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@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_MAG_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 magnetometer 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 "mbed.h"
cparata 2:ae74845fa96a 42 #include "DevI2C.h"
cparata 2:ae74845fa96a 43 #include "LSM303AGR_MAG_Sensor.h"
cparata 2:ae74845fa96a 44 #include "LSM303AGR_MAG_driver.h"
cparata 2:ae74845fa96a 45
cparata 2:ae74845fa96a 46
cparata 2:ae74845fa96a 47 /* Class Implementation ------------------------------------------------------*/
cparata 2:ae74845fa96a 48
cparata 2:ae74845fa96a 49 /** Constructor
cparata 2:ae74845fa96a 50 * @param i2c object of an helper class which handles the I2C peripheral
cparata 2:ae74845fa96a 51 * @param address the address of the component's instance
cparata 2:ae74845fa96a 52 */
cparata 2:ae74845fa96a 53 LSM303AGR_MAG_Sensor::LSM303AGR_MAG_Sensor(DevI2C &i2c) : dev_i2c(i2c)
cparata 2:ae74845fa96a 54 {
cparata 2:ae74845fa96a 55 address = LSM303AGR_MAG_I2C_ADDRESS;
cparata 2:ae74845fa96a 56 };
cparata 2:ae74845fa96a 57
cparata 2:ae74845fa96a 58 /** Constructor
cparata 2:ae74845fa96a 59 * @param i2c object of an helper class which handles the I2C peripheral
cparata 2:ae74845fa96a 60 * @param address the address of the component's instance
cparata 2:ae74845fa96a 61 */
cparata 2:ae74845fa96a 62 LSM303AGR_MAG_Sensor::LSM303AGR_MAG_Sensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
cparata 2:ae74845fa96a 63 {
cparata 2:ae74845fa96a 64
cparata 2:ae74845fa96a 65 };
cparata 2:ae74845fa96a 66
cparata 2:ae74845fa96a 67 /**
cparata 2:ae74845fa96a 68 * @brief Initializing the component.
cparata 2:ae74845fa96a 69 * @param[in] init pointer to device specific initalization structure.
cparata 2:ae74845fa96a 70 * @retval "0" in case of success, an error code otherwise.
cparata 2:ae74845fa96a 71 */
cparata 2:ae74845fa96a 72 int LSM303AGR_MAG_Sensor::Init(void *init)
cparata 2:ae74845fa96a 73 {
cparata 2:ae74845fa96a 74 /* Operating mode selection - power down */
cparata 2:ae74845fa96a 75 if ( LSM303AGR_MAG_W_MD( (void *)this, LSM303AGR_MAG_MD_IDLE1_MODE ) == MEMS_ERROR )
cparata 2:ae74845fa96a 76 {
cparata 2:ae74845fa96a 77 return 1;
cparata 2:ae74845fa96a 78 }
cparata 2:ae74845fa96a 79
cparata 2:ae74845fa96a 80 /* Enable BDU */
cparata 2:ae74845fa96a 81 if ( LSM303AGR_MAG_W_BDU( (void *)this, LSM303AGR_MAG_BDU_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 82 {
cparata 2:ae74845fa96a 83 return 1;
cparata 2:ae74845fa96a 84 }
cparata 2:ae74845fa96a 85
cparata 2:ae74845fa96a 86 if ( Set_M_ODR( 100.0f ) == 1 )
cparata 2:ae74845fa96a 87 {
cparata 2:ae74845fa96a 88 return 1;
cparata 2:ae74845fa96a 89 }
cparata 2:ae74845fa96a 90
cparata 2:ae74845fa96a 91 if ( Set_M_FS( 50.0f ) == 1 )
cparata 2:ae74845fa96a 92 {
cparata 2:ae74845fa96a 93 return 1;
cparata 2:ae74845fa96a 94 }
cparata 2:ae74845fa96a 95
cparata 2:ae74845fa96a 96 if ( LSM303AGR_MAG_W_ST( (void *)this, LSM303AGR_MAG_ST_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 97 {
cparata 2:ae74845fa96a 98 return 1;
cparata 2:ae74845fa96a 99 }
cparata 2:ae74845fa96a 100
cparata 2:ae74845fa96a 101 return 0;
cparata 2:ae74845fa96a 102 }
cparata 2:ae74845fa96a 103
cparata 2:ae74845fa96a 104 /**
cparata 2:ae74845fa96a 105 * @brief Enable LSM303AGR magnetometer
cparata 2:ae74845fa96a 106 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 107 */
cparata 2:ae74845fa96a 108 int LSM303AGR_MAG_Sensor::Enable(void)
cparata 2:ae74845fa96a 109 {
cparata 2:ae74845fa96a 110 /* Operating mode selection */
cparata 2:ae74845fa96a 111 if ( LSM303AGR_MAG_W_MD( (void *)this, LSM303AGR_MAG_MD_CONTINUOS_MODE ) == MEMS_ERROR )
cparata 2:ae74845fa96a 112 {
cparata 2:ae74845fa96a 113 return 1;
cparata 2:ae74845fa96a 114 }
cparata 2:ae74845fa96a 115
cparata 2:ae74845fa96a 116 return 0;
cparata 2:ae74845fa96a 117 }
cparata 2:ae74845fa96a 118
cparata 2:ae74845fa96a 119 /**
cparata 2:ae74845fa96a 120 * @brief Disable LSM303AGR magnetometer
cparata 2:ae74845fa96a 121 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 122 */
cparata 2:ae74845fa96a 123 int LSM303AGR_MAG_Sensor::Disable(void)
cparata 2:ae74845fa96a 124 {
cparata 2:ae74845fa96a 125 /* Operating mode selection - power down */
cparata 2:ae74845fa96a 126 if ( LSM303AGR_MAG_W_MD( (void *)this, LSM303AGR_MAG_MD_IDLE1_MODE ) == MEMS_ERROR )
cparata 2:ae74845fa96a 127 {
cparata 2:ae74845fa96a 128 return 1;
cparata 2:ae74845fa96a 129 }
cparata 2:ae74845fa96a 130
cparata 2:ae74845fa96a 131 return 0;
cparata 2:ae74845fa96a 132 }
cparata 2:ae74845fa96a 133
cparata 2:ae74845fa96a 134 /**
cparata 2:ae74845fa96a 135 * @brief Read ID of LSM303AGR Magnetometer
cparata 2:ae74845fa96a 136 * @param p_id the pointer where the ID of the device is stored
cparata 2:ae74845fa96a 137 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 138 */
cparata 2:ae74845fa96a 139 int LSM303AGR_MAG_Sensor::ReadID(uint8_t *id)
cparata 2:ae74845fa96a 140 {
cparata 2:ae74845fa96a 141 if(!id)
cparata 2:ae74845fa96a 142 {
cparata 2:ae74845fa96a 143 return 1;
cparata 2:ae74845fa96a 144 }
cparata 2:ae74845fa96a 145
cparata 2:ae74845fa96a 146 /* Read WHO AM I register */
cparata 2:ae74845fa96a 147 if ( LSM303AGR_MAG_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
cparata 2:ae74845fa96a 148 {
cparata 2:ae74845fa96a 149 return 1;
cparata 2:ae74845fa96a 150 }
cparata 2:ae74845fa96a 151
cparata 2:ae74845fa96a 152 return 0;
cparata 2:ae74845fa96a 153 }
cparata 2:ae74845fa96a 154
cparata 2:ae74845fa96a 155 /**
cparata 2:ae74845fa96a 156 * @brief Read data from LSM303AGR Magnetometer
cparata 2:ae74845fa96a 157 * @param pData the pointer where the magnetometer data are stored
cparata 2:ae74845fa96a 158 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 159 */
cparata 2:ae74845fa96a 160 int LSM303AGR_MAG_Sensor::Get_M_Axes(int32_t *pData)
