Ultra-compact high-performance eCompass module: ultra-low power 3D accelerometer and 3D magnetometer.
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
Dependents: HelloWorld_ST_Sensors MOTENV_Mbed mbed-os-mqtt-client LSM303AGR_JS ... more
LSM303AGRAccSensor.h@4:6c7e83ae885e, 2019-03-04 (annotated)
- Committer:
- cparata
- Date:
- Mon Mar 04 13:08:21 2019 +0000
- Revision:
- 4:6c7e83ae885e
- Parent:
- 2:e37be5550633
Fix issue in SPI write
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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nikapov | 0:ec6e59cc6f40 | 1 | /** |
nikapov | 0:ec6e59cc6f40 | 2 | ****************************************************************************** |
nikapov | 0:ec6e59cc6f40 | 3 | * @file LSM303AGRAccSensor.h |
nikapov | 0:ec6e59cc6f40 | 4 | * @author CLab |
nikapov | 0:ec6e59cc6f40 | 5 | * @version V1.0.0 |
nikapov | 0:ec6e59cc6f40 | 6 | * @date 5 August 2016 |
nikapov | 0:ec6e59cc6f40 | 7 | * @brief Abstract Class of an LSM303AGR accelerometer sensor. |
nikapov | 0:ec6e59cc6f40 | 8 | ****************************************************************************** |
nikapov | 0:ec6e59cc6f40 | 9 | * @attention |
nikapov | 0:ec6e59cc6f40 | 10 | * |
nikapov | 0:ec6e59cc6f40 | 11 | * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2> |
nikapov | 0:ec6e59cc6f40 | 12 | * |
nikapov | 0:ec6e59cc6f40 | 13 | * Redistribution and use in source and binary forms, with or without modification, |
nikapov | 0:ec6e59cc6f40 | 14 | * are permitted provided that the following conditions are met: |
nikapov | 0:ec6e59cc6f40 | 15 | * 1. Redistributions of source code must retain the above copyright notice, |
nikapov | 0:ec6e59cc6f40 | 16 | * this list of conditions and the following disclaimer. |
nikapov | 0:ec6e59cc6f40 | 17 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
nikapov | 0:ec6e59cc6f40 | 18 | * this list of conditions and the following disclaimer in the documentation |
nikapov | 0:ec6e59cc6f40 | 19 | * and/or other materials provided with the distribution. |
nikapov | 0:ec6e59cc6f40 | 20 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
nikapov | 0:ec6e59cc6f40 | 21 | * may be used to endorse or promote products derived from this software |
nikapov | 0:ec6e59cc6f40 | 22 | * without specific prior written permission. |
nikapov | 0:ec6e59cc6f40 | 23 | * |
nikapov | 0:ec6e59cc6f40 | 24 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
nikapov | 0:ec6e59cc6f40 | 25 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
nikapov | 0:ec6e59cc6f40 | 26 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
nikapov | 0:ec6e59cc6f40 | 27 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
nikapov | 0:ec6e59cc6f40 | 28 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
nikapov | 0:ec6e59cc6f40 | 29 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
nikapov | 0:ec6e59cc6f40 | 30 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
nikapov | 0:ec6e59cc6f40 | 31 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
nikapov | 0:ec6e59cc6f40 | 32 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
nikapov | 0:ec6e59cc6f40 | 33 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
nikapov | 0:ec6e59cc6f40 | 34 | * |
nikapov | 0:ec6e59cc6f40 | 35 | ****************************************************************************** |
nikapov | 0:ec6e59cc6f40 | 36 | */ |
nikapov | 0:ec6e59cc6f40 | 37 | |
nikapov | 0:ec6e59cc6f40 | 38 | |
nikapov | 0:ec6e59cc6f40 | 39 | /* Prevent recursive inclusion -----------------------------------------------*/ |
nikapov | 0:ec6e59cc6f40 | 40 | |
nikapov | 0:ec6e59cc6f40 | 41 | #ifndef __LSM303AGRAccSensor_H__ |
nikapov | 0:ec6e59cc6f40 | 42 | #define __LSM303AGRAccSensor_H__ |
nikapov | 0:ec6e59cc6f40 | 43 | |
nikapov | 0:ec6e59cc6f40 | 44 | |
nikapov | 0:ec6e59cc6f40 | 45 | /* Includes ------------------------------------------------------------------*/ |
nikapov | 0:ec6e59cc6f40 | 46 | |
nikapov | 0:ec6e59cc6f40 | 47 | #include "DevI2C.h" |
nikapov | 0:ec6e59cc6f40 | 48 | #include "LSM303AGR_acc_driver.h" |
nikapov | 0:ec6e59cc6f40 | 49 | #include "MotionSensor.h" |
mapellil | 1:86d530a7f949 | 50 | #include <assert.h> |
nikapov | 0:ec6e59cc6f40 | 51 | |
nikapov | 0:ec6e59cc6f40 | 52 | /* Defines -------------------------------------------------------------------*/ |
nikapov | 0:ec6e59cc6f40 | 53 | #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_NORMAL_MODE 3.900f /**< Sensitivity value for 2 g full scale and normal mode [mg/LSB] */ |
nikapov | 0:ec6e59cc6f40 | 54 | #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_HIGH_RESOLUTION_MODE 0.980f /**< Sensitivity value for 2 g full scale and high resolution mode [mg/LSB] */ |
nikapov | 0:ec6e59cc6f40 | 55 | #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_LOW_POWER_MODE 15.630f /**< Sensitivity value for 2 g full scale and low power mode [mg/LSB] */ |
nikapov | 0:ec6e59cc6f40 | 56 | #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_NORMAL_MODE 7.820f /**< Sensitivity value for 4 g full scale and normal mode [mg/LSB] */ |
nikapov | 0:ec6e59cc6f40 | 57 | #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_HIGH_RESOLUTION_MODE 1.950f /**< Sensitivity value for 4 g full scale and high resolution mode [mg/LSB] */ |
nikapov | 0:ec6e59cc6f40 | 58 | #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_LOW_POWER_MODE 31.260f /**< Sensitivity value for 4 g full scale and low power mode [mg/LSB] */ |
nikapov | 0:ec6e59cc6f40 | 59 | #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_NORMAL_MODE 15.630f /**< Sensitivity value for 8 g full scale and normal mode [mg/LSB] */ |
nikapov | 0:ec6e59cc6f40 | 60 | #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_HIGH_RESOLUTION_MODE 3.900f /**< Sensitivity value for 8 g full scale and high resolution mode [mg/LSB] */ |
nikapov | 0:ec6e59cc6f40 | 61 | #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_LOW_POWER_MODE 62.520f /**< Sensitivity value for 8 g full scale and low power mode [mg/LSB] */ |
nikapov | 0:ec6e59cc6f40 | 62 | #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_NORMAL_MODE 46.900f /**< Sensitivity value for 16 g full scale and normal mode [mg/LSB] */ |
nikapov | 0:ec6e59cc6f40 | 63 | #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_HIGH_RESOLUTION_MODE 11.720f /**< Sensitivity value for 16 g full scale and high resolution mode [mg/LSB] */ |
nikapov | 0:ec6e59cc6f40 | 64 | #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_LOW_POWER_MODE 187.580f /**< Sensitivity value for 16 g full scale and low power mode [mg/LSB] */ |
