305 lines
14 KiB
C
305 lines
14 KiB
C
/****************************************************************************
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* include/nuttx/sensors/lis3dh.h
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*
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* Copyright (C) 2018 Extent3D. All rights reserved.
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* Author: Matt Thompson <matt@extent3d.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef __INCLUDE_NUTTX_SENSORS_LIS3DH_H
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#define __INCLUDE_NUTTX_SENSORS_LIS3DH_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/irq.h>
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#include <nuttx/config.h>
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#include <nuttx/fs/ioctl.h>
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#include <nuttx/spi/spi.h>
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#if defined(CONFIG_SPI) && defined(CONFIG_LIS3DH)
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* LIS3DH Device Identification *********************************************/
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#define LIS3DH_DEVICE_ID (0x33)
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/* LIS3DH Register Definitions **********************************************/
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#define LIS3DH_STATUS_REG_AUX (0x07)
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#define LIS3DH_OUT_ADC1_L (0x08)
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#define LIS3DH_OUT_ADC1_H (0x09)
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#define LIS3DH_OUT_ADC2_L (0x0A)
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#define LIS3DH_OUT_ADC2_H (0x0B)
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#define LIS3DH_OUT_ADC3_L (0x0C)
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#define LIS3DH_OUT_ADC3_H (0x0D)
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#define LIS3DH_WHO_AM_I (0x0F)
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#define LIS3DH_CTRL_REG0 (0x1E)
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#define LIS3DH_TEMP_CFG_REG (0x1F)
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#define LIS3DH_CTRL_REG1 (0x20)
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#define LIS3DH_CTRL_REG2 (0x21)
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#define LIS3DH_CTRL_REG3 (0x22)
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#define LIS3DH_CTRL_REG4 (0x23)
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#define LIS3DH_CTRL_REG5 (0x24)
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#define LIS3DH_CTRL_REG6 (0x25)
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#define LIS3DH_REFERENCE (0x26)
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#define LIS3DH_STATUS_REG (0x27)
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#define LIS3DH_OUT_X_L (0x28)
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#define LIS3DH_OUT_X_H (0x29)
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#define LIS3DH_OUT_Y_L (0x2A)
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#define LIS3DH_OUT_Y_H (0x2B)
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#define LIS3DH_OUT_Z_L (0x2C)
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#define LIS3DH_OUT_Z_H (0x2D)
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#define LIS3DH_FIFO_CTRL_REG (0x2E)
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#define LIS3DH_FIFO_SRC_REG (0x2F)
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#define LIS3DH_INT1_CFG (0x30)
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#define LIS3DH_INT1_SRC (0x31)
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#define LIS3DH_INT1_THS (0x32)
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#define LIS3DH_INT1_DURATION (0x33)
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#define LIS3DH_INT2_CFG (0x34)
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#define LIS3DH_INT2_SRC (0x35)
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#define LIS3DH_INT2_THS (0x36)
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#define LIS3DH_INT2_DURATION (0x37)
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#define LIS3DH_CLICK_CFG (0x38)
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#define LIS3DH_CLICK_SRC (0x39)
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#define LIS3DH_CLICK_THS (0x3A)
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#define LIS3DH_TIME_LIMIT (0x3B)
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#define LIS3DH_TIME_LATENCY (0x3C)
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#define LIS3DH_TIME_WINDOW (0x3D)
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#define LIS3DH_ACT_THS (0x3E)
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#define LIS3DH_ACT_DUR (0x3F)
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/* LIS3DH STATUS_REG_AUX Definitions **********************************************/
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#define LIS3DH_STATUS_REG_AUX_321OR (1 << 7)
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#define LIS3DH_STATUS_REG_AUX_3OR (1 << 6)
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#define LIS3DH_STATUS_REG_AUX_2OR (1 << 5)
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#define LIS3DH_STATUS_REG_AUX_1OR (1 << 4)
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#define LIS3DH_STATUS_REG_AUX_321DA (1 << 3)
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#define LIS3DH_STATUS_REG_AUX_3DA (1 << 2)
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#define LIS3DH_STATUS_REG_AUX_2DA (1 << 1)
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#define LIS3DH_STATUS_REG_AUX_1DA (1 << 0)
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/* LIS3DH CTRL_REG0 Definitions **********************************************/
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#define LIS3DH_CTRL_REG0_SDO_PU_DISC (1 << 7) /* Disconnect SDO/SA0 pull-up */
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/* LIS3DH TEMP_CFG_REG Definitions **********************************************/
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#define LIS3DH_TEMP_CFG_REG_ADC_EN (1 << 7) /* ADC enable */
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#define LIS3DH_TEMP_CFG_REG_TEMP_EN (1 << 6) /* Temperator sensor enable */
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/* LIS3DH CTRL_REG1 Definitions **********************************************/
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#define LIS3DH_CTRL_REG1_ODR_SHIFT (4)
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#define LIS3DH_CTRL_REG1_ODR_MASK (0xf << LIS3DH_CTRL_REG1_ODR_SHIFT)
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#define LIS3DH_CTRL_REG1_ODR(n) ((n) << LIS3DH_CTRL_REG1_ODR_SHIFT)
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#define LIS3DH_CTRL_REG1_ODR_POWER_DOWN (0)
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#define LIS3DH_CTRL_REG1_ODR_1HZ (0x1 << LIS3DH_CTRL_REG1_ODR_SHIFT)
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#define LIS3DH_CTRL_REG1_ODR_10HZ (0x2 << LIS3DH_CTRL_REG1_ODR_SHIFT)
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#define LIS3DH_CTRL_REG1_ODR_25HZ (0x3 << LIS3DH_CTRL_REG1_ODR_SHIFT)
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#define LIS3DH_CTRL_REG1_ODR_50HZ (0x4 << LIS3DH_CTRL_REG1_ODR_SHIFT)
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#define LIS3DH_CTRL_REG1_ODR_100HZ (0x5 << LIS3DH_CTRL_REG1_ODR_SHIFT)
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#define LIS3DH_CTRL_REG1_ODR_200HZ (0x6 << LIS3DH_CTRL_REG1_ODR_SHIFT)
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#define LIS3DH_CTRL_REG1_ODR_400HZ (0x7 << LIS3DH_CTRL_REG1_ODR_SHIFT)
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#define LIS3DH_CTRL_REG1_ODR_LP_1600HZ (0x8 << LIS3DH_CTRL_REG1_ODR_SHIFT)
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#define LIS3DH_CTRL_REG1_ODR_1344HZ (0x9 << LIS3DH_CTRL_REG1_ODR_SHIFT)
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#define LIS3DH_CTRL_REG1_ODR_LP_5376HZ (0x9 << LIS3DH_CTRL_REG1_ODR_SHIFT)
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#define LIS3DH_CTRL_REG1_LPEN (1 << 3) /* Low-power mode enable */
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#define LIS3DH_CTRL_REG1_ZEN (1 << 2) /* Z axis enable */
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#define LIS3DH_CTRL_REG1_YEN (1 << 1) /* Y axis enable */
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#define LIS3DH_CTRL_REG1_XEN (1 << 0) /* X axis enable */
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/* LIS3DH CTRL_REG2 Definitions **********************************************/
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/* LIS3DH CTRL_REG3 Definitions **********************************************/
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#define LIS3DH_CTRL_REG3_I1_CLICK (1 << 6) /* Click interrupt on INT1 */
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#define LIS3DH_CTRL_REG3_I1_IA1 (1 << 6) /* IA1 interrupt on INT1 */
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#define LIS3DH_CTRL_REG3_I1_IA2 (1 << 5) /* IA2 interrupt on INT1 */
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#define LIS3DH_CTRL_REG3_I1_ZYXDA (1 << 4) /* ZYX data available interrupt on INT1 */
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#define LIS3DH_CTRL_REG3_I1_321DA (1 << 3) /* 321 data available interrupt on INT1 */
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#define LIS3DH_CTRL_REG3_I1_WTM (1 << 2) /* FIFO watermark interrupt on INT1 */
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#define LIS3DH_CTRL_REG3_I1_OVERRUN (1 << 1) /* FIFO overrun interrupt on INT1 */
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/* LIS3DH CTRL_REG4 Definitions **********************************************/
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#define LIS3DH_CTRL_REG4_BDU (1 << 7) /* Block data update */
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#define LIS3DH_CTRL_REG4_BLE (1 << 6) /* Endian selection. 0: LSB first, 1: MSB first */
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#define LIS3DH_CTRL_REG4_FS_16G (3 << 4) /* 16g full scale range */
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#define LIS3DH_CTRL_REG4_FS_8G (2 << 4) /* 8g full scale range */
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#define LIS3DH_CTRL_REG4_FS_4G (1 << 4) /* 4g full scale range */
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#define LIS3DH_CTRL_REG4_FS_2G (0 << 4) /* 2g full scale range */
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#define LIS3DH_CTRL_REG4_HR (1 << 3) /* High resolution output enable */
