Revision 0:944be74ce25b, committed 2016-12-31

Comitter:

wupinxian

Date:

Sat Dec 31 06:17:30 2016 +0000

Commit message:

mbed ROBOT

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ADXL345/ADXL345_I2C.cpp	Sat Dec 31 06:17:30 2016 +0000
@@ -0,0 +1,423 @@
+/**
+ * @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_I2C.h"
+
+//#include "mbed.h"
+
+ADXL345_I2C::ADXL345_I2C(PinName sda, PinName scl) : i2c_(sda, scl) {
+
+    //400kHz, allowing us to use the fastest data rates.
+    i2c_.frequency(400000);   
+// initialize the BW data rate
+    char tx[2];
+    tx[0] = ADXL345_BW_RATE_REG;
+    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 
+ i2c_.write( ADXL345_I2C_WRITE , tx, 2);  
+
+//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).
+   
+ char rx[2];
+    rx[0] = ADXL345_DATA_FORMAT_REG;
+    rx[1] = 0x0B; 
+     // full res and +_16g
+ i2c_.write( ADXL345_I2C_WRITE , rx, 2); 
+ 
+ // Set Offset  - programmed into the OFSX, OFSY, and OFXZ registers, respectively, as 0xFD, 0x03 and 0xFE.
+  char x[2];
+    x[0] = ADXL345_OFSX_REG ;
+    x[1] = 0xFD; 
+ i2c_.write( ADXL345_I2C_WRITE , x, 2);
+  char y[2];
+    y[0] = ADXL345_OFSY_REG ;
+    y[1] = 0x03; 
+ i2c_.write( ADXL345_I2C_WRITE , y, 2);
+ char z[2];
+    z[0] = ADXL345_OFSZ_REG ;
+    z[1] = 0xFE; 
+ i2c_.write( ADXL345_I2C_WRITE , z, 2);
+}
+
+
+char ADXL345_I2C::SingleByteRead(char address){   
+   char tx = address;
+   char output; 
+    i2c_.write( ADXL345_I2C_WRITE , &tx, 1);  //tell it what you want to read
+    i2c_.read( ADXL345_I2C_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_I2C::SingleByteWrite(char address, char data){ 
+   int ack = 0;
+   char tx[2];
+   tx[0] = address;
+   tx[1] = data;
+   return   ack | i2c_.write( ADXL345_I2C_WRITE , tx, 2);   
+}
+
+
+
+void ADXL345_I2C::multiByteRead(char address, char* output, int size) {
+    i2c_.write( ADXL345_I2C_WRITE, &address, 1);  //tell it where to read from
+    i2c_.read( ADXL345_I2C_READ , output, size);      //tell it where to store the data read
+}
+
+
+int ADXL345_I2C::multiByteWrite(char address, char* ptr_data, int size) {
+        int ack;
+   
+               ack = i2c_.write( ADXL345_I2C_WRITE, &address, 1);  //tell it where to write to
+        return ack | i2c_.write( ADXL345_I2C_READ, ptr_data, size);  //tell it what data to write
+                                    
+}
+
+
+void ADXL345_I2C::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];
+
+}
+
+
+
+char ADXL345_I2C::getDeviceID() {  
+    return SingleByteRead(ADXL345_DEVID_REG);
+    }
+//
+int ADXL345_I2C::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_I2C::getPowerControl() {    
+    return SingleByteRead(ADXL345_POWER_CTL_REG);
+}
+
+int ADXL345_I2C::setPowerControl(char settings) {    
+    return SingleByteWrite(ADXL345_POWER_CTL_REG, settings);
+
+}
+
+
+
+char ADXL345_I2C::getDataFormatControl(void){
+
+    return SingleByteRead(ADXL345_DATA_FORMAT_REG);
+}
+
+int ADXL345_I2C::setDataFormatControl(char settings){
+
+   return SingleByteWrite(ADXL345_DATA_FORMAT_REG, settings);
+    
+}
+
+int ADXL345_I2C::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_I2C::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_I2C::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_I2C::getFifoControl(void){
+
+    return SingleByteRead(ADXL345_FIFO_CTL);
+
+}
+
+int ADXL345_I2C::setFifoControl(char settings){
+   return SingleByteWrite(ADXL345_FIFO_STATUS, settings);
+
+}
+
+char ADXL345_I2C::getFifoStatus(void){
+
+    return SingleByteRead(ADXL345_FIFO_STATUS);
+
+}
+
+
+
+char ADXL345_I2C::getTapThreshold(void) {
+
+    return SingleByteRead(ADXL345_THRESH_TAP_REG);
+}
+
+int ADXL345_I2C::setTapThreshold(char threshold) {   
+
+   return SingleByteWrite(ADXL345_THRESH_TAP_REG, threshold);
+
+}
+
+
+float ADXL345_I2C::getTapDuration(void) {     
+
+    return (float)SingleByteRead(ADXL345_DUR_REG)*625;
+}
+
+int ADXL345_I2C::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_I2C::getTapLatency(void) {
+
+    return (float)SingleByteRead(ADXL345_LATENT_REG)*1.25;
+}
+
+int ADXL345_I2C::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_I2C::getWindowTime(void) {
+
+    return (float)SingleByteRead(ADXL345_WINDOW_REG)*1.25;
+}
+
+int ADXL345_I2C::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_I2C::getActivityThreshold(void) {
+
+    return SingleByteRead(ADXL345_THRESH_ACT_REG);
+}
+
+int ADXL345_I2C::setActivityThreshold(char threshold) {
+    return SingleByteWrite(ADXL345_THRESH_ACT_REG, threshold);
+
+}
+
+char ADXL345_I2C::getInactivityThreshold(void) {
+    return SingleByteRead(ADXL345_THRESH_INACT_REG);
+       
+}
+
+//int FUNCTION(short int * ptr_Output)
