/
lis3dh.c
796 lines (639 loc) · 20.3 KB
/
lis3dh.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
/*
* Author: Alex Tereschenko <alext.mkrs@gmail.com>
* Copyright (c) 2018 Alex Tereschenko.
*
* Based on LIS2DS12 module by
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2017 Intel Corporation.
*
* The MIT License
*
* This program and the accompanying materials are made available under the
* terms of the The MIT License which is available at
* https://opensource.org/licenses/MIT.
*
* SPDX-License-Identifier: MIT
*/
#include <assert.h>
#include <unistd.h>
#include "lis3dh.h"
#include "upm_utilities.h"
// Macro for converting a uint8_t low/high pair into a float
#define INT16_TO_FLOAT(h, l) (float) ((int16_t)((l) | ((h) << 8)))
// Some useful macros to save on typing and text wrapping
#undef _SHIFT
#define _SHIFT(x) (_LIS3DH_##x##_SHIFT)
#undef _MASK
#define _MASK(x) (_LIS3DH_##x##_MASK)
#undef _SHIFTMASK
#define _SHIFTMASK(x) (_MASK(x) << _SHIFT(x))
// SPI CS on and off functions
static void
_csOn(const lis3dh_context dev)
{
assert(dev != NULL);
if (dev->gpioCS) {
mraa_gpio_write(dev->gpioCS, 0);
}
}
static void
_csOff(const lis3dh_context dev)
{
assert(dev != NULL);
if (dev->gpioCS) {
mraa_gpio_write(dev->gpioCS, 1);
}
}
// Init
lis3dh_context
lis3dh_init(int bus, int addr, int cs)
{
lis3dh_context dev = (lis3dh_context) malloc(sizeof(struct _lis3dh_context));
if (!dev) {
return NULL;
}
// Zero out context
memset((void*) dev, 0, sizeof(struct _lis3dh_context));
// Make sure MRAA is initialized
if (mraa_init() != MRAA_SUCCESS) {
printf("%s: mraa_init() failed\n", __FUNCTION__);
lis3dh_close(dev);
return NULL;
}
if (addr < 0) {
// SPI
if (!(dev->spi = mraa_spi_init(bus))) {
printf("%s: mraa_spi_init() for bus %d failed\n", __FUNCTION__, bus);
lis3dh_close(dev);
return NULL;
}
// Only create CS context if we are actually using a valid pin.
// A hardware controlled pin should specify CS as -1.
if (cs >= 0) {
if (!(dev->gpioCS = mraa_gpio_init(cs))) {
printf("%s: mraa_gpio_init() for CS pin %d failed\n", __FUNCTION__, cs);
lis3dh_close(dev);
return NULL;
}
mraa_gpio_dir(dev->gpioCS, MRAA_GPIO_OUT);
}
mraa_spi_mode(dev->spi, MRAA_SPI_MODE0);
if (mraa_spi_frequency(dev->spi, 5000000)) {
printf("%s: mraa_spi_frequency() failed\n", __FUNCTION__);
lis3dh_close(dev);
return NULL;
}
} else {
// I2C
if (!(dev->i2c = mraa_i2c_init(bus))) {
printf("%s: mraa_i2c_init() for bus %d failed\n", __FUNCTION__, bus);
lis3dh_close(dev);
return NULL;
}
if (mraa_i2c_address(dev->i2c, addr)) {
printf("%s: mraa_i2c_address() for address 0x%x failed\n", __FUNCTION__, addr);
lis3dh_close(dev);
return NULL;
}
}
// Check the chip id
uint8_t chipID = lis3dh_get_chip_id(dev);
if (chipID != LIS3DH_CHIPID) {
printf("%s: invalid chip id: %02x, expected %02x\n", __FUNCTION__, chipID, LIS3DH_CHIPID);
lis3dh_close(dev);
return NULL;
}
// Call devinit with default options
if (lis3dh_devinit(dev, LIS3DH_ODR_100HZ, LIS3DH_FS_2G, true)) {
printf("%s: lis3dh_devinit() failed\n", __FUNCTION__);
lis3dh_close(dev);
return NULL;
}
return dev;
}
void
lis3dh_close(lis3dh_context dev)
{
assert(dev != NULL);
lis3dh_uninstall_isr(dev, LIS3DH_INTERRUPT_INT1);
lis3dh_uninstall_isr(dev, LIS3DH_INTERRUPT_INT2);
if (dev->i2c) {
mraa_i2c_stop(dev->i2c);
}
if (dev->spi) {
mraa_spi_stop(dev->spi);
}
if (dev->gpioCS) {
mraa_gpio_close(dev->gpioCS);
}
free(dev);
}
upm_result_t
lis3dh_devinit(const lis3dh_context dev, LIS3DH_ODR_T odr, LIS3DH_FS_T fs, bool high_res)
{
assert(dev != NULL);
// Set high resolution mode, ODR and FS using passed values.
// Also unconditionally enable X, Y and Z axes, temperature sensor (and ADC),
// BDU mode as well as disable output high-pass filter.
if (lis3dh_enable_lp_mode(dev, false) ||
lis3dh_enable_hr_mode(dev, high_res) ||
lis3dh_enable_axes(dev, true, true, true) ||
lis3dh_enable_bdu_mode(dev, true) ||
lis3dh_set_odr(dev, odr) ||
lis3dh_set_full_scale(dev, fs) ||
lis3dh_enable_hp_filtering(dev, false) ||
lis3dh_enable_temperature(dev, true)) {
printf("%s: failed to set configuration parameters\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
// Settle
upm_delay_ms(50);
return UPM_SUCCESS;
}
upm_result_t
lis3dh_enable_axes(const lis3dh_context dev,
bool x_axis_enable,
bool y_axis_enable,
bool z_axis_enable)
{
assert(dev != NULL);
uint8_t reg = lis3dh_read_reg(dev, LIS3DH_REG_CTRL_REG1);
// X axis
if (x_axis_enable) {
reg |= LIS3DH_CTRL_REG1_XEN;
} else {
reg &= ~LIS3DH_CTRL_REG1_XEN;
}
// Y axis
if (y_axis_enable) {
reg |= LIS3DH_CTRL_REG1_YEN;
} else {
reg &= ~LIS3DH_CTRL_REG1_YEN;
}
// Z axis
if (z_axis_enable) {
reg |= LIS3DH_CTRL_REG1_ZEN;
} else {
reg &= ~LIS3DH_CTRL_REG1_ZEN;
}
if (lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG1, reg)) {
printf("%s: failed to enable axes\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_enable_bdu_mode(const lis3dh_context dev, bool bdu_enable)
{
assert(dev != NULL);
uint8_t reg = lis3dh_read_reg(dev, LIS3DH_REG_CTRL_REG4);
if (bdu_enable) {
reg |= LIS3DH_CTRL_REG4_BDU;
} else {
reg &= ~LIS3DH_CTRL_REG4_BDU;
}
if (lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG4, reg)) {
printf("%s: failed to set BDU mode\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_enable_lp_mode(const lis3dh_context dev, bool lp_enable)
{
assert(dev != NULL);
uint8_t reg = lis3dh_read_reg(dev, LIS3DH_REG_CTRL_REG1);
if (lp_enable) {
// Check whether high resolution mode is enabled - enabling both LP and HR is not allowed
uint8_t tmp_reg = lis3dh_read_reg(dev, LIS3DH_REG_CTRL_REG4);
if (tmp_reg & LIS3DH_CTRL_REG4_HR) {
printf("%s: can't enable low power mode, high resolution mode is already enabled\n",
__FUNCTION__);
return UPM_ERROR_INVALID_PARAMETER;
} else {
// We are good - enable low power mode
reg |= LIS3DH_CTRL_REG1_LPEN;
// Set temperatureFactor according to LP mode bit width (8b).
// This is needed to account for left alignment of the temperature data.
// We have to shift the data right (== divide by a factor in case of float)
// to eliminate "dead" bits.
dev->temperatureFactor = 256;
}
} else {
reg &= ~LIS3DH_CTRL_REG1_LPEN;
// Set temperatureFactor according to Normal mode bit width (10b)
dev->temperatureFactor = 64;
}
if (lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG1, reg)) {
printf("%s: failed to set low power mode\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_enable_hr_mode(const lis3dh_context dev, bool hr_enable)
{
assert(dev != NULL);
uint8_t reg = lis3dh_read_reg(dev, LIS3DH_REG_CTRL_REG4);
if (hr_enable) {
// Check whether low power mode is enabled - enabling both LP and HR is not allowed
uint8_t tmp_reg = lis3dh_read_reg(dev, LIS3DH_REG_CTRL_REG1);
if (tmp_reg & LIS3DH_CTRL_REG1_LPEN) {
printf("%s: can't enable high resolution mode, low power mode is already enabled\n",
__FUNCTION__);
return UPM_ERROR_INVALID_PARAMETER;
} else {
// We are good - enable high resolution mode
reg |= LIS3DH_CTRL_REG4_HR;
}
} else {
reg &= ~LIS3DH_CTRL_REG4_HR;
}
// Set the temperature sensor scaling factor appropriately.
// Its max is 10 bit for both normal and HR modes.
dev->temperatureFactor = 64;
if (lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG4, reg)) {
printf("%s: failed to set high resolution mode\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_enable_normal_mode(const lis3dh_context dev)
{
assert(dev != NULL);
// There's no special mode bit for Normal - just disable LP and HR
if (lis3dh_enable_lp_mode(dev, false) || lis3dh_enable_hr_mode(dev, false)) {
printf("%s: failed to enable normal mode\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_enable_hp_filtering(const lis3dh_context dev, bool filter)
{
assert(dev != NULL);
uint8_t reg = lis3dh_read_reg(dev, LIS3DH_REG_CTRL_REG2);
if (filter) {
reg |= LIS3DH_CTRL_REG2_FDS;
} else {
reg &= ~LIS3DH_CTRL_REG2_FDS;
}
if (lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG2, reg)) {
printf("%s: failed to set HP filter mode\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_enable_interrupt_latching(const lis3dh_context dev, bool int1_latch, bool int2_latch)
{
assert(dev != NULL);
uint8_t reg = lis3dh_read_reg(dev, LIS3DH_REG_CTRL_REG5);
if (int1_latch) {
reg |= LIS3DH_CTRL_REG5_LIR_INT1;
} else {
reg &= ~LIS3DH_CTRL_REG5_LIR_INT1;
}
if (int2_latch) {
reg |= LIS3DH_CTRL_REG5_LIR_INT2;
} else {
reg &= ~LIS3DH_CTRL_REG5_LIR_INT2;
}
if (lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG5, reg)) {
printf("%s: failed to set interrupt latching mode\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_enable_adc(const lis3dh_context dev, bool adc_enable)
{
assert(dev != NULL);
// BDU mode is a prerequisite
if (adc_enable && lis3dh_enable_bdu_mode(dev, true)) {
printf("%s: failed to enable BDU mode - a prerequisite for enabling ADC\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
uint8_t reg = lis3dh_read_reg(dev, LIS3DH_REG_TEMP_CFG_REG);
if (adc_enable) {
reg |= LIS3DH_TEMP_CFG_REG_ADC_EN;
} else {
reg &= ~LIS3DH_TEMP_CFG_REG_ADC_EN;
}
if (lis3dh_write_reg(dev, LIS3DH_REG_TEMP_CFG_REG, reg)) {
printf("%s: failed to set ADC mode\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_enable_temperature(const lis3dh_context dev, bool temperature_enable)
{
assert(dev != NULL);
// ADC must be enabled for temperature readings to work
if (temperature_enable && lis3dh_enable_adc(dev, true)) {
printf("%s: failed to enable ADC - a prerequisite for enabling temperature sensor\n",
__FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
uint8_t reg = lis3dh_read_reg(dev, LIS3DH_REG_TEMP_CFG_REG);
if (temperature_enable) {
reg |= LIS3DH_TEMP_CFG_REG_TEMP_EN;
} else {
reg &= ~LIS3DH_TEMP_CFG_REG_TEMP_EN;
}
if (lis3dh_write_reg(dev, LIS3DH_REG_TEMP_CFG_REG, reg)) {
printf("%s: failed to set temperature sensor mode\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_set_odr(const lis3dh_context dev, LIS3DH_ODR_T odr)
{
assert(dev != NULL);
bool lp_mode = false;
uint8_t reg = lis3dh_read_reg(dev, LIS3DH_REG_CTRL_REG1);
// Zero out ODR bits
reg &= ~_SHIFTMASK(CTRL_REG1_ODR);
// We encoded an extra bit in LIS3DH_ODR_T indicating an LP mode. Check for it here.
if ((int) odr > (int) _MASK(CTRL_REG1_ODR)) {
lp_mode = true;
}
// Mask it off and set it
odr &= _MASK(CTRL_REG1_ODR);
reg |= (odr << _SHIFT(CTRL_REG1_ODR));
// Set the LPEN bit appropriately
lis3dh_enable_lp_mode(dev, lp_mode);
// Commit our changes
if (lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG1, reg)) {
printf("%s: failed to set ODR configuration\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_set_full_scale(const lis3dh_context dev, LIS3DH_FS_T fs)
{
assert(dev != NULL);
uint8_t reg = lis3dh_read_reg(dev, LIS3DH_REG_CTRL_REG4);
// Mask out FS bits, add our own
reg &= ~_SHIFTMASK(CTRL_REG4_FS);
reg |= (fs << _SHIFT(CTRL_REG4_FS));
if (lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG4, reg)) {
printf("%s: failed to set FS configuration\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
// Basic sensitivity in g/LSB, calculated for a full 16b resolution.
switch (fs) {
case LIS3DH_FS_2G:
// (2*2) / 2^16
dev->accScale = 0.000061;
break;
case LIS3DH_FS_4G:
// (4*2) / 2^16
dev->accScale = 0.000122;
break;
case LIS3DH_FS_8G:
// (8*2) / 2^16
dev->accScale = 0.000244;
break;
case LIS3DH_FS_16G:
// (16*2) / 2^16
dev->accScale = 0.000488;
break;
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_set_interrupt_active_high(const lis3dh_context dev, bool high)
{
assert(dev != NULL);
uint8_t reg = lis3dh_read_reg(dev, LIS3DH_REG_CTRL_REG6);
if (high) {
reg &= ~LIS3DH_CTRL_REG6_INT_POLARITY;
} else {
reg |= LIS3DH_CTRL_REG6_INT_POLARITY;
}
if (lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG6, reg)) {
printf("%s: failed to set interrupt polarity mode\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_set_int1_config(const lis3dh_context dev, uint8_t cfg)
{
assert(dev != NULL);
if (lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG3, cfg)) {
printf("%s: failed to set interrupt 1 configuration\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_set_int2_config(const lis3dh_context dev, uint8_t cfg)
{
assert(dev != NULL);
if (lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG6, cfg)) {
printf("%s: failed to set interrupt 2 configuration\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
uint8_t
lis3dh_read_reg(const lis3dh_context dev, uint8_t reg)
{
assert(dev != NULL);
if (dev->spi) {
// Needed for read
reg |= 0x80;
uint8_t pkt[2] = { reg, 0 };
_csOn(dev);
if (mraa_spi_transfer_buf(dev->spi, pkt, pkt, 2)) {
_csOff(dev);
printf("%s: mraa_spi_transfer_buf() failed\n", __FUNCTION__);
return 0xFF;
}
_csOff(dev);
return pkt[1];
} else {
return (uint8_t) mraa_i2c_read_byte_data(dev->i2c, reg);
}
}
int
lis3dh_read_regs(const lis3dh_context dev, uint8_t reg, uint8_t* buffer, int len)
{
assert(dev != NULL);
if (dev->spi) {
// Needed for read with address autoincrement
reg |= 0xC0;
uint8_t sbuf[len + 1];
memset((char*) sbuf, 0, len + 1);
sbuf[0] = reg;
_csOn(dev);
if (mraa_spi_transfer_buf(dev->spi, sbuf, sbuf, len + 1)) {
_csOff(dev);
printf("%s: mraa_spi_transfer_buf() failed\n", __FUNCTION__);
return -1;
}
_csOff(dev);
// Now copy it into user buffer
for (int i = 0; i < len; i++) {
buffer[i] = sbuf[i + 1];
}
} else {
// Needed for read with address autoincrement
reg |= 0x80;
if (mraa_i2c_read_bytes_data(dev->i2c, reg, buffer, len) != len) {
return -1;
}
}
return len;
}
upm_result_t
lis3dh_write_reg(const lis3dh_context dev, uint8_t reg, uint8_t val)
{
assert(dev != NULL);
if (dev->spi) {
// Mask off 0x80 for writing
reg &= 0x7F;
uint8_t pkt[2] = { reg, val };
_csOn(dev);
if (mraa_spi_transfer_buf(dev->spi, pkt, NULL, 2)) {
_csOff(dev);
printf("%s: mraa_spi_transfer_buf() failed.", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
_csOff(dev);
} else {
if (mraa_i2c_write_byte_data(dev->i2c, val, reg)) {
printf("%s: mraa_i2c_write_byte_data() failed.", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_update(const lis3dh_context dev)
{
assert(dev != NULL);
// Max axes data length, 2 bytes per axis * 3 axes
const int bufLen = 6;
// Max temperature data length
const int temperatureBufLen = 2;
// We reuse the same array when reading acceleration and then temperature data
uint8_t buf[bufLen];
if (lis3dh_read_regs(dev, LIS3DH_REG_OUT_X_L, buf, bufLen) != bufLen) {
printf("%s: lis3dh_read_regs() failed to read %d bytes of axes data\n", __FUNCTION__, bufLen);
return UPM_ERROR_OPERATION_FAILED;
}
// X MSB LSB
dev->accX = INT16_TO_FLOAT(buf[1], buf[0]);
// Y
dev->accY = INT16_TO_FLOAT(buf[3], buf[2]);
// Z
dev->accZ = INT16_TO_FLOAT(buf[5], buf[4]);
// Get the temperature
if (lis3dh_read_regs(dev, LIS3DH_REG_OUT_ADC3_L, buf, temperatureBufLen) != temperatureBufLen) {
printf("%s: lis3dh_read_regs() failed to read %d bytes of temperature data\n",
__FUNCTION__,
temperatureBufLen);
return UPM_ERROR_OPERATION_FAILED;
}
dev->temperature = INT16_TO_FLOAT(buf[1], buf[0]);
return UPM_SUCCESS;
}
uint8_t
lis3dh_get_chip_id(const lis3dh_context dev)
{
assert(dev != NULL);
return lis3dh_read_reg(dev, LIS3DH_REG_WHO_AM_I);
}
void
lis3dh_get_accelerometer(const lis3dh_context dev, float* x, float* y, float* z)
{
assert(dev != NULL);
if (x) {
*x = dev->accX * dev->accScale;
}
if (y) {
*y = dev->accY * dev->accScale;
}
if (z) {
*z = dev->accZ * dev->accScale;
}
}
float
lis3dh_get_temperature(const lis3dh_context dev)
{
assert(dev != NULL);
return (dev->temperature / dev->temperatureFactor);
}
uint8_t
lis3dh_get_status(const lis3dh_context dev)
{
assert(dev != NULL);
return lis3dh_read_reg(dev, LIS3DH_REG_STATUS_REG);
}
uint8_t
lis3dh_get_status_aux(const lis3dh_context dev)
{
assert(dev != NULL);
return lis3dh_read_reg(dev, LIS3DH_REG_STATUS_REG_AUX);
}
upm_result_t
lis3dh_install_isr(const lis3dh_context dev,
LIS3DH_INTERRUPT_PINS_T intr,
int gpio,
mraa_gpio_edge_t level,
void (*isr)(void*),
void* arg)
{
assert(dev != NULL);
// Delete any existing ISR and GPIO context for this interrupt
lis3dh_uninstall_isr(dev, intr);
mraa_gpio_context gpio_isr = NULL;
// Create GPIO context
if (!(gpio_isr = mraa_gpio_init(gpio))) {
printf("%s: mraa_gpio_init() failed\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
mraa_gpio_dir(gpio_isr, MRAA_GPIO_IN);
if (mraa_gpio_isr(gpio_isr, level, isr, arg)) {
mraa_gpio_close(gpio_isr);
printf("%s: mraa_gpio_isr() failed\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
switch (intr) {
case LIS3DH_INTERRUPT_INT1:
dev->gpioINT1 = gpio_isr;
break;
case LIS3DH_INTERRUPT_INT2:
dev->gpioINT2 = gpio_isr;
break;
}
return UPM_SUCCESS;
}
void
lis3dh_uninstall_isr(const lis3dh_context dev, LIS3DH_INTERRUPT_PINS_T intr)
{
assert(dev != NULL);
switch (intr) {
case LIS3DH_INTERRUPT_INT1:
if (dev->gpioINT1) {
mraa_gpio_isr_exit(dev->gpioINT1);
mraa_gpio_close(dev->gpioINT1);
dev->gpioINT1 = NULL;
}
break;
case LIS3DH_INTERRUPT_INT2:
if (dev->gpioINT2) {
mraa_gpio_isr_exit(dev->gpioINT2);
mraa_gpio_close(dev->gpioINT2);
dev->gpioINT2 = NULL;
}
break;
}
}