LSM303AGRMagSensor.h

00001 /**
00002  ******************************************************************************
00003  * @file    LSM303AGRMagSensor.h
00004  * @author  CLab
00005  * @version V1.0.0
00006  * @date    5 August 2016
00007  * @brief   Abstract Class of an LSM303AGR magnetometer sensor.
00008  ******************************************************************************
00009  * @attention
00010  *
00011  * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
00012  *
00013  * Redistribution and use in source and binary forms, with or without modification,
00014  * are permitted provided that the following conditions are met:
00015  *   1. Redistributions of source code must retain the above copyright notice,
00016  *      this list of conditions and the following disclaimer.
00017  *   2. Redistributions in binary form must reproduce the above copyright notice,
00018  *      this list of conditions and the following disclaimer in the documentation
00019  *      and/or other materials provided with the distribution.
00020  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00021  *      may be used to endorse or promote products derived from this software
00022  *      without specific prior written permission.
00023  *
00024  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00025  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00026  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00027  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00028  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00029  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00030  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00031  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00032  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00033  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00034  *
00035  ******************************************************************************
00036  */
00037 
00038 
00039 /* Prevent recursive inclusion -----------------------------------------------*/
00040 
00041 #ifndef __LSM303AGRMagSensor_H__
00042 #define __LSM303AGRMagSensor_H__
00043 
00044 
00045 /* Includes ------------------------------------------------------------------*/
00046 
00047 #include "DevI2C.h"
00048 #include "LSM303AGR_mag_driver.h"
00049 #include "MagneticSensor.h"
00050 
00051 
00052 /* Class Declaration ---------------------------------------------------------*/
00053 
00054 /**
00055  * Abstract class of an LSM303AGR Inertial Measurement Unit (IMU) 6 axes
00056  * sensor.
00057  */
00058 class LSM303AGRMagSensor : public MagneticSensor
00059 {
00060   public:
00061     LSM303AGRMagSensor(DevI2C &i2c);
00062     LSM303AGRMagSensor(DevI2C &i2c, uint8_t address);
00063     virtual int init(void *init);
00064     virtual int read_id(uint8_t *id);
00065     virtual int get_m_axes(int32_t *pData);
00066     virtual int get_m_axes_raw(int16_t *pData);
00067     int enable(void);
00068     int disable(void);
00069     int get_m_sensitivity(float *pfData);
00070     int get_m_odr(float *odr);
00071     int set_m_odr(float odr);
00072     int get_m_fs(float *fullScale);
00073     int set_m_fs(float fullScale);
00074     int read_reg(uint8_t reg, uint8_t *data);
00075     int write_reg(uint8_t reg, uint8_t data);
00076     
00077     /**
00078      * @brief Utility function to read data.
00079      * @param  pBuffer: pointer to data to be read.
00080      * @param  RegisterAddr: specifies internal address register to be read.
00081      * @param  NumByteToRead: number of bytes to be read.
00082      * @retval 0 if ok, an error code otherwise.
00083      */
00084     uint8_t io_read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
00085     {
00086         return (uint8_t) _dev_i2c.i2c_read(pBuffer, _address, RegisterAddr, NumByteToRead);
00087     }
00088     
00089     /**
00090      * @brief Utility function to write data.
00091      * @param  pBuffer: pointer to data to be written.
00092      * @param  RegisterAddr: specifies internal address register to be written.
00093      * @param  NumByteToWrite: number of bytes to write.
00094      * @retval 0 if ok, an error code otherwise.
00095      */
00096     uint8_t io_write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
00097     {
00098         return (uint8_t) _dev_i2c.i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite);
00099     }
00100 
00101   private:
00102 
00103     /* Helper classes. */
00104     DevI2C &_dev_i2c;
00105     
00106     /* Configuration */
00107     uint8_t _address;
00108 };
00109 
00110 #ifdef __cplusplus
00111  extern "C" {
00112 #endif
00113 uint8_t LSM303AGR_MAG_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
00114 uint8_t LSM303AGR_MAG_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
00115 #ifdef __cplusplus
00116   }
00117 #endif
00118 
00119 #endif