add driver, test app for LIS2DW accelerometer

4 files changed, 415 insertions, 33 deletions

diff --git a/apps/accelerometer-test/app.c b/apps/accelerometer-test/app.c
index 8bd6537e..bfef132c 100644
--- a/apps/accelerometer-test/app.c
+++ b/apps/accelerometer-test/app.c
@@ -3,21 +3,15 @@
 #include <stdlib.h>
 #include <math.h>
 #include "watch.h"
-#include "lis2dh.h"
+#include "lis2dw.h"
 
-// This application displays data from the old Sensor Watch Motion sensor board.
-// Note that this board required A0 to be set high to power the sensor.
-// Future accelerometer boards will be powered directly from VCC.
-// Also note that this board has its INT1 pin wired to A1, which is not an external
-// wake pin. Future accelerometer boards will wire interrupt pins to A2 and A4.
-
-void cb_light_pressed(void) {
+static void cb_light_pressed(void) {
 }
 
-void cb_mode_pressed(void) {
+static void cb_mode_pressed(void) {
 }
 
-void cb_alarm_pressed(void) {
+static void cb_alarm_pressed(void) {
 }
 
 uint8_t interrupts = 0;
@@ -25,23 +19,16 @@ uint8_t last_interrupts = 0;
 uint8_t ticks = 0;
 char buf[13] = {0};
 
-void cb_interrupt_1(void) {
-    interrupts++;
-}
+static void cb_tick(void) {
+    if (!lis2dw_have_new_data()) return;
 
-void cb_tick(void) {
-    if (++ticks == 30) {
-        last_interrupts = interrupts;
-        interrupts = 0;
-        ticks = 0;
-    }
+    lis2dw_reading raw_reading;
+    lis2dw_acceleration_measurement measurement = lis2dw_get_acceleration_measurement(&raw_reading);
+    (void)measurement;
+    printf("%d, %d, %d\n", raw_reading.x, raw_reading.y, raw_reading.z);
 }
 
 void app_init(void) {
-    gpio_set_pin_direction(A0, GPIO_DIRECTION_OUT);
-    gpio_set_pin_function(A0, GPIO_PIN_FUNCTION_OFF);
-    gpio_set_pin_level(A0, true);
-
     watch_enable_display();
     watch_display_string("IN 0  0  0", 0);
 
@@ -51,17 +38,9 @@ void app_init(void) {
     watch_register_interrupt_callback(BTN_ALARM, cb_alarm_pressed, INTERRUPT_TRIGGER_RISING);
 
     watch_enable_i2c();
+    lis2dw_begin();
 
-    lis2dh_begin();
-    lis2dh_set_data_rate(LIS2DH_DATA_RATE_10_HZ);
-    lis2dh_configure_aoi_int1(
-        LIS2DH_INTERRUPT_CONFIGURATION_OR |
-        LIS2DH_INTERRUPT_CONFIGURATION_X_HIGH_ENABLE |
-        LIS2DH_INTERRUPT_CONFIGURATION_Y_HIGH_ENABLE |
-        LIS2DH_INTERRUPT_CONFIGURATION_Z_HIGH_ENABLE, 96, 0, true);
-
-    watch_register_interrupt_callback(A1, cb_interrupt_1, INTERRUPT_TRIGGER_RISING);
-    watch_rtc_register_tick_callback(cb_tick);
+    watch_rtc_register_periodic_callback(cb_tick, 16);
 }
 
 void app_wake_from_backup(void) {
@@ -77,6 +56,7 @@ void app_wake_from_standby(void) {
 }
 
 bool app_loop(void) {
+    // TODO: interrupt configuration for LIS2DW
     sprintf(buf, "IN%2d%3d%3d", ticks, interrupts, last_interrupts);
     watch_display_string(buf, 0);
 
diff --git a/make.mk b/make.mk
index f1301733..a39f077a 100644
--- a/make.mk
+++ b/make.mk
@@ -115,6 +115,7 @@ SRCS += \
   $(TOP)/watch-library/hpl/slcd/hpl_slcd.c \
   $(TOP)/watch-library/hpl/systick/hpl_systick.c \
   $(TOP)/watch-library/driver/lis2dh.c \
+  $(TOP)/watch-library/driver/lis2dW.c \
 
 DEFINES += \
   -D__SAML22J18A__ \
diff --git a/watch-library/driver/lis2dw.c b/watch-library/driver/lis2dw.c
new file mode 100644
index 00000000..73b54aaf
--- /dev/null
+++ b/watch-library/driver/lis2dw.c
@@ -0,0 +1,121 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2021 Joey Castillo
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include "lis2dw.h"
+#include "watch.h"
+
+bool lis2dw_begin(void) {
+    if (lis2dw_get_device_id() != LIS2DW_WHO_AM_I_VAL) {
+        return false;
+    }
+    watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL2, LIS2DW_CTRL2_VAL_BOOT);
+    watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL2, LIS2DW_CTRL2_VAL_SOFT_RESET);
+    // Start at 100 Hz data rate
+    watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL1, LIS2DW_CTRL1_VAL_ODR_100HZ | LIS2DW_CTRL1_VAL_MODE_HIGH_PERFORMANCE);
+    // Enable block data update (output registers not updated until MSB and LSB have been read) and address autoincrement
+    watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL2, LIS2DW_CTRL2_VAL_BDU | LIS2DW_CTRL2_VAL_IF_ADD_INC);
+    // Set range to ±2G
+    watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL6, LIS2DW_CTRL6_VAL_RANGE_2G);
+
+    return true;
+}
+
+uint8_t lis2dw_get_device_id(void) {
+    return watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_WHO_AM_I);
+}
+
+bool lis2dw_have_new_data(void) {
+    uint8_t retval = watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_STATUS);
+    return retval & LIS2DW_STATUS_VAL_DRDY;
+}
+
+lis2dw_reading lis2dw_get_raw_reading(void) {
+    uint8_t buffer[6];
+    uint8_t reg = LIS2DW_REG_OUT_X_L | 0x80; // set high bit for consecutive reads
+    lis2dw_reading retval;
+
+    watch_i2c_send(LIS2DW_ADDRESS, &reg, 1);
+    watch_i2c_receive(LIS2DW_ADDRESS, (uint8_t *)&buffer, 6);
+
+    retval.x = buffer[0];
+    retval.x |= ((uint16_t)buffer[1]) << 8;
+    retval.y = buffer[2];
+    retval.y |= ((uint16_t)buffer[3]) << 8;
+    retval.z = buffer[4];
+    retval.z |= ((uint16_t)buffer[5]) << 8;
+
+    retval.x >>= 2;
+    retval.y >>= 2;
+    retval.z >>= 2;
+
+    return retval;
+}
+
+ lis2dw_acceleration_measurement lis2dw_get_acceleration_measurement(lis2dw_reading *out_reading) {
+    lis2dw_reading reading = lis2dw_get_raw_reading();
+    uint8_t range = lis2dw_get_range();
+    if (out_reading != NULL) *out_reading = reading;
+
+    // this bit is cribbed from Adafruit's LIS3DH driver; from their notes, the magic number below
