Arduino UNO 3で加速度センサー、Grove - 3 Axis Digital Accelerometer(±16g)で遊ぶ(ADXL345)




参考

![o_coq426.jpg](https://qiita-image-store.s3.ap-northeast-1.amazonaws.com/0/840352/b4ade2eb-5fef-5c0b-d1aa-bf6210308f63.jpeg)



https://wiki.seeedstudio.com/Grove-3-Axis_Digital_Accelerometer-16g/

https://github.com/Seeed-Studio/Accelerometer_ADXL345

結果

![o_coq425.jpg](https://qiita-image-store.s3.ap-northeast-1.amazonaws.com/0/840352/c4335c8d-0b46-fe03-4658-796cc497fdd1.jpeg)


![o_coq427.jpg](https://qiita-image-store.s3.ap-northeast-1.amazonaws.com/0/840352/30f5fdf5-ba98-1c84-1c4c-b53b2b63a092.jpeg)

![o_coq428.jpg](https://qiita-image-store.s3.ap-northeast-1.amazonaws.com/0/840352/42f9ae94-ef9a-e54d-063f-b3b31fe7e2e7.jpeg)


プログラム


ADXL345_demo_code.ino


```c++


/*****************************************************************************/
//  Function:    Get the accelemeter of X/Y/Z axis and print out on the
//          serial monitor.
//  Hardware:    3-Axis Digital Accelerometer(��16g)
//  Arduino IDE: Arduino-1.0
//  Author:  Frankie.Chu
//  Date:    Jan 11,2013
//  Version: v1.0
//  by www.seeedstudio.com
//
//  This library is free software; you can redistribute it and/or
//  modify it under the terms of the GNU Lesser General Public
//  License as published by the Free Software Foundation; either
//  version 2.1 of the License, or (at your option) any later version.
//
//  This library 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
//  Lesser General Public License for more details.
//
//  You should have received a copy of the GNU Lesser General Public
//  License along with this library; if not, write to the Free Software
//  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
//
/*******************************************************************************/

#include <Wire.h>
#include "ADXL345.h"


ADXL345 adxl; //variable adxl is an instance of the ADXL345 library

void setup() {
    Serial.begin(9600);
    adxl.powerOn();

    //set activity/ inactivity thresholds (0-255)
    adxl.setActivityThreshold(75); //62.5mg per increment
    adxl.setInactivityThreshold(75); //62.5mg per increment
    adxl.setTimeInactivity(10); // how many seconds of no activity is inactive?

    //look of activity movement on this axes - 1 == on; 0 == off
    adxl.setActivityX(1);
    adxl.setActivityY(1);
    adxl.setActivityZ(1);

    //look of inactivity movement on this axes - 1 == on; 0 == off
    adxl.setInactivityX(1);
    adxl.setInactivityY(1);
    adxl.setInactivityZ(1);

    //look of tap movement on this axes - 1 == on; 0 == off
    adxl.setTapDetectionOnX(0);
    adxl.setTapDetectionOnY(0);
    adxl.setTapDetectionOnZ(1);

    //set values for what is a tap, and what is a double tap (0-255)
    adxl.setTapThreshold(50); //62.5mg per increment
    adxl.setTapDuration(15); //625us per increment
    adxl.setDoubleTapLatency(80); //1.25ms per increment
    adxl.setDoubleTapWindow(200); //1.25ms per increment

    //set values for what is considered freefall (0-255)
    adxl.setFreeFallThreshold(7); //(5 - 9) recommended - 62.5mg per increment
    adxl.setFreeFallDuration(45); //(20 - 70) recommended - 5ms per increment

    //setting all interrupts to take place on int pin 1
    //I had issues with int pin 2, was unable to reset it
    adxl.setInterruptMapping(ADXL345_INT_SINGLE_TAP_BIT,   ADXL345_INT1_PIN);
    adxl.setInterruptMapping(ADXL345_INT_DOUBLE_TAP_BIT,   ADXL345_INT1_PIN);
    adxl.setInterruptMapping(ADXL345_INT_FREE_FALL_BIT,    ADXL345_INT1_PIN);
    adxl.setInterruptMapping(ADXL345_INT_ACTIVITY_BIT,     ADXL345_INT1_PIN);
    adxl.setInterruptMapping(ADXL345_INT_INACTIVITY_BIT,   ADXL345_INT1_PIN);

    //register interrupt actions - 1 == on; 0 == off
    adxl.setInterrupt(ADXL345_INT_SINGLE_TAP_BIT, 1);
    adxl.setInterrupt(ADXL345_INT_DOUBLE_TAP_BIT, 1);
    adxl.setInterrupt(ADXL345_INT_FREE_FALL_BIT,  1);
    adxl.setInterrupt(ADXL345_INT_ACTIVITY_BIT,   1);
    adxl.setInterrupt(ADXL345_INT_INACTIVITY_BIT, 1);
}

void loop() {

    //Boring accelerometer stuff
    int x, y, z;
    adxl.readXYZ(&x, &y, &z); //read the accelerometer values and store them in variables  x,y,z
    // Output x,y,z values
    Serial.print("values of X , Y , Z: ");
    Serial.print(x);
    Serial.print(" , ");
    Serial.print(y);
    Serial.print(" , ");
    Serial.println(z);

    double xyz[3];
    double ax, ay, az;
    adxl.getAcceleration(xyz);
    ax = xyz[0];
    ay = xyz[1];
    az = xyz[2];
    Serial.print("X=");
    Serial.print(ax);
    Serial.println(" g");
    Serial.print("Y=");
    Serial.print(ay);
    Serial.println(" g");
    Serial.print("Z=");
    Serial.print(az);
    Serial.println(" g");
    Serial.println("**********************");
    delay(500);

}



```

ADXL345.cpp


```c++


/*
    ADXL345.h
    Library for accelerometer_ADXL345

    Copyright (c) 2013 seeed technology inc.
    Author        :   FrankieChu
    Create Time   :   Jan 2013
    Change Log    :

    The MIT License (MIT)

    Permission is hereby granted, free of charge, to any person obtaining a copy
    of this software and associated documentation files (the "Software"), to deal
    in the Software without restriction, including without limitation the rights
    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
    copies of the Software, and to permit persons to whom the Software is
    furnished to do so, subject to the following conditions:

    The above copyright notice and this permission notice shall be included in
    all copies or substantial portions of the Software.

    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
    THE SOFTWARE.
*/

#include "Arduino.h"
#include "ADXL345.h"
#include <Wire.h>

#define ADXL345_DEVICE (0x53)    // ADXL345 device address
#define ADXL345_TO_READ (6)      // num of bytes we are going to read each time (two bytes for each axis)

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

    gains[0] = 0.00376390;
    gains[1] = 0.00376009;
    gains[2] = 0.00349265;
}

void ADXL345::powerOn() {
    Wire.begin();        // join i2c bus (address optional for master)
    //Turning on the ADXL345
    writeTo(ADXL345_POWER_CTL, 0);
    writeTo(ADXL345_POWER_CTL, 16);
    writeTo(ADXL345_POWER_CTL, 8);
}

// Reads the acceleration into three variable x, y and z
void ADXL345::readAccel(int* xyz) {
    readXYZ(xyz, xyz + 1, xyz + 2);
}
void ADXL345::readXYZ(int* x, int* y, int* z) {
    readFrom(ADXL345_DATAX0, ADXL345_TO_READ, _buff); //read the acceleration data from the ADXL345
    *x = (short)((((unsigned short)_buff[1]) << 8) | _buff[0]);
    *y = (short)((((unsigned short)_buff[3]) << 8) | _buff[2]);
    *z = (short)((((unsigned short)_buff[5]) << 8) | _buff[4]);
}

void ADXL345::getAcceleration(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 val to address register on device
void ADXL345::writeTo(byte address, byte val) {
    Wire.beginTransmission(ADXL345_DEVICE); // start transmission to device
    Wire.write(address);             // send register address
    Wire.write(val);                 // send value to write
    Wire.endTransmission();         // end transmission
}

// Reads num bytes starting from address register on device in to _buff array
void ADXL345::readFrom(byte address, int num, byte _buff[]) {
    Wire.beginTransmission(ADXL345_DEVICE); // start transmission to device
    Wire.write(address);             // sends address to read from
    Wire.endTransmission();         // end transmission

    Wire.beginTransmission(ADXL345_DEVICE); // start transmission to device
    Wire.requestFrom(ADXL345_DEVICE, num);    // request 6 bytes from device

    int i = 0;
    while (Wire.available()) {      // device may send less than requested (abnormal)
        _buff[i] = Wire.read();    // receive a byte
        i++;
    }
    if (i != num) {
        status = ADXL345_ERROR;
        error_code = ADXL345_READ_ERROR;
    }
    Wire.endTransmission();         // end transmission
}

// Gets the range setting and return it into rangeSetting
// it can be 2, 4, 8 or 16
void ADXL345::getRangeSetting(byte* rangeSetting) {
    byte _b;
    readFrom(ADXL345_DATA_FORMAT, 1, &_b);
    *rangeSetting = _b & B00000011;
}

// Sets the range setting, possible values are: 2, 4, 8, 16
