LIS3DH / STMicroelectronics / MEMS motion sensor, 3-axis accelerometer library
LIS3DH.cpp@8:0999d25ed7bc, 2017-08-23 (annotated)
- Committer:
- kenjiArai
- Date:
- Wed Aug 23 09:26:06 2017 +0000
- Revision:
- 8:0999d25ed7bc
- Parent:
- 7:50ac3372def2
countermeasure for NonCopyable
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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kenjiArai | 0:5d5aac272642 | 1 | /* |
kenjiArai | 6:e269772dad35 | 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 | 8:0999d25ed7bc | 6 | * Copyright (c) 2014,'15,'17 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 | 8:0999d25ed7bc | 9 | * Created: July 14th, 2014 |
kenjiArai | 8:0999d25ed7bc | 10 | * Revised: August 23rd, 2017 |
kenjiArai | 0:5d5aac272642 | 11 | */ |
kenjiArai | 0:5d5aac272642 | 12 | |
kenjiArai | 0:5d5aac272642 | 13 | #include "LIS3DH.h" |
kenjiArai | 0:5d5aac272642 | 14 | |
kenjiArai | 0:5d5aac272642 | 15 | LIS3DH::LIS3DH (PinName p_sda, PinName p_scl, |
kenjiArai | 8:0999d25ed7bc | 16 | uint8_t addr, uint8_t data_rate, uint8_t fullscale) |
kenjiArai | 8:0999d25ed7bc | 17 | : _i2c_p(new I2C(p_sda, p_scl)), _i2c(*_i2c_p) |
kenjiArai | 6:e269772dad35 | 18 | { |
kenjiArai | 6:e269772dad35 | 19 | _i2c.frequency(400000); |
kenjiArai | 0:5d5aac272642 | 20 | initialize (addr, data_rate, fullscale); |
kenjiArai | 0:5d5aac272642 | 21 | } |
kenjiArai | 0:5d5aac272642 | 22 | |
kenjiArai | 8:0999d25ed7bc | 23 | LIS3DH::LIS3DH (PinName p_sda, PinName p_scl, uint8_t addr) |
kenjiArai | 8:0999d25ed7bc | 24 | : _i2c_p(new I2C(p_sda, p_scl)), _i2c(*_i2c_p) |
kenjiArai | 6:e269772dad35 | 25 | { |
kenjiArai | 6:e269772dad35 | 26 | _i2c.frequency(400000); |
kenjiArai | 5:725df775f168 | 27 | initialize (addr, LIS3DH_DR_NR_LP_50HZ, LIS3DH_FS_8G); |
kenjiArai | 5:725df775f168 | 28 | } |
kenjiArai | 5:725df775f168 | 29 | |
kenjiArai | 0:5d5aac272642 | 30 | LIS3DH::LIS3DH (I2C& p_i2c, |
kenjiArai | 8:0999d25ed7bc | 31 | uint8_t addr, uint8_t data_rate, uint8_t fullscale) |
kenjiArai | 8:0999d25ed7bc | 32 | : _i2c(p_i2c) |
kenjiArai | 6:e269772dad35 | 33 | { |
kenjiArai | 6:e269772dad35 | 34 | _i2c.frequency(400000); |
kenjiArai | 0:5d5aac272642 | 35 | initialize (addr, data_rate, fullscale); |
kenjiArai | 0:5d5aac272642 | 36 | } |
kenjiArai | 0:5d5aac272642 | 37 | |
kenjiArai | 8:0999d25ed7bc | 38 | LIS3DH::LIS3DH (I2C& p_i2c, uint8_t addr) |
kenjiArai | 8:0999d25ed7bc | 39 | : _i2c(p_i2c) |
kenjiArai | 6:e269772dad35 | 40 | { |
kenjiArai | 6:e269772dad35 | 41 | _i2c.frequency(400000); |
kenjiArai | 5:725df775f168 | 42 | initialize (addr, LIS3DH_DR_NR_LP_50HZ, LIS3DH_FS_8G); |
kenjiArai | 5:725df775f168 | 43 | } |
kenjiArai | 5:725df775f168 | 44 | |
kenjiArai | 6:e269772dad35 | 45 | void LIS3DH::initialize (uint8_t addr, uint8_t data_rate, uint8_t fullscale) |
kenjiArai | 6:e269772dad35 | 46 | { |
kenjiArai | 0:5d5aac272642 | 47 | // Check acc is available of not |
kenjiArai | 0:5d5aac272642 | 48 | acc_addr = addr; |
kenjiArai | 6:e269772dad35 | 49 | dt[0] = LIS3DH_WHO_AM_I; |
kenjiArai | 5:725df775f168 | 50 | _i2c.write(acc_addr, dt, 1, true); |
kenjiArai | 5:725df775f168 | 51 | _i2c.read(acc_addr, dt, 1, false); |
kenjiArai | 6:e269772dad35 | 52 | if (dt[0] == I_AM_LIS3DH) { |
kenjiArai | 0:5d5aac272642 | 53 | acc_ready = 1; |
kenjiArai | 0:5d5aac272642 | 54 | } else { |
kenjiArai | 0:5d5aac272642 | 55 | acc_ready = 0; |
kenjiArai | 0:5d5aac272642 | 56 | return; // acc chip is NOT on I2C line then terminate |
kenjiArai | 0:5d5aac272642 | 57 | } |
kenjiArai | 0:5d5aac272642 | 58 | // Reg.1 |
kenjiArai | 5:725df775f168 | 59 | dt[0] = LIS3DH_CTRL_REG1; |
kenjiArai | 5:725df775f168 | 60 | dt[1] = 0x07; |
kenjiArai | 5:725df775f168 | 61 | dt[1] |= data_rate << 4; |
kenjiArai | 5:725df775f168 | 62 | _i2c.write(acc_addr, dt, 2, false); |
kenjiArai | 6:e269772dad35 | 63 | // Reg.4 |
kenjiArai | 5:725df775f168 | 64 | dt[0] = LIS3DH_CTRL_REG4; |
kenjiArai | 5:725df775f168 | 65 | dt[1] = 0x08; // High resolution |
kenjiArai | 5:725df775f168 | 66 | dt[1] |= fullscale << 4; |
kenjiArai | 5:725df775f168 | 67 | _i2c.write(acc_addr, dt, 2, false); |
kenjiArai | 6:e269772dad35 | 68 | switch (fullscale) { |
kenjiArai | 6:e269772dad35 | 69 | case LIS3DH_FS_2G: |
kenjiArai | 6:e269772dad35 | 70 | fs_factor = LIS3DH_SENSITIVITY_2G; |
kenjiArai | 6:e269772dad35 | 71 | break; |
kenjiArai | 6:e269772dad35 | 72 | case LIS3DH_FS_4G: |
kenjiArai | 6:e269772dad35 | 73 | fs_factor = LIS3DH_SENSITIVITY_4G; |
kenjiArai | 6:e269772dad35 | 74 | break; |
kenjiArai | 6:e269772dad35 | 75 | case LIS3DH_FS_8G: |
kenjiArai | 6:e269772dad35 | 76 | fs_factor = LIS3DH_SENSITIVITY_8G; |
kenjiArai | 6:e269772dad35 | 77 | break; |
kenjiArai | 6:e269772dad35 | 78 | case LIS3DH_FS_16G: |
kenjiArai | 6:e269772dad35 | 79 | fs_factor = LIS3DH_SENSITIVITY_16G; |
kenjiArai | 6:e269772dad35 | 80 | break; |
kenjiArai | 6:e269772dad35 | 81 | default: |
kenjiArai | 6:e269772dad35 | 82 | ; |
kenjiArai | 6:e269772dad35 | 83 | } |
kenjiArai | 0:5d5aac272642 | 84 | } |
kenjiArai | 0:5d5aac272642 | 85 | |
kenjiArai | 6:e269772dad35 | 86 | void LIS3DH::read_reg_data(char *data) |
kenjiArai | 6:e269772dad35 | 87 | { |
kenjiArai | 0:5d5aac272642 | 88 | // X,Y & Z |
kenjiArai | 6:e269772dad35 | 89 | // manual said that |
kenjiArai | 6:e269772dad35 | 90 | // In order to read multiple bytes, it is necessary to assert the most significant bit |
kenjiArai | 6:e269772dad35 | 91 | // of the subaddress field. |
kenjiArai | 6:e269772dad35 | 92 | // In other words, SUB(7) must be equal to ‘1’ while SUB(6-0) represents the address |
kenjiArai | 6:e269772dad35 | 93 | // of the first register to be read. |
kenjiArai | 6:e269772dad35 | 94 | dt[0] = LIS3DH_OUT_X_L | 0x80; |
kenjiArai | 5:725df775f168 | 95 | _i2c.write(acc_addr, dt, 1, true); |
kenjiArai | 5:725df775f168 | 96 | _i2c.read(acc_addr, data, 6, false); |
kenjiArai | 0:5d5aac272642 | 97 | } |
kenjiArai | 0:5d5aac272642 | 98 | |
kenjiArai | 6:e269772dad35 | 99 | void LIS3DH::read_mg_data(float *dt_usr) |
kenjiArai | 6:e269772dad35 | 100 | { |
kenjiArai | 6:e269772dad35 | 101 | char data[6]; |
kenjiArai | 0:5d5aac272642 | 102 | |
kenjiArai | 6:e269772dad35 | 103 | if (acc_ready == 0) { |
kenjiArai | 5:725df775f168 | 104 | dt_usr[0] = 0; |
kenjiArai | 5:725df775f168 | 105 | dt_usr[1] = 0; |
kenjiArai | 5:725df775f168 | 106 | dt_usr[2] = 0; |
kenjiArai | 6:e269772dad35 | 107 | return; |
kenjiArai | 0:5d5aac272642 | 108 | } |
kenjiArai | 0:5d5aac272642 | 109 | read_reg_data(data); |
kenjiArai | 0:5d5aac272642 | 110 | // change data type |
kenjiArai | 7:50ac3372def2 | 111 | #if OLD_REV // Fixed bugs -> (1) unit is not mg but g (2) shift right 4bit = /16 |
kenjiArai | 5:725df775f168 | 112 | dt_usr[0] = float(short((data[1] << 8) | data[0])) * fs_factor / 15; |
kenjiArai | 5:725df775f168 | 113 | dt_usr[1] = float(short((data[3] << 8) | data[2])) * fs_factor / 15; |
kenjiArai | 5:725df775f168 | 114 | dt_usr[2] = float(short((data[5] << 8) | data[4])) * fs_factor / 15; |
kenjiArai | 7:50ac3372def2 | 115 | #else |
kenjiArai | 7:50ac3372def2 | 116 | dt_usr[0] = float(short((data[1] << 8) | data[0]) >> 4) * fs_factor; |
kenjiArai | 7:50ac3372def2 | 117 | dt_usr[1] = float(short((data[3] << 8) | data[2]) >> 4) * fs_factor; |
kenjiArai | 7:50ac3372def2 | 118 | dt_usr[2] = float(short((data[5] << 8) | data[4]) >> 4) * fs_factor; |
kenjiArai | 7:50ac3372def2 | 119 | #endif |
kenjiArai | 0:5d5aac272642 | 120 | } |
kenjiArai | 0:5d5aac272642 | 121 | |
kenjiArai | 6:e269772dad35 | 122 | void LIS3DH::read_data(float *dt_usr) |
kenjiArai | 6:e269772dad35 | 123 | { |
kenjiArai | 6:e269772dad35 | 124 | char data[6]; |
kenjiArai | 6:e269772dad35 | 125 | |
kenjiArai | 6:e269772dad35 | 126 | if (acc_ready == 0) { |
kenjiArai | 5:725df775f168 | 127 | dt_usr[0] = 0; |
kenjiArai | 5:725df775f168 | 128 | dt_usr[1] = 0; |
kenjiArai | 5:725df775f168 | 129 | dt_usr[2] = 0; |
kenjiArai | 6:e269772dad35 | 130 | return; |
kenjiArai | 0:5d5aac272642 | 131 | } |
kenjiArai | 0:5d5aac272642 | 132 | read_reg_data(data); |
kenjiArai | 0:5d5aac272642 | 133 | // change data type |
kenjiArai | 7:50ac3372def2 | 134 | #if OLD_REV // Fixed bugs -> shift right 4bit = /16 (not /15) |
kenjiArai | 5:725df775f168 | 135 | dt_usr[0] = float(short((data[1] << 8) | data[0])) * fs_factor / 15 * GRAVITY; |
kenjiArai | 5:725df775f168 | 136 | dt_usr[1] = float(short((data[3] << 8) | data[2])) * fs_factor / 15 * GRAVITY; |
kenjiArai | 5:725df775f168 | 137 | dt_usr[2] = float(short((data[5] << 8) | data[4])) * fs_factor / 15 * GRAVITY; |
kenjiArai | 7:50ac3372def2 | 138 | #else |
kenjiArai | 7:50ac3372def2 | 139 | dt_usr[0] = float(short((data[1] << 8) | data[0]) >> 4) * fs_factor * GRAVITY; |
kenjiArai | 7:50ac3372def2 | 140 | dt_usr[1] = float(short((data[3] << 8) | data[2]) >> 4) * fs_factor * GRAVITY; |
kenjiArai | 7:50ac3372def2 | 141 | dt_usr[2] = float(short((data[5] << 8) | data[4]) >> 4) * fs_factor * GRAVITY; |
kenjiArai | 7:50ac3372def2 | 142 | #endif |
kenjiArai | 0:5d5aac272642 | 143 | } |
kenjiArai | 0:5d5aac272642 | 144 | |
kenjiArai | 6:e269772dad35 | 145 | uint8_t LIS3DH::read_id() |
kenjiArai | 6:e269772dad35 | 146 | { |
kenjiArai | 6:e269772dad35 | 147 | dt[0] = LIS3DH_WHO_AM_I; |
kenjiArai | 5:725df775f168 | 148 | _i2c.write(acc_addr, dt, 1, true); |
kenjiArai | 5:725df775f168 | 149 | _i2c.read(acc_addr, dt, 1, false); |
kenjiArai | 5:725df775f168 | 150 | return (uint8_t)dt[0]; |
kenjiArai | 0:5d5aac272642 | 151 | } |
kenjiArai | 0:5d5aac272642 | 152 | |
kenjiArai | 6:e269772dad35 | 153 | uint8_t LIS3DH::data_ready() |
kenjiArai | 6:e269772dad35 | 154 | { |
kenjiArai | 6:e269772dad35 | 155 | if (acc_ready == 1) { |
kenjiArai | 6:e269772dad35 | 156 | dt[0] = LIS3DH_STATUS_REG_AUX; |
kenjiArai | 6:e269772dad35 | 157 | _i2c.write(acc_addr, dt, 1, true); |
kenjiArai | 5:725df775f168 | 158 | _i2c.read(acc_addr, dt, 1, false); |
kenjiArai | 6:e269772dad35 | 159 | if (!(dt[0] & 0x01)) { |
kenjiArai | 0:5d5aac272642 | 160 | return 0; |
kenjiArai | 0:5d5aac272642 | 161 | } |
kenjiArai | 0:5d5aac272642 | 162 | } |
kenjiArai | 0:5d5aac272642 | 163 | return 1; |
kenjiArai | 0:5d5aac272642 | 164 | } |
kenjiArai | 0:5d5aac272642 | 165 | |
kenjiArai | 6:e269772dad35 | 166 | void LIS3DH::frequency(int hz) |
kenjiArai | 6:e269772dad35 | 167 | { |
kenjiArai | 5:725df775f168 | 168 | _i2c.frequency(hz); |
kenjiArai | 1:d4d569952436 | 169 | } |
kenjiArai | 1:d4d569952436 | 170 | |
kenjiArai | 6:e269772dad35 | 171 | uint8_t LIS3DH::read_reg(uint8_t addr) |
kenjiArai | 6:e269772dad35 | 172 | { |
kenjiArai | 6:e269772dad35 | 173 | if (acc_ready == 1) { |
kenjiArai | 6:e269772dad35 | 174 | dt[0] = addr; |
kenjiArai | 6:e269772dad35 | 175 | _i2c.write(acc_addr, dt, 1, true); |
kenjiArai | 5:725df775f168 | 176 | _i2c.read(acc_addr, dt, 1, false); |
kenjiArai | 0:5d5aac272642 | 177 | } else { |
kenjiArai | 5:725df775f168 | 178 | dt[0] = 0xff; |
kenjiArai | 0:5d5aac272642 | 179 | } |
kenjiArai | 5:725df775f168 | 180 | return (uint8_t)dt[0]; |
kenjiArai | 0:5d5aac272642 | 181 | } |
kenjiArai | 0:5d5aac272642 | 182 | |
kenjiArai | 6:e269772dad35 | 183 | void LIS3DH::write_reg(uint8_t addr, uint8_t data) |
kenjiArai | 6:e269772dad35 | 184 | { |
kenjiArai | 6:e269772dad35 | 185 | if (acc_ready == 1) { |
kenjiArai | 5:725df775f168 | 186 | dt[0] = addr; |
kenjiArai | 6:e269772dad35 | 187 | dt[1] = data; |
kenjiArai | 6:e269772dad35 | 188 | _i2c.write(acc_addr, dt, 2, false); |
kenjiArai | 0:5d5aac272642 | 189 | } |
kenjiArai | 0:5d5aac272642 | 190 | } |
kenjiArai | 8:0999d25ed7bc | 191 | |
kenjiArai | 8:0999d25ed7bc | 192 |