Added basic support for the ADXL345 3-axis accelerometer

WIP!
MarlinFirmware · Dec 13, 2024 · 8d49354 · 8d49354
1 parent 45ebd12
commit 8d49354
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Showing 5 changed files with 199 additions and 14 deletions.
diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
@@ -3496,6 +3496,12 @@
 
 #endif // HAS_TRINAMIC_CONFIG
 
+// @section spibus
+
+// This feature is EXPERIMENTAL
+// Warning: Enabling the sensor will probably conflict with the onboard SD Card
+//#define HAS_ADXL345_ACCELEROMETER; // uncomment to enable the 3-axis accelerometer
+
 // @section i2cbus
 
 //

diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp
@@ -42,6 +42,10 @@
   #include "HAL/shared/FDCAN.h"
 #endif
 
+#if ENABLED(HAS_ADXL345_ACCELEROMETER)
+  #include "feature/accelerometer/acc_adxl345.h"
+#endif
+
 #if ENABLED(WIFISUPPORT)
   #include "HAL/shared/esp_wifi.h"
 #endif
@@ -1210,20 +1214,6 @@ void setup() {
   #endif
   SERIAL_ECHOLNPGM("start\n");
 
-  #if ENABLED(CAN_MASTER)
-    SERIAL_ECHOLN(
-      F(">>> CAN1 Start: "),
-      CAN1_Start() == HAL_OK ? F("OK") : F("FAILED!")
-    );
-  #endif
-
-  #if ENABLED(CAN_TOOLHEAD)
-    SERIAL_ECHOLN(
-      F(">>> FDCAN2 Start: "),
-       FDCAN2_Start() == HAL_OK ?  F("OK") : F("FAILED!")
-      );
-  #endif
-
   // Set up these pins early to prevent suicide
   #if HAS_KILL
     SETUP_LOG("KILL_PIN");
@@ -1268,6 +1258,23 @@ void setup() {
 
   SETUP_RUN(hal.init());
 
+  #if ENABLED(CAN_MASTER)
+    SERIAL_ECHOLN(
+      F(">>> CAN1 Start: "),
+      CAN1_Start() == HAL_OK ? F("OK") : F("FAILED!")
+    );
+  #endif
+
+  #if ENABLED(CAN_TOOLHEAD)
+    SERIAL_ECHOLN(
+      F(">>> FDCAN2 Start: "),
+       FDCAN2_Start() == HAL_OK ?  F("OK") : F("FAILED!")
+      );
+  #endif
+  #if ENABLED(HAS_ADXL345_ACCELEROMETER)
+    adxl345.begin();
+  #endif
+
   // Init and disable SPI thermocouples; this is still needed
   #if TEMP_SENSOR_IS_MAX_TC(0) || (TEMP_SENSOR_IS_MAX_TC(REDUNDANT) && REDUNDANT_TEMP_MATCH(SOURCE, E0))
     OUT_WRITE(TEMP_0_CS_PIN, HIGH);  // Disable

diff --git a/Marlin/src/feature/accelerometer/acc_adxl345.cpp b/Marlin/src/feature/accelerometer/acc_adxl345.cpp
@@ -0,0 +1,73 @@
+/***************************************************************
+ *
+ * ADXL345 3-AXIS ACCELEROMETER ON SPI BUS
+ * 4-WIRE SPI COMMUNICATION
+ * Define: SD_SS_PIN, SD_SCK_PIN, SD_MISO_PIN, SD_MOSI_PIN
+ *
+ ****************************************************************/
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(HAS_ADXL345_ACCELEROMETER)
+
+#include "acc_ADXL345.h"
+
+#include "../../MarlinCore.h"
+#include "../../HAL/shared/Delay.h"
+
+#include "SPI.h"
+extern SPIClass SPI;
+
+ADXL345 adxl345;
+
+void ADXL345::begin() {
+  pinMode(SD_SS_PIN, OUTPUT); // set ADXL345 Chip Select pin to output mode
+  pinMode(SD_SS_PIN, HIGH);   // set ADXL345 Chip Select to HIGH before configuratin SPI
+  spiBegin();                 // sets Chip Select to HIGH (again)
+  spiInit(SPI_HALF_SPEED);    // calls SPI.begin(), sets speed to 4MHz, max is 5MHz for ADXL345
+  SPI.setDataMode(SPI_MODE3); // ADXL345 uses SPI_MODE3 to communicate (CPOL=1, CPHA = 1)
+
+  // set range to 2g (4wire SPI, right justify data, 10-bit resolution)
+  writeRegister(ADXL345_DATA_FORMAT_REG, ADXL345_DATA_RANGE_2G);
+
+  // enable measurement mode, use streaming mode
+  writeRegister(ADXL345_POWER_CTL_REG, ADXL345_POWER_CTL_MEASURE | ADXL345_FIFO_CTL_MODE_STREAM);
+
+  // set to 100Hz sampling rate
+  writeRegister(ADXL345_RATE_REG, ADXL345_RATE_100HZ);
+}
+
+void ADXL345::end() { // put device in standby mode
+  writeRegister(ADXL345_POWER_CTL_REG, ADXL345_POWER_CTL_STANDBY);
+}
+
+void ADXL345::writeRegister(uint8_t registerAddress, uint8_t data) {
+  digitalWrite(SD_SS_PIN, LOW);  // set Chip Select to LOW to start the write
+  spiSend(registerAddress);      // send the register address
+  spiSend(data);                 // send the data
+  digitalWrite(SD_SS_PIN, HIGH); // set Chip Select to HIGH to complete the write
+}
+
+void ADXL345::readRegister(uint8_t registerAddress, int numBytes, uint8_t * buffer) {
+  uint8_t address = registerAddress | 0x80; // set read bit
+  if (numBytes > 1)
+    address = address | 0x40;    // also set multi-byte read if needed
+
+  digitalWrite(SD_SS_PIN, LOW);  // set Chip Select to LOW to start the read
+  spiSend(address);              // send the register address
+  for (int i = 0; i < numBytes; i++)
+    buffer[i] = spiRec();        // read the data
+  digitalWrite(SD_SS_PIN, HIGH); // set Chip Select to HIGH to complete the read
+  delayMicroseconds(5);          // allow 5us for the FIFO/registers to update (see datasheet)
+}
+
+// get a accleration measurement for the X, Y and Z axis
+void ADXL345::readMeasurement(ADXL345_measurement_t *acceleration) {
+  readRegister(ADXL345_DATA_X0_REG, 6, (uint8_t*)acceleration);
+}
+
+void ADXL345::select(const bool select) {
+  WRITE(SD_SS_PIN, !select); // ADXL345 is selected on LOW
+}
+
+#endif // HAS_ADXL345_ACCELEROMETER
diff --git a/Marlin/src/feature/accelerometer/acc_adxl345.h b/Marlin/src/feature/accelerometer/acc_adxl345.h
@@ -0,0 +1,98 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+// ADXL345 registers and defines
+#define ADXL345_DEV_ID_REG        0x00
+
+#define ADXL345_OFFSET_X_REG      0x1E // int8_t, 15.6mg/LSB (0x7F=2G)
+#define ADXL345_OFFSET_Y_REG      0x1F // int8_t, 15.6mg/LSB (0x7F=2G)
+#define ADXL345_OFFSET_Z_REG      0x20 // int8_t, 15.6mg/LSB (0x7F=2G)
+
+#define ADXL345_RATE_REG          0x2C // Sample rate register 0.1 - 3200Hz
+#define ADXL345_RATE_0_1HZ        0x0
+#define ADXL345_RATE_0_2HZ        0x1
+#define ADXL345_RATE_0_39HZ       0x2
+#define ADXL345_RATE_0_78HZ       0x3
+#define ADXL345_RATE_1_56HZ       0x4
+#define ADXL345_RATE_3_13HZ       0x5
+#define ADXL345_RATE_6_25HZ       0x6
+#define ADXL345_RATE_12_5HZ       0x7
+#define ADXL345_RATE_25HZ         0x8
+#define ADXL345_RATE_50HZ         0x9
+#define ADXL345_RATE_100HZ        0xA
+#define ADXL345_RATE_200HZ        0xB
+#define ADXL345_RATE_400HZ        0xC
+#define ADXL345_RATE_800HZ        0xD
+#define ADXL345_RATE_1600HZ       0xE
+#define ADXL345_RATE_3200HZ       0xF
+
+#define ADXL345_POWER_CTL_REG     0x2D // Power control register
+#define ADXL345_POWER_CTL_STANDBY 0x00
+#define ADXL345_POWER_CTL_MEASURE 0x08
+
+#define ADXL345_DATA_FORMAT_REG   0x31 // Data format register
+#define ADXL345_DATA_SELFTEST_BIT 0x80
+#define ADXL345_DATA_3WIRE_BIT    0x40
+#define ADXL345_DATA_FULLRES_BIT  0x08
+#define ADXL345_DATA_MSB_BIT      0x04
+#define ADXL345_DATA_RANGE_MASK   3
+#define ADXL345_DATA_RANGE_2G     0
+#define ADXL345_DATA_RANGE_4G     1
+#define ADXL345_DATA_RANGE_8G     2
+#define ADXL345_DATA_RANGE_16G    3
+
+#define ADXL345_DATA_X0_REG       0x32 // Measurement data registers
+#define ADXL345_DATA_X1_REG       0x33
+#define ADXL345_DATA_Y0_REG       0x34
+#define ADXL345_DATA_Y1_REG       0x35
+#define ADXL345_DATA_Z0_REG       0x36
+#define ADXL345_DATA_Z1_REG       0x37
+
+#define ADXL345_FIFO_CTL_REG                0x38 // FIFO control register
+#define ADXL345_FIFO_CTL_MODE_BYPASS        0x00
+#define ADXL345_FIFO_CTL_MODE_ENABLED       0x40
+#define ADXL345_FIFO_CTL_MODE_STREAM        0x80
+#define ADXL345_FIFO_CTL_MODE_TRIGGER       0xC0
+#define ADXL345_FIFO_CTL_SAMPLE_COUNT_MASK  0x1F
+
+#define ADXL345_FIFO_STATUS_REG             0x39 // FIFO status register
+#define ADXL345_FIFO_STATUS_ENTRIES_MASK    0x3F
+
+struct ADXL345_measurement_t {
+    int16_t x;
+    int16_t y;
+    int16_t z;
+};
+
+class ADXL345 {
+  public:
+    void begin();
+    void end();
+    void readMeasurement(ADXL345_measurement_t * acceleration);
+    void writeRegister(uint8_t registerAddress, uint8_t data);
+    void readRegister(uint8_t registerAddress, int numBytes, uint8_t * buffer);
+  private:
+    void select(const bool select);
+};
+
+extern ADXL345 adxl345;
diff --git a/ini/features.ini b/ini/features.ini
@@ -12,6 +12,7 @@
 # The order of the features matters for source-filter resolution inside of common-dependencies.py.
 
 [features]
+HAS_ADXL345_ACCELEROMETER              = build_src_filter=+<src/feature/accelerometer/acc_adxl345.cpp>
 YHCB2004                               = LiquidCrystal_AIP31068=https://github.com/ellensp/LiquidCrystal_AIP31068/archive/3fc43b7.zip, red-scorp/SoftSPIB@^1.1.1
 HAS_TFT_LVGL_UI                        = lvgl=https://github.com/makerbase-mks/LVGL-6.1.1-MKS/archive/a3ebe98bc6.zip
                                          build_src_filter=+<src/lcd/extui/mks_ui>