H3LIS331.cpp

00001 /**
00002  * Includes
00003  */
00004  
00005 #include "H3LIS331.h"
00006 
00007 H3LIS331::H3LIS331(PinName sda, PinName scl) : i2c_(sda, scl) {
00008     // set default scaling factor
00009     scaling_factor = 5140.0;
00010     
00011     //set default range to zero.
00012     //current_range = 0;
00013 
00014     //400kHz, fast mode.
00015     i2c_.frequency(400000);
00016     
00017     
00018     //Power Up Device, Set Output data rate, Enable All 3 Axis
00019     //See datasheet for details.
00020     char tx[2];
00021     //char tx2[2];
00022     //char rx[1];
00023     tx[0] = CTRL_REG_1;
00024     //CTRL_REG_1 [00111111] / [0x3F] to power up, set output rate to 1000Hz, and enable all 3 axis.
00025     //CTRL_REG_1 [00101111] / [0x2F] to power up, set output rate to 100Hz, and enable all 3 axis.
00026     //CTRL_REG_1 [ABCDEFGH] ABC=PowerMode, DE=OutputDataRate, F=Zenable, G=Yenable, H=XEnable
00027     tx[1] = 0x2F;
00028     i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2);
00029     
00030     
00031     
00032     //set default scale of 4g's
00033     //scaling_factor = 8192.0;
00034     //current_range = 24;
00035     
00036     tx[0] = CTRL_REG_4;
00037     tx[1] = 0x00;
00038         
00039     i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2);
00040     
00041     
00042     
00043 }
00044 
00045 char H3LIS331::getWhoAmI(void){
00046 
00047     //WhoAmI Register address.
00048     char tx = WHO_AM_I_REG_H3LIS331;
00049     char rx;
00050     
00051     i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00052     
00053     i2c_.read((H3LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1);
00054     
00055     return rx;
00056 
00057 }
00058 
00059 
00060 
00061 
00062 void H3LIS331::setPowerMode(char power_mode){
00063 // Currently sets all 3 axis to enabled. Will be set to preserve existing status in future
00064     char tx[2];
00065     tx[0] = CTRL_REG_1;
00066     tx[1] = power_mode;
00067 
00068     i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2);
00069 
00070 }
00071 
00072 char H3LIS331::getPowerMode(void){
00073 
00074     char tx = CTRL_REG_1;
00075     char rx;
00076     
00077     i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00078     
00079     i2c_.read((H3LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1);
00080 
00081     
00082     return rx;
00083 
00084 }
00085 
00086 
00087 
00088 char H3LIS331::getInterruptConfiguration(void){
00089 
00090     char tx = CTRL_REG_3;
00091     char rx;
00092     
00093     i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00094     
00095     i2c_.read((H3LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1);
00096     
00097     return rx;
00098 
00099 }
00100 
00101 
00102 void H3LIS331::setFullScaleRange400g(void){  // Does not preserve rest of CTRL_REG_4!
00103     scaling_factor = 81.92;
00104     current_range = 400;
00105 
00106     char tx[2];
00107     tx[0] = CTRL_REG_4;
00108     tx[1] = 0x30;
00109         
00110     i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2);
00111     
00112 }
00113 
00114 void H3LIS331::setFullScaleRange200g(void){  // Does not preserve rest of CTRL_REG_4!
00115     scaling_factor = 163.84;
00116     current_range = 200;
00117     
00118     char tx[2];
00119     tx[0] = CTRL_REG_4;
00120     tx[1] = 0x10;
00121         
00122     i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2);
00123     
00124 }
00125     
00126 
00127 void H3LIS331::setFullScaleRange100g(void){  // Does not preserve rest of CTRL_REG_4!
00128     scaling_factor = 327.68;
00129     current_range = 100;
00130     
00131     char tx[2];
00132     tx[0] = CTRL_REG_4;
00133     tx[1] = 0x00;
00134         
00135     i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2);
00136     
00137 }
00138 
00139 
00140 char H3LIS331::getAccelStatus(void){
00141 
00142     char tx = STATUS_REG;
00143     char rx;
00144     
00145     i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00146     
00147     i2c_.read((H3LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1);
00148     
00149     return rx;
00150 }
00151 
00152 
00153 
00154 float H3LIS331::getAccelX(void){
00155 
00156     char tx = ACCEL_XOUT_H_REG;
00157     char rx[2];
00158     
00159     i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00160     
00161     i2c_.read((H3LIS331_I2C_ADDRESS << 1) | 0x01, rx, 2);
00162     
00163     int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
00164 
00165     return output/scaling_factor;
00166     //return output;
00167 
00168 }
00169 
00170 float H3LIS331::getAccelY(void){
00171 
00172     char tx = ACCEL_YOUT_H_REG;
00173     char rx[2];
00174     
00175     i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00176     
00177     i2c_.read((H3LIS331_I2C_ADDRESS << 1) | 0x01, rx, 2);
00178     
00179     int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
00180 
00181     return output/scaling_factor;
00182 
00183 }
00184 
00185 float H3LIS331::getAccelZ(void){
00186 
00187     char tx = ACCEL_ZOUT_H_REG;
00188     char rx[2];
00189     
00190     i2c_.write((H3LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00191     
00192     i2c_.read((H3LIS331_I2C_ADDRESS << 1) | 0x01, rx, 2);
00193     
00194     int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
00195 
00196     return output/scaling_factor;
00197 }