Diff: H3LIS331.cpp

Revision:

0:ecac7a6076f0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/H3LIS331.cpp	Tue Nov 18 18:49:19 2014 +0000
@@ -0,0 +1,197 @@
+/**
+ * Includes
+ */
+ 
+#include "H3LIS331.h"
+
+H3LIS331::H3LIS331(PinName sda, PinName scl) : i2c_(sda, scl) {
+    // set default scaling factor
+    scaling_factor = 5140.0;
+    
+    //set default range to zero.
+    //current_range = 0;
+
+    //400kHz, fast mode.
+    i2c_.frequency(400000);
+    
+    
+    //Power Up Device, Set Output data rate, Enable All 3 Axis
+    //See datasheet for details.
+    char tx[2];
+    //char tx2[2];
+    //char rx[1];
+    tx[0] = CTRL_REG_1;
+    //CTRL_REG_1 [00111111] / [0x3F] to power up, set output rate to 1000Hz, and enable all 3 axis.
+    //CTRL_REG_1 [00101111] / [0x2F] to power up, set output rate to 100Hz, and enable all 3 axis.
+    //CTRL_REG_1 [ABCDEFGH] ABC=PowerMode, DE=OutputDataRate, F=Zenable, G=Yenable, H=XEnable
+    tx[1] = 0x2F;
+    i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+    
+    
+    
+    //set default scale of 4g's
+    //scaling_factor = 8192.0;
+    //current_range = 24;
+    
+    tx[0] = CTRL_REG_4;
+    tx[1] = 0x00;
+        
+    i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+    
+    
+    
+}
+
+char H3LIS331::getWhoAmI(void){
+
+    //WhoAmI Register address.
+    char tx = WHO_AM_I_REG_H3LIS331;
+    char rx;
+    
+    i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+    
+    i2c_.read((H3LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1);
+    
+    return rx;
+
+}
+
+
+
+
+void H3LIS331::setPowerMode(char power_mode){
+// Currently sets all 3 axis to enabled. Will be set to preserve existing status in future
+    char tx[2];
+    tx[0] = CTRL_REG_1;
+    tx[1] = power_mode;
+
+    i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+
+}
+
+char H3LIS331::getPowerMode(void){
+
+    char tx = CTRL_REG_1;
+    char rx;
+    
+    i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+    
+    i2c_.read((H3LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1);
+
+    
+    return rx;
+
+}
+
+
+
+char H3LIS331::getInterruptConfiguration(void){
+
+    char tx = CTRL_REG_3;
+    char rx;
+    
+    i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+    
+    i2c_.read((H3LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1);
+    
+    return rx;
+
+}
+
+
+void H3LIS331::setFullScaleRange400g(void){  // Does not preserve rest of CTRL_REG_4!
+    scaling_factor = 81.92;
+    current_range = 400;
+
+    char tx[2];
+    tx[0] = CTRL_REG_4;
+    tx[1] = 0x30;
+        
+    i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+    
+}
+
+void H3LIS331::setFullScaleRange200g(void){  // Does not preserve rest of CTRL_REG_4!
+    scaling_factor = 163.84;
+    current_range = 200;
+    
+    char tx[2];
+    tx[0] = CTRL_REG_4;
+    tx[1] = 0x10;
+        
+    i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+    
+}
+    
+
+void H3LIS331::setFullScaleRange100g(void){  // Does not preserve rest of CTRL_REG_4!
+    scaling_factor = 327.68;
+    current_range = 100;
+    
+    char tx[2];
+    tx[0] = CTRL_REG_4;
+    tx[1] = 0x00;
+        
+    i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+    
+}
+
+
+char H3LIS331::getAccelStatus(void){
+
+    char tx = STATUS_REG;
+    char rx;
+    
+    i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+    
+    i2c_.read((H3LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1);
+    
+    return rx;
+}
+
+
+
+float H3LIS331::getAccelX(void){
+
+    char tx = ACCEL_XOUT_H_REG;
+    char rx[2];
+    
+    i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+    
+    i2c_.read((H3LIS331_I2C_ADDRESS << 1) | 0x01, rx, 2);
+    
+    int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
+
+    return output/scaling_factor;
+    //return output;
+
+}
+
+float H3LIS331::getAccelY(void){
+
+    char tx = ACCEL_YOUT_H_REG;
+    char rx[2];
+    
+    i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+    
+    i2c_.read((H3LIS331_I2C_ADDRESS << 1) | 0x01, rx, 2);
+    
+    int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
+
+    return output/scaling_factor;
+
+}
+
+float H3LIS331::getAccelZ(void){
+
+    char tx = ACCEL_ZOUT_H_REG;
+    char rx[2];
+    
+    i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+    
+    i2c_.read((H3LIS331_I2C_ADDRESS << 1) | 0x01, rx, 2);
+    
+    int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
+
+    return output/scaling_factor;
+}
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