APS Lab
/
mbed-os-example-adxl362
adxl362 csv output format
Diff: ADXL362.cpp
- Revision:
- 0:813b34a76f24
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ADXL362.cpp Thu May 16 07:02:24 2019 +0000 @@ -0,0 +1,380 @@ +#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: + ADXL362::gravity = GRAVITY_2G; + g_reg = 0x00; + break; + case GRAVITY_4G: + ADXL362::gravity = GRAVITY_4G; + g_reg = 0x40; + break; + case GRAVITY_8G: + ADXL362::gravity = GRAVITY_8G; + g_reg = 0x80; + break; + default: + ADXL362::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 = (ADXL362::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); +}