Ryo Nakabayashi / Mbed 2 deprecated 6DoF_IMU_readvalue Featured

Get value from Sparkfun IMU module, 6-degrees-of-freedom (ITG-3200/ADXL345) Gyro sensor and Accel sensor is included.

Dependencies:   ITG3200 mbed

ADXL345_I2C.cpp@0:cda6d9f5a43c, 2012-11-26 (annotated)

Committer:
ryought
Date:
Mon Nov 26 05:34:56 2012 +0000
Revision:
0:cda6d9f5a43c
First Commit  It runs.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryought 0:cda6d9f5a43c 1 /**
ryought 0:cda6d9f5a43c 2 * @author Peter Swanson
ryought 0:cda6d9f5a43c 3 * A personal note from me: Jesus Christ has changed my life so much it blows my mind. I say this because
ryought 0:cda6d9f5a43c 4 * today, religion is thought of as something that you do or believe and has about as
ryought 0:cda6d9f5a43c 5 * little impact on a person as their political stance. But for me, God gives me daily
ryought 0:cda6d9f5a43c 6 * strength and has filled my life with the satisfaction that I could never find in any
ryought 0:cda6d9f5a43c 7 * of the other things that I once looked for it in.
ryought 0:cda6d9f5a43c 8 * If your interested, heres verse that changed my life:
ryought 0:cda6d9f5a43c 9 * Rom 8:1-3: "Therefore, there is now no condemnation for those who are in Christ Jesus,
ryought 0:cda6d9f5a43c 10 * because through Christ Jesus, the law of the Spirit who gives life has set
ryought 0:cda6d9f5a43c 11 * me free from the law of sin (which brings...) and death. For what the law
ryought 0:cda6d9f5a43c 12 * was powerless to do in that it was weakened by the flesh, God did by sending
ryought 0:cda6d9f5a43c 13 * His own Son in the likeness of sinful flesh to be a sin offering. And so He
ryought 0:cda6d9f5a43c 14 * condemned sin in the flesh in order that the righteous requirements of the
ryought 0:cda6d9f5a43c 15 * (God's) law might be fully met in us, who live not according to the flesh
ryought 0:cda6d9f5a43c 16 * but according to the Spirit."
ryought 0:cda6d9f5a43c 17 *
ryought 0:cda6d9f5a43c 18 * A special thanks to Ewout van Bekkum for all his patient help in developing this library!
ryought 0:cda6d9f5a43c 19 *
ryought 0:cda6d9f5a43c 20 * @section LICENSE
ryought 0:cda6d9f5a43c 21 *
ryought 0:cda6d9f5a43c 22 * Permission is hereby granted, free of charge, to any person obtaining a copy
ryought 0:cda6d9f5a43c 23 * of this software and associated documentation files (the "Software"), to deal
ryought 0:cda6d9f5a43c 24 * in the Software without restriction, including without limitation the rights
ryought 0:cda6d9f5a43c 25 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
ryought 0:cda6d9f5a43c 26 * copies of the Software, and to permit persons to whom the Software is
ryought 0:cda6d9f5a43c 27 * furnished to do so, subject to the following conditions:
ryought 0:cda6d9f5a43c 28 *
ryought 0:cda6d9f5a43c 29 * The above copyright notice and this permission notice shall be included in
ryought 0:cda6d9f5a43c 30 * all copies or substantial portions of the Software.
ryought 0:cda6d9f5a43c 31 *
ryought 0:cda6d9f5a43c 32 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
ryought 0:cda6d9f5a43c 33 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
ryought 0:cda6d9f5a43c 34 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
ryought 0:cda6d9f5a43c 35 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
ryought 0:cda6d9f5a43c 36 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
ryought 0:cda6d9f5a43c 37 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
ryought 0:cda6d9f5a43c 38 * THE SOFTWARE.
ryought 0:cda6d9f5a43c 39 *
ryought 0:cda6d9f5a43c 40 * @section DESCRIPTION
ryought 0:cda6d9f5a43c 41 *
ryought 0:cda6d9f5a43c 42 * ADXL345, triple axis, I2C interface, accelerometer.
