ST / Mbed 2 deprecated FreeFall_IKS01A2

Example of free fall detection for LSM6DSL in X-NUCLEO-IKS01A2

Dependencies:   X_NUCLEO_IKS01A2 mbed

Fork of FreeFall_IKS01A2 by ST Expansion SW Team

Free Fall Detection Demo Application based on sensor expansion board X-NUCLEO-IKS01A2

Main function is to show how to detect the free fall event using the sensor expansion board and send a notification using UART to a connected PC or Desktop and display it on terminal applications like TeraTerm.
After connection has been established:
- the user can try to leave falling the board and then view the notification using an hyper terminal. When the free fall is detected, the LED is switched on for a while.
- the user button can be used to enable/disable the free fall detection feature.

X_NUCLEO_IKS01A2/Components/LSM303AGRSensor/LSM303AGR_ACC_Sensor.cpp@0:6a670fda63c2, 2016-08-12 (annotated)

Committer:
cparata
Date:
Fri Aug 12 13:39:06 2016 +0000
Revision:
0:6a670fda63c2
First release of Free Fall for LSM6DSL in IKS01A2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 0:6a670fda63c2 1 /**
cparata 0:6a670fda63c2 2 ******************************************************************************
cparata 0:6a670fda63c2 3 * @file LSM303AGR_ACC_Sensor.cpp
cparata 0:6a670fda63c2 4 * @author AST
cparata 0:6a670fda63c2 5 * @version V1.0.0
cparata 0:6a670fda63c2 6 * @date 5 August 2016
cparata 0:6a670fda63c2 7 * @brief Implementation an LSM303AGR accelerometer sensor.
cparata 0:6a670fda63c2 8 ******************************************************************************
cparata 0:6a670fda63c2 9 * @attention
cparata 0:6a670fda63c2 10 *
cparata 0:6a670fda63c2 11 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 0:6a670fda63c2 12 *
cparata 0:6a670fda63c2 13 * Redistribution and use in source and binary forms, with or without modification,
cparata 0:6a670fda63c2 14 * are permitted provided that the following conditions are met:
cparata 0:6a670fda63c2 15 * 1. Redistributions of source code must retain the above copyright notice,
cparata 0:6a670fda63c2 16 * this list of conditions and the following disclaimer.
cparata 0:6a670fda63c2 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 0:6a670fda63c2 18 * this list of conditions and the following disclaimer in the documentation
cparata 0:6a670fda63c2 19 * and/or other materials provided with the distribution.
cparata 0:6a670fda63c2 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 0:6a670fda63c2 21 * may be used to endorse or promote products derived from this software
cparata 0:6a670fda63c2 22 * without specific prior written permission.
cparata 0:6a670fda63c2 23 *
cparata 0:6a670fda63c2 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 0:6a670fda63c2 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 0:6a670fda63c2 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 0:6a670fda63c2 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 0:6a670fda63c2 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 0:6a670fda63c2 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 0:6a670fda63c2 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 0:6a670fda63c2 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 0:6a670fda63c2 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 0:6a670fda63c2 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 0:6a670fda63c2 34 *
cparata 0:6a670fda63c2 35 ******************************************************************************
cparata 0:6a670fda63c2 36 */
cparata 0:6a670fda63c2 37
cparata 0:6a670fda63c2 38
cparata 0:6a670fda63c2 39 /* Includes ------------------------------------------------------------------*/
cparata 0:6a670fda63c2 40
cparata 0:6a670fda63c2 41 #include "DevI2C.h"
cparata 0:6a670fda63c2 42 #include "LSM303AGR_ACC_Sensor.h"
cparata 0:6a670fda63c2 43 #include "LSM303AGR_ACC_driver.h"
cparata 0:6a670fda63c2 44
cparata 0:6a670fda63c2 45
cparata 0:6a670fda63c2 46 /* Class Implementation ------------------------------------------------------*/
cparata 0:6a670fda63c2 47
cparata 0:6a670fda63c2 48 /** Constructor
cparata 0:6a670fda63c2 49 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:6a670fda63c2 50 * @param address the address of the component's instance
cparata 0:6a670fda63c2 51 */
cparata 0:6a670fda63c2 52 LSM303AGR_ACC_Sensor::LSM303AGR_ACC_Sensor(DevI2C &i2c) : dev_i2c(i2c)
cparata 0:6a670fda63c2 53 {
cparata 0:6a670fda63c2 54 address = LSM303AGR_ACC_I2C_ADDRESS;
cparata 0:6a670fda63c2 55
cparata 0:6a670fda63c2 56 /* Enable BDU */
cparata 0:6a670fda63c2 57 if ( LSM303AGR_ACC_W_BlockDataUpdate( (void *)this, LSM303AGR_ACC_BDU_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 58 {
cparata 0:6a670fda63c2 59 return;
cparata 0:6a670fda63c2 60 }
cparata 0:6a670fda63c2 61
cparata 0:6a670fda63c2 62 /* FIFO mode selection */
cparata 0:6a670fda63c2 63 if ( LSM303AGR_ACC_W_FifoMode( (void *)this, LSM303AGR_ACC_FM_BYPASS ) == MEMS_ERROR )
cparata 0:6a670fda63c2 64 {
cparata 0:6a670fda63c2 65 return;
cparata 0:6a670fda63c2 66 }
cparata 0:6a670fda63c2 67
cparata 0:6a670fda63c2 68 /* Output data rate selection - power down. */
cparata 0:6a670fda63c2 69 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
cparata 0:6a670fda63c2 70 {
cparata 0:6a670fda63c2 71 return;
cparata 0:6a670fda63c2 72 }
cparata 0:6a670fda63c2 73
cparata 0:6a670fda63c2 74 /* Full scale selection. */
cparata 0:6a670fda63c2 75 if ( SetFS( 2.0f ) == LSM303AGR_ACC_STATUS_ERROR )
cparata 0:6a670fda63c2 76 {
cparata 0:6a670fda63c2 77 return;
cparata 0:6a670fda63c2 78 }
cparata 0:6a670fda63c2 79
cparata 0:6a670fda63c2 80 /* Enable axes. */
cparata 0:6a670fda63c2 81 if ( LSM303AGR_ACC_W_XEN( (void *)this, LSM303AGR_ACC_XEN_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 82 {
cparata 0:6a670fda63c2 83 return;
cparata 0:6a670fda63c2 84 }
cparata 0:6a670fda63c2 85
cparata 0:6a670fda63c2 86 if ( LSM303AGR_ACC_W_YEN ( (void *)this, LSM303AGR_ACC_YEN_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 87 {
cparata 0:6a670fda63c2 88 return;
cparata 0:6a670fda63c2 89 }
cparata 0:6a670fda63c2 90
cparata 0:6a670fda63c2 91 if ( LSM303AGR_ACC_W_ZEN ( (void *)this, LSM303AGR_ACC_ZEN_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 92 {
cparata 0:6a670fda63c2 93 return;
cparata 0:6a670fda63c2 94 }
cparata 0:6a670fda63c2 95
cparata 0:6a670fda63c2 96 /* Select default output data rate. */
cparata 0:6a670fda63c2 97 Last_ODR = 100.0f;
cparata 0:6a670fda63c2 98
cparata 0:6a670fda63c2 99 isEnabled = 0;
cparata 0:6a670fda63c2 100 };
cparata 0:6a670fda63c2 101
cparata 0:6a670fda63c2 102 /** Constructor
cparata 0:6a670fda63c2 103 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:6a670fda63c2 104 * @param address the address of the component's instance
cparata 0:6a670fda63c2 105 */
cparata 0:6a670fda63c2 106 LSM303AGR_ACC_Sensor::LSM303AGR_ACC_Sensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
cparata 0:6a670fda63c2 107 {
cparata 0:6a670fda63c2 108 /* Enable BDU */
cparata 0:6a670fda63c2 109 if ( LSM303AGR_ACC_W_BlockDataUpdate( (void *)this, LSM303AGR_ACC_BDU_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 110 {
cparata 0:6a670fda63c2 111 return;
cparata 0:6a670fda63c2 112 }
cparata 0:6a670fda63c2 113
cparata 0:6a670fda63c2 114 /* FIFO mode selection */
cparata 0:6a670fda63c2 115 if ( LSM303AGR_ACC_W_FifoMode( (void *)this, LSM303AGR_ACC_FM_BYPASS ) == MEMS_ERROR )
cparata 0:6a670fda63c2 116 {
cparata 0:6a670fda63c2 117 return;
cparata 0:6a670fda63c2 118 }
cparata 0:6a670fda63c2 119
cparata 0:6a670fda63c2 120 /* Output data rate selection - power down. */
cparata 0:6a670fda63c2 121 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
cparata 0:6a670fda63c2 122 {
cparata 0:6a670fda63c2 123 return;
cparata 0:6a670fda63c2 124 }
cparata 0:6a670fda63c2 125
cparata 0:6a670fda63c2 126 /* Full scale selection. */
cparata 0:6a670fda63c2 127 if ( SetFS( 2.0f ) == LSM303AGR_ACC_STATUS_ERROR )
cparata 0:6a670fda63c2 128 {
cparata 0:6a670fda63c2 129 return;
cparata 0:6a670fda63c2 130 }
cparata 0:6a670fda63c2 131
cparata 0:6a670fda63c2 132 /* Enable axes. */
cparata 0:6a670fda63c2 133 if ( LSM303AGR_ACC_W_XEN( (void *)this, LSM303AGR_ACC_XEN_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 134 {
cparata 0:6a670fda63c2 135 return;
cparata 0:6a670fda63c2 136 }
cparata 0:6a670fda63c2 137
cparata 0:6a670fda63c2 138 if ( LSM303AGR_ACC_W_YEN ( (void *)this, LSM303AGR_ACC_YEN_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 139 {
cparata 0:6a670fda63c2 140 return;
cparata 0:6a670fda63c2 141 }
cparata 0:6a670fda63c2 142
cparata 0:6a670fda63c2 143 if ( LSM303AGR_ACC_W_ZEN ( (void *)this, LSM303AGR_ACC_ZEN_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 144 {
cparata 0:6a670fda63c2 145 return;
cparata 0:6a670fda63c2 146 }
cparata 0:6a670fda63c2 147
cparata 0:6a670fda63c2 148 /* Select default output data rate. */
cparata 0:6a670fda63c2 149 Last_ODR = 100.0f;
cparata 0:6a670fda63c2 150
cparata 0:6a670fda63c2 151 isEnabled = 0;
cparata 0:6a670fda63c2 152 };
cparata 0:6a670fda63c2 153
cparata 0:6a670fda63c2 154 /**
cparata 0:6a670fda63c2 155 * @brief Enable LSM303AGR Accelerator
cparata 0:6a670fda63c2 156 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 157 */
cparata 0:6a670fda63c2 158 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::Enable(void)
cparata 0:6a670fda63c2 159 {
cparata 0:6a670fda63c2 160 /* Check if the component is already enabled */
cparata 0:6a670fda63c2 161 if ( isEnabled == 1 )
cparata 0:6a670fda63c2 162 {
cparata 0:6a670fda63c2 163 return LSM303AGR_ACC_STATUS_OK;
cparata 0:6a670fda63c2 164 }
cparata 0:6a670fda63c2 165
cparata 0:6a670fda63c2 166 /* Output data rate selection. */
cparata 0:6a670fda63c2 167 if ( SetODR_When_Enabled( Last_ODR ) == LSM303AGR_ACC_STATUS_ERROR )
cparata 0:6a670fda63c2 168 {
cparata 0:6a670fda63c2 169 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 170 }
cparata 0:6a670fda63c2 171
cparata 0:6a670fda63c2 172 isEnabled = 1;
cparata 0:6a670fda63c2 173
cparata 0:6a670fda63c2 174 return LSM303AGR_ACC_STATUS_OK;
cparata 0:6a670fda63c2 175 }
cparata 0:6a670fda63c2 176
cparata 0:6a670fda63c2 177 /**
cparata 0:6a670fda63c2 178 * @brief Disable LSM303AGR Accelerator
cparata 0:6a670fda63c2 179 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 180 */
cparata 0:6a670fda63c2 181 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::Disable(void)
cparata 0:6a670fda63c2 182 {
cparata 0:6a670fda63c2 183 /* Check if the component is already disabled */
cparata 0:6a670fda63c2 184 if ( isEnabled == 0 )
cparata 0:6a670fda63c2 185 {
cparata 0:6a670fda63c2 186 return LSM303AGR_ACC_STATUS_OK;
cparata 0:6a670fda63c2 187 }
cparata 0:6a670fda63c2 188
cparata 0:6a670fda63c2 189 /* Store actual output data rate. */
cparata 0:6a670fda63c2 190 if ( GetODR( &Last_ODR ) == LSM303AGR_ACC_STATUS_ERROR )
cparata 0:6a670fda63c2 191 {
cparata 0:6a670fda63c2 192 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 193 }
cparata 0:6a670fda63c2 194
cparata 0:6a670fda63c2 195 /* Output data rate selection - power down. */
cparata 0:6a670fda63c2 196 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
cparata 0:6a670fda63c2 197 {
cparata 0:6a670fda63c2 198 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 199 }
cparata 0:6a670fda63c2 200
cparata 0:6a670fda63c2 201 isEnabled = 0;
cparata 0:6a670fda63c2 202
cparata 0:6a670fda63c2 203 return LSM303AGR_ACC_STATUS_OK;
cparata 0:6a670fda63c2 204 }
cparata 0:6a670fda63c2 205
cparata 0:6a670fda63c2 206 /**
cparata 0:6a670fda63c2 207 * @brief Read ID of LSM303AGR Accelerometer
cparata 0:6a670fda63c2 208 * @param p_id the pointer where the ID of the device is stored
cparata 0:6a670fda63c2 209 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 210 */
cparata 0:6a670fda63c2 211 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::ReadID(uint8_t *p_id)
cparata 0:6a670fda63c2 212 {
cparata 0:6a670fda63c2 213 if(!p_id)
cparata 0:6a670fda63c2 214 {
cparata 0:6a670fda63c2 215 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 216 }
cparata 0:6a670fda63c2 217
cparata 0:6a670fda63c2 218 /* Read WHO AM I register */
cparata 0:6a670fda63c2 219 if ( LSM303AGR_ACC_R_WHO_AM_I( (void *)this, p_id ) == MEMS_ERROR )
cparata 0:6a670fda63c2 220 {
cparata 0:6a670fda63c2 221 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 222 }
cparata 0:6a670fda63c2 223
cparata 0:6a670fda63c2 224 return LSM303AGR_ACC_STATUS_OK;
cparata 0:6a670fda63c2 225 }
cparata 0:6a670fda63c2 226
cparata 0:6a670fda63c2 227 /**
cparata 0:6a670fda63c2 228 * @brief Read data from LSM303AGR Accelerometer
cparata 0:6a670fda63c2 229 * @param pData the pointer where the accelerometer data are stored
cparata 0:6a670fda63c2 230 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 231 */
cparata 0:6a670fda63c2 232 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetAxes(int32_t *pData)
cparata 0:6a670fda63c2 233 {
cparata 0:6a670fda63c2 234 int data[3];
cparata 0:6a670fda63c2 235
cparata 0:6a670fda63c2 236 /* Read data from LSM303AGR. */
cparata 0:6a670fda63c2 237 if ( !LSM303AGR_ACC_Get_Acceleration((void *)this, data) )
cparata 0:6a670fda63c2 238 {
cparata 0:6a670fda63c2 239 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 240 }
cparata 0:6a670fda63c2 241
cparata 0:6a670fda63c2 242 /* Calculate the data. */
