/** * Driver for LIS3DH 3-axes digital accelerometer connected 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. */ #ifndef __LIS3DH_H__ #define __LIS3DH_H__ // Uncomment one of the following defines to enable debug output // #define LIS3DH_DEBUG_LEVEL_1 // only error messages // #define LIS3DH_DEBUG_LEVEL_2 // debug and error messages // LIS3DH addresses (also used for LIS2DH, LIS2DH12 and LIS2DE12) #define LIS3DH_I2C_ADDRESS_1 0x18 // SDO pin is low #define LIS3DH_I2C_ADDRESS_2 0x19 // SDO pin is high // LIS3DE addresse (also used for LIS2DE) #define LIS3DE_I2C_ADDRESS_1 0x28 // SDO pin is low #define LIS3DE_I2C_ADDRESS_2 0x29 // SDO pin is high // LIS3DH chip id #define LIS3DH_CHIP_ID 0x33 // LIS3DH_REG_WHO_AM_I<7:0> // Definition of error codes #define LIS3DH_OK 0 #define LIS3DH_NOK -1 #define LIS3DH_INT_ERROR_MASK 0x000f #define LIS3DH_DRV_ERROR_MASK 0xfff0 // Error codes for I2C and SPI interfaces ORed with LIS3DH driver error codes #define LIS3DH_I2C_READ_FAILED 1 #define LIS3DH_I2C_WRITE_FAILED 2 #define LIS3DH_I2C_BUSY 3 #define LIS3DH_SPI_WRITE_FAILED 4 #define LIS3DH_SPI_READ_FAILED 5 #define LIS3DH_SPI_BUFFER_OVERFLOW 6 // LIS3DH driver error codes ORed with error codes for I2C and SPI interfaces #define LIS3DH_WRONG_CHIP_ID ( 1 << 8) #define LIS3DH_WRONG_BANDWIDTH ( 2 << 8) #define LIS3DH_GET_RAW_DATA_FAILED ( 3 << 8) #define LIS3DH_GET_RAW_DATA_FIFO_FAILED ( 4 << 8) #define LIS3DH_WRONG_INT_TYPE ( 5 << 8) #define LIS3DH_CONFIG_INT_SIGNALS_FAILED ( 6 << 8) #define LIS3DH_CONFIG_INT_FAILED ( 7 << 8) #define LIS3DH_INT_SOURCE_FAILED ( 8 << 8) #define LIS3DH_CONFIG_HPF_FAILED ( 9 << 8) #define LIS3DH_ENABLE_HPF_FAILED (10 << 8) #define LIS3DH_CONFIG_CLICK_FAILED (11 << 8) #define LIS3DH_CLICK_SOURCE_FAILED (12 << 8) #define LIS3DH_GET_ADC_DATA_FAILED (13 << 8) #define LIS3DH_SENSOR_IN_BYPASS_MODE (14 << 8) #define LIS3DH_SENSOR_IN_FIFO_MODE (15 << 8) #define LIS3DH_ODR_TOO_HIGH (16 << 8) #include "lis3dh_platform.h" #include "lis3dh_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 LIS3DH sensor is connected * @param addr I2C addr of the LIS3DH sensor, 0 for using SPI * @param cs SPI CS GPIO, ignored for I2C * @return pointer to sensor data structure, or NULL on error */ lis3dh_sensor_t* lis3dh_init_sensor (uint8_t bus, uint8_t addr, uint8_t cs); /** * @brief Set sensor mode * * @param dev pointer to the sensor device data structure * @param odr sensor output data rate (ODR) * @param res sensor resolution * @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 lis3dh_set_mode (lis3dh_sensor_t* dev, lis3dh_odr_mode_t odr, lis3dh_resolution_t res, bool x, bool y, bool z); /** * @brief Set scale (full scale range) * * @param dev pointer to the sensor device data structure * @param scale full range scale * @return true on success, false on error */ bool lis3dh_set_scale (lis3dh_sensor_t* dev, lis3dh_scale_t scale); /** * @brief Set FIFO mode * * FIFO watermark 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 watermark (ignored in bypass mode) * @param trigger interrupt signal used as trigger (only in Stream-to-FIFO) * @return true on success, false on error */ bool lis3dh_set_fifo_mode (lis3dh_sensor_t* dev, lis3dh_fifo_mode_t mode, uint8_t thresh, lis3dh_int_signal_t trigger); /** * @brief Test whether new data samples are available * * @param dev pointer to the sensor device data structure * @return true on new data, otherwise false */ bool lis3dh_new_data (lis3dh_sensor_t* dev); /** * @brief Get one sample of sensor data as floating point values (unit g) * * Function works only in bypass mode and fails in FIFO modes. In FIFO modes, * function *lis3dh_get_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 lis3dh_get_float_data (lis3dh_sensor_t* dev, lis3dh_float_data_t* data); /** * @brief Get all samples of sensor 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 lis3dh_get_float_data_fifo (lis3dh_sensor_t* dev, lis3dh_float_data_fifo_t data); /** * @brief Get one sample of raw sensor data as 16 bit two's complements * * Function works only in bypass mode and fails in FIFO modes. In FIFO modes, * function *lis3dh_get_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 lis3dh_get_raw_data (lis3dh_sensor_t* dev, lis3dh_raw_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 lis3dh_get_raw_data_fifo (lis3dh_sensor_t* dev, lis3dh_raw_data_fifo_t raw); /** * @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 lis3dh_enable_int (lis3dh_sensor_t* dev, lis3dh_int_type_t type, lis3dh_int_signal_t signal, bool value); /** * @brief Get the source of data ready and FIFO interrupts on INT1 * * @param dev pointer to the sensor device data structure * @param source pointer to the interrupt source * @return true on success, false on error */ bool lis3dh_get_int_data_source (lis3dh_sensor_t* dev, lis3dh_int_data_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 / wake up, free fall, 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 lis3dh_set_int_event_config (lis3dh_sensor_t* dev, lis3dh_int_event_config_t* config, lis3dh_int_event_gen_t gen); /** * @brief Get 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 / wake up, free fall, 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 lis3dh_get_int_event_config (lis3dh_sensor_t* dev, lis3dh_int_event_config_t* config, lis3dh_int_event_gen_t gen); /** * @brief Get the source of an inertial event interrupt INT1/INT2 * * Returns a byte with flags that indicate the event which triggered * the interrupt signal (see INTx_SRC 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 lis3dh_get_int_event_source (lis3dh_sensor_t* dev, lis3dh_int_event_source_t* source, lis3dh_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 lis3dh_set_int_click_config (lis3dh_sensor_t* dev, lis3dh_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 lis3dh_get_int_click_config (lis3dh_sensor_t* dev, lis3dh_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 lis3dh_get_int_click_source (lis3dh_sensor_t* dev, lis3dh_int_click_source_t* source); /** * @brief Set signal configuration for INT1 and INT2 signals * * @param dev pointer to the sensor device data structure * @param level define interrupt signal as low or high active * @return true on success, false on error */ bool lis3dh_config_int_signals (lis3dh_sensor_t* dev, lis3dh_int_signal_level_t level); /** * @brief Config HPF (high pass filter) * * @param dev pointer to the sensor device data structure * @param mode filter mode * @param cutoff filter cutoff frequency (depends on ODR) [0 ... 3] * @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 INT1 generation * @param int2 if true, use filtered data for interrupt INT2 generation * @return true on success, false on error */ bool lis3dh_config_hpf (lis3dh_sensor_t* dev, lis3dh_hpf_mode_t mode, uint8_t cutoff, bool data, bool click, bool int1, bool int2); /** * @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__ */