//*****************************************************************************
// Usefull Function With I2C 4 Setup ADXL345 Or ADXL346
// Copyright : www.RoboticNGO.com & www.ECA.ir
// Author : S_Ahmad (Seyyed Ahmad Mousavi)
// Remarks :
// known Problems : None
// Version : 1.3
// Date : 1392/9/16
// Description :
// Company : www.RoboticNGO.com & www.ECA.ir
// Compiler: CodeVisionAVR V2.05.3+
//
// -----------------
// | ----------------
// |- GND ------GND| ADXL 345 |
// MicroController |- +5v ------+5v| Acceleration |
// Board |- SDA ------SDA| Module |
// |- SCL ------SCL| |
// | ----------------
//------------------
//
//*****************************************************************************
#include <delay.h>
#include <math.h>
#ifndef __ADXL345_H
#define __ADXL345_H
#pragma used+
unsigned int Accel_Xout_Val=0, Accel_Yout_Val=0, Accel_Zout_Val=0;
int Accel_Xout_Normalized_Val=0, Accel_Yout_Normalized_Val=0, Accel_Zout_Normalized_Val=0;
unsigned char Offset_X_Val=0,Offset_Y_Val=0,Offset_Z_Val=0;
float Accel_XAngle=0, Accel_YAngle=0, Accel_ZAngle=0;
////|/============ S_Ahmad >>>> www.RoboticNGO.com >>>> ADXL345 Lib /|/|/|/|/
#define ADXL345_Addr 0xA6
//ADXL345 REGISTER ADDRESS MAP:
#define RA_DEVID 0x00 // R 0xE5 Device ID
#define RA_THRESH_TAP 0x1D // R/W 0 Tap threshold
#define RA_OFSX 0x1E // R/W 0 X-axis offset
#define RA_OFSY 0x1F // R/W 0 Y-axis offset
#define RA_OFSZ 0x20 // R/W 0 Z-axis offset
#define RA_DUR 0x21 // R/W 0 Tap duration
#define RA_Latent 0x22 // R/W 0 Tap latency
#define RA_Window 0x23 // R/W 0 Tap window
#define RA_THRESH_ACT 0x24 // R/W 0 Activity threshold
#define RA_THRESH_INACT 0x25 // R/W 0 Inactivity threshold
#define RA_TIME_INACT 0x26 // R/W 0 Inactivity time
#define RA_ACT_INACT_CTL 0x27 // R/W 0 Axis enable control for activity and inactivity detection
#define RA_THRESH_FF 0x28 // R/W 0 Free-fall threshold
#define RA_TIME_FF 0x29 // R/W 0 Free-fall time
#define RA_TAP_AXES 0x2A // R/W 0 Axis control for single tap/double tap
#define RA_ACT_TAP_STATUS 0x2B // R 0 Source of single tap/double tap
#define RA_BW_RATE 0x2C // R/W 0x0A Data rate and power mode control
#define RA_POWER_CTL 0x2D // R/W 0 Power-saving features control
#define RA_INT_ENABLE 0x2E // R/W 0 Interrupt enable control
#define RA_INT_MAP 0x2F // R/W 0 Interrupt mapping control
#define RA_INT_SOURCE 0x30 // R 0x02 Source of interrupts
#define RA_DATA_FORMAT 0x31 // R/W 0 Data format control
#define RA_DATAX0 0x32 // R 0 X-Axis Data 0
#define RA_DATAX1 0x33 // R 0 X-Axis Data 1
#define RA_DATAY0 0x34 // R 0 Y-Axis Data 0
#define RA_DATAY1 0x35 // R 0 Y-Axis Data 1
#define RA_DATAZ0 0x36 // R 0 Z-Axis Data 0
#define RA_DATAZ1 0x37 // R 0 Z-Axis Data 1
#define RA_FIFO_CTL 0x38 // R/W 0 FIFO control
#define RA_FIFO_STATUS 0x39 // R 0 FIFO status
////|/============ S_Ahmad >>>> www.RoboticNGO.com >>>> ADXL345 Lib /|/|/|/|/
unsigned char read_i2c(unsigned char BusAddres , unsigned char Reg , unsigned char Ack )
{
unsigned char Data;
i2c_start();
i2c_write(BusAddres);
i2c_write(Reg);
i2c_start();
i2c_write(BusAddres + 1);
delay_ms(1);
Data=i2c_read(Ack);
i2c_stop();
return Data;
}
////|/============ S_Ahmad >>>> www.RoboticNGO.com >>>> ADXL345 Lib /|/|/|/|/
void write_i2c(unsigned char BusAddres , unsigned char Reg , unsigned char Data)
{
i2c_start();
i2c_write(BusAddres);
