LIS3DH / STMicroelectronics / MEMS motion sensor, 3-axis accelerometer library
LIS3DH.h
- Committer:
- diogo966
- Date:
- 2018-12-16
- Revision:
- 9:0175958d825d
- Parent:
- 8:0999d25ed7bc
File content as of revision 9:0175958d825d:
/* * 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,'17 Kenji Arai / JH1PJL * http://www.page.sannet.ne.jp/kenjia/index.html * http://mbed.org/users/kenjiArai/ * Created: July 14th, 2014 * Revised: August 23rd, 2017 */ #ifndef LIS3DH_H #define LIS3DH_H #include "mbed.h" // revision 6 have two bugs, (1) read_mg_data, (2) divided by 15 (16 is coorect value) #define OLD_REV 0 // KEEP 0!! (If you set 1, work as old revision) // LIS3DH Address // 7bit address = 0b001100x(0x18 or 0x19 depends on SA0/SDO) #define LIS3DH_G_CHIP_ADDR (0x18 << 1) // SA0(=SDO pin) = Ground #define LIS3DH_V_CHIP_ADDR (0x19 << 1) // SA0(=SDO pin) = Vdd // LIS3DH ID #define I_AM_LIS3DH 0x29 // Register's definition #define LIS3DH_STATUS_REG_AUX 0x07 #define LIS3DH_OUT_ADC1_L 0x08 #define LIS3DH_OUT_ADC1_H 0x09 #define LIS3DH_OUT_ADC2_L 0x0a #define LIS3DH_OUT_ADC2_H 0x0b #define LIS3DH_OUT_ADC3_L 0x0c #define LIS3DH_OUT_ADC3_H 0x0d #define LIS3DH_INT_COUNTER_REG 0x0e #define LIS3DH_WHO_AM_I 0x0f #define LIS3DH_TEMP_CFG_REG 0x1f #define LIS3DH_CTRL_REG1 0x20 #define LIS3DH_CTRL_REG2 0x21 #define LIS3DH_CTRL_REG3 0x22 #define LIS3DH_CTRL_REG4 0x23 #define LIS3DH_CTRL_REG5 0x24 #define LIS3DH_CTRL_REG6 0x25 #define LIS3DH_REFERENCE 0x26 #define LIS3DH_STATUS_REG 0x27 #define LIS3DH_OUT_X_L 0x28 #define LIS3DH_OUT_X_H 0x29 #define LIS3DH_OUT_Y_L 0x2a #define LIS3DH_OUT_Y_H 0x2b #define LIS3DH_OUT_Z_L 0x2c #define LIS3DH_OUT_Z_H 0x2d #define LIS3DH_FIFO_CTRL_REG 0x2e #define LIS3DH_FIFO_SRC_REG 0x2f #define LIS3DH_INT1_CFG 0x30 #define LIS3DH_INT1_SOURCE 0x31 #define LIS3DH_INT1_THS 0x32 #define LIS3DH_INT1_DURATION 0x33 #define LIS3DH_CLICK_CFG 0x38 #define LIS3DH_CLICK_SRC 0x39 #define LIS3DH_CLICK_THS 0x3a #define LIS3DH_TIME_LIMIT 0x3b #define LIS3DH_TIME_LATENCY 0x3c #define LIS3DH_TIME_WINDOW 0x3d // Output Data Rate (ODR) #define LIS3DH_DR_PWRDWN 0 #define LIS3DH_DR_NR_LP_1HZ 1 #define LIS3DH_DR_NR_LP_10HZ 2 #define LIS3DH_DR_NR_LP_25HZ 3 #define LIS3DH_DR_NR_LP_50HZ 4 #define LIS3DH_DR_NR_LP_100HZ 5 #define LIS3DH_DR_NR_LP_200HZ 6 #define LIS3DH_DR_NR_LP_400HZ 7 #define LIS3DH_DR_LP_1R6KHZ 8 #define LIS3DH_DR_NR_1R25KHZ 9 // Bandwidth (Low pass) #define LIS3DH_BW_LOW 0 #define LIS3DH_BW_M_LOW 1 #define LIS3DH_BW_M_HI 2 #define LIS3DH_BW_HI 3 // Low power mode enable/disable #define LIS3DH_LP_EN 0 #define LIS3DH_LP_DIS 1 // Axis control #define LIS3DH_X_EN 1 #define LIS3DH_X_DIS 0 #define LIS3DH_Y_EN 1 #define LIS3DH_Y_DIS 0 #define LIS3DH_Z_EN 1 #define LIS3DH_Z_DIS 0 // Full Scale #define LIS3DH_FS_2G 0 #define LIS3DH_FS_4G 1 #define LIS3DH_FS_8G 2 #define LIS3DH_FS_16G 3 // definition for Nomalization #if OLD_REV #define LIS3DH_SENSITIVITY_2G (0.001F) #define LIS3DH_SENSITIVITY_4G (0.002F) #define LIS3DH_SENSITIVITY_8G (0.004F) #define LIS3DH_SENSITIVITY_16G (0.012F) #else #define LIS3DH_SENSITIVITY_2G 1 #define LIS3DH_SENSITIVITY_4G 2 #define LIS3DH_SENSITIVITY_8G 4 #define LIS3DH_SENSITIVITY_16G 12 #endif //Gravity at Earth's surface in m/s/s #if