-
Notifications
You must be signed in to change notification settings - Fork 1
/
FIMU_ADXL345.h
executable file
·206 lines (186 loc) · 6.61 KB
/
FIMU_ADXL345.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
/**************************************************************************
* *
* ADXL345 Driver for Arduino *
* *
***************************************************************************
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU License. *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU License V2 for more details. *
* *
***************************************************************************/
#include "Arduino.h"
#ifndef FIMU_ADXL345_h
#define FIMU_ADXL345_h
/* -- ADXL345 addresses --*/
#define ADXL345_ADDR_ALT_HIGH 0x1D // ADXL345 address when ALT is connected to HIGH
#define ADXL345_ADDR_ALT_LOW 0x53 // ADXL345 address when ALT is connected to LOW
/* ------- Register names ------- */
#define ADXL345_DEVID 0x00
#define ADXL345_RESERVED1 0x01
#define ADXL345_THRESH_TAP 0x1d
#define ADXL345_OFSX 0x1e
#define ADXL345_OFSY 0x1f
#define ADXL345_OFSZ 0x20
#define ADXL345_DUR 0x21
#define ADXL345_LATENT 0x22
#define ADXL345_WINDOW 0x23
#define ADXL345_THRESH_ACT 0x24
#define ADXL345_THRESH_INACT 0x25
#define ADXL345_TIME_INACT 0x26
#define ADXL345_ACT_INACT_CTL 0x27
#define ADXL345_THRESH_FF 0x28
#define ADXL345_TIME_FF 0x29
#define ADXL345_TAP_AXES 0x2a
#define ADXL345_ACT_TAP_STATUS 0x2b
#define ADXL345_BW_RATE 0x2c
#define ADXL345_POWER_CTL 0x2d
#define ADXL345_INT_ENABLE 0x2e
#define ADXL345_INT_MAP 0x2f
#define ADXL345_INT_SOURCE 0x30
#define ADXL345_DATA_FORMAT 0x31
#define ADXL345_DATAX0 0x32
#define ADXL345_DATAX1 0x33
#define ADXL345_DATAY0 0x34
#define ADXL345_DATAY1 0x35
#define ADXL345_DATAZ0 0x36
#define ADXL345_DATAZ1 0x37
#define ADXL345_FIFO_CTL 0x38
#define ADXL345_FIFO_STATUS 0x39
#define ADXL345_BW_1600 0xF // 1111
#define ADXL345_BW_800 0xE // 1110
#define ADXL345_BW_400 0xD // 1101
#define ADXL345_BW_200 0xC // 1100
#define ADXL345_BW_100 0xB // 1011
#define ADXL345_BW_50 0xA // 1010
#define ADXL345_BW_25 0x9 // 1001
#define ADXL345_BW_12 0x8 // 1000
#define ADXL345_BW_6 0x7 // 0111
#define ADXL345_BW_3 0x6 // 0110
/*
Interrupt PINs
INT1: 0
INT2: 1
*/
#define ADXL345_INT1_PIN 0x00
#define ADXL345_INT2_PIN 0x01
/*
Interrupt bit position
*/
#define ADXL345_INT_DATA_READY_BIT 0x07
#define ADXL345_INT_SINGLE_TAP_BIT 0x06
#define ADXL345_INT_DOUBLE_TAP_BIT 0x05
#define ADXL345_INT_ACTIVITY_BIT 0x04
#define ADXL345_INT_INACTIVITY_BIT 0x03
#define ADXL345_INT_FREE_FALL_BIT 0x02
#define ADXL345_INT_WATERMARK_BIT 0x01
#define ADXL345_INT_OVERRUNY_BIT 0x00
#define ADXL345_OK 1 // no error
#define ADXL345_ERROR 0 // indicates error is predent
#define ADXL345_NO_ERROR 0 // initial state
#define ADXL345_READ_ERROR 1 // problem reading accel
#define ADXL345_BAD_ARG 2 // bad method argument
class ADXL345
{
public:
bool status; // set when error occurs
// see error code for details
byte error_code; // Initial state
float gains[3]; // counts to Gs
ADXL345();
void init(int address);
void powerOn();
void readAccel(int* xyx);
void readAccel(int* x, int* y, int* z);
void get_Gxyz(float *xyz);
void setTapThreshold(int tapThreshold);
int getTapThreshold();
void setAxisGains(float *_gains);
void getAxisGains(float *_gains);
void setAxisOffset(int x, int y, int z);
void getAxisOffset(int* x, int* y, int*z);
void setTapDuration(int tapDuration);
int getTapDuration();
void setDoubleTapLatency(int floatTapLatency);
int getDoubleTapLatency();
void setDoubleTapWindow(int floatTapWindow);
int getDoubleTapWindow();
void setActivityThreshold(int activityThreshold);
int getActivityThreshold();
void setInactivityThreshold(int inactivityThreshold);
int getInactivityThreshold();
void setTimeInactivity(int timeInactivity);
int getTimeInactivity();
void setFreeFallThreshold(int freeFallthreshold);
int getFreeFallThreshold();
void setFreeFallDuration(int freeFallDuration);
int getFreeFallDuration();
bool isActivityXEnabled();
bool isActivityYEnabled();
bool isActivityZEnabled();
bool isInactivityXEnabled();
bool isInactivityYEnabled();
bool isInactivityZEnabled();
bool isActivityAc();
bool isInactivityAc();
void setActivityAc(bool state);
void setInactivityAc(bool state);
bool getSuppressBit();
void setSuppressBit(bool state);
bool isTapDetectionOnX();
void setTapDetectionOnX(bool state);
bool isTapDetectionOnY();
void setTapDetectionOnY(bool state);
bool isTapDetectionOnZ();
void setTapDetectionOnZ(bool state);
void setActivityX(bool state);
void setActivityY(bool state);
void setActivityZ(bool state);
void setInactivityX(bool state);
void setInactivityY(bool state);
void setInactivityZ(bool state);
bool isActivitySourceOnX();
bool isActivitySourceOnY();
bool isActivitySourceOnZ();
bool isTapSourceOnX();
bool isTapSourceOnY();
bool isTapSourceOnZ();
bool isAsleep();
bool isLowPower();
void setLowPower(bool state);
float getRate();
void setRate(float rate);
void set_bw(byte bw_code);
byte get_bw_code();
byte getInterruptSource();
bool getInterruptSource(byte interruptBit);
bool getInterruptMapping(byte interruptBit);
void setInterruptMapping(byte interruptBit, bool interruptPin);
bool isInterruptEnabled(byte interruptBit);
void setInterrupt(byte interruptBit, bool state);
void getRangeSetting(byte* rangeSetting);
void setRangeSetting(int val);
bool getSelfTestBit();
void setSelfTestBit(bool selfTestBit);
bool getSpiBit();
void setSpiBit(bool spiBit);
bool getInterruptLevelBit();
void setInterruptLevelBit(bool interruptLevelBit);
bool getFullResBit();
void setFullResBit(bool fullResBit);
bool getJustifyBit();
void setJustifyBit(bool justifyBit);
void printAllRegister();
void writeTo(byte address, byte val);
private:
void readFrom(byte address, int num, byte buff[]);
void setRegisterBit(byte regAdress, int bitPos, bool state);
bool getRegisterBit(byte regAdress, int bitPos);
byte _buff[6] ; //6 bytes buffer for saving data read from the device
int _dev_address;
};
void print_byte(byte val);
#endif