SparkFun_ADXL345.cpp

/*
Sparkfun's ADXL345 Library Main Source File
SparkFun_ADXL345.cpp

E.Robert @ SparkFun Electronics
Created: Jul 13, 2016
Updated: Sep 06, 2016

Modified Bildr ADXL345 Source File @ http://code.bildr.org/download/959.zip
to support both I2C and SPI Communication

Hardware Resources:
- Arduino Development Board
- SparkFun Triple Access Accelerometer ADXL345

Development Environment Specifics:
Arduino 1.6.8
SparkFun Triple Axis Accelerometer Breakout - ADXL345
Arduino Uno
*/

#include "Arduino.h"
#include "SparkFun_ADXL345.h"
#include <Wire.h>
#include <SPI.h>

#define ADXL345_DEVICE (0x53)    // Device Address for ADXL345
#define ADXL345_TO_READ (6)      // Number of Bytes Read - Two Bytes Per Axis

ADXL345::ADXL345() {
	status = ADXL345_OK;
	error_code = ADXL345_NO_ERROR;

	gains[0] = 0.00376390;		// Original gain 0.00376390
	gains[1] = 0.00376009;		// Original gain 0.00376009
	gains[2] = 0.00349265;		// Original gain 0.00349265
	I2C = true;
}

ADXL345::ADXL345(int CS) {
	status = ADXL345_OK;
	error_code = ADXL345_NO_ERROR;

	gains[0] = 0.00376390;
	gains[1] = 0.00376009;
	gains[2] = 0.00349265;
	_CS = CS;
	I2C = false;
	SPI.begin();
	SPI.setDataMode(SPI_MODE3);
	pinMode(_CS, OUTPUT);
	digitalWrite(_CS, HIGH);
}

void ADXL345::powerOn() {
	if(I2C) {
		Wire.begin();				// If in I2C Mode Only
	}
	//ADXL345 TURN ON
	writeTo(ADXL345_POWER_CTL, 0);	// Wakeup
	writeTo(ADXL345_POWER_CTL, 16);	// Auto_Sleep
	writeTo(ADXL345_POWER_CTL, 8);	// Measure
}


/*********************** READING ACCELERATION ***********************/
/*    Reads Acceleration into Three Variables:  x, y and z          */

void ADXL345::readAccel(int *xyz){
	readAccel(xyz, xyz + 1, xyz + 2);
}

void ADXL345::readAccel(int *x, int *y, int *z) {
	readFrom(ADXL345_DATAX0, ADXL345_TO_READ, _buff);	// Read Accel Data from ADXL345

	// Each Axis @ All g Ranges: 10 Bit Resolution (2 Bytes)
	*x = (int16_t)((((int)_buff[1]) << 8) | _buff[0]);
	*y = (int16_t)((((int)_buff[3]) << 8) | _buff[2]);
	*z = (int16_t)((((int)_buff[5]) << 8) | _buff[4]);
}

void ADXL345::get_Gxyz(double *xyz){
	int i;
	int xyz_int[3];
	readAccel(xyz_int);
	for(i=0; i<3; i++){
		xyz[i] = xyz_int[i] * gains[i];
	}
}

/***************** WRITES VALUE TO ADDRESS REGISTER *****************/
void ADXL345::writeTo(byte address, byte val) {
	if(I2C) {
		writeToI2C(address, val);
	}
	else {
		writeToSPI(address, val);
	}
}

/************************ READING NUM BYTES *************************/
/*    Reads Num Bytes. Starts from Address Reg to _buff Array        */
void ADXL345::readFrom(byte address, int num, byte _buff[]) {
	if(I2C) {
		readFromI2C(address, num, _buff);	// If I2C Communication
	}
	else {
		readFromSPI(address, num, _buff);	// If SPI Communication
	}
}

