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@2:8308cb42bc49, 2016-08-19 (annotated)

Committer:
cparata
Date:
Fri Aug 19 12:26:01 2016 +0000
Revision:
2:8308cb42bc49
Add interfaces to all components

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 2:8308cb42bc49 1 /**
cparata 2:8308cb42bc49 2 ******************************************************************************
cparata 2:8308cb42bc49 3 * @file LSM303AGR_ACC_Sensor.cpp
cparata 2:8308cb42bc49 4 * @author AST
cparata 2:8308cb42bc49 5 * @version V1.0.0
cparata 2:8308cb42bc49 6 * @date 5 August 2016
cparata 2:8308cb42bc49 7 * @brief Implementation an LSM303AGR accelerometer sensor.
cparata 2:8308cb42bc49 8 ******************************************************************************
cparata 2:8308cb42bc49 9 * @attention
cparata 2:8308cb42bc49 10 *
cparata 2:8308cb42bc49 11 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 2:8308cb42bc49 12 *
cparata 2:8308cb42bc49 13 * Redistribution and use in source and binary forms, with or without modification,
cparata 2:8308cb42bc49 14 * are permitted provided that the following conditions are met:
cparata 2:8308cb42bc49 15 * 1. Redistributions of source code must retain the above copyright notice,
cparata 2:8308cb42bc49 16 * this list of conditions and the following disclaimer.
cparata 2:8308cb42bc49 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 2:8308cb42bc49 18 * this list of conditions and the following disclaimer in the documentation
cparata 2:8308cb42bc49 19 * and/or other materials provided with the distribution.
cparata 2:8308cb42bc49 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 2:8308cb42bc49 21 * may be used to endorse or promote products derived from this software
cparata 2:8308cb42bc49 22 * without specific prior written permission.
cparata 2:8308cb42bc49 23 *
cparata 2:8308cb42bc49 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 2:8308cb42bc49 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 2:8308cb42bc49 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 2:8308cb42bc49 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 2:8308cb42bc49 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 2:8308cb42bc49 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 2:8308cb42bc49 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 2:8308cb42bc49 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 2:8308cb42bc49 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 2:8308cb42bc49 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 2:8308cb42bc49 34 *
cparata 2:8308cb42bc49 35 ******************************************************************************
cparata 2:8308cb42bc49 36 */
cparata 2:8308cb42bc49 37
cparata 2:8308cb42bc49 38
cparata 2:8308cb42bc49 39 /* Includes ------------------------------------------------------------------*/
cparata 2:8308cb42bc49 40
cparata 2:8308cb42bc49 41 #include "DevI2C.h"
cparata 2:8308cb42bc49 42 #include "LSM303AGR_ACC_Sensor.h"
cparata 2:8308cb42bc49 43 #include "LSM303AGR_ACC_driver.h"
cparata 2:8308cb42bc49 44
cparata 2:8308cb42bc49 45
cparata 2:8308cb42bc49 46 /* Class Implementation ------------------------------------------------------*/
cparata 2:8308cb42bc49 47
cparata 2:8308cb42bc49 48 /** Constructor
cparata 2:8308cb42bc49 49 * @param i2c object of an helper class which handles the I2C peripheral
cparata 2:8308cb42bc49 50 * @param address the address of the component's instance
cparata 2:8308cb42bc49 51 */
cparata 2:8308cb42bc49 52 LSM303AGR_ACC_Sensor::LSM303AGR_ACC_Sensor(DevI2C &i2c) : dev_i2c(i2c)
cparata 2:8308cb42bc49 53 {
cparata 2:8308cb42bc49 54 address = LSM303AGR_ACC_I2C_ADDRESS;
cparata 2:8308cb42bc49 55 };
cparata 2:8308cb42bc49 56
cparata 2:8308cb42bc49 57 /** Constructor
cparata 2:8308cb42bc49 58 * @param i2c object of an helper class which handles the I2C peripheral
cparata 2:8308cb42bc49 59 * @param address the address of the component's instance
cparata 2:8308cb42bc49 60 */
cparata 2:8308cb42bc49 61 LSM303AGR_ACC_Sensor::LSM303AGR_ACC_Sensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
cparata 2:8308cb42bc49 62 {
cparata 2:8308cb42bc49 63
cparata 2:8308cb42bc49 64 };
cparata 2:8308cb42bc49 65
cparata 2:8308cb42bc49 66 /**
cparata 2:8308cb42bc49 67 * @brief Initializing the component.
cparata 2:8308cb42bc49 68 * @param[in] init pointer to device specific initalization structure.
cparata 2:8308cb42bc49 69 * @retval "0" in case of success, an error code otherwise.
cparata 2:8308cb42bc49 70 */
cparata 2:8308cb42bc49 71 int LSM303AGR_ACC_Sensor::Init(void *init)
cparata 2:8308cb42bc49 72 {
cparata 2:8308cb42bc49 73 /* Enable BDU */
cparata 2:8308cb42bc49 74 if ( LSM303AGR_ACC_W_BlockDataUpdate( (void *)this, LSM303AGR_ACC_BDU_ENABLED ) == MEMS_ERROR )
cparata 2:8308cb42bc49 75 {
cparata 2:8308cb42bc49 76 return 1;
cparata 2:8308cb42bc49 77 }
cparata 2:8308cb42bc49 78
cparata 2:8308cb42bc49 79 /* FIFO mode selection */
cparata 2:8308cb42bc49 80 if ( LSM303AGR_ACC_W_FifoMode( (void *)this, LSM303AGR_ACC_FM_BYPASS ) == MEMS_ERROR )
cparata 2:8308cb42bc49 81 {
cparata 2:8308cb42bc49 82 return 1;
cparata 2:8308cb42bc49 83 }
cparata 2:8308cb42bc49 84
cparata 2:8308cb42bc49 85 /* Output data rate selection - power down. */
cparata 2:8308cb42bc49 86 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
cparata 2:8308cb42bc49 87 {
cparata 2:8308cb42bc49 88 return 1;
cparata 2:8308cb42bc49 89 }
cparata 2:8308cb42bc49 90
cparata 2:8308cb42bc49 91 /* Full scale selection. */
cparata 2:8308cb42bc49 92 if ( Set_X_FS( 2.0f ) == 1 )
cparata 2:8308cb42bc49 93 {
cparata 2:8308cb42bc49 94 return 1;
cparata 2:8308cb42bc49 95 }
cparata 2:8308cb42bc49 96
cparata 2:8308cb42bc49 97 /* Enable axes. */
cparata 2:8308cb42bc49 98 if ( LSM303AGR_ACC_W_XEN( (void *)this, LSM303AGR_ACC_XEN_ENABLED ) == MEMS_ERROR )
cparata 2:8308cb42bc49 99 {
cparata 2:8308cb42bc49 100 return 1;
cparata 2:8308cb42bc49 101 }
cparata 2:8308cb42bc49 102
cparata 2:8308cb42bc49 103 if ( LSM303AGR_ACC_W_YEN ( (void *)this, LSM303AGR_ACC_YEN_ENABLED ) == MEMS_ERROR )
cparata 2:8308cb42bc49 104 {
cparata 2:8308cb42bc49 105 return 1;
cparata 2:8308cb42bc49 106 }
cparata 2:8308cb42bc49 107
cparata 2:8308cb42bc49 108 if ( LSM303AGR_ACC_W_ZEN ( (void *)this, LSM303AGR_ACC_ZEN_ENABLED ) == MEMS_ERROR )
cparata 2:8308cb42bc49 109 {
cparata 2:8308cb42bc49 110 return 1;
cparata 2:8308cb42bc49 111 }
cparata 2:8308cb42bc49 112
cparata 2:8308cb42bc49 113 /* Select default output data rate. */
cparata 2:8308cb42bc49 114 Last_ODR = 100.0f;
cparata 2:8308cb42bc49 115
cparata 2:8308cb42bc49 116 isEnabled = 0;
cparata 2:8308cb42bc49 117
cparata 2:8308cb42bc49 118 return 0;
cparata 2:8308cb42bc49 119 }
cparata 2:8308cb42bc49 120
cparata 2:8308cb42bc49 121 /**
cparata 2:8308cb42bc49 122 * @brief Enable LSM303AGR Accelerator
cparata 2:8308cb42bc49 123 * @retval 0 in case of success, an error code otherwise
cparata 2:8308cb42bc49 124 */
cparata 2:8308cb42bc49 125 int LSM303AGR_ACC_Sensor::Enable(void)
cparata 2:8308cb42bc49 126 {
cparata 2:8308cb42bc49 127 /* Check if the component is already enabled */
cparata 2:8308cb42bc49 128 if ( isEnabled == 1 )
cparata 2:8308cb42bc49 129 {
cparata 2:8308cb42bc49 130 return 0;
cparata 2:8308cb42bc49 131 }
cparata 2:8308cb42bc49 132
cparata 2:8308cb42bc49 133 /* Output data rate selection. */
cparata 2:8308cb42bc49 134 if ( Set_X_ODR_When_Enabled( Last_ODR ) == 1 )
cparata 2:8308cb42bc49 135 {
cparata 2:8308cb42bc49 136 return 1;
cparata 2:8308cb42bc49 137 }
cparata 2:8308cb42bc49 138
cparata 2:8308cb42bc49 139 isEnabled = 1;
cparata 2:8308cb42bc49 140
cparata 2:8308cb42bc49 141 return 0;
cparata 2:8308cb42bc49 142 }
cparata 2:8308cb42bc49 143
cparata 2:8308cb42bc49 144 /**
cparata 2:8308cb42bc49 145 * @brief Disable LSM303AGR Accelerator
cparata 2:8308cb42bc49 146 * @retval 0 in case of success, an error code otherwise
cparata 2:8308cb42bc49 147 */
cparata 2:8308cb42bc49 148 int LSM303AGR_ACC_Sensor::Disable(void)
cparata 2:8308cb42bc49 149 {
cparata 2:8308cb42bc49 150 /* Check if the component is already disabled */
cparata 2:8308cb42bc49 151 if ( isEnabled == 0 )
cparata 2:8308cb42bc49 152 {
cparata 2:8308cb42bc49 153 return 0;
cparata 2:8308cb42bc49 154 }
cparata 2:8308cb42bc49 155
cparata 2:8308cb42bc49 156 /* Store actual output data rate. */
cparata 2:8308cb42bc49 157 if ( Get_X_ODR( &Last_ODR ) == 1 )
cparata 2:8308cb42bc49 158 {
cparata 2:8308cb42bc49 159 return 1;
cparata 2:8308cb42bc49 160 }
cparata 2:8308cb42bc49 161
cparata 2:8308cb42bc49 162 /* Output data rate selection - power down. */
cparata 2:8308cb42bc49 163 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
cparata 2:8308cb42bc49 164 {
cparata 2:8308cb42bc49 165 return 1;
cparata 2:8308cb42bc49 166 }
cparata 2:8308cb42bc49 167
cparata 2:8308cb42bc49 168 isEnabled = 0;
cparata 2:8308cb42bc49 169
cparata 2:8308cb42bc49 170 return 0;
cparata 2:8308cb42bc49 171 }
cparata 2:8308cb42bc49 172
cparata 2:8308cb42bc49 173 /**
cparata 2:8308cb42bc49 174 * @brief Read ID of LSM303AGR Accelerometer
cparata 2:8308cb42bc49 175 * @param p_id the pointer where the ID of the device is stored
cparata 2:8308cb42bc49 176 * @retval 0 in case of success, an error code otherwise
cparata 2:8308cb42bc49 177 */
cparata 2:8308cb42bc49 178 int LSM303AGR_ACC_Sensor::ReadID(uint8_t *id)
cparata 2:8308cb42bc49 179 {
cparata 2:8308cb42bc49 180 if(!id)
cparata 2:8308cb42bc49 181 {
cparata 2:8308cb42bc49 182 return 1;
cparata 2:8308cb42bc49 183 }
cparata 2:8308cb42bc49 184
cparata 2:8308cb42bc49 185 /* Read WHO AM I register */
cparata 2:8308cb42bc49 186 if ( LSM303AGR_ACC_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
cparata 2:8308cb42bc49 187 {
cparata 2:8308cb42bc49 188 return 1;
cparata 2:8308cb42bc49 189 }
cparata 2:8308cb42bc49 190
cparata 2:8308cb42bc49 191 return 0;
cparata 2:8308cb42bc49 192 }
cparata 2:8308cb42bc49 193
cparata 2:8308cb42bc49 194 /**
cparata 2:8308cb42bc49 195 * @brief Read data from LSM303AGR Accelerometer
cparata 2:8308cb42bc49 196 * @param pData the pointer where the accelerometer data are stored
cparata 2:8308cb42bc49 197 * @retval 0 in case of success, an error code otherwise
cparata 2:8308cb42bc49 198 */
cparata 2:8308cb42bc49 199 int LSM303AGR_ACC_Sensor::Get_X_Axes(int32_t *pData)
cparata 2:8308cb42bc49 200 {
cparata 2:8308cb42bc49 201 int data[3];
cparata 2:8308cb42bc49 202
cparata 2:8308cb42bc49 203 /* Read data from LSM303AGR. */
cparata 2:8308cb42bc49 204 if ( !LSM303AGR_ACC_Get_Acceleration((void *)this, data) )
cparata 2:8308cb42bc49 205 {
cparata 2:8308cb42bc49 206 return 1;
cparata 2:8308cb42bc49 207 }
cparata 2:8308cb42bc49 208
cparata 2:8308cb42bc49 209 /* Calculate the data. */
cparata 2:8308cb42bc49 210 pData[0] = (int32_t)data[0];
cparata 2:8308cb42bc49 211 pData[1] = (int32_t)data[1];
cparata 2:8308cb42bc49 212 pData[2] = (int32_t)data[2];
cparata 2:8308cb42bc49 213
cparata 2:8308cb42bc49 214 return 0;
cparata 2:8308cb42bc49 215 }
cparata 2:8308cb42bc49 216
cparata 2:8308cb42bc49 217 /**
cparata 2:8308cb42bc49 218 * @brief Read Accelerometer Sensitivity
cparata 2:8308cb42bc49 219 * @param pfData the pointer where the accelerometer sensitivity is stored
cparata 2:8308cb42bc49 220 * @retval 0 in case of success, an error code otherwise
cparata 2:8308cb42bc49 221 */
cparata 2:8308cb42bc49 222 int LSM303AGR_ACC_Sensor::Get_X_Sensitivity(float *pfData)
cparata 2:8308cb42bc49 223 {
cparata 2:8308cb42bc49 224 LSM303AGR_ACC_LPEN_t lp_value;
cparata 2:8308cb42bc49 225 LSM303AGR_ACC_HR_t hr_value;
cparata 2:8308cb42bc49 226
cparata 2:8308cb42bc49 227 /* Read low power flag */
cparata 2:8308cb42bc49 228 if( LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp_value ) == MEMS_ERROR )
cparata 2:8308cb42bc49 229 {
cparata 2:8308cb42bc49 230 return 1;
cparata 2:8308cb42bc49 231 }
cparata 2:8308cb42bc49 232
cparata 2:8308cb42bc49 233 /* Read high performance flag */
cparata 2:8308cb42bc49 234 if( LSM303AGR_ACC_R_HiRes( (void *)this, &hr_value ) == MEMS_ERROR )
cparata 2:8308cb42bc49 235 {
cparata 2:8308cb42bc49 236 return 1;
cparata 2:8308cb42bc49 237 }
cparata 2:8308cb42bc49 238
cparata 2:8308cb42bc49 239 if( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
cparata 2:8308cb42bc49 240 {
cparata 2:8308cb42bc49 241 /* Normal Mode */
cparata 2:8308cb42bc49 242 return Get_X_Sensitivity_Normal_Mode( pfData );
cparata 2:8308cb42bc49 243 } else if ( lp_value == LSM303AGR_ACC_LPEN_ENABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
cparata 2:8308cb42bc49 244 {
cparata 2:8308cb42bc49 245 /* Low Power Mode */
cparata 2:8308cb42bc49 246 return Get_X_Sensitivity_LP_Mode( pfData );
cparata 2:8308cb42bc49 247 } else if ( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_ENABLED )
cparata 2:8308cb42bc49 248 {
cparata 2:8308cb42bc49 249 /* High Resolution Mode */
cparata 2:8308cb42bc49 250 return Get_X_Sensitivity_HR_Mode( pfData );
cparata 2:8308cb42bc49 251 } else
cparata 2:8308cb42bc49 252 {
cparata 2:8308cb42bc49 253 /* Not allowed */
cparata 2:8308cb42bc49 254 return 1;
cparata 2:8308cb42bc49 255 }
cparata 2:8308cb42bc49 256 }
cparata 2:8308cb42bc49 257
cparata 2:8308cb42bc49 258 /**
cparata 2:8308cb42bc49 259 * @brief Read Accelerometer Sensitivity in Normal Mode
cparata 2:8308cb42bc49 260 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 2:8308cb42bc49 261 * @retval 0 in case of success, an error code otherwise
cparata 2:8308cb42bc49 262 */
cparata 2:8308cb42bc49 263 int LSM303AGR_ACC_Sensor::Get_X_Sensitivity_Normal_Mode( float *sensitivity )
cparata 2:8308cb42bc49 264 {
cparata 2:8308cb42bc49 265 LSM303AGR_ACC_FS_t fullScale;
cparata 2:8308cb42bc49 266
cparata 2:8308cb42bc49 267 /* Read actual full scale selection from sensor. */
cparata 2:8308cb42bc49 268 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 2:8308cb42bc49 269 {
cparata 2:8308cb42bc49 270 return 1;
cparata 2:8308cb42bc49 271 }
cparata 2:8308cb42bc49 272
cparata 2:8308cb42bc49 273 /* Store the sensitivity based on actual full scale. */
cparata 2:8308cb42bc49 274 switch( fullScale )
cparata 2:8308cb42bc49 275 {
cparata 2:8308cb42bc49 276 case LSM303AGR_ACC_FS_2G:
cparata 2:8308cb42bc49 277 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_NORMAL_MODE;
cparata 2:8308cb42bc49 278 break;
cparata 2:8308cb42bc49 279 case LSM303AGR_ACC_FS_4G:
cparata 2:8308cb42bc49 280 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_NORMAL_MODE;
cparata 2:8308cb42bc49 281 break;
cparata 2:8308cb42bc49 282 case LSM303AGR_ACC_FS_8G:
cparata 2:8308cb42bc49 283 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_NORMAL_MODE;
cparata 2:8308cb42bc49 284 break;
cparata 2:8308cb42bc49 285 case LSM303AGR_ACC_FS_16G:
cparata 2:8308cb42bc49 286 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_NORMAL_MODE;
cparata 2:8308cb42bc49 287 break;
cparata 2:8308cb42bc49 288 default:
cparata 2:8308cb42bc49 289 *sensitivity = -1.0f;
cparata 2:8308cb42bc49 290 return 1;
cparata 2:8308cb42bc49 291 }
cparata 2:8308cb42bc49 292
cparata 2:8308cb42bc49 293 return 0;
cparata 2:8308cb42bc49 294 }
cparata 2:8308cb42bc49 295
cparata 2:8308cb42bc49 296 /**
cparata 2:8308cb42bc49 297 * @brief Read Accelerometer Sensitivity in LP Mode
cparata 2:8308cb42bc49 298 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 2:8308cb42bc49 299 * @retval 0 in case of success, an error code otherwise
cparata 2:8308cb42bc49 300 */
cparata 2:8308cb42bc49 301 int LSM303AGR_ACC_Sensor::Get_X_Sensitivity_LP_Mode( float *sensitivity )
cparata 2:8308cb42bc49 302 {
cparata 2:8308cb42bc49 303 LSM303AGR_ACC_FS_t fullScale;
cparata 2:8308cb42bc49 304
cparata 2:8308cb42bc49 305 /* Read actual full scale selection from sensor. */
cparata 2:8308cb42bc49 306 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 2:8308cb42bc49 307 {
cparata 2:8308cb42bc49 308 return 1;
cparata 2:8308cb42bc49 309 }
cparata 2:8308cb42bc49 310
cparata 2:8308cb42bc49 311 /* Store the sensitivity based on actual full scale. */
cparata 2:8308cb42bc49 312 switch( fullScale )
cparata 2:8308cb42bc49 313 {
cparata 2:8308cb42bc49 314 case LSM303AGR_ACC_FS_2G:
cparata 2:8308cb42bc49 315 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_LOW_POWER_MODE;
cparata 2:8308cb42bc49 316 break;
cparata 2:8308cb42bc49 317 case LSM303AGR_ACC_FS_4G:
cparata 2:8308cb42bc49 318 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_LOW_POWER_MODE;
cparata 2:8308cb42bc49 319 break;
cparata 2:8308cb42bc49 320 case LSM303AGR_ACC_FS_8G:
cparata 2:8308cb42bc49 321 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_LOW_POWER_MODE;
cparata 2:8308cb42bc49 322 break;
cparata 2:8308cb42bc49 323 case LSM303AGR_ACC_FS_16G:
cparata 2:8308cb42bc49 324 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_LOW_POWER_MODE;
cparata 2:8308cb42bc49 325 break;
cparata 2:8308cb42bc49 326 default:
cparata 2:8308cb42bc49 327 *sensitivity = -1.0f;
cparata 2:8308cb42bc49 328 return 1;
cparata 2:8308cb42bc49 329 }
cparata 2:8308cb42bc49 330
cparata 2:8308cb42bc49 331 return 0;
cparata 2:8308cb42bc49 332 }
cparata 2:8308cb42bc49 333
cparata 2:8308cb42bc49 334 /**
cparata 2:8308cb42bc49 335 * @brief Read Accelerometer Sensitivity in HR Mode
cparata 2:8308cb42bc49 336 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 2:8308cb42bc49 337 * @retval 0 in case of success, an error code otherwise
cparata 2:8308cb42bc49 338 */
cparata 2:8308cb42bc49 339 int LSM303AGR_ACC_Sensor::Get_X_Sensitivity_HR_Mode( float *sensitivity )
cparata 2:8308cb42bc49 340 {
cparata 2:8308cb42bc49 341 LSM303AGR_ACC_FS_t fullScale;
cparata 2:8308cb42bc49 342
cparata 2:8308cb42bc49 343 /* Read actual full scale selection from sensor. */
cparata 2:8308cb42bc49 344 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 2:8308cb42bc49 345 {
cparata 2:8308cb42bc49 346 return 1;
cparata 2:8308cb42bc49 347 }
cparata 2:8308cb42bc49 348
cparata 2:8308cb42bc49 349 /* Store the sensitivity based on actual full scale. */
cparata 2:8308cb42bc49 350 switch( fullScale )
cparata 2:8308cb42bc49 351 {
cparata 2:8308cb42bc49 352 case LSM303AGR_ACC_FS_2G:
cparata 2:8308cb42bc49 353 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_HIGH_RESOLUTION_MODE;
cparata 2:8308cb42bc49 354 break;
cparata 2:8308cb42bc49 355 case LSM303AGR_ACC_FS_4G:
cparata 2:8308cb42bc49 356 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_HIGH_RESOLUTION_MODE;
cparata 2:8308cb42bc49 357 break;
cparata 2:8308cb42bc49 358 case LSM303AGR_ACC_FS_8G:
cparata 2:8308cb42bc49 359 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_HIGH_RESOLUTION_MODE;
cparata 2:8308cb42bc49 360 break;
cparata 2:8308cb42bc49 361 case LSM303AGR_ACC_FS_16G:
cparata 2:8308cb42bc49 362 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_HIGH_RESOLUTION_MODE;
cparata 2:8308cb42bc49 363 break;
cparata 2:8308cb42bc49 364 default:
cparata 2:8308cb42bc49 365 *sensitivity = -1.0f;
cparata 2:8308cb42bc49 366 return 1;
cparata 2:8308cb42bc49 367 }
cparata 2:8308cb42bc49 368
cparata 2:8308cb42bc49 369 return 0;
cparata 2:8308cb42bc49 370 }
cparata 2:8308cb42bc49 371
cparata 2:8308cb42bc49 372 /**
cparata 2:8308cb42bc49 373 * @brief Read raw data from LSM303AGR Accelerometer
cparata 2:8308cb42bc49 374 * @param pData the pointer where the accelerometer raw data are stored
cparata 2:8308cb42bc49 375 * @retval 0 in case of success, an error code otherwise
cparata 2:8308cb42bc49 376 */
cparata 2:8308cb42bc49 377 int LSM303AGR_ACC_Sensor::Get_X_AxesRaw(int16_t *pData)
cparata 2:8308cb42bc49 378 {
cparata 2:8308cb42bc49 379 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 2:8308cb42bc49 380 u8_t shift = 0;
cparata 2:8308cb42bc49 381 LSM303AGR_ACC_LPEN_t lp;
cparata 2:8308cb42bc49 382 LSM303AGR_ACC_HR_t hr;
cparata 2:8308cb42bc49 383
cparata 2:8308cb42bc49 384 /* Determine which operational mode the acc is set */
cparata 2:8308cb42bc49 385 if(!LSM303AGR_ACC_R_HiRes( (void *)this, &hr )) {
cparata 2:8308cb42bc49 386 return 1;
cparata 2:8308cb42bc49 387 }
cparata 2:8308cb42bc49 388
cparata 2:8308cb42bc49 389 if(!LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp )) {
cparata 2:8308cb42bc49 390 return 1;
cparata 2:8308cb42bc49 391 }
cparata 2:8308cb42bc49 392
cparata 2:8308cb42bc49 393 if (lp == LSM303AGR_ACC_LPEN_ENABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
cparata 2:8308cb42bc49 394 /* op mode is LP 8-bit */
cparata 2:8308cb42bc49 395 shift = 8;
cparata 2:8308cb42bc49 396 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
cparata 2:8308cb42bc49 397 /* op mode is Normal 10-bit */
cparata 2:8308cb42bc49 398 shift = 6;
cparata 2:8308cb42bc49 399 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_ENABLED) {
cparata 2:8308cb42bc49 400 /* op mode is HR 12-bit */
cparata 2:8308cb42bc49 401 shift = 4;
cparata 2:8308cb42bc49 402 } else {
cparata 2:8308cb42bc49 403 return 1;
cparata 2:8308cb42bc49 404 }
cparata 2:8308cb42bc49 405
cparata 2:8308cb42bc49 406 /* Read output registers from LSM303AGR_ACC_GYRO_OUTX_L_XL to LSM303AGR_ACC_GYRO_OUTZ_H_XL. */
cparata 2:8308cb42bc49 407 if (!LSM303AGR_ACC_Get_Raw_Acceleration( (void *)this, ( uint8_t* )regValue ))
cparata 2:8308cb42bc49 408 {
cparata 2:8308cb42bc49 409 return 1;
cparata 2:8308cb42bc49 410 }
cparata 2:8308cb42bc49 411
cparata 2:8308cb42bc49 412 /* Format the data. */
cparata 2:8308cb42bc49 413 pData[0] = ( ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] ) >> shift );
cparata 2:8308cb42bc49 414 pData[1] = ( ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] ) >> shift );
cparata 2:8308cb42bc49 415 pData[2] = ( ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] ) >> shift );
cparata 2:8308cb42bc49 416
cparata 2:8308cb42bc49 417 return 0;
cparata 2:8308cb42bc49 418 }
cparata 2:8308cb42bc49 419
cparata 2:8308cb42bc49 420 /**
cparata 2:8308cb42bc49 421 * @brief Read LSM303AGR Accelerometer output data rate
cparata 2:8308cb42bc49 422 * @param odr the pointer to the output data rate
cparata 2:8308cb42bc49 423 * @retval 0 in case of success, an error code otherwise
cparata 2:8308cb42bc49 424 */
cparata 2:8308cb42bc49 425 int LSM303AGR_ACC_Sensor::Get_X_ODR(float* odr)
cparata 2:8308cb42bc49 426 {
cparata 2:8308cb42bc49 427 LSM303AGR_ACC_ODR_t odr_low_level;
cparata 2:8308cb42bc49 428
cparata 2:8308cb42bc49 429 if ( LSM303AGR_ACC_R_ODR( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 2:8308cb42bc49 430 {
cparata 2:8308cb42bc49 431 return 1;
cparata 2:8308cb42bc49 432 }
cparata 2:8308cb42bc49 433
cparata 2:8308cb42bc49 434 switch( odr_low_level )
cparata 2:8308cb42bc49 435 {
cparata 2:8308cb42bc49 436 case LSM303AGR_ACC_ODR_DO_PWR_DOWN:
cparata 2:8308cb42bc49 437 *odr = 0.0f;
cparata 2:8308cb42bc49 438 break;
cparata 2:8308cb42bc49 439 case LSM303AGR_ACC_ODR_DO_1Hz:
cparata 2:8308cb42bc49 440 *odr = 1.0f;
cparata 2:8308cb42bc49 441 break;
cparata 2:8308cb42bc49 442 case LSM303AGR_ACC_ODR_DO_10Hz:
cparata 2:8308cb42bc49 443 *odr = 10.0f;
cparata 2:8308cb42bc49 444 break;
cparata 2:8308cb42bc49 445 case LSM303AGR_ACC_ODR_DO_25Hz:
cparata 2:8308cb42bc49 446 *odr = 25.0f;
cparata 2:8308cb42bc49 447 break;
cparata 2:8308cb42bc49 448 case LSM303AGR_ACC_ODR_DO_50Hz:
cparata 2:8308cb42bc49 449 *odr = 50.0f;
cparata 2:8308cb42bc49 450 break;
cparata 2:8308cb42bc49 451 case LSM303AGR_ACC_ODR_DO_100Hz:
cparata 2:8308cb42bc49 452 *odr = 100.0f;
cparata 2:8308cb42bc49 453 break;
cparata 2:8308cb42bc49 454 case LSM303AGR_ACC_ODR_DO_200Hz:
cparata 2:8308cb42bc49 455 *odr = 200.0f;
cparata 2:8308cb42bc49 456 break;
cparata 2:8308cb42bc49 457 case LSM303AGR_ACC_ODR_DO_400Hz:
cparata 2:8308cb42bc49 458 *odr = 400.0f;
cparata 2:8308cb42bc49 459 break;
cparata 2:8308cb42bc49 460 default:
cparata 2:8308cb42bc49 461 *odr = -1.0f;
cparata 2:8308cb42bc49 462 return 1;
cparata 2:8308cb42bc49 463 }
cparata 2:8308cb42bc49 464
cparata 2:8308cb42bc49 465 return 0;
cparata 2:8308cb42bc49 466 }
cparata 2:8308cb42bc49 467
cparata 2:8308cb42bc49 468 /**
cparata 2:8308cb42bc49 469 * @brief Set ODR
cparata 2:8308cb42bc49 470 * @param odr the output data rate to be set
cparata 2:8308cb42bc49 471 * @retval 0 in case of success, an error code otherwise
cparata 2:8308cb42bc49 472 */
