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@2:f23b144da50a, 2016-08-19 (annotated)

Committer:
cparata
Date:
Fri Aug 19 12:13:37 2016 +0000
Revision:
2:f23b144da50a
Parent:
0:69566eea0fba 
Add interfaces for all components

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
cparata 0:69566eea0fba 57 /** Constructor
cparata 0:69566eea0fba 58 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:69566eea0fba 59 * @param address the address of the component's instance
cparata 0:69566eea0fba 60 */
cparata 0:69566eea0fba 61 LSM303AGR_ACC_Sensor::LSM303AGR_ACC_Sensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
cparata 0:69566eea0fba 62 {
cparata 2:f23b144da50a 63
cparata 2:f23b144da50a 64 };
cparata 2:f23b144da50a 65
cparata 2:f23b144da50a 66 /**
cparata 2:f23b144da50a 67 * @brief Initializing the component.
cparata 2:f23b144da50a 68 * @param[in] init pointer to device specific initalization structure.
cparata 2:f23b144da50a 69 * @retval "0" in case of success, an error code otherwise.
cparata 2:f23b144da50a 70 */
cparata 2:f23b144da50a 71 int LSM303AGR_ACC_Sensor::Init(void *init)
cparata 2:f23b144da50a 72 {
cparata 0:69566eea0fba 73 /* Enable BDU */
cparata 0:69566eea0fba 74 if ( LSM303AGR_ACC_W_BlockDataUpdate( (void *)this, LSM303AGR_ACC_BDU_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 75 {
cparata 2:f23b144da50a 76 return 1;
cparata 0:69566eea0fba 77 }
cparata 0:69566eea0fba 78
cparata 0:69566eea0fba 79 /* FIFO mode selection */
cparata 0:69566eea0fba 80 if ( LSM303AGR_ACC_W_FifoMode( (void *)this, LSM303AGR_ACC_FM_BYPASS ) == MEMS_ERROR )
cparata 0:69566eea0fba 81 {
cparata 2:f23b144da50a 82 return 1;
cparata 0:69566eea0fba 83 }
cparata 0:69566eea0fba 84
cparata 0:69566eea0fba 85 /* Output data rate selection - power down. */
cparata 0:69566eea0fba 86 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
cparata 0:69566eea0fba 87 {
cparata 2:f23b144da50a 88 return 1;
cparata 0:69566eea0fba 89 }
cparata 0:69566eea0fba 90
cparata 0:69566eea0fba 91 /* Full scale selection. */
cparata 2:f23b144da50a 92 if ( Set_X_FS( 2.0f ) == 1 )
cparata 0:69566eea0fba 93 {
cparata 2:f23b144da50a 94 return 1;
cparata 0:69566eea0fba 95 }
cparata 0:69566eea0fba 96
cparata 0:69566eea0fba 97 /* Enable axes. */
cparata 0:69566eea0fba 98 if ( LSM303AGR_ACC_W_XEN( (void *)this, LSM303AGR_ACC_XEN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 99 {
cparata 2:f23b144da50a 100 return 1;
cparata 0:69566eea0fba 101 }
cparata 0:69566eea0fba 102
cparata 0:69566eea0fba 103 if ( LSM303AGR_ACC_W_YEN ( (void *)this, LSM303AGR_ACC_YEN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 104 {
cparata 2:f23b144da50a 105 return 1;
cparata 0:69566eea0fba 106 }
cparata 0:69566eea0fba 107
cparata 0:69566eea0fba 108 if ( LSM303AGR_ACC_W_ZEN ( (void *)this, LSM303AGR_ACC_ZEN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 109 {
cparata 2:f23b144da50a 110 return 1;
cparata 0:69566eea0fba 111 }
cparata 0:69566eea0fba 112
cparata 0:69566eea0fba 113 /* Select default output data rate. */
cparata 0:69566eea0fba 114 Last_ODR = 100.0f;
cparata 0:69566eea0fba 115
cparata 0:69566eea0fba 116 isEnabled = 0;
cparata 2:f23b144da50a 117
cparata 2:f23b144da50a 118 return 0;
cparata 2:f23b144da50a 119 }
cparata 0:69566eea0fba 120
cparata 0:69566eea0fba 121 /**
cparata 0:69566eea0fba 122 * @brief Enable LSM303AGR Accelerator
cparata 2:f23b144da50a 123 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 124 */
cparata 2:f23b144da50a 125 int LSM303AGR_ACC_Sensor::Enable(void)
