Diff: LIS3DH.h

Revision:

0:ce2396b1c9a1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LIS3DH.h	Wed Mar 15 17:41:22 2017 +0000
@@ -0,0 +1,212 @@
+/*
+ * 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 Kenji Arai / JH1PJL
+ *  http://www.page.sannet.ne.jp/kenjia/index.html
+ *  http://mbed.org/users/kenjiArai/
+ *      Created: July      14th, 2014
+ *      Revised: December  12th, 2015
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+ * INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE
+ * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef LIS3DH_H
+#define LIS3DH_H
+
+#include "mbed.h"
+
+//  revision 6 have two bugs, (1) read_mg_data, (2) divided by 15 (16 is coorect value)
+#define OLD_REV             0       // KEEP 0!! (If you set 1, work as old revision)
+
+//   LIS3DH ID
+#define I_AM_LIS3DH            0x33
+
+//  Register's definition
+#define LIS3DH_STATUS_REG_AUX  0x07
+#define LIS3DH_OUT_ADC1_L      0x08
+#define LIS3DH_OUT_ADC1_H      0x09
+#define LIS3DH_OUT_ADC2_L      0x0a
+#define LIS3DH_OUT_ADC2_H      0x0b
+#define LIS3DH_OUT_ADC3_L      0x0c
+#define LIS3DH_OUT_ADC3_H      0x0d
+#define LIS3DH_INT_COUNTER_REG 0x0e
+#define LIS3DH_WHO_AM_I        0x0f
+#define LIS3DH_TEMP_CFG_REG    0x1f
+#define LIS3DH_CTRL_REG1       0x20
+#define LIS3DH_CTRL_REG2       0x21
+#define LIS3DH_CTRL_REG3       0x22
+#define LIS3DH_CTRL_REG4       0x23
+#define LIS3DH_CTRL_REG5       0x24
+#define LIS3DH_CTRL_REG6       0x25
+#define LIS3DH_REFERENCE       0x26
+#define LIS3DH_STATUS_REG      0x27
+#define LIS3DH_OUT_X_L         0x28
+#define LIS3DH_OUT_X_H         0x29
+#define LIS3DH_OUT_Y_L         0x2a
+#define LIS3DH_OUT_Y_H         0x2b
+#define LIS3DH_OUT_Z_L         0x2c
+#define LIS3DH_OUT_Z_H         0x2d
+#define LIS3DH_FIFO_CTRL_REG   0x2e
+#define LIS3DH_FIFO_SRC_REG    0x2f
+#define LIS3DH_INT1_CFG        0x30
+#define LIS3DH_INT1_SOURCE     0x31
+#define LIS3DH_INT1_THS        0x32
+#define LIS3DH_INT1_DURATION   0x33
+#define LIS3DH_CLICK_CFG       0x38
+#define LIS3DH_CLICK_SRC       0x39
+#define LIS3DH_CLICK_THS       0x3a
+#define LIS3DH_TIME_LIMIT      0x3b
+#define LIS3DH_TIME_LATENCY    0x3c
+#define LIS3DH_TIME_WINDOW     0x3d
+
+// Output Data Rate (ODR)
+#define LIS3DH_DR_PWRDWN       0
+#define LIS3DH_DR_NR_LP_1HZ    1
+#define LIS3DH_DR_NR_LP_10HZ   2
+#define LIS3DH_DR_NR_LP_25HZ   3
+#define LIS3DH_DR_NR_LP_50HZ   4
+#define LIS3DH_DR_NR_LP_100HZ  5
+#define LIS3DH_DR_NR_LP_200HZ  6
+#define LIS3DH_DR_NR_LP_400HZ  7
+#define LIS3DH_DR_LP_1R6KHZ    8
+#define LIS3DH_DR_NR_1R25KHZ   9
+
+// Bandwidth (Low pass)
+#define LIS3DH_BW_LOW          0
+#define LIS3DH_BW_M_LOW        1
+#define LIS3DH_BW_M_HI         2
+#define LIS3DH_BW_HI           3
+
+// Low power mode enable/disable
+#define LIS3DH_LP_EN           0
+#define LIS3DH_LP_DIS          1
+
+// Axis control
+#define LIS3DH_X_EN            1
+#define LIS3DH_X_DIS           0
+#define LIS3DH_Y_EN            1
+#define LIS3DH_Y_DIS           0
+#define LIS3DH_Z_EN            1
+#define LIS3DH_Z_DIS           0
+
+// Full Scale
+#define LIS3DH_FS_2G           0
+#define LIS3DH_FS_4G           1
+#define LIS3DH_FS_8G           2
+#define LIS3DH_FS_16G          3
+
+// definition for Nomalization
+#if OLD_REV
+#define LIS3DH_SENSITIVITY_2G  (0.001F)
+#define LIS3DH_SENSITIVITY_4G  (0.002F)
+#define LIS3DH_SENSITIVITY_8G  (0.004F)
+#define LIS3DH_SENSITIVITY_16G (0.012F)
+#else
+#define LIS3DH_SENSITIVITY_2G  1
+#define LIS3DH_SENSITIVITY_4G  2
+#define LIS3DH_SENSITIVITY_8G  4
+#define LIS3DH_SENSITIVITY_16G 12
+#endif
+
+//Gravity at Earth's surface in m/s/s
+#if OLD_REV
+#define GRAVITY                (9.80665F)
+#else
+#define GRAVITY                (9.80665F / 1000)
+#endif
+
+class LIS3DH
+{
+public:
+    /** Configure data pin
+      * @param data MISO MOSI SCLK and CS pins
+      * @param output data rate selection, power down mode, 1Hz to 5KHz
+      * @param full scale selection, +/-2g to +/-16g
+      */
+    LIS3DH(PinName p_mosi, PinName p_miso, PinName p_sclk, PinName p_ssel, uint8_t data_rate, uint8_t fullscale);
+
+    /** Configure data pin
+      * @param data MISO MOSI SCLK and CS pins
+      * @default output data rate selection = 50Hz
+      * @default full scale selection = +/-8g
+      */
+    LIS3DH (PinName p_mosi, PinName p_miso, PinName p_sclk, PinName p_ssel);
+    
+    /** Read a float type data from acc
+      * @param float type of three arry's address, e.g. float dt_usr[3];
+      * @return acc motion data unit: m/s/s(m/s2)
+      * @return dt_usr[0]->x, dt_usr[1]->y, dt_usr[2]->z
+      */
+    void read_data(float *dt_usr);
+
+    /** Read a float type data from acc
+      * @param float type of three arry's address, e.g. float dt_usr[3];
+      * @return acc motion data unit: mg
+      * @return dt_usr[0]->x, dt_usr[1]->y, dt_usr[2]->z
+      */
+    void read_mg_data(float *dt_usr);
+
+    /** Read a acc ID number
+      * @param none
+      * @return if STM MEMS acc, it should be I_AM_ LIS3DH(0x33)
+      */
+    uint8_t read_id();
+
+    /** Read Data Ready flag
+      * @param none
+      * @return 1 = Ready
+      */
+    uint8_t data_ready();
+
+    /** Set I2C clock frequency
+      * @param freq.
+      * @return none
+      */
+    void set_frequency(int hz);
+
+    /** Read register (general purpose)
+      * @param register's address
+      * @return register data
+      */
+    uint8_t read_reg(uint8_t addr);
+
+    /** Write register (general purpose)
+      * @param register's address
+      * @param data
+      * @return none
+      */
+    void write_reg(uint8_t addr, uint8_t data);
+    
+protected:
+    void readRegs(uint8_t addr, uint8_t * data, int len);
+    void writeRegs(uint8_t * data, int len);
+    void write16(uint8_t addr, uint16_t data16);
+    uint16_t read16(uint8_t addr);
+    void init(uint8_t data_rate, uint8_t fullscale);
+
+    void read_reg_data(char *data);
+    SPI _spi;
+    DigitalOut _cs ;
+
+private:
+#if OLD_REV
+    float   fs_factor;  // full scale factor
+#else
+    uint8_t fs_factor;  // full scale factor
+#endif
+    char    dt[2];      // working buffer
+    uint8_t acc_id;     // acc ID
+    uint8_t acc_ready;  // acc is on I2C line = 1, not = 0
+};
+
+#endif      // LIS3DH_H
+
+
+
+