ADXL362 accelerometer library
Dependents: BLENano_SimpleTemplate_adxl362_170813 nRF51_ADXL3xx
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Diff: ADXL362.cpp
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--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ADXL362.cpp Wed May 18 15:17:10 2016 +0000 @@ -0,0 +1,602 @@ +/** +* @file ADXL362.cpp +* @brief Source file for ADXL362 +* @author Analog Devices Inc. +* +* For support please go to: +* Github: https://github.com/analogdevicesinc/mbed-adi +* Support: https://ez.analog.com/community/linux-device-drivers/microcontroller-no-os-drivers +* Product: http://www.analog.com/adxl362 +* More: https://wiki.analog.com/resources/tools-software/mbed-drivers-all + +******************************************************************************** +* Copyright 2016(c) Analog Devices, Inc. +* +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* - Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* - Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in +* the documentation and/or other materials provided with the +* distribution. +* - Neither the name of Analog Devices, Inc. nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* - The use of this software may or may not infringe the patent rights +* of one or more patent holders. This license does not release you +* from the requirement that you obtain separate licenses from these +* patent holders to use this software. +* - Use of the software either in source or binary form, must be run +* on or directly connected to an Analog Devices Inc. component. +* +* THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES "AS IS" AND ANY EXPRESS OR +* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, NON-INFRINGEMENT, +* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. +* IN NO EVENT SHALL ANALOG DEVICES BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +* LIMITED TO, INTELLECTUAL PROPERTY RIGHTS, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +********************************************************************************/ + +#include <stdint.h> +#include "mbed.h" +#include "ADXL362.h" + +/** + * ADXL362 constructor. Sets CS and SPI bus + * @param CS - CS pin of the ADXL362 + * @param MOSI - MOSI pin of the ADXL362 + * @param MISO - MISO pin of the ADXL362 + * @param SCK- SCK pin of the ADXL362 + */ +ADXL362::ADXL362(PinName CS, PinName MOSI, PinName MISO, PinName SCK) : + adxl362(MOSI, MISO, SCK), cs(CS), _int1(NULL), _int2(NULL), _int1_poll(NC), _int2_poll( + NC) +{ + cs = true; // cs is active low + adxl362.format(8, _SPI_MODE); + _temp_stored_in_fifo = false; + _int1_act_low = true; + _int2_act_low = true; +} + +/** + * Sets ADXL362 SPI bus frequency + * @param hz - frequency in hz + */ +void ADXL362::frequency(int hz) +{ + adxl362.frequency(hz); +} + +/** + * Resets the ADXL362 + * A latency of approximately 0.5 ms is required after soft reset. + */ +void ADXL362::reset() +{ + adxl362.format(8, _SPI_MODE); + cs = false; + // Writing Code 0x52 (representing the letter, R, in ASCII or unicode) to this register immediately resets the ADXL362. + write_reg(SOFT_RESET, 0x52); + cs = true; + +} + +/** + * Writes the reg register with data + * @param reg - ADXL362_register_t register to be written + * @param data - data to be written + */ +void ADXL362::write_reg(ADXL362_register_t reg, uint8_t data) +{ + adxl362.format(8, _SPI_MODE); + cs = false; + adxl362.write(_WRITE_REG_CMD); + adxl362.write(static_cast<uint8_t>(reg)); + adxl362.write(static_cast<uint8_t>(data)); + cs = true; +} + +/** + * Reads the reg register + * @param reg - ADXL362_register_t register to be read + * @return - data read from the register + */ +uint8_t ADXL362::read_reg(ADXL362_register_t reg) +{ + uint8_t ret_val; + adxl362.format(8, _SPI_MODE); + cs = false; + adxl362.write(_READ_REG_CMD); + adxl362.write(static_cast<uint8_t>(reg)); + ret_val = adxl362.write(_DUMMY_BYTE); + cs = true; + return ret_val; +} + +/** + * Writes 16 bit registers to the ADXL362. Performs conversion from Intel to Motorola byte order + * @param reg - ADXL362_register_t register to be written + * @param data - data to be written + */ +void ADXL362::write_reg_u16(ADXL362_register_t reg, uint16_t data) +{ + adxl362.format(8, _SPI_MODE); + + cs = false; + adxl362.write(_WRITE_REG_CMD); + adxl362.write(static_cast<uint8_t>(reg)); + adxl362.write(static_cast<uint8_t>(data & 0xff)); + adxl362.write(static_cast<uint8_t>((data & 0xff00) >> 8)); + + cs = true; +} + +/** + * Reads 16 bit registers from the ADXL362. Performs conversion from Motorola to Intel Byte order + * @param reg - ADXL362_register_t register to be read + * @return - data read from the ADXL362 + */ +uint16_t ADXL362::read_reg_u16(ADXL362_register_t reg) +{ + uint16_t ret_val = 0; + adxl362.format(8, _SPI_MODE); + + cs = false; + adxl362.write(_READ_REG_CMD); + adxl362.write(static_cast<uint8_t>(reg)); + ret_val = adxl362.write(_DUMMY_BYTE); + ret_val = ret_val | (adxl362.write(_DUMMY_BYTE) << 8); + cs = true; + + return ret_val; +} + +/** + * Scans the X,Y,Z,T registers for data. + * ADXL362 needs to be in measurement mode to read data + * ADXL362 is set in measurement mode using ADXL362::set_mode(ADXL362::MEASUREMENT) + * @return a 64 bit integer with the following format 0xXXYYZZTT + */ +uint64_t ADXL362::scan() +{ + uint64_t ret_val = 0; + uint16_t x, y, z, t = 0; + + adxl362.format(8, _SPI_MODE); + cs = false; + adxl362.write(_READ_REG_CMD); + adxl362.write(static_cast<uint8_t>(XDATA_L)); + + x = adxl362.write(_DUMMY_BYTE); + x = x | static_cast<uint16_t>(adxl362.write(_DUMMY_BYTE) << 8); + y = adxl362.write(_DUMMY_BYTE); + y = y | static_cast<uint16_t>(adxl362.write(_DUMMY_BYTE) << 8); + z = adxl362.write(_DUMMY_BYTE); + z = z | static_cast<uint16_t>(adxl362.write(_DUMMY_BYTE) << 8); + t = adxl362.write(_DUMMY_BYTE); + t = t | static_cast<uint16_t>(adxl362.write(_DUMMY_BYTE) << 8); + + ret_val = static_cast<uint64_t>(x) << 48; + ret_val |= static_cast<uint64_t>(y) << 32; + ret_val |= static_cast<uint64_t>(z) << 16; + ret_val |= static_cast<uint64_t>(t); + cs = true; + return ret_val; +} + +/** + * Reads the X 8 bit register from the ADXL362 + * ADXL362 is set in measurement mode using ADXL362::set_mode(ADXL362::MEASUREMENT) + * @return 8 bit X data + */ +uint8_t ADXL362::scanx_u8() +{ + return read_reg(XDATA); +} + +/** + * Reads the X 16 bit register from the ADXL362 + * ADXL362 is set in measurement mode using ADXL362::set_mode(ADXL362::MEASUREMENT) + * @return 16 bit X data + */ +uint16_t ADXL362::scanx() +{ + return read_reg_u16(XDATA_L); +} + +/** + * Reads the Y 8 bit register from the ADXL362 + * ADXL362 is set in measurement mode using ADXL362::set_mode(ADXL362::MEASUREMENT) + * @return 8 bit Y data + */ +uint8_t ADXL362::scany_u8() +{ + return read_reg(YDATA); +} + +/** + * Reads the Y 16 bit register from the ADXL362 + * ADXL362 is set in measurement mode using ADXL362::set_mode(ADXL362::MEASUREMENT) + * @return 16 bit Y data + */ +uint16_t ADXL362::scany() +{ + return read_reg_u16(YDATA_L); +} + +/** + * Reads the Z 8 bit register from the ADXL362 + * ADXL362 is set in measurement mode using ADXL362::set_mode(ADXL362::MEASUREMENT) + * @return 8 bit Z data + */ +uint8_t ADXL362::scanz_u8() +{ + return read_reg(ZDATA); +} + +/** + * Reads the Z 16 bit register from the ADXL362 + * ADXL362 is set in measurement mode using ADXL362::set_mode(ADXL362::MEASUREMENT) + * @return 16 bit Z data + */ +uint16_t ADXL362::scanz() +{ + return read_reg_u16(ZDATA_L); +} + +/** + * Reads the T 16 bit register from the ADXL362 + * ADXL362 is set in measurement mode using ADXL362::set_mode(ADXL362::MEASUREMENT) + * @return 16 bit T data + */ +uint16_t ADXL362::scant() +{ + return read_reg_u16(TEMP_L); +} + +/** + * Sets the STANDBY/MEASUREMENT mode of the ADXL362 + * @param mode - ADXL362_modes_t STANDBY/MEASUREMENT mode + */ +void ADXL362::set_mode(ADXL362_modes_t mode) +{ + uint8_t reg_val; + reg_val = read_reg(POWER_CTL); + reg_val = reg_val | static_cast<uint8_t>(mode); + write_reg(POWER_CTL, reg_val); +} + +/** + * Sets the activity threshold registers + * To enable activity/inactivity, the ACT_INACT_CTL reg must also be set + * using the ADXL362::set_act_inact_ctl_reg(uint8_t data) method + * @param threshold - activity threshold in natural format + */ +void ADXL362::set_activity_threshold(uint16_t threshold) +{ + write_reg_u16(THRESH_ACT_L, threshold); +} + +/** + * Sets the activity time register + * To enable activity/inactivity, the ACT_INACT_CTL reg must also be set + * using the ADXL362::set_act_inact_ctl_reg(uint8_t data) method + * @param time - activity time + */ +void ADXL362::set_activity_time(uint8_t time) +{ + write_reg(TIME_ACT, time); +} + +/** + * Sets the inactivity threshold register + * To enable activity/inactivity, the ACT_INACT_CTL reg must also be set + * using the ADXL362::set_act_inact_ctl_reg(uint8_t data) method + * @param threshold - inactivity threshold in natural format + */ +void ADXL362::set_inactivity_threshold(uint16_t threshold) +{ + write_reg_u16(THRESH_INACT_L, threshold); +} + +/** + * Sets the inactivity time register + * To enable activity/inactivity, the ACT_INACT_CTL reg must also be set + * using the ADXL362::set_act_inact_ctl_reg(uint8_t data) method + * @param time - inactivity time in natural format + */ +void ADXL362::set_inactivity_time(uint16_t time) +{ + write_reg_u16(TIME_INACT_L, time); +} + +/** + * Sets the ACT_INACT_CTL register of the ADXL362 + * @param data - data to be written to the register + */ +void ADXL362::set_act_inact_ctl_reg(uint8_t data) +{ + write_reg(ACT_INACT_CTL, data); +} + +/** + * Configures INT1 output of the ADXL362 for polling use + * @param in - uC pin connected to ADXL362's INT1 + * @param data - data to be written to INTMAP1 + * @param pull - (optional) configures pullup on In pin + */ +void ADXL362::set_polling_interrupt1_pin(PinName in, uint8_t data, + PinMode pull) +{ + if ((data & 0x7F) != 0) { + write_reg(INTMAP1, data); + _int1_poll = DigitalIn(in); + _int1_poll.mode(pull); + if (data & 0x80) { + _int1_act_low = true; + } else { + _int1_act_low = false; + } + } +} + +/** + * Configures INT2 output of the ADXL362 for polling use + * @param in - uC pin connected to ADXL362's INT2 + * @param data - data to be written to INTMAP2 + * @param pull - (optional) configures pullup on In pin + */ +void ADXL362::set_polling_interrupt2_pin(PinName in, uint8_t data, + PinMode pull) +{ + if ((data & 0x7F) != 0) { + write_reg(INTMAP2, data); + _int2_poll = DigitalIn(in); + _int2_poll.mode(pull); + if (data & 0x80) { + _int2_act_low = true; + } else { + _int2_act_low = false; + } + } +} + +/** + * Gets the active state of the INT1 pin + * @return true if active, false if not active + */ +bool ADXL362::get_int1() +{ + if(_int1_poll != NC) return (_int1_poll.read() != _int1_act_low); // boolean XOR + else return (_int1->read() != _int1_act_low); +} + +/** + * Gets the active state of the INT2 pin + * @return true if active, false if not active + */ +bool ADXL362::get_int2() +{ + if(_int2_poll != NC) return (_int1_poll.read() != _int1_act_low); // boolean XOR + else return (_int2->read() != _int2_act_low); +} + + +/** + * Configures the INT1 pin of the ADXL362 to be used in interrupt mode + * @param in - uC pin connected to ADXL362's INT1 + * @param data - data to be written to INTMAP1 + * @param callback_rising - rising edge interrupt callback - can be set to NULL if no callback is required for rising edge + * @param callback_falling - falling edge interrupt callback - can be set to NULL if no callback is required for falling edge + * @param pull - (optional) configures pullup on In pin + */ +void ADXL362::set_interrupt1_pin(PinName in, uint8_t data, + void (*callback_rising)(void), void (*callback_falling)(void), PinMode pull) +{ + if ((data & 0x7F) != 0) { + write_reg(INTMAP1, data); + delete _int1; + _int1 = new InterruptIn(in); + _int1->mode(pull); + if(callback_falling != NULL) _int1->fall(callback_falling); + if(callback_rising != NULL) _int1->rise(callback_rising); + if (data & 0x80) { + _int1_act_low = true; + } else { + _int1_act_low = false; + } + } +} + + +/** + * Configures the INT2 pin of the ADXL362 to be used in interrupt mode + * @param in - uC pin connected to ADXL362's INT2 + * @param data - data to be written to INTMAP2 + * @param callback_rising - rising edge interrupt callback - can be set to NULL if no callback is required for rising edge + * @param callback_falling - falling edge interrupt callback - can be set to NULL if no callback is required for falling edge + * @param pull - (optional) configures pullup on In pin + */ +void ADXL362::set_interrupt2_pin(PinName in, uint8_t data, + void (*callback_rising)(void), void (*callback_falling)(void), PinMode pull) +{ + if ((data & 0x7F) != 0) { + write_reg(INTMAP2, data); + delete _int2; + _int2 = new InterruptIn(in); + _int2->mode(pull); + if(callback_falling != NULL) _int2->fall(callback_falling); + if(callback_rising != NULL) _int2->rise(callback_rising); + if (data & 0x80) { + _int2_act_low = true; + } else { + _int2_act_low = false; + } + } +} + +/** + * Enables external interrupt registration for pin configured as INT1 + * To enable this interrupt, it must first be configured using ADXL362::set_interrupt1_pin() + */ +void ADXL362::enable_interrupt1() +{ + _int1->enable_irq(); +} + +/** + * Enables external interrupt registration for pin configured as INT2 + * * To enable this interrupt, it must first be configured using ADXL362::set_interrupt2_pin() + */ +void ADXL362::enable_interrupt2() +{ + _int2->enable_irq(); +} + +/** + * Disables external interrupt registration for pin configured as INT1 + */ +void ADXL362::disable_interrupt1() +{ + _int1->disable_irq(); +} + +/** + * Disables external interrupt registration for pin configured as INT2 + */ +void ADXL362::disable_interrupt2() +{ + _int2->disable_irq(); +} + +/** + * Sets the POWER_CTL register + * @param data - data to be written to the register + */ +void ADXL362::set_power_ctl_reg(uint8_t data) +{ + write_reg(POWER_CTL, data); +} + +/** + * Sets the FILTER_CTL register + * @param data - data to be written to the register + */ +void ADXL362::set_filter_ctl_reg(uint8_t data) +{ + write_reg(FILTER_CTL, data); +} + +/** + * Reads the STATUS register of the ADXL362 + * @return - data in the status register + */ +uint8_t ADXL362::read_status() +{ + return read_reg(STATUS); +} + +/** + * Reads the FIFO_ENTRIES_L and FIFO_ENTRIES_H register + * @return the number of entries in the FIFO + */ +uint16_t ADXL362::fifo_read_nr_of_entries() +{ + return read_reg_u16(FIFO_ENTRIES_L); +} + +/** + * Setup for the FIFO + * @param store_temp - boolean, true - temperature will be stored in the fifo. false otherwise + * @param mode - ADXL362_FIFO_modes_t fifo mode + * @param nr_of_entries - number of entries in the FIFO + */ +void ADXL362::fifo_setup(bool store_temp, ADXL362_FIFO_modes_t mode, uint16_t nr_of_entries) +{ + uint8_t fifo_ctl = static_cast<uint8_t>(mode); + _temp_stored_in_fifo = store_temp; + + fifo_ctl = fifo_ctl | (static_cast<uint8_t>(_temp_stored_in_fifo) << 2); + + if (nr_of_entries > 0xff) { + fifo_ctl = fifo_ctl | static_cast<uint8_t>(AH); + } + write_reg(FIFO_CONTROL, fifo_ctl); + write_reg(FIFO_SAMPLES, static_cast<uint8_t>(nr_of_entries & 0xff)); + +} + +/** + * Reads a FIFO entry + * @return FIFO entry + */ +uint16_t ADXL362::fifo_read_u16() +{ + uint16_t ret_val = 0; + adxl362.format(8, _SPI_MODE); + + cs = false; + adxl362.write(_READ_FIFO_CMD); + ret_val = adxl362.write(_DUMMY_BYTE); + ret_val = (ret_val) | static_cast<uint16_t>(adxl362.write(_DUMMY_BYTE) << 8); + cs = true; + + return ret_val; +} + +/** + * Reads 3(4) bytes from the FIFO(if store_temp was set), assembles the data in the format used by the scan method + * ADXL362::fifo_setup() needs to be called before calling fifo_scan to ensure correct fifo operation + * fifo_scan and fifo_read_u16 should not be used as fifo_read_u16 disaligns the fifo therefore + * fifo_scan will return data from multiple samples + * @return scanned data from the fifo in the 0xXXYYZZTT format + */ +uint64_t ADXL362::fifo_scan() +{ + + uint64_t ret_val = 0; + uint16_t x = 0, y = 0, z = 0, dummy, t = 0, sample_type; + + adxl362.format(8, _SPI_MODE); + cs = false; + adxl362.write(_READ_FIFO_CMD); + uint8_t samples = (_temp_stored_in_fifo) ? 4 : 3; + for(uint8_t i = 0; i < samples; i++) { + dummy = adxl362.write(_DUMMY_BYTE); + dummy = dummy | static_cast<uint16_t>(adxl362.write(_DUMMY_BYTE) << 8); + sample_type = (dummy & 0xc000) >> 14; + dummy = dummy & 0x3fff; + switch(sample_type) { + case 0: // x + x = dummy; + break; + case 1: // y + y = dummy; + break; + case 2: // z + z = dummy; + break; + case 3: // temp + t = dummy; + break; + } + + } + + // format xxyyzztt + ret_val = static_cast<uint64_t> (x) << 48; + ret_val |= static_cast<uint64_t>(y) << 32; + ret_val |= static_cast<uint64_t>(z) << 16; + ret_val |= static_cast<uint64_t>(t); + cs = true; + return ret_val; +}