Library to communicate with a ST LIS331DLH
LIS331.cpp@10:dcd11c84305e, 2014-06-17 (annotated)
- Committer:
- atommota
- Date:
- Tue Jun 17 21:40:59 2014 +0000
- Revision:
- 10:dcd11c84305e
- Parent:
- 9:5af73355984f
Fixed bug in last release where getAccelZ was being cast to an int instead of a float. Changed the set range functions to preserve the contents of the CTRL_REG_4 register. Additionally, those functions now return the value written to the register.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
atommota | 2:d4b810a888b5 | 1 | /** |
atommota | 2:d4b810a888b5 | 2 | * @section LICENSE |
atommota | 2:d4b810a888b5 | 3 | * |
atommota | 2:d4b810a888b5 | 4 | * |
atommota | 2:d4b810a888b5 | 5 | * @section DESCRIPTION |
atommota | 2:d4b810a888b5 | 6 | * |
atommota | 4:c3df518a938e | 7 | * LIS331DLH triple axis, digital interface, accelerometer. |
atommota | 2:d4b810a888b5 | 8 | * Based off Aaron Berk's ITG3200 Gyro Library |
atommota | 2:d4b810a888b5 | 9 | * |
atommota | 2:d4b810a888b5 | 10 | * Datasheet: |
atommota | 2:d4b810a888b5 | 11 | * |
atommota | 4:c3df518a938e | 12 | * http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/CD00213470.pdf |
atommota | 2:d4b810a888b5 | 13 | */ |
atommota | 2:d4b810a888b5 | 14 | |
atommota | 2:d4b810a888b5 | 15 | /** |
atommota | 2:d4b810a888b5 | 16 | * Includes |
atommota | 2:d4b810a888b5 | 17 | */ |
atommota | 2:d4b810a888b5 | 18 | |
atommota | 2:d4b810a888b5 | 19 | #include "LIS331.h" |
atommota | 2:d4b810a888b5 | 20 | |
atommota | 2:d4b810a888b5 | 21 | LIS331::LIS331(PinName sda, PinName scl) : i2c_(sda, scl) { |
atommota | 6:53e92e7fc073 | 22 | // set default scaling factor |
atommota | 6:53e92e7fc073 | 23 | scaling_factor = 4096.0; |
atommota | 6:53e92e7fc073 | 24 | |
atommota | 6:53e92e7fc073 | 25 | //set default range to zero. |
atommota | 6:53e92e7fc073 | 26 | current_range = 0; |
atommota | 2:d4b810a888b5 | 27 | |
atommota | 2:d4b810a888b5 | 28 | //400kHz, fast mode. |
atommota | 2:d4b810a888b5 | 29 | i2c_.frequency(400000); |
atommota | 2:d4b810a888b5 | 30 | |
atommota | 2:d4b810a888b5 | 31 | |
atommota | 2:d4b810a888b5 | 32 | //Power Up Device, Set Output data rate, Enable All 3 Axis |
atommota | 2:d4b810a888b5 | 33 | //See datasheet for details. |
atommota | 2:d4b810a888b5 | 34 | char tx[2]; |
atommota | 2:d4b810a888b5 | 35 | //char tx2[2]; |
atommota | 2:d4b810a888b5 | 36 | //char rx[1]; |
atommota | 2:d4b810a888b5 | 37 | tx[0] = CTRL_REG_1; |
atommota | 2:d4b810a888b5 | 38 | //CTRL_REG_1 [00111111] / [0x3F] to power up, set output rate to 1000Hz, and enable all 3 axis. |
atommota | 2:d4b810a888b5 | 39 | tx[1] = 0x3F; |
atommota | 2:d4b810a888b5 | 40 | i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
atommota | 2:d4b810a888b5 | 41 | |
atommota | 6:53e92e7fc073 | 42 | |
atommota | 6:53e92e7fc073 | 43 | |
atommota | 6:53e92e7fc073 | 44 | //set default scale of 4g's |
atommota | 6:53e92e7fc073 | 45 | scaling_factor = 8192.0; |
atommota | 6:53e92e7fc073 | 46 | current_range = 4; |
atommota | 6:53e92e7fc073 | 47 | |
atommota | 6:53e92e7fc073 | 48 | tx[0] = CTRL_REG_4; |
atommota | 6:53e92e7fc073 | 49 | tx[1] = 0x10; |
atommota | 6:53e92e7fc073 | 50 | |
atommota | 6:53e92e7fc073 | 51 | i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
atommota | 6:53e92e7fc073 | 52 | |
atommota | 6:53e92e7fc073 | 53 | |
atommota | 6:53e92e7fc073 | 54 | |
atommota | 2:d4b810a888b5 | 55 | } |
atommota | 2:d4b810a888b5 | 56 | |
