Subversion Repositories FlightCtrl

/**************************************************************************

 *                                                                         *

 * 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 "WProgram.h"

#ifndef ADXL345_h

#define 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