/**************************************************************************************************
* Function Accel_ReadY()
* -------------------------------------------------------------------------------------------------
* Overview: Function read Y axis from accel.
* Input: Nothing
* Output: Nothing
**************************************************************************************************/
int Accel_ReadY(void)
{
char low_byte;
int Out_y;
Out_y = ADXL345_Read(_DATAY1);
low_byte = ADXL345_Read(_DATAY0);
Out_y = (Out_y << 8);
Out_y = (Out_y | low_byte);
return Out_y;
}
/**************************************************************************************************
* Function Accel_ReadZ()
* -------------------------------------------------------------------------------------------------
* Overview: Function read Z axis from accel.
* Input: Nothing
* Output: Nothing
**************************************************************************************************/
int Accel_ReadZ(void)
{
char low_byte;
int Out_z;
Out_z = ADXL345_Read(_DATAZ1);
low_byte = ADXL345_Read(_DATAZ0);
Out_z = (Out_z << 8);
Out_z = (Out_z | low_byte);
return Out_z;
}
/**************************************************************************************************
* Function Accel_ReadX()
* -------------------------------------------------------------------------------------------------
* Overview: Function read X axis from accel.
* Input: Nothing
* Output: Nothing
**************************************************************************************************/
int Accel_ReadX(void)
{
char low_byte;
int Out_x;
Out_x = ADXL345_Read(_DATAX1);
low_byte = ADXL345_Read(_DATAX0);
Out_x = (Out_x << 8);
Out_x = (Out_x | low_byte);
return Out_x;
}
// Read Y Axis
short Accel_ReadY(void)
{
unsigned short high_byte, low_byte;
short Y;
high_byte = ADXL345_Read(_DATAY1);
low_byte = ADXL345_Read(_DATAY0);
Y = (high_byte & 0x03) << 8;
Y = Y | low_byte;
if (Y > 511) Y = Y - 1024;
return Y;
}
// Read Z Axis
short Accel_ReadZ(void)
{
unsigned short high_byte, low_byte;
short Z;
high_byte = ADXL345_Read(_DATAZ1);
low_byte = ADXL345_Read(_DATAZ0);
Z = (high_byte & 0x03) << 8;
Z = Z | low_byte;
if (Z > 511) Z = Z - 1024;
return Z;
}
// Read X Axis
short Accel_ReadX(void)
{
unsigned short high_byte, low_byte, X_tmp;
short X;
high_byte = ADXL345_Read(_DATAX1);
low_byte = ADXL345_Read(_DATAX0);
X_tmp = (high_byte & 0x03) << 8;
X_tmp = X_tmp | low_byte;
X = X_tmp;
if (X_tmp > 511) {
X_tmp = 1024 - X_tmp;
X = (signed short)(0 - X_tmp);
}
return X;
}
void ADXL345_readValues(struct accValues *accXYZ)
{
uint8_t buffer[6];
/* Read the register content */
ADXL345_Read(ADXL345_I2C_ADDR, ADXL345_X_ADDR, buffer, 6);
accXYZ->accValueX = ((buffer[1] << 8) | (buffer[0])) + X_OFFSET;
accXYZ->accValueY = ((buffer[3] << 8) | (buffer[2])) + Y_OFFSET;
accXYZ->accValueZ = (buffer[5] << 8) | (buffer[4]);
}
bool Accel_Init(void)
{
unsigned char id;
// Go into standby mode to configure the device.
ADXL345_Write(0x2D, 0x00);
id = ADXL345_Read(0x00);
if (id != 0xE5) {
return false;
}
ADXL345_Write(_POWER_CTL, 0x00); // Go into standby mode to configure the device
ADXL345_Write(_DATA_FORMAT, 0x08); // Full resolution, +/-2g, 4mg/LSB, right justified
ADXL345_Write(_BW_RATE, 0x0A); // Set 100 Hz data rate
ADXL345_Write(_FIFO_CTL, 0x80); // stream mode
ADXL345_Write(_POWER_CTL, 0x08); // POWER_CTL reg: measurement mode*/
return 0x00;
}
/**************************************************************************************************
* Function ADXL345_Init()
* -------------------------------------------------------------------------------------------------
* Overview: Function that initializes ADXL345
* Input: Nothing
* Output: return 0 for OK; return _ACCEL_ERROR for ERROR
**************************************************************************************************/
char ADXL345_Init(void)
{
char id = 0x00;
// Go into standby mode to configure the device.
ADXL345_Write(0x2D, 0x00);
id = ADXL345_Read(0x00);
if (id != 0xE5)
{
return _ACCEL_ERROR;
}
else
{
ADXL345_Write(_DATA_FORMAT, 0x08); // Full resolution, +/-2g, 4mg/LSB, right justified
ADXL345_Write(_BW_RATE, 0x0A); // Set 100 Hz data rate
ADXL345_Write(_FIFO_CTL, 0x80); // stream mode
ADXL345_Write(_POWER_CTL, 0x08); // POWER_CTL reg: measurement mode
return 0x00;
}
}
