FIFO
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39
README.md
39
README.md
@ -23,4 +23,43 @@ x: 0.5760 g, y: -0.8800 g, z: 0.0320 g, mag: 1.0522
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x: 0.5560 g, y: -0.8840 g, z: -0.0240 g, mag: 1.0446
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x: 0.5120 g, y: -0.9040 g, z: -0.0360 g, mag: 1.0395
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x: 0.6000 g, y: -0.8720 g, z: 0.0320 g, mag: 1.0590
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```
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FIFO demo:
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```
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$ ./lis3dh
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FIFO =>
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x: 0.5280, y: -0.8760, z: -0.0080
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x: 0.5320, y: -0.8920, z: -0.0120
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x: 0.5280, y: -0.8680, z: -0.0040
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x: 0.5280, y: -0.8800, z: 0.0080
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x: 0.5400, y: -0.8920, z: 0.0120
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x: 0.5400, y: -0.8960, z: 0.0120
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x: 0.5400, y: -0.8960, z: 0.0000
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x: 0.5560, y: -0.8840, z: -0.0040
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x: 0.5360, y: -0.8840, z: -0.0160
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x: 0.5560, y: -0.8840, z: -0.0040
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x: 0.5320, y: -0.8960, z: 0.0080
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x: 0.5400, y: -0.8880, z: -0.0040
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x: 0.5320, y: -0.8800, z: 0.0000
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x: 0.5560, y: -0.8920, z: 0.0120
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x: 0.5280, y: -0.8680, z: -0.0120
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x: 0.5440, y: -0.8760, z: 0.0000
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x: 0.5520, y: -0.8880, z: -0.0040
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x: 0.5400, y: -0.8840, z: -0.0160
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x: 0.5560, y: -0.8840, z: -0.0040
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x: 0.5360, y: -0.8840, z: -0.0040
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x: 0.5360, y: -0.8880, z: -0.0160
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x: 0.5560, y: -0.8920, z: 0.0080
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x: 0.5400, y: -0.8880, z: -0.0120
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x: 0.5560, y: -0.8840, z: -0.0160
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x: 0.5480, y: -0.8800, z: 0.0040
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x: 0.5520, y: -0.8880, z: -0.0040
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x: 0.5280, y: -0.8680, z: -0.0160
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x: 0.5560, y: -0.8920, z: -0.0040
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x: 0.5400, y: -0.8840, z: -0.0040
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x: 0.5360, y: -0.8880, z: -0.0080
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x: 0.5280, y: -0.8680, z: -0.0120
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x: 0.5480, y: -0.8880, z: -0.0120
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<= FIFO
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```
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79
lis3dh.c
79
lis3dh.c
@ -16,14 +16,26 @@ int lis3dh_init(lis3dh_t *lis3dh) {
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int err = 0;
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if (lis3dh->dev.init() != 0) {
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err |= 1;
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return 1;
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}
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err |= lis3dh->dev.read(REG_WHO_AM_I, &result, 1);
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if (result != 0x33) {
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err |= 1;
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return 1;
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}
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/* zero struct */
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lis3dh->acc.x = 0.0;
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lis3dh->acc.y = 0.0;
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lis3dh->acc.z = 0.0;
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lis3dh->cfg.rate = 0;
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lis3dh->cfg.range = 0;
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lis3dh->cfg.mode = 0;
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lis3dh->cfg.fifo.mode = 0;
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lis3dh->cfg.fifo.trig = 0;
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lis3dh->cfg.fifo.fth = 0;
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lis3dh->cfg.fifo.enable = 0;
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err |= lis3dh_reboot(lis3dh);
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return err;
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@ -31,15 +43,26 @@ int lis3dh_init(lis3dh_t *lis3dh) {
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int lis3dh_configure(lis3dh_t *lis3dh) {
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uint8_t ctrl_reg1, ctrl_reg4;
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uint8_t ctrl_reg1, ctrl_reg4, ctrl_reg5;
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uint8_t fifo_ctrl_reg;
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uint8_t ref;
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int err = 0;
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/* last 0b111 enables Z, Y and X axis */
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ctrl_reg1 = 0 | (lis3dh->cfg.rate << 4) | 0b111;
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ctrl_reg4 = 0 | (lis3dh->cfg.range << 4);
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ctrl_reg5 = 0;
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fifo_ctrl_reg = 0;
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/* set block update */
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/* set enable FIFO */
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if (lis3dh->cfg.fifo.enable) {
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ctrl_reg5 |= 0x40;
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fifo_ctrl_reg |= (lis3dh->cfg.fifo.fth & 0x1F);
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fifo_ctrl_reg |= (lis3dh->cfg.fifo.mode << 6);
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fifo_ctrl_reg |= ((lis3dh->cfg.fifo.trig & 1) << 5);
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}
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/* always set block update */
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ctrl_reg4 |= 0x80;
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/* set high resolution */
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@ -54,6 +77,8 @@ int lis3dh_configure(lis3dh_t *lis3dh) {
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err |= lis3dh->dev.write(REG_CTRL_REG1, ctrl_reg1);
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err |= lis3dh->dev.write(REG_CTRL_REG4, ctrl_reg4);
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err |= lis3dh->dev.write(REG_CTRL_REG5, ctrl_reg5);
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err |= lis3dh->dev.write(REG_FIFO_CTRL_REG, fifo_ctrl_reg);
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/* read REFERENCE to clear internal filter struct */
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err |= lis3dh->dev.read(REG_REFERENCE, &ref, 1);
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@ -69,12 +94,25 @@ int lis3dh_poll(lis3dh_t *lis3dh) {
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int err = 0;
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do {
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lis3dh->dev.sleep(1000); /* 1 ms */
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err |= lis3dh->dev.read(REG_STATUS_REG, &status, 1);
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} while (!err && !((status >> 3) & 1));
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return err;
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}
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int lis3dh_poll_fifo(lis3dh_t *lis3dh) {
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uint8_t src;
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int err = 0;
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do {
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lis3dh->dev.sleep(1000); /* 1 ms */
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err |= lis3dh->dev.read(REG_FIFO_SRC_REG, &src, 1);
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} while (!err && !(src >> 6));
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return err;
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}
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/* the real size of the int you get back from reading the acc u16
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depends on the power mode.
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shift down the 16 bit word by this amount: */
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@ -168,6 +206,39 @@ int lis3dh_read(lis3dh_t *lis3dh) {
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return err;
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}
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int lis3dh_read_fifo(lis3dh_t *lis3dh) {
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int16_t x, y, z;
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uint8_t scale, sens;
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uint8_t data[192];
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int err = 0;
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scale = acc_shift(lis3dh);
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sens = acc_sensitivity(lis3dh);
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/* must set MSbit of the address to multi-read and
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have the device auto-increment the address.
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see 5.1.5 in datasheet. */
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err |= lis3dh->dev.read(REG_OUT_X_L | 0x80, data, 192);
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puts("FIFO =>");
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for(int i=0; i<192; i+=6) {
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x = (((int16_t)((data[i + 0] << 8) | data[i + 1])) >> scale) * sens;
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y = (((int16_t)((data[i + 2] << 8) | data[i + 3])) >> scale) * sens;
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z = (((int16_t)((data[i + 4] << 8) | data[i + 5])) >> scale) * sens;
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printf("x: %04.04f, y: %04.04f, z: %04.04f\n",
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(double)x / 1000.0,
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(double)y / 1000.0,
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(double)z / 1000.0);
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}
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puts("<= FIFO");
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return err;
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}
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int lis3dh_deinit(lis3dh_t *lis3dh) {
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return lis3dh->dev.deinit();
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}
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22
lis3dh.h
22
lis3dh.h
@ -22,11 +22,20 @@
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#define LIS3DH_FS_8G 0b10
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#define LIS3DH_FS_16G 0b11
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/* modes */
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/* operating modes */
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#define LIS3DH_MODE_HR 0b00
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#define LIS3DH_MODE_LP 0b01
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#define LIS3DH_MODE_NORMAL 0b10
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/* FIFO modes */
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#define LIS3DH_FIFO_MODE_BYPASS 0b00
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#define LIS3DH_FIFO_MODE_NORMAL 0b01 /* "FIFO" */
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#define LIS3DH_FIFO_MODE_STREAM 0b10
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#define LIS3DH_FIFO_MODE_STREAM_TO_FIFO 0b11
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/* FIFO trigger pin selection */
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#define LIS3DH_FIFO_TRIG_INT1 0b0
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#define LIS3DH_FIFO_TRIG_INT2 0b1
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struct lis3dh_device {
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int (*init)(void);
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@ -36,10 +45,18 @@ struct lis3dh_device {
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int (*deinit)(void);
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};
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struct lis3dh_fifo_config {
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uint8_t fth;
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uint8_t trig;
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uint8_t mode;
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uint8_t enable;
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};
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struct lis3dh_config {
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uint8_t rate; /* ODR */
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uint8_t range; /* FS */
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uint8_t mode; /* LPen and HR */
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struct lis3dh_fifo_config fifo;
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};
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struct lis3dh_acceleration {
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@ -61,4 +78,7 @@ int lis3dh_deinit(lis3dh_t *lis3dh);
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int lis3dh_configure(lis3dh_t *lis3dh);
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int lis3dh_poll(lis3dh_t *lis3dh);
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int lis3dh_read(lis3dh_t *lis3dh);
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int lis3dh_poll_fifo(lis3dh_t *lis3dh);
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int lis3dh_read_fifo(lis3dh_t *lis3dh);
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#endif
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14
main.c
14
main.c
@ -23,6 +23,7 @@ int main() {
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lis.dev.deinit = i2c_deinit;
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/* write config after init() */
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if (lis3dh_init(&lis)) {
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puts("init ERR");
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}
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@ -30,11 +31,14 @@ int main() {
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lis.cfg.mode = LIS3DH_MODE_NORMAL;
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lis.cfg.range = LIS3DH_FS_2G;
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lis.cfg.rate = LIS3DH_ODR_100_HZ;
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lis.cfg.fifo.enable = 1;
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lis.cfg.fifo.mode = LIS3DH_FIFO_MODE_NORMAL;
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if (lis3dh_configure(&lis)) {
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puts("configure ERR");
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}
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/*
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for(int i=0; i<100; i++) {
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if (lis3dh_poll(&lis)) {
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puts("poll ERR");
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@ -47,7 +51,17 @@ int main() {
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printf("x: % 04.04f g, y: % 04.04f g, z: % 04.04f g, mag:% 04.04f\n",
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lis.acc.x, lis.acc.y, lis.acc.z, accel_mag(&lis));
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}
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*/
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/* FIFO test */
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if (lis3dh_poll_fifo(&lis)) {
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puts("poll_fifo ERR");
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}
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if (lis3dh_read_fifo(&lis)) {
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puts("read_fifo ERR");
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}
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if (lis3dh_deinit(&lis)) {
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puts("deinit ERR");
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}
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