00001 // I2Cdev library collection - ADXL345 I2C device class header file 00002 // Based on Analog Devices ADXL345 datasheet rev. C, 5/2011 00003 // 7/31/2011 by Jeff Rowberg <jeff@rowberg.net> 00004 // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib 00005 // 00006 // Changelog: 00007 // 2011-07-31 - initial release 00008 00009 /* ============================================ 00010 I2Cdev device library code is placed under the MIT license 00011 Copyright (c) 2011 Jeff Rowberg 00012 00013 Permission is hereby granted, free of charge, to any person obtaining a copy 00014 of this software and associated documentation files (the "Software"), to deal 00015 in the Software without restriction, including without limitation the rights 00016 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 00017 copies of the Software, and to permit persons to whom the Software is 00018 furnished to do so, subject to the following conditions: 00019 00020 The above copyright notice and this permission notice shall be included in 00021 all copies or substantial portions of the Software. 00022 00023 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00024 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00025 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 00026 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00027 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00028 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 00029 THE SOFTWARE. 00030 =============================================== 00031 */ 00032 00033 #ifndef _ADXL345_H_ 00034 #define _ADXL345_H_ 00035 00036 #include "I2Cdev.h" 00037 00038 #define ADXL345_ADDRESS_ALT_LOW 0x53 // alt address pin low (GND) 00039 #define ADXL345_ADDRESS_ALT_HIGH 0x1D // alt address pin high (VCC) 00040 #define ADXL345_DEFAULT_ADDRESS ADXL345_ADDRESS_ALT_LOW 00041 00042 #define ADXL345_RA_DEVID 0x00 00043 #define ADXL345_RA_RESERVED1 0x01 00044 #define ADXL345_RA_THRESH_TAP 0x1D 00045 #define ADXL345_RA_OFSX 0x1E 00046 #define ADXL345_RA_OFSY 0x1F 00047 #define ADXL345_RA_OFSZ 0x20 00048 #define ADXL345_RA_DUR 0x21 00049 #define ADXL345_RA_LATENT 0x22 00050 #define ADXL345_RA_WINDOW 0x23 00051 #define ADXL345_RA_THRESH_ACT 0x24 00052 #define ADXL345_RA_THRESH_INACT 0x25 00053 #define ADXL345_RA_TIME_INACT 0x26 00054 #define ADXL345_RA_ACT_INACT_CTL 0x27 00055 #define ADXL345_RA_THRESH_FF 0x28 00056 #define ADXL345_RA_TIME_FF 0x29 00057 #define ADXL345_RA_TAP_AXES 0x2A 00058 #define ADXL345_RA_ACT_TAP_STATUS 0x2B 00059 #define ADXL345_RA_BW_RATE 0x2C 00060 #define ADXL345_RA_POWER_CTL 0x2D 00061 #define ADXL345_RA_INT_ENABLE 0x2E 00062 #define ADXL345_RA_INT_MAP 0x2F 00063 #define ADXL345_RA_INT_SOURCE 0x30 00064 #define ADXL345_RA_DATA_FORMAT 0x31 00065 #define ADXL345_RA_DATAX0 0x32 00066 #define ADXL345_RA_DATAX1 0x33 00067 #define ADXL345_RA_DATAY0 0x34 00068 #define ADXL345_RA_DATAY1 0x35 00069 #define ADXL345_RA_DATAZ0 0x36 00070 #define ADXL345_RA_DATAZ1 0x37 00071 #define ADXL345_RA_FIFO_CTL 0x38 00072 #define ADXL345_RA_FIFO_STATUS 0x39 00073 00074 #define ADXL345_AIC_ACT_AC_BIT 7 00075 #define ADXL345_AIC_ACT_X_BIT 6 00076 #define ADXL345_AIC_ACT_Y_BIT 