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.h@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
ryought 0:cda6d9f5a43c 51 #ifndef ADXL345_I2C_H
ryought 0:cda6d9f5a43c 52 #define ADXL345_I2C_H
ryought 0:cda6d9f5a43c 53
ryought 0:cda6d9f5a43c 54 /**
ryought 0:cda6d9f5a43c 55 * Includes
ryought 0:cda6d9f5a43c 56 */
ryought 0:cda6d9f5a43c 57 #include "mbed.h"
ryought 0:cda6d9f5a43c 58
ryought 0:cda6d9f5a43c 59 /**
ryought 0:cda6d9f5a43c 60 * Defines
ryought 0:cda6d9f5a43c 61 */
ryought 0:cda6d9f5a43c 62 //Registers.
ryought 0:cda6d9f5a43c 63 #define ADXL345_DEVID_REG 0x00
ryought 0:cda6d9f5a43c 64 #define ADXL345_THRESH_TAP_REG 0x1D
ryought 0:cda6d9f5a43c 65 #define ADXL345_OFSX_REG 0x1E
ryought 0:cda6d9f5a43c 66 #define ADXL345_OFSY_REG 0x1F
ryought 0:cda6d9f5a43c 67 #define ADXL345_OFSZ_REG 0x20
ryought 0:cda6d9f5a43c 68 #define ADXL345_DUR_REG 0x21
ryought 0:cda6d9f5a43c 69 #define ADXL345_LATENT_REG 0x22
ryought 0:cda6d9f5a43c 70 #define ADXL345_WINDOW_REG 0x23
ryought 0:cda6d9f5a43c 71 #define ADXL345_THRESH_ACT_REG 0x24
ryought 0:cda6d9f5a43c 72 #define ADXL345_THRESH_INACT_REG 0x25
ryought 0:cda6d9f5a43c 73 #define ADXL345_TIME_INACT_REG 0x26
ryought 0:cda6d9f5a43c 74 #define ADXL345_ACT_INACT_CTL_REG 0x27
ryought 0:cda6d9f5a43c 75 #define ADXL345_THRESH_FF_REG 0x28
ryought 0:cda6d9f5a43c 76 #define ADXL345_TIME_FF_REG 0x29
ryought 0:cda6d9f5a43c 77 #define ADXL345_TAP_AXES_REG 0x2A
ryought 0:cda6d9f5a43c 78 #define ADXL345_ACT_TAP_STATUS_REG 0x2B
ryought 0:cda6d9f5a43c 79 #define ADXL345_BW_RATE_REG 0x2C
ryought 0:cda6d9f5a43c 80 #define ADXL345_POWER_CTL_REG 0x2D
ryought 0:cda6d9f5a43c 81 #define ADXL345_INT_ENABLE_REG 0x2E
ryought 0:cda6d9f5a43c 82 #define ADXL345_INT_MAP_REG 0x2F
ryought 0:cda6d9f5a43c 83 #define ADXL345_INT_SOURCE_REG 0x30
ryought 0:cda6d9f5a43c 84 #define ADXL345_DATA_FORMAT_REG 0x31
ryought 0:cda6d9f5a43c 85 #define ADXL345_DATAX0_REG 0x32
ryought 0:cda6d9f5a43c 86 #define ADXL345_DATAX1_REG 0x33
ryought 0:cda6d9f5a43c 87 #define ADXL345_DATAY0_REG 0x34
ryought 0:cda6d9f5a43c 88 #define ADXL345_DATAY1_REG 0x35
ryought 0:cda6d9f5a43c 89 #define ADXL345_DATAZ0_REG 0x36
ryought 0:cda6d9f5a43c 90 #define ADXL345_DATAZ1_REG 0x37
ryought 0:cda6d9f5a43c 91 #define ADXL345_FIFO_CTL 0x38
ryought 0:cda6d9f5a43c 92 #define ADXL345_FIFO_STATUS 0x39
ryought 0:cda6d9f5a43c 93
ryought 0:cda6d9f5a43c 94 //Data rate codes.
ryought 0:cda6d9f5a43c 95 #define ADXL345_3200HZ 0x0F
ryought 0:cda6d9f5a43c 96 #define ADXL345_1600HZ 0x0E
ryought 0:cda6d9f5a43c 97 #define ADXL345_800HZ 0x0D
ryought 0:cda6d9f5a43c 98 #define ADXL345_400HZ 0x0C
ryought 0:cda6d9f5a43c 99 #define ADXL345_200HZ 0x0B
ryought 0:cda6d9f5a43c 100 #define ADXL345_100HZ 0x0A
ryought 0:cda6d9f5a43c 101 #define ADXL345_50HZ 0x09
ryought 0:cda6d9f5a43c 102 #define ADXL345_25HZ 0x08
ryought 0:cda6d9f5a43c 103 #define ADXL345_12HZ5 0x07
ryought 0:cda6d9f5a43c 104 #define ADXL345_6HZ25 0x06
ryought 0:cda6d9f5a43c 105
ryought 0:cda6d9f5a43c 106 // read or write bytes
ryought 0:cda6d9f5a43c 107 #define ADXL345_I2C_READ 0xA7
ryought 0:cda6d9f5a43c 108 #define ADXL345_I2C_WRITE 0xA6
ryought 0:cda6d9f5a43c 109 #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
ryought 0:cda6d9f5a43c 110
ryought 0:cda6d9f5a43c 111 /////////////when ALT ADDRESS pin is high:
ryought 0:cda6d9f5a43c 112 //#define ADXL345_I2C_READ 0x3B
ryought 0:cda6d9f5a43c 113 //#define ADXL345_I2C_WRITE 0x3A
ryought 0:cda6d9f5a43c 114 //#define ADXL345_I2C_ADDRESS 0x1D
ryought 0:cda6d9f5a43c 115
ryought 0:cda6d9f5a43c 116 #define ADXL345_X 0x00
ryought 0:cda6d9f5a43c 117 #define ADXL345_Y 0x01
ryought 0:cda6d9f5a43c 118 #define ADXL345_Z 0x02
ryought 0:cda6d9f5a43c 119
ryought 0:cda6d9f5a43c 120
ryought 0:cda6d9f5a43c 121
ryought 0:cda6d9f5a43c 122 // modes
ryought 0:cda6d9f5a43c 123 #define MeasurementMode 0x08
ryought 0:cda6d9f5a43c 124
ryought 0:cda6d9f5a43c 125
ryought 0:cda6d9f5a43c 126
ryought 0:cda6d9f5a43c 127
ryought 0:cda6d9f5a43c 128
ryought 0:cda6d9f5a43c 129
ryought 0:cda6d9f5a43c 130
ryought 0:cda6d9f5a43c 131 class ADXL345_I2C {
ryought 0:cda6d9f5a43c 132
ryought 0:cda6d9f5a43c 133 public:
ryought 0:cda6d9f5a43c 134
ryought 0:cda6d9f5a43c 135 /**
ryought 0:cda6d9f5a43c 136 * Constructor.
ryought 0:cda6d9f5a43c 137 *
ryought 0:cda6d9f5a43c 138 * @param mosi mbed pin to use for SDA line of I2C interface.
ryought 0:cda6d9f5a43c 139 * @param sck mbed pin to use for SCL line of I2C interface.
ryought 0:cda6d9f5a43c 140 */
ryought 0:cda6d9f5a43c 141 ADXL345_I2C(PinName sda, PinName scl);
ryought 0:cda6d9f5a43c 142
ryought 0:cda6d9f5a43c 143 /**
ryought 0:cda6d9f5a43c 144 * Get the output of all three axes.
ryought 0:cda6d9f5a43c 145 *
ryought 0:cda6d9f5a43c 146 * @param Pointer to a buffer to hold the accelerometer value for the
ryought 0:cda6d9f5a43c 147 * x-axis, y-axis and z-axis [in that order].
ryought 0:cda6d9f5a43c 148 */
ryought 0:cda6d9f5a43c 149 void getOutput(int* readings);
ryought 0:cda6d9f5a43c 150
ryought 0:cda6d9f5a43c 151 /**
ryought 0:cda6d9f5a43c 152 * Read the device ID register on the device.
ryought 0:cda6d9f5a43c 153 *
ryought 0:cda6d9f5a43c 154 * @return The device ID code [0xE5]
ryought 0:cda6d9f5a43c 155 */
ryought 0:cda6d9f5a43c 156 char getDeviceID(void);
ryought 0:cda6d9f5a43c 157
ryought 0:cda6d9f5a43c 158
ryought 0:cda6d9f5a43c 159
ryought 0:cda6d9f5a43c 160 /**
ryought 0:cda6d9f5a43c 161 * Set the power mode.
ryought 0:cda6d9f5a43c 162 *
ryought 0:cda6d9f5a43c 163 * @param mode 0 -> Normal operation.
ryought 0:cda6d9f5a43c 164 * 1 -> Reduced power operation.
ryought 0:cda6d9f5a43c 165 */
ryought 0:cda6d9f5a43c 166 int setPowerMode(char mode);
ryought 0:cda6d9f5a43c 167
ryought 0:cda6d9f5a43c 168 /**
ryought 0:cda6d9f5a43c 169 * Set the power control settings.
ryought 0:cda6d9f5a43c 170 *
ryought 0:cda6d9f5a43c 171 * See datasheet for details.
ryought 0:cda6d9f5a43c 172 *
ryought 0:cda6d9f5a43c 173 * @param The control byte to write to the POWER_CTL register.
