1、陀螺儀LIS3DH驅動程序1、陀螺儀LIS3DH驅動程序的頭文件lis3dh_driver.h/* (C) copyright 2012 STMicroelectronics * File Name: lis3dh_driver.h* Author: MSH Application Team* Author: Abhishek Anand, Fabio Tota* Version: $Revision:$* Date: $Date:$* Description: Descriptor Header for lis3dh_driver.c driver file* HISTORY:* Date|

2、 Modification| Author* 24/06/2011| Initial Revision| Fabio Tota* 07/06/2012| Support for multiple drivers in the same program | Abhishek Anand* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS* WITH CODING INFORMA TION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SA VE TI

3、ME.* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING* INFORMA TION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.* THI

4、S SOFTWARE IS SPECIFICALLY DESIGNED FOR EXCLUSIVE USE WITH ST PARTS.*/* Define to prevent recursive inclusion*/#ifndef _LIS3DH_DRIVER_H#define _LIS3DH_DRIVER_H/* Includes*/* Exported types*/these could change accordingly with the architecture #ifndef _ARCHDEP_TYPES#define _ARCHDEP_TYPEStypedef unsig

5、ned char u8_t;typedef unsigned short int u16_t;typedef short int i16_t;typedef signed char i8_t;#endif /*_ARCHDEP_TYPES*/typedef u8_t LIS3DH_IntPinConf_t;typedef u8_t LIS3DH_Axis_t;typedef u8_t LIS3DH_Int1Conf_t;/define structure#ifndef _SHARED_TYPES#define _SHARED_TYPEStypedef enum MEMS_SUCCESS MEM

6、S_ERROR status_t;typedef enum MEMS_ENABLE MEMS_DISABLE State_t;typedef struct i16_t AXIS_X;i16_t AXIS_Y;i16_t AXIS_Z; AxesRaw_t;#endif /*_SHARED_TYPES*/0x01,0x000x01,0x000x01,0x02,typedef enum LIS3DH_ODR_1HzLIS3DH_ODR_10HzLIS3DH_ODR_25Hz=0x03,LIS3DH_ODR_50Hz=0x04,LIS3DH_ODR_100Hz=0x05,LIS3DH_ODR_200

7、Hz=0x06,LIS3DH_ODR_400Hz=0x07,LIS3DH_ODR_1620Hz_LP=0x08,LIS3DH_ODR_1344Hz_NP_5367HZ_LP=0x09 LIS3DH_ODR_t;typedef enum LIS3DH_POWER_DOWN=0x00,LIS3DH_LOW_POWER=0x01,LIS3DH_NORMAL=0x02 LIS3DH_Mode_t;typedef enum LIS3DH_HPM_NORMAL_MODE_RES=0x00,LIS3DH_HPM_REF_SIGNAL=0x01,LIS3DH_HPM_NORMAL_MODE=0x02,LIS3

8、DH_HPM_AUTORESET_INT=0x03 LIS3DH_HPFMode_t;typedef enum LIS3DH_HPFCF_0=0x00,LIS3DH_HPFCF_1=0x01,LIS3DH_HPFCF_2=0x02,LIS3DH_HPFCF_3=0x03 LIS3DH_HPFCutOffFreq_t;typedef struct u16_t AUX_1;u16_t AUX_2;u16_t AUX_3; LIS3DH_Aux123Raw_t;typedef enum LIS3DH_FULLSCALE_2=0x00,LIS3DH_FULLSCALE_4=0x01,LIS3DH_FU

9、LLSCALE_8=0x02,LIS3DH_FULLSCALE_16=0x03 LIS3DH_Fullscale_t;typedef enum LIS3DH_BLE_LSB=0x00,LIS3DH_BLE_MSB=0x01 LIS3DH_Endianess_t;typedef enum LIS3DH_SELF_TEST_DISABLE=0x00,LIS3DH_SELF_TEST_0=0x01,LIS3DH_SELF_TEST_1=0x02 LIS3DH_SelfTest_t;typedef enum LIS3DH_FIFO_BYPASS_MODE=0x00,LIS3DH_FIFO_MODE=0

10、x01,LIS3DH_FIFO_STREAM_MODE=0x02,LIS3DH_FIFO_TRIGGER_MODE=0x03,LIS3DH_FIFO_DISABLE=0x04 LIS3DH_FifoMode_t;typedef enum LIS3DH_TRIG_INT1=0x00,LIS3DH_TRIG_INT2=0x01 LIS3DH_TrigInt_t;typedef enum LIS3DH_SPI_4_WIRE=0x00,LIS3DH_SPI_3_WIRE=0x01 LIS3DH_SPIMode_t;typedef enum LIS3DH_X_ENABLE=0x01,LIS3DH_X_D

11、ISABLE=0x00,LIS3DH_Y_ENABLE=0x02,LIS3DH_Y_DISABLE=0x00,LIS3DH_Z_ENABLE=0x04,LIS3DH_Z_DISABLE=0x00 LIS3DH_AXISenable_t;typedef enum LIS3DH_INT1_6D_4D_DISABLE=0x00,LIS3DH_INT1_6D_ENABLE=0x01,LIS3DH_INT1_4D_ENABLE=0x02 LIS3DH_INT_6D_4D_t;typedef enum LIS3DH_UP_SX=0x44,LIS3DH_UP_DX=0x42,LIS3DH_DW_SX=0x4

12、1,LIS3DH_DW_DX=0x48,LIS3DH_TOP=0x60,LIS3DH_BOTTOM=0x50 LIS3DH_POSITION_6D_t;typedef enum LIS3DH_INT_MODE_OR=0x00,LIS3DH_INT_MODE_6D_MOVEMENT=0x01,LIS3DH_INT_MODE_AND=0x02,LIS3DH_INT_MODE_6D_POSITION=0x03 LIS3DH_Int1Mode_t;/interrupt click response/ b7 = don't care b6 = IA b5 = DClick b4 = Sclick

13、 b3 = Sign / b2 = z bl = y b0 = x typedef enum LIS3DH_DCLICK_Z_P=0x24,LIS3DH_DCLICK_Z_N=0x2C,LIS3DH_SCLICK_Z_P=0x14,LIS3DH_SCLICK_Z_N=0x1C,LIS3DH_DCLICK_Y_P=0x22,LIS3DH_DCLICK_Y_N=0x2A,LIS3DH_SCLICK_Y_P=0x12,LIS3DH_SCLICK_Y_N=0x1A,LIS3DH_DCLICK_X_P=0x21,LIS3DH_DCLICK_X_N=0x29,LIS3DH_SCLICK_X_P=0x11,

14、LIS3DH_SCLICK_X_N=0x19,LIS3DH_NO_CLICK=0x00 LIS3DH_Click_Response;/TODO: start from here and manage the shared macros etc before this/* Exported constants*/#ifndef _SHARED_CONSTANTS#define _SHARED_CONSTANTS#define MEMS_SET0x01#define MEMS_RESET0x00#endif /*_SHARED_CONSTANTS*/Register Definition#defi

15、ne LIS3DH_WHO_AM_I/ CONTROL REGISTER 1#define LIS3DH_CTRL_REG1# define LIS3DH_ODR_BIT# define LIS3DH_LPEN# define LIS3DH_ZEN# define LIS3DH_YEN# define LIS3DH_XEN/CONTROL REGISTER 2# define LIS3DH_CTRL_REG2# define LIS3DH_HPM# define LIS3DH_HPCF# define LIS3DH_FDS# define LIS3DH_HPCLICK# define LIS3

16、DH_HPIS2#define LIS3DH_HPIS1/CONTROL REGISTER 3#define LIS3DH_CTRL_REG3#define LIS3DH_I1_CLICK#define LIS3DH_I1_AOI1#define LIS3DH_I1_AOI2#define LIS3DH_I1_DRDY1#define LIS3DH_I1_DRDY2#define LIS3DH_I1_WTM#define LIS3DH_I1_ORUN/CONTROL REGISTER 6#define LIS3DH_CTRL_REG6#define LIS3DH_I2_CLICK#define

17、 LIS3DH_I2_INT1# define LIS3DH_I2_BOOT# define LIS3DH_H_LACTIVE/TEMPERATURE CONFIG REGISTER# define LIS3DH_TEMP_CFG_REG# define LIS3DH_ADC_PD# define LIS3DH_TEMP_EN0x0F / device identification register0x20BIT(4)BIT(3)BIT(2) BITBIT(0)0x21BIT(6)BIT(4)BIT(3)BIT(2)BIT(1)BIT(0)0x22BITBIT(6)BIT(5)BIT(4)BI

18、T(3)BIT(2)BIT0x25 BITBIT(6)BIT(4) BIT0x1FBIT BIT(6)/CONTROL REGISTER 4#define LIS3DH_CTRL_REG40x23#define LIS3DH_BDUBIT#define LIS3DH_BLEBIT(6)#define LIS3DH_FSBIT(4)#define LIS3DH_HRBIT(3)#define LIS3DH_STBIT#define LIS3DH_SIMBIT(0)/CONTROL REGISTER 5#define LIS3DH_CTRL_REG50x24#define LIS3DH_BOOTB

19、IT#define LIS3DH_FIFO_ENBIT(6)#define LIS3DH_LIR_INT1BIT(3)#define LIS3DH_D4D_INT1BIT(2)/REFERENCE/DA TA_CAPTURE#define LIS3DH_REFERENCE_REG0x26#define LIS3DH_REFBIT(0)/STATUS_REG_AXIES#define LIS3DH_STA TUS_REG0x27#define LIS3DH_ZYXORBIT#define LIS3DH_ZORBIT(6)#define LIS3DH_YORBIT(5)#define LIS3DH

20、_XORBIT(4)#define LIS3DH_ZYXDABIT(3)#define LIS3DH_ZDABIT(2)#define LIS3DH_YDABIT#define LIS3DH_XDABIT(0)/STATUS_REG_AUX#define LIS3DH_STA TUS_AUX0x07/INTERRUPT 1 CONFIGURA TION#define LIS3DH_INT1_CFG0x30#define LIS3DH_ANDORBIT#define LIS3DH_INT_6DBIT(6)#define LIS3DH_ZHIEBIT(5)#define LIS3DH_ZLIEBI

21、T(4)#define LIS3DH_YHIEBIT(3)#define LIS3DH_YLIEBIT(2)#define LIS3DH_XHIEBIT#define LIS3DH_XLIEBIT(0)/FIFO CONTROL REGISTER#define LIS3DH_FIFO_CTRL_REG0x2E#define LIS3DH_FMBIT(6)#define LIS3DH_TRBIT(5)#define LIS3DH_FTHBIT(0)/CONTROL REG3 bit mask#define LIS3DH_CLICK_ON_PIN_INT1_ENABLE0x80#define LI

22、S3DH_CLICK_ON_PIN_INT1_DISABLE0x00#define LIS3DH I1INT1ONPININT1ENABLE0x40#define LIS3DH I1INT1ONPININT1DISABLE0x00#define LIS3DH I1INT2ONPININT1ENABLE0x20#define LIS3DH I1INT2ONPININT1DISABLE0x00#define LIS3DH_I1_DRDY1_ON_INT1_ENABLE0x10#define LIS3DH_I1_DRDY1_ON_INT1_DISABLE0x00#define LIS3DH_I1_D

23、RDY2_ON_INT1_ENABLE0x08#define LIS3DH_I1_DRDY2_ON_INT1_DISABLE0x00#define LIS3DH_WTM_ON_INT1_ENABLE0x04#define LIS3DH_WTM_ON_INT1_DISABLE0x00#define LIS3DH_INT1_OVERRUN_ENABLE0x02#define LIS3DH_INT1_OVERRUN_DISABLE0x00/CONTROL REG6 bit mask#define LIS3DH_CLICK_ON_PIN_INT2_ENABLE0x80#define LIS3DH_CL

