/**
* Get the acceleration of all axes in Gs.
*
* @return An object containing the acceleration measured on each axis of the
* ADXL345 in Gs.
*/
ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations() {
AllAxes data = AllAxes();
int16_t rawData[3];
Read(kDataRegister, sizeof(rawData), (uint8_t *)rawData);
data.XAxis = rawData[0] * kGsPerLSB;
data.YAxis = rawData[1] * kGsPerLSB;
data.ZAxis = rawData[2] * kGsPerLSB;
return data;
}
/**
* Get the acceleration of all axes in Gs.
*
* @return An object containing the acceleration measured on each axis of the ADXL345 in Gs.
*/
ADXL345_SPI::AllAxes ADXL345_SPI::GetAccelerations()
{
AllAxes data = AllAxes();
uint8_t dataBuffer[7] = {0,0,0,0,0,0,0};
int16_t rawData[3];
if (m_spi)
{
// Select the data address.
dataBuffer[0] = (kAddress_Read | kAddress_MultiByte | kDataRegister);
m_spi->Transaction(dataBuffer, dataBuffer, 7);
for (int32_t i=0; i<3; i++)
{
// Sensor is little endian... swap bytes
rawData[i] = dataBuffer[i*2+2] << 8 | dataBuffer[i*2+1];
}
data.XAxis = rawData[0] * kGsPerLSB;
data.YAxis = rawData[1] * kGsPerLSB;
data.ZAxis = rawData[2] * kGsPerLSB;
}
return data;
}
