Simon Ford
/
LIS302Dev
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LIS302.h@0:c036efff0b10, 2009-11-13 (annotated)
- Committer:
- simon
- Date:
- Fri Nov 13 11:58:12 2009 +0000
- Revision:
- 0:c036efff0b10
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| simon | 0:c036efff0b10 | 1 | /* mbed LIS302 Accelerometer |
| simon | 0:c036efff0b10 | 2 | * Copyright (c) 2008-2009 cstyles, wreynolds, sford |
| simon | 0:c036efff0b10 | 3 | * Released under the MIT License: http://mbed.org/license/mit |
| simon | 0:c036efff0b10 | 4 | */ |
| simon | 0:c036efff0b10 | 5 | |
| simon | 0:c036efff0b10 | 6 | #ifndef MBED_LIS302_H |
| simon | 0:c036efff0b10 | 7 | #define MBED_LIS302_H |
| simon | 0:c036efff0b10 | 8 | |
| simon | 0:c036efff0b10 | 9 | #include "mbed.h" |
| simon | 0:c036efff0b10 | 10 | |
| simon | 0:c036efff0b10 | 11 | /* Class: LIS302 |
| simon | 0:c036efff0b10 | 12 | * An abstraction for the LIS302 triple axis SPI accelerometer |
| simon | 0:c036efff0b10 | 13 | * |
| simon | 0:c036efff0b10 | 14 | * Example: |
| simon | 0:c036efff0b10 | 15 | * > // Print out the Z axis acceleration |
| simon | 0:c036efff0b10 | 16 | * > |
| simon | 0:c036efff0b10 | 17 | * > #include "mbed.h" |
| simon | 0:c036efff0b10 | 18 | * > #include "LIS302.h" |
| simon | 0:c036efff0b10 | 19 | * > |
| simon | 0:c036efff0b10 | 20 | * > LIS302 acc(p5, p6, p7, p8); // mosi, miso, clk, ncs |
| simon | 0:c036efff0b10 | 21 | * > |
| simon | 0:c036efff0b10 | 22 | * > int main() { |
| simon | 0:c036efff0b10 | 23 | * > while(1) { |
| simon | 0:c036efff0b10 | 24 | * > printf("Z axis acceleration = %.2f\n", acc.z()); |
| simon | 0:c036efff0b10 | 25 | * > wait(0.1); |
| simon | 0:c036efff0b10 | 26 | * > } |
| simon | 0:c036efff0b10 | 27 | * > } |
| simon | 0:c036efff0b10 | 28 | */ |
| simon | 0:c036efff0b10 | 29 | class LIS302 { |
| simon | 0:c036efff0b10 | 30 | public: |
| simon | 0:c036efff0b10 | 31 | |
| simon | 0:c036efff0b10 | 32 | /* Constructor: LIS302 |
| simon | 0:c036efff0b10 | 33 | * Create an object for the LIS302, connected to the specified pins |
| simon | 0:c036efff0b10 | 34 | * |
| simon | 0:c036efff0b10 | 35 | * Variables: |
| simon | 0:c036efff0b10 | 36 | * mosi - SPI data out |
| simon | 0:c036efff0b10 | 37 | * miso - SPI data in |
| simon | 0:c036efff0b10 | 38 | * clk - SPI clock |
| simon | 0:c036efff0b10 | 39 | * ncs - Active low chip select. Any DigitalOut will do |
| simon | 0:c036efff0b10 | 40 | */ |
| simon | 0:c036efff0b10 | 41 | LIS302(PinName mosi, PinName miso, PinName clk, PinName ncs); |
| simon | 0:c036efff0b10 | 42 | |
| simon | 0:c036efff0b10 | 43 | /* Function: x |
| simon | 0:c036efff0b10 | 44 | * Read the X axis acceleration |
| simon | 0:c036efff0b10 | 45 | * |
| simon | 0:c036efff0b10 | 46 | * Variables: |
| simon | 0:c036efff0b10 | 47 | * returns - A floating-point value representing acceleration in g |
| simon | 0:c036efff0b10 | 48 | */ |
| simon | 0:c036efff0b10 | 49 | float x(); |
| simon | 0:c036efff0b10 | 50 | |
| simon | 0:c036efff0b10 | 51 | /* Function: y |
| simon | 0:c036efff0b10 | 52 | * Read the Y axis acceleration |
| simon | 0:c036efff0b10 | 53 | * |
| simon | 0:c036efff0b10 | 54 | * Variables: |
| simon | 0:c036efff0b10 | 55 | * returns - A floating-point value representing acceleration in g |
| simon | 0:c036efff0b10 | 56 | */ |
| simon | 0:c036efff0b10 | 57 | float y(); |
| simon | 0:c036efff0b10 | 58 | |
| simon | 0:c036efff0b10 | 59 | /* Function: z |
| simon | 0:c036efff0b10 | 60 | * Read the Z axis acceleration |
| simon | 0:c036efff0b10 | 61 | * |
| simon | 0:c036efff0b10 | 62 | * Variables: |
| simon | 0:c036efff0b10 | 63 | * returns - A floating-point value representing acceleration in g |
| simon | 0:c036efff0b10 | 64 | */ |
| simon | 0:c036efff0b10 | 65 | float z(); |
| simon | 0:c036efff0b10 | 66 | |
| simon | 0:c036efff0b10 | 67 | /* Function: range |
| simon | 0:c036efff0b10 | 68 | * Select the range of the accelerometer |
| simon | 0:c036efff0b10 | 69 | * |
| simon | 0:c036efff0b10 | 70 | * Variables: |
| simon | 0:c036efff0b10 | 71 | * range - 0 = 2g, 1 = 8g |
| simon | 0:c036efff0b10 | 72 | */ |
| simon | 0:c036efff0b10 | 73 | void range(int g); |
| simon | 0:c036efff0b10 | 74 | |
| simon | 0:c036efff0b10 | 75 | /* Function: Calibrate |
| simon | 0:c036efff0b10 | 76 | * Configure the minima and maxima for the axes to linearise the readings |
| simon | 0:c036efff0b10 | 77 | * |
| simon | 0:c036efff0b10 | 78 | * Variables: |
| simon | 0:c036efff0b10 | 79 | * maxx - float defining the maximum X value |
| simon | 0:c036efff0b10 | 80 | * minx - float defining the minimum X value |
| simon | 0:c036efff0b10 | 81 | * maxy - float defining the maximum Y value |
| simon | 0:c036efff0b10 | 82 | * miny - float defining the minimum Y value |
| simon | 0:c036efff0b10 | 83 | * maxz - float defining the maximum Z value |
| simon | 0:c036efff0b10 | 84 | * minz - float defining the minimum Z value |
| simon | 0:c036efff0b10 | 85 | */ |
| simon | 0:c036efff0b10 | 86 | void calibrate(float maxx = 1, float minx = -1, float maxy = 1, float miny = -1, float maxz = 1, float minz = -1); |
| simon | 0:c036efff0b10 | 87 | |
| simon | 0:c036efff0b10 | 88 | private: |
| simon | 0:c036efff0b10 | 89 | SPI _spi; |
| simon | 0:c036efff0b10 | 90 | DigitalOut _ncs; |
| simon | 0:c036efff0b10 | 91 | |
| simon | 0:c036efff0b10 | 92 | int whoami(); |
| simon | 0:c036efff0b10 | 93 | int status(); |
| simon | 0:c036efff0b10 | 94 | |
| simon | 0:c036efff0b10 | 95 | float _factor; |
| simon | 0:c036efff0b10 | 96 | float _maxx, _minx; |
| simon | 0:c036efff0b10 | 97 | float _maxy, _miny; |
| simon | 0:c036efff0b10 | 98 | float _maxz, _minz; |
| simon | 0:c036efff0b10 | 99 | }; |
| simon | 0:c036efff0b10 | 100 | |
| simon | 0:c036efff0b10 | 101 | #endif |