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);
}
// gets the state of the SELF_TEST bit
bool ADXL345::getSelfTestBit() {
    return getRegisterBit(ADXL345_DATA_FORMAT, 7);
}

// Sets the SELF-TEST bit
// if set to 1 it applies a self-test force to the sensor causing a shift in the output data
// if set to 0 it disables the self-test force
void ADXL345::setSelfTestBit(bool selfTestBit) {
    setRegisterBit(ADXL345_DATA_FORMAT, 7, selfTestBit);
}

// Gets the state of the SPI bit
bool ADXL345::getSpiBit() {
    return getRegisterBit(ADXL345_DATA_FORMAT, 6);
}

// Sets the SPI bit
// if set to 1 it sets the device to 3-wire mode
// if set to 0 it sets the device to 4-wire SPI mode
void ADXL345::setSpiBit(bool spiBit) {
    setRegisterBit(ADXL345_DATA_FORMAT, 6, spiBit);
}

// Gets the state of the INT_INVERT bit
bool ADXL345::getInterruptLevelBit() {
    return getRegisterBit(ADXL345_DATA_FORMAT, 5);
}

// Sets the INT_INVERT bit
// if set to 0 sets the interrupts to active high
// if set to 1 sets the interrupts to active low
void ADXL345::setInterruptLevelBit(bool interruptLevelBit) {
    setRegisterBit(ADXL345_DATA_FORMAT, 5, interruptLevelBit);
}

// Gets the state of the FULL_RES bit
bool ADXL345::getFullResBit() {
    return getRegisterBit(ADXL345_DATA_FORMAT, 3);
}

// Sets the FULL_RES bit
// if set to 1, the device is in full resolution mode, where the output resolution increases with the
//   g range set by the range bits to maintain a 4mg/LSB scal factor
// if set to 0, the device is in 10-bit mode, and the range buts determine the maximum g range
//   and scale factor
void ADXL345::setFullResBit(bool fullResBit) {
    setRegisterBit(ADXL345_DATA_FORMAT, 3, fullResBit);
}

// Gets the state of the justify bit
bool ADXL345::getJustifyBit() {
    return getRegisterBit(ADXL345_DATA_FORMAT, 2);
}

// Sets the JUSTIFY bit
// if sets to 1 selects the left justified mode
// if sets to 0 selects right justified mode with sign extension
void ADXL345::setJustifyBit(bool justifyBit) {
    setRegisterBit(ADXL345_DATA_FORMAT, 2, justifyBit);
}

// Sets the THRESH_TAP byte value
// it should be between 0 and 255
// the 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);
}

// Gets the THRESH_TAP byte value
// return value is comprised between 0 and 255
// the scale factor is 62.5 mg/LSB
int ADXL345::getTapThreshold() {
    byte _b;
    readFrom(ADXL345_THRESH_TAP, 1, &_b);
    return int (_b);
}

// set/get the gain for each axis in Gs / count
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];
    }
}


// Sets the OFSX, OFSY and OFSZ bytes
// OFSX, OFSY and OFSZ are user offset adjustments in twos complement format with
// a scale factor of 15,6mg/LSB
// OFSX, OFSY and OFSZ should be comprised between
void ADXL345::setAxisOffset(int x, int y, int z) {
    writeTo(ADXL345_OFSX, byte(x));
    writeTo(ADXL345_OFSY, byte(y));
    writeTo(ADXL345_OFSZ, byte(z));
}

// Gets the OFSX, OFSY and OFSZ bytes
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);
}

// Sets the DUR byte
// The DUR byte contains an unsigned time value representing the maximum time
// that an event must be above THRESH_TAP threshold to qualify as a tap event
// The scale factor is 625µs/LSB
// A 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);
}

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

// Sets the latency (latent register) which contains an unsigned time value
// representing the wait time from the detection of a tap event to the start
// of the time window, during which a possible second tap can be detected.
// The 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);
}

// Gets the Latent value
int ADXL345::getDoubleTapLatency() {
    byte _b;
    readFrom(ADXL345_LATENT, 1, &_b);
    return int (_b);
}

// Sets the Window register, which contains an unsigned time value representing
// the amount of time after the expiration of the latency time (Latent register)
// during which a second valud tap can begin. The scale factor is 1.25ms/LSB. A
// value of 0 disables the double tap function. The maximum value is 255.
void ADXL345::setDoubleTapWindow(int doubleTapWindow) {
    doubleTapWindow = constrain(doubleTapWindow, 0, 255);
    byte _b = byte(doubleTapWindow);
    writeTo(ADXL345_WINDOW, _b);
}

// Gets the Window register
int ADXL345::getDoubleTapWindow() {
    byte _b;
    readFrom(ADXL345_WINDOW, 1, &_b);
    return int (_b);
}

// Sets the THRESH_ACT byte which holds the threshold value for detecting activity.
// The 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. A value of 0 may result in undesirable behavior if the
// activity interrupt is enabled. The maximum value is 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);
}

// Sets the THRESH_INACT byte which holds the threshold value for detecting inactivity.
// The data format is unsigned, so the magnitude of the inactivity event is compared
// with the value is compared with the value in the THRESH_INACT register. The scale
// factor is 62.5mg/LSB. A value of 0 may result in undesirable behavior if the
// inactivity interrupt is enabled. The maximum value is 255.
void ADXL345::setInactivityThreshold(int inactivityThreshold) {
    inactivityThreshold = constrain(inactivityThreshold, 0, 255);
    byte _b = byte(inactivityThreshold);
    writeTo(ADXL345_THRESH_INACT, _b);
}

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

// Sets the TIME_INACT register, which contains an unsigned time value representing the
// amount of time that acceleration must be less thant the value in the THRESH_INACT
// register for inactivity to be declared. The scale factor is 1sec/LSB. The 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);
}

// Gets the TIME_INACT register
int ADXL345::getTimeInactivity() {
    byte _b;
    readFrom(ADXL345_TIME_INACT, 1, &_b);
    return int (_b);
}

// Sets the THRESH_FF register which holds the threshold value, in an unsigned format, for
// free-fall detection. The root-sum-square (RSS) value of all axes is calculated and
// compared whith the value in THRESH_FF to determine if a free-fall event occured. The
// scale factor is 62.5mg/LSB. A value of 0 may result in undesirable behavior if the free-fall
// interrupt is enabled. The maximum value is 255.
void ADXL345::setFreeFallThreshold(int freeFallThreshold) {
    freeFallThreshold = constrain(freeFallThreshold, 0, 255);
    byte _b = byte(freeFallThreshold);
    writeTo(ADXL345_THRESH_FF, _b);
}

// Gets the THRESH_FF register.
int ADXL345::getFreeFallThreshold() {
    byte _b;
    readFrom(ADXL345_THRESH_FF, 1, &_b);
    return int (_b);
}

// Sets the TIME_FF register, which holds an unsigned time value representing the minimum
// time that the RSS value of all axes must be less than THRESH_FF to generate a free-fall
// interrupt. The scale factor is 5ms/LSB. A value of 0 may result in undesirable behavior if
// the free-fall interrupt is enabled. The maximum value is 255.
void ADXL345::setFreeFallDuration(int freeFallDuration) {
    freeFallDuration = constrain(freeFallDuration, 0, 255);
    byte _b = byte(freeFallDuration);
    writeTo(ADXL345_TIME_FF, _b);
}

// Gets the TIME_FF register.
int ADXL345::getFreeFallDuration() {
    byte _b;
    readFrom(ADXL345_TIME_FF, 1, &_b);
    return int (_b);
}

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::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);
}

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);
}

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

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);
}

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);
}

bool ADXL345::isAsleep() {
    return getRegisterBit(ADXL345_ACT_TAP_STATUS, 3);
}

bool ADXL345::isLowPower() {
    return getRegisterBit(ADXL345_BW_RATE, 4);
}
void ADXL345::setLowPower(bool state) {
    setRegisterBit(ADXL345_BW_RATE, 4, state);
}

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);
    }
}

void ADXL345::set_bw(byte bw_code) {
    if ((bw_code < ADXL345_BW_3) || (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;
}





//Used to 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);
}

// 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);
}

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::setRegisterBit(byte regAdress, int bitPos, bool state) {
    byte _b;
    readFrom(regAdress, 1, &_b);
    if (state) {
        _b |= (1 << bitPos);  // forces nth bit of _b to be 1.  all other bits left alone.
    } else {
        _b &= ~(1 << bitPos); // forces nth bit of _b to be 0.  all other bits left alone.
    }
    writeTo(regAdress, _b);
}



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

// print all register value to the serial ouptut, which requires it to be setup
// this can be used to manually to check the current configuration of the 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("");
    }
}

// set the operation mode

void ADXL345::setMode(byte operationMode) {
    byte _b;
    readFrom(ADXL345_FIFO_CTL, 1, &_b);
    _b &= ~(0b11000000); //clearing bit 6 and 7
    _b |= (operationMode << 6); //setting op mode


    //setRegisterBit(ADXL345_FIFO_CTL, 6, operationMode);
    writeTo(ADXL345_FIFO_CTL, _b);
}
// readback mode

byte ADXL345::getMode(void) {
    byte _b;
    readFrom(ADXL345_FIFO_CTL, 1, &_b);
    _b &= 0b11000000;  //masking bit 6 and 7
    _b = (_b >> 6); //setting op mode
    return _b;
}

// set watermark

void ADXL345::setWatermark(byte watermark) {
    byte _b, _w;

    readFrom(ADXL345_FIFO_CTL, 1, &_b);
    _b &= (0b11100000); //clearing bit 0 to 4
    _w = watermark & (0b00011111);  //clearing highest 3 bits in waterlevel
    _b |= _w; //setting waterlevel in operationmode register
    //setRegisterBit(ADXL345_FIFO_CTL, 6, operationMode);
    writeTo(ADXL345_FIFO_CTL, _b);
}

// read how many samples in Fifi

byte ADXL345::getFifoEntries(void) {
    byte _b;
    readFrom(ADXL345_FIFO_STATUS, 1, &_b);
    _b &=  0b00111111;

    return _b;
}

void ADXL345::burstReadXYZ(int* x, int* y, int* z, byte samples) {
    for (int i = 0; i < samples; i++) {
        readFrom(ADXL345_DATAX0, ADXL345_TO_READ, _buff); //read the acceleration data from the ADXL345
        x[i] = (short)((((unsigned short)_buff[1]) << 8) | _buff[0]);
        y[i] = (short)((((unsigned short)_buff[3]) << 8) | _buff[2]);
        z[i] = (short)((((unsigned short)_buff[5]) << 8) | _buff[4]);
    }
}




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



