457 lines
18 KiB
C
457 lines
18 KiB
C
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/**
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* Driver for LIS3DH 3-axes digital accelerometer connected to I2C or SPI.
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*
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* This driver is for the usage with the ESP8266 and FreeRTOS (esp-open-rtos)
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* [https://github.com/SuperHouse/esp-open-rtos]. It is also working with ESP32
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* and ESP-IDF [https://github.com/espressif/esp-idf.git] as well as Linux
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* based systems using a wrapper library for ESP8266 functions.
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*
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* ---------------------------------------------------------------------------
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*
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* The BSD License (3-clause license)
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*
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* Copyright (c) 2017 Gunar Schorcht (https://github.com/gschorcht)
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* 3. Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived from this
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* software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef __LIS3DH_H__
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#define __LIS3DH_H__
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// Uncomment one of the following defines to enable debug output
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// #define LIS3DH_DEBUG_LEVEL_1 // only error messages
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// #define LIS3DH_DEBUG_LEVEL_2 // debug and error messages
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// LIS3DH addresses (also used for LIS2DH, LIS2DH12 and LIS2DE12)
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#define LIS3DH_I2C_ADDRESS_1 0x18 // SDO pin is low
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#define LIS3DH_I2C_ADDRESS_2 0x19 // SDO pin is high
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// LIS3DE addresse (also used for LIS2DE)
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#define LIS3DE_I2C_ADDRESS_1 0x28 // SDO pin is low
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#define LIS3DE_I2C_ADDRESS_2 0x29 // SDO pin is high
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// LIS3DH chip id
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#define LIS3DH_CHIP_ID 0x33 // LIS3DH_REG_WHO_AM_I<7:0>
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// Definition of error codes
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#define LIS3DH_OK 0
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#define LIS3DH_NOK -1
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#define LIS3DH_INT_ERROR_MASK 0x000f
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#define LIS3DH_DRV_ERROR_MASK 0xfff0
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// Error codes for I2C and SPI interfaces ORed with LIS3DH driver error codes
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#define LIS3DH_I2C_READ_FAILED 1
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#define LIS3DH_I2C_WRITE_FAILED 2
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#define LIS3DH_I2C_BUSY 3
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#define LIS3DH_SPI_WRITE_FAILED 4
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#define LIS3DH_SPI_READ_FAILED 5
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#define LIS3DH_SPI_BUFFER_OVERFLOW 6
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// LIS3DH driver error codes ORed with error codes for I2C and SPI interfaces
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#define LIS3DH_WRONG_CHIP_ID ( 1 << 8)
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#define LIS3DH_WRONG_BANDWIDTH ( 2 << 8)
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#define LIS3DH_GET_RAW_DATA_FAILED ( 3 << 8)
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#define LIS3DH_GET_RAW_DATA_FIFO_FAILED ( 4 << 8)
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#define LIS3DH_WRONG_INT_TYPE ( 5 << 8)
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#define LIS3DH_CONFIG_INT_SIGNALS_FAILED ( 6 << 8)
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#define LIS3DH_CONFIG_INT_FAILED ( 7 << 8)
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#define LIS3DH_INT_SOURCE_FAILED ( 8 << 8)
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#define LIS3DH_CONFIG_HPF_FAILED ( 9 << 8)
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#define LIS3DH_ENABLE_HPF_FAILED (10 << 8)
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#define LIS3DH_CONFIG_CLICK_FAILED (11 << 8)
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#define LIS3DH_CLICK_SOURCE_FAILED (12 << 8)
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#define LIS3DH_GET_ADC_DATA_FAILED (13 << 8)
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#define LIS3DH_SENSOR_IN_BYPASS_MODE (14 << 8)
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#define LIS3DH_SENSOR_IN_FIFO_MODE (15 << 8)
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#define LIS3DH_ODR_TOO_HIGH (16 << 8)
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#include "lis3dh_platform.h"
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#include "lis3dh_types.h"
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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/**
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* @brief Initialize the sensor
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*
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* Reset the sensor and switch to power down mode. All registers are reset to
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* default values. FIFO is cleared.
