339 lines
12 KiB
C
339 lines
12 KiB
C
/*
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* Copyright (c) 2014, OpenMote Technologies, S.L.
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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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* \addtogroup openmote-adxl346-sensor
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* @{
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*
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* \file
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* Driver for the ADXL346 acceleration sensor
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*
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* \author
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* Pere Tuset <peretuset@openmote.com>
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*/
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/*---------------------------------------------------------------------------*/
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#include "dev/i2c.h"
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#include "dev/adxl346.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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/**
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* \name ADXL346 address and device identifier
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* @{
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*/
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#define ADXL346_ADDRESS (0x53)
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#define ADXL346_DEVID_VALUE (0xE6)
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/** @} */
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/* -------------------------------------------------------------------------- */
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/**
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* \name ADXL346 register addresses
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* @{
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*/
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#define ADXL346_DEVID_ADDR (0x00)
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#define ADXL346_THRES_TAP_ADDR (0x1D)
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#define ADXL346_OFSX_ADDR (0x1E)
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#define ADXL346_OFSY_ADDR (0x1F)
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#define ADXL346_OFSZ_ADDR (0x20)
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#define ADXL346_DUR_ADDR (0x21)
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#define ADXL346_LATENT_ADDR (0x22)
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#define ADXL346_WINDOW_ADDR (0x23)
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#define ADXL346_THRESH_ACT_ADDR (0x24)
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#define ADXL346_THRESH_INACT_ADDR (0x25)
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#define ADXL346_TIME_INACT_ADDR (0x26)
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#define ADXL346_ACT_INACT_CTL_ADDR (0x27)
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#define ADXL346_THRESH_FF_ADDR (0x28)
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#define ADXL346_TIME_FF_ADDR (0x29)
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#define ADXL346_TAP_AXES_ADDR (0x2A)
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#define ADXL346_ACT_TAP_STATUS_ADDR (0x2B)
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#define ADXL346_BW_RATE_ADDR (0x2C)
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#define ADXL346_POWER_CTL_ADDR (0x2D)
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#define ADXL346_INT_ENABLE_ADDR (0x2E)
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#define ADXL346_INT_MAP_ADDR (0x2F)
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#define ADXL346_INT_SOURCE_ADDR (0x30)
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#define ADXL346_DATA_FORMAT_ADDR (0x31)
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#define ADXL346_DATAX0_ADDR (0x32)
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#define ADXL346_DATAX1_ADDR (0x33)
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#define ADXL346_DATAY0_ADDR (0x34)
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#define ADXL346_DATAY1_ADDR (0x35)
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#define ADXL346_DATAZ0_ADDR (0x36)
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#define ADXL346_DATAZ1_ADDR (0x37)
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#define ADXL346_FIFO_CTL_ADDR (0x38)
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#define ADXL346_FIFO_STATUS_ADDR (0x39)
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#define ADXL346_TAP_SIGN_ADDR (0x3A)
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#define ADXL346_ORIENT_CONF_ADDR (0x3B)
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#define ADXL346_ORIENT_ADDR (0x3C)
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/** @} */
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/* -------------------------------------------------------------------------- */
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/**
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* \name ADXL346 register values
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* @{
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*/
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#define ADXL346_INT_ENABLE_DATA_READY (1 << 7)
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#define ADXL346_INT_ENABLE_SINGLE_TAP (1 << 6)
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#define ADXL346_INT_ENABLE_DOUBLE_TAP (1 << 5)
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#define ADXL346_INT_ENABLE_ACTIVITY (1 << 4)
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#define ADXL346_INT_ENABLE_INACTIVITY (1 << 3)
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#define ADXL346_INT_ENABLE_FREE_FALL (1 << 2)
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#define ADXL346_INT_ENABLE_WATERMARK (1 << 1)
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#define ADXL346_INT_ENABLE_OVERRUN (1 << 0)
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#define ADXL346_ACT_INACT_CTL_ACT_ACDC (1 << 7)
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#define ADXL346_ACT_INACT_CTL_ACT_X_EN (1 << 6)
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#define ADXL346_ACT_INACT_CTL_ACT_Y_EN (1 << 5)
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#define ADXL346_ACT_INACT_CTL_ACT_Z_EN (1 << 4)
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#define ADXL346_ACT_INACT_CTL_INACT_ACDC (1 << 3)
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#define ADXL346_ACT_INACT_CTL_INACT_X_EN (1 << 2)
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#define ADXL346_ACT_INACT_CTL_INACT_Y_EN (1 << 1)
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#define ADXL346_ACT_INACT_CTL_INACT_Z_EN (1 << 0)
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#define ADXL346_TAP_AXES_SUPPRESS (1 << 3)
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#define ADXL346_TAP_AXES_TAP_X_EN (1 << 2)
