Republished Library, to be refined for use with the SparkFun 9DOF in HARP project.
Fork of ADXL345 by
ADXL345.cpp
- Committer:
- tylerjw
- Date:
- 2012-11-06
- Revision:
- 10:d81793e01ec4
- Parent:
- 9:cc0260a2404b
File content as of revision 10:d81793e01ec4:
/** * @file ADXL345.cpp * @author Tyler Weaver * @author Peter Swanson * A personal note from me: Jesus Christ has changed my life so much it blows my mind. I say this because * today, religion is thought of as something that you do or believe and has about as * little impact on a person as their political stance. But for me, God gives me daily * strength and has filled my life with the satisfaction that I could never find in any * of the other things that I once looked for it in. * If your interested, heres verse that changed my life: * Rom 8:1-3: "Therefore, there is now no condemnation for those who are in Christ Jesus, * because through Christ Jesus, the law of the Spirit who gives life has set * me free from the law of sin (which brings...) and death. For what the law * was powerless to do in that it was weakened by the flesh, God did by sending * His own Son in the likeness of sinful flesh to be a sin offering. And so He * condemned sin in the flesh in order that the righteous requirements of the * (God's) law might be fully met in us, who live not according to the flesh * but according to the Spirit." * * A special thanks to Ewout van Bekkum for all his patient help in developing this library! * * @section LICENSE * * 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, I2C interface, accelerometer. * * Datasheet: * * http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf */ /* * Includes */ #include "ADXL345.h" //#include "mbed.h" ADXL345::ADXL345(PinName sda, PinName scl) : i2c_(*(new I2C(sda, scl))) { myI2c = &i2c_; init(); } ADXL345::~ADXL345() { delete myI2c; } void ADXL345::init() { setDataRate(ADXL345_25HZ); setPowerMode(0); // high power setDataFormatControl(ADXL345_FULL_RES | ADXL345_2G); // full resolution, right justified, 2g range setFifoControl(0x00); // bypass mode setPowerControl(0x08); // start measurements int8_t calibration_offset[3] = {-5,-4,2}; // calibration offset values for(char axis = 0x00; axis < 0x03; axis++) setOffset(axis,calibration_offset[axis]); } 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::getXYZ(int16_t* readings) { char buffer[6]; multiByteRead(ADXL345_DATAX0_REG, buffer, 6); readings[0] = wordExtend(&buffer[0]); readings[1] = wordExtend(&buffer[2]); readings[2] = wordExtend(&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::getBwRateReg() { return SingleByteRead(ADXL345_BW_RATE_REG); } int ADXL345::setBwRateReg(char reg) { return SingleByteWrite(ADXL345_BW_RATE_REG, reg); } 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::setDataFormatControl(char settings, char mask, char *prev) { char old = SingleByteRead(ADXL345_DATA_FORMAT_REG); if(prev) *prev = old; return SingleByteWrite(ADXL345_DATA_FORMAT_REG, (old | (settings & mask)) & (settings | ~mask)); } 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); } void ADXL345::sample100avg(float period, int16_t buffer[][3], int16_t *avg, Timer* t) { double start_time; for(int sample = 0; sample < 100; sample++) { start_time = t->read(); getXYZ(buffer[sample]); wait(period - (start_time - t->read())); } for(int axis = 0; axis < 3; axis++) { double average = 0.0; for(int sample = 0; sample < 100; sample++) average += buffer[sample][axis]; average /= 100.0; avg[axis] = static_cast<int16_t>(average); } } void ADXL345::calibrate(Timer* t, bool store_output, Serial *pc) { int16_t data[100][3]; // {x,y,z}, data int16_t data_avg[3]; int8_t calibration_offset[3]; float period = 0.01; // period of sample rate // wait 11.1ms wait(0.0111); pc->puts("Reading old register states... "); // read current register states char bw_rate = getBwRateReg(); char power_control = getPowerControl(); char data_format = getDataFormatControl(); pc->puts("Done!\r\nSetting new register states... "); // initalize command sequence setDataFormatControl((ADXL345_16G | ADXL345_FULL_RES)); setBwRateReg(ADXL345_100HZ); // 100Hz data rate setPowerControl(0x08); // start measurement // wait 1.1ms wait(0.0111); pc->puts("Done!\r\nSampling... "); //take 100 data points and average (100Hz) sample100avg(period, data, data_avg, t); pc->puts("Done!\r\nCalculating offset values... "); // calculate calibration value calibration_offset[0] = -1 * (data_avg[0] / 4); // x calibration_offset[1] = -1 * (data_avg[1] / 4); // y calibration_offset[2] = -1 * ((data_avg[2] - 256) / 4); // z if(store_output) { pc->puts("Done!\r\nStoring output to file... "); LocalFileSystem local("local"); FILE *fp = fopen("/local/OFF_CAL.csv", "w"); // write fprintf(fp, "ADXL345 Calibration offsets\r\nx,%d\r\ny,%d\r\nz,%d\r\n\r\n", calibration_offset[0], calibration_offset[1], calibration_offset[2]); fputs("Raw Data:\r\nX,Y,Z\r\n", fp); for(int sample = 0; sample < 100; sample++) fprintf(fp, "%d,%d,%d\r\n",data[sample][0],data[sample][1],data[sample][2]); fclose(fp); } pc->puts("Done!\r\nSetting the offset registers... "); // update offset registers for(char axis = 0x00; axis < 0x03; axis++) setOffset(axis,calibration_offset[axis]); pc->puts("Done!\r\nReturning registers to original state... "); // return control registers to original state setDataFormatControl(data_format); setBwRateReg(bw_rate); setPowerControl(power_control); pc->puts("Done!\r\n"); } void ADXL345::calibrate(Timer* t, bool store_output) { int16_t data[100][3]; // {x,y,z}, data int16_t data_avg[3]; int8_t calibration_offset[3]; float period = 0.01; // period of sample rate // wait 11.1ms wait(0.0111); // read current register states char bw_rate = getBwRateReg(); char power_control = getPowerControl(); char data_format = getDataFormatControl(); // initalize command sequence setDataFormatControl((ADXL345_16G | ADXL345_FULL_RES)); setBwRateReg(ADXL345_100HZ); // 100Hz data rate setPowerControl(0x08); // start measurement // wait 1.1ms wait(0.0111); //take 100 data points and average (100Hz) sample100avg(period, data, data_avg, t); // calculate calibration value calibration_offset[0] = -1 * (data_avg[0] / 4); // x calibration_offset[1] = -1 * (data_avg[1] / 4); // y calibration_offset[2] = -1 * ((data_avg[2] - 256) / 4); // z if(store_output) { LocalFileSystem local("local"); FILE *fp = fopen("/local/OFF_CAL.csv", "w"); // write fprintf(fp, "ADXL345 Calibration offsets\r\nx,%d\r\ny,%d\r\nz,%d\r\n\r\n", calibration_offset[0], calibration_offset[1], calibration_offset[2]); fputs("Raw Data:\r\nX,Y,Z\r\n", fp); for(int sample = 0; sample < 100; sample++) fprintf(fp, "%d,%d,%d\r\n",data[sample][0],data[sample][1],data[sample][2]); fclose(fp); } // update offset registers for(char axis = 0x00; axis < 0x03; axis++) setOffset(axis,calibration_offset[axis]); // return control registers to original state setDataFormatControl(data_format); setBwRateReg(bw_rate); setPowerControl(power_control); }