/*************************** WRITE TO I2C ***************************/
/*      Start; Send Register Address; Send Value To Write; End      */
void ADXL345::writeToI2C(byte _address, byte _val) {
	Wire.beginTransmission(ADXL345_DEVICE);
	Wire.write(_address);
	Wire.write(_val);
	Wire.endTransmission();
}

/*************************** READ FROM I2C **************************/
/*                Start; Send Address To Read; End                  */
void ADXL345::readFromI2C(byte address, int num, byte _buff[]) {
	Wire.beginTransmission(ADXL345_DEVICE);
	Wire.write(address);
	Wire.endTransmission();

//	Wire.beginTransmission(ADXL345_DEVICE);
// Wire.reqeustFrom contains the beginTransmission and endTransmission in it. 
	Wire.requestFrom(ADXL345_DEVICE, num);  // Request 6 Bytes

	int i = 0;
	while(Wire.available())
	{
		_buff[i] = Wire.read();				// Receive Byte
		i++;
	}
	if(i != num){
		status = ADXL345_ERROR;
		error_code = ADXL345_READ_ERROR;
	}
//	Wire.endTransmission();
}

/************************** WRITE FROM SPI **************************/
/*         Point to Destination; Write Value; Turn Off              */
void ADXL345::writeToSPI(byte __reg_address, byte __val) {
  digitalWrite(_CS, LOW);
  SPI.transfer(__reg_address);
  SPI.transfer(__val);
  digitalWrite(_CS, HIGH);
}

/*************************** READ FROM SPI **************************/
/*                                                                  */
void ADXL345::readFromSPI(byte __reg_address, int num, byte _buff[]) {
  // Read: Most Sig Bit of Reg Address Set
  char _address = 0x80 | __reg_address;
  // If Multi-Byte Read: Bit 6 Set
  if(num > 1) {
  	_address = _address | 0x40;
  }

  digitalWrite(_CS, LOW);
  SPI.transfer(_address);		// Transfer Starting Reg Address To Be Read
  for(int i=0; i<num; i++){
    _buff[i] = SPI.transfer(0x00);
  }
  digitalWrite(_CS, HIGH);
}

/*************************** RANGE SETTING **************************/
/*          ACCEPTABLE VALUES: 2g, 4g, 8g, 16g ~ GET & SET          */
void ADXL345::getRangeSetting(byte* rangeSetting) {
	byte _b;
	readFrom(ADXL345_DATA_FORMAT, 1, &_b);
	*rangeSetting = _b & B00000011;
}

void ADXL345::setRangeSetting(int val) {
	byte _s;
	byte _b;

	switch (val) {
		case 2:
			_s = B00000000;
			break;
		case 4:
			_s = B00000001;
			break;
		case 8:
			_s = B00000010;
			break;
		case 16:
			_s = B00000011;
			break;
		default:
			_s = B00000000;
	}
	readFrom(ADXL345_DATA_FORMAT, 1, &_b);
	_s |= (_b & B11101100);
	writeTo(ADXL345_DATA_FORMAT, _s);
}

/*************************** SELF_TEST BIT **************************/
/*                            ~ GET & SET                           */
bool ADXL345::getSelfTestBit() {
	return getRegisterBit(ADXL345_DATA_FORMAT, 7);
}

// If Set (1) Self-Test Applied. Electrostatic Force exerted on the sensor
//  causing a shift in the output data.
// If Set (0) Self-Test Disabled.
void ADXL345::setSelfTestBit(bool selfTestBit) {
	setRegisterBit(ADXL345_DATA_FORMAT, 7, selfTestBit);
}

/*************************** SPI BIT STATE **************************/
/*                           ~ GET & SET                            */
bool ADXL345::getSpiBit() {
	return getRegisterBit(ADXL345_DATA_FORMAT, 6);
}

// If Set (1) Puts Device in 3-wire Mode
// If Set (0) Puts Device in 4-wire SPI Mode
void ADXL345::setSpiBit(bool spiBit) {
	setRegisterBit(ADXL345_DATA_FORMAT, 6, spiBit);
}

