Library to communicate with a ST LIS331DLH
LIS331.h@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 | 2:d4b810a888b5 | 7 | * LIS331 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 | 2:d4b810a888b5 | 12 | * http://www.st.com/stonline/products/literature/ds/13951.pdf |
atommota | 2:d4b810a888b5 | 13 | */ |
atommota | 2:d4b810a888b5 | 14 | |
atommota | 2:d4b810a888b5 | 15 | #ifndef LIS331_H |
atommota | 2:d4b810a888b5 | 16 | #define LIS331_H |
atommota | 2:d4b810a888b5 | 17 | |
atommota | 2:d4b810a888b5 | 18 | /** |
atommota | 2:d4b810a888b5 | 19 | * Includes |
atommota | 2:d4b810a888b5 | 20 | */ |
atommota | 2:d4b810a888b5 | 21 | #include "mbed.h" |
atommota | 2:d4b810a888b5 | 22 | |
atommota | 2:d4b810a888b5 | 23 | /** |
atommota | 2:d4b810a888b5 | 24 | * Defines |
atommota | 2:d4b810a888b5 | 25 | */ |
atommota | 2:d4b810a888b5 | 26 | #define LIS331_I2C_ADDRESS 0x19 //7-bit address. |
atommota | 2:d4b810a888b5 | 27 | |
atommota | 2:d4b810a888b5 | 28 | //----------- |
atommota | 2:d4b810a888b5 | 29 | // Registers |
atommota | 2:d4b810a888b5 | 30 | //----------- |
atommota | 3:147d95b7a525 | 31 | #define WHO_AM_I_REG_LIS331 0x0F |
atommota | 2:d4b810a888b5 | 32 | #define ACCEL_XOUT_H_REG 0x29 |
atommota | 2:d4b810a888b5 | 33 | #define ACCEL_XOUT_L_REG 0x28 |
atommota | 2:d4b810a888b5 | 34 | #define ACCEL_YOUT_H_REG 0x2B |
atommota | 2:d4b810a888b5 | 35 | #define ACCEL_YOUT_L_REG 0x2A |
atommota | 2:d4b810a888b5 | 36 | #define ACCEL_ZOUT_H_REG 0x2D |
atommota | 2:d4b810a888b5 | 37 | #define ACCEL_ZOUT_L_REG 0x2C |
atommota | 2:d4b810a888b5 | 38 | |
atommota | 2:d4b810a888b5 | 39 | #define CTRL_REG_1 0x20 |
atommota | 2:d4b810a888b5 | 40 | #define CTRL_REG_2 0x21 |
atommota | 2:d4b810a888b5 | 41 | #define CTRL_REG_3 0x22 |
atommota | 2:d4b810a888b5 | 42 | #define CTRL_REG_4 0x23 |
atommota | 2:d4b810a888b5 | 43 | #define CTRL_REG_5 0x24 |
atommota | 2:d4b810a888b5 | 44 | |
atommota | 2:d4b810a888b5 | 45 | #define STATUS_REG 0x27 |
atommota | 2:d4b810a888b5 | 46 | |
atommota | 2:d4b810a888b5 | 47 | |
atommota | 2:d4b810a888b5 | 48 | //------------------------------ |
atommota | 2:d4b810a888b5 | 49 | // Power Mode and Output Data Rates |
atommota | 2:d4b810a888b5 | 50 | //------------------------------ |
atommota | 2:d4b810a888b5 | 51 | #define POWER_DOWN 0x6F |
atommota | 2:d4b810a888b5 | 52 | #define NORMAL_50HZ 0x27 |
atommota | 2:d4b810a888b5 | 53 | #define NORMAL_100HZ 0x2F |
atommota | 2:d4b810a888b5 | 54 | #define NORMAL_400HZ 0x37 |
atommota | 2:d4b810a888b5 | 55 | #define NORMAL_1000HZ 0x3F |
atommota | 2:d4b810a888b5 | 56 | #define LOW_POWER_0_5HZ 0x47 |
atommota | 2:d4b810a888b5 | 57 | #define LOW_POWER_1HZ 0x67 |
atommota | 2:d4b810a888b5 | 58 | #define LOW_POWER_2HZ 0x87 |
atommota | 2:d4b810a888b5 | 59 | #define LOW_POWER_5HZ 0xA7 |
atommota | 2:d4b810a888b5 | 60 | #define LOW_POWER_10HZ 0xC7 |
atommota | 2:d4b810a888b5 | 61 | |
atommota | 2:d4b810a888b5 | 62 | /** |
atommota | 2:d4b810a888b5 | 63 | * LIS331 triple axis digital accelerometer. |
atommota | 2:d4b810a888b5 | 64 | */ |
atommota | 2:d4b810a888b5 | 65 | class LIS331 { |
atommota | 2:d4b810a888b5 | 66 | |
atommota | 2:d4b810a888b5 | 67 | public: |
atommota | 2:d4b810a888b5 | 68 | |
atommota | 2:d4b810a888b5 | 69 | /** |
atommota | 2:d4b810a888b5 | 70 | * Constructor. |
atommota | 2:d4b810a888b5 | 71 | * |
atommota | 2:d4b810a888b5 | 72 | * Sets FS_SEL to 0x03 for proper opertaion. |
atommota | 2:d4b810a888b5 | 73 | * |
atommota | 2:d4b810a888b5 | 74 | * @param sda - mbed pin to use for the SDA I2C line. |
atommota | 2:d4b810a888b5 | 75 | * @param scl - mbed pin to use for the SCL I2C line. |
atommota | 2:d4b810a888b5 | 76 | */ |
atommota | 2:d4b810a888b5 | 77 | LIS331(PinName sda, PinName scl); |
atommota | 2:d4b810a888b5 | 78 | |
atommota | 2:d4b810a888b5 | 79 | /** |
atommota | 2:d4b810a888b5 | 80 | * Get the identity of the device. |
atommota | 2:d4b810a888b5 | 81 | * |
atommota | 2:d4b810a888b5 | 82 | * @return The contents of the Who Am I register which contains the I2C |
atommota | 2:d4b810a888b5 | 83 | * address of the device. |
atommota | 2:d4b810a888b5 | 84 | */ |
atommota | 2:d4b810a888b5 | 85 | char getWhoAmI(void); |
atommota | 2:d4b810a888b5 | 86 | |
atommota | 2:d4b810a888b5 | 87 | |
atommota | 2:d4b810a888b5 | 88 | |
atommota | 2:d4b810a888b5 | 89 | |
atommota | 2:d4b810a888b5 | 90 | |
atommota | 2:d4b810a888b5 | 91 | |
atommota | 2:d4b810a888b5 | 92 | |
atommota | 2:d4b810a888b5 | 93 | |
atommota | 2:d4b810a888b5 | 94 | |
atommota | 2:d4b810a888b5 | 95 | /** |
atommota | 2:d4b810a888b5 | 96 | * Set the power mode (power down, low power, normal mode) |
atommota | 2:d4b810a888b5 | 97 | * |
atommota | 2:d4b810a888b5 | 98 | * |
atommota | 2:d4b810a888b5 | 99 | * @param |
atommota | 2:d4b810a888b5 | 100 | * |
atommota | 2:d4b810a888b5 | 101 | * Power Mode | Output Data Rate (Hz) | Low-pass Filter Cut off (Hz) | #define |
atommota | 2:d4b810a888b5 | 102 | * -------------------------------------------------------------------------------- |
atommota | 2:d4b810a888b5 | 103 | * Power-down | -- | -- | POWER_DOWN |
atommota | 2:d4b810a888b5 | 104 | * Normal | 50 | 37 | NORMAL_50HZ |
atommota | 2:d4b810a888b5 | 105 | * Normal | 100 | 74 | NORMAL_100HZ |
atommota | 2:d4b810a888b5 | 106 | * Normal | 400 | 292 | NORMAL_400HZ |
atommota | 2:d4b810a888b5 | 107 | * Normal | 1000 | 780 | NORMAL_1000HZ |
atommota | 2:d4b810a888b5 | 108 | * Low-power | 0.5 | -- | LOW_POWER_0_5HZ |
atommota | 2:d4b810a888b5 | 109 | * Low-power | 1 | -- | LOW_POWER_1HZ |
atommota | 2:d4b810a888b5 | 110 | * Low-power | 2 | -- | LOW_POWER_2HZ |
atommota | 2:d4b810a888b5 | 111 | * Low-power | 5 | -- | LOW_POWER_5HZ |
atommota | 2:d4b810a888b5 | 112 | * Low-power | 10 | -- | LOW_POWER_10HZ |
atommota | 2:d4b810a888b5 | 113 | */ |
atommota | 2:d4b810a888b5 | 114 | |
atommota | 2:d4b810a888b5 | 115 | void setPowerMode(char power_mode); |
atommota | 2:d4b810a888b5 | 116 | |
