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contiki/platform/z1/dev/adxl345.h
Antonio Lignan 934cdbacca Adapted the ADXL345 sensor to Contiki's sensor API
2016-02-22 12:08:56 +01:00

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/*
* Copyright (c) 2010, Swedish Institute of Computer Science.
* Copyright (c) 2016, Zolertia <http://www.zolertia.com>
* 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
* Device drivers header file for adxl345 accelerometer in Zolertia Z1.
* \author
* Marcus Lundén, SICS <mlunden@sics.se>
* Enric Calvo, Zolertia <ecalvo@zolertia.com>
* Antonio Lignan, Zolertia <alinan@zolertia.com>
*/
/*---------------------------------------------------------------------------*/
#ifndef ADXL345_H_
#define ADXL345_H_
#include <stdio.h>
#include "dev/i2cmaster.h"
#include "lib/sensors.h"
/*---------------------------------------------------------------------------*/
/* Used in accm_read_axis(), eg accm_read_axis(X_AXIS) */
enum ADXL345_AXIS {
X_AXIS = 0,
Y_AXIS = 2,
Z_AXIS = 4,
};
/* -------------------------------------------------------------------------- */
/* Init the accelerometer: ports, pins, registers, interrupts (none enabled),
* I2C, default threshold values etc.
*/
void accm_init(void);
/* Read an axis of the accelerometer (x, y or z). Return value is a signed 10
* bit int.
* The resolution of the acceleration measurement can be increased up to 13 bit,
* but will change the data format of this read out. Refer to the data sheet if
* so is wanted/needed.
*/
int16_t accm_read_axis(enum ADXL345_AXIS axis);
/* Sets the g-range, ie the range the accelerometer measures (ie 2g means -2 to
* +2 g on every axis). Possible values:
* - ADXL345_RANGE_2G
* - ADXL345_RANGE_4G
* - ADXL345_RANGE_8G
* - ADXL345_RANGE_16G
*/
int accm_set_grange(uint8_t grange);
/* Map interrupt (FF, tap, dbltap etc) to interrupt pin (IRQ_INT1, IRQ_INT2).
* This must come after accm_init() as the registers will otherwise be
* overwritten.
*/
int accm_set_irq(uint8_t int1, uint8_t int2);
/* Macros for setting the pointers to callback functions from the interrupts.
* The function will be called with an uint8_t as parameter, containing the
* interrupt flag register from the ADXL345. That way, several interrupts can be
* mapped to the same pin and be read
*/
#define ACCM_REGISTER_INT1_CB(ptr) accm_int1_cb = ptr;
#define ACCM_REGISTER_INT2_CB(ptr) accm_int2_cb = ptr;
/* -------------------------------------------------------------------------- */
/* Application definitions, change if required by application. */
/* Time after an interrupt that subsequent interrupts are suppressed. Should
* later be turned into one specific time per type of interrupt (tap, freefall.
* etc)
*/
#define SUPPRESS_TIME_INT1 CLOCK_SECOND/4
#define SUPPRESS_TIME_INT2 CLOCK_SECOND/4
/* Suggested defaults according to the data sheet etc */
#define ADXL345_THRESH_TAP_DEFAULT 0x48 /* 4.5g (0x30 == 3.0g) */
#define ADXL345_OFSX_DEFAULT 0x00 /* for calibration only */
#define ADXL345_OFSY_DEFAULT 0x00
#define ADXL345_OFSZ_DEFAULT 0x00
#define ADXL345_DUR_DEFAULT 0x20 /* 20 ms (datasheet: 10ms++) */
#define ADXL345_LATENT_DEFAULT 0x50 /* 100 ms (datasheet: 20ms++) */
#define ADXL345_WINDOW_DEFAULT 0xFF /* 320 ms (datasheet: 80ms++) */
#define ADXL345_THRESH_ACT_DEFAULT 0x15 /* 1.3g (62.5 mg/LSB) */
#define ADXL345_THRESH_INACT_DEFAULT 0x08 /* 0.5g (62.5 mg/LSB) */
#define ADXL345_TIME_INACT_DEFAULT 0x02 /* 2 s (1 s/LSB) */
#define ADXL345_ACT_INACT_CTL_DEFAULT 0xFF /* all axis, ac-coupled */
#define ADXL345_THRESH_FF_DEFAULT 0x09 /* 563 mg */
#define ADXL345_TIME_FF_DEFAULT 0x20 /* 60 ms */
#define ADXL345_TAP_AXES_DEFAULT 0x07 /* all axis, no suppression */
#define ADXL345_BW_RATE_DEFAULT (0x00 | ADXL345_SRATE_100) /* 100 Hz */
/* link bit set, no autosleep, start normal measuring */
#define ADXL345_POWER_CTL_DEFAULT 0x28
#define ADXL345_INT_ENABLE_DEFAULT 0x00 /* no interrupts enabled */
#define ADXL345_INT_MAP_DEFAULT 0x00 /* all mapped to int_1 */
/* XXX NB: In the data format register, data format of axis readings is chosen
* between left or right justify. This affects the position of the MSB/LSB and is
* different depending on g-range and resolution. If changed, make sure this is
* reflected in the _read_axis() function. Also, the resolution can be increased
* from 10 bit to at most 13 bit, but this also changes position of MSB etc on data
* format so check this in read_axis() too.
*/
/* right-justify, 2g, 10-bit mode, int is active high */
#define ADXL345_DATA_FORMAT_DEFAULT (0x00 | ADXL345_RANGE_2G)
#define ADXL345_FIFO_CTL_DEFAULT 0x00 /* FIFO bypass mode */
/* -------------------------------------------------------------------------- */
/* Reference definitions, should not be changed */
/* adxl345 slave address */
#define ADXL345_ADDR 0x53
/* ADXL345 registers */
#define ADXL345_DEVID 0x00
/* registers 0x01 to 0x1C are reserved, do not access */
#define ADXL345_THRESH_TAP 0x1D
#define ADXL345_OFSX 0x1E
#define ADXL345_OFSY 0x1F
#define ADXL345_OFSZ 0x20
#define ADXL345_DUR 0x21
#define ADXL345_LATENT 0x22
#define ADXL345_WINDOW 0x23
#define ADXL345_THRESH_ACT 0x24
#define ADXL345_THRESH_INACT 0x25
#define ADXL345_TIME_INACT 0x26
#define ADXL345_ACT_INACT_CTL 0x27
#define ADXL345_THRESH_FF 0x28
#define ADXL345_TIME_FF 0x29
#define ADXL345_TAP_AXES 0x2A
#define ADXL345_ACT_TAP_STATUS 0x2B
#define ADXL345_BW_RATE 0x2C
#define ADXL345_POWER_CTL 0x2D
#define ADXL345_INT_ENABLE 0x2E
#define ADXL345_INT_MAP 0x2F
#define ADXL345_INT_SOURCE 0x30
#define ADXL345_DATA_FORMAT 0x31
#define ADXL345_DATAX0 0x32 /* read only, LSByte X, two's complement */
#define ADXL345_DATAX1 0x33 /* read only, MSByte X */
#define ADXL345_DATAY0 0x34 /* read only, LSByte Y */
#define ADXL345_DATAY1 0x35 /* read only, MSByte X */
#define ADXL345_DATAZ0 0x36 /* read only, LSByte Z */
#define ADXL345_DATAZ1 0x37 /* read only, MSByte X */
#define ADXL345_FIFO_CTL 0x38
#define ADXL345_FIFO_STATUS 0x39 /* read only */
/* ADXL345 interrupts */
#define ADXL345_INT_DISABLE 0X00 /* used for disabling interrupts */
