Library to communicate with a ST LIS331DLH
LIS331.h@1:02c1f5bb1c90, 2010-11-13 (annotated)
- Committer:
- atommota
- Date:
- Sat Nov 13 00:01:57 2010 +0000
- Revision:
- 1:02c1f5bb1c90
- Parent:
- 0:d835d6cac146
- Child:
- 2:d4b810a888b5
fixed some declaration bugs
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
atommota | 0:d835d6cac146 | 1 | /** |
atommota | 0:d835d6cac146 | 2 | * @section LICENSE |
atommota | 0:d835d6cac146 | 3 | * |
atommota | 0:d835d6cac146 | 4 | * |
atommota | 0:d835d6cac146 | 5 | * @section DESCRIPTION |
atommota | 0:d835d6cac146 | 6 | * |
atommota | 0:d835d6cac146 | 7 | * LIS331 triple axis, digital interface, accelerometer. |
atommota | 0:d835d6cac146 | 8 | * Based off Aaron Berk's ITG3200 Gyro Library |
atommota | 0:d835d6cac146 | 9 | * |
atommota | 0:d835d6cac146 | 10 | * Datasheet: |
atommota | 0:d835d6cac146 | 11 | * |
atommota | 0:d835d6cac146 | 12 | * http://www.st.com/stonline/products/literature/ds/13951.pdf |
atommota | 0:d835d6cac146 | 13 | */ |
atommota | 0:d835d6cac146 | 14 | |
atommota | 0:d835d6cac146 | 15 | #ifndef LIS331_H |
atommota | 0:d835d6cac146 | 16 | #define LIS331_H |
atommota | 0:d835d6cac146 | 17 | |
atommota | 0:d835d6cac146 | 18 | /** |
atommota | 0:d835d6cac146 | 19 | * Includes |
atommota | 0:d835d6cac146 | 20 | */ |
atommota | 0:d835d6cac146 | 21 | #include "mbed.h" |
atommota | 0:d835d6cac146 | 22 | |
atommota | 0:d835d6cac146 | 23 | /** |
atommota | 0:d835d6cac146 | 24 | * Defines |
atommota | 0:d835d6cac146 | 25 | */ |
atommota | 0:d835d6cac146 | 26 | #define LIS331_I2C_ADDRESS 0x19 //7-bit address. |
atommota | 0:d835d6cac146 | 27 | |
atommota | 0:d835d6cac146 | 28 | //----------- |
atommota | 0:d835d6cac146 | 29 | // Registers |
atommota | 0:d835d6cac146 | 30 | //----------- |
atommota | 0:d835d6cac146 | 31 | #define WHO_AM_I_REG 0x0F |
atommota | 0:d835d6cac146 | 32 | #define ACCEL_XOUT_H_REG 0x29 |
atommota | 0:d835d6cac146 | 33 | #define ACCEL_XOUT_L_REG 0x28 |
atommota | 0:d835d6cac146 | 34 | #define ACCEL_YOUT_H_REG 0x2B |
atommota | 0:d835d6cac146 | 35 | #define ACCEL_YOUT_L_REG 0x2A |
atommota | 0:d835d6cac146 | 36 | #define ACCEL_ZOUT_H_REG 0x2D |
atommota | 0:d835d6cac146 | 37 | #define ACCEL_ZOUT_L_REG 0x2C |
atommota | 0:d835d6cac146 | 38 | |
atommota | 0:d835d6cac146 | 39 | |
atommota | 0:d835d6cac146 | 40 | |
atommota | 0:d835d6cac146 | 41 | #define CTRL_REG_1 0x20 |
atommota | 0:d835d6cac146 | 42 | #define CTRL_REG_2 0x21 |
atommota | 0:d835d6cac146 | 43 | #define CTRL_REG_3 0x22 |
atommota | 0:d835d6cac146 | 44 | #define CTRL_REG_4 0x23 |
atommota | 0:d835d6cac146 | 45 | #define CTRL_REG_5 0x24 |
atommota | 0:d835d6cac146 | 46 | |
atommota | 0:d835d6cac146 | 47 | #define STATUS_REG 0x27 |
atommota | 0:d835d6cac146 | 48 | |
atommota | 0:d835d6cac146 | 49 | |
atommota | 0:d835d6cac146 | 50 | //------------------------------ |
atommota | 0:d835d6cac146 | 51 | // Power Mode and Output Data Rates |
atommota | 0:d835d6cac146 | 52 | //------------------------------ |