cparata 0:69566eea0fba 126 {
cparata 0:69566eea0fba 127 /* Check if the component is already enabled */
cparata 0:69566eea0fba 128 if ( isEnabled == 1 )
cparata 0:69566eea0fba 129 {
cparata 2:f23b144da50a 130 return 0;
cparata 0:69566eea0fba 131 }
cparata 0:69566eea0fba 132
cparata 0:69566eea0fba 133 /* Output data rate selection. */
cparata 2:f23b144da50a 134 if ( Set_X_ODR_When_Enabled( Last_ODR ) == 1 )
cparata 0:69566eea0fba 135 {
cparata 2:f23b144da50a 136 return 1;
cparata 0:69566eea0fba 137 }
cparata 0:69566eea0fba 138
cparata 0:69566eea0fba 139 isEnabled = 1;
cparata 0:69566eea0fba 140
cparata 2:f23b144da50a 141 return 0;
cparata 0:69566eea0fba 142 }
cparata 0:69566eea0fba 143
cparata 0:69566eea0fba 144 /**
cparata 0:69566eea0fba 145 * @brief Disable LSM303AGR Accelerator
cparata 2:f23b144da50a 146 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 147 */
cparata 2:f23b144da50a 148 int LSM303AGR_ACC_Sensor::Disable(void)
cparata 0:69566eea0fba 149 {
cparata 0:69566eea0fba 150 /* Check if the component is already disabled */
cparata 0:69566eea0fba 151 if ( isEnabled == 0 )
cparata 0:69566eea0fba 152 {
cparata 2:f23b144da50a 153 return 0;
cparata 0:69566eea0fba 154 }
cparata 0:69566eea0fba 155
cparata 0:69566eea0fba 156 /* Store actual output data rate. */
cparata 2:f23b144da50a 157 if ( Get_X_ODR( &Last_ODR ) == 1 )
cparata 0:69566eea0fba 158 {
cparata 2:f23b144da50a 159 return 1;
cparata 0:69566eea0fba 160 }
cparata 0:69566eea0fba 161
cparata 0:69566eea0fba 162 /* Output data rate selection - power down. */
cparata 0:69566eea0fba 163 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
cparata 0:69566eea0fba 164 {
cparata 2:f23b144da50a 165 return 1;
cparata 0:69566eea0fba 166 }
cparata 0:69566eea0fba 167
cparata 0:69566eea0fba 168 isEnabled = 0;
cparata 0:69566eea0fba 169
cparata 2:f23b144da50a 170 return 0;
cparata 0:69566eea0fba 171 }
cparata 0:69566eea0fba 172
cparata 0:69566eea0fba 173 /**
cparata 0:69566eea0fba 174 * @brief Read ID of LSM303AGR Accelerometer
cparata 0:69566eea0fba 175 * @param p_id the pointer where the ID of the device is stored
cparata 2:f23b144da50a 176 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 177 */
cparata 2:f23b144da50a 178 int LSM303AGR_ACC_Sensor::ReadID(uint8_t *id)
cparata 0:69566eea0fba 179 {
cparata 2:f23b144da50a 180 if(!id)
cparata 0:69566eea0fba 181 {
cparata 2:f23b144da50a 182 return 1;
cparata 0:69566eea0fba 183 }
cparata 0:69566eea0fba 184
cparata 0:69566eea0fba 185 /* Read WHO AM I register */
cparata 2:f23b144da50a 186 if ( LSM303AGR_ACC_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
cparata 0:69566eea0fba 187 {
cparata 2:f23b144da50a 188 return 1;
cparata 0:69566eea0fba 189 }
cparata 0:69566eea0fba 190
cparata 2:f23b144da50a 191 return 0;
cparata 0:69566eea0fba 192 }
cparata 0:69566eea0fba 193
cparata 0:69566eea0fba 194 /**
cparata 0:69566eea0fba 195 * @brief Read data from LSM303AGR Accelerometer
cparata 0:69566eea0fba 196 * @param pData the pointer where the accelerometer data are stored
cparata 2:f23b144da50a 197 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 198 */
cparata 2:f23b144da50a 199 int LSM303AGR_ACC_Sensor::Get_X_Axes(int32_t *pData)
cparata 0:69566eea0fba 200 {
cparata 0:69566eea0fba 201 int data[3];
cparata 0:69566eea0fba 202
cparata 0:69566eea0fba 203 /* Read data from LSM303AGR. */
cparata 0:69566eea0fba 204 if ( !LSM303AGR_ACC_Get_Acceleration((void *)this, data) )
cparata 0:69566eea0fba 205 {
cparata 2:f23b144da50a 206 return 1;
cparata 0:69566eea0fba 207 }
cparata 0:69566eea0fba 208
cparata 0:69566eea0fba 209 /* Calculate the data. */
cparata 0:69566eea0fba 210 pData[0] = (int32_t)data[0];
cparata 0:69566eea0fba 211 pData[1] = (int32_t)data[1];
cparata 0:69566eea0fba 212 pData[2] = (int32_t)data[2];
cparata 0:69566eea0fba 213
cparata 2:f23b144da50a 214 return 0;
cparata 0:69566eea0fba 215 }
cparata 0:69566eea0fba 216
cparata 0:69566eea0fba 217 /**
cparata 0:69566eea0fba 218 * @brief Read Accelerometer Sensitivity
cparata 0:69566eea0fba 219 * @param pfData the pointer where the accelerometer sensitivity is stored
cparata 2:f23b144da50a 220 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 221 */
cparata 2:f23b144da50a 222 int LSM303AGR_ACC_Sensor::Get_X_Sensitivity(float *pfData)
cparata 0:69566eea0fba 223 {
cparata 0:69566eea0fba 224 LSM303AGR_ACC_LPEN_t lp_value;
cparata 0:69566eea0fba 225 LSM303AGR_ACC_HR_t hr_value;
cparata 0:69566eea0fba 226
cparata 0:69566eea0fba 227 /* Read low power flag */
cparata 0:69566eea0fba 228 if( LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp_value ) == MEMS_ERROR )
cparata 0:69566eea0fba 229 {
cparata 2:f23b144da50a 230 return 1;
cparata 0:69566eea0fba 231 }
cparata 0:69566eea0fba 232
cparata 0:69566eea0fba 233 /* Read high performance flag */
cparata 0:69566eea0fba 234 if( LSM303AGR_ACC_R_HiRes( (void *)this, &hr_value ) == MEMS_ERROR )
cparata 0:69566eea0fba 235 {
cparata 2:f23b144da50a 236 return 1;
cparata 0:69566eea0fba 237 }
cparata 0:69566eea0fba 238
cparata 0:69566eea0fba 239 if( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
cparata 0:69566eea0fba 240 {
cparata 0:69566eea0fba 241 /* Normal Mode */
cparata 2:f23b144da50a 242 return Get_X_Sensitivity_Normal_Mode( pfData );
cparata 0:69566eea0fba 243 } else if ( lp_value == LSM303AGR_ACC_LPEN_ENABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
cparata 0:69566eea0fba 244 {
cparata 0:69566eea0fba 245 /* Low Power Mode */
cparata 2:f23b144da50a 246 return Get_X_Sensitivity_LP_Mode( pfData );
cparata 0:69566eea0fba 247 } else if ( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_ENABLED )
cparata 0:69566eea0fba 248 {
cparata 0:69566eea0fba 249 /* High Resolution Mode */
cparata 2:f23b144da50a 250 return Get_X_Sensitivity_HR_Mode( pfData );
cparata 0:69566eea0fba 251 } else
cparata 0:69566eea0fba 252 {
cparata 0:69566eea0fba 253 /* Not allowed */
cparata 2:f23b144da50a 254 return 1;
cparata 0:69566eea0fba 255 }
cparata 0:69566eea0fba 256 }
cparata 0:69566eea0fba 257
cparata 0:69566eea0fba 258 /**
cparata 0:69566eea0fba 259 * @brief Read Accelerometer Sensitivity in Normal Mode
cparata 0:69566eea0fba 260 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 2:f23b144da50a 261 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 262 */
cparata 2:f23b144da50a 263 int LSM303AGR_ACC_Sensor::Get_X_Sensitivity_Normal_Mode( float *sensitivity )
cparata 0:69566eea0fba 264 {
cparata 0:69566eea0fba 265 LSM303AGR_ACC_FS_t fullScale;
cparata 0:69566eea0fba 266
cparata 0:69566eea0fba 267 /* Read actual full scale selection from sensor. */
cparata 0:69566eea0fba 268 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:69566eea0fba 269 {
cparata 2:f23b144da50a 270 return 1;
cparata 0:69566eea0fba 271 }
cparata 0:69566eea0fba 272
cparata 0:69566eea0fba 273 /* Store the sensitivity based on actual full scale. */
cparata 0:69566eea0fba 274 switch( fullScale )
cparata 0:69566eea0fba 275 {
cparata 0:69566eea0fba 276 case LSM303AGR_ACC_FS_2G:
cparata 0:69566eea0fba 277 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_NORMAL_MODE;
cparata 0:69566eea0fba 278 break;
cparata 0:69566eea0fba 279 case LSM303AGR_ACC_FS_4G:
cparata 0:69566eea0fba 280 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_NORMAL_MODE;
cparata 0:69566eea0fba 281 break;
cparata 0:69566eea0fba 282 case LSM303AGR_ACC_FS_8G:
cparata 0:69566eea0fba 283 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_NORMAL_MODE;
cparata 0:69566eea0fba 284 break;
cparata 0:69566eea0fba 285 case LSM303AGR_ACC_FS_16G:
cparata 0:69566eea0fba 286 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_NORMAL_MODE;
cparata 0:69566eea0fba 287 break;
cparata 0:69566eea0fba 288 default:
cparata 0:69566eea0fba 289 *sensitivity = -1.0f;
cparata 2:f23b144da50a 290 return 1;
cparata 0:69566eea0fba 291 }
cparata 0:69566eea0fba 292
cparata 2:f23b144da50a 293 return 0;
cparata 0:69566eea0fba 294 }
cparata 0:69566eea0fba 295
cparata 0:69566eea0fba 296 /**
cparata 0:69566eea0fba 297 * @brief Read Accelerometer Sensitivity in LP Mode
cparata 0:69566eea0fba 298 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 2:f23b144da50a 299 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 300 */
cparata 2:f23b144da50a 301 int LSM303AGR_ACC_Sensor::Get_X_Sensitivity_LP_Mode( float *sensitivity )
cparata 0:69566eea0fba 302 {
cparata 0:69566eea0fba 303 LSM303AGR_ACC_FS_t fullScale;
cparata 0:69566eea0fba 304
cparata 0:69566eea0fba 305 /* Read actual full scale selection from sensor. */
cparata 0:69566eea0fba 306 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:69566eea0fba 307 {
cparata 2:f23b144da50a 308 return 1;
cparata 0:69566eea0fba 309 }
cparata 0:69566eea0fba 310
cparata 0:69566eea0fba 311 /* Store the sensitivity based on actual full scale. */
cparata 0:69566eea0fba 312 switch( fullScale )
cparata 0:69566eea0fba 313 {
cparata 0:69566eea0fba 314 case LSM303AGR_ACC_FS_2G:
cparata 0:69566eea0fba 315 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_LOW_POWER_MODE;
cparata 0:69566eea0fba 316 break;
cparata 0:69566eea0fba 317 case LSM303AGR_ACC_FS_4G:
cparata 0:69566eea0fba 318 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_LOW_POWER_MODE;
cparata 0:69566eea0fba 319 break;
cparata 0:69566eea0fba 320 case LSM303AGR_ACC_FS_8G:
cparata 0:69566eea0fba 321 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_LOW_POWER_MODE;
cparata 0:69566eea0fba 322 break;
cparata 0:69566eea0fba 323 case LSM303AGR_ACC_FS_16G:
cparata 0:69566eea0fba 324 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_LOW_POWER_MODE;
cparata 0:69566eea0fba 325 break;
cparata 0:69566eea0fba 326 default:
cparata 0:69566eea0fba 327 *sensitivity = -1.0f;
cparata 2:f23b144da50a 328 return 1;
cparata 0:69566eea0fba 329 }
cparata 0:69566eea0fba 330
cparata 2:f23b144da50a 331 return 0;
cparata 0:69566eea0fba 332 }
cparata 0:69566eea0fba 333
cparata 0:69566eea0fba 334 /**
cparata 0:69566eea0fba 335 * @brief Read Accelerometer Sensitivity in HR Mode
cparata 0:69566eea0fba 336 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 2:f23b144da50a 337 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 338 */
cparata 2:f23b144da50a 339 int LSM303AGR_ACC_Sensor::Get_X_Sensitivity_HR_Mode( float *sensitivity )
cparata 0:69566eea0fba 340 {
cparata 0:69566eea0fba 341 LSM303AGR_ACC_FS_t fullScale;
cparata 0:69566eea0fba 342
cparata 0:69566eea0fba 343 /* Read actual full scale selection from sensor. */
cparata 0:69566eea0fba 344 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:69566eea0fba 345 {
