An i2c version of mbed LIS302 Accelerometer Library by sford, cstyles, wreynolds. The return data is raw yet. It seems from -0x55 to 0x55 though I think it returns -0x7F to 0x7F. Humm... Why?
LIS302i2c.cpp@0:4ef465f255d0, 2010-10-10 (annotated)
- Committer:
- kazushi2008
- Date:
- Sun Oct 10 06:17:08 2010 +0000
- Revision:
- 0:4ef465f255d0
the first version
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kazushi2008 | 0:4ef465f255d0 | 1 | /* mbed LIS302 Accelerometer Library |
kazushi2008 | 0:4ef465f255d0 | 2 | * Copyright (c) 2008-2010, sford, cstyles, wreynolds |
kazushi2008 | 0:4ef465f255d0 | 3 | * modified for i2c version by Kazushi Mukaiyama 2010 |
kazushi2008 | 0:4ef465f255d0 | 4 | * |
kazushi2008 | 0:4ef465f255d0 | 5 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
kazushi2008 | 0:4ef465f255d0 | 6 | * of this software and associated documentation files (the "Software"), to deal |
kazushi2008 | 0:4ef465f255d0 | 7 | * in the Software without restriction, including without limitation the rights |
kazushi2008 | 0:4ef465f255d0 | 8 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
kazushi2008 | 0:4ef465f255d0 | 9 | * copies of the Software, and to permit persons to whom the Software is |
kazushi2008 | 0:4ef465f255d0 | 10 | * furnished to do so, subject to the following conditions: |
kazushi2008 | 0:4ef465f255d0 | 11 | * |
kazushi2008 | 0:4ef465f255d0 | 12 | * The above copyright notice and this permission notice shall be included in |
kazushi2008 | 0:4ef465f255d0 | 13 | * all copies or substantial portions of the Software. |
kazushi2008 | 0:4ef465f255d0 | 14 | * |
kazushi2008 | 0:4ef465f255d0 | 15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
kazushi2008 | 0:4ef465f255d0 | 16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
kazushi2008 | 0:4ef465f255d0 | 17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
kazushi2008 | 0:4ef465f255d0 | 18 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
kazushi2008 | 0:4ef465f255d0 | 19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
kazushi2008 | 0:4ef465f255d0 | 20 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
kazushi2008 | 0:4ef465f255d0 | 21 | * THE SOFTWARE. |
kazushi2008 | 0:4ef465f255d0 | 22 | */ |
kazushi2008 | 0:4ef465f255d0 | 23 | |
kazushi2008 | 0:4ef465f255d0 | 24 | #include "LIS302i2c.h" |
kazushi2008 | 0:4ef465f255d0 | 25 | #include "mbed.h" |
kazushi2008 | 0:4ef465f255d0 | 26 | |
kazushi2008 | 0:4ef465f255d0 | 27 | #define LIS302_WHOAMI 0x0F |
