#ifndef LIS3DH_H #define LIS3DH_H #include /* rates */ /* all power modes */ #define LIS3DH_ODR_POWEROFF 0x00 #define LIS3DH_ODR_1_HZ 0x01 #define LIS3DH_ODR_10_HZ 0x02 #define LIS3DH_ODR_25_HZ 0x03 #define LIS3DH_ODR_50_HZ 0x04 #define LIS3DH_ODR_100_HZ 0x05 #define LIS3DH_ODR_200_HZ 0x06 #define LIS3DH_ODR_400_HZ 0x07 /* only normal mode */ #define LIS3DH_ODR_NORM_1344_HZ 0x09 /* only low-power mode */ #define LIS3DH_ODR_LP_1600_HZ 0x08 #define LIS3DH_ODR_LP_5376_HZ 0x09 /* range/sens */ #define LIS3DH_FS_2G 0x00 #define LIS3DH_FS_4G 0x01 #define LIS3DH_FS_8G 0x02 #define LIS3DH_FS_16G 0x03 /* operating modes */ #define LIS3DH_MODE_HR 0x00 #define LIS3DH_MODE_LP 0x01 #define LIS3DH_MODE_NORMAL 0x02 /* FIFO modes */ #define LIS3DH_FIFO_MODE_BYPASS 0x00 #define LIS3DH_FIFO_MODE_NORMAL 0x01 /* "FIFO" */ #define LIS3DH_FIFO_MODE_STREAM 0x02 #define LIS3DH_FIFO_MODE_STREAM_TO_FIFO 0x03 /* FIFO trigger pin selection */ #define LIS3DH_FIFO_TRIG_INT1 0x00 #define LIS3DH_FIFO_TRIG_INT2 0x01 /* filter modes */ /* this one is reset by reading REFERENCE (0x26) */ #define LIS3DH_FILTER_MODE_NORMAL 0x00 #define LIS3DH_FILTER_MODE_REFERENCE 0x01 #define LIS3DH_FILTER_MODE_NORMAL2 0x02 /* same as 00? */ #define LIS3DH_FILTER_MODE_AUTORESET 0x03 /* filter cutoff */ /* unfortunately, there is only a table for low-power mode, and the actual cutoff-frequency depends on the ODR. Naming scheme after ODR@400Hz AN3308 > section 4.3.1.1 */ #define LIS3DH_FILTER_CUTOFF_8 0x00 /* highest freq */ #define LIS3DH_FILTER_CUTOFF_4 0x01 #define LIS3DH_FILTER_CUTOFF_2 0x02 #define LIS3DH_FILTER_CUTOFF_1 0x03 /* lowest freq */ /* user provided functions, init and deinit can be set to NULL and won't be used */ struct lis3dh_device { int (*init)(void); int (*read)(uint8_t reg, uint8_t *dst, uint32_t size); int (*write)(uint8_t reg, uint8_t value); int (*sleep)(uint32_t dur_us); int (*deinit)(void); }; struct lis3dh_click_config { uint8_t zd; /* double click interrupt on Z-axis */ uint8_t zs; /* single click interrupt on Z-axis */ uint8_t yd; /* double click interrupt on Y-axis */ uint8_t ys; /* single click interrupt on Y-axis */ uint8_t xd; /* double click interrupt on X-axis */ uint8_t xs; /* single click interrupt on X-axis */ uint8_t latch; /* active until CLICK_SRC is read */ }; /* INT1_CFG and INT2_CFG have identical struct */ struct lis3dh_int_config { uint8_t aoi; /* AND/OR combination of int events */ uint8_t en_6d; /* 6 direction detection */ uint8_t en_4d; /* both en_6d and en_4d must = 1 for 4D to work ! */ uint8_t zh; /* interrupt generation on Z high event / Dir. recog. */ uint8_t zl; /* interrupt generation on Z low event / Dir. recog. */ uint8_t yh; /* interrupt generation on Y high event / Dir. recog. */ uint8_t yl; /* interrupt generation on Y low event / Dir. recog. */ uint8_t xh; /* interrupt generation on X high event / Dir. recog. */ uint8_t xl; /* interrupt generation on X low event / Dir. recog. */ }; /* config for INT2 trigger output */ struct lis3dh_int_pin2_config { uint8_t click; /* CLICK interrupt */ uint8_t ia1; /* IA1 interrupt */ uint8_t ia2; /* IA2 interrupt */ uint8_t boot; /* enable BOOT on pin 2 */ uint8_t act; /* interrupt on activity */ uint8_t polarity; /* INT1 & INT2 polarity. 