atommota | 0:d835d6cac146 | 53 | #define POWER_DOWN 0x6F |
atommota | 0:d835d6cac146 | 54 | #define NORMAL_50HZ 0x27 |
atommota | 0:d835d6cac146 | 55 | #define NORMAL_100HZ 0x2F |
atommota | 0:d835d6cac146 | 56 | #define NORMAL_400HZ 0x37 |
atommota | 0:d835d6cac146 | 57 | #define NORMAL_1000HZ 0x3F |
atommota | 0:d835d6cac146 | 58 | #define LOW_POWER_0_5HZ 0x47 |
atommota | 0:d835d6cac146 | 59 | #define LOW_POWER_1HZ 0x67 |
atommota | 0:d835d6cac146 | 60 | #define LOW_POWER_2HZ 0x87 |
atommota | 0:d835d6cac146 | 61 | #define LOW_POWER_5HZ 0xA7 |
atommota | 0:d835d6cac146 | 62 | #define LOW_POWER_10HZ 0xC7 |
atommota | 0:d835d6cac146 | 63 | |
atommota | 0:d835d6cac146 | 64 | /** |
atommota | 0:d835d6cac146 | 65 | * LIS331 triple axis digital accelerometer. |
atommota | 0:d835d6cac146 | 66 | */ |
atommota | 0:d835d6cac146 | 67 | class LIS331 { |
atommota | 0:d835d6cac146 | 68 | |
atommota | 0:d835d6cac146 | 69 | public: |
atommota | 0:d835d6cac146 | 70 | |
atommota | 0:d835d6cac146 | 71 | /** |
atommota | 0:d835d6cac146 | 72 | * Constructor. |
atommota | 0:d835d6cac146 | 73 | * |
atommota | 0:d835d6cac146 | 74 | * Sets FS_SEL to 0x03 for proper opertaion. |
atommota | 0:d835d6cac146 | 75 | * |
atommota | 0:d835d6cac146 | 76 | * @param sda - mbed pin to use for the SDA I2C line. |
atommota | 0:d835d6cac146 | 77 | * @param scl - mbed pin to use for the SCL I2C line. |
atommota | 0:d835d6cac146 | 78 | */ |
atommota | 0:d835d6cac146 | 79 | LIS331(PinName sda, PinName scl); |
atommota | 0:d835d6cac146 | 80 | |
atommota | 0:d835d6cac146 | 81 | /** |
atommota | 0:d835d6cac146 | 82 | * Get the identity of the device. |
atommota | 0:d835d6cac146 | 83 | * |
atommota | 0:d835d6cac146 | 84 | * @return The contents of the Who Am I register which contains the I2C |
atommota | 0:d835d6cac146 | 85 | * address of the device. |
atommota | 0:d835d6cac146 | 86 | */ |
atommota | 0:d835d6cac146 | 87 | char getWhoAmI(void); |
atommota | 0:d835d6cac146 | 88 | |
atommota | 0:d835d6cac146 | 89 | |
atommota | 0:d835d6cac146 | 90 | |
atommota | 0:d835d6cac146 | 91 | |
atommota | 1:02c1f5bb1c90 | 92 | |
atommota | 0:d835d6cac146 | 93 | |
atommota | 0:d835d6cac146 | 94 | |
atommota | 0:d835d6cac146 | 95 | |
atommota | 0:d835d6cac146 | 96 | |
atommota | 0:d835d6cac146 | 97 | /** |
atommota | 0:d835d6cac146 | 98 | * Set the power mode (power down, low power, normal mode) |
atommota | 0:d835d6cac146 | 99 | * |
atommota | 0:d835d6cac146 | 100 | * |
atommota | 0:d835d6cac146 | 101 | * @param |
atommota | 0:d835d6cac146 | 102 | * |
atommota | 0:d835d6cac146 | 103 | * Power Mode | Output Data Rate (Hz) | Low-pass Filter Cut off (Hz) | #define |
atommota | 0:d835d6cac146 | 104 | * -------------------------------------------------------------------------------- |
atommota | 0:d835d6cac146 | 105 | * Power-down | -- | -- | POWER_DOWN |
atommota | 0:d835d6cac146 | 106 | * Normal | 50 | 37 | NORMAL_50HZ |
atommota | 0:d835d6cac146 | 107 | * Normal | 100 | 74 | NORMAL_100HZ |
atommota | 0:d835d6cac146 | 108 | * Normal | 400 | 292 | NORMAL_400HZ |
