Library to communicate with a ST LIS331DLH
LIS331.cpp@3:147d95b7a525, 2010-11-17 (annotated)
- Committer:
- atommota
- Date:
- Wed Nov 17 18:34:25 2010 +0000
- Revision:
- 3:147d95b7a525
- Parent:
- 2:d4b810a888b5
- Child:
- 4:c3df518a938e
Changed WHO_AM_I reg name to play nicer with itg3200 library
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
atommota | 2:d4b810a888b5 | 1 | /** |
atommota | 2:d4b810a888b5 | 2 | * @section LICENSE |
atommota | 2:d4b810a888b5 | 3 | * |
atommota | 2:d4b810a888b5 | 4 | * |
atommota | 2:d4b810a888b5 | 5 | * @section DESCRIPTION |
atommota | 2:d4b810a888b5 | 6 | * |
atommota | 2:d4b810a888b5 | 7 | * LIS331 triple axis, digital interface, accelerometer. |
atommota | 2:d4b810a888b5 | 8 | * Based off Aaron Berk's ITG3200 Gyro Library |
atommota | 2:d4b810a888b5 | 9 | * |
atommota | 2:d4b810a888b5 | 10 | * Datasheet: |
atommota | 2:d4b810a888b5 | 11 | * |
atommota | 2:d4b810a888b5 | 12 | * http://www.st.com/stonline/products/literature/ds/13951.pdf |
atommota | 2:d4b810a888b5 | 13 | */ |
atommota | 2:d4b810a888b5 | 14 | |
atommota | 2:d4b810a888b5 | 15 | /** |
atommota | 2:d4b810a888b5 | 16 | * Includes |
atommota | 2:d4b810a888b5 | 17 | */ |
atommota | 2:d4b810a888b5 | 18 | |
atommota | 2:d4b810a888b5 | 19 | #include "LIS331.h" |
atommota | 2:d4b810a888b5 | 20 | |
atommota | 2:d4b810a888b5 | 21 | LIS331::LIS331(PinName sda, PinName scl) : i2c_(sda, scl) { |
atommota | 2:d4b810a888b5 | 22 | |
atommota | 2:d4b810a888b5 | 23 | //400kHz, fast mode. |
atommota | 2:d4b810a888b5 | 24 | i2c_.frequency(400000); |
atommota | 2:d4b810a888b5 | 25 | |
atommota | 2:d4b810a888b5 | 26 | |
atommota | 2:d4b810a888b5 | 27 | //Power Up Device, Set Output data rate, Enable All 3 Axis |
atommota | 2:d4b810a888b5 | 28 | //See datasheet for details. |
atommota | 2:d4b810a888b5 | 29 | char tx[2]; |
atommota | 2:d4b810a888b5 | 30 | //char tx2[2]; |
atommota | 2:d4b810a888b5 | 31 | //char rx[1]; |
atommota | 2:d4b810a888b5 | 32 | tx[0] = CTRL_REG_1; |
atommota | 2:d4b810a888b5 | 33 | //CTRL_REG_1 [00111111] / [0x3F] to power up, set output rate to 1000Hz, and enable all 3 axis. |
atommota | 2:d4b810a888b5 | 34 | tx[1] = 0x3F; |
atommota | 2:d4b810a888b5 | 35 | i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
atommota | 2:d4b810a888b5 | 36 | |
atommota | 2:d4b810a888b5 | 37 | |
atommota | 2:d4b810a888b5 | 38 | // Set Big endian bit |
atommota | 2:d4b810a888b5 | 39 | //tx2[0] = CTRL_REG_4; |
atommota | 2:d4b810a888b5 | 40 | //i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, tx2, 1); // Request control reg 4 |
atommota | 2:d4b810a888b5 | 41 | //i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, rx, 1); //Read control reg 4 |
atommota | 2:d4b810a888b5 | 42 | //tx2[1] = rx[0] | 1<<7; // Set bit 7 |
atommota | 2:d4b810a888b5 | 43 | //i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, tx2, 2); |
atommota | 2:d4b810a888b5 | 44 | |
atommota | 2:d4b810a888b5 | 45 | } |
