h3lis331spi.cpp

00001 #include  "mbed.h"
00002 #include <stdio.h>
00003 
00004 #define H3LIS331DL_CTRL_REG1            0x20
00005 #define H3LIS331DL_CTRL_REG2            0x21
00006 #define H3LIS331DL_CTRL_REG3            0x22
00007 #define H3LIS331DL_CTRL_REG4            0x23
00008 #define H3LIS331DL_CTRL_REG5            0x24 
00009 //STATUS_REG_AXIES 
00010 #define H3LIS331DL_STATUS_REG           0x27   //
00011 
00012 ///i2c or SPI 
00013 //#define USESPI 
00014 
00015 //SPI STSPI(SPI_MOSI, SPI_MISO, SPI_SCK);
00016 /*******************************************
00017 int initLIS331();
00018 int read3axes(short *tx,short *ty,short *tz);
00019 int readTemp(short *tmp);
00020 ******************************************/
00021 
00022 
00023 //mbed Class
00024 //SPI STSPI(SPI_MOSI, SPI_MISO, SPI_SCK);
00025 //SPI STSPI(D11, D12, D13);
00026 //\\DigitalOut  STSPICS(D10);
00027 
00028 #ifdef USESPI
00029 ///// SPI -
00030 extern SPI STSPI;
00031 extern DigitalOut  STSPICS;
00032 /*********** porting **************/   
00033 void spiFormat(int b,int m) {
00034    STSPI.format(b,m);  /* 8bit */
00035 }
00036 void spiFrequency(int f){
00037     STSPI.frequency(f ); /* 1Mbps */
00038 }
00039 void spiWriteCS(int cs) {
00040     STSPICS=cs;
00041 }
00042 int spiWrite(int wd) {
00043     return ( STSPI.write(wd)); 
00044 }   
00045 ////////
00046 #else 
00047 //i2c /////
00048 extern I2C i2c;
00049 int deviceAddress = 0x18;
00050 ///////////
00051 #endif
00052 extern RawSerial          pc;
00053 static unsigned char spireadReg(unsigned char ad);
00054 static int spireadRegs(unsigned char ad,unsigned char *p,int bytes);
00055 static unsigned char spiwriteReg(unsigned char ad,unsigned char val);
00056 #define LIS331  0x32
00057 /*****************************************
00058   init h3LIS331DL ST micro 3-axes accelerometer
00059    SPI interface 
00060 *****************************************/
00061 int initLIS331()
00062 {
00063 //    STSPI = new SPI(SPI_MOSI, SPI_MISO, SPI_SCK, D6);
00064 #ifdef USESPI   
00065     spiFormat(8,3);  /* 8bit */
00066     spiFrequency(8000000); /* 8Mbps */
00067     spiWriteCS(1);
00068 #else
00069 #endif    
00070     wait_us(10);
00071     pc.printf("Who am I %02x\r\n", spireadReg(0x0f));
00072     spiwriteReg(H3LIS331DL_CTRL_REG1,0x27);  // power normal xyz enable out 50Hz 
00073     spiwriteReg(H3LIS331DL_CTRL_REG2,0x00);  // normal, no filter 
00074     spiwriteReg(H3LIS331DL_CTRL_REG3,0x00);  // no interrut
00075     spiwriteReg(H3LIS331DL_CTRL_REG4,0x30);  // BDU 1 BLE 0  fs 3 400g 
00076     spiwriteReg(H3LIS331DL_CTRL_REG5,0x00);  // max 400G
00077   //  spiwriteReg(0x23,0x98);  
00078     //spireadReg(0x25);
00079     return (spireadReg(0x0f) - LIS331);
00080 }
00081 
00082   
00083 /*************************************************
00084   read 3-axes from LIS3DH
00085 *************************************************/
00086 int read3axes331(short *tx,short *ty,short *tz)
00087 {
00088     int timeout=5;
00089     unsigned char regs[6];
00090     wait_us(5);
00091     while((spireadReg(0x27)&7)!=7 && timeout--){wait_us(5);};
00092     for (int i=0;i<6;i++) regs[i]= spireadReg(0x28 + i );// 14bit signed   1G = 413 9.8m/s**2
00093 //    STSPI.frequency(); //1MHz
00094     *tx = (short)(regs[0] | (regs[1]<<8)) >> 3;
00095     *ty = (short)(regs[2] | (regs[3]<<8)) >> 3;
00096     *tz = (short)(regs[4] | (regs[5]<<8)) >> 3;
00097     return(0);
00098 }
00099 
00100 
00101 
00102 /*************************************************
00103   Read a regster from SPI
00104 *************************************************/
00105 static unsigned char spireadReg(unsigned char ad){
00106     unsigned char r;
00107 #ifdef USESPI    
00108     spiWriteCS(0);
00109     wait_us(1);
00110     spiWrite(ad | 0x80);  
00111     r = spiWrite(0);
00112     wait_us(1);
00113     spiWriteCS(1);
00114 #else
00115     char Reg=ad;
00116     char Data[2];
00117 
00118     i2c.write((deviceAddress << 1) & 0xFE, (char *)&Reg, 1);
00119     i2c.read((deviceAddress << 1) | 0x01, (char *)Data, 2);
00120     r = Data[1];    
00121 //    pc.printf("read regs %02x %02x\r\n", Data[0],Data[1]);
00122 #endif    
00123     return(r);
00124 }
00125 
00126 /*************************************************
00127   Read multi regsters from SPI
00128 *************************************************/
00129 static int spireadRegs(unsigned char ad,unsigned char *p,int bytes){
00130 #if 1
00131    while(bytes--) {
00132       *p = spireadReg( ad );
00133       p++;
00134       ad++;
00135    }    
00136 #else   
00137    spiWriteCS(0);
00138     wait_us(1);
00139     spiWrite(ad | 0x80 );  
00140    while(bytes--) {
00141       *p++ = spiWrite(0);
00142    }
00143    wait_us(1);
00144    spiWriteCS(1);
00145 #endif  
00146     return(0);
00147 }
00148 
00149 /*************************************************
00150   Write a regster via SPI
00151 *************************************************/
00152 static unsigned char spiwriteReg(unsigned char ad,unsigned char val){
00153     unsigned char r;
00154 #ifdef USESPI
00155     spiWriteCS(0);
00156     wait_us(1);
00157     spiWrite(ad);  
00158     r = spiWrite(val);
00159     wait_us(1);
00160     spiWriteCS(1);
00161 #else 
00162 //i2c
00163     uint8_t buf[2];
00164     
00165     buf[0] = ad;
00166     buf[1] = val;
00167     i2c.write((deviceAddress << 1) & 0xFE, (char *)buf, 2);
00168 #endif    
00169     return(r);
00170 }
00171 
00172 
00173 static unsigned char i2cReadReg(unsigned char ad,unsigned char val){
00174     unsigned char r;
00175 #ifdef USESPI
00176 #else 
00177 //i2c
00178     uint8_t buf[2];
00179     
00180     buf[0] = ad;
00181     buf[1] = val;
00182     i2c.write((deviceAddress << 1) & 0xFE, (char *)buf, 2);
00183 
00184 #endif    
00185     return(r);
00186 }
00187 
00188