/*********************** INT_INVERT BIT STATE ***********************/
/*                           ~ GET & SET                            */
bool ADXL345::getInterruptLevelBit() {
	return getRegisterBit(ADXL345_DATA_FORMAT, 5);
}

// If Set (0) Sets the Interrupts to Active HIGH
// If Set (1) Sets the Interrupts to Active LOW
void ADXL345::setInterruptLevelBit(bool interruptLevelBit) {
	setRegisterBit(ADXL345_DATA_FORMAT, 5, interruptLevelBit);
}

/************************* FULL_RES BIT STATE ***********************/
/*                           ~ GET & SET                            */
bool ADXL345::getFullResBit() {
	return getRegisterBit(ADXL345_DATA_FORMAT, 3);
}

// If Set (1) Device is in Full Resolution Mode: Output Resolution Increase with G Range
//  Set by the Range Bits to Maintain a 4mg/LSB Scale Factor
// If Set (0) Device is in 10-bit Mode: Range Bits Determine Maximum G Range
//  And Scale Factor
void ADXL345::setFullResBit(bool fullResBit) {
	setRegisterBit(ADXL345_DATA_FORMAT, 3, fullResBit);
}

/*************************** JUSTIFY BIT STATE **************************/
/*                           ~ GET & SET                            */
bool ADXL345::getJustifyBit() {
	return getRegisterBit(ADXL345_DATA_FORMAT, 2);
}

// If Set (1) Selects the Left Justified Mode
// If Set (0) Selects Right Justified Mode with Sign Extension
void ADXL345::setJustifyBit(bool justifyBit) {
	setRegisterBit(ADXL345_DATA_FORMAT, 2, justifyBit);
}

/*********************** THRESH_TAP BYTE VALUE **********************/
/*                          ~ SET & GET                             */
// Should Set Between 0 and 255
// Scale Factor is 62.5 mg/LSB
// A Value of 0 May Result in Undesirable Behavior
void ADXL345::setTapThreshold(int tapThreshold) {
	tapThreshold = constrain(tapThreshold,0,255);
	byte _b = byte (tapThreshold);
	writeTo(ADXL345_THRESH_TAP, _b);
}

// Return Value Between 0 and 255
// Scale Factor is 62.5 mg/LSB
int ADXL345::getTapThreshold() {
	byte _b;
	readFrom(ADXL345_THRESH_TAP, 1, &_b);
	return int (_b);
}

/****************** GAIN FOR EACH AXIS IN Gs / COUNT *****************/
/*                           ~ SET & GET                            */
void ADXL345::setAxisGains(double *_gains){
	int i;
	for(i = 0; i < 3; i++){
		gains[i] = _gains[i];
	}
}
void ADXL345::getAxisGains(double *_gains){
	int i;
	for(i = 0; i < 3; i++){
		_gains[i] = gains[i];
	}
}

/********************* OFSX, OFSY and OFSZ BYTES ********************/
/*                           ~ SET & GET                            */
// OFSX, OFSY and OFSZ: User Offset Adjustments in Twos Complement Format
// Scale Factor of 15.6mg/LSB
void ADXL345::setAxisOffset(int x, int y, int z) {
	writeTo(ADXL345_OFSX, byte (x));
	writeTo(ADXL345_OFSY, byte (y));
	writeTo(ADXL345_OFSZ, byte (z));
}

void ADXL345::getAxisOffset(int* x, int* y, int*z) {
	byte _b;
	readFrom(ADXL345_OFSX, 1, &_b);
	*x = int (_b);
	readFrom(ADXL345_OFSY, 1, &_b);
	*y = int (_b);
	readFrom(ADXL345_OFSZ, 1, &_b);
	*z = int (_b);
}

