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@6:e269772dad35, 2015-02-24 (annotated)

Committer:
kenjiArai
Date:
Tue Feb 24 12:24:38 2015 +0000
Revision:
6:e269772dad35
Parent:
5:725df775f168
Child:
7:50ac3372def2
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kenjiArai 0:5d5aac272642 1 /*
kenjiArai 6:e269772dad35 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 6:e269772dad35 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 6:e269772dad35 22 uint8_t addr, uint8_t data_rate, uint8_t fullscale) : _i2c(p_sda, p_scl)
kenjiArai 6:e269772dad35 23 {
kenjiArai 6:e269772dad35 24 _i2c.frequency(400000);
kenjiArai 0:5d5aac272642 25 initialize (addr, data_rate, fullscale);
kenjiArai 0:5d5aac272642 26 }
kenjiArai 0:5d5aac272642 27
kenjiArai 6:e269772dad35 28 LIS3DH::LIS3DH (PinName p_sda, PinName p_scl, uint8_t addr) : _i2c(p_sda, p_scl)
kenjiArai 6:e269772dad35 29 {
kenjiArai 6:e269772dad35 30 _i2c.frequency(400000);
kenjiArai 5:725df775f168 31 initialize (addr, LIS3DH_DR_NR_LP_50HZ, LIS3DH_FS_8G);
kenjiArai 5:725df775f168 32 }
kenjiArai 5:725df775f168 33
kenjiArai 0:5d5aac272642 34 LIS3DH::LIS3DH (I2C& p_i2c,
kenjiArai 6:e269772dad35 35 uint8_t addr, uint8_t data_rate, uint8_t fullscale) : _i2c(p_i2c)
kenjiArai 6:e269772dad35 36 {
kenjiArai 6:e269772dad35 37 _i2c.frequency(400000);
kenjiArai 0:5d5aac272642 38 initialize (addr, data_rate, fullscale);
kenjiArai 0:5d5aac272642 39 }
kenjiArai 0:5d5aac272642 40
kenjiArai 6:e269772dad35 41 LIS3DH::LIS3DH (I2C& p_i2c, uint8_t addr) : _i2c(p_i2c)
kenjiArai 6:e269772dad35 42 {
kenjiArai 6:e269772dad35 43 _i2c.frequency(400000);
kenjiArai 5:725df775f168 44 initialize (addr, LIS3DH_DR_NR_LP_50HZ, LIS3DH_FS_8G);
kenjiArai 5:725df775f168 45 }
kenjiArai 5:725df775f168 46
kenjiArai 6:e269772dad35 47 void LIS3DH::initialize (uint8_t addr, uint8_t data_rate, uint8_t fullscale)
kenjiArai 6:e269772dad35 48 {
kenjiArai 0:5d5aac272642 49 // Check acc is available of not
kenjiArai 0:5d5aac272642 50 acc_addr = addr;
kenjiArai 6:e269772dad35 51 dt[0] = LIS3DH_WHO_AM_I;
kenjiArai 5:725df775f168 52 _i2c.write(acc_addr, dt, 1, true);
kenjiArai 5:725df775f168 53 _i2c.read(acc_addr, dt, 1, false);
kenjiArai 6:e269772dad35 54 if (dt[0] == I_AM_LIS3DH) {
kenjiArai 0:5d5aac272642 55 acc_ready = 1;
kenjiArai 0:5d5aac272642 56 } else {
kenjiArai 0:5d5aac272642 57 acc_ready = 0;
kenjiArai 0:5d5aac272642 58 return; // acc chip is NOT on I2C line then terminate
kenjiArai 0:5d5aac272642 59 }
kenjiArai 0:5d5aac272642 60 // Reg.1
kenjiArai 5:725df775f168 61 dt[0] = LIS3DH_CTRL_REG1;
kenjiArai 5:725df775f168 62 dt[1] = 0x07;
kenjiArai 5:725df775f168 63 dt[1] |= data_rate << 4;
kenjiArai 5:725df775f168 64 _i2c.write(acc_addr, dt, 2, false);
kenjiArai 6:e269772dad35 65 // Reg.4
kenjiArai 5:725df775f168 66 dt[0] = LIS3DH_CTRL_REG4;
kenjiArai 5:725df775f168 67 dt[1] = 0x08; // High resolution
kenjiArai 5:725df775f168 68 dt[1] |= fullscale << 4;
kenjiArai 5:725df775f168 69 _i2c.write(acc_addr, dt, 2, false);
kenjiArai 6:e269772dad35 70 switch (fullscale) {
kenjiArai 6:e269772dad35 71 case LIS3DH_FS_2G:
kenjiArai 6:e269772dad35 72 fs_factor = LIS3DH_SENSITIVITY_2G;
kenjiArai 6:e269772dad35 73 break;
kenjiArai 6:e269772dad35 74 case LIS3DH_FS_4G:
kenjiArai 6:e269772dad35 75 fs_factor = LIS3DH_SENSITIVITY_4G;
kenjiArai 6:e269772dad35 76 break;
kenjiArai 6:e269772dad35 77 case LIS3DH_FS_8G:
kenjiArai 6:e269772dad35 78 fs_factor = LIS3DH_SENSITIVITY_8G;
kenjiArai 6:e269772dad35 79 break;
kenjiArai 6:e269772dad35 80 case LIS3DH_FS_16G:
kenjiArai 6:e269772dad35 81 fs_factor = LIS3DH_SENSITIVITY_16G;
kenjiArai 6:e269772dad35 82 break;
kenjiArai 6:e269772dad35 83 default:
kenjiArai 6:e269772dad35 84 ;
kenjiArai 6:e269772dad35 85 }
kenjiArai 0:5d5aac272642 86 }
kenjiArai 0:5d5aac272642 87
kenjiArai 6:e269772dad35 88 void LIS3DH::read_reg_data(char *data)
kenjiArai 6:e269772dad35 89 {
kenjiArai 0:5d5aac272642 90 // X,Y & Z
kenjiArai 6:e269772dad35 91 // manual said that
kenjiArai 6:e269772dad35 92 // In order to read multiple bytes, it is necessary to assert the most significant bit
kenjiArai 6:e269772dad35 93 // of the subaddress field.
kenjiArai 6:e269772dad35 94 // In other words, SUB(7) must be equal to ‘1’ while SUB(6-0) represents the address
kenjiArai 6:e269772dad35 95 // of the first register to be read.
kenjiArai 6:e269772dad35 96 dt[0] = LIS3DH_OUT_X_L | 0x80;
kenjiArai 5:725df775f168 97 _i2c.write(acc_addr, dt, 1, true);
kenjiArai 5:725df775f168 98 _i2c.read(acc_addr, data, 6, false);
kenjiArai 0:5d5aac272642 99 }
kenjiArai 0:5d5aac272642 100
kenjiArai 6:e269772dad35 101 void LIS3DH::read_mg_data(float *dt_usr)
kenjiArai 6:e269772dad35 102 {
kenjiArai 6:e269772dad35 103 char data[6];
kenjiArai 0:5d5aac272642 104
kenjiArai 6:e269772dad35 105 if (acc_ready == 0) {
kenjiArai 5:725df775f168 106 dt_usr[0] = 0;
kenjiArai 5:725df775f168 107 dt_usr[1] = 0;
kenjiArai 5:725df775f168 108 dt_usr[2] = 0;
kenjiArai 6:e269772dad35 109 return;
kenjiArai 0:5d5aac272642 110 }
kenjiArai 0:5d5aac272642 111 read_reg_data(data);
kenjiArai 0:5d5aac272642 112 // change data type
kenjiArai 5:725df775f168 113 dt_usr[0] = float(short((data[1] << 8) | data[0])) * fs_factor / 15;
kenjiArai 5:725df775f168 114 dt_usr[1] = float(short((data[3] << 8) | data[2])) * fs_factor / 15;
kenjiArai 5:725df775f168 115 dt_usr[2] = float(short((data[5] << 8) | data[4])) * fs_factor / 15;
kenjiArai 0:5d5aac272642 116 }
kenjiArai 0:5d5aac272642 117
kenjiArai 6:e269772dad35 118 void LIS3DH::read_data(float *dt_usr)
kenjiArai 6:e269772dad35 119 {
kenjiArai 6:e269772dad35 120 char data[6];
kenjiArai 6:e269772dad35 121
kenjiArai 6:e269772dad35 122 if (acc_ready == 0) {
kenjiArai 5:725df775f168 123 dt_usr[0] = 0;
kenjiArai 5:725df775f168 124 dt_usr[1] = 0;
kenjiArai 5:725df775f168 125 dt_usr[2] = 0;
kenjiArai 6:e269772dad35 126 return;
kenjiArai 0:5d5aac272642 127 }
kenjiArai 0:5d5aac272642 128 read_reg_data(data);
kenjiArai 0:5d5aac272642 129 // change data type
kenjiArai 5:725df775f168 130 dt_usr[0] = float(short((data[1] << 8) | data[0])) * fs_factor / 15 * GRAVITY;
kenjiArai 5:725df775f168 131 dt_usr[1] = float(short((data[3] << 8) | data[2])) * fs_factor / 15 * GRAVITY;
kenjiArai 5:725df775f168 132 dt_usr[2] = float(short((data[5] << 8) | data[4])) * fs_factor / 15 * GRAVITY;
kenjiArai 0:5d5aac272642 133 }
kenjiArai 0:5d5aac272642 134
kenjiArai 6:e269772dad35 135 uint8_t LIS3DH::read_id()
kenjiArai 6:e269772dad35 136 {
kenjiArai 6:e269772dad35 137 dt[0] = LIS3DH_WHO_AM_I;
kenjiArai 5:725df775f168 138 _i2c.write(acc_addr, dt, 1, true);
kenjiArai 5:725df775f168 139 _i2c.read(acc_addr, dt, 1, false);
kenjiArai 5:725df775f168 140 return (uint8_t)dt[0];
kenjiArai 0:5d5aac272642 141 }
kenjiArai 0:5d5aac272642 142
kenjiArai 6:e269772dad35 143 uint8_t LIS3DH::data_ready()
kenjiArai 6:e269772dad35 144 {
kenjiArai 6:e269772dad35 145 if (acc_ready == 1) {
kenjiArai 6:e269772dad35 146 dt[0] = LIS3DH_STATUS_REG_AUX;
kenjiArai 6:e269772dad35 147 _i2c.write(acc_addr, dt, 1, true);
kenjiArai 5:725df775f168 148 _i2c.read(acc_addr, dt, 1, false);
kenjiArai 6:e269772dad35 149 if (!(dt[0] & 0x01)) {
kenjiArai 0:5d5aac272642 150 return 0;
kenjiArai 0:5d5aac272642 151 }
kenjiArai 0:5d5aac272642 152 }
kenjiArai 0:5d5aac272642 153 return 1;
kenjiArai 0:5d5aac272642 154 }
kenjiArai 0:5d5aac272642 155
kenjiArai 6:e269772dad35 156 void LIS3DH::frequency(int hz)
kenjiArai 6:e269772dad35 157 {
kenjiArai 5:725df775f168 158 _i2c.frequency(hz);
kenjiArai 1:d4d569952436 159 }
kenjiArai 1:d4d569952436 160
kenjiArai 6:e269772dad35 161 uint8_t LIS3DH::read_reg(uint8_t addr)
kenjiArai 6:e269772dad35 162 {
kenjiArai 6:e269772dad35 163 if (acc_ready == 1) {
kenjiArai 6:e269772dad35 164 dt[0] = addr;
kenjiArai 6:e269772dad35 165 _i2c.write(acc_addr, dt, 1, true);
kenjiArai 5:725df775f168 166 _i2c.read(acc_addr, dt, 1, false);
kenjiArai 0:5d5aac272642 167 } else {
kenjiArai 5:725df775f168 168 dt[0] = 0xff;
kenjiArai 0:5d5aac272642 169 }
kenjiArai 5:725df775f168 170 return (uint8_t)dt[0];
kenjiArai 0:5d5aac272642 171 }
kenjiArai 0:5d5aac272642 172
kenjiArai 6:e269772dad35 173 void LIS3DH::write_reg(uint8_t addr, uint8_t data)
kenjiArai 6:e269772dad35 174 {
kenjiArai 6:e269772dad35 175 if (acc_ready == 1) {
kenjiArai 5:725df775f168 176 dt[0] = addr;
kenjiArai 6:e269772dad35 177 dt[1] = data;
kenjiArai 6:e269772dad35 178 _i2c.write(acc_addr, dt, 2, false);
kenjiArai 0:5d5aac272642 179 }
kenjiArai 0:5d5aac272642 180 }