Contiki-NG
adxl346.c
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1/*
2 * Copyright (c) 2014, OpenMote Technologies, S.L.
3 * All rights reserved.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions
7 * are met:
8 * 1. Redistributions of source code must retain the above copyright
9 * notice, this list of conditions and the following disclaimer.
10 * 2. Redistributions in binary form must reproduce the above copyright
11 * notice, this list of conditions and the following disclaimer in the
12 * documentation and/or other materials provided with the distribution.
13 * 3. Neither the name of the Institute nor the names of its contributors
14 * may be used to endorse or promote products derived from this software
15 * without specific prior written permission.
16 *
17 * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
18 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20 * ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
21 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
22 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
23 * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
24 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
25 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
26 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
27 * SUCH DAMAGE.
28 *
29 * This file is part of the Contiki operating system.
30 *
31 */
32/*---------------------------------------------------------------------------*/
33/**
34 * \addtogroup openmote-adxl346-sensor
35 * @{
36 *
37 * \file
38 * Driver for the ADXL346 acceleration sensor
39 *
40 * \author
41 * Pere Tuset <peretuset@openmote.com>
42 */
43/*---------------------------------------------------------------------------*/
44#include "dev/i2c.h"
45#include "dev/adxl346.h"
46#include "lib/sensors.h"
47/*---------------------------------------------------------------------------*/
48#define DEBUG 0
49#if DEBUG
50#define PRINTF(...) printf(__VA_ARGS__)
51#else
52#define PRINTF(...)
53#endif
54/*---------------------------------------------------------------------------*/
55/**
56 * \name ADXL346 address and device identifier
57 * @{
58 */
59#define ADXL346_ADDRESS (0x53)
60#define ADXL346_DEVID_VALUE (0xE6)
61/** @} */
62/* -------------------------------------------------------------------------- */
63/**
64 * \name ADXL346 register addresses
65 * @{
66 */
67#define ADXL346_DEVID_ADDR (0x00)
68#define ADXL346_THRES_TAP_ADDR (0x1D)
69#define ADXL346_OFSX_ADDR (0x1E)
70#define ADXL346_OFSY_ADDR (0x1F)
71#define ADXL346_OFSZ_ADDR (0x20)
72#define ADXL346_DUR_ADDR (0x21)
73#define ADXL346_LATENT_ADDR (0x22)
74#define ADXL346_WINDOW_ADDR (0x23)
75#define ADXL346_THRESH_ACT_ADDR (0x24)
76#define ADXL346_THRESH_INACT_ADDR (0x25)
77#define ADXL346_TIME_INACT_ADDR (0x26)
78#define ADXL346_ACT_INACT_CTL_ADDR (0x27)
79#define ADXL346_THRESH_FF_ADDR (0x28)
80#define ADXL346_TIME_FF_ADDR (0x29)
81#define ADXL346_TAP_AXES_ADDR (0x2A)
82#define ADXL346_ACT_TAP_STATUS_ADDR (0x2B)
83#define ADXL346_BW_RATE_ADDR (0x2C)
