三轴加速度计

产品简介

LIS2DW12三轴加速度计是一款超低功耗的线性加速度计,该传感器拥有两个独立的可编程中断及专用内部引擎,可实现超多功能,例如自由落体检测、纵向/横向检测、朝向(6D/4D)检测、可配置的单击/双击识别、运动检测、运动唤醒以实现高级省电等,我们为您提供了以上功能的示例程序,方便您在项目中轻松使用。 该传感器具有±2g /±4g /±8g /±16g的用户可选全刻度,并能够以1.6 Hz至1600 Hz的输出数据速率测量加速度,它内置多种带宽的多种运行模式,您可以按需选择合适的模式。

特性

技术规格

应用

引脚说明

三轴加速度计 三轴加速度计

序号 丝印 功能描述
1 VCC 5V / 3V3
2 GND GND
3 SCL I2C时钟线 /SPI 时钟线
4 SDA I2C数据线 /SPI 数据线MISO
5 INT2 中断引脚2
6 INT1 中断引脚1
7 CS SPI 片选线
8 SDO I2C地址选择引脚 /SPI数据线MOSI

注意:

不同通信方式连线提示:

- I2C:0x19(默认)

- I2C:0x18

- SPI

- 中断引脚连接

主板 默认连接引脚
UNO/MEGA2560 D2
Leonardo D3
Micro:bit P0
ESP32/ESP8266/ARDUINO_SAM_ZERO D6
Raspberry Pi GPIO25

M0使用教程

请按接线图所示将传感器与M0(或其它主板)相连接即可。

准备

关于如何安装库文件,点击链接

关于如何使用Firebeetle Board-M0,点击链接

   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);

连线图

样例代码1-读取x,y,z轴加速度(getAcceleration.ino)

/**!
 * @file getAcceleration.ino
 * @brief Get the acceleration in the three directions of xyz, the range can be ±2g, ±4g, ±8g or ±16g, set by the setRange() function
 * @n In this example, the continuous measurement mode is selected by default -- the acceleration data will be measured continuously according to the measuring rate.
 * @n You can also use the single data conversion on demand mode 1. You need to select a suitable conversion mode in the setPowerMode() function
 * @n                                                            2. Fill in the setDataRate() function with the eSetSwTrig parameter
 * @n                                                            3. Request a measurement by the demandData() function
 * @n When using SPI, chip select pin can be modified by changing the value of LIS2DW12_CS
 * @copyright  Copyright (c) 2010 DFRobot Co.Ltd (http://www.dfrobot.com)
 * @licence     The MIT License (MIT)
 * @author [fengli](li.feng@dfrobot.com)
 * @version  V1.0
 * @date  2021-01-16
 * @get from https://www.dfrobot.com
 * @https://github.com/DFRobot/DFRobot_LIS
 */


#include <DFRobot_LIS2DW12.h>
//When using I2C communication, use the following program to construct an object by DFRobot_LIS2DW12_I2C
/*!
 * @brief Constructor 
 * @param pWire I2c controller
 * @param addr  I2C address(0x18/0x19)
 */
//DFRobot_LIS2DW12_I2C acce(&Wire,0x18);
DFRobot_LIS2DW12_I2C acce;


//When using SPI communication, use the following program to construct an object by DFRobot_LIS2DW12_SPI
#if defined(ESP32) || defined(ESP8266)
#define LIS2DW12_CS  D3
#elif defined(__AVR__) || defined(ARDUINO_SAM_ZERO)
#define LIS2DW12_CS 3
#elif (defined NRF5)
#define LIS2DW12_CS 2  //The pin on the development board with the corresponding silkscreen printed as P2
#endif
/*!
 * @brief Constructor 
 * @param cs Chip selection pinChip selection pin
 * @param spi SPI controller
 */
//DFRobot_LIS2DW12_SPI acce(/*cs = */LIS2DW12_CS,&SPI);
//DFRobot_LIS2DW12_SPI acce(/*cs = */LIS2DW12_CS);

void setup(void){

  Serial.begin(9600);
  while(!acce.begin()){
     Serial.println("Communication failed, check the connection and I2C address setting when using I2C communication.");
     delay(1000);
  }
  Serial.print("chip id : ");
  Serial.println(acce.getID(),HEX);
  //Chip soft reset
  acce.softReset();
  //Set whether to collect data continuously
  acce.continRefresh(true);


  /**!
    Set the sensor data collection rate:
               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>/
  */
  acce.setDataRate(DFRobot_LIS2DW12::eRate_50hz);

  /**!
    Set the sensor measurement range:
                   e2_g   /<±2g>/
                   e4_g   /<±4g>/
                   e8_g   /<±8g>/
                   e16_g  /< ±16g>/
  */
  acce.setRange(DFRobot_LIS2DW12::e2_g);


  /**!
    Filter settings:
           eLPF (Low pass filter)
           eHPF (High pass filter)
  */
  acce.setFilterPath(DFRobot_LIS2DW12::eLPF);

  /**!
    Set 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)>/
  */
  acce.setFilterBandwidth(DFRobot_LIS2DW12::eRateDiv_4);

  /**!
   Set power mode:
       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>/
  */
  acce.setPowerMode(DFRobot_LIS2DW12::eContLowPwrLowNoise2_14bit);
  Serial.print("Acceleration:\n");
  delay(100);
}

void loop(void){
    //Request a measurement under single data conversion on demand mode
    //acce.demandData();
    //The mearsurement range is ±2g,±4g,±8g or ±16g, set by the setRange() function.
    Serial.print("x: ");
    //Read the acceleration in the x direction
    Serial.print(acce.readAccX());
    Serial.print(" mg \ty: ");
    //Read the acceleration in the y direction
    Serial.print(acce.readAccY());
    Serial.print(" mg \tz: ");
    //Read the acceleration in the z direction
    Serial.print(acce.readAccZ());
    Serial.println(" mg");
    delay(300);
}

结果

样例代码2-睡眠唤醒功能(wakeUp.ino)

/**!
 * @file wakeUp.ino
 * @brief When the acceleration change in x, y or z direction is detected to exceed the threshold we set before, the chip will generate a wake-up event.
 * @n By accessing the chip register, we can know which direction of movement wakes up the chip.
 * @n In this example, it is necessary to set the wake-up duration by setWakeUpDur().
 * @n When woken up, the chip will last for a while before it enters the sleep state.
 * @n And to set the threshold by setWakeUpThreshold(). When the acceleration change exceeds this value, the eWakeUp event will be triggered.
 * @n When using SPI, chip select pin can be modified by changing the value of LIS2DW12_CS
 * @copyright  Copyright (c) 2010 DFRobot Co.Ltd (http://www.dfrobot.com)
 * @licence     The MIT License (MIT)
 * @author [fengli](li.feng@dfrobot.com)
 * @version  V1.0
 * @date  2021-01-16
 * @get from https://www.dfrobot.com
 * @https://github.com/DFRobot/DFRobot_LIS
 */

#include <DFRobot_LIS2DW12.h>

//When using I2C communication, use the following program to construct an object by DFRobot_LIS2DW12_I2C
/*!
 * @brief Constructor 
 * @param pWire I2c controller
 * @param addr  I2C address(0x18/0x19)
 */
//DFRobot_LIS2DW12_I2C acce(&Wire,0x18);
DFRobot_LIS2DW12_I2C acce;

//When using SPI communication, use the following program to construct an object by DFRobot_LIS2DW12_SPI
#if defined(ESP32) || defined(ESP8266)
#define LIS2DW12_CS  D3
#elif defined(__AVR__) || defined(ARDUINO_SAM_ZERO)
#define LIS2DW12_CS  3
#elif (defined NRF5)
#define LIS2DW12_CS  2  //The pin on the development board with the corresponding silkscreen printed as P2
#endif
/*!
 * @brief Constructor 
 * @param cs  Chip selection pinChip selection pin
 * @param spi SPI controller
 */
//DFRobot_LIS2DW12_SPI acce(/*cs = */LIS2DW12_CS,&SPI);
//DFRobot_LIS2DW12_SPI acce(/*cs = */LIS2DW12_CS);

void setup(void){
  Serial.begin(9600);
  while(!acce.begin()){
     Serial.println("Communication failed, check the connection and I2C address setting when using I2C communication.");
     delay(1000);
  }
  Serial.print("chip id : ");
  Serial.println(acce.getID(),HEX);
  //Chip soft reset
  acce.softReset();

  /**!
    Set the sensor measurement range:
                   e2_g   /<±2g>/
                   e4_g   /<±4g>/
                   e8_g   /<±8g>/
                   e16_g  /< ±16g>/
  */
  acce.setRange(DFRobot_LIS2DW12::e2_g);

  /**!
   Set power mode:
       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>/
  */
  acce.setPowerMode(DFRobot_LIS2DW12::eContLowPwrLowNoise1_12bit);

  /**!
    Set the sensor data collection rate:
               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>/
  */
  acce.setDataRate(DFRobot_LIS2DW12::eRate_200hz);

  /**!
    Filter settings:
           eLPF(Low pass filter)
           eHPF(High pass filter)
  */
  acce.setFilterPath(DFRobot_LIS2DW12::eLPF);

  /**
    The wake-up duration – when woken up, the chip will last for a while before it enters the sleep state.
    dur (0 ~ 3)
    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 |
    |------------------------------------------------------------------------------------------------------------------------|
   */
  acce.setWakeUpDur(/*dur =*/2);

  //Set wakeup threshold, when the acceleration change exceeds this value, the eWakeUp event will be triggered, unit:mg
  //The value is within the range
  acce.setWakeUpThreshold(/*threshold = */0.5);

  /**!
    Set the interrupt event of the int1 pin:
    eDoubleTap(Double click)
    eFreeFall(Free fall)
    eWakeUp(wake)
    eSingleTap(single-Click)
    e6D(Orientation change check)
  */
  acce.setInt1Event(DFRobot_LIS2DW12::eWakeUp);

  /**!
    Set the interrupt event of the int1 pin:
       eSleepChange = 0x40,/<Sleep change status routed to INT2 pad>/
       eSleepState  = 0x80,/<Enable routing of SLEEP_STATE on INT2 pad>/
  */
  //acce.setInt2Event(DFRobot_LIS2DW12::eSleepChange);
  delay(100);
}

void loop(void){

   //Wake-up event detected
   if(acce.actDetected()){
     Serial.print("wake-up event happened in ");
     //Wake-up motion direction detection
     DFRobot_LIS2DW12::eWakeUpDir_t dir  = acce.getWakeUpDir();
     if(dir == DFRobot_LIS2DW12::eDirX){
       Serial.println("x direction");
     }
     if(dir == DFRobot_LIS2DW12::eDirY){
       Serial.println("y direction");
     }
     if(dir == DFRobot_LIS2DW12::eDirZ){
       Serial.println("z direction");
     }
     delay(100);
   }
}

结果

样例代码3-敲击检测功能(tap.ino)

/**!
 * @file tap.ino
 * @brief Single tap and double tap detection, tapping the module or the desktop near the module both can trigger the tap event
 * @n You can select to detect single tap or to detect both single tap and double tap by the setTapMode() function
 * @n When using SPI, chip select pin can be modified by changing the value of LIS2DW12_CS
 * @copyright  Copyright (c) 2010 DFRobot Co.Ltd (http://www.dfrobot.com)
 * @licence     The MIT License (MIT)
 * @author [fengli](li.feng@dfrobot.com)
 * @version  V1.0
 * @date  2021-01-16
 * @get from https://www.dfrobot.com
 * @https://github.com/DFRobot/DFRobot_LIS
 */


#include <DFRobot_LIS2DW12.h>


//When using I2C communication, use the following program to construct an object by DFRobot_LIS2DW12_I2C
/*!
 * @brief Constructor 
 * @param pWire I2c controller
 * @param addr  I2C address(0x18/0x19)
 */
//DFRobot_LIS2DW12_I2C acce(&Wire,0x18);
DFRobot_LIS2DW12_I2C acce;


//When using SPI communication, use the following program to construct an object by DFRobot_LIS2DW12_SPI
#if defined(ESP32) || defined(ESP8266)
#define LIS2DW12_CS  D3
#elif defined(__AVR__) || defined(ARDUINO_SAM_ZERO)
#define LIS2DW12_CS 3
#elif (defined NRF5)
#define LIS2DW12_CS 2  //The pin on the development board with the corresponding silkscreen printed as P2
#endif
/*!
 * @brief Constructor 
 * @param cs  Chip selection pinChip selection pin
 * @param spi SPI controller
 */
//DFRobot_LIS2DW12_SPI acce(/*cs = */LIS2DW12_CS,&SPI);
//DFRobot_LIS2DW12_SPI acce(/*cs = */LIS2DW12_CS);

void setup(void){
  Serial.begin(9600);
  while(!acce.begin()){
     Serial.println("Communication failed, check the connection and I2C address setting when using I2C communication.");
     delay(1000);
  }
  Serial.print("chip id : ");
  Serial.println(acce.getID(),HEX);
  //Chip soft reset
  acce.softReset();

  /**!
    Set the sensor measurement range:
                   e2_g   /<±2g>/
                   e4_g   /<±4g>/
                   e8_g   /<±8g>/
                   e16_g  /< ±16g>/
  */
  acce.setRange(DFRobot_LIS2DW12::e2_g);

  /**!
   Set power mode:
       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>/
  */
  acce.setPowerMode(DFRobot_LIS2DW12::eContLowPwrLowNoise1_12bit);

  /**!
    Set the sensor data collection rate:
               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>/
  */
  acce.setDataRate(DFRobot_LIS2DW12::eRate_800hz);

  //Enable tap detection in the Z direction
  acce.enableTapDetectionOnZ(true);
  //Enable tap detection in Y direction
  acce.enableTapDetectionOnY(true);
  //Enable tap detection in the X direction
  acce.enableTapDetectionOnX(true);
  //The threshold setting in the X direction 
  //Threshold(mg),Can only be used in the range of ±2g
  acce.setTapThresholdOnX(/*Threshold = */0.5);
  //The threshold setting in the Y direction   //Threshold(mg),Can only be used in the range of ±2g
  acce.setTapThresholdOnY(/*Threshold = */0.5);
  //The threshold setting in the Z direction   //Threshold(mg),Can only be used in the range of ±2g)
  acce.setTapThresholdOnZ(/*Threshold = */0.5);


  /*
    Set the interval time between two taps when detecting double tap
    dur duration(0 ~ 15)
    time = dur * (1/ODR)(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 |
    |------------------------------------------------------------------------------------------------------------------------|
  */
  acce.setTapDur(/*dur=*/6);

  /**!
    Set tap detection mode:
       eOnlySingle(Single tap)
       eBothSingleDouble(Single tap and double tap)
  */
  acce.setTapMode(DFRobot_LIS2DW12::eBothSingleDouble);

  /**!
    Set the interrupt source of the int1 pin:
      eDoubleTap(Double tap)
      eFreeFall(Free fall)
      eWakeUp(wake)
      eSingleTap(single-tap)
      e6D(Orientation change check)
  */
  acce.setInt1Event(DFRobot_LIS2DW12::eDoubleTap);

  delay(1000);
}

void loop(void){
  //tap detected
  DFRobot_LIS2DW12:: eTap_t tapEvent = acce.tapDetect();
  //Tap source detection
  DFRobot_LIS2DW12::eTapDir_t dir = acce.getTapDirection();
  uint8_t tap = 0;
  if(tapEvent  == DFRobot_LIS2DW12::eSTap){
      Serial.print("Single Tap Detected :");
      tap = 1;
  }
  if(tapEvent  == DFRobot_LIS2DW12::eDTap){  
      Serial.print("Double Tap Detected :");
      tap = 1;
  }
  if(tap == 1){
      if(dir == DFRobot_LIS2DW12::eDirXUp){
        Serial.println("tap is detected in the positive direction of X");
      }else if(dir == DFRobot_LIS2DW12::eDirXDown){
        Serial.println("tap is detected in the negative direction of X");
      }else if(dir == DFRobot_LIS2DW12::eDirYUp){
        Serial.println("tap is detected in the positive direction of Y");
      }else if(dir == DFRobot_LIS2DW12::eDirYDown){
        Serial.println("tap is detected in the negative direction of Y");
      }else if(dir == DFRobot_LIS2DW12::eDirZUp){
        Serial.println("tap is detected in the positive direction of Z");
      }else if(dir == DFRobot_LIS2DW12::eDirZDown){
        Serial.println("tap is detected in the negative direction of Z");
      }
      delay(500);
      tap = 0;
  }
}

结果

样例代码4-敲击中断功能(tapInterrupt.ino)

/**!
 * @file tapInterrupt.ino
 * @brief tap interrupt detection, tapping the module and the desktop near the module can both trigger the interrupt level on pin int1.
 * @n When using SPI, chip select pin can be modified by changing the value of macro LIS2DW12_CS
 * @n In this example, the int2/int1 pin on the module needs to be connected to the interrupt pin on the motherboard. Default UNO(2),
 * @n                   Mega2560(2), Leonardo(3), microbit(P0),FireBeetle-ESP8266(D6),FireBeetle-ESP32((D6),FireBeetle-M0(6)        
 * @copyright  Copyright (c) 2010 DFRobot Co.Ltd (http://www.dfrobot.com)
 * @licence     The MIT License (MIT)
 * @author [fengli](li.feng@dfrobot.com)
 * @version  V1.0
 * @date  2021-01-16
 * @get from https://www.dfrobot.com
 * @https://github.com/DFRobot/DFRobot_LIS
 */


