lis3dh.h

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#pragma once
 
#include "esphome/components/motion/motion_component.h"
#include "esphome/components/i2c/i2c.h"
#include "esphome/core/component.h"
#include "esphome/core/helpers.h"
 
namespace esphome::lis3dh {
 
//  Register map (see ST datasheet DocID18198)
static constexpr uint8_t LIS3DH_REG_OUT_ADC3_L = 0x0C;  // temperature (ADC3) low byte
static constexpr uint8_t LIS3DH_REG_WHO_AM_I = 0x0F;
static constexpr uint8_t LIS3DH_REG_TEMP_CFG = 0x1F;
static constexpr uint8_t LIS3DH_REG_CTRL_REG1 = 0x20;  // ODR / low-power / axis enable
static constexpr uint8_t LIS3DH_REG_CTRL_REG2 = 0x21;  // high-pass filter
static constexpr uint8_t LIS3DH_REG_CTRL_REG3 = 0x22;  // INT1 pad routing
static constexpr uint8_t LIS3DH_REG_CTRL_REG4 = 0x23;  // BDU / full-scale / high-resolution
static constexpr uint8_t LIS3DH_REG_CTRL_REG5 = 0x24;  // interrupt latching
static constexpr uint8_t LIS3DH_REG_CTRL_REG6 = 0x25;  // INT2 pad routing / polarity
static constexpr uint8_t LIS3DH_REG_REFERENCE = 0x26;  // high-pass filter reference
static constexpr uint8_t LIS3DH_REG_OUT_X_L = 0x28;    // acceleration data block (auto-increment)
static constexpr uint8_t LIS3DH_REG_INT1_CFG = 0x30;
static constexpr uint8_t LIS3DH_REG_INT1_SRC = 0x31;
static constexpr uint8_t LIS3DH_REG_INT1_THS = 0x32;
static constexpr uint8_t LIS3DH_REG_INT1_DURATION = 0x33;
 
static constexpr uint8_t LIS3DH_WHO_AM_I_VALUE = 0x33;
 
// Sub-address auto-increment bit: OR into the register for multi-byte reads.
static constexpr uint8_t LIS3DH_AUTO_INCREMENT = 0x80;
 
// CTRL_REG1
static constexpr uint8_t LIS3DH_CTRL_REG1_AXES_EN = 0x07;  // Xen | Yen | Zen
static constexpr uint8_t LIS3DH_CTRL_REG1_LPEN = 0x08;     // low-power enable
// CTRL_REG2
static constexpr uint8_t LIS3DH_CTRL_REG2_HP_IA1 = 0x01;  // high-pass filter the IA1 interrupt
// CTRL_REG4
static constexpr uint8_t LIS3DH_CTRL_REG4_HR = 0x08;   // high-resolution enable
static constexpr uint8_t LIS3DH_CTRL_REG4_BDU = 0x80;  // block data update
// CTRL_REG5
static constexpr uint8_t LIS3DH_CTRL_REG5_LIR_INT1 = 0x08;  // latch IA1 interrupt
// CTRL_REG3 / CTRL_REG6 interrupt routing
static constexpr uint8_t LIS3DH_CTRL_REG3_I1_IA1 = 0x40;        // route IA1 to INT1 pad
static constexpr uint8_t LIS3DH_CTRL_REG6_I2_IA1 = 0x40;        // route IA1 to INT2 pad
static constexpr uint8_t LIS3DH_CTRL_REG6_INT_POLARITY = 0x02;  // 1 = active low
// TEMP_CFG_REG
static constexpr uint8_t LIS3DH_TEMP_CFG_ADC_EN = 0x80;
static constexpr uint8_t LIS3DH_TEMP_CFG_TEMP_EN = 0x40;
 
// The temperature sensor is uncalibrated and reports relative changes only,
// so this fixed reference is just a rough starting point for the °C output.
static constexpr float LIS3DH_TEMP_REFERENCE_C = 25.0f;
 