OLD_REV #define GRAVITY (9.80665F) #else #define GRAVITY (9.80665F / 1000) #endif /** Interface for STMicronics MEMS motion sensor: 3-axis "nano" accelerometer * Chip: LIS3DH * * @code * #include "mbed.h" * * // I2C Communication * LIS3DH acc(p_sda, p_scl, chip_addr, datarate, bandwidth, fullscale); * // If you connected I2C line not only this device but also other devices, * // you need to declare following method. * I2C i2c(dp5,dp27); // SDA, SCL * LIS3DH acc(i2c, chip_addr, datarate, bandwidth, fullscale); * * int main() { * float f[3]; * * if (acc.read_id() == I_AM_LIS3DH){ * acc.read_data(f); * } * } * @endcode */ class LIS3DH { public: /** Configure data pin * @param data SDA and SCL pins * @param device address LIS3DH(SA0=0 or 1), LIS3DH_G_CHIP_ADDR or LIS3DH_V_CHIP_ADDR * @param output data rate selection, power down mode, 1Hz to 5KHz * @param full scale selection, +/-2g to +/-16g */ LIS3DH(PinName p_sda, PinName p_scl, uint8_t addr, uint8_t data_rate, uint8_t fullscale); /** Configure data pin * @param data SDA and SCL pins * @param device address LIS3DH(SA0=0 or 1), LIS3DH_G_CHIP_ADDR or LIS3DH_V_CHIP_ADDR * @default output data rate selection = 50Hz * @default full scale selection = +/-8g */ LIS3DH(PinName p_sda, PinName p_scl, uint8_t addr); /** Configure data pin (with other devices on I2C line) * @param I2C previous definition * @param other parameters -> please see LIS3DH(PinName p_sda, PinName p_scl,...) */ LIS3DH(I2C& p_i2c, uint8_t addr, uint8_t data_rate, uint8_t fullscale); /** Configure data pin (with other devices on I2C line) * @param I2C previous definition * @param other parameters -> please see LIS3DH(PinName p_sda, PinName p_scl,...) * @default output data rate selection = 50Hz * @default full scale selection = +/-8g */ LIS3DH(I2C& p_i2c, uint8_t addr); /** Read a float type data from acc * @param float type of three arry's address, e.g. float dt_usr[3]; * @return acc motion data unit: m/s/s(m/s2) * @return dt_usr[0]->x, dt_usr[1]->y, dt_usr[2]->z */ void read_data(float *dt_usr); /** Read a float type data from acc * @param float type of three arry's address, e.g. float dt_usr[3]; * @return acc motion data unit: mg * @return dt_usr[0]->x, dt_usr[1]->y, dt_usr[2]->z */ void read_mg_data(float *dt_usr); /** Read a acc ID number * @param none * @return if STM MEMS acc, it should be I_AM_ LIS3DH(0x33) */ uint8_t read_id(); /** Read Data Ready flag * @param none * @return 1 = Ready */ uint8_t data_ready(); /** Set I2C clock frequency * @param freq. * @return none */ void frequency(int hz); /** Read register (general purpose) * @param register's address * @return register data */ uint8_t read_reg(uint8_t addr); /** Write register (general purpose) * @param register's address * @param data * @return none */ void write_reg(uint8_t addr, uint8_t data); protected: void initialize(uint8_t, uint8_t, uint8_t); void read_reg_data(char *data); I2C *_i2c_p; I2C &_i2c; private: #if OLD_REV float fs_factor; // full scale factor #else uint8_t fs_factor; // full scale factor #endif char dt[2]; // working buffer uint8_t acc_addr; // acc sensor address uint8_t acc_id; // acc ID uint8_t acc_ready; // acc is on I2C line = 1, not = 0 }; #endif // LIS3DH_H