Eric Tsai / LIS3DH

debugging library

Fork of LIS3DH by Kenji Arai

LIS3DH.cpp@10:18b993cca7ab, 2018-06-09 (annotated)

Committer:
electronichamsters
Date:
Sat Jun 09 09:35:25 2018 +0000
Revision:
10:18b993cca7ab
Parent:
9:c32d2b25d4c2
Child:
11:972c166f654b
Child:
12:897840b70796
debugging I2C activity

Who changed what in which revision?

UserRevisionLine numberNew contents of line
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);
electronichamsters 9:c32d2b25d4c2 27 initialize (addr, LIS3DH_DR_NR_LP_50HZ, LIS3DH_FS_8G); //tsai: change this to 10Hz, 16uA to 8uA.
electronichamsters 9:c32d2b25d4c2 28 //initialize (addr, LIS3DH_DR_NR_LP_10HZ, LIS3DH_FS_8G); //8uA consumption at 10Hz
electronichamsters 9:c32d2b25d4c2 29 // LIS3DH_DR_NR_LP_10HZ = 2
electronichamsters 9:c32d2b25d4c2 30 // LIS3DH_FS_8G = 2, full scale
kenjiArai 5:725df775f168 31 }
kenjiArai 5:725df775f168 32
kenjiArai 0:5d5aac272642 33 LIS3DH::LIS3DH (I2C& p_i2c,
kenjiArai 8:0999d25ed7bc 34 uint8_t addr, uint8_t data_rate, uint8_t fullscale)
kenjiArai 8:0999d25ed7bc 35 : _i2c(p_i2c)
kenjiArai 6:e269772dad35 36 {
kenjiArai 6:e269772dad35 37 _i2c.frequency(400000);
kenjiArai 0:5d5aac272642 38 initialize (addr, data_rate, fullscale);
kenjiArai 0:5d5aac272642 39 }
kenjiArai 0:5d5aac272642 40
kenjiArai 8:0999d25ed7bc 41 LIS3DH::LIS3DH (I2C& p_i2c, uint8_t addr)
kenjiArai 8:0999d25ed7bc 42 : _i2c(p_i2c)
kenjiArai 6:e269772dad35 43 {
kenjiArai 6:e269772dad35 44 _i2c.frequency(400000);
kenjiArai 5:725df775f168 45 initialize (addr, LIS3DH_DR_NR_LP_50HZ, LIS3DH_FS_8G);
kenjiArai 5:725df775f168 46 }
kenjiArai 5:725df775f168 47
kenjiArai 6:e269772dad35 48 void LIS3DH::initialize (uint8_t addr, uint8_t data_rate, uint8_t fullscale)
kenjiArai 6:e269772dad35 49 {
kenjiArai 0:5d5aac272642 50 // Check acc is available of not
kenjiArai 0:5d5aac272642 51 acc_addr = addr;
kenjiArai 6:e269772dad35 52 dt[0] = LIS3DH_WHO_AM_I;
kenjiArai 5:725df775f168 53 _i2c.write(acc_addr, dt, 1, true);
kenjiArai 5:725df775f168 54 _i2c.read(acc_addr, dt, 1, false);
kenjiArai 6:e269772dad35 55 if (dt[0] == I_AM_LIS3DH) {
kenjiArai 0:5d5aac272642 56 acc_ready = 1;
kenjiArai 0:5d5aac272642 57 } else {
kenjiArai 0:5d5aac272642 58 acc_ready = 0;
kenjiArai 0:5d5aac272642 59 return; // acc chip is NOT on I2C line then terminate
kenjiArai 0:5d5aac272642 60 }
kenjiArai 0:5d5aac272642 61 // Reg.1
kenjiArai 5:725df775f168 62 dt[0] = LIS3DH_CTRL_REG1;
electronichamsters 9:c32d2b25d4c2 63 dt[1] = 0x07; //0000 0111
electronichamsters 9:c32d2b25d4c2 64 dt[1] |= data_rate << 4; // 0000 0111 |= 0010 0000 ---> 0010 0111; 10Hz, high res, xyz enbabled.