// Full-scale range: value is the index into the scale tables and the
// FS field of CTRL_REG4 (shifted left by 4).
enum LIS3DHRange : uint8_t {
  LIS3DH_RANGE_2G = 0,
  LIS3DH_RANGE_4G = 1,
  LIS3DH_RANGE_8G = 2,
  LIS3DH_RANGE_16G = 3,
};
 
// Output data rate: value is the ODR field of CTRL_REG1 (bits 7:4).
enum LIS3DHDataRate : uint8_t {
  LIS3DH_DATA_RATE_1HZ = 0x1,
  LIS3DH_DATA_RATE_10HZ = 0x2,
  LIS3DH_DATA_RATE_25HZ = 0x3,
  LIS3DH_DATA_RATE_50HZ = 0x4,
  LIS3DH_DATA_RATE_100HZ = 0x5,
  LIS3DH_DATA_RATE_200HZ = 0x6,
  LIS3DH_DATA_RATE_400HZ = 0x7,
  LIS3DH_DATA_RATE_1620HZ = 0x8,  // low-power mode only
  LIS3DH_DATA_RATE_1344HZ = 0x9,  // 1344 Hz normal/HR, 5376 Hz low-power
};
 
// Operating mode: selects the resolution (and thus power usage).
enum LIS3DHOperatingMode : uint8_t {
  LIS3DH_MODE_LOW_POWER = 0,        // 8-bit
  LIS3DH_MODE_NORMAL = 1,           // 10-bit
  LIS3DH_MODE_HIGH_RESOLUTION = 2,  // 12-bit
};
 
// Physical interrupt pad the motion interrupt is routed to.
enum LIS3DHInterruptPin : uint8_t {
  LIS3DH_INT_PIN_INT1 = 0,
  LIS3DH_INT_PIN_INT2 = 1,
};
 
class LIS3DHComponent : public motion::MotionComponent, public i2c::I2CDevice {
 public:
  void setup() override;
  void dump_config() override;
  void on_shutdown() override;
 
  void set_range(LIS3DHRange range) { this->range_ = range; }
  void set_data_rate(LIS3DHDataRate data_rate) { this->data_rate_ = data_rate; }
  void set_operating_mode(LIS3DHOperatingMode mode) { this->operating_mode_ = mode; }
  // threshold is the INT1_THS value and axes_cfg the INT1_CFG mask, both computed in Python.
  void set_interrupt(LIS3DHInterruptPin pin, uint8_t threshold, uint8_t duration, uint8_t axes_cfg, bool latched,
                     bool active_high, bool high_pass) {
    this->interrupt_pin_ = pin;
    this->interrupt_threshold_ = threshold;
    this->interrupt_duration_ = duration;
    this->interrupt_axes_cfg_ = axes_cfg;
    this->interrupt_latched_ = latched;
    this->interrupt_active_high_ = active_high;
    this->interrupt_high_pass_ = high_pass;
  }
 
  template<typename F> void add_temperature_listener(F &&cb) { this->temperature_callback_.add(std::forward<F>(cb)); }
 
 protected:
  bool update_data(motion::MotionData &data) override;
  bool setup_accelerometer_();
  bool setup_temperature_();
  bool setup_interrupt_();
  bool publish_temperature_();
 
  LIS3DHRange range_{LIS3DH_RANGE_2G};
  LIS3DHDataRate data_rate_{LIS3DH_DATA_RATE_100HZ};
  LIS3DHOperatingMode operating_mode_{LIS3DH_MODE_HIGH_RESOLUTION};
 
  // Motion (activity) interrupt configuration; a zero axis mask means disabled.
  LIS3DHInterruptPin interrupt_pin_{LIS3DH_INT_PIN_INT1};
  uint8_t interrupt_threshold_{0};
  uint8_t interrupt_duration_{0};
  uint8_t interrupt_axes_cfg_{0};
  bool interrupt_latched_{false};
  bool interrupt_active_high_{true};
  bool interrupt_high_pass_{false};
 
  LazyCallbackManager<void(float)> temperature_callback_{};
};
 
}  // namespace esphome::lis3dh