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.h@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.h
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 Abstract Class of 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 /* Prevent recursive inclusion -----------------------------------------------*/
cparata 0:485458fca2bd 40
cparata 0:485458fca2bd 41 #ifndef __LSM303AGR_MAG_Sensor_H__
cparata 0:485458fca2bd 42 #define __LSM303AGR_MAG_Sensor_H__
cparata 0:485458fca2bd 43
cparata 0:485458fca2bd 44
cparata 0:485458fca2bd 45 /* Includes ------------------------------------------------------------------*/
cparata 0:485458fca2bd 46
cparata 0:485458fca2bd 47 #include "DevI2C.h"
cparata 0:485458fca2bd 48 #include "LSM303AGR_MAG_driver.h"
cparata 0:485458fca2bd 49
cparata 0:485458fca2bd 50 /* Typedefs ------------------------------------------------------------------*/
cparata 0:485458fca2bd 51 typedef enum
cparata 0:485458fca2bd 52 {
cparata 0:485458fca2bd 53 LSM303AGR_MAG_STATUS_OK = 0,
cparata 0:485458fca2bd 54 LSM303AGR_MAG_STATUS_ERROR,
cparata 0:485458fca2bd 55 LSM303AGR_MAG_STATUS_TIMEOUT,
cparata 0:485458fca2bd 56 LSM303AGR_MAG_STATUS_NOT_IMPLEMENTED
cparata 0:485458fca2bd 57 } LSM303AGR_MAG_StatusTypeDef;
cparata 0:485458fca2bd 58
cparata 0:485458fca2bd 59
cparata 0:485458fca2bd 60 /* Class Declaration ---------------------------------------------------------*/
cparata 0:485458fca2bd 61
cparata 0:485458fca2bd 62 /**
cparata 0:485458fca2bd 63 * Abstract class of an LSM303AGR Inertial Measurement Unit (IMU) 6 axes
cparata 0:485458fca2bd 64 * sensor.
cparata 0:485458fca2bd 65 */
cparata 0:485458fca2bd 66 class LSM303AGR_MAG_Sensor
cparata 0:485458fca2bd 67 {
cparata 0:485458fca2bd 68 public:
cparata 0:485458fca2bd 69 LSM303AGR_MAG_Sensor (DevI2C &i2c);
cparata 0:485458fca2bd 70 LSM303AGR_MAG_Sensor (DevI2C &i2c, uint8_t address);
cparata 0:485458fca2bd 71 LSM303AGR_MAG_StatusTypeDef Enable (void);
cparata 0:485458fca2bd 72 LSM303AGR_MAG_StatusTypeDef Disable (void);
cparata 0:485458fca2bd 73 LSM303AGR_MAG_StatusTypeDef ReadID (uint8_t *p_id);
cparata 0:485458fca2bd 74 LSM303AGR_MAG_StatusTypeDef GetAxes (int32_t *pData);
cparata 0:485458fca2bd 75 LSM303AGR_MAG_StatusTypeDef GetSensitivity (float *pfData);
cparata 0:485458fca2bd 76 LSM303AGR_MAG_StatusTypeDef GetAxesRaw (int16_t *pData);
cparata 0:485458fca2bd 77 LSM303AGR_MAG_StatusTypeDef GetODR (float *odr);
cparata 0:485458fca2bd 78 LSM303AGR_MAG_StatusTypeDef SetODR (float odr);
cparata 0:485458fca2bd 79 LSM303AGR_MAG_StatusTypeDef GetFS (float *fullScale);
cparata 0:485458fca2bd 80 LSM303AGR_MAG_StatusTypeDef SetFS (float fullScale);
cparata 0:485458fca2bd 81 LSM303AGR_MAG_StatusTypeDef ReadReg (uint8_t reg, uint8_t *data);
cparata 0:485458fca2bd 82 LSM303AGR_MAG_StatusTypeDef WriteReg (uint8_t reg, uint8_t data);
cparata 0:485458fca2bd 83
cparata 0:485458fca2bd 84 /**
cparata 0:485458fca2bd 85 * @brief Utility function to read data.
cparata 0:485458fca2bd 86 * @param pBuffer: pointer to data to be read.
cparata 0:485458fca2bd 87 * @param RegisterAddr: specifies internal address register to be read.
cparata 0:485458fca2bd 88 * @param NumByteToRead: number of bytes to be read.
cparata 0:485458fca2bd 89 * @retval 0 if ok, an error code otherwise.
cparata 0:485458fca2bd 90 */
cparata 0:485458fca2bd 91 uint8_t IO_Read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
cparata 0:485458fca2bd 92 {
cparata 0:485458fca2bd 93 return (uint8_t) dev_i2c.i2c_read(pBuffer, address, RegisterAddr, NumByteToRead);
cparata 0:485458fca2bd 94 }
cparata 0:485458fca2bd 95
cparata 0:485458fca2bd 96 /**
cparata 0:485458fca2bd 97 * @brief Utility function to write data.
cparata 0:485458fca2bd 98 * @param pBuffer: pointer to data to be written.
cparata 0:485458fca2bd 99 * @param RegisterAddr: specifies internal address register to be written.
cparata 0:485458fca2bd 100 * @param NumByteToWrite: number of bytes to write.
cparata 0:485458fca2bd 101 * @retval 0 if ok, an error code otherwise.
cparata 0:485458fca2bd 102 */
cparata 0:485458fca2bd 103 uint8_t IO_Write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
cparata 0:485458fca2bd 104 {
cparata 0:485458fca2bd 105 return (uint8_t) dev_i2c.i2c_write(pBuffer, address, RegisterAddr, NumByteToWrite);
cparata 0:485458fca2bd 106 }
cparata 0:485458fca2bd 107
cparata 0:485458fca2bd 108 private:
cparata 0:485458fca2bd 109
cparata 0:485458fca2bd 110 /* Helper classes. */
cparata 0:485458fca2bd 111 DevI2C &dev_i2c;
cparata 0:485458fca2bd 112
cparata 0:485458fca2bd 113 /* Configuration */
cparata 0:485458fca2bd 114 uint8_t address;
cparata 0:485458fca2bd 115 };
cparata 0:485458fca2bd 116
cparata 0:485458fca2bd 117 #ifdef __cplusplus
cparata 0:485458fca2bd 118 extern "C" {
cparata 0:485458fca2bd 119 #endif
cparata 0:485458fca2bd 120 uint8_t LSM303AGR_MAG_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
cparata 0:485458fca2bd 121 uint8_t LSM303AGR_MAG_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
cparata 0:485458fca2bd 122 #ifdef __cplusplus
cparata 0:485458fca2bd 123 }
cparata 0:485458fca2bd 124 #endif
cparata 0:485458fca2bd 125
cparata 0:485458fca2bd 126 #endif