Reference
Last revision 2026/01/30
- API Function List
DFRobot_LIS2DW12();
/**
* @brief Initialize the function
* @return true(Initialization succeed)/fasle(Initialization failed)
*/
bool begin(void);
/**
* @brief Get chip id
* @return 8 bit serial number
*/
uint8_t getID();
/**
* @brief Software reset to restore the value of all registers to the default value
*/
void softReset();
/**
* @brief Enable the chip to continuously collect data
* @param enable true(continuous update)/false( output registers not updated until MSB and LSB read)
*/
void continRefresh(bool enable);
/**
* @brief Set the filter processing mode
* @param path path of filtering
eLPF = 0x00,/< low-pass filter path selected>/
eHPF = 0x10,/<high-pass filter path selected>/
*/
void setFilterPath(ePath_t path);
/**
* @brief Set the bandwidth of the data
* @param bw bandwidth
eRateDiv_2 ,/<Rate/2 (up to Rate = 800 Hz, 400 Hz when Rate = 1600 Hz)>/
eRateDiv_4 ,/<Rate/4 (High Power/Low power)>*
eRateDiv_10 ,/<Rate/10 (HP/LP)>/
eRateDiv_20 ,/<Rate/20 (HP/LP)>/
*/
void setFilterBandwidth(eBWFilter_t bw);
/**
* @brief Set power mode, there are two modes for the sensor to measure acceleration
* @n 1.Continuous measurement In this mode, the sensor will continuously measure and store data in its register
* @n 2.Single data conversion on demand mode In this mode, the sensor will not make a measurement unless it receives an external request
* @param mode power modes to choose from
eHighPerformance_14bit /<High-Performance Mode,14-bit resolution>/
eContLowPwr4_14bit /<Continuous measurement,Low-Power Mode 4(14-bit resolution)>/
eContLowPwr3_14bit /<Continuous measurement,Low-Power Mode 3(14-bit resolution)>/
eContLowPwr2_14bit /<Continuous measurement,Low-Power Mode 2(14-bit resolution)/
eContLowPwr1_12bit /<Continuous measurement,Low-Power Mode 1(12-bit resolution)>/
eSingleLowPwr4_14bit /<Single data conversion on demand mode,Low-Power Mode 4(14-bit resolution)>/
eSingleLowPwr3_14bit /<Single data conversion on demand mode,Low-Power Mode 3(14-bit resolution)>/
eSingleLowPwr2_14bit /<Single data conversion on demand mode,Low-Power Mode 2(14-bit resolution)>/
eSingleLowPwr1_12bit /<Single data conversion on demand mode,Low-Power Mode 1(12-bit resolution)>/
eHighPerformanceLowNoise_14bit /<High-Performance Mode,Low-noise enabled,14-bit resolution>/
eContLowPwrLowNoise4_14bit /<Continuous measurement,Low-Power Mode 4(14-bit resolution,Low-noise enabled)>/
eContLowPwrLowNoise3_14bit /<Continuous measurement,Low-Power Mode 3(14-bit resolution,Low-noise enabled)>/
eContLowPwrLowNoise2_14bit /<Continuous measurement,Low-Power Mode 2(14-bit resolution,Low-noise enabled)>/
eContLowPwrLowNoise1_12bit /<Continuous measurement,Low-Power Mode 1(12-bit resolution,Low-noise enabled)>/
eSingleLowPwrLowNoise4_14bit /<Single data conversion on demand mode,Low-Power Mode 4(14-bit resolution),Low-noise enabled>/
eSingleLowPwrLowNoise3_14bit /<Single data conversion on demand mode,Low-Power Mode 3(14-bit resolution),Low-noise enabled>/
eSingleLowPwrLowNoise2_14bit /<Single data conversion on demand mode,Low-Power Mode 2(14-bit resolution),Low-noise enabled>/
eSingleLowPwrLowNoise1_12bit /<Single data conversion on demand mode,Low-Power Mode 1(12-bit resolution),Low-noise enabled>/
*/
void setPowerMode(ePowerMode_t mode);
/**
* @brief Chip data collection rate setting
* @param rate Accelerometer frequency, 0-1600hz selection
eRate_0hz /<Measurement off>/
eRate_1hz6 /<1.6hz, use only under low-power mode>/
eRate_12hz5 /<12.5hz>/
eRate_25hz
eRate_50hz
eRate_100hz
eRate_200hz
eRate_400hz /<Use only under High-Performance mode>/
eRate_800hz /<Use only under High-Performance mode>/
eRate_1k6hz /<Use only under High-Performance mode>/
eSetSwTrig /<The software triggers a single measurement>/
*/
void setDataRate(eRate_t rate);
/**
* @brief Set the free fall time, or the number of free-fall samples. In a measurement, it will not be determined as a free fall event unless the samples are enough.
* @param dur Freefall samples, range：0~31
* @n time = dur * (1/rate)(unit:s)
| An example of a linear relationship between an argument and time |
|------------------------------------------------------------------------------------------------------------------------|
| | | | | |
| Data rate | 25 Hz | 100 Hz | 400 Hz | = 800 Hz |
|------------------------------------------------------------------------------------------------------------------------|
| time |dur*(1s/25)= dur*40ms| dur*(1s/100)= dur*10ms | dur*(1s/400)= dur*2.5ms | dur*(1s/800)= dur*1.25ms |
|------------------------------------------------------------------------------------------------------------------------|
*/
void setFreeFallDur(uint8_t dur);
/**
* @brief Select the interrupt event generated on the int1 pin
* @param event Interrupt event, when it occurs, a level jump will be generated on the int1 pin
eDoubleTap = 0x08,/<Double tap event>/
eFreeFall = 0x10,/<Free-fall event>/
eWakeUp = 0x20,/<Wake-up event>/
eSingleTap = 0x40,/<Single tap event>/
e6D = 0x80,/<An event that changes the status of facing up/down/left/right/forward/back>/
*/
void setInt1Event(eInt1Event_t event);
/**
* @brief Select the interrupt event generated on the int2 pin
* @param event Interrupt event, when it occurs, a level jump will be generated on the int2 pin
eSleepChange = 0x40,/<Sleep change status routed to INT2 pad>/
eSleepState = 0x80,/<Enable routing of SLEEP_STATE on INT2 pad>/
*/
void setInt2Event(eInt2Event_t event);
/**
* @brief Set wake-up duration, when using the detection mode of eDetectAct in setActMode() function, it will collect data at a normal rate
* @n after the chip is awakened. Then after a period of time, the chip will continue to hibernate, collecting data at a frequency of 12.5hz.
* @param dur duration,range: 0~3
@n time = dur * (1/rate)(unit:s)
| An example of a linear relationship between an argument and time |
|------------------------------------------------------------------------------------------------------------------------|
| | | | | |
| Data rate | 25 Hz | 100 Hz | 400 Hz | = 800 Hz |
|------------------------------------------------------------------------------------------------------------------------|
| time |dur*(1s/25)= dur*40ms| dur*(1s/100)= dur*10ms | dur*(1s/400)= dur*2.5ms | dur*(1s/800)= dur*1.25ms |
|------------------------------------------------------------------------------------------------------------------------|
*/
void setWakeUpDur(uint8_t dur);
/**
* @brief Set the wake-up threshold, when the acceleration in a certain direction is greater than this value, a wake-up event will be triggered
* @param th threshold ,unit:mg, the value is within the measurement range
*/
void setWakeUpThreshold(float th);
/**
* @brief Set the mode of motion detection, the first mode will not detect whether the module is moving; the second, once set, will measure data at a lower
* @n frequency to save consumption, and return to normal after detecting motion; the third can only detect whether the module is in sleep state.
* @param mode Motion detection mode
eNoDetection /<No detection>/
eDetectAct /<Detect movement,the chip automatically goes to 12.5 Hz rate in the low-power mode>/
eDetectStatMotion /<Detect Motion, the chip detects acceleration below a fixed threshold but does not change either rate or operating mode>/
*/
void setActMode(eActDetect_t mode);
/**
* @brief Set the range
* @param range 量程
e2_g = 2, /<±2g>/
e4_g = 4, /<±4g>/
e8_g = 8, /<±8g>/
e16_g = 16, /< ±16g>/
*/
void setRange(eRange_t range);
/**
* @brief Enable detect tap events in the Z direction
* @param enable ture(Enable tap detection)\false(Disable tap detection)
*/
void enableTapDetectionOnZ(bool enable);
/**
* @brief Enable detect tap events in the Y direction
* @param enable ture(Enable tap detection)\false(Disable tap detection)
*/
void enableTapDetectionOnY(bool enable);
/**
* @brief Enable detect tap events in the X direction
* @param enable ture(Enable tap detection)\false(Disable tap detection)
*/
void enableTapDetectionOnX(bool enable);
/**
* @brief Set the tap threshold in the X direction
* @param th Threshold(mg),Can only be used in the range of 0~2g
*/
void setTapThresholdOnX(float th);
/**
* @brief Set the tap threshold in the Y direction
* @param th Threshold(mg),Can only be used in the range of 0~2g
*/
void setTapThresholdOnY(float th);
/**
* @brief Set the tap threshold in the Z direction
* @param th Threshold(mg),Can only be used in the range of 0~2g
*/
void setTapThresholdOnZ(float th);
/**
* @brief Duration of maximum time gap for double-tap recognition. When double-tap
* @n recognition is enabled, this register expresses the maximum time between two
* @n successive detected taps to determine a double-tap event.