ryought 0:cda6d9f5a43c 43 *
ryought 0:cda6d9f5a43c 44 * Datasheet:
ryought 0:cda6d9f5a43c 45 *
ryought 0:cda6d9f5a43c 46 * http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf
ryought 0:cda6d9f5a43c 47 */
ryought 0:cda6d9f5a43c 48
ryought 0:cda6d9f5a43c 49 /**
ryought 0:cda6d9f5a43c 50 * Includes
ryought 0:cda6d9f5a43c 51 */
ryought 0:cda6d9f5a43c 52 #include "ADXL345_I2C.h"
ryought 0:cda6d9f5a43c 53
ryought 0:cda6d9f5a43c 54 //#include "mbed.h"
ryought 0:cda6d9f5a43c 55
ryought 0:cda6d9f5a43c 56 ADXL345_I2C::ADXL345_I2C(PinName sda, PinName scl) : i2c_(sda, scl) {
ryought 0:cda6d9f5a43c 57
ryought 0:cda6d9f5a43c 58 //400kHz, allowing us to use the fastest data rates.
ryought 0:cda6d9f5a43c 59 i2c_.frequency(400000);
ryought 0:cda6d9f5a43c 60 // initialize the BW data rate
ryought 0:cda6d9f5a43c 61 char tx[2];
ryought 0:cda6d9f5a43c 62 tx[0] = ADXL345_BW_RATE_REG;
ryought 0:cda6d9f5a43c 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
ryought 0:cda6d9f5a43c 64 i2c_.write( ADXL345_I2C_WRITE , tx, 2);
ryought 0:cda6d9f5a43c 65
ryought 0:cda6d9f5a43c 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).
ryought 0:cda6d9f5a43c 67
ryought 0:cda6d9f5a43c 68 char rx[2];
ryought 0:cda6d9f5a43c 69 rx[0] = ADXL345_DATA_FORMAT_REG;
ryought 0:cda6d9f5a43c 70 rx[1] = 0x0B;
ryought 0:cda6d9f5a43c 71 // full res and +_16g
ryought 0:cda6d9f5a43c 72 i2c_.write( ADXL345_I2C_WRITE , rx, 2);
ryought 0:cda6d9f5a43c 73
ryought 0:cda6d9f5a43c 74 // Set Offset - programmed into the OFSX, OFSY, and OFXZ registers, respectively, as 0xFD, 0x03 and 0xFE.
ryought 0:cda6d9f5a43c 75 char x[2];
ryought 0:cda6d9f5a43c 76 x[0] = ADXL345_OFSX_REG ;
ryought 0:cda6d9f5a43c 77 x[1] = 0xFD;
ryought 0:cda6d9f5a43c 78 i2c_.write( ADXL345_I2C_WRITE , x, 2);
ryought 0:cda6d9f5a43c 79 char y[2];
ryought 0:cda6d9f5a43c 80 y[0] = ADXL345_OFSY_REG ;
ryought 0:cda6d9f5a43c 81 y[1] = 0x03;
ryought 0:cda6d9f5a43c 82 i2c_.write( ADXL345_I2C_WRITE , y, 2);
ryought 0:cda6d9f5a43c 83 char z[2];
ryought 0:cda6d9f5a43c 84 z[0] = ADXL345_OFSZ_REG ;
ryought 0:cda6d9f5a43c 85 z[1] = 0xFE;
ryought 0:cda6d9f5a43c 86 i2c_.write( ADXL345_I2C_WRITE , z, 2);
ryought 0:cda6d9f5a43c 87 }
ryought 0:cda6d9f5a43c 88
ryought 0:cda6d9f5a43c 89
ryought 0:cda6d9f5a43c 90 char ADXL345_I2C::SingleByteRead(char address){
ryought 0:cda6d9f5a43c 91 char tx = address;
ryought 0:cda6d9f5a43c 92 char output;
ryought 0:cda6d9f5a43c 93 i2c_.write( ADXL345_I2C_WRITE , &tx, 1); //tell it what you want to read
ryought 0:cda6d9f5a43c 94 i2c_.read( ADXL345_I2C_READ , &output, 1); //tell it where to store the data
ryought 0:cda6d9f5a43c 95 return output;
ryought 0:cda6d9f5a43c 96
ryought 0:cda6d9f5a43c 97 }
ryought 0:cda6d9f5a43c 98
ryought 0:cda6d9f5a43c 99
ryought 0:cda6d9f5a43c 100 /*
ryought 0:cda6d9f5a43c 101 ***info on the i2c_.write***
ryought 0:cda6d9f5a43c 102 address 8-bit I2C slave address [ addr | 0 ]
ryought 0:cda6d9f5a43c 103 data Pointer to the byte-array data to send
ryought 0:cda6d9f5a43c 104 length Number of bytes to send
ryought 0:cda6d9f5a43c 105 repeated Repeated start, true - do not send stop at end
ryought 0:cda6d9f5a43c 106 returns 0 on success (ack), or non-0 on failure (nack)
ryought 0:cda6d9f5a43c 107 */
ryought 0:cda6d9f5a43c 108
ryought 0:cda6d9f5a43c 109 int ADXL345_I2C::SingleByteWrite(char address, char data){
ryought 0:cda6d9f5a43c 110 int ack = 0;
ryought 0:cda6d9f5a43c 111 char tx[2];
ryought 0:cda6d9f5a43c 112 tx[0] = address;
ryought 0:cda6d9f5a43c 113 tx[1] = data;
ryought 0:cda6d9f5a43c 114 return ack | i2c_.write( ADXL345_I2C_WRITE , tx, 2);
ryought 0:cda6d9f5a43c 115 }
ryought 0:cda6d9f5a43c 116
ryought 0:cda6d9f5a43c 117
ryought 0:cda6d9f5a43c 118
ryought 0:cda6d9f5a43c 119 void ADXL345_I2C::multiByteRead(char address, char* output, int size) {
ryought 0:cda6d9f5a43c 120 i2c_.write( ADXL345_I2C_WRITE, &address, 1); //tell it where to read from
ryought 0:cda6d9f5a43c 121 i2c_.read( ADXL345_I2C_READ , output, size); //tell it where to store the data read
ryought 0:cda6d9f5a43c 122 }
ryought 0:cda6d9f5a43c 123
ryought 0:cda6d9f5a43c 124
ryought 0:cda6d9f5a43c 125 int ADXL345_I2C::multiByteWrite(char address, char* ptr_data, int size) {
ryought 0:cda6d9f5a43c 126 int ack;
ryought 0:cda6d9f5a43c 127
ryought 0:cda6d9f5a43c 128 ack = i2c_.write( ADXL345_I2C_WRITE, &address, 1); //tell it where to write to
ryought 0:cda6d9f5a43c 129 return ack | i2c_.write( ADXL345_I2C_READ, ptr_data, size); //tell it what data to write
ryought 0:cda6d9f5a43c 130
ryought 0:cda6d9f5a43c 131 }
ryought 0:cda6d9f5a43c 132
ryought 0:cda6d9f5a43c 133
ryought 0:cda6d9f5a43c 134 void ADXL345_I2C::getOutput(int* readings){
ryought 0:cda6d9f5a43c 135 char buffer[6];
ryought 0:cda6d9f5a43c 136 multiByteRead(ADXL345_DATAX0_REG, buffer, 6);
ryought 0:cda6d9f5a43c 137
ryought 0:cda6d9f5a43c 138 readings[0] = (int)buffer[1] << 8 | (int)buffer[0];
ryought 0:cda6d9f5a43c 139 readings[1] = (int)buffer[3] << 8 | (int)buffer[2];
ryought 0:cda6d9f5a43c 140 readings[2] = (int)buffer[5] << 8 | (int)buffer[4];
ryought 0:cda6d9f5a43c 141
ryought 0:cda6d9f5a43c 142 }
ryought 0:cda6d9f5a43c 143
ryought 0:cda6d9f5a43c 144
ryought 0:cda6d9f5a43c 145
ryought 0:cda6d9f5a43c 146 char ADXL345_I2C::getDeviceID() {
ryought 0:cda6d9f5a43c 147 return SingleByteRead(ADXL345_DEVID_REG);
ryought 0:cda6d9f5a43c 148 }
ryought 0:cda6d9f5a43c 149 //
ryought 0:cda6d9f5a43c 150 int ADXL345_I2C::setPowerMode(char mode) {
ryought 0:cda6d9f5a43c 151
ryought 0:cda6d9f5a43c 152 //Get the current register contents, so we don't clobber the rate value.
ryought 0:cda6d9f5a43c 153 char registerContents = (mode << 4) | SingleByteRead(ADXL345_BW_RATE_REG);
ryought 0:cda6d9f5a43c 154
ryought 0:cda6d9f5a43c 155 return SingleByteWrite(ADXL345_BW_RATE_REG, registerContents);
ryought 0:cda6d9f5a43c 156
ryought 0:cda6d9f5a43c 157 }
ryought 0:cda6d9f5a43c 158
ryought 0:cda6d9f5a43c 159 char ADXL345_I2C::getPowerControl() {
ryought 0:cda6d9f5a43c 160 return SingleByteRead(ADXL345_POWER_CTL_REG);
ryought 0:cda6d9f5a43c 161 }
ryought 0:cda6d9f5a43c 162
ryought 0:cda6d9f5a43c 163 int ADXL345_I2C::setPowerControl(char settings) {
ryought 0:cda6d9f5a43c 164 return SingleByteWrite(ADXL345_POWER_CTL_REG, settings);
ryought 0:cda6d9f5a43c 165
ryought 0:cda6d9f5a43c 166 }
ryought 0:cda6d9f5a43c 167
ryought 0:cda6d9f5a43c 168
ryought 0:cda6d9f5a43c 169
ryought 0:cda6d9f5a43c 170 char ADXL345_I2C::getDataFormatControl(void){
ryought 0:cda6d9f5a43c 171
ryought 0:cda6d9f5a43c 172 return SingleByteRead(ADXL345_DATA_FORMAT_REG);
ryought 0:cda6d9f5a43c 173 }
ryought 0:cda6d9f5a43c 174
ryought 0:cda6d9f5a43c 175 int ADXL345_I2C::setDataFormatControl(char settings){
ryought 0:cda6d9f5a43c 176
ryought 0:cda6d9f5a43c 177 return SingleByteWrite(ADXL345_DATA_FORMAT_REG, settings);
ryought 0:cda6d9f5a43c 178
ryought 0:cda6d9f5a43c 179 }
ryought 0:cda6d9f5a43c 180
ryought 0:cda6d9f5a43c 181 int ADXL345_I2C::setDataRate(char rate) {
ryought 0:cda6d9f5a43c 182
ryought 0:cda6d9f5a43c 183 //Get the current register contents, so we don't clobber the power bit.
ryought 0:cda6d9f5a43c 184 char registerContents = SingleByteRead(ADXL345_BW_RATE_REG);
ryought 0:cda6d9f5a43c 185
ryought 0:cda6d9f5a43c 186 registerContents &= 0x10;
ryought 0:cda6d9f5a43c 187 registerContents |= rate;
ryought 0:cda6d9f5a43c 188
ryought 0:cda6d9f5a43c 189 return SingleByteWrite(ADXL345_BW_RATE_REG, registerContents);
ryought 0:cda6d9f5a43c 190
ryought 0:cda6d9f5a43c 191 }
ryought 0:cda6d9f5a43c 192
ryought 0:cda6d9f5a43c 193
ryought 0:cda6d9f5a43c 194 char ADXL345_I2C::getOffset(char axis) {
ryought 0:cda6d9f5a43c 195
ryought 0:cda6d9f5a43c 196 char address = 0;
ryought 0:cda6d9f5a43c 197
ryought 0:cda6d9f5a43c 198 if (axis == ADXL345_X) {
ryought 0:cda6d9f5a43c 199 address = ADXL345_OFSX_REG;
ryought 0:cda6d9f5a43c 200 } else if (axis == ADXL345_Y) {
ryought 0:cda6d9f5a43c 201 address = ADXL345_OFSY_REG;
ryought 0:cda6d9f5a43c 202 } else if (axis == ADXL345_Z) {
ryought 0:cda6d9f5a43c 203 address = ADXL345_OFSZ_REG;
ryought 0:cda6d9f5a43c 204 }
ryought 0:cda6d9f5a43c 205