5 00077 #define ADXL345_AIC_ACT_Z_BIT 4 00078 #define ADXL345_AIC_INACT_AC_BIT 3 00079 #define ADXL345_AIC_INACT_X_BIT 2 00080 #define ADXL345_AIC_INACT_Y_BIT 1 00081 #define ADXL345_AIC_INACT_Z_BIT 0 00082 00083 #define ADXL345_TAPAXIS_SUP_BIT 3 00084 #define ADXL345_TAPAXIS_X_BIT 2 00085 #define ADXL345_TAPAXIS_Y_BIT 1 00086 #define ADXL345_TAPAXIS_Z_BIT 0 00087 00088 #define ADXL345_TAPSTAT_ACTX_BIT 6 00089 #define ADXL345_TAPSTAT_ACTY_BIT 5 00090 #define ADXL345_TAPSTAT_ACTZ_BIT 4 00091 #define ADXL345_TAPSTAT_ASLEEP_BIT 3 00092 #define ADXL345_TAPSTAT_TAPX_BIT 2 00093 #define ADXL345_TAPSTAT_TAPY_BIT 1 00094 #define ADXL345_TAPSTAT_TAPZ_BIT 0 00095 00096 #define ADXL345_BW_LOWPOWER_BIT 4 00097 #define ADXL345_BW_RATE_BIT 3 00098 #define ADXL345_BW_RATE_LENGTH 4 00099 00100 #define ADXL345_RATE_3200 0b1111 00101 #define ADXL345_RATE_1600 0b1110 00102 #define ADXL345_RATE_800 0b1101 00103 #define ADXL345_RATE_400 0b1100 00104 #define ADXL345_RATE_200 0b1011 00105 #define ADXL345_RATE_100 0b1010 00106 #define ADXL345_RATE_50 0b1001 00107 #define ADXL345_RATE_25 0b1000 00108 #define ADXL345_RATE_12P5 0b0111 00109 #define ADXL345_RATE_6P25 0b0110 00110 #define ADXL345_RATE_3P13 0b0101 00111 #define ADXL345_RATE_1P56 0b0100 00112 #define ADXL345_RATE_0P78 0b0011 00113 #define ADXL345_RATE_0P39 0b0010 00114 #define ADXL345_RATE_0P20 0b0001 00115 #define ADXL345_RATE_0P10 0b0000 00116 00117 #define ADXL345_PCTL_LINK_BIT 5 00118 #define ADXL345_PCTL_AUTOSLEEP_BIT 4 00119 #define ADXL345_PCTL_MEASURE_BIT 3 00120 #define ADXL345_PCTL_SLEEP_BIT 2 00121 #define ADXL345_PCTL_WAKEUP_BIT 1 00122 #define ADXL345_PCTL_WAKEUP_LENGTH 2 00123 00124 #define ADXL345_WAKEUP_8HZ 0b00 00125 #define ADXL345_WAKEUP_4HZ 0b01 00126 #define ADXL345_WAKEUP_2HZ 0b10 00127 #define ADXL345_WAKEUP_1HZ 0b11 00128 00129 #define ADXL345_INT_DATA_READY_BIT 7 00130 #define ADXL345_INT_SINGLE_TAP_BIT 6 00131 #define ADXL345_INT_DOUBLE_TAP_BIT 5 00132 #define ADXL345_INT_ACTIVITY_BIT 4 00133 #define ADXL345_INT_INACTIVITY_BIT 3 00134 #define ADXL345_INT_FREE_FALL_BIT 2 00135 #define ADXL345_INT_WATERMARK_BIT 1 00136 #define ADXL345_INT_OVERRUN_BIT 0 00137 00138 #define ADXL345_FORMAT_SELFTEST_BIT 7 00139 #define ADXL345_FORMAT_SPIMODE_BIT 6 00140 #define ADXL345_FORMAT_INTMODE_BIT 5 00141 #define ADXL345_FORMAT_FULL_RES_BIT 3 00142 #define ADXL345_FORMAT_JUSTIFY_BIT 2 00143 #define ADXL345_FORMAT_RANGE_BIT 1 00144 #define ADXL345_FORMAT_RANGE_LENGTH 2 00145 00146 #define ADXL345_RANGE_2G 0b00 00147 #define ADXL345_RANGE_4G 0b01 00148 #define ADXL345_RANGE_8G 0b10 00149 #define ADXL345_RANGE_16G 0b11 00150 00151 #define ADXL345_FIFO_MODE_BIT 7 00152 #define ADXL345_FIFO_MODE_LENGTH 2 00153 #define ADXL345_FIFO_TRIGGER_BIT 5 00154 #define ADXL345_FIFO_SAMPLES_BIT 4 00155 #define ADXL345_FIFO_SAMPLES_LENGTH 5 00156 00157 #define ADXL345_FIFO_MODE_BYPASS 0b00 00158 #define ADXL345_FIFO_MODE_FIFO 0b01 00159 #define ADXL345_FIFO_MODE_STREAM 0b10 00160 #define ADXL345_FIFO_MODE_TRIGGER 0b11 00161 00162 #define ADXL345_FIFOSTAT_TRIGGER_BIT 7 00163 #define ADXL345_FIFOSTAT_LENGTH_BIT 5 00164 #define ADXL345_FIFOSTAT_LENGTH_LENGTH 6 00165 00166 class ADXL345 { 00167 public: 00168 ADXL345(); 00169 ADXL345(uint8_t address); 00170 00171 void initialize(); 00172 bool testConnection(); 00173 00174 // DEVID register 00175 uint8_t getDeviceID(); 00176 00177 // THRESH_TAP register 00178 uint8_t getTapThreshold(); 00179 void setTapThreshold(uint8_t threshold); 00180 00181 // OFS* registers 00182 void getOffset(int8_t* x, int8_t* y, int8_t* z); 00183 void setOffset(int8_t x, int8_t y, int8_t z); 00184 int8_t getOffsetX(); 00185 void setOffsetX(int8_t x); 00186 int8_t getOffsetY(); 00187 void setOffsetY(int8_t y); 00188 int8_t getOffsetZ(); 00189 void setOffsetZ(int8_t z); 00190 00191 // DUR register 00192 uint8_t getTapDuration(); 00193 void setTapDuration(uint8_t duration); 00194 00195 // LATENT register 00196 uint8_t getDoubleTapLatency(); 00197 void setDoubleTapLatency(uint8_t latency); 00198 00199 // WINDOW register 00200 uint8_t getDoubleTapWindow(); 00201 void setDoubleTapWindow(uint8_t window); 00202 00203 // THRESH_ACT register 00204 uint8_t getActivityThreshold(); 00205 void setActivityThreshold(uint8_t threshold); 00206 00207 // THRESH_INACT register 00208 uint8_t getInactivityThreshold(); 00209 void setInactivityThreshold(uint8_t threshold); 00210 00211 // TIME_INACT register 00212 uint8_t getInactivityTime(); 00213 void setInactivityTime(uint8_t time); 00214 00215 // ACT_INACT_CTL register 00216 bool getActivityAC(); 00217 void setActivityAC(bool enabled); 00218 bool getActivityXEnabled(); 00219 void setActivityXEnabled(bool enabled); 00220 bool getActivityYEnabled(); 00221 void setActivityYEnabled(bool enabled); 00222 bool getActivityZEnabled(); 00223 void setActivityZEnabled(bool enabled); 00224 bool getInactivityAC(); 00225 void setInactivityAC(bool enabled); 00226 bool getInactivityXEnabled(); 00227 void setInactivityXEnabled(bool enabled); 00228 bool getInactivityYEnabled(); 00229 void setInactivityYEnabled(bool enabled); 00230 bool getInactivityZEnabled(); 00231 void setInactivityZEnabled(bool enabled); 00232 00233 // THRESH_FF register 00234 uint8_t getFreefallThreshold(); 00235 void setFreefallThreshold(uint8_t threshold); 00236 00237 // TIME_FF register 00238 uint8_t getFreefallTime(); 00239 void setFreefallTime(uint8_t time); 00240 00241 // TAP_AXES register 00242 bool getTapAxisSuppress(); 00243 void setTapAxisSuppress(bool enabled); 00244 bool getTapAxisXEnabled(); 00245 void setTapAxisXEnabled(bool enabled); 00246 bool getTapAxisYEnabled(); 00247 void setTapAxisYEnabled(bool enabled); 00248 bool getTapAxisZEnabled(); 00249 void setTapAxisZEnabled(bool enabled); 00250 00251 // ACT_TAP_STATUS register 00252 bool getActivitySourceX(); 00253 bool getActivitySourceY(); 00254 bool getActivitySourceZ(); 00255 bool getAsleep(); 00256 bool getTapSourceX(); 00257 bool getTapSourceY(); 00258 bool getTapSourceZ(); 00259 00260 // BW_RATE register 00261 bool getLowPowerEnabled(); 00262 void setLowPowerEnabled(bool enabled); 00263 uint8_t getRate(); 00264 void setRate(uint8_t rate); 00265 00266 // POWER_CTL register 00267 bool getLinkEnabled(); 00268 void setLinkEnabled(bool enabled); 00269 bool getAutoSleepEnabled(); 00270 void setAutoSleepEnabled(bool enabled); 