/****************************** DUR BYTE ****************************/
/*                           ~ SET & GET                            */
// DUR Byte: Contains an Unsigned Time Value Representing the Max Time
//  that an Event must be Above the THRESH_TAP Threshold to qualify
//  as a Tap Event
// The scale factor is 625µs/LSB
// Value of 0 Disables the Tap/Double Tap Funcitons. Max value is 255.
void ADXL345::setTapDuration(int tapDuration) {
	tapDuration = constrain(tapDuration,0,255);
	byte _b = byte (tapDuration);
	writeTo(ADXL345_DUR, _b);
}

int ADXL345::getTapDuration() {
	byte _b;
	readFrom(ADXL345_DUR, 1, &_b);
	return int (_b);
}

/************************** LATENT REGISTER *************************/
/*                           ~ SET & GET                            */
// Contains Unsigned Time Value Representing the Wait Time from the Detection
//  of a Tap Event to the Start of the Time Window (defined by the Window
//  Register) during which a possible Second Tap Even can be Detected.
// Scale Factor is 1.25ms/LSB.
// A Value of 0 Disables the Double Tap Function.
// It Accepts a Maximum Value of 255.
void ADXL345::setDoubleTapLatency(int doubleTapLatency) {
	byte _b = byte (doubleTapLatency);
	writeTo(ADXL345_LATENT, _b);
}

int ADXL345::getDoubleTapLatency() {
	byte _b;
	readFrom(ADXL345_LATENT, 1, &_b);
	return int (_b);
}

/************************** WINDOW REGISTER *************************/
/*                           ~ SET & GET                            */
// Contains an Unsigned Time Value Representing the Amount of Time
//  After the Expiration of the Latency Time (determined by Latent register)
//  During which a Second Valid Tape can Begin.
// Scale Factor is 1.25ms/LSB.
// Value of 0 Disables the Double Tap Function.
// It Accepts a Maximum Value of 255.
void ADXL345::setDoubleTapWindow(int doubleTapWindow) {
	doubleTapWindow = constrain(doubleTapWindow,0,255);
	byte _b = byte (doubleTapWindow);
	writeTo(ADXL345_WINDOW, _b);
}

int ADXL345::getDoubleTapWindow() {
	byte _b;
	readFrom(ADXL345_WINDOW, 1, &_b);
	return int (_b);
}

/*********************** THRESH_ACT REGISTER ************************/
/*                          ~ SET & GET                             */
// Holds the Threshold Value for Detecting Activity.
// Data Format is Unsigned, so the Magnitude of the Activity Event is Compared
//  with the Value is Compared with the Value in the THRESH_ACT Register.
// The Scale Factor is 62.5mg/LSB.
// Value of 0 may Result in Undesirable Behavior if the Activity Interrupt Enabled.
// It Accepts a Maximum Value of 255.
void ADXL345::setActivityThreshold(int activityThreshold) {
	activityThreshold = constrain(activityThreshold,0,255);
	byte _b = byte (activityThreshold);
	writeTo(ADXL345_THRESH_ACT, _b);
}

// Gets the THRESH_ACT byte
int ADXL345::getActivityThreshold() {
	byte _b;
	readFrom(ADXL345_THRESH_ACT, 1, &_b);
	return int (_b);
}

/********************** THRESH_INACT REGISTER ***********************/
/*                          ~ SET & GET                             */
// Holds the Threshold Value for Detecting Inactivity.
// The Data Format is Unsigned, so the Magnitude of the INactivity Event is
//  Compared with the value in the THRESH_INACT Register.
// Scale Factor is 62.5mg/LSB.
// Value of 0 May Result in Undesirable Behavior if the Inactivity Interrupt Enabled.
// It Accepts a Maximum Value of 255.
void ADXL345::setInactivityThreshold(int inactivityThreshold) {
	inactivityThreshold = constrain(inactivityThreshold,0,255);
	byte _b = byte (inactivityThreshold);
	writeTo(ADXL345_THRESH_INACT, _b);
}

int ADXL345::getInactivityThreshold() {
	byte _b;
	readFrom(ADXL345_THRESH_INACT, 1, &_b);
	return int (_b);
}

