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RIOT/drivers/include/lis2dh12.h
2020-03-04 17:01:58 +01:00

285 lines
9.7 KiB
C

/*
* Copyright (C) 2018 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @defgroup drivers_lis2dh12 LIS2DH12 Accelerometer
* @ingroup drivers_sensors
* @ingroup drivers_saul
* @brief Driver for the STM LIS2DH12 accelerometer
*
* This device driver provides a minimal interface to LIS2DH12 devices. As of
* now, it only provides very basic access to the device. The driver configures
* the device to continuously read the acceleration data with statically
* defined scale and rate, and with a fixed 10-bit resolution. The LIS2DH12's
* FIFO is bypassed, so the driver might not be sufficient for use cases where
* the complete history of readings is of interest.
*
* Also, the current version of the driver supports only interfacing the sensor
* via SPI. The driver is however written in a way, that adding I2C interface
* support is quite simple, as all bus related functions (acquire, release,
* read, write) are cleanly separated in the code.
*
* This driver provides @ref drivers_saul capabilities.
*
* @{
* @file
* @brief Interface definition for the STM LIS2DH12 accelerometer
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
*/
#ifndef LIS2DH12_H
#define LIS2DH12_H
#include <stdint.h>
#include "saul.h"
#include "periph/gpio.h"
#ifdef MODULE_LIS2DH12_SPI
#include "periph/spi.h"
#else
#include "periph/i2c.h"
#endif
#ifdef __cplusplus
extern "C" {
#endif
#if defined(MODULE_LIS2DH12) || defined(DOXYGEN)
/**
* @brief Default I2C slave address for LIS2DH12 devices
*/
#define LIS2DH12_ADDR_DEFAULT (0x19)
#endif
/**
* @brief Available scale values
*/
typedef enum {
LIS2DH12_SCALE_2G = 0x00, /**< +- 2g */
LIS2DH12_SCALE_4G = 0x10, /**< +- 4g */
LIS2DH12_SCALE_8G = 0x20, /**< +- 8g */
LIS2DH12_SCALE_16G = 0x30, /**< +- 16g */
} lis2dh12_scale_t;
/**
* @brief Available sampling rates
*
* @note The device does also support some additional rates for specific low-
* power modes, but those are as of now not supported by this driver
*/
typedef enum {
LIS2DH12_RATE_1HZ = 0x17, /**< sample with 1Hz */
LIS2DH12_RATE_10HZ = 0x27, /**< sample with 10Hz */
LIS2DH12_RATE_25HZ = 0x37, /**< sample with 25Hz */
LIS2DH12_RATE_50HZ = 0x47, /**< sample with 50Hz */
LIS2DH12_RATE_100HZ = 0x57, /**< sample with 100Hz */
LIS2DH12_RATE_200HZ = 0x67, /**< sample with 200Hz */
LIS2DH12_RATE_400HZ = 0x77, /**< sample with 400Hz */
} lis2dh12_rate_t;
/**
* @brief LIS2DH12 configuration parameters
*/
typedef struct {
#if MODULE_LIS2DH12_SPI || DOXYGEN
spi_t spi; /**< SPI bus the device is connected to */
gpio_t cs; /**< connected chip select pin */
#else
i2c_t i2c; /**< I2C bus the device is connected to */
uint8_t addr; /**< device address on the I2C bus */
#endif
#if MODULE_LIS2DH12_INT || DOXYGEN
gpio_t int1_pin; /**< first interrupt pin */
gpio_t int2_pin; /**< second interrupt pin */
#endif
lis2dh12_scale_t scale; /**< sampling sensitivity used */
lis2dh12_rate_t rate; /**< sampling rate used */
} lis2dh12_params_t;
/**
* @brief LIS2DH12 device descriptor
*/
typedef struct {
const lis2dh12_params_t *p; /**< device configuration */
uint16_t comp; /**< scale compensation factor */
} lis2dh12_t;
/**
* @brief Status and error return codes
*/
enum {
LIS2DH12_OK = 0, /**< everything was fine */
LIS2DH12_NOBUS = -1, /**< bus interface error */
LIS2DH12_NODEV = -2, /**< unable to talk to device */
LIS2DH12_NOINT = -3, /**< wrong interrupt line (has to be LIS2DH12_INT1 or LIS2DH12_INT2) */
LIS2DH12_NODATA= -4, /**< no data available */
};
#if MODULE_LIS2DH12_INT || DOXYGEN
/*
* @brief Interrupt lines
*/
enum{
LIS2DH12_INT1 = 1, /**< first interrupt line */
LIS2DH12_INT2 = 2, /**< second interrupt line */
};
/**
* @brief Interrupt config register values
*/
enum {
LIS2DH12_INT_CFG_XLIE = 0x01, /**< enable X low evnt */
LIS2DH12_INT_CFG_XHIE = 0x02, /**< enable X high event */
LIS2DH12_INT_CFG_YLIE = 0x04, /**< enable Y low event */
LIS2DH12_INT_CFG_YHIE = 0x08, /**< enable Y high event */
LIS2DH12_INT_CFG_ZLIE = 0x10, /**< enable Z low event */
LIS2DH12_INT_CFG_ZHIE = 0x20, /**< enable Z high event */
LIS2DH12_INT_CFG_6D = 0x40, /**< enable 6-direction detection */
LIS2DH12_INT_CFG_AOI = 0x80, /**< and/or combination interrupt events */
};
/**
* @brief Interrupt type values
*/
enum {
/* for interrupt 1 (CTRL_REG3) */
LIS2DH12_INT_TYPE_I1_OVERRUN = 0x02, /**< FIFO overrun interrupt on INT1 */
LIS2DH12_INT_TYPE_I1_WTM = 0x04, /**< FIFO watermark inter. on INT1 */
LIS2DH12_INT_TYPE_I1_ZYXDA = 0x10, /**< ZYXDA interrupt on INT1 */
LIS2DH12_INT_TYPE_I1_IA2 = 0x20, /**< IA2 interrupt on INT1 */
LIS2DH12_INT_TYPE_I1_IA1 = 0x40, /**< IA1 interrupt on INT1 */
LIS2DH12_INT_TYPE_I1_CLICK = 0x80, /**< click interrupt on INT1 */
/* for interrupt 2 (CTRL_REG6) */
LIS2DH12_INT_TYPE_INT_POLARITY = 0x02, /**< INT1 and INT2 pin polarity */
LIS2DH12_INT_TYPE_I2_ACT = 0x08, /**< enable activity interrupt on INT2 */
LIS2DH12_INT_TYPE_I2_BOOT = 0x10, /**< enable boot on INT2 */
LIS2DH12_INT_TYPE_I2_IA2 = 0x20, /**< IA2 on INT2 */
LIS2DH12_INT_TYPE_I2_IA1 = 0x40, /**< IA1 on INT2 */
LIS2DH12_INT_TYPE_I2_CLICK = 0x80, /**< click interrupt on INT2 */
};
/**
* @brief Parameter for interrupt configuration
*/
typedef struct {
uint8_t int_config; /**< values for configuration */
uint8_t int_threshold:7; /**< the threshold for triggering interrupt, threshold in range 0-127 */
uint8_t int_duration:7; /**< time between two interrupts ODR section in CTRL_REG1, duration in range 0-127 */
uint8_t int_type; /**< values for type of interrupts */
gpio_cb_t cb; /**< the callback to execute */
void *arg; /**< the callback argument */
} lis2dh12_int_params_t;
/**
* @brief Status of INT_SRC register
*/
#define LIS2DH12_INT_SRC_XL (0x01) /**< X low event has occurred */
#define LIS2DH12_INT_SRC_XH (0x02) /**< X high event has occurred */
#define LIS2DH12_INT_SRC_YL (0x04) /**< Y low event has occurred */
#define LIS2DH12_INT_SRC_YH (0x08) /**< Y high event has occurred */
#define LIS2DH12_INT_SRC_ZL (0x10) /**< Z low event has occurred */
#define LIS2DH12_INT_SRC_ZH (0x20) /**< Z high event has occurred */
#define LIS2DH12_INT_SRC_IA (0x40) /**< 1 if interrupt occurred */
#endif /* MODULE_LIS2DH12_INT */
/**
* @brief Status of INT_SRC register
*/
#define LIS2DH12_STATUS_XDA (0x01) /**< X-axis new data available */
#define LIS2DH12_STATUS_YDA (0x02) /**< Y-axis new data available */
#define LIS2DH12_STATUS_ZDA (0x04) /**< Z-axis new data available */
#define LIS2DH12_STATUS_ZYXDA (0x08) /**< on X-, Y-, Z-axis new data available */
#define LIS2DH12_STATUS_XOR (0x10) /**< X-axis data overrun */
#define LIS2DH12_STATUS_YOR (0x20) /**< Y-axis data overrun */
#define LIS2DH12_STATUS_ZOR (0x40) /**< Y-axis data overrun */
#define LIS2DH12_STATUS_ZYXOR (0x80) /**< on X-, Y-, Z-axis data overrun */
/**
* @brief Export the SAUL interface for this driver
*/
extern const saul_driver_t lis2dh12_saul_driver;
#if MODULE_LIS2DH12_INT || DOXYGEN
/**
* @brief Set the interrupt values in LIS2DH12 sensor device
*
* @param[in] dev device descriptor
* @param[in] params device interrupt configuration
* @param[in] int_line number of interrupt line (LIS2DH12_INT1 or LIS2DH12_INT2)
*
* @return LIS2DH12_OK on success
* @return LIS2DH12_NOBUS on bus errors
*/
int lis2dh12_set_int(const lis2dh12_t *dev, const lis2dh12_int_params_t *params, uint8_t int_line);
/**
* @brief Read an interrupt event on LIS2DH12 sensor device
*
* @param[in] dev device descriptor
* @param[out] data device interrupt data
* @param[in] int_line number of interrupt line (LIS2DH12_INT1 or LIS2DH12_INT2)
*
* @return LIS2DH12_OK on success
* @return LIS2DH12_NOBUS on bus errors
*/
int lis2dh12_read_int_src(const lis2dh12_t *dev, uint8_t *data, uint8_t int_line);
#endif /* MODULE_LIS2DH12_INT */
/**
* @brief Initialize the given LIS2DH12 sensor device
*
* @param[out] dev device descriptor
* @param[in] params static device configuration
*
* @return LIS2DH12_OK on success
* @return LIS2DH12_NOBUS on bus errors
* @return LIS2DH12_NODEV if no LIS2DH12 device was found on the bus
*/
int lis2dh12_init(lis2dh12_t *dev, const lis2dh12_params_t *params);
/**
* @brief Read acceleration data from the given device
*
* @param[in] dev device descriptor
* @param[out] data acceleration data in mili-g, **MUST** hold 3 values
*
* @return LIS2DH12_OK on success
* @return LIS2DH12_NOBUS on bus error
*/
int lis2dh12_read(const lis2dh12_t *dev, int16_t *data);
/**
* @brief Power on the given device
*
* @param[in] dev device descriptor
*
* @return LIS2DH12_OK on success
* @return LIS2DH12_NOBUS on bus error
*/
int lis2dh12_poweron(const lis2dh12_t *dev);
/**
* @brief Power off the given device
*
* @param[in] dev device descriptor
*
* @return LIS2DH12_OK on success
* @return LIS2DH12_NOBUS on bus error
*/
int lis2dh12_poweroff(const lis2dh12_t *dev);
#ifdef __cplusplus
}
#endif
#endif /* LIS2DH12_H */
/** @} */