cparata 0:6a670fda63c2 243 pData[0] = (int32_t)data[0];
cparata 0:6a670fda63c2 244 pData[1] = (int32_t)data[1];
cparata 0:6a670fda63c2 245 pData[2] = (int32_t)data[2];
cparata 0:6a670fda63c2 246
cparata 0:6a670fda63c2 247 return LSM303AGR_ACC_STATUS_OK;
cparata 0:6a670fda63c2 248 }
cparata 0:6a670fda63c2 249
cparata 0:6a670fda63c2 250 /**
cparata 0:6a670fda63c2 251 * @brief Read Accelerometer Sensitivity
cparata 0:6a670fda63c2 252 * @param pfData the pointer where the accelerometer sensitivity is stored
cparata 0:6a670fda63c2 253 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 254 */
cparata 0:6a670fda63c2 255 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetSensitivity(float *pfData)
cparata 0:6a670fda63c2 256 {
cparata 0:6a670fda63c2 257 LSM303AGR_ACC_LPEN_t lp_value;
cparata 0:6a670fda63c2 258 LSM303AGR_ACC_HR_t hr_value;
cparata 0:6a670fda63c2 259
cparata 0:6a670fda63c2 260 /* Read low power flag */
cparata 0:6a670fda63c2 261 if( LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp_value ) == MEMS_ERROR )
cparata 0:6a670fda63c2 262 {
cparata 0:6a670fda63c2 263 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 264 }
cparata 0:6a670fda63c2 265
cparata 0:6a670fda63c2 266 /* Read high performance flag */
cparata 0:6a670fda63c2 267 if( LSM303AGR_ACC_R_HiRes( (void *)this, &hr_value ) == MEMS_ERROR )
cparata 0:6a670fda63c2 268 {
cparata 0:6a670fda63c2 269 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 270 }
cparata 0:6a670fda63c2 271
cparata 0:6a670fda63c2 272 if( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
cparata 0:6a670fda63c2 273 {
cparata 0:6a670fda63c2 274 /* Normal Mode */
cparata 0:6a670fda63c2 275 return GetSensitivity_Normal_Mode( pfData );
cparata 0:6a670fda63c2 276 } else if ( lp_value == LSM303AGR_ACC_LPEN_ENABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
cparata 0:6a670fda63c2 277 {
cparata 0:6a670fda63c2 278 /* Low Power Mode */
cparata 0:6a670fda63c2 279 return GetSensitivity_LP_Mode( pfData );
cparata 0:6a670fda63c2 280 } else if ( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_ENABLED )
cparata 0:6a670fda63c2 281 {
cparata 0:6a670fda63c2 282 /* High Resolution Mode */
cparata 0:6a670fda63c2 283 return GetSensitivity_HR_Mode( pfData );
cparata 0:6a670fda63c2 284 } else
cparata 0:6a670fda63c2 285 {
cparata 0:6a670fda63c2 286 /* Not allowed */
cparata 0:6a670fda63c2 287 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 288 }
cparata 0:6a670fda63c2 289 }
cparata 0:6a670fda63c2 290
cparata 0:6a670fda63c2 291 /**
cparata 0:6a670fda63c2 292 * @brief Read Accelerometer Sensitivity in Normal Mode
cparata 0:6a670fda63c2 293 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 0:6a670fda63c2 294 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 295 */
cparata 0:6a670fda63c2 296 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetSensitivity_Normal_Mode( float *sensitivity )
cparata 0:6a670fda63c2 297 {
cparata 0:6a670fda63c2 298 LSM303AGR_ACC_FS_t fullScale;
cparata 0:6a670fda63c2 299
cparata 0:6a670fda63c2 300 /* Read actual full scale selection from sensor. */
cparata 0:6a670fda63c2 301 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:6a670fda63c2 302 {
cparata 0:6a670fda63c2 303 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 304 }
cparata 0:6a670fda63c2 305
cparata 0:6a670fda63c2 306 /* Store the sensitivity based on actual full scale. */
cparata 0:6a670fda63c2 307 switch( fullScale )
cparata 0:6a670fda63c2 308 {
cparata 0:6a670fda63c2 309 case LSM303AGR_ACC_FS_2G:
cparata 0:6a670fda63c2 310 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_NORMAL_MODE;
cparata 0:6a670fda63c2 311 break;
cparata 0:6a670fda63c2 312 case LSM303AGR_ACC_FS_4G:
cparata 0:6a670fda63c2 313 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_NORMAL_MODE;
cparata 0:6a670fda63c2 314 break;
cparata 0:6a670fda63c2 315 case LSM303AGR_ACC_FS_8G:
cparata 0:6a670fda63c2 316 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_NORMAL_MODE;
cparata 0:6a670fda63c2 317 break;
cparata 0:6a670fda63c2 318 case LSM303AGR_ACC_FS_16G:
cparata 0:6a670fda63c2 319 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_NORMAL_MODE;
cparata 0:6a670fda63c2 320 break;
cparata 0:6a670fda63c2 321 default:
cparata 0:6a670fda63c2 322 *sensitivity = -1.0f;
cparata 0:6a670fda63c2 323 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 324 }
cparata 0:6a670fda63c2 325
cparata 0:6a670fda63c2 326 return LSM303AGR_ACC_STATUS_OK;
cparata 0:6a670fda63c2 327 }
cparata 0:6a670fda63c2 328
cparata 0:6a670fda63c2 329 /**
cparata 0:6a670fda63c2 330 * @brief Read Accelerometer Sensitivity in LP Mode
cparata 0:6a670fda63c2 331 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 0:6a670fda63c2 332 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 333 */
cparata 0:6a670fda63c2 334 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetSensitivity_LP_Mode( float *sensitivity )
cparata 0:6a670fda63c2 335 {
cparata 0:6a670fda63c2 336 LSM303AGR_ACC_FS_t fullScale;
cparata 0:6a670fda63c2 337
cparata 0:6a670fda63c2 338 /* Read actual full scale selection from sensor. */
cparata 0:6a670fda63c2 339 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:6a670fda63c2 340 {
cparata 0:6a670fda63c2 341 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 342 }
cparata 0:6a670fda63c2 343
cparata 0:6a670fda63c2 344 /* Store the sensitivity based on actual full scale. */
cparata 0:6a670fda63c2 345 switch( fullScale )
cparata 0:6a670fda63c2 346 {
cparata 0:6a670fda63c2 347 case LSM303AGR_ACC_FS_2G:
cparata 0:6a670fda63c2 348 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_LOW_POWER_MODE;
cparata 0:6a670fda63c2 349 break;
cparata 0:6a670fda63c2 350 case LSM303AGR_ACC_FS_4G:
cparata 0:6a670fda63c2 351 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_LOW_POWER_MODE;
cparata 0:6a670fda63c2 352 break;
cparata 0:6a670fda63c2 353 case LSM303AGR_ACC_FS_8G:
cparata 0:6a670fda63c2 354 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_LOW_POWER_MODE;
cparata 0:6a670fda63c2 355 break;
cparata 0:6a670fda63c2 356 case LSM303AGR_ACC_FS_16G:
cparata 0:6a670fda63c2 357 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_LOW_POWER_MODE;
cparata 0:6a670fda63c2 358 break;
cparata 0:6a670fda63c2 359 default:
cparata 0:6a670fda63c2 360 *sensitivity = -1.0f;
cparata 0:6a670fda63c2 361 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 362 }
cparata 0:6a670fda63c2 363
cparata 0:6a670fda63c2 364 return LSM303AGR_ACC_STATUS_OK;
cparata 0:6a670fda63c2 365 }
cparata 0:6a670fda63c2 366
cparata 0:6a670fda63c2 367 /**
cparata 0:6a670fda63c2 368 * @brief Read Accelerometer Sensitivity in HR Mode
cparata 0:6a670fda63c2 369 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 0:6a670fda63c2 370 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 371 */
cparata 0:6a670fda63c2 372 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetSensitivity_HR_Mode( float *sensitivity )
cparata 0:6a670fda63c2 373 {
cparata 0:6a670fda63c2 374 LSM303AGR_ACC_FS_t fullScale;
cparata 0:6a670fda63c2 375
cparata 0:6a670fda63c2 376 /* Read actual full scale selection from sensor. */
cparata 0:6a670fda63c2 377 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:6a670fda63c2 378 {
cparata 0:6a670fda63c2 379 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 380 }
cparata 0:6a670fda63c2 381
cparata 0:6a670fda63c2 382 /* Store the sensitivity based on actual full scale. */
cparata 0:6a670fda63c2 383 switch( fullScale )
cparata 0:6a670fda63c2 384 {
cparata 0:6a670fda63c2 385 case LSM303AGR_ACC_FS_2G:
cparata 0:6a670fda63c2 386 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_HIGH_RESOLUTION_MODE;
cparata 0:6a670fda63c2 387 break;
cparata 0:6a670fda63c2 388 case LSM303AGR_ACC_FS_4G:
cparata 0:6a670fda63c2 389 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_HIGH_RESOLUTION_MODE;
cparata 0:6a670fda63c2 390 break;
cparata 0:6a670fda63c2 391 case LSM303AGR_ACC_FS_8G:
cparata 0:6a670fda63c2 392 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_HIGH_RESOLUTION_MODE;
cparata 0:6a670fda63c2 393 break;
cparata 0:6a670fda63c2 394 case LSM303AGR_ACC_FS_16G:
cparata 0:6a670fda63c2 395 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_HIGH_RESOLUTION_MODE;
cparata 0:6a670fda63c2 396 break;
cparata 0:6a670fda63c2 397 default:
cparata 0:6a670fda63c2 398 *sensitivity = -1.0f;
cparata 0:6a670fda63c2 399 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 400 }
cparata 0:6a670fda63c2 401
cparata 0:6a670fda63c2 402 return LSM303AGR_ACC_STATUS_OK;
cparata 0:6a670fda63c2 403 }
cparata 0:6a670fda63c2 404
cparata 0:6a670fda63c2 405 /**
cparata 0:6a670fda63c2 406 * @brief Read raw data from LSM303AGR Accelerometer
cparata 0:6a670fda63c2 407 * @param pData the pointer where the accelerometer raw data are stored
cparata 0:6a670fda63c2 408 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 409 */
