200 lines
6.6 KiB
C
200 lines
6.6 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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* A simple program for testing the adxl345 on-board accelerometer of the
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* Zolertia Z1. Enables interrupts and registers callbacks for them. Then
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* starts a constantly running readout of acceleration data.
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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 "contiki.h"
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#include "serial-shell.h"
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#include "adxl345.h"
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#define LED_INT_ONTIME CLOCK_SECOND/2
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#define ACCM_READ_INTERVAL CLOCK_SECOND
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static process_event_t ledOff_event;
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/*---------------------------------------------------------------------------*/
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PROCESS(accel_process, "Test Accel process");
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PROCESS(led_process, "LED handling process");
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AUTOSTART_PROCESSES(&accel_process, &led_process);
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/*---------------------------------------------------------------------------*/
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/* As several interrupts can be mapped to one interrupt pin, when interrupt
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strikes, the adxl345 interrupt source register is read. This function prints
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out which interrupts occurred. Note that this will include all interrupts,
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even those mapped to 'the other' pin, and those that will always signal even if
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not enabled (such as watermark). */
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void
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print_int(uint16_t reg){
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#define ANNOYING_ALWAYS_THERE_ANYWAY_OUTPUT 0
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#if ANNOYING_ALWAYS_THERE_ANYWAY_OUTPUT
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if(reg & ADXL345_INT_OVERRUN) {
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printf("Overrun ");
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}
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if(reg & ADXL345_INT_WATERMARK) {
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printf("Watermark ");
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}
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if(reg & ADXL345_INT_DATAREADY) {
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printf("DataReady ");
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}
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#endif
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if(reg & ADXL345_INT_FREEFALL) {
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printf("Freefall ");
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}
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if(reg & ADXL345_INT_INACTIVITY) {
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printf("InActivity ");
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}
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if(reg & ADXL345_INT_ACTIVITY) {
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printf("Activity ");
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}
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if(reg & ADXL345_INT_DOUBLETAP) {
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printf("DoubleTap ");
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}
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if(reg & ADXL345_INT_TAP) {
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printf("Tap ");
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}
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printf("\n");
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}
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/*---------------------------------------------------------------------------*/
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/* accelerometer free fall detection callback */
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void
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accm_ff_cb(u8_t reg){
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L_ON(LEDS_B);
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process_post(&led_process, ledOff_event, NULL);
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printf("~~[%u] Freefall detected! (0x%02X) -- ", ((u16_t) clock_time())/128, reg);
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print_int(reg);
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}
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/*---------------------------------------------------------------------------*/
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/* accelerometer tap and double tap detection callback */
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void
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accm_tap_cb(u8_t reg){
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process_post(&led_process, ledOff_event, NULL);
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if(reg & ADXL345_INT_DOUBLETAP){
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L_ON(LEDS_G);
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printf("~~[%u] DoubleTap detected! (0x%02X) -- ", ((u16_t) clock_time())/128, reg);
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} else {
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L_ON(LEDS_R);
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printf("~~[%u] Tap detected! (0x%02X) -- ", ((u16_t) clock_time())/128, reg);
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}
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print_int(reg);
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}
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/*---------------------------------------------------------------------------*/
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/* When posted an ledOff event, the LEDs will switch off after LED_INT_ONTIME.
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static process_event_t ledOff_event;
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ledOff_event = process_alloc_event();
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process_post(&led_process, ledOff_event, NULL);
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*/
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static struct etimer ledETimer;
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PROCESS_THREAD(led_process, ev, data) {
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PROCESS_BEGIN();
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while(1){
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PROCESS_WAIT_EVENT_UNTIL(ev == ledOff_event);
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etimer_set(&ledETimer, LED_INT_ONTIME);
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PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&ledETimer));
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L_OFF(LEDS_R + LEDS_G + LEDS_B);
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}
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PROCESS_END();
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}
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/*---------------------------------------------------------------------------*/
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/* Returns a string with the argument byte written in binary.
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Example usage:
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printf("Port1: %s\n", char2bin(P1IN));
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*/
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/*
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static u8_t b[9];
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static u8_t
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*char2bin(u8_t x) {
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u8_t z;
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b[8] = '\0';
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for (z = 0; z < 8; z++) {
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b[7-z] = (x & (1 << z)) ? '1' : '0';
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}
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return b;
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}
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*/
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/*---------------------------------------------------------------------------*/
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/* Main process, setups */
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static struct etimer et;
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PROCESS_THREAD(accel_process, ev, data) {
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PROCESS_BEGIN();
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{
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int16_t x, y, z;
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serial_shell_init();
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shell_ps_init();
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shell_file_init(); // for printing out files
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shell_text_init(); // for binprint
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/* Register the event used for lighting up an LED when interrupt strikes. */
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ledOff_event = process_alloc_event();
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/* Start and setup the accelerometer with default values, eg no interrupts enabled. */
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accm_init();
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/* Register the callback functions for each interrupt */
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ACCM_REGISTER_INT1_CB((void *)accm_ff_cb);
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ACCM_REGISTER_INT2_CB((void *)accm_tap_cb);
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/* Set what strikes the corresponding interrupts. Several interrupts per pin is
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possible. For the eight possible interrupts, see adxl345.h and adxl345 datasheet. */
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accm_set_irq(ADXL345_INT_FREEFALL, ADXL345_INT_TAP + ADXL345_INT_DOUBLETAP);
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while (1) {
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x = accm_read_axis(X_AXIS);
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y = accm_read_axis(Y_AXIS);
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z = accm_read_axis(Z_AXIS);
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printf("x: %d y: %d z: %d\n", x, y, z);
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etimer_set(&et, ACCM_READ_INTERVAL);
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PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
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}
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}
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PROCESS_END();
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}
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/*---------------------------------------------------------------------------*/
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