contiki/examples/zolertia/z1/test-adxl345.c

/*
 * Copyright (c) 2010, Swedish Institute of Computer Science.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 * 3. Neither the name of the Institute nor the names of its contributors
 *    may be used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
 * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
 * SUCH DAMAGE.
 *
 * This file is part of the Contiki operating system.
 *
 */

/**
 * \file
 *         A simple program for testing the adxl345 on-board accelerometer of the
 *         Zolertia Z1. Enables interrupts and registers callbacks for them. Then
 *         starts a constantly running readout of acceleration data.
 * \author
 *         Marcus Lundén, SICS <mlunden@sics.se>
 *         Enric M. Calvo, Zolertia <ecalvo@zolertia.com>
 */

#include <stdio.h>
#include "contiki.h"
#include "dev/leds.h"
#include "dev/adxl345.h"
/*---------------------------------------------------------------------------*/
#define LED_INT_ONTIME        (CLOCK_SECOND / 2)
#define ACCM_READ_INTERVAL    CLOCK_SECOND
/*---------------------------------------------------------------------------*/
static process_event_t led_off_event;
static struct etimer led_etimer;
static struct etimer et;
/*---------------------------------------------------------------------------*/
PROCESS(accel_process, "Test Accel process");
PROCESS(led_process, "LED handling process");
AUTOSTART_PROCESSES(&accel_process, &led_process);
/*---------------------------------------------------------------------------*/
/* As several interrupts can be mapped to one interrupt pin, when interrupt
 * strikes, the adxl345 interrupt source register is read. This function prints
 * out which interrupts occurred. Note that this will include all interrupts,
 * even those mapped to 'the other' pin, and those that will always signal even
 * if not enabled (such as watermark).
 */
void
print_int(uint16_t reg)
{
  if(reg & ADXL345_INT_FREEFALL) {
    printf("Freefall ");
  }
  if(reg & ADXL345_INT_INACTIVITY) {
    printf("InActivity ");
  }
  if(reg & ADXL345_INT_ACTIVITY) {
    printf("Activity ");
  }
  if(reg & ADXL345_INT_DOUBLETAP) {
    printf("DoubleTap ");
  }
  if(reg & ADXL345_INT_TAP) {
    printf("Tap ");
  }
  printf("\n");
}
/*---------------------------------------------------------------------------*/
/* accelerometer free fall detection callback */

void
accm_ff_cb(uint8_t reg)
{
  leds_on(LEDS_BLUE);
  process_post(&led_process, led_off_event, NULL);
  printf("~~[%u] Freefall detected! (0x%02X) -- ",
         ((uint16_t)clock_time()) / 128, reg);
  print_int(reg);
}
/*---------------------------------------------------------------------------*/
/* accelerometer tap and double tap detection callback */

void
accm_tap_cb(uint8_t reg)
{
  process_post(&led_process, led_off_event, NULL);
  if(reg & ADXL345_INT_DOUBLETAP) {
    leds_on(LEDS_GREEN);
    printf("~~[%u] DoubleTap detected! (0x%02X) -- ",
           ((uint16_t)clock_time()) / 128, reg);
  } else {
    leds_on(LEDS_RED);
    printf("~~[%u] Tap detected! (0x%02X) -- ",
           ((uint16_t)clock_time()) / 128, reg);
  }
  print_int(reg);
}
/*---------------------------------------------------------------------------*/
PROCESS_THREAD(led_process, ev, data) {
  PROCESS_BEGIN();
  while(1) {
    PROCESS_WAIT_EVENT_UNTIL(ev == led_off_event);
    etimer_set(&led_etimer, LED_INT_ONTIME);
    PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&led_etimer));
    leds_off(LEDS_RED + LEDS_GREEN + LEDS_BLUE);
  }
  PROCESS_END();
}
/*---------------------------------------------------------------------------*/
/* Main process, setups  */
PROCESS_THREAD(accel_process, ev, data) {
  PROCESS_BEGIN();
  {
    int16_t x, y, z;

    /* Register the event used for lighting up an LED when interrupt strikes. */
    led_off_event = process_alloc_event();

    /* Start and setup the accelerometer with default values, eg no interrupts enabled. */
    accm_init();

    /* Register the callback functions for each interrupt */
    ACCM_REGISTER_INT1_CB(accm_ff_cb);
    ACCM_REGISTER_INT2_CB(accm_tap_cb);

    /* Set what strikes the corresponding interrupts. Several interrupts per pin is
       possible. For the eight possible interrupts, see adxl345.h and adxl345 datasheet. */
    accm_set_irq(ADXL345_INT_FREEFALL, ADXL345_INT_TAP + ADXL345_INT_DOUBLETAP);

    while(1) {
      x = accm_read_axis(X_AXIS);
      y = accm_read_axis(Y_AXIS);
      z = accm_read_axis(Z_AXIS);
      printf("x: %d y: %d z: %d\n", x, y, z);

      etimer_set(&et, ACCM_READ_INTERVAL);
      PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
    }
  }
  PROCESS_END();
}
/*---------------------------------------------------------------------------*/