ADXL345 Driver

/* Project: ADXL345 Demo Functions: Page rotation, shake detection and single / double tap detection Hardware platform: ADuC7026EVB and ADXL345EVB Development tool: Keil UV3 Designed by: Nicolle Jia, CAST team, ADI Version: V1.0 Data: 2008.5.29 */ #include "ADuC7026.h" #include "I2C_Master.h" //Reigster of ADXL345 unsigned char DataX1, DataX2, DataY1, DataY2, DataZ1, DataZ2; //High byte and Low byte of Data register of X, Y, Z unsigned int DataX, DataY, DataZ; //Word of Data register of X, Y, Z unsigned char DevID; //Device ID unsigned char Interrupt; //Status; 01-Left, 02-Right, 03-Up, 04-Down, 05-Top, 06-Bottom, 08-Forward, 10-Backward, 20-Single Tap, 40-Double Tap unsigned char RotateStatus, LastRotateStatus; unsigned char TapStatus; unsigned char ShakeStatus, LastShakeStatus, ShakeDetectStep; //Counters unsigned int RotateCounter; unsigned int TapCounter; unsigned int ShakeDetectCounter, ShakeStopCounter; //Start flag unsigned char IsStart; //Uart put char, send Data directly void PutChar( char Data) { COMTX=Data; while(!(0x020==(COMSTA0 & 0x020))) {;} } //Uart display char, send HEX of Data void DisplayChar( char Data) { unsigned char Temp; Temp=Data>>4; //Send high byte if(Temp<0x0A) { COMTX=0x30+Temp; } else { COMTX='\A'-0x0A+Temp; } while(!(0x020==(COMSTA0 & 0x020))) {;} Temp=Data&0x0F; //Send low byte if(Temp<0x0A) { COMTX=0x30+Temp; } else { COMTX='\A'-0x0A+Temp; } while(!(0x020==(COMSTA0 & 0x020))) {;} } //Uart interrupt service function, implement the communication with PC demo software void IRQ_Handler() __irq { unsigned char UartDataReceived; // Received Data unsigned char UartInterrupt; // Interrupt status UartInterrupt =COMIID0 ; if(UartInterrupt==0x04)//Has Received a Data { UartDataReceived=COMRX; //Get received data if(UartDataReceived==0xAA) //Test connection by sending out device ID { COMTX=DevID; } if(UartDataReceived==0x55) //Start command { IsStart=0x01; } if(UartDataReceived==0xA5) //Stop command { IsStart=0x00; } } /* else if(UartInterrupt==0x02) // Has Send a Data { // Nothing to do } */ } //ADuC7026 UART initialization void UART_Initiate() { // Setup tx & rx pins on P1.0 and P1.1 GP1CON = 0x2211; // I2C on P1.2 and P1.3 Setup tx & rx pins on P1.0 and P1.1 for UART //Initiate the UART Port to 115200bps POWKEY1 = 0x01; //Start PLL setting,changeless POWCON=0x00; POWKEY2 = 0xF4; //Finish PLL setting,changeless COMCON0 = 0x80; // Setting DLAB COMDIV0 = 0x0B; // Setting DIV0 and DIV1 to DL calculated COMDIV1 = 0x00; COMCON0 = 0x07; // Clearing DLAB // fractional divider COMDIV2 = 0x883E; // M=1 // N=01101010101 =853 // M+N/2048 =1.4165 //41.78MHz/(16*2*2^CD*DL*(M+N/2048)) //CD=0 DL=0B=11 //115.2Kbps M+N/2048 =1.0303 M=1, N= 62=0x3EH=000 0011 1110 //comdiv2=0x883E //Enable UART interrupt COMIEN0=0x03; IRQEN = 0x4000; } //ADuC7026 I2C1 initialization void I2C1_Initiate() { //Initiate the I2C1 Port to 400kbps GP1CON = 0x2211; // I2C on P1.2 and P1.3 Setup tx & rx pins on P1.0 and P1.1 for UART I2C1CFG = 0x82; // Master Enable & Enable Generation of Master Clock // I2C-Master setup I2C1DIV = 0x3232; // 0x3232 = 400kHz // 0xCFCF = 100kHz //Enable I2C1 Master Interupt FIQEN |= SM_MASTER1_BIT; } //ADuc7026 initialization, UART and I2C1 void ADuC7026_Initiate(void) { UART_Initiate(); I2C1_Initiate(); } //ADXL345 initialization, register configuration void ADXL345_Initiate() { I2C_WRITE_REGISTER(0x2D,0x08); //Power CTL: Measure mode I2C_WRITE_REGISTER(0x2C,0x0C); //Rate: 200Hz I2C_WRITE_REGISTER(0x31,0x01); //Data Format: 8g right justified 128=1g //I2C_WRITE_REGISTER(0x2E,0xE0); //Int En: Data Rdy, Single Tap, Doulbe Tap I2C_WRITE_REGISTER(0x2E,0xE4); //Int En: Data Rdy, Single Tap, Doulbe Tap,Free fall I2C_WRITE_REGISTER(0x2A,0x01); //Z Axis Tap I2C_WRITE_REGISTER(0x1D,0x20); //Tap Threshold: 2G; I2C_WRITE_REGISTER(0x28,0x09); //FreeFall Threshold: 300mg; I2C_WRITE_REGISTER(0x29,0x14); //FreeFall Timing:100ms I2C_WRITE_REGISTER(0x21,0x50); //Dur:50ms I2C_WRITE_REGISTER(0x22,0x20); //Latent: 40ms I2C_WRITE_REGISTER(0x23,0xF0); //Window: 300ms } //Delay void Delay(unsigned int Time1, unsigned int Timer2) { unsigned int i, j, k=0xFFFF; for(i=0;i<Time1;i++) { for(j=0; j<Timer2; j++) while(k>0) k--; } } void main(void) { ADuC7026_Initiate(); //ADuC7026 Initialization ADXL345_Initiate(); //ADXL345 Initialization //Variables initialization IsStart=0x00; //Variables for shake detection ShakeStatus=0x00; LastShakeStatus=0x00; ShakeDetectStep=0x00; ShakeDetectCounter=0; ShakeStopCounter=0; //Variables for Page Rotation RotateStatus=0x00; LastRotateStatus=0x00; RotateCounter=0; //Variables for Tap TapStatus=0x00; TapCounter=0; DevID=(unsigned char)I2C_READ_REGISTER(0x00); //get device ID first I2C_READ_REGISTER(0x30); //clear interrupt; while(1) //Endless loop { if(IsStart==0x01) // Start { Interrupt=(unsigned char)I2C_READ_REGISTER(0x30); // get interrupt status // Double Tap //if((Interrupt&0x20)==0x20) //Double Tap interrupt if((Interrupt&0x04)==0x04) //freefall interrupt { //if((RotateStatus==0x05) && (LastRotateStatus==0x05) ) // double tap function is available only when RotateStatus==Top //{ //if(TapStatus==0x00) // no tap interrupt asserted before //{ TapStatus=0x40; // double tap assert TapCounter=0x00; // clear time counter, PutChar(TapStatus); // send status to PC demo //} //} } else { if(TapCounter>=75) // wait for time counter overflow, then clear TapStatus, { TapStatus=0x00; // clear TapStatus TapCounter=0x00; // clear time counter, PutChar(TapStatus); // send status to PC demo } else TapCounter++; } //Single Tap, process method is similar with Double Tap if((Interrupt&0x40)==0x40) //Single Tap interrupt, { if((RotateStatus==0x05) && (LastRotateStatus==0x05) ) { if(TapStatus==0x00) { TapStatus=0x20; TapCounter=0x00; PutChar(TapStatus); } } } else { if(TapCounter>=75) { TapStatus=0x00; TapCounter=0x00; PutChar(TapStatus); } else TapCounter++; } if((Interrupt&0x80)==0x80) // Data Rdy interrupt, get X Y Z data for shake and rotate function { // Get high byte and low byte data of X Y Z, and combine into Word DataX1=(unsigned char)I2C_READ_REGISTER(0x32); DataX2=(unsigned char)I2C_READ_REGISTER(0x33); DataY1=(unsigned char)I2C_READ_REGISTER(0x34); DataY2=(unsigned char)I2C_READ_REGISTER(0x35); DataZ1=(unsigned char)I2C_READ_REGISTER(0x36); DataZ2=(unsigned char)I2C_READ_REGISTER(0x37); DataX=DataX2; DataX=(DataX<<8) | DataX1; DataY=DataY2; DataY=(DataY<<8) | DataY1; DataZ=DataZ2; DataZ=(DataZ<<8) | DataZ1; //Rotate: Judgement methods for Right, left, Up, Down, Top, Bottom are same, only take "Down" for a detail example // note that: the rotate status is related with the assemble direction of the ADXL345EVB // Down: 0.7G < Y < 1.3G -0.5G < X <0.5G -0.5G < Z <0.5G if( (DataY < 0xA6) && (DataY > 0x5A) && ((DataX <0x40) || (DataX >0xFFBF)) && ((DataZ <0x40) || (DataZ >0xFFBF)) ) { if(LastRotateStatus==0x04)