osd-contiki/platform/z1/dev/adxl345.h

250 lines
10 KiB
C

/*
* 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 <mlunden@sics.se>
* Enric Calvo, Zolertia <ecalvo@zolertia.com>
*/
#ifndef __ADXL345_H__
#define __ADXL345_H__
#include <stdio.h>
#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__ */