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#define LIS3DH_CTRL_REG4_ST1 (2 << 1) /* Self test 1 */
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#define LIS3DH_CTRL_REG4_ST0 (1 << 1) /* Self test 0 */
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#define LIS3DH_CTRL_REG4_SIM (1 << 0) /* SPI serial interface mode selection (0: 4-wire, 1: 3-wire) */
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/* LIS3DH CTRL_REG5 Definitions **********************************************/
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#define LIS3DH_CTRL_REG5_BOOT (1 << 7) /* Reboot memory content */
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#define LIS3DH_CTRL_REG5_FIFO_EN (1 << 6) /* FIFO enable */
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#define LIS3DH_CTRL_REG5_LIR_INT1 (1 << 3) /* Latch interrupt request on INT1_SRC register */
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#define LIS3DH_CTRL_REG5_D4D_INT1 (1 << 2) /* 4D detection enable on INT1 */
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#define LIS3DH_CTRL_REG5_LIR_INT2 (1 << 1) /* Latch interrupt request on INT2_SRC register */
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#define LIS3DH_CTRL_REG5_D4D_INT2 (1 << 0) /* 4D detection enable on INT2 */
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/* LIS3DH CTRL_REG6 Definitions **********************************************/
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#define LIS3DH_CTRL_REG6_I2_CLICK (1 << 6) /* Click interrupt on INT2 */
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#define LIS3DH_CTRL_REG6_I2_IA1 (1 << 6) /* IA1 interrupt on INT2 */
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#define LIS3DH_CTRL_REG6_I2_IA2 (1 << 5) /* IA2 interrupt on INT2 */
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#define LIS3DH_CTRL_REG6_I2_BOOT (1 << 4) /* Enable boot on INT2 */
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#define LIS3DH_CTRL_REG6_I2_ACT (1 << 3) /* Enable activity interrupt on INT2 */
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#define LIS3DH_CTRL_REG6_INT_POLARITY (1 << 1) /* INT1 and INT2 pin polarity */
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/* LIS3DH STATUS_REG Definitions **********************************************/
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#define LIS3DH_STATUS_ZYXOR (1 << 7) /* X,Y,Z axis data overrun */
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#define LIS3DH_STATUS_ZOR (1 << 6) /* Z axis data overrun */
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#define LIS3DH_STATUS_YOR (1 << 5) /* Y axis data overrun */
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#define LIS3DH_STATUS_XOR (1 << 4) /* X axis data overrun */
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#define LIS3DH_STATUS_REG_ZYXDA (1 << 3) /* X,Y,Z axis data available */
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#define LIS3DH_STATUS_REG_ZDA (1 << 2) /* Z axis data available */
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#define LIS3DH_STATUS_REG_YDA (1 << 1) /* Y axis data available */
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#define LIS3DH_STATUS_REG_XDA (1 << 0) /* X axis data available */
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/* LIS3DH FIFO_CTRL_REG Definitions **********************************************/
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#define LIS3DH_FIFO_CTRL_REG_MODE_STREAM2 (3 << 6)
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#define LIS3DH_FIFO_CTRL_REG_MODE_STREAM (2 << 6)
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#define LIS3DH_FIFO_CTRL_REG_MODE_FIFO (1 << 6)
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#define LIS3DH_FIFO_CTRL_REG_MODE_BYPASS (0 << 6)
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#define LIS3DH_FIFO_CTRL_REG_TR (1 << 5)
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/* LIS3DH FIFO_SRC_REG Definitions **********************************************/
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#define LIS3DH_FIFO_SRC_REG_WTM (1 << 7)
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#define LIS3DH_FIFO_SRC_REG_OVRN_FIFO (1 << 6)
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#define LIS3DH_FIFO_SRC_REG_EMPTY (1 << 5)
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/* SPI parameters ***************************************************************/
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#define LIS3DH_SPI_FREQUENCY (9600000) /* SPI Clock Frequency */
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#define LIS3DH_SPI_MODE (SPIDEV_MODE3) /* Device uses SPI Mode 3: CPOL=1, CPHA=1 */
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/* Power Modes ******************************************************************/
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#define LIS3DH_POWER_LOW (0x0) /* Lower power 8bit output */
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#define LIS3DH_POWER_NORMAL (0x1) /* Normal 10bit */
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#define LIS3DH_POWER_HIGH (0x2) /* HR 12bit mode */
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/* Output Data Rates ***********************************************************/
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#define LIS3DH_ODR_POWER_DOWN (0) /* Disable output */