```


ADXL345.h



```c++


/*
    ADXL345.h
    Library for accelerometer_ADXL345

    Copyright (c) 2013 seeed technology inc.
    Author        :   FrankieChu
    Create Time   :   Jan 2013
    Change Log    :

    The MIT License (MIT)

    Permission is hereby granted, free of charge, to any person obtaining a copy
    of this software and associated documentation files (the "Software"), to deal
    in the Software without restriction, including without limitation the rights
    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
    copies of the Software, and to permit persons to whom the Software is
    furnished to do so, subject to the following conditions:

    The above copyright notice and this permission notice shall be included in
    all copies or substantial portions of the Software.

    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
    THE SOFTWARE.
*/

#include "Arduino.h"

#ifndef ADXL345_h
#define ADXL345_h

/* ------- Register names ------- */
#define ADXL345_DEVID 0x00
#define ADXL345_RESERVED1 0x01
#define ADXL345_THRESH_TAP 0x1d
#define ADXL345_OFSX 0x1e
#define ADXL345_OFSY 0x1f
#define ADXL345_OFSZ 0x20
#define ADXL345_DUR 0x21
#define ADXL345_LATENT 0x22
#define ADXL345_WINDOW 0x23
#define ADXL345_THRESH_ACT 0x24
#define ADXL345_THRESH_INACT 0x25
#define ADXL345_TIME_INACT 0x26
#define ADXL345_ACT_INACT_CTL 0x27
#define ADXL345_THRESH_FF 0x28
#define ADXL345_TIME_FF 0x29
#define ADXL345_TAP_AXES 0x2a
#define ADXL345_ACT_TAP_STATUS 0x2b
#define ADXL345_BW_RATE 0x2c
#define ADXL345_POWER_CTL 0x2d
#define ADXL345_INT_ENABLE 0x2e
#define ADXL345_INT_MAP 0x2f
#define ADXL345_INT_SOURCE 0x30
#define ADXL345_DATA_FORMAT 0x31
#define ADXL345_DATAX0 0x32
#define ADXL345_DATAX1 0x33
#define ADXL345_DATAY0 0x34
#define ADXL345_DATAY1 0x35
#define ADXL345_DATAZ0 0x36
#define ADXL345_DATAZ1 0x37
#define ADXL345_FIFO_CTL 0x38
#define ADXL345_FIFO_STATUS 0x39

#define ADXL345_BW_1600 0xF // 1111
#define ADXL345_BW_800  0xE // 1110
#define ADXL345_BW_400  0xD // 1101  
#define ADXL345_BW_200  0xC // 1100
#define ADXL345_BW_100  0xB // 1011  
#define ADXL345_BW_50   0xA // 1010 
#define ADXL345_BW_25   0x9 // 1001 
#define ADXL345_BW_12   0x8 // 1000 
#define ADXL345_BW_6    0x7 // 0111
#define ADXL345_BW_3    0x6 // 0110


/*
    Interrupt PINs
    INT1: 0
    INT2: 1
*/
#define ADXL345_INT1_PIN 0x00
#define ADXL345_INT2_PIN 0x01

/*Interrupt bit position*/
#define ADXL345_INT_DATA_READY_BIT 0x07
#define ADXL345_INT_SINGLE_TAP_BIT 0x06
#define ADXL345_INT_DOUBLE_TAP_BIT 0x05
#define ADXL345_INT_ACTIVITY_BIT   0x04
#define ADXL345_INT_INACTIVITY_BIT 0x03
#define ADXL345_INT_FREE_FALL_BIT  0x02
#define ADXL345_INT_WATERMARK_BIT  0x01
#define ADXL345_INT_OVERRUNY_BIT   0x00

#define ADXL345_DATA_READY 0x07
#define ADXL345_SINGLE_TAP 0x06
#define ADXL345_DOUBLE_TAP 0x05
#define ADXL345_ACTIVITY   0x04
#define ADXL345_INACTIVITY 0x03
#define ADXL345_FREE_FALL  0x02
#define ADXL345_WATERMARK  0x01
#define ADXL345_OVERRUNY   0x00

#define ADXL345_OK    1 // no error
#define ADXL345_ERROR 0 // indicates error is predent

#define ADXL345_NO_ERROR   0 // initial state
#define ADXL345_READ_ERROR 1 // problem reading accel
#define ADXL345_BAD_ARG    2 // bad method argument

#define ADXL345_MODE_BYPASS 0x00   //0000
#define ADXL345_MODE_FIFO 0x01    //0001
#define ADXL345_MODE_STREM 0x02   //0010
#define ADXL345_MODE_TRIGGER 0x03   //0011


class ADXL345 {
  public:
    bool status;           // set when error occurs
    // see error code for details
    byte error_code;       // Initial state
    double gains[3];        // counts to Gs

    ADXL345();
    void powerOn();
