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lis3dh: Refactor, add INT1 handling, improve FIFO mode

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This commit is contained in:
Joakim Gebart 2015-05-24 17:20:23 +02:00
parent ffbf20b660
commit c9bdbd1a74
3 changed files with 183 additions and 86 deletions
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119
drivers/include/lis3dh.h
View File

@ -16,7 +16,7 @@
* @brief Device driver interface for the LIS3DH accelerometer * @brief Device driver interface for the LIS3DH accelerometer
* *
* *
* @author Joakim Gebart <joakim.gebart@eistec.se * @author Joakim Gebart <joakim.gebart@eistec.se>
*/ */
#ifndef LIS3DH_H_ #ifndef LIS3DH_H_
@ -243,7 +243,7 @@ typedef enum {
* @brief High pass filter enabled for CLICK function. * @brief High pass filter enabled for CLICK function.
* *
* 0. filter bypassed * 0. filter bypassed
* 1. filter enabled@ * 1. filter enabled
*/ */
#define LIS3DH_CTRL_REG2_HPCLICK_MASK (1 << 2) #define LIS3DH_CTRL_REG2_HPCLICK_MASK (1 << 2)
@ -387,17 +387,17 @@ typedef enum {
/** @} */ /** @} */
/** /**
* @brief Scale parameters * @name Scale parameters
* *
* Use these names when calling lis3dh_set_scale() * Use these names when calling lis3dh_set_scale()
*/ */
typedef enum { /** @{ */
LIS3DH_SCALE_2G = (0), /**< Scale: +/- 2G */ #define LIS3DH_SCALE_2G (0) /**< Scale: +/- 2G */
LIS3DH_SCALE_4G = (LIS3DH_CTRL_REG4_FS0_MASK), /**< Scale: +/- 4G */ #define LIS3DH_SCALE_4G (LIS3DH_CTRL_REG4_FS0_MASK) /**< Scale: +/- 4G */
LIS3DH_SCALE_8G = (LIS3DH_CTRL_REG4_FS1_MASK), /**< Scale: +/- 8G */ #define LIS3DH_SCALE_8G (LIS3DH_CTRL_REG4_FS1_MASK) /**< Scale: +/- 8G */
/** Scale: +/- 16G */ /** Scale: +/- 16G */
LIS3DH_SCALE_16G = (LIS3DH_CTRL_REG4_FS1_MASK | LIS3DH_CTRL_REG4_FS0_MASK) #define LIS3DH_SCALE_16G (LIS3DH_CTRL_REG4_FS1_MASK | LIS3DH_CTRL_REG4_FS0_MASK)
} lis3dh_scale_t; /** @} */
/** /**
* @brief High resolution output mode * @brief High resolution output mode
@ -643,38 +643,40 @@ typedef enum {
/** /**
* @brief Allowed values for the Output Data Rate of the sensor. * @name Output Data Rates (ODR)
* *
* Use these when calling lis3dh_set_odr(odr). * Use these when calling lis3dh_set_odr(odr).
*/ */
typedef enum { /** @{ */
LIS3DH_ODR_POWERDOWN = (0x00 << LIS3DH_CTRL_REG1_ODR_SHIFT), #define LIS3DH_ODR_POWERDOWN (0x00 << LIS3DH_CTRL_REG1_ODR_SHIFT)
LIS3DH_ODR_1Hz = (0x01 << LIS3DH_CTRL_REG1_ODR_SHIFT), #define LIS3DH_ODR_1Hz (0x01 << LIS3DH_CTRL_REG1_ODR_SHIFT)
LIS3DH_ODR_10Hz = (0x02 << LIS3DH_CTRL_REG1_ODR_SHIFT), #define LIS3DH_ODR_10Hz (0x02 << LIS3DH_CTRL_REG1_ODR_SHIFT)
LIS3DH_ODR_25Hz = (0x03 << LIS3DH_CTRL_REG1_ODR_SHIFT), #define LIS3DH_ODR_25Hz (0x03 << LIS3DH_CTRL_REG1_ODR_SHIFT)
