Diff: LIS331HH.cpp
- Revision:
- 0:0c0be03e887d
- Child:
- 1:3a46d098c175
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LIS331HH.cpp Fri Jul 01 21:07:48 2011 +0000
@@ -0,0 +1,210 @@
+/**
+ * @section LICENSE
+ *
+ *
+ * @section DESCRIPTION
+ *
+ * LIS331HH triple axis, digital interface, accelerometer.
+ * Based off Aaron Berk's ITG3200 Gyro Library
+ *
+ * Tim Marvin - July 2011
+ * Datasheet:
+ *
+ * http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/CD00213470.pdf
+ */
+
+/**
+ * Includes
+ */
+
+#include "LIS331HH.h"
+
+LIS331HH::LIS331HH(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 [ABCDEFGH] ABC=PowerMode, DE=OutputDataRate, F=Zenable, G=Yenable, H=XEnable
+ tx[1] = 0x3F;
+ i2c_.write((LIS331_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((LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+
+
+
+}
+
+char LIS331HH::getWhoAmI(void){
+
+ //WhoAmI Register address.
+ char tx = WHO_AM_I_REG_LIS331;
+ char rx;
+
+ i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+
+ i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1);
+
+ return rx;
+
+}
+
+
+
+
+void LIS331HH::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((LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+
+}
+
+char LIS331HH::getPowerMode(void){
+
+ char tx = CTRL_REG_1;
+ char rx;
+
+ i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+
+ i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1);
+
+
+ return rx;
+
+}
+
+
+
+char LIS331HH::getInterruptConfiguration(void){
+
+ char tx = CTRL_REG_3;
+ char rx;
+
+ i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+
+ i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1);
+
+ return rx;
+
+}
+
+
+void LIS331HH::setFullScaleRange8g(void){ // Does not preserve rest of CTRL_REG_4!
+ scaling_factor = 4096.0;
+ current_range = 8;
+
+ char tx[2];
+ tx[0] = CTRL_REG_4;
+ tx[1] = 0x30;
+
+ i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+
+}
+
+void LIS331HH::setFullScaleRange4g(void){ // Does not preserve rest of CTRL_REG_4!
+ scaling_factor = 8192.0;
+ current_range = 4;
+
+ char tx[2];
+ tx[0] = CTRL_REG_4;
+ tx[1] = 0x10;
+
+ i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+
+}
+
+
+void LIS331HH::setFullScaleRange2g(void){ // Does not preserve rest of CTRL_REG_4!
+ scaling_factor = 16384.0;
+ current_range = 2;
+
+ char tx[2];
+ tx[0] = CTRL_REG_4;
+ tx[1] = 0x00;
+
+ i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+
+}
+
+
+char LIS331HH::getAccelStatus(void){
+
+ char tx = STATUS_REG;
+ char rx;
+
+ i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+
+ i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1);
+
+ return rx;
+}
+
+
+
+float LIS331HH::getAccelX(void){
+
+ char tx = ACCEL_XOUT_H_REG;
+ char rx[2];
+
+ i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+
+ i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, rx, 2);
+
+ int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
+
+ return output/scaling_factor;
+
+}
+
+float LIS331HH::getAccelY(void){
+
+ char tx = ACCEL_YOUT_H_REG;
+ char rx[2];
+
+ i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+
+ i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, rx, 2);
+
+ int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
+
+ return output/scaling_factor;
+
+}
+
+float LIS331HH::getAccelZ(void){
+
+ char tx = ACCEL_ZOUT_H_REG;
+ char rx[2];
+
+ i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+
+ i2c_.read((LIS331_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
Tim Marvin