Ahmad Alkaff / Mbed 2 deprecated CS3237

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Dependencies:   mbed

LIS2DH/LIS2DH.cpp@13:0f663ca63342, 2019-11-13 (annotated)

Committer:
AhmadAlkaff
Date:
Wed Nov 13 11:10:03 2019 +0000
Revision:
13:0f663ca63342
Parent:
9:b2cd18ee0056 
Reorganize Code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
AhmadAlkaff 0:7b5d37ca532f 1 /*******************************************************************************
AhmadAlkaff 0:7b5d37ca532f 2 * Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved.
AhmadAlkaff 0:7b5d37ca532f 3 *
AhmadAlkaff 13:0f663ca63342 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
AhmadAlkaff 13:0f663ca63342 5 * of this software and associated documentation files (the "Software"), to deal
AhmadAlkaff 13:0f663ca63342 6 * in the Software without restriction, including without limitation the rights
AhmadAlkaff 13:0f663ca63342 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
AhmadAlkaff 13:0f663ca63342 8 * copies of the Software, and to permit persons to whom the Software is
AhmadAlkaff 13:0f663ca63342 9 * furnished to do so, subject to the following conditions:
AhmadAlkaff 0:7b5d37ca532f 10 *
AhmadAlkaff 13:0f663ca63342 11 * The above copyright notice and this permission notice shall be included in
AhmadAlkaff 13:0f663ca63342 12 * all copies or substantial portions of the Software.
AhmadAlkaff 0:7b5d37ca532f 13 *
AhmadAlkaff 13:0f663ca63342 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
AhmadAlkaff 13:0f663ca63342 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
AhmadAlkaff 13:0f663ca63342 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL MAXIM
AhmadAlkaff 13:0f663ca63342 17 * INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
AhmadAlkaff 13:0f663ca63342 18 * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
AhmadAlkaff 13:0f663ca63342 19 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
AhmadAlkaff 0:7b5d37ca532f 20 *
AhmadAlkaff 13:0f663ca63342 21 * Except as contained in this notice, the name of Maxim Integrated Products,
AhmadAlkaff 13:0f663ca63342 22 * Inc. shall not be used except as stated in the Maxim Integrated Products,
AhmadAlkaff 13:0f663ca63342 23 * Inc. Branding Policy.
AhmadAlkaff 0:7b5d37ca532f 24 *
AhmadAlkaff 13:0f663ca63342 25 * The mere transfer of this software does not imply any licenses of trade
AhmadAlkaff 13:0f663ca63342 26 * secrets, proprietary technology, copyrights, patents, trademarks, maskwork
AhmadAlkaff 13:0f663ca63342 27 * rights, or any other form of intellectual property whatsoever. Maxim
AhmadAlkaff 13:0f663ca63342 28 * Integrated Products, Inc. retains all ownership rights.
