ST / LSM303AGR

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.cpp@0:ec6e59cc6f40, 2017-09-04 (annotated)

Committer:
nikapov
Date:
Mon Sep 04 16:08:24 2017 +0000
Revision:
0:ec6e59cc6f40
Child:
1:86d530a7f949
First version.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nikapov 0:ec6e59cc6f40 1 /**
nikapov 0:ec6e59cc6f40 2 ******************************************************************************
nikapov 0:ec6e59cc6f40 3 * @file LSM303AGRAccSensor.cpp
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 Implementation an LSM303AGR accelerometer sensor.
nikapov 0:ec6e59cc6f40 8 ******************************************************************************
nikapov 0:ec6e59cc6f40 9 * @attention
nikapov 0:ec6e59cc6f40 10 *
nikapov 0:ec6e59cc6f40 11 * <h2><center>&copy; 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 /* Includes ------------------------------------------------------------------*/
nikapov 0:ec6e59cc6f40 40
nikapov 0:ec6e59cc6f40 41 #include "LSM303AGRAccSensor.h"
nikapov 0:ec6e59cc6f40 42
nikapov 0:ec6e59cc6f40 43
nikapov 0:ec6e59cc6f40 44 /* Class Implementation ------------------------------------------------------*/
nikapov 0:ec6e59cc6f40 45
nikapov 0:ec6e59cc6f40 46 /** Constructor
nikapov 0:ec6e59cc6f40 47 * @param i2c object of an helper class which handles the I2C peripheral
nikapov 0:ec6e59cc6f40 48 * @param address the address of the component's instance
nikapov 0:ec6e59cc6f40 49 */
nikapov 0:ec6e59cc6f40 50 LSM303AGRAccSensor::LSM303AGRAccSensor(DevI2C &i2c) : _dev_i2c(i2c)
nikapov 0:ec6e59cc6f40 51 {
nikapov 0:ec6e59cc6f40 52 _address = LSM303AGR_ACC_I2C_ADDRESS;
nikapov 0:ec6e59cc6f40 53 };
nikapov 0:ec6e59cc6f40 54
nikapov 0:ec6e59cc6f40 55 /** Constructor
nikapov 0:ec6e59cc6f40 56 * @param i2c object of an helper class which handles the I2C peripheral
nikapov 0:ec6e59cc6f40 57 * @param address the address of the component's instance
nikapov 0:ec6e59cc6f40 58 */
nikapov 0:ec6e59cc6f40 59 LSM303AGRAccSensor::LSM303AGRAccSensor(DevI2C &i2c, uint8_t address) : _dev_i2c(i2c), _address(address)
nikapov 0:ec6e59cc6f40 60 {
nikapov 0:ec6e59cc6f40 61
nikapov 0:ec6e59cc6f40 62 };
nikapov 0:ec6e59cc6f40 63
nikapov 0:ec6e59cc6f40 64 /**
nikapov 0:ec6e59cc6f40 65 * @brief Initializing the component.
nikapov 0:ec6e59cc6f40 66 * @param[in] init pointer to device specific initalization structure.
nikapov 0:ec6e59cc6f40 67 * @retval "0" in case of success, an error code otherwise.
nikapov 0:ec6e59cc6f40 68 */
nikapov 0:ec6e59cc6f40 69 int LSM303AGRAccSensor::init(void *init)
nikapov 0:ec6e59cc6f40 70 {
nikapov 0:ec6e59cc6f40 71 /* Enable BDU */
nikapov 0:ec6e59cc6f40 72 if ( LSM303AGR_ACC_W_BlockDataUpdate( (void *)this, LSM303AGR_ACC_BDU_ENABLED ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 73 {
nikapov 0:ec6e59cc6f40 74 return 1;
nikapov 0:ec6e59cc6f40 75 }
nikapov 0:ec6e59cc6f40 76
nikapov 0:ec6e59cc6f40 77 /* FIFO mode selection */
nikapov 0:ec6e59cc6f40 78 if ( LSM303AGR_ACC_W_FifoMode( (void *)this, LSM303AGR_ACC_FM_BYPASS ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 79 {
nikapov 0:ec6e59cc6f40 80 return 1;
nikapov 0:ec6e59cc6f40 81 }
nikapov 0:ec6e59cc6f40 82
nikapov 0:ec6e59cc6f40 83 /* Output data rate selection - power down. */
nikapov 0:ec6e59cc6f40 84 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 85 {
nikapov 0:ec6e59cc6f40 86 return 1;
nikapov 0:ec6e59cc6f40 87 }
nikapov 0:ec6e59cc6f40 88
nikapov 0:ec6e59cc6f40 89 /* Full scale selection. */
nikapov 0:ec6e59cc6f40 90 if ( set_x_fs( 2.0f ) == 1 )
nikapov 0:ec6e59cc6f40 91 {
nikapov 0:ec6e59cc6f40 92 return 1;
nikapov 0:ec6e59cc6f40 93 }
nikapov 0:ec6e59cc6f40 94
nikapov 0:ec6e59cc6f40 95 /* Enable axes. */
nikapov 0:ec6e59cc6f40 96 if ( LSM303AGR_ACC_W_XEN( (void *)this, LSM303AGR_ACC_XEN_ENABLED ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 97 {
nikapov 0:ec6e59cc6f40 98 return 1;
nikapov 0:ec6e59cc6f40 99 }
nikapov 0:ec6e59cc6f40 100
nikapov 0:ec6e59cc6f40 101 if ( LSM303AGR_ACC_W_YEN ( (void *)this, LSM303AGR_ACC_YEN_ENABLED ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 102 {
nikapov 0:ec6e59cc6f40 103 return 1;
nikapov 0:ec6e59cc6f40 104 }
nikapov 0:ec6e59cc6f40 105
nikapov 0:ec6e59cc6f40 106 if ( LSM303AGR_ACC_W_ZEN ( (void *)this, LSM303AGR_ACC_ZEN_ENABLED ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 107 {
nikapov 0:ec6e59cc6f40 108 return 1;
nikapov 0:ec6e59cc6f40 109 }
nikapov 0:ec6e59cc6f40 110
nikapov 0:ec6e59cc6f40 111 /* Select default output data rate. */
nikapov 0:ec6e59cc6f40 112 _last_odr = 100.0f;
nikapov 0:ec6e59cc6f40 113
nikapov 0:ec6e59cc6f40 114 _is_enabled = 0;
nikapov 0:ec6e59cc6f40 115
nikapov 0:ec6e59cc6f40 116 return 0;
nikapov 0:ec6e59cc6f40 117 }
nikapov 0:ec6e59cc6f40 118
nikapov 0:ec6e59cc6f40 119 /**
nikapov 0:ec6e59cc6f40 120 * @brief Enable LSM303AGR Accelerator
nikapov 0:ec6e59cc6f40 121 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 122 */
nikapov 0:ec6e59cc6f40 123 int LSM303AGRAccSensor::enable(void)
nikapov 0:ec6e59cc6f40 124 {
nikapov 0:ec6e59cc6f40 125 /* Check if the component is already enabled */
nikapov 0:ec6e59cc6f40 126 if ( _is_enabled == 1 )
nikapov 0:ec6e59cc6f40 127 {
nikapov 0:ec6e59cc6f40 128 return 0;
nikapov 0:ec6e59cc6f40 129 }
nikapov 0:ec6e59cc6f40 130
nikapov 0:ec6e59cc6f40 131 /* Output data rate selection. */
nikapov 0:ec6e59cc6f40 132 if ( set_x_odr_when_enabled( _last_odr ) == 1 )
nikapov 0:ec6e59cc6f40 133 {
nikapov 0:ec6e59cc6f40 134 return 1;
nikapov 0:ec6e59cc6f40 135 }
nikapov 0:ec6e59cc6f40 136
nikapov 0:ec6e59cc6f40 137 _is_enabled = 1;
nikapov 0:ec6e59cc6f40 138
nikapov 0:ec6e59cc6f40 139 return 0;
nikapov 0:ec6e59cc6f40 140 }
nikapov 0:ec6e59cc6f40 141
nikapov 0:ec6e59cc6f40 142 /**
nikapov 0:ec6e59cc6f40 143 * @brief Disable LSM303AGR Accelerator
nikapov 0:ec6e59cc6f40 144 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 145 */
nikapov 0:ec6e59cc6f40 146 int LSM303AGRAccSensor::disable(void)
nikapov 0:ec6e59cc6f40 147 {
nikapov 0:ec6e59cc6f40 148 /* Check if the component is already disabled */
nikapov 0:ec6e59cc6f40 149 if ( _is_enabled == 0 )
nikapov 0:ec6e59cc6f40 150 {
nikapov 0:ec6e59cc6f40 151 return 0;
nikapov 0:ec6e59cc6f40 152 }
nikapov 0:ec6e59cc6f40 153
nikapov 0:ec6e59cc6f40 154 /* Store actual output data rate. */
nikapov 0:ec6e59cc6f40 155 if ( get_x_odr( &_last_odr ) == 1 )
nikapov 0:ec6e59cc6f40 156 {
nikapov 0:ec6e59cc6f40 157 return 1;
nikapov 0:ec6e59cc6f40 158 }
nikapov 0:ec6e59cc6f40 159
nikapov 0:ec6e59cc6f40 160 /* Output data rate selection - power down. */
nikapov 0:ec6e59cc6f40 161 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 162 {
nikapov 0:ec6e59cc6f40 163 return 1;
nikapov 0:ec6e59cc6f40 164 }
nikapov 0:ec6e59cc6f40 165
nikapov 0:ec6e59cc6f40 166 _is_enabled = 0;
nikapov 0:ec6e59cc6f40 167
nikapov 0:ec6e59cc6f40 168 return 0;
nikapov 0:ec6e59cc6f40 169 }
nikapov 0:ec6e59cc6f40 170
nikapov 0:ec6e59cc6f40 171 /**
nikapov 0:ec6e59cc6f40 172 * @brief Read ID of LSM303AGR Accelerometer
nikapov 0:ec6e59cc6f40 173 * @param p_id the pointer where the ID of the device is stored
nikapov 0:ec6e59cc6f40 174 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 175 */
nikapov 0:ec6e59cc6f40 176 int LSM303AGRAccSensor::read_id(uint8_t *id)
nikapov 0:ec6e59cc6f40 177 {
nikapov 0:ec6e59cc6f40 178 if(!id)
nikapov 0:ec6e59cc6f40 179 {
nikapov 0:ec6e59cc6f40 180 return 1;
nikapov 0:ec6e59cc6f40 181 }
nikapov 0:ec6e59cc6f40 182
