/*
* 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.
*
* The information provided is believed to be accurate and reliable. The
* copyright holder assumes no responsibility for the consequences of use
* of such information nor for any infringement of patents or other rights
* of third parties which may result from its use. No license is granted by
* implication or otherwise under any patent or patent rights of the copyright
* holder.
*/
#include <string.h>
#include <stdlib.h>
#include "lsm303d.h"
#ifdef debug
#undef debug
#undef debug_dev
#endif
#ifdef error
#undef error
#undef error_dev
#endif
#if defined(LSM303D_DEBUG_LEVEL_2)
#define debug(s, f, ...) printf("%s %s: " s "\n", "LSM303D", f, ## __VA_ARGS__)
#define debug_dev(s, f, d, ...) printf("%s %s: bus %d, addr %02x - " s "\n", "LSM303D", f, d->bus, d->addr, ## __VA_ARGS__)
#else
#define debug(s, f, ...)
#define debug_dev(s, f, d, ...)
#endif
#if defined(LSM303D_DEBUG_LEVEL_1) || defined(LSM303D_DEBUG_LEVEL_2)
#define error(s, f, ...) printf("%s %s: " s "\n", "LSM303D", f, ## __VA_ARGS__)
#define error_dev(s, f, d, ...) printf("%s %s: bus %d, addr %02x - " s "\n", "LSM303D", f, d->bus, d->addr, ## __VA_ARGS__)
#else
#define error(s, f, ...)
#define error_dev(s, f, d, ...)
#endif
// -- register addresses ---------------------------
#define LSM303D_REG_TEMP_OUT_L 0x05
#define LSM303D_REG_TEMP_OUT_H 0x06
#define LSM303D_REG_STATUS_M 0x07
#define LSM303D_REG_OUT_X_L_M 0x08
#define LSM303D_REG_OUT_X_H_M 0x09
#define LSM303D_REG_OUT_Y_L_M 0x0a
#define LSM303D_REG_OUT_Y_H_M 0x0b
#define LSM303D_REG_OUT_Z_L_M 0x0c
#define LSM303D_REG_OUT_Z_H_M 0x0d
#define LSM303D_REG_WHO_AM_I 0x0f
#define LSM303D_REG_INT_CTRL_M 0x12
#define LSM303D_REG_INT_SRC_M 0x13
#define LSM303D_REG_INT_THS_L_M 0x14
#define LSM303D_REG_INT_THS_H_M 0x15
#define LSM303D_REG_OFFSET_X_L_M 0x16
#define LSM303D_REG_OFFSET_X_M_M 0x17
#define LSM303D_REG_OFFSET_Y_L_M 0x18
#define LSM303D_REG_OFFSET_Y_M_M 0x19
#define LSM303D_REG_OFFSET_Z_L_M 0x1a
#define LSM303D_REG_OFFSET_Z_M_M 0x1b
#define LSM303D_REG_REFERENCE_X 0x1c
#define LSM303D_REG_REFERENCE_Y 0x1d
#define LSM303D_REG_REFERENCE_Z 0x1e
#define LSM303D_REG_CTRL0 0x1f
#define LSM303D_REG_CTRL1 0x20
#define LSM303D_REG_CTRL2 0x21
#define LSM303D_REG_CTRL3 0x22
#define LSM303D_REG_CTRL4 0x23
#define LSM303D_REG_CTRL5 0x24
#define LSM303D_REG_CTRL6 0x25
#define LSM303D_REG_CTRL7 0x26
#define LSM303D_REG_STATUS_A 0x27
#define LSM303D_REG_OUT_X_L_A 0x28
#define LSM303D_REG_OUT_X_H_A 0x29
#define LSM303D_REG_OUT_Y_L_A 0x2a
#define LSM303D_REG_OUT_Y_H_A 0x2b
#define LSM303D_REG_OUT_Z_L_A 0x2c
#define LSM303D_REG_OUT_Z_H_A 0x2d
#define LSM303D_REG_FIFO_CTRL 0x2e
#define LSM303D_REG_FIFO_SRC 0x2f
#define LSM303D_REG_IG_CFG1 0x30
#define LSM303D_REG_IG_SRC1 0x31
#define LSM303D_REG_IG_THS1 0x32
#define LSM303D_REG_IG_DUR1 0x33
#define LSM303D_REG_IG_CFG2 0x34
#define LSM303D_REG_IG_SRC2 0x35
#define LSM303D_REG_IG_THS2 0x36
#define LSM303D_REG_IG_DUR2 0x37
#define LSM303D_REG_CLICK_CFG 0x38
#define LSM303D_REG_CLICK_SRC 0x39
#define LSM303D_REG_CLICK_THS 0x3a
#define LSM303D_REG_TIME_LIMIT 0x3b
#define LSM303D_REG_TIME_LATENCY 0x3c
#define LSM303D_REG_TIME_WINDOW 0x3d
// -- register structure definitions ---------------
//
// ACC = accelerator
// MAG = magnetometer
// magnetometer data status (LSM303D_REG_STATUS_M = 0x07)
struct lsm303d_reg_status_m
{
uint8_t XMDA :1; // STATUS_M<0> MAG X axis new data available
uint8_t YMDA :1; // STATUS_M<1> MAG Y axis new data available
uint8_t ZMDA :1; // STATUS_M<2> MAG Z axis new data available
uint8_t ZYXMDA :1; // STATUS_M<3> MAG X, Y and Z axis new data available
uint8_t XMOR :1; // STATUS_M<4> MAG X axis data overrun
uint8_t YMOR :1; // STATUS_M<5> MAG Y axis data overrun
uint8_t ZMOR :1; // STATUS_M<6> MAG Z axis data overrun
uint8_t ZYXMOR :1; // STATUS_M<7> MAG X, Y and Z axis data overrun
};
#define LSM303D_ANY_M_DATA_READY 0x07 // LSM303D_REG_STATUS_M<3:0>
// accelerometer data status (LSM303D_REG_STATUS_A = 0x27)
struct lsm303d_reg_status_a
{
uint8_t XADA :1; // STATUS_A<0> ACC X axis new data available
uint8_t YADA :1; // STATUS_A<1> ACC Y axis new data available
uint8_t ZADA :1; // STATUS_A<2> ACC Z axis new data available
uint8_t ZYXADA:1; // STATUS_A<3> ACC X, Y and Z axis new data available
uint8_t XAOR :1; // STATUS_A<4> ACC X axis data overrun
uint8_t YAOR :1; // STATUS_A<5> ACC Y axis data overrun
uint8_t ZAOR :1; // STATUS_A<6> ACC Z axis data overrun
uint8_t ZYXAOR:1; // STATUS_A<7> ACC X, Y and Z axis data overrun
};
#define LSM303D_ANY_A_DATA_READY 0x07 // LSM303D_REG_STATUS_A<3:0>
// MAG interrupt control register (LSM303D_REG_INT_CTRL_M = 0x12)
struct lsm303d_reg_int_ctrl_m
{
uint8_t MIEN :1; // INT_CTRL_M<0> Enable interrupt generation for magnetic data
uint8_t D4D :1; // INT_CTRL_M<1> 4D enable
uint8_t MIEL :1; // INT_CTRL_M<2> Latch interrupt request
uint8_t MIEA :1; // INT_CTRL_M<3> Interrupt polarity
uint8_t PP_OD :1; // INT_CTRL_M<4> Interrupt pin configuration
uint8_t ZMIEN :1; // INT_CTRL_M<5> Enable interrupt recognition for Z axis
uint8_t YMIEN :1; // INT_CTRL_M<6> Enable interrupt recognition for Y axis
uint8_t XMIEN :1; // INT_CTRL_M<7> Enable interrupt recognition for X axis
};
// MAG interrupt source register (LSM303D_REG_INT_SRC_M = 0x13)
struct lsm303d_reg_int_src_m
{
uint8_t MINT :1; // INT_SRC_M<0> MAG interrupt event occurs
uint8_t MROI :1; // INT_SRC_M<1> Internal measurement range overflow
uint8_t M_NTH_Z :1; // INT_SRC_M<2> MAG z value exceeds threshold on negative side
uint8_t M_NTH_Y :1; // INT_SRC_M<3> MAG y value exceeds threshold on negative side
uint8_t M_NTH_X :1; // INT_SRC_M<4> MAG x value exceeds threshold on negative side
uint8_t M_PTH_Z :1; // INT_SRC_M<5> MAG z value exceeds threshold on positive side
uint8_t M_PTH_Y :1; // INT_SRC_M<6> MAG y value exceeds threshold on positive side
uint8_t M_PTH_X :1; // INT_SRC_M<7> MAG x value exceeds threshold on positive side
};
// control register 0 (LSM303D_REG_CTRL1 = 0x1f)
struct lsm303d_reg_ctrl0
{
uint8_t HPIS2 :1; // CTRL0<0> HPF enabled for interrupt generator 2
uint8_t HPIS1 :1; // CTRL0<1> HPF enabled for interrupt generator 1
uint8_t HP_Click:1; // CTRL0<2> HPF enabled for click detection
uint8_t unused :2; // CTRL0<4:3> unused
uint8_t FTH_EN :1; // CTRL0<5> FIFO programmable threshold enable
uint8_t FIFO_EN :1; // CTRL0<6> FIFO enable
uint8_t BOOT :1; // CTRL0<7> Reboot memory content
};
// control register 1 (LSM303D_REG_CTRL1 = 0x20)
struct lsm303d_reg_ctrl1
{
uint8_t AXEN :1; // CTRL1<0> ACC X axis enable
uint8_t AYEN :1; // CTRL1<1> ACC Y axis enable
uint8_t AZEN :1; // CTRL1<2> ACC Z axis enable
uint8_t BDU :1; // CTRL1<3> ACC and MAG block data update
uint8_t AODR :4; // CTRL1<7:4> ACC data rate selection
};
// control register 2 (LSM303D_REG_CTRL2 = 0x21)
struct lsm303d_reg_ctrl2
{
uint8_t SIM :1; // CTRL2<0> SPI serial interface mode
uint8_t AST :1; // CTRL2<1> ACC self test enable
uint8_t unused:1; // CTRL2<2> unused
uint8_t AFS :3; // CTRL2<5:3> ACC full scale selection
uint8_t ABW :2; // CTRL2<7:6> ACC anti-alias filter bandwidth selection
};
// control register 3 (LSM303D_REG_CTRL3 = 0x22)
struct lsm303d_reg_ctrl3
{
uint8_t INT1_EMPTY :1; // CTRL3<0> FIFO empty indication on INT1 enable
uint8_t INT1_DRDY_M :1; // CTRL3<1> MAG data ready signal on INT1 enable
uint8_t INT1_DRDY_A :1; // CTRL3<2> ACC data ready signal on INT1 enable
uint8_t INT1_IGM :1; // CTRL3<3> MAG interrupt generator on INT1 enable
uint8_t INT1_IG2 :1; // CTRL3<4> ACC inertial interrupt generator 2 on INT1 enable
uint8_t INT1_IG1 :1; // CTRL3<5> ACC inertial interrupt generator 1 on INT1 enable
uint8_t INT1_Click :1; // CTRL3<6> CLICK generator interrupt on INT1 enable
uint8_t INT1_BOOT :1; // CTRL3<7> BOOT on INT1 enable
};
// control register 4 (LSM303D_REG_CTRL4 = 0x23)
struct lsm303d_reg_ctrl4
{
uint8_t INT2_FTH :1; // CTRL4<0> FIFO threshold interrupt on INT2 enable
uint8_t INT2_Overrun:1; // CTRL4<1> FIFO Overrun interrupt on INT2
uint8_t INT2_DRDY_M :1; // CTRL4<2> MAG data ready signal on INT2 enable
uint8_t INT2_DRDY_A :1; // CTRL4<3> ACC data ready signal on INT2 enable
uint8_t INT2_IGM :1; // CTRL4<4> MAG interrupt generator on INT2 enable
uint8_t INT2_IG2 :1; // CTRL4<5> ACC inertial interrupt generator 2 on INT2 enable
uint8_t INT2_IG1 :1; // CTRL4<6> ACC inertial interrupt generator 1 on INT2 enable
uint8_t INT2_Click :1; // CTRL4<7> CLICK generator interrupt on INT2 enable
};
// control register 5 (LSM303D_REG_CTRL5 = 0x24)
struct lsm303d_reg_ctrl5
{
uint8_t LIR1 :1; // CTRL5<0> Latch interrupt request on INT1
uint8_t LIR2 :1; // CTRL5<1> Latch interrupt request on INT2
uint8_t M_ODR :3; // CTRL5<4:2> MAG data rate selection
uint8_t M_RES :2; // CTRL5<6:5> MAG resolution
uint8_t TEMP_EN :1; // CTRL5<7> Temperature sensor enable
};
// control register 6 (LSM303D_REG_CTRL6 = 0x25)
struct lsm303d_reg_ctrl6
{
uint8_t unused1 :5; // CTRL6<4:0> unused
uint8_t MFS :2; // CTRL6<6:5> MAG full scale selection
uint8_t unused2 :1; // CTRL6<7> unused
};
// control register 7 (LSM303D_REG_CTRL7 = 0x26)
struct lsm303d_reg_ctrl7
{
uint8_t MD :2; // CTRL7<1:0> MAG sensor mode
uint8_t MLP :1; // CTRL7<2> MAG data low-power mode
uint8_t unused :1; // CTRL7<3> unused
uint8_t T_ONLY :1; // CTRL7<4> Temperature sensor only mode
uint8_t AFDS :1; // CTRL7<5> ACC data filtered
uint8_t AHPM :2; // CTRL7<7:6> ACC HPF mode
};
// FIFO control (LSM303D_REG_FIFO_CTRL = 0x2e)
struct lsm303d_reg_fifo_ctrl
{
uint8_t FTH :5; // FIFO_CTRL<4:0> FIFO threshold level
uint8_t FM :3; // FIFO_CTRL<7:5> FIFO mode selection
};
// FIFO source (LSM303D_REG_FIFO_SRC = 0x2f)
struct lsm303d_reg_fifo_src
{
uint8_t FFS :5; // FIFO_SRC<4:0> FIFO samples stored
uint8_t EMPTY:1; // FIFO_SRC<5> FIFO is empty
uint8_t OVRN :1; // FIFO_SRC<6> FIFO buffer full
uint8_t FTH :1; // FIFO_SRC<7> FIFO content exceeds watermark
};
// ACC interrupt generator IG_CFGx (LSM303D_REG_IG_CFGx = 0x30, 0x34)
struct lsm303d_reg_ig_cfgx
{
uint8_t XLIE :1; // IG_CFGx<0> ACC x value below threshold enabled
uint8_t XHIE :1; // IG_CFGx<1> ACC x value above threshold enabled
uint8_t YLIE :1; // IG_CFGx<2> ACC y value below threshold enabled
uint8_t YHIE :1; // IG_CFGx<3> ACC y value above threshold enabled
uint8_t ZLIE :1; // IG_CFGx<4> ACC z value below threshold enabled
uint8_t ZHIE :1; // IG_CFGx<5> ACC z value above threshold enabled
uint8_t D6D :1; // IG_CFGx<6> 6D/4D detection detecetion enabled
uint8_t AOI :1; // IG_CFGx<7> AND/OR combination of interrupt events
};
// ACC interrupt source IG_SRCx (LSM303D_REG_IG_SRCx = 0x31, 0x35)
struct lsm303d_reg_ig_srcx
{
uint8_t XL :1; // IG_SRCx<0> ACC x value is below threshold
uint8_t XH :1; // IG_SRCx<1> ACC x value is above threshold
uint8_t YL :1; // IG_SRCx<2> ACC y value is below threshold
uint8_t YH :1; // IG_SRCx<3> ACC y value is above threshold
uint8_t ZL :1; // IG_SRCx<4> ACC z value is below threshold
uint8_t ZH :1; // IG_SRCx<5> ACC z value is above threshold
uint8_t IA :1; // IG_SRCx<6> ACC interrupt active
uint8_t unused:1; // IG_SRCx<7> unused
};
// CLICK_CFGx (LSM303D_REG_CLICL_CFG = 0x38)
struct lsm303d_reg_click_cfg
{
uint8_t XS :1; // CLICK_CFG<0> X axis single click enabled
uint8_t XD :1; // CLICK_CFG<1> X axis double click enabled
uint8_t YS :1; // CLICK_CFG<2> Y axis single click enabled
uint8_t YD :1; // CLICK_CFG<3> Y axis double click enabled
uint8_t ZS :1; // CLICK_CFG<4> Z axis single click enabled
uint8_t ZD :1; // CLICK_CFG<5> Z axis double click enabled
uint8_t unused:2; // CLICK_CFG<7:6> unused
};
/** Forward declaration of functions for internal use */
static bool lsm303d_reset (lsm303d_sensor_t* dev);
static bool lsm303d_is_available(lsm303d_sensor_t* dev);
static bool lsm303d_i2c_read (lsm303d_sensor_t* dev, uint8_t reg, uint8_t *data, uint16_t len);
static bool lsm303d_i2c_write (lsm303d_sensor_t* dev, uint8_t reg, uint8_t *data, uint16_t len);
static bool lsm303d_spi_read (lsm303d_sensor_t* dev, uint8_t reg, uint8_t *data, uint16_t len);
static bool lsm303d_spi_write (lsm303d_sensor_t* dev, uint8_t reg, uint8_t *data, uint16_t len);
#define msb_lsb_to_type(t,b,o) (t)(((t)b[o] << 8) | b[o+1])
#define lsb_msb_to_type(t,b,o) (t)(((t)b[o+1] << 8) | b[o])
#define lsb_to_type(t,b,o) (t)(b[o])
#define lsm303d_update_reg(dev,addr,type,elem,value) \
{ \
struct type __reg; \
if (!lsm303d_reg_read (dev, (addr), (uint8_t*)&__reg, 1)) \
return false; \
__reg.elem = (value); \
if (!lsm303d_reg_write (dev, (addr), (uint8_t*)&__reg, 1)) \
return false; \
}
lsm303d_sensor_t* lsm303d_init_sensor (uint8_t bus, uint8_t addr, uint8_t cs)
{
lsm303d_sensor_t* dev;
if ((dev = malloc (sizeof(lsm303d_sensor_t))) == NULL)
return NULL;
// init sensor data structure
dev->bus = bus;
dev->addr = addr;
dev->cs = cs;
dev->error_code = LSM303D_OK;
dev->a_scale = lsm303d_a_scale_2_g;
dev->m_scale = lsm303d_m_scale_4_Gs;
dev->m_res = lsm303d_m_low_res;
dev->fifo_mode = lsm303d_bypass;
dev->fifo_first = true;
// if addr==0 then SPI is used and has to be initialized
if (!addr && !spi_device_init (bus, cs))
{
error_dev ("Could not initialize SPI interface.", __FUNCTION__, dev);
free (dev);
return NULL;
}
// check availability of the sensor
if (!lsm303d_is_available (dev))
{
error_dev ("Sensor is not available.", __FUNCTION__, dev);
free (dev);
return NULL;
}
// reset the sensor
if (!lsm303d_reset(dev))
{
error_dev ("Could not reset the sensor device.", __FUNCTION__, dev);
free (dev);
return NULL;
}
// set block data update as default
lsm303d_update_reg (dev, LSM303D_REG_CTRL1, lsm303d_reg_ctrl1, BDU, 1);
// not necessary, following values are the defaults
// lsm303d_update_reg (dev, LSM303D_REG_CTRL2, lsm303d_reg_ctrl2, AFS, lsm303d_a_scale_2_g);
// lsm303d_update_reg (dev, LSM303D_REG_CTRL6, lsm303d_reg_ctrl6, MFS, lsm303d_m_scale_4_Gs);
// clear FIFO
// lsm303d_set_fifo_mode (sensor, lsm303d_bypass, 0);
return dev;
}
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)
{
if (!dev) return false;
dev->error_code = LSM303D_OK;
struct lsm303d_reg_ctrl1 ctrl1;
struct lsm303d_reg_ctrl2 ctrl2;
// read current register values
if (!lsm303d_reg_read (dev, LSM303D_REG_CTRL1, (uint8_t*)&ctrl1, 1) ||
!lsm303d_reg_read (dev, LSM303D_REG_CTRL2, (uint8_t*)&ctrl2, 1))
return false;
// set mode
ctrl1.AXEN = x;
ctrl1.AYEN = y;
ctrl1.AZEN = z;
ctrl1.AODR = odr;
ctrl2.ABW = bw;
if (!lsm303d_reg_write (dev, LSM303D_REG_CTRL1, (uint8_t*)&ctrl1, 1) ||
!lsm303d_reg_write (dev, LSM303D_REG_CTRL2, (uint8_t*)&ctrl2, 1))
return false;
// switching times
vTaskDelay (50/portTICK_PERIOD_MS);
return false;
}
bool lsm303d_set_m_mode (lsm303d_sensor_t* dev,
lsm303d_m_odr_t odr,
lsm303d_m_resolution_t res,
lsm303d_m_mode_t mode)
{
if (!dev) return false;
dev->error_code = LSM303D_OK;
struct lsm303d_reg_ctrl5 ctrl5;
struct lsm303d_reg_ctrl7 ctrl7;
// read current register values
if (!lsm303d_reg_read (dev, LSM303D_REG_CTRL5, (uint8_t*)&ctrl5, 1) ||
!lsm303d_reg_read (dev, LSM303D_REG_CTRL7, (uint8_t*)&ctrl7, 1))
return false;
// set mode
if (odr == lsm303d_m_low_power)
{
ctrl7.MLP = true;
ctrl5.M_ODR = lsm303d_m_odr_3_125;
}
else
{
ctrl7.MLP = false;
ctrl5.M_ODR = odr;
}
ctrl7.MD = mode;
ctrl5.M_RES = res;
// write register values
if (!lsm303d_reg_write (dev, LSM303D_REG_CTRL5, (uint8_t*)&ctrl5, 1) ||
!lsm303d_reg_write (dev, LSM303D_REG_CTRL7, (uint8_t*)&ctrl7, 1))
return false;
// switching times
vTaskDelay (50/portTICK_PERIOD_MS);
return false;
}
bool lsm303d_set_a_scale (lsm303d_sensor_t* dev, lsm303d_a_scale_t scale)
{
if (!dev) return false;
dev->error_code = LSM303D_OK;
dev->a_scale = scale;
// read CTRL2 register and write scale
lsm303d_update_reg (dev, LSM303D_REG_CTRL2, lsm303d_reg_ctrl2, AFS, scale);
return true;
}
bool lsm303d_set_m_scale (lsm303d_sensor_t* dev, lsm303d_m_scale_t scale)
{
if (!dev) return false;
dev->error_code = LSM303D_OK;
dev->m_scale = scale;
// read CTRL5 register and write scale
lsm303d_update_reg (dev, LSM303D_REG_CTRL6, lsm303d_reg_ctrl6, MFS, scale);
return true;
}
bool lsm303d_set_fifo_mode (lsm303d_sensor_t* dev, lsm303d_fifo_mode_t mode,
uint8_t thresh)
{
if (!dev) return false;
if (thresh > 31)
{
error_dev ("FIFO threshold is greate than the maximum of 31.", __FUNCTION__, dev);
dev->error_code = LSM303D_FIFO_THRESHOLD_INVALID;
return false;
}
dev->error_code = LSM303D_OK;
dev->fifo_mode = mode;
// read CTRL1 register and write FIFO_EN flag
lsm303d_update_reg (dev, LSM303D_REG_CTRL0, lsm303d_reg_ctrl0, FIFO_EN, mode != lsm303d_bypass);
lsm303d_update_reg (dev, LSM303D_REG_CTRL0, lsm303d_reg_ctrl0, FTH_EN , mode != lsm303d_bypass);
struct lsm303d_reg_fifo_ctrl fifo_ctrl = {
.FTH = thresh,
.FM = mode,
};
// write FIFO_CTRL register
if (!lsm303d_reg_write (dev, LSM303D_REG_FIFO_CTRL, (uint8_t*)&fifo_ctrl, 1))
return false;
return true;
}
bool lsm303d_new_a_data (lsm303d_sensor_t* dev)
{
if (!dev) return false;
dev->error_code = LSM303D_OK;
if (dev->fifo_mode == lsm303d_bypass)
{
struct lsm303d_reg_status_a status;
if (!lsm303d_reg_read (dev, LSM303D_REG_STATUS_A, (uint8_t*)&status, 1))
{
error_dev ("Could not get sensor status", __FUNCTION__, dev);
return false;
}
return status.XADA || status.YADA || status.ZADA;
}
else
{
struct lsm303d_reg_fifo_src fifo_src;
if (!lsm303d_reg_read (dev, LSM303D_REG_FIFO_SRC, (uint8_t*)&fifo_src, 1))
{
error_dev ("Could not get fifo source register data", __FUNCTION__, dev);
return false;
}
return !fifo_src.EMPTY;
}
}
bool lsm303d_new_m_data (lsm303d_sensor_t* dev)
{
if (!dev) return false;
dev->error_code = LSM303D_OK;
struct lsm303d_reg_status_m status;
if (!lsm303d_reg_read (dev, LSM303D_REG_STATUS_M, (uint8_t*)&status, 1))
{
error_dev ("Could not get sensor status", __FUNCTION__, dev);
return false;
}
return status.XMDA || status.YMDA || status.ZMDA;
}
/**
* Scaling factors for the conversion of raw sensor data to floating point g
* values. Scaling factors are from mechanical characteristics in datasheet.
