247 lines
11 KiB
C
247 lines
11 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 header file 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 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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#ifndef ADXL345_H_
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#define ADXL345_H_
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#include <stdio.h>
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#include "dev/i2cmaster.h"
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#include "lib/sensors.h"
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/*---------------------------------------------------------------------------*/
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/* Used in accm_read_axis(), eg accm_read_axis(X_AXIS) */
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enum ADXL345_AXIS {
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X_AXIS = 0,
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Y_AXIS = 2,
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Z_AXIS = 4,
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};
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/* -------------------------------------------------------------------------- */
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/* Init the accelerometer: ports, pins, registers, interrupts (none enabled),
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* I2C, default threshold values etc.
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*/
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void accm_init(void);
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/* Read an axis of the accelerometer (x, y or z). Return value is a signed 10
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* 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 accm_read_axis(enum ADXL345_AXIS axis);
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/* Sets the g-range, ie the range the accelerometer measures (ie 2g means -2 to
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* +2 g 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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*/
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int accm_set_grange(uint8_t grange);
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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
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* overwritten.
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*/
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int accm_set_irq(uint8_t int1, uint8_t int2);
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/* Macros for setting the pointers to callback functions from the interrupts.
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* The function will be called with an uint8_t as parameter, containing the
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* interrupt flag register from the ADXL345. That way, several interrupts can be
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* mapped to the same pin and be read
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*/
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#define ACCM_REGISTER_INT1_CB(ptr) accm_int1_cb = ptr;
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#define ACCM_REGISTER_INT2_CB(ptr) accm_int2_cb = ptr;
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/* -------------------------------------------------------------------------- */
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/* Application definitions, change if required by application. */
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/* Time after an interrupt that subsequent interrupts are suppressed. Should
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* later be turned into one specific time per type of interrupt (tap, freefall.
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* etc)
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*/
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#define SUPPRESS_TIME_INT1 CLOCK_SECOND/4
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#define SUPPRESS_TIME_INT2 CLOCK_SECOND/4
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/* Suggested defaults according to the data sheet etc */
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#define ADXL345_THRESH_TAP_DEFAULT 0x48 /* 4.5g (0x30 == 3.0g) */
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#define ADXL345_OFSX_DEFAULT 0x00 /* for calibration only */
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#define ADXL345_OFSY_DEFAULT 0x00
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#define ADXL345_OFSZ_DEFAULT 0x00
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#define ADXL345_DUR_DEFAULT 0x20 /* 20 ms (datasheet: 10ms++) */
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#define ADXL345_LATENT_DEFAULT 0x50 /* 100 ms (datasheet: 20ms++) */
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#define ADXL345_WINDOW_DEFAULT 0xFF /* 320 ms (datasheet: 80ms++) */
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#define ADXL345_THRESH_ACT_DEFAULT 0x15 /* 1.3g (62.5 mg/LSB) */
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#define ADXL345_THRESH_INACT_DEFAULT 0x08 /* 0.5g (62.5 mg/LSB) */
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#define ADXL345_TIME_INACT_DEFAULT 0x02 /* 2 s (1 s/LSB) */
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#define ADXL345_ACT_INACT_CTL_DEFAULT 0xFF /* all axis, ac-coupled */
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#define ADXL345_THRESH_FF_DEFAULT 0x09 /* 563 mg */
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#define ADXL345_TIME_FF_DEFAULT 0x20 /* 60 ms */
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#define ADXL345_TAP_AXES_DEFAULT 0x07 /* all axis, no suppression */
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#define ADXL345_BW_RATE_DEFAULT (0x00 | ADXL345_SRATE_100) /* 100 Hz */
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/* link bit set, no autosleep, start normal measuring */
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#define ADXL345_POWER_CTL_DEFAULT 0x28
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#define ADXL345_INT_ENABLE_DEFAULT 0x00 /* no interrupts enabled */
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#define ADXL345_INT_MAP_DEFAULT 0x00 /* all mapped to int_1 */
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/* XXX NB: In the data format register, data format of axis readings is chosen
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* between left or right justify. This affects the position of the MSB/LSB and is
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* different depending on g-range and resolution. If changed, make sure this is
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* reflected in the _read_axis() function. Also, the resolution can be increased
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* from 10 bit to at most 13 bit, but this also changes position of MSB etc on data
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* format so check this in read_axis() too.
