Tyler Weaver / ADXL345

Republished Library, to be refined for use with the SparkFun 9DOF in HARP project.

Dependents:   9Dof_unit_testing

Fork of ADXL345 by James Watanabe

ADXL345.h@5:122a504fcfa3, 2012-09-29 (annotated)

Committer:
gltest26
Date:
Sat Sep 29 14:15:24 2012 +0000
Revision:
5:122a504fcfa3
Parent:
4:8046894b947e
Child:
6:5fb29534a6cf
Added a new constructor to accept an external I2C interface object.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Digixx 0:1e4aa22fc1a1 1 /**
gltest26 3:7b83694c7292 2 * @file ADXL345.h
Digixx 1:45faba962a46 3 * @author Uwe Gartmann
Digixx 1:45faba962a46 4 * @author Used ITG3200 library developed Peter Swanson as template
Digixx 1:45faba962a46 5 * A special thanks to Ewout van Bekkum for all his patient help in developing this library!
Digixx 0:1e4aa22fc1a1 6 *
Digixx 0:1e4aa22fc1a1 7 * @section LICENSE
Digixx 0:1e4aa22fc1a1 8 *
Digixx 0:1e4aa22fc1a1 9 * Permission is hereby granted, free of charge, to any person obtaining a copy
Digixx 0:1e4aa22fc1a1 10 * of this software and associated documentation files (the "Software"), to deal
Digixx 0:1e4aa22fc1a1 11 * in the Software without restriction, including without limitation the rights
Digixx 0:1e4aa22fc1a1 12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
Digixx 0:1e4aa22fc1a1 13 * copies of the Software, and to permit persons to whom the Software is
Digixx 0:1e4aa22fc1a1 14 * furnished to do so, subject to the following conditions:
Digixx 0:1e4aa22fc1a1 15 *
Digixx 0:1e4aa22fc1a1 16 * The above copyright notice and this permission notice shall be included in
Digixx 0:1e4aa22fc1a1 17 * all copies or substantial portions of the Software.
Digixx 0:1e4aa22fc1a1 18 *
Digixx 0:1e4aa22fc1a1 19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
Digixx 0:1e4aa22fc1a1 20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
Digixx 0:1e4aa22fc1a1 21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
Digixx 0:1e4aa22fc1a1 22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
Digixx 0:1e4aa22fc1a1 23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
Digixx 0:1e4aa22fc1a1 24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
Digixx 0:1e4aa22fc1a1 25 * THE SOFTWARE.
Digixx 0:1e4aa22fc1a1 26 *
Digixx 0:1e4aa22fc1a1 27 * @section DESCRIPTION
Digixx 0:1e4aa22fc1a1 28 *
Digixx 0:1e4aa22fc1a1 29 * ADXL345, triple axis, I2C interface, accelerometer.
Digixx 0:1e4aa22fc1a1 30 *
Digixx 0:1e4aa22fc1a1 31 * Datasheet:
Digixx 0:1e4aa22fc1a1 32 *
Digixx 0:1e4aa22fc1a1 33 * http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf
Digixx 0:1e4aa22fc1a1 34 */
Digixx 0:1e4aa22fc1a1 35
Digixx 0:1e4aa22fc1a1 36
Digixx 0:1e4aa22fc1a1 37
Digixx 0:1e4aa22fc1a1 38 #ifndef ADXL345_H
Digixx 0:1e4aa22fc1a1 39 #define ADXL345_H
Digixx 0:1e4aa22fc1a1 40
gltest26 3:7b83694c7292 41 /*
Digixx 0:1e4aa22fc1a1 42 * Includes
Digixx 0:1e4aa22fc1a1 43 */
Digixx 0:1e4aa22fc1a1 44 #include "mbed.h"
Digixx 0:1e4aa22fc1a1 45
gltest26 3:7b83694c7292 46 /*
Digixx 0:1e4aa22fc1a1 47 * Defines
Digixx 0:1e4aa22fc1a1 48 */
Digixx 0:1e4aa22fc1a1 49 //Registers.
Digixx 0:1e4aa22fc1a1 50 #define ADXL345_DEVID_REG 0x00
Digixx 0:1e4aa22fc1a1 51 #define ADXL345_THRESH_TAP_REG 0x1D
Digixx 0:1e4aa22fc1a1 52 #define ADXL345_OFSX_REG 0x1E
Digixx 0:1e4aa22fc1a1 53 #define ADXL345_OFSY_REG 0x1F
Digixx 0:1e4aa22fc1a1 54 #define ADXL345_OFSZ_REG 0x20
Digixx 0:1e4aa22fc1a1 55 #define ADXL345_DUR_REG 0x21
Digixx 0:1e4aa22fc1a1 56 #define ADXL345_LATENT_REG 0x22
Digixx 0:1e4aa22fc1a1 57 #define ADXL345_WINDOW_REG 0x23
Digixx 0:1e4aa22fc1a1 58 #define ADXL345_THRESH_ACT_REG 0x24
Digixx 0:1e4aa22fc1a1 59 #define ADXL345_THRESH_INACT_REG 0x25
Digixx 0:1e4aa22fc1a1 60 #define ADXL345_TIME_INACT_REG 0x26
Digixx 0:1e4aa22fc1a1 61 #define ADXL345_ACT_INACT_CTL_REG 0x27
Digixx 0:1e4aa22fc1a1 62 #define ADXL345_THRESH_FF_REG 0x28
Digixx 0:1e4aa22fc1a1 63 #define ADXL345_TIME_FF_REG 0x29
Digixx 0:1e4aa22fc1a1 64 #define ADXL345_TAP_AXES_REG 0x2A
Digixx 0:1e4aa22fc1a1 65 #define ADXL345_ACT_TAP_STATUS_REG 0x2B
Digixx 0:1e4aa22fc1a1 66 #define ADXL345_BW_RATE_REG 0x2C
Digixx 0:1e4aa22fc1a1 67 #define ADXL345_POWER_CTL_REG 0x2D
Digixx 0:1e4aa22fc1a1 68 #define ADXL345_INT_ENABLE_REG 0x2E
Digixx 0:1e4aa22fc1a1 69 #define ADXL345_INT_MAP_REG 0x2F
Digixx 0:1e4aa22fc1a1 70 #define ADXL345_INT_SOURCE_REG 0x30
Digixx 0:1e4aa22fc1a1 71 #define ADXL345_DATA_FORMAT_REG 0x31
Digixx 0:1e4aa22fc1a1 72 #define ADXL345_DATAX0_REG 0x32
Digixx 0:1e4aa22fc1a1 73 #define ADXL345_DATAX1_REG 0x33
Digixx 0:1e4aa22fc1a1 74 #define ADXL345_DATAY0_REG 0x34
Digixx 0:1e4aa22fc1a1 75 #define ADXL345_DATAY1_REG 0x35
Digixx 0:1e4aa22fc1a1 76 #define ADXL345_DATAZ0_REG 0x36
Digixx 0:1e4aa22fc1a1 77 #define ADXL345_DATAZ1_REG 0x37
Digixx 0:1e4aa22fc1a1 78 #define ADXL345_FIFO_CTL 0x38
Digixx 0:1e4aa22fc1a1 79 #define ADXL345_FIFO_STATUS 0x39
Digixx 0:1e4aa22fc1a1 80
Digixx 0:1e4aa22fc1a1 81 //Data rate codes.
Digixx 0:1e4aa22fc1a1 82 #define ADXL345_3200HZ 0x0F
Digixx 0:1e4aa22fc1a1 83 #define ADXL345_1600HZ 0x0E
Digixx 0:1e4aa22fc1a1 84 #define ADXL345_800HZ 0x0D
Digixx 0:1e4aa22fc1a1 85 #define ADXL345_400HZ 0x0C
Digixx 0:1e4aa22fc1a1 86 #define ADXL345_200HZ 0x0B
Digixx 0:1e4aa22fc1a1 87 #define ADXL345_100HZ 0x0A
Digixx 0:1e4aa22fc1a1 88 #define ADXL345_50HZ 0x09
Digixx 0:1e4aa22fc1a1 89 #define ADXL345_25HZ 0x08
Digixx 0:1e4aa22fc1a1 90 #define ADXL345_12HZ5 0x07
Digixx 0:1e4aa22fc1a1 91 #define ADXL345_6HZ25 0x06
Digixx 0:1e4aa22fc1a1 92
Digixx 0:1e4aa22fc1a1 93 // read or write bytes
Digixx 0:1e4aa22fc1a1 94 #define ADXL345_READ 0xA7
Digixx 0:1e4aa22fc1a1 95 #define ADXL345_WRITE 0xA6
Digixx 0:1e4aa22fc1a1 96 #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
Digixx 0:1e4aa22fc1a1 97
Digixx 0:1e4aa22fc1a1 98 /////////////when ALT ADDRESS pin is high:
Digixx 0:1e4aa22fc1a1 99 //#define ADXL345_READ 0x3B
Digixx 0:1e4aa22fc1a1 100 //#define ADXL345_WRITE 0x3A
Digixx 0:1e4aa22fc1a1 101 //#define ADXL345_ADDRESS 0x1D
Digixx 0:1e4aa22fc1a1 102
Digixx 0:1e4aa22fc1a1 103 #define ADXL345_X 0x00
Digixx 0:1e4aa22fc1a1 104 #define ADXL345_Y 0x01
Digixx 0:1e4aa22fc1a1 105 #define ADXL345_Z 0x02
Digixx 0:1e4aa22fc1a1 106
Digixx 0:1e4aa22fc1a1 107
Digixx 0:1e4aa22fc1a1 108
Digixx 0:1e4aa22fc1a1 109 // modes
Digixx 0:1e4aa22fc1a1 110 #define MeasurementMode 0x08
Digixx 0:1e4aa22fc1a1 111
Digixx 0:1e4aa22fc1a1 112
Digixx 0:1e4aa22fc1a1 113
Digixx 0:1e4aa22fc1a1 114
Digixx 0:1e4aa22fc1a1 115
Digixx 0:1e4aa22fc1a1 116
gltest26 3:7b83694c7292 117 /**
gltest26 3:7b83694c7292 118 * ADXL345 triple axis accelerometer.
gltest26 3:7b83694c7292 119 */
Digixx 0:1e4aa22fc1a1 120 class ADXL345 {
Digixx 0:1e4aa22fc1a1 121
Digixx 0:1e4aa22fc1a1 122 public:
Digixx 0:1e4aa22fc1a1 123
gltest26 4:8046894b947e 124 static const char RANGE_BITS = 0x3;
gltest26 4:8046894b947e 125 static const char RANGE_2G = 0x0;
gltest26 4:8046894b947e 126 static const char RANGE_4G = 0x1;
gltest26 4:8046894b947e 127 static const char RANGE_8G = 0x2;
gltest26 4:8046894b947e 128 static const char RANGE_16G = 0x3;
gltest26 4:8046894b947e 129
Digixx 0:1e4aa22fc1a1 130 /**
Digixx 0:1e4aa22fc1a1 131 * Constructor.
Digixx 0:1e4aa22fc1a1 132 *
Digixx 0:1e4aa22fc1a1 133 * @param mosi mbed pin to use for SDA line of I2C interface.
Digixx 0:1e4aa22fc1a1 134 * @param sck mbed pin to use for SCL line of I2C interface.
