ST / Mbed 2 deprecated HelloWorld_IKS01A2

Example of hello world for X-NUCLEO-IKS01A2

Dependencies:   X_NUCLEO_IKS01A2 mbed

Fork of HelloWorld_IKS01A2 by ST Expansion SW Team

Hello World Demo Application based on sensor expansion board X-NUCLEO-IKS01A2

Main function is to show how to get humidity, temperature, pressure, accelerometer, magnetomer and gyroscope data using the sensor expansion board and send them using UART to a connected PC or Desktop and display it on terminal applications like TeraTerm.

X_NUCLEO_IKS01A2/Components/LSM303AGRSensor/LSM303AGR_ACC_Sensor.cpp@0:69566eea0fba, 2016-08-12 (annotated)

Committer:
cparata
Date:
Fri Aug 12 13:40:12 2016 +0000
Revision:
0:69566eea0fba
Child:
2:f23b144da50a
First release of Hello World for IKS01A2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 0:69566eea0fba 1 /**
cparata 0:69566eea0fba 2 ******************************************************************************
cparata 0:69566eea0fba 3 * @file LSM303AGR_ACC_Sensor.cpp
cparata 0:69566eea0fba 4 * @author AST
cparata 0:69566eea0fba 5 * @version V1.0.0
cparata 0:69566eea0fba 6 * @date 5 August 2016
cparata 0:69566eea0fba 7 * @brief Implementation an LSM303AGR accelerometer sensor.
cparata 0:69566eea0fba 8 ******************************************************************************
cparata 0:69566eea0fba 9 * @attention
cparata 0:69566eea0fba 10 *
cparata 0:69566eea0fba 11 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 0:69566eea0fba 12 *
cparata 0:69566eea0fba 13 * Redistribution and use in source and binary forms, with or without modification,
cparata 0:69566eea0fba 14 * are permitted provided that the following conditions are met:
cparata 0:69566eea0fba 15 * 1. Redistributions of source code must retain the above copyright notice,
cparata 0:69566eea0fba 16 * this list of conditions and the following disclaimer.
cparata 0:69566eea0fba 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 0:69566eea0fba 18 * this list of conditions and the following disclaimer in the documentation
cparata 0:69566eea0fba 19 * and/or other materials provided with the distribution.
cparata 0:69566eea0fba 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 0:69566eea0fba 21 * may be used to endorse or promote products derived from this software
cparata 0:69566eea0fba 22 * without specific prior written permission.
cparata 0:69566eea0fba 23 *
cparata 0:69566eea0fba 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 0:69566eea0fba 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 0:69566eea0fba 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 0:69566eea0fba 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 0:69566eea0fba 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 0:69566eea0fba 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 0:69566eea0fba 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 0:69566eea0fba 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 0:69566eea0fba 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 0:69566eea0fba 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 0:69566eea0fba 34 *
cparata 0:69566eea0fba 35 ******************************************************************************
cparata 0:69566eea0fba 36 */
cparata 0:69566eea0fba 37
cparata 0:69566eea0fba 38
cparata 0:69566eea0fba 39 /* Includes ------------------------------------------------------------------*/
cparata 0:69566eea0fba 40
cparata 0:69566eea0fba 41 #include "DevI2C.h"
cparata 0:69566eea0fba 42 #include "LSM303AGR_ACC_Sensor.h"
cparata 0:69566eea0fba 43 #include "LSM303AGR_ACC_driver.h"
cparata 0:69566eea0fba 44
cparata 0:69566eea0fba 45
cparata 0:69566eea0fba 46 /* Class Implementation ------------------------------------------------------*/
cparata 0:69566eea0fba 47
cparata 0:69566eea0fba 48 /** Constructor
cparata 0:69566eea0fba 49 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:69566eea0fba 50 * @param address the address of the component's instance
cparata 0:69566eea0fba 51 */
cparata 0:69566eea0fba 52 LSM303AGR_ACC_Sensor::LSM303AGR_ACC_Sensor(DevI2C &i2c) : dev_i2c(i2c)
cparata 0:69566eea0fba 53 {
cparata 0:69566eea0fba 54 address = LSM303AGR_ACC_I2C_ADDRESS;
cparata 0:69566eea0fba 55
cparata 0:69566eea0fba 56 /* Enable BDU */
cparata 0:69566eea0fba 57 if ( LSM303AGR_ACC_W_BlockDataUpdate( (void *)this, LSM303AGR_ACC_BDU_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 58 {
