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adxl345.h
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adxl345.h
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/******************************************************************************
*
* adxl345.h
*
* Copyright (c) 2014 Jakob Klepp
*
*****************************************************************************/
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include "driverlib/can.h"
#include "driverlib/gpio.h"
#include "driverlib/i2c.h"
#include "driverlib/rom.h"
#include "driverlib/sysctl.h"
#include "driverlib/pin_map.h"
#include "driverlib/uart.h"
#include "inc/hw_gpio.h"
#include "inc/hw_i2c.h"
#include "inc/hw_memmap.h"
#include "inc/hw_sysctl.h"
#include "inc/hw_types.h"
#include "utils/uartstdio.h"
#ifndef ADXL_H
#define ADXL_H
/******************************************************************************
*
* The 7-bit I2C address for the device when the "alt address pin" is high.
*
*****************************************************************************/
#define ADXL_ALT_ADDRESS_HIGH 0x1D
/******************************************************************************
*
* The 7-bit I2C address for the device when the "alt address pin" is low.
*
*****************************************************************************/
#define ADXL_ALT_ADDRESS_LOW 0x53
/******************************************************************************
*
* Followed by the R/W bit
*
*****************************************************************************/
#define WRITE 0
#define READ 1
/******************************************************************************
*
* Full registermap can be seen in the Register Map example on page 23
* of the ADXL345.pdf file.
*
*****************************************************************************/
#define ADXL_AXIS_X_P0 0x32
#define ADXL_AXIS_X_P1 0x33
#define ADXL_AXIS_Y_P0 0x34
#define ADXL_AXIS_Y_P1 0x35
#define ADXL_AXIS_Z_P0 0x36
#define ADXL_AXIS_Z_P1 0x37
#define ADXL_POWER_MODE_REGISTER 0x2D
#define ADXL_POWER_MODE 0x3f
/******************************************************************************
*
* Number of I2C data packets to send.
*
*****************************************************************************/
#define NUM_I2C_DATA 3
/******************************************************************************
*
* Set the address for slave module. This is a 7-bit address sent in the
* following format:
* [A6:A5:A4:A3:A2:A1:A0:RS]
*
* A zero in the "RS" position of the first byte means that the master
* transmits (sends) data to the selected slave, and a one in this position
* means that the master receives data from the slave.
*
*****************************************************************************/
#define SLAVE_ADDRESS ADXL_ALT_ADDRESS_LOW
/******************************************************************************
*
* Read a byte of data from given device address and register
*
*****************************************************************************/
int8_t ReadI2C(uint16_t device_address, uint16_t device_register);
/******************************************************************************
*
* Write a byte of data to given device address and register
*
*****************************************************************************/
void WriteI2C(uint16_t device_address, uint16_t device_register,
int8_t device_data);
/******************************************************************************
*
* This function sets up I2C0 to be used for communicating with the
* accelerometer.
*
*****************************************************************************/
void InitI2C(void);
/******************************************************************************
*
* Check if there was an I2C error.
* Write it to UART if there was one.
*
*****************************************************************************/
void I2C_checkError(void);
/******************************************************************************
*
* Set the power mode of the accelerometer.
*
*****************************************************************************/
void ADXL_SetPowerMode(uint8_t powerMode);
/******************************************************************************
*
* Reads the raw acceleration of the x axisfrom the adxl345
*
*****************************************************************************/
int16_t ADXL_getAcceleration_rawX(void);
/******************************************************************************
*
* Reads the raw acceleration of the y axis from the adxl345
*
*****************************************************************************/
int16_t ADXL_getAcceleration_rawY(void);
/******************************************************************************
*
* Reads the raw acceleration of the z axis from the adxl345
*
*****************************************************************************/
int16_t ADXL_getAcceleration_rawZ(void);
/******************************************************************************
*
* Reads the decoded acceleration of the x axis from the adxl345
*
*****************************************************************************/
int32_t ADXL_getAcceleration_X(void);
/******************************************************************************
*
* Reads the decoded acceleration of the y axis from the adxl345
*
*****************************************************************************/
int32_t ADXL_getAcceleration_Y(void);
/******************************************************************************
*
* Reads the decoded acceleration of the z axis from the adxl345
*
*****************************************************************************/
int32_t ADXL_getAcceleration_Z(void);
#endif /* ADXL_H */