0 active high, 1 active low */ uint8_t latch; /* active until INT2_SRC read (reg5:1) */ }; /* config for INT1 trigger output */ struct lis3dh_int_pin1_config { uint8_t click; /* CLICK interrupt */ uint8_t ia1; /* IA1 interrupt */ uint8_t ia2; /* IA2 interrupt */ uint8_t drdy_zyxda; /* new [xyz] data ready (not via FIFO) */ uint8_t drdy_321; /* not sure */ uint8_t wtm; /* FIFO reached watermark level */ uint8_t overrun; /* FIFO has overrun */ uint8_t latch; /* active until INT1_SRC read (reg5:0) */ }; /* config for high-pass filter */ struct lis3dh_filter_config { uint8_t mode; /* filter mode, reset behaviour */ uint8_t cutoff; /* high-pass filter cutoff freq (~ ODR) */ uint8_t fds; /* ¬(bypass filter) */ uint8_t click; /* enable filter for CLICK function */ uint8_t ia2; /* enable filter for AOI func on INT 2 */ uint8_t ia1; /* enable filter for AOI func on INT 1 */ }; /* config for FIFO */ struct lis3dh_fifo_config { uint8_t fth; /* user-specified watermark level 0-32 */ uint8_t trig; /* pin to trigger when watermark/overrun occurs */ uint8_t mode; /* FIFO mode */ }; struct lis3dh_config { uint8_t rate; /* ODR */ uint8_t range; /* FS */ uint8_t mode; /* LPen and HR */ struct lis3dh_fifo_config fifo; struct lis3dh_filter_config filter; struct lis3dh_int_pin1_config pin1; struct lis3dh_int_pin2_config pin2; struct lis3dh_int_config int1; struct lis3dh_int_config int2; struct lis3dh_click_config click; /* 1 LSb = 16 mg @ FS_2G * 1 LSb = 32 mg @ FS_4G * 1 LSb = 62 mg @ FS_8G * 1 LSb = 186 mg @ FS_16G */ uint8_t int1_ths; /* 7-bit INT 1 threshold value */ uint8_t int2_ths; /* 7-bit INT 2 threshold value */ uint8_t click_ths; /* 7-bit CLICK threshold value */ uint8_t act_ths; /* 7-bit ACT threshold value */ /* Duration time is measured in N/ODR where: * --- N = The content of the intX_dur integer * --- ODR = the data rate, eg 100, 400... */ uint8_t int1_dur; /* 7-bit INT 1 duration value */ uint8_t int2_dur; /* 7-bit INT 2 duration value */ /* Sleep-to-wake and return-to-sleep duration * 1 LSb = (8 * 1[LSb] + 1) / ODR */ uint8_t act_dur; /* 8-bit ACT duration value */ uint8_t time_limit; /* 7-bit time limit ~ CLICK */ uint8_t time_latency; /* 8-bit time latency ~ CLICK */ uint8_t time_window; /* 8-bit time window ~ CLICK */ uint8_t sdo_pullup; /* Use pull-up on SDO. default 0 use */ uint8_t en_adc; /* enable ADC */ uint8_t en_temp; /* enable temp sensor on ADC 3 */ }; /* reads from internal ADCs. * Input range: 800 mV to 1600 mV * Resolution: * 8-bit in LP mode * 10-bit in normal and in HR mode. * Sampling frequency: * same as ODR * Output: * actual value in mV */ struct lis3dh_adc { float adc1; float adc2; float adc3; }; /* accel data not read from FIFO is put here */ struct lis3dh_accel { float x; float y; float z; }; struct lis3dh { struct lis3dh_device dev; struct lis3dh_config cfg; struct lis3dh_accel acc; struct lis3dh_adc adc; }; typedef struct lis3dh lis3dh_t; /* struct for containing the FIFO data */ struct lis3dh_fifo_data { uint8_t size; /* up to 32 */ float x[32]; float y[32]; float z[32]; }; int lis3dh_init(lis3dh_t *lis3dh); int lis3dh_deinit(lis3dh_t *lis3dh); int lis3dh_configure(lis3dh_t *lis3dh); int lis3dh_poll(lis3dh_t *lis3dh); int lis3dh_read(lis3dh_t *lis3dh); int lis3dh_poll_fifo(lis3dh_t *lis3dh); int lis3dh_read_fifo(lis3dh_t *lis3dh, struct lis3dh_fifo_data *fifo); int lis3dh_clear_int1(lis3dh_t *lis3dh); int lis3dh_clear_int2(lis3dh_t *lis3dh); int lis3dh_reference(lis3dh_t *lis3dh); int lis3dh_reset(lis3dh_t *lis3dh); int lis3dh_read_adc(lis3dh_t *lis3dh); int lis3dh_read_temp(lis3dh_t *lis3dh); #endif