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.h@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 #ifndef LIS3DH_H
kenjiArai 0:5d5aac272642 14 #define LIS3DH_H
kenjiArai 0:5d5aac272642 15
kenjiArai 0:5d5aac272642 16 #include "mbed.h"
kenjiArai 0:5d5aac272642 17
kenjiArai 7:50ac3372def2 18 // revision 6 have two bugs, (1) read_mg_data, (2) divided by 15 (16 is coorect value)
kenjiArai 7:50ac3372def2 19 #define OLD_REV 0 // KEEP 0!! (If you set 1, work as old revision)
kenjiArai 7:50ac3372def2 20
kenjiArai 0:5d5aac272642 21 // LIS3DH Address
kenjiArai 0:5d5aac272642 22 // 7bit address = 0b001100x(0x18 or 0x19 depends on SA0/SDO)
kenjiArai 5:725df775f168 23 #define LIS3DH_G_CHIP_ADDR (0x18 << 1) // SA0(=SDO pin) = Ground
kenjiArai 5:725df775f168 24 #define LIS3DH_V_CHIP_ADDR (0x19 << 1) // SA0(=SDO pin) = Vdd
kenjiArai 0:5d5aac272642 25
kenjiArai 0:5d5aac272642 26
kenjiArai 0:5d5aac272642 27 // LIS3DH ID
kenjiArai 5:725df775f168 28 #define I_AM_LIS3DH 0x33
kenjiArai 0:5d5aac272642 29
kenjiArai 0:5d5aac272642 30 // Register's definition
kenjiArai 0:5d5aac272642 31 #define LIS3DH_STATUS_REG_AUX 0x07
kenjiArai 0:5d5aac272642 32 #define LIS3DH_OUT_ADC1_L 0x08
kenjiArai 0:5d5aac272642 33 #define LIS3DH_OUT_ADC1_H 0x09
kenjiArai 0:5d5aac272642 34 #define LIS3DH_OUT_ADC2_L 0x0a
kenjiArai 0:5d5aac272642 35 #define LIS3DH_OUT_ADC2_H 0x0b
kenjiArai 0:5d5aac272642 36 #define LIS3DH_OUT_ADC3_L 0x0c
kenjiArai 0:5d5aac272642 37 #define LIS3DH_OUT_ADC3_H 0x0d
kenjiArai 0:5d5aac272642 38 #define LIS3DH_INT_COUNTER_REG 0x0e
kenjiArai 0:5d5aac272642 39 #define LIS3DH_WHO_AM_I 0x0f
kenjiArai 0:5d5aac272642 40 #define LIS3DH_TEMP_CFG_REG 0x1f
kenjiArai 0:5d5aac272642 41 #define LIS3DH_CTRL_REG1 0x20
kenjiArai 0:5d5aac272642 42 #define LIS3DH_CTRL_REG2 0x21
kenjiArai 0:5d5aac272642 43 #define LIS3DH_CTRL_REG3 0x22
kenjiArai 0:5d5aac272642 44 #define LIS3DH_CTRL_REG4 0x23
kenjiArai 0:5d5aac272642 45 #define LIS3DH_CTRL_REG5 0x24
kenjiArai 0:5d5aac272642 46 #define LIS3DH_CTRL_REG6 0x25
kenjiArai 0:5d5aac272642 47 #define LIS3DH_REFERENCE 0x26
kenjiArai 7:50ac3372def2 48 #define LIS3DH_STATUS_REG 0x27
kenjiArai 0:5d5aac272642 49 #define LIS3DH_OUT_X_L 0x28
kenjiArai 0:5d5aac272642 50 #define LIS3DH_OUT_X_H 0x29
