Revision 0:ce2396b1c9a1, committed 2017-03-15

Comitter:

franzle

Date:

Wed Mar 15 17:41:22 2017 +0000

Commit message:

Modified librbary for using LIS3DH through spi with enable pin by sw

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LIS3DH.cpp	Wed Mar 15 17:41:22 2017 +0000
@@ -0,0 +1,183 @@
+/*
+ * 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.
+ */
+
+#include "LIS3DH.h"
+
+LIS3DH::LIS3DH (PinName p_mosi, PinName p_miso, PinName p_sclk, PinName p_ssel, uint8_t data_rate, uint8_t fullscale) : _spi(p_mosi, p_miso, p_sclk), _cs(p_ssel)
+{
+    _spi.frequency(4000000);
+    init (data_rate, fullscale);
+}
+
+LIS3DH::LIS3DH (PinName p_mosi, PinName p_miso, PinName p_sclk, PinName p_ssel) : _spi(p_mosi, p_miso, p_sclk), _cs(p_ssel)
+{
+    _spi.frequency(4000000);
+    init (LIS3DH_DR_NR_LP_50HZ, LIS3DH_FS_8G);
+}
+
+void LIS3DH::readRegs(uint8_t addr, uint8_t * data, int len) {
+    _cs = 0 ;
+    for (int i = 0 ; i < len ; i++ ) {    
+       _spi.write((addr+i)|0x80) ;  // specify address to read
+       data[i] = _spi.write((addr+i)|0x80) ; 
+    } 
+    _spi.write(0x00) ; // to terminate read mode
+    _cs = 1 ;
+}
+
+void LIS3DH::writeRegs(uint8_t * data, int len) {
+   _cs = 0 ;
+   for (int i = 0 ; i < len ; i++ ) {
+      _spi.write(data[i]) ;
+   }
+   _cs = 1 ;
+}
+
+void LIS3DH::write_reg(uint8_t addr, uint8_t data8)
+{
+    uint8_t data[2] ;
+    data[0] = addr ;
+    data[1] = data8 ;
+    writeRegs(data, 2) ;
+}
+
+uint8_t LIS3DH::read_reg(uint8_t addr)
+{
+    uint8_t data[1] ;    
+    readRegs(addr, data, 1) ;
+    return( data[0] ) ;
+}
+
+void LIS3DH::write16(uint8_t addr, uint16_t data16)
+{
+    uint8_t data[3] ;
+    data[0] = addr ;
+    data[1] = (data16 >> 8) & 0xFF ;
+    data[2] = data16 & 0xFF ;
+    writeRegs(data, 3) ;
+}
+
+uint16_t LIS3DH::read16(uint8_t addr)
+{
+    uint8_t data[2] ;
+    uint16_t value = 0 ;
+    readRegs(addr, data, 2) ;
+    value = (data[0] << 8) | data[1] ;
+    return( value ) ;
+}
+
+
+void LIS3DH::init(uint8_t data_rate, uint8_t fullscale)
+{
+    _spi.frequency(4000000);
+    dt[0] = read_reg(LIS3DH_WHO_AM_I);
+    if (dt[0] == I_AM_LIS3DH) {
+        acc_ready = 1;
+    } else {
+        acc_ready = 0;
+        return;     // acc chip is NOT on I2C line then terminate
+    }
+    
+    write_reg(LIS3DH_CTRL_REG1, (0x07|(data_rate << 4))); //  Reg.1
+    write_reg(LIS3DH_CTRL_REG4, (0x08|(fullscale << 4))); //  Reg.4
+    
+    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_mg_data(float *dt_usr)
+{
+    uint8_t data[6];
+
+    if (acc_ready == 0) {
+        dt_usr[0] = 0;
+        dt_usr[1] = 0;
+        dt_usr[2] = 0;
+        return;
+    }
+    readRegs(LIS3DH_OUT_X_L, data, 6); 
+    // 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)
+{
+    uint8_t data[6];
+
+    if (acc_ready == 0) {
+        dt_usr[0] = 0;
+        dt_usr[1] = 0;
+        dt_usr[2] = 0;
+        return;
+    }
+    readRegs(LIS3DH_OUT_X_L, data, 6); 
+    // 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] = read_reg(LIS3DH_WHO_AM_I);
+    return dt[0];
+}
+
+uint8_t LIS3DH::data_ready()
+{
+    if (acc_ready == 1) { //device initialized correctly
+        dt[0] = read_reg(LIS3DH_STATUS_REG_AUX);
+        if (!(dt[0] & 0x01)) {
+            return 0;
+        }
+    }
+    return 1;
+}
+
+void LIS3DH::set_frequency(int hz)
+{
+    _spi.frequency(hz);
+}
\ No newline at end of file

--- /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
+
+
+
+