atommota | 2:d4b810a888b5 | 57 | char LIS331::getWhoAmI(void){ |
atommota | 2:d4b810a888b5 | 58 | |
atommota | 2:d4b810a888b5 | 59 | //WhoAmI Register address. |
atommota | 3:147d95b7a525 | 60 | char tx = WHO_AM_I_REG_LIS331; |
atommota | 2:d4b810a888b5 | 61 | char rx; |
atommota | 2:d4b810a888b5 | 62 | |
atommota | 2:d4b810a888b5 | 63 | i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
atommota | 2:d4b810a888b5 | 64 | |
atommota | 2:d4b810a888b5 | 65 | i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
atommota | 2:d4b810a888b5 | 66 | |
atommota | 2:d4b810a888b5 | 67 | return rx; |
atommota | 2:d4b810a888b5 | 68 | |
atommota | 2:d4b810a888b5 | 69 | } |
atommota | 2:d4b810a888b5 | 70 | |
atommota | 2:d4b810a888b5 | 71 | |
atommota | 2:d4b810a888b5 | 72 | |
atommota | 2:d4b810a888b5 | 73 | |
atommota | 2:d4b810a888b5 | 74 | void LIS331::setPowerMode(char power_mode){ |
atommota | 2:d4b810a888b5 | 75 | // Currently sets all 3 axis to enabled. Will be set to preserve existing status in future |
atommota | 2:d4b810a888b5 | 76 | char tx[2]; |
atommota | 2:d4b810a888b5 | 77 | tx[0] = CTRL_REG_1; |
atommota | 2:d4b810a888b5 | 78 | tx[1] = power_mode; |
atommota | 2:d4b810a888b5 | 79 | |
atommota | 2:d4b810a888b5 | 80 | i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
atommota | 2:d4b810a888b5 | 81 | |
atommota | 2:d4b810a888b5 | 82 | } |
atommota | 2:d4b810a888b5 | 83 | |
atommota | 2:d4b810a888b5 | 84 | char LIS331::getPowerMode(void){ |
atommota | 2:d4b810a888b5 | 85 | |
atommota | 2:d4b810a888b5 | 86 | char tx = CTRL_REG_1; |
atommota | 2:d4b810a888b5 | 87 | char rx; |
atommota | 2:d4b810a888b5 | 88 | |
atommota | 2:d4b810a888b5 | 89 | i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
atommota | 2:d4b810a888b5 | 90 | |
atommota | 2:d4b810a888b5 | 91 | i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
atommota | 2:d4b810a888b5 | 92 | |
atommota | 2:d4b810a888b5 | 93 | |
atommota | 2:d4b810a888b5 | 94 | return rx; |
atommota | 2:d4b810a888b5 | 95 | |
atommota | 2:d4b810a888b5 | 96 | } |
atommota | 2:d4b810a888b5 | 97 | |
atommota | 2:d4b810a888b5 | 98 | |
atommota | 2:d4b810a888b5 | 99 | |
atommota | 2:d4b810a888b5 | 100 | char LIS331::getInterruptConfiguration(void){ |
atommota | 2:d4b810a888b5 | 101 | |
atommota | 2:d4b810a888b5 | 102 | char tx = CTRL_REG_3; |
atommota | 2:d4b810a888b5 | 103 | char rx; |
atommota | 2:d4b810a888b5 | 104 | |
atommota | 2:d4b810a888b5 | 105 | i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
atommota | 2:d4b810a888b5 | 106 | |
atommota | 2:d4b810a888b5 | 107 | i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
atommota | 2:d4b810a888b5 | 108 | |
atommota | 2:d4b810a888b5 | 109 | return rx; |
atommota | 2:d4b810a888b5 | 110 | |
atommota | 2:d4b810a888b5 | 111 | } |
atommota | 2:d4b810a888b5 | 112 | |
atommota | 2:d4b810a888b5 | 113 | |
atommota | 10:dcd11c84305e | 114 | char LIS331::setFullScaleRange8g(void){ |
atommota | 10:dcd11c84305e | 115 | // Set our scaling factor and G range variables |
atommota | 6:53e92e7fc073 | 116 | scaling_factor = 4096.0; |
atommota | 6:53e92e7fc073 | 117 | current_range = 8; |
atommota | 10:dcd11c84305e | 118 | |
atommota | 10:dcd11c84305e | 119 | // Setup our tx and rx arrays |
atommota | 10:dcd11c84305e | 120 | char tx1; |
atommota | 10:dcd11c84305e | 121 | char tx2[2]; |
atommota | 10:dcd11c84305e | 122 | char rx; |
atommota | 9:5af73355984f | 123 | |
atommota | 10:dcd11c84305e | 124 | // Need to read current register value so we can preserve it |
atommota | 10:dcd11c84305e | 125 | // Set our device register address to Control Register 4 and read its contents |
atommota | 10:dcd11c84305e | 126 | tx1 = CTRL_REG_4; |
atommota | 10:dcd11c84305e | 127 | i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx1, 1); |
atommota | 10:dcd11c84305e | 128 | i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
atommota | 4:c3df518a938e | 129 | |
atommota | 10:dcd11c84305e | 130 | tx2[0] = CTRL_REG_4; |
atommota | 10:dcd11c84305e | 131 | rx |= 1 << 5; // set 6th bit |
atommota | 10:dcd11c84305e | 132 | rx |= 1 << 4; // set 5th bit |
atommota | 10:dcd11c84305e | 133 | tx2[1] = rx; |
atommota | 10:dcd11c84305e | 134 | |
atommota | 10:dcd11c84305e | 135 | i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, tx2, 2); |
atommota | 10:dcd11c84305e | 136 | return rx; |
atommota | 4:c3df518a938e | 137 | } |
atommota | 4:c3df518a938e | 138 | |
atommota | 10:dcd11c84305e | 139 | char LIS331::setFullScaleRange4g(void){ |
atommota | 6:53e92e7fc073 | 140 | scaling_factor = 8192.0; |
atommota | 6:53e92e7fc073 | 141 | current_range = 4; |
atommota | 6:53e92e7fc073 | 142 | |
atommota | 10:dcd11c84305e | 143 | char tx1; |
atommota | 10:dcd11c84305e | 144 | char tx2[2]; |
atommota | 10:dcd11c84305e | 145 | char rx; |
atommota | 10:dcd11c84305e | 146 | |
atommota | 10:dcd11c84305e | 147 | // Need to read current register value so we can preserve it |
atommota | 10:dcd11c84305e | 148 | // Set our device register address to Control Register 4 and read its contents |
atommota | 10:dcd11c84305e | 149 | tx1 = CTRL_REG_4; |
atommota | 10:dcd11c84305e | 150 | i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx1, 1); |
atommota | 10:dcd11c84305e | 151 | i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
atommota | 10:dcd11c84305e | 152 | tx2[0] = CTRL_REG_4; |
atommota | 10:dcd11c84305e | 153 | rx &= ~(1 << 5); // Clear 6th bit |
atommota | 10:dcd11c84305e | 154 | rx |= 1 << 4; // set 5th bit |
atommota | 10:dcd11c84305e | 155 | tx2[1] = rx; |
atommota | 4:c3df518a938e | 156 | |
atommota | 10:dcd11c84305e | 157 | i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, tx2, 2); |
atommota | 10:dcd11c84305e | 158 | return rx; |
atommota | 4:c3df518a938e | 159 | } |
atommota | 4:c3df518a938e | 160 | |
atommota | 4:c3df518a938e | 161 | |
atommota | 10:dcd11c84305e | 162 | char LIS331::setFullScaleRange2g(void){ |
atommota | 6:53e92e7fc073 | 163 | scaling_factor = 16384.0; |
atommota | 6:53e92e7fc073 | 164 | current_range = 2; |
atommota | 6:53e92e7fc073 | 165 | |
atommota | 10:dcd11c84305e | 166 | char tx1; |
atommota | 10:dcd11c84305e | 167 | char tx2[2]; |
atommota | 10:dcd11c84305e | 168 | char rx; |
atommota | 10:dcd11c84305e | 169 | |
atommota | 10:dcd11c84305e | 170 | // Need to read current register value so we can preserve it |
atommota | 10:dcd11c84305e | 171 | // Set our device register address to Control Register 4 and read its contents |
atommota | 10:dcd11c84305e | 172 | tx1 = CTRL_REG_4; |
atommota | 10:dcd11c84305e | 173 | i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx1, 1); |
atommota | 10:dcd11c84305e | 174 | i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
atommota | 10:dcd11c84305e | 175 | |
atommota | 10:dcd11c84305e | 176 | tx2[0] = CTRL_REG_4; |
atommota | 10:dcd11c84305e | 177 | rx &= ~(1 << 5); // Clear 6th bit |
atommota | 10:dcd11c84305e | 178 | rx &= ~(1 << 4); // clear 5th bit |