cparata 2:f23b144da50a 346 return 1;
cparata 0:69566eea0fba 347 }
cparata 0:69566eea0fba 348
cparata 0:69566eea0fba 349 /* Store the sensitivity based on actual full scale. */
cparata 0:69566eea0fba 350 switch( fullScale )
cparata 0:69566eea0fba 351 {
cparata 0:69566eea0fba 352 case LSM303AGR_ACC_FS_2G:
cparata 0:69566eea0fba 353 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_HIGH_RESOLUTION_MODE;
cparata 0:69566eea0fba 354 break;
cparata 0:69566eea0fba 355 case LSM303AGR_ACC_FS_4G:
cparata 0:69566eea0fba 356 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_HIGH_RESOLUTION_MODE;
cparata 0:69566eea0fba 357 break;
cparata 0:69566eea0fba 358 case LSM303AGR_ACC_FS_8G:
cparata 0:69566eea0fba 359 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_HIGH_RESOLUTION_MODE;
cparata 0:69566eea0fba 360 break;
cparata 0:69566eea0fba 361 case LSM303AGR_ACC_FS_16G:
cparata 0:69566eea0fba 362 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_HIGH_RESOLUTION_MODE;
cparata 0:69566eea0fba 363 break;
cparata 0:69566eea0fba 364 default:
cparata 0:69566eea0fba 365 *sensitivity = -1.0f;
cparata 2:f23b144da50a 366 return 1;
cparata 0:69566eea0fba 367 }
cparata 0:69566eea0fba 368
cparata 2:f23b144da50a 369 return 0;
cparata 0:69566eea0fba 370 }
cparata 0:69566eea0fba 371
cparata 0:69566eea0fba 372 /**
cparata 0:69566eea0fba 373 * @brief Read raw data from LSM303AGR Accelerometer
cparata 0:69566eea0fba 374 * @param pData the pointer where the accelerometer raw data are stored
cparata 2:f23b144da50a 375 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 376 */
cparata 2:f23b144da50a 377 int LSM303AGR_ACC_Sensor::Get_X_AxesRaw(int16_t *pData)
cparata 0:69566eea0fba 378 {
cparata 0:69566eea0fba 379 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 0:69566eea0fba 380 u8_t shift = 0;
cparata 0:69566eea0fba 381 LSM303AGR_ACC_LPEN_t lp;
cparata 0:69566eea0fba 382 LSM303AGR_ACC_HR_t hr;
cparata 0:69566eea0fba 383
cparata 0:69566eea0fba 384 /* Determine which operational mode the acc is set */
cparata 0:69566eea0fba 385 if(!LSM303AGR_ACC_R_HiRes( (void *)this, &hr )) {
cparata 2:f23b144da50a 386 return 1;
cparata 0:69566eea0fba 387 }
cparata 0:69566eea0fba 388
cparata 0:69566eea0fba 389 if(!LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp )) {
cparata 2:f23b144da50a 390 return 1;
cparata 0:69566eea0fba 391 }
cparata 0:69566eea0fba 392
cparata 0:69566eea0fba 393 if (lp == LSM303AGR_ACC_LPEN_ENABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
cparata 0:69566eea0fba 394 /* op mode is LP 8-bit */
cparata 0:69566eea0fba 395 shift = 8;
cparata 0:69566eea0fba 396 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
cparata 0:69566eea0fba 397 /* op mode is Normal 10-bit */
cparata 0:69566eea0fba 398 shift = 6;
cparata 0:69566eea0fba 399 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_ENABLED) {
cparata 0:69566eea0fba 400 /* op mode is HR 12-bit */
cparata 0:69566eea0fba 401 shift = 4;
cparata 0:69566eea0fba 402 } else {
cparata 2:f23b144da50a 403 return 1;
cparata 0:69566eea0fba 404 }
cparata 0:69566eea0fba 405
cparata 0:69566eea0fba 406 /* Read output registers from LSM303AGR_ACC_GYRO_OUTX_L_XL to LSM303AGR_ACC_GYRO_OUTZ_H_XL. */
cparata 0:69566eea0fba 407 if (!LSM303AGR_ACC_Get_Raw_Acceleration( (void *)this, ( uint8_t* )regValue ))
cparata 0:69566eea0fba 408 {
cparata 2:f23b144da50a 409 return 1;
cparata 0:69566eea0fba 410 }
cparata 0:69566eea0fba 411
cparata 0:69566eea0fba 412 /* Format the data. */