+    // converts from 16-bit lsb to 10-bit and divides by 1k to convert from milli-gs.
+    // final value is raw_lsb => 10-bit lsb -> milli-gs -> gs
+    uint8_t lsb_value = 1;
+    if (range == LIS2DW_RANGE_2_G) lsb_value = 4;
+    if (range == LIS2DW_RANGE_4_G) lsb_value = 8;
+    if (range == LIS2DW_RANGE_8_G) lsb_value = 16;
+    if (range == LIS2DW_RANGE_16_G) lsb_value = 48;
+
+    lis2dw_acceleration_measurement retval;
+
+    retval.x = lsb_value * ((float)reading.x / 64000.0);
+    retval.y = lsb_value * ((float)reading.y / 64000.0);
+    retval.z = lsb_value * ((float)reading.z / 64000.0);
+
+    return retval;
+}
+
+void lis2dw_set_range(lis2dw_range_t range) {
+    uint8_t val = watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL4) & 0xCF;
+    uint8_t bits = range << 4;
+
+    watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL4, val | bits);
+}
+
+lis2dw_range_t lis2dw_get_range(void) {
+    uint8_t retval = watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL4) & 0x30;
+    retval >>= 4;
+    return (lis2dw_range_t)retval;
+}
+
+
+void lis2dw_set_data_rate(lis2dw_data_rate_t dataRate) {
+    uint8_t val = watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL1) & 0x0F;
+    uint8_t bits = dataRate << 4;
+
+    watch_i2c_write8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL1, val | bits);
+}
+
+lis2dw_data_rate_t lis2dw_get_data_rate(void) {
+    return watch_i2c_read8(LIS2DW_ADDRESS, LIS2DW_REG_CTRL1) >> 4;
+}
diff --git a/watch-library/driver/lis2dw.h b/watch-library/driver/lis2dw.h
new file mode 100644
index 00000000..ac2d60bb
--- /dev/null
+++ b/watch-library/driver/lis2dw.h
@@ -0,0 +1,280 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2021 Joey Castillo
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#ifndef LIS2DW_H
+#define LIS2DW_H
+
+#include <stdbool.h>
+#include <stdint.h>
+
+typedef struct {
+    int16_t x;
+    int16_t y;
+    int16_t z;
+} lis2dw_reading;
+
+typedef struct {
+    float x;
+    float y;
+    float z;
+} lis2dw_acceleration_measurement;
+
+typedef enum {
+  LIS2DW_DATA_RATE_POWERDOWN = 0,
+  LIS2DW_DATA_RATE_LOWEST = 0b0001, // 12.5 Hz in high performance mode, 1.6 Hz in low power
+  LIS2DW_DATA_RATE_12_5_HZ = 0b0010,
+  LIS2DW_DATA_RATE_25_HZ = 0b0011,
+  LIS2DW_DATA_RATE_50_HZ = 0b0100,
+  LIS2DW_DATA_RATE_100_HZ = 0b0101,
+  LIS2DW_DATA_RATE_200_HZ = 0b0110,
+  LIS2DW_DATA_RATE_HP_400_HZ = 0b0111,
