Dave Heitzman
h3 imported to make Bob work
H3LIS331DL.h
- Committer:
- daveheitzman
- Date:
- 2015-10-23
- Revision:
- 0:a9de25fd7c41
File content as of revision 0:a9de25fd7c41:
/*
* H3LIS331DL.h
* A library for 3-Axis Digital Accelerometer(±400g)
*
* Copyright (c) 2014 seeed technology inc.
* Website : www.seeed.cc
* Author : lawliet zou
* Create Time: April 2014
* Change Log :
*
* The MIT License (MIT)
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include "mbed.h"
#ifndef H3LIS331DL_H
#define H3LIS331DL_H
#define MEMS_SET 0x01
#define MEMS_RESET 0x00
#define H3LIS331DL_MEMS_I2C_ADDRESS 0x18//0x32
//Register and define
#define H3LIS331DL_WHO_AM_I 0x0F // device identification register
// CONTROL REGISTER 1
#define H3LIS331DL_CTRL_REG1 0x20
#define H3LIS331DL_PM BIT(5) //PowerMode selection: 000 - power down / 001 - normal mode / other - low power
#define H3LIS331DL_DR BIT(3) //output data rate: 00 - 50hz / 01 - 100hz / 10 - 400hz / 11 - 1000hz
#define H3LIS331DL_ZEN BIT(2) //Z-axis enable: 0 - disable / 1 - enable
#define H3LIS331DL_YEN BIT(1) //Y-axis enable: 0 - disable / 1 - enable
#define H3LIS331DL_XEN BIT(0) //Y-axis enable: 0 - disable / 1 - enable
//CONTROL REGISTER 2
#define H3LIS331DL_CTRL_REG2 0x21
#define H3LIS331DL_BOOT BIT(7) //reboot memory content, default is 0
#define H3LIS331DL_HPM BIT(5) //High-pass-filter mode selection, default is 00
#define H3LIS331DL_FDS BIT(4) //Filter data selection, default is 0
#define H3LIS331DL_HPEN2 BIT(3) //High-pass filter enabled for interrupt 2 source, default is 0
#define H3LIS331DL_HPEN1 BIT(2) //High-pass filter enabled for interrupt 1 source, default is 0
#define H3LIS331DL_HPCF BIT(0) //High-pass filter cutoff frequency configuration, default is 00
//CONTROL REGISTER 3
#define H3LIS331DL_CTRL_REG3 0x22
#define H3LIS331DL_IHL BIT(7) //Interrupt active high,low. default is 0
#define H3LIS331DL_PP_OD BIT(6) //Push-pull/open drain selection on interrupt pad. default is 0
#define H3LIS331DL_LIR2 BIT(5) //Latch interrupt request on INT2_SRC register, with INT2_SRC register cleared by read INT2_SRC itself. default is 0
#define H3LIS331DL_I2_CFG BIT(3) //Data signal on INT2 pad control bits, default is 00
#define H3LIS331DL_LIR1 BIT(2) //Latch interrupt request on the INT1_SRC register, with the INT1_SRC register cleared by reading the INT1_SRC register.
#define H3LIS331DL_I1_CFG BIT(0) //Data signal on INT1 pad control bits, default is 00
//CONTROL REGISTER 4
#define H3LIS331DL_CTRL_REG4 0x23
#define H3LIS331DL_BDU BIT(7) //Block data update, default is 0
#define H3LIS331DL_BLE BIT(6) //Big/little endian data selection, default is 0
#define H3LIS331DL_FS BIT(4) //Full scale selection, default is 00(00:100g;01:200g;11:400g)
#define H3LIS331DL_ST_SIGN BIT(3) //
#define H3LIS331DL_ST BIT(1) //
#define H3LIS331DL_SIM BIT(0) // SPI serial interface mode selection, default is 0
//CONTROL REGISTER 5
#define H3LIS331DL_CTRL_REG5 0x24
#define H3LIS331DL_TURN_ON BIT(0) // Turn-on mode selection selection for sleep to wake function. default is 00
#define H3LIS331DL_HP_FILTER_RESET 0x25 //
//REFERENCE/DATA_CAPTURE
#define H3LIS331DL_REFERENCE_REG 0x26 //
#define H3LIS331DL_REF BIT(0) //
//STATUS_REG_AXIES
#define H3LIS331DL_STATUS_REG 0x27 //
//OUTPUT REGISTER
#define H3LIS331DL_OUT_X_L 0x28 //x-axis acceleration data
#define H3LIS331DL_OUT_X_H 0x29
#define H3LIS331DL_OUT_Y_L 0x2A //y-axis acceleration data
#define H3LIS331DL_OUT_Y_H 0x2B
#define H3LIS331DL_OUT_Z_L 0x2C //z-axis acceleration data
#define H3LIS331DL_OUT_Z_H 0x2D
//INTERRUPT 1 CONFIGURATION
#define H3LIS331DL_INT1_CFG 0x30
//INTERRUPT 2 CONFIGURATION
#define H3LIS331DL_INT2_CFG 0x34
#define H3LIS331DL_ANDOR BIT(7)
#define H3LIS331DL_INT_6D BIT(6)
//INT REGISTERS
#define H3LIS331DL_INT1_THS 0x32
#define H3LIS331DL_INT1_DURATION 0x33
#define H3LIS331DL_INT2_THS 0x36
#define H3LIS331DL_INT2_DURATION 0x37
//INTERRUPT 1 SOURCE REGISTER
#define H3LIS331DL_INT1_SRC 0x31
#define H3LIS331DL_INT2_SRC 0x35
//INT_CFG bit mask
#define H3LIS331DL_INT_AND 0x80
#define H3LIS331DL_INT_OR 0x00
#define H3LIS331DL_INT_ZHIE_ENABLE 0x20
#define H3LIS331DL_INT_ZHIE_DISABLE 0x00
#define H3LIS331DL_INT_ZLIE_ENABLE 0x10
#define H3LIS331DL_INT_ZLIE_DISABLE 0x00
#define H3LIS331DL_INT_YHIE_ENABLE 0x08
#define H3LIS331DL_INT_YHIE_DISABLE 0x00
#define H3LIS331DL_INT_YLIE_ENABLE 0x04
#define H3LIS331DL_INT_YLIE_DISABLE 0x00
#define H3LIS331DL_INT_XHIE_ENABLE 0x02
#define H3LIS331DL_INT_XHIE_DISABLE 0x00
#define H3LIS331DL_INT_XLIE_ENABLE 0x01
#define H3LIS331DL_INT_XLIE_DISABLE 0x00
//INT_SRC bit mask
#define H3LIS331DL_INT_SRC_IA 0x40
#define H3LIS331DL_INT_SRC_ZH 0x20
#define H3LIS331DL_INT_SRC_ZL 0x10
#define H3LIS331DL_INT_SRC_YH 0x08
#define H3LIS331DL_INT_SRC_YL 0x04
#define H3LIS331DL_INT_SRC_XH 0x02
#define H3LIS331DL_INT_SRC_XL 0x01
//STATUS REGISTER bit mask
#define H3LIS331DL_STATUS_REG_ZYXOR 0x80 // 1:new data set has over written the previous one
// 0:no overrun has occurred (default)
#define H3LIS331DL_STATUS_REG_ZOR 0x40 // 0:no overrun has occurred (default)
// 1:new Z-axis data has over written the previous one
#define H3LIS331DL_STATUS_REG_YOR 0x20 // 0:no overrun has occurred (default)
// 1:new Y-axis data has over written the previous one
#define H3LIS331DL_STATUS_REG_XOR 0x10 // 0:no overrun has occurred (default)
// 1:new X-axis data has over written the previous one
#define H3LIS331DL_STATUS_REG_ZYXDA 0x08 // 0:a new set of data is not yet avvious one
// 1:a new set of data is available
#define H3LIS331DL_STATUS_REG_ZDA 0x04 // 0:a new data for the Z-Axis is not availvious one
// 1:a new data for the Z-Axis is available
#define H3LIS331DL_STATUS_REG_YDA 0x02 // 0:a new data for the Y-Axis is not available
// 1:a new data for the Y-Axis is available
#define H3LIS331DL_STATUS_REG_XDA 0x01 // 0:a new data for the X-Axis is not available
// 1:a new data for the X-Axis is available
#define H3LIS331DL_DATAREADY_BIT H3LIS331DL_STATUS_REG_ZYXDA
#define ValBit(VAR,Place) (VAR & (1<<Place))
#define BIT(x) ( (x) )
typedef uint8_t H3LIS331DL_Axis_t;
typedef uint8_t H3LIS331DL_IntConf_t;
//define structure
typedef enum {
MEMS_SUCCESS = 0x01,
MEMS_ERROR = 0x00
} status_t;
typedef enum {
MEMS_ENABLE = 0x01,
MEMS_DISABLE = 0x00
} State_t;
typedef struct {
int16_t AXIS_X;
int16_t AXIS_Y;
int16_t AXIS_Z;
} AxesRaw_t;
typedef enum {
H3LIS331DL_ODR_50Hz = 0x00,
H3LIS331DL_ODR_100Hz = 0x01,
H3LIS331DL_ODR_400Hz = 0x02,
H3LIS331DL_ODR_1000Hz = 0x03
} H3LIS331DL_ODR_t;
typedef enum {
H3LIS331DL_CONTINUOUS_MODE = 0x00,
H3LIS331DL_SINGLE_MODE = 0x01,
H3LIS331DL_SLEEP_MODE = 0x02
} H3LIS331DL_Mode_M_t;
typedef enum {
H3LIS331DL_POWER_DOWN = 0x00,
H3LIS331DL_NORMAL = 0x01,
H3LIS331DL_LOW_POWER_05 = 0x02,
H3LIS331DL_LOW_POWER_1 = 0x03,
H3LIS331DL_LOW_POWER_2 = 0x04,
H3LIS331DL_LOW_POWER_5 = 0x05,
H3LIS331DL_LOW_POWER_10 = 0x06,
} H3LIS331DL_Mode_t;
typedef enum {
H3LIS331DL_HPM_NORMAL_MODE_RES = 0x00,
H3LIS331DL_HPM_REF_SIGNAL = 0x01,
H3LIS331DL_HPM_NORMAL_MODE = 0x02,
} H3LIS331DL_HPFMode_t;
typedef enum {
H3LIS331DL_HPFCF_0 = 0x00,
H3LIS331DL_HPFCF_1 = 0x01,
H3LIS331DL_HPFCF_2 = 0x02,
H3LIS331DL_HPFCF_3 = 0x03,
} H3LIS331DL_HPFCutOffFreq_t;
typedef enum {
H3LIS331DL_INT_SOURCE = 0x00,
H3LIS331DL_INT_1OR2_SOURCE = 0x01,
H3LIS331DL_DATA_READY = 0x02,
H3LIS331DL_BOOT_RUNNING = 0x03
} H3LIS331DL_INT_Conf_t;
typedef enum {
H3LIS331DL_SLEEP_TO_WAKE_DIS = 0x00,
H3LIS331DL_SLEEP_TO_WAKE_ENA = 0x03,
} H3LIS331DL_Sleep_To_Wake_Conf_t;
typedef enum {
H3LIS331DL_FULLSCALE_2 = 0x00,
H3LIS331DL_FULLSCALE_4 = 0x01,
H3LIS331DL_FULLSCALE_8 = 0x03,
} H3LIS331DL_Fullscale_t;
typedef enum {
H3LIS331DL_BLE_LSB = 0x00,
H3LIS331DL_BLE_MSB = 0x01
} H3LIS331DL_Endianess_t;
typedef enum {
H3LIS331DL_SPI_4_WIRE = 0x00,
H3LIS331DL_SPI_3_WIRE = 0x01
} H3LIS331DL_SPIMode_t;
typedef enum {
H3LIS331DL_X_ENABLE = 0x01,
H3LIS331DL_X_DISABLE = 0x00,
H3LIS331DL_Y_ENABLE = 0x02,
H3LIS331DL_Y_DISABLE = 0x00,
H3LIS331DL_Z_ENABLE = 0x04,
H3LIS331DL_Z_DISABLE = 0x00
} H3LIS331DL_AXISenable_t;
typedef enum {
H3LIS331DL_UP_SX = 0x44,
H3LIS331DL_UP_DX = 0x42,
H3LIS331DL_DW_SX = 0x41,
H3LIS331DL_DW_DX = 0x48,
H3LIS331DL_TOP = 0x60,
H3LIS331DL_BOTTOM = 0x50
