tool/mbed/mbed-sdk/libraries/tests/peripherals/ADXL345/ADXL345.cpp

   1 /**
   2  * @author Aaron Berk
   3  *
   4  * @section LICENSE
   5  *
   6  * Copyright (c) 2010 ARM Limited
   7  *
   8  * Permission is hereby granted, free of charge, to any person obtaining a copy
   9  * of this software and associated documentation files (the "Software"), to deal
  10  * in the Software without restriction, including without limitation the rights
  11  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  12  * copies of the Software, and to permit persons to whom the Software is
  13  * furnished to do so, subject to the following conditions:
  14  *
  15  * The above copyright notice and this permission notice shall be included in
  16  * all copies or substantial portions of the Software.
  17  *
  18  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  19  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  20  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  21  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  22  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  23  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  24  * THE SOFTWARE.
  25  *
  26  * @section DESCRIPTION
  27  *
  28  * ADXL345, triple axis, digital interface, accelerometer.
  29  *
  30  * Datasheet:
  31  *
  32  * http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf
  33  */
  34
  35 /**
  36  * Includes
  37  */
  38 #include "ADXL345.h"
  39
  40 ADXL345::ADXL345(PinName mosi,
  41                  PinName miso,
  42                  PinName sck,
  43                  PinName cs) : spi_(mosi, miso, sck), nCS_(cs) {
  44
  45     //2MHz, allowing us to use the fastest data rates.
  46     spi_.frequency(2000000);
  47     spi_.format(8,3);
  48
  49     nCS_ = 1;
  50
  51     wait_us(500);
  52
  53 }
  54
  55 int ADXL345::getDevId(void) {
  56
  57     return oneByteRead(ADXL345_DEVID_REG);
  58
  59 }
  60
  61 int ADXL345::getTapThreshold(void) {
  62
  63     return oneByteRead(ADXL345_THRESH_TAP_REG);
  64
  65 }
  66
  67 void ADXL345::setTapThreshold(int threshold) {
  68
  69     oneByteWrite(ADXL345_THRESH_TAP_REG, threshold);
  70
  71 }
  72
  73 int ADXL345::getOffset(int axis) {
  74
  75     int address = 0;
  76
  77     if (axis == ADXL345_X) {
  78         address = ADXL345_OFSX_REG;
  79     } else if (axis == ADXL345_Y) {
  80         address = ADXL345_OFSY_REG;
  81     } else if (axis == ADXL345_Z) {
  82         address = ADXL345_OFSZ_REG;
  83     }
  84
  85     return oneByteRead(address);
  86
  87 }
  88
  89 void ADXL345::setOffset(int axis, char offset) {
  90
  91     int address = 0;
  92
  93     if (axis == ADXL345_X) {
  94         address = ADXL345_OFSX_REG;
  95     } else if (axis == ADXL345_Y) {
  96         address = ADXL345_OFSY_REG;
  97     } else if (axis == ADXL345_Z) {
  98         address = ADXL345_OFSZ_REG;
  99     }
 100
 101     return oneByteWrite(address, offset);
 102
 103 }
 104
 105 int ADXL345::getTapDuration(void) {
 106
 107     return oneByteRead(ADXL345_DUR_REG)*625;
 108
 109 }
 110
 111 void ADXL345::setTapDuration(int duration_us) {
 112
 113     int tapDuration = duration_us / 625;
 114
 115     oneByteWrite(ADXL345_DUR_REG, tapDuration);
 116
 117 }
 118
 119 float ADXL345::getTapLatency(void) {
 120
 121     return oneByteRead(ADXL345_LATENT_REG)*1.25;
 122
 123 }
 124
 125 void ADXL345::setTapLatency(int latency_ms) {
 126
 127     int tapLatency = latency_ms / 1.25;
 128
 129     oneByteWrite(ADXL345_LATENT_REG, tapLatency);
 130
 131 }
 132
 133 float ADXL345::getWindowTime(void) {
 134
 135     return oneByteRead(ADXL345_WINDOW_REG)*1.25;
 136
 137 }
 138
 139 void ADXL345::setWindowTime(int window_ms) {
 140
 141     int windowTime = window_ms / 1.25;
 142
 143     oneByteWrite(ADXL345_WINDOW_REG, windowTime);
 144
 145 }
 146
 147 int ADXL345::getActivityThreshold(void) {
 148
 149     return oneByteRead(ADXL345_THRESH_ACT_REG);
 150
 151 }
 152
 153 void ADXL345::setActivityThreshold(int threshold) {
 154
 155     oneByteWrite(ADXL345_THRESH_ACT_REG, threshold);
 156
 157 }
 158
 159 int ADXL345::getInactivityThreshold(void) {
 160
 161     return oneByteRead(ADXL345_THRESH_INACT_REG);
 162
 163 }
 164
 165 void ADXL345::setInactivityThreshold(int threshold) {
 166
 167     return oneByteWrite(ADXL345_THRESH_INACT_REG, threshold);
 168
 169 }
 170
 171 int ADXL345::getTimeInactivity(void) {
 172
 173     return oneByteRead(ADXL345_TIME_INACT_REG);
 174
 175 }
 176
 177 void ADXL345::setTimeInactivity(int timeInactivity) {
 178
 179     oneByteWrite(ADXL345_TIME_INACT_REG, timeInactivity);
 180
 181 }
 182
 183 int ADXL345::getActivityInactivityControl(void) {
 184
 185     return oneByteRead(ADXL345_ACT_INACT_CTL_REG);
 186
 187 }
 188
 189 void ADXL345::setActivityInactivityControl(int settings) {
 190
 191     oneByteWrite(ADXL345_ACT_INACT_CTL_REG, settings);
 192
 193 }
 194
 195 int ADXL345::getFreefallThreshold(void) {
 196
 197     return oneByteRead(ADXL345_THRESH_FF_REG);
 198
 199 }
 200
 201 void ADXL345::setFreefallThreshold(int threshold) {
 202
 203     oneByteWrite(ADXL345_THRESH_FF_REG, threshold);
 204
 205 }
 206
 207 int ADXL345::getFreefallTime(void) {
 208
 209     return oneByteRead(ADXL345_TIME_FF_REG)*5;
 210
 211 }
 212
 213 void ADXL345::setFreefallTime(int freefallTime_ms) {
 214
 215     int freefallTime = freefallTime_ms / 5;
 216
 217     oneByteWrite(ADXL345_TIME_FF_REG, freefallTime);
 218
 219 }
 220
 221 int ADXL345::getTapAxisControl(void) {
 222
 223     return oneByteRead(ADXL345_TAP_AXES_REG);
 224
 225 }
 226
 227 void ADXL345::setTapAxisControl(int settings) {
 228
 229     oneByteWrite(ADXL345_TAP_AXES_REG, settings);
 230
 231 }
 232
 233 int ADXL345::getTapSource(void) {
 234
 235     return oneByteRead(ADXL345_ACT_TAP_STATUS_REG);
 236
 237 }
 238
 239 void ADXL345::setPowerMode(char mode) {
 240
 241     //Get the current register contents, so we don't clobber the rate value.