atommota | 0:d835d6cac146 | 109 | * Normal | 1000 | 780 | NORMAL_1000HZ |
atommota | 0:d835d6cac146 | 110 | * Low-power | 0.5 | -- | LOW_POWER_0_5HZ |
atommota | 0:d835d6cac146 | 111 | * Low-power | 1 | -- | LOW_POWER_1HZ |
atommota | 0:d835d6cac146 | 112 | * Low-power | 2 | -- | LOW_POWER_2HZ |
atommota | 0:d835d6cac146 | 113 | * Low-power | 5 | -- | LOW_POWER_5HZ |
atommota | 0:d835d6cac146 | 114 | * Low-power | 10 | -- | LOW_POWER_10HZ |
atommota | 0:d835d6cac146 | 115 | */ |
atommota | 0:d835d6cac146 | 116 | |
atommota | 1:02c1f5bb1c90 | 117 | void setPowerMode(char power_mode); |
atommota | 1:02c1f5bb1c90 | 118 | |
atommota | 1:02c1f5bb1c90 | 119 | |
atommota | 1:02c1f5bb1c90 | 120 | |
atommota | 1:02c1f5bb1c90 | 121 | /** |
atommota | 1:02c1f5bb1c90 | 122 | * Get the current power mode |
atommota | 1:02c1f5bb1c90 | 123 | * |
atommota | 1:02c1f5bb1c90 | 124 | * @return |
atommota | 1:02c1f5bb1c90 | 125 | */ |
atommota | 1:02c1f5bb1c90 | 126 | char getPowerMode(void); |
atommota | 0:d835d6cac146 | 127 | |
atommota | 0:d835d6cac146 | 128 | |
atommota | 1:02c1f5bb1c90 | 129 | char getInterruptConfiguration(void); |
atommota | 0:d835d6cac146 | 130 | |
atommota | 0:d835d6cac146 | 131 | /** |
atommota | 0:d835d6cac146 | 132 | * Set the interrupt configuration. |
atommota | 0:d835d6cac146 | 133 | * |
atommota | 0:d835d6cac146 | 134 | * See datasheet for configuration byte details. |
atommota | 0:d835d6cac146 | 135 | * |
atommota | 0:d835d6cac146 | 136 | * 7 6 5 4 |
atommota | 0:d835d6cac146 | 137 | * +-------+-------+------+--------+ |
atommota | 0:d835d6cac146 | 138 | * | IHL | PP_OD | LIR2 | I2_CFG | |
atommota | 0:d835d6cac146 | 139 | * +-------+-------+------+--------+ |
atommota | 0:d835d6cac146 | 140 | * |
atommota | 0:d835d6cac146 | 141 | * 3 2 1 0 |
atommota | 0:d835d6cac146 | 142 | * +---------+------+---------+---------+ |
atommota | 0:d835d6cac146 | 143 | * | I2_CFG0 | LIR1 | I1_CFG1 | I1-CFG0 | |
atommota | 0:d835d6cac146 | 144 | * +---------+------+---------+---------+ |
atommota | 0:d835d6cac146 | 145 | * |
atommota | 0:d835d6cac146 | 146 | * IHL Interrupt active high or low. 0:active high; 1:active low (default:0) |
atommota | 0:d835d6cac146 | 147 | * PP_OD Push-pull/Open drain selection on interrupt pad. 0:push-pull; 1:open drain (default:0) |
atommota | 0:d835d6cac146 | 148 | * LIR2 Latch interupt request on INT2_SRC register, with INT2_SRC register cleared by reading INT2_SRC itself |
atommota | 0:d835d6cac146 | 149 | * 0: irq not latched; 1:irq latched (default:0) |
atommota | 0:d835d6cac146 | 150 | * I2_CFG1, I2_CFG0 See datasheet table |
atommota | 0:d835d6cac146 | 151 | * LIR1 Latch interupt request on INT1_SRC register, with INT1_SRC register cleared by reading INT1_SRC itself |
atommota | 0:d835d6cac146 | 152 | * 0: irq not latched; 1:irq latched (default:0) |
atommota | 0:d835d6cac146 | 153 | * I1_CFG1, I1_CFG0 See datasheet table |
atommota | 0:d835d6cac146 | 154 | * |
atommota | 0:d835d6cac146 | 155 | * @param config Configuration byte to write to INT_CFG register. |
