Accelerometer_H3LIS331DL/H3LIS331DL.h

/*
    H3LIS331DL.h
    A library for 3-Axis Digital Accelerometer(±400g)

    Copyright (c) 2014 seeed technology inc.
    Website    : www.seeed.cc
    Author     : lawliet zou
    Create Time: April 2014
    Change Log :

    The MIT License (MIT)

    Permission is hereby granted, free of charge, to any person obtaining a copy
    of this software and associated documentation files (the "Software"), to deal
    in the Software without restriction, including without limitation the rights
    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
    copies of the Software, and to permit persons to whom the Software is
    furnished to do so, subject to the following conditions:

    The above copyright notice and this permission notice shall be included in
    all copies or substantial portions of the Software.

    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
    THE SOFTWARE.
*/

#include "Arduino.h"

#ifndef H3LIS331DL_H
#define H3LIS331DL_H

#define MEMS_SET                        0x01
#define MEMS_RESET                      0x00

#define H3LIS331DL_MEMS_I2C_ADDRESS     0x18//0x32

//Register and define
#define H3LIS331DL_WHO_AM_I             0x0F   // device identification register

// CONTROL REGISTER 1
#define H3LIS331DL_CTRL_REG1            0x20
#define H3LIS331DL_PM                   BIT(5) //PowerMode selection: 000 - power down / 001 - normal mode / other - low power
#define H3LIS331DL_DR                   BIT(3) //output data rate: 00 - 50hz / 01 - 100hz / 10 - 400hz / 11 - 1000hz
#define H3LIS331DL_ZEN                  BIT(2) //Z-axis enable: 0 - disable / 1 - enable
#define H3LIS331DL_YEN                  BIT(1) //Y-axis enable: 0 - disable / 1 - enable
#define H3LIS331DL_XEN                  BIT(0) //Y-axis enable: 0 - disable / 1 - enable

//CONTROL REGISTER 2
#define H3LIS331DL_CTRL_REG2            0x21
#define H3LIS331DL_BOOT                 BIT(7) //reboot memory content, default is 0
#define H3LIS331DL_HPM                  BIT(5) //High-pass-filter mode selection, default is 00
#define H3LIS331DL_FDS                  BIT(4) //Filter data selection, default is 0
#define H3LIS331DL_HPEN2                BIT(3) //High-pass filter enabled for interrupt 2 source, default is 0
#define H3LIS331DL_HPEN1                BIT(2) //High-pass filter enabled for interrupt 1 source, default is 0
#define H3LIS331DL_HPCF                 BIT(0) //High-pass filter cutoff frequency configuration, default is 00

//CONTROL REGISTER 3
#define H3LIS331DL_CTRL_REG3            0x22
#define H3LIS331DL_IHL                  BIT(7) //Interrupt active high,low. default is 0
#define H3LIS331DL_PP_OD                BIT(6) //Push-pull/open drain selection on interrupt pad. default is 0
#define H3LIS331DL_LIR2                 BIT(5) //Latch interrupt request on INT2_SRC register, with INT2_SRC register cleared by read INT2_SRC itself. default is 0
#define H3LIS331DL_I2_CFG               BIT(3) //Data signal on INT2 pad control bits, default is 00
#define H3LIS331DL_LIR1                 BIT(2) //Latch interrupt request on the INT1_SRC register, with the INT1_SRC register cleared by reading the INT1_SRC register.
#define H3LIS331DL_I1_CFG               BIT(0) //Data signal on INT1 pad control bits, default is 00

//CONTROL REGISTER 4
#define H3LIS331DL_CTRL_REG4            0x23
#define H3LIS331DL_BDU                  BIT(7) //Block data update, default is 0
#define H3LIS331DL_BLE                  BIT(6) //Big/little endian data selection, default is 0
#define H3LIS331DL_FS                   BIT(4) //Full scale selection, default is 00(00:100g;01:200g;11:400g)
#define H3LIS331DL_ST_SIGN              BIT(3) //
#define H3LIS331DL_ST                   BIT(1) //
#define H3LIS331DL_SIM                  BIT(0) // SPI serial interface mode selection, default is 0

//CONTROL REGISTER 5
#define H3LIS331DL_CTRL_REG5            0x24
#define H3LIS331DL_TURN_ON              BIT(0) // Turn-on mode selection selection for sleep to wake function. default is 00

#define H3LIS331DL_HP_FILTER_RESET      0x25   // 

//REFERENCE/DATA_CAPTURE
#define H3LIS331DL_REFERENCE_REG        0x26   //
#define H3LIS331DL_REF                  BIT(0) //

//STATUS_REG_AXIES
#define H3LIS331DL_STATUS_REG           0x27   //

//OUTPUT REGISTER
#define H3LIS331DL_OUT_X_L              0x28   //x-axis acceleration data
#define H3LIS331DL_OUT_X_H              0x29
#define H3LIS331DL_OUT_Y_L              0x2A   //y-axis acceleration data
#define H3LIS331DL_OUT_Y_H              0x2B
#define H3LIS331DL_OUT_Z_L              0x2C   //z-axis acceleration data
#define H3LIS331DL_OUT_Z_H              0x2D


//INTERRUPT 1 CONFIGURATION
#define H3LIS331DL_INT1_CFG             0x30

//INTERRUPT 2 CONFIGURATION
#define H3LIS331DL_INT2_CFG             0x34
#define H3LIS331DL_ANDOR                BIT(7)
#define H3LIS331DL_INT_6D               BIT(6)

//INT REGISTERS
#define H3LIS331DL_INT1_THS             0x32
#define H3LIS331DL_INT1_DURATION        0x33
#define H3LIS331DL_INT2_THS             0x36
#define H3LIS331DL_INT2_DURATION        0x37

//INTERRUPT 1 SOURCE REGISTER
#define H3LIS331DL_INT1_SRC             0x31
#define H3LIS331DL_INT2_SRC             0x35

//INT_CFG  bit mask
#define H3LIS331DL_INT_AND              0x80
#define H3LIS331DL_INT_OR               0x00
#define H3LIS331DL_INT_ZHIE_ENABLE      0x20
#define H3LIS331DL_INT_ZHIE_DISABLE     0x00
#define H3LIS331DL_INT_ZLIE_ENABLE      0x10
#define H3LIS331DL_INT_ZLIE_DISABLE     0x00
#define H3LIS331DL_INT_YHIE_ENABLE      0x08
#define H3LIS331DL_INT_YHIE_DISABLE     0x00
#define H3LIS331DL_INT_YLIE_ENABLE      0x04
#define H3LIS331DL_INT_YLIE_DISABLE     0x00
#define H3LIS331DL_INT_XHIE_ENABLE      0x02
#define H3LIS331DL_INT_XHIE_DISABLE     0x00
#define H3LIS331DL_INT_XLIE_ENABLE      0x01
#define H3LIS331DL_INT_XLIE_DISABLE     0x00

//INT_SRC  bit mask
#define H3LIS331DL_INT_SRC_IA           0x40
#define H3LIS331DL_INT_SRC_ZH           0x20
#define H3LIS331DL_INT_SRC_ZL           0x10
#define H3LIS331DL_INT_SRC_YH           0x08
#define H3LIS331DL_INT_SRC_YL           0x04
#define H3LIS331DL_INT_SRC_XH           0x02
#define H3LIS331DL_INT_SRC_XL           0x01

//STATUS REGISTER bit mask
#define H3LIS331DL_STATUS_REG_ZYXOR     0x80    // 1:new data set has over written the previous one
// 0:no overrun has occurred (default)
#define H3LIS331DL_STATUS_REG_ZOR       0x40    // 0:no overrun has occurred (default)
// 1:new Z-axis data has over written the previous one
#define H3LIS331DL_STATUS_REG_YOR       0x20    // 0:no overrun has occurred (default)
// 1:new Y-axis data has over written the previous one
#define H3LIS331DL_STATUS_REG_XOR       0x10    // 0:no overrun has occurred (default)
// 1:new X-axis data has over written the previous one
#define H3LIS331DL_STATUS_REG_ZYXDA     0x08    // 0:a new set of data is not yet avvious one
// 1:a new set of data is available
#define H3LIS331DL_STATUS_REG_ZDA       0x04    // 0:a new data for the Z-Axis is not availvious one
// 1:a new data for the Z-Axis is available
#define H3LIS331DL_STATUS_REG_YDA       0x02    // 0:a new data for the Y-Axis is not available
// 1:a new data for the Y-Axis is available
#define H3LIS331DL_STATUS_REG_XDA       0x01    // 0:a new data for the X-Axis is not available
// 1:a new data for the X-Axis is available
#define H3LIS331DL_DATAREADY_BIT        H3LIS331DL_STATUS_REG_ZYXDA