cparata 2:ae74845fa96a 161 {
cparata 2:ae74845fa96a 162 int16_t pDataRaw[3];
cparata 2:ae74845fa96a 163 float sensitivity = 0;
cparata 2:ae74845fa96a 164
cparata 2:ae74845fa96a 165 /* Read raw data from LSM303AGR output register. */
cparata 2:ae74845fa96a 166 if ( Get_M_AxesRaw( pDataRaw ) == 1 )
cparata 2:ae74845fa96a 167 {
cparata 2:ae74845fa96a 168 return 1;
cparata 2:ae74845fa96a 169 }
cparata 2:ae74845fa96a 170
cparata 2:ae74845fa96a 171 /* Get LSM303AGR actual sensitivity. */
cparata 2:ae74845fa96a 172 if ( Get_M_Sensitivity( &sensitivity ) == 1 )
cparata 2:ae74845fa96a 173 {
cparata 2:ae74845fa96a 174 return 1;
cparata 2:ae74845fa96a 175 }
cparata 2:ae74845fa96a 176
cparata 2:ae74845fa96a 177 /* Calculate the data. */
cparata 2:ae74845fa96a 178 pData[0] = ( int32_t )( pDataRaw[0] * sensitivity );
cparata 2:ae74845fa96a 179 pData[1] = ( int32_t )( pDataRaw[1] * sensitivity );
cparata 2:ae74845fa96a 180 pData[2] = ( int32_t )( pDataRaw[2] * sensitivity );
cparata 2:ae74845fa96a 181
cparata 2:ae74845fa96a 182 return 0;
cparata 2:ae74845fa96a 183 }
cparata 2:ae74845fa96a 184
cparata 2:ae74845fa96a 185 /**
cparata 2:ae74845fa96a 186 * @brief Read Magnetometer Sensitivity
cparata 2:ae74845fa96a 187 * @param pfData the pointer where the magnetometer sensitivity is stored
cparata 2:ae74845fa96a 188 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 189 */
cparata 2:ae74845fa96a 190 int LSM303AGR_MAG_Sensor::Get_M_Sensitivity(float *pfData)
cparata 2:ae74845fa96a 191 {
cparata 2:ae74845fa96a 192 *pfData = 1.5f;
cparata 2:ae74845fa96a 193
cparata 2:ae74845fa96a 194 return 0;
cparata 2:ae74845fa96a 195 }
cparata 2:ae74845fa96a 196
cparata 2:ae74845fa96a 197 /**
cparata 2:ae74845fa96a 198 * @brief Read raw data from LSM303AGR Magnetometer
cparata 2:ae74845fa96a 199 * @param pData the pointer where the magnetomer raw data are stored
cparata 2:ae74845fa96a 200 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 201 */
cparata 2:ae74845fa96a 202 int LSM303AGR_MAG_Sensor::Get_M_AxesRaw(int16_t *pData)
cparata 2:ae74845fa96a 203 {
cparata 2:ae74845fa96a 204 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 2:ae74845fa96a 205 int16_t *regValueInt16;
cparata 2:ae74845fa96a 206
cparata 2:ae74845fa96a 207 /* Read output registers from LSM303AGR_MAG_OUTX_L to LSM303AGR_MAG_OUTZ_H. */
cparata 2:ae74845fa96a 208 if ( LSM303AGR_MAG_Get_Raw_Magnetic( (void *)this, regValue ) == MEMS_ERROR )
cparata 2:ae74845fa96a 209 {
cparata 2:ae74845fa96a 210 return 1;
cparata 2:ae74845fa96a 211 }
cparata 2:ae74845fa96a 212
cparata 2:ae74845fa96a 213 regValueInt16 = (int16_t *)regValue;
cparata 2:ae74845fa96a 214
cparata 2:ae74845fa96a 215 /* Format the data. */
cparata 2:ae74845fa96a 216 pData[0] = regValueInt16[0];
cparata 2:ae74845fa96a 217 pData[1] = regValueInt16[1];
cparata 2:ae74845fa96a 218 pData[2] = regValueInt16[2];
cparata 2:ae74845fa96a 219
cparata 2:ae74845fa96a 220 return 0;
cparata 2:ae74845fa96a 221 }
cparata 2:ae74845fa96a 222
cparata 2:ae74845fa96a 223 /**
cparata 2:ae74845fa96a 224 * @brief Read LSM303AGR Magnetometer output data rate
cparata 2:ae74845fa96a 225 * @param odr the pointer to the output data rate
cparata 2:ae74845fa96a 226 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 227 */
cparata 2:ae74845fa96a 228 int LSM303AGR_MAG_Sensor::Get_M_ODR(float* odr)
cparata 2:ae74845fa96a 229 {
cparata 2:ae74845fa96a 230 LSM303AGR_MAG_ODR_t odr_low_level;
cparata 2:ae74845fa96a 231
cparata 2:ae74845fa96a 232 if ( LSM303AGR_MAG_R_ODR( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 2:ae74845fa96a 233 {
cparata 2:ae74845fa96a 234 return 1;
cparata 2:ae74845fa96a 235 }
cparata 2:ae74845fa96a 236
cparata 2:ae74845fa96a 237 switch( odr_low_level )
cparata 2:ae74845fa96a 238 {
cparata 2:ae74845fa96a 239 case LSM303AGR_MAG_ODR_10Hz:
cparata 2:ae74845fa96a 240 *odr = 10.000f;
cparata 2:ae74845fa96a 241 break;
cparata 2:ae74845fa96a 242 case LSM303AGR_MAG_ODR_20Hz:
cparata 2:ae74845fa96a 243 *odr = 20.000f;
cparata 2:ae74845fa96a 244 break;
cparata 2:ae74845fa96a 245 case LSM303AGR_MAG_ODR_50Hz:
cparata 2:ae74845fa96a 246 *odr = 50.000f;
cparata 2:ae74845fa96a 247 break;
cparata 2:ae74845fa96a 248 case LSM303AGR_MAG_ODR_100Hz:
cparata 2:ae74845fa96a 249 *odr = 100.000f;
cparata 2:ae74845fa96a 250 break;
cparata 2:ae74845fa96a 251 default:
cparata 2:ae74845fa96a 252 *odr = -1.000f;
cparata 2:ae74845fa96a 253 return 1;
cparata 2:ae74845fa96a 254 }
cparata 2:ae74845fa96a 255 return 0;
cparata 2:ae74845fa96a 256 }
cparata 2:ae74845fa96a 257
cparata 2:ae74845fa96a 258 /**
cparata 2:ae74845fa96a 259 * @brief Set ODR
cparata 2:ae74845fa96a 260 * @param odr the output data rate to be set
cparata 2:ae74845fa96a 261 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 262 */
cparata 2:ae74845fa96a 263 int LSM303AGR_MAG_Sensor::Set_M_ODR(float odr)
cparata 2:ae74845fa96a 264 {
cparata 2:ae74845fa96a 265 LSM303AGR_MAG_ODR_t new_odr;
cparata 2:ae74845fa96a 266
cparata 2:ae74845fa96a 267 new_odr = ( odr <= 10.000f ) ? LSM303AGR_MAG_ODR_10Hz
cparata 2:ae74845fa96a 268 : ( odr <= 20.000f ) ? LSM303AGR_MAG_ODR_20Hz
cparata 2:ae74845fa96a 269 : ( odr <= 50.000f ) ? LSM303AGR_MAG_ODR_50Hz
cparata 2:ae74845fa96a 270 : LSM303AGR_MAG_ODR_100Hz;
cparata 2:ae74845fa96a 271
cparata 2:ae74845fa96a 272 if ( LSM303AGR_MAG_W_ODR( (void *)this, new_odr ) == MEMS_ERROR )
cparata 2:ae74845fa96a 273 {
cparata 2:ae74845fa96a 274 return 1;
cparata 2:ae74845fa96a 275 }
cparata 2:ae74845fa96a 276
cparata 2:ae74845fa96a 277 return 0;
cparata 2:ae74845fa96a 278 }
cparata 2:ae74845fa96a 279
cparata 2:ae74845fa96a 280
cparata 2:ae74845fa96a 281 /**
cparata 2:ae74845fa96a 282 * @brief Read LSM303AGR Magnetometer full scale
cparata 2:ae74845fa96a 283 * @param fullScale the pointer to the output data rate
cparata 2:ae74845fa96a 284 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 285 */
cparata 2:ae74845fa96a 286 int LSM303AGR_MAG_Sensor::Get_M_FS(float* fullScale)
cparata 2:ae74845fa96a 287 {
cparata 2:ae74845fa96a 288 *fullScale = 50.0f;
cparata 2:ae74845fa96a 289
cparata 2:ae74845fa96a 290 return 0;
cparata 2:ae74845fa96a 291 }
cparata 2:ae74845fa96a 292
cparata 2:ae74845fa96a 293 /**
cparata 2:ae74845fa96a 294 * @brief Set full scale
cparata 2:ae74845fa96a 295 * @param fullScale the full scale to be set
cparata 2:ae74845fa96a 296 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 297 */
cparata 2:ae74845fa96a 298 int LSM303AGR_MAG_Sensor::Set_M_FS(float fullScale)
cparata 2:ae74845fa96a 299 {
cparata 2:ae74845fa96a 300 return 0;
cparata 2:ae74845fa96a 301 }
cparata 2:ae74845fa96a 302
cparata 2:ae74845fa96a 303
cparata 2:ae74845fa96a 304 /**
cparata 2:ae74845fa96a 305 * @brief Read magnetometer data from register
cparata 2:ae74845fa96a 306 * @param reg register address
cparata 2:ae74845fa96a 307 * @param data register data
cparata 2:ae74845fa96a 308 * @retval 0 in case of success
cparata 2:ae74845fa96a 309 * @retval 1 in case of failure
cparata 2:ae74845fa96a 310 */
cparata 2:ae74845fa96a 311 int LSM303AGR_MAG_Sensor::ReadReg( uint8_t reg, uint8_t *data )
cparata 2:ae74845fa96a 312 {
cparata 2:ae74845fa96a 313 if ( LSM303AGR_MAG_ReadReg( (void *)this, reg, data ) == MEMS_ERROR )
cparata 2:ae74845fa96a 314 {
cparata 2:ae74845fa96a 315 return 1;
cparata 2:ae74845fa96a 316 }
cparata 2:ae74845fa96a 317
cparata 2:ae74845fa96a 318 return 0;
cparata 2:ae74845fa96a 319 }
cparata 2:ae74845fa96a 320
cparata 2:ae74845fa96a 321
cparata 2:ae74845fa96a 322 /**
cparata 2:ae74845fa96a 323 * @brief Write magnetometer data to register
cparata 2:ae74845fa96a 324 * @param reg register address
cparata 2:ae74845fa96a 325 * @param data register data
cparata 2:ae74845fa96a 326 * @retval 0 in case of success
cparata 2:ae74845fa96a 327 * @retval 1 in case of failure
cparata 2:ae74845fa96a 328 */
cparata 2:ae74845fa96a 329 int LSM303AGR_MAG_Sensor::WriteReg( uint8_t reg, uint8_t data )
cparata 2:ae74845fa96a 330 {
cparata 2:ae74845fa96a 331 if ( LSM303AGR_MAG_WriteReg( (void *)this, reg, data ) == MEMS_ERROR )
cparata 2:ae74845fa96a 332 {
cparata 2:ae74845fa96a 333 return 1;
cparata 2:ae74845fa96a 334 }
cparata 2:ae74845fa96a 335
cparata 2:ae74845fa96a 336 return 0;
cparata 2:ae74845fa96a 337 }
cparata 2:ae74845fa96a 338
cparata 2:ae74845fa96a 339 uint8_t LSM303AGR_MAG_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
cparata 2:ae74845fa96a 340 {
cparata 2:ae74845fa96a 341 return ((LSM303AGR_MAG_Sensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata 2:ae74845fa96a 342 }
cparata 2:ae74845fa96a 343
cparata 2:ae74845fa96a 344 uint8_t LSM303AGR_MAG_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
cparata 2:ae74845fa96a 345 {
cparata 2:ae74845fa96a 346 return ((LSM303AGR_MAG_Sensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata 2:ae74845fa96a 347 }