osd-contiki/platform/openmote-cc2538/dev/adxl346.c

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/*
* Copyright (c) 2014, OpenMote Technologies, S.L.
* 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.
*
*/
/*---------------------------------------------------------------------------*/
/**
* \addtogroup openmote-adxl346-sensor
* @{
*
* \file
* Driver for the ADXL346 acceleration sensor
*
* \author
* Pere Tuset <peretuset@openmote.com>
*/
/*---------------------------------------------------------------------------*/
#include "dev/i2c.h"
#include "dev/adxl346.h"
#include "lib/sensors.h"
/*---------------------------------------------------------------------------*/
#define DEBUG 0
#if DEBUG
#define PRINTF(...) printf(__VA_ARGS__)
#else
#define PRINTF(...)
#endif
/*---------------------------------------------------------------------------*/
/**
* \name ADXL346 address and device identifier
* @{
*/
#define ADXL346_ADDRESS (0x53)
#define ADXL346_DEVID_VALUE (0xE6)
/** @} */
/* -------------------------------------------------------------------------- */
/**
* \name ADXL346 register addresses
* @{
*/
#define ADXL346_DEVID_ADDR (0x00)
#define ADXL346_THRES_TAP_ADDR (0x1D)
#define ADXL346_OFSX_ADDR (0x1E)
#define ADXL346_OFSY_ADDR (0x1F)
#define ADXL346_OFSZ_ADDR (0x20)
#define ADXL346_DUR_ADDR (0x21)
#define ADXL346_LATENT_ADDR (0x22)
#define ADXL346_WINDOW_ADDR (0x23)
#define ADXL346_THRESH_ACT_ADDR (0x24)
#define ADXL346_THRESH_INACT_ADDR (0x25)
#define ADXL346_TIME_INACT_ADDR (0x26)
#define ADXL346_ACT_INACT_CTL_ADDR (0x27)
#define ADXL346_THRESH_FF_ADDR (0x28)
#define ADXL346_TIME_FF_ADDR (0x29)
#define ADXL346_TAP_AXES_ADDR (0x2A)
#define ADXL346_ACT_TAP_STATUS_ADDR (0x2B)
#define ADXL346_BW_RATE_ADDR (0x2C)
#define ADXL346_POWER_CTL_ADDR (0x2D)
#define ADXL346_INT_ENABLE_ADDR (0x2E)
#define ADXL346_INT_MAP_ADDR (0x2F)
#define ADXL346_INT_SOURCE_ADDR (0x30)
#define ADXL346_DATA_FORMAT_ADDR (0x31)
#define ADXL346_DATAX0_ADDR (0x32)
#define ADXL346_DATAX1_ADDR (0x33)
#define ADXL346_DATAY0_ADDR (0x34)
#define ADXL346_DATAY1_ADDR (0x35)
#define ADXL346_DATAZ0_ADDR (0x36)
#define ADXL346_DATAZ1_ADDR (0x37)
#define ADXL346_FIFO_CTL_ADDR (0x38)
#define ADXL346_FIFO_STATUS_ADDR (0x39)
#define ADXL346_TAP_SIGN_ADDR (0x3A)
#define ADXL346_ORIENT_CONF_ADDR (0x3B)
#define ADXL346_ORIENT_ADDR (0x3C)
/** @} */
/* -------------------------------------------------------------------------- */
/**
* \name ADXL346 register values
* @{
*/
#define ADXL346_INT_ENABLE_DATA_READY (1 << 7)
#define ADXL346_INT_ENABLE_SINGLE_TAP (1 << 6)
#define ADXL346_INT_ENABLE_DOUBLE_TAP (1 << 5)
#define ADXL346_INT_ENABLE_ACTIVITY (1 << 4)
#define ADXL346_INT_ENABLE_INACTIVITY (1 << 3)
#define ADXL346_INT_ENABLE_FREE_FALL (1 << 2)
#define ADXL346_INT_ENABLE_WATERMARK (1 << 1)
#define ADXL346_INT_ENABLE_OVERRUN (1 << 0)
#define ADXL346_ACT_INACT_CTL_ACT_ACDC (1 << 7)
#define ADXL346_ACT_INACT_CTL_ACT_X_EN (1 << 6)
#define ADXL346_ACT_INACT_CTL_ACT_Y_EN (1 << 5)
#define ADXL346_ACT_INACT_CTL_ACT_Z_EN (1 << 4)
#define ADXL346_ACT_INACT_CTL_INACT_ACDC (1 << 3)
#define ADXL346_ACT_INACT_CTL_INACT_X_EN (1 << 2)
#define ADXL346_ACT_INACT_CTL_INACT_Y_EN (1 << 1)
#define ADXL346_ACT_INACT_CTL_INACT_Z_EN (1 << 0)
#define ADXL346_TAP_AXES_SUPPRESS (1 << 3)
#define ADXL346_TAP_AXES_TAP_X_EN (1 << 2)
#define ADXL346_TAP_AXES_TAP_Y_EN (1 << 1)
#define ADXL346_TAP_AXES_TAP_Z_EN (1 << 0)
#define ADXL346_ACT_TAP_STATUS_ACT_X_SRC (1 << 6)
#define ADXL346_ACT_TAP_STATUS_ACT_Y_SRC (1 << 5)
#define ADXL346_ACT_TAP_STATUS_ACT_Z_SRC (1 << 4)
#define ADXL346_ACT_TAP_STATUS_ASLEEP (1 << 3)
#define ADXL346_ACT_TAP_STATUS_TAP_X_SRC (1 << 2)
#define ADXL346_ACT_TAP_STATUS_TAP_Y_SRC (1 << 1)
#define ADXL346_ACT_TAP_STATUS_TAP_Z_SRC (1 << 0)
#define ADXL346_BW_RATE_POWER (1 << 4)
#define ADXL346_BW_RATE_RATE(x) ((x) & 0x0F)
#define ADXL346_POWER_CTL_LINK (1 << 5)
#define ADXL346_POWER_CTL_AUTO_SLEEP (1 << 4)
#define ADXL346_POWER_CTL_MEASURE (1 << 3)
#define ADXL346_POWER_CTL_SLEEP (1 << 2)
#define ADXL346_POWER_CTL_WAKEUP(x) ((x) & 0x03)
#define ADXL346_DATA_FORMAT_SELF_TEST (1 << 7)
#define ADXL346_DATA_FORMAT_SPI (1 << 6)
#define ADXL346_DATA_FORMAT_INT_INVERT (1 << 5)
#define ADXL346_DATA_FORMAT_FULL_RES (1 << 3)
#define ADXL346_DATA_FORMAT_JUSTIFY (1 << 2)
#define ADXL346_DATA_FORMAT_RANGE(x) ((x) & 0x03)
#define ADXL346_DATA_FORMAT_RANGE_PM_2g (0)
#define ADXL346_DATA_FORMAT_RANGE_PM_4g (1)
#define ADXL346_DATA_FORMAT_RANGE_PM_8g (2)
#define ADXL346_DATA_FORMAT_RANGE_PM_16g (3)
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#define ADXL346_USER_CONFIGURATION (ADXL346_DATA_FORMAT_RANGE_PM_2g)
/** @} */
/*---------------------------------------------------------------------------*/
static uint8_t enabled;
/*---------------------------------------------------------------------------*/
static void
adxl346_init(void)
{
uint8_t config[2];
config[0] = ADXL346_BW_RATE_ADDR;
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config[1] = (ADXL346_BW_RATE_RATE(6));
i2c_burst_send(ADXL346_ADDRESS, config, sizeof(config));
config[0] = ADXL346_DATA_FORMAT_ADDR;
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config[1] = (ADXL346_USER_CONFIGURATION);
i2c_burst_send(ADXL346_ADDRESS, config, sizeof(config));
config[0] = ADXL346_POWER_CTL_ADDR;
config[1] = (ADXL346_POWER_CTL_MEASURE);
i2c_burst_send(ADXL346_ADDRESS, config, sizeof(config));
}
/*---------------------------------------------------------------------------*/
static uint8_t
adxl346_is_present(void)
{
uint8_t is_present;
i2c_single_send(ADXL346_ADDRESS, ADXL346_DEVID_ADDR);
i2c_single_receive(ADXL346_ADDRESS, &is_present);
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return is_present == ADXL346_DEVID_VALUE;
}
/*---------------------------------------------------------------------------*/
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static int16_t
adxl346_read_accel(uint8_t addr1, uint8_t addr2)
{
uint8_t acceleration[2];
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int16_t result;
i2c_single_send(ADXL346_ADDRESS, addr1);
i2c_single_receive(ADXL346_ADDRESS, &acceleration[0]);
i2c_single_send(ADXL346_ADDRESS, addr2);
i2c_single_receive(ADXL346_ADDRESS, &acceleration[1]);
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result = (acceleration[1] << 8) | acceleration[0];
return result;
}
/*---------------------------------------------------------------------------*/
static int16_t
adxl346_convert_accel(int16_t accel)
{
int32_t result;
result = (1000 * accel) / 256;
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return (int16_t)result;
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}
/*---------------------------------------------------------------------------*/
static void
adxl346_calibrate_offset(void)
{
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int32_t accum_x = 0;
int32_t accum_y = 0;
int32_t accum_z = 0;
uint8_t config[2];
int8_t offset;
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config[0] = ADXL346_OFSX_ADDR;
config[1] = 0;
i2c_burst_send(ADXL346_ADDRESS, config, sizeof(config));
config[0] = ADXL346_OFSY_ADDR;
config[1] = 0;
i2c_burst_send(ADXL346_ADDRESS, config, sizeof(config));
config[0] = ADXL346_OFSZ_ADDR;
config[1] = 0;
i2c_burst_send(ADXL346_ADDRESS, config, sizeof(config));
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uint16_t i;
for(i = 0; i < 100; i++) {
uint16_t x, y, z;
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x = adxl346_read_accel(ADXL346_DATAX0_ADDR, ADXL346_DATAX1_ADDR);
accum_x += x;
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y = adxl346_read_accel(ADXL346_DATAY0_ADDR, ADXL346_DATAY1_ADDR);
accum_y += y;
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z = adxl346_read_accel(ADXL346_DATAZ0_ADDR, ADXL346_DATAZ1_ADDR);
accum_z += z;
}
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offset = (64 * accum_x) / 25600;
config[0] = ADXL346_OFSX_ADDR;
config[1] = -offset;
i2c_burst_send(ADXL346_ADDRESS, config, sizeof(config));
PRINTF("ADXL346: X calibration offset is %d\n", offset);
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offset = (64 * accum_y) / 25600;
config[0] = ADXL346_OFSY_ADDR;
config[1] = -offset;
i2c_burst_send(ADXL346_ADDRESS, config, sizeof(config));
PRINTF("ADXL346: Y calibration offset is %d\n", offset);
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offset = (64 * accum_z) / 25600;
config[0] = ADXL346_OFSZ_ADDR;
config[1] = -offset;
i2c_burst_send(ADXL346_ADDRESS, config, sizeof(config));
PRINTF("ADXL346: Z calibration offset is %d\n", offset);
}
/*---------------------------------------------------------------------------*/
static int
status(int type)
{
switch(type) {
case SENSORS_ACTIVE:
case SENSORS_READY:
return enabled;
}
return 0;
}
/*---------------------------------------------------------------------------*/
static int
value(int type)
{
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int16_t accel;
if(!enabled) {
PRINTF("ADXL346: sensor not started\n");
return ADXL346_ERROR;
}
if(type == ADXL346_READ_X) {
return adxl346_read_accel(ADXL346_DATAX0_ADDR, ADXL346_DATAX1_ADDR);
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} else if(type == ADXL346_READ_Y) {
return adxl346_read_accel(ADXL346_DATAY0_ADDR, ADXL346_DATAY1_ADDR);
} else if(type == ADXL346_READ_Z) {
return adxl346_read_accel(ADXL346_DATAZ0_ADDR, ADXL346_DATAZ1_ADDR);
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} else if(type == ADXL346_READ_X_mG) {
accel = adxl346_read_accel(ADXL346_DATAX0_ADDR, ADXL346_DATAX1_ADDR);
return adxl346_convert_accel(accel);
} else if(type == ADXL346_READ_Y_mG) {
accel = adxl346_read_accel(ADXL346_DATAY0_ADDR, ADXL346_DATAY1_ADDR);
return adxl346_convert_accel(accel);
} else if(type == ADXL346_READ_Z_mG) {
accel = adxl346_read_accel(ADXL346_DATAZ0_ADDR, ADXL346_DATAZ1_ADDR);
return adxl346_convert_accel(accel);
} else {
PRINTF("ADXL346: invalid value requested\n");
return ADXL346_ERROR;
}
return ADXL346_ERROR;
}
/*---------------------------------------------------------------------------*/
static int
configure(int type, int value)
{
if(type == ADXL346_ACTIVATE) {
if(!adxl346_is_present()) {
PRINTF("ADXL346: is not present\n");
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enabled = 0;
return ADXL346_ERROR;
} else {
adxl346_init();
enabled = 1;
return ADXL346_SUCCESS;
}
}
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if(type == ADXL346_CALIB_OFFSET && enabled) {
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adxl346_calibrate_offset();
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return ADXL346_SUCCESS;
}
return ADXL346_ERROR;
}
/*---------------------------------------------------------------------------*/
SENSORS_SENSOR(adxl346, ADXL346_SENSOR, value, configure, status);
/*---------------------------------------------------------------------------*/
/** @} */