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@5:725df775f168, 2015-02-24 (annotated)

Committer:
kenjiArai
Date:
Tue Feb 24 12:21:54 2015 +0000
Revision:
5:725df775f168
Parent:
4:64dac49da306
Child:
6:e269772dad35
unified format, data name and others, added function call

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kenjiArai 0:5d5aac272642 1 /*
kenjiArai 0:5d5aac272642 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 5:725df775f168 6 * Copyright (c) 2014,'15 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 0:5d5aac272642 9 * Created: July 14th, 2014
kenjiArai 5:725df775f168 10 * Revised: Feburary 24th, 2015
kenjiArai 0:5d5aac272642 11 *
kenjiArai 0:5d5aac272642 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
kenjiArai 0:5d5aac272642 13 * INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE
kenjiArai 0:5d5aac272642 14 * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
kenjiArai 0:5d5aac272642 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
kenjiArai 0:5d5aac272642 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
kenjiArai 0:5d5aac272642 17 */
kenjiArai 0:5d5aac272642 18
kenjiArai 0:5d5aac272642 19 #include "LIS3DH.h"
kenjiArai 0:5d5aac272642 20
kenjiArai 0:5d5aac272642 21 LIS3DH::LIS3DH (PinName p_sda, PinName p_scl,
kenjiArai 5:725df775f168 22 uint8_t addr, uint8_t data_rate, uint8_t fullscale) : _i2c(p_sda, p_scl) {
kenjiArai 5:725df775f168 23 _i2c.frequency(400000);
kenjiArai 0:5d5aac272642 24 initialize (addr, data_rate, fullscale);
kenjiArai 0:5d5aac272642 25 }
kenjiArai 0:5d5aac272642 26
kenjiArai 5:725df775f168 27 LIS3DH::LIS3DH (PinName p_sda, PinName p_scl, uint8_t addr) : _i2c(p_sda, p_scl) {
kenjiArai 5:725df775f168 28 _i2c.frequency(400000);
kenjiArai 5:725df775f168 29 initialize (addr, LIS3DH_DR_NR_LP_50HZ, LIS3DH_FS_8G);
kenjiArai 5:725df775f168 30 }
kenjiArai 5:725df775f168 31
kenjiArai 0:5d5aac272642 32 LIS3DH::LIS3DH (I2C& p_i2c,
kenjiArai 5:725df775f168 33 uint8_t addr, uint8_t data_rate, uint8_t fullscale) : _i2c(p_i2c) {
kenjiArai 5:725df775f168 34 _i2c.frequency(400000);
kenjiArai 0:5d5aac272642 35 initialize (addr, data_rate, fullscale);
kenjiArai 0:5d5aac272642 36 }
kenjiArai 0:5d5aac272642 37
kenjiArai 5:725df775f168 38 LIS3DH::LIS3DH (I2C& p_i2c, uint8_t addr) : _i2c(p_i2c) {
kenjiArai 5:725df775f168 39 _i2c.frequency(400000);
kenjiArai 5:725df775f168 40 initialize (addr, LIS3DH_DR_NR_LP_50HZ, LIS3DH_FS_8G);
kenjiArai 5:725df775f168 41 }
kenjiArai 5:725df775f168 42
kenjiArai 0:5d5aac272642 43 void LIS3DH::initialize (uint8_t addr, uint8_t data_rate, uint8_t fullscale) {
kenjiArai 0:5d5aac272642 44 // Check acc is available of not
kenjiArai 0:5d5aac272642 45 acc_addr = addr;
kenjiArai 5:725df775f168 46 dt[0] = LIS3DH_WHO_AM_I;
kenjiArai 5:725df775f168 47 _i2c.write(acc_addr, dt, 1, true);
kenjiArai 5:725df775f168 48 _i2c.read(acc_addr, dt, 1, false);
kenjiArai 5:725df775f168 49 if (dt[0] == I_AM_LIS3DH){
kenjiArai 0:5d5aac272642 50 acc_ready = 1;