Digixx 0:1e4aa22fc1a1 135 */
Digixx 0:1e4aa22fc1a1 136 ADXL345(PinName sda, PinName scl);
gltest26 5:122a504fcfa3 137
gltest26 5:122a504fcfa3 138
gltest26 5:122a504fcfa3 139 /**
gltest26 5:122a504fcfa3 140 * Constructor that accepts external i2c interface object.
gltest26 5:122a504fcfa3 141 *
gltest26 5:122a504fcfa3 142 * @param i2c The I2C interface object to use.
gltest26 5:122a504fcfa3 143 */
gltest26 5:122a504fcfa3 144 ADXL345(I2C &i2c) : i2c_(i2c), myI2c(NULL){}
gltest26 5:122a504fcfa3 145
gltest26 5:122a504fcfa3 146 /**
gltest26 5:122a504fcfa3 147 * Destructor that frees self-allocated I2C object.
gltest26 5:122a504fcfa3 148 */
gltest26 5:122a504fcfa3 149 ~ADXL345();
gltest26 5:122a504fcfa3 150
gltest26 5:122a504fcfa3 151 void init();
Digixx 0:1e4aa22fc1a1 152
Digixx 0:1e4aa22fc1a1 153 /**
Digixx 0:1e4aa22fc1a1 154 * Get the output of all three axes.
Digixx 0:1e4aa22fc1a1 155 *
Digixx 0:1e4aa22fc1a1 156 * @param Pointer to a buffer to hold the accelerometer value for the
Digixx 0:1e4aa22fc1a1 157 * x-axis, y-axis and z-axis [in that order].
Digixx 0:1e4aa22fc1a1 158 */
Digixx 0:1e4aa22fc1a1 159 void getOutput(int* readings);
Digixx 0:1e4aa22fc1a1 160
Digixx 0:1e4aa22fc1a1 161 /**
Digixx 0:1e4aa22fc1a1 162 * Read the device ID register on the device.
Digixx 0:1e4aa22fc1a1 163 *
Digixx 0:1e4aa22fc1a1 164 * @return The device ID code [0xE5]
Digixx 0:1e4aa22fc1a1 165 */
Digixx 0:1e4aa22fc1a1 166 char getDeviceID(void);
Digixx 0:1e4aa22fc1a1 167
Digixx 0:1e4aa22fc1a1 168 /**
Digixx 0:1e4aa22fc1a1 169 * Set the power mode.
Digixx 0:1e4aa22fc1a1 170 *
Digixx 0:1e4aa22fc1a1 171 * @param mode 0 -> Normal operation.
Digixx 0:1e4aa22fc1a1 172 * 1 -> Reduced power operation.
Digixx 0:1e4aa22fc1a1 173 */
Digixx 0:1e4aa22fc1a1 174 int setPowerMode(char mode);
Digixx 0:1e4aa22fc1a1 175
Digixx 0:1e4aa22fc1a1 176 /**
Digixx 0:1e4aa22fc1a1 177 * Set the power control settings.
Digixx 0:1e4aa22fc1a1 178 *
Digixx 0:1e4aa22fc1a1 179 * See datasheet for details.
Digixx 0:1e4aa22fc1a1 180 *
Digixx 0:1e4aa22fc1a1 181 * @param The control byte to write to the POWER_CTL register.
Digixx 0:1e4aa22fc1a1 182 */
Digixx 0:1e4aa22fc1a1 183 int setPowerControl(char settings);
Digixx 0:1e4aa22fc1a1 184 /**
Digixx 0:1e4aa22fc1a1 185 * Get the power control settings.
Digixx 0:1e4aa22fc1a1 186 *
Digixx 0:1e4aa22fc1a1 187 * See datasheet for details.
Digixx 0:1e4aa22fc1a1 188 *
Digixx 0:1e4aa22fc1a1 189 * @return The contents of the POWER_CTL register.
Digixx 0:1e4aa22fc1a1 190 */
Digixx 0:1e4aa22fc1a1 191 char getPowerControl(void);
Digixx 0:1e4aa22fc1a1 192
Digixx 0:1e4aa22fc1a1 193
Digixx 0:1e4aa22fc1a1 194 /**
Digixx 0:1e4aa22fc1a1 195 * Get the data format settings.
Digixx 0:1e4aa22fc1a1 196 *
Digixx 0:1e4aa22fc1a1 197 * @return The contents of the DATA_FORMAT register.
Digixx 0:1e4aa22fc1a1 198 */
Digixx 0:1e4aa22fc1a1 199
Digixx 0:1e4aa22fc1a1 200 char getDataFormatControl(void);
Digixx 0:1e4aa22fc1a1 201
Digixx 0:1e4aa22fc1a1 202 /**
Digixx 0:1e4aa22fc1a1 203 * Set the data format settings.
Digixx 0:1e4aa22fc1a1 204 *
Digixx 0:1e4aa22fc1a1 205 * @param settings The control byte to write to the DATA_FORMAT register.
Digixx 0:1e4aa22fc1a1 206 */
Digixx 0:1e4aa22fc1a1 207 int setDataFormatControl(char settings);
gltest26 4:8046894b947e 208
gltest26 4:8046894b947e 209 /**
gltest26 4:8046894b947e 210 * Set the data format settings with only specified bits.
gltest26 4:8046894b947e 211 *
gltest26 4:8046894b947e 212 * @param settings The control byte to write to the DATA_FORMAT register.
gltest26 4:8046894b947e 213 * @param mask The mask bits that
gltest26 4:8046894b947e 214 */
gltest26 4:8046894b947e 215 int setDataFormatControl(char settings, char mask, char *prev = NULL);
Digixx 0:1e4aa22fc1a1 216
gltest26 4:8046894b947e 217 /**
Digixx 0:1e4aa22fc1a1 218 * Set the data rate.
Digixx 0:1e4aa22fc1a1 219 *
Digixx 0:1e4aa22fc1a1 220 * @param rate The rate code (see #defines or datasheet).
Digixx 0:1e4aa22fc1a1 221 */
Digixx 0:1e4aa22fc1a1 222 int setDataRate(char rate);
Digixx 0:1e4aa22fc1a1 223
Digixx 0:1e4aa22fc1a1 224
Digixx 0:1e4aa22fc1a1 225 /**
Digixx 0:1e4aa22fc1a1 226 * Get the current offset for a particular axis.
Digixx 0:1e4aa22fc1a1 227 *
Digixx 0:1e4aa22fc1a1 228 * @param axis 0x00 -> X-axis
Digixx 0:1e4aa22fc1a1 229 * 0x01 -> Y-axis
Digixx 0:1e4aa22fc1a1 230 * 0x02 -> Z-axis
Digixx 0:1e4aa22fc1a1 231 * @return The current offset as an 8-bit 2's complement number with scale
Digixx 0:1e4aa22fc1a1 232 * factor 15.6mg/LSB.
Digixx 0:1e4aa22fc1a1 233 */
Digixx 0:1e4aa22fc1a1 234
Digixx 0:1e4aa22fc1a1 235 char getOffset(char axis);
Digixx 0:1e4aa22fc1a1 236
Digixx 0:1e4aa22fc1a1 237 /**
Digixx 0:1e4aa22fc1a1 238 * Set the offset for a particular axis.
Digixx 0:1e4aa22fc1a1 239 *
Digixx 0:1e4aa22fc1a1 240 * @param axis 0x00 -> X-axis
Digixx 0:1e4aa22fc1a1 241 * 0x01 -> Y-axis
Digixx 0:1e4aa22fc1a1 242 * 0x02 -> Z-axis
Digixx 0:1e4aa22fc1a1 243 * @param offset The offset as an 8-bit 2's complement number with scale
Digixx 0:1e4aa22fc1a1 244 * factor 15.6mg/LSB.
Digixx 0:1e4aa22fc1a1 245 */
Digixx 0:1e4aa22fc1a1 246 int setOffset(char axis, char offset);
Digixx 0:1e4aa22fc1a1 247
Digixx 0:1e4aa22fc1a1 248 /**
Digixx 0:1e4aa22fc1a1 249 * Get the FIFO control settings.
Digixx 0:1e4aa22fc1a1 250 *
Digixx 0:1e4aa22fc1a1 251 * @return The contents of the FIFO_CTL register.
Digixx 0:1e4aa22fc1a1 252 */
Digixx 0:1e4aa22fc1a1 253 char getFifoControl(void);
Digixx 0:1e4aa22fc1a1 254
Digixx 0:1e4aa22fc1a1 255 /**
Digixx 0:1e4aa22fc1a1 256 * Set the FIFO control settings.
Digixx 0:1e4aa22fc1a1 257 *
Digixx 0:1e4aa22fc1a1 258 * @param The control byte to write to the FIFO_CTL register.
Digixx 0:1e4aa22fc1a1 259 */
Digixx 0:1e4aa22fc1a1 260 int setFifoControl(char settings);
Digixx 0:1e4aa22fc1a1 261
Digixx 0:1e4aa22fc1a1 262 /**
Digixx 0:1e4aa22fc1a1 263 * Get FIFO status.
Digixx 0:1e4aa22fc1a1 264 *
Digixx 0:1e4aa22fc1a1 265 * @return The contents of the FIFO_STATUS register.
Digixx 0:1e4aa22fc1a1 266 */
Digixx 0:1e4aa22fc1a1 267 char getFifoStatus(void);
Digixx 0:1e4aa22fc1a1 268
Digixx 0:1e4aa22fc1a1 269 /**
Digixx 0:1e4aa22fc1a1 270 * Read the tap threshold on the device.
Digixx 0:1e4aa22fc1a1 271 *
Digixx 0:1e4aa22fc1a1 272 * @return The tap threshold as an 8-bit number with a scale factor of
Digixx 0:1e4aa22fc1a1 273 * 62.5mg/LSB.
Digixx 0:1e4aa22fc1a1 274 */
Digixx 0:1e4aa22fc1a1 275 char getTapThreshold(void);
Digixx 0:1e4aa22fc1a1 276
Digixx 0:1e4aa22fc1a1 277 /**
Digixx 0:1e4aa22fc1a1 278 * Set the tap threshold.
Digixx 0:1e4aa22fc1a1 279 *
Digixx 0:1e4aa22fc1a1 280 * @param The tap threshold as an 8-bit number with a scale factor of
Digixx 0:1e4aa22fc1a1 281 * 62.5mg/LSB.
Digixx 0:1e4aa22fc1a1 282 */
Digixx 0:1e4aa22fc1a1 283 int setTapThreshold(char threshold);
Digixx 0:1e4aa22fc1a1 284
Digixx 0:1e4aa22fc1a1 285 /**
Digixx 0:1e4aa22fc1a1 286 * Get the tap duration required to trigger an event.
Digixx 0:1e4aa22fc1a1 287 *
Digixx 0:1e4aa22fc1a1 288 * @return The max time that an event must be above the tap threshold to
Digixx 0:1e4aa22fc1a1 289 * qualify as a tap event, in microseconds.
Digixx 0:1e4aa22fc1a1 290 */
Digixx 0:1e4aa22fc1a1 291 float getTapDuration(void);
Digixx 0:1e4aa22fc1a1 292
Digixx 0:1e4aa22fc1a1 293 /**
Digixx 0:1e4aa22fc1a1 294 * Set the tap duration required to trigger an event.
Digixx 0:1e4aa22fc1a1 295 *
Digixx 0:1e4aa22fc1a1 296 * @param duration_us The max time that an event must be above the tap
Digixx 0:1e4aa22fc1a1 297 * threshold to qualify as a tap event, in microseconds.
Digixx 0:1e4aa22fc1a1 298 * Time will be normalized by the scale factor which is
Digixx 0:1e4aa22fc1a1 299 * 625us/LSB. A value of 0 disables the single/double
Digixx 0:1e4aa22fc1a1 300 * tap functions.
Digixx 0:1e4aa22fc1a1 301 */
Digixx 0:1e4aa22fc1a1 302 int setTapDuration(short int duration_us);
Digixx 0:1e4aa22fc1a1 303
Digixx 0:1e4aa22fc1a1 304 /**
Digixx 0:1e4aa22fc1a1 305 * Get the tap latency between the detection of a tap and the time window.
Digixx 0:1e4aa22fc1a1 306 *
Digixx 0:1e4aa22fc1a1 307 * @return The wait time from the detection of a tap event to the start of
Digixx 0:1e4aa22fc1a1 308 * the time window during which a possible second tap event can be
Digixx 0:1e4aa22fc1a1 309 * detected in milliseconds.
Digixx 0:1e4aa22fc1a1 310 */
Digixx 0:1e4aa22fc1a1 311 float getTapLatency(void);
Digixx 0:1e4aa22fc1a1 312
Digixx 0:1e4aa22fc1a1 313 /**
Digixx 0:1e4aa22fc1a1 314 * Set the tap latency between the detection of a tap and the time window.
Digixx 0:1e4aa22fc1a1 315 *
Digixx 0:1e4aa22fc1a1 316 * @param latency_ms The wait time from the detection of a tap event to the
Digixx 0:1e4aa22fc1a1 317 * start of the time window during which a possible
Digixx 0:1e4aa22fc1a1 318 * second tap event can be detected in milliseconds.
Digixx 0:1e4aa22fc1a1 319 * A value of 0 disables the double tap function.
Digixx 0:1e4aa22fc1a1 320 */
Digixx 0:1e4aa22fc1a1 321 int setTapLatency(short int latency_ms);
Digixx 0:1e4aa22fc1a1 322
Digixx 0:1e4aa22fc1a1 323 /**
Digixx 0:1e4aa22fc1a1 324 * Get the time of window between tap latency and a double tap.
Digixx 0:1e4aa22fc1a1 325 *
Digixx 0:1e4aa22fc1a1 326 * @return The amount of time after the expiration of the latency time
Digixx 0:1e4aa22fc1a1 327 * during which a second valid tap can begin, in milliseconds.
Digixx 0:1e4aa22fc1a1 328 */
Digixx 0:1e4aa22fc1a1 329 float getWindowTime(void);
Digixx 0:1e4aa22fc1a1 330
Digixx 0:1e4aa22fc1a1 331 /**
Digixx 0:1e4aa22fc1a1 332 * Set the time of the window between tap latency and a double tap.
Digixx 0:1e4aa22fc1a1 333 *
Digixx 0:1e4aa22fc1a1 334 * @param window_ms The amount of time after the expiration of the latency
Digixx 0:1e4aa22fc1a1 335 * time during which a second valid tap can begin,
Digixx 0:1e4aa22fc1a1 336 * in milliseconds.
Digixx 0:1e4aa22fc1a1 337 */
Digixx 0:1e4aa22fc1a1 338 int setWindowTime(short int window_ms);
Digixx 0:1e4aa22fc1a1 339
Digixx 0:1e4aa22fc1a1 340 /**
Digixx 0:1e4aa22fc1a1 341 * Get the threshold value for detecting activity.
Digixx 0:1e4aa22fc1a1 342 *
Digixx 0:1e4aa22fc1a1 343 * @return The threshold value for detecting activity as an 8-bit number.
Digixx 0:1e4aa22fc1a1 344 * Scale factor is 62.5mg/LSB.
Digixx 0:1e4aa22fc1a1 345 */
Digixx 0:1e4aa22fc1a1 346 char getActivityThreshold(void);
Digixx 0:1e4aa22fc1a1 347
Digixx 0:1e4aa22fc1a1 348 /**
Digixx 0:1e4aa22fc1a1 349 * Set the threshold value for detecting activity.
Digixx 0:1e4aa22fc1a1 350 *
Digixx 0:1e4aa22fc1a1 351 * @param threshold The threshold value for detecting activity as an 8-bit
Digixx 0:1e4aa22fc1a1 352 * number. Scale factor is 62.5mg/LSB. A value of 0 may
Digixx 0:1e4aa22fc1a1 353 * result in undesirable behavior if the activity
Digixx 0:1e4aa22fc1a1 354 * interrupt is enabled.
Digixx 0:1e4aa22fc1a1 355 */
Digixx 0:1e4aa22fc1a1 356 int setActivityThreshold(char threshold);
Digixx 0:1e4aa22fc1a1 357
Digixx 0:1e4aa22fc1a1 358 /**
Digixx 0:1e4aa22fc1a1 359 * Get the threshold value for detecting inactivity.
Digixx 0:1e4aa22fc1a1 360 *
Digixx 0:1e4aa22fc1a1 361 * @return The threshold value for detecting inactivity as an 8-bit number.
Digixx 0:1e4aa22fc1a1 362 * Scale factor is 62.5mg/LSB.
Digixx 0:1e4aa22fc1a1 363 */
Digixx 0:1e4aa22fc1a1 364 char getInactivityThreshold(void);
Digixx 0:1e4aa22fc1a1 365
Digixx 0:1e4aa22fc1a1 366 /**
Digixx 0:1e4aa22fc1a1 367 * Set the threshold value for detecting inactivity.
Digixx 0:1e4aa22fc1a1 368 *
Digixx 0:1e4aa22fc1a1 369 * @param threshold The threshold value for detecting inactivity as an
Digixx 0:1e4aa22fc1a1 370 * 8-bit number. Scale factor is 62.5mg/LSB.
Digixx 0:1e4aa22fc1a1 371 */
Digixx 0:1e4aa22fc1a1 372 int setInactivityThreshold(char threshold);
Digixx 0:1e4aa22fc1a1 373
Digixx 0:1e4aa22fc1a1 374 /**
Digixx 0:1e4aa22fc1a1 375 * Get the time required for inactivity to be declared.
Digixx 0:1e4aa22fc1a1 376 *
Digixx 0:1e4aa22fc1a1 377 * @return The amount of time that acceleration must be less than the
Digixx 0:1e4aa22fc1a1 378 * inactivity threshold for inactivity to be declared, in
Digixx 0:1e4aa22fc1a1 379 * seconds.
Digixx 0:1e4aa22fc1a1 380 */
Digixx 0:1e4aa22fc1a1 381 char getTimeInactivity(void);
Digixx 0:1e4aa22fc1a1 382
Digixx 0:1e4aa22fc1a1 383 /**
Digixx 0:1e4aa22fc1a1 384 * Set the time required for inactivity to be declared.
Digixx 0:1e4aa22fc1a1 385 *
Digixx 0:1e4aa22fc1a1 386 * @param inactivity The amount of time that acceleration must be less than
Digixx 0:1e4aa22fc1a1 387 * the inactivity threshold for inactivity to be
Digixx 0:1e4aa22fc1a1 388 * declared, in seconds. A value of 0 results in an
Digixx 0:1e4aa22fc1a1 389 * interrupt when the output data is less than the
Digixx 0:1e4aa22fc1a1 390 * threshold inactivity.
Digixx 0:1e4aa22fc1a1 391 */
Digixx 0:1e4aa22fc1a1 392 int setTimeInactivity(char timeInactivity);
Digixx 0:1e4aa22fc1a1 393
Digixx 0:1e4aa22fc1a1 394 /**
Digixx 0:1e4aa22fc1a1 395 * Get the activity/inactivity control settings.
Digixx 0:1e4aa22fc1a1 396 *
Digixx 0:1e4aa22fc1a1 397 * D7 D6 D5 D4
Digixx 0:1e4aa22fc1a1 398 * +-----------+--------------+--------------+--------------+
Digixx 0:1e4aa22fc1a1 399 * | ACT ac/dc | ACT_X enable | ACT_Y enable | ACT_Z enable |
Digixx 0:1e4aa22fc1a1 400 * +-----------+--------------+--------------+--------------+
Digixx 0:1e4aa22fc1a1 401 *
Digixx 0:1e4aa22fc1a1 402 * D3 D2 D1 D0
Digixx 0:1e4aa22fc1a1 403 * +-------------+----------------+----------------+----------------+
Digixx 0:1e4aa22fc1a1 404 * | INACT ac/dc | INACT_X enable | INACT_Y enable | INACT_Z enable |
Digixx 0:1e4aa22fc1a1 405 * +-------------+----------------+----------------+----------------+
Digixx 0:1e4aa22fc1a1 406 *
Digixx 0:1e4aa22fc1a1 407 * See datasheet for details.
Digixx 0:1e4aa22fc1a1 408 *
Digixx 0:1e4aa22fc1a1 409 * @return The contents of the ACT_INACT_CTL register.
Digixx 0:1e4aa22fc1a1 410 */
Digixx 0:1e4aa22fc1a1 411 char getActivityInactivityControl(void);
Digixx 0:1e4aa22fc1a1 412
Digixx 0:1e4aa22fc1a1 413 /**
Digixx 0:1e4aa22fc1a1 414 * Set the activity/inactivity control settings.
Digixx 0:1e4aa22fc1a1 415 *
Digixx 0:1e4aa22fc1a1 416 * D7 D6 D5 D4
Digixx 0:1e4aa22fc1a1 417 * +-----------+--------------+--------------+--------------+
Digixx 0:1e4aa22fc1a1 418 * | ACT ac/dc | ACT_X enable | ACT_Y enable | ACT_Z enable |
Digixx 0:1e4aa22fc1a1 419 * +-----------+--------------+--------------+--------------+
Digixx 0:1e4aa22fc1a1 420 *
Digixx 0:1e4aa22fc1a1 421 * D3 D2 D1 D0
Digixx 0:1e4aa22fc1a1 422 * +-------------+----------------+----------------+----------------+
Digixx 0:1e4aa22fc1a1 423 * | INACT ac/dc | INACT_X enable | INACT_Y enable | INACT_Z enable |
Digixx 0:1e4aa22fc1a1 424 * +-------------+----------------+----------------+----------------+
Digixx 0:1e4aa22fc1a1 425 *
Digixx 0:1e4aa22fc1a1 426 * See datasheet for details.
Digixx 0:1e4aa22fc1a1 427 *
Digixx 0:1e4aa22fc1a1 428 * @param settings The control byte to write to the ACT_INACT_CTL register.
Digixx 0:1e4aa22fc1a1 429 */
Digixx 0:1e4aa22fc1a1 430 int setActivityInactivityControl(char settings);
Digixx 0:1e4aa22fc1a1 431
Digixx 0:1e4aa22fc1a1 432 /**
Digixx 0:1e4aa22fc1a1 433 * Get the threshold for free fall detection.
Digixx 0:1e4aa22fc1a1 434 *
Digixx 0:1e4aa22fc1a1 435 * @return The threshold value for free-fall detection, as an 8-bit number,
Digixx 0:1e4aa22fc1a1 436 * with scale factor 62.5mg/LSB.
Digixx 0:1e4aa22fc1a1 437 */
Digixx 0:1e4aa22fc1a1 438 char getFreefallThreshold(void);
Digixx 0:1e4aa22fc1a1 439
Digixx 0:1e4aa22fc1a1 440 /**
Digixx 0:1e4aa22fc1a1 441 * Set the threshold for free fall detection.
Digixx 0:1e4aa22fc1a1 442 *
Digixx 0:1e4aa22fc1a1 443 * @return The threshold value for free-fall detection, as an 8-bit number,
Digixx 0:1e4aa22fc1a1 444 * with scale factor 62.5mg/LSB. A value of 0 may result in
Digixx 0:1e4aa22fc1a1 445 * undesirable behavior if the free-fall interrupt is enabled.
Digixx 0:1e4aa22fc1a1 446 * Values between 300 mg and 600 mg (0x05 to 0x09) are recommended.
Digixx 0:1e4aa22fc1a1 447 */
Digixx 0:1e4aa22fc1a1 448 int setFreefallThreshold(char threshold);
Digixx 0:1e4aa22fc1a1 449
Digixx 0:1e4aa22fc1a1 450 /**
Digixx 0:1e4aa22fc1a1 451 * Get the time required to generate a free fall interrupt.
Digixx 0:1e4aa22fc1a1 452 *
Digixx 0:1e4aa22fc1a1 453 * @return The minimum time that the value of all axes must be less than
Digixx 0:1e4aa22fc1a1 454 * the freefall threshold to generate a free-fall interrupt, in
Digixx 0:1e4aa22fc1a1 455 * milliseconds.
Digixx 0:1e4aa22fc1a1 456 */
Digixx 0:1e4aa22fc1a1 457 char getFreefallTime(void);
Digixx 0:1e4aa22fc1a1 458
Digixx 0:1e4aa22fc1a1 459 /**
Digixx 0:1e4aa22fc1a1 460 * Set the time required to generate a free fall interrupt.
Digixx 0:1e4aa22fc1a1 461 *
Digixx 0:1e4aa22fc1a1 462 * @return The minimum time that the value of all axes must be less than
Digixx 0:1e4aa22fc1a1 463 * the freefall threshold to generate a free-fall interrupt, in
Digixx 0:1e4aa22fc1a1 464 * milliseconds. A value of 0 may result in undesirable behavior
Digixx 0:1e4aa22fc1a1 465 * if the free-fall interrupt is enabled. Values between 100 ms
Digixx 0:1e4aa22fc1a1 466 * and 350 ms (0x14 to 0x46) are recommended.
Digixx 0:1e4aa22fc1a1 467 */
Digixx 0:1e4aa22fc1a1 468 int setFreefallTime(short int freefallTime_ms);
Digixx 0:1e4aa22fc1a1 469
Digixx 0:1e4aa22fc1a1 470 /**
Digixx 0:1e4aa22fc1a1 471 * Get the axis tap settings.
Digixx 0:1e4aa22fc1a1 472 *
Digixx 0:1e4aa22fc1a1 473 * D3 D2 D1 D0
Digixx 0:1e4aa22fc1a1 474 * +----------+--------------+--------------+--------------+
Digixx 0:1e4aa22fc1a1 475 * | Suppress | TAP_X enable | TAP_Y enable | TAP_Z enable |
Digixx 0:1e4aa22fc1a1 476 * +----------+--------------+--------------+--------------+
Digixx 0:1e4aa22fc1a1 477 *
Digixx 0:1e4aa22fc1a1 478 * (D7-D4 are 0s).
Digixx 0:1e4aa22fc1a1 479 *
Digixx 0:1e4aa22fc1a1 480 * See datasheet for more details.
Digixx 0:1e4aa22fc1a1 481 *
Digixx 0:1e4aa22fc1a1 482 * @return The contents of the TAP_AXES register.
Digixx 0:1e4aa22fc1a1 483 */
Digixx 0:1e4aa22fc1a1 484 char getTapAxisControl(void);
Digixx 0:1e4aa22fc1a1 485
Digixx 0:1e4aa22fc1a1 486 /**
Digixx 0:1e4aa22fc1a1 487 * Set the axis tap settings.
Digixx 0:1e4aa22fc1a1 488 *
Digixx 0:1e4aa22fc1a1 489 * D3 D2 D1 D0
Digixx 0:1e4aa22fc1a1 490 * +----------+--------------+--------------+--------------+
Digixx 0:1e4aa22fc1a1 491 * | Suppress | TAP_X enable | TAP_Y enable | TAP_Z enable |
Digixx 0:1e4aa22fc1a1 492 * +----------+--------------+--------------+--------------+
Digixx 0:1e4aa22fc1a1 493 *
Digixx 0:1e4aa22fc1a1 494 * (D7-D4 are 0s).
Digixx 0:1e4aa22fc1a1 495 *
Digixx 0:1e4aa22fc1a1 496 * See datasheet for more details.
Digixx 0:1e4aa22fc1a1 497 *
Digixx 0:1e4aa22fc1a1 498 * @param The control byte to write to the TAP_AXES register.
Digixx 0:1e4aa22fc1a1 499 */
Digixx 0:1e4aa22fc1a1 500 int setTapAxisControl(char settings);
Digixx 0:1e4aa22fc1a1 501
Digixx 0:1e4aa22fc1a1 502 /**
Digixx 0:1e4aa22fc1a1 503 * Get the source of a tap.
Digixx 0:1e4aa22fc1a1 504 *
Digixx 0:1e4aa22fc1a1 505 * @return The contents of the ACT_TAP_STATUS register.
Digixx 0:1e4aa22fc1a1 506 */
Digixx 0:1e4aa22fc1a1 507 char getTapSource(void);
Digixx 0:1e4aa22fc1a1 508
Digixx 0:1e4aa22fc1a1 509 /**
Digixx 0:1e4aa22fc1a1 510 * Get the interrupt enable settings.
Digixx 0:1e4aa22fc1a1 511 *
Digixx 0:1e4aa22fc1a1 512 * @return The contents of the INT_ENABLE register.
Digixx 0:1e4aa22fc1a1 513 */
Digixx 0:1e4aa22fc1a1 514
Digixx 0:1e4aa22fc1a1 515 char getInterruptEnableControl(void);
Digixx 0:1e4aa22fc1a1 516
Digixx 0:1e4aa22fc1a1 517 /**
Digixx 0:1e4aa22fc1a1 518 * Set the interrupt enable settings.
Digixx 0:1e4aa22fc1a1 519 *
Digixx 0:1e4aa22fc1a1 520 * @param settings The control byte to write to the INT_ENABLE register.
Digixx 0:1e4aa22fc1a1 521 */
Digixx 0:1e4aa22fc1a1 522 int setInterruptEnableControl(char settings);
Digixx 0:1e4aa22fc1a1 523
Digixx 0:1e4aa22fc1a1 524 /**
Digixx 0:1e4aa22fc1a1 525 * Get the interrupt mapping settings.
Digixx 0:1e4aa22fc1a1 526 *
Digixx 0:1e4aa22fc1a1 527 * @return The contents of the INT_MAP register.