LIS3DH_ODR_50Hz = (0x04 << LIS3DH_CTRL_REG1_ODR_SHIFT), #define LIS3DH_ODR_50Hz (0x04 << LIS3DH_CTRL_REG1_ODR_SHIFT)
LIS3DH_ODR_100Hz = (0x05 << LIS3DH_CTRL_REG1_ODR_SHIFT), #define LIS3DH_ODR_100Hz (0x05 << LIS3DH_CTRL_REG1_ODR_SHIFT)
LIS3DH_ODR_200Hz = (0x06 << LIS3DH_CTRL_REG1_ODR_SHIFT), #define LIS3DH_ODR_200Hz (0x06 << LIS3DH_CTRL_REG1_ODR_SHIFT)
LIS3DH_ODR_400Hz = (0x07 << LIS3DH_CTRL_REG1_ODR_SHIFT), #define LIS3DH_ODR_400Hz (0x07 << LIS3DH_CTRL_REG1_ODR_SHIFT)
LIS3DH_ODR_LP1600Hz = (0x08 << LIS3DH_CTRL_REG1_ODR_SHIFT), #define LIS3DH_ODR_LP1600Hz (0x08 << LIS3DH_CTRL_REG1_ODR_SHIFT)
LIS3DH_ODR_NP1250Hz_LP5000HZ = (0x09 << LIS3DH_CTRL_REG1_ODR_SHIFT) /* Normal mode 1250 Hz and Low power mode 5000 Hz share the same setting */
} lis3dh_odr_t; #define LIS3DH_ODR_NP1250Hz (0x09 << LIS3DH_CTRL_REG1_ODR_SHIFT)
#define LIS3DH_ODR_LP5000HZ (0x09 << LIS3DH_CTRL_REG1_ODR_SHIFT)
/** @} */
/** /**
* @brief Allowed FIFO modes. * @name FIFO modes.
* *
* Used when calling lis3dh_set_fifo_mode() * Used when calling lis3dh_set_fifo()
*/ */
typedef enum { /** @{ */
/** FIFO mode: Bypass */ /** FIFO mode: Bypass */
LIS3DH_FIFO_MODE_BYPASS = (0x00 << LIS3DH_FIFO_CTRL_REG_FM_SHIFT), #define LIS3DH_FIFO_MODE_BYPASS (0x00 << LIS3DH_FIFO_CTRL_REG_FM_SHIFT)
/** FIFO mode: FIFO */ /** FIFO mode: FIFO */
LIS3DH_FIFO_MODE_FIFO = (0x01 << LIS3DH_FIFO_CTRL_REG_FM_SHIFT), #define LIS3DH_FIFO_MODE_FIFO (0x01 << LIS3DH_FIFO_CTRL_REG_FM_SHIFT)
/** FIFO mode: Stream */ /** FIFO mode: Stream */
LIS3DH_FIFO_MODE_STREAM = (0x02 << LIS3DH_FIFO_CTRL_REG_FM_SHIFT), #define LIS3DH_FIFO_MODE_STREAM (0x02 << LIS3DH_FIFO_CTRL_REG_FM_SHIFT)
/** FIFO mode: Stream to FIFO */ /** FIFO mode: Stream to FIFO */
LIS3DH_FIFO_MODE_STREAM_TO_FIFO = (0x03 << LIS3DH_FIFO_CTRL_REG_FM_SHIFT) #define LIS3DH_FIFO_MODE_STREAM_TO_FIFO (0x03 << LIS3DH_FIFO_CTRL_REG_FM_SHIFT)
} lis3dh_fifo_mode_t; /** @} */
/** /**
* @brief Device descriptor for LIS3DH sensors * @brief Device descriptor for LIS3DH sensors
@ -712,7 +714,7 @@ lis3dh_data_t;
* @return 0 on success * @return 0 on success
* @return -1 on error * @return -1 on error
*/ */
int lis3dh_init(lis3dh_t *dev, spi_t spi, gpio_t cs_pin, gpio_t int1_pin, gpio_t int2_pin, lis3dh_scale_t scale); int lis3dh_init(lis3dh_t *dev, spi_t spi, gpio_t cs_pin, gpio_t int1_pin, gpio_t int2_pin, uint8_t scale);
/** /**
* @brief Read 3D acceleration data from the accelerometer * @brief Read 3D acceleration data from the accelerometer
@ -791,27 +793,17 @@ int lis3dh_set_aux_adc(lis3dh_t *dev, const uint8_t enable, const uint8_t temper
*/ */
int lis3dh_set_axes(lis3dh_t *dev, const uint8_t axes); int lis3dh_set_axes(lis3dh_t *dev, const uint8_t axes);
/**
* @brief Set the FIFO mode.
*
* @param[in] dev Device descriptor of sensor
* @param[in] mode The chosen FIFO mode.
*
* @return 0 on success
* @return -1 on error
*/
int lis3dh_set_fifo_mode(lis3dh_t *dev, const lis3dh_fifo_mode_t mode);
/** /**
* @brief Enable/disable the FIFO. * @brief Enable/disable the FIFO.
* *
* @param[in] dev Device descriptor of sensor * @param[in] dev Device descriptor of sensor
* @param[in] enable If zero, disable the FIFO, otherwise enables the FIFO. * @param[in] mode FIFO mode, see data sheet for details.
* @param[in] watermark Watermark level for FIFO level interrupts
* *
* @return 0 on success * @return 0 on success
* @return -1 on error * @return -1 on error
*/ */
int lis3dh_set_fifo(lis3dh_t *dev, const uint8_t enable); int lis3dh_set_fifo(lis3dh_t *dev, const uint8_t mode, const uint8_t watermark);
/** /**
* Set the output data rate of the sensor. * Set the output data rate of the sensor.
@ -822,7 +814,7 @@ int lis3dh_set_fifo(lis3dh_t *dev, const uint8_t enable);
* @return 0 on success * @return 0 on success
* @return -1 on error * @return -1 on error
*/ */
int lis3dh_set_odr(lis3dh_t *dev, const lis3dh_odr_t odr); int lis3dh_set_odr(lis3dh_t *dev, const uint8_t odr);
/** /**
* @brief Set the full scale range of the sensor. * @brief Set the full scale range of the sensor.
@ -831,12 +823,35 @@ int lis3dh_set_odr(lis3dh_t *dev, const lis3dh_odr_t odr);
* sensor. * sensor.
* *
* @param[in] dev Device descriptor of sensor * @param[in] dev Device descriptor of sensor
* @param scale The chosen sensitivity scale. * @param[in] scale The chosen sensitivity scale.
* *
* @return 0 on success * @return 0 on success
* @return -1 on error * @return -1 on error
*/ */
int lis3dh_set_scale(lis3dh_t *dev, const lis3dh_scale_t scale); int lis3dh_set_scale(lis3dh_t *dev, const uint8_t scale);
/**
* @brief Set INT1 pin function
*
* Set the bits of CTRL_REG3 for choosing sources for the INT1 pin.
*
* @param[in] dev Device descriptor of sensor
* @param[in] mode CTRL_REG3 value, see data sheet for details.
*
* @return 0 on success
* @return -1 on error
*/
int lis3dh_set_int1(lis3dh_t *dev, const uint8_t mode);
/**
* @brief Get the current number of elements in the FIFO
*
* @param[in] dev Device descriptor of sensor
*
* @return number of elements in device FIFO on success
* @return -1 on error
*/
int lis3dh_get_fifo_level(lis3dh_t *dev);
#ifdef __cplusplus #ifdef __cplusplus
} }

79
drivers/lis3dh/lis3dh.c
View File

@ -30,7 +30,7 @@ static int lis3dh_read_regs(const lis3dh_t *dev, const lis3dh_reg_t reg, const u
uint8_t *buf); uint8_t *buf);
int lis3dh_init(lis3dh_t *dev, spi_t spi, gpio_t cs_pin, gpio_t int1_pin, gpio_t int2_pin, lis3dh_scale_t scale) int lis3dh_init(lis3dh_t *dev, spi_t spi, gpio_t cs_pin, gpio_t int1_pin, gpio_t int2_pin, uint8_t scale)
{ {
uint8_t in; uint8_t in;
@ -54,11 +54,29 @@ int lis3dh_init(lis3dh_t *dev, spi_t spi, gpio_t cs_pin, gpio_t int1_pin, gpio_t
return -1; return -1;
} }
/* Set block data update and little endian mode. */ /* Clear all settings */
lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG1, LIS3DH_CTRL_REG1_XYZEN_MASK);
/* Disable HP filter */
lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG2, 0);
/* Disable INT1 interrupt sources */
lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG3, 0);
/* Set block data update and little endian, set Normal mode (LP=0, HR=1) */
lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG4, lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG4,
(LIS3DH_CTRL_REG4_BDU_ENABLE | (LIS3DH_CTRL_REG4_BDU_ENABLE |
LIS3DH_CTRL_REG4_BLE_LITTLE_ENDIAN)); LIS3DH_CTRL_REG4_BLE_LITTLE_ENDIAN |
LIS3DH_CTRL_REG4_HR_MASK));
/* Disable FIFO */
lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG5, 0);
/* Reset INT2 settings */
lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG6, 0);
/* Configure scale */
lis3dh_set_scale(dev, scale); lis3dh_set_scale(dev, scale);
/* Initialize the interrupt pins */
gpio_init(dev->int1, GPIO_DIR_IN, GPIO_NOPULL);
gpio_init(dev->int2, GPIO_DIR_IN, GPIO_NOPULL);
return 0; return 0;
} }
@ -124,27 +142,37 @@ int lis3dh_set_axes(lis3dh_t *dev, const uint8_t axes)
return lis3dh_write_bits(dev, LIS3DH_REG_CTRL_REG1, LIS3DH_CTRL_REG1_XYZEN_MASK, axes); return lis3dh_write_bits(dev, LIS3DH_REG_CTRL_REG1, LIS3DH_CTRL_REG1_XYZEN_MASK, axes);
} }
int lis3dh_set_fifo_mode(lis3dh_t *dev, const lis3dh_fifo_mode_t mode) int lis3dh_set_fifo(lis3dh_t *dev, const uint8_t mode, const uint8_t watermark)
{ {
return lis3dh_write_bits(dev, LIS3DH_REG_FIFO_CTRL_REG, LIS3DH_FIFO_CTRL_REG_FM_MASK, int status;
mode); uint8_t reg;
reg = (watermark << LIS3DH_FIFO_CTRL_REG_FTH_SHIFT)
& LIS3DH_FIFO_CTRL_REG_FTH_MASK;
reg |= mode;
status = lis3dh_write_reg(dev, LIS3DH_REG_FIFO_CTRL_REG, reg);
if (status < 0) {
/* communication error */
return status;
}
if (mode != 0x00) {
status = lis3dh_write_bits(dev, LIS3DH_REG_CTRL_REG5,
LIS3DH_CTRL_REG5_FIFO_EN_MASK, LIS3DH_CTRL_REG5_FIFO_EN_MASK);
} else {
status = lis3dh_write_bits(dev, LIS3DH_REG_CTRL_REG5,
LIS3DH_CTRL_REG5_FIFO_EN_MASK, 0);
}
return status;
} }
int lis3dh_set_fifo(lis3dh_t *dev, const uint8_t enable) int lis3dh_set_odr(lis3dh_t *dev, const uint8_t odr)
{ {
return lis3dh_write_bits(dev, LIS3DH_REG_CTRL_REG5, LIS3DH_CTRL_REG5_FIFO_EN_MASK, return lis3dh_write_bits(dev, LIS3DH_REG_CTRL_REG1,
(enable ? LIS3DH_CTRL_REG5_FIFO_EN_MASK : 0)); LIS3DH_CTRL_REG1_ODR_MASK, odr);
} }
int lis3dh_set_odr(lis3dh_t *dev, const lis3dh_odr_t odr) int lis3dh_set_scale(lis3dh_t *dev, const uint8_t scale)
{ {
return lis3dh_write_bits(dev, LIS3DH_REG_CTRL_REG1, LIS3DH_CTRL_REG1_ODR_MASK, /* Sensor full range is -32768 -- +32767 (measurements are left adjusted) */
odr);
}
int lis3dh_set_scale(lis3dh_t *dev, const lis3dh_scale_t scale)
{
/* Sensor full range is -32768 -- +32767 */
/* => Scale factor is scale/32768 */ /* => Scale factor is scale/32768 */
switch (scale) switch (scale)
{ {
@ -167,6 +195,23 @@ int lis3dh_set_scale(lis3dh_t *dev, const lis3dh_scale_t scale)
scale); scale);
} }
int lis3dh_set_int1(lis3dh_t *dev, const uint8_t mode)
{
return lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG3, mode);
}
int lis3dh_get_fifo_level(lis3dh_t *dev)
{
uint8_t reg;
int level;
if (lis3dh_read_regs(dev, LIS3DH_REG_FIFO_SRC_REG, 1, &reg) != 0) {
return -1;
}
level = (reg & LIS3DH_FIFO_SRC_REG_FSS_MASK) >> LIS3DH_FIFO_SRC_REG_FSS_SHIFT;
return level;
}
/** /**
* @brief Read sequential registers from the LIS3DH. * @brief Read sequential registers from the LIS3DH.

