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@2:ae74845fa96a, 2016-08-19 (annotated)

Committer:
cparata
Date:
Fri Aug 19 12:23:23 2016 +0000
Revision:
2:ae74845fa96a
Add interfaces to all components

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 2:ae74845fa96a 1 /**
cparata 2:ae74845fa96a 2 ******************************************************************************
cparata 2:ae74845fa96a 3 * @file LSM303AGR_ACC_Sensor.cpp
cparata 2:ae74845fa96a 4 * @author AST
cparata 2:ae74845fa96a 5 * @version V1.0.0
cparata 2:ae74845fa96a 6 * @date 5 August 2016
cparata 2:ae74845fa96a 7 * @brief Implementation an LSM303AGR accelerometer sensor.
cparata 2:ae74845fa96a 8 ******************************************************************************
cparata 2:ae74845fa96a 9 * @attention
cparata 2:ae74845fa96a 10 *
cparata 2:ae74845fa96a 11 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 2:ae74845fa96a 12 *
cparata 2:ae74845fa96a 13 * Redistribution and use in source and binary forms, with or without modification,
cparata 2:ae74845fa96a 14 * are permitted provided that the following conditions are met:
cparata 2:ae74845fa96a 15 * 1. Redistributions of source code must retain the above copyright notice,
cparata 2:ae74845fa96a 16 * this list of conditions and the following disclaimer.
cparata 2:ae74845fa96a 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 2:ae74845fa96a 18 * this list of conditions and the following disclaimer in the documentation
cparata 2:ae74845fa96a 19 * and/or other materials provided with the distribution.
cparata 2:ae74845fa96a 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 2:ae74845fa96a 21 * may be used to endorse or promote products derived from this software
cparata 2:ae74845fa96a 22 * without specific prior written permission.
cparata 2:ae74845fa96a 23 *
cparata 2:ae74845fa96a 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 2:ae74845fa96a 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 2:ae74845fa96a 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 2:ae74845fa96a 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 2:ae74845fa96a 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 2:ae74845fa96a 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 2:ae74845fa96a 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 2:ae74845fa96a 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 2:ae74845fa96a 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 2:ae74845fa96a 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 2:ae74845fa96a 34 *
cparata 2:ae74845fa96a 35 ******************************************************************************
cparata 2:ae74845fa96a 36 */
cparata 2:ae74845fa96a 37
cparata 2:ae74845fa96a 38
cparata 2:ae74845fa96a 39 /* Includes ------------------------------------------------------------------*/
cparata 2:ae74845fa96a 40
cparata 2:ae74845fa96a 41 #include "DevI2C.h"
cparata 2:ae74845fa96a 42 #include "LSM303AGR_ACC_Sensor.h"
cparata 2:ae74845fa96a 43 #include "LSM303AGR_ACC_driver.h"
cparata 2:ae74845fa96a 44
cparata 2:ae74845fa96a 45
cparata 2:ae74845fa96a 46 /* Class Implementation ------------------------------------------------------*/
cparata 2:ae74845fa96a 47
cparata 2:ae74845fa96a 48 /** Constructor
cparata 2:ae74845fa96a 49 * @param i2c object of an helper class which handles the I2C peripheral
cparata 2:ae74845fa96a 50 * @param address the address of the component's instance
cparata 2:ae74845fa96a 51 */
cparata 2:ae74845fa96a 52 LSM303AGR_ACC_Sensor::LSM303AGR_ACC_Sensor(DevI2C &i2c) : dev_i2c(i2c)
cparata 2:ae74845fa96a 53 {
cparata 2:ae74845fa96a 54 address = LSM303AGR_ACC_I2C_ADDRESS;
cparata 2:ae74845fa96a 55 };
cparata 2:ae74845fa96a 56
cparata 2:ae74845fa96a 57 /** Constructor
cparata 2:ae74845fa96a 58 * @param i2c object of an helper class which handles the I2C peripheral
cparata 2:ae74845fa96a 59 * @param address the address of the component's instance
cparata 2:ae74845fa96a 60 */
cparata 2:ae74845fa96a 61 LSM303AGR_ACC_Sensor::LSM303AGR_ACC_Sensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
cparata 2:ae74845fa96a 62 {
cparata 2:ae74845fa96a 63
cparata 2:ae74845fa96a 64 };
cparata 2:ae74845fa96a 65
cparata 2:ae74845fa96a 66 /**
cparata 2:ae74845fa96a 67 * @brief Initializing the component.
cparata 2:ae74845fa96a 68 * @param[in] init pointer to device specific initalization structure.
cparata 2:ae74845fa96a 69 * @retval "0" in case of success, an error code otherwise.
cparata 2:ae74845fa96a 70 */
cparata 2:ae74845fa96a 71 int LSM303AGR_ACC_Sensor::Init(void *init)
cparata 2:ae74845fa96a 72 {
cparata 2:ae74845fa96a 73 /* Enable BDU */
cparata 2:ae74845fa96a 74 if ( LSM303AGR_ACC_W_BlockDataUpdate( (void *)this, LSM303AGR_ACC_BDU_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 75 {
cparata 2:ae74845fa96a 76 return 1;
cparata 2:ae74845fa96a 77 }
cparata 2:ae74845fa96a 78
cparata 2:ae74845fa96a 79 /* FIFO mode selection */
cparata 2:ae74845fa96a 80 if ( LSM303AGR_ACC_W_FifoMode( (void *)this, LSM303AGR_ACC_FM_BYPASS ) == MEMS_ERROR )
cparata 2:ae74845fa96a 81 {
cparata 2:ae74845fa96a 82 return 1;
cparata 2:ae74845fa96a 83 }
cparata 2:ae74845fa96a 84
cparata 2:ae74845fa96a 85 /* Output data rate selection - power down. */
cparata 2:ae74845fa96a 86 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
cparata 2:ae74845fa96a 87 {
cparata 2:ae74845fa96a 88 return 1;
cparata 2:ae74845fa96a 89 }
cparata 2:ae74845fa96a 90
cparata 2:ae74845fa96a 91 /* Full scale selection. */
cparata 2:ae74845fa96a 92 if ( Set_X_FS( 2.0f ) == 1 )
cparata 2:ae74845fa96a 93 {
cparata 2:ae74845fa96a 94 return 1;
cparata 2:ae74845fa96a 95 }
cparata 2:ae74845fa96a 96
cparata 2:ae74845fa96a 97 /* Enable axes. */
cparata 2:ae74845fa96a 98 if ( LSM303AGR_ACC_W_XEN( (void *)this, LSM303AGR_ACC_XEN_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 99 {
cparata 2:ae74845fa96a 100 return 1;
cparata 2:ae74845fa96a 101 }
cparata 2:ae74845fa96a 102
cparata 2:ae74845fa96a 103 if ( LSM303AGR_ACC_W_YEN ( (void *)this, LSM303AGR_ACC_YEN_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 104 {
cparata 2:ae74845fa96a 105 return 1;
cparata 2:ae74845fa96a 106 }
cparata 2:ae74845fa96a 107
cparata 2:ae74845fa96a 108 if ( LSM303AGR_ACC_W_ZEN ( (void *)this, LSM303AGR_ACC_ZEN_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 109 {
cparata 2:ae74845fa96a 110 return 1;
cparata 2:ae74845fa96a 111 }
cparata 2:ae74845fa96a 112
cparata 2:ae74845fa96a 113 /* Select default output data rate. */
cparata 2:ae74845fa96a 114 Last_ODR = 100.0f;
cparata 2:ae74845fa96a 115
cparata 2:ae74845fa96a 116 isEnabled = 0;
cparata 2:ae74845fa96a 117
cparata 2:ae74845fa96a 118 return 0;
cparata 2:ae74845fa96a 119 }
cparata 2:ae74845fa96a 120
cparata 2:ae74845fa96a 121 /**
cparata 2:ae74845fa96a 122 * @brief Enable LSM303AGR Accelerator
cparata 2:ae74845fa96a 123 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 124 */
cparata 2:ae74845fa96a 125 int LSM303AGR_ACC_Sensor::Enable(void)
cparata 2:ae74845fa96a 126 {
cparata 2:ae74845fa96a 127 /* Check if the component is already enabled */
cparata 2:ae74845fa96a 128 if ( isEnabled == 1 )
cparata 2:ae74845fa96a 129 {
cparata 2:ae74845fa96a 130 return 0;
cparata 2:ae74845fa96a 131 }
cparata 2:ae74845fa96a 132
cparata 2:ae74845fa96a 133 /* Output data rate selection. */
cparata 2:ae74845fa96a 134 if ( Set_X_ODR_When_Enabled( Last_ODR ) == 1 )
cparata 2:ae74845fa96a 135 {
cparata 2:ae74845fa96a 136 return 1;
cparata 2:ae74845fa96a 137 }
cparata 2:ae74845fa96a 138
cparata 2:ae74845fa96a 139 isEnabled = 1;
cparata 2:ae74845fa96a 140
cparata 2:ae74845fa96a 141 return 0;
cparata 2:ae74845fa96a 142 }
cparata 2:ae74845fa96a 143
cparata 2:ae74845fa96a 144 /**
cparata 2:ae74845fa96a 145 * @brief Disable LSM303AGR Accelerator
cparata 2:ae74845fa96a 146 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 147 */
cparata 2:ae74845fa96a 148 int LSM303AGR_ACC_Sensor::Disable(void)
cparata 2:ae74845fa96a 149 {
cparata 2:ae74845fa96a 150 /* Check if the component is already disabled */
cparata 2:ae74845fa96a 151 if ( isEnabled == 0 )
cparata 2:ae74845fa96a 152 {
cparata 2:ae74845fa96a 153 return 0;
cparata 2:ae74845fa96a 154 }
cparata 2:ae74845fa96a 155
cparata 2:ae74845fa96a 156 /* Store actual output data rate. */
cparata 2:ae74845fa96a 157 if ( Get_X_ODR( &Last_ODR ) == 1 )
cparata 2:ae74845fa96a 158 {
cparata 2:ae74845fa96a 159 return 1;
cparata 2:ae74845fa96a 160 }
cparata 2:ae74845fa96a 161
cparata 2:ae74845fa96a 162 /* Output data rate selection - power down. */
cparata 2:ae74845fa96a 163 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
cparata 2:ae74845fa96a 164 {
cparata 2:ae74845fa96a 165 return 1;
cparata 2:ae74845fa96a 166 }
cparata 2:ae74845fa96a 167
cparata 2:ae74845fa96a 168 isEnabled = 0;
cparata 2:ae74845fa96a 169
cparata 2:ae74845fa96a 170 return 0;
cparata 2:ae74845fa96a 171 }
cparata 2:ae74845fa96a 172
cparata 2:ae74845fa96a 173 /**
cparata 2:ae74845fa96a 174 * @brief Read ID of LSM303AGR Accelerometer
cparata 2:ae74845fa96a 175 * @param p_id the pointer where the ID of the device is stored
cparata 2:ae74845fa96a 176 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 177 */
cparata 2:ae74845fa96a 178 int LSM303AGR_ACC_Sensor::ReadID(uint8_t *id)
cparata 2:ae74845fa96a 179 {
cparata 2:ae74845fa96a 180 if(!id)
cparata 2:ae74845fa96a 181 {
cparata 2:ae74845fa96a 182 return 1;
cparata 2:ae74845fa96a 183 }
cparata 2:ae74845fa96a 184
cparata 2:ae74845fa96a 185 /* Read WHO AM I register */
cparata 2:ae74845fa96a 186 if ( LSM303AGR_ACC_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
cparata 2:ae74845fa96a 187 {
cparata 2:ae74845fa96a 188 return 1;
cparata 2:ae74845fa96a 189 }
cparata 2:ae74845fa96a 190
cparata 2:ae74845fa96a 191 return 0;
cparata 2:ae74845fa96a 192 }
cparata 2:ae74845fa96a 193
cparata 2:ae74845fa96a 194 /**
cparata 2:ae74845fa96a 195 * @brief Read data from LSM303AGR Accelerometer
cparata 2:ae74845fa96a 196 * @param pData the pointer where the accelerometer data are stored
cparata 2:ae74845fa96a 197 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 198 */
cparata 2:ae74845fa96a 199 int LSM303AGR_ACC_Sensor::Get_X_Axes(int32_t *pData)
cparata 2:ae74845fa96a 200 {
cparata 2:ae74845fa96a 201 int data[3];
cparata 2:ae74845fa96a 202
cparata 2:ae74845fa96a 203 /* Read data from LSM303AGR. */
cparata 2:ae74845fa96a 204 if ( !LSM303AGR_ACC_Get_Acceleration((void *)this, data) )
cparata 2:ae74845fa96a 205 {
cparata 2:ae74845fa96a 206 return 1;
cparata 2:ae74845fa96a 207 }
cparata 2:ae74845fa96a 208
cparata 2:ae74845fa96a 209 /* Calculate the data. */
cparata 2:ae74845fa96a 210 pData[0] = (int32_t)data[0];
cparata 2:ae74845fa96a 211 pData[1] = (int32_t)data[1];
cparata 2:ae74845fa96a 212 pData[2] = (int32_t)data[2];
cparata 2:ae74845fa96a 213
cparata 2:ae74845fa96a 214 return 0;
cparata 2:ae74845fa96a 215 }
cparata 2:ae74845fa96a 216
cparata 2:ae74845fa96a 217 /**
cparata 2:ae74845fa96a 218 * @brief Read Accelerometer Sensitivity
cparata 2:ae74845fa96a 219 * @param pfData the pointer where the accelerometer sensitivity is stored
cparata 2:ae74845fa96a 220 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 221 */
cparata 2:ae74845fa96a 222 int LSM303AGR_ACC_Sensor::Get_X_Sensitivity(float *pfData)
cparata 2:ae74845fa96a 223 {
cparata 2:ae74845fa96a 224 LSM303AGR_ACC_LPEN_t lp_value;
cparata 2:ae74845fa96a 225 LSM303AGR_ACC_HR_t hr_value;
cparata 2:ae74845fa96a 226
cparata 2:ae74845fa96a 227 /* Read low power flag */
cparata 2:ae74845fa96a 228 if( LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp_value ) == MEMS_ERROR )
cparata 2:ae74845fa96a 229 {
cparata 2:ae74845fa96a 230 return 1;
cparata 2:ae74845fa96a 231 }
cparata 2:ae74845fa96a 232
cparata 2:ae74845fa96a 233 /* Read high performance flag */
cparata 2:ae74845fa96a 234 if( LSM303AGR_ACC_R_HiRes( (void *)this, &hr_value ) == MEMS_ERROR )
cparata 2:ae74845fa96a 235 {
cparata 2:ae74845fa96a 236 return 1;
cparata 2:ae74845fa96a 237 }
cparata 2:ae74845fa96a 238
cparata 2:ae74845fa96a 239 if( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
cparata 2:ae74845fa96a 240 {
cparata 2:ae74845fa96a 241 /* Normal Mode */
cparata 2:ae74845fa96a 242 return Get_X_Sensitivity_Normal_Mode( pfData );
cparata 2:ae74845fa96a 243 } else if ( lp_value == LSM303AGR_ACC_LPEN_ENABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
cparata 2:ae74845fa96a 244 {
cparata 2:ae74845fa96a 245 /* Low Power Mode */
cparata 2:ae74845fa96a 246 return Get_X_Sensitivity_LP_Mode( pfData );
cparata 2:ae74845fa96a 247 } else if ( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_ENABLED )
cparata 2:ae74845fa96a 248 {
cparata 2:ae74845fa96a 249 /* High Resolution Mode */
cparata 2:ae74845fa96a 250 return Get_X_Sensitivity_HR_Mode( pfData );
cparata 2:ae74845fa96a 251 } else
cparata 2:ae74845fa96a 252 {
cparata 2:ae74845fa96a 253 /* Not allowed */
cparata 2:ae74845fa96a 254 return 1;
cparata 2:ae74845fa96a 255 }
cparata 2:ae74845fa96a 256 }
cparata 2:ae74845fa96a 257
cparata 2:ae74845fa96a 258 /**
cparata 2:ae74845fa96a 259 * @brief Read Accelerometer Sensitivity in Normal Mode
cparata 2:ae74845fa96a 260 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 2:ae74845fa96a 261 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 262 */
cparata 2:ae74845fa96a 263 int LSM303AGR_ACC_Sensor::Get_X_Sensitivity_Normal_Mode( float *sensitivity )
cparata 2:ae74845fa96a 264 {
cparata 2:ae74845fa96a 265 LSM303AGR_ACC_FS_t fullScale;
cparata 2:ae74845fa96a 266
cparata 2:ae74845fa96a 267 /* Read actual full scale selection from sensor. */
cparata 2:ae74845fa96a 268 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 2:ae74845fa96a 269 {
cparata 2:ae74845fa96a 270 return 1;
cparata 2:ae74845fa96a 271 }
cparata 2:ae74845fa96a 272
cparata 2:ae74845fa96a 273 /* Store the sensitivity based on actual full scale. */
cparata 2:ae74845fa96a 274 switch( fullScale )
cparata 2:ae74845fa96a 275 {
cparata 2:ae74845fa96a 276 case LSM303AGR_ACC_FS_2G:
cparata 2:ae74845fa96a 277 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_NORMAL_MODE;
cparata 2:ae74845fa96a 278 break;
cparata 2:ae74845fa96a 279 case LSM303AGR_ACC_FS_4G:
cparata 2:ae74845fa96a 280 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_NORMAL_MODE;
cparata 2:ae74845fa96a 281 break;
cparata 2:ae74845fa96a 282 case LSM303AGR_ACC_FS_8G:
cparata 2:ae74845fa96a 283 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_NORMAL_MODE;
cparata 2:ae74845fa96a 284 break;
cparata 2:ae74845fa96a 285 case LSM303AGR_ACC_FS_16G:
cparata 2:ae74845fa96a 286 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_NORMAL_MODE;
cparata 2:ae74845fa96a 287 break;
cparata 2:ae74845fa96a 288 default:
cparata 2:ae74845fa96a 289 *sensitivity = -1.0f;
cparata 2:ae74845fa96a 290 return 1;
cparata 2:ae74845fa96a 291 }
cparata 2:ae74845fa96a 292
cparata 2:ae74845fa96a 293 return 0;
cparata 2:ae74845fa96a 294 }
cparata 2:ae74845fa96a 295
cparata 2:ae74845fa96a 296 /**
cparata 2:ae74845fa96a 297 * @brief Read Accelerometer Sensitivity in LP Mode
cparata 2:ae74845fa96a 298 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 2:ae74845fa96a 299 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 300 */
cparata 2:ae74845fa96a 301 int LSM303AGR_ACC_Sensor::Get_X_Sensitivity_LP_Mode( float *sensitivity )
cparata 2:ae74845fa96a 302 {
cparata 2:ae74845fa96a 303 LSM303AGR_ACC_FS_t fullScale;
cparata 2:ae74845fa96a 304
cparata 2:ae74845fa96a 305 /* Read actual full scale selection from sensor. */
cparata 2:ae74845fa96a 306 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 2:ae74845fa96a 307 {
cparata 2:ae74845fa96a 308 return 1;
cparata 2:ae74845fa96a 309 }
cparata 2:ae74845fa96a 310
cparata 2:ae74845fa96a 311 /* Store the sensitivity based on actual full scale. */
cparata 2:ae74845fa96a 312 switch( fullScale )
cparata 2:ae74845fa96a 313 {
cparata 2:ae74845fa96a 314 case LSM303AGR_ACC_FS_2G:
cparata 2:ae74845fa96a 315 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_LOW_POWER_MODE;
cparata 2:ae74845fa96a 316 break;
cparata 2:ae74845fa96a 317 case LSM303AGR_ACC_FS_4G:
cparata 2:ae74845fa96a 318 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_LOW_POWER_MODE;
cparata 2:ae74845fa96a 319 break;
cparata 2:ae74845fa96a 320 case LSM303AGR_ACC_FS_8G:
cparata 2:ae74845fa96a 321 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_LOW_POWER_MODE;
cparata 2:ae74845fa96a 322 break;
cparata 2:ae74845fa96a 323 case LSM303AGR_ACC_FS_16G:
cparata 2:ae74845fa96a 324 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_LOW_POWER_MODE;
cparata 2:ae74845fa96a 325 break;
cparata 2:ae74845fa96a 326 default:
cparata 2:ae74845fa96a 327 *sensitivity = -1.0f;
cparata 2:ae74845fa96a 328 return 1;
cparata 2:ae74845fa96a 329 }
cparata 2:ae74845fa96a 330
cparata 2:ae74845fa96a 331 return 0;
cparata 2:ae74845fa96a 332 }
cparata 2:ae74845fa96a 333
cparata 2:ae74845fa96a 334 /**
cparata 2:ae74845fa96a 335 * @brief Read Accelerometer Sensitivity in HR Mode
cparata 2:ae74845fa96a 336 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 2:ae74845fa96a 337 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 338 */
cparata 2:ae74845fa96a 339 int LSM303AGR_ACC_Sensor::Get_X_Sensitivity_HR_Mode( float *sensitivity )
cparata 2:ae74845fa96a 340 {
cparata 2:ae74845fa96a 341 LSM303AGR_ACC_FS_t fullScale;
cparata 2:ae74845fa96a 342
cparata 2:ae74845fa96a 343 /* Read actual full scale selection from sensor. */
cparata 2:ae74845fa96a 344 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 2:ae74845fa96a 345 {
cparata 2:ae74845fa96a 346 return 1;
cparata 2:ae74845fa96a 347 }
cparata 2:ae74845fa96a 348
cparata 2:ae74845fa96a 349 /* Store the sensitivity based on actual full scale. */
cparata 2:ae74845fa96a 350 switch( fullScale )
cparata 2:ae74845fa96a 351 {
cparata 2:ae74845fa96a 352 case LSM303AGR_ACC_FS_2G:
cparata 2:ae74845fa96a 353 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_HIGH_RESOLUTION_MODE;
cparata 2:ae74845fa96a 354 break;
cparata 2:ae74845fa96a 355 case LSM303AGR_ACC_FS_4G:
cparata 2:ae74845fa96a 356 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_HIGH_RESOLUTION_MODE;
cparata 2:ae74845fa96a 357 break;
cparata 2:ae74845fa96a 358 case LSM303AGR_ACC_FS_8G:
cparata 2:ae74845fa96a 359 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_HIGH_RESOLUTION_MODE;
cparata 2:ae74845fa96a 360 break;
cparata 2:ae74845fa96a 361 case LSM303AGR_ACC_FS_16G:
cparata 2:ae74845fa96a 362 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_HIGH_RESOLUTION_MODE;
cparata 2:ae74845fa96a 363 break;
cparata 2:ae74845fa96a 364 default:
cparata 2:ae74845fa96a 365 *sensitivity = -1.0f;
cparata 2:ae74845fa96a 366 return 1;
cparata 2:ae74845fa96a 367 }
cparata 2:ae74845fa96a 368
cparata 2:ae74845fa96a 369 return 0;
cparata 2:ae74845fa96a 370 }
cparata 2:ae74845fa96a 371
cparata 2:ae74845fa96a 372 /**
cparata 2:ae74845fa96a 373 * @brief Read raw data from LSM303AGR Accelerometer
cparata 2:ae74845fa96a 374 * @param pData the pointer where the accelerometer raw data are stored
cparata 2:ae74845fa96a 375 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 376 */
cparata 2:ae74845fa96a 377 int LSM303AGR_ACC_Sensor::Get_X_AxesRaw(int16_t *pData)
cparata 2:ae74845fa96a 378 {
cparata 2:ae74845fa96a 379 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 2:ae74845fa96a 380 u8_t shift = 0;
cparata 2:ae74845fa96a 381 LSM303AGR_ACC_LPEN_t lp;
cparata 2:ae74845fa96a 382 LSM303AGR_ACC_HR_t hr;
cparata 2:ae74845fa96a 383
cparata 2:ae74845fa96a 384 /* Determine which operational mode the acc is set */
cparata 2:ae74845fa96a 385 if(!LSM303AGR_ACC_R_HiRes( (void *)this, &hr )) {
cparata 2:ae74845fa96a 386 return 1;
cparata 2:ae74845fa96a 387 }
cparata 2:ae74845fa96a 388
cparata 2:ae74845fa96a 389 if(!LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp )) {
cparata 2:ae74845fa96a 390 return 1;
cparata 2:ae74845fa96a 391 }
cparata 2:ae74845fa96a 392
cparata 2:ae74845fa96a 393 if (lp == LSM303AGR_ACC_LPEN_ENABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
cparata 2:ae74845fa96a 394 /* op mode is LP 8-bit */
cparata 2:ae74845fa96a 395 shift = 8;
cparata 2:ae74845fa96a 396 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
cparata 2:ae74845fa96a 397 /* op mode is Normal 10-bit */
cparata 2:ae74845fa96a 398 shift = 6;
cparata 2:ae74845fa96a 399 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_ENABLED) {
cparata 2:ae74845fa96a 400 /* op mode is HR 12-bit */
cparata 2:ae74845fa96a 401 shift = 4;
cparata 2:ae74845fa96a 402 } else {
cparata 2:ae74845fa96a 403 return 1;
cparata 2:ae74845fa96a 404 }
cparata 2:ae74845fa96a 405
cparata 2:ae74845fa96a 406 /* Read output registers from LSM303AGR_ACC_GYRO_OUTX_L_XL to LSM303AGR_ACC_GYRO_OUTZ_H_XL. */
cparata 2:ae74845fa96a 407 if (!LSM303AGR_ACC_Get_Raw_Acceleration( (void *)this, ( uint8_t* )regValue ))
cparata 2:ae74845fa96a 408 {
cparata 2:ae74845fa96a 409 return 1;
cparata 2:ae74845fa96a 410 }
cparata 2:ae74845fa96a 411
cparata 2:ae74845fa96a 412 /* Format the data. */
cparata 2:ae74845fa96a 413 pData[0] = ( ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] ) >> shift );
cparata 2:ae74845fa96a 414 pData[1] = ( ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] ) >> shift );
cparata 2:ae74845fa96a 415 pData[2] = ( ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] ) >> shift );
cparata 2:ae74845fa96a 416
cparata 2:ae74845fa96a 417 return 0;
cparata 2:ae74845fa96a 418 }
cparata 2:ae74845fa96a 419
cparata 2:ae74845fa96a 420 /**
cparata 2:ae74845fa96a 421 * @brief Read LSM303AGR Accelerometer output data rate
cparata 2:ae74845fa96a 422 * @param odr the pointer to the output data rate
cparata 2:ae74845fa96a 423 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 424 */
cparata 2:ae74845fa96a 425 int LSM303AGR_ACC_Sensor::Get_X_ODR(float* odr)
cparata 2:ae74845fa96a 426 {
cparata 2:ae74845fa96a 427 LSM303AGR_ACC_ODR_t odr_low_level;
cparata 2:ae74845fa96a 428
cparata 2:ae74845fa96a 429 if ( LSM303AGR_ACC_R_ODR( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 2:ae74845fa96a 430 {
cparata 2:ae74845fa96a 431 return 1;
cparata 2:ae74845fa96a 432 }
cparata 2:ae74845fa96a 433
cparata 2:ae74845fa96a 434 switch( odr_low_level )
cparata 2:ae74845fa96a 435 {
cparata 2:ae74845fa96a 436 case LSM303AGR_ACC_ODR_DO_PWR_DOWN:
cparata 2:ae74845fa96a 437 *odr = 0.0f;
cparata 2:ae74845fa96a 438 break;
cparata 2:ae74845fa96a 439 case LSM303AGR_ACC_ODR_DO_1Hz:
cparata 2:ae74845fa96a 440 *odr = 1.0f;
cparata 2:ae74845fa96a 441 break;
cparata 2:ae74845fa96a 442 case LSM303AGR_ACC_ODR_DO_10Hz:
cparata 2:ae74845fa96a 443 *odr = 10.0f;
cparata 2:ae74845fa96a 444 break;
cparata 2:ae74845fa96a 445 case LSM303AGR_ACC_ODR_DO_25Hz:
cparata 2:ae74845fa96a 446 *odr = 25.0f;
cparata 2:ae74845fa96a 447 break;
cparata 2:ae74845fa96a 448 case LSM303AGR_ACC_ODR_DO_50Hz:
cparata 2:ae74845fa96a 449 *odr = 50.0f;
cparata 2:ae74845fa96a 450 break;
cparata 2:ae74845fa96a 451 case LSM303AGR_ACC_ODR_DO_100Hz:
cparata 2:ae74845fa96a 452 *odr = 100.0f;
cparata 2:ae74845fa96a 453 break;
cparata 2:ae74845fa96a 454 case LSM303AGR_ACC_ODR_DO_200Hz:
cparata 2:ae74845fa96a 455 *odr = 200.0f;
cparata 2:ae74845fa96a 456 break;
cparata 2:ae74845fa96a 457 case LSM303AGR_ACC_ODR_DO_400Hz:
cparata 2:ae74845fa96a 458 *odr = 400.0f;
cparata 2:ae74845fa96a 459 break;
cparata 2:ae74845fa96a 460 default:
cparata 2:ae74845fa96a 461 *odr = -1.0f;
cparata 2:ae74845fa96a 462 return 1;
cparata 2:ae74845fa96a 463 }
cparata 2:ae74845fa96a 464
cparata 2:ae74845fa96a 465 return 0;
cparata 2:ae74845fa96a 466 }
cparata 2:ae74845fa96a 467
cparata 2:ae74845fa96a 468 /**
cparata 2:ae74845fa96a 469 * @brief Set ODR
cparata 2:ae74845fa96a 470 * @param odr the output data rate to be set
cparata 2:ae74845fa96a 471 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 472 */
cparata 2:ae74845fa96a 473 int LSM303AGR_ACC_Sensor::Set_X_ODR(float odr)
cparata 2:ae74845fa96a 474 {
cparata 2:ae74845fa96a 475 if(isEnabled == 1)
cparata 2:ae74845fa96a 476 {
cparata 2:ae74845fa96a 477 if(Set_X_ODR_When_Enabled(odr) == 1)
cparata 2:ae74845fa96a 478 {
cparata 2:ae74845fa96a 479 return 1;
cparata 2:ae74845fa96a 480 }
cparata 2:ae74845fa96a 481 }
cparata 2:ae74845fa96a 482 else
cparata 2:ae74845fa96a 483 {
cparata 2:ae74845fa96a 484 if(Set_X_ODR_When_Disabled(odr) == 1)
cparata 2:ae74845fa96a 485 {
cparata 2:ae74845fa96a 486 return 1;
cparata 2:ae74845fa96a 487 }
cparata 2:ae74845fa96a 488 }
cparata 2:ae74845fa96a 489
cparata 2:ae74845fa96a 490 return 0;
cparata 2:ae74845fa96a 491 }
cparata 2:ae74845fa96a 492
cparata 2:ae74845fa96a 493 /**
cparata 2:ae74845fa96a 494 * @brief Set ODR when enabled
cparata 2:ae74845fa96a 495 * @param odr the output data rate to be set
cparata 2:ae74845fa96a 496 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 497 */
cparata 2:ae74845fa96a 498 int LSM303AGR_ACC_Sensor::Set_X_ODR_When_Enabled(float odr)
cparata 2:ae74845fa96a 499 {
cparata 2:ae74845fa96a 500 LSM303AGR_ACC_ODR_t new_odr;
cparata 2:ae74845fa96a 501
cparata 2:ae74845fa96a 502 new_odr = ( odr <= 1.0f ) ? LSM303AGR_ACC_ODR_DO_1Hz
cparata 2:ae74845fa96a 503 : ( odr <= 10.0f ) ? LSM303AGR_ACC_ODR_DO_10Hz
cparata 2:ae74845fa96a 504 : ( odr <= 25.0f ) ? LSM303AGR_ACC_ODR_DO_25Hz
cparata 2:ae74845fa96a 505 : ( odr <= 50.0f ) ? LSM303AGR_ACC_ODR_DO_50Hz
cparata 2:ae74845fa96a 506 : ( odr <= 100.0f ) ? LSM303AGR_ACC_ODR_DO_100Hz
cparata 2:ae74845fa96a 507 : ( odr <= 200.0f ) ? LSM303AGR_ACC_ODR_DO_200Hz
cparata 2:ae74845fa96a 508 : LSM303AGR_ACC_ODR_DO_400Hz;
cparata 2:ae74845fa96a 509
cparata 2:ae74845fa96a 510 if ( LSM303AGR_ACC_W_ODR( (void *)this, new_odr ) == MEMS_ERROR )
cparata 2:ae74845fa96a 511 {
cparata 2:ae74845fa96a 512 return 1;
cparata 2:ae74845fa96a 513 }
cparata 2:ae74845fa96a 514
cparata 2:ae74845fa96a 515 return 0;
cparata 2:ae74845fa96a 516 }
cparata 2:ae74845fa96a 517
cparata 2:ae74845fa96a 518 /**
cparata 2:ae74845fa96a 519 * @brief Set ODR when disabled
cparata 2:ae74845fa96a 520 * @param odr the output data rate to be set
cparata 2:ae74845fa96a 521 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 522 */
cparata 2:ae74845fa96a 523 int LSM303AGR_ACC_Sensor::Set_X_ODR_When_Disabled(float odr)
cparata 2:ae74845fa96a 524 {
cparata 2:ae74845fa96a 525 Last_ODR = ( odr <= 1.0f ) ? 1.0f
cparata 2:ae74845fa96a 526 : ( odr <= 10.0f ) ? 10.0f
cparata 2:ae74845fa96a 527 : ( odr <= 25.0f ) ? 25.0f
cparata 2:ae74845fa96a 528 : ( odr <= 50.0f ) ? 50.0f
cparata 2:ae74845fa96a 529 : ( odr <= 100.0f ) ? 100.0f
cparata 2:ae74845fa96a 530 : ( odr <= 200.0f ) ? 200.0f
cparata 2:ae74845fa96a 531 : 400.0f;
cparata 2:ae74845fa96a 532
cparata 2:ae74845fa96a 533 return 0;
cparata 2:ae74845fa96a 534 }
cparata 2:ae74845fa96a 535
cparata 2:ae74845fa96a 536
cparata 2:ae74845fa96a 537 /**
cparata 2:ae74845fa96a 538 * @brief Read LSM303AGR Accelerometer full scale
cparata 2:ae74845fa96a 539 * @param fullScale the pointer to the full scale
cparata 2:ae74845fa96a 540 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 541 */
cparata 2:ae74845fa96a 542 int LSM303AGR_ACC_Sensor::Get_X_FS(float* fullScale)
cparata 2:ae74845fa96a 543 {
cparata 2:ae74845fa96a 544 LSM303AGR_ACC_FS_t fs_low_level;
cparata 2:ae74845fa96a 545
cparata 2:ae74845fa96a 546 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata 2:ae74845fa96a 547 {
cparata 2:ae74845fa96a 548 return 1;
cparata 2:ae74845fa96a 549 }
cparata 2:ae74845fa96a 550
cparata 2:ae74845fa96a 551 switch( fs_low_level )
cparata 2:ae74845fa96a 552 {
cparata 2:ae74845fa96a 553 case LSM303AGR_ACC_FS_2G:
cparata 2:ae74845fa96a 554 *fullScale = 2.0f;
cparata 2:ae74845fa96a 555 break;
cparata 2:ae74845fa96a 556 case LSM303AGR_ACC_FS_4G:
cparata 2:ae74845fa96a 557 *fullScale = 4.0f;
cparata 2:ae74845fa96a 558 break;
cparata 2:ae74845fa96a 559 case LSM303AGR_ACC_FS_8G:
cparata 2:ae74845fa96a 560 *fullScale = 8.0f;
cparata 2:ae74845fa96a 561 break;
cparata 2:ae74845fa96a 562 case LSM303AGR_ACC_FS_16G:
cparata 2:ae74845fa96a 563 *fullScale = 16.0f;
cparata 2:ae74845fa96a 564 break;
cparata 2:ae74845fa96a 565 default:
cparata 2:ae74845fa96a 566 *fullScale = -1.0f;
cparata 2:ae74845fa96a 567 return 1;
cparata 2:ae74845fa96a 568 }
cparata 2:ae74845fa96a 569
cparata 2:ae74845fa96a 570 return 0;
cparata 2:ae74845fa96a 571 }
cparata 2:ae74845fa96a 572
cparata 2:ae74845fa96a 573 /**
cparata 2:ae74845fa96a 574 * @brief Set full scale
cparata 2:ae74845fa96a 575 * @param fullScale the full scale to be set
cparata 2:ae74845fa96a 576 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 577 */
cparata 2:ae74845fa96a 578 int LSM303AGR_ACC_Sensor::Set_X_FS(float fullScale)
cparata 2:ae74845fa96a 579 {
cparata 2:ae74845fa96a 580 LSM303AGR_ACC_FS_t new_fs;
cparata 2:ae74845fa96a 581
cparata 2:ae74845fa96a 582 new_fs = ( fullScale <= 2.0f ) ? LSM303AGR_ACC_FS_2G
cparata 2:ae74845fa96a 583 : ( fullScale <= 4.0f ) ? LSM303AGR_ACC_FS_4G
cparata 2:ae74845fa96a 584 : ( fullScale <= 8.0f ) ? LSM303AGR_ACC_FS_8G
cparata 2:ae74845fa96a 585 : LSM303AGR_ACC_FS_16G;
cparata 2:ae74845fa96a 586
cparata 2:ae74845fa96a 587 if ( LSM303AGR_ACC_W_FullScale( (void *)this, new_fs ) == MEMS_ERROR )
cparata 2:ae74845fa96a 588 {
cparata 2:ae74845fa96a 589 return 1;
cparata 2:ae74845fa96a 590 }
cparata 2:ae74845fa96a 591
cparata 2:ae74845fa96a 592 return 0;
cparata 2:ae74845fa96a 593 }
cparata 2:ae74845fa96a 594
cparata 2:ae74845fa96a 595 /**
cparata 2:ae74845fa96a 596 * @brief Read accelerometer data from register
cparata 2:ae74845fa96a 597 * @param reg register address
cparata 2:ae74845fa96a 598 * @param data register data
cparata 2:ae74845fa96a 599 * @retval 0 in case of success
cparata 2:ae74845fa96a 600 * @retval 1 in case of failure
cparata 2:ae74845fa96a 601 */
cparata 2:ae74845fa96a 602 int LSM303AGR_ACC_Sensor::ReadReg( uint8_t reg, uint8_t *data )
cparata 2:ae74845fa96a 603 {
cparata 2:ae74845fa96a 604
cparata 2:ae74845fa96a 605 if ( LSM303AGR_ACC_ReadReg( (void *)this, reg, data ) == MEMS_ERROR )
cparata 2:ae74845fa96a 606 {
cparata 2:ae74845fa96a 607 return 1;
cparata 2:ae74845fa96a 608 }
cparata 2:ae74845fa96a 609
cparata 2:ae74845fa96a 610 return 0;
cparata 2:ae74845fa96a 611 }
cparata 2:ae74845fa96a 612
cparata 2:ae74845fa96a 613 /**
cparata 2:ae74845fa96a 614 * @brief Write accelerometer data to register
cparata 2:ae74845fa96a 615 * @param reg register address
cparata 2:ae74845fa96a 616 * @param data register data
cparata 2:ae74845fa96a 617 * @retval 0 in case of success
cparata 2:ae74845fa96a 618 * @retval 1 in case of failure
cparata 2:ae74845fa96a 619 */
cparata 2:ae74845fa96a 620 int LSM303AGR_ACC_Sensor::WriteReg( uint8_t reg, uint8_t data )
cparata 2:ae74845fa96a 621 {
cparata 2:ae74845fa96a 622
cparata 2:ae74845fa96a 623 if ( LSM303AGR_ACC_WriteReg( (void *)this, reg, data ) == MEMS_ERROR )
cparata 2:ae74845fa96a 624 {
cparata 2:ae74845fa96a 625 return 1;
cparata 2:ae74845fa96a 626 }
cparata 2:ae74845fa96a 627
cparata 2:ae74845fa96a 628 return 0;
cparata 2:ae74845fa96a 629 }
cparata 2:ae74845fa96a 630
cparata 2:ae74845fa96a 631 uint8_t LSM303AGR_ACC_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
cparata 2:ae74845fa96a 632 {
cparata 2:ae74845fa96a 633 return ((LSM303AGR_ACC_Sensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata 2:ae74845fa96a 634 }
cparata 2:ae74845fa96a 635
cparata 2:ae74845fa96a 636 uint8_t LSM303AGR_ACC_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
cparata 2:ae74845fa96a 637 {
cparata 2:ae74845fa96a 638 return ((LSM303AGR_ACC_Sensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata 2:ae74845fa96a 639 }