ryought 0:cda6d9f5a43c 206 return SingleByteRead(address);
ryought 0:cda6d9f5a43c 207 }
ryought 0:cda6d9f5a43c 208
ryought 0:cda6d9f5a43c 209 int ADXL345_I2C::setOffset(char axis, char offset) {
ryought 0:cda6d9f5a43c 210
ryought 0:cda6d9f5a43c 211 char address = 0;
ryought 0:cda6d9f5a43c 212
ryought 0:cda6d9f5a43c 213 if (axis == ADXL345_X) {
ryought 0:cda6d9f5a43c 214 address = ADXL345_OFSX_REG;
ryought 0:cda6d9f5a43c 215 } else if (axis == ADXL345_Y) {
ryought 0:cda6d9f5a43c 216 address = ADXL345_OFSY_REG;
ryought 0:cda6d9f5a43c 217 } else if (axis == ADXL345_Z) {
ryought 0:cda6d9f5a43c 218 address = ADXL345_OFSZ_REG;
ryought 0:cda6d9f5a43c 219 }
ryought 0:cda6d9f5a43c 220
ryought 0:cda6d9f5a43c 221 return SingleByteWrite(address, offset);
ryought 0:cda6d9f5a43c 222
ryought 0:cda6d9f5a43c 223 }
ryought 0:cda6d9f5a43c 224
ryought 0:cda6d9f5a43c 225
ryought 0:cda6d9f5a43c 226 char ADXL345_I2C::getFifoControl(void){
ryought 0:cda6d9f5a43c 227
ryought 0:cda6d9f5a43c 228 return SingleByteRead(ADXL345_FIFO_CTL);
ryought 0:cda6d9f5a43c 229
ryought 0:cda6d9f5a43c 230 }
ryought 0:cda6d9f5a43c 231
ryought 0:cda6d9f5a43c 232 int ADXL345_I2C::setFifoControl(char settings){
ryought 0:cda6d9f5a43c 233 return SingleByteWrite(ADXL345_FIFO_STATUS, settings);
ryought 0:cda6d9f5a43c 234
ryought 0:cda6d9f5a43c 235 }
ryought 0:cda6d9f5a43c 236
ryought 0:cda6d9f5a43c 237 char ADXL345_I2C::getFifoStatus(void){
ryought 0:cda6d9f5a43c 238
ryought 0:cda6d9f5a43c 239 return SingleByteRead(ADXL345_FIFO_STATUS);
ryought 0:cda6d9f5a43c 240
ryought 0:cda6d9f5a43c 241 }
ryought 0:cda6d9f5a43c 242
ryought 0:cda6d9f5a43c 243
ryought 0:cda6d9f5a43c 244
ryought 0:cda6d9f5a43c 245 char ADXL345_I2C::getTapThreshold(void) {
ryought 0:cda6d9f5a43c 246
ryought 0:cda6d9f5a43c 247 return SingleByteRead(ADXL345_THRESH_TAP_REG);
ryought 0:cda6d9f5a43c 248 }
ryought 0:cda6d9f5a43c 249
ryought 0:cda6d9f5a43c 250 int ADXL345_I2C::setTapThreshold(char threshold) {
ryought 0:cda6d9f5a43c 251
ryought 0:cda6d9f5a43c 252 return SingleByteWrite(ADXL345_THRESH_TAP_REG, threshold);
ryought 0:cda6d9f5a43c 253
ryought 0:cda6d9f5a43c 254 }
ryought 0:cda6d9f5a43c 255
ryought 0:cda6d9f5a43c 256
ryought 0:cda6d9f5a43c 257 float ADXL345_I2C::getTapDuration(void) {
ryought 0:cda6d9f5a43c 258
ryought 0:cda6d9f5a43c 259 return (float)SingleByteRead(ADXL345_DUR_REG)*625;
ryought 0:cda6d9f5a43c 260 }
ryought 0:cda6d9f5a43c 261
ryought 0:cda6d9f5a43c 262 int ADXL345_I2C::setTapDuration(short int duration_us) {
ryought 0:cda6d9f5a43c 263
ryought 0:cda6d9f5a43c 264 short int tapDuration = duration_us / 625;
ryought 0:cda6d9f5a43c 265 char tapChar[2];
ryought 0:cda6d9f5a43c 266 tapChar[0] = (tapDuration & 0x00FF);
ryought 0:cda6d9f5a43c 267 tapChar[1] = (tapDuration >> 8) & 0x00FF;
ryought 0:cda6d9f5a43c 268 return multiByteWrite(ADXL345_DUR_REG, tapChar, 2);
ryought 0:cda6d9f5a43c 269
ryought 0:cda6d9f5a43c 270 }
ryought 0:cda6d9f5a43c 271
ryought 0:cda6d9f5a43c 272 float ADXL345_I2C::getTapLatency(void) {
ryought 0:cda6d9f5a43c 273
ryought 0:cda6d9f5a43c 274 return (float)SingleByteRead(ADXL345_LATENT_REG)*1.25;
ryought 0:cda6d9f5a43c 275 }
ryought 0:cda6d9f5a43c 276
ryought 0:cda6d9f5a43c 277 int ADXL345_I2C::setTapLatency(short int latency_ms) {
ryought 0:cda6d9f5a43c 278
ryought 0:cda6d9f5a43c 279 latency_ms = latency_ms / 1.25;
ryought 0:cda6d9f5a43c 280 char latChar[2];
ryought 0:cda6d9f5a43c 281 latChar[0] = (latency_ms & 0x00FF);
ryought 0:cda6d9f5a43c 282 latChar[1] = (latency_ms << 8) & 0xFF00;
ryought 0:cda6d9f5a43c 283 return multiByteWrite(ADXL345_LATENT_REG, latChar, 2);
ryought 0:cda6d9f5a43c 284
ryought 0:cda6d9f5a43c 285 }
ryought 0:cda6d9f5a43c 286
ryought 0:cda6d9f5a43c 287 float ADXL345_I2C::getWindowTime(void) {
ryought 0:cda6d9f5a43c 288
ryought 0:cda6d9f5a43c 289 return (float)SingleByteRead(ADXL345_WINDOW_REG)*1.25;
ryought 0:cda6d9f5a43c 290 }
ryought 0:cda6d9f5a43c 291
ryought 0:cda6d9f5a43c 292 int ADXL345_I2C::setWindowTime(short int window_ms) {
ryought 0:cda6d9f5a43c 293
ryought 0:cda6d9f5a43c 294 window_ms = window_ms / 1.25;
ryought 0:cda6d9f5a43c 295 char windowChar[2];
ryought 0:cda6d9f5a43c 296 windowChar[0] = (window_ms & 0x00FF);
ryought 0:cda6d9f5a43c 297 windowChar[1] = ((window_ms << 8) & 0xFF00);
ryought 0:cda6d9f5a43c 298 return multiByteWrite(ADXL345_WINDOW_REG, windowChar, 2);
ryought 0:cda6d9f5a43c 299
ryought 0:cda6d9f5a43c 300 }
ryought 0:cda6d9f5a43c 301
ryought 0:cda6d9f5a43c 302 char ADXL345_I2C::getActivityThreshold(void) {
ryought 0:cda6d9f5a43c 303
ryought 0:cda6d9f5a43c 304 return SingleByteRead(ADXL345_THRESH_ACT_REG);
ryought 0:cda6d9f5a43c 305 }
ryought 0:cda6d9f5a43c 306
ryought 0:cda6d9f5a43c 307 int ADXL345_I2C::setActivityThreshold(char threshold) {
ryought 0:cda6d9f5a43c 308 return SingleByteWrite(ADXL345_THRESH_ACT_REG, threshold);
ryought 0:cda6d9f5a43c 309
ryought 0:cda6d9f5a43c 310 }
ryought 0:cda6d9f5a43c 311
ryought 0:cda6d9f5a43c 312 char ADXL345_I2C::getInactivityThreshold(void) {
ryought 0:cda6d9f5a43c 313 return SingleByteRead(ADXL345_THRESH_INACT_REG);
ryought 0:cda6d9f5a43c 314
ryought 0:cda6d9f5a43c 315 }
ryought 0:cda6d9f5a43c 316
ryought 0:cda6d9f5a43c 317 //int FUNCTION(short int * ptr_Output)
ryought 0:cda6d9f5a43c 318 //short int FUNCTION ()
ryought 0:cda6d9f5a43c 319
ryought 0:cda6d9f5a43c 320 int ADXL345_I2C::setInactivityThreshold(char threshold) {
ryought 0:cda6d9f5a43c 321 return SingleByteWrite(ADXL345_THRESH_INACT_REG, threshold);
ryought 0:cda6d9f5a43c 322
ryought 0:cda6d9f5a43c 323 }
ryought 0:cda6d9f5a43c 324
ryought 0:cda6d9f5a43c 325 char ADXL345_I2C::getTimeInactivity(void) {
ryought 0:cda6d9f5a43c 326
ryought 0:cda6d9f5a43c 327 return SingleByteRead(ADXL345_TIME_INACT_REG);
ryought 0:cda6d9f5a43c 328
ryought 0:cda6d9f5a43c 329 }
ryought 0:cda6d9f5a43c 330
ryought 0:cda6d9f5a43c 331 int ADXL345_I2C::setTimeInactivity(char timeInactivity) {
ryought 0:cda6d9f5a43c 332 return SingleByteWrite(ADXL345_TIME_INACT_REG, timeInactivity);
ryought 0:cda6d9f5a43c 333
ryought 0:cda6d9f5a43c 334 }
ryought 0:cda6d9f5a43c 335
ryought 0:cda6d9f5a43c 336 char ADXL345_I2C::getActivityInactivityControl(void) {
ryought 0:cda6d9f5a43c 337
ryought 0:cda6d9f5a43c 338 return SingleByteRead(ADXL345_ACT_INACT_CTL_REG);
ryought 0:cda6d9f5a43c 339
ryought 0:cda6d9f5a43c 340 }
ryought 0:cda6d9f5a43c 341
ryought 0:cda6d9f5a43c 342 int ADXL345_I2C::setActivityInactivityControl(char settings) {
ryought 0:cda6d9f5a43c 343 return SingleByteWrite(ADXL345_ACT_INACT_CTL_REG, settings);
ryought 0:cda6d9f5a43c 344
ryought 0:cda6d9f5a43c 345 }
ryought 0:cda6d9f5a43c 346
ryought 0:cda6d9f5a43c 347 char ADXL345_I2C::getFreefallThreshold(void) {
ryought 0:cda6d9f5a43c 348
ryought 0:cda6d9f5a43c 349 return SingleByteRead(ADXL345_THRESH_FF_REG);
ryought 0:cda6d9f5a43c 350
ryought 0:cda6d9f5a43c 351 }
ryought 0:cda6d9f5a43c 352
ryought 0:cda6d9f5a43c 353 int ADXL345_I2C::setFreefallThreshold(char threshold) {
ryought 0:cda6d9f5a43c 354 return SingleByteWrite(ADXL345_THRESH_FF_REG, threshold);
ryought 0:cda6d9f5a43c 355
ryought 0:cda6d9f5a43c 356 }
ryought 0:cda6d9f5a43c 357
ryought 0:cda6d9f5a43c 358 char ADXL345_I2C::getFreefallTime(void) {
ryought 0:cda6d9f5a43c 359
ryought 0:cda6d9f5a43c 360 return SingleByteRead(ADXL345_TIME_FF_REG)*5;
ryought 0:cda6d9f5a43c 361
ryought 0:cda6d9f5a43c 362 }
ryought 0:cda6d9f5a43c 363
ryought 0:cda6d9f5a43c 364 int ADXL345_I2C::setFreefallTime(short int freefallTime_ms) {
ryought 0:cda6d9f5a43c 365 freefallTime_ms = freefallTime_ms / 5;
ryought 0:cda6d9f5a43c 366 char fallChar[2];
