246 lines
11 KiB
C
246 lines
11 KiB
C
/*
|
|
* 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
|
|
* 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>
|
|
* Antonio Lignan, Zolertia <alinan@zolertia.com>
|
|
*/
|
|
/*---------------------------------------------------------------------------*/
|
|
#ifndef ADXL345_H_
|
|
#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 {
|
|
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);
|
|
|
|
/* 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
|
|
*/
|
|
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.
|
|
*/
|
|
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
|
|
*/
|
|
#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. */
|
|
|
|
/* 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) */
|
|
#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, 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 */
|
|
/* 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.
|
|
*/
|
|
/* 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 */
|
|
/* adxl345 slave address */
|
|
#define ADXL345_ADDR 0x53
|
|
|
|
/* ADXL345 registers */
|
|
#define ADXL345_DEVID 0x00
|
|
/* 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
|
|
#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
|
|
#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. 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);
|
|
/* -------------------------------------------------------------------------- */
|
|
#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_ */
|