debugging library
Fork of LIS3DH by
LIS3DH.cpp
- Committer:
- electronichamsters
- Date:
- 2018-06-09
- Revision:
- 9:c32d2b25d4c2
- Parent:
- 8:0999d25ed7bc
- Child:
- 10:18b993cca7ab
File content as of revision 9:c32d2b25d4c2:
/* * mbed library program * LIS3DH MEMS motion sensor: 3-axis "nano" accelerometer, made by STMicroelectronics * http://www.st-japan.co.jp/web/jp/catalog/sense_power/FM89/SC444/PF250725 * * Copyright (c) 2014,'15,'17 Kenji Arai / JH1PJL * http://www.page.sannet.ne.jp/kenjia/index.html * http://mbed.org/users/kenjiArai/ * Created: July 14th, 2014 * Revised: August 23rd, 2017 */ #include "LIS3DH.h" LIS3DH::LIS3DH (PinName p_sda, PinName p_scl, uint8_t addr, uint8_t data_rate, uint8_t fullscale) : _i2c_p(new I2C(p_sda, p_scl)), _i2c(*_i2c_p) { _i2c.frequency(400000); initialize (addr, data_rate, fullscale); } LIS3DH::LIS3DH (PinName p_sda, PinName p_scl, uint8_t addr) : _i2c_p(new I2C(p_sda, p_scl)), _i2c(*_i2c_p) { _i2c.frequency(400000); initialize (addr, LIS3DH_DR_NR_LP_50HZ, LIS3DH_FS_8G); //tsai: change this to 10Hz, 16uA to 8uA. //initialize (addr, LIS3DH_DR_NR_LP_10HZ, LIS3DH_FS_8G); //8uA consumption at 10Hz // LIS3DH_DR_NR_LP_10HZ = 2 // LIS3DH_FS_8G = 2, full scale } LIS3DH::LIS3DH (I2C& p_i2c, uint8_t addr, uint8_t data_rate, uint8_t fullscale) : _i2c(p_i2c) { _i2c.frequency(400000); initialize (addr, data_rate, fullscale); } LIS3DH::LIS3DH (I2C& p_i2c, uint8_t addr) : _i2c(p_i2c) { _i2c.frequency(400000); initialize (addr, LIS3DH_DR_NR_LP_50HZ, LIS3DH_FS_8G); } void LIS3DH::initialize (uint8_t addr, uint8_t data_rate, uint8_t fullscale) { // Check acc is available of not acc_addr = addr; dt[0] = LIS3DH_WHO_AM_I; _i2c.write(acc_addr, dt, 1, true); _i2c.read(acc_addr, dt, 1, false); if (dt[0] == I_AM_LIS3DH) { acc_ready = 1; } else { acc_ready = 0; return; // acc chip is NOT on I2C line then terminate } // Reg.1 dt[0] = LIS3DH_CTRL_REG1; dt[1] = 0x07; //0000 0111 dt[1] |= data_rate << 4; // 0000 0111 |= 0010 0000 ---> 0010 0111; 10Hz, high res, xyz enbabled. //note: dt[1]=0x0F; //low resolution; @ datarate; Must also zero out CTRL_REG4[3] //dt[1] = 0x07; _i2c.write(acc_addr, dt, 2, false); //address, command, bytes // Reg.4 dt[0] = LIS3DH_CTRL_REG4; dt[1] = 0x08; // High resolution //0000 1000 dt[1] |= fullscale << 4; // //fullscale = 0000 0010 //fullscale << 4 = 0010 0000 //result of OR = 0010 1000 ----> // continuous update // endian, LSB @ lowest address // 10 = 8G scale // High resolution (10bit) ENABLED // 0, 0 N/A _i2c.write(acc_addr, dt, 2, false); switch (fullscale) { case LIS3DH_FS_2G: fs_factor = LIS3DH_SENSITIVITY_2G; break; case LIS3DH_FS_4G: fs_factor = LIS3DH_SENSITIVITY_4G; break; case LIS3DH_FS_8G: fs_factor = LIS3DH_SENSITIVITY_8G; break; case LIS3DH_FS_16G: fs_factor = LIS3DH_SENSITIVITY_16G; break; default: ; } } void LIS3DH::read_reg_data(char *data) { // X,Y & Z // manual said that // In order to read multiple bytes, it is necessary to assert the most significant bit // of the subaddress field. // In other words, SUB(7) must be equal to ‘1’ while SUB(6-0) represents the address // of the first register to be read. dt[0] = LIS3DH_OUT_X_L | 0x80; _i2c.write(acc_addr, dt, 1, true); _i2c.read(acc_addr, data, 6, false); } void LIS3DH::read_mg_data(float *dt_usr) { char data[6]; if (acc_ready == 0) { dt_usr[0] = 0; dt_usr[1] = 0; dt_usr[2] = 0; return; } read_reg_data(data); // change data type #if OLD_REV // Fixed bugs -> (1) unit is not mg but g (2) shift right 4bit = /16 dt_usr[0] = float(short((data[1] << 8) | data[0])) * fs_factor / 15; dt_usr[1] = float(short((data[3] << 8) | data[2])) * fs_factor / 15; dt_usr[2] = float(short((data[5] << 8) | data[4])) * fs_factor / 15; #else dt_usr[0] = float(short((data[1] << 8) | data[0]) >> 4) * fs_factor; dt_usr[1] = float(short((data[3] << 8) | data[2]) >> 4) * fs_factor; dt_usr[2] = float(short((data[5] << 8) | data[4]) >> 4) * fs_factor; #endif } void LIS3DH::read_data(float *dt_usr) { char data[6]; if (acc_ready == 0) { dt_usr[0] = 0; dt_usr[1] = 0; dt_usr[2] = 0; return; } read_reg_data(data); // change data type #if OLD_REV // Fixed bugs -> shift right 4bit = /16 (not /15) dt_usr[0] = float(short((data[1] << 8) | data[0])) * fs_factor / 15 * GRAVITY; dt_usr[1] = float(short((data[3] << 8) | data[2])) * fs_factor / 15 * GRAVITY; dt_usr[2] = float(short((data[5] << 8) | data[4])) * fs_factor / 15 * GRAVITY; #else dt_usr[0] = float(short((data[1] << 8) | data[0]) >> 4) * fs_factor * GRAVITY; dt_usr[1] = float(short((data[3] << 8) | data[2]) >> 4) * fs_factor * GRAVITY; dt_usr[2] = float(short((data[5] << 8) | data[4]) >> 4) * fs_factor * GRAVITY; #endif } uint8_t LIS3DH::read_id() { dt[0] = LIS3DH_WHO_AM_I; _i2c.write(acc_addr, dt, 1, true); _i2c.read(acc_addr, dt, 1, false); return (uint8_t)dt[0]; } uint8_t LIS3DH::data_ready() { if (acc_ready == 1) { dt[0] = LIS3DH_STATUS_REG_AUX; _i2c.write(acc_addr, dt, 1, true); _i2c.read(acc_addr, dt, 1, false); if (!(dt[0] & 0x01)) { return 0; } } return 1; } void LIS3DH::frequency(int hz) { _i2c.frequency(hz); } uint8_t LIS3DH::read_reg(uint8_t addr) { if (acc_ready == 1) { dt[0] = addr; _i2c.write(acc_addr, dt, 1, true); _i2c.read(acc_addr, dt, 1, false); } else { dt[0] = 0xff; } return (uint8_t)dt[0]; } void LIS3DH::write_reg(uint8_t addr, uint8_t data) { if (acc_ready == 1) { dt[0] = addr; dt[1] = data; _i2c.write(acc_addr, dt, 2, false); } } uint8_t LIS3DH::setAct(uint8_t addr) { uint8_t ret_val; // Check acc is available of not acc_addr = addr; dt[0] = LIS3DH_WHO_AM_I; _i2c.write(acc_addr, dt, 1, true); _i2c.read(acc_addr, dt, 1, false); if (dt[0] == I_AM_LIS3DH) { acc_ready = 1; ret_val=1; } else { acc_ready = 0; ret_val=2; return ret_val; // acc chip is NOT on I2C line then terminate } //Tsai: add INT //tsai: reg. INT1_CFG dt[0] = LIS3DH_INT1_CFG; dt[1] = 0x3f; // 0111 1111 = movement in all xyz _i2c.write(acc_addr, dt, 2, false); //tsai: reg. LIS3DH_INT1_THS dt[0] = LIS3DH_INT1_THS; //0-127; I was at 10 out of 127 @ 16mg LSB; dt[1] = 0x02; // 0000 0010 //62mg @ 8g full scale; want 38 == _i2c.write(acc_addr, dt, 2, false); /* //tsai: reg. INT1_DURATION dt[0] = LIS3DH_INT1_DURATION; dt[1] = 0x01; // short? _i2c.write(acc_addr, dt, 2, false); */ return ret_val; }