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|
#ifdef __cplusplus
extern "C" {
#endif
#define KIONIX_DRV_VERSION "091130_1.0.0"
#define KX_PLATFORM_LINUX
//#define KX_PLATFORM_WIN32
//#define KX_PLATFORM_WINCE
//#define KX_PLATFORM_REX
//#define KX_PLATFORM_FIRMWARE
/*==================================================================================================
Module Name: te9_tf9_hybrid_driver
General Description: this file contains function calls to control Kionix KXTE9 and KXTF9 via I2C.
====================================================================================================
Revision History:
Modification Tracking
Author Date Number Description of Changes
------------------------- ------------ ---------- -------------------------------------------
Chris Hudson 03/26/2009 Cleaned up
Chris Hudson 03/23/2009 Added more differentiation between E9 and F9 functions
Chris Hudson 02/04/2009 Modified driver for use in a Linux environment
Izudin Cemer/Ken Foust 01/02/2009 Unified the driver for TE9 and TF9 product series
Izudin Cemer/Ken Foust 10/08/2008 Cleaned up code for initial release
Izudin Cemer/Ken Foust 08/27/2008 Initial support
====================================================================================================
INCLUDE FILES
==================================================================================================*/
// TODO:
#ifdef KX_PLATFORM_LINUX
#include <stdio.h>
#include <fcntl.h>
#include <stdlib.h>
#include <unistd.h>
#include <stdint.h>
#include <sys/ioctl.h>
#include <errno.h>
// #include "i2c-dev.h"
#elif defined(KX_PLATFORM_WIN32)
#include <windows.h>
#elif defined(KX_PLATFORM_WINCE)
#include <windows.h>
#elif defined(KX_PLATFORM_REX)
#include "task.h"
#include "sleep.h"
#include "dog.h"
#include "bio.h"
#include "gpio_int.h"
#include "pm.h"
#include "i2c.h"
#include "accel_task.h"
#include "accel_types.h"
#include "ui.h"
#include "i2c.h"
#include <math.h>
#include "KxCriticalSection.h"
#elif defined(KX_PLATFORM_FIRMWARE)
#include <string.h>
#include "def.h"
#include "option.h"
#include "2440addr.h"
#include "2440lib.h"
#include "2440slib.h"
#include "IIC.h"
#include "eint.h"
#endif
/*==================================================================================================
LOCAL CONSTANTS
==================================================================================================*/
#ifdef KX_PLATFORM_LINUX
//#define ACCEL_GPIO_INT (GPIO_INT_85) /* KIONIX_ACCEL interrupt pin is connected to GPIO 85 on Blaze */
//#define ACCEL_GPIO_INT (GPIO_INT_19) /* KIONIX_ACCEL interrupt pin is connected to GPIO 19 on Halo */
#define I2C_BUS_HW_CTRL 1
#define I2C_REG_DEV 1
#define I2C_STOP_START_BEFORE_READ 1
#define ACCEL_EVENT_INTERRUPT 1
#define DETECT_EDGE 1
#define ACTIVE_HIGH 1
#define GPIO_INT_85 1
#elif defined(KX_PLATFORM_WIN32)
#elif defined(KX_PLATFORM_WINCE)
#elif defined(KX_PLATFORM_REX)
#elif defined(KX_PLATFORM_FIRMWARE)
#endif
typedef struct
{
int x;
int y;
int z;
} ACCEL_XYZ;
//added by lars - 20100308
#define DEVICE_TYPE_KIONIX_KXTE9 0
#define DEVICE_TYPE_KIONIX_KXTF9 1