ryought 0:cda6d9f5a43c 174 */
ryought 0:cda6d9f5a43c 175 int setPowerControl(char settings);
ryought 0:cda6d9f5a43c 176 /**
ryought 0:cda6d9f5a43c 177 * Get the power control settings.
ryought 0:cda6d9f5a43c 178 *
ryought 0:cda6d9f5a43c 179 * See datasheet for details.
ryought 0:cda6d9f5a43c 180 *
ryought 0:cda6d9f5a43c 181 * @return The contents of the POWER_CTL register.
ryought 0:cda6d9f5a43c 182 */
ryought 0:cda6d9f5a43c 183 char getPowerControl(void);
ryought 0:cda6d9f5a43c 184
ryought 0:cda6d9f5a43c 185
ryought 0:cda6d9f5a43c 186 /**
ryought 0:cda6d9f5a43c 187 * Get the data format settings.
ryought 0:cda6d9f5a43c 188 *
ryought 0:cda6d9f5a43c 189 * @return The contents of the DATA_FORMAT register.
ryought 0:cda6d9f5a43c 190 */
ryought 0:cda6d9f5a43c 191
ryought 0:cda6d9f5a43c 192 char getDataFormatControl(void);
ryought 0:cda6d9f5a43c 193
ryought 0:cda6d9f5a43c 194 /**
ryought 0:cda6d9f5a43c 195 * Set the data format settings.
ryought 0:cda6d9f5a43c 196 *
ryought 0:cda6d9f5a43c 197 * @param settings The control byte to write to the DATA_FORMAT register.
ryought 0:cda6d9f5a43c 198 */
ryought 0:cda6d9f5a43c 199 int setDataFormatControl(char settings);
ryought 0:cda6d9f5a43c 200
ryought 0:cda6d9f5a43c 201 /**
ryought 0:cda6d9f5a43c 202 * Set the data rate.
ryought 0:cda6d9f5a43c 203 *
ryought 0:cda6d9f5a43c 204 * @param rate The rate code (see #defines or datasheet).
ryought 0:cda6d9f5a43c 205 */
ryought 0:cda6d9f5a43c 206 int setDataRate(char rate);
ryought 0:cda6d9f5a43c 207
ryought 0:cda6d9f5a43c 208
ryought 0:cda6d9f5a43c 209 /**
ryought 0:cda6d9f5a43c 210 * Get the current offset for a particular axis.
ryought 0:cda6d9f5a43c 211 *
ryought 0:cda6d9f5a43c 212 * @param axis 0x00 -> X-axis
ryought 0:cda6d9f5a43c 213 * 0x01 -> Y-axis
ryought 0:cda6d9f5a43c 214 * 0x02 -> Z-axis
ryought 0:cda6d9f5a43c 215 * @return The current offset as an 8-bit 2's complement number with scale
ryought 0:cda6d9f5a43c 216 * factor 15.6mg/LSB.
ryought 0:cda6d9f5a43c 217 */
ryought 0:cda6d9f5a43c 218
ryought 0:cda6d9f5a43c 219 char getOffset(char axis);
ryought 0:cda6d9f5a43c 220
ryought 0:cda6d9f5a43c 221 /**
ryought 0:cda6d9f5a43c 222 * Set the offset for a particular axis.
ryought 0:cda6d9f5a43c 223 *
ryought 0:cda6d9f5a43c 224 * @param axis 0x00 -> X-axis
ryought 0:cda6d9f5a43c 225 * 0x01 -> Y-axis
ryought 0:cda6d9f5a43c 226 * 0x02 -> Z-axis
ryought 0:cda6d9f5a43c 227 * @param offset The offset as an 8-bit 2's complement number with scale
ryought 0:cda6d9f5a43c 228 * factor 15.6mg/LSB.
ryought 0:cda6d9f5a43c 229 */
ryought 0:cda6d9f5a43c 230 int setOffset(char axis, char offset);
ryought 0:cda6d9f5a43c 231
ryought 0:cda6d9f5a43c 232
ryought 0:cda6d9f5a43c 233
ryought 0:cda6d9f5a43c 234 /**
ryought 0:cda6d9f5a43c 235 * Get the FIFO control settings.
ryought 0:cda6d9f5a43c 236 *
ryought 0:cda6d9f5a43c 237 * @return The contents of the FIFO_CTL register.
ryought 0:cda6d9f5a43c 238 */
ryought 0:cda6d9f5a43c 239 char getFifoControl(void);
ryought 0:cda6d9f5a43c 240
ryought 0:cda6d9f5a43c 241 /**
ryought 0:cda6d9f5a43c 242 * Set the FIFO control settings.
ryought 0:cda6d9f5a43c 243 *
ryought 0:cda6d9f5a43c 244 * @param The control byte to write to the FIFO_CTL register.
ryought 0:cda6d9f5a43c 245 */
ryought 0:cda6d9f5a43c 246 int setFifoControl(char settings);
ryought 0:cda6d9f5a43c 247
ryought 0:cda6d9f5a43c 248 /**
ryought 0:cda6d9f5a43c 249 * Get FIFO status.
