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LSM303D e-Compass driver added (#548)

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Gunar Schorcht 2018-01-20 12:59:54 +01:00 • committed by Ruslan V. Uss
parent 39957e6203
commit f5bbff8b87
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# Component makefile for extras/lsm303d
# expected anyone using LIS3MDL driver includes it as 'lis3mld/lis3mld.h'
INC_DIRS += $(lsm303d_ROOT)..
INC_DIRS += $(lsm303d_ROOT)
# args for passing into compile rule generation
lsm303d_SRC_DIR = $(lsm303d_ROOT)
$(eval $(call component_compile_rules,lsm303d))

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/**
* Driver for LSM303D 3-axes digital accelerometer and magnetometer connected
* either to I2C or SPI.
*
* This driver is for the usage with the ESP8266 and FreeRTOS (esp-open-rtos)
* [https://github.com/SuperHouse/esp-open-rtos]. It is also working with ESP32
* and ESP-IDF [https://github.com/espressif/esp-idf.git] as well as Linux
* based systems using a wrapper library for ESP8266 functions.
*
* ---------------------------------------------------------------------------
*
* The BSD License (3-clause license)
*
* Copyright (c) 2018 Gunar Schorcht (https://github.com/gschorcht)
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from this
* software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef __LSM303D_H__
#define __LSM303D_H__
// Uncomment one of the following defines to enable debug output
// #define LSM303D_DEBUG_LEVEL_1 // only error messages
// #define LSM303D_DEBUG_LEVEL_2 // debug and error messages
// LSM303D addresses
#define LSM303D_I2C_ADDRESS_1 0x1e // SDO pin is low
#define LSM303D_I2C_ADDRESS_2 0x1d // SDO pin is high
// LSM303D chip id
#define LSM303D_CHIP_ID 0x49 // LSM303D_REG_WHO_AM_I<7:0>
// Definition of error codes
#define LSM303D_OK 0
#define LSM303D_NOK -1
#define LSM303D_INT_ERROR_MASK 0x000f
#define LSM303D_DRV_ERROR_MASK 0xfff0
// Error codes for I2C and SPI interfaces ORed with LSM303D driver error codes
#define LSM303D_I2C_READ_FAILED 1
#define LSM303D_I2C_WRITE_FAILED 2
#define LSM303D_I2C_BUSY 3
#define LSM303D_SPI_WRITE_FAILED 4
#define LSM303D_SPI_READ_FAILED 5
#define LSM303D_SPI_BUFFER_OVERFLOW 6
// LSM303D driver error codes ORed with error codes for I2C and SPI interfaces
#define LSM303D_WRONG_CHIP_ID ( 1 << 8)
#define LSM303D_WRONG_BANDWIDTH ( 2 << 8)
#define LSM303D_GET_RAW_A_DATA_FAILED ( 3 << 8)
#define LSM303D_GET_RAW_A_DATA_FIFO_FAILED ( 4 << 8)
#define LSM303D_GET_RAW_M_DATA_FAILED ( 5 << 8)
#define LSM303D_GET_RAW_T_DATA_FAILED ( 6 << 8)
#define LSM303D_INT_TYPE_WRONG ( 8 << 8)
#define LSM303D_INT_ENABLE_FAILED ( 9 << 8)
#define LSM303D_CONFIG_INT_SIGNALS_FAILED (10 << 8)
#define LSM303D_GET_INT_DATA_SOURCE_FAILED (11 << 8)
#define LSM303D_SET_M_THRESH_CONFIG_FAILED (12 << 8)
#define LSM303D_GET_M_THRESH_CONFIG_FAILED (13 << 8)
#define LSM303D_GET_M_THRESH_SOURCE_FAILED (14 << 8)
#define LSM303D_SET_EVENT_CONFIG_FAILED (15 << 8)
#define LSM303D_GET_EVENT_CONFIG_FAILED (16 << 8)
#define LSM303D_GET_EVENT_SOURCE_FAILED (17 << 8)
#define LSM303D_SET_CLICK_CONFIG_FAILED (18 << 8)
#define LSM303D_GET_CLICK_CONFIG_FAILED (19 << 8)
#define LSM303D_GET_CLICK_SOURCE_FAILED (20 << 8)
#define LSM303D_CONFIG_HPF_FAILED (21 << 8)
#define LSM303D_SET_HPF_REF_FAILED (22 << 8)
#define LSM303D_GET_HPF_REF_FAILED (23 << 8)
#define LSM303D_SET_M_OFFSET_FAILED (24 << 8)
#define LSM303D_GET_M_OFFSET_FAILED (25 << 8)
#define LSM303D_GET_ADC_DATA_FAILED (26 << 8)
#define LSM303D_SENSOR_IN_BYPASS_MODE (27 << 8)
#define LSM303D_SENSOR_IN_FIFO_MODE (28 << 8)
#define LSM303D_ODR_TOO_HIGH (29 << 8)
#define LSM303D_FIFO_THRESHOLD_INVALID (30 << 8)
#define LSM303D_FIFO_GET_SRC_FAILED (31 << 8)
#include "lsm303d_platform.h"
#include "lsm303d_types.h"
#ifdef __cplusplus
extern "C"
{
#endif
/**
* @brief Initialize the sensor
*
* Reset the sensor and switch to power down mode. All registers are reset to
* default values. FIFO is cleared.
*
* @param bus I2C or SPI bus at which LSM303D sensor is connected
* @param addr I2C addr of the LSM303D sensor, 0 for using SPI
* @param cs SPI CS GPIO, ignored for I2C
* @return pointer to sensor data structure, or NULL on error
*/
lsm303d_sensor_t* lsm303d_init_sensor (uint8_t bus, uint8_t addr, uint8_t cs);
/**
* @brief Set accelerator sensor mode
*
* @param dev pointer to the sensor device data structure
* @param odr accelerator output data rate (ODR)
* @param bw accelerator anti-alias filter bandwidth
* @param x true enable x-axis, false disable x-axis
* @param y true enable y-axis, false disable y-axis
* @param z true enable z-axis, false disable z-axis
* @return true on success, false on error
*/
bool lsm303d_set_a_mode (lsm303d_sensor_t* dev,
lsm303d_a_odr_t odr, lsm303d_a_aaf_bw_t bw,
bool x, bool y, bool z);
/**
* @brief Set magnetometer sensor mode
*
* @param dev pointer to the sensor device data structure
* @param odr magnetometer output data rate (ODR)
* @param res magnetometer resolution
* @param mode magnetometer mode (ODR)
* @return true on success, false on error
*/
bool lsm303d_set_m_mode (lsm303d_sensor_t* dev,
lsm303d_m_odr_t odr,
lsm303d_m_resolution_t res,
lsm303d_m_mode_t mode);
/**
* @brief Set accelerator scale (full scale)
*
* @param dev pointer to the sensor device data structure
* @param scale full scale (default 2 g)
* @return true on success, false on error
*/
bool lsm303d_set_a_scale (lsm303d_sensor_t* dev, lsm303d_a_scale_t scale);
/**
* @brief Set magnetometer scale (full scale)
*
* @param dev pointer to the sensor device data structure
* @param scale full scale (default 4 Gauss)
* @return true on success, false on error
*/
bool lsm303d_set_m_scale (lsm303d_sensor_t* dev, lsm303d_m_scale_t scale);
/**
* @brief Test whether new acceleration data samples are available
*
* When the FIFO is used, it returns true if at least one acceleration
* data sample is stored in the FIFO. Otherwise it returns true when new
* acceleration data are available in the output registers.
*
* @param dev pointer to the sensor device data structure
* @return true on new data, otherwise false
*/
bool lsm303d_new_a_data (lsm303d_sensor_t* dev);
/**
* @brief Test whether new magnetometer data samples are available
*
* @param dev pointer to the sensor device data structure
* @return true on new data, otherwise false
*/
bool lsm303d_new_m_data (lsm303d_sensor_t* dev);
/**
* @brief Get one acceleration data sample as floating point values (unit g)
*
* Function works only in bypass mode and fails in FIFO modes. In FIFO modes,
* function *lsm303d_get_a_float_data_fifo* has to be used instead to get data.
*
* @param dev pointer to the sensor device data structure
* @param data pointer to float data structure filled with g values
* @return true on success, false on error
*/
bool lsm303d_get_float_a_data (lsm303d_sensor_t* dev,
lsm303d_float_a_data_t* data);
/**
* @brief Get all samples of acceleration data stored in the FIFO (unit g)
*
* In bypass mode, it returns only one sensor data sample.
*
* @param dev pointer to the sensor device data structure
* @param data array of 32 float data structures filled with g values
* @return number of data sets read from fifo on success or 0 on error
*/
uint8_t lsm303d_get_float_a_data_fifo (lsm303d_sensor_t* dev,
lsm303d_float_a_data_fifo_t data);
/**
* @brief Get one magnetic data sample as floating point values (unit Gauss)
*
* @param dev pointer to the sensor device data structure
* @param data pointer to float data structure filled with magnetic values
* @return true on success, false on error
*/
bool lsm303d_get_float_m_data (lsm303d_sensor_t* dev,
lsm303d_float_m_data_t* data);
/**
* @brief Get one sample of raw acceleration data as 16 bit two's complements
*
* Function works only in bypass mode and fails in FIFO modes. In FIFO modes,
* function *lsm303d_get_a_raw_data_fifo* has to be used instead to get data.
*
* @param dev pointer to the sensor device data structure
* @param raw pointer to raw data structure filled with values
* @return true on success, false on error
*/
bool lsm303d_get_raw_a_data (lsm303d_sensor_t* dev, lsm303d_raw_a_data_t* raw);
/**
* @brief Get all samples of raw sensor data stored in the FIFO
*
* In bypass mode, it returns only one raw data sample.
*
* @param dev pointer to the sensor device data structure
* @param raw array of 32 raw data structures
* @return number of data sets read from fifo on success or 0 on error
*/
uint8_t lsm303d_get_raw_a_data_fifo (lsm303d_sensor_t* dev,
lsm303d_raw_a_data_fifo_t raw);
/**
* @brief Get one sample of raw magnetic data as 16 bit two's complements
*
* @param dev pointer to the sensor device data structure
* @param raw pointer to raw data structure filled with values
* @return true on success, false on error
*/
bool lsm303d_get_raw_m_data (lsm303d_sensor_t* dev, lsm303d_raw_m_data_t* raw);
/**
* @brief Set FIFO mode (for acceleration data only)
*
* FIFO threshold can be used to generate an interrupt when FIFO content
* exceeds the value. It is ignored in bypass mode.
*
* @param dev pointer to the sensor device data structure
* @param mode FIFO mode
* @param thresh FIFO threshold (ignored in bypass mode)
* @return true on success, false on error
*/
bool lsm303d_set_fifo_mode (lsm303d_sensor_t* dev, lsm303d_fifo_mode_t mode,
uint8_t thresh);
/**
* @brief Enable / disable an interrupt on signal INT1 or INT2
*
* @param dev pointer to the sensor device data structure
* @param type interrupt to be enabled or disabled
* @param signal interrupt signal that is activated for the interrupt
* @param value true to enable or false to disable the interrupt
* @return true on success, false on error
*/
bool lsm303d_enable_int (lsm303d_sensor_t* dev,
lsm303d_int_type_t type,
lsm303d_int_signal_t signal, bool value);
/**
* @brief Get the source of data ready and FIFO interrupts on INT1 or INT2
*
* @param dev pointer to the sensor device data structure
* @param source pointer to the interrupt source
* @return true on success, false on error
*/
bool lsm303d_get_int_data_source (lsm303d_sensor_t* dev,
lsm303d_int_data_source_t* source);
/**
* @brief Set the configuration of the magnetic threshold interrupt generator
*
* @param dev pointer to the sensor device data structure
* @param config pointer to the interrupt generator configuration
* @return true on success, false on error
*/
bool lsm303d_set_int_m_thresh_config (lsm303d_sensor_t* dev,
lsm303d_int_m_thresh_config_t* config);
/**
* @brief Get the configuration of the magnetic threshold interrupt generator
*
* @param dev pointer to the sensor device data structure
* @param config pointer to the interrupt generator configuration
* @return true on success, false on error
*/
bool lsm303d_get_int_m_thresh_config (lsm303d_sensor_t* dev,
lsm303d_int_m_thresh_config_t* config);
/**
* @brief Get the source of the magnetic threshold interrupt on INT/INT2
*
* Returns a byte with flags that indicate the value(s) that triggered
* the interrupt signal (see INT_SRC_M register in datasheet for details)
*
* @param dev pointer to the sensor device data structure
* @param source pointer to the interrupt source
* @return true on success, false on error
*/
bool lsm303d_get_int_m_thresh_source (lsm303d_sensor_t* dev,
lsm303d_int_m_thresh_source_t* source);
/**
* @brief Set the configuration of an inertial event interrupt generator
*
* Inertial interrupt generators produce interrupts when certain inertial event
* occures (event interrupts), that is, the acceleration of defined axes is
* higher or lower than a defined threshold and one of the following event is
* recognized: axis movement or 6D/4D orientation detection.
*
* @param dev pointer to the sensor device data structure
* @param config pointer to the interrupt generator configuration
* @param gen interrupt generator to which the function is applied
* @return true on success, false on error
*/
bool lsm303d_set_int_event_config (lsm303d_sensor_t* dev,
lsm303d_int_event_config_t* config,
lsm303d_int_event_gen_t gen);
/**
* @brief Get the configuration of an inertial interrupt generator
*
* Inertial interrupt generators produce interrupts when certain inertial event
* occures (event interrupts), that is, the acceleration of defined axes is
* higher or lower than a defined threshold and one of the following event is
* recognized: axis movement or 6D/4D orientation detection.
*
* @param dev pointer to the sensor device data structure
* @param config pointer to the interrupt generator configuration
* @param gen interrupt generator to which the function is applied
* @return true on success, false on error
*/
bool lsm303d_get_int_event_config (lsm303d_sensor_t* dev,
lsm303d_int_event_config_t* config,
lsm303d_int_event_gen_t gen);
/**
* @brief Get the source of an inertial event interrupt on signal INT1/INT2
*
* Returns a byte with flags that indicate the event that triggered
* the interrupt signal (see IG_SRCx register in datasheet for details)
*
* @param dev pointer to the sensor device data structure
* @param source pointer to the interrupt source data structure
* @param gen interrupt generator to which the function is applied
* @return true on success, false on error
*/
bool lsm303d_get_int_event_source (lsm303d_sensor_t* dev,
lsm303d_int_event_source_t* source,
lsm303d_int_event_gen_t gen);
/**
* @brief Set the configuration of the click detection interrupt generator
*
* Set the configuration for interrupts that are generated when single or
* double clicks are detected.
*
* @param dev pointer to the sensor device data structure
* @param config pointer to the interrupt generator configuration
* @return true on success, false on error
*/
bool lsm303d_set_int_click_config (lsm303d_sensor_t* dev,
lsm303d_int_click_config_t* config);
/**
* @brief Get the configuration of the click detection interrupt generator
*
* Set the configuration for interrupts that are generated when single or
* double clicks are detected.
*
* @param dev pointer to the sensor device data structure
* @param config pointer to the interrupt generator configuration
* @return true on success, false on error
*/
bool lsm303d_get_int_click_config (lsm303d_sensor_t* dev,
lsm303d_int_click_config_t* config);
/**
* @brief Get the source of the click detection interrupt on signal INT1/INT2
*
* Returns a byte with flags that indicate the activity which triggered
* the interrupt signal (see CLICK_SRC register in datasheet for details)
*
* @param dev pointer to the sensor device data structure
* @param source pointer to the interrupt source
* @return true on success, false on error
*/
bool lsm303d_get_int_click_source (lsm303d_sensor_t* dev,
lsm303d_int_click_source_t* source);
/**
* @brief Set signal configuration for INT1 and INT2 signals
*
* @param dev pointer to the sensor device data structure
* @param type define interrupt signal as pushed/pulled or open drain
* @return true on success, false on error
*/
bool lsm303d_config_int_signals (lsm303d_sensor_t* dev,
lsm303d_int_signal_type_t type);
/**
* @brief Configure HPF (high pass filter) for acceleration data
*
* The function resets implicitly reset the reference by a dummy read.
*
* @param dev pointer to the sensor device data structure
* @param mode filter mode
* @param data if true, use filtered data as sensor output
* @param click if true, use filtered data for CLICK function
* @param int1 if true, use filtered data for interrupt generator INT1
* @param int2 if true, use filtered data for interrupt generator INT2
* @return true on success, false on error
*/
bool lsm303d_config_a_hpf (lsm303d_sensor_t* dev,
lsm303d_hpf_mode_t mode,
bool data, bool click, bool int1, bool int2);
/**
* @brief Set HPF (high pass filter) reference for acceleration data
*
* Used to set the reference of HPF in reference mode *lsm303d_hpf_reference*.
* Used to reset the HPF in autoreset mode *lsm303d_hpf_autoreset*.
* Reference is given as two's complement.
*
* @param dev pointer to the sensor device data structure
* @param x_ref x reference *lsm303d_hpf_reference* mode, otherwise ignored
* @param y_ref y reference *lsm303d_hpf_reference* mode, otherwise ignored
* @param z_ref z reference *lsm303d_hpf_reference* mode, otherwise ignored
* @return true on success, false on error
*/
bool lsm303d_set_a_hpf_ref (lsm303d_sensor_t* dev,
int8_t x_ref, int8_t y_ref, int8_t z_ref);
/**
* @brief Get HPF (high pass filter) reference
*
* Used to reset the HPF in normal mode *lsm303d_hpf_normal*.
