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Diffstat (limited to 'include/adxl375.hpp')
| -rw-r--r-- | include/adxl375.hpp | 265 |
1 files changed, 265 insertions, 0 deletions
diff --git a/include/adxl375.hpp b/include/adxl375.hpp new file mode 100644 index 0000000..21fe82c --- /dev/null +++ b/include/adxl375.hpp @@ -0,0 +1,265 @@ +#pragma once + +#include <stdint.h> + +#include <hardware/i2c.h> + +#if ( USE_FREERTOS == 1) +#include "FreeRTOS.h" +#include "FreeRTOSConfig.h" +#include "portmacro.h" +#include "projdefs.h" +#include "serial.hpp" +#include "task.h" +#include "semphr.h" +#endif + +#define ADXL375_I2C_ADDRESS 0x1D + +// DEVID [Validation] +#define R_ADXL375_DEVID 0x00 +#define B_ADXL375_DEVID_VALUE 0xE5 + +// THRESH_SHOCK [Configuration, Threshold for shock interrupt (780mG/LSB)] +#define R_ADXL375_THRESH_SHOCK 0x1D +typedef uint8_t ADXL375_THRESH_SHOCK; + +// OFSX, OFSY, OFSZ [Configuration, User-configured offset of (0.196 g/LSB)] +#define R_ADXL375_OFFSET_X 0x1E +typedef uint8_t ADXL375_OFFSET_X; + +#define R_ADXL375_OFFSET_Y 0x1F +typedef uint8_t ADXL375_OFFSET_Y; + +#define R_ADXL375_OFFSET_Z 0x20 +typedef uint8_t ADXL375_OFFSET_Z; + +// DUR [Configuration, Time above threshold as single shock interrupt (625us/LSB)] +#define R_ADXL375_DUR 0x21 +typedef uint8_t ADXL375_DURATION; + +// LATENT [Configuration, Time after first shock interrupt second can occur (1.25ms/LSB)] +#define R_ADXL375_LATENT 0x22 +typedef uint8_t ADXL375_LATENT; + +// WINDOW [Configuration, Time after latent period second shock can begin (1.25ms/LSB)] +#define R_ADXL375_WINDOW 0x23 +typedef uint8_t ADXL375_WINDOW; + +// THRESH_ACT [Configuration, Threshold value for detecting activity (780mg/LSB)] +#define R_ADXL375_THRESH_ACT 0x24 +typedef uint8_t ADXL375_THRESH_ACT; + +// THRESH_INACT [Configuration, Threshold value for detecting inactivity (780mg/LSB)] +#define R_ADXL375_THRESH_INACT 0x25 +typedef uint8_t ADXL375_THRESH_INACT; + +// TIME_INACT [Configuration, Time below threshold as inactivity (1s/LSB)] +#define R_ADXL375_TIME_INACT 0x26 +typedef uint8_t ADXL375_TIME_INACT; + +// ACT_INACT_CTL [Configuration, Activity/Inactivity interrupts enable and AC/DC coupling] +#define R_ADXL375_ACT_INACT_CTL 0x27 +typedef union { + struct { + bool INACT_Z_ENABLE :1; + bool INACT_Y_ENABLE :1; + bool INACT_X_ENABLE :1; + bool INACT_AC_DC :1; + bool ACT_Z_ENABLE :1; + bool ACT_Y_ENABLE :1; + bool ACT_X_ENABLE :1; + bool ACT_AC_DC :1; + } fields; + uint8_t data; +} ADXL375_ACT_INACT_CTL; + +// SHOCK_AXES [Configuration, axes used in shock interrupt] +#define R_ADXL375_SHOCK_AXES 0x2A +typedef union { + struct { + bool SHOCK_Z_ENABLE :1; //Z-Axis shock interrupt enable + bool SHOCK_Y_ENABLE :1; //Y-Axis shock interrupt enable + bool SHOCK_X_ENABLE :1; //X-Axis shock interrupt enable + bool SUPPRESS :1; //Suppresses double