pinxian wu / Mbed 2 deprecated ROBOT

mbed robot project

Dependencies:   HCSR04 HMC5883L Motordriver Pulse mbed

ADXL345/ADXL345_I2C.cpp@0:944be74ce25b, 2016-12-31 (annotated)

Committer:
wupinxian
Date:
Sat Dec 31 06:17:30 2016 +0000
Revision:
0:944be74ce25b
mbed ROBOT

Who changed what in which revision?

UserRevisionLine numberNew contents of line
wupinxian 0:944be74ce25b 1 /**
wupinxian 0:944be74ce25b 2 * @author Peter Swanson
wupinxian 0:944be74ce25b 3 * A personal note from me: Jesus Christ has changed my life so much it blows my mind. I say this because
wupinxian 0:944be74ce25b 4 * today, religion is thought of as something that you do or believe and has about as
wupinxian 0:944be74ce25b 5 * little impact on a person as their political stance. But for me, God gives me daily
wupinxian 0:944be74ce25b 6 * strength and has filled my life with the satisfaction that I could never find in any
wupinxian 0:944be74ce25b 7 * of the other things that I once looked for it in.
wupinxian 0:944be74ce25b 8 * If your interested, heres verse that changed my life:
wupinxian 0:944be74ce25b 9 * Rom 8:1-3: "Therefore, there is now no condemnation for those who are in Christ Jesus,
wupinxian 0:944be74ce25b 10 * because through Christ Jesus, the law of the Spirit who gives life has set
wupinxian 0:944be74ce25b 11 * me free from the law of sin (which brings...) and death. For what the law
wupinxian 0:944be74ce25b 12 * was powerless to do in that it was weakened by the flesh, God did by sending
wupinxian 0:944be74ce25b 13 * His own Son in the likeness of sinful flesh to be a sin offering. And so He
wupinxian 0:944be74ce25b 14 * condemned sin in the flesh in order that the righteous requirements of the
wupinxian 0:944be74ce25b 15 * (God's) law might be fully met in us, who live not according to the flesh
wupinxian 0:944be74ce25b 16 * but according to the Spirit."
wupinxian 0:944be74ce25b 17 *
wupinxian 0:944be74ce25b 18 * A special thanks to Ewout van Bekkum for all his patient help in developing this library!
wupinxian 0:944be74ce25b 19 *
wupinxian 0:944be74ce25b 20 * @section LICENSE
wupinxian 0:944be74ce25b 21 *
wupinxian 0:944be74ce25b 22 * Permission is hereby granted, free of charge, to any person obtaining a copy
wupinxian 0:944be74ce25b 23 * of this software and associated documentation files (the "Software"), to deal
wupinxian 0:944be74ce25b 24 * in the Software without restriction, including without limitation the rights
wupinxian 0:944be74ce25b 25 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
wupinxian 0:944be74ce25b 26 * copies of the Software, and to permit persons to whom the Software is
wupinxian 0:944be74ce25b 27 * furnished to do so, subject to the following conditions:
wupinxian 0:944be74ce25b 28 *
wupinxian 0:944be74ce25b 29 * The above copyright notice and this permission notice shall be included in
wupinxian 0:944be74ce25b 30 * all copies or substantial portions of the Software.
wupinxian 0:944be74ce25b 31 *
wupinxian 0:944be74ce25b 32 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
wupinxian 0:944be74ce25b 33 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
wupinxian 0:944be74ce25b 34 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
wupinxian 0:944be74ce25b 35 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
wupinxian 0:944be74ce25b 36 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
wupinxian 0:944be74ce25b 37 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
wupinxian 0:944be74ce25b 38 * THE SOFTWARE.
wupinxian 0:944be74ce25b 39 *
wupinxian 0:944be74ce25b 40 * @section DESCRIPTION
wupinxian 0:944be74ce25b 41 *
wupinxian 0:944be74ce25b 42 * ADXL345, triple axis, I2C interface, accelerometer.
wupinxian 0:944be74ce25b 43 *
wupinxian 0:944be74ce25b 44 * Datasheet:
wupinxian 0:944be74ce25b 45 *
wupinxian 0:944be74ce25b 46 * http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf
wupinxian 0:944be74ce25b 47 */
wupinxian 0:944be74ce25b 48
wupinxian 0:944be74ce25b 49 /**
wupinxian 0:944be74ce25b 50 * Includes
wupinxian 0:944be74ce25b 51 */
wupinxian 0:944be74ce25b 52 #include "ADXL345_I2C.h"
wupinxian 0:944be74ce25b 53
wupinxian 0:944be74ce25b 54 //#include "mbed.h"
wupinxian 0:944be74ce25b 55
wupinxian 0:944be74ce25b 56 ADXL345_I2C::ADXL345_I2C(PinName sda, PinName scl) : i2c_(sda, scl) {
wupinxian 0:944be74ce25b 57
wupinxian 0:944be74ce25b 58 //400kHz, allowing us to use the fastest data rates.
wupinxian 0:944be74ce25b 59 i2c_.frequency(400000);
wupinxian 0:944be74ce25b 60 // initialize the BW data rate
wupinxian 0:944be74ce25b 61 char tx[2];
wupinxian 0:944be74ce25b 62 tx[0] = ADXL345_BW_RATE_REG;
wupinxian 0:944be74ce25b 63 tx[1] = ADXL345_1600HZ; //value greater than or equal to 0x0A is written into the rate bits (Bit D3 through Bit D0) in the BW_RATE register
wupinxian 0:944be74ce25b 64 i2c_.write( ADXL345_I2C_WRITE , tx, 2);
wupinxian 0:944be74ce25b 65
wupinxian 0:944be74ce25b 66 //Data format (for +-16g) - This is done by setting Bit D3 of the DATA_FORMAT register (Address 0x31) and writing a value of 0x03 to the range bits (Bit D1 and Bit D0) of the DATA_FORMAT register (Address 0x31).
wupinxian 0:944be74ce25b 67
wupinxian 0:944be74ce25b 68 char rx[2];
wupinxian 0:944be74ce25b 69 rx[0] = ADXL345_DATA_FORMAT_REG;
wupinxian 0:944be74ce25b 70 rx[1] = 0x0B;
wupinxian 0:944be74ce25b 71 // full res and +_16g
wupinxian 0:944be74ce25b 72 i2c_.write( ADXL345_I2C_WRITE , rx, 2);
wupinxian 0:944be74ce25b 73
wupinxian 0:944be74ce25b 74 // Set Offset - programmed into the OFSX, OFSY, and OFXZ registers, respectively, as 0xFD, 0x03 and 0xFE.
wupinxian 0:944be74ce25b 75 char x[2];
wupinxian 0:944be74ce25b 76 x[0] = ADXL345_OFSX_REG ;
wupinxian 0:944be74ce25b 77 x[1] = 0xFD;
wupinxian 0:944be74ce25b 78 i2c_.write( ADXL345_I2C_WRITE , x, 2);
wupinxian 0:944be74ce25b 79 char y[2];
wupinxian 0:944be74ce25b 80 y[0] = ADXL345_OFSY_REG ;
wupinxian 0:944be74ce25b 81 y[1] = 0x03;
wupinxian 0:944be74ce25b 82 i2c_.write( ADXL345_I2C_WRITE , y, 2);
wupinxian 0:944be74ce25b 83 char z[2];
wupinxian 0:944be74ce25b 84 z[0] = ADXL345_OFSZ_REG ;
wupinxian 0:944be74ce25b 85 z[1] = 0xFE;
wupinxian 0:944be74ce25b 86 i2c_.write( ADXL345_I2C_WRITE , z, 2);
wupinxian 0:944be74ce25b 87 }
wupinxian 0:944be74ce25b 88
wupinxian 0:944be74ce25b 89
wupinxian 0:944be74ce25b 90 char ADXL345_I2C::SingleByteRead(char address){
wupinxian 0:944be74ce25b 91 char tx = address;
wupinxian 0:944be74ce25b 92 char output;
wupinxian 0:944be74ce25b 93 i2c_.write( ADXL345_I2C_WRITE , &tx, 1); //tell it what you want to read
wupinxian 0:944be74ce25b 94 i2c_.read( ADXL345_I2C_READ , &output, 1); //tell it where to store the data
wupinxian 0:944be74ce25b 95 return output;
wupinxian 0:944be74ce25b 96
wupinxian 0:944be74ce25b 97 }
wupinxian 0:944be74ce25b 98
wupinxian 0:944be74ce25b 99
wupinxian 0:944be74ce25b 100 /*
wupinxian 0:944be74ce25b 101 ***info on the i2c_.write***
wupinxian 0:944be74ce25b 102 address 8-bit I2C slave address [ addr | 0 ]
wupinxian 0:944be74ce25b 103 data Pointer to the byte-array data to send
wupinxian 0:944be74ce25b 104 length Number of bytes to send
wupinxian 0:944be74ce25b 105 repeated Repeated start, true - do not send stop at end
wupinxian 0:944be74ce25b 106 returns 0 on success (ack), or non-0 on failure (nack)
wupinxian 0:944be74ce25b 107 */
wupinxian 0:944be74ce25b 108
wupinxian 0:944be74ce25b 109 int ADXL345_I2C::SingleByteWrite(char address, char data){
wupinxian 0:944be74ce25b 110 int ack = 0;
wupinxian 0:944be74ce25b 111 char tx[2];
wupinxian 0:944be74ce25b 112 tx[0] = address;
wupinxian 0:944be74ce25b 113 tx[1] = data;
wupinxian 0:944be74ce25b 114 return ack | i2c_.write( ADXL345_I2C_WRITE , tx, 2);
wupinxian 0:944be74ce25b 115 }
wupinxian 0:944be74ce25b 116
wupinxian 0:944be74ce25b 117
wupinxian 0:944be74ce25b 118
wupinxian 0:944be74ce25b 119 void ADXL345_I2C::multiByteRead(char address, char* output, int size) {
wupinxian 0:944be74ce25b 120 i2c_.write( ADXL345_I2C_WRITE, &address, 1); //tell it where to read from
wupinxian 0:944be74ce25b 121 i2c_.read( ADXL345_I2C_READ , output, size); //tell it where to store the data read
wupinxian 0:944be74ce25b 122 }
wupinxian 0:944be74ce25b 123
wupinxian 0:944be74ce25b 124
wupinxian 0:944be74ce25b 125 int ADXL345_I2C::multiByteWrite(char address, char* ptr_data, int size) {
wupinxian 0:944be74ce25b 126 int ack;
wupinxian 0:944be74ce25b 127
wupinxian 0:944be74ce25b 128 ack = i2c_.write( ADXL345_I2C_WRITE, &address, 1); //tell it where to write to
wupinxian 0:944be74ce25b 129 return ack | i2c_.write( ADXL345_I2C_READ, ptr_data, size); //tell it what data to write
wupinxian 0:944be74ce25b 130
wupinxian 0:944be74ce25b 131 }
wupinxian 0:944be74ce25b 132
wupinxian 0:944be74ce25b 133
wupinxian 0:944be74ce25b 134 void ADXL345_I2C::getOutput(int* readings){
wupinxian 0:944be74ce25b 135 char buffer[6];
wupinxian 0:944be74ce25b 136 multiByteRead(ADXL345_DATAX0_REG, buffer, 6);
wupinxian 0:944be74ce25b 137
wupinxian 0:944be74ce25b 138 readings[0] = (int)buffer[1] << 8 | (int)buffer[0];
wupinxian 0:944be74ce25b 139 readings[1] = (int)buffer[3] << 8 | (int)buffer[2];
wupinxian 0:944be74ce25b 140 readings[2] = (int)buffer[5] << 8 | (int)buffer[4];
wupinxian 0:944be74ce25b 141
wupinxian 0:944be74ce25b 142 }
wupinxian 0:944be74ce25b 143
wupinxian 0:944be74ce25b 144
wupinxian 0:944be74ce25b 145
wupinxian 0:944be74ce25b 146 char ADXL345_I2C::getDeviceID() {
wupinxian 0:944be74ce25b 147 return SingleByteRead(ADXL345_DEVID_REG);
wupinxian 0:944be74ce25b 148 }
wupinxian 0:944be74ce25b 149 //
wupinxian 0:944be74ce25b 150 int ADXL345_I2C::setPowerMode(char mode) {
wupinxian 0:944be74ce25b 151
wupinxian 0:944be74ce25b 152 //Get the current register contents, so we don't clobber the rate value.
wupinxian 0:944be74ce25b 153 char registerContents = (mode << 4) | SingleByteRead(ADXL345_BW_RATE_REG);
wupinxian 0:944be74ce25b 154
wupinxian 0:944be74ce25b 155 return SingleByteWrite(ADXL345_BW_RATE_REG, registerContents);
wupinxian 0:944be74ce25b 156
wupinxian 0:944be74ce25b 157 }
wupinxian 0:944be74ce25b 158
wupinxian 0:944be74ce25b 159 char ADXL345_I2C::getPowerControl() {
wupinxian 0:944be74ce25b 160 return SingleByteRead(ADXL345_POWER_CTL_REG);
wupinxian 0:944be74ce25b 161 }
wupinxian 0:944be74ce25b 162
wupinxian 0:944be74ce25b 163 int ADXL345_I2C::setPowerControl(char settings) {
wupinxian 0:944be74ce25b 164 return SingleByteWrite(ADXL345_POWER_CTL_REG, settings);
wupinxian 0:944be74ce25b 165
wupinxian 0:944be74ce25b 166 }
wupinxian 0:944be74ce25b 167
wupinxian 0:944be74ce25b 168
wupinxian 0:944be74ce25b 169
wupinxian 0:944be74ce25b 170 char ADXL345_I2C::getDataFormatControl(void){
wupinxian 0:944be74ce25b 171
wupinxian 0:944be74ce25b 172 return SingleByteRead(ADXL345_DATA_FORMAT_REG);
wupinxian 0:944be74ce25b 173 }
wupinxian 0:944be74ce25b 174
wupinxian 0:944be74ce25b 175 int ADXL345_I2C::setDataFormatControl(char settings){
wupinxian 0:944be74ce25b 176
wupinxian 0:944be74ce25b 177 return SingleByteWrite(ADXL345_DATA_FORMAT_REG, settings);
wupinxian 0:944be74ce25b 178
wupinxian 0:944be74ce25b 179 }
wupinxian 0:944be74ce25b 180
wupinxian 0:944be74ce25b 181 int ADXL345_I2C::setDataRate(char rate) {
wupinxian 0:944be74ce25b 182
wupinxian 0:944be74ce25b 183 //Get the current register contents, so we don't clobber the power bit.