24、ICK_ON_PIN_INT2_DISABLE0x00#define LIS3DH I2 INT1 ON PIN INT2 ENABLE0x40#define LIS3DH I2 INT1 ON PIN INT2 DISABLE0x00#define LIS3DH I2 INT2 ON PIN INT2 ENABLE0x20#define LIS3DH I2 INT2 ON PIN INT2 DISABLE0x00#define LIS3DH_I2_BOOT_ON_INT2_ENABLE0x10#define LIS3DH_I2_BOOT_ON_INT2_DISABLE0x00#define

25、LIS3DH_INT_ACTIVE_HIGH0x00#define LIS3DH_INT_ACTIVE_LOW0x02/INT1_CFG bit mask#define LIS3DH_INT1_AND0x80#define LIS3DH_INT1_OR0x00#define LIS3DH_INT1_ZHIE_ENABLE0x20#define LIS3DH_INT1_ZHIE_DISABLE0x00#define LIS3DH_INT1_ZLIE_ENABLE0x10#define LIS3DH_INT1_ZLIE_DISABLE0x00#define LIS3DH_INT1_YHIE_ENA

26、BLE0x08#define LIS3DH_INT1_YHIE_DISABLE0x00#define LIS3DH_INT1_YLIE_ENABLE0x04#define LIS3DH_INT1_YLIE_DISABLE0x00#define LIS3DH_INT1_XHIE_ENABLE0x02#define LIS3DH_INT1_XHIE_DISABLE0x00#define LIS3DH_INT1_XLIE_ENABLE0x01#define LIS3DH_INT1_XLIE_DISABLE0x00/INT1_SRC bit mask#define LIS3DH_INT1_SRC_IA

27、0x40#define LIS3DH_INT1_SRC_ZH0x20#define LIS3DH_INT1_SRC_ZL0x10#define LIS3DH_INT1_SRC_YH0x08#define LIS3DH_INT1_SRC_YL0x04#define LIS3DH_INT1_SRC_XH0x02#define LIS3DH_INT1_SRC_XL0x01/INT1 REGISTERS#define LIS3DH_INT1_THS0x32#define LIS3DH_INT1_DURA TION0x33/INTERRUPT 1 SOURCE REGISTER#define LIS3D

28、H_INT1_SRC0x31/FIFO Source Register bit Mask#define LIS3DH_FIFO_SRC_WTM0x80#define LIS3DH_FIFO_SRC_OVRUN0x40#define LIS3DH_FIFO_SRC_EMPTY0x20/INTERRUPT CLICK REGISTER#define LIS3DH_CLICK_CFG0x38/INTERRUPT CLICK CONFIGURA TION bit mask#define LIS3DH_ZD_ENABLE0x20#define LIS3DH_ZD_DISABLE0x00#define L

29、IS3DH_ZS_ENABLE0x10#define LIS3DH_ZS_DISABLE0x00#define LIS3DH_YD_ENABLE0x08#define LIS3DH_YD_DISABLE0x00#define LIS3DH_YS_ENABLE0x04#define LIS3DH_YS_DISABLE0x00#define LIS3DH_XD_ENABLE0x02#define LIS3DH_XD_DISABLE0x00#define LIS3DH_XS_ENABLE0x01#define LIS3DH_XS_DISABLE0x00/INTERRUPT CLICK SOURCE

30、REGISTER0x390x400x200x100x080x040x020x01#define LIS3DH_CLICK_SRC/INTERRUPT CLICK SOURCE REGISTER bit mask#define LIS3DH_IA#define LIS3DH_DCLICK#define LIS3DH_SCLICK#define LIS3DH_CLICK_SIGN#define LIS3DH_CLICK_Z#define LIS3DH_CLICK_Y#define LIS3DH_CLICK_X/Click-click Register0x3A0x3B0x3C0x3D0x280x29

31、0x2A0x2B0x2C0x2D#define LIS3DH_CLICK_THS#define LIS3DH_TIME_LIMIT#define LIS3DH_TIME_LA TENCY#define LIS3DH_TIME_WINDOW/OUTPUT REGISTER#define LIS3DH_OUT_X_L#define LIS3DH_OUT_X_H#define LIS3DH_OUT_Y_L#define LIS3DH_OUT_Y_H#define LIS3DH_OUT_Z_L#define LIS3DH_OUT_Z_H/AUX REGISTER0x080x090x0A0x0B0x0C

