LIS331_lib - Library to communicate with a ST LIS331DLH

Users » atommota » Code » LIS331_lib

Tim Marvin / LIS331_lib

Library to communicate with a ST LIS331DLH

Files at this revision

API Documentation at this revision

Revision 2:d4b810a888b5, committed 2010-11-17

Comitter:: atommota
Date:: Wed Nov 17 18:29:47 2010 +0000
Parent:: 1:02c1f5bb1c90
Child:: 3:147d95b7a525
Commit message:: Fixed some byte ordering

Changed in this revision

LIS331.cpp	Show annotated file Show diff for this revision Revisions of this file
LIS331.h	Show annotated file Show diff for this revision Revisions of this file

--- a/LIS331.cpp	Sat Nov 13 00:01:57 2010 +0000
+++ b/LIS331.cpp	Wed Nov 17 18:29:47 2010 +0000
@@ -1,152 +1,161 @@
-/**
- * @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;
-
-}
-
-
-
-
-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);
-
-}
-
-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;
-
-}
-
-
-
-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;
-
-}
-
-
-
-char LIS331::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;
-}
-
-
-
-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;
+/**
+ * @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];
+    //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.
+    tx[1] = 0x3F;
+    i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+    
+    
+    // Set Big endian bit
+    //tx2[0] = CTRL_REG_4;
+    //i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, tx2, 1);   // Request control reg 4
+    //i2c_.read((LIS331_I2C_ADDRESS << 1) | 0x01, rx, 1);        //Read control reg 4
+    //tx2[1] = rx[0] | 1<<7;                                         // Set bit 7
+    //i2c_.write((LIS331_I2C_ADDRESS << 1) & 0xFE, tx2, 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;
+
+}
+
+
+
+
+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);
+
+}
+
+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;
+
+}
+
+
+
+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;
+
+}
+
+
+
+char LIS331::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;
+}
+
+
+
+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[0] << 8) | ((int) rx[1]);
+
+    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[0] << 8) | ((int) rx[1]);
+
+    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[0] << 8) | ((int) rx[1]);
+
+    return output;
 }
\ No newline at end of file

--- a/LIS331.h	Sat Nov 13 00:01:57 2010 +0000
+++ b/LIS331.h	Wed Nov 17 18:29:47 2010 +0000
@@ -1,215 +1,208 @@
-/**
- * @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);
-
-  
-    
-    
-   
-
-    
-    
-    
-    /**
-     * 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 
-     *
-     */
-            
-    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);
-
-   
-private:
-
-    I2C i2c_;
-
-};
-
-#endif /* LIS331_H */
- 
+/**
+ * @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);
+
+  
+    
+    
+   
+
+    
+    
+    
+    /**
+     * 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 
+     *
+     */
+            
+    char getAccelStatus(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);
+
+   
+private:
+
+    I2C i2c_;
+
+};
+
+#endif /* LIS331_H */
+

Repository toolbox

Export to desktop IDE

Repository details

Type:	Library
Created:	12 Nov 2010
Imports:	293
Forks:	0
Commits:	11
Dependents:	0
Dependencies:	0
Followers:	9

Revision 2:d4b810a888b5, committed 2010-11-17

Changed in this revision

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning