368 lines
12 KiB
C
368 lines
12 KiB
C
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/**
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* Simple example with one sensor connected to I2C or SPI. It demonstrates the
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* different approaches to fetch the data. Either one of the interrupt signals
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* is used or new data are fetched periodically.
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*
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* Harware configuration:
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*
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* I2C
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*
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* +-----------------+ +----------+
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* | ESP8266 / ESP32 | | LIS3DH |
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* | | | |
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* | GPIO 14 (SCL) ----> SCL |
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* | GPIO 13 (SDA) <---> SDA |
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* | GPIO 5 <---- INT1 |
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* +-----------------+ +----------+
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*
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* SPI
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*
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* +-----------------+ +----------+ +-----------------+ +----------+
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* | ESP8266 | | LIS3DH | | ESP32 | | LIS3DH |
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* | | | | | | | |
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* | GPIO 14 (SCK) ----> SCK | | GPIO 16 (SCK) ----> SCK |
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* | GPIO 13 (MOSI)----> SDI | | GPIO 17 (MOSI)----> SDI |
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* | GPIO 12 (MISO)<---- SDO | | GPIO 18 (MISO)<---- SDO |
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* | GPIO 2 (CS) ----> CS | | GPIO 19 (CS) ----> CS |
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* | GPIO 5 <---- INT1 | | GPIO 5 <---- INT1 |
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* +-----------------+ +---------+ +-----------------+ +----------+
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*/
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/* -- use following constants to define the example mode ----------- */
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// #define SPI_USED // SPI interface is used, otherwise I2C
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// #define FIFO_MODE // multiple sample read mode
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// #define INT_DATA // data interrupts used (data ready and FIFO status)
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// #define INT_EVENT // inertial event interrupts used (wake-up, free fall or 6D/4D orientation)
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// #define INT_CLICK // click detection interrupts used
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#if defined(INT_DATA) || defined(INT_EVENT) || defined(INT_CLICK)
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#define INT_USED
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#endif
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/* -- includes ----------------------------------------------------- */
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#include "lis3dh.h"
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/** -- platform dependent definitions ------------------------------ */
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#ifdef ESP_PLATFORM // ESP32 (ESP-IDF)
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// user task stack depth for ESP32
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#define TASK_STACK_DEPTH 2048
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// SPI interface definitions for ESP32
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#define SPI_BUS HSPI_HOST
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#define SPI_SCK_GPIO 16
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#define SPI_MOSI_GPIO 17
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#define SPI_MISO_GPIO 18
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#define SPI_CS_GPIO 19
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#else // ESP8266 (esp-open-rtos)
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// user task stack depth for ESP8266
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#define TASK_STACK_DEPTH 256
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// SPI interface definitions for ESP8266
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#define SPI_BUS 1
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#define SPI_SCK_GPIO 14
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#define SPI_MOSI_GPIO 13
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#define SPI_MISO_GPIO 12
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#define SPI_CS_GPIO 2 // GPIO 15, the default CS of SPI bus 1, can't be used
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#endif // ESP_PLATFORM
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// I2C interface defintions for ESP32 and ESP8266
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#define I2C_BUS 0
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#define I2C_SCL_PIN 14
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#define I2C_SDA_PIN 13
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#define I2C_FREQ I2C_FREQ_100K
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// interrupt GPIOs defintions for ESP8266 and ESP32
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#define INT1_PIN 5
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#define INT2_PIN 4
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/* -- user tasks --------------------------------------------------- */
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static lis3dh_sensor_t* sensor;
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/**
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* Common function used to get sensor data.
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*/
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void read_data ()
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{
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#ifdef FIFO_MODE
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lis3dh_float_data_fifo_t fifo;
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if (lis3dh_new_data (sensor))
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{
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uint8_t num = lis3dh_get_float_data_fifo (sensor, fifo);
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printf("%.3f LIS3DH num=%d\n", (double)sdk_system_get_time()*1e-3, num);
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for (int i=0; i < num; i++)
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// max. full scale is +-16 g and best resolution is 1 mg, i.e. 5 digits
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printf("%.3f LIS3DH (xyz)[g] ax=%+7.3f ay=%+7.3f az=%+7.3f\n",
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(double)sdk_system_get_time()*1e-3,
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fifo[i].ax, fifo[i].ay, fifo[i].az);
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}
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#else
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lis3dh_float_data_t data;
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if (lis3dh_new_data (sensor) &&
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lis3dh_get_float_data (sensor, &data))
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// max. full scale is +-16 g and best resolution is 1 mg, i.e. 5 digits
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printf("%.3f LIS3DH (xyz)[g] ax=%+7.3f ay=%+7.3f az=%+7.3f\n",
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(double)sdk_system_get_time()*1e-3,
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data.ax, data.ay, data.az);
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#endif // FIFO_MODE
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}
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#ifdef INT_USED
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/**
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* In this case, any of the possible interrupts on interrupt signal *INT1* is
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* used to fetch the data.
