API for the H3LIS331DL-based Grove 3-Axis Digital Accelerometer (400g) More...

Detailed Description

ID: h3lis331dl
Name: I2C 3-axis Digital Accelerometer (400g)
Other Names: Grove 3-Axis Digital Accelerometer (400g)
Category: accelerometer
Manufacturer: seeed stmicro
Link: http://www.seeedstudio.com/depot/Grove-3Axis-Digital-Accelerometer400g-p-1897.html
Connection: i2c

This is a high-performance, high-range accelerometer for extreme applications.

    // Instantiate an H3LIS331DL on I2C bus 0
    upm::H3LIS331DL accel(H3LIS331DL_I2C_BUS, H3LIS331DL_DEFAULT_I2C_ADDR);
    // Initialize the device with default values
    accel.init();
    while (shouldRun) {
        int x, y, z;
        float ax, ay, az;
        accel.update();
        accel.getRawXYZ(&x, &y, &z);
        accel.getAcceleration(&ax, &ay, &az);
        cout << "Raw: X = " << x << " Y = " << y << " Z = " << z << endl;
        cout << "Acceleration: AX = " << ax << " AY = " << ay << " AZ = " << az << endl;
        cout << endl;
        upm_delay_us(500000);
    }

Public Types
enum	H3LIS331DL_REG_T { REG_WHOAMI = 0x0f, REG_REG1 = 0x20, REG_REG2 = 0x21, REG_REG3 = 0x22, REG_REG4 = 0x23, REG_REG5 = 0x24, REG_HP_FILTER_RESET = 0x25, REG_REFERENCE = 0x26, REG_STATUS = 0x27, REG_OUT_X_L = 0x28, REG_OUT_X_H = 0x29, REG_OUT_Y_L = 0x2a, REG_OUT_Y_H = 0x2b, REG_OUT_Z_L = 0x2c, REG_OUT_Z_H = 0x2d, REG_INT1_CFG = 0x30, REG_INT1_SRC = 0x31, REG_INT1_THS = 0x32, REG_INT1_DUR = 0x33, REG_INT2_CFG = 0x34, REG_INT2_SRC = 0x35, REG_INT2_THS = 0x36, REG_INT2_DUR = 0x37 }

enum	REG1_BITS_T { REG1_XEN = 0x01, REG1_YEN = 0x02, REG1_ZEN = 0x04, REG1_DR0 = 0x08, REG1_DR1 = 0x10, REG1_DR_SHIFT = 3, REG1_PM0 = 0x20, REG1_PM1 = 0x40, REG1_PM2 = 0x80, REG1_PM_SHIFT = 5 }

enum	DR_BITS_T { DR_50_37 = 0x0, DR_100_74 = 0x1, DR_400_292 = 0x2, DR_1000_780 = 0x3 }

enum	PM_BITS_T { PM_POWERDWN = 0x0, PM_NORMAL = 0x1, PM_LP05 = 0x2, PM_LP1 = 0x3, PM_LP2 = 0x4, PM_LP5 = 0x5, PM_LP10 = 0x6 }

enum	REG2_BITS_T { REG2_HPCF0 = 0x01, REG2_HPCF1 = 0x02, REG2_HPCF_SHIFT = 0, REG2_HPEN1 = 0x04, REG2_HPEN2 = 0x08, REG2_FDS = 0x10, REG2_HPM0 = 0x20, REG2_HPM1 = 0x40, REG2_HPM_SHIFT = 5, REG2_BOOT = 0x80 }

enum	HPCF_BITS_T { HPCF_8 = 0x0, HPCF_16 = 0x1, HPCF_32 = 0x2, HPCF_64 = 0x3 }

enum	HPM_BITS_T { HPM_NORMAL0 = 0x0, HPM_REF = 0x1, HPM_NORMAL1 = 0x2 }

enum	REG3_BITS_T { REG3_I1_CFG0 = 0x01, REG3_I1_CFG1 = 0x02, REG3_I1_CFG_SHIFT = 0, REG3_LIR1 = 0x04, REG3_I2_CFG0 = 0x08, REG3_I2_CFG1 = 0x10, REG3_I2_CFG_SHIFT = 3, REG3_LIR2 = 0x20, REG3_PP_OD = 0x40, REG3_IHL = 0x80 }

