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

Revision:
5:725df775f168
Parent:
4:64dac49da306
Child:
6:e269772dad35
--- a/LIS3DH.cpp	Sat Dec 27 07:43:57 2014 +0000
+++ b/LIS3DH.cpp	Tue Feb 24 12:21:54 2015 +0000
@@ -3,11 +3,11 @@
  *  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
+ * Copyright (c) 2014,'15 Kenji Arai / JH1PJL
  *  http://www.page.sannet.ne.jp/kenjia/index.html
  *  http://mbed.org/users/kenjiArai/
  *      Created: July      14th, 2014 
- *      Revised: December  27th, 2014
+ *      Revised: Feburary  24th, 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
@@ -19,38 +19,49 @@
 #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) {
+    uint8_t addr, uint8_t data_rate, uint8_t fullscale) : _i2c(p_sda, p_scl) {
+    _i2c.frequency(400000); 
     initialize (addr, data_rate, fullscale);
 }
 
+LIS3DH::LIS3DH (PinName p_sda, PinName p_scl, uint8_t addr) : _i2c(p_sda, p_scl) {
+    _i2c.frequency(400000); 
+    initialize (addr, LIS3DH_DR_NR_LP_50HZ, LIS3DH_FS_8G);
+}
+
 LIS3DH::LIS3DH (I2C& p_i2c,
-    uint8_t addr, uint8_t data_rate, uint8_t fullscale) : i2c(p_i2c) {
-    i2c.frequency(400000); 
+    uint8_t addr, uint8_t data_rate, uint8_t fullscale) : _i2c(p_i2c) {
+    _i2c.frequency(400000); 
     initialize (addr, data_rate, fullscale);
 }
 
+LIS3DH::LIS3DH (I2C& p_i2c, uint8_t addr) : _i2c(p_i2c) {
+    _i2c.frequency(400000); 
+    initialize (addr, LIS3DH_DR_NR_LP_50HZ, LIS3DH_FS_8G);
+}
+
 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){
+    dt[0] = LIS3DH_WHO_AM_I; 
+    _i2c.write(acc_addr, dt, 1, true);
+    _i2c.read(acc_addr, dt, 1, false);
+    if (dt[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);
+    dt[0] = LIS3DH_CTRL_REG1;
+    dt[1] = 0x07;
+    dt[1] |= data_rate << 4;
+    _i2c.write(acc_addr, dt, 2, false);
     //  Reg.4 
-    dbf[0] = LIS3DH_CTRL_REG4;
-    dbf[1] = 0x08;  // High resolution
-    dbf[1] |= fullscale << 4;
-    i2c.write(acc_addr, dbf, 2);
+    dt[0] = LIS3DH_CTRL_REG4;
+    dt[1] = 0x08;  // High resolution
+    dt[1] |= fullscale << 4;
+    _i2c.write(acc_addr, dt, 2, false);
     switch (fullscale){
     case LIS3DH_FS_2G:
         fs_factor = LIS3DH_SENSITIVITY_2G;
@@ -76,56 +87,56 @@
         // 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);
+    dt[0] = LIS3DH_OUT_X_L | 0x80; 
+    _i2c.write(acc_addr, dt, 1, true);
+    _i2c.read(acc_addr, data, 6, false);
 }
 
-void LIS3DH::read_mg_data(float *dt) {
+void LIS3DH::read_mg_data(float *dt_usr) {
 char data[6];
 
     if (acc_ready == 0){
-        dt[0] = 0;
-        dt[1] = 0;
-        dt[2] = 0;
+        dt_usr[0] = 0;
+        dt_usr[1] = 0;
+        dt_usr[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;
+    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;
 }
     
-void LIS3DH::read_data(float *dt) {
+void LIS3DH::read_data(float *dt_usr) {
 char data[6];
 
     if (acc_ready == 0){
-        dt[0] = 0;
-        dt[1] = 0;
-        dt[2] = 0;
+        dt_usr[0] = 0;
+        dt_usr[1] = 0;
+        dt_usr[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;
+    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;
 }
 
 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];
+    dt[0] = LIS3DH_WHO_AM_I; 
+    _i2c.write(acc_addr, dt, 1, true);
+    _i2c.read(acc_addr, dt, 1, false);
+    return (uint8_t)dt[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)){
+        dt[0] = LIS3DH_STATUS_REG_AUX; 
+        _i2c.write(acc_addr, dt, 1, true); 
+        _i2c.read(acc_addr, dt, 1, false);
+        if (!(dt[0] & 0x01)){
             return 0;
         }
     }
@@ -133,24 +144,24 @@
 }
 
 void LIS3DH::frequency(int hz) {
-    i2c.frequency(hz);
+    _i2c.frequency(hz);
 }
 
 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);
+        dt[0] = addr; 
+        _i2c.write(acc_addr, dt, 1, true); 
+        _i2c.read(acc_addr, dt, 1, false);
     } else {
-        dbf[0] = 0xff;
+        dt[0] = 0xff;
     }
-    return (uint8_t)dbf[0];
+    return (uint8_t)dt[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); 
+        dt[0] = addr;
+        dt[1] = data; 
+        _i2c.write(acc_addr, dt, 2, false); 
     }
 }