ST / Mbed 2 deprecated 6DOrientation_IKS01A2

Example of 6D orientation recognition for LSM6DSL in X-NUCLEO-IKS01A2

Dependencies:   X_NUCLEO_IKS01A2 mbed

Fork of 6DOrientation_IKS01A2 by ST Expansion SW Team

6D Orientation Demo Application based on sensor expansion board X-NUCLEO-IKS01A2

Main function is to show how to use sensor expansion board to find out the 6D orientation and send data using UART to a connected PC or Desktop and display it on terminal applications like TeraTerm.
After connection has been established:
- the user can rotate the board to change the 6D orientation and then view the data using an hyper terminal.
- the user button can be used to display the current 6D orientation.

X_NUCLEO_IKS01A2/Components/LSM303AGRSensor/LSM303AGR_ACC_Sensor.cpp@0:485458fca2bd, 2016-08-12 (annotated)

Committer:
cparata
Date:
Fri Aug 12 13:37:49 2016 +0000
Revision:
0:485458fca2bd
First release of 6D orientation for LSM6DSL in IKS01A2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 0:485458fca2bd 1 /**
cparata 0:485458fca2bd 2 ******************************************************************************
cparata 0:485458fca2bd 3 * @file LSM303AGR_ACC_Sensor.cpp
cparata 0:485458fca2bd 4 * @author AST
cparata 0:485458fca2bd 5 * @version V1.0.0
cparata 0:485458fca2bd 6 * @date 5 August 2016
cparata 0:485458fca2bd 7 * @brief Implementation an LSM303AGR accelerometer sensor.
cparata 0:485458fca2bd 8 ******************************************************************************
cparata 0:485458fca2bd 9 * @attention
cparata 0:485458fca2bd 10 *
cparata 0:485458fca2bd 11 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 0:485458fca2bd 12 *
cparata 0:485458fca2bd 13 * Redistribution and use in source and binary forms, with or without modification,
cparata 0:485458fca2bd 14 * are permitted provided that the following conditions are met:
cparata 0:485458fca2bd 15 * 1. Redistributions of source code must retain the above copyright notice,
cparata 0:485458fca2bd 16 * this list of conditions and the following disclaimer.
cparata 0:485458fca2bd 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 0:485458fca2bd 18 * this list of conditions and the following disclaimer in the documentation
cparata 0:485458fca2bd 19 * and/or other materials provided with the distribution.
cparata 0:485458fca2bd 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 0:485458fca2bd 21 * may be used to endorse or promote products derived from this software
cparata 0:485458fca2bd 22 * without specific prior written permission.
cparata 0:485458fca2bd 23 *
cparata 0:485458fca2bd 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 0:485458fca2bd 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 0:485458fca2bd 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 0:485458fca2bd 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 0:485458fca2bd 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 0:485458fca2bd 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 0:485458fca2bd 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 0:485458fca2bd 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 0:485458fca2bd 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 0:485458fca2bd 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 0:485458fca2bd 34 *
cparata 0:485458fca2bd 35 ******************************************************************************
cparata 0:485458fca2bd 36 */
cparata 0:485458fca2bd 37
cparata 0:485458fca2bd 38
cparata 0:485458fca2bd 39 /* Includes ------------------------------------------------------------------*/
cparata 0:485458fca2bd 40
cparata 0:485458fca2bd 41 #include "DevI2C.h"
cparata 0:485458fca2bd 42 #include "LSM303AGR_ACC_Sensor.h"
cparata 0:485458fca2bd 43 #include "LSM303AGR_ACC_driver.h"
cparata 0:485458fca2bd 44
cparata 0:485458fca2bd 45
cparata 0:485458fca2bd 46 /* Class Implementation ------------------------------------------------------*/
cparata 0:485458fca2bd 47
cparata 0:485458fca2bd 48 /** Constructor
cparata 0:485458fca2bd 49 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:485458fca2bd 50 * @param address the address of the component's instance
cparata 0:485458fca2bd 51 */
cparata 0:485458fca2bd 52 LSM303AGR_ACC_Sensor::LSM303AGR_ACC_Sensor(DevI2C &i2c) : dev_i2c(i2c)
cparata 0:485458fca2bd 53 {
cparata 0:485458fca2bd 54 address = LSM303AGR_ACC_I2C_ADDRESS;
cparata 0:485458fca2bd 55
cparata 0:485458fca2bd 56 /* Enable BDU */
cparata 0:485458fca2bd 57 if ( LSM303AGR_ACC_W_BlockDataUpdate( (void *)this, LSM303AGR_ACC_BDU_ENABLED ) == MEMS_ERROR )
cparata 0:485458fca2bd 58 {
cparata 0:485458fca2bd 59 return;
cparata 0:485458fca2bd 60 }
cparata 0:485458fca2bd 61
cparata 0:485458fca2bd 62 /* FIFO mode selection */
cparata 0:485458fca2bd 63 if ( LSM303AGR_ACC_W_FifoMode( (void *)this, LSM303AGR_ACC_FM_BYPASS ) == MEMS_ERROR )
cparata 0:485458fca2bd 64 {
cparata 0:485458fca2bd 65 return;
cparata 0:485458fca2bd 66 }
cparata 0:485458fca2bd 67
cparata 0:485458fca2bd 68 /* Output data rate selection - power down. */
cparata 0:485458fca2bd 69 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
cparata 0:485458fca2bd 70 {
cparata 0:485458fca2bd 71 return;
cparata 0:485458fca2bd 72 }
cparata 0:485458fca2bd 73
cparata 0:485458fca2bd 74 /* Full scale selection. */
cparata 0:485458fca2bd 75 if ( SetFS( 2.0f ) == LSM303AGR_ACC_STATUS_ERROR )
cparata 0:485458fca2bd 76 {
cparata 0:485458fca2bd 77 return;
cparata 0:485458fca2bd 78 }
cparata 0:485458fca2bd 79
cparata 0:485458fca2bd 80 /* Enable axes. */
cparata 0:485458fca2bd 81 if ( LSM303AGR_ACC_W_XEN( (void *)this, LSM303AGR_ACC_XEN_ENABLED ) == MEMS_ERROR )
cparata 0:485458fca2bd 82 {
cparata 0:485458fca2bd 83 return;
cparata 0:485458fca2bd 84 }
cparata 0:485458fca2bd 85
cparata 0:485458fca2bd 86 if ( LSM303AGR_ACC_W_YEN ( (void *)this, LSM303AGR_ACC_YEN_ENABLED ) == MEMS_ERROR )
cparata 0:485458fca2bd 87 {
cparata 0:485458fca2bd 88 return;
cparata 0:485458fca2bd 89 }
cparata 0:485458fca2bd 90
cparata 0:485458fca2bd 91 if ( LSM303AGR_ACC_W_ZEN ( (void *)this, LSM303AGR_ACC_ZEN_ENABLED ) == MEMS_ERROR )
cparata 0:485458fca2bd 92 {
cparata 0:485458fca2bd 93 return;
cparata 0:485458fca2bd 94 }
cparata 0:485458fca2bd 95
cparata 0:485458fca2bd 96 /* Select default output data rate. */
cparata 0:485458fca2bd 97 Last_ODR = 100.0f;
cparata 0:485458fca2bd 98
cparata 0:485458fca2bd 99 isEnabled = 0;
cparata 0:485458fca2bd 100 };
cparata 0:485458fca2bd 101
cparata 0:485458fca2bd 102 /** Constructor
cparata 0:485458fca2bd 103 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:485458fca2bd 104 * @param address the address of the component's instance
cparata 0:485458fca2bd 105 */
cparata 0:485458fca2bd 106 LSM303AGR_ACC_Sensor::LSM303AGR_ACC_Sensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
cparata 0:485458fca2bd 107 {
cparata 0:485458fca2bd 108 /* Enable BDU */
cparata 0:485458fca2bd 109 if ( LSM303AGR_ACC_W_BlockDataUpdate( (void *)this, LSM303AGR_ACC_BDU_ENABLED ) == MEMS_ERROR )
cparata 0:485458fca2bd 110 {
cparata 0:485458fca2bd 111 return;
cparata 0:485458fca2bd 112 }
cparata 0:485458fca2bd 113
cparata 0:485458fca2bd 114 /* FIFO mode selection */
cparata 0:485458fca2bd 115 if ( LSM303AGR_ACC_W_FifoMode( (void *)this, LSM303AGR_ACC_FM_BYPASS ) == MEMS_ERROR )
cparata 0:485458fca2bd 116 {
cparata 0:485458fca2bd 117 return;
cparata 0:485458fca2bd 118 }
cparata 0:485458fca2bd 119
cparata 0:485458fca2bd 120 /* Output data rate selection - power down. */
cparata 0:485458fca2bd 121 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
cparata 0:485458fca2bd 122 {
cparata 0:485458fca2bd 123 return;
cparata 0:485458fca2bd 124 }
cparata 0:485458fca2bd 125
cparata 0:485458fca2bd 126 /* Full scale selection. */
cparata 0:485458fca2bd 127 if ( SetFS( 2.0f ) == LSM303AGR_ACC_STATUS_ERROR )
cparata 0:485458fca2bd 128 {
cparata 0:485458fca2bd 129 return;
cparata 0:485458fca2bd 130 }
cparata 0:485458fca2bd 131
cparata 0:485458fca2bd 132 /* Enable axes. */
cparata 0:485458fca2bd 133 if ( LSM303AGR_ACC_W_XEN( (void *)this, LSM303AGR_ACC_XEN_ENABLED ) == MEMS_ERROR )
cparata 0:485458fca2bd 134 {
cparata 0:485458fca2bd 135 return;
cparata 0:485458fca2bd 136 }
cparata 0:485458fca2bd 137
cparata 0:485458fca2bd 138 if ( LSM303AGR_ACC_W_YEN ( (void *)this, LSM303AGR_ACC_YEN_ENABLED ) == MEMS_ERROR )
cparata 0:485458fca2bd 139 {
cparata 0:485458fca2bd 140 return;
cparata 0:485458fca2bd 141 }
cparata 0:485458fca2bd 142
cparata 0:485458fca2bd 143 if ( LSM303AGR_ACC_W_ZEN ( (void *)this, LSM303AGR_ACC_ZEN_ENABLED ) == MEMS_ERROR )
cparata 0:485458fca2bd 144 {
cparata 0:485458fca2bd 145 return;
cparata 0:485458fca2bd 146 }
cparata 0:485458fca2bd 147
cparata 0:485458fca2bd 148 /* Select default output data rate. */
cparata 0:485458fca2bd 149 Last_ODR = 100.0f;
cparata 0:485458fca2bd 150
