upm  1.3.0
Sensor/Actuator repository for libmraa (v1.7.0)
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Public Member Functions | Protected Attributes
LIS2DS12 Class Reference

API for the LIS2DS12 3-axis Accelerometer. More...

Detailed Description

The LIS2DS12 is an ultra-low-power high performance three-axis linear accelerometer belonging to the "pico" family which leverages on the robust and mature manufacturing processes already used for the production of micromachined accelerometers.

The LIS2DS12 has user-selectable full scales of 2g/4g/8g/16g and is capable of measuring accelerations with output data rates from 1 Hz to 6400 Hz.

Not all functionality of this chip has been implemented in this driver, however all the pieces are present to add any desired functionality. This driver supports both I2C (default) and SPI operation.

This device requires 1.8v operation.

// Instantiate an LIS2DS12 using default I2C parameters
upm::LIS2DS12 sensor;
// For SPI, bus 0, you would pass -1 as the address, and a valid pin
// for CS: LIS2DS12(0, -1, 10);
// now output data every 250 milliseconds
while (shouldRun)
{
float x, y, z;
sensor.update();
sensor.getAccelerometer(&x, &y, &z);
cout << "Accelerometer x: " << x
<< " y: " << y
<< " z: " << z
<< " g"
<< endl;
// we show both C and F for temperature
cout << "Compensation Temperature: " << sensor.getTemperature()
<< " C / " << sensor.getTemperature(true) << " F"
<< endl;
cout << endl;
usleep(250000);
}

Public Member Functions

 LIS2DS12 (int bus=LIS2DS12_DEFAULT_I2C_BUS, int addr=LIS2DS12_DEFAULT_I2C_ADDR, int cs=-1)
 
virtual ~LIS2DS12 ()
 
void update ()
 
uint8_t getChipID ()
 
void getAccelerometer (float *x, float *y, float *z)
 
std::vector< float > getAccelerometer ()
 
float getTemperature (bool fahrenheit=false)
 
void init (LIS2DS12_ODR_T odr=LIS2DS12_ODR_100HZ, LIS2DS12_FS_T fs=LIS2DS12_FS_2G)
 
void reset ()
 
void setODR (LIS2DS12_ODR_T odr)
 
void setFullScale (LIS2DS12_FS_T fs)
 
void enableHPFiltering (bool filter)
 
void enableInterruptLatching (bool latch)
 
void setInterruptActiveHigh (bool high)
 
void setInterruptPushPull (bool pp)
 
void setInt1Config (uint8_t cfg)
 
void setInt2Config (uint8_t cfg)
 
uint8_t getStatus ()
 
void installISR (LIS2DS12_INTERRUPT_PINS_T intr, int gpio, mraa::Edge level, void(*isr)(void *), void *arg)
 
void uninstallISR (LIS2DS12_INTERRUPT_PINS_T intr)
 
uint8_t readReg (uint8_t reg)
 
int readRegs (uint8_t reg, uint8_t *buffer, int len)
 
void writeReg (uint8_t reg, uint8_t val)
 

Protected Attributes

lis2ds12_context m_lis2ds12
 

Constructor & Destructor Documentation

LIS2DS12 ( int  bus = LIS2DS12_DEFAULT_I2C_BUS,
int  addr = LIS2DS12_DEFAULT_I2C_ADDR,
int  cs = -1 
)

LIS2DS12 constructor.

This device can support both I2C and SPI. For SPI, set the addr to -1, and specify a positive integer representing the Chip Select (CS) pin for the cs argument. If you are using a hardware CS pin (like edison with arduino breakout), then you can connect the proper pin to the hardware CS pin on your MCU and supply -1 for cs. The default operating mode is I2C.

Parameters
busI2C or SPI bus to use
addrThe address for this device. -1 for SPI
csThe gpio pin to use for the SPI Chip Select. -1 for I2C or for SPI with a hardware controlled pin.
Exceptions
std::runtime_erroron initialization failure
~LIS2DS12 ( )
virtual

LIS2DS12 destructor

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Member Function Documentation

void update ( void  )

Update the internal stored values from sensor data

Exceptions
std::runtime_erroron failure

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uint8_t getChipID ( )

Return the chip ID

Returns
The chip ID

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void getAccelerometer ( float *  x,
float *  y,
float *  z 
)

Return accelerometer data in gravities. update() must have been called prior to calling this method.

Parameters
xPointer to a floating point value that will have the current x component placed into it
yPointer to a floating point value that will have the current y component placed into it
zPointer to a floating point value that will have the current z component placed into it

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std::vector< float > getAccelerometer ( )

Return accelerometer data in gravities in the form of a floating point vector. update() must have been called prior to calling this method.

Returns
A floating point vector containing x, y, and z in that order
float getTemperature ( bool  fahrenheit = false)

Return the current measured temperature. Note, this is not ambient temperature. update() must have been called prior to calling this method.

Parameters
fahrenheittrue to return data in Fahrenheit, false for Celicus. Celsius is the default.
Returns
The temperature in degrees Celsius or Fahrenheit

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void init ( LIS2DS12_ODR_T  odr = LIS2DS12_ODR_100HZ,
LIS2DS12_FS_T  fs = LIS2DS12_FS_2G 
)

Initialize the device and start operation. This function is called from the constructor so will not typically need to be called by a user unless the device is reset.

Parameters
odrOne of the LIS2DS12_ODR_T values. The default is LIS2DS12_ODR_100HZ
fsOne of the LIS2DS12_FS_T values. The default is LIS2DS12_FS_2G
Exceptions
std::runtime_erroron failure

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void reset ( )

Reset the device as if during a power on reset. All configured values are lost when this happens. You should call init() afterwards, or at least perform the same initialization init() does before continuing.

Exceptions
std::runtime_erroron failure

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void setODR ( LIS2DS12_ODR_T  odr)

Set the output data rate (ODR) of the device

Parameters
odrOne of the LIS2DS12_ODR_T values
Exceptions
std::runtime_erroron failure

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void setFullScale ( LIS2DS12_FS_T  fs)

Set the full scale (FS) of the device. This device supports a full scale of 2, 4, 8, and 16G.

Parameters
fsOne of the LIS2DS12_FS_T values
Exceptions
std::runtime_erroron failure

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void enableHPFiltering ( bool  filter)

Enable high pass filtering of the accelerometer axis data. init() disables this by default. See the datasheet for details.

Parameters
filtertrue to enable filtering, false to disable
Exceptions
std::runtime_erroron failure

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void enableInterruptLatching ( bool  latch)

Enable or disable interrupt latching. If latching is disabled, pulsed is enabled. See the datasheet for details.

Parameters
latchtrue to enable latching, false to disable
Exceptions
std::runtime_erroron failure

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void setInterruptActiveHigh ( bool  high)

Indicate whether the interrupt should be active high (default) or active low. See the datasheet for details.

Parameters
hightrue for active high, false for active low
Exceptions
std::runtime_erroron failure

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void setInterruptPushPull ( bool  pp)

Indicate whether interrupts are push-pull (default) or open drain. See the datasheet for details.

Parameters
pptrue for push-pull, false for open-drain
Exceptions
std::runtime_erroron failure

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void setInt1Config ( uint8_t  cfg)

Set interrupt 1 configuration. See the datasheet for details.

Parameters
cfgA bitmask of values from LIS2DS12_CTRL4_BITS_T
Exceptions
std::runtime_erroron failure

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void setInt2Config ( uint8_t  cfg)

Set interrupt 2 configuration. See the datasheet for details.

Parameters
cfgA bitmask of values from LIS2DS12_CTRL5_BITS_T
Exceptions
std::runtime_erroron failure

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uint8_t getStatus ( )

Return the contents of the status register

Returns
A bitmask of values from LIS2DS12_STATUS_BITS_T

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void installISR ( LIS2DS12_INTERRUPT_PINS_T  intr,
int  gpio,
mraa::Edge  level,
void(*)(void *)  isr,
void *  arg 
)

install an interrupt handler

Parameters
intrOne of the LIS2DS12_INTERRUPT_PINS_T values specifying which interrupt pin you are installing
gpioGPIO pin to use as interrupt pin
levelThe interrupt trigger level (one of mraa::Edge values). Make sure that you have configured the interrupt pin properly for whatever level you choose.
isrThe interrupt handler, accepting a void * argument
argThe argument to pass the the interrupt handler
Exceptions
std::runtime_erroron failure

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void uninstallISR ( LIS2DS12_INTERRUPT_PINS_T  intr)

uninstall a previously installed interrupt handler

Parameters
intrOne of the LIS2DS12_INTERRUPT_PINS_T values specifying which interrupt pin you are removing

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uint8_t readReg ( uint8_t  reg)

Read a register

Parameters
regThe register to read
Returns
The value of the register

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int readRegs ( uint8_t  reg,
uint8_t *  buffer,
int  len 
)

Read contiguous registers into a buffer

Parameters
bufferThe buffer to store the results
lenThe number of registers to read
Returns
The number of bytes read
Exceptions
std::runtime_erroron failure

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void writeReg ( uint8_t  reg,
uint8_t  val 
)

Write to a register

Parameters
regThe register to write to
valThe value to write
Exceptions
std::runtime_erroron failure

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The documentation for this class was generated from the following files: