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examples/cc25xx-example/ti/BLE-CC254x/Components/hal/target/CC2541ARC/hal_accel.c

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/**************************************************************************************************
Filename: hal_accel.c
Revised: $Date: 2012-10-31 15:44:56 -0700 (Wed, 31 Oct 2012) $
Revision: $Revision: 32001 $
Description:
This file contains the declaration to the HAL Accelerometer abstraction layer
for the Kionix KXTF9 Accelerometer.
Copyright 2010-2013 Texas Instruments Incorporated. All rights reserved.
IMPORTANT: Your use of this Software is limited to those specific rights
granted under the terms of a software license agreement between the user
who downloaded the software, his/her employer (which must be your employer)
and Texas Instruments Incorporated (the "License"). You may not use this
Software unless you agree to abide by the terms of the License. The License
limits your use, and you acknowledge, that the Software may not be modified,
copied or distributed unless embedded on a Texas Instruments microcontroller
or used solely and exclusively in conjunction with a Texas Instruments radio
frequency transceiver, which is integrated into your product. Other than for
the foregoing purpose, you may not use, reproduce, copy, prepare derivative
works of, modify, distribute, perform, display or sell this Software and/or
its documentation for any purpose.
YOU FURTHER ACKNOWLEDGE AND AGREE THAT THE SOFTWARE AND DOCUMENTATION ARE
PROVIDED <EFBFBD>AS IS<EFBFBD> WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESS OR IMPLIED,
INCLUDING WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY, TITLE,
NON-INFRINGEMENT AND FITNESS FOR A PARTICULAR PURPOSE. IN NO EVENT SHALL
TEXAS INSTRUMENTS OR ITS LICENSORS BE LIABLE OR OBLIGATED UNDER CONTRACT,
NEGLIGENCE, STRICT LIABILITY, CONTRIBUTION, BREACH OF WARRANTY, OR OTHER
LEGAL EQUITABLE THEORY ANY DIRECT OR INDIRECT DAMAGES OR EXPENSES
INCLUDING BUT NOT LIMITED TO ANY INCIDENTAL, SPECIAL, INDIRECT, PUNITIVE
OR CONSEQUENTIAL DAMAGES, LOST PROFITS OR LOST DATA, COST OF PROCUREMENT
OF SUBSTITUTE GOODS, TECHNOLOGY, SERVICES, OR ANY CLAIMS BY THIRD PARTIES
(INCLUDING BUT NOT LIMITED TO ANY DEFENSE THEREOF), OR OTHER SIMILAR COSTS.
Should you have any questions regarding your right to use this Software,
contact Texas Instruments Incorporated at www.TI.com.
**************************************************************************************************/
/* ------------------------------------------------------------------------------------------------
* Includes
* ------------------------------------------------------------------------------------------------
*/
#include "comdef.h"
#include "hal_accel.h"
#include "hal_board_cfg.h"
#include "hal_drivers.h"
#include "hal_motion.h"
#include "osal.h"
/* ------------------------------------------------------------------------------------------------
* Constants
* ------------------------------------------------------------------------------------------------
*/
/* KXTF9 register addresses */
#define ACC_REG_ADDR_XOUT_HPF_L 0x00
#define ACC_REG_ADDR_XOUT_HPF_H 0x01
#define ACC_REG_ADDR_YOUT_HPF_L 0x02
#define ACC_REG_ADDR_YOUT_HPF_H 0x03
#define ACC_REG_ADDR_ZOUT_HPF_L 0x04
#define ACC_REG_ADDR_ZOUT_HPF_H 0x05
#define ACC_REG_ADDR_XOUT_L 0x06
#define ACC_REG_ADDR_XOUT_H 0x07
#define ACC_REG_ADDR_YOUT_L 0x08
#define ACC_REG_ADDR_YOUT_H 0x09
#define ACC_REG_ADDR_ZOUT_L 0x0A
#define ACC_REG_ADDR_ZOUT_H 0x0B
#define ACC_REG_ADDR_DCST_RESP 0x0C
#define ACC_REG_ADDR_WHO_AM_I 0x0F
#define ACC_REG_ADDR_TILT_POS_CUR 0x10
#define ACC_REG_ADDR_TILT_POS_PRE 0x11
#define ACC_REG_ADDR_INT_SRC_REG1 0x15
#define ACC_REG_ADDR_INT_SRC_REG2 0x16
#define ACC_REG_ADDR_STATUS_REG 0x18
#define ACC_REG_ADDR_INT_REL 0x1A
#define ACC_REG_ADDR_CTRL_REG1 0x1B
#define ACC_REG_ADDR_CTRL_REG2 0x1C
#define ACC_REG_ADDR_CTRL_REG3 0x1D
#define ACC_REG_ADDR_INT_CTRL_REG1 0x1E
#define ACC_REG_ADDR_INT_CTRL_REG2 0x1F
#define ACC_REG_ADDR_INT_CTRL_REG3 0x20
#define ACC_REG_ADDR_DATA_CTRL_REG 0x21
#define ACC_REG_ADDR_TILT_TIMER 0x28
#define ACC_REG_ADDR_WUF_TIMER 0x29
#define ACC_REG_ADDR_TDT_TIMER 0x2B
#define ACC_REG_ADDR_TDT_H_THRESH 0x2C
#define ACC_REG_ADDR_TDT_L_THRESH 0x2D
#define ACC_REG_ADDR_TAP_TIMER 0x2E
#define ACC_REG_ADDR_TDT_TOTAL_TIMER 0x2F
#define ACC_REG_ADDR_TDT_LATENCY_TIMER 0x30
#define ACC_REG_ADDR_TDT_WINDOW_TIMER 0x31
#define ACC_REG_ADDR_SELF_TEST 0x3A
#define ACC_REG_ADDR_WUF_THRESH 0x5A
#define ACC_REG_ADDR_TILT_ANGLE 0x5C
#define ACC_REG_ADDR_HYST_SET 0x5F
/* KXTF9 register field values */
#define CTRL_REG1_PC1_OPERATING_MODE 0x80
#define CTRL_REG1_PC1_STANDBY_MODE 0x00
#define CTRL_REG1_RES_12BIT 0x40
#define CTRL_REG1_RES_8BIT 0x00
#define CTRL_REG1_DRDYE_INT_ENABLED 0x20
#define CTRL_REG1_DRDYE_INT_DISABLED 0x00
#define CTRL_REG1_GSEL_8G 0x10
#define CTRL_REG1_GSEL_4G 0x08
#define CTRL_REG1_GSEL_2G 0x00
#define CTRL_REG1_TDTE_ENABLED 0x04
#define CTRL_REG1_TDTE_DISABLED 0x00
#define CTRL_REG1_WUFE_ENABLED 0x02
#define CTRL_REG1_WUFE_DISABLED 0x00
#define CTRL_REG1_TPE_ENABLED 0x01
#define CTRL_REG1_TPE_DISABLED 0x00
#define CTRL_REG3_OWUF_ODR_100HZ 0x02
#define INT_CTRL_REG1_INT_ENABLED 0x20
#define INT_CTRL_REG1_POLARITY_HIGH 0x10
#define INT_CTRL_REG2_X_AXIS_ENABLED 0x80
#define INT_CTRL_REG2_Y_AXIS_ENABLED 0x40
#define INT_CTRL_REG2_Z_AXIS_ENABLED 0x20
#define DATA_CTRL_REG_LPF_ODR_50HZ 0x02
#define DATA_CTRL_REG_LPF_ODR_100HZ 0x03
#define DATA_CTRL_REG_LPF_ODR_200HZ 0x04
#define DATA_CTRL_REG_LPF_ODR_400HZ 0x05
#define DATA_CTRL_REG_LPF_ODR_800HZ 0x06
/* The following define which port pins are being used by the accelerometer */
#define HAL_ACCEL_P1_GPIO_PINS ( BV(2) )
/* These defines indicate the direction of each pin */
#define HAL_ACCEL_P1_INPUT_PINS ( BV(2) )
/* Which pins are used for key interrupts */
#define HAL_ACCEL_P1_INTERRUPT_PINS ( BV(2) )
/* Defines for each output pin assignment */
#define HAL_ACCEL_POWER_PIN_BV ( BV(6) )
#define HAL_ACCEL_POWER_PIN P1_6
#define HAL_ACCEL_POWER_PxDIR P1DIR
#define HAL_ACCEL_POWER_PxSEL P1SEL
/* ------------------------------------------------------------------------------------------------
* Typedefs
* ------------------------------------------------------------------------------------------------
*/
/* ------------------------------------------------------------------------------------------------
* Macros
* ------------------------------------------------------------------------------------------------
*/
/* ------------------------------------------------------------------------------------------------
* Typedefs
* ------------------------------------------------------------------------------------------------
*/
typedef struct
{
uint8 addr;
uint8 data;
} halAccelConfig_t;
/* ------------------------------------------------------------------------------------------------
* Global Variables
* ------------------------------------------------------------------------------------------------
*/
static halAccelConfig_t HalAccelEnableConfigTable[] =
{
{ ACC_REG_ADDR_CTRL_REG1, 0 }, // must first set PC1 to 0 before changing configuration
{ ACC_REG_ADDR_CTRL_REG2, 0 },
{ ACC_REG_ADDR_CTRL_REG3, 0 },
{ ACC_REG_ADDR_INT_CTRL_REG1, INT_CTRL_REG1_POLARITY_HIGH },
{ ACC_REG_ADDR_INT_CTRL_REG2, 0 },
{ ACC_REG_ADDR_INT_CTRL_REG3, 0 },
{ ACC_REG_ADDR_DATA_CTRL_REG, DATA_CTRL_REG_LPF_ODR_200HZ },
{ ACC_REG_ADDR_CTRL_REG1, CTRL_REG1_PC1_OPERATING_MODE | CTRL_REG1_GSEL_2G}
};
#define HAL_ACCEL_ENABLE_CONFIG_TABLE_SIZE (sizeof(HalAccelEnableConfigTable) / sizeof(HalAccelEnableConfigTable[0]))
static halAccelConfig_t HalAccelMotionDetectConfigTable[] =
{
{ ACC_REG_ADDR_CTRL_REG1, 0 }, // must first set PC1 to 0 before changing configuration
{ ACC_REG_ADDR_CTRL_REG3, CTRL_REG3_OWUF_ODR_100HZ },
{ ACC_REG_ADDR_INT_CTRL_REG1, INT_CTRL_REG1_INT_ENABLED | INT_CTRL_REG1_POLARITY_HIGH },
{ ACC_REG_ADDR_INT_CTRL_REG2, INT_CTRL_REG2_X_AXIS_ENABLED | INT_CTRL_REG2_Y_AXIS_ENABLED | INT_CTRL_REG2_Z_AXIS_ENABLED },
{ ACC_REG_ADDR_INT_CTRL_REG3, 0 },
{ ACC_REG_ADDR_DATA_CTRL_REG, DATA_CTRL_REG_LPF_ODR_200HZ },
{ ACC_REG_ADDR_WUF_TIMER, 25 }, // since ODR is 100 Hz, this will be 250ms
{ ACC_REG_ADDR_WUF_THRESH, 0x08 }, // this is factory setting of 0.5g, but is here in case we want to change it
{ ACC_REG_ADDR_CTRL_REG1, CTRL_REG1_PC1_OPERATING_MODE | CTRL_REG1_WUFE_ENABLED | CTRL_REG1_GSEL_2G }
};
#define HAL_ACCEL_MOTION_DETECT_CONFIG_TABLE_SIZE (sizeof(HalAccelMotionDetectConfigTable) / sizeof(HalAccelMotionDetectConfigTable[0]))
static halAccelConfig_t HalAccelLowPowerConfigTable[] =
{
{ ACC_REG_ADDR_CTRL_REG1, 0 } // should put part in standby mode
};
#define HAL_ACCEL_LOW_POWER_CONFIG_TABLE_SIZE (sizeof(HalAccelLowPowerConfigTable) / sizeof(HalAccelLowPowerConfigTable[0]))
/* ------------------------------------------------------------------------------------------------
* Local Functions
* ------------------------------------------------------------------------------------------------
*/
static void halAccelProcessMotionDetectInterrupt( void );
/* ------------------------------------------------------------------------------------------------
* Local Variables
* ------------------------------------------------------------------------------------------------
*/
static halAccelCBack_t pHalAccelProcessFunction;
/**************************************************************************************************
* @fn halProcessMotionDetectInterrupt
*
* @brief Processes motion detection interrupt by informing the entity that
* enabled motion detection that it has occurred. Also disables further
* motion detection interrupts.
*
* @param
*
* @return
**************************************************************************************************/
static void halAccelProcessMotionDetectInterrupt( void )
{
/* Disable port interrupt */
P1IEN &= (uint8) ~HAL_ACCEL_P1_INTERRUPT_PINS;
/* Disable P1 interrupts */
IEN2 &= ~(BV( 4 ));
/* Set event to process motion detection not in interrupt context */
osal_set_event( Hal_TaskID, HAL_MOTION_DETECTED_EVENT );
}
/**************************************************************************************************
* @fn halAccelProcessMotionDetectEvent
*
* @brief Post interrupt motion detection event processing.
*
* @param
*
* @return
**************************************************************************************************/
void halAccelProcessMotionDetectEvent( void )
{
/* Inform application that motion was detected */
if (pHalAccelProcessFunction != NULL)
{
pHalAccelProcessFunction();
}
}
/**************************************************************************************************
* @fn HalAccelInit
*
* @brief This function initializes the HAL Accelerometer abstraction layer.
*
* input parameters
*
* None.
*
* output parameters
*
* None.
*
* @return None.
*/
void HalAccelInit( void )
{
/* Configure POWER PIN as output */
HAL_ACCEL_POWER_PxDIR |= HAL_ACCEL_POWER_PIN_BV;
/* Set POWER output high */
HAL_ACCEL_POWER_PIN = 1;
/* Configure pin function as GPIO for pins related to accelerometer */
HAL_ACCEL_POWER_PxSEL &= ~HAL_ACCEL_POWER_PIN_BV;
P1SEL &= (uint8) ~HAL_ACCEL_P1_GPIO_PINS;
/* Configure direction of pins related to accelerometer */
P1DIR &= (uint8) ~HAL_ACCEL_P1_INPUT_PINS;
/* Configure port 1 inputs (i.e. accelerometer interrupt pin) as pulldown
* to save current.
*/
P2INP |= 0x40;
/* Indicate no callback has been registered */
pHalAccelProcessFunction = NULL;
}
/**************************************************************************************************
* @fn HalAccelEnable
*
* @brief This function configures the accelerometer for operation.
*
* input parameters
*
* None.
*
* output parameters
*
* None.
*
* @return None.
*/
void HalAccelEnable( void )
{
uint8 i, dummy;
/* Ensure accelerometer is in standby mode */
HalMotionI2cWrite( HAL_MOTION_DEVICE_ACCELEROMETER,
ACC_REG_ADDR_CTRL_REG1,
&HalAccelEnableConfigTable[0].data,
1 );
/* Read INT_REL register to clear any prior accelerometer interrupts */
HalMotionI2cRead( HAL_MOTION_DEVICE_ACCELEROMETER,
ACC_REG_ADDR_INT_REL,
1,
&dummy );
/* Configure accelerometer for measurement mode */
for (i = 0; i < HAL_ACCEL_ENABLE_CONFIG_TABLE_SIZE; i++)
{
HalMotionI2cWrite( HAL_MOTION_DEVICE_ACCELEROMETER,
HalAccelEnableConfigTable[i].addr,
&HalAccelEnableConfigTable[i].data,
1 );
}
}
/**************************************************************************************************
* @fn HalAccelDisable
*
* @brief Places the Accelerometer in low power mode.
*
* input parameters
*
* None.
*
* output parameters
*
* None.
*
* @return None.
*/
void HalAccelDisable( void )
{
uint8 i;
/* Configure accelerometer for low power mode */
for (i = 0; i < HAL_ACCEL_LOW_POWER_CONFIG_TABLE_SIZE; i++)
{
HalMotionI2cWrite( HAL_MOTION_DEVICE_ACCELEROMETER,
HalAccelLowPowerConfigTable[i].addr,
&HalAccelLowPowerConfigTable[i].data,
1 );
}
}
/**************************************************************************************************
* @fn HalAccelMotionDetect
*
* @brief Places the Accelerometer in motion detection mode.
*
* input parameters
*
* @param cback - callback function to invoke if motion is detected
*
* output parameters
*
* None.
*
* @return None.
*/
void HalAccelMotionDetect( halAccelCBack_t cback )
{
uint8 i;
/* Register the callback fucntion */
pHalAccelProcessFunction = cback;
/* Configure accelerometer for motion detection mode */
for (i = 0; i < HAL_ACCEL_MOTION_DETECT_CONFIG_TABLE_SIZE; i++)
{
HalMotionI2cWrite( HAL_MOTION_DEVICE_ACCELEROMETER,
HalAccelMotionDetectConfigTable[i].addr,
&HalAccelMotionDetectConfigTable[i].data,
1 );
}
/* Clear any prior P1 interrupts */
P1IFG = (uint8) (~HAL_ACCEL_P1_INTERRUPT_PINS);
P1IF = 0;
/* Enable interrupt when motion is detected */
P1IEN |= HAL_ACCEL_P1_INTERRUPT_PINS;
/* Enable P1 interrupts */
IEN2 |= BV( 4 );
}
/***************************************************************************************************
* INTERRUPT SERVICE ROUTINES
***************************************************************************************************/
/**************************************************************************************************
* @fn halAccelPort1Isr
*
* @brief Port 1 ISR
*
* @param
*
* @return
**************************************************************************************************/
HAL_ISR_FUNCTION( halAccelPort1Isr, P1INT_VECTOR )
{
HAL_ENTER_ISR();
/* Make sure we're processing the desired interrupt */
if ((P1IFG & HAL_ACCEL_P1_INTERRUPT_PINS) && (P1IEN & HAL_ACCEL_P1_INTERRUPT_PINS))
{
halAccelProcessMotionDetectInterrupt();
}
P1IFG = 0;
P1IF = 0;
HAL_EXIT_ISR();
}
/**************************************************************************************************
*/
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