single-click detection & fixed examples
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README.md
12
README.md
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A C89 driver for the 3-axis accelerometer LIS3DH. Supports both i2c and SPI.
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A C89 driver for the 3-axis accelerometer LIS3DH. Supports both i2c and SPI.
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> ### Features
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> ### Features
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> - FIFO of varying watermark level, up to 32
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> - FIFO
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> - HP filter (4 c/o freq)
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> - HP filter
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> - 2G, 4G, 8G and 16G
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> - 2G, 4G, 8G and 16G
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> - All power modes
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> - All power modes
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> - Interrupt generation (partial)
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> - Interrupt generation
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> - Free-fall detection (soon)
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> - Free-fall detection (soon)
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> - Single and double click detection (soon)
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> - Single-click detection
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> - Double-click detection (soon)
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> - 4D/6D orientation detection (soon)
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> - 4D/6D orientation detection (soon)
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## Examples
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See the examples/ dir for complete code examples
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## Implementation
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## Implementation
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This driver requires the user to provide pointers to the following abstractely named functions:
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This driver requires the user to provide pointers to the following abstractely named functions:
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@ -1,12 +1,16 @@
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# lis3dh/example
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# lis3dh/example
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### simple/
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### simple.c
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Basic examples of how to use this device
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Basic examples of how to use this device
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### fifo/
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### fifo.c
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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: All FIFO readings use 10-bit resolution regardless of the mode set in `lis.cfg.mode`. 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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Instead of polling for every single [x y z] set, a FIFO with programmable capacity ("watermark") can be used like such: All FIFO readings use 10-bit resolution regardless of the mode set in `lis.cfg.mode`. 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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The LIS3DH can optionally apply a HP filter on the sample data. It can be used to greatly reduce the "DC acceleration" present.
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The LIS3DH can optionally apply a HP filter on the sample data. It can be used to greatly reduce the "DC acceleration" present.
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### interrupts/
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### interrupts.c
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The LIS3DH supports two different interrupt "output pins," `INT1` and `INT2`. The appropriate flag must be set in either `cfg.int1` or `cfg.int2` (only one of such flags can be set at a time!) and the interrupt source must be configured to trigger into `INT1` or `INT2`. Below is example code that listens and receives an interrupt when the FIFO watermark is reached i.e. it is full.
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The LIS3DH supports two different interrupt "output pins," `INT1` and `INT2`. The appropriate flag must be set in either `cfg.int1` or `cfg.int2` (only one of such flags can be set at a time!) and the interrupt source must be configured to trigger into `INT1` or `INT2`. Below is example code that listens and receives an interrupt when the FIFO watermark is reached i.e. it is full.
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### single-click.c
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Set up single-click detection using HP filter
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@ -1,52 +0,0 @@
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#define _GNU_SOURCE
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#include <unistd.h>
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#include <stdio.h>
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#include "lis3dh.h"
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#include "i2c.h"
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int main() {
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lis3dh_t lis;
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struct lis3dh_fifo_data data;
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int i;
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lis.dev.init = i2c_init;
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lis.dev.read = i2c_read;
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lis.dev.write = i2c_write;
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lis.dev.sleep = usleep;
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lis.dev.deinit = i2c_deinit;
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if (lis3dh_init(&lis)) {
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/* error handling */
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}
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lis.cfg.mode = LIS3DH_MODE_HR;
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lis.cfg.range = LIS3DH_FS_4G;
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lis.cfg.rate = LIS3DH_ODR_100_HZ;
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lis.cfg.fifo.mode = LIS3DH_FIFO_MODE_NORMAL;
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lis.cfg.filter.mode = LIS3DH_FILTER_MODE_AUTORESET;
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lis.cfg.filter.cutoff = LIS3DH_FILTER_CUTOFF_8;
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if (lis3dh_configure(&lis)) {
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/* error handling */
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}
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if (lis3dh_poll_fifo(&lis)) {