84#define ADXL346_POWER_CTL_ADDR (0x2D)
85#define ADXL346_INT_ENABLE_ADDR (0x2E)
86#define ADXL346_INT_MAP_ADDR (0x2F)
87#define ADXL346_INT_SOURCE_ADDR (0x30)
88#define ADXL346_DATA_FORMAT_ADDR (0x31)
89#define ADXL346_DATAX0_ADDR (0x32)
90#define ADXL346_DATAX1_ADDR (0x33)
91#define ADXL346_DATAY0_ADDR (0x34)
92#define ADXL346_DATAY1_ADDR (0x35)
93#define ADXL346_DATAZ0_ADDR (0x36)
94#define ADXL346_DATAZ1_ADDR (0x37)
95#define ADXL346_FIFO_CTL_ADDR (0x38)
96#define ADXL346_FIFO_STATUS_ADDR (0x39)
97#define ADXL346_TAP_SIGN_ADDR (0x3A)
98#define ADXL346_ORIENT_CONF_ADDR (0x3B)
99#define ADXL346_ORIENT_ADDR (0x3C)
100/** @} */
101/* -------------------------------------------------------------------------- */
102/**
103 * \name ADXL346 register values
104 * @{
105 */
106#define ADXL346_INT_ENABLE_DATA_READY (1 << 7)
107#define ADXL346_INT_ENABLE_SINGLE_TAP (1 << 6)
108#define ADXL346_INT_ENABLE_DOUBLE_TAP (1 << 5)
109#define ADXL346_INT_ENABLE_ACTIVITY (1 << 4)
110#define ADXL346_INT_ENABLE_INACTIVITY (1 << 3)
111#define ADXL346_INT_ENABLE_FREE_FALL (1 << 2)
112#define ADXL346_INT_ENABLE_WATERMARK (1 << 1)
113#define ADXL346_INT_ENABLE_OVERRUN (1 << 0)
114
115#define ADXL346_ACT_INACT_CTL_ACT_ACDC (1 << 7)
116#define ADXL346_ACT_INACT_CTL_ACT_X_EN (1 << 6)
117#define ADXL346_ACT_INACT_CTL_ACT_Y_EN (1 << 5)
118#define ADXL346_ACT_INACT_CTL_ACT_Z_EN (1 << 4)
119#define ADXL346_ACT_INACT_CTL_INACT_ACDC (1 << 3)
120#define ADXL346_ACT_INACT_CTL_INACT_X_EN (1 << 2)
121#define ADXL346_ACT_INACT_CTL_INACT_Y_EN (1 << 1)
122#define ADXL346_ACT_INACT_CTL_INACT_Z_EN (1 << 0)
123
124#define ADXL346_TAP_AXES_SUPPRESS (1 << 3)
125#define ADXL346_TAP_AXES_TAP_X_EN (1 << 2)
126#define ADXL346_TAP_AXES_TAP_Y_EN (1 << 1)
127#define ADXL346_TAP_AXES_TAP_Z_EN (1 << 0)
128
129#define ADXL346_ACT_TAP_STATUS_ACT_X_SRC (1 << 6)
130#define ADXL346_ACT_TAP_STATUS_ACT_Y_SRC (1 << 5)
131#define ADXL346_ACT_TAP_STATUS_ACT_Z_SRC (1 << 4)
132#define ADXL346_ACT_TAP_STATUS_ASLEEP (1 << 3)
133#define ADXL346_ACT_TAP_STATUS_TAP_X_SRC (1 << 2)
134#define ADXL346_ACT_TAP_STATUS_TAP_Y_SRC (1 << 1)
135#define ADXL346_ACT_TAP_STATUS_TAP_Z_SRC (1 << 0)
136
137#define ADXL346_BW_RATE_POWER (1 << 4)
138#define ADXL346_BW_RATE_RATE(x) ((x) & 0x0F)
139
140#define ADXL346_POWER_CTL_LINK (1 << 5)
141#define ADXL346_POWER_CTL_AUTO_SLEEP (1 << 4)
142#define ADXL346_POWER_CTL_MEASURE (1 << 3)
143#define ADXL346_POWER_CTL_SLEEP (1 << 2)
144#define ADXL346_POWER_CTL_WAKEUP(x) ((x) & 0x03)
145
146#define ADXL346_DATA_FORMAT_SELF_TEST (1 << 7)
147#define ADXL346_DATA_FORMAT_SPI (1 << 6)
148#define ADXL346_DATA_FORMAT_INT_INVERT (1 << 5)
149#define ADXL346_DATA_FORMAT_FULL_RES (1 << 3)
150#define ADXL346_DATA_FORMAT_JUSTIFY (1 << 2)
151#define ADXL346_DATA_FORMAT_RANGE(x) ((x) & 0x03)
152#define ADXL346_DATA_FORMAT_RANGE_PM_2g (0)
153#define ADXL346_DATA_FORMAT_RANGE_PM_4g (1)
154#define ADXL346_DATA_FORMAT_RANGE_PM_8g (2)
155#define ADXL346_DATA_FORMAT_RANGE_PM_16g (3)
156
157#define ADXL346_USER_CONFIGURATION (ADXL346_DATA_FORMAT_RANGE_PM_2g)
158
159/** @} */