enum	I_CFG_BITS_T { I_SRC = 0x0, I_OR = 0x1, I_DR = 0x2, I_BOOTING = 0x3 }

enum	REG4_BITS_T { REG4_SIM = 0x01, REG4_FS0 = 0x10, REG4_FS1 = 0x20, REG4_FS_SHIFT = 4, REG4_BLE = 0x40, REG4_BDU = 0x80 }

enum	FS_BITS_T { FS_100 = 0x0, FS_200 = 0x1, FS_400 = 0x3 }

enum	REG5_BITS_T { REG5_TURNON0 = 0x01, REG5_TURNON1 = 0x02 }

enum	STATUS_BITS_T { STATUS_XDA = 0x01, STATUS_YDA = 0x02, STATUS_ZDA = 0x04, STATUS_ZYXDA = 0x08, STATUS_XOR = 0x10, STATUS_YOR = 0x20, STATUS_ZOR = 0x40, STATUS_ZYXOR = 0x80 }

enum	INT_CFG_BITS_T { INT_CFG_XLIE = 0x01, INT_CFG_XHIE = 0x02, INT_CFG_YLIE = 0x04, INT_CFG_YHIE = 0x08, INT_CFG_ZLIE = 0x10, INT_CFG_ZHIE = 0x20, INT_CFG_AOI = 0x80 }

enum	INT_SRC_BITS_T { INT_SRC_XL = 0x01, INT_SRC_XH = 0x02, INT_SRC_YL = 0x04, INT_SRC_YH = 0x08, INT_SRC_ZL = 0x10, INT_SRC_ZH = 0x20, INT_SRC_IA = 0x40 }

Public Member Functions
	H3LIS331DL (int bus, uint8_t address=H3LIS331DL_DEFAULT_I2C_ADDR)

	~H3LIS331DL ()

bool	init (DR_BITS_T odr=DR_50_37, PM_BITS_T pm=PM_NORMAL, FS_BITS_T fs=FS_100)

uint8_t	getChipID ()

bool	setDataRate (DR_BITS_T odr)

bool	setPowerMode (PM_BITS_T pm)

bool	enableAxis (uint8_t axisEnable)

bool	setFullScale (FS_BITS_T fs)

bool	setHPCF (HPCF_BITS_T val)

bool	setHPM (HPM_BITS_T val)

bool	boot ()

bool	enableHPF1 (bool enable)

bool	enableHPF2 (bool enable)

bool	enableFDS (bool enable)

bool	setInterruptActiveLow (bool enable)

bool	setInterruptOpenDrain (bool enable)

bool	setInterrupt1Latch (bool enable)

bool	setInterrupt2Latch (bool enable)

bool	setInterrupt1PadConfig (I_CFG_BITS_T val)

bool	setInterrupt2PadConfig (I_CFG_BITS_T val)

bool	enableBDU (bool enable)

bool	enableBLE (bool enable)

bool	enableSleepToWake (bool enable)

uint8_t	getStatus ()

bool	setInterrupt1Config (uint8_t val)

bool	setInterrupt2Config (uint8_t val)

bool	setInterrupt1Source (uint8_t val)

bool	setInterrupt2Source (uint8_t val)

bool	setInterrupt1Threshold (uint8_t val)

bool	setInterrupt2Threshold (uint8_t val)

bool	setInterrupt1Duration (uint8_t val)

bool	setInterrupt2Duration (uint8_t val)

void	update ()

void	setAdjustmentOffsets (int adjX, int adjY, int adjZ)

void	getAcceleration (float aX, float aY, float *aZ)

void	getRawXYZ (int x, int y, int *z)

void	getXYZ (int x, int y, int *z)

std::vector< float >	getAcceleration ()

std::vector< int >	getRawXYZ ()

std::vector< int >	getXYZ ()

mraa::I2c &	i2cContext ()

Protected Attributes
int16_t	m_rawX

int16_t	m_rawY

int16_t	m_rawZ

int16_t	m_adjX

int16_t	m_adjY

int16_t	m_adjZ

mraa::I2c	m_i2c

Member Enumeration Documentation

enum H3LIS331DL_REG_T

H3LIS331DL registers

enum REG1_BITS_T

REG1 bits

enum DR_BITS_T

REG1 DR (output rate) bits

enum PM_BITS_T

REG1 PM (power mode) bits

enum REG2_BITS_T

REG2 bits

enum HPCF_BITS_T

REG2 HPCF (high-pass cutoff frequency) bits

enum HPM_BITS_T

REG2 HPM (high-pass filter mode) bits

enum REG3_BITS_T

REG3 bits

enum I_CFG_BITS_T

REG3 I1/I2 PAD control bits

enum REG4_BITS_T

REG4 bits

enum FS_BITS_T

REG4 FS (full scale) bits

enum REG5_BITS_T

REG5 TURNON (sleep to wake) bits

enum STATUS_BITS_T

STATUS bits

enum INT_CFG_BITS_T

INT1/INT2 CFG bits

enum INT_SRC_BITS_T

INT1/INT2 SRC bits

Constructor & Destructor Documentation

H3LIS331DL	(	int	bus,
		uint8_t	address = `H3LIS331DL_DEFAULT_I2C_ADDR`
	)

H3LIS331DL constructor

Parameters

bus	I2C bus to use
address	Address for this device

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~H3LIS331DL ( )

H3LIS331DL destructor

Member Function Documentation

bool init	(	DR_BITS_T	odr = `DR_50_37`,
		PM_BITS_T	pm = `PM_NORMAL`,
		FS_BITS_T	fs = `FS_100`
	)

Sets up initial values and starts operation

Parameters

odr	Data rate: one of the DR_BITS_T values
pm	Power mode: one of the PM_BITS_T values
fs	FullScale: one of the FS_BITS_T values

Returns: True if successful

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uint8_t getChipID ( )

Reads and returns the chip ID (WHO_AM_I register)

Returns: True if successful

bool setDataRate ( DR_BITS_T odr )

Sets the output data rate

Parameters

odr	One of the DR_BITS_T values

Returns: True if successful

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bool setPowerMode ( PM_BITS_T pm )

Sets the power mode

Parameters

pm	One of the PM_BITS_T values

Returns: True if successful

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bool enableAxis ( uint8_t axisEnable )

Enables one or more of the 3 axes. The argument is a bitmask composed of REG1_XEN, REG1_YEN, and/or REG1_ZEN corresponding to the axes you want enabled.

Parameters

axisEnable Bitmask of axes to enable (REG1_XEN | REG1_YEN | REG1_ZEN)

Returns: True if successful

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bool setFullScale ( FS_BITS_T fs )

Sets the scaling factor to 100g, 200g, or 400g

Parameters

fs	One of the FS_BITS_T values

Returns: True if successful

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bool setHPCF ( HPCF_BITS_T val )

Sets a high-pass cutoff filter

Parameters

val	One of the HPCF_BITS_T values

Returns: True if successful

bool setHPM ( HPM_BITS_T val )

Sets a high-pass filter mode

Parameters

val	One of the HPM_BITS_T values

Returns: True if successful

bool boot ( )

Boots the device. Booting the device causes internal flash calibration values to be reloaded into the visible registers in case they have been corrupted. This function returns when the booting is complete.

Returns: True if successful

bool enableHPF1 ( bool enable )

Enables a high-pass filter for interrupt 1 source

Parameters

enable True to enable the filter, false otherwise

Returns: True if successful

bool enableHPF2 ( bool enable )

Enables a high-pass filter for interrupt 2 source

Parameters

enable True to enable the filter, false otherwise

Returns: True if successful

bool enableFDS ( bool enable )

Enables filtered data selection

Parameters

enable True to enable, false otherwise

Returns: True if successful

bool setInterruptActiveLow ( bool enable )

Sets interrupts to be active low instead of high

Parameters

enable True to enable, false otherwise

Returns: True if successful

bool setInterruptOpenDrain ( bool enable )

Sets an interrupt output mode to open drain rather than push/pull

Parameters

enable True to enable, false otherwise

Returns: True if successful

bool setInterrupt1Latch ( bool enable )

Enables interrupt 1 latch

Parameters

enable True to enable, false otherwise

Returns: True if successful

bool setInterrupt2Latch ( bool enable )

Enables interrupt 2 latch

Parameters

enable True to enable, false otherwise

Returns: True if successful

bool setInterrupt1PadConfig ( I_CFG_BITS_T val )

Sets the interrupt 1 pad configuration

Parameters

val	One fo the I_CFG_BITS_T values

Returns: True if successful

bool setInterrupt2PadConfig ( I_CFG_BITS_T val )

Sets the interrupt 2 pad configuration

Parameters

val	One fo the I_CFG_BITS_T values

Returns: True if successful

bool enableBDU ( bool enable )

Enables block data update. When enabled, low/high output registers are not updated until both low and high values have been read.