/*********************** TIME_INACT RESIGER *************************/
/*                          ~ SET & GET                             */
// Contains an Unsigned Time Value Representing the Amount of Time that
//  Acceleration must be Less Than the Value in the THRESH_INACT Register
//  for Inactivity to be Declared.
// Uses Filtered Output Data* unlike other Interrupt Functions
// Scale Factor is 1sec/LSB.
// Value Must Be Between 0 and 255.
void ADXL345::setTimeInactivity(int timeInactivity) {
	timeInactivity = constrain(timeInactivity,0,255);
	byte _b = byte (timeInactivity);
	writeTo(ADXL345_TIME_INACT, _b);
}

int ADXL345::getTimeInactivity() {
	byte _b;
	readFrom(ADXL345_TIME_INACT, 1, &_b);
	return int (_b);
}

/*********************** THRESH_FF Register *************************/
/*                          ~ SET & GET                             */
// Holds the Threshold Value, in Unsigned Format, for Free-Fall Detection
// The Acceleration on all Axes is Compared with the Value in THRES_FF to
//  Determine if a Free-Fall Event Occurred.
// Scale Factor is 62.5mg/LSB.
// Value of 0 May Result in Undesirable Behavior if the Free-Fall interrupt Enabled.
// Accepts a Maximum Value of 255.
void ADXL345::setFreeFallThreshold(int freeFallThreshold) {
	freeFallThreshold = constrain(freeFallThreshold,0,255);
	byte _b = byte (freeFallThreshold);
	writeTo(ADXL345_THRESH_FF, _b);
}

int ADXL345::getFreeFallThreshold() {
	byte _b;
	readFrom(ADXL345_THRESH_FF, 1, &_b);
	return int (_b);
}

/************************ TIME_FF Register **************************/
/*                          ~ SET & GET                             */
// Stores an Unsigned Time Value Representing the Minimum Time that the Value
//  of all Axes must be Less Than THRES_FF to Generate a Free-Fall Interrupt.
// Scale Factor is 5ms/LSB.
// Value of 0 May Result in Undesirable Behavior if the Free-Fall Interrupt Enabled.
// Accepts a Maximum Value of 255.
void ADXL345::setFreeFallDuration(int freeFallDuration) {
	freeFallDuration = constrain(freeFallDuration,0,255);
	byte _b = byte (freeFallDuration);
	writeTo(ADXL345_TIME_FF, _b);
}

int ADXL345::getFreeFallDuration() {
	byte _b;
	readFrom(ADXL345_TIME_FF, 1, &_b);
	return int (_b);
}

/************************** ACTIVITY BITS ***************************/
/*                                                                  */
bool ADXL345::isActivityXEnabled() {
	return getRegisterBit(ADXL345_ACT_INACT_CTL, 6);
}
bool ADXL345::isActivityYEnabled() {
	return getRegisterBit(ADXL345_ACT_INACT_CTL, 5);
}
bool ADXL345::isActivityZEnabled() {
	return getRegisterBit(ADXL345_ACT_INACT_CTL, 4);
}
bool ADXL345::isInactivityXEnabled() {
	return getRegisterBit(ADXL345_ACT_INACT_CTL, 2);
}
bool ADXL345::isInactivityYEnabled() {
	return getRegisterBit(ADXL345_ACT_INACT_CTL, 1);
}
bool ADXL345::isInactivityZEnabled() {
	return getRegisterBit(ADXL345_ACT_INACT_CTL, 0);
}

