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_MAG_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_MAG_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 magnetometer 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 "mbed.h"
cparata 0:485458fca2bd 42 #include "DevI2C.h"
cparata 0:485458fca2bd 43 #include "LSM303AGR_MAG_Sensor.h"
cparata 0:485458fca2bd 44 #include "LSM303AGR_MAG_driver.h"
cparata 0:485458fca2bd 45
cparata 0:485458fca2bd 46
cparata 0:485458fca2bd 47 /* Class Implementation ------------------------------------------------------*/
cparata 0:485458fca2bd 48
cparata 0:485458fca2bd 49 /** Constructor
cparata 0:485458fca2bd 50 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:485458fca2bd 51 * @param address the address of the component's instance
cparata 0:485458fca2bd 52 */
cparata 0:485458fca2bd 53 LSM303AGR_MAG_Sensor::LSM303AGR_MAG_Sensor(DevI2C &i2c) : dev_i2c(i2c)
cparata 0:485458fca2bd 54 {
cparata 0:485458fca2bd 55 address = LSM303AGR_MAG_I2C_ADDRESS;
cparata 0:485458fca2bd 56
cparata 0:485458fca2bd 57 /* Operating mode selection - power down */
cparata 0:485458fca2bd 58 if ( LSM303AGR_MAG_W_MD( (void *)this, LSM303AGR_MAG_MD_IDLE1_MODE ) == MEMS_ERROR )
cparata 0:485458fca2bd 59 {
cparata 0:485458fca2bd 60 return;
cparata 0:485458fca2bd 61 }
cparata 0:485458fca2bd 62
cparata 0:485458fca2bd 63 /* Enable BDU */
cparata 0:485458fca2bd 64 if ( LSM303AGR_MAG_W_BDU( (void *)this, LSM303AGR_MAG_BDU_ENABLED ) == MEMS_ERROR )
cparata 0:485458fca2bd 65 {
cparata 0:485458fca2bd 66 return;
cparata 0:485458fca2bd 67 }
cparata 0:485458fca2bd 68
cparata 0:485458fca2bd 69 if ( SetODR( 100.0f ) == LSM303AGR_MAG_STATUS_ERROR )
cparata 0:485458fca2bd 70 {
cparata 0:485458fca2bd 71 return;
cparata 0:485458fca2bd 72 }
cparata 0:485458fca2bd 73
cparata 0:485458fca2bd 74 if ( SetFS( 50.0f ) == LSM303AGR_MAG_STATUS_ERROR )
cparata 0:485458fca2bd 75 {
cparata 0:485458fca2bd 76 return;
cparata 0:485458fca2bd 77 }
cparata 0:485458fca2bd 78
cparata 0:485458fca2bd 79 if ( LSM303AGR_MAG_W_ST( (void *)this, LSM303AGR_MAG_ST_DISABLED ) == MEMS_ERROR )
cparata 0:485458fca2bd 80 {
cparata 0:485458fca2bd 81 return;
cparata 0:485458fca2bd 82 }
cparata 0:485458fca2bd 83 };
cparata 0:485458fca2bd 84
cparata 0:485458fca2bd 85 /** Constructor
cparata 0:485458fca2bd 86 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:485458fca2bd 87 * @param address the address of the component's instance
cparata 0:485458fca2bd 88 */
cparata 0:485458fca2bd 89 LSM303AGR_MAG_Sensor::LSM303AGR_MAG_Sensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
cparata 0:485458fca2bd 90 {
cparata 0:485458fca2bd 91 /* Operating mode selection - power down */
