Kenji Arai / LIS3DH

LIS3DH / STMicroelectronics / MEMS motion sensor, 3-axis accelerometer library

Dependents:   GR-PEACH_test_wo_rtos GR-PEACH_test_on_rtos_works_well Skywire_Demo_3 Skywire_Kinetis_K64_demo ... more

LIS3DH.cpp@8:0999d25ed7bc, 2017-08-23 (annotated)

Committer:
kenjiArai
Date:
Wed Aug 23 09:26:06 2017 +0000
Revision:
8:0999d25ed7bc
Parent:
7:50ac3372def2 
countermeasure for  NonCopyable

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kenjiArai 0:5d5aac272642 1 /*
kenjiArai 6:e269772dad35 2 * mbed library program
kenjiArai 0:5d5aac272642 3 * LIS3DH MEMS motion sensor: 3-axis "nano" accelerometer, made by STMicroelectronics
kenjiArai 0:5d5aac272642 4 * http://www.st-japan.co.jp/web/jp/catalog/sense_power/FM89/SC444/PF250725
kenjiArai 0:5d5aac272642 5 *
kenjiArai 8:0999d25ed7bc 6 * Copyright (c) 2014,'15,'17 Kenji Arai / JH1PJL
kenjiArai 0:5d5aac272642 7 * http://www.page.sannet.ne.jp/kenjia/index.html
kenjiArai 0:5d5aac272642 8 * http://mbed.org/users/kenjiArai/
kenjiArai 8:0999d25ed7bc 9 * Created: July 14th, 2014
kenjiArai 8:0999d25ed7bc 10 * Revised: August 23rd, 2017
kenjiArai 0:5d5aac272642 11 */
kenjiArai 0:5d5aac272642 12
kenjiArai 0:5d5aac272642 13 #include "LIS3DH.h"
kenjiArai 0:5d5aac272642 14
kenjiArai 0:5d5aac272642 15 LIS3DH::LIS3DH (PinName p_sda, PinName p_scl,
kenjiArai 8:0999d25ed7bc 16 uint8_t addr, uint8_t data_rate, uint8_t fullscale)
kenjiArai 8:0999d25ed7bc 17 : _i2c_p(new I2C(p_sda, p_scl)), _i2c(*_i2c_p)
kenjiArai 6:e269772dad35 18 {
kenjiArai 6:e269772dad35 19 _i2c.frequency(400000);
kenjiArai 0:5d5aac272642 20 initialize (addr, data_rate, fullscale);
kenjiArai 0:5d5aac272642 21 }
kenjiArai 0:5d5aac272642 22
kenjiArai 8:0999d25ed7bc 23 LIS3DH::LIS3DH (PinName p_sda, PinName p_scl, uint8_t addr)
kenjiArai 8:0999d25ed7bc 24 : _i2c_p(new I2C(p_sda, p_scl)), _i2c(*_i2c_p)
kenjiArai 6:e269772dad35 25 {
kenjiArai 6:e269772dad35 26 _i2c.frequency(400000);
kenjiArai 5:725df775f168 27 initialize (addr, LIS3DH_DR_NR_LP_50HZ, LIS3DH_FS_8G);
kenjiArai 5:725df775f168 28 }
kenjiArai 5:725df775f168 29
kenjiArai 0:5d5aac272642 30 LIS3DH::LIS3DH (I2C& p_i2c,
kenjiArai 8:0999d25ed7bc 31 uint8_t addr, uint8_t data_rate, uint8_t fullscale)
kenjiArai 8:0999d25ed7bc 32 : _i2c(p_i2c)
kenjiArai 6:e269772dad35 33 {
kenjiArai 6:e269772dad35 34 _i2c.frequency(400000);
kenjiArai 0:5d5aac272642 35 initialize (addr, data_rate, fullscale);
kenjiArai 0:5d5aac272642 36 }
kenjiArai 0:5d5aac272642 37
kenjiArai 8:0999d25ed7bc 38 LIS3DH::LIS3DH (I2C& p_i2c, uint8_t addr)
kenjiArai 8:0999d25ed7bc 39 : _i2c(p_i2c)
kenjiArai 6:e269772dad35 40 {
kenjiArai 6:e269772dad35 41 _i2c.frequency(400000);
kenjiArai 5:725df775f168 42 initialize (addr, LIS3DH_DR_NR_LP_50HZ, LIS3DH_FS_8G);
kenjiArai 5:725df775f168 43 }
kenjiArai 5:725df775f168 44
kenjiArai 6:e269772dad35 45 void LIS3DH::initialize (uint8_t addr, uint8_t data_rate, uint8_t fullscale)
kenjiArai 6:e269772dad35 46 {
kenjiArai 0:5d5aac272642 47 // Check acc is available of not
kenjiArai 0:5d5aac272642 48 acc_addr = addr;
kenjiArai 6:e269772dad35 49 dt[0] = LIS3DH_WHO_AM_I;
kenjiArai 5:725df775f168 50 _i2c.write(acc_addr, dt, 1, true);
kenjiArai 5:725df775f168 51 _i2c.read(acc_addr, dt, 1, false);
kenjiArai 6:e269772dad35 52 if (dt[0] == I_AM_LIS3DH) {
kenjiArai 0:5d5aac272642 53 acc_ready = 1;
kenjiArai 0:5d5aac272642 54 } else {
kenjiArai 0:5d5aac272642 55 acc_ready = 0;
kenjiArai 0:5d5aac272642 56 return; // acc chip is NOT on I2C line then terminate
kenjiArai 0:5d5aac272642 57 }
kenjiArai 0:5d5aac272642 58 // Reg.1
kenjiArai 5:725df775f168 59 dt[0] = LIS3DH_CTRL_REG1;
kenjiArai 5:725df775f168 60 dt[1] = 0x07;
kenjiArai 5:725df775f168 61 dt[1] |= data_rate << 4;
kenjiArai 5:725df775f168 62 _i2c.write(acc_addr, dt, 2, false);
kenjiArai 6:e269772dad35 63 // Reg.4
kenjiArai 5:725df775f168 64 dt[0] = LIS3DH_CTRL_REG4;
kenjiArai 5:725df775f168 65 dt[1] = 0x08; // High resolution
kenjiArai 5:725df775f168 66 dt[1] |= fullscale << 4;
kenjiArai 5:725df775f168 67 _i2c.write(acc_addr, dt, 2, false);
kenjiArai 6:e269772dad35 68 switch (fullscale) {
kenjiArai 6:e269772dad35 69 case LIS3DH_FS_2G:
kenjiArai 6:e269772dad35 70 fs_factor = LIS3DH_SENSITIVITY_2G;
kenjiArai 6:e269772dad35 71 break;
kenjiArai 6:e269772dad35 72 case LIS3DH_FS_4G:
kenjiArai 6:e269772dad35 73 fs_factor = LIS3DH_SENSITIVITY_4G;
kenjiArai 6:e269772dad35 74 break;
kenjiArai 6:e269772dad35 75 case LIS3DH_FS_8G:
kenjiArai 6:e269772dad35 76 fs_factor = LIS3DH_SENSITIVITY_8G;
kenjiArai 6:e269772dad35 77 break;
kenjiArai 6:e269772dad35 78 case LIS3DH_FS_16G:
kenjiArai 6:e269772dad35 79 fs_factor = LIS3DH_SENSITIVITY_16G;
kenjiArai 6:e269772dad35 80 break;
kenjiArai 6:e269772dad35 81 default:
kenjiArai 6:e269772dad35 82 ;
kenjiArai 6:e269772dad35 83 }
kenjiArai 0:5d5aac272642 84 }
kenjiArai 0:5d5aac272642 85
kenjiArai 6:e269772dad35 86 void LIS3DH::read_reg_data(char *data)
kenjiArai 6:e269772dad35 87 {
kenjiArai 0:5d5aac272642 88 // X,Y & Z
kenjiArai 6:e269772dad35 89 // manual said that
kenjiArai 6:e269772dad35 90 // In order to read multiple bytes, it is necessary to assert the most significant bit
kenjiArai 6:e269772dad35 91 // of the subaddress field.
kenjiArai 6:e269772dad35 92 // In other words, SUB(7) must be equal to ‘1’ while SUB(6-0) represents the address
kenjiArai 6:e269772dad35 93 // of the first register to be read.
kenjiArai 6:e269772dad35 94 dt[0] = LIS3DH_OUT_X_L | 0x80;
kenjiArai 5:725df775f168 95 _i2c.write(acc_addr, dt, 1, true);
kenjiArai 5:725df775f168 96 _i2c.read(acc_addr, data, 6, false);
kenjiArai 0:5d5aac272642 97 }
kenjiArai 0:5d5aac272642 98
kenjiArai 6:e269772dad35 99 void LIS3DH::read_mg_data(float *dt_usr)
kenjiArai 6:e269772dad35 100 {
kenjiArai 6:e269772dad35 101 char data[6];
kenjiArai 0:5d5aac272642 102
kenjiArai 6:e269772dad35 103 if (acc_ready == 0) {
kenjiArai 5:725df775f168 104 dt_usr[0] = 0;
kenjiArai 5:725df775f168 105 dt_usr[1] = 0;
kenjiArai 5:725df775f168 106 dt_usr[2] = 0;
kenjiArai 6:e269772dad35 107 return;
kenjiArai 0:5d5aac272642 108 }
kenjiArai 0:5d5aac272642 109 read_reg_data(data);
kenjiArai 0:5d5aac272642 110 // change data type
kenjiArai 7:50ac3372def2 111 #if OLD_REV // Fixed bugs -> (1) unit is not mg but g (2) shift right 4bit = /16
kenjiArai 5:725df775f168 112 dt_usr[0] = float(short((data[1] << 8) | data[0])) * fs_factor / 15;
kenjiArai 5:725df775f168 113 dt_usr[1] = float(short((data[3] << 8) | data[2])) * fs_factor / 15;
kenjiArai 5:725df775f168 114 dt_usr[2] = float(short((data[5] << 8) | data[4])) * fs_factor / 15;
kenjiArai 7:50ac3372def2 115 #else
kenjiArai 7:50ac3372def2 116 dt_usr[0] = float(short((data[1] << 8) | data[0]) >> 4) * fs_factor;
kenjiArai 7:50ac3372def2 117 dt_usr[1] = float(short((data[3] << 8) | data[2]) >> 4) * fs_factor;
kenjiArai 7:50ac3372def2 118 dt_usr[2] = float(short((data[5] << 8) | data[4]) >> 4) * fs_factor;
kenjiArai 7:50ac3372def2 119 #endif
kenjiArai 0:5d5aac272642 120 }
kenjiArai 0:5d5aac272642 121
kenjiArai 6:e269772dad35 122 void LIS3DH::read_data(float *dt_usr)
kenjiArai 6:e269772dad35 123 {
kenjiArai 6:e269772dad35 124 char data[6];
kenjiArai 6:e269772dad35 125
kenjiArai 6:e269772dad35 126 if (acc_ready == 0) {
kenjiArai 5:725df775f168 127 dt_usr[0] = 0;
kenjiArai 5:725df775f168 128 dt_usr[1] = 0;
kenjiArai 5:725df775f168 129 dt_usr[2] = 0;
kenjiArai 6:e269772dad35 130 return;
kenjiArai 0:5d5aac272642 131 }
kenjiArai 0:5d5aac272642 132 read_reg_data(data);
kenjiArai 0:5d5aac272642 133 // change data type
kenjiArai 7:50ac3372def2 134 #if OLD_REV // Fixed bugs -> shift right 4bit = /16 (not /15)
kenjiArai 5:725df775f168 135 dt_usr[0] = float(short((data[1] << 8) | data[0])) * fs_factor / 15 * GRAVITY;
kenjiArai 5:725df775f168 136 dt_usr[1] = float(short((data[3] << 8) | data[2])) * fs_factor / 15 * GRAVITY;
kenjiArai 5:725df775f168 137 dt_usr[2] = float(short((data[5] << 8) | data[4])) * fs_factor / 15 * GRAVITY;
kenjiArai 7:50ac3372def2 138 #else
kenjiArai 7:50ac3372def2 139 dt_usr[0] = float(short((data[1] << 8) | data[0]) >> 4) * fs_factor * GRAVITY;
kenjiArai 7:50ac3372def2 140 dt_usr[1] = float(short((data[3] << 8) | data[2]) >> 4) * fs_factor * GRAVITY;
kenjiArai 7:50ac3372def2 141 dt_usr[2] = float(short((data[5] << 8) | data[4]) >> 4) * fs_factor * GRAVITY;
kenjiArai 7:50ac3372def2 142 #endif
kenjiArai 0:5d5aac272642 143 }
kenjiArai 0:5d5aac272642 144
kenjiArai 6:e269772dad35 145 uint8_t LIS3DH::read_id()
kenjiArai 6:e269772dad35 146 {
kenjiArai 6:e269772dad35 147 dt[0] = LIS3DH_WHO_AM_I;
kenjiArai 5:725df775f168 148 _i2c.write(acc_addr, dt, 1, true);
kenjiArai 5:725df775f168 149 _i2c.read(acc_addr, dt, 1, false);
kenjiArai 5:725df775f168 150 return (uint8_t)dt[0];
kenjiArai 0:5d5aac272642 151 }
kenjiArai 0:5d5aac272642 152
kenjiArai 6:e269772dad35 153 uint8_t LIS3DH::data_ready()
kenjiArai 6:e269772dad35 154 {
kenjiArai 6:e269772dad35 155 if (acc_ready == 1) {
kenjiArai 6:e269772dad35 156 dt[0] = LIS3DH_STATUS_REG_AUX;
kenjiArai 6:e269772dad35 157 _i2c.write(acc_addr, dt, 1, true);
kenjiArai 5:725df775f168 158 _i2c.read(acc_addr, dt, 1, false);
kenjiArai 6:e269772dad35 159 if (!(dt[0] & 0x01)) {
kenjiArai 0:5d5aac272642 160 return 0;
kenjiArai 0:5d5aac272642 161 }
kenjiArai 0:5d5aac272642 162 }
kenjiArai 0:5d5aac272642 163 return 1;
kenjiArai 0:5d5aac272642 164 }
kenjiArai 0:5d5aac272642 165
kenjiArai 6:e269772dad35 166 void LIS3DH::frequency(int hz)
kenjiArai 6:e269772dad35 167 {
kenjiArai 5:725df775f168 168 _i2c.frequency(hz);
kenjiArai 1:d4d569952436 169 }
kenjiArai 1:d4d569952436 170
kenjiArai 6:e269772dad35 171 uint8_t LIS3DH::read_reg(uint8_t addr)
kenjiArai 6:e269772dad35 172 {
kenjiArai 6:e269772dad35 173 if (acc_ready == 1) {
kenjiArai 6:e269772dad35 174 dt[0] = addr;
kenjiArai 6:e269772dad35 175 _i2c.write(acc_addr, dt, 1, true);
kenjiArai 5:725df775f168 176 _i2c.read(acc_addr, dt, 1, false);
kenjiArai 0:5d5aac272642 177 } else {
kenjiArai 5:725df775f168 178 dt[0] = 0xff;
kenjiArai 0:5d5aac272642 179 }
kenjiArai 5:725df775f168 180 return (uint8_t)dt[0];
kenjiArai 0:5d5aac272642 181 }
kenjiArai 0:5d5aac272642 182
kenjiArai 6:e269772dad35 183 void LIS3DH::write_reg(uint8_t addr, uint8_t data)
kenjiArai 6:e269772dad35 184 {
kenjiArai 6:e269772dad35 185 if (acc_ready == 1) {
kenjiArai 5:725df775f168 186 dt[0] = addr;
kenjiArai 6:e269772dad35 187 dt[1] = data;
kenjiArai 6:e269772dad35 188 _i2c.write(acc_addr, dt, 2, false);
kenjiArai 0:5d5aac272642 189 }
kenjiArai 0:5d5aac272642 190 }
kenjiArai 8:0999d25ed7bc 191
kenjiArai 8:0999d25ed7bc 192