kenjiArai 0:5d5aac272642 51 #define LIS3DH_OUT_Y_L 0x2a
kenjiArai 0:5d5aac272642 52 #define LIS3DH_OUT_Y_H 0x2b
kenjiArai 0:5d5aac272642 53 #define LIS3DH_OUT_Z_L 0x2c
kenjiArai 0:5d5aac272642 54 #define LIS3DH_OUT_Z_H 0x2d
kenjiArai 0:5d5aac272642 55 #define LIS3DH_FIFO_CTRL_REG 0x2e
kenjiArai 0:5d5aac272642 56 #define LIS3DH_FIFO_SRC_REG 0x2f
kenjiArai 0:5d5aac272642 57 #define LIS3DH_INT1_CFG 0x30
kenjiArai 0:5d5aac272642 58 #define LIS3DH_INT1_SOURCE 0x31
kenjiArai 0:5d5aac272642 59 #define LIS3DH_INT1_THS 0x32
kenjiArai 0:5d5aac272642 60 #define LIS3DH_INT1_DURATION 0x33
kenjiArai 0:5d5aac272642 61 #define LIS3DH_CLICK_CFG 0x38
kenjiArai 0:5d5aac272642 62 #define LIS3DH_CLICK_SRC 0x39
kenjiArai 0:5d5aac272642 63 #define LIS3DH_CLICK_THS 0x3a
kenjiArai 0:5d5aac272642 64 #define LIS3DH_TIME_LIMIT 0x3b
kenjiArai 0:5d5aac272642 65 #define LIS3DH_TIME_LATENCY 0x3c
kenjiArai 0:5d5aac272642 66 #define LIS3DH_TIME_WINDOW 0x3d
kenjiArai 0:5d5aac272642 67
kenjiArai 0:5d5aac272642 68 // Output Data Rate (ODR)
kenjiArai 0:5d5aac272642 69 #define LIS3DH_DR_PWRDWN 0
kenjiArai 0:5d5aac272642 70 #define LIS3DH_DR_NR_LP_1HZ 1
kenjiArai 0:5d5aac272642 71 #define LIS3DH_DR_NR_LP_10HZ 2
kenjiArai 0:5d5aac272642 72 #define LIS3DH_DR_NR_LP_25HZ 3
kenjiArai 0:5d5aac272642 73 #define LIS3DH_DR_NR_LP_50HZ 4
kenjiArai 0:5d5aac272642 74 #define LIS3DH_DR_NR_LP_100HZ 5
kenjiArai 0:5d5aac272642 75 #define LIS3DH_DR_NR_LP_200HZ 6
kenjiArai 0:5d5aac272642 76 #define LIS3DH_DR_NR_LP_400HZ 7
kenjiArai 0:5d5aac272642 77 #define LIS3DH_DR_LP_1R6KHZ 8
kenjiArai 0:5d5aac272642 78 #define LIS3DH_DR_NR_1R25KHZ 9
kenjiArai 0:5d5aac272642 79
kenjiArai 0:5d5aac272642 80 // Bandwidth (Low pass)
kenjiArai 0:5d5aac272642 81 #define LIS3DH_BW_LOW 0
kenjiArai 0:5d5aac272642 82 #define LIS3DH_BW_M_LOW 1
kenjiArai 0:5d5aac272642 83 #define LIS3DH_BW_M_HI 2
kenjiArai 0:5d5aac272642 84 #define LIS3DH_BW_HI 3
kenjiArai 0:5d5aac272642 85
kenjiArai 0:5d5aac272642 86 // Low power mode enable/disable
kenjiArai 0:5d5aac272642 87 #define LIS3DH_LP_EN 0
kenjiArai 0:5d5aac272642 88 #define LIS3DH_LP_DIS 1
kenjiArai 0:5d5aac272642 89
kenjiArai 0:5d5aac272642 90 // Axis control
kenjiArai 0:5d5aac272642 91 #define LIS3DH_X_EN 1
kenjiArai 0:5d5aac272642 92 #define LIS3DH_X_DIS 0
kenjiArai 0:5d5aac272642 93 #define LIS3DH_Y_EN 1
kenjiArai 0:5d5aac272642 94 #define LIS3DH_Y_DIS 0
kenjiArai 0:5d5aac272642 95 #define LIS3DH_Z_EN 1
kenjiArai 0:5d5aac272642 96 #define LIS3DH_Z_DIS 0
kenjiArai 0:5d5aac272642 97
kenjiArai 0:5d5aac272642 98 // Full Scale
kenjiArai 0:5d5aac272642 99 #define LIS3DH_FS_2G 0
kenjiArai 0:5d5aac272642 100 #define LIS3DH_FS_4G 1
kenjiArai 0:5d5aac272642 101 #define LIS3DH_FS_8G 2
kenjiArai 0:5d5aac272642 102 #define LIS3DH_FS_16G 3
kenjiArai 0:5d5aac272642 103
kenjiArai 6:e269772dad35 104 // definition for Nomalization
kenjiArai 7:50ac3372def2 105 #if OLD_REV
kenjiArai 0:5d5aac272642 106 #define LIS3DH_SENSITIVITY_2G (0.001F)
kenjiArai 0:5d5aac272642 107 #define LIS3DH_SENSITIVITY_4G (0.002F)
kenjiArai 0:5d5aac272642 108 #define LIS3DH_SENSITIVITY_8G (0.004F)
kenjiArai 0:5d5aac272642 109 #define LIS3DH_SENSITIVITY_16G (0.012F)
kenjiArai 7:50ac3372def2 110 #else
kenjiArai 7:50ac3372def2 111 #define LIS3DH_SENSITIVITY_2G 1
kenjiArai 7:50ac3372def2 112 #define LIS3DH_SENSITIVITY_4G 2
kenjiArai 7:50ac3372def2 113 #define LIS3DH_SENSITIVITY_8G 4
kenjiArai 7:50ac3372def2 114 #define LIS3DH_SENSITIVITY_16G 12
kenjiArai 7:50ac3372def2 115 #endif
kenjiArai 0:5d5aac272642 116
kenjiArai 0:5d5aac272642 117 //Gravity at Earth's surface in m/s/s
kenjiArai 7:50ac3372def2 118 #if OLD_REV
kenjiArai 0:5d5aac272642 119 #define GRAVITY (9.80665F)
kenjiArai 7:50ac3372def2 120 #else
kenjiArai 7:50ac3372def2 121 #define GRAVITY (9.80665F / 1000)
kenjiArai 7:50ac3372def2 122 #endif
kenjiArai 0:5d5aac272642 123
kenjiArai 0:5d5aac272642 124 /** Interface for STMicronics MEMS motion sensor: 3-axis "nano" accelerometer
kenjiArai 0:5d5aac272642 125 * Chip: LIS3DH
kenjiArai 0:5d5aac272642 126 *
kenjiArai 0:5d5aac272642 127 * @code
kenjiArai 0:5d5aac272642 128 * #include "mbed.h"
kenjiArai 0:5d5aac272642 129 *
kenjiArai 0:5d5aac272642 130 * // I2C Communication
kenjiArai 0:5d5aac272642 131 * LIS3DH acc(p_sda, p_scl, chip_addr, datarate, bandwidth, fullscale);
kenjiArai 0:5d5aac272642 132 * // If you connected I2C line not only this device but also other devices,
kenjiArai 0:5d5aac272642 133 * // you need to declare following method.
kenjiArai 0:5d5aac272642 134 * I2C i2c(dp5,dp27); // SDA, SCL
kenjiArai 0:5d5aac272642 135 * LIS3DH acc(i2c, chip_addr, datarate, bandwidth, fullscale);
kenjiArai 0:5d5aac272642 136 *
kenjiArai 0:5d5aac272642 137 * int main() {
kenjiArai 0:5d5aac272642 138 * float f[3];
kenjiArai 0:5d5aac272642 139 *
kenjiArai 0:5d5aac272642 140 * if (acc.read_id() == I_AM_LIS3DH){
kenjiArai 0:5d5aac272642 141 * acc.read_data(f);
kenjiArai 0:5d5aac272642 142 * }
kenjiArai 0:5d5aac272642 143 * }
kenjiArai 0:5d5aac272642 144 * @endcode
kenjiArai 0:5d5aac272642 145 */
kenjiArai 0:5d5aac272642 146
kenjiArai 6:e269772dad35 147 class LIS3DH
kenjiArai 6:e269772dad35 148 {
kenjiArai 0:5d5aac272642 149 public:
kenjiArai 0:5d5aac272642 150 /** Configure data pin
kenjiArai 0:5d5aac272642 151 * @param data SDA and SCL pins
kenjiArai 0:5d5aac272642 152 * @param device address LIS3DH(SA0=0 or 1), LIS3DH_G_CHIP_ADDR or LIS3DH_V_CHIP_ADDR
kenjiArai 0:5d5aac272642 153 * @param output data rate selection, power down mode, 1Hz to 5KHz
kenjiArai 0:5d5aac272642 154 * @param full scale selection, +/-2g to +/-16g
kenjiArai 0:5d5aac272642 155 */
kenjiArai 0:5d5aac272642 156 LIS3DH(PinName p_sda, PinName p_scl,
kenjiArai 6:e269772dad35 157 uint8_t addr, uint8_t data_rate, uint8_t fullscale);
kenjiArai 5:725df775f168 158
kenjiArai 5:725df775f168 159 /** Configure data pin
kenjiArai 5:725df775f168 160 * @param data SDA and SCL pins
kenjiArai 5:725df775f168 161 * @param device address LIS3DH(SA0=0 or 1), LIS3DH_G_CHIP_ADDR or LIS3DH_V_CHIP_ADDR
kenjiArai 5:725df775f168 162 * @default output data rate selection = 50Hz
kenjiArai 5:725df775f168 163 * @default full scale selection = +/-8g
kenjiArai 5:725df775f168 164 */
kenjiArai 5:725df775f168 165 LIS3DH(PinName p_sda, PinName p_scl, uint8_t addr);
kenjiArai 6:e269772dad35 166
kenjiArai 0:5d5aac272642 167 /** Configure data pin (with other devices on I2C line)
kenjiArai 0:5d5aac272642 168 * @param I2C previous definition
kenjiArai 0:5d5aac272642 169 * @param other parameters -> please see LIS3DH(PinName p_sda, PinName p_scl,...)
kenjiArai 0:5d5aac272642 170 */
kenjiArai 0:5d5aac272642 171 LIS3DH(I2C& p_i2c,
kenjiArai 6:e269772dad35 172 uint8_t addr, uint8_t data_rate, uint8_t fullscale);
kenjiArai 5:725df775f168 173
kenjiArai 5:725df775f168 174 /** Configure data pin (with other devices on I2C line)
kenjiArai 5:725df775f168 175 * @param I2C previous definition
kenjiArai 5:725df775f168 176 * @param other parameters -> please see LIS3DH(PinName p_sda, PinName p_scl,...)
kenjiArai 5:725df775f168 177 * @default output data rate selection = 50Hz
kenjiArai 5:725df775f168 178 * @default full scale selection = +/-8g
kenjiArai 5:725df775f168 179 */
kenjiArai 5:725df775f168 180 LIS3DH(I2C& p_i2c, uint8_t addr);
kenjiArai 6:e269772dad35 181
kenjiArai 0:5d5aac272642 182 /** Read a float type data from acc
kenjiArai 5:725df775f168 183 * @param float type of three arry's address, e.g. float dt_usr[3];
kenjiArai 0:5d5aac272642 184 * @return acc motion data unit: m/s/s(m/s2)
kenjiArai 6:e269772dad35 185 * @return dt_usr[0]->x, dt_usr[1]->y, dt_usr[2]->z
kenjiArai 0:5d5aac272642 186 */
kenjiArai 5:725df775f168 187 void read_data(float *dt_usr);
kenjiArai 0:5d5aac272642 188
kenjiArai 0:5d5aac272642 189 /** Read a float type data from acc
kenjiArai 5:725df775f168 190 * @param float type of three arry's address, e.g. float dt_usr[3];
kenjiArai 0:5d5aac272642 191 * @return acc motion data unit: mg
kenjiArai 6:e269772dad35 192 * @return dt_usr[0]->x, dt_usr[1]->y, dt_usr[2]->z
kenjiArai 0:5d5aac272642 193 */
kenjiArai 5:725df775f168 194 void read_mg_data(float *dt_usr);
kenjiArai 6:e269772dad35 195
kenjiArai 0:5d5aac272642 196 /** Read a acc ID number
kenjiArai 0:5d5aac272642 197 * @param none
kenjiArai 0:5d5aac272642 198 * @return if STM MEMS acc, it should be I_AM_ LIS3DH(0x33)
kenjiArai 0:5d5aac272642 199 */
kenjiArai 0:5d5aac272642 200 uint8_t read_id();
kenjiArai 0:5d5aac272642 201
kenjiArai 0:5d5aac272642 202 /** Read Data Ready flag
kenjiArai 0:5d5aac272642 203 * @param none
kenjiArai 0:5d5aac272642 204 * @return 1 = Ready
kenjiArai 0:5d5aac272642 205 */
kenjiArai 0:5d5aac272642 206 uint8_t data_ready();
kenjiArai 0:5d5aac272642 207
kenjiArai 1:d4d569952436 208 /** Set I2C clock frequency
kenjiArai 1:d4d569952436 209 * @param freq.
kenjiArai 1:d4d569952436 210 * @return none
kenjiArai 1:d4d569952436 211 */
kenjiArai 1:d4d569952436 212 void frequency(int hz);
kenjiArai 1:d4d569952436 213
kenjiArai 0:5d5aac272642 214 /** Read register (general purpose)
kenjiArai 0:5d5aac272642 215 * @param register's address
kenjiArai 0:5d5aac272642 216 * @return register data
kenjiArai 0:5d5aac272642 217 */
kenjiArai 0:5d5aac272642 218 uint8_t read_reg(uint8_t addr);
kenjiArai 0:5d5aac272642 219
kenjiArai 0:5d5aac272642 220 /** Write register (general purpose)
kenjiArai 0:5d5aac272642 221 * @param register's address
kenjiArai 0:5d5aac272642 222 * @param data
kenjiArai 0:5d5aac272642 223 * @return none
kenjiArai 0:5d5aac272642 224 */
kenjiArai 0:5d5aac272642 225 void write_reg(uint8_t addr, uint8_t data);
kenjiArai 0:5d5aac272642 226
kenjiArai 0:5d5aac272642 227 protected:
kenjiArai 0:5d5aac272642 228 void initialize(uint8_t, uint8_t, uint8_t);
kenjiArai 0:5d5aac272642 229 void read_reg_data(char *data);
kenjiArai 0:5d5aac272642 230
kenjiArai 8:0999d25ed7bc 231 I2C *_i2c_p;
kenjiArai 8:0999d25ed7bc 232 I2C &_i2c;
kenjiArai 6:e269772dad35 233
kenjiArai 0:5d5aac272642 234 private:
kenjiArai 7:50ac3372def2 235 #if OLD_REV
kenjiArai 5:725df775f168 236 float fs_factor; // full scale factor
kenjiArai 7:50ac3372def2 237 #else
kenjiArai 7:50ac3372def2 238 uint8_t fs_factor; // full scale factor
kenjiArai 7:50ac3372def2 239 #endif
kenjiArai 5:725df775f168 240 char dt[2]; // working buffer
kenjiArai 0:5d5aac272642 241 uint8_t acc_addr; // acc sensor address
kenjiArai 0:5d5aac272642 242 uint8_t acc_id; // acc ID
kenjiArai 6:e269772dad35 243 uint8_t acc_ready; // acc is on I2C line = 1, not = 0
kenjiArai 0:5d5aac272642 244 };
kenjiArai 0:5d5aac272642 245
kenjiArai 0:5d5aac272642 246 #endif // LIS3DH_H
kenjiArai 8:0999d25ed7bc 247