32、0x0D#define LIS3DH_OUT_1_L#define LIS3DH_OUT_1_H#define LIS3DH_OUT_2_L#define LIS3DH_OUT_2_H#define LIS3DH_OUT_3_L#define LIS3DH_OUT_3_H/STATUS REGISTER bit mask0x80/ 1no overrun has occurred (default) 0x40/ 0:nonew Z-axis data has over written the previous one 0x20/ 0:no#define LIS3DH_STA TUS_REG_Z

33、YXORnew data set has over written the previous one/ 0#define LIS3DH_STA TUS_REG_ZOR overrun has occurred (default)/ 1/ 1#define LIS3DH_STA TUS_REG_YOR overrun has occurred (default)new Y-axis data has over written the previous one#define LIS3DH_STA TUS_REG_XOR overrun has occurred (default)/ 1 :#def

34、ine LIS3DH_STA TUS_REG_ZYXDA new set of data is not yet avvious oneis available#define LIS3DH_STA TUS_REG_ZDA new data for the Z-Axis is not availvious oneZ-Axis is available#define LIS3DH_STA TUS_REG_YDA new data for the Y-Axis is not availableY-Axis is available#define LIS3DH_STA TUS_REG_XDA new d

35、ata for the X-Axis is not available#defineLIS3DHSTATUSREGZYXDA0x10/ 0:nonew X-axis data has over written the previous one 0x08/ 0:a/ 1 : a new set of data0x04/ 0: a/ 1 : a new data for the0x02/ 0:a/ 1 : a new data for the0x01/ 0:aLIS3DH_DA TAREADY_BIT/STATUS AUX REGISTER bit mask#define LIS3DH_STA T

36、US_AUX_321OR0x80#define LIS3DH_STA TUS_AUX_3OR0x40#define LIS3DH_STA TUS_AUX_2OR0x20#define LIS3DH_STA TUS_AUX_1OR0x10#define LIS3DH_STA TUS_AUX_321DA0x08#define LIS3DH_STA TUS_AUX_3DA0x04#define LIS3DH_STA TUS_AUX_2DA0x02#define LIS3DH_STA TUS_AUX_1DA0x01#define LIS3DH_MEMS_I2C_ADDRESS0x33/FIFO REG

37、ISTERS#define LIS3DH_FIFO_CTRL_REG0x2E#define LIS3DH_FIFO_SRC_REG0x2F/* Exported macro*/#ifndef _SHARED_MACROS#define _SHARED_MACROS#define ValBit(V AR,Place)(VAR & (1<<Place)#define BIT(x) ( (x)#endif /*_SHARED_MACROS*/* Exported functions*/Sensor Configuration Functionsstatus_t LIS3DH_Se

38、tODR(LIS3DH_ODR_t ov);status_t LIS3DH_SetMode(LIS3DH_Mode_t md);status_t LIS3DH_SetAxis(LIS3DH_Axis_t axis);status_t LIS3DH_SetFullScale(LIS3DH_Fullscale_t fs);status_t LIS3DH_SetBDU(State_t bdu);status_t LIS3DH_SetBLE(LIS3DH_Endianess_t ble);status_t LIS3DH_SetSelfTest(LIS3DH_SelfTest_t st);status_

39、t LIS3DH_SetTemperature(State_t state);status_t LIS3DH_SetADCAux(State_t state);/Filtering Functionsstatus_t LIS3DH_HPFClickEnable(State_t hpfe);status_t LIS3DH_HPFAOI1Enable(State_t hpfe);status_t LIS3DH_HPFAOI2Enable(State_t hpfe);status_t LIS3DH_SetHPFMode(LIS3DH_HPFMode_t hpf);status_t LIS3DH_Se

40、tHPFCutOFF(LIS3DH_HPFCutOffFreq_t hpf);status_t LIS3DH_SetFilterDataSel(State_t state);/Interrupt Functionsstatus_t LIS3DH_SetInt1Pin(LIS3DH_IntPinConf_t pinConf);status_t LIS3DH_SetInt2Pin(LIS3DH_IntPinConf_t pinConf);status_t LIS3DH_Int1LatchEnable(State_t latch);status_t LIS3DH_ResetInt1Latch(voi