cparata 0:485458fca2bd 92 if ( LSM303AGR_MAG_W_MD( (void *)this, LSM303AGR_MAG_MD_IDLE1_MODE ) == MEMS_ERROR )
cparata 0:485458fca2bd 93 {
cparata 0:485458fca2bd 94 return;
cparata 0:485458fca2bd 95 }
cparata 0:485458fca2bd 96
cparata 0:485458fca2bd 97 /* Enable BDU */
cparata 0:485458fca2bd 98 if ( LSM303AGR_MAG_W_BDU( (void *)this, LSM303AGR_MAG_BDU_ENABLED ) == MEMS_ERROR )
cparata 0:485458fca2bd 99 {
cparata 0:485458fca2bd 100 return;
cparata 0:485458fca2bd 101 }
cparata 0:485458fca2bd 102
cparata 0:485458fca2bd 103 if ( SetODR( 100.0f ) == LSM303AGR_MAG_STATUS_ERROR )
cparata 0:485458fca2bd 104 {
cparata 0:485458fca2bd 105 return;
cparata 0:485458fca2bd 106 }
cparata 0:485458fca2bd 107
cparata 0:485458fca2bd 108 if ( SetFS( 50.0f ) == LSM303AGR_MAG_STATUS_ERROR )
cparata 0:485458fca2bd 109 {
cparata 0:485458fca2bd 110 return;
cparata 0:485458fca2bd 111 }
cparata 0:485458fca2bd 112
cparata 0:485458fca2bd 113 if ( LSM303AGR_MAG_W_ST( (void *)this, LSM303AGR_MAG_ST_DISABLED ) == MEMS_ERROR )
cparata 0:485458fca2bd 114 {
cparata 0:485458fca2bd 115 return;
cparata 0:485458fca2bd 116 }
cparata 0:485458fca2bd 117 };
cparata 0:485458fca2bd 118
cparata 0:485458fca2bd 119 /**
cparata 0:485458fca2bd 120 * @brief Enable LSM303AGR magnetometer
cparata 0:485458fca2bd 121 * @retval LSM303AGR_MAG_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 122 */
cparata 0:485458fca2bd 123 LSM303AGR_MAG_StatusTypeDef LSM303AGR_MAG_Sensor::Enable(void)
cparata 0:485458fca2bd 124 {
cparata 0:485458fca2bd 125 /* Operating mode selection */
cparata 0:485458fca2bd 126 if ( LSM303AGR_MAG_W_MD( (void *)this, LSM303AGR_MAG_MD_CONTINUOS_MODE ) == MEMS_ERROR )
cparata 0:485458fca2bd 127 {
cparata 0:485458fca2bd 128 return LSM303AGR_MAG_STATUS_ERROR;
cparata 0:485458fca2bd 129 }
cparata 0:485458fca2bd 130
cparata 0:485458fca2bd 131 return LSM303AGR_MAG_STATUS_OK;
cparata 0:485458fca2bd 132 }
cparata 0:485458fca2bd 133
cparata 0:485458fca2bd 134 /**
cparata 0:485458fca2bd 135 * @brief Disable LSM303AGR magnetometer
cparata 0:485458fca2bd 136 * @retval LSM303AGR_MAG_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 137 */
cparata 0:485458fca2bd 138 LSM303AGR_MAG_StatusTypeDef LSM303AGR_MAG_Sensor::Disable(void)
cparata 0:485458fca2bd 139 {
cparata 0:485458fca2bd 140 /* Operating mode selection - power down */
cparata 0:485458fca2bd 141 if ( LSM303AGR_MAG_W_MD( (void *)this, LSM303AGR_MAG_MD_IDLE1_MODE ) == MEMS_ERROR )
cparata 0:485458fca2bd 142 {
cparata 0:485458fca2bd 143 return LSM303AGR_MAG_STATUS_ERROR;
cparata 0:485458fca2bd 144 }
cparata 0:485458fca2bd 145
cparata 0:485458fca2bd 146 return LSM303AGR_MAG_STATUS_OK;
cparata 0:485458fca2bd 147 }
cparata 0:485458fca2bd 148
cparata 0:485458fca2bd 149 /**
cparata 0:485458fca2bd 150 * @brief Read ID of LSM303AGR Magnetometer
cparata 0:485458fca2bd 151 * @param p_id the pointer where the ID of the device is stored
cparata 0:485458fca2bd 152 * @retval LSM303AGR_MAG_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 153 */
cparata 0:485458fca2bd 154 LSM303AGR_MAG_StatusTypeDef LSM303AGR_MAG_Sensor::ReadID(uint8_t *p_id)
cparata 0:485458fca2bd 155 {
cparata 0:485458fca2bd 156 if(!p_id)
cparata 0:485458fca2bd 157 {
cparata 0:485458fca2bd 158 return LSM303AGR_MAG_STATUS_ERROR;
cparata 0:485458fca2bd 159 }
cparata 0:485458fca2bd 160
cparata 0:485458fca2bd 161 /* Read WHO AM I register */
cparata 0:485458fca2bd 162 if ( LSM303AGR_MAG_R_WHO_AM_I( (void *)this, p_id ) == MEMS_ERROR )
cparata 0:485458fca2bd 163 {
cparata 0:485458fca2bd 164 return LSM303AGR_MAG_STATUS_ERROR;
cparata 0:485458fca2bd 165 }
cparata 0:485458fca2bd 166
cparata 0:485458fca2bd 167 return LSM303AGR_MAG_STATUS_OK;
cparata 0:485458fca2bd 168 }
cparata 0:485458fca2bd 169
cparata 0:485458fca2bd 170 /**
cparata 0:485458fca2bd 171 * @brief Read data from LSM303AGR Magnetometer
cparata 0:485458fca2bd 172 * @param pData the pointer where the magnetometer data are stored
cparata 0:485458fca2bd 173 * @retval LSM303AGR_MAG_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 174 */
cparata 0:485458fca2bd 175 LSM303AGR_MAG_StatusTypeDef LSM303AGR_MAG_Sensor::GetAxes(int32_t *pData)
cparata 0:485458fca2bd 176 {
cparata 0:485458fca2bd 177 int16_t pDataRaw[3];
cparata 0:485458fca2bd 178 float sensitivity = 0;
cparata 0:485458fca2bd 179
cparata 0:485458fca2bd 180 /* Read raw data from LSM303AGR output register. */
cparata 0:485458fca2bd 181 if ( GetAxesRaw( pDataRaw ) == LSM303AGR_MAG_STATUS_ERROR )
cparata 0:485458fca2bd 182 {
cparata 0:485458fca2bd 183 return LSM303AGR_MAG_STATUS_ERROR;
cparata 0:485458fca2bd 184 }
cparata 0:485458fca2bd 185
cparata 0:485458fca2bd 186 /* Get LSM303AGR actual sensitivity. */
cparata 0:485458fca2bd 187 if ( GetSensitivity( &sensitivity ) == LSM303AGR_MAG_STATUS_ERROR )
cparata 0:485458fca2bd 188 {
cparata 0:485458fca2bd 189 return LSM303AGR_MAG_STATUS_ERROR;
cparata 0:485458fca2bd 190 }
cparata 0:485458fca2bd 191
cparata 0:485458fca2bd 192 /* Calculate the data. */
cparata 0:485458fca2bd 193 pData[0] = ( int32_t )( pDataRaw[0] * sensitivity );
cparata 0:485458fca2bd 194 pData[1] = ( int32_t )( pDataRaw[1] * sensitivity );
cparata 0:485458fca2bd 195 pData[2] = ( int32_t )( pDataRaw[2] * sensitivity );
cparata 0:485458fca2bd 196
cparata 0:485458fca2bd 197 return LSM303AGR_MAG_STATUS_OK;
cparata 0:485458fca2bd 198 }
cparata 0:485458fca2bd 199
cparata 0:485458fca2bd 200 /**
cparata 0:485458fca2bd 201 * @brief Read Magnetometer Sensitivity
cparata 0:485458fca2bd 202 * @param pfData the pointer where the magnetometer sensitivity is stored
