debugging library
Fork of LIS3DH by
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?
User | Revision | Line number | New 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 | } |