From 2c4b1dbbe5f46b426be90c5af02d4e4509dd8db1 Mon Sep 17 00:00:00 2001 From: William Clark Date: Mon, 19 Aug 2024 01:27:16 +0100 Subject: [PATCH] cleanup --- Makefile | 32 +++++++++++++++-------- README.md | 13 ++++++++++ interrupt.c | 10 ++++---- lis3dh.c | 74 ++++++++++++++++++++++++++++++++++++----------------- main.c | 22 +++++++++------- 5 files changed, 104 insertions(+), 47 deletions(-) diff --git a/Makefile b/Makefile index 41e1420..ddeac41 100644 --- a/Makefile +++ b/Makefile @@ -1,17 +1,29 @@ CC=gcc -OPT=-O2 -std=c89 -Wall -Wextra -W -pedantic -CFLAGS=-I. $(OPT) -CFILES=$(wildcard ./*.c) -OBJECTS=$(patsubst %.c,%.o, $(CFILES)) -BINARY=lis3dh +CFLAGS = -g -O0 -Wall -Wextra -Wpedantic -Wshadow -Wformat=2 -Wfloat-equal \ + -Wconversion -Wcast-align -Wpointer-arith -Wstrict-overflow=5 \ + -Wwrite-strings -Wcast-qual -Wswitch-default -Wswitch-enum \ + -Wunreachable-code -Wstrict-prototypes -Wmissing-prototypes \ + -Wmissing-declarations -Wredundant-decls -Wold-style-definition \ + -Winline -Wlogical-op -Wjump-misses-init -Wdouble-promotion \ + -Wformat-overflow=2 -Wformat-signedness -Wmissing-include-dirs \ + -Wnull-dereference -Wstack-usage=1024 -Wpacked -Woverlength-strings \ + -Wvla -Walloc-zero -Wduplicated-cond -Wduplicated-branches -Wrestrict \ + -fanalyzer \ + -I. -std=c89 -all: $(BINARY) +CFILES = $(wildcard *.c) +OBJECTS = $(CFILES:.c=.o) +BIN = lis3dh -$(BINARY): $(OBJECTS) - $(CC) $^ -o $@ +all: $(BIN) + +$(BIN): $(OBJECTS) + @echo ">>> $@" + @$(CC) $(CFLAGS) $^ -o $@ %.o:%.c - $(CC) $(CFLAGS) -c $< -o $@ + @echo "cc $<" + @$(CC) $(CFLAGS) -c $< -o $@ clean: - @rm -rf $(OBJECTS) $(BINARY) \ No newline at end of file + @rm -rf $(OBJECTS) \ No newline at end of file diff --git a/README.md b/README.md index 59279df..8e98285 100644 --- a/README.md +++ b/README.md @@ -60,6 +60,19 @@ int lis3dh_fifo_reset(lis3dh_t *lis3dh); ``` All functions return `0` on success, and any non-zero value on error. +## Raspberry Pi +First run `$ sudo raspi-config` and enable SPI and/or I2C. + +Edit `main.c` to use I2C or SPI. + +See `i2c.c` and `spi.c` for which pins/device to use. +```sh +$ git clone https://github.com/wrclark/lis3dh.git +$ cd lis3dh +$ make +$ ./lis3dh +``` + ## STM32 ### I2C ```c diff --git a/interrupt.c b/interrupt.c index 6f215ae..80b4544 100644 --- a/interrupt.c +++ b/interrupt.c @@ -40,7 +40,7 @@ static int write_file(const char *path, const char *str) { */ int int_register(int pin) { - char path[1024]; + char path[256]; char buffer[64]; /* begin by unregistering supplied pin, just in case */ @@ -55,13 +55,13 @@ int int_register(int pin) { /* sleep 500 ms to let linux set up the dir .. */ usleep(500000); - memset(path, 0, 1024); + memset(path, 0, 256); sprintf(path, "%s%d/%s", "/sys/class/gpio/gpio", pin, "edge"); if (write_file(path, "both") != 0) { return 1; } - memset(path, 0, 1024); + memset(path, 0, 256); sprintf(path, "%s%d/%s", "/sys/class/gpio/gpio", pin, "direction"); if (write_file(path, "in") != 0) { return 1; @@ -95,10 +95,10 @@ int int_unregister(int pin) { int int_poll(int pin) { int fd; struct pollfd pfd; - char path[1024]; + char path[256]; char buf[16]; - memset(path, 0, 1024); + memset(path, 0, 256); sprintf(path, "%s%d/%s", "/sys/class/gpio/gpio", pin, "value"); if ((fd = open(path, O_RDONLY)) == 0) { diff --git a/lis3dh.c b/lis3dh.c index f0eca57..288c1b6 100644 --- a/lis3dh.c +++ b/lis3dh.c @@ -1,6 +1,5 @@ #include /* NULL */ #include /* memset() */ -#include #include "lis3dh.h" #include "registers.h" @@ -9,7 +8,9 @@ int lis3dh_init(lis3dh_t *lis3dh) { uint8_t result; int err = 0; - assert(lis3dh); + if (!lis3dh) { + return 1; + } /* if init has been given, check it */ if (lis3dh->dev.init != NULL) { @@ -51,7 +52,9 @@ int lis3dh_configure(lis3dh_t *lis3dh) { uint8_t time_limit, act_ths; int err = 0; - assert(lis3dh); + if (!lis3dh) { + return 1; + } /* the 0x07 enables Z, Y and X axis in that order */ ctrl_reg1 = (lis3dh->cfg.rate << 4) | 0x07; @@ -245,7 +248,9 @@ int lis3dh_read(lis3dh_t *lis3dh) { uint8_t shift, sens, status; int err = 0; - assert(lis3dh); + if (!lis3dh) { + return 1; + } shift = acc_shift(lis3dh->cfg.mode); sens = acc_sensitivity(lis3dh->cfg.mode, lis3dh->cfg.range); @@ -258,9 +263,9 @@ int lis3dh_read(lis3dh_t *lis3dh) { } while ((!LIS3DH_STATUS_ZYXDA(status) || !LIS3DH_STATUS_ZYXOR(status)) && !err); err |= lis3dh->dev.read(REG_OUT_X_L, data, 6); - lis3dh->acc.x = ((int16_t)(data[1] | data[0] << 8) >> shift) * sens; - lis3dh->acc.y = ((int16_t)(data[3] | data[2] << 8) >> shift) * sens; - lis3dh->acc.z = ((int16_t)(data[5] | data[4] << 8) >> shift) * sens; + lis3dh->acc.x = (int16_t)((int16_t)(data[1] | data[0] << 8) >> shift) * sens; + lis3dh->acc.y = (int16_t)((int16_t)(data[3] | data[2] << 8) >> shift) * sens; + lis3dh->acc.z = (int16_t)((int16_t)(data[5] | data[4] << 8) >> shift) * sens; return err; } @@ -270,12 +275,12 @@ int lis3dh_read(lis3dh_t *lis3dh) { /* read groups of the 6 OUT bytes until EMPTY flag in FIFO_SRC is set */ int lis3dh_read_fifo(lis3dh_t *lis3dh, struct lis3dh_fifo_data *fifo) { uint8_t data[6]; - uint8_t sens, fifo_src; + uint8_t sens, fifo_src, idx = 0; int err = 0; - int idx = 0; - assert(lis3dh); - assert(fifo); + if (!lis3dh || !fifo) { + return 1; + } /* wait until there is at least 1 unread sample in the FIFO */ @@ -305,7 +310,9 @@ int lis3dh_read_fifo(lis3dh_t *lis3dh, struct lis3dh_fifo_data *fifo) { /* if NULL, this function doesn't have to be called */ int lis3dh_deinit(lis3dh_t *lis3dh) { - assert(lis3dh); + if (!lis3dh) { + return 1; + } if (lis3dh->dev.deinit != NULL) { return lis3dh->dev.deinit(); @@ -316,19 +323,28 @@ int lis3dh_deinit(lis3dh_t *lis3dh) { /* read INT1_SRC to clear interrupt active flag and get relevant data */ int lis3dh_read_int1(lis3dh_t *lis3dh) { - assert(lis3dh); + if (!lis3dh) { + return 1; + } + return lis3dh->dev.read(REG_INT1_SRC, &lis3dh->src.int1, 1); } /* read INT2_SRC to clear interrupt active flag and get relevant data */ int lis3dh_read_int2(lis3dh_t *lis3dh) { - assert(lis3dh); + if (!lis3dh) { + return 1; + } + return lis3dh->dev.read(REG_INT2_SRC, &lis3dh->src.int2, 1); } /* read CLICK_SRC to clear interrupt active flag and get relevant data */ int lis3dh_read_click(lis3dh_t *lis3dh) { - assert(lis3dh); + if (!lis3dh) { + return 1; + } + return lis3dh->dev.read(REG_CLICK_SRC, &lis3dh->src.click, 1); } @@ -336,7 +352,11 @@ int lis3dh_read_click(lis3dh_t *lis3dh) { /* it then uses the --current-- acceleration as the base in the filter */ int lis3dh_reference(lis3dh_t *lis3dh) { uint8_t res; - assert(lis3dh); + + if (!lis3dh) { + return 1; + } + return lis3dh->dev.read(REG_REFERENCE, &res, 1); } @@ -344,7 +364,9 @@ int lis3dh_reference(lis3dh_t *lis3dh) { int lis3dh_reset(lis3dh_t *lis3dh) { int err = 0; - assert(lis3dh); + if (!lis3dh) { + return 1; + } /* set BOOT bit so device reloads internal trim parameters */ err |= lis3dh->dev.write(REG_CTRL_REG5, 0x80); @@ -391,15 +413,17 @@ int lis3dh_read_adc(lis3dh_t *lis3dh) { uint8_t shift; int err = 0; - assert(lis3dh); + if (!lis3dh) { + return 1; + } err |= lis3dh->dev.read(REG_OUT_ADC1_L, data, 6); shift = (lis3dh->cfg.mode == LIS3DH_MODE_LP) ? 8 : 6; - lis3dh->adc.adc1 = 1200 + ((800 * ((int16_t)(data[1] | data[0] << 8) >> shift)) >> (16 - shift)); - lis3dh->adc.adc2 = 1200 + ((800 * ((int16_t)(data[3] | data[2] << 8) >> shift)) >> (16 - shift)); - lis3dh->adc.adc3 = 1200 + ((800 * ((int16_t)(data[5] | data[4] << 8) >> shift)) >> (16 - shift)); + lis3dh->adc.adc1 = (int16_t)(1200 + ((800 * ((int16_t)(data[1] | data[0] << 8) >> shift)) >> (16 - shift))); + lis3dh->adc.adc2 = (int16_t)(1200 + ((800 * ((int16_t)(data[3] | data[2] << 8) >> shift)) >> (16 - shift))); + lis3dh->adc.adc3 = (int16_t)(1200 + ((800 * ((int16_t)(data[5] | data[4] << 8) >> shift)) >> (16 - shift))); return err; } @@ -415,7 +439,9 @@ int lis3dh_read_temp(lis3dh_t *lis3dh) { uint8_t data; int err = 0; - assert(lis3dh); + if (!lis3dh) { + return 1; + } err |= lis3dh->dev.read(REG_OUT_ADC3_H, &data, 1); lis3dh->adc.adc3 = (int8_t)data + 25; @@ -427,7 +453,9 @@ int lis3dh_fifo_reset(lis3dh_t *lis3dh) { int err = 0; uint8_t fifo_ctrl_reg = 0; - assert(lis3dh); + if (!lis3dh) { + return 1; + } /* create a FIFO_MODE_BYPASS config */ fifo_ctrl_reg |= ((lis3dh->cfg.fifo.size - 1) & 0x1F); diff --git a/main.c b/main.c index 038fc80..9929983 100644 --- a/main.c +++ b/main.c @@ -1,13 +1,12 @@ #define _GNU_SOURCE #include #include +#include #include "lis3dh.h" #include "i2c.h" -#include "interrupt.h" +/* #include "spi.h" */ -#define GPIO_INTERRUPT_PIN_INT1 12 - -int main() { +int main(void) { lis3dh_t lis; struct lis3dh_fifo_data fifo; @@ -19,22 +18,27 @@ int main() { lis.dev.sleep = usleep; lis.dev.deinit = i2c_deinit; + /* + lis.dev.init = spi_init; + lis.dev.read = spi_read; + lis.dev.write = spi_write; + lis.dev.sleep = usleep; + lis.dev.deinit = spi_deinit; + */ + lis3dh_init(&lis); lis3dh_reset(&lis); - int_register(GPIO_INTERRUPT_PIN_INT1); lis.cfg.mode = LIS3DH_MODE_HR; lis.cfg.range = LIS3DH_FS_2G; lis.cfg.rate = LIS3DH_ODR_100_HZ; - lis.cfg.pin1.overrun = 1; lis.cfg.fifo.mode = LIS3DH_FIFO_MODE_FIFO; - lis.cfg.fifo.trig = LIS3DH_FIFO_TRIG_INT1; lis3dh_configure(&lis); for ( ;; ) { - int_poll(GPIO_INTERRUPT_PIN_INT1); + usleep(100000); /* 100 ms */ lis3dh_read_fifo(&lis, &fifo); for(i=0; i