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/* error handling */
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}
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if (lis3dh_read_fifo(&lis, &data)) {
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/* error handling */
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}
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/* read out fifo buffer data */
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for(i=0; i<data.size; i++) {
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printf("x: %f, y: %f, z: %f\n", data.x[i], data.y[i], data.z[i]);
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}
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if (lis3dh_deinit(&lis)) {
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/* error handling */
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}
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return 0;
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}
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@ -26,6 +26,11 @@ 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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/* device sometimes corrupts itself, so reset .. */
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if (lis3dh_reset(&lis)) {
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/* error handling */
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}
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/* register interrupt */
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/* register interrupt */
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if (int_register(GPIO_INTERRUPT_PIN)) {
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if (int_register(GPIO_INTERRUPT_PIN)) {
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/* error handling */
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/* error handling */
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@ -36,7 +41,10 @@ int main() {
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lis.cfg.rate = LIS3DH_ODR_100_HZ;
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lis.cfg.rate = LIS3DH_ODR_100_HZ;
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lis.cfg.fifo.mode = LIS3DH_FIFO_MODE_STREAM;
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lis.cfg.fifo.mode = LIS3DH_FIFO_MODE_STREAM;
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lis.cfg.fifo.trig = LIS3DH_FIFO_TRIG_INT1; /* trigger into INT1 */
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lis.cfg.fifo.trig = LIS3DH_FIFO_TRIG_INT1; /* trigger into INT1 */
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lis.cfg.int1.wtm = 1; /* trigger upon watermark level reached */
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lis.cfg.pin1.wtm = 1; /* trigger upon watermark level reached */
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/* set up HP filter to remove DC component */
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lis.cfg.filter.mode = LIS3DH_FILTER_MODE_NORMAL;
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lis.cfg.filter.cutoff = LIS3DH_FILTER_CUTOFF_4;
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if (lis3dh_configure(&lis)) {
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if (lis3dh_configure(&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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for(k=0; k<fifo.size; k++) {
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for(k=0; k<fifo.size; k++) {
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printf("%04.04f %04.04f %04.04f %04.04f\n", fifo.x[k], fifo.y[k], fifo.z[k]);
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printf("x: %04.04f, y: %04.04f z: %04.04f\n", fifo.x[k], fifo.y[k], fifo.z[k]);
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}
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}
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/* unregister interrupt */
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/* unregister interrupt */
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/* error handling */
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/* error handling */
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}
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}
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/* device sometimes corrupts itself, so reset .. */
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if (lis3dh_reset(&lis)) {
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/* error handling */
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}
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lis.cfg.mode = LIS3DH_MODE_HR;
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lis.cfg.mode = LIS3DH_MODE_HR;
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lis.cfg.range = LIS3DH_FS_4G;
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lis.cfg.range = LIS3DH_FS_4G;
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lis.cfg.rate = LIS3DH_ODR_100_HZ;
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lis.cfg.rate = LIS3DH_ODR_100_HZ;
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#define _GNU_SOURCE
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#include <unistd.h>
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#include <stdio.h>
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#include "lis3dh.h"
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#include "i2c.h"
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int main() {
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lis3dh_t lis;
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int i;
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lis.dev.init = i2c_init;
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lis.dev.read = i2c_read;
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lis.dev.write = i2c_write;
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lis.dev.sleep = usleep;
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lis.dev.deinit = i2c_deinit;
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if (lis3dh_init(&lis)) {
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/* error handling */
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}
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lis.cfg.mode = LIS3DH_MODE_HR;
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lis.cfg.range = LIS3DH_FS_4G;
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lis.cfg.rate = LIS3DH_ODR_100_HZ;
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if (lis3dh_configure(&lis)) {
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/* error handling */
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}
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for(i=0; i<10; i++) {
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if (lis3dh_poll(&lis)) {
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/* error handling */
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}
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if (lis3dh_read(&lis)) {
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/* error handling */
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}
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printf("x: %f, y: %f, z: %f\n", lis.acc.x, lis.acc.y, lis.acc.z);
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}
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if (lis3dh_deinit(&lis)) {
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/* error handling */
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}
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return 0;
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}
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107
example/single-click.c
Normal file
107
example/single-click.c
Normal file
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#define _GNU_SOURCE
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <math.h>
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#include "lis3dh.h"
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#include "interrupt.h"
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#include "i2c.h"
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#define GPIO_INTERRUPT_PIN_INT1 12
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int main() {
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lis3dh_t lis;
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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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lis.dev.read = i2c_read;
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lis.dev.write = i2c_write;
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lis.dev.sleep = usleep;
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lis.dev.deinit = i2c_deinit;
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/* initialise LIS3DH struct */
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if (lis3dh_init(&lis)) {
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/* error handling */
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}
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/* reset device because it sometimes corrupts itself */
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if (lis3dh_reset(&lis)) {
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/* error handling */
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}
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/* register interrupt */
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if (int_register(GPIO_INTERRUPT_PIN_INT1)) {
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/* error handling */
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}
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/* set up config */
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lis.cfg.mode = LIS3DH_MODE_HR;
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lis.cfg.range = LIS3DH_FS_2G;
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lis.cfg.rate = LIS3DH_ODR_400_HZ; /* minimum recommended ODR */
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lis.cfg.filter.mode = LIS3DH_FILTER_MODE_NORMAL;
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lis.cfg.filter.cutoff = LIS3DH_FILTER_CUTOFF_8;
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lis.cfg.filter.click = 1; /* enable filtering for CLICK function */
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lis.cfg.click.xs = 1; /* enable X axis single click */
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lis.cfg.click.ys = 1; /* enable Y axis single click */
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lis.cfg.click.zs = 1; /* enable Z axis single click */
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lis.cfg.pin1.click = 1; /* enable click int src through pin1 */
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lis.cfg.pin1.latch = 1; /* latch this request I think */
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/* 1 LSb = 16 mg @ FS_2G
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* so a 0.072g 'shock' is 72/16 = 4.5
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* However, the device can have up to +- 40mg read error
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* 0.112g => 112/16 = 15
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*/
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lis.cfg.click_ths = 7; /* pretty sensitive */
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/* the 'shock' must be gone after 10 ms let's say .. */
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/* Duration time is measured in N/ODR where:
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* --- N = The content of the intX_dur integer
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* --- ODR = the data rate, eg 100, 400...
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* [ODR] [1 LSb in milliseconds]
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* 400 2.5
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*
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* At 400 ODR, 10ms/2.5ms = 4
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*/
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lis.cfg.time_limit = 4;
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/* write device config */
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if (lis3dh_configure(&lis)) {
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/* error handling */
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}
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for(;;) {
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/* poll interrupt on INT1 pin */
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if (int_poll(GPIO_INTERRUPT_PIN_INT1)) {
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/* error handling */
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}
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/* read CLICK_SRC when interrupt has fired */
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if (lis3dh_read_click(&lis)) {
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/* error handling */
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}
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/* print data gathered from CLICK_SRC */
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printf("Click: X=%d, Y=%d, Z=%d, Sign=%d, S_en=%d, D_en=%d\n",
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LIS3DH_CLICK_SRC_X(lis.src.click),
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LIS3DH_CLICK_SRC_Y(lis.src.click),
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LIS3DH_CLICK_SRC_Z(lis.src.click),
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LIS3DH_CLICK_SIGN(lis.src.click),
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LIS3DH_CLICK_SCLICK(lis.src.click),
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LIS3DH_CLICK_DCLICK(lis.src.click));
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}
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/* unregister interrupt */
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if (int_unregister(GPIO_INTERRUPT_PIN_INT1)) {
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/* error handling */
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}
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/* deinitalise struct */
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if (lis3dh_deinit(&lis)) {
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/* error handling */
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}
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return 0;
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}
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