Eric Tsai / LIS3DH

debugging library

Fork of LIS3DH by Kenji Arai

LIS3DH.cpp@11:972c166f654b, 2018-06-19 (annotated)

Committer:
electronichamsters
Date:
Tue Jun 19 03:37:58 2018 +0000
Revision:
11:972c166f654b
Parent:
10:18b993cca7ab 
added threshold interrupt

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kenjiArai 0:5d5aac272642 1 /*
electronichamsters 11:972c166f654b 2 * 2018: Eric Tsai's Modifications of Kenji Arai's original LIS3DH library
electronichamsters 11:972c166f654b 3 * modified <initialize> and added threshold <setAct> call
electronichamsters 11:972c166f654b 4 *
electronichamsters 11:972c166f654b 5 *
kenjiArai 6:e269772dad35 6 * mbed library program
kenjiArai 0:5d5aac272642 7 * LIS3DH MEMS motion sensor: 3-axis "nano" accelerometer, made by STMicroelectronics
kenjiArai 0:5d5aac272642 8 * http://www.st-japan.co.jp/web/jp/catalog/sense_power/FM89/SC444/PF250725
kenjiArai 0:5d5aac272642 9 *
kenjiArai 8:0999d25ed7bc 10 * Copyright (c) 2014,'15,'17 Kenji Arai / JH1PJL
kenjiArai 0:5d5aac272642 11 * http://www.page.sannet.ne.jp/kenjia/index.html
kenjiArai 0:5d5aac272642 12 * http://mbed.org/users/kenjiArai/
kenjiArai 8:0999d25ed7bc 13 * Created: July 14th, 2014
kenjiArai 8:0999d25ed7bc 14 * Revised: August 23rd, 2017
kenjiArai 0:5d5aac272642 15 */
kenjiArai 0:5d5aac272642 16
kenjiArai 0:5d5aac272642 17 #include "LIS3DH.h"
kenjiArai 0:5d5aac272642 18
kenjiArai 0:5d5aac272642 19 LIS3DH::LIS3DH (PinName p_sda, PinName p_scl,
kenjiArai 8:0999d25ed7bc 20 uint8_t addr, uint8_t data_rate, uint8_t fullscale)
kenjiArai 8:0999d25ed7bc 21 : _i2c_p(new I2C(p_sda, p_scl)), _i2c(*_i2c_p)
kenjiArai 6:e269772dad35 22 {
kenjiArai 6:e269772dad35 23 _i2c.frequency(400000);
kenjiArai 0:5d5aac272642 24 initialize (addr, data_rate, fullscale);
kenjiArai 0:5d5aac272642 25 }
kenjiArai 0:5d5aac272642 26
kenjiArai 8:0999d25ed7bc 27 LIS3DH::LIS3DH (PinName p_sda, PinName p_scl, uint8_t addr)
kenjiArai 8:0999d25ed7bc 28 : _i2c_p(new I2C(p_sda, p_scl)), _i2c(*_i2c_p)
kenjiArai 6:e269772dad35 29 {
kenjiArai 6:e269772dad35 30 _i2c.frequency(400000);
electronichamsters 11:972c166f654b 31 //initialize (addr, LIS3DH_DR_NR_LP_50HZ, LIS3DH_FS_8G); //tsai: change this to 10Hz, 16uA to 8uA.
electronichamsters 11:972c166f654b 32 //itialize (addr, LIS3DH_DR_NR_LP_10HZ, LIS3DH_FS_8G); //8uA consumption at 10Hz
electronichamsters 11:972c166f654b 33
electronichamsters 11:972c166f654b 34 initialize (addr, LIS3DH_DR_NR_LP_10HZ, LIS3DH_FS_2G); //8uA @ 10Hz, 2G scale, really sensitive.
