329 lines
9.7 KiB
Go
329 lines
9.7 KiB
Go
package i2c
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import (
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"encoding/binary"
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"github.com/pkg/errors"
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"gobot.io/x/gobot"
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)
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const ADXL345AddressLow = 0x53
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const ADXL345AddressHigh = 0x1D
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const (
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// Data rate
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ADXL345_RATE_3200HZ = 0x0F // 3200 Hz
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ADXL345_RATE_1600HZ = 0x0E // 1600 Hz
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ADXL345_RATE_800HZ = 0x0D // 800 Hz
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ADXL345_RATE_400HZ = 0x0C // 400 Hz
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ADXL345_RATE_200HZ = 0x0B // 200 Hz
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ADXL345_RATE_100HZ = 0x0A // 100 Hz
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ADXL345_RATE_50HZ = 0x09 // 50 Hz
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ADXL345_RATE_25HZ = 0x08 // 25 Hz
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ADXL345_RATE_12_5HZ = 0x07 // 12.5 Hz
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ADXL345_RATE_6_25HZ = 0x06 // 6.25 Hz
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ADXL345_RATE_3_13HZ = 0x05 // 3.13 Hz
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ADXL345_RATE_1_56HZ = 0x04 // 1.56 Hz
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ADXL345_RATE_0_78HZ = 0x03 // 0.78 Hz
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ADXL345_RATE_0_39HZ = 0x02 // 0.39 Hz
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ADXL345_RATE_0_20HZ = 0x01 // 0.20 Hz
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ADXL345_RATE_0_10HZ = 0x00 // 0.10 Hz
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// Data range
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ADXL345_RANGE_2G = 0x00 // +-2 g
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ADXL345_RANGE_4G = 0x01 // +-4 g
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ADXL345_RANGE_8G = 0x02 // +-8 g
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ADXL345_RANGE_16G = 0x03 // +-16 g)
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ADXL345_REG_DEVID = 0x00 // R, 11100101, Device ID
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ADXL345_REG_THRESH_TAP = 0x1D // R/W, 00000000, Tap threshold
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ADXL345_REG_OFSX = 0x1E // R/W, 00000000, X-axis offset
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ADXL345_REG_OFSY = 0x1F // R/W, 00000000, Y-axis offset
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ADXL345_REG_OFSZ = 0x20 // R/W, 00000000, Z-axis offset
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ADXL345_REG_DUR = 0x21 // R/W, 00000000, Tap duration
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ADXL345_REG_LATENT = 0x22 // R/W, 00000000, Tap latency
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ADXL345_REG_WINDOW = 0x23 // R/W, 00000000, Tap window
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ADXL345_REG_THRESH_ACT = 0x24 // R/W, 00000000, Activity threshold
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ADXL345_REG_THRESH_INACT = 0x25 // R/W, 00000000, Inactivity threshold
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ADXL345_REG_TIME_INACT = 0x26 // R/W, 00000000, Inactivity time
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ADXL345_REG_ACT_INACT_CTL = 0x27 // R/W, 00000000, Axis enable control for activity and inactiv ity detection
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ADXL345_REG_THRESH_FF = 0x28 // R/W, 00000000, Free-fall threshold
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ADXL345_REG_TIME_FF = 0x29 // R/W, 00000000, Free-fall time
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ADXL345_REG_TAP_AXES = 0x2A // R/W, 00000000, Axis control for single tap/double tap
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ADXL345_REG_ACT_TAP_STATUS = 0x2B // R, 00000000, Source of single tap/double tap
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ADXL345_REG_BW_RATE = 0x2C // R/W, 00001010, Data rate and power mode control
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ADXL345_REG_POWER_CTL = 0x2D // R/W, 00000000, Power-saving features control
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ADXL345_REG_INT_ENABLE = 0x2E // R/W, 00000000, Interrupt enable control
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ADXL345_REG_INT_MAP = 0x2F // R/W, 00000000, Interrupt mapping control
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ADXL345_REG_INT_SOUCE = 0x30 // R, 00000010, Source of interrupts
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ADXL345_REG_DATA_FORMAT = 0x31 // R/W, 00000000, Data format control
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ADXL345_REG_DATAX0 = 0x32 // R, 00000000, X-Axis Data 0
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ADXL345_REG_DATAX1 = 0x33 // R, 00000000, X-Axis Data 1
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ADXL345_REG_DATAY0 = 0x34 // R, 00000000, Y-Axis Data 0
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ADXL345_REG_DATAY1 = 0x35 // R, 00000000, Y-Axis Data 1
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ADXL345_REG_DATAZ0 = 0x36 // R, 00000000, Z-Axis Data 0
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ADXL345_REG_DATAZ1 = 0x37 // R, 00000000, Z-Axis Data 1
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ADXL345_REG_FIFO_CTL = 0x38 // R/W, 00000000, FIFO control
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ADXL345_REG_FIFO_STATUS = 0x39 // R, 00000000, FIFO status
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)
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// ADXL345Driver is the gobot driver for the digital accelerometer ADXL345
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//
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// Datasheet EN: http://www.analog.com/media/en/technical-documentation/data-sheets/ADXL345.pdf
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// Datasheet JP: http://www.analog.com/media/jp/technical-documentation/data-sheets/ADXL345_jp.pdf
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//
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// Ported from the Arduino driver https://github.com/jakalada/Arduino-ADXL345
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type ADXL345Driver struct {
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name string
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connector Connector
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connection Connection
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powerCtl adxl345PowerCtl
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dataFormat adxl345DataFormat
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bwRate adxl345BwRate
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x, y, z float64
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rawX, rawY, rawZ int16
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Config
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}
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// Internal structure for the power configuration
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type adxl345PowerCtl struct {
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link uint8
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autoSleep uint8
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measure uint8
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sleep uint8
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wakeUp uint8
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}
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// Internal structure for the sensor's data format configuration
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type adxl345DataFormat struct {
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selfTest uint8
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spi uint8
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intInvert uint8
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fullRes uint8
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justify uint8
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sensorRange uint8
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}
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// Internal structure for the sampling rate configuration
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type adxl345BwRate struct {
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lowPower uint8
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rate uint8
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}
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// NewADXL345Driver creates a new driver with specified i2c interface
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// Params:
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// conn Connector - the Adaptor to use with this Driver
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//
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// Optional params:
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// i2c.WithBus(int): bus to use with this driver
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// i2c.WithAddress(int): address to use with this driver
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//
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func NewADXL345Driver(a Connector, options ...func(Config)) *ADXL345Driver {
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m := &ADXL345Driver{
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name: gobot.DefaultName("ADXL345"),
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connector: a,
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powerCtl: adxl345PowerCtl{
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measure: 1,
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},
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dataFormat: adxl345DataFormat{
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sensorRange: ADXL345_RANGE_2G,
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},
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bwRate: adxl345BwRate{
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lowPower: 1,
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rate: ADXL345_RATE_100HZ,
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},
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Config: NewConfig(),
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}
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for _, option := range options {
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option(m)
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}
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// TODO: add commands for API
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return m
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}
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// Name returns the Name for the Driver
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func (h *ADXL345Driver) Name() string { return h.name }
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// SetName sets the Name for the Driver
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func (h *ADXL345Driver) SetName(n string) { h.name = n }
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// Connection returns the connection for the Driver
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func (h *ADXL345Driver) Connection() gobot.Connection { return h.connector.(gobot.Connection) }
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// Start initialized the adxl345
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func (h *ADXL345Driver) Start() (err error) {
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bus := h.GetBusOrDefault(h.connector.GetDefaultBus())
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address := h.GetAddressOrDefault(ADXL345AddressLow)
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h.connection, err = h.connector.GetConnection(address, bus)
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if err != nil {
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return err
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}
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if _, err := h.connection.Write([]byte{ADXL345_REG_BW_RATE, h.bwRate.toByte()}); err != nil {
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return err
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}
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if _, err := h.connection.Write([]byte{ADXL345_REG_POWER_CTL, h.powerCtl.toByte()}); err != nil {
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return err
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}
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if _, err := h.connection.Write([]byte{ADXL345_REG_DATA_FORMAT, h.dataFormat.toByte()}); err != nil {
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return err
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}
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return
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}
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// Stop adxl345
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func (h *ADXL345Driver) Stop() (err error) {
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h.powerCtl.measure = 0
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if h.connection == nil {
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return errors.New("connection not available")
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}
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if _, err := h.connection.Write([]byte{ADXL345_REG_POWER_CTL, h.powerCtl.toByte()}); err != nil {
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return err
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}
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return
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}
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// Halt returns true if devices is halted successfully
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func (h *ADXL345Driver) Halt() (err error) {
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h.Stop()
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return
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}
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// XYZ returns the adjusted x, y and z axis from the adxl345
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func (h *ADXL345Driver) XYZ() (float64, float64, float64, error) {
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err := h.update()
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return h.x, h.y, h.z, err
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}
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// XYZ returns the raw x,y and z axis from the adxl345
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func (h *ADXL345Driver) RawXYZ() (int16, int16, int16, error) {
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err := h.update()
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return h.rawX, h.rawY, h.rawZ, err
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}
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// update the cached values for the axis to avoid errors if the connection is not available (polling too frequently)
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func (h *ADXL345Driver) update() (err error) {
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if h.connection == nil {
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return errors.New("connection not available")
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}
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h.connection.Write([]byte{ADXL345_REG_DATAX0})
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buf := []byte{0, 0, 0, 0, 0, 0}
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_, err = h.connection.Read(buf)
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if err != nil {
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return
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}
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h.rawX = int16(binary.LittleEndian.Uint16(buf[0:2]))
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h.rawY = int16(binary.LittleEndian.Uint16(buf[2:4]))
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h.rawZ = int16(binary.LittleEndian.Uint16(buf[4:6]))
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h.x = h.dataFormat.ConvertToSI(h.rawX)
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h.y = h.dataFormat.ConvertToSI(h.rawY)
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h.z = h.dataFormat.ConvertToSI(h.rawZ)
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return
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}
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// SetRate change the current rate of the sensor
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func (h *ADXL345Driver) UseLowPower(power bool) (err error) {
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if power {
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h.bwRate.lowPower = 1
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} else {
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h.bwRate.lowPower = 0
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}
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if _, err := h.connection.Write([]byte{ADXL345_REG_BW_RATE, h.bwRate.toByte()}); err != nil {
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return err
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}
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return
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}
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// SetRate change the current rate of the sensor
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func (h *ADXL345Driver) SetRate(rate byte) (err error) {
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if rate <= ADXL345_RATE_3200HZ {
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return errors.New("not a valid rate")
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}
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h.bwRate.rate = rate & 0x0F
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if _, err := h.connection.Write([]byte{ADXL345_REG_BW_RATE, h.bwRate.toByte()}); err != nil {
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return err
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}
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return
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}
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// SetRange change the current range of the sensor
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func (h *ADXL345Driver) SetRange(sensorRange byte) (err error) {
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if sensorRange != ADXL345_RANGE_2G &&
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sensorRange != ADXL345_RANGE_4G &&
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sensorRange != ADXL345_RANGE_8G &&
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sensorRange != ADXL345_RANGE_16G {
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return errors.New("not a valid range")
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}
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h.dataFormat.sensorRange = sensorRange & 0x03
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if _, err := h.connection.Write([]byte{ADXL345_REG_DATA_FORMAT, h.dataFormat.toByte()}); err != nil {
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return err
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}
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return
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}
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// ConvertToSI adjusts the raw values from the adxl345 with the range configuration
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func (d *adxl345DataFormat) ConvertToSI(rawValue int16) float64 {
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switch d.sensorRange {
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case ADXL345_RANGE_2G:
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return float64(rawValue) * 2 / 512
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case ADXL345_RANGE_4G:
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return float64(rawValue) * 4 / 512
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case ADXL345_RANGE_8G:
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return float64(rawValue) * 8 / 512
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case ADXL345_RANGE_16G:
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return float64(rawValue) * 16 / 512
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default:
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return 0
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}
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}
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// toByte returns a byte from the powerCtl configuration
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func (p *adxl345PowerCtl) toByte() (bits uint8) {
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bits = 0x00
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bits = bits | (p.link << 5)
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bits = bits | (p.autoSleep << 4)
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bits = bits | (p.measure << 3)
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bits = bits | (p.sleep << 2)
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bits = bits | p.wakeUp
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return bits
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}
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// toByte returns a byte from the dataFormat configuration
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func (d *adxl345DataFormat) toByte() (bits uint8) {
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bits = 0x00
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bits = bits | (d.selfTest << 7)
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bits = bits | (d.spi << 6)
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bits = bits | (d.intInvert << 5)
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bits = bits | (d.fullRes << 3)
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bits = bits | (d.justify << 2)
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bits = bits | d.sensorRange
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return bits
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}
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// toByte returns a byte from the bwRate configuration
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func (b *adxl345BwRate) toByte() (bits uint8) {
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bits = 0x00
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bits = bits | (b.lowPower << 4)
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bits = bits | b.rate
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return bits
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}
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