cparata 0:6a670fda63c2 410 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetAxesRaw(int16_t *pData)
cparata 0:6a670fda63c2 411 {
cparata 0:6a670fda63c2 412 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 0:6a670fda63c2 413 u8_t shift = 0;
cparata 0:6a670fda63c2 414 LSM303AGR_ACC_LPEN_t lp;
cparata 0:6a670fda63c2 415 LSM303AGR_ACC_HR_t hr;
cparata 0:6a670fda63c2 416
cparata 0:6a670fda63c2 417 /* Determine which operational mode the acc is set */
cparata 0:6a670fda63c2 418 if(!LSM303AGR_ACC_R_HiRes( (void *)this, &hr )) {
cparata 0:6a670fda63c2 419 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 420 }
cparata 0:6a670fda63c2 421
cparata 0:6a670fda63c2 422 if(!LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp )) {
cparata 0:6a670fda63c2 423 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 424 }
cparata 0:6a670fda63c2 425
cparata 0:6a670fda63c2 426 if (lp == LSM303AGR_ACC_LPEN_ENABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
cparata 0:6a670fda63c2 427 /* op mode is LP 8-bit */
cparata 0:6a670fda63c2 428 shift = 8;
cparata 0:6a670fda63c2 429 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
cparata 0:6a670fda63c2 430 /* op mode is Normal 10-bit */
cparata 0:6a670fda63c2 431 shift = 6;
cparata 0:6a670fda63c2 432 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_ENABLED) {
cparata 0:6a670fda63c2 433 /* op mode is HR 12-bit */
cparata 0:6a670fda63c2 434 shift = 4;
cparata 0:6a670fda63c2 435 } else {
cparata 0:6a670fda63c2 436 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 437 }
cparata 0:6a670fda63c2 438
cparata 0:6a670fda63c2 439 /* Read output registers from LSM303AGR_ACC_GYRO_OUTX_L_XL to LSM303AGR_ACC_GYRO_OUTZ_H_XL. */
cparata 0:6a670fda63c2 440 if (!LSM303AGR_ACC_Get_Raw_Acceleration( (void *)this, ( uint8_t* )regValue ))
cparata 0:6a670fda63c2 441 {
cparata 0:6a670fda63c2 442 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 443 }
cparata 0:6a670fda63c2 444
cparata 0:6a670fda63c2 445 /* Format the data. */
cparata 0:6a670fda63c2 446 pData[0] = ( ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] ) >> shift );
cparata 0:6a670fda63c2 447 pData[1] = ( ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] ) >> shift );
cparata 0:6a670fda63c2 448 pData[2] = ( ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] ) >> shift );
cparata 0:6a670fda63c2 449
cparata 0:6a670fda63c2 450 return LSM303AGR_ACC_STATUS_OK;
cparata 0:6a670fda63c2 451 }
cparata 0:6a670fda63c2 452
cparata 0:6a670fda63c2 453 /**
cparata 0:6a670fda63c2 454 * @brief Read LSM303AGR Accelerometer output data rate
cparata 0:6a670fda63c2 455 * @param odr the pointer to the output data rate
cparata 0:6a670fda63c2 456 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 457 */
cparata 0:6a670fda63c2 458 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetODR(float* odr)
cparata 0:6a670fda63c2 459 {
cparata 0:6a670fda63c2 460 LSM303AGR_ACC_ODR_t odr_low_level;
cparata 0:6a670fda63c2 461
cparata 0:6a670fda63c2 462 if ( LSM303AGR_ACC_R_ODR( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 0:6a670fda63c2 463 {
cparata 0:6a670fda63c2 464 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 465 }
cparata 0:6a670fda63c2 466
cparata 0:6a670fda63c2 467 switch( odr_low_level )
cparata 0:6a670fda63c2 468 {
cparata 0:6a670fda63c2 469 case LSM303AGR_ACC_ODR_DO_PWR_DOWN:
cparata 0:6a670fda63c2 470 *odr = 0.0f;
cparata 0:6a670fda63c2 471 break;
cparata 0:6a670fda63c2 472 case LSM303AGR_ACC_ODR_DO_1Hz:
cparata 0:6a670fda63c2 473 *odr = 1.0f;
cparata 0:6a670fda63c2 474 break;
cparata 0:6a670fda63c2 475 case LSM303AGR_ACC_ODR_DO_10Hz:
cparata 0:6a670fda63c2 476 *odr = 10.0f;
cparata 0:6a670fda63c2 477 break;
cparata 0:6a670fda63c2 478 case LSM303AGR_ACC_ODR_DO_25Hz:
cparata 0:6a670fda63c2 479 *odr = 25.0f;
cparata 0:6a670fda63c2 480 break;
cparata 0:6a670fda63c2 481 case LSM303AGR_ACC_ODR_DO_50Hz:
cparata 0:6a670fda63c2 482 *odr = 50.0f;
cparata 0:6a670fda63c2 483 break;
cparata 0:6a670fda63c2 484 case LSM303AGR_ACC_ODR_DO_100Hz:
cparata 0:6a670fda63c2 485 *odr = 100.0f;
cparata 0:6a670fda63c2 486 break;
cparata 0:6a670fda63c2 487 case LSM303AGR_ACC_ODR_DO_200Hz:
cparata 0:6a670fda63c2 488 *odr = 200.0f;
cparata 0:6a670fda63c2 489 break;
cparata 0:6a670fda63c2 490 case LSM303AGR_ACC_ODR_DO_400Hz:
cparata 0:6a670fda63c2 491 *odr = 400.0f;
cparata 0:6a670fda63c2 492 break;
cparata 0:6a670fda63c2 493 default:
cparata 0:6a670fda63c2 494 *odr = -1.0f;
cparata 0:6a670fda63c2 495 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 496 }
cparata 0:6a670fda63c2 497
cparata 0:6a670fda63c2 498 return LSM303AGR_ACC_STATUS_OK;
cparata 0:6a670fda63c2 499 }
cparata 0:6a670fda63c2 500
cparata 0:6a670fda63c2 501 /**
cparata 0:6a670fda63c2 502 * @brief Set ODR
cparata 0:6a670fda63c2 503 * @param odr the output data rate to be set
cparata 0:6a670fda63c2 504 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 505 */
cparata 0:6a670fda63c2 506 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::SetODR(float odr)
cparata 0:6a670fda63c2 507 {
cparata 0:6a670fda63c2 508 if(isEnabled == 1)
cparata 0:6a670fda63c2 509 {
cparata 0:6a670fda63c2 510 if(SetODR_When_Enabled(odr) == LSM303AGR_ACC_STATUS_ERROR)
cparata 0:6a670fda63c2 511 {
cparata 0:6a670fda63c2 512 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 513 }
cparata 0:6a670fda63c2 514 }
cparata 0:6a670fda63c2 515 else
cparata 0:6a670fda63c2 516 {
cparata 0:6a670fda63c2 517 if(SetODR_When_Disabled(odr) == LSM303AGR_ACC_STATUS_ERROR)
cparata 0:6a670fda63c2 518 {
cparata 0:6a670fda63c2 519 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 520 }
cparata 0:6a670fda63c2 521 }
cparata 0:6a670fda63c2 522
cparata 0:6a670fda63c2 523 return LSM303AGR_ACC_STATUS_OK;
cparata 0:6a670fda63c2 524 }
cparata 0:6a670fda63c2 525
cparata 0:6a670fda63c2 526 /**
cparata 0:6a670fda63c2 527 * @brief Set ODR when enabled
cparata 0:6a670fda63c2 528 * @param odr the output data rate to be set
cparata 0:6a670fda63c2 529 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 530 */
cparata 0:6a670fda63c2 531 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::SetODR_When_Enabled(float odr)
cparata 0:6a670fda63c2 532 {
cparata 0:6a670fda63c2 533 LSM303AGR_ACC_ODR_t new_odr;
cparata 0:6a670fda63c2 534
cparata 0:6a670fda63c2 535 new_odr = ( odr <= 1.0f ) ? LSM303AGR_ACC_ODR_DO_1Hz
cparata 0:6a670fda63c2 536 : ( odr <= 10.0f ) ? LSM303AGR_ACC_ODR_DO_10Hz
cparata 0:6a670fda63c2 537 : ( odr <= 25.0f ) ? LSM303AGR_ACC_ODR_DO_25Hz
cparata 0:6a670fda63c2 538 : ( odr <= 50.0f ) ? LSM303AGR_ACC_ODR_DO_50Hz
cparata 0:6a670fda63c2 539 : ( odr <= 100.0f ) ? LSM303AGR_ACC_ODR_DO_100Hz
cparata 0:6a670fda63c2 540 : ( odr <= 200.0f ) ? LSM303AGR_ACC_ODR_DO_200Hz
cparata 0:6a670fda63c2 541 : LSM303AGR_ACC_ODR_DO_400Hz;
cparata 0:6a670fda63c2 542
cparata 0:6a670fda63c2 543 if ( LSM303AGR_ACC_W_ODR( (void *)this, new_odr ) == MEMS_ERROR )
cparata 0:6a670fda63c2 544 {
cparata 0:6a670fda63c2 545 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 546 }
cparata 0:6a670fda63c2 547
cparata 0:6a670fda63c2 548 return LSM303AGR_ACC_STATUS_OK;
cparata 0:6a670fda63c2 549 }
cparata 0:6a670fda63c2 550
cparata 0:6a670fda63c2 551 /**
cparata 0:6a670fda63c2 552 * @brief Set ODR when disabled
cparata 0:6a670fda63c2 553 * @param odr the output data rate to be set
cparata 0:6a670fda63c2 554 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 555 */
cparata 0:6a670fda63c2 556 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::SetODR_When_Disabled(float odr)
cparata 0:6a670fda63c2 557 {
cparata 0:6a670fda63c2 558 Last_ODR = ( odr <= 1.0f ) ? 1.0f
cparata 0:6a670fda63c2 559 : ( odr <= 10.0f ) ? 10.0f
cparata 0:6a670fda63c2 560 : ( odr <= 25.0f ) ? 25.0f
cparata 0:6a670fda63c2 561 : ( odr <= 50.0f ) ? 50.0f
cparata 0:6a670fda63c2 562 : ( odr <= 100.0f ) ? 100.0f
cparata 0:6a670fda63c2 563 : ( odr <= 200.0f ) ? 200.0f
cparata 0:6a670fda63c2 564 : 400.0f;
cparata 0:6a670fda63c2 565
cparata 0:6a670fda63c2 566 return LSM303AGR_ACC_STATUS_OK;
cparata 0:6a670fda63c2 567 }
cparata 0:6a670fda63c2 568
cparata 0:6a670fda63c2 569
cparata 0:6a670fda63c2 570 /**
cparata 0:6a670fda63c2 571 * @brief Read LSM303AGR Accelerometer full scale
cparata 0:6a670fda63c2 572 * @param fullScale the pointer to the full scale
cparata 0:6a670fda63c2 573 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 574 */
cparata 0:6a670fda63c2 575 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetFS(float* fullScale)
cparata 0:6a670fda63c2 576 {
cparata 0:6a670fda63c2 577 LSM303AGR_ACC_FS_t fs_low_level;
cparata 0:6a670fda63c2 578
cparata 0:6a670fda63c2 579 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata 0:6a670fda63c2 580 {
cparata 0:6a670fda63c2 581 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 582 }
cparata 0:6a670fda63c2 583
cparata 0:6a670fda63c2 584 switch( fs_low_level )
cparata 0:6a670fda63c2 585 {
cparata 0:6a670fda63c2 586 case LSM303AGR_ACC_FS_2G:
cparata 0:6a670fda63c2 587 *fullScale = 2.0f;
cparata 0:6a670fda63c2 588 break;
cparata 0:6a670fda63c2 589 case LSM303AGR_ACC_FS_4G:
cparata 0:6a670fda63c2 590 *fullScale = 4.0f;
cparata 0:6a670fda63c2 591 break;
cparata 0:6a670fda63c2 592 case LSM303AGR_ACC_FS_8G:
cparata 0:6a670fda63c2 593 *fullScale = 8.0f;
cparata 0:6a670fda63c2 594 break;
cparata 0:6a670fda63c2 595 case LSM303AGR_ACC_FS_16G:
cparata 0:6a670fda63c2 596 *fullScale = 16.0f;
cparata 0:6a670fda63c2 597 break;
cparata 0:6a670fda63c2 598 default:
cparata 0:6a670fda63c2 599 *fullScale = -1.0f;
cparata 0:6a670fda63c2 600 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 601 }
cparata 0:6a670fda63c2 602
cparata 0:6a670fda63c2 603 return LSM303AGR_ACC_STATUS_OK;
cparata 0:6a670fda63c2 604 }
cparata 0:6a670fda63c2 605
cparata 0:6a670fda63c2 606 /**
cparata 0:6a670fda63c2 607 * @brief Set full scale
cparata 0:6a670fda63c2 608 * @param fullScale the full scale to be set
cparata 0:6a670fda63c2 609 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 610 */
cparata 0:6a670fda63c2 611 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::SetFS(float fullScale)
cparata 0:6a670fda63c2 612 {
cparata 0:6a670fda63c2 613 LSM303AGR_ACC_FS_t new_fs;
cparata 0:6a670fda63c2 614
cparata 0:6a670fda63c2 615 new_fs = ( fullScale <= 2.0f ) ? LSM303AGR_ACC_FS_2G
cparata 0:6a670fda63c2 616 : ( fullScale <= 4.0f ) ? LSM303AGR_ACC_FS_4G
cparata 0:6a670fda63c2 617 : ( fullScale <= 8.0f ) ? LSM303AGR_ACC_FS_8G
cparata 0:6a670fda63c2 618 : LSM303AGR_ACC_FS_16G;
cparata 0:6a670fda63c2 619
cparata 0:6a670fda63c2 620 if ( LSM303AGR_ACC_W_FullScale( (void *)this, new_fs ) == MEMS_ERROR )
cparata 0:6a670fda63c2 621 {
cparata 0:6a670fda63c2 622 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 623 }
cparata 0:6a670fda63c2 624
cparata 0:6a670fda63c2 625 return LSM303AGR_ACC_STATUS_OK;
cparata 0:6a670fda63c2 626 }
cparata 0:6a670fda63c2 627
cparata 0:6a670fda63c2 628 /**
cparata 0:6a670fda63c2 629 * @brief Read accelerometer data from register
cparata 0:6a670fda63c2 630 * @param reg register address
cparata 0:6a670fda63c2 631 * @param data register data
cparata 0:6a670fda63c2 632 * @retval LSM303AGR_ACC_STATUS_OK in case of success
cparata 0:6a670fda63c2 633 * @retval LSM303AGR_ACC_STATUS_ERROR in case of failure
cparata 0:6a670fda63c2 634 */
cparata 0:6a670fda63c2 635 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::ReadReg( uint8_t reg, uint8_t *data )
cparata 0:6a670fda63c2 636 {
cparata 0:6a670fda63c2 637
cparata 0:6a670fda63c2 638 if ( LSM303AGR_ACC_ReadReg( (void *)this, reg, data ) == MEMS_ERROR )
cparata 0:6a670fda63c2 639 {
cparata 0:6a670fda63c2 640 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 641 }
cparata 0:6a670fda63c2 642
cparata 0:6a670fda63c2 643 return LSM303AGR_ACC_STATUS_OK;
cparata 0:6a670fda63c2 644 }
cparata 0:6a670fda63c2 645
cparata 0:6a670fda63c2 646 /**
cparata 0:6a670fda63c2 647 * @brief Write accelerometer data to register
cparata 0:6a670fda63c2 648 * @param reg register address
cparata 0:6a670fda63c2 649 * @param data register data
cparata 0:6a670fda63c2 650 * @retval LSM303AGR_ACC_STATUS_OK in case of success
cparata 0:6a670fda63c2 651 * @retval LSM303AGR_ACC_STATUS_ERROR in case of failure
cparata 0:6a670fda63c2 652 */
cparata 0:6a670fda63c2 653 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::WriteReg( uint8_t reg, uint8_t data )
cparata 0:6a670fda63c2 654 {
cparata 0:6a670fda63c2 655
cparata 0:6a670fda63c2 656 if ( LSM303AGR_ACC_WriteReg( (void *)this, reg, data ) == MEMS_ERROR )
cparata 0:6a670fda63c2 657 {
cparata 0:6a670fda63c2 658 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:6a670fda63c2 659 }
cparata 0:6a670fda63c2 660
cparata 0:6a670fda63c2 661 return LSM303AGR_ACC_STATUS_OK;
cparata 0:6a670fda63c2 662 }
cparata 0:6a670fda63c2 663
cparata 0:6a670fda63c2 664 uint8_t LSM303AGR_ACC_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
cparata 0:6a670fda63c2 665 {
cparata 0:6a670fda63c2 666 return ((LSM303AGR_ACC_Sensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata 0:6a670fda63c2 667 }
cparata 0:6a670fda63c2 668
cparata 0:6a670fda63c2 669 uint8_t LSM303AGR_ACC_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
cparata 0:6a670fda63c2 670 {
cparata 0:6a670fda63c2 671 return ((LSM303AGR_ACC_Sensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata 0:6a670fda63c2 672 }