#define DEVICE_TYPE_KIONIX_KXSD9 2
/*==================================================================================================
MACROS
==================================================================================================*/
#ifdef KX_PLATFORM_LINUX
#define KxPrint printf
#define KxMSleep(v) usleep((v)*1000)
#define KxUSleep(v) usleep(v)
#define KIONIX_InitializeCriticalSection(x)
#define KIONIX_EnterCriticalSection(x)
#define KIONIX_LeaveCriticalSection(x)
#define KIONIX_DeleteCriticalSection(x)
#define KX_INTLOCK()
#define KX_INTFREE()
#elif defined(KX_PLATFORM_WIN32) || defined(KX_PLATFORM_WINCE)
#define KxPrint printf
#define KxMSleep(v) Sleep(v)
#define KxUSleep(v) Sleep(v/1000)
#define KIONIX_InitializeCriticalSection(x)
#define KIONIX_EnterCriticalSection(x)
#define KIONIX_LeaveCriticalSection(x)
#define KIONIX_DeleteCriticalSection(x)
#define KX_INTLOCK()
#define KX_INTFREE()
#elif defined(KX_PLATFORM_REX)
#define KxPrint printf
#define KxMSleep(v) rex_sleep(v)
#define KxUSleep(v) rex_sleep(v/1000)
#define KIONIX_InitializeCriticalSection(x) rex_init_crit_sect(x)
#define KIONIX_EnterCriticalSection(x) rex_enter_crit_sect(x)
#define KIONIX_LeaveCriticalSection(x) rex_leave_crit_sect(x)
#define KIONIX_DeleteCriticalSection(x)
#define KX_INTLOCK() REX_INTLOCK()
#define KX_INTFREE() REX_INTFREE()
#elif defined(KX_PLATFORM_FIRMWARE)
#define KxPrint Uart_Printf
#define KxMSleep(v) Delay(v) // ms, // rex_sleep(x)
#define KxUSleep(v) Delay(v/1000)
#define KIONIX_InitializeCriticalSection(x)
#define KIONIX_EnterCriticalSection(x)
#define KIONIX_LeaveCriticalSection(x)
#define KIONIX_DeleteCriticalSection(x)
#define KX_INTLOCK()
#define KX_INTFREE()
//#define USE_I2C_INT
//#define USE_I2C_POLL
#define USE_I2C_GPIO
#endif
#define BIT(x) (1<<x)
#define SET_REG_BIT(r,b) r |= b
#define UNSET_REG_BIT(r,b) r &= ~b
/*==================================================================================================
KIONIX ACCEL REGISTER MAP
==================================================================================================*/
#ifdef KX_PLATFORM_FIRMWARE
//#define KIONIX_ACCEL_I2C_SLV_ADDR (0x30) // KXSD9
#define KIONIX_ACCEL_I2C_SLV_ADDR (0x1E) // KXTE9, KXTF9
#else
//#define KIONIX_ACCEL_I2C_SLV_ADDR (0x30>>1) // KXSD9
#define KIONIX_ACCEL_I2C_SLV_ADDR (0x1E>>1) // KXTE9, KXTF9
#endif
/*==================================================================================================
COMMON REGISTERS
==================================================================================================*/
#define KIONIX_ACCEL_I2C_ST_RESP 0x0C
#define KIONIX_ACCEL_I2C_WHO_AM_I 0x0F
#define KIONIX_ACCEL_I2C_TILT_POS_CUR 0x10
#define KIONIX_ACCEL_I2C_TILT_POS_PRE 0x11
#define KIONIX_ACCEL_I2C_STATUS_REG 0x18
#define KIONIX_ACCEL_I2C_INT_REL 0x1A
#define KIONIX_ACCEL_I2C_CTRL_REG1 0x1B
#define KIONIX_ACCEL_I2C_CTRL_REG2 0x1C
#define KIONIX_ACCEL_I2C_CTRL_REG3 0x1D
#define KIONIX_ACCEL_I2C_INT_CTRL_REG2 0x1F
#define KIONIX_ACCEL_I2C_TILT_TIMER 0x28
#define KIONIX_ACCEL_I2C_WUF_TIMER 0x29
#define KIONIX_ACCEL_I2C_WUF_THRESH 0x5A