i2c_write(Reg);
i2c_write(Data);
i2c_stop();
}
////|/============ S_Ahmad >>>> www.RoboticNGO.com >>>> ADXL345 Lib /|/|/|/|/
unsigned char GetDeviceID(void)
{
return read_i2c(ADXL345_Addr,RA_DEVID,0);
}
////|/============ S_Ahmad >>>> www.RoboticNGO.com >>>> ADXL345 Lib /|/|/|/|/
void Set_X_Offset(unsigned char X_Val)
{
write_i2c(ADXL345_Addr,RA_OFSX,X_Val);
}
////|/============ S_Ahmad >>>> www.RoboticNGO.com >>>> ADXL345 Lib /|/|/|/|/
void Set_Y_Offset(unsigned char Y_Val)
{
write_i2c(ADXL345_Addr,RA_OFSY,Y_Val);
}
////|/============ S_Ahmad >>>> www.RoboticNGO.com >>>> ADXL345 Lib /|/|/|/|/
void Set_Z_Offset(unsigned char Z_Val)
{
write_i2c(ADXL345_Addr,RA_OFSZ,Z_Val);
}
////|/============ S_Ahmad >>>> www.RoboticNGO.com >>>> ADXL345 Lib /|/|/|/|/
void Get_Offset_Values(void)
{
Offset_X_Val = read_i2c(ADXL345_Addr,RA_OFSX,0);
Offset_Y_Val = read_i2c(ADXL345_Addr,RA_OFSY,0);
Offset_Z_Val = read_i2c(ADXL345_Addr,RA_OFSZ,0);
}
////|/============ S_Ahmad >>>> www.RoboticNGO.com >>>> ADXL345 Lib /|/|/|/|/
void Get_Accel_Values(void)
{
Get_Offset_Values();
Accel_Xout_Val = ( (read_i2c(ADXL345_Addr,RA_DATAX1,0)<<8) | read_i2c(ADXL345_Addr,RA_DATAX0,0) )-Offset_X_Val;
Accel_Yout_Val = ( (read_i2c(ADXL345_Addr,RA_DATAY1,0)<<8) | read_i2c(ADXL345_Addr,RA_DATAY0,0) )-Offset_Y_Val;
Accel_Zout_Val = ( (read_i2c(ADXL345_Addr,RA_DATAZ1,0)<<8) | read_i2c(ADXL345_Addr,RA_DATAZ0,0) )-Offset_Z_Val;
}
////|/============ S_Ahmad >>>> www.RoboticNGO.com >>>> ADXL345 Lib /|/|/|/|/
void Get_Averge_Accel_Values(void)
{
#define NumAve 20
unsigned long int Ave=0;
unsigned char i=NumAve;
Get_Offset_Values();
while(i--)
{
Accel_Xout_Val = ( (read_i2c(ADXL345_Addr,RA_DATAX1,0)<<8) | read_i2c(ADXL345_Addr,RA_DATAX0,0) )-Offset_X_Val;
Ave+=Accel_Xout_Val;
}
Accel_Xout_Val=Ave/NumAve;
Ave=0;
i=NumAve;
while(i--)
{
Accel_Yout_Val = ( (read_i2c(ADXL345_Addr,RA_DATAY1,0)<<8) | read_i2c(ADXL345_Addr,RA_DATAY0,0) )-Offset_Y_Val;
Ave+=Accel_Yout_Val;
}
Accel_Yout_Val=Ave/NumAve;
Ave=0;
i=NumAve;
while(i--)
{
Accel_Zout_Val = ( (read_i2c(ADXL345_Addr,RA_DATAZ1,0)<<8) | read_i2c(ADXL345_Addr,RA_DATAZ0,0) )-Offset_Z_Val;
Ave+=Accel_Zout_Val;
}
Accel_Zout_Val=Ave/NumAve;
Ave=0;
}
////|/============ S_Ahmad >>>> www.RoboticNGO.com >>>> ADXL345 Lib /|/|/|/|/
void Get_Accel_Angles(void)
{
Get_Accel_Values();
// Convert Unsigned Int To Int
Accel_Xout_Normalized_Val = Accel_Xout_Val;
Accel_Yout_Normalized_Val = Accel_Yout_Val;
Accel_Zout_Normalized_Val = Accel_Zout_Val;
// Calculate The Angle Of Each Axis
Accel_XAngle = 57.295*atan((float) Accel_Xout_Normalized_Val / sqrt(pow((float)Accel_Zout_Normalized_Val,2)+pow((float)Accel_Yout_Normalized_Val,2)));
Accel_YAngle = 57.295*atan((float) Accel_Yout_Normalized_Val / sqrt(pow((float)Accel_Zout_Normalized_Val,2)+pow((float)Accel_Xout_Normalized_Val,2)));
Accel_ZAngle = 57.295*atan((float) sqrt(pow((float)Accel_Xout_Normalized_Val,2)+pow((float)Accel_Yout_Normalized_Val,2))/ Accel_Zout_Normalized_Val );
}
////|/============ S_Ahmad >>>> www.RoboticNGO.com >>>> ADXL345 Lib /|/|/|/|/
void ADXL345_SelfTest(void)
{
// VS=ON VDDi/o=ON
delay_ms(2);
// INITIAL COMMAND SEQUENCE
write_i2c(ADXL345_Addr,RA_DATA_FORMAT,0x0B); // +/-16g , 13-BIT MODE
write_i2c(ADXL345_Addr,RA_POWER_CTL,0x08); // START MEASUREMENT
write_i2c(ADXL345_Addr,RA_INT_ENABLE,0x80); // ENABLE DATA_READY INTERRUPT
delay_ms(2);