+  LIS2DW_DATA_RATE_HP_800_HZ = 0b1000,
+  LIS2DW_DATA_RATE_HP_1600_HZ = 0b1001,
+
+} lis2dw_data_rate_t;
+
+typedef enum {
+  LIS2DW_MODE_LOW_POWER = 0b00,
+  LIS2DW_MODE_HIGH_PERFORMANCE = 0b01,
+  LIS2DW_MODE_ON_DEMAND = 0b10,
+} lis2dw_mode_t;
+
+typedef enum {
+  LIS2DW_LP_MODE_1 = 0b00, // 12-bit
+  LIS2DW_LP_MODE_2 = 0b01, // 14-bit
+  LIS2DW_LP_MODE_3 = 0b10, // 14-bit
+  LIS2DW_LP_MODE_4 = 0b11, // 14-bit
+} lis2dw_low_power_mode_t;
+
+typedef enum {
+  LIS2DW_BANDWIDTH_FILTER_DIV2 = 0b00,
+  LIS2DW_BANDWIDTH_FILTER_DIV4 = 0b01,
+  LIS2DW_BANDWIDTH_FILTER_DIV10 = 0b10,
+  LIS2DW_BANDWIDTH_FILTER_DIV20 = 0b11,
+} lis2dw_bandwidth_filtering_mode_t;
+
+typedef enum {
+  LIS2DW_RANGE_16_G = 0b11, // +/- 16g
+  LIS2DW_RANGE_8_G = 0b10,  // +/- 8g
+  LIS2DW_RANGE_4_G = 0b01,  // +/- 4g
+  LIS2DW_RANGE_2_G = 0b00   // +/- 2g (default value)
+} lis2dw_range_t;
+
+typedef enum {
+  LIS2DW_INTERRUPT_CONFIGURATION_OR            = 0b00000000,
+  LIS2DW_INTERRUPT_CONFIGURATION_AND           = 0b10000000,
+  LIS2DW_INTERRUPT_CONFIGURATION_6D_MOVEMENT   = 0b01000000,
+  LIS2DW_INTERRUPT_CONFIGURATION_6D_POSITION   = 0b11000000, // in 6D mode, these have an alternate meaning:
+  LIS2DW_INTERRUPT_CONFIGURATION_Z_HIGH_ENABLE = 0b00100000, // Z up enable
+  LIS2DW_INTERRUPT_CONFIGURATION_Z_LOW_ENABLE  = 0b00010000, // Z down enable
+  LIS2DW_INTERRUPT_CONFIGURATION_Y_HIGH_ENABLE = 0b00001000, // Y up enable
+  LIS2DW_INTERRUPT_CONFIGURATION_Y_LOW_ENABLE  = 0b00000100, // Y down enable
+  LIS2DW_INTERRUPT_CONFIGURATION_X_HIGH_ENABLE = 0b00000010, // X up enable
+  LIS2DW_INTERRUPT_CONFIGURATION_X_LOW_ENABLE  = 0b00000001, // X down enable
+} lis2dw_interrupt_configuration;
+
+typedef enum {
+  LIS2DW_INTERRUPT_STATE_ACTIVE = 0b01000000,
+  LIS2DW_INTERRUPT_STATE_Z_HIGH = 0b00100000, // Z up
+  LIS2DW_INTERRUPT_STATE_Z_LOW  = 0b00010000, // Z down
+  LIS2DW_INTERRUPT_STATE_Y_HIGH = 0b00001000, // Y up
+  LIS2DW_INTERRUPT_STATE_Y_LOW  = 0b00000100, // Y down
+  LIS2DW_INTERRUPT_STATE_X_HIGH = 0b00000010, // X up
+  LIS2DW_INTERRUPT_STATE_X_LOW  = 0b00000001, // X down
+} lis2dw_interrupt_state;
+
+// Assumes SA0 is high; if low, its 0x18
+#define LIS2DW_ADDRESS (0x19)
+
+#define LIS2DW_REG_OUT_TEMP_L 0x0D  ///< Temperature data low bit
+#define LIS2DW_REG_OUT_TEMP_H 0x0E  ///< Temperature data high bit
+
+#define LIS2DW_REG_WHO_AM_I 0x0F    ///< Device identification, will read 0x44
