diff --git a/examples/zolertia/z1/test-adxl345.c b/examples/zolertia/z1/test-adxl345.c index 259c46fde..e33981f76 100644 --- a/examples/zolertia/z1/test-adxl345.c +++ b/examples/zolertia/z1/test-adxl345.c @@ -42,10 +42,7 @@ #include #include "contiki.h" -#include "serial-shell.h" -#include "shell-ps.h" -#include "shell-file.h" -#include "shell-text.h" +#include "dev/leds.h" #include "dev/adxl345.h" /*---------------------------------------------------------------------------*/ #define LED_INT_ONTIME (CLOCK_SECOND / 2) @@ -91,7 +88,7 @@ print_int(uint16_t reg) void accm_ff_cb(uint8_t reg) { - L_ON(LEDS_B); + leds_on(LEDS_BLUE); process_post(&led_process, led_off_event, NULL); printf("~~[%u] Freefall detected! (0x%02X) -- ", ((uint16_t)clock_time()) / 128, reg); @@ -105,11 +102,11 @@ accm_tap_cb(uint8_t reg) { process_post(&led_process, led_off_event, NULL); if(reg & ADXL345_INT_DOUBLETAP) { - L_ON(LEDS_G); + leds_on(LEDS_GREEN); printf("~~[%u] DoubleTap detected! (0x%02X) -- ", ((uint16_t)clock_time()) / 128, reg); } else { - L_ON(LEDS_R); + leds_on(LEDS_RED); printf("~~[%u] Tap detected! (0x%02X) -- ", ((uint16_t)clock_time()) / 128, reg); } @@ -122,7 +119,7 @@ PROCESS_THREAD(led_process, ev, data) { PROCESS_WAIT_EVENT_UNTIL(ev == led_off_event); etimer_set(&led_etimer, LED_INT_ONTIME); PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&led_etimer)); - L_OFF(LEDS_R + LEDS_G + LEDS_B); + leds_off(LEDS_RED + LEDS_GREEN + LEDS_BLUE); } PROCESS_END(); } @@ -133,11 +130,6 @@ PROCESS_THREAD(accel_process, ev, data) { { int16_t x, y, z; - serial_shell_init(); - shell_ps_init(); - shell_file_init(); /* for printing out files */ - shell_text_init(); /* for binprint */ - /* Register the event used for lighting up an LED when interrupt strikes. */ led_off_event = process_alloc_event(); diff --git a/platform/z1/dev/adxl345.c b/platform/z1/dev/adxl345.c index df653d7f8..512881d59 100644 --- a/platform/z1/dev/adxl345.c +++ b/platform/z1/dev/adxl345.c @@ -1,5 +1,6 @@ /* * Copyright (c) 2010, Swedish Institute of Computer Science. + * Copyright (c) 2016, Zolertia * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -29,59 +30,42 @@ * This file is part of the Contiki operating system. * */ - +/*---------------------------------------------------------------------------*/ /** * \file * Device drivers for adxl345 accelerometer in Zolertia Z1. * \author * Marcus Lundén, SICS * Enric M. Calvo, Zolertia + * Antonio Lignan, Zolertia */ - - +/*---------------------------------------------------------------------------*/ #include #include "contiki.h" #include "adxl345.h" #include "cc2420.h" #include "i2cmaster.h" #include "isr_compat.h" - +/*---------------------------------------------------------------------------*/ /* Callback pointers when interrupt occurs */ void (*accm_int1_cb)(uint8_t reg); void (*accm_int2_cb)(uint8_t reg); - -process_event_t int1_event, int2_event; - +/*---------------------------------------------------------------------------*/ /* Bitmasks for the interrupts */ static uint16_t int1_mask = 0, int2_mask = 0; -/* Keep track of when the interrupt was last seen in order to reduce the amount - of interrupts. Kind of like button debouncing. This can't be per int-pin, as - there can be several very different int per pin (eg tap && freefall). */ -// XXX Not used now, only one global timer. -//static volatile clock_time_t ints_lasttime[] = {0, 0, 0, 0, 0, 0, 0, 0}; +/* Default values for adxl345 at startup. + * This will be sent to the adxl345 in a + * stream at init to set it up in a default state + */ -/* Bitmasks and bit flag variable for keeping track of adxl345 status. */ -enum ADXL345_STATUSTYPES { - /* must be a bit and not more, not using 0x00. */ - INITED = 0x01, - RUNNING = 0x02, - STOPPED = 0x04, - LOW_POWER = 0x08, - AAA = 0x10, // available to extend this... - BBB = 0x20, // available to extend this... - CCC = 0x40, // available to extend this... - DDD = 0x80, // available to extend this... -}; -static enum ADXL345_STATUSTYPES _ADXL345_STATUS = 0x00; - -/* Default values for adxl345 at startup. This will be sent to the adxl345 in a - stream at init to set it up in a default state */ static uint8_t adxl345_default_settings[] = { /* Note, as the two first two bulks are to be written in a stream, they contain - the register address as first byte in that section. */ - /* 0--14 are in one stream, start at ADXL345_THRESH_TAP */ - ADXL345_THRESH_TAP, // XXX NB Register address, not register value!! + * the register address as first byte in that section. + * 0--14 are in one stream, start at ADXL345_THRESH_TAP + */ + /* XXX NB Register address, not register value!! */ + ADXL345_THRESH_TAP, ADXL345_THRESH_TAP_DEFAULT, ADXL345_OFSX_DEFAULT, ADXL345_OFSY_DEFAULT, @@ -98,7 +82,8 @@ static uint8_t adxl345_default_settings[] = { ADXL345_TAP_AXES_DEFAULT, /* 15--19 start at ADXL345_BW_RATE */ - ADXL345_BW_RATE, // XXX NB Register address, not register value!! + /* XXX NB Register address, not register value!! */ + ADXL345_BW_RATE, ADXL345_BW_RATE_DEFAULT, ADXL345_POWER_CTL_DEFAULT, ADXL345_INT_ENABLE_DEFAULT, @@ -108,18 +93,10 @@ static uint8_t adxl345_default_settings[] = { ADXL345_DATA_FORMAT_DEFAULT, ADXL345_FIFO_CTL_DEFAULT }; - - /*---------------------------------------------------------------------------*/ PROCESS(accmeter_process, "Accelerometer process"); /*---------------------------------------------------------------------------*/ -/* Write to a register. - args: - reg register to write to - val value to write -*/ - -void +static void accm_write_reg(uint8_t reg, uint8_t val) { uint8_t tx_buf[] = {reg, val}; @@ -132,15 +109,10 @@ accm_write_reg(uint8_t reg, uint8_t val) { PRINTFDEBUG("WRITE_REG 0x%02X @ reg 0x%02X\n", val, reg); } /*---------------------------------------------------------------------------*/ -/* Write several registers from a stream. - args: - len number of bytes to read - data pointer to where the data is read from - - First byte in stream must be the register address to begin writing to. - The data is then written from second byte and increasing. */ - -void +/* First byte in stream must be the register address to begin writing to. + * The data is then written from second byte and increasing. + */ +static void accm_write_stream(uint8_t len, uint8_t *data) { i2c_transmitinit(ADXL345_ADDR); while (i2c_busy()); @@ -152,13 +124,7 @@ accm_write_stream(uint8_t len, uint8_t *data) { } /*---------------------------------------------------------------------------*/ -/* Read one register. - args: - reg what register to read - returns the value of the read register -*/ - -uint8_t +static uint8_t accm_read_reg(uint8_t reg) { uint8_t retVal = 0; uint8_t rtx = reg; @@ -178,16 +144,8 @@ accm_read_reg(uint8_t reg) { return retVal; } - /*---------------------------------------------------------------------------*/ -/* Read several registers in a stream. - args: - reg what register to start reading from - len number of bytes to read - whereto pointer to where the data is saved -*/ - -void +static void accm_read_stream(uint8_t reg, uint8_t len, uint8_t *whereto) { uint8_t rtx = reg; PRINTFDEBUG("READ_STR %u B from 0x%02X\n", len, reg); @@ -206,11 +164,12 @@ accm_read_stream(uint8_t reg, uint8_t len, uint8_t *whereto) { } /*---------------------------------------------------------------------------*/ -/* 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. */ - +/* 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){ int16_t rd = 0; @@ -224,73 +183,54 @@ 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 - Example: - accm_set_grange(ADXL345_RANGE_4G); - */ - void accm_set_grange(uint8_t grange){ if(grange > ADXL345_RANGE_16G) { - // invalid g-range. PRINTFDEBUG("ADXL grange invalid: %u\n", grange); return; } + uint8_t tempreg = 0; - /* preserve the previous contents of the register */ - tempreg = (accm_read_reg(ADXL345_DATA_FORMAT) & 0xFC); // zero out the last two bits (grange) - tempreg |= grange; // set new range + /* Keep the previous contents of the register, zero out the last two bits */ + tempreg = (accm_read_reg(ADXL345_DATA_FORMAT) & 0xFC); + tempreg |= grange; accm_write_reg(ADXL345_DATA_FORMAT, tempreg); } /*---------------------------------------------------------------------------*/ -/* Init the accelerometer: ports, pins, registers, interrupts (none enabled), I2C, - default threshold values etc. */ - void accm_init(void) { - if(!(_ADXL345_STATUS & INITED)){ - PRINTFDEBUG("ADXL345 init\n"); - _ADXL345_STATUS |= INITED; - accm_int1_cb = NULL; - accm_int2_cb = NULL; - int1_event = process_alloc_event(); - int2_event = process_alloc_event(); + PRINTFDEBUG("ADXL345 init\n"); + accm_int1_cb = NULL; + accm_int2_cb = NULL; - /* Set up ports and pins for interrups. */ - ADXL345_DIR &=~ (ADXL345_INT1_PIN | ADXL345_INT2_PIN); - ADXL345_SEL &=~ (ADXL345_INT1_PIN | ADXL345_INT2_PIN); - ADXL345_SEL2 &=~ (ADXL345_INT1_PIN | ADXL345_INT2_PIN); + /* Set up ports and pins for interrups. */ + ADXL345_DIR &=~ (ADXL345_INT1_PIN | ADXL345_INT2_PIN); + ADXL345_SEL &=~ (ADXL345_INT1_PIN | ADXL345_INT2_PIN); + ADXL345_SEL2 &=~ (ADXL345_INT1_PIN | ADXL345_INT2_PIN); - /* Set up ports and pins for I2C communication */ - i2c_enable(); + /* Set up ports and pins for I2C communication */ + i2c_enable(); - /* set default register values. */ - accm_write_stream(15, &adxl345_default_settings[0]); - accm_write_stream(5, &adxl345_default_settings[15]); - accm_write_reg(ADXL345_DATA_FORMAT, adxl345_default_settings[20]); - accm_write_reg(ADXL345_FIFO_CTL, adxl345_default_settings[21]); + /* set default register values. */ + accm_write_stream(15, &adxl345_default_settings[0]); + accm_write_stream(5, &adxl345_default_settings[15]); + accm_write_reg(ADXL345_DATA_FORMAT, adxl345_default_settings[20]); + accm_write_reg(ADXL345_FIFO_CTL, adxl345_default_settings[21]); - process_start(&accmeter_process, NULL); + process_start(&accmeter_process, NULL); - /* Enable msp430 interrupts on the two interrupt pins. */ - dint(); - ADXL345_IES &=~ (ADXL345_INT1_PIN | ADXL345_INT2_PIN); // low to high transition interrupts - ADXL345_IE |= (ADXL345_INT1_PIN | ADXL345_INT2_PIN); // enable interrupts - eint(); - } + /* Enable msp430 interrupts on the two interrupt pins. */ + dint(); + /* low to high transition interrupts */ + ADXL345_IES &=~ (ADXL345_INT1_PIN | ADXL345_INT2_PIN); + /* enable interrupts */ + ADXL345_IE |= (ADXL345_INT1_PIN | ADXL345_INT2_PIN); + eint(); } /*---------------------------------------------------------------------------*/ -/* 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. */ - void accm_set_irq(uint8_t int1, uint8_t int2){ /* Set the corresponding interrupt mapping to INT1 or INT2 */ @@ -302,44 +242,16 @@ accm_set_irq(uint8_t int1, uint8_t int2){ accm_write_reg(ADXL345_INT_ENABLE, (int1 | int2)); accm_write_reg(ADXL345_INT_MAP, int2); // int1 bits are zeroes in the map register so this is for both ints } - -/*---------------------------------------------------------------------------*/ -#if 0 -/* now unused code that is later supposed to be turned into keeping track of every - interrupt by themselves instead of only one per INT1/2 */ - -/* XXX MUST HAVE some way of resetting the time so that we are not suppressing - erronous due to clock overflow.... XXX XXX XXX */ -/* Table with back off time periods */ -static volatile clock_time_t ints_backoffs[] = {ADXL345_INT_OVERRUN_BACKOFF, ADXL345_INT_WATERMARK_BACKOFF, - ADXL345_INT_FREEFALL_BACKOFF, ADXL345_INT_INACTIVITY_BACKOFF, - ADXL345_INT_ACTIVITY_BACKOFF, ADXL345_INT_DOUBLETAP_BACKOFF, - ADXL345_INT_TAP_BACKOFF, ADXL345_INT_DATAREADY_BACKOFF}; - -/*---------------------------------------------------------------------------*/ -/* Checks to see if an event occurred after backoff period (returns time period - past since) or not (returns 0) */ - -static clocktime_t -backoff_passed(clocktime_t happenedAt, const clocktime_t backoff){ - if(timenow-lasttime >= backoff) { - return 0; - } else { - return (timenow-lasttime); - } -} -#endif /*---------------------------------------------------------------------------*/ /* Invoked after an interrupt happened. Reads the interrupt source reg at the - accelerometer, which resets the interrupts, and invokes the corresponding - callback. It passes the source register value so the callback can determine - what interrupt happened, if several interrupts are mapped to the same pin. */ - + * accelerometer, which resets the interrupts, and invokes the corresponding + * callback. It passes the source register value so the callback can determine + * what interrupt happened, if several interrupts are mapped to the same pin. + */ static void poll_handler(void){ uint8_t ireg = 0; ireg = accm_read_reg(ADXL345_INT_SOURCE); - //printf("0x%02X, 0x%02X, 0x%02X, 0x%02X\n", ireg, ireg2, int1_mask, int2_mask); /* Invoke callbacks for the corresponding interrupts */ if(ireg & int1_mask){ @@ -354,33 +266,32 @@ poll_handler(void){ } } } - /*---------------------------------------------------------------------------*/ -/* This process is sleeping until an interrupt from the accelerometer occurs, which - polls this process from the interrupt service routine. */ - +/* This process is sleeping until an interrupt from the accelerometer occurs, + * which polls this process from the interrupt service routine. */ PROCESS_THREAD(accmeter_process, ev, data) { PROCESS_POLLHANDLER(poll_handler()); PROCESS_EXITHANDLER(); PROCESS_BEGIN(); while(1){ - PROCESS_WAIT_EVENT_UNTIL(0); // should do nothing in while loop. + PROCESS_WAIT_EVENT_UNTIL(0); } PROCESS_END(); } - /*---------------------------------------------------------------------------*/ -/* XXX This interrupt vector is shared with the interrupts from CC2420, so that - was moved here but should find a better home. XXX */ - -#if 1 +/* This interrupt vector is shared with the interrupts from CC2420, so that + * was moved here + */ static struct timer suppressTimer1, suppressTimer2; ISR(PORT1, port1_isr) { ENERGEST_ON(ENERGEST_TYPE_IRQ); - /* ADXL345_IFG.x goes high when interrupt occurs, use to check what interrupted */ - if ((ADXL345_IFG & ADXL345_INT1_PIN) && !(ADXL345_IFG & BV(CC2420_FIFOP_PIN))){ + + /* ADXL345_IFG.x goes high when interrupt occurs, use to check what + * interrupted + */ + if((ADXL345_IFG & ADXL345_INT1_PIN) && !(ADXL345_IFG & BV(CC2420_FIFOP_PIN))){ /* Check if this should be suppressed or not */ if(timer_expired(&suppressTimer1)) { timer_set(&suppressTimer1, SUPPRESS_TIME_INT1); @@ -388,11 +299,13 @@ ISR(PORT1, port1_isr) process_poll(&accmeter_process); LPM4_EXIT; } - } else if ((ADXL345_IFG & ADXL345_INT2_PIN) && !(ADXL345_IFG & BV(CC2420_FIFOP_PIN))){ + } else if((ADXL345_IFG & ADXL345_INT2_PIN) && + !(ADXL345_IFG & BV(CC2420_FIFOP_PIN))){ /* Check if this should be suppressed or not */ if(timer_expired(&suppressTimer2)) { timer_set(&suppressTimer2, SUPPRESS_TIME_INT2); - ADXL345_IFG &= ~ADXL345_INT2_PIN; // clear interrupt flag + /* clear interrupt flag */ + ADXL345_IFG &= ~ADXL345_INT2_PIN; process_poll(&accmeter_process); LPM4_EXIT; } @@ -404,7 +317,4 @@ ISR(PORT1, port1_isr) } ENERGEST_OFF(ENERGEST_TYPE_IRQ); } - /*---------------------------------------------------------------------------*/ - -#endif diff --git a/platform/z1/dev/adxl345.h b/platform/z1/dev/adxl345.h index 082572715..29179b319 100644 --- a/platform/z1/dev/adxl345.h +++ b/platform/z1/dev/adxl345.h @@ -1,5 +1,6 @@ /* * Copyright (c) 2010, Swedish Institute of Computer Science. + * Copyright (c) 2016, Zolertia * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -29,158 +30,105 @@ * 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 + * Antonio Lignan, Zolertia */ - +/*---------------------------------------------------------------------------*/ #ifndef ADXL345_H_ #define ADXL345_H_ #include #include "dev/i2cmaster.h" - -#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);*/ +/*---------------------------------------------------------------------------*/ +/* 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); +/* Init the accelerometer: ports, pins, registers, interrupts (none enabled), + * I2C, default threshold values etc. + */ +void accm_init(void); -/* Write to a register. - args: - reg register to write to - val value to write -*/ -void accm_write_reg(uint8_t reg, uint8_t val); - -/* Write several registers from a stream. - args: - len number of bytes to read - data pointer to where the data is read from - First byte in stream must be the register address to begin writing to. - The data is then written from the second byte and increasing. The address byte - is not included in length len. */ -void accm_write_stream(uint8_t len, uint8_t *data); - -/* Read one register. - args: - reg what register to read - returns the value of the read register -*/ -uint8_t accm_read_reg(uint8_t reg); - -/* Read several registers in a stream. - args: - reg what register to start reading from - len number of bytes to read - whereto pointer to where the data is saved -*/ -void accm_read_stream(uint8_t reg, uint8_t len, uint8_t *whereto); - -/* 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. */ +/* 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 - Example: - accm_set_grange(ADXL345_RANGE_4G); - */ -void accm_set_grange(uint8_t grange); +/* 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 + */ +void 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. */ -void accm_set_irq(uint8_t int1, uint8_t int2); + * This must come after accm_init() as the registers will otherwise be + * overwritten. + */ +void 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 from the */ + * 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. */ -/* 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) */ +/* 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) (datasheet: 3g++) -#define ADXL345_OFSX_DEFAULT 0x00 // for individual units calibration purposes +#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 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_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, normal operation -#define ADXL345_POWER_CTL_DEFAULT 0x28 // link bit set, 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 +#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. */ -#define ADXL345_DATA_FORMAT_DEFAULT (0x00|ADXL345_RANGE_2G) // right-justify, 2g, 10-bit mode, int is active high -#define ADXL345_FIFO_CTL_DEFAULT 0x00 // FIFO bypass mode + * 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 */ @@ -188,7 +136,7 @@ void accm_set_irq(uint8_t int1, uint8_t int2); #define ADXL345_ADDR 0x53 /* ADXL345 registers */ -#define ADXL345_DEVID 0x00 // read only +#define ADXL345_DEVID 0x00 /* registers 0x01 to 0x1C are reserved, do not access */ #define ADXL345_THRESH_TAP 0x1D #define ADXL345_OFSX 0x1E @@ -204,24 +152,24 @@ void accm_set_irq(uint8_t int1, uint8_t int2); #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_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 // read only +#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_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 +#define ADXL345_FIFO_STATUS 0x39 /* read only */ /* ADXL345 interrupts */ -#define ADXL345_INT_DISABLE 0X00 // used for disabling 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 @@ -237,8 +185,8 @@ void accm_set_irq(uint8_t int1, uint8_t int2); #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_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 @@ -251,43 +199,40 @@ void accm_set_irq(uint8_t int1, uint8_t int2); #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). +/* 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)); + */ - 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 +/* 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); -/* 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. */ -extern process_event_t int1_event, int2_event; // static ? - #define ACCM_INT1 0x01 #define ACCM_INT2 0x02 - - /* -------------------------------------------------------------------------- */ #endif /* ifndef ADXL345_H_ */