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Sample program on how to use the LIS3DH sensor on the RAKWireless iTracker module
LIS3DH/LIS3DH.cpp@0:cd96b05ace6e, 2018-02-12 (annotated)
- Committer:
- knaresh89
- Date:
- Mon Feb 12 05:05:29 2018 +0000
- Revision:
- 0:cd96b05ace6e
Sample program on how to use the LIS3DH sensor on the RAKWireless iTracker module
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
knaresh89 | 0:cd96b05ace6e | 1 | /* |
knaresh89 | 0:cd96b05ace6e | 2 | * mbed library program |
knaresh89 | 0:cd96b05ace6e | 3 | * LIS3DH MEMS motion sensor: 3-axis "nano" accelerometer, made by STMicroelectronics |
knaresh89 | 0:cd96b05ace6e | 4 | * http://www.st-japan.co.jp/web/jp/catalog/sense_power/FM89/SC444/PF250725 |
knaresh89 | 0:cd96b05ace6e | 5 | * |
knaresh89 | 0:cd96b05ace6e | 6 | * Copyright (c) 2014,'15,'17 Kenji Arai / JH1PJL |
knaresh89 | 0:cd96b05ace6e | 7 | * http://www.page.sannet.ne.jp/kenjia/index.html |
knaresh89 | 0:cd96b05ace6e | 8 | * http://mbed.org/users/kenjiArai/ |
knaresh89 | 0:cd96b05ace6e | 9 | * Created: July 14th, 2014 |
knaresh89 | 0:cd96b05ace6e | 10 | * Revised: August 23rd, 2017 |
knaresh89 | 0:cd96b05ace6e | 11 | */ |
knaresh89 | 0:cd96b05ace6e | 12 | |
knaresh89 | 0:cd96b05ace6e | 13 | #include "LIS3DH.h" |
knaresh89 | 0:cd96b05ace6e | 14 | #include "SEGGER_RTT.h" |
knaresh89 | 0:cd96b05ace6e | 15 | |
knaresh89 | 0:cd96b05ace6e | 16 | LIS3DH::LIS3DH (PinName p_sda, PinName p_scl, |
knaresh89 | 0:cd96b05ace6e | 17 | uint8_t addr, uint8_t data_rate, uint8_t fullscale) |
knaresh89 | 0:cd96b05ace6e | 18 | : _i2c_p(new I2C(p_sda, p_scl)), _i2c(*_i2c_p) |
knaresh89 | 0:cd96b05ace6e | 19 | { |
knaresh89 | 0:cd96b05ace6e | 20 | _i2c.frequency(400000); |
knaresh89 | 0:cd96b05ace6e | 21 | initialize (addr, data_rate, fullscale); |
knaresh89 | 0:cd96b05ace6e | 22 | } |
knaresh89 | 0:cd96b05ace6e | 23 | |
knaresh89 | 0:cd96b05ace6e | 24 | LIS3DH::LIS3DH (PinName p_sda, PinName p_scl, uint8_t addr) |
knaresh89 | 0:cd96b05ace6e | 25 | : _i2c_p(new I2C(p_sda, p_scl)), _i2c(*_i2c_p) |
knaresh89 | 0:cd96b05ace6e | 26 | { |
knaresh89 | 0:cd96b05ace6e | 27 | _i2c.frequency(400000); |
knaresh89 | 0:cd96b05ace6e | 28 | initialize (addr, LIS3DH_DR_NR_LP_50HZ, LIS3DH_FS_8G); |
knaresh89 | 0:cd96b05ace6e | 29 | } |
knaresh89 | 0:cd96b05ace6e | 30 | |
knaresh89 | 0:cd96b05ace6e | 31 | LIS3DH::LIS3DH (I2C& p_i2c, |
knaresh89 | 0:cd96b05ace6e | 32 | uint8_t addr, uint8_t data_rate, uint8_t fullscale) |
