fix reg order and longer sleep after configure(). Amend notes on usage

ISSUES.txt

@@ -1,5 +0,0 @@
-SPI does not work properly
--- writes may go to wrong addr
--- FIFO read out addr 6 loop seems to not work
-
-FIFO WTM/OVRN on INT1 does not fire when FTH (watermark) is not 31 (default/max)

README.md

@@ -21,7 +21,7 @@ See the `examples/` dir for complete code examples
 ## Implementation
 This driver requires the user to implement the following interface functions:
 
-This project has example interface code for I2C and SPI used on Raspberry Pi 4.
+This project has example interface code for I2C and SPI used on Raspberry Pi 4, and for STM32.
 ```c
 /* initialise the "interface" */
 int init(void);
@@ -40,8 +40,7 @@ If `init` and/or `deinit` are set to `NULL`, they will be ignored. Useful on mic
 
 ---
 
-### Using i2c on STM32
-Example code because I couldn't previously find working examples.
+### STM32
 ```c
 #define LIS3DH_I2C_ADDR 0x18
 

example/README.md

@@ -4,10 +4,12 @@
 Basic example of how to use this device
 
 ### file: fifo.c
-Instead of polling for every single [x y z] set, a FIFO with programmable capacity ("watermark") can be used, and then dumped into memory once full. All FIFO readings use 10-bit resolution regardless of the mode set in `lis.cfg.mode`. The watermark level can be adjusted to a value [1-32] (0 disables FIFO) by modifying the `lis.cfg.fifo.size` property before calling `lis3dh_configure()`.
+Instead of polling for every single [x y z] set, a FIFO with programmable capacity ("watermark") can be used, and then dumped into memory once full. All FIFO readings use 10-bit resolution regardless of the mode set in `cfg.mode`. The watermark level can be adjusted to a value [1-32] (0 disables FIFO) by modifying the `cfg.fifo.size` property before calling `lis3dh_configure()`.
 
 The LIS3DH can optionally apply a HP filter on the sampling to reduce 'static acceleration' from the data.
 
+Note: `pin1.wtm` will NOT trigger if the FIFO size is 32 (default). Use `pin1.overrun` if you want an interrupt when the FIFO is full at full size (32.)
+
 ### file: interrupts.c
 This device supports two different interrupt "output pins," `INT1` and `INT2`. The appropriate flag must be set in either `cfg.pin1` or `cfg.pin2` and the interrupt source must be configured to trigger into `INT1` or `INT2`.
 

example/interrupts.c

@@ -42,8 +42,7 @@ int main() {
     lis.cfg.rate = LIS3DH_ODR_100_HZ;
     lis.cfg.fifo.mode = LIS3DH_FIFO_MODE_STREAM;
     lis.cfg.fifo.trig = LIS3DH_FIFO_TRIG_INT1; /* trigger interrupt into int pin1 */
-    /*lis.cfg.fifo.size = 15;*/
-    lis.cfg.pin1.wtm = 1; /* trigger upon FIFO watermark level reached */
+    lis.cfg.pin1.overrun = 1; /* trigger upon FIFO overrun */
 
     /* set up HP filter to remove DC component */
     lis.cfg.filter.mode = LIS3DH_FILTER_MODE_NORMAL_REF;

lis3dh.c

@@ -147,7 +147,7 @@ int lis3dh_configure(lis3dh_t *lis3dh) {
         fifo_ctrl_reg |= ((lis3dh->cfg.fifo.trig & 1) << 5);
     }
 
-    /* set enable filter */
+    /* set enable filter if mode is set */
     if (lis3dh->cfg.filter.mode != 0xFF) {
         ctrl_reg2 |= ((lis3dh->cfg.filter.mode & 0x03) << 6);
         ctrl_reg2 |= ((lis3dh->cfg.filter.cutoff & 0x03) << 4);
@@ -175,9 +175,10 @@ int lis3dh_configure(lis3dh_t *lis3dh) {
     ctrl_reg0 |= 0x10;
     ctrl_reg0 |= (lis3dh->cfg.sdo_pullup & 1) << 7;
 
+
+    /* Registers have to be set in this order for SPI to function correctly */
     err |= lis3dh->dev.write(REG_CTRL_REG4, ctrl_reg4);
     err |= lis3dh->dev.write(REG_CTRL_REG5, ctrl_reg5);
-    
     err |= lis3dh->dev.write(REG_FIFO_CTRL_REG, fifo_ctrl_reg);
     err |= lis3dh->dev.write(REG_INT1_CFG, int1_cfg);
     err |= lis3dh->dev.write(REG_INT1_THS, int1_ths);
@@ -194,16 +195,13 @@ int lis3dh_configure(lis3dh_t *lis3dh) {
     err |= lis3dh->dev.write(REG_ACT_DUR, lis3dh->cfg.act_dur);
     err |= lis3dh->dev.write(REG_TEMP_CFG_REG, temp_cfg_reg);
     err |= lis3dh->dev.write(REG_REFERENCE, lis3dh->cfg.reference);
-
-    err |= lis3dh->dev.write(REG_CTRL_REG1, ctrl_reg1);
-
     err |= lis3dh->dev.write(REG_CTRL_REG6, ctrl_reg6);
     err |= lis3dh->dev.write(REG_CTRL_REG0, ctrl_reg0);
     err |= lis3dh->dev.write(REG_CTRL_REG2, ctrl_reg2);
     err |= lis3dh->dev.write(REG_CTRL_REG3, ctrl_reg3);
+    err |= lis3dh->dev.write(REG_CTRL_REG1, ctrl_reg1);
 
