william/lis3dh
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cleanup comments

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This commit is contained in:
William Clark 2024-01-06 17:49:36 +00:00
parent 54a0bdb7d8
commit 4dcc5b109d
10 changed files with 47 additions and 46 deletions
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2
example/4d-movement.c
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@ -25,7 +25,7 @@ int main() {
/* error handling */
}
/* reset device because it sometimes corrupts itself */
/* reset device just in case */
if (lis3dh_reset(&lis)) {
/* error handling */
}

4
example/4d-position.c
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@ -25,7 +25,7 @@ int main() {
/* error handling */
}
/* reset device because it sometimes corrupts itself */
/* reset device just in case */
if (lis3dh_reset(&lis)) {
/* error handling */
}
@ -106,7 +106,7 @@ int main() {
/* error handling */
}
/* only print if INT1 interrupt active = 1*/
/* only print if INT1 interrupt active (IA) = 1*/
/* ZH and ZL are always 0 in 4D mode */
if (LIS3DH_INT_SRC_IA(lis.src.int1)) {
/* print received interrupt .. */

4
example/6d-movement.c
View File

@ -25,7 +25,7 @@ int main() {
/* error handling */
}
/* reset device because it sometimes corrupts itself */
/* reset device just in case */
if (lis3dh_reset(&lis)) {
/* error handling */
}
@ -107,7 +107,7 @@ int main() {
/* error handling */
}
/* only print if INT1 interrupt active = 1*/
/* only print if INT1 interrupt active (IA) = 1*/
if (LIS3DH_INT_SRC_IA(lis.src.int1)) {
/* print received interrupt .. */
printf("IA=%d ZH=%d ZL=%d YH=%d YL=%d XH=%d XL=%d\n",

4
example/6d-position.c
View File

@ -25,7 +25,7 @@ int main() {
/* error handling */
}
/* reset device because it sometimes corrupts itself */
/* reset device just in case */
if (lis3dh_reset(&lis)) {
/* error handling */
}
@ -107,7 +107,7 @@ int main() {
/* error handling */
}
/* only print if INT1 interrupt active = 1*/
/* only print if INT1 interrupt active (IA) = 1*/
if (LIS3DH_INT_SRC_IA(lis.src.int1)) {
/* print received interrupt .. */
printf("IA=%d ZH=%d ZL=%d YH=%d YL=%d XH=%d XL=%d\n",

12
example/fifo.c
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@ -7,7 +7,7 @@
int main() {
lis3dh_t lis;
struct lis3dh_fifo_data data;
struct lis3dh_fifo_data fifo;
int i;
lis.dev.init = i2c_init;
@ -36,15 +36,15 @@ int main() {
/* error handling */
}
/* read as many [x y z] sets as specified by watermark level (size) default max/32 */
/* copy them to the fifo data struct given below as `data' */
if (lis3dh_read_fifo(&lis, &data)) {
/* read as many [x y z] sets as specified by watermark level (size) default (max/32) */
/* copy them to the fifo data struct `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]);
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]);
}
/* deinitialise struct */

6
example/free-fall.c
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@ -46,9 +46,9 @@ int main() {
lis.cfg.int1.latch = 1; /* latch interrupt until INT1_SRC is read */
/* enable all the low directions */
/* this works because the low directions are compared to -threshold,
and are below it at rest, and greater than it at free-fall,
while the opposite is true for the high directions. */
/* this works because the low directions are compared to -threshold, */
/* and are below it at rest, and greater than it at free-fall, */
/* while the opposite is true for the high directions. */
lis.cfg.int1.xl = 1;
lis.cfg.int1.yl = 1;
lis.cfg.int1.zl = 1;

3
example/interrupts.c
View File

@ -64,13 +64,12 @@ int main() {
/* error handling */
}
/* read as many [x y z] sets as specified by watermark level (fth) */
/* read as many [x y z] sets as specified by watermark level (size) */
/* copy them to the fifo data struct given below as `fifo' */
if (lis3dh_read_fifo(&lis, &fifo)) {
/* error handling */
}
/* 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]);
}

2
example/temp.c
View File

@ -52,8 +52,6 @@ int main() {
printf("ADC1: %d mV\n", lis.adc.adc1);
printf("ADC2: %d mV\n", lis.adc.adc2);
/* no decimals, step size is 1 celsius */
printf("ADC3: %d oC\n", lis.adc.adc3);
/* deinitalise struct */

54
lis3dh.c
View File

@ -1,10 +1,9 @@
#include <stddef.h>
#include <string.h>
#include <stddef.h> /* NULL */
#include <string.h> /* memset() */
#include "lis3dh.h"
#include "registers.h"
#include <stdio.h>
/* initialise device struct and read WHO_AM_I register */
int lis3dh_init(lis3dh_t *lis3dh) {
uint8_t result;
int err = 0;
@ -37,6 +36,8 @@ int lis3dh_init(lis3dh_t *lis3dh) {
return err;
}
/* write configuration options to the device */
/* then sleep 100 ms to let it set itself up properly */
int lis3dh_configure(lis3dh_t *lis3dh) {
uint8_t ctrl_reg1, ctrl_reg2, ctrl_reg3;
uint8_t ctrl_reg4, ctrl_reg5, ctrl_reg6;
@ -177,7 +178,7 @@ int lis3dh_configure(lis3dh_t *lis3dh) {
ctrl_reg0 |= (lis3dh->cfg.sdo_pullup & 1) << 7;
/* Registers have to be set in this order for SPI to function correctly */
/* Registers have to be set in this order for SPI to function correctly, I think */
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);
@ -206,9 +207,9 @@ int lis3dh_configure(lis3dh_t *lis3dh) {
return err;
}
/* the real size of the int you get back from reading the acc u16
depends on the power mode.
shift down the 16 bit word by this amount: */
/* The "real size" of the i16 accelerometer axis reading depends on the power mode. */
/* shift down the 16 bit word by this amount: */
static uint8_t acc_shift(uint8_t mode) {
switch (mode) {
case LIS3DH_MODE_HR: return 4; /* i12 */
@ -218,8 +219,8 @@ static uint8_t acc_shift(uint8_t mode) {
}
}
/* returns a scalar that when multiplied with axis reading
turns it to a multiple of mg. */
/* returns a scalar that when multiplied with axis reading */
/* turns it to a multiple of mg (1/1000 g). */
static uint8_t acc_sensitivity(uint8_t mode, uint8_t range) {
switch (range) {
case LIS3DH_FS_2G: return (mode == LIS3DH_MODE_LP) ? 16 : (mode == LIS3DH_MODE_NORMAL) ? 4 : 1;
@ -240,6 +241,7 @@ int lis3dh_read(lis3dh_t *lis3dh) {
sens = acc_sensitivity(lis3dh->cfg.mode, lis3dh->cfg.range);
/* poll STATUS_REG until new data is available */
do {
err |= lis3dh->dev.read(REG_STATUS_REG, &status, 1);
lis3dh->dev.sleep(1000);
@ -253,18 +255,17 @@ int lis3dh_read(lis3dh_t *lis3dh) {
return err;
}
/* assume fifo has been configured and poll'd */
/* assume fifo has been configured */
/* wait until FIFO is NOT empty, then */
/* 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]; /* max size */
uint8_t data[6];
uint8_t sens, fifo_src;
int err = 0;
int idx = 0;
/* wait until there is at least 1 unread sample in the FIFO */
/* otherwise can cause problems at really fast ODRs and calling this */
/* function in a loop without delays. */
do {
err |= lis3dh->dev.read(REG_FIFO_SRC_REG, &fifo_src, 1);
lis3dh->dev.sleep(1000);
@ -281,6 +282,9 @@ int lis3dh_read_fifo(lis3dh_t *lis3dh, struct lis3dh_fifo_data *fifo) {
fifo->z[idx] = ((int16_t)(data[5] | data[4] << 8) >> 6) * sens;
} while (idx++ < lis3dh->cfg.fifo.size - 1 && !LIS3DH_FIFO_SRC_EMPTY(fifo_src) && !err);
/* the device stores FIFO offsets rather than `size' so a size-32 FIFO */
/* has an offset of 31 */
fifo->size = idx;
return err;
@ -310,8 +314,8 @@ int lis3dh_read_click(lis3dh_t *lis3dh) {
return lis3dh->dev.read(REG_CLICK_SRC, &lis3dh->src.click, 1);
}
/* read REFERENCE reg to reset HP filter in REFERENCE mode
it uses the --current-- acceleration as the base in the filter */
/* read REFERENCE reg to reset HP filter in REFERENCE mode */
/* it then uses the --current-- acceleration as the base in the filter */
int lis3dh_reference(lis3dh_t *lis3dh) {
uint8_t res;
return lis3dh->dev.read(REG_REFERENCE, &res, 1);
@ -359,8 +363,8 @@ int lis3dh_reset(lis3dh_t *lis3dh) {
return err;
}
/* read all 3 ADCs and convert readings depending on power mode
st 1 lsb is equal to 1 millivolt */
/* read all 3 ADCs and convert data depending on power mode */
/* result: 1 lsb is equal to 1 millivolt */
int lis3dh_read_adc(lis3dh_t *lis3dh) {
uint8_t data[6];
uint8_t shift;
@ -377,13 +381,13 @@ int lis3dh_read_adc(lis3dh_t *lis3dh) {
return err;
}
/* the temperature sensor only reports the difference between its current temp,
and the factory calibrated temperature, 25 celsius.
in increments of plus or negative 1 unit celsius.
the reported temperature is stored inplace of adc3
temp sensing is always in 8-bit mode
operating range: -40 to 85 celsius
1 lsb = 1 deg C */
/* the temperature sensor only reports the difference between its current temp, */
/* and the factory calibrated temperature, 25 celsius. */
/* in increments of plus or negative 1 unit celsius. */
/* the reported temperature is stored inplace of adc3 */
/* temp sensing is always in 8-bit mode */
/* operating range: -40 to 85 celsius */
/* 1 lsb = 1 deg C */
int lis3dh_read_temp(lis3dh_t *lis3dh) {
uint8_t data;
int err = 0;

2
lis3dh.h
View File

@ -289,7 +289,7 @@ typedef struct lis3dh lis3dh_t;
/* struct for containing the FIFO data */
/* 1 lsb = 1 mg */
struct lis3dh_fifo_data {
uint8_t size; /* up to 32 */
uint8_t size; /* up to 31 */
int16_t x[32];
int16_t y[32];
int16_t z[32];