cparata 0:485458fca2bd 203 * @retval LSM303AGR_MAG_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 204 */
cparata 0:485458fca2bd 205 LSM303AGR_MAG_StatusTypeDef LSM303AGR_MAG_Sensor::GetSensitivity(float *pfData)
cparata 0:485458fca2bd 206 {
cparata 0:485458fca2bd 207 *pfData = 1.5f;
cparata 0:485458fca2bd 208
cparata 0:485458fca2bd 209 return LSM303AGR_MAG_STATUS_OK;
cparata 0:485458fca2bd 210 }
cparata 0:485458fca2bd 211
cparata 0:485458fca2bd 212 /**
cparata 0:485458fca2bd 213 * @brief Read raw data from LSM303AGR Magnetometer
cparata 0:485458fca2bd 214 * @param pData the pointer where the magnetomer raw data are stored
cparata 0:485458fca2bd 215 * @retval LSM303AGR_MAG_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 216 */
cparata 0:485458fca2bd 217 LSM303AGR_MAG_StatusTypeDef LSM303AGR_MAG_Sensor::GetAxesRaw(int16_t *pData)
cparata 0:485458fca2bd 218 {
cparata 0:485458fca2bd 219 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 0:485458fca2bd 220 int16_t *regValueInt16;
cparata 0:485458fca2bd 221
cparata 0:485458fca2bd 222 /* Read output registers from LSM303AGR_MAG_OUTX_L to LSM303AGR_MAG_OUTZ_H. */
cparata 0:485458fca2bd 223 if ( LSM303AGR_MAG_Get_Raw_Magnetic( (void *)this, regValue ) == MEMS_ERROR )
cparata 0:485458fca2bd 224 {
cparata 0:485458fca2bd 225 return LSM303AGR_MAG_STATUS_ERROR;
cparata 0:485458fca2bd 226 }
cparata 0:485458fca2bd 227
cparata 0:485458fca2bd 228 regValueInt16 = (int16_t *)regValue;
cparata 0:485458fca2bd 229
cparata 0:485458fca2bd 230 /* Format the data. */
cparata 0:485458fca2bd 231 pData[0] = regValueInt16[0];
cparata 0:485458fca2bd 232 pData[1] = regValueInt16[1];
cparata 0:485458fca2bd 233 pData[2] = regValueInt16[2];
cparata 0:485458fca2bd 234
cparata 0:485458fca2bd 235 return LSM303AGR_MAG_STATUS_OK;
cparata 0:485458fca2bd 236 }
cparata 0:485458fca2bd 237
cparata 0:485458fca2bd 238 /**
cparata 0:485458fca2bd 239 * @brief Read LSM303AGR Magnetometer output data rate
cparata 0:485458fca2bd 240 * @param odr the pointer to the output data rate
cparata 0:485458fca2bd 241 * @retval LSM303AGR_MAG_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 242 */
cparata 0:485458fca2bd 243 LSM303AGR_MAG_StatusTypeDef LSM303AGR_MAG_Sensor::GetODR(float* odr)
cparata 0:485458fca2bd 244 {
cparata 0:485458fca2bd 245 LSM303AGR_MAG_ODR_t odr_low_level;
cparata 0:485458fca2bd 246
cparata 0:485458fca2bd 247 if ( LSM303AGR_MAG_R_ODR( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 0:485458fca2bd 248 {
cparata 0:485458fca2bd 249 return LSM303AGR_MAG_STATUS_ERROR;
cparata 0:485458fca2bd 250 }
cparata 0:485458fca2bd 251
cparata 0:485458fca2bd 252 switch( odr_low_level )
cparata 0:485458fca2bd 253 {
cparata 0:485458fca2bd 254 case LSM303AGR_MAG_ODR_10Hz:
cparata 0:485458fca2bd 255 *odr = 10.000f;
cparata 0:485458fca2bd 256 break;
cparata 0:485458fca2bd 257 case LSM303AGR_MAG_ODR_20Hz:
cparata 0:485458fca2bd 258 *odr = 20.000f;
cparata 0:485458fca2bd 259 break;
cparata 0:485458fca2bd 260 case LSM303AGR_MAG_ODR_50Hz:
cparata 0:485458fca2bd 261 *odr = 50.000f;
cparata 0:485458fca2bd 262 break;
cparata 0:485458fca2bd 263 case LSM303AGR_MAG_ODR_100Hz:
cparata 0:485458fca2bd 264 *odr = 100.000f;
cparata 0:485458fca2bd 265 break;
cparata 0:485458fca2bd 266 default:
cparata 0:485458fca2bd 267 *odr = -1.000f;
cparata 0:485458fca2bd 268 return LSM303AGR_MAG_STATUS_ERROR;
cparata 0:485458fca2bd 269 }
cparata 0:485458fca2bd 270 return LSM303AGR_MAG_STATUS_OK;
cparata 0:485458fca2bd 271 }
cparata 0:485458fca2bd 272
cparata 0:485458fca2bd 273 /**
cparata 0:485458fca2bd 274 * @brief Set ODR
cparata 0:485458fca2bd 275 * @param odr the output data rate to be set
cparata 0:485458fca2bd 276 * @retval LSM303AGR_MAG_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 277 */
cparata 0:485458fca2bd 278 LSM303AGR_MAG_StatusTypeDef LSM303AGR_MAG_Sensor::SetODR(float odr)
cparata 0:485458fca2bd 279 {
cparata 0:485458fca2bd 280 LSM303AGR_MAG_ODR_t new_odr;
cparata 0:485458fca2bd 281
cparata 0:485458fca2bd 282 new_odr = ( odr <= 10.000f ) ? LSM303AGR_MAG_ODR_10Hz
cparata 0:485458fca2bd 283 : ( odr <= 20.000f ) ? LSM303AGR_MAG_ODR_20Hz
cparata 0:485458fca2bd 284 : ( odr <= 50.000f ) ? LSM303AGR_MAG_ODR_50Hz
cparata 0:485458fca2bd 285 : LSM303AGR_MAG_ODR_100Hz;
cparata 0:485458fca2bd 286
cparata 0:485458fca2bd 287 if ( LSM303AGR_MAG_W_ODR( (void *)this, new_odr ) == MEMS_ERROR )
cparata 0:485458fca2bd 288 {
cparata 0:485458fca2bd 289 return LSM303AGR_MAG_STATUS_ERROR;
cparata 0:485458fca2bd 290 }
cparata 0:485458fca2bd 291
cparata 0:485458fca2bd 292 return LSM303AGR_MAG_STATUS_OK;
cparata 0:485458fca2bd 293 }
cparata 0:485458fca2bd 294
cparata 0:485458fca2bd 295
cparata 0:485458fca2bd 296 /**
cparata 0:485458fca2bd 297 * @brief Read LSM303AGR Magnetometer full scale
cparata 0:485458fca2bd 298 * @param fullScale the pointer to the output data rate
cparata 0:485458fca2bd 299 * @retval LSM303AGR_MAG_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 300 */
cparata 0:485458fca2bd 301 LSM303AGR_MAG_StatusTypeDef LSM303AGR_MAG_Sensor::GetFS(float* fullScale)
cparata 0:485458fca2bd 302 {
cparata 0:485458fca2bd 303 *fullScale = 50.0f;
cparata 0:485458fca2bd 304
cparata 0:485458fca2bd 305 return LSM303AGR_MAG_STATUS_OK;
cparata 0:485458fca2bd 306 }
cparata 0:485458fca2bd 307
cparata 0:485458fca2bd 308 /**
cparata 0:485458fca2bd 309 * @brief Set full scale
cparata 0:485458fca2bd 310 * @param fullScale the full scale to be set
cparata 0:485458fca2bd 311 * @retval LSM303AGR_MAG_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 312 */
cparata 0:485458fca2bd 313 LSM303AGR_MAG_StatusTypeDef LSM303AGR_MAG_Sensor::SetFS(float fullScale)
cparata 0:485458fca2bd 314 {
cparata 0:485458fca2bd 315 return LSM303AGR_MAG_STATUS_OK;
cparata 0:485458fca2bd 316 }
cparata 0:485458fca2bd 317
cparata 0:485458fca2bd 318
cparata 0:485458fca2bd 319 /**
cparata 0:485458fca2bd 320 * @brief Read magnetometer data from register
cparata 0:485458fca2bd 321 * @param reg register address
cparata 0:485458fca2bd 322 * @param data register data
cparata 0:485458fca2bd 323 * @retval LSM303AGR_MAG_STATUS_OK in case of success
cparata 0:485458fca2bd 324 * @retval LSM303AGR_MAG_STATUS_ERROR in case of failure
cparata 0:485458fca2bd 325 */
cparata 0:485458fca2bd 326 LSM303AGR_MAG_StatusTypeDef LSM303AGR_MAG_Sensor::ReadReg( uint8_t reg, uint8_t *data )
cparata 0:485458fca2bd 327 {
cparata 0:485458fca2bd 328 if ( LSM303AGR_MAG_ReadReg( (void *)this, reg, data ) == MEMS_ERROR )
cparata 0:485458fca2bd 329 {
cparata 0:485458fca2bd 330 return LSM303AGR_MAG_STATUS_ERROR;
cparata 0:485458fca2bd 331 }
cparata 0:485458fca2bd 332
cparata 0:485458fca2bd 333 return LSM303AGR_MAG_STATUS_OK;
cparata 0:485458fca2bd 334 }
cparata 0:485458fca2bd 335
cparata 0:485458fca2bd 336
cparata 0:485458fca2bd 337 /**
cparata 0:485458fca2bd 338 * @brief Write magnetometer data to register
cparata 0:485458fca2bd 339 * @param reg register address
cparata 0:485458fca2bd 340 * @param data register data
cparata 0:485458fca2bd 341 * @retval LSM303AGR_MAG_STATUS_OK in case of success
cparata 0:485458fca2bd 342 * @retval LSM303AGR_MAG_STATUS_ERROR in case of failure
cparata 0:485458fca2bd 343 */
cparata 0:485458fca2bd 344 LSM303AGR_MAG_StatusTypeDef LSM303AGR_MAG_Sensor::WriteReg( uint8_t reg, uint8_t data )
cparata 0:485458fca2bd 345 {
cparata 0:485458fca2bd 346 if ( LSM303AGR_MAG_WriteReg( (void *)this, reg, data ) == MEMS_ERROR )
cparata 0:485458fca2bd 347 {
cparata 0:485458fca2bd 348 return LSM303AGR_MAG_STATUS_ERROR;
cparata 0:485458fca2bd 349 }
cparata 0:485458fca2bd 350
cparata 0:485458fca2bd 351 return LSM303AGR_MAG_STATUS_OK;
cparata 0:485458fca2bd 352 }
cparata 0:485458fca2bd 353
cparata 0:485458fca2bd 354 uint8_t LSM303AGR_MAG_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
cparata 0:485458fca2bd 355 {
cparata 0:485458fca2bd 356 return ((LSM303AGR_MAG_Sensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata 0:485458fca2bd 357 }
cparata 0:485458fca2bd 358
cparata 0:485458fca2bd 359 uint8_t LSM303AGR_MAG_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
cparata 0:485458fca2bd 360 {
cparata 0:485458fca2bd 361 return ((LSM303AGR_MAG_Sensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata 0:485458fca2bd 362 }