kenjiArai 0:5d5aac272642 51 } else {
kenjiArai 0:5d5aac272642 52 acc_ready = 0;
kenjiArai 0:5d5aac272642 53 return; // acc chip is NOT on I2C line then terminate
kenjiArai 0:5d5aac272642 54 }
kenjiArai 0:5d5aac272642 55 // Reg.1
kenjiArai 5:725df775f168 56 dt[0] = LIS3DH_CTRL_REG1;
kenjiArai 5:725df775f168 57 dt[1] = 0x07;
kenjiArai 5:725df775f168 58 dt[1] |= data_rate << 4;
kenjiArai 5:725df775f168 59 _i2c.write(acc_addr, dt, 2, false);
kenjiArai 0:5d5aac272642 60 // Reg.4
kenjiArai 5:725df775f168 61 dt[0] = LIS3DH_CTRL_REG4;
kenjiArai 5:725df775f168 62 dt[1] = 0x08; // High resolution
kenjiArai 5:725df775f168 63 dt[1] |= fullscale << 4;
kenjiArai 5:725df775f168 64 _i2c.write(acc_addr, dt, 2, false);
kenjiArai 0:5d5aac272642 65 switch (fullscale){
kenjiArai 0:5d5aac272642 66 case LIS3DH_FS_2G:
kenjiArai 0:5d5aac272642 67 fs_factor = LIS3DH_SENSITIVITY_2G;
kenjiArai 0:5d5aac272642 68 break;
kenjiArai 0:5d5aac272642 69 case LIS3DH_FS_4G:
kenjiArai 0:5d5aac272642 70 fs_factor = LIS3DH_SENSITIVITY_4G;
kenjiArai 0:5d5aac272642 71 break;
kenjiArai 0:5d5aac272642 72 case LIS3DH_FS_8G:
kenjiArai 0:5d5aac272642 73 fs_factor = LIS3DH_SENSITIVITY_8G;
kenjiArai 0:5d5aac272642 74 break;
kenjiArai 0:5d5aac272642 75 case LIS3DH_FS_16G:
kenjiArai 0:5d5aac272642 76 fs_factor = LIS3DH_SENSITIVITY_16G;
kenjiArai 0:5d5aac272642 77 break;
kenjiArai 0:5d5aac272642 78 default:
kenjiArai 0:5d5aac272642 79 ;
kenjiArai 0:5d5aac272642 80 }
kenjiArai 0:5d5aac272642 81 }
kenjiArai 0:5d5aac272642 82
kenjiArai 0:5d5aac272642 83 void LIS3DH::read_reg_data(char *data) {
kenjiArai 0:5d5aac272642 84 // X,Y & Z
kenjiArai 0:5d5aac272642 85 // manual said that
kenjiArai 0:5d5aac272642 86 // In order to read multiple bytes, it is necessary to assert the most significant bit
kenjiArai 0:5d5aac272642 87 // of the subaddress field.
kenjiArai 0:5d5aac272642 88 // In other words, SUB(7) must be equal to ‘1’ while SUB(6-0) represents the address
kenjiArai 0:5d5aac272642 89 // of the first register to be read.
kenjiArai 5:725df775f168 90 dt[0] = LIS3DH_OUT_X_L | 0x80;
kenjiArai 5:725df775f168 91 _i2c.write(acc_addr, dt, 1, true);
kenjiArai 5:725df775f168 92 _i2c.read(acc_addr, data, 6, false);
kenjiArai 0:5d5aac272642 93 }
kenjiArai 0:5d5aac272642 94
kenjiArai 5:725df775f168 95 void LIS3DH::read_mg_data(float *dt_usr) {
kenjiArai 0:5d5aac272642 96 char data[6];
kenjiArai 0:5d5aac272642 97
kenjiArai 0:5d5aac272642 98 if (acc_ready == 0){
kenjiArai 5:725df775f168 99 dt_usr[0] = 0;
kenjiArai 5:725df775f168 100 dt_usr[1] = 0;
kenjiArai 5:725df775f168 101 dt_usr[2] = 0;
kenjiArai 0:5d5aac272642 102 return;
kenjiArai 0:5d5aac272642 103 }
kenjiArai 0:5d5aac272642 104 read_reg_data(data);
kenjiArai 0:5d5aac272642 105 // change data type
kenjiArai 5:725df775f168 106 dt_usr[0] = float(short((data[1] << 8) | data[0])) * fs_factor / 15;
kenjiArai 5:725df775f168 107 dt_usr[1] = float(short((data[3] << 8) | data[2])) * fs_factor / 15;
kenjiArai 5:725df775f168 108 dt_usr[2] = float(short((data[5] << 8) | data[4])) * fs_factor / 15;
kenjiArai 0:5d5aac272642 109 }
kenjiArai 0:5d5aac272642 110
kenjiArai 5:725df775f168 111 void LIS3DH::read_data(float *dt_usr) {
kenjiArai 0:5d5aac272642 112 char data[6];
kenjiArai 0:5d5aac272642 113
kenjiArai 0:5d5aac272642 114 if (acc_ready == 0){
kenjiArai 5:725df775f168 115 dt_usr[0] = 0;
kenjiArai 5:725df775f168 116 dt_usr[1] = 0;
kenjiArai 5:725df775f168 117 dt_usr[2] = 0;
kenjiArai 0:5d5aac272642 118 return;
kenjiArai 0:5d5aac272642 119 }
kenjiArai 0:5d5aac272642 120 read_reg_data(data);
kenjiArai 0:5d5aac272642 121 // change data type
kenjiArai 5:725df775f168 122 dt_usr[0] = float(short((data[1] << 8) | data[0])) * fs_factor / 15 * GRAVITY;
kenjiArai 5:725df775f168 123 dt_usr[1] = float(short((data[3] << 8) | data[2])) * fs_factor / 15 * GRAVITY;
kenjiArai 5:725df775f168 124 dt_usr[2] = float(short((data[5] << 8) | data[4])) * fs_factor / 15 * GRAVITY;
kenjiArai 0:5d5aac272642 125 }
kenjiArai 0:5d5aac272642 126
kenjiArai 0:5d5aac272642 127 uint8_t LIS3DH::read_id() {
kenjiArai 5:725df775f168 128 dt[0] = LIS3DH_WHO_AM_I;
kenjiArai 5:725df775f168 129 _i2c.write(acc_addr, dt, 1, true);
kenjiArai 5:725df775f168 130 _i2c.read(acc_addr, dt, 1, false);
kenjiArai 5:725df775f168 131 return (uint8_t)dt[0];
kenjiArai 0:5d5aac272642 132 }
kenjiArai 0:5d5aac272642 133
kenjiArai 0:5d5aac272642 134 uint8_t LIS3DH::data_ready() {
kenjiArai 0:5d5aac272642 135 if (acc_ready == 1){
kenjiArai 5:725df775f168 136 dt[0] = LIS3DH_STATUS_REG_AUX;
kenjiArai 5:725df775f168 137 _i2c.write(acc_addr, dt, 1, true);
kenjiArai 5:725df775f168 138 _i2c.read(acc_addr, dt, 1, false);
kenjiArai 5:725df775f168 139 if (!(dt[0] & 0x01)){
kenjiArai 0:5d5aac272642 140 return 0;
kenjiArai 0:5d5aac272642 141 }
kenjiArai 0:5d5aac272642 142 }
kenjiArai 0:5d5aac272642 143 return 1;
kenjiArai 0:5d5aac272642 144 }
kenjiArai 0:5d5aac272642 145
kenjiArai 1:d4d569952436 146 void LIS3DH::frequency(int hz) {
kenjiArai 5:725df775f168 147 _i2c.frequency(hz);
kenjiArai 1:d4d569952436 148 }
kenjiArai 1:d4d569952436 149
kenjiArai 0:5d5aac272642 150 uint8_t LIS3DH::read_reg(uint8_t addr) {
kenjiArai 0:5d5aac272642 151 if (acc_ready == 1){
kenjiArai 5:725df775f168 152 dt[0] = addr;
kenjiArai 5:725df775f168 153 _i2c.write(acc_addr, dt, 1, true);
kenjiArai 5:725df775f168 154 _i2c.read(acc_addr, dt, 1, false);
kenjiArai 0:5d5aac272642 155 } else {
kenjiArai 5:725df775f168 156 dt[0] = 0xff;
kenjiArai 0:5d5aac272642 157 }
kenjiArai 5:725df775f168 158 return (uint8_t)dt[0];
kenjiArai 0:5d5aac272642 159 }
kenjiArai 0:5d5aac272642 160
kenjiArai 0:5d5aac272642 161 void LIS3DH::write_reg(uint8_t addr, uint8_t data) {
kenjiArai 0:5d5aac272642 162 if (acc_ready == 1){
kenjiArai 5:725df775f168 163 dt[0] = addr;
kenjiArai 5:725df775f168 164 dt[1] = data;
kenjiArai 5:725df775f168 165 _i2c.write(acc_addr, dt, 2, false);
kenjiArai 0:5d5aac272642 166 }
kenjiArai 0:5d5aac272642 167 }