void ADXL345::setActivityX(bool state) {
	setRegisterBit(ADXL345_ACT_INACT_CTL, 6, state);
}
void ADXL345::setActivityY(bool state) {
	setRegisterBit(ADXL345_ACT_INACT_CTL, 5, state);
}
void ADXL345::setActivityZ(bool state) {
	setRegisterBit(ADXL345_ACT_INACT_CTL, 4, state);
}
void ADXL345::setActivityXYZ(bool stateX, bool stateY, bool stateZ) {
	setActivityX(stateX);
	setActivityY(stateY);
	setActivityZ(stateZ);
}
void ADXL345::setInactivityX(bool state) {
	setRegisterBit(ADXL345_ACT_INACT_CTL, 2, state);
}
void ADXL345::setInactivityY(bool state) {
	setRegisterBit(ADXL345_ACT_INACT_CTL, 1, state);
}
void ADXL345::setInactivityZ(bool state) {
	setRegisterBit(ADXL345_ACT_INACT_CTL, 0, state);
}
void ADXL345::setInactivityXYZ(bool stateX, bool stateY, bool stateZ) {
	setInactivityX(stateX);
	setInactivityY(stateY);
	setInactivityZ(stateZ);
}

bool ADXL345::isActivityAc() {
	return getRegisterBit(ADXL345_ACT_INACT_CTL, 7);
}
bool ADXL345::isInactivityAc(){
	return getRegisterBit(ADXL345_ACT_INACT_CTL, 3);
}

void ADXL345::setActivityAc(bool state) {
	setRegisterBit(ADXL345_ACT_INACT_CTL, 7, state);
}
void ADXL345::setInactivityAc(bool state) {
	setRegisterBit(ADXL345_ACT_INACT_CTL, 3, state);
}

/************************* SUPPRESS BITS ****************************/
/*                                                                  */
bool ADXL345::getSuppressBit(){
	return getRegisterBit(ADXL345_TAP_AXES, 3);
}
void ADXL345::setSuppressBit(bool state) {
	setRegisterBit(ADXL345_TAP_AXES, 3, state);
}

/**************************** TAP BITS ******************************/
/*                                                                  */
bool ADXL345::isTapDetectionOnX(){
	return getRegisterBit(ADXL345_TAP_AXES, 2);
}
void ADXL345::setTapDetectionOnX(bool state) {
	setRegisterBit(ADXL345_TAP_AXES, 2, state);
}
bool ADXL345::isTapDetectionOnY(){
	return getRegisterBit(ADXL345_TAP_AXES, 1);
}
void ADXL345::setTapDetectionOnY(bool state) {
	setRegisterBit(ADXL345_TAP_AXES, 1, state);
}
bool ADXL345::isTapDetectionOnZ(){
	return getRegisterBit(ADXL345_TAP_AXES, 0);
}
void ADXL345::setTapDetectionOnZ(bool state) {
	setRegisterBit(ADXL345_TAP_AXES, 0, state);
}

void ADXL345::setTapDetectionOnXYZ(bool stateX, bool stateY, bool stateZ) {
	setTapDetectionOnX(stateX);
	setTapDetectionOnY(stateY);
	setTapDetectionOnZ(stateZ);
}

bool ADXL345::isActivitySourceOnX(){
	return getRegisterBit(ADXL345_ACT_TAP_STATUS, 6);
}
bool ADXL345::isActivitySourceOnY(){
	return getRegisterBit(ADXL345_ACT_TAP_STATUS, 5);
}
bool ADXL345::isActivitySourceOnZ(){
	return getRegisterBit(ADXL345_ACT_TAP_STATUS, 4);
}

bool ADXL345::isTapSourceOnX(){
	return getRegisterBit(ADXL345_ACT_TAP_STATUS, 2);
}
bool ADXL345::isTapSourceOnY(){
	return getRegisterBit(ADXL345_ACT_TAP_STATUS, 1);
}
bool ADXL345::isTapSourceOnZ(){
	return getRegisterBit(ADXL345_ACT_TAP_STATUS, 0);
}

/*************************** ASLEEP BIT *****************************/
/*                                                                  */
bool ADXL345::isAsleep(){
	return getRegisterBit(ADXL345_ACT_TAP_STATUS, 3);
}