*
* @param dev pointer to the sensor device data structure
* @param x_ref pointer to variable filled with x reference
* @param y_ref pointer to variable filled with y reference
* @param z_ref pointer to variable filled with z reference
* @return true on success, false on error
*/
bool lsm303d_get_a_hpf_ref (lsm303d_sensor_t* dev,
int8_t* x_ref, int8_t* y_ref, int8_t* z_ref);
/**
* @brief Set magnetic offset
*
* @param dev pointer to the sensor device data structure
* @param x magnetic offset for x axis
* @param y magnetic offset for y axis
* @param z magnetic offset for z axis
* @return true on success, false on error
*/
bool lsm303d_set_m_offset (lsm303d_sensor_t* dev,
int16_t x, int16_t y, int16_t z);
/**
* @brief Get magnetic offset
*
* @param dev pointer to the sensor device data structure
* @param x magnetic offset for x axis
* @param y magnetic offset for y axis
* @param z magnetic offset for z axis
* @return true on success, false on error
*/
bool lsm303d_get_m_offset (lsm303d_sensor_t* dev,
int16_t* x, int16_t* y, int16_t* z);
/**
* @brief Enable/Disable temperature sensor
*
* @param dev pointer to the sensor device data structure
* @param enable if true, temperature sensor is enabled
* @return true on success, false on error
*/
bool lsm303d_enable_temperature (lsm303d_sensor_t* dev, bool enable);
/**
* @brief Get temperature
*
* @param dev pointer to the sensor device data structure
* @return temperature in degree
*/
float lsm303d_get_temperature (lsm303d_sensor_t* dev);
// ---- 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 lsm303d_reg_write (lsm303d_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 lsm303d_reg_read (lsm303d_sensor_t* dev,
uint8_t reg, uint8_t *data, uint16_t len);
#ifdef __cplusplus
}
#endif /* End of CPP guard */
#endif /* __LSM303D_H__ */

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/**
* Driver for LSM303D 3-axes digital accelerometer and magnetometer connected
* either to I2C or SPI.
*
* This driver is for the usage with the ESP8266 and FreeRTOS (esp-open-rtos)
* [https://github.com/SuperHouse/esp-open-rtos]. It is also working with ESP32
* and ESP-IDF [https://github.com/espressif/esp-idf.git] as well as Linux
* based systems using a wrapper library for ESP8266 functions.
*
* ---------------------------------------------------------------------------
*
* The BSD License (3-clause license)
*
* Copyright (c) 2017 Gunar Schorcht (https://github.com/gschorcht)
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from this
* software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
/**
* Platform file: platform specific definitions, includes and functions
*/
#include "lsm303d_platform.h"
// platform specific SPI functions
static const spi_settings_t bus_settings = {
.mode = SPI_MODE0,
.freq_divider = SPI_FREQ_DIV_1M,
.msb = true,
.minimal_pins = false,
.endianness = SPI_LITTLE_ENDIAN
};
bool spi_device_init (uint8_t bus, uint8_t cs)
{
gpio_enable(cs, GPIO_OUTPUT);
gpio_write (cs, true);
return true;
}
size_t spi_transfer_pf(uint8_t bus, uint8_t cs, const uint8_t *mosi, uint8_t *miso, uint16_t len)
{
spi_settings_t old_settings;
spi_get_settings(bus, &old_settings);
spi_set_settings(bus, &bus_settings);
gpio_write(cs, false);
size_t transfered = spi_transfer (bus, (const void*)mosi, (void*)miso, len, SPI_8BIT);
gpio_write(cs, true);
spi_set_settings(bus, &old_settings);
return transfered;
}

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/**
* Driver for LSM303D 3-axes digital accelerometer and magnetometer connected
* either to I2C or SPI.
*
* This driver is for the usage with the ESP8266 and FreeRTOS (esp-open-rtos)
* [https://github.com/SuperHouse/esp-open-rtos]. It is also working with ESP32
* and ESP-IDF [https://github.com/espressif/esp-idf.git] as well as Linux
* based systems using a wrapper library for ESP8266 functions.
*
* ---------------------------------------------------------------------------
*
* The BSD License (3-clause license)
*
* Copyright (c) 2017 Gunar Schorcht (https://github.com/gschorcht)
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from this
* software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
/**
* Platform file: platform specific definitions, includes and functions
*/
#ifndef __LSM303D_PLATFORM_H__
#define __LSM303D_PLATFORM_H__
#if !defined(ESP_OPEN_RTOS)
#define ESP_OPEN_RTOS 1
#endif
#ifdef ESP_OPEN_RTOS // ESP8266
// platform specific includes
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "espressif/esp_common.h"
#include "espressif/sdk_private.h"
#include "esp/uart.h"
#include "esp/spi.h"
#include "i2c/i2c.h"
// platform specific SPI functions
#define spi_bus_init(bus,sck,miso,mosi) // not needed on ESP8266
extern bool spi_device_init (uint8_t bus, uint8_t cs);
extern size_t spi_transfer_pf (uint8_t bus, uint8_t cs,
const uint8_t *mosi, uint8_t *miso,
uint16_t len);
#endif // ESP_OPEN_RTOS
#endif // __LSM303D_PLATFORM_H__

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/**
* Driver for LSM303D 3-axes digital accelerometer and magnetometer connected
* either to I2C or SPI.
*
* This driver is for the usage with the ESP8266 and FreeRTOS (esp-open-rtos)
* [https://github.com/SuperHouse/esp-open-rtos]. It is also working with ESP32
* and ESP-IDF [https://github.com/espressif/esp-idf.git] as well as Linux
* based systems using a wrapper library for ESP8266 functions.
*
* ---------------------------------------------------------------------------
*
* The BSD License (3-clause license)
*
* Copyright (c) 2018 Gunar Schorcht (https://github.com/gschorcht)
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from this
* software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO Activity SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef __LSM303D_TYPES_H__
#define __LSM303D_TYPES_H__
#include "stdint.h"
#include "stdbool.h"
#ifdef __cplusplus
extern "C"
{
#endif
/**
* @brief Accelerator output data rates (A_ODR)
*/
typedef enum {
lsm303d_a_power_down = 0, // power down mode (default)
lsm303d_a_odr_3_125, // normal power mode 3.125 Hz
lsm303d_a_odr_6_25, // normal power mode 6.25 Hz
lsm303d_a_odr_12_5, // normal power mode 12.5 Hz
lsm303d_a_odr_25, // normal power mode 25 Hz
lsm303d_a_odr_50, // normal power mode 50 Hz
lsm303d_a_odr_100, // normal power mode 100 Hz
lsm303d_a_odr_200, // normal power mode 200 Hz
lsm303d_a_odr_400, // normal power mode 400 Hz
lsm303d_a_odr_800, // normal power mode 800 Hz
lsm303d_a_odr_1600, // normal power mode 1.6 kHz
} lsm303d_a_odr_t;
/**
* @brief Accelerator anti-alias filter (A_AAF) bandwidth (BW) in Hz
*/
typedef enum {
lsm303d_a_aaf_bw_773 = 0, // default
lsm303d_a_aaf_bw_194,
lsm303d_a_aaf_bw_362,
lsm303d_a_aaf_bw_50
} lsm303d_a_aaf_bw_t;
/**
* @brief Accelerator full scale ranges (A_SCALE) in g
*/
typedef enum {
lsm303d_a_scale_2_g = 0, // default
lsm303d_a_scale_4_g,
lsm303d_a_scale_6_g,
lsm303d_a_scale_8_g,
lsm303d_a_scale_16_g
} lsm303d_a_scale_t;
/**
* @brief Magnetometer output data rates (M_ODR)
*/
typedef enum {
lsm303d_m_odr_3_125 = 0, // normal power mode at 3.125 Hz
lsm303d_m_odr_6_25, // normal power mode at 6.25 Hz
lsm303d_m_odr_12_5, // normal power mode at 12.5 Hz
lsm303d_m_odr_25, // normal power mode at 25 Hz
lsm303d_m_odr_50, // normal power mode at 50 Hz
lsm303d_m_odr_100, // normal power mode at 100 Hz
lsm303d_m_do_not_use, // power down mode (default)
lsm303d_m_low_power // low power mode at 3.125 Hz
