/* * 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 * Device drivers header file for adxl345 accelerometer in Zolertia Z1. * \author * Marcus Lundén, SICS * Enric Calvo, Zolertia */ #ifndef __ADXL345_H__ #define __ADXL345_H__ #include #include "i2cmaster.h" //XXX Temporary place for defines that are lacking in mspgcc4's gpio.h #ifndef P1SEL2_ #define P1SEL2_ 0x0041 /* Port 1 Selection 2 */ sfrb(P1SEL2, P1SEL2_); #endif #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);*/ enum ADXL345_AXIS { X_AXIS = 0, Y_AXIS = 2, Z_AXIS = 4, }; void accm_init(void); void accm_write_reg(u8_t reg, u8_t val); void accm_write_stream(u8_t len, u8_t *data); u8_t accm_read_reg(u8_t reg); void accm_read_stream(u8_t reg, u8_t len, u8_t *whereto); int16_t accm_read_axis(enum ADXL345_AXIS axis); void accm_set_grange(u8_t grange); void accm_set_irq(uint8_t int1, uint8_t int2); /* -------------------------------------------------------------------------- */ /* 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) */ #define SUPPRESS_TIME_INT1 CLOCK_SECOND #define SUPPRESS_TIME_INT2 CLOCK_SECOND /* 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 calibration, set 0 for long... #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 0x20 // 2g #define ADXL345_THRESH_INACT_DEFAULT 0x13 // 1.2g #define ADXL345_TIME_INACT_DEFAULT 0x02 // 2 s #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_BW_RATE_DEFAULT (0x00|ADXL345_SRATE_100) // 100 Hz, normal operation #define ADXL345_POWER_CTL_DEFAULT 0x08 // no link, 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 /* 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, 4g, 10-bit mode, int is active high #define ADXL345_FIFO_CTL_DEFAULT 0x00 // FIFO bypass mode /* -------------------------------------------------------------------------- */ /* Reference definitions, should not be changed */ /* adxl345 slave address */ #define ADXL345_ADDR 0x53 /* ADXL345 registers */ #define ADXL345_DEVID 0x00 // read only /* registers 0x01 to 0x1C are reserved, do not access */ #define ADXL345_THRESH_TAP 0x1D #define ADXL345_OFSX 0x1E #define ADXL345_OFSY 0x1F #define ADXL345_OFSZ 0x20 #define ADXL345_DUR 0x21 #define ADXL345_LATENT 0x22 #define ADXL345_WINDOW 0x23 #define ADXL345_THRESH_ACT 0x24 #define ADXL345_THRESH_INACT 0x25 #define ADXL345_TIME_INACT 0x26 #define ADXL345_ACT_INACT_CTL 0x27 #define ADXL345_THRESH_FF 0x28 #define ADXL345_TIME_FF 0x29 #define ADXL345_TAP_AXES 0x2A #define ADXL345_ACT_TAP_STATUS 0x2B // read only #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_DATA_FORMAT 0x31 #define ADXL345_DATAX0 0x32 // read only, LSByte X, two's complement #define ADXL345_DATAX1 0x33 // read only, MSByte X #define ADXL345_DATAY0 0x34 // read only, LSByte Y #define ADXL345_DATAY1 0x35 // read only, MSByte X #define ADXL345_DATAZ0 0x36 // read only, LSByte Z #define ADXL345_DATAZ1 0x37 // read only, MSByte X #define ADXL345_FIFO_CTL 0x38 #define ADXL345_FIFO_STATUS 0x39 // read only /* ADXL345 interrupts */ #define ADXL345_INT_DISABLE 0X00 // used for disabling interrupts #define ADXL345_INT_OVERRUN 0X01 #define ADXL345_INT_WATERMARK 0X02 #define ADXL345_INT_FREEFALL 0X04 #define ADXL345_INT_INACTIVITY 0X08 #define ADXL345_INT_ACTIVITY 0X10 #define ADXL345_INT_DOUBLETAP 0X20 #define ADXL345_INT_TAP 0X40 #define ADXL345_INT_DATAREADY 0X80 /* Accelerometer hardware ports, pins and registers on the msp430 µC */ #define ADXL345_DIR P1DIR #define ADXL345_PIN P1PIN #define ADXL345_REN P1REN #define ADXL345_SEL P1SEL #define ADXL345_SEL2 P1SEL2 #define ADXL345_INT1_PIN (1<<6) // P1.6 #define ADXL345_INT2_PIN (1<<7) // P1.7 #define ADXL345_IES P1IES #define ADXL345_IE P1IE #define ADXL345_IFG P1IFG #define ADXL345_VECTOR PORT1_VECTOR /* g-range for DATA_FORMAT register */ #define ADXL345_RANGE_2G 0x00 #define ADXL345_RANGE_4G 0x01 #define ADXL345_RANGE_8G 0x02 #define ADXL345_RANGE_16G 0x03 /* The adxl345 has programmable sample rates, but unexpected results may occur if the wrong rate and I2C bus speed is used (see datasheet p 17). Sample rates in Hz. 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 /* Callback pointers for the interrupts */ void (*accm_int1_cb)(u8_t reg); void (*accm_int2_cb)(u8_t reg); /* Macros for setting the callback pointers */ #define ACCM_REGISTER_INT1_CB(ptr) accm_int1_cb = ptr; #define ACCM_REGISTER_INT2_CB(ptr) accm_int2_cb = ptr; /* 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. */ process_event_t int1_event, int2_event; // static ? #define ACCM_INT1 0x01 #define ACCM_INT2 0x02 /* -------------------------------------------------------------------------- */ #endif /* ifndef __ADXL345_H__ */