#define ValBit(VAR,Place)         (VAR & (1<<Place))
#define BIT(x) ( (x) )

typedef uint8_t H3LIS331DL_Axis_t;
typedef uint8_t H3LIS331DL_IntConf_t;

//define structure
typedef enum {
    MEMS_SUCCESS  = 0x01,
    MEMS_ERROR  = 0x00
} status_t;

typedef enum {
    MEMS_ENABLE   = 0x01,
    MEMS_DISABLE    = 0x00
} State_t;

typedef struct {
    int16_t AXIS_X;
    int16_t AXIS_Y;
    int16_t AXIS_Z;
} AxesRaw_t;

typedef enum {
    H3LIS331DL_ODR_50Hz    = 0x00,
    H3LIS331DL_ODR_100Hz   = 0x01,
    H3LIS331DL_ODR_400Hz   = 0x02,
    H3LIS331DL_ODR_1000Hz  = 0x03
} H3LIS331DL_ODR_t;

typedef enum {
    H3LIS331DL_CONTINUOUS_MODE = 0x00,
    H3LIS331DL_SINGLE_MODE     = 0x01,
    H3LIS331DL_SLEEP_MODE      = 0x02
} H3LIS331DL_Mode_M_t;

typedef enum {
    H3LIS331DL_POWER_DOWN   = 0x00,
    H3LIS331DL_NORMAL       = 0x01,
    H3LIS331DL_LOW_POWER_05 = 0x02,
    H3LIS331DL_LOW_POWER_1  = 0x03,
    H3LIS331DL_LOW_POWER_2  = 0x04,
    H3LIS331DL_LOW_POWER_5  = 0x05,
    H3LIS331DL_LOW_POWER_10 = 0x06,
} H3LIS331DL_Mode_t;

typedef enum {
    H3LIS331DL_HPM_NORMAL_MODE_RES = 0x00,
    H3LIS331DL_HPM_REF_SIGNAL      = 0x01,
    H3LIS331DL_HPM_NORMAL_MODE     = 0x02,
} H3LIS331DL_HPFMode_t;

typedef enum {
    H3LIS331DL_HPFCF_0 = 0x00,
    H3LIS331DL_HPFCF_1 = 0x01,
    H3LIS331DL_HPFCF_2 = 0x02,
    H3LIS331DL_HPFCF_3 = 0x03,
} H3LIS331DL_HPFCutOffFreq_t;

typedef enum {
    H3LIS331DL_INT_SOURCE      = 0x00,
    H3LIS331DL_INT_1OR2_SOURCE = 0x01,
    H3LIS331DL_DATA_READY      = 0x02,
    H3LIS331DL_BOOT_RUNNING    = 0x03
} H3LIS331DL_INT_Conf_t;

typedef enum {
    H3LIS331DL_SLEEP_TO_WAKE_DIS    = 0x00,
    H3LIS331DL_SLEEP_TO_WAKE_ENA    = 0x03,
} H3LIS331DL_Sleep_To_Wake_Conf_t;

typedef enum {
    H3LIS331DL_FULLSCALE_2    = 0x00,
    H3LIS331DL_FULLSCALE_4    = 0x01,
    H3LIS331DL_FULLSCALE_8    = 0x03,
} H3LIS331DL_Fullscale_t;

typedef enum {
    H3LIS331DL_BLE_LSB        = 0x00,
    H3LIS331DL_BLE_MSB        = 0x01
} H3LIS331DL_Endianess_t;

typedef enum {
    H3LIS331DL_SPI_4_WIRE = 0x00,
    H3LIS331DL_SPI_3_WIRE = 0x01
} H3LIS331DL_SPIMode_t;

typedef enum {
    H3LIS331DL_X_ENABLE     = 0x01,
    H3LIS331DL_X_DISABLE    = 0x00,
    H3LIS331DL_Y_ENABLE     = 0x02,
    H3LIS331DL_Y_DISABLE    = 0x00,
    H3LIS331DL_Z_ENABLE     = 0x04,
    H3LIS331DL_Z_DISABLE    = 0x00
} H3LIS331DL_AXISenable_t;