*
* scale/sensitivity resolution
* +-2 g 0.061 mg/LSB
* +-4 g 0.122 mg/LSB
* +-6 g 0.183 mg/LSB
* +-8 g 0.244 mg/LSB
* +-16 g 0.732 mg/LSB
*/
const static double LSM303D_A_SCALES[5] =
{ 0.061/1000, 0.122/1000, 0.183/1000, 0.244/1000, 0.732/1000 };
bool lsm303d_get_float_a_data (lsm303d_sensor_t* dev, lsm303d_float_a_data_t* data)
{
if (!dev || !data) return false;
lsm303d_raw_a_data_t raw;
if (!lsm303d_get_raw_a_data (dev, &raw))
return false;
data->ax = LSM303D_A_SCALES[dev->a_scale] * raw.ax;
data->ay = LSM303D_A_SCALES[dev->a_scale] * raw.ay;
data->az = LSM303D_A_SCALES[dev->a_scale] * raw.az;
return true;
}
uint8_t lsm303d_get_float_a_data_fifo (lsm303d_sensor_t* dev, lsm303d_float_a_data_fifo_t data)
{
if (!dev || !data) return false;
lsm303d_raw_a_data_fifo_t raw;
uint8_t num = lsm303d_get_raw_a_data_fifo (dev, raw);
for (int i = 0; i < num; i++)
{
data[i].ax = LSM303D_A_SCALES[dev->a_scale] * raw[i].ax;
data[i].ay = LSM303D_A_SCALES[dev->a_scale] * raw[i].ay;
data[i].az = LSM303D_A_SCALES[dev->a_scale] * raw[i].az;
}
return num;
}
/**
* Scaling factors for the conversion of raw sensor data to floating point Gauss
* values. Scaling factors are from sensor characteristics in datasheet.
*
* scale/sensitivity resolution
* +-2 Gauss 0.080 mGauss/LSB
* +-4 Gauss 0.160 mGauss/LSB
* +-8 Gauss 0.320 mGauss/LSB
* +-12 Gauss 0.479 mGauss/LSB
*/
const static double LSM303D_M_SCALES[5] = { 0.080/1000, 0.160/1000, 0.320/1000, 0.479/1000 };
bool lsm303d_get_float_m_data (lsm303d_sensor_t* dev, lsm303d_float_m_data_t* data)
{
if (!dev || !data) return false;
lsm303d_raw_m_data_t raw;
if (!lsm303d_get_raw_m_data (dev, &raw))
return false;
data->mx = LSM303D_M_SCALES[dev->m_scale] * raw.mx;
data->my = LSM303D_M_SCALES[dev->m_scale] * raw.my;
data->mz = LSM303D_M_SCALES[dev->m_scale] * raw.mz;
return true;
}
bool lsm303d_get_raw_a_data (lsm303d_sensor_t* dev, lsm303d_raw_a_data_t* raw)
{
if (!dev || !raw) return false;
dev->error_code = LSM303D_OK;
// abort if not in bypass mode
if (dev->fifo_mode != lsm303d_bypass)
{
dev->error_code = LSM303D_SENSOR_IN_BYPASS_MODE;
error_dev ("Sensor is in FIFO mode, use lsm303d_get_*_data_fifo to get data",
__FUNCTION__, dev);
return false;
}
uint8_t buf[6];
// read raw data sample
if (!lsm303d_reg_read (dev, LSM303D_REG_OUT_X_L_A, buf, 6))
{
error_dev ("Could not get raw data sample", __FUNCTION__, dev);
dev->error_code |= LSM303D_GET_RAW_A_DATA_FAILED;
return false;
}
raw->ax = buf[1] << 8 | buf[0];
raw->ay = buf[3] << 8 | buf[2];
raw->az = buf[5] << 8 | buf[4];
return true;
}
uint8_t lsm303d_get_raw_a_data_fifo (lsm303d_sensor_t* dev, lsm303d_raw_a_data_fifo_t raw)
{
if (!dev) return 0;
dev->error_code = LSM303D_OK;
// in bypass mode, use lsm303d_get_raw_data to return one sample
if (dev->fifo_mode == lsm303d_bypass)
return lsm303d_get_raw_a_data (dev, raw) ? 1 : 0;
struct lsm303d_reg_fifo_src fifo_src;
// read FIFO state
if (!lsm303d_reg_read (dev, LSM303D_REG_FIFO_SRC, (uint8_t*)&fifo_src, 1))
{
dev->error_code |= LSM303D_FIFO_GET_SRC_FAILED;
error_dev ("Could not get fifo source register data", __FUNCTION__, dev);
return 0;
}
// if nothing is in the FIFO, just return with 0
if (fifo_src.EMPTY)
return 0;
uint8_t samples = fifo_src.FFS + (fifo_src.OVRN ? 1 : 0);
uint8_t buf[6];
// read samples from FIFO
for (int i = 0; i < samples; i++)
{
if (!lsm303d_reg_read (dev, LSM303D_REG_OUT_X_L_A, buf, 6))
{
error_dev ("Could not get raw data samples", __FUNCTION__, dev);
dev->error_code |= LSM303D_GET_RAW_A_DATA_FIFO_FAILED;
return i;
}
raw[i].ax = buf[1] << 8 | buf[0];
raw[i].ay = buf[3] << 8 | buf[2];
raw[i].az = buf[5] << 8 | buf[4];
}
lsm303d_reg_read (dev, LSM303D_REG_FIFO_SRC, (uint8_t*)&fifo_src, 1);
// if FFS is not 0 after all samples read, ODR is higher than fetching rate
if (fifo_src.FFS)
{
dev->error_code = LSM303D_ODR_TOO_HIGH;
error_dev ("New samples were stored in FIFO while reading, "
"output data rate (ODR) might be too high", __FUNCTION__, dev);
return 0;
}
if (dev->fifo_mode == lsm303d_fifo && samples == 32)
{
// clean FIFO
lsm303d_update_reg (dev, LSM303D_REG_FIFO_CTRL, lsm303d_reg_fifo_ctrl, FM, lsm303d_bypass);
lsm303d_update_reg (dev, LSM303D_REG_FIFO_CTRL, lsm303d_reg_fifo_ctrl, FM, lsm303d_fifo);
}
return samples;
}
bool lsm303d_get_raw_m_data (lsm303d_sensor_t* dev, lsm303d_raw_m_data_t* raw)
{
if (!dev || !raw) return false;
dev->error_code = LSM303D_OK;
uint8_t buf[6];
// read raw data sample
if (!lsm303d_reg_read (dev, LSM303D_REG_OUT_X_L_M, buf, 6))
{
error_dev ("Could not get raw data sample", __FUNCTION__, dev);
dev->error_code |= LSM303D_GET_RAW_M_DATA_FAILED;
return false;
}
raw->mx = buf[1] << 8 | buf[0];
raw->my = buf[3] << 8 | buf[2];
raw->mz = buf[5] << 8 | buf[4];
return true;
}
bool lsm303d_enable_int (lsm303d_sensor_t* dev,
lsm303d_int_type_t type,
lsm303d_int_signal_t signal, bool value)
{
if (!dev) return false;
dev->error_code = LSM303D_OK;
struct lsm303d_reg_int_ctrl_m int_ctrl_m;
struct lsm303d_reg_ctrl3 ctrl3;
struct lsm303d_reg_ctrl4 ctrl4;
uint8_t* reg1 = NULL;
uint8_t* reg2 = NULL;
uint8_t addr1 = 0;
uint8_t addr2 = 0;
// determine the addr of the register to change
if (type == lsm303d_int_m_thresh)
{
reg1 = (uint8_t*)&int_ctrl_m;
addr1 = LSM303D_REG_INT_CTRL_M;
reg2 = (signal == lsm303d_int1_signal) ? (uint8_t*)&ctrl3 : (uint8_t*)&ctrl4;
addr2 = (signal == lsm303d_int1_signal) ? LSM303D_REG_CTRL3 : LSM303D_REG_CTRL4;
}
else if (type == lsm303d_int_fifo_empty || signal == lsm303d_int1_signal)
{
reg1 = (uint8_t*)&ctrl3;
addr1 = LSM303D_REG_CTRL3;
}
else
{
reg1 = (uint8_t*)&ctrl4;
addr1 = LSM303D_REG_CTRL4;
