Browse Source
LIS3DH MEMS digital output motion sensor ultra low-power high performance 3-axes "nano" accelerometer Manufacturer website: http://www.st.com/web/catalog/sense_power/FM89/SC444/PF250725 Data sheet: http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/CD00274221.pdf tests/driver_lis3dh is a simple test application for testing on actual hardware. Signed-off-by: Joakim Gebart <joakim.gebart@eistec.se>dev/timer
Joakim Gebart
8 years ago
6 changed files with 1316 additions and 0 deletions
@ -0,0 +1,846 @@
|
||||
/*
|
||||
* Copyright (C) 2015 Eistec AB |
||||
* |
||||
* This file is subject to the terms and conditions of the GNU Lesser |
||||
* General Public License v2.1. See the file LICENSE in the top level |
||||
* directory for more details. |
||||
*/ |
||||
|
||||
/**
|
||||
* @defgroup driver_lis3dh LIS3DH accelerometer |
||||
* @ingroup drivers |
||||
* @brief Device driver for the LIS3DH accelerometer |
||||
* @{ |
||||
* |
||||
* @file |
||||
* @brief Device driver interface for the LIS3DH accelerometer |
||||
* |
||||
* |
||||
* @author Joakim Gebart <joakim.gebart@eistec.se |
||||
*/ |
||||
|
||||
#ifndef LIS3DH_H_ |
||||
#define LIS3DH_H_ |
||||
|
||||
#include <stdint.h> |
||||
|
||||
#include "periph/spi.h" |
||||
#include "periph/gpio.h" |
||||
|
||||
#ifdef __cplusplus |
||||
extern "C" { |
||||
#endif |
||||
|
||||
/**
|
||||
* The WHO_AM_I register should contain this value in order to correctly |
||||
* identify the chip. |
||||
*/ |
||||
#define LIS3DH_WHO_AM_I_RESPONSE (0b00110011) |
||||
|
||||
/**
|
||||
* @brief LIS3DH hardware register addresses |
||||
*/ |
||||
typedef enum { |
||||
LIS3DH_REG_STATUS_AUX = 0x07, |
||||
LIS3DH_REG_OUT_AUX_ADC1_L = 0x08, |
||||
LIS3DH_REG_OUT_AUX_ADC1_H = 0x09, |
||||
LIS3DH_REG_OUT_AUX_ADC2_L = 0x0A, |
||||
LIS3DH_REG_OUT_AUX_ADC2_H = 0x0B, |
||||
LIS3DH_REG_OUT_AUX_ADC3_L = 0x0C, |
||||
LIS3DH_REG_OUT_AUX_ADC3_H = 0x0D, |
||||
LIS3DH_REG_INT_COUNTER_REG = 0x0E, |
||||
LIS3DH_REG_WHO_AM_I = 0x0F, |
||||
LIS3DH_REG_TEMP_CFG_REG = 0x1F, |
||||
LIS3DH_REG_CTRL_REG1 = 0x20, |
||||
LIS3DH_REG_CTRL_REG2 = 0x21, |
||||
LIS3DH_REG_CTRL_REG3 = 0x22, |
||||
LIS3DH_REG_CTRL_REG4 = 0x23, |
||||
LIS3DH_REG_CTRL_REG5 = 0x24, |
||||
LIS3DH_REG_CTRL_REG6 = 0x25, |
||||
LIS3DH_REG_REFERENCE = 0x26, |
||||
LIS3DH_REG_STATUS_REG = 0x27, |
||||
LIS3DH_REG_OUT_X_L = 0x28, |
||||
LIS3DH_REG_OUT_X_H = 0x29, |
||||
LIS3DH_REG_OUT_Y_L = 0x2A, |
||||
LIS3DH_REG_OUT_Y_H = 0x2B, |
||||
LIS3DH_REG_OUT_Z_L = 0x2C, |
||||
LIS3DH_REG_OUT_Z_H = 0x2D, |
||||
LIS3DH_REG_FIFO_CTRL_REG = 0x2E, |
||||
LIS3DH_REG_FIFO_SRC_REG = 0x2F, |
||||
LIS3DH_REG_INT1_CFG = 0x30, |
||||
LIS3DH_REG_INT1_SOURCE = 0x31, |
||||
LIS3DH_REG_INT1_THS = 0x32, |
||||
LIS3DH_REG_INT1_DURATION = 0x33, |
||||
LIS3DH_REG_CLICK_CFG = 0x38, |
||||
LIS3DH_REG_CLICK_SRC = 0x39, |
||||
LIS3DH_REG_CLICK_THS = 0x3A, |
||||
LIS3DH_REG_TIME_LIMIT = 0x3B, |
||||
LIS3DH_REG_TIME_LATENCY = 0x3C, |
||||
LIS3DH_REG_TIME_WINDOW = 0x3D, |
||||
} lis3dh_reg_t; |
||||
|
||||
/*
|
||||
* Bit offsets within the individual registers |
||||
* source: LIS3DH datasheet |
||||
*/ |
||||
|
||||
/**
|
||||
* @name TEMP_CFG_REG bitfield macros |
||||
*/ |
||||
/** @{ */ |
||||
|
||||
|
||||
/**
|
||||
* @brief ADC enable |
||||
* |
||||
* Default value: 0 |
||||
* |
||||
* 0: ADC disabled; 1: ADC enabled |
||||
*/ |
||||
#define LIS3DH_TEMP_CFG_REG_ADC_PD_MASK (1 << 7) |
||||
|
||||
/**
|
||||
* @brief Temperature sensor (T) enable. |
||||
* |
||||
* Default value: 0 |
||||
* |
||||
* 0: T disabled; 1: T enabled |
||||
*/ |
||||
#define LIS3DH_TEMP_CFG_REG_TEMP_EN_MASK (1 << 6) |
||||
|
||||
/** @} */ |
||||
|
||||
/**
|
||||
* @name CTRL_REG1 bitfield macros |
||||
*/ |
||||
/** @{ */ |
||||
|
||||
/**
|
||||
* @name Output data rate selection bitfield macros |
||||
* |
||||
* Default value: 0000 |
||||
* |
||||
* 0000: Power down; Others: Refer to data sheet |
||||
* |
||||
* @see LIS3DH data sheet Table 25, “Data rate configuration” |
||||
*/ |
||||
/** @{ */ |
||||
#define LIS3DH_CTRL_REG1_ODR_SHIFT (4) |
||||
#define LIS3DH_CTRL_REG1_ODR3_MASK (1 << (LIS3DH_CTRL_REG1_ODR_SHIFT + 3)) |
||||
#define LIS3DH_CTRL_REG1_ODR2_MASK (1 << (LIS3DH_CTRL_REG1_ODR_SHIFT + 2)) |
||||
#define LIS3DH_CTRL_REG1_ODR1_MASK (1 << (LIS3DH_CTRL_REG1_ODR_SHIFT + 1)) |
||||
#define LIS3DH_CTRL_REG1_ODR0_MASK (1 << LIS3DH_CTRL_REG1_ODR_SHIFT) |
||||
|
||||
#define LIS3DH_CTRL_REG1_ODR_MASK (LIS3DH_CTRL_REG1_ODR3_MASK | \ |
||||
LIS3DH_CTRL_REG1_ODR2_MASK | \
|
||||
LIS3DH_CTRL_REG1_ODR1_MASK | \
|
||||
LIS3DH_CTRL_REG1_ODR0_MASK) |
||||
|
||||
/** @} */ |
||||
|
||||
/**
|
||||
* @brief Low power mode enable. |
||||
* |
||||
* Default value: 0 |
||||
* |
||||
* 0. normal mode |
||||
* 1. low power mode |
||||
*/ |
||||
#define LIS3DH_CTRL_REG1_LPEN_MASK (1 << 3) |
||||
|
||||
/** @brief Z enable bit offset */ |
||||
#define LIS3DH_CTRL_REG1_ZEN_SHIFT (2) |
||||
/**
|
||||
* @brief Z axis enable. |
