osd-contiki/platform/z1/dev/adxl345.c

415 lines
13 KiB
C
Raw Permalink Normal View History

/*
* Copyright (c) 2010, Swedish Institute of Computer Science.
* Copyright (c) 2016, Zolertia <http://www.zolertia.com>
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of the Institute nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
* SUCH DAMAGE.
*
* This file is part of the Contiki operating system.
*
*/
/*---------------------------------------------------------------------------*/
/**
* \file
* Device drivers for adxl345 accelerometer in Zolertia Z1.
* \author
* Marcus Lundén, SICS <mlunden@sics.se>
* Enric M. Calvo, Zolertia <ecalvo@zolertia.com>
* Antonio Lignan, Zolertia <alinan@zolertia.com>
*/
/*---------------------------------------------------------------------------*/
#include <stdio.h>
#include "contiki.h"
#include "adxl345.h"
#include "cc2420.h"
#include "i2cmaster.h"
#include "isr_compat.h"
#include "lib/sensors.h"
/*---------------------------------------------------------------------------*/
#define DEBUG 0
#if DEBUG
#define PRINTF(...) printf(__VA_ARGS__)
#else
#define PRINTF(...)
#endif
/*---------------------------------------------------------------------------*/
static uint8_t enabled;
/*---------------------------------------------------------------------------*/
/* Callback pointers when interrupt occurs */
void (*accm_int1_cb)(uint8_t reg);
void (*accm_int2_cb)(uint8_t reg);
/*---------------------------------------------------------------------------*/
/* Bitmasks for the interrupts */
static uint16_t int1_mask = 0, int2_mask = 0;
/* Default values for adxl345 at startup.
* This will be sent to the adxl345 in a
* stream at init to set it up in a default state
*/
static uint8_t adxl345_default_settings[] = {
/* Note, as the two first two bulks are to be written in a stream, they contain
* the register address as first byte in that section.
* 0--14 are in one stream, start at ADXL345_THRESH_TAP
*/
/* XXX NB Register address, not register value!! */
ADXL345_THRESH_TAP,
ADXL345_THRESH_TAP_DEFAULT,
ADXL345_OFSX_DEFAULT,
ADXL345_OFSY_DEFAULT,
ADXL345_OFSZ_DEFAULT,
ADXL345_DUR_DEFAULT,
ADXL345_LATENT_DEFAULT,
ADXL345_WINDOW_DEFAULT,
ADXL345_THRESH_ACT_DEFAULT,
ADXL345_THRESH_INACT_DEFAULT,
ADXL345_TIME_INACT_DEFAULT,
ADXL345_ACT_INACT_CTL_DEFAULT,
ADXL345_THRESH_FF_DEFAULT,
ADXL345_TIME_FF_DEFAULT,
ADXL345_TAP_AXES_DEFAULT,
/* 15--19 start at ADXL345_BW_RATE */
/* XXX NB Register address, not register value!! */
ADXL345_BW_RATE,
ADXL345_BW_RATE_DEFAULT,
ADXL345_POWER_CTL_DEFAULT,
ADXL345_INT_ENABLE_DEFAULT,
ADXL345_INT_MAP_DEFAULT,
/* These two: 20, 21 write separately */
ADXL345_DATA_FORMAT_DEFAULT,
ADXL345_FIFO_CTL_DEFAULT
};
/*---------------------------------------------------------------------------*/
PROCESS(accmeter_process, "Accelerometer process");
/*---------------------------------------------------------------------------*/
static void
accm_write_reg(uint8_t reg, uint8_t val)
{
uint8_t tx_buf[] = {reg, val};
i2c_transmitinit(ADXL345_ADDR);
while (i2c_busy());
PRINTF("ADXL345: I2C Ready to TX\n");
i2c_transmit_n(2, tx_buf);
while (i2c_busy());
PRINTF("ADXL345: WRITE_REG 0x%02X @ reg 0x%02X\n", val, reg);
}
/*---------------------------------------------------------------------------*/
/* First byte in stream must be the register address to begin writing to.
* The data is then written from second byte and increasing.
*/
static void
accm_write_stream(uint8_t len, uint8_t *data)
{
i2c_transmitinit(ADXL345_ADDR);
while (i2c_busy());
PRINTF("ADXL345: I2C Ready to TX(stream)\n");
i2c_transmit_n(len, data); // start tx and send conf reg
while (i2c_busy());
PRINTF("ADXL345: WRITE_STR %u B to 0x%02X\n", len, data[0]);
}
/*---------------------------------------------------------------------------*/
static uint8_t
accm_read_reg(uint8_t reg)
{
uint8_t retVal = 0;
uint8_t rtx = reg;
PRINTF("ADXL345: READ_REG 0x%02X\n", reg);
/* transmit the register to read */
i2c_transmitinit(ADXL345_ADDR);
while (i2c_busy());
i2c_transmit_n(1, &rtx);
while (i2c_busy());
/* receive the data */
i2c_receiveinit(ADXL345_ADDR);
while (i2c_busy());
i2c_receive_n(1, &retVal);
while (i2c_busy());
return retVal;
}
/*---------------------------------------------------------------------------*/
static void
accm_read_stream(uint8_t reg, uint8_t len, uint8_t *whereto)
{
uint8_t rtx = reg;
PRINTF("ADXL345: READ_STR %u B from 0x%02X\n", len, reg);
/* transmit the register to start reading from */
i2c_transmitinit(ADXL345_ADDR);
while (i2c_busy());
i2c_transmit_n(1, &rtx);
while (i2c_busy());
/* receive the data */
i2c_receiveinit(ADXL345_ADDR);
while (i2c_busy());
i2c_receive_n(len, whereto);
while (i2c_busy());
}
/*---------------------------------------------------------------------------*/
/* Read an axis of the accelerometer (x, y or z). Return value is a signed
* 10 bit int.
* The resolution of the acceleration measurement can be increased up to 13 bit,
* but will change the data format of this read out. Refer to the data sheet if
* so is wanted/needed.
*/
int16_t
accm_read_axis(enum ADXL345_AXIS axis)
{
int16_t rd = 0;
uint8_t tmp[2];
if(axis > Z_AXIS){
return 0;
}
accm_read_stream(ADXL345_DATAX0 + axis, 2, &tmp[0]);
rd = (int16_t)(tmp[0] | (tmp[1]<<8));
return rd;
}
/*---------------------------------------------------------------------------*/
int
accm_set_grange(uint8_t grange)
{
uint8_t tempreg = 0;
if(grange > ADXL345_RANGE_16G) {
PRINTF("ADXL345: grange invalid: %u\n", grange);
return ADXL345_ERROR;
}
if(!enabled) {
return ADXL345_ERROR;
}
/* Keep the previous contents of the register, zero out the last two bits */
tempreg = (accm_read_reg(ADXL345_DATA_FORMAT) & 0xFC);
tempreg |= grange;
accm_write_reg(ADXL345_DATA_FORMAT, tempreg);
return ADXL345_SUCCESS;
}
/*---------------------------------------------------------------------------*/
void
accm_init(void)
{
PRINTF("ADXL345: init\n");
accm_int1_cb = NULL;
accm_int2_cb = NULL;
/* Set up ports and pins for interrups. */
ADXL345_DIR &=~ (ADXL345_INT1_PIN | ADXL345_INT2_PIN);
ADXL345_SEL &=~ (ADXL345_INT1_PIN | ADXL345_INT2_PIN);
ADXL345_SEL2 &=~ (ADXL345_INT1_PIN | ADXL345_INT2_PIN);
/* Set up ports and pins for I2C communication */
i2c_enable();
/* set default register values. */
accm_write_stream(15, &adxl345_default_settings[0]);
accm_write_stream(5, &adxl345_default_settings[15]);
accm_write_reg(ADXL345_DATA_FORMAT, adxl345_default_settings[20]);
accm_write_reg(ADXL345_FIFO_CTL, adxl345_default_settings[21]);
process_start(&accmeter_process, NULL);
/* Enable msp430 interrupts on the two interrupt pins. */
dint();
/* low to high transition interrupts */
ADXL345_IES &=~ (ADXL345_INT1_PIN | ADXL345_INT2_PIN);
/* enable interrupts */
ADXL345_IE |= (ADXL345_INT1_PIN | ADXL345_INT2_PIN);
eint();
enabled = 1;
}
/*---------------------------------------------------------------------------*/
void
accm_stop(void)
{
dint();
ADXL345_IE &= ~(ADXL345_INT1_PIN | ADXL345_INT2_PIN);
accm_write_reg(ADXL345_INT_ENABLE, ~(int1_mask | int2_mask));
accm_write_reg(ADXL345_INT_MAP, ~int2_mask);
eint();
enabled = 0;
}
/*---------------------------------------------------------------------------*/
int
accm_set_irq(uint8_t int1, uint8_t int2)
{
if(!enabled) {
return ADXL345_ERROR;
}
/* Set the corresponding interrupt mapping to INT1 or INT2 */
PRINTF("ADXL345: IRQs set to INT1: 0x%02X IRQ2: 0x%02X\n", int1, int2);
int1_mask = int1;
int2_mask = int2;
accm_write_reg(ADXL345_INT_ENABLE, (int1 | int2));
/* int1 bits are zeroes in the map register so this is for both ints */
accm_write_reg(ADXL345_INT_MAP, int2);
return ADXL345_SUCCESS;
}
/*---------------------------------------------------------------------------*/
/* Invoked after an interrupt happened. Reads the interrupt source reg at the
* accelerometer, which resets the interrupts, and invokes the corresponding
* callback. It passes the source register value so the callback can determine
* what interrupt happened, if several interrupts are mapped to the same pin.
*/
static void
poll_handler(void)
{
uint8_t ireg = 0;
ireg = accm_read_reg(ADXL345_INT_SOURCE);
/* Invoke callbacks for the corresponding interrupts */
if(ireg & int1_mask){
if(accm_int1_cb != NULL){
PRINTF("ADXL345: INT1 cb invoked\n");
accm_int1_cb(ireg);
}
} else if(ireg & int2_mask){
if(accm_int2_cb != NULL){
PRINTF("ADXL345: INT2 cb invoked\n");
accm_int2_cb(ireg);
}
}
}
/*---------------------------------------------------------------------------*/
/* This process is sleeping until an interrupt from the accelerometer occurs,
* which polls this process from the interrupt service routine. */
PROCESS_THREAD(accmeter_process, ev, data)
{
PROCESS_POLLHANDLER(poll_handler());
PROCESS_EXITHANDLER();
PROCESS_BEGIN();
while(1){
PROCESS_WAIT_EVENT_UNTIL(0);
}
PROCESS_END();
}
/*---------------------------------------------------------------------------*/
/* This interrupt vector is shared with the interrupts from CC2420, so that
* was moved here
*/
static struct timer suppressTimer1, suppressTimer2;
ISR(PORT1, port1_isr)
{
ENERGEST_ON(ENERGEST_TYPE_IRQ);
/* ADXL345_IFG.x goes high when interrupt occurs, use to check what
* interrupted
*/
if((ADXL345_IFG & ADXL345_INT1_PIN) && !(ADXL345_IFG & BV(CC2420_FIFOP_PIN))){
/* Check if this should be suppressed or not */
if(timer_expired(&suppressTimer1)) {
timer_set(&suppressTimer1, SUPPRESS_TIME_INT1);
ADXL345_IFG &= ~ADXL345_INT1_PIN; // clear interrupt flag
process_poll(&accmeter_process);
LPM4_EXIT;
}
} else if((ADXL345_IFG & ADXL345_INT2_PIN) &&
!(ADXL345_IFG & BV(CC2420_FIFOP_PIN))){
/* Check if this should be suppressed or not */
if(timer_expired(&suppressTimer2)) {
timer_set(&suppressTimer2, SUPPRESS_TIME_INT2);
/* clear interrupt flag */
ADXL345_IFG &= ~ADXL345_INT2_PIN;
process_poll(&accmeter_process);
LPM4_EXIT;
}
} else {
/* CC2420 interrupt */
if(cc2420_interrupt()) {
LPM4_EXIT;
}
}
ENERGEST_OFF(ENERGEST_TYPE_IRQ);
}
/*---------------------------------------------------------------------------*/
static int
configure(int type, int value)
{
if(type != SENSORS_ACTIVE) {
return ADXL345_ERROR;
}
if(value) {
accm_init();
} else {
accm_stop();
}
enabled = value;
return ADXL345_SUCCESS;
}
/*---------------------------------------------------------------------------*/
static int
status(int type)
{
switch(type) {
case SENSORS_ACTIVE:
case SENSORS_READY:
return enabled;
}
return ADXL345_SUCCESS;
}
/*---------------------------------------------------------------------------*/
static int
value(int type)
{
if(!enabled) {
return ADXL345_ERROR;
}
if((type != X_AXIS) && (type != Y_AXIS) && (type != Z_AXIS)) {
return ADXL345_ERROR;
}
switch(type) {
case X_AXIS:
return accm_read_axis(X_AXIS);
case Y_AXIS:
return accm_read_axis(Y_AXIS);
case Z_AXIS:
return accm_read_axis(Z_AXIS);
default:
return ADXL345_ERROR;
}
}
/*---------------------------------------------------------------------------*/
SENSORS_SENSOR(adxl345, ADXL345_SENSOR, value, configure, status);
/*---------------------------------------------------------------------------*/