electronichamsters 9:c32d2b25d4c2 35 // LIS3DH_DR_NR_LP_10HZ = 2
electronichamsters 9:c32d2b25d4c2 36 // LIS3DH_FS_8G = 2, full scale
kenjiArai 5:725df775f168 37 }
kenjiArai 5:725df775f168 38
kenjiArai 0:5d5aac272642 39 LIS3DH::LIS3DH (I2C& p_i2c,
kenjiArai 8:0999d25ed7bc 40 uint8_t addr, uint8_t data_rate, uint8_t fullscale)
kenjiArai 8:0999d25ed7bc 41 : _i2c(p_i2c)
kenjiArai 6:e269772dad35 42 {
kenjiArai 6:e269772dad35 43 _i2c.frequency(400000);
kenjiArai 0:5d5aac272642 44 initialize (addr, data_rate, fullscale);
kenjiArai 0:5d5aac272642 45 }
kenjiArai 0:5d5aac272642 46
kenjiArai 8:0999d25ed7bc 47 LIS3DH::LIS3DH (I2C& p_i2c, uint8_t addr)
kenjiArai 8:0999d25ed7bc 48 : _i2c(p_i2c)
kenjiArai 6:e269772dad35 49 {
kenjiArai 6:e269772dad35 50 _i2c.frequency(400000);
kenjiArai 5:725df775f168 51 initialize (addr, LIS3DH_DR_NR_LP_50HZ, LIS3DH_FS_8G);
kenjiArai 5:725df775f168 52 }
kenjiArai 5:725df775f168 53
kenjiArai 6:e269772dad35 54 void LIS3DH::initialize (uint8_t addr, uint8_t data_rate, uint8_t fullscale)
kenjiArai 6:e269772dad35 55 {
kenjiArai 0:5d5aac272642 56 // Check acc is available of not
kenjiArai 0:5d5aac272642 57 acc_addr = addr;
kenjiArai 6:e269772dad35 58 dt[0] = LIS3DH_WHO_AM_I;
kenjiArai 5:725df775f168 59 _i2c.write(acc_addr, dt, 1, true);
kenjiArai 5:725df775f168 60 _i2c.read(acc_addr, dt, 1, false);
kenjiArai 6:e269772dad35 61 if (dt[0] == I_AM_LIS3DH) {
kenjiArai 0:5d5aac272642 62 acc_ready = 1;
kenjiArai 0:5d5aac272642 63 } else {
kenjiArai 0:5d5aac272642 64 acc_ready = 0;
kenjiArai 0:5d5aac272642 65 return; // acc chip is NOT on I2C line then terminate
kenjiArai 0:5d5aac272642 66 }
kenjiArai 0:5d5aac272642 67 // Reg.1
kenjiArai 5:725df775f168 68 dt[0] = LIS3DH_CTRL_REG1;
electronichamsters 9:c32d2b25d4c2 69 dt[1] = 0x07; //0000 0111
electronichamsters 9:c32d2b25d4c2 70 dt[1] |= data_rate << 4; // 0000 0111 |= 0010 0000 ---> 0010 0111; 10Hz, high res, xyz enbabled.
electronichamsters 9:c32d2b25d4c2 71
electronichamsters 9:c32d2b25d4c2 72 //note: dt[1]=0x0F; //low resolution; @ datarate; Must also zero out CTRL_REG4[3]
electronichamsters 9:c32d2b25d4c2 73 //dt[1] = 0x07;
electronichamsters 9:c32d2b25d4c2 74 _i2c.write(acc_addr, dt, 2, false); //address, command, bytes
electronichamsters 9:c32d2b25d4c2 75
electronichamsters 9:c32d2b25d4c2 76
electronichamsters 9:c32d2b25d4c2 77
kenjiArai 6:e269772dad35 78 // Reg.4
kenjiArai 5:725df775f168 79 dt[0] = LIS3DH_CTRL_REG4;
electronichamsters 9:c32d2b25d4c2 80 dt[1] = 0x08; // High resolution //0000 1000
electronichamsters 9:c32d2b25d4c2 81 dt[1] |= fullscale << 4; //
electronichamsters 9:c32d2b25d4c2 82 //fullscale = 0000 0010
electronichamsters 9:c32d2b25d4c2 83 //fullscale << 4 = 0010 0000
electronichamsters 9:c32d2b25d4c2 84 //result of OR = 0010 1000 ---->
electronichamsters 9:c32d2b25d4c2 85 // continuous update
electronichamsters 9:c32d2b25d4c2 86 // endian, LSB @ lowest address
electronichamsters 9:c32d2b25d4c2 87 // 10 = 8G scale
electronichamsters 9:c32d2b25d4c2 88 // High resolution (10bit) ENABLED
electronichamsters 9:c32d2b25d4c2 89 // 0, 0 N/A
electronichamsters 9:c32d2b25d4c2 90
kenjiArai 5:725df775f168 91 _i2c.write(acc_addr, dt, 2, false);
electronichamsters 9:c32d2b25d4c2 92
electronichamsters 9:c32d2b25d4c2 93
electronichamsters 9:c32d2b25d4c2 94
electronichamsters 9:c32d2b25d4c2 95
electronichamsters 9:c32d2b25d4c2 96
electronichamsters 9:c32d2b25d4c2 97
kenjiArai 6:e269772dad35 98 switch (fullscale) {
kenjiArai 6:e269772dad35 99 case LIS3DH_FS_2G:
kenjiArai 6:e269772dad35 100 fs_factor = LIS3DH_SENSITIVITY_2G;
kenjiArai 6:e269772dad35 101 break;
kenjiArai 6:e269772dad35 102 case LIS3DH_FS_4G:
kenjiArai 6:e269772dad35 103 fs_factor = LIS3DH_SENSITIVITY_4G;
kenjiArai 6:e269772dad35 104 break;
kenjiArai 6:e269772dad35 105 case LIS3DH_FS_8G:
kenjiArai 6:e269772dad35 106 fs_factor = LIS3DH_SENSITIVITY_8G;
kenjiArai 6:e269772dad35 107 break;
kenjiArai 6:e269772dad35 108 case LIS3DH_FS_16G:
kenjiArai 6:e269772dad35 109 fs_factor = LIS3DH_SENSITIVITY_16G;
kenjiArai 6:e269772dad35 110 break;
kenjiArai 6:e269772dad35 111 default:
kenjiArai 6:e269772dad35 112 ;
kenjiArai 6:e269772dad35 113 }
kenjiArai 0:5d5aac272642 114 }
kenjiArai 0:5d5aac272642 115
electronichamsters 9:c32d2b25d4c2 116
electronichamsters 9:c32d2b25d4c2 117
kenjiArai 6:e269772dad35 118 void LIS3DH::read_reg_data(char *data)
kenjiArai 6:e269772dad35 119 {
kenjiArai 0:5d5aac272642 120 // X,Y & Z
kenjiArai 6:e269772dad35 121 // manual said that
kenjiArai 6:e269772dad35 122 // In order to read multiple bytes, it is necessary to assert the most significant bit
kenjiArai 6:e269772dad35 123 // of the subaddress field.
kenjiArai 6:e269772dad35 124 // In other words, SUB(7) must be equal to ‘1’ while SUB(6-0) represents the address
kenjiArai 6:e269772dad35 125 // of the first register to be read.
kenjiArai 6:e269772dad35 126 dt[0] = LIS3DH_OUT_X_L | 0x80;
kenjiArai 5:725df775f168 127 _i2c.write(acc_addr, dt, 1, true);
kenjiArai 5:725df775f168 128 _i2c.read(acc_addr, data, 6, false);
kenjiArai 0:5d5aac272642 129 }
kenjiArai 0:5d5aac272642 130
kenjiArai 6:e269772dad35 131 void LIS3DH::read_mg_data(float *dt_usr)
kenjiArai 6:e269772dad35 132 {
kenjiArai 6:e269772dad35 133 char data[6];
kenjiArai 0:5d5aac272642 134
kenjiArai 6:e269772dad35 135 if (acc_ready == 0) {
kenjiArai 5:725df775f168 136 dt_usr[0] = 0;
kenjiArai 5:725df775f168 137 dt_usr[1] = 0;
kenjiArai 5:725df775f168 138 dt_usr[2] = 0;
kenjiArai 6:e269772dad35 139 return;
kenjiArai 0:5d5aac272642 140 }
kenjiArai 0:5d5aac272642 141 read_reg_data(data);
kenjiArai 0:5d5aac272642 142 // change data type
kenjiArai 7:50ac3372def2 143 #if OLD_REV // Fixed bugs -> (1) unit is not mg but g (2) shift right 4bit = /16
kenjiArai 5:725df775f168 144 dt_usr[0] = float(short((data[1] << 8) | data[0])) * fs_factor / 15;
kenjiArai 5:725df775f168 145 dt_usr[1] = float(short((data[3] << 8) | data[2])) * fs_factor / 15;
kenjiArai 5:725df775f168 146 dt_usr[2] = float(short((data[5] << 8) | data[4])) * fs_factor / 15;
kenjiArai 7:50ac3372def2 147 #else
kenjiArai 7:50ac3372def2 148 dt_usr[0] = float(short((data[1] << 8) | data[0]) >> 4) * fs_factor;
kenjiArai 7:50ac3372def2 149 dt_usr[1] = float(short((data[3] << 8) | data[2]) >> 4) * fs_factor;
kenjiArai 7:50ac3372def2 150 dt_usr[2] = float(short((data[5] << 8) | data[4]) >> 4) * fs_factor;
kenjiArai 7:50ac3372def2 151 #endif
kenjiArai 0:5d5aac272642 152 }
kenjiArai 0:5d5aac272642 153
kenjiArai 6:e269772dad35 154 void LIS3DH::read_data(float *dt_usr)
kenjiArai 6:e269772dad35 155 {
kenjiArai 6:e269772dad35 156 char data[6];
kenjiArai 6:e269772dad35 157
kenjiArai 6:e269772dad35 158 if (acc_ready == 0) {
kenjiArai 5:725df775f168 159 dt_usr[0] = 0;
kenjiArai 5:725df775f168 160 dt_usr[1] = 0;
kenjiArai 5:725df775f168 161 dt_usr[2] = 0;
kenjiArai 6:e269772dad35 162 return;
kenjiArai 0:5d5aac272642 163 }
kenjiArai 0:5d5aac272642 164 read_reg_data(data);
kenjiArai 0:5d5aac272642 165 // change data type
kenjiArai 7:50ac3372def2 166 #if OLD_REV // Fixed bugs -> shift right 4bit = /16 (not /15)
kenjiArai 5:725df775f168 167 dt_usr[0] = float(short((data[1] << 8) | data[0])) * fs_factor / 15 * GRAVITY;
kenjiArai 5:725df775f168 168 dt_usr[1] = float(short((data[3] << 8) | data[2])) * fs_factor / 15 * GRAVITY;
kenjiArai 5:725df775f168 169 dt_usr[2] = float(short((data[5] << 8) | data[4])) * fs_factor / 15 * GRAVITY;
kenjiArai 7:50ac3372def2 170 #else
kenjiArai 7:50ac3372def2 171 dt_usr[0] = float(short((data[1] << 8) | data[0]) >> 4) * fs_factor * GRAVITY;
kenjiArai 7:50ac3372def2 172 dt_usr[1] = float(short((data[3] << 8) | data[2]) >> 4) * fs_factor * GRAVITY;
kenjiArai 7:50ac3372def2 173 dt_usr[2] = float(short((data[5] << 8) | data[4]) >> 4) * fs_factor * GRAVITY;
kenjiArai 7:50ac3372def2 174 #endif
kenjiArai 0:5d5aac272642 175 }
kenjiArai 0:5d5aac272642 176
kenjiArai 6:e269772dad35 177 uint8_t LIS3DH::read_id()
kenjiArai 6:e269772dad35 178 {
kenjiArai 6:e269772dad35 179 dt[0] = LIS3DH_WHO_AM_I;
kenjiArai 5:725df775f168 180 _i2c.write(acc_addr, dt, 1, true);
kenjiArai 5:725df775f168 181 _i2c.read(acc_addr, dt, 1, false);
kenjiArai 5:725df775f168 182 return (uint8_t)dt[0];
kenjiArai 0:5d5aac272642 183 }
kenjiArai 0:5d5aac272642 184
kenjiArai 6:e269772dad35 185 uint8_t LIS3DH::data_ready()
kenjiArai 6:e269772dad35 186 {
kenjiArai 6:e269772dad35 187 if (acc_ready == 1) {
kenjiArai 6:e269772dad35 188 dt[0] = LIS3DH_STATUS_REG_AUX;
kenjiArai 6:e269772dad35 189 _i2c.write(acc_addr, dt, 1, true);
kenjiArai 5:725df775f168 190 _i2c.read(acc_addr, dt, 1, false);
kenjiArai 6:e269772dad35 191 if (!(dt[0] & 0x01)) {
kenjiArai 0:5d5aac272642 192 return 0;
kenjiArai 0:5d5aac272642 193 }
kenjiArai 0:5d5aac272642 194 }
kenjiArai 0:5d5aac272642 195 return 1;
kenjiArai 0:5d5aac272642 196 }
kenjiArai 0:5d5aac272642 197
kenjiArai 6:e269772dad35 198 void LIS3DH::frequency(int hz)
kenjiArai 6:e269772dad35 199 {
kenjiArai 5:725df775f168 200 _i2c.frequency(hz);
kenjiArai 1:d4d569952436 201 }
kenjiArai 1:d4d569952436 202
kenjiArai 6:e269772dad35 203 uint8_t LIS3DH::read_reg(uint8_t addr)
kenjiArai 6:e269772dad35 204 {
kenjiArai 6:e269772dad35 205 if (acc_ready == 1) {
kenjiArai 6:e269772dad35 206 dt[0] = addr;
kenjiArai 6:e269772dad35 207 _i2c.write(acc_addr, dt, 1, true);
kenjiArai 5:725df775f168 208 _i2c.read(acc_addr, dt, 1, false);
kenjiArai 0:5d5aac272642 209 } else {
kenjiArai 5:725df775f168 210 dt[0] = 0xff;
kenjiArai 0:5d5aac272642 211 }
kenjiArai 5:725df775f168 212 return (uint8_t)dt[0];
kenjiArai 0:5d5aac272642 213 }
kenjiArai 0:5d5aac272642 214
kenjiArai 6:e269772dad35 215 void LIS3DH::write_reg(uint8_t addr, uint8_t data)
kenjiArai 6:e269772dad35 216 {
kenjiArai 6:e269772dad35 217 if (acc_ready == 1) {
kenjiArai 5:725df775f168 218 dt[0] = addr;
kenjiArai 6:e269772dad35 219 dt[1] = data;
kenjiArai 6:e269772dad35 220 _i2c.write(acc_addr, dt, 2, false);
kenjiArai 0:5d5aac272642 221 }
kenjiArai 0:5d5aac272642 222 }
kenjiArai 8:0999d25ed7bc 223
electronichamsters 11:972c166f654b 224 // Tsai
electronichamsters 11:972c166f654b 225 // See ST app note AN3308
electronichamsters 11:972c166f654b 226 // Add interrupt output from motion.
electronichamsters 11:972c166f654b 227 // Should parameterize threshold, latch, etc...
electronichamsters 9:c32d2b25d4c2 228 uint8_t LIS3DH::setAct(uint8_t addr)
electronichamsters 9:c32d2b25d4c2 229 {
electronichamsters 9:c32d2b25d4c2 230 uint8_t ret_val;
electronichamsters 9:c32d2b25d4c2 231
electronichamsters 9:c32d2b25d4c2 232 // Check acc is available of not
electronichamsters 9:c32d2b25d4c2 233 acc_addr = addr;
electronichamsters 9:c32d2b25d4c2 234 dt[0] = LIS3DH_WHO_AM_I;
electronichamsters 9:c32d2b25d4c2 235 _i2c.write(acc_addr, dt, 1, true);
electronichamsters 9:c32d2b25d4c2 236 _i2c.read(acc_addr, dt, 1, false);
electronichamsters 9:c32d2b25d4c2 237 if (dt[0] == I_AM_LIS3DH) {
electronichamsters 9:c32d2b25d4c2 238 acc_ready = 1;
electronichamsters 9:c32d2b25d4c2 239 ret_val=1;
electronichamsters 9:c32d2b25d4c2 240 } else {
electronichamsters 9:c32d2b25d4c2 241 acc_ready = 0;
electronichamsters 9:c32d2b25d4c2 242 ret_val=2;
electronichamsters 9:c32d2b25d4c2 243 return ret_val; // acc chip is NOT on I2C line then terminate
electronichamsters 9:c32d2b25d4c2 244 }
electronichamsters 9:c32d2b25d4c2 245
electronichamsters 11:972c166f654b 246 //tsai: set CTRL_REG2, high pass filter,
electronichamsters 11:972c166f654b 247 // value = 0100 0000
electronichamsters 11:972c166f654b 248 dt[0] = LIS3DH_CTRL_REG2;
electronichamsters 11:972c166f654b 249 dt[1] = 0x09; // 0000 1001, enable filter, on IA1
electronichamsters 11:972c166f654b 250 _i2c.write(acc_addr, dt, 2, false);
electronichamsters 11:972c166f654b 251
electronichamsters 11:972c166f654b 252
electronichamsters 11:972c166f654b 253 //Tsai: set CTRL_REG3,
electronichamsters 11:972c166f654b 254 //value = 0100 0000
electronichamsters 11:972c166f654b 255 dt[0] = LIS3DH_CTRL_REG3;
electronichamsters 11:972c166f654b 256 dt[1] = 0x40; // 0100 0000, enable I1_IA1 INT1
electronichamsters 11:972c166f654b 257 _i2c.write(acc_addr, dt, 2, false);
electronichamsters 11:972c166f654b 258
electronichamsters 11:972c166f654b 259
electronichamsters 11:972c166f654b 260 //Tsai: reg. INT1_CFG
electronichamsters 9:c32d2b25d4c2 261 dt[0] = LIS3DH_INT1_CFG;
electronichamsters 10:18b993cca7ab 262 dt[1] = 0x7f; // 0111 1111 = movement in all xyz
electronichamsters 9:c32d2b25d4c2 263 _i2c.write(acc_addr, dt, 2, false);
electronichamsters 9:c32d2b25d4c2 264
electronichamsters 9:c32d2b25d4c2 265
electronichamsters 11:972c166f654b 266 //tsai: reg. LIS3DH_INT1_THS, threshold for activity
electronichamsters 9:c32d2b25d4c2 267 dt[0] = LIS3DH_INT1_THS;
electronichamsters 9:c32d2b25d4c2 268 //0-127; I was at 10 out of 127 @ 16mg LSB;
electronichamsters 11:972c166f654b 269 dt[1] = 0x03; // 0000 0010 //@2G scale-> 16mg*3 = 48mg motion
electronichamsters 9:c32d2b25d4c2 270 _i2c.write(acc_addr, dt, 2, false);
electronichamsters 9:c32d2b25d4c2 271
electronichamsters 9:c32d2b25d4c2 272 /*
electronichamsters 9:c32d2b25d4c2 273 //tsai: reg. INT1_DURATION
electronichamsters 9:c32d2b25d4c2 274 dt[0] = LIS3DH_INT1_DURATION;
electronichamsters 9:c32d2b25d4c2 275 dt[1] = 0x01; // short?
electronichamsters 9:c32d2b25d4c2 276 _i2c.write(acc_addr, dt, 2, false);
electronichamsters 9:c32d2b25d4c2 277 */
electronichamsters 11:972c166f654b 278
electronichamsters 11:972c166f654b 279 //tsai: reg. LIS3DH_CTRL_REG5, latching interrupt?
electronichamsters 11:972c166f654b 280 dt[0] = LIS3DH_CTRL_REG5;
electronichamsters 11:972c166f654b 281 //0-127; I was at 10 out of 127 @ 16mg LSB;
electronichamsters 11:972c166f654b 282 //dt[1] = 0x00; // 0000 0000, don't latch interrupt
electronichamsters 11:972c166f654b 283 //dt[1] = 0x08; // 0000 1000, latch int1
electronichamsters 11:972c166f654b 284 dt[1] = 0x0C; // 0000 1100, latch int1, enable 4D
electronichamsters 11:972c166f654b 285 //dt[1] = 0x04; // 0000 0100, dont latch int1, enable 4D
electronichamsters 11:972c166f654b 286 _i2c.write(acc_addr, dt, 2, false);
electronichamsters 11:972c166f654b 287
electronichamsters 11:972c166f654b 288
electronichamsters 9:c32d2b25d4c2 289 return ret_val;
electronichamsters 9:c32d2b25d4c2 290 }