ryought 0:cda6d9f5a43c 250 *
ryought 0:cda6d9f5a43c 251 * @return The contents of the FIFO_STATUS register.
ryought 0:cda6d9f5a43c 252 */
ryought 0:cda6d9f5a43c 253 char getFifoStatus(void);
ryought 0:cda6d9f5a43c 254
ryought 0:cda6d9f5a43c 255 /**
ryought 0:cda6d9f5a43c 256 * Read the tap threshold on the device.
ryought 0:cda6d9f5a43c 257 *
ryought 0:cda6d9f5a43c 258 * @return The tap threshold as an 8-bit number with a scale factor of
ryought 0:cda6d9f5a43c 259 * 62.5mg/LSB.
ryought 0:cda6d9f5a43c 260 */
ryought 0:cda6d9f5a43c 261 char getTapThreshold(void);
ryought 0:cda6d9f5a43c 262
ryought 0:cda6d9f5a43c 263 /**
ryought 0:cda6d9f5a43c 264 * Set the tap threshold.
ryought 0:cda6d9f5a43c 265 *
ryought 0:cda6d9f5a43c 266 * @param The tap threshold as an 8-bit number with a scale factor of
ryought 0:cda6d9f5a43c 267 * 62.5mg/LSB.
ryought 0:cda6d9f5a43c 268 */
ryought 0:cda6d9f5a43c 269 int setTapThreshold(char threshold);
ryought 0:cda6d9f5a43c 270
ryought 0:cda6d9f5a43c 271 /**
ryought 0:cda6d9f5a43c 272 * Get the tap duration required to trigger an event.
ryought 0:cda6d9f5a43c 273 *
ryought 0:cda6d9f5a43c 274 * @return The max time that an event must be above the tap threshold to
ryought 0:cda6d9f5a43c 275 * qualify as a tap event, in microseconds.
ryought 0:cda6d9f5a43c 276 */
ryought 0:cda6d9f5a43c 277 float getTapDuration(void);
ryought 0:cda6d9f5a43c 278
ryought 0:cda6d9f5a43c 279 /**
ryought 0:cda6d9f5a43c 280 * Set the tap duration required to trigger an event.
ryought 0:cda6d9f5a43c 281 *
ryought 0:cda6d9f5a43c 282 * @param duration_us The max time that an event must be above the tap
ryought 0:cda6d9f5a43c 283 * threshold to qualify as a tap event, in microseconds.
ryought 0:cda6d9f5a43c 284 * Time will be normalized by the scale factor which is
ryought 0:cda6d9f5a43c 285 * 625us/LSB. A value of 0 disables the single/double
ryought 0:cda6d9f5a43c 286 * tap functions.
ryought 0:cda6d9f5a43c 287 */
ryought 0:cda6d9f5a43c 288 int setTapDuration(short int duration_us);
ryought 0:cda6d9f5a43c 289
ryought 0:cda6d9f5a43c 290 /**
ryought 0:cda6d9f5a43c 291 * Get the tap latency between the detection of a tap and the time window.
ryought 0:cda6d9f5a43c 292 *
ryought 0:cda6d9f5a43c 293 * @return The wait time from the detection of a tap event to the start of
ryought 0:cda6d9f5a43c 294 * the time window during which a possible second tap event can be
ryought 0:cda6d9f5a43c 295 * detected in milliseconds.
ryought 0:cda6d9f5a43c 296 */
ryought 0:cda6d9f5a43c 297 float getTapLatency(void);
ryought 0:cda6d9f5a43c 298
ryought 0:cda6d9f5a43c 299 /**
ryought 0:cda6d9f5a43c 300 * Set the tap latency between the detection of a tap and the time window.
ryought 0:cda6d9f5a43c 301 *
ryought 0:cda6d9f5a43c 302 * @param latency_ms The wait time from the detection of a tap event to the
ryought 0:cda6d9f5a43c 303 * start of the time window during which a possible
ryought 0:cda6d9f5a43c 304 * second tap event can be detected in milliseconds.
ryought 0:cda6d9f5a43c 305 * A value of 0 disables the double tap function.
ryought 0:cda6d9f5a43c 306 */
ryought 0:cda6d9f5a43c 307 int setTapLatency(short int latency_ms);
ryought 0:cda6d9f5a43c 308
ryought 0:cda6d9f5a43c 309 /**
ryought 0:cda6d9f5a43c 310 * Get the time of window between tap latency and a double tap.
ryought 0:cda6d9f5a43c 311 *
ryought 0:cda6d9f5a43c 312 * @return The amount of time after the expiration of the latency time
ryought 0:cda6d9f5a43c 313 * during which a second valid tap can begin, in milliseconds.