}
// read the register
if ((reg1 && !lsm303d_reg_read (dev, addr1, reg1, 1)) ||
(reg2 && !lsm303d_reg_read (dev, addr2, reg2, 1)))
{
error_dev ("Could not read interrupt control registers", __FUNCTION__, dev);
dev->error_code |= LSM303D_INT_ENABLE_FAILED;
return false;
}
// change the register
switch (type)
{
case lsm303d_int_a_data_ready: if (signal == lsm303d_int1_signal)
ctrl3.INT1_DRDY_A = value;
else
ctrl4.INT2_DRDY_A = value;
break;
case lsm303d_int_m_data_ready: if (signal == lsm303d_int1_signal)
ctrl3.INT1_DRDY_M = value;
else
ctrl4.INT2_DRDY_M = value;
break;
case lsm303d_int_m_thresh: int_ctrl_m.MIEN = value;
if (signal == lsm303d_int1_signal)
ctrl3.INT1_IGM = value;
else
ctrl4.INT2_IGM = value;
break;
case lsm303d_int_fifo_empty: ctrl3.INT1_EMPTY = value;
break;
case lsm303d_int_fifo_thresh: ctrl4.INT2_FTH = value;
break;
case lsm303d_int_fifo_overrun: ctrl4.INT2_FTH = value;
break;
case lsm303d_int_event1: if (signal == lsm303d_int1_signal)
ctrl3.INT1_IG1 = value;
else
ctrl4.INT2_IG1 = value;
break;
case lsm303d_int_event2: if (signal == lsm303d_int1_signal)
ctrl3.INT1_IG2 = value;
else
ctrl4.INT2_IG2 = value;
break;
case lsm303d_int_click: if (signal == lsm303d_int1_signal)
ctrl3.INT1_Click = value;
else
ctrl4.INT2_Click = value;
break;
default: error_dev ("Wrong interrupt type in enable function", __FUNCTION__, dev);
dev->error_code |= LSM303D_INT_TYPE_WRONG;
return false;
}
if ((reg1 && !lsm303d_reg_write (dev, addr1, reg1, 1)) ||
(reg2 && !lsm303d_reg_write (dev, addr2, reg2, 1)))
{
error_dev ("Could not enable/disable interrupt", __FUNCTION__, dev);
dev->error_code |= LSM303D_INT_ENABLE_FAILED;
return false;
}
return true;
}
bool lsm303d_get_int_data_source (lsm303d_sensor_t* dev,
lsm303d_int_data_source_t* source)
{
if (!dev || !source) return false;
dev->error_code = LSM303D_OK;
uint8_t status_a;
uint8_t status_m;
struct lsm303d_reg_fifo_src fifo_src;
if (!lsm303d_reg_read (dev, LSM303D_REG_STATUS_A, &status_a, 1) ||
!lsm303d_reg_read (dev, LSM303D_REG_STATUS_M, &status_m, 1) ||
!lsm303d_reg_read (dev, LSM303D_REG_FIFO_SRC, (uint8_t*)&fifo_src, 1))
{
error_dev ("Could not read source of interrupt INT1/INT2 from sensor", __FUNCTION__, dev);
dev->error_code |= LSM303D_GET_INT_DATA_SOURCE_FAILED;
return false;
}
source->a_data_ready = status_a & LSM303D_ANY_A_DATA_READY;
source->m_data_ready = status_m & LSM303D_ANY_M_DATA_READY;
source->fifo_empty = fifo_src.EMPTY;
source->fifo_thresh = fifo_src.FTH;
source->fifo_overrun = fifo_src.OVRN;
return true;
}
bool lsm303d_set_int_m_thresh_config (lsm303d_sensor_t* dev,
lsm303d_int_m_thresh_config_t* config)
{
if (!dev || !config) return false;
dev->error_code = LSM303D_OK;
struct lsm303d_reg_int_ctrl_m int_ctrl_m;
if (!lsm303d_reg_read (dev, LSM303D_REG_INT_CTRL_M, (uint8_t*)&int_ctrl_m, 1))
{
error_dev ("Could not read configuration of magnetic threshold interrupt", __FUNCTION__, dev);
dev->error_code |= LSM303D_SET_M_THRESH_CONFIG_FAILED;
return false;
}
int_ctrl_m.XMIEN = config->x_enabled;
int_ctrl_m.YMIEN = config->y_enabled;
int_ctrl_m.ZMIEN = config->z_enabled;
int_ctrl_m.MIEL = config->latch;
int_ctrl_m.MIEA = config->signal_level;
uint8_t int_ths_m [2] = { config->threshold & 0xff, config->threshold >> 8 };
if (// write the threshold to registers INT_THS_*_M
!lsm303d_reg_write (dev, LSM303D_REG_INT_THS_L_M, int_ths_m, 2) ||
// write configuration to INT_CTRL_M
!lsm303d_reg_write (dev, LSM303D_REG_INT_CTRL_M, (uint8_t*)&int_ctrl_m, 1))
{
error_dev ("Could not configure magnetic threshold interrupt", __FUNCTION__, dev);
dev->error_code |= LSM303D_SET_M_THRESH_CONFIG_FAILED;
return false;
}
return true;
}
bool lsm303d_get_int_m_thresh_config (lsm303d_sensor_t* dev,
lsm303d_int_m_thresh_config_t* config)
{
if (!dev || !config) return false;
dev->error_code = LSM303D_OK;
struct lsm303d_reg_int_ctrl_m int_ctrl_m;
uint8_t int_ths_m [2];
if (!lsm303d_reg_read (dev, LSM303D_REG_INT_THS_L_M, int_ths_m, 2) ||
!lsm303d_reg_read (dev, LSM303D_REG_INT_CTRL_M , (uint8_t*)&int_ctrl_m, 1))
{
error_dev ("Could not read configuration of magnetic threshold interrupt", __FUNCTION__, dev);
dev->error_code |= LSM303D_GET_M_THRESH_CONFIG_FAILED;
return false;
}
config->x_enabled = int_ctrl_m.XMIEN;
config->y_enabled = int_ctrl_m.YMIEN;
config->z_enabled = int_ctrl_m.ZMIEN;
config->latch = int_ctrl_m.MIEL;
config->signal_level = int_ctrl_m.MIEA;
config->threshold = int_ths_m[1] << 8 | int_ths_m[0];
return true;
}
bool lsm303d_get_int_m_thresh_source (lsm303d_sensor_t* dev,
lsm303d_int_m_thresh_source_t* source)
{
if (!dev || !source) return false;
dev->error_code = LSM303D_OK;
struct lsm303d_reg_int_src_m int_src_m;
struct lsm303d_reg_int_ctrl_m int_ctrl_m;
if (!lsm303d_reg_read (dev, LSM303D_REG_INT_SRC_M , (uint8_t*)&int_src_m , 1) ||
!lsm303d_reg_read (dev, LSM303D_REG_INT_CTRL_M, (uint8_t*)&int_ctrl_m, 1))
{
error_dev ("Could not read source of interrupt INT from sensor", __FUNCTION__, dev);
dev->error_code |= LSM303D_GET_M_THRESH_SOURCE_FAILED;
return false;
}
source->active = int_src_m.MINT;
source->x_pos = int_src_m.M_PTH_X & int_ctrl_m.XMIEN;
source->x_neg = int_src_m.M_NTH_X & int_ctrl_m.XMIEN;
source->y_pos = int_src_m.M_PTH_Y & int_ctrl_m.YMIEN;
source->y_neg = int_src_m.M_NTH_Y & int_ctrl_m.YMIEN;
source->z_pos = int_src_m.M_PTH_Z & int_ctrl_m.ZMIEN;
source->z_neg = int_src_m.M_NTH_Z & int_ctrl_m.ZMIEN;
return true;
}
bool lsm303d_set_int_event_config (lsm303d_sensor_t* dev,
lsm303d_int_event_config_t* config,
lsm303d_int_event_gen_t gen)
{
if (!dev || !config) return false;
dev->error_code = LSM303D_OK;
