/*******************************************************************************
* Outline : Accel_SelfTest
* Description : This function reads the acceleromter's X axis
* Argument : none
* Return value : bool true - pass, false - fail
*******************************************************************************/
bool Accel_SelfTest( void )
{
bool err =true;
uint8_t target_reg_data[2];
uint16_t i;
// set the data format + self test mode
target_reg_data[0] = ADXL345_DATA_FORMAT_REG;
target_reg_data[1] = 0x83;
err &= R_IIC_MasterSend( IIC_CHANNEL, PDL_NO_DATA, ADXL345_ADDR, &target_reg_data[0],
2, PDL_NO_FUNC, 0 );
// Wait for self-test forces to act
for (i = 0; i < 1000; i++);
Accel_X = 0;
Accel_Y = 0;
Accel_Z = 0;
for (i = 0; i < 8; i++)
{
Accel_X += Accel_AxisRd(ADXL345_DATAX0_REG);
Accel_Y += Accel_AxisRd(ADXL345_DATAY0_REG);
Accel_Z += Accel_AxisRd(ADXL345_DATAZ0_REG);
}
Accel_X = Accel_X / 8;
Accel_Y = Accel_Y / 8;
Accel_Z = Accel_Z / 8;
// normalize the self test values
Accel_X = SCALE_X(Accel_X) - Accel_X_Zero;
Accel_Y = SCALE_Y(Accel_Y) - Accel_Y_Zero;
Accel_Z = SCALE_Z(Accel_Z) - Accel_Z_Zero;
// Range check self-test values
err &= ((Accel_X > 6) && (Accel_X < 67)) ? true : false;
err &= ((Accel_Y > -67) && (Accel_Y < -6)) ? true : false;
err &= ((Accel_Z > 10) && (Accel_Z < 110)) ? true : false;
// turn off self test mode
target_reg_data[0] = ADXL345_DATA_FORMAT_REG;
target_reg_data[1] = 0x03;
err &= R_IIC_MasterSend( IIC_CHANNEL, PDL_NO_DATA, ADXL345_ADDR, &target_reg_data[0],
2, PDL_NO_FUNC, 0 );
return err;
}
/*******************************************************************************
* Outline : CB_CMT_Thermal
* Description : CMT interrupt callback function. This callback function is
* executed after every period of the CMT timer. The function
* fetches the thermal temperature and displays it on the LCD.
* Argument : none
* Return value : none
*******************************************************************************/
void CB_CMT_Thermal(void)
{
bool err = true;
uint8_t target_reg, target_data[2];
uint16_t temp;
uint8_t temp_int[2];
/* Declare display buffer */
uint8_t lcd_buffer[13];
/* Read the temperature */
target_reg = ADT7420_TEMP_MSB_REG;
err = R_IIC_MasterSend( IIC_CHANNEL, PDL_NO_DATA, ADT7420_ADDR, &target_reg,
1, PDL_NO_FUNC, 0 );
err = R_IIC_MasterReceive( IIC_CHANNEL, PDL_NO_DATA, ADT7420_ADDR, &target_data[0],
2, PDL_NO_FUNC, 0 );
/* Convert the device measurement into a decimal number and insert
into a temporary string to be displayed */
temp = (target_data[0]<<8)+target_data[1];
temp = temp >> 3;
temp_int[0] = (int16_t)temp/16;
temp_int[1] = (int16_t)((temp&0x000F)*10)/16;
sprintf((char *)lcd_buffer, " %d.%d C" , temp_int[0], temp_int[1] );
/* Display the contents of lcd_buffer onto the debug LCD */
DisplayLCD(LCD_LINE6, lcd_buffer);
/* Halt in while loop when RPDL errors detected */
while (!err);
}
/*******************************************************************************
* Outline : Init_Thermal_Sensor
* Description : This function configures the ADT7420 thermal device and starts
* a timer to periodically read the temperature.
* Argument : none
* Return value : none
*******************************************************************************/
void Init_Thermal_Sensor(void)
{
/* Declare error flag */
bool err = true;
uint8_t target_reg, target_data;
DisplayLCD(LCD_LINE5, "Temp:");
/* Configure the ADT7420 */
target_reg = ADT7420_CONFIG_REG;
err = R_IIC_MasterSend( IIC_CHANNEL, PDL_NO_DATA, ADT7420_ADDR, &target_reg,
1, PDL_NO_FUNC, 0 );
target_data = 0x00;
err = R_IIC_MasterSend( IIC_CHANNEL, PDL_NO_DATA, ADT7420_ADDR, &target_data,
1, PDL_NO_FUNC, 0 );
/* Configure CMT1 to execute callback function every 250ms */
err &= R_CMT_Create( 1, PDL_CMT_PERIOD, 250E-3, CB_CMT_Thermal, 3 );
/* Halt in while loop when RPDL errors detected */
while (!err);
}
/*******************************************************************************
* Outline : Accel_AxisRd
* Description : This function reads the acceleromter's X, Y or Z axis
* Argument : uint8_t axis -- axis registers to read
* Return value : short value of axis
*******************************************************************************/
short Accel_AxisRd (uint8_t axis)
{
uint16_t axis_val;
uint8_t accel_reg, accel_data[2];
accel_reg = axis;
R_IIC_MasterSend( IIC_CHANNEL, PDL_NO_DATA, ADXL345_ADDR, &accel_reg,
1, PDL_NO_FUNC, 0 );
R_IIC_MasterReceive( IIC_CHANNEL, PDL_NO_DATA, ADXL345_ADDR, &accel_data[0],
2, PDL_NO_FUNC, 0 );
axis_val = accel_data[1] << 8;
axis_val += accel_data[0];
return((short)axis_val);
}
/*******************************************************************************
* Outline : Init_Accelerometer
* Description : This function configures the ADXL345 accelerometer and starts
* a timer to periodically read it.
