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Updated OpenMote example and platform.
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@ -85,25 +85,29 @@ PROCESS_THREAD(openmote_demo_process, ev, data)
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static struct etimer et;
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static int16_t counter;
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static uint16_t adxl346_present, sht21_present, max44009_present;
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static uint16_t accel, light, temperature, humidity;
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static int16_t accel, light, temperature, humidity;
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PROCESS_EXITHANDLER(broadcast_close(&bc))
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PROCESS_BEGIN();
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/* Initialize and activate the ADXL346 sensor */
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/* Initialize and calibrate the ADXL346 sensor */
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adxl346_present = SENSORS_ACTIVATE(adxl346);
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if(adxl346_present == ADXL346_ERROR) {
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printf("ADXL346 sensor is NOT present!\n");
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leds_on(LEDS_YELLOW);
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} else {
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adxl346.configure(ADXL346_CALIB_OFFSET, 0);
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}
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/* Initialize the MAX44009 sensor */
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max44009_present = SENSORS_ACTIVATE(max44009);
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if(max44009_present == MAX44009_ERROR) {
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printf("MAX44009 sensor is NOT present!\n");
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leds_on(LEDS_ORANGE);
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}
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/* Initialize the SHT21 sensor */
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sht21_present = SENSORS_ACTIVATE(sht21);
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if(sht21_present == SHT21_ERROR) {
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printf("SHT21 sensor is NOT present!\n");
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@ -123,12 +127,12 @@ PROCESS_THREAD(openmote_demo_process, ev, data)
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if(ev == PROCESS_EVENT_TIMER) {
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if(adxl346_present != ADXL346_ERROR) {
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leds_on(LEDS_YELLOW);
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accel = adxl346.value(ADXL346_READ_X);
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printf("X Acceleration: %u\n", accel);
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accel = adxl346.value(ADXL346_READ_Y);
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printf("Y Acceleration: %u\n", accel);
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accel = adxl346.value(ADXL346_READ_Z);
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printf("Z Acceleration: %u\n", accel);
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accel = adxl346.value(ADXL346_READ_X_mG);
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printf("X Acceleration: %d.%u G\n", accel / 1000, accel % 1000);
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accel = adxl346.value(ADXL346_READ_Y_mG);
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printf("Y Acceleration: %d.%u G\n", accel / 1000, accel % 1000);
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accel = adxl346.value(ADXL346_READ_Z_mG);
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printf("Z Acceleration: %d.%u G\n", accel / 1000, accel % 1000);
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leds_off(LEDS_YELLOW);
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}
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@ -153,6 +153,9 @@
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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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@ -163,13 +166,11 @@ adxl346_init(void)
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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(11));
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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_DATA_FORMAT_SELF_TEST |
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ADXL346_DATA_FORMAT_FULL_RES |
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ADXL346_DATA_FORMAT_RANGE_PM_16g);
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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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@ -185,23 +186,86 @@ adxl346_is_present(void)
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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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return (is_present == ADXL346_DEVID_VALUE);
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}
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/*---------------------------------------------------------------------------*/
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static uint16_t
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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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uint16_t z;
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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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z = (acceleration[0] << 8) | 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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return z;
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}
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/*---------------------------------------------------------------------------*/
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static int
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@ -218,6 +282,7 @@ status(int type)
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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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@ -225,10 +290,19 @@ value(int type)
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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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} 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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@ -243,6 +317,7 @@ configure(int type, int value)
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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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@ -251,6 +326,11 @@ configure(int type, int value)
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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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@ -51,9 +51,13 @@
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#define ADXL346_SUCCESS (0)
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#define ADXL346_ACTIVATE (SENSORS_ACTIVE)
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#define ADXL346_READ_X (2)
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#define ADXL346_READ_Y (3)
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#define ADXL346_READ_Z (4)
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#define ADXL346_NONE (5)
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#define ADXL346_READ_X_mG (3)
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#define ADXL346_READ_Y (4)
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#define ADXL346_READ_Y_mG (5)
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#define ADXL346_READ_Z (6)
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#define ADXL346_READ_Z_mG (7)
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#define ADXL346_CALIB_OFFSET (8)
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#define ADXL346_NONE (9)
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/*---------------------------------------------------------------------------*/
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#define ADXL346_SENSOR "ADXL346 Sensor"
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/*---------------------------------------------------------------------------*/
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