cparata 0:69566eea0fba 59 return;
cparata 0:69566eea0fba 60 }
cparata 0:69566eea0fba 61
cparata 0:69566eea0fba 62 /* FIFO mode selection */
cparata 0:69566eea0fba 63 if ( LSM303AGR_ACC_W_FifoMode( (void *)this, LSM303AGR_ACC_FM_BYPASS ) == MEMS_ERROR )
cparata 0:69566eea0fba 64 {
cparata 0:69566eea0fba 65 return;
cparata 0:69566eea0fba 66 }
cparata 0:69566eea0fba 67
cparata 0:69566eea0fba 68 /* Output data rate selection - power down. */
cparata 0:69566eea0fba 69 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
cparata 0:69566eea0fba 70 {
cparata 0:69566eea0fba 71 return;
cparata 0:69566eea0fba 72 }
cparata 0:69566eea0fba 73
cparata 0:69566eea0fba 74 /* Full scale selection. */
cparata 0:69566eea0fba 75 if ( SetFS( 2.0f ) == LSM303AGR_ACC_STATUS_ERROR )
cparata 0:69566eea0fba 76 {
cparata 0:69566eea0fba 77 return;
cparata 0:69566eea0fba 78 }
cparata 0:69566eea0fba 79
cparata 0:69566eea0fba 80 /* Enable axes. */
cparata 0:69566eea0fba 81 if ( LSM303AGR_ACC_W_XEN( (void *)this, LSM303AGR_ACC_XEN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 82 {
cparata 0:69566eea0fba 83 return;
cparata 0:69566eea0fba 84 }
cparata 0:69566eea0fba 85
cparata 0:69566eea0fba 86 if ( LSM303AGR_ACC_W_YEN ( (void *)this, LSM303AGR_ACC_YEN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 87 {
cparata 0:69566eea0fba 88 return;
cparata 0:69566eea0fba 89 }
cparata 0:69566eea0fba 90
cparata 0:69566eea0fba 91 if ( LSM303AGR_ACC_W_ZEN ( (void *)this, LSM303AGR_ACC_ZEN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 92 {
cparata 0:69566eea0fba 93 return;
cparata 0:69566eea0fba 94 }
cparata 0:69566eea0fba 95
cparata 0:69566eea0fba 96 /* Select default output data rate. */
cparata 0:69566eea0fba 97 Last_ODR = 100.0f;
cparata 0:69566eea0fba 98
cparata 0:69566eea0fba 99 isEnabled = 0;
cparata 0:69566eea0fba 100 };
cparata 0:69566eea0fba 101
cparata 0:69566eea0fba 102 /** Constructor
cparata 0:69566eea0fba 103 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:69566eea0fba 104 * @param address the address of the component's instance
cparata 0:69566eea0fba 105 */
cparata 0:69566eea0fba 106 LSM303AGR_ACC_Sensor::LSM303AGR_ACC_Sensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
cparata 0:69566eea0fba 107 {
cparata 0:69566eea0fba 108 /* Enable BDU */
cparata 0:69566eea0fba 109 if ( LSM303AGR_ACC_W_BlockDataUpdate( (void *)this, LSM303AGR_ACC_BDU_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 110 {
cparata 0:69566eea0fba 111 return;
cparata 0:69566eea0fba 112 }
cparata 0:69566eea0fba 113
cparata 0:69566eea0fba 114 /* FIFO mode selection */
cparata 0:69566eea0fba 115 if ( LSM303AGR_ACC_W_FifoMode( (void *)this, LSM303AGR_ACC_FM_BYPASS ) == MEMS_ERROR )
cparata 0:69566eea0fba 116 {
cparata 0:69566eea0fba 117 return;
cparata 0:69566eea0fba 118 }
cparata 0:69566eea0fba 119
cparata 0:69566eea0fba 120 /* Output data rate selection - power down. */
cparata 0:69566eea0fba 121 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
cparata 0:69566eea0fba 122 {
cparata 0:69566eea0fba 123 return;
cparata 0:69566eea0fba 124 }
cparata 0:69566eea0fba 125
cparata 0:69566eea0fba 126 /* Full scale selection. */
cparata 0:69566eea0fba 127 if ( SetFS( 2.0f ) == LSM303AGR_ACC_STATUS_ERROR )
cparata 0:69566eea0fba 128 {
cparata 0:69566eea0fba 129 return;
cparata 0:69566eea0fba 130 }
cparata 0:69566eea0fba 131
cparata 0:69566eea0fba 132 /* Enable axes. */
cparata 0:69566eea0fba 133 if ( LSM303AGR_ACC_W_XEN( (void *)this, LSM303AGR_ACC_XEN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 134 {
cparata 0:69566eea0fba 135 return;
cparata 0:69566eea0fba 136 }
cparata 0:69566eea0fba 137
cparata 0:69566eea0fba 138 if ( LSM303AGR_ACC_W_YEN ( (void *)this, LSM303AGR_ACC_YEN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 139 {
cparata 0:69566eea0fba 140 return;
cparata 0:69566eea0fba 141 }
cparata 0:69566eea0fba 142
cparata 0:69566eea0fba 143 if ( LSM303AGR_ACC_W_ZEN ( (void *)this, LSM303AGR_ACC_ZEN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 144 {
cparata 0:69566eea0fba 145 return;
cparata 0:69566eea0fba 146 }
cparata 0:69566eea0fba 147
cparata 0:69566eea0fba 148 /* Select default output data rate. */
cparata 0:69566eea0fba 149 Last_ODR = 100.0f;
cparata 0:69566eea0fba 150
cparata 0:69566eea0fba 151 isEnabled = 0;
cparata 0:69566eea0fba 152 };
cparata 0:69566eea0fba 153
cparata 0:69566eea0fba 154 /**
