H3LIS331.h

00001 #ifndef H3LIS331_H
00002 #define H3LIS331_H
00003 
00004 /**
00005  * Includes
00006  */
00007 #include "mbed.h"
00008 
00009 /**
00010  * Defines
00011  */
00012 #define H3LIS331_I2C_ADDRESS 0x18 //7-bit address.
00013 
00014 //-----------
00015 // Registers
00016 //-----------
00017 #define WHO_AM_I_REG_H3LIS331    0x0F
00018 #define ACCEL_XOUT_H_REG         0x29
00019 #define ACCEL_XOUT_L_REG         0x28
00020 #define ACCEL_YOUT_H_REG         0x2B
00021 #define ACCEL_YOUT_L_REG         0x2A
00022 #define ACCEL_ZOUT_H_REG         0x2D
00023 #define ACCEL_ZOUT_L_REG         0x2C
00024 
00025 
00026 
00027 #define CTRL_REG_1      0x20
00028 #define CTRL_REG_2      0x21
00029 #define CTRL_REG_3      0x22
00030 #define CTRL_REG_4      0x23
00031 #define CTRL_REG_5      0x24
00032 
00033 #define STATUS_REG      0x27
00034 
00035 #define INT1_CFG        0x30
00036 #define INT1_SRC        0x31
00037 #define INT1_THS        0x32
00038 #define INT1_DURATION   0x33
00039 #define INT2_CFG        0x34
00040 #define INT2_SRC        0x35
00041 #define INT2_THS        0x36
00042 #define INT2_DURATION   0x37
00043 
00044 //------------------------------
00045 // Power Mode and Output Data Rates
00046 //------------------------------
00047 #define POWER_DOWN             0x00
00048 #define NORMAL_50HZ            0x27
00049 #define NORMAL_100HZ           0x2F
00050 #define NORMAL_400HZ           0x37
00051 #define NORMAL_1000HZ          0x3F
00052 #define LOW_POWER_0_5HZ        0x47
00053 #define LOW_POWER_1HZ          0x67
00054 #define LOW_POWER_2HZ          0x87
00055 #define LOW_POWER_5HZ          0xA7
00056 #define LOW_POWER_10HZ         0xC7
00057 
00058 /**
00059  * H3LIS331 triple axis digital accelerometer.
00060  */
00061 class H3LIS331 {
00062 
00063 public:
00064 
00065     /**
00066      * Constructor.
00067      *
00068      * Sets FS_SEL to 0x03 for proper opertaion.
00069      *
00070      * @param sda - mbed pin to use for the SDA I2C line.
00071      * @param scl - mbed pin to use for the SCL I2C line.
00072      */
00073     H3LIS331(PinName sda, PinName scl);
00074 
00075     /**
00076      * Get the identity of the device.
00077      *
00078      * @return The contents of the Who Am I register which contains the I2C
00079      *         address of the device.
00080      */
00081     char getWhoAmI(void);
00082 
00083   
00084     
00085     
00086    
00087 
00088     
00089     
00090     
00091     /**
00092      * Set the power mode (power down, low power, normal mode)
00093      *
00094      *
00095      * @param 
00096      *
00097      *  Power Mode | Output Data Rate (Hz) | Low-pass Filter Cut off (Hz) | #define
00098      *  --------------------------------------------------------------------------------
00099      *  Power-down |          --           |               --             | POWER_DOWN
00100      *    Normal   |          50           |               37             | NORMAL_50HZ
00101      *    Normal   |         100           |               74             | NORMAL_100HZ
00102      *    Normal   |         400           |              292             | NORMAL_400HZ
00103      *    Normal   |        1000           |              780             | NORMAL_1000HZ
00104      *   Low-power |         0.5           |               --             | LOW_POWER_0_5HZ
00105      *   Low-power |           1           |               --             | LOW_POWER_1HZ
00106      *   Low-power |           2           |               --             | LOW_POWER_2HZ
00107      *   Low-power |           5           |               --             | LOW_POWER_5HZ
00108      *   Low-power |          10           |               --             | LOW_POWER_10HZ
00109      */
00110     
00111     void setPowerMode(char power_mode);
00112   
00113    
00114    
00115      /**
00116      * Get the current power mode
00117      *
00118      * @return 
00119      */
00120     char getPowerMode(void);
00121 
00122     
00123    char getInterruptConfiguration(void);
00124 
00125     /**
00126      * Set the interrupt configuration.
00127      *
00128      * See datasheet for configuration byte details.
00129      *
00130      *    7        6       5      4
00131      * +-------+-------+------+--------+
00132      * |  IHL  | PP_OD | LIR2 | I2_CFG |
00133      * +-------+-------+------+--------+
00134      *
00135      *      3        2       1         0
00136      * +---------+------+---------+---------+
00137      * | I2_CFG0 | LIR1 | I1_CFG1 | I1-CFG0 |
00138      * +---------+------+---------+---------+
00139      *
00140      * IHL Interrupt active high or low. 0:active high; 1:active low (default:0)
00141      * PP_OD Push-pull/Open drain selection on interrupt pad. 0:push-pull; 1:open drain (default:0)
00142      * LIR2 Latch interupt request on INT2_SRC register, with INT2_SRC register cleared by reading INT2_SRC itself
00143      *      0: irq not latched; 1:irq latched (default:0)
00144      * I2_CFG1, I2_CFG0 See datasheet table
00145      * LIR1 Latch interupt request on INT1_SRC register, with INT1_SRC register cleared by reading INT1_SRC itself
00146      *      0: irq not latched; 1:irq latched (default:0)
00147      * I1_CFG1, I1_CFG0 See datasheet table
00148      *
00149      * @param config Configuration byte to write to INT_CFG register.
00150      */
00151    
00152    
00153    // void setInterruptConfiguration(char config);
00154 
00155     /**
00156      * Check the status register
00157      *
00158      * @return 
00159      *
00160      */
00161      
00162      
00163     /**
00164      * Set the Full Scale Range to +/- 400g's.
00165      *
00166      */     
00167     void setFullScaleRange400g(void);
00168 
00169     /**
00170      * Set the Full Scale Range to +/- 200g's.
00171      *
00172      */     
00173     void setFullScaleRange200g(void);
00174 
00175     /**
00176      * Set the Full Scale Range to +/- 100g's.
00177      *
00178      */     
00179     void setFullScaleRange100g(void);
00180      
00181             
00182     char getAccelStatus(void);
00183 
00184 
00185 
00186 
00187     /**
00188      * Get the output for the x-axis accelerometer.
00189      *
00190      * @return The output on the x-axis in engineering units (g's).
00191      */
00192     float getAccelX(void);
00193 
00194     /**
00195      * Get the output for the y-axis accelerometer.
00196      *
00197      * @return The output on the y-axis in engineering units (g's).
00198      */
00199     float getAccelY(void);
00200 
00201     /**
00202      * Get the output on the z-axis accelerometer.
00203      * 
00204      * @return The output on the z-axis in engineering units (g's).
00205      */
00206     float getAccelZ(void);
00207 
00208    
00209 private:
00210 
00211    float scaling_factor;
00212    int current_range;
00213 
00214     I2C i2c_;
00215 
00216 };
00217 
00218 #endif /* H3LIS331_H */
00219