404 lines
14 KiB
C
404 lines
14 KiB
C
/*
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* Copyright (c) 2010, Swedish Institute of Computer Science.
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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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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* 3. Neither the name of the Institute nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
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* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
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* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
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* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
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* SUCH DAMAGE.
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*
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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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* \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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*/
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#include <stdio.h>
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#include <signal.h>
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#include "contiki.h"
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#include "adxl345.h"
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#include "cc2420-arch.c"
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#include "i2cmaster.h"
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/* Callback pointers when interrupt occurs */
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extern void (*accm_int1_cb)(u8_t reg);
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extern void (*accm_int2_cb)(u8_t reg);
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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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static volatile clock_time_t ints_lasttime[] = {0, 0, 0, 0, 0, 0, 0, 0};
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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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ADXL345_THRESH_TAP_DEFAULT,
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ADXL345_OFSX_DEFAULT,
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ADXL345_OFSY_DEFAULT,
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ADXL345_OFSZ_DEFAULT,
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ADXL345_DUR_DEFAULT,
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ADXL345_LATENT_DEFAULT,
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ADXL345_WINDOW_DEFAULT,
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ADXL345_THRESH_ACT_DEFAULT,
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ADXL345_THRESH_INACT_DEFAULT,
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ADXL345_TIME_INACT_DEFAULT,
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ADXL345_ACT_INACT_CTL_DEFAULT,
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ADXL345_THRESH_FF_DEFAULT,
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ADXL345_TIME_FF_DEFAULT,
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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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ADXL345_BW_RATE_DEFAULT,
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ADXL345_POWER_CTL_DEFAULT,
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ADXL345_INT_ENABLE_DEFAULT,
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ADXL345_INT_MAP_DEFAULT,
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/* These two: 20, 21 write separately */
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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(u8_t reg, u8_t val) {
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u8_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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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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}
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/*---------------------------------------------------------------------------*/
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/* Read several registers in 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(u8_t len, u8_t *data) {
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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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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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}
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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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u8_t
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accm_read_reg(u8_t reg) {
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u8_t retVal = 0;
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u8_t rtx = reg;
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PRINTFDEBUG("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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while (i2c_busy());
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i2c_transmit_n(1, &rtx);
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while (i2c_busy());
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/* receive the data */
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i2c_receiveinit(ADXL345_ADDR);
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while (i2c_busy());
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i2c_receive_n(1, &retVal);
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while (i2c_busy());
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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(u8_t reg, u8_t len, u8_t *whereto) {
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u8_t rtx = reg;
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PRINTFDEBUG("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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while (i2c_busy());
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i2c_transmit_n(1, &rtx);
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while (i2c_busy());
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/* receive the data */
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i2c_receiveinit(ADXL345_ADDR);
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while (i2c_busy());
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i2c_receive_n(len, whereto);
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while (i2c_busy());
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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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int16_t
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accm_read_axis(enum ADXL345_AXIS axis){
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int16_t rd = 0;
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u8_t tmp[2];
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if(axis > Z_AXIS){
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return 0;
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}
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accm_read_stream(ADXL345_DATAX0 + axis, 2, &tmp[0]);
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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(u8_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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u8_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. */
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accm_write_stream(15, &adxl345_default_settings[0]);
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accm_write_stream(5, &adxl345_default_settings[15]);
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accm_write_reg(ADXL345_DATA_FORMAT, adxl345_default_settings[20]);
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accm_write_reg(ADXL345_FIFO_CTL, adxl345_default_settings[21]);
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process_start(&accmeter_process, NULL);
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/* Enable msp430 interrupts on the two interrupt pins. */
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dint();
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ADXL345_IES &=~ (ADXL345_INT1_PIN | ADXL345_INT2_PIN); // low to high transition interrupts
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ADXL345_IE |= (ADXL345_INT1_PIN | ADXL345_INT2_PIN); // enable interrupts
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eint();
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}
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}
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/*---------------------------------------------------------------------------*/
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/* Map interrupt (FF, tap, dbltap etc) to interrupt pin (IRQ_INT1, IRQ_INT2).
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This must come after accm_init() as the registers will otherwise be overwritten. */
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void
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accm_set_irq(uint8_t int1, uint8_t int2){
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/* Set the corresponding interrupt mapping to INT1 or INT2 */
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PRINTFDEBUG("IRQs set to INT1: 0x%02X IRQ2: 0x%02X\n", int1, int2);
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int1_mask = int1;
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int2_mask = int2;
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accm_write_reg(ADXL345_INT_ENABLE, (int1 | int2));
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accm_write_reg(ADXL345_INT_MAP, int2); // int1 bits are zeroes in the map register so this is for both ints
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}
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/*---------------------------------------------------------------------------*/
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#if 0
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/* now unused code that is later supposed to be turned into keeping track of every
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interrupt by themselves instead of only one per INT1/2 */
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/* XXX MUST HAVE some way of resetting the time so that we are not suppressing
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erronous due to clock overflow.... XXX XXX XXX */
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/* Table with back off time periods */
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static volatile clock_time_t ints_backoffs[] = {ADXL345_INT_OVERRUN_BACKOFF, ADXL345_INT_WATERMARK_BACKOFF,
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ADXL345_INT_FREEFALL_BACKOFF, ADXL345_INT_INACTIVITY_BACKOFF,
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ADXL345_INT_ACTIVITY_BACKOFF, ADXL345_INT_DOUBLETAP_BACKOFF,
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ADXL345_INT_TAP_BACKOFF, ADXL345_INT_DATAREADY_BACKOFF};
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/*---------------------------------------------------------------------------*/
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/* Checks to see if an event occurred after backoff period (returns time period
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past since) or not (returns 0) */
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static clocktime_t
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backoff_passed(clocktime_t happenedAt, const clocktime_t backoff){
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if(timenow-lasttime >= backoff) {
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return 0;
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} else {
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return (timenow-lasttime);
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}
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}
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#endif
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/*---------------------------------------------------------------------------*/
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/* Invoked after an interrupt happened. Reads the interrupt source reg at the
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accelerometer, which resets the interrupts, and invokes the corresponding
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callback. It passes the source register value so the callback can determine
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what interrupt happened, if several interrupts are mapped to the same pin. */
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static void
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poll_handler(void){
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uint8_t ireg = 0;
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ireg = accm_read_reg(ADXL345_INT_SOURCE);
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//printf("0x%02X, 0x%02X, 0x%02X, 0x%02X\n", ireg, ireg2, int1_mask, int2_mask);
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/* Invoke callbacks for the corresponding interrupts */
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if(ireg & int1_mask){
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if(accm_int1_cb != NULL){
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PRINTFDEBUG("INT1 cb invoked\n");
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accm_int1_cb(ireg);
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}
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} else if(ireg & int2_mask){
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if(accm_int2_cb != NULL){
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PRINTFDEBUG("INT2 cb invoked\n");
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accm_int2_cb(ireg);
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}
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}
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}
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/*---------------------------------------------------------------------------*/
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/* This process is sleeping until an interrupt from the accelerometer occurs, which
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polls this process from the interrupt service routine. */
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PROCESS_THREAD(accmeter_process, ev, data) {
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PROCESS_POLLHANDLER(poll_handler());
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PROCESS_EXITHANDLER();
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PROCESS_BEGIN();
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while(1){
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PROCESS_WAIT_EVENT_UNTIL(0); // should do nothing in while loop.
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}
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PROCESS_END();
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}
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/*---------------------------------------------------------------------------*/
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/* XXX This interrupt vector is shared with the interrupts from CC2420, so that
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was moved here but should find a better home. XXX */
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static struct timer suppressTimer1, suppressTimer2;
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interrupt(PORT1_VECTOR) port1_isr (void) {
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ENERGEST_ON(ENERGEST_TYPE_IRQ);
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/* ADXL345_IFG.x goes high when interrupt occurs, use to check what interrupted */
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if (ADXL345_IFG & ADXL345_INT1_PIN){
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/* Check if this should be suppressed or not */
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if(timer_expired(&suppressTimer1)) {
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timer_set(&suppressTimer1, SUPPRESS_TIME_INT1);
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ADXL345_IFG &= ~ADXL345_INT1_PIN; // clear interrupt flag
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process_poll(&accmeter_process);
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LPM4_EXIT;
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}
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} else if (ADXL345_IFG & ADXL345_INT2_PIN){
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/* Check if this should be suppressed or not */
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if(timer_expired(&suppressTimer2)) {
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timer_set(&suppressTimer2, SUPPRESS_TIME_INT2);
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ADXL345_IFG &= ~ADXL345_INT2_PIN; // clear interrupt flag
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process_poll(&accmeter_process);
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LPM4_EXIT;
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}
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} else {
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/* CC2420 interrupt */
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if(cc2420_interrupt()) {
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LPM4_EXIT;
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}
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}
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ENERGEST_OFF(ENERGEST_TYPE_IRQ);
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}
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/*---------------------------------------------------------------------------*/
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