knaresh89 | 0:cd96b05ace6e | 33 | : _i2c(p_i2c) |
knaresh89 | 0:cd96b05ace6e | 34 | { |
knaresh89 | 0:cd96b05ace6e | 35 | _i2c.frequency(400000); |
knaresh89 | 0:cd96b05ace6e | 36 | initialize (addr, data_rate, fullscale); |
knaresh89 | 0:cd96b05ace6e | 37 | } |
knaresh89 | 0:cd96b05ace6e | 38 | |
knaresh89 | 0:cd96b05ace6e | 39 | LIS3DH::LIS3DH (I2C& p_i2c, uint8_t addr) |
knaresh89 | 0:cd96b05ace6e | 40 | : _i2c(p_i2c) |
knaresh89 | 0:cd96b05ace6e | 41 | { |
knaresh89 | 0:cd96b05ace6e | 42 | _i2c.frequency(400000); |
knaresh89 | 0:cd96b05ace6e | 43 | initialize (addr, LIS3DH_DR_NR_LP_50HZ, LIS3DH_FS_8G); |
knaresh89 | 0:cd96b05ace6e | 44 | } |
knaresh89 | 0:cd96b05ace6e | 45 | |
knaresh89 | 0:cd96b05ace6e | 46 | void LIS3DH::initialize (uint8_t addr, uint8_t data_rate, uint8_t fullscale) |
knaresh89 | 0:cd96b05ace6e | 47 | { |
knaresh89 | 0:cd96b05ace6e | 48 | // Check acc is available of not |
knaresh89 | 0:cd96b05ace6e | 49 | acc_addr = addr; |
knaresh89 | 0:cd96b05ace6e | 50 | dt[0] = LIS3DH_WHO_AM_I; |
knaresh89 | 0:cd96b05ace6e | 51 | _i2c.write(acc_addr, dt, 1, true); |
knaresh89 | 0:cd96b05ace6e | 52 | _i2c.read(acc_addr, dt, 1, false); |
knaresh89 | 0:cd96b05ace6e | 53 | if (dt[0] == I_AM_LIS3DH) { |
knaresh89 | 0:cd96b05ace6e | 54 | acc_ready = 1; |
knaresh89 | 0:cd96b05ace6e | 55 | } else { |
knaresh89 | 0:cd96b05ace6e | 56 | acc_ready = 0; |
knaresh89 | 0:cd96b05ace6e | 57 | return; // acc chip is NOT on I2C line then terminate |
knaresh89 | 0:cd96b05ace6e | 58 | } |
knaresh89 | 0:cd96b05ace6e | 59 | // Reg.1 |
knaresh89 | 0:cd96b05ace6e | 60 | dt[0] = LIS3DH_CTRL_REG1; |
knaresh89 | 0:cd96b05ace6e | 61 | dt[1] = 0x07; |
knaresh89 | 0:cd96b05ace6e | 62 | dt[1] |= data_rate << 4; |
knaresh89 | 0:cd96b05ace6e | 63 | _i2c.write(acc_addr, dt, 2, false); |
knaresh89 | 0:cd96b05ace6e | 64 | // Reg.4 |
knaresh89 | 0:cd96b05ace6e | 65 | dt[0] = LIS3DH_CTRL_REG4; |
knaresh89 | 0:cd96b05ace6e | 66 | dt[1] = 0x08; // High resolution |
knaresh89 | 0:cd96b05ace6e | 67 | dt[1] |= fullscale << 4; |
knaresh89 | 0:cd96b05ace6e | 68 | _i2c.write(acc_addr, dt, 2, false); |
knaresh89 | 0:cd96b05ace6e | 69 | switch (fullscale) { |
knaresh89 | 0:cd96b05ace6e | 70 | case LIS3DH_FS_2G: |
knaresh89 | 0:cd96b05ace6e | 71 | fs_factor = LIS3DH_SENSITIVITY_2G; |
knaresh89 | 0:cd96b05ace6e | 72 | break; |
knaresh89 | 0:cd96b05ace6e | 73 | case LIS3DH_FS_4G: |
knaresh89 | 0:cd96b05ace6e | 74 | fs_factor = LIS3DH_SENSITIVITY_4G; |
knaresh89 | 0:cd96b05ace6e | 75 | break; |
knaresh89 | 0:cd96b05ace6e | 76 | case LIS3DH_FS_8G: |
knaresh89 | 0:cd96b05ace6e | 77 | fs_factor = LIS3DH_SENSITIVITY_8G; |
knaresh89 | 0:cd96b05ace6e | 78 | break; |
knaresh89 | 0:cd96b05ace6e | 79 | case LIS3DH_FS_16G: |
knaresh89 | 0:cd96b05ace6e | 80 | fs_factor = LIS3DH_SENSITIVITY_16G; |
knaresh89 | 0:cd96b05ace6e | 81 | break; |
knaresh89 | 0:cd96b05ace6e | 82 | default: |
knaresh89 | 0:cd96b05ace6e | 83 | ; |
knaresh89 | 0:cd96b05ace6e | 84 | } |
knaresh89 | 0:cd96b05ace6e | 85 | } |
knaresh89 | 0:cd96b05ace6e | 86 | |
knaresh89 | 0:cd96b05ace6e | 87 | void LIS3DH::read_reg_data(char *data) |
knaresh89 | 0:cd96b05ace6e | 88 | { |
knaresh89 | 0:cd96b05ace6e | 89 | // X,Y & Z |
knaresh89 | 0:cd96b05ace6e | 90 | // manual said that |
knaresh89 | 0:cd96b05ace6e | 91 | // In order to read multiple bytes, it is necessary to assert the most significant bit |
knaresh89 | 0:cd96b05ace6e | 92 | // of the subaddress field. |
knaresh89 | 0:cd96b05ace6e | 93 | // In other words, SUB(7) must be equal to ‘1’ while SUB(6-0) represents the address |
knaresh89 | 0:cd96b05ace6e | 94 | // of the first register to be read. |
knaresh89 | 0:cd96b05ace6e | 95 | dt[0] = LIS3DH_OUT_X_L | 0x80; |
knaresh89 | 0:cd96b05ace6e | 96 | _i2c.write(acc_addr, dt, 1, true); |
knaresh89 | 0:cd96b05ace6e | 97 | _i2c.read(acc_addr, data, 6, false); |
knaresh89 | 0:cd96b05ace6e | 98 | } |
knaresh89 | 0:cd96b05ace6e | 99 | |
knaresh89 | 0:cd96b05ace6e | 100 | void LIS3DH::read_mg_data(float *dt_usr) |
knaresh89 | 0:cd96b05ace6e | 101 | { |
knaresh89 | 0:cd96b05ace6e | 102 | char data[6]; |
knaresh89 | 0:cd96b05ace6e | 103 | |
knaresh89 | 0:cd96b05ace6e | 104 | if (acc_ready == 0) { |
knaresh89 | 0:cd96b05ace6e | 105 | dt_usr[0] = 0; |
knaresh89 | 0:cd96b05ace6e | 106 | dt_usr[1] = 0; |
knaresh89 | 0:cd96b05ace6e | 107 | dt_usr[2] = 0; |
knaresh89 | 0:cd96b05ace6e | 108 | return; |
knaresh89 | 0:cd96b05ace6e | 109 | } |
knaresh89 | 0:cd96b05ace6e | 110 | read_reg_data(data); |
knaresh89 | 0:cd96b05ace6e | 111 | // change data type |
knaresh89 | 0:cd96b05ace6e | 112 | #if OLD_REV // Fixed bugs -> (1) unit is not mg but g (2) shift right 4bit = /16 |
knaresh89 | 0:cd96b05ace6e | 113 | dt_usr[0] = float(short((data[1] << 8) | data[0])) * fs_factor / 15; |
knaresh89 | 0:cd96b05ace6e | 114 | dt_usr[1] = float(short((data[3] << 8) | data[2])) * fs_factor / 15; |
knaresh89 | 0:cd96b05ace6e | 115 | dt_usr[2] = float(short((data[5] << 8) | data[4])) * fs_factor / 15; |
knaresh89 | 0:cd96b05ace6e | 116 | #else |
knaresh89 | 0:cd96b05ace6e | 117 | dt_usr[0] = float(short((data[1] << 8) | data[0]) >> 4) * fs_factor; |
knaresh89 | 0:cd96b05ace6e | 118 | dt_usr[1] = float(short((data[3] << 8) | data[2]) >> 4) * fs_factor; |
knaresh89 | 0:cd96b05ace6e | 119 | dt_usr[2] = float(short((data[5] << 8) | data[4]) >> 4) * fs_factor; |
knaresh89 | 0:cd96b05ace6e | 120 | #endif |
knaresh89 | 0:cd96b05ace6e | 121 | SEGGER_RTT_printf(0, "x val : %f", dt_usr[0]); |
knaresh89 | 0:cd96b05ace6e | 122 | |
knaresh89 | 0:cd96b05ace6e | 123 | } |
knaresh89 | 0:cd96b05ace6e | 124 | |
knaresh89 | 0:cd96b05ace6e | 125 | void LIS3DH::read_data(float *dt_usr) |
knaresh89 | 0:cd96b05ace6e | 126 | { |
knaresh89 | 0:cd96b05ace6e | 127 | char data[6]; |
knaresh89 | 0:cd96b05ace6e | 128 | |
knaresh89 | 0:cd96b05ace6e | 129 | if (acc_ready == 0) { |
knaresh89 | 0:cd96b05ace6e | 130 | dt_usr[0] = 0; |
knaresh89 | 0:cd96b05ace6e | 131 | dt_usr[1] = 0; |
knaresh89 | 0:cd96b05ace6e | 132 | dt_usr[2] = 0; |
knaresh89 | 0:cd96b05ace6e | 133 | return; |
knaresh89 | 0:cd96b05ace6e | 134 | } |
knaresh89 | 0:cd96b05ace6e | 135 | read_reg_data(data); |
knaresh89 | 0:cd96b05ace6e | 136 | // change data type |
knaresh89 | 0:cd96b05ace6e | 137 | #if OLD_REV // Fixed bugs -> shift right 4bit = /16 (not /15) |
knaresh89 | 0:cd96b05ace6e | 138 | dt_usr[0] = float(short((data[1] << 8) | data[0])) * fs_factor / 15 * GRAVITY; |
knaresh89 | 0:cd96b05ace6e | 139 | dt_usr[1] = float(short((data[3] << 8) | data[2])) * fs_factor / 15 * GRAVITY; |
knaresh89 | 0:cd96b05ace6e | 140 | dt_usr[2] = float(short((data[5] << 8) | data[4])) * fs_factor / 15 * GRAVITY; |
knaresh89 | 0:cd96b05ace6e | 141 | #else |
knaresh89 | 0:cd96b05ace6e | 142 | dt_usr[0] = float(short((data[1] << 8) | data[0]) >> 4) * fs_factor * GRAVITY; |
knaresh89 | 0:cd96b05ace6e | 143 | dt_usr[1] = float(short((data[3] << 8) | data[2]) >> 4) * fs_factor * GRAVITY; |
knaresh89 | 0:cd96b05ace6e | 144 | dt_usr[2] = float(short((data[5] << 8) | data[4]) >> 4) * fs_factor * GRAVITY; |
knaresh89 | 0:cd96b05ace6e | 145 | #endif |
knaresh89 | 0:cd96b05ace6e | 146 | SEGGER_RTT_printf(0, "x val : %d \n", (short((data[1] << 8) | data[0]) >> 4)); |
knaresh89 | 0:cd96b05ace6e | 147 | } |
knaresh89 | 0:cd96b05ace6e | 148 | |
knaresh89 | 0:cd96b05ace6e | 149 | uint8_t LIS3DH::read_id() |
knaresh89 | 0:cd96b05ace6e | 150 | { |
knaresh89 | 0:cd96b05ace6e | 151 | dt[0] = LIS3DH_WHO_AM_I; |
knaresh89 | 0:cd96b05ace6e | 152 | _i2c.write(acc_addr, dt, 1, true); |
knaresh89 | 0:cd96b05ace6e | 153 | _i2c.read(acc_addr, dt, 1, false); |
knaresh89 | 0:cd96b05ace6e | 154 | return (uint8_t)dt[0]; |
knaresh89 | 0:cd96b05ace6e | 155 | } |
knaresh89 | 0:cd96b05ace6e | 156 | |
knaresh89 | 0:cd96b05ace6e | 157 | uint8_t LIS3DH::data_ready() |
knaresh89 | 0:cd96b05ace6e | 158 | { |
knaresh89 | 0:cd96b05ace6e | 159 | if (acc_ready == 1) { |
knaresh89 | 0:cd96b05ace6e | 160 | dt[0] = LIS3DH_STATUS_REG_AUX; |
knaresh89 | 0:cd96b05ace6e | 161 | _i2c.write(acc_addr, dt, 1, true); |
knaresh89 | 0:cd96b05ace6e | 162 | _i2c.read(acc_addr, dt, 1, false); |
knaresh89 | 0:cd96b05ace6e | 163 | if (!(dt[0] & 0x01)) { |
knaresh89 | 0:cd96b05ace6e | 164 | return 0; |
knaresh89 | 0:cd96b05ace6e | 165 | } |
knaresh89 | 0:cd96b05ace6e | 166 | } |
knaresh89 | 0:cd96b05ace6e | 167 | return 1; |
knaresh89 | 0:cd96b05ace6e | 168 | } |
knaresh89 | 0:cd96b05ace6e | 169 | |
knaresh89 | 0:cd96b05ace6e | 170 | void LIS3DH::frequency(int hz) |
knaresh89 | 0:cd96b05ace6e | 171 | { |
knaresh89 | 0:cd96b05ace6e | 172 | _i2c.frequency(hz); |
knaresh89 | 0:cd96b05ace6e | 173 | } |
knaresh89 | 0:cd96b05ace6e | 174 | |
knaresh89 | 0:cd96b05ace6e | 175 | uint8_t LIS3DH::read_reg(uint8_t addr) |
knaresh89 | 0:cd96b05ace6e | 176 | { |
knaresh89 | 0:cd96b05ace6e | 177 | if (acc_ready == 1) { |
knaresh89 | 0:cd96b05ace6e | 178 | dt[0] = addr; |
knaresh89 | 0:cd96b05ace6e | 179 | _i2c.write(acc_addr, dt, 1, true); |
knaresh89 | 0:cd96b05ace6e | 180 | _i2c.read(acc_addr, dt, 1, false); |
knaresh89 | 0:cd96b05ace6e | 181 | } else { |
knaresh89 | 0:cd96b05ace6e | 182 | dt[0] = 0xff; |
knaresh89 | 0:cd96b05ace6e | 183 | } |
knaresh89 | 0:cd96b05ace6e | 184 | return (uint8_t)dt[0]; |
knaresh89 | 0:cd96b05ace6e | 185 | } |
knaresh89 | 0:cd96b05ace6e | 186 | |
knaresh89 | 0:cd96b05ace6e | 187 | void LIS3DH::write_reg(uint8_t addr, uint8_t data) |
knaresh89 | 0:cd96b05ace6e | 188 | { |
knaresh89 | 0:cd96b05ace6e | 189 | if (acc_ready == 1) { |
knaresh89 | 0:cd96b05ace6e | 190 | dt[0] = addr; |
knaresh89 | 0:cd96b05ace6e | 191 | dt[1] = data; |
knaresh89 | 0:cd96b05ace6e | 192 | _i2c.write(acc_addr, dt, 2, false); |
knaresh89 | 0:cd96b05ace6e | 193 | } |
knaresh89 | 0:cd96b05ace6e | 194 | } |
knaresh89 | 0:cd96b05ace6e | 195 | |
knaresh89 | 0:cd96b05ace6e | 196 |