nikapov | 0:ec6e59cc6f40 | 65 | |
nikapov | 0:ec6e59cc6f40 | 66 | /* Class Declaration ---------------------------------------------------------*/ |
nikapov | 0:ec6e59cc6f40 | 67 | |
nikapov | 0:ec6e59cc6f40 | 68 | /** |
nikapov | 0:ec6e59cc6f40 | 69 | * Abstract class of an LSM303AGR Inertial Measurement Unit (IMU) 6 axes |
nikapov | 0:ec6e59cc6f40 | 70 | * sensor. |
nikapov | 0:ec6e59cc6f40 | 71 | */ |
nikapov | 0:ec6e59cc6f40 | 72 | class LSM303AGRAccSensor : public MotionSensor |
nikapov | 0:ec6e59cc6f40 | 73 | { |
nikapov | 0:ec6e59cc6f40 | 74 | public: |
mapellil | 2:e37be5550633 | 75 | LSM303AGRAccSensor(SPI *spi, PinName cs_pin, PinName int1_pin=NC, PinName int2_pin=NC); // SPI3W ONLY |
mapellil | 1:86d530a7f949 | 76 | LSM303AGRAccSensor(DevI2C *i2c, uint8_t address=LSM303AGR_ACC_I2C_ADDRESS, PinName int1_pin=NC, PinName int2_pin=NC); |
nikapov | 0:ec6e59cc6f40 | 77 | virtual int init(void *init); |
nikapov | 0:ec6e59cc6f40 | 78 | virtual int read_id(uint8_t *id); |
nikapov | 0:ec6e59cc6f40 | 79 | virtual int get_x_axes(int32_t *pData); |
nikapov | 0:ec6e59cc6f40 | 80 | virtual int get_x_axes_raw(int16_t *pData); |
nikapov | 0:ec6e59cc6f40 | 81 | virtual int get_x_sensitivity(float *pfData); |
nikapov | 0:ec6e59cc6f40 | 82 | virtual int get_x_odr(float *odr); |
nikapov | 0:ec6e59cc6f40 | 83 | virtual int set_x_odr(float odr); |
nikapov | 0:ec6e59cc6f40 | 84 | virtual int get_x_fs(float *fullScale); |
nikapov | 0:ec6e59cc6f40 | 85 | virtual int set_x_fs(float fullScale); |
nikapov | 0:ec6e59cc6f40 | 86 | int enable(void); |
nikapov | 0:ec6e59cc6f40 | 87 | int disable(void); |
nikapov | 0:ec6e59cc6f40 | 88 | int read_reg(uint8_t reg, uint8_t *data); |
nikapov | 0:ec6e59cc6f40 | 89 | int write_reg(uint8_t reg, uint8_t data); |
nikapov | 0:ec6e59cc6f40 | 90 | |
nikapov | 0:ec6e59cc6f40 | 91 | /** |
nikapov | 0:ec6e59cc6f40 | 92 | * @brief Utility function to read data. |
nikapov | 0:ec6e59cc6f40 | 93 | * @param pBuffer: pointer to data to be read. |
nikapov | 0:ec6e59cc6f40 | 94 | * @param RegisterAddr: specifies internal address register to be read. |
nikapov | 0:ec6e59cc6f40 | 95 | * @param NumByteToRead: number of bytes to be read. |
nikapov | 0:ec6e59cc6f40 | 96 | * @retval 0 if ok, an error code otherwise. |
nikapov | 0:ec6e59cc6f40 | 97 | */ |
nikapov | 0:ec6e59cc6f40 | 98 | uint8_t io_read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead) |
nikapov | 0:ec6e59cc6f40 | 99 | { |
mapellil | 2:e37be5550633 | 100 | if (_dev_spi) { |
mapellil | 2:e37be5550633 | 101 | /* Write Reg Address */ |
mapellil | 2:e37be5550633 | 102 | _dev_spi->lock(); |
mapellil | 2:e37be5550633 | 103 | _cs_pin = 0; |
mapellil | 2:e37be5550633 | 104 | /* Write RD Reg Address with RD bit*/ |
mapellil | 2:e37be5550633 | 105 | uint8_t TxByte = RegisterAddr | 0x80; |
mapellil | 2:e37be5550633 | 106 | _dev_spi->write((char *)&TxByte, 1, (char *)pBuffer, (int) NumByteToRead); |
mapellil | 2:e37be5550633 | 107 | _cs_pin = 1; |
mapellil | 2:e37be5550633 | 108 | _dev_spi->unlock(); |
mapellil | 2:e37be5550633 | 109 | return 0; |
mapellil | 2:e37be5550633 | 110 | } |
mapellil | 2:e37be5550633 | 111 | if (_dev_i2c) return (uint8_t) _dev_i2c->i2c_read(pBuffer, _address, RegisterAddr, NumByteToRead); |
mapellil | 2:e37be5550633 | 112 | return 1; |