atommota | 2:d4b810a888b5 | 117 | |
atommota | 2:d4b810a888b5 | 118 | |
atommota | 2:d4b810a888b5 | 119 | /** |
atommota | 2:d4b810a888b5 | 120 | * Get the current power mode |
atommota | 2:d4b810a888b5 | 121 | * |
atommota | 2:d4b810a888b5 | 122 | * @return |
atommota | 2:d4b810a888b5 | 123 | */ |
atommota | 2:d4b810a888b5 | 124 | char getPowerMode(void); |
atommota | 2:d4b810a888b5 | 125 | |
atommota | 2:d4b810a888b5 | 126 | |
atommota | 2:d4b810a888b5 | 127 | char getInterruptConfiguration(void); |
atommota | 2:d4b810a888b5 | 128 | |
atommota | 2:d4b810a888b5 | 129 | /** |
atommota | 2:d4b810a888b5 | 130 | * Set the interrupt configuration. |
atommota | 2:d4b810a888b5 | 131 | * |
atommota | 2:d4b810a888b5 | 132 | * See datasheet for configuration byte details. |
atommota | 2:d4b810a888b5 | 133 | * |
atommota | 2:d4b810a888b5 | 134 | * 7 6 5 4 |
atommota | 2:d4b810a888b5 | 135 | * +-------+-------+------+--------+ |
atommota | 2:d4b810a888b5 | 136 | * | IHL | PP_OD | LIR2 | I2_CFG | |
atommota | 2:d4b810a888b5 | 137 | * +-------+-------+------+--------+ |
atommota | 2:d4b810a888b5 | 138 | * |
atommota | 2:d4b810a888b5 | 139 | * 3 2 1 0 |
atommota | 2:d4b810a888b5 | 140 | * +---------+------+---------+---------+ |
atommota | 2:d4b810a888b5 | 141 | * | I2_CFG0 | LIR1 | I1_CFG1 | I1-CFG0 | |
atommota | 2:d4b810a888b5 | 142 | * +---------+------+---------+---------+ |
atommota | 2:d4b810a888b5 | 143 | * |
atommota | 2:d4b810a888b5 | 144 | * IHL Interrupt active high or low. 0:active high; 1:active low (default:0) |
atommota | 2:d4b810a888b5 | 145 | * PP_OD Push-pull/Open drain selection on interrupt pad. 0:push-pull; 1:open drain (default:0) |
atommota | 2:d4b810a888b5 | 146 | * LIR2 Latch interupt request on INT2_SRC register, with INT2_SRC register cleared by reading INT2_SRC itself |
atommota | 2:d4b810a888b5 | 147 | * 0: irq not latched; 1:irq latched (default:0) |
atommota | 2:d4b810a888b5 | 148 | * I2_CFG1, I2_CFG0 See datasheet table |
atommota | 2:d4b810a888b5 | 149 | * LIR1 Latch interupt request on INT1_SRC register, with INT1_SRC register cleared by reading INT1_SRC itself |
atommota | 2:d4b810a888b5 | 150 | * 0: irq not latched; 1:irq latched (default:0) |
atommota | 2:d4b810a888b5 | 151 | * I1_CFG1, I1_CFG0 See datasheet table |
atommota | 2:d4b810a888b5 | 152 | * |
atommota | 2:d4b810a888b5 | 153 | * @param config Configuration byte to write to INT_CFG register. |
atommota | 2:d4b810a888b5 | 154 | */ |
atommota | 2:d4b810a888b5 | 155 | |
atommota | 2:d4b810a888b5 | 156 | |
atommota | 2:d4b810a888b5 | 157 | // void setInterruptConfiguration(char config); |
atommota | 2:d4b810a888b5 | 158 | |
atommota | 2:d4b810a888b5 | 159 | /** |
atommota | 2:d4b810a888b5 | 160 | * Check the status register |
atommota | 2:d4b810a888b5 | 161 | * |
atommota | 2:d4b810a888b5 | 162 | * @return |
atommota | 2:d4b810a888b5 | 163 | * |
atommota | 2:d4b810a888b5 | 164 | */ |
atommota | 5:3443fb9646bd | 165 | |
atommota | 9:5af73355984f | 166 | |