/************************** LOW POWER BIT ***************************/
/*                                                                  */
bool ADXL345::isLowPower(){
	return getRegisterBit(ADXL345_BW_RATE, 4);
}
void ADXL345::setLowPower(bool state) {
	setRegisterBit(ADXL345_BW_RATE, 4, state);
}

/*************************** RATE BITS ******************************/
/*                                                                  */
double ADXL345::getRate(){
	byte _b;
	readFrom(ADXL345_BW_RATE, 1, &_b);
	_b &= B00001111;
	return (pow(2,((int) _b)-6)) * 6.25;
}

void ADXL345::setRate(double rate){
	byte _b,_s;
	int v = (int) (rate / 6.25);
	int r = 0;
	while (v >>= 1)
	{
		r++;
	}
	if (r <= 9) {
		readFrom(ADXL345_BW_RATE, 1, &_b);
		_s = (byte) (r + 6) | (_b & B11110000);
		writeTo(ADXL345_BW_RATE, _s);
	}
}

/*************************** BANDWIDTH ******************************/
/*                          ~ SET & GET                             */
void ADXL345::set_bw(byte bw_code){
	if((bw_code < ADXL345_BW_0_05) || (bw_code > ADXL345_BW_1600)){
		status = false;
		error_code = ADXL345_BAD_ARG;
	}
	else{
		writeTo(ADXL345_BW_RATE, bw_code);
	}
}

byte ADXL345::get_bw_code(){
	byte bw_code;
	readFrom(ADXL345_BW_RATE, 1, &bw_code);
	return bw_code;
}




/************************* TRIGGER CHECK  ***************************/
/*                                                                  */
// Check if Action was Triggered in Interrupts
// Example triggered(interrupts, ADXL345_SINGLE_TAP);
bool ADXL345::triggered(byte interrupts, int mask){
	return ((interrupts >> mask) & 1);
}

/*
 ADXL345_DATA_READY
 ADXL345_SINGLE_TAP
 ADXL345_DOUBLE_TAP
 ADXL345_ACTIVITY
 ADXL345_INACTIVITY
 ADXL345_FREE_FALL
 ADXL345_WATERMARK
 ADXL345_OVERRUNY
 */


byte ADXL345::getInterruptSource() {
	byte _b;
	readFrom(ADXL345_INT_SOURCE, 1, &_b);
	return _b;
}

bool ADXL345::getInterruptSource(byte interruptBit) {
	return getRegisterBit(ADXL345_INT_SOURCE,interruptBit);
}

bool ADXL345::getInterruptMapping(byte interruptBit) {
	return getRegisterBit(ADXL345_INT_MAP,interruptBit);
}

/*********************** INTERRUPT MAPPING **************************/
/*         Set the Mapping of an Interrupt to pin1 or pin2          */
// eg: setInterruptMapping(ADXL345_INT_DOUBLE_TAP_BIT,ADXL345_INT2_PIN);
void ADXL345::setInterruptMapping(byte interruptBit, bool interruptPin) {
	setRegisterBit(ADXL345_INT_MAP, interruptBit, interruptPin);
}

void ADXL345::setImportantInterruptMapping(int single_tap, int double_tap, int free_fall, int activity, int inactivity) {
	if(single_tap == 1) {
		setInterruptMapping( ADXL345_INT_SINGLE_TAP_BIT,   ADXL345_INT1_PIN );}
	else if(single_tap == 2) {
		setInterruptMapping( ADXL345_INT_SINGLE_TAP_BIT,   ADXL345_INT2_PIN );}

	if(double_tap == 1) {
		setInterruptMapping( ADXL345_INT_DOUBLE_TAP_BIT,   ADXL345_INT1_PIN );}
	else if(double_tap == 2) {
		setInterruptMapping( ADXL345_INT_DOUBLE_TAP_BIT,   ADXL345_INT2_PIN );}