+#define LIS2DW_WHO_AM_I_VAL 0x44    ///< Expected value of the WHO_AM_I register
+
+#define LIS2DW_REG_CTRL1 0x20               ///< CTRL_REG1 in the data sheet.
+#define LIS2DW_CTRL1_VAL_ODR_POWERDOWN          0
+#define LIS2DW_CTRL1_VAL_ODR_LOWEST             (LIS2DW_DATA_RATE_LOWEST << 4)
+#define LIS2DW_CTRL1_VAL_ODR_12_5HZ             (LIS2DW_DATA_RATE_12_5_HZ << 4)
+#define LIS2DW_CTRL1_VAL_ODR_25HZ               (LIS2DW_DATA_RATE_25_HZ << 4)
+#define LIS2DW_CTRL1_VAL_ODR_50HZ               (LIS2DW_DATA_RATE_50_HZ << 4)
+#define LIS2DW_CTRL1_VAL_ODR_100HZ              (LIS2DW_DATA_RATE_100_HZ << 4)
+#define LIS2DW_CTRL1_VAL_ODR_200HZ              (LIS2DW_DATA_RATE_200_HZ << 4)
+#define LIS2DW_CTRL1_VAL_ODR_HP_400_HZ          (LIS2DW_DATA_RATE_HP_400_HZ << 4)
+#define LIS2DW_CTRL1_VAL_ODR_HP_800_HZ          (LIS2DW_DATA_RATE_HP_800_HZ << 4)
+#define LIS2DW_CTRL1_VAL_ODR_HP_1600_HZ         (LIS2DW_DATA_RATE_HP_1600_HZ << 4)
+#define LIS2DW_CTRL1_VAL_MODE_LOW_POWER         (LIS2DW_MODE_LOW_POWER << 2)
+#define LIS2DW_CTRL1_VAL_MODE_HIGH_PERFORMANCE  (LIS2DW_MODE_HIGH_PERFORMANCE << 2)
+#define LIS2DW_CTRL1_VAL_MODE_ON_DEMAND         (LIS2DW_MODE_ON_DEMAND << 2)
+#define LIS2DW_CTRL1_VAL_LPMODE_1               (LIS2DW_LP_MODE_1 << 0)
+#define LIS2DW_CTRL1_VAL_LPMODE_2               (LIS2DW_LP_MODE_2 << 0)
+#define LIS2DW_CTRL1_VAL_LPMODE_3               (LIS2DW_LP_MODE_3 << 0)
+#define LIS2DW_CTRL1_VAL_LPMODE_4               (LIS2DW_LP_MODE_4 << 0)
+
+#define LIS2DW_REG_CTRL2 0x21
+#define LIS2DW_CTRL2_VAL_BOOT       0b10000000
+#define LIS2DW_CTRL2_VAL_SOFT_RESET 0b01000000
+#define LIS2DW_CTRL2_VAL_CS_PU_DISC 0b00010000
+#define LIS2DW_CTRL2_VAL_BDU        0b00001000
+#define LIS2DW_CTRL2_VAL_IF_ADD_INC 0b00000100
+
+#define LIS2DW_REG_CTRL3 0x22
+#define LIS2DW_CTRL4_VAL_SELF_TEST_POS  0b10000000
+#define LIS2DW_CTRL4_VAL_SELF_TEST_NEG  0b01000000
+#define LIS2DW_CTRL3_VAL_PP_OD          0b00100000
+#define LIS2DW_CTRL3_VAL_LIR            0b00010000
+#define LIS2DW_CTRL3_VAL_H_L_ACTIVE     0b00001000
+#define LIS2DW_CTRL3_VAL_SLP_MODE_SEL   0b00000010
+#define LIS2DW_CTRL3_VAL_SLP_MODE_1     0b00000001
+
+#define LIS2DW_REG_CTRL4 0x23
+#define LIS2DW_CTRL4_INT1_6D          0b10000000
+#define LIS2DW_CTRL4_INT1_SINGLE_TAP  0b01000000
+#define LIS2DW_CTRL4_INT1_WU          0b00100000
+#define LIS2DW_CTRL4_INT1_FF          0b00010000
+#define LIS2DW_CTRL4_INT1_TAP         0b00001000
+#define LIS2DW_CTRL4_INT1_DIFF5       0b00000100
