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Updade Grove-3-Axis-Digital-Accelerometer-LIS3DHTR.md
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@limengdu
limengdu authored Aug 12, 2024
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250 changes: 124 additions & 126 deletions ...rove/Grove_Sensors/Accelerometer/Grove-3-Axis-Digital-Accelerometer-LIS3DHTR.md
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Expand Up @@ -43,7 +43,7 @@ Grove - 3-Axis Digital Accelerometer(LIS3DHTR) is a low-cost 3 - Axis accelerome
| ![](https://files.seeedstudio.com/wiki/wiki_english/docs/images/arduino_logo.jpg) | ![](https://files.seeedstudio.com/wiki/wiki_english/docs/images/raspberry_pi_logo_n.jpg) | ![](https://files.seeedstudio.com/wiki/wiki_english/docs/images/bbg_logo_n.jpg) | ![](https://files.seeedstudio.com/wiki/wiki_english/docs/images/wio_logo_n.jpg) | ![](https://files.seeedstudio.com/wiki/wiki_english/docs/images/linkit_logo_n.jpg) | -->
|Arduino|Raspberry Pi|
|---|---|
|<p><img src="https://files.seeedstudio.com/wiki/wiki_english/docs/images/arduino_logo.jpg" alt="pir" width={200} height="auto" /></p>|<p><img src="https://files.seeedstudio.com/wiki/wiki_english/docs/images/raspberry_pi_logo_n.jpg" alt="pir" width={200} height="auto" /></p>|
|<p><img src="https://files.seeedstudio.com/wiki/wiki_english/docs/images/arduino_logo.jpg" alt="pir" width={200} height="auto" /></p>|<p><img src="https://files.seeedstudio.com/wiki/wiki_english/docs/images/raspberry_pi_logo.jpg" alt="pir" width={200} height="auto" /></p>|

## Getting Started

Expand Down Expand Up @@ -148,147 +148,145 @@ Connect the LIS3DHTR sensor to any I2C interface on the Grove Base Hat for Raspb

#### Code

```python
#!/usr/bin/env python
- **Step 1** Follow [Setting Software](https://wiki.seeedstudio.com/Grove_Base_Hat_for_Raspberry_Pi/#installation) to configure the development environment and install the grove.py to your raspberry pi.
- **Step 2** Excute below commands to run the code.

# Distributed with a free-will license.
# Use it any way you want, profit or free, provided it fits in the licenses of its associated works.
# LIS3DHTR
# This code is designed to work with the LIS3DHTR_I2CS I2C Mini Module available from ControlEverything.com.
# https://www.controleverything.com/content/Accelorometer?sku=LIS3DHTR_I2CS#tabs-0-product_tabset-2
```
virtualenv -p python3 env
source env/bin/activate
#enter commmand
grove_3_axis_digital_accelerometer
```
Following is grove_3_axis_digital_accelerometer.py code:

import smbus
```python
from __future__ import print_function
from grove.i2c import Bus
import time

# Get I2C bus
bus = smbus.SMBus(1)

# I2C address of the device
LIS3DHTR_DEFAULT_ADDRESS = 0x19

# LIS3DHTR Register Map
LIS3DHTR_REG_WHOAMI = 0x0F # Who Am I Register
LIS3DHTR_REG_CTRL1 = 0x20 # Control Register-1
LIS3DHTR_REG_CTRL2 = 0x21 # Control Register-2
LIS3DHTR_REG_CTRL3 = 0x22 # Control Register-3
LIS3DHTR_REG_CTRL4 = 0x23 # Control Register-4
LIS3DHTR_REG_CTRL5 = 0x24 # Control Register-5
LIS3DHTR_REG_CTRL6 = 0x25 # Control Register-6
LIS3DHTR_REG_REFERENCE = 0x26 # Reference
LIS3DHTR_REG_STATUS = 0x27 # Status Register
LIS3DHTR_REG_OUT_X_L = 0x28 # X-Axis LSB
LIS3DHTR_REG_OUT_X_H = 0x29 # X-Axis MSB
LIS3DHTR_REG_OUT_Y_L = 0x2A # Y-Axis LSB
LIS3DHTR_REG_OUT_Y_H = 0x2B # Y-Axis MSB
LIS3DHTR_REG_OUT_Z_L = 0x2C # Z-Axis LSB
LIS3DHTR_REG_OUT_Z_H = 0x2D # Z-Axis MSB
H3LIS331DL_DEFAULT_ADDRESS = 0x19

