LIS3DH / STMicroelectronics / MEMS motion sensor, 3-axis accelerometer library
Diff: LIS3DH.cpp
- Revision:
- 6:e269772dad35
- Parent:
- 5:725df775f168
- Child:
- 7:50ac3372def2
--- a/LIS3DH.cpp Tue Feb 24 12:21:54 2015 +0000 +++ b/LIS3DH.cpp Tue Feb 24 12:24:38 2015 +0000 @@ -1,12 +1,12 @@ /* - * mbed library program + * mbed library program * LIS3DH MEMS motion sensor: 3-axis "nano" accelerometer, made by STMicroelectronics * http://www.st-japan.co.jp/web/jp/catalog/sense_power/FM89/SC444/PF250725 * * Copyright (c) 2014,'15 Kenji Arai / JH1PJL * http://www.page.sannet.ne.jp/kenjia/index.html * http://mbed.org/users/kenjiArai/ - * Created: July 14th, 2014 + * Created: July 14th, 2014 * Revised: Feburary 24th, 2015 * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, @@ -19,34 +19,39 @@ #include "LIS3DH.h" LIS3DH::LIS3DH (PinName p_sda, PinName p_scl, - uint8_t addr, uint8_t data_rate, uint8_t fullscale) : _i2c(p_sda, p_scl) { - _i2c.frequency(400000); + uint8_t addr, uint8_t data_rate, uint8_t fullscale) : _i2c(p_sda, p_scl) +{ + _i2c.frequency(400000); initialize (addr, data_rate, fullscale); } -LIS3DH::LIS3DH (PinName p_sda, PinName p_scl, uint8_t addr) : _i2c(p_sda, p_scl) { - _i2c.frequency(400000); +LIS3DH::LIS3DH (PinName p_sda, PinName p_scl, uint8_t addr) : _i2c(p_sda, p_scl) +{ + _i2c.frequency(400000); initialize (addr, LIS3DH_DR_NR_LP_50HZ, LIS3DH_FS_8G); } LIS3DH::LIS3DH (I2C& p_i2c, - uint8_t addr, uint8_t data_rate, uint8_t fullscale) : _i2c(p_i2c) { - _i2c.frequency(400000); + uint8_t addr, uint8_t data_rate, uint8_t fullscale) : _i2c(p_i2c) +{ + _i2c.frequency(400000); initialize (addr, data_rate, fullscale); } -LIS3DH::LIS3DH (I2C& p_i2c, uint8_t addr) : _i2c(p_i2c) { - _i2c.frequency(400000); +LIS3DH::LIS3DH (I2C& p_i2c, uint8_t addr) : _i2c(p_i2c) +{ + _i2c.frequency(400000); initialize (addr, LIS3DH_DR_NR_LP_50HZ, LIS3DH_FS_8G); } -void LIS3DH::initialize (uint8_t addr, uint8_t data_rate, uint8_t fullscale) { +void LIS3DH::initialize (uint8_t addr, uint8_t data_rate, uint8_t fullscale) +{ // Check acc is available of not acc_addr = addr; - dt[0] = LIS3DH_WHO_AM_I; + dt[0] = LIS3DH_WHO_AM_I; _i2c.write(acc_addr, dt, 1, true); _i2c.read(acc_addr, dt, 1, false); - if (dt[0] == I_AM_LIS3DH){ + if (dt[0] == I_AM_LIS3DH) { acc_ready = 1; } else { acc_ready = 0; @@ -57,49 +62,51 @@ dt[1] = 0x07; dt[1] |= data_rate << 4; _i2c.write(acc_addr, dt, 2, false); - // Reg.4 + // Reg.4 dt[0] = LIS3DH_CTRL_REG4; dt[1] = 0x08; // High resolution dt[1] |= fullscale << 4; _i2c.write(acc_addr, dt, 2, false); - switch (fullscale){ - case LIS3DH_FS_2G: - fs_factor = LIS3DH_SENSITIVITY_2G; - break; - case LIS3DH_FS_4G: - fs_factor = LIS3DH_SENSITIVITY_4G; - break; - case LIS3DH_FS_8G: - fs_factor = LIS3DH_SENSITIVITY_8G; - break; - case LIS3DH_FS_16G: - fs_factor = LIS3DH_SENSITIVITY_16G; - break; - default: - ; - } + switch (fullscale) { + case LIS3DH_FS_2G: + fs_factor = LIS3DH_SENSITIVITY_2G; + break; + case LIS3DH_FS_4G: + fs_factor = LIS3DH_SENSITIVITY_4G; + break; + case