From 5faeca7bfe53425fc510729c68f882d99b85b987 Mon Sep 17 00:00:00 2001 From: enricmcalvo Date: Sun, 7 Nov 2010 08:41:48 +0000 Subject: [PATCH] Added test application to test accelerometer --- examples/z1/Makefile | 10 +- examples/z1/test-adxl345.c | 200 +++++++++++++++++++++++++++++++++++++ 2 files changed, 208 insertions(+), 2 deletions(-) create mode 100644 examples/z1/test-adxl345.c diff --git a/examples/z1/Makefile b/examples/z1/Makefile index c8fb5dd29..aba11adfa 100644 --- a/examples/z1/Makefile +++ b/examples/z1/Makefile @@ -1,8 +1,14 @@ -CONTIKI = ../.. ifndef TARGET TARGET=z1 endif -all: test-phidget blink +CONTIKI_PROJECT = test-phidgets blink test-adxl345 +CONTIKI_SOURCEFILES += cc2420-arch.c +PROJECT_SOURCEFILES = i2cmaster.c adxl345.c +APPS=serial-shell + +all: $(CONTIKI_PROJECT) + +CONTIKI = ../.. include $(CONTIKI)/Makefile.include diff --git a/examples/z1/test-adxl345.c b/examples/z1/test-adxl345.c new file mode 100644 index 000000000..b2b95d10d --- /dev/null +++ b/examples/z1/test-adxl345.c @@ -0,0 +1,200 @@ +/* + * Copyright (c) 2010, Swedish Institute of Computer Science. + * 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 + * A simple program for testing the adxl345 on-board accelerometer of the + * Zolertia Z1. Enables interrupts and registers callbacks for them. Then + * starts a constantly running readout of acceleration data. + * \author + * Marcus Lundén, SICS + * Enric M. Calvo, Zolertia + */ + +#include +#include "contiki.h" +#include "serial-shell.h" +#include "adxl345.h" + +#define LED_INT_ONTIME CLOCK_SECOND/2 +#define ACCM_READ_INTERVAL CLOCK_SECOND + +static process_event_t ledOff_event; +/*---------------------------------------------------------------------------*/ +PROCESS(accel_process, "Test Accel process"); +PROCESS(led_process, "LED handling process"); +AUTOSTART_PROCESSES(&accel_process, &led_process); +/*---------------------------------------------------------------------------*/ +/* As several interrupts can be mapped to one interrupt pin, when interrupt + strikes, the adxl345 interrupt source register is read. This function prints + out which interrupts occurred. Note that this will include all interrupts, + even those mapped to 'the other' pin, and those that will always signal even if + not enabled (such as watermark). */ + +void +print_int(uint16_t reg){ +#define ANNOYING_ALWAYS_THERE_ANYWAY_OUTPUT 0 +#if ANNOYING_ALWAYS_THERE_ANYWAY_OUTPUT + if(reg & ADXL345_INT_OVERRUN) { + printf("Overrun "); + } + if(reg & ADXL345_INT_WATERMARK) { + printf("Watermark "); + } + if(reg & ADXL345_INT_DATAREADY) { + printf("DataReady "); + } +#endif + if(reg & ADXL345_INT_FREEFALL) { + printf("Freefall "); + } + if(reg & ADXL345_INT_INACTIVITY) { + printf("InActivity "); + } + if(reg & ADXL345_INT_ACTIVITY) { + printf("Activity "); + } + if(reg & ADXL345_INT_DOUBLETAP) { + printf("DoubleTap "); + } + if(reg & ADXL345_INT_TAP) { + printf("Tap "); + } + printf("\n"); +} + +/*---------------------------------------------------------------------------*/ +/* accelerometer free fall detection callback */ + +void +accm_ff_cb(u8_t reg){ + L_ON(LEDS_B); + process_post(&led_process, ledOff_event, NULL); + printf("~~[%u] Freefall detected! (0x%02X) -- ", ((u16_t) clock_time())/128, reg); + print_int(reg); +} +/*---------------------------------------------------------------------------*/ +/* accelerometer tap and double tap detection callback */ + +void +accm_tap_cb(u8_t reg){ + process_post(&led_process, ledOff_event, NULL); + if(reg & ADXL345_INT_DOUBLETAP){ + L_ON(LEDS_G); + printf("~~[%u] DoubleTap detected! (0x%02X) -- ", ((u16_t) clock_time())/128, reg); + } else { + L_ON(LEDS_R); + printf("~~[%u] Tap detected! (0x%02X) -- ", ((u16_t) clock_time())/128, reg); + } + print_int(reg); +} +/*---------------------------------------------------------------------------*/ +/* When posted an ledOff event, the LEDs will switch off after LED_INT_ONTIME. + static process_event_t ledOff_event; + ledOff_event = process_alloc_event(); + process_post(&led_process, ledOff_event, NULL); +*/ + +static struct etimer ledETimer; +PROCESS_THREAD(led_process, ev, data) { + PROCESS_BEGIN(); + while(1){ + PROCESS_WAIT_EVENT_UNTIL(ev == ledOff_event); + etimer_set(&ledETimer, LED_INT_ONTIME); + PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&ledETimer)); + L_OFF(LEDS_R + LEDS_G + LEDS_B); + } + PROCESS_END(); +} + +/*---------------------------------------------------------------------------*/ +/* Returns a string with the argument byte written in binary. + Example usage: + printf("Port1: %s\n", char2bin(P1IN)); +*/ +/* +static u8_t b[9]; + +static u8_t +*char2bin(u8_t x) { + u8_t z; + b[8] = '\0'; + for (z = 0; z < 8; z++) { + b[7-z] = (x & (1 << z)) ? '1' : '0'; + } + return b; +} +*/ +/*---------------------------------------------------------------------------*/ +/* Main process, setups */ + +static struct etimer et; + +PROCESS_THREAD(accel_process, ev, data) { + PROCESS_BEGIN(); + { + int16_t x, y, z; + + serial_shell_init(); + shell_ps_init(); + shell_file_init(); // for printing out files + shell_text_init(); // for binprint + + /* Register the event used for lighting up an LED when interrupt strikes. */ + ledOff_event = process_alloc_event(); + + /* Start and setup the accelerometer with default values, eg no interrupts enabled. */ + accm_init(); + + /* Register the callback functions for each interrupt */ + ACCM_REGISTER_INT1_CB((void *)accm_ff_cb); + ACCM_REGISTER_INT2_CB((void *)accm_tap_cb); + + /* Set what strikes the corresponding interrupts. Several interrupts per pin is + possible. For the eight possible interrupts, see adxl345.h and adxl345 datasheet. */ + accm_set_irq(ADXL345_INT_FREEFALL, ADXL345_INT_TAP + ADXL345_INT_DOUBLETAP); + + while (1) { + x = accm_read_axis(X_AXIS); + y = accm_read_axis(Y_AXIS); + z = accm_read_axis(Z_AXIS); + printf("x: %d y: %d z: %d\n", x, y, z); + + etimer_set(&et, ACCM_READ_INTERVAL); + PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et)); + } + } + PROCESS_END(); +} + +/*---------------------------------------------------------------------------*/ +