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ACC_Adxl345_Suli.cpp
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ACC_Adxl345_Suli.cpp
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/*
Seeed_LED_Bar.cpp
This is a Suli compatible Library
2014 Copyright (c) Seeed Technology Inc. All right reserved.
Loovee
2013-4-1
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library 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
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#include "ACC_Adxl345_Suli.h"
#define ADXL345_DEVICE (0x53<<1) // ADXL345 device address
#define ADXL345_TO_READ (6) // num of bytes we are going to read each time (two bytes for each axis)
#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
const double __Gains[3] = {0.00376390, 0.00376009, 0.00349265};
void *__I2C_Device;
// Writes val to address register on device
void writeTo(uint8 address, uint8 val)
{
uint8 dta_send[] = {address, val};
suli_i2c_write(__I2C_Device, ADXL345_DEVICE, dta_send, 2);
// suli_i2c_write(void * i2c_device, uint8 dev_addr, uint8 *data, uint8 len);
}
// Reads num bytes starting from address register on device in to _buff array
void readFrom(uint8 address, uint8 num, uint8 buff[])
{
//grove_hal_i2c_read(ADXL345_DEVICE, address, buff, num);
uint8 dta_send[] = {address};
suli_i2c_write(__I2C_Device, ADXL345_DEVICE, dta_send, 1);
suli_i2c_read(__I2C_Device, ADXL345_DEVICE, buff, num);
}
void setRegisterBit(uint8 regAdress, uint8 bitPos, uint8 state)
{
uint8 _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);
}
// initialize sensor
void acc_adxl345_init(void *i2c_dev)
{
__I2C_Device = i2c_dev;
//suli_i2c_init(__I2C_Device);
//Turning on the ADXL345
writeTo(ADXL345_POWER_CTL, 0);
writeTo(ADXL345_POWER_CTL, 16);
writeTo(ADXL345_POWER_CTL, 8);
writeTo(ADXL345_THRESH_ACT, 75);
writeTo(ADXL345_THRESH_INACT, 75);
writeTo(ADXL345_TIME_INACT, 10);
//look of activity movement on this axes - 1 == on; 0 == off
setRegisterBit(ADXL345_ACT_INACT_CTL, 6, 1);
setRegisterBit(ADXL345_ACT_INACT_CTL, 5, 1);
setRegisterBit(ADXL345_ACT_INACT_CTL, 4, 1);
//look of inactivity movement on this axes - 1 == on; 0 == off
setRegisterBit(ADXL345_ACT_INACT_CTL, 2, 1);
setRegisterBit(ADXL345_ACT_INACT_CTL, 1, 1);
setRegisterBit(ADXL345_ACT_INACT_CTL, 0, 1);
setRegisterBit(ADXL345_TAP_AXES, 2, 0);
setRegisterBit(ADXL345_TAP_AXES, 1, 0);
setRegisterBit(ADXL345_TAP_AXES, 0, 0);
//set values for what is a tap, and what is a double tap (0-255)
//setTapThreshold(50); //62.5mg per increment
writeTo(ADXL345_THRESH_TAP, 50);
writeTo(ADXL345_DUR, 15);
writeTo(ADXL345_LATENT, 80);
//setDoubleTapWindow(200); //1.25ms per increment
writeTo(ADXL345_WINDOW, (uint8)200);
//set values for what is considered freefall (0-255)
writeTo(ADXL345_THRESH_FF, 7);
writeTo(ADXL345_TIME_FF, 45);
//setting all interrupts to take place on int pin 1
//I had issues with int pin 2, was unable to reset it
setRegisterBit(ADXL345_INT_MAP, ADXL345_INT_SINGLE_TAP_BIT, ADXL345_INT1_PIN);
setRegisterBit(ADXL345_INT_MAP, ADXL345_INT_DOUBLE_TAP_BIT, ADXL345_INT1_PIN);
setRegisterBit(ADXL345_INT_MAP, ADXL345_INT_FREE_FALL_BIT, ADXL345_INT1_PIN);
setRegisterBit(ADXL345_INT_MAP, ADXL345_INT_ACTIVITY_BIT, ADXL345_INT1_PIN);
setRegisterBit(ADXL345_INT_MAP, ADXL345_INT_INACTIVITY_BIT, ADXL345_INT1_PIN);
//register interrupt actions - 1 == on; 0 == off
setRegisterBit(ADXL345_INT_ENABLE, ADXL345_INT_SINGLE_TAP_BIT, 1);
setRegisterBit(ADXL345_INT_ENABLE, ADXL345_INT_DOUBLE_TAP_BIT, 1);
setRegisterBit(ADXL345_INT_ENABLE, ADXL345_INT_FREE_FALL_BIT, 1);
setRegisterBit(ADXL345_INT_ENABLE, ADXL345_INT_ACTIVITY_BIT, 1);
setRegisterBit(ADXL345_INT_ENABLE, ADXL345_INT_INACTIVITY_BIT, 1);
}
// get accleration, save to xyz
void acc_adxl345_read_acc_buff(float *xyz)
{
int i;
int16 xyz_int[3];
acc_adxl345_read_xyz(&xyz_int[0], &xyz_int[1], &xyz_int[2]);
for(i=0; i<3; i++)
{
xyz[i] = xyz_int[i] * __Gains[i];
}
}
void acc_adxl345_read_xyz(int16 *x, int16 *y, int16 *z)
{
uint8 _buff[6];
readFrom(ADXL345_DATAX0, ADXL345_TO_READ, _buff); //read the acceleration data from the ADXL345
//pc.printf("%d, %d\t%d, %d\t%d, %d\r\n", _buff[0], _buff[1], _buff[2], _buff[3], _buff[4], _buff[5]);
// 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 = (int16)((((uint16)_buff[1]) << 8) | _buff[0]);
*y = (int16)((((uint16)_buff[3]) << 8) | _buff[2]);
*z = (int16)((((uint16)_buff[5]) << 8) | _buff[4]);
//pc.printf("%d, %d, %d\r\n", *x, *y, *z);
}
// read acceleration , save to x, y, z
void acc_adxl345_read_acc(float *ax, float *ay, float *az)
{
int16 xyz[3];
acc_adxl345_read_xyz(&xyz[0], &xyz[1], &xyz[2]);
*ax = xyz[0] * __Gains[0];
*ay = xyz[1] * __Gains[1];
*az = xyz[2] * __Gains[2];
}