Merge pull request #1523 from Zolertia/pull/z1-apify-sensors
Adapt Z1 on-board sensors to Contiki's API
This commit is contained in:
Nicolas Tsiftes
commit
862e43d9b0
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@ -42,10 +42,7 @@
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#include <stdio.h>
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#include "contiki.h"
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#include "serial-shell.h"
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#include "shell-ps.h"
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#include "shell-file.h"
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#include "shell-text.h"
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#include "dev/leds.h"
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#include "dev/adxl345.h"
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/*---------------------------------------------------------------------------*/
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#define LED_INT_ONTIME (CLOCK_SECOND / 2)
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@ -91,7 +88,7 @@ print_int(uint16_t reg)
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void
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accm_ff_cb(uint8_t reg)
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{
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L_ON(LEDS_B);
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leds_on(LEDS_BLUE);
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process_post(&led_process, led_off_event, NULL);
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printf("~~[%u] Freefall detected! (0x%02X) -- ",
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((uint16_t)clock_time()) / 128, reg);
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@ -105,11 +102,11 @@ accm_tap_cb(uint8_t reg)
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{
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process_post(&led_process, led_off_event, NULL);
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if(reg & ADXL345_INT_DOUBLETAP) {
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L_ON(LEDS_G);
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leds_on(LEDS_GREEN);
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printf("~~[%u] DoubleTap detected! (0x%02X) -- ",
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((uint16_t)clock_time()) / 128, reg);
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} else {
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L_ON(LEDS_R);
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leds_on(LEDS_RED);
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printf("~~[%u] Tap detected! (0x%02X) -- ",
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((uint16_t)clock_time()) / 128, reg);
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}
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@ -122,46 +119,46 @@ PROCESS_THREAD(led_process, ev, data) {
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PROCESS_WAIT_EVENT_UNTIL(ev == led_off_event);
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etimer_set(&led_etimer, LED_INT_ONTIME);
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PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&led_etimer));
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L_OFF(LEDS_R + LEDS_G + LEDS_B);
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leds_off(LEDS_RED + LEDS_GREEN + LEDS_BLUE);
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}
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PROCESS_END();
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}
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/*---------------------------------------------------------------------------*/
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/* Main process, setups */
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PROCESS_THREAD(accel_process, ev, data) {
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PROCESS_THREAD(accel_process, ev, data)
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{
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PROCESS_BEGIN();
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{
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int16_t x, y, z;
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serial_shell_init();
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shell_ps_init();
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shell_file_init(); /* for printing out files */
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shell_text_init(); /* for binprint */
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int16_t x, y, z;
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/* Register the event used for lighting up an LED when interrupt strikes. */
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led_off_event = process_alloc_event();
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/* Register the event used for lighting up an LED when interrupt strikes. */
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led_off_event = process_alloc_event();
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/* Start and setup the accelerometer with default values, eg no interrupts enabled. */
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accm_init();
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/* Start and setup the accelerometer with default values, eg no interrupts
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* enabled.
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*/
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SENSORS_ACTIVATE(adxl345);
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/* Register the callback functions for each interrupt */
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ACCM_REGISTER_INT1_CB(accm_ff_cb);
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ACCM_REGISTER_INT2_CB(accm_tap_cb);
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/* Register the callback functions for each interrupt */
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ACCM_REGISTER_INT1_CB(accm_ff_cb);
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ACCM_REGISTER_INT2_CB(accm_tap_cb);
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/* Set what strikes the corresponding interrupts. Several interrupts per pin is
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possible. For the eight possible interrupts, see adxl345.h and adxl345 datasheet. */
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accm_set_irq(ADXL345_INT_FREEFALL, ADXL345_INT_TAP + ADXL345_INT_DOUBLETAP);
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/* Set what strikes the corresponding interrupts. Several interrupts per
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* pin is possible. For the eight possible interrupts, see adxl345.h and
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* adxl345 datasheet.
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*/
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accm_set_irq(ADXL345_INT_FREEFALL, ADXL345_INT_TAP + ADXL345_INT_DOUBLETAP);
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while(1) {
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x = accm_read_axis(X_AXIS);
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y = accm_read_axis(Y_AXIS);
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z = accm_read_axis(Z_AXIS);
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printf("x: %d y: %d z: %d\n", x, y, z);
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while(1) {
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x = adxl345.value(X_AXIS);
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y = adxl345.value(Y_AXIS);
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z = adxl345.value(Z_AXIS);
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printf("x: %d y: %d z: %d\n", x, y, z);
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etimer_set(&et, ACCM_READ_INTERVAL);
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PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
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}
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etimer_set(&et, ACCM_READ_INTERVAL);
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PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
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}
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PROCESS_END();
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}
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/*---------------------------------------------------------------------------*/
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@ -1,5 +1,5 @@
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/*
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* Copyright (c) 2011, Zolertia(TM) is a trademark of Advancare,SL
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* Copyright (c) 2010-2016, Zolertia <http://www.zolertia.com>
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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@ -32,9 +32,10 @@
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/*---------------------------------------------------------------------------*/
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/**
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* \file
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* A quick program for testing the tmp102 driver in the Z1 platform
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* A quick program for testing the tmp102 sensor in the Z1 platform
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* \author
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* Enric M. Calvo <ecalvo@zolertia.com>
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* Antonio Lignan <alinan@zolertia.com>
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*/
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/*---------------------------------------------------------------------------*/
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#include <stdio.h>
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@ -44,7 +45,7 @@
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/*---------------------------------------------------------------------------*/
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#define TMP102_READ_INTERVAL (CLOCK_SECOND / 2)
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/*---------------------------------------------------------------------------*/
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PROCESS(temp_process, "Test Temperature process");
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PROCESS(temp_process, "TMP102 Temperature sensor process");
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AUTOSTART_PROCESSES(&temp_process);
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/*---------------------------------------------------------------------------*/
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static struct etimer et;
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@ -55,12 +56,12 @@ PROCESS_THREAD(temp_process, ev, data)
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int16_t temp;
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tmp102_init();
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SENSORS_ACTIVATE(tmp102);
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while(1) {
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etimer_set(&et, TMP102_READ_INTERVAL);
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PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
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temp = tmp102_read_temp_x100();
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temp = tmp102.value(TMP102_READ);
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printf("Temp = %d\n", temp);
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}
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PROCESS_END();
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@ -1,5 +1,6 @@
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/*
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* Copyright (c) 2010, Swedish Institute of Computer Science.
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* Copyright (c) 2016, Zolertia <http://www.zolertia.com>
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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@ -29,59 +30,52 @@
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* This file is part of the Contiki operating system.
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*
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*/
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/*---------------------------------------------------------------------------*/
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/**
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* \file
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* Device drivers for adxl345 accelerometer in Zolertia Z1.
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* \author
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* Marcus Lundén, SICS <mlunden@sics.se>
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* Enric M. Calvo, Zolertia <ecalvo@zolertia.com>
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* Antonio Lignan, Zolertia <alinan@zolertia.com>
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*/
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/*---------------------------------------------------------------------------*/
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#include <stdio.h>
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#include "contiki.h"
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#include "adxl345.h"
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#include "cc2420.h"
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#include "i2cmaster.h"
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#include "isr_compat.h"
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#include "lib/sensors.h"
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/*---------------------------------------------------------------------------*/
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#define DEBUG 0
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#if DEBUG
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#define PRINTF(...) printf(__VA_ARGS__)
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#else
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#define PRINTF(...)
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#endif
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/*---------------------------------------------------------------------------*/
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static uint8_t enabled;
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/*---------------------------------------------------------------------------*/
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/* Callback pointers when interrupt occurs */
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void (*accm_int1_cb)(uint8_t reg);
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void (*accm_int2_cb)(uint8_t reg);
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process_event_t int1_event, int2_event;
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/*---------------------------------------------------------------------------*/
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/* Bitmasks for the interrupts */
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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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// 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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/* Default values for adxl345 at startup.
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* This will be sent to the adxl345 in a
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* stream at init to set it up in a default state
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*/
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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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/* must be a bit and not more, not using 0x00. */
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INITED = 0x01,
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RUNNING = 0x02,
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STOPPED = 0x04,
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LOW_POWER = 0x08,
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AAA = 0x10, // available to extend this...
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BBB = 0x20, // available to extend this...
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CCC = 0x40, // available to extend this...
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DDD = 0x80, // available to extend this...
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};
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static enum ADXL345_STATUSTYPES _ADXL345_STATUS = 0x00;
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/* Default values for adxl345 at startup. This will be sent to the adxl345 in a
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stream at init to set it up in a default state */
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static uint8_t adxl345_default_settings[] = {
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/* Note, as the two first two bulks are to be written in a stream, they contain
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the register address as first byte in that section. */
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/* 0--14 are in one stream, start at ADXL345_THRESH_TAP */
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ADXL345_THRESH_TAP, // XXX NB Register address, not register value!!
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* the register address as first byte in that section.
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* 0--14 are in one stream, start at ADXL345_THRESH_TAP
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*/
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/* XXX NB Register address, not register value!! */
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ADXL345_THRESH_TAP,
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ADXL345_THRESH_TAP_DEFAULT,
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ADXL345_OFSX_DEFAULT,
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ADXL345_OFSY_DEFAULT,
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@ -98,7 +92,8 @@ static uint8_t adxl345_default_settings[] = {
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ADXL345_TAP_AXES_DEFAULT,
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/* 15--19 start at ADXL345_BW_RATE */
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ADXL345_BW_RATE, // XXX NB Register address, not register value!!
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/* XXX NB Register address, not register value!! */
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ADXL345_BW_RATE,
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ADXL345_BW_RATE_DEFAULT,
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ADXL345_POWER_CTL_DEFAULT,
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ADXL345_INT_ENABLE_DEFAULT,
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@ -108,61 +103,45 @@ static uint8_t adxl345_default_settings[] = {
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ADXL345_DATA_FORMAT_DEFAULT,
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ADXL345_FIFO_CTL_DEFAULT
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};
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/*---------------------------------------------------------------------------*/
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PROCESS(accmeter_process, "Accelerometer process");
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/*---------------------------------------------------------------------------*/
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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
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accm_write_reg(uint8_t reg, uint8_t val) {
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static void
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accm_write_reg(uint8_t reg, uint8_t val)
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{
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uint8_t tx_buf[] = {reg, val};
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i2c_transmitinit(ADXL345_ADDR);
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while (i2c_busy());
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PRINTFDEBUG("I2C Ready to TX\n");
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PRINTF("ADXL345: I2C Ready to TX\n");
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i2c_transmit_n(2, tx_buf);
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while (i2c_busy());
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PRINTFDEBUG("WRITE_REG 0x%02X @ reg 0x%02X\n", val, reg);
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PRINTF("ADXL345: WRITE_REG 0x%02X @ reg 0x%02X\n", val, reg);
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}
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/*---------------------------------------------------------------------------*/
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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 second byte and increasing. */
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void
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accm_write_stream(uint8_t len, uint8_t *data) {
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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 second byte and increasing.
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*/
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static void
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accm_write_stream(uint8_t len, uint8_t *data)
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{
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i2c_transmitinit(ADXL345_ADDR);
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while (i2c_busy());
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PRINTFDEBUG("I2C Ready to TX(stream)\n");
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PRINTF("ADXL345: I2C Ready to TX(stream)\n");
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i2c_transmit_n(len, data); // start tx and send conf reg
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while (i2c_busy());
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PRINTFDEBUG("WRITE_STR %u B to 0x%02X\n", len, data[0]);
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PRINTF("ADXL345: WRITE_STR %u B to 0x%02X\n", len, data[0]);
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}
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/*---------------------------------------------------------------------------*/
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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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uint8_t
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accm_read_reg(uint8_t reg) {
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static uint8_t
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accm_read_reg(uint8_t reg)
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{
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uint8_t retVal = 0;
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uint8_t rtx = reg;
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PRINTFDEBUG("READ_REG 0x%02X\n", reg);
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PRINTF("ADXL345: READ_REG 0x%02X\n", reg);
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/* transmit the register to read */
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i2c_transmitinit(ADXL345_ADDR);
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@ -178,19 +157,12 @@ accm_read_reg(uint8_t reg) {
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return retVal;
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}
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/*---------------------------------------------------------------------------*/
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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
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accm_read_stream(uint8_t reg, uint8_t len, uint8_t *whereto) {
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static void
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accm_read_stream(uint8_t reg, uint8_t len, uint8_t *whereto)
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{
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uint8_t rtx = reg;
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PRINTFDEBUG("READ_STR %u B from 0x%02X\n", len, reg);
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PRINTF("ADXL345: READ_STR %u B from 0x%02X\n", len, reg);
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/* transmit the register to start reading from */
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i2c_transmitinit(ADXL345_ADDR);
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@ -206,13 +178,15 @@ accm_read_stream(uint8_t reg, uint8_t len, uint8_t *whereto) {
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}
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/*---------------------------------------------------------------------------*/
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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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/* Read an axis of the accelerometer (x, y or z). Return value is a signed
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* 10 bit int.
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* The resolution of the acceleration measurement can be increased up to 13 bit,
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* but will change the data format of this read out. Refer to the data sheet if
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* so is wanted/needed.
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*/
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int16_t
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accm_read_axis(enum ADXL345_AXIS axis){
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accm_read_axis(enum ADXL345_AXIS axis)
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{
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int16_t rd = 0;
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uint8_t tmp[2];
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if(axis > Z_AXIS){
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@ -222,165 +196,144 @@ accm_read_axis(enum ADXL345_AXIS axis){
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rd = (int16_t)(tmp[0] | (tmp[1]<<8));
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return rd;
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}
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/*---------------------------------------------------------------------------*/
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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
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accm_set_grange(uint8_t grange){
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if(grange > ADXL345_RANGE_16G) {
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// invalid g-range.
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PRINTFDEBUG("ADXL grange invalid: %u\n", grange);
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return;
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}
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int
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accm_set_grange(uint8_t grange)
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{
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uint8_t tempreg = 0;
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/* preserve the previous contents of the register */
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tempreg = (accm_read_reg(ADXL345_DATA_FORMAT) & 0xFC); // zero out the last two bits (grange)
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tempreg |= grange; // set new range
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accm_write_reg(ADXL345_DATA_FORMAT, tempreg);
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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
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accm_init(void) {
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if(!(_ADXL345_STATUS & INITED)){
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PRINTFDEBUG("ADXL345 init\n");
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_ADXL345_STATUS |= INITED;
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accm_int1_cb = NULL;
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accm_int2_cb = NULL;
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int1_event = process_alloc_event();
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int2_event = process_alloc_event();
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/* Set up ports and pins for interrups. */
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ADXL345_DIR &=~ (ADXL345_INT1_PIN | ADXL345_INT2_PIN);
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ADXL345_SEL &=~ (ADXL345_INT1_PIN | ADXL345_INT2_PIN);
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ADXL345_SEL2 &=~ (ADXL345_INT1_PIN | ADXL345_INT2_PIN);
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/* Set up ports and pins for I2C communication */
|
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i2c_enable();
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|
||||
/* 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();
|
||||
ADXL345_IES &=~ (ADXL345_INT1_PIN | ADXL345_INT2_PIN); // low to high transition interrupts
|
||||
ADXL345_IE |= (ADXL345_INT1_PIN | ADXL345_INT2_PIN); // enable interrupts
|
||||
eint();
|
||||
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;
|
||||
}
|
||||
|
||||
/*---------------------------------------------------------------------------*/
|
||||
/* 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. */
|
||||
|
||||
void
|
||||
accm_set_irq(uint8_t int1, uint8_t int2){
|
||||
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 */
|
||||
PRINTFDEBUG("IRQs set to INT1: 0x%02X IRQ2: 0x%02X\n", int1, 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));
|
||||
accm_write_reg(ADXL345_INT_MAP, int2); // int1 bits are zeroes in the map register so this is for both ints
|
||||
/* int1 bits are zeroes in the map register so this is for both ints */
|
||||
accm_write_reg(ADXL345_INT_MAP, int2);
|
||||
return ADXL345_SUCCESS;
|
||||
}
|
||||
|
||||
/*---------------------------------------------------------------------------*/
|
||||
#if 0
|
||||
/* now unused code that is later supposed to be turned into keeping track of every
|
||||
interrupt by themselves instead of only one per INT1/2 */
|
||||
|
||||
/* XXX MUST HAVE some way of resetting the time so that we are not suppressing
|
||||
erronous due to clock overflow.... XXX XXX XXX */
|
||||
/* Table with back off time periods */
|
||||
static volatile clock_time_t ints_backoffs[] = {ADXL345_INT_OVERRUN_BACKOFF, ADXL345_INT_WATERMARK_BACKOFF,
|
||||
ADXL345_INT_FREEFALL_BACKOFF, ADXL345_INT_INACTIVITY_BACKOFF,
|
||||
ADXL345_INT_ACTIVITY_BACKOFF, ADXL345_INT_DOUBLETAP_BACKOFF,
|
||||
ADXL345_INT_TAP_BACKOFF, ADXL345_INT_DATAREADY_BACKOFF};
|
||||
|
||||
/*---------------------------------------------------------------------------*/
|
||||
/* Checks to see if an event occurred after backoff period (returns time period
|
||||
past since) or not (returns 0) */
|
||||
|
||||
static clocktime_t
|
||||
backoff_passed(clocktime_t happenedAt, const clocktime_t backoff){
|
||||
if(timenow-lasttime >= backoff) {
|
||||
return 0;
|
||||
} else {
|
||||
return (timenow-lasttime);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
/*---------------------------------------------------------------------------*/
|
||||
/* 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. */
|
||||
|
||||
* 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){
|
||||
poll_handler(void)
|
||||
{
|
||||
uint8_t ireg = 0;
|
||||
ireg = accm_read_reg(ADXL345_INT_SOURCE);
|
||||
//printf("0x%02X, 0x%02X, 0x%02X, 0x%02X\n", ireg, ireg2, int1_mask, int2_mask);
|
||||
|
||||
/* Invoke callbacks for the corresponding interrupts */
|
||||
if(ireg & int1_mask){
|
||||
if(accm_int1_cb != NULL){
|
||||
PRINTFDEBUG("INT1 cb invoked\n");
|
||||
PRINTF("ADXL345: INT1 cb invoked\n");
|
||||
accm_int1_cb(ireg);
|
||||
}
|
||||
} else if(ireg & int2_mask){
|
||||
if(accm_int2_cb != NULL){
|
||||
PRINTFDEBUG("INT2 cb invoked\n");
|
||||
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) {
|
||||
/* 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); // should do nothing in while loop.
|
||||
PROCESS_WAIT_EVENT_UNTIL(0);
|
||||
}
|
||||
PROCESS_END();
|
||||
}
|
||||
|
||||
/*---------------------------------------------------------------------------*/
|
||||
/* XXX This interrupt vector is shared with the interrupts from CC2420, so that
|
||||
was moved here but should find a better home. XXX */
|
||||
|
||||
#if 1
|
||||
/* 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))){
|
||||
|
||||
/* 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);
|
||||
|
|
@ -388,11 +341,13 @@ ISR(PORT1, port1_isr)
|
|||
process_poll(&accmeter_process);
|
||||
LPM4_EXIT;
|
||||
}
|
||||
} else if ((ADXL345_IFG & ADXL345_INT2_PIN) && !(ADXL345_IFG & BV(CC2420_FIFOP_PIN))){
|
||||
} 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);
|
||||
ADXL345_IFG &= ~ADXL345_INT2_PIN; // clear interrupt flag
|
||||
/* clear interrupt flag */
|
||||
ADXL345_IFG &= ~ADXL345_INT2_PIN;
|
||||
process_poll(&accmeter_process);
|
||||
LPM4_EXIT;
|
||||
}
|
||||
|
|
@ -404,7 +359,56 @@ ISR(PORT1, port1_isr)
|
|||
}
|
||||
ENERGEST_OFF(ENERGEST_TYPE_IRQ);
|
||||
}
|
||||
|
||||
/*---------------------------------------------------------------------------*/
|
||||
static int
|
||||
configure(int type, int value)
|
||||
{
|
||||
if(type != SENSORS_ACTIVE) {
|
||||
return ADXL345_ERROR;
|
||||
}
|
||||
|
||||
#endif
|
||||
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);
|
||||
/*---------------------------------------------------------------------------*/
|
||||
|
|
|
|||
|
|
@ -1,5 +1,6 @@
|
|||
/*
|
||||
* 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
|
||||
|
|
@ -29,158 +30,106 @@
|
|||
* 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"
|
||||
|
||||
#define DEBUGLEDS 0
|
||||
#if DEBUGLEDS
|
||||
#undef LEDS_ON(x)
|
||||
#undef LEDS_OFF(x)
|
||||
#define LEDS_ON(x) (LEDS_PxOUT &= ~x)
|
||||
#define LEDS_OFF(x) (LEDS_PxOUT |= x)
|
||||
#else
|
||||
#undef LEDS_ON
|
||||
#undef LEDS_OFF
|
||||
#define LEDS_ON(x)
|
||||
#define LEDS_OFF(x)
|
||||
#endif
|
||||
|
||||
#define LEDS_R 0x10
|
||||
#define LEDS_G 0x40
|
||||
#define LEDS_B 0x20
|
||||
#define L_ON(x) (LEDS_PxOUT &= ~x)
|
||||
#define L_OFF(x) (LEDS_PxOUT |= x)
|
||||
|
||||
/* Used in accm_read_axis(), eg accm_read_axis(X_AXIS);*/
|
||||
#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);
|
||||
/* Init the accelerometer: ports, pins, registers, interrupts (none enabled),
|
||||
* I2C, default threshold values etc.