cparata 0:485458fca2bd 151 isEnabled = 0;
cparata 0:485458fca2bd 152 };
cparata 0:485458fca2bd 153
cparata 0:485458fca2bd 154 /**
cparata 0:485458fca2bd 155 * @brief Enable LSM303AGR Accelerator
cparata 0:485458fca2bd 156 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 157 */
cparata 0:485458fca2bd 158 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::Enable(void)
cparata 0:485458fca2bd 159 {
cparata 0:485458fca2bd 160 /* Check if the component is already enabled */
cparata 0:485458fca2bd 161 if ( isEnabled == 1 )
cparata 0:485458fca2bd 162 {
cparata 0:485458fca2bd 163 return LSM303AGR_ACC_STATUS_OK;
cparata 0:485458fca2bd 164 }
cparata 0:485458fca2bd 165
cparata 0:485458fca2bd 166 /* Output data rate selection. */
cparata 0:485458fca2bd 167 if ( SetODR_When_Enabled( Last_ODR ) == LSM303AGR_ACC_STATUS_ERROR )
cparata 0:485458fca2bd 168 {
cparata 0:485458fca2bd 169 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 170 }
cparata 0:485458fca2bd 171
cparata 0:485458fca2bd 172 isEnabled = 1;
cparata 0:485458fca2bd 173
cparata 0:485458fca2bd 174 return LSM303AGR_ACC_STATUS_OK;
cparata 0:485458fca2bd 175 }
cparata 0:485458fca2bd 176
cparata 0:485458fca2bd 177 /**
cparata 0:485458fca2bd 178 * @brief Disable LSM303AGR Accelerator
cparata 0:485458fca2bd 179 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 180 */
cparata 0:485458fca2bd 181 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::Disable(void)
cparata 0:485458fca2bd 182 {
cparata 0:485458fca2bd 183 /* Check if the component is already disabled */
cparata 0:485458fca2bd 184 if ( isEnabled == 0 )
cparata 0:485458fca2bd 185 {
cparata 0:485458fca2bd 186 return LSM303AGR_ACC_STATUS_OK;
cparata 0:485458fca2bd 187 }
cparata 0:485458fca2bd 188
cparata 0:485458fca2bd 189 /* Store actual output data rate. */
cparata 0:485458fca2bd 190 if ( GetODR( &Last_ODR ) == LSM303AGR_ACC_STATUS_ERROR )
cparata 0:485458fca2bd 191 {
cparata 0:485458fca2bd 192 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 193 }
cparata 0:485458fca2bd 194
cparata 0:485458fca2bd 195 /* Output data rate selection - power down. */
cparata 0:485458fca2bd 196 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
cparata 0:485458fca2bd 197 {
cparata 0:485458fca2bd 198 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 199 }
cparata 0:485458fca2bd 200
cparata 0:485458fca2bd 201 isEnabled = 0;
cparata 0:485458fca2bd 202
cparata 0:485458fca2bd 203 return LSM303AGR_ACC_STATUS_OK;
cparata 0:485458fca2bd 204 }
cparata 0:485458fca2bd 205
cparata 0:485458fca2bd 206 /**
cparata 0:485458fca2bd 207 * @brief Read ID of LSM303AGR Accelerometer
cparata 0:485458fca2bd 208 * @param p_id the pointer where the ID of the device is stored
cparata 0:485458fca2bd 209 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 210 */
cparata 0:485458fca2bd 211 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::ReadID(uint8_t *p_id)
cparata 0:485458fca2bd 212 {
cparata 0:485458fca2bd 213 if(!p_id)
cparata 0:485458fca2bd 214 {
cparata 0:485458fca2bd 215 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 216 }
cparata 0:485458fca2bd 217
cparata 0:485458fca2bd 218 /* Read WHO AM I register */
cparata 0:485458fca2bd 219 if ( LSM303AGR_ACC_R_WHO_AM_I( (void *)this, p_id ) == MEMS_ERROR )
cparata 0:485458fca2bd 220 {
cparata 0:485458fca2bd 221 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 222 }
cparata 0:485458fca2bd 223
cparata 0:485458fca2bd 224 return LSM303AGR_ACC_STATUS_OK;
cparata 0:485458fca2bd 225 }
cparata 0:485458fca2bd 226
cparata 0:485458fca2bd 227 /**
cparata 0:485458fca2bd 228 * @brief Read data from LSM303AGR Accelerometer
cparata 0:485458fca2bd 229 * @param pData the pointer where the accelerometer data are stored
cparata 0:485458fca2bd 230 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 231 */
cparata 0:485458fca2bd 232 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetAxes(int32_t *pData)
cparata 0:485458fca2bd 233 {
cparata 0:485458fca2bd 234 int data[3];
cparata 0:485458fca2bd 235
cparata 0:485458fca2bd 236 /* Read data from LSM303AGR. */
cparata 0:485458fca2bd 237 if ( !LSM303AGR_ACC_Get_Acceleration((void *)this, data) )
cparata 0:485458fca2bd 238 {
cparata 0:485458fca2bd 239 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 240 }
cparata 0:485458fca2bd 241
cparata 0:485458fca2bd 242 /* Calculate the data. */
cparata 0:485458fca2bd 243 pData[0] = (int32_t)data[0];
cparata 0:485458fca2bd 244 pData[1] = (int32_t)data[1];
cparata 0:485458fca2bd 245 pData[2] = (int32_t)data[2];
cparata 0:485458fca2bd 246
cparata 0:485458fca2bd 247 return LSM303AGR_ACC_STATUS_OK;
cparata 0:485458fca2bd 248 }
cparata 0:485458fca2bd 249
cparata 0:485458fca2bd 250 /**
cparata 0:485458fca2bd 251 * @brief Read Accelerometer Sensitivity
cparata 0:485458fca2bd 252 * @param pfData the pointer where the accelerometer sensitivity is stored
cparata 0:485458fca2bd 253 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 254 */
cparata 0:485458fca2bd 255 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetSensitivity(float *pfData)
cparata 0:485458fca2bd 256 {
cparata 0:485458fca2bd 257 LSM303AGR_ACC_LPEN_t lp_value;
cparata 0:485458fca2bd 258 LSM303AGR_ACC_HR_t hr_value;
cparata 0:485458fca2bd 259
cparata 0:485458fca2bd 260 /* Read low power flag */
cparata 0:485458fca2bd 261 if( LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp_value ) == MEMS_ERROR )
cparata 0:485458fca2bd 262 {
cparata 0:485458fca2bd 263 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 264 }
cparata 0:485458fca2bd 265
cparata 0:485458fca2bd 266 /* Read high performance flag */
cparata 0:485458fca2bd 267 if( LSM303AGR_ACC_R_HiRes( (void *)this, &hr_value ) == MEMS_ERROR )
cparata 0:485458fca2bd 268 {
cparata 0:485458fca2bd 269 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 270 }
cparata 0:485458fca2bd 271
cparata 0:485458fca2bd 272 if( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
cparata 0:485458fca2bd 273 {
cparata 0:485458fca2bd 274 /* Normal Mode */
cparata 0:485458fca2bd 275 return GetSensitivity_Normal_Mode( pfData );
cparata 0:485458fca2bd 276 } else if ( lp_value == LSM303AGR_ACC_LPEN_ENABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
cparata 0:485458fca2bd 277 {
cparata 0:485458fca2bd 278 /* Low Power Mode */
cparata 0:485458fca2bd 279 return GetSensitivity_LP_Mode( pfData );
cparata 0:485458fca2bd 280 } else if ( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_ENABLED )
cparata 0:485458fca2bd 281 {
cparata 0:485458fca2bd 282 /* High Resolution Mode */
cparata 0:485458fca2bd 283 return GetSensitivity_HR_Mode( pfData );
cparata 0:485458fca2bd 284 } else
cparata 0:485458fca2bd 285 {
cparata 0:485458fca2bd 286 /* Not allowed */
cparata 0:485458fca2bd 287 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 288 }
cparata 0:485458fca2bd 289 }
cparata 0:485458fca2bd 290
cparata 0:485458fca2bd 291 /**
cparata 0:485458fca2bd 292 * @brief Read Accelerometer Sensitivity in Normal Mode
cparata 0:485458fca2bd 293 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 0:485458fca2bd 294 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 295 */
cparata 0:485458fca2bd 296 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetSensitivity_Normal_Mode( float *sensitivity )
cparata 0:485458fca2bd 297 {
cparata 0:485458fca2bd 298 LSM303AGR_ACC_FS_t fullScale;
cparata 0:485458fca2bd 299
cparata 0:485458fca2bd 300 /* Read actual full scale selection from sensor. */
cparata 0:485458fca2bd 301 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:485458fca2bd 302 {
cparata 0:485458fca2bd 303 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 304 }
cparata 0:485458fca2bd 305
cparata 0:485458fca2bd 306 /* Store the sensitivity based on actual full scale. */
cparata 0:485458fca2bd 307 switch( fullScale )
cparata 0:485458fca2bd 308 {
cparata 0:485458fca2bd 309 case LSM303AGR_ACC_FS_2G:
cparata 0:485458fca2bd 310 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_NORMAL_MODE;
cparata 0:485458fca2bd 311 break;
cparata 0:485458fca2bd 312 case LSM303AGR_ACC_FS_4G:
cparata 0:485458fca2bd 313 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_NORMAL_MODE;
cparata 0:485458fca2bd 314 break;
cparata 0:485458fca2bd 315 case LSM303AGR_ACC_FS_8G:
cparata 0:485458fca2bd 316 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_NORMAL_MODE;
cparata 0:485458fca2bd 317 break;
cparata 0:485458fca2bd 318 case LSM303AGR_ACC_FS_16G:
cparata 0:485458fca2bd 319 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_NORMAL_MODE;
cparata 0:485458fca2bd 320 break;
cparata 0:485458fca2bd 321 default:
cparata 0:485458fca2bd 322 *sensitivity = -1.0f;
cparata 0:485458fca2bd 323 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 324 }
cparata 0:485458fca2bd 325
cparata 0:485458fca2bd 326 return LSM303AGR_ACC_STATUS_OK;
cparata 0:485458fca2bd 327 }