nikapov 0:ec6e59cc6f40 183 /* Read WHO AM I register */
nikapov 0:ec6e59cc6f40 184 if ( LSM303AGR_ACC_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 185 {
nikapov 0:ec6e59cc6f40 186 return 1;
nikapov 0:ec6e59cc6f40 187 }
nikapov 0:ec6e59cc6f40 188
nikapov 0:ec6e59cc6f40 189 return 0;
nikapov 0:ec6e59cc6f40 190 }
nikapov 0:ec6e59cc6f40 191
nikapov 0:ec6e59cc6f40 192 /**
nikapov 0:ec6e59cc6f40 193 * @brief Read data from LSM303AGR Accelerometer
nikapov 0:ec6e59cc6f40 194 * @param pData the pointer where the accelerometer data are stored
nikapov 0:ec6e59cc6f40 195 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 196 */
nikapov 0:ec6e59cc6f40 197 int LSM303AGRAccSensor::get_x_axes(int32_t *pData)
nikapov 0:ec6e59cc6f40 198 {
nikapov 0:ec6e59cc6f40 199 int data[3];
nikapov 0:ec6e59cc6f40 200
nikapov 0:ec6e59cc6f40 201 /* Read data from LSM303AGR. */
nikapov 0:ec6e59cc6f40 202 if ( !LSM303AGR_ACC_Get_Acceleration((void *)this, data) )
nikapov 0:ec6e59cc6f40 203 {
nikapov 0:ec6e59cc6f40 204 return 1;
nikapov 0:ec6e59cc6f40 205 }
nikapov 0:ec6e59cc6f40 206
nikapov 0:ec6e59cc6f40 207 /* Calculate the data. */
nikapov 0:ec6e59cc6f40 208 pData[0] = (int32_t)data[0];
nikapov 0:ec6e59cc6f40 209 pData[1] = (int32_t)data[1];
nikapov 0:ec6e59cc6f40 210 pData[2] = (int32_t)data[2];
nikapov 0:ec6e59cc6f40 211
nikapov 0:ec6e59cc6f40 212 return 0;
nikapov 0:ec6e59cc6f40 213 }
nikapov 0:ec6e59cc6f40 214
nikapov 0:ec6e59cc6f40 215 /**
nikapov 0:ec6e59cc6f40 216 * @brief Read Accelerometer Sensitivity
nikapov 0:ec6e59cc6f40 217 * @param pfData the pointer where the accelerometer sensitivity is stored
nikapov 0:ec6e59cc6f40 218 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 219 */
nikapov 0:ec6e59cc6f40 220 int LSM303AGRAccSensor::get_x_sensitivity(float *pfData)
nikapov 0:ec6e59cc6f40 221 {
nikapov 0:ec6e59cc6f40 222 LSM303AGR_ACC_LPEN_t lp_value;
nikapov 0:ec6e59cc6f40 223 LSM303AGR_ACC_HR_t hr_value;
nikapov 0:ec6e59cc6f40 224
nikapov 0:ec6e59cc6f40 225 /* Read low power flag */
nikapov 0:ec6e59cc6f40 226 if( LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp_value ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 227 {
nikapov 0:ec6e59cc6f40 228 return 1;
nikapov 0:ec6e59cc6f40 229 }
nikapov 0:ec6e59cc6f40 230
nikapov 0:ec6e59cc6f40 231 /* Read high performance flag */
nikapov 0:ec6e59cc6f40 232 if( LSM303AGR_ACC_R_HiRes( (void *)this, &hr_value ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 233 {
nikapov 0:ec6e59cc6f40 234 return 1;
nikapov 0:ec6e59cc6f40 235 }
nikapov 0:ec6e59cc6f40 236
nikapov 0:ec6e59cc6f40 237 if( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
nikapov 0:ec6e59cc6f40 238 {
nikapov 0:ec6e59cc6f40 239 /* Normal Mode */
nikapov 0:ec6e59cc6f40 240 return get_x_sensitivity_normal_mode( pfData );
nikapov 0:ec6e59cc6f40 241 } else if ( lp_value == LSM303AGR_ACC_LPEN_ENABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
nikapov 0:ec6e59cc6f40 242 {
nikapov 0:ec6e59cc6f40 243 /* Low Power Mode */
nikapov 0:ec6e59cc6f40 244 return get_x_sensitivity_lp_mode( pfData );
nikapov 0:ec6e59cc6f40 245 } else if ( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_ENABLED )
nikapov 0:ec6e59cc6f40 246 {
nikapov 0:ec6e59cc6f40 247 /* High Resolution Mode */
nikapov 0:ec6e59cc6f40 248 return get_x_sensitivity_hr_mode( pfData );
nikapov 0:ec6e59cc6f40 249 } else
nikapov 0:ec6e59cc6f40 250 {
nikapov 0:ec6e59cc6f40 251 /* Not allowed */
nikapov 0:ec6e59cc6f40 252 return 1;
nikapov 0:ec6e59cc6f40 253 }
nikapov 0:ec6e59cc6f40 254 }
nikapov 0:ec6e59cc6f40 255
nikapov 0:ec6e59cc6f40 256 /**
nikapov 0:ec6e59cc6f40 257 * @brief Read Accelerometer Sensitivity in Normal Mode