 242     char registerContents = oneByteRead(ADXL345_BW_RATE_REG);
 243
 244     registerContents = (mode << 4) | registerContents;
 245
 246     oneByteWrite(ADXL345_BW_RATE_REG, registerContents);
 247
 248 }
 249
 250 int ADXL345::getPowerControl(void) {
 251
 252     return oneByteRead(ADXL345_POWER_CTL_REG);
 253
 254 }
 255
 256 void ADXL345::setPowerControl(int settings) {
 257
 258     oneByteWrite(ADXL345_POWER_CTL_REG, settings);
 259
 260 }
 261
 262 int ADXL345::getInterruptEnableControl(void) {
 263
 264     return oneByteRead(ADXL345_INT_ENABLE_REG);
 265
 266 }
 267
 268 void ADXL345::setInterruptEnableControl(int settings) {
 269
 270     oneByteWrite(ADXL345_INT_ENABLE_REG, settings);
 271
 272 }
 273
 274 int ADXL345::getInterruptMappingControl(void) {
 275
 276     return oneByteRead(ADXL345_INT_MAP_REG);
 277
 278 }
 279
 280 void ADXL345::setInterruptMappingControl(int settings) {
 281
 282     oneByteWrite(ADXL345_INT_MAP_REG, settings);
 283
 284 }
 285
 286 int ADXL345::getInterruptSource(void){
 287
 288     return oneByteRead(ADXL345_INT_SOURCE_REG);
 289
 290 }
 291
 292 int ADXL345::getDataFormatControl(void){
 293
 294     return oneByteRead(ADXL345_DATA_FORMAT_REG);
 295
 296 }
 297
 298 void ADXL345::setDataFormatControl(int settings){
 299
 300     oneByteWrite(ADXL345_DATA_FORMAT_REG, settings);
 301
 302 }
 303
 304 void ADXL345::setDataRate(int rate) {
 305
 306     //Get the current register contents, so we don't clobber the power bit.
 307     char registerContents = oneByteRead(ADXL345_BW_RATE_REG);
 308
 309     registerContents &= 0x10;
 310     registerContents |= rate;
 311
 312     oneByteWrite(ADXL345_BW_RATE_REG, registerContents);
 313
 314 }
 315
 316 void ADXL345::getOutput(int* readings){
 317
 318     char buffer[6];
 319
 320     multiByteRead(ADXL345_DATAX0_REG, buffer, 6);
 321
 322     readings[0] = (int)buffer[1] << 8 | (int)buffer[0];
 323     readings[1] = (int)buffer[3] << 8 | (int)buffer[2];
 324     readings[2] = (int)buffer[5] << 8 | (int)buffer[4];
 325
 326 }
 327
 328 int ADXL345::getFifoControl(void){
 329
 330     return oneByteRead(ADXL345_FIFO_CTL);
 331
 332 }
 333
 334 void ADXL345::setFifoControl(int settings){
 335
 336     oneByteWrite(ADXL345_FIFO_STATUS, settings);
 337
 338 }
 339
 340 int ADXL345::getFifoStatus(void){
 341
 342     return oneByteRead(ADXL345_FIFO_STATUS);
 343
 344 }
 345
 346 int ADXL345::oneByteRead(int address) {
 347
 348     int tx = (ADXL345_SPI_READ | (address & 0x3F));
 349     int rx = 0;
 350
 351     nCS_ = 0;
 352     //Send address to read from.
 353     spi_.write(tx);
 354     //Read back contents of address.
 355     rx = spi_.write(0x00);
 356     nCS_ = 1;
 357
 358     return rx;
 359
 360 }
 361
 362 void ADXL345::oneByteWrite(int address, char data) {
 363
 364     int tx = (ADXL345_SPI_WRITE | (address & 0x3F));
 365
 366     nCS_ = 0;
 367     //Send address to write to.
 368     spi_.write(tx);
 369     //Send data to be written.
 370     spi_.write(data);
 371     nCS_ = 1;
 372
 373 }
 374
 375 void ADXL345::multiByteRead(int startAddress, char* buffer, int size) {
 376
 377     int tx = (ADXL345_SPI_READ | ADXL345_MULTI_BYTE | (startAddress & 0x3F));
 378
 379     nCS_ = 0;
 380     //Send address to start reading from.
 381     spi_.write(tx);
 382
 383     for (int i = 0; i < size; i++) {
 384         buffer[i] = spi_.write(0x00);
 385     }
 386
 387     nCS_ = 1;
 388
 389 }
 390
 391 void ADXL345::multiByteWrite(int startAddress, char* buffer, int size) {
 392
 393     int tx = (ADXL345_SPI_WRITE | ADXL345_MULTI_BYTE | (startAddress & 0x3F));
 394
 395     nCS_ = 0;
 396     //Send address to start reading from.
 397     spi_.write(tx);
 398
 399     for (int i = 0; i < size; i++) {
 400         buffer[i] = spi_.write(0x00);
 401     }
 402
 403     nCS_ = 1;
 404
 405 }