cparata 0:485458fca2bd 328
cparata 0:485458fca2bd 329 /**
cparata 0:485458fca2bd 330 * @brief Read Accelerometer Sensitivity in LP Mode
cparata 0:485458fca2bd 331 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 0:485458fca2bd 332 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 333 */
cparata 0:485458fca2bd 334 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetSensitivity_LP_Mode( float *sensitivity )
cparata 0:485458fca2bd 335 {
cparata 0:485458fca2bd 336 LSM303AGR_ACC_FS_t fullScale;
cparata 0:485458fca2bd 337
cparata 0:485458fca2bd 338 /* Read actual full scale selection from sensor. */
cparata 0:485458fca2bd 339 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:485458fca2bd 340 {
cparata 0:485458fca2bd 341 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 342 }
cparata 0:485458fca2bd 343
cparata 0:485458fca2bd 344 /* Store the sensitivity based on actual full scale. */
cparata 0:485458fca2bd 345 switch( fullScale )
cparata 0:485458fca2bd 346 {
cparata 0:485458fca2bd 347 case LSM303AGR_ACC_FS_2G:
cparata 0:485458fca2bd 348 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_LOW_POWER_MODE;
cparata 0:485458fca2bd 349 break;
cparata 0:485458fca2bd 350 case LSM303AGR_ACC_FS_4G:
cparata 0:485458fca2bd 351 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_LOW_POWER_MODE;
cparata 0:485458fca2bd 352 break;
cparata 0:485458fca2bd 353 case LSM303AGR_ACC_FS_8G:
cparata 0:485458fca2bd 354 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_LOW_POWER_MODE;
cparata 0:485458fca2bd 355 break;
cparata 0:485458fca2bd 356 case LSM303AGR_ACC_FS_16G:
cparata 0:485458fca2bd 357 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_LOW_POWER_MODE;
cparata 0:485458fca2bd 358 break;
cparata 0:485458fca2bd 359 default:
cparata 0:485458fca2bd 360 *sensitivity = -1.0f;
cparata 0:485458fca2bd 361 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 362 }
cparata 0:485458fca2bd 363
cparata 0:485458fca2bd 364 return LSM303AGR_ACC_STATUS_OK;
cparata 0:485458fca2bd 365 }
cparata 0:485458fca2bd 366
cparata 0:485458fca2bd 367 /**
cparata 0:485458fca2bd 368 * @brief Read Accelerometer Sensitivity in HR Mode
cparata 0:485458fca2bd 369 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 0:485458fca2bd 370 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 371 */
cparata 0:485458fca2bd 372 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetSensitivity_HR_Mode( float *sensitivity )
cparata 0:485458fca2bd 373 {
cparata 0:485458fca2bd 374 LSM303AGR_ACC_FS_t fullScale;
cparata 0:485458fca2bd 375
cparata 0:485458fca2bd 376 /* Read actual full scale selection from sensor. */
cparata 0:485458fca2bd 377 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:485458fca2bd 378 {
cparata 0:485458fca2bd 379 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 380 }
cparata 0:485458fca2bd 381
cparata 0:485458fca2bd 382 /* Store the sensitivity based on actual full scale. */
cparata 0:485458fca2bd 383 switch( fullScale )
cparata 0:485458fca2bd 384 {
cparata 0:485458fca2bd 385 case LSM303AGR_ACC_FS_2G:
cparata 0:485458fca2bd 386 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_HIGH_RESOLUTION_MODE;
cparata 0:485458fca2bd 387 break;
cparata 0:485458fca2bd 388 case LSM303AGR_ACC_FS_4G:
cparata 0:485458fca2bd 389 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_HIGH_RESOLUTION_MODE;
cparata 0:485458fca2bd 390 break;
cparata 0:485458fca2bd 391 case LSM303AGR_ACC_FS_8G:
cparata 0:485458fca2bd 392 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_HIGH_RESOLUTION_MODE;
cparata 0:485458fca2bd 393 break;
cparata 0:485458fca2bd 394 case LSM303AGR_ACC_FS_16G:
cparata 0:485458fca2bd 395 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_HIGH_RESOLUTION_MODE;
cparata 0:485458fca2bd 396 break;
cparata 0:485458fca2bd 397 default:
cparata 0:485458fca2bd 398 *sensitivity = -1.0f;
cparata 0:485458fca2bd 399 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 400 }
cparata 0:485458fca2bd 401
cparata 0:485458fca2bd 402 return LSM303AGR_ACC_STATUS_OK;
cparata 0:485458fca2bd 403 }
cparata 0:485458fca2bd 404
cparata 0:485458fca2bd 405 /**
cparata 0:485458fca2bd 406 * @brief Read raw data from LSM303AGR Accelerometer
cparata 0:485458fca2bd 407 * @param pData the pointer where the accelerometer raw data are stored
cparata 0:485458fca2bd 408 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 409 */
cparata 0:485458fca2bd 410 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetAxesRaw(int16_t *pData)
cparata 0:485458fca2bd 411 {
cparata 0:485458fca2bd 412 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 0:485458fca2bd 413 u8_t shift = 0;
cparata 0:485458fca2bd 414 LSM303AGR_ACC_LPEN_t lp;
cparata 0:485458fca2bd 415 LSM303AGR_ACC_HR_t hr;
cparata 0:485458fca2bd 416
cparata 0:485458fca2bd 417 /* Determine which operational mode the acc is set */
cparata 0:485458fca2bd 418 if(!LSM303AGR_ACC_R_HiRes( (void *)this, &hr )) {
cparata 0:485458fca2bd 419 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 420 }
cparata 0:485458fca2bd 421
cparata 0:485458fca2bd 422 if(!LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp )) {
cparata 0:485458fca2bd 423 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 424 }
cparata 0:485458fca2bd 425
cparata 0:485458fca2bd 426 if (lp == LSM303AGR_ACC_LPEN_ENABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
cparata 0:485458fca2bd 427 /* op mode is LP 8-bit */
cparata 0:485458fca2bd 428 shift = 8;
cparata 0:485458fca2bd 429 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
cparata 0:485458fca2bd 430 /* op mode is Normal 10-bit */
cparata 0:485458fca2bd 431 shift = 6;
cparata 0:485458fca2bd 432 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_ENABLED) {
cparata 0:485458fca2bd 433 /* op mode is HR 12-bit */
cparata 0:485458fca2bd 434 shift = 4;
cparata 0:485458fca2bd 435 } else {
cparata 0:485458fca2bd 436 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 437 }
cparata 0:485458fca2bd 438
cparata 0:485458fca2bd 439 /* Read output registers from LSM303AGR_ACC_GYRO_OUTX_L_XL to LSM303AGR_ACC_GYRO_OUTZ_H_XL. */
cparata 0:485458fca2bd 440 if (!LSM303AGR_ACC_Get_Raw_Acceleration( (void *)this, ( uint8_t* )regValue ))
cparata 0:485458fca2bd 441 {
cparata 0:485458fca2bd 442 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 443 }
cparata 0:485458fca2bd 444
cparata 0:485458fca2bd 445 /* Format the data. */
cparata 0:485458fca2bd 446 pData[0] = ( ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] ) >> shift );
cparata 0:485458fca2bd 447 pData[1] = ( ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] ) >> shift );
cparata 0:485458fca2bd 448 pData[2] = ( ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] ) >> shift );
cparata 0:485458fca2bd 449
cparata 0:485458fca2bd 450 return LSM303AGR_ACC_STATUS_OK;
cparata 0:485458fca2bd 451 }
cparata 0:485458fca2bd 452
cparata 0:485458fca2bd 453 /**
cparata 0:485458fca2bd 454 * @brief Read LSM303AGR Accelerometer output data rate
cparata 0:485458fca2bd 455 * @param odr the pointer to the output data rate
cparata 0:485458fca2bd 456 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 457 */
cparata 0:485458fca2bd 458 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetODR(float* odr)
cparata 0:485458fca2bd 459 {
cparata 0:485458fca2bd 460 LSM303AGR_ACC_ODR_t odr_low_level;
cparata 0:485458fca2bd 461
cparata 0:485458fca2bd 462 if ( LSM303AGR_ACC_R_ODR( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 0:485458fca2bd 463 {
cparata 0:485458fca2bd 464 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 465 }
cparata 0:485458fca2bd 466
cparata 0:485458fca2bd 467 switch( odr_low_level )
cparata 0:485458fca2bd 468 {
cparata 0:485458fca2bd 469 case LSM303AGR_ACC_ODR_DO_PWR_DOWN:
cparata 0:485458fca2bd 470 *odr = 0.0f;
cparata 0:485458fca2bd 471 break;
cparata 0:485458fca2bd 472 case LSM303AGR_ACC_ODR_DO_1Hz:
cparata 0:485458fca2bd 473 *odr = 1.0f;
cparata 0:485458fca2bd 474 break;
cparata 0:485458fca2bd 475 case LSM303AGR_ACC_ODR_DO_10Hz:
cparata 0:485458fca2bd 476 *odr = 10.0f;
cparata 0:485458fca2bd 477 break;
cparata 0:485458fca2bd 478 case LSM303AGR_ACC_ODR_DO_25Hz:
cparata 0:485458fca2bd 479 *odr = 25.0f;
cparata 0:485458fca2bd 480 break;
cparata 0:485458fca2bd 481 case LSM303AGR_ACC_ODR_DO_50Hz:
cparata 0:485458fca2bd 482 *odr = 50.0f;
cparata 0:485458fca2bd 483 break;
cparata 0:485458fca2bd 484 case LSM303AGR_ACC_ODR_DO_100Hz:
cparata 0:485458fca2bd 485 *odr = 100.0f;
cparata 0:485458fca2bd 486 break;
cparata 0:485458fca2bd 487 case LSM303AGR_ACC_ODR_DO_200Hz:
cparata 0:485458fca2bd 488 *odr = 200.0f;
cparata 0:485458fca2bd 489 break;
cparata 0:485458fca2bd 490 case LSM303AGR_ACC_ODR_DO_400Hz:
cparata 0:485458fca2bd 491 *odr = 400.0f;
cparata 0:485458fca2bd 492 break;
cparata 0:485458fca2bd 493 default:
cparata 0:485458fca2bd 494 *odr = -1.0f;
cparata 0:485458fca2bd 495 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 496 }
cparata 0:485458fca2bd 497
cparata 0:485458fca2bd 498 return LSM303AGR_ACC_STATUS_OK;
cparata 0:485458fca2bd 499 }
cparata 0:485458fca2bd 500
cparata 0:485458fca2bd 501 /**
cparata 0:485458fca2bd 502 * @brief Set ODR
cparata 0:485458fca2bd 503 * @param odr the output data rate to be set
cparata 0:485458fca2bd 504 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 505 */
cparata 0:485458fca2bd 506 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::SetODR(float odr)
cparata 0:485458fca2bd 507 {
cparata 0:485458fca2bd 508 if(isEnabled == 1)
cparata 0:485458fca2bd 509 {
cparata 0:485458fca2bd 510 if(SetODR_When_Enabled(odr) == LSM303AGR_ACC_STATUS_ERROR)
cparata 0:485458fca2bd 511 {
cparata 0:485458fca2bd 512 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 513 }
cparata 0:485458fca2bd 514 }
cparata 0:485458fca2bd 515 else
cparata 0:485458fca2bd 516 {
cparata 0:485458fca2bd 517 if(SetODR_When_Disabled(odr) == LSM303AGR_ACC_STATUS_ERROR)
cparata 0:485458fca2bd 518 {
cparata 0:485458fca2bd 519 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 520 }
cparata 0:485458fca2bd 521 }
cparata 0:485458fca2bd 522
cparata 0:485458fca2bd 523 return LSM303AGR_ACC_STATUS_OK;
cparata 0:485458fca2bd 524 }
cparata 0:485458fca2bd 525
cparata 0:485458fca2bd 526 /**
cparata 0:485458fca2bd 527 * @brief Set ODR when enabled
cparata 0:485458fca2bd 528 * @param odr the output data rate to be set
cparata 0:485458fca2bd 529 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 530 */
cparata 0:485458fca2bd 531 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::SetODR_When_Enabled(float odr)
cparata 0:485458fca2bd 532 {
cparata 0:485458fca2bd 533 LSM303AGR_ACC_ODR_t new_odr;
cparata 0:485458fca2bd 534
cparata 0:485458fca2bd 535 new_odr = ( odr <= 1.0f ) ? LSM303AGR_ACC_ODR_DO_1Hz
cparata 0:485458fca2bd 536 : ( odr <= 10.0f ) ? LSM303AGR_ACC_ODR_DO_10Hz
cparata 0:485458fca2bd 537 : ( odr <= 25.0f ) ? LSM303AGR_ACC_ODR_DO_25Hz
cparata 0:485458fca2bd 538 : ( odr <= 50.0f ) ? LSM303AGR_ACC_ODR_DO_50Hz
cparata 0:485458fca2bd 539 : ( odr <= 100.0f ) ? LSM303AGR_ACC_ODR_DO_100Hz
cparata 0:485458fca2bd 540 : ( odr <= 200.0f ) ? LSM303AGR_ACC_ODR_DO_200Hz
cparata 0:485458fca2bd 541 : LSM303AGR_ACC_ODR_DO_400Hz;
cparata 0:485458fca2bd 542
cparata 0:485458fca2bd 543 if ( LSM303AGR_ACC_W_ODR( (void *)this, new_odr ) == MEMS_ERROR )
cparata 0:485458fca2bd 544 {
cparata 0:485458fca2bd 545 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 546 }
cparata 0:485458fca2bd 547
cparata 0:485458fca2bd 548 return LSM303AGR_ACC_STATUS_OK;
cparata 0:485458fca2bd 549 }
cparata 0:485458fca2bd 550
cparata 0:485458fca2bd 551 /**
cparata 0:485458fca2bd 552 * @brief Set ODR when disabled
cparata 0:485458fca2bd 553 * @param odr the output data rate to be set
cparata 0:485458fca2bd 554 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 555 */
cparata 0:485458fca2bd 556 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::SetODR_When_Disabled(float odr)
cparata 0:485458fca2bd 557 {
cparata 0:485458fca2bd 558 Last_ODR = ( odr <= 1.0f ) ? 1.0f
cparata 0:485458fca2bd 559 : ( odr <= 10.0f ) ? 10.0f
cparata 0:485458fca2bd 560 : ( odr <= 25.0f ) ? 25.0f
cparata 0:485458fca2bd 561 : ( odr <= 50.0f ) ? 50.0f
cparata 0:485458fca2bd 562 : ( odr <= 100.0f ) ? 100.0f
cparata 0:485458fca2bd 563 : ( odr <= 200.0f ) ? 200.0f
cparata 0:485458fca2bd 564 : 400.0f;
cparata 0:485458fca2bd 565
cparata 0:485458fca2bd 566 return LSM303AGR_ACC_STATUS_OK;
cparata 0:485458fca2bd 567 }
cparata 0:485458fca2bd 568
cparata 0:485458fca2bd 569
cparata 0:485458fca2bd 570 /**
cparata 0:485458fca2bd 571 * @brief Read LSM303AGR Accelerometer full scale
cparata 0:485458fca2bd 572 * @param fullScale the pointer to the full scale
cparata 0:485458fca2bd 573 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 574 */
cparata 0:485458fca2bd 575 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetFS(float* fullScale)
cparata 0:485458fca2bd 576 {
cparata 0:485458fca2bd 577 LSM303AGR_ACC_FS_t fs_low_level;
cparata 0:485458fca2bd 578
cparata 0:485458fca2bd 579 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata 0:485458fca2bd 580 {
cparata 0:485458fca2bd 581 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 582 }
cparata 0:485458fca2bd 583
cparata 0:485458fca2bd 584 switch( fs_low_level )
cparata 0:485458fca2bd 585 {