struct lsm303d_reg_ig_cfgx ig_cfgx;
ig_cfgx.XLIE = config->x_low_enabled;
ig_cfgx.XHIE = config->x_high_enabled;
ig_cfgx.YLIE = config->y_low_enabled;
ig_cfgx.YHIE = config->y_high_enabled;
ig_cfgx.ZLIE = config->z_low_enabled;
ig_cfgx.ZHIE = config->z_high_enabled;
bool d4d_int = false;
switch (config->mode)
{
case lsm303d_or : ig_cfgx.AOI = 0; ig_cfgx.D6D = 0; break;
case lsm303d_and : ig_cfgx.AOI = 1; ig_cfgx.D6D = 0; break;
case lsm303d_4d_movement : d4d_int = true;
case lsm303d_6d_movement : ig_cfgx.AOI = 0; ig_cfgx.D6D = 1; break;
case lsm303d_4d_position : d4d_int = true;
case lsm303d_6d_position : ig_cfgx.AOI = 1; ig_cfgx.D6D = 1; break;
}
uint8_t ig_cfgx_addr = (gen == lsm303d_int_event1_gen) ? LSM303D_REG_IG_CFG1 : LSM303D_REG_IG_CFG2;
uint8_t ig_thsx_addr = (gen == lsm303d_int_event1_gen) ? LSM303D_REG_IG_THS1 : LSM303D_REG_IG_THS2;
uint8_t ig_durx_addr = (gen == lsm303d_int_event1_gen) ? LSM303D_REG_IG_DUR1 : LSM303D_REG_IG_DUR2;
if (// write the thresholds to registers IG_THSx
!lsm303d_reg_write (dev, ig_thsx_addr, &config->threshold, 1) ||
// write duration configuration to IG_DURx
!lsm303d_reg_write (dev, ig_durx_addr, &config->duration, 1) ||
// write configuration to IG_CFGx
!lsm303d_reg_write (dev, ig_cfgx_addr, (uint8_t*)&ig_cfgx, 1))
{
error_dev ("Could not configure interrupt INT1", __FUNCTION__, dev);
dev->error_code |= LSM303D_SET_EVENT_CONFIG_FAILED;
return false;
}
if (gen == lsm303d_int_event1_gen)
{
lsm303d_update_reg (dev, LSM303D_REG_CTRL5, lsm303d_reg_ctrl5, LIR1, config->latch);
}
else
{
lsm303d_update_reg (dev, LSM303D_REG_CTRL5, lsm303d_reg_ctrl5, LIR2, config->latch);
}
lsm303d_update_reg (dev, LSM303D_REG_INT_CTRL_M, lsm303d_reg_int_ctrl_m, D4D, d4d_int);
return true;
}
bool lsm303d_get_int_event_config (lsm303d_sensor_t* dev,
lsm303d_int_event_config_t* config,
lsm303d_int_event_gen_t gen)
{
if (!dev || !config) return false;
dev->error_code = LSM303D_OK;
uint8_t ig_cfgx_addr = (gen == lsm303d_int_event1_gen) ? LSM303D_REG_IG_CFG1 : LSM303D_REG_IG_CFG2;
uint8_t ig_thsx_addr = (gen == lsm303d_int_event1_gen) ? LSM303D_REG_IG_THS1 : LSM303D_REG_IG_THS2;
uint8_t ig_durx_addr = (gen == lsm303d_int_event1_gen) ? LSM303D_REG_IG_DUR1 : LSM303D_REG_IG_DUR2;
struct lsm303d_reg_int_ctrl_m int_ctrl_m;
struct lsm303d_reg_ig_cfgx ig_cfgx;
struct lsm303d_reg_ctrl3 ctrl3;
struct lsm303d_reg_ctrl5 ctrl5;
if (!lsm303d_reg_read (dev, ig_cfgx_addr, (uint8_t*)&ig_cfgx, 1) ||
!lsm303d_reg_read (dev, ig_thsx_addr, (uint8_t*)&config->threshold, 1) ||
!lsm303d_reg_read (dev, ig_durx_addr, (uint8_t*)&config->duration, 1) ||
!lsm303d_reg_read (dev, LSM303D_REG_INT_CTRL_M, (uint8_t*)&int_ctrl_m, 1) ||
!lsm303d_reg_read (dev, LSM303D_REG_CTRL3, (uint8_t*)&ctrl3, 1) ||
!lsm303d_reg_read (dev, LSM303D_REG_CTRL5, (uint8_t*)&ctrl5, 1))
{
error_dev ("Could not read interrupt configuration from sensor", __FUNCTION__, dev);
dev->error_code |= LSM303D_GET_EVENT_CONFIG_FAILED;
return false;
}
config->x_low_enabled = ig_cfgx.XLIE;
config->x_high_enabled = ig_cfgx.XHIE;
config->y_low_enabled = ig_cfgx.YLIE;
config->y_high_enabled = ig_cfgx.YHIE;
config->z_low_enabled = ig_cfgx.ZLIE;
config->z_high_enabled = ig_cfgx.ZHIE;
config->latch = (gen == lsm303d_int_event1_gen) ? ctrl5.LIR1 : ctrl5.LIR2;
bool d4d_int = int_ctrl_m.D4D;
if (ig_cfgx.AOI)
{
if (ig_cfgx.D6D && d4d_int)
config->mode = lsm303d_4d_position;
else if (ig_cfgx.D6D && !d4d_int)
config->mode = lsm303d_6d_position;
else
config->mode = lsm303d_and;
}
else
{
if (ig_cfgx.D6D && d4d_int)
config->mode = lsm303d_4d_movement;
else if (ig_cfgx.D6D && !d4d_int)
config->mode = lsm303d_6d_movement;
else
config->mode = lsm303d_or;
}
return true;
}
bool lsm303d_get_int_event_source (lsm303d_sensor_t* dev,
lsm303d_int_event_source_t* source,
lsm303d_int_event_gen_t gen)
{
if (!dev || !source) return false;
dev->error_code = LSM303D_OK;
uint8_t ig_cfgx_addr = (gen == lsm303d_int_event1_gen) ? LSM303D_REG_IG_CFG1 : LSM303D_REG_IG_CFG2;
uint8_t ig_srcx_addr = (gen == lsm303d_int_event1_gen) ? LSM303D_REG_IG_SRC1 : LSM303D_REG_IG_SRC2;
struct lsm303d_reg_ig_cfgx ig_cfgx;
struct lsm303d_reg_ig_srcx ig_srcx;
if (!lsm303d_reg_read (dev, ig_srcx_addr, (uint8_t*)&ig_srcx, 1) ||
!lsm303d_reg_read (dev, ig_cfgx_addr, (uint8_t*)&ig_cfgx, 1))
{
error_dev ("Could not read source of interrupt INT1/INT2 from sensor", __FUNCTION__, dev);
dev->error_code |= LSM303D_GET_EVENT_SOURCE_FAILED;
return false;
}
source->active = ig_srcx.IA;
source->x_low = ig_srcx.XL & ig_cfgx.XLIE;
source->x_high = ig_srcx.XH & ig_cfgx.XHIE;
source->y_low = ig_srcx.YL & ig_cfgx.YLIE;
source->y_high = ig_srcx.YH & ig_cfgx.YHIE;
source->z_low = ig_srcx.ZL & ig_cfgx.ZLIE;
source->z_high = ig_srcx.ZH & ig_cfgx.ZHIE;
return true;
}
bool lsm303d_set_int_click_config (lsm303d_sensor_t* dev,
lsm303d_int_click_config_t* config)
{
if (!dev || !config) return false;
dev->error_code = LSM303D_OK;
struct lsm303d_reg_click_cfg click_cfg;
click_cfg.XS = config->x_single;
click_cfg.XD = config->x_double;
click_cfg.YS = config->y_single;
click_cfg.YD = config->y_double;
click_cfg.ZS = config->z_single;
click_cfg.ZD = config->z_double;
uint8_t click_ths = config->threshold | ((config->latch) ? 0x80 : 0x00);
if (!lsm303d_reg_write (dev, LSM303D_REG_CLICK_CFG , (uint8_t*)&click_cfg, 1) ||
!lsm303d_reg_write (dev, LSM303D_REG_CLICK_THS , (uint8_t*)&click_ths, 1) ||
!lsm303d_reg_write (dev, LSM303D_REG_TIME_LIMIT , (uint8_t*)&config->time_limit, 1) ||
!lsm303d_reg_write (dev, LSM303D_REG_TIME_LATENCY, (uint8_t*)&config->time_latency, 1) ||