+//short int FUNCTION ()
+
+int ADXL345_I2C::setInactivityThreshold(char threshold) {
+    return SingleByteWrite(ADXL345_THRESH_INACT_REG, threshold);
+
+}
+
+char ADXL345_I2C::getTimeInactivity(void) {
+
+    return SingleByteRead(ADXL345_TIME_INACT_REG);
+
+}
+
+int ADXL345_I2C::setTimeInactivity(char timeInactivity) {
+    return SingleByteWrite(ADXL345_TIME_INACT_REG, timeInactivity);
+
+}
+
+char ADXL345_I2C::getActivityInactivityControl(void) {
+
+    return SingleByteRead(ADXL345_ACT_INACT_CTL_REG);
+
+}
+
+int ADXL345_I2C::setActivityInactivityControl(char settings) {
+    return SingleByteWrite(ADXL345_ACT_INACT_CTL_REG, settings);
+    
+}
+
+char ADXL345_I2C::getFreefallThreshold(void) {
+
+    return SingleByteRead(ADXL345_THRESH_FF_REG);
+
+}
+
+int ADXL345_I2C::setFreefallThreshold(char threshold) {
+   return SingleByteWrite(ADXL345_THRESH_FF_REG, threshold);
+
+}
+
+char ADXL345_I2C::getFreefallTime(void) {
+
+    return SingleByteRead(ADXL345_TIME_FF_REG)*5;
+
+}
+
+int ADXL345_I2C::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_I2C::getTapAxisControl(void) {
+
+    return SingleByteRead(ADXL345_TAP_AXES_REG);
+
+}
+
+int ADXL345_I2C::setTapAxisControl(char settings) {
+   return SingleByteWrite(ADXL345_TAP_AXES_REG, settings);
+
+}
+
+char ADXL345_I2C::getTapSource(void) {
+
+    return SingleByteRead(ADXL345_ACT_TAP_STATUS_REG);
+
+}
+
+
+
+char ADXL345_I2C::getInterruptEnableControl(void) {
+
+    return SingleByteRead(ADXL345_INT_ENABLE_REG);
+
+}
+
+int ADXL345_I2C::setInterruptEnableControl(char settings) {
+   return SingleByteWrite(ADXL345_INT_ENABLE_REG, settings);
+
+}
+
+char ADXL345_I2C::getInterruptMappingControl(void) {
+
+    return SingleByteRead(ADXL345_INT_MAP_REG);
+
+}
+
+int ADXL345_I2C::setInterruptMappingControl(char settings) {
+    return SingleByteWrite(ADXL345_INT_MAP_REG, settings);
+
+}
+
+char ADXL345_I2C::getInterruptSource(void){
+
+    return SingleByteRead(ADXL345_INT_SOURCE_REG);
+
+}
+
+
+
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ADXL345/ADXL345_I2C.h	Sat Dec 31 06:17:30 2016 +0000
@@ -0,0 +1,577 @@
+/**
+ * @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
+ */  
+
+
+
+#ifndef ADXL345_I2C_H
+#define ADXL345_I2C_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
+
+// read or write bytes
+#define ADXL345_I2C_READ    0xA7  
+#define ADXL345_I2C_WRITE   0xA6 
+#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
+
+/////////////when ALT ADDRESS pin is high:
+//#define ADXL345_I2C_READ    0x3B   
+//#define ADXL345_I2C_WRITE   0x3A
+//#define ADXL345_I2C_ADDRESS 0x1D 
+
+#define ADXL345_X           0x00
+#define ADXL345_Y           0x01
+#define ADXL345_Z           0x02
+
+
+
+// modes
+#define MeasurementMode     0x08
+
+
+
+
+
+
+
+class ADXL345_I2C {
+
+public:
+
+    /**
+     * Constructor.
+     *
+     * @param mosi mbed pin to use for SDA line of I2C interface.
+     * @param sck mbed pin to use for SCL line of I2C interface.
+     */
+    ADXL345_I2C(PinName sda, PinName scl);
+
+    /**
+     * 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);
+
+    /**
+     * Read the device ID register on the device.
+     *
+     * @return The device ID code [0xE5]
+     */
+    char getDeviceID(void);
+
+
+    
+     /**
+     * Set the power mode.
+     *
+     * @param mode 0 -> Normal operation.
+     *             1 -> Reduced power operation.
+     */     
+int setPowerMode(char mode);
+  
+     /**
+     * Set the power control settings.
+     *
+     * See datasheet for details.
+     *
+     * @param The control byte to write to the POWER_CTL register.
+     */
+ int setPowerControl(char settings);     
+      /**
+     * Get the power control settings.
+     *
+     * See datasheet for details.
+     *
+     * @return The contents of the POWER_CTL register.
+     */
+    char getPowerControl(void);
+
+       
+    /**
+     * Get the data format settings.
+     *
+     * @return The contents of the DATA_FORMAT register.
+     */
+     
+    char getDataFormatControl(void);
+    
+    /**
+     * Set the data format settings.
+     *
+     * @param settings The control byte to write to the DATA_FORMAT register.
+     */
+    int setDataFormatControl(char settings);
+  
+       /**
+     * Set the data rate.
+     *
+     * @param rate The rate code (see #defines or datasheet).
+     */
+    int setDataRate(char rate);
+    
+
+       /**
+     * 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.
+     */
+     
+       char getOffset(char 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.
+     */
+    int setOffset(char axis, char offset);
+
+
+    
+    /**
+     * Get the FIFO control settings.
+     *