ryought 0:cda6d9f5a43c 367 fallChar[0] = (freefallTime_ms & 0x00FF);
ryought 0:cda6d9f5a43c 368 fallChar[1] = (freefallTime_ms << 8) & 0xFF00;
ryought 0:cda6d9f5a43c 369
ryought 0:cda6d9f5a43c 370 return multiByteWrite(ADXL345_TIME_FF_REG, fallChar, 2);
ryought 0:cda6d9f5a43c 371
ryought 0:cda6d9f5a43c 372 }
ryought 0:cda6d9f5a43c 373
ryought 0:cda6d9f5a43c 374 char ADXL345_I2C::getTapAxisControl(void) {
ryought 0:cda6d9f5a43c 375
ryought 0:cda6d9f5a43c 376 return SingleByteRead(ADXL345_TAP_AXES_REG);
ryought 0:cda6d9f5a43c 377
ryought 0:cda6d9f5a43c 378 }
ryought 0:cda6d9f5a43c 379
ryought 0:cda6d9f5a43c 380 int ADXL345_I2C::setTapAxisControl(char settings) {
ryought 0:cda6d9f5a43c 381 return SingleByteWrite(ADXL345_TAP_AXES_REG, settings);
ryought 0:cda6d9f5a43c 382
ryought 0:cda6d9f5a43c 383 }
ryought 0:cda6d9f5a43c 384
ryought 0:cda6d9f5a43c 385 char ADXL345_I2C::getTapSource(void) {
ryought 0:cda6d9f5a43c 386
ryought 0:cda6d9f5a43c 387 return SingleByteRead(ADXL345_ACT_TAP_STATUS_REG);
ryought 0:cda6d9f5a43c 388
ryought 0:cda6d9f5a43c 389 }
ryought 0:cda6d9f5a43c 390
ryought 0:cda6d9f5a43c 391
ryought 0:cda6d9f5a43c 392
ryought 0:cda6d9f5a43c 393 char ADXL345_I2C::getInterruptEnableControl(void) {
ryought 0:cda6d9f5a43c 394
ryought 0:cda6d9f5a43c 395 return SingleByteRead(ADXL345_INT_ENABLE_REG);
ryought 0:cda6d9f5a43c 396
ryought 0:cda6d9f5a43c 397 }
ryought 0:cda6d9f5a43c 398
ryought 0:cda6d9f5a43c 399 int ADXL345_I2C::setInterruptEnableControl(char settings) {
ryought 0:cda6d9f5a43c 400 return SingleByteWrite(ADXL345_INT_ENABLE_REG, settings);
ryought 0:cda6d9f5a43c 401
ryought 0:cda6d9f5a43c 402 }
ryought 0:cda6d9f5a43c 403
ryought 0:cda6d9f5a43c 404 char ADXL345_I2C::getInterruptMappingControl(void) {
ryought 0:cda6d9f5a43c 405
ryought 0:cda6d9f5a43c 406 return SingleByteRead(ADXL345_INT_MAP_REG);
ryought 0:cda6d9f5a43c 407
ryought 0:cda6d9f5a43c 408 }
ryought 0:cda6d9f5a43c 409
ryought 0:cda6d9f5a43c 410 int ADXL345_I2C::setInterruptMappingControl(char settings) {
ryought 0:cda6d9f5a43c 411 return SingleByteWrite(ADXL345_INT_MAP_REG, settings);
ryought 0:cda6d9f5a43c 412
ryought 0:cda6d9f5a43c 413 }
ryought 0:cda6d9f5a43c 414
ryought 0:cda6d9f5a43c 415 char ADXL345_I2C::getInterruptSource(void){
ryought 0:cda6d9f5a43c 416
ryought 0:cda6d9f5a43c 417 return SingleByteRead(ADXL345_INT_SOURCE_REG);
ryought 0:cda6d9f5a43c 418
ryought 0:cda6d9f5a43c 419 }
ryought 0:cda6d9f5a43c 420
ryought 0:cda6d9f5a43c 421
ryought 0:cda6d9f5a43c 422
ryought 0:cda6d9f5a43c 423