!lsm303d_reg_write (dev, LSM303D_REG_TIME_WINDOW , (uint8_t*)&config->time_window, 1))
{
error_dev ("Could not configure click detection interrupt", __FUNCTION__, dev);
dev->error_code |= LSM303D_SET_CLICK_CONFIG_FAILED;
return false;
}
return true;
}
bool lsm303d_get_int_click_config (lsm303d_sensor_t* dev,
lsm303d_int_click_config_t* config)
{
if (!dev || !config) return false;
dev->error_code = LSM303D_OK;
struct lsm303d_reg_click_cfg click_cfg;
uint8_t click_ths;
if (!lsm303d_reg_read (dev, LSM303D_REG_CLICK_CFG , (uint8_t*)&click_cfg, 1) ||
!lsm303d_reg_read (dev, LSM303D_REG_CLICK_THS , (uint8_t*)&click_ths, 1) ||
!lsm303d_reg_read (dev, LSM303D_REG_TIME_LIMIT , (uint8_t*)&config->time_limit, 1) ||
!lsm303d_reg_read (dev, LSM303D_REG_TIME_LATENCY, (uint8_t*)&config->time_latency, 1) ||
!lsm303d_reg_read (dev, LSM303D_REG_TIME_WINDOW , (uint8_t*)&config->time_window, 1))
{
error_dev ("Could not configure click detection interrupt", __FUNCTION__, dev);
dev->error_code |= LSM303D_GET_CLICK_CONFIG_FAILED;
return false;
}
config->x_single = click_cfg.XS;
config->x_double = click_cfg.XD;
config->y_single = click_cfg.YS;
config->y_double = click_cfg.YD;
config->z_single = click_cfg.ZS;
config->z_double = click_cfg.ZD;
config->threshold= click_ths & 0x7f;
config->latch = click_ths & 0x80;
return true;
}
bool lsm303d_get_int_click_source (lsm303d_sensor_t* dev,
lsm303d_int_click_source_t* source)
{
if (!dev || !source) return false;
dev->error_code = LSM303D_OK;
if (!lsm303d_reg_read (dev, LSM303D_REG_CLICK_SRC, (uint8_t*)source, 1))
{
error_dev ("Could not read source of click interrupt from sensor", __FUNCTION__, dev);
dev->error_code |= LSM303D_GET_CLICK_SOURCE_FAILED;
return false;
}
return true;
}
bool lsm303d_config_int_signals (lsm303d_sensor_t* dev,
lsm303d_int_signal_type_t type)
{
if (!dev) return false;
dev->error_code = LSM303D_OK;
lsm303d_update_reg (dev, LSM303D_REG_INT_CTRL_M, lsm303d_reg_int_ctrl_m, PP_OD, type);
return true;
}
bool lsm303d_config_a_hpf (lsm303d_sensor_t* dev,
lsm303d_hpf_mode_t mode,
bool data, bool click, bool int1, bool int2)
{
if (!dev) return false;
dev->error_code = LSM303D_OK;
lsm303d_update_reg (dev, LSM303D_REG_CTRL7, lsm303d_reg_ctrl7, AHPM , mode);
lsm303d_update_reg (dev, LSM303D_REG_CTRL7, lsm303d_reg_ctrl7, AFDS , data);
lsm303d_update_reg (dev, LSM303D_REG_CTRL0, lsm303d_reg_ctrl0, HP_Click, click);
lsm303d_update_reg (dev, LSM303D_REG_CTRL0, lsm303d_reg_ctrl0, HPIS1 , int1);
lsm303d_update_reg (dev, LSM303D_REG_CTRL0, lsm303d_reg_ctrl0, HPIS2 , int2);
int8_t x_ref;
int8_t y_ref;
int8_t z_ref;
if (mode == lsm303d_hpf_normal)
lsm303d_get_a_hpf_ref (dev, &x_ref, &y_ref, &z_ref);
return true;
}
bool lsm303d_set_a_hpf_ref (lsm303d_sensor_t* dev,
int8_t x_ref, int8_t y_ref, int8_t z_ref)
{
if (!dev) return false;
dev->error_code = LSM303D_OK;
if (!lsm303d_reg_write (dev, LSM303D_REG_REFERENCE_X, (uint8_t*)&x_ref, 1) ||
!lsm303d_reg_write (dev, LSM303D_REG_REFERENCE_Y, (uint8_t*)&y_ref, 1) ||
!lsm303d_reg_write (dev, LSM303D_REG_REFERENCE_Z, (uint8_t*)&z_ref, 1))
{
error_dev ("Could not set high pass filter reference", __FUNCTION__, dev);
dev->error_code |= LSM303D_SET_HPF_REF_FAILED;
return false;
}
return true;
}
bool lsm303d_get_a_hpf_ref (lsm303d_sensor_t* dev,
int8_t* x_ref, int8_t* y_ref, int8_t* z_ref)
{
if (!dev) return false;
dev->error_code = LSM303D_OK;
if (!lsm303d_reg_read (dev, LSM303D_REG_REFERENCE_X, (uint8_t*)x_ref, 1) ||
!lsm303d_reg_read (dev, LSM303D_REG_REFERENCE_Y, (uint8_t*)y_ref, 1) ||
!lsm303d_reg_read (dev, LSM303D_REG_REFERENCE_Z, (uint8_t*)z_ref, 1))
{
error_dev ("Could not get high pass filter reference", __FUNCTION__, dev);
dev->error_code |= LSM303D_GET_HPF_REF_FAILED;
return false;
}
return true;
}
bool lsm303d_set_m_offset (lsm303d_sensor_t* dev,
int16_t x_off, int16_t y_off, int16_t z_off)
{
if (!dev) return false;
dev->error_code = LSM303D_OK;
uint8_t buf [6] = {
x_off & 0xff, x_off >> 8,
y_off & 0xff, y_off >> 8,
z_off & 0xff, z_off >> 8
};
if (!lsm303d_reg_write (dev, LSM303D_REG_OFFSET_X_L_M, buf, 6))
{
error_dev ("Could not set magnetic offset", __FUNCTION__, dev);
dev->error_code |= LSM303D_SET_M_OFFSET_FAILED;
return false;
}
return true;
}
bool lsm303d_get_m_offset (lsm303d_sensor_t* dev,
int16_t* x_off, int16_t* y_off, int16_t* z_off)
{
if (!dev) return false;
dev->error_code = LSM303D_OK;
uint8_t buf [6];
if (!lsm303d_reg_read (dev, LSM303D_REG_OFFSET_X_L_M, buf, 6))
{
error_dev ("Could not get magnetic offset", __FUNCTION__, dev);
dev->error_code |= LSM303D_GET_M_OFFSET_FAILED;
return false;
}
*x_off = buf[1] << 8 | buf[0];
*y_off = buf[3] << 8 | buf[2];
*z_off = buf[5] << 8 | buf[4];
return true;
}
bool lsm303d_enable_temperature (lsm303d_sensor_t* dev, bool enable)
{
lsm303d_update_reg (dev, LSM303D_REG_CTRL5, lsm303d_reg_ctrl5, TEMP_EN, enable);
return true;
}
float lsm303d_get_temperature (lsm303d_sensor_t* dev)
{
uint8_t regs[2];
// read raw data sample
if (!lsm303d_reg_read (dev, LSM303D_REG_TEMP_OUT_L, regs, 2))
{
error_dev ("Could not get temperature data sample", __FUNCTION__, dev);
dev->error_code |= LSM303D_GET_RAW_T_DATA_FAILED;
return false;
}
return (int16_t)(regs[1] << 8 | regs[0]) / 8.0 + 25.0;
}
/** Functions for internal use only */
/**
* @brief Check the chip ID to test whether sensor is available
*/
static bool lsm303d_is_available (lsm303d_sensor_t* dev)
{
uint8_t chip_id;
if (!dev) return false;
dev->error_code = LSM303D_OK;
if (!lsm303d_reg_read (dev, LSM303D_REG_WHO_AM_I, &chip_id, 1))
return false;
if (chip_id != LSM303D_CHIP_ID)
{
error_dev ("Chip id %02x is wrong, should be %02x.",