cparata 0:69566eea0fba 155 * @brief Enable LSM303AGR Accelerator
cparata 0:69566eea0fba 156 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 157 */
cparata 0:69566eea0fba 158 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::Enable(void)
cparata 0:69566eea0fba 159 {
cparata 0:69566eea0fba 160 /* Check if the component is already enabled */
cparata 0:69566eea0fba 161 if ( isEnabled == 1 )
cparata 0:69566eea0fba 162 {
cparata 0:69566eea0fba 163 return LSM303AGR_ACC_STATUS_OK;
cparata 0:69566eea0fba 164 }
cparata 0:69566eea0fba 165
cparata 0:69566eea0fba 166 /* Output data rate selection. */
cparata 0:69566eea0fba 167 if ( SetODR_When_Enabled( Last_ODR ) == LSM303AGR_ACC_STATUS_ERROR )
cparata 0:69566eea0fba 168 {
cparata 0:69566eea0fba 169 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 170 }
cparata 0:69566eea0fba 171
cparata 0:69566eea0fba 172 isEnabled = 1;
cparata 0:69566eea0fba 173
cparata 0:69566eea0fba 174 return LSM303AGR_ACC_STATUS_OK;
cparata 0:69566eea0fba 175 }
cparata 0:69566eea0fba 176
cparata 0:69566eea0fba 177 /**
cparata 0:69566eea0fba 178 * @brief Disable LSM303AGR Accelerator
cparata 0:69566eea0fba 179 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 180 */
cparata 0:69566eea0fba 181 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::Disable(void)
cparata 0:69566eea0fba 182 {
cparata 0:69566eea0fba 183 /* Check if the component is already disabled */
cparata 0:69566eea0fba 184 if ( isEnabled == 0 )
cparata 0:69566eea0fba 185 {
cparata 0:69566eea0fba 186 return LSM303AGR_ACC_STATUS_OK;
cparata 0:69566eea0fba 187 }
cparata 0:69566eea0fba 188
cparata 0:69566eea0fba 189 /* Store actual output data rate. */
cparata 0:69566eea0fba 190 if ( GetODR( &Last_ODR ) == LSM303AGR_ACC_STATUS_ERROR )
cparata 0:69566eea0fba 191 {
cparata 0:69566eea0fba 192 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 193 }
cparata 0:69566eea0fba 194
cparata 0:69566eea0fba 195 /* Output data rate selection - power down. */
cparata 0:69566eea0fba 196 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
cparata 0:69566eea0fba 197 {
cparata 0:69566eea0fba 198 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 199 }
cparata 0:69566eea0fba 200
cparata 0:69566eea0fba 201 isEnabled = 0;
cparata 0:69566eea0fba 202
cparata 0:69566eea0fba 203 return LSM303AGR_ACC_STATUS_OK;
cparata 0:69566eea0fba 204 }
cparata 0:69566eea0fba 205
cparata 0:69566eea0fba 206 /**
cparata 0:69566eea0fba 207 * @brief Read ID of LSM303AGR Accelerometer
cparata 0:69566eea0fba 208 * @param p_id the pointer where the ID of the device is stored
cparata 0:69566eea0fba 209 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 210 */
cparata 0:69566eea0fba 211 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::ReadID(uint8_t *p_id)
cparata 0:69566eea0fba 212 {
cparata 0:69566eea0fba 213 if(!p_id)
cparata 0:69566eea0fba 214 {
cparata 0:69566eea0fba 215 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 216 }
cparata 0:69566eea0fba 217
cparata 0:69566eea0fba 218 /* Read WHO AM I register */
cparata 0:69566eea0fba 219 if ( LSM303AGR_ACC_R_WHO_AM_I( (void *)this, p_id ) == MEMS_ERROR )
cparata 0:69566eea0fba 220 {
cparata 0:69566eea0fba 221 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 222 }
cparata 0:69566eea0fba 223
cparata 0:69566eea0fba 224 return LSM303AGR_ACC_STATUS_OK;
cparata 0:69566eea0fba 225 }
cparata 0:69566eea0fba 226
cparata 0:69566eea0fba 227 /**
cparata 0:69566eea0fba 228 * @brief Read data from LSM303AGR Accelerometer
cparata 0:69566eea0fba 229 * @param pData the pointer where the accelerometer data are stored
cparata 0:69566eea0fba 230 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 231 */
cparata 0:69566eea0fba 232 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetAxes(int32_t *pData)
cparata 0:69566eea0fba 233 {
cparata 0:69566eea0fba 234 int data[3];
cparata 0:69566eea0fba 235
cparata 0:69566eea0fba 236 /* Read data from LSM303AGR. */
cparata 0:69566eea0fba 237 if ( !LSM303AGR_ACC_Get_Acceleration((void *)this, data) )
cparata 0:69566eea0fba 238 {
cparata 0:69566eea0fba 239 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 240 }
cparata 0:69566eea0fba 241
cparata 0:69566eea0fba 242 /* Calculate the data. */
cparata 0:69566eea0fba 243 pData[0] = (int32_t)data[0];
cparata 0:69566eea0fba 244 pData[1] = (int32_t)data[1];
cparata 0:69566eea0fba 245 pData[2] = (int32_t)data[2];
