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
LSM303AGRMagSensor.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?
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 LSM303AGRMagSensor.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 magnetometer 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 | /* Includes ------------------------------------------------------------------*/ |
nikapov | 0:ec6e59cc6f40 | 40 | |
nikapov | 0:ec6e59cc6f40 | 41 | #include "LSM303AGRMagSensor.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 | LSM303AGRMagSensor::LSM303AGRMagSensor(DevI2C &i2c) : _dev_i2c(i2c) |
nikapov | 0:ec6e59cc6f40 | 51 | { |
nikapov | 0:ec6e59cc6f40 | 52 | _address = LSM303AGR_MAG_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 | LSM303AGRMagSensor::LSM303AGRMagSensor(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 LSM303AGRMagSensor::init(void *init) |
nikapov | 0:ec6e59cc6f40 | 70 | { |
nikapov | 0:ec6e59cc6f40 | 71 | /* Operating mode selection - power down */ |
nikapov | 0:ec6e59cc6f40 | 72 | if ( LSM303AGR_MAG_W_MD( (void *)this, LSM303AGR_MAG_MD_IDLE1_MODE ) == MEMS_ERROR ) |
nikapov | 0:ec6e59cc6f40 | 73 | { |
nikapov | 0:ec6e59cc6f40 | 74 | return 1; |
nikapov | 0:ec6e59cc6f40 | 75 | } |
nikapov | 0:ec6e59cc6f40 | 76 | |
nikapov | 0:ec6e59cc6f40 | 77 | /* Enable BDU */ |
nikapov | 0:ec6e59cc6f40 | 78 | if ( LSM303AGR_MAG_W_BDU( (void *)this, LSM303AGR_MAG_BDU_ENABLED ) == MEMS_ERROR ) |
nikapov | 0:ec6e59cc6f40 | 79 | { |
nikapov | 0:ec6e59cc6f40 | 80 | return 1; |
nikapov | 0:ec6e59cc6f40 | 81 | } |
nikapov | 0:ec6e59cc6f40 | 82 | |
nikapov | 0:ec6e59cc6f40 | 83 | if ( set_m_odr( 100.0f ) == 1 ) |
nikapov | 0:ec6e59cc6f40 | 84 | { |
nikapov | 0:ec6e59cc6f40 | 85 | return 1; |
nikapov | 0:ec6e59cc6f40 | 86 | } |
nikapov | 0:ec6e59cc6f40 | 87 | |
nikapov | 0:ec6e59cc6f40 | 88 | if ( set_m_fs( 50.0f ) == 1 ) |
nikapov | 0:ec6e59cc6f40 | 89 | { |
nikapov | 0:ec6e59cc6f40 | 90 | return 1; |
nikapov | 0:ec6e59cc6f40 | 91 | } |
nikapov | 0:ec6e59cc6f40 | 92 | |
nikapov | 0:ec6e59cc6f40 | 93 | if ( LSM303AGR_MAG_W_ST( (void *)this, LSM303AGR_MAG_ST_DISABLED ) == MEMS_ERROR ) |
nikapov | 0:ec6e59cc6f40 | 94 | { |
nikapov | 0:ec6e59cc6f40 | 95 | return 1; |
nikapov | 0:ec6e59cc6f40 | 96 | } |
nikapov | 0:ec6e59cc6f40 | 97 | |
nikapov | 0:ec6e59cc6f40 | 98 | return 0; |
nikapov | 0:ec6e59cc6f40 | 99 | } |
nikapov | 0:ec6e59cc6f40 | 100 | |
nikapov | 0:ec6e59cc6f40 | 101 | /** |
nikapov | 0:ec6e59cc6f40 | 102 | * @brief Enable LSM303AGR magnetometer |
nikapov | 0:ec6e59cc6f40 | 103 | * @retval 0 in case of success, an error code otherwise |
nikapov | 0:ec6e59cc6f40 | 104 | */ |
nikapov | 0:ec6e59cc6f40 | 105 | int LSM303AGRMagSensor::enable(void) |
nikapov | 0:ec6e59cc6f40 | 106 | { |
nikapov | 0:ec6e59cc6f40 | 107 | /* Operating mode selection */ |
nikapov | 0:ec6e59cc6f40 | 108 | if ( LSM303AGR_MAG_W_MD( (void *)this, LSM303AGR_MAG_MD_CONTINUOS_MODE ) == MEMS_ERROR ) |
nikapov | 0:ec6e59cc6f40 | 109 | { |
nikapov | 0:ec6e59cc6f40 | 110 | return 1; |
nikapov | 0:ec6e59cc6f40 | 111 | } |
nikapov | 0:ec6e59cc6f40 | 112 | |
nikapov | 0:ec6e59cc6f40 | 113 | return 0; |
nikapov | 0:ec6e59cc6f40 | 114 | } |
nikapov | 0:ec6e59cc6f40 | 115 | |
nikapov | 0:ec6e59cc6f40 | 116 | /** |
nikapov | 0:ec6e59cc6f40 | 117 | * @brief Disable LSM303AGR magnetometer |
nikapov | 0:ec6e59cc6f40 | 118 | * @retval 0 in case of success, an error code otherwise |
nikapov | 0:ec6e59cc6f40 | 119 | */ |
nikapov | 0:ec6e59cc6f40 | 120 | int LSM303AGRMagSensor::disable(void) |
nikapov | 0:ec6e59cc6f40 | 121 | { |
nikapov | 0:ec6e59cc6f40 | 122 | /* Operating mode selection - power down */ |
nikapov | 0:ec6e59cc6f40 | 123 | if ( LSM303AGR_MAG_W_MD( (void *)this, LSM303AGR_MAG_MD_IDLE1_MODE ) == MEMS_ERROR ) |
nikapov | 0:ec6e59cc6f40 | 124 | { |
nikapov | 0:ec6e59cc6f40 | 125 | return 1; |
nikapov | 0:ec6e59cc6f40 | 126 | } |
nikapov | 0:ec6e59cc6f40 | 127 | |
nikapov | 0:ec6e59cc6f40 | 128 | return 0; |
nikapov | 0:ec6e59cc6f40 | 129 | } |
nikapov | 0:ec6e59cc6f40 | 130 | |
nikapov | 0:ec6e59cc6f40 | 131 | /** |
nikapov | 0:ec6e59cc6f40 | 132 | * @brief Read ID of LSM303AGR Magnetometer |
nikapov | 0:ec6e59cc6f40 | 133 | * @param p_id the pointer where the ID of the device is stored |
nikapov | 0:ec6e59cc6f40 | 134 | * @retval 0 in case of success, an error code otherwise |
nikapov | 0:ec6e59cc6f40 | 135 | */ |
nikapov | 0:ec6e59cc6f40 | 136 | int LSM303AGRMagSensor::read_id(uint8_t *id) |
nikapov | 0:ec6e59cc6f40 | 137 | { |
nikapov | 0:ec6e59cc6f40 | 138 | if(!id) |
nikapov | 0:ec6e59cc6f40 | 139 | { |
nikapov | 0:ec6e59cc6f40 | 140 | return 1; |
nikapov | 0:ec6e59cc6f40 | 141 | } |
nikapov | 0:ec6e59cc6f40 | 142 | |
nikapov | 0:ec6e59cc6f40 | 143 | /* Read WHO AM I register */ |
nikapov | 0:ec6e59cc6f40 | 144 | if ( LSM303AGR_MAG_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR ) |
nikapov | 0:ec6e59cc6f40 | 145 | { |
nikapov | 0:ec6e59cc6f40 | 146 | return 1; |
nikapov | 0:ec6e59cc6f40 | 147 | } |
nikapov | 0:ec6e59cc6f40 | 148 | |
nikapov | 0:ec6e59cc6f40 | 149 | return 0; |
nikapov | 0:ec6e59cc6f40 | 150 | } |
nikapov | 0:ec6e59cc6f40 | 151 | |
nikapov | 0:ec6e59cc6f40 | 152 | /** |
nikapov | 0:ec6e59cc6f40 | 153 | * @brief Read data from LSM303AGR Magnetometer |
nikapov | 0:ec6e59cc6f40 | 154 | * @param pData the pointer where the magnetometer data are stored |