} H3LIS331DL_POSITION_6D_t;
typedef enum {
H3LIS331DL_INT_MODE_OR = 0x00,
H3LIS331DL_INT_MODE_6D_MOVEMENT = 0x01,
H3LIS331DL_INT_MODE_AND = 0x02,
H3LIS331DL_INT_MODE_6D_POSITION = 0x03
} H3LIS331DL_IntMode_t;
class H3LIS331DL
{
public:
H3LIS331DL(PinName sda, PinName scl){
i2c = new mbed::I2C(sda, scl);
i2c->frequency(100000);
_adjVal[0] = _adjVal[1] = _adjVal[2] = 0;
};
void init(H3LIS331DL_ODR_t odr = H3LIS331DL_ODR_100Hz,
H3LIS331DL_Mode_t mode = H3LIS331DL_NORMAL,H3LIS331DL_Fullscale_t fullScale = H3LIS331DL_FULLSCALE_2);
void importPara(int16_t val_x, int16_t val_y, int16_t val_z);
void readXYZ(int16_t* x, int16_t* y, int16_t* z);
void getAcceleration(float* xyz);
//Sensor Configuration Functions
status_t getWHO_AM_I(uint8_t * val);
status_t setODR(H3LIS331DL_ODR_t dr);
status_t setMode(H3LIS331DL_Mode_t pm);
status_t setAxis(H3LIS331DL_Axis_t axis);
status_t setFullScale(H3LIS331DL_Fullscale_t fs);
status_t setBDU(State_t bdu);
status_t setBLE(H3LIS331DL_Endianess_t ble);
status_t setSelfTest(State_t st);
status_t setSelfTestSign(State_t st_sign);
status_t turnONEnable(H3LIS331DL_Sleep_To_Wake_Conf_t stw);
status_t setBOOT(State_t boot);
status_t setFDS(State_t fds);
status_t setSPI34Wire(H3LIS331DL_SPIMode_t sim);
//Filtering Functions
status_t setHPFMode(H3LIS331DL_HPFMode_t hpm);
status_t setHPFCutOFF(H3LIS331DL_HPFCutOffFreq_t hpf);
status_t setFilterDataSel(State_t state);
status_t setReference(int8_t ref);
//Interrupt Functions
status_t setIntHighLow(State_t hil);
status_t setIntPPOD(State_t pp_od);
status_t setInt1DataSign(H3LIS331DL_INT_Conf_t i_cfg);
status_t setInt2DataSign(H3LIS331DL_INT_Conf_t i_cfg);
status_t setInt1HPEnable(State_t stat);
status_t setInt2HPEnable(State_t stat);
status_t int1LatchEnable(State_t latch);
status_t int2LatchEnable(State_t latch);
status_t resetInt1Latch(void);
status_t resetInt2Latch(void);
status_t setInt1Configuration(H3LIS331DL_IntConf_t ic);
status_t setInt2Configuration(H3LIS331DL_IntConf_t ic);
status_t setInt1Threshold(uint8_t ths);
status_t setInt2Threshold(uint8_t ths);
status_t setInt1Duration(uint8_t id);
status_t setInt2Duration(uint8_t id);
status_t setInt1Mode(H3LIS331DL_IntMode_t int_mode);
status_t setInt2Mode(H3LIS331DL_IntMode_t int_mode);
status_t getInt1Src(uint8_t* val);
status_t getInt2Src(uint8_t* val);
status_t getInt1SrcBit(uint8_t statusBIT, uint8_t* val);
status_t getInt2SrcBit(uint8_t statusBIT, uint8_t* val);
//Other Reading Functions
status_t getStatusReg(uint8_t* val);
status_t getStatusBit(uint8_t statusBIT, uint8_t* val);
status_t getAccAxesRaw(AxesRaw_t* buff);
status_t get6DPositionInt1(uint8_t* val);
status_t get6DPositionInt2(uint8_t* val);
private:
I2C * i2c;
uint8_t readReg(uint8_t deviceAddr, uint8_t Reg, uint8_t* Data);
uint8_t writeReg(uint8_t deviceAddress, uint8_t WriteAddr, uint8_t Data);
int16_t _adjVal[3];
};
#endif /*__H3LIS331DL_H */