Revision 0:5d5aac272642, committed 2014-08-29

Comitter:

kenjiArai

Date:

Fri Aug 29 13:27:20 2014 +0000

Child:

1:d4d569952436

Commit message:

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

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LIS3DH.cpp	Fri Aug 29 13:27:20 2014 +0000
@@ -0,0 +1,151 @@
+/*
+ * mbed library program 
+ *  LIS3DH MEMS motion sensor: 3-axis "nano" accelerometer, made by STMicroelectronics
+ *      http://www.st-japan.co.jp/web/jp/catalog/sense_power/FM89/SC444/PF250725
+ *
+ * Copyright (c) 2014 Kenji Arai / JH1PJL
+ *  http://www.page.sannet.ne.jp/kenjia/index.html
+ *  http://mbed.org/users/kenjiArai/
+ *      Created: July      14th, 2014 
+ *      Revised: August    29th, 2014
+ *
+ * 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
+ * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include "LIS3DH.h"
+
+LIS3DH::LIS3DH (PinName p_sda, PinName p_scl,
+    uint8_t addr, uint8_t data_rate, uint8_t fullscale) : i2c(p_sda, p_scl) {
+    initialize (addr, data_rate, fullscale);
+}
+
+LIS3DH::LIS3DH (I2C& p_i2c,
+    uint8_t addr, uint8_t data_rate, uint8_t fullscale) : i2c(p_i2c) { 
+    initialize (addr, data_rate, fullscale);
+}
+
+void LIS3DH::initialize (uint8_t addr, uint8_t data_rate, uint8_t fullscale) {
+    // Check acc is available of not
+    acc_addr = addr;
+    dbf[0] = LIS3DH_WHO_AM_I; 
+    i2c.write(acc_addr, dbf, 1); 
+    i2c.read(acc_addr, dbf, 1);
+    if (dbf[0] == I_AM_LIS3DH){
+        acc_ready = 1;
+    } else {
+        acc_ready = 0;
+        return;     // acc chip is NOT on I2C line then terminate
+    }
+    //  Reg.1
+    dbf[0] = LIS3DH_CTRL_REG1;
+    dbf[1] = 0x07;
+    dbf[1] |= data_rate << 4;
+    i2c.write(acc_addr, dbf, 2);
+    //  Reg.4 
+    dbf[0] = LIS3DH_CTRL_REG4;
+    dbf[1] = 0x08;  // High resolution
+    dbf[1] |= fullscale << 4;
+    i2c.write(acc_addr, dbf, 2);
+    switch (fullscale){
+    case LIS3DH_FS_2G:
+        fs_factor = LIS3DH_SENSITIVITY_2G;
+        break;
+    case LIS3DH_FS_4G:
+        fs_factor = LIS3DH_SENSITIVITY_4G;
+        break;
+    case LIS3DH_FS_8G:
+        fs_factor = LIS3DH_SENSITIVITY_8G;
+        break;
+    case LIS3DH_FS_16G:
+        fs_factor = LIS3DH_SENSITIVITY_16G;
+        break;
+    default:
+        ;
+    }   
+}
+
+void LIS3DH::read_reg_data(char *data) {
+    // X,Y & Z
+        // manual said that
+        // In order to read multiple bytes, it is necessary to assert the most significant bit
+        // of the subaddress field.
+        // In other words, SUB(7) must be equal to ‘1’ while SUB(6-0) represents the address
+        // of the first register to be read.
+    dbf[0] = LIS3DH_OUT_X_L | 0x80; 
+    i2c.write(acc_addr, dbf, 1, true); 
+    i2c.read(acc_addr, data, 6, false);
+}
+
+void LIS3DH::read_mg_data(float *dt) {
+char data[6];
+
+    if (acc_ready == 0){
+        dt[0] = 0;
+        dt[1] = 0;
+        dt[2] = 0;
+        return;  
+    }
+    read_reg_data(data);
+    // change data type
+    dt[0] = float(short((data[1] << 8) | data[0])) * fs_factor / 15;
+    dt[1] = float(short((data[3] << 8) | data[2])) * fs_factor / 15;
+    dt[2] = float(short((data[5] << 8) | data[4])) * fs_factor / 15;
+}
+    
+void LIS3DH::read_data(float *dt) {
+char data[6];
+
+    if (acc_ready == 0){
+        dt[0] = 0;
+        dt[1] = 0;
+        dt[2] = 0;
+        return;  
+    }
+    read_reg_data(data);
+    // change data type
+    dt[0] = float(short((data[1] << 8) | data[0])) * fs_factor / 15 * GRAVITY;
+    dt[1] = float(short((data[3] << 8) | data[2])) * fs_factor / 15 * GRAVITY;
+    dt[2] = float(short((data[5] << 8) | data[4])) * fs_factor / 15 * GRAVITY;
+}
+
+uint8_t LIS3DH::read_id() {
+    dbf[0] = LIS3DH_WHO_AM_I; 
+    i2c.write(acc_addr, dbf, 1); 
+    i2c.read(acc_addr, dbf, 1);
+    return (uint8_t)dbf[0];
+}
+
+uint8_t LIS3DH::data_ready() {
+    if (acc_ready == 1){
+        dbf[0] = LIS3DH_STATUS_REG_AUX; 
+        i2c.write(acc_addr, dbf, 1); 
+        i2c.read(acc_addr, dbf, 1);
+        if (!(dbf[0] & 0x01)){
+            return 0;
+        }
+    }
+    return 1;
+}
+
+uint8_t LIS3DH::read_reg(uint8_t addr) {
+    if (acc_ready == 1){
+        dbf[0] = addr; 
+        i2c.write(acc_addr, dbf, 1); 
+        i2c.read(acc_addr, dbf, 1);
+    } else {
+        dbf[0] = 0xff;
+    }
+    return (uint8_t)dbf[0];
+}
+
+void LIS3DH::write_reg(uint8_t addr, uint8_t data) {
+    if (acc_ready == 1){
+        dbf[0] = addr;
+        dbf[1] = data; 
+        i2c.write(acc_addr, dbf, 2); 
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LIS3DH.h	Fri Aug 29 13:27:20 2014 +0000
@@ -0,0 +1,211 @@
+/*
+ * mbed library program 
+ *  LIS3DH MEMS motion sensor: 3-axis "nano" accelerometer, made by STMicroelectronics
+ *      http://www.st-japan.co.jp/web/jp/catalog/sense_power/FM89/SC444/PF250725
+ *
+ * Copyright (c) 2014 Kenji Arai / JH1PJL
+ *  http://www.page.sannet.ne.jp/kenjia/index.html
+ *  http://mbed.org/users/kenjiArai/
+ *      Created: July      14th, 2014 
+ *      Revised: August    29th, 2014
+ *
+ * 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
+ * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef LIS3DH_H
+#define LIS3DH_H
+
+#include "mbed.h"
+
+//  LIS3DH Address
+//  7bit address = 0b001100x(0x18 or 0x19 depends on SA0/SDO)
+//      -> 8bit = 0b001100x0(0x30,0x32) -> 0x31,0x33(Read) or 0x30,0x32(Write)
+#define LIS3DH_G_CHIP_ADDR  0x30    // SA0(=SDO pin) = Ground
+#define LIS3DH_V_CHIP_ADDR  0x32    // SA0(=SDO pin) = Vdd
+
+
+//   LIS3DH ID
+#define I_AM_LIS3DH         0x33
+
+//  Register's definition
+#define LIS3DH_STATUS_REG_AUX  0x07
+#define LIS3DH_OUT_ADC1_L      0x08
+#define LIS3DH_OUT_ADC1_H      0x09
+#define LIS3DH_OUT_ADC2_L      0x0a
+#define LIS3DH_OUT_ADC2_H      0x0b
+#define LIS3DH_OUT_ADC3_L      0x0c
+#define LIS3DH_OUT_ADC3_H      0x0d
+#define LIS3DH_INT_COUNTER_REG 0x0e
+#define LIS3DH_WHO_AM_I        0x0f
+#define LIS3DH_TEMP_CFG_REG    0x1f
+#define LIS3DH_CTRL_REG1       0x20
+#define LIS3DH_CTRL_REG2       0x21
+#define LIS3DH_CTRL_REG3       0x22
+#define LIS3DH_CTRL_REG4       0x23
+#define LIS3DH_CTRL_REG5       0x24
+#define LIS3DH_CTRL_REG6       0x25
+#define LIS3DH_REFERENCE       0x26
+#define LIS3DH_STATUS_REG2     0x27
+#define LIS3DH_OUT_X_L         0x28
+#define LIS3DH_OUT_X_H         0x29
+#define LIS3DH_OUT_Y_L         0x2a
+#define LIS3DH_OUT_Y_H         0x2b
+#define LIS3DH_OUT_Z_L         0x2c
+#define LIS3DH_OUT_Z_H         0x2d
+#define LIS3DH_FIFO_CTRL_REG   0x2e
+#define LIS3DH_FIFO_SRC_REG    0x2f
+#define LIS3DH_INT1_CFG        0x30
+#define LIS3DH_INT1_SOURCE     0x31
+#define LIS3DH_INT1_THS        0x32
+#define LIS3DH_INT1_DURATION   0x33
+#define LIS3DH_CLICK_CFG       0x38
+#define LIS3DH_CLICK_SRC       0x39
+#define LIS3DH_CLICK_THS       0x3a
+#define LIS3DH_TIME_LIMIT      0x3b
+#define LIS3DH_TIME_LATENCY    0x3c
+#define LIS3DH_TIME_WINDOW     0x3d
+
+// Output Data Rate (ODR)
+#define LIS3DH_DR_PWRDWN       0
+#define LIS3DH_DR_NR_LP_1HZ    1
+#define LIS3DH_DR_NR_LP_10HZ   2
+#define LIS3DH_DR_NR_LP_25HZ   3
+#define LIS3DH_DR_NR_LP_50HZ   4
+#define LIS3DH_DR_NR_LP_100HZ  5
+#define LIS3DH_DR_NR_LP_200HZ  6
+#define LIS3DH_DR_NR_LP_400HZ  7
+#define LIS3DH_DR_LP_1R6KHZ    8
+#define LIS3DH_DR_NR_1R25KHZ   9
+
+// Bandwidth (Low pass)
+#define LIS3DH_BW_LOW          0
+#define LIS3DH_BW_M_LOW        1
+#define LIS3DH_BW_M_HI         2
+#define LIS3DH_BW_HI           3
+
+// Low power mode enable/disable
+#define LIS3DH_LP_EN           0
+#define LIS3DH_LP_DIS          1
+
+// Axis control
+#define LIS3DH_X_EN            1
+#define LIS3DH_X_DIS           0
+#define LIS3DH_Y_EN            1
+#define LIS3DH_Y_DIS           0
+#define LIS3DH_Z_EN            1
+#define LIS3DH_Z_DIS           0
+
+// Full Scale
+#define LIS3DH_FS_2G           0
+#define LIS3DH_FS_4G           1
+#define LIS3DH_FS_8G           2
+#define LIS3DH_FS_16G          3
+
+// definition for Nomalization 
+#define LIS3DH_SENSITIVITY_2G  (0.001F)
+#define LIS3DH_SENSITIVITY_4G  (0.002F)
+#define LIS3DH_SENSITIVITY_8G  (0.004F)
+#define LIS3DH_SENSITIVITY_16G (0.012F)
+
+//Gravity at Earth's surface in m/s/s
+#define GRAVITY                (9.80665F)
+
+/** Interface for STMicronics MEMS motion sensor: 3-axis "nano" accelerometer
+ *      Chip: LIS3DH
+ *
+ * @code
+ * #include "mbed.h"
+ *
+ * // I2C Communication
+ * LIS3DH acc(p_sda, p_scl, chip_addr, datarate, bandwidth, fullscale);
+ * // If you connected I2C line not only this device but also other devices,
+ * //     you need to declare following method.
+ * I2C i2c(dp5,dp27);              // SDA, SCL
+ * LIS3DH acc(i2c, chip_addr, datarate, bandwidth, fullscale);
+ *
+ * int main() {
+ * float f[3];
+ *
+ *   if (acc.read_id() == I_AM_LIS3DH){
+ *      acc.read_data(f);
+ *   }
+ * }
+ * @endcode
+ */
+
+class LIS3DH{
+public:
+    /** Configure data pin
+      * @param data SDA and SCL pins
+      * @param device address LIS3DH(SA0=0 or 1), LIS3DH_G_CHIP_ADDR or LIS3DH_V_CHIP_ADDR
+      * @param output data rate selection, power down mode, 1Hz to 5KHz
+      * @param full scale selection, +/-2g to +/-16g
+      */
+    LIS3DH(PinName p_sda, PinName p_scl,
+        uint8_t addr, uint8_t data_rate, uint8_t fullscale);
+    
+    /** Configure data pin (with other devices on I2C line)
+      * @param I2C previous definition
+      * @param other parameters -> please see LIS3DH(PinName p_sda, PinName p_scl,...)
+      */
+    LIS3DH(I2C& p_i2c,
+        uint8_t addr, uint8_t data_rate, uint8_t fullscale);
+   
+    /** Read a float type data from acc
+      * @param float type of three arry's address, e.g. float dt[3];
+      * @return acc motion data unit: m/s/s(m/s2)
+      * @return dt[0]->x, dt[1]->y, dt[2]->z 
+      */
+    void read_data(float *dt);
+
+    /** Read a float type data from acc
+      * @param float type of three arry's address, e.g. float dt[3];
+      * @return acc motion data unit: mg
+      * @return dt[0]->x, dt[1]->y, dt[2]->z 
+      */
+    void read_mg_data(float *dt);
+   
+    /** Read a acc ID number
+      * @param none
+      * @return if STM MEMS acc, it should be I_AM_ LIS3DH(0x33)
+      */
+    uint8_t read_id();
+
+    /** Read Data Ready flag
+      * @param none
+      * @return 1 = Ready
+      */
+    uint8_t data_ready();
+
+    /** Read register (general purpose)
+      * @param register's address
+      * @return register data
+      */
+    uint8_t read_reg(uint8_t addr);
+
+    /** Write register (general purpose)
+      * @param register's address
+      * @param data
+      * @return none
+      */
+    void write_reg(uint8_t addr, uint8_t data);
+
+protected:
+    void initialize(uint8_t, uint8_t, uint8_t);
+    void read_reg_data(char *data);
+
+    I2C i2c;
+  
+private:
+    float fs_factor;    // full scale factor
+    char dbf[2];        // working buffer
+    uint8_t acc_addr;   // acc sensor address
+    uint8_t acc_id;     // acc ID
+    uint8_t acc_ready;  // acc is on I2C line = 1, not = 0    
+};
+
+#endif      // LIS3DH_H