nikapov | 0:ec6e59cc6f40 | 155 | * @retval 0 in case of success, an error code otherwise |
nikapov | 0:ec6e59cc6f40 | 156 | */ |
nikapov | 0:ec6e59cc6f40 | 157 | int LSM303AGRMagSensor::get_m_axes(int32_t *pData) |
nikapov | 0:ec6e59cc6f40 | 158 | { |
nikapov | 0:ec6e59cc6f40 | 159 | int16_t pDataRaw[3]; |
nikapov | 0:ec6e59cc6f40 | 160 | float sensitivity = 0; |
nikapov | 0:ec6e59cc6f40 | 161 | |
nikapov | 0:ec6e59cc6f40 | 162 | /* Read raw data from LSM303AGR output register. */ |
nikapov | 0:ec6e59cc6f40 | 163 | if ( get_m_axes_raw( pDataRaw ) == 1 ) |
nikapov | 0:ec6e59cc6f40 | 164 | { |
nikapov | 0:ec6e59cc6f40 | 165 | return 1; |
nikapov | 0:ec6e59cc6f40 | 166 | } |
nikapov | 0:ec6e59cc6f40 | 167 | |
nikapov | 0:ec6e59cc6f40 | 168 | /* Get LSM303AGR actual sensitivity. */ |
nikapov | 0:ec6e59cc6f40 | 169 | if ( get_m_sensitivity( &sensitivity ) == 1 ) |
nikapov | 0:ec6e59cc6f40 | 170 | { |
nikapov | 0:ec6e59cc6f40 | 171 | return 1; |
nikapov | 0:ec6e59cc6f40 | 172 | } |
nikapov | 0:ec6e59cc6f40 | 173 | |
nikapov | 0:ec6e59cc6f40 | 174 | /* Calculate the data. */ |
nikapov | 0:ec6e59cc6f40 | 175 | pData[0] = ( int32_t )( pDataRaw[0] * sensitivity ); |
nikapov | 0:ec6e59cc6f40 | 176 | pData[1] = ( int32_t )( pDataRaw[1] * sensitivity ); |
nikapov | 0:ec6e59cc6f40 | 177 | pData[2] = ( int32_t )( pDataRaw[2] * sensitivity ); |
nikapov | 0:ec6e59cc6f40 | 178 | |
nikapov | 0:ec6e59cc6f40 | 179 | return 0; |
nikapov | 0:ec6e59cc6f40 | 180 | } |
nikapov | 0:ec6e59cc6f40 | 181 | |
nikapov | 0:ec6e59cc6f40 | 182 | /** |
nikapov | 0:ec6e59cc6f40 | 183 | * @brief Read Magnetometer Sensitivity |
nikapov | 0:ec6e59cc6f40 | 184 | * @param pfData the pointer where the magnetometer sensitivity is stored |
nikapov | 0:ec6e59cc6f40 | 185 | * @retval 0 in case of success, an error code otherwise |
nikapov | 0:ec6e59cc6f40 | 186 | */ |
nikapov | 0:ec6e59cc6f40 | 187 | int LSM303AGRMagSensor::get_m_sensitivity(float *pfData) |
nikapov | 0:ec6e59cc6f40 | 188 | { |
nikapov | 0:ec6e59cc6f40 | 189 | *pfData = 1.5f; |
nikapov | 0:ec6e59cc6f40 | 190 | |
nikapov | 0:ec6e59cc6f40 | 191 | return 0; |
nikapov | 0:ec6e59cc6f40 | 192 | } |
nikapov | 0:ec6e59cc6f40 | 193 | |
nikapov | 0:ec6e59cc6f40 | 194 | /** |
nikapov | 0:ec6e59cc6f40 | 195 | * @brief Read raw data from LSM303AGR Magnetometer |
nikapov | 0:ec6e59cc6f40 | 196 | * @param pData the pointer where the magnetomer raw data are stored |
nikapov | 0:ec6e59cc6f40 | 197 | * @retval 0 in case of success, an error code otherwise |
nikapov | 0:ec6e59cc6f40 | 198 | */ |
nikapov | 0:ec6e59cc6f40 | 199 | int LSM303AGRMagSensor::get_m_axes_raw(int16_t *pData) |
