Revision 0:d835d6cac146, committed 2010-11-12

Comitter:

atommota

Date:

Fri Nov 12 23:40:28 2010 +0000

Child:

1:02c1f5bb1c90

Commit message:

v0.5

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LIS331.cpp	Fri Nov 12 23:40:28 2010 +0000
@@ -0,0 +1,227 @@
+/**
+ * @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
+ */
+
+/**
+ * Includes
+ */
+#include "LIS331.h"
+
+LIS331::LIS331(PinName sda, PinName scl) : i2c_(sda, scl) {
+
+    //400kHz, fast mode.
+    i2c_.frequency(400000);
+    
+    
+    //Power Up Device, Set Output data rate, Enable All 3 Axis
+    //See datasheet for details.
+    char tx[2];
+    tx[0] = CTRL_REG_1;
+    //CTRL_REG_1 [00111111] / [0x3F] to power up, set output rate to 1000Hz, and enable all 3 axis.
+    tx[1] = 0x3F;
+    
+    i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+    
+}
+
+char LIS331::getWhoAmI(void){
+
+    //WhoAmI Register address.
+    char tx = WHO_AM_I_REG;
+    char rx;
+    
+    i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+    
+    i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1);
+    
+    return rx;
+
+}
+
+
+/* Needs to be implemented
+char LIS331::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;
+
+}
+
+*/
+
+
+
+void LIS331::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);
+
+}
+
+
+/*
+int LIS331::getInternalSampleRate(void){
+
+    char tx = DLPF_FS_REG;
+    char rx;
+    
+    i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+    
+    i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1);
+    
+    //DLPF_CFG == 0 -> sample rate = 8kHz.
+    if(rx == 0){
+        return 8;
+    } 
+    //DLPF_CFG = 1..7 -> sample rate = 1kHz.
+    else if(rx >= 1 && rx <= 7){
+        return 1;
+    }
+    //DLPF_CFG = anything else -> something's wrong!
+    else{
+        return -1;
+    }
+    
+}
+
+
+*/
+
+
+
+char LIS331::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 LIS331::setInterruptConfiguration(char config){
+
+    char tx[2];
+    tx[0] = INT_CFG_REG;
+    tx[1] = config;
+    
+    i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+
+}
+
+*/
+
+
+
+/*
+bool LIS331::isPllReady(void){
+
+    char tx = INT_STATUS;
+    char rx;
+    
+    i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+    
+    i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1);
+    
+    //ITG_RDY bit is bit 4 of INT_STATUS register.
+    if(rx & 0x04){
+        return true;
+    }
+    else{
+        return false;
+    }
+    
+}
+
+*/
+
+
+
+char LIS331::getAccelStatus(void){
+
+    char tx = STATSUS_REG;
+    char rx;
+    
+    i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+    
+    i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, &rx, 1);
+    
+    return rx;
+    }
+    
+}
+
+
+int LIS331::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[1] << 8) | ((int) rx[0]);
+
+    return output;
+
+}
+
+int LIS331::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[1] << 8) | ((int) rx[0]);
+
+    return output;
+
+}
+
+int LIS331::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[1] << 8) | ((int) rx[0]);
+
+    return output;
+}
+
+

--- /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 */
+