add LIS2DH accelerometer driver, test app

apps/Sensor Watch Accelerometer Test/app.c

@@ -0,0 +1,91 @@
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <math.h>
+#include "watch.h"
+#include "lis2dh.h"
+
+// This application displays data from the old Sensor Watch Motion sensor board.
+// Note that this board required A0 to be set high to power the sensor.
+// Future accelerometer boards will be powered directly from VCC.
+// Also note that this board has its INT1 pin wired to A1, which is not an external
+// wake pin. Future accelerometer boards will wire interrupt pins to A2 and A4.
+
+uint8_t axis = 0;
+
+void cb_light_pressed() {
+    axis = 1;
+}
+
+void cb_mode_pressed() {
+    axis = 2;
+}
+
+void cb_alarm_pressed() {
+    axis = 3;
+}
+
+void app_init() {
+    gpio_set_pin_direction(A0, GPIO_DIRECTION_OUT);
+    gpio_set_pin_function(A0, GPIO_PIN_FUNCTION_OFF);
+    gpio_set_pin_level(A0, true);
+
+    watch_enable_display();
+
+    watch_enable_external_interrupts();
+    watch_register_interrupt_callback(BTN_MODE, cb_mode_pressed, INTERRUPT_TRIGGER_RISING);
+    watch_register_interrupt_callback(BTN_LIGHT, cb_light_pressed, INTERRUPT_TRIGGER_RISING);
+    watch_register_interrupt_callback(BTN_ALARM, cb_alarm_pressed, INTERRUPT_TRIGGER_RISING);
+
+    watch_enable_i2c();
+
+    lis2dh_begin();
+
+    lis2dh_set_range(LIS2DH_RANGE_2_G);
+    lis2dh_set_data_rate(LIS2DH_DATA_RATE_10_HZ);
+}
+
+void app_wake_from_backup() {
+}
+
+void app_setup() {
+}
+
+void app_prepare_for_standby() {
+}
+
+void app_wake_from_standby() {
+}
+
+bool app_loop() {
+    if (lis2dh_have_new_data()) {
+        lis2dh_reading reading;
+        lis2dh_acceleration_measurement measurement = lis2dh_get_acceleration_measurement(&reading);
+
+        // printf("%d,%d,%d\n", reading.x, reading.y, reading.z);
+        printf("%f,%f,%f\n", measurement.x, measurement.y, measurement.z);
+
+        char buf[11] = {0};
+        switch (axis) {
+            case 1:
+                sprintf(buf, "AC X%-6d", reading.x);
+                break;
+            case 2:
+                sprintf(buf, "AC Y%-6d", reading.y);
+                break;
+            case 3:
+                sprintf(buf, "AC Z%-6d", reading.z);
+                break;
+            default:
+                sprintf(buf, "    %2d%2d%2d", abs(reading.x >> 9), abs(reading.y >> 9), abs(reading.z >> 9));
+                if (reading.x < 0) buf[0] = '_';
+                if (reading.y < 0) buf[1] = '_';
+                if (reading.z < 0) buf[3] = '_';
+                break;
+        }
+
+        watch_display_string(buf, 0);
+    }
+
+    return false;
+}

apps/Sensor Watch Accelerometer Test/make/.gitignore

@@ -0,0 +1 @@
+build/

apps/Sensor Watch Accelerometer Test/make/Makefile

@@ -0,0 +1,10 @@
+TOP = ../../..
+include $(TOP)/make.mk
+
+INCLUDES += \
+  -I../
+
+SRCS += \
+  ../app.c
+
+include $(TOP)/rules.mk

make.mk

@@ -61,6 +61,7 @@ INCLUDES += \
   -I$(TOP)/watch-library/config/ \
   -I$(TOP)/watch-library/hw/ \
   -I$(TOP)/watch-library/watch/ \
+  -I$(TOP)/watch-library/driver/ \
   -I$(TOP)/watch-library
 
 SRCS += \
@@ -112,6 +113,7 @@ SRCS += \
   $(TOP)/watch-library/hpl/sercom/hpl_sercom.c \
   $(TOP)/watch-library/hpl/slcd/hpl_slcd.c \
   $(TOP)/watch-library/hpl/systick/hpl_systick.c \
+  $(TOP)/watch-library/driver/lis2dh.c \
 
 DEFINES += \
   -D__SAML22J18A__ \

watch-library/driver/lis2dh.c

@@ -0,0 +1,116 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2021 Joey Castillo
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include "lis2dh.h"
+#include "watch.h"
+
+bool lis2dh_begin() {
+    if (lis2dh_get_device_id() != LIS2DH_WHO_AM_I_VAL) {
+        return false;
+    }
+    // Enable all axes, start at lowest possible data rate
+    watch_i2c_write8(LIS2DH_ADDRESS, LIS2DH_REG_CTRL1, LIS2DH_CTRL1_VAL_XEN |
+                                                       LIS2DH_CTRL1_VAL_YEN |
+                                                       LIS2DH_CTRL1_VAL_ZEN |
+                                                       LIS2DH_CTRL1_VAL_ODR_1HZ);
+    // Enable block data update (output registers not updated until MSB and LSB have been read)
+    watch_i2c_write8(LIS2DH_ADDRESS, LIS2DH_REG_CTRL4, LIS2DH_CTRL4_VAL_BDU);
+
+    return true;
+}
+
+uint8_t lis2dh_get_device_id() {
+    return watch_i2c_read8(LIS2DH_ADDRESS, LIS2DH_REG_WHO_AM_I);
+}
+
+bool lis2dh_have_new_data() {
+    uint8_t retval = watch_i2c_read8(LIS2DH_ADDRESS, LIS2DH_REG_STATUS);
+    return !!retval; // return true if any bit is set
+}
+
+lis2dh_reading lis2dh_get_raw_reading() {
+    uint8_t buffer[6];
+    uint8_t reg = LIS2DH_REG_OUT_X_L | 0x80; // set high bit for consecutive reads
+    lis2dh_reading retval;
+
+    watch_i2c_send(LIS2DH_ADDRESS, &reg, 1);
+    watch_i2c_receive(LIS2DH_ADDRESS, (uint8_t *)&buffer, 6);
+
+    retval.x = buffer[0];
+    retval.x |= ((uint16_t)buffer[1]) << 8;
+    retval.y = buffer[2];
+    retval.y |= ((uint16_t)buffer[3]) << 8;
+    retval.z = buffer[4];
+    retval.z |= ((uint16_t)buffer[5]) << 8;
+
+    return retval;
+}
+
+ lis2dh_acceleration_measurement lis2dh_get_acceleration_measurement(lis2dh_reading *out_reading) {
+    lis2dh_reading reading = lis2dh_get_raw_reading();
+    uint8_t range = lis2dh_get_range();
+    if (out_reading != NULL) *out_reading = reading;
+
+    // this bit is cribbed from Adafruit's LIS3DH driver; from their notes, the magic number below
+    // converts from 16-bit lsb to 10-bit and divides by 1k to convert from milli-gs.
+    // final value is raw_lsb => 10-bit lsb -> milli-gs -> gs
+    uint8_t lsb_value = 1;
+    if (range == LIS2DH_RANGE_2_G) lsb_value = 4;
+    if (range == LIS2DH_RANGE_4_G) lsb_value = 8;
+    if (range == LIS2DH_RANGE_8_G) lsb_value = 16;
+    if (range == LIS2DH_RANGE_16_G) lsb_value = 48;
+
+    lis2dh_acceleration_measurement retval;
+
+    retval.x = lsb_value * ((float)reading.x / 64000.0);
+    retval.y = lsb_value * ((float)reading.y / 64000.0);
+    retval.z = lsb_value * ((float)reading.z / 64000.0);
+
+    return retval;
+}
+
+void lis2dh_set_range(lis2dh_range_t range) {
+    uint8_t val = watch_i2c_read8(LIS2DH_ADDRESS, LIS2DH_REG_CTRL4) & 0xCF;
+    uint8_t bits = range << 4;
+
+    watch_i2c_write8(LIS2DH_ADDRESS, LIS2DH_REG_CTRL4, val | bits);
+}
+
+lis2dh_range_t lis2dh_get_range() {
+    uint8_t retval = watch_i2c_read8(LIS2DH_ADDRESS, LIS2DH_REG_CTRL4) & 0x30;
+    retval >>= 4;
+    return (lis2dh_range_t)retval;
+}
+
+
+void lis2dh_set_data_rate(lis2dh_data_rate_t dataRate) {
+    uint8_t val = watch_i2c_read8(LIS2DH_ADDRESS, LIS2DH_REG_CTRL1) & 0x0F;
+    uint8_t bits = dataRate << 4;
+
+    watch_i2c_write8(LIS2DH_ADDRESS, LIS2DH_REG_CTRL1, val | bits);
+}
+
+lis2dh_data_rate_t lis2dh_get_data_rate() {
+    return watch_i2c_read8(LIS2DH_ADDRESS, LIS2DH_REG_CTRL1) >> 4;
+}

watch-library/driver/lis2dh.h

@@ -0,0 +1,187 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2021 Joey Castillo
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#ifndef LIS2DH_H
+#define LIS2DH_H
+
+#include <stdbool.h>
+#include <stdint.h>
+
+typedef struct {
+    int16_t x;
+    int16_t y;
+    int16_t z;
+} lis2dh_reading;
+
+typedef struct {
+    float x;
+    float y;
+    float z;
+} lis2dh_acceleration_measurement;
+
+typedef enum {
+  LIS2DH_RANGE_16_G = 0b11, // +/- 16g
+  LIS2DH_RANGE_8_G = 0b10,  // +/- 8g
+  LIS2DH_RANGE_4_G = 0b01,  // +/- 4g
+  LIS2DH_RANGE_2_G = 0b00   // +/- 2g (default value)
+} lis2dh_range_t;
+
+typedef enum {
+  LIS2DH_DATA_RATE_POWERDOWN = 0,
+  LIS2DH_DATA_RATE_1_HZ = 0b0001,
+  LIS2DH_DATA_RATE_10_HZ = 0b0010,
+  LIS2DH_DATA_RATE_25_HZ = 0b0011,
+  LIS2DH_DATA_RATE_50_HZ = 0b0100,
+  LIS2DH_DATA_RATE_100_HZ = 0b0101,
+  LIS2DH_DATA_RATE_200_HZ = 0b0110,
+  LIS2DH_DATA_RATE_400_HZ = 0b0111,
+  LIS2DH_DATA_RATE_LP1620HZ = 0b1000,
+  LIS2DH_DATA_RATE_LP5376HZ = 0b1001,
+
+} lis2dh_data_rate_t;
+
+bool lis2dh_begin();
+
+uint8_t lis2dh_get_device_id();
+
+bool lis2dh_have_new_data();
+
+lis2dh_reading lis2dh_get_raw_reading();
+
+lis2dh_acceleration_measurement lis2dh_get_acceleration_measurement(lis2dh_reading *out_reading);
+
+void lis2dh_set_range(lis2dh_range_t range);
+
+lis2dh_range_t lis2dh_get_range();
+
+void lis2dh_set_data_rate(lis2dh_data_rate_t dataRate);
+
+lis2dh_data_rate_t lis2dh_get_data_rate();
+
+// Assumes SA0 is high; if low, its 0x18
+#define LIS2DH_ADDRESS (0x19)
+
+#define LIS2DH_REG_STATUS_AUX 0x07          ///< Auxiliary status register
+#define LIS2DH_REG_STATUS_AUX_TDA (1 << 2)  ///< Temperature data available
+#define LIS2DH_REG_STATUS_AUX_TOR (1 << 6)  ///< Temperature data overrun
+
+#define LIS2DH_REG_OUT_TEMP_L 0x0C  ///< Temperature data low bit
+#define LIS2DH_REG_OUT_TEMP_H 0x0D  ///< Temperature data high bit
+
+#define LIS2DH_REG_INT_COUNTER 0x0E
+
+#define LIS2DH_REG_WHO_AM_I 0x0F    ///< Device identification, will read 0x33
+#define LIS2DH_WHO_AM_I_VAL 0x33    ///< Expected value of the WHO_AM_I register
+
+#define LIS2DH_REG_TEMP_CFG 0x1F          ///< Temperature configuration; 0 to disable, 0xC0 to enable.
+#define LIS2DH_TEMP_CFG_VAL_ENABLE 0xC0   ///< Value for LIS2DH_REG_TEMP_CFG that enables temperature sensing.
+#define LIS2DH_TEMP_CFG_VAL_DISABLE 0x00  ///< Value for LIS2DH_REG_TEMP_CFG that disables temperature sensing.
+
+#define LIS2DH_REG_CTRL1 0x20               ///< CTRL_REG1 in the data sheet.
+#define LIS2DH_CTRL1_VAL_XEN  0b00000001    ///< Enable X-axis
+#define LIS2DH_CTRL1_VAL_YEN  0b00000010    ///< Enable Y-axis
+#define LIS2DH_CTRL1_VAL_ZEN  0b00000100    ///< Enable Z-axis
+#define LIS2DH_CTRL1_VAL_LPEN 0b00001000    ///< Enable low power mode
+#define LIS2DH_CTRL1_VAL_ODR_POWERDOWN 0    ///< Power down
+#define LIS2DH_CTRL1_VAL_ODR_1HZ        (LIS2DH_DATA_RATE_1_HZ << 4)
+#define LIS2DH_CTRL1_VAL_ODR_10HZ       (LIS2DH_DATA_RATE_10_HZ << 4)
+#define LIS2DH_CTRL1_VAL_ODR_25HZ       (LIS2DH_DATA_RATE_25_HZ << 4)
+#define LIS2DH_CTRL1_VAL_ODR_50HZ       (LIS2DH_DATA_RATE_50_HZ << 4)
+#define LIS2DH_CTRL1_VAL_ODR_100HZ      (LIS2DH_DATA_RATE_100_HZ << 4)
+#define LIS2DH_CTRL1_VAL_ODR_200HZ      (LIS2DH_DATA_RATE_200_HZ << 4)
+#define LIS2DH_CTRL1_VAL_ODR_400HZ      (LIS2DH_DATA_RATE_400_HZ << 4)
+#define LIS2DH_CTRL1_VAL_ODR_LP1620HZ   (LIS2DH_DATA_RATE_LP1620HZ << 4)
+#define LIS2DH_CTRL1_VAL_ODR_LP5376HZ   (LIS2DH_DATA_RATE_LP5376HZ << 4)
+
+#define LIS2DH_REG_CTRL2 0x21
+
+#define LIS2DH_REG_CTRL3 0x22
+#define LIS2DH_CTRL3_VAL_I1_CLICK   0b10000000
+#define LIS2DH_CTRL3_VAL_I1_AOI1    0b01000000
+#define LIS2DH_CTRL3_VAL_I1_AOI2    0b00100000
+#define LIS2DH_CTRL3_VAL_I1_DRDY1   0b00010000
+#define LIS2DH_CTRL3_VAL_I1_DRDY2   0b00001000
+#define LIS2DH_CTRL3_VAL_I1_WTM     0b00000100
+#define LIS2DH_CTRL3_VAL_I1_OVERRUN 0b00000010
+
+#define LIS2DH_REG_CTRL4 0x23
+#define LIS2DH_CTRL4_VAL_BDU        0b10000000
+#define LIS2DH_CTRL4_VAL_BLE        0b01000000
+#define LIS2DH_CTRL4_VAL_RANGE_2G   (LIS2DH_RANGE_2_G << 4)
+#define LIS2DH_CTRL4_VAL_RANGE_4G   (LIS2DH_RANGE_4_G << 4)
+#define LIS2DH_CTRL4_VAL_RANGE_8G   (LIS2DH_RANGE_8_G << 4)
+#define LIS2DH_CTRL4_VAL_RANGE_16G  (LIS2DH_RANGE_16_G << 4)
+#define LIS2DH_CTRL4_VAL_HR         0b00001000
+#define LIS2DH_CTRL4_VAL_ST0        0b00000000
+#define LIS2DH_CTRL4_VAL_ST1        0b00000000
+
+#define LIS2DH_REG_CTRL5 0x24
+#define LIS2DH_CTRL5_VAL_BOOT       0b10000000
+#define LIS2DH_CTRL5_VAL_FIFO_EN    0b01000000
+#define LIS2DH_CTRL5_VAL_LIR_INT1   0b00001000
+#define LIS2DH_CTRL5_VAL_D4D_INT1   0b00000100
+#define LIS2DH_CTRL5_VAL_LIR_INT2   0b00000010
+#define LIS2DH_CTRL5_VAL_D4D_INT2   0b00000001
+
+#define LIS2DH_REG_CTRL6 0x25
+#define LIS2DH_CTRL6_VAL_I2_CLICK   0b10000000
+#define LIS2DH_CTRL6_VAL_I2_INT1    0b01000000
+#define LIS2DH_CTRL6_VAL_I2_INT2    0b00100000
+#define LIS2DH_CTRL6_VAL_BOOT_I2    0b00010000
+#define LIS2DH_CTRL6_VAL_P2_ACT     0b00001000
+#define LIS2DH_CTRL6_VAL_H_L_ACTIVE 0b00000000
+
+#define LIS2DH_REG_REFERENCE 0x26
+
+#define LIS2DH_REG_STATUS 0x27
+#define LIS2DH_STATUS_VAL_ZYXOR 0b10000000
+#define LIS2DH_STATUS_VAL_ZOR   0b01000000
+#define LIS2DH_STATUS_VAL_YOR   0b00100000
+#define LIS2DH_STATUS_VAL_XOR   0b00010000
+#define LIS2DH_STATUS_VAL_ZYXDA 0b00001000
+#define LIS2DH_STATUS_VAL_ZDA   0b00000100
+#define LIS2DH_STATUS_VAL_YDA   0b00000010
+#define LIS2DH_STATUS_VAL_XDA   0b00000001
+
+#define LIS2DH_REG_OUT_X_L 0x28
+#define LIS2DH_REG_OUT_X_H 0x29
+#define LIS2DH_REG_OUT_Y_L 0x2A
+#define LIS2DH_REG_OUT_Y_H 0x2B
+#define LIS2DH_REG_OUT_Z_L 0x2C
+#define LIS2DH_REG_OUT_Z_H 0x2D
+
+#define LIS2DH_REG_FIFO_CTRL 0x2E
+#define LIS2DH_REG_FIFO_SRC 0x2F
+#define LIS2DH_REG_INT1_CFG 0x30
+#define LIS2DH_REG_INT1_SRC 0x31
+#define LIS2DH_REG_INT1_THS 0x32
+#define LIS2DH_REG_INT1_DUR 0x33
+#define LIS2DH_REG_CLICK_CFG 0x38
+#define LIS2DH_REG_CLICK_SRC 0x39
+#define LIS2DH_REG_CLICK_THS 0x3A
+#define LIS2DH_REG_TIME_LIMIT 0x3B
+#define LIS2DH_REG_TIME_LATENCY 0x3C
+#define LIS2DH_REG_TIME_WINDOW 0x3D
+
+#endif // LIS2DH_H