cparata 0:485458fca2bd 586 case LSM303AGR_ACC_FS_2G:
cparata 0:485458fca2bd 587 *fullScale = 2.0f;
cparata 0:485458fca2bd 588 break;
cparata 0:485458fca2bd 589 case LSM303AGR_ACC_FS_4G:
cparata 0:485458fca2bd 590 *fullScale = 4.0f;
cparata 0:485458fca2bd 591 break;
cparata 0:485458fca2bd 592 case LSM303AGR_ACC_FS_8G:
cparata 0:485458fca2bd 593 *fullScale = 8.0f;
cparata 0:485458fca2bd 594 break;
cparata 0:485458fca2bd 595 case LSM303AGR_ACC_FS_16G:
cparata 0:485458fca2bd 596 *fullScale = 16.0f;
cparata 0:485458fca2bd 597 break;
cparata 0:485458fca2bd 598 default:
cparata 0:485458fca2bd 599 *fullScale = -1.0f;
cparata 0:485458fca2bd 600 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 601 }
cparata 0:485458fca2bd 602
cparata 0:485458fca2bd 603 return LSM303AGR_ACC_STATUS_OK;
cparata 0:485458fca2bd 604 }
cparata 0:485458fca2bd 605
cparata 0:485458fca2bd 606 /**
cparata 0:485458fca2bd 607 * @brief Set full scale
cparata 0:485458fca2bd 608 * @param fullScale the full scale to be set
cparata 0:485458fca2bd 609 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 610 */
cparata 0:485458fca2bd 611 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::SetFS(float fullScale)
cparata 0:485458fca2bd 612 {
cparata 0:485458fca2bd 613 LSM303AGR_ACC_FS_t new_fs;
cparata 0:485458fca2bd 614
cparata 0:485458fca2bd 615 new_fs = ( fullScale <= 2.0f ) ? LSM303AGR_ACC_FS_2G
cparata 0:485458fca2bd 616 : ( fullScale <= 4.0f ) ? LSM303AGR_ACC_FS_4G
cparata 0:485458fca2bd 617 : ( fullScale <= 8.0f ) ? LSM303AGR_ACC_FS_8G
cparata 0:485458fca2bd 618 : LSM303AGR_ACC_FS_16G;
cparata 0:485458fca2bd 619
cparata 0:485458fca2bd 620 if ( LSM303AGR_ACC_W_FullScale( (void *)this, new_fs ) == MEMS_ERROR )
cparata 0:485458fca2bd 621 {
cparata 0:485458fca2bd 622 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 623 }
cparata 0:485458fca2bd 624
cparata 0:485458fca2bd 625 return LSM303AGR_ACC_STATUS_OK;
cparata 0:485458fca2bd 626 }
cparata 0:485458fca2bd 627
cparata 0:485458fca2bd 628 /**
cparata 0:485458fca2bd 629 * @brief Read accelerometer data from register
cparata 0:485458fca2bd 630 * @param reg register address
cparata 0:485458fca2bd 631 * @param data register data
cparata 0:485458fca2bd 632 * @retval LSM303AGR_ACC_STATUS_OK in case of success
cparata 0:485458fca2bd 633 * @retval LSM303AGR_ACC_STATUS_ERROR in case of failure
cparata 0:485458fca2bd 634 */
cparata 0:485458fca2bd 635 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::ReadReg( uint8_t reg, uint8_t *data )
cparata 0:485458fca2bd 636 {
cparata 0:485458fca2bd 637
cparata 0:485458fca2bd 638 if ( LSM303AGR_ACC_ReadReg( (void *)this, reg, data ) == MEMS_ERROR )
cparata 0:485458fca2bd 639 {
cparata 0:485458fca2bd 640 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 641 }
cparata 0:485458fca2bd 642
cparata 0:485458fca2bd 643 return LSM303AGR_ACC_STATUS_OK;
cparata 0:485458fca2bd 644 }
cparata 0:485458fca2bd 645
cparata 0:485458fca2bd 646 /**
cparata 0:485458fca2bd 647 * @brief Write accelerometer data to register
cparata 0:485458fca2bd 648 * @param reg register address
cparata 0:485458fca2bd 649 * @param data register data
cparata 0:485458fca2bd 650 * @retval LSM303AGR_ACC_STATUS_OK in case of success
cparata 0:485458fca2bd 651 * @retval LSM303AGR_ACC_STATUS_ERROR in case of failure
cparata 0:485458fca2bd 652 */
cparata 0:485458fca2bd 653 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::WriteReg( uint8_t reg, uint8_t data )
cparata 0:485458fca2bd 654 {
cparata 0:485458fca2bd 655
cparata 0:485458fca2bd 656 if ( LSM303AGR_ACC_WriteReg( (void *)this, reg, data ) == MEMS_ERROR )
cparata 0:485458fca2bd 657 {
cparata 0:485458fca2bd 658 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:485458fca2bd 659 }
cparata 0:485458fca2bd 660
cparata 0:485458fca2bd 661 return LSM303AGR_ACC_STATUS_OK;
cparata 0:485458fca2bd 662 }
cparata 0:485458fca2bd 663
cparata 0:485458fca2bd 664 uint8_t LSM303AGR_ACC_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
cparata 0:485458fca2bd 665 {
cparata 0:485458fca2bd 666 return ((LSM303AGR_ACC_Sensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata 0:485458fca2bd 667 }
cparata 0:485458fca2bd 668
cparata 0:485458fca2bd 669 uint8_t LSM303AGR_ACC_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
cparata 0:485458fca2bd 670 {
cparata 0:485458fca2bd 671 return ((LSM303AGR_ACC_Sensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata 0:485458fca2bd 672 }