Tyler Weaver
Republished Library, to be refined for use with the SparkFun 9DOF in HARP project.
Fork of
ADXL345
by 
James Watanabe
Diff: ADXL345.h
- Revision:
- 8:4cdd4315189f
- Parent:
- 7:839128c6e20a
- Child:
- 9:cc0260a2404b
--- a/ADXL345.h Thu Nov 01 18:46:24 2012 +0000
+++ b/ADXL345.h Mon Nov 05 18:34:49 2012 +0000
@@ -1,5 +1,6 @@
/**
* @file ADXL345.h
+ * @author Tyler Weaver
* @author Uwe Gartmann
* @author Used ITG3200 library developed Peter Swanson as template
* A special thanks to Ewout van Bekkum for all his patient help in developing this library!
@@ -28,10 +29,12 @@
*
* ADXL345, triple axis, I2C interface, accelerometer.
*
+ * Modified for use with 9DOF sensor stick (no interupt pin access) on HARP project.
+ *
* Datasheet:
*
* http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf
- */
+ */
@@ -101,14 +104,14 @@
#define ADXL345_SELF_TEST 0x80
// read or write bytes
-#define ADXL345_READ 0xA7
-#define ADXL345_WRITE 0xA6
+#define ADXL345_READ 0xA7
+#define ADXL345_WRITE 0xA6
#define ADXL345_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_READ 0x3B
+//#define ADXL345_READ 0x3B
//#define ADXL345_WRITE 0x3A
-//#define ADXL345_ADDRESS 0x1D
+//#define ADXL345_ADDRESS 0x1D
#define ADXL345_X 0x00
#define ADXL345_Y 0x01
@@ -120,7 +123,8 @@
/**
* ADXL345 triple axis accelerometer.
*/
-class ADXL345 {
+class ADXL345
+{
public:
@@ -137,20 +141,20 @@
* @param sck mbed pin to use for SCL line of I2C interface.
*/
ADXL345(PinName sda, PinName scl);
-
+
/**
* Constructor that accepts external i2c interface object.
*
* @param i2c The I2C interface object to use.
*/
- ADXL345(I2C &i2c) : i2c_(i2c), myI2c(NULL){}
-
+ ADXL345(I2C &i2c) : i2c_(i2c), myI2c(NULL) {}
+
/**
* Destructor that frees self-allocated I2C object.
*/
~ADXL345();
-
+
void init();
/**
@@ -159,7 +163,7 @@
* @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);
+ void getOutput(int16_t* readings);
/**
* Read the device ID register on the device.
@@ -167,41 +171,56 @@
* @return The device ID code [0xE5]
*/
char getDeviceID(void);
-
- /**
- * Set the power mode.
- *
- * @param mode 0 -> Normal operation.
- * 1 -> Reduced power operation.
- */
+
+ /**
+ * 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.
- */
+
+ /**
+ * Get the BW_RATE register contents
+ *
+ * @returns The contents of BW_RATE register
+ */
+ char getBwRateReg();
+
+ /**
+ * Set the BW_RATE register contents
+ *
+ * @param Byte to write to BW_RATE register
+ */
+ int setBwRateReg(char);
+
+ /**
+ * 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.
*
@@ -213,17 +232,17 @@
* Set the data format settings with only specified bits.
*
* @param settings The control byte to write to the DATA_FORMAT register.
- * @param mask The mask bits that
+ * @param mask The mask bits that
*/
int setDataFormatControl(char settings, char mask, char *prev = NULL);
-
+
/**
* 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.
@@ -234,7 +253,6 @@
* @return The current offset as an 8-bit 2's complement number with scale
* factor 15.6mg/LSB.
*/
-
char getOffset(char axis);
/**
@@ -247,28 +265,28 @@
* 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.
*
@@ -346,7 +364,7 @@
* @return The threshold value for detecting activity as an 8-bit number.
* Scale factor is 62.5mg/LSB.