nikapov 0:ec6e59cc6f40 258 * @param sensitivity the pointer where the accelerometer sensitivity is stored
nikapov 0:ec6e59cc6f40 259 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 260 */
nikapov 0:ec6e59cc6f40 261 int LSM303AGRAccSensor::get_x_sensitivity_normal_mode( float *sensitivity )
nikapov 0:ec6e59cc6f40 262 {
nikapov 0:ec6e59cc6f40 263 LSM303AGR_ACC_FS_t fullScale;
nikapov 0:ec6e59cc6f40 264
nikapov 0:ec6e59cc6f40 265 /* Read actual full scale selection from sensor. */
nikapov 0:ec6e59cc6f40 266 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 267 {
nikapov 0:ec6e59cc6f40 268 return 1;
nikapov 0:ec6e59cc6f40 269 }
nikapov 0:ec6e59cc6f40 270
nikapov 0:ec6e59cc6f40 271 /* Store the sensitivity based on actual full scale. */
nikapov 0:ec6e59cc6f40 272 switch( fullScale )
nikapov 0:ec6e59cc6f40 273 {
nikapov 0:ec6e59cc6f40 274 case LSM303AGR_ACC_FS_2G:
nikapov 0:ec6e59cc6f40 275 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_NORMAL_MODE;
nikapov 0:ec6e59cc6f40 276 break;
nikapov 0:ec6e59cc6f40 277 case LSM303AGR_ACC_FS_4G:
nikapov 0:ec6e59cc6f40 278 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_NORMAL_MODE;
nikapov 0:ec6e59cc6f40 279 break;
nikapov 0:ec6e59cc6f40 280 case LSM303AGR_ACC_FS_8G:
nikapov 0:ec6e59cc6f40 281 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_NORMAL_MODE;
nikapov 0:ec6e59cc6f40 282 break;
nikapov 0:ec6e59cc6f40 283 case LSM303AGR_ACC_FS_16G:
nikapov 0:ec6e59cc6f40 284 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_NORMAL_MODE;
nikapov 0:ec6e59cc6f40 285 break;
nikapov 0:ec6e59cc6f40 286 default:
nikapov 0:ec6e59cc6f40 287 *sensitivity = -1.0f;
nikapov 0:ec6e59cc6f40 288 return 1;
nikapov 0:ec6e59cc6f40 289 }
nikapov 0:ec6e59cc6f40 290
nikapov 0:ec6e59cc6f40 291 return 0;
nikapov 0:ec6e59cc6f40 292 }
nikapov 0:ec6e59cc6f40 293
nikapov 0:ec6e59cc6f40 294 /**
nikapov 0:ec6e59cc6f40 295 * @brief Read Accelerometer Sensitivity in LP Mode
nikapov 0:ec6e59cc6f40 296 * @param sensitivity the pointer where the accelerometer sensitivity is stored
nikapov 0:ec6e59cc6f40 297 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 298 */
nikapov 0:ec6e59cc6f40 299 int LSM303AGRAccSensor::get_x_sensitivity_lp_mode( float *sensitivity )
nikapov 0:ec6e59cc6f40 300 {
nikapov 0:ec6e59cc6f40 301 LSM303AGR_ACC_FS_t fullScale;
nikapov 0:ec6e59cc6f40 302
nikapov 0:ec6e59cc6f40 303 /* Read actual full scale selection from sensor. */
nikapov 0:ec6e59cc6f40 304 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 305 {
nikapov 0:ec6e59cc6f40 306 return 1;
nikapov 0:ec6e59cc6f40 307 }
nikapov 0:ec6e59cc6f40 308
nikapov 0:ec6e59cc6f40 309 /* Store the sensitivity based on actual full scale. */
nikapov 0:ec6e59cc6f40 310 switch( fullScale )
nikapov 0:ec6e59cc6f40 311 {
nikapov 0:ec6e59cc6f40 312 case LSM303AGR_ACC_FS_2G:
nikapov 0:ec6e59cc6f40 313 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_LOW_POWER_MODE;
nikapov 0:ec6e59cc6f40 314 break;
nikapov 0:ec6e59cc6f40 315 case LSM303AGR_ACC_FS_4G:
nikapov 0:ec6e59cc6f40 316 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_LOW_POWER_MODE;
nikapov 0:ec6e59cc6f40 317 break;
nikapov 0:ec6e59cc6f40 318 case LSM303AGR_ACC_FS_8G:
nikapov 0:ec6e59cc6f40 319 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_LOW_POWER_MODE;
nikapov 0:ec6e59cc6f40 320 break;
nikapov 0:ec6e59cc6f40 321 case LSM303AGR_ACC_FS_16G:
nikapov 0:ec6e59cc6f40 322 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_LOW_POWER_MODE;
nikapov 0:ec6e59cc6f40 323 break;
nikapov 0:ec6e59cc6f40 324 default:
nikapov 0:ec6e59cc6f40 325 *sensitivity = -1.0f;
nikapov 0:ec6e59cc6f40 326 return 1;
nikapov 0:ec6e59cc6f40 327 }
nikapov 0:ec6e59cc6f40 328
nikapov 0:ec6e59cc6f40 329 return 0;
nikapov 0:ec6e59cc6f40 330 }