LIS3DH_FS_8G: + fs_factor = LIS3DH_SENSITIVITY_8G; + break; + case LIS3DH_FS_16G: + fs_factor = LIS3DH_SENSITIVITY_16G; + break; + default: + ; + } } -void LIS3DH::read_reg_data(char *data) { +void LIS3DH::read_reg_data(char *data) +{ // X,Y & Z - // manual said that - // In order to read multiple bytes, it is necessary to assert the most significant bit - // of the subaddress field. - // In other words, SUB(7) must be equal to ‘1’ while SUB(6-0) represents the address - // of the first register to be read. - dt[0] = LIS3DH_OUT_X_L | 0x80; + // manual said that + // In order to read multiple bytes, it is necessary to assert the most significant bit + // of the subaddress field. + // In other words, SUB(7) must be equal to ‘1’ while SUB(6-0) represents the address + // of the first register to be read. + dt[0] = LIS3DH_OUT_X_L | 0x80; _i2c.write(acc_addr, dt, 1, true); _i2c.read(acc_addr, data, 6, false); } -void LIS3DH::read_mg_data(float *dt_usr) { -char data[6]; +void LIS3DH::read_mg_data(float *dt_usr) +{ + char data[6]; - if (acc_ready == 0){ + if (acc_ready == 0) { dt_usr[0] = 0; dt_usr[1] = 0; dt_usr[2] = 0; - return; + return; } read_reg_data(data); // change data type @@ -107,15 +114,16 @@ dt_usr[1] = float(short((data[3] << 8) | data[2])) * fs_factor / 15; dt_usr[2] = float(short((data[5] << 8) | data[4])) * fs_factor / 15; } - -void LIS3DH::read_data(float *dt_usr) { -char data[6]; - if (acc_ready == 0){ +void LIS3DH::read_data(float *dt_usr) +{ + char data[6]; + + if (acc_ready == 0) { dt_usr[0] = 0; dt_usr[1] = 0; dt_usr[2] = 0; - return; + return; } read_reg_data(data); // change data type @@ -124,33 +132,37 @@ dt_usr[2] = float(short((data[5] << 8) | data[4])) * fs_factor / 15 * GRAVITY; } -uint8_t LIS3DH::read_id() { - dt[0] = LIS3DH_WHO_AM_I; +uint8_t LIS3DH::read_id() +{ + dt[0] = LIS3DH_WHO_AM_I; _i2c.write(acc_addr, dt, 1, true); _i2c.read(acc_addr, dt, 1, false); return (uint8_t)dt[0]; } -uint8_t LIS3DH::data_ready() { - if (acc_ready == 1){ - dt[0] = LIS3DH_STATUS_REG_AUX; - _i2c.write(acc_addr, dt, 1, true); +uint8_t LIS3DH::data_ready() +{ + if (acc_ready == 1) { + dt[0] = LIS3DH_STATUS_REG_AUX; + _i2c.write(acc_addr, dt, 1, true); _i2c.read(acc_addr, dt, 1, false); - if (!(dt[0] & 0x01)){ + if (!(dt[0] & 0x01)) { return 0; } } return 1; } -void LIS3DH::frequency(int hz) { +void LIS3DH::frequency(int hz) +{ _i2c.frequency(hz); } -uint8_t LIS3DH::read_reg(uint8_t addr) { - if (acc_ready == 1){ - dt[0] = addr; - _i2c.write(acc_addr, dt, 1, true); +uint8_t LIS3DH::read_reg(uint8_t addr) +{ + if (acc_ready == 1) { + dt[0] = addr; + _i2c.write(acc_addr, dt, 1, true); _i2c.read(acc_addr, dt, 1, false); } else { dt[0] = 0xff; @@ -158,10 +170,11 @@ return (uint8_t)dt[0]; } -void LIS3DH::write_reg(uint8_t addr, uint8_t data) { - if (acc_ready == 1){ +void LIS3DH::write_reg(uint8_t addr, uint8_t data) +{ + if (acc_ready == 1) { dt[0] = addr; - dt[1] = data; - _i2c.write(acc_addr, dt, 2, false); + dt[1] = data; + _i2c.write(acc_addr, dt, 2, false); } }