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/*
* 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;
// 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);
void lis2dw_set_low_power_mode(lis2dw_low_power_mode_t mode);
lis2dw_low_power_mode_t lis2dw_get_low_power_mode(void);
void lis2dw_set_low_noise_mode(bool on);
bool lis2dw_get_low_noise_mode(void);
#endif // LIS2DW_H
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