cleanup comments
This commit is contained in:
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54a0bdb7d8
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4dcc5b109d
@ -25,7 +25,7 @@ int main() {
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/* error handling */
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/* error handling */
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}
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}
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/* reset device because it sometimes corrupts itself */
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/* reset device just in case */
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if (lis3dh_reset(&lis)) {
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if (lis3dh_reset(&lis)) {
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/* error handling */
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/* error handling */
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}
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}
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@ -25,7 +25,7 @@ int main() {
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/* error handling */
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/* error handling */
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}
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}
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/* reset device because it sometimes corrupts itself */
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/* reset device just in case */
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if (lis3dh_reset(&lis)) {
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if (lis3dh_reset(&lis)) {
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/* error handling */
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/* error handling */
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}
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}
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@ -106,7 +106,7 @@ int main() {
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/* error handling */
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/* error handling */
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}
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}
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/* only print if INT1 interrupt active = 1*/
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/* only print if INT1 interrupt active (IA) = 1*/
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/* ZH and ZL are always 0 in 4D mode */
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/* ZH and ZL are always 0 in 4D mode */
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if (LIS3DH_INT_SRC_IA(lis.src.int1)) {
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if (LIS3DH_INT_SRC_IA(lis.src.int1)) {
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/* print received interrupt .. */
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/* print received interrupt .. */
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@ -25,7 +25,7 @@ int main() {
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/* error handling */
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/* error handling */
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}
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}
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/* reset device because it sometimes corrupts itself */
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/* reset device just in case */
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if (lis3dh_reset(&lis)) {
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if (lis3dh_reset(&lis)) {
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/* error handling */
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/* error handling */
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}
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}
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@ -107,7 +107,7 @@ int main() {
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/* error handling */
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/* error handling */
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}
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}
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/* only print if INT1 interrupt active = 1*/
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/* only print if INT1 interrupt active (IA) = 1*/
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if (LIS3DH_INT_SRC_IA(lis.src.int1)) {
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if (LIS3DH_INT_SRC_IA(lis.src.int1)) {
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/* print received interrupt .. */
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/* print received interrupt .. */
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printf("IA=%d ZH=%d ZL=%d YH=%d YL=%d XH=%d XL=%d\n",
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printf("IA=%d ZH=%d ZL=%d YH=%d YL=%d XH=%d XL=%d\n",
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@ -25,7 +25,7 @@ int main() {
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/* error handling */
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/* error handling */
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}
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}
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/* reset device because it sometimes corrupts itself */
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/* reset device just in case */
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if (lis3dh_reset(&lis)) {
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if (lis3dh_reset(&lis)) {
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/* error handling */
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/* error handling */
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}
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}
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@ -107,7 +107,7 @@ int main() {
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/* error handling */
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/* error handling */
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}
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}
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/* only print if INT1 interrupt active = 1*/
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/* only print if INT1 interrupt active (IA) = 1*/
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if (LIS3DH_INT_SRC_IA(lis.src.int1)) {
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if (LIS3DH_INT_SRC_IA(lis.src.int1)) {
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/* print received interrupt .. */
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/* print received interrupt .. */
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printf("IA=%d ZH=%d ZL=%d YH=%d YL=%d XH=%d XL=%d\n",
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printf("IA=%d ZH=%d ZL=%d YH=%d YL=%d XH=%d XL=%d\n",
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@ -7,7 +7,7 @@
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int main() {
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int main() {
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lis3dh_t lis;
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lis3dh_t lis;
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struct lis3dh_fifo_data data;
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struct lis3dh_fifo_data fifo;
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int i;
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int i;
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lis.dev.init = i2c_init;
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lis.dev.init = i2c_init;
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@ -36,15 +36,15 @@ int main() {
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/* error handling */
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/* error handling */
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}
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}
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/* read as many [x y z] sets as specified by watermark level (size) default max/32 */
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/* read as many [x y z] sets as specified by watermark level (size) default (max/32) */
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/* copy them to the fifo data struct given below as `data' */
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/* copy them to the fifo data struct `fifo' */
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if (lis3dh_read_fifo(&lis, &data)) {
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if (lis3dh_read_fifo(&lis, &fifo)) {
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/* error handling */
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/* error handling */
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}
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}
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/* read out fifo buffer data */
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/* read out fifo buffer data */
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for(i=0; i<data.size; i++) {
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for(i=0; i<fifo.size; i++) {
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printf("x: %d mg, y: %d mg, z: %d mg\n", data.x[i], data.y[i], data.z[i]);
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printf("x: %d mg, y: %d mg, z: %d mg\n", fifo.x[i], fifo.y[i], fifo.z[i]);
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}
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}
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/* deinitialise struct */
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/* deinitialise struct */
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@ -46,9 +46,9 @@ int main() {
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lis.cfg.int1.latch = 1; /* latch interrupt until INT1_SRC is read */
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lis.cfg.int1.latch = 1; /* latch interrupt until INT1_SRC is read */
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/* enable all the low directions */
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/* enable all the low directions */
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/* this works because the low directions are compared to -threshold,
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/* this works because the low directions are compared to -threshold, */
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and are below it at rest, and greater than it at free-fall,
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/* and are below it at rest, and greater than it at free-fall, */
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while the opposite is true for the high directions. */
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/* while the opposite is true for the high directions. */
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lis.cfg.int1.xl = 1;
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lis.cfg.int1.xl = 1;
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lis.cfg.int1.yl = 1;
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lis.cfg.int1.yl = 1;
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lis.cfg.int1.zl = 1;
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lis.cfg.int1.zl = 1;
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@ -64,13 +64,12 @@ int main() {
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/* error handling */
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/* error handling */
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}
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}
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/* read as many [x y z] sets as specified by watermark level (fth) */
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/* read as many [x y z] sets as specified by watermark level (size) */
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/* copy them to the fifo data struct given below as `fifo' */
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/* copy them to the fifo data struct given below as `fifo' */
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if (lis3dh_read_fifo(&lis, &fifo)) {
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if (lis3dh_read_fifo(&lis, &fifo)) {
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/* error handling */
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/* error handling */
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}
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}
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/* above function also writes out the qty of [x y z] sets stored in `fifo' */
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for(i=0; i<fifo.size; i++) {
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for(i=0; i<fifo.size; i++) {
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printf("x: %d mg, y: %d mg, z: %d mg\n", fifo.x[i], fifo.y[i], fifo.z[i]);
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printf("x: %d mg, y: %d mg, z: %d mg\n", fifo.x[i], fifo.y[i], fifo.z[i]);
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}
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}
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@ -52,8 +52,6 @@ int main() {
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printf("ADC1: %d mV\n", lis.adc.adc1);
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printf("ADC1: %d mV\n", lis.adc.adc1);
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printf("ADC2: %d mV\n", lis.adc.adc2);
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printf("ADC2: %d mV\n", lis.adc.adc2);
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/* no decimals, step size is 1 celsius */
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printf("ADC3: %d oC\n", lis.adc.adc3);
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printf("ADC3: %d oC\n", lis.adc.adc3);
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/* deinitalise struct */
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/* deinitalise struct */
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54
lis3dh.c
54
lis3dh.c
@ -1,10 +1,9 @@
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#include <stddef.h>
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#include <stddef.h> /* NULL */
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#include <string.h>
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#include <string.h> /* memset() */
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#include "lis3dh.h"
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#include "lis3dh.h"
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#include "registers.h"
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#include "registers.h"
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#include <stdio.h>
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/* initialise device struct and read WHO_AM_I register */
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int lis3dh_init(lis3dh_t *lis3dh) {
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int lis3dh_init(lis3dh_t *lis3dh) {
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uint8_t result;
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uint8_t result;
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int err = 0;
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int err = 0;
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@ -37,6 +36,8 @@ int lis3dh_init(lis3dh_t *lis3dh) {
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return err;
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return err;
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}
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}
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/* write configuration options to the device */
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/* then sleep 100 ms to let it set itself up properly */
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int lis3dh_configure(lis3dh_t *lis3dh) {
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int lis3dh_configure(lis3dh_t *lis3dh) {
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uint8_t ctrl_reg1, ctrl_reg2, ctrl_reg3;
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uint8_t ctrl_reg1, ctrl_reg2, ctrl_reg3;
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uint8_t ctrl_reg4, ctrl_reg5, ctrl_reg6;
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uint8_t ctrl_reg4, ctrl_reg5, ctrl_reg6;
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@ -177,7 +178,7 @@ int lis3dh_configure(lis3dh_t *lis3dh) {
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ctrl_reg0 |= (lis3dh->cfg.sdo_pullup & 1) << 7;
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ctrl_reg0 |= (lis3dh->cfg.sdo_pullup & 1) << 7;
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/* Registers have to be set in this order for SPI to function correctly */
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/* Registers have to be set in this order for SPI to function correctly, I think */
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err |= lis3dh->dev.write(REG_CTRL_REG4, ctrl_reg4);
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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_CTRL_REG5, ctrl_reg5);
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err |= lis3dh->dev.write(REG_FIFO_CTRL_REG, fifo_ctrl_reg);
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err |= lis3dh->dev.write(REG_FIFO_CTRL_REG, fifo_ctrl_reg);
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@ -206,9 +207,9 @@ int lis3dh_configure(lis3dh_t *lis3dh) {
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return err;
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return err;
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}
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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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/* The "real size" of the i16 accelerometer axis reading depends on the power mode. */
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shift down the 16 bit word by this amount: */
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/* shift down the 16 bit word by this amount: */
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static uint8_t acc_shift(uint8_t mode) {
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static uint8_t acc_shift(uint8_t mode) {
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switch (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_HR: return 4; /* i12 */
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@ -218,8 +219,8 @@ static uint8_t acc_shift(uint8_t mode) {
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}
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}
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}
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}
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/* returns a scalar that when multiplied with axis reading
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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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/* turns it to a multiple of mg (1/1000 g). */
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static uint8_t acc_sensitivity(uint8_t mode, uint8_t range) {
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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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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_2G: return (mode == LIS3DH_MODE_LP) ? 16 : (mode == LIS3DH_MODE_NORMAL) ? 4 : 1;
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@ -240,6 +241,7 @@ int lis3dh_read(lis3dh_t *lis3dh) {
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sens = acc_sensitivity(lis3dh->cfg.mode, lis3dh->cfg.range);
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sens = acc_sensitivity(lis3dh->cfg.mode, lis3dh->cfg.range);
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/* poll STATUS_REG until new data is available */
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/* poll STATUS_REG until new data is available */
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do {
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do {
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err |= lis3dh->dev.read(REG_STATUS_REG, &status, 1);
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err |= lis3dh->dev.read(REG_STATUS_REG, &status, 1);
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lis3dh->dev.sleep(1000);
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lis3dh->dev.sleep(1000);
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@ -253,18 +255,17 @@ int lis3dh_read(lis3dh_t *lis3dh) {
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return err;
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return err;
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}
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}
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/* assume fifo has been configured and poll'd */
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/* assume fifo has been configured */
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/* wait until FIFO is NOT empty, then */
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/* wait until FIFO is NOT empty, then */
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/* read groups of the 6 OUT bytes until EMPTY flag in FIFO_SRC is set */
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/* read groups of the 6 OUT bytes until EMPTY flag in FIFO_SRC is set */
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int lis3dh_read_fifo(lis3dh_t *lis3dh, struct lis3dh_fifo_data *fifo) {
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int lis3dh_read_fifo(lis3dh_t *lis3dh, struct lis3dh_fifo_data *fifo) {
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uint8_t data[6]; /* max size */
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uint8_t data[6];
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uint8_t sens, fifo_src;
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uint8_t sens, fifo_src;
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int err = 0;
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int err = 0;
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int idx = 0;
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int idx = 0;
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/* wait until there is at least 1 unread sample in the FIFO */
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/* wait until there is at least 1 unread sample in the FIFO */
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/* otherwise can cause problems at really fast ODRs and calling this */
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/* function in a loop without delays. */
