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)
{
uint8_t in;
dev->spi = spi;
dev->cs = cs_pin;
dev->int1 = int1_pin;
dev->int2 = int2_pin;
dev->scale = 0;
/* CS */
gpio_init(dev->cs, GPIO_DIR_OUT, GPIO_NOPULL);
gpio_set(dev->cs);
if (lis3dh_read_regs(dev, LIS3DH_REG_WHO_AM_I, 1, &in) < 0) {
/* Communication error */
return -1;
}
if (in != LIS3DH_WHO_AM_I_RESPONSE) {
/* Chip is not responding correctly */
return -1;
}
/* Set block data update and little endian mode. */
lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG4,
(LIS3DH_CTRL_REG4_BDU_ENABLE |
LIS3DH_CTRL_REG4_BLE_LITTLE_ENDIAN));
lis3dh_set_scale(dev, scale);
return 0;
}
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;
}
/**
* @brief Write (both set and clear) bits of an 8-bit register on the LIS3DH.
*
* @param[in] addr Register address on the LIS3DH.
* @param[in] mask Bitmask for the bits to modify.
* @param[in] values The values to write to the masked bits.
*
* @return 0 on success
* @return -1 on error
*/
static inline int
lis3dh_write_bits(const lis3dh_t *dev, const lis3dh_reg_t reg, const uint8_t mask,
const uint8_t values)
{
uint8_t tmp;
if (lis3dh_read_regs(dev, reg, 1, &tmp) < 0) {
/* Communication error */
return -1;
}
tmp &= ~mask;
tmp |= (values & mask);
if (lis3dh_write_reg(dev, reg, tmp) < 0) {
/* Communication error */
return -1;
}
return 0;
}
int lis3dh_read_aux_adc1(const lis3dh_t *dev, int16_t *out)
{
return lis3dh_read_regs(dev, LIS3DH_REG_OUT_AUX_ADC1_L, LIS3DH_ADC_DATA_SIZE, (uint8_t *)out);
}
