Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
adxl345_i2c.c
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2011 Gautier Hattenberger <gautier.hattenberger@enac.fr>
3  * 2013 Felix Ruess <felix.ruess@gmail.com>
4  *
5  * This file is part of paparazzi.
6  *
7  * paparazzi is free software; you can redistribute it and/or modify
8  * it under the terms of the GNU General Public License as published by
9  * the Free Software Foundation; either version 2, or (at your option)
10  * any later version.
11  *
12  * paparazzi is distributed in the hope that it will be useful,
13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15  * GNU General Public License for more details.
16  *
17  * You should have received a copy of the GNU General Public License
18  * along with paparazzi; see the file COPYING. If not, write to
19  * the Free Software Foundation, 59 Temple Place - Suite 330,
20  * Boston, MA 02111-1307, USA.
21  */
22 
31 #include "std.h"
32 
33 #define ADXL345_DATA_FORMAT ((adxl->config.int_invert<<5)|(adxl->config.full_res<<3)|(adxl->config.justify_msb<<2)|(adxl->config.range))
34 
35 
36 void adxl345_i2c_init(struct Adxl345_I2c *adxl, struct i2c_periph *i2c_p, uint8_t addr)
37 {
38  /* set i2c_peripheral */
39  adxl->i2c_p = i2c_p;
40  /* set i2c address */
41  adxl->i2c_trans.slave_addr = addr;
43  /* set default config options */
45  adxl->initialized = FALSE;
47 }
48 
49 static void adxl345_i2c_tx_reg(struct Adxl345_I2c *adxl, uint8_t reg, uint8_t val)
50 {
51  adxl->i2c_trans.type = I2CTransTx;
52  adxl->i2c_trans.buf[0] = reg;
53  adxl->i2c_trans.buf[1] = val;
54  adxl->i2c_trans.len_r = 0;
55  adxl->i2c_trans.len_w = 2;
56  i2c_submit(adxl->i2c_p, &(adxl->i2c_trans));
57 }
58 
59 // Configuration function called once before normal use
60 static void adxl345_i2c_send_config(struct Adxl345_I2c *adxl)
61 {
62  switch (adxl->init_status) {
63  case ADXL_CONF_RATE:
65  adxl->init_status++;
66  break;
67  case ADXL_CONF_INT:
69  adxl->init_status++;
70  break;
71  case ADXL_CONF_FORMAT:
73  adxl->init_status++;
74  break;
75  case ADXL_CONF_ENABLE:
76  /* enable measurement, is in standby after power up */
78  adxl->init_status++;
79  break;
80  case ADXL_CONF_DONE:
81  adxl->initialized = TRUE;
83  break;
84  default:
85  break;
86  }
87 }
88 
91 {
92  if (adxl->init_status == ADXL_CONF_UNINIT) {
93  adxl->init_status++;
94  if (adxl->i2c_trans.status == I2CTransSuccess || adxl->i2c_trans.status == I2CTransDone) {
96  }
97  }
98 }
99 
100 // Normal reading
101 void adxl345_i2c_read(struct Adxl345_I2c *adxl)
102 {
103  if (adxl->initialized && adxl->i2c_trans.status == I2CTransDone) {
104  adxl->i2c_trans.buf[0] = ADXL345_REG_DATA_X0;
105  adxl->i2c_trans.type = I2CTransTxRx;
106  adxl->i2c_trans.len_r = 6;
107  adxl->i2c_trans.len_w = 1;
108  i2c_submit(adxl->i2c_p, &(adxl->i2c_trans));
109  }
110 }
111 
112 #define Int16FromBuf(_buf,_idx) ((int16_t)((_buf[_idx+1]<<8) | _buf[_idx]))
113 
114 void adxl345_i2c_event(struct Adxl345_I2c *adxl)
115 {
116  if (adxl->initialized) {
117  if (adxl->i2c_trans.status == I2CTransFailed) {
118  adxl->i2c_trans.status = I2CTransDone;
119  }
120  else if (adxl->i2c_trans.status == I2CTransSuccess) {
121  // Successfull reading
122  adxl->data.vect.x = Int16FromBuf(adxl->i2c_trans.buf,0);
123  adxl->data.vect.y = Int16FromBuf(adxl->i2c_trans.buf,2);
124  adxl->data.vect.z = Int16FromBuf(adxl->i2c_trans.buf,4);
125  adxl->data_available = TRUE;
126  adxl->i2c_trans.status = I2CTransDone;
127  }
128  }
129  else if (adxl->init_status != ADXL_CONF_UNINIT) { // Configuring but not yet initialized
130  if (adxl->i2c_trans.status == I2CTransSuccess || adxl->i2c_trans.status == I2CTransDone) {
131  adxl->i2c_trans.status = I2CTransDone;
133  }
134  if (adxl->i2c_trans.status == I2CTransFailed) {
135  adxl->init_status--;
136  adxl->i2c_trans.status = I2CTransDone;
137  adxl345_i2c_send_config(adxl); // Retry config (TODO max retry)
138  }
139  }
140 }
bool_t i2c_submit(struct i2c_periph *p, struct i2c_transaction *t)
Definition: i2c_arch.c:333
struct i2c_transaction i2c_trans
Definition: adxl345_i2c.h:41
enum Adxl345ConfStatus init_status
init status
Definition: adxl345_i2c.h:42
void adxl345_i2c_start_configure(struct Adxl345_I2c *adxl)
Start configuration if not already done.
Definition: adxl345_i2c.c:90
bool_t initialized
config done flag
Definition: adxl345_i2c.h:43
#define ADXL345_REG_INT_ENABLE
Definition: adxl345_regs.h:38
struct Int16Vect3 vect
data vector in accel coordinate system
Definition: adxl345_i2c.h:46
uint8_t slave_addr
Definition: i2c.h:79
#define FALSE
Definition: imu_chimu.h:141
#define ADXL345_REG_BW_RATE
Definition: adxl345_regs.h:36
void adxl345_i2c_event(struct Adxl345_I2c *adxl)
Definition: adxl345_i2c.c:114
uint16_t val[TCOUPLE_NB]
void adxl345_i2c_read(struct Adxl345_I2c *adxl)
Definition: adxl345_i2c.c:101
static void adxl345_i2c_send_config(struct Adxl345_I2c *adxl)
Definition: adxl345_i2c.c:60
#define ADXL345_REG_DATA_FORMAT
Definition: adxl345_regs.h:39
enum I2CTransactionStatus status
Definition: i2c.h:83
static void adxl345_i2c_tx_reg(struct Adxl345_I2c *adxl, uint8_t reg, uint8_t val)
Definition: adxl345_i2c.c:49
void adxl345_i2c_init(struct Adxl345_I2c *adxl, struct i2c_periph *i2c_p, uint8_t addr)
Definition: adxl345_i2c.c:36
#define Int16FromBuf(_buf, _idx)
Definition: adxl345_i2c.c:112
#define TRUE
Definition: imu_chimu.h:144
volatile uint8_t buf[I2C_BUF_LEN]
Definition: i2c.h:82
uint8_t len_w
Definition: i2c.h:81
uint16_t len_r
Definition: i2c.h:80
unsigned char uint8_t
Definition: types.h:14
static void adxl345_set_default_config(struct Adxl345Config *c)
Definition: adxl345.h:56
struct i2c_periph * i2c_p
Definition: adxl345_i2c.h:40
enum Adxl345Rates rate
Data Output Rate.
Definition: adxl345.h:53
Definition: i2c.h:90
Definition: i2c.h:45
#define ADXL345_REG_POWER_CTL
Definition: adxl345_regs.h:37
enum I2CTransactionType type
Definition: i2c.h:78
#define ADXL345_DATA_FORMAT
Definition: adxl345_i2c.c:33
struct Adxl345Config config
Definition: adxl345_i2c.h:49
bool_t drdy_int_enable
Enable Data Ready Interrupt.
Definition: adxl345.h:46
union Adxl345_I2c::@17 data
Driver for the accelerometer ADXL345 from Analog Devices using I2C.
#define ADXL345_REG_DATA_X0
Definition: adxl345_regs.h:40
volatile bool_t data_available
data ready flag
Definition: adxl345_i2c.h:44