Reference

Library

• Arduino Library: LIS Series Library and Sample Code (installation guide: How to install Arduino libraries)
• Python Library (Raspberry Pi): LIS Series Python Library

Communication Protocol Description

• Communication Interface: Gravity-I2C
• I2C Address: 0x19 (Default) / 0x18 (Optional, select via toggle switch)
• I2C Speed: Standard mode (100 kHz) or Fast mode (400 kHz)

API Description

The following are the main API functions for the H3LIS200DL sensor (for detailed usage, refer to the library documentation):

  DFRobot_LIS();
  /**
   * @brief Initialize the function
   * @return true(Succeed)/false(Failed)
   */
  bool begin(void);
 
  /**
   * @brief Get chip id
   * @return 8 bit serial number
   */
  uint8_t getID();
  
  /**
   * @brief Enable interrupt
   * @param source Interrupt pin selection
              eINT1 = 0,/<int1 >/
              eINT2,/<int2>/
   * @param event Interrupt event selection
                   eXLowerThanTh ,/<The acceleration in the x direction is less than the threshold>/
                   eXHigherThanTh ,/<The acceleration in the x direction is greater than the threshold>/
                   eYLowerThanTh,/<The acceleration in the y direction is less than the threshold>/
                   eYHigherThanTh,/<The acceleration in the y direction is greater than the threshold>/
                   eZLowerThanTh,/<The acceleration in the z direction is less than the threshold>/
                   eZHigherThanTh,/<The acceleration in the z direction is greater than the threshold>/
   */
  void enableInterruptEvent(eInterruptSource_t source, eInterruptEvent_t event);
  
  /**
   * @brief Set measurement range
   * @param range Range(g)
                  eH3lis200dl_100g, //±100g
                  eH3lis200dl_200g, //±200g
                  
                  eLis331hh_6g = 6,//±6g
                  eLis331hh_12g = 12 //±12g
                  eLis331hh_24g = 24 //±24g  
    @return true(Set successfully)/false(Set failed)
   */
  bool setRange(eRange_t range);
  
  /**
   * @brief Set data measurement rate
   * @param rate rate(HZ)
                  ePowerDown_0HZ   //Measurement off
                  eLowPower_halfHZ //0.5 hz
                  eLowPower_1HZ
                  eLowPower_2HZ
                  eLowPower_5HZ
                  eLowPower_10HZ
                  eNormal_50HZ
                  eNormal_100HZ
                  eNormal_400HZ
                  eNormal_1000HZ
   */
  void setAcquireRate(ePowerMode_t rate);
  
  /**
   * @brief Set data filtering mode
   * @param mode Four modes
                 eCutOffMode1 = 0,
                 eCutOffMode2,
                 eCutOffMode3,
                 eCutOffMode4,
                 eShutDown, no filering
     eg: Select eCutOffMode1 in 50HZ, and the filtered frequency is 1HZ
   *|---------------------------High-pass filter cut-off frequency configuration-----------------------------|
   *|--------------------------------------------------------------------------------------------------------|
   *|                |    ft [Hz]      |        ft [Hz]       |       ft [Hz]        |        ft [Hz]        |
   *|   mode         |Data rate = 50 Hz|   Data rate = 100 Hz |  Data rate = 400 Hz  |   Data rate = 1000 Hz |
   *|--------------------------------------------------------------------------------------------------------|
   *|  eCutOffMode1  |     1           |         2            |            8         |             20        |
   *|--------------------------------------------------------------------------------------------------------|
   *|  eCutOffMode2  |    0.5          |         1            |            4         |             10        |
   *|--------------------------------------------------------------------------------------------------------|
   *|  eCutOffMode3  |    0.25         |         0.5          |            2         |             5         |
   *|--------------------------------------------------------------------------------------------------------|
   *|  eCutOffMode4  |    0.125        |         0.25         |            1         |             2.5       |
   *|--------------------------------------------------------------------------------------------------------|
   */
  void setHFilterMode(eHighPassFilter_t mode);

  /**
   * @brief Set the threshold of interrupt source 1 interrupt
   * @param threshold The threshold we set before is within measurement range(unit:g)
   */
  void setInt1Th(uint8_t threshold);

  /**
   * @brief Set interrupt source 2 interrupt generation threshold
   * @param threshold The threshold we set before is within measurement range(unit:g）
   */
  void setInt2Th(uint8_t threshold);

  /**
   * @brief Enable sleep wake function
   * @param enable true(enable)\false(disable)
   * @return false Indicate enable failed/true Indicate enable successful
   */
  bool enableSleep(bool enable);
  
  /**
   * @brief Check whether the interrupt event'event' is generated in interrupt 1
   * @param event Interrupt event
                   eXLowerThanTh ,/<The acceleration in the x direction is less than the threshold>/
                   eXHigherThanTh ,/<The acceleration in the x direction is greater than the threshold>/
                   eYLowerThanTh,/<The acceleration in the y direction is less than the threshold>/
                   eYHigherThanTh,/<The acceleration in the y direction is greater than the threshold>/
                   eZLowerThanTh,/<The acceleration in the z direction is less than the threshold>/
                   eZHigherThanTh,/<The acceleration in the z direction is greater than the threshold>/
   * @return true This event generated
             false This event not generated
   */
  bool getInt1Event(eInterruptEvent_t event);

  /**
   * @brief Check whether the interrupt event'event' is generated in interrupt 2
   * @param event Interrupt event
                   eXLowerThanTh ,/<The acceleration in the x direction is less than the threshold>/
                   eXHigherThanTh ,/<The acceleration in the x direction is greater than the threshold>/
                   eYLowerThanTh,/<The acceleration in the y direction is less than the threshold>/
                   eYHigherThanTh,/<The acceleration in the y direction is greater than the threshold>/
                   eZLowerThanTh,/<The acceleration in the z direction is less than the threshold>/
                   eZHigherThanTh,/<The acceleration in the z direction is greater than the threshold>/
   * @return true This event generated
             false This event not generated
   */
  bool getInt2Event(eInterruptEvent_t event);
  
  /**
   * @brief Get the acceleration in the x direction
   * @return acceleration from x 
   */
  int32_t readAccX();
  
  /**
   * @brief Get the acceleration in the y direction
   * @return acceleration from y
   */
  int32_t readAccY();
  
  /**
   * @brief Get the acceleration in the z direction
   * @return acceleration from z
   */
  int32_t readAccZ();
  
  /**
   * @brief Get the acceleration in the three directions of xyz
   * @param accx Store the variable of acceleration in x direction
   * @param accy Store the variable of acceleration in y direction
   * @param accz Store the variable of acceleration in z direction
   * @return true(Get data successfully/false(Data not ready)
   */
  bool getAcceFromXYZ(int32_t &accx,int32_t &accy,int32_t &accz);

  /**
   * @brief Get whether the sensor is in sleep mode
   * @return true(In sleep mode)/false(In normal mode)
   */
  bool getSleepState();
  
  /**
   * @brief Set the sleep state flag
   * @param into true(Flag the current mode as sleep mode)
                 false(Flag the current mode as normal mode)
   */
  void setSleepFlag(bool into);