C++ API for the H3LIS331DL based Grove 3-axis I2C Accelerometer (400G) More...

Detailed Description

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

  // Instantiate an H3LIS331DL on I2C bus 0
  upm::H3LIS331DL *accel = new upm::H3LIS331DL(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;
      usleep(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)

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

Constructor & Destructor Documentation

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

h3lis331dl constructor

Parameters

bus	i2c bus to use
address	the 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`
	)

set up initial values and start operation

Parameters

odr	the data rate: one of the DR_BITS_T values
pm	the power mode: one of the PM_BITS_T values
fs	the FullScale: one of the FS_BITS_T values

Returns: true if successful

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uint8_t getChipID ( )

read and return the Chip ID (WHO_AM_I register)

Returns: true if successful

bool setDataRate ( DR_BITS_T odr )

set the output data rate

Parameters

one	of the DR_BITS_T values

Returns: true if successful

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bool setPowerMode ( PM_BITS_T pm )

set the power mode

Parameters

one	of the PM_BITS_T values

Returns: true if successful

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bool enableAxis ( uint8_t axisEnable )

enable one or more of the 3 axes. The arguement is a bitmsk composed of REG1_XEN, REG1_YEN and/or REG1_ZEN corresponding 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 )

set the scaling factor to 100, 200, or 400G's

Parameters

fs	one of the FS_BITS_T values

Returns: true if successful

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bool setHPCF ( HPCF_BITS_T val )

set high pass cutoff filter

Parameters

val	one of the HPCF_BITS_T values

Returns: true if successful

bool setHPM ( HPM_BITS_T val )

set high pass filter mode

Parameters

val	one of the HPM_BITS_T values

Returns: true if successful

bool boot ( )

boot the device. Booting the device causes internal flash calibration values to be reloaded into the visible registers, in the event they have been corrupted. This function will return when boot is complete.

Returns: true if successful

bool enableHPF1 ( bool enable )

enable high pass filter for interrupt 1 source

Parameters

enable true to enable the filter, false otherwise

Returns: true if successful

bool enableHPF2 ( bool enable )

enable high pass filter for interrupt 2 source

Parameters

enable true to enable the filter, false otherwise

Returns: true if successful

bool enableFDS ( bool enable )

enable filtered data selection

Parameters

enable true to enable, false otherwise

Returns: true if successful

bool setInterruptActiveLow ( bool enable )

set interrupts to be active low instead of high

Parameters

enable true to enable, false otherwise

Returns: true if successful

bool setInterruptOpenDrain ( bool enable )

set 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 )

set interrupt 1 latch enable

Parameters

enable true to enable, false otherwise

Returns: true if successful

bool setInterrupt2Latch ( bool enable )

set interrupt 2 latch enable

Parameters

enable true to enable, false otherwise

Returns: true if successful

bool setInterrupt1PadConfig ( I_CFG_BITS_T val )

set 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 )

set the interrupt 2 pad configuration

Parameters

val	one fo the I_CFG_BITS_T values

Returns: true if successful

bool enableBDU ( bool enable )

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

Parameters

enable true to enable, false otherwise

Returns: true if successful

bool enableBLE ( bool enable )

enable big endian output for 16b reads

Parameters

enable true to enable, false otherwise

Returns: true if successful

bool enableSleepToWake ( bool enable )

enable sleep to wake functionality.

Parameters

enable true to enable, false otherwise

Returns: true if successful

uint8_t getStatus ( )

return the contents of the REG_STATUS register

Returns: the contents of the REG_STATUS register

bool setInterrupt1Config ( uint8_t val )

setup the interrupt 1 config register

Parameters

val	a bitmask of desired INT_CFG_BITS_T bits

Returns: true if successful

bool setInterrupt2Config ( uint8_t val )

setup the interrupt 2 config register

Parameters

val	a bitmask of desired INT_CFG_BITS_T bits

Returns: true if successful

bool setInterrupt1Source ( uint8_t val )

setup the interrupt 1 source register

Parameters

val	a bitmask of desired INT_SRC_BITS_T bits

Returns: true if successful

bool setInterrupt2Source ( uint8_t val )

setup the interrupt 2 source register

Parameters

val	a bitmask of desired INT_SRC_BITS_T bits

Returns: true if successful

bool setInterrupt1Threshold ( uint8_t val )

setup the interrupt 1 threshold register

Parameters

val	the threshhold to set

Returns: true if successful

bool setInterrupt2Threshold ( uint8_t val )

setup the interrupt 2 threshold register

Parameters

val	the threshhold to set

Returns: true if successful

bool setInterrupt1Duration ( uint8_t val )

setup the interrupt 1 duration register

Parameters

val	the duration to set

Returns: true if successful

bool setInterrupt2Duration ( uint8_t val )

setup the interrupt 2 duration register

Parameters

val	the duration to set

Returns: true if successful

void update ( void )

read the sensor and store current values internally

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

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

Parameters

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

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

get the acceleration values for each of the axes

Parameters

aX	the returned X acceleration
aY	the returned Y acceleration
aZ	the returned Z acceleration

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

get the raw axis values

Parameters

x	the returned raw X value
y	the returned raw Y value
z	the returned raw Z value

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

get the adjusted axis values

Parameters

x	the returned X value
y	the returned Y value
z	the returned Z value

mraa::I2c& i2cContext ( )

inline

provide public access to the class's MRAA i2C context for direct user access

Returns: a reference to the class i2c context

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

/var/lib/jenkins/workspace/upm-doc-stable/src/h3lis331dl/h3lis331dl.h
/var/lib/jenkins/workspace/upm-doc-stable/src/h3lis331dl/h3lis331dl.cxx

Detailed Description

Public Types

Public Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation