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Diffstat (limited to 'tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals')
14 files changed, 2748 insertions, 0 deletions
diff --git a/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/ADXL345/ADXL345.cpp b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/ADXL345/ADXL345.cpp new file mode 100644 index 000000000..6f9c85682 --- /dev/null +++ b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/ADXL345/ADXL345.cpp @@ -0,0 +1,405 @@ +/** + * @author Aaron Berk + * + * @section LICENSE + * + * Copyright (c) 2010 ARM Limited + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + * + * @section DESCRIPTION + * + * ADXL345, triple axis, digital interface, accelerometer. + * + * Datasheet: + * + * http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf + */ + +/** + * Includes + */ +#include "ADXL345.h" + +ADXL345::ADXL345(PinName mosi, + PinName miso, + PinName sck, + PinName cs) : spi_(mosi, miso, sck), nCS_(cs) { + + //2MHz, allowing us to use the fastest data rates. + spi_.frequency(2000000); + spi_.format(8,3); + + nCS_ = 1; + + wait_us(500); + +} + +int ADXL345::getDevId(void) { + + return oneByteRead(ADXL345_DEVID_REG); + +} + +int ADXL345::getTapThreshold(void) { + + return oneByteRead(ADXL345_THRESH_TAP_REG); + +} + +void ADXL345::setTapThreshold(int threshold) { + + oneByteWrite(ADXL345_THRESH_TAP_REG, threshold); + +} + +int ADXL345::getOffset(int axis) { + + int address = 0; + + if (axis == ADXL345_X) { + address = ADXL345_OFSX_REG; + } else if (axis == ADXL345_Y) { + address = ADXL345_OFSY_REG; + } else if (axis == ADXL345_Z) { + address = ADXL345_OFSZ_REG; + } + + return oneByteRead(address); + +} + +void ADXL345::setOffset(int axis, char offset) { + + int address = 0; + + if (axis == ADXL345_X) { + address = ADXL345_OFSX_REG; + } else if (axis == ADXL345_Y) { + address = ADXL345_OFSY_REG; + } else if (axis == ADXL345_Z) { + address = ADXL345_OFSZ_REG; + } + + return oneByteWrite(address, offset); + +} + +int ADXL345::getTapDuration(void) { + + return oneByteRead(ADXL345_DUR_REG)*625; + +} + +void ADXL345::setTapDuration(int duration_us) { + + int tapDuration = duration_us / 625; + + oneByteWrite(ADXL345_DUR_REG, tapDuration); + +} + +float ADXL345::getTapLatency(void) { + + return oneByteRead(ADXL345_LATENT_REG)*1.25; + +} + +void ADXL345::setTapLatency(int latency_ms) { + + int tapLatency = latency_ms / 1.25; + + oneByteWrite(ADXL345_LATENT_REG, tapLatency); + +} + +float ADXL345::getWindowTime(void) { + + return oneByteRead(ADXL345_WINDOW_REG)*1.25; + +} + +void ADXL345::setWindowTime(int window_ms) { + + int windowTime = window_ms / 1.25; + + oneByteWrite(ADXL345_WINDOW_REG, windowTime); + +} + +int ADXL345::getActivityThreshold(void) { + + return oneByteRead(ADXL345_THRESH_ACT_REG); + +} + +void ADXL345::setActivityThreshold(int threshold) { + + oneByteWrite(ADXL345_THRESH_ACT_REG, threshold); + +} + +int ADXL345::getInactivityThreshold(void) { + + return oneByteRead(ADXL345_THRESH_INACT_REG); + +} + +void ADXL345::setInactivityThreshold(int threshold) { + + return oneByteWrite(ADXL345_THRESH_INACT_REG, threshold); + +} + +int ADXL345::getTimeInactivity(void) { + + return oneByteRead(ADXL345_TIME_INACT_REG); + +} + +void ADXL345::setTimeInactivity(int timeInactivity) { + + oneByteWrite(ADXL345_TIME_INACT_REG, timeInactivity); + +} + +int ADXL345::getActivityInactivityControl(void) { + + return oneByteRead(ADXL345_ACT_INACT_CTL_REG); + +} + +void ADXL345::setActivityInactivityControl(int settings) { + + oneByteWrite(ADXL345_ACT_INACT_CTL_REG, settings); + +} + +int ADXL345::getFreefallThreshold(void) { + + return oneByteRead(ADXL345_THRESH_FF_REG); + +} + +void ADXL345::setFreefallThreshold(int threshold) { + + oneByteWrite(ADXL345_THRESH_FF_REG, threshold); + +} + +int ADXL345::getFreefallTime(void) { + + return oneByteRead(ADXL345_TIME_FF_REG)*5; + +} + +void ADXL345::setFreefallTime(int freefallTime_ms) { + + int freefallTime = freefallTime_ms / 5; + + oneByteWrite(ADXL345_TIME_FF_REG, freefallTime); + +} + +int ADXL345::getTapAxisControl(void) { + + return oneByteRead(ADXL345_TAP_AXES_REG); + +} + +void ADXL345::setTapAxisControl(int settings) { + + oneByteWrite(ADXL345_TAP_AXES_REG, settings); + +} + +int ADXL345::getTapSource(void) { + + return oneByteRead(ADXL345_ACT_TAP_STATUS_REG); + +} + +void ADXL345::setPowerMode(char mode) { + + //Get the current register contents, so we don't clobber the rate value. + char registerContents = oneByteRead(ADXL345_BW_RATE_REG); + + registerContents = (mode << 4) | registerContents; + + oneByteWrite(ADXL345_BW_RATE_REG, registerContents); + +} + +int ADXL345::getPowerControl(void) { + + return oneByteRead(ADXL345_POWER_CTL_REG); + +} + +void ADXL345::setPowerControl(int settings) { + + oneByteWrite(ADXL345_POWER_CTL_REG, settings); + +} + +int ADXL345::getInterruptEnableControl(void) { + + return oneByteRead(ADXL345_INT_ENABLE_REG); + +} + +void ADXL345::setInterruptEnableControl(int settings) { + + oneByteWrite(ADXL345_INT_ENABLE_REG, settings); + +} + +int ADXL345::getInterruptMappingControl(void) { + + return oneByteRead(ADXL345_INT_MAP_REG); + +} + +void ADXL345::setInterruptMappingControl(int settings) { + + oneByteWrite(ADXL345_INT_MAP_REG, settings); + +} + +int ADXL345::getInterruptSource(void){ + + return oneByteRead(ADXL345_INT_SOURCE_REG); + +} + +int ADXL345::getDataFormatControl(void){ + + return oneByteRead(ADXL345_DATA_FORMAT_REG); + +} + +void ADXL345::setDataFormatControl(int settings){ + + oneByteWrite(ADXL345_DATA_FORMAT_REG, settings); + +} + +void ADXL345::setDataRate(int rate) { + + //Get the current register contents, so we don't clobber the power bit. + char registerContents = oneByteRead(ADXL345_BW_RATE_REG); + + registerContents &= 0x10; + registerContents |= rate; + + oneByteWrite(ADXL345_BW_RATE_REG, registerContents); + +} + +void ADXL345::getOutput(int* readings){ + + char buffer[6]; + + multiByteRead(ADXL345_DATAX0_REG, buffer, 6); + + readings[0] = (int)buffer[1] << 8 | (int)buffer[0]; + readings[1] = (int)buffer[3] << 8 | (int)buffer[2]; + readings[2] = (int)buffer[5] << 8 | (int)buffer[4]; + +} + +int ADXL345::getFifoControl(void){ + + return oneByteRead(ADXL345_FIFO_CTL); + +} + +void ADXL345::setFifoControl(int settings){ + + oneByteWrite(ADXL345_FIFO_STATUS, settings); + +} + +int ADXL345::getFifoStatus(void){ + + return oneByteRead(ADXL345_FIFO_STATUS); + +} + +int ADXL345::oneByteRead(int address) { + + int tx = (ADXL345_SPI_READ | (address & 0x3F)); + int rx = 0; + + nCS_ = 0; + //Send address to read from. + spi_.write(tx); + //Read back contents of address. + rx = spi_.write(0x00); + nCS_ = 1; + + return rx; + +} + +void ADXL345::oneByteWrite(int address, char data) { + + int tx = (ADXL345_SPI_WRITE | (address & 0x3F)); + + nCS_ = 0; + //Send address to write to. + spi_.write(tx); + //Send data to be written. + spi_.write(data); + nCS_ = 1; + +} + +void ADXL345::multiByteRead(int startAddress, char* buffer, int size) { + + int tx = (ADXL345_SPI_READ | ADXL345_MULTI_BYTE | (startAddress & 0x3F)); + + nCS_ = 0; + //Send address to start reading from. + spi_.write(tx); + + for (int i = 0; i < size; i++) { + buffer[i] = spi_.write(0x00); + } + + nCS_ = 1; + +} + +void ADXL345::multiByteWrite(int startAddress, char* buffer, int size) { + + int tx = (ADXL345_SPI_WRITE | ADXL345_MULTI_BYTE | (startAddress & 0x3F)); + + nCS_ = 0; + //Send address to start reading from. + spi_.write(tx); + + for (int i = 0; i < size; i++) { + buffer[i] = spi_.write(0x00); + } + + nCS_ = 1; + +} diff --git a/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/ADXL345/ADXL345.h b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/ADXL345/ADXL345.h new file mode 100644 index 000000000..af17c5f3e --- /dev/null +++ b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/ADXL345/ADXL345.h @@ -0,0 +1,537 @@ +/** + * @author Aaron Berk + * + * @section LICENSE + * + * Copyright (c) 2010 ARM Limited + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + * + * @section DESCRIPTION + * + * ADXL345, triple axis, digital interface, accelerometer. + * + * Datasheet: + * + * http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf + */ + +#ifndef ADXL345_H +#define ADXL345_H + +/** + * Includes + */ +#include "mbed.h" + +/** + * Defines + */ +//Registers. +#define ADXL345_DEVID_REG 0x00 +#define ADXL345_THRESH_TAP_REG 0x1D +#define ADXL345_OFSX_REG 0x1E +#define ADXL345_OFSY_REG 0x1F +#define ADXL345_OFSZ_REG 0x20 +#define ADXL345_DUR_REG 0x21 +#define ADXL345_LATENT_REG 0x22 +#define ADXL345_WINDOW_REG 0x23 +#define ADXL345_THRESH_ACT_REG 0x24 +#define ADXL345_THRESH_INACT_REG 0x25 +#define ADXL345_TIME_INACT_REG 0x26 +#define ADXL345_ACT_INACT_CTL_REG 0x27 +#define ADXL345_THRESH_FF_REG 0x28 +#define ADXL345_TIME_FF_REG 0x29 +#define ADXL345_TAP_AXES_REG 0x2A +#define ADXL345_ACT_TAP_STATUS_REG 0x2B +#define ADXL345_BW_RATE_REG 0x2C +#define ADXL345_POWER_CTL_REG 0x2D +#define ADXL345_INT_ENABLE_REG 0x2E +#define ADXL345_INT_MAP_REG 0x2F +#define ADXL345_INT_SOURCE_REG 0x30 +#define ADXL345_DATA_FORMAT_REG 0x31 +#define ADXL345_DATAX0_REG 0x32 +#define ADXL345_DATAX1_REG 0x33 +#define ADXL345_DATAY0_REG 0x34 +#define ADXL345_DATAY1_REG 0x35 +#define ADXL345_DATAZ0_REG 0x36 +#define ADXL345_DATAZ1_REG 0x37 +#define ADXL345_FIFO_CTL 0x38 +#define ADXL345_FIFO_STATUS 0x39 + +//Data rate codes. +#define ADXL345_3200HZ 0x0F +#define ADXL345_1600HZ 0x0E +#define ADXL345_800HZ 0x0D +#define ADXL345_400HZ 0x0C +#define ADXL345_200HZ 0x0B +#define ADXL345_100HZ 0x0A +#define ADXL345_50HZ 0x09 +#define ADXL345_25HZ 0x08 +#define ADXL345_12HZ5 0x07 +#define ADXL345_6HZ25 0x06 + +#define ADXL345_SPI_READ 0x80 +#define ADXL345_SPI_WRITE 0x00 +#define ADXL345_MULTI_BYTE 0x60 + +#define ADXL345_X 0x00 +#define ADXL345_Y 0x01 +#define ADXL345_Z 0x02 + +/** + * ADXL345 triple axis, digital interface, accelerometer. + */ +class ADXL345 { + +public: + + /** + * Constructor. + * + * @param mosi mbed pin to use for MOSI line of SPI interface. + * @param miso mbed pin to use for MISO line of SPI interface. + * @param sck mbed pin to use for SCK line of SPI interface. + * @param cs mbed pin to use for not chip select line of SPI interface. + */ + ADXL345(PinName mosi, PinName miso, PinName sck, PinName cs); + + /** + * Read the device ID register on the device. + * + * @return The device ID code [0xE5] + */ + int getDevId(void); + + /** + * Read the tap threshold on the device. + * + * @return The tap threshold as an 8-bit number with a scale factor of + * 62.5mg/LSB. + */ + int getTapThreshold(void); + + /** + * Set the tap threshold. + * + * @param The tap threshold as an 8-bit number with a scale factor of + * 62.5mg/LSB. + */ + void setTapThreshold(int threshold); + + /** + * Get the current offset for a particular axis. + * + * @param axis 0x00 -> X-axis + * 0x01 -> Y-axis + * 0x02 -> Z-axis + * @return The current offset as an 8-bit 2's complement number with scale + * factor 15.6mg/LSB. + */ + int getOffset(int axis); + + /** + * Set the offset for a particular axis. + * + * @param axis 0x00 -> X-axis + * 0x01 -> Y-axis + * 0x02 -> Z-axis + * @param offset The offset as an 8-bit 2's complement number with scale + * factor 15.6mg/LSB. + */ + void setOffset(int axis, char offset); + + /** + * Get the tap duration required to trigger an event. + * + * @return The max time that an event must be above the tap threshold to + * qualify as a tap event, in microseconds. + */ + int getTapDuration(void); + + /** + * Set the tap duration required to trigger an event. + * + * @param duration_us The max time that an event must be above the tap + * threshold to qualify as a tap event, in microseconds. + * Time will be normalized by the scale factor which is + * 625us/LSB. A value of 0 disables the single/double + * tap functions. + */ + void setTapDuration(int duration_us); + + /** + * Get the tap latency between the detection of a tap and the time window. + * + * @return The wait time from the detection of a tap event to the start of + * the time window during which a possible second tap event can be + * detected in milliseconds. + */ + float getTapLatency(void); + + /** + * Set the tap latency between the detection of a tap and the time window. + * + * @param latency_ms The wait time from the detection of a tap event to the + * start of the time window during which a possible + * second tap event can be detected in milliseconds. + * A value of 0 disables the double tap function. + */ + void setTapLatency(int latency_ms); + + /** + * Get the time of window between tap latency and a double tap. + * + * @return The amount of time after the expiration of the latency time + * during which a second valid tap can begin, in milliseconds. + */ + float getWindowTime(void); + + /** + * Set the time of the window between tap latency and a double tap. + * + * @param window_ms The amount of time after the expiration of the latency + * time during which a second valid tap can begin, + * in milliseconds. + */ + void setWindowTime(int window_ms); + + /** + * Get the threshold value for detecting activity. + * + * @return The threshold value for detecting activity as an 8-bit number. + * Scale factor is 62.5mg/LSB. + */ + int getActivityThreshold(void); + + /** + * Set the threshold value for detecting activity. + * + * @param threshold The threshold value for detecting activity as an 8-bit + * number. Scale factor is 62.5mg/LSB. A value of 0 may + * result in undesirable behavior if the activity + * interrupt is enabled. + */ + void setActivityThreshold(int threshold); + + /** + * Get the threshold value for detecting inactivity. + * + * @return The threshold value for detecting inactivity as an 8-bit number. + * Scale factor is 62.5mg/LSB. + */ + int getInactivityThreshold(void); + + /** + * Set the threshold value for detecting inactivity. + * + * @param threshold The threshold value for detecting inactivity as an + * 8-bit number. Scale factor is 62.5mg/LSB. + */ + void setInactivityThreshold(int threshold); + + /** + * Get the time required for inactivity to be declared. + * + * @return The amount of time that acceleration must be less than the + * inactivity threshold for inactivity to be declared, in + * seconds. + */ + int getTimeInactivity(void); + + /** + * Set the time required for inactivity to be declared. + * + * @param inactivity The amount of time that acceleration must be less than + * the inactivity threshold for inactivity to be + * declared, in seconds. A value of 0 results in an + * interrupt when the output data is less than the + * threshold inactivity. + */ + void setTimeInactivity(int timeInactivity); + + /** + * Get the activity/inactivity control settings. + * + * D7 D6 D5 D4 + * +-----------+--------------+--------------+--------------+ + * | ACT ac/dc | ACT_X enable | ACT_Y enable | ACT_Z enable | + * +-----------+--------------+--------------+--------------+ + * + * D3 D2 D1 D0 + * +-------------+----------------+----------------+----------------+ + * | INACT ac/dc | INACT_X enable | INACT_Y enable | INACT_Z enable | + * +-------------+----------------+----------------+----------------+ + * + * See datasheet for details. + * + * @return The contents of the ACT_INACT_CTL register. + */ + int getActivityInactivityControl(void); + + /** + * Set the activity/inactivity control settings. + * + * D7 D6 D5 D4 + * +-----------+--------------+--------------+--------------+ + * | ACT ac/dc | ACT_X enable | ACT_Y enable | ACT_Z enable | + * +-----------+--------------+--------------+--------------+ + * + * D3 D2 D1 D0 + * +-------------+----------------+----------------+----------------+ + * | INACT ac/dc | INACT_X enable | INACT_Y enable | INACT_Z enable | + * +-------------+----------------+----------------+----------------+ + * + * See datasheet for details. + * + * @param settings The control byte to write to the ACT_INACT_CTL register. + */ + void setActivityInactivityControl(int settings); + + /** + * Get the threshold for free fall detection. + * + * @return The threshold value for free-fall detection, as an 8-bit number, + * with scale factor 62.5mg/LSB. + */ + int getFreefallThreshold(void); + + /** + * Set the threshold for free fall detection. + * + * @return The threshold value for free-fall detection, as an 8-bit number, + * with scale factor 62.5mg/LSB. A value of 0 may result in + * undesirable behavior if the free-fall interrupt is enabled. + * Values between 300 mg and 600 mg (0x05 to 0x09) are recommended. + */ + void setFreefallThreshold(int threshold); + + /** + * Get the time required to generate a free fall interrupt. + * + * @return The minimum time that the value of all axes must be less than + * the freefall threshold to generate a free-fall interrupt, in + * milliseconds. + */ + int getFreefallTime(void); + + /** + * Set the time required to generate a free fall interrupt. + * + * @return The minimum time that the value of all axes must be less than + * the freefall threshold to generate a free-fall interrupt, in + * milliseconds. A value of 0 may result in undesirable behavior + * if the free-fall interrupt is enabled. Values between 100 ms + * and 350 ms (0x14 to 0x46) are recommended. + */ + void setFreefallTime(int freefallTime_ms); + + /** + * Get the axis tap settings. + * + * D3 D2 D1 D0 + * +----------+--------------+--------------+--------------+ + * | Suppress | TAP_X enable | TAP_Y enable | TAP_Z enable | + * +----------+--------------+--------------+--------------+ + * + * (D7-D4 are 0s). + * + * See datasheet for more details. + * + * @return The contents of the TAP_AXES register. + */ + int getTapAxisControl(void); + + /** + * Set the axis tap settings. + * + * D3 D2 D1 D0 + * +----------+--------------+--------------+--------------+ + * | Suppress | TAP_X enable | TAP_Y enable | TAP_Z enable | + * +----------+--------------+--------------+--------------+ + * + * (D7-D4 are 0s). + * + * See datasheet for more details. + * + * @param The control byte to write to the TAP_AXES register. + */ + void setTapAxisControl(int settings); + + /** + * Get the source of a tap. + * + * @return The contents of the ACT_TAP_STATUS register. + */ + int getTapSource(void); + + /** + * Set the power mode. + * + * @param mode 0 -> Normal operation. + * 1 -> Reduced power operation. + */ + void setPowerMode(char mode); + + /** + * Set the data rate. + * + * @param rate The rate code (see #defines or datasheet). + */ + void setDataRate(int rate); + + /** + * Get the power control settings. + * + * See datasheet for details. + * + * @return The contents of the POWER_CTL register. + */ + int getPowerControl(void); + + /** + * Set the power control settings. + * + * See datasheet for details. + * + * @param The control byte to write to the POWER_CTL register. + */ + void setPowerControl(int settings); + + /** + * Get the interrupt enable settings. + * + * @return The contents of the INT_ENABLE register. + */ + int getInterruptEnableControl(void); + + /** + * Set the interrupt enable settings. + * + * @param settings The control byte to write to the INT_ENABLE register. + */ + void setInterruptEnableControl(int settings); + + /** + * Get the interrupt mapping settings. + * + * @return The contents of the INT_MAP register. + */ + int getInterruptMappingControl(void); + + /** + * Set the interrupt mapping settings. + * + * @param settings The control byte to write to the INT_MAP register. + */ + void setInterruptMappingControl(int settings); + + /** + * Get the interrupt source. + * + * @return The contents of the INT_SOURCE register. + */ + int getInterruptSource(void); + + /** + * Get the data format settings. + * + * @return The contents of the DATA_FORMAT register. + */ + int getDataFormatControl(void); + + /** + * Set the data format settings. + * + * @param settings The control byte to write to the DATA_FORMAT register. + */ + void setDataFormatControl(int settings); + + /** + * Get the output of all three axes. + * + * @param Pointer to a buffer to hold the accelerometer value for the + * x-axis, y-axis and z-axis [in that order]. + */ + void getOutput(int* readings); + + /** + * Get the FIFO control settings. + * + * @return The contents of the FIFO_CTL register. + */ + int getFifoControl(void); + + /** + * Set the FIFO control settings. + * + * @param The control byte to write to the FIFO_CTL register. + */ + void setFifoControl(int settings); + + /** + * Get FIFO status. + * + * @return The contents of the FIFO_STATUS register. + */ + int getFifoStatus(void); + +private: + + SPI spi_; + DigitalOut nCS_; + + /** + * Read one byte from a register on the device. + * + * @param address Address of the register to read. + * + * @return The contents of the register address. + */ + int oneByteRead(int address); + + /** + * Write one byte to a register on the device. + * + * @param address Address of the register to write to. + * @param data The data to write into the register. + */ + void oneByteWrite(int address, char data); + + /** + * Read several consecutive bytes on the device. + * + * @param startAddress The address of the first register to read from. + * @param buffer Pointer to a buffer to store data read from the device. + * @param size The number of bytes to read. + */ + void multiByteRead(int startAddress, char* buffer, int size); + + /** + * Write several consecutive bytes on the device. + * + * @param startAddress The address of the first register to write to. + * @param buffer Pointer to a buffer which contains the data to write. + * @param size The number of bytes to write. + */ + void multiByteWrite(int startAddress, char* buffer, int size); + +}; + +#endif /* ADXL345_H */ diff --git a/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/AX12/AX12.cpp b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/AX12/AX12.cpp new file mode 100644 index 000000000..ff578ec90 --- /dev/null +++ b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/AX12/AX12.cpp @@ -0,0 +1,534 @@ +/* mbed AX-12+ Servo Library + * + * Copyright (c) 2010, cstyles (http://mbed.org) + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "AX12.h" +#include "mbed.h" + +AX12::AX12(PinName tx, PinName rx, int ID, int baud) + : _ax12(tx,rx) { + _baud = baud; + _ID = ID; + _ax12.baud(_baud); + +} + +// Set the mode of the servo +// 0 = Positional (0-300 degrees) +// 1 = Rotational -1 to 1 speed +int AX12::SetMode(int mode) { + + if (mode == 1) { // set CR + SetCWLimit(0); + SetCCWLimit(0); + SetCRSpeed(0.0); + } else { + SetCWLimit(0); + SetCCWLimit(300); + SetCRSpeed(0.0); + } + return(0); +} + + +// if flag[0] is set, were blocking +// if flag[1] is set, we're registering +// they are mutually exclusive operations +int AX12::SetGoal(int degrees, int flags) { + + char reg_flag = 0; + char data[2]; + + // set the flag is only the register bit is set in the flag + if (flags == 0x2) { + reg_flag = 1; + } + + // 1023 / 300 * degrees + short goal = (1023 * degrees) / 300; +#ifdef AX12_DEBUG + printf("SetGoal to 0x%x\n",goal); +#endif + + data[0] = goal & 0xff; // bottom 8 bits + data[1] = goal >> 8; // top 8 bits + + // write the packet, return the error code + int rVal = write(_ID, AX12_REG_GOAL_POSITION, 2, data, reg_flag); + + if (flags == 1) { + // block until it comes to a halt + while (isMoving()) {} + } + return(rVal); +} + + +// Set continuous rotation speed from -1 to 1 +int AX12::SetCRSpeed(float speed) { + + // bit 10 = direction, 0 = CCW, 1=CW + // bits 9-0 = Speed + char data[2]; + + int goal = (0x3ff * abs(speed)); + + // Set direction CW if we have a negative speed + if (speed < 0) { + goal |= (0x1 << 10); + } + + data[0] = goal & 0xff; // bottom 8 bits + data[1] = goal >> 8; // top 8 bits + + // write the packet, return the error code + int rVal = write(_ID, 0x20, 2, data); + + return(rVal); +} + + +int AX12::SetCWLimit (int degrees) { + + char data[2]; + + // 1023 / 300 * degrees + short limit = (1023 * degrees) / 300; + +#ifdef AX12_DEBUG + printf("SetCWLimit to 0x%x\n",limit); +#endif + + data[0] = limit & 0xff; // bottom 8 bits + data[1] = limit >> 8; // top 8 bits + + // write the packet, return the error code + return (write(_ID, AX12_REG_CW_LIMIT, 2, data)); + +} + +int AX12::SetCCWLimit (int degrees) { + + char data[2]; + + // 1023 / 300 * degrees + short limit = (1023 * degrees) / 300; + +#ifdef AX12_DEBUG + printf("SetCCWLimit to 0x%x\n",limit); +#endif + + data[0] = limit & 0xff; // bottom 8 bits + data[1] = limit >> 8; // top 8 bits + + // write the packet, return the error code + return (write(_ID, AX12_REG_CCW_LIMIT, 2, data)); +} + + +int AX12::SetID (int CurrentID, int NewID) { + + char data[1]; + data[0] = NewID; + +#ifdef AX12_DEBUG + printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID); +#endif + + return (write(CurrentID, AX12_REG_ID, 1, data)); + +} + + +int AX12::SetBaud (int baud) { + + char data[1]; + data[0] = baud; + +#ifdef AX12_DEBUG + printf("Setting Baud rate to %d\n",baud); +#endif + + return (write(0xFE, AX12_REG_BAUD, 1, data)); + +} + + + +// return 1 is the servo is still in flight +int AX12::isMoving(void) { + + char data[1]; + read(_ID,AX12_REG_MOVING,1,data); + return(data[0]); +} + + +void AX12::trigger(void) { + + char TxBuf[16]; + char sum = 0; + +#ifdef AX12_TRIGGER_DEBUG + // Build the TxPacket first in RAM, then we'll send in one go + printf("\nTriggered\n"); + printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n"); +#endif + + TxBuf[0] = 0xFF; + TxBuf[1] = 0xFF; + + // ID - Broadcast + TxBuf[2] = 0xFE; + sum += TxBuf[2]; + +#ifdef AX12_TRIGGER_DEBUG + printf(" ID : %d\n",TxBuf[2]); +#endif + + // Length + TxBuf[3] = 0x02; + sum += TxBuf[3]; + +#ifdef AX12_TRIGGER_DEBUG + printf(" Length %d\n",TxBuf[3]); +#endif + + // Instruction - ACTION + TxBuf[4] = 0x04; + sum += TxBuf[4]; + +#ifdef AX12_TRIGGER_DEBUG + printf(" Instruction 0x%X\n",TxBuf[5]); +#endif + + // Checksum + TxBuf[5] = 0xFF - sum; +#ifdef AX12_TRIGGER_DEBUG + printf(" Checksum 0x%X\n",TxBuf[5]); +#endif + + // Transmit the packet in one burst with no pausing + for (int i = 0; i < 6 ; i++) { + _ax12.putc(TxBuf[i]); + } + + // This is a broadcast packet, so there will be no reply + return; +} + + +float AX12::GetPosition(void) { + +#ifdef AX12_DEBUG + printf("\nGetPosition(%d)",_ID); +#endif + + char data[2]; + + int ErrorCode = read(_ID, AX12_REG_POSITION, 2, data); + short position = data[0] + (data[1] << 8); + float angle = (position * 300)/1024; + + return (angle); +} + + +float AX12::GetTemp (void) { + +#ifdef AX12_DEBUG + printf("\nGetTemp(%d)",_ID); +#endif + + char data[1]; + int ErrorCode = read(_ID, AX12_REG_TEMP, 1, data); + float temp = data[0]; + return(temp); +} + + +float AX12::GetVolts (void) { + +#ifdef AX12_DEBUG + printf("\nGetVolts(%d)",_ID); +#endif + + char data[1]; + int ErrorCode = read(_ID, AX12_REG_VOLTS, 1, data); + float volts = data[0]/10.0; + return(volts); +} + + +int AX12::read(int ID, int start, int bytes, char* data) { + + char PacketLength = 0x4; + char TxBuf[16]; + char sum = 0; + char Status[16]; + + Status[4] = 0xFE; // return code + +#ifdef AX12_READ_DEBUG + printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes); +#endif + + // Build the TxPacket first in RAM, then we'll send in one go +#ifdef AX12_READ_DEBUG + printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n"); +#endif + + TxBuf[0] = 0xff; + TxBuf[1] = 0xff; + + // ID + TxBuf[2] = ID; + sum += TxBuf[2]; + +#ifdef AX12_READ_DEBUG + printf(" ID : %d\n",TxBuf[2]); +#endif + + // Packet Length + TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes) + sum += TxBuf[3]; // Accululate the packet sum + +#ifdef AX12_READ_DEBUG + printf(" Length : 0x%x\n",TxBuf[3]); +#endif + + // Instruction - Read + TxBuf[4] = 0x2; + sum += TxBuf[4]; + +#ifdef AX12_READ_DEBUG + printf(" Instruction : 0x%x\n",TxBuf[4]); +#endif + + // Start Address + TxBuf[5] = start; + sum += TxBuf[5]; + +#ifdef AX12_READ_DEBUG + printf(" Start Address : 0x%x\n",TxBuf[5]); +#endif + + // Bytes to read + TxBuf[6] = bytes; + sum += TxBuf[6]; + +#ifdef AX12_READ_DEBUG + printf(" No bytes : 0x%x\n",TxBuf[6]); +#endif + + // Checksum + TxBuf[7] = 0xFF - sum; +#ifdef AX12_READ_DEBUG + printf(" Checksum : 0x%x\n",TxBuf[7]); +#endif + + // Transmit the packet in one burst with no pausing + for (int i = 0; i<8 ; i++) { + _ax12.putc(TxBuf[i]); + } + + // Wait for the bytes to be transmitted + wait (0.00002); + + // Skip if the read was to the broadcast address + if (_ID != 0xFE) { + + + + // response packet is always 6 + bytes + // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum + // timeout is a little more than the time to transmit + // the packet back, i.e. (6+bytes)*10 bit periods + + int timeout = 0; + int plen = 0; + while ((timeout < ((6+bytes)*10)) && (plen<(6+bytes))) { + + if (_ax12.readable()) { + Status[plen] = _ax12.getc(); + plen++; + timeout = 0; + } + + // wait for the bit period + wait (1.0/_baud); + timeout++; + } + + if (timeout == ((6+bytes)*10) ) { + return(-1); + } + + // Copy the data from Status into data for return + for (int i=0; i < Status[3]-2 ; i++) { + data[i] = Status[5+i]; + } + +#ifdef AX12_READ_DEBUG + printf("\nStatus Packet\n"); + printf(" Header : 0x%x\n",Status[0]); + printf(" Header : 0x%x\n",Status[1]); + printf(" ID : 0x%x\n",Status[2]); + printf(" Length : 0x%x\n",Status[3]); + printf(" Error Code : 0x%x\n",Status[4]); + + for (int i=0; i < Status[3]-2 ; i++) { + printf(" Data : 0x%x\n",Status[5+i]); + } + + printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]); +#endif + + } // if (ID!=0xFE) + + return(Status[4]); +} + + +int AX12::write(int ID, int start, int bytes, char* data, int flag) { +// 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum + + char TxBuf[16]; + char sum = 0; + char Status[6]; + +#ifdef AX12_WRITE_DEBUG + printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag); +#endif + + // Build the TxPacket first in RAM, then we'll send in one go +#ifdef AX12_WRITE_DEBUG + printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n"); +#endif + + TxBuf[0] = 0xff; + TxBuf[1] = 0xff; + + // ID + TxBuf[2] = ID; + sum += TxBuf[2]; + +#ifdef AX12_WRITE_DEBUG + printf(" ID : %d\n",TxBuf[2]); +#endif + + // packet Length + TxBuf[3] = 3+bytes; + sum += TxBuf[3]; + +#ifdef AX12_WRITE_DEBUG + printf(" Length : %d\n",TxBuf[3]); +#endif + + // Instruction + if (flag == 1) { + TxBuf[4]=0x04; + sum += TxBuf[4]; + } else { + TxBuf[4]=0x03; + sum += TxBuf[4]; + } + +#ifdef AX12_WRITE_DEBUG + printf(" Instruction : 0x%x\n",TxBuf[4]); +#endif + + // Start Address + TxBuf[5] = start; + sum += TxBuf[5]; + +#ifdef AX12_WRITE_DEBUG + printf(" Start : 0x%x\n",TxBuf[5]); +#endif + + // data + for (char i=0; i<bytes ; i++) { + TxBuf[6+i] = data[i]; + sum += TxBuf[6+i]; + +#ifdef AX12_WRITE_DEBUG + printf(" Data : 0x%x\n",TxBuf[6+i]); +#endif + + } + + // checksum + TxBuf[6+bytes] = 0xFF - sum; + +#ifdef AX12_WRITE_DEBUG + printf(" Checksum : 0x%x\n",TxBuf[6+bytes]); +#endif + + // Transmit the packet in one burst with no pausing + for (int i = 0; i < (7 + bytes) ; i++) { + _ax12.putc(TxBuf[i]); + } + + // Wait for data to transmit + wait (0.00002); + + // make sure we have a valid return + Status[4]=0x00; + + // we'll only get a reply if it was not broadcast + if (_ID!=0xFE) { + + + // response packet is always 6 bytes + // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum + // timeout is a little more than the time to transmit + // the packet back, i.e. 60 bit periods, round up to 100 + int timeout = 0; + int plen = 0; + while ((timeout < 100) && (plen<6)) { + + if (_ax12.readable()) { + Status[plen] = _ax12.getc(); + plen++; + timeout = 0; + } + + // wait for the bit period + wait (1.0/_baud); + timeout++; + } + + + // Build the TxPacket first in RAM, then we'll send in one go +#ifdef AX12_WRITE_DEBUG + printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]); + printf(" ID : %d\n",Status[2]); + printf(" Length : %d\n",Status[3]); + printf(" Error : 0x%x\n",Status[4]); + printf(" Checksum : 0x%x\n",Status[5]); +#endif + + + } + + return(Status[4]); // return error code +} diff --git a/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/AX12/AX12.h b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/AX12/AX12.h new file mode 100644 index 000000000..d1b3b42ae --- /dev/null +++ b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/AX12/AX12.h @@ -0,0 +1,190 @@ +/* mbed AX-12+ Servo Library + * + * Copyright (c) 2010, cstyles (http://mbed.org) + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#ifndef MBED_AX12_H +#define MBED_AX12_H + +#include "mbed.h" + +#define AX12_WRITE_DEBUG 1 +#define AX12_READ_DEBUG 1 +#define AX12_TRIGGER_DEBUG 1 +#define AX12_DEBUG 1 + +#define AX12_REG_ID 0x3 +#define AX12_REG_BAUD 0x4 +#define AX12_REG_CW_LIMIT 0x06 +#define AX12_REG_CCW_LIMIT 0x08 +#define AX12_REG_GOAL_POSITION 0x1E +#define AX12_REG_MOVING_SPEED 0x20 +#define AX12_REG_VOLTS 0x2A +#define AX12_REG_TEMP 0x2B +#define AX12_REG_MOVING 0x2E +#define AX12_REG_POSITION 0x24 + +#define AX12_MODE_POSITION 0 +#define AX12_MODE_ROTATION 1 + +#define AX12_CW 1 +#define AX12_CCW 0 + +/** Servo control class, based on a PwmOut + * + * Example: + * @code + * #include "mbed.h" + * #include "AX12.h" + * + * int main() { + * + * AX12 myax12 (p9, p10, 1); + * + * while (1) { + * myax12.SetGoal(0); // go to 0 degrees + * wait (2.0); + * myax12.SetGoal(300); // go to 300 degrees + * wait (2.0); + * } + * } + * @endcode + */ +class AX12 { + +public: + + /** Create an AX12 servo object connected to the specified serial port, with the specified ID + * + * @param pin tx pin + * @param pin rx pin + * @param int ID, the Bus ID of the servo 1-255 + */ + AX12(PinName tx, PinName rx, int ID, int baud=1000000); + + /** Set the mode of the servo + * @param mode + * 0 = Positional, default + * 1 = Continuous rotation + */ + int SetMode(int mode); + + /** Set baud rate of all attached servos + * @param mode + * 0x01 = 1,000,000 bps + * 0x03 = 500,000 bps + * 0x04 = 400,000 bps + * 0x07 = 250,000 bps + * 0x09 = 200,000 bps + * 0x10 = 115,200 bps + * 0x22 = 57,600 bps + * 0x67 = 19,200 bps + * 0xCF = 9,600 bp + */ + int SetBaud(int baud); + + + /** Set goal angle in integer degrees, in positional mode + * + * @param degrees 0-300 + * @param flags, defaults to 0 + * flags[0] = blocking, return when goal position reached + * flags[1] = register, activate with a broadcast trigger + * + */ + int SetGoal(int degrees, int flags = 0); + + + /** Set the speed of the servo in continuous rotation mode + * + * @param speed, -1.0 to 1.0 + * -1.0 = full speed counter clock wise + * 1.0 = full speed clock wise + */ + int SetCRSpeed(float speed); + + + /** Set the clockwise limit of the servo + * + * @param degrees, 0-300 + */ + int SetCWLimit(int degrees); + + /** Set the counter-clockwise limit of the servo + * + * @param degrees, 0-300 + */ + int SetCCWLimit(int degrees); + + // Change the ID + + /** Change the ID of a servo + * + * @param CurentID 1-255 + * @param NewID 1-255 + * + * If a servo ID is not know, the broadcast address of 0 can be used for CurrentID. + * In this situation, only one servo should be connected to the bus + */ + int SetID(int CurrentID, int NewID); + + + /** Poll to see if the servo is moving + * + * @returns true is the servo is moving + */ + int isMoving(void); + + /** Send the broadcast "trigger" command, to activate any outstanding registered commands + */ + void trigger(void); + + /** Read the current angle of the servo + * + * @returns float in the range 0.0-300.0 + */ + float GetPosition(); + + /** Read the temperature of the servo + * + * @returns float temperature + */ + float GetTemp(void); + + /** Read the supply voltage of the servo + * + * @returns float voltage + */ + float GetVolts(void); + + int read(int ID, int start, int length, char* data); + int write(int ID, int start, int length, char* data, int flag=0); + +private : + + SerialHalfDuplex _ax12; + int _ID; + int _baud; + + +}; + +#endif diff --git a/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/MMA7660/MMA7660.cpp b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/MMA7660/MMA7660.cpp new file mode 100644 index 000000000..ff2bcd876 --- /dev/null +++ b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/MMA7660/MMA7660.cpp @@ -0,0 +1,193 @@ +#include "MMA7660.h" + +MMA7660::MMA7660(PinName sda, PinName scl, bool active) : _i2c(sda, scl) +{ + setActive(active); + samplerate = 64; + +} + +//Since the MMA lacks a WHO_AM_I register, we can only check if there is a device that answers to the I2C address +bool MMA7660::testConnection( void ) +{ + if (_i2c.write(MMA7660_ADDRESS, NULL, 0) == 0 ) + return true; + else + return false; +} + +void MMA7660::setActive(bool state) +{ + char modereg = read(MMA7660_MODE_R); + modereg &= ~(1<<0); + + //If it somehow was in testmode, disable that + if (modereg && (1<<2)) { + modereg &= ~(1<<2); + write(MMA7660_MODE_R, modereg); + } + + modereg += state; + write(MMA7660_MODE_R, modereg); +} + +void MMA7660::readData(int *data) +{ + if (!active) { + setActive(true); + active = true; + wait(0.012 + 1/samplerate); //Wait until new sample is ready, my experience is that 1/samplerate isnt needed, but datasheet says so + } + + char temp[3]; + bool alert; + + do { + alert = false; + read(MMA7660_XOUT_R, temp, 3); + for (int i = 0; i<3; i++) { + if (temp[i] > 63) + alert = true; + if (temp[i] > 31) + temp[i] += 128+64; + data[i] = (signed char)temp[i]; + } + } while (alert); + + if (!active) + setActive(false); +} + + +void MMA7660::readData(float *data) +{ + int intdata[3]; + readData(intdata); + for (int i = 0; i<3; i++) + data[i] = intdata[i]/MMA7660_SENSITIVITY; +} + +float MMA7660::x( void ) +{ + return getSingle(0); +} + +float MMA7660::y( void ) +{ + return getSingle(1); +} + +float MMA7660::z( void ) +{ + return getSingle(2); +} + + +void MMA7660::setSampleRate(int samplerate) +{ + setActive(false); //Not allowed to be active to change anything + int rates[] = {120, 64, 32, 16, 8, 4, 2, 1}; //Alowed samplerates (and their number in array is also number required for MMA) + int sampleLoc = 0, sampleError = 10000, temp; + for (int i = 0; i<8; i++) { + temp = abs( rates[i] - samplerate ); + if (temp<sampleError) { + sampleLoc = i; + sampleError=temp; + } + } + + //Update the samplerate reg + temp = read(MMA7660_SR_R); + temp &= ~0x07; //Awake sample rate are lowest 3 bit + temp |= sampleLoc; + write(MMA7660_SR_R, temp); + this->samplerate = rates[sampleLoc]; + setActive(active); //Restore previous active state +} + + +MMA7660::Orientation MMA7660::getSide( void ) +{ + char tiltreg = read(MMA7660_TILT_R); + + //We care about 2 LSBs + tiltreg &= 0x03; + if (tiltreg == 0x01) + return MMA7660::Front; + if (tiltreg == 0x02) + return MMA7660::Back; + return MMA7660::Unknown; +} + +MMA7660::Orientation MMA7660::getOrientation( void ) +{ + char tiltreg = read(MMA7660_TILT_R); + + //We care about bit 2, 3 and 4 (counting from zero) + tiltreg &= 0x07<<2; + tiltreg >>= 2; + if (tiltreg == 0x01) + return MMA7660::Left; + if (tiltreg == 0x02) + return MMA7660::Right; + if (tiltreg == 0x05) + return MMA7660::Down; + if (tiltreg == 0x06) + return MMA7660::Up; + return MMA7660::Unknown; +} + + + +////////////////////////////////////////////// +///////////////PRIVATE//////////////////////// +////////////////////////////////////////////// + + +void MMA7660::write(char address, char data) +{ + char temp[2]; + temp[0]=address; + temp[1]=data; + + _i2c.write(MMA7660_ADDRESS, temp, 2); +} + +char MMA7660::read(char address) +{ + char retval; + _i2c.write(MMA7660_ADDRESS, &address, 1, true); + _i2c.read(MMA7660_ADDRESS, &retval, 1); + return retval; +} + +void MMA7660::read(char address, char *data, int length) +{ + _i2c.write(MMA7660_ADDRESS, &address, 1, true); + _i2c.read(MMA7660_ADDRESS, data, length); +} + +float MMA7660::getSingle( int number ) +{ + if (!active) { + setActive(true); + wait(0.012 + 1/samplerate); //Wait until new sample is ready + } + + signed char temp; + bool alert; + + do { + alert = false; + temp = read(MMA7660_XOUT_R + number); + if (temp > 63) + alert = true; + if (temp > 31) + temp += 128+64; + } while (alert); + + if (!active) + setActive(false); + + return temp / MMA7660_SENSITIVITY; +} diff --git a/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/MMA7660/MMA7660.h b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/MMA7660/MMA7660.h new file mode 100644 index 000000000..80c7ee0c5 --- /dev/null +++ b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/MMA7660/MMA7660.h @@ -0,0 +1,207 @@ +/* Copyright (c) <year> <copyright holders>, MIT License + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of this software + * and associated documentation files (the "Software"), to deal in the Software without restriction, + * including without limitation the rights to use, copy, modify, merge, publish, distribute, + * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all copies or + * substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +#include "mbed.h" + + +#ifndef MMA7660_H +#define MMA7660_H + +#define MMA7660_ADDRESS 0x98 +#define MMA7660_SENSITIVITY 21.33 + +#define MMA7660_XOUT_R 0x00 +#define MMA7660_YOUT_R 0x01 +#define MMA7660_ZOUT_R 0x02 +#define MMA7660_TILT_R 0x03 +#define MMA7660_INT_R 0x06 +#define MMA7660_MODE_R 0x07 +#define MMA7660_SR_R 0x08 + + +/** An interface for the MMA7660 triple axis accelerometer + * + * @code + * //Uses the measured z-acceleration to drive leds 2 and 3 of the mbed + * + * #include "mbed.h" + * #include "MMA7660.h" + * + * MMA7660 MMA(p28, p27); + * + * DigitalOut connectionLed(LED1); + * PwmOut Zaxis_p(LED2); + * PwmOut Zaxis_n(LED3); + * + * int main() { + * if (MMA.testConnection()) + * connectionLed = 1; + * + * while(1) { + * Zaxis_p = MMA.z(); + * Zaxis_n = -MMA.z(); + * } + * + * } + * @endcode + */ +class MMA7660 +{ +public: + /** + * The 6 different orientations and unknown + * + * Up & Down = X-axis + * Right & Left = Y-axis + * Back & Front = Z-axis + * + */ + enum Orientation {Up, Down, + Right, Left, + Back, Front, + Unknown + }; + + /** + * Creates a new MMA7660 object + * + * @param sda - I2C data pin + * @param scl - I2C clock pin + * @param active - true (default) to enable the device, false to keep it standby + */ + MMA7660(PinName sda, PinName scl, bool active = true); + + /** + * Tests if communication is possible with the MMA7660 + * + * Because the MMA7660 lacks a WHO_AM_I register, this function can only check + * if there is an I2C device that responds to the MMA7660 address + * + * @param return - true for successfull connection, false for no connection + */ + bool testConnection( void ); + + /** + * Sets the active state of the MMA7660 + * + * Note: This is unrelated to awake/sleep mode + * + * @param state - true for active, false for standby + */ + void setActive( bool state); + + /** + * Reads acceleration data from the sensor + * + * When the parameter is a pointer to an integer array it will be the raw data. + * When it is a pointer to a float array it will be the acceleration in g's + * + * @param data - pointer to array with length 3 where the acceleration data will be stored, X-Y-Z + */ + void readData( int *data); + void readData( float *data); + + /** + * Get X-data + * + * @param return - X-acceleration in g's + */ + float x( void ); + + /** + * Get Y-data + * + * @param return - Y-acceleration in g's + */ + float y( void ); + + /** + * Get Z-data + * + * @param return - Z-acceleration in g's + */ + float z( void ); + + /** + * Sets the active samplerate + * + * The entered samplerate will be rounded to nearest supported samplerate. + * Supported samplerates are: 120 - 64 - 32 - 16 - 8 - 4 - 2 - 1 samples/second. + * + * @param samplerate - the samplerate that will be set + */ + void setSampleRate(int samplerate); + + /** + * Returns if it is on its front, back, or unknown side + * + * This is read from MMA7760s registers, page 12 of datasheet + * + * @param return - Front, Back or Unknown orientation + */ + Orientation getSide( void ); + + /** + * Returns if it is on it left, right, down or up side + * + * This is read from MMA7760s registers, page 12 of datasheet + * + * @param return - Left, Right, Down, Up or Unknown orientation + */ + Orientation getOrientation ( void ); + + +private: + + /** + * Writes data to the device + * + * @param adress - register address to write to + * @param data - data to write + */ + void write( char address, char data); + + /** + * Read data from the device + * + * @param adress - register address to write to + * @return - data from the register specified by RA + */ + char read( char adress); + + /** + * Read multiple regigsters from the device, more efficient than using multiple normal reads. + * + * @param adress - register address to write to + * @param length - number of bytes to read + * @param data - pointer where the data needs to be written to + */ + void read( char adress, char *data, int length); + + /** + * Reads single axis + */ + float getSingle(int number); + + I2C _i2c; + bool active; + float samplerate; +}; + + +#endif diff --git a/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/MMA8451Q/MMA8451Q.cpp b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/MMA8451Q/MMA8451Q.cpp new file mode 100644 index 000000000..9bdf87af5 --- /dev/null +++ b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/MMA8451Q/MMA8451Q.cpp @@ -0,0 +1,81 @@ +/* Copyright (c) 2010-2011 mbed.org, MIT License +* +* Permission is hereby granted, free of charge, to any person obtaining a copy of this software +* and associated documentation files (the "Software"), to deal in the Software without +* restriction, including without limitation the rights to use, copy, modify, merge, publish, +* distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the +* Software is furnished to do so, subject to the following conditions: +* +* The above copyright notice and this permission notice shall be included in all copies or +* substantial portions of the Software. +* +* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING +* BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND +* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, +* DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +*/ + +#include "MMA8451Q.h" + +#define REG_WHO_AM_I 0x0D +#define REG_CTRL_REG_1 0x2A +#define REG_OUT_X_MSB 0x01 +#define REG_OUT_Y_MSB 0x03 +#define REG_OUT_Z_MSB 0x05 + +#define UINT14_MAX 16383 + +MMA8451Q::MMA8451Q(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) { + // activate the peripheral + uint8_t data[2] = {REG_CTRL_REG_1, 0x01}; + writeRegs(data, 2); +} + +MMA8451Q::~MMA8451Q() { } + +uint8_t MMA8451Q::getWhoAmI() { + uint8_t who_am_i = 0; + readRegs(REG_WHO_AM_I, &who_am_i, 1); + return who_am_i; +} + +int16_t MMA8451Q::getAccX() { + return getAccAxis(REG_OUT_X_MSB); +} + +int16_t MMA8451Q::getAccY() { + return getAccAxis(REG_OUT_Y_MSB); +} + +int16_t MMA8451Q::getAccZ() { + return getAccAxis(REG_OUT_Z_MSB); +} + +void MMA8451Q::getAccAllAxis(int16_t * res) { + res[0] = getAccX(); + res[1] = getAccY(); + res[2] = getAccZ(); +} + +int16_t MMA8451Q::getAccAxis(uint8_t addr) { + int16_t acc; + uint8_t res[2]; + readRegs(addr, res, 2); + + acc = (res[0] << 6) | (res[1] >> 2); + if (acc > UINT14_MAX/2) + acc -= UINT14_MAX; + + return acc; +} + +void MMA8451Q::readRegs(int addr, uint8_t * data, int len) { + char t[1] = {addr}; + m_i2c.write(m_addr, t, 1, true); + m_i2c.read(m_addr, (char *)data, len); +} + +void MMA8451Q::writeRegs(uint8_t * data, int len) { + m_i2c.write(m_addr, (char *)data, len); +} diff --git a/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/MMA8451Q/MMA8451Q.h b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/MMA8451Q/MMA8451Q.h new file mode 100644 index 000000000..1b222685d --- /dev/null +++ b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/MMA8451Q/MMA8451Q.h @@ -0,0 +1,108 @@ +/* Copyright (c) 2010-2011 mbed.org, MIT License +* +* Permission is hereby granted, free of charge, to any person obtaining a copy of this software +* and associated documentation files (the "Software"), to deal in the Software without +* restriction, including without limitation the rights to use, copy, modify, merge, publish, +* distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the +* Software is furnished to do so, subject to the following conditions: +* +* The above copyright notice and this permission notice shall be included in all copies or +* substantial portions of the Software. +* +* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING +* BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND +* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, +* DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +*/ + +#ifndef MMA8451Q_H +#define MMA8451Q_H + +#include "mbed.h" + +/** +* MMA8451Q accelerometer example +* #include "mbed.h" +* #include "MMA8451Q.h" +* +* #define MMA8451_I2C_ADDRESS (0x1d<<1) +* +* int main(void) { +* DigitalOut led(LED_GREEN); +* MMA8451Q acc(P_E25, P_E24, MMA8451_I2C_ADDRESS); +* printf("WHO AM I: 0x%2X\r\n", acc.getWhoAmI()); +* +* while (true) { +* printf("-----------\r\n"); +* printf("acc_x: %d\r\n", acc.getAccX()); +* printf("acc_y: %d\r\n", acc.getAccY()); +* printf("acc_z: %d\r\n", acc.getAccZ()); +* +* wait(1); +* led = !led; +* } +* } +*/ +class MMA8451Q +{ +public: + /** + * MMA8451Q constructor + * + * @param sda SDA pin + * @param sdl SCL pin + * @param addr addr of the I2C peripheral + */ + MMA8451Q(PinName sda, PinName scl, int addr); + + /** + * MMA8451Q destructor + */ + ~MMA8451Q(); + + /** + * Get the value of the WHO_AM_I register + * + * @returns WHO_AM_I value + */ + uint8_t getWhoAmI(); + + /** + * Get X axis acceleration + * + * @returns X axis acceleration + */ + int16_t getAccX(); + + /** + * Get Y axis acceleration + * + * @returns Y axis acceleration + */ + int16_t getAccY(); + + /** + * Get Z axis acceleration + * + * @returns Z axis acceleration + */ + int16_t getAccZ(); + + /** + * Get XYZ axis acceleration + * + * @param res array where acceleration data will be stored + */ + void getAccAllAxis(int16_t * res); + +private: + I2C m_i2c; + int m_addr; + void readRegs(int addr, uint8_t * data, int len); + void writeRegs(uint8_t * data, int len); + int16_t getAccAxis(uint8_t addr); + +}; + +#endif diff --git a/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/SRF08/SRF08.cpp b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/SRF08/SRF08.cpp new file mode 100644 index 000000000..8e44a3ee2 --- /dev/null +++ b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/SRF08/SRF08.cpp @@ -0,0 +1,67 @@ + +/* +Copyright (c) 2010 Chris Styles ( chris dot styles at mbed dot org ) + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. +*/ + +#include "SRF08.h" + + +SRF08::SRF08(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) { + char cmd[2]; + +// Set up SRF08 max range and receiver sensitivity over I2C bus + cmd[0] = 0x02; // Range register + cmd[1] = 0x1C; // Set max range about 100cm + m_i2c.write(m_addr, cmd, 2); + cmd[0] = 0x01; // Receiver gain register + cmd[1] = 0x1B; // Set max receiver gain + m_i2c.write(m_addr, cmd, 2); + +} + +SRF08::~SRF08() { + +} + +float SRF08::read() { + + char cmd[2]; + char echo[2]; + + +// Get range data from SRF08 +// Send Tx burst command over I2C bus + cmd[0] = 0x00; // Command register + cmd[1] = 0x51; // Ranging results in cm + m_i2c.write(m_addr, cmd, 2); // Send ranging burst + + wait(0.07); // Wait for return echo + +// Read back range over I2C bus + cmd[0] = 0x02; // Address of first echo + m_i2c.write(m_addr, cmd, 1, 1); // Send address of first echo + m_i2c.read(m_addr, echo, 2); // Read two-byte echo result + +// Generate PWM mark/space ratio from range data + float range = (echo[0]<<8)+echo[1]; + + return range; +} diff --git a/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/SRF08/SRF08.h b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/SRF08/SRF08.h new file mode 100644 index 000000000..a3606338b --- /dev/null +++ b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/SRF08/SRF08.h @@ -0,0 +1,60 @@ + +/* +Copyright (c) 2010 Chris Styles (chris dot styles at mbed dot org) + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. +*/ + +#ifndef SRF08_H +#define SRF08_H + +#include "mbed.h" + +//!Library for the SRF08 Ultrasonic Ranger +/*! +The SRF08 is an Ultrasonic range finder, with an I2C interface that allows the measurement to be read directly in centimetres +*/ +class SRF08 +{ +public: + //!Creates an instance of the class. + /*! + Connect module at I2C address addr using I2C port pins sda and scl. + SRF08 + */ + SRF08(PinName sda, PinName scl, int addr); + + /*! + Destroys instance. + */ + ~SRF08(); + + //!Reads the current temperature. + /*! + Reads the temperature register of the TMP102 and converts it to a useable value. + */ + float read(); + +private: + I2C m_i2c; + int m_addr; + +}; + +#endif diff --git a/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/TMP102/TMP102.cpp b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/TMP102/TMP102.cpp new file mode 100644 index 000000000..934c690ed --- /dev/null +++ b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/TMP102/TMP102.cpp @@ -0,0 +1,23 @@ +#include "TMP102.h" + +#define TEMP_REG_ADDR 0x00 + +TMP102::TMP102(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr) { + m_i2c.frequency(400000); +} +TMP102::~TMP102() { } + +float TMP102::read() { + const char tempRegAddr = TEMP_REG_ADDR; + + m_i2c.write(m_addr, &tempRegAddr, 1); + + char reg[2] = {0,0}; + m_i2c.read(m_addr, reg, 2); + + unsigned short res = (reg[0] << 4) | (reg[1] >> 4); + + float temp = (float) ((float)res * 0.0625); + + return temp; +} diff --git a/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/TMP102/TMP102.h b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/TMP102/TMP102.h new file mode 100644 index 000000000..ce7de8384 --- /dev/null +++ b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/TMP102/TMP102.h @@ -0,0 +1,39 @@ +#ifndef TMP102_H +#define TMP102_H + +#include "mbed.h" + +//!Library for the TI TMP102 temperature sensor. +/*! +The TMP102 is an I2C digital temperature sensor in a small SOT563 package, with a 0.0625C resolution and 0.5C accuracy. +*/ +class TMP102 +{ +public: + //!Creates an instance of the class. + /*! + Connect module at I2C address addr using I2C port pins sda and scl. + TMP102 + \param addr <table><tr><th>A0 pin connection</th><th>Address</th></tr><tr><td>GND</td><td>0x90</td></tr><tr><td>V+</td><td>0x92</td></tr><tr><td>SDA</td><td>0x94</td></tr><tr><td>SCL</td><td>0x96</td></tr></table> + */ + TMP102(PinName sda, PinName scl, int addr); + + /*! + Destroys instance. + */ + ~TMP102(); + + //!Reads the current temperature. + /*! + Reads the temperature register of the TMP102 and converts it to a useable value. + */ + float read(); + + I2C m_i2c; + +private: + int m_addr; + +}; + +#endif diff --git a/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/TSI/TSISensor.cpp b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/TSI/TSISensor.cpp new file mode 100644 index 000000000..b1d2c9413 --- /dev/null +++ b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/TSI/TSISensor.cpp @@ -0,0 +1,231 @@ +/* Freescale Semiconductor Inc. + * (c) Copyright 2004-2005 Freescale Semiconductor, Inc. + * (c) Copyright 2001-2004 Motorola, Inc. + * + * mbed Microcontroller Library + * (c) Copyright 2009-2012 ARM Limited. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of this software + * and associated documentation files (the "Software"), to deal in the Software without + * restriction, including without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the + * Software is furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all copies or + * substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +#include "mbed.h" +#include "TSISensor.h" + +#define NO_TOUCH 0 +#define SLIDER_LENGTH 40 //LENGTH in mm +#define TOTAL_ELECTRODE 2 + +#define TSI0a 0 +#define TSI1 1 +#define TSI2 2 +#define TSI3 3 +#define TSI4 4 +#define TSI5 5 +#define TSI6 6 +#define TSI7 7 +#define TSI8 8 +#define TSI9 9 +#define TSI10 10 +#define TSI11 11 +#define TSI12 12 +#define TSI13 13 +#define TSI14 14 +#define TSI15 15 + +/*Chose the correct TSI channel for the electrode number*/ +#define ELECTRODE0 TSI9 +#define ELECTRODE1 TSI10 +#define ELECTRODE2 TSI0a +#define ELECTRODE3 TSI1 +#define ELECTRODE4 TSI2 +#define ELECTRODE5 TSI3 +#define ELECTRODE6 TSI4 +#define ELECTRODE7 TSI5 +#define ELECTRODE8 TSI6 +#define ELECTRODE9 TSI7 +#define ELECTRODE10 TSI8 +#define ELECTRODE11 TSI11 +#define ELECTRODE12 TSI12 +#define ELECTRODE13 TSI13 +#define ELECTRODE14 TSI14 +#define ELECTRODE15 TSI15 + +#define THRESHOLD0 100 +#define THRESHOLD1 100 +#define THRESHOLD2 100 +#define THRESHOLD3 100 +#define THRESHOLD4 100 +#define THRESHOLD5 100 +#define THRESHOLD6 100 +#define THRESHOLD7 100 +#define THRESHOLD8 100 +#define THRESHOLD9 100 +#define THRESHOLD10 100 +#define THRESHOLD11 100 +#define THRESHOLD12 100 +#define THRESHOLD13 100 +#define THRESHOLD14 100 +#define THRESHOLD15 100 + +static uint8_t total_electrode = TOTAL_ELECTRODE; +static uint8_t elec_array[16]={ELECTRODE0,ELECTRODE1,ELECTRODE2,ELECTRODE3,ELECTRODE4,ELECTRODE5, + ELECTRODE6,ELECTRODE7,ELECTRODE8,ELECTRODE9,ELECTRODE10,ELECTRODE11, + ELECTRODE12,ELECTRODE13,ELECTRODE14,ELECTRODE15}; +static uint16_t gu16TSICount[16]; +static uint16_t gu16Baseline[16]; +static uint16_t gu16Threshold[16]={THRESHOLD0,THRESHOLD1,THRESHOLD2,THRESHOLD3,THRESHOLD4,THRESHOLD5, + THRESHOLD6,THRESHOLD7,THRESHOLD8,THRESHOLD9,THRESHOLD10,THRESHOLD11, + THRESHOLD12,THRESHOLD13,THRESHOLD14,THRESHOLD15}; +static uint16_t gu16Delta[16]; +static uint8_t ongoing_elec; +static uint8_t end_flag = 1; + +static uint8_t SliderPercentegePosition[2] = {NO_TOUCH,NO_TOUCH}; +static uint8_t SliderDistancePosition[2] = {NO_TOUCH,NO_TOUCH}; +static uint32_t AbsolutePercentegePosition = NO_TOUCH; +static uint32_t AbsoluteDistancePosition = NO_TOUCH; + +static void tsi_irq(); + +TSISensor::TSISensor() { + SIM->SCGC5 |= SIM_SCGC5_PORTB_MASK; + SIM->SCGC5 |= SIM_SCGC5_TSI_MASK; + + TSI0->GENCS |= (TSI_GENCS_ESOR_MASK + | TSI_GENCS_MODE(0) + | TSI_GENCS_REFCHRG(4) + | TSI_GENCS_DVOLT(0) + | TSI_GENCS_EXTCHRG(7) + | TSI_GENCS_PS(4) + | TSI_GENCS_NSCN(11) + | TSI_GENCS_TSIIEN_MASK + | TSI_GENCS_STPE_MASK + ); + + TSI0->GENCS |= TSI_GENCS_TSIEN_MASK; + + NVIC_SetVector(TSI0_IRQn, (uint32_t)&tsi_irq); + NVIC_EnableIRQ(TSI0_IRQn); + + selfCalibration(); +} + + +void TSISensor::selfCalibration(void) +{ + unsigned char cnt; + unsigned char trigger_backup; + + TSI0->GENCS |= TSI_GENCS_EOSF_MASK; // Clear End of Scan Flag + TSI0->GENCS &= ~TSI_GENCS_TSIEN_MASK; // Disable TSI module + + if(TSI0->GENCS & TSI_GENCS_STM_MASK) // Back-up TSI Trigger mode from Application + trigger_backup = 1; + else + trigger_backup = 0; + + TSI0->GENCS &= ~TSI_GENCS_STM_MASK; // Use SW trigger + TSI0->GENCS &= ~TSI_GENCS_TSIIEN_MASK; // Enable TSI interrupts + + TSI0->GENCS |= TSI_GENCS_TSIEN_MASK; // Enable TSI module + + for(cnt=0; cnt < total_electrode; cnt++) // Get Counts when Electrode not pressed + { + TSI0->DATA = ((elec_array[cnt] << TSI_DATA_TSICH_SHIFT) ); + TSI0->DATA |= TSI_DATA_SWTS_MASK; + while(!(TSI0->GENCS & TSI_GENCS_EOSF_MASK)); + TSI0->GENCS |= TSI_GENCS_EOSF_MASK; + gu16Baseline[cnt] = (TSI0->DATA & TSI_DATA_TSICNT_MASK); + } + + TSI0->GENCS &= ~TSI_GENCS_TSIEN_MASK; // Disable TSI module + TSI0->GENCS |= TSI_GENCS_TSIIEN_MASK; // Enale TSI interrupt + if(trigger_backup) // Restore trigger mode + TSI0->GENCS |= TSI_GENCS_STM_MASK; + else + TSI0->GENCS &= ~TSI_GENCS_STM_MASK; + + TSI0->GENCS |= TSI_GENCS_TSIEN_MASK; // Enable TSI module + + TSI0->DATA = ((elec_array[0]<<TSI_DATA_TSICH_SHIFT) ); + TSI0->DATA |= TSI_DATA_SWTS_MASK; +} + + +void TSISensor::sliderRead(void ) { + if(end_flag) { + end_flag = 0; + if((gu16Delta[0] > gu16Threshold[0])||(gu16Delta[1] > gu16Threshold[1])) { + SliderPercentegePosition[0] = (gu16Delta[0]*100)/(gu16Delta[0]+gu16Delta[1]); + SliderPercentegePosition[1] = (gu16Delta[1]*100)/(gu16Delta[0]+gu16Delta[1]); + SliderDistancePosition[0] = (SliderPercentegePosition[0]* SLIDER_LENGTH)/100; + SliderDistancePosition[1] = (SliderPercentegePosition[1]* SLIDER_LENGTH)/100; + AbsolutePercentegePosition = ((100 - SliderPercentegePosition[0]) + SliderPercentegePosition[1])/2; + AbsoluteDistancePosition = ((SLIDER_LENGTH - SliderDistancePosition[0]) + SliderDistancePosition[1])/2; + } else { + SliderPercentegePosition[0] = NO_TOUCH; + SliderPercentegePosition[1] = NO_TOUCH; + SliderDistancePosition[0] = NO_TOUCH; + SliderDistancePosition[1] = NO_TOUCH; + AbsolutePercentegePosition = NO_TOUCH; + AbsoluteDistancePosition = NO_TOUCH; + } + } +} + +float TSISensor::readPercentage() { + sliderRead(); + return (float)AbsolutePercentegePosition/100.0; +} + +uint8_t TSISensor::readDistance() { + sliderRead(); + return AbsoluteDistancePosition; +} + + +static void changeElectrode(void) +{ + int16_t u16temp_delta; + + gu16TSICount[ongoing_elec] = (TSI0->DATA & TSI_DATA_TSICNT_MASK); // Save Counts for current electrode + u16temp_delta = gu16TSICount[ongoing_elec] - gu16Baseline[ongoing_elec]; // Obtains Counts Delta from callibration reference + if(u16temp_delta < 0) + gu16Delta[ongoing_elec] = 0; + else + gu16Delta[ongoing_elec] = u16temp_delta; + + //Change Electrode to Scan + if(total_electrode > 1) + { + if((total_electrode-1) > ongoing_elec) + ongoing_elec++; + else + ongoing_elec = 0; + + TSI0->DATA = ((elec_array[ongoing_elec]<<TSI_DATA_TSICH_SHIFT) ); + TSI0->DATA |= TSI_DATA_SWTS_MASK; + } +} + + +void tsi_irq(void) +{ + end_flag = 1; + TSI0->GENCS |= TSI_GENCS_EOSF_MASK; // Clear End of Scan Flag + changeElectrode(); +} + diff --git a/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/TSI/TSISensor.h b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/TSI/TSISensor.h new file mode 100644 index 000000000..1ac547b4a --- /dev/null +++ b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/TSI/TSISensor.h @@ -0,0 +1,73 @@ +/* Freescale Semiconductor Inc. + * (c) Copyright 2004-2005 Freescale Semiconductor, Inc. + * (c) Copyright 2001-2004 Motorola, Inc. + * + * mbed Microcontroller Library + * (c) Copyright 2009-2012 ARM Limited. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of this software + * and associated documentation files (the "Software"), to deal in the Software without + * restriction, including without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the + * Software is furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all copies or + * substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +#ifndef TSISENSOR_H +#define TSISENSOR_H + +/** +* TSISensor example +* +* @code +* #include "mbed.h" +* #include "TSISensor.h" +* +* int main(void) { +* DigitalOut led(LED_GREEN); +* TSISensor tsi; +* +* while (true) { +* printf("slider percentage: %f%\r\n", tsi.readPercentage()); +* printf("slider distance: %dmm\r\n", tsi.readDistance()); +* wait(1); +* led = !led; +* } +* } +* @endcode +*/ +class TSISensor { +public: + /** + * Initialize the TSI Touch Sensor + */ + TSISensor(); + + /** + * Read Touch Sensor percentage value + * + * @returns percentage value between [0 ... 1] + */ + float readPercentage(); + + /** + * Read Touch Sensor distance + * + * @returns distance in mm. The value is between [0 ... 40] + */ + uint8_t readDistance(); + +private: + void sliderRead(void); + void selfCalibration(void); +}; + +#endif |