Updated accelerometer drivers to avoid conflicts with radio transceiver.
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enricmcalvo
parent
3563089a91
commit
436e4dce1c
2 changed files with 69 additions and 23 deletions
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@ -56,7 +56,8 @@ static uint16_t int1_mask = 0, int2_mask = 0;
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/* Keep track of when the interrupt was last seen in order to reduce the amount
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of interrupts. Kind of like button debouncing. This can't be per int-pin, as
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there can be several very different int per pin (eg tap && freefall). */
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static volatile clock_time_t ints_lasttime[] = {0, 0, 0, 0, 0, 0, 0, 0};
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// XXX Not used now, only one global timer.
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//static volatile clock_time_t ints_lasttime[] = {0, 0, 0, 0, 0, 0, 0, 0};
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/* Bitmasks and bit flag variable for keeping track of adxl345 status. */
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enum ADXL345_STATUSTYPES {
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@ -129,7 +130,7 @@ accm_write_reg(u8_t reg, u8_t val) {
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PRINTFDEBUG("WRITE_REG 0x%02X @ reg 0x%02X\n", val, reg);
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}
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/*---------------------------------------------------------------------------*/
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/* Read several registers in a stream.
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/* Write several registers from a stream.
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args:
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len number of bytes to read
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data pointer to where the data is read from
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@ -375,7 +376,7 @@ static struct timer suppressTimer1, suppressTimer2;
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interrupt(PORT1_VECTOR) port1_isr (void) {
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ENERGEST_ON(ENERGEST_TYPE_IRQ);
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/* ADXL345_IFG.x goes high when interrupt occurs, use to check what interrupted */
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if (ADXL345_IFG & ADXL345_INT1_PIN){
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if ((ADXL345_IFG & ADXL345_INT1_PIN) && !!(ADXL345_IFG & CC2420_FIFOP_PIN)){
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/* Check if this should be suppressed or not */
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if(timer_expired(&suppressTimer1)) {
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timer_set(&suppressTimer1, SUPPRESS_TIME_INT1);
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@ -383,7 +384,7 @@ interrupt(PORT1_VECTOR) port1_isr (void) {
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process_poll(&accmeter_process);
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LPM4_EXIT;
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}
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} else if (ADXL345_IFG & ADXL345_INT2_PIN){
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} else if ((ADXL345_IFG & ADXL345_INT2_PIN) && !!(ADXL345_IFG & CC2420_FIFOP_PIN)){
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/* Check if this should be suppressed or not */
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if(timer_expired(&suppressTimer2)) {
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timer_set(&suppressTimer2, SUPPRESS_TIME_INT2);
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@ -43,12 +43,6 @@
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#include <stdio.h>
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#include "i2cmaster.h"
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//XXX Temporary place for defines that are lacking in mspgcc4's gpio.h
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#ifndef P1SEL2_
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#define P1SEL2_ 0x0041 /* Port 1 Selection 2 */
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sfrb(P1SEL2, P1SEL2_);
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#endif
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#define DEBUGLEDS 0
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#if DEBUGLEDS
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#undef LEDS_ON(x)
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@ -75,18 +69,69 @@ enum ADXL345_AXIS {
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Z_AXIS = 4,
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};
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/* -------------------------------------------------------------------------- */
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/* Init the accelerometer: ports, pins, registers, interrupts (none enabled), I2C,
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default threshold values etc. */
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void accm_init(void);
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/* Write to a register.
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args:
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reg register to write to
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val value to write
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*/
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void accm_write_reg(u8_t reg, u8_t val);
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/* Write several registers from a stream.
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args:
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len number of bytes to read
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data pointer to where the data is read from
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First byte in stream must be the register address to begin writing to.
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The data is then written from the second byte and increasing. The address byte
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is not included in length len. */
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void accm_write_stream(u8_t len, u8_t *data);
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/* Read one register.
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args:
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reg what register to read
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returns the value of the read register
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*/
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u8_t accm_read_reg(u8_t reg);
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/* Read several registers in a stream.
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args:
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reg what register to start reading from
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len number of bytes to read
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whereto pointer to where the data is saved
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*/
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void accm_read_stream(u8_t reg, u8_t len, u8_t *whereto);
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/* Read an axis of the accelerometer (x, y or z). Return value is a signed 10 bit int.
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The resolution of the acceleration measurement can be increased up to 13 bit, but
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will change the data format of this read out. Refer to the data sheet if so is
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wanted/needed. */
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int16_t accm_read_axis(enum ADXL345_AXIS axis);
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/* Sets the g-range, ie the range the accelerometer measures (ie 2g means -2 to +2 g
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on every axis). Possible values:
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ADXL345_RANGE_2G
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ADXL345_RANGE_4G
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ADXL345_RANGE_8G
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ADXL345_RANGE_16G
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Example:
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accm_set_grange(ADXL345_RANGE_4G);
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*/
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void accm_set_grange(u8_t grange);
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/* Map interrupt (FF, tap, dbltap etc) to interrupt pin (IRQ_INT1, IRQ_INT2).
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This must come after accm_init() as the registers will otherwise be overwritten. */
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void accm_set_irq(uint8_t int1, uint8_t int2);
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/* Macros for setting the pointers to callback functions from the interrupts.
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The function will be called with an u8_t as parameter, containing the interrupt
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flag register from the ADXL345. That way, several interrupts can be mapped to
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the same pin and be read from the */
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#define ACCM_REGISTER_INT1_CB(ptr) accm_int1_cb = ptr;
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#define ACCM_REGISTER_INT2_CB(ptr) accm_int2_cb = ptr;
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/* -------------------------------------------------------------------------- */
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/* Application definitions, change if required by application. */
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@ -104,27 +149,27 @@ void accm_set_irq(uint8_t int1, uint8_t int2);
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*/
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/* Time after an interrupt that subsequent interrupts are suppressed. Should later
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be turned into one specific time per type of interrupt (tap, freefall etc) */
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#define SUPPRESS_TIME_INT1 CLOCK_SECOND
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#define SUPPRESS_TIME_INT2 CLOCK_SECOND
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#define SUPPRESS_TIME_INT1 CLOCK_SECOND/4
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#define SUPPRESS_TIME_INT2 CLOCK_SECOND/4
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/* Suggested defaults according to the data sheet etc */
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#define ADXL345_THRESH_TAP_DEFAULT 0x48 // 4.5g (0x30 == 3.0g) (datasheet: 3g++)
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#define ADXL345_OFSX_DEFAULT 0x00 // for calibration, set 0 for long...
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#define ADXL345_OFSX_DEFAULT 0x00 // for individual units calibration purposes
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#define ADXL345_OFSY_DEFAULT 0x00
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#define ADXL345_OFSZ_DEFAULT 0x00
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#define ADXL345_DUR_DEFAULT 0x20 // 20 ms (datasheet: 10ms++)
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#define ADXL345_LATENT_DEFAULT 0x50 // 100 ms (datasheet: 20ms++)
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#define ADXL345_WINDOW_DEFAULT 0xFF // 320 ms (datasheet: 80ms++)
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#define ADXL345_THRESH_ACT_DEFAULT 0x20 // 2g
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#define ADXL345_THRESH_INACT_DEFAULT 0x13 // 1.2g
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#define ADXL345_TIME_INACT_DEFAULT 0x02 // 2 s
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#define ADXL345_THRESH_ACT_DEFAULT 0x15 // 1.3g (62.5 mg/LSB)
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#define ADXL345_THRESH_INACT_DEFAULT 0x08 // 0.5g (62.5 mg/LSB)
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#define ADXL345_TIME_INACT_DEFAULT 0x02 // 2 s (1 s/LSB)
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#define ADXL345_ACT_INACT_CTL_DEFAULT 0xFF // all axis involved, ac-coupled
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#define ADXL345_THRESH_FF_DEFAULT 0x09 // 563 mg
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#define ADXL345_TIME_FF_DEFAULT 0x20 // 160 ms
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#define ADXL345_TAP_AXES_DEFAULT 0x07 // all axis, no suppression
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#define ADXL345_BW_RATE_DEFAULT (0x00|ADXL345_SRATE_100) // 100 Hz, normal operation
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#define ADXL345_POWER_CTL_DEFAULT 0x08 // no link, no autosleep, start normal measuring
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#define ADXL345_POWER_CTL_DEFAULT 0x28 // link bit set, no autosleep, start normal measuring
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#define ADXL345_INT_ENABLE_DEFAULT 0x00 // no interrupts enabled
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#define ADXL345_INT_MAP_DEFAULT 0x00 // all mapped to int_1
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@ -134,7 +179,7 @@ void accm_set_irq(uint8_t int1, uint8_t int2);
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reflected in the _read_axis() function. Also, the resolution can be increased
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from 10 bit to at most 13 bit, but this also changes position of MSB etc on data
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format so check this in read_axis() too. */
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#define ADXL345_DATA_FORMAT_DEFAULT (0x00|ADXL345_RANGE_2G) // right-justify, 4g, 10-bit mode, int is active high
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#define ADXL345_DATA_FORMAT_DEFAULT (0x00|ADXL345_RANGE_2G) // right-justify, 2g, 10-bit mode, int is active high
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#define ADXL345_FIFO_CTL_DEFAULT 0x00 // FIFO bypass mode
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/* -------------------------------------------------------------------------- */
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@ -207,7 +252,11 @@ void accm_set_irq(uint8_t int1, uint8_t int2);
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/* The adxl345 has programmable sample rates, but unexpected results may occur if the wrong
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rate and I2C bus speed is used (see datasheet p 17). Sample rates in Hz.
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rate and I2C bus speed is used (see datasheet p 17). Sample rates in Hz. This
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setting does not change the internal sampling rate, just how often it is piped
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to the output registers (ie the interrupt features use the full sample rate
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internally).
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Example use:
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adxl345_set_reg(ADXL345_BW_RATE, ((_ADXL345_STATUS & LOW_POWER) | ADXL345_SRATE_50));
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*/
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@ -232,10 +281,6 @@ void accm_set_irq(uint8_t int1, uint8_t int2);
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void (*accm_int1_cb)(u8_t reg);
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void (*accm_int2_cb)(u8_t reg);
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/* Macros for setting the callback pointers */
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#define ACCM_REGISTER_INT1_CB(ptr) accm_int1_cb = ptr;
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#define ACCM_REGISTER_INT2_CB(ptr) accm_int2_cb = ptr;
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/* Interrupt 1 and 2 events; ADXL345 signals interrupt on INT1 or INT2 pins,
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ISR is invoked and polls the accelerometer process which invokes the callbacks. */
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process_event_t int1_event, int2_event; // static ?
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