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Updated acceleration and raw values calculations
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@aeraterta
aeraterta committed Jan 21, 2025
1 parent b81ba2d commit 8906d57
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Showing 3 changed files with 203 additions and 99 deletions.
200 changes: 128 additions & 72 deletions src/adxl345.c
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Original file line number Diff line number Diff line change
Expand Up @@ -75,9 +75,9 @@ int8_t adxl345_setup(adxl345_dev *dev, adxl345_init_param adxl345_params) {
}

dev->power_mode = adxl345_params.power_mode;
dev->odr = adxl345_params.odr;
dev->odr = adxl345_params.odr;
dev->resolution = adxl345_params.resolution;
dev->scale = adxl345_params.scale;
dev->scale = adxl345_params.scale;

ret |= adxl345_set_measure_mode(dev, ADXL345_STANDBY_MODE);
ret |= adxl345_set_power_mode(dev, dev->power_mode);
Expand All @@ -88,11 +88,10 @@ int8_t adxl345_setup(adxl345_dev *dev, adxl345_init_param adxl345_params) {
ret |= adxl345_set_interrupt_enable(dev, ADXL345_INT_WATERMARK, 1);
ret |= adxl345_set_interrupt_enable(dev, ADXL345_INT_OVERRUNY, 1);
ret |= adxl345_set_measure_mode(dev, ADXL345_MEASURE_MODE);

if (ret == ADXL345_STATUS_SUCCESS) {
dev->is_Setup = true;
}
else {
} else {
dev->is_Setup = false;
}

Expand Down Expand Up @@ -232,7 +231,7 @@ int8_t adxl345_set_odr(adxl345_dev *device, adxl345_odr odr) {
* - 0 on success.
* - Non-zero error code on failure.
*/
int8_t adxl345_set_scale(adxl345_dev *device, adxl345_scale scale) {
int8_t adxl345_set_scale(adxl345_dev *device, adxl345_scale_config scale) {
uint8_t val = 0x00;

if (i2c_read_byte(ADXL345_I2C_ADDRESS, ADXL345_REG_DATA_FORMAT, &val) !=
Expand All @@ -241,9 +240,24 @@ int8_t adxl345_set_scale(adxl345_dev *device, adxl345_scale scale) {
}

val &= ~0x03;
val = val | scale << ADXL345_SCALE_MASK;

device->scale = scale;
val = val | scale.scale << ADXL345_SCALE_MASK;

device->scale.scale = scale.scale;

switch (scale.scale) {
case ADXL345_SCALE_2G:
device->scale.fs = ADXL345_FULL_SCALE_2G;
break;
case ADXL345_SCALE_4G:
device->scale.fs = ADXL345_FULL_SCALE_4G;
break;
case ADXL345_SCALE_8G:
device->scale.fs = ADXL345_FULL_SCALE_8G;
break;
case ADXL345_SCALE_16G:
device->scale.fs = ADXL345_FULL_SCALE_16G;
break;
}

uint8_t data_buffer[] = {ADXL345_REG_DATA_FORMAT, val};
return i2c_write_bytes(ADXL345_I2C_ADDRESS, data_buffer);
Expand All @@ -263,7 +277,7 @@ int8_t adxl345_set_scale(adxl345_dev *device, adxl345_scale scale) {
* - Non-zero error code on failure.
*/
int8_t adxl345_set_resolution(adxl345_dev *device,
adxl345_resolution resolution) {
adxl345_resolution_config resolution) {
uint8_t val = 0x00;

if (i2c_read_byte(ADXL345_I2C_ADDRESS, ADXL345_REG_DATA_FORMAT, &val) !=
Expand All @@ -272,9 +286,32 @@ int8_t adxl345_set_resolution(adxl345_dev *device,
}

val &= ~0x08;
val = val | resolution << ADXL345_RESOLUTION_MASK;

device->resolution = resolution;
val = val | resolution.resolution << ADXL345_RESOLUTION_MASK;

