first commit

src/drivers/AccelerometerController.cpp

@@ -0,0 +1,130 @@
+#include "drivers/AccelerometerController.h"
+
+ADXL345Controller::ADXL345Controller(uint8_t deviceAddress) :
+    _deviceAddress(deviceAddress),
+    _lastReadTime(0),
+    _minReadInterval(DEFAULT_MIN_READ_INTERVAL),
+    _lastX(0.0),
+    _lastY(0.0),
+    _lastZ(0.0),
+    _lastReadSuccess(false) {
+}
+
+void ADXL345Controller::begin() {
+    Wire.begin();
+    
+    uint8_t deviceID = readRegister(ADXL345_DEVID);
+    if (deviceID != 0xE5) {
+        _lastReadSuccess = false;
+        return;
+    }
+    
+    setRegister(ADXL345_POWER_CTL, 0x08);
+    
+    setRegister(ADXL345_DATA_FORMAT, 0x0B);
+    
+    setRegister(ADXL345_BW_RATE, 0x0A);
+    
+    setRegister(ADXL345_OFSX, 0x00);
+    setRegister(ADXL345_OFSY, 0x00);
+    setRegister(ADXL345_OFSZ, 0x00);
+    
+    _lastReadSuccess = true;
+}
+
+bool ADXL345Controller::read() {
+    unsigned long currentTime = millis();
+    
+    if (currentTime - _lastReadTime >= _minReadInterval) {
+        _lastReadTime = currentTime;
+        
+        uint8_t buffer[6];
+        readRegisters(ADXL345_DATAX0, 6, buffer);
+        
+        int16_t x = ((int16_t)buffer[1] << 8) | buffer[0];
+        int16_t y = ((int16_t)buffer[3] << 8) | buffer[2];
+        int16_t z = ((int16_t)buffer[5] << 8) | buffer[4];
+        
+        _lastX = x / 256.0;
+        _lastY = y / 256.0;
+        _lastZ = z / 256.0;
+        
+        _lastReadSuccess = true;
+        return true;
+    }
+    
+    return _lastReadSuccess;
+}
+
+double ADXL345Controller::getX() {
+    if (millis() - _lastReadTime >= _minReadInterval) read();
+    return _lastX;
+}
+
+double ADXL345Controller::getY() {
+    if (millis() - _lastReadTime >= _minReadInterval) read();
+    return _lastY;
+}
+
+double ADXL345Controller::getZ() {
+    if (millis() - _lastReadTime >= _minReadInterval) read();
+    return _lastZ;
+}
+
+bool ADXL345Controller::isLastReadSuccessful() const {
+    return _lastReadSuccess;
+}
+
+void ADXL345Controller::setMinReadInterval(unsigned long interval) {
+    _minReadInterval = interval;
+}
+
+void ADXL345Controller::setRange(uint8_t range) {
+    uint8_t format = readRegister(ADXL345_DATA_FORMAT);
+    
+    format &= ~0x03;
+    
+    if (range > 3) range = 3;
+    format |= range;
+    
+    setRegister(ADXL345_DATA_FORMAT, format);
+}
+
+void ADXL345Controller::setDataRate(uint8_t rate) {
+    if (rate > 15) rate = 15;
+    
+    setRegister(ADXL345_BW_RATE, rate);
+}
+
+void ADXL345Controller::setOffsets(int8_t xOffset, int8_t yOffset, int8_t zOffset) {
+    setRegister(ADXL345_OFSX, xOffset);
+    setRegister(ADXL345_OFSY, yOffset);
+    setRegister(ADXL345_OFSZ, zOffset);
+}
+
+void ADXL345Controller::setRegister(uint8_t reg, uint8_t value) {
+    Wire.beginTransmission(_deviceAddress);
+    Wire.write(reg);
+    Wire.write(value);
+    Wire.endTransmission();
+}
+
+uint8_t ADXL345Controller::readRegister(uint8_t reg) {
+    Wire.beginTransmission(_deviceAddress);
+    Wire.write(reg);
+    Wire.endTransmission();
+    
+    Wire.requestFrom(_deviceAddress, (uint8_t)1);
+    return Wire.read();
+}
+
+void ADXL345Controller::readRegisters(uint8_t reg, uint8_t count, uint8_t *buffer) {
+    Wire.beginTransmission(_deviceAddress);
+    Wire.write(reg);
+    Wire.endTransmission();
+    
+    Wire.requestFrom(_deviceAddress, count);
+    for (uint8_t i = 0; i < count && Wire.available(); i++) {
+        buffer[i] = Wire.read();
+    }
+}