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#define LIS3DH_ODR_1HZ (0x1) /* 1Hz in all power modes */
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#define LIS3DH_ODR_10HZ (0x2) /* 10Hz in all power modes */
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#define LIS3DH_ODR_25HZ (0x3) /* 25Hz in all power modes */
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#define LIS3DH_ODR_50HZ (0x4) /* 50Hz in all power modes */
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#define LIS3DH_ODR_100HZ (0x5) /* 100Hz in all power modes */
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#define LIS3DH_ODR_200HZ (0x6) /* 200Hz in all power modes */
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#define LIS3DH_ODR_400HZ (0x7) /* 400Hz in all power modes */
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#define LIS3DH_ODR_LP_1600HZ (0x8) /* 1.6kHz in low power mode only */
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#define LIS3DH_ODR_1344HZ (0x9) /* 1.344kHz in normal and high power modes only */
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#define LIS3DH_ODR_LP_5376HZ (0x9) /* 5.376kHz in low power mode only */
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/****************************************************************************
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* Public Types
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****************************************************************************/
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struct lis3dh_sensor_data_s
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{
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float x_acc; /* X axis acceleration */
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float y_acc; /* Y axis acceleration */
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float z_acc; /* Z axis acceleration */
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};
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/* Configuration structure used to register the driver */
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struct lis3dh_config_s
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{
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/* SPI device ID used to select the CS line of the sensor */
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int spi_devid;
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/* IRQ number associated with this driver instance */
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int irq;
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/* Attach callback used to configure the interrupt line */
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int (*irq_attach)(FAR struct lis3dh_config_s *, xcpt_t, void *arg);
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int (*irq_detach)(FAR struct lis3dh_config_s *);
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};
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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#ifdef __cplusplus
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#define EXTERN extern "C"
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extern "C"
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{
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#else
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#define EXTERN extern
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#endif
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/****************************************************************************
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* Name: lis3dh_register
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*
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* Description:
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* Register the LIS3DH character device at the specified device path
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*
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* Input Parameters:
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* devpath - Full path of device node to register ie "/dev/accel0"
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* spi - SPI bus device instance
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* config - Driver instance configuration structure
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*
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* Returned Value:
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* OK on success or a negative errno value on failure.
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*
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****************************************************************************/
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int lis3dh_register(FAR const char *devpath, FAR struct spi_dev_s *spi,
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FAR struct lis3dh_config_s *);
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#undef EXTERN
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#ifdef __cplusplus
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}
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#endif
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#endif /* CONFIG_SPI && CONFIG_LIS3DH */
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#endif /* __INCLUDE_NUTTX_SENSORS_LIS3DH_H */
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