LIS3DSH.h

00001 /* LIS3DSH Library v1.0
00002  * Copyright (c) 2016 Grant Phillips
00003  * grant.phillips@nmmu.ac.za
00004  *
00005  *
00006  * Permission is hereby granted, free of charge, to any person obtaining a copy
00007  * of this software and associated documentation files (the "Software"), to deal
00008  * in the Software without restriction, including without limitation the rights
00009  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00010  * copies of the Software, and to permit persons to whom the Software is
00011  * furnished to do so, subject to the following conditions:
00012  *
00013  * The above copyright notice and this permission notice shall be included in
00014  * all copies or substantial portions of the Software.
00015  *
00016  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00017  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00018  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00019  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00020  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00021  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00022  * THE SOFTWARE.
00023  */
00024  
00025 #ifndef LIS3DSH_H
00026 #define LIS3DSH_H
00027  
00028 #include "mbed.h"
00029 
00030 /** Class library for a LIS3DSH MEMS digital output motion sensor (acceleromoter).
00031  *
00032  * Example:
00033  * @code
00034  * #include "mbed.h"
00035  * #include "LIS3DSH.h"
00036  *
00037  * LIS3DSH acc(PA_7, PA_6, PA_5, PE_3);
00038  * //          mosi, miso, clk , cs
00039  * 
00040  * int main() {
00041  *    int16_t X, Y, Z;    //signed integer variables for raw X,Y,Z values
00042  *    float roll, pitch;  //float variables for angles
00043  *    
00044  *    if(acc.Detect() != 1) {
00045  *        printf("LIS3DSH Acceleromoter not detected!\n");
00046  *        while(1){ };
00047  *    }
00048  *    
00049  *    while(1) {
00050  *        acc.ReadData(&X, &Y, &Z);           //read X, Y, Z values
00051  *        acc.ReadAngles(&roll, &pitch);      //read roll and pitch angles
00052  *        printf("X: %d  Y: %d  Z: %d\n", X, Y, Z);
00053  *        printf("Roll: %f   Pitch: %f\n", roll, pitch);
00054  *       
00055  *        wait(1.0);  //delay before reading next values
00056  *    }
00057  * }
00058  * @endcode
00059  */
00060  
00061 class LIS3DSH {
00062   public:
00063     /** Create a LIS3DSH object connected to the specified pins.
00064     * @param mosi SPI compatible pin used for the LIS3DSH's MOSI pin
00065     * @param miso SPI compatible pin used for the LIS3DSH's MISO pin
00066     * @param clk SPI compatible pin used for the LIS3DSH's CLK pin
00067     * @param cs DigitalOut compatible pin used for the LIS3DSH's CS pin
00068     */
00069     LIS3DSH(PinName mosi, PinName miso, PinName clk, PinName cs);
00070 
00071     /** Determines if the LIS3DSH acceleromoter can be detected.
00072     * @param 
00073     *     None
00074     * @return 
00075     *     1 = detected; 0 = not detected.
00076     */
00077     int Detect(void);
00078     
00079     /** Write a byte of data to the LIS3DSH at a selected address.
00080     * @param addr 8-bit address to where the data should be written
00081     * @param data 8-bit data byte to write
00082     * @return 
00083     *     None
00084     */
00085     void WriteReg(uint8_t addr, uint8_t data);
00086     
00087     /** Read data from the LIS3DSH from a selected address.
00088     * @param 
00089     *     addr 8-bit address from where the data should be read
00090     * @return
00091     *     Contents of the register as a 8-bit data byte.
00092     */
00093     uint8_t ReadReg(uint8_t addr);
00094     
00095     /** Reads the raw X, Y, Z values from the LIS3DSH as signed 16-bit values (int16_t).
00096     * @param X Reference to variable for the raw X value
00097     * @param Y Reference to variable for the raw Y value
00098     * @param Z Reference to variable for the raw Z value
00099     * @return 
00100     *     None
00101     */
00102     void ReadData(int16_t *X, int16_t *Y, int16_t *Z);
00103     
00104     /** Reads the roll angle and pitch angle from the LIS3DSH.
00105     * @param Roll Reference to variable for the roll angle (0.0 - 359.999999)
00106     * @param Pitch Reference to variable for the pitch angle (0.0 - 359.999999)
00107     * @return 
00108     *     None
00109     */
00110     void ReadAngles(float *Roll, float *Pitch);
00111  
00112   private:
00113     SPI _spi;
00114     DigitalOut _cs; 
00115     float gToDegrees(float V, float H);
00116 };
00117  
00118 #endif