    void readAccel(int* xyx);
    void readXYZ(int* x, int* y, int* z);
    void getAcceleration(double* xyz);

    void setTapThreshold(int tapThreshold);
    int getTapThreshold();
    void setAxisGains(double* _gains);
    void getAxisGains(double* _gains);
    void setAxisOffset(int x, int y, int z);
    void getAxisOffset(int* x, int* y, int* z);
    void setTapDuration(int tapDuration);
    int getTapDuration();
    void setDoubleTapLatency(int doubleTapLatency);
    int getDoubleTapLatency();
    void setDoubleTapWindow(int doubleTapWindow);
    int getDoubleTapWindow();
    void setActivityThreshold(int activityThreshold);
    int getActivityThreshold();
    void setInactivityThreshold(int inactivityThreshold);
    int getInactivityThreshold();
    void setTimeInactivity(int timeInactivity);
    int getTimeInactivity();
    void setFreeFallThreshold(int freeFallthreshold);
    int getFreeFallThreshold();
    void setFreeFallDuration(int freeFallDuration);
    int getFreeFallDuration();

    bool isActivityXEnabled();
    bool isActivityYEnabled();
    bool isActivityZEnabled();
    bool isInactivityXEnabled();
    bool isInactivityYEnabled();
    bool isInactivityZEnabled();
    bool isActivityAc();
    bool isInactivityAc();
    void setActivityAc(bool state);
    void setInactivityAc(bool state);

    bool getSuppressBit();
    void setSuppressBit(bool state);
    bool isTapDetectionOnX();
    void setTapDetectionOnX(bool state);
    bool isTapDetectionOnY();
    void setTapDetectionOnY(bool state);
    bool isTapDetectionOnZ();
    void setTapDetectionOnZ(bool state);

    void setActivityX(bool state);
    void setActivityY(bool state);
    void setActivityZ(bool state);
    void setInactivityX(bool state);
    void setInactivityY(bool state);
    void setInactivityZ(bool state);

    bool isActivitySourceOnX();
    bool isActivitySourceOnY();
    bool isActivitySourceOnZ();
    bool isTapSourceOnX();
    bool isTapSourceOnY();
    bool isTapSourceOnZ();
    bool isAsleep();

    bool isLowPower();
    void setLowPower(bool state);
    double getRate();
    void setRate(double rate);
    void set_bw(byte bw_code);
    byte get_bw_code();


    bool triggered(byte interrupts, int mask);


    byte getInterruptSource();
    bool getInterruptSource(byte interruptBit);
    bool getInterruptMapping(byte interruptBit);
    void setInterruptMapping(byte interruptBit, bool interruptPin);
    bool isInterruptEnabled(byte interruptBit);
    void setInterrupt(byte interruptBit, bool state);


    void setMode(byte modeBit); // setting operation mode
    byte getMode();
    void setWatermark(byte watermark);
    byte getFifoEntries(void);    // reading number of samples from fifo
    void burstReadXYZ(int* x, int* y, int* z, byte samples);  // burst read function for getting all samples from fifo

    void getRangeSetting(byte* rangeSetting);
    void setRangeSetting(int val);
    bool getSelfTestBit();
    void setSelfTestBit(bool selfTestBit);
    bool getSpiBit();
    void setSpiBit(bool spiBit);
    bool getInterruptLevelBit();
    void setInterruptLevelBit(bool interruptLevelBit);
    bool getFullResBit();
    void setFullResBit(bool fullResBit);
    bool getJustifyBit();
    void setJustifyBit(bool justifyBit);
    void printAllRegister();

  private:
    void writeTo(byte address, byte val);
    void readFrom(byte address, int num, byte buff[]);
    void setRegisterBit(byte regAdress, int bitPos, bool state);
    bool getRegisterBit(byte regAdress, int bitPos);
    byte _buff[6] ;    //6 bytes buffer for saving data read from the device
};
void print_byte(byte val);
#endif



```