160/*---------------------------------------------------------------------------*/
161static uint8_t enabled;
162/*---------------------------------------------------------------------------*/
163static void
164adxl346_init(void)
165{
166 uint8_t config[2];
167
168 config[0] = ADXL346_BW_RATE_ADDR;
169 config[1] = (ADXL346_BW_RATE_RATE(6));
170 i2c_burst_send(ADXL346_ADDRESS, config, sizeof(config));
171
172 config[0] = ADXL346_DATA_FORMAT_ADDR;
173 config[1] = (ADXL346_USER_CONFIGURATION);
174 i2c_burst_send(ADXL346_ADDRESS, config, sizeof(config));
175
176 config[0] = ADXL346_POWER_CTL_ADDR;
177 config[1] = (ADXL346_POWER_CTL_MEASURE);
178 i2c_burst_send(ADXL346_ADDRESS, config, sizeof(config));
179}
180/*---------------------------------------------------------------------------*/
181static uint8_t
182adxl346_is_present(void)
183{
184 uint8_t is_present;
185
186 i2c_single_send(ADXL346_ADDRESS, ADXL346_DEVID_ADDR);
187 i2c_single_receive(ADXL346_ADDRESS, &is_present);
188
189 return is_present == ADXL346_DEVID_VALUE;
190}
191/*---------------------------------------------------------------------------*/
192static int16_t
193adxl346_read_accel(uint8_t addr1, uint8_t addr2)
194{
195 uint8_t acceleration[2];
196 int16_t result;
197
198 i2c_single_send(ADXL346_ADDRESS, addr1);
199 i2c_single_receive(ADXL346_ADDRESS, &acceleration[0]);
200 i2c_single_send(ADXL346_ADDRESS, addr2);
201 i2c_single_receive(ADXL346_ADDRESS, &acceleration[1]);
202
203 result = (acceleration[1] << 8) | acceleration[0];
204
205 return result;
206}
207/*---------------------------------------------------------------------------*/
208static int16_t
209adxl346_convert_accel(int16_t accel)
210{
211 int32_t result;
212
213 result = (1000 * accel) / 256;
214
215 return (int16_t)result;
216}
217/*---------------------------------------------------------------------------*/
218static void
219adxl346_calibrate_offset(void)
220{
221 int32_t accum_x = 0;
222 int32_t accum_y = 0;
223 int32_t accum_z = 0;
224 uint8_t config[2];
225 int8_t offset;
226
227 config[0] = ADXL346_OFSX_ADDR;
228 config[1] = 0;
229 i2c_burst_send(ADXL346_ADDRESS, config, sizeof(config));
230 config[0] = ADXL346_OFSY_ADDR;
231 config[1] = 0;
232 i2c_burst_send(ADXL346_ADDRESS, config, sizeof(config));
233 config[0] = ADXL346_OFSZ_ADDR;
234 config[1] = 0;
235 i2c_burst_send(ADXL346_ADDRESS, config, sizeof(config));
236
237 uint16_t i;
238 for(i = 0; i < 100; i++) {
239 uint16_t x, y, z;
240
241 x = adxl346_read_accel(ADXL346_DATAX0_ADDR, ADXL346_DATAX1_ADDR);
242 accum_x += x;
243
244 y = adxl346_read_accel(ADXL346_DATAY0_ADDR, ADXL346_DATAY1_ADDR);
245 accum_y += y;
246
247 z = adxl346_read_accel(ADXL346_DATAZ0_ADDR, ADXL346_DATAZ1_ADDR);
248 accum_z += z;
249 }
250
251 offset = (64 * accum_x) / 25600;
252 config[0] = ADXL346_OFSX_ADDR;
253 config[1] = -offset;
254 i2c_burst_send(ADXL346_ADDRESS, config, sizeof(config));
255 PRINTF("ADXL346: X calibration offset is %d\n", offset);
256
257 offset = (64 * accum_y) / 25600;
258 config[0] = ADXL346_OFSY_ADDR;
259 config[1] = -offset;
260 i2c_burst_send(ADXL346_ADDRESS, config, sizeof(config));
261 PRINTF("ADXL346: Y calibration offset is %d\n", offset);
262
263 offset = (64 * accum_z) / 25600;
264 config[0] = ADXL346_OFSZ_ADDR;
265 config[1] = -offset;
266 i2c_burst_send(ADXL346_ADDRESS, config, sizeof(config));
267 PRINTF("ADXL346: Z calibration offset is %d\n", offset);
268}
269/*---------------------------------------------------------------------------*/
270static int
271status(int type)
272{
273 switch(type) {
274 case SENSORS_ACTIVE:
275 case SENSORS_READY:
276 return enabled;
277 }
278 return 0;
279}
280/*---------------------------------------------------------------------------*/
281static int
282value(int type)
283{
284 int16_t accel;
285 if(!enabled) {
286 PRINTF("ADXL346: sensor not started\n");
287 return ADXL346_ERROR;
288 }
289
290 if(type == ADXL346_READ_X) {
291 return adxl346_read_accel(ADXL346_DATAX0_ADDR, ADXL346_DATAX1_ADDR);
292 } else if(type == ADXL346_READ_Y) {
293 return adxl346_read_accel(ADXL346_DATAY0_ADDR, ADXL346_DATAY1_ADDR);
294 } else if(type == ADXL346_READ_Z) {
295 return adxl346_read_accel(ADXL346_DATAZ0_ADDR, ADXL346_DATAZ1_ADDR);
296 } else if(type == ADXL346_READ_X_mG) {
297 accel = adxl346_read_accel(ADXL346_DATAX0_ADDR, ADXL346_DATAX1_ADDR);
298 return adxl346_convert_accel(accel);
299 } else if(type == ADXL346_READ_Y_mG) {
300 accel = adxl346_read_accel(ADXL346_DATAY0_ADDR, ADXL346_DATAY1_ADDR);
301 return adxl346_convert_accel(accel);
302 } else if(type == ADXL346_READ_Z_mG) {
303 accel = adxl346_read_accel(ADXL346_DATAZ0_ADDR, ADXL346_DATAZ1_ADDR);
304 return adxl346_convert_accel(accel);
305 } else {
306 PRINTF("ADXL346: invalid value requested\n");
307 return ADXL346_ERROR;
308 }
309
310 return ADXL346_ERROR;
311}
312/*---------------------------------------------------------------------------*/
313static int
314configure(int type, int value)
315{
316 if(type == ADXL346_ACTIVATE) {
317 if(!adxl346_is_present()) {
318 PRINTF("ADXL346: is not present\n");
319 enabled = 0;
320 return ADXL346_ERROR;
321 } else {
322 adxl346_init();
323 enabled = 1;
324 return ADXL346_SUCCESS;
325 }
326 }
327
328 if(type == ADXL346_CALIB_OFFSET && enabled) {
329 adxl346_calibrate_offset();
330 return ADXL346_SUCCESS;
331 }
332
333 return ADXL346_ERROR;
334}
335/*---------------------------------------------------------------------------*/
336SENSORS_SENSOR(adxl346, ADXL346_SENSOR, value, configure, status);
337/*---------------------------------------------------------------------------*/
338/** @} */
adxl346.h
ADXL346 acceleration sensor driver header file.
i2c_burst_send
uint8_t i2c_burst_send(uint8_t slave_addr, uint8_t *data, uint8_t len)
Perform all operations to send multiple bytes to a slave.
Definition: i2c.c:188
i2c_single_receive
uint8_t i2c_single_receive(uint8_t slave_addr, uint8_t *data)
Perform all operations to receive a byte from a slave.
Definition: i2c.c:172
i2c_single_send
uint8_t i2c_single_send(uint8_t slave_addr, uint8_t data)
Perform all operations to send a byte to a slave.
Definition: i2c.c:159