atommota | 2:d4b810a888b5 | 46 | |
atommota | 2:d4b810a888b5 | 47 | char LIS331::getWhoAmI(void){ |
atommota | 2:d4b810a888b5 | 48 | |
atommota | 2:d4b810a888b5 | 49 | //WhoAmI Register address. |
atommota | 3:147d95b7a525 | 50 | char tx = WHO_AM_I_REG_LIS331; |
atommota | 2:d4b810a888b5 | 51 | char rx; |
atommota | 2:d4b810a888b5 | 52 | |
atommota | 2:d4b810a888b5 | 53 | i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
atommota | 2:d4b810a888b5 | 54 | |
atommota | 2:d4b810a888b5 | 55 | i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
atommota | 2:d4b810a888b5 | 56 | |
atommota | 2:d4b810a888b5 | 57 | return rx; |
atommota | 2:d4b810a888b5 | 58 | |
atommota | 2:d4b810a888b5 | 59 | } |
atommota | 2:d4b810a888b5 | 60 | |
atommota | 2:d4b810a888b5 | 61 | |
atommota | 2:d4b810a888b5 | 62 | |
atommota | 2:d4b810a888b5 | 63 | |
atommota | 2:d4b810a888b5 | 64 | void LIS331::setPowerMode(char power_mode){ |
atommota | 2:d4b810a888b5 | 65 | // Currently sets all 3 axis to enabled. Will be set to preserve existing status in future |
atommota | 2:d4b810a888b5 | 66 | char tx[2]; |
atommota | 2:d4b810a888b5 | 67 | tx[0] = CTRL_REG_1; |
atommota | 2:d4b810a888b5 | 68 | tx[1] = power_mode; |
atommota | 2:d4b810a888b5 | 69 | |
atommota | 2:d4b810a888b5 | 70 | i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
atommota | 2:d4b810a888b5 | 71 | |
atommota | 2:d4b810a888b5 | 72 | } |
atommota | 2:d4b810a888b5 | 73 | |
atommota | 2:d4b810a888b5 | 74 | char LIS331::getPowerMode(void){ |
atommota | 2:d4b810a888b5 | 75 | |
atommota | 2:d4b810a888b5 | 76 | char tx = CTRL_REG_1; |
atommota | 2:d4b810a888b5 | 77 | char rx; |
atommota | 2:d4b810a888b5 | 78 | |
atommota | 2:d4b810a888b5 | 79 | i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
atommota | 2:d4b810a888b5 | 80 | |
atommota | 2:d4b810a888b5 | 81 | i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
atommota | 2:d4b810a888b5 | 82 | |
atommota | 2:d4b810a888b5 | 83 | |
atommota | 2:d4b810a888b5 | 84 | return rx; |
atommota | 2:d4b810a888b5 | 85 | |
atommota | 2:d4b810a888b5 | 86 | } |
atommota | 2:d4b810a888b5 | 87 | |
atommota | 2:d4b810a888b5 | 88 | |
atommota | 2:d4b810a888b5 | 89 | |
atommota | 2:d4b810a888b5 | 90 | char LIS331::getInterruptConfiguration(void){ |
atommota | 2:d4b810a888b5 | 91 | |
atommota | 2:d4b810a888b5 | 92 | char tx = CTRL_REG_3; |
atommota | 2:d4b810a888b5 | 93 | char rx; |
atommota | 2:d4b810a888b5 | 94 | |
atommota | 2:d4b810a888b5 | 95 | i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
atommota | 2:d4b810a888b5 | 96 | |
atommota | 2:d4b810a888b5 | 97 | i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
atommota | 2:d4b810a888b5 | 98 | |
atommota | 2:d4b810a888b5 | 99 | return rx; |
atommota | 2:d4b810a888b5 | 100 | |
atommota | 2:d4b810a888b5 | 101 | } |
atommota | 2:d4b810a888b5 | 102 | |
atommota | 2:d4b810a888b5 | 103 | |
atommota | 2:d4b810a888b5 | 104 | |
atommota | 2:d4b810a888b5 | 105 | char LIS331::getAccelStatus(void){ |
atommota | 2:d4b810a888b5 | 106 | |
atommota | 2:d4b810a888b5 | 107 | char tx = STATUS_REG; |
atommota | 2:d4b810a888b5 | 108 | char rx; |
atommota | 2:d4b810a888b5 | 109 | |
atommota | 2:d4b810a888b5 | 110 | i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
atommota | 2:d4b810a888b5 | 111 | |
atommota | 2:d4b810a888b5 | 112 | i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
atommota | 2:d4b810a888b5 | 113 | |
atommota | 2:d4b810a888b5 | 114 | return rx; |
atommota | 2:d4b810a888b5 | 115 | } |
atommota | 2:d4b810a888b5 | 116 | |
atommota | 2:d4b810a888b5 | 117 | |
atommota | 2:d4b810a888b5 | 118 | |
atommota | 2:d4b810a888b5 | 119 | int LIS331::getAccelX(void){ |
atommota | 2:d4b810a888b5 | 120 | |
atommota | 2:d4b810a888b5 | 121 | char tx = ACCEL_XOUT_H_REG; |
atommota | 2:d4b810a888b5 | 122 | char rx[2]; |
atommota | 2:d4b810a888b5 | 123 | |
atommota | 2:d4b810a888b5 | 124 | i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
atommota | 2:d4b810a888b5 | 125 | |
atommota | 2:d4b810a888b5 | 126 | i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, rx, 2); |
atommota | 2:d4b810a888b5 | 127 | |
atommota | 2:d4b810a888b5 | 128 | int16_t output = ((int) rx[0] << 8) | ((int) rx[1]); |
atommota | 2:d4b810a888b5 | 129 | |
atommota | 2:d4b810a888b5 | 130 | return output; |
atommota | 2:d4b810a888b5 | 131 | |
atommota | 2:d4b810a888b5 | 132 | } |
atommota | 2:d4b810a888b5 | 133 | |
atommota | 2:d4b810a888b5 | 134 | int LIS331::getAccelY(void){ |
atommota | 2:d4b810a888b5 | 135 | |
atommota | 2:d4b810a888b5 | 136 | char tx = ACCEL_YOUT_H_REG; |
atommota | 2:d4b810a888b5 | 137 | char rx[2]; |
atommota | 2:d4b810a888b5 | 138 | |
atommota | 2:d4b810a888b5 | 139 | i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
atommota | 2:d4b810a888b5 | 140 | |
atommota | 2:d4b810a888b5 | 141 | i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, rx, 2); |
atommota | 2:d4b810a888b5 | 142 | |
atommota | 2:d4b810a888b5 | 143 | int16_t output = ((int) rx[0] << 8) | ((int) rx[1]); |
atommota | 2:d4b810a888b5 | 144 | |
atommota | 2:d4b810a888b5 | 145 | return output; |
atommota | 2:d4b810a888b5 | 146 | |
atommota | 2:d4b810a888b5 | 147 | } |
atommota | 2:d4b810a888b5 | 148 | |
atommota | 2:d4b810a888b5 | 149 | int LIS331::getAccelZ(void){ |
atommota | 2:d4b810a888b5 | 150 | |
atommota | 2:d4b810a888b5 | 151 | char tx = ACCEL_ZOUT_H_REG; |
atommota | 2:d4b810a888b5 | 152 | char rx[2]; |
atommota | 2:d4b810a888b5 | 153 | |
atommota | 2:d4b810a888b5 | 154 | i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
atommota | 2:d4b810a888b5 | 155 | |
atommota | 2:d4b810a888b5 | 156 | i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, rx, 2); |
atommota | 2:d4b810a888b5 | 157 | |
atommota | 2:d4b810a888b5 | 158 | int16_t output = ((int) rx[0] << 8) | ((int) rx[1]); |
atommota | 2:d4b810a888b5 | 159 | |
atommota | 2:d4b810a888b5 | 160 | return output; |
atommota | 1:02c1f5bb1c90 | 161 | } |