cparata 2:8308cb42bc49 473 int LSM303AGR_ACC_Sensor::Set_X_ODR(float odr)
cparata 2:8308cb42bc49 474 {
cparata 2:8308cb42bc49 475 if(isEnabled == 1)
cparata 2:8308cb42bc49 476 {
cparata 2:8308cb42bc49 477 if(Set_X_ODR_When_Enabled(odr) == 1)
cparata 2:8308cb42bc49 478 {
cparata 2:8308cb42bc49 479 return 1;
cparata 2:8308cb42bc49 480 }
cparata 2:8308cb42bc49 481 }
cparata 2:8308cb42bc49 482 else
cparata 2:8308cb42bc49 483 {
cparata 2:8308cb42bc49 484 if(Set_X_ODR_When_Disabled(odr) == 1)
cparata 2:8308cb42bc49 485 {
cparata 2:8308cb42bc49 486 return 1;
cparata 2:8308cb42bc49 487 }
cparata 2:8308cb42bc49 488 }
cparata 2:8308cb42bc49 489
cparata 2:8308cb42bc49 490 return 0;
cparata 2:8308cb42bc49 491 }
cparata 2:8308cb42bc49 492
cparata 2:8308cb42bc49 493 /**
cparata 2:8308cb42bc49 494 * @brief Set ODR when enabled
cparata 2:8308cb42bc49 495 * @param odr the output data rate to be set
cparata 2:8308cb42bc49 496 * @retval 0 in case of success, an error code otherwise
cparata 2:8308cb42bc49 497 */
cparata 2:8308cb42bc49 498 int LSM303AGR_ACC_Sensor::Set_X_ODR_When_Enabled(float odr)
cparata 2:8308cb42bc49 499 {
cparata 2:8308cb42bc49 500 LSM303AGR_ACC_ODR_t new_odr;
cparata 2:8308cb42bc49 501
cparata 2:8308cb42bc49 502 new_odr = ( odr <= 1.0f ) ? LSM303AGR_ACC_ODR_DO_1Hz
cparata 2:8308cb42bc49 503 : ( odr <= 10.0f ) ? LSM303AGR_ACC_ODR_DO_10Hz
cparata 2:8308cb42bc49 504 : ( odr <= 25.0f ) ? LSM303AGR_ACC_ODR_DO_25Hz
cparata 2:8308cb42bc49 505 : ( odr <= 50.0f ) ? LSM303AGR_ACC_ODR_DO_50Hz
cparata 2:8308cb42bc49 506 : ( odr <= 100.0f ) ? LSM303AGR_ACC_ODR_DO_100Hz
cparata 2:8308cb42bc49 507 : ( odr <= 200.0f ) ? LSM303AGR_ACC_ODR_DO_200Hz
cparata 2:8308cb42bc49 508 : LSM303AGR_ACC_ODR_DO_400Hz;
cparata 2:8308cb42bc49 509
cparata 2:8308cb42bc49 510 if ( LSM303AGR_ACC_W_ODR( (void *)this, new_odr ) == MEMS_ERROR )
cparata 2:8308cb42bc49 511 {
cparata 2:8308cb42bc49 512 return 1;
cparata 2:8308cb42bc49 513 }
cparata 2:8308cb42bc49 514
cparata 2:8308cb42bc49 515 return 0;
cparata 2:8308cb42bc49 516 }
cparata 2:8308cb42bc49 517
cparata 2:8308cb42bc49 518 /**
cparata 2:8308cb42bc49 519 * @brief Set ODR when disabled
cparata 2:8308cb42bc49 520 * @param odr the output data rate to be set
cparata 2:8308cb42bc49 521 * @retval 0 in case of success, an error code otherwise
cparata 2:8308cb42bc49 522 */
cparata 2:8308cb42bc49 523 int LSM303AGR_ACC_Sensor::Set_X_ODR_When_Disabled(float odr)
cparata 2:8308cb42bc49 524 {
cparata 2:8308cb42bc49 525 Last_ODR = ( odr <= 1.0f ) ? 1.0f
cparata 2:8308cb42bc49 526 : ( odr <= 10.0f ) ? 10.0f
cparata 2:8308cb42bc49 527 : ( odr <= 25.0f ) ? 25.0f
cparata 2:8308cb42bc49 528 : ( odr <= 50.0f ) ? 50.0f
cparata 2:8308cb42bc49 529 : ( odr <= 100.0f ) ? 100.0f
cparata 2:8308cb42bc49 530 : ( odr <= 200.0f ) ? 200.0f
cparata 2:8308cb42bc49 531 : 400.0f;
cparata 2:8308cb42bc49 532
cparata 2:8308cb42bc49 533 return 0;
cparata 2:8308cb42bc49 534 }
cparata 2:8308cb42bc49 535
cparata 2:8308cb42bc49 536
cparata 2:8308cb42bc49 537 /**
cparata 2:8308cb42bc49 538 * @brief Read LSM303AGR Accelerometer full scale
cparata 2:8308cb42bc49 539 * @param fullScale the pointer to the full scale
cparata 2:8308cb42bc49 540 * @retval 0 in case of success, an error code otherwise
cparata 2:8308cb42bc49 541 */
cparata 2:8308cb42bc49 542 int LSM303AGR_ACC_Sensor::Get_X_FS(float* fullScale)
cparata 2:8308cb42bc49 543 {
cparata 2:8308cb42bc49 544 LSM303AGR_ACC_FS_t fs_low_level;
cparata 2:8308cb42bc49 545
cparata 2:8308cb42bc49 546 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata 2:8308cb42bc49 547 {
cparata 2:8308cb42bc49 548 return 1;
cparata 2:8308cb42bc49 549 }
cparata 2:8308cb42bc49 550
cparata 2:8308cb42bc49 551 switch( fs_low_level )
cparata 2:8308cb42bc49 552 {
cparata 2:8308cb42bc49 553 case LSM303AGR_ACC_FS_2G:
cparata 2:8308cb42bc49 554 *fullScale = 2.0f;
cparata 2:8308cb42bc49 555 break;
cparata 2:8308cb42bc49 556 case LSM303AGR_ACC_FS_4G:
cparata 2:8308cb42bc49 557 *fullScale = 4.0f;
cparata 2:8308cb42bc49 558 break;
cparata 2:8308cb42bc49 559 case LSM303AGR_ACC_FS_8G:
cparata 2:8308cb42bc49 560 *fullScale = 8.0f;
cparata 2:8308cb42bc49 561 break;
cparata 2:8308cb42bc49 562 case LSM303AGR_ACC_FS_16G:
cparata 2:8308cb42bc49 563 *fullScale = 16.0f;
cparata 2:8308cb42bc49 564 break;
cparata 2:8308cb42bc49 565 default:
cparata 2:8308cb42bc49 566 *fullScale = -1.0f;
cparata 2:8308cb42bc49 567 return 1;
cparata 2:8308cb42bc49 568 }
cparata 2:8308cb42bc49 569
cparata 2:8308cb42bc49 570 return 0;
cparata 2:8308cb42bc49 571 }
cparata 2:8308cb42bc49 572
cparata 2:8308cb42bc49 573 /**
cparata 2:8308cb42bc49 574 * @brief Set full scale
cparata 2:8308cb42bc49 575 * @param fullScale the full scale to be set
cparata 2:8308cb42bc49 576 * @retval 0 in case of success, an error code otherwise
cparata 2:8308cb42bc49 577 */
cparata 2:8308cb42bc49 578 int LSM303AGR_ACC_Sensor::Set_X_FS(float fullScale)
cparata 2:8308cb42bc49 579 {
cparata 2:8308cb42bc49 580 LSM303AGR_ACC_FS_t new_fs;
cparata 2:8308cb42bc49 581
cparata 2:8308cb42bc49 582 new_fs = ( fullScale <= 2.0f ) ? LSM303AGR_ACC_FS_2G
cparata 2:8308cb42bc49 583 : ( fullScale <= 4.0f ) ? LSM303AGR_ACC_FS_4G
cparata 2:8308cb42bc49 584 : ( fullScale <= 8.0f ) ? LSM303AGR_ACC_FS_8G
cparata 2:8308cb42bc49 585 : LSM303AGR_ACC_FS_16G;
cparata 2:8308cb42bc49 586
cparata 2:8308cb42bc49 587 if ( LSM303AGR_ACC_W_FullScale( (void *)this, new_fs ) == MEMS_ERROR )
cparata 2:8308cb42bc49 588 {
cparata 2:8308cb42bc49 589 return 1;
cparata 2:8308cb42bc49 590 }
cparata 2:8308cb42bc49 591
cparata 2:8308cb42bc49 592 return 0;
cparata 2:8308cb42bc49 593 }
cparata 2:8308cb42bc49 594
cparata 2:8308cb42bc49 595 /**
cparata 2:8308cb42bc49 596 * @brief Read accelerometer data from register
cparata 2:8308cb42bc49 597 * @param reg register address
cparata 2:8308cb42bc49 598 * @param data register data
cparata 2:8308cb42bc49 599 * @retval 0 in case of success
cparata 2:8308cb42bc49 600 * @retval 1 in case of failure
cparata 2:8308cb42bc49 601 */
cparata 2:8308cb42bc49 602 int LSM303AGR_ACC_Sensor::ReadReg( uint8_t reg, uint8_t *data )
cparata 2:8308cb42bc49 603 {
cparata 2:8308cb42bc49 604
cparata 2:8308cb42bc49 605 if ( LSM303AGR_ACC_ReadReg( (void *)this, reg, data ) == MEMS_ERROR )
cparata 2:8308cb42bc49 606 {
cparata 2:8308cb42bc49 607 return 1;
cparata 2:8308cb42bc49 608 }
cparata 2:8308cb42bc49 609
cparata 2:8308cb42bc49 610 return 0;
cparata 2:8308cb42bc49 611 }
cparata 2:8308cb42bc49 612
cparata 2:8308cb42bc49 613 /**
cparata 2:8308cb42bc49 614 * @brief Write accelerometer data to register
cparata 2:8308cb42bc49 615 * @param reg register address
cparata 2:8308cb42bc49 616 * @param data register data
cparata 2:8308cb42bc49 617 * @retval 0 in case of success
cparata 2:8308cb42bc49 618 * @retval 1 in case of failure
cparata 2:8308cb42bc49 619 */
cparata 2:8308cb42bc49 620 int LSM303AGR_ACC_Sensor::WriteReg( uint8_t reg, uint8_t data )
cparata 2:8308cb42bc49 621 {
cparata 2:8308cb42bc49 622
cparata 2:8308cb42bc49 623 if ( LSM303AGR_ACC_WriteReg( (void *)this, reg, data ) == MEMS_ERROR )
cparata 2:8308cb42bc49 624 {
cparata 2:8308cb42bc49 625 return 1;
cparata 2:8308cb42bc49 626 }
cparata 2:8308cb42bc49 627
cparata 2:8308cb42bc49 628 return 0;
cparata 2:8308cb42bc49 629 }
cparata 2:8308cb42bc49 630
cparata 2:8308cb42bc49 631 uint8_t LSM303AGR_ACC_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
cparata 2:8308cb42bc49 632 {
cparata 2:8308cb42bc49 633 return ((LSM303AGR_ACC_Sensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata 2:8308cb42bc49 634 }
cparata 2:8308cb42bc49 635
cparata 2:8308cb42bc49 636 uint8_t LSM303AGR_ACC_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
cparata 2:8308cb42bc49 637 {
cparata 2:8308cb42bc49 638 return ((LSM303AGR_ACC_Sensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata 2:8308cb42bc49 639 }