*/
- char getActivityThreshold(void);
+ char getActivityThreshold(void);
/**
* Set the threshold value for detecting activity.
@@ -364,7 +382,7 @@
* @return The threshold value for detecting inactivity as an 8-bit number.
* Scale factor is 62.5mg/LSB.
*/
- char getInactivityThreshold(void);
+ char getInactivityThreshold(void);
/**
* Set the threshold value for detecting inactivity.
@@ -381,8 +399,8 @@
* inactivity threshold for inactivity to be declared, in
* seconds.
*/
- char getTimeInactivity(void);
-
+ char getTimeInactivity(void);
+
/**
* Set the time required for inactivity to be declared.
*
@@ -393,7 +411,7 @@
* threshold inactivity.
*/
int setTimeInactivity(char timeInactivity);
-
+
/**
* Get the activity/inactivity control settings.
*
@@ -411,8 +429,8 @@
*
* @return The contents of the ACT_INACT_CTL register.
*/
- char getActivityInactivityControl(void);
-
+ char getActivityInactivityControl(void);
+
/**
* Set the activity/inactivity control settings.
*
@@ -431,25 +449,25 @@
* @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);
-
+ 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
+ * 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.
*
@@ -457,19 +475,19 @@
* the freefall threshold to generate a free-fall interrupt, in
* milliseconds.
*/
- char getFreefallTime(void);
-
+ 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
+ * 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.
*
@@ -483,9 +501,9 @@
* See datasheet for more details.
*
* @return The contents of the TAP_AXES register.
- */
- char getTapAxisControl(void);
-
+ */
+ char getTapAxisControl(void);
+
/**
* Set the axis tap settings.
*
@@ -501,57 +519,77 @@
* @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 getTapSource(void);
- char getInterruptEnableControl(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);
-
+ 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);
-
-
+ char getInterruptSource(void);
+
+ /**
+ * Calibrate using the calibrate routine, sets the offset registers
+ *
+ * 100 samples at 100Hz (1 second)
+ * Sensor should be in x=0g,y=0g,z=1g orientation and held still
+ *
+ * @param pointer to timer object (should already be started)
+ * @param store_output true -> stores offsets in local file system, false -> only offset registers are set
+ * @param serial output (pc) for debugging
+ */
+ void calibrate(Timer*, bool, Serial*);
+ /**
+ * Calibrate using the calibrate routine, sets the offset registers
+ *
+ * 100 samples at 100Hz (1 second)
+ * Sensor should be in x=0g,y=0g,z=1g orientation and held still
+ *
+ * @param pointer to timer object (should already be started)
+ * @param store_output true -> stores offsets in local file system, false -> only offset registers are set
+ */
+ void calibrate(Timer*, bool);
+
private:
I2C &i2c_;
-
+
I2C *myI2c;
-
/**
* Read one byte from a register on the device.
@@ -589,6 +627,16 @@
*/
int multiByteWrite(char startAddress, char* ptr_data, int size);
+ /**
+ * Sample 100 times and average
+ *
+ * @param period of sample rate
+ * @param array to hold raw data, should be int16_t[100][3] (sample,axis)
+ * @param array to hold averages, should be 3 in length
+ * @param pointer to timer object
+ */
+ void sample100avg(float, int16_t[][3], int16_t*, Timer*);
+
private:
/**
@@ -597,7 +645,7 @@
*
* Implemented here to make the compiler inline expand it.
*/
- static int wordExtend(const char rx[2]){
+ static int wordExtend(const char rx[2]) {
// Readings are expressed in 16bit 2's complement, so we must first
// concatenate two bytes to make a word and sign extend it to obtain
// correct negative values.
@@ -607,7 +655,6 @@
// compilers if we want to keep it portable.
return int16_t(((unsigned char)rx[1] << 8) | (unsigned char)rx[0]);
}
-
};
#endif /* ADXL345_H */