RobotHardware-UESTC/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/IMU/ADXL345.h

#ifndef _ADXL345_H_
#define _ADXL345_H_


#define ADXL345_ADDRESS_ALT_LOW     0x53 // alt address pin low (GND)
#define ADXL345_ADDRESS_ALT_HIGH    0x1D // alt address pin high (VCC)
#define ADXL345_DEFAULT_ADDRESS     ADXL345_ADDRESS_ALT_LOW

#define ADXL345_RA_DEVID            0x00
#define ADXL345_RA_RESERVED1        0x01
#define ADXL345_RA_THRESH_TAP       0x1D
#define ADXL345_RA_OFSX             0x1E
#define ADXL345_RA_OFSY             0x1F
#define ADXL345_RA_OFSZ             0x20
#define ADXL345_RA_DUR              0x21
#define ADXL345_RA_LATENT           0x22
#define ADXL345_RA_WINDOW           0x23
#define ADXL345_RA_THRESH_ACT       0x24
#define ADXL345_RA_THRESH_INACT     0x25
#define ADXL345_RA_TIME_INACT       0x26
#define ADXL345_RA_ACT_INACT_CTL    0x27
#define ADXL345_RA_THRESH_FF        0x28
#define ADXL345_RA_TIME_FF          0x29
#define ADXL345_RA_TAP_AXES         0x2A
#define ADXL345_RA_ACT_TAP_STATUS   0x2B
#define ADXL345_RA_BW_RATE          0x2C
#define ADXL345_RA_POWER_CTL        0x2D
#define ADXL345_RA_INT_ENABLE       0x2E
#define ADXL345_RA_INT_MAP          0x2F
#define ADXL345_RA_INT_SOURCE       0x30
#define ADXL345_RA_DATA_FORMAT      0x31
#define ADXL345_RA_DATAX0           0x32
#define ADXL345_RA_DATAX1           0x33
#define ADXL345_RA_DATAY0           0x34
#define ADXL345_RA_DATAY1           0x35
#define ADXL345_RA_DATAZ0           0x36
#define ADXL345_RA_DATAZ1           0x37
#define ADXL345_RA_FIFO_CTL         0x38
#define ADXL345_RA_FIFO_STATUS      0x39

#define ADXL345_AIC_ACT_AC_BIT      7
#define ADXL345_AIC_ACT_X_BIT       6
#define ADXL345_AIC_ACT_Y_BIT       5
#define ADXL345_AIC_ACT_Z_BIT       4
#define ADXL345_AIC_INACT_AC_BIT    3
#define ADXL345_AIC_INACT_X_BIT     2
#define ADXL345_AIC_INACT_Y_BIT     1
#define ADXL345_AIC_INACT_Z_BIT     0

#define ADXL345_TAPAXIS_SUP_BIT     3
#define ADXL345_TAPAXIS_X_BIT       2
#define ADXL345_TAPAXIS_Y_BIT       1
#define ADXL345_TAPAXIS_Z_BIT       0

#define ADXL345_TAPSTAT_ACTX_BIT    6
#define ADXL345_TAPSTAT_ACTY_BIT    5
#define ADXL345_TAPSTAT_ACTZ_BIT    4
#define ADXL345_TAPSTAT_ASLEEP_BIT  3
#define ADXL345_TAPSTAT_TAPX_BIT    2
#define ADXL345_TAPSTAT_TAPY_BIT    1
#define ADXL345_TAPSTAT_TAPZ_BIT    0

#define ADXL345_BW_LOWPOWER_BIT     4
#define ADXL345_BW_RATE_BIT         3
#define ADXL345_BW_RATE_LENGTH      4

#define ADXL345_RATE_3200           15
#define ADXL345_RATE_1600           14
#define ADXL345_RATE_800            13
#define ADXL345_RATE_400            12
#define ADXL345_RATE_200            11
#define ADXL345_RATE_100            10
#define ADXL345_RATE_50             9
#define ADXL345_RATE_25             8
#define ADXL345_RATE_12P5           7
#define ADXL345_RATE_6P25           6
#define ADXL345_RATE_3P13           5
#define ADXL345_RATE_1P56           4
#define ADXL345_RATE_0P78           3
#define ADXL345_RATE_0P39           2
#define ADXL345_RATE_0P20           1
#define ADXL345_RATE_0P10           0

#define ADXL345_PCTL_LINK_BIT       5
#define ADXL345_PCTL_AUTOSLEEP_BIT  4
#define ADXL345_PCTL_MEASURE_BIT    3
#define ADXL345_PCTL_SLEEP_BIT      2
#define ADXL345_PCTL_WAKEUP_BIT     1
#define ADXL345_PCTL_WAKEUP_LENGTH  2

#define ADXL345_WAKEUP_8HZ          0b00
#define ADXL345_WAKEUP_4HZ          0b01
#define ADXL345_WAKEUP_2HZ          0b10
#define ADXL345_WAKEUP_1HZ          0b11

#define ADXL345_INT_DATA_READY_BIT  7
#define ADXL345_INT_SINGLE_TAP_BIT  6
#define ADXL345_INT_DOUBLE_TAP_BIT  5
#define ADXL345_INT_ACTIVITY_BIT    4
#define ADXL345_INT_INACTIVITY_BIT  3
#define ADXL345_INT_FREE_FALL_BIT   2
#define ADXL345_INT_WATERMARK_BIT   1
#define ADXL345_INT_OVERRUN_BIT     0

#define ADXL345_FORMAT_SELFTEST_BIT 7
#define ADXL345_FORMAT_SPIMODE_BIT  6
#define ADXL345_FORMAT_INTMODE_BIT  5
#define ADXL345_FORMAT_FULL_RES_BIT 3
#define ADXL345_FORMAT_JUSTIFY_BIT  2
#define ADXL345_FORMAT_RANGE_BIT    1
#define ADXL345_FORMAT_RANGE_LENGTH 2

#define ADXL345_RANGE_2G            0
#define ADXL345_RANGE_4G            1
#define ADXL345_RANGE_8G            2
#define ADXL345_RANGE_16G           3

#define ADXL345_FIFO_MODE_BIT       7
#define ADXL345_FIFO_MODE_LENGTH    2
#define ADXL345_FIFO_TRIGGER_BIT    5
#define ADXL345_FIFO_SAMPLES_BIT    4
#define ADXL345_FIFO_SAMPLES_LENGTH 5

#define ADXL345_FIFO_MODE_BYPASS    0
#define ADXL345_FIFO_MODE_FIFO      1
#define ADXL345_FIFO_MODE_STREAM    2
#define ADXL345_FIFO_MODE_TRIGGER   3

#define ADXL345_FIFOSTAT_TRIGGER_BIT        7
#define ADXL345_FIFOSTAT_LENGTH_BIT         5
#define ADXL345_FIFOSTAT_LENGTH_LENGTH      6

class ADXL345 {
public:
    ADXL345();
    ADXL345(unsigned char address);

    void initialize();
    bool testConnection();

    // DEVID register
    unsigned char getDeviceID();
    
    // BW_RATE register
    void setLowPowerEnabled(bool enabled);
    void setRate(unsigned char rate);

    // POWER_CTL register
    void setAutoSleepEnabled(bool enabled);
    void setMeasureEnabled(bool enabled);

    // DATA_FORMAT register
    void setSelfTestEnabled(unsigned char enabled);
    void setInterruptMode(unsigned char mode);
    void setFullResolution(unsigned char resolution);
    void setRange(unsigned char range);

    // DATA* registers
    void getAcceleration(short* x, short* y, short* z);

private:
    unsigned char devAddr;
    unsigned char buffer[6];
};

#endif /* _ADXL345_H_ */