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362 lines
13 KiB
C
362 lines
13 KiB
C
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// I2Cdev library collection - ADXL345 I2C device class header file
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// Based on Analog Devices ADXL345 datasheet rev. C, 5/2011
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// 7/31/2011 by Jeff Rowberg <jeff@rowberg.net>
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// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
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//
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// Changelog:
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// 2011-07-31 - initial release
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/* ============================================
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I2Cdev device library code is placed under the MIT license
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Copyright (c) 2011 Jeff Rowberg
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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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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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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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*/
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#ifndef _ADXL345_H_
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#define _ADXL345_H_
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#include "I2Cdev.h"
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#define ADXL345_ADDRESS_ALT_LOW 0x53 // alt address pin low (GND)
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#define ADXL345_ADDRESS_ALT_HIGH 0x1D // alt address pin high (VCC)
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#define ADXL345_DEFAULT_ADDRESS ADXL345_ADDRESS_ALT_LOW
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#define ADXL345_RA_DEVID 0x00
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#define ADXL345_RA_RESERVED1 0x01
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#define ADXL345_RA_THRESH_TAP 0x1D
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#define ADXL345_RA_OFSX 0x1E
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#define ADXL345_RA_OFSY 0x1F
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#define ADXL345_RA_OFSZ 0x20
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#define ADXL345_RA_DUR 0x21
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#define ADXL345_RA_LATENT 0x22
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#define ADXL345_RA_WINDOW 0x23
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#define ADXL345_RA_THRESH_ACT 0x24
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#define ADXL345_RA_THRESH_INACT 0x25
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#define ADXL345_RA_TIME_INACT 0x26
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#define ADXL345_RA_ACT_INACT_CTL 0x27
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#define ADXL345_RA_THRESH_FF 0x28
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#define ADXL345_RA_TIME_FF 0x29
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#define ADXL345_RA_TAP_AXES 0x2A
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#define ADXL345_RA_ACT_TAP_STATUS 0x2B
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#define ADXL345_RA_BW_RATE 0x2C
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#define ADXL345_RA_POWER_CTL 0x2D
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#define ADXL345_RA_INT_ENABLE 0x2E
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#define ADXL345_RA_INT_MAP 0x2F
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#define ADXL345_RA_INT_SOURCE 0x30
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#define ADXL345_RA_DATA_FORMAT 0x31
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#define ADXL345_RA_DATAX0 0x32
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#define ADXL345_RA_DATAX1 0x33
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#define ADXL345_RA_DATAY0 0x34
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#define ADXL345_RA_DATAY1 0x35
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#define ADXL345_RA_DATAZ0 0x36
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#define ADXL345_RA_DATAZ1 0x37
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#define ADXL345_RA_FIFO_CTL 0x38
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#define ADXL345_RA_FIFO_STATUS 0x39
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#define ADXL345_AIC_ACT_AC_BIT 7
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#define ADXL345_AIC_ACT_X_BIT 6
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#define ADXL345_AIC_ACT_Y_BIT 5
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#define ADXL345_AIC_ACT_Z_BIT 4
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#define ADXL345_AIC_INACT_AC_BIT 3
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#define ADXL345_AIC_INACT_X_BIT 2
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#define ADXL345_AIC_INACT_Y_BIT 1
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#define ADXL345_AIC_INACT_Z_BIT 0
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#define ADXL345_TAPAXIS_SUP_BIT 3
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#define ADXL345_TAPAXIS_X_BIT 2
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#define ADXL345_TAPAXIS_Y_BIT 1
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#define ADXL345_TAPAXIS_Z_BIT 0
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#define ADXL345_TAPSTAT_ACTX_BIT 6
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#define ADXL345_TAPSTAT_ACTY_BIT 5
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#define ADXL345_TAPSTAT_ACTZ_BIT 4
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#define ADXL345_TAPSTAT_ASLEEP_BIT 3
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#define ADXL345_TAPSTAT_TAPX_BIT 2
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#define ADXL345_TAPSTAT_TAPY_BIT 1
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#define ADXL345_TAPSTAT_TAPZ_BIT 0
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#define ADXL345_BW_LOWPOWER_BIT 4
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#define ADXL345_BW_RATE_BIT 3
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#define ADXL345_BW_RATE_LENGTH 4
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#define ADXL345_RATE_3200 0b1111
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#define ADXL345_RATE_1600 0b1110
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#define ADXL345_RATE_800 0b1101
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#define ADXL345_RATE_400 0b1100
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#define ADXL345_RATE_200 0b1011
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#define ADXL345_RATE_100 0b1010
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#define ADXL345_RATE_50 0b1001
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#define ADXL345_RATE_25 0b1000
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#define ADXL345_RATE_12P5 0b0111
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#define ADXL345_RATE_6P25 0b0110
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#define ADXL345_RATE_3P13 0b0101
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#define ADXL345_RATE_1P56 0b0100
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#define ADXL345_RATE_0P78 0b0011
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#define ADXL345_RATE_0P39 0b0010
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#define ADXL345_RATE_0P20 0b0001
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#define ADXL345_RATE_0P10 0b0000
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#define ADXL345_PCTL_LINK_BIT 5
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#define ADXL345_PCTL_AUTOSLEEP_BIT 4
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#define ADXL345_PCTL_MEASURE_BIT 3
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#define ADXL345_PCTL_SLEEP_BIT 2
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#define ADXL345_PCTL_WAKEUP_BIT 1