/*==================================================================================================
KXTE9-SPECIFIC REGISTERS
==================================================================================================*/
#define KXTE9_I2C_XOUT 0x12
#define KXTE9_I2C_YOUT 0x13
#define KXTE9_I2C_ZOUT 0x14
#define KXTE9_I2C_INT_SRC_REG1 0x16
#define KXTE9_I2C_INT_SRC_REG2 0x17
#define KXTE9_I2C_INT_CTRL_REG1 0x1E
#define KXTE9_I2C_B2S_TIMER 0x2A
#define KXTE9_I2C_B2S_THRESH 0x5B
/*==================================================================================================
KXTF9-SPECIFIC REGISTERS
==================================================================================================*/
#define KXTF9_I2C_XOUT_HPF_L 0x00
#define KXTF9_I2C_XOUT_HPF_H 0x01
#define KXTF9_I2C_YOUT_HPF_L 0x02
#define KXTF9_I2C_YOUT_HPF_H 0x03
#define KXTF9_I2C_ZOUT_HPF_L 0x04
#define KXTF9_I2C_ZOUT_HPF_H 0x05
#define KXTF9_I2C_XOUT_L 0x06
#define KXTF9_I2C_XOUT_H 0x07
#define KXTF9_I2C_YOUT_L 0x08
#define KXTF9_I2C_YOUT_H 0x09
#define KXTF9_I2C_ZOUT_L 0x0A
#define KXTF9_I2C_ZOUT_H 0x0B
#define KXTF9_I2C_INT_SRC_REG1 0x15
#define KXTF9_I2C_INT_SRC_REG2 0x16
#define KXTF9_I2C_INT_CTRL_REG1 0x1E
#define KXTF9_I2C_INT_CTRL_REG3 0x20
#define KXTF9_I2C_DATA_CTRL_REG 0x21
#define KXTF9_I2C_TDT_TIMER 0x2B
#define KXTF9_I2C_TDT_H_THRESH 0x2C
#define KXTF9_I2C_TDT_L_THRESH 0x2D
#define KXTF9_I2C_TDT_TAP_TIMER 0x2E
#define KXTF9_I2C_TDT_TOTAL_TIMER 0x2F
#define KXTF9_I2C_TDT_LATENCY_TIMER 0x30
#define KXTF9_I2C_TDT_WINDOW_TIMER 0x31
/*==================================================================================================
KIONIX ACCEL CONTROL BIT DEFINITION
==================================================================================================*/
/*==================================================================================================
COMMON CONTROL BITS
==================================================================================================*/
#define CTRL_REG1_TPE 0x01 /* enables tilt position function */
#define CTRL_REG1_WUFE 0x02 /* enables wake up function */
#define CTRL_REG1_PC1 0x80 /* operating mode 1 = full power mode; 0 = stand by mode */
#define CTRL_REG2_FUM 0x01 /* face up state mask */
#define CTRL_REG2_FDM 0x02 /* face down state mask */
#define CTRL_REG2_UPM 0x04 /* up state mask */
#define CTRL_REG2_DOM 0x08 /* down state mask */
#define CTRL_REG2_RIM 0x10 /* right state mask */
#define CTRL_REG2_LEM 0x20 /* left state mask */
#define CTRL_REG3_OWUFB 0x01 /* active mode output data rate */
#define CTRL_REG3_OWUFA 0x02 /* active mode output data rate */
#define CTRL_REG3_STC 0x10 /* initiates self-test function */
#define CTRL_REG3_OTPB 0x20 /* sets output data rate for tilt position function */
#define CTRL_REG3_OTPA 0x40 /* sets output data rate for tilt position function */
#define CTRL_REG3_SRST 0x80 /* software reset */
#define INT_CTRL_REG2_XBW 0x80 /* X-axis motion mask */
#define INT_CTRL_REG2_YBW 0x40 /* Y-axis motion mask */
#define INT_CTRL_REG2_ZBW 0x20 /* Z-axis motion mask */
/*==================================================================================================
KXTE9-SPECIFIC CONTROL BITS
==================================================================================================*/
#define CTRL_REG1_B2SE 0x04 /* enables back to sleep function on KXTE9 */
#define CTRL_REG1_ODRB 0x08 /* bit0 for selecting the output data rate on KXTE9 */
#define CTRL_REG1_ODRA 0x10 /* bit1 for selecting the output data rate on KXTE9 */
#define CTRL_REG3_OB2SB 0x04 /* sets output data rate when in inactive mode (KXTE9) */
#define CTRL_REG3_OB2SA 0x08 /* sets output data rate when in incative mode (KXTE9) */
#define KXTE9_INT_CTRL_REG1_IEL 0x04 /* sets response of physical interrupt pin */
#define KXTE9_INT_CTRL_REG1_IEA 0x08 /* sets polarity of the physical interrupt pin*/
#define KXTE9_INT_CTRL_REG1_IEN 0x10 /* enables/disables the physical interrupt pin; 1=enable; 0=disable */
#define FULL_SCALE_RANGE_2_G 2000 /* indicates full scale g-range of the KIONIX_ACCEL */
#define BIT_SENSITIVITY_2_G 16 /* indicates sensitivity of the KIONIX_ACCEL ((2^6)/4) */
#define ZERO_G_OFFSET 32 /* indicates 0g offset of the KIONIX_ACCEL ((2^6)/2) */
/*==================================================================================================
KXTF9-SPECIFIC CONTROL BITS
==================================================================================================*/
#define CTRL_REG1_TDTE 0x04 /* enables tap/double tap function on KXTF9 */
#define CTRL_REG1_GSEL0 0x08 /* bit0 used for selecting the g range */
#define CTRL_REG1_GSEL1 0x10 /* bit1 used for selecting the g range */
#define CTRL_REG1_DRDYE 0x20 /* enables physical interrupt when new accel data is available on KXTF9 */
#define CTRL_REG1_RES 0x40 /* performance mode on KXTF9 */
#define CTRL_REG3_OTDTB 0x04 /* sets output data rate for tap double tap function */
#define CTRL_REG3_OTDTA 0x08 /* sets output data rate for tap double tap function */
#define INT_CTRL_REG3_TFUM 0x01 /* Z positive tap detection mask */
#define INT_CTRL_REG3_TFDM 0x02 /* Z negative tap detection mask */
#define INT_CTRL_REG3_TUPM 0x04 /* Y positive tap detection mask */
#define INT_CTRL_REG3_TDOM 0x08 /* Y negative tap detection mask */
#define INT_CTRL_REG3_TRIM 0x10 /* X positive tap detection mask */
#define INT_CTRL_REG3_TLEM 0x20 /* X negative tap detection mask */
#define KXTF9_INT_CTRL_REG1_STPOL 0x02 /* ST (self test) polarity bit */
#define KXTF9_INT_CTRL_REG1_ULMB 0x04 /* unlatched mode for WUF 1=unlatche; 0=latched */
#define KXTF9_INT_CTRL_REG1_IEL 0x08 /* sets response of physical interrupt pin */
#define KXTF9_INT_CTRL_REG1_IEA 0x10 /* sets polarity of the physical interrupt pin*/
#define KXTF9_INT_CTRL_REG1_IEN 0x20 /* enables/disables the physical interrupt pin; 1=enable; 0=disable */
#define DATA_CTRL_REG_OSAC 0x01 /* sets LPF Acceleration output data rates */
#define DATA_CTRL_REG_OSAB 0x02 /* sets LPF Acceleration output data rates */
#define DATA_CTRL_REG_OSAA 0x04 /* sets LPF Acceleration output data rates */
#define DATA_CTRL_REG_HPFROB 0x10 /* sets HPF roll-off frequency */
#define DATA_CTRL_REG_HPFROA 0x20 /* sets HPF roll-off frequency */