nikapov 0:ec6e59cc6f40 331
nikapov 0:ec6e59cc6f40 332 /**
nikapov 0:ec6e59cc6f40 333 * @brief Read Accelerometer Sensitivity in HR Mode
nikapov 0:ec6e59cc6f40 334 * @param sensitivity the pointer where the accelerometer sensitivity is stored
nikapov 0:ec6e59cc6f40 335 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 336 */
nikapov 0:ec6e59cc6f40 337 int LSM303AGRAccSensor::get_x_sensitivity_hr_mode( float *sensitivity )
nikapov 0:ec6e59cc6f40 338 {
nikapov 0:ec6e59cc6f40 339 LSM303AGR_ACC_FS_t fullScale;
nikapov 0:ec6e59cc6f40 340
nikapov 0:ec6e59cc6f40 341 /* Read actual full scale selection from sensor. */
nikapov 0:ec6e59cc6f40 342 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 343 {
nikapov 0:ec6e59cc6f40 344 return 1;
nikapov 0:ec6e59cc6f40 345 }
nikapov 0:ec6e59cc6f40 346
nikapov 0:ec6e59cc6f40 347 /* Store the sensitivity based on actual full scale. */
nikapov 0:ec6e59cc6f40 348 switch( fullScale )
nikapov 0:ec6e59cc6f40 349 {
nikapov 0:ec6e59cc6f40 350 case LSM303AGR_ACC_FS_2G:
nikapov 0:ec6e59cc6f40 351 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_HIGH_RESOLUTION_MODE;
nikapov 0:ec6e59cc6f40 352 break;
nikapov 0:ec6e59cc6f40 353 case LSM303AGR_ACC_FS_4G:
nikapov 0:ec6e59cc6f40 354 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_HIGH_RESOLUTION_MODE;
nikapov 0:ec6e59cc6f40 355 break;
nikapov 0:ec6e59cc6f40 356 case LSM303AGR_ACC_FS_8G:
nikapov 0:ec6e59cc6f40 357 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_HIGH_RESOLUTION_MODE;
nikapov 0:ec6e59cc6f40 358 break;
nikapov 0:ec6e59cc6f40 359 case LSM303AGR_ACC_FS_16G:
nikapov 0:ec6e59cc6f40 360 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_HIGH_RESOLUTION_MODE;
nikapov 0:ec6e59cc6f40 361 break;
nikapov 0:ec6e59cc6f40 362 default:
nikapov 0:ec6e59cc6f40 363 *sensitivity = -1.0f;
nikapov 0:ec6e59cc6f40 364 return 1;
nikapov 0:ec6e59cc6f40 365 }
nikapov 0:ec6e59cc6f40 366
nikapov 0:ec6e59cc6f40 367 return 0;
nikapov 0:ec6e59cc6f40 368 }
nikapov 0:ec6e59cc6f40 369
nikapov 0:ec6e59cc6f40 370 /**
nikapov 0:ec6e59cc6f40 371 * @brief Read raw data from LSM303AGR Accelerometer
nikapov 0:ec6e59cc6f40 372 * @param pData the pointer where the accelerometer raw data are stored
nikapov 0:ec6e59cc6f40 373 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 374 */
nikapov 0:ec6e59cc6f40 375 int LSM303AGRAccSensor::get_x_axes_raw(int16_t *pData)
nikapov 0:ec6e59cc6f40 376 {
nikapov 0:ec6e59cc6f40 377 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
nikapov 0:ec6e59cc6f40 378 u8_t shift = 0;
nikapov 0:ec6e59cc6f40 379 LSM303AGR_ACC_LPEN_t lp;
nikapov 0:ec6e59cc6f40 380 LSM303AGR_ACC_HR_t hr;
nikapov 0:ec6e59cc6f40 381
nikapov 0:ec6e59cc6f40 382 /* Determine which operational mode the acc is set */
nikapov 0:ec6e59cc6f40 383 if(!LSM303AGR_ACC_R_HiRes( (void *)this, &hr )) {
nikapov 0:ec6e59cc6f40 384 return 1;
nikapov 0:ec6e59cc6f40 385 }
nikapov 0:ec6e59cc6f40 386
nikapov 0:ec6e59cc6f40 387 if(!LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp )) {
nikapov 0:ec6e59cc6f40 388 return 1;
nikapov 0:ec6e59cc6f40 389 }
nikapov 0:ec6e59cc6f40 390
nikapov 0:ec6e59cc6f40 391 if (lp == LSM303AGR_ACC_LPEN_ENABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
nikapov 0:ec6e59cc6f40 392 /* op mode is LP 8-bit */
nikapov 0:ec6e59cc6f40 393 shift = 8;
nikapov 0:ec6e59cc6f40 394 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
nikapov 0:ec6e59cc6f40 395 /* op mode is Normal 10-bit */
nikapov 0:ec6e59cc6f40 396 shift = 6;
nikapov 0:ec6e59cc6f40 397 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_ENABLED) {
nikapov 0:ec6e59cc6f40 398 /* op mode is HR 12-bit */
nikapov 0:ec6e59cc6f40 399 shift = 4;
nikapov 0:ec6e59cc6f40 400 } else {
nikapov 0:ec6e59cc6f40 401 return 1;
nikapov 0:ec6e59cc6f40 402 }
nikapov 0:ec6e59cc6f40 403
nikapov 0:ec6e59cc6f40 404 /* Read output registers from LSM303AGR_ACC_GYRO_OUTX_L_XL to LSM303AGR_ACC_GYRO_OUTZ_H_XL. */
nikapov 0:ec6e59cc6f40 405 if (!LSM303AGR_ACC_Get_Raw_Acceleration( (void *)this, ( uint8_t* )regValue ))
nikapov 0:ec6e59cc6f40 406 {
nikapov 0:ec6e59cc6f40 407 return 1;
nikapov 0:ec6e59cc6f40 408 }
nikapov 0:ec6e59cc6f40 409
nikapov 0:ec6e59cc6f40 410 /* Format the data. */
nikapov 0:ec6e59cc6f40 411 pData[0] = ( ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] ) >> shift );
nikapov 0:ec6e59cc6f40 412 pData[1] = ( ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] ) >> shift );
nikapov 0:ec6e59cc6f40 413 pData[2] = ( ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] ) >> shift );
nikapov 0:ec6e59cc6f40 414
nikapov 0:ec6e59cc6f40 415 return 0;
nikapov 0:ec6e59cc6f40 416 }
nikapov 0:ec6e59cc6f40 417
nikapov 0:ec6e59cc6f40 418 /**
nikapov 0:ec6e59cc6f40 419 * @brief Read LSM303AGR Accelerometer output data rate
nikapov 0:ec6e59cc6f40 420 * @param odr the pointer to the output data rate
nikapov 0:ec6e59cc6f40 421 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 422 */
nikapov 0:ec6e59cc6f40 423 int LSM303AGRAccSensor::get_x_odr(float* odr)
nikapov 0:ec6e59cc6f40 424 {
nikapov 0:ec6e59cc6f40 425 LSM303AGR_ACC_ODR_t odr_low_level;
nikapov 0:ec6e59cc6f40 426
nikapov 0:ec6e59cc6f40 427 if ( LSM303AGR_ACC_R_ODR( (void *)this, &odr_low_level ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 428 {
nikapov 0:ec6e59cc6f40 429 return 1;
nikapov 0:ec6e59cc6f40 430 }
nikapov 0:ec6e59cc6f40 431
nikapov 0:ec6e59cc6f40 432 switch( odr_low_level )
nikapov 0:ec6e59cc6f40 433 {
nikapov 0:ec6e59cc6f40 434 case LSM303AGR_ACC_ODR_DO_PWR_DOWN:
nikapov 0:ec6e59cc6f40 435 *odr = 0.0f;
nikapov 0:ec6e59cc6f40 436 break;
nikapov 0:ec6e59cc6f40 437 case LSM303AGR_ACC_ODR_DO_1Hz:
nikapov 0:ec6e59cc6f40 438 *odr = 1.0f;
nikapov 0:ec6e59cc6f40 439 break;
nikapov 0:ec6e59cc6f40 440 case LSM303AGR_ACC_ODR_DO_10Hz:
nikapov 0:ec6e59cc6f40 441 *odr = 10.0f;
nikapov 0:ec6e59cc6f40 442 break;
nikapov 0:ec6e59cc6f40 443 case LSM303AGR_ACC_ODR_DO_25Hz:
nikapov 0:ec6e59cc6f40 444 *odr = 25.0f;
nikapov 0:ec6e59cc6f40 445 break;
nikapov 0:ec6e59cc6f40 446 case LSM303AGR_ACC_ODR_DO_50Hz:
nikapov 0:ec6e59cc6f40 447 *odr = 50.0f;
nikapov 0:ec6e59cc6f40 448 break;
nikapov 0:ec6e59cc6f40 449 case LSM303AGR_ACC_ODR_DO_100Hz:
nikapov 0:ec6e59cc6f40 450 *odr = 100.0f;
nikapov 0:ec6e59cc6f40 451 break;
nikapov 0:ec6e59cc6f40 452 case LSM303AGR_ACC_ODR_DO_200Hz:
nikapov 0:ec6e59cc6f40 453 *odr = 200.0f;
nikapov 0:ec6e59cc6f40 454 break;
nikapov 0:ec6e59cc6f40 455 case LSM303AGR_ACC_ODR_DO_400Hz:
nikapov 0:ec6e59cc6f40 456 *odr = 400.0f;
nikapov 0:ec6e59cc6f40 457 break;
nikapov 0:ec6e59cc6f40 458 default:
nikapov 0:ec6e59cc6f40 459 *odr = -1.0f;
nikapov 0:ec6e59cc6f40 460 return 1;
nikapov 0:ec6e59cc6f40 461 }
nikapov 0:ec6e59cc6f40 462
nikapov 0:ec6e59cc6f40 463 return 0;
nikapov 0:ec6e59cc6f40 464 }
nikapov 0:ec6e59cc6f40 465
nikapov 0:ec6e59cc6f40 466 /**
nikapov 0:ec6e59cc6f40 467 * @brief Set ODR
nikapov 0:ec6e59cc6f40 468 * @param odr the output data rate to be set
nikapov 0:ec6e59cc6f40 469 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 470 */
nikapov 0:ec6e59cc6f40 471 int LSM303AGRAccSensor::set_x_odr(float odr)
nikapov 0:ec6e59cc6f40 472 {
nikapov 0:ec6e59cc6f40 473 if(_is_enabled == 1)
nikapov 0:ec6e59cc6f40 474 {
nikapov 0:ec6e59cc6f40 475 if(set_x_odr_when_enabled(odr) == 1)
nikapov 0:ec6e59cc6f40 476 {
nikapov 0:ec6e59cc6f40 477 return 1;
nikapov 0:ec6e59cc6f40 478 }
nikapov 0:ec6e59cc6f40 479 }
nikapov 0:ec6e59cc6f40 480 else