atommota | 7:7eeb1fe4d787 | 167 | /** |
atommota | 7:7eeb1fe4d787 | 168 | * Set the Full Scale Range to +/- 8g's. |
atommota | 10:dcd11c84305e | 169 | * Returns the value written to CTRL_REG_4 |
atommota | 7:7eeb1fe4d787 | 170 | */ |
atommota | 10:dcd11c84305e | 171 | char setFullScaleRange8g(void); |
atommota | 7:7eeb1fe4d787 | 172 | |
atommota | 7:7eeb1fe4d787 | 173 | /** |
atommota | 7:7eeb1fe4d787 | 174 | * Set the Full Scale Range to +/- 4g's. |
atommota | 10:dcd11c84305e | 175 | * Returns the value written to CTRL_REG_4 |
atommota | 7:7eeb1fe4d787 | 176 | */ |
atommota | 10:dcd11c84305e | 177 | char setFullScaleRange4g(void); |
atommota | 7:7eeb1fe4d787 | 178 | |
atommota | 7:7eeb1fe4d787 | 179 | /** |
atommota | 7:7eeb1fe4d787 | 180 | * Set the Full Scale Range to +/- 2g's. |
atommota | 10:dcd11c84305e | 181 | * Returns the value written to CTRL_REG_4 |
atommota | 7:7eeb1fe4d787 | 182 | */ |
atommota | 10:dcd11c84305e | 183 | char setFullScaleRange2g(void); |
atommota | 5:3443fb9646bd | 184 | |
atommota | 2:d4b810a888b5 | 185 | |
atommota | 2:d4b810a888b5 | 186 | char getAccelStatus(void); |
atommota | 2:d4b810a888b5 | 187 | |
atommota | 2:d4b810a888b5 | 188 | |
atommota | 2:d4b810a888b5 | 189 | |
atommota | 2:d4b810a888b5 | 190 | |
atommota | 2:d4b810a888b5 | 191 | /** |
atommota | 7:7eeb1fe4d787 | 192 | * Get the output for the x-axis accelerometer. |
atommota | 2:d4b810a888b5 | 193 | * |
atommota | 7:7eeb1fe4d787 | 194 | * @return The output on the x-axis in engineering units (g's). |
atommota | 2:d4b810a888b5 | 195 | */ |
atommota | 8:ff365f926a52 | 196 | float getAccelX(void); |
atommota | 2:d4b810a888b5 | 197 | |
atommota | 2:d4b810a888b5 | 198 | /** |
atommota | 7:7eeb1fe4d787 | 199 | * Get the output for the y-axis accelerometer. |
atommota | 2:d4b810a888b5 | 200 | * |
atommota | 7:7eeb1fe4d787 | 201 | * @return The output on the y-axis in engineering units (g's). |
atommota | 2:d4b810a888b5 | 202 | */ |
atommota | 8:ff365f926a52 | 203 | float getAccelY(void); |
atommota | 2:d4b810a888b5 | 204 | |
atommota | 2:d4b810a888b5 | 205 | /** |
atommota | 7:7eeb1fe4d787 | 206 | * Get the output on the z-axis accelerometer. |
atommota | 2:d4b810a888b5 | 207 | * |
atommota | 7:7eeb1fe4d787 | 208 | * @return The output on the z-axis in engineering units (g's). |
atommota | 2:d4b810a888b5 | 209 | */ |
atommota | 10:dcd11c84305e | 210 | float getAccelZ(void); |
atommota | 2:d4b810a888b5 | 211 | |
atommota | 2:d4b810a888b5 | 212 | |
atommota | 2:d4b810a888b5 | 213 | private: |
atommota | 2:d4b810a888b5 | 214 | |
atommota | 6:53e92e7fc073 | 215 | float scaling_factor; |
atommota | 6:53e92e7fc073 | 216 | int current_range; |
atommota | 6:53e92e7fc073 | 217 | |
atommota | 2:d4b810a888b5 | 218 | I2C i2c_; |
atommota | 2:d4b810a888b5 | 219 | |
atommota | 2:d4b810a888b5 | 220 | }; |
atommota | 2:d4b810a888b5 | 221 | |
atommota | 2:d4b810a888b5 | 222 | #endif /* LIS331_H */ |
atommota | 2:d4b810a888b5 | 223 |