71
tests/driver_lis3dh/main.c
View File

@ -23,6 +23,7 @@
#include "board.h" #include "board.h"
#include "vtimer.h" #include "vtimer.h"
#include "periph/spi.h" #include "periph/spi.h"
#include "periph/gpio.h"
#include "lis3dh.h" #include "lis3dh.h"
/* Check for definition of hardware pins, default to board.h values if not set. */ /* Check for definition of hardware pins, default to board.h values if not set. */
@ -60,16 +61,26 @@
#define ODR LIS3DH_ODR_100Hz #define ODR LIS3DH_ODR_100Hz
#define SLEEP (100 * 1000U) #define SLEEP (100 * 1000U)
#define SPI_CONF (SPI_CONF_SECOND_FALLING) #define SPI_CONF (SPI_CONF_SECOND_FALLING)
#define SPI_SPEED (SPI_SPEED_10MHZ)
#define WATERMARK_LEVEL 16
static volatile int int1_count = 0;
static void test_int1(void *arg)
{
volatile int *int1_count_ptr = arg;
++(*int1_count_ptr);
}
int main(void) int main(void)
{ {
lis3dh_t dev; lis3dh_t dev;
lis3dh_data_t acc_data; lis3dh_data_t acc_data;
int16_t temperature;
puts("LIS3DH accelerometer driver test application\n"); puts("LIS3DH accelerometer driver test application\n");
printf("Initializing SPI_%i... ", TEST_LIS3DH_SPI); printf("Initializing SPI_%i... ", TEST_LIS3DH_SPI);
if (spi_init_master(TEST_LIS3DH_SPI, SPI_CONF, SPI_SPEED_10MHZ) == 0) { if (spi_init_master(TEST_LIS3DH_SPI, SPI_CONF, SPI_SPEED) == 0) {
puts("[OK]"); puts("[OK]");
} }
else { else {
@ -114,8 +125,8 @@ int main(void)
return 1; return 1;
} }
puts("Disable FIFO mode... "); puts("Enable streaming FIFO mode... ");
if (lis3dh_set_fifo(&dev, 0) == 0) { if (lis3dh_set_fifo(&dev, LIS3DH_FIFO_MODE_STREAM, WATERMARK_LEVEL) == 0) {
puts("[OK]"); puts("[OK]");
} }
else { else {
@ -132,23 +143,49 @@ int main(void)
return 1; return 1;
} }
puts("Set INT1 watermark function... ");
if (lis3dh_set_int1(&dev, LIS3DH_CTRL_REG3_I1_WTM_MASK) == 0) {
puts("[OK]");
}
else {
puts("[Failed]\n");
return 1;
}
puts("Set INT1 callback");
if (gpio_init_int(dev.int1, GPIO_NOPULL, GPIO_RISING, test_int1, (void*)&int1_count) == 0) {
puts("[OK]");
}
else {
puts("[Failed]\n");
return 1;
}
puts("LIS3DH init done.\n"); puts("LIS3DH init done.\n");
while (1) { while (1) {
lis3dh_read_xyz(&dev, &acc_data); int fifo_level;
if (lis3dh_read_xyz(&dev, &acc_data) != 0) {
puts("Reading acceleration data... ");
puts("[Failed]\n");
return 1;
}
if (lis3dh_read_aux_adc3(&dev, &temperature) != 0) {
puts("Reading temperature data... ");
puts("[Failed]\n");
return 1;
}
printf("Sensor data - X: %6i Y: %6i Z: %6i Temp: %6i\n", fifo_level = lis3dh_get_fifo_level(&dev);
acc_data.acc_x, acc_data.acc_y, acc_data.acc_z, temperature); printf("int1_count = %d\n", int1_count);
printf("Reading %d measurements\n", fifo_level);
while (fifo_level > 0) {
int16_t temperature;
int int1;
if (lis3dh_read_xyz(&dev, &acc_data) != 0) {
puts("Reading acceleration data... ");
puts("[Failed]\n");
}
if (lis3dh_read_aux_adc3(&dev, &temperature) != 0) {
puts("Reading temperature data... ");
puts("[Failed]\n");
return 1;
}
int1 = gpio_read(dev.int1);
printf("X: %6d Y: %6d Z: %6d Temp: %6d, INT1: %08x\n",
acc_data.acc_x, acc_data.acc_y, acc_data.acc_z, temperature, int1);
--fifo_level;
}
vtimer_usleep(SLEEP); vtimer_usleep(SLEEP);
} }