/************************************************************************** * * * 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 "Arduino.h" #include "adxl345.h" #include #define ADXL345_DEVICE (0x53) // ADXL345 device address #define ADXL345_TO_READ (6) // num of bytes we are going to read each time (two bytes for each axis) adxl345::adxl345() { status = ADXL345_OK; error_code = ADXL345_NO_ERROR; // JDN from where ?? lucky they are quite equal :-) /* gains[0] = 0.00376390; gains[1] = 0.00376009; gains[2] = 0.00349265; */ //JDN gains[0] = 0.0038; gains[1] = 0.0038; gains[2] = 0.0038; // just my best guess ??? } void adxl345::powerOn() { //JDN Wire.begin(); // join i2c bus (address optional for master) //Turning on the adxl345 writeTo(ADXL345_POWER_CTL, 0); writeTo(ADXL345_POWER_CTL, 16); writeTo(ADXL345_POWER_CTL, 8); } // Reads the acceleration into three variable x, y and z void adxl345::readAccel(int *xyz){ readAccel(xyz, xyz + 1, xyz + 2); } void adxl345::readAccel(int *x, int *y, int *z) { readFrom(ADXL345_DATAX0, ADXL345_TO_READ, _buff); //read the acceleration data from the adxl345 // each axis reading comes in 10 bit resolution, ie 2 bytes. Least Significat Byte first!! // thus we are converting both bytes in to one int *x = (((int)_buff[1]) << 8) | _buff[0]; *y = (((int)_buff[3]) << 8) | _buff[2]; *z = (((int)_buff[5]) << 8) | _buff[4]; } void adxl345::get_Gxyz(double *xyz){ int i; int xyz_int[3]; readAccel(xyz_int); for(i=0; i<3; i++){ xyz[i] = xyz_int[i] * gains[i]; } } // Writes val to address register on device void adxl345::writeTo(byte address, byte val) { Wire.beginTransmission(ADXL345_DEVICE); // start transmission to device Wire.write(address); // send register address Wire.write(val); // send value to write Wire.endTransmission(); // end transmission } // Reads num bytes starting from address register on device in to _buff array void adxl345::readFrom(byte address, int num, byte _buff[]) { Wire.beginTransmission(ADXL345_DEVICE); // start transmission to device Wire.write(address); // sends address to read from Wire.endTransmission(); // end transmission Wire.beginTransmission(ADXL345_DEVICE); // start transmission to device Wire.requestFrom(ADXL345_DEVICE, num); // request 6 bytes from device int i = 0; while(Wire.available()) // device may send less than requested (abnormal) { _buff[i] = Wire.read(); // receive a byte i++; } if(i != num){ status = ADXL345_ERROR; error_code = ADXL345_READ_ERROR; } Wire.endTransmission(); // end transmission } // Gets the range setting and return it into rangeSetting // it can be 2, 4, 8 or 16 void adxl345::getRangeSetting(byte* rangeSetting) { byte b; readFrom(ADXL345_DATA_FORMAT, 1, &b); b = b & 0x03; switch (b) { case 0: *rangeSetting = 2; break; case 1: *rangeSetting = 4; break; case 2: *rangeSetting = 8; break; case 3: *rangeSetting = 16; break; default: *rangeSetting = 0; } } // Sets the range setting, possible values are: 2, 4, 8, 16 void adxl345::setRangeSetting(int val) { byte _s; byte _b; switch (val) { case 2: _s = B00000000; break; case 4: _s = B00000001; break; case 8: _s = B00000010; break; case 16: _s = B00000011; break; default: _s = B00000000; } readFrom(ADXL345_DATA_FORMAT, 1, &_b); _s |= (_b & B11101100); writeTo(ADXL345_DATA_FORMAT, _s); } // gets the state of the SELF_TEST bit bool adxl345::getSelfTestBit() { return getRegisterBit(ADXL345_DATA_FORMAT, 7); } // Sets the SELF-TEST bit // if set to 1 it applies a self-test force to the sensor causing a shift in the output data // if set to 0 it disables the self-test force void adxl345::setSelfTestBit(bool selfTestBit) { setRegisterBit(ADXL345_DATA_FORMAT, 7, selfTestBit); } // Gets the state of the SPI bit bool adxl345::getSpiBit() { return getRegisterBit(ADXL345_DATA_FORMAT, 6); } // Sets the SPI bit // if set to 1 it sets the device to 3-wire mode // if set to 0 it sets the device to 4-wire SPI mode void adxl345::setSpiBit(bool spiBit) { setRegisterBit(ADXL345_DATA_FORMAT, 6, spiBit); } // Gets the state of the INT_INVERT bit bool adxl345::getInterruptLevelBit() { return getRegisterBit(ADXL345_DATA_FORMAT, 5); } // Sets the INT_INVERT bit // if set to 0 sets the interrupts to active high // if set to 1 sets the interrupts to active low void adxl345::setInterruptLevelBit(bool interruptLevelBit) { setRegisterBit(ADXL345_DATA_FORMAT, 5, interruptLevelBit); } // Gets the state of the FULL_RES bit bool adxl345::getFullResBit() { return getRegisterBit(ADXL345_DATA_FORMAT, 3); } // Sets the FULL_RES bit // if set to 1, the device is in full resolution mode, where the output resolution increases with the // g range set by the range bits to maintain a 4mg/LSB scal factor // if set to 0, the device is in 10-bit mode, and the range buts determine the maximum g range // and scale factor void adxl345::setFullResBit(bool fullResBit) { setRegisterBit(ADXL345_DATA_FORMAT, 3, fullResBit); } // Gets the state of the justify bit bool adxl345::getJustifyBit() { return getRegisterBit(ADXL345_DATA_FORMAT, 2); } // Sets the JUSTIFY bit // if sets to 1 selects the left justified mode // if sets to 0 selects right justified mode with sign extension void adxl345::setJustifyBit(bool justifyBit) { setRegisterBit(ADXL345_DATA_FORMAT, 2, justifyBit); } // Sets the THRESH_TAP byte value // it should be between 0 and 255 // the scale factor is 62.5 mg/LSB // A value of 0 may result in undesirable behavior void adxl345::setTapThreshold(int tapThreshold) { tapThreshold = constrain(tapThreshold,0,255); byte _b = byte (tapThreshold); writeTo(ADXL345_THRESH_TAP, _b); } // Gets the THRESH_TAP byte value // return value is comprised between 0 and 255 // the scale factor is 62.5 mg/LSB int adxl345::getTapThreshold() { byte _b; readFrom(ADXL345_THRESH_TAP, 1, &_b); return int (_b); } // set/get the gain for each axis in Gs / count void adxl345::setAxisGains(double *_gains){ int i; for(i = 0; i < 3; i++){ gains[i] = _gains[i]; } } void adxl345::getAxisGains(double *_gains){ int i; for(i = 0; i < 3; i++){ _gains[i] = gains[i]; } } // Sets the OFSX, OFSY and OFSZ bytes // OFSX, OFSY and OFSZ are user offset adjustments in twos complement format with // a scale factor of 15,6mg/LSB // OFSX, OFSY and OFSZ should be comprised between void adxl345::setAxisOffset(int x, int y, int z) { writeTo(ADXL345_OFSX, byte (x)); writeTo(ADXL345_OFSY, byte (y)); writeTo(ADXL345_OFSZ, byte (z)); } // Gets the OFSX, OFSY and OFSZ bytes void adxl345::getAxisOffset(int* x, int* y, int*z) { byte _b; readFrom(ADXL345_OFSX, 1, &_b); *x = int (_b); readFrom(ADXL345_OFSY, 1, &_b); *y = int (_b); readFrom(ADXL345_OFSZ, 1, &_b); *z = int (_b); } // Sets the DUR byte // The DUR byte contains an unsigned time value representing the maximum time // that an event must be above THRESH_TAP threshold to qualify as a tap event // The scale factor is 625µs/LSB // A value of 0 disables the tap/double tap funcitons. Max value is 255. void adxl345::setTapDuration(int tapDuration) { tapDuration = constrain(tapDuration,0,255); byte _b = byte (tapDuration); writeTo(ADXL345_DUR, _b); } // Gets the DUR byte int adxl345::getTapDuration() { byte _b; readFrom(ADXL345_DUR, 1, &_b); return int (_b); } // Sets the latency (latent register) which contains an unsigned time value // representing the wait time from the detection of a tap event to the start // of the time window, during which a possible second tap can be detected. // The scale factor is 1.25ms/LSB. A value of 0 disables the double tap function. // It accepts a maximum value of 255. void adxl345::setDoubleTapLatency(int doubleTapLatency) { byte _b = byte (doubleTapLatency); writeTo(ADXL345_LATENT, _b); } // Gets the Latent value int adxl345::getDoubleTapLatency() { byte _b; readFrom(ADXL345_LATENT, 1, &_b); return int (_b); } // Sets the Window register, which contains an unsigned time value representing // the amount of time after the expiration of the latency time (Latent register) // during which a second valud tap can begin. The scale factor is 1.25ms/LSB. A // value of 0 disables the double tap function. The maximum value is 255. void adxl345::setDoubleTapWindow(int doubleTapWindow) { doubleTapWindow = constrain(doubleTapWindow,0,255); byte _b = byte (doubleTapWindow); writeTo(ADXL345_WINDOW, _b); } // Gets the Window register int adxl345::getDoubleTapWindow() { byte _b; readFrom(ADXL345_WINDOW, 1, &_b); return int (_b); } // Sets the THRESH_ACT byte which holds the threshold value for detecting activity. // The data format is unsigned, so the magnitude of the activity event is compared // with the value is compared with the value in the THRESH_ACT register. The scale // factor is 62.5mg/LSB. A value of 0 may result in undesirable behavior if the // activity interrupt is enabled. The maximum value is 255. void adxl345::setActivityThreshold(int activityThreshold) { activityThreshold = constrain(activityThreshold,0,255); byte _b = byte (activityThreshold); writeTo(ADXL345_THRESH_ACT, _b); } // Gets the THRESH_ACT byte int adxl345::getActivityThreshold() { byte _b; readFrom(ADXL345_THRESH_ACT, 1, &_b); return int (_b); } // Sets the THRESH_INACT byte which holds the threshold value for detecting inactivity. // The data format is unsigned, so the magnitude of the inactivity event is compared // with the value is compared with the value in the THRESH_INACT register. The scale // factor is 62.5mg/LSB. A value of 0 may result in undesirable behavior if the // inactivity interrupt is enabled. The maximum value is 255. void adxl345::setInactivityThreshold(int inactivityThreshold) { inactivityThreshold = constrain(inactivityThreshold,0,255); byte _b = byte (inactivityThreshold); writeTo(ADXL345_THRESH_INACT, _b); } // Gets the THRESH_INACT byte int adxl345::getInactivityThreshold() { byte _b; readFrom(ADXL345_THRESH_INACT, 1, &_b); return int (_b); } // Sets the TIME_INACT register, which contains an unsigned time value representing the // amount of time that acceleration must be less thant the value in the THRESH_INACT // register for inactivity to be declared. The scale factor is 1sec/LSB. The value must // be between 0 and 255. void adxl345::setTimeInactivity(int timeInactivity) { timeInactivity = constrain(timeInactivity,0,255); byte _b = byte (timeInactivity); writeTo(ADXL345_TIME_INACT, _b); } // Gets the TIME_INACT register int adxl345::getTimeInactivity() { byte _b; readFrom(ADXL345_TIME_INACT, 1, &_b); return int (_b); } // Sets the THRESH_FF register which holds the threshold value, in an unsigned format, for // free-fall detection. The root-sum-square (RSS) value of all axes is calculated and // compared whith the value in THRESH_FF to determine if a free-fall event occured. The // scale factor is 62.5mg/LSB. A value of 0 may result in undesirable behavior if the free-fall // interrupt is enabled. The maximum value is 255. void adxl345::setFreeFallThreshold(int freeFallThreshold) { freeFallThreshold = constrain(freeFallThreshold,0,255); byte _b = byte (freeFallThreshold); writeTo(ADXL345_THRESH_FF, _b); } // Gets the THRESH_FF register. int adxl345::getFreeFallThreshold() { byte _b; readFrom(ADXL345_THRESH_FF, 1, &_b); return int (_b); } // Sets the TIME_FF register, which holds an unsigned time value representing the minimum // time that the RSS value of all axes must be less than THRESH_FF to generate a free-fall // interrupt. The scale factor is 5ms/LSB. A value of 0 may result in undesirable behavior if // the free-fall interrupt is enabled. The maximum value is 255. void adxl345::setFreeFallDuration(int freeFallDuration) { freeFallDuration = constrain(freeFallDuration,0,255); byte _b = byte (freeFallDuration); writeTo(ADXL345_TIME_FF, _b); } // Gets the TIME_FF register. int adxl345::getFreeFallDuration() { byte _b; readFrom(ADXL345_TIME_FF, 1, &_b); return int (_b); } bool adxl345::isActivityXEnabled() { return getRegisterBit(ADXL345_ACT_INACT_CTL, 6); } bool adxl345::isActivityYEnabled() { return getRegisterBit(ADXL345_ACT_INACT_CTL, 5); } bool adxl345::isActivityZEnabled() { return getRegisterBit(ADXL345_ACT_INACT_CTL, 4); } bool adxl345::isInactivityXEnabled() { return getRegisterBit(ADXL345_ACT_INACT_CTL, 2); } bool adxl345::isInactivityYEnabled() { return getRegisterBit(ADXL345_ACT_INACT_CTL, 1); } bool adxl345::isInactivityZEnabled() { return getRegisterBit(ADXL345_ACT_INACT_CTL, 0); } void adxl345::setActivityX(bool state) { setRegisterBit(ADXL345_ACT_INACT_CTL, 6, state); } void adxl345::setActivityY(bool state) { setRegisterBit(ADXL345_ACT_INACT_CTL, 5, state); } void adxl345::setActivityZ(bool state) { setRegisterBit(ADXL345_ACT_INACT_CTL, 4, state); } void adxl345::setInactivityX(bool state) { setRegisterBit(ADXL345_ACT_INACT_CTL, 2, state); } void adxl345::setInactivityY(bool state) { setRegisterBit(ADXL345_ACT_INACT_CTL, 1, state); } void adxl345::setInactivityZ(bool state) { setRegisterBit(ADXL345_ACT_INACT_CTL, 0, state); } bool adxl345::isActivityAc() { return getRegisterBit(ADXL345_ACT_INACT_CTL, 7); } bool adxl345::isInactivityAc(){ return getRegisterBit(ADXL345_ACT_INACT_CTL, 3); } void adxl345::setActivityAc(bool state) { setRegisterBit(ADXL345_ACT_INACT_CTL, 7, state); } void adxl345::setInactivityAc(bool state) { setRegisterBit(ADXL345_ACT_INACT_CTL, 3, state); } bool adxl345::getSuppressBit(){ return getRegisterBit(ADXL345_TAP_AXES, 3); } void adxl345::setSuppressBit(bool state) { setRegisterBit(ADXL345_TAP_AXES, 3, state); } bool adxl345::isTapDetectionOnX(){ return getRegisterBit(ADXL345_TAP_AXES, 2); } void adxl345::setTapDetectionOnX(bool state) { setRegisterBit(ADXL345_TAP_AXES, 2, state); } bool adxl345::isTapDetectionOnY(){ return getRegisterBit(ADXL345_TAP_AXES, 1); } void adxl345::setTapDetectionOnY(bool state) { setRegisterBit(ADXL345_TAP_AXES, 1, state); } bool adxl345::isTapDetectionOnZ(){ return getRegisterBit(ADXL345_TAP_AXES, 0); } void adxl345::setTapDetectionOnZ(bool state) { setRegisterBit(ADXL345_TAP_AXES, 0, state); } bool adxl345::isActivitySourceOnX(){ return getRegisterBit(ADXL345_ACT_TAP_STATUS, 6); } bool adxl345::isActivitySourceOnY(){ return getRegisterBit(ADXL345_ACT_TAP_STATUS, 5); } bool adxl345::isActivitySourceOnZ(){ return getRegisterBit(ADXL345_ACT_TAP_STATUS, 4); } bool adxl345::isTapSourceOnX(){ return getRegisterBit(ADXL345_ACT_TAP_STATUS, 2); } bool adxl345::isTapSourceOnY(){ return getRegisterBit(ADXL345_ACT_TAP_STATUS, 1); } bool adxl345::isTapSourceOnZ(){ return getRegisterBit(ADXL345_ACT_TAP_STATUS, 0); } bool adxl345::isAsleep(){ return getRegisterBit(ADXL345_ACT_TAP_STATUS, 3); } bool adxl345::isLowPower(){ return getRegisterBit(ADXL345_BW_RATE, 4); } void adxl345::setLowPower(bool state) { setRegisterBit(ADXL345_BW_RATE, 4, state); } double adxl345::getRate(){ byte _b; readFrom(ADXL345_BW_RATE, 1, &_b); _b &= B00001111; return (pow(2,((int) _b)-6)) * 6.25; } void adxl345::setRate(double rate){ byte _b,_s; int v = (int) (rate / 6.25); int r = 0; while (v >>= 1) { r++; } if (r <= 9) { readFrom(ADXL345_BW_RATE, 1, &_b); _s = (byte) (r + 6) | (_b & B11110000); writeTo(ADXL345_BW_RATE, _s); } } void adxl345::set_bw(byte bw_code){ if((bw_code < ADXL345_BW_3) || (bw_code > ADXL345_BW_1600)){ status = false; error_code = ADXL345_BAD_ARG; } else{ writeTo(ADXL345_BW_RATE, bw_code); } } byte adxl345::get_bw_code(){ byte bw_code; readFrom(ADXL345_BW_RATE, 1, &bw_code); return bw_code; } //used to check if action was triggered in interrupts //Example triggered(interrupts, ADXL345_SINGLE_TAP); bool adxl345::triggered(byte interrupts, int mask){ return ((interrupts >> mask) & 1); } /* ADXL345_DATA_READY ADXL345_SINGLE_TAP ADXL345_DOUBLE_TAP ADXL345_ACTIVITY ADXL345_INACTIVITY ADXL345_FREE_FALL ADXL345_WATERMARK ADXL345_OVERRUNY */ byte adxl345::getInterruptSource() { byte _b; readFrom(ADXL345_INT_SOURCE, 1, &_b); return _b; } bool adxl345::getInterruptSource(byte interruptBit) { return getRegisterBit(ADXL345_INT_SOURCE,interruptBit); } bool adxl345::getInterruptMapping(byte interruptBit) { return getRegisterBit(ADXL345_INT_MAP,interruptBit); } // Set the mapping of an interrupt to pin1 or pin2 // eg: setInterruptMapping(ADXL345_INT_DOUBLE_TAP_BIT,adxl345_INT2_PIN); void adxl345::setInterruptMapping(byte interruptBit, bool interruptPin) { setRegisterBit(ADXL345_INT_MAP, interruptBit, interruptPin); } bool adxl345::isInterruptEnabled(byte interruptBit) { return getRegisterBit(ADXL345_INT_ENABLE,interruptBit); } void adxl345::setInterrupt(byte interruptBit, bool state) { setRegisterBit(ADXL345_INT_ENABLE, interruptBit, state); } void adxl345::setRegisterBit(byte regAdress, int bitPos, bool state) { byte _b; readFrom(regAdress, 1, &_b); if (state) { _b |= (1 << bitPos); // forces nth bit of _b to be 1. all other bits left alone. } else { _b &= ~(1 << bitPos); // forces nth bit of _b to be 0. all other bits left alone. } writeTo(regAdress, _b); } bool adxl345::getRegisterBit(byte regAdress, int bitPos) { byte _b; readFrom(regAdress, 1, &_b); return ((_b >> bitPos) & 1); } // print all register value to the serial ouptut, which requires it to be setup // this can be used to manually to check the current configuration of the device void adxl345::printAllRegister() { byte _b; Serial.print("0x00: "); readFrom(0x00, 1, &_b); print_byte(_b); Serial.println(""); int i; for (i=29;i<=57;i++){ Serial.print("0x"); Serial.print(i, HEX); Serial.print(": "); readFrom(i, 1, &_b); print_byte(_b); Serial.println(""); } } void print_byte(byte val){ int i; Serial.print("B"); for(i=7; i>=0; i--){ Serial.print(val >> i & 1, BIN); } }