GyroSensor.h

00001 /**
00002  ******************************************************************************
00003  * @file    GyroSensor.h
00004  * @author  AST / EST
00005  * @version V0.0.1
00006  * @date    13-April-2015
00007  * @brief   This file contains the abstract class describing in general
00008  *          the interfaces of a gyroscope
00009  ******************************************************************************
00010  * @attention
00011  *
00012  * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
00013  *
00014  * Redistribution and use in source and binary forms, with or without modification,
00015  * are permitted provided that the following conditions are met:
00016  *   1. Redistributions of source code must retain the above copyright notice,
00017  *      this list of conditions and the following disclaimer.
00018  *   2. Redistributions in binary form must reproduce the above copyright notice,
00019  *      this list of conditions and the following disclaimer in the documentation
00020  *      and/or other materials provided with the distribution.
00021  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00022  *      may be used to endorse or promote products derived from this software
00023  *      without specific prior written permission.
00024  *
00025  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00028  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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00030  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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00032  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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00034  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  ******************************************************************************
00037  */
00038 
00039 /* Define to prevent from recursive inclusion --------------------------------*/
00040 #ifndef __GYRO_SENSOR_CLASS_H
00041 #define __GYRO_SENSOR_CLASS_H
00042 
00043 /* Includes ------------------------------------------------------------------*/
00044 #include <GenericSensor.h>
00045 
00046 /* Classes  ------------------------------------------------------------------*/
00047 /** An abstract class for a Gyroscope
00048  */
00049 class GyroSensor : public GenericSensor
00050 {
00051  public:
00052     /**
00053      * @brief       Get current gyroscope angular rate X/Y/Z-axes values 
00054      *              in standard data units [mdps]
00055      * @param[out]  pData Pointer to where to store angular rates to.
00056      *              pData must point to an array of (at least) three elements, where:
00057      *              pData[0] corresponds to X-axis,
00058      *              pData[1] corresponds to Y-axis, and
00059      *              pData[2] corresponds to Z-axis.
00060      * @return      0 in case of success, an error code otherwise
00061      */
00062     virtual int Get_G_Axes(int32_t *pData) = 0;
00063 
00064     /**
00065      * @brief       Get current gyroscope raw data X/Y/Z-axes values 
00066      *              in device sepcific LSB units
00067      * @param[out]  pData Pointer to where to store gyroscope raw data to.
00068      *              pData must point to an array of (at least) three elements, where:
00069      *              pData[0] corresponds to X-axis,
00070      *              pData[1] corresponds to Y-axis, and
00071      *              pData[2] corresponds to Z-axis.
00072      * @return      0 in case of success, an error code otherwise
00073      */
00074     virtual int Get_G_AxesRaw(int16_t *pData) = 0;
00075 
00076     /**
00077      * @brief       Get gyroscope's current sensitivity [mdps/LSB]
00078      * @param[out]  pfData Pointer to where the gyroscope's sensitivity is stored to
00079      * @return      0 in case of success, an error code otherwise
00080      */
00081     virtual int Get_G_Sensitivity(float *pfData) = 0;
00082     
00083     /**
00084      * @brief       Get gyroscope's current output data rate [Hz]
00085      * @param[out]  pfData Pointer to where the gyroscope output data rate is stored to
00086      * @return      0 in case of success, an error code otherwise
00087      */
00088     virtual int Get_G_ODR(float *pfData) = 0;
00089 
00090     /**
00091      * @brief      Set gyroscope's output data rate
00092      * @param[in]  odr New value for gyroscope's output data rate in [Hz]
00093      * @return     0 in case of success, an error code otherwise
00094      */
00095     virtual int Set_G_ODR(float odr) = 0;
00096     
00097     /**
00098      * @brief       Get gyroscope's full scale value
00099      *              i.e.\ min/max measurable value [dps]
00100      * @param[out]  pfData Pointer to where the gyroscope full scale value is stored to
00101      * @return      0 in case of success, an error code otherwise
00102      */
00103     virtual int Get_G_FS(float *pfData) = 0;
00104     
00105     /**
00106      * @brief      Set gyroscope's full scale value
00107      *             i.e.\ min/max measurable value
00108      * @param[in]  fs New full scale value for gyroscope in [dps]
00109      * @return     0 in case of success, an error code otherwise
00110      */
00111     virtual int Set_G_FS(float fs) = 0;
00112 };
00113 
00114 #endif /* __GYRO_SENSOR_CLASS_H */