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Adapted the ADXL345 sensor to Contiki's sensor API

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This commit is contained in:
Antonio Lignan 2016-02-22 12:06:38 +01:00
parent 1be30d52dc
commit 934cdbacca
3 changed files with 161 additions and 54 deletions
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47
examples/zolertia/z1/test-adxl345.c
View file

@ -125,35 +125,40 @@ PROCESS_THREAD(led_process, ev, data) {
}
/*---------------------------------------------------------------------------*/
/* Main process, setups */
PROCESS_THREAD(accel_process, ev, data) {
PROCESS_THREAD(accel_process, ev, data)
{
PROCESS_BEGIN();
{
int16_t x, y, z;
/* Register the event used for lighting up an LED when interrupt strikes. */
led_off_event = process_alloc_event();
int16_t x, y, z;
/* Start and setup the accelerometer with default values, eg no interrupts enabled. */
accm_init();
/* Register the event used for lighting up an LED when interrupt strikes. */
led_off_event = process_alloc_event();
/* Register the callback functions for each interrupt */
ACCM_REGISTER_INT1_CB(accm_ff_cb);
ACCM_REGISTER_INT2_CB(accm_tap_cb);
/* Start and setup the accelerometer with default values, eg no interrupts
* enabled.
*/
SENSORS_ACTIVATE(adxl345);
/* 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);
/* Register the callback functions for each interrupt */
ACCM_REGISTER_INT1_CB(accm_ff_cb);
ACCM_REGISTER_INT2_CB(accm_tap_cb);
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);
/* 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);
etimer_set(&et, ACCM_READ_INTERVAL);
PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
}
while(1) {
x = adxl345.value(X_AXIS);
y = adxl345.value(Y_AXIS);
z = adxl345.value(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();
}
/*---------------------------------------------------------------------------*/

148
platform/z1/dev/adxl345.c
View file

@ -46,6 +46,16 @@
#include "cc2420.h"
#include "i2cmaster.h"
#include "isr_compat.h"
#include "lib/sensors.h"
/*---------------------------------------------------------------------------*/
#define DEBUG 0
#if DEBUG
#define PRINTF(...) printf(__VA_ARGS__)
#else
#define PRINTF(...)
#endif
/*---------------------------------------------------------------------------*/
static uint8_t enabled;
/*---------------------------------------------------------------------------*/
/* Callback pointers when interrupt occurs */
void (*accm_int1_cb)(uint8_t reg);
@ -97,38 +107,41 @@ static uint8_t adxl345_default_settings[] = {
PROCESS(accmeter_process, "Accelerometer process");
/*---------------------------------------------------------------------------*/
static void
accm_write_reg(uint8_t reg, uint8_t val) {
accm_write_reg(uint8_t reg, uint8_t val)
{
uint8_t tx_buf[] = {reg, val};
i2c_transmitinit(ADXL345_ADDR);
while (i2c_busy());
PRINTFDEBUG("I2C Ready to TX\n");
PRINTF("ADXL345: I2C Ready to TX\n");
i2c_transmit_n(2, tx_buf);
while (i2c_busy());
PRINTFDEBUG("WRITE_REG 0x%02X @ reg 0x%02X\n", val, reg);
PRINTF("ADXL345: WRITE_REG 0x%02X @ reg 0x%02X\n", val, reg);
}
/*---------------------------------------------------------------------------*/
/* First byte in stream must be the register address to begin writing to.
* The data is then written from second byte and increasing.
*/
static void
accm_write_stream(uint8_t len, uint8_t *data) {
accm_write_stream(uint8_t len, uint8_t *data)
{
i2c_transmitinit(ADXL345_ADDR);
while (i2c_busy());
PRINTFDEBUG("I2C Ready to TX(stream)\n");
PRINTF("ADXL345: I2C Ready to TX(stream)\n");
i2c_transmit_n(len, data); // start tx and send conf reg
while (i2c_busy());
PRINTFDEBUG("WRITE_STR %u B to 0x%02X\n", len, data[0]);
PRINTF("ADXL345: WRITE_STR %u B to 0x%02X\n", len, data[0]);
}
/*---------------------------------------------------------------------------*/
static uint8_t
accm_read_reg(uint8_t reg) {
accm_read_reg(uint8_t reg)
{
uint8_t retVal = 0;
uint8_t rtx = reg;
PRINTFDEBUG("READ_REG 0x%02X\n", reg);
PRINTF("ADXL345: READ_REG 0x%02X\n", reg);
/* transmit the register to read */
i2c_transmitinit(ADXL345_ADDR);
@ -146,9 +159,10 @@ accm_read_reg(uint8_t reg) {
}
/*---------------------------------------------------------------------------*/
static void
accm_read_stream(uint8_t reg, uint8_t len, uint8_t *whereto) {
accm_read_stream(uint8_t reg, uint8_t len, uint8_t *whereto)
{
uint8_t rtx = reg;
PRINTFDEBUG("READ_STR %u B from 0x%02X\n", len, reg);
PRINTF("ADXL345: READ_STR %u B from 0x%02X\n", len, reg);
/* transmit the register to start reading from */
i2c_transmitinit(ADXL345_ADDR);
@ -171,7 +185,8 @@ accm_read_stream(uint8_t reg, uint8_t len, uint8_t *whereto) {
* so is wanted/needed.
*/
int16_t
accm_read_axis(enum ADXL345_AXIS axis){
accm_read_axis(enum ADXL345_AXIS axis)
{
int16_t rd = 0;
uint8_t tmp[2];
if(axis > Z_AXIS){
@ -181,27 +196,33 @@ accm_read_axis(enum ADXL345_AXIS axis){
rd = (int16_t)(tmp[0] | (tmp[1]<<8));
return rd;
}
/*---------------------------------------------------------------------------*/
void
accm_set_grange(uint8_t grange){
int
accm_set_grange(uint8_t grange)
{
uint8_t tempreg = 0;
if(grange > ADXL345_RANGE_16G) {
PRINTFDEBUG("ADXL grange invalid: %u\n", grange);
return;
PRINTF("ADXL345: grange invalid: %u\n", grange);
return ADXL345_ERROR;
}
uint8_t tempreg = 0;
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;
}
/*---------------------------------------------------------------------------*/
void
accm_init(void) {
PRINTFDEBUG("ADXL345 init\n");
accm_init(void)
{
PRINTF("ADXL345: init\n");
accm_int1_cb = NULL;
accm_int2_cb = NULL;
@ -228,19 +249,38 @@ accm_init(void) {
/* enable interrupts */
ADXL345_IE |= (ADXL345_INT1_PIN | ADXL345_INT2_PIN);
eint();
}
enabled = 1;
}
/*---------------------------------------------------------------------------*/
void
accm_set_irq(uint8_t int1, uint8_t int2){
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;
}
/*---------------------------------------------------------------------------*/
/* Invoked after an interrupt happened. Reads the interrupt source reg at the
@ -249,19 +289,20 @@ accm_set_irq(uint8_t int1, uint8_t int2){
* 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);
/* 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);
}
}
@ -269,7 +310,8 @@ poll_handler(void){
/*---------------------------------------------------------------------------*/
/* 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_THREAD(accmeter_process, ev, data)
{
PROCESS_POLLHANDLER(poll_handler());
PROCESS_EXITHANDLER();
PROCESS_BEGIN();
@ -318,3 +360,55 @@ ISR(PORT1, port1_isr)
ENERGEST_OFF(ENERGEST_TYPE_IRQ);
}
/*---------------------------------------------------------------------------*/
static int
configure(int type, int value)
{
if(type != SENSORS_ACTIVE) {
return ADXL345_ERROR;
}
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);
/*---------------------------------------------------------------------------*/

20
platform/z1/dev/adxl345.h
View file

@ -44,6 +44,7 @@
#define ADXL345_H_
#include <stdio.h>
#include "dev/i2cmaster.h"
#include "lib/sensors.h"
/*---------------------------------------------------------------------------*/
/* Used in accm_read_axis(), eg accm_read_axis(X_AXIS) */
enum ADXL345_AXIS {
@ -72,13 +73,13 @@ int16_t accm_read_axis(enum ADXL345_AXIS axis);
* - ADXL345_RANGE_8G
* - ADXL345_RANGE_16G
*/
void accm_set_grange(uint8_t grange);
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);
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
@ -227,12 +228,19 @@ void accm_set_irq(uint8_t int1, uint8_t int2);
#define ADXL345_SRATE_0_39 0x02 /* when I2C data rate >= 100 kHz */
#define ADXL345_SRATE_0_20 0x01 /* when I2C data rate >= 100 kHz */
#define ADXL345_SRATE_0_10 0x00 /* 0.10 Hz, when I2C data rate >= 100 kHz */
/* -------------------------------------------------------------------------- */
/* Callback pointers for the interrupts */
extern void (*accm_int1_cb)(uint8_t reg);
extern void (*accm_int2_cb)(uint8_t reg);
#define ACCM_INT1 0x01
#define ACCM_INT2 0x02
/* -------------------------------------------------------------------------- */
#define 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_ */