AhmadAlkaff 0:7b5d37ca532f 29 *******************************************************************************
AhmadAlkaff 0:7b5d37ca532f 30 */
AhmadAlkaff 0:7b5d37ca532f 31
AhmadAlkaff 0:7b5d37ca532f 32 #include "LIS2DH.h"
AhmadAlkaff 0:7b5d37ca532f 33
AhmadAlkaff 0:7b5d37ca532f 34 void lis2dh_int_handler(void);
AhmadAlkaff 0:7b5d37ca532f 35 /**
AhmadAlkaff 0:7b5d37ca532f 36 * @brief buffer array to hold fifo contents for packetizing
AhmadAlkaff 0:7b5d37ca532f 37 */
AhmadAlkaff 0:7b5d37ca532f 38 uint32_t lis2dh_buffer[LIS2DH_MAX_DATA_SIZE];
AhmadAlkaff 0:7b5d37ca532f 39 int16_t motion_cached[3];
AhmadAlkaff 0:7b5d37ca532f 40 LIS2DH *LIS2DH::instance = NULL;
AhmadAlkaff 0:7b5d37ca532f 41
AhmadAlkaff 0:7b5d37ca532f 42 //******************************************************************************
AhmadAlkaff 0:7b5d37ca532f 43 LIS2DH::LIS2DH(PinName sda, PinName scl, int slaveAddress) :
AhmadAlkaff 0:7b5d37ca532f 44 slaveAddress(slaveAddress) {
AhmadAlkaff 0:7b5d37ca532f 45 i2c = new I2C(sda, scl);
AhmadAlkaff 0:7b5d37ca532f 46 i2c->frequency(400000);
AhmadAlkaff 0:7b5d37ca532f 47 isOwner = true;
AhmadAlkaff 0:7b5d37ca532f 48 instance = this;
AhmadAlkaff 0:7b5d37ca532f 49 }
AhmadAlkaff 0:7b5d37ca532f 50
AhmadAlkaff 0:7b5d37ca532f 51 //******************************************************************************
AhmadAlkaff 0:7b5d37ca532f 52 LIS2DH::LIS2DH(I2C *i2c, int slaveAddress) :
AhmadAlkaff 0:7b5d37ca532f 53 slaveAddress(slaveAddress) {
AhmadAlkaff 0:7b5d37ca532f 54 this->i2c = i2c;
AhmadAlkaff 0:7b5d37ca532f 55 i2c->frequency(400000);
AhmadAlkaff 0:7b5d37ca532f 56 isOwner = false;
AhmadAlkaff 0:7b5d37ca532f 57 instance = this;
AhmadAlkaff 0:7b5d37ca532f 58 }
AhmadAlkaff 0:7b5d37ca532f 59
AhmadAlkaff 0:7b5d37ca532f 60 //******************************************************************************
AhmadAlkaff 0:7b5d37ca532f 61 LIS2DH::~LIS2DH(void) {
AhmadAlkaff 13:0f663ca63342 62 if (isOwner == true)
AhmadAlkaff 0:7b5d37ca532f 63 delete i2c;
AhmadAlkaff 0:7b5d37ca532f 64 }
AhmadAlkaff 0:7b5d37ca532f 65
AhmadAlkaff 0:7b5d37ca532f 66 //******************************************************************************
AhmadAlkaff 0:7b5d37ca532f 67 int LIS2DH::writeReg(LIS2DH_REG_map_t reg, char value) {
AhmadAlkaff 0:7b5d37ca532f 68 int result;
AhmadAlkaff 0:7b5d37ca532f 69 char cmdData[2] = {(char)reg, value};
AhmadAlkaff 0:7b5d37ca532f 70 result = i2c->write(slaveAddress, cmdData, 2);
AhmadAlkaff 13:0f663ca63342 71 if (result != 0)
AhmadAlkaff 0:7b5d37ca532f 72 return -1;
AhmadAlkaff 0:7b5d37ca532f 73 return 0;
AhmadAlkaff 0:7b5d37ca532f 74 }
AhmadAlkaff 0:7b5d37ca532f 75
AhmadAlkaff 0:7b5d37ca532f 76 //******************************************************************************
AhmadAlkaff 0:7b5d37ca532f 77 int LIS2DH::readReg(LIS2DH_REG_map_t reg, char *value) {
AhmadAlkaff 0:7b5d37ca532f 78 int result;
AhmadAlkaff 0:7b5d37ca532f 79 char cmdData[1] = {(char)reg};
AhmadAlkaff 0:7b5d37ca532f 80
AhmadAlkaff 0:7b5d37ca532f 81 result = i2c->write(slaveAddress, cmdData, 1);
AhmadAlkaff 13:0f663ca63342 82 if (result != 0)
AhmadAlkaff 13:0f663ca63342 83 return -1;
AhmadAlkaff 0:7b5d37ca532f 84 result = i2c->read(slaveAddress, value, 1);
AhmadAlkaff 13:0f663ca63342 85 if (result != 0)
AhmadAlkaff 0:7b5d37ca532f 86 return -1;
AhmadAlkaff 0:7b5d37ca532f 87 return 0;
AhmadAlkaff 0:7b5d37ca532f 88 }
AhmadAlkaff 0:7b5d37ca532f 89
AhmadAlkaff 0:7b5d37ca532f 90 //******************************************************************************
AhmadAlkaff 0:7b5d37ca532f 91 static void I2c_Reset(uint8_t index, int speed) {
AhmadAlkaff 0:7b5d37ca532f 92 mxc_i2cm_regs_t *regs = MXC_I2CM_GET_I2CM(index);
AhmadAlkaff 13:0f663ca63342 93 /* Reset module */
AhmadAlkaff 0:7b5d37ca532f 94 regs->ctrl = MXC_F_I2CM_CTRL_MSTR_RESET_EN;
AhmadAlkaff 0:7b5d37ca532f 95 regs->ctrl = 0;
AhmadAlkaff 13:0f663ca63342 96 /* Enable tx_fifo and rx_fifo */
AhmadAlkaff 0:7b5d37ca532f 97 regs->ctrl |= (MXC_F_I2CM_CTRL_TX_FIFO_EN | MXC_F_I2CM_CTRL_RX_FIFO_EN);
AhmadAlkaff 0:7b5d37ca532f 98 }
AhmadAlkaff 0:7b5d37ca532f 99
AhmadAlkaff 0:7b5d37ca532f 100 //******************************************************************************
AhmadAlkaff 13:0f663ca63342 101 // Interrupt handler, empties the hardware fifo and packetizes it for streaming
AhmadAlkaff 0:7b5d37ca532f 102 void LIS2DH::int_handler(void) {
AhmadAlkaff 0:7b5d37ca532f 103 char fifo_src;
AhmadAlkaff 13:0f663ca63342 104 int16_t valueX, valueY, valueZ;
AhmadAlkaff 13:0f663ca63342 105 int num, index;
AhmadAlkaff 0:7b5d37ca532f 106
AhmadAlkaff 0:7b5d37ca532f 107 I2c_Reset(2, 1);
AhmadAlkaff 0:7b5d37ca532f 108 num = 0;
AhmadAlkaff 0:7b5d37ca532f 109 index = 0;
AhmadAlkaff 0:7b5d37ca532f 110 fifo_src = 0;
AhmadAlkaff 0:7b5d37ca532f 111 while ((fifo_src & 0x20) != 0x20) {
AhmadAlkaff 0:7b5d37ca532f 112 get_motion_fifo(&valueX, &valueY, &valueZ);
AhmadAlkaff 0:7b5d37ca532f 113 lis2dh_buffer[index++] = valueX;
AhmadAlkaff 0:7b5d37ca532f 114 lis2dh_buffer[index++] = valueY;
AhmadAlkaff 0:7b5d37ca532f 115 lis2dh_buffer[index++] = valueZ;
AhmadAlkaff 0:7b5d37ca532f 116 readReg(LIS2DH_FIFO_SRC_REG, &fifo_src);
AhmadAlkaff 0:7b5d37ca532f 117 num++;
AhmadAlkaff 13:0f663ca63342 118 if (num >= 32)
AhmadAlkaff 0:7b5d37ca532f 119 break;
AhmadAlkaff 0:7b5d37ca532f 120 }
AhmadAlkaff 0:7b5d37ca532f 121 motion_cached[0] = valueX;
