From 89a9bc9b275ca65e0084895c871ae07c4326a697 Mon Sep 17 00:00:00 2001 From: Ruben.T Date: Mon, 12 Mar 2018 22:18:09 +0000 Subject: [PATCH] Added Libraries and code example to the Accelerometer folder, have tested the accelerometer and it seems to work --- robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/Dependancies/I2C/I2C.cpp | 709 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robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/Dependancies/I2C/examples/HMC5883L/HMC5883L.pde | 70 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/Dependancies/I2C/keywords.txt | 33 +++++++++++++++++++++++++++++++++ robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/LICENSE | 674 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++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/README_Accelerometer | 7 +++++++ 12 files changed, 3185 insertions(+), 0 deletions(-) create mode 100644 robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/Dependancies/I2C/I2C.cpp create mode 100644 robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/Dependancies/I2C/I2C.h create mode 100644 robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/Dependancies/I2C/examples/HMC5883L/HMC5883L.pde create mode 100644 robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/Dependancies/I2C/keywords.txt create mode 100644 robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/LICENSE create mode 100644 robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/README.md create mode 100644 robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/examples/ReadAxes/ReadAxes.ino create mode 100644 robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/keywords.txt create mode 100644 robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/library.properties create mode 100644 robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/src/LIS331.cpp create mode 100644 robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/src/LIS331.h create mode 100644 robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/README_Accelerometer diff --git a/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/Dependancies/I2C/I2C.cpp b/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/Dependancies/I2C/I2C.cpp new file mode 100644 index 0000000..efd5fdf --- /dev/null +++ b/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/Dependancies/I2C/I2C.cpp @@ -0,0 +1,709 @@ +/* + I2C.cpp - I2C library + Copyright (c) 2011-2012 Wayne Truchsess. All right reserved. + Rev 5.0 - January 24th, 2012 + - Removed the use of interrupts completely from the library + so TWI state changes are now polled. + - Added calls to lockup() function in most functions + to combat arbitration problems + - Fixed scan() procedure which left timeouts enabled + and set to 80msec after exiting procedure + - Changed scan() address range back to 0 - 0x7F + - Removed all Wire legacy functions from library + - A big thanks to Richard Baldwin for all the testing + and feedback with debugging bus lockups! + Rev 4.0 - January 14th, 2012 + - Updated to make compatible with 8MHz clock frequency + Rev 3.0 - January 9th, 2012 + - Modified library to be compatible with Arduino 1.0 + - Changed argument type from boolean to uint8_t in pullUp(), + setSpeed() and receiveByte() functions for 1.0 compatability + - Modified return values for timeout feature to report + back where in the transmission the timeout occured. + - added function scan() to perform a bus scan to find devices + attached to the I2C bus. Similar to work done by Todbot + and Nick Gammon + Rev 2.0 - September 19th, 2011 + - Added support for timeout function to prevent + and recover from bus lockup (thanks to PaulS + and CrossRoads on the Arduino forum) + - Changed return type for stop() from void to + uint8_t to handle timeOut function + Rev 1.0 - August 8th, 2011 + + This is a modified version of the Arduino Wire/TWI + library. Functions were rewritten to provide more functionality + and also the use of Repeated Start. Some I2C devices will not + function correctly without the use of a Repeated Start. The + initial version of this library only supports the Master. + + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#if(ARDUINO >= 100) +#include +#else +#include +#endif + +#include +#include "I2C.h" + + + +uint8_t I2C::bytesAvailable = 0; +uint8_t I2C::bufferIndex = 0; +uint8_t I2C::totalBytes = 0; +uint16_t I2C::timeOutDelay = 0; + +I2C::I2C() +{ +} + + +////////////// Public Methods //////////////////////////////////////// + + + +void I2C::begin() +{ + #if defined(__AVR_ATmega168__) || defined(__AVR_ATmega8__) || defined(__AVR_ATmega328P__) + // activate internal pull-ups for twi + // as per note from atmega8 manual pg167 + sbi(PORTC, 4); + sbi(PORTC, 5); + #else + // activate internal pull-ups for twi + // as per note from atmega128 manual pg204 + sbi(PORTD, 0); + sbi(PORTD, 1); + #endif + // initialize twi prescaler and bit rate + cbi(TWSR, TWPS0); + cbi(TWSR, TWPS1); + TWBR = ((F_CPU / 100000) - 16) / 2; + // enable twi module and acks + TWCR = _BV(TWEN) | _BV(TWEA); +} + +void I2C::end() +{ + TWCR = 0; +} + +void I2C::timeOut(uint16_t _timeOut) +{ + timeOutDelay = _timeOut; +} + +void I2C::setSpeed(uint8_t _fast) +{ + if(!_fast) + { + TWBR = ((F_CPU / 100000) - 16) / 2; + } + else + { + TWBR = ((F_CPU / 400000) - 16) / 2; + } +} + +void I2C::pullup(uint8_t activate) +{ + if(activate) + { + #if defined(__AVR_ATmega168__) || defined(__AVR_ATmega8__) || defined(__AVR_ATmega328P__) + // activate internal pull-ups for twi + // as per note from atmega8 manual pg167 + sbi(PORTC, 4); + sbi(PORTC, 5); + #else + // activate internal pull-ups for twi + // as per note from atmega128 manual pg204 + sbi(PORTD, 0); + sbi(PORTD, 1); + #endif + } + else + { + #if defined(__AVR_ATmega168__) || defined(__AVR_ATmega8__) || defined(__AVR_ATmega328P__) + // deactivate internal pull-ups for twi + // as per note from atmega8 manual pg167 + cbi(PORTC, 4); + cbi(PORTC, 5); + #else + // deactivate internal pull-ups for twi + // as per note from atmega128 manual pg204 + cbi(PORTD, 0); + cbi(PORTD, 1); + #endif + } +} + +void I2C::scan() +{ + uint16_t tempTime = timeOutDelay; + timeOut(80); + uint8_t totalDevicesFound = 0; + Serial.println("Scanning for devices...please wait"); + Serial.println(); + for(uint8_t s = 0; s <= 0x7F; s++) + { + returnStatus = 0; + returnStatus = start(); + if(!returnStatus) + { + returnStatus = sendAddress(SLA_W(s)); + } + if(returnStatus) + { + if(returnStatus == 1) + { + Serial.println("There is a problem with the bus, could not complete scan"); + timeOutDelay = tempTime; + return; + } + } + else + { + Serial.print("Found device at address - "); + Serial.print(" 0x"); + Serial.println(s,HEX); + totalDevicesFound++; + } + stop(); + } + if(!totalDevicesFound){Serial.println("No devices found");} + timeOutDelay = tempTime; +} + + +uint8_t I2C::available() +{ + return(bytesAvailable); +} + +uint8_t I2C::receive() +{ + bufferIndex = totalBytes - bytesAvailable; + if(!bytesAvailable) + { + bufferIndex = 0; + return(0); + } + bytesAvailable--; + return(data[bufferIndex]); +} + + +/*return values for new functions that use the timeOut feature + will now return at what point in the transmission the timeout + occurred. Looking at a full communication sequence between a + master and slave (transmit data and then readback data) there + a total of 7 points in the sequence where a timeout can occur. + These are listed below and correspond to the returned value: + 1 - Waiting for successful completion of a Start bit + 2 - Waiting for ACK/NACK while addressing slave in transmit mode (MT) + 3 - Waiting for ACK/NACK while sending data to the slave + 4 - Waiting for successful completion of a Repeated Start + 5 - Waiting for ACK/NACK while addressing slave in receiver mode (MR) + 6 - Waiting for ACK/NACK while receiving data from the slave + 7 - Waiting for successful completion of the Stop bit + + All possible return values: + 0 Function executed with no errors + 1 - 7 Timeout occurred, see above list + 8 - 0xFF See datasheet for exact meaning */ + + +///////////////////////////////////////////////////// + +uint8_t I2C::write(uint8_t address, uint8_t registerAddress) +{ + returnStatus = 0; + returnStatus = start(); + if(returnStatus){return(returnStatus);} + returnStatus = sendAddress(SLA_W(address)); + if(returnStatus) + { + if(returnStatus == 1){return(2);} + return(returnStatus); + } + returnStatus = sendByte(registerAddress); + if(returnStatus) + { + if(returnStatus == 1){return(3);} + return(returnStatus); + } + returnStatus = stop(); + if(returnStatus) + { + if(returnStatus == 1){return(7);} + return(returnStatus); + } + return(returnStatus); +} + +uint8_t I2C::write(int address, int registerAddress) +{ + return(write((uint8_t) address, (uint8_t) registerAddress)); +} + +uint8_t I2C::write(uint8_t address, uint8_t registerAddress, uint8_t data) +{ + returnStatus = 0; + returnStatus = start(); + if(returnStatus){return(returnStatus);} + returnStatus = sendAddress(SLA_W(address)); + if(returnStatus) + { + if(returnStatus == 1){return(2);} + return(returnStatus); + } + returnStatus = sendByte(registerAddress); + if(returnStatus) + { + if(returnStatus == 1){return(3);} + return(returnStatus); + } + returnStatus = sendByte(data); + if(returnStatus) + { + if(returnStatus == 1){return(3);} + return(returnStatus); + } + returnStatus = stop(); + if(returnStatus) + { + if(returnStatus == 1){return(7);} + return(returnStatus); + } + return(returnStatus); +} + +uint8_t I2C::write(int address, int registerAddress, int data) +{ + return(write((uint8_t) address, (uint8_t) registerAddress, (uint8_t) data)); +} + +uint8_t I2C::write(uint8_t address, uint8_t registerAddress, char *data) +{ + uint8_t bufferLength = strlen(data); + returnStatus = 0; + returnStatus = write(address, registerAddress, (uint8_t*)data, bufferLength); + return(returnStatus); +} + +uint8_t I2C::write(uint8_t address, uint8_t registerAddress, uint8_t *data, uint8_t numberBytes) +{ + returnStatus = 0; + returnStatus = start(); + if(returnStatus){return(returnStatus);} + returnStatus = sendAddress(SLA_W(address)); + if(returnStatus) + { + if(returnStatus == 1){return(2);} + return(returnStatus); + } + returnStatus = sendByte(registerAddress); + if(returnStatus) + { + if(returnStatus == 1){return(3);} + return(returnStatus); + } + for (uint8_t i = 0; i < numberBytes; i++) + { + returnStatus = sendByte(data[i]); + if(returnStatus) + { + if(returnStatus == 1){return(3);} + return(returnStatus); + } + } + returnStatus = stop(); + if(returnStatus) + { + if(returnStatus == 1){return(7);} + return(returnStatus); + } + return(returnStatus); +} + +uint8_t I2C::read(int address, int numberBytes) +{ + return(read((uint8_t) address, (uint8_t) numberBytes)); +} + +uint8_t I2C::read(uint8_t address, uint8_t numberBytes) +{ + bytesAvailable = 0; + bufferIndex = 0; + if(numberBytes == 0){numberBytes++;} + nack = numberBytes - 1; + returnStatus = 0; + returnStatus = start(); + if(returnStatus){return(returnStatus);} + returnStatus = sendAddress(SLA_R(address)); + if(returnStatus) + { + if(returnStatus == 1){return(5);} + return(returnStatus); + } + for(uint8_t i = 0; i < numberBytes; i++) + { + if( i == nack ) + { + returnStatus = receiveByte(0); + if(returnStatus == 1){return(6);} + + if(returnStatus != MR_DATA_NACK){return(returnStatus);} + } + else + { + returnStatus = receiveByte(1); + if(returnStatus == 1){return(6);} + if(returnStatus != MR_DATA_ACK){return(returnStatus);} + } + data[i] = TWDR; + bytesAvailable = i+1; + totalBytes = i+1; + } + returnStatus = stop(); + if(returnStatus) + { + if(returnStatus == 1){return(7);} + return(returnStatus); + } + return(returnStatus); +} + +uint8_t I2C::read(int address, int registerAddress, int numberBytes) +{ + return(read((uint8_t) address, (uint8_t) registerAddress, (uint8_t) numberBytes)); +} + +uint8_t I2C::read(uint8_t address, uint8_t registerAddress, uint8_t numberBytes) +{ + bytesAvailable = 0; + bufferIndex = 0; + if(numberBytes == 0){numberBytes++;} + nack = numberBytes - 1; + returnStatus = 0; + returnStatus = start(); + if(returnStatus){return(returnStatus);} + returnStatus = sendAddress(SLA_W(address)); + if(returnStatus) + { + if(returnStatus == 1){return(2);} + return(returnStatus); + } + returnStatus = sendByte(registerAddress); + if(returnStatus) + { + if(returnStatus == 1){return(3);} + return(returnStatus); + } + returnStatus = start(); + if(returnStatus) + { + if(returnStatus == 1){return(4);} + return(returnStatus); + } + returnStatus = sendAddress(SLA_R(address)); + if(returnStatus) + { + if(returnStatus == 1){return(5);} + return(returnStatus); + } + for(uint8_t i = 0; i < numberBytes; i++) + { + if( i == nack ) + { + returnStatus = receiveByte(0); + if(returnStatus == 1){return(6);} + if(returnStatus != MR_DATA_NACK){return(returnStatus);} + } + else + { + returnStatus = receiveByte(1); + if(returnStatus == 1){return(6);} + if(returnStatus != MR_DATA_ACK){return(returnStatus);} + } + data[i] = TWDR; + bytesAvailable = i+1; + totalBytes = i+1; + } + returnStatus = stop(); + if(returnStatus) + { + if(returnStatus == 1){return(7);} + return(returnStatus); + } + return(returnStatus); +} + +uint8_t I2C::read(uint8_t address, uint8_t numberBytes, uint8_t *dataBuffer) +{ + bytesAvailable = 0; + bufferIndex = 0; + if(numberBytes == 0){numberBytes++;} + nack = numberBytes - 1; + returnStatus = 0; + returnStatus = start(); + if(returnStatus){return(returnStatus);} + returnStatus = sendAddress(SLA_R(address)); + if(returnStatus) + { + if(returnStatus == 1){return(5);} + return(returnStatus); + } + for(uint8_t i = 0; i < numberBytes; i++) + { + if( i == nack ) + { + returnStatus = receiveByte(0); + if(returnStatus == 1){return(6);} + if(returnStatus != MR_DATA_NACK){return(returnStatus);} + } + else + { + returnStatus = receiveByte(1); + if(returnStatus == 1){return(6);} + if(returnStatus != MR_DATA_ACK){return(returnStatus);} + } + dataBuffer[i] = TWDR; + bytesAvailable = i+1; + totalBytes = i+1; + } + returnStatus = stop(); + if(returnStatus) + { + if(returnStatus == 1){return(7);} + return(returnStatus); + } + return(returnStatus); +} + +uint8_t I2C::read(uint8_t address, uint8_t registerAddress, uint8_t numberBytes, uint8_t *dataBuffer) +{ + bytesAvailable = 0; + bufferIndex = 0; + if(numberBytes == 0){numberBytes++;} + nack = numberBytes - 1; + returnStatus = 0; + returnStatus = start(); + if(returnStatus){return(returnStatus);} + returnStatus = sendAddress(SLA_W(address)); + if(returnStatus) + { + if(returnStatus == 1){return(2);} + return(returnStatus); + } + returnStatus = sendByte(registerAddress); + if(returnStatus) + { + if(returnStatus == 1){return(3);} + return(returnStatus); + } + returnStatus = start(); + if(returnStatus) + { + if(returnStatus == 1){return(4);} + return(returnStatus); + } + returnStatus = sendAddress(SLA_R(address)); + if(returnStatus) + { + if(returnStatus == 1){return(5);} + return(returnStatus); + } + for(uint8_t i = 0; i < numberBytes; i++) + { + if( i == nack ) + { + returnStatus = receiveByte(0); + if(returnStatus == 1){return(6);} + if(returnStatus != MR_DATA_NACK){return(returnStatus);} + } + else + { + returnStatus = receiveByte(1); + if(returnStatus == 1){return(6);} + if(returnStatus != MR_DATA_ACK){return(returnStatus);} + } + dataBuffer[i] = TWDR; + bytesAvailable = i+1; + totalBytes = i+1; + } + returnStatus = stop(); + if(returnStatus) + { + if(returnStatus == 1){return(7);} + return(returnStatus); + } + return(returnStatus); +} + + +/////////////// Private Methods //////////////////////////////////////// + + +uint8_t I2C::start() +{ + unsigned long startingTime = millis(); + TWCR = (1<= timeOutDelay) + { + lockUp(); + return(1); + } + + } + if ((TWI_STATUS == START) || (TWI_STATUS == REPEATED_START)) + { + return(0); + } + if (TWI_STATUS == LOST_ARBTRTN) + { + uint8_t bufferedStatus = TWI_STATUS; + lockUp(); + return(bufferedStatus); + } + return(TWI_STATUS); +} + +uint8_t I2C::sendAddress(uint8_t i2cAddress) +{ + TWDR = i2cAddress; + unsigned long startingTime = millis(); + TWCR = (1<= timeOutDelay) + { + lockUp(); + return(1); + } + + } + if ((TWI_STATUS == MT_SLA_ACK) || (TWI_STATUS == MR_SLA_ACK)) + { + return(0); + } + uint8_t bufferedStatus = TWI_STATUS; + if ((TWI_STATUS == MT_SLA_NACK) || (TWI_STATUS == MR_SLA_NACK)) + { + stop(); + return(bufferedStatus); + } + else + { + lockUp(); + return(bufferedStatus); + } +} + +uint8_t I2C::sendByte(uint8_t i2cData) +{ + TWDR = i2cData; + unsigned long startingTime = millis(); + TWCR = (1<= timeOutDelay) + { + lockUp(); + return(1); + } + + } + if (TWI_STATUS == MT_DATA_ACK) + { + return(0); + } + uint8_t bufferedStatus = TWI_STATUS; + if (TWI_STATUS == MT_DATA_NACK) + { + stop(); + return(bufferedStatus); + } + else + { + lockUp(); + return(bufferedStatus); + } +} + +uint8_t I2C::receiveByte(uint8_t ack) +{ + unsigned long startingTime = millis(); + if(ack) + { + TWCR = (1<= timeOutDelay) + { + lockUp(); + return(1); + } + } + if (TWI_STATUS == LOST_ARBTRTN) + { + uint8_t bufferedStatus = TWI_STATUS; + lockUp(); + return(bufferedStatus); + } + return(TWI_STATUS); +} + +uint8_t I2C::stop() +{ + unsigned long startingTime = millis(); + TWCR = (1<= timeOutDelay) + { + lockUp(); + return(1); + } + + } + return(0); +} + +void I2C::lockUp() +{ + TWCR = 0; //releases SDA and SCL lines to high impedance + TWCR = _BV(TWEN) | _BV(TWEA); //reinitialize TWI +} + +I2C I2c = I2C(); + diff --git a/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/Dependancies/I2C/I2C.h b/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/Dependancies/I2C/I2C.h new file mode 100644 index 0000000..5b18978 --- /dev/null +++ b/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/Dependancies/I2C/I2C.h @@ -0,0 +1,135 @@ +/* + I2C.h - I2C library + Copyright (c) 2011-2012 Wayne Truchsess. All right reserved. + Rev 5.0 - January 24th, 2012 + - Removed the use of interrupts completely from the library + so TWI state changes are now polled. + - Added calls to lockup() function in most functions + to combat arbitration problems + - Fixed scan() procedure which left timeouts enabled + and set to 80msec after exiting procedure + - Changed scan() address range back to 0 - 0x7F + - Removed all Wire legacy functions from library + - A big thanks to Richard Baldwin for all the testing + and feedback with debugging bus lockups! + Rev 4.0 - January 14th, 2012 + - Updated to make compatible with 8MHz clock frequency + Rev 3.0 - January 9th, 2012 + - Modified library to be compatible with Arduino 1.0 + - Changed argument type from boolean to uint8_t in pullUp(), + setSpeed() and receiveByte() functions for 1.0 compatability + - Modified return values for timeout feature to report + back where in the transmission the timeout occured. + - added function scan() to perform a bus scan to find devices + attached to the I2C bus. Similar to work done by Todbot + and Nick Gammon + Rev 2.0 - September 19th, 2011 + - Added support for timeout function to prevent + and recover from bus lockup (thanks to PaulS + and CrossRoads on the Arduino forum) + - Changed return type for stop() from void to + uint8_t to handle timeOut function + Rev 1.0 - August 8th, 2011 + + This is a modified version of the Arduino Wire/TWI + library. Functions were rewritten to provide more functionality + and also the use of Repeated Start. Some I2C devices will not + function correctly without the use of a Repeated Start. The + initial version of this library only supports the Master. + + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#if(ARDUINO >= 100) +#include +#else +#include +#endif + +#include + +#ifndef I2C_h +#define I2C_h + + +#define START 0x08 +#define REPEATED_START 0x10 +#define MT_SLA_ACK 0x18 +#define MT_SLA_NACK 0x20 +#define MT_DATA_ACK 0x28 +#define MT_DATA_NACK 0x30 +#define MR_SLA_ACK 0x40 +#define MR_SLA_NACK 0x48 +#define MR_DATA_ACK 0x50 +#define MR_DATA_NACK 0x58 +#define LOST_ARBTRTN 0x38 +#define TWI_STATUS (TWSR & 0xF8) +#define SLA_W(address) (address << 1) +#define SLA_R(address) ((address << 1) + 0x01) +#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) +#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) + +#define MAX_BUFFER_SIZE 32 + + + + +class I2C +{ + public: + I2C(); + void begin(); + void end(); + void timeOut(uint16_t); + void setSpeed(uint8_t); + void pullup(uint8_t); + void scan(); + uint8_t available(); + uint8_t receive(); + uint8_t write(uint8_t, uint8_t); + uint8_t write(int, int); + uint8_t write(uint8_t, uint8_t, uint8_t); + uint8_t write(int, int, int); + uint8_t write(uint8_t, uint8_t, char*); + uint8_t write(uint8_t, uint8_t, uint8_t*, uint8_t); + uint8_t read(uint8_t, uint8_t); + uint8_t read(int, int); + uint8_t read(uint8_t, uint8_t, uint8_t); + uint8_t read(int, int, int); + uint8_t read(uint8_t, uint8_t, uint8_t*); + uint8_t read(uint8_t, uint8_t, uint8_t, uint8_t*); + + + private: + uint8_t start(); + uint8_t sendAddress(uint8_t); + uint8_t sendByte(uint8_t); + uint8_t receiveByte(uint8_t); + uint8_t stop(); + void lockUp(); + uint8_t returnStatus; + uint8_t nack; + uint8_t data[MAX_BUFFER_SIZE]; + static uint8_t bytesAvailable; + static uint8_t bufferIndex; + static uint8_t totalBytes; + static uint16_t timeOutDelay; + +}; + +extern I2C I2c; + +#endif diff --git a/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/Dependancies/I2C/examples/HMC5883L/HMC5883L.pde b/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/Dependancies/I2C/examples/HMC5883L/HMC5883L.pde new file mode 100644 index 0000000..806e749 --- /dev/null +++ b/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/Dependancies/I2C/examples/HMC5883L/HMC5883L.pde @@ -0,0 +1,70 @@ +/******************************************* + Sample sketch that configures an HMC5883L 3 axis + magnetometer to continuous mode and reads back + the three axis of data. + Code compiles to a size of 1500 bytes + Equivalent Wire Library code compiles to 2032 bytes + *******************************************/ + +#include + +#define HMC5883L 0x1E + +int x = 0; +int y = 0; +int z = 0; + + +void setup() +{ + I2c.begin(); + I2c.write(HMC5883L,0x02,0x00); //configure device for continuous mode +} + +void loop() +{ + I2c.read(HMC5883L,0x03,6); //read 6 bytes (x,y,z) from the device + x = I2c.receive() << 8; + x |= I2c.receive(); + y = I2c.receive() << 8; + y |= I2c.receive(); + z = I2c.receive() << 8; + z |= I2c.receive(); +} + + +/* Wire library equivalent would be this + +//#include + +#define HMC5883L 0x1E + +int x = 0; +int y = 0; +int z = 0; + + +void setup() +{ + Wire.begin(); + Wire.beginTransmission(HMC5883L); + Wire.send(0x02); + Wire.send(0x00); + Wire.endTransmission(); +} + +void loop() +{ + Wire.beginTransmission(HMC5883L); + Wire.send(0x03); + Wire.endTransmission(); + Wire.requestFrom(HMC5883L,6); + x = Wire.receive() << 8; + x |= Wire.receive(); + y = Wire.receive() << 8; + y |= Wire.receive(); + z = Wire.receive() << 8; + z |= Wire.receive(); +} + +********************************************/ diff --git a/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/Dependancies/I2C/keywords.txt b/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/Dependancies/I2C/keywords.txt new file mode 100644 index 0000000..37cc792 --- /dev/null +++ b/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/Dependancies/I2C/keywords.txt @@ -0,0 +1,33 @@ +####################################### +# Syntax Coloring Map For I2C +####################################### + +####################################### +# Datatypes (KEYWORD1) +####################################### +I2C KEYWORD1 + +####################################### +# Methods and Functions (KEYWORD2) +####################################### + +begin KEYWORD2 +end KEYWORD2 +timeOut KEYWORD2 +setSpeed KEYWORD2 +pullup KEYWORD2 +scan KEYWORD2 +write KEYWORD2 +read KEYWORD2 +available KEYWORD2 +receive KEYWORD2 + +####################################### +# Instances (KEYWORD2) +####################################### + +I2c KEYWORD2 + +####################################### +# Constants (LITERAL1) +####################################### \ No newline at end of file diff --git a/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/LICENSE b/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/LICENSE new file mode 100644 index 0000000..9cecc1d --- /dev/null +++ b/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/LICENSE @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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It is safest +to attach them to the start of each source file to most effectively +state the exclusion of warranty; and each file should have at least +the "copyright" line and a pointer to where the full notice is found. + + {one line to give the program's name and a brief idea of what it does.} + Copyright (C) {year} {name of author} + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + {project} Copyright (C) {year} {fullname} + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/README.md b/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/README.md new file mode 100644 index 0000000..55160d0 --- /dev/null +++ b/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/README.md @@ -0,0 +1,32 @@ +LIS331 triple-axis accelerometer library for Arduino +======================== + +Implements all features of the STMicroelectronics [LIS331HH](http://www.st.com/content/st_com/en/products/mems-and-sensors/accelerometers/lis331hh.html) accelerometer according to its data sheet. Should be compatible with [LIS331DLH](http://www.st.com/content/st_com/en/products/mems-and-sensors/accelerometers/lis331dlh.html) and [H3LIS331DL](http://www.st.com/en/mems-and-sensors/h3lis331dl.html) apart from the selectable scale: + +* LIS331HH: ±6g/±12g/±24g +* LIS331DLH: ±2g/±4g/±8g +* H3LIS331DL: ±100g/±200g/±400g + +## Wiring + +The code uses the I²C protocol to communicate with the sensor. If you attach the sensor to a 5V Arduino board, please consider using a [bi-directional level shifter](https://playground.arduino.cc/Main/I2CBi-directionalLevelShifter). + +| LIS331 pin | Arduino Nano pin | Description | +|------------|------------------|---------------------------------------------| +| GND | GND | | +| INT2 | D3 | Optional, pin should be interrupt-capable | +| INT1 | D2 | Optional, pin should be interrupt-capable | +| SDA | A4 | Serial data | +| SCL | A5 | Serial clock | +| SA0 | 3V3 or GND | Least significant bit of the device address | +| CS | 3V3 | Selects I²C protocol over SPI | +| VCC | 3V3 | | + +## Dependencies + +Install [I2C Master Library](http://dsscircuits.com/index.php/articles/66-arduino-i2c-master-library). It's more robust and customisable than the built-in Wire.h library. + +## Pull requests + +Any code loves refactoring and feature expansion. Please, do create pull requests if you added something to this library. + diff --git a/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/examples/ReadAxes/ReadAxes.ino b/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/examples/ReadAxes/ReadAxes.ino new file mode 100644 index 0000000..4fb8570 --- /dev/null +++ b/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/examples/ReadAxes/ReadAxes.ino @@ -0,0 +1,112 @@ +#include +#include + +#define ACCELEROMETER_ADDR 0x18 + +LIS331 accelerometer{ACCELEROMETER_ADDR}; + +void print_err(byte err_code) +{ + switch (err_code) { + case START: + Serial.println(F("START")); + break; + case REPEATED_START: + Serial.println(F("REPEATED_START")); + break; + case MT_SLA_ACK: + Serial.println(F("MT_SLA_ACK")); + break; + case MT_SLA_NACK: + Serial.println(F("MT_SLA_NACK")); + break; + case MT_DATA_ACK: + Serial.println(F("MT_DATA_ACK")); + break; + case MT_DATA_NACK: + Serial.println(F("MT_DATA_NACK")); + break; + case MR_SLA_ACK: + Serial.println(F("MR_SLA_ACK")); + break; + case MR_SLA_NACK: + Serial.println(F("MR_SLA_NACK")); + break; + case MR_DATA_ACK: + Serial.println(F("MR_DATA_ACK")); + break; + case MR_DATA_NACK: + Serial.println(F("MR_DATA_NACK")); + break; + case LOST_ARBTRTN: + Serial.println(F("LOST_ARBTRTN")); + break; + case E_OK: + Serial.println(F("E_OK")); + break; + case E_WRONG_INTERRUPT: + Serial.println(F("E_WRONG_INTERRUPT")); + break; + case E_NUM_TOO_BIG: + Serial.println(F("E_NUM_TOO_BIG")); + break; + case E_WRONG_SCALE: + Serial.println(F("E_WRONG_SCALE")); + break; + default: + Serial.print(F("Unknown error message: 0x")); + Serial.println(err_code, HEX); + break; + } +} + +void setup() +{ + Serial.begin(230400); + + I2c.begin(); + I2c.pullup(1); + I2c.setSpeed(1); // 400 kHz + I2c.timeOut(2000); // Reset communication when it's blocking the system for more than 2 seconds + + byte err = accelerometer.setPowerMode(LIS331::PowerMode::normalMode); + print_err(err); + err = accelerometer.setDataRate(LIS331::DataRate::odr1000Hz); + print_err(err); + err = accelerometer.setBDUEnabled(true); + print_err(err); + err = accelerometer.setScale(LIS331::Scale::scale24g); + print_err(err); + err = accelerometer.setXEnabled(true); + print_err(err); + err = accelerometer.setYEnabled(true); + print_err(err); + err = accelerometer.setZEnabled(true); + print_err(err); +} + +void loop() +{ + int16_t x = 0, y = 0, z = 0; + accelerometer.getXValue(x); + accelerometer.getYValue(y); + accelerometer.getZValue(z); + + bool xOverran = false, yEnabled = false, zAvailable = false; + accelerometer.isXDataOverrun(xOverran); + accelerometer.isYEnabled(yEnabled); + accelerometer.isZDataAvailable(zAvailable); + + Serial.print(F("X: ")); + Serial.print(x); + Serial.print(F(", Y: ")); + Serial.print(y); + Serial.print(F(", Z: ")); + Serial.print(z); + Serial.print(F(", X overran: ")); + Serial.print(xOverran); + Serial.print(F(", Y enabled: ")); + Serial.print(yEnabled); + Serial.print(F(", Z available: ")); + Serial.println(zAvailable); +} diff --git a/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/keywords.txt b/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/keywords.txt new file mode 100644 index 0000000..1041fe6 --- /dev/null +++ b/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/keywords.txt @@ -0,0 +1,70 @@ +LIS331 KEYWORD1 +getAxisValuesG KEYWORD2 +getDataRate KEYWORD2 +getHPReference KEYWORD2 +getHighPassCutOff KEYWORD2 +getHighPassFilterMode KEYWORD2 +getInt1DataSignal KEYWORD2 +getInt2DataSignal KEYWORD2 +getInterruptDuration KEYWORD2 +getInterruptSource KEYWORD2 +getInterruptThreshold KEYWORD2 +getInterruptThresholdG KEYWORD2 +getInterruptValue KEYWORD2 +getPPOD KEYWORD2 +getPowerMode KEYWORD2 +getRebootMemoryContent KEYWORD2 +getScale KEYWORD2 +getSelfTestSign KEYWORD2 +getXValue KEYWORD2 +getYValue KEYWORD2 +getZValue KEYWORD2 +isAllDataAvailable KEYWORD2 +isAllDataOverrun KEYWORD2 +isBDUEnabled KEYWORD2 +isFilteredDataSection KEYWORD2 +isHPenabledForInterrupt1 KEYWORD2 +isHPenabledForInterrupt2 KEYWORD2 +isInterruptActiveHL KEYWORD2 +isInterruptEnabled KEYWORD2 +isInterruptGenerated KEYWORD2 +isInterruptLatched KEYWORD2 +isSelfTestEnabled KEYWORD2 +isSleepToWakeEnabled KEYWORD2 +isXDataAvailable KEYWORD2 +isXDataOverrun KEYWORD2 +isXEnabled KEYWORD2 +isYDataAvailable KEYWORD2 +isYDataOverrun KEYWORD2 +isYEnabled KEYWORD2 +isZDataAvailable KEYWORD2 +isZDataOverrun KEYWORD2 +isZEnabled KEYWORD2 +readInterrupt KEYWORD2 +resetHighPassFilter KEYWORD2 +setBDUEnabled KEYWORD2 +setDataRate KEYWORD2 +setDataSignal KEYWORD2 +setFilteredDataSection KEYWORD2 +setHPReference KEYWORD2 +setHPenabledForInterrupt1 KEYWORD2 +setHPenabledForInterrupt2 KEYWORD2 +setHighPassCutOff KEYWORD2 +setHighPassFilterMode KEYWORD2 +setInterruptActiveHL KEYWORD2 +setInterruptDuration KEYWORD2 +setInterruptEnabled KEYWORD2 +setInterruptLatched KEYWORD2 +setInterruptSource KEYWORD2 +setInterruptThreshold KEYWORD2 +setInterruptThresholdG KEYWORD2 +setPPOD KEYWORD2 +setPowerMode KEYWORD2 +setRebootMemoryContent KEYWORD2 +setScale KEYWORD2 +setSelfTestEnabled KEYWORD2 +setSelfTestSign KEYWORD2 +setSleepToWakeEnabled KEYWORD2 +setXEnabled KEYWORD2 +setYEnabled KEYWORD2 +setZEnabled KEYWORD2 diff --git a/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/library.properties b/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/library.properties new file mode 100644 index 0000000..b6cd17b --- /dev/null +++ b/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/library.properties @@ -0,0 +1,9 @@ +name=LIS331 +version=2.2.2 +author=Szőts Ákos +maintainer=Szőts Ákos +sentence=LIS331 triple axis acceleromenter Arduino library +paragraph=Use LIS331 acceleromenter via I2C protocol. Depends on the more reliable external I2C libary (and not on the built-in Wire.h). Please, read README.md +category=Sensors +url=https://github.com/szotsaki/LIS331 +architectures=* diff --git a/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/src/LIS331.cpp b/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/src/LIS331.cpp new file mode 100644 index 0000000..64e8b13 --- /dev/null +++ b/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/src/LIS331.cpp @@ -0,0 +1,678 @@ +/* Copyright © 2017 Szőts Ákos + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * +*/ + +#include "LIS331.h" + +LIS331::LIS331(const uint8_t i2cAddress) + : i2cAddress(i2cAddress), + interruptSource(0), + currentScale(Scale::scale6g) +{ + +} + +uint8_t LIS331::readReg(const byte addr, byte &val) +{ + return I2c.read(i2cAddress, addr, 1, &val); +} + +uint8_t LIS331::writeReg(const byte addr, const byte val) +{ + return I2c.write(i2cAddress, addr, val); +} + +uint8_t LIS331::readRegisterBit(const byte registerAddr, const byte bit, bool &ret) +{ + byte registerValue = 0; + const uint8_t err = readReg(registerAddr, registerValue); + if (err != E_OK) { + return err; + } + + ret = bitRead(registerValue, bit); + return E_OK; +} + +uint8_t LIS331::writeRegisterBit(const byte registerAddr, const byte bit, const bool enabled) +{ + byte registerValue = 0; + const uint8_t err = readReg(registerAddr, registerValue); + if (err != E_OK) { + return err; + } + + bitWrite(registerValue, bit, enabled); + return writeReg(registerAddr, registerValue); +} + +uint8_t LIS331::getAxisValue(const byte addressLow, const byte addressHigh, int16_t &ret) +{ + byte low = 0; + byte high = 0; + + uint8_t err = readReg(addressLow, low); + if (err != E_OK) { + return err; + } + + err = readReg(addressHigh, high); + if (err != E_OK) { + return err; + } + + ret = ((high << 8) | low) / 16; + + return E_OK; +} + +// Control register 1 + +uint8_t LIS331::getPowerMode(PowerMode &ret) +{ + byte ctrlReg1 = 0; + const uint8_t err = readReg(LIS_CTRL_REG1, ctrlReg1); + if (err != E_OK) { + return err; + } + + byte mode = 0; + bitWrite(mode, LIS_CTRL_REG1_PM0, bitRead(ctrlReg1, LIS_CTRL_REG1_PM0)); + bitWrite(mode, LIS_CTRL_REG1_PM1, bitRead(ctrlReg1, LIS_CTRL_REG1_PM1)); + bitWrite(mode, LIS_CTRL_REG1_PM2, bitRead(ctrlReg1, LIS_CTRL_REG1_PM2)); + + ret = PowerMode(mode); + return E_OK; +} + +uint8_t LIS331::setPowerMode(const PowerMode mode) +{ + byte ctrlReg1 = 0; + const uint8_t err = readReg(LIS_CTRL_REG1, ctrlReg1); + if (err != E_OK) { + return err; + } + + bitWrite(ctrlReg1, LIS_CTRL_REG1_PM0, bitRead(mode, LIS_CTRL_REG1_PM0)); + bitWrite(ctrlReg1, LIS_CTRL_REG1_PM1, bitRead(mode, LIS_CTRL_REG1_PM1)); + bitWrite(ctrlReg1, LIS_CTRL_REG1_PM2, bitRead(mode, LIS_CTRL_REG1_PM2)); + + return writeReg(LIS_CTRL_REG1, ctrlReg1); +} + +uint8_t LIS331::getDataRate(DataRate &ret) +{ + byte ctrlReg1 = 0; + const uint8_t err = readReg(LIS_CTRL_REG1, ctrlReg1); + if (err != E_OK) { + return err; + } + + byte dataRate = 0; + bitWrite(dataRate, LIS_CTRL_REG1_DR0, bitRead(ctrlReg1, LIS_CTRL_REG1_DR0)); + bitWrite(dataRate, LIS_CTRL_REG1_DR1, bitRead(ctrlReg1, LIS_CTRL_REG1_DR1)); + + ret = DataRate(dataRate); + return E_OK; +} + +uint8_t LIS331::setDataRate(const DataRate dataRate) +{ + byte ctrlReg1 = 0; + const uint8_t err = readReg(LIS_CTRL_REG1, ctrlReg1); + if (err != E_OK) { + return err; + } + + bitWrite(ctrlReg1, LIS_CTRL_REG1_DR0, bitRead(dataRate, LIS_CTRL_REG1_DR0)); + bitWrite(ctrlReg1, LIS_CTRL_REG1_DR1, bitRead(dataRate, LIS_CTRL_REG1_DR1)); + + return writeReg(LIS_CTRL_REG1, ctrlReg1); +} + +uint8_t LIS331::getAxisValuesG(float &x, float &y, float &z) +{ + int16_t x_ = 0, y_ = 0, z_ = 0; + + uint8_t err = getXValue(x_); + if (err != E_OK) { + return err; + } + + err = getYValue(y_); + if (err != E_OK) { + return err; + } + + err = getZValue(z_); + if (err != E_OK) { + return err; + } + + float scale = 0.0f; + switch (currentScale) { + case Scale::scale6g: + scale = (6 * 2) / 4096.0f; + break; + case Scale::scale12g: + scale = (12 * 2) / 4096.0f; + break; + case Scale::scale24g: + scale = (24 * 2) / 4096.0f; + break; + default: + return E_WRONG_SCALE; + } + + x = x_ * scale; + y = y_ * scale; + z = z_ * scale; + + return E_OK; +} + +uint8_t LIS331::getHighPassFilterMode(HighPassFilter &ret) +{ + byte ctrlReg2 = 0; + const uint8_t err = readReg(LIS_CTRL_REG2, ctrlReg2); + if (err != E_OK) { + return err; + } + + byte mode = 0; + bitWrite(mode, LIS_CTRL_REG2_HPM0, bitRead(ctrlReg2, LIS_CTRL_REG2_HPM0)); + bitWrite(mode, LIS_CTRL_REG2_HPM1, bitRead(ctrlReg2, LIS_CTRL_REG2_HPM1)); + + ret = HighPassFilter(mode); + return E_OK; +} + +uint8_t LIS331::setHighPassFilterMode(const HighPassFilter mode) +{ + byte ctrlReg2 = 0; + const uint8_t err = readReg(LIS_CTRL_REG2, ctrlReg2); + if (err != E_OK) { + return err; + } + + bitWrite(ctrlReg2, LIS_CTRL_REG2_HPM0, bitRead(mode, LIS_CTRL_REG2_HPM0)); + bitWrite(ctrlReg2, LIS_CTRL_REG2_HPM1, bitRead(mode, LIS_CTRL_REG2_HPM1)); + + return writeReg(LIS_CTRL_REG2, ctrlReg2); +} + +uint8_t LIS331::getHighPassCutOff(HighPassCutOff &ret) +{ + byte ctrlReg2 = 0; + const uint8_t err = readReg(LIS_CTRL_REG2, ctrlReg2); + if (err != E_OK) { + return err; + } + + byte mode = 0; + bitWrite(mode, LIS_CTRL_REG2_HPCF0, bitRead(ctrlReg2, LIS_CTRL_REG2_HPCF0)); + bitWrite(mode, LIS_CTRL_REG2_HPCF1, bitRead(ctrlReg2, LIS_CTRL_REG2_HPCF1)); + + ret = HighPassCutOff(mode); + return E_OK; +} + +uint8_t LIS331::setHighPassCutOff(const HighPassCutOff mode) +{ + byte ctrlReg2 = 0; + const uint8_t err = readReg(LIS_CTRL_REG2, ctrlReg2); + if (err != E_OK) { + return err; + } + + bitWrite(ctrlReg2, LIS_CTRL_REG2_HPCF0, bitRead(mode, LIS_CTRL_REG2_HPCF0)); + bitWrite(ctrlReg2, LIS_CTRL_REG2_HPCF1, bitRead(mode, LIS_CTRL_REG2_HPCF1)); + + return writeReg(LIS_CTRL_REG2, ctrlReg2); +} + +uint8_t LIS331::isInterruptLatched(const byte interrupt, bool &ret) +{ + if (interrupt == 1) { + return readRegisterBit(LIS_CTRL_REG3, LIS_CTRL_REG3_LIR1, ret); + } else if (interrupt == 2) { + return readRegisterBit(LIS_CTRL_REG3, LIS_CTRL_REG3_LIR2, ret); + } + + return E_WRONG_INTERRUPT; +} + +uint8_t LIS331::setInterruptLatched(const byte interrupt, const bool latched) +{ + if (interrupt == 1) { + return writeRegisterBit(LIS_CTRL_REG3, LIS_CTRL_REG3_LIR1, latched); + } else if (interrupt == 2) { + return writeRegisterBit(LIS_CTRL_REG3, LIS_CTRL_REG3_LIR2, latched); + } + + return E_WRONG_INTERRUPT; +} + +uint8_t LIS331::getInt1DataSignal(Int1DataSignal &ret) +{ + byte ctrlReg3 = 0; + const uint8_t err = readReg(LIS_CTRL_REG3, ctrlReg3); + if (err != E_OK) { + return err; + } + + byte signal = 0; + bitWrite(signal, LIS_CTRL_REG3_I1_CFG0, bitRead(ctrlReg3, LIS_CTRL_REG3_I1_CFG0)); + bitWrite(signal, LIS_CTRL_REG3_I1_CFG1, bitRead(ctrlReg3, LIS_CTRL_REG3_I1_CFG1)); + + ret = Int1DataSignal(signal); + return E_OK; +} + +uint8_t LIS331::getInt2DataSignal(Int2DataSignal &ret) +{ + byte ctrlReg3 = 0; + const uint8_t err = readReg(LIS_CTRL_REG3, ctrlReg3); + if (err != E_OK) { + return err; + } + + byte signal = 0; + bitWrite(signal, LIS_CTRL_REG3_I2_CFG0, bitRead(ctrlReg3, LIS_CTRL_REG3_I2_CFG0)); + bitWrite(signal, LIS_CTRL_REG3_I2_CFG1, bitRead(ctrlReg3, LIS_CTRL_REG3_I2_CFG1)); + + ret = Int2DataSignal(signal); + return E_OK; +} + +uint8_t LIS331::setDataSignal(const Int1DataSignal signal) +{ + byte ctrlReg3 = 0; + const uint8_t err = readReg(LIS_CTRL_REG3, ctrlReg3); + if (err != E_OK) { + return err; + } + + bitWrite(ctrlReg3, LIS_CTRL_REG3_I1_CFG0, bitRead(signal, LIS_CTRL_REG3_I1_CFG0)); + bitWrite(ctrlReg3, LIS_CTRL_REG3_I1_CFG1, bitRead(signal, LIS_CTRL_REG3_I1_CFG1)); + + return writeReg(LIS_CTRL_REG3, ctrlReg3); +} + +uint8_t LIS331::setDataSignal(const Int2DataSignal signal) +{ + byte ctrlReg3 = 0; + const uint8_t err = readReg(LIS_CTRL_REG3, ctrlReg3); + if (err != E_OK) { + return err; + } + + bitWrite(ctrlReg3, LIS_CTRL_REG3_I2_CFG0, bitRead(signal, LIS_CTRL_REG3_I2_CFG0)); + bitWrite(ctrlReg3, LIS_CTRL_REG3_I2_CFG1, bitRead(signal, LIS_CTRL_REG3_I2_CFG1)); + + return writeReg(LIS_CTRL_REG3, ctrlReg3); +} + +uint8_t LIS331::getScale(Scale &ret) +{ + byte ctrlReg4 = 0; + const uint8_t err = readReg(LIS_CTRL_REG4, ctrlReg4); + if (err != E_OK) { + return err; + } + + byte scale = 0; + bitWrite(scale, LIS_CTRL_REG4_FS0, bitRead(ctrlReg4, LIS_CTRL_REG4_FS0)); + bitWrite(scale, LIS_CTRL_REG4_FS1, bitRead(ctrlReg4, LIS_CTRL_REG4_FS1)); + + ret = Scale(scale); + currentScale = ret; + + return E_OK; +} + +uint8_t LIS331::setScale(const Scale scale) +{ + byte ctrlReg4 = 0; + uint8_t err = readReg(LIS_CTRL_REG4, ctrlReg4); + if (err != E_OK) { + return err; + } + + bitWrite(ctrlReg4, LIS_CTRL_REG4_FS0, bitRead(scale, LIS_CTRL_REG4_FS0)); + bitWrite(ctrlReg4, LIS_CTRL_REG4_FS1, bitRead(scale, LIS_CTRL_REG4_FS1)); + + err = writeReg(LIS_CTRL_REG4, ctrlReg4); + if (err == E_OK) { + currentScale = scale; + } + + return err; +} + +uint8_t LIS331::isSleepToWakeEnabled(bool &ret) +{ + byte ctrlReg5 = 0; + const uint8_t err = readReg(LIS_CTRL_REG5, ctrlReg5); + if (err != E_OK) { + return err; + } + + ret = bitRead(ctrlReg5, LIS_CTRL_REG5_TURNON_0) && bitRead(ctrlReg5, LIS_CTRL_REG5_TURNON_1); + return E_OK; +} + +uint8_t LIS331::setSleepToWakeEnabled(const bool enabled) +{ + byte ctrlReg5 = 0; + const uint8_t err = readReg(LIS_CTRL_REG5, ctrlReg5); + if (err != E_OK) { + return err; + } + + bitWrite(ctrlReg5, LIS_CTRL_REG5_TURNON_0, enabled); + bitWrite(ctrlReg5, LIS_CTRL_REG5_TURNON_1, enabled); + + return writeReg(LIS_CTRL_REG5, ctrlReg5); +} + +uint8_t LIS331::getInterruptSource(const byte interrupt, IntSource &ret) +{ + byte intRegAddr = 0; + switch (interrupt) { + case 1: + intRegAddr = LIS_INT1_CFG; + break; + case 2: + intRegAddr = LIS_INT2_CFG; + break; + default: + return E_WRONG_INTERRUPT; + } + + byte intRegVal = 0; + const uint8_t err = readReg(intRegAddr, intRegVal); + if (err != E_OK) { + return err; + } + + byte source = 0; + bitWrite(source, LIS_INT_CFG_AOI, bitRead(intRegVal, LIS_INT_CFG_AOI)); + bitWrite(source, LIS_INT_CFG_6D, bitRead(intRegVal, LIS_INT_CFG_6D)); + + ret = IntSource(source); + return E_OK; +} + +uint8_t LIS331::setInterruptSource(const byte interrupt, IntSource source) + +{ + byte intRegAddr = 0; + switch (interrupt) { + case 1: + intRegAddr = LIS_INT1_CFG; + break; + case 2: + intRegAddr = LIS_INT2_CFG; + break; + default: + return E_WRONG_INTERRUPT; + } + + byte intRegVal = 0; + const uint8_t err = readReg(intRegAddr, intRegVal); + if (err != E_OK) { + return err; + } + + bitWrite(intRegVal, LIS_INT_CFG_AOI, bitRead(source, LIS_INT_CFG_AOI)); + bitWrite(intRegVal, LIS_INT_CFG_6D, bitRead(source, LIS_INT_CFG_6D)); + + return writeReg(intRegAddr, intRegVal); +} + +uint8_t LIS331::isInterruptEnabled(const byte interrupt, const Axis axis, const bool highEvent, bool &ret) +{ + byte intCfgAddr = 0; + switch (interrupt) { // TODO: Simplify with C++17 Structured Bindings + case 1: + intCfgAddr = LIS_INT1_CFG; + break; + case 2: + intCfgAddr = LIS_INT2_CFG; + break; + default: + return E_WRONG_INTERRUPT; + } + + byte bit = 0; + bit += axis; // set X, Y or Z + bit += highEvent; // set high or low + + byte intCfgVal = 0; + const uint8_t err = readReg(intCfgAddr, intCfgVal); + if (err != E_OK) { + return err; + } + + return readRegisterBit(intCfgAddr, bit, ret); +} + +uint8_t LIS331::setInterruptEnabled(const byte interrupt, const Axis axis, const bool highEvent, const bool enabled) +{ + byte intCfgAddr = 0; + switch (interrupt) { // TODO: Simplify with C++17 Structured Bindings + case 1: + intCfgAddr = LIS_INT1_CFG; + break; + case 2: + intCfgAddr = LIS_INT2_CFG; + break; + default: + return E_WRONG_INTERRUPT; + } + + byte bit = 0; + bit += axis; // set X, Y or Z + bit += highEvent; // set high or low + + byte intCfgVal = 0; + const uint8_t err = readReg(intCfgAddr, intCfgVal); + if (err != E_OK) { + return err; + } + + bitWrite(intCfgVal, bit, enabled); + return writeReg(intCfgAddr, intCfgVal); +} + +uint8_t LIS331::readInterrupt(const byte interrupt) +{ + byte intSrcAddr = 0; + switch (interrupt) { // TODO: Simplify with C++17 Structured Bindings + case 1: + intSrcAddr = LIS_INT1_SOURCE; + break; + case 2: + intSrcAddr = LIS_INT2_SOURCE; + break; + default: + return E_WRONG_INTERRUPT; + } + + byte intSrcVal = 0; + const uint8_t err = readReg(intSrcAddr, intSrcVal); + if (err != E_OK) { + return err; + } + + interruptSource = intSrcVal; + return E_OK; +} + +uint8_t LIS331::getInterruptValue(const Axis axis, const bool highEvent, bool &ret) +{ + byte bit = 0; + bit += axis; // set X, Y or Z + bit += highEvent; // set high or low + + ret = bitRead(interruptSource, bit); + return E_OK; +} + +uint8_t LIS331::getInterruptThreshold(const byte interrupt, byte &ret) +{ + byte intThsAddr = 0; + switch (interrupt) { // TODO: Simplify with C++17 Structured Bindings + case 1: + intThsAddr = LIS_INT1_THS; + break; + case 2: + intThsAddr = LIS_INT2_THS; + break; + default: + return E_WRONG_INTERRUPT; + } + + return getInterruptThresholdAndDuration(intThsAddr, ret); +} + +uint8_t LIS331::setInterruptThreshold(const byte interrupt, const byte threshold) +{ + byte intThsAddr = 0; + switch (interrupt) { // TODO: Simplify with C++17 Structured Bindings + case 1: + intThsAddr = LIS_INT1_THS; + break; + case 2: + intThsAddr = LIS_INT2_THS; + break; + default: + return E_WRONG_INTERRUPT; + } + + return setInterruptThresholdAndDuration(intThsAddr, threshold); +} + +uint8_t LIS331::getInterruptThresholdG(const byte interrupt, float &ret) +{ + float scale = 0.0f; + switch (currentScale) { + case Scale::scale6g: + scale = 6 / 127.0f; + break; + case Scale::scale12g: + scale = 12 / 127.0f; + break; + case Scale::scale24g: + scale = 24 / 127.0f; + break; + default: + return E_WRONG_SCALE; + } + + byte rawThreshold = 0; + const uint8_t err = getInterruptThreshold(interrupt, rawThreshold); + if (err != E_OK) { + return err; + } + + ret = rawThreshold * scale; + return E_OK; +} + +uint8_t LIS331::setInterruptThresholdG(const byte interrupt, const float threshold) +{ + float scale = 0.0f; + switch (currentScale) { + case Scale::scale6g: + if (threshold > 6) { + return E_NUM_TOO_BIG; + } + scale = 6 / 127.0f; + break; + case Scale::scale12g: + if (threshold > 12) { + return E_NUM_TOO_BIG; + } + scale = 12 / 127.0f; + break; + case Scale::scale24g: + if (threshold > 24) { + return E_NUM_TOO_BIG; + } + scale = 24 / 127.0f; + break; + default: + return E_WRONG_SCALE; + } + + const byte rawValue = static_cast(threshold / scale); // round: floor + return setInterruptThreshold(interrupt, rawValue); +} + +uint8_t LIS331::getInterruptDuration(const byte interrupt, byte &ret) +{ + byte intDurAddr = 0; + switch (interrupt) { // TODO: Simplify with C++17 Structured Bindings + case 1: + intDurAddr = LIS_INT1_DURATION; + break; + case 2: + intDurAddr = LIS_INT2_DURATION; + break; + default: + return E_WRONG_INTERRUPT; + } + + return getInterruptThresholdAndDuration(intDurAddr, ret); +} + +uint8_t LIS331::setInterruptDuration(const byte interrupt, const byte duration) +{ + byte intDurAddr = 0; + switch (interrupt) { // TODO: Simplify with C++17 Structured Bindings + case 1: + intDurAddr = LIS_INT1_DURATION; + break; + case 2: + intDurAddr = LIS_INT2_DURATION; + break; + default: + return E_WRONG_INTERRUPT; + } + + return setInterruptThresholdAndDuration(intDurAddr, duration); +} + +uint8_t LIS331::getInterruptThresholdAndDuration(const byte address, byte &ret) +{ + const uint8_t err = readReg(address, ret); + if (err != E_OK) { + return err; + } + + bitClear(ret, CHAR_BIT - 1); + return E_OK; +} + +uint8_t LIS331::setInterruptThresholdAndDuration(const byte address, const byte value) +{ + if (bitRead(value, CHAR_BIT - 1) == 1) { + return E_NUM_TOO_BIG; + } + + return writeReg(address, value); +} diff --git a/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/src/LIS331.h b/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/src/LIS331.h new file mode 100644 index 0000000..6ae1c0c --- /dev/null +++ b/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/src/LIS331.h @@ -0,0 +1,656 @@ +/* Copyright © 2017 Szőts Ákos + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * +*/ + +#ifndef LIS331_H +#define LIS331_H + +#include + +#include "Arduino.h" +#include + +// More error codes besides the ones in I2C.h +#define E_OK 0x0 +#define E_WRONG_INTERRUPT 0x75 +#define E_NUM_TOO_BIG 0x76 +#define E_WRONG_SCALE 0x77 + +// Register addresses +#define LIS_CTRL_REG1 0x20 +#define LIS_CTRL_REG2 0x21 +#define LIS_CTRL_REG3 0x22 +#define LIS_CTRL_REG4 0x23 +#define LIS_CTRL_REG5 0x24 +#define LIS_HP_FILTER_RESET 0x25 +#define LIS_REFERENCE 0x26 +#define LIS_STATUS_REG 0x27 +#define LIS_OUT_X_L 0x28 +#define LIS_OUT_X_H 0x29 +#define LIS_OUT_Y_L 0x2A +#define LIS_OUT_Y_H 0x2B +#define LIS_OUT_Z_L 0x2C +#define LIS_OUT_Z_H 0x2D +#define LIS_INT1_CFG 0x30 +#define LIS_INT1_SOURCE 0x31 +#define LIS_INT1_THS 0x32 +#define LIS_INT1_DURATION 0x33 +#define LIS_INT2_CFG 0x34 +#define LIS_INT2_SOURCE 0x35 +#define LIS_INT2_THS 0x36 +#define LIS_INT2_DURATION 0x37 + +// Control register 1 +#define LIS_CTRL_REG1_PM2 7 +#define LIS_CTRL_REG1_PM1 6 +#define LIS_CTRL_REG1_PM0 5 +#define LIS_CTRL_REG1_DR1 4 +#define LIS_CTRL_REG1_DR0 3 +#define LIS_CTRL_REG1_ZEN 2 +#define LIS_CTRL_REG1_YEN 1 +#define LIS_CTRL_REG1_XEN 0 + +// Control register 2 +#define LIS_CTRL_REG2_BOOT 7 +#define LIS_CTRL_REG2_HPM1 6 +#define LIS_CTRL_REG2_HPM0 5 +#define LIS_CTRL_REG2_FDS 4 +#define LIS_CTRL_REG2_HPEN2 3 +#define LIS_CTRL_REG2_HPEN1 2 +#define LIS_CTRL_REG2_HPCF1 1 +#define LIS_CTRL_REG2_HPCF0 0 + +// Control register 3 +#define LIS_CTRL_REG3_IHL 7 +#define LIS_CTRL_REG3_PP_OD 6 +#define LIS_CTRL_REG3_LIR2 5 +#define LIS_CTRL_REG3_I2_CFG1 4 +#define LIS_CTRL_REG3_I2_CFG0 3 +#define LIS_CTRL_REG3_LIR1 2 +#define LIS_CTRL_REG3_I1_CFG1 1 +#define LIS_CTRL_REG3_I1_CFG0 0 + +// Control register 4 +#define LIS_CTRL_REG4_BDU 7 +// BLE 6 +#define LIS_CTRL_REG4_FS1 5 +#define LIS_CTRL_REG4_FS0 4 +#define LIS_CTRL_REG4_STSIGN 3 +// 0 2 +#define LIS_CTRL_REG4_ST 1 +// SIM 0 + +// Control register 5 +// Unused 7..2 +#define LIS_CTRL_REG5_TURNON_1 1 +#define LIS_CTRL_REG5_TURNON_0 0 + +// Status register +#define LIS_STATUS_REG_ZYXOR 7 +#define LIS_STATUS_REG_ZOR 6 +#define LIS_STATUS_REG_YOR 5 +#define LIS_STATUS_REG_XOR 4 +#define LIS_STATUS_REG_ZYXDA 3 +#define LIS_STATUS_REG_ZDA 2 +#define LIS_STATUS_REG_YDA 1 +#define LIS_STATUS_REG_XDA 0 + +// Interrupt registers +#define LIS_INT_CFG_AOI 7 +#define LIS_INT_CFG_6D 6 + +#define LIS_INT_SRC_IA 6 + +class LIS331 +{ +public: + enum Scale : byte; + +private: + const uint8_t i2cAddress; + byte interruptSource; + Scale currentScale; + + uint8_t readReg(const byte addr, byte &val); + uint8_t writeReg(const byte addr, const byte val); + + uint8_t readRegisterBit(const byte registerAddr, const byte bit, bool &ret); + uint8_t writeRegisterBit(const byte registerAddr, const byte bit, const bool enabled); + + uint8_t getAxisValue(const byte addressLow, const byte addressHigh, int16_t &ret); + + uint8_t getInterruptThresholdAndDuration(const byte address, byte &ret); + uint8_t setInterruptThresholdAndDuration(const byte address, const byte value); + +public: + enum PowerMode : byte + { + powerDown = B00000000, + normalMode = B00100000, + lowPower05Hz = B01000000, + lowPower1Hz = B01100000, + lowPower2Hz = B10000000, + lowPower5Hz = B10100000, + lowPower10Hz = B11000000 + }; + + enum DataRate : byte + { + odr50Hz = B00000000, + odr100Hz = B00001000, + odr400Hz = B00010000, + odr1000Hz = B00011000 + }; + + enum Scale : byte + { + scale6g = B00000000, + scale12g = B00010000, + scale24g = B00110000 + }; + + enum HighPassFilter : byte + { + hpfNormal = B00000000, + hpfReference = B00100000, + hpfConfigCutOff = B01000000 + }; + + enum HighPassCutOff : byte + { + hpCutOff8 = B00000000, + hpCutOff16 = B00000001, + hpCutOff32 = B00000010, + hpCutOff64 = B00000011 + }; + + enum Int1DataSignal : byte + { + ds1Interrupt1Source = B00000000, + ds1Interrupt1Or2Src = B00000001, + ds1DataReady = B00000010, + ds1BootRunning = B00000011 + }; + + enum Int2DataSignal : byte + { + ds2Interrupt2Source = B00000000, + ds2Interrupt1Or2Src = B00001000, + ds2DataReady = B00010000, + ds2BootRunning = B00011000 + }; + + enum Axis : byte + { + X = 0, + Y = 1, + Z = 2 + }; + + enum IntSource : byte + { + intsOrCombination = B00000000, + intsAndCombination = B10000000, + ints6DirMovementRec = B01000000, + ints6DirPositionRec = B11000000 + }; + + explicit LIS331(const uint8_t i2cAddress = 0x18); + + // Control register 1 + uint8_t getPowerMode(PowerMode &ret); + uint8_t setPowerMode(const PowerMode mode); + + uint8_t getDataRate(DataRate &ret); + uint8_t setDataRate(const DataRate dataRate); + + inline uint8_t isXEnabled(bool &ret) { + return readRegisterBit(LIS_CTRL_REG1, LIS_CTRL_REG1_XEN, ret); + } + + inline uint8_t isYEnabled(bool &ret) { + return readRegisterBit(LIS_CTRL_REG1, LIS_CTRL_REG1_YEN, ret); + } + + inline uint8_t isZEnabled(bool &ret) { + return readRegisterBit(LIS_CTRL_REG1, LIS_CTRL_REG1_ZEN, ret); + } + + inline uint8_t setXEnabled(const bool enabled) { + return writeRegisterBit(LIS_CTRL_REG1, LIS_CTRL_REG1_XEN, enabled); + } + + inline uint8_t setYEnabled(const bool enabled) { + return writeRegisterBit(LIS_CTRL_REG1, LIS_CTRL_REG1_YEN, enabled); + } + + inline uint8_t setZEnabled(const bool enabled) { + return writeRegisterBit(LIS_CTRL_REG1, LIS_CTRL_REG1_ZEN, enabled); + } + + // X, Y, Z axes + /** + * @brief getAxisValuesG + * @param x + * @param y + * @param z + * @return The acceleration in [g] for all three axes + */ + uint8_t getAxisValuesG(float &x, float &y, float &z); + + inline uint8_t getXValue(int16_t &ret) { + return getAxisValue(LIS_OUT_X_L, LIS_OUT_X_H, ret); + } + + inline uint8_t getYValue(int16_t &ret) { + return getAxisValue(LIS_OUT_Y_L, LIS_OUT_Y_H, ret); + } + + inline uint8_t getZValue(int16_t &ret) { + return getAxisValue(LIS_OUT_Z_L, LIS_OUT_Z_H, ret); + } + + // Control register 2 + + /** + * @see setRebootMemoryContent + * @brief getRebootMemoryContent + * @return + */ + inline uint8_t getRebootMemoryContent(bool &ret) { + return readRegisterBit(LIS_CTRL_REG2, LIS_CTRL_REG2_BOOT, ret); + } + + /** + * BOOT bit is used to refresh the content of internal registers stored in the flash memory + * block. At the device power up the content of the flash memory block is transferred to the + * internal registers related to trimming functions to permit a good behavior of the device itself. + * If for any reason the content of trimming registers was changed it is sufficient to use this bit + * to restore correct values. When BOOT bit is set to ‘1’ the content of internal flash is copied + * inside corresponding internal registers and it is used to calibrate the device. These values + * are factory trimmed and they are different for every accelerometer. They permit a good + * behavior of the device and normally they have not to be changed. At the end of the boot + * process the BOOT bit is set again to ‘0’. + * + * @brief setRebootMemoryContent + * @param reboot false: normal mode + * true: reboot memory content + * @return + */ + inline uint8_t setRebootMemoryContent(const bool reboot) { + return writeRegisterBit(LIS_CTRL_REG2, LIS_CTRL_REG2_BOOT, reboot); + } + + uint8_t getHighPassFilterMode(HighPassFilter &ret); + uint8_t setHighPassFilterMode(const HighPassFilter mode); + + /** + * @brief isFilteredDataSection + * @return false: internal filter bypassed; + * true: data from internal filter sent to output register + */ + inline uint8_t isFilteredDataSection(bool &ret) { + return readRegisterBit(LIS_CTRL_REG2, LIS_CTRL_REG2_FDS, ret); + } + + /** + * @brief setFilteredDataSection + * @param enabled false: internal filter bypassed; + * true: data from internal filter sent to output register + * @return + */ + inline uint8_t setFilteredDataSection(const bool enabled) { + return writeRegisterBit(LIS_CTRL_REG2, LIS_CTRL_REG2_FDS, enabled); + } + + /** + * @brief isHPenabledForInterrupt1 High pass filter enabled for interrupt 1 source + * @return + */ + inline uint8_t isHPenabledForInterrupt1(bool &ret) { + return readRegisterBit(LIS_CTRL_REG2, LIS_CTRL_REG2_HPEN1, ret); + } + + /** + * @brief setHPenabledForInterrupt1 High pass filter enabled for interrupt 1 source + * @param enabled + * @return + */ + inline uint8_t setHPenabledForInterrupt1(const bool enabled) { + return writeRegisterBit(LIS_CTRL_REG2, LIS_CTRL_REG2_HPEN1, enabled); + } + + /** + * @brief isHPenabledForInterrupt2 High pass filter enabled for interrupt 2 source + * @return + */ + inline uint8_t isHPenabledForInterrupt2(bool &ret) { + return readRegisterBit(LIS_CTRL_REG2, LIS_CTRL_REG2_HPEN2, ret); + } + + /** + * @brief setHPenabledForInterrupt2 High pass filter enabled for interrupt 2 source + * @param enabled + * @return + */ + inline uint8_t setHPenabledForInterrupt2(const bool enabled) { + return writeRegisterBit(LIS_CTRL_REG2, LIS_CTRL_REG2_HPEN2, enabled); + } + + uint8_t getHighPassCutOff(HighPassCutOff &ret); + uint8_t setHighPassCutOff(const HighPassCutOff mode); + + /** + * If the high pass filter is enabled, all three axes are instantaneously set to 0g. + * This allows to overcome the settling time of the high pass filter. + * @brief resetHighPassFilter + * @return + */ + inline uint8_t resetHighPassFilter() { + byte tmp = 0; + // Dummy register. Reading at this address zeroes instantaneously the content of the internal high pass-filter + return readReg(LIS_HP_FILTER_RESET, tmp); + } + + /** + * @see setHPReference() + * @brief getHPReference + * @return + */ + inline uint8_t getHPReference(byte &reference) { + return readReg(LIS_REFERENCE, reference); + } + + /** + * This register sets the acceleration value taken as a reference for the high-pass filter output. + * When filter is turned on (at least one of setFilteredDataSection(), setHPenabledForInterrupt1(), + * or setHPenabledForInterrupt2() is enabled) and setHighPassFilterMode() is set to “hpfReference”, + * filter out is generated taking this value as a reference. + * + * @brief setHPReference + * @param reference + * @return + */ + uint8_t setHPReference(const byte reference) { + return writeReg(LIS_REFERENCE, reference); + } + + // Control register 3 + /** + * @brief isInterruptActiveHL + * @return false: active high (default) + * true: active low + */ + inline uint8_t isInterruptActiveHL(bool &ret) { + return readRegisterBit(LIS_CTRL_REG3, LIS_CTRL_REG3_IHL, ret); + } + + /** + * @brief setInterruptActiveHL + * @param active false: active high (the level on interrupt pin is low and goes high when the interrupt occurs) + * true: active low (the level on interrupt pin is high and goes low when the interrupt occurs) + * @return + */ + inline uint8_t setInterruptActiveHL(bool low) { + return writeRegisterBit(LIS_CTRL_REG3, LIS_CTRL_REG3_IHL, low); + } + + /** + * @brief getPPOD Push-pull/Open drain selection on interrupt pad. Default value false + * @return false: push-pull + * true: open drain + */ + inline uint8_t getPPOD(bool &ret) { + return readRegisterBit(LIS_CTRL_REG3, LIS_CTRL_REG3_PP_OD, ret); + } + + /** + * @brief setPPOD Push-pull/Open drain selection on interrupt pad + * @param ppod false: push-pull + * true: open drain + * @return + */ + inline uint8_t setPPOD(bool ppod) { + return writeRegisterBit(LIS_CTRL_REG3, LIS_CTRL_REG3_PP_OD, ppod); + } + + /** + * @brief isInterruptLatched The interrupt register is cleared by calling readInterrupt(). + * Default value: false + * @param interrupt 1 or 2 depending on pin assignment + * @return false: interrupt request not latched + * true: interrupt request latched + */ + uint8_t isInterruptLatched(const byte interrupt, bool &ret); + + /** + * @brief setInterruptLatched Latch interrupt request. The register is cleared by calling readInterrupt() + * @param interrupt 1 or 2 depending on pin assignment + * @param value false: interrupt request not latched + * true: interrupt request latched + * @return + */ + uint8_t setInterruptLatched(const byte interrupt, const bool latched); + + uint8_t getInt1DataSignal(Int1DataSignal &ret); + uint8_t getInt2DataSignal(Int2DataSignal &ret); + + uint8_t setDataSignal(const Int1DataSignal signal); + uint8_t setDataSignal(const Int2DataSignal signal); + + // Control register 4 + /** + * @brief isBDUEnabled: Block data update. Default value: 0 + * @return true: output registers not updated between MSB and LSB reading + * false: continuos update + */ + inline uint8_t isBDUEnabled(bool &ret) { + return readRegisterBit(LIS_CTRL_REG4, LIS_CTRL_REG4_BDU, ret); + } + + /** + * @brief setBDUEnabled: Block data update. Default value: 0 + * @param enabled true: output registers not updated between MSB and LSB reading + * false: continuos update + * @return + */ + inline uint8_t setBDUEnabled(const bool enabled) { + return writeRegisterBit(LIS_CTRL_REG4, LIS_CTRL_REG4_BDU, enabled); + } + + uint8_t getScale(Scale &ret); + uint8_t setScale(const Scale scale); + + /** + * @brief getSelfTestSign Self-test sign. Default value: 0 + * @return true: self-test minus + * false: self-test plus + */ + inline uint8_t getSelfTestSign(bool &ret) { + return readRegisterBit(LIS_CTRL_REG4, LIS_CTRL_REG4_STSIGN, ret); + } + + /** + * @brief setSelfTestSign Self-test sign. Default value: 0 + * @param sign true: self-test minus + * false: self-test plus + * @return + */ + inline uint8_t setSelfTestSign(const bool sign) { + return writeRegisterBit(LIS_CTRL_REG4, LIS_CTRL_REG4_STSIGN, sign); + } + + inline uint8_t isSelfTestEnabled(bool &ret) { + return readRegisterBit(LIS_CTRL_REG4, LIS_CTRL_REG4_ST, ret); + } + + inline uint8_t setSelfTestEnabled(const bool enabled) { + return writeRegisterBit(LIS_CTRL_REG4, LIS_CTRL_REG4_ST, enabled); + } + + // Control register 5 + /** + * When an interrupt event occurs the device is turned to normal mode + * increasing the ODR (output data rate) to the value defined with setDataRate(). + * Although the device is in normal mode, getPowerMode() is not + * automatically changed to “normal mode” configuration. + * + * @brief isSleepToWakeEnabled + * @return + */ + uint8_t isSleepToWakeEnabled(bool &ret); + uint8_t setSleepToWakeEnabled(const bool enabled); + + // Status register + inline uint8_t isAllDataOverrun(bool &ret) { + return readRegisterBit(LIS_STATUS_REG, LIS_STATUS_REG_ZYXOR, ret); + } + + inline uint8_t isXDataOverrun(bool &ret) { + return readRegisterBit(LIS_STATUS_REG, LIS_STATUS_REG_XOR, ret); + } + + inline uint8_t isYDataOverrun(bool &ret) { + return readRegisterBit(LIS_STATUS_REG, LIS_STATUS_REG_YOR, ret); + } + + inline uint8_t isZDataOverrun(bool &ret) { + return readRegisterBit(LIS_STATUS_REG, LIS_STATUS_REG_ZOR, ret); + } + + inline uint8_t isAllDataAvailable(bool &ret) { + return readRegisterBit(LIS_STATUS_REG, LIS_STATUS_REG_ZYXDA, ret); + } + + inline uint8_t isXDataAvailable(bool &ret) { + return readRegisterBit(LIS_STATUS_REG, LIS_STATUS_REG_XDA, ret); + } + + inline uint8_t isYDataAvailable(bool &ret) { + return readRegisterBit(LIS_STATUS_REG, LIS_STATUS_REG_YDA, ret); + } + + inline uint8_t isZDataAvailable(bool &ret) { + return readRegisterBit(LIS_STATUS_REG, LIS_STATUS_REG_ZDA, ret); + } + + // Interrupt config register + uint8_t getInterruptSource(const byte interrupt, IntSource &ret); + uint8_t setInterruptSource(const byte interrupt, IntSource source); + + /** + * @see setInterruptEnabled() + * @brief isInterruptEnabled + * @param interrupt + * @param axis + * @param highEvent + * @param ret + * @return + */ + uint8_t isInterruptEnabled(const byte interrupt, const Axis axis, const bool highEvent, bool &ret); + + /** + * @brief setInterruptEnabled + * @param interrupt 1 or 2 + * @param axis + * @param highEvent True to enable interrupt request on measured acceleration value higher than + * preset threshold. + * @param enabled + * @return + */ + uint8_t setInterruptEnabled(const byte interrupt, const Axis axis, const bool highEvent, const bool enabled); + + // Interrupt source register + /** + * Reading at this address clears isInterruptGenerated() bit (and the interrupt signal on the pin) and + * allows the refreshment of data in the interrupt source register if the latched option was chosen + * with setInterruptLatched(). + * + * This function reads the entire register into a temporal variable, thus: + * - it's possible to gather information based on one consistent state with the isInterruptGenerated() + * and getInterruptValue() functions; + * - it's necessary to call this function before you call any of the two aforementioned functions. + * @brief readInterrupt + * @param interrupt + * @return + */ + uint8_t readInterrupt(const byte interrupt); + + inline uint8_t isInterruptGenerated(bool &ret) { + ret = bitRead(interruptSource, LIS_INT_SRC_IA); + return E_OK; + } + + uint8_t getInterruptValue(const Axis axis, const bool highEvent, bool &ret); + + // Interrupt threshold register + /** + * @see setInterruptThreshold() + * @brief getInterruptThreshold + * @param interrupt + * @param ret + * @return + */ + uint8_t getInterruptThreshold(const byte interrupt, byte &ret); + + /** + * @brief setInterruptThreshold + * @param interrupt + * @param threshold Must be between 0..127 + * @return + */ + uint8_t setInterruptThreshold(const byte interrupt, const byte threshold); + + /** + * @see setInterruptThresholdG() + * @brief getInterruptThresholdG + * @param interrupt + * @param ret + * @return + */ + uint8_t getInterruptThresholdG(const byte interrupt, float &ret); + + /** + * @brief setInterruptThresholdG Use [g] values to set an interrupt threshold instead of raw values. + * Since the resolution is not infinite, it may not be set to exact value. If it is the case, + * the raw value will be rounded down to the nearest acceptable. It is worth running + * getInterruptThresholdG() to obtain the programmed value (or calculate it manually). + * @param interrupt 1 or 2 + * @param threshold Must be smaller or equal than the configured scale (6g, 12g, or 24g) + * @return + */ + uint8_t setInterruptThresholdG(const byte interrupt, const float threshold); + + // Interrupt duration register + /** + * @see setInterruptDuration() + * @brief getInterruptDuration + * @param interrupt + * @param ret + * @return + */ + uint8_t getInterruptDuration(const byte interrupt, byte &ret); + + /** + * @brief setInterruptDuration Sets the minimum duration of the interrupt event to be recognized + * @param interrupt + * @param duration Must be between 0..127. Duration time steps and maximum values depend on the + * DataRate chosen. + * @return + */ + uint8_t setInterruptDuration(const byte interrupt, const byte duration); +}; + +#endif // LIS331_H diff --git a/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/README_Accelerometer b/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/README_Accelerometer new file mode 100644 index 0000000..7265a90 --- /dev/null +++ b/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/README_Accelerometer @@ -0,0 +1,7 @@ +The Accelerometer is intended for use with an Arduino Nano. +The arduino code example file is found under: +/robots/little_john/telemetry/code/robot/Accelerometer/H3LIS331DL_Accelerometer_library/LIS331/examples/ReadAxes + +It uses the LIS331 Arduino library and the I2C Master library which is found inside the dependancies folder. + +The Accelerometer to Arduino pin connections is found on the README file inside the LIS331 folder. -- libgit2 0.21.2