-    /* sleep for a period TBD ~ ODR */
-    lis3dh->dev.sleep(1000); /* 50 ms */
+    lis3dh->dev.sleep(100000); /* 100 ms */
     return err;
 }
 
@@ -257,7 +255,7 @@ static uint8_t acc_sensitivity(uint8_t mode, uint8_t range) {
     }
 }
 
-
+/* read a single [x y z] set. Assume configured and poll'd */
 int lis3dh_read(lis3dh_t *lis3dh) {
     uint8_t data[6];
     uint8_t shift, sens;

main.c

@@ -1,14 +1,19 @@
 #define _GNU_SOURCE
-#include <unistd.h>
 #include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <math.h>
 #include "lis3dh.h"
-#include "i2c.h"
+#include "interrupt.h"
 #include "spi.h"
 
+/* GPIO 12 or Pin 32 */
+#define GPIO_INTERRUPT_PIN 12
+
 int main() {
 
     lis3dh_t lis;
-    struct lis3dh_fifo_data data;
+    struct lis3dh_fifo_data fifo;
     int i;
 
     lis.dev.init = spi_init;
@@ -17,49 +22,67 @@ int main() {
     lis.dev.sleep = usleep;
     lis.dev.deinit = spi_deinit;
 
-    /* initialise LIS3DH struct */
+    /* initalise LIS3DH struct */
     if (lis3dh_init(&lis)) {
-        puts("init()");
+        /* error handling */
     }
 
     /* reset device just in case */
     if (lis3dh_reset(&lis)) {
-        puts("reset()");
+        /* error handling */
     }
 
-    lis.cfg.mode = LIS3DH_MODE_HR;
+    /* register interrupt */
+    if (int_register(GPIO_INTERRUPT_PIN)) {
+        /* error handling */
+    }
+
+    lis.cfg.mode = LIS3DH_MODE_NORMAL;
     lis.cfg.range = LIS3DH_FS_2G;
-    lis.cfg.rate = LIS3DH_ODR_400_HZ;
-    lis.cfg.fifo.mode = LIS3DH_FIFO_MODE_STREAM_TO_FIFO;
-    lis.cfg.fifo.size = 20;
+    lis.cfg.rate = LIS3DH_ODR_100_HZ;
+    lis.cfg.fifo.mode = LIS3DH_FIFO_MODE_STREAM;
+    lis.cfg.fifo.trig = LIS3DH_FIFO_TRIG_INT1; /* trigger interrupt into int pin1 */
+    lis.cfg.pin1.overrun = 1; /* trigger upon FIFO overrun */
+
+    /* set up HP filter to remove DC component */
+    lis.cfg.filter.mode = LIS3DH_FILTER_MODE_NORMAL_REF;
+    lis.cfg.filter.cutoff = LIS3DH_FILTER_CUTOFF_4;
+    lis.cfg.filter.fds = 1; /* remove this line, or set to 1 to enable filter */
     
     /* write device config */
     if (lis3dh_configure(&lis)) {
-        puts("configure()");
+       /* error handling */
     }
 
-A:
-    /* poll fifo register until it reports that the watermark level has 
-       been reached, or that it has overwritten old data, whichever 
-       happens first. */
-    if (lis3dh_poll_fifo(&lis)) {
-        puts("poll_fifo()");
+    /* read REFERENCE to set filter to current accel field */
+    if (lis3dh_reference(&lis)) {
+        /* error handling */
+    }
+    
+    /* wait for interrupt from LIS3DH */
+    if (int_poll(GPIO_INTERRUPT_PIN)) {
+        /* error handling */
     }
 
     /* read as many [x y z] sets as specified by watermark level (fth) */
     /* copy them to the fifo data struct given below as `fifo' */
-    if (lis3dh_read_fifo(&lis, &data)) {
-        puts("read_fifo()");
+    if (lis3dh_read_fifo(&lis, &fifo)) {
+       /* error handling */
     }
 
-    /* read out fifo buffer data */
-    for(i=0; i<data.size; i++) {
-        printf("x: %d mg, y: %d mg, z: %d mg\n", data.x[i], data.y[i], data.z[i]);
+    /* above function also writes out the qty of [x y z] sets stored in `fifo' */
+    for(i=0; i<fifo.size; i++) {
+        printf("x: %d mg, y: %d mg, z: %d mg\n", fifo.x[i], fifo.y[i], fifo.z[i]);
     }
-goto A;
-    /* deinitialise struct */
+    
+    /* unregister interrupt */
+    if (int_unregister(GPIO_INTERRUPT_PIN)) {
+        /* error handling */
+    }
+
+    /* deinitalise struct */
     if (lis3dh_deinit(&lis)) {
-       puts("deinit()");
+        /* error handling */
     }
 
     return 0;