nikapov | 0:ec6e59cc6f40 | 200 | { |
nikapov | 0:ec6e59cc6f40 | 201 | uint8_t regValue[6] = {0, 0, 0, 0, 0, 0}; |
nikapov | 0:ec6e59cc6f40 | 202 | int16_t *regValueInt16; |
nikapov | 0:ec6e59cc6f40 | 203 | |
nikapov | 0:ec6e59cc6f40 | 204 | /* Read output registers from LSM303AGR_MAG_OUTX_L to LSM303AGR_MAG_OUTZ_H. */ |
nikapov | 0:ec6e59cc6f40 | 205 | if ( LSM303AGR_MAG_Get_Raw_Magnetic( (void *)this, regValue ) == MEMS_ERROR ) |
nikapov | 0:ec6e59cc6f40 | 206 | { |
nikapov | 0:ec6e59cc6f40 | 207 | return 1; |
nikapov | 0:ec6e59cc6f40 | 208 | } |
nikapov | 0:ec6e59cc6f40 | 209 | |
nikapov | 0:ec6e59cc6f40 | 210 | regValueInt16 = (int16_t *)regValue; |
nikapov | 0:ec6e59cc6f40 | 211 | |
nikapov | 0:ec6e59cc6f40 | 212 | /* Format the data. */ |
nikapov | 0:ec6e59cc6f40 | 213 | pData[0] = regValueInt16[0]; |
nikapov | 0:ec6e59cc6f40 | 214 | pData[1] = regValueInt16[1]; |
nikapov | 0:ec6e59cc6f40 | 215 | pData[2] = regValueInt16[2]; |
nikapov | 0:ec6e59cc6f40 | 216 | |
nikapov | 0:ec6e59cc6f40 | 217 | return 0; |
nikapov | 0:ec6e59cc6f40 | 218 | } |
nikapov | 0:ec6e59cc6f40 | 219 | |
nikapov | 0:ec6e59cc6f40 | 220 | /** |
nikapov | 0:ec6e59cc6f40 | 221 | * @brief Read LSM303AGR Magnetometer output data rate |
nikapov | 0:ec6e59cc6f40 | 222 | * @param odr the pointer to the output data rate |
nikapov | 0:ec6e59cc6f40 | 223 | * @retval 0 in case of success, an error code otherwise |
nikapov | 0:ec6e59cc6f40 | 224 | */ |
nikapov | 0:ec6e59cc6f40 | 225 | int LSM303AGRMagSensor::get_m_odr(float* odr) |
nikapov | 0:ec6e59cc6f40 | 226 | { |
nikapov | 0:ec6e59cc6f40 | 227 | LSM303AGR_MAG_ODR_t odr_low_level; |
nikapov | 0:ec6e59cc6f40 | 228 | |
nikapov | 0:ec6e59cc6f40 | 229 | if ( LSM303AGR_MAG_R_ODR( (void *)this, &odr_low_level ) == MEMS_ERROR ) |
nikapov | 0:ec6e59cc6f40 | 230 | { |
nikapov | 0:ec6e59cc6f40 | 231 | return 1; |
nikapov | 0:ec6e59cc6f40 | 232 | } |
nikapov | 0:ec6e59cc6f40 | 233 | |
nikapov | 0:ec6e59cc6f40 | 234 | switch( odr_low_level ) |
nikapov | 0:ec6e59cc6f40 | 235 | { |
nikapov | 0:ec6e59cc6f40 | 236 | case LSM303AGR_MAG_ODR_10Hz: |
nikapov | 0:ec6e59cc6f40 | 237 | *odr = 10.000f; |
nikapov | 0:ec6e59cc6f40 | 238 | break; |
nikapov | 0:ec6e59cc6f40 | 239 | case LSM303AGR_MAG_ODR_20Hz: |
nikapov | 0:ec6e59cc6f40 | 240 | *odr = 20.000f; |
nikapov | 0:ec6e59cc6f40 | 241 | break; |
nikapov | 0:ec6e59cc6f40 | 242 | case LSM303AGR_MAG_ODR_50Hz: |
nikapov | 0:ec6e59cc6f40 | 243 | *odr = 50.000f; |
nikapov | 0:ec6e59cc6f40 | 244 | break; |
nikapov | 0:ec6e59cc6f40 | 245 | case LSM303AGR_MAG_ODR_100Hz: |
nikapov | 0:ec6e59cc6f40 | 246 | *odr = 100.000f; |
nikapov | 0:ec6e59cc6f40 | 247 | break; |
nikapov | 0:ec6e59cc6f40 | 248 | default: |
nikapov | 0:ec6e59cc6f40 | 249 | *odr = -1.000f; |
nikapov | 0:ec6e59cc6f40 | 250 | return 1; |
nikapov | 0:ec6e59cc6f40 | 251 | } |
nikapov | 0:ec6e59cc6f40 | 252 | return 0; |
nikapov | 0:ec6e59cc6f40 | 253 | } |
nikapov | 0:ec6e59cc6f40 | 254 | |
nikapov | 0:ec6e59cc6f40 | 255 | /** |
nikapov | 0:ec6e59cc6f40 | 256 | * @brief Set ODR |
nikapov | 0:ec6e59cc6f40 | 257 | * @param odr the output data rate to be set |
nikapov | 0:ec6e59cc6f40 | 258 | * @retval 0 in case of success, an error code otherwise |
nikapov | 0:ec6e59cc6f40 | 259 | */ |
nikapov | 0:ec6e59cc6f40 | 260 | int LSM303AGRMagSensor::set_m_odr(float odr) |
nikapov | 0:ec6e59cc6f40 | 261 | { |
nikapov | 0:ec6e59cc6f40 | 262 | LSM303AGR_MAG_ODR_t new_odr; |
nikapov | 0:ec6e59cc6f40 | 263 | |
nikapov | 0:ec6e59cc6f40 | 264 | new_odr = ( odr <= 10.000f ) ? LSM303AGR_MAG_ODR_10Hz |
nikapov | 0:ec6e59cc6f40 | 265 | : ( odr <= 20.000f ) ? LSM303AGR_MAG_ODR_20Hz |
nikapov | 0:ec6e59cc6f40 | 266 | : ( odr <= 50.000f ) ? LSM303AGR_MAG_ODR_50Hz |
nikapov | 0:ec6e59cc6f40 | 267 | : LSM303AGR_MAG_ODR_100Hz; |
nikapov | 0:ec6e59cc6f40 | 268 | |
nikapov | 0:ec6e59cc6f40 | 269 | if ( LSM303AGR_MAG_W_ODR( (void *)this, new_odr ) == MEMS_ERROR ) |
nikapov | 0:ec6e59cc6f40 | 270 | { |
nikapov | 0:ec6e59cc6f40 | 271 | return 1; |
nikapov | 0:ec6e59cc6f40 | 272 | } |
nikapov | 0:ec6e59cc6f40 | 273 | |
nikapov | 0:ec6e59cc6f40 | 274 | return 0; |
nikapov | 0:ec6e59cc6f40 | 275 | } |
nikapov | 0:ec6e59cc6f40 | 276 | |
nikapov | 0:ec6e59cc6f40 | 277 | |
nikapov | 0:ec6e59cc6f40 | 278 | /** |
nikapov | 0:ec6e59cc6f40 | 279 | * @brief Read LSM303AGR Magnetometer full scale |
nikapov | 0:ec6e59cc6f40 | 280 | * @param fullScale the pointer to the output data rate |
nikapov | 0:ec6e59cc6f40 | 281 | * @retval 0 in case of success, an error code otherwise |
nikapov | 0:ec6e59cc6f40 | 282 | */ |
nikapov | 0:ec6e59cc6f40 | 283 | int LSM303AGRMagSensor::get_m_fs(float* fullScale) |
nikapov | 0:ec6e59cc6f40 | 284 | { |
nikapov | 0:ec6e59cc6f40 | 285 | *fullScale = 50.0f; |
nikapov | 0:ec6e59cc6f40 | 286 | |
nikapov | 0:ec6e59cc6f40 | 287 | return 0; |
nikapov | 0:ec6e59cc6f40 | 288 | } |
nikapov | 0:ec6e59cc6f40 | 289 | |
nikapov | 0:ec6e59cc6f40 | 290 | /** |
nikapov | 0:ec6e59cc6f40 | 291 | * @brief Set full scale |
nikapov | 0:ec6e59cc6f40 | 292 | * @param fullScale the full scale to be set |
nikapov | 0:ec6e59cc6f40 | 293 | * @retval 0 in case of success, an error code otherwise |
nikapov | 0:ec6e59cc6f40 | 294 | */ |
nikapov | 0:ec6e59cc6f40 | 295 | int LSM303AGRMagSensor::set_m_fs(float fullScale) |
nikapov | 0:ec6e59cc6f40 | 296 | { |
nikapov | 0:ec6e59cc6f40 | 297 | return 0; |
nikapov | 0:ec6e59cc6f40 | 298 | } |
nikapov | 0:ec6e59cc6f40 | 299 | |
nikapov | 0:ec6e59cc6f40 | 300 | |
nikapov | 0:ec6e59cc6f40 | 301 | /** |
nikapov | 0:ec6e59cc6f40 | 302 | * @brief Read magnetometer data from register |
nikapov | 0:ec6e59cc6f40 | 303 | * @param reg register address |
nikapov | 0:ec6e59cc6f40 | 304 | * @param data register data |
nikapov | 0:ec6e59cc6f40 | 305 | * @retval 0 in case of success |
nikapov | 0:ec6e59cc6f40 | 306 | * @retval 1 in case of failure |
nikapov | 0:ec6e59cc6f40 | 307 | */ |
nikapov | 0:ec6e59cc6f40 | 308 | int LSM303AGRMagSensor::read_reg( uint8_t reg, uint8_t *data ) |
nikapov | 0:ec6e59cc6f40 | 309 | { |
nikapov | 0:ec6e59cc6f40 | 310 | if ( LSM303AGR_MAG_read_reg( (void *)this, reg, data ) == MEMS_ERROR ) |
nikapov | 0:ec6e59cc6f40 | 311 | { |
nikapov | 0:ec6e59cc6f40 | 312 | return 1; |
nikapov | 0:ec6e59cc6f40 | 313 | } |
nikapov | 0:ec6e59cc6f40 | 314 | |
nikapov | 0:ec6e59cc6f40 | 315 | return 0; |
nikapov | 0:ec6e59cc6f40 | 316 | } |
nikapov | 0:ec6e59cc6f40 | 317 | |
nikapov | 0:ec6e59cc6f40 | 318 | |
nikapov | 0:ec6e59cc6f40 | 319 | /** |
nikapov | 0:ec6e59cc6f40 | 320 | * @brief Write magnetometer data to register |
nikapov | 0:ec6e59cc6f40 | 321 | * @param reg register address |
nikapov | 0:ec6e59cc6f40 | 322 | * @param data register data |
nikapov | 0:ec6e59cc6f40 | 323 | * @retval 0 in case of success |
nikapov | 0:ec6e59cc6f40 | 324 | * @retval 1 in case of failure |
nikapov | 0:ec6e59cc6f40 | 325 | */ |
nikapov | 0:ec6e59cc6f40 | 326 | int LSM303AGRMagSensor::write_reg( uint8_t reg, uint8_t data ) |
nikapov | 0:ec6e59cc6f40 | 327 | { |
nikapov | 0:ec6e59cc6f40 | 328 | if ( LSM303AGR_MAG_write_reg( (void *)this, reg, data ) == MEMS_ERROR ) |
nikapov | 0:ec6e59cc6f40 | 329 | { |
nikapov | 0:ec6e59cc6f40 | 330 | return 1; |
nikapov | 0:ec6e59cc6f40 | 331 | } |
nikapov | 0:ec6e59cc6f40 | 332 | |
nikapov | 0:ec6e59cc6f40 | 333 | return 0; |
nikapov | 0:ec6e59cc6f40 | 334 | } |
nikapov | 0:ec6e59cc6f40 | 335 | |
nikapov | 0:ec6e59cc6f40 | 336 | uint8_t LSM303AGR_MAG_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite ) |
nikapov | 0:ec6e59cc6f40 | 337 | { |
nikapov | 0:ec6e59cc6f40 | 338 | return ((LSM303AGRMagSensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite); |
nikapov | 0:ec6e59cc6f40 | 339 | } |
nikapov | 0:ec6e59cc6f40 | 340 | |
nikapov | 0:ec6e59cc6f40 | 341 | uint8_t LSM303AGR_MAG_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead ) |
nikapov | 0:ec6e59cc6f40 | 342 | { |
nikapov | 0:ec6e59cc6f40 | 343 | return ((LSM303AGRMagSensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead); |
nikapov | 0:ec6e59cc6f40 | 344 | } |