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do {
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do {
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err |= lis3dh->dev.read(REG_FIFO_SRC_REG, &fifo_src, 1);
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err |= lis3dh->dev.read(REG_FIFO_SRC_REG, &fifo_src, 1);
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lis3dh->dev.sleep(1000);
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lis3dh->dev.sleep(1000);
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@ -281,6 +282,9 @@ int lis3dh_read_fifo(lis3dh_t *lis3dh, struct lis3dh_fifo_data *fifo) {
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fifo->z[idx] = ((int16_t)(data[5] | data[4] << 8) >> 6) * sens;
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fifo->z[idx] = ((int16_t)(data[5] | data[4] << 8) >> 6) * sens;
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} while (idx++ < lis3dh->cfg.fifo.size - 1 && !LIS3DH_FIFO_SRC_EMPTY(fifo_src) && !err);
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} while (idx++ < lis3dh->cfg.fifo.size - 1 && !LIS3DH_FIFO_SRC_EMPTY(fifo_src) && !err);
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/* the device stores FIFO offsets rather than `size' so a size-32 FIFO */
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/* has an offset of 31 */
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fifo->size = idx;
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fifo->size = idx;
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return err;
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return err;
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@ -310,8 +314,8 @@ int lis3dh_read_click(lis3dh_t *lis3dh) {
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return lis3dh->dev.read(REG_CLICK_SRC, &lis3dh->src.click, 1);
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return lis3dh->dev.read(REG_CLICK_SRC, &lis3dh->src.click, 1);
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}
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}
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/* read REFERENCE reg to reset HP filter in REFERENCE mode
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/* read REFERENCE reg to reset HP filter in REFERENCE mode */
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it uses the --current-- acceleration as the base in the filter */
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/* it then uses the --current-- acceleration as the base in the filter */
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int lis3dh_reference(lis3dh_t *lis3dh) {
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int lis3dh_reference(lis3dh_t *lis3dh) {
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uint8_t res;
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uint8_t res;
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return lis3dh->dev.read(REG_REFERENCE, &res, 1);
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return lis3dh->dev.read(REG_REFERENCE, &res, 1);
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@ -359,8 +363,8 @@ int lis3dh_reset(lis3dh_t *lis3dh) {
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return err;
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return err;
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}
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}
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/* read all 3 ADCs and convert readings depending on power mode
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/* read all 3 ADCs and convert data depending on power mode */
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st 1 lsb is equal to 1 millivolt */
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/* result: 1 lsb is equal to 1 millivolt */
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int lis3dh_read_adc(lis3dh_t *lis3dh) {
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int lis3dh_read_adc(lis3dh_t *lis3dh) {
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uint8_t data[6];
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uint8_t data[6];
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uint8_t shift;
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uint8_t shift;
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@ -377,13 +381,13 @@ int lis3dh_read_adc(lis3dh_t *lis3dh) {
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return err;
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return err;
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}
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}
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/* the temperature sensor only reports the difference between its current temp,
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/* the temperature sensor only reports the difference between its current temp, */
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and the factory calibrated temperature, 25 celsius.
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/* and the factory calibrated temperature, 25 celsius. */
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in increments of plus or negative 1 unit celsius.
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/* in increments of plus or negative 1 unit celsius. */
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the reported temperature is stored inplace of adc3
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/* the reported temperature is stored inplace of adc3 */
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temp sensing is always in 8-bit mode
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/* temp sensing is always in 8-bit mode */
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operating range: -40 to 85 celsius
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/* operating range: -40 to 85 celsius */
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1 lsb = 1 deg C */
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/* 1 lsb = 1 deg C */
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int lis3dh_read_temp(lis3dh_t *lis3dh) {
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int lis3dh_read_temp(lis3dh_t *lis3dh) {
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uint8_t data;
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uint8_t data;
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int err = 0;
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int err = 0;
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2
lis3dh.h
2
lis3dh.h
@ -289,7 +289,7 @@ typedef struct lis3dh lis3dh_t;
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/* struct for containing the FIFO data */
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/* struct for containing the FIFO data */
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/* 1 lsb = 1 mg */
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/* 1 lsb = 1 mg */
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struct lis3dh_fifo_data {
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struct lis3dh_fifo_data {
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uint8_t size; /* up to 32 */
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uint8_t size; /* up to 31 */
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int16_t x[32];
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int16_t x[32];
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int16_t y[32];
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int16_t y[32];
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int16_t z[32];
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int16_t z[32];
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