diff --git a/docs/Sensor/Grove/Grove_Sensors/Accelerometer/Grove-3-Axis-Digital-Accelerometer-LIS3DHTR.md b/docs/Sensor/Grove/Grove_Sensors/Accelerometer/Grove-3-Axis-Digital-Accelerometer-LIS3DHTR.md
index b2b418541edc..1d87b5fa23f0 100644
--- a/docs/Sensor/Grove/Grove_Sensors/Accelerometer/Grove-3-Axis-Digital-Accelerometer-LIS3DHTR.md
+++ b/docs/Sensor/Grove/Grove_Sensors/Accelerometer/Grove-3-Axis-Digital-Accelerometer-LIS3DHTR.md
@@ -43,7 +43,7 @@ Grove - 3-Axis Digital Accelerometer(LIS3DHTR) is a low-cost 3 - Axis accelerome
|  |  |  |  |  | -->
|Arduino|Raspberry Pi|
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+|
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## Getting Started
@@ -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
+:::
+You can quit this program by simply press **ctrl+c**.
+
## Schematic Online Viewer