/*==================================================================================================
GLOBAL VARIABLES
==================================================================================================*/
static int KIONIX_ACCEL_g_range = 2000; /* KIONIX_ACCEL factory default G range in milli g */
/*==================================================================================================
COMMON FUNCTIONS
==================================================================================================*/
int KIONIX_ACCEL_read_bytes(int reg, char* data, int length);
int KIONIX_ACCEL_write_byte(int reg, int data);
int KIONIX_ACCEL_get_device_type(void);
int KIONIX_ACCEL_deinit(void);
int KIONIX_ACCEL_init(void);
void KIONIX_ACCEL_isr(void);
void KIONIX_ACCEL_enable_interrupt(void);
void KIONIX_ACCEL_disable_interrupt(void);
int KIONIX_ACCEL_enable_outputs(void);
int KIONIX_ACCEL_disable_outputs(void);
int KIONIX_ACCEL_enable_tilt_function(void);
int KIONIX_ACCEL_disable_tilt_function(void);
int KIONIX_ACCEL_enable_wake_up_function(void);
int KIONIX_ACCEL_disable_wake_up_function(void);
int KIONIX_ACCEL_enable_all(void);
int KIONIX_ACCEL_disable_all(void);
int KIONIX_ACCEL_sleep(void);
int KIONIX_ACCEL_read_interrupt_status(void);
int KIONIX_ACCEL_read_interrupt_source(char* interrupt_source);
int KIONIX_ACCEL_read_previous_position(char* previous_position);
int KIONIX_ACCEL_read_current_position(char* current_position);
int KIONIX_ACCEL_reset(void);
int KIONIX_ACCEL_tilt_timer(int tilt_timer);
int KIONIX_ACCEL_wuf_timer(int wuf_timer);
int KIONIX_ACCEL_wuf_thresh(int wuf_thresh);
int KIONIX_ACCEL_motion_mask_z(void);
int KIONIX_ACCEL_motion_unmask_z(void);
int KIONIX_ACCEL_motion_mask_y(void);
int KIONIX_ACCEL_motion_unmask_y(void);
int KIONIX_ACCEL_motion_mask_x(void);
int KIONIX_ACCEL_motion_unmask_x(void);
int KIONIX_ACCEL_position_mask_fu(void);
int KIONIX_ACCEL_position_mask_fd(void);
int KIONIX_ACCEL_position_mask_up(void);
int KIONIX_ACCEL_position_mask_do(void);
int KIONIX_ACCEL_position_mask_ri(void);
int KIONIX_ACCEL_position_mask_le(void);
int KIONIX_ACCEL_position_unmask_fu(void);
int KIONIX_ACCEL_position_unmask_fd(void);
int KIONIX_ACCEL_position_unmask_up(void);
int KIONIX_ACCEL_position_unmask_do(void);
int KIONIX_ACCEL_position_unmask_ri(void);
int KIONIX_ACCEL_position_unmask_le(void);
int KIONIX_ACCEL_set_odr_motion(int frequency);
//int KIONIX_ACCEL_service_interrupt(int* source_of_interrupt);
int KIONIX_ACCEL_service_interrupt(void);
int KIONIX_ACCEL_read_LPF_cnt(int* x, int* y, int* z);
int KIONIX_ACCEL_read_LPF_g(int* gx, int* gy, int* gz);
int KIONIX_ACCEL_read_current_odr_motion(double* ODR_rate_motion);
int KIONIX_ACCEL_read_position_status(void);
int KIONIX_ACCEL_read_wuf_status(void);
int KIONIX_ACCEL_enable_int(void);
int KIONIX_ACCEL_disable_int(void);
int KIONIX_ACCEL_int_activeh(void);
int KIONIX_ACCEL_int_activel(void);
int KIONIX_ACCEL_int_latch(void);
int KIONIX_ACCEL_int_pulse(void);
/*==================================================================================================