nikapov 0:ec6e59cc6f40 481 {
nikapov 0:ec6e59cc6f40 482 if(set_x_odr_when_disabled(odr) == 1)
nikapov 0:ec6e59cc6f40 483 {
nikapov 0:ec6e59cc6f40 484 return 1;
nikapov 0:ec6e59cc6f40 485 }
nikapov 0:ec6e59cc6f40 486 }
nikapov 0:ec6e59cc6f40 487
nikapov 0:ec6e59cc6f40 488 return 0;
nikapov 0:ec6e59cc6f40 489 }
nikapov 0:ec6e59cc6f40 490
nikapov 0:ec6e59cc6f40 491 /**
nikapov 0:ec6e59cc6f40 492 * @brief Set ODR when enabled
nikapov 0:ec6e59cc6f40 493 * @param odr the output data rate to be set
nikapov 0:ec6e59cc6f40 494 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 495 */
nikapov 0:ec6e59cc6f40 496 int LSM303AGRAccSensor::set_x_odr_when_enabled(float odr)
nikapov 0:ec6e59cc6f40 497 {
nikapov 0:ec6e59cc6f40 498 LSM303AGR_ACC_ODR_t new_odr;
nikapov 0:ec6e59cc6f40 499
nikapov 0:ec6e59cc6f40 500 new_odr = ( odr <= 1.0f ) ? LSM303AGR_ACC_ODR_DO_1Hz
nikapov 0:ec6e59cc6f40 501 : ( odr <= 10.0f ) ? LSM303AGR_ACC_ODR_DO_10Hz
nikapov 0:ec6e59cc6f40 502 : ( odr <= 25.0f ) ? LSM303AGR_ACC_ODR_DO_25Hz
nikapov 0:ec6e59cc6f40 503 : ( odr <= 50.0f ) ? LSM303AGR_ACC_ODR_DO_50Hz
nikapov 0:ec6e59cc6f40 504 : ( odr <= 100.0f ) ? LSM303AGR_ACC_ODR_DO_100Hz
nikapov 0:ec6e59cc6f40 505 : ( odr <= 200.0f ) ? LSM303AGR_ACC_ODR_DO_200Hz
nikapov 0:ec6e59cc6f40 506 : LSM303AGR_ACC_ODR_DO_400Hz;
nikapov 0:ec6e59cc6f40 507
nikapov 0:ec6e59cc6f40 508 if ( LSM303AGR_ACC_W_ODR( (void *)this, new_odr ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 509 {
nikapov 0:ec6e59cc6f40 510 return 1;
nikapov 0:ec6e59cc6f40 511 }
nikapov 0:ec6e59cc6f40 512
nikapov 0:ec6e59cc6f40 513 return 0;
nikapov 0:ec6e59cc6f40 514 }
nikapov 0:ec6e59cc6f40 515
nikapov 0:ec6e59cc6f40 516 /**
nikapov 0:ec6e59cc6f40 517 * @brief Set ODR when disabled
nikapov 0:ec6e59cc6f40 518 * @param odr the output data rate to be set
nikapov 0:ec6e59cc6f40 519 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 520 */
nikapov 0:ec6e59cc6f40 521 int LSM303AGRAccSensor::set_x_odr_when_disabled(float odr)
nikapov 0:ec6e59cc6f40 522 {
nikapov 0:ec6e59cc6f40 523 _last_odr = ( odr <= 1.0f ) ? 1.0f
nikapov 0:ec6e59cc6f40 524 : ( odr <= 10.0f ) ? 10.0f
nikapov 0:ec6e59cc6f40 525 : ( odr <= 25.0f ) ? 25.0f
nikapov 0:ec6e59cc6f40 526 : ( odr <= 50.0f ) ? 50.0f
nikapov 0:ec6e59cc6f40 527 : ( odr <= 100.0f ) ? 100.0f
nikapov 0:ec6e59cc6f40 528 : ( odr <= 200.0f ) ? 200.0f
nikapov 0:ec6e59cc6f40 529 : 400.0f;
nikapov 0:ec6e59cc6f40 530
nikapov 0:ec6e59cc6f40 531 return 0;
nikapov 0:ec6e59cc6f40 532 }
nikapov 0:ec6e59cc6f40 533
nikapov 0:ec6e59cc6f40 534
nikapov 0:ec6e59cc6f40 535 /**
nikapov 0:ec6e59cc6f40 536 * @brief Read LSM303AGR Accelerometer full scale
nikapov 0:ec6e59cc6f40 537 * @param fullScale the pointer to the full scale
nikapov 0:ec6e59cc6f40 538 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 539 */
nikapov 0:ec6e59cc6f40 540 int LSM303AGRAccSensor::get_x_fs(float* fullScale)
nikapov 0:ec6e59cc6f40 541 {
nikapov 0:ec6e59cc6f40 542 LSM303AGR_ACC_FS_t fs_low_level;
nikapov 0:ec6e59cc6f40 543
nikapov 0:ec6e59cc6f40 544 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fs_low_level ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 545 {
nikapov 0:ec6e59cc6f40 546 return 1;
nikapov 0:ec6e59cc6f40 547 }
nikapov 0:ec6e59cc6f40 548
nikapov 0:ec6e59cc6f40 549 switch( fs_low_level )
nikapov 0:ec6e59cc6f40 550 {
nikapov 0:ec6e59cc6f40 551 case LSM303AGR_ACC_FS_2G:
nikapov 0:ec6e59cc6f40 552 *fullScale = 2.0f;
nikapov 0:ec6e59cc6f40 553 break;
nikapov 0:ec6e59cc6f40 554 case LSM303AGR_ACC_FS_4G:
nikapov 0:ec6e59cc6f40 555 *fullScale = 4.0f;
nikapov 0:ec6e59cc6f40 556 break;
nikapov 0:ec6e59cc6f40 557 case LSM303AGR_ACC_FS_8G:
nikapov 0:ec6e59cc6f40 558 *fullScale = 8.0f;
nikapov 0:ec6e59cc6f40 559 break;
nikapov 0:ec6e59cc6f40 560 case LSM303AGR_ACC_FS_16G:
nikapov 0:ec6e59cc6f40 561 *fullScale = 16.0f;
nikapov 0:ec6e59cc6f40 562 break;
nikapov 0:ec6e59cc6f40 563 default:
nikapov 0:ec6e59cc6f40 564 *fullScale = -1.0f;
nikapov 0:ec6e59cc6f40 565 return 1;
nikapov 0:ec6e59cc6f40 566 }
nikapov 0:ec6e59cc6f40 567
nikapov 0:ec6e59cc6f40 568 return 0;
nikapov 0:ec6e59cc6f40 569 }
nikapov 0:ec6e59cc6f40 570
nikapov 0:ec6e59cc6f40 571 /**
nikapov 0:ec6e59cc6f40 572 * @brief Set full scale
nikapov 0:ec6e59cc6f40 573 * @param fullScale the full scale to be set
nikapov 0:ec6e59cc6f40 574 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 575 */
nikapov 0:ec6e59cc6f40 576 int LSM303AGRAccSensor::set_x_fs(float fullScale)
nikapov 0:ec6e59cc6f40 577 {
nikapov 0:ec6e59cc6f40 578 LSM303AGR_ACC_FS_t new_fs;
nikapov 0:ec6e59cc6f40 579
nikapov 0:ec6e59cc6f40 580 new_fs = ( fullScale <= 2.0f ) ? LSM303AGR_ACC_FS_2G
nikapov 0:ec6e59cc6f40 581 : ( fullScale <= 4.0f ) ? LSM303AGR_ACC_FS_4G
nikapov 0:ec6e59cc6f40 582 : ( fullScale <= 8.0f ) ? LSM303AGR_ACC_FS_8G
nikapov 0:ec6e59cc6f40 583 : LSM303AGR_ACC_FS_16G;
nikapov 0:ec6e59cc6f40 584
nikapov 0:ec6e59cc6f40 585 if ( LSM303AGR_ACC_W_FullScale( (void *)this, new_fs ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 586 {
nikapov 0:ec6e59cc6f40 587 return 1;
nikapov 0:ec6e59cc6f40 588 }
nikapov 0:ec6e59cc6f40 589
nikapov 0:ec6e59cc6f40 590 return 0;
nikapov 0:ec6e59cc6f40 591 }
nikapov 0:ec6e59cc6f40 592
nikapov 0:ec6e59cc6f40 593 /**
nikapov 0:ec6e59cc6f40 594 * @brief Read accelerometer data from register
nikapov 0:ec6e59cc6f40 595 * @param reg register address
nikapov 0:ec6e59cc6f40 596 * @param data register data
nikapov 0:ec6e59cc6f40 597 * @retval 0 in case of success
nikapov 0:ec6e59cc6f40 598 * @retval 1 in case of failure
nikapov 0:ec6e59cc6f40 599 */
nikapov 0:ec6e59cc6f40 600 int LSM303AGRAccSensor::read_reg( uint8_t reg, uint8_t *data )
nikapov 0:ec6e59cc6f40 601 {
nikapov 0:ec6e59cc6f40 602
nikapov 0:ec6e59cc6f40 603 if ( LSM303AGR_ACC_read_reg( (void *)this, reg, data ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 604 {
nikapov 0:ec6e59cc6f40 605 return 1;
nikapov 0:ec6e59cc6f40 606 }
nikapov 0:ec6e59cc6f40 607
nikapov 0:ec6e59cc6f40 608 return 0;
nikapov 0:ec6e59cc6f40 609 }
nikapov 0:ec6e59cc6f40 610
nikapov 0:ec6e59cc6f40 611 /**
nikapov 0:ec6e59cc6f40 612 * @brief Write accelerometer data to register
nikapov 0:ec6e59cc6f40 613 * @param reg register address
nikapov 0:ec6e59cc6f40 614 * @param data register data
nikapov 0:ec6e59cc6f40 615 * @retval 0 in case of success
nikapov 0:ec6e59cc6f40 616 * @retval 1 in case of failure
nikapov 0:ec6e59cc6f40 617 */
nikapov 0:ec6e59cc6f40 618 int LSM303AGRAccSensor::write_reg( uint8_t reg, uint8_t data )
nikapov 0:ec6e59cc6f40 619 {
nikapov 0:ec6e59cc6f40 620
nikapov 0:ec6e59cc6f40 621 if ( LSM303AGR_ACC_write_reg( (void *)this, reg, data ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 622 {
nikapov 0:ec6e59cc6f40 623 return 1;
nikapov 0:ec6e59cc6f40 624 }
nikapov 0:ec6e59cc6f40 625
nikapov 0:ec6e59cc6f40 626 return 0;
nikapov 0:ec6e59cc6f40 627 }
nikapov 0:ec6e59cc6f40 628
nikapov 0:ec6e59cc6f40 629 uint8_t LSM303AGR_ACC_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
nikapov 0:ec6e59cc6f40 630 {
nikapov 0:ec6e59cc6f40 631 return ((LSM303AGRAccSensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite);
nikapov 0:ec6e59cc6f40 632 }
nikapov 0:ec6e59cc6f40 633
nikapov 0:ec6e59cc6f40 634 uint8_t LSM303AGR_ACC_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
nikapov 0:ec6e59cc6f40 635 {
nikapov 0:ec6e59cc6f40 636 return ((LSM303AGRAccSensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead);
nikapov 0:ec6e59cc6f40 637 }