feat: 全量同步 254 个常用的 Arduino 扩展库文件
This commit is contained in:
yczpf2019
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/*
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* A library for Grove - 3-Axis Digital Accelerometer ±2g to 16g Ultra-low Power(LIS3DHTR)
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*
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* Copyright (c) 2019 seeed technology co., ltd.
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* Author : Hongtai Liu (lht856@foxmail.com)
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* Create Time : July 2019
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* Change Log :
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*
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* The MIT License (MIT)
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software istm
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS INcommInterface
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* THE SOFTWARE.
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*/
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#include "LIS3DHTR.h"
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template <class T>
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LIS3DHTR<T>::LIS3DHTR()
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{
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}
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template <class T>
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void LIS3DHTR<T>::begin(SPIClass &comm, uint8_t sspin)
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{
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chipSelectPin = sspin;
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_spi_com = &comm;
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_wire_com = NULL;
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pinMode(chipSelectPin, OUTPUT);
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digitalWrite(chipSelectPin, HIGH);
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// start the SPI library:
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_spi_com->begin();
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// Maximum SPI frequency is 10MHz, could divide by 2 here:
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_spi_com->setClockDivider(SPI_CLOCK_DIV4);
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// Data is read and written MSb first.
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_spi_com->setBitOrder(MSBFIRST);
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// Data is captured on rising edge of clock (CPHA = 0)
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// Base value of the clock is HIGH (CPOL = 1)
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// MODE3 for 328p operation
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_spi_com->setDataMode(SPI_MODE3);
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delay(200);
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uint8_t config5 = LIS3DHTR_REG_TEMP_ADC_PD_ENABLED |
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LIS3DHTR_REG_TEMP_TEMP_EN_DISABLED;
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writeRegister(LIS3DHTR_REG_TEMP_CFG, config5);
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delay(LIS3DHTR_CONVERSIONDELAY);
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uint8_t config1 = LIS3DHTR_REG_ACCEL_CTRL_REG1_LPEN_NORMAL | // Normal Mode
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LIS3DHTR_REG_ACCEL_CTRL_REG1_AZEN_ENABLE | // Acceleration Z-Axis Enabled
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LIS3DHTR_REG_ACCEL_CTRL_REG1_AYEN_ENABLE | // Acceleration Y-Axis Enabled
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LIS3DHTR_REG_ACCEL_CTRL_REG1_AXEN_ENABLE;
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writeRegister(LIS3DHTR_REG_ACCEL_CTRL_REG1, config1);
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delay(LIS3DHTR_CONVERSIONDELAY);
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uint8_t config4 = LIS3DHTR_REG_ACCEL_CTRL_REG4_BDU_NOTUPDATED | // Continuous Update
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LIS3DHTR_REG_ACCEL_CTRL_REG4_BLE_LSB | // Data LSB @ lower address
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LIS3DHTR_REG_ACCEL_CTRL_REG4_HS_DISABLE | // High Resolution Disable
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LIS3DHTR_REG_ACCEL_CTRL_REG4_ST_NORMAL | // Normal Mode
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LIS3DHTR_REG_ACCEL_CTRL_REG4_SIM_4WIRE; // 4-Wire Interface
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writeRegister(LIS3DHTR_REG_ACCEL_CTRL_REG4, config4);
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delay(LIS3DHTR_CONVERSIONDELAY);
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setFullScaleRange(LIS3DHTR_RANGE_16G);
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setOutputDataRate(LIS3DHTR_DATARATE_400HZ);
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}
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template <class T>
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void LIS3DHTR<T>::begin(TwoWire &wire, uint8_t address)
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{
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_wire_com = &wire;
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_wire_com->begin();
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_spi_com = NULL;
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devAddr = address;
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uint8_t config5 = LIS3DHTR_REG_TEMP_ADC_PD_ENABLED |
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LIS3DHTR_REG_TEMP_TEMP_EN_DISABLED;
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writeRegister(LIS3DHTR_REG_TEMP_CFG, config5);
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delay(LIS3DHTR_CONVERSIONDELAY);
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uint8_t config1 = LIS3DHTR_REG_ACCEL_CTRL_REG1_LPEN_NORMAL | // Normal Mode
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LIS3DHTR_REG_ACCEL_CTRL_REG1_AZEN_ENABLE | // Acceleration Z-Axis Enabled