cparata 0:69566eea0fba 246
cparata 0:69566eea0fba 247 return LSM303AGR_ACC_STATUS_OK;
cparata 0:69566eea0fba 248 }
cparata 0:69566eea0fba 249
cparata 0:69566eea0fba 250 /**
cparata 0:69566eea0fba 251 * @brief Read Accelerometer Sensitivity
cparata 0:69566eea0fba 252 * @param pfData the pointer where the accelerometer sensitivity is stored
cparata 0:69566eea0fba 253 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 254 */
cparata 0:69566eea0fba 255 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetSensitivity(float *pfData)
cparata 0:69566eea0fba 256 {
cparata 0:69566eea0fba 257 LSM303AGR_ACC_LPEN_t lp_value;
cparata 0:69566eea0fba 258 LSM303AGR_ACC_HR_t hr_value;
cparata 0:69566eea0fba 259
cparata 0:69566eea0fba 260 /* Read low power flag */
cparata 0:69566eea0fba 261 if( LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp_value ) == MEMS_ERROR )
cparata 0:69566eea0fba 262 {
cparata 0:69566eea0fba 263 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 264 }
cparata 0:69566eea0fba 265
cparata 0:69566eea0fba 266 /* Read high performance flag */
cparata 0:69566eea0fba 267 if( LSM303AGR_ACC_R_HiRes( (void *)this, &hr_value ) == MEMS_ERROR )
cparata 0:69566eea0fba 268 {
cparata 0:69566eea0fba 269 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 270 }
cparata 0:69566eea0fba 271
cparata 0:69566eea0fba 272 if( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
cparata 0:69566eea0fba 273 {
cparata 0:69566eea0fba 274 /* Normal Mode */
cparata 0:69566eea0fba 275 return GetSensitivity_Normal_Mode( pfData );
cparata 0:69566eea0fba 276 } else if ( lp_value == LSM303AGR_ACC_LPEN_ENABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
cparata 0:69566eea0fba 277 {
cparata 0:69566eea0fba 278 /* Low Power Mode */
cparata 0:69566eea0fba 279 return GetSensitivity_LP_Mode( pfData );
cparata 0:69566eea0fba 280 } else if ( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_ENABLED )
cparata 0:69566eea0fba 281 {
cparata 0:69566eea0fba 282 /* High Resolution Mode */
cparata 0:69566eea0fba 283 return GetSensitivity_HR_Mode( pfData );
cparata 0:69566eea0fba 284 } else
cparata 0:69566eea0fba 285 {
cparata 0:69566eea0fba 286 /* Not allowed */
cparata 0:69566eea0fba 287 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 288 }
cparata 0:69566eea0fba 289 }
cparata 0:69566eea0fba 290
cparata 0:69566eea0fba 291 /**
cparata 0:69566eea0fba 292 * @brief Read Accelerometer Sensitivity in Normal Mode
cparata 0:69566eea0fba 293 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 0:69566eea0fba 294 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 295 */
cparata 0:69566eea0fba 296 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetSensitivity_Normal_Mode( float *sensitivity )
cparata 0:69566eea0fba 297 {
cparata 0:69566eea0fba 298 LSM303AGR_ACC_FS_t fullScale;
cparata 0:69566eea0fba 299
cparata 0:69566eea0fba 300 /* Read actual full scale selection from sensor. */
cparata 0:69566eea0fba 301 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:69566eea0fba 302 {
cparata 0:69566eea0fba 303 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 304 }
cparata 0:69566eea0fba 305
cparata 0:69566eea0fba 306 /* Store the sensitivity based on actual full scale. */
cparata 0:69566eea0fba 307 switch( fullScale )
cparata 0:69566eea0fba 308 {
cparata 0:69566eea0fba 309 case LSM303AGR_ACC_FS_2G:
cparata 0:69566eea0fba 310 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_NORMAL_MODE;
cparata 0:69566eea0fba 311 break;
cparata 0:69566eea0fba 312 case LSM303AGR_ACC_FS_4G:
cparata 0:69566eea0fba 313 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_NORMAL_MODE;
cparata 0:69566eea0fba 314 break;
cparata 0:69566eea0fba 315 case LSM303AGR_ACC_FS_8G:
cparata 0:69566eea0fba 316 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_NORMAL_MODE;
cparata 0:69566eea0fba 317 break;
cparata 0:69566eea0fba 318 case LSM303AGR_ACC_FS_16G:
cparata 0:69566eea0fba 319 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_NORMAL_MODE;
cparata 0:69566eea0fba 320 break;
cparata 0:69566eea0fba 321 default:
cparata 0:69566eea0fba 322 *sensitivity = -1.0f;
cparata 0:69566eea0fba 323 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 324 }
cparata 0:69566eea0fba 325
cparata 0:69566eea0fba 326 return LSM303AGR_ACC_STATUS_OK;
cparata 0:69566eea0fba 327 }
cparata 0:69566eea0fba 328
cparata 0:69566eea0fba 329 /**
