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LIS2DH.h
00001 /******************************************************************************* 00002 * Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved. 00003 * 00004 * Permission is hereby granted, free of charge, to any person obtaining a 00005 * copy of this software and associated documentation files (the "Software"), 00006 * to deal in the Software without restriction, including without limitation 00007 * the rights to use, copy, modify, merge, publish, distribute, sublicense, 00008 * and/or sell copies of the Software, and to permit persons to whom the 00009 * Software is furnished to do so, subject to the following conditions: 00010 * 00011 * The above copyright notice and this permission notice shall be included 00012 * in all copies or substantial portions of the Software. 00013 * 00014 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS 00015 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF 00016 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. 00017 * IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES 00018 * OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, 00019 * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR 00020 * OTHER DEALINGS IN THE SOFTWARE. 00021 * 00022 * Except as contained in this notice, the name of Maxim Integrated 00023 * Products, Inc. shall not be used except as stated in the Maxim Integrated 00024 * Products, Inc. Branding Policy. 00025 * 00026 * The mere transfer of this software does not imply any licenses 00027 * of trade secrets, proprietary technology, copyrights, patents, 00028 * trademarks, maskwork rights, or any other form of intellectual 00029 * property whatsoever. Maxim Integrated Products, Inc. retains all 00030 * ownership rights. 00031 ******************************************************************************* 00032 */ 00033 00034 #ifndef LIS2DH_H_ 00035 #define LIS2DH_H_ 00036 00037 #include "mbed.h" 00038 00039 /** 00040 * Driver for the LIS2DH on the HSP Platform 00041 * 00042 * @code 00043 * #include <stdio.h> 00044 * #include "mbed.h" 00045 * #include "xxx.h" 00046 * 00047 * I2C i2c(I2C_SDA, I2C_SCL); 00048 * xxx xxx(&i2c); 00049 * 00050 * int main(void) { 00051 * printf("Initialized xxx\n"); 00052 * while(1) { 00053 * if (xxx.init() != 0) { 00054 * printf("Error communicating with xxx\n"); 00055 * } else { 00056 * printf("Initialized xxx\n"); 00057 * break; 00058 * } 00059 * wait(1); 00060 * } 00061 * 00062 * while(1) { 00063 * printf(""); 00064 * wait(1); 00065 * } 00066 * } 00067 * @endcode 00068 */ 00069 00070 void LIS2DHIntHandler(void); 00071 00072 #define LIS2DH_READID 0x33 00073 00074 /// @brief LIS2DH Register addresses 00075 #define LIS2DH_STATUS_REG_AUX 0x07 00076 #define LIS2DH_OUT_TEMP_L 0x0C 00077 #define LIS2DH_OUT_TEMP_H 0x0D 00078 #define LIS2DH_INT_COUNTER_REG 0x0E 00079 #define LIS2DH_WHO_AM_I 0x0F 00080 #define LIS2DH_TEMP_CFG_REG 0x1F 00081 #define LIS2DH_CTRL_REG1 0x20 00082 #define LIS2DH_CTRL_REG2 0x21 00083 #define LIS2DH_CTRL_REG3 0x22 00084 #define LIS2DH_CTRL_REG4 0x23 00085 #define LIS2DH_CTRL_REG5 0x24 00086 #define LIS2DH_CTRL_REG6 0x25 00087 #define LIS2DH_REFERENCE 0x26 00088 #define LIS2DH_STATUS_REG2 0x27 00089 #define LIS2DH_OUT_X_L 0x28 00090 #define LIS2DH_OUT_X_H 0x29 00091 #define LIS2DH_OUT_Y_L 0x2A 00092 #define LIS2DH_OUT_Y_H 0x2B 00093 #define LIS2DH_OUT_Z_L 0x2C 00094 #define LIS2DH_OUT_Z_H 0x2D 00095 #define LIS2DH_FIFO_CTRL_REG 0x2E 00096 #define LIS2DH_FIFO_SRC_REG 0x2F 00097 #define LIS2DH_INT1_CFG 0x30 00098 #define LIS2DH_INT1_SRC 0x31 00099 #define LIS2DH_INT1_THS 0x32 00100 #define LIS2DH_INT1_DURATION 0x33 00101 #define LIS2DH_INT2_CFG 0x34 00102 #define LIS2DH_INT2_SRC 0x35 00103 #define LIS2DH_INT2_THS 0x36 00104 #define LIS2DH_INT2_DURATION 0x37 00105 #define LIS2DH_CLICK_CFG 0x38 00106 #define LIS2DH_CLICK_SRC 0x39 00107 #define LIS2DH_CLICK_THS 0x3A 00108 #define LIS2DH_TIME_LIMIT 0x3B 00109 #define LIS2DH_TIME_LATENCY 0x3C 00110 #define LIS2DH_TIME_WINDOW 0x3D 00111 #define LIS2DH_Act_THS 0x3E 00112 #define LIS2DH_Act_DUR 0x3F 00113 00114 #define LIS2DH_DATARATE_1HZ 0x1 00115 #define LIS2DH_DATARATE_10HZ 0x2 00116 #define LIS2DH_DATARATE_25HZ 0x3 00117 #define LIS2DH_DATARATE_50HZ 0x4 00118 #define LIS2DH_DATARATE_100HZ 0x5 00119 #define LIS2DH_DATARATE_200HZ 0x6 00120 #define LIS2DH_DATARATE_400HZ 0x7 00121 00122 #define LIS2DH_FIFOMODE_BYPASS 0x00 00123 #define LIS2DH_FIFOMODE_FIFO 0x01 00124 #define LIS2DH_FIFOMODE_STREAM 0x02 00125 #define LIS2DH_FIFOMODE_TRIGGER 0x03 00126 00127 #define LIS2DH_ID 0x33 00128 #define LIS2DH_FIFO_SIZE 32 00129 00130 #define LISD2DH_FIFO_MODE_BYPASS 0 00131 #define LISD2DH_FIFO_MODE_FIFO 1 00132 #define LISD2DH_FIFO_MODE_STREAM 2 00133 #define LISD2DH_FIFO_MODE_TRIGGER 3 00134 00135 #define LIS2DH_NUMBER_OF_AXIS 3 00136 #define LIS2DH_MAX_DATA_SIZE (LIS2DH_NUMBER_OF_AXIS * LIS2DH_FIFO_SIZE) 00137 00138 class LIS2DH { 00139 public: 00140 /// @brief STATUS_AUX (07h) 00141 union lis2dh_status_aux_reg { 00142 char all; 00143 struct { 00144 char reserved3 : 2; 00145 char TDA : 1; 00146 char reserved2 : 3; 00147 char TOR : 1; 00148 char reserved1 : 1; 00149 } bit; 00150 } lis2dh_status_aux; 00151 00152 /// @brief OUT_TEMP_L (0Ch) 00153 union lis2dh_out_temp_l_reg { 00154 char all; 00155 } lis2dh_out_temp_l; 00156 00157 /// @brief OUT_TEMP_H (0Dh) 00158 union lis2dh_out_temp_h_reg { 00159 char all; 00160 } lis2dh_out_temp_h; 00161 00162 /// @brief INT_COUNTER (0Eh) 00163 union lis2dh_int_counter_reg { 00164 char all; 00165 } lis2dh_int_counter; 00166 00167 /// @brief WHO_AM_I (0Fh) 00168 union lis2dh_who_am_i_reg { 00169 char all; 00170 } lis2dh_who_am_i; 00171 00172 /// @brief TEMP_CFG_REG (1Fh) 00173 union lis2dh_temp_cfg_reg { 00174 char all; 00175 struct { 00176 char reserved1 : 6; 00177 char TEMP_EN0 : 1; 00178 char TEMP_EN1 : 1; 00179 } bit; 00180 } lis2dh_temp_cfg; 00181 00182 /// @brief CTRL_REG1 (20h) 00183 union lis2dh_ctrl_reg1_reg { 00184 char all; 00185 struct { 00186 char Xen : 1; 00187 char Yen : 1; 00188 char Zen : 1; 00189 char LPen : 1; 00190 char ODR : 4; 00191 } bit; 00192 } lis2dh_ctrl_reg1; 00193 00194 /// @brief CTRL_REG1 (21h) 00195 union lis2dh_ctrl_reg2_reg { 00196 char all; 00197 struct { 00198 char HPIS : 3; 00199 char HPCLICK : 1; 00200 char FDS : 1; 00201 char HPCF : 2; 00202 char HPM : 2; 00203 } bit; 00204 } lis2dh_ctrl_reg2; 00205 00206 /// @brief CTRL_REG3 (22h) 00207 union lis2dh_ctrl_reg3_reg { 00208 char all; 00209 struct { 00210 char reserved : 1; 00211 char I1_OVERRUN : 1; 00212 char I1_WTM : 1; 00213 char I1_DRDY : 2; 00214 char I1_AOI : 1; 00215 char I1_CLICK : 1; 00216 } bit; 00217 } lis2dh_ctrl_reg3; 00218 00219 /// @brief CTRL_REG4 (23h) 00220 union lis2dh_ctrl_reg4_reg { 00221 char all; 00222 struct { 00223 char SIM : 1; 00224 char ST : 2; 00225 char HR : 1; 00226 char FS : 2; 00227 char BLE : 1; 00228 char BDU : 1; 00229 } bit; 00230 } lis2dh_ctrl_reg4; 00231 00232 /// @brief CTRL_REG5 (24h) 00233 union lis2dh_ctrl_reg5_reg { 00234 char all; 00235 struct { 00236 char D4D_INT2 : 1; 00237 char LIR_INT2 : 1; 00238 char D4D_INT1 : 1; 00239 char LIR_INT1 : 1; 00240 char reserved : 2; 00241 char FIFO_EN : 1; 00242 char BOOT : 1; 00243 } bit; 00244 } lis2dh_ctrl_reg5; 00245 00246 /// @brief CTRL_REG6 (25h) 00247 union lis2dh_ctrl_reg6_reg { 00248 char all; 00249 struct { 00250 char reserved1 : 1; 00251 char H_LACTIVE : 1; 00252 char reserved2 : 1; 00253 char P2_ACT : 1; 00254 char BOOT_I2 : 1; 00255 char I2_INT2 : 2; 00256 char I2_INT1 : 1; 00257 char I2_CLICKen: 1; 00258 } bit; 00259 } lis2dh_ctrl_reg6; 00260 00261 /// @brief REFERENCE (26h) 00262 union lis2dh_reference_reg { 00263 char all; 00264 } lis2dh_reference; 00265 00266 /// @brief STATUS_REG (27h) 00267 union lis2dh_status_reg_ { 00268 char all; 00269 struct { 00270 char XDA : 1; 00271 char YDA : 1; 00272 char ZDA : 1; 00273 char ZYXDA : 1; 00274 char XOR : 1; 00275 char YOR : 1; 00276 char ZOR : 1; 00277 char ZYXOR : 1; 00278 } bit; 00279 } lis2dh_status_reg; 00280 00281 /// @brief OUT_X_L (28h) 00282 union lis2dh_out_x_l_ { 00283 char all; 00284 } lis2dh_out_x_l; 00285 00286 /// @brief OUT_X_H (29h) 00287 union lis2dh_out_x_h_ { 00288 char all; 00289 } lis2dh_out_x_h; 00290 00291 /// @brief OUT_Y_L (2Ah) 00292 union lis2dh_out_y_l_ { 00293 char all; 00294 } lis2dh_out_y_l; 00295 00296 /// @brief OUT_Y_H (2Bh) 00297 union lis2dh_out_y_h_ { 00298 char all; 00299 } lis2dh_out_y_h; 00300 00301 /// @brief OUT_Z_L (2Ch) 00302 union lis2dh_out_z_l_ { 00303 char all; 00304 } lis2dh_out_z_l; 00305 00306 /// @brief OUT_Z_H (2Dh) 00307 union lis2dh_out_z_h_ { 00308 char all; 00309 } lis2dh_out_z_h; 00310 00311 /// @brief FIFO_CTRL_REG (2Eh) 00312 union lis2dh_fifo_ctrl_reg_ { 00313 char all; 00314 struct { 00315 char FTH : 5; 00316 char TR : 1; 00317 char FM : 2; 00318 } bit; 00319 } lis2dh_fifo_ctrl_reg; 00320 00321 /// @brief FIFO_CTRL_REG (2Fh) 00322 union lis2dh_fifo_src_reg_ { 00323 char all; 00324 struct { 00325 char FSS : 5; 00326 char EMPTY : 1; 00327 char OVRN_FIFO : 1; 00328 char WTM : 1; 00329 } bit; 00330 } lis2dh_fifo_src_reg; 00331 00332 /// @brief INT1_CFG (30h) 00333 union lis2dh_int1_cfg_reg_ { 00334 char all; 00335 struct { 00336 char XLIE_XDOWNE : 1; 