LIS3DH.h

00001 /*
00002  * 2018:  Eric Tsai's Modifications of Kenji Arai's original LIS3DH library 
00003  * modified <initialize> and added threshold <setAct> call
00004  *
00005  *
00006  * mbed library program
00007  *  LIS3DH MEMS motion sensor: 3-axis "nano" accelerometer, made by STMicroelectronics
00008  *      http://www.st-japan.co.jp/web/jp/catalog/sense_power/FM89/SC444/PF250725
00009  *
00010  * Copyright (c) 2014,'15,'17 Kenji Arai / JH1PJL
00011  *  http://www.page.sannet.ne.jp/kenjia/index.html
00012  *  http://mbed.org/users/kenjiArai/
00013  *      Created: July       14th, 2014
00014  *      Revised: August     23rd, 2017
00015  */
00016 
00017 #ifndef LIS3DH_H
00018 #define LIS3DH_H
00019 
00020 #include "mbed.h"
00021 
00022 //  revision 6 have two bugs, (1) read_mg_data, (2) divided by 15 (16 is coorect value)
00023 #define OLD_REV             0       // KEEP 0!! (If you set 1, work as old revision)
00024 
00025 //  LIS3DH Address
00026 //  7bit address = 0b001100x(0x18 or 0x19 depends on SA0/SDO)
00027 #define LIS3DH_G_CHIP_ADDR  (0x18 << 1)    // SA0(=SDO pin) = Ground
00028 #define LIS3DH_V_CHIP_ADDR  (0x19 << 1)    // SA0(=SDO pin) = Vdd
00029 
00030 
00031 //   LIS3DH ID
00032 #define I_AM_LIS3DH            0x33
00033 
00034 //  Register's definition
00035 #define LIS3DH_STATUS_REG_AUX  0x07
00036 #define LIS3DH_OUT_ADC1_L      0x08
00037 #define LIS3DH_OUT_ADC1_H      0x09
00038 #define LIS3DH_OUT_ADC2_L      0x0a
00039 #define LIS3DH_OUT_ADC2_H      0x0b
00040 #define LIS3DH_OUT_ADC3_L      0x0c
00041 #define LIS3DH_OUT_ADC3_H      0x0d
00042 #define LIS3DH_INT_COUNTER_REG 0x0e
00043 #define LIS3DH_WHO_AM_I        0x0f
00044 #define LIS3DH_TEMP_CFG_REG    0x1f
00045 #define LIS3DH_CTRL_REG1       0x20
00046 #define LIS3DH_CTRL_REG2       0x21
00047 #define LIS3DH_CTRL_REG3       0x22
00048 #define LIS3DH_CTRL_REG4       0x23
00049 #define LIS3DH_CTRL_REG5       0x24
00050 #define LIS3DH_CTRL_REG6       0x25
00051 #define LIS3DH_REFERENCE       0x26
00052 #define LIS3DH_STATUS_REG      0x27
00053 #define LIS3DH_OUT_X_L         0x28
00054 #define LIS3DH_OUT_X_H         0x29
00055 #define LIS3DH_OUT_Y_L         0x2a
00056 #define LIS3DH_OUT_Y_H         0x2b
00057 #define LIS3DH_OUT_Z_L         0x2c
00058 #define LIS3DH_OUT_Z_H         0x2d
00059 #define LIS3DH_FIFO_CTRL_REG   0x2e
00060 #define LIS3DH_FIFO_SRC_REG    0x2f
00061 #define LIS3DH_INT1_CFG        0x30
00062 #define LIS3DH_INT1_SOURCE     0x31
00063 #define LIS3DH_INT1_THS        0x32
00064 #define LIS3DH_INT1_DURATION   0x33
00065 #define LIS3DH_CLICK_CFG       0x38
00066 #define LIS3DH_CLICK_SRC       0x39
00067 #define LIS3DH_CLICK_THS       0x3a
00068 #define LIS3DH_TIME_LIMIT      0x3b
00069 #define LIS3DH_TIME_LATENCY    0x3c
00070 #define LIS3DH_TIME_WINDOW     0x3d
00071 
00072 // Output Data Rate (ODR)
00073 #define LIS3DH_DR_PWRDWN       0
00074 #define LIS3DH_DR_NR_LP_1HZ    1
00075 #define LIS3DH_DR_NR_LP_10HZ   2
00076 #define LIS3DH_DR_NR_LP_25HZ   3
00077 #define LIS3DH_DR_NR_LP_50HZ   4
00078 #define LIS3DH_DR_NR_LP_100HZ  5
00079 #define LIS3DH_DR_NR_LP_200HZ  6
00080 #define LIS3DH_DR_NR_LP_400HZ  7
00081 #define LIS3DH_DR_LP_1R6KHZ    8
00082 #define LIS3DH_DR_NR_1R25KHZ   9
00083 
00084 // Bandwidth (Low pass)
00085 #define LIS3DH_BW_LOW          0
00086 #define LIS3DH_BW_M_LOW        1
00087 #define LIS3DH_BW_M_HI         2
00088 #define LIS3DH_BW_HI           3
00089 
00090 // Low power mode enable/disable
00091 #define LIS3DH_LP_EN           0
00092 #define LIS3DH_LP_DIS          1
00093 
00094 // Axis control
00095 #define LIS3DH_X_EN            1
00096 #define LIS3DH_X_DIS           0
00097 #define LIS3DH_Y_EN            1
00098 #define LIS3DH_Y_DIS           0
00099 #define LIS3DH_Z_EN            1
00100 #define LIS3DH_Z_DIS           0
00101 
00102 // Full Scale
00103 #define LIS3DH_FS_2G           0
00104 #define LIS3DH_FS_4G           1
00105 #define LIS3DH_FS_8G           2
00106 #define LIS3DH_FS_16G          3
00107 
00108 // definition for Nomalization
00109 #if OLD_REV
00110 #define LIS3DH_SENSITIVITY_2G  (0.001F)
00111 #define LIS3DH_SENSITIVITY_4G  (0.002F)
00112 #define LIS3DH_SENSITIVITY_8G  (0.004F)
00113 #define LIS3DH_SENSITIVITY_16G (0.012F)
00114 #else
00115 #define LIS3DH_SENSITIVITY_2G  1
00116 #define LIS3DH_SENSITIVITY_4G  2
00117 #define LIS3DH_SENSITIVITY_8G  4
00118 #define LIS3DH_SENSITIVITY_16G 12
00119 #endif
00120 
00121 //Gravity at Earth's surface in m/s/s
00122 #if OLD_REV
00123 #define GRAVITY                (9.80665F)
00124 #else
00125 #define GRAVITY                (9.80665F / 1000)
00126 #endif
00127 
00128 /** Interface for STMicronics MEMS motion sensor: 3-axis "nano" accelerometer
00129  *      Chip: LIS3DH
00130  *
00131  * @code
00132  * #include "mbed.h"
00133  *
00134  * // I2C Communication
00135  * LIS3DH acc(p_sda, p_scl, chip_addr, datarate, bandwidth, fullscale);
00136  * // If you connected I2C line not only this device but also other devices,
00137  * //     you need to declare following method.
00138  * I2C i2c(dp5,dp27);              // SDA, SCL
00139  * LIS3DH acc(i2c, chip_addr, datarate, bandwidth, fullscale);
00140  *
00141  * int main() {
00142  * float f[3];
00143  *
00144  *   if (acc.read_id() == I_AM_LIS3DH){
00145  *      acc.read_data(f);
00146  *   }
00147  * }
00148  * @endcode
00149  */
00150 
00151 class LIS3DH
00152 {
00153 public:
00154     /** Configure data pin
00155       * @param data SDA and SCL pins
00156       * @param device address LIS3DH(SA0=0 or 1), LIS3DH_G_CHIP_ADDR or LIS3DH_V_CHIP_ADDR
00157       * @param output data rate selection, power down mode, 1Hz to 5KHz
00158       * @param full scale selection, +/-2g to +/-16g
00159       */
00160     LIS3DH(PinName p_sda, PinName p_scl,
00161            uint8_t addr, uint8_t data_rate, uint8_t fullscale);
00162 
00163     /** Configure data pin
00164       * @param data SDA and SCL pins
00165       * @param device address LIS3DH(SA0=0 or 1), LIS3DH_G_CHIP_ADDR or LIS3DH_V_CHIP_ADDR
00166       * @default output data rate selection = 50Hz
00167       * @default full scale selection = +/-8g
00168       */
00169     LIS3DH(PinName p_sda, PinName p_scl, uint8_t addr);
00170 
00171     /** Configure data pin (with other devices on I2C line)
00172       * @param I2C previous definition
00173       * @param other parameters -> please see LIS3DH(PinName p_sda, PinName p_scl,...)
00174       */
00175     LIS3DH(I2C& p_i2c,
00176            uint8_t addr, uint8_t data_rate, uint8_t fullscale);
00177 
00178     /** Configure data pin (with other devices on I2C line)
00179       * @param I2C previous definition
00180       * @param other parameters -> please see LIS3DH(PinName p_sda, PinName p_scl,...)
00181       * @default output data rate selection = 50Hz
00182       * @default full scale selection = +/-8g
00183       */
00184     LIS3DH(I2C& p_i2c, uint8_t addr);
00185 
00186     /** Read a float type data from acc
00187       * @param float type of three arry's address, e.g. float dt_usr[3];
00188       * @return acc motion data unit: m/s/s(m/s2)
00189       * @return dt_usr[0]->x, dt_usr[1]->y, dt_usr[2]->z
00190       */
00191     void read_data(float *dt_usr);
00192 
00193     /** Read a float type data from acc
00194       * @param float type of three arry's address, e.g. float dt_usr[3];
00195       * @return acc motion data unit: mg
00196       * @return dt_usr[0]->x, dt_usr[1]->y, dt_usr[2]->z
00197       */
00198     void read_mg_data(float *dt_usr);
00199 
00200     /** Read a acc ID number
00201       * @param none
00202       * @return if STM MEMS acc, it should be I_AM_ LIS3DH(0x33)
00203       */
00204     uint8_t read_id();
00205 
00206     /** Read Data Ready flag
00207       * @param none
00208       * @return 1 = Ready
00209       */
00210     uint8_t data_ready();
00211 
00212     /** Set I2C clock frequency
00213       * @param freq.
00214       * @return none
00215       */
00216     void frequency(int hz);
00217 
00218     /** Read register (general purpose)
00219       * @param register's address
00220       * @return register data
00221       */
00222     uint8_t read_reg(uint8_t addr);
00223 
00224     /** Write register (general purpose)
00225       * @param register's address
00226       * @param data
00227       * @return none
00228       */
00229     void write_reg(uint8_t addr, uint8_t data);
00230     uint8_t setAct(uint8_t addr);  //tsai:  added
00231     
00232 protected:
00233     void initialize(uint8_t, uint8_t, uint8_t);
00234     void read_reg_data(char *data);
00235 
00236     I2C *_i2c_p;
00237     I2C &_i2c;
00238 
00239 private:
00240 #if OLD_REV
00241     float   fs_factor;  // full scale factor
00242 #else
00243     uint8_t fs_factor;  // full scale factor
00244 #endif
00245     char    dt[2];      // working buffer
00246     uint8_t acc_addr;   // acc sensor address
00247     uint8_t acc_id;     // acc ID
00248     uint8_t acc_ready;  // acc is on I2C line = 1, not = 0
00249 };
00250 
00251 #endif      // LIS3DH_H
00252