Grove - 3-Axis Digital Accelerometer (LIS3DHTR)

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Grove - 3-Axis Digital Accelerometer(LIS3DHTR) is a low-cost 3 - Axis accelerometer in a bundle of Grove products. It is based on the LIS3DHTR chip which provides multiple ranges and interfaces selection. You can never believe that such a tiny 3 - Axis accelerometer can support I2C, SPI, and ADC GPIO interfaces, which means you can choose any way to connect with your development board. Besides, this accelerometer can also monitor the surrounding temperature to tune the error caused by it.

Features

Measurement range: ±2g, ±4g, ±8g, ±16g, multiple ranges selection.
Multiple interfaces option: Grove I2C interface, SPI interface, ADC interface.
Temperature adjustable: able to adjust and tune the error caused by temperature.
3/5V power supply.

Specification

Item	Value
Power Supply	3/5V
Interfaces	I2C/SPI/GPIO ADC
I2C address	Default 0x19, can be changed to 0x18 when connecting SDO Pin with GND
ADC GPIO Power input	0-3.3V
Interruption	An interruption Pin reserved
SPI Mode set up	Connect the CS Pin with GND

Platform Supported

Arduino	Raspberry Pi

Getting Started

Play with Seeeduino XIAO based on Grove I2C interface

Materials Required

Seeeduino XIAO	Grove Breadboard	Grove - 3-Axis Digital Accelerometer (LIS3DHTR)

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Hardware connection

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Connect the Grove - 3-Axis Digital Accelerometer (LIS3DHTR) with Seeeduino XIAO's I2C interface.

Software Code

// This example use I2C.
#include "LIS3DHTR.h"
#include <Wire.h>
LIS3DHTR<TwoWire> LIS; //IIC
#define WIRE Wire

void setup()
{
  Serial.begin(115200);
  while (!Serial)
  {
  };
  LIS.begin(WIRE,0x19); //IIC init
  //LIS.begin(0x19);
  LIS.openTemp();  //If ADC3 is used, the temperature detection needs to be turned off.
  //  LIS.closeTemp();//default
  delay(100);
    LIS.setFullScaleRange(LIS3DHTR_RANGE_2G);
  //  LIS.setFullScaleRange(LIS3DHTR_RANGE_4G);
  //  LIS.setFullScaleRange(LIS3DHTR_RANGE_8G);
  //  LIS.setFullScaleRange(LIS3DHTR_RANGE_16G);
  //  LIS.setOutputDataRate(LIS3DHTR_DATARATE_1HZ);
  //  LIS.setOutputDataRate(LIS3DHTR_DATARATE_10HZ);
  //  LIS.setOutputDataRate(LIS3DHTR_DATARATE_25HZ);
  LIS.setOutputDataRate(LIS3DHTR_DATARATE_50HZ);
  //  LIS.setOutputDataRate(LIS3DHTR_DATARATE_100HZ);
  //  LIS.setOutputDataRate(LIS3DHTR_DATARATE_200HZ);
  //  LIS.setOutputDataRate(LIS3DHTR_DATARATE_1_6KHZ);
  //  LIS.setOutputDataRate(LIS3DHTR_DATARATE_5KHZ);
}
void loop()
{
  if (!LIS)
  {
    Serial.println("LIS3DHTR didn't connect.");
    while (1)
      ;
    return;
  }
  //3 axis
    Serial.print("x:"); Serial.print(LIS.getAccelerationX()); Serial.print("  ");
    Serial.print("y:"); Serial.print(LIS.getAccelerationY()); Serial.print("  ");
    Serial.print("z:"); Serial.println(LIS.getAccelerationZ());
  //ADC
  //    Serial.print("adc1:"); Serial.println(LIS.readbitADC1());
  //    Serial.print("adc2:"); Serial.println(LIS.readbitADC2());
  //    Serial.print("adc3:"); Serial.println(LIS.readbitADC3());

  //temperature
  Serial.print("temp:");
  Serial.println(LIS.getTemperature());
  delay(500); 
}

Step 1 Download the library from Github and add the "zip" library to your Arduino IDE. Please refer to How to install an Arduino Library.
Step 2 Find the example code of "LIS3DHTR_IIC" and upload it to your board. Please refer to How to upload code.
Step 3 After uploading the code, you will see the accelerated velocity of each axis and temperature of surrounding from the serial monitor.

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Play with Raspberry Pi

Materials Required

Raspberry Pi 4B(4GB)	Grove Base Hat for Raspberry Pi	Grove - 3-Axis Digital Accelerometer (LIS3DHTR)

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Hardware Connection

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Connect the LIS3DHTR sensor to any I2C interface on the Grove Base Hat for Raspberry Pi.

Code

Step 1 Follow Setting Software to configure the development environment and install the grove.py to your raspberry pi.
Step 2 Excute below commands to run the code.

virtualenv -p python3 env
source env/bin/activate
#enter commmand
grove_3_axis_digital_accelerometer

Following is grove_3_axis_digital_accelerometer.py code:

from __future__ import print_function
from grove.i2c import Bus
import time

# I2C address of the device
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
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
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
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

pir

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

Schematic Online Viewer

Resource

[PDF] LIS3DHTR_DATASHEET
[PDF] Hardware schematic
[ZiP] Grove - 3-Axis Digital Accelerometer (LIS3DHTR) Library

Tech Support & Product Discussion

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Features​

Specification​

Platform Supported​

Getting Started​

Play with Seeeduino XIAO based on Grove I2C interface​

Materials Required​

Hardware connection​

Software Code​

Play with Raspberry Pi​

Materials Required​

Hardware Connection​

Code​

Schematic Online Viewer​

Resource​

Tech Support & Product Discussion​

Features

Specification

Platform Supported

Getting Started

Play with Seeeduino XIAO based on Grove I2C interface

Materials Required

Hardware connection

Software Code

Play with Raspberry Pi

Materials Required

Hardware Connection

Code

Schematic Online Viewer

Resource

Tech Support & Product Discussion