/**
 ******************************************************************************
 * @addtogroup PIOS PIOS Core hardware abstraction layer
 * @{
 * @addtogroup PIOS_ADXL345 ADXL345 Functions
 * @brief Data from the ADXL345 sensors
 * @{
 * @file       pios_adxl345.h
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      PiOS SPI ADXL345
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */
#ifndef PIOS_ADXL345_H
#define PIOS_ADXL345_H

// Defined by data rate, not BW

#define ADXL_READ_BIT        0x80
#define ADXL_MULTI_BIT       0x40

#define ADXL_WHOAMI          0x00
#define ADXL_DEVICE_ID       0xE5
#define ADXL_X0_ADDR         0x32
#define ADXL_FIFOSTATUS_ADDR 0x39

#define ADXL_RATE_ADDR       0x2C
#define ADXL_RATE_100        0x0A
#define ADXL_RATE_200        0x0B
#define ADXL_RATE_400        0x0C
#define ADXL_RATE_800        0x0D
#define ADXL_RATE_1600       0x0E
#define ADXL_RATE_3200       0x0F

#define ADXL_POWER_ADDR      0x2D
#define ADXL_MEAURE          0x08

#define ADXL_FORMAT_ADDR     0x31
#define ADXL_FULL_RES        0x08
#define ADXL_4WIRE           0x00
#define ADXL_RANGE_2G        0x00
#define ADXL_RANGE_4G        0x01
#define ADXL_RANGE_8G        0x02
#define ADXL_RANGE_16G       0x03

#define ADXL_FIFO_ADDR       0x38
#define ADXL_FIFO_STREAM     0x80


struct pios_adxl345_data {
    int16_t x;
    int16_t y;
    int16_t z;
};

int32_t PIOS_ADXL345_SelectRate(uint8_t rate);
int32_t PIOS_ADXL345_SetRange(uint8_t range);
int32_t PIOS_ADXL345_Init(uint32_t spi_id, uint32_t slave_num);
uint8_t PIOS_ADXL345_Read(struct pios_adxl345_data *data);
int8_t PIOS_ADXL345_ReadAndAccumulateSamples(struct pios_adxl345_data *data, uint8_t samples);
int32_t PIOS_ADXL345_FifoElements();
int32_t PIOS_ADXL345_Test();

#endif /* PIOS_ADXL345_H */

/**
 * @}
 * @}
 */