+     * @return The contents of the FIFO_CTL register.
+     */
+    char getFifoControl(void);
+    
+    /**
+     * Set the FIFO control settings.
+     *
+     * @param The control byte to write to the FIFO_CTL register.
+     */
+    int setFifoControl(char settings);
+    
+    /**
+     * Get FIFO status.
+     *
+     * @return The contents of the FIFO_STATUS register.
+     */
+    char getFifoStatus(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.
+     */
+    char getTapThreshold(void);
+
+    /**
+     * Set the tap threshold.
+     *
+     * @param The tap threshold as an 8-bit number with a scale factor of
+     *        62.5mg/LSB.
+     */
+    int setTapThreshold(char threshold);
+
+    /**
+     * 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.
+     */
+    float 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.
+     */
+    int setTapDuration(short 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.
+     */
+    int setTapLatency(short 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.
+     */
+    int setWindowTime(short 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.
+     */
+     char 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.
+     */
+    int setActivityThreshold(char 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.
+     */
+     char 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.
+     */
+    int setInactivityThreshold(char 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.
+     */
+     char 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.
+     */
+    int setTimeInactivity(char 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.
+     */
+     char 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.
+     */
+    int setActivityInactivityControl(char 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.
+     */
+     char 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.
+     */
+    int setFreefallThreshold(char 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.
+     */
+     char 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.
+     */
+    int setFreefallTime(short 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.
+     */ 
+     char 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.
+     */
+    int setTapAxisControl(char settings);
+    
+    /**
+     * Get the source of a tap.
+     *
+     * @return The contents of the ACT_TAP_STATUS register.
+     */
+     char getTapSource(void);
+    
+     /**
+     * Get the interrupt enable settings.
+     *
+     * @return The contents of the INT_ENABLE register.
+     */
+
+     char getInterruptEnableControl(void);
+    
+    /**
+     * Set the interrupt enable settings.
+     *
+     * @param settings The control byte to write to the INT_ENABLE register.
+     */
+    int setInterruptEnableControl(char settings);
+    
+    /**
+     * Get the interrupt mapping settings.
+     *
+     * @return The contents of the INT_MAP register.
+     */
+     char getInterruptMappingControl(void);
+    
+    /**
+     * Set the interrupt mapping settings.
+     *
+     * @param settings The control byte to write to the INT_MAP register.
+     */
+    int setInterruptMappingControl(char settings);
+    
+    /**
+     * Get the interrupt source.
+     *
+     * @return The contents of the INT_SOURCE register.
+     */
+     char getInterruptSource(void);
+    
+   
+private:
+
+    I2C i2c_;
+    
+
+    /**
+     * Read one byte from a register on the device.
+     *
+     * @param: - the address to be read from
+     *
+     * @return: the value of the data read
+     */
+    char SingleByteRead(char address);
+
+    /**
+     * Write one byte to a register on the device.
+     *
+     * @param:
+        - address of the register to write to.
+        - the value of the data to store
+     */
+  
+   
+   int SingleByteWrite(char address, char data);
+
+    /**
+     * Read several consecutive bytes on the device and store them in a given location.
+     *
+     * @param startAddress: The address of the first register to read from.
+     * @param ptr_output: a pointer to the location to store the data being read
+     * @param size: The number of bytes to read.
+     */
+    void multiByteRead(char startAddress, char* ptr_output, int size);
+
+    /**
+     * Write several consecutive bytes  on the device.
+     *
+     * @param startAddress: The address of the first register to write to.
+     * @param ptr_data: Pointer to a location which contains the data to write.
+     * @param size: The number of bytes to write.
+     */
+    int multiByteWrite(char startAddress, char* ptr_data, int size);
+
+};
+
+#endif /* ADXL345_I2C_H */