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*/
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/* right-justify, 2g, 10-bit mode, int is active high */
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#define ADXL345_DATA_FORMAT_DEFAULT (0x00 | ADXL345_RANGE_2G)
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#define ADXL345_FIFO_CTL_DEFAULT 0x00 /* FIFO bypass mode */
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/* -------------------------------------------------------------------------- */
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/* Reference definitions, should not be changed */
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/* adxl345 slave address */
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#define ADXL345_ADDR 0x53
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/* ADXL345 registers */
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#define ADXL345_DEVID 0x00
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/* registers 0x01 to 0x1C are reserved, do not access */
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#define ADXL345_THRESH_TAP 0x1D
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#define ADXL345_OFSX 0x1E
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#define ADXL345_OFSY 0x1F
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#define ADXL345_OFSZ 0x20
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#define ADXL345_DUR 0x21
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#define ADXL345_LATENT 0x22
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#define ADXL345_WINDOW 0x23
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#define ADXL345_THRESH_ACT 0x24
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#define ADXL345_THRESH_INACT 0x25
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#define ADXL345_TIME_INACT 0x26
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#define ADXL345_ACT_INACT_CTL 0x27
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#define ADXL345_THRESH_FF 0x28
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#define ADXL345_TIME_FF 0x29
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#define ADXL345_TAP_AXES 0x2A
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#define ADXL345_ACT_TAP_STATUS 0x2B
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#define ADXL345_BW_RATE 0x2C
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#define ADXL345_POWER_CTL 0x2D
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#define ADXL345_INT_ENABLE 0x2E
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#define ADXL345_INT_MAP 0x2F
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#define ADXL345_INT_SOURCE 0x30
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#define ADXL345_DATA_FORMAT 0x31
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#define ADXL345_DATAX0 0x32 /* read only, LSByte X, two's complement */
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#define ADXL345_DATAX1 0x33 /* read only, MSByte X */
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#define ADXL345_DATAY0 0x34 /* read only, LSByte Y */
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#define ADXL345_DATAY1 0x35 /* read only, MSByte X */
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#define ADXL345_DATAZ0 0x36 /* read only, LSByte Z */
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#define ADXL345_DATAZ1 0x37 /* read only, MSByte X */
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#define ADXL345_FIFO_CTL 0x38
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#define ADXL345_FIFO_STATUS 0x39 /* read only */
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/* ADXL345 interrupts */
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#define ADXL345_INT_DISABLE 0X00 /* used for disabling interrupts */
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#define ADXL345_INT_OVERRUN 0X01
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#define ADXL345_INT_WATERMARK 0X02
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#define ADXL345_INT_FREEFALL 0X04
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#define ADXL345_INT_INACTIVITY 0X08
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#define ADXL345_INT_ACTIVITY 0X10
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#define ADXL345_INT_DOUBLETAP 0X20
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#define ADXL345_INT_TAP 0X40
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#define ADXL345_INT_DATAREADY 0X80
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/* Accelerometer hardware ports, pins and registers on the msp430 µC */
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#define ADXL345_DIR P1DIR
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#define ADXL345_PIN P1PIN
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#define ADXL345_REN P1REN
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#define ADXL345_SEL P1SEL
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#define ADXL345_SEL2 P1SEL2
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#define ADXL345_INT1_PIN (1<<6) /* P1.6 */
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#define ADXL345_INT2_PIN (1<<7) /* P1.7 */
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#define ADXL345_IES P1IES
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#define ADXL345_IE P1IE
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#define ADXL345_IFG P1IFG
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#define ADXL345_VECTOR PORT1_VECTOR
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/* g-range for DATA_FORMAT register */
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#define ADXL345_RANGE_2G 0x00
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#define ADXL345_RANGE_4G 0x01
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#define ADXL345_RANGE_8G 0x02
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#define ADXL345_RANGE_16G 0x03
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/* The adxl345 has programmable sample rates, but unexpected results may occur
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* if the wrong rate and I2C bus speed is used (see datasheet p 17). Sample
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* rates in Hz. This setting does not change the internal sampling rate, just
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* how often it is piped to the output registers (ie the interrupt features use
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* the full sample rate internally).
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* Example use:
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* adxl345_set_reg(ADXL345_BW_RATE, ((_ADXL345_STATUS & LOW_POWER)
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* | ADXL345_SRATE_50));
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*/
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/* XXX NB don't use at all as I2C data rate<= 400kHz */
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#define ADXL345_SRATE_3200 0x0F
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/* XXX NB don't use at all as I2C data rate<= 400kHz */
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#define ADXL345_SRATE_1600 0x0E
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#define ADXL345_SRATE_800 0x0D /* when I2C data rate == 400 kHz */
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#define ADXL345_SRATE_400 0x0C /* when I2C data rate == 400 kHz */
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#define ADXL345_SRATE_200 0x0B /* when I2C data rate >= 100 kHz */
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#define ADXL345_SRATE_100 0x0A /* when I2C data rate >= 100 kHz */
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#define ADXL345_SRATE_50 0x09 /* when I2C data rate >= 100 kHz */
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#define ADXL345_SRATE_25 0x08 /* when I2C data rate >= 100 kHz */
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#define ADXL345_SRATE_12_5 0x07 /* 12.5 Hz, when I2C data rate >= 100 kHz */
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#define ADXL345_SRATE_6_25 0x06 /* when I2C data rate >= 100 kHz */
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#define ADXL345_SRATE_3_13 0x05 /* when I2C data rate >= 100 kHz */
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#define ADXL345_SRATE_1_56 0x04 /* when I2C data rate >= 100 kHz */
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#define ADXL345_SRATE_0_78 0x03 /* when I2C data rate >= 100 kHz */
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#define ADXL345_SRATE_0_39 0x02 /* when I2C data rate >= 100 kHz */
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#define ADXL345_SRATE_0_20 0x01 /* when I2C data rate >= 100 kHz */
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#define ADXL345_SRATE_0_10 0x00 /* 0.10 Hz, when I2C data rate >= 100 kHz */
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/* -------------------------------------------------------------------------- */
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/* Callback pointers for the interrupts */
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extern void (*accm_int1_cb)(uint8_t reg);
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extern void (*accm_int2_cb)(uint8_t reg);
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/* -------------------------------------------------------------------------- */
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#define ACCM_INT1 0x01
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#define ACCM_INT2 0x02
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#define ADXL345_SUCCESS 0x00
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#define ADXL345_ERROR (-1)
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/* -------------------------------------------------------------------------- */
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#define ADXL345_SENSOR "ADXL345 sensor"
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/* -------------------------------------------------------------------------- */
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extern const struct sensors_sensor adxl345;
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/* -------------------------------------------------------------------------- */
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/* -------------------------------------------------------------------------- */
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#endif /* ifndef ADXL345_H_ */
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