typedef enum {
    H3LIS331DL_UP_SX  = 0x44,
    H3LIS331DL_UP_DX  = 0x42,
    H3LIS331DL_DW_SX  = 0x41,
    H3LIS331DL_DW_DX  = 0x48,
    H3LIS331DL_TOP    = 0x60,
    H3LIS331DL_BOTTOM = 0x50
} H3LIS331DL_POSITION_6D_t;

typedef enum {
    H3LIS331DL_INT_MODE_OR            = 0x00,
    H3LIS331DL_INT_MODE_6D_MOVEMENT   = 0x01,
    H3LIS331DL_INT_MODE_AND           = 0x02,
    H3LIS331DL_INT_MODE_6D_POSITION   = 0x03
} H3LIS331DL_IntMode_t;


class H3LIS331DL {
  public:
    H3LIS331DL() {
        _adjVal[0] = _adjVal[1] = _adjVal[2] = 0;
    };
    void init(H3LIS331DL_ODR_t  odr = H3LIS331DL_ODR_100Hz,
              H3LIS331DL_Mode_t mode = H3LIS331DL_NORMAL, H3LIS331DL_Fullscale_t fullScale = H3LIS331DL_FULLSCALE_2);
    void importPara(int16_t val_x, int16_t val_y, int16_t val_z);
    void readXYZ(int16_t* x, int16_t* y, int16_t* z);
    void getAcceleration(double* xyz);
    //Sensor Configuration Functions
    status_t getWHO_AM_I(byte* val);
    status_t setODR(H3LIS331DL_ODR_t dr);
    status_t setMode(H3LIS331DL_Mode_t pm);
    status_t setAxis(H3LIS331DL_Axis_t axis);
    status_t setFullScale(H3LIS331DL_Fullscale_t fs);
    status_t setBDU(State_t bdu);
    status_t setBLE(H3LIS331DL_Endianess_t ble);
    status_t setSelfTest(State_t st);
    status_t setSelfTestSign(State_t st_sign);
    status_t turnONEnable(H3LIS331DL_Sleep_To_Wake_Conf_t stw);
    status_t setBOOT(State_t boot);
    status_t setFDS(State_t fds);
    status_t setSPI34Wire(H3LIS331DL_SPIMode_t sim);

    //Filtering Functions
    status_t setHPFMode(H3LIS331DL_HPFMode_t hpm);
    status_t setHPFCutOFF(H3LIS331DL_HPFCutOffFreq_t hpf);
    status_t setFilterDataSel(State_t state);
    status_t setReference(int8_t ref);

    //Interrupt Functions
    status_t setIntHighLow(State_t hil);
    status_t setIntPPOD(State_t pp_od);
    status_t setInt1DataSign(H3LIS331DL_INT_Conf_t i_cfg);
    status_t setInt2DataSign(H3LIS331DL_INT_Conf_t i_cfg);
    status_t setInt1HPEnable(State_t stat);
    status_t setInt2HPEnable(State_t stat);
    status_t int1LatchEnable(State_t latch);
    status_t int2LatchEnable(State_t latch);
    status_t resetInt1Latch(void);
    status_t resetInt2Latch(void);
    status_t setInt1Configuration(H3LIS331DL_IntConf_t ic);
    status_t setInt2Configuration(H3LIS331DL_IntConf_t ic);
    status_t setInt1Threshold(byte ths);
    status_t setInt2Threshold(byte ths);
    status_t setInt1Duration(byte id);
    status_t setInt2Duration(byte id);
    status_t setInt1Mode(H3LIS331DL_IntMode_t int_mode);
    status_t setInt2Mode(H3LIS331DL_IntMode_t int_mode);
    status_t getInt1Src(byte* val);
    status_t getInt2Src(byte* val);
    status_t getInt1SrcBit(byte statusBIT, byte* val);
    status_t getInt2SrcBit(byte statusBIT, byte* val);

    //Other Reading Functions
    status_t getStatusReg(byte* val);
    status_t getStatusBit(byte statusBIT, byte* val);
    status_t getAccAxesRaw(AxesRaw_t* buff);
    status_t get6DPositionInt1(byte* val);
    status_t get6DPositionInt2(byte* val);

  private:
    uint8_t readReg(byte deviceAddr, byte Reg, byte* Data);
    uint8_t writeReg(byte deviceAddress, byte WriteAddr, byte Data);
    int16_t _adjVal[3];
};

#endif /*__H3LIS331DL_H */