LIS3DH / STMicroelectronics / MEMS motion sensor, 3-axis accelerometer library
LIS3DH.cpp@5:725df775f168, 2015-02-24 (annotated)
- Committer:
- kenjiArai
- Date:
- Tue Feb 24 12:21:54 2015 +0000
- Revision:
- 5:725df775f168
- Parent:
- 4:64dac49da306
- Child:
- 6:e269772dad35
unified format, data name and others, added function call
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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kenjiArai | 0:5d5aac272642 | 1 | /* |
kenjiArai | 0:5d5aac272642 | 2 | * mbed library program |
kenjiArai | 0:5d5aac272642 | 3 | * LIS3DH MEMS motion sensor: 3-axis "nano" accelerometer, made by STMicroelectronics |
kenjiArai | 0:5d5aac272642 | 4 | * http://www.st-japan.co.jp/web/jp/catalog/sense_power/FM89/SC444/PF250725 |
kenjiArai | 0:5d5aac272642 | 5 | * |
kenjiArai | 5:725df775f168 | 6 | * Copyright (c) 2014,'15 Kenji Arai / JH1PJL |
kenjiArai | 0:5d5aac272642 | 7 | * http://www.page.sannet.ne.jp/kenjia/index.html |
kenjiArai | 0:5d5aac272642 | 8 | * http://mbed.org/users/kenjiArai/ |
kenjiArai | 0:5d5aac272642 | 9 | * Created: July 14th, 2014 |
kenjiArai | 5:725df775f168 | 10 | * Revised: Feburary 24th, 2015 |
kenjiArai | 0:5d5aac272642 | 11 | * |
kenjiArai | 0:5d5aac272642 | 12 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, |
kenjiArai | 0:5d5aac272642 | 13 | * INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE |
kenjiArai | 0:5d5aac272642 | 14 | * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, |
kenjiArai | 0:5d5aac272642 | 15 | * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
kenjiArai | 0:5d5aac272642 | 16 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
kenjiArai | 0:5d5aac272642 | 17 | */ |
kenjiArai | 0:5d5aac272642 | 18 | |
kenjiArai | 0:5d5aac272642 | 19 | #include "LIS3DH.h" |
kenjiArai | 0:5d5aac272642 | 20 | |
kenjiArai | 0:5d5aac272642 | 21 | LIS3DH::LIS3DH (PinName p_sda, PinName p_scl, |
kenjiArai | 5:725df775f168 | 22 | uint8_t addr, uint8_t data_rate, uint8_t fullscale) : _i2c(p_sda, p_scl) { |
kenjiArai | 5:725df775f168 | 23 | _i2c.frequency(400000); |
kenjiArai | 0:5d5aac272642 | 24 | initialize (addr, data_rate, fullscale); |
kenjiArai | 0:5d5aac272642 | 25 | } |
kenjiArai | 0:5d5aac272642 | 26 | |
kenjiArai | 5:725df775f168 | 27 | LIS3DH::LIS3DH (PinName p_sda, PinName p_scl, uint8_t addr) : _i2c(p_sda, p_scl) { |
kenjiArai | 5:725df775f168 | 28 | _i2c.frequency(400000); |
kenjiArai | 5:725df775f168 | 29 | initialize (addr, LIS3DH_DR_NR_LP_50HZ, LIS3DH_FS_8G); |
kenjiArai | 5:725df775f168 | 30 | } |
kenjiArai | 5:725df775f168 | 31 | |
kenjiArai | 0:5d5aac272642 | 32 | LIS3DH::LIS3DH (I2C& p_i2c, |