kazushi2008 | 0:4ef465f255d0 | 28 | #define LIS302_CTRL_REG1 0x20 |
kazushi2008 | 0:4ef465f255d0 | 29 | #define LIS302_CTRL_REG2 0x21 |
kazushi2008 | 0:4ef465f255d0 | 30 | #define LIS302_CTRL_REG3 0x22 |
kazushi2008 | 0:4ef465f255d0 | 31 | #define LIS302_HP_FILTER_RST 0x23 |
kazushi2008 | 0:4ef465f255d0 | 32 | #define LIS302_STATUS_REG 0x27 |
kazushi2008 | 0:4ef465f255d0 | 33 | #define LIS302_OUTX 0x29 |
kazushi2008 | 0:4ef465f255d0 | 34 | #define LIS302_OUTY 0x2B |
kazushi2008 | 0:4ef465f255d0 | 35 | #define LIS302_OUTZ 0x2D |
kazushi2008 | 0:4ef465f255d0 | 36 | #define LIS302_ALL_AXIS 0x28 |
kazushi2008 | 0:4ef465f255d0 | 37 | #define LIS302_FF_WU_CFG1 0x30 |
kazushi2008 | 0:4ef465f255d0 | 38 | #define LIS302_FF_WU_SRC_1 0x31 |
kazushi2008 | 0:4ef465f255d0 | 39 | #define LIS302_FF_WU_THS_1 0x32 |
kazushi2008 | 0:4ef465f255d0 | 40 | #define LIS302_FF_WU_DURATION_1 0x33 |
kazushi2008 | 0:4ef465f255d0 | 41 | #define LIS302_FF_WU_CFG_2 0x34 |
kazushi2008 | 0:4ef465f255d0 | 42 | #define LIS302_FF_WU_SRC_2 0x35 |
kazushi2008 | 0:4ef465f255d0 | 43 | #define LIS302_FF_WU_THS_2 0x36 |
kazushi2008 | 0:4ef465f255d0 | 44 | #define LIS302_FF_WU_DURATION_2 0x37 |
kazushi2008 | 0:4ef465f255d0 | 45 | #define LIS302_CLICK_CFG 0x38 |
kazushi2008 | 0:4ef465f255d0 | 46 | #define LIS302_CLICK_SRC 0x39 |
kazushi2008 | 0:4ef465f255d0 | 47 | #define LIS302_CLICK_THSY_X 0x3B |
kazushi2008 | 0:4ef465f255d0 | 48 | #define LIS302_CLICK_THSZ 0x3C |
kazushi2008 | 0:4ef465f255d0 | 49 | #define LIS302_READ 0x80 |
kazushi2008 | 0:4ef465f255d0 | 50 | #define LIS302_WRITE 0x00 |
kazushi2008 | 0:4ef465f255d0 | 51 | |
kazushi2008 | 0:4ef465f255d0 | 52 | #define LIS302_STATUS_X_AVAILABLE 0x1 |
kazushi2008 | 0:4ef465f255d0 | 53 | #define LIS302_STATUS_Y_AVAILABLE 0x2 |
kazushi2008 | 0:4ef465f255d0 | 54 | #define LIS302_STATUS_Z_AVAILABLE 0x4 |
kazushi2008 | 0:4ef465f255d0 | 55 | |
kazushi2008 | 0:4ef465f255d0 | 56 | #define FACTOR_2g 55.6 |
kazushi2008 | 0:4ef465f255d0 | 57 | #define FACTOR_8g 13.9 |
kazushi2008 | 0:4ef465f255d0 | 58 | |
kazushi2008 | 0:4ef465f255d0 | 59 | LIS302i2c::LIS302i2c(int addr, PinName sda, PinName scl) |
kazushi2008 | 0:4ef465f255d0 | 60 | : _i2c(sda, scl) { |
kazushi2008 | 0:4ef465f255d0 | 61 | |
kazushi2008 | 0:4ef465f255d0 | 62 | _addr = addr<<1; |
kazushi2008 | 0:4ef465f255d0 | 63 | |
kazushi2008 | 0:4ef465f255d0 | 64 | // Set up the i2c interface |
kazushi2008 | 0:4ef465f255d0 | 65 | //_i2c.frequency(1000000); |
kazushi2008 | 0:4ef465f255d0 | 66 | |
kazushi2008 | 0:4ef465f255d0 | 67 | // Write to CTRL_REG1 |
kazushi2008 | 0:4ef465f255d0 | 68 | _cmd[0] = (LIS302_WRITE | LIS302_CTRL_REG1); |
kazushi2008 | 0:4ef465f255d0 | 69 | _cmd[1] = 0x47; |
kazushi2008 | 0:4ef465f255d0 | 70 | _i2c.write(_addr, _cmd, 2); |
kazushi2008 | 0:4ef465f255d0 | 71 | |
kazushi2008 | 0:4ef465f255d0 | 72 | // Write to CTRL_REG2 |
kazushi2008 | 0:4ef465f255d0 | 73 | _cmd[0] = (LIS302_WRITE | LIS302_CTRL_REG2); |
kazushi2008 | 0:4ef465f255d0 | 74 | _cmd[1] = 0x40; |
kazushi2008 | 0:4ef465f255d0 | 75 | _i2c.write(_addr, _cmd, 2); |
kazushi2008 | 0:4ef465f255d0 | 76 | |
kazushi2008 | 0:4ef465f255d0 | 77 | // Write to CTRL_REG3 |
kazushi2008 | 0:4ef465f255d0 | 78 | _cmd[0] = (LIS302_WRITE | LIS302_CTRL_REG3); |
kazushi2008 | 0:4ef465f255d0 | 79 | _cmd[1] = 0x00; // This is default anyway |
kazushi2008 | 0:4ef465f255d0 | 80 | _i2c.write(_addr, _cmd, 2); |
kazushi2008 | 0:4ef465f255d0 | 81 | |
kazushi2008 | 0:4ef465f255d0 | 82 | //range(0); |
kazushi2008 | 0:4ef465f255d0 | 83 | //calibrate(); |
kazushi2008 | 0:4ef465f255d0 | 84 | } |
kazushi2008 | 0:4ef465f255d0 | 85 | |
kazushi2008 | 0:4ef465f255d0 | 86 | void LIS302i2c::update() |
kazushi2008 | 0:4ef465f255d0 | 87 | { |
kazushi2008 | 0:4ef465f255d0 | 88 | while(!(status() & LIS302_STATUS_X_AVAILABLE)); |
kazushi2008 | 0:4ef465f255d0 | 89 | |
kazushi2008 | 0:4ef465f255d0 | 90 | _cmd[0] = (LIS302_READ | LIS302_ALL_AXIS); |
kazushi2008 | 0:4ef465f255d0 | 91 | _i2c.write(_addr, _cmd, 1); |
kazushi2008 | 0:4ef465f255d0 | 92 | _i2c.read(_addr, _cmd, 6); |
kazushi2008 | 0:4ef465f255d0 | 93 | |
kazushi2008 | 0:4ef465f255d0 | 94 | x = (signed char)_cmd[1]/127.0; |
kazushi2008 | 0:4ef465f255d0 | 95 | y = (signed char)_cmd[3]/127.0; |
kazushi2008 | 0:4ef465f255d0 | 96 | z = (signed char)_cmd[5]/127.0; |
kazushi2008 | 0:4ef465f255d0 | 97 | } |
kazushi2008 | 0:4ef465f255d0 | 98 | |
kazushi2008 | 0:4ef465f255d0 | 99 | float LIS302i2c::getX() { |
kazushi2008 | 0:4ef465f255d0 | 100 | // wait for a new sample |
kazushi2008 | 0:4ef465f255d0 | 101 | while(!(status() & LIS302_STATUS_X_AVAILABLE)); |
kazushi2008 | 0:4ef465f255d0 | 102 | |
kazushi2008 | 0:4ef465f255d0 | 103 | _cmd[0] = (LIS302_READ | LIS302_OUTX); |
kazushi2008 | 0:4ef465f255d0 | 104 | _i2c.write(_addr, _cmd, 1); |
kazushi2008 | 0:4ef465f255d0 | 105 | _i2c.read(_addr, _cmd, 1); |
kazushi2008 | 0:4ef465f255d0 | 106 | signed char raw = _cmd[0]; |
kazushi2008 | 0:4ef465f255d0 | 107 | |
kazushi2008 | 0:4ef465f255d0 | 108 | return raw/127.0; |
kazushi2008 | 0:4ef465f255d0 | 109 | //float gradient = (2.0/(_maxx-_minx)); |
kazushi2008 | 0:4ef465f255d0 | 110 | //return (gradient*(float)(raw)/_factor)+((-gradient*_maxx)+1); |
kazushi2008 | 0:4ef465f255d0 | 111 | } |
kazushi2008 | 0:4ef465f255d0 | 112 | |
kazushi2008 | 0:4ef465f255d0 | 113 | float LIS302i2c::getY() { |
kazushi2008 | 0:4ef465f255d0 | 114 | // wait for a new sample |
kazushi2008 | 0:4ef465f255d0 | 115 | while(!(status() & LIS302_STATUS_Y_AVAILABLE)); |
kazushi2008 | 0:4ef465f255d0 | 116 | |
kazushi2008 | 0:4ef465f255d0 | 117 | _cmd[0] = (LIS302_READ | LIS302_OUTY); |
kazushi2008 | 0:4ef465f255d0 | 118 | _i2c.write(_addr, _cmd, 1); |
kazushi2008 | 0:4ef465f255d0 | 119 | _i2c.read(_addr, _cmd, 1); |
kazushi2008 | 0:4ef465f255d0 | 120 | signed char raw = _cmd[0]; |
kazushi2008 | 0:4ef465f255d0 | 121 | |
kazushi2008 | 0:4ef465f255d0 | 122 | return raw/127.0; |
kazushi2008 | 0:4ef465f255d0 | 123 | //float gradient = (2.0/(_maxy-_miny)); |
kazushi2008 | 0:4ef465f255d0 | 124 | //return (gradient*(float)(raw)/_factor)+((-gradient*_maxy)+1); |
kazushi2008 | 0:4ef465f255d0 | 125 | } |
kazushi2008 | 0:4ef465f255d0 | 126 | |
kazushi2008 | 0:4ef465f255d0 | 127 | float LIS302i2c::getZ() { |
kazushi2008 | 0:4ef465f255d0 | 128 | // wait for a new sample |
kazushi2008 | 0:4ef465f255d0 | 129 | while(!(status() & LIS302_STATUS_Z_AVAILABLE)); |
kazushi2008 | 0:4ef465f255d0 | 130 | |
kazushi2008 | 0:4ef465f255d0 | 131 | _cmd[0] = (LIS302_READ | LIS302_OUTZ); |
kazushi2008 | 0:4ef465f255d0 | 132 | _i2c.write(_addr, _cmd, 1); |
kazushi2008 | 0:4ef465f255d0 | 133 | _i2c.read(_addr, _cmd, 1); |
kazushi2008 | 0:4ef465f255d0 | 134 | signed char raw = _cmd[0]; |
kazushi2008 | 0:4ef465f255d0 | 135 | |
kazushi2008 | 0:4ef465f255d0 | 136 | return raw/127.0; |
kazushi2008 | 0:4ef465f255d0 | 137 | //float gradient = (2.0/(_maxz-_minz)); |
kazushi2008 | 0:4ef465f255d0 | 138 | //return (gradient*(float)(raw)/_factor)+((-gradient*_maxz)+1); |
kazushi2008 | 0:4ef465f255d0 | 139 | } |
kazushi2008 | 0:4ef465f255d0 | 140 | |
kazushi2008 | 0:4ef465f255d0 | 141 | void LIS302i2c::range(int g) { |
kazushi2008 | 0:4ef465f255d0 | 142 | |
kazushi2008 | 0:4ef465f255d0 | 143 | // fetch the current CRTL_REG1 |
kazushi2008 | 0:4ef465f255d0 | 144 | _cmd[0] = (LIS302_READ | LIS302_CTRL_REG1); |
kazushi2008 | 0:4ef465f255d0 | 145 | _i2c.write(_addr, _cmd, 1); |
kazushi2008 | 0:4ef465f255d0 | 146 | _i2c.read(_addr, _cmd, 1); |
kazushi2008 | 0:4ef465f255d0 | 147 | char value = _cmd[0]; |
kazushi2008 | 0:4ef465f255d0 | 148 | |
kazushi2008 | 0:4ef465f255d0 | 149 | // set the range bit, and the calculation factor |
kazushi2008 | 0:4ef465f255d0 | 150 | if(g) { |
kazushi2008 | 0:4ef465f255d0 | 151 | value |= 0x20; // 8g |
kazushi2008 | 0:4ef465f255d0 | 152 | _factor = FACTOR_8g; |
kazushi2008 | 0:4ef465f255d0 | 153 | } else { |
kazushi2008 | 0:4ef465f255d0 | 154 | value &= ~0x20; // 2g |
kazushi2008 | 0:4ef465f255d0 | 155 | _factor = FACTOR_2g; |
kazushi2008 | 0:4ef465f255d0 | 156 | } |
kazushi2008 | 0:4ef465f255d0 | 157 | |
kazushi2008 | 0:4ef465f255d0 | 158 | _cmd[0] = (LIS302_WRITE | LIS302_CTRL_REG1); |
kazushi2008 | 0:4ef465f255d0 | 159 | _cmd[1] = value; |
kazushi2008 | 0:4ef465f255d0 | 160 | _i2c.write(_addr, _cmd, 2); |
kazushi2008 | 0:4ef465f255d0 | 161 | } |
kazushi2008 | 0:4ef465f255d0 | 162 | |
kazushi2008 | 0:4ef465f255d0 | 163 | void LIS302i2c::calibrate(float maxx, float minx, float maxy, float miny, float maxz, float minz) { |
kazushi2008 | 0:4ef465f255d0 | 164 | _maxx = maxx; |
kazushi2008 | 0:4ef465f255d0 | 165 | _minx = minx; |
kazushi2008 | 0:4ef465f255d0 | 166 | _maxy = maxy; |
kazushi2008 | 0:4ef465f255d0 | 167 | _miny = miny; |
kazushi2008 | 0:4ef465f255d0 | 168 | _maxz = maxz; |
kazushi2008 | 0:4ef465f255d0 | 169 | _minz = minz; |
kazushi2008 | 0:4ef465f255d0 | 170 | } |
kazushi2008 | 0:4ef465f255d0 | 171 | |
kazushi2008 | 0:4ef465f255d0 | 172 | char LIS302i2c::whoami() { |
kazushi2008 | 0:4ef465f255d0 | 173 | _cmd[0] = (LIS302_READ | LIS302_WHOAMI); |
kazushi2008 | 0:4ef465f255d0 | 174 | _i2c.write(_addr, _cmd, 1); |
kazushi2008 | 0:4ef465f255d0 | 175 | _i2c.read(_addr, _cmd, 1); |
kazushi2008 | 0:4ef465f255d0 | 176 | char value = _cmd[0]; |
kazushi2008 | 0:4ef465f255d0 | 177 | return value; |
kazushi2008 | 0:4ef465f255d0 | 178 | } |
kazushi2008 | 0:4ef465f255d0 | 179 | |
kazushi2008 | 0:4ef465f255d0 | 180 | char LIS302i2c::status() { |
kazushi2008 | 0:4ef465f255d0 | 181 | _cmd[0] = 0xA7; |
kazushi2008 | 0:4ef465f255d0 | 182 | _i2c.write(_addr, _cmd, 1); |
kazushi2008 | 0:4ef465f255d0 | 183 | _cmd[0] = (LIS302_READ | LIS302_STATUS_REG); |
kazushi2008 | 0:4ef465f255d0 | 184 | _i2c.write(_addr, _cmd, 1); |
kazushi2008 | 0:4ef465f255d0 | 185 | _i2c.read(_addr, _cmd, 1); |
kazushi2008 | 0:4ef465f255d0 | 186 | char value = _cmd[0]; |
kazushi2008 | 0:4ef465f255d0 | 187 | return value; |
kazushi2008 | 0:4ef465f255d0 | 188 | } |