00337 char XHIE_XUPE : 1; 00338 char YLIE_YDOWNE : 1; 00339 char YHIE_YUPE : 1; 00340 char ZLIE_ZDOWNE : 1; 00341 char ZHIE_ZUPE : 1; 00342 char SIXD : 1; 00343 char AOI : 1; 00344 } bit; 00345 } lis2dh_int1_cfg; 00346 00347 /// @brief INT1_SRC (31h) 00348 union lis2dh_int1_src_reg_ { 00349 char all; 00350 struct { 00351 char XL : 1; 00352 char XH : 1; 00353 char YL : 1; 00354 char YH : 1; 00355 char ZL : 1; 00356 char ZH : 1; 00357 char IA : 1; 00358 char reserved : 1; 00359 } bit; 00360 } lis2dh_int1_src; 00361 00362 /// @brief INT1_THS (32h) 00363 union lis2dh_int1_ths_reg_ { 00364 char all; 00365 } lis2dh_int1_ths; 00366 00367 /// @brief INT1_DURATION (33h) 00368 union lis2dh_int1_duration_reg_ { 00369 char all; 00370 } lis2dh_int1_duration; 00371 00372 /// @brief INT2_CFG (34h) 00373 union lis2dh_int2_cfg_reg_ { 00374 char all; 00375 struct { 00376 char XLIE : 1; 00377 char XHIE : 1; 00378 char YLIE : 1; 00379 char YHIE : 1; 00380 char ZLIE : 1; 00381 char ZHIE : 1; 00382 char SIX6 : 1; 00383 char AOI : 1; 00384 } bit; 00385 } lis2dh_int2_cfg; 00386 00387 /// @brief INT2_SRC (35h) 00388 union lis2dh_int2_src_reg_ { 00389 char all; 00390 struct { 00391 char XL : 1; 00392 char XH : 1; 00393 char YL : 1; 00394 char YH : 1; 00395 char ZL : 1; 00396 char ZH : 1; 00397 char IA : 1; 00398 char reserved : 1; 00399 } bit; 00400 } lis2dh_int2_src; 00401 00402 /// @brief INT2_THS (36h) 00403 union lis2dh_int2_ths_reg_ { 00404 char all; 00405 } lis2dh_int2_ths; 00406 00407 /// @brief INT2_DURATION (37h) 00408 union lis2dh_int2_duration_reg_ { 00409 char all; 00410 } lis2dh_int2_duration; 00411 00412 LIS2DH(PinName sda, PinName scl, int slaveAddress); 00413 LIS2DH(I2C *i2c, int slaveAddress); 00414 ~LIS2DH(void); 00415 00416 /** @brief Initialize the device 00417 */ 00418 void init(void); 00419 /** @brief Interrupt handler 00420 */ 00421 void int_handler(void); 00422 /** @brief Get motion data from the device fifo 00423 */ 00424 int get_motion_fifo(short *valueX, short *valueY, short *valueZ); 00425 /** @brief Get the last cached motion values (cached from a previous interrupt 00426 * event) 00427 */ 00428 int get_motion_cached(int16_t *valueX, int16_t *valueY, int16_t *valueZ); 00429 /** @brief Star Interrupts 00430 */ 00431 int initStart(int dataRate, int fifoThreshold); 00432 /** @brief Stop interrupts 00433 */ 00434 void stop(void); 00435 /** @brief Read device register 00436 */ 00437 int readReg(char reg, char *value); 00438 /** @brief Write device regsiter 00439 */ 00440 int writeReg(char reg, char value); 00441 /** @brief Detect if device exists 00442 */ 00443 int detect(char *detected); 00444 /** @brief Read the device ID 00445 */ 00446 char readId(void); 00447 00448 static LIS2DH *instance; 00449 00450 private: 00451 /** @brief 00452 */ 00453 void configure_interrupt(void); 00454 /// I2C pointer 00455 I2C *i2c; 00456 /// Is this object the owner of the I2C object 00457 bool isOwner; 00458 /// Device slave address 00459 int slaveAddress; 00460 }; 00461 00462 #endif /* LIS2DH_H_ */
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