538 lines
16 KiB
C
538 lines
16 KiB
C
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/**
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* @author Aaron Berk
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*
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* @section LICENSE
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*
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* Copyright (c) 2010 ARM Limited
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*
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* @section DESCRIPTION
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*
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* ADXL345, triple axis, digital interface, accelerometer.
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*
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* Datasheet:
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*
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* http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf
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*/
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#ifndef ADXL345_H
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#define ADXL345_H
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/**
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* Includes
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*/
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#include "mbed.h"
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/**
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* Defines
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*/
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//Registers.
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#define ADXL345_DEVID_REG 0x00
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#define ADXL345_THRESH_TAP_REG 0x1D
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#define ADXL345_OFSX_REG 0x1E
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#define ADXL345_OFSY_REG 0x1F
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#define ADXL345_OFSZ_REG 0x20
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#define ADXL345_DUR_REG 0x21
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#define ADXL345_LATENT_REG 0x22
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#define ADXL345_WINDOW_REG 0x23
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#define ADXL345_THRESH_ACT_REG 0x24
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#define ADXL345_THRESH_INACT_REG 0x25
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#define ADXL345_TIME_INACT_REG 0x26
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#define ADXL345_ACT_INACT_CTL_REG 0x27
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#define ADXL345_THRESH_FF_REG 0x28
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#define ADXL345_TIME_FF_REG 0x29
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#define ADXL345_TAP_AXES_REG 0x2A
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#define ADXL345_ACT_TAP_STATUS_REG 0x2B
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#define ADXL345_BW_RATE_REG 0x2C
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#define ADXL345_POWER_CTL_REG 0x2D
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#define ADXL345_INT_ENABLE_REG 0x2E
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#define ADXL345_INT_MAP_REG 0x2F
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#define ADXL345_INT_SOURCE_REG 0x30
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#define ADXL345_DATA_FORMAT_REG 0x31
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#define ADXL345_DATAX0_REG 0x32
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#define ADXL345_DATAX1_REG 0x33
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#define ADXL345_DATAY0_REG 0x34
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#define ADXL345_DATAY1_REG 0x35
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#define ADXL345_DATAZ0_REG 0x36
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#define ADXL345_DATAZ1_REG 0x37
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#define ADXL345_FIFO_CTL 0x38
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#define ADXL345_FIFO_STATUS 0x39
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//Data rate codes.
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#define ADXL345_3200HZ 0x0F
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#define ADXL345_1600HZ 0x0E
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#define ADXL345_800HZ 0x0D
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#define ADXL345_400HZ 0x0C
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#define ADXL345_200HZ 0x0B
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#define ADXL345_100HZ 0x0A
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#define ADXL345_50HZ 0x09
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#define ADXL345_25HZ 0x08
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#define ADXL345_12HZ5 0x07
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#define ADXL345_6HZ25 0x06
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#define ADXL345_SPI_READ 0x80
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#define ADXL345_SPI_WRITE 0x00
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#define ADXL345_MULTI_BYTE 0x60
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#define ADXL345_X 0x00
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#define ADXL345_Y 0x01
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#define ADXL345_Z 0x02
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/**
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* ADXL345 triple axis, digital interface, accelerometer.
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*/
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class ADXL345 {
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public:
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/**
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* Constructor.
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*
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* @param mosi mbed pin to use for MOSI line of SPI interface.
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* @param miso mbed pin to use for MISO line of SPI interface.
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* @param sck mbed pin to use for SCK line of SPI interface.
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* @param cs mbed pin to use for not chip select line of SPI interface.
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*/
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ADXL345(PinName mosi, PinName miso, PinName sck, PinName cs);
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/**
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* Read the device ID register on the device.
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*
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* @return The device ID code [0xE5]
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*/
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int getDevId(void);
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/**
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* Read the tap threshold on the device.
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*
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* @return The tap threshold as an 8-bit number with a scale factor of
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* 62.5mg/LSB.
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*/
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int getTapThreshold(void);
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/**
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* Set the tap threshold.
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*
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* @param The tap threshold as an 8-bit number with a scale factor of
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* 62.5mg/LSB.
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*/
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void setTapThreshold(int threshold);
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/**
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* Get the current offset for a particular axis.
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*
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* @param axis 0x00 -> X-axis
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* 0x01 -> Y-axis
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* 0x02 -> Z-axis
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* @return The current offset as an 8-bit 2's complement number with scale
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* factor 15.6mg/LSB.
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*/
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int getOffset(int axis);
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/**
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* Set the offset for a particular axis.
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*
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* @param axis 0x00 -> X-axis
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* 0x01 -> Y-axis
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* 0x02 -> Z-axis
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* @param offset The offset as an 8-bit 2's complement number with scale
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* factor 15.6mg/LSB.
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*/
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void setOffset(int axis, char offset);
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/**
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* Get the tap duration required to trigger an event.
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*
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* @return The max time that an event must be above the tap threshold to
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* qualify as a tap event, in microseconds.
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*/
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int getTapDuration(void);
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/**
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* Set the tap duration required to trigger an event.
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*
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* @param duration_us The max time that an event must be above the tap
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* threshold to qualify as a tap event, in microseconds.
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* Time will be normalized by the scale factor which is
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* 625us/LSB. A value of 0 disables the single/double
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* tap functions.
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*/
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void setTapDuration(int duration_us);
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/**
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* Get the tap latency between the detection of a tap and the time window.
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*
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* @return The wait time from the detection of a tap event to the start of
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* the time window during which a possible second tap event can be
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* detected in milliseconds.
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*/
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float getTapLatency(void);
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/**
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* Set the tap latency between the detection of a tap and the time window.
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*
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* @param latency_ms The wait time from the detection of a tap event to the
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* start of the time window during which a possible
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* second tap event can be detected in milliseconds.
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* A value of 0 disables the double tap function.
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*/
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void setTapLatency(int latency_ms);
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/**
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* Get the time of window between tap latency and a double tap.
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*
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* @return The amount of time after the expiration of the latency time
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* during which a second valid tap can begin, in milliseconds.
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*/
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float getWindowTime(void);
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/**
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* Set the time of the window between tap latency and a double tap.
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*
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* @param window_ms The amount of time after the expiration of the latency
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* time during which a second valid tap can begin,
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* in milliseconds.
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*/
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void setWindowTime(int window_ms);
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/**
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* Get the threshold value for detecting activity.
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*
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* @return The threshold value for detecting activity as an 8-bit number.
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* Scale factor is 62.5mg/LSB.
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*/
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int getActivityThreshold(void);
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/**
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* Set the threshold value for detecting activity.
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*
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* @param threshold The threshold value for detecting activity as an 8-bit
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* number. Scale factor is 62.5mg/LSB. A value of 0 may
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* result in undesirable behavior if the activity
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* interrupt is enabled.
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*/
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void setActivityThreshold(int threshold);
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/**
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* Get the threshold value for detecting inactivity.
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*
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* @return The threshold value for detecting inactivity as an 8-bit number.
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* Scale factor is 62.5mg/LSB.
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*/
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int getInactivityThreshold(void);
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/**
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* Set the threshold value for detecting inactivity.
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*
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* @param threshold The threshold value for detecting inactivity as an
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* 8-bit number. Scale factor is 62.5mg/LSB.
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*/
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void setInactivityThreshold(int threshold);
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/**
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* Get the time required for inactivity to be declared.
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*
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* @return The amount of time that acceleration must be less than the
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* inactivity threshold for inactivity to be declared, in
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* seconds.
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*/
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int getTimeInactivity(void);
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/**
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* Set the time required for inactivity to be declared.
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*
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* @param inactivity The amount of time that acceleration must be less than
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* the inactivity threshold for inactivity to be
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* declared, in seconds. A value of 0 results in an
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* interrupt when the output data is less than the
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* threshold inactivity.
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*/
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void setTimeInactivity(int timeInactivity);
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/**
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* Get the activity/inactivity control settings.
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*
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* D7 D6 D5 D4
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* +-----------+--------------+--------------+--------------+
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* | ACT ac/dc | ACT_X enable | ACT_Y enable | ACT_Z enable |
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* +-----------+--------------+--------------+--------------+
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*
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* D3 D2 D1 D0
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* +-------------+----------------+----------------+----------------+
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* | INACT ac/dc | INACT_X enable | INACT_Y enable | INACT_Z enable |
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* +-------------+----------------+----------------+----------------+
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*
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* See datasheet for details.
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*
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* @return The contents of the ACT_INACT_CTL register.
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*/
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int getActivityInactivityControl(void);
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/**
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* Set the activity/inactivity control settings.
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*
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* D7 D6 D5 D4
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* +-----------+--------------+--------------+--------------+
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* | ACT ac/dc | ACT_X enable | ACT_Y enable | ACT_Z enable |
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* +-----------+--------------+--------------+--------------+
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*
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* D3 D2 D1 D0
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* +-------------+----------------+----------------+----------------+
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* | INACT ac/dc | INACT_X enable | INACT_Y enable | INACT_Z enable |
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* +-------------+----------------+----------------+----------------+
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*
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* See datasheet for details.
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*
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* @param settings The control byte to write to the ACT_INACT_CTL register.
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*/
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void setActivityInactivityControl(int settings);
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/**
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* Get the threshold for free fall detection.
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*
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* @return The threshold value for free-fall detection, as an 8-bit number,
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* with scale factor 62.5mg/LSB.
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*/
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int getFreefallThreshold(void);
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/**
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* Set the threshold for free fall detection.
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*
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* @return The threshold value for free-fall detection, as an 8-bit number,
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* with scale factor 62.5mg/LSB. A value of 0 may result in
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* undesirable behavior if the free-fall interrupt is enabled.
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* Values between 300 mg and 600 mg (0x05 to 0x09) are recommended.
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*/
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void setFreefallThreshold(int threshold);
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/**
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* Get the time required to generate a free fall interrupt.
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*
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* @return The minimum time that the value of all axes must be less than
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* the freefall threshold to generate a free-fall interrupt, in
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* milliseconds.
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*/
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int getFreefallTime(void);
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/**
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* Set the time required to generate a free fall interrupt.
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*
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* @return The minimum time that the value of all axes must be less than
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* the freefall threshold to generate a free-fall interrupt, in
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* milliseconds. A value of 0 may result in undesirable behavior
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* if the free-fall interrupt is enabled. Values between 100 ms
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* and 350 ms (0x14 to 0x46) are recommended.
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*/
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void setFreefallTime(int freefallTime_ms);
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/**
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* Get the axis tap settings.
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*
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* D3 D2 D1 D0
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* +----------+--------------+--------------+--------------+
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* | Suppress | TAP_X enable | TAP_Y enable | TAP_Z enable |
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* +----------+--------------+--------------+--------------+
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*
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* (D7-D4 are 0s).
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*
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* See datasheet for more details.
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*
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* @return The contents of the TAP_AXES register.
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*/
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int getTapAxisControl(void);
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/**
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* Set the axis tap settings.
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*
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* D3 D2 D1 D0
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* +----------+--------------+--------------+--------------+
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* | Suppress | TAP_X enable | TAP_Y enable | TAP_Z enable |
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* +----------+--------------+--------------+--------------+
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*
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* (D7-D4 are 0s).
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*
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* See datasheet for more details.
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*
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* @param The control byte to write to the TAP_AXES register.
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*/
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void setTapAxisControl(int settings);
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/**
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* Get the source of a tap.
|
||
|
|
*
|
||
|
|
* @return The contents of the ACT_TAP_STATUS register.
|
||
|
|
*/
|
||
|
|
int getTapSource(void);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Set the power mode.
|
||
|
|
*
|
||
|
|
* @param mode 0 -> Normal operation.
|
||
|
|
* 1 -> Reduced power operation.
|
||
|
|
*/
|
||
|
|
void setPowerMode(char mode);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Set the data rate.
|
||
|
|
*
|
||
|
|
* @param rate The rate code (see #defines or datasheet).
|
||
|
|
*/
|
||
|
|
void setDataRate(int rate);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Get the power control settings.
|
||
|
|
*
|
||
|
|
* See datasheet for details.
|
||
|
|
*
|
||
|
|
* @return The contents of the POWER_CTL register.
|
||
|
|
*/
|
||
|
|
int getPowerControl(void);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Set the power control settings.
|
||
|
|
*
|
||
|
|
* See datasheet for details.
|
||
|
|
*
|
||
|
|
* @param The control byte to write to the POWER_CTL register.
|
||
|
|
*/
|
||
|
|
void setPowerControl(int settings);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Get the interrupt enable settings.
|
||
|
|
*
|
||
|
|
* @return The contents of the INT_ENABLE register.
|
||
|
|
*/
|
||
|
|
int getInterruptEnableControl(void);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Set the interrupt enable settings.
|
||
|
|
*
|
||
|
|
* @param settings The control byte to write to the INT_ENABLE register.
|
||
|
|
*/
|
||
|
|
void setInterruptEnableControl(int settings);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Get the interrupt mapping settings.
|
||
|
|
*
|
||
|
|
* @return The contents of the INT_MAP register.
|
||
|
|
*/
|
||
|
|
int getInterruptMappingControl(void);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Set the interrupt mapping settings.
|
||
|
|
*
|
||
|
|
* @param settings The control byte to write to the INT_MAP register.
|
||
|
|
*/
|
||
|
|
void setInterruptMappingControl(int settings);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Get the interrupt source.
|
||
|
|
*
|
||
|
|
* @return The contents of the INT_SOURCE register.
|
||
|
|
*/
|
||
|
|
int getInterruptSource(void);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Get the data format settings.
|
||
|
|
*
|
||
|
|
* @return The contents of the DATA_FORMAT register.
|
||
|
|
*/
|
||
|
|
int getDataFormatControl(void);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Set the data format settings.
|
||
|
|
*
|
||
|
|
* @param settings The control byte to write to the DATA_FORMAT register.
|
||
|
|
*/
|
||
|
|
void setDataFormatControl(int settings);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Get the output of all three axes.
|
||
|
|
*
|
||
|
|
* @param Pointer to a buffer to hold the accelerometer value for the
|
||
|
|
* x-axis, y-axis and z-axis [in that order].
|
||
|
|
*/
|
||
|
|
void getOutput(int* readings);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Get the FIFO control settings.
|
||
|
|
*
|
||
|
|
* @return The contents of the FIFO_CTL register.
|
||
|
|
*/
|
||
|
|
int getFifoControl(void);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Set the FIFO control settings.
|
||
|
|
*
|
||
|
|
* @param The control byte to write to the FIFO_CTL register.
|
||
|
|
*/
|
||
|
|
void setFifoControl(int settings);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Get FIFO status.
|
||
|
|
*
|
||
|
|
* @return The contents of the FIFO_STATUS register.
|
||
|
|
*/
|
||
|
|
int getFifoStatus(void);
|
||
|
|
|
||
|
|
private:
|
||
|
|
|
||
|
|
SPI spi_;
|
||
|
|
DigitalOut nCS_;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Read one byte from a register on the device.
|
||
|
|
*
|
||
|
|
* @param address Address of the register to read.
|
||
|
|
*
|
||
|
|
* @return The contents of the register address.
|
||
|
|
*/
|
||
|
|
int oneByteRead(int address);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Write one byte to a register on the device.
|
||
|
|
*
|
||
|
|
* @param address Address of the register to write to.
|
||
|
|
* @param data The data to write into the register.
|
||
|
|
*/
|
||
|
|
void oneByteWrite(int address, char data);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Read several consecutive bytes on the device.
|
||
|
|
*
|
||
|
|
* @param startAddress The address of the first register to read from.
|
||
|
|
* @param buffer Pointer to a buffer to store data read from the device.
|
||
|
|
* @param size The number of bytes to read.
|
||
|
|
*/
|
||
|
|
void multiByteRead(int startAddress, char* buffer, int size);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Write several consecutive bytes on the device.
|
||
|
|
*
|
||
|
|
* @param startAddress The address of the first register to write to.
|
||
|
|
* @param buffer Pointer to a buffer which contains the data to write.
|
||
|
|
* @param size The number of bytes to write.
|
||
|
|
*/
|
||
|
|
void multiByteWrite(int startAddress, char* buffer, int size);
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif /* ADXL345_H */
|