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*
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* @param bus I2C or SPI bus at which LIS3DH sensor is connected
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* @param addr I2C addr of the LIS3DH sensor, 0 for using SPI
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* @param cs SPI CS GPIO, ignored for I2C
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* @return pointer to sensor data structure, or NULL on error
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*/
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lis3dh_sensor_t* lis3dh_init_sensor (uint8_t bus, uint8_t addr, uint8_t cs);
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/**
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* @brief Set sensor mode
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*
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* @param dev pointer to the sensor device data structure
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* @param odr sensor output data rate (ODR)
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* @param res sensor resolution
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* @param x true enable x-axis, false disable x-axis
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* @param y true enable y-axis, false disable y-axis
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* @param z true enable z-axis, false disable z-axis
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* @return true on success, false on error
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*/
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bool lis3dh_set_mode (lis3dh_sensor_t* dev,
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lis3dh_odr_mode_t odr, lis3dh_resolution_t res,
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bool x, bool y, bool z);
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/**
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* @brief Set scale (full scale range)
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*
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* @param dev pointer to the sensor device data structure
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* @param scale full range scale
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* @return true on success, false on error
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*/
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bool lis3dh_set_scale (lis3dh_sensor_t* dev, lis3dh_scale_t scale);
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/**
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* @brief Set FIFO mode
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*
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* FIFO watermark can be used to generate an interrupt when FIFO content
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* exceeds the value. It is ignored in bypass mode.
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*
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*
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* @param dev pointer to the sensor device data structure
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* @param mode FIFO mode
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* @param thresh FIFO watermark (ignored in bypass mode)
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* @param trigger interrupt signal used as trigger (only in Stream-to-FIFO)
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* @return true on success, false on error
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*/
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bool lis3dh_set_fifo_mode (lis3dh_sensor_t* dev, lis3dh_fifo_mode_t mode,
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uint8_t thresh, lis3dh_int_signal_t trigger);
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/**
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* @brief Test whether new data samples are available
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*
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* @param dev pointer to the sensor device data structure
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* @return true on new data, otherwise false
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*/
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bool lis3dh_new_data (lis3dh_sensor_t* dev);
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/**
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* @brief Get one sample of sensor data as floating point values (unit g)
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*
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* Function works only in bypass mode and fails in FIFO modes. In FIFO modes,
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* function *lis3dh_get_float_data_fifo* has to be used instead to get data.
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*
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* @param dev pointer to the sensor device data structure
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* @param data pointer to float data structure filled with g values
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* @return true on success, false on error
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*/
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bool lis3dh_get_float_data (lis3dh_sensor_t* dev,
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lis3dh_float_data_t* data);
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/**
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* @brief Get all samples of sensor data stored in the FIFO (unit g)
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*
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* In bypass mode, it returns only one sensor data sample.
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*
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* @param dev pointer to the sensor device data structure
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* @param data array of 32 float data structures filled with g values
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* @return number of data sets read from fifo on success or 0 on error
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*/
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uint8_t lis3dh_get_float_data_fifo (lis3dh_sensor_t* dev,
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lis3dh_float_data_fifo_t data);
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/**
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* @brief Get one sample of raw sensor data as 16 bit two's complements
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*
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* Function works only in bypass mode and fails in FIFO modes. In FIFO modes,
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* function *lis3dh_get_raw_data_fifo* has to be used instead to get data.
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*
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* @param dev pointer to the sensor device data structure
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* @param raw pointer to raw data structure filled with values
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* @return true on success, false on error
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*/
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bool lis3dh_get_raw_data (lis3dh_sensor_t* dev, lis3dh_raw_data_t* raw);
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/**
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* @brief Get all samples of raw sensor data stored in the FIFO
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*
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* In bypass mode, it returns only one raw data sample.
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*
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* @param dev pointer to the sensor device data structure
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* @param raw array of 32 raw data structures
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* @return number of data sets read from fifo on success or 0 on error
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*/
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uint8_t lis3dh_get_raw_data_fifo (lis3dh_sensor_t* dev,
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lis3dh_raw_data_fifo_t raw);
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/**
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* @brief Enable / disable an interrupt on signal INT1 or INT2
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*
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* @param dev pointer to the sensor device data structure
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* @param type interrupt to be enabled or disabled
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* @param signal interrupt signal that is activated for the interrupt
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* @param value true to enable or false to disable the interrupt
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* @return true on success, false on error
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*/
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bool lis3dh_enable_int (lis3dh_sensor_t* dev,
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lis3dh_int_type_t type,
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lis3dh_int_signal_t signal, bool value);
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/**
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* @brief Get the source of data ready and FIFO interrupts on INT1
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*
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* @param dev pointer to the sensor device data structure
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* @param source pointer to the interrupt source
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* @return true on success, false on error
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*/
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bool lis3dh_get_int_data_source (lis3dh_sensor_t* dev,
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lis3dh_int_data_source_t* source);
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/**
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* @brief Set the configuration of an inertial event interrupt generator
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*
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* Inertial interrupt generators produce interrupts when certain inertial event
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* occures (event interrupts), that is, the acceleration of defined axes is
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* higher or lower than a defined threshold and one of the following event is
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* recognized: axis movement / wake up, free fall, 6D/4D orientation detection.
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*
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* @param dev pointer to the sensor device data structure
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* @param config pointer to the interrupt generator configuration
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* @param gen interrupt generator to which the function is applied
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* @return true on success, false on error
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*/
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bool lis3dh_set_int_event_config (lis3dh_sensor_t* dev,
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lis3dh_int_event_config_t* config,
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lis3dh_int_event_gen_t gen);
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/**
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* @brief Get the configuration of an inertial event interrupt generator
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*
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* Inertial interrupt generators produce interrupts when certain inertial event
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* occures (event interrupts), that is, the acceleration of defined axes is
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* higher or lower than a defined threshold and one of the following event is
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* recognized: axis movement / wake up, free fall, 6D/4D orientation detection.
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*
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* @param dev pointer to the sensor device data structure
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* @param config pointer to the interrupt generator configuration
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* @param gen interrupt generator to which the function is applied
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* @return true on success, false on error
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*/
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bool lis3dh_get_int_event_config (lis3dh_sensor_t* dev,
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lis3dh_int_event_config_t* config,
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lis3dh_int_event_gen_t gen);
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/**
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* @brief Get the source of an inertial event interrupt INT1/INT2
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*
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* Returns a byte with flags that indicate the event which triggered
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* the interrupt signal (see INTx_SRC register in datasheet for details)
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*
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* @param dev pointer to the sensor device data structure
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* @param source pointer to the interrupt source data structure
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* @param gen interrupt generator to which the function is applied
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* @return true on success, false on error
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*/
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bool lis3dh_get_int_event_source (lis3dh_sensor_t* dev,
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lis3dh_int_event_source_t* source,
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lis3dh_int_event_gen_t gen);
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/**
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* @brief Set the configuration of the click detection interrupt generator
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*
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* Set the configuration for interrupts that are generated when single or
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* double clicks are detected.
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*
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* @param dev pointer to the sensor device data structure
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* @param config pointer to the interrupt generator configuration
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* @return true on success, false on error
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*/
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bool lis3dh_set_int_click_config (lis3dh_sensor_t* dev,
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lis3dh_int_click_config_t* config);
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/**
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* @brief Get the configuration of the click detection interrupt generator
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*
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* Set the configuration for interrupts that are generated when single or
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* double clicks are detected.
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*
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* @param dev pointer to the sensor device data structure
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* @param config pointer to the interrupt generator configuration
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* @return true on success, false on error
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*/
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bool lis3dh_get_int_click_config (lis3dh_sensor_t* dev,
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lis3dh_int_click_config_t* config);
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/**
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* @brief Get the source of the click detection interrupt on signal INT1/INT2
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*
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* Returns a byte with flags that indicate the activity which triggered
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* the interrupt signal (see CLICK_SRC register in datasheet for details)
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*
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* @param dev pointer to the sensor device data structure
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* @param source pointer to the interrupt source
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* @return true on success, false on error
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*/
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bool lis3dh_get_int_click_source (lis3dh_sensor_t* dev,
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lis3dh_int_click_source_t* source);
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/**
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* @brief Set signal configuration for INT1 and INT2 signals
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*
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* @param dev pointer to the sensor device data structure
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* @param level define interrupt signal as low or high active
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* @return true on success, false on error
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*/
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bool lis3dh_config_int_signals (lis3dh_sensor_t* dev,
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lis3dh_int_signal_level_t level);
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||
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/**
|
||
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|
* @brief Config HPF (high pass filter)
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||
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|
*
|
||
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* @param dev pointer to the sensor device data structure
|
||
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|
* @param mode filter mode
|
||
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|
* @param cutoff filter cutoff frequency (depends on ODR) [0 ... 3]
|
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|
|
* @param data if true, use filtered data as sensor output
|
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* @param click if true, use filtered data for CLICK function
|
||
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|
* @param int1 if true, use filtered data for interrupt INT1 generation
|
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|
* @param int2 if true, use filtered data for interrupt INT2 generation
|
||
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|
* @return true on success, false on error
|
||
|
|
*/
|
||
|
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bool lis3dh_config_hpf (lis3dh_sensor_t* dev,
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|
|
lis3dh_hpf_mode_t mode, uint8_t cutoff,
|
||
|
|
bool data, bool click, bool int1, bool int2);
|
||
|
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|
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|
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|
||
|
|
/**
|
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|
|
* @brief Set HPF (high pass filter) reference
|
||
|
|
*
|
||
|
|
* Used to set the reference of HPF in reference mode *lis3dh_hpf_reference*.
