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/* Copyright 2012, Sebastian Reichel <sre@ring0.de>
*
* Permission to use, copy, modify, and/or distribute this software for any
* purpose with or without fee is hereby granted, provided that the above
* copyright notice and this permission notice appear in all copies.
*
* THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
* WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
* ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
* WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
* ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
* OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
*/
public class ADXL345 : I2CDevice, Accelerometer {
private static const double MG_PER_LSB = 3.9;
private static const double MG_PER_G = 1000.0;
public ADXL345(uint8 dev, uint8 addr = 0x53) throws I2CError {
setup(dev, addr);
devsetup();
}
private void devsetup() throws I2CError {
if(get_byte(0x00) != 0xe5)
log("ADXL345", LogLevelFlags.LEVEL_ERROR, @"ADXL345: invalid device id");
else
log("ADXL345", LogLevelFlags.LEVEL_DEBUG, @"ADXL345: correct device id");
set_byte(0x2D, 0x00); /* reset */
set_byte(0x31, 0x09); /* full range, +/- 4g */
set_byte(0x2C, 0x0b); /* 200hz */
set_byte(0x2D, 0x18); /* mode: measurement + auto sleep */
}
public void init(KeyFile cfg) throws KeyFileError, I2CError {
var adapter = cfg.get_uint64("ADXL345", "i2c-adapter");
var address = cfg.get_uint64("ADXL345", "i2c-address");
setup((uint8) adapter, (uint8) address);
devsetup();
}
public uint8 get_address() throws I2CError {
var addr = get_byte(0x00);
assert(addr == 0xe5);
return addr;
}
public void get_offset(out uint8 x, out uint8 y, out uint8 z) throws I2CError {
x = get_byte(0x1E);
y = get_byte(0x1F);
z = get_byte(0x20);
}
public void set_offset(uint8 x, uint8 y, uint8 z) throws I2CError {
set_byte(0x1E, x);
set_byte(0x1F, y);
set_byte(0x20, z);
}
public void get_data(out double x, out double y, out double z) throws I2CError {
var data = get_block(0x32, 6);
x = ((int16) (data[0] | data[1] << 8) * MG_PER_LSB) / MG_PER_G;
y = ((int16) (data[2] | data[3] << 8) * MG_PER_LSB) / MG_PER_G;
z = ((int16) (data[4] | data[5] << 8) * MG_PER_LSB) / MG_PER_G;
}
}
public Type register_plugin(Module module) {
// types are registered automatically
return typeof(ADXL345);
}
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