AhmadAlkaff 0:7b5d37ca532f 122 motion_cached[1] = valueY;
AhmadAlkaff 0:7b5d37ca532f 123 motion_cached[2] = valueZ;
AhmadAlkaff 0:7b5d37ca532f 124 }
AhmadAlkaff 0:7b5d37ca532f 125
AhmadAlkaff 0:7b5d37ca532f 126 //******************************************************************************
AhmadAlkaff 0:7b5d37ca532f 127 void LIS2DH::init(void) {
AhmadAlkaff 0:7b5d37ca532f 128 stop();
AhmadAlkaff 0:7b5d37ca532f 129 configure_interrupt();
AhmadAlkaff 0:7b5d37ca532f 130 }
AhmadAlkaff 0:7b5d37ca532f 131
AhmadAlkaff 0:7b5d37ca532f 132 //******************************************************************************
AhmadAlkaff 0:7b5d37ca532f 133 void LIS2DH::configure_interrupt(void) {
AhmadAlkaff 0:7b5d37ca532f 134 lis2dh_ctrl_reg6_t ctrl_reg6;
AhmadAlkaff 13:0f663ca63342 135 // Interrupt enabled on INT1, interrupt active low
AhmadAlkaff 0:7b5d37ca532f 136 ctrl_reg6.all = 0;
AhmadAlkaff 13:0f663ca63342 137 ctrl_reg6.bit.I2_INT1 = 1; // Interrupt 1 function enabled on int1 pin
AhmadAlkaff 13:0f663ca63342 138 ctrl_reg6.bit.H_LACTIVE = 1; // Interrupt active low
AhmadAlkaff 0:7b5d37ca532f 139 writeReg(LIS2DH_CTRL_REG6, ctrl_reg6.all);
AhmadAlkaff 0:7b5d37ca532f 140 }
AhmadAlkaff 0:7b5d37ca532f 141
AhmadAlkaff 0:7b5d37ca532f 142 //******************************************************************************
AhmadAlkaff 0:7b5d37ca532f 143 int LIS2DH::initStart(int dataRate, int fifoThreshold) {
AhmadAlkaff 0:7b5d37ca532f 144 lis2dh_ctrl_reg5_t ctrl_reg5;
AhmadAlkaff 0:7b5d37ca532f 145 lis2dh_fifo_ctrl_reg_t fifo_ctrl_reg;
AhmadAlkaff 0:7b5d37ca532f 146 lis2dh_ctrl_reg1_t ctrl_reg1;
AhmadAlkaff 0:7b5d37ca532f 147 lis2dh_ctrl_reg3_t ctrl_reg3;
AhmadAlkaff 0:7b5d37ca532f 148 __disable_irq();
AhmadAlkaff 0:7b5d37ca532f 149 configure_interrupt();
AhmadAlkaff 13:0f663ca63342 150 // Enable FIFO
AhmadAlkaff 0:7b5d37ca532f 151 ctrl_reg5.all = 0x0;
AhmadAlkaff 0:7b5d37ca532f 152 ctrl_reg5.bit.FIFO_EN = 0x1;
AhmadAlkaff 0:7b5d37ca532f 153 if (writeReg(LIS2DH_CTRL_REG5, ctrl_reg5.all) == -1) {
AhmadAlkaff 0:7b5d37ca532f 154 __enable_irq();
AhmadAlkaff 0:7b5d37ca532f 155 return -1;
AhmadAlkaff 0:7b5d37ca532f 156 }
AhmadAlkaff 13:0f663ca63342 157 // Set FIFO to stream mode, trigger select INT1
AhmadAlkaff 0:7b5d37ca532f 158 fifo_ctrl_reg.all = 0x0;
AhmadAlkaff 0:7b5d37ca532f 159 fifo_ctrl_reg.bit.FTH = fifoThreshold;
AhmadAlkaff 0:7b5d37ca532f 160 fifo_ctrl_reg.bit.FM = LIS2DH_FIFOMODE_STREAM;
AhmadAlkaff 0:7b5d37ca532f 161 fifo_ctrl_reg.bit.TR = 0x0;
AhmadAlkaff 0:7b5d37ca532f 162 if (writeReg(LIS2DH_FIFO_CTRL_REG, fifo_ctrl_reg.all) == -1) {
AhmadAlkaff 0:7b5d37ca532f 163 __enable_irq();
AhmadAlkaff 0:7b5d37ca532f 164 return -1;
AhmadAlkaff 0:7b5d37ca532f 165 }
AhmadAlkaff 13:0f663ca63342 166 // Low power mode at 100Hz ODR0-ODR3
AhmadAlkaff 13:0f663ca63342 167 ctrl_reg1.bit.ODR = 5; // Set the data rate
AhmadAlkaff 13:0f663ca63342 168 ctrl_reg1.bit.LPen = 0x1; // Enable Low power
AhmadAlkaff 13:0f663ca63342 169 ctrl_reg1.bit.Zen = 0x1; // Enable Z
AhmadAlkaff 13:0f663ca63342 170 ctrl_reg1.bit.Yen = 0x1; // Enable Y
AhmadAlkaff 13:0f663ca63342 171 ctrl_reg1.bit.Xen = 0x1; // Enable X
AhmadAlkaff 0:7b5d37ca532f 172 if (writeReg(LIS2DH_CTRL_REG1, ctrl_reg1.all) == -1) {
AhmadAlkaff 0:7b5d37ca532f 173 __enable_irq();
AhmadAlkaff 0:7b5d37ca532f 174 return -1;
AhmadAlkaff 0:7b5d37ca532f 175 }
AhmadAlkaff 13:0f663ca63342 176 // Enable watermark interrupt
AhmadAlkaff 0:7b5d37ca532f 177 ctrl_reg3.all = 0x00;
AhmadAlkaff 0:7b5d37ca532f 178 ctrl_reg3.bit.I1_WTM = 0x1;
AhmadAlkaff 0:7b5d37ca532f 179 if (writeReg(LIS2DH_CTRL_REG3, ctrl_reg3.all) == -1) {
AhmadAlkaff 0:7b5d37ca532f 180 __enable_irq();
AhmadAlkaff 0:7b5d37ca532f 181 return -1;
AhmadAlkaff 0:7b5d37ca532f 182 }
AhmadAlkaff 0:7b5d37ca532f 183 __enable_irq();
AhmadAlkaff 0:7b5d37ca532f 184 return 0;
AhmadAlkaff 0:7b5d37ca532f 185 }
AhmadAlkaff 0:7b5d37ca532f 186
AhmadAlkaff 0:7b5d37ca532f 187 //******************************************************************************
AhmadAlkaff 0:7b5d37ca532f 188 int LIS2DH::detect(char *detected) {
AhmadAlkaff 0:7b5d37ca532f 189 char val;
AhmadAlkaff 0:7b5d37ca532f 190 *detected = 0;
AhmadAlkaff 13:0f663ca63342 191 if (readReg(LIS2DH_WHO_AM_I, &val) == -1)
AhmadAlkaff 0:7b5d37ca532f 192 return -1;
AhmadAlkaff 13:0f663ca63342 193 if (val == LIS2DH_ID)
AhmadAlkaff 0:7b5d37ca532f 194 *detected = 1;
AhmadAlkaff 0:7b5d37ca532f 195 return 0;
AhmadAlkaff 0:7b5d37ca532f 196 }
AhmadAlkaff 0:7b5d37ca532f 197
AhmadAlkaff 0:7b5d37ca532f 198 //******************************************************************************
AhmadAlkaff 0:7b5d37ca532f 199 int LIS2DH::get_motion_cached(int16_t *valueX, int16_t *valueY,
AhmadAlkaff 0:7b5d37ca532f 200 int16_t *valueZ) {
AhmadAlkaff 0:7b5d37ca532f 201 *valueX = motion_cached[0];
AhmadAlkaff 0:7b5d37ca532f 202 *valueY = motion_cached[1];
AhmadAlkaff 0:7b5d37ca532f 203 *valueZ = motion_cached[2];
AhmadAlkaff 0:7b5d37ca532f 204 return 0;
AhmadAlkaff 0:7b5d37ca532f 205 }
AhmadAlkaff 0:7b5d37ca532f 206
AhmadAlkaff 0:7b5d37ca532f 207 //******************************************************************************
AhmadAlkaff 0:7b5d37ca532f 208 int LIS2DH::get_motion_fifo(int16_t *valueX, int16_t *valueY, int16_t *valueZ) {
AhmadAlkaff 0:7b5d37ca532f 209 char reg = LIS2DH_OUT_X_L | 0x80;
AhmadAlkaff 0:7b5d37ca532f 210 char values[6];
AhmadAlkaff 0:7b5d37ca532f 211 int i;
AhmadAlkaff 0:7b5d37ca532f 212
AhmadAlkaff 0:7b5d37ca532f 213 reg = LIS2DH_OUT_X_L;
AhmadAlkaff 0:7b5d37ca532f 214 for (i = 0; i < 6; i++) {
AhmadAlkaff 13:0f663ca63342 215 if (readReg((LIS2DH_REG_map_t)reg, &values[i]) != 0)
AhmadAlkaff 0:7b5d37ca532f 216 return -1;
AhmadAlkaff 0:7b5d37ca532f 217 reg++;
AhmadAlkaff 0:7b5d37ca532f 218 }
AhmadAlkaff 0:7b5d37ca532f 219 *valueX = ((short)values[1] << 8) + values[0];
AhmadAlkaff 0:7b5d37ca532f 220 *valueY = ((short)values[3] << 8) + values[2];
AhmadAlkaff 0:7b5d37ca532f 221 *valueZ = ((short)values[5] << 8) + values[4];
AhmadAlkaff 0:7b5d37ca532f 222 motion_cached[0] = *valueX;
AhmadAlkaff 0:7b5d37ca532f 223 motion_cached[1] = *valueY;
AhmadAlkaff 0:7b5d37ca532f 224 motion_cached[2] = *valueZ;
AhmadAlkaff 0:7b5d37ca532f 225 return 0;
AhmadAlkaff 0:7b5d37ca532f 226 }
AhmadAlkaff 0:7b5d37ca532f 227
AhmadAlkaff 0:7b5d37ca532f 228 //******************************************************************************
AhmadAlkaff 0:7b5d37ca532f 229 char LIS2DH::readId(void) {
AhmadAlkaff 0:7b5d37ca532f 230 char val;
AhmadAlkaff 0:7b5d37ca532f 231 readReg(LIS2DH_WHO_AM_I, &val);
AhmadAlkaff 0:7b5d37ca532f 232 return val;
AhmadAlkaff 0:7b5d37ca532f 233 }
AhmadAlkaff 0:7b5d37ca532f 234
AhmadAlkaff 0:7b5d37ca532f 235 //******************************************************************************
AhmadAlkaff 0:7b5d37ca532f 236 void LIS2DH::stop(void) {
AhmadAlkaff 0:7b5d37ca532f 237 __disable_irq();
AhmadAlkaff 13:0f663ca63342 238 writeReg(LIS2DH_CTRL_REG3, 0x00); // Disable watermark interrupt
AhmadAlkaff 13:0f663ca63342 239 writeReg(LIS2DH_CTRL_REG1, 0x00); // Data rate = 0Hz
AhmadAlkaff 13:0f663ca63342 240 writeReg(LIS2DH_FIFO_CTRL_REG, 0x00); // Set to bypass mode,
AhmadAlkaff 13:0f663ca63342 241 // clears FIFO_SRC_REG
AhmadAlkaff 0:7b5d37ca532f 242 __enable_irq();
AhmadAlkaff 0:7b5d37ca532f 243 }
AhmadAlkaff 0:7b5d37ca532f 244
AhmadAlkaff 0:7b5d37ca532f 245 //******************************************************************************
AhmadAlkaff 0:7b5d37ca532f 246 void LIS2DHIntHandler(void) {
AhmadAlkaff 0:7b5d37ca532f 247 char value;
AhmadAlkaff 13:0f663ca63342 248 // Read the data rate axis enable register, if this is zero then just return,
AhmadAlkaff 13:0f663ca63342 249 // we are not ready for interrupts
AhmadAlkaff 0:7b5d37ca532f 250 LIS2DH::instance->readReg(LIS2DH::LIS2DH_CTRL_REG1, &value);
AhmadAlkaff 13:0f663ca63342 251 if (value == 0x0)
AhmadAlkaff 0:7b5d37ca532f 252 return;
AhmadAlkaff 0:7b5d37ca532f 253 LIS2DH::instance->int_handler();
AhmadAlkaff 0:7b5d37ca532f 254 }