	if(free_fall == 1) {
		setInterruptMapping( ADXL345_INT_FREE_FALL_BIT,   ADXL345_INT1_PIN );}
	else if(free_fall == 2) {
		setInterruptMapping( ADXL345_INT_FREE_FALL_BIT,   ADXL345_INT2_PIN );}

	if(activity == 1) {
		setInterruptMapping( ADXL345_INT_ACTIVITY_BIT,   ADXL345_INT1_PIN );}
	else if(activity == 2) {
		setInterruptMapping( ADXL345_INT_ACTIVITY_BIT,   ADXL345_INT2_PIN );}

	if(inactivity == 1) {
		setInterruptMapping( ADXL345_INT_INACTIVITY_BIT,   ADXL345_INT1_PIN );}
	else if(inactivity == 2) {
		setInterruptMapping( ADXL345_INT_INACTIVITY_BIT,   ADXL345_INT2_PIN );}
}

bool ADXL345::isInterruptEnabled(byte interruptBit) {
	return getRegisterBit(ADXL345_INT_ENABLE,interruptBit);
}

void ADXL345::setInterrupt(byte interruptBit, bool state) {
	setRegisterBit(ADXL345_INT_ENABLE, interruptBit, state);
}

void ADXL345::singleTapINT(bool status) {
	if(status) {
		setInterrupt( ADXL345_INT_SINGLE_TAP_BIT, 1);
	}
	else {
		setInterrupt( ADXL345_INT_SINGLE_TAP_BIT, 0);
	}
}
void ADXL345::doubleTapINT(bool status) {
	if(status) {
		setInterrupt( ADXL345_INT_DOUBLE_TAP_BIT, 1);
	}
	else {
		setInterrupt( ADXL345_INT_DOUBLE_TAP_BIT, 0);
	}
}
void ADXL345::FreeFallINT(bool status) {
	if(status) {
		setInterrupt( ADXL345_INT_FREE_FALL_BIT,  1);
	}
	else {
		setInterrupt( ADXL345_INT_FREE_FALL_BIT,  0);
	}
}
void ADXL345::ActivityINT(bool status) {
	if(status) {
		setInterrupt( ADXL345_INT_ACTIVITY_BIT,   1);
	}
	else {
		setInterrupt( ADXL345_INT_ACTIVITY_BIT,   0);
	}
}
void ADXL345::InactivityINT(bool status) {
	if(status) {
		setInterrupt( ADXL345_INT_INACTIVITY_BIT, 1);
	}
	else {
		setInterrupt( ADXL345_INT_INACTIVITY_BIT, 0);
	}
}

void ADXL345::setRegisterBit(byte regAdress, int bitPos, bool state) {
	byte _b;
	readFrom(regAdress, 1, &_b);
	if (state) {
		_b |= (1 << bitPos);  // Forces nth Bit of _b to 1. Other Bits Unchanged.
	}
	else {
		_b &= ~(1 << bitPos); // Forces nth Bit of _b to 0. Other Bits Unchanged.
	}
	writeTo(regAdress, _b);
}

bool ADXL345::getRegisterBit(byte regAdress, int bitPos) {
	byte _b;
	readFrom(regAdress, 1, &_b);
	return ((_b >> bitPos) & 1);
}

/********************************************************************/
/*                                                                  */
// Print Register Values to Serial Output =
// Can be used to Manually Check the Current Configuration of Device
void ADXL345::printAllRegister() {
	byte _b;
	Serial.print("0x00: ");
	readFrom(0x00, 1, &_b);
	print_byte(_b);
	Serial.println("");
	int i;
	for (i=29;i<=57;i++){
		Serial.print("0x");
		Serial.print(i, HEX);
		Serial.print(": ");
		readFrom(i, 1, &_b);
		print_byte(_b);
		Serial.println("");
	}
}

void print_byte(byte val){
	int i;
	Serial.print("B");
	for(i=7; i>=0; i--){
		Serial.print(val >> i & 1, BIN);
	}
}