├── ADXL.c ├── ADXL.h ├── LICENSE └── README.md /ADXL.c: -------------------------------------------------------------------------------- 1 | /** 2 | * @Library for ADXL345 3-axis accelometer 3 | * @Hardware dependencies: Could be changed very easily. 4 | STM32L152R uC 5 | SPI2 6 | Some GPIOs 7 | * @Author Iman Hosseinzadeh iman[dot]hosseinzadeh AT gmail 8 | https://github.com/ImanHz 9 | 10 | */ 11 | /** 12 | This program is free software: you can redistribute it and/or modify 13 | it under the terms of the GNU General Public License as published by 14 | the Free Software Foundation, either version 3 of the License, or 15 | (at your option) any later version. 16 | 17 | This program is distributed in the hope that it will be useful, 18 | but WITHOUT ANY WARRANTY; without even the implied warranty of 19 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 20 | GNU General Public License for more details. 21 | 22 | You should have received a copy of the GNU General Public License 23 | along with this program. If not, see . 24 | **/ 25 | 26 | 27 | 28 | 29 | #include "ADXL.h" 30 | 31 | 32 | float GAINX = 0.0f; 33 | float GAINY = 0.0f; 34 | float GAINZ = 0.0f; 35 | 36 | /** Writing ADXL Registers. 37 | * @address: 8-bit address of register 38 | * @value : 8-bit value of corresponding register 39 | * Since the register values to be written are 8-bit, there is no need to multiple writing 40 | */ 41 | static void writeRegister(uint8_t address,uint8_t value) 42 | { 43 | if (address > 63) 44 | address = 63; 45 | 46 | // Setting R/W = 0, i.e.: Write Mode 47 | address &= ~(0x80); 48 | 49 | HAL_GPIO_WritePin(ADXLCS_GPIO_Port,ADXLCS_Pin,GPIO_PIN_RESET); 50 | HAL_SPI_Transmit(&SPIhandler,&address,1,10); 51 | HAL_SPI_Transmit(&SPIhandler,&value,1,10); 52 | HAL_GPIO_WritePin(ADXLCS_GPIO_Port,ADXLCS_Pin,GPIO_PIN_SET); 53 | 54 | 55 | } 56 | 57 | 58 | /** Reading ADXL Registers. 59 | * @address: 8-bit address of register 60 | * @retval value : array of 8-bit values of corresponding register 61 | * @num : number of bytes to be written 62 | */ 63 | 64 | static void readRegister(uint8_t address,uint8_t * value, uint8_t num) 65 | { 66 | if (address > 63) 67 | address = 63; 68 | 69 | // Multiple Byte Read Settings 70 | if (num > 1) 71 | address |= 0x40; 72 | else 73 | address &= ~(0x40); 74 | 75 | // Setting R/W = 1, i.e.: Read Mode 76 | address |= (0x80); 77 | 78 | HAL_GPIO_WritePin(ADXLCS_GPIO_Port,ADXLCS_Pin,GPIO_PIN_RESET); 79 | HAL_SPI_Transmit(&SPIhandler,&address,1,10); 80 | HAL_SPI_Receive(&SPIhandler,value,num,10); 81 | HAL_GPIO_WritePin(ADXLCS_GPIO_Port,ADXLCS_Pin,GPIO_PIN_SET); 82 | 83 | 84 | } 85 | 86 | 87 | /** 88 | Bandwidth Settings: 89 | Setting BW_RATE register 90 | BWRATE[4] = LOW POWER SETTING 91 | BWRATE[0-3] = DATA RATE i.e. 0110 for 6.25 Hz // See Table 6,7 92 | @param LPMode = 0 // Normal mode, Default 93 | = 1 // Low Power Mode 94 | @param BW : Badwidth; See Tables 6 and 7 95 | 96 | NORMAL MODE 97 | BW value | Output Data Rate (Hz) 98 | --------------------------------- 99 | 6 | 6.25 // Default 100 | 7 | 12.5 101 | 8 | 25 102 | 9 | 50 103 | 10 | 100 104 | 11 | 200 105 | 12 | 400 106 | 13 | 800 107 | 14 | 1600 108 | 15 | 3200 109 | 110 | 111 | LOWPOWER MODE 112 | BW value | Output Data Rate (Hz) 113 | --------------------------------- 114 | 7 | 12.5 // Default 115 | 8 | 25 116 | 9 | 50 117 | 10 | 100 118 | 11 | 200 119 | 12 | 400 120 | */ 121 | static void adxlBW(ADXL_InitTypeDef * adxl) 122 | { 123 | uint8_t bwreg=0; 124 | writeRegister(BW_RATE,bwreg); 125 | if (adxl->LPMode == LPMODE_LOWPOWER) 126 | { 127 | // Low power mode 128 | bwreg |= (1 << 4); 129 | if ( ((adxl->Rate) <7) && ((adxl->Rate)>12) ) bwreg += 7; 130 | else bwreg +=(adxl->Rate); 131 | writeRegister(BW_RATE,bwreg); 132 | } 133 | else 134 | { 135 | // Normal Mode 136 | 137 | if ( ((adxl->Rate) <6) && ((adxl->Rate)>15) ) bwreg += 6; 138 | else bwreg +=(adxl->Rate); 139 | writeRegister(BW_RATE,bwreg); 140 | } 141 | } 142 | 143 | 144 | /** 145 | Data Format Settings 146 | DATA_FORMAT[7-0] = SELF_TEST SPI INT_INVERT 0 FULL_RES Justify Range[2] 147 | 148 | SPI bit: 0 = 4-wire (Default) 149 | 1 = 3-wire 150 | INT_Invert: 0 = Active High (Default) 151 | 1 = Active Low 152 | Full Res: 0 = 10-bit (Default) 153 | 1 = Full Resolution 154 | Justify: 0 = Signed (Default) 155 | 1 = MSB 156 | Range: 157 | 158 | 159 | 160 | Range value | Output Data Rate (Hz) 161 | --------------------------------- 162 | 0 | +-2g // Default 163 | 1 | +-4g 164 | 2 | +-8g 165 | 3 | +-16g 166 | 167 | */ 168 | 169 | static void adxlFormat(ADXL_InitTypeDef * adxl) 170 | { 171 | uint8_t formatreg=0; 172 | writeRegister(DATA_FORMAT,formatreg); 173 | formatreg = (adxl->SPIMode << 6) | (adxl->IntMode << 5) | (adxl->Justify << 2) | (adxl->Resolution << 3); 174 | formatreg += (adxl -> Range); 175 | writeRegister(DATA_FORMAT,formatreg); 176 | } 177 | 178 | // Public Functions 179 | 180 | // Initializes the ADXL unit 181 | adxlStatus ADXL_Init(ADXL_InitTypeDef * adxl) 182 | { 183 | // CS is active low. Here we deselect the chip. In each function the CS signal is asserted individually 184 | HAL_GPIO_WritePin(ADXLCS_GPIO_Port,ADXLCS_Pin,GPIO_PIN_SET); 185 | // Unknown delay should apply 186 | HAL_Delay(5); 187 | uint8_t testval = 0; 188 | // The Device Address register is constant, i.e. = 0xE5 189 | readRegister(DEVID,&testval,1); 190 | if (testval != 0xE5) return ADXL_ERR; 191 | // Init. of BW_RATE and DATAFORMAT registers 192 | adxlBW(adxl); 193 | adxlFormat(adxl); 194 | 195 | // Settings gains 196 | if (adxl->Resolution == RESOLUTION_10BIT) 197 | { 198 | switch (adxl->Range) { 199 | case RANGE_2G: 200 | GAINX = GAINY = GAINZ = 1/255.0f; 201 | break; 202 | case RANGE_4G: 203 | GAINX = GAINY = GAINZ = 1/127.0f; 204 | break; 205 | case RANGE_8G: 206 | GAINX = GAINY = GAINZ = 1/63.0f; 207 | break; 208 | case RANGE_16G: 209 | GAINX = GAINY = GAINZ = 1/31.0f; 210 | break; 211 | } 212 | } else 213 | { 214 | GAINX = GAINY = GAINZ = 1/255.0f; 215 | } 216 | // Setting AutoSleep and Link bits 217 | uint8_t reg; 218 | readRegister(POWER_CTL,®,1); 219 | if ( (adxl->AutoSleep) == AUTOSLEEPON) reg |= (1 << 4); else reg &= ~(1 << 4); 220 | if ( (adxl->LinkMode) == LINKMODEON) reg |= (1 << 5); else reg &= ~(1 << 5); 221 | writeRegister(POWER_CTL,reg); 222 | 223 | return ADXL_OK; 224 | 225 | } 226 | 227 | 228 | /** Reading Data 229 | * @retval : data : array of accel. 230 | outputType : OUTPUT_SIGNED: signed int 231 | OUTPUT_FLOAT: float 232 | if output is float, the GAIN(X-Y-Z) should be defined in definitions. 233 | * @usage : Depending on your desired output, define an array of type uint16_t or float with 3 cells: 234 | uint16_t acc[3]; 235 | ADXL_getAccel(acc,OUTPUT_SIGNED); 236 | and so on... 237 | */ 238 | void ADXL_getAccel(void *Data , uint8_t outputType) 239 | { 240 | uint8_t data[6]={0,0,0,0,0,0}; 241 | readRegister(DATA0,data,6); 242 | 243 | 244 | if (outputType == OUTPUT_SIGNED) 245 | { 246 | int16_t * acc = Data; 247 | // Two's Complement 248 | acc[0] = (int16_t) ((data[1]*256+data[0])); 249 | acc[1] = (int16_t) ((data[3]*256+data[2])); 250 | acc[2] = (int16_t) ((data[5]*256+data[4])); 251 | } 252 | else if (outputType == OUTPUT_FLOAT) 253 | { 254 | float * fdata = Data; 255 | fdata[0] = ( (int16_t) ((data[1]*256+data[0])))*GAINX; 256 | fdata[1] = ( (int16_t) ((data[3]*256+data[2])))*GAINY; 257 | fdata[2] = ( (int16_t) ((data[5]*256+data[4])))*GAINZ; 258 | 259 | } 260 | } 261 | 262 | 263 | /** Starts Measure Mode 264 | * @param: s = ON or OFF 265 | 266 | */ 267 | void ADXL_Measure(Switch s) 268 | { 269 | uint8_t reg; 270 | readRegister(POWER_CTL,®,1); 271 | switch (s) { 272 | case ON: 273 | reg &= ~(1<<2); 274 | reg |= (1<<3); 275 | writeRegister(POWER_CTL,reg); 276 | break; 277 | case OFF: 278 | reg &= ~(1<<3); 279 | writeRegister(POWER_CTL,reg); 280 | break; 281 | } 282 | } 283 | 284 | /** Starts Sleep Mode 285 | * @param: s = ON or OFF 286 | * @param: rate = SLEEP_RATE_1HZ 287 | SLEEP_RATE_2HZ 288 | SLEEP_RATE_4HZ 289 | SLEEP_RATE_8HZ 290 | */ 291 | void ADXL_Sleep(Switch s,uint8_t rate) 292 | { 293 | uint8_t reg; 294 | readRegister(POWER_CTL,®,1); 295 | switch (s) { 296 | case ON: 297 | reg |= (1<<2); 298 | reg &= ~(1<<3); 299 | reg += rate; 300 | writeRegister(POWER_CTL,reg); 301 | break; 302 | case OFF: 303 | reg &= ~(1<<2); 304 | writeRegister(POWER_CTL,reg); 305 | break; 306 | } 307 | 308 | } 309 | 310 | /** Starts Standby Mode 311 | * @param: s = ON or OFF 312 | OFF: Takes the module into sleep mode. 313 | 314 | */ 315 | void ADXL_Standby(Switch s) 316 | { 317 | uint8_t reg; 318 | readRegister(POWER_CTL,®,1); 319 | switch (s) { 320 | case ON: 321 | reg &= ~(1<<2); 322 | reg &= ~(1<<3); 323 | writeRegister(POWER_CTL,reg); 324 | break; 325 | case OFF: 326 | reg |= (1<<2); 327 | writeRegister(POWER_CTL,reg); 328 | break; 329 | } 330 | 331 | } 332 | 333 | 334 | 335 | /** Reading Main Registers 336 | regs[0] = BW_RATE 337 | regs[1] = DATA_FORMAT 338 | regs[2] = POWER_CTL 339 | */ 340 | void ADXL_test(uint8_t * regs) 341 | { 342 | readRegister(BW_RATE,®s[0],1); 343 | readRegister(DATA_FORMAT,®s[1],1); 344 | readRegister(POWER_CTL,®s[2],1); 345 | 346 | } 347 | 348 | /** 349 | Enables the self Test mode 350 | */ 351 | void ADXL_enableSelfTest(void) 352 | { 353 | uint8_t formatreg=0; 354 | writeRegister(DATA_FORMAT,formatreg); 355 | formatreg |= (1<<7); 356 | writeRegister(DATA_FORMAT,formatreg); 357 | } 358 | 359 | 360 | /** 361 | Disables the self Test mode 362 | */ 363 | void ADXL_disableSelfTest(void) 364 | { 365 | uint8_t formatreg=0; 366 | writeRegister(DATA_FORMAT,formatreg); 367 | formatreg &= ~(1<<7); 368 | writeRegister(DATA_FORMAT,formatreg); 369 | } 370 | 371 | 372 | /** 373 | Setting the offsets for calibration 374 | * @param user-set offset adjustments in twos complement format 375 | with a scale factor of 15.6 mg/LSB (that is, 0x7F = +2 g). 376 | 377 | */ 378 | void ADXL_SetOffset(int8_t off_x,int8_t off_y,int8_t off_z) 379 | { 380 | writeRegister(OFFX,(uint8_t) off_x ); 381 | writeRegister(OFFY,(uint8_t) off_y ); 382 | writeRegister(OFFZ,(uint8_t) off_z ); 383 | } 384 | 385 | 386 | 387 | 388 | //////////////////////////////////////////// I N T E R R U P T S ////////////////////// 389 | 390 | /** Setting TAP Int. 391 | * @param out : ADXL has two Int. pins. 392 | * @param axes: The axes of tap. Could be OR'ed. 393 | * @param Duration: The minimum duration for tap detection. The scale factor is 625 us/LSB. Should not be 0! 394 | * @param Threshold: The threshold value for tap interrupt. The scale factor is 62.5 mg/LSB. Should not be 0! 395 | */ 396 | 397 | void ADXL_enableSingleTap(ADXL_IntOutput out, uint8_t axes, uint8_t Duration, uint8_t Threshold) 398 | 399 | { 400 | uint8_t reg=0; 401 | 402 | writeRegister(DUR,Duration); 403 | writeRegister(THRESH_TAP,Threshold); 404 | 405 | //Setting the Axes 406 | readRegister(TAP_AXES,®,1); 407 | reg |= axes; 408 | 409 | writeRegister(TAP_AXES,reg); 410 | 411 | // Settings Int output 412 | readRegister(INT_MAP,®,1); 413 | if (out == INT1) reg &= ~(1<<6); else reg |= (1<<6); 414 | writeRegister(INT_MAP,reg); 415 | 416 | // Enabling the TAP interrupt 417 | readRegister(INT_ENABLE,®,1); 418 | reg |= (1<<6); 419 | writeRegister(INT_ENABLE,reg); 420 | 421 | } 422 | 423 | /** Disabling TAP Int. 424 | 425 | The settings are preserved. 426 | 427 | */ 428 | 429 | void ADXL_disableSingleTap(void) 430 | 431 | { 432 | uint8_t reg=0; 433 | // Disabling the TAP interrupt 434 | readRegister(INT_ENABLE,®,1); 435 | reg &= ~(1<<6); 436 | writeRegister(INT_ENABLE,reg); 437 | 438 | 439 | } 440 | 441 | /** Enabling Double TAP Int. 442 | * @param out : ADXL has two Int. pins. 443 | * @param axes: The axes of tap. Could be OR'ed. 444 | * @param Duration: The minimum duration for tap detection. The scale factor is 625 us/LSB. Should not be 0! 