||||
* |
||||
* Default value: 1 |
||||
* |
||||
* 0. Z axis disabled |
||||
* 1. Z axis enabled |
||||
*/ |
||||
#define LIS3DH_CTRL_REG1_ZEN_MASK (1 << LIS3DH_CTRL_REG1_ZEN_SHIFT) |
||||
|
||||
/** @brief Y enable bit offset */ |
||||
#define LIS3DH_CTRL_REG1_YEN_SHIFT (1) |
||||
/**
|
||||
* @brief Y axis enable. |
||||
* |
||||
* Default value: 1 |
||||
* |
||||
* 0. Y axis disabled |
||||
* 1. Y axis enabled |
||||
*/ |
||||
#define LIS3DH_CTRL_REG1_YEN_MASK (1 << LIS3DH_CTRL_REG1_YEN_SHIFT) |
||||
|
||||
/** @brief X enable bit offset */ |
||||
#define LIS3DH_CTRL_REG1_XEN_SHIFT (0) |
||||
/**
|
||||
* @brief X axis enable. |
||||
* |
||||
* Default value: 1 |
||||
* |
||||
* 0. X axis disabled |
||||
* 1. X axis enabled |
||||
*/ |
||||
#define LIS3DH_CTRL_REG1_XEN_MASK (1 << LIS3DH_CTRL_REG1_XEN_SHIFT) |
||||
|
||||
/** @brief XYZ enable bitfield offset */ |
||||
#define LIS3DH_CTRL_REG1_XYZEN_SHIFT (0) |
||||
/** @brief X, Y, Z enable bitfield mask */ |
||||
#define LIS3DH_CTRL_REG1_XYZEN_MASK (LIS3DH_CTRL_REG1_XEN_MASK | \ |
||||
LIS3DH_CTRL_REG1_YEN_MASK | LIS3DH_CTRL_REG1_ZEN_MASK) |
||||
/** @} */ |
||||
/**
|
||||
* @name Axis selection macros |
||||
* |
||||
* Use these when calling lis3dh_set_axes() |
||||
*/ |
||||
/** @{ */ |
||||
#define LIS3DH_AXES_X (LIS3DH_CTRL_REG1_XEN_MASK) /**< enable X axis */ |
||||
#define LIS3DH_AXES_Y (LIS3DH_CTRL_REG1_YEN_MASK) /**< enable Y axis */ |
||||
#define LIS3DH_AXES_Z (LIS3DH_CTRL_REG1_ZEN_MASK) /**< enable Z axis */ |
||||
/**
|
||||
* @brief Convenience macro for enabling all axes. |
||||
*/ |
||||
#define LIS3DH_AXES_XYZ (LIS3DH_CTRL_REG1_XYZEN_MASK) |
||||
/** @} */ |
||||
|
||||
/**
|
||||
* @name CTRL_REG2 bitfield macros |
||||
*/ |
||||
/** @{ */ |
||||
/**
|
||||
* @name High pass filter mode selection |
||||
* |
||||
* Default value: 00 |
||||
* |
||||
* @see Refer to Table 29, "High pass filter mode configuration" |
||||
*/ |
||||
/** @{ */ |
||||
#define LIS3DH_CTRL_REG2_HPM1_MASK (1 << 7) |
||||
#define LIS3DH_CTRL_REG2_HPM0_MASK (1 << 6) |
||||
/** @} */ |
||||
|
||||
/**
|
||||
* @name High pass filter cut off frequency selection |
||||
*/ |
||||
/** @{ */ |
||||
#define LIS3DH_CTRL_REG2_HPCF2_MASK (1 << 5) |
||||
#define LIS3DH_CTRL_REG2_HPCF1_MASK (1 << 4) |
||||
/** @} */ |
||||
|
||||
/**
|
||||
* @brief Filtered data selection |
||||
* |
||||
* Default value: 0 |
||||
* |
||||
* 0. internal filter bypassed |
||||
* 1. data from internal filter sent to output register and FIFO |
||||
*/ |
||||
#define LIS3DH_CTRL_REG2_FDS_MASK (1 << 3) |
||||
|
||||
/**
|
||||
* @brief High pass filter enabled for CLICK function. |
||||
* |
||||
* 0. filter bypassed |
||||
* 1. filter enabled@ |
||||
*/ |
||||
#define LIS3DH_CTRL_REG2_HPCLICK_MASK (1 << 2) |
||||
|
||||
/**
|
||||
* @name High pass filter enabled for AOI function on interrupt 2 |
||||
* |
||||
* 0. filter bypassed |
||||
* 1. filter enabled |
||||
*/ |
||||
/** @{ */ |
||||
#define LIS3DH_CTRL_REG2_HPIS2_MASK (1 << 1) |
||||
#define LIS3DH_CTRL_REG2_HPIS1_MASK (1 << 0) |
||||
/** @} */ |
||||
/** @} */ |
||||
|
||||
/**
|
||||
* @name CTRL_REG3 bitfield macros |
||||
*/ |
||||
/** @{ */ |
||||
/**
|
||||
* @brief CLICK interrupt on INT1 |
||||
* |
||||
* Default value 0. |
||||
* |
||||
* 0. Disable |
||||
* 1. Enable |
||||
*/ |
||||
#define LIS3DH_CTRL_REG3_I1_CLICK_MASK (1 << 7) |
||||
|
||||
/**
|
||||
* @brief AOI1 interrupt on INT1 |
||||
* |
||||
* Default value 0. |
||||
* |
||||
* 0. Disable |
||||
* 1. Enable |
||||
*/ |
||||
#define LIS3DH_CTRL_REG3_I1_AOI1_MASK (1 << 6) |
||||
/**
|
||||
* @brief AOI2 interrupt on INT1. |
||||
* |
||||
* Default value 0. |
||||
* |
||||
* 0. Disable |
||||
* 1. Enable |
||||
*/ |
||||
#define LIS3DH_CTRL_REG3_I1_AOI2_MASK (1 << 5) |
||||
/**
|
||||
* @brief DRDY1 interrupt on INT1 |
||||
* |
||||
* Default value 0. |
||||
* |
||||
* 0. Disable |
||||
* 1. Enable |
||||
*/ |
||||
#define LIS3DH_CTRL_REG3_I1_DRDY1_MASK (1 << 4) |
||||
/**
|
||||
* @brief DRDY2 interrupt on INT1 |
||||
* |
||||
* Default value 0. |
||||
* |
||||
* 0. Disable |
||||
* 1. Enable |
||||
*/ |
||||
#define LIS3DH_CTRL_REG3_I1_DRDY2_MASK (1 << 3) |
||||
/**
|
||||
* @brief FIFO Watermark interrupt on INT1 |
||||
* |
||||
* Default value 0. |
||||
* |
||||
* 0. Disable |
||||
* 1. Enable |
||||
*/ |
||||
#define LIS3DH_CTRL_REG3_I1_WTM_MASK (1 << 2) |
||||
/**
|
||||
* @brief FIFO Overrun interrupt on INT1 |
||||
* |
||||
* Default value 0. |
||||
* |
||||
* 0. Disable |
||||
* 1. Enable |
||||
*/ |
||||
#define LIS3DH_CTRL_REG3_I1_OVERRUN_MASK (1 << 1) |
||||
|
||||
/** @} */ |
||||
|
||||
/**
|
||||
* @name CTRL_REG4 bitfield macros |
||||
*/ |
||||
/** @{ */ |
||||
|
||||
/**
|
||||
* @name Block data update. |
||||
* |
||||
* Default value: 0 |
||||
* |
||||
* 0. continuous update |
||||
* 1. output registers not updated until MSB and LSB reading |
||||
*/ |
||||
/** @{ */ |
||||