cparata 0:69566eea0fba 330 * @brief Read Accelerometer Sensitivity in LP Mode
cparata 0:69566eea0fba 331 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 0:69566eea0fba 332 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 333 */
cparata 0:69566eea0fba 334 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetSensitivity_LP_Mode( float *sensitivity )
cparata 0:69566eea0fba 335 {
cparata 0:69566eea0fba 336 LSM303AGR_ACC_FS_t fullScale;
cparata 0:69566eea0fba 337
cparata 0:69566eea0fba 338 /* Read actual full scale selection from sensor. */
cparata 0:69566eea0fba 339 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:69566eea0fba 340 {
cparata 0:69566eea0fba 341 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 342 }
cparata 0:69566eea0fba 343
cparata 0:69566eea0fba 344 /* Store the sensitivity based on actual full scale. */
cparata 0:69566eea0fba 345 switch( fullScale )
cparata 0:69566eea0fba 346 {
cparata 0:69566eea0fba 347 case LSM303AGR_ACC_FS_2G:
cparata 0:69566eea0fba 348 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_LOW_POWER_MODE;
cparata 0:69566eea0fba 349 break;
cparata 0:69566eea0fba 350 case LSM303AGR_ACC_FS_4G:
cparata 0:69566eea0fba 351 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_LOW_POWER_MODE;
cparata 0:69566eea0fba 352 break;
cparata 0:69566eea0fba 353 case LSM303AGR_ACC_FS_8G:
cparata 0:69566eea0fba 354 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_LOW_POWER_MODE;
cparata 0:69566eea0fba 355 break;
cparata 0:69566eea0fba 356 case LSM303AGR_ACC_FS_16G:
cparata 0:69566eea0fba 357 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_LOW_POWER_MODE;
cparata 0:69566eea0fba 358 break;
cparata 0:69566eea0fba 359 default:
cparata 0:69566eea0fba 360 *sensitivity = -1.0f;
cparata 0:69566eea0fba 361 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 362 }
cparata 0:69566eea0fba 363
cparata 0:69566eea0fba 364 return LSM303AGR_ACC_STATUS_OK;
cparata 0:69566eea0fba 365 }
cparata 0:69566eea0fba 366
cparata 0:69566eea0fba 367 /**
cparata 0:69566eea0fba 368 * @brief Read Accelerometer Sensitivity in HR Mode
cparata 0:69566eea0fba 369 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 0:69566eea0fba 370 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 371 */
cparata 0:69566eea0fba 372 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetSensitivity_HR_Mode( float *sensitivity )
cparata 0:69566eea0fba 373 {
cparata 0:69566eea0fba 374 LSM303AGR_ACC_FS_t fullScale;
cparata 0:69566eea0fba 375
cparata 0:69566eea0fba 376 /* Read actual full scale selection from sensor. */
cparata 0:69566eea0fba 377 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:69566eea0fba 378 {
cparata 0:69566eea0fba 379 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 380 }
cparata 0:69566eea0fba 381
cparata 0:69566eea0fba 382 /* Store the sensitivity based on actual full scale. */
cparata 0:69566eea0fba 383 switch( fullScale )
cparata 0:69566eea0fba 384 {
cparata 0:69566eea0fba 385 case LSM303AGR_ACC_FS_2G:
cparata 0:69566eea0fba 386 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_HIGH_RESOLUTION_MODE;
cparata 0:69566eea0fba 387 break;
cparata 0:69566eea0fba 388 case LSM303AGR_ACC_FS_4G:
cparata 0:69566eea0fba 389 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_HIGH_RESOLUTION_MODE;
cparata 0:69566eea0fba 390 break;
cparata 0:69566eea0fba 391 case LSM303AGR_ACC_FS_8G:
cparata 0:69566eea0fba 392 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_HIGH_RESOLUTION_MODE;
cparata 0:69566eea0fba 393 break;
cparata 0:69566eea0fba 394 case LSM303AGR_ACC_FS_16G:
cparata 0:69566eea0fba 395 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_HIGH_RESOLUTION_MODE;
cparata 0:69566eea0fba 396 break;
cparata 0:69566eea0fba 397 default:
cparata 0:69566eea0fba 398 *sensitivity = -1.0f;
cparata 0:69566eea0fba 399 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 400 }
cparata 0:69566eea0fba 401
cparata 0:69566eea0fba 402 return LSM303AGR_ACC_STATUS_OK;
cparata 0:69566eea0fba 403 }
cparata 0:69566eea0fba 404
cparata 0:69566eea0fba 405 /**
cparata 0:69566eea0fba 406 * @brief Read raw data from LSM303AGR Accelerometer
cparata 0:69566eea0fba 407 * @param pData the pointer where the accelerometer raw data are stored
cparata 0:69566eea0fba 408 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 409 */
cparata 0:69566eea0fba 410 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetAxesRaw(int16_t *pData)
