forked from logzhan/RobotHardware-UESTC
167 lines
5.2 KiB
C++
167 lines
5.2 KiB
C++
#ifndef _ADXL345_H_
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#define _ADXL345_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 15
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#define ADXL345_RATE_1600 14
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#define ADXL345_RATE_800 13
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#define ADXL345_RATE_400 12
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#define ADXL345_RATE_200 11
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#define ADXL345_RATE_100 10
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#define ADXL345_RATE_50 9
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#define ADXL345_RATE_25 8
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#define ADXL345_RATE_12P5 7
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#define ADXL345_RATE_6P25 6
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#define ADXL345_RATE_3P13 5
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#define ADXL345_RATE_1P56 4
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#define ADXL345_RATE_0P78 3
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#define ADXL345_RATE_0P39 2
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#define ADXL345_RATE_0P20 1
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#define ADXL345_RATE_0P10 0
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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 0
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#define ADXL345_RANGE_4G 1
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#define ADXL345_RANGE_8G 2
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#define ADXL345_RANGE_16G 3
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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 0
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#define ADXL345_FIFO_MODE_FIFO 1
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#define ADXL345_FIFO_MODE_STREAM 2
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#define ADXL345_FIFO_MODE_TRIGGER 3
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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(unsigned char address);
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void initialize();
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bool testConnection();
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// DEVID register
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unsigned char getDeviceID();
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// BW_RATE register
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void setLowPowerEnabled(bool enabled);
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void setRate(unsigned char rate);
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// POWER_CTL register
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void setAutoSleepEnabled(bool enabled);
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void setMeasureEnabled(bool enabled);
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// DATA_FORMAT register
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void setSelfTestEnabled(unsigned char enabled);
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void setInterruptMode(unsigned char mode);
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void setFullResolution(unsigned char resolution);
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void setRange(unsigned char range);
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// DATA* registers
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void getAcceleration(short* x, short* y, short* z);
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private:
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unsigned char devAddr;
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unsigned char buffer[6];
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};
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#endif /* _ADXL345_H_ */
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