00271 bool getMeasureEnabled(); 00272 void setMeasureEnabled(bool enabled); 00273 bool getSleepEnabled(); 00274 void setSleepEnabled(bool enabled); 00275 uint8_t getWakeupFrequency(); 00276 void setWakeupFrequency(uint8_t frequency); 00277 00278 // INT_ENABLE register 00279 bool getIntDataReadyEnabled(); 00280 void setIntDataReadyEnabled(bool enabled); 00281 bool getIntSingleTapEnabled(); 00282 void setIntSingleTapEnabled(bool enabled); 00283 bool getIntDoubleTapEnabled(); 00284 void setIntDoubleTapEnabled(bool enabled); 00285 bool getIntActivityEnabled(); 00286 void setIntActivityEnabled(bool enabled); 00287 bool getIntInactivityEnabled(); 00288 void setIntInactivityEnabled(bool enabled); 00289 bool getIntFreefallEnabled(); 00290 void setIntFreefallEnabled(bool enabled); 00291 bool getIntWatermarkEnabled(); 00292 void setIntWatermarkEnabled(bool enabled); 00293 bool getIntOverrunEnabled(); 00294 void setIntOverrunEnabled(bool enabled); 00295 00296 // INT_MAP register 00297 uint8_t getIntDataReadyPin(); 00298 void setIntDataReadyPin(uint8_t pin); 00299 uint8_t getIntSingleTapPin(); 00300 void setIntSingleTapPin(uint8_t pin); 00301 uint8_t getIntDoubleTapPin(); 00302 void setIntDoubleTapPin(uint8_t pin); 00303 uint8_t getIntActivityPin(); 00304 void setIntActivityPin(uint8_t pin); 00305 uint8_t getIntInactivityPin(); 00306 void setIntInactivityPin(uint8_t pin); 00307 uint8_t getIntFreefallPin(); 00308 void setIntFreefallPin(uint8_t pin); 00309 uint8_t getIntWatermarkPin(); 00310 void setIntWatermarkPin(uint8_t pin); 00311 uint8_t getIntOverrunPin(); 00312 void setIntOverrunPin(uint8_t pin); 00313 00314 // INT_SOURCE register 00315 uint8_t getIntDataReadySource(); 00316 uint8_t getIntSingleTapSource(); 00317 uint8_t getIntDoubleTapSource(); 00318 uint8_t getIntActivitySource(); 00319 uint8_t getIntInactivitySource(); 00320 uint8_t getIntFreefallSource(); 00321 uint8_t getIntWatermarkSource(); 00322 uint8_t getIntOverrunSource(); 00323 00324 // DATA_FORMAT register 00325 uint8_t getSelfTestEnabled(); 00326 void setSelfTestEnabled(uint8_t enabled); 00327 uint8_t getSPIMode(); 00328 void setSPIMode(uint8_t mode); 00329 uint8_t getInterruptMode(); 00330 void setInterruptMode(uint8_t mode); 00331 uint8_t getFullResolution(); 00332 void setFullResolution(uint8_t resolution); 00333 uint8_t getDataJustification(); 00334 void setDataJustification(uint8_t justification); 00335 uint8_t getRange(); 00336 void setRange(uint8_t range); 00337 00338 // DATA* registers 00339 void getAcceleration(int16_t* x, int16_t* y, int16_t* z); 00340 int16_t getAccelerationX(); 00341 int16_t getAccelerationY(); 00342 int16_t getAccelerationZ(); 00343 00344 // FIFO_CTL register 00345 uint8_t getFIFOMode(); 00346 void setFIFOMode(uint8_t mode); 00347 uint8_t getFIFOTriggerInterruptPin(); 00348 void setFIFOTriggerInterruptPin(uint8_t interrupt); 00349 uint8_t getFIFOSamples(); 00350 void setFIFOSamples(uint8_t size); 00351 00352 // FIFO_STATUS register 00353 bool getFIFOTriggerOccurred(); 00354 uint8_t getFIFOLength(); 00355 00356 private: 00357 uint8_t devAddr; 00358 uint8_t buffer[6]; 00359 }; 00360 00361 #endif /* _ADXL345_H_ */
1.7.4