# H3LIS331DL Register Map
H3LIS331DL_REG_WHOAMI = 0x0F # Who Am I Register
H3LIS331DL_REG_CTRL1 = 0x20 # Control Register-1
H3LIS331DL_REG_CTRL2 = 0x21 # Control Register-2
H3LIS331DL_REG_CTRL3 = 0x22 # Control Register-3
H3LIS331DL_REG_CTRL4 = 0x23 # Control Register-4
H3LIS331DL_REG_CTRL5 = 0x24 # Control Register-5
H3LIS331DL_REG_REFERENCE = 0x26 # Reference
H3LIS331DL_REG_STATUS = 0x27 # Status Register
H3LIS331DL_REG_OUT_X_L = 0x28 # X-Axis LSB
H3LIS331DL_REG_OUT_X_H = 0x29 # X-Axis MSB
H3LIS331DL_REG_OUT_Y_L = 0x2A # Y-Axis LSB
H3LIS331DL_REG_OUT_Y_H = 0x2B # Y-Axis MSB
H3LIS331DL_REG_OUT_Z_L = 0x2C # Z-Axis LSB
H3LIS331DL_REG_OUT_Z_H = 0x2D # Z-Axis MSB

# Accl Datarate configuration
LIS3DHTR_ACCL_DR_PD = 0x00 # Power down mode
LIS3DHTR_ACCL_DR_1 = 0x10 # ODR = 1 Hz
LIS3DHTR_ACCL_DR_10 = 0x20 # ODR = 10 Hz
LIS3DHTR_ACCL_DR_25 = 0x30 # ODR = 25 Hz
LIS3DHTR_ACCL_DR_50 = 0x40 # ODR = 50 Hz
LIS3DHTR_ACCL_DR_100 = 0x50 # ODR = 100 Hz
LIS3DHTR_ACCL_DR_200 = 0x60 # ODR = 200 Hz
LIS3DHTR_ACCL_DR_400 = 0x70 # ODR = 400 Hz
LIS3DHTR_ACCL_DR_1620 = 0x80 # ODR = 1.620 KHz
LIS3DHTR_ACCL_DR_1344 = 0x90 # ODR = 1.344 KHz
H3LIS331DL_ACCL_PM_PD = 0x00 # Power down Mode
H3LIS331DL_ACCL_PM_NRMl = 0x20 # Normal Mode
H3LIS331DL_ACCL_PM_0_5 = 0x40 # Low-Power Mode, ODR = 0.5Hz
H3LIS331DL_ACCL_PM_1 = 0x60 # Low-Power Mode, ODR = 1Hz
H3LIS331DL_ACCL_PM_2 = 0x80 # Low-Power Mode, ODR = 2Hz
H3LIS331DL_ACCL_PM_5 = 0xA0 # Low-Power Mode, ODR = 5Hz
H3LIS331DL_ACCL_PM_10 = 0xC0 # Low-Power Mode, ODR = 10Hz
H3LIS331DL_ACCL_DR_50 = 0x00 # ODR = 50Hz
H3LIS331DL_ACCL_DR_100 = 0x08 # ODR = 100Hz
H3LIS331DL_ACCL_DR_400 = 0x10 # ODR = 400Hz
H3LIS331DL_ACCL_DR_1000 = 0x18 # ODR = 1000Hz

# Accl Data update & Axis configuration
LIS3DHTR_ACCL_LPEN = 0x00 # Normal Mode, Axis disabled
LIS3DHTR_ACCL_XAXIS = 0x04 # X-Axis enabled
LIS3DHTR_ACCL_YAXIS = 0x02 # Y-Axis enabled
LIS3DHTR_ACCL_ZAXIS = 0x01 # Z-Axis enabled
H3LIS331DL_ACCL_LPEN = 0x00 # Normal Mode, Axis disabled
H3LIS331DL_ACCL_XAXIS = 0x04 # X-Axis enabled
H3LIS331DL_ACCL_YAXIS = 0x02 # Y-Axis enabled
H3LIS331DL_ACCL_ZAXIS = 0x01 # Z-Axis enabled

# Acceleration Full-scale selection
LIS3DHTR_BDU_CONT = 0x00 # Continuous update, Normal Mode, 4-Wire Interface
LIS3DHTR_BDU_NOT_CONT = 0x80 # Output registers not updated until MSB and LSB reading
LIS3DHTR_ACCL_BLE_MSB = 0x40 # MSB first
LIS3DHTR_ACCL_RANGE_16G = 0x30 # Full scale = +/-16g
LIS3DHTR_ACCL_RANGE_8G = 0x20 # Full scale = +/-8g
LIS3DHTR_ACCL_RANGE_4G = 0x10 # Full scale = +/-4g
LIS3DHTR_ACCL_RANGE_2G = 0x00 # Full scale = +/-2g, LSB first
LIS3DHTR_HR_DS = 0x00 # High-Resolution Disabled
LIS3DHTR_HR_EN = 0x08 # High-Resolution Enabled
LIS3DHTR_ST_0 = 0x02 # Self Test 0
LIS3DHTR_ST_1 = 0x04 # Self Test 1
LIS3DHTR_SIM_3 = 0x01 # 3-Wire Interface


class LIS3DHTR():
def __init__ (self):
self.select_datarate()
self.select_data_config()

def select_datarate(self):

DATARATE_CONFIG = (LIS3DHTR_ACCL_DR_10 | LIS3DHTR_ACCL_XAXIS | LIS3DHTR_ACCL_YAXIS | LIS3DHTR_ACCL_ZAXIS)
bus.write_byte_data(LIS3DHTR_DEFAULT_ADDRESS, LIS3DHTR_REG_CTRL1, DATARATE_CONFIG)

def select_data_config(self):
DATA_CONFIG = (LIS3DHTR_ACCL_RANGE_2G | LIS3DHTR_BDU_CONT | LIS3DHTR_HR_DS)
bus.write_byte_data(LIS3DHTR_DEFAULT_ADDRESS, LIS3DHTR_REG_CTRL4, DATA_CONFIG)

def read_accl(self):
data0 = bus.read_byte_data(LIS3DHTR_DEFAULT_ADDRESS, LIS3DHTR_REG_OUT_X_L)
data1 = bus.read_byte_data(LIS3DHTR_DEFAULT_ADDRESS, LIS3DHTR_REG_OUT_X_H)

xAccl = data1 * 256 + data0
if xAccl > 32767 :
xAccl -= 65536
xAccl /= 16000

data0 = bus.read_byte_data(LIS3DHTR_DEFAULT_ADDRESS, LIS3DHTR_REG_OUT_Y_L)
data1 = bus.read_byte_data(LIS3DHTR_DEFAULT_ADDRESS, LIS3DHTR_REG_OUT_Y_H)

yAccl = data1 * 256 + data0
if yAccl > 32767 :
yAccl -= 65536
yAccl /= 16000

data0 = bus.read_byte_data(LIS3DHTR_DEFAULT_ADDRESS, LIS3DHTR_REG_OUT_Z_L)
data1 = bus.read_byte_data(LIS3DHTR_DEFAULT_ADDRESS, LIS3DHTR_REG_OUT_Z_H)

zAccl = data1 * 256 + data0
if zAccl > 32767 :
zAccl -= 65536
zAccl /= 16000
return {'x' : xAccl, 'y' : yAccl, 'z' : zAccl}

from LIS3DHTR import LIS3DHTR
lis3dhtr = LIS3DHTR()

while True:
lis3dhtr.select_datarate()
lis3dhtr.select_data_config()
time.sleep(0.1)
accl = lis3dhtr.read_accl()
print ("Acceleration in X-Axis : %d" %(accl['x']))
print ("Acceleration in Y-Axis : %d" %(accl['y']))
print ("Acceleration in Z-Axis : %d" %(accl['z']))
print (" ************************************ ")
time.sleep(1)

```

- **Step 1** Create a python file.

```
sudo nano LIS3DHTR.py
```

- **Step 2** Copy the above code to the python file.

- **Step 3** Run the python.

```
sudo python LIS3DHTR.py
H3LIS331DL_ACCL_BDU_CONT = 0x00 # Continuous update, Normal Mode, 4-Wire Interface, LSB first
H3LIS331DL_ACCL_BDU_NOT_CONT = 0x80 # Output registers not updated until MSB and LSB reading
H3LIS331DL_ACCL_BLE_MSB = 0x40 # MSB first
H3LIS331DL_ACCL_RANGE_400G = 0x30 # Full scale = +/-400g
H3LIS331DL_ACCL_RANGE_200G = 0x10 # Full scale = +/-200g
H3LIS331DL_ACCL_RANGE_100G = 0x00 # Full scale = +/-100g
H3LIS331DL_ACCL_SIM_3 = 0x01 # 3-Wire Interface
H3LIS331DL_RAW_DATA_MAX = 65536

H3LIS331DL_DEFAULT_RANGE = H3LIS331DL_ACCL_RANGE_100G
H3LIS331DL_SCALE_FS = H3LIS331DL_RAW_DATA_MAX / 4 / ((H3LIS331DL_DEFAULT_RANGE >> 4) + 1)

class H3LIS331DL(object):
def __init__ (self, address=H3LIS331DL_DEFAULT_ADDRESS):
self._addr = address
self._bus = Bus()
self.select_datarate()
self.select_data_config()

def select_datarate(self):
"""Select the data rate of the accelerometer from the given provided values"""
DATARATE_CONFIG = (H3LIS331DL_ACCL_PM_NRMl | H3LIS331DL_ACCL_DR_50 | H3LIS331DL_ACCL_XAXIS | H3LIS331DL_ACCL_YAXIS | H3LIS331DL_ACCL_ZAXIS)
self._bus.write_byte_data(self._addr, H3LIS331DL_REG_CTRL1, DATARATE_CONFIG)

def select_data_config(self):
"""Select the data configuration of the accelerometer from the given provided values"""
DATA_CONFIG = (H3LIS331DL_DEFAULT_RANGE | H3LIS331DL_ACCL_BDU_CONT)
self._bus.write_byte_data(self._addr, H3LIS331DL_REG_CTRL4, DATA_CONFIG)

def read_accl(self):
"""Read data back from H3LIS331DL_REG_OUT_X_L(0x28), 2 bytes
X-Axis Accl LSB, X-Axis Accl MSB"""
data0 = self._bus.read_byte_data(self._addr, H3LIS331DL_REG_OUT_X_L)
data1 = self._bus.read_byte_data(self._addr, H3LIS331DL_REG_OUT_X_H)

xAccl = data1 * 256 + data0
if xAccl > H3LIS331DL_RAW_DATA_MAX / 2:
xAccl -= H3LIS331DL_RAW_DATA_MAX

"""Read data back from H3LIS331DL_REG_OUT_Y_L(0x2A), 2 bytes
Y-Axis Accl LSB, Y-Axis Accl MSB"""
data0 = self._bus.read_byte_data(self._addr, H3LIS331DL_REG_OUT_Y_L)
data1 = self._bus.read_byte_data(self._addr, H3LIS331DL_REG_OUT_Y_H)

yAccl = data1 * 256 + data0
if yAccl > H3LIS331DL_RAW_DATA_MAX / 2 :
yAccl -= H3LIS331DL_RAW_DATA_MAX

"""Read data back from H3LIS331DL_REG_OUT_Z_L(0x2C), 2 bytes
Z-Axis Accl LSB, Z-Axis Accl MSB"""
data0 = self._bus.read_byte_data(self._addr, H3LIS331DL_REG_OUT_Z_L)
data1 = self._bus.read_byte_data(self._addr, H3LIS331DL_REG_OUT_Z_H)

zAccl = data1 * 256 + data0
if zAccl > H3LIS331DL_RAW_DATA_MAX / 2 :
zAccl -= H3LIS331DL_RAW_DATA_MAX

return {'x' : xAccl, 'y' : yAccl, 'z' : zAccl}

def main():
h3lis331dl = H3LIS331DL()
while True:
h3lis331dl.select_datarate()
h3lis331dl.select_data_config()
time.sleep(0.2)
accl = h3lis331dl.read_accl()
print("Raw: X = {0:6} Y = {1:6} Z = {2:6}"
.format(accl['x'], accl['y'], accl['z']))
print("Accel: AX = {0:6.3}g AY = {1:6.3}g AZ = {2:6.3}g"
.format(accl['x'] / H3LIS331DL_SCALE_FS, accl['y'] / H3LIS331DL_SCALE_FS, accl['z'] / H3LIS331DL_SCALE_FS))
time.sleep(.5)

if __name__ == '__main__':
main()
```
:::tip
If everything goes well, you will be able to see the following result
:::

<!-- ![](https://files.seeedstudio.com/products/114020121/img/python_result.png) -->
<p style={{textAlign: 'center'}}><img src="https://files.seeedstudio.com/products/114020121/img/python_result.png" alt="pir" width={600} height="auto" /></p>

You can quit this program by simply press **ctrl+c**.

## Schematic Online Viewer

<div className="altium-ecad-viewer" data-project-src="https://files.seeedstudio.com/products/114020121/document/Grove-3-Axis-Digital-Accelerometer-LIS3DHTR_v1.0_190910.zip" style={{borderRadius: '0px 0px 4px 4px', height: 500, borderStyle: 'solid', borderWidth: 1, borderColor: 'rgb(241, 241, 241)', overflow: 'hidden', maxWidth: 1280, maxHeight: 700, boxSizing: 'border-box'}}>
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