KXTE9-SPECIFIC FUNCTIONS
==================================================================================================*/
int KIONIX_ACCEL_enable_back_to_sleep(void);
int KIONIX_ACCEL_disable_back_to_sleep(void);
int KXTE9_read_b2s_status(void);
int KXTE9_b2s_timer(int b2s_timer);
int KXTE9_b2s_thresh(int b2s_thresh);
/*==================================================================================================
KXTF9-SPECIFIC FUNCTIONS
==================================================================================================*/
int KXTF9_enable_tap_detection(void);
int KXTF9_disable_tap_detection(void);
int KXTF9_read_single_tap_status(void);
int KXTF9_read_double_tap_status(void);
int KXTF9_set_odr_tilt(int frequency);
int KXTF9_set_G_range(int range);
int KXTF9_read_HPF_cnt(int* x, int* y, int* z);
int KXTF9_read_HPF_g(int* gx, int* gy, int* gz);
int KXTF9_read_current_odr_tilt(double* ODR_rate_tilt);
int KXTF9_read_current_odr_tap(double* ODR_rate_tap);
int KXTF9_read_tap_direction(char* int_src_reg1);
int KXTF9_int_alt_disable(void);
int KXTF9_int_alt_enable(void);
int KXTF9_tdt_timer(int tdt_timer);
int KXTF9_tdt_h_thresh(int tdt_h_thresh);
int KXTF9_tdt_l_thresh(int tdt_l_thresh);
int KXTF9_tdt_tap_timer(int tdt_tap_timer);
int KXTF9_tdt_total_timer(int tdt_total_timer);
int KXTF9_tdt_latency_timer(int tdt_latency_timer);
int KXTF9_tdt_window_timer(int tdt_window_timer);
int KXTF9_tap_mask_TFU(void);
int KXTF9_tap_unmask_TFU(void);
int KXTF9_tap_mask_TFD(void);
int KXTF9_tap_unmask_TFD(void);
int KXTF9_tap_mask_TUP(void);
int KXTF9_tap_unmask_TUP(void);
int KXTF9_tap_mask_TDO(void);
int KXTF9_tap_unmask_TDO(void);
int KXTF9_tap_mask_TRI(void);
int KXTF9_tap_unmask_TRI(void);
int KXTF9_tap_mask_TLE(void);
int KXTF9_tap_unmask_TLE(void);
int KXTF9_tap_mask_all_direction(void);
int KXTF9_tap_unmask_all_direction(void);
int KXTF9_set_odr_tap(int alpha);
int KXTF9_set_lpf_odr(int frequency);
int KXTF9_set_resolution(int resolution);
enum {
PROCESS_NONE=0,
PROCESS_INTERRUPT,
PROCESS_SHAKEPOLL,
PROCESS_OTHER,
};
//*************************************************************
// Name : shake.h
// Author : Kionix, Inc.
// Version : 1.0
// Copyright :
// Description : shake detection
//*************************************************************
#define CONFIG_RATE 50 // data rate (hz)
#define CONFIG_DURATION 180 // max length of a shake (ms)
#define CONFIG_DELAY 0 // min seperation between shakes (ms)
#define CONFIG_TIMEOUT 580 //280 // max seperation between shakes (ms)
#define CONFIG_THRESHOLD 3000 //20000 // min shake threshold ((x^2 + y^2 + z^2) / 1000)
typedef struct
{
long cntShake; // valid shake count
long cntInvalid; // invalid shake count
long cntDuration; // duration timer
long cntDelay; // delay timer
long cntTimeout; // timeout timer
long maxDuration; // duration threshold
long maxDelay; // delay threshold
long maxTimeout; // timeout threshold
} shake_data;
void KIONIX_SHAKE_Init(shake_data* data);
long KIONIX_SHAKE_Update(shake_data* data, long val);
#ifdef __cplusplus
}
#endif
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