APS Lab
xrocusOS_ADXL355 version
Dependencies: mbed SDFileSystem
Diff: driver/Adxl355Drv.cpp
- Revision:
- 20:2f2687580ecb
- Parent:
- 15:35f01ee28b44
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/driver/Adxl355Drv.cpp Fri Jul 05 02:09:06 2019 +0000
@@ -0,0 +1,289 @@
+#include "mbed.h"
+#include "Adxl355Drv.h"
+
+/* --- Definitions --- */
+#define MAX_SEND_SIZE (128)
+
+/* AXIS */
+#define AXIS_X (0)
+#define AXIS_Y (1)
+#define AXIS_Z (2)
+#define NUM_OF_AXIS (3)
+
+/* REGISTERS */
+#define ADXL355_REG_DEVID_AD (0x00)
+#define ADXL355_REG_DEVID_MST (0x01)
+#define ADXL355_REG_PARTID (0x02)
+#define ADXL355_REG_REVID (0x03)
+
+#define ADXL355_REG_XDATA_H (0x08)
+#define ADXL355_REG_XDATA_L (0x09)
+#define ADXL355_REG_YDATA_H (0x0A)
+#define ADXL355_REG_YDATA_L (0x0B)
+#define ADXL355_REG_ZDATA_H (0x0C)
+#define ADXL355_REG_ZDATA_L (0x0D)
+
+
+#define ADXL355_REG_FIFO_CTL (0x3A)
+#define ADXL355_REG_MESURE (0x3E)
+#define ADXL355_REG_POWER_CTL (0x3F)
+
+/* --- Static Variables --- */
+static int dummyreg = 0;
+static int devSpiId = 0;
+static int senseUid = 0;
+static float a[3] = {0.0};
+
+static Ticker mesureTick;
+
+/* --- Prototypes --- */
+static void tickHanlderForSensorRead(void);
+
+/* DeviceDriverBody*/
+static void initConnectionToAdxl355(void);
+static void updateDeviceInfoAdxl355(void);
+static void startMesumentAdxl355(void);
+static void stopMesumentAdxl355(void);
+static int readAccelAdxl355(int selAxis);
+static void spiWriteAdxl355(int reg, int val);
+static int spiReadAdxl355(int reg);
+static int spiReadDualAdxl355(int reg);
+
+extern Serial pc;
+
+static SPI myspi(SPI_MOSI, SPI_MISO, SPI_SCK); /* D13, D12, D11 */
+static DigitalOut mycs(SPI_CS); /* D10 */
+static DigitalIn int1(D7); /* D7/D6 */
+static DigitalIn int2(D5); /* D5/D4 */
+
+#define SPI_RD (1)
+#define SPI_WR (0)
+#define SPI_EMPTY_SEND (0x00)
+
+
+/***************************************************************/
+/* Device Driver Interface */
+/***************************************************************/
+/** This handler is called
+ * in SRS command */
+static bool adxl355_simple_reset(void)
+{
+ /* TODO */
+ dbgprintf("debug:adxl355_simple_reset\n");
+ mesureTick.detach();
+ return true;
+}
+
+/** This handler is called
+ * in the first time of mesuments */
+static int adxl355_simple_init(void)
+{
+ /* TODO */
+ dbgprintf("debug:adxl355_simple_init\n");
+ mesureTick.detach();
+
+ initConnectionToAdxl355();
+
+ return 0;
+}
+
+/** This handler is called
+ * in the repling mesurement data to Host (ASAP) */
+static bool adxl355_simple_exec(int deviceID, Serial *pOut, FILE *pSave)
+{
+ char sendBuf[MAX_SEND_SIZE] = {0};
+ int sendCharLen;
+
+ dbgprintf("debug:adxl355_simple_exec\n");
+
+ updateDeviceInfoAdxl355();
+
+ a[AXIS_X] = ((double)readAccelAdxl355(AXIS_X)) * 9.8 * 0.1; /* only use 8bit/MSB in 12bit */
+ a[AXIS_Y] = ((double)readAccelAdxl355(AXIS_Y)) * 9.8 * 0.1; /* only use 8bit/MSB in 12bit */
+ a[AXIS_Z] = ((double)readAccelAdxl355(AXIS_Z)) * 9.8 * 0.1; /* only use 8bit/MSB in 12bit */
+
+ /* TODO */
+ uprintf(":%d XDS ", deviceID);
+ uprintf("0029 REG=%04x,AXIS=%d,ID=%08x\n",
+ dummyreg, NUM_OF_AXIS, devSpiId);
+ uprintf(":%d XFD ", deviceID);
+ sprintf(sendBuf, "%4.4f %4.4f %4.4f", a[AXIS_X], a[AXIS_Y], a[AXIS_Z]);
+ sendCharLen = strlen(sendBuf);
+ uprintf("%04d %s\n", sendCharLen, sendBuf);
+
+ if (pSave != NULL) {
+ dbgprintf("debug:adxl355_simple_exec [Write SD card]\n");
+ /* TODO Sd Card save */
+ fprintf(pSave, "Device:%08d,%d,%f,%f,%f\n",
+ devSpiId, senseUid, a[AXIS_X], a[AXIS_Y], a[AXIS_Z]);
+ }
+
+ return true;
+}
+
+/** This handler is called
+ * in CRS command */
+static bool adxl355_simple_ready2run(void)
+{
+ /* TODO */
+ dbgprintf("debug:adxl355_simple_ready2run\n");
+ updateDeviceInfoAdxl355();
+ startMesumentAdxl355();
+ mesureTick.attach(tickHanlderForSensorRead, 0.5);
+ return true;
+}
+
+/** This handler is called
+ * in End of Mesument */
+static bool adxl355_simple_run2ready(void)
+{
+ /* TODO */
+ dbgprintf("debug:adxl355_simple_ready2run\n");
+ stopMesumentAdxl355();
+ mesureTick.detach();
+ return true;
+}
+
+/** This handler is called
+ * in CFW after CID */
+static bool adxl355_simple_get_config(int id_pos, int*get)
+{
+ /* TODO */
+ dbgprintf("debug:adxl355_simple_get_config(ID=%x)\n", id_pos);
+ *get = dummyreg;
+ return true;
+}
+
+/** This handler is called
+ * in CFW after CID */
+static bool adxl355_simple_set_config(int id_pos, int set)
+{
+ /* TODO */
+ dbgprintf("debug:adxl355_simple_set_config(ID=%x)\n", id_pos);
+ dummyreg = set;
+ return true;
+}
+
+/****************************************************/
+/* for Mesurement */
+/****************************************************/
+static void tickHanlderForSensorRead(void)
+{
+ /* TODO */
+ senseUid++;
+ return;
+}
+
+/***************************************************************/
+/* Device Driver Body */
+/***************************************************************/
+static void initConnectionToAdxl355(void)
+{
+ /** Init SPI for ADXL355
+ * CPHA = CPOL = 0, 1MHz(max.10MHz))
+ * CS = inactive
+ */
+ myspi.format(8,0);
+ myspi.frequency(1000000);
+ mycs = 1;
+}
+
+static void startMesumentAdxl355(void)
+{
+ spiWriteAdxl355(ADXL355_REG_FIFO_CTL, 0); /* all data will be bipassed FIFO. */
+ spiWriteAdxl355(ADXL355_REG_POWER_CTL, 1); /* WAKEUP mode */
+}
+
+static void stopMesumentAdxl355(void)
+{
+ spiWriteAdxl355(ADXL355_REG_FIFO_CTL, 0); /* all data will be bipassed FIFO. */
+ spiWriteAdxl355(ADXL355_REG_POWER_CTL, 0); /* STANDBY mode */
+}
+
+static int readAccelAdxl355(int selAxis)
+{
+ int ret;
+ switch(selAxis) {
+ case AXIS_X:
+ ret = spiReadDualAdxl355(ADXL355_REG_XDATA_H);
+ break;
+ case AXIS_Y:
+ ret = spiReadDualAdxl355(ADXL355_REG_YDATA_H);
+ break;
+ case AXIS_Z:
+ ret = spiReadDualAdxl355(ADXL355_REG_ZDATA_H);
+ break;
+ default:
+ ret = 0xFFFFFFFF;
+ }
+ ret = ret >> 4;
+ if ((ret & 0x00000800) != 0) {
+ ret |= 0xFFFFF800;
+ }
+ dbgprintf("debug:readAccelAdxl355(AXIS=%d)=0x%08x\n", selAxis, ret);
+ return ret;
+}
+
+static void updateDeviceInfoAdxl355(void)
+{
+
+ int devid_ad;
+ int devid_mst;
+ int devid_part;
+ int devid_rev;
+
+ devid_ad = spiReadAdxl355(ADXL355_REG_DEVID_AD);
+ devid_mst = spiReadAdxl355(ADXL355_REG_DEVID_MST);
+ devid_part = spiReadAdxl355(ADXL355_REG_PARTID);
+ devid_rev = spiReadAdxl355(ADXL355_REG_REVID);
+ devSpiId = (devid_ad << 0)
+ | (devid_mst << 8)
+ | (devid_part << 16)
+ | (devid_rev << 24);
+}
+
+static int spiReadAdxl355(int reg)
+{
+ int val;
+ mycs = 0;
+ myspi.write(reg << 1 | SPI_RD);
+ val = myspi.write(SPI_EMPTY_SEND);
+ mycs = 1;
+ dbgprintf("debug:spiReadAdxl355(reg=0x%08x)=0x%08x\n", reg, val);
+ return val;
+}
+
+static int spiReadDualAdxl355(int reg)
+{
+ int valh, vall, val;
+ mycs = 0;
+ myspi.write(reg << 1 | SPI_RD);
+ valh = myspi.write(SPI_EMPTY_SEND);
+ vall = myspi.write(SPI_EMPTY_SEND);
+ mycs = 1;
+ val = valh << 8 | vall;
+ dbgprintf("debug:spiReadDualAdxl355(reg=0x%08x)=0x%08x\n", reg, val);
+ return val;
+}
+
+static void spiWriteAdxl355(int reg, int val)
+{
+ mycs = 0;
+ myspi.write(reg << 1 | SPI_WR);
+ myspi.write(val);
+ mycs = 1;
+ dbgprintf("debug:spiWriteAdxl355(reg=0x%08x)=0x%08x\n", reg, val);
+}
+
+/****************************************************/
+/* for Registration of Device Driver */
+/****************************************************/
+DeviceDriver Adxl355Simple = {
+ .init = adxl355_simple_init,
+ .set_config = adxl355_simple_set_config,
+ .get_config = adxl355_simple_get_config,
+ .reset = adxl355_simple_reset,
+ .exec = adxl355_simple_exec,
+ .ready2run = adxl355_simple_ready2run,
+ .run2ready = adxl355_simple_run2ready,
+ };
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