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
Diff: LSM303AGRAccSensor.h
- Revision:
- 0:ec6e59cc6f40
- Child:
- 1:86d530a7f949
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LSM303AGRAccSensor.h Mon Sep 04 16:08:24 2017 +0000 @@ -0,0 +1,140 @@ +/** + ****************************************************************************** + * @file LSM303AGRAccSensor.h + * @author CLab + * @version V1.0.0 + * @date 5 August 2016 + * @brief Abstract Class of an LSM303AGR accelerometer sensor. + ****************************************************************************** + * @attention + * + