From: Keith Packard Date: Sat, 13 Oct 2018 16:41:31 +0000 (-0700) Subject: altos: Add ADXL375 driver [v2] X-Git-Tag: 1.9~27^2~5 X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=30e4e286eec31e69ad1e69a44cf00d4549a09f88 altos: Add ADXL375 driver [v2] Includes self-test code and multi-byte mode operation for reading sample registers. Signed-off-by: Keith Packard --- diff --git a/src/drivers/ao_adxl375.c b/src/drivers/ao_adxl375.c new file mode 100644 index 00000000..e0d094f2 --- /dev/null +++ b/src/drivers/ao_adxl375.c @@ -0,0 +1,263 @@ +/* + * Copyright © 2018 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + */ + +#include +#include "ao_adxl375.h" + +#define DEBUG_LOW 1 +#define DEBUG_HIGH 2 + +#define DEBUG 0 + +#if DEBUG +#define PRINTD(l, ...) do { if (DEBUG & (l)) { printf ("\r%5u %s: ", ao_tick_count, __func__); printf(__VA_ARGS__); flush(); } } while(0) +#else +#define PRINTD(l,...) +#endif + +struct ao_adxl375_sample ao_adxl375_current; + +static void +ao_adxl375_start(void) { + ao_spi_get_bit(AO_ADXL375_CS_PORT, + AO_ADXL375_CS_PIN, + AO_ADXL375_SPI_INDEX, + AO_ADXL375_SPI_SPEED); +} + +static void +ao_adxl375_stop(void) { + ao_spi_put_bit(AO_ADXL375_CS_PORT, + AO_ADXL375_CS_PIN, + AO_ADXL375_SPI_INDEX); +} + +static uint8_t +ao_adxl375_reg_read(uint8_t addr) +{ + uint8_t d[2]; + + d[0] = addr | AO_ADXL375_READ; + ao_adxl375_start(); + ao_spi_duplex(d, d, 2, AO_ADXL375_SPI_INDEX); + ao_adxl375_stop(); + + PRINTD(DEBUG_LOW, "read %x = %x\n", addr, d); + + return d[1]; +} + +static void +ao_adxl375_reg_write(uint8_t addr, uint8_t value) +{ + uint8_t d[2]; + + PRINTD(DEBUG_LOW, "write %x %x\n", addr, value); + d[0] = addr; + d[1] = value; + ao_adxl375_start(); + ao_spi_send(d, 2, AO_ADXL375_SPI_INDEX); + ao_adxl375_stop(); + +#if DEBUG & DEBUG_LOW + d[0] = addr | AO_ADXL375_READ + d[1] = 0; + ao_adxl375_start(); + ao_spi_duplex(d, d, 2, AO_ADXL375_SPI_INDEX); + ao_adxl375_stop(); + PRINTD(DEBUG_LOW, "readback %x %x\n", d[0], d[1]); +#endif +} + +static void +ao_adxl375_value(struct ao_adxl375_sample *value) +{ + uint8_t d[7]; + + d[0] = AO_ADXL375_DATAX0 | AO_ADXL375_READ | AO_ADXL375_MULTI_BYTE; + ao_adxl375_start(); + ao_spi_duplex(d, d, 7, AO_ADXL375_SPI_INDEX); + ao_adxl375_stop(); + memcpy(value, &d[1], 6); +} + +struct ao_adxl375_total { + int32_t x; + int32_t y; + int32_t z; +}; + +#define AO_ADXL375_SELF_TEST_SAMPLES 16 +#define AO_ADXL375_SELF_TEST_SETTLE 6 + +#define MIN_LSB_G 18.4 +#define MAX_LSB_G 22.6 +#define SELF_TEST_MIN_G 6.0 +#define SELF_TEST_MAX_G 6.8 + +#define MIN_SELF_TEST ((int32_t) (MIN_LSB_G * SELF_TEST_MIN_G * AO_ADXL375_SELF_TEST_SAMPLES + 0.5)) +#define MAX_SELF_TEST ((int32_t) (MAX_LSB_G * SELF_TEST_MAX_G * AO_ADXL375_SELF_TEST_SAMPLES + 0.5)) + +static const int32_t min_self_test = MIN_SELF_TEST; +static const int32_t max_self_test = MAX_SELF_TEST; + +static void +ao_adxl375_total_value(struct ao_adxl375_total *total, int samples) +{ + struct ao_adxl375_sample value; + + *total = (struct ao_adxl375_total) { 0, 0, 0 }; + for (int i = 0; i < samples; i++) { + ao_adxl375_value(&value); + total->x += value.x; + total->y += value.y; + total->z += value.z; + ao_delay(AO_MS_TO_TICKS(10)); + } +} + +#define AO_ADXL375_DATA_FORMAT_SETTINGS(self_test) ( \ + AO_ADXL375_DATA_FORMAT_FIXED | \ + (self_test << AO_ADXL375_DATA_FORMAT_SELF_TEST) | \ + (AO_ADXL375_DATA_FORMAT_SPI_4_WIRE << AO_ADXL375_DATA_FORMAT_SPI_4_WIRE) | \ + (0 << AO_ADXL375_DATA_FORMAT_INT_INVERT) | \ + (0 << AO_ADXL375_DATA_FORMAT_JUSTIFY)) + +static int32_t self_test_value; + +static void +ao_adxl375_setup(void) +{ + /* Get the device into 4-wire SPI mode before proceeding */ + ao_adxl375_reg_write(AO_ADXL375_DATA_FORMAT, + AO_ADXL375_DATA_FORMAT_SETTINGS(0)); + + + uint8_t devid = ao_adxl375_reg_read(AO_ADXL375_DEVID); + if (devid != AO_ADXL375_DEVID_ID) + ao_sensor_errors = 1; + + /* Set the data rate */ + ao_adxl375_reg_write(AO_ADXL375_BW_RATE, + (0 << AO_ADXL375_BW_RATE_LOW_POWER) | + (AO_ADXL375_BW_RATE_RATE_200 << AO_ADXL375_BW_RATE_RATE)); + + /* Set the offsets all to zero */ + ao_adxl375_reg_write(AO_ADXL375_OFSX, 0); + ao_adxl375_reg_write(AO_ADXL375_OFSY, 0); + ao_adxl375_reg_write(AO_ADXL375_OFSZ, 0); + + /* Clear interrupts */ + ao_adxl375_reg_write(AO_ADXL375_INT_ENABLE, 0); + + /* Configure FIFO (disable) */ + ao_adxl375_reg_write(AO_ADXL375_FIFO_CTL, + (AO_ADXL375_FIFO_CTL_FIFO_MODE_BYPASS << AO_ADXL375_FIFO_CTL_FIFO_MODE) | + (0 << AO_ADXL375_FIFO_CTL_TRIGGER) | + (0 << AO_ADXL375_FIFO_CTL_SAMPLES)); + + /* Place part in measurement mode */ + ao_adxl375_reg_write(AO_ADXL375_POWER_CTL, + (0 << AO_ADXL375_POWER_CTL_LINK) | + (0 << AO_ADXL375_POWER_CTL_AUTO_SLEEP) | + (1 << AO_ADXL375_POWER_CTL_MEASURE) | + (0 << AO_ADXL375_POWER_CTL_SLEEP) | + (AO_ADXL375_POWER_CTL_WAKEUP_8 << AO_ADXL375_POWER_CTL_WAKEUP)); + + (void) ao_adxl375_total_value; + /* Perform self-test */ + +#define AO_ADXL375_SELF_TEST_SAMPLES 16 +#define AO_ADXL375_SELF_TEST_SETTLE 6 + + struct ao_adxl375_total self_test_off, self_test_on; + + /* Discard some samples to let it settle down */ + ao_adxl375_total_value(&self_test_off, AO_ADXL375_SELF_TEST_SETTLE); + + /* Get regular values */ + ao_adxl375_total_value(&self_test_off, AO_ADXL375_SELF_TEST_SAMPLES); + + /* Turn on self test */ + ao_adxl375_reg_write(AO_ADXL375_DATA_FORMAT, + AO_ADXL375_DATA_FORMAT_SETTINGS(1)); + + /* Discard at least 4 samples to let the device settle */ + ao_adxl375_total_value(&self_test_on, AO_ADXL375_SELF_TEST_SETTLE); + + /* Read self test samples */ + ao_adxl375_total_value(&self_test_on, AO_ADXL375_SELF_TEST_SAMPLES); + + /* Reset back to normal mode */ + + ao_adxl375_reg_write(AO_ADXL375_DATA_FORMAT, + AO_ADXL375_DATA_FORMAT_SETTINGS(0)); + + /* Verify Z axis value is in range */ + + int32_t z_change = self_test_on.z - self_test_off.z; + + self_test_value = z_change; + + if (z_change < min_self_test || max_self_test < z_change) + ao_sensor_errors = 1; + + /* Discard some samples to let it settle down */ + ao_adxl375_total_value(&self_test_off, AO_ADXL375_SELF_TEST_SETTLE); +} + +static int adxl375_count; + +static void +ao_adxl375(void) +{ + ao_adxl375_setup(); + for (;;) { + ao_adxl375_value(&ao_adxl375_current); + ++adxl375_count; + ao_arch_critical( + AO_DATA_PRESENT(AO_DATA_ADXL375); + AO_DATA_WAIT(); + ); + } +} + +static struct ao_task ao_adxl375_task; + +static void +ao_adxl375_dump(void) +{ + printf ("ADXL375 value %d %d %d count %d self test %d min %d max %d\n", + ao_adxl375_current.x, + ao_adxl375_current.y, + ao_adxl375_current.z, + adxl375_count, + self_test_value, + MIN_SELF_TEST, + MAX_SELF_TEST); +} + +const struct ao_cmds ao_adxl375_cmds[] = { + { ao_adxl375_dump, "A\0Display ADXL375 data" }, + { 0, NULL }, +}; + +void +ao_adxl375_init(void) +{ + ao_cmd_register(ao_adxl375_cmds); + ao_spi_init_cs(AO_ADXL375_CS_PORT, (1 << AO_ADXL375_CS_PIN)); + + ao_add_task(&ao_adxl375_task, ao_adxl375, "adxl375"); +} diff --git a/src/drivers/ao_adxl375.h b/src/drivers/ao_adxl375.h new file mode 100644 index 00000000..a1ed216d --- /dev/null +++ b/src/drivers/ao_adxl375.h @@ -0,0 +1,107 @@ +/* + * Copyright © 2018 Keith Packard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + */ + +#ifndef _AO_ADXL375_H_ +#define _AO_ADXL375_H_ + +#define AO_ADXL375_READ 0x80 /* read mode */ +#define AO_ADXL375_MULTI_BYTE 0x40 /* multi-byte mode */ + +#define AO_ADXL375_DEVID 0x00 +#define AO_ADXL375_DEVID_ID 0xe5 +#define AO_ADXL375_THRESH_SHOCK 0x1d +#define AO_ADXL375_OFSX 0x1e +#define AO_ADXL375_OFSY 0x1f +#define AO_ADXL375_OFSZ 0x20 +#define AO_ADXL375_DUR 0x21 +#define AO_ADXL375_LATENT 0x22 +#define AO_ADXL375_WINDOW 0x23 +#define AO_ADXL375_THRESH_ACT 0x24 +#define AO_ADXL375_THRESH_INACT 0x25 +#define AO_ADXL375_TIME_INACT 0x26 +#define AO_ADXL375_ACT_INACT_CTL 0x27 +#define AO_ADXL375_SHOCK_AXES 0x2a +#define AO_ADXL375_ACT_SHOCK_STATUS 0x2b +#define AO_ADXL375_BW_RATE 0x2c + +#define AO_ADXL375_BW_RATE_LOW_POWER 4 +#define AO_ADXL375_BW_RATE_RATE 0 +#define AO_ADXL375_BW_RATE_RATE_3200 0xf +#define AO_ADXL375_BW_RATE_RATE_1600 0xe +#define AO_ADXL375_BW_RATE_RATE_800 0xd +#define AO_ADXL375_BW_RATE_RATE_400 0xc +#define AO_ADXL375_BW_RATE_RATE_200 0xb +#define AO_ADXL375_BW_RATE_RATE_100 0xa +#define AO_ADXL375_BW_RATE_RATE_50 0x9 +#define AO_ADXL375_BW_RATE_RATE_25 0x8 +#define AO_ADXL375_BW_RATE_RATE_12_5 0x7 +#define AO_ADXL375_BW_RATE_RATE_6_25 0x6 +#define AO_ADXL375_BW_RATE_RATE_3_13 0x5 +#define AO_ADXL375_BW_RATE_RATE_1_56 0x4 +#define AO_ADXL375_BW_RATE_RATE_0_78 0x3 +#define AO_ADXL375_BW_RATE_RATE_0_39 0x2 +#define AO_ADXL375_BW_RATE_RATE_0_20 0x1 +#define AO_ADXL375_BW_RATE_RATE_0_10 0x0 + +#define AO_ADXL375_POWER_CTL 0x2d +#define AO_ADXL375_POWER_CTL_LINK 5 +#define AO_ADXL375_POWER_CTL_AUTO_SLEEP 4 +#define AO_ADXL375_POWER_CTL_MEASURE 3 +#define AO_ADXL375_POWER_CTL_SLEEP 2 +#define AO_ADXL375_POWER_CTL_WAKEUP 0 +#define AO_ADXL375_POWER_CTL_WAKEUP_8 0 +#define AO_ADXL375_POWER_CTL_WAKEUP_4 1 +#define AO_ADXL375_POWER_CTL_WAKEUP_2 2 +#define AO_ADXL375_POWER_CTL_WAKEUP_1 3 + +#define AO_ADXL375_INT_ENABLE 0x2e +#define AO_ADXL375_INT_MAP 0x2f +#define AO_ADXL375_INT_SOURCE 0x30 +#define AO_ADXL375_DATA_FORMAT 0x31 +# define AO_ADXL375_DATA_FORMAT_FIXED 0x0b /* these bits must be set to 1 */ +# define AO_ADXL375_DATA_FORMAT_SELF_TEST 7 +# define AO_ADXL375_DATA_FORMAT_SPI 6 +# define AO_ADXL375_DATA_FORMAT_SPI_3_WIRE 0 +# define AO_ADXL375_DATA_FORMAT_SPI_4_WIRE 1 +# define AO_ADXL375_DATA_FORMAT_INT_INVERT 5 +# define AO_ADXL375_DATA_FORMAT_JUSTIFY 2 +#define AO_ADXL375_DATAX0 0x32 +#define AO_ADXL375_DATAX1 0x33 +#define AO_ADXL375_DATAY0 0x34 +#define AO_ADXL375_DATAY1 0x35 +#define AO_ADXL375_DATAZ0 0x36 +#define AO_ADXL375_DATAZ1 0x37 +#define AO_ADXL375_FIFO_CTL 0x38 +#define AO_ADXL375_FIFO_CTL_FIFO_MODE 6 +#define AO_ADXL375_FIFO_CTL_FIFO_MODE_BYPASS 0 +#define AO_ADXL375_FIFO_CTL_FIFO_MODE_FIFO 1 +#define AO_ADXL375_FIFO_CTL_FIFO_MODE_STREAM 2 +#define AO_ADXL375_FIFO_CTL_FIFO_MODE_TRIGGER 3 +#define AO_ADXL375_FIFO_CTL_TRIGGER 5 +#define AO_ADXL375_FIFO_CTL_SAMPLES 0 + +#define AO_ADXL375_FIFO_STATUS 0x39 + +struct ao_adxl375_sample { + int16_t x; + int16_t y; + int16_t z; +}; + +extern struct ao_adxl375_sample ao_adxl375_current; + +void +ao_adxl375_init(void); + +#endif /* _AO_ADXL375_H_ */ diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h index 97f7e06e..3918f4e0 100644 --- a/src/kernel/ao_data.h +++ b/src/kernel/ao_data.h @@ -62,9 +62,16 @@ #define AO_DATA_MMA655X 0 #endif +#if HAS_ADXL375 +#include +#define AO_DATA_ADXL375 (1 << 4) +#else +#define AO_DATA_ADXL375 0 +#endif + #ifdef AO_DATA_RING -#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X|AO_DATA_MPU9250) +#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X|AO_DATA_MPU9250|AO_DATA_ADXL375) struct ao_data { uint16_t tick; @@ -90,6 +97,9 @@ struct ao_data { #if HAS_MMA655X uint16_t mma655x; #endif +#if HAS_ADXL375 + struct ao_adxl375_sample adxl375; +#endif }; #define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1)) @@ -293,6 +303,27 @@ typedef int16_t accel_t; #endif +#if !HAS_ACCEL && HAS_ADXL375 + +#define HAS_ACCEL 1 + +typedef int16_t accel_t; + +#ifndef AO_ADXL375_INVERT +#error AO_ADXL375_INVERT not defined +#endif + +#define ao_data_accel(packet) ((packet)->adxl375.AO_ADXL375_AXIS) +#if AO_ADXL375_INVERT +#define ao_data_accel_cook(packet) (-ao_data_accel(packet)) +#else +#define ao_data_accel_cook(packet) ao_data_accel(packet) +#endif +#define ao_data_set_accel(packet, accel) (ao_data_accel(packet) = (accel)) +#define ao_data_accel_invert(accel) (-(accel)) + +#endif /* HAS_ADXL375 */ + #if !HAS_ACCEL && HAS_MPU6000 #define HAS_ACCEL 1 @@ -419,6 +450,9 @@ ao_data_fill(int head) { #endif #if HAS_MPU9250 ao_data_ring[head].mpu9250 = ao_mpu9250_current; +#endif +#if HAS_ADXL375 + ao_data_ring[head].adxl375 = ao_adxl375_current; #endif ao_data_ring[head].tick = ao_tick_count; ao_data_head = ao_data_ring_next(head);