atommota | 10:dcd11c84305e | 179 | tx2[1] = rx; |
atommota | 4:c3df518a938e | 180 | |
atommota | 10:dcd11c84305e | 181 | i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, tx2, 2); |
atommota | 10:dcd11c84305e | 182 | return rx; |
atommota | 4:c3df518a938e | 183 | } |
atommota | 4:c3df518a938e | 184 | |
atommota | 2:d4b810a888b5 | 185 | |
atommota | 2:d4b810a888b5 | 186 | char LIS331::getAccelStatus(void){ |
atommota | 2:d4b810a888b5 | 187 | |
atommota | 2:d4b810a888b5 | 188 | char tx = STATUS_REG; |
atommota | 2:d4b810a888b5 | 189 | char rx; |
atommota | 2:d4b810a888b5 | 190 | |
atommota | 2:d4b810a888b5 | 191 | i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
atommota | 2:d4b810a888b5 | 192 | |
atommota | 2:d4b810a888b5 | 193 | i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
atommota | 2:d4b810a888b5 | 194 | |
atommota | 2:d4b810a888b5 | 195 | return rx; |
atommota | 2:d4b810a888b5 | 196 | } |
atommota | 2:d4b810a888b5 | 197 | |
atommota | 2:d4b810a888b5 | 198 | |
atommota | 2:d4b810a888b5 | 199 | |
atommota | 8:ff365f926a52 | 200 | float LIS331::getAccelX(void){ |
atommota | 2:d4b810a888b5 | 201 | |
atommota | 9:5af73355984f | 202 | char tx = ACCEL_XOUT_L_REG | 0x80; |
atommota | 2:d4b810a888b5 | 203 | char rx[2]; |
atommota | 2:d4b810a888b5 | 204 | |
atommota | 2:d4b810a888b5 | 205 | i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
atommota | 2:d4b810a888b5 | 206 | |
atommota | 2:d4b810a888b5 | 207 | i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, rx, 2); |
atommota | 2:d4b810a888b5 | 208 | |
atommota | 10:dcd11c84305e | 209 | int16_t output = ((int) rx[1] << 8) | ((int) rx[0]); |
atommota | 2:d4b810a888b5 | 210 | |
atommota | 6:53e92e7fc073 | 211 | return output/scaling_factor; |
atommota | 2:d4b810a888b5 | 212 | |
atommota | 2:d4b810a888b5 | 213 | } |
atommota | 2:d4b810a888b5 | 214 | |
atommota | 8:ff365f926a52 | 215 | float LIS331::getAccelY(void){ |
atommota | 2:d4b810a888b5 | 216 | |
atommota | 9:5af73355984f | 217 | char tx = ACCEL_YOUT_L_REG | 0x80; |
atommota | 2:d4b810a888b5 | 218 | char rx[2]; |
atommota | 2:d4b810a888b5 | 219 | |
atommota | 2:d4b810a888b5 | 220 | i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
atommota | 2:d4b810a888b5 | 221 | |
atommota | 2:d4b810a888b5 | 222 | i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, rx, 2); |
atommota | 2:d4b810a888b5 | 223 | |
atommota | 10:dcd11c84305e | 224 | int16_t output = ((int) rx[1] << 8) | ((int) rx[0]); |
atommota | 2:d4b810a888b5 | 225 | |
atommota | 6:53e92e7fc073 | 226 | return output/scaling_factor; |
atommota | 2:d4b810a888b5 | 227 | |
atommota | 2:d4b810a888b5 | 228 | } |
atommota | 2:d4b810a888b5 | 229 | |
atommota | 10:dcd11c84305e | 230 | float LIS331::getAccelZ(void){ |
atommota | 2:d4b810a888b5 | 231 | |
atommota | 9:5af73355984f | 232 | char tx = ACCEL_ZOUT_L_REG | 0x80; |
atommota | 2:d4b810a888b5 | 233 | char rx[2]; |
atommota | 2:d4b810a888b5 | 234 | |
atommota | 2:d4b810a888b5 | 235 | i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
atommota | 2:d4b810a888b5 | 236 | |
atommota | 2:d4b810a888b5 | 237 | i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, rx, 2); |
atommota | 2:d4b810a888b5 | 238 | |
atommota | 10:dcd11c84305e | 239 | int16_t output = ((int) rx[1] << 8) | ((int) rx[0]); |
atommota | 2:d4b810a888b5 | 240 | |
atommota | 6:53e92e7fc073 | 241 | return output/scaling_factor; |
atommota | 9:5af73355984f | 242 | |
atommota | 1:02c1f5bb1c90 | 243 | } |