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HCSR04.lib	Sat Dec 31 06:17:30 2016 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/antoniolinux/code/HCSR04/#86b2086be101

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HMC5883L.lib	Sat Dec 31 06:17:30 2016 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/tylerjw/code/HMC5883L/#bc4e1201e092

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motordriver.lib	Sat Dec 31 06:17:30 2016 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/littlexc/code/Motordriver/#3110b9209d3c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Pulse.lib	Sat Dec 31 06:17:30 2016 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/NickRyder/code/Pulse/#fb79a4637a64

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Dec 31 06:17:30 2016 +0000
@@ -0,0 +1,207 @@
+#include "mbed.h"
+#include "motordriver.h"
+#include "Pulse.h"
+#include "HMC5883L.h"
+#include "ADXL345_I2C.h"
+InterruptIn encoderA(A2);
+InterruptIn encoderB(A3);
+Motor Motor_A(D10,D13,D12,1);
+Motor Motor_B(D9,D11,D8,1);
+Serial pc(SERIAL_TX, SERIAL_RX);
+PulseInOut trig(A1);
+PulseInOut echo(A5);
+BusIn IR(D3,PA_14,PA_15,D4);
+HMC5883L compass(D14, D15);
+ADXL345_I2C accelerometer(D14, D15);
+int16_t data[3] = {0};
+int readings[3]= {0};
+ /*********sonar*********************/
+ float hc_distance(void)
+ {
+   long count=0;
+   float distance=0;
+     trig.write_us(1,10);
+      count=echo.read_high_us();
+      distance= float(count*0.017);
+      return distance;
+  }
+int encoder_countB=0;
+int encoder_countA=0;
+void encoderB_counter(void)
+{
+    encoder_countB+=1;
+    }
+    
+void encoderA_counter(void)
+{
+    encoder_countA+=1;
+    }
+    
+void encoderA_reset(void)
+{
+    encoder_countA=0;
+    }
+void encoderB_reset(void)
+{
+    encoder_countB=0;
+    }
+float encoderA_length(void)
+{
+   return encoder_countA*42*3.14/12;
+    }
+float encoderB_length(void)
+{
+   return encoder_countB*42*3.14/12;
+    }    
+void go_straight(int div,float speed)
+{
+    encoderA_reset();encoderB_reset();
+    while(encoder_countA<div){
+    Motor_A.speed(speed);Motor_B.speed(speed);
+    }
+    encoderA_reset();encoderB_reset();
+    }    
+void turn_left(int i)
+{
+     encoderA_reset();encoderB_reset();
+     while(encoder_countA<i){
+     Motor_A.speed(1.0);Motor_B.speed(-1.0);
+     Motor_A.speed(1.0);Motor_B.speed(-1.0);
+     }
+      Motor_A.stop(0.5); Motor_B.stop(0.5);
+     printf("%d , %d \n",encoder_countA,encoder_countB);
+     encoderA_reset();encoderB_reset();
+}   
+void turn_right(int i)
+{
+     encoderA_reset();encoderB_reset();
+     while(encoder_countA<i){
+     Motor_A.speed(-1.0);Motor_B.speed(1.0);
+     Motor_A.speed(-1.0);Motor_B.speed(1.0);
+     }
+     Motor_A.stop(0.5); Motor_B.stop(0.5);
+     printf("%d , %d \n",encoder_countA,encoder_countB);
+     encoderA_reset();encoderB_reset();
+} 
+void new_turn_left(float i,float speed)
+{
+    float pre_angle=0.0;
+    float angle=0.0;
+    float sum=0.0;
+    pre_angle=compass.getHeadingXYDeg();
+    printf("pre = %f\n",pre_angle);
+     Motor_A.speed(1*speed);Motor_B.speed(-1*speed);
+    Motor_A.speed(1*speed);Motor_B.speed(-1*speed);
