#include <ADXL345.hh>

Inheritance diagram for ADXL345:

Collaboration diagram for ADXL345:

Classes
struct	offset_t

struct	sample_t

Public Types
enum	{ DATA_READY = 7, SINGLE_TAP = 6, DOUBLE_TAP = 5, ACT = 4, INACT = 3, FREE_FALL = 2, WATERMARK = 1, OVERRUN = 0 }

Public Member Functions
	ADXL345 (bool use_alt_address=false)

bool	begin ()

bool	end ()

void	calibrate (int8_t x, int8_t y, int8_t z)

void	calibrate ()

void	sample (sample_t &s)

uint8_t	is_activity ()

Protected Types
enum	Register { DEVID = 0x00, THRESH_TAP = 0x1D, OFS = 0x1E, DUR = 0x21, LATENT = 0x22, WINDOW = 0x23, THRESH_ACT = 0x24, THRESH_INACT = 0x25, TIME_INACT = 0x26, ACT_INACT_CTL = 0x27, THRESH_FF = 0x28, TIME_FF = 0x29, TAP_AXES = 0x2A, ACT_TAP_STATUS = 0x2B, BW_RATE = 0x2C, POWER_CTL = 0x2D, INT_ENABLE = 0x2E, INT_MAP = 0x2F, INT_SOURCE = 0x30, DATA_FORMAT = 0x31, DATA = 0x32, FIFO_CTL = 0x38, FIFO_STATUS = 0x39 }

enum	{ ACT_AC_DC = 7, ACT_X_EN = 6, ACT_Y_EN = 5, ACT_Z_EN = 4, INACT_AC_DC = 3, INACT_X_EN = 2, INACT_Y_EN = 1, INACT_Z_EN = 0 }

enum	{ SUPPRES = 3, TAP_X_EN = 2, TAP_Y_EN = 1, TAP_Z_EN = 0 }

enum	{ ACT_X_SRC = 6, ACT_Y_SRC = 5, ACT_Z_SRC = 4, ASLEEP = 3, TAP_X_SRC = 2, TAP_Y_SRC = 1, TAP_Z_SRC = 0 }

enum	{ LOW_POWER = 4, RATE = 0, RATE_MASK = 0x0f }

enum	{ LINK = 5, AUTO_SLEEP = 4, MEASURE = 3, SLEEP = 2, WAKEUP = 0 }

enum	{ WAKEUP_8_HZ = 0, WAKEUP_4_HZ = 1, WAKEUP_2_HZ = 2, WAKEUP_1_HZ = 3, WAKEUP_MASK = 3 }

enum	{ SELF_TEST = 7, SPI_WIRE_MODE = 6, INT_INVERT = 5, FULL_RES = 3, JUSTIFY = 2, RANGE = 0 }

enum	{ RANGE_2G = 0, RANGE_4G = 1, RANGE_8G = 2, RANGE_16G = 3, RANGE_MASK = 3 }

enum	{ FIFO_MODE = 6, FIFO_MASK = 0xc0, TRIG = 5, SAMPLES = 0, SAMPLES_MASK = 0x1f }

enum	{ BYPASS = 0x00, FIFO = 0x40, STREAM = 0x80, TRIGGER = 0xc0 }

enum	{ FIFO_TRIG = 7, ENTRIES = 0, ENTRIES_MASK = 0x3f }

enum	{ X = 4, Y = 2, Z = 1 }

Protected Member Functions
void	write (Register reg, uint8_t value)

void	write (Register reg, void *buffer, uint8_t count)

uint8_t	read (Register reg)

void	read (Register reg, void *buffer, uint8_t count)

Static Protected Attributes
static const uint8_t	ID = 0xe5

Private Member Functions
bool	is_async () const

void	sync_request ()

void	async_request ()

virtual void	on_completion (uint8_t type, int count)

Private Attributes
uint8_t	m_addr

bool	m_async

Detailed Description

Cosa TWI driver for Analog Devices ADXL345 Digital Accelerometer. http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf Rev. D, 2/13.

Circuit

The GY-291 module with pull-up resistors (4K7) for TWI signals and 3V3 internal voltage converter.

                          GY-291
                      +------------+
(GND)---------------1-|GND         |
(VCC)---------------2-|VCC         |
                    3-|CS          |
                    4-|A-INT1      |
                    5-|A-INT2      |
                    6-|SDO         |
(A4/SDA)------------7-|SDA         |
(A5/SCL)------------8-|SCL         |
                      +------------+

Definition at line 49 of file ADXL345.hh.

Member Enumeration Documentation

anonymous enum

Register INT_ENABLE/INT_MAP/INT_SOURCE bitfields.

Enumerator
DATA_READY	Data ready interrupt enable/map/source.
SINGLE_TAP	Single tap.
DOUBLE_TAP	Double tap.
ACT	Activity.
INACT	Inactivity.
FREE_FALL	Free fall.
WATERMARK	Watermark.
OVERRUN	Overrun interrupt enable/map/source.

Definition at line 129 of file ADXL345.hh.

anonymous enum

protected

Register ACT_INACT_CTL bitfields.

Enumerator
ACT_AC_DC	AC/DC coupled activity.
ACT_X_EN	Activity x axis enable.
ACT_Y_EN	Activity x axis enable.
ACT_Z_EN	Activity x axis enable.
INACT_AC_DC	AC/DC coupled inactivity.
INACT_X_EN	Inactivity x axis enable.
INACT_Y_EN	Inactivity x axis enable.
INACT_Z_EN	Inactivity x axis enable.

Definition at line 183 of file ADXL345.hh.

anonymous enum

protected

Register TAP_AXES bitfields.

Enumerator
SUPPRES	Suppress.
TAP_X_EN	Tap x enable.
TAP_Y_EN	Tap y enable.
TAP_Z_EN	Tap z enable.

Definition at line 197 of file ADXL345.hh.

anonymous enum

protected

Register ACT_TAP_STATUS bitfields.

Enumerator
ACT_X_SRC	Activity x event.
ACT_Y_SRC	Activity y event.
ACT_Z_SRC	Activity z event.
ASLEEP	Device is asleep.
TAP_X_SRC	Tap x event.
TAP_Y_SRC	Tap y event.
TAP_Z_SRC	Tap z event.

Definition at line 207 of file ADXL345.hh.

anonymous enum

protected

Register BW_RATE bitfields.

Enumerator
LOW_POWER	Low power move.
RATE	Data rate (4 bits).
RATE_MASK	Data rate mask.

Definition at line 220 of file ADXL345.hh.

anonymous enum

protected

Register POWER_CTL bitfields.

Enumerator
LINK	Link mode select.
AUTO_SLEEP	Auto sleep enable.
MEASURE	Measurement mode.
SLEEP	Sleep mode.
WAKEUP	Wakeup frequency (2 bits).

Definition at line 229 of file ADXL345.hh.

anonymous enum

protected

Enumerator
WAKEUP_8_HZ	8 hz.
WAKEUP_4_HZ	4 hz.
WAKEUP_2_HZ	2 hz.
WAKEUP_1_HZ	1 hz.
WAKEUP_MASK	Wakeup frequency mask.

Definition at line 236 of file ADXL345.hh.

anonymous enum

protected

Register DATA_FORMAT bitfields.

Enumerator
SELF_TEST	Self-test force.
SPI_WIRE_MODE	SPI wire mode.
INT_INVERT	Interrupt active high/low.
FULL_RES	Full resolution.
JUSTIFY	Left justified/sign extend.
RANGE	Range 2-16 g (2 bits).

Definition at line 247 of file ADXL345.hh.

anonymous enum

protected

Enumerator
RANGE_2G	+-2g.
RANGE_4G	+-4g.
RANGE_8G	+-8g.
RANGE_16G	+-16g.
RANGE_MASK	Mask range field.

Definition at line 255 of file ADXL345.hh.

anonymous enum

protected

Register FIFO_CTL bitfields.

Enumerator
FIFO_MODE	FIFO Mode.
FIFO_MASK	Dito Mask.
TRIG	Trigger event to interrupt pin.
SAMPLES	Number of samples (5 bits).
SAMPLES_MASK	Dito Mask.

Definition at line 266 of file ADXL345.hh.

anonymous enum

protected

Enumerator
BYPASS	FIFO is bypassed.
FIFO	Collects up to 32 values.
STREAM	Holds the latest 32 values.
TRIGGER	Latest 32 values before trigger.

Definition at line 273 of file ADXL345.hh.

anonymous enum

protected

Register FIFO_STATUS bitfields.

Enumerator
FIFO_TRIG	FIFO trigger event occuring.
ENTRIES	Number of entries in FIFO (6 bits).
ENTRIES_MASK	Dito Mask.

