Tim Marvin
Library to communicate with a ST LIS331DLH
Diff: LIS331.h
- Revision:
- 0:d835d6cac146
- Child:
- 1:02c1f5bb1c90
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LIS331.h Fri Nov 12 23:40:28 2010 +0000
@@ -0,0 +1,284 @@
+/**
+ * @section LICENSE
+ *
+ *
+ * @section DESCRIPTION
+ *
+ * LIS331 triple axis, digital interface, accelerometer.
+ * Based off Aaron Berk's ITG3200 Gyro Library
+ *
+ * Datasheet:
+ *
+ * http://www.st.com/stonline/products/literature/ds/13951.pdf
+ */
+
+#ifndef LIS331_H
+#define LIS331_H
+
+/**
+ * Includes
+ */
+#include "mbed.h"
+
+/**
+ * Defines
+ */
+#define LIS331_I2C_ADDRESS 0x19 //7-bit address.
+
+//-----------
+// Registers
+//-----------
+#define WHO_AM_I_REG 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
+
+
+//------------------------------
+// Power Mode and Output Data Rates
+//------------------------------
+#define POWER_DOWN 0x6F
+#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
+
+/**
+ * LIS331 triple axis digital accelerometer.
+ */
+class LIS331 {
+
+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.
+ */
+ LIS331(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);
+
+
+
+ /**
+ * Get the current power mode
+ *
+ * @return
+ */
+
+ //char getPowerMode(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 powermode);
+
+
+ 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
+ *
+ */
+
+ char getAccelStatus(void);
+
+
+
+
+ /**
+ * Get the temperature of the device.
+ *
+ * @return The temperature in degrees celsius.
+ */
+ //float getTemperature(void);
+
+ /**
+ * Get the output for the x-axis gyroscope.
+ *
+ * Typical sensitivity is 14.375 LSB/(degrees/sec).
+ *
+ * @return The output on the x-axis in raw ADC counts.
+ */
+ int getAccelX(void);
+
+ /**
+ * Get the output for the y-axis gyroscope.
+ *
+ * Typical sensitivity is 14.375 LSB/(degrees/sec).
+ *
+ * @return The output on the y-axis in raw ADC counts.
+ */
+ int getAccelY(void);
+
+ /**
+ * Get the output on the z-axis gyroscope.
+ *
+ * Typical sensitivity is 14.375 LSB/(degrees/sec).
+ *
+ * @return The output on the z-axis in raw ADC counts.
+ */
+ int getAccelZ(void);
+
+ /**
+ * Get the power management configuration.
+ *
+ * See the datasheet for register contents details.
+ *
+ * 7 6 5 4
+ * +---------+-------+---------+---------+
+ * | H_RESET | SLEEP | STBY_XG | STBY_YG |
+ * +---------+-------+---------+---------+
+ *
+ * 3 2 1 0
+ * +---------+----------+----------+----------+
+ * | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
+ * +---------+----------+----------+----------+
+ *
+ * H_RESET Reset device and internal registers to the power-up-default settings.
+ * SLEEP Enable low power sleep mode.
+ * STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
+ * STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
+ * STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
+ * CLK_SEL Select device clock source:
+ *
+ * CLK_SEL | Clock Source
+ * --------+--------------
+ * 0 Internal oscillator
+ * 1 PLL with X Gyro reference
+ * 2 PLL with Y Gyro reference
+ * 3 PLL with Z Gyro reference
+ * 4 PLL with external 32.768kHz reference
+ * 5 PLL with external 19.2MHz reference
+ * 6 Reserved
+ * 7 Reserved
+ *
+ * @return The contents of the PWR_MGM register.
+ */
+ // char getPowerManagement(void);
+
+ /**
+ * Set power management configuration.
+ *
+ * See the datasheet for configuration byte details
+ *
+ * 7 6 5 4
+ * +---------+-------+---------+---------+
+ * | H_RESET | SLEEP | STBY_XG | STBY_YG |
+ * +---------+-------+---------+---------+
+ *
+ * 3 2 1 0
+ * +---------+----------+----------+----------+
+ * | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
+ * +---------+----------+----------+----------+
+ *
+ * H_RESET Reset device and internal registers to the power-up-default settings.
+ * SLEEP Enable low power sleep mode.
+ * STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
+ * STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
+ * STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
+ * CLK_SEL Select device clock source:
+ *
+ * CLK_SEL | Clock Source
+ * --------+--------------
+ * 0 Internal oscillator
+ * 1 PLL with X Gyro reference
+ * 2 PLL with Y Gyro reference
+ * 3 PLL with Z Gyro reference
+ * 4 PLL with external 32.768kHz reference
+ * 5 PLL with external 19.2MHz reference
+ * 6 Reserved
+ * 7 Reserved
+ *
+ * @param config The configuration byte to write to the PWR_MGM register.
+ */
+ // void setPowerManagement(char config);
+
+private:
+
+ I2C i2c_;
+
+};
+
+#endif /* LIS331_H */
+