electronichamsters 9:c32d2b25d4c2 65
electronichamsters 9:c32d2b25d4c2 66 //note: dt[1]=0x0F; //low resolution; @ datarate; Must also zero out CTRL_REG4[3]
electronichamsters 9:c32d2b25d4c2 67 //dt[1] = 0x07;
electronichamsters 9:c32d2b25d4c2 68 _i2c.write(acc_addr, dt, 2, false); //address, command, bytes
electronichamsters 9:c32d2b25d4c2 69
electronichamsters 9:c32d2b25d4c2 70
electronichamsters 9:c32d2b25d4c2 71
kenjiArai 6:e269772dad35 72 // Reg.4
kenjiArai 5:725df775f168 73 dt[0] = LIS3DH_CTRL_REG4;
electronichamsters 9:c32d2b25d4c2 74 dt[1] = 0x08; // High resolution //0000 1000
electronichamsters 9:c32d2b25d4c2 75 dt[1] |= fullscale << 4; //
electronichamsters 9:c32d2b25d4c2 76 //fullscale = 0000 0010
electronichamsters 9:c32d2b25d4c2 77 //fullscale << 4 = 0010 0000
electronichamsters 9:c32d2b25d4c2 78 //result of OR = 0010 1000 ---->
electronichamsters 9:c32d2b25d4c2 79 // continuous update
electronichamsters 9:c32d2b25d4c2 80 // endian, LSB @ lowest address
electronichamsters 9:c32d2b25d4c2 81 // 10 = 8G scale
electronichamsters 9:c32d2b25d4c2 82 // High resolution (10bit) ENABLED
electronichamsters 9:c32d2b25d4c2 83 // 0, 0 N/A
electronichamsters 9:c32d2b25d4c2 84
kenjiArai 5:725df775f168 85 _i2c.write(acc_addr, dt, 2, false);
electronichamsters 9:c32d2b25d4c2 86
electronichamsters 9:c32d2b25d4c2 87
electronichamsters 9:c32d2b25d4c2 88
electronichamsters 9:c32d2b25d4c2 89
electronichamsters 9:c32d2b25d4c2 90
electronichamsters 9:c32d2b25d4c2 91
kenjiArai 6:e269772dad35 92 switch (fullscale) {
kenjiArai 6:e269772dad35 93 case LIS3DH_FS_2G:
kenjiArai 6:e269772dad35 94 fs_factor = LIS3DH_SENSITIVITY_2G;
kenjiArai 6:e269772dad35 95 break;
kenjiArai 6:e269772dad35 96 case LIS3DH_FS_4G:
kenjiArai 6:e269772dad35 97 fs_factor = LIS3DH_SENSITIVITY_4G;
kenjiArai 6:e269772dad35 98 break;
kenjiArai 6:e269772dad35 99 case LIS3DH_FS_8G:
kenjiArai 6:e269772dad35 100 fs_factor = LIS3DH_SENSITIVITY_8G;
kenjiArai 6:e269772dad35 101 break;
kenjiArai 6:e269772dad35 102 case LIS3DH_FS_16G:
kenjiArai 6:e269772dad35 103 fs_factor = LIS3DH_SENSITIVITY_16G;
kenjiArai 6:e269772dad35 104 break;
kenjiArai 6:e269772dad35 105 default:
kenjiArai 6:e269772dad35 106 ;
kenjiArai 6:e269772dad35 107 }
kenjiArai 0:5d5aac272642 108 }
kenjiArai 0:5d5aac272642 109
electronichamsters 9:c32d2b25d4c2 110
electronichamsters 9:c32d2b25d4c2 111
kenjiArai 6:e269772dad35 112 void LIS3DH::read_reg_data(char *data)
kenjiArai 6:e269772dad35 113 {
kenjiArai 0:5d5aac272642 114 // X,Y & Z
kenjiArai 6:e269772dad35 115 // manual said that
kenjiArai 6:e269772dad35 116 // In order to read multiple bytes, it is necessary to assert the most significant bit
kenjiArai 6:e269772dad35 117 // of the subaddress field.
