES_REG, settings);
+
+}
+
+int ADXL345::getTapSource(void) {
+
+ return oneByteRead(ADXL345_ACT_TAP_STATUS_REG);
+
+}
+
+void ADXL345::setPowerMode(char mode) {
+
+ //Get the current register contents, so we don't clobber the rate value.
+ char registerContents = oneByteRead(ADXL345_BW_RATE_REG);
+
+ registerContents = (mode << 4) | registerContents;
+
+ oneByteWrite(ADXL345_BW_RATE_REG, registerContents);
+
+}
+
+int ADXL345::getPowerControl(void) {
+
+ return oneByteRead(ADXL345_POWER_CTL_REG);
+
+}
+
+void ADXL345::setPowerControl(int settings) {
+
+ oneByteWrite(ADXL345_POWER_CTL_REG, settings);
+
+}
+
+int ADXL345::getInterruptEnableControl(void) {
+
+ return oneByteRead(ADXL345_INT_ENABLE_REG);
+
+}
+
+void ADXL345::setInterruptEnableControl(int settings) {
+
+ oneByteWrite(ADXL345_INT_ENABLE_REG, settings);
+
+}
+
+int ADXL345::getInterruptMappingControl(void) {
+
+ return oneByteRead(ADXL345_INT_MAP_REG);
+
+}
+
+void ADXL345::setInterruptMappingControl(int settings) {
+
+ oneByteWrite(ADXL345_INT_MAP_REG, settings);
+
+}
+
+int ADXL345::getInterruptSource(void){
+
+ return oneByteRead(ADXL345_INT_SOURCE_REG);
+
+}
+
+int ADXL345::getDataFormatControl(void){
+
+ return oneByteRead(ADXL345_DATA_FORMAT_REG);
+
+}
+
+void ADXL345::setDataFormatControl(int settings){
+
+ oneByteWrite(ADXL345_DATA_FORMAT_REG, settings);
+
+}
+
+void ADXL345::setDataRate(int rate) {
+
+ //Get the current register contents, so we don't clobber the power bit.
+ char registerContents = oneByteRead(ADXL345_BW_RATE_REG);
+
+ registerContents &= 0x10;
+ registerContents |= rate;
+
+ oneByteWrite(ADXL345_BW_RATE_REG, registerContents);
+
+}
+
+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];
+
+}
+
+int ADXL345::getFifoControl(void){
+
+ return oneByteRead(ADXL345_FIFO_CTL);
+
+}
+
+void ADXL345::setFifoControl(int settings){
+
+ oneByteWrite(ADXL345_FIFO_STATUS, settings);
+
+}
+
+int ADXL345::getFifoStatus(void){
+
+ return oneByteRead(ADXL345_FIFO_STATUS);
+
+}
+
+int ADXL345::oneByteRead(int address) {
+
+ int tx = (ADXL345_SPI_READ | (address & 0x3F));
+ int rx = 0;
+
+ nCS_ = 0;
+ //Send address to read from.
+ spi_.write(tx);
+ //Read back contents of address.
+ rx = spi_.write(0x00);
+ nCS_ = 1;
+
+ return rx;
+
+}
+
+void ADXL345::oneByteWrite(int address, char data) {
+
+ int tx = (ADXL345_SPI_WRITE | (address & 0x3F));
+
+ nCS_ = 0;
+ //Send address to write to.
+ spi_.write(tx);
+ //Send data to be written.
+ spi_.write(data);
+ nCS_ = 1;
+
+}
+
+void ADXL345::multiByteRead(int startAddress, char* buffer, int size) {
+
+ int tx = (ADXL345_SPI_READ | ADXL345_MULTI_BYTE | (startAddress & 0x3F));
+
+ nCS_ = 0;
+ //Send address to start reading from.
+ spi_.write(tx);
+
+ for (int i = 0; i < size; i++) {
+ buffer[i] = spi_.write(0x00);
+ }
+
+ nCS_ = 1;
+
+}
+
+void ADXL345::multiByteWrite(int startAddress, char* buffer, int size) {
+
+ int tx = (ADXL345_SPI_WRITE | ADXL345_MULTI_BYTE | (startAddress & 0x3F));
+
+ nCS_ = 0;
+ //Send address to start reading from.
+ spi_.write(tx);
+
+ for (int i = 0; i < size; i++) {
+ buffer[i] = spi_.write(0x00);
+ }
+
+ nCS_ = 1;
+
+}
diff -r 000000000000 -r 43ba2b4b613b ADXL345/ADXL345.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ADXL345/ADXL345.h Fri Dec 14 05:03:08 2012 +0000
@@ -0,0 +1,537 @@
+/**
+ * @author Aaron Berk
+ *
+ * @section LICENSE
+ *
+ * Copyright (c) 2010 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * @section DESCRIPTION
+ *
+ * ADXL345, triple axis, digital interface, accelerometer.
+ *
+ * Datasheet:
+ *
+ * http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf
+ */
+
+#ifndef ADXL345_H
+#define ADXL345_H
+
+/**
+ * Includes
+ */
+#include "mbed.h"
+
+/**
+ * Defines
+ */
+//Registers.
+#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
+
+//Data rate codes.
+#define ADXL345_3200HZ 0x0F
+#define ADXL345_1600HZ 0x0E
+#define ADXL345_800HZ 0x0D
+#define ADXL345_400HZ 0x0C
+#define ADXL345_200HZ 0x0B
+#define ADXL345_100HZ 0x0A
+#define ADXL345_50HZ 0x09
+#define ADXL345_25HZ 0x08
+#define ADXL345_12HZ5 0x07
+#define ADXL345_6HZ25 0x06
+
+#define ADXL345_SPI_READ 0x80
+#define ADXL345_SPI_WRITE 0x00
+#define ADXL345_MULTI_BYTE 0x60
+
+#define ADXL345_X 0x00
+#define ADXL345_Y 0x01
+#define ADXL345_Z 0x02
+
+/**
+ * ADXL345 triple axis, digital interface, accelerometer.
+ */
+class ADXL345 {
+
+public:
+
+ /**
+ * Constructor.
+ *
+ * @param mosi mbed pin to use for MOSI line of SPI interface.
+ * @param miso mbed pin to use for MISO line of SPI interface.
+ * @param sck mbed pin to use for SCK line of SPI interface.
+ * @param cs mbed pin to use for not chip select line of SPI interface.
+ */
+ ADXL345(PinName mosi, PinName miso, PinName sck, PinName cs);
+
+ /**
+ * Read the device ID register on the device.
+ *
+ * @return The device ID code [0xE5]
+ */
+ int getDevId(void);
+
+ /**
+ * Read the tap threshold on the device.
+ *
+ * @return The tap threshold as an 8-bit number with a scale factor of
+ * 62.5mg/LSB.
+ */
+ int getTapThreshold(void);
+
+ /**
+ * Set the tap threshold.
+ *
+ * @param The tap threshold as an 8-bit number with a scale factor of
+ * 62.5mg/LSB.
+ */
+ void setTapThreshold(int threshold);
+
+ /**
+ * Get the current offset for a particular axis.
+ *
+ * @param axis 0x00 -> X-axis
+ * 0x01 -> Y-axis
+ * 0x02 -> Z-axis
+ * @return The current offset as an 8-bit 2's complement number with scale
+ * factor 15.6mg/LSB.
+ */
+ int getOffset(int axis);
+
+ /**
+ * Set the offset for a particular axis.
+ *
+ * @param axis 0x00 -> X-axis
+ * 0x01 -> Y-axis
+ * 0x02 -> Z-axis
+ * @param offset The offset as an 8-bit 2's complement number with scale
+ * factor 15.6mg/LSB.
+ */
+ void setOffset(int axis, char offset);
+
+ /**
+ * Get the tap duration required to trigger an event.
+ *
+ * @return The max time that an event must be above the tap threshold to
+ * qualify as a tap event, in microseconds.
+ */
+ int getTapDuration(void);
+
+ /**
+ * Set the tap duration required to trigger an event.
+ *
+ * @param duration_us The max time that an event must be above the tap
+ * threshold to qualify as a tap event, in microseconds.
+ * Time will be normalized by the scale factor which is
+ * 625us/LSB. A value of 0 disables the single/double
+ * tap functions.
+ */
+ void setTapDuration(int duration_us);
+
+ /**
+ * Get the tap latency between the detection of a tap and the time window.
+ *
+ * @return The wait time from the detection of a tap event to the start of
+ * the time window during which a possible second tap event can be
+ * detected in milliseconds.
+ */
+ float getTapLatency(void);
+
+ /**
+ * Set the tap latency between the detection of a tap and the time window.
+ *
+ * @param latency_ms The wait time from the detection of a tap event to the
+ * start of the time window during which a possible
+ * second tap event can be detected in milliseconds.
+ * A value of 0 disables the double tap function.
+ */
+ void setTapLatency(int latency_ms);
+
+ /**
+ * Get the time of window between tap latency and a double tap.
+ *
+ * @return The amount of time after the expiration of the latency time
+ * during which a second valid tap can begin, in milliseconds.
+ */
+ float getWindowTime(void);
+
+ /**
+ * Set the time of the window between tap latency and a double tap.
+ *
+ * @param window_ms The amount of time after the expiration of the latency
+ * time during which a second valid tap can begin,
+ * in milliseconds.
+ */
+ void setWindowTime(int window_ms);
+
+ /**
+ * Get the threshold value for detecting activity.
+ *
+ * @return The threshold value for detecting activity as an 8-bit number.
+ * Scale factor is 62.5mg/LSB.
+ */
+ int getActivityThreshold(void);
+
+ /**
+ * Set the threshold value for detecting activity.
+ *
+ * @param threshold The threshold value for detecting activity as an 8-bit
+ * number. Scale factor is 62.5mg/LSB. A value of 0 may
+ * result in undesirable behavior if the activity
+ * interrupt is enabled.
+ */
+ void setActivityThreshold(int threshold);
+
+ /**
+ * Get the threshold value for detecting inactivity.
+ *
+ * @return The threshold value for detecting inactivity as an 8-bit number.
+ * Scale factor is 62.5mg/LSB.
+ */
+ int getInactivityThreshold(void);
+
+ /**
+ * Set the threshold value for detecting inactivity.
+ *
+ * @param threshold The threshold value for detecting inactivity as an
+ * 8-bit number. Scale factor is 62.5mg/LSB.
+ */
+ void setInactivityThreshold(int threshold);
+
+ /**
+ * Get the time required for inactivity to be declared.
+ *
+ * @return The amount of time that acceleration must be less than the
+ * inactivity threshold for inactivity to be declared, in
+ * seconds.
+ */
+ int getTimeInactivity(void);
+
+ /**
+ * Set the time required for inactivity to be declared.
+ *
+ * @param inactivity The amount of time that acceleration must be less than
+ * the inactivity threshold for inactivity to be
+ * declared, in seconds. A value of 0 results in an
+ * interrupt when the output data is less than the
+ * threshold inactivity.
+ */
+ void setTimeInactivity(int timeInactivity);
+
+ /**
+ * Get the activity/inactivity control settings.
+ *
+ * D7 D6 D5 D4
+ * +-----------+--------------+--------------+--------------+
+ * | ACT ac/dc | ACT_X enable | ACT_Y enable | ACT_Z enable |
+ * +-----------+--------------+--------------+--------------+
+ *
+ * D3 D2 D1 D0
+ * +-------------+----------------+----------------+----------------+
+ * | INACT ac/dc | INACT_X enable | INACT_Y enable | INACT_Z enable |
+ * +-------------+----------------+----------------+----------------+
+ *
+ * See datasheet for details.
+ *
+ * @return The contents of the ACT_INACT_CTL register.
+ */
+ int getActivityInactivityControl(void);
+
+ /**
+ * Set the activity/inactivity control settings.
+ *
+ * D7 D6 D5 D4
+ * +-----------+--------------+--------------+--------------+
+ * | ACT ac/dc | ACT_X enable | ACT_Y enable | ACT_Z enable |
+ * +-----------+--------------+--------------+--------------+
+ *
+ * D3 D2 D1 D0
+ * +-------------+----------------+----------------+----------------+
+ * | INACT ac/dc | INACT_X enable | INACT_Y enable | INACT_Z enable |
+ * +-------------+----------------+----------------+----------------+
+ *
+ * See datasheet for details.
+ *
+ * @param settings The control byte to write to the ACT_INACT_CTL register.
+ */
+ void setActivityInactivityControl(int settings);
+
+ /**
+ * Get the threshold for free fall detection.
+ *
+ * @return The threshold value for free-fall detection, as an 8-bit number,
+ * with scale factor 62.5mg/LSB.
+ */
+ int getFreefallThreshold(void);
+
+ /**
+ * Set the threshold for free fall detection.
+ *
+ * @return The threshold value for free-fall detection, as an 8-bit number,
+ * with scale factor 62.5mg/LSB. A value of 0 may result in
+ * undesirable behavior if the free-fall interrupt is enabled.
+ * Values between 300 mg and 600 mg (0x05 to 0x09) are recommended.
+ */
+ void setFreefallThreshold(int threshold);
+
+ /**
+ * Get the time required to generate a free fall interrupt.
+ *
+ * @return The minimum time that the value of all axes must be less than
+ * the freefall threshold to generate a free-fall interrupt, in
+ * milliseconds.
+ */
+ int getFreefallTime(void);
+
+ /**
+ * Set the time required to generate a free fall interrupt.
+ *
+ * @return The minimum time that the value of all axes must be less than
+ * the freefall threshold to generate a free-fall interrupt, in
+ * milliseconds. A value of 0 may result in undesirable behavior
+ * if the free-fall interrupt is enabled. Values between 100 ms
+ * and 350 ms (0x14 to 0x46) are recommended.
+ */
+ void setFreefallTime(int freefallTime_ms);
+
+ /**
+ * Get the axis tap settings.
+ *
+ * D3 D2 D1 D0
+ * +----------+--------------+--------------+--------------+
+ * | Suppress | TAP_X enable | TAP_Y enable | TAP_Z enable |
+ * +----------+--------------+--------------+--------------+
+ *
+ * (D7-D4 are 0s).
+ *
+ * See datasheet for more details.
+ *
+ * @return The contents of the TAP_AXES register.
+ */
+ int getTapAxisControl(void);
+
+ /**
+ * Set the axis tap settings.
+ *
+ * D3 D2 D1 D0
+ * +----------+--------------+--------------+--------------+
+ * | Suppress | TAP_X enable | TAP_Y enable | TAP_Z enable |
+ * +----------+--------------+--------------+--------------+
+ *
+ * (D7-D4 are 0s).
+ *
+ * See datasheet for more details.
+ *
+ * @param The control byte to write to the TAP_AXES register.
+ */
+ void setTapAxisControl(int settings);
+
+ /**
+ * Get the source of a tap.
+ *
+ * @return The contents of the ACT_TAP_STATUS register.
+ */
+ int getTapSource(void);
+
+ /**
+ * Set the power mode.
+ *
+ * @param mode 0 -> Normal operation.
+ * 1 -> Reduced power operation.
+ */
+ void setPowerMode(char mode);
+
+ /**
+ * Set the data rate.
+ *
+ * @param rate The rate code (see #defines or datasheet).
+ */
+ void setDataRate(int rate);
+
+ /**
+ * Get the power control settings.
+ *
+ * See datasheet for details.
+ *
+ * @return The contents of the POWER_CTL register.
+ */
+ int getPowerControl(void);
+
+ /**
+ * Set the power control settings.
+ *
+ * See datasheet for details.
+ *
+ * @param The control byte to write to the POWER_CTL register.
+ */
+ void setPowerControl(int settings);
+
+ /**
+ * Get the interrupt enable settings.
+ *
+ * @return The contents of the INT_ENABLE register.
+ */
+ int getInterruptEnableControl(void);
+
+ /**
+ * Set the interrupt enable settings.
+ *
+ * @param settings The control byte to write to the INT_ENABLE register.
+ */
+ void setInterruptEnableControl(int settings);
+
+ /**
+ * Get the interrupt mapping settings.
+ *
+ * @return The contents of the INT_MAP register.
+ */
+ int getInterruptMappingControl(void);
+
+ /**
+ * Set the interrupt mapping settings.
+ *
+ * @param settings The control byte to write to the INT_MAP register.
+ */
+ void setInterruptMappingControl(int settings);
+
+ /**
+ * Get the interrupt source.
+ *
+ * @return The contents of the INT_SOURCE register.
+ */
+ int getInterruptSource(void);
+
+ /**
+ * Get the data format settings.
+ *
+ * @return The contents of the DATA_FORMAT register.
+ */
+ int getDataFormatControl(void);
+
+ /**
+ * Set the data format settings.
+ *
+ * @param settings The control byte to write to the DATA_FORMAT register.
+ */
+ void setDataFormatControl(int settings);
+
+ /**
+ * Get the output of all three axes.
+ *
+ * @param Pointer to a buffer to hold the accelerometer value for the
+ * x-axis, y-axis and z-axis [in that order].
+ */
+ void getOutput(int* readings);
+
+ /**
+ * Get the FIFO control settings.
+ *
+ * @return The contents of the FIFO_CTL register.
+ */
+ int getFifoControl(void);
+
+ /**
+ * Set the FIFO control settings.
+ *
+ * @param The control byte to write to the FIFO_CTL register.
+ */
+ void setFifoControl(int settings);
+
+ /**
+ * Get FIFO status.
+ *
+ * @return The contents of the FIFO_STATUS register.
+ */
+ int getFifoStatus(void);
+
+private:
+
+ SPI spi_;
+ DigitalOut nCS_;
+
+ /**
+ * Read one byte from a register on the device.
+ *
+ * @param address Address of the register to read.
+ *
+ * @return The contents of the register address.
+ */
+ int oneByteRead(int address);
+
+ /**
+ * Write one byte to a register on the device.
+ *
+ * @param address Address of the register to write to.
+ * @param data The data to write into the register.
+ */
+ void oneByteWrite(int address, char data);
+
+ /**
+ * Read several consecutive bytes on the device.
+ *
+ * @param startAddress The address of the first register to read from.
+ * @param buffer Pointer to a buffer to store data read from the device.
+ * @param size The number of bytes to read.
+ */
+ void multiByteRead(int startAddress, char* buffer, int size);
+
+ /**
+ * Write several consecutive bytes on the device.
+ *
+ * @param startAddress The address of the first register to write to.
+ * @param buffer Pointer to a buffer which contains the data to write.
+ * @param size The number of bytes to write.
+ */
+ void multiByteWrite(int startAddress, char* buffer, int size);
+
+};
+
+#endif /* ADXL345_H */
diff -r 000000000000 -r 43ba2b4b613b main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Dec 14 05:03:08 2012 +0000
@@ -0,0 +1,122 @@
+#include "mbed.h"
+#include "ADXL345.h"
+
+DigitalOut mbedled1(LED1); // signals running
+DigitalOut mbedled2(LED2); // signals shake warning/detected
+DigitalOut mbedled3(LED2); // signals +/- y
+DigitalOut mbedled4(LED2); // signlas +/- x
+
+PwmOut IRLED(p21);
+
+Serial pc(USBTX, USBRX); //for debugging
+Serial drawbot(p13, p14); //change to whatever send method we use
+
+AnalogIn rightknob(p15);
+AnalogIn leftknob(p16);
+
+ADXL345 acc(p5, p6, p7, p8);
+
+//command vars