+#define LIS2DW_CTRL4_INT1_FTH         0b00000010
+#define LIS2DW_CTRL4_INT1_DRDY        0b00000001
+
+#define LIS2DW_REG_CTRL5 0x24
+#define LIS2DW_CTRL5_INT2_SLEEP_STATE 0b10000000
+#define LIS2DW_CTRL5_INT2_SLEEP_CHG   0b01000000
+#define LIS2DW_CTRL5_INT2_BOOT        0b00100000
+#define LIS2DW_CTRL5_INT2_DRDY_T      0b00010000
+#define LIS2DW_CTRL5_INT2_OVR         0b00001000
+#define LIS2DW_CTRL5_INT2_DIFF5       0b00000100
+#define LIS2DW_CTRL5_INT2_FTH         0b00000010
+#define LIS2DW_CTRL5_INT2_DRDY        0b00000001
+
+#define LIS2DW_REG_CTRL6 0x25
+#define LIS2DW_CTRL6_VAL_BANDWIDTH_DIV2   (LIS2DW_BANDWIDTH_FILTER_DIV2 << 6)
+#define LIS2DW_CTRL6_VAL_BANDWIDTH_DIV4   (LIS2DW_BANDWIDTH_FILTER_DIV4 << 6)
+#define LIS2DW_CTRL6_VAL_BANDWIDTH_DIV10  (LIS2DW_BANDWIDTH_FILTER_DIV10 << 6)
+#define LIS2DW_CTRL6_VAL_BANDWIDTH_DIV20  (LIS2DW_BANDWIDTH_FILTER_DIV20 << 6)
+#define LIS2DW_CTRL6_VAL_RANGE_2G         (LIS2DW_RANGE_2_G << 4)
+#define LIS2DW_CTRL6_VAL_RANGE_4G         (LIS2DW_RANGE_4_G << 4)
+#define LIS2DW_CTRL6_VAL_RANGE_8G         (LIS2DW_RANGE_8_G << 4)
+#define LIS2DW_CTRL6_VAL_RANGE_16G        (LIS2DW_RANGE_16_G << 4)
+#define LIS2DW_CTRL6_VAL_FDS              0b00001000
+#define LIS2DW_CTRL6_VAL_LOW_NOISE        0b00000100
+
+#define LIS2DW_REG_OUT_TEMP 0x26
+
+#define LIS2DW_REG_STATUS 0x27
+#define LIS2DW_STATUS_VAL_FIFO_THS    0b10000000
+#define LIS2DW_STATUS_VAL_WU_IA       0b01000000
+#define LIS2DW_STATUS_VAL_SLEEP_STATE 0b00100000
+#define LIS2DW_STATUS_VAL_DOUBLE_TAP  0b00010000
+#define LIS2DW_STATUS_VAL_SINGLE_TAP  0b00001000
+#define LIS2DW_STATUS_VAL_6D_IA       0b00000100
+#define LIS2DW_STATUS_VAL_FF_IA       0b00000010
+#define LIS2DW_STATUS_VAL_DRDY        0b00000001
+
+#define LIS2DW_REG_OUT_X_L 0x28
+#define LIS2DW_REG_OUT_X_H 0x29
+#define LIS2DW_REG_OUT_Y_L 0x2A
+#define LIS2DW_REG_OUT_Y_H 0x2B
+#define LIS2DW_REG_OUT_Z_L 0x2C
+#define LIS2DW_REG_OUT_Z_H 0x2D
+
+#define LIS2DW_REG_FIFO_CTRL 0x2E
+#define LIS2DW_REG_FIFO_SRC 0x2F
+
+#define LIS2DW_REG_TAP_THS_X 0x30
+#define LIS2DW_REG_TAP_THS_Y 0x31
+#define LIS2DW_REG_TAP_THS_Z 0x32
+#define LIS2DW_REG_INT1_DUR 0x33
+#define LIS2DW_REG_WAKE_UP_THS 0x34
+#define LIS2DW_REG_WAKE_UP_DUR 0x35
+#define LIS2DW_REG_FREE_FALL 0x36
+#define LIS2DW_REG_STATUS_DUP 0x37
+
+#define LIS2DW_REG_WAKE_UP_SRC 0x38
+#define LIS2DW_WAKE_UP_SRC_VAL_FF_IA          0b00100000
+#define LIS2DW_WAKE_UP_SRC_VAL_SLEEP_STATE_IA 0b00010000
+#define LIS2DW_WAKE_UP_SRC_VAL_WU_IA          0b00001000
+#define LIS2DW_WAKE_UP_SRC_VAL_X_WU           0b00000100
+#define LIS2DW_WAKE_UP_SRC_VAL_Y_WU           0b00000010
+#define LIS2DW_WAKE_UP_SRC_VAL_Z_WU           0b00000001
+
+#define LIS2DW_REG_TAP_SRC 0x39
+#define LIS2DW_TAP_SRC_VAL_TAP_IA     0b01000000
+#define LIS2DW_TAP_SRC_VAL_SINGLE_TAP 0b00100000
+#define LIS2DW_TAP_SRC_VAL_DOUBLE_TAP 0b00010000
+#define LIS2DW_TAP_SRC_VAL_TAP_SIGN   0b00001000
+#define LIS2DW_TAP_SRC_VAL_X_TAP      0b00000100
+#define LIS2DW_TAP_SRC_VAL_Y_TAP      0b00000010
+#define LIS2DW_TAP_SRC_VAL_Z_TAP      0b00000001
+
+#define LIS2DW_REG_SIXD_SRC 0x3A
+#define LIS2DW_WAKE_UP_SRC_VAL_6D_IA  0b01000000
+#define LIS2DW_WAKE_UP_SRC_VAL_ZH     0b00100000
+#define LIS2DW_WAKE_UP_SRC_VAL_ZL     0b00010000
+#define LIS2DW_WAKE_UP_SRC_VAL_YH     0b00001000
+#define LIS2DW_WAKE_UP_SRC_VAL_YL     0b00000100
+#define LIS2DW_WAKE_UP_SRC_VAL_XH     0b00000010
+#define LIS2DW_WAKE_UP_SRC_VAL_XL     0b00000001
+
+#define LIS2DW_REG_ALL_INT_SRC 0x3B
+#define LIS2DW_REG_ALL_INT_SRC_SLEEP_CHANGE_IA  0b00100000
+#define LIS2DW_REG_ALL_INT_SRC_6D_IA            0b00010000
+#define LIS2DW_REG_ALL_INT_SRC_DOUBLE_TAP       0b00001000
+#define LIS2DW_REG_ALL_INT_SRC_SINGLE_TAP       0b00000100
+#define LIS2DW_REG_ALL_INT_SRC_WU_IA            0b00000010
+#define LIS2DW_REG_ALL_INT_SRC_FF_IA            0b00000001
+
+#define LIS2DW_REG_X_OFS_USR 0x3C
+#define LIS2DW_REG_Y_OFS_USR 0x3D
+#define LIS2DW_REG_Z_OFS_USR 0x3E
+
+#define LIS2DW_REG_CTRL7 0x3F
+#define LIS2DW_CTRL7_VAL_DRDY_PULSED        0b10000000
+#define LIS2DW_CTRL7_VAL_INT2_ON_INT1       0b01000000
+#define LIS2DW_CTRL7_VAL_INTERRUPTS_ENABLE  0b00100000
+#define LIS2DW_CTRL7_VAL_USR_OFF_ON_OUT     0b00010000
+#define LIS2DW_CTRL7_VAL_USR_OFF_ON_WU      0b00001000
+#define LIS2DW_CTRL7_VAL_USR_OFF_W          0b00000100
+#define LIS2DW_CTRL7_VAL_HP_REF_MODE        0b00000010
+#define LIS2DW_CTRL7_VAL_LPASS_ON6D         0b00000001
+
+bool lis2dw_begin(void);
+
+uint8_t lis2dw_get_device_id(void);
+
+bool lis2dw_have_new_data(void);
+
+lis2dw_reading lis2dw_get_raw_reading(void);
+
+lis2dw_acceleration_measurement lis2dw_get_acceleration_measurement(lis2dw_reading *out_reading);
+
+void lis2dw_set_range(lis2dw_range_t range);
+
+lis2dw_range_t lis2dw_get_range(void);
+
+void lis2dw_set_data_rate(lis2dw_data_rate_t dataRate);
+
+lis2dw_data_rate_t lis2dw_get_data_rate(void);
+
+#endif // LIS2DW_H