#include <DFRobot_LIS2DW12.h>

//When using I2C communication, use the following program to construct an object by DFRobot_LIS2DW12_I2C
/*!
 * @brief Constructor 
 * @param pWire I2c controller
 * @param addr  I2C address(0x18/0x19)
 */
//DFRobot_LIS2DW12_I2C acce(&Wire,0x18);
DFRobot_LIS2DW12_I2C acce;


//When using SPI communication, use the following program to construct an object by DFRobot_LIS2DW12_SPI
#if defined(ESP32) || defined(ESP8266)
#define LIS2DW12_CS  D3
#elif defined(__AVR__) || defined(ARDUINO_SAM_ZERO)
#define LIS2DW12_CS 3
#elif (defined NRF5)
#define LIS2DW12_CS 2  //The pin on the development board with the corresponding silkscreen printed as P2
#endif
/*!
 * @brief Constructor 
 * @param cs  Chip selection pinChip selection pin
 * @param spi SPI controller
 */
//DFRobot_LIS2DW12_SPI acce(/*cs = */LIS2DW12_CS,&SPI);
//DFRobot_LIS2DW12_SPI acce(/*cs = */LIS2DW12_CS);

volatile uint8_t intFlag = 0;
void interEvent(){
  intFlag = 1;
}

void setup(void){

  Serial.begin(9600);
  while(!acce.begin()){
     Serial.println("Communication failed, check the connection and I2C address setting when using I2C communication.");
     delay(1000);
  }
  Serial.print("chip id : ");
  Serial.println(acce.getID(),HEX);
  //Chip soft reset
  acce.softReset();
  #if defined(ESP32) || defined(ESP8266)
  //The D6 pin is used as the interrupt pin by default, and other non-conflicting pins can also be selected as the external interrupt pin
  attachInterrupt(digitalPinToInterrupt(D6)/*Query the interrupt number of the D6 pin*/,interEvent,CHANGE);
  #elif defined(ARDUINO_SAM_ZERO)
  //The 5 pin is used as the interrupt pin by default, and other non-conflicting pins can also be selected as the external interrupt pin
  attachInterrupt(digitalPinToInterrupt(5)/*Query the interrupt number of the 5 pin*/,interEvent,CHANGE);
  #else
  /*    The Correspondence Table of AVR Series Arduino Interrupt Pins And Terminal Numbers
   * ---------------------------------------------------------------------------------------
   * |                                        |  DigitalPin  | 2  | 3  |                   |
   * |    Uno, Nano, Mini, other 328-based    |--------------------------------------------|
   * |                                        | Interrupt No | 0  | 1  |                   |
   * |-------------------------------------------------------------------------------------|
   * |                                        |    Pin       | 2  | 3  | 21 | 20 | 19 | 18 |
   * |               Mega2560                 |--------------------------------------------|
   * |                                        | Interrupt No | 0  | 1  | 2  | 3  | 4  | 5  |
   * |-------------------------------------------------------------------------------------|
   * |                                        |    Pin       | 3  | 2  | 0  | 1  | 7  |    |
   * |    Leonardo, other 32u4-based          |--------------------------------------------|
   * |                                        | Interrupt No | 0  | 1  | 2  | 3  | 4  |    |
   * |--------------------------------------------------------------------------------------
   */
  /*                      The Correspondence Table of micro:bit Interrupt Pins And Terminal Numbers
   * ---------------------------------------------------------------------------------------------------------------------------------------------
   * |             micro:bit                       | DigitalPin |P0-P20 can be used as an external interrupt                                     |
   * |  (When using as an external interrupt,      |---------------------------------------------------------------------------------------------|
   * |no need to set it to input mode with pinMode)|Interrupt No|Interrupt number is a pin digital value, such as P0 interrupt number 0, P1 is 1 |
   * |-------------------------------------------------------------------------------------------------------------------------------------------|
   */
  attachInterrupt(/*Interrupt No*/0,interEvent,CHANGE);//Open the external interrupt 0, connect INT1/2 to the digital pin of the main control: 
     //UNO(2), Mega2560(2), Leonardo(3), microbit(P0).
  #endif

  /**!
    Set the sensor measurement range:
                   e2_g   /<±2g>/
                   e4_g   /<±4g>/
                   e8_g   /<±8g>/
                   e16_g  /< ±16g>/
  */
  acce.setRange(DFRobot_LIS2DW12::e2_g);

  /**!
   Set power mode:
       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>/
  */
  acce.setPowerMode(DFRobot_LIS2DW12::eContLowPwrLowNoise1_12bit);

  /**!
    Set the sensor data collection rate:
               eRate_0hz           /<Measurement off>/
               eRate_1hz6          /<1.6hz, Measurement off>/
               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>/
  */
  acce.setDataRate(DFRobot_LIS2DW12::eRate_800hz);

  //Enable tap detection in the Z direction
  acce.enableTapDetectionOnZ(true);
  //Enable tap detection in Y direction
  acce.enableTapDetectionOnY(true);
  //Enable tap detection in the X direction
  acce.enableTapDetectionOnX(true);
  //The threshold setting in the X direction 
  //Threshold(mg),Can only be used in the range of ±2g
  acce.setTapThresholdOnX(/*Threshold = */0.5);
  //The threshold setting in the Y direction   //Threshold(mg),Can only be used in the range of ±2g
  acce.setTapThresholdOnY(/*Threshold = */0.5);
  //The threshold setting in the Z direction   //Threshold(mg),Can only be used in the range of ±2g)
  acce.setTapThresholdOnZ(/*Threshold = */0.5);

  /*
    Set the interval time between two taps when detecting double tap 
    dur duration(0 ~ 15)
    time = dur * (1/ODR)(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 |
    |------------------------------------------------------------------------------------------------------------------------|
  */
  acce.setTapDur(/*dur=*/6);

  /**!
    Set tap detection mode:
      eOnlySingle(single tap)
      eBothSingleDouble(Single tap and double tap)
  */
  acce.setTapMode(DFRobot_LIS2DW12::eBothSingleDouble);

  /**!
    Set the interrupt source of the int1 pin:
      eDoubleTap(Double tap)
      eFreeFall(Free fall)
      eWakeUp(wake)
      eSingleTap(single-tap)
      e6D(Orientation change check)
  */
  acce.setInt1Event(DFRobot_LIS2DW12::eDoubleTap);
  delay(1000);
}

void loop(void){
  if(intFlag == 1){
   //Tap detected
     DFRobot_LIS2DW12:: eTap_t tapEvent = acce.tapDetect();
    //Tap direction source detection
     DFRobot_LIS2DW12::eTapDir_t dir = acce.getTapDirection();
     if(tapEvent  == DFRobot_LIS2DW12::eSTap){
         Serial.print("Single Tap Detected :");
     }
     if(tapEvent  == DFRobot_LIS2DW12::eDTap){  
         Serial.print("Double Tap Detected :");
     }
     if(dir == DFRobot_LIS2DW12::eDirXUp){
       Serial.println("tap is detected in the positive direction of X");
     }else if(dir == DFRobot_LIS2DW12::eDirXDown){
       Serial.println("tap is detected in the negative direction of X");
     }else if(dir == DFRobot_LIS2DW12::eDirYUp){
       Serial.println("tap is detected in the positive direction of Y");
     }else if(dir == DFRobot_LIS2DW12::eDirYDown){
       Serial.println("tap is detected in the negative direction of Y");
     }else if(dir == DFRobot_LIS2DW12::eDirZUp){
       Serial.println("tap is detected in the positive direction of Z");
     }else if(dir == DFRobot_LIS2DW12::eDirZDown){
       Serial.println("tap is detected in the negative direction of Z");
     }
     delay(500)
     intFlag = 0;

  }
}

结果

样例代码5-自由落体检测功能(freeFall.ino)

/**!
 * @file freeFall.ino
 * @brief Sensor module free fall detection, set the free fall time with the setFrDur() function to adjust the sensitivity of the detection.
 * @n The shorter the free fall time we set, the easier for the module to detect the free fall event
 * @n When using SPI, chip select pin can be modified by changing the value of LIS2DW12_CS
 * @copyright  Copyright (c) 2010 DFRobot Co.Ltd (http://www.dfrobot.com)
 * @licence     The MIT License (MIT)
 * @author [fengli](li.feng@dfrobot.com)
 * @version  V1.0
 * @date  2021-01-16
 * @get from https://www.dfrobot.com
 * @https://github.com/DFRobot/DFRobot_LIS
 */

#include <DFRobot_LIS2DW12.h>

//When using I2C communication, use the following program to construct an object by DFRobot_LIS2DW12_I2C
/*!
 * @brief Constructor 
 * @param pWire I2c controller
 * @param addr  I2C address(0x18/0x19)
 */
//DFRobot_LIS2DW12_I2C acce(&Wire,0x18);
DFRobot_LIS2DW12_I2C acce;

//When using SPI communication, use the following program to construct an object by DFRobot_LIS2DW12_SPI
#if defined(ESP32) || defined(ESP8266)
#define LIS2DW12_CS  D3
#elif defined(__AVR__) || defined(ARDUINO_SAM_ZERO)
#define LIS2DW12_CS 3
#elif (defined NRF5)
#define LIS2DW12_CS 2  //The pin on the development board with the corresponding silkscreen printed as P2
#endif
/*!
 * @brief Constructor 
 * @param cs  Chip selection pinChip selection pin
 * @param spi SPI controller
 */
//DFRobot_LIS2DW12_SPI acce(/*cs = */LIS2DW12_CS);
//DFRobot_LIS2DW12_SPI acce(/*cs = */LIS2DW12_CS,&SPI);

void setup(void){
  Serial.begin(9600);
  while(!acce.begin()){
     Serial.println("Communication failed, check the connection and I2C address setting when using I2C communication.");
     delay(1000);
  }
  Serial.print("chip id : ");
  Serial.println(acce.getID(),HEX);
  //Chip soft reset
  acce.softReset();
  //Set whether to collect data continuously
  acce.continRefresh(true);

  /**!
   Set power mode:
       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>/
  */
  acce.setPowerMode(DFRobot_LIS2DW12::eContLowPwr4_14bit);

  /**!
    Set the sensor data collection rate:
               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>/
  */
  acce.setDataRate(DFRobot_LIS2DW12::eRate_100hz);

  /**!
    Set the sensor measurement range:
                   e2_g   /<±2g>/
                   e4_g   /<±4g>/
                   e8_g   /<±8g>/
                   e16_g  /< ±16g>/
  */
  acce.setRange(DFRobot_LIS2DW12::e2_g);

  /**
   * 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 free-fall samples are sufficient.)
    dur (0 ~ 31)
    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 |
    |------------------------------------------------------------------------------------------------------------------------|
  */
  acce.setFreeFallDur(/*dur = */3);

  /**!
    Set the interrupt source of the int1 pin:
    eDoubleTap(Double click)
    eFreeFall(Free fall)
    eWakeUp(wake)
    eSingleTap(single-Click)
    e6D(Orientation change check)
  */
  acce.setInt1Event(DFRobot_LIS2DW12::eFreeFall);
  delay(100);
}

void loop(void){
   //Free fall event detected
   if(acce.freeFallDetected()){
      Serial.println("free fall detected");
      delay(300);
   }
}

结果

样例代码6-自由落体中断功能(freeFallInterrupt.ino)

