415 lines
13 KiB
C
415 lines
13 KiB
C
/*
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* Copyright (c) 2010, Swedish Institute of Computer Science.
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* Copyright (c) 2016, Zolertia <http://www.zolertia.com>
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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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/**
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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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* Antonio Lignan, Zolertia <alinan@zolertia.com>
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*/
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/*---------------------------------------------------------------------------*/
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#include <stdio.h>
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#include "contiki.h"
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#include "adxl345.h"
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#include "cc2420.h"
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#include "i2cmaster.h"
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#include "isr_compat.h"
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#include "lib/sensors.h"
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/*---------------------------------------------------------------------------*/
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#define DEBUG 0
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#if DEBUG
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#define PRINTF(...) printf(__VA_ARGS__)
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#else
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#define PRINTF(...)
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#endif
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/*---------------------------------------------------------------------------*/
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static uint8_t enabled;
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/*---------------------------------------------------------------------------*/
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/* Callback pointers when interrupt occurs */
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void (*accm_int1_cb)(uint8_t reg);
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void (*accm_int2_cb)(uint8_t reg);
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/*---------------------------------------------------------------------------*/
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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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/* Default values for adxl345 at startup.
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* 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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*/
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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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*/
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/* XXX NB Register address, not register value!! */
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ADXL345_THRESH_TAP,
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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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/* XXX NB Register address, not register value!! */
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ADXL345_BW_RATE,
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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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static void
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accm_write_reg(uint8_t reg, uint8_t val)
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{
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uint8_t tx_buf[] = {reg, val};
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i2c_transmitinit(ADXL345_ADDR);
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while (i2c_busy());
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PRINTF("ADXL345: 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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PRINTF("ADXL345: WRITE_REG 0x%02X @ reg 0x%02X\n", val, reg);
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}
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/*---------------------------------------------------------------------------*/
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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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*/
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static void
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accm_write_stream(uint8_t len, uint8_t *data)
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{
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i2c_transmitinit(ADXL345_ADDR);
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while (i2c_busy());
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PRINTF("ADXL345: 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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PRINTF("ADXL345: WRITE_STR %u B to 0x%02X\n", len, data[0]);
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}
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/*---------------------------------------------------------------------------*/
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static uint8_t
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accm_read_reg(uint8_t reg)
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{
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uint8_t retVal = 0;
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uint8_t rtx = reg;
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PRINTF("ADXL345: 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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static void
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accm_read_stream(uint8_t reg, uint8_t len, uint8_t *whereto)
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{
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uint8_t rtx = reg;
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PRINTF("ADXL345: 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
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* 10 bit int.
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* The resolution of the acceleration measurement can be increased up to 13 bit,
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* but will change the data format of this read out. Refer to the data sheet if
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* so is wanted/needed.
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*/
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int16_t
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accm_read_axis(enum ADXL345_AXIS axis)
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{
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int16_t rd = 0;
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uint8_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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int
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accm_set_grange(uint8_t grange)
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{
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uint8_t tempreg = 0;
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if(grange > ADXL345_RANGE_16G) {
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PRINTF("ADXL345: grange invalid: %u\n", grange);
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return ADXL345_ERROR;
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}
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if(!enabled) {
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return ADXL345_ERROR;
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}
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/* Keep the previous contents of the register, zero out the last two bits */
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tempreg = (accm_read_reg(ADXL345_DATA_FORMAT) & 0xFC);
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tempreg |= grange;
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accm_write_reg(ADXL345_DATA_FORMAT, tempreg);
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return ADXL345_SUCCESS;
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}
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/*---------------------------------------------------------------------------*/
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void
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accm_init(void)
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{
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PRINTF("ADXL345: init\n");
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accm_int1_cb = NULL;
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accm_int2_cb = NULL;
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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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/* low to high transition interrupts */
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ADXL345_IES &=~ (ADXL345_INT1_PIN | ADXL345_INT2_PIN);
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/* enable interrupts */
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ADXL345_IE |= (ADXL345_INT1_PIN | ADXL345_INT2_PIN);
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eint();
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enabled = 1;
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}
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/*---------------------------------------------------------------------------*/
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void
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accm_stop(void)
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{
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dint();
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ADXL345_IE &= ~(ADXL345_INT1_PIN | ADXL345_INT2_PIN);
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accm_write_reg(ADXL345_INT_ENABLE, ~(int1_mask | int2_mask));
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accm_write_reg(ADXL345_INT_MAP, ~int2_mask);
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eint();
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enabled = 0;
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}
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/*---------------------------------------------------------------------------*/
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int
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accm_set_irq(uint8_t int1, uint8_t int2)
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{
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if(!enabled) {
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return ADXL345_ERROR;
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}
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/* Set the corresponding interrupt mapping to INT1 or INT2 */
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PRINTF("ADXL345: 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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/* int1 bits are zeroes in the map register so this is for both ints */
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accm_write_reg(ADXL345_INT_MAP, int2);
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return ADXL345_SUCCESS;
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}
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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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*/
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static void
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poll_handler(void)
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{
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uint8_t ireg = 0;
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ireg = accm_read_reg(ADXL345_INT_SOURCE);
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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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PRINTF("ADXL345: 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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PRINTF("ADXL345: 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,
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* which polls this process from the interrupt service routine. */
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PROCESS_THREAD(accmeter_process, ev, data)
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{
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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);
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}
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PROCESS_END();
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}
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/*---------------------------------------------------------------------------*/
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/* This interrupt vector is shared with the interrupts from CC2420, so that
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* was moved here
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*/
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static struct timer suppressTimer1, suppressTimer2;
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ISR(PORT1, port1_isr)
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{
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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
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* interrupted
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*/
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if((ADXL345_IFG & ADXL345_INT1_PIN) && !(ADXL345_IFG & BV(CC2420_FIFOP_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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!(ADXL345_IFG & BV(CC2420_FIFOP_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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/* clear interrupt flag */
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ADXL345_IFG &= ~ADXL345_INT2_PIN;
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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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static int
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configure(int type, int value)
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{
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if(type != SENSORS_ACTIVE) {
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return ADXL345_ERROR;
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}
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if(value) {
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accm_init();
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} else {
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accm_stop();
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}
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enabled = value;
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return ADXL345_SUCCESS;
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}
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/*---------------------------------------------------------------------------*/
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static int
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status(int type)
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{
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switch(type) {
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case SENSORS_ACTIVE:
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case SENSORS_READY:
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return enabled;
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}
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return ADXL345_SUCCESS;
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}
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/*---------------------------------------------------------------------------*/
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static int
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value(int type)
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{
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if(!enabled) {
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return ADXL345_ERROR;
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}
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if((type != X_AXIS) && (type != Y_AXIS) && (type != Z_AXIS)) {
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return ADXL345_ERROR;
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}
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switch(type) {
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case X_AXIS:
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return accm_read_axis(X_AXIS);
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case Y_AXIS:
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return accm_read_axis(Y_AXIS);
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case Z_AXIS:
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return accm_read_axis(Z_AXIS);
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default:
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return ADXL345_ERROR;
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}
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}
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/*---------------------------------------------------------------------------*/
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SENSORS_SENSOR(adxl345, ADXL345_SENSOR, value, configure, status);
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/*---------------------------------------------------------------------------*/
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