Revision 0:ecac7a6076f0, committed 2014-11-18

Comitter:

peterswanson87

Date:

Tue Nov 18 18:49:19 2014 +0000

Commit message:

yup

Changed in this revision

--- /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;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/H3LIS331.h	Tue Nov 18 18:49:19 2014 +0000
@@ -0,0 +1,219 @@
+#ifndef H3LIS331_H
+#define H3LIS331_H
+
+/**
+ * Includes
+ */
+#include "mbed.h"
+
+/**
+ * Defines
+ */
+#define H3LIS331_I2C_ADDRESS 0x18 //7-bit address.
+
+//-----------
+// Registers
+//-----------
+#define WHO_AM_I_REG_H3LIS331    0x0F
+#define ACCEL_XOUT_H_REG         0x29
+#define ACCEL_XOUT_L_REG         0x28
+#define ACCEL_YOUT_H_REG         0x2B
+#define ACCEL_YOUT_L_REG         0x2A
+#define ACCEL_ZOUT_H_REG         0x2D
+#define ACCEL_ZOUT_L_REG         0x2C
+
+
+
+#define CTRL_REG_1      0x20
+#define CTRL_REG_2      0x21
+#define CTRL_REG_3      0x22
+#define CTRL_REG_4      0x23
+#define CTRL_REG_5      0x24
+
+#define STATUS_REG      0x27
+
+#define INT1_CFG        0x30
+#define INT1_SRC        0x31
+#define INT1_THS        0x32
+#define INT1_DURATION   0x33
+#define INT2_CFG        0x34
+#define INT2_SRC        0x35
+#define INT2_THS        0x36
+#define INT2_DURATION   0x37
+
+//------------------------------
+// Power Mode and Output Data Rates
+//------------------------------
+#define POWER_DOWN             0x00
+#define NORMAL_50HZ            0x27
+#define NORMAL_100HZ           0x2F
+#define NORMAL_400HZ           0x37
+#define NORMAL_1000HZ          0x3F
+#define LOW_POWER_0_5HZ        0x47
+#define LOW_POWER_1HZ          0x67
+#define LOW_POWER_2HZ          0x87
+#define LOW_POWER_5HZ          0xA7
+#define LOW_POWER_10HZ         0xC7
+
+/**
+ * H3LIS331 triple axis digital accelerometer.
+ */
+class H3LIS331 {
+
+public:
+
+    /**
+     * Constructor.
+     *
+     * Sets FS_SEL to 0x03 for proper opertaion.
+     *
+     * @param sda - mbed pin to use for the SDA I2C line.
+     * @param scl - mbed pin to use for the SCL I2C line.
+     */
+    H3LIS331(PinName sda, PinName scl);
+
+    /**
+     * Get the identity of the device.
+     *
+     * @return The contents of the Who Am I register which contains the I2C
+     *         address of the device.
+     */
+    char getWhoAmI(void);
+
+  
+    
+    
+   
+
+    
+    
+    
+    /**
+     * Set the power mode (power down, low power, normal mode)
+     *
+     *
+     * @param 
+     *
+     *  Power Mode | Output Data Rate (Hz) | Low-pass Filter Cut off (Hz) | #define
+     *  --------------------------------------------------------------------------------
+     *  Power-down |          --           |               --             | POWER_DOWN
+     *    Normal   |          50           |               37             | NORMAL_50HZ
+     *    Normal   |         100           |               74             | NORMAL_100HZ
+     *    Normal   |         400           |              292             | NORMAL_400HZ
+     *    Normal   |        1000           |              780             | NORMAL_1000HZ
+     *   Low-power |         0.5           |               --             | LOW_POWER_0_5HZ
+     *   Low-power |           1           |               --             | LOW_POWER_1HZ
+     *   Low-power |           2           |               --             | LOW_POWER_2HZ
+     *   Low-power |           5           |               --             | LOW_POWER_5HZ
+     *   Low-power |          10           |               --             | LOW_POWER_10HZ
+     */
+    
+    void setPowerMode(char power_mode);
+  
+   
+   
+     /**
+     * Get the current power mode
+     *
+     * @return 
+     */
+    char getPowerMode(void);
+
+    
+   char getInterruptConfiguration(void);
+
+    /**
+     * Set the interrupt configuration.
+     *
+     * See datasheet for configuration byte details.
+     *
+     *    7        6       5      4
+     * +-------+-------+------+--------+
+     * |  IHL  | PP_OD | LIR2 | I2_CFG |
+     * +-------+-------+------+--------+
+     *
+     *      3        2       1         0
+     * +---------+------+---------+---------+
+     * | I2_CFG0 | LIR1 | I1_CFG1 | I1-CFG0 |
+     * +---------+------+---------+---------+
+     *
+     * IHL Interrupt active high or low. 0:active high; 1:active low (default:0)
+     * PP_OD Push-pull/Open drain selection on interrupt pad. 0:push-pull; 1:open drain (default:0)
+     * LIR2 Latch interupt request on INT2_SRC register, with INT2_SRC register cleared by reading INT2_SRC itself
+     *      0: irq not latched; 1:irq latched (default:0)
+     * I2_CFG1, I2_CFG0 See datasheet table
+     * LIR1 Latch interupt request on INT1_SRC register, with INT1_SRC register cleared by reading INT1_SRC itself
+     *      0: irq not latched; 1:irq latched (default:0)
+     * I1_CFG1, I1_CFG0 See datasheet table
+     *
+     * @param config Configuration byte to write to INT_CFG register.
+     */
+   
+   
+   // void setInterruptConfiguration(char config);
+
+    /**
+     * Check the status register
+     *
+     * @return 
+     *
+     */
+     
+     
+    /**
+     * Set the Full Scale Range to +/- 400g's.
+     *
+     */     
+    void setFullScaleRange400g(void);
+
+    /**
+     * Set the Full Scale Range to +/- 200g's.
+     *
+     */     
+    void setFullScaleRange200g(void);
+
+    /**
+     * Set the Full Scale Range to +/- 100g's.
+     *
+     */     
+    void setFullScaleRange100g(void);
+     
+            
+    char getAccelStatus(void);
+
+
+
+
+    /**
+     * Get the output for the x-axis accelerometer.
+     *
+     * @return The output on the x-axis in engineering units (g's).
+     */
+    float getAccelX(void);
+
+    /**
+     * Get the output for the y-axis accelerometer.
+     *
+     * @return The output on the y-axis in engineering units (g's).
+     */
+    float getAccelY(void);
+
+    /**
+     * Get the output on the z-axis accelerometer.
+     * 
+     * @return The output on the z-axis in engineering units (g's).
+     */
+    float getAccelZ(void);
+
+   
+private:
+
+   float scaling_factor;
+   int current_range;
+
+    I2C i2c_;
+
+};
+
+#endif /* H3LIS331_H */
+