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upm/src/lis3dh/lis3dh.c
Alex Tereschenko a842898bd5 lis3dh: add sensor support based on lis2ds12 module 
Adding STMicro LIS3DH sensor support. This module is based on
the one for lis2ds12 (thanks, jontrulson!), but as sensors are
noticeably different, the contents underwent major rework.

Examples and basic API are left the same.

Tested on Intel Edison with Arduino board using both I2C and SPI.

Signed-off-by: Alex Tereschenko <alext.mkrs@gmail.com>
2018-01-16 20:30:34 -08:00

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/*
* Author: Alex Tereschenko <alext.mkrs@gmail.com>
* Copyright (c) 2018 Alex Tereschenko.
*
* Based on LIS2DS12 module by
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2017 Intel Corporation.
*
* The MIT License
*
* 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 <assert.h>
#include <unistd.h>
#include "lis3dh.h"
#include "upm_utilities.h"
// Macro for converting a uint8_t low/high pair into a float
#define INT16_TO_FLOAT(h, l) (float) ((int16_t)((l) | ((h) << 8)))
// Some useful macros to save on typing and text wrapping
#undef _SHIFT
#define _SHIFT(x) (_LIS3DH_##x##_SHIFT)
#undef _MASK
#define _MASK(x) (_LIS3DH_##x##_MASK)
#undef _SHIFTMASK
#define _SHIFTMASK(x) (_MASK(x) << _SHIFT(x))
// SPI CS on and off functions
static void
_csOn(const lis3dh_context dev)
{
assert(dev != NULL);
if (dev->gpioCS) {
mraa_gpio_write(dev->gpioCS, 0);
}
}
static void
_csOff(const lis3dh_context dev)
{
assert(dev != NULL);
if (dev->gpioCS) {
mraa_gpio_write(dev->gpioCS, 1);
}
}
// Init
lis3dh_context
lis3dh_init(int bus, int addr, int cs)
{
lis3dh_context dev = (lis3dh_context) malloc(sizeof(struct _lis3dh_context));
if (!dev) {
return NULL;
}
// Zero out context
memset((void*) dev, 0, sizeof(struct _lis3dh_context));
// Make sure MRAA is initialized
if (mraa_init() != MRAA_SUCCESS) {
printf("%s: mraa_init() failed\n", __FUNCTION__);
lis3dh_close(dev);
return NULL;
}
if (addr < 0) {
// SPI
if (!(dev->spi = mraa_spi_init(bus))) {
printf("%s: mraa_spi_init() for bus %d failed\n", __FUNCTION__, bus);
lis3dh_close(dev);
return NULL;
}
// Only create CS context if we are actually using a valid pin.
// A hardware controlled pin should specify CS as -1.
if (cs >= 0) {
if (!(dev->gpioCS = mraa_gpio_init(cs))) {
printf("%s: mraa_gpio_init() for CS pin %d failed\n", __FUNCTION__, cs);
lis3dh_close(dev);
return NULL;
}
mraa_gpio_dir(dev->gpioCS, MRAA_GPIO_OUT);
}
mraa_spi_mode(dev->spi, MRAA_SPI_MODE0);
if (mraa_spi_frequency(dev->spi, 5000000)) {
printf("%s: mraa_spi_frequency() failed\n", __FUNCTION__);
lis3dh_close(dev);
return NULL;
}
} else {
// I2C
if (!(dev->i2c = mraa_i2c_init(bus))) {
printf("%s: mraa_i2c_init() for bus %d failed\n", __FUNCTION__, bus);
lis3dh_close(dev);
return NULL;
}
if (mraa_i2c_address(dev->i2c, addr)) {
printf("%s: mraa_i2c_address() for address 0x%x failed\n", __FUNCTION__, addr);
lis3dh_close(dev);
return NULL;
}
}
// Check the chip id
uint8_t chipID = lis3dh_get_chip_id(dev);
if (chipID != LIS3DH_CHIPID) {
printf("%s: invalid chip id: %02x, expected %02x\n", __FUNCTION__, chipID, LIS3DH_CHIPID);
lis3dh_close(dev);
return NULL;
}
// Call devinit with default options
if (lis3dh_devinit(dev, LIS3DH_ODR_100HZ, LIS3DH_FS_2G, true)) {
printf("%s: lis3dh_devinit() failed\n", __FUNCTION__);
lis3dh_close(dev);
return NULL;
}
return dev;
}
void
lis3dh_close(lis3dh_context dev)
{
assert(dev != NULL);
lis3dh_uninstall_isr(dev, LIS3DH_INTERRUPT_INT1);
lis3dh_uninstall_isr(dev, LIS3DH_INTERRUPT_INT2);
if (dev->i2c) {
mraa_i2c_stop(dev->i2c);
}
if (dev->spi) {
mraa_spi_stop(dev->spi);
}
if (dev->gpioCS) {
mraa_gpio_close(dev->gpioCS);
}
free(dev);
}
upm_result_t
lis3dh_devinit(const lis3dh_context dev, LIS3DH_ODR_T odr, LIS3DH_FS_T fs, bool high_res)
{
assert(dev != NULL);
// Set high resolution mode, ODR and FS using passed values.