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#define ADXL346_TAP_AXES_TAP_Y_EN (1 << 1)
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#define ADXL346_TAP_AXES_TAP_Z_EN (1 << 0)
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#define ADXL346_ACT_TAP_STATUS_ACT_X_SRC (1 << 6)
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#define ADXL346_ACT_TAP_STATUS_ACT_Y_SRC (1 << 5)
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#define ADXL346_ACT_TAP_STATUS_ACT_Z_SRC (1 << 4)
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#define ADXL346_ACT_TAP_STATUS_ASLEEP (1 << 3)
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#define ADXL346_ACT_TAP_STATUS_TAP_X_SRC (1 << 2)
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#define ADXL346_ACT_TAP_STATUS_TAP_Y_SRC (1 << 1)
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#define ADXL346_ACT_TAP_STATUS_TAP_Z_SRC (1 << 0)
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#define ADXL346_BW_RATE_POWER (1 << 4)
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#define ADXL346_BW_RATE_RATE(x) ((x) & 0x0F)
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#define ADXL346_POWER_CTL_LINK (1 << 5)
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#define ADXL346_POWER_CTL_AUTO_SLEEP (1 << 4)
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#define ADXL346_POWER_CTL_MEASURE (1 << 3)
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#define ADXL346_POWER_CTL_SLEEP (1 << 2)
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#define ADXL346_POWER_CTL_WAKEUP(x) ((x) & 0x03)
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#define ADXL346_DATA_FORMAT_SELF_TEST (1 << 7)
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#define ADXL346_DATA_FORMAT_SPI (1 << 6)
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#define ADXL346_DATA_FORMAT_INT_INVERT (1 << 5)
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#define ADXL346_DATA_FORMAT_FULL_RES (1 << 3)
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#define ADXL346_DATA_FORMAT_JUSTIFY (1 << 2)
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#define ADXL346_DATA_FORMAT_RANGE(x) ((x) & 0x03)
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#define ADXL346_DATA_FORMAT_RANGE_PM_2g (0)
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#define ADXL346_DATA_FORMAT_RANGE_PM_4g (1)
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#define ADXL346_DATA_FORMAT_RANGE_PM_8g (2)
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#define ADXL346_DATA_FORMAT_RANGE_PM_16g (3)
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#define ADXL346_USER_CONFIGURATION (ADXL346_DATA_FORMAT_RANGE_PM_2g)
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/** @} */
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/*---------------------------------------------------------------------------*/
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static uint8_t enabled;
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/*---------------------------------------------------------------------------*/
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static void
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adxl346_init(void)
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{
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uint8_t config[2];
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config[0] = ADXL346_BW_RATE_ADDR;
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config[1] = (ADXL346_BW_RATE_RATE(6));
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i2c_burst_send(ADXL346_ADDRESS, config, sizeof(config));
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config[0] = ADXL346_DATA_FORMAT_ADDR;
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config[1] = (ADXL346_USER_CONFIGURATION);
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i2c_burst_send(ADXL346_ADDRESS, config, sizeof(config));
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config[0] = ADXL346_POWER_CTL_ADDR;
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config[1] = (ADXL346_POWER_CTL_MEASURE);
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i2c_burst_send(ADXL346_ADDRESS, config, sizeof(config));
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}
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/*---------------------------------------------------------------------------*/
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static uint8_t
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adxl346_is_present(void)
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{
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uint8_t is_present;
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i2c_single_send(ADXL346_ADDRESS, ADXL346_DEVID_ADDR);
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i2c_single_receive(ADXL346_ADDRESS, &is_present);
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return is_present == ADXL346_DEVID_VALUE;
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}
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/*---------------------------------------------------------------------------*/
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static int16_t
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adxl346_read_accel(uint8_t addr1, uint8_t addr2)
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{
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uint8_t acceleration[2];
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int16_t result;
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i2c_single_send(ADXL346_ADDRESS, addr1);
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i2c_single_receive(ADXL346_ADDRESS, &acceleration[0]);
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i2c_single_send(ADXL346_ADDRESS, addr2);
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i2c_single_receive(ADXL346_ADDRESS, &acceleration[1]);
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result = (acceleration[1] << 8) | acceleration[0];
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return result;
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}
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/*---------------------------------------------------------------------------*/
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static int16_t
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adxl346_convert_accel(int16_t accel)
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{
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int32_t result;
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result = (1000 * accel) / 256;
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return (int16_t)result;
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}
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/*---------------------------------------------------------------------------*/
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static void
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adxl346_calibrate_offset(void)
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{
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int32_t accum_x = 0;
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int32_t accum_y = 0;
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int32_t accum_z = 0;
