lib
H3LIS331.cpp@0:ecac7a6076f0, 2014-11-18 (annotated)
- Committer:
- peterswanson87
- Date:
- Tue Nov 18 18:49:19 2014 +0000
- Revision:
- 0:ecac7a6076f0
yup
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
peterswanson87 | 0:ecac7a6076f0 | 1 | /** |
peterswanson87 | 0:ecac7a6076f0 | 2 | * Includes |
peterswanson87 | 0:ecac7a6076f0 | 3 | */ |
peterswanson87 | 0:ecac7a6076f0 | 4 | |
peterswanson87 | 0:ecac7a6076f0 | 5 | #include "H3LIS331.h" |
peterswanson87 | 0:ecac7a6076f0 | 6 | |
peterswanson87 | 0:ecac7a6076f0 | 7 | H3LIS331::H3LIS331(PinName sda, PinName scl) : i2c_(sda, scl) { |
peterswanson87 | 0:ecac7a6076f0 | 8 | // set default scaling factor |
peterswanson87 | 0:ecac7a6076f0 | 9 | scaling_factor = 5140.0; |
peterswanson87 | 0:ecac7a6076f0 | 10 | |
peterswanson87 | 0:ecac7a6076f0 | 11 | //set default range to zero. |
peterswanson87 | 0:ecac7a6076f0 | 12 | //current_range = 0; |
peterswanson87 | 0:ecac7a6076f0 | 13 | |
peterswanson87 | 0:ecac7a6076f0 | 14 | //400kHz, fast mode. |
peterswanson87 | 0:ecac7a6076f0 | 15 | i2c_.frequency(400000); |
peterswanson87 | 0:ecac7a6076f0 | 16 | |
peterswanson87 | 0:ecac7a6076f0 | 17 | |
peterswanson87 | 0:ecac7a6076f0 | 18 | //Power Up Device, Set Output data rate, Enable All 3 Axis |
peterswanson87 | 0:ecac7a6076f0 | 19 | //See datasheet for details. |
peterswanson87 | 0:ecac7a6076f0 | 20 | char tx[2]; |
peterswanson87 | 0:ecac7a6076f0 | 21 | //char tx2[2]; |
peterswanson87 | 0:ecac7a6076f0 | 22 | //char rx[1]; |
peterswanson87 | 0:ecac7a6076f0 | 23 | tx[0] = CTRL_REG_1; |
peterswanson87 | 0:ecac7a6076f0 | 24 | //CTRL_REG_1 [00111111] / [0x3F] to power up, set output rate to 1000Hz, and enable all 3 axis. |
peterswanson87 | 0:ecac7a6076f0 | 25 | //CTRL_REG_1 [00101111] / [0x2F] to power up, set output rate to 100Hz, and enable all 3 axis. |
peterswanson87 | 0:ecac7a6076f0 | 26 | //CTRL_REG_1 [ABCDEFGH] ABC=PowerMode, DE=OutputDataRate, F=Zenable, G=Yenable, H=XEnable |
peterswanson87 | 0:ecac7a6076f0 | 27 | tx[1] = 0x2F; |
peterswanson87 | 0:ecac7a6076f0 | 28 | i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
peterswanson87 | 0:ecac7a6076f0 | 29 | |
peterswanson87 | 0:ecac7a6076f0 | 30 | |
peterswanson87 | 0:ecac7a6076f0 | 31 | |
peterswanson87 | 0:ecac7a6076f0 | 32 | //set default scale of 4g's |
peterswanson87 | 0:ecac7a6076f0 | 33 | //scaling_factor = 8192.0; |
peterswanson87 | 0:ecac7a6076f0 | 34 | //current_range = 24; |
peterswanson87 | 0:ecac7a6076f0 | 35 | |
peterswanson87 | 0:ecac7a6076f0 | 36 | tx[0] = CTRL_REG_4; |
peterswanson87 | 0:ecac7a6076f0 | 37 | tx[1] = 0x00; |
peterswanson87 | 0:ecac7a6076f0 | 38 | |
peterswanson87 | 0:ecac7a6076f0 | 39 | i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
peterswanson87 | 0:ecac7a6076f0 | 40 | |
peterswanson87 | 0:ecac7a6076f0 | 41 | |
peterswanson87 | 0:ecac7a6076f0 | 42 | |
peterswanson87 | 0:ecac7a6076f0 | 43 | } |
peterswanson87 | 0:ecac7a6076f0 | 44 | |
peterswanson87 | 0:ecac7a6076f0 | 45 | char H3LIS331::getWhoAmI(void){ |