} lsm303d_m_odr_t;
/**
* @brief Magnetometer sensor mode (M_MODE)
*/
typedef enum {
lsm303d_m_continuous = 0, // continuous conversion mode
lsm303d_m_single, // single conversion mode (default)
lsm303d_m_power_down // power-down mode
} lsm303d_m_mode_t;
/**
* @brief Magnetometer resolution selection
*/
typedef enum {
lsm303d_m_low_res, // low resolution (default)
lsm303d_m_high_res // high resolution
} lsm303d_m_resolution_t;
/**
* @brief Magnetometer full scale ranges (M_SCALE) in Gauss (Gs)
*/
typedef enum {
lsm303d_m_scale_2_Gs = 0,
lsm303d_m_scale_4_Gs, // default
lsm303d_m_scale_8_Gs,
lsm303d_m_scale_12_Gs
} lsm303d_m_scale_t;
/**
* @brief FIFO mode for accelerator data
*/
typedef enum {
lsm303d_bypass = 0, // default
lsm303d_fifo,
lsm303d_stream,
lsm303d_stream_to_fifo,
lsm303d_bypass_to_stream
} lsm303d_fifo_mode_t;
/**
* @brief Interrupt signals
*/
typedef enum {
lsm303d_int1_signal = 0,
lsm303d_int2_signal = 1
} lsm303d_int_signal_t;
/**
* @brief INT1, INT2 signal type
*/
typedef enum {
lsm303d_push_pull = 0,
lsm303d_open_drain
} lsm303d_int_signal_type_t;
/**
* @brief Inertial event interrupt generators
*/
typedef enum {
lsm303d_int_event1_gen = 0,
lsm303d_int_event2_gen = 1
} lsm303d_int_event_gen_t;
/**
* @brief Interrupt types for interrupt signals INT1/INT2
*/
typedef enum {
lsm303d_int_a_data_ready, // acceleration data ready for read interrupt
lsm303d_int_m_data_ready, // magnetic data ready for read interrupt
lsm303d_int_fifo_empty, // FIFO is empty (only INT1)
lsm303d_int_fifo_thresh, // FIFO exceeds the threshold (only INT2)
lsm303d_int_fifo_overrun, // FIFO is completely filled (only INT2)
lsm303d_int_event1, // inertial event interrupt 1
lsm303d_int_event2, // inertial event interrupt 2
lsm303d_int_click, // click detection interrupt
lsm303d_int_m_thresh // magnetic threshold interrupt
} lsm303d_int_type_t;
/**
* @brief Data ready and FIFO interrupt source for INT1/INT2
*/
typedef struct {
bool a_data_ready; // true when acceleration data are ready to read
bool m_data_ready; // true when magnetic data are ready to read
bool fifo_empty; // true when FIFO is empty
bool fifo_thresh; // true when FIFO exceeds the FIFO threshold
bool fifo_overrun; // true when FIFO is completely filled
} lsm303d_int_data_source_t;
/**
* @brief Magnetic threshold interrupt configuration for INT1/INT2 signals
*/
typedef struct {
uint16_t threshold; // threshold used for interrupt generation
bool x_enabled; // true - x exceeds threshold on positive side
bool y_enabled; // true - y exceeds threshold on positive side
bool z_enabled; // true - z exceeds threshold on positive side
bool latch; // true - latch the interrupt until the interrupt
// source has been read
enum
{
lsm303d_low_active = 0,
lsm303d_high_active = 1
} signal_level; // level of interrupt signal
} lsm303d_int_m_thresh_config_t;
/**
* @brief Magnetic threshold interrupt source of INT1/INT2 signals
*/
typedef struct {
bool x_pos :1; // true - x exceeds threshold on positive side
bool y_pos :1; // true - y exceeds threshold on positive side
bool z_pos :1; // true - z exceeds threshold on positive side
bool x_neg :1; // true - x exceeds threshold on negative side
bool y_neg :1; // true - y exceeds threshold on negative side
bool z_neg :1; // true - z exceeds threshold on negative side
bool mroi :1; // true - internal measurement range overflow
bool active:1; // true - interrupt event occured
} lsm303d_int_m_thresh_source_t;
/**
* @brief Inertial interrupt generator configuration for INT1/INT2
*
* Inertial events are: axis movement and 6D/4D detection.