#define ADXL345_INT_OVERRUN 0X01
#define ADXL345_INT_WATERMARK 0X02
#define ADXL345_INT_FREEFALL 0X04
#define ADXL345_INT_INACTIVITY 0X08
#define ADXL345_INT_ACTIVITY 0X10
#define ADXL345_INT_DOUBLETAP 0X20
#define ADXL345_INT_TAP 0X40
#define ADXL345_INT_DATAREADY 0X80
/* Accelerometer hardware ports, pins and registers on the msp430 µC */
#define ADXL345_DIR P1DIR
#define ADXL345_PIN P1PIN
#define ADXL345_REN P1REN
#define ADXL345_SEL P1SEL
#define ADXL345_SEL2 P1SEL2
#define ADXL345_INT1_PIN (1<<6) /* P1.6 */
#define ADXL345_INT2_PIN (1<<7) /* P1.7 */
#define ADXL345_IES P1IES
#define ADXL345_IE P1IE
#define ADXL345_IFG P1IFG
#define ADXL345_VECTOR PORT1_VECTOR
/* g-range for DATA_FORMAT register */
#define ADXL345_RANGE_2G 0x00
#define ADXL345_RANGE_4G 0x01
#define ADXL345_RANGE_8G 0x02
#define ADXL345_RANGE_16G 0x03
/* The adxl345 has programmable sample rates, but unexpected results may occur
* if the wrong rate and I2C bus speed is used (see datasheet p 17). Sample
* rates in Hz. This setting does not change the internal sampling rate, just
* how often it is piped to the output registers (ie the interrupt features use
* the full sample rate internally).
* Example use:
* adxl345_set_reg(ADXL345_BW_RATE, ((_ADXL345_STATUS & LOW_POWER)
* | ADXL345_SRATE_50));
*/
/* XXX NB don't use at all as I2C data rate<= 400kHz */
#define ADXL345_SRATE_3200 0x0F
/* XXX NB don't use at all as I2C data rate<= 400kHz */
#define ADXL345_SRATE_1600 0x0E
#define ADXL345_SRATE_800 0x0D /* when I2C data rate == 400 kHz */
#define ADXL345_SRATE_400 0x0C /* when I2C data rate == 400 kHz */
#define ADXL345_SRATE_200 0x0B /* when I2C data rate >= 100 kHz */
#define ADXL345_SRATE_100 0x0A /* when I2C data rate >= 100 kHz */
#define ADXL345_SRATE_50 0x09 /* when I2C data rate >= 100 kHz */
#define ADXL345_SRATE_25 0x08 /* when I2C data rate >= 100 kHz */
#define ADXL345_SRATE_12_5 0x07 /* 12.5 Hz, when I2C data rate >= 100 kHz */
#define ADXL345_SRATE_6_25 0x06 /* when I2C data rate >= 100 kHz */
#define ADXL345_SRATE_3_13 0x05 /* when I2C data rate >= 100 kHz */
#define ADXL345_SRATE_1_56 0x04 /* when I2C data rate >= 100 kHz */
#define ADXL345_SRATE_0_78 0x03 /* when I2C data rate >= 100 kHz */
#define ADXL345_SRATE_0_39 0x02 /* when I2C data rate >= 100 kHz */
#define ADXL345_SRATE_0_20 0x01 /* when I2C data rate >= 100 kHz */
#define ADXL345_SRATE_0_10 0x00 /* 0.10 Hz, when I2C data rate >= 100 kHz */
/* -------------------------------------------------------------------------- */
/* Callback pointers for the interrupts */
extern void (*accm_int1_cb)(uint8_t reg);
extern void (*accm_int2_cb)(uint8_t reg);
/* -------------------------------------------------------------------------- */
#define ACCM_INT1 0x01
#define ACCM_INT2 0x02
#define ADXL345_SUCCESS 0x00
#define ADXL345_ERROR (-1)
/* -------------------------------------------------------------------------- */
#define ADXL345_SENSOR "ADXL345 sensor"
/* -------------------------------------------------------------------------- */
extern const struct sensors_sensor adxl345;
/* -------------------------------------------------------------------------- */
/* -------------------------------------------------------------------------- */
#endif /* ifndef ADXL345_H_ */
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