cparata 0:69566eea0fba 413 pData[0] = ( ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] ) >> shift );
cparata 0:69566eea0fba 414 pData[1] = ( ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] ) >> shift );
cparata 0:69566eea0fba 415 pData[2] = ( ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] ) >> shift );
cparata 0:69566eea0fba 416
cparata 2:f23b144da50a 417 return 0;
cparata 0:69566eea0fba 418 }
cparata 0:69566eea0fba 419
cparata 0:69566eea0fba 420 /**
cparata 0:69566eea0fba 421 * @brief Read LSM303AGR Accelerometer output data rate
cparata 0:69566eea0fba 422 * @param odr the pointer to the output data rate
cparata 2:f23b144da50a 423 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 424 */
cparata 2:f23b144da50a 425 int LSM303AGR_ACC_Sensor::Get_X_ODR(float* odr)
cparata 0:69566eea0fba 426 {
cparata 0:69566eea0fba 427 LSM303AGR_ACC_ODR_t odr_low_level;
cparata 0:69566eea0fba 428
cparata 0:69566eea0fba 429 if ( LSM303AGR_ACC_R_ODR( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 0:69566eea0fba 430 {
cparata 2:f23b144da50a 431 return 1;
cparata 0:69566eea0fba 432 }
cparata 0:69566eea0fba 433
cparata 0:69566eea0fba 434 switch( odr_low_level )
cparata 0:69566eea0fba 435 {
cparata 0:69566eea0fba 436 case LSM303AGR_ACC_ODR_DO_PWR_DOWN:
cparata 0:69566eea0fba 437 *odr = 0.0f;
cparata 0:69566eea0fba 438 break;
cparata 0:69566eea0fba 439 case LSM303AGR_ACC_ODR_DO_1Hz:
cparata 0:69566eea0fba 440 *odr = 1.0f;
cparata 0:69566eea0fba 441 break;
cparata 0:69566eea0fba 442 case LSM303AGR_ACC_ODR_DO_10Hz:
cparata 0:69566eea0fba 443 *odr = 10.0f;
cparata 0:69566eea0fba 444 break;
cparata 0:69566eea0fba 445 case LSM303AGR_ACC_ODR_DO_25Hz:
cparata 0:69566eea0fba 446 *odr = 25.0f;
cparata 0:69566eea0fba 447 break;
cparata 0:69566eea0fba 448 case LSM303AGR_ACC_ODR_DO_50Hz:
cparata 0:69566eea0fba 449 *odr = 50.0f;
cparata 0:69566eea0fba 450 break;
cparata 0:69566eea0fba 451 case LSM303AGR_ACC_ODR_DO_100Hz:
cparata 0:69566eea0fba 452 *odr = 100.0f;
cparata 0:69566eea0fba 453 break;
cparata 0:69566eea0fba 454 case LSM303AGR_ACC_ODR_DO_200Hz:
cparata 0:69566eea0fba 455 *odr = 200.0f;
cparata 0:69566eea0fba 456 break;
cparata 0:69566eea0fba 457 case LSM303AGR_ACC_ODR_DO_400Hz:
cparata 0:69566eea0fba 458 *odr = 400.0f;
cparata 0:69566eea0fba 459 break;
cparata 0:69566eea0fba 460 default:
cparata 0:69566eea0fba 461 *odr = -1.0f;
cparata 2:f23b144da50a 462 return 1;
cparata 0:69566eea0fba 463 }
cparata 0:69566eea0fba 464
cparata 2:f23b144da50a 465 return 0;
cparata 0:69566eea0fba 466 }
cparata 0:69566eea0fba 467
cparata 0:69566eea0fba 468 /**
cparata 0:69566eea0fba 469 * @brief Set ODR
cparata 0:69566eea0fba 470 * @param odr the output data rate to be set
cparata 2:f23b144da50a 471 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 472 */
cparata 2:f23b144da50a 473 int LSM303AGR_ACC_Sensor::Set_X_ODR(float odr)
cparata 0:69566eea0fba 474 {
cparata 0:69566eea0fba 475 if(isEnabled == 1)
cparata 0:69566eea0fba 476 {
cparata 2:f23b144da50a 477 if(Set_X_ODR_When_Enabled(odr) == 1)
cparata 0:69566eea0fba 478 {
cparata 2:f23b144da50a 479 return 1;
cparata 0:69566eea0fba 480 }
cparata 0:69566eea0fba 481 }
cparata 0:69566eea0fba 482 else
cparata 0:69566eea0fba 483 {
cparata 2:f23b144da50a 484 if(Set_X_ODR_When_Disabled(odr) == 1)
cparata 0:69566eea0fba 485 {
cparata 2:f23b144da50a 486 return 1;
cparata 0:69566eea0fba 487 }
cparata 0:69566eea0fba 488 }
cparata 0:69566eea0fba 489
cparata 2:f23b144da50a 490 return 0;
cparata 0:69566eea0fba 491 }
cparata 0:69566eea0fba 492
cparata 0:69566eea0fba 493 /**
cparata 0:69566eea0fba 494 * @brief Set ODR when enabled
cparata 0:69566eea0fba 495 * @param odr the output data rate to be set
cparata 2:f23b144da50a 496 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 497 */
cparata 2:f23b144da50a 498 int LSM303AGR_ACC_Sensor::Set_X_ODR_When_Enabled(float odr)
cparata 0:69566eea0fba 499 {
cparata 0:69566eea0fba 500 LSM303AGR_ACC_ODR_t new_odr;
cparata 0:69566eea0fba 501
cparata 0:69566eea0fba 502 new_odr = ( odr <= 1.0f ) ? LSM303AGR_ACC_ODR_DO_1Hz
cparata 0:69566eea0fba 503 : ( odr <= 10.0f ) ? LSM303AGR_ACC_ODR_DO_10Hz
cparata 0:69566eea0fba 504 : ( odr <= 25.0f ) ? LSM303AGR_ACC_ODR_DO_25Hz
cparata 0:69566eea0fba 505 : ( odr <= 50.0f ) ? LSM303AGR_ACC_ODR_DO_50Hz
cparata 0:69566eea0fba 506 : ( odr <= 100.0f ) ? LSM303AGR_ACC_ODR_DO_100Hz
cparata 0:69566eea0fba 507 : ( odr <= 200.0f ) ? LSM303AGR_ACC_ODR_DO_200Hz
cparata 0:69566eea0fba 508 : LSM303AGR_ACC_ODR_DO_400Hz;
cparata 0:69566eea0fba 509
cparata 0:69566eea0fba 510 if ( LSM303AGR_ACC_W_ODR( (void *)this, new_odr ) == MEMS_ERROR )
cparata 0:69566eea0fba 511 {
cparata 2:f23b144da50a 512 return 1;
cparata 0:69566eea0fba 513 }
cparata 0:69566eea0fba 514
cparata 2:f23b144da50a 515 return 0;
cparata 0:69566eea0fba 516 }
cparata 0:69566eea0fba 517
cparata 0:69566eea0fba 518 /**
cparata 0:69566eea0fba 519 * @brief Set ODR when disabled
cparata 0:69566eea0fba 520 * @param odr the output data rate to be set
cparata 2:f23b144da50a 521 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 522 */
cparata 2:f23b144da50a 523 int LSM303AGR_ACC_Sensor::Set_X_ODR_When_Disabled(float odr)
cparata 0:69566eea0fba 524 {
cparata 0:69566eea0fba 525 Last_ODR = ( odr <= 1.0f ) ? 1.0f
cparata 0:69566eea0fba 526 : ( odr <= 10.0f ) ? 10.0f
cparata 0:69566eea0fba 527 : ( odr <= 25.0f ) ? 25.0f
cparata 0:69566eea0fba 528 : ( odr <= 50.0f ) ? 50.0f
cparata 0:69566eea0fba 529 : ( odr <= 100.0f ) ? 100.0f
cparata 0:69566eea0fba 530 : ( odr <= 200.0f ) ? 200.0f
cparata 0:69566eea0fba 531 : 400.0f;
cparata 0:69566eea0fba 532
cparata 2:f23b144da50a 533 return 0;
cparata 0:69566eea0fba 534 }
cparata 0:69566eea0fba 535
cparata 0:69566eea0fba 536
cparata 0:69566eea0fba 537 /**
cparata 0:69566eea0fba 538 * @brief Read LSM303AGR Accelerometer full scale
cparata 0:69566eea0fba 539 * @param fullScale the pointer to the full scale
cparata 2:f23b144da50a 540 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 541 */
cparata 2:f23b144da50a 542 int LSM303AGR_ACC_Sensor::Get_X_FS(float* fullScale)
cparata 0:69566eea0fba 543 {
cparata 0:69566eea0fba 544 LSM303AGR_ACC_FS_t fs_low_level;
cparata 0:69566eea0fba 545
cparata 0:69566eea0fba 546 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata 0:69566eea0fba 547 {
cparata 2:f23b144da50a 548 return 1;
cparata 0:69566eea0fba 549 }
cparata 0:69566eea0fba 550
cparata 0:69566eea0fba 551 switch( fs_low_level )
cparata 0:69566eea0fba 552 {
cparata 0:69566eea0fba 553 case LSM303AGR_ACC_FS_2G:
cparata 0:69566eea0fba 554 *fullScale = 2.0f;
cparata 0:69566eea0fba 555 break;
cparata 0:69566eea0fba 556 case LSM303AGR_ACC_FS_4G:
cparata 0:69566eea0fba 557 *fullScale = 4.0f;
cparata 0:69566eea0fba 558 break;
cparata 0:69566eea0fba 559 case LSM303AGR_ACC_FS_8G:
cparata 0:69566eea0fba 560 *fullScale = 8.0f;
cparata 0:69566eea0fba 561 break;
cparata 0:69566eea0fba 562 case LSM303AGR_ACC_FS_16G:
cparata 0:69566eea0fba 563 *fullScale = 16.0f;
cparata 0:69566eea0fba 564 break;
cparata 0:69566eea0fba 565 default:
cparata 0:69566eea0fba 566 *fullScale = -1.0f;
cparata 2:f23b144da50a 567 return 1;
cparata 0:69566eea0fba 568 }
cparata 0:69566eea0fba 569
cparata 2:f23b144da50a 570 return 0;
cparata 0:69566eea0fba 571 }
cparata 0:69566eea0fba 572
cparata 0:69566eea0fba 573 /**
cparata 0:69566eea0fba 574 * @brief Set full scale
cparata 0:69566eea0fba 575 * @param fullScale the full scale to be set
cparata 2:f23b144da50a 576 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 577 */
cparata 2:f23b144da50a 578 int LSM303AGR_ACC_Sensor::Set_X_FS(float fullScale)
cparata 0:69566eea0fba 579 {
cparata 0:69566eea0fba 580 LSM303AGR_ACC_FS_t new_fs;
cparata 0:69566eea0fba 581
cparata 0:69566eea0fba 582 new_fs = ( fullScale <= 2.0f ) ? LSM303AGR_ACC_FS_2G
cparata 0:69566eea0fba 583 : ( fullScale <= 4.0f ) ? LSM303AGR_ACC_FS_4G
cparata 0:69566eea0fba 584 : ( fullScale <= 8.0f ) ? LSM303AGR_ACC_FS_8G
cparata 0:69566eea0fba 585 : LSM303AGR_ACC_FS_16G;
cparata 0:69566eea0fba 586
cparata 0:69566eea0fba 587 if ( LSM303AGR_ACC_W_FullScale( (void *)this, new_fs ) == MEMS_ERROR )
cparata 0:69566eea0fba 588 {
cparata 2:f23b144da50a 589 return 1;
cparata 0:69566eea0fba 590 }
cparata 0:69566eea0fba 591
cparata 2:f23b144da50a 592 return 0;
cparata 0:69566eea0fba 593 }
cparata 0:69566eea0fba 594
cparata 0:69566eea0fba 595 /**
cparata 0:69566eea0fba 596 * @brief Read accelerometer data from register
cparata 0:69566eea0fba 597 * @param reg register address
cparata 0:69566eea0fba 598 * @param data register data
cparata 2:f23b144da50a 599 * @retval 0 in case of success
cparata 2:f23b144da50a 600 * @retval 1 in case of failure
cparata 0:69566eea0fba 601 */
cparata 2:f23b144da50a 602 int LSM303AGR_ACC_Sensor::ReadReg( uint8_t reg, uint8_t *data )
cparata 0:69566eea0fba 603 {
cparata 0:69566eea0fba 604
cparata 0:69566eea0fba 605 if ( LSM303AGR_ACC_ReadReg( (void *)this, reg, data ) == MEMS_ERROR )
cparata 0:69566eea0fba 606 {
cparata 2:f23b144da50a 607 return 1;
cparata 0:69566eea0fba 608 }
cparata 0:69566eea0fba 609
cparata 2:f23b144da50a 610 return 0;
cparata 0:69566eea0fba 611 }
cparata 0:69566eea0fba 612
cparata 0:69566eea0fba 613 /**
cparata 0:69566eea0fba 614 * @brief Write accelerometer data to register
cparata 0:69566eea0fba 615 * @param reg register address
cparata 0:69566eea0fba 616 * @param data register data
cparata 2:f23b144da50a 617 * @retval 0 in case of success
cparata 2:f23b144da50a 618 * @retval 1 in case of failure
cparata 0:69566eea0fba 619 */
cparata 2:f23b144da50a 620 int LSM303AGR_ACC_Sensor::WriteReg( uint8_t reg, uint8_t data )
cparata 0:69566eea0fba 621 {
cparata 0:69566eea0fba 622
cparata 0:69566eea0fba 623 if ( LSM303AGR_ACC_WriteReg( (void *)this, reg, data ) == MEMS_ERROR )
cparata 0:69566eea0fba 624 {
cparata 2:f23b144da50a 625 return 1;
cparata 0:69566eea0fba 626 }
cparata 0:69566eea0fba 627
cparata 2:f23b144da50a 628 return 0;
cparata 0:69566eea0fba 629 }
cparata 0:69566eea0fba 630
cparata 0:69566eea0fba 631 uint8_t LSM303AGR_ACC_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
cparata 0:69566eea0fba 632 {
cparata 0:69566eea0fba 633 return ((LSM303AGR_ACC_Sensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata 0:69566eea0fba 634 }
cparata 0:69566eea0fba 635
cparata 0:69566eea0fba 636 uint8_t LSM303AGR_ACC_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
cparata 0:69566eea0fba 637 {
cparata 0:69566eea0fba 638 return ((LSM303AGR_ACC_Sensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata 0:69566eea0fba 639 }