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#define ADXL345_PCTL_WAKEUP_LENGTH 2
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#define ADXL345_WAKEUP_8HZ 0b00
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#define ADXL345_WAKEUP_4HZ 0b01
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#define ADXL345_WAKEUP_2HZ 0b10
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#define ADXL345_WAKEUP_1HZ 0b11
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#define ADXL345_INT_DATA_READY_BIT 7
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#define ADXL345_INT_SINGLE_TAP_BIT 6
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#define ADXL345_INT_DOUBLE_TAP_BIT 5
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#define ADXL345_INT_ACTIVITY_BIT 4
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#define ADXL345_INT_INACTIVITY_BIT 3
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#define ADXL345_INT_FREE_FALL_BIT 2
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#define ADXL345_INT_WATERMARK_BIT 1
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#define ADXL345_INT_OVERRUN_BIT 0
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#define ADXL345_FORMAT_SELFTEST_BIT 7
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#define ADXL345_FORMAT_SPIMODE_BIT 6
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#define ADXL345_FORMAT_INTMODE_BIT 5
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#define ADXL345_FORMAT_FULL_RES_BIT 3
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#define ADXL345_FORMAT_JUSTIFY_BIT 2
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#define ADXL345_FORMAT_RANGE_BIT 1
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#define ADXL345_FORMAT_RANGE_LENGTH 2
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#define ADXL345_RANGE_2G 0b00
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#define ADXL345_RANGE_4G 0b01
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#define ADXL345_RANGE_8G 0b10
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#define ADXL345_RANGE_16G 0b11
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#define ADXL345_FIFO_MODE_BIT 7
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#define ADXL345_FIFO_MODE_LENGTH 2
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#define ADXL345_FIFO_TRIGGER_BIT 5
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#define ADXL345_FIFO_SAMPLES_BIT 4
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#define ADXL345_FIFO_SAMPLES_LENGTH 5
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#define ADXL345_FIFO_MODE_BYPASS 0b00
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#define ADXL345_FIFO_MODE_FIFO 0b01
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#define ADXL345_FIFO_MODE_STREAM 0b10
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#define ADXL345_FIFO_MODE_TRIGGER 0b11
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#define ADXL345_FIFOSTAT_TRIGGER_BIT 7
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#define ADXL345_FIFOSTAT_LENGTH_BIT 5
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#define ADXL345_FIFOSTAT_LENGTH_LENGTH 6
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class ADXL345 {
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public:
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ADXL345();
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ADXL345(uint8_t address);
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void initialize();
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bool testConnection();
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// DEVID register
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uint8_t getDeviceID();
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// THRESH_TAP register
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uint8_t getTapThreshold();
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void setTapThreshold(uint8_t threshold);
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// OFS* registers
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void getOffset(int8_t* x, int8_t* y, int8_t* z);
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void setOffset(int8_t x, int8_t y, int8_t z);
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int8_t getOffsetX();
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void setOffsetX(int8_t x);
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int8_t getOffsetY();
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void setOffsetY(int8_t y);
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int8_t getOffsetZ();
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void setOffsetZ(int8_t z);
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// DUR register
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uint8_t getTapDuration();
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void setTapDuration(uint8_t duration);
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// LATENT register
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uint8_t getDoubleTapLatency();
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void setDoubleTapLatency(uint8_t latency);
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// WINDOW register
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uint8_t getDoubleTapWindow();
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void setDoubleTapWindow(uint8_t window);
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// THRESH_ACT register
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uint8_t getActivityThreshold();
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void setActivityThreshold(uint8_t threshold);
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// THRESH_INACT register
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uint8_t getInactivityThreshold();
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void setInactivityThreshold(uint8_t threshold);
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// TIME_INACT register
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uint8_t getInactivityTime();
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void setInactivityTime(uint8_t time);
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// ACT_INACT_CTL register
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bool getActivityAC();
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void setActivityAC(bool enabled);
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bool getActivityXEnabled();
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void setActivityXEnabled(bool enabled);
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bool getActivityYEnabled();
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void setActivityYEnabled(bool enabled);
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bool getActivityZEnabled();
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void setActivityZEnabled(bool enabled);
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bool getInactivityAC();
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void setInactivityAC(bool enabled);
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bool getInactivityXEnabled();
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void setInactivityXEnabled(bool enabled);
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bool getInactivityYEnabled();
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void setInactivityYEnabled(bool enabled);
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bool getInactivityZEnabled();
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void setInactivityZEnabled(bool enabled);
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// THRESH_FF register
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uint8_t getFreefallThreshold();
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void setFreefallThreshold(uint8_t threshold);
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// TIME_FF register
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uint8_t getFreefallTime();
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void setFreefallTime(uint8_t time);
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// TAP_AXES register
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bool getTapAxisSuppress();
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void setTapAxisSuppress(bool enabled);
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bool getTapAxisXEnabled();
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void setTapAxisXEnabled(bool enabled);
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bool getTapAxisYEnabled();
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void setTapAxisYEnabled(bool enabled);
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bool getTapAxisZEnabled();
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void setTapAxisZEnabled(bool enabled);
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// ACT_TAP_STATUS register
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bool getActivitySourceX();
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bool getActivitySourceY();
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bool getActivitySourceZ();
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bool getAsleep();
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bool getTapSourceX();
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bool getTapSourceY();
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bool getTapSourceZ();
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// BW_RATE register
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bool getLowPowerEnabled();
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void setLowPowerEnabled(bool enabled);
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uint8_t getRate();
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void setRate(uint8_t rate);
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// POWER_CTL register
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bool getLinkEnabled();
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void setLinkEnabled(bool enabled);
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bool getAutoSleepEnabled();
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void setAutoSleepEnabled(bool enabled);
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bool getMeasureEnabled();
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void setMeasureEnabled(bool enabled);
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bool getSleepEnabled();
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void setSleepEnabled(bool enabled);
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uint8_t getWakeupFrequency();
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void setWakeupFrequency(uint8_t frequency);
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// INT_ENABLE register
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bool getIntDataReadyEnabled();
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void setIntDataReadyEnabled(bool enabled);
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bool getIntSingleTapEnabled();
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void setIntSingleTapEnabled(bool enabled);
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bool getIntDoubleTapEnabled();
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void setIntDoubleTapEnabled(bool enabled);
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bool getIntActivityEnabled();
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void setIntActivityEnabled(bool enabled);
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bool getIntInactivityEnabled();
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void setIntInactivityEnabled(bool enabled);
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bool getIntFreefallEnabled();
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void setIntFreefallEnabled(bool enabled);
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bool getIntWatermarkEnabled();
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void setIntWatermarkEnabled(bool enabled);
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bool getIntOverrunEnabled();
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void setIntOverrunEnabled(bool enabled);
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// INT_MAP register
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uint8_t getIntDataReadyPin();
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void setIntDataReadyPin(uint8_t pin);
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uint8_t getIntSingleTapPin();
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void setIntSingleTapPin(uint8_t pin);
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uint8_t getIntDoubleTapPin();
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void setIntDoubleTapPin(uint8_t pin);
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uint8_t getIntActivityPin();
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void setIntActivityPin(uint8_t pin);
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uint8_t getIntInactivityPin();
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void setIntInactivityPin(uint8_t pin);
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uint8_t getIntFreefallPin();
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void setIntFreefallPin(uint8_t pin);
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uint8_t getIntWatermarkPin();
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void setIntWatermarkPin(uint8_t pin);
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uint8_t getIntOverrunPin();
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void setIntOverrunPin(uint8_t pin);
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// INT_SOURCE register
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uint8_t getIntDataReadySource();
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uint8_t getIntSingleTapSource();
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uint8_t getIntDoubleTapSource();
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uint8_t getIntActivitySource();
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uint8_t getIntInactivitySource();
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uint8_t getIntFreefallSource();
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uint8_t getIntWatermarkSource();
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uint8_t getIntOverrunSource();
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// DATA_FORMAT register
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uint8_t getSelfTestEnabled();
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void setSelfTestEnabled(uint8_t enabled);
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uint8_t getSPIMode();
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void setSPIMode(uint8_t mode);
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uint8_t getInterruptMode();
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void setInterruptMode(uint8_t mode);
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uint8_t getFullResolution();
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void setFullResolution(uint8_t resolution);
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uint8_t getDataJustification();
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void setDataJustification(uint8_t justification);
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uint8_t getRange();
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void setRange(uint8_t range);
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// DATA* registers
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void getAcceleration(int16_t* x, int16_t* y, int16_t* z);
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int16_t getAccelerationX();
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int16_t getAccelerationY();
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int16_t getAccelerationZ();
|
||
|
|
|
||
|
|
// FIFO_CTL register
|
||
|
|
uint8_t getFIFOMode();
|
||
|
|
void setFIFOMode(uint8_t mode);
|
||
|
|
uint8_t getFIFOTriggerInterruptPin();
|
||
|
|
void setFIFOTriggerInterruptPin(uint8_t interrupt);
|
||
|
|
uint8_t getFIFOSamples();
|
||
|
|
void setFIFOSamples(uint8_t size);
|
||
|
|
|
||
|
|
// FIFO_STATUS register
|
||
|
|
bool getFIFOTriggerOccurred();
|
||
|
|
uint8_t getFIFOLength();
|
||
|
|
|
||
|
|
private:
|
||
|
|
uint8_t devAddr;
|
||
|
|
uint8_t buffer[6];
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif /* _ADXL345_H_ */
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