445 | * @param Threshold: The threshold value for tap interrupt. The scale factor is 62.5 mg/LSB. Should not be 0! 446 | * @param Latent: The delay time after the first Tap. Scale factor is : 1.25 ms/LSB. Should not be 0! 447 | * @param Windows: The time interval between two Taps. Scale factor is : 1.25 ms/LSB. Should not be 0! 448 | */ 449 | 450 | void ADXL_enableDoubleTap(ADXL_IntOutput out, uint8_t axes, uint8_t Duration, uint8_t Threshold, uint8_t Latent, uint8_t Window) 451 | { 452 | uint8_t reg=0; 453 | 454 | writeRegister(DUR,Duration); 455 | writeRegister(THRESH_TAP,Threshold); 456 | writeRegister(LATENT,Latent); 457 | writeRegister(WINDOW,Window); 458 | 459 | 460 | //Setting the Axes 461 | readRegister(TAP_AXES,®,1); 462 | reg += axes; 463 | writeRegister(TAP_AXES,reg); 464 | 465 | // Settings Int output 466 | readRegister(INT_MAP,®,1); 467 | if (out == INT1) reg &= ~(1<<5); else reg |= (1<<5); 468 | writeRegister(INT_MAP,reg); 469 | 470 | // Enabling the TAP interrupt 471 | readRegister(INT_ENABLE,®,1); 472 | reg |= (1<<5); 473 | writeRegister(INT_ENABLE,reg); 474 | } 475 | 476 | 477 | /** Disabling Double TAP Int. 478 | 479 | The settings are preserved. 480 | 481 | */ 482 | 483 | void ADXL_disableDoubleTap(void) 484 | 485 | { 486 | uint8_t reg=0; 487 | // Disabling the Double TAP interrupt 488 | readRegister(INT_ENABLE,®,1); 489 | reg &= ~(1<<5); 490 | writeRegister(INT_ENABLE,reg); 491 | } 492 | 493 | /** Enabling Activity Int. 494 | * @param out : ADXL has two Int. pins. 495 | * @param axes: The axes of activity. Could be OR'ed. 496 | * @param Threshold: The threshold value for activity interrupt. The scale factor is 62.5 mg/LSB. Should not be 0! 497 | */ 498 | 499 | void ADXL_enableActivity(ADXL_IntOutput out, uint8_t axes, uint8_t Threshold, uint8_t AcDc) 500 | 501 | { 502 | uint8_t reg=0; 503 | 504 | writeRegister(THRESH_ACT,Threshold); 505 | 506 | 507 | //Setting the Axes 508 | readRegister(ACT_INACT_CTL,®,1); 509 | reg += (axes << 4); 510 | if (AcDc == ACTIVITY_AC) reg |= (1<<7); else reg &= ~(1<<7); 511 | writeRegister(TAP_AXES,reg); 512 | 513 | // Settings Int output 514 | readRegister(INT_MAP,®,1); 515 | if (out == INT1) reg &= ~(1<<4); else reg |= (1<<4); 516 | writeRegister(INT_MAP,reg); 517 | 518 | // Enabling the TAP interrupt 519 | readRegister(INT_ENABLE,®,1); 520 | reg |= (1<<4); 521 | writeRegister(INT_ENABLE,reg); 522 | 523 | 524 | } 525 | 526 | 527 | /** Disabling Double TAP Int. 528 | 529 | The settings are preserved. 530 | 531 | */ 532 | 533 | void ADXL_disableActivity(void) 534 | { 535 | uint8_t reg=0; 536 | // Disabling the Double TAP interrupt 537 | readRegister(INT_ENABLE,®,1); 538 | reg &= ~(1<<4); 539 | writeRegister(INT_ENABLE,reg); 540 | } 541 | 542 | /** Enables FreeFall Int. 543 | * @param out : ADXL has two Int. pins. 544 | * @param time: Representing the minimum time that the RSS value of all axes 545 | must be less than Threshold to generate a free-fall interrupt. 546 | A value of 0 may result in undesirable 547 | behavior if the free-fall interrupt is enabled. Values between 100 ms 548 | and 350 ms (0x14 to 0x46) are recommended 549 | * @param Threshold: The root-sumsquare (RSS) value of all axes is calculated and compared with 550 | the value in Threshold to determine if a free-fall event occurred. 551 | The scale factor is 62.5 mg/LSB. Note that a value of 0 mg may 552 | result in undesirable behavior if the free-fall interrupt is enabled. 553 | Values between 300 mg and 600 mg (0x05 to 0x09) are 554 | recommended. 555 | */ 556 | 557 | void ADXL_enableFreeFall(ADXL_IntOutput out, uint8_t Threshold, uint8_t Time) 558 | { 559 | uint8_t reg=0; 560 | writeRegister(TIME_FF,Time); 561 | writeRegister(THRESH_FF,Threshold); 562 | // Settings Int output 563 | readRegister(INT_MAP,®,1); 564 | if (out == INT1) reg &= ~(1<<2); else reg |= (1<<2); 565 | writeRegister(INT_MAP,reg); 566 | 567 | readRegister(INT_ENABLE,®,1); 568 | reg |= (1<<2); 569 | writeRegister(INT_ENABLE,reg); 570 | } 571 | 572 | 573 | /** Disabling Double TAP Int. 574 | 575 | The settings are preserved. 576 | 577 | */ 578 | 579 | void ADXL_disableFreeFall(void) 580 | { 581 | uint8_t reg=0; 582 | readRegister(INT_ENABLE,®,1); 583 | reg %= ~(1<<2); 584 | writeRegister(INT_ENABLE,reg); 585 | 586 | } 587 | 588 | /** Interrupt prototype 589 | * @brief In order to interrupt flags being reset, the address 0x30 should be read. 590 | * Put this function wherever you want to implement interrupt routines, e.g. EXTI_Callback 591 | */ 592 | 593 | void ADXL_IntProto(void) 594 | 595 | { 596 | uint8_t reg=0; 597 | readRegister(INT_SOURCE,®,1); 598 | 599 | } 600 | 601 | -------------------------------------------------------------------------------- /ADXL.h: -------------------------------------------------------------------------------- 1 | 2 | /** 3 | * @Library for ADXL345 3-axis accelometer 4 | * @Hardware dependencies: Could be changed very easily. 5 | STM32L152R uC 6 | SPI2 7 | Some GPIOs 8 | * @Author Iman Hosseinzadeh iman[dot]hosseinzadeh AT gmail 9 | https://github.com/ImanHz 10 | 11 | */ 12 | /** 13 | This program is free software: you can redistribute it and/or modify 14 | it under the terms of the GNU General Public License as published by 15 | the Free Software Foundation, either version 3 of the License, or 16 | (at your option) any later version. 17 | 18 | This program is distributed in the hope that it will be useful, 19 | but WITHOUT ANY WARRANTY; without even the implied warranty of 20 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 21 | GNU General Public License for more details. 22 | 23 | You should have received a copy of the GNU General Public License 24 | along with this program. If not, see . 25 | **/ 26 | 27 | 28 | 29 | // Change the library according to your uC 30 | #include "stm32l1xx_hal.h" 31 | 32 | // SPI handler. Change it if needed. 33 | // NOTE: SPI must be set in High Polarity and 2 Edges Phase mode. 34 | 35 | // If you are using libraries other than HAL, i.e. STDPeriph, change writeRegister and readRegister functions. 36 | #define SPIhandler hspi1 37 | extern SPI_HandleTypeDef SPIhandler; 38 | 39 | // GPIO definition 40 | #define ADXLCS_Pin GPIO_PIN_4 41 | #define ADXLCS_GPIO_Port GPIOC 42 | 43 | 44 | // Registers' Address 45 | #define DEVID 0x0 46 | #define BW_RATE 0x2C 47 | #define DATA_FORMAT 0x31 48 | #define FIFO_CTL 0x38 49 | #define DATA0 0x32 50 | #define POWER_CTL 0x2D 51 | #define THRESH_TAP 0x1D 52 | #define DUR 0x21 53 | #define TAP_AXES 0x2A 54 | #define INT_ENABLE 0x2E 55 | #define INT_MAP 0x2F 56 | #define LATENT 0x22 57 | #define WINDOW 0x23 58 | #define THRESH_ACT 0x24 59 | #define THRESH_INACT 0x25 60 | #define TIME_INAT 0x26 61 | #define ACT_INACT_CTL 0x27 62 | #define THRESH_FF 0x28 63 | #define TIME_FF 0x29 64 | #define OFFX 0x1E 65 | #define OFFY 0x1F 66 | #define OFFZ 0x20 67 | #define INT_SOURCE 0x30 68 | 69 | 70 | // Init return values 71 | typedef enum {ADXL_OK,ADXL_ERR} adxlStatus; 72 | 73 | // ON/OFF enum 74 | typedef enum {ON,OFF} Switch; 75 | 76 | // Init. Definitions 77 | #define SPIMODE_3WIRE 1 78 | #define SPIMODE_4WIRE 0 79 | 80 | #define LPMODE_NORMAL 0 81 | #define LPMODE_LOWPOWER 1 82 | 83 | #define BWRATE_6_25 6 84 | #define BWRATE_12_5 7 85 | #define BWRATE_25 8 86 | #define BWRATE_50 9 87 | #define BWRATE_100 10 88 | #define BWRATE_200 11 89 | #define BWRATE_400 12 90 | #define BWRATE_800 13 91 | #define BWRATE_1600 14 92 | #define BWRATE_3200 15 93 | 94 | #define BWRATE_12_5 7 95 | #define BWRATE_25 8 96 | #define BWRATE_50 9 97 | #define BWRATE_100 10 98 | #define BWRATE_200 11 99 | #define BWRATE_400 12 100 | 101 | #define INT_ACTIVEHIGH 0 102 | #define INT_ACTIVELOW 1 103 | 104 | #define RESOLUTION_FULL 1 105 | #define RESOLUTION_10BIT 0 106 | 107 | #define JUSTIFY_MSB 1 108 | #define JUSTIFY_SIGNED 0 109 | 110 | 111 | 112 | 113 | #define SLEEP_RATE_1HZ 3 114 | #define SLEEP_RATE_2HZ 2 115 | #define SLEEP_RATE_4HZ 1 116 | #define SLEEP_RATE_8HZ 0 117 | 118 | #define RANGE_2G 0 119 | #define RANGE_4G 1 120 | #define RANGE_8G 2 121 | #define RANGE_16G 3 122 | 123 | #define AUTOSLEEPON 1 124 | #define AUTOSLEEPOFF 0 125 | 126 | #define LINKMODEON 1 127 | #define LINKMODEOFF 0 128 | 129 | // Init Type Def 130 | typedef struct { 131 | uint8_t SPIMode; 132 | uint8_t IntMode; 133 | uint8_t LPMode; 134 | uint8_t Rate; 135 | uint8_t Range; 136 | uint8_t Resolution; 137 | uint8_t Justify; 138 | uint8_t AutoSleep; 139 | uint8_t LinkMode; 140 | }ADXL_InitTypeDef; 141 | 142 | 143 | // Private functions 144 | 145 | /** Writing ADXL Registers. 146 | * @address: 8-bit address of register 147 | * @value : 8-bit value of corresponding register 148 | * Since the register values to be written are 8-bit, there is no need to multiple writing 149 | */ 150 | static void writeRegister(uint8_t address,uint8_t value); 151 | 152 | 153 | /** Reading ADXL Registers. 154 | * @address: 8-bit address of register 155 | * @value : array of 8-bit values of corresponding register 156 | * @num : number of bytes to be written 157 | */ 158 | 159 | static void readRegister(uint8_t address,uint8_t * value, uint8_t num); 160 | 161 | 162 | /** 163 | Bandwidth Settings: 164 | Setting BW_RATE register 165 | BWRATE[4] = LOW POWER SETTING 166 | BWRATE[0-3] = DATA RATE i.e. 0110 for 6.25 Hz // See Table 6,7 167 | @param LPMode = 0 // Normal mode, Default 168 | = 1 // Low Power Mode 169 | @param BW : Badwidth; See Tables 6 and 7 170 | 171 | NORMAL MODE 172 | BW value | Output Data Rate (Hz) 173 | --------------------------------- 174 | 6 | 6.25 // Default 175 | 7 | 12.5 176 | 8 | 25 177 | 9 | 50 178 | 10 | 100 179 | 11 | 200 180 | 12 | 400 181 | 13 | 800 182 | 14 | 1600 183 | 15 | 3200 184 | 185 | 186 | LOWPOWER MODE 187 | BW value | Output Data Rate (Hz) 188 | --------------------------------- 189 | 7 | 12.5 // Default 190 | 8 | 25 191 | 9 | 50 192 | 10 | 100 193 | 11 | 200 194 | 12 | 400 195 | 196 | */ 197 | 198 | static void adxlBW(ADXL_InitTypeDef * adxl); 199 | 200 | 201 | /** 202 | Data Format Settings 203 | DATA_FORMAT[7-0] = SELF_TEST SPI INT_INVERT 0 FULL_RES Justify Range[2] 204 | @TODO : SELF_TEST is not implemented yet! 205 | 206 | SPI bit: 0 = 4-wire (Default) 207 | 1 = 3-wire 208 | INT_Invert: 0 = Active High (Default) 209 | 1 = Active Low 210 | Full Res: 0 = 10-bit (Default) 211 | 1 = Full Resolution 212 | Justify: 0 = Signed (Default) 213 | 1 = MSB 214 | Range: 215 | 216 | 217 | 218 | Range value | Output Data Rate (Hz) 219 | --------------------------------- 220 | 0 | +-2g // Default 221 | 1 | +-4g 222 | 2 | +-8g 223 | 3 | +-16g 224 | 225 | */ 226 | 227 | static void adxlFormat(ADXL_InitTypeDef * adxl); 228 | 229 | 230 | 231 | 232 | // Public Functions 233 | 234 | /** Initializes the ADXL unit 235 | * @param adxl, structure of ADXL_InitTypeDef: 236 | */ 237 | adxlStatus ADXL_Init(ADXL_InitTypeDef * adxl); 238 | 239 | 240 | 241 | // ADXL_getAccel function definitions 242 | #define OUTPUT_FLOAT 0 243 | #define OUTPUT_SIGNED 1 244 | 245 | /** Reading Data 246 | * @retval : data : array of accel. 247 | * @param : outputType : OUTPUT_SIGNED: signed int 248 | OUTPUT_FLOAT: float 249 | if output is float, the GAIN(X-Y-Z) should be defined in definitions. 