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