// Also unconditionally enable X, Y and Z axes, temperature sensor (and ADC),
// BDU mode as well as disable output high-pass filter.
if (lis3dh_enable_lp_mode(dev, false) ||
lis3dh_enable_hr_mode(dev, high_res) ||
lis3dh_enable_axes(dev, true, true, true) ||
lis3dh_enable_bdu_mode(dev, true) ||
lis3dh_set_odr(dev, odr) ||
lis3dh_set_full_scale(dev, fs) ||
lis3dh_enable_hp_filtering(dev, false) ||
lis3dh_enable_temperature(dev, true)) {
printf("%s: failed to set configuration parameters\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
// Settle
upm_delay_ms(50);
return UPM_SUCCESS;
}
upm_result_t
lis3dh_enable_axes(const lis3dh_context dev,
bool x_axis_enable,
bool y_axis_enable,
bool z_axis_enable)
{
assert(dev != NULL);
uint8_t reg = lis3dh_read_reg(dev, LIS3DH_REG_CTRL_REG1);
// X axis
if (x_axis_enable) {
reg |= LIS3DH_CTRL_REG1_XEN;
} else {
reg &= ~LIS3DH_CTRL_REG1_XEN;
}
// Y axis
if (y_axis_enable) {
reg |= LIS3DH_CTRL_REG1_YEN;
} else {
reg &= ~LIS3DH_CTRL_REG1_YEN;
}
// Z axis
if (z_axis_enable) {
reg |= LIS3DH_CTRL_REG1_ZEN;
} else {
reg &= ~LIS3DH_CTRL_REG1_ZEN;
}
if (lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG1, reg)) {
printf("%s: failed to enable axes\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_enable_bdu_mode(const lis3dh_context dev, bool bdu_enable)
{
assert(dev != NULL);
uint8_t reg = lis3dh_read_reg(dev, LIS3DH_REG_CTRL_REG4);
if (bdu_enable) {
reg |= LIS3DH_CTRL_REG4_BDU;
} else {
reg &= ~LIS3DH_CTRL_REG4_BDU;
}
if (lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG4, reg)) {
printf("%s: failed to set BDU mode\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_enable_lp_mode(const lis3dh_context dev, bool lp_enable)
{
assert(dev != NULL);
uint8_t reg = lis3dh_read_reg(dev, LIS3DH_REG_CTRL_REG1);
if (lp_enable) {
// Check whether high resolution mode is enabled - enabling both LP and HR is not allowed
uint8_t tmp_reg = lis3dh_read_reg(dev, LIS3DH_REG_CTRL_REG4);
if (tmp_reg & LIS3DH_CTRL_REG4_HR) {
printf("%s: can't enable low power mode, high resolution mode is already enabled\n",
__FUNCTION__);
return UPM_ERROR_INVALID_PARAMETER;
} else {
// We are good - enable low power mode
reg |= LIS3DH_CTRL_REG1_LPEN;
// Set temperatureFactor according to LP mode bit width (8b).
// This is needed to account for left alignment of the temperature data.
// We have to shift the data right (== divide by a factor in case of float)
// to eliminate "dead" bits.
dev->temperatureFactor = 256;
}
} else {
reg &= ~LIS3DH_CTRL_REG1_LPEN;
// Set temperatureFactor according to Normal mode bit width (10b)
dev->temperatureFactor = 64;
}
if (lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG1, reg)) {
printf("%s: failed to set low power mode\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_enable_hr_mode(const lis3dh_context dev, bool hr_enable)
{
assert(dev != NULL);
uint8_t reg = lis3dh_read_reg(dev, LIS3DH_REG_CTRL_REG4);
if (hr_enable) {
// Check whether low power mode is enabled - enabling both LP and HR is not allowed
uint8_t tmp_reg = lis3dh_read_reg(dev, LIS3DH_REG_CTRL_REG1);
if (tmp_reg & LIS3DH_CTRL_REG1_LPEN) {
printf("%s: can't enable high resolution mode, low power mode is already enabled\n",
__FUNCTION__);
return UPM_ERROR_INVALID_PARAMETER;
} else {
// We are good - enable high resolution mode
reg |= LIS3DH_CTRL_REG4_HR;
}
} else {
reg &= ~LIS3DH_CTRL_REG4_HR;
}
// Set the temperature sensor scaling factor appropriately.
// Its max is 10 bit for both normal and HR modes.
dev->temperatureFactor = 64;
if (lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG4, reg)) {
printf("%s: failed to set high resolution mode\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_enable_normal_mode(const lis3dh_context dev)
{
assert(dev != NULL);
// There's no special mode bit for Normal - just disable LP and HR
if (lis3dh_enable_lp_mode(dev, false) || lis3dh_enable_hr_mode(dev, false)) {
printf("%s: failed to enable normal mode\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_enable_hp_filtering(const lis3dh_context dev, bool filter)
{
assert(dev != NULL);
uint8_t reg = lis3dh_read_reg(dev, LIS3DH_REG_CTRL_REG2);
if (filter) {
reg |= LIS3DH_CTRL_REG2_FDS;
} else {
reg &= ~LIS3DH_CTRL_REG2_FDS;
}
if (lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG2, reg)) {
printf("%s: failed to set HP filter mode\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_enable_interrupt_latching(const lis3dh_context dev, bool int1_latch, bool int2_latch)
{
assert(dev != NULL);
uint8_t reg = lis3dh_read_reg(dev, LIS3DH_REG_CTRL_REG5);
if (int1_latch) {
reg |= LIS3DH_CTRL_REG5_LIR_INT1;
} else {
reg &= ~LIS3DH_CTRL_REG5_LIR_INT1;
}
if (int2_latch) {
reg |= LIS3DH_CTRL_REG5_LIR_INT2;
} else {
reg &= ~LIS3DH_CTRL_REG5_LIR_INT2;
}
if (lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG5, reg)) {
printf("%s: failed to set interrupt latching mode\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_enable_adc(const lis3dh_context dev, bool adc_enable)
{
assert(dev != NULL);
// BDU mode is a prerequisite
if (adc_enable && lis3dh_enable_bdu_mode(dev, true)) {
printf("%s: failed to enable BDU mode - a prerequisite for enabling ADC\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
uint8_t reg = lis3dh_read_reg(dev, LIS3DH_REG_TEMP_CFG_REG);
if (adc_enable) {
reg |= LIS3DH_TEMP_CFG_REG_ADC_EN;
} else {
reg &= ~LIS3DH_TEMP_CFG_REG_ADC_EN;
}
if (lis3dh_write_reg(dev, LIS3DH_REG_TEMP_CFG_REG, reg)) {
printf("%s: failed to set ADC mode\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_enable_temperature(const lis3dh_context dev, bool temperature_enable)
{
assert(dev != NULL);
// ADC must be enabled for temperature readings to work
if (temperature_enable && lis3dh_enable_adc(dev, true)) {
printf("%s: failed to enable ADC - a prerequisite for enabling temperature sensor\n",
__FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
uint8_t reg = lis3dh_read_reg(dev, LIS3DH_REG_TEMP_CFG_REG);
if (temperature_enable) {
reg |= LIS3DH_TEMP_CFG_REG_TEMP_EN;
} else {
reg &= ~LIS3DH_TEMP_CFG_REG_TEMP_EN;
}
if (lis3dh_write_reg(dev, LIS3DH_REG_TEMP_CFG_REG, reg)) {
printf("%s: failed to set temperature sensor mode\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_set_odr(const lis3dh_context dev, LIS3DH_ODR_T odr)
{
assert(dev != NULL);
bool lp_mode = false;
uint8_t reg = lis3dh_read_reg(dev, LIS3DH_REG_CTRL_REG1);
// Zero out ODR bits
reg &= ~_SHIFTMASK(CTRL_REG1_ODR);
// We encoded an extra bit in LIS3DH_ODR_T indicating an LP mode. Check for it here.
if ((int) odr > (int) _MASK(CTRL_REG1_ODR)) {
lp_mode = true;
}
// Mask it off and set it
odr &= _MASK(CTRL_REG1_ODR);
reg |= (odr << _SHIFT(CTRL_REG1_ODR));
// Set the LPEN bit appropriately
lis3dh_enable_lp_mode(dev, lp_mode);
// Commit our changes
if (lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG1, reg)) {
printf("%s: failed to set ODR configuration\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_set_full_scale(const lis3dh_context dev, LIS3DH_FS_T fs)
{
assert(dev != NULL);
uint8_t reg = lis3dh_read_reg(dev, LIS3DH_REG_CTRL_REG4);
// Mask out FS bits, add our own
reg &= ~_SHIFTMASK(CTRL_REG4_FS);
reg |= (fs << _SHIFT(CTRL_REG4_FS));
if (lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG4, reg)) {
printf("%s: failed to set FS configuration\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
// Basic sensitivity in g/LSB, calculated for a full 16b resolution.
switch (fs) {
case LIS3DH_FS_2G:
// (2*2) / 2^16
dev->accScale = 0.000061;
break;
case LIS3DH_FS_4G:
// (4*2) / 2^16
dev->accScale = 0.000122;
break;
case LIS3DH_FS_8G:
// (8*2) / 2^16
dev->accScale = 0.000244;
break;
case LIS3DH_FS_16G:
// (16*2) / 2^16
dev->accScale = 0.000488;
break;
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_set_interrupt_active_high(const lis3dh_context dev, bool high)
{
assert(dev != NULL);
uint8_t reg = lis3dh_read_reg(dev, LIS3DH_REG_CTRL_REG6);
if (high) {
reg &= ~LIS3DH_CTRL_REG6_INT_POLARITY;
} else {
reg |= LIS3DH_CTRL_REG6_INT_POLARITY;
}
if (lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG6, reg)) {
printf("%s: failed to set interrupt polarity mode\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_set_int1_config(const lis3dh_context dev, uint8_t cfg)
{
assert(dev != NULL);
if (lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG3, cfg)) {
printf("%s: failed to set interrupt 1 configuration\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_set_int2_config(const lis3dh_context dev, uint8_t cfg)
{
assert(dev != NULL);
if (lis3dh_write_reg(dev, LIS3DH_REG_CTRL_REG6, cfg)) {
printf("%s: failed to set interrupt 2 configuration\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
uint8_t
lis3dh_read_reg(const lis3dh_context dev, uint8_t reg)
{
assert(dev != NULL);
if (dev->spi) {
// Needed for read
reg |= 0x80;
uint8_t pkt[2] = { reg, 0 };
_csOn(dev);
if (mraa_spi_transfer_buf(dev->spi, pkt, pkt, 2)) {
_csOff(dev);
printf("%s: mraa_spi_transfer_buf() failed\n", __FUNCTION__);
return 0xFF;
}
_csOff(dev);
return pkt[1];
} else {
return (uint8_t) mraa_i2c_read_byte_data(dev->i2c, reg);
}
}
int
lis3dh_read_regs(const lis3dh_context dev, uint8_t reg, uint8_t* buffer, int len)
{
assert(dev != NULL);
if (dev->spi) {
// Needed for read with address autoincrement
reg |= 0xC0;
uint8_t sbuf[len + 1];
memset((char*) sbuf, 0, len + 1);
sbuf[0] = reg;
_csOn(dev);
if (mraa_spi_transfer_buf(dev->spi, sbuf, sbuf, len + 1)) {
_csOff(dev);
printf("%s: mraa_spi_transfer_buf() failed\n", __FUNCTION__);
return -1;
}
_csOff(dev);
// Now copy it into user buffer
for (int i = 0; i < len; i++) {
buffer[i] = sbuf[i + 1];
}
} else {
// Needed for read with address autoincrement
reg |= 0x80;
if (mraa_i2c_read_bytes_data(dev->i2c, reg, buffer, len) != len) {
return -1;
}
}
return len;
}
upm_result_t
lis3dh_write_reg(const lis3dh_context dev, uint8_t reg, uint8_t val)
{
assert(dev != NULL);
if (dev->spi) {
// Mask off 0x80 for writing
reg &= 0x7F;
uint8_t pkt[2] = { reg, val };
_csOn(dev);