41、d);status_t LIS3DH_SetIntConfiguration(LIS3DH_Int1Conf_t ic);status_t LIS3DH_SetInt1Threshold(u8_t ths);status_t LIS3DH_SetInt1Duration(LIS3DH_Int1Conf_t id);status_t LIS3DH_SetIntMode(LIS3DH_Int1Mode_t ic);status_t LIS3DH_SetClickCFG(u8_t status);status_t LIS3DH_SetInt6D4DConfiguration(LIS3DH_INT_6

42、D_4D_t ic);status_t LIS3DH_GetInt1Src(u8_t* val);status_t LIS3DH_GetInt1SrcBit(u8_t statusBIT, u8_t* val);/FIFO Functionsstatus_t LIS3DH_FIFOModeEnable(LIS3DH_FifoMode_t fm);status_t LIS3DH_SetWaterMark(u8_t wtm);status_t LIS3DH_SetTriggerInt(LIS3DH_TrigInt_t tr);status_t LIS3DH_GetFifoSourceReg(u8_

43、t* val);status_t LIS3DH_GetFifoSourceBit(u8_t statusBIT, u8_t* val);status_t LIS3DH_GetFifoSourceFSS(u8_t* val);/Other Reading Functionsstatus_t LIS3DH_GetStatusReg(u8_t* val);status_t LIS3DH_GetStatusBit(u8_t statusBIT, u8_t* val);status_t LIS3DH_GetStatusAUXBit(u8_t statusBIT, u8_t* val);status_t

44、LIS3DH_GetStatusAUX(u8_t* val);status_t LIS3DH_GetAccAxesRaw(AxesRaw_t* buff);status_t LIS3DH_GetAuxRaw(LIS3DH_Aux123Raw_t* buff);status_t LIS3DH_GetClickResponse(u8_t* val);status_t LIS3DH_GetTempRaw(i8_t* val);status_t LIS3DH_GetWHO_AM_I(u8_t* val);status_t LIS3DH_Get6DPosition(u8_t* val);/Generic

45、/ i.e. u8_t LIS3DH_ReadReg(u8_t Reg, u8_t* Data);/ i.e. u8_t LIS3DH_WriteReg(u8_t Reg, u8_t Data);#endif/* _LIS3DH_H */* (C) copyright 2012 STMicroelectronics *END OF FILE*/2、陀螺儀LIS3DH驅動程序的.c文件LIS3DH_driver.c/* (C) copyright 2012 STMicroelectronics * File Name:LIS3DH_driver.c* Author:MSH Application

46、 Team* Author:Fabio Tota* Version:$Revision:$* Date:$Date:$* Description:LIS3DH driver file* HISTORY:* Date| Modification| Author* 24/06/2011|Initial Revision| Fabio Tota* 11/06/2012Support for multiple drivers in the same program |Abhishek Anand* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS

47、 AT PROVIDING CUSTOMERS* WITH CODING INFORMA TION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SA VE TIME.* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE* CONTENT OF SUCH FIRMWARE AND/OR THE US

48、E MADE BY CUSTOMERS OF THE CODING* INFORMA TION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. * THIS SOFTWARE IS SPECIFICALLY DESIGNED FOR EXCLUSIVE USE WITH ST PARTS. */* Includes*/#include "lis3dh_driver.h"/* Private typedef*/* Private define*/* Private macro*/* Private variables*/

49、* Private function prototypes*/* Function Name:LIS3DH_ReadReg* Description : Generic Reading function. It must be fullfilled with either* Input* Output* Return:I2C or SPI reading functions:Register Address:Data REad:None*/u8_t LIS3DH_ReadReg(u8_t Reg, u8_t* Data) /To be completed with either I2c or SPI reading function /i.e. *Data = SPI_Mems_Read_Reg( Reg );return 1;，* Function Name : LIS3DH_WriteReg* Description : Generic Writing function. It must be fullfilled with either* :I2C or SPIwriting function* Input: Register Ad