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LIS3DHTR_REG_ACCEL_CTRL_REG1_AYEN_ENABLE | // Acceleration Y-Axis Enabled
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LIS3DHTR_REG_ACCEL_CTRL_REG1_AXEN_ENABLE;
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writeRegister(LIS3DHTR_REG_ACCEL_CTRL_REG1, config1);
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delay(LIS3DHTR_CONVERSIONDELAY);
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uint8_t config4 = LIS3DHTR_REG_ACCEL_CTRL_REG4_BDU_NOTUPDATED | // Continuous Update
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LIS3DHTR_REG_ACCEL_CTRL_REG4_BLE_LSB | // Data LSB @ lower address
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LIS3DHTR_REG_ACCEL_CTRL_REG4_HS_DISABLE | // High Resolution Disable
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LIS3DHTR_REG_ACCEL_CTRL_REG4_ST_NORMAL | // Normal Mode
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LIS3DHTR_REG_ACCEL_CTRL_REG4_SIM_4WIRE; // 4-Wire Interface
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writeRegister(LIS3DHTR_REG_ACCEL_CTRL_REG4, config4);
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delay(LIS3DHTR_CONVERSIONDELAY);
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setFullScaleRange(LIS3DHTR_RANGE_16G);
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setOutputDataRate(LIS3DHTR_DATARATE_400HZ);
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}
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template<class T>
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bool LIS3DHTR<T>::available()
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{
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uint8_t status = 0;
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status = readRegister(LIS3DHTR_REG_ACCEL_STATUS2);
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status &= LIS3DHTR_REG_ACCEL_STATUS2_UPDATE_MASK;
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return status;
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}
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template <class T>
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void LIS3DHTR<T>::openTemp()
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{
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uint8_t config5 = LIS3DHTR_REG_TEMP_ADC_PD_ENABLED |
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LIS3DHTR_REG_TEMP_TEMP_EN_ENABLED;
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writeRegister(LIS3DHTR_REG_TEMP_CFG, config5);
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delay(LIS3DHTR_CONVERSIONDELAY);
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}
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template <class T>
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void LIS3DHTR<T>::closeTemp()
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{
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uint8_t config5 = LIS3DHTR_REG_TEMP_ADC_PD_ENABLED |
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LIS3DHTR_REG_TEMP_TEMP_EN_DISABLED;
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writeRegister(LIS3DHTR_REG_TEMP_CFG, config5);
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delay(LIS3DHTR_CONVERSIONDELAY);
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}
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template <class T>
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int16_t LIS3DHTR<T>::getTemperature(void)
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{
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int16_t result = ((int16_t)readRegisterInt16(0x0c)) / 256;
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result += 25;
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return result;
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}
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template <class T>
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bool LIS3DHTR<T>::isConnection(void)
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{
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return (getDeviceID() == 0x33);
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}
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template <class T>
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uint8_t LIS3DHTR<T>::getDeviceID(void)
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{
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return readRegister(LIS3DHTR_REG_ACCEL_WHO_AM_I);
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}
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template <class T>
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void LIS3DHTR<T>::setPowerMode(power_type_t mode)
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{
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uint8_t data = 0;
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data = readRegister(LIS3DHTR_REG_ACCEL_CTRL_REG1);
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data &= ~LIS3DHTR_REG_ACCEL_CTRL_REG1_LPEN_MASK;
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data |= mode;
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writeRegister(LIS3DHTR_REG_ACCEL_CTRL_REG1, data);
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delay(LIS3DHTR_CONVERSIONDELAY);
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}
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template <class T>
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void LIS3DHTR<T>::setFullScaleRange(scale_type_t range)
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{
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uint8_t data = 0;
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data = readRegister(LIS3DHTR_REG_ACCEL_CTRL_REG4);
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data &= ~LIS3DHTR_REG_ACCEL_CTRL_REG4_FS_MASK;
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data |= range;
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writeRegister(LIS3DHTR_REG_ACCEL_CTRL_REG4, data);
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delay(LIS3DHTR_CONVERSIONDELAY);
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switch (range)
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{
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case LIS3DHTR_REG_ACCEL_CTRL_REG4_FS_16G:
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accRange = 1280;
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break;
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case LIS3DHTR_REG_ACCEL_CTRL_REG4_FS_8G:
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accRange = 3968;
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break;
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case LIS3DHTR_REG_ACCEL_CTRL_REG4_FS_4G:
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accRange = 7282;
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break;
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case LIS3DHTR_REG_ACCEL_CTRL_REG4_FS_2G:
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accRange = 16000;
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break;
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default:
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break;
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}
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}
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template <class T>
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void LIS3DHTR<T>::setOutputDataRate(odr_type_t odr)
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{
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uint8_t data = 0;
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data = readRegister(LIS3DHTR_REG_ACCEL_CTRL_REG1);
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data &= ~LIS3DHTR_REG_ACCEL_CTRL_REG1_AODR_MASK;
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data |= odr;
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writeRegister(LIS3DHTR_REG_ACCEL_CTRL_REG1, data);
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delay(LIS3DHTR_CONVERSIONDELAY);
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}
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template <class T>
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void LIS3DHTR<T>::getAcceleration(float *x, float *y, float *z)
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{
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// Read the Accelerometer
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uint8_t xAccelLo, xAccelHi, yAccelLo, yAccelHi, zAccelLo, zAccelHi;
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// Read the Data
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// Reading the Low X-Axis Acceleration Data Register
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xAccelLo = readRegister(LIS3DHTR_REG_ACCEL_OUT_X_L);
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// Reading the High X-Axis Acceleration Data Register
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xAccelHi = readRegister(LIS3DHTR_REG_ACCEL_OUT_X_H);
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// Conversion of the result
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// 16-bit signed result for X-Axis Acceleration Data of LIS3DHTR
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*x = (float)((int16_t)((xAccelHi << 8) | xAccelLo)) / accRange;
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// Reading the Low Y-Axis Acceleration Data Register
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yAccelLo = readRegister(LIS3DHTR_REG_ACCEL_OUT_Y_L);
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// Reading the High Y-Axis Acceleration Data Register
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yAccelHi = readRegister(LIS3DHTR_REG_ACCEL_OUT_Y_H);
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// Conversion of the result
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// 16-bit signed result for Y-Axis Acceleration Data of LIS3DHTR
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*y = (float)((int16_t)((yAccelHi << 8) | yAccelLo)) / accRange;
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// Reading the Low Z-Axis Acceleration Data Register
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zAccelLo = readRegister(LIS3DHTR_REG_ACCEL_OUT_Z_L);
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// Reading the High Z-Axis Acceleration Data Register
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zAccelHi = readRegister(LIS3DHTR_REG_ACCEL_OUT_Z_H);
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// Conversion of the result
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// 16-bit signed result for Z-Axis Acceleration Data of LIS3DHTR
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*z = (float)((int16_t)((zAccelHi << 8)) | zAccelLo) / accRange;
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}
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template <class T>
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float LIS3DHTR<T>::getAccelerationX(void)
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{
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// Read the Accelerometer
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uint8_t xAccelLo, xAccelHi;
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int16_t x;
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// Read the Data
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// Reading the Low X-Axis Acceleration Data Register
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xAccelLo = readRegister(LIS3DHTR_REG_ACCEL_OUT_X_L);
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// Reading the High X-Axis Acceleration Data Register
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xAccelHi = readRegister(LIS3DHTR_REG_ACCEL_OUT_X_H);
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// Conversion of the result
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// 16-bit signed result for X-Axis Acceleration Data of LIS3DHTR
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x = (int16_t)((xAccelHi << 8) | xAccelLo);
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return (float)x / accRange;
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}
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template <class T>
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float LIS3DHTR<T>::getAccelerationY(void)
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{
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// Read the Accelerometer
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uint8_t yAccelLo, yAccelHi;
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int16_t y;
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// Reading the Low Y-Axis Acceleration Data Register
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yAccelLo = readRegister(LIS3DHTR_REG_ACCEL_OUT_Y_L);
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// Reading the High Y-Axis Acceleration Data Register
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yAccelHi = readRegister(LIS3DHTR_REG_ACCEL_OUT_Y_H);
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// Conversion of the result
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// 16-bit signed result for Y-Axis Acceleration Data of LIS3DHTR
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y = (int16_t)((yAccelHi << 8) | yAccelLo);
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return (float)y / accRange;
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}
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template <class T>
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float LIS3DHTR<T>::getAccelerationZ(void)
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{
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// Read the Accelerometer
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uint8_t zAccelLo, zAccelHi;
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int16_t z;
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// Reading the Low Z-Axis Acceleration Data Register
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zAccelLo = readRegister(LIS3DHTR_REG_ACCEL_OUT_Z_L);
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// Reading the High Z-Axis Acceleration Data Register
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zAccelHi = readRegister(LIS3DHTR_REG_ACCEL_OUT_Z_H);
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// Conversion of the result
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// 16-bit signed result for Z-Axis Acceleration Data of LIS3DHTR
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z = (int16_t)((zAccelHi << 8) | zAccelLo);
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return (float)z / accRange;
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}
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template <class T>
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void LIS3DHTR<T>::setHighSolution(bool enable)
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{
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uint8_t data = 0;
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data = readRegister(LIS3DHTR_REG_ACCEL_CTRL_REG4);
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data = enable? data | LIS3DHTR_REG_ACCEL_CTRL_REG4_HS_ENABLE : data & ~LIS3DHTR_REG_ACCEL_CTRL_REG4_HS_ENABLE;
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writeRegister(LIS3DHTR_REG_ACCEL_CTRL_REG4, data);
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return;
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}
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template <class T>
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uint16_t LIS3DHTR<T>::readbitADC1(void)
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{
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uint8_t adc1_l, adc1_h;
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int16_t intTemp;
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uint16_t uintTemp;
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adc1_l = readRegister(0x08);
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adc1_h = readRegister(0x09);
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intTemp = (int16_t)(adc1_h << 8) | adc1_l;
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intTemp = 0 - intTemp;
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uintTemp = intTemp + 32768;
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return uintTemp >> 6;
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}
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template <class T>
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uint16_t LIS3DHTR<T>::readbitADC2(void)
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{
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uint8_t adc2_l, adc2_h;
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int16_t intTemp;
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uint16_t uintTemp;
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adc2_l = readRegister(0x0A);
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adc2_h = readRegister(0x0B);
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intTemp = (int16_t)(adc2_h << 8) | adc2_l;
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intTemp = 0 - intTemp;
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uintTemp = intTemp + 32768;
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return uintTemp >> 6;
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}
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template <class T>
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uint16_t LIS3DHTR<T>::readbitADC3(void)
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{
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uint8_t adc3_l, adc3_h;
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int16_t intTemp;
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uint16_t uintTemp;
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adc3_l = readRegister(0x0C);
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adc3_h = readRegister(0x0D);
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intTemp = (int16_t)(adc3_h << 8) | adc3_l;
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intTemp = 0 - intTemp;
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uintTemp = intTemp + 32768;
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return uintTemp >> 6;
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}
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template <class T>
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void LIS3DHTR<T>::writeRegister(uint8_t reg, uint8_t val)
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{
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if (_spi_com != NULL)
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{
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digitalWrite(chipSelectPin, LOW);
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_spi_com->transfer(reg);
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_spi_com->transfer(val);
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digitalWrite(chipSelectPin, HIGH);
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}
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else
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{
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_wire_com->beginTransmission(devAddr);
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_wire_com->write(reg);
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_wire_com->write(val);
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_wire_com->endTransmission();
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}
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}
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template <class T>
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void LIS3DHTR<T>::readRegisterRegion(uint8_t *outputPointer, uint8_t reg, uint8_t length)
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{
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//define pointer that will point to the external space
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uint8_t i = 0;
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uint8_t c = 0;
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uint8_t tempFFCounter = 0;
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if (_spi_com != NULL)
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{
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digitalWrite(chipSelectPin, LOW);
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_spi_com->transfer(reg | 0x80 | 0x40); //Ored with "read request" bit and "auto increment" bit
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while (i < length) // slave may send less than requested
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{
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c = _spi_com->transfer(0x00); // receive a byte as character
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*outputPointer = c;
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outputPointer++;
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i++;
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}
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digitalWrite(chipSelectPin, HIGH);
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}
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else
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{
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_wire_com->beginTransmission(devAddr);
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reg |= 0x80; //turn auto-increment bit on, bit 7 for I2C
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_wire_com->write(reg);
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_wire_com->endTransmission();
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_wire_com->requestFrom(devAddr, length);
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while ((_wire_com->available()) && (i < length)) // slave may send less than requested
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{
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c = _wire_com->read(); // receive a byte as character
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*outputPointer = c;
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outputPointer++;
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i++;
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}
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}
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}
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template <class T>
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uint16_t LIS3DHTR<T>::readRegisterInt16(uint8_t reg)
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{
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||||
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||||
uint8_t myBuffer[2];
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readRegisterRegion(myBuffer, reg, 2);
|
||||
uint16_t output = myBuffer[0] | uint16_t(myBuffer[1] << 8);
|
||||
|
||||
return output;
|
||||
}
|
||||
|
||||
template <class T>
|
||||
uint8_t LIS3DHTR<T>::readRegister(uint8_t reg)
|
||||
{
|
||||
uint8_t data;
|
||||
|
||||
readRegisterRegion(&data, reg, 1);
|
||||
|
||||
return data;
|
||||
}
|
||||
|
||||
template <class T>
|
||||
void LIS3DHTR<T>::click(uint8_t c, uint8_t click_thresh, uint8_t limit, uint8_t latency, uint8_t window)
|
||||
{
|
||||
if (!c)
|
||||
{
|
||||
uint8_t r = readRegister(LIS3DHTR_REG_ACCEL_CTRL_REG3);
|
||||
r &= ~(0x80); // turn off I1_CLICK
|
||||
writeRegister(LIS3DHTR_REG_ACCEL_CTRL_REG3, r);
|
||||
writeRegister(LIS3DHTR_REG_ACCEL_CLICK_CFG, 0);
|
||||
return;
|
||||
}
|
||||
writeRegister(LIS3DHTR_REG_ACCEL_CTRL_REG3, 0x80);
|
||||
writeRegister(LIS3DHTR_REG_ACCEL_CTRL_REG5, 0x08);
|
||||
|
||||
if (c == 1)
|
||||
{
|
||||
writeRegister(LIS3DHTR_REG_ACCEL_CLICK_CFG, 0x15);
|
||||
}
|
||||
if (c == 2)
|
||||
{
|
||||
writeRegister(LIS3DHTR_REG_ACCEL_CLICK_CFG, 0x2A);
|
||||
}
|
||||
|
||||
writeRegister(LIS3DHTR_REG_ACCEL_CLICK_THS, click_thresh);
|
||||
writeRegister(LIS3DHTR_REG_ACCEL_TIME_LIMIT, limit);
|
||||
writeRegister(LIS3DHTR_REG_ACCEL_TIME_LATENCY, latency);
|
||||
writeRegister(LIS3DHTR_REG_ACCEL_TIME_WINDOW, window);
|
||||
}
|
||||
|
||||
template <class T>
|
||||
LIS3DHTR<T>::operator bool() { return isConnection(); }
|
||||
|
||||
template class LIS3DHTR<SPIClass>;
|
||||
template class LIS3DHTR<TwoWire>;
|
||||
Reference in New Issue
Block a user