shock detection + uint8_t RESERVED :4; //Reserved + } fields; + uint8_t data; +} ADXL375_SHOCK_AXES; + +// ACT_SHOCK_STATUS [Status, First axis involved in an activity or shock event] +#define R_ADXL375_ACT_SHOCK_STATUS 0x2B +typedef union { + struct { + bool SHOCK_Z_SOURCE :1; + bool SHOCK_Y_SOURCE :1; + bool SHOCK_X_SOURCE :1; + bool ASLEEP :1; + bool ACT_Z_SOURCE :1; + bool ACT_Y_SOURCE :1; + bool ACT_X_SOURCE :1; + bool RESERVED :1; + } fields; + uint8_t data; +} ADXL375_ACT_SHOCK_STATUS; + +// BW_RATE [Configuration, Low Power Mode and ODR] +#define R_ADXL375_BW_RATE 0x2C +typedef union { + struct { + uint8_t RATE :4; //ODR configuration + bool LOW_POWER :1; //Low-power/Normal mode configuration + uint8_t RESERVED :3; //Reserved + } fields; + uint8_t data; +} ADXL375_BW_RATE; +#define B_ADXL375_ODR_100_HZ 0x0A +#define B_ADXL375_ODR_400_HZ 0x0C +#define B_ADXL375_ODR_800_HZ 0x0D +#define B_ADXL375_ODR_3200_HZ 0x0F +#define B_ADXL375_BW_RATE_LOW_POWER_MODE 0b1 +#define B_ADXL375_BW_RATE_NORMAL_POWER_MODE 0b0 + +// POWER_CTL [State Configuration, Measurement mode (and sleep settings)] +#define R_ADXL375_POWER_CTL 0x2D +typedef union { + struct { + uint8_t WAKEUP :2; //Sampling rate control during sleep mode + bool SLEEP :1; //Sleep mode configuration + bool MEASURE :1; //Measurement/Standby mode configuration + bool AUTO_SLEEP :1; //Auto sleep function enable + bool LINK :1; //Link activity and inactivity functions + bool RESERVED :1; //Reserved + } fields; + uint8_t data; +} ADXL375_POWER_CTL; + +// INT_ENABLE [State Configuration, interrupt enabling] +#define R_ADXL375_INT_ENABLE 0x2E +typedef union { + struct { + bool OVERRUN :1; //FIFO buffer overwrite interrupt enable + bool WATERMARK :1; //??? TODO: Figure out watermark bits + bool RESERVED :1; //Reserved + bool INACTIVITY :1; //Inactivity interrupt enable + bool ACTIVITY :1; //Activity interrupt enable + bool DOUBLE_SHOCK :1; //Double shock interrupt enable + bool SINGLE_SHOCK :1; //Single shock interrupt enable + bool DATA_READY :1; //FIFO buffer new data interrupt enable + } fields; + uint8_t data; +} ADXL375_INT_ENABLE; + +// INT_MAP [Configuration, Interrupt --> Pin mapping (0 = INT1, 1 = INT2) */ +#define R_ADXL375_INT_MAP 0x2F +typedef union { + struct { + bool OVERRUN :1; //FIFO buffer overwrite interrupt + bool WATERMARK :1; //??? TODO: Figure out watermark bits + bool RESERVED :1; //Reserved + bool INACTIVITY :1; //Inactivity interrupt + bool ACTIVITY :1; //Activity interrupt + bool DOUBLE_SHOCK :1; //Double shock interrupt + bool SINGLE_SHOCK :1; //Single shock interrupt + bool DATA_READY :1; //FIFO buffer new data interrupt + } fields; + uint8_t data; +} ADXL375_INT_MAP; + +// INT_SOURCE [Status, Source of interrupt (read to clear SINGLE_SHOCK interrupt) */ +#define R_ADXL375_INT_SOURCE 0x30 +typedef union { + struct { + bool OVERRUN :1; //FIFO buffer overwrite interrupt + bool WATERMARK :1; //??? TODO: Figure out watermark bits + bool RESERVED :1; //Reserved + bool INACTIVITY :1; //Inactivity interrupt + bool ACTIVITY :1; //Activity interrupt + bool DOUBLE_SHOCK :1; //Double shock interrupt + bool SINGLE_SHOCK :1; //Single shock interrupt + bool DATA_READY :1; //FIFO buffer new data interrupt + } fields; + uint8_t data; +} ADXL375_INT_SOURCE; + +// DATA_FORMAT [Configuration, Data output style/formatting (variety of things)] */ +#define R_ADXL375_DATA_FORMAT 0x31 +typedef union { + struct { + uint8_t RESERVED :2; //Reserved + bool JUSTIFY :1; //Left(MSB)/Right(LSB, Sign extended) output justification + uint8_t RESERVED_ :2; //Reserved + bool INT_INVERT :1; //Interrupt pin polarity configuration + bool SPI :1; //SPI 3/4 wire mode configuration + bool SELF_TEST :1; //Configure self-test mode + } fields; + uint8_t data; +} ADXL375_DATA_FORMAT; +#define B_ADXL375_DATA_FORMAT_JUSTIFY_RIGHT 0b0 +#define B_ADXL375_DATA_FORMAT_JUSTIFY_LEFT 0b1 +#define B_ADXL375_DATA_FORMAT_INTERRUPT_ACTIVE_HIGH 0b0 +#define B_ADXL375_DATA_FORMAT_INTERRUPT_ACTIVE_LOW 0b1 +#define B_ADXL375_DATA_FORMAT_ENABLE_SELF_TEST 0b1 +#define B_ADXL375_DATA_FORMAT_DISABLE_SELF_TEST 0b0 + +// DATAX0-DATAZ1 [Output, 16b data for X/Y/Z (DATA_1 is MSByte, DATA_0 is LSByte) +#define R_ADXL375_DATAX0 0x32 +#define R_ADXL375_DATAX1 0x33 +#define R_ADXL375_DATAY0 0x34 +#define R_ADXL375_DATAY1 0x35 +#define R_ADXL375_DATAZ0 0x36 +#define R_ADXL375_DATAZ1 0x37 +#define S_ADXL375_SCALE_FACTOR 20.5 // 1 LSB / 20.5 + +#define ADXL375_SAMPLE_RATE_HZ 500 + +class ADXL375 { + public: + ADXL375(i2c_inst_t* i2c) : i2c {i2c} {}; + + void initialize(); + + void sample(); + + int16_t get_ax() { return ax; } + int16_t get_ay() { return ay; } + int16_t get_az() { return az; } + + static float scale(int16_t unscaled) { return ((float) unscaled) / S_ADXL375_SCALE_FACTOR; } + +#if (USE_FREERTOS == 1) + static void update_adxl375_task(void *pvParameters); + + TaskHandle_t update_task_handle = NULL; +#endif + + private: + const uint8_t addr = ADXL375_I2C_ADDRESS; + + i2c_inst_t* i2c; + + uint8_t buffer[16]; + + ADXL375_THRESH_SHOCK shock_threshold; + ADXL375_OFFSET_X offset_ax; + ADXL375_OFFSET_Y offset_ay; + ADXL375_OFFSET_Z offset_az; + ADXL375_DURATION shock_duration; + ADXL375_LATENT latent_shock; + ADXL375_WINDOW window_shock; + ADXL375_THRESH_ACT activity_threshold; + ADXL375_THRESH_INACT inactivity_threshold; + ADXL375_TIME_INACT inactivity_duraction; + ADXL375_ACT_INACT_CTL act_inact_ctl; + ADXL375_SHOCK_AXES shock_axes; + ADXL375_ACT_SHOCK_STATUS act_shock_status; + ADXL375_BW_RATE bw_rate; + ADXL375_POWER_CTL power_ctl; + ADXL375_INT_ENABLE int_enable; + ADXL375_INT_MAP int_map; + ADXL375_INT_SOURCE int_source; + ADXL375_DATA_FORMAT data_format; + + int16_t ax, ay, az; +}; + |