*/
typedef struct {
enum // interrupt mode
{ // AOI (IG_CFGx), 6D (IG_CFGx), 4D (INT_CTRL_M)
lsm303d_or, // AOI = 0, 6D = 0, 4D = X
lsm303d_and, // AOI = 1, 6D = 0, 4D = X
lsm303d_6d_movement, // AOI = 0, 6D = 1, 4D = 0
lsm303d_6d_position, // AOI = 1, 6D = 1, 4D = 0
lsm303d_4d_movement, // AOI = 0, 6D = 1, 4D = 1
lsm303d_4d_position, // AOI = 1, 6D = 1, 4D = 1
} mode;
uint8_t threshold; // threshold used for comparison for all axes
bool x_low_enabled; // x lower than threshold interrupt enabled
bool x_high_enabled; // x higher than threshold interrupt enabled
bool y_low_enabled; // y lower than threshold interrupt enabled
bool y_high_enabled; // y higher than threshold interrupt enabled
bool z_low_enabled; // z lower than threshold interrupt enabled
bool z_high_enabled; // z higher than threshold interrupt enabled
bool latch; // latch the interrupt when true until the
// interrupt source has been read
uint8_t duration; // duration in 1/ODR an interrupt condition has
// to be given before the interrupt is generated
} lsm303d_int_event_config_t;
/**
* @brief Inertial event source type for interrupt generator INT1/INT2
*/
typedef struct {
bool active:1; // true - one ore more events occured
bool x_low :1; // true - x is lower than threshold event
bool x_high:1; // true - x is higher than threshold event
bool y_low :1; // true - z is lower than threshold event
bool y_high:1; // true - z is higher than threshold event
bool z_low :1; // true - z is lower than threshold event
bool z_high:1; // true - z is higher than threshold event
} lsm303d_int_event_source_t;
/**
* @brief Click interrupt configuration for interrupt signals INT1/INT2
*/
typedef struct {
bool x_single; // x-axis single tap interrupt enabled
bool x_double; // x-axis double tap interrupt enabled
bool y_single; // y-axis single tap interrupt enabled
bool y_double; // y-axis double tap interrupt enabled
bool z_single; // z-axis single tap interrupt enabled
bool z_double; // z-axis double tap interrupt enabled
uint8_t threshold; // threshold used for comparison for all axes
bool latch; // latch the interrupt when true until the
// interrupt source has been read
uint8_t time_limit; // maximum time interval between the start and the
// end of a cick (accel increases and falls back)
uint8_t time_latency; // click detection is disabled for that time after
// a was click detected (in 1/ODR)
uint8_t time_window; // time interval in which the second click has to
// to be detected in double clicks (in 1/ODR)
} lsm303d_int_click_config_t;
/**
* @brief Click interrupt source for interrupt signals INT1/INT2
*/
typedef struct {
bool x_click:1; // click detected in x direction
bool y_click:1; // click detected in y direction
bool z_click:1; // click detected in z direction
bool sign :1; // click sign (0 - posisitive, 1 - negative)
bool s_click:1; // single click detected
bool d_click:1; // double click detected
bool active :1; // true - one ore more event occured
} lsm303d_int_click_source_t;
/**
* @brief HPF (high pass filter) modes for acceleration data
*/
typedef enum {
lsm303d_hpf_normal = 0, // normal mode (reset by reading references)
lsm303d_hpf_reference, // reference signal used for filtering
lsm303d_hpf_normal_x, // normal mode
lsm303d_hpf_autoreset // autoreset on interrupt event
} lsm303d_hpf_mode_t;
/**
* @brief Raw accelerations data set of as two complements
*/
typedef struct {
int16_t ax; // acceleration on x axis
int16_t ay; // acceleration on y axis
int16_t az; // acceleration on z axis
} lsm303d_raw_a_data_t;
/**
* @brief Raw acceleration data FIFO type
*/
typedef lsm303d_raw_a_data_t lsm303d_raw_a_data_fifo_t[32];
/**
* @brief Floating point accelerations output value set in g
*/
typedef struct {
float ax; // acceleration on x axis
float ay; // acceleration on y axis
float az; // acceleration on z axis
} lsm303d_float_a_data_t;
/**
* @brief Floating point accelerations output value FIFO type
*/
typedef lsm303d_float_a_data_t lsm303d_float_a_data_fifo_t[32];
/**
* @brief Raw magnetic data set as two's complements
*/
typedef struct {
int16_t mx; // magnetic value on x axis
int16_t my; // magnetic value on y axis
int16_t mz; // magnetic value on z axis
} lsm303d_raw_m_data_t;
/**
* @brief Floating point magnetic output value set in Gauss
*/
typedef struct {
float mx; // magnetic value on x axis
float my; // magnetic value on y axis
float mz; // magnetic value on z axis
} lsm303d_float_m_data_t;
/**
* @brief LSM303D sensor device data structure type
*/
typedef struct {
int error_code; // error code of last operation
uint8_t bus; // I2C = x, SPI = 1
uint8_t addr; // I2C = slave address, SPI = 0
uint8_t cs; // ESP8266, ESP32: GPIO used as SPI CS
// __linux__: device index
lsm303d_a_scale_t a_scale; // acceleration full scale (default 2 g)
lsm303d_m_scale_t m_scale; // magnetic full scale (default 4 Gauss)
lsm303d_m_resolution_t m_res; // magnetic resolution (default low)
lsm303d_fifo_mode_t fifo_mode; // FIFO operation mode (default bypass)
bool fifo_first; // first FIFO access
} lsm303d_sensor_t;
#ifdef __cplusplus
}
#endif /* End of CPP guard */
#endif /* __LSM303D_TYPES_H__ */