accelerometer: fail gracefully in absence of I2C bus
This commit is contained in:
Joey Castillo
parent
3b11c3cca4
commit
9e239c3f6d
@ -26,6 +26,7 @@
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#include "watch.h"
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bool lis2dw_begin(void) {
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#ifdef I2C_SERCOM
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if (lis2dw_get_device_id() != LIS2DW_WHO_AM_I_VAL) {
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return false;
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}
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@ -45,21 +46,33 @@ bool lis2dw_begin(void) {
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// * FIFO disabled
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return true;
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#else
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return false;
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#endif
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}
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uint8_t lis2dw_get_device_id(void) {
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#ifdef I2C_SERCOM
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return watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_WHO_AM_I);
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#else
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return 0;
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#endif
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}
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bool lis2dw_have_new_data(void) {
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#ifdef I2C_SERCOM
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uint8_t retval = watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_STATUS);
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return retval & LIS2DW_STATUS_VAL_DRDY;
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#else
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return false;
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#endif
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}
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lis2dw_reading_t lis2dw_get_raw_reading(void) {
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lis2dw_reading_t retval = {0};
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#ifdef I2C_SERCOM
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uint8_t buffer[6];
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uint8_t reg = LIS2DW_REG_OUT_X_L | 0x80; // set high bit for consecutive reads
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lis2dw_reading_t retval;
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watch_i2c_send(LIS2DW_ADDRESS, ®, 1);
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watch_i2c_receive(LIS2DW_ADDRESS, (uint8_t *)&buffer, 6);
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@ -70,11 +83,15 @@ lis2dw_reading_t lis2dw_get_raw_reading(void) {
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retval.y |= ((uint16_t)buffer[3]) << 8;
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retval.z = buffer[4];
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retval.z |= ((uint16_t)buffer[5]) << 8;
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#endif
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return retval;
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}
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lis2dw_acceleration_measurement_t lis2dw_get_acceleration_measurement(lis2dw_reading_t *out_reading) {
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lis2dw_acceleration_measurement_t lis2dw_get_acceleration_measurement(lis2dw_reading_t *out_reading) {
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lis2dw_acceleration_measurement_t retval = {0};
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#ifdef I2C_SERCOM
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lis2dw_reading_t reading = lis2dw_get_raw_reading();
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/// FIXME: We should stash the range in a static variable to avoid reading this every time, but
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/// I'm not sure the values cribbed from Adafruit's LID3DH driver are right for the LIS2DW.
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@ -93,109 +110,175 @@ lis2dw_reading_t lis2dw_get_raw_reading(void) {
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if (range == LIS2DW_RANGE_8_G) lsb_value = 16;
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if (range == LIS2DW_RANGE_16_G) lsb_value = 48;
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lis2dw_acceleration_measurement_t retval;
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retval.x = lsb_value * ((float)reading.x / 64000.0);
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retval.y = lsb_value * ((float)reading.y / 64000.0);
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retval.z = lsb_value * ((float)reading.z / 64000.0);
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#else
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(void) out_reading;
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#endif
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return retval;
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}
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uint16_t lis2dw_get_temperature(void) {
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#ifdef I2C_SERCOM
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return watch_i2c_read16(LIS2DW_ADDRESS, LIS2DW_REG_OUT_TEMP_L);
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#else
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return 0;
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#endif
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}
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void lis2dw_set_data_rate(lis2dw_data_rate_t dataRate) {
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#ifdef I2C_SERCOM
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uint8_t val = watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL1) & ~(0b1111 << 4);
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uint8_t bits = dataRate << 4;
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL1, val | bits);
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#else
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(void)dataRate;
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#endif
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}
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lis2dw_data_rate_t lis2dw_get_data_rate(void) {
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#ifdef I2C_SERCOM
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return watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL1) >> 4;
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#else
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return 0;
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#endif
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}
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void lis2dw_set_mode(lis2dw_mode_t mode) {
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#ifdef I2C_SERCOM
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uint8_t val = watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL1) & ~(0b1100);
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uint8_t bits = (mode << 2) & 0b1100;
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL1, val | bits);
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#else
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(void)mode;
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#endif
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}
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lis2dw_mode_t lis2dw_get_mode(void) {
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#ifdef I2C_SERCOM
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return (lis2dw_mode_t)(watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL1) & 0b1100) >> 2;
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#else
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return 0;
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#endif
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}
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void lis2dw_set_low_power_mode(lis2dw_low_power_mode_t mode) {
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#ifdef I2C_SERCOM
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uint8_t val = watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL1) & ~(0b11);
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uint8_t bits = mode & 0b11;
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL1, val | bits);
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#else
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(void)mode;
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#endif
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}
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lis2dw_low_power_mode_t lis2dw_get_low_power_mode(void) {
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#ifdef I2C_SERCOM
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return watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL1) & 0b11;
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#else
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return 0;
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#endif
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}
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void lis2dw_set_bandwidth_filtering(lis2dw_bandwidth_filtering_mode_t bwfilter) {
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#ifdef I2C_SERCOM
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uint8_t val = watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL6) & ~(LIS2DW_CTRL6_VAL_BANDWIDTH_DIV20);
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uint8_t bits = bwfilter << 6;
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL6, val | bits);
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#else
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(void)bwfilter;
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#endif
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}
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lis2dw_bandwidth_filtering_mode_t lis2dw_get_bandwidth_filtering(void) {
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#ifdef I2C_SERCOM
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uint8_t retval = watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL6) & (LIS2DW_CTRL6_VAL_BANDWIDTH_DIV20);
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retval >>= 6;
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return (lis2dw_bandwidth_filtering_mode_t)retval;
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#else
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return 0;
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#endif
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}
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void lis2dw_set_range(lis2dw_range_t range) {
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#ifdef I2C_SERCOM
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uint8_t val = watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL6) & ~(LIS2DW_RANGE_16_G << 4);
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uint8_t bits = range << 4;
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL6, val | bits);
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#else
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(void)range;
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#endif
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}
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lis2dw_range_t lis2dw_get_range(void) {
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#ifdef I2C_SERCOM
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uint8_t retval = watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL6) & (LIS2DW_RANGE_16_G << 4);
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retval >>= 4;
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return (lis2dw_range_t)retval;
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#else
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return 0;
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#endif
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}
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void lis2dw_set_filter_type(lis2dw_filter_t bwfilter) {
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#ifdef I2C_SERCOM
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uint8_t val = watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL6) & ~(LIS2DW_CTRL6_VAL_FDS_HIGH);
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uint8_t bits = bwfilter << 3;
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL6, val | bits);
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#else
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(void)bwfilter;
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#endif
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}
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lis2dw_filter_t lis2dw_get_filter_type(void) {
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#ifdef I2C_SERCOM
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uint8_t retval = watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL6) & (LIS2DW_CTRL6_VAL_FDS_HIGH);
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retval >>= 3;
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return (lis2dw_filter_t)retval;
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#else
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return 0;
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#endif
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}
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void lis2dw_set_low_noise_mode(bool on) {
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#ifdef I2C_SERCOM
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uint8_t val = watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL6) & ~(LIS2DW_CTRL6_VAL_LOW_NOISE);
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uint8_t bits = on ? LIS2DW_CTRL6_VAL_LOW_NOISE : 0;
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL6, val | bits);
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#else
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(void)on;
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#endif
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}
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bool lis2dw_get_low_noise_mode(void) {
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#ifdef I2C_SERCOM
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return (watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL1) & LIS2DW_CTRL6_VAL_LOW_NOISE) != 0;
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#else
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return false;
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#endif
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}
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inline void lis2dw_enable_fifo(void) {
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#ifdef I2C_SERCOM
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_FIFO_CTRL, LIS2DW_FIFO_CTRL_MODE_COLLECT_AND_STOP | LIS2DW_FIFO_CTRL_FTH);
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#endif
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}
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inline void lis2dw_disable_fifo(void) {
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#ifdef I2C_SERCOM
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_FIFO_CTRL, LIS2DW_FIFO_CTRL_MODE_OFF);
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#endif
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}
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bool lis2dw_read_fifo(lis2dw_fifo_t *fifo_data) {
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#ifdef I2C_SERCOM
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uint8_t temp = watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_FIFO_SAMPLE);
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bool overrun = !!(temp & LIS2DW_FIFO_SAMPLE_OVERRUN);
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@ -206,44 +289,67 @@ bool lis2dw_read_fifo(lis2dw_fifo_t *fifo_data) {
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}
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return overrun;
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#else
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(void) fifo_data;
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return false;
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#endif
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}
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void lis2dw_clear_fifo(void) {
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#ifdef I2C_SERCOM
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_FIFO_CTRL, LIS2DW_FIFO_CTRL_MODE_OFF);
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_FIFO_CTRL, LIS2DW_FIFO_CTRL_MODE_COLLECT_AND_STOP | LIS2DW_FIFO_CTRL_FTH);
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#endif
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}
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void lis2dw_enable_sleep(void) {
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#ifdef I2C_SERCOM
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uint8_t configuration = watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_WAKE_UP_THS);
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_WAKE_UP_THS, configuration | LIS2DW_WAKE_UP_THS_VAL_SLEEP_ON);
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#endif
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}
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void lis2dw_disable_sleep(void) {
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#ifdef I2C_SERCOM
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uint8_t configuration = watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_WAKE_UP_THS);
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_WAKE_UP_THS, configuration & ~LIS2DW_WAKE_UP_THS_VAL_SLEEP_ON);
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#endif
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}
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void lis2dw_enable_stationary_motion_detection(void) {
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#ifdef I2C_SERCOM
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uint8_t configuration = watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_WAKE_UP_DUR);
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_WAKE_UP_DUR, configuration | LIS2DW_WAKE_UP_DUR_STATIONARY);
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#endif
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}
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void lis2dw_disable_stationary_motion_detection(void) {
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#ifdef I2C_SERCOM
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uint8_t configuration = watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_WAKE_UP_DUR);
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_WAKE_UP_DUR, configuration & ~LIS2DW_WAKE_UP_DUR_STATIONARY);
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#endif
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}
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void lis2dw_configure_wakeup_threshold(uint8_t threshold) {
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#ifdef I2C_SERCOM
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uint8_t configuration = watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_WAKE_UP_THS) & 0b11000000;
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_WAKE_UP_THS, configuration | threshold);
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#else
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(void)threshold;
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#endif
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}
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void lis2dw_configure_6d_threshold(uint8_t threshold) {
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#ifdef I2C_SERCOM
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uint8_t configuration = watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_TAP_THS_X) & 0b01100000;
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_TAP_THS_X, configuration | ((threshold & 0b11) << 5));
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#else
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(void)threshold;
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#endif
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}
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void lis2dw_configure_tap_threshold(uint8_t threshold_x, uint8_t threshold_y, uint8_t threshold_z, uint8_t axes_to_enable) {
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#ifdef I2C_SERCOM
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(void) threshold_x;
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(void) threshold_y;
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uint8_t configuration;
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@ -256,39 +362,75 @@ void lis2dw_configure_tap_threshold(uint8_t threshold_x, uint8_t threshold_y, ui
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configuration |= (threshold_z & 0b00011111);
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}
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_TAP_THS_Z, configuration);
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#else
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(void)threshold_x;
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(void)threshold_y;
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(void)threshold_z;
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(void)axes_to_enable;
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#endif
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}
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void lis2dw_configure_tap_duration(uint8_t latency, uint8_t quiet, uint8_t shock) {
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#ifdef I2C_SERCOM
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uint8_t configuration = (latency << 4) | ((quiet & 0b11) << 2) | (shock & 0b11);
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_INT1_DUR, configuration);
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#else
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(void)latency;
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(void)quiet;
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(void)shock;
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#endif
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}
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void lis2dw_configure_int1(uint8_t sources) {
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#ifdef I2C_SERCOM
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL4_INT1, sources);
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#else
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(void)sources;
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#endif
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}
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void lis2dw_configure_int2(uint8_t sources) {
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#ifdef I2C_SERCOM
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL5_INT2, sources);
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#else
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(void)sources;
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#endif
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}
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void lis2dw_enable_interrupts(void) {
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#ifdef I2C_SERCOM
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uint8_t configuration = watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL7);
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL7, configuration | LIS2DW_CTRL7_VAL_INTERRUPTS_ENABLE);
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#endif
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}
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void lis2dw_disable_interrupts(void) {
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#ifdef I2C_SERCOM
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uint8_t configuration = watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL7);
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL7, configuration & ~LIS2DW_CTRL7_VAL_INTERRUPTS_ENABLE);
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#endif
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}
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lis2dw_wakeup_source_t lis2dw_get_wakeup_source() {
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#ifdef I2C_SERCOM
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return (lis2dw_wakeup_source_t) watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_WAKE_UP_SRC);
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#else
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return 0;
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#endif
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}
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lis2dw_interrupt_source_t lis2dw_get_interrupt_source(void) {
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#ifdef I2C_SERCOM
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return (lis2dw_interrupt_source_t) watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_ALL_INT_SRC);
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#else
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return 0;
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#endif
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}
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uint8_t lis2dw_get_wakeup_threshold(void) {
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#ifdef I2C_SERCOM
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return watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_WAKE_UP_THS) & 0b00111111;
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#else
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return 0;
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#endif
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}
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