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/**************************************************************************************************
Filename: hal_acc.c
Revised: $Date: 2013-03-26 07:47:25 -0700 (Tue, 26 Mar 2013) $
Revision: $Revision: 33597 $
Description: Driver for the Kionix KXTI9 Accelerometer.
Copyright 2012-2013 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 “AS IS” 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 "hal_acc.h"
#include "hal_sensor.h"
#include "hal_i2c.h"
#include "hal_board_cfg.h"
/* ------------------------------------------------------------------------------------------------
* Constants
* ------------------------------------------------------------------------------------------------
*/
// Sensor I2C address
#define HAL_KXTI9_I2C_ADDRESS 0x0F
// KXTI9 register addresses
#define ACC_REG_ADDR_XOUT_HPF_L 0x00 // R
#define ACC_REG_ADDR_XOUT_HPF_H 0x01 // R
#define ACC_REG_ADDR_YOUT_HPF_L 0x02 // R
#define ACC_REG_ADDR_YOUT_HPF_H 0x03 // R
#define ACC_REG_ADDR_ZOUT_HPF_L 0x04 // R
#define ACC_REG_ADDR_ZOUT_HPF_H 0x05 // R
#define ACC_REG_ADDR_XOUT_L 0x06 // R
#define ACC_REG_ADDR_XOUT_H 0x07 // R
#define ACC_REG_ADDR_YOUT_L 0x08 // R
#define ACC_REG_ADDR_YOUT_H 0x09 // R
#define ACC_REG_ADDR_ZOUT_L 0x0A // R
#define ACC_REG_ADDR_ZOUT_H 0x0B // R
#define ACC_REG_ADDR_DCST_RESP 0x0C // R
#define ACC_REG_ADDR_WHO_AM_I 0x0F // R
#define ACC_REG_ADDR_TILT_POS_CUR 0x10 // R
#define ACC_REG_ADDR_TILT_POS_PRE 0x11 // R
#define ACC_REG_ADDR_INT_SRC_REG1 0x15 // R
#define ACC_REG_ADDR_INT_SRC_REG2 0x16 // R
#define ACC_REG_ADDR_STATUS_REG 0x18 // R
#define ACC_REG_ADDR_INT_REL 0x1A // R
#define ACC_REG_ADDR_CTRL_REG1 0x1B // R/W
#define ACC_REG_ADDR_CTRL_REG2 0x1C // R/W
#define ACC_REG_ADDR_CTRL_REG3 0x1D // R/W
#define ACC_REG_ADDR_INT_CTRL_REG1 0x1E // R/W
#define ACC_REG_ADDR_INT_CTRL_REG2 0x1F // R/W
#define ACC_REG_ADDR_INT_CTRL_REG3 0x20 // R/W
#define ACC_REG_ADDR_DATA_CTRL_REG 0x21 // R/W
#define ACC_REG_ADDR_TILT_TIMER 0x28 // R/W
#define ACC_REG_ADDR_WUF_TIMER 0x29 // R/W
#define ACC_REG_ADDR_TDT_TIMER 0x2B // R/W
#define ACC_REG_ADDR_TDT_H_THRESH 0x2C // R/W
#define ACC_REG_ADDR_TDT_L_THRESH 0x2D // R/W
#define ACC_REG_ADDR_TDT_TAP_TIMER 0x2E // R/W
#define ACC_REG_ADDR_TDT_TOTAL_TIMER 0x2F // R/W
#define ACC_REG_ADDR_TDT_LATENCY_TIMER 0x30 // R/W
#define ACC_REG_ADDR_TDT_WINDOW_TIMER 0x31 // R/W
#define ACC_REG_ADDR_BUF_CTRL1 0x32 // R/W
#define ACC_REG_ADDR_BUF_CTRL2 0x33 // R/W
#define ACC_REG_ADDR_BUF_STATUS_REG1 0x34 // R
#define ACC_REG_ADDR_BUF_STATUS_REG2 0x35 // R/W
#define ACC_REG_ADDR_BUF_CLEAR 0x36 // W
#define ACC_REG_ADDR_SELF_TEST 0x3A // R/W
#define ACC_REG_ADDR_WUF_THRESH 0x5A // R/W
#define ACC_REG_ADDR_TILT_ANGLE 0x5C // R/W
#define ACC_REG_ADDR_HYST_SET 0x5F // R/W
#define ACC_REG_ADDR_BUF_READ 0x7F // R/W
// Select register valies
#define REG_VAL_WHO_AM_I 0x08 // (data sheet says 0x04)
// CTRL1 BIT MASKS
#define ACC_REG_CTRL_PC 0x80 // Power control '1' On '0' Off
#define ACC_REG_CTRL_RES 0x40 // Resolution '1' High '0' Low
#define ACC_REG_CTRL_DRDYE 0x20 // Data Ready '1' On '0' Off
#define ACC_REG_CTRL_GSEL_HI 0x10 // Range '00' +/-2g '01' +/-4g
#define ACC_REG_CTRL_GSEL_LO 0x08 // '10' +/-8g '11' N/A
#define ACC_REG_CTRL_GSEL_TDTE 0x04 // Directional Tap '1' On '0' Off
#define ACC_REG_CTRL_GSEL_WUFE 0x02 // Wake Up '1' On '0' Off
#define ACC_REG_CTRL_GSEL_TPE 0x01 // Tilt Position '1' On '0' Off
#ifdef ACC_RANGE_8G
// Range +- 8G
#define ACC_REG_CTRL_ON ( ACC_REG_CTRL_PC | ACC_REG_CTRL_GSEL_HI)
#define ACC_REG_CTRL_OFF ( ACC_REG_CTRL_GSEL_HI)
#else
// Range +- 2G
#define ACC_REG_CTRL_ON ( ACC_REG_CTRL_PC )
#define ACC_REG_CTRL_OFF ( 0 )
#endif
/* ------------------------------------------------------------------------------------------------
* Typedefs
* ------------------------------------------------------------------------------------------------
*/
/* ------------------------------------------------------------------------------------------------
* Macros
* ------------------------------------------------------------------------------------------------
*/
/* ------------------------------------------------------------------------------------------------
* Local Functions
* ------------------------------------------------------------------------------------------------
*/
static void HalAccSelect(void);
/* ------------------------------------------------------------------------------------------------
* Local Variables
* ------------------------------------------------------------------------------------------------
*/
static uint8 accSensorConfig;
static uint8 accSensorOff;
/**************************************************************************************************
* @fn HalAccInit
*
* @brief This function initializes the HAL Accelerometer abstraction layer.
*
* @return None.
*/
void HalAccInit(void)
{
accSensorConfig = ACC_REG_CTRL_ON;
accSensorOff = ACC_REG_CTRL_OFF;
}
/**************************************************************************************************
* @fn HalAccRead
*
* @brief Read data from the accelerometer - X, Y, Z - 3 bytes
*
* @return TRUE if valid data, FALSE if not
*/
bool HalAccRead(uint8 *pBuf )
{
uint8 x;
uint8 y;
uint8 z;
bool success;
// Select this sensor
HalAccSelect();
HalSensorWriteReg(ACC_REG_ADDR_CTRL_REG1, &accSensorConfig, sizeof(accSensorConfig));
// Wait for measurement ready (appx. 1.45 ms)
ST_HAL_DELAY(180);
// Read the three registers
success = HalSensorReadReg( ACC_REG_ADDR_XOUT_H, &x, sizeof(x));
if (success)
{
success = HalSensorReadReg( ACC_REG_ADDR_YOUT_H, &y, sizeof(y));
if (success)
{
success = HalSensorReadReg( ACC_REG_ADDR_ZOUT_H, &z, sizeof(z));
}
}
if (success)
{
// Valid data
pBuf[0] = x;
pBuf[1] = y;
pBuf[2] = z;
}
HalSensorWriteReg(ACC_REG_ADDR_CTRL_REG1, &accSensorOff, sizeof(accSensorOff));
return success;
}
/**************************************************************************************************
* @fn HalAccTest
*
* @brief Run a sensor self-test
*
* @return TRUE if passed, FALSE if failed
*/
bool HalAccTest(void)
{
uint8 val;
// Select this sensor on the I2C bus
HalAccSelect();
// Check the DCST_RESP (pattern 0x55)
ST_ASSERT(HalSensorReadReg(ACC_REG_ADDR_DCST_RESP, &val, 1));
ST_ASSERT(val==0x55);
// Check the DCST_RESP (pattern 0xAA)
val = 0x10; // Sets the DCST bit
ST_ASSERT(HalSensorWriteReg(ACC_REG_ADDR_CTRL_REG3, &val, 1));
ST_ASSERT(HalSensorReadReg(ACC_REG_ADDR_DCST_RESP, &val, 1));
ST_ASSERT(val==0xAA);
// Check the WHO AM I register
ST_ASSERT(HalSensorReadReg(ACC_REG_ADDR_WHO_AM_I, &val, 1));
ST_ASSERT(val==REG_VAL_WHO_AM_I);
return TRUE;
}
/* ------------------------------------------------------------------------------------------------
* Private functions
* -------------------------------------------------------------------------------------------------
*/
/**************************************************************************************************
* @fn HalAccSelect
*
* @brief Select the accelerometer on the I2C-bus
*
* @return
*/
static void HalAccSelect(void)
{
//Set up I2C that is used to communicate with SHT21
HalI2CInit(HAL_KXTI9_I2C_ADDRESS,i2cClock_267KHZ);
}
/* Conversion algorithm for X, Y, Z
* ================================
*
float calcAccel(int8 rawX)
{
float v;
//-- calculate acceleration, unit G, range -2, +2
v = (rawX * 1.0) / (256/4);
return v;
}
*/
/*********************************************************************
*********************************************************************/