atommota | 0:d835d6cac146 | 156 | */ |
atommota | 0:d835d6cac146 | 157 | |
atommota | 0:d835d6cac146 | 158 | |
atommota | 0:d835d6cac146 | 159 | // void setInterruptConfiguration(char config); |
atommota | 0:d835d6cac146 | 160 | |
atommota | 0:d835d6cac146 | 161 | /** |
atommota | 0:d835d6cac146 | 162 | * Check the status register |
atommota | 0:d835d6cac146 | 163 | * |
atommota | 0:d835d6cac146 | 164 | * @return |
atommota | 0:d835d6cac146 | 165 | * |
atommota | 0:d835d6cac146 | 166 | */ |
atommota | 0:d835d6cac146 | 167 | |
atommota | 0:d835d6cac146 | 168 | char getAccelStatus(void); |
atommota | 0:d835d6cac146 | 169 | |
atommota | 0:d835d6cac146 | 170 | |
atommota | 0:d835d6cac146 | 171 | |
atommota | 0:d835d6cac146 | 172 | |
atommota | 0:d835d6cac146 | 173 | /** |
atommota | 0:d835d6cac146 | 174 | * Get the temperature of the device. |
atommota | 0:d835d6cac146 | 175 | * |
atommota | 0:d835d6cac146 | 176 | * @return The temperature in degrees celsius. |
atommota | 0:d835d6cac146 | 177 | */ |
atommota | 0:d835d6cac146 | 178 | //float getTemperature(void); |
atommota | 0:d835d6cac146 | 179 | |
atommota | 0:d835d6cac146 | 180 | /** |
atommota | 0:d835d6cac146 | 181 | * Get the output for the x-axis gyroscope. |
atommota | 0:d835d6cac146 | 182 | * |
atommota | 0:d835d6cac146 | 183 | * Typical sensitivity is 14.375 LSB/(degrees/sec). |
atommota | 0:d835d6cac146 | 184 | * |
atommota | 0:d835d6cac146 | 185 | * @return The output on the x-axis in raw ADC counts. |
atommota | 0:d835d6cac146 | 186 | */ |
atommota | 0:d835d6cac146 | 187 | int getAccelX(void); |
atommota | 0:d835d6cac146 | 188 | |
atommota | 0:d835d6cac146 | 189 | /** |
atommota | 0:d835d6cac146 | 190 | * Get the output for the y-axis gyroscope. |
atommota | 0:d835d6cac146 | 191 | * |
atommota | 0:d835d6cac146 | 192 | * Typical sensitivity is 14.375 LSB/(degrees/sec). |
atommota | 0:d835d6cac146 | 193 | * |
atommota | 0:d835d6cac146 | 194 | * @return The output on the y-axis in raw ADC counts. |
atommota | 0:d835d6cac146 | 195 | */ |
atommota | 0:d835d6cac146 | 196 | int getAccelY(void); |
atommota | 0:d835d6cac146 | 197 | |
atommota | 0:d835d6cac146 | 198 | /** |
atommota | 0:d835d6cac146 | 199 | * Get the output on the z-axis gyroscope. |
atommota | 0:d835d6cac146 | 200 | * |
atommota | 0:d835d6cac146 | 201 | * Typical sensitivity is 14.375 LSB/(degrees/sec). |
atommota | 0:d835d6cac146 | 202 | * |
atommota | 0:d835d6cac146 | 203 | * @return The output on the z-axis in raw ADC counts. |
atommota | 0:d835d6cac146 | 204 | */ |
atommota | 0:d835d6cac146 | 205 | int getAccelZ(void); |
atommota | 0:d835d6cac146 | 206 | |
atommota | 1:02c1f5bb1c90 | 207 | |
atommota | 0:d835d6cac146 | 208 | private: |
atommota | 0:d835d6cac146 | 209 | |
atommota | 0:d835d6cac146 | 210 | I2C i2c_; |
atommota | 0:d835d6cac146 | 211 | |
atommota | 0:d835d6cac146 | 212 | }; |
atommota | 0:d835d6cac146 | 213 | |
atommota | 0:d835d6cac146 | 214 | #endif /* LIS331_H */ |
atommota | 0:d835d6cac146 | 215 |