forked from logzhan/RobotHardware-UESTC
203 lines
7.2 KiB
C++
203 lines
7.2 KiB
C++
// I2Cdev library collection - ADXL345 I2C device class
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// Based on Analog Devices ADXL345 datasheet rev. C, 5/2011
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// 7/31/2011 by Jeff Rowberg <jeff@rowberg.net>
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// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
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//
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// Changelog:
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// 2011-07-31 - initial release
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/* ============================================
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I2Cdev device library code is placed under the MIT license
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Copyright (c) 2011 Jeff Rowberg
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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===============================================
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*/
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#include "ADXL345.h"
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#include "board.h"
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/** Default constructor, uses default I2C address.
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* @see ADXL345_DEFAULT_ADDRESS
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*/
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ADXL345::ADXL345() {
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devAddr = ADXL345_DEFAULT_ADDRESS;
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}
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/** Specific address constructor.
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* @param address I2C address
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* @see ADXL345_DEFAULT_ADDRESS
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* @see ADXL345_ADDRESS_ALT_LOW
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* @see ADXL345_ADDRESS_ALT_HIGH
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*/
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ADXL345::ADXL345(unsigned char address) {
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devAddr = address;
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}
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/** Power on and prepare for general usage.
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* This will activate the accelerometer, so be sure to adjust the power settings
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* after you call this method if you want it to enter standby mode, or another
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* less demanding mode of operation.
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*/
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void ADXL345::initialize() {
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Board::get()->i2c_write_byte(devAddr, ADXL345_RA_POWER_CTL, 0); // reset all power settings
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setAutoSleepEnabled(true);
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setMeasureEnabled(true);
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}
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/** Verify the I2C connection.
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* Make sure the device is connected and responds as expected.
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* @return True if connection is valid, false otherwise
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*/
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bool ADXL345::testConnection() {
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return getDeviceID() == 0xE5;
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}
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// DEVID register
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/** Get Device ID.
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* The DEVID register holds a fixed device ID code of 0xE5 (345 octal).
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* @return Device ID (should be 0xE5, 229 dec, 345 oct)
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* @see ADXL345_RA_DEVID
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*/
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unsigned char ADXL345::getDeviceID() {
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Board::get()->i2c_read_buf(devAddr, ADXL345_RA_DEVID, buffer, 1);
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return buffer[0];
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}
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// BW_RATE register
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/** Set low power enabled status.
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* @see getLowPowerEnabled()
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* @param enabled Low power enable setting
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* @see ADXL345_RA_BW_RATE
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* @see ADXL345_BW_LOWPOWER_BIT
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*/
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void ADXL345::setLowPowerEnabled(bool enabled) {
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Board::get()->i2c_write_bit(devAddr, ADXL345_RA_BW_RATE, ADXL345_BW_LOWPOWER_BIT, enabled);
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}
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/** Set measurement data rate.
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* 0x7 = 12.5Hz
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* 0x8 = 25Hz, increasing or decreasing by factors of 2, so:
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* 0x9 = 50Hz
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* 0xA = 100Hz
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* @param rate New data rate (0x0 - 0xF)
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* @see ADXL345_RATE_100
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* @see ADXL345_RA_BW_RATE
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* @see ADXL345_BW_RATE_BIT
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* @see ADXL345_BW_RATE_LENGTH
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*/
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void ADXL345::setRate(unsigned char rate) {
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Board::get()->i2c_write_bits(devAddr, ADXL345_RA_BW_RATE, ADXL345_BW_RATE_BIT, ADXL345_BW_RATE_LENGTH, rate);
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}
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// POWER_CTL register
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/** Set auto-sleep enabled status.
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* @param enabled New auto-sleep status
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* @see getAutoSleepEnabled()
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* @see ADXL345_RA_POWER_CTL
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* @see ADXL345_PCTL_AUTOSLEEP_BIT
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*/
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void ADXL345::setAutoSleepEnabled(bool enabled) {
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Board::get()->i2c_write_bit(devAddr, ADXL345_RA_POWER_CTL, ADXL345_PCTL_AUTOSLEEP_BIT, enabled);
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}
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/** Set measurement enabled status.
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* @param enabled Measurement enabled status
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* @see getMeasureEnabled()
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* @see ADXL345_RA_POWER_CTL
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* @see ADXL345_PCTL_MEASURE_BIT
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*/
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void ADXL345::setMeasureEnabled(bool enabled) {
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Board::get()->i2c_write_bit(devAddr, ADXL345_RA_POWER_CTL, ADXL345_PCTL_MEASURE_BIT, enabled);
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}
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// DATA_FORMAT register
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/** Set self-test force enabled.
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* @param enabled New self-test force enabled setting
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* @see getSelfTestEnabled()
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* @see ADXL345_RA_DATA_FORMAT
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* @see ADXL345_FORMAT_SELFTEST_BIT
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*/
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void ADXL345::setSelfTestEnabled(unsigned char enabled) {
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Board::get()->i2c_write_bit(devAddr, ADXL345_RA_DATA_FORMAT, ADXL345_FORMAT_SELFTEST_BIT, enabled);
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}
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/** Set interrupt mode setting.
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* @param mode New interrupt mode setting
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* @see getInterruptMode()
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* @see ADXL345_RA_DATA_FORMAT
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* @see ADXL345_FORMAT_INTMODE_BIT
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*/
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void ADXL345::setInterruptMode(unsigned char mode) {
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Board::get()->i2c_write_bit(devAddr, ADXL345_RA_DATA_FORMAT, ADXL345_FORMAT_INTMODE_BIT, mode);
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}
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/** Set full resolution mode setting.
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* @param resolution New full resolution enabled setting
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* @see getFullResolution()
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* @see ADXL345_RA_DATA_FORMAT
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* @see ADXL345_FORMAT_FULL_RES_BIT
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*/
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void ADXL345::setFullResolution(unsigned char resolution) {
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Board::get()->i2c_write_bit(devAddr, ADXL345_RA_DATA_FORMAT, ADXL345_FORMAT_FULL_RES_BIT, resolution);
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}
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/** Set data range setting.
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* @param range Range value (0x0 - 0x3 for 2g/4g/8g/16g)
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* @see getRange()
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* @see ADXL345_RA_DATA_FORMAT
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* @see ADXL345_FORMAT_RANGE_BIT
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* @see ADXL345_FORMAT_RANGE_LENGTH
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*/
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void ADXL345::setRange(unsigned char range) {
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Board::get()->i2c_write_bits(devAddr, ADXL345_RA_DATA_FORMAT, ADXL345_FORMAT_RANGE_BIT, ADXL345_FORMAT_RANGE_LENGTH, range);
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}
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// DATA* registers
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/** Get 3-axis accleration measurements.
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* These six bytes (Register 0x32 to Register 0x37) are eight bits each and hold
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* the output data for each axis. Register 0x32 and Register 0x33 hold the
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* output data for the x-axis, Register 0x34 and Register 0x35 hold the output
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* data for the y-axis, and Register 0x36 and Register 0x37 hold the output data
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* for the z-axis. The output data is twos complement, with DATAx0 as the least
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* significant byte and DATAx1 as the most significant byte, where x represent
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* X, Y, or Z. The DATA_FORMAT register (Address 0x31) controls the format of
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* the data. It is recommended that a multiple-byte read of all registers be
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* performed to prevent a change in data between reads of sequential registers.
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*
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* The DATA_FORMAT register controls the presentation of data to Register 0x32
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* through Register 0x37. All data, except that for the +/-16 g range, must be
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* clipped to avoid rollover.
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*
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* @param x 16-bit signed integer container for X-axis acceleration
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* @param y 16-bit signed integer container for Y-axis acceleration
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* @param z 16-bit signed integer container for Z-axis acceleration
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* @see ADXL345_RA_DATAX0
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*/
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void ADXL345::getAcceleration(short* x, short* y, short* z) {
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Board::get()->i2c_read_buf(devAddr, ADXL345_RA_DATAX0, buffer, 6);
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*x = (((short)buffer[1]) << 8) | buffer[0];
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*y = (((short)buffer[3]) << 8) | buffer[2];
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*z = (((short)buffer[5]) << 8) | buffer[4];
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}
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