/** @brief BDU bit mask */ |
||||
#define LIS3DH_CTRL_REG4_BDU_MASK (1 << 7) |
||||
/** @brief BDU enable */ |
||||
#define LIS3DH_CTRL_REG4_BDU_ENABLE (LIS3DH_CTRL_REG4_BDU_MASK) |
||||
/** @brief BDU disable */ |
||||
#define LIS3DH_CTRL_REG4_BDU_DISABLE (0) |
||||
/** @} */ |
||||
|
||||
/**
|
||||
* @name Big/little endian data selection |
||||
* |
||||
* Default value 0. |
||||
* |
||||
* 0. Data LSB @ lower address |
||||
* 1. Data MSB @ lower address |
||||
*/ |
||||
/** @{ */ |
||||
/** @brief BLE bit mask */ |
||||
#define LIS3DH_CTRL_REG4_BLE_MASK (1 << 6) |
||||
|
||||
/** @brief BLE little endian mode */ |
||||
#define LIS3DH_CTRL_REG4_BLE_LITTLE_ENDIAN (0) |
||||
/** @brief BLE big endian mode */ |
||||
#define LIS3DH_CTRL_REG4_BLE_BIG_ENDIAN (LIS3DH_CTRL_REG4_BLE_MASK) |
||||
/** @} */ |
||||
|
||||
/**
|
||||
* @name Full scale selection. |
||||
* |
||||
* Default value: 00 |
||||
* |
||||
* - 00: +/- 2G |
||||
* - 01: +/- 4G |
||||
* - 10: +/- 8G |
||||
* - 11: +/- 16G |
||||
*/ |
||||
/** @{ */ |
||||
#define LIS3DH_CTRL_REG4_FS1_MASK (1 << 5) |
||||
#define LIS3DH_CTRL_REG4_FS0_MASK (1 << 4) |
||||
#define LIS3DH_CTRL_REG4_FS_MASK (LIS3DH_CTRL_REG4_FS1_MASK | LIS3DH_CTRL_REG4_FS0_MASK) |
||||
/** @} */ |
||||
|
||||
/**
|
||||
* @brief Scale parameters |
||||
* |
||||
* Use these names when calling lis3dh_set_scale() |
||||
*/ |
||||
typedef enum { |
||||
LIS3DH_SCALE_2G = (0), /**< Scale: +/- 2G */ |
||||
LIS3DH_SCALE_4G = (LIS3DH_CTRL_REG4_FS0_MASK), /**< Scale: +/- 4G */ |
||||
LIS3DH_SCALE_8G = (LIS3DH_CTRL_REG4_FS1_MASK), /**< Scale: +/- 8G */ |
||||
/** Scale: +/- 16G */ |
||||
LIS3DH_SCALE_16G = (LIS3DH_CTRL_REG4_FS1_MASK | LIS3DH_CTRL_REG4_FS0_MASK) |
||||
} lis3dh_scale_t; |
||||
|
||||
/**
|
||||
* @brief High resolution output mode |
||||
* |
||||
* Default value: 0 |
||||
* |
||||
* 0. High resolution disable |
||||
* 1. High resolution enable |
||||
*/ |
||||
#define LIS3DH_CTRL_REG4_HR_MASK (1 << 3) |
||||
|
||||
/**
|
||||
* @name Self test enable |
||||
* |
||||
* Default value: 00 |
||||
* |
||||
* - 00: Self test disabled |
||||
* - Other: See Table 34 |
||||
* |
||||
* @see Table 34 |
||||
*/ |
||||
/** @{ */ |
||||
#define LIS3DH_CTRL_REG4_ST1_MASK (1 << 2) |
||||
#define LIS3DH_CTRL_REG4_ST0_MASK (1 << 1) |
||||
/** @} */ |
||||
|
||||
/**
|
||||
* @brief SPI serial interface mode selection |
||||
* |
||||
* Default value: 0 |
||||
* |
||||
* 0. 4-wire interface |
||||
* 1. 3-wire interface |
||||
*/ |
||||
#define LIS3DH_CTRL_REG4_SIM_MASK (1 << 0) |
||||
|
||||
/**
|
||||
* @brief Reboot memory content |
||||
* |
||||
* Default value: 0 |
||||
* |
||||
* 0. normal mode |
||||
* 1. reboot memory content |
||||
*/ |
||||
#define LIS3DH_CTRL_REG5_REBOOT_MASK (1 << 7) |
||||
|
||||
/**
|
||||
* @brief FIFO enable |
||||
* |
||||
* Default value: 0 |
||||
* |
||||
* 0. FIFO disable |
||||
* 1. FIFO enable |
||||
*/ |
||||
#define LIS3DH_CTRL_REG5_FIFO_EN_MASK (1 << 6) |
||||
|
||||
/**
|
||||
* @brief Latch interrupt request on INT1 |
||||
* |
||||
* Latch interrupt request on INT1_SRC register, with INT1_SRC register |
||||
* cleared by reading INT1_SRC itself. |
||||
* |
||||
* Default value: 0 |
||||
* |
||||
* 0. interrupt request not latched |
||||
* 1. interrupt request latched |
||||
*/ |
||||
#define LIS3DH_CTRL_REG5_LIR_I1_MASK (1 << 3) |
||||
|
||||
/**
|
||||
* @brief 4D enable |
||||
* |
||||
* 4D detection is enabled on INT1 when 6D bit on INT1_CFG is set to 1. |
||||
*/ |
||||
#define LIS3DH_CTRL_REG5_D4D_I1_MASK (1 << 2) |
||||
|
||||
/** @} */ |
||||
|
||||
/**
|
||||
* @name STATUS_REG bitfield macros |
||||
*/ |
||||
/** @{ */ |
||||
/**
|
||||
* @brief X, Y or Z axis data overrun |
||||
* |
||||
* Default value: 0 |
||||
* |
||||
* 0. no overrun has occurred |
||||
* 1. a new set of data has overwritten the previous ones |
||||
*/ |
||||
#define LIS3DH_STATUS_REG_ZYXOR_MASK (1 << 7) |
||||
|
||||
/**
|
||||
* @brief Z axis data overrun |
||||
* |
||||
* Default value: 0 |
||||
* |
||||
* 0. no overrun has occurred |
||||
* 1. a new data for the Z-axis has overwritten the previous one |
||||
*/ |
||||
#define LIS3DH_STATUS_REG_ZOR_MASK (1 << 6) |
||||
|
||||
/**
|
||||
* @brief Y axis data overrun |
||||
* |
||||
* Default value: 0 |
||||
* |
||||
* 0. no overrun has occurred |
||||
* 1. a new data for the Y-axis has overwritten the previous one |
||||
*/ |
||||
#define LIS3DH_STATUS_REG_YOR_MASK (1 << 5) |
||||
|
||||
/**
|
||||
* @brief X axis data overrun |
||||
* |
||||
* Default value: 0 |
||||
* |
||||
* 0. no overrun has occurred |
||||
* 1. a new data for the X-axis has overwritten the previous one |
||||
*/ |
||||
#define LIS3DH_STATUS_REG_XOR_MASK (1 << 4) |
||||
|
||||
/**
|
||||
* @brief X, Y or Z axis new data available |
||||
* |
||||
* Default value: 0 |
||||
* |
||||
* 0. a new set of data is not yet available |
||||
* 1. a new set of data is available |
||||
*/ |
||||
#define LIS3DH_STATUS_REG_ZYXDA_MASK (1 << 3) |
||||
|
||||
/**
|
||||
* @brief Z axis new data available |
||||
* |
||||
* Default value: 0 |
||||
* |
||||
* 0. a new data for the Z-axis is not yet available |
||||
* 1. a new data for the Z-axis is available |
||||
*/ |
||||
#define LIS3DH_STATUS_REG_ZDA_MASK (1 << 2) |
||||
|
||||
/**
|
||||
* @brief Y axis new data available |
||||
* |
||||
* Default value: 0 |
||||
* |
||||
* 0. a new data for the Y-axis is not yet available |
||||
* 1. a new data for the Y-axis is available |
||||
*/ |
||||
#define LIS3DH_STATUS_REG_YDA_MASK (1 << 1) |
||||
|
||||
/**
|
||||
* @brief X axis new data available |
||||
* |
||||
* Default value: 0 |
||||
* |
||||
* 0. a new data for the X-axis is not yet available |
||||
* 1. a new data for the X-axis is available |
||||
*/ |
||||
#define LIS3DH_STATUS_REG_XDA_MASK (1 << 0) |
||||
|
||||
/** @} */ |
||||
|
||||
/**
|
||||
* @name FIFO_CTRL_REG bitfield macros |
||||
*/ |
||||
/** @{ */ |
||||
#define LIS3DH_FIFO_CTRL_REG_FM_SHIFT (6) |
||||
#define LIS3DH_FIFO_CTRL_REG_FM1_MASK (1 << 7) |
||||
#define LIS3DH_FIFO_CTRL_REG_FM0_MASK (1 << 6) |
||||
#define LIS3DH_FIFO_CTRL_REG_FM_MASK (LIS3DH_FIFO_CTRL_REG_FM1_MASK | \ |
||||
LIS3DH_FIFO_CTRL_REG_FM0_MASK) |
||||
|
||||
#define LIS3DH_FIFO_CTRL_REG_TR_MASK (1 << 5) |
||||
#define LIS3DH_FIFO_CTRL_REG_FTH4_MASK (1 << 4) |
||||
#define LIS3DH_FIFO_CTRL_REG_FTH3_MASK (1 << 3) |
||||
#define LIS3DH_FIFO_CTRL_REG_FTH2_MASK (1 << 2) |
||||
#define LIS3DH_FIFO_CTRL_REG_FTH1_MASK (1 << 1) |
||||
#define LIS3DH_FIFO_CTRL_REG_FTH0_MASK (1 << 0) |
||||
#define LIS3DH_FIFO_CTRL_REG_FTH_SHIFT (0) |
||||
#define LIS3DH_FIFO_CTRL_REG_FTH_MASK \ |
||||
(LIS3DH_FIFO_CTRL_REG_FTH0_MASK | \
|
||||
LIS3DH_FIFO_CTRL_REG_FTH1_MASK | \
|
||||
LIS3DH_FIFO_CTRL_REG_FTH2_MASK | \
|
||||
LIS3DH_FIFO_CTRL_REG_FTH3_MASK | \
|
||||
LIS3DH_FIFO_CTRL_REG_FTH4_MASK) |
||||
/** @} */ |
||||
|
||||
/**
|
||||
* @name FIFO_SRC_REG bitfield macros |
||||
*/ |
||||
/** @{ */ |
||||
#define LIS3DH_FIFO_SRC_REG_WTM_MASK (1 << 7) |
||||
#define LIS3DH_FIFO_SRC_REG_OVRN_FIFO_MASK (1 << 6) |
||||
#define LIS3DH_FIFO_SRC_REG_EMPTY_MASK (1 << 5) |
||||
#define LIS3DH_FIFO_SRC_REG_FSS4_MASK (1 << 4) |
||||
#define LIS3DH_FIFO_SRC_REG_FSS3_MASK (1 << 3) |
||||
#define LIS3DH_FIFO_SRC_REG_FSS2_MASK (1 << 2) |
||||
#define LIS3DH_FIFO_SRC_REG_FSS1_MASK (1 << 1) |
||||
#define LIS3DH_FIFO_SRC_REG_FSS0_MASK (1 << 0) |
||||
#define LIS3DH_FIFO_SRC_REG_FSS_SHIFT (0) |
||||
#define LIS3DH_FIFO_SRC_REG_FSS_MASK \ |
||||
(LIS3DH_FIFO_SRC_REG_FSS0_MASK | \
|
||||
LIS3DH_FIFO_SRC_REG_FSS1_MASK | \
|
||||
LIS3DH_FIFO_SRC_REG_FSS2_MASK | \
|
||||
LIS3DH_FIFO_SRC_REG_FSS3_MASK | \
|
||||
LIS3DH_FIFO_SRC_REG_FSS4_MASK) |
||||
/** @} */ |
||||
|
||||
/**
|
||||
* @name Register address bitfield macros |
||||
*/ |
||||
/** @{ */ |
||||
|
||||
/**
|
||||
* Write to register |
||||
*/ |
||||
#define LIS3DH_SPI_WRITE_MASK (0 << 7) |
||||
/**
|
||||
* The READ bit must be set when reading |
||||
*/ |
||||
#define LIS3DH_SPI_READ_MASK (1 << 7) |
||||
/**
|
||||
* Multi byte transfers must assert this bit when writing the address. |
||||
*/ |
||||
#define LIS3DH_SPI_MULTI_MASK (1 << 6) |
||||
/**
|
||||
* Opposite of LIS3DH_SPI_MULTI_MASK. |
||||
*/ |
||||
#define LIS3DH_SPI_SINGLE_MASK (0 << 6) |
||||
/**
|
||||
* Mask of the address bits in the address byte during transfers. |
||||
*/ |
||||
#define LIS3DH_SPI_ADDRESS_MASK (0x3F) |
||||
|
||||
/** @} */ |
||||
|
||||
/**
|
||||
* Length of scalar measurement data in bytes. |
||||
*/ |
||||
#define LIS3DH_ADC_DATA_SIZE (2) |
||||
|
||||
|
||||
/**
|
||||
* @brief Allowed values for the Output Data Rate of the sensor. |
||||
* |
||||
* Use these when calling lis3dh_set_odr(odr). |
||||
*/ |
||||
typedef enum { |
||||
LIS3DH_ODR_POWERDOWN = (0x00 << LIS3DH_CTRL_REG1_ODR_SHIFT), |
||||
LIS3DH_ODR_1Hz = (0x01 << LIS3DH_CTRL_REG1_ODR_SHIFT), |
||||
LIS3DH_ODR_10Hz = (0x02 << LIS3DH_CTRL_REG1_ODR_SHIFT), |
||||
LIS3DH_ODR_25Hz = (0x03 << LIS3DH_CTRL_REG1_ODR_SHIFT), |
||||
LIS3DH_ODR_50Hz = (0x04 << LIS3DH_CTRL_REG1_ODR_SHIFT), |
||||
LIS3DH_ODR_100Hz = (0x05 << LIS3DH_CTRL_REG1_ODR_SHIFT), |
||||
LIS3DH_ODR_200Hz = (0x06 << LIS3DH_CTRL_REG1_ODR_SHIFT), |
||||
LIS3DH_ODR_400Hz = (0x07 << LIS3DH_CTRL_REG1_ODR_SHIFT), |
||||
LIS3DH_ODR_LP1600Hz = (0x08 << LIS3DH_CTRL_REG1_ODR_SHIFT), |
||||
LIS3DH_ODR_NP1250Hz_LP5000HZ = (0x09 << LIS3DH_CTRL_REG1_ODR_SHIFT) |
||||
} lis3dh_odr_t; |
||||
|
||||
/**
|
||||
* @brief Allowed FIFO modes. |
||||
* |
||||
* Used when calling lis3dh_set_fifo_mode() |
||||
*/ |
||||
typedef enum { |
||||
/** FIFO mode: Bypass */ |
||||
LIS3DH_FIFO_MODE_BYPASS = (0x00 << LIS3DH_FIFO_CTRL_REG_FM_SHIFT), |
||||
/** FIFO mode: FIFO */ |
||||
LIS3DH_FIFO_MODE_FIFO = (0x01 << LIS3DH_FIFO_CTRL_REG_FM_SHIFT), |
||||
/** FIFO mode: Stream */ |
||||
LIS3DH_FIFO_MODE_STREAM = (0x02 << LIS3DH_FIFO_CTRL_REG_FM_SHIFT), |
||||
/** FIFO mode: Stream to FIFO */ |
||||
LIS3DH_FIFO_MODE_STREAM_TO_FIFO = (0x03 << LIS3DH_FIFO_CTRL_REG_FM_SHIFT) |
||||
} lis3dh_fifo_mode_t; |
||||
|
||||
/**
|
||||
* @brief Device descriptor for LIS3DH sensors |
||||
*/ |
||||
typedef struct { |
||||
spi_t spi; /**< SPI device the sensor is connected to */ |
||||
gpio_t cs; /**< Chip select pin */ |
||||
gpio_t int1; /**< INT1 pin */ |
||||
gpio_t int2; /**< INT2 (DRDY) pin */ |
||||
int16_t scale; /**< Current scale setting of the sensor */ |
||||
} lis3dh_t; |
||||
|
||||
/**
|
||||
* @brief Result vector for accelerometer measurement |
||||
*/ |
||||
typedef struct __attribute__((packed)) |
||||
{ |
||||
int16_t acc_x; /**< Acceleration in the X direction in milli-G */ |
||||
int16_t acc_y; /**< Acceleration in the Y direction in milli-G */ |
||||
int16_t acc_z; /**< Acceleration in the Z direction in milli-G */ |
||||
} |
||||
lis3dh_data_t; |
||||
|
||||
|
||||
/**
|
||||
* @brief Initialize a LIS3DH sensor instance |
||||
* |
||||
* @param[in] dev Device descriptor of sensor to initialize |
||||
* @param[in] spi SPI bus the accelerometer is connected to |
||||
* @param[in] cs_pin GPIO connected to the chip select pin of the accelerometer |
||||
* @param[in] int1_pin GPIO connected to the INT1 pin of the accelerometer |
||||
* @param[in] int2_pin GPIO connected to the INT2 pin of the accelerometer |
||||
* @param[in] scale Initial scale setting of the sensor |
||||
* |
||||
* @return 0 on success |
||||
* @return -1 on error |
||||
*/ |
||||
int lis3dh_init(lis3dh_t *dev, spi_t spi, gpio_t cs_pin, gpio_t int1_pin, gpio_t int2_pin, lis3dh_scale_t scale); |
||||
|
||||
/**
|
||||
* @brief Read 3D acceleration data from the accelerometer |
||||
* |
||||
* @param[in] dev Device descriptor of sensor |
||||
* @param[out] acc_data Accelerometer data output buffer |
||||
* |
||||
* @return 0 on success |
||||
* @return -1 on error |
||||
*/ |
||||
int lis3dh_read_xyz(const lis3dh_t *dev, lis3dh_data_t *acc_data); |
||||
|
||||
/**
|
||||
* @brief Read auxiliary ADC channel 1 data from the accelerometer |
||||
* |
||||
* @param[in] dev Device descriptor of sensor |
||||
* @param[out] out The value of ADC1 (OUT_1_{L,H}) will be written to this buffer |
||||
* |
||||
* @return 0 on success |
||||
* @return -1 on error |
||||
*/ |
||||
int lis3dh_read_aux_adc1(const lis3dh_t *dev, int16_t *out); |
||||
|
||||
/**
|
||||
* @brief Read auxiliary ADC channel 2 data from the accelerometer |
||||
* |
||||
* @param[in] dev Device descriptor of sensor |
||||
* @param[out] out The value of ADC2 (OUT_2_{L,H}) will be written to this buffer |
||||
* |
||||
* @return 0 on success |
||||
* @return -1 on error |
||||
*/ |
||||
int lis3dh_read_aux_adc2(const lis3dh_t *dev, int16_t *out); |
||||
|
||||
/**
|
||||
* @brief Read auxiliary ADC channel 3 data from the accelerometer |
||||
* |
||||
* @param[in] dev Device descriptor of sensor |
||||
* @param[out] out The value of ADC3 (OUT_3_{L,H}) will be written to this buffer |
||||
* |
||||
* @note The internal temperature sensor is connected to the third channel on |
||||
* the auxiliary ADC when the TEMP_EN bit of TEMP_CFG_REG is set. |
||||
* |
||||
* @return 0 on success |
||||
* @return -1 on error |
||||
*/ |
||||
int lis3dh_read_aux_adc3(const lis3dh_t *dev, int16_t *out); |
||||
|
||||
/**
|
||||
* @brief Turn on/off power to the auxiliary ADC in LIS3DH. |
||||
* |
||||
* @param[in] dev Device descriptor of sensor |
||||
* @param[in] enable Power state of the auxiliary ADC |
||||
* @param[in] temperature If not zero, switch the ADC mux so that a |
||||
* temperature reading is available on OUT_3_L, OUT_3_H. |
||||
* |
||||
* @note This ADC is only used for the temperature reading and the external ADC |
||||
* pins. The accelerometer ADC is turned on by lis3dh_set_odr(). |
||||
* |
||||
* @return 0 on success |
||||
* @return -1 on error |
||||
*/ |
||||
int lis3dh_set_aux_adc(lis3dh_t *dev, const uint8_t enable, const uint8_t temperature); |
||||
|
||||
/**
|
||||
* @brief Enable/disable accelerometer axes. |
||||
* |
||||
* @param[in] dev Device descriptor of sensor |
||||
* @param[in] axes An OR-ed combination of LIS3DH_AXES_X, |
||||
* LIS3DH_AXES_Y, LIS3DH_AXES_Z. |
||||
* |
||||
* @note The macro LIS3DH_AXES_XYZ is a convenience shortcut to enable all axes. |
||||
* |
||||
* @return 0 on success |
||||
* @return -1 on error |
||||
*/ |
||||
int lis3dh_set_axes(lis3dh_t *dev, const uint8_t axes); |
||||
|
||||
/**
|
||||
* @brief Set the FIFO mode. |
||||
* |
||||
* @param[in] dev Device descriptor of sensor |
||||
* @param[in] mode The chosen FIFO mode. |
||||
* |
||||
* @return 0 on success |
||||
* @return -1 on error |
||||
*/ |
||||
int lis3dh_set_fifo_mode(lis3dh_t *dev, const lis3dh_fifo_mode_t mode); |
||||
|
||||
/**
|
||||
* @brief Enable/disable the FIFO. |
||||
* |
||||
* @param[in] dev Device descriptor of sensor |
||||
* @param[in] enable If zero, disable the FIFO, otherwise enables the FIFO. |
||||
* |
||||
* @return 0 on success |
||||
* @return -1 on error |
||||
*/ |
||||
int lis3dh_set_fifo(lis3dh_t *dev, const uint8_t enable); |
||||
|
||||
/**
|
||||
* Set the output data rate of the sensor. |
||||
* |
||||
* @param[in] dev Device descriptor of sensor |
||||
* @param[in] odr Chosen output data rate. |
||||
* |
||||
* @return 0 on success |
||||
* @return -1 on error |
||||
*/ |
||||
int lis3dh_set_odr(lis3dh_t *dev, const lis3dh_odr_t odr); |
||||
|
||||
/**
|
||||
* @brief Set the full scale range of the sensor. |
||||
* |
||||
* Valid values for scale is 2, 4, 8, 16 and represents the full range of the |
||||
* sensor. |
||||
* |
||||
* @param[in] dev Device descriptor of sensor |
||||
* @param scale The chosen sensitivity scale. |
||||
* |
||||
* @return 0 on success |
||||
* @return -1 on error |
||||
*/ |
||||
int lis3dh_set_scale(lis3dh_t *dev, const lis3dh_scale_t scale); |
||||
|
||||
#ifdef __cplusplus |
||||
} |
||||
#endif |
||||
|
||||
#endif /* LIS3DH_H_ */ |
||||
/** @} */ |
||||
@ -0,0 +1,3 @@
|
||||
MODULE = lis3dh
|
||||
|
||||
include $(RIOTBASE)/Makefile.base |
||||
@ -0,0 +1,265 @@
|
||||
/*
|
||||
* Copyright (C) 2015 Eistec AB |
||||
* |
||||
* This file is subject to the terms and conditions of the GNU Lesser |
||||
* General Public License v2.1. See the file LICENSE in the top level |
||||
* directory for more details. |
||||
*/ |
||||
|
||||
#include <stddef.h> |
||||
#include <stdint.h> |
||||
#include "periph/gpio.h" |
||||
#include "periph/spi.h" |
||||
#include "lis3dh.h" |
||||
|
||||
/**
|
||||
* @ingroup drivers_lis3dh |
||||
* @{ |
||||
* |
||||
* @file |
||||
* @brief Implementation of LIS3DH SPI driver |
||||
* |
||||
* @author Joakim Gebart <joakim.gebart@eistec.se> |
||||
*/ |
||||
|
||||
|
||||
static inline int lis3dh_write_bits(const lis3dh_t *dev, const lis3dh_reg_t reg, const uint8_t mask, |
||||
const uint8_t values); |
||||
static int lis3dh_write_reg(const lis3dh_t *dev, const lis3dh_reg_t reg, const uint8_t value); |
||||
static int lis3dh_read_regs(const lis3dh_t *dev, const lis3dh_reg_t reg, const uint8_t len, |
||||
uint8_t *buf); |
||||
|
||||
|
||||
int lis3dh_init(lis3dh_t *dev, spi_t spi, gpio_t cs_pin, gpio_t int1_pin, gpio_t int2_pin, lis3dh_scale_t scale) |
||||
{ |
||||
uint8_t in; |
||||
|
||||
dev->spi = spi; |
||||
dev->cs = cs_pin; |
||||
dev->int1 = int1_pin; |
||||
dev->int2 = int2_pin; |
||||
dev->scale = 0; |
||||
|
||||
/* CS */ |
||||
gpio_init_out(dev->cs, GPIO_NOPULL); |
||||
gpio_set(dev->cs); |
||||
|
||||
if (lis3dh_read_regs(dev, LIS3DH_REG_WHO_AM_I, 1, &in) < 0) { |
||||
/* Communication error */ |
||||
return -1; |
||||
} |
||||
|
||||
if (in != LIS3DH_WHO_AM_I_RESPONSE) { |
||||
/* Chip is not responding correctly */ |
||||
return -1; |
||||
} |
||||
|
||||
/* Set block data update and little endian mode. */ |
||||
lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG4, |
||||
(LIS3DH_CTRL_REG4_BDU_ENABLE | |
||||
LIS3DH_CTRL_REG4_BLE_LITTLE_ENDIAN)); |
||||
lis3dh_set_scale(dev, scale); |
||||
return 0; |
||||
} |
||||
|
||||
int lis3dh_read_xyz(const lis3dh_t *dev, lis3dh_data_t *acc_data) |
||||
{ |
||||
int32_t tmp; |
||||
uint8_t i; |
||||
/* Set READ MULTIPLE mode */ |
||||
static const uint8_t addr = (LIS3DH_REG_OUT_X_L | LIS3DH_SPI_READ_MASK | LIS3DH_SPI_MULTI_MASK); |
||||
|
||||
/* Acquire exclusive access to the bus. */ |
||||
spi_acquire(dev->spi); |
||||
/* Perform the transaction */ |
||||
gpio_clear(dev->cs); |
||||
|
||||
if (spi_transfer_regs(dev->spi, addr, NULL, (char *)acc_data, |
||||
sizeof(lis3dh_data_t)) != sizeof(lis3dh_data_t)) { |
||||
/* Transfer error */ |
||||
return -1; |
||||
} |
||||
|
||||
gpio_set(dev->cs); |
||||
/* Release the bus for other threads. */ |
||||
spi_release(dev->spi); |
||||
|
||||
/* Scale to milli-G */ |
||||
for (i = 0; i < 3; ++i) { |
||||
tmp = (int32_t)(((int16_t *)acc_data)[i]); |
||||
tmp *= dev->scale; |
||||
tmp /= 32768; |
||||
(((int16_t *)acc_data)[i]) = (int16_t)tmp; |
||||
} |
||||
|
||||
return 0; |
||||
} |
||||
|
||||
int lis3dh_read_aux_adc1(const lis3dh_t *dev, int16_t *out) |
||||
{ |
||||
return lis3dh_read_regs(dev, LIS3DH_REG_OUT_AUX_ADC1_L, LIS3DH_ADC_DATA_SIZE, (uint8_t *)out); |
||||
} |
||||
|
||||
int lis3dh_read_aux_adc2(const lis3dh_t *dev, int16_t *out) |
||||
{ |
||||
return lis3dh_read_regs(dev, LIS3DH_REG_OUT_AUX_ADC2_L, LIS3DH_ADC_DATA_SIZE, (uint8_t *)out); |
||||
} |
||||
|
||||
int lis3dh_read_aux_adc3(const lis3dh_t *dev, int16_t *out) |
||||
{ |
||||
return lis3dh_read_regs(dev, LIS3DH_REG_OUT_AUX_ADC3_L, LIS3DH_ADC_DATA_SIZE, (uint8_t *)out); |
||||
} |
||||
|
||||
int lis3dh_set_aux_adc(lis3dh_t *dev, const uint8_t enable, const uint8_t temperature) |
||||
{ |
||||
return lis3dh_write_bits(dev, LIS3DH_REG_TEMP_CFG_REG, LIS3DH_TEMP_CFG_REG_ADC_PD_MASK, |
||||
(enable ? LIS3DH_TEMP_CFG_REG_ADC_PD_MASK : 0) | |
||||
(temperature ? LIS3DH_TEMP_CFG_REG_TEMP_EN_MASK : 0)); |
||||
} |
||||
|
||||
int lis3dh_set_axes(lis3dh_t *dev, const uint8_t axes) |
||||
{ |
||||
return lis3dh_write_bits(dev, LIS3DH_REG_CTRL_REG1, LIS3DH_CTRL_REG1_XYZEN_MASK, axes); |
||||
} |
||||
|
||||
int lis3dh_set_fifo_mode(lis3dh_t *dev, const lis3dh_fifo_mode_t mode) |
||||
{ |
||||
return lis3dh_write_bits(dev, LIS3DH_REG_FIFO_CTRL_REG, LIS3DH_FIFO_CTRL_REG_FM_MASK, |
||||
mode); |
||||
} |
||||
|
||||
int lis3dh_set_fifo(lis3dh_t *dev, const uint8_t enable) |
||||
{ |
||||
return lis3dh_write_bits(dev, LIS3DH_REG_CTRL_REG5, LIS3DH_CTRL_REG5_FIFO_EN_MASK, |
||||
(enable ? LIS3DH_CTRL_REG5_FIFO_EN_MASK : 0)); |
||||
} |
||||
|
||||
int lis3dh_set_odr(lis3dh_t *dev, const lis3dh_odr_t odr) |
||||
{ |
||||
return lis3dh_write_bits(dev, LIS3DH_REG_CTRL_REG1, LIS3DH_CTRL_REG1_ODR_MASK, |
||||
odr); |
||||
} |
||||
|
||||
int lis3dh_set_scale(lis3dh_t *dev, const lis3dh_scale_t scale) |
||||
{ |
||||
/* Sensor full range is -32768 -- +32767 */ |
||||
/* => Scale factor is scale/32768 */ |
||||
switch (scale) |
||||
{ |
||||
case LIS3DH_SCALE_2G: |
||||
dev->scale = 2000; |
||||
break; |
||||
case LIS3DH_SCALE_4G: |
||||
dev->scale = 4000; |
||||
break; |
||||
case LIS3DH_SCALE_8G: |
||||
dev->scale = 8000; |
||||
break; |
||||
case LIS3DH_SCALE_16G: |
||||
dev->scale = 16000; |
||||
break; |
||||
default: |
||||
return -1; |
||||
} |
||||
return lis3dh_write_bits(dev, LIS3DH_REG_CTRL_REG4, LIS3DH_CTRL_REG4_FS_MASK, |
||||
scale); |
||||
} |
||||
|
||||
|
||||
/**
|
||||
* @brief Read sequential registers from the LIS3DH. |
||||
* |
||||
* @param[in] dev Device descriptor |
||||
* @param[in] reg The source register starting address |
||||
* @param[in] len Number of bytes to read |
||||
* @param[out] buf The values of the source registers will be written here |
||||
* |
||||
* @return 0 on success |
||||
* @return -1 on error |
||||
*/ |
||||
static int lis3dh_read_regs(const lis3dh_t *dev, const lis3dh_reg_t reg, const uint8_t len, |
||||
uint8_t *buf) |
||||
{ |
||||
/* Set READ MULTIPLE mode */ |
||||
uint8_t addr = (reg & LIS3DH_SPI_ADDRESS_MASK) | LIS3DH_SPI_READ_MASK | LIS3DH_SPI_MULTI_MASK; |
||||
|
||||
/* Acquire exclusive access to the bus. */ |
||||
spi_acquire(dev->spi); |
||||
/* Perform the transaction */ |
||||
gpio_clear(dev->cs); |
||||
|
||||
if (spi_transfer_regs(dev->spi, addr, NULL, (char *)buf, len) < 0) { |
||||
/* Transfer error */ |
||||
return -1; |
||||
} |
||||
|
||||
gpio_set(dev->cs); |
||||
/* Release the bus for other threads. */ |
||||
spi_release(dev->spi); |
||||
|
||||
return 0; |
||||
} |
||||
|
||||
/**
|
||||
* @brief Write a value to an 8 bit register in the LIS3DH. |
||||
* |
||||
* @param[in] reg The target register. |
||||
* @param[in] value The value to write. |
||||
* |
||||
* @return 0 on success |
||||
* @return -1 on error |
||||
*/ |
||||
static int lis3dh_write_reg(const lis3dh_t *dev, const lis3dh_reg_t reg, const uint8_t value) |
||||
{ |
||||
/* Set WRITE SINGLE mode */ |
||||
uint8_t addr = (reg & LIS3DH_SPI_ADDRESS_MASK) | LIS3DH_SPI_WRITE_MASK | LIS3DH_SPI_SINGLE_MASK; |
||||
|
||||
/* Acquire exclusive access to the bus. */ |
||||
spi_acquire(dev->spi); |
||||
/* Perform the transaction */ |
||||
gpio_clear(dev->cs); |
||||
|
||||
if (spi_transfer_reg(dev->spi, addr, value, NULL) < 0) { |
||||
/* Transfer error */ |
||||
return -1; |
||||
} |
||||
|
||||
gpio_set(dev->cs); |
||||
/* Release the bus for other threads. */ |
||||
spi_release(dev->spi); |
||||
return 0; |
||||
} |
||||
|
||||
/**
|
||||
* @brief Write (both set and clear) bits of an 8-bit register on the LIS3DH. |
||||
* |
||||
* @param[in] addr Register address on the LIS3DH. |
||||
* @param[in] mask Bitmask for the bits to modify. |
||||
* @param[in] values The values to write to the masked bits. |
||||
* |
||||
* @return 0 on success |
||||
* @return -1 on error |
||||
*/ |
||||
static inline int |
||||
lis3dh_write_bits(const lis3dh_t *dev, const lis3dh_reg_t reg, const uint8_t mask, |
||||
const uint8_t values) |
||||
{ |
||||
uint8_t tmp; |
||||
|
||||
if (lis3dh_read_regs(dev, reg, 1, &tmp) < 0) { |
||||
/* Communication error */ |
||||
return -1; |
||||
} |
||||
|
||||
tmp &= ~mask; |
||||
tmp |= (values & mask); |
||||
|
||||
if (lis3dh_write_reg(dev, reg, tmp) < 0) { |
||||
/* Communication error */ |
||||
return -1; |
||||
} |
||||
|
||||
return 0; |
||||
} |
||||
|
||||
/** @} */ |
||||
@ -0,0 +1,34 @@
|
||||
APPLICATION = driver_lis3dh
|
||||
include ../Makefile.tests_common |
||||
|
||||
FEATURES_REQUIRED = periph_spi periph_gpio
|
||||
|
||||
USEMODULE += lis3dh
|
||||
USEMODULE += vtimer
|
||||
|
||||
ifneq (,$(TEST_LIS3DH_SPI)) |
||||
CFLAGS += -DTEST_LIS3DH_SPI=$(TEST_LIS3DH_SPI)
|
||||
else |
||||
# set arbitrary default
|
||||
CFLAGS += -DTEST_LIS3DH_SPI=SPI_0
|
||||
endif |
||||
ifneq (,$(TEST_LIS3DH_CS)) |
||||
CFLAGS += -DTEST_LIS3DH_CS=$(TEST_LIS3DH_CS)
|
||||
else |
||||
# set arbitrary default
|
||||
CFLAGS += -DTEST_LIS3DH_CS=GPIO_0
|
||||
endif |
||||
ifneq (,$(TEST_LIS3DH_INT1)) |
||||
CFLAGS += -DTEST_LIS3DH_INT1=$(TEST_LIS3DH_INT1)
|
||||
else |
||||
# set arbitrary default
|
||||
CFLAGS += -DTEST_LIS3DH_INT1=GPIO_1
|
||||
endif |
||||
ifneq (,$(TEST_LIS3DH_INT2)) |
||||
CFLAGS += -DTEST_LIS3DH_INT2=$(TEST_LIS3DH_INT2)
|
||||
else |
||||
# set arbitrary default
|
||||
CFLAGS += -DTEST_LIS3DH_INT2=GPIO_2
|
||||
endif |
||||
|
||||
include $(RIOTBASE)/Makefile.include |
||||
@ -0,0 +1,11 @@
|
||||
# About |
||||
This is a manual test application for the LIS3DH accelerometer driver. |
||||
|
||||
# Usage |
||||
This test application will initialize the accelerometer with the following parameters: |
||||
- Sampling Rate: 100Hz |
||||
- Scale: 4G |
||||
- Temperature sensor: Enabled |
||||
|
||||
After initialization, the sensor reads the acceleration values every 100ms |
||||
and prints them to the STDOUT. |
||||
@ -0,0 +1,157 @@
|
||||
/*
|
||||
* Copyright (C) 2015 Eistec AB |
||||
* |
||||
* This file is subject to the terms and conditions of the GNU Lesser |
||||
* General Public License v2.1. See the file LICENSE in the top level |
||||
* directory for more details. |
||||
*/ |
||||
|
||||
/**
|
||||
* @ingroup tests |
||||
* @{ |
||||
* |
||||
* @file |
||||
* @brief Test application for the LIS3DH accelerometer driver |
||||
* |
||||
* @author Joakim Gebart <joakim.gebart@eistec.se |
||||
* |
||||
* @} |
||||
*/ |
||||
|
||||
#include <stdio.h> |
||||
|
||||
#include "board.h" |
||||
#include "vtimer.h" |
||||
#include "periph/spi.h" |
||||
#include "lis3dh.h" |
||||
|
||||
/* Check for definition of hardware pins, default to board.h values if not set. */ |
||||
#ifndef TEST_LIS3DH_SPI |
||||
#ifdef LIS3DH_SPI |
||||
#define TEST_LIS3DH_SPI LIS3DH_SPI |
||||
#else |
||||
#error "TEST_LIS3DH_SPI not defined" |
||||
#endif |
||||
#endif |
||||
#ifndef TEST_LIS3DH_CS |
||||
#ifdef LIS3DH_CS |
||||
#define TEST_LIS3DH_CS LIS3DH_CS |
||||
#else |
||||
#error "TEST_LIS3DH_CS not defined" |
||||
#endif |
||||
#endif |
||||
#ifndef TEST_LIS3DH_INT1 |
||||
#ifdef LIS3DH_INT1 |
||||
#define TEST_LIS3DH_INT1 LIS3DH_INT1 |
||||
#else |
||||
#error "TEST_LIS3DH_INT1 not defined" |
||||
#endif |
||||
#endif |
||||
#ifndef TEST_LIS3DH_INT2 |
||||
#ifdef LIS3DH_INT2 |
||||
#define TEST_LIS3DH_INT2 LIS3DH_INT2 |
||||
#else |
||||
#error "TEST_LIS3DH_INT2 not defined" |
||||
#endif |
||||
#endif |
||||
|
||||
|
||||
#define SCALE LIS3DH_SCALE_4G |
||||
#define ODR LIS3DH_ODR_100Hz |
||||
#define SLEEP (100 * 1000U) |
||||
#define SPI_CONF (SPI_) |
||||
|
||||
int main(void) |
||||
{ |
||||
lis3dh_t dev; |
||||
lis3dh_data_t acc_data; |
||||
int16_t temperature; |
||||
|
||||
puts("LIS3DH accelerometer driver test application\n"); |
||||
printf("Initializing SPI_%i... ", TEST_LIS3DH_SPI); |
||||
if (spi_init_master(TEST_LIS3DH_SPI, SPI_CONF_SECOND_FALLING, SPI_SPEED_10MHZ) == 0) { |
||||
puts("[OK]"); |
||||
} |
||||
else { |
||||
puts("[Failed]\n"); |
||||
return 1; |
||||
} |
||||
|
||||
puts("Initializing LIS3DH sensor... "); |
||||
if (lis3dh_init(&dev, TEST_LIS3DH_SPI, TEST_LIS3DH_CS, |
||||
TEST_LIS3DH_INT1, TEST_LIS3DH_INT2, SCALE) == 0) { |
||||
puts("[OK]"); |
||||
} |
||||
else { |
||||
puts("[Failed]\n"); |
||||
return 1; |
||||
} |
||||
|
||||
puts("Set ODR... "); |
||||
if (lis3dh_set_odr(&dev, ODR) == 0) { |
||||
puts("[OK]"); |
||||
} |
||||
else { |
||||
puts("[Failed]\n"); |
||||
return 1; |
||||
} |
||||
|
||||
puts("Set scale... "); |
||||
if (lis3dh_set_scale(&dev, SCALE) == 0) { |
||||
puts("[OK]"); |
||||
} |
||||
else { |
||||
puts("[Failed]\n"); |
||||
return 1; |
||||
} |
||||
|
||||
puts("Set axes XYZ... "); |
||||
if (lis3dh_set_axes(&dev, LIS3DH_AXES_XYZ) == 0) { |
||||
puts("[OK]"); |
||||
} |
||||
else { |
||||
puts("[Failed]\n"); |
||||
return 1; |
||||
} |
||||
|
||||
puts("Disable FIFO mode... "); |
||||
if (lis3dh_set_fifo(&dev, 0) == 0) { |
||||
puts("[OK]"); |
||||
} |
||||
else { |
||||
puts("[Failed]\n"); |
||||
return 1; |
||||
} |
||||
|
||||
puts("Enable temperature reading... "); |
||||
if (lis3dh_set_aux_adc(&dev, 1, 1) == 0) { |
||||
puts("[OK]"); |
||||
} |
||||
else { |
||||
puts("[Failed]\n"); |
||||
return 1; |
||||
} |
||||
|
||||
puts("LIS3DH init done.\n"); |
||||
|
||||
while (1) { |
||||
lis3dh_read_xyz(&dev, &acc_data); |
||||
if (lis3dh_read_xyz(&dev, &acc_data) != 0) { |
||||
puts("Reading acceleration data... "); |
||||
puts("[Failed]\n"); |
||||
return 1; |
||||
} |
||||
if (lis3dh_read_aux_adc3(&dev, &temperature) != 0) { |
||||
puts("Reading temperature data... "); |
||||
puts("[Failed]\n"); |
||||
return 1; |
||||
} |
||||
|
||||
printf("Sensor data - X: %6i Y: %6i Z: %6i Temp: %6i\n", |
||||
acc_data.acc_x, acc_data.acc_y, acc_data.acc_z, temperature); |
||||
|
||||
vtimer_usleep(SLEEP); |
||||
} |
||||
|
||||
return 0; |
||||
} |
||||
Loading…
Reference in new issue