nikapov | 0:ec6e59cc6f40 | 113 | } |
nikapov | 0:ec6e59cc6f40 | 114 | |
nikapov | 0:ec6e59cc6f40 | 115 | /** |
nikapov | 0:ec6e59cc6f40 | 116 | * @brief Utility function to write data. |
nikapov | 0:ec6e59cc6f40 | 117 | * @param pBuffer: pointer to data to be written. |
nikapov | 0:ec6e59cc6f40 | 118 | * @param RegisterAddr: specifies internal address register to be written. |
nikapov | 0:ec6e59cc6f40 | 119 | * @param NumByteToWrite: number of bytes to write. |
nikapov | 0:ec6e59cc6f40 | 120 | * @retval 0 if ok, an error code otherwise. |
nikapov | 0:ec6e59cc6f40 | 121 | */ |
nikapov | 0:ec6e59cc6f40 | 122 | uint8_t io_write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite) |
nikapov | 0:ec6e59cc6f40 | 123 | { |
mapellil | 2:e37be5550633 | 124 | if (_dev_spi) { |
mapellil | 2:e37be5550633 | 125 | _dev_spi->lock(); |
mapellil | 2:e37be5550633 | 126 | _cs_pin = 0; |
cparata | 4:6c7e83ae885e | 127 | _dev_spi->write(RegisterAddr); |
mapellil | 2:e37be5550633 | 128 | _dev_spi->write((char *)pBuffer, (int) NumByteToWrite, NULL, 0); |
mapellil | 2:e37be5550633 | 129 | _cs_pin = 1; |
mapellil | 2:e37be5550633 | 130 | _dev_spi->unlock(); |
cparata | 4:6c7e83ae885e | 131 | return 0; |
mapellil | 2:e37be5550633 | 132 | } |
mapellil | 2:e37be5550633 | 133 | if (_dev_i2c) return (uint8_t)_dev_i2c->i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite); |
mapellil | 2:e37be5550633 | 134 | return 1; |
nikapov | 0:ec6e59cc6f40 | 135 | } |
nikapov | 0:ec6e59cc6f40 | 136 | |
nikapov | 0:ec6e59cc6f40 | 137 | private: |
nikapov | 0:ec6e59cc6f40 | 138 | int set_x_odr_when_enabled(float odr); |
nikapov | 0:ec6e59cc6f40 | 139 | int set_x_odr_when_disabled(float odr); |
nikapov | 0:ec6e59cc6f40 | 140 | int get_x_sensitivity_normal_mode(float *sensitivity ); |
nikapov | 0:ec6e59cc6f40 | 141 | int get_x_sensitivity_lp_mode(float *sensitivity ); |
nikapov | 0:ec6e59cc6f40 | 142 | int get_x_sensitivity_hr_mode(float *sensitivity ); |
nikapov | 0:ec6e59cc6f40 | 143 | |
nikapov | 0:ec6e59cc6f40 | 144 | /* Helper classes. */ |
mapellil | 1:86d530a7f949 | 145 | DevI2C *_dev_i2c; |
mapellil | 2:e37be5550633 | 146 | SPI *_dev_spi; |
nikapov | 0:ec6e59cc6f40 | 147 | |
nikapov | 0:ec6e59cc6f40 | 148 | /* Configuration */ |
nikapov | 0:ec6e59cc6f40 | 149 | uint8_t _address; |
mapellil | 1:86d530a7f949 | 150 | DigitalOut _cs_pin; |
mapellil | 1:86d530a7f949 | 151 | InterruptIn _int1_pin; |
mapellil | 1:86d530a7f949 | 152 | InterruptIn _int2_pin; |
nikapov | 0:ec6e59cc6f40 | 153 | |
nikapov | 0:ec6e59cc6f40 | 154 | uint8_t _is_enabled; |
nikapov | 0:ec6e59cc6f40 | 155 | float _last_odr; |
nikapov | 0:ec6e59cc6f40 | 156 | }; |
nikapov | 0:ec6e59cc6f40 | 157 | |
nikapov | 0:ec6e59cc6f40 | 158 | #ifdef __cplusplus |
nikapov | 0:ec6e59cc6f40 | 159 | extern "C" { |
nikapov | 0:ec6e59cc6f40 | 160 | #endif |
nikapov | 0:ec6e59cc6f40 | 161 | uint8_t LSM303AGR_ACC_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite ); |
nikapov | 0:ec6e59cc6f40 | 162 | uint8_t LSM303AGR_ACC_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead ); |
nikapov | 0:ec6e59cc6f40 | 163 | #ifdef __cplusplus |
nikapov | 0:ec6e59cc6f40 | 164 | } |
nikapov | 0:ec6e59cc6f40 | 165 | #endif |
nikapov | 0:ec6e59cc6f40 | 166 | |
nikapov | 0:ec6e59cc6f40 | 167 | #endif |