Parameters

enable True to enable, false otherwise

Returns: True if successful

bool enableBLE ( bool enable )

Enables big-endian output for 16b reads

Parameters

enable True to enable, false otherwise

Returns: True if successful

bool enableSleepToWake ( bool enable )

Enables sleep-to-wake functionality

Parameters

enable True to enable, false otherwise

Returns: True if successful

uint8_t getStatus ( )

Returns the contents of the REG_STATUS register

Returns: Contents of the REG_STATUS register

bool setInterrupt1Config ( uint8_t val )

Sets up the interrupt 1 config register

Parameters

val	Bitmask of desired INT_CFG_BITS_T bits

Returns: True if successful

bool setInterrupt2Config ( uint8_t val )

Sets up the interrupt 2 config register

Parameters

val	Bitmask of desired INT_CFG_BITS_T bits

Returns: True if successful

bool setInterrupt1Source ( uint8_t val )

Sets up the interrupt 1 source register

Parameters

val	Bitmask of desired INT_SRC_BITS_T bits

Returns: True if successful

bool setInterrupt2Source ( uint8_t val )

Sets up the interrupt 2 source register

Parameters

val	Bitmask of desired INT_SRC_BITS_T bits

Returns: True if successful

bool setInterrupt1Threshold ( uint8_t val )

Sets up the interrupt 1 threshold register

Parameters

val	Threshold to set

Returns: True if successful

bool setInterrupt2Threshold ( uint8_t val )

Sets up the interrupt 2 threshold register

Parameters

val	Threshold to set

Returns: True if successful

bool setInterrupt1Duration ( uint8_t val )

Sets up the interrupt 1 duration register

Parameters

val	Duration to set

Returns: True if successful

bool setInterrupt2Duration ( uint8_t val )

Sets up the interrupt 2 duration register

Parameters

val	Duration to set

Returns: True if successful

void update ( void )

Reads the sensor and stores current values internally

void setAdjustmentOffsets	(	int	adjX,
		int	adjY,
		int	adjZ
	)

Sets adjustment offsets for each of the axes. This can be used for calibration. The values supplied here are subtracted from the axis data read from the device.

Parameters

adjX	Amount by which to correct the X-axis measurement
adjY	Amount by which to correct the Y-axis measurement
adjZ	Amount by which to correct the Z-axis measurement

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void getAcceleration	(	float *	aX,
		float *	aY,
		float *	aZ
	)

Gets acceleration values for each of the axes

Parameters

aX	Returned X-axis acceleration
aY	Returned Y-axis acceleration
aZ	Returned Z-axis acceleration

void getRawXYZ	(	int *	x,
		int *	y,
		int *	z
	)

Gets raw axis values

Parameters

x	Returned raw X-axis value
y	Returned raw Y-axis value
z	Returned raw Z-axis value

void getXYZ	(	int *	x,
		int *	y,
		int *	z
	)

Gets adjusted axis values

Parameters

x	Returned X-axis value
y	Returned Y-axis value
z	Returned Z-axis value

std::vector< float > getAcceleration ( )

Gets acceleration values for each of the axes

Returns: std::vector containing X, Y, Z acceleration values

std::vector< int > getRawXYZ ( )

Gets raw axis values

Returns: std::vector containing X, Y, Z raw values

std::vector< int > getXYZ ( )

Gets adjusted axis values

Returns: std::vector containing X, Y, Z adjusted axis values

mraa::I2c& i2cContext ( )

inline

Provides public access to the MRAA I2C context of the class for direct user access

Returns: Reference to the class I2C context

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

src/h3lis331dl/h3lis331dl.hpp
src/h3lis331dl/h3lis331dl.cxx

Detailed Description

Public Types

Public Member Functions

Protected Attributes

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation