ADXL345.h

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/*
 * ADXL345.h  Created on: 17 May 2014
 * Copyright (c) 2014 Derek Molloy (www.derekmolloy.ie)
 * Made available for the book "Exploring BeagleBone" 
 * See: www.exploringbeaglebone.com
 * Licensed under the EUPL V.1.1
 *
 * This Software is provided to You under the terms of the European 
 * Union Public License (the "EUPL") version 1.1 as published by the 
 * European Union. Any use of this Software, other than as authorized 
 * under this License is strictly prohibited (to the extent such use 
 * is covered by a right of the copyright holder of this Software).
 * 
 * This Software is provided under the License on an "AS IS" basis and 
 * without warranties of any kind concerning the Software, including 
 * without limitation merchantability, fitness for a particular purpose, 
 * absence of defects or errors, accuracy, and non-infringement of 
 * intellectual property rights other than copyright. This disclaimer 
 * of warranty is an essential part of the License and a condition for 
 * the grant of any rights to this Software.
 * 
 * For more details, see http://www.derekmolloy.ie/
 */

#ifndef ADXL345_H_
#define ADXL345_H_
//#include"../bus/I2CDevice.h"
#include "../bus/BusDevice.h"

#define BUFFER_SIZE 0x40

namespace exploringBB {

class ADXL345{

public:
        enum RANGE {
                PLUSMINUS_2_G           = 0,
                PLUSMINUS_4_G           = 1,
                PLUSMINUS_8_G           = 2,
                PLUSMINUS_16_G          = 3 
        };
        enum RESOLUTION {
                NORMAL = 0,
                HIGH = 1   
        };

private:
        BusDevice *device;
        unsigned char *registers;
        ADXL345::RANGE range;
        ADXL345::RESOLUTION resolution;
        short accelerationX, accelerationY, accelerationZ; // raw 2's complement values
        float pitch, roll;                                 // in degrees
        short combineRegisters(unsigned char msb, unsigned char lsb);
        void calculatePitchAndRoll();
        virtual int updateRegisters();

public:
        ADXL345(BusDevice *busDevice);
        virtual int readSensorState();

        virtual void setRange(ADXL345::RANGE range);
        virtual ADXL345::RANGE getRange() { return this->range; }
        virtual void setResolution(ADXL345::RESOLUTION resolution);
        virtual ADXL345::RESOLUTION getResolution() { return this->resolution; }

        virtual short getAccelerationX() { return accelerationX; }
        virtual short getAccelerationY() { return accelerationY; }
        virtual short getAccelerationZ() { return accelerationZ; }
        virtual float getPitch() { return pitch; }
        virtual float getRoll() { return roll; }

        // Debugging method to display and update the pitch/roll on the one line
        virtual void displayPitchAndRoll(int iterations = 600);
        virtual ~ADXL345();
};

} /* namespace exploringBB */

#endif /* ADXL345_H_ */