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

/*
 * 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 header file for adxl345 accelerometer in Zolertia Z1.
 * \author
 *         Marcus Lundén, SICS <mlunden@sics.se>
 *         Enric Calvo, Zolertia <ecalvo@zolertia.com>
 *         Antonio Lignan, Zolertia <alinan@zolertia.com>
 */
/*---------------------------------------------------------------------------*/
#ifndef ADXL345_H_
#define ADXL345_H_
#include <stdio.h>
#include "dev/i2cmaster.h"
#include "lib/sensors.h"
/*---------------------------------------------------------------------------*/
/* Used in accm_read_axis(), eg accm_read_axis(X_AXIS) */
enum ADXL345_AXIS {
  X_AXIS = 0,
  Y_AXIS = 2,
  Z_AXIS = 4,
};
/* -------------------------------------------------------------------------- */
/* Init the accelerometer: ports, pins, registers, interrupts (none enabled),
 * I2C, default threshold values etc.
 */
void accm_init(void);

/* 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);

/* Sets the g-range, ie the range the accelerometer measures (ie 2g means -2 to
 * +2 g on every axis). Possible values:
 * - ADXL345_RANGE_2G
 * - ADXL345_RANGE_4G
 * - ADXL345_RANGE_8G
 * - ADXL345_RANGE_16G
 */
int accm_set_grange(uint8_t grange);

/* Map interrupt (FF, tap, dbltap etc) to interrupt pin (IRQ_INT1, IRQ_INT2).
 * This must come after accm_init() as the registers will otherwise be
 * overwritten.
 */
int accm_set_irq(uint8_t int1, uint8_t int2);

/* Macros for setting the pointers to callback functions from the interrupts.
 * The function will be called with an uint8_t as parameter, containing the
 * interrupt flag register from the ADXL345. That way, several interrupts can be
 * mapped to the same pin and be read
 */
#define ACCM_REGISTER_INT1_CB(ptr)   accm_int1_cb = ptr;
#define ACCM_REGISTER_INT2_CB(ptr)   accm_int2_cb = ptr;
/* -------------------------------------------------------------------------- */
/* Application definitions, change if required by application. */

/* Time after an interrupt that subsequent interrupts are suppressed. Should
 * later be turned into one specific time per type of interrupt (tap, freefall.
 * etc)
 */
#define SUPPRESS_TIME_INT1    CLOCK_SECOND/4
#define SUPPRESS_TIME_INT2    CLOCK_SECOND/4

/* Suggested defaults according to the data sheet etc */
#define ADXL345_THRESH_TAP_DEFAULT      0x48  /* 4.5g (0x30 == 3.0g) */
#define ADXL345_OFSX_DEFAULT            0x00  /* for calibration only */
#define ADXL345_OFSY_DEFAULT            0x00
#define ADXL345_OFSZ_DEFAULT            0x00
#define ADXL345_DUR_DEFAULT             0x20  /* 20 ms (datasheet: 10ms++) */
#define ADXL345_LATENT_DEFAULT          0x50  /* 100 ms (datasheet: 20ms++) */
#define ADXL345_WINDOW_DEFAULT          0xFF  /* 320 ms (datasheet: 80ms++) */
#define ADXL345_THRESH_ACT_DEFAULT      0x15  /* 1.3g (62.5 mg/LSB) */
#define ADXL345_THRESH_INACT_DEFAULT    0x08  /* 0.5g (62.5 mg/LSB) */
#define ADXL345_TIME_INACT_DEFAULT      0x02  /* 2 s (1 s/LSB) */
#define ADXL345_ACT_INACT_CTL_DEFAULT   0xFF  /* all axis, ac-coupled */
#define ADXL345_THRESH_FF_DEFAULT       0x09  /* 563 mg */
#define ADXL345_TIME_FF_DEFAULT         0x20  /* 60 ms */
#define ADXL345_TAP_AXES_DEFAULT        0x07  /* all axis, no suppression */

#define ADXL345_BW_RATE_DEFAULT         (0x00 | ADXL345_SRATE_100) /* 100 Hz */
/* link bit set, no autosleep, start normal measuring */
#define ADXL345_POWER_CTL_DEFAULT       0x28
#define ADXL345_INT_ENABLE_DEFAULT      0x00    /* no interrupts enabled */
#define ADXL345_INT_MAP_DEFAULT         0x00    /* all mapped to int_1 */

/* XXX NB: In the data format register, data format of axis readings is chosen
 * between left or right justify. This affects the position of the MSB/LSB and is
 * different depending on g-range and resolution. If changed, make sure this is
 * reflected in the _read_axis() function. Also, the resolution can be increased
 * from 10 bit to at most 13 bit, but this also changes position of MSB etc on data
 * format so check this in read_axis() too.
 */
/* right-justify, 2g, 10-bit mode, int is active high */
#define ADXL345_DATA_FORMAT_DEFAULT     (0x00 | ADXL345_RANGE_2G)
#define ADXL345_FIFO_CTL_DEFAULT        0x00    /* FIFO bypass mode */

/* -------------------------------------------------------------------------- */
/* Reference definitions, should not be changed */
/* adxl345 slave address */
#define ADXL345_ADDR            0x53

/* ADXL345 registers */
#define ADXL345_DEVID           0x00
/* registers 0x01 to 0x1C are reserved, do not access */
#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  /* read only, LSByte X, two's complement */
#define ADXL345_DATAX1          0x33  /* read only, MSByte X */
#define ADXL345_DATAY0          0x34  /* read only, LSByte Y */
#define ADXL345_DATAY1          0x35  /* read only, MSByte X */
#define ADXL345_DATAZ0          0x36  /* read only, LSByte Z */
#define ADXL345_DATAZ1          0x37  /* read only, MSByte X */
#define ADXL345_FIFO_CTL        0x38
#define ADXL345_FIFO_STATUS     0x39  /* read only */

/* ADXL345 interrupts */
#define ADXL345_INT_DISABLE     0X00  /* used for disabling interrupts */
#define ADXL345_INT_OVERRUN     0X01
#define ADXL345_INT_WATERMARK   0X02
#define ADXL345_INT_FREEFALL    0X04
#define ADXL345_INT_INACTIVITY  0X08
#define ADXL345_INT_ACTIVITY    0X10
#define ADXL345_INT_DOUBLETAP   0X20
#define ADXL345_INT_TAP         0X40
#define ADXL345_INT_DATAREADY   0X80

/* Accelerometer hardware ports, pins and registers on the msp430 µC */
#define ADXL345_DIR        P1DIR
#define ADXL345_PIN        P1PIN
#define ADXL345_REN        P1REN
#define ADXL345_SEL        P1SEL
#define ADXL345_SEL2       P1SEL2
#define ADXL345_INT1_PIN   (1<<6)    /* P1.6 */
#define ADXL345_INT2_PIN   (1<<7)    /* P1.7 */
#define ADXL345_IES        P1IES
#define ADXL345_IE         P1IE
#define ADXL345_IFG        P1IFG
#define ADXL345_VECTOR     PORT1_VECTOR

/* g-range for DATA_FORMAT register */
#define ADXL345_RANGE_2G    0x00
#define ADXL345_RANGE_4G    0x01
#define ADXL345_RANGE_8G    0x02
#define ADXL345_RANGE_16G   0x03


/* The adxl345 has programmable sample rates, but unexpected results may occur
 * if the wrong  rate and I2C bus speed is used (see datasheet p 17). Sample
 * rates in Hz. This setting does not change the internal sampling rate, just
 * how often it is piped to the output registers (ie the interrupt features use
 * the full sample rate internally).
 * Example use:
 *   adxl345_set_reg(ADXL345_BW_RATE, ((_ADXL345_STATUS & LOW_POWER)
 *                  | ADXL345_SRATE_50));
 */

/* XXX NB don't use at all as I2C data rate<= 400kHz */
#define ADXL345_SRATE_3200    0x0F
/* XXX NB don't use at all as I2C data rate<= 400kHz */
#define ADXL345_SRATE_1600    0x0E
#define ADXL345_SRATE_800     0x0D  /* when I2C data rate == 400 kHz */
#define ADXL345_SRATE_400     0x0C  /* when I2C data rate == 400 kHz */
#define ADXL345_SRATE_200     0x0B  /* when I2C data rate >= 100 kHz */
#define ADXL345_SRATE_100     0x0A  /* when I2C data rate >= 100 kHz */
#define ADXL345_SRATE_50      0x09  /* when I2C data rate >= 100 kHz */
#define ADXL345_SRATE_25      0x08  /* when I2C data rate >= 100 kHz */
#define ADXL345_SRATE_12_5    0x07  /* 12.5 Hz, when I2C data rate >= 100 kHz */
#define ADXL345_SRATE_6_25    0x06  /* when I2C data rate >= 100 kHz */
#define ADXL345_SRATE_3_13    0x05  /* when I2C data rate >= 100 kHz */
#define ADXL345_SRATE_1_56    0x04  /* when I2C data rate >= 100 kHz */
#define ADXL345_SRATE_0_78    0x03  /* when I2C data rate >= 100 kHz */
#define ADXL345_SRATE_0_39    0x02  /* when I2C data rate >= 100 kHz */
#define ADXL345_SRATE_0_20    0x01  /* when I2C data rate >= 100 kHz */
#define ADXL345_SRATE_0_10    0x00  /* 0.10 Hz, when I2C data rate >= 100 kHz */
/* -------------------------------------------------------------------------- */
/* Callback pointers for the interrupts */
extern void (*accm_int1_cb)(uint8_t reg);
extern void (*accm_int2_cb)(uint8_t reg);
/* -------------------------------------------------------------------------- */
#define ACCM_INT1              0x01
#define ACCM_INT2              0x02
#define ADXL345_SUCCESS        0x00
#define ADXL345_ERROR          (-1)
/* -------------------------------------------------------------------------- */
#define ADXL345_SENSOR         "ADXL345 sensor"
/* -------------------------------------------------------------------------- */
extern const struct sensors_sensor adxl345;
/* -------------------------------------------------------------------------- */
/* -------------------------------------------------------------------------- */
#endif /* ifndef ADXL345_H_ */