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uint8_t config[2];
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int8_t offset;
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config[0] = ADXL346_OFSX_ADDR;
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config[1] = 0;
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i2c_burst_send(ADXL346_ADDRESS, config, sizeof(config));
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config[0] = ADXL346_OFSY_ADDR;
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config[1] = 0;
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i2c_burst_send(ADXL346_ADDRESS, config, sizeof(config));
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config[0] = ADXL346_OFSZ_ADDR;
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config[1] = 0;
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i2c_burst_send(ADXL346_ADDRESS, config, sizeof(config));
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uint16_t i;
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for(i = 0; i < 100; i++) {
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uint16_t x, y, z;
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x = adxl346_read_accel(ADXL346_DATAX0_ADDR, ADXL346_DATAX1_ADDR);
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accum_x += x;
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y = adxl346_read_accel(ADXL346_DATAY0_ADDR, ADXL346_DATAY1_ADDR);
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accum_y += y;
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z = adxl346_read_accel(ADXL346_DATAZ0_ADDR, ADXL346_DATAZ1_ADDR);
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accum_z += z;
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}
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offset = (64 * accum_x) / 25600;
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config[0] = ADXL346_OFSX_ADDR;
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config[1] = -offset;
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i2c_burst_send(ADXL346_ADDRESS, config, sizeof(config));
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PRINTF("ADXL346: X calibration offset is %d\n", offset);
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offset = (64 * accum_y) / 25600;
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config[0] = ADXL346_OFSY_ADDR;
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config[1] = -offset;
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i2c_burst_send(ADXL346_ADDRESS, config, sizeof(config));
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PRINTF("ADXL346: Y calibration offset is %d\n", offset);
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offset = (64 * accum_z) / 25600;
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config[0] = ADXL346_OFSZ_ADDR;
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config[1] = -offset;
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i2c_burst_send(ADXL346_ADDRESS, config, sizeof(config));
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PRINTF("ADXL346: Z calibration offset is %d\n", offset);
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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 0;
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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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int16_t accel;
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if(!enabled) {
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PRINTF("ADXL346: sensor not started\n");
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return ADXL346_ERROR;
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}
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if(type == ADXL346_READ_X) {
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return adxl346_read_accel(ADXL346_DATAX0_ADDR, ADXL346_DATAX1_ADDR);
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} else if(type == ADXL346_READ_Y) {
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return adxl346_read_accel(ADXL346_DATAY0_ADDR, ADXL346_DATAY1_ADDR);
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} else if(type == ADXL346_READ_Z) {
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return adxl346_read_accel(ADXL346_DATAZ0_ADDR, ADXL346_DATAZ1_ADDR);
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} else if(type == ADXL346_READ_X_mG) {
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accel = adxl346_read_accel(ADXL346_DATAX0_ADDR, ADXL346_DATAX1_ADDR);
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return adxl346_convert_accel(accel);
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} else if(type == ADXL346_READ_Y_mG) {
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accel = adxl346_read_accel(ADXL346_DATAY0_ADDR, ADXL346_DATAY1_ADDR);
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return adxl346_convert_accel(accel);
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} else if(type == ADXL346_READ_Z_mG) {
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accel = adxl346_read_accel(ADXL346_DATAZ0_ADDR, ADXL346_DATAZ1_ADDR);
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return adxl346_convert_accel(accel);
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} else {
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PRINTF("ADXL346: invalid value requested\n");
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return ADXL346_ERROR;
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}
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return ADXL346_ERROR;
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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 == ADXL346_ACTIVATE) {
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if(!adxl346_is_present()) {
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PRINTF("ADXL346: is not present\n");
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enabled = 0;
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return ADXL346_ERROR;
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} else {
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adxl346_init();
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enabled = 1;
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return ADXL346_SUCCESS;
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}
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}
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if(type == ADXL346_CALIB_OFFSET && enabled) {
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adxl346_calibrate_offset();
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return ADXL346_SUCCESS;
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}
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return ADXL346_ERROR;
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}
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/*---------------------------------------------------------------------------*/
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SENSORS_SENSOR(adxl346, ADXL346_SENSOR, value, configure, status);
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/*---------------------------------------------------------------------------*/
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/** @} */
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