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adxl345.h
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1/*
2 * Copyright (c) 2010, Swedish Institute of Computer Science.
3 * Copyright (c) 2016, Zolertia <http://www.zolertia.com>
4 * All rights reserved.
5 *
6 * Redistribution and use in source and binary forms, with or without
7 * modification, are permitted provided that the following conditions
8 * are met:
9 * 1. Redistributions of source code must retain the above copyright
10 * notice, this list of conditions and the following disclaimer.
11 * 2. Redistributions in binary form must reproduce the above copyright
12 * notice, this list of conditions and the following disclaimer in the
13 * documentation and/or other materials provided with the distribution.
14 * 3. Neither the name of the Institute nor the names of its contributors
15 * may be used to endorse or promote products derived from this software
16 * without specific prior written permission.
17 *
18 * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
19 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
20 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
21 * ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
22 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
23 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
24 * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
25 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
26 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
27 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
28 * SUCH DAMAGE.
29 *
30 * This file is part of the Contiki operating system.
31 *
32 */
33/*---------------------------------------------------------------------------*/
34/**
35 * \file
36 * Device drivers header file for adxl345 accelerometer in Zolertia Z1.
37 * \author
38 * Marcus Lundén, SICS <mlunden@sics.se>
39 * Enric Calvo, Zolertia <ecalvo@zolertia.com>
40 * Antonio Lignan, Zolertia <alinan@zolertia.com>
41 */
42/*---------------------------------------------------------------------------*/
43#ifndef ADXL345_H_
44#define ADXL345_H_
45#include <stdio.h>
46#include "dev/i2cmaster.h"
47#include "lib/sensors.h"
48/*---------------------------------------------------------------------------*/
49/* Used in accm_read_axis(), eg accm_read_axis(X_AXIS) */
50enum ADXL345_AXIS {
51 X_AXIS = 0,
52 Y_AXIS = 2,
53 Z_AXIS = 4,
54};
55/* -------------------------------------------------------------------------- */
56/* Init the accelerometer: ports, pins, registers, interrupts (none enabled),
57 * I2C, default threshold values etc.
58 */
59void accm_init(void);
60
61/* Read an axis of the accelerometer (x, y or z). Return value is a signed 10
62 * bit int.
63 * The resolution of the acceleration measurement can be increased up to 13 bit,
64 * but will change the data format of this read out. Refer to the data sheet if
65 * so is wanted/needed.
66 */
67int16_t accm_read_axis(enum ADXL345_AXIS axis);
68
69/* Sets the g-range, ie the range the accelerometer measures (ie 2g means -2 to
70 * +2 g on every axis). Possible values:
71 * - ADXL345_RANGE_2G
72 * - ADXL345_RANGE_4G
73 * - ADXL345_RANGE_8G
74 * - ADXL345_RANGE_16G
75 */
76int accm_set_grange(uint8_t grange);
77
78/* Map interrupt (FF, tap, dbltap etc) to interrupt pin (IRQ_INT1, IRQ_INT2).
79 * This must come after accm_init() as the registers will otherwise be
80 * overwritten.
81 */
82int accm_set_irq(uint8_t int1, uint8_t int2);
83
84/* Macros for setting the pointers to callback functions from the interrupts.
85 * The function will be called with an uint8_t as parameter, containing the
86 * interrupt flag register from the ADXL345. That way, several interrupts can be
87 * mapped to the same pin and be read
88 */
89#define ACCM_REGISTER_INT1_CB(ptr) accm_int1_cb = ptr;
90#define ACCM_REGISTER_INT2_CB(ptr) accm_int2_cb = ptr;
91/* -------------------------------------------------------------------------- */
92/* Application definitions, change if required by application. */
93
94/* Time after an interrupt that subsequent interrupts are suppressed. Should
95 * later be turned into one specific time per type of interrupt (tap, freefall.
96 * etc)
97 */
98#define SUPPRESS_TIME_INT1 CLOCK_SECOND/4
99#define SUPPRESS_TIME_INT2 CLOCK_SECOND/4
100
101/* Suggested defaults according to the data sheet etc */
102#define ADXL345_THRESH_TAP_DEFAULT 0x48 /* 4.5g (0x30 == 3.0g) */
103#define ADXL345_OFSX_DEFAULT 0x00 /* for calibration only */
104#define ADXL345_OFSY_DEFAULT 0x00
105#define ADXL345_OFSZ_DEFAULT 0x00
106#define ADXL345_DUR_DEFAULT 0x20 /* 20 ms (datasheet: 10ms++) */
107#define ADXL345_LATENT_DEFAULT 0x50 /* 100 ms (datasheet: 20ms++) */
108#define ADXL345_WINDOW_DEFAULT 0xFF /* 320 ms (datasheet: 80ms++) */
109#define ADXL345_THRESH_ACT_DEFAULT 0x15 /* 1.3g (62.5 mg/LSB) */
110#define ADXL345_THRESH_INACT_DEFAULT 0x08 /* 0.5g (62.5 mg/LSB) */
111#define ADXL345_TIME_INACT_DEFAULT 0x02 /* 2 s (1 s/LSB) */
112#define ADXL345_ACT_INACT_CTL_DEFAULT 0xFF /* all axis, ac-coupled */
113#define ADXL345_THRESH_FF_DEFAULT 0x09 /* 563 mg */
114#define ADXL345_TIME_FF_DEFAULT 0x20 /* 60 ms */
115#define ADXL345_TAP_AXES_DEFAULT 0x07 /* all axis, no suppression */
116
117#define ADXL345_BW_RATE_DEFAULT (0x00 | ADXL345_SRATE_100) /* 100 Hz */
118/* link bit set, no autosleep, start normal measuring */
119#define ADXL345_POWER_CTL_DEFAULT 0x28
120#define ADXL345_INT_ENABLE_DEFAULT 0x00 /* no interrupts enabled */
121#define ADXL345_INT_MAP_DEFAULT 0x00 /* all mapped to int_1 */
122
123/* XXX NB: In the data format register, data format of axis readings is chosen
124 * between left or right justify. This affects the position of the MSB/LSB and is
125 * different depending on g-range and resolution. If changed, make sure this is
126 * reflected in the _read_axis() function. Also, the resolution can be increased
127 * from 10 bit to at most 13 bit, but this also changes position of MSB etc on data
128 * format so check this in read_axis() too.
129 */
130/* right-justify, 2g, 10-bit mode, int is active high */
131#define ADXL345_DATA_FORMAT_DEFAULT (0x00 | ADXL345_RANGE_2G)
132#define ADXL345_FIFO_CTL_DEFAULT 0x00 /* FIFO bypass mode */
133
134/* -------------------------------------------------------------------------- */
135/* Reference definitions, should not be changed */
136/* adxl345 slave address */
137#define ADXL345_ADDR 0x53
138
139/* ADXL345 registers */
140#define ADXL345_DEVID 0x00
141/* registers 0x01 to 0x1C are reserved, do not access */
142#define ADXL345_THRESH_TAP 0x1D
143#define ADXL345_OFSX 0x1E
144#define ADXL345_OFSY 0x1F
145#define ADXL345_OFSZ 0x20
146#define ADXL345_DUR 0x21
147#define ADXL345_LATENT 0x22
148#define ADXL345_WINDOW 0x23
149#define ADXL345_THRESH_ACT 0x24
150#define ADXL345_THRESH_INACT 0x25
151#define ADXL345_TIME_INACT 0x26
152#define ADXL345_ACT_INACT_CTL 0x27
153#define ADXL345_THRESH_FF 0x28
154#define ADXL345_TIME_FF 0x29
155#define ADXL345_TAP_AXES 0x2A
156#define ADXL345_ACT_TAP_STATUS 0x2B
157#define ADXL345_BW_RATE 0x2C
158#define ADXL345_POWER_CTL 0x2D
159#define ADXL345_INT_ENABLE 0x2E
160#define ADXL345_INT_MAP 0x2F
161#define ADXL345_INT_SOURCE 0x30
162#define ADXL345_DATA_FORMAT 0x31
163#define ADXL345_DATAX0 0x32 /* read only, LSByte X, two's complement */
164#define ADXL345_DATAX1 0x33 /* read only, MSByte X */
165#define ADXL345_DATAY0 0x34 /* read only, LSByte Y */
166#define ADXL345_DATAY1 0x35 /* read only, MSByte X */
167#define ADXL345_DATAZ0 0x36 /* read only, LSByte Z */
168#define ADXL345_DATAZ1 0x37 /* read only, MSByte X */
169#define ADXL345_FIFO_CTL 0x38
170#define ADXL345_FIFO_STATUS 0x39 /* read only */
171
172/* ADXL345 interrupts */
173#define ADXL345_INT_DISABLE 0X00 /* used for disabling interrupts */
174#define ADXL345_INT_OVERRUN 0X01
175#define ADXL345_INT_WATERMARK 0X02
176#define ADXL345_INT_FREEFALL 0X04
177#define ADXL345_INT_INACTIVITY 0X08
178#define ADXL345_INT_ACTIVITY 0X10
179#define ADXL345_INT_DOUBLETAP 0X20
180#define ADXL345_INT_TAP 0X40
181#define ADXL345_INT_DATAREADY 0X80
182
183/* Accelerometer hardware ports, pins and registers on the msp430 µC */
184#define ADXL345_DIR P1DIR
185#define ADXL345_PIN P1PIN
186#define ADXL345_REN P1REN
187#define ADXL345_SEL P1SEL
188#define ADXL345_SEL2 P1SEL2
189#define ADXL345_INT1_PIN (1<<6) /* P1.6 */
190#define ADXL345_INT2_PIN (1<<7) /* P1.7 */
191#define ADXL345_IES P1IES
192#define ADXL345_IE P1IE
193#define ADXL345_IFG P1IFG
194#define ADXL345_VECTOR PORT1_VECTOR
195
196/* g-range for DATA_FORMAT register */
197#define ADXL345_RANGE_2G 0x00
198#define ADXL345_RANGE_4G 0x01
199#define ADXL345_RANGE_8G 0x02
200#define ADXL345_RANGE_16G 0x03
201
202
203/* The adxl345 has programmable sample rates, but unexpected results may occur
204 * if the wrong rate and I2C bus speed is used (see datasheet p 17). Sample
205 * rates in Hz. This setting does not change the internal sampling rate, just
206 * how often it is piped to the output registers (ie the interrupt features use
207 * the full sample rate internally).
208 * Example use:
209 * adxl345_set_reg(ADXL345_BW_RATE, ((_ADXL345_STATUS & LOW_POWER)
210 * | ADXL345_SRATE_50));
211 */
212
213/* XXX NB don't use at all as I2C data rate<= 400kHz */
214#define ADXL345_SRATE_3200 0x0F
215/* XXX NB don't use at all as I2C data rate<= 400kHz */
216#define ADXL345_SRATE_1600 0x0E
217#define ADXL345_SRATE_800 0x0D /* when I2C data rate == 400 kHz */
218#define ADXL345_SRATE_400 0x0C /* when I2C data rate == 400 kHz */
219#define ADXL345_SRATE_200 0x0B /* when I2C data rate >= 100 kHz */
220#define ADXL345_SRATE_100 0x0A /* when I2C data rate >= 100 kHz */
221#define ADXL345_SRATE_50 0x09 /* when I2C data rate >= 100 kHz */
222#define ADXL345_SRATE_25 0x08 /* when I2C data rate >= 100 kHz */
223#define ADXL345_SRATE_12_5 0x07 /* 12.5 Hz, when I2C data rate >= 100 kHz */
224#define ADXL345_SRATE_6_25 0x06 /* when I2C data rate >= 100 kHz */
225#define ADXL345_SRATE_3_13 0x05 /* when I2C data rate >= 100 kHz */
226#define ADXL345_SRATE_1_56 0x04 /* when I2C data rate >= 100 kHz */
227#define ADXL345_SRATE_0_78 0x03 /* when I2C data rate >= 100 kHz */
228#define ADXL345_SRATE_0_39 0x02 /* when I2C data rate >= 100 kHz */
229#define ADXL345_SRATE_0_20 0x01 /* when I2C data rate >= 100 kHz */
230#define ADXL345_SRATE_0_10 0x00 /* 0.10 Hz, when I2C data rate >= 100 kHz */
231/* -------------------------------------------------------------------------- */
232/* Callback pointers for the interrupts */
233extern void (*accm_int1_cb)(uint8_t reg);
234extern void (*accm_int2_cb)(uint8_t reg);
235/* -------------------------------------------------------------------------- */
236#define ACCM_INT1 0x01
237#define ACCM_INT2 0x02
238#define ADXL345_SUCCESS 0x00
239#define ADXL345_ERROR (-1)
240/* -------------------------------------------------------------------------- */
241#define ADXL345_SENSOR "ADXL345 sensor"
242/* -------------------------------------------------------------------------- */
243extern const struct sensors_sensor adxl345;
244/* -------------------------------------------------------------------------- */
245/* -------------------------------------------------------------------------- */
246#endif /* ifndef ADXL345_H_ */
i2cmaster.h
I2C communication device driver header file for Zolertia Z1 sensor node.