__FUNCTION__, dev, chip_id, LSM303D_CHIP_ID);
dev->error_code = LSM303D_WRONG_CHIP_ID;
return false;
}
return true;
}
static bool lsm303d_reset (lsm303d_sensor_t* dev)
{
if (!dev) return false;
dev->error_code = LSM303D_OK;
uint8_t int_ctrl_m = 0x08; // 0xe8
uint8_t ctrl_regs[] = { 0x00, 0x00 /*0x07*/, 0x00, 0x00, 0x00, 0x18, 0x20, 0x01 };
uint8_t null_regs[11] = { 0 };
// initialize sensor completely including setting in power down mode
lsm303d_reg_write (dev, LSM303D_REG_INT_CTRL_M , &int_ctrl_m, 1 );
lsm303d_reg_write (dev, LSM303D_REG_INT_THS_L_M, null_regs , 11);
lsm303d_reg_write (dev, LSM303D_REG_CTRL0 , ctrl_regs , 8 );
lsm303d_reg_write (dev, LSM303D_REG_FIFO_CTRL , null_regs , 1 );
lsm303d_reg_write (dev, LSM303D_REG_IG_CFG1 , null_regs , 1 );
lsm303d_reg_write (dev, LSM303D_REG_IG_THS1 , null_regs , 2 );
lsm303d_reg_write (dev, LSM303D_REG_IG_CFG2 , null_regs , 1 );
lsm303d_reg_write (dev, LSM303D_REG_IG_THS2 , null_regs , 2 );
lsm303d_reg_write (dev, LSM303D_REG_CLICK_CFG , null_regs , 1 );
lsm303d_reg_write (dev, LSM303D_REG_CLICK_THS , null_regs , 4 );
return true;
}
bool lsm303d_reg_read(lsm303d_sensor_t* dev, uint8_t reg, uint8_t *data, uint16_t len)
{
if (!dev || !data) return false;
return (dev->addr) ? lsm303d_i2c_read (dev, reg, data, len)
: lsm303d_spi_read (dev, reg, data, len);
}
bool lsm303d_reg_write(lsm303d_sensor_t* dev, uint8_t reg, uint8_t *data, uint16_t len)
{
if (!dev || !data) return false;
return (dev->addr) ? lsm303d_i2c_write (dev, reg, data, len)
: lsm303d_spi_write (dev, reg, data, len);
}
#define LSM303D_SPI_BUF_SIZE 64 // SPI register data buffer size of ESP866
#define LSM303D_SPI_READ_FLAG 0x80
#define LSM303D_SPI_WRITE_FLAG 0x00
#define LSM303D_SPI_AUTO_INC_FLAG 0x40
static bool lsm303d_spi_read(lsm303d_sensor_t* dev, uint8_t reg, uint8_t *data, uint16_t len)
{
if (!dev || !data) return false;
if (len >= LSM303D_SPI_BUF_SIZE)
{
dev->error_code |= LSM303D_SPI_BUFFER_OVERFLOW;
error_dev ("Error on read from SPI slave on bus 1. Tried to transfer "
"more than %d byte in one read operation.",
__FUNCTION__, dev, LSM303D_SPI_BUF_SIZE);
return false;
}
uint8_t addr = (reg & 0x3f) | LSM303D_SPI_READ_FLAG | LSM303D_SPI_AUTO_INC_FLAG;
static uint8_t mosi[LSM303D_SPI_BUF_SIZE];
static uint8_t miso[LSM303D_SPI_BUF_SIZE];
memset (mosi, 0xff, LSM303D_SPI_BUF_SIZE);
memset (miso, 0xff, LSM303D_SPI_BUF_SIZE);
mosi[0] = addr;
if (!spi_transfer_pf (dev->bus, dev->cs, mosi, miso, len+1))
{
error_dev ("Could not read data from SPI", __FUNCTION__, dev);
dev->error_code |= LSM303D_SPI_READ_FAILED;
return false;
}
// shift data one by left, first byte received while sending register address is invalid
for (int i=0; i < len; i++)
data[i] = miso[i+1];
#ifdef LSM303D_DEBUG_LEVEL_2
printf("LSM303D %s: read the following bytes from reg %02x: ", __FUNCTION__, reg);
for (int i=0; i < len; i++)
printf("%02x ", data[i]);
printf("\n");
#endif
return true;
}
static bool lsm303d_spi_write(lsm303d_sensor_t* dev, uint8_t reg, uint8_t *data, uint16_t len)
{
if (!dev || !data) return false;
uint8_t addr = (reg & 0x3f) | LSM303D_SPI_WRITE_FLAG | LSM303D_SPI_AUTO_INC_FLAG;
static uint8_t mosi[LSM303D_SPI_BUF_SIZE];
if (len >= LSM303D_SPI_BUF_SIZE)
{
dev->error_code |= LSM303D_SPI_BUFFER_OVERFLOW;
error_dev ("Error on write to SPI slave on bus 1. Tried to transfer more"
"than %d byte in one write operation.",
__FUNCTION__, dev, LSM303D_SPI_BUF_SIZE);
return false;
}
reg &= 0x7f;
// first byte in output is the register address
mosi[0] = addr;
// shift data one byte right, first byte in output is the register address
for (int i = 0; i < len; i++)
mosi[i+1] = data[i];
#ifdef LSM303D_DEBUG_LEVEL_2
printf("LSM303D %s: Write the following bytes to reg %02x: ", __FUNCTION__, reg);
for (int i = 1; i < len+1; i++)
printf("%02x ", mosi[i]);
printf("\n");
#endif
if (!spi_transfer_pf (dev->bus, dev->cs, mosi, NULL, len+1))
{
error_dev ("Could not write data to SPI.", __FUNCTION__, dev);
dev->error_code |= LSM303D_SPI_WRITE_FAILED;
return false;
}
return true;
}
#define I2C_AUTO_INCREMENT (0x80)
static bool lsm303d_i2c_read(lsm303d_sensor_t* dev, uint8_t reg, uint8_t *data, uint16_t len)
{
if (!dev || !data) return false;
debug_dev ("Read %d byte from i2c slave register %02x.", __FUNCTION__, dev, len, reg);
if (len > 1)
reg |= I2C_AUTO_INCREMENT;
int result = i2c_slave_read(dev->bus, dev->addr, ®, data, len);
if (result)
{
dev->error_code |= (result == -EBUSY) ? LSM303D_I2C_BUSY : LSM303D_I2C_READ_FAILED;
error_dev ("Error %d on read %d byte from I2C slave register %02x.",
__FUNCTION__, dev, result, len, reg);
return false;
}
# ifdef LSM303D_DEBUG_LEVEL_2
printf("LSM303D %s: Read following bytes: ", __FUNCTION__);
printf("%02x: ", reg & 0x7f);
for (int i=0; i < len; i++)
printf("%02x ", data[i]);
printf("\n");
# endif
return true;
}
static bool lsm303d_i2c_write(lsm303d_sensor_t* dev, uint8_t reg, uint8_t *data, uint16_t len)
{
if (!dev || !data) return false;
debug_dev ("Write %d byte to i2c slave register %02x.", __FUNCTION__, dev, len, reg);
if (len > 1)
reg |= I2C_AUTO_INCREMENT;
int result = i2c_slave_write(dev->bus, dev->addr, ®, data, len);
if (result)
{
dev->error_code |= (result == -EBUSY) ? LSM303D_I2C_BUSY : LSM303D_I2C_WRITE_FAILED;
error_dev ("Error %d on write %d byte to i2c slave register %02x.",
__FUNCTION__, dev, result, len, reg);
return false;
}
# ifdef LSM303D_DEBUG_LEVEL_2
printf("LSM303D %s: Wrote the following bytes: ", __FUNCTION__);
printf("%02x: ", reg & 0x7f);
for (int i=0; i < len; i++)
printf("%02x ", data[i]);
printf("\n");
# endif
return true;
}