* @param dur duration, range:0~15
* @n time = dur * (1/rate)(unit:s)
| An example of a linear relationship between an argument and time |
|------------------------------------------------------------------------------------------------------------------------|
| | | | | |
| Data rate | 25 Hz | 100 Hz | 400 Hz | = 800 Hz |
|------------------------------------------------------------------------------------------------------------------------|
| time |dur*(1s/25)= dur*40ms| dur*(1s/100)= dur*10ms | dur*(1s/400)= dur*2.5ms | dur*(1s/800)= dur*1.25ms |
|------------------------------------------------------------------------------------------------------------------------|
*/
void setTapDur(uint8_t dur);
/**
* @brief Set the tap detection mode, detect single tap or both single tap and double tap
* @param mode Tap detection mode
eOnlySingle /<Detect single tap>/
eBothSingleDouble /<Detect both single tap and double tap>/
*/
void setTapMode(eTapMode_t mode);
/**
* @brief Set Thresholds for 4D/6D, when the threshold of rotation exceeds the specified angle, a direction change event will occur.
* @param degree eDegrees80 /<80°>/
eDegrees70 /<70°>/
eDegrees60 /<60°>/
eDegrees50 /<50°>/
*/
void set6DThreshold(e6DTh_t degree);
/**
* @brief Read the acceleration in the x direction
* @return Acceleration data from x(mg), the measurement range is ±2g, ±4g, ±8g or ±16g, set by the setRange() funciton.
*/
int16_t readAccX();
/**
* @brief Read the acceleration in the y direction
* @return Acceleration data from y(mg), the measurement range is ±2g, ±4g, ±8g or ±16g, set by the setRange() funciton.
*/
int16_t readAccY();
/**
* @brief Read the acceleration in the z direction
* @return Acceleration data from z(mg), the measurement range is ±2g, ±4g, ±8g or ±16g, set by the setRange() funciton.
*/
int16_t readAccZ();
/**
* @brief Detect motion
* @return true(Motion generated)/false(No motion)
*/
bool actDetected();
/**
* @brief Detect free fall
* @return true(Free-fall detected)/false(No free-fall)
*/
bool freeFallDetected();
/**
* @brief Detect whether the direction of the chip changes when the chip is facing up/down/left/right/forward/back (ie 6D)
* @return true(a change in position detected)/false(no event detected)
*/
bool oriChangeDetected();
/**
* @brief Only in 6D (facing up/down/left/right/forward/backward) state can the function get the orientation of the sensor relative to the positive z-axis.
* @return eXDown /<X is now down>/
eXUp /<X is now up>/
eYDown /<Y is now down>/
eYUp /<Y is now up>/
eZDown /<Z is now down>/
eZUp /<Z is now up>/
*/
eOrient_t getOrientation();
/**
* @brief Tap detection, can detect it is double tap or single tap
* @return eSTap /<Single Tap>/
eDTap /<double Tap>/
eNoTap, //No tap
*/
eTap_t tapDetect();
/**
* @brief Tap direction source detection
* @return eDirXUp /<Tap is detected in the positive direction of X>/
eDirXDown /<Tap is detected in the negative direction of X>/
eDirYUp /<Tap is detected in the positive direction of Y>/
eDirYDown /<Tap is detected in the negative direction of Y>/
eDirZUp /<Tap is detected in the positive direction of Z>/
eDirZDown /<Tap is detected in the negative direction of Z>/
*/
eTapDir_t getTapDirection();
/**
* @brief Wake-up motion direction detection
* @return eDirX /<The chip is woken up by the motion in X direction>/
eDirY /<The chip is woken up by the motion in Y direction>/
eDirZ /<The chip is woken up by the motion in Z direction>/
eDirError,/<Error detected>/
*/
eWakeUpDir_t getWakeUpDir();
/**
* @brief In Single data conversion on demand mode, request a measurement.
*/
void demandData();
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