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 "SPI3W.h"
00048 #include "DevI2C.h"
00049 #include "LSM303AGR_mag_driver.h"
00050 #include "MagneticSensor.h"
00051 
00052 
00053 /* Class Declaration ---------------------------------------------------------*/
00054 
00055 /**
00056  * Abstract class of an LSM303AGR Inertial Measurement Unit (IMU) 6 axes
00057  * sensor.
00058  */
00059 class LSM303AGRMagSensor : public MagneticSensor
00060 {
00061   public:
00062     LSM303AGRMagSensor(SPI3W *spi3w, PinName cs_pin, PinName intmag_pin=NC);
00063     LSM303AGRMagSensor(DevI2C *i2c, uint8_t address=LSM303AGR_MAG_I2C_ADDRESS, PinName intmag_pin=NC);
00064     
00065     virtual int init(void *init);
00066     virtual int read_id(uint8_t *id);
00067     virtual int get_m_axes(int32_t *pData);
00068     virtual int get_m_axes_raw(int16_t *pData);
00069     int enable(void);
00070     int disable(void);
00071     int get_m_sensitivity(float *pfData);
00072     int get_m_odr(float *odr);
00073     int set_m_odr(float odr);
00074     int get_m_fs(float *fullScale);
00075     int set_m_fs(float fullScale);
00076     int read_reg(uint8_t reg, uint8_t *data);
00077     int write_reg(uint8_t reg, uint8_t data);
00078     
00079     /**
00080      * @brief Utility function to read data.
00081      * @param  pBuffer: pointer to data to be read.
00082      * @param  RegisterAddr: specifies internal address register to be read.
00083      * @param  NumByteToRead: number of bytes to be read.
00084      * @retval 0 if ok, an error code otherwise.
00085      */
00086     uint8_t io_read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
00087     {     
00088         if (_dev_spi3w) return _dev_spi3w->spi3w_read(pBuffer, &_cs_pin, RegisterAddr, NumByteToRead);                                               
00089                         
00090         if (_dev_i2c) return (uint8_t) _dev_i2c->i2c_read(pBuffer, _address, RegisterAddr, NumByteToRead);
00091         return 1;
00092     }
00093     
00094     /**
00095      * @brief Utility function to write data.
00096      * @param  pBuffer: pointer to data to be written.
00097      * @param  RegisterAddr: specifies internal address register to be written.
00098      * @param  NumByteToWrite: number of bytes to write.
00099      * @retval 0 if ok, an error code otherwise.
00100      */
00101     uint8_t io_write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
00102     {               
00103         if (_dev_spi3w) return _dev_spi3w->spi3w_write(pBuffer, &_cs_pin, RegisterAddr, NumByteToWrite);
00104                         
00105         if (_dev_i2c) return (uint8_t) _dev_i2c->i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite);
00106         return 1;
00107     }
00108 
00109   private:
00110 
00111     /* Helper classes. */
00112     DevI2C *_dev_i2c;
00113     SPI3W  *_dev_spi3w;
00114     
00115     /* Configuration */
00116     uint8_t _address;
00117     DigitalOut  _cs_pin;
00118     InterruptIn _intmag_pin;        
00119 };
00120 
00121 #ifdef __cplusplus
00122  extern "C" {
00123 #endif
00124 uint8_t LSM303AGR_MAG_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
00125 uint8_t LSM303AGR_MAG_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
00126 #ifdef __cplusplus
00127   }
00128 #endif
00129 
00130 #endif