peterswanson87 | 0:ecac7a6076f0 | 46 | |
peterswanson87 | 0:ecac7a6076f0 | 47 | //WhoAmI Register address. |
peterswanson87 | 0:ecac7a6076f0 | 48 | char tx = WHO_AM_I_REG_H3LIS331; |
peterswanson87 | 0:ecac7a6076f0 | 49 | char rx; |
peterswanson87 | 0:ecac7a6076f0 | 50 | |
peterswanson87 | 0:ecac7a6076f0 | 51 | i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
peterswanson87 | 0:ecac7a6076f0 | 52 | |
peterswanson87 | 0:ecac7a6076f0 | 53 | i2c_.read((H3LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
peterswanson87 | 0:ecac7a6076f0 | 54 | |
peterswanson87 | 0:ecac7a6076f0 | 55 | return rx; |
peterswanson87 | 0:ecac7a6076f0 | 56 | |
peterswanson87 | 0:ecac7a6076f0 | 57 | } |
peterswanson87 | 0:ecac7a6076f0 | 58 | |
peterswanson87 | 0:ecac7a6076f0 | 59 | |
peterswanson87 | 0:ecac7a6076f0 | 60 | |
peterswanson87 | 0:ecac7a6076f0 | 61 | |
peterswanson87 | 0:ecac7a6076f0 | 62 | void H3LIS331::setPowerMode(char power_mode){ |
peterswanson87 | 0:ecac7a6076f0 | 63 | // Currently sets all 3 axis to enabled. Will be set to preserve existing status in future |
peterswanson87 | 0:ecac7a6076f0 | 64 | char tx[2]; |
peterswanson87 | 0:ecac7a6076f0 | 65 | tx[0] = CTRL_REG_1; |
peterswanson87 | 0:ecac7a6076f0 | 66 | tx[1] = power_mode; |
peterswanson87 | 0:ecac7a6076f0 | 67 | |
peterswanson87 | 0:ecac7a6076f0 | 68 | i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
peterswanson87 | 0:ecac7a6076f0 | 69 | |
peterswanson87 | 0:ecac7a6076f0 | 70 | } |
peterswanson87 | 0:ecac7a6076f0 | 71 | |
peterswanson87 | 0:ecac7a6076f0 | 72 | char H3LIS331::getPowerMode(void){ |
peterswanson87 | 0:ecac7a6076f0 | 73 | |
peterswanson87 | 0:ecac7a6076f0 | 74 | char tx = CTRL_REG_1; |
peterswanson87 | 0:ecac7a6076f0 | 75 | char rx; |
peterswanson87 | 0:ecac7a6076f0 | 76 | |
peterswanson87 | 0:ecac7a6076f0 | 77 | i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
peterswanson87 | 0:ecac7a6076f0 | 78 | |
peterswanson87 | 0:ecac7a6076f0 | 79 | i2c_.read((H3LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
peterswanson87 | 0:ecac7a6076f0 | 80 | |
peterswanson87 | 0:ecac7a6076f0 | 81 | |
peterswanson87 | 0:ecac7a6076f0 | 82 | return rx; |
peterswanson87 | 0:ecac7a6076f0 | 83 | |
peterswanson87 | 0:ecac7a6076f0 | 84 | } |
peterswanson87 | 0:ecac7a6076f0 | 85 | |
peterswanson87 | 0:ecac7a6076f0 | 86 | |
peterswanson87 | 0:ecac7a6076f0 | 87 | |
peterswanson87 | 0:ecac7a6076f0 | 88 | char H3LIS331::getInterruptConfiguration(void){ |
peterswanson87 | 0:ecac7a6076f0 | 89 | |
peterswanson87 | 0:ecac7a6076f0 | 90 | char tx = CTRL_REG_3; |
peterswanson87 | 0:ecac7a6076f0 | 91 | char rx; |
peterswanson87 | 0:ecac7a6076f0 | 92 | |
peterswanson87 | 0:ecac7a6076f0 | 93 | i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
peterswanson87 | 0:ecac7a6076f0 | 94 | |
peterswanson87 | 0:ecac7a6076f0 | 95 | i2c_.read((H3LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
peterswanson87 | 0:ecac7a6076f0 | 96 | |
peterswanson87 | 0:ecac7a6076f0 | 97 | return rx; |
peterswanson87 | 0:ecac7a6076f0 | 98 | |
peterswanson87 | 0:ecac7a6076f0 | 99 | } |
peterswanson87 | 0:ecac7a6076f0 | 100 | |
peterswanson87 | 0:ecac7a6076f0 | 101 | |
peterswanson87 | 0:ecac7a6076f0 | 102 | void H3LIS331::setFullScaleRange400g(void){ // Does not preserve rest of CTRL_REG_4! |
peterswanson87 | 0:ecac7a6076f0 | 103 | scaling_factor = 81.92; |
peterswanson87 | 0:ecac7a6076f0 | 104 | current_range = 400; |
peterswanson87 | 0:ecac7a6076f0 | 105 | |
peterswanson87 | 0:ecac7a6076f0 | 106 | char tx[2]; |
peterswanson87 | 0:ecac7a6076f0 | 107 | tx[0] = CTRL_REG_4; |
peterswanson87 | 0:ecac7a6076f0 | 108 | tx[1] = 0x30; |
peterswanson87 | 0:ecac7a6076f0 | 109 | |
peterswanson87 | 0:ecac7a6076f0 | 110 | i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
peterswanson87 | 0:ecac7a6076f0 | 111 | |
peterswanson87 | 0:ecac7a6076f0 | 112 | } |
peterswanson87 | 0:ecac7a6076f0 | 113 | |
peterswanson87 | 0:ecac7a6076f0 | 114 | void H3LIS331::setFullScaleRange200g(void){ // Does not preserve rest of CTRL_REG_4! |
peterswanson87 | 0:ecac7a6076f0 | 115 | scaling_factor = 163.84; |
peterswanson87 | 0:ecac7a6076f0 | 116 | current_range = 200; |
peterswanson87 | 0:ecac7a6076f0 | 117 | |
peterswanson87 | 0:ecac7a6076f0 | 118 | char tx[2]; |
peterswanson87 | 0:ecac7a6076f0 | 119 | tx[0] = CTRL_REG_4; |
peterswanson87 | 0:ecac7a6076f0 | 120 | tx[1] = 0x10; |
peterswanson87 | 0:ecac7a6076f0 | 121 | |
peterswanson87 | 0:ecac7a6076f0 | 122 | i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
peterswanson87 | 0:ecac7a6076f0 | 123 | |
peterswanson87 | 0:ecac7a6076f0 | 124 | } |
peterswanson87 | 0:ecac7a6076f0 | 125 | |
peterswanson87 | 0:ecac7a6076f0 | 126 | |
peterswanson87 | 0:ecac7a6076f0 | 127 | void H3LIS331::setFullScaleRange100g(void){ // Does not preserve rest of CTRL_REG_4! |
peterswanson87 | 0:ecac7a6076f0 | 128 | scaling_factor = 327.68; |
peterswanson87 | 0:ecac7a6076f0 | 129 | current_range = 100; |
peterswanson87 | 0:ecac7a6076f0 | 130 | |
peterswanson87 | 0:ecac7a6076f0 | 131 | char tx[2]; |
peterswanson87 | 0:ecac7a6076f0 | 132 | tx[0] = CTRL_REG_4; |
peterswanson87 | 0:ecac7a6076f0 | 133 | tx[1] = 0x00; |
peterswanson87 | 0:ecac7a6076f0 | 134 | |
peterswanson87 | 0:ecac7a6076f0 | 135 | i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
peterswanson87 | 0:ecac7a6076f0 | 136 | |
peterswanson87 | 0:ecac7a6076f0 | 137 | } |
peterswanson87 | 0:ecac7a6076f0 | 138 | |
peterswanson87 | 0:ecac7a6076f0 | 139 | |
peterswanson87 | 0:ecac7a6076f0 | 140 | char H3LIS331::getAccelStatus(void){ |
peterswanson87 | 0:ecac7a6076f0 | 141 | |
peterswanson87 | 0:ecac7a6076f0 | 142 | char tx = STATUS_REG; |
peterswanson87 | 0:ecac7a6076f0 | 143 | char rx; |
peterswanson87 | 0:ecac7a6076f0 | 144 | |
peterswanson87 | 0:ecac7a6076f0 | 145 | i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
peterswanson87 | 0:ecac7a6076f0 | 146 | |
peterswanson87 | 0:ecac7a6076f0 | 147 | i2c_.read((H3LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
peterswanson87 | 0:ecac7a6076f0 | 148 | |
peterswanson87 | 0:ecac7a6076f0 | 149 | return rx; |
peterswanson87 | 0:ecac7a6076f0 | 150 | } |
peterswanson87 | 0:ecac7a6076f0 | 151 | |
peterswanson87 | 0:ecac7a6076f0 | 152 | |
peterswanson87 | 0:ecac7a6076f0 | 153 | |
peterswanson87 | 0:ecac7a6076f0 | 154 | float H3LIS331::getAccelX(void){ |
peterswanson87 | 0:ecac7a6076f0 | 155 | |
peterswanson87 | 0:ecac7a6076f0 | 156 | char tx = ACCEL_XOUT_H_REG; |
peterswanson87 | 0:ecac7a6076f0 | 157 | char rx[2]; |
peterswanson87 | 0:ecac7a6076f0 | 158 | |
peterswanson87 | 0:ecac7a6076f0 | 159 | i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
peterswanson87 | 0:ecac7a6076f0 | 160 | |
peterswanson87 | 0:ecac7a6076f0 | 161 | i2c_.read((H3LIS331_I2C_ADDRESS << 1) | 0x01, rx, 2); |
peterswanson87 | 0:ecac7a6076f0 | 162 | |
peterswanson87 | 0:ecac7a6076f0 | 163 | int16_t output = ((int) rx[0] << 8) | ((int) rx[1]); |
peterswanson87 | 0:ecac7a6076f0 | 164 | |
peterswanson87 | 0:ecac7a6076f0 | 165 | return output/scaling_factor; |
peterswanson87 | 0:ecac7a6076f0 | 166 | //return output; |
peterswanson87 | 0:ecac7a6076f0 | 167 | |
peterswanson87 | 0:ecac7a6076f0 | 168 | } |
peterswanson87 | 0:ecac7a6076f0 | 169 | |
peterswanson87 | 0:ecac7a6076f0 | 170 | float H3LIS331::getAccelY(void){ |
peterswanson87 | 0:ecac7a6076f0 | 171 | |
peterswanson87 | 0:ecac7a6076f0 | 172 | char tx = ACCEL_YOUT_H_REG; |
peterswanson87 | 0:ecac7a6076f0 | 173 | char rx[2]; |
peterswanson87 | 0:ecac7a6076f0 | 174 | |
peterswanson87 | 0:ecac7a6076f0 | 175 | i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
peterswanson87 | 0:ecac7a6076f0 | 176 | |
peterswanson87 | 0:ecac7a6076f0 | 177 | i2c_.read((H3LIS331_I2C_ADDRESS << 1) | 0x01, rx, 2); |
peterswanson87 | 0:ecac7a6076f0 | 178 | |
peterswanson87 | 0:ecac7a6076f0 | 179 | int16_t output = ((int) rx[0] << 8) | ((int) rx[1]); |
peterswanson87 | 0:ecac7a6076f0 | 180 | |
peterswanson87 | 0:ecac7a6076f0 | 181 | return output/scaling_factor; |
peterswanson87 | 0:ecac7a6076f0 | 182 | |
peterswanson87 | 0:ecac7a6076f0 | 183 | } |
peterswanson87 | 0:ecac7a6076f0 | 184 | |
peterswanson87 | 0:ecac7a6076f0 | 185 | float H3LIS331::getAccelZ(void){ |
peterswanson87 | 0:ecac7a6076f0 | 186 | |
peterswanson87 | 0:ecac7a6076f0 | 187 | char tx = ACCEL_ZOUT_H_REG; |
peterswanson87 | 0:ecac7a6076f0 | 188 | char rx[2]; |
peterswanson87 | 0:ecac7a6076f0 | 189 | |
peterswanson87 | 0:ecac7a6076f0 | 190 | i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
peterswanson87 | 0:ecac7a6076f0 | 191 | |
peterswanson87 | 0:ecac7a6076f0 | 192 | i2c_.read((H3LIS331_I2C_ADDRESS << 1) | 0x01, rx, 2); |
peterswanson87 | 0:ecac7a6076f0 | 193 | |
peterswanson87 | 0:ecac7a6076f0 | 194 | int16_t output = ((int) rx[0] << 8) | ((int) rx[1]); |
peterswanson87 | 0:ecac7a6076f0 | 195 | |
peterswanson87 | 0:ecac7a6076f0 | 196 | return output/scaling_factor; |
peterswanson87 | 0:ecac7a6076f0 | 197 | } |