|
||
|
|
* Used to reset the HPF in autoreset mode *lis3dh_hpf_autoreset*.
|
||
|
|
* Reference is given as two's complement.
|
||
|
|
*
|
||
|
|
* @param dev pointer to the sensor device data structure
|
||
|
|
* @param ref reference *lis3dh_hpf_reference* mode, otherwise ignored
|
||
|
|
* @return true on success, false on error
|
||
|
|
*/
|
||
|
|
bool lis3dh_set_hpf_ref (lis3dh_sensor_t* dev, int8_t ref);
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get HPF (high pass filter) reference
|
||
|
|
*
|
||
|
|
* Used to reset the HPF in normal mode *lis3dh_hpf_normal*.
|
||
|
|
*
|
||
|
|
* @param dev pointer to the sensor device data structure
|
||
|
|
* @return HPF reference as two's complement
|
||
|
|
*/
|
||
|
|
int8_t lis3dh_get_hpf_ref (lis3dh_sensor_t* dev);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Enable / disable ADC or temperature sensor
|
||
|
|
*
|
||
|
|
* @param dev pointer to the sensor device data structure
|
||
|
|
* @param enable if true, ADC inputs are enabled
|
||
|
|
* @param temp if true, ADC input 3 is the output of temperature sensor
|
||
|
|
* @return true on success, false on error
|
||
|
|
*/
|
||
|
|
int8_t lis3dh_enable_adc (lis3dh_sensor_t* dev, bool enable, bool temp);
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get ADC input or temperature
|
||
|
|
*
|
||
|
|
* @param dev pointer to the sensor device data structure
|
||
|
|
* @param adc1 ADC input 1
|
||
|
|
* @param adc2 ADC input 2
|
||
|
|
* @param adc3 ADC input 3 or temperature in degree if enabled
|
||
|
|
* @return true on success, false on error
|
||
|
|
*/
|
||
|
|
bool lis3dh_get_adc (lis3dh_sensor_t* dev,
|
||
|
|
uint16_t* adc1, uint16_t* adc2, uint16_t* adc3);
|
||
|
|
|
||
|
|
|
||
|
|
// ---- Low level interface functions -----------------------------
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Direct write to register
|
||
|
|
*
|
||
|
|
* PLEASE NOTE: This function should only be used to do something special that
|
||
|
|
* is not covered by the high level interface AND if you exactly know what you
|
||
|
|
* do and what effects it might have. Please be aware that it might affect the
|
||
|
|
* high level interface.
|
||
|
|
*
|
||
|
|
* @param dev pointer to the sensor device data structure
|
||
|
|
* @param reg address of the first register to be changed
|
||
|
|
* @param data pointer to the data to be written to the register
|
||
|
|
* @param len number of bytes to be written to the register
|
||
|
|
* @return true on success, false on error
|
||
|
|
*/
|
||
|
|
bool lis3dh_reg_write (lis3dh_sensor_t* dev,
|
||
|
|
uint8_t reg, uint8_t *data, uint16_t len);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Direct read from register
|
||
|
|
*
|
||
|
|
* PLEASE NOTE: This function should only be used to do something special that
|
||
|
|
* is not covered by the high level interface AND if you exactly know what you
|
||
|
|
* do and what effects it might have. Please be aware that it might affect the
|
||
|
|
* high level interface.
|
||
|
|
*
|
||
|
|
* @param dev pointer to the sensor device data structure
|
||
|
|
* @param reg address of the first register to be read
|
||
|
|
* @param data pointer to the data to be read from the register
|
||
|
|
* @param len number of bytes to be read from the register
|
||
|
|
* @return true on success, false on error
|
||
|
|
*/
|
||
|
|
bool lis3dh_reg_read (lis3dh_sensor_t* dev,
|
||
|
|
uint8_t reg, uint8_t *data, uint16_t len);
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
}
|
||
|
|
#endif /* End of CPP guard */
|
||
|
|
|
||
|
|
#endif /* __LIS3DH_H__ */
|