if (mraa_spi_transfer_buf(dev->spi, pkt, NULL, 2)) {
_csOff(dev);
printf("%s: mraa_spi_transfer_buf() failed.", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
_csOff(dev);
} else {
if (mraa_i2c_write_byte_data(dev->i2c, val, reg)) {
printf("%s: mraa_i2c_write_byte_data() failed.", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
}
return UPM_SUCCESS;
}
upm_result_t
lis3dh_update(const lis3dh_context dev)
{
assert(dev != NULL);
// Max axes data length, 2 bytes per axis * 3 axes
const int bufLen = 6;
// Max temperature data length
const int temperatureBufLen = 2;
// We reuse the same array when reading acceleration and then temperature data
uint8_t buf[bufLen];
if (lis3dh_read_regs(dev, LIS3DH_REG_OUT_X_L, buf, bufLen) != bufLen) {
printf("%s: lis3dh_read_regs() failed to read %d bytes of axes data\n", __FUNCTION__, bufLen);
return UPM_ERROR_OPERATION_FAILED;
}
// X MSB LSB
dev->accX = INT16_TO_FLOAT(buf[1], buf[0]);
// Y
dev->accY = INT16_TO_FLOAT(buf[3], buf[2]);
// Z
dev->accZ = INT16_TO_FLOAT(buf[5], buf[4]);
// Get the temperature
if (lis3dh_read_regs(dev, LIS3DH_REG_OUT_ADC3_L, buf, temperatureBufLen) != temperatureBufLen) {
printf("%s: lis3dh_read_regs() failed to read %d bytes of temperature data\n",
__FUNCTION__,
temperatureBufLen);
return UPM_ERROR_OPERATION_FAILED;
}
dev->temperature = INT16_TO_FLOAT(buf[1], buf[0]);
return UPM_SUCCESS;
}
uint8_t
lis3dh_get_chip_id(const lis3dh_context dev)
{
assert(dev != NULL);
return lis3dh_read_reg(dev, LIS3DH_REG_WHO_AM_I);
}
void
lis3dh_get_accelerometer(const lis3dh_context dev, float* x, float* y, float* z)
{
assert(dev != NULL);
if (x) {
*x = dev->accX * dev->accScale;
}
if (y) {
*y = dev->accY * dev->accScale;
}
if (z) {
*z = dev->accZ * dev->accScale;
}
}
float
lis3dh_get_temperature(const lis3dh_context dev)
{
assert(dev != NULL);
return (dev->temperature / dev->temperatureFactor);
}
uint8_t
lis3dh_get_status(const lis3dh_context dev)
{
assert(dev != NULL);
return lis3dh_read_reg(dev, LIS3DH_REG_STATUS_REG);
}
uint8_t
lis3dh_get_status_aux(const lis3dh_context dev)
{
assert(dev != NULL);
return lis3dh_read_reg(dev, LIS3DH_REG_STATUS_REG_AUX);
}
upm_result_t
lis3dh_install_isr(const lis3dh_context dev,
LIS3DH_INTERRUPT_PINS_T intr,
int gpio,
mraa_gpio_edge_t level,
void (*isr)(void*),
void* arg)
{
assert(dev != NULL);
// Delete any existing ISR and GPIO context for this interrupt
lis3dh_uninstall_isr(dev, intr);
mraa_gpio_context gpio_isr = NULL;
// Create GPIO context
if (!(gpio_isr = mraa_gpio_init(gpio))) {
printf("%s: mraa_gpio_init() failed\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
mraa_gpio_dir(gpio_isr, MRAA_GPIO_IN);
if (mraa_gpio_isr(gpio_isr, level, isr, arg)) {
mraa_gpio_close(gpio_isr);
printf("%s: mraa_gpio_isr() failed\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
switch (intr) {
case LIS3DH_INTERRUPT_INT1:
dev->gpioINT1 = gpio_isr;
break;
case LIS3DH_INTERRUPT_INT2:
dev->gpioINT2 = gpio_isr;
break;
}
return UPM_SUCCESS;
}
void
lis3dh_uninstall_isr(const lis3dh_context dev, LIS3DH_INTERRUPT_PINS_T intr)
{
assert(dev != NULL);
switch (intr) {
case LIS3DH_INTERRUPT_INT1:
if (dev->gpioINT1) {
mraa_gpio_isr_exit(dev->gpioINT1);
mraa_gpio_close(dev->gpioINT1);
dev->gpioINT1 = NULL;
}
break;
case LIS3DH_INTERRUPT_INT2:
if (dev->gpioINT2) {
mraa_gpio_isr_exit(dev->gpioINT2);
mraa_gpio_close(dev->gpioINT2);
dev->gpioINT2 = NULL;
}
break;
}
}
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