+    while(sum<i){
+        angle=compass.getHeadingXYDeg();
+        if(abs(pre_angle-angle)>=300){
+            sum+=pre_angle+360-angle;
+            }
+        else{
+            sum+=abs(pre_angle-angle);
+            }    
+         pre_angle=angle;  
+        }
+    Motor_A.stop(0.5); Motor_B.stop(0.5);
+    printf("now = %f\n",angle);
+}
+void new_turn_right(float i,float speed)
+{
+    float pre_angle=0.0;
+    float angle=0.0;
+    float sum=0.0;
+    pre_angle=compass.getHeadingXYDeg();
+    printf("pre = %f\n",pre_angle);
+    Motor_A.speed(-1*speed);Motor_B.speed(1*speed);
+    Motor_A.speed(-1*speed);Motor_B.speed(1*speed);
+    while(sum<i){
+        angle=compass.getHeadingXYDeg();
+        if(abs(pre_angle-angle)>=300){
+            sum+=pre_angle+360-angle;
+            }
+        else{
+            sum+=abs(pre_angle-angle);
+            }    
+         pre_angle=angle;  
+        }
+    Motor_A.stop(0.5); Motor_B.stop(0.5);
+    printf("now = %f\n",angle);
+}      
+void ADXL345_init(void)
+{
+    pc.printf("Starting ADXL345 test...\n");
+    wait(.001);
+    pc.printf("Device ID is: 0x%02x\n", accelerometer.getDeviceID());
+    wait(.001);
+    
+     // These are here to test whether any of the initialization fails. It will print the failure
+    if (accelerometer.setPowerControl(0x00)){
+         pc.printf("didn't intitialize power control\n"); 
+          }
+     //Full resolution, +/-16g, 4mg/LSB.
+     wait(.001);
+     
+     if(accelerometer.setDataFormatControl(0x0B)){
+        pc.printf("didn't set data format\n");
+          }
+     wait(.001);
+     
+     //3.2kHz data rate.
+     if(accelerometer.setDataRate(ADXL345_3200HZ)){
+        pc.printf("didn't set data rate\n");
+            }
+     wait(.001);
+     
+     //Measurement mode.
+     
+     if(accelerometer.setPowerControl(MeasurementMode)) {
+        pc.printf("didn't set the power control to measurement\n"); 
+          } 
+    }
+
+float tilt(void)
+{
+    float tilt_angle=0;
+    accelerometer.getOutput(readings);
+    tilt_angle=atan(static_cast<float>(readings[0])/static_cast<float>(readings[1]));
+    return tilt_angle;
+    }
+/**********************************/
+int main() {
+    
+    int IR_value;
+    double deg=0.0;
+    float ang=0.0;
+    wait(1);
+    ADXL345_init();
+    compass.init();
+    encoderB.rise(&encoderB_counter);          //interrupt B rise-trig 
+    encoderA.rise(&encoderA_counter);          //interrupt A rise-trig
+    printf("begin\n");
+    
+ while(1)
+ {
+   /* IR_value = IR.read();
+    printf("%x\n",IR_value);
+    deg=compass.getHeadingXYDeg();
+    printf("deg = %f\n",deg);*/
+    
+    accelerometer.getOutput(readings);
+    printf("tilt = %f\n",tilt());
+   // printf("%d %d %d\n",readings[0],readings[1],readings[2]);
+    wait(0.5);
+    
+    /*
+    scanf("%f",&ang);
+    if(ang>0)
+    {
+         new_turn_left(abs(ang),0.7);
+        }
+   else{
+         new_turn_right(abs(ang),0.7);
+    }
+    */
+    }
+}
+
+ 
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sat Dec 31 06:17:30 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/0ab6a29f35bf
\ No newline at end of file