239 lines
8.9 KiB
C
239 lines
8.9 KiB
C
/*
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* MIT License
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*
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* Copyright (c) 2021 Joey Castillo
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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#include "lis2dw.h"
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#include "watch.h"
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bool lis2dw_begin(void) {
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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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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL2, LIS2DW_CTRL2_VAL_BOOT);
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL2, LIS2DW_CTRL2_VAL_SOFT_RESET);
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// Enable block data update (output registers not updated until MSB and LSB have been read) and address autoincrement
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL2, LIS2DW_CTRL2_VAL_BDU | LIS2DW_CTRL2_VAL_IF_ADD_INC);
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// Parameters at startup:
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// * Data rate 0 (powered down)
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// * Low power mode enabled
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// * LP mode 1 (12-bit)
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// * Bandwidth filtering ODR/2
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// * Low pass filter path
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// * ±2g range
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// * Low noise mode off
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// * FIFO disabled
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return true;
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}
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uint8_t lis2dw_get_device_id(void) {
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return watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_WHO_AM_I);
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}
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bool lis2dw_have_new_data(void) {
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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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}
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lis2dw_reading_t lis2dw_get_raw_reading(void) {
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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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retval.x = buffer[0];
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retval.x |= ((uint16_t)buffer[1]) << 8;
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retval.y = buffer[2];
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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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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_reading_t reading = lis2dw_get_raw_reading();
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uint8_t range = lis2dw_get_range();
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if (out_reading != NULL) *out_reading = reading;
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// this bit is cribbed from Adafruit's LIS3DH driver; from their notes, the magic number below
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// converts from 16-bit lsb to 10-bit and divides by 1k to convert from milli-gs.
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// final value is raw_lsb => 10-bit lsb -> milli-gs -> gs
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uint8_t lsb_value = 1;
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if (range == LIS2DW_RANGE_2_G) lsb_value = 4;
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if (range == LIS2DW_RANGE_4_G) lsb_value = 8;
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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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return retval;
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}
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uint16_t lis2dw_get_temperature(void) {
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return watch_i2c_read16(LIS2DW_ADDRESS, LIS2DW_REG_OUT_TEMP_L);
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}
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void lis2dw_set_range(lis2dw_range_t range) {
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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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}
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lis2dw_range_t lis2dw_get_range(void) {
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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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}
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void lis2dw_set_data_rate(lis2dw_data_rate_t dataRate) {
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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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}
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lis2dw_data_rate_t lis2dw_get_data_rate(void) {
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return watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL1) >> 4;
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}
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void lis2dw_set_filter_type(lis2dw_filter_t bwfilter) {
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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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}
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lis2dw_filter_t lis2dw_get_filter_type(void) {
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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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}
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void lis2dw_set_bandwidth_filtering(lis2dw_bandwidth_filtering_mode_t bwfilter) {
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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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}
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lis2dw_bandwidth_filtering_mode_t lis2dw_get_bandwidth_filtering(void) {
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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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}
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void lis2dw_set_mode(lis2dw_mode_t mode) {
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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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}
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lis2dw_mode_t lis2dw_get_mode(void) {
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return (lis2dw_mode_t)(watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL1) & 0b1100) >> 2;
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}
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void lis2dw_set_low_power_mode(lis2dw_low_power_mode_t mode) {
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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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}
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lis2dw_low_power_mode_t lis2dw_get_low_power_mode(void) {
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return watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL1) & 0b11;
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}
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void lis2dw_set_low_noise_mode(bool on) {
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uint8_t val = watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL1) & ~(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_CTRL1, val | bits);
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}
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bool lis2dw_get_low_noise_mode(void) {
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return (watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL1) & LIS2DW_CTRL6_VAL_LOW_NOISE) != 0;
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}
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inline void lis2dw_disable_fifo(void) {
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_FIFO_CTRL, LIS2DW_FIFO_CTRL_MODE_OFF);
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}
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inline void lis2dw_enable_fifo(void) {
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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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}
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bool lis2dw_read_fifo(lis2dw_fifo_t *fifo_data) {
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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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fifo_data->count = temp & LIS2DW_FIFO_SAMPLE_COUNT;
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for(int i = 0; i < fifo_data->count; i++) {
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fifo_data->readings[i] = lis2dw_get_raw_reading();
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}
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return overrun;
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}
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void lis2dw_clear_fifo(void) {
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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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}
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void lis2dw_configure_wakeup_int1(uint8_t threshold, bool latch, bool active_state) {
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uint8_t configuration;
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// enable wakeup interrupt on INT1 pin
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configuration = watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL4_INT1);
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL4_INT1, configuration | LIS2DW_CTRL4_INT1_WU);
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// set threshold
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_WAKE_UP_THS, threshold | LIS2DW_WAKE_UP_THS_VAL_SLEEP_ON);
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_INT1_DUR, 0b01111111);
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configuration = watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL3) & ~(LIS2DW_CTRL3_VAL_LIR);
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if (!active_state) configuration |= LIS2DW_CTRL3_VAL_H_L_ACTIVE;
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if (latch) configuration |= LIS2DW_CTRL3_VAL_LIR;
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watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL3, configuration);
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// enable interrupts
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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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}
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lis2dw_wakeup_source lis2dw_get_wakeup_source() {
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return (lis2dw_wakeup_source) watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_WAKE_UP_SRC);
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}
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lis2dw_interrupt_source lis2dw_get_interrupt_source(void) {
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return (lis2dw_interrupt_source) watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_ALL_INT_SRC);
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}
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