wupinxian 0:944be74ce25b 184 char registerContents = SingleByteRead(ADXL345_BW_RATE_REG);
wupinxian 0:944be74ce25b 185
wupinxian 0:944be74ce25b 186 registerContents &= 0x10;
wupinxian 0:944be74ce25b 187 registerContents |= rate;
wupinxian 0:944be74ce25b 188
wupinxian 0:944be74ce25b 189 return SingleByteWrite(ADXL345_BW_RATE_REG, registerContents);
wupinxian 0:944be74ce25b 190
wupinxian 0:944be74ce25b 191 }
wupinxian 0:944be74ce25b 192
wupinxian 0:944be74ce25b 193
wupinxian 0:944be74ce25b 194 char ADXL345_I2C::getOffset(char axis) {
wupinxian 0:944be74ce25b 195
wupinxian 0:944be74ce25b 196 char address = 0;
wupinxian 0:944be74ce25b 197
wupinxian 0:944be74ce25b 198 if (axis == ADXL345_X) {
wupinxian 0:944be74ce25b 199 address = ADXL345_OFSX_REG;
wupinxian 0:944be74ce25b 200 } else if (axis == ADXL345_Y) {
wupinxian 0:944be74ce25b 201 address = ADXL345_OFSY_REG;
wupinxian 0:944be74ce25b 202 } else if (axis == ADXL345_Z) {
wupinxian 0:944be74ce25b 203 address = ADXL345_OFSZ_REG;
wupinxian 0:944be74ce25b 204 }
wupinxian 0:944be74ce25b 205
wupinxian 0:944be74ce25b 206 return SingleByteRead(address);
wupinxian 0:944be74ce25b 207 }
wupinxian 0:944be74ce25b 208
wupinxian 0:944be74ce25b 209 int ADXL345_I2C::setOffset(char axis, char offset) {
wupinxian 0:944be74ce25b 210
wupinxian 0:944be74ce25b 211 char address = 0;
wupinxian 0:944be74ce25b 212
wupinxian 0:944be74ce25b 213 if (axis == ADXL345_X) {
wupinxian 0:944be74ce25b 214 address = ADXL345_OFSX_REG;
wupinxian 0:944be74ce25b 215 } else if (axis == ADXL345_Y) {
wupinxian 0:944be74ce25b 216 address = ADXL345_OFSY_REG;
wupinxian 0:944be74ce25b 217 } else if (axis == ADXL345_Z) {
wupinxian 0:944be74ce25b 218 address = ADXL345_OFSZ_REG;
wupinxian 0:944be74ce25b 219 }
wupinxian 0:944be74ce25b 220
wupinxian 0:944be74ce25b 221 return SingleByteWrite(address, offset);
wupinxian 0:944be74ce25b 222
wupinxian 0:944be74ce25b 223 }
wupinxian 0:944be74ce25b 224
wupinxian 0:944be74ce25b 225
wupinxian 0:944be74ce25b 226 char ADXL345_I2C::getFifoControl(void){
wupinxian 0:944be74ce25b 227
wupinxian 0:944be74ce25b 228 return SingleByteRead(ADXL345_FIFO_CTL);
wupinxian 0:944be74ce25b 229
wupinxian 0:944be74ce25b 230 }
wupinxian 0:944be74ce25b 231
wupinxian 0:944be74ce25b 232 int ADXL345_I2C::setFifoControl(char settings){
wupinxian 0:944be74ce25b 233 return SingleByteWrite(ADXL345_FIFO_STATUS, settings);
wupinxian 0:944be74ce25b 234
wupinxian 0:944be74ce25b 235 }
wupinxian 0:944be74ce25b 236
wupinxian 0:944be74ce25b 237 char ADXL345_I2C::getFifoStatus(void){
wupinxian 0:944be74ce25b 238
wupinxian 0:944be74ce25b 239 return SingleByteRead(ADXL345_FIFO_STATUS);
wupinxian 0:944be74ce25b 240
wupinxian 0:944be74ce25b 241 }
wupinxian 0:944be74ce25b 242
wupinxian 0:944be74ce25b 243
wupinxian 0:944be74ce25b 244
wupinxian 0:944be74ce25b 245 char ADXL345_I2C::getTapThreshold(void) {
wupinxian 0:944be74ce25b 246
wupinxian 0:944be74ce25b 247 return SingleByteRead(ADXL345_THRESH_TAP_REG);
wupinxian 0:944be74ce25b 248 }
wupinxian 0:944be74ce25b 249
wupinxian 0:944be74ce25b 250 int ADXL345_I2C::setTapThreshold(char threshold) {
wupinxian 0:944be74ce25b 251
wupinxian 0:944be74ce25b 252 return SingleByteWrite(ADXL345_THRESH_TAP_REG, threshold);
wupinxian 0:944be74ce25b 253
wupinxian 0:944be74ce25b 254 }
wupinxian 0:944be74ce25b 255
wupinxian 0:944be74ce25b 256
wupinxian 0:944be74ce25b 257 float ADXL345_I2C::getTapDuration(void) {
wupinxian 0:944be74ce25b 258
wupinxian 0:944be74ce25b 259 return (float)SingleByteRead(ADXL345_DUR_REG)*625;
wupinxian 0:944be74ce25b 260 }
wupinxian 0:944be74ce25b 261
wupinxian 0:944be74ce25b 262 int ADXL345_I2C::setTapDuration(short int duration_us) {
wupinxian 0:944be74ce25b 263
wupinxian 0:944be74ce25b 264 short int tapDuration = duration_us / 625;
wupinxian 0:944be74ce25b 265 char tapChar[2];
wupinxian 0:944be74ce25b 266 tapChar[0] = (tapDuration & 0x00FF);
wupinxian 0:944be74ce25b 267 tapChar[1] = (tapDuration >> 8) & 0x00FF;
wupinxian 0:944be74ce25b 268 return multiByteWrite(ADXL345_DUR_REG, tapChar, 2);
wupinxian 0:944be74ce25b 269
wupinxian 0:944be74ce25b 270 }
wupinxian 0:944be74ce25b 271
wupinxian 0:944be74ce25b 272 float ADXL345_I2C::getTapLatency(void) {
wupinxian 0:944be74ce25b 273
wupinxian 0:944be74ce25b 274 return (float)SingleByteRead(ADXL345_LATENT_REG)*1.25;
wupinxian 0:944be74ce25b 275 }
wupinxian 0:944be74ce25b 276
wupinxian 0:944be74ce25b 277 int ADXL345_I2C::setTapLatency(short int latency_ms) {
wupinxian 0:944be74ce25b 278
wupinxian 0:944be74ce25b 279 latency_ms = latency_ms / 1.25;
wupinxian 0:944be74ce25b 280 char latChar[2];
wupinxian 0:944be74ce25b 281 latChar[0] = (latency_ms & 0x00FF);
wupinxian 0:944be74ce25b 282 latChar[1] = (latency_ms << 8) & 0xFF00;
wupinxian 0:944be74ce25b 283 return multiByteWrite(ADXL345_LATENT_REG, latChar, 2);
wupinxian 0:944be74ce25b 284
wupinxian 0:944be74ce25b 285 }
wupinxian 0:944be74ce25b 286
wupinxian 0:944be74ce25b 287 float ADXL345_I2C::getWindowTime(void) {
wupinxian 0:944be74ce25b 288
wupinxian 0:944be74ce25b 289 return (float)SingleByteRead(ADXL345_WINDOW_REG)*1.25;
wupinxian 0:944be74ce25b 290 }
wupinxian 0:944be74ce25b 291
wupinxian 0:944be74ce25b 292 int ADXL345_I2C::setWindowTime(short int window_ms) {
wupinxian 0:944be74ce25b 293
wupinxian 0:944be74ce25b 294 window_ms = window_ms / 1.25;
wupinxian 0:944be74ce25b 295 char windowChar[2];
wupinxian 0:944be74ce25b 296 windowChar[0] = (window_ms & 0x00FF);
wupinxian 0:944be74ce25b 297 windowChar[1] = ((window_ms << 8) & 0xFF00);
wupinxian 0:944be74ce25b 298 return multiByteWrite(ADXL345_WINDOW_REG, windowChar, 2);
wupinxian 0:944be74ce25b 299
wupinxian 0:944be74ce25b 300 }
wupinxian 0:944be74ce25b 301
wupinxian 0:944be74ce25b 302 char ADXL345_I2C::getActivityThreshold(void) {
wupinxian 0:944be74ce25b 303
wupinxian 0:944be74ce25b 304 return SingleByteRead(ADXL345_THRESH_ACT_REG);
wupinxian 0:944be74ce25b 305 }
wupinxian 0:944be74ce25b 306
wupinxian 0:944be74ce25b 307 int ADXL345_I2C::setActivityThreshold(char threshold) {
wupinxian 0:944be74ce25b 308 return SingleByteWrite(ADXL345_THRESH_ACT_REG, threshold);
wupinxian 0:944be74ce25b 309
wupinxian 0:944be74ce25b 310 }
wupinxian 0:944be74ce25b 311
wupinxian 0:944be74ce25b 312 char ADXL345_I2C::getInactivityThreshold(void) {
wupinxian 0:944be74ce25b 313 return SingleByteRead(ADXL345_THRESH_INACT_REG);
wupinxian 0:944be74ce25b 314
wupinxian 0:944be74ce25b 315 }
wupinxian 0:944be74ce25b 316
wupinxian 0:944be74ce25b 317 //int FUNCTION(short int * ptr_Output)
wupinxian 0:944be74ce25b 318 //short int FUNCTION ()
wupinxian 0:944be74ce25b 319
wupinxian 0:944be74ce25b 320 int ADXL345_I2C::setInactivityThreshold(char threshold) {
wupinxian 0:944be74ce25b 321 return SingleByteWrite(ADXL345_THRESH_INACT_REG, threshold);
wupinxian 0:944be74ce25b 322
wupinxian 0:944be74ce25b 323 }
wupinxian 0:944be74ce25b 324
wupinxian 0:944be74ce25b 325 char ADXL345_I2C::getTimeInactivity(void) {
wupinxian 0:944be74ce25b 326
wupinxian 0:944be74ce25b 327 return SingleByteRead(ADXL345_TIME_INACT_REG);
wupinxian 0:944be74ce25b 328
wupinxian 0:944be74ce25b 329 }
wupinxian 0:944be74ce25b 330
wupinxian 0:944be74ce25b 331 int ADXL345_I2C::setTimeInactivity(char timeInactivity) {
wupinxian 0:944be74ce25b 332 return SingleByteWrite(ADXL345_TIME_INACT_REG, timeInactivity);
wupinxian 0:944be74ce25b 333
wupinxian 0:944be74ce25b 334 }
wupinxian 0:944be74ce25b 335
wupinxian 0:944be74ce25b 336 char ADXL345_I2C::getActivityInactivityControl(void) {
wupinxian 0:944be74ce25b 337
wupinxian 0:944be74ce25b 338 return SingleByteRead(ADXL345_ACT_INACT_CTL_REG);
wupinxian 0:944be74ce25b 339
wupinxian 0:944be74ce25b 340 }
wupinxian 0:944be74ce25b 341
wupinxian 0:944be74ce25b 342 int ADXL345_I2C::setActivityInactivityControl(char settings) {
wupinxian 0:944be74ce25b 343 return SingleByteWrite(ADXL345_ACT_INACT_CTL_REG, settings);
wupinxian 0:944be74ce25b 344
wupinxian 0:944be74ce25b 345 }
wupinxian 0:944be74ce25b 346
wupinxian 0:944be74ce25b 347 char ADXL345_I2C::getFreefallThreshold(void) {
wupinxian 0:944be74ce25b 348
wupinxian 0:944be74ce25b 349 return SingleByteRead(ADXL345_THRESH_FF_REG);
wupinxian 0:944be74ce25b 350
wupinxian 0:944be74ce25b 351 }
wupinxian 0:944be74ce25b 352
wupinxian 0:944be74ce25b 353 int ADXL345_I2C::setFreefallThreshold(char threshold) {
wupinxian 0:944be74ce25b 354 return SingleByteWrite(ADXL345_THRESH_FF_REG, threshold);
wupinxian 0:944be74ce25b 355
wupinxian 0:944be74ce25b 356 }
wupinxian 0:944be74ce25b 357
wupinxian 0:944be74ce25b 358 char ADXL345_I2C::getFreefallTime(void) {
wupinxian 0:944be74ce25b 359
wupinxian 0:944be74ce25b 360 return SingleByteRead(ADXL345_TIME_FF_REG)*5;
wupinxian 0:944be74ce25b 361
wupinxian 0:944be74ce25b 362 }
wupinxian 0:944be74ce25b 363
wupinxian 0:944be74ce25b 364 int ADXL345_I2C::setFreefallTime(short int freefallTime_ms) {
wupinxian 0:944be74ce25b 365 freefallTime_ms = freefallTime_ms / 5;
wupinxian 0:944be74ce25b 366 char fallChar[2];
wupinxian 0:944be74ce25b 367 fallChar[0] = (freefallTime_ms & 0x00FF);
wupinxian 0:944be74ce25b 368 fallChar[1] = (freefallTime_ms << 8) & 0xFF00;
wupinxian 0:944be74ce25b 369
wupinxian 0:944be74ce25b 370 return multiByteWrite(ADXL345_TIME_FF_REG, fallChar, 2);
wupinxian 0:944be74ce25b 371
wupinxian 0:944be74ce25b 372 }
wupinxian 0:944be74ce25b 373
wupinxian 0:944be74ce25b 374 char ADXL345_I2C::getTapAxisControl(void) {
wupinxian 0:944be74ce25b 375
wupinxian 0:944be74ce25b 376 return SingleByteRead(ADXL345_TAP_AXES_REG);
wupinxian 0:944be74ce25b 377
wupinxian 0:944be74ce25b 378 }
wupinxian 0:944be74ce25b 379
wupinxian 0:944be74ce25b 380 int ADXL345_I2C::setTapAxisControl(char settings) {
wupinxian 0:944be74ce25b 381 return SingleByteWrite(ADXL345_TAP_AXES_REG, settings);
wupinxian 0:944be74ce25b 382
wupinxian 0:944be74ce25b 383 }
wupinxian 0:944be74ce25b 384
wupinxian 0:944be74ce25b 385 char ADXL345_I2C::getTapSource(void) {
wupinxian 0:944be74ce25b 386
wupinxian 0:944be74ce25b 387 return SingleByteRead(ADXL345_ACT_TAP_STATUS_REG);
wupinxian 0:944be74ce25b 388
wupinxian 0:944be74ce25b 389 }
wupinxian 0:944be74ce25b 390
wupinxian 0:944be74ce25b 391
wupinxian 0:944be74ce25b 392
wupinxian 0:944be74ce25b 393 char ADXL345_I2C::getInterruptEnableControl(void) {
wupinxian 0:944be74ce25b 394
wupinxian 0:944be74ce25b 395 return SingleByteRead(ADXL345_INT_ENABLE_REG);
wupinxian 0:944be74ce25b 396
wupinxian 0:944be74ce25b 397 }
wupinxian 0:944be74ce25b 398
wupinxian 0:944be74ce25b 399 int ADXL345_I2C::setInterruptEnableControl(char settings) {
wupinxian 0:944be74ce25b 400 return SingleByteWrite(ADXL345_INT_ENABLE_REG, settings);
wupinxian 0:944be74ce25b 401
wupinxian 0:944be74ce25b 402 }
wupinxian 0:944be74ce25b 403
wupinxian 0:944be74ce25b 404 char ADXL345_I2C::getInterruptMappingControl(void) {
wupinxian 0:944be74ce25b 405
wupinxian 0:944be74ce25b 406 return SingleByteRead(ADXL345_INT_MAP_REG);
wupinxian 0:944be74ce25b 407
wupinxian 0:944be74ce25b 408 }
wupinxian 0:944be74ce25b 409
wupinxian 0:944be74ce25b 410 int ADXL345_I2C::setInterruptMappingControl(char settings) {
wupinxian 0:944be74ce25b 411 return SingleByteWrite(ADXL345_INT_MAP_REG, settings);
wupinxian 0:944be74ce25b 412
wupinxian 0:944be74ce25b 413 }
wupinxian 0:944be74ce25b 414
wupinxian 0:944be74ce25b 415 char ADXL345_I2C::getInterruptSource(void){
wupinxian 0:944be74ce25b 416
wupinxian 0:944be74ce25b 417 return SingleByteRead(ADXL345_INT_SOURCE_REG);
wupinxian 0:944be74ce25b 418
wupinxian 0:944be74ce25b 419 }
wupinxian 0:944be74ce25b 420
wupinxian 0:944be74ce25b 421
wupinxian 0:944be74ce25b 422
wupinxian 0:944be74ce25b 423