/**!
 * @file freeFallInterrupt.ino
 * @brief Interrupt detection of free fall, an interrupt signal will be generated in int1 once a free fall event occurs.
 * @n When a free-fall motion is detected, it will be printed on the serial port.
 * @n When using SPI, chip select pin can be modified by changing the value of LIS2DW12_CS
 * @n In this example, the int2/int1 pin on the module needs to be connected to the interrupt pin on the motherboard. Default UNO(2), 
 * @n                                 Mega2560(2), Leonardo(3), microbit(P0),FireBeetle-ESP8266(D6),FireBeetle-ESP32((D6),FireBeetle-M0(6)
 * @copyright  Copyright (c) 2010 DFRobot Co.Ltd (http://www.dfrobot.com)
 * @licence     The MIT License (MIT)
 * @author [fengli](li.feng@dfrobot.com)
 * @version  V1.0
 * @date  2021-01-16
 * @get from https://www.dfrobot.com
 * @https://github.com/DFRobot/DFRobot_LIS
 */
#include <DFRobot_LIS2DW12.h>

//When using I2C communication, use the following program to construct an object by DFRobot_LIS2DW12_I2C
/*!
 * @brief Constructor 
 * @param pWire I2c controller
 * @param addr  I2C address(0x18/0x19)
 */
//DFRobot_LIS2DW12_I2C acce(&Wire,0x18);
DFRobot_LIS2DW12_I2C acce;

//When using SPI communication, use the following program to construct an object by DFRobot_LIS2DW12_SPI
#if defined(ESP32) || defined(ESP8266)
#define LIS2DW12_CS  D3
#elif defined(__AVR__) || defined(ARDUINO_SAM_ZERO)
#define LIS2DW12_CS 3
#elif (defined NRF5)
#define LIS2DW12_CS P3
#endif
/*!
 * @brief Constructor 
 * @param cs Chip selection pinChip selection pin
 * @param spi SPI controller
 */
//DFRobot_LIS2DW12_SPI acce(/*cs = */LIS2DW12_CS,&SPI);
//DFRobot_LIS2DW12_SPI acce(/*cs = */LIS2DW12_CS);

volatile uint8_t intFlag = 0;
void interEvent(){
  intFlag = 1;
}

void setup(void){

  Serial.begin(9600);
  while(!acce.begin()){
     Serial.println("Communication failed, check the connection and I2C address setting when using I2C communication.");
     delay(1000);
  }
  Serial.print("chip id : ");
  Serial.println(acce.getID(),HEX);

  #if defined(ESP32) || defined(ESP8266)
  //By default, the D6 pin is used as the interrupt pin, and other non-conflicting pins can also be selected as the external interrupt pin.
  attachInterrupt(digitalPinToInterrupt(D6)/*Query the interrupt number of the D6 pin*/,interEvent,CHANGE);
  #elif defined(ARDUINO_SAM_ZERO)
  //By default, the 5 pin is used as the interrupt pin, and other non-conflicting pins can also be selected as the external interrupt pin.
  attachInterrupt(digitalPinToInterrupt(5)/*Query the interrupt number of the pin 5*/,interEvent,CHANGE);
  #else
  /*    The Correspondence Table of AVR Series Arduino Interrupt Pins And Terminal Numbers
   * ---------------------------------------------------------------------------------------
   * |                                        |  DigitalPin  | 2  | 3  |                   |
   * |    Uno, Nano, Mini, other 328-based    |--------------------------------------------|
   * |                                        | Interrupt No | 0  | 1  |                   |
   * |-------------------------------------------------------------------------------------|
   * |                                        |    Pin       | 2  | 3  | 21 | 20 | 19 | 18 |
   * |               Mega2560                 |--------------------------------------------|
   * |                                        | Interrupt No | 0  | 1  | 2  | 3  | 4  | 5  |
   * |-------------------------------------------------------------------------------------|
   * |                                        |    Pin       | 3  | 2  | 0  | 1  | 7  |    |
   * |    Leonardo, other 32u4-based          |--------------------------------------------|
   * |                                        | Interrupt No | 0  | 1  | 2  | 3  | 4  |    |
   * |--------------------------------------------------------------------------------------
   */
  /*                      The Correspondence Table of micro:bit Interrupt Pins And Terminal Numbers
   * ---------------------------------------------------------------------------------------------------------------------------------------------
   * |             micro:bit                       | DigitalPin |P0-P20 can be used as an external interrupt                                     |
   * |  (When using as an external interrupt,      |---------------------------------------------------------------------------------------------|
   * |no need to set it to input mode with pinMode)|Interrupt No|Interrupt number is a pin digital value, such as P0 interrupt number 0, P1 is 1 |
   * |-------------------------------------------------------------------------------------------------------------------------------------------|
   */
  attachInterrupt(/*Interrupt No*/0,interEvent,CHANGE);//Enable the external interrupt 0, connect INT1/2 to the digital pin of the main control: 
     //UNO(2), Mega2560(2), Leonardo(3), microbit(P0).
  #endif

  //Chip soft reset
  acce.softReset();
  //Set whether to collect data continuously
  acce.continRefresh(true);

  /**!
   Set power mode:
       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>/
  */
  acce.setPowerMode(DFRobot_LIS2DW12::eContLowPwr4_14bit);

  /**!
    Set the sensor data collection rate:
               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.>/
  */
  acce.setDataRate(DFRobot_LIS2DW12::eRate_100hz);

  /**!
    Set the sensor measurement range:
                   e2_g   /<±2g>/
                   e4_g   /<±4g>/
                   e8_g   /<±8g>/
                   e16_g  /< ±16g>/
  */
  acce.setRange(DFRobot_LIS2DW12::e2_g);

  //The duration of free fall (0~31), the larger the value, the longer it takes to detect a free fall event
  /**
   * 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.)
    dur range(0 ~ 31)
    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 |
    |------------------------------------------------------------------------------------------------------------------------|
   */
  acce.setFreeFallDur(/*dur = */3);

  /**!
    Set the interrupt source of the int1 pin:
    eDoubleTap(Double click)
    eFreeFall(Free fall)
    eWakeUp(wake)
    eSingleTap(single-Click)
    e6D(Orientation change check)
  */
  acce.setInt1Event(DFRobot_LIS2DW12::eFreeFall);
  delay(100);
}

void loop(void){

   if(intFlag == 1){
   //Free fall event detected
   delay(100);
   if(acce.freeFallDetected()){
      Serial.println("free fall detected");
      delay(200);
   }
    intFlag = 0;
   }
}

结果

样例代码7-运动检测功能(activityDetect.ino)

/**!
 * @file activityDetect.ino
 * @brief Motion detection, can detect whether the module is moving
 * @n It’s necessary to go into low power mode before using this function. Then call setActMode() to make the chip in sleep mode. 
 * @n In this state, the measurement rate is 12.5hz.
 * @n When the acceleration change in a certain direction is detected to exceed the threshold, the measurement rate will be increased 
 * @n to the normal rate we set before. The threshold can be set by the setWakeUpThreshold() function.
 * @n But if the move stops moving, also, the acceleration change in the three directions is less than the threshold, the chip will turn into sleep
 * @n mode after a period of time. This duration time can be set by the setWakeUpDur() function.
 * @n When using SPI, chip select pin can be modified by changing the value of LIS2DW12_CS.
 * @copyright  Copyright (c) 2010 DFRobot Co.Ltd (http://www.dfrobot.com)
 * @licence     The MIT License (MIT)
 * @author [fengli](li.feng@dfrobot.com)
 * @version  V1.0
 * @date  2021-01-16
 * @get from https://www.dfrobot.com
 * @https://github.com/DFRobot/DFRobot_LIS
 */

#include <DFRobot_LIS2DW12.h>

//When using I2C communication, use the following program to construct an object by DFRobot_LIS2DW12_I2C
/*!
 * @brief Constructor 
 * @param pWire I2c controller
 * @param addr  I2C address(0x18/0x19)
 */
//DFRobot_LIS2DW12_I2C acce(&Wire,0x18);
DFRobot_LIS2DW12_I2C acce;

//When using SPI communication, use the following program to construct an object by DFRobot_LIS2DW12_SPI
#if defined(ESP32) || defined(ESP8266)
#define LIS2DW12_CS  D3
#elif defined(__AVR__) || defined(ARDUINO_SAM_ZERO)
#define LIS2DW12_CS 3
#elif (defined NRF5)
#define LIS2DW12_CS 2  //The pin on the development board with the corresponding silkscreen printed as P2
#endif
/*!
 * @brief Constructor 
 * @param cs  Chip selection pinChip selection pin
 * @param spi SPI controller
 */
//DFRobot_LIS2DW12_SPI acce(/*cs = */LIS2DW12_CS);
//DFRobot_LIS2DW12_SPI acce(/*cs = */LIS2DW12_CS,&SPI);

void setup(void){
  Serial.begin(9600);
  while(!acce.begin()){
     Serial.println("Communication failed, check the connection and I2C address setting when using I2C communication.");
     delay(1000);
  }
  Serial.print("chip id : ");
  Serial.println(acce.getID(),HEX);
  //Software reset
  acce.softReset();

  /**!
    Set the sensor measurement range:
                   e2_g   /<±2g>/
                   e4_g   /<±4g>/
                   e8_g   /<±8g>/
                   e16_g  /<±16g>/
  */
  acce.setRange(DFRobot_LIS2DW12::e2_g);

  /**!
    Filter settings:
           eLPF(Low pass filter)
           eHPF(High pass filter)
  */
  acce.setFilterPath(DFRobot_LIS2DW12::eLPF);

  /**!
    Set 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)>/
  */
  acce.setFilterBandwidth(DFRobot_LIS2DW12::eRateDiv_4);

  /**
     Wake-up duration: when using the detection mode of eDetectAct in the setActMode() function, it will collect data
   at a normal rate 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.
    dur (0 ~ 3)
    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 |
    |------------------------------------------------------------------------------------------------------------------------|
   */
  acce.setWakeUpDur(/*dur = */2);

  //Set wakeup threshold, when the acceleration change exceeds this value, the eWakeUp event will be triggered, unit:mg
  //The value is within the range.
  acce.setWakeUpThreshold(/*threshold = */0.2);

  /**!
   Set power mode:
       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>/
  */
  acce.setPowerMode(DFRobot_LIS2DW12::eContLowPwrLowNoise1_12bit);

  /**!
    Set the mode of motion detection:
    eNoDetection       /<No detection>/
    eDetectAct         /<If set this mode, the rate of the chip will drop to 12.5hz and turn into normal measurement frequency 
                        after the eWakeUp event is generated.>/
    eDetectStatMotion  /<In this mode, it can only detect if the chip is in sleep mode without changing the measurement frequency
                         and power mode, continuously measuring the data at normal frequency.>/
  */
  acce.setActMode(DFRobot_LIS2DW12::eDetectAct);

  /**!
    Set the interrupt source of the int1 pin:
    eDoubleTap(Double click)
    eFreeFall(Free fall)
    eWakeUp(wake up)
    eSingleTap(single-Click)
    e6D(Orientation change check)
  */
  acce.setInt1Event(DFRobot_LIS2DW12::eWakeUp);

  /**!
    Set the sensor data collection rate:
               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>/
  */
  acce.setDataRate(DFRobot_LIS2DW12::eRate_200hz);
  delay(100);
}

void loop(void){
    //Motion detected
    if(acce.actDetected()){
        Serial.println("Activity Detected!");
        Serial.print("x: ");
        Serial.print(acce.readAccX());
        Serial.print(" mg \t y: ");
        Serial.print(acce.readAccY());
        Serial.print(" mg \t z: ");
        Serial.print(acce.readAccZ());
        Serial.println(" mg");
        delay(100);
    }
}

结果

样例代码8-朝向检测功能(orientation.ino)

/**!
 * @file orientation.ino
 * @brief When detecting the orientation of the module, the sensor can detect the following six events:
 * @n Positive z-axis is facing up
 * @n Positive z-axis is facing down
 * @n Positive y-axis is facing up
 * @n Positive y-axis is facing down
 * @n Positive x-axis is facing up
 * @n Positive x-axis is facing down
 * @n When using SPI, chip select pin can be modified by changing the value of macro LIS2DW12_CS
 * @copyright  Copyright (c) 2010 DFRobot Co.Ltd (http://www.dfrobot.com)
 * @licence     The MIT License (MIT)
 * @author [fengli](li.feng@dfrobot.com)
 * @version  V1.0
 * @date  2021-01-16
 * @get from https://www.dfrobot.com
 * @https://github.com/DFRobot/DFRobot_LIS
 */
#include <DFRobot_LIS2DW12.h>

//When using I2C communication, use the following program to construct an object by DFRobot_LIS2DW12_I2C
/*!
 * @brief Constructor 
 * @param pWire I2c controller
 * @param addr  I2C address(0x18/0x19)
 */
//DFRobot_LIS2DW12_I2C acce(&Wire,0x18);
DFRobot_LIS2DW12_I2C acce;


//When using SPI communication, use the following program to construct an object by DFRobot_LIS2DW12_SPI
#if defined(ESP32) || defined(ESP8266)
#define LIS2DW12_CS  D3
#elif defined(__AVR__) || defined(ARDUINO_SAM_ZERO)
#define LIS2DW12_CS 3
#elif (defined NRF5)
#define LIS2DW12_CS 2  //The pin on the development board with the corresponding silkscreen printed as P2
#endif
/*!
 * @brief Constructor 
 * @param cs Chip selection pinChip selection pin
 * @param spi SPI controller
 */
//DFRobot_LIS2DW12_SPI acce(/*cs = */LIS2DW12_CS,&SPI);
//DFRobot_LIS2DW12_SPI acce(/*cs = */LIS2DW12_CS);

int lastOrientation = 0; //No event happened

void setup(void){

  Serial.begin(9600);
  while(!acce.begin()){
     Serial.println("Communication failed, check the connection and I2C address setting when using I2C communication.");
     delay(1000);
  }
  Serial.print("chip id : ");
  Serial.println(acce.getID(),HEX);
  //Chip soft reset
  acce.softReset();

  /**!
    Set the sensor measurement range:
                   e2_g   /<±2g>/
                   e4_g   /<±4g>/
                   e8_g   /<±8g>/
                   e16_g  /< ±16g>/
  */
  acce.setRange(DFRobot_LIS2DW12::e2_g);

  /**!
   Set power mode:
       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>/
  */
  acce.setPowerMode(DFRobot_LIS2DW12::eContLowPwrLowNoise1_12bit);

  /**!
    Set the sensor data collection rate:
               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>/
  */
  acce.setDataRate(DFRobot_LIS2DW12::eRate_200hz);

  /**!
    Set the threshold of the angle when turning:
                     eDegrees80   (80°)
                     eDegrees70   (70°)
                     eDegrees60   (60°)
                     eDegrees50   (50°)
  */
  acce.set6DThreshold(DFRobot_LIS2DW12::eDegrees60);

  /**!
    Set the interrupt source of the int1 pin:
    eDoubleTap(Double click)
    eFreeFall(Free fall)
    eWakeUp(wake)
    eSingleTap(single-Click)
    e6D(Orientation change check)
  */
  acce.setInt1Event(DFRobot_LIS2DW12::e6D);

  delay(1000);
}

void loop(void){
    //check Changes detected in six directions
    if(acce.oriChangeDetected()){
        DFRobot_LIS2DW12::eOrient_t orientation = acce.getOrientation();
        if(lastOrientation != orientation){
            if(orientation == DFRobot_LIS2DW12::eXDown){
             Serial.println("X is down now");
            }
            if(orientation == DFRobot_LIS2DW12::eXUp){
             Serial.println("X is up now");
            }
            if(orientation == DFRobot_LIS2DW12::eYDown){
             Serial.println("Y is down now");
            }
            if(orientation == DFRobot_LIS2DW12::eYUp){
             Serial.println("Y is up now");
            }
            if(orientation == DFRobot_LIS2DW12::eZDown){
             Serial.println("Z is down now");
            }
            if(orientation == DFRobot_LIS2DW12::eZUp){
             Serial.println("Z is up now");
            }
            lastOrientation = orientation;
        }
    }
}

结果

树莓派使用教程

准备

接线图

安装驱动

  1. 启动树莓派的I2C接口。如已开启,可跳过该步骤。 打开终端(Terminal),键入如下指令,并回车:

    sudo raspi-config 

    然后用上下键选择“ 5 Interfacing Options ”, 按回车进入,选择 “ P5 I2C ”, 按回车确认“ YES ”即可。重启树莓派主控板。

  2. 安装Python依赖库与git,树莓派需要联网。如已安装,可跳过该步骤。 在终端中,依次键入如下指令,并回车:

    sudo apt-get update
    sudo apt-get install build-essential python-dev python-smbus git
  3. 下载LIS系列驱动库。在终端中,依次键入如下指令,并回车:

    cd Desktop
    git clone https://github.com/DFRobot/DFRobot_LIS

注意: 若您选择使用I2C(0X18)和SPI的通信方式,需要修改demo至相应的通信,您可能会遇到没有权限修改示例程序的情况,以下是解决办法:

1.在要修改的文件目录下查询权限,命令为:

ls -al 

2.修改该文件权限,命令为:

sudo chmod a+w XXX.py

此时,所有人都对该文件具备写权限了。

样例代码

样例代码1-读取x,y,z轴加速度(get_acceleration.py)

样例代码2-睡眠唤醒功能(wake_up.py)

样例代码3-敲击检测功能(tap.py)

样例代码4-自由落体检测功能(free_fall.py)

样例代码5-自由落体中断功能(interrupt.py)

样例代码6-运动检测功能(activity_detect.py)

样例代码7-朝向检测功能(orientation.py)

常见问题

如果有客户对此产品有任何问题,欢迎通过qq或者论坛联系我们!

更多问题及有趣的应用,可以 访问论坛 进行查阅或发帖。

更多资料

DFshopping_car1.png Link DFRobot商城购买链接