329 lines
8.7 KiB
C
329 lines
8.7 KiB
C
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/*
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* Acc_ADXL355.c
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*
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* Created on: July 12, 2020
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* Author: lqh
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*/
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#include "Acc_ADXL355.h"
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#include "main.h"
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/* ADXL355 registers addresses */
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#define ADXL355_DEVID_AD 0x00
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#define ADXL355_DEVID_MST 0x01
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#define ADXL355_PARTID 0x02
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#define ADXL355_REVID 0x03
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#define ADXL355_STATUS 0x04
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#define ADXL355_FIFO_ENTRIES 0x05
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#define ADXL355_TEMP2 0x06
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#define ADXL355_TEMP1 0x07
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#define ADXL355_XDATA3 0x08
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#define ADXL355_XDATA2 0x09
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#define ADXL355_XDATA1 0x0A
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#define ADXL355_YDATA3 0x0B
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#define ADXL355_YDATA2 0x0C
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#define ADXL355_YDATA1 0x0D
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#define ADXL355_ZDATA3 0x0E
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#define ADXL355_ZDATA2 0x0F
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#define ADXL355_ZDATA1 0x10
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#define ADXL355_FIFO_DATA 0x11
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#define ADXL355_OFFSET_X_H 0x1E
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#define ADXL355_OFFSET_X_L 0x1F
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#define ADXL355_OFFSET_Y_H 0x20
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#define ADXL355_OFFSET_Y_L 0x21
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#define ADXL355_OFFSET_Z_H 0x22
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#define ADXL355_OFFSET_Z_L 0x23
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#define ADXL355_ACT_EN 0x24
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#define ADXL355_ACT_THRESH_H 0x25
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#define ADXL355_ACT_THRESH_L 0x26
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#define ADXL355_ACT_COUNT 0x27
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#define ADXL355_FILTER 0x28
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#define ADXL355_FIFO_SAMPLES 0x29
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#define ADXL355_INT_MAP 0x2A
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#define ADXL355_SYNC 0x2B
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#define ADXL355_RANGE 0x2C
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#define ADXL355_POWER_CTL 0x2D
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#define ADXL355_SELF_TEST 0x2E
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#define ADXL355_RESET 0x2F
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/** 初始化ADXL加速度计*/
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int Acc_ADXL355_init(Acc_ADXL355_t *Acc, const char *name, SPI_DEV_t *dev,
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GPIO_EXIT_t *exti) {
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int rslt;
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uint8_t TxdBuf[4];
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uint8_t RxdBuf[4];
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uint8_t ChipId, MemsId, PartId; //Read ADXL355 Chip Infomation
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rslt = 0;
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Acc->name = name;
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Acc->_dev = dev;
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Acc->exti = exti;
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Acc->Ax = 0;
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Acc->Ay = 0;
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Acc->Az = 0;
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Acc->At = 0;
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Acc->read_cnt = 0;
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Acc->exti->cnt = 0;
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Acc->cnt = 0;
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Acc->last_cnt = 0;
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Acc->pps = 0;
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SPI_DEV_begin(Acc->_dev, -1);
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/* Quick verification test for boards */
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TxdBuf[0] = ((ADXL355_DEVID_AD << 1) | 0x01); //Read ChipId/MemsId/PartId, Lowbit = 1 means Read
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SPI_DEV_select(dev);
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SPI_DEV_transfer(dev, TxdBuf, 4, RxdBuf, 4, 2);
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SPI_DEV_unselect(dev);
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ChipId = RxdBuf[1];
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MemsId = RxdBuf[2];
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PartId = RxdBuf[3];
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//If Target Chip is ADXL355, Set Chip Range & Turn on Accelerometer Mode
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if ((ChipId == 0xAD) && (MemsId == 0x1D) && (PartId == 0xED)) {
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TxdBuf[0] = ADXL355_RANGE << 1; //Write ADXL355_POWER_CTL, Lowbit 0 means write
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TxdBuf[1] = 0x83; //RANG +-8G, High speed mode, Int1/Int2 active low
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Acc->lsb_per_g = 64000.0f;
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SPI_DEV_select(dev);
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SPI_DEV_transfer(dev, TxdBuf, 2, NULL, 0, 2);
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SPI_DEV_unselect(dev);
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//Set LowPass Filter & ODR
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TxdBuf[0] = ADXL355_FILTER << 1; //Write ADXL355_POWER_CTL, Lowbit 0 means write
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TxdBuf[1] = 0x02; //Disable HPF, LPF=250Hz, ODR=1000Hz
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SPI_DEV_select(dev);
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SPI_DEV_transfer(dev, TxdBuf, 2, NULL, 0, 2);
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SPI_DEV_unselect(dev);
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/* Turn On Meas Accelerometer Mode */
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TxdBuf[0] = ADXL355_POWER_CTL << 1; //Write ADXL355_POWER_CTL, Lowbit 0 means write
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TxdBuf[1] = 0; //STANDBY bit = 0, Means Turn on Measure Mode
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SPI_DEV_select(dev);
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SPI_DEV_transfer(dev, TxdBuf, 2, NULL, 0, 2);
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SPI_DEV_unselect(dev);
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} else {
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rslt = -1;
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}
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SPI_DEV_end(Acc->_dev);
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if (!rslt)
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{
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int i;
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float N[3];
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float Temp[1];
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TxdBuf[0] = ADXL355_SELF_TEST << 1; //Write ADXL355_POWER_CTL, Lowbit 0 means write
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TxdBuf[1] = 1; // test mode 1, test force 0
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SPI_DEV_begin(Acc->_dev, -1);
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SPI_DEV_select(Acc->_dev);
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SPI_DEV_transfer(Acc->_dev, TxdBuf, 2, NULL, 0, 2);
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SPI_DEV_unselect(Acc->_dev);
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SPI_DEV_end(Acc->_dev);
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for (i=0;i<5;++i)
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{
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HAL_Delay(5);
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Acc_ADXL355_update(Acc);
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}
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for (i=0;i<3;++i)
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{
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N[i] = 9999;
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}
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Temp[0] = 9999;
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Acc_ADXL355_read(Acc, N, Temp);
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for (i=0;i<3;++i)
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{
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if (N[i] > 0.2f || N[i] < -0.2f)
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{
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rslt |= (1>>i);
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}
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}
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if (Temp[0] > 150.0f || Temp[0] < -40.0f)
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{
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rslt |= (1>>3);
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}
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TxdBuf[0] = ADXL355_SELF_TEST << 1; //Write ADXL355_POWER_CTL, Lowbit 0 means write
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TxdBuf[1] = 3; // test mode 1, test force 0
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SPI_DEV_begin(Acc->_dev, -1);
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SPI_DEV_select(Acc->_dev);
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SPI_DEV_transfer(Acc->_dev, TxdBuf, 2, NULL, 0, 2);
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SPI_DEV_unselect(Acc->_dev);
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SPI_DEV_end(Acc->_dev);
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for (i=0;i<5;++i)
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{
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HAL_Delay(5);
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Acc_ADXL355_update(Acc);
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}
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for (i=0;i<3;++i)
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{
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N[i] = 9999;
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}
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Temp[0] = 9999;
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Acc_ADXL355_read(Acc, N, Temp);
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if (N[0] > 0.5f || N[0] < 0.2f)
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{
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rslt |= (1>>0);
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}
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if (N[1] > 0.5f || N[1] < 0.2f)
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{
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rslt |= (1>>1);
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}
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if (N[2] > 1.5f || N[2] < 1.1f)
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{
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rslt |= (1>>2);
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}
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if (Temp[0] > 150.0f || Temp[0] < -40.0f)
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{
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rslt |= (1>>3);
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}
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TxdBuf[0] = ADXL355_SELF_TEST << 1; //Write ADXL355_POWER_CTL, Lowbit 0 means write
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TxdBuf[1] = 0; // test mode 1, test force 0
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SPI_DEV_begin(Acc->_dev, -1);
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SPI_DEV_select(Acc->_dev);
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SPI_DEV_transfer(Acc->_dev, TxdBuf, 2, NULL, 0, 2);
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SPI_DEV_unselect(Acc->_dev);
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SPI_DEV_end(Acc->_dev);
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}
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return rslt;
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}
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/** 关闭ADXL355芯片 */
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bool Acc_ADXL355_Standby(Acc_ADXL355_t *Acc) {
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uint8_t TxdBuf[2];
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TxdBuf[0] = ADXL355_POWER_CTL << 1; //Write ADXL355_POWER_CTL, Lowbit 0 means write
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TxdBuf[1] = 1; //STANDBY bit = 1, turn to standby mode 待机模式
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if (!SPI_DEV_begin(Acc->_dev, 10)) {
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return false;
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}
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SPI_DEV_select(Acc->_dev);
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SPI_DEV_transfer(Acc->_dev, TxdBuf, 2, NULL, 0, 2);
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SPI_DEV_unselect(Acc->_dev);
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SPI_DEV_end(Acc->_dev);
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return true;
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}
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/** 重新启动ADXL355 */
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bool Acc_ADXL355_Awake(Acc_ADXL355_t *Acc) {
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uint8_t TxdBuf[2];
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TxdBuf[0] = ADXL355_POWER_CTL << 1; //Write ADXL355_POWER_CTL, Lowbit 0 means write
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TxdBuf[1] = 0; //STANDBY bit = 0, turn to measurement mode 测量模式
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if (!SPI_DEV_begin(Acc->_dev, 10)) {
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return false;
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}
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SPI_DEV_select(Acc->_dev);
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SPI_DEV_transfer(Acc->_dev, TxdBuf, 2, NULL, 0, 2);
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SPI_DEV_unselect(Acc->_dev);
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SPI_DEV_end(Acc->_dev);
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return true;
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}
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/** 读取ADXL355值 */
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bool Acc_ADXL355_update(Acc_ADXL355_t *Acc) {
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uint8_t TxdBuf[16];
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uint8_t RxdBuf[16];
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int i;
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int32_t TempAcceleratorData;
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bool rslt;
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if (SPI_DEV_begin(Acc->_dev, 0)) //进入临界区
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{
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TxdBuf[0] = ((ADXL355_TEMP2 << 1) | 1); //Read PARTID, Lowbit = 1 means Read
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for (i = 1; i < 12; i++) {
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TxdBuf[i] = 0xAA; //Dummy Byte 虚拟字节
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}
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SPI_DEV_select(Acc->_dev);
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rslt = SPI_DEV_transfer(Acc->_dev, TxdBuf, 12, RxdBuf, 12, 3);
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SPI_DEV_unselect(Acc->_dev);
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SPI_DEV_end(Acc->_dev); //退出临界区
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Acc->exti->cnt = 0; //中断计数清零
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if (rslt) {
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Acc->cnt++;
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taskENTER_CRITICAL();
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Acc->read_cnt++;
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//Data combination for Ax Raw Data
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TempAcceleratorData = (((RxdBuf[3] << 16) | (RxdBuf[4] << 8)
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| RxdBuf[5]) >> 4);
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if ((TempAcceleratorData & 0x00080000) != 0) //Sign-extending for raw data
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{
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TempAcceleratorData |= 0xFFF00000;
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}
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Acc->Ax += TempAcceleratorData; //Accumulated Value of ax x轴
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//Data combination for Ay Raw Data
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TempAcceleratorData = (((RxdBuf[6] << 16) | (RxdBuf[7] << 8)
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| RxdBuf[8]) >> 4);
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if ((TempAcceleratorData & 0x00080000) != 0) //Sign-extending for raw data
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{
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TempAcceleratorData |= 0xFFF00000;
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}
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Acc->Ay += TempAcceleratorData; //Accumulated Value of ay y轴
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//Data combination for Az Raw Data
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TempAcceleratorData = (((RxdBuf[9] << 16) | (RxdBuf[10] << 8)
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| RxdBuf[11]) >> 4);
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if ((TempAcceleratorData & 0x00080000) != 0) //Sign-extending for raw data
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{
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TempAcceleratorData |= 0xFFF00000;
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}
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Acc->Az += TempAcceleratorData; //Accumulated Value of az z轴
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//Data combination for Temperature Raw Data
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TempAcceleratorData = ((RxdBuf[1] << 8) | RxdBuf[2]);
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if ((TempAcceleratorData & 0x00000800) != 0) //Sign-extending for raw data
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{
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TempAcceleratorData |= 0xFFFFF000;
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}
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Acc->At += TempAcceleratorData; //Accumulated Value of Temperature 温度
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taskEXIT_CRITICAL();
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}
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} else {
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rslt = false;
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}
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return rslt;
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}
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int Acc_ADXL355_read(Acc_ADXL355_t *Acc, float N[3], float Temp[1]) {
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int cnt = Acc->read_cnt;
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if (cnt > 0) //采样次数完成，ADXL355待机，准备上报数据
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{
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taskENTER_CRITICAL();
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N[0] = Acc->Ax / (cnt * Acc->lsb_per_g); //ax
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N[1] = Acc->Ay / (cnt * Acc->lsb_per_g); //ay
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N[2] = Acc->Az / (cnt * Acc->lsb_per_g); //az
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Temp[0] = 25 - (((Acc->At / cnt) - 1852) / 9.05f); //temp
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Acc->Ax = 0;
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Acc->Ay = 0;
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Acc->Az = 0;
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Acc->At = 0;
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Acc->read_cnt = 0;
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taskEXIT_CRITICAL();
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}
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return cnt;
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}
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void Acc_ADXL355_stats(Acc_ADXL355_t *Acc) {
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Acc->pps = Acc->cnt - Acc->last_cnt;
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Acc->last_cnt = Acc->cnt;
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}
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