tidying and testing new functions
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5
Makefile
5
Makefile
@ -1,7 +1,8 @@
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CC=gcc
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CFLAGS=-O2 -std=c89 -W -Werror -Wall -Wextra -pedantic -I.
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CFLAGS=-O0 -g3 -ggdb -std=c89 -W -Werror -Wall -Wextra -Wpedantic -pedantic-errors -Wformat-signedness -I.
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CFLAGS+=-Wlogical-op -Wmissing-declarations -Wswitch-default -Wundef -Wformat=2
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LFLAGS=-lm
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CFILES=$(wildcard ./*.c)
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CFILES=$(wildcard *.c)
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all:
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$(CC) $(CFLAGS) $(CFILES) -o lis3dh $(LFLAGS)
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@ -30,6 +30,8 @@ int deinit(void);
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```
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All above functions return `0` on success.
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The `init` and `deinit` pointers can both be set to `NULL` and they won't be run.
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## Usage
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Simple example:
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```c
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@ -146,6 +148,7 @@ x: 0.518000, y: -0.846000, z: -0.100000
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Instead of polling for every single [x y z] set, a FIFO with programmable capacity ("watermark") can be used like such:
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All FIFO readings use 10-bit resolution regardless of the mode set in `lis.cfg.mode`.
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The watermark level can also be adjusted to a value [0-31] inclusive by modifying the `lis.cfg.fifo.fth` property before calling configure().
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```c
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#define _GNU_SOURCE
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97
lis3dh.c
97
lis3dh.c
@ -1,3 +1,5 @@
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#include <stddef.h>
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#include <string.h>
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#include "lis3dh.h"
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#include "registers.h"
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@ -38,9 +40,12 @@ int lis3dh_init(lis3dh_t *lis3dh) {
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uint8_t result;
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int err = 0;
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/* if init has been given, check it */
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if (lis3dh->dev.init != NULL) {
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if (lis3dh->dev.init() != 0) {
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return 1;
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}
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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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@ -97,10 +102,10 @@ int lis3dh_configure(lis3dh_t *lis3dh) {
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int err = 0;
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/* the 0x07 enables Z, Y and X axis in that order */
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ctrl_reg1 = 0 | (lis3dh->cfg.rate << 4) | 0x07;
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ctrl_reg1 = (lis3dh->cfg.rate << 4) | 0x07;
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ctrl_reg2 = 0;
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ctrl_reg3 = 0;
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ctrl_reg4 = 0 | (lis3dh->cfg.range << 4);
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ctrl_reg4 = (lis3dh->cfg.range << 4);
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ctrl_reg5 = 0;
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ctrl_reg6 = 0;
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fifo_ctrl_reg = 0;
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@ -204,68 +209,27 @@ int lis3dh_poll_fifo(lis3dh_t *lis3dh) {
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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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static uint8_t acc_shift(lis3dh_t *lis3dh) {
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switch (lis3dh->cfg.mode) {
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case LIS3DH_MODE_HR:
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return 4; /* i12 */
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case LIS3DH_MODE_NORMAL:
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return 6; /* i10 */
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case LIS3DH_MODE_LP:
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return 8; /* i8 */
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static uint8_t acc_shift(uint8_t mode) {
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switch (mode) {
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case LIS3DH_MODE_HR: return 4; /* i12 */
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case LIS3DH_MODE_NORMAL: return 6; /* i10 */
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case LIS3DH_MODE_LP: return 8; /* i8 */
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default: return 0;
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}
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return 0;
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}
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/* returns a scalar that when multiplied with axis reading
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turns it to a multiple of mg. */
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static uint8_t acc_sensitivity(lis3dh_t *lis3dh) {
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uint8_t mode = lis3dh->cfg.mode;
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switch (lis3dh->cfg.range) {
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case LIS3DH_FS_2G:
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if (mode == LIS3DH_MODE_LP) {
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return 16;
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} else if (mode == LIS3DH_MODE_NORMAL) {
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return 4;
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} else {
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return 1;
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static uint8_t acc_sensitivity(uint8_t mode, uint8_t range) {
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switch (range) {
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case LIS3DH_FS_2G: return (mode == LIS3DH_MODE_LP) ? 16 : (mode == LIS3DH_MODE_NORMAL) ? 4 : 1;
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case LIS3DH_FS_4G: return (mode == LIS3DH_MODE_LP) ? 32 : (mode == LIS3DH_MODE_NORMAL) ? 8 : 2;
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case LIS3DH_FS_8G: return (mode == LIS3DH_MODE_LP) ? 64 : (mode == LIS3DH_MODE_NORMAL) ? 16 : 4;
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case LIS3DH_FS_16G: return (mode == LIS3DH_MODE_LP) ? 192 : (mode == LIS3DH_MODE_NORMAL) ? 48 : 12;
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default: return 0;
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}
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break;
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case LIS3DH_FS_4G:
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if (mode == LIS3DH_MODE_LP) {
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return 32;
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} else if (mode == LIS3DH_MODE_NORMAL) {
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return 8;
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} else {
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return 2;
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}
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break;
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case LIS3DH_FS_8G:
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if (mode == LIS3DH_MODE_LP) {
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return 64;
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} else if (mode == LIS3DH_MODE_NORMAL) {
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return 16;
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} else {
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return 4;
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}
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break;
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case LIS3DH_FS_16G:
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if (mode == LIS3DH_MODE_LP) {
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return 192;
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} else if (mode == LIS3DH_MODE_NORMAL) {
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return 48;
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} else {
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return 12;
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}
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break;
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}
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return 0;
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}
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int lis3dh_read(lis3dh_t *lis3dh) {
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uint8_t data[6];
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@ -273,8 +237,8 @@ int lis3dh_read(lis3dh_t *lis3dh) {
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uint8_t scale, sens;
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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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scale = acc_shift(lis3dh->cfg.mode);
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sens = acc_sensitivity(lis3dh->cfg.mode, lis3dh->cfg.range);
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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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@ -301,17 +265,7 @@ int lis3dh_read_fifo(lis3dh_t *lis3dh, struct lis3dh_fifo_data *fifo) {
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/* FIFO is always 10-bit */
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scale = 6;
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/* normal mode */
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if (lis3dh->cfg.range == LIS3DH_FS_2G) {
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sens = 4;
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} else if (lis3dh->cfg.range == LIS3DH_FS_4G) {
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sens = 8;
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} else if (lis3dh->cfg.range == LIS3DH_FS_8G) {
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sens = 16;
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} else { /* 16G */
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sens = 48;
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}
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sens = acc_sensitivity(lis3dh->cfg.mode, lis3dh->cfg.range);
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/* fifo buffer is max 32 */
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fifo->size = lis3dh->cfg.fifo.fth > 32 ? 32 : lis3dh->cfg.fifo.fth;
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@ -334,10 +288,15 @@ int lis3dh_read_fifo(lis3dh_t *lis3dh, struct lis3dh_fifo_data *fifo) {
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return err;
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}
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/* if NULL, this function doesn't have to be called */
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int lis3dh_deinit(lis3dh_t *lis3dh) {
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if (lis3dh->dev.deinit != NULL) {
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return lis3dh->dev.deinit();
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}
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return 0;
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}
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/* read INT1_SRC to clear latched INT1 irq */
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int lis3dh_clear_int1(lis3dh_t *lis3dh) {
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uint8_t res;
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12
main.c
12
main.c
@ -10,12 +10,12 @@
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#define GPIO_INTERRUPT_PIN 12
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/* calc magnitude of accel [x y z] vector */
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float mag(float x, float y, float z) {
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static float mag(float x, float y, float z) {
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return sqrt( powf(x, 2) + powf(y, 2) + powf(z, 2) );
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}
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/* print message then exit */
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void quit(const char *msg, lis3dh_t *lis) {
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static void quit(const char *msg, lis3dh_t *lis) {
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lis->dev.deinit();
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fprintf(stderr, "%s\n", msg);
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exit(1);
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@ -25,7 +25,7 @@ int main() {
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lis3dh_t lis;
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struct lis3dh_fifo_data fifo;
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int k;
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int i, k;
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/* set fn ptrs to rw on bus (i2c or SPI) */
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lis.dev.init = i2c_init;
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@ -53,6 +53,8 @@ int main() {
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lis.cfg.fifo.trig = LIS3DH_FIFO_TRIG_INT1;
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lis.cfg.int1.wtm = 1;
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lis.cfg.int1.latch = 1;
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lis.cfg.filter.mode = LIS3DH_FILTER_MODE_REFERENCE;
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lis.cfg.filter.cutoff = LIS3DH_FILTER_CUTOFF_8;
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/* write device config */
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@ -60,6 +62,7 @@ int main() {
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quit("configure()", &lis);
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}
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for(i=0; i<50; i++) {
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/* wait for interrupt from LIS3DH */
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if (int_poll(GPIO_INTERRUPT_PIN)) {
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quit("int_poll()", &lis);
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@ -80,6 +83,9 @@ int main() {
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mag(fifo.x[k], fifo.y[k], fifo.z[k]));
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}
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lis3dh_reference(&lis);
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}
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/* unregister interrupt */
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if (int_unregister(GPIO_INTERRUPT_PIN)) {
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quit("int_unregister()", &lis);
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