250 | */ 251 | void ADXL_getAccel(void *Data,uint8_t outputType); 252 | 253 | /** Starts Measure Mode 254 | * @param: s = ON or OFF 255 | 256 | */ 257 | void ADXL_Measure(Switch s); 258 | 259 | /** Starts Sleep Mode 260 | * @param: rate = SLEEP_RATE_1HZ 261 | SLEEP_RATE_2HZ 262 | SLEEP_RATE_4HZ 263 | SLEEP_RATE_8HZ 264 | */ 265 | void ADXL_Sleep(Switch s,uint8_t rate); 266 | 267 | /** Starts Standby Mode 268 | * @param: s = ON or OFF 269 | 270 | */ 271 | void ADXL_Standby(Switch s); 272 | 273 | 274 | /** Reading Main Registers 275 | regs[0] = BW_RATE 276 | regs[1] = DATA_FORMAT 277 | regs[2] = POWER_CTL 278 | */ 279 | void ADXL_test(uint8_t * regs); 280 | 281 | /** 282 | Enables the self Test mode 283 | */ 284 | void ADXL_enableSelfTest(void); 285 | 286 | 287 | /** 288 | Disables the self Test mode 289 | */ 290 | void ADXL_disableSelfTest(void); 291 | 292 | /** 293 | Setting the offsets for calibration 294 | * @param user-set offset adjustments in twos complement format 295 | with a scale factor of 15.6 mg/LSB (that is, 0x7F = +2 g). 296 | 297 | */ 298 | void ADXL_SetOffset(int8_t off_x,int8_t off_y,int8_t off_z); 299 | 300 | 301 | 302 | 303 | //////////////////////////////////////////// I N T E R R U P T S ////////////////////// 304 | ///// Important Note: The interrupt routine in your code should be implemented using ADXL_IntProto() 305 | ///// function! 306 | 307 | typedef enum {INT1=0,INT2=1} ADXL_IntOutput; 308 | #define X_axes 4 309 | #define Y_axes 2 310 | #define Z_axes 1 311 | 312 | /** Enabling TAP Int. 313 | * @param out : ADXL has two Int. pins. 314 | * @param axes: The axes of tap. Could be OR'ed. 315 | * @param Duration: The minimum duration for tap detection. The scale factor is 625 us/LSB. Should not be 0! 316 | * @param Threshold: The threshold value for tap interrupt. The scale factor is 62.5 mg/LSB. Should not be 0! 317 | */ 318 | 319 | void ADXL_enableSingleTap(ADXL_IntOutput out, uint8_t axes, uint8_t Duration, uint8_t Threshold); 320 | 321 | 322 | /** Disabling TAP Int. 323 | 324 | The settings are preserved. 325 | 326 | */ 327 | 328 | void ADXL_disableSingleTap(void); 329 | 330 | /** Enabling Double TAP Int. 331 | * @param out : ADXL has two Int. pins. 332 | * @param axes: The axes of tap. Could be OR'ed. 333 | * @param Duration: The minimum duration for tap detection. The scale factor is 625 us/LSB. Should not be 0! 334 | * @param Threshold: The threshold value for tap interrupt. The scale factor is 62.5 mg/LSB. Should not be 0! 335 | * @param Latent: The delay time after the first Tap. Scale factor is : 1.25 ms/LSB. Should not be 0! 336 | * @param Windows: The time interval between two Taps. Scale factor is : 1.25 ms/LSB. Should not be 0! 337 | */ 338 | 339 | void ADXL_enableDoubleTap(ADXL_IntOutput out, uint8_t axes, uint8_t Duration, uint8_t Threshold, uint8_t Latent, uint8_t Window); 340 | 341 | 342 | /** Disabling Double TAP Int. 343 | 344 | The settings are preserved. 345 | 346 | */ 347 | 348 | void ADXL_disableDoubleTap(void); 349 | 350 | 351 | 352 | #define ACTIVITY_AC 1 353 | #define ACTIVITY_DC 0 354 | 355 | 356 | /** Enabling Activity Int. 357 | * @param out : ADXL has two Int. pins. 358 | * @param axes: The axes of activity. Could be OR'ed. 359 | * @param Threshold: The threshold value for activity interrupt. The scale factor is 62.5 mg/LSB. Should not be 0! 360 | */ 361 | 362 | void ADXL_enableActivity(ADXL_IntOutput out, uint8_t axes, uint8_t Threshold, uint8_t AcDc); 363 | 364 | 365 | /** Disabling Double TAP Int. 366 | 367 | The settings are preserved. 368 | 369 | */ 370 | 371 | void ADXL_disableActivity(void); 372 | 373 | /** Enables FreeFall Int. 374 | * @param out : ADXL has two Int. pins. 375 | * @param time: Representing the minimum time that the RSS value of all axes 376 | must be less than Threshold to generate a free-fall interrupt. 377 | A value of 0 may result in undesirable 378 | behavior if the free-fall interrupt is enabled. Values between 100 ms 379 | and 350 ms (0x14 to 0x46) are recommended 380 | * @param Threshold: The root-sumsquare (RSS) value of all axes is calculated and compared with 381 | the value in Threshold to determine if a free-fall event occurred. 382 | The scale factor is 62.5 mg/LSB. Note that a value of 0 mg may 383 | result in undesirable behavior if the free-fall interrupt is enabled. 384 | Values between 300 mg and 600 mg (0x05 to 0x09) are 385 | recommended. 386 | */ 387 | 388 | void ADXL_enableFreeFall(ADXL_IntOutput out, uint8_t Threshold, uint8_t Time); 389 | 390 | 391 | /** Disabling Double TAP Int. 392 | 393 | The settings are preserved. 394 | 395 | */ 396 | 397 | void ADXL_disableFreeFall(void); 398 | 399 | 400 | /** Interrupt prototype 401 | * @brief In order to interrupt flags being reset, the address 0x30 should be read. 402 | * Put this function wherever you want to implement interrupt routines, e.g. EXTI_Callback 403 | */ 404 | 405 | void ADXL_IntProto(void); 406 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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Such new versions will 567 | be similar in spirit to the present version, but may differ in detail to 568 | address new problems or concerns. 569 | 570 | Each version is given a distinguishing version number. If the 571 | Program specifies that a certain numbered version of the GNU General 572 | Public License "or any later version" applies to it, you have the 573 | option of following the terms and conditions either of that numbered 574 | version or of any later version published by the Free Software 575 | Foundation. If the Program does not specify a version number of the 576 | GNU General Public License, you may choose any version ever published 577 | by the Free Software Foundation. 578 | 579 | If the Program specifies that a proxy can decide which future 580 | versions of the GNU General Public License can be used, that proxy's 581 | public statement of acceptance of a version permanently authorizes you 582 | to choose that version for the Program. 583 | 584 | Later license versions may give you additional or different 585 | permissions. However, no additional obligations are imposed on any 586 | author or copyright holder as a result of your choosing to follow a 587 | later version. 588 | 589 | 15. Disclaimer of Warranty. 590 | 591 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY 592 | APPLICABLE LAW. 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Limitation of Liability. 601 | 602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS 604 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY 605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE 606 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF 607 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD 608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), 609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF 610 | SUCH DAMAGES. 611 | 612 | 17. Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # STM32-ADXL345 2 | ADXL345 3-Axis Accelerometer Library for STM32. HAL-Compatible. 3 | 4 | # How to use this library 5 | 6 | -- In ADXL.h 7 | 8 | 1- Change the HAL library header file according to your uC. Here STM32L1xx and hence #include "stm32l1xx_hal.h" is used. 9 | 10 | 2- Update the SPI settings. Here HAL library is utilized. If you are using STM32CubeMX, set SPI settings and change the handler here, i.e. hspiX. 11 | 12 | 3- Set the CS pin and port. 13 | 14 | -- In main.c 15 | 16 | 4- Define an ADXL_InitTypeDef structure and set appropriate elements. Full explanation exists in ADXL.h and ADXL.c files. You can also refer to ADXL345 datasheet. 17 | 18 | 5- Define an adxlStatus variable. 19 | 20 | 6- Add ADXL_Init() functions. Its output should be ADXL_OK, otherwise there is some problems. 21 | 22 | 7- Use other functions like ADXL_Measure(ON) and ADXL_getAccel() as mentioned in the library files. 23 | --------------------------------------------------------------------------------