Revision 0:0c0be03e887d, committed 2011-07-01

Comitter:

atommota

Date:

Fri Jul 01 21:07:48 2011 +0000

Child:

1:3a46d098c175

Commit message:

Changed in this revision

--- /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

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LIS331HH.h	Fri Jul 01 21:07:48 2011 +0000
@@ -0,0 +1,225 @@
+/**
+ * @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 LIS331HH_H
+#define LIS331HH_H
+
+/**
+ * Includes
+ */
+#include "mbed.h"
+
+/**
+ * Defines
+ */
+#define LIS331_I2C_ADDRESS 0x19 //7-bit address.
+
+//-----------
+// Registers
+//-----------
+#define WHO_AM_I_REG_LIS331    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 LIS331HH {
+
+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.
+     */
+    LIS331HH(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);
+
+  
+    
+    
+   
+
+    
+    
+    
+    /**
+     * 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 power_mode);
+  
+   
+   
+     /**
+     * Get the current power mode
+     *
+     * @return 
+     */
+    char getPowerMode(void);
+
+    
+   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 
+     *
+     */
+     
+     
+    /**
+     * Set the Full Scale Range to +/- 8g's.
+     *
+     */     
+    void setFullScaleRange8g(void);
+
+    /**
+     * Set the Full Scale Range to +/- 4g's.
+     *
+     */     
+    void setFullScaleRange4g(void);
+
+    /**
+     * Set the Full Scale Range to +/- 2g's.
+     *
+     */     
+    void setFullScaleRange2g(void);
+     
+            
+    char getAccelStatus(void);
+
+
+
+
+    /**
+     * Get the output for the x-axis accelerometer.
+     *
+     * @return The output on the x-axis in engineering units (g's).
+     */
+    float getAccelX(void);
+
+    /**
+     * Get the output for the y-axis accelerometer.
+     *
+     * @return The output on the y-axis in engineering units (g's).
+     */
+    float getAccelY(void);
+
+    /**
+     * Get the output on the z-axis accelerometer.
+     * 
+     * @return The output on the z-axis in engineering units (g's).
+     */
+    float getAccelZ(void);
+
+   
+private:
+
+   float scaling_factor;
+   int current_range;
+
+    I2C i2c_;
+
+};
+
+#endif /* LIS331_H */
+