kenjiArai | 5:725df775f168 | 33 | uint8_t addr, uint8_t data_rate, uint8_t fullscale) : _i2c(p_i2c) { |
kenjiArai | 5:725df775f168 | 34 | _i2c.frequency(400000); |
kenjiArai | 0:5d5aac272642 | 35 | initialize (addr, data_rate, fullscale); |
kenjiArai | 0:5d5aac272642 | 36 | } |
kenjiArai | 0:5d5aac272642 | 37 | |
kenjiArai | 5:725df775f168 | 38 | LIS3DH::LIS3DH (I2C& p_i2c, uint8_t addr) : _i2c(p_i2c) { |
kenjiArai | 5:725df775f168 | 39 | _i2c.frequency(400000); |
kenjiArai | 5:725df775f168 | 40 | initialize (addr, LIS3DH_DR_NR_LP_50HZ, LIS3DH_FS_8G); |
kenjiArai | 5:725df775f168 | 41 | } |
kenjiArai | 5:725df775f168 | 42 | |
kenjiArai | 0:5d5aac272642 | 43 | void LIS3DH::initialize (uint8_t addr, uint8_t data_rate, uint8_t fullscale) { |
kenjiArai | 0:5d5aac272642 | 44 | // Check acc is available of not |
kenjiArai | 0:5d5aac272642 | 45 | acc_addr = addr; |
kenjiArai | 5:725df775f168 | 46 | dt[0] = LIS3DH_WHO_AM_I; |
kenjiArai | 5:725df775f168 | 47 | _i2c.write(acc_addr, dt, 1, true); |
kenjiArai | 5:725df775f168 | 48 | _i2c.read(acc_addr, dt, 1, false); |
kenjiArai | 5:725df775f168 | 49 | if (dt[0] == I_AM_LIS3DH){ |
kenjiArai | 0:5d5aac272642 | 50 | acc_ready = 1; |
kenjiArai | 0:5d5aac272642 | 51 | } else { |
kenjiArai | 0:5d5aac272642 | 52 | acc_ready = 0; |
kenjiArai | 0:5d5aac272642 | 53 | return; // acc chip is NOT on I2C line then terminate |
kenjiArai | 0:5d5aac272642 | 54 | } |
kenjiArai | 0:5d5aac272642 | 55 | // Reg.1 |
kenjiArai | 5:725df775f168 | 56 | dt[0] = LIS3DH_CTRL_REG1; |
kenjiArai | 5:725df775f168 | 57 | dt[1] = 0x07; |
kenjiArai | 5:725df775f168 | 58 | dt[1] |= data_rate << 4; |
kenjiArai | 5:725df775f168 | 59 | _i2c.write(acc_addr, dt, 2, false); |
kenjiArai | 0:5d5aac272642 | 60 | // Reg.4 |
kenjiArai | 5:725df775f168 | 61 | dt[0] = LIS3DH_CTRL_REG4; |
kenjiArai | 5:725df775f168 | 62 | dt[1] = 0x08; // High resolution |
kenjiArai | 5:725df775f168 | 63 | dt[1] |= fullscale << 4; |
kenjiArai | 5:725df775f168 | 64 | _i2c.write(acc_addr, dt, 2, false); |
kenjiArai | 0:5d5aac272642 | 65 | switch (fullscale){ |
kenjiArai | 0:5d5aac272642 | 66 | case LIS3DH_FS_2G: |
kenjiArai | 0:5d5aac272642 | 67 | fs_factor = LIS3DH_SENSITIVITY_2G; |
kenjiArai | 0:5d5aac272642 | 68 | break; |
kenjiArai | 0:5d5aac272642 | 69 | case LIS3DH_FS_4G: |
kenjiArai | 0:5d5aac272642 | 70 | fs_factor = LIS3DH_SENSITIVITY_4G; |
kenjiArai | 0:5d5aac272642 | 71 | break; |
kenjiArai | 0:5d5aac272642 | 72 | case LIS3DH_FS_8G: |
kenjiArai | 0:5d5aac272642 | 73 | fs_factor = LIS3DH_SENSITIVITY_8G; |
kenjiArai | 0:5d5aac272642 | 74 | break; |
kenjiArai | 0:5d5aac272642 | 75 | case LIS3DH_FS_16G: |
kenjiArai | 0:5d5aac272642 | 76 | fs_factor = LIS3DH_SENSITIVITY_16G; |
kenjiArai | 0:5d5aac272642 | 77 | break; |
kenjiArai | 0:5d5aac272642 | 78 | default: |
kenjiArai | 0:5d5aac272642 | 79 | ; |
kenjiArai | 0:5d5aac272642 | 80 | } |
kenjiArai | 0:5d5aac272642 | 81 | } |
kenjiArai | 0:5d5aac272642 | 82 | |
kenjiArai | 0:5d5aac272642 | 83 | void LIS3DH::read_reg_data(char *data) { |
kenjiArai | 0:5d5aac272642 | 84 | // X,Y & Z |
kenjiArai | 0:5d5aac272642 | 85 | // manual said that |
kenjiArai | 0:5d5aac272642 | 86 | // In order to read multiple bytes, it is necessary to assert the most significant bit |
kenjiArai | 0:5d5aac272642 | 87 | // of the subaddress field. |
kenjiArai | 0:5d5aac272642 | 88 | // In other words, SUB(7) must be equal to ‘1’ while SUB(6-0) represents the address |
kenjiArai | 0:5d5aac272642 | 89 | // of the first register to be read. |
kenjiArai | 5:725df775f168 | 90 | dt[0] = LIS3DH_OUT_X_L | 0x80; |
kenjiArai | 5:725df775f168 | 91 | _i2c.write(acc_addr, dt, 1, true); |
kenjiArai | 5:725df775f168 | 92 | _i2c.read(acc_addr, data, 6, false); |
kenjiArai | 0:5d5aac272642 | 93 | } |
kenjiArai | 0:5d5aac272642 | 94 | |
kenjiArai | 5:725df775f168 | 95 | void LIS3DH::read_mg_data(float *dt_usr) { |
kenjiArai | 0:5d5aac272642 | 96 | char data[6]; |
kenjiArai | 0:5d5aac272642 | 97 | |
kenjiArai | 0:5d5aac272642 | 98 | if (acc_ready == 0){ |
kenjiArai | 5:725df775f168 | 99 | dt_usr[0] = 0; |
kenjiArai | 5:725df775f168 | 100 | dt_usr[1] = 0; |
kenjiArai | 5:725df775f168 | 101 | dt_usr[2] = 0; |
kenjiArai | 0:5d5aac272642 | 102 | return; |
kenjiArai | 0:5d5aac272642 | 103 | } |
kenjiArai | 0:5d5aac272642 | 104 | read_reg_data(data); |
kenjiArai | 0:5d5aac272642 | 105 | // change data type |
kenjiArai | 5:725df775f168 | 106 | dt_usr[0] = float(short((data[1] << 8) | data[0])) * fs_factor / 15; |
kenjiArai | 5:725df775f168 | 107 | dt_usr[1] = float(short((data[3] << 8) | data[2])) * fs_factor / 15; |
kenjiArai | 5:725df775f168 | 108 | dt_usr[2] = float(short((data[5] << 8) | data[4])) * fs_factor / 15; |
kenjiArai | 0:5d5aac272642 | 109 | } |
kenjiArai | 0:5d5aac272642 | 110 | |
kenjiArai | 5:725df775f168 | 111 | void LIS3DH::read_data(float *dt_usr) { |
kenjiArai | 0:5d5aac272642 | 112 | char data[6]; |
kenjiArai | 0:5d5aac272642 | 113 | |
kenjiArai | 0:5d5aac272642 | 114 | if (acc_ready == 0){ |
kenjiArai | 5:725df775f168 | 115 | dt_usr[0] = 0; |
kenjiArai | 5:725df775f168 | 116 | dt_usr[1] = 0; |
kenjiArai | 5:725df775f168 | 117 | dt_usr[2] = 0; |
kenjiArai | 0:5d5aac272642 | 118 | return; |
kenjiArai | 0:5d5aac272642 | 119 | } |
kenjiArai | 0:5d5aac272642 | 120 | read_reg_data(data); |
kenjiArai | 0:5d5aac272642 | 121 | // change data type |