kenjiArai 6:e269772dad35 118 // In other words, SUB(7) must be equal to ‘1’ while SUB(6-0) represents the address
kenjiArai 6:e269772dad35 119 // of the first register to be read.
kenjiArai 6:e269772dad35 120 dt[0] = LIS3DH_OUT_X_L | 0x80;
kenjiArai 5:725df775f168 121 _i2c.write(acc_addr, dt, 1, true);
kenjiArai 5:725df775f168 122 _i2c.read(acc_addr, data, 6, false);
kenjiArai 0:5d5aac272642 123 }
kenjiArai 0:5d5aac272642 124
kenjiArai 6:e269772dad35 125 void LIS3DH::read_mg_data(float *dt_usr)
kenjiArai 6:e269772dad35 126 {
kenjiArai 6:e269772dad35 127 char data[6];
kenjiArai 0:5d5aac272642 128
kenjiArai 6:e269772dad35 129 if (acc_ready == 0) {
kenjiArai 5:725df775f168 130 dt_usr[0] = 0;
kenjiArai 5:725df775f168 131 dt_usr[1] = 0;
kenjiArai 5:725df775f168 132 dt_usr[2] = 0;
kenjiArai 6:e269772dad35 133 return;
kenjiArai 0:5d5aac272642 134 }
kenjiArai 0:5d5aac272642 135 read_reg_data(data);
kenjiArai 0:5d5aac272642 136 // change data type
kenjiArai 7:50ac3372def2 137 #if OLD_REV // Fixed bugs -> (1) unit is not mg but g (2) shift right 4bit = /16
kenjiArai 5:725df775f168 138 dt_usr[0] = float(short((data[1] << 8) | data[0])) * fs_factor / 15;
kenjiArai 5:725df775f168 139 dt_usr[1] = float(short((data[3] << 8) | data[2])) * fs_factor / 15;
kenjiArai 5:725df775f168 140 dt_usr[2] = float(short((data[5] << 8) | data[4])) * fs_factor / 15;
kenjiArai 7:50ac3372def2 141 #else
kenjiArai 7:50ac3372def2 142 dt_usr[0] = float(short((data[1] << 8) | data[0]) >> 4) * fs_factor;
kenjiArai 7:50ac3372def2 143 dt_usr[1] = float(short((data[3] << 8) | data[2]) >> 4) * fs_factor;
kenjiArai 7:50ac3372def2 144 dt_usr[2] = float(short((data[5] << 8) | data[4]) >> 4) * fs_factor;
kenjiArai 7:50ac3372def2 145 #endif
kenjiArai 0:5d5aac272642 146 }
kenjiArai 0:5d5aac272642 147
kenjiArai 6:e269772dad35 148 void LIS3DH::read_data(float *dt_usr)
kenjiArai 6:e269772dad35 149 {
kenjiArai 6:e269772dad35 150 char data[6];
kenjiArai 6:e269772dad35 151
kenjiArai 6:e269772dad35 152 if (acc_ready == 0) {
kenjiArai 5:725df775f168 153 dt_usr[0] = 0;
kenjiArai 5:725df775f168 154 dt_usr[1] = 0;
kenjiArai 5:725df775f168 155 dt_usr[2] = 0;
kenjiArai 6:e269772dad35 156 return;
kenjiArai 0:5d5aac272642 157 }
kenjiArai 0:5d5aac272642 158 read_reg_data(data);
kenjiArai 0:5d5aac272642 159 // change data type
kenjiArai 7:50ac3372def2 160 #if OLD_REV // Fixed bugs -> shift right 4bit = /16 (not /15)
kenjiArai 5:725df775f168 161 dt_usr[0] = float(short((data[1] << 8) | data[0])) * fs_factor / 15 * GRAVITY;
kenjiArai 5:725df775f168 162 dt_usr[1] = float(short((data[3] << 8) | data[2])) * fs_factor / 15 * GRAVITY;
kenjiArai 5:725df775f168 163 dt_usr[2] = float(short((data[5] << 8) | data[4])) * fs_factor / 15 * GRAVITY;
kenjiArai 7:50ac3372def2 164 #else
kenjiArai 7:50ac3372def2 165 dt_usr[0] = float(short((data[1] << 8) | data[0]) >> 4) * fs_factor * GRAVITY;
kenjiArai 7:50ac3372def2 166 dt_usr[1] = float(short((data[3] << 8) | data[2]) >> 4) * fs_factor * GRAVITY;
kenjiArai 7:50ac3372def2 167 dt_usr[2] = float(short((data[5] << 8) | data[4]) >> 4) * fs_factor * GRAVITY;
kenjiArai 7:50ac3372def2 168 #endif
kenjiArai 0:5d5aac272642 169 }
kenjiArai 0:5d5aac272642 170
kenjiArai 6:e269772dad35 171 uint8_t LIS3DH::read_id()
kenjiArai 6:e269772dad35 172 {
kenjiArai 6:e269772dad35 173 dt[0] = LIS3DH_WHO_AM_I;
kenjiArai 5:725df775f168 174 _i2c.write(acc_addr, dt, 1, true);
kenjiArai 5:725df775f168 175 _i2c.read(acc_addr, dt, 1, false);
kenjiArai 5:725df775f168 176 return (uint8_t)dt[0];
kenjiArai 0:5d5aac272642 177 }
kenjiArai 0:5d5aac272642 178
kenjiArai 6:e269772dad35 179 uint8_t LIS3DH::data_ready()
kenjiArai 6:e269772dad35 180 {
kenjiArai 6:e269772dad35 181 if (acc_ready == 1) {
kenjiArai 6:e269772dad35 182 dt[0] = LIS3DH_STATUS_REG_AUX;
kenjiArai 6:e269772dad35 183 _i2c.write(acc_addr, dt, 1, true);
kenjiArai 5:725df775f168 184 _i2c.read(acc_addr, dt, 1, false);
kenjiArai 6:e269772dad35 185 if (!(dt[0] & 0x01)) {
kenjiArai 0:5d5aac272642 186 return 0;
kenjiArai 0:5d5aac272642 187 }
kenjiArai 0:5d5aac272642 188 }
kenjiArai 0:5d5aac272642 189 return 1;
kenjiArai 0:5d5aac272642 190 }
kenjiArai 0:5d5aac272642 191
kenjiArai 6:e269772dad35 192 void LIS3DH::frequency(int hz)
kenjiArai 6:e269772dad35 193 {
kenjiArai 5:725df775f168 194 _i2c.frequency(hz);
kenjiArai 1:d4d569952436 195 }
kenjiArai 1:d4d569952436 196
kenjiArai 6:e269772dad35 197 uint8_t LIS3DH::read_reg(uint8_t addr)
kenjiArai 6:e269772dad35 198 {
kenjiArai 6:e269772dad35 199 if (acc_ready == 1) {
kenjiArai 6:e269772dad35 200 dt[0] = addr;
kenjiArai 6:e269772dad35 201 _i2c.write(acc_addr, dt, 1, true);
kenjiArai 5:725df775f168 202 _i2c.read(acc_addr, dt, 1, false);
kenjiArai 0:5d5aac272642 203 } else {
kenjiArai 5:725df775f168 204 dt[0] = 0xff;
kenjiArai 0:5d5aac272642 205 }
kenjiArai 5:725df775f168 206 return (uint8_t)dt[0];
kenjiArai 0:5d5aac272642 207 }
kenjiArai 0:5d5aac272642 208
kenjiArai 6:e269772dad35 209 void LIS3DH::write_reg(uint8_t addr, uint8_t data)
kenjiArai 6:e269772dad35 210 {
kenjiArai 6:e269772dad35 211 if (acc_ready == 1) {
kenjiArai 5:725df775f168 212 dt[0] = addr;
kenjiArai 6:e269772dad35 213 dt[1] = data;
kenjiArai 6:e269772dad35 214 _i2c.write(acc_addr, dt, 2, false);
kenjiArai 0:5d5aac272642 215 }
kenjiArai 0:5d5aac272642 216 }
kenjiArai 8:0999d25ed7bc 217
electronichamsters 9:c32d2b25d4c2 218 uint8_t LIS3DH::setAct(uint8_t addr)
electronichamsters 9:c32d2b25d4c2 219 {
electronichamsters 9:c32d2b25d4c2 220 uint8_t ret_val;
electronichamsters 9:c32d2b25d4c2 221
electronichamsters 9:c32d2b25d4c2 222 // Check acc is available of not
electronichamsters 9:c32d2b25d4c2 223 acc_addr = addr;
electronichamsters 9:c32d2b25d4c2 224 dt[0] = LIS3DH_WHO_AM_I;
electronichamsters 9:c32d2b25d4c2 225 _i2c.write(acc_addr, dt, 1, true);
electronichamsters 9:c32d2b25d4c2 226 _i2c.read(acc_addr, dt, 1, false);
electronichamsters 9:c32d2b25d4c2 227 if (dt[0] == I_AM_LIS3DH) {
electronichamsters 9:c32d2b25d4c2 228 acc_ready = 1;
electronichamsters 9:c32d2b25d4c2 229 ret_val=1;
electronichamsters 9:c32d2b25d4c2 230 } else {
electronichamsters 9:c32d2b25d4c2 231 acc_ready = 0;
electronichamsters 9:c32d2b25d4c2 232 ret_val=2;
electronichamsters 9:c32d2b25d4c2 233 return ret_val; // acc chip is NOT on I2C line then terminate
electronichamsters 9:c32d2b25d4c2 234 }
electronichamsters 9:c32d2b25d4c2 235
electronichamsters 9:c32d2b25d4c2 236 //Tsai: add INT
electronichamsters 9:c32d2b25d4c2 237 //tsai: reg. INT1_CFG
electronichamsters 9:c32d2b25d4c2 238 dt[0] = LIS3DH_INT1_CFG;
electronichamsters 10:18b993cca7ab 239 dt[1] = 0x7f; // 0111 1111 = movement in all xyz
electronichamsters 9:c32d2b25d4c2 240 _i2c.write(acc_addr, dt, 2, false);
electronichamsters 9:c32d2b25d4c2 241
electronichamsters 9:c32d2b25d4c2 242
electronichamsters 9:c32d2b25d4c2 243 //tsai: reg. LIS3DH_INT1_THS
electronichamsters 9:c32d2b25d4c2 244 dt[0] = LIS3DH_INT1_THS;
electronichamsters 9:c32d2b25d4c2 245 //0-127; I was at 10 out of 127 @ 16mg LSB;
electronichamsters 9:c32d2b25d4c2 246 dt[1] = 0x02; // 0000 0010 //62mg @ 8g full scale; want 38 ==
electronichamsters 9:c32d2b25d4c2 247 _i2c.write(acc_addr, dt, 2, false);
electronichamsters 9:c32d2b25d4c2 248
electronichamsters 9:c32d2b25d4c2 249 /*
electronichamsters 9:c32d2b25d4c2 250 //tsai: reg. INT1_DURATION
electronichamsters 9:c32d2b25d4c2 251 dt[0] = LIS3DH_INT1_DURATION;
electronichamsters 9:c32d2b25d4c2 252 dt[1] = 0x01; // short?
electronichamsters 9:c32d2b25d4c2 253 _i2c.write(acc_addr, dt, 2, false);
electronichamsters 9:c32d2b25d4c2 254 */
electronichamsters 9:c32d2b25d4c2 255 return ret_val;
electronichamsters 9:c32d2b25d4c2 256 }