/** * LIS302DL and LIS3DSH library for STM32F4-Discovery board * * @author Tilen MAJERLE * @email tilen@majerle.eu * @website http://stm32f4-discovery.net * @link http://stm32f4-discovery.net/2014/09/library-35-lis302dl-or-lis3dsh-accelerometer * @version v1.0 * @ide Keil uVision * @license GNU GPL v3 * * |---------------------------------------------------------------------- * | Copyright (C) 2020 Tilen MAJERLE * | * | This program is free software: you can redistribute it and/or modify * | it under the terms of the GNU General Public License as published by * | the Free Software Foundation, either version 3 of the License, or * | any later version. * | * | This program is distributed in the hope that it will be useful, * | but WITHOUT ANY WARRANTY; without even the implied warranty of * | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * | GNU General Public License for more details. * | * | You should have received a copy of the GNU General Public License * | along with this program. If not, see . * |---------------------------------------------------------------------- * * This library supports both devices. I connect both devices, because * old F4-Discovery board has LIS302DL accelerometer, * new F4-Discovery board has LIS3DSH acelerometer. New accelerometer * has some more features for sensitivity. * * Default pinout on F4-Discovery board * * LIS STM32F4 Description * * MOSI PA7 Master out, Slave in for SPI1 * MISO PA6 Master in, Slave out for SPI1 * SCK PA5 Serial clock for SPI1 * CS PE3 Chip select for LIS * * Change default pinout. Open defines.h file and copy lines below and edit them * * //Select custom SPI * //#define LIS302DL_LIS3DSH_SPI SPI1 * //#define LIS302DL_LIS3DSH_SPI_PINSPACK TM_SPI_PinsPack_1 * * //Select custom CS pin for SPI * //#define LIS302DL_LIS3DSH_CS_RCC RCC_AHB1Periph_GPIOE * //#define LIS302DL_LIS3DSH_CS_PORT GPIOE * //#define LIS302DL_LIS3DSH_CS_PIN GPIO_Pin_3 * */ #ifndef TM_LIS302DL_LIS3DSH_H #define TM_LIS302DL_LIS3DSH_H 100 /** * Library dependencies * - STM32F4xx * - STM32F4xx RCC * - STM32F4xx GPIO * - defines.h * - TM SPI */ /** * Includes */ #include "stm32fxxx_hal.h" //#include "stm32f4xx_hal_rcc.h" //#include "stm32f4xx_hal_gpio.h" #include "defines.h" #include "tm_stm32_spi.h" /* SPI on STM32F4-Discovery board */ #ifndef LIS302DL_LIS3DSH_SPI #define LIS302DL_LIS3DSH_SPI SPI1 #define LIS302DL_LIS3DSH_SPI_PINSPACK TM_SPI_PinsPack_1 #endif /* CS pin on STM32F4-Discovery board */ #ifndef LIS302DL_LIS3DSH_CS_PIN #define LIS302DL_LIS3DSH_CS_RCC RCC_AHB1Periph_GPIOE #define LIS302DL_LIS3DSH_CS_PORT GPIOE #define LIS302DL_LIS3DSH_CS_PIN GPIO_Pin_3 #endif /* CS pin settings */ #define LIS302DL_LIS3DSH_CS_LOW TM_GPIO_SetPinLow(LIS302DL_LIS3DSH_CS_PORT, LIS302DL_LIS3DSH_CS_PIN) #define LIS302DL_LIS3DSH_CS_HIGH TM_GPIO_SetPinHigh(LIS302DL_LIS3DSH_CS_PORT, LIS302DL_LIS3DSH_CS_PIN) /* Who I am values */ #define LIS302DL_ID 0x3B #define LIS3DSH_ID 0x3F /* Common registers */ #define LIS302DL_LIS3DSH_REG_WHO_I_AM 0x0F /* ----------------------------------------- */ /* LIS3DSH registers */ /* ----------------------------------------- */ #define LIS3DSH_WHO_AM_I_ADDR 0x0F #define LIS3DSH_CTRL_REG4_ADDR 0x20 #define LIS3DSH_CTRL_REG1_ADDR 0x21 #define LIS3DSH_CTRL_REG2_ADDR 0x22 #define LIS3DSH_CTRL_REG3_ADDR 0x23 #define LIS3DSH_CTRL_REG5_ADDR 0x24 #define LIS3DSH_CTRL_REG6_ADDR 0x25 #define LIS3DSH_OUT_X_L_ADDR 0x28 #define LIS3DSH_OUT_X_H_ADDR 0x29 #define LIS3DSH_OUT_Y_L_ADDR 0x2A #define LIS3DSH_OUT_Y_H_ADDR 0x2B #define LIS3DSH_OUT_Z_L_ADDR 0x2C #define LIS3DSH_OUT_Z_H_ADDR 0x2D #define LIS3DSH_SENSITIVITY_0_06G 0.06 /* 0.06 mg/digit*/ #define LIS3DSH_SENSITIVITY_0_12G 0.12 /* 0.12 mg/digit*/ #define LIS3DSH_SENSITIVITY_0_18G 0.18 /* 0.18 mg/digit*/ #define LIS3DSH_SENSITIVITY_0_24G 0.24 /* 0.24 mg/digit*/ #define LIS3DSH_SENSITIVITY_0_73G 0.73 /* 0.73 mg/digit*/ #define LIS3DSH_DATARATE_100 ((uint8_t)0x60) #define LIS3DSH_FULLSCALE_2 ((uint8_t)0x00) /* 2 g */ #define LIS3DSH_FULLSCALE_4 ((uint8_t)0x08) /* 4 g */ #define LIS3DSH_FULLSCALE_6 ((uint8_t)0x10) /* 6 g */ #define LIS3DSH_FULLSCALE_8 ((uint8_t)0x18) /* 8 g */ #define LIS3DSH_FULLSCALE_16 ((uint8_t)0x20) /* 16 g */ #define LIS3DSH__FULLSCALE_SELECTION ((uint8_t)0x38) #define LIS3DSH_FILTER_BW_800 ((uint8_t)0x00) /* 800 Hz */ #define LIS3DSH_FILTER_BW_400 ((uint8_t)0x40)//((uint8_t)0x08) /* 400 Hz */ #define LIS3DSH_FILTER_BW_200 ((uint8_t)0x80)//((uint8_t)0x10) /* 200 Hz */ #define LIS3DSH_FILTER_BW_50 ((uint8_t)(0x80 | 0x40))//((uint8_t)0x18) /* 50 Hz */ #define LIS3DSH_SELFTEST_NORMAL ((uint8_t)0x00) #define LIS3DSH_XYZ_ENABLE ((uint8_t)0x07) #define LIS3DSH_SERIALINTERFACE_4WIRE ((uint8_t)0x00) #define LIS3DSH_SM_ENABLE ((uint8_t)0x01) #define LIS3DSH_SM_DISABLE ((uint8_t)0x00) /* ----------------------------------------- */ /* LIS302DL registers */ /* ----------------------------------------- */ #define LIS302DL_CTRL_REG1_ADDR 0x20 #define LIS302DL_CTRL_REG2_ADDR 0x21 #define LIS302DL_CTRL_REG3_ADDR 0x22 #define LIS302DL_OUT_X_ADDR 0x29 #define LIS302DL_OUT_Y_ADDR 0x2B #define LIS302DL_OUT_Z_ADDR 0x2D #define LIS302DL_SENSITIVITY_2_3G 18 /* 18 mg/digit*/ #define LIS302DL_SENSITIVITY_9_2G 72 /* 72 mg/digit*/ #define LIS302DL_DATARATE_100 ((uint8_t)0x00) #define LIS302DL_DATARATE_400 ((uint8_t)0x80) #define LIS302DL_LOWPOWERMODE_ACTIVE ((uint8_t)0x40) #define LIS302DL_FULLSCALE_2_3 ((uint8_t)0x00) #define LIS302DL_FULLSCALE_9_2 ((uint8_t)0x20) #define LIS302DL_SELFTEST_NORMAL ((uint8_t)0x00) #define LIS302DL_XYZ_ENABLE ((uint8_t)0x07) #define LIS302DL_SERIALINTERFACE_4WIRE ((uint8_t)0x00) #define LIS302DL_BOOT_NORMALMODE ((uint8_t)0x00) #define LIS302DL_BOOT_REBOOTMEMORY ((uint8_t)0x40) #define LIS302DL_FILTEREDDATASELECTION_OUTPUTREGISTER ((uint8_t)0x20) #define LIS302DL_HIGHPASSFILTERINTERRUPT_OFF ((uint8_t)0x00) #define LIS302DL_HIGHPASSFILTERINTERRUPT_1 ((uint8_t)0x04) #define LIS302DL_HIGHPASSFILTERINTERRUPT_2 ((uint8_t)0x08) #define LIS302DL_HIGHPASSFILTERINTERRUPT_1_2 ((uint8_t)0x0C) #define LIS302DL_HIGHPASSFILTER_LEVEL_0 ((uint8_t)0x00) #define LIS302DL_HIGHPASSFILTER_LEVEL_1 ((uint8_t)0x01) #define LIS302DL_HIGHPASSFILTER_LEVEL_2 ((uint8_t)0x02) #define LIS302DL_HIGHPASSFILTER_LEVEL_3 ((uint8_t)0x03) /** * Typedef enumeration for returning from functions * * Parameters: * - TM_LIS302DL_LIS3DSH_Device_Error: * Returned from function when device is not recognized * - TM_LIS302DL_LIS3DSH_Device_LIS302DL: * Returned from functions when device is LIS302DL on old boards * - TM_LIS302DL_LIS3DSH_Device_LIS3DSH: * Returned from functions when device is LIS3DSH on new boards */ typedef enum { TM_LIS302DL_LIS3DSH_Device_Error, TM_LIS302DL_LIS3DSH_Device_LIS302DL, TM_LIS302DL_LIS3DSH_Device_LIS3DSH } TM_LIS302DL_LIS3DSH_Device_t; /** * Possible sensitivities for both devices * * Parameters: * - TM_LIS3DSH_Sensitivity_2G: * 2G sensitivity on LIS3DSH device * - TM_LIS3DSH_Sensitivity_4G: * 4G sensitivity on LIS3DSH device * - TM_LIS3DSH_Sensitivity_6G: * 6G sensitivity on LIS3DSH device * - TM_LIS3DSH_Sensitivity_8G: * 8G sensitivity on LIS3DSH device * - TM_LIS3DSH_Sensitivity_16G: * 16G sensitivity on LIS3DSH device * * - TM_LIS302DL_Sensitivity_2_3G: * 2.3G sensitivity on LIS3DSH device * - TM_LIS302DL_Sensitivity_9_2G: * 9.2G sensitivity on LIS3DSH device */ typedef enum { /* LIS3DSH */ TM_LIS3DSH_Sensitivity_2G, TM_LIS3DSH_Sensitivity_4G, TM_LIS3DSH_Sensitivity_6G, TM_LIS3DSH_Sensitivity_8G, TM_LIS3DSH_Sensitivity_16G, /* LIS302DL */ TM_LIS302DL_Sensitivity_2_3G, TM_LIS302DL_Sensitivity_9_2G } TM_LIS302DL_LIS3DSH_Sensitivity_t; /** * Filter values for both accelerometers * * Parameters: * - TM_LIS3DSH_Filter_800Hz: * 800 Hz high pass filter on LIS3DSH * - TM_LIS3DSH_Filter_400Hz: * 400 Hz high pass filter on LIS3DSH * - TM_LIS3DSH_Filter_200Hz: * 200 Hz high pass filter on LIS3DSH * - TM_LIS3DSH_Filter_50Hz: * 50 Hz high pass filter on LIS3DSH * * - TM_LIS302DL_Filter_2Hz: * 2 Hz filter on LIS302DL * - TM_LIS302DL_Filter_1Hz: * 1 Hz filter on LIS302DL * - TM_LIS302DL_Filter_500mHz: * 500 mHz filter on LIS302DL * - TM_LIS302DL_Filter_250mHz * 250 mHz filter on LIS302DL */ typedef enum { /* LIS3DSH */ TM_LIS3DSH_Filter_800Hz, TM_LIS3DSH_Filter_400Hz, TM_LIS3DSH_Filter_200Hz, TM_LIS3DSH_Filter_50Hz, /* LIS302DL */ TM_LIS302DL_Filter_2Hz, TM_LIS302DL_Filter_1Hz, TM_LIS302DL_Filter_500mHz, TM_LIS302DL_Filter_250mHz } TM_LIS302DL_LIS3DSH_Filter_t; /** * Data structure * * Parameters: * - int16_t X: * X axis value * - int16_t Y: * Y axis value * - int16_t Z: * Z axis value */ typedef struct { int16_t X; int16_t Y; int16_t Z; } TM_LIS302DL_LIS3DSH_t; /** * Detect LIS302DL or LIS3DSH device connected on F4-Discovery board * * Member of TM_LIS302DL_LIS3DSH_Device_t is returned */ extern TM_LIS302DL_LIS3DSH_Device_t TM_LIS302DL_LIS3DSH_Detect(void); /** * Initialize proper device * * Parameters: * - TM_LIS302DL_LIS3DSH_Sensitivity_t Sensitivity: * Select sensitivity for device. There are separate possible sensitivities for proper device * - TM_LIS302DL_LIS3DSH_Filter_t Filter: * Select filter for device. There are separate possible sensitivities for proper device * * Member of TM_LIS302DL_LIS3DSH_Device_t is returned */ extern TM_LIS302DL_LIS3DSH_Device_t TM_LIS302DL_LIS3DSH_Init(TM_LIS302DL_LIS3DSH_Sensitivity_t Sensitivity, TM_LIS302DL_LIS3DSH_Filter_t Filter); /** * Read axes from device * * Parameters: * - TM_LIS302DL_LIS3DSH_t* Axes_Data * Pointer to TM_LIS302DL_LIS3DSH_t struct * * Member of TM_LIS302DL_LIS3DSH_Device_t is returned */ extern TM_LIS302DL_LIS3DSH_Device_t TM_LIS302DL_LIS3DSH_ReadAxes(TM_LIS302DL_LIS3DSH_t* Axes_Data); #endif