ryought 0:cda6d9f5a43c 314 */
ryought 0:cda6d9f5a43c 315 float getWindowTime(void);
ryought 0:cda6d9f5a43c 316
ryought 0:cda6d9f5a43c 317 /**
ryought 0:cda6d9f5a43c 318 * Set the time of the window between tap latency and a double tap.
ryought 0:cda6d9f5a43c 319 *
ryought 0:cda6d9f5a43c 320 * @param window_ms The amount of time after the expiration of the latency
ryought 0:cda6d9f5a43c 321 * time during which a second valid tap can begin,
ryought 0:cda6d9f5a43c 322 * in milliseconds.
ryought 0:cda6d9f5a43c 323 */
ryought 0:cda6d9f5a43c 324 int setWindowTime(short int window_ms);
ryought 0:cda6d9f5a43c 325
ryought 0:cda6d9f5a43c 326 /**
ryought 0:cda6d9f5a43c 327 * Get the threshold value for detecting activity.
ryought 0:cda6d9f5a43c 328 *
ryought 0:cda6d9f5a43c 329 * @return The threshold value for detecting activity as an 8-bit number.
ryought 0:cda6d9f5a43c 330 * Scale factor is 62.5mg/LSB.
ryought 0:cda6d9f5a43c 331 */
ryought 0:cda6d9f5a43c 332 char getActivityThreshold(void);
ryought 0:cda6d9f5a43c 333
ryought 0:cda6d9f5a43c 334 /**
ryought 0:cda6d9f5a43c 335 * Set the threshold value for detecting activity.
ryought 0:cda6d9f5a43c 336 *
ryought 0:cda6d9f5a43c 337 * @param threshold The threshold value for detecting activity as an 8-bit
ryought 0:cda6d9f5a43c 338 * number. Scale factor is 62.5mg/LSB. A value of 0 may
ryought 0:cda6d9f5a43c 339 * result in undesirable behavior if the activity
ryought 0:cda6d9f5a43c 340 * interrupt is enabled.
ryought 0:cda6d9f5a43c 341 */
ryought 0:cda6d9f5a43c 342 int setActivityThreshold(char threshold);
ryought 0:cda6d9f5a43c 343
ryought 0:cda6d9f5a43c 344 /**
ryought 0:cda6d9f5a43c 345 * Get the threshold value for detecting inactivity.
ryought 0:cda6d9f5a43c 346 *
ryought 0:cda6d9f5a43c 347 * @return The threshold value for detecting inactivity as an 8-bit number.
ryought 0:cda6d9f5a43c 348 * Scale factor is 62.5mg/LSB.
ryought 0:cda6d9f5a43c 349 */
ryought 0:cda6d9f5a43c 350 char getInactivityThreshold(void);
ryought 0:cda6d9f5a43c 351
ryought 0:cda6d9f5a43c 352 /**
ryought 0:cda6d9f5a43c 353 * Set the threshold value for detecting inactivity.
ryought 0:cda6d9f5a43c 354 *
ryought 0:cda6d9f5a43c 355 * @param threshold The threshold value for detecting inactivity as an
ryought 0:cda6d9f5a43c 356 * 8-bit number. Scale factor is 62.5mg/LSB.
ryought 0:cda6d9f5a43c 357 */
ryought 0:cda6d9f5a43c 358 int setInactivityThreshold(char threshold);
ryought 0:cda6d9f5a43c 359
ryought 0:cda6d9f5a43c 360 /**
ryought 0:cda6d9f5a43c 361 * Get the time required for inactivity to be declared.
ryought 0:cda6d9f5a43c 362 *
ryought 0:cda6d9f5a43c 363 * @return The amount of time that acceleration must be less than the
ryought 0:cda6d9f5a43c 364 * inactivity threshold for inactivity to be declared, in
ryought 0:cda6d9f5a43c 365 * seconds.
ryought 0:cda6d9f5a43c 366 */
ryought 0:cda6d9f5a43c 367 char getTimeInactivity(void);
ryought 0:cda6d9f5a43c 368
ryought 0:cda6d9f5a43c 369 /**
ryought 0:cda6d9f5a43c 370 * Set the time required for inactivity to be declared.
ryought 0:cda6d9f5a43c 371 *
ryought 0:cda6d9f5a43c 372 * @param inactivity The amount of time that acceleration must be less than
ryought 0:cda6d9f5a43c 373 * the inactivity threshold for inactivity to be
ryought 0:cda6d9f5a43c 374 * declared, in seconds. A value of 0 results in an
ryought 0:cda6d9f5a43c 375 * interrupt when the output data is less than the
ryought 0:cda6d9f5a43c 376 * threshold inactivity.
ryought 0:cda6d9f5a43c 377 */
ryought 0:cda6d9f5a43c 378 int setTimeInactivity(char timeInactivity);
ryought 0:cda6d9f5a43c 379
ryought 0:cda6d9f5a43c 380 /**
ryought 0:cda6d9f5a43c 381 * Get the activity/inactivity control settings.
ryought 0:cda6d9f5a43c 382 *
ryought 0:cda6d9f5a43c 383 * D7 D6 D5 D4
ryought 0:cda6d9f5a43c 384 * +-----------+--------------+--------------+--------------+
ryought 0:cda6d9f5a43c 385 * | ACT ac/dc | ACT_X enable | ACT_Y enable | ACT_Z enable |
ryought 0:cda6d9f5a43c 386 * +-----------+--------------+--------------+--------------+
ryought 0:cda6d9f5a43c 387 *
ryought 0:cda6d9f5a43c 388 * D3 D2 D1 D0
ryought 0:cda6d9f5a43c 389 * +-------------+----------------+----------------+----------------+
ryought 0:cda6d9f5a43c 390 * | INACT ac/dc | INACT_X enable | INACT_Y enable | INACT_Z enable |
ryought 0:cda6d9f5a43c 391 * +-------------+----------------+----------------+----------------+
ryought 0:cda6d9f5a43c 392 *
ryought 0:cda6d9f5a43c 393 * See datasheet for details.
ryought 0:cda6d9f5a43c 394 *
ryought 0:cda6d9f5a43c 395 * @return The contents of the ACT_INACT_CTL register.
ryought 0:cda6d9f5a43c 396 */
ryought 0:cda6d9f5a43c 397 char getActivityInactivityControl(void);
ryought 0:cda6d9f5a43c 398
ryought 0:cda6d9f5a43c 399 /**
ryought 0:cda6d9f5a43c 400 * Set the activity/inactivity control settings.
ryought 0:cda6d9f5a43c 401 *
ryought 0:cda6d9f5a43c 402 * D7 D6 D5 D4
ryought 0:cda6d9f5a43c 403 * +-----------+--------------+--------------+--------------+
ryought 0:cda6d9f5a43c 404 * | ACT ac/dc | ACT_X enable | ACT_Y enable | ACT_Z enable |
ryought 0:cda6d9f5a43c 405 * +-----------+--------------+--------------+--------------+
ryought 0:cda6d9f5a43c 406 *
ryought 0:cda6d9f5a43c 407 * D3 D2 D1 D0
ryought 0:cda6d9f5a43c 408 * +-------------+----------------+----------------+----------------+
ryought 0:cda6d9f5a43c 409 * | INACT ac/dc | INACT_X enable | INACT_Y enable | INACT_Z enable |
ryought 0:cda6d9f5a43c 410 * +-------------+----------------+----------------+----------------+
ryought 0:cda6d9f5a43c 411 *
ryought 0:cda6d9f5a43c 412 * See datasheet for details.
ryought 0:cda6d9f5a43c 413 *
ryought 0:cda6d9f5a43c 414 * @param settings The control byte to write to the ACT_INACT_CTL register.
ryought 0:cda6d9f5a43c 415 */
ryought 0:cda6d9f5a43c 416 int setActivityInactivityControl(char settings);
ryought 0:cda6d9f5a43c 417
ryought 0:cda6d9f5a43c 418 /**
ryought 0:cda6d9f5a43c 419 * Get the threshold for free fall detection.
ryought 0:cda6d9f5a43c 420 *
ryought 0:cda6d9f5a43c 421 * @return The threshold value for free-fall detection, as an 8-bit number,
ryought 0:cda6d9f5a43c 422 * with scale factor 62.5mg/LSB.
ryought 0:cda6d9f5a43c 423 */
ryought 0:cda6d9f5a43c 424 char getFreefallThreshold(void);
ryought 0:cda6d9f5a43c 425
ryought 0:cda6d9f5a43c 426 /**
ryought 0:cda6d9f5a43c 427 * Set the threshold for free fall detection.
ryought 0:cda6d9f5a43c 428 *
ryought 0:cda6d9f5a43c 429 * @return The threshold value for free-fall detection, as an 8-bit number,
ryought 0:cda6d9f5a43c 430 * with scale factor 62.5mg/LSB. A value of 0 may result in
ryought 0:cda6d9f5a43c 431 * undesirable behavior if the free-fall interrupt is enabled.
ryought 0:cda6d9f5a43c 432 * Values between 300 mg and 600 mg (0x05 to 0x09) are recommended.
ryought 0:cda6d9f5a43c 433 */
ryought 0:cda6d9f5a43c 434 int setFreefallThreshold(char threshold);
ryought 0:cda6d9f5a43c 435
ryought 0:cda6d9f5a43c 436 /**
ryought 0:cda6d9f5a43c 437 * Get the time required to generate a free fall interrupt.
ryought 0:cda6d9f5a43c 438 *
ryought 0:cda6d9f5a43c 439 * @return The minimum time that the value of all axes must be less than
ryought 0:cda6d9f5a43c 440 * the freefall threshold to generate a free-fall interrupt, in
ryought 0:cda6d9f5a43c 441 * milliseconds.
ryought 0:cda6d9f5a43c 442 */
ryought 0:cda6d9f5a43c 443 char getFreefallTime(void);
ryought 0:cda6d9f5a43c 444
ryought 0:cda6d9f5a43c 445 /**
ryought 0:cda6d9f5a43c 446 * Set the time required to generate a free fall interrupt.
ryought 0:cda6d9f5a43c 447 *
ryought 0:cda6d9f5a43c 448 * @return The minimum time that the value of all axes must be less than
ryought 0:cda6d9f5a43c 449 * the freefall threshold to generate a free-fall interrupt, in
ryought 0:cda6d9f5a43c 450 * milliseconds. A value of 0 may result in undesirable behavior
ryought 0:cda6d9f5a43c 451 * if the free-fall interrupt is enabled. Values between 100 ms
ryought 0:cda6d9f5a43c 452 * and 350 ms (0x14 to 0x46) are recommended.
ryought 0:cda6d9f5a43c 453 */
ryought 0:cda6d9f5a43c 454 int setFreefallTime(short int freefallTime_ms);
ryought 0:cda6d9f5a43c 455
ryought 0:cda6d9f5a43c 456 /**
ryought 0:cda6d9f5a43c 457 * Get the axis tap settings.
ryought 0:cda6d9f5a43c 458 *
ryought 0:cda6d9f5a43c 459 * D3 D2 D1 D0
ryought 0:cda6d9f5a43c 460 * +----------+--------------+--------------+--------------+
ryought 0:cda6d9f5a43c 461 * | Suppress | TAP_X enable | TAP_Y enable | TAP_Z enable |
ryought 0:cda6d9f5a43c 462 * +----------+--------------+--------------+--------------+
ryought 0:cda6d9f5a43c 463 *
ryought 0:cda6d9f5a43c 464 * (D7-D4 are 0s).
ryought 0:cda6d9f5a43c 465 *
ryought 0:cda6d9f5a43c 466 * See datasheet for more details.
ryought 0:cda6d9f5a43c 467 *
ryought 0:cda6d9f5a43c 468 * @return The contents of the TAP_AXES register.
ryought 0:cda6d9f5a43c 469 */
ryought 0:cda6d9f5a43c 470 char getTapAxisControl(void);
ryought 0:cda6d9f5a43c 471
ryought 0:cda6d9f5a43c 472 /**
ryought 0:cda6d9f5a43c 473 * Set the axis tap settings.
ryought 0:cda6d9f5a43c 474 *
ryought 0:cda6d9f5a43c 475 * D3 D2 D1 D0
ryought 0:cda6d9f5a43c 476 * +----------+--------------+--------------+--------------+
ryought 0:cda6d9f5a43c 477 * | Suppress | TAP_X enable | TAP_Y enable | TAP_Z enable |
ryought 0:cda6d9f5a43c 478 * +----------+--------------+--------------+--------------+
ryought 0:cda6d9f5a43c 479 *
ryought 0:cda6d9f5a43c 480 * (D7-D4 are 0s).
ryought 0:cda6d9f5a43c 481 *
ryought 0:cda6d9f5a43c 482 * See datasheet for more details.
ryought 0:cda6d9f5a43c 483 *
ryought 0:cda6d9f5a43c 484 * @param The control byte to write to the TAP_AXES register.
ryought 0:cda6d9f5a43c 485 */
ryought 0:cda6d9f5a43c 486 int setTapAxisControl(char settings);
ryought 0:cda6d9f5a43c 487
ryought 0:cda6d9f5a43c 488 /**
ryought 0:cda6d9f5a43c 489 * Get the source of a tap.
ryought 0:cda6d9f5a43c 490 *
ryought 0:cda6d9f5a43c 491 * @return The contents of the ACT_TAP_STATUS register.
ryought 0:cda6d9f5a43c 492 */
ryought 0:cda6d9f5a43c 493 char getTapSource(void);
ryought 0:cda6d9f5a43c 494
ryought 0:cda6d9f5a43c 495 /**
ryought 0:cda6d9f5a43c 496 * Get the interrupt enable settings.
ryought 0:cda6d9f5a43c 497 *
ryought 0:cda6d9f5a43c 498 * @return The contents of the INT_ENABLE register.
ryought 0:cda6d9f5a43c 499 */
ryought 0:cda6d9f5a43c 500
ryought 0:cda6d9f5a43c 501 char getInterruptEnableControl(void);
ryought 0:cda6d9f5a43c 502
ryought 0:cda6d9f5a43c 503 /**
ryought 0:cda6d9f5a43c 504 * Set the interrupt enable settings.
ryought 0:cda6d9f5a43c 505 *
ryought 0:cda6d9f5a43c 506 * @param settings The control byte to write to the INT_ENABLE register.