Definition at line 283 of file ADXL345.hh.

anonymous enum

protected

3-Axis setting (add or or values).

Enumerator
X
Y
Z

Definition at line 325 of file ADXL345.hh.

enum ADXL345::Register

protected

Registers Map (See tab. 19, pp. 23).

Enumerator
DEVID	Device ID.
THRESH_TAP	Tap threshold.
OFS	Offset (x, y, z).
DUR	Tap duration.
LATENT	Tap latency.
WINDOW	Tap window.
THRESH_ACT	Activity threshold.
THRESH_INACT	Inactivity threshold.
TIME_INACT	Inactivity time.
ACT_INACT_CTL	Axis enable control for activity detection.
THRESH_FF	Free-fall threshold.
TIME_FF	Free-fall time.
TAP_AXES	Axis control for single tap/double tap.
ACT_TAP_STATUS	Source of single tap/double tap.
BW_RATE	Data rate and power mode control.
POWER_CTL	Power-saving features control.
INT_ENABLE	Interrupt enable control.
INT_MAP	Interrupt mapping control.
INT_SOURCE	Source of interrupts.
DATA_FORMAT	Data format control.
DATA	Data (x, y, z).
FIFO_CTL	FIFO control.
FIFO_STATUS	FIFO status.

Definition at line 151 of file ADXL345.hh.

Constructor & Destructor Documentation

ADXL345::ADXL345 ( bool use_alt_address = false )

inline

Construct ADXL345 driver with normal or alternative address (pp. 18).

Parameters

[in] use_alt_address.

Definition at line 56 of file ADXL345.hh.

Member Function Documentation

bool ADXL345::begin ( )

Start interaction with device. Set full resolution and 16G. Single and double tap detection in XYZ-axis. Activity/inactivity (5 seconds), and free fall detect. Power control with auto-sleep and wakeup at 2 Hz. Interrupts enabled. Measurement turned on.

Returns: true(1) if successful otherwise false(0)

Definition at line 24 of file ADXL345.cpp.

void ADXL345::calibrate	(	int8_t	x,
		int8_t	y,
		int8_t	z
	)

inline

Calibrate accelerometer with given offsets.

Parameters

[in]	x	axis offset.
[in]	y	axis offset.
[in]	z	axis offset.

Definition at line 90 of file ADXL345.hh.

void ADXL345::calibrate ( )

Calibrate accelerometer by resetting offset and using the current accelerometer values as offset. (-sample/4) according to ADXL345 documentation.

Definition at line 93 of file ADXL345.cpp.

bool ADXL345::end ( )

Stop sequence of interaction with device. Turn off measurement.

Returns: true(1) if successful otherwise false(0)

Definition at line 61 of file ADXL345.cpp.

uint8_t ADXL345::is_activity ( )

Check for activity. Returns a bitset with current activity. Ignore WATERMARK and OVERRUN.

Returns: activities

Definition at line 102 of file ADXL345.cpp.

uint8_t ADXL345::read ( Register reg )

inlineprotected

Read contents of register.

Parameters

[in] reg register address.

Returns: register value.

Definition at line 309 of file ADXL345.hh.

void ADXL345::read	(	Register	reg,
		void *	buffer,
		uint8_t	count
	)

protected

Read contents of registers, multiple values from give address.

Parameters

[in]	reg	register address.
[in]	buffer	storage.
[in]	count	number of bytes.

Definition at line 84 of file ADXL345.cpp.

void ADXL345::sample ( sample_t & s )

inline

Sample accelerometer. Return sample is given data structure

Parameters

[in] s sample storage.

Definition at line 120 of file ADXL345.hh.

void ADXL345::write	(	Register	reg,
		uint8_t	value
	)

protected

Write given value to register.

Parameters

[in]	reg	register address.
[in]	value	register value.

Definition at line 68 of file ADXL345.cpp.

void ADXL345::write	(	Register	reg,
		void *	buffer,
		uint8_t	count
	)

protected

Write multiple registers with values from give address.

Parameters

[in]	reg	register address.
[in]	buffer	storage.
[in]	count	number of bytes.

Definition at line 76 of file ADXL345.cpp.

Member Data Documentation

const uint8_t ADXL345::ID = 0xe5

staticprotected

Register DEVID value (345).

Definition at line 178 of file ADXL345.hh.

The documentation for this class was generated from the following files:

libraries/ADXL345/ADXL345.hh
libraries/ADXL345/ADXL345.cpp

Classes

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Static Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Circuit

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation