315 lines
12 KiB
C
315 lines
12 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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#ifndef LIS2DW_H
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#define LIS2DW_H
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#include <stdbool.h>
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#include <stdint.h>
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typedef struct {
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int16_t x;
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int16_t y;
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int16_t z;
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} lis2dw_reading_t;
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typedef struct {
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float x;
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float y;
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float z;
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} lis2dw_acceleration_measurement_t;
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typedef struct {
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int8_t count;
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lis2dw_reading_t readings[32];
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} lis2dw_fifo_t;
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typedef enum {
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LIS2DW_DATA_RATE_POWERDOWN = 0,
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LIS2DW_DATA_RATE_LOWEST = 0b0001, // 12.5 Hz in high performance mode, 1.6 Hz in low power
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LIS2DW_DATA_RATE_12_5_HZ = 0b0010,
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LIS2DW_DATA_RATE_25_HZ = 0b0011,
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LIS2DW_DATA_RATE_50_HZ = 0b0100,
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LIS2DW_DATA_RATE_100_HZ = 0b0101,
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LIS2DW_DATA_RATE_200_HZ = 0b0110,
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LIS2DW_DATA_RATE_HP_400_HZ = 0b0111,
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LIS2DW_DATA_RATE_HP_800_HZ = 0b1000,
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LIS2DW_DATA_RATE_HP_1600_HZ = 0b1001,
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} lis2dw_data_rate_t;
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typedef enum {
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LIS2DW_MODE_LOW_POWER = 0b00,
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LIS2DW_MODE_HIGH_PERFORMANCE = 0b01,
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LIS2DW_MODE_ON_DEMAND = 0b10,
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} lis2dw_mode_t;
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typedef enum {
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LIS2DW_FIFO_MODE_OFF = 0b000,
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LIS2DW_FIFO_MODE_COLLECT_AND_STOP = 0b001,
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LIS2DW_FIFO_MODE_CONTINUOUS_TO_FIFO = 0b011,
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LIS2DW_FIFO_MODE_BYPASS_TO_CONTINUOUS = 0b100,
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LIS2DW_FIFO_MODE_COLLECT_CONTINUOUS = 0b110,
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} lis2dw_fifo_mode_t;
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typedef enum {
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LIS2DW_LP_MODE_1 = 0b00, // 12-bit
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LIS2DW_LP_MODE_2 = 0b01, // 14-bit
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LIS2DW_LP_MODE_3 = 0b10, // 14-bit
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LIS2DW_LP_MODE_4 = 0b11, // 14-bit
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} lis2dw_low_power_mode_t;
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typedef enum {
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LIS2DW_BANDWIDTH_FILTER_DIV2 = 0b00,
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LIS2DW_BANDWIDTH_FILTER_DIV4 = 0b01,
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LIS2DW_BANDWIDTH_FILTER_DIV10 = 0b10,
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LIS2DW_BANDWIDTH_FILTER_DIV20 = 0b11,
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} lis2dw_bandwidth_filtering_mode_t;
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typedef enum {
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LIS2DW_FILTER_LOW_PASS = 0,
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LIS2DW_FILTER_HIGH_PASS = 1,
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} lis2dw_filter_t;
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typedef enum {
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LIS2DW_RANGE_16_G = 0b11, // +/- 16g
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LIS2DW_RANGE_8_G = 0b10, // +/- 8g
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LIS2DW_RANGE_4_G = 0b01, // +/- 4g
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LIS2DW_RANGE_2_G = 0b00 // +/- 2g (default value)
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} lis2dw_range_t;
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// Assumes SA0 is high; if low, its 0x18
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#define LIS2DW_ADDRESS (0x19)
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#define LIS2DW_REG_OUT_TEMP_L 0x0D ///< Temperature data low bit
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#define LIS2DW_REG_OUT_TEMP_H 0x0E ///< Temperature data high bit
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#define LIS2DW_REG_WHO_AM_I 0x0F ///< Device identification, will read 0x44
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#define LIS2DW_WHO_AM_I_VAL 0x44 ///< Expected value of the WHO_AM_I register
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#define LIS2DW_REG_CTRL1 0x20 ///< CTRL_REG1 in the data sheet.
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#define LIS2DW_CTRL1_VAL_ODR_POWERDOWN 0
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#define LIS2DW_CTRL1_VAL_ODR_LOWEST (LIS2DW_DATA_RATE_LOWEST << 4)
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#define LIS2DW_CTRL1_VAL_ODR_12_5HZ (LIS2DW_DATA_RATE_12_5_HZ << 4)
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#define LIS2DW_CTRL1_VAL_ODR_25HZ (LIS2DW_DATA_RATE_25_HZ << 4)
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#define LIS2DW_CTRL1_VAL_ODR_50HZ (LIS2DW_DATA_RATE_50_HZ << 4)
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#define LIS2DW_CTRL1_VAL_ODR_100HZ (LIS2DW_DATA_RATE_100_HZ << 4)
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#define LIS2DW_CTRL1_VAL_ODR_200HZ (LIS2DW_DATA_RATE_200_HZ << 4)
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#define LIS2DW_CTRL1_VAL_ODR_HP_400_HZ (LIS2DW_DATA_RATE_HP_400_HZ << 4)
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#define LIS2DW_CTRL1_VAL_ODR_HP_800_HZ (LIS2DW_DATA_RATE_HP_800_HZ << 4)
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#define LIS2DW_CTRL1_VAL_ODR_HP_1600_HZ (LIS2DW_DATA_RATE_HP_1600_HZ << 4)
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#define LIS2DW_CTRL1_VAL_MODE_LOW_POWER (LIS2DW_MODE_LOW_POWER << 2)
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#define LIS2DW_CTRL1_VAL_MODE_HIGH_PERFORMANCE (LIS2DW_MODE_HIGH_PERFORMANCE << 2)
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#define LIS2DW_CTRL1_VAL_MODE_ON_DEMAND (LIS2DW_MODE_ON_DEMAND << 2)
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#define LIS2DW_CTRL1_VAL_LPMODE_1 (LIS2DW_LP_MODE_1 << 0)
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#define LIS2DW_CTRL1_VAL_LPMODE_2 (LIS2DW_LP_MODE_2 << 0)
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#define LIS2DW_CTRL1_VAL_LPMODE_3 (LIS2DW_LP_MODE_3 << 0)
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#define LIS2DW_CTRL1_VAL_LPMODE_4 (LIS2DW_LP_MODE_4 << 0)
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#define LIS2DW_REG_CTRL2 0x21
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#define LIS2DW_CTRL2_VAL_BOOT 0b10000000
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#define LIS2DW_CTRL2_VAL_SOFT_RESET 0b01000000
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#define LIS2DW_CTRL2_VAL_CS_PU_DISC 0b00010000
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#define LIS2DW_CTRL2_VAL_BDU 0b00001000
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#define LIS2DW_CTRL2_VAL_IF_ADD_INC 0b00000100
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#define LIS2DW_REG_CTRL3 0x22
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#define LIS2DW_CTRL4_VAL_SELF_TEST_POS 0b10000000
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#define LIS2DW_CTRL4_VAL_SELF_TEST_NEG 0b01000000
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#define LIS2DW_CTRL3_VAL_PP_OD 0b00100000
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#define LIS2DW_CTRL3_VAL_LIR 0b00010000
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#define LIS2DW_CTRL3_VAL_H_L_ACTIVE 0b00001000
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#define LIS2DW_CTRL3_VAL_SLP_MODE_SEL 0b00000010
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#define LIS2DW_CTRL3_VAL_SLP_MODE_1 0b00000001
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#define LIS2DW_REG_CTRL4 0x23
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#define LIS2DW_CTRL4_INT1_6D 0b10000000
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#define LIS2DW_CTRL4_INT1_SINGLE_TAP 0b01000000
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#define LIS2DW_CTRL4_INT1_WU 0b00100000
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#define LIS2DW_CTRL4_INT1_FF 0b00010000
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#define LIS2DW_CTRL4_INT1_TAP 0b00001000
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#define LIS2DW_CTRL4_INT1_DIFF5 0b00000100
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#define LIS2DW_CTRL4_INT1_FTH 0b00000010
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#define LIS2DW_CTRL4_INT1_DRDY 0b00000001
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#define LIS2DW_REG_CTRL5 0x24
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#define LIS2DW_CTRL5_INT2_SLEEP_STATE 0b10000000
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#define LIS2DW_CTRL5_INT2_SLEEP_CHG 0b01000000
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#define LIS2DW_CTRL5_INT2_BOOT 0b00100000
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#define LIS2DW_CTRL5_INT2_DRDY_T 0b00010000
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#define LIS2DW_CTRL5_INT2_OVR 0b00001000
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#define LIS2DW_CTRL5_INT2_DIFF5 0b00000100
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#define LIS2DW_CTRL5_INT2_FTH 0b00000010
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#define LIS2DW_CTRL5_INT2_DRDY 0b00000001
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#define LIS2DW_REG_CTRL6 0x25
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#define LIS2DW_CTRL6_VAL_BANDWIDTH_DIV2 (LIS2DW_BANDWIDTH_FILTER_DIV2 << 6)
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#define LIS2DW_CTRL6_VAL_BANDWIDTH_DIV4 (LIS2DW_BANDWIDTH_FILTER_DIV4 << 6)
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#define LIS2DW_CTRL6_VAL_BANDWIDTH_DIV10 (LIS2DW_BANDWIDTH_FILTER_DIV10 << 6)
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#define LIS2DW_CTRL6_VAL_BANDWIDTH_DIV20 (LIS2DW_BANDWIDTH_FILTER_DIV20 << 6)
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#define LIS2DW_CTRL6_VAL_RANGE_2G (LIS2DW_RANGE_2_G << 4)
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#define LIS2DW_CTRL6_VAL_RANGE_4G (LIS2DW_RANGE_4_G << 4)
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#define LIS2DW_CTRL6_VAL_RANGE_8G (LIS2DW_RANGE_8_G << 4)
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#define LIS2DW_CTRL6_VAL_RANGE_16G (LIS2DW_RANGE_16_G << 4)
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#define LIS2DW_CTRL6_VAL_FDS_LOW (LIS2DW_FILTER_LOW_PASS << 3)
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#define LIS2DW_CTRL6_VAL_FDS_HIGH (LIS2DW_FILTER_HIGH_PASS << 3)
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#define LIS2DW_CTRL6_VAL_LOW_NOISE 0b00000100
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#define LIS2DW_REG_OUT_TEMP 0x26
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#define LIS2DW_REG_STATUS 0x27
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#define LIS2DW_STATUS_VAL_FIFO_THS 0b10000000
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#define LIS2DW_STATUS_VAL_WU_IA 0b01000000
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#define LIS2DW_STATUS_VAL_SLEEP_STATE 0b00100000
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#define LIS2DW_STATUS_VAL_DOUBLE_TAP 0b00010000
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#define LIS2DW_STATUS_VAL_SINGLE_TAP 0b00001000
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#define LIS2DW_STATUS_VAL_6D_IA 0b00000100
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#define LIS2DW_STATUS_VAL_FF_IA 0b00000010
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#define LIS2DW_STATUS_VAL_DRDY 0b00000001
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#define LIS2DW_REG_OUT_X_L 0x28
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#define LIS2DW_REG_OUT_X_H 0x29
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#define LIS2DW_REG_OUT_Y_L 0x2A
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#define LIS2DW_REG_OUT_Y_H 0x2B
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#define LIS2DW_REG_OUT_Z_L 0x2C
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#define LIS2DW_REG_OUT_Z_H 0x2D
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#define LIS2DW_REG_FIFO_CTRL 0x2E
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#define LIS2DW_FIFO_CTRL_MODE_OFF (LIS2DW_FIFO_MODE_OFF << 5)
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#define LIS2DW_FIFO_CTRL_MODE_COLLECT_AND_STOP (LIS2DW_FIFO_MODE_COLLECT_AND_STOP << 5)
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#define LIS2DW_FIFO_CTRL_MODE_CONTINUOUS_TO_FIFO (LIS2DW_FIFO_MODE_CONTINUOUS_TO_FIFO << 5)
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#define LIS2DW_FIFO_CTRL_MODE_BYPASS_TO_CONTINUOUS (LIS2DW_FIFO_MODE_BYPASS_TO_CONTINUOUS << 5)
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#define LIS2DW_FIFO_CTRL_MODE_COLLECT_CONTINUOUS (LIS2DW_FIFO_MODE_COLLECT_CONTINUOUS << 5)
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#define LIS2DW_FIFO_CTRL_FTH (0b00011111)
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#define LIS2DW_REG_FIFO_SAMPLE 0x2F
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#define LIS2DW_FIFO_SAMPLE_THRESHOLD (1 << 7)
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#define LIS2DW_FIFO_SAMPLE_OVERRUN (1 << 6)
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#define LIS2DW_FIFO_SAMPLE_COUNT (0b00111111)
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#define LIS2DW_REG_TAP_THS_X 0x30
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#define LIS2DW_REG_TAP_THS_Y 0x31
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#define LIS2DW_REG_TAP_THS_Z 0x32
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#define LIS2DW_REG_INT1_DUR 0x33
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#define LIS2DW_REG_WAKE_UP_THS 0x34
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#define LIS2DW_REG_WAKE_UP_DUR 0x35
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#define LIS2DW_REG_FREE_FALL 0x36
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#define LIS2DW_REG_STATUS_DUP 0x37
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#define LIS2DW_REG_WAKE_UP_SRC 0x38
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#define LIS2DW_WAKE_UP_SRC_VAL_FF_IA 0b00100000
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#define LIS2DW_WAKE_UP_SRC_VAL_SLEEP_STATE_IA 0b00010000
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#define LIS2DW_WAKE_UP_SRC_VAL_WU_IA 0b00001000
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#define LIS2DW_WAKE_UP_SRC_VAL_X_WU 0b00000100
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#define LIS2DW_WAKE_UP_SRC_VAL_Y_WU 0b00000010
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#define LIS2DW_WAKE_UP_SRC_VAL_Z_WU 0b00000001
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#define LIS2DW_REG_TAP_SRC 0x39
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#define LIS2DW_TAP_SRC_VAL_TAP_IA 0b01000000
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#define LIS2DW_TAP_SRC_VAL_SINGLE_TAP 0b00100000
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#define LIS2DW_TAP_SRC_VAL_DOUBLE_TAP 0b00010000
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#define LIS2DW_TAP_SRC_VAL_TAP_SIGN 0b00001000
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#define LIS2DW_TAP_SRC_VAL_X_TAP 0b00000100
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#define LIS2DW_TAP_SRC_VAL_Y_TAP 0b00000010
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#define LIS2DW_TAP_SRC_VAL_Z_TAP 0b00000001
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#define LIS2DW_REG_SIXD_SRC 0x3A
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#define LIS2DW_WAKE_UP_SRC_VAL_6D_IA 0b01000000
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#define LIS2DW_WAKE_UP_SRC_VAL_ZH 0b00100000
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#define LIS2DW_WAKE_UP_SRC_VAL_ZL 0b00010000
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#define LIS2DW_WAKE_UP_SRC_VAL_YH 0b00001000
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#define LIS2DW_WAKE_UP_SRC_VAL_YL 0b00000100
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#define LIS2DW_WAKE_UP_SRC_VAL_XH 0b00000010
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#define LIS2DW_WAKE_UP_SRC_VAL_XL 0b00000001
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#define LIS2DW_REG_ALL_INT_SRC 0x3B
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#define LIS2DW_REG_ALL_INT_SRC_SLEEP_CHANGE_IA 0b00100000
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#define LIS2DW_REG_ALL_INT_SRC_6D_IA 0b00010000
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#define LIS2DW_REG_ALL_INT_SRC_DOUBLE_TAP 0b00001000
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#define LIS2DW_REG_ALL_INT_SRC_SINGLE_TAP 0b00000100
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#define LIS2DW_REG_ALL_INT_SRC_WU_IA 0b00000010
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#define LIS2DW_REG_ALL_INT_SRC_FF_IA 0b00000001
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#define LIS2DW_REG_X_OFS_USR 0x3C
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#define LIS2DW_REG_Y_OFS_USR 0x3D
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#define LIS2DW_REG_Z_OFS_USR 0x3E
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#define LIS2DW_REG_CTRL7 0x3F
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#define LIS2DW_CTRL7_VAL_DRDY_PULSED 0b10000000
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#define LIS2DW_CTRL7_VAL_INT2_ON_INT1 0b01000000
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#define LIS2DW_CTRL7_VAL_INTERRUPTS_ENABLE 0b00100000
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#define LIS2DW_CTRL7_VAL_USR_OFF_ON_OUT 0b00010000
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#define LIS2DW_CTRL7_VAL_USR_OFF_ON_WU 0b00001000
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#define LIS2DW_CTRL7_VAL_USR_OFF_W 0b00000100
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#define LIS2DW_CTRL7_VAL_HP_REF_MODE 0b00000010
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#define LIS2DW_CTRL7_VAL_LPASS_ON6D 0b00000001
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bool lis2dw_begin(void);
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uint8_t lis2dw_get_device_id(void);
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bool lis2dw_have_new_data(void);
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lis2dw_reading_t lis2dw_get_raw_reading(void);
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lis2dw_acceleration_measurement_t lis2dw_get_acceleration_measurement(lis2dw_reading_t *out_reading);
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void lis2dw_set_range(lis2dw_range_t range);
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lis2dw_range_t lis2dw_get_range(void);
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void lis2dw_set_data_rate(lis2dw_data_rate_t dataRate);
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lis2dw_data_rate_t lis2dw_get_data_rate(void);
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void lis2dw_set_filter_type(lis2dw_filter_t filter);
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lis2dw_filter_t lis2dw_get_filter_type(void);
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void lis2dw_set_bandwidth_filtering(lis2dw_bandwidth_filtering_mode_t bwfilter);
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lis2dw_bandwidth_filtering_mode_t lis2dw_get_filtering(void);
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void lis2dw_set_mode(lis2dw_mode_t mode);
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lis2dw_mode_t lis2dw_get_mode(void);
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void lis2dw_set_low_power_mode(lis2dw_low_power_mode_t mode);
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lis2dw_low_power_mode_t lis2dw_get_low_power_mode(void);
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void lis2dw_set_low_noise_mode(bool on);
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bool lis2dw_get_low_noise_mode(void);
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void lis2dw_disable_fifo(void);
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void lis2dw_enable_fifo(void);
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bool lis2dw_read_fifo(lis2dw_fifo_t *fifo_data);
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void lis2dw_clear_fifo(void);
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#endif // LIS2DW_H
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