ryought 0:cda6d9f5a43c 507 */
ryought 0:cda6d9f5a43c 508 int setInterruptEnableControl(char settings);
ryought 0:cda6d9f5a43c 509
ryought 0:cda6d9f5a43c 510 /**
ryought 0:cda6d9f5a43c 511 * Get the interrupt mapping settings.
ryought 0:cda6d9f5a43c 512 *
ryought 0:cda6d9f5a43c 513 * @return The contents of the INT_MAP register.
ryought 0:cda6d9f5a43c 514 */
ryought 0:cda6d9f5a43c 515 char getInterruptMappingControl(void);
ryought 0:cda6d9f5a43c 516
ryought 0:cda6d9f5a43c 517 /**
ryought 0:cda6d9f5a43c 518 * Set the interrupt mapping settings.
ryought 0:cda6d9f5a43c 519 *
ryought 0:cda6d9f5a43c 520 * @param settings The control byte to write to the INT_MAP register.
ryought 0:cda6d9f5a43c 521 */
ryought 0:cda6d9f5a43c 522 int setInterruptMappingControl(char settings);
ryought 0:cda6d9f5a43c 523
ryought 0:cda6d9f5a43c 524 /**
ryought 0:cda6d9f5a43c 525 * Get the interrupt source.
ryought 0:cda6d9f5a43c 526 *
ryought 0:cda6d9f5a43c 527 * @return The contents of the INT_SOURCE register.
ryought 0:cda6d9f5a43c 528 */
ryought 0:cda6d9f5a43c 529 char getInterruptSource(void);
ryought 0:cda6d9f5a43c 530
ryought 0:cda6d9f5a43c 531
ryought 0:cda6d9f5a43c 532 private:
ryought 0:cda6d9f5a43c 533
ryought 0:cda6d9f5a43c 534 I2C i2c_;
ryought 0:cda6d9f5a43c 535
ryought 0:cda6d9f5a43c 536
ryought 0:cda6d9f5a43c 537 /**
ryought 0:cda6d9f5a43c 538 * Read one byte from a register on the device.
ryought 0:cda6d9f5a43c 539 *
ryought 0:cda6d9f5a43c 540 * @param: - the address to be read from
ryought 0:cda6d9f5a43c 541 *
ryought 0:cda6d9f5a43c 542 * @return: the value of the data read
ryought 0:cda6d9f5a43c 543 */
ryought 0:cda6d9f5a43c 544 char SingleByteRead(char address);
ryought 0:cda6d9f5a43c 545
ryought 0:cda6d9f5a43c 546 /**
ryought 0:cda6d9f5a43c 547 * Write one byte to a register on the device.
ryought 0:cda6d9f5a43c 548 *
ryought 0:cda6d9f5a43c 549 * @param:
ryought 0:cda6d9f5a43c 550 - address of the register to write to.
ryought 0:cda6d9f5a43c 551 - the value of the data to store
ryought 0:cda6d9f5a43c 552 */
ryought 0:cda6d9f5a43c 553
ryought 0:cda6d9f5a43c 554
ryought 0:cda6d9f5a43c 555 int SingleByteWrite(char address, char data);
ryought 0:cda6d9f5a43c 556
ryought 0:cda6d9f5a43c 557 /**
ryought 0:cda6d9f5a43c 558 * Read several consecutive bytes on the device and store them in a given location.
ryought 0:cda6d9f5a43c 559 *
ryought 0:cda6d9f5a43c 560 * @param startAddress: The address of the first register to read from.
ryought 0:cda6d9f5a43c 561 * @param ptr_output: a pointer to the location to store the data being read
ryought 0:cda6d9f5a43c 562 * @param size: The number of bytes to read.
ryought 0:cda6d9f5a43c 563 */
ryought 0:cda6d9f5a43c 564 void multiByteRead(char startAddress, char* ptr_output, int size);
ryought 0:cda6d9f5a43c 565
ryought 0:cda6d9f5a43c 566 /**
ryought 0:cda6d9f5a43c 567 * Write several consecutive bytes on the device.
ryought 0:cda6d9f5a43c 568 *
ryought 0:cda6d9f5a43c 569 * @param startAddress: The address of the first register to write to.
ryought 0:cda6d9f5a43c 570 * @param ptr_data: Pointer to a location which contains the data to write.
ryought 0:cda6d9f5a43c 571 * @param size: The number of bytes to write.
ryought 0:cda6d9f5a43c 572 */
ryought 0:cda6d9f5a43c 573 int multiByteWrite(char startAddress, char* ptr_data, int size);
ryought 0:cda6d9f5a43c 574
ryought 0:cda6d9f5a43c 575 };
ryought 0:cda6d9f5a43c 576
ryought 0:cda6d9f5a43c 577 #endif /* ADXL345_I2C_H */