kenjiArai | 5:725df775f168 | 122 | dt_usr[0] = float(short((data[1] << 8) | data[0])) * fs_factor / 15 * GRAVITY; |
kenjiArai | 5:725df775f168 | 123 | dt_usr[1] = float(short((data[3] << 8) | data[2])) * fs_factor / 15 * GRAVITY; |
kenjiArai | 5:725df775f168 | 124 | dt_usr[2] = float(short((data[5] << 8) | data[4])) * fs_factor / 15 * GRAVITY; |
kenjiArai | 0:5d5aac272642 | 125 | } |
kenjiArai | 0:5d5aac272642 | 126 | |
kenjiArai | 0:5d5aac272642 | 127 | uint8_t LIS3DH::read_id() { |
kenjiArai | 5:725df775f168 | 128 | dt[0] = LIS3DH_WHO_AM_I; |
kenjiArai | 5:725df775f168 | 129 | _i2c.write(acc_addr, dt, 1, true); |
kenjiArai | 5:725df775f168 | 130 | _i2c.read(acc_addr, dt, 1, false); |
kenjiArai | 5:725df775f168 | 131 | return (uint8_t)dt[0]; |
kenjiArai | 0:5d5aac272642 | 132 | } |
kenjiArai | 0:5d5aac272642 | 133 | |
kenjiArai | 0:5d5aac272642 | 134 | uint8_t LIS3DH::data_ready() { |
kenjiArai | 0:5d5aac272642 | 135 | if (acc_ready == 1){ |
kenjiArai | 5:725df775f168 | 136 | dt[0] = LIS3DH_STATUS_REG_AUX; |
kenjiArai | 5:725df775f168 | 137 | _i2c.write(acc_addr, dt, 1, true); |
kenjiArai | 5:725df775f168 | 138 | _i2c.read(acc_addr, dt, 1, false); |
kenjiArai | 5:725df775f168 | 139 | if (!(dt[0] & 0x01)){ |
kenjiArai | 0:5d5aac272642 | 140 | return 0; |
kenjiArai | 0:5d5aac272642 | 141 | } |
kenjiArai | 0:5d5aac272642 | 142 | } |
kenjiArai | 0:5d5aac272642 | 143 | return 1; |
kenjiArai | 0:5d5aac272642 | 144 | } |
kenjiArai | 0:5d5aac272642 | 145 | |
kenjiArai | 1:d4d569952436 | 146 | void LIS3DH::frequency(int hz) { |
kenjiArai | 5:725df775f168 | 147 | _i2c.frequency(hz); |
kenjiArai | 1:d4d569952436 | 148 | } |
kenjiArai | 1:d4d569952436 | 149 | |
kenjiArai | 0:5d5aac272642 | 150 | uint8_t LIS3DH::read_reg(uint8_t addr) { |
kenjiArai | 0:5d5aac272642 | 151 | if (acc_ready == 1){ |
kenjiArai | 5:725df775f168 | 152 | dt[0] = addr; |
kenjiArai | 5:725df775f168 | 153 | _i2c.write(acc_addr, dt, 1, true); |
kenjiArai | 5:725df775f168 | 154 | _i2c.read(acc_addr, dt, 1, false); |
kenjiArai | 0:5d5aac272642 | 155 | } else { |
kenjiArai | 5:725df775f168 | 156 | dt[0] = 0xff; |
kenjiArai | 0:5d5aac272642 | 157 | } |
kenjiArai | 5:725df775f168 | 158 | return (uint8_t)dt[0]; |
kenjiArai | 0:5d5aac272642 | 159 | } |
kenjiArai | 0:5d5aac272642 | 160 | |
kenjiArai | 0:5d5aac272642 | 161 | void LIS3DH::write_reg(uint8_t addr, uint8_t data) { |
kenjiArai | 0:5d5aac272642 | 162 | if (acc_ready == 1){ |
kenjiArai | 5:725df775f168 | 163 | dt[0] = addr; |
kenjiArai | 5:725df775f168 | 164 | dt[1] = data; |
kenjiArai | 5:725df775f168 | 165 | _i2c.write(acc_addr, dt, 2, false); |
kenjiArai | 0:5d5aac272642 | 166 | } |
kenjiArai | 0:5d5aac272642 | 167 | } |