Revision 7:50ac3372def2, committed 2015-12-12

Comitter:

kenjiArai

Date:

Sat Dec 12 06:06:43 2015 +0000

Parent:

6:e269772dad35

Child:

8:0999d25ed7bc

Commit message:

bug fix (divided by 15 & unit mg)

Changed in this revision

--- a/LIS3DH.cpp	Tue Feb 24 12:24:38 2015 +0000
+++ b/LIS3DH.cpp	Sat Dec 12 06:06:43 2015 +0000
@@ -7,7 +7,7 @@
  *  http://www.page.sannet.ne.jp/kenjia/index.html
  *  http://mbed.org/users/kenjiArai/
  *      Created: July      14th, 2014
- *      Revised: Feburary  24th, 2015
+ *      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
@@ -110,9 +110,15 @@
     }
     read_reg_data(data);
     // 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)
@@ -127,9 +133,15 @@
     }
     read_reg_data(data);
     // 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()

--- a/LIS3DH.h	Tue Feb 24 12:24:38 2015 +0000
+++ b/LIS3DH.h	Sat Dec 12 06:06:43 2015 +0000
@@ -7,7 +7,7 @@
  *  http://www.page.sannet.ne.jp/kenjia/index.html
  *  http://mbed.org/users/kenjiArai/
  *      Created: July      14th, 2014
- *      Revised: Feburary  24th, 2015
+ *      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
@@ -21,6 +21,9 @@
 
 #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 Address
 //  7bit address = 0b001100x(0x18 or 0x19 depends on SA0/SDO)
 #define LIS3DH_G_CHIP_ADDR  (0x18 << 1)    // SA0(=SDO pin) = Ground
@@ -48,7 +51,7 @@
 #define LIS3DH_CTRL_REG5       0x24
 #define LIS3DH_CTRL_REG6       0x25
 #define LIS3DH_REFERENCE       0x26
-#define LIS3DH_STATUS_REG2     0x27
+#define LIS3DH_STATUS_REG      0x27
 #define LIS3DH_OUT_X_L         0x28
 #define LIS3DH_OUT_X_H         0x29
 #define LIS3DH_OUT_Y_L         0x2a
@@ -105,13 +108,24 @@
 #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
 
 /** Interface for STMicronics MEMS motion sensor: 3-axis "nano" accelerometer
  *      Chip: LIS3DH
@@ -223,7 +237,11 @@
     I2C _i2c;
 
 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_addr;   // acc sensor address
     uint8_t acc_id;     // acc ID