device->resolution.resolution = resolution.resolution;
if (resolution.resolution == ADXL345_RES_10BIT) {
device->resolution.bits = 10;
device->resolution.mask = 6;
} else {
switch (device->scale.scale) {
case ADXL345_SCALE_2G:
device->resolution.bits = 10;
device->resolution.mask = 6;
break;
case ADXL345_SCALE_4G:
device->resolution.bits = 11;
device->resolution.mask = 5;
break;
case ADXL345_SCALE_8G:
device->resolution.bits = 12;
device->resolution.mask = 4;
break;
case ADXL345_SCALE_16G:
device->resolution.bits = 13;
device->resolution.mask = 3;
break;
}
}

uint8_t data_buffer[] = {ADXL345_REG_DATA_FORMAT, val};
return i2c_write_bytes(ADXL345_I2C_ADDRESS, data_buffer);
Expand Down Expand Up @@ -545,7 +582,7 @@ int8_t adxl345_get_interrupt_status(adxl345_dev *device) {
return ADXL345_STATUS_SUCCESS;
}

int8_t adxl345_get_axes_data_x(adxl345_dev *device, adxl345_axes_data *data) {
int8_t adxl345_get_raw_x(adxl345_dev *device, adxl345_axes_data *data) {
uint8_t val_l = 0x00;
uint8_t val_h = 0x00;

Expand All @@ -559,30 +596,12 @@ int8_t adxl345_get_axes_data_x(adxl345_dev *device, adxl345_axes_data *data) {
return ADXL345_STATUS_API_ERR;
}

if (device->resolution == ADXL345_RES_10BIT){
data->x = ((val_h << 8) | val_l) >> ADXL345_RES_10BIT_MASK;
}
else {
switch (device->scale){
case ADXL345_SCALE_2G:
data->x = ((val_h << 8) | val_l) >> ADXL345_RES_10BIT_MASK;
break;
case ADXL345_SCALE_4G:
data->x = ((val_h << 8) | val_l) >> ADXL345_RES_11BIT_MASK;
break;
case ADXL345_SCALE_8G:
data->x = ((val_h << 8) | val_l) >> ADXL345_RES_12BIT_MASK;
break;
case ADXL345_SCALE_16G:
data->x = ((val_h << 8) | val_l) >> ADXL345_RES_13BIT_MASK;
break;
}
}
data->raw_data.x = ((val_h << 8) | val_l) >> device->resolution.mask;

return ADXL345_STATUS_SUCCESS;
}

int8_t adxl345_get_axes_data_y(adxl345_dev *device, adxl345_axes_data *data) {
int8_t adxl345_get_raw_y(adxl345_dev *device, adxl345_axes_data *data) {
uint8_t val_l = 0x00;
uint8_t val_h = 0x00;

Expand All @@ -596,30 +615,12 @@ int8_t adxl345_get_axes_data_y(adxl345_dev *device, adxl345_axes_data *data) {
return ADXL345_STATUS_API_ERR;
}

if (device->resolution == ADXL345_RES_10BIT){
data->y = ((val_h << 8) | val_l) >> ADXL345_RES_10BIT_MASK;
}
else {
switch (device->scale){
case ADXL345_SCALE_2G:
data->y = ((val_h << 8) | val_l) >> ADXL345_RES_10BIT_MASK;
break;
case ADXL345_SCALE_4G:
data->y = ((val_h << 8) | val_l) >> ADXL345_RES_11BIT_MASK;
break;
case ADXL345_SCALE_8G:
data->y = ((val_h << 8) | val_l) >> ADXL345_RES_12BIT_MASK;
break;
case ADXL345_SCALE_16G:
data->y = ((val_h << 8) | val_l) >> ADXL345_RES_13BIT_MASK;
break;
}
}
data->raw_data.y = ((val_h << 8) | val_l) >> device->resolution.mask;

return ADXL345_STATUS_SUCCESS;
}

int8_t adxl345_get_axes_data_z(adxl345_dev *device, adxl345_axes_data *data) {
int8_t adxl345_get_raw_z(adxl345_dev *device, adxl345_axes_data *data) {
uint8_t val_l = 0x00;
uint8_t val_h = 0x00;

Expand All @@ -633,25 +634,80 @@ int8_t adxl345_get_axes_data_z(adxl345_dev *device, adxl345_axes_data *data) {
return ADXL345_STATUS_API_ERR;
}

if (device->resolution == ADXL345_RES_10BIT){
data->z = ((val_h << 8) | val_l) >> ADXL345_RES_10BIT_MASK;
}
else {
switch (device->scale){
case ADXL345_SCALE_2G:
data->z = ((val_h << 8) | val_l) >> ADXL345_RES_10BIT_MASK;
break;
case ADXL345_SCALE_4G:
data->z = ((val_h << 8) | val_l) >> ADXL345_RES_11BIT_MASK;
break;
case ADXL345_SCALE_8G:
data->z = ((val_h << 8) | val_l) >> ADXL345_RES_12BIT_MASK;
break;
case ADXL345_SCALE_16G:
data->z = ((val_h << 8) | val_l) >> ADXL345_RES_13BIT_MASK;
break;
}
data->raw_data.z = ((val_h << 8) | val_l) >> device->resolution.mask;

return ADXL345_STATUS_SUCCESS;
}

int8_t adxl345_get_raw_xyz(adxl345_dev *device, adxl345_axes_data *data) {
uint8_t val[6];

printf("resolution: %d\r\n", device->resolution.resolution);
printf("bits: %d\r\n", device->resolution.bits);
printf("mask: %d\r\n", device->resolution.mask);
printf("scale: %d\r\n", device->scale.scale);

if (i2c_read_byte(ADXL345_I2C_ADDRESS, ADXL345_REG_DATAX1, &val[1]) !=
ADXL345_STATUS_SUCCESS) {
return ADXL345_STATUS_API_ERR;
}

if (i2c_read_byte(ADXL345_I2C_ADDRESS, ADXL345_REG_DATAX0, &val[0]) !=
ADXL345_STATUS_SUCCESS) {
return ADXL345_STATUS_API_ERR;
}

if (i2c_read_byte(ADXL345_I2C_ADDRESS, ADXL345_REG_DATAY1, &val[3]) !=
ADXL345_STATUS_SUCCESS) {
return ADXL345_STATUS_API_ERR;
}

if (i2c_read_byte(ADXL345_I2C_ADDRESS, ADXL345_REG_DATAY0, &val[2]) !=
ADXL345_STATUS_SUCCESS) {
return ADXL345_STATUS_API_ERR;
}

if (i2c_read_byte(ADXL345_I2C_ADDRESS, ADXL345_REG_DATAZ1, &val[5]) !=
ADXL345_STATUS_SUCCESS) {
return ADXL345_STATUS_API_ERR;
}

if (i2c_read_byte(ADXL345_I2C_ADDRESS, ADXL345_REG_DATAZ0, &val[4]) !=
ADXL345_STATUS_SUCCESS) {
return ADXL345_STATUS_API_ERR;
}

printf("X: 0x%.4X\r\n", (val[1] << 8) | val[0]);
printf("Y: 0x%.4X\r\n", (val[3] << 8) | val[3]);
printf("Z: 0x%.4X\r\n", (val[5] << 8) | val[4]);

data->raw_data.x = ((val[1] << 8) | val[0]) >> device->resolution.mask;
data->raw_data.y = ((val[3] << 8) | val[2]) >> device->resolution.mask;
data->raw_data.z = ((val[5] << 8) | val[4]) >> device->resolution.mask;

data->raw_data.x = twos_complement(data->raw_data.x, device->resolution.bits);
data->raw_data.y = twos_complement(data->raw_data.y, device->resolution.bits);
data->raw_data.z = twos_complement(data->raw_data.z, device->resolution.bits);

return ADXL345_STATUS_SUCCESS;
}

void adxl345_get_acc_xyz(adxl345_dev *device, adxl345_axes_data *data) {

data->acc_data.x = (float)(data->raw_data.x * device->scale.fs) /
(float)(1 << device->resolution.bits);
data->acc_data.y = (float)(data->raw_data.y * device->scale.fs) /
(float)(1 << device->resolution.bits);
data->acc_data.z = (float)(data->raw_data.z * device->scale.fs) /
(float)(1 << device->resolution.bits);
}

int16_t twos_complement(uint16_t value, int bits) {
uint16_t mask = (1 << bits) - 1;

if (value & (1 << (bits - 1))) {
return -(int16_t)((~value & mask) + 1);
} else {
return (int16_t)value;
}
}
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