cparata 0:69566eea0fba 411 {
cparata 0:69566eea0fba 412 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 0:69566eea0fba 413 u8_t shift = 0;
cparata 0:69566eea0fba 414 LSM303AGR_ACC_LPEN_t lp;
cparata 0:69566eea0fba 415 LSM303AGR_ACC_HR_t hr;
cparata 0:69566eea0fba 416
cparata 0:69566eea0fba 417 /* Determine which operational mode the acc is set */
cparata 0:69566eea0fba 418 if(!LSM303AGR_ACC_R_HiRes( (void *)this, &hr )) {
cparata 0:69566eea0fba 419 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 420 }
cparata 0:69566eea0fba 421
cparata 0:69566eea0fba 422 if(!LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp )) {
cparata 0:69566eea0fba 423 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 424 }
cparata 0:69566eea0fba 425
cparata 0:69566eea0fba 426 if (lp == LSM303AGR_ACC_LPEN_ENABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
cparata 0:69566eea0fba 427 /* op mode is LP 8-bit */
cparata 0:69566eea0fba 428 shift = 8;
cparata 0:69566eea0fba 429 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
cparata 0:69566eea0fba 430 /* op mode is Normal 10-bit */
cparata 0:69566eea0fba 431 shift = 6;
cparata 0:69566eea0fba 432 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_ENABLED) {
cparata 0:69566eea0fba 433 /* op mode is HR 12-bit */
cparata 0:69566eea0fba 434 shift = 4;
cparata 0:69566eea0fba 435 } else {
cparata 0:69566eea0fba 436 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 437 }
cparata 0:69566eea0fba 438
cparata 0:69566eea0fba 439 /* Read output registers from LSM303AGR_ACC_GYRO_OUTX_L_XL to LSM303AGR_ACC_GYRO_OUTZ_H_XL. */
cparata 0:69566eea0fba 440 if (!LSM303AGR_ACC_Get_Raw_Acceleration( (void *)this, ( uint8_t* )regValue ))
cparata 0:69566eea0fba 441 {
cparata 0:69566eea0fba 442 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 443 }
cparata 0:69566eea0fba 444
cparata 0:69566eea0fba 445 /* Format the data. */
cparata 0:69566eea0fba 446 pData[0] = ( ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] ) >> shift );
cparata 0:69566eea0fba 447 pData[1] = ( ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] ) >> shift );
cparata 0:69566eea0fba 448 pData[2] = ( ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] ) >> shift );
cparata 0:69566eea0fba 449
cparata 0:69566eea0fba 450 return LSM303AGR_ACC_STATUS_OK;
cparata 0:69566eea0fba 451 }
cparata 0:69566eea0fba 452
cparata 0:69566eea0fba 453 /**
cparata 0:69566eea0fba 454 * @brief Read LSM303AGR Accelerometer output data rate
cparata 0:69566eea0fba 455 * @param odr the pointer to the output data rate
cparata 0:69566eea0fba 456 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 457 */
cparata 0:69566eea0fba 458 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetODR(float* odr)
cparata 0:69566eea0fba 459 {
cparata 0:69566eea0fba 460 LSM303AGR_ACC_ODR_t odr_low_level;
cparata 0:69566eea0fba 461
cparata 0:69566eea0fba 462 if ( LSM303AGR_ACC_R_ODR( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 0:69566eea0fba 463 {
cparata 0:69566eea0fba 464 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 465 }
cparata 0:69566eea0fba 466
cparata 0:69566eea0fba 467 switch( odr_low_level )
cparata 0:69566eea0fba 468 {
cparata 0:69566eea0fba 469 case LSM303AGR_ACC_ODR_DO_PWR_DOWN:
cparata 0:69566eea0fba 470 *odr = 0.0f;
cparata 0:69566eea0fba 471 break;
cparata 0:69566eea0fba 472 case LSM303AGR_ACC_ODR_DO_1Hz:
cparata 0:69566eea0fba 473 *odr = 1.0f;
cparata 0:69566eea0fba 474 break;
cparata 0:69566eea0fba 475 case LSM303AGR_ACC_ODR_DO_10Hz:
cparata 0:69566eea0fba 476 *odr = 10.0f;
cparata 0:69566eea0fba 477 break;
cparata 0:69566eea0fba 478 case LSM303AGR_ACC_ODR_DO_25Hz:
cparata 0:69566eea0fba 479 *odr = 25.0f;
cparata 0:69566eea0fba 480 break;
cparata 0:69566eea0fba 481 case LSM303AGR_ACC_ODR_DO_50Hz:
cparata 0:69566eea0fba 482 *odr = 50.0f;
cparata 0:69566eea0fba 483 break;
cparata 0:69566eea0fba 484 case LSM303AGR_ACC_ODR_DO_100Hz:
cparata 0:69566eea0fba 485 *odr = 100.0f;
cparata 0:69566eea0fba 486 break;
cparata 0:69566eea0fba 487 case LSM303AGR_ACC_ODR_DO_200Hz:
cparata 0:69566eea0fba 488 *odr = 200.0f;
cparata 0:69566eea0fba 489 break;
cparata 0:69566eea0fba 490 case LSM303AGR_ACC_ODR_DO_400Hz:
cparata 0:69566eea0fba 491 *odr = 400.0f;
cparata 0:69566eea0fba 492 break;
cparata 0:69566eea0fba 493 default:
cparata 0:69566eea0fba 494 *odr = -1.0f;
cparata 0:69566eea0fba 495 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 496 }
