Diff: accel3d.cpp

Revision:

1:025596ffc973

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/accel3d.cpp	Fri Feb 12 05:52:56 2021 +0000
@@ -0,0 +1,126 @@
+#include  "mbed.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include  <time.h>
+
+//#include "udgs1.h"
+#define ACC_OK 0
+//SPI STSPI(SPI_MOSI, SPI_MISO, SPI_SCK);
+/*******************************************
+int initLIS3DH();
+int read3axes(short *tx,short *ty,short *tz);
+int readTemp(short *tmp);
+******************************************/
+
+unsigned char spiwriteReg(unsigned char ad,unsigned char val);
+int spireadRegs(unsigned char ad,unsigned char *p,int bytes);
+unsigned char spireadReg(unsigned char ad);
+extern void spiFormat(int b,int m);
+extern void spiFrequency(int f);
+extern void spiWriteCS(int cs);
+extern int  spiWrite(int  wd);
+#define LIS2DW12_ID 0x44
+/*****************************************
+  init LIS2DW12 LIS3DH ST micro 3-axes accelerometer
+   SPI interface 
+*****************************************/
+int initLIS3DH()
+{
+//    STSPI = new SPI(SPI_MOSI, SPI_MISO, SPI_SCK, D6);
+   
+    spiFormat(8,3);  /* 8bit */
+    spiFrequency(1000000); /* 1Mbps */
+    spiWriteCS(1);
+    wait_us(1);
+   // printf("Who am I %02x\r\n", spireadReg(0x0f));
+    spiwriteReg(0x21,0x84);  // boot on
+    spiwriteReg(0x1f,0xc0);  // 
+    spiwriteReg(0x20,0x35);  // 25hz 14bit
+    spiwriteReg(0x25,0x14);  // max 4G
+  //  spiwriteReg(0x23,0x98);  
+    return (spireadReg(0x0f) - LIS2DW12_ID);
+}
+
+/*************************************************
+  read 3-axes from LIS3DH
+*************************************************/
+int read3axes(short *tx,short *ty,short *tz)
+{
+    int timeout=5;
+    unsigned char regs[6];
+    wait_us(50);
+    while((spireadReg(0x07)&7)==0 && timeout--){wait_us(5);};
+    spireadRegs(0x28,regs,6);// 14bit signed   1G = 413 9.8m/s**2
+//    STSPI.frequency(); //1MHz
+    *tx = (short)(regs[0] | (regs[1]<<8)) >> 3;
+    *ty = (short)(regs[2] | (regs[3]<<8)) >> 3;
+    *tz = (short)(regs[4] | (regs[5]<<8)) >> 3;
+    return(ACC_OK);
+}
+
+/*************************************************
+  read temparture from LIS3DH -105 to  +152 degree
+*************************************************/
+int readTemp(short *tmp)
+{
+    signed char t;
+    t = spireadReg(0x26) + 25;
+    if (tmp) *tmp = t;
+    return(t);
+}
+
+
+/*************************************************
+  Read a regster from SPI
+*************************************************/
+unsigned char spireadReg(unsigned char ad){
+    unsigned char r;
+    spiWriteCS(0);
+    wait_us(1);
+    spiWrite(ad | 0x80);  
+    r = spiWrite(0);
+    wait_us(1);
+    spiWriteCS(1);
+    return(r);
+}
+
+/*************************************************
+  Read multi regsters from SPI
+*************************************************/
+int spireadRegs(unsigned char ad,unsigned char *p,int bytes){
+#if 0
+   while(bytes--) {
+      *p = spireadReg( ad );
+      p++;
+      ad++;
+   }    
+#else   
+   spiWriteCS(0);
+    wait_us(1);
+    spiWrite(ad | 0x80 );  
+   while(bytes--) {
+      *p++ = spiWrite(0);
+   }
+   wait_us(1);
+   spiWriteCS(1);
+#endif  
+    return(ACC_OK);
+}
+
+/*************************************************
+  Write a regster via SPI
+*************************************************/
+unsigned char spiwriteReg(unsigned char ad,unsigned char val){
+    unsigned char r;
+    spiWriteCS(0);
+    wait_us(1);
+    spiWrite(ad);  
+    r = spiWrite(val);
+    wait_us(1);
+    spiWriteCS(1);
+    return(r);
+}
+
+
+
+