+float rightval, leftval, rightprev, leftprev = 0;
+int rightdif, leftdif, righttotal, lefttotal = 0;
+char command = 0; // bit0 = 1 if shake; bit7 = 0 if left, 1 right; bit6 = 0 if fwd, 1 rev; bit 1-5 = magnitude; for drawbot
+//or bit0 = 1 if shake; bit7 = 0 if y, 1 if x; bit6 = 0 if pos, 1 if neg for smartbot
+
+//accel and shake vars
+int z,x,y,zprev,xprev,yprev = 0;
+int readings[3];
+int shakeweight = 0;
+
+int main()
+{
+ //Initialize accelerometer
+ acc.setPowerControl(0x00);
+ acc.setDataFormatControl(0x0B);
+ acc.setDataRate(ADXL345_3200HZ);
+ acc.setPowerControl(0x08);
+ //Initialize accelerometer readings
+ acc.getOutput(readings);
+ x = (int16_t)readings[0];
+ y = (int16_t)readings[1];
+ z = (int16_t)readings[2];
+
+ //Initialize LEDs & Knobs
+ mbedled1 = 1;
+ mbedled2 = 0;
+ mbedled3 = 0;
+ mbedled4 = 0;
+ rightval = rightknob;
+ leftval = leftknob;
+
+ //IR Setup
+ IRLED.period(1.0/38000.0);
+ IRLED = 0.5;
+ //Drive IR LED data pin with 38Khz PWM Carrier
+ //Drive IR LED gnd pin with serial TX
+ drawbot.baud(2400);
+
+ while(1) {
+
+ //Check for Shake
+ xprev = x;
+ yprev = y;
+ zprev = z;
+ acc.getOutput(readings);
+ x = (int16_t)readings[0];
+ y = (int16_t)readings[1];
+ z = (int16_t)readings[2];
+ if (((abs(xprev - x) > 150) || (abs(yprev - y) > 150) || (abs(zprev - z) > 150)) && (shakeweight == 0)){
+ mbedled2 = 1; //Light LED2
+ shakeweight = 1;} //activate shake wait
+ if (shakeweight > 0) { shakeweight++;} //if shake wait activated, increment
+ if (shakeweight == 8){ //until 10, then check for second shake
+ mbedled2 = 0;
+ if ((abs(xprev - x) > 150) || (abs(yprev - y) > 150) || (abs(zprev - z) > 150)) {
+ mbedled2 = 1; //Light LED2
+ command = 1; //0x01
+ drawbot.putc(command);
+ pc.printf("Shake Detected! Command is %x. Waiting. \n", command); //Send shake signal via Xbee or IR to drawbot
+ wait(5); //Wait long enough for worst case new page set up unless drawbot can talk back
+ mbedled2 = 0;
+ }
+ shakeweight = 0;
+ }
+ command = 0;
+ //Detect Knobs
+ rightprev = rightval;
+ leftprev = leftval;
+ rightval = rightknob;
+ leftval = leftknob;
+ rightdif = 500*rightval - 500*rightprev;
+ leftdif = 500*leftprev - 500*leftval;
+ if ((abs(rightdif) > 1) && (abs(rightdif) < 63)) {
+ mbedled3 = 1;
+ command = 128; //0x80
+ righttotal+=rightdif;
+ if (rightdif < 0) {
+ rightdif = -rightdif;
+ command = 192;}//0xC0
+ command = rightdif | command;
+ pc.printf("RightDif: %d Tot: %d Comm: %x \n", rightdif, righttotal, command); //send right move command and val
+ drawbot.putc(command);
+ mbedled3 = 0;
+ }
+ if ((abs(leftdif) > 1) && (abs(leftdif) < 63)) {
+ mbedled4 = 1;
+ command = 0; //0x00
+ lefttotal+=leftdif;
+ if (leftdif < 0) {
+ leftdif = -leftdif;
+ command = 64;}//0x40
+ command = leftdif | command;
+ pc.printf("LeftDif: %d Tot: %d Comm: %x \n", leftdif, lefttotal, command); //send left move command and val
+ drawbot.putc(command);
+ mbedled4 = 0;
+ }
+ command = 0;
+ wait(.1);
+ //Print State
+ //pc.printf("RightVal: %F, LeftVal: %F", rightval, leftval);
+ //pc.printf("accel: %i, %i, %i\n", x, y, z);
+ }
+}
diff -r 000000000000 -r 43ba2b4b613b mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Dec 14 05:03:08 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/b60934f96c0c \ No newline at end of file