Update
ADXL362.cpp
- Committer:
- APS_Lab
- Date:
- 2019-01-11
- Revision:
- 0:860fafcf34d6
File content as of revision 0:860fafcf34d6:
#include "ADXL362.h" #define WAIT_US(value) (0.000001 * ((float)value)) #define REGADDR_WRITE (0x80) #define REGADDR_WR_L (0x00) #define REGADDR_WR_H (0x01) #define GET_VAL_L(value) ((value >> 0) & 0xFF) #define GET_VAL_H(value) ((value >> 8) & 0xFF) // define for EV-COG-AD3029LZ #define SPI_CS SPI1_CS3 /** ========================================== * Public ( initializing ) * ========================================== */ ADXL362::ADXL362(Serial *setUart, SPI* spi1) { int check; uart = setUart; _spi = spi1; _cs = new DigitalOut(SPI_CS); _spi->format(8,3); _spi->frequency(1000000); chipSelOff(); /* start */ check = regRD(DEVID_AD); if (check != DEVID_AD_ADXL362) { return; } check = regRD(DEVID_MST); if (check != DEVID_MST_ADXL362) { return; } check = regRD(PARTID); if (check != PARTID_ADXL362) { return; } /* init MIN/MAX store */ initMinMax(&minStore, &maxStore); /* set convert parameter */ SoftReset(); scaleAccel = PARAM_ADXL362_SCALE_ACCEL; scaleThermal = PARAM_ADXL362_SCALE_THERMAL; offsetThermal = PARAM_ADXL362_THERMAL_OFFSET; //SetMesureParam(POWER_CTL_PARAM_LOWNOISE_ULTRA); //StartMesure(); } ADXL362::~ADXL362() { delete this->_cs; } /** ========================================== * Private ( Control Pins ) * ========================================== */ /* Assert CHIP_SEL = enable */ void ADXL362::chipSelOn() { chipSelDelay(); *_cs = 0; } /* Assert CHIP_SEL = disable */ void ADXL362::chipSelOff() { *_cs = 1; } /* delay for CHIP_SEL */ void ADXL362::chipSelDelay() { wait(WAIT_US(0.2)); } /** ========================================== * Public ( ADXL Configuration ) * ========================================== */ void ADXL362::set_gravity(int g) { int value; unsigned char g_reg; switch(g) { case GRAVITY_2G: gravity = GRAVITY_2G; g_reg = 0x00; break; case GRAVITY_4G: gravity = GRAVITY_4G; g_reg = 0x40; break; case GRAVITY_8G: gravity = GRAVITY_8G; g_reg = 0x80; break; default: gravity = GRAVITY_2G; g_reg = 0x00; break; } value = regRD(FILTER_CTL); value &= 0x3f; value |= g_reg; regWR(FILTER_CTL, value); set_scalefactor(); } void ADXL362::set_ODR(int o) { int value; unsigned char o_reg; switch(o) { case ODR_12: odr = ODR_12; o_reg = 0x00; break; case ODR_25: odr = ODR_25; o_reg = 0x01; break; case ODR_50: odr = ODR_50; o_reg = 0x02; break; case ODR_100: odr = ODR_100; o_reg = 0x03; break; case ODR_200: odr = ODR_200; o_reg = 0x04; break; case ODR_400: odr = ODR_400; o_reg = 0x07; break; default: odr = ODR_100; o_reg = 0x03; break; } value = regRD(FILTER_CTL); value &= 0xf8; value |= o_reg; regWR(FILTER_CTL, value); } void ADXL362::set_powermode(int m) { ADXL362::SetMesureParam(m); } void ADXL362::set_wakeupmode(void) { regWR(THRESH_ACT_L, 0x50); regWR(THRESH_ACT_H, 0x00); regWR(TIME_ACT, 0x00); regWR(THRESH_INACT_L, 0xff); regWR(THRESH_INACT_H, 0x07); regWR(TIME_INACT_L, 0x06); regWR(TIME_INACT_H, 0x00); regWR(ACT_INACT_CTL, 0x1F); regWR(INTMAP1, 0xC0); regWR(POWER_CTL, 0x0E); } void ADXL362::set_scalefactor(void) { float base, sf; base = (gravity / 2.0f); sf = base*(0.001f)*9.80665f; scaleAccel = sf; } void ADXL362::start(void) { int value; value = regRD(POWER_CTL); value &= 0xfc; value |= POWER_CTL_MESURE; regWR(POWER_CTL, value); wait_ms(5); GetStatus(); } void ADXL362::stop(void) { int value; value = regRD(POWER_CTL); value &= 0xfc; value |= POWER_CTL_STOP; regWR(POWER_CTL, value); wait_ms(5); GetStatus(); } /** ========================================== * Public ( Send Command to Device ) * ========================================== */ /* Write 16bit-Aligned Register */ void ADXL362::SoftReset() { regWR(SOFT_RESET, SOFT_RESET_ADXL362); wait(0.5); } void ADXL362::SetMesureParam(int param) { int value; value = regRD(POWER_CTL); param &= ~(POWER_CTL_MODEMASK); value &= POWER_CTL_MODEMASK; value |= param; regWR(POWER_CTL, value); } void ADXL362::StartMesure() { int value; GetStatus(); value = regRD(POWER_CTL); value &= ~(POWER_CTL_MODEMASK); value |= POWER_CTL_MESURE; regWR(POWER_CTL, POWER_CTL_MESURE); value = regRD(POWER_CTL); wait_ms(5); GetStatus(); } int ADXL362::GetStatus() { int value; value = regRD(STATUS); return value; } /** ========================================== * Public ( Sensing ) * ========================================== */ void ADXL362::SensorRead(AccelTemp *pAT) { int burstBuf[8]; /* Xx2 + Yx2 + Zx2 + Tempx2 = 8*/ regBurstRD(XDATA_L, 8, burstBuf); convertSensorData(pAT, burstBuf); #if 0 uart->printf("ADXL362[ax] = 0x%02x\n", pAT->ax); uart->printf("ADXL362[ay] = 0x%02x\n", pAT->ay); uart->printf("ADXL362[az] = 0x%02x\n", pAT->az); uart->printf("ADXL362[tm] = 0x%02x\n", pAT->tm) #endif updateMinMax(&minStore, &maxStore, pAT); } /** ========================================== * Public ( Sub Infomation ) * ========================================== */ /* Get Internal Store (for Min Info) */ AccelTemp* ADXL362::GetMinInfo(void) { return &minStore; } /* Get Internal Store (for Max Info) */ AccelTemp* ADXL362::GetMaxInfo(void) { return &maxStore; } /* Convert CtrlValue to Real for Accelerometer */ float ADXL362::ConvAccel(int ctrlval) { return scaleAccel * (float)ctrlval; } /* Convert CtrlValue to Real for Thermal Sensor */ float ADXL362::ConvThermal(int ctrlval) { return (scaleThermal * (float)ctrlval) + offsetThermal; } /** ========================================== * Private ( convert sensing value ) * ========================================== */ void ADXL362::convertSensorData(AccelTemp *at, int *buf) { at->ax = ext12bitToInt(buf[0], buf[1]); at->ay = ext12bitToInt(buf[2], buf[3]); at->az = ext12bitToInt(buf[4], buf[5]); at->tm = ext12bitToInt(buf[6], buf[7]); } int ADXL362::ext12bitToInt(int l, int h) { h <<= 8; h &= 0x0f00; h |= l & 0xff; if ((h & 0x800) != 0) { h |= 0xfffff000; } return h; } /** ========================================== * Private ( SPI Communication ) * ========================================== */ #define ADXL362_SPI_CMD_WR 0x0A #define ADXL362_SPI_CMD_RD 0x0B #define ADXL362_SPI_CMD_RD_FIFO 0x0D /* Read Single Register */ int ADXL362::regRD(int regAddr) { int recvData; regBurstRD(regAddr, 1, &recvData); return recvData; } /* Read Multi Register */ void ADXL362::regBurstRD(int regAddr, int numBurst, int *recvBuf) { int cnt; /* SPI Burst Read Loop ** * Write A -> Write B : Read A -> Write C : Read B -> ... */ _spi->lock(); chipSelOn(); /* WriteADDR[n] and ReadData[n-1] */ _spi->write(ADXL362_SPI_CMD_RD); _spi->write(regAddr); for (cnt = 0; cnt < numBurst; cnt++) { /* WriteADDR[n] and ReadData[n-1] */ recvBuf[cnt] = _spi->write(0x00); } chipSelOff(); _spi->unlock(); return; } /* Write 16bit-Aligned Register */ void ADXL362::regWR(int regAddr, int value) { _spi->lock(); chipSelOn(); _spi->write(ADXL362_SPI_CMD_WR); _spi->write(regAddr); _spi->write(value); chipSelOff(); _spi->unlock(); return; } /** ========================================== * Private ( Control internal Stores ) * ========================================== */ /* clear internal Min/Max infomation */ void ADXL362::initMinMax (AccelTemp *minData, AccelTemp *maxData) { minData->ax = INT_MAX; minData->ay = INT_MAX; minData->az = INT_MAX; minData->tm = INT_MAX; maxData->ax = INT_MIN; maxData->ay = INT_MIN; maxData->az = INT_MIN; maxData->tm = INT_MIN; } /* update internal Min/Max infomation */ #define TEST_MIN_AND_SET(now, test) (now = (now >= test)? test : now) #define TEST_MAX_AND_SET(now, test) (now = (now <= test)? test : now) void ADXL362::updateMinMax (AccelTemp *minData, AccelTemp *maxData, AccelTemp *getData) { TEST_MIN_AND_SET(minData->ax, getData->ax); TEST_MIN_AND_SET(minData->ay, getData->ay); TEST_MIN_AND_SET(minData->az, getData->az); TEST_MIN_AND_SET(minData->tm, getData->tm); TEST_MAX_AND_SET(maxData->ax, getData->ax); TEST_MAX_AND_SET(maxData->ay, getData->ay); TEST_MAX_AND_SET(maxData->az, getData->az); TEST_MAX_AND_SET(maxData->tm, getData->tm); }