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*
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* When interrupts are used, the user has to define interrupt handlers that
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* either fetches the data directly or triggers a task which is waiting to
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* fetch the data. In this example, the interrupt handler sends an event to
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* a waiting task to trigger the data gathering.
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*/
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static QueueHandle_t gpio_evt_queue = NULL;
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// User task that fetches the sensor values.
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void user_task_interrupt (void *pvParameters)
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{
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uint8_t gpio_num;
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while (1)
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{
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if (xQueueReceive(gpio_evt_queue, &gpio_num, portMAX_DELAY))
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{
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lis3dh_int_data_source_t data_src = {};
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lis3dh_int_event_source_t event_src = {};
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lis3dh_int_click_source_t click_src = {};
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// get the source of the interrupt and reset *INTx* signals
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#ifdef INT_DATA
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lis3dh_get_int_data_source (sensor, &data_src);
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#endif
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#ifdef INT_EVENT
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lis3dh_get_int_event_source (sensor, &event_src, lis3dh_int_event1_gen);
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#endif
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#ifdef INT_CLICK
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lis3dh_get_int_click_source (sensor, &click_src);
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#endif
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// in case of DRDY interrupt or inertial event interrupt read one data sample
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if (data_src.data_ready)
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read_data ();
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// in case of FIFO interrupts read the whole FIFO
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else if (data_src.fifo_watermark || data_src.fifo_overrun)
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read_data ();
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// in case of event interrupt
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else if (event_src.active)
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{
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printf("%.3f LIS3DH ", (double)sdk_system_get_time()*1e-3);
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if (event_src.x_low) printf("x is lower than threshold\n");
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if (event_src.y_low) printf("y is lower than threshold\n");
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if (event_src.z_low) printf("z is lower than threshold\n");
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if (event_src.x_high) printf("x is higher than threshold\n");
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if (event_src.y_high) printf("y is higher than threshold\n");
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if (event_src.z_high) printf("z is higher than threshold\n");
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}
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// in case of click detection interrupt
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else if (click_src.active)
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printf("%.3f LIS3DH %s\n", (double)sdk_system_get_time()*1e-3,
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click_src.s_click ? "single click" : "double click");
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}
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}
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}
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// Interrupt handler which resumes user_task_interrupt on interrupt
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void IRAM int_signal_handler (uint8_t gpio)
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{
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// send an event with GPIO to the interrupt user task
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xQueueSendFromISR(gpio_evt_queue, &gpio, NULL);
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}
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#else // !INT_USED
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/*
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* In this example, user task fetches the sensor values every seconds.
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*/
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void user_task_periodic(void *pvParameters)
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{
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vTaskDelay (100/portTICK_PERIOD_MS);
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while (1)
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{
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// read sensor data
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read_data ();
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// passive waiting until 1 second is over
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vTaskDelay(100/portTICK_PERIOD_MS);
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}
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}
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#endif // INT_USED
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/* -- main program ------------------------------------------------- */
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void user_init(void)
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{
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// Set UART Parameter.
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uart_set_baud(0, 115200);
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// Give the UART some time to settle
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vTaskDelay(1);
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/** -- MANDATORY PART -- */
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#ifdef SPI_USED
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// init the sensor connnected to SPI
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spi_bus_init (SPI_BUS, SPI_SCK_GPIO, SPI_MISO_GPIO, SPI_MOSI_GPIO);
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// init the sensor connected to SPI_BUS with SPI_CS_GPIO as chip select.
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sensor = lis3dh_init_sensor (SPI_BUS, 0, SPI_CS_GPIO);
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#else
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// init all I2C bus interfaces at which LIS3DH sensors are connected
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i2c_init (I2C_BUS, I2C_SCL_PIN, I2C_SDA_PIN, I2C_FREQ);
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// init the sensor with slave address LIS3DH_I2C_ADDRESS_1 connected to I2C_BUS.
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sensor = lis3dh_init_sensor (I2C_BUS, LIS3DH_I2C_ADDRESS_1, 0);
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#endif
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if (sensor)
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{
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#ifdef INT_USED
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/** --- INTERRUPT CONFIGURATION PART ---- */
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// Interrupt configuration has to be done before the sensor is set
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// into measurement mode to avoid losing interrupts
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// create an event queue to send interrupt events from interrupt
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// handler to the interrupt task
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gpio_evt_queue = xQueueCreate(10, sizeof(uint8_t));
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// configure interupt pins for *INT1* and *INT2* signals and set the interrupt handler
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gpio_enable(INT1_PIN, GPIO_INPUT);
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gpio_set_interrupt(INT1_PIN, GPIO_INTTYPE_EDGE_POS, int_signal_handler);
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#endif // INT_USED
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/** -- SENSOR CONFIGURATION PART --- */
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// set polarity of INT signals if necessary
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// lis3dh_config_int_signals (sensor, lis3dh_high_active);
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#ifdef INT_DATA
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// enable data interrupts on INT1 (data ready or FIFO status interrupts)
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// data ready and FIFO status interrupts must not be enabled at the same time
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#ifdef FIFO_MODE
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lis3dh_enable_int (sensor, lis3dh_int_fifo_overrun , lis3dh_int1_signal, true);
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lis3dh_enable_int (sensor, lis3dh_int_fifo_watermark, lis3dh_int1_signal, true);
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#else
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lis3dh_enable_int (sensor, lis3dh_int_data_ready, lis3dh_int1_signal, true);
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#endif // FIFO_MODE
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#endif // INT_DATA
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#ifdef INT_EVENT
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// enable data interrupts on INT1
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lis3dh_int_event_config_t event_config;
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event_config.mode = lis3dh_wake_up;
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// event_config.mode = lis3dh_free_fall;
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// event_config.mode = lis3dh_6d_movement;
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// event_config.mode = lis3dh_6d_position;
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// event_config.mode = lis3dh_4d_movement;
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// event_config.mode = lis3dh_4d_position;
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event_config.threshold = 10;
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event_config.x_low_enabled = false;
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event_config.x_high_enabled = true;
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event_config.y_low_enabled = false;
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event_config.y_high_enabled = true;
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event_config.z_low_enabled = false;
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event_config.z_high_enabled = true;
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event_config.duration = 0;
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event_config.latch = true;
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lis3dh_set_int_event_config (sensor, &event_config, lis3dh_int_event1_gen);
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lis3dh_enable_int (sensor, lis3dh_int_event1, lis3dh_int1_signal, true);
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#endif // INT_EVENT
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#ifdef INT_CLICK
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// enable click interrupt on INT1
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lis3dh_int_click_config_t click_config;
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click_config.threshold = 10;
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click_config.x_single = false;
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click_config.x_double = false;
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click_config.y_single = false;
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click_config.y_double = false;
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click_config.z_single = true;
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click_config.z_double = false;
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click_config.latch = true;
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click_config.time_limit = 1;
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click_config.time_latency = 1;
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click_config.time_window = 3;
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lis3dh_set_int_click_config (sensor, &click_config);
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lis3dh_enable_int (sensor, lis3dh_int_click, lis3dh_int1_signal, true);
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#endif // INT_CLICK
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#ifdef FIFO_MODE
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// clear FIFO and activate FIFO mode if needed
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lis3dh_set_fifo_mode (sensor, lis3dh_bypass, 0, lis3dh_int1_signal);
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lis3dh_set_fifo_mode (sensor, lis3dh_stream, 10, lis3dh_int1_signal);
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#endif
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// configure HPF and reset the reference by dummy read
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lis3dh_config_hpf (sensor, lis3dh_hpf_normal, 0, true, true, true, true);
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lis3dh_get_hpf_ref (sensor);
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// enable ADC inputs and temperature sensor for ADC input 3
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lis3dh_enable_adc (sensor, true, true);
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// LAST STEP: Finally set scale and mode to start measurements
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lis3dh_set_scale(sensor, lis3dh_scale_2_g);
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lis3dh_set_mode (sensor, lis3dh_odr_10, lis3dh_high_res, true, true, true);
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/** -- TASK CREATION PART --- */
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// must be done last to avoid concurrency situations with the sensor
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// configuration part
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#ifdef INT_USED
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// create a task that is triggered only in case of interrupts to fetch the data
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xTaskCreate(user_task_interrupt, "user_task_interrupt", TASK_STACK_DEPTH, NULL, 2, NULL);
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#else // INT_USED
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// create a user task that fetches data from sensor periodically
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xTaskCreate(user_task_periodic, "user_task_periodic", TASK_STACK_DEPTH, NULL, 2, NULL);
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#endif
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}
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else
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||
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printf("Could not initialize LIS3DH sensor\n");
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}
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