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/**
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* @section LICENSE
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*
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*
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* @section DESCRIPTION
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*
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* LIS331HH triple axis, digital interface, accelerometer.
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* Based off Aaron Berk's ITG3200 Gyro Library
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*
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* Tim Marvin - July 2011
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* Datasheet:
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*
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* http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/CD00213470.pdf
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*/
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/**
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* Includes
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*/
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#include "LIS331HH.h"
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LIS331HH::LIS331HH(PinName sda, PinName scl) : i2c_(sda, scl) {
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// set default scaling factor
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scaling_factor = 5140.0;
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//set default range to zero.
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//current_range = 0;
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//400kHz, fast mode.
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i2c_.frequency(400000);
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//Power Up Device, Set Output data rate, Enable All 3 Axis
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//See datasheet for details.
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char tx[2];
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//char tx2[2];
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//char rx[1];
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tx[0] = CTRL_REG_1;
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//CTRL_REG_1 [00111111] / [0x3F] to power up, set output rate to 1000Hz, and enable all 3 axis.
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//CTRL_REG_1 [00101111] / [0x2F] to power up, set output rate to 100Hz, and enable all 3 axis.
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//CTRL_REG_1 [ABCDEFGH] ABC=PowerMode, DE=OutputDataRate, F=Zenable, G=Yenable, H=XEnable
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tx[1] = 0x2F;
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i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2);
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//set default scale of 4g's
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//scaling_factor = 8192.0;
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//current_range = 24;
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tx[0] = CTRL_REG_4;
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tx[1] = 0x00;
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i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2);
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}
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char LIS331HH::getWhoAmI(void){
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//WhoAmI Register address.
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char tx = WHO_AM_I_REG_LIS331;
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char rx;
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i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
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i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1);
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return rx;
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}
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void LIS331HH::setPowerMode(char power_mode){
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// Currently sets all 3 axis to enabled. Will be set to preserve existing status in future
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char tx[2];
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tx[0] = CTRL_REG_1;
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tx[1] = power_mode;
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i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2);
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}
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char LIS331HH::getPowerMode(void){
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char tx = CTRL_REG_1;
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char rx;
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i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
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i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1);
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return rx;
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}
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char LIS331HH::getInterruptConfiguration(void){
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char tx = CTRL_REG_3;
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char rx;
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i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
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i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1);
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return rx;
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}
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void LIS331HH::setFullScaleRange8g(void){ // Does not preserve rest of CTRL_REG_4!
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scaling_factor = 4096.0;
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current_range = 8;
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char tx[2];
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tx[0] = CTRL_REG_4;
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tx[1] = 0x30;
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i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2);
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}
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void LIS331HH::setFullScaleRange4g(void){ // Does not preserve rest of CTRL_REG_4!
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scaling_factor = 8192.0;
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current_range = 4;
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char tx[2];
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tx[0] = CTRL_REG_4;
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tx[1] = 0x10;
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i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2);
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}
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void LIS331HH::setFullScaleRange2g(void){ // Does not preserve rest of CTRL_REG_4!
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scaling_factor = 16384.0;
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current_range = 2;
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char tx[2];
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tx[0] = CTRL_REG_4;
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tx[1] = 0x00;
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i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2);
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}
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char LIS331HH::getAccelStatus(void){
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char tx = STATUS_REG;
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char rx;
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i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
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i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1);
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return rx;
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}
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float LIS331HH::getAccelX(void){
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char tx = ACCEL_XOUT_H_REG;
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char rx[2];
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i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
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i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, rx, 2);
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int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
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return output/scaling_factor;
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}
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float LIS331HH::getAccelY(void){
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char tx = ACCEL_YOUT_H_REG;
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char rx[2];
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i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
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i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, rx, 2);
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int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
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return output/scaling_factor;
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}
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float LIS331HH::getAccelZ(void){
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char tx = ACCEL_ZOUT_H_REG;
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char rx[2];
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i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
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i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, rx, 2);
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int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
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return output/scaling_factor;
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} |