Digixx 0:1e4aa22fc1a1 528 */
Digixx 0:1e4aa22fc1a1 529 char getInterruptMappingControl(void);
Digixx 0:1e4aa22fc1a1 530
Digixx 0:1e4aa22fc1a1 531 /**
Digixx 0:1e4aa22fc1a1 532 * Set the interrupt mapping settings.
Digixx 0:1e4aa22fc1a1 533 *
Digixx 0:1e4aa22fc1a1 534 * @param settings The control byte to write to the INT_MAP register.
Digixx 0:1e4aa22fc1a1 535 */
Digixx 0:1e4aa22fc1a1 536 int setInterruptMappingControl(char settings);
Digixx 0:1e4aa22fc1a1 537
Digixx 0:1e4aa22fc1a1 538 /**
Digixx 0:1e4aa22fc1a1 539 * Get the interrupt source.
Digixx 0:1e4aa22fc1a1 540 *
Digixx 0:1e4aa22fc1a1 541 * @return The contents of the INT_SOURCE register.
Digixx 0:1e4aa22fc1a1 542 */
Digixx 0:1e4aa22fc1a1 543 char getInterruptSource(void);
Digixx 0:1e4aa22fc1a1 544
Digixx 0:1e4aa22fc1a1 545
Digixx 0:1e4aa22fc1a1 546 private:
Digixx 0:1e4aa22fc1a1 547
gltest26 5:122a504fcfa3 548 I2C &i2c_;
gltest26 5:122a504fcfa3 549
gltest26 5:122a504fcfa3 550 I2C *myI2c;
Digixx 0:1e4aa22fc1a1 551
Digixx 0:1e4aa22fc1a1 552
Digixx 0:1e4aa22fc1a1 553 /**
Digixx 0:1e4aa22fc1a1 554 * Read one byte from a register on the device.
Digixx 0:1e4aa22fc1a1 555 *
Digixx 0:1e4aa22fc1a1 556 * @param: - the address to be read from
Digixx 0:1e4aa22fc1a1 557 *
Digixx 0:1e4aa22fc1a1 558 * @return: the value of the data read
Digixx 0:1e4aa22fc1a1 559 */
Digixx 0:1e4aa22fc1a1 560 char SingleByteRead(char address);
Digixx 0:1e4aa22fc1a1 561
Digixx 0:1e4aa22fc1a1 562 /**
Digixx 0:1e4aa22fc1a1 563 * Write one byte to a register on the device.
Digixx 0:1e4aa22fc1a1 564 *
Digixx 0:1e4aa22fc1a1 565 * @param:
Digixx 0:1e4aa22fc1a1 566 - address of the register to write to.
Digixx 0:1e4aa22fc1a1 567 - the value of the data to store
Digixx 0:1e4aa22fc1a1 568 */
gltest26 4:8046894b947e 569 int SingleByteWrite(char address, char data);
Digixx 0:1e4aa22fc1a1 570
Digixx 0:1e4aa22fc1a1 571 /**
Digixx 0:1e4aa22fc1a1 572 * Read several consecutive bytes on the device and store them in a given location.
Digixx 0:1e4aa22fc1a1 573 *
Digixx 0:1e4aa22fc1a1 574 * @param startAddress: The address of the first register to read from.
Digixx 0:1e4aa22fc1a1 575 * @param ptr_output: a pointer to the location to store the data being read
Digixx 0:1e4aa22fc1a1 576 * @param size: The number of bytes to read.
Digixx 0:1e4aa22fc1a1 577 */
Digixx 0:1e4aa22fc1a1 578 void multiByteRead(char startAddress, char* ptr_output, int size);
Digixx 0:1e4aa22fc1a1 579
Digixx 0:1e4aa22fc1a1 580 /**
Digixx 0:1e4aa22fc1a1 581 * Write several consecutive bytes on the device.
Digixx 0:1e4aa22fc1a1 582 *
Digixx 0:1e4aa22fc1a1 583 * @param startAddress: The address of the first register to write to.
Digixx 0:1e4aa22fc1a1 584 * @param ptr_data: Pointer to a location which contains the data to write.
Digixx 0:1e4aa22fc1a1 585 * @param size: The number of bytes to write.
Digixx 0:1e4aa22fc1a1 586 */
Digixx 0:1e4aa22fc1a1 587 int multiByteWrite(char startAddress, char* ptr_data, int size);
Digixx 0:1e4aa22fc1a1 588
gltest26 3:7b83694c7292 589 private:
gltest26 3:7b83694c7292 590
gltest26 3:7b83694c7292 591 /**
gltest26 3:7b83694c7292 592 * Converts little-endian 2's complement byte pair to native byte order of
gltest26 3:7b83694c7292 593 * the CPU and then sign extend it to the CPU's register size.
gltest26 3:7b83694c7292 594 *
gltest26 3:7b83694c7292 595 * Implemented here to make the compiler inline expand it.
gltest26 3:7b83694c7292 596 */
gltest26 3:7b83694c7292 597 static int wordExtend(const char rx[2]){
gltest26 3:7b83694c7292 598 // Readings are expressed in 16bit 2's complement, so we must first
gltest26 3:7b83694c7292 599 // concatenate two bytes to make a word and sign extend it to obtain
gltest26 3:7b83694c7292 600 // correct negative values.
gltest26 3:7b83694c7292 601 // ARMCC compiles char as unsigned, which means no sign extension is
gltest26 3:7b83694c7292 602 // performed during bitwise operations to chars. But we should make sure
gltest26 3:7b83694c7292 603 // that lower byte won't extend its sign past upper byte for other
gltest26 3:7b83694c7292 604 // compilers if we want to keep it portable.
gltest26 3:7b83694c7292 605 return int16_t(((unsigned char)rx[1] << 8) | (unsigned char)rx[0]);
gltest26 3:7b83694c7292 606 }
gltest26 3:7b83694c7292 607
Digixx 0:1e4aa22fc1a1 608 };
Digixx 0:1e4aa22fc1a1 609
Digixx 0:1e4aa22fc1a1 610 #endif /* ADXL345_H */