cparata 0:69566eea0fba 497
cparata 0:69566eea0fba 498 return LSM303AGR_ACC_STATUS_OK;
cparata 0:69566eea0fba 499 }
cparata 0:69566eea0fba 500
cparata 0:69566eea0fba 501 /**
cparata 0:69566eea0fba 502 * @brief Set ODR
cparata 0:69566eea0fba 503 * @param odr the output data rate to be set
cparata 0:69566eea0fba 504 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 505 */
cparata 0:69566eea0fba 506 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::SetODR(float odr)
cparata 0:69566eea0fba 507 {
cparata 0:69566eea0fba 508 if(isEnabled == 1)
cparata 0:69566eea0fba 509 {
cparata 0:69566eea0fba 510 if(SetODR_When_Enabled(odr) == LSM303AGR_ACC_STATUS_ERROR)
cparata 0:69566eea0fba 511 {
cparata 0:69566eea0fba 512 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 513 }
cparata 0:69566eea0fba 514 }
cparata 0:69566eea0fba 515 else
cparata 0:69566eea0fba 516 {
cparata 0:69566eea0fba 517 if(SetODR_When_Disabled(odr) == LSM303AGR_ACC_STATUS_ERROR)
cparata 0:69566eea0fba 518 {
cparata 0:69566eea0fba 519 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 520 }
cparata 0:69566eea0fba 521 }
cparata 0:69566eea0fba 522
cparata 0:69566eea0fba 523 return LSM303AGR_ACC_STATUS_OK;
cparata 0:69566eea0fba 524 }
cparata 0:69566eea0fba 525
cparata 0:69566eea0fba 526 /**
cparata 0:69566eea0fba 527 * @brief Set ODR when enabled
cparata 0:69566eea0fba 528 * @param odr the output data rate to be set
cparata 0:69566eea0fba 529 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 530 */
cparata 0:69566eea0fba 531 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::SetODR_When_Enabled(float odr)
cparata 0:69566eea0fba 532 {
cparata 0:69566eea0fba 533 LSM303AGR_ACC_ODR_t new_odr;
cparata 0:69566eea0fba 534
cparata 0:69566eea0fba 535 new_odr = ( odr <= 1.0f ) ? LSM303AGR_ACC_ODR_DO_1Hz
cparata 0:69566eea0fba 536 : ( odr <= 10.0f ) ? LSM303AGR_ACC_ODR_DO_10Hz
cparata 0:69566eea0fba 537 : ( odr <= 25.0f ) ? LSM303AGR_ACC_ODR_DO_25Hz
cparata 0:69566eea0fba 538 : ( odr <= 50.0f ) ? LSM303AGR_ACC_ODR_DO_50Hz
cparata 0:69566eea0fba 539 : ( odr <= 100.0f ) ? LSM303AGR_ACC_ODR_DO_100Hz
cparata 0:69566eea0fba 540 : ( odr <= 200.0f ) ? LSM303AGR_ACC_ODR_DO_200Hz
cparata 0:69566eea0fba 541 : LSM303AGR_ACC_ODR_DO_400Hz;
cparata 0:69566eea0fba 542
cparata 0:69566eea0fba 543 if ( LSM303AGR_ACC_W_ODR( (void *)this, new_odr ) == MEMS_ERROR )
cparata 0:69566eea0fba 544 {
cparata 0:69566eea0fba 545 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 546 }
cparata 0:69566eea0fba 547
cparata 0:69566eea0fba 548 return LSM303AGR_ACC_STATUS_OK;
cparata 0:69566eea0fba 549 }
cparata 0:69566eea0fba 550
cparata 0:69566eea0fba 551 /**
cparata 0:69566eea0fba 552 * @brief Set ODR when disabled
cparata 0:69566eea0fba 553 * @param odr the output data rate to be set
cparata 0:69566eea0fba 554 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 555 */
cparata 0:69566eea0fba 556 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::SetODR_When_Disabled(float odr)
cparata 0:69566eea0fba 557 {
cparata 0:69566eea0fba 558 Last_ODR = ( odr <= 1.0f ) ? 1.0f
cparata 0:69566eea0fba 559 : ( odr <= 10.0f ) ? 10.0f
cparata 0:69566eea0fba 560 : ( odr <= 25.0f ) ? 25.0f
cparata 0:69566eea0fba 561 : ( odr <= 50.0f ) ? 50.0f
cparata 0:69566eea0fba 562 : ( odr <= 100.0f ) ? 100.0f
cparata 0:69566eea0fba 563 : ( odr <= 200.0f ) ? 200.0f
cparata 0:69566eea0fba 564 : 400.0f;
cparata 0:69566eea0fba 565
cparata 0:69566eea0fba 566 return LSM303AGR_ACC_STATUS_OK;
cparata 0:69566eea0fba 567 }
cparata 0:69566eea0fba 568
cparata 0:69566eea0fba 569
cparata 0:69566eea0fba 570 /**
cparata 0:69566eea0fba 571 * @brief Read LSM303AGR Accelerometer full scale
cparata 0:69566eea0fba 572 * @param fullScale the pointer to the full scale
cparata 0:69566eea0fba 573 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 574 */
cparata 0:69566eea0fba 575 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetFS(float* fullScale)
cparata 0:69566eea0fba 576 {
cparata 0:69566eea0fba 577 LSM303AGR_ACC_FS_t fs_low_level;
cparata 0:69566eea0fba 578
cparata 0:69566eea0fba 579 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata 0:69566eea0fba 580 {
cparata 0:69566eea0fba 581 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 582 }
cparata 0:69566eea0fba 583
cparata 0:69566eea0fba 584 switch( fs_low_level )
cparata 0:69566eea0fba 585 {
cparata 0:69566eea0fba 586 case LSM303AGR_ACC_FS_2G:
cparata 0:69566eea0fba 587 *fullScale = 2.0f;
cparata 0:69566eea0fba 588 break;
cparata 0:69566eea0fba 589 case LSM303AGR_ACC_FS_4G:
cparata 0:69566eea0fba 590 *fullScale = 4.0f;
cparata 0:69566eea0fba 591 break;
cparata 0:69566eea0fba 592 case LSM303AGR_ACC_FS_8G:
cparata 0:69566eea0fba 593 *fullScale = 8.0f;
cparata 0:69566eea0fba 594 break;
cparata 0:69566eea0fba 595 case LSM303AGR_ACC_FS_16G:
cparata 0:69566eea0fba 596 *fullScale = 16.0f;
cparata 0:69566eea0fba 597 break;
cparata 0:69566eea0fba 598 default:
cparata 0:69566eea0fba 599 *fullScale = -1.0f;
cparata 0:69566eea0fba 600 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 601 }
cparata 0:69566eea0fba 602
cparata 0:69566eea0fba 603 return LSM303AGR_ACC_STATUS_OK;
cparata 0:69566eea0fba 604 }
cparata 0:69566eea0fba 605
cparata 0:69566eea0fba 606 /**
cparata 0:69566eea0fba 607 * @brief Set full scale
cparata 0:69566eea0fba 608 * @param fullScale the full scale to be set
cparata 0:69566eea0fba 609 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 610 */
cparata 0:69566eea0fba 611 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::SetFS(float fullScale)
cparata 0:69566eea0fba 612 {
cparata 0:69566eea0fba 613 LSM303AGR_ACC_FS_t new_fs;
cparata 0:69566eea0fba 614
cparata 0:69566eea0fba 615 new_fs = ( fullScale <= 2.0f ) ? LSM303AGR_ACC_FS_2G
cparata 0:69566eea0fba 616 : ( fullScale <= 4.0f ) ? LSM303AGR_ACC_FS_4G
cparata 0:69566eea0fba 617 : ( fullScale <= 8.0f ) ? LSM303AGR_ACC_FS_8G
cparata 0:69566eea0fba 618 : LSM303AGR_ACC_FS_16G;
cparata 0:69566eea0fba 619
cparata 0:69566eea0fba 620 if ( LSM303AGR_ACC_W_FullScale( (void *)this, new_fs ) == MEMS_ERROR )
cparata 0:69566eea0fba 621 {
cparata 0:69566eea0fba 622 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 623 }
cparata 0:69566eea0fba 624
cparata 0:69566eea0fba 625 return LSM303AGR_ACC_STATUS_OK;
cparata 0:69566eea0fba 626 }
cparata 0:69566eea0fba 627
cparata 0:69566eea0fba 628 /**
cparata 0:69566eea0fba 629 * @brief Read accelerometer data from register
cparata 0:69566eea0fba 630 * @param reg register address
cparata 0:69566eea0fba 631 * @param data register data
cparata 0:69566eea0fba 632 * @retval LSM303AGR_ACC_STATUS_OK in case of success
cparata 0:69566eea0fba 633 * @retval LSM303AGR_ACC_STATUS_ERROR in case of failure
cparata 0:69566eea0fba 634 */
cparata 0:69566eea0fba 635 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::ReadReg( uint8_t reg, uint8_t *data )
cparata 0:69566eea0fba 636 {
cparata 0:69566eea0fba 637
cparata 0:69566eea0fba 638 if ( LSM303AGR_ACC_ReadReg( (void *)this, reg, data ) == MEMS_ERROR )
cparata 0:69566eea0fba 639 {
cparata 0:69566eea0fba 640 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 641 }
cparata 0:69566eea0fba 642
cparata 0:69566eea0fba 643 return LSM303AGR_ACC_STATUS_OK;
cparata 0:69566eea0fba 644 }
cparata 0:69566eea0fba 645
cparata 0:69566eea0fba 646 /**
cparata 0:69566eea0fba 647 * @brief Write accelerometer data to register
cparata 0:69566eea0fba 648 * @param reg register address
cparata 0:69566eea0fba 649 * @param data register data
cparata 0:69566eea0fba 650 * @retval LSM303AGR_ACC_STATUS_OK in case of success
cparata 0:69566eea0fba 651 * @retval LSM303AGR_ACC_STATUS_ERROR in case of failure
cparata 0:69566eea0fba 652 */
cparata 0:69566eea0fba 653 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::WriteReg( uint8_t reg, uint8_t data )
cparata 0:69566eea0fba 654 {
cparata 0:69566eea0fba 655
cparata 0:69566eea0fba 656 if ( LSM303AGR_ACC_WriteReg( (void *)this, reg, data ) == MEMS_ERROR )
cparata 0:69566eea0fba 657 {
cparata 0:69566eea0fba 658 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:69566eea0fba 659 }
cparata 0:69566eea0fba 660
cparata 0:69566eea0fba 661 return LSM303AGR_ACC_STATUS_OK;
cparata 0:69566eea0fba 662 }
cparata 0:69566eea0fba 663
cparata 0:69566eea0fba 664 uint8_t LSM303AGR_ACC_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
cparata 0:69566eea0fba 665 {
cparata 0:69566eea0fba 666 return ((LSM303AGR_ACC_Sensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata 0:69566eea0fba 667 }
cparata 0:69566eea0fba 668
cparata 0:69566eea0fba 669 uint8_t LSM303AGR_ACC_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
cparata 0:69566eea0fba 670 {
cparata 0:69566eea0fba 671 return ((LSM303AGR_ACC_Sensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata 0:69566eea0fba 672 }