* Argument : none
* Return value : none
*******************************************************************************/
void Init_Accelerometer(void)
{
/* Declare error flag */
bool err = true;
uint8_t target_reg, target_data;
uint16_t i;
uint8_t target_reg_data[2];
// Read the DEVID register and verify the device
target_reg = 0x00;
err &= R_IIC_MasterSend( IIC_CHANNEL, PDL_NO_DATA, ADXL345_ADDR, &target_reg,
1, PDL_NO_FUNC, 0 );
err &= R_IIC_MasterReceive( IIC_CHANNEL, PDL_NO_DATA, ADXL345_ADDR, &target_data,
1, PDL_NO_FUNC, 0 );
if ( target_data != 0xE5 )
return;
// set the data format
#if 0
// example of writing slave address and data as separate function calls
target_reg = ADXL345_DATA_FORMAT_REG;
err &= R_IIC_MasterSend( IIC_CHANNEL, PDL_IIC_STOP_DISABLE, ADXL345_ADDR, &target_reg,
1, PDL_NO_FUNC, 0 );
target_data = 3;
err &= R_IIC_MasterSend( IIC_CHANNEL, PDL_IIC_START_DISABLE, ADXL345_ADDR, &target_data,
1, PDL_NO_FUNC, 0 );
#else
// example of writing slave address and data in same function call
target_reg_data[0] = ADXL345_DATA_FORMAT_REG;
target_reg_data[1] = 3;
err &= R_IIC_MasterSend( IIC_CHANNEL, PDL_NO_DATA, ADXL345_ADDR, &target_reg_data[0],
2, PDL_NO_FUNC, 0 );
#endif
// put FIFO into bypass mode
target_reg_data[0] = ADXL345_FIFO_CTL_REG;
target_reg_data[1] = 0;
err &= R_IIC_MasterSend( IIC_CHANNEL, PDL_NO_DATA, ADXL345_ADDR, &target_reg_data[0],
2, PDL_NO_FUNC, 0 );
// set the measure bit in the power control register
target_reg_data[0] = ADXL345_POWER_CTL_REG;
target_reg_data[1] = 8;
err &= R_IIC_MasterSend( IIC_CHANNEL, PDL_NO_DATA, ADXL345_ADDR, &target_reg_data[0],
2, PDL_NO_FUNC, 0 );
// get baseline readings to calibrate accelerometer
Accel_X_Zero = 0;
Accel_Y_Zero = 0;
Accel_Z_Zero = 0;
for (i = 0; i < 8; i++)
{
Accel_X_Zero += Accel_AxisRd(0x32);
Accel_Y_Zero += Accel_AxisRd(0x34);
Accel_Z_Zero += Accel_AxisRd(0x36);
}
// determine the average reading
Accel_X_Zero = Accel_X_Zero / 8;
Accel_Y_Zero = Accel_Y_Zero / 8;
Accel_Z_Zero = Accel_Z_Zero / 8;
// run self test
err &= Accel_SelfTest();
// Activate X, Y Z to detect activity
target_reg_data[0] = ADXL345_ACT_INACT_CTL_REG;
target_reg_data[1] = 0x70;
err &= R_IIC_MasterSend( IIC_CHANNEL, PDL_NO_DATA, ADXL345_ADDR, &target_reg_data[0],
2, PDL_NO_FUNC, 0 );
#ifdef ACCELEROMETER_DEBUG
// read all the registers for debug
target_reg = ADXL345_THRESH_TAP_REG;
err &= R_IIC_MasterSend( IIC_CHANNEL, PDL_NO_DATA, ADXL345_ADDR, &target_reg,
1, PDL_NO_FUNC, 0 );
err &= R_IIC_MasterReceive( IIC_CHANNEL, PDL_NO_DATA, ADXL345_ADDR, &target_string[0],
29, PDL_NO_FUNC, 0 );
#endif
/* Configure CMT2 to execute callback function every 100ms */
err &= R_CMT_Create( 2, PDL_CMT_PERIOD, 100E-3, CB_CMT_Accelerometer, 3 );
/* Halt in while loop when RPDL errors detected */
while (!err);
}