|
||||
*/
|
||||
void accm_init(void);
|
||||
|
||||
/* Write to a register.
|
||||
args:
|
||||
reg register to write to
|
||||
val value to write
|
||||
*/
|
||||
void accm_write_reg(uint8_t reg, uint8_t val);
|
||||
|
||||
/* Write several registers from a stream.
|
||||
args:
|
||||
len number of bytes to read
|
||||
data pointer to where the data is read from
|
||||
First byte in stream must be the register address to begin writing to.
|
||||
The data is then written from the second byte and increasing. The address byte
|
||||
is not included in length len. */
|
||||
void accm_write_stream(uint8_t len, uint8_t *data);
|
||||
|
||||
/* Read one register.
|
||||
args:
|
||||
reg what register to read
|
||||
returns the value of the read register
|
||||
*/
|
||||
uint8_t accm_read_reg(uint8_t reg);
|
||||
|
||||
/* Read several registers in a stream.
|
||||
args:
|
||||
reg what register to start reading from
|
||||
len number of bytes to read
|
||||
whereto pointer to where the data is saved
|
||||
*/
|
||||
void accm_read_stream(uint8_t reg, uint8_t len, uint8_t *whereto);
|
||||
|
||||
/* 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. */
|
||||
/* 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
|
||||
Example:
|
||||
accm_set_grange(ADXL345_RANGE_4G);
|
||||
*/
|
||||
void accm_set_grange(uint8_t grange);
|
||||
/* 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. */
|
||||
void accm_set_irq(uint8_t int1, uint8_t 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 from the */
|
||||
* 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. */
|
||||
|
||||
/* Interrupt suppress periods */
|
||||
/*
|
||||
// XXX Not used yet.
|
||||
#define ADXL345_INT_OVERRUN_BACKOFF CLOCK_SECOND/8
|
||||
#define ADXL345_INT_WATERMARK_BACKOFF CLOCK_SECOND/8
|
||||
#define ADXL345_INT_FREEFALL_BACKOFF CLOCK_SECOND/8
|
||||
#define ADXL345_INT_INACTIVITY_BACKOFF CLOCK_SECOND/8
|
||||
#define ADXL345_INT_ACTIVITY_BACKOFF CLOCK_SECOND/8
|
||||
#define ADXL345_INT_DOUBLETAP_BACKOFF CLOCK_SECOND/8
|
||||
#define ADXL345_INT_TAP_BACKOFF CLOCK_SECOND/8
|
||||
#define ADXL345_INT_DATAREADY_BACKOFF CLOCK_SECOND/8
|
||||
*/
|
||||
/* Time after an interrupt that subsequent interrupts are suppressed. Should later
|
||||
be turned into one specific time per type of interrupt (tap, freefall etc) */
|
||||
/* 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) (datasheet: 3g++)
|
||||
#define ADXL345_OFSX_DEFAULT 0x00 // for individual units calibration purposes
|
||||
#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 involved, ac-coupled
|
||||
#define ADXL345_THRESH_FF_DEFAULT 0x09 // 563 mg
|
||||
#define ADXL345_TIME_FF_DEFAULT 0x20 // 160 ms
|
||||
#define ADXL345_TAP_AXES_DEFAULT 0x07 // all axis, no suppression
|
||||
#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, normal operation
|
||||
#define ADXL345_POWER_CTL_DEFAULT 0x28 // link bit set, no autosleep, start normal measuring
|
||||
#define ADXL345_INT_ENABLE_DEFAULT 0x00 // no interrupts enabled
|
||||
#define ADXL345_INT_MAP_DEFAULT 0x00 // all mapped to int_1
|
||||
#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. */
|
||||
#define ADXL345_DATA_FORMAT_DEFAULT (0x00|ADXL345_RANGE_2G) // right-justify, 2g, 10-bit mode, int is active high
|
||||
#define ADXL345_FIFO_CTL_DEFAULT 0x00 // FIFO bypass mode
|
||||
* 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 */
|
||||
|
|
@ -188,7 +137,7 @@ void accm_set_irq(uint8_t int1, uint8_t int2);
|
|||
#define ADXL345_ADDR 0x53
|
||||
|
||||
/* ADXL345 registers */
|
||||
#define ADXL345_DEVID 0x00 // read only
|
||||
#define ADXL345_DEVID 0x00
|
||||
/* registers 0x01 to 0x1C are reserved, do not access */
|
||||
#define ADXL345_THRESH_TAP 0x1D
|
||||
#define ADXL345_OFSX 0x1E
|
||||
|
|
@ -204,24 +153,24 @@ void accm_set_irq(uint8_t int1, uint8_t int2);
|
|||
#define ADXL345_THRESH_FF 0x28
|
||||
#define ADXL345_TIME_FF 0x29
|
||||
#define ADXL345_TAP_AXES 0x2A
|
||||
#define ADXL345_ACT_TAP_STATUS 0x2B // read only
|
||||
#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 // read only
|
||||
#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_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
|
||||
#define ADXL345_FIFO_STATUS 0x39 /* read only */
|
||||
|
||||
/* ADXL345 interrupts */
|
||||
#define ADXL345_INT_DISABLE 0X00 // used for disabling 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
|
||||
|
|
@ -237,8 +186,8 @@ void accm_set_irq(uint8_t int1, uint8_t int2);
|
|||
#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_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
|
||||
|
|
@ -251,43 +200,47 @@ void accm_set_irq(uint8_t int1, uint8_t int2);
|
|||
#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));
|
||||
*/
|
||||
#define ADXL345_SRATE_3200 0x0F // XXX NB don't use at all as I2C data rate<= 400kHz (see datasheet)
|
||||
#define ADXL345_SRATE_1600 0x0E // XXX NB don't use at all as I2C data rate<= 400kHz (see datasheet)
|
||||
#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
|
||||
/* 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);
|
||||
|
||||
/* Interrupt 1 and 2 events; ADXL345 signals interrupt on INT1 or INT2 pins,
|
||||
ISR is invoked and polls the accelerometer process which invokes the callbacks. */
|
||||
extern process_event_t int1_event, int2_event; // static ?
|
||||
|
||||
#define ACCM_INT1 0x01
|
||||
#define ACCM_INT2 0x02
|
||||
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
#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_ */
|
||||
|
|
|
|||
|
|
@ -1,5 +1,6 @@
|
|||
/*
|
||||
* 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
|
||||
|
|
@ -29,65 +30,55 @@
|
|||
* This file is part of the Contiki operating system.
|
||||
*
|
||||
*/
|
||||
|
||||
/*---------------------------------------------------------------------------*/
|
||||
/**
|
||||
* \file
|
||||
* Device drivers for tmp102 temperature sensor in Zolertia Z1.
|
||||
* \author
|
||||
* Enric M. Calvo, Zolertia <ecalvo@zolertia.com>
|
||||
* Marcus Lundén, SICS <mlunden@sics.se>
|
||||
* Antonio Lignan, Zolertia <alinan@zolertia.com>
|
||||
*/
|
||||
|
||||
/*---------------------------------------------------------------------------*/
|
||||
#include <stdio.h>
|
||||
#include "contiki.h"
|
||||
#include "i2cmaster.h"
|
||||
#include "tmp102.h"
|
||||
|
||||
/* Bitmasks and bit flag variable for keeping track of tmp102 status. */
|
||||
enum TMP102_STATUSTYPES {
|
||||
/* must be a bit and not more, not using 0x00. */
|
||||
INITED = 0x01,
|
||||
RUNNING = 0x02,
|
||||
STOPPED = 0x04,
|
||||
LOW_POWER = 0x08,
|
||||
AAA = 0x10, /* available to extend this... */
|
||||
BBB = 0x20, /* available to extend this... */
|
||||
CCC = 0x40, /* available to extend this... */
|
||||
DDD = 0x80 /* available to extend this... */
|
||||
};
|
||||
static enum TMP102_STATUSTYPES _TMP102_STATUS = 0x00;
|
||||
|
||||
#include "lib/sensors.h"
|
||||
/*---------------------------------------------------------------------------*/
|
||||
/* PROCESS(tmp102_process, "Temperature Sensor process"); */
|
||||
|
||||
#define DEBUG 0
|
||||
#if DEBUG
|
||||
#define PRINTF(...) printf(__VA_ARGS__)
|
||||
#else
|
||||
#define PRINTF(...)
|
||||
#endif
|
||||
/*---------------------------------------------------------------------------*/
|
||||
static uint8_t enabled;
|
||||
/*---------------------------------------------------------------------------*/
|
||||
/* Init the temperature sensor: ports, pins, registers, interrupts (none enabled), I2C,
|
||||
default threshold values etc. */
|
||||
|
||||
void
|
||||
tmp102_init(void)
|
||||
{
|
||||
if(!(_TMP102_STATUS & INITED)) {
|
||||
PRINTFDEBUG("TMP102 init\n");
|
||||
_TMP102_STATUS |= INITED;
|
||||
/* Power Up TMP102 via pin */
|
||||
TMP102_PWR_DIR |= TMP102_PWR_PIN;
|
||||
TMP102_PWR_SEL &= ~TMP102_PWR_SEL;
|
||||
TMP102_PWR_SEL2 &= ~TMP102_PWR_SEL;
|
||||
TMP102_PWR_REN &= ~TMP102_PWR_SEL;
|
||||
TMP102_PWR_OUT |= TMP102_PWR_PIN;
|
||||
/* Power Up TMP102 via pin */
|
||||
TMP102_PWR_DIR |= TMP102_PWR_PIN;
|
||||
TMP102_PWR_SEL &= ~TMP102_PWR_SEL;
|
||||
TMP102_PWR_SEL2 &= ~TMP102_PWR_SEL;
|
||||
TMP102_PWR_REN &= ~TMP102_PWR_SEL;
|
||||
TMP102_PWR_OUT |= TMP102_PWR_PIN;
|
||||
|
||||
/* Set up ports and pins for I2C communication */
|
||||
i2c_enable();
|
||||
}
|
||||
/* Set up ports and pins for I2C communication */
|
||||
i2c_enable();
|
||||
|
||||
enabled = 1;
|
||||
}
|
||||
/*---------------------------------------------------------------------------*/
|
||||
void
|
||||
tmp102_stop(void)
|
||||
{
|
||||
/* Power off */
|
||||
TMP102_PWR_OUT &= ~TMP102_PWR_PIN;
|
||||
enabled = 0;
|
||||
}
|
||||
/*---------------------------------------------------------------------------*/
|
||||
/* Write to a 16-bit register.
|
||||
args:
|
||||
reg register to write to
|
||||
val value to write
|
||||
*/
|
||||
|
||||
void
|
||||
tmp102_write_reg(uint8_t reg, uint16_t val)
|
||||
{
|
||||
|
|
@ -98,26 +89,20 @@ tmp102_write_reg(uint8_t reg, uint16_t val)
|
|||
|
||||
i2c_transmitinit(TMP102_ADDR);
|
||||
while(i2c_busy());
|
||||
PRINTFDEBUG("I2C Ready to TX\n");
|
||||
PRINTF("I2C Ready to TX\n");
|
||||
|
||||
i2c_transmit_n(3, tx_buf);
|
||||
while(i2c_busy());
|
||||
PRINTFDEBUG("WRITE_REG 0x%04X @ reg 0x%02X\n", val, reg);
|
||||
PRINTF("WRITE_REG 0x%04X @ reg 0x%02X\n", val, reg);
|
||||
}
|
||||
/*---------------------------------------------------------------------------*/
|
||||
/* Read register.
|
||||
args:
|
||||
reg what register to read
|
||||
returns the value of the read register type uint16_t
|
||||
*/
|
||||
|
||||
uint16_t
|
||||
tmp102_read_reg(uint8_t reg)
|
||||
{
|
||||
uint8_t buf[] = { 0x00, 0x00 };
|
||||
uint16_t retVal = 0;
|
||||
uint8_t rtx = reg;
|
||||
PRINTFDEBUG("READ_REG 0x%02X\n", reg);
|
||||
PRINTF("READ_REG 0x%02X\n", reg);
|
||||
|
||||
/* transmit the register to read */
|
||||
i2c_transmitinit(TMP102_ADDR);
|
||||
|
|
@ -136,19 +121,14 @@ tmp102_read_reg(uint8_t reg)
|
|||
return retVal;
|
||||
}
|
||||
/*---------------------------------------------------------------------------*/
|
||||
/* Read temperature in a raw format. Further processing will be needed
|
||||
to make an interpretation of these 12 or 13-bit data, depending on configuration
|
||||
*/
|
||||
|
||||
uint16_t
|
||||
tmp102_read_temp_raw(void)
|
||||
{
|
||||
uint16_t rd = 0;
|
||||
|
||||
rd = tmp102_read_reg(TMP102_TEMP);
|
||||
|
||||
return rd;
|
||||
}
|
||||
/*---------------------------------------------------------------------------*/
|
||||
int16_t
|
||||
tmp102_read_temp_x100(void)
|
||||
{
|
||||
|
|
@ -167,24 +147,47 @@ tmp102_read_temp_x100(void)
|
|||
/* Integer part of the temperature value and percents*/
|
||||
temp_int = (abstemp >> 8) * sign * 100;
|
||||
temp_int += ((abstemp & 0xff) * 100) / 0x100;
|
||||
|
||||
/* See test-tmp102.c on how to print values of temperature with decimals
|
||||
fractional part in 1/10000 of degree
|
||||
temp_frac = ((abstemp >>4) % 16) * 625;
|
||||
Data could be multiplied by 63 to have less bit-growth and 1/1000 precision
|
||||
Data could be multiplied by 64 (<< 6) to trade-off precision for speed
|
||||
*/
|
||||
|
||||
return temp_int;
|
||||
}
|
||||
/*---------------------------------------------------------------------------*/
|
||||
/* Simple Read temperature. Return is an integer with temperature in 1deg. precision
|
||||
Return value is a signed 8 bit integer.
|
||||
*/
|
||||
|
||||
int8_t
|
||||
tmp102_read_temp_simple(void)
|
||||
{
|
||||
/* Casted to int8_t: We don't expect temperatures outside -128 to 127 C */
|
||||
return tmp102_read_temp_x100() / 100;
|
||||
}
|
||||
/*---------------------------------------------------------------------------*/
|
||||
static int
|
||||
configure(int type, int value)
|
||||
{
|
||||
if(type != SENSORS_ACTIVE) {
|
||||
return TMP102_ERROR;
|
||||
}
|
||||
if(value) {
|
||||
tmp102_init();
|
||||
} else {
|
||||
tmp102_stop();
|
||||
}
|
||||
enabled = value;
|
||||
return TMP102_SUCCESS;
|
||||
}
|
||||
/*---------------------------------------------------------------------------*/
|
||||
static int
|
||||
status(int type)
|
||||
{
|
||||
switch(type) {
|
||||
case SENSORS_ACTIVE:
|
||||
case SENSORS_READY:
|
||||
return enabled;
|
||||
}
|
||||
return TMP102_SUCCESS;
|
||||
}
|
||||
/*---------------------------------------------------------------------------*/
|
||||
static int
|
||||
value(int type)
|
||||
{
|
||||
return (int)tmp102_read_temp_x100();
|
||||
}
|
||||
/*---------------------------------------------------------------------------*/
|
||||
SENSORS_SENSOR(tmp102, TMP102_SENSOR, value, configure, status);
|
||||
/*---------------------------------------------------------------------------*/
|
||||
|
|
|
|||
|
|
@ -1,5 +1,6 @@
|
|||
/*
|
||||
* 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
|
||||
|
|
@ -32,75 +33,47 @@
|
|||
|
||||
/**
|
||||
* \file
|
||||
* Device drivers header file for tmp102 temperature sensor in Zolertia Z1 WSN Platform.
|
||||
* Device drivers header file for tmp102 temperature sensor in Zolertia
|
||||
* Z1 WSN Platform.
|
||||
* \author
|
||||
* Enric M. Calvo, Zolertia <ecalvo@zolertia.com>
|
||||
* Marcus Lundén, SICS <mlunden@sics.se>
|
||||
* Antonio Lignan, Zolertia <alinan@zolertia.com>
|
||||
*/
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
#ifndef TMP102_H_
|
||||
#define TMP102_H_
|
||||
#include <stdio.h>
|
||||
#include "lib/sensors.h"
|
||||
#include "i2cmaster.h"
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* Init the temperature sensor: ports, pins, I2C, interrupts (XXX none so far),
|
||||
*/
|
||||
void tmp102_init(void);
|
||||
|
||||
/* Write to a register.
|
||||
args:
|
||||
reg register to write to
|
||||
val value to write
|
||||
*/
|
||||
void tmp102_write_reg(uint8_t reg, uint16_t val);
|
||||
|
||||
/* Read one register.
|
||||
args:
|
||||
reg what register to read
|
||||
returns the value of the read register
|
||||
*/
|
||||
void tmp102_init(void);
|
||||
void tmp102_write_reg(uint8_t reg, uint16_t val);
|
||||
uint16_t tmp102_read_reg(uint8_t reg);
|
||||
|
||||
/* Read temperature in raw format
|
||||
no args needed
|
||||
*/
|
||||
uint16_t tmp102_read_temp_raw();
|
||||
|
||||
/* Read only integer part of the temperature in 1deg. precision.
|
||||
no args needed
|
||||
*/
|
||||
int8_t tmp102_read_temp_simple();
|
||||
|
||||
/* Read only integer part of the temperature in 1deg. precision.
|
||||
no args needed
|
||||
*/
|
||||
int16_t tmp102_read_temp_x100();
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* Reference definitions */
|
||||
/* TMP102 slave address */
|
||||
#define TMP102_ADDR 0x48
|
||||
|
||||
/* TMP102 registers */
|
||||
#define TMP102_TEMP 0x00 // read only
|
||||
#define TMP102_TEMP 0x00
|
||||
#define TMP102_CONF 0x01
|
||||
#define TMP102_TLOW 0x02
|
||||
#define TMP102_THIGH 0x03
|
||||
|
||||
/* TMP102 Ports */
|
||||
/* Accelerometer hardware ports, pins and registers on the msp430 µC */
|
||||
/* TMP102 pin-out */
|
||||
#define TMP102_PWR_DIR P5DIR
|
||||
#define TMP102_PWR_SEL P5SEL
|
||||
#define TMP102_PWR_SEL2 P5SEL2
|
||||
#define TMP102_PWR_REN P5REN
|
||||
#define TMP102_PWR_OUT P5OUT
|
||||
#define TMP102_PWR_PIN (1<<0) // P5.0
|
||||
//#define TMP102_INT_PIN (1<<7) // P1.7
|
||||
|
||||
|
||||
#define TMP102_PWR_PIN (1<<0) /* P5.0 */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
#define TMP102_SUCCESS 0
|
||||
#define TMP102_ERROR (-1)
|
||||
#define TMP102_READ 0x01
|
||||
/* -------------------------------------------------------------------------- */
|
||||
#define TMP102_SENSOR "TMP102 sensor"
|
||||
/* -------------------------------------------------------------------------- */
|
||||
extern const struct sensors_sensor tmp102;
|
||||
/* -------------------------------------------------------------------------- */
|
||||
#endif /* ifndef TMP102_H_ */
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue