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@0:5d5aac272642, 2014-08-29 (annotated)

Committer:
kenjiArai
Date:
Fri Aug 29 13:27:20 2014 +0000
Revision:
0:5d5aac272642
Child:
1:d4d569952436
New creation: LIS3DH / STMicroelectronics / MEMS motion sensor, 3-axis accelerometer library

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 0:5d5aac272642 6 * Copyright (c) 2014 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 0:5d5aac272642 10 * Revised: August 29th, 2014
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 0:5d5aac272642 22 uint8_t addr, uint8_t data_rate, uint8_t fullscale) : i2c(p_sda, p_scl) {
kenjiArai 0:5d5aac272642 23 initialize (addr, data_rate, fullscale);
kenjiArai 0:5d5aac272642 24 }
kenjiArai 0:5d5aac272642 25
kenjiArai 0:5d5aac272642 26 LIS3DH::LIS3DH (I2C& p_i2c,
kenjiArai 0:5d5aac272642 27 uint8_t addr, uint8_t data_rate, uint8_t fullscale) : i2c(p_i2c) {
kenjiArai 0:5d5aac272642 28 initialize (addr, data_rate, fullscale);
kenjiArai 0:5d5aac272642 29 }
kenjiArai 0:5d5aac272642 30
kenjiArai 0:5d5aac272642 31 void LIS3DH::initialize (uint8_t addr, uint8_t data_rate, uint8_t fullscale) {
kenjiArai 0:5d5aac272642 32 // Check acc is available of not
kenjiArai 0:5d5aac272642 33 acc_addr = addr;
kenjiArai 0:5d5aac272642 34 dbf[0] = LIS3DH_WHO_AM_I;
kenjiArai 0:5d5aac272642 35 i2c.write(acc_addr, dbf, 1);
kenjiArai 0:5d5aac272642 36 i2c.read(acc_addr, dbf, 1);
kenjiArai 0:5d5aac272642 37 if (dbf[0] == I_AM_LIS3DH){
kenjiArai 0:5d5aac272642 38 acc_ready = 1;
kenjiArai 0:5d5aac272642 39 } else {
kenjiArai 0:5d5aac272642 40 acc_ready = 0;
kenjiArai 0:5d5aac272642 41 return; // acc chip is NOT on I2C line then terminate
kenjiArai 0:5d5aac272642 42 }
kenjiArai 0:5d5aac272642 43 // Reg.1
kenjiArai 0:5d5aac272642 44 dbf[0] = LIS3DH_CTRL_REG1;
kenjiArai 0:5d5aac272642 45 dbf[1] = 0x07;
kenjiArai 0:5d5aac272642 46 dbf[1] |= data_rate << 4;
kenjiArai 0:5d5aac272642 47 i2c.write(acc_addr, dbf, 2);
kenjiArai 0:5d5aac272642 48 // Reg.4
kenjiArai 0:5d5aac272642 49 dbf[0] = LIS3DH_CTRL_REG4;
kenjiArai 0:5d5aac272642 50 dbf[1] = 0x08; // High resolution
kenjiArai 0:5d5aac272642 51 dbf[1] |= fullscale << 4;
kenjiArai 0:5d5aac272642 52 i2c.write(acc_addr, dbf, 2);
kenjiArai 0:5d5aac272642 53 switch (fullscale){
kenjiArai 0:5d5aac272642 54 case LIS3DH_FS_2G:
kenjiArai 0:5d5aac272642 55 fs_factor = LIS3DH_SENSITIVITY_2G;
kenjiArai 0:5d5aac272642 56 break;
kenjiArai 0:5d5aac272642 57 case LIS3DH_FS_4G:
kenjiArai 0:5d5aac272642 58 fs_factor = LIS3DH_SENSITIVITY_4G;
kenjiArai 0:5d5aac272642 59 break;
kenjiArai 0:5d5aac272642 60 case LIS3DH_FS_8G:
kenjiArai 0:5d5aac272642 61 fs_factor = LIS3DH_SENSITIVITY_8G;
kenjiArai 0:5d5aac272642 62 break;
kenjiArai 0:5d5aac272642 63 case LIS3DH_FS_16G:
kenjiArai 0:5d5aac272642 64 fs_factor = LIS3DH_SENSITIVITY_16G;
kenjiArai 0:5d5aac272642 65 break;
kenjiArai 0:5d5aac272642 66 default:
kenjiArai 0:5d5aac272642 67 ;
kenjiArai 0:5d5aac272642 68 }
kenjiArai 0:5d5aac272642 69 }
kenjiArai 0:5d5aac272642 70
kenjiArai 0:5d5aac272642 71 void LIS3DH::read_reg_data(char *data) {
kenjiArai 0:5d5aac272642 72 // X,Y & Z
kenjiArai 0:5d5aac272642 73 // manual said that
kenjiArai 0:5d5aac272642 74 // In order to read multiple bytes, it is necessary to assert the most significant bit
kenjiArai 0:5d5aac272642 75 // of the subaddress field.
kenjiArai 0:5d5aac272642 76 // In other words, SUB(7) must be equal to ‘1’ while SUB(6-0) represents the address
kenjiArai 0:5d5aac272642 77 // of the first register to be read.
kenjiArai 0:5d5aac272642 78 dbf[0] = LIS3DH_OUT_X_L | 0x80;
kenjiArai 0:5d5aac272642 79 i2c.write(acc_addr, dbf, 1, true);
kenjiArai 0:5d5aac272642 80 i2c.read(acc_addr, data, 6, false);
kenjiArai 0:5d5aac272642 81 }
kenjiArai 0:5d5aac272642 82
kenjiArai 0:5d5aac272642 83 void LIS3DH::read_mg_data(float *dt) {
kenjiArai 0:5d5aac272642 84 char data[6];
kenjiArai 0:5d5aac272642 85
kenjiArai 0:5d5aac272642 86 if (acc_ready == 0){
kenjiArai 0:5d5aac272642 87 dt[0] = 0;
kenjiArai 0:5d5aac272642 88 dt[1] = 0;
kenjiArai 0:5d5aac272642 89 dt[2] = 0;
kenjiArai 0:5d5aac272642 90 return;
kenjiArai 0:5d5aac272642 91 }
kenjiArai 0:5d5aac272642 92 read_reg_data(data);
kenjiArai 0:5d5aac272642 93 // change data type
kenjiArai 0:5d5aac272642 94 dt[0] = float(short((data[1] << 8) | data[0])) * fs_factor / 15;
kenjiArai 0:5d5aac272642 95 dt[1] = float(short((data[3] << 8) | data[2])) * fs_factor / 15;
kenjiArai 0:5d5aac272642 96 dt[2] = float(short((data[5] << 8) | data[4])) * fs_factor / 15;
kenjiArai 0:5d5aac272642 97 }
kenjiArai 0:5d5aac272642 98
kenjiArai 0:5d5aac272642 99 void LIS3DH::read_data(float *dt) {
kenjiArai 0:5d5aac272642 100 char data[6];
kenjiArai 0:5d5aac272642 101
kenjiArai 0:5d5aac272642 102 if (acc_ready == 0){
kenjiArai 0:5d5aac272642 103 dt[0] = 0;
kenjiArai 0:5d5aac272642 104 dt[1] = 0;
kenjiArai 0:5d5aac272642 105 dt[2] = 0;
kenjiArai 0:5d5aac272642 106 return;
kenjiArai 0:5d5aac272642 107 }
kenjiArai 0:5d5aac272642 108 read_reg_data(data);
kenjiArai 0:5d5aac272642 109 // change data type
kenjiArai 0:5d5aac272642 110 dt[0] = float(short((data[1] << 8) | data[0])) * fs_factor / 15 * GRAVITY;
kenjiArai 0:5d5aac272642 111 dt[1] = float(short((data[3] << 8) | data[2])) * fs_factor / 15 * GRAVITY;
kenjiArai 0:5d5aac272642 112 dt[2] = float(short((data[5] << 8) | data[4])) * fs_factor / 15 * GRAVITY;
kenjiArai 0:5d5aac272642 113 }
kenjiArai 0:5d5aac272642 114
kenjiArai 0:5d5aac272642 115 uint8_t LIS3DH::read_id() {
kenjiArai 0:5d5aac272642 116 dbf[0] = LIS3DH_WHO_AM_I;
kenjiArai 0:5d5aac272642 117 i2c.write(acc_addr, dbf, 1);
kenjiArai 0:5d5aac272642 118 i2c.read(acc_addr, dbf, 1);
kenjiArai 0:5d5aac272642 119 return (uint8_t)dbf[0];
kenjiArai 0:5d5aac272642 120 }
kenjiArai 0:5d5aac272642 121
kenjiArai 0:5d5aac272642 122 uint8_t LIS3DH::data_ready() {
kenjiArai 0:5d5aac272642 123 if (acc_ready == 1){
kenjiArai 0:5d5aac272642 124 dbf[0] = LIS3DH_STATUS_REG_AUX;
kenjiArai 0:5d5aac272642 125 i2c.write(acc_addr, dbf, 1);
kenjiArai 0:5d5aac272642 126 i2c.read(acc_addr, dbf, 1);
kenjiArai 0:5d5aac272642 127 if (!(dbf[0] & 0x01)){
kenjiArai 0:5d5aac272642 128 return 0;
kenjiArai 0:5d5aac272642 129 }
kenjiArai 0:5d5aac272642 130 }
kenjiArai 0:5d5aac272642 131 return 1;
kenjiArai 0:5d5aac272642 132 }
kenjiArai 0:5d5aac272642 133
kenjiArai 0:5d5aac272642 134 uint8_t LIS3DH::read_reg(uint8_t addr) {
kenjiArai 0:5d5aac272642 135 if (acc_ready == 1){
kenjiArai 0:5d5aac272642 136 dbf[0] = addr;
kenjiArai 0:5d5aac272642 137 i2c.write(acc_addr, dbf, 1);
kenjiArai 0:5d5aac272642 138 i2c.read(acc_addr, dbf, 1);
kenjiArai 0:5d5aac272642 139 } else {
kenjiArai 0:5d5aac272642 140 dbf[0] = 0xff;
kenjiArai 0:5d5aac272642 141 }
kenjiArai 0:5d5aac272642 142 return (uint8_t)dbf[0];
kenjiArai 0:5d5aac272642 143 }
kenjiArai 0:5d5aac272642 144
kenjiArai 0:5d5aac272642 145 void LIS3DH::write_reg(uint8_t addr, uint8_t data) {
kenjiArai 0:5d5aac272642 146 if (acc_ready == 1){
kenjiArai 0:5d5aac272642 147 dbf[0] = addr;
kenjiArai 0:5d5aac272642 148 dbf[1] = data;
kenjiArai 0:5d5aac272642 149 i2c.write(acc_addr, dbf, 2);
kenjiArai 0:5d5aac272642 150 }
kenjiArai 0:5d5aac272642 151 }