#ifndef LIS3DH_H
#define LIS3DH_H
#include <stdint.h>
/* macros for checking INT_SRC registers upon interrupt */
#define LIS3DH_INT_SRC_X_LOW(c) (!!(c & 0x01)) /* X axis low */
#define LIS3DH_INT_SRC_X_HIGH(c) (!!(c & 0x02)) /* X axis high */
#define LIS3DH_INT_SRC_Y_LOW(c) (!!(c & 0x04)) /* Y axis low */
#define LIS3DH_INT_SRC_Y_HIGH(c) (!!(c & 0x08)) /* Y axis high */
#define LIS3DH_INT_SRC_Z_LOW(c) (!!(c & 0x10)) /* Z axis low */
#define LIS3DH_INT_SRC_Z_HIGH(c) (!!(c & 0x20)) /* Z axis high */
#define LIS3DH_INT_SRC_IA(c) (!!(c & 0x40)) /* Interrupt active */
/* macros for checking CLICK_SRC register upon interrupt */
#define LIS3DH_CLICK_SRC_X(c) (!!(c & 0x01)) /* X high event */
#define LIS3DH_CLICK_SRC_Y(c) (!!(c & 0x02)) /* Y high event */
#define LIS3DH_CLICK_SRC_Z(c) (!!(c & 0x04)) /* Z high event */
#define LIS3DH_CLICK_SIGN(c) (!!(c & 0x08)) /* Click sign, 1 = positive */
#define LIS3DH_CLICK_SCLICK(c) (!!(c & 0x10)) /* Single-click det. enabled */
#define LIS3DH_CLICK_DCLICK(c) (!!(c & 0x20)) /* Double-click det. enabled */
/* 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 */
/* Normal mode
* but reset by reading REFERENCE, instantly removes the DC component
*/
#define LIS3DH_FILTER_MODE_NORMAL_REF 0x00
/* Reference mode
* Output [x y z] data is calculated as the difference between the
* measured acceleration and the value stored in REFERENCE.
* signed 7-bit int, 1 LSb value depends on FS.
* FS_2G: ~ 16mg per 1 LSb
* FS_4G: ~ 31mg per 1 LSb
* FS_8G: ~ 63mg per 1 LSb
* FS_16G: ~127mg per 1 LSb
* */
#define LIS3DH_FILTER_MODE_REFERENCE 0x01
/* Normal mode
* Probably the same as LIS3DH_FILTER_MODE_NORMAL_REF
*/
#define LIS3DH_FILTER_MODE_NORMAL 0x02
/* Autoreset mode
* The filter is automatically reset upon configured interrupt event.
* It can be reset at any time by reading REFERENCE.
*/
#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 */
/* Note: IA{1,2} is interrupt activity {1,2} or interrupt generators */
/* 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. */
uint8_t latch; /* active until INT1_SRC/INT2_SRC is read */
};
/* config for interrupt output pin #2 */
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 */
};
/* config for interrupt output pin #1 */
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 */
};
/* 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...
* [ODR] [1 LSb in milliseconds]
* 1 1000
* 10 100
* 25 40
* 50 20
* 100 10
* 200 5
* 400 2.5
* 1600 0.6
* 1344 0.744
* 5376 0.186
* (Note: this calc also applies to:
* - time_limit
* - time_window
* - time_latency
* used in CLICK)
*/
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 */
uint8_t reference; /* HP filter reference */
};
/* 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;
};
/* stores interrupt source registers read from the device */
struct lis3dh_interrupt_src {
uint8_t int1;
uint8_t int2;
uint8_t click;
};
struct lis3dh {
struct lis3dh_device dev; /* fn ptrs to interface w/ device */
struct lis3dh_config cfg; /* config variables to write to device */
struct lis3dh_accel acc; /* accel data read from device (not FIFO) */
struct lis3dh_adc adc; /* adc and optionally temp read from device */
struct lis3dh_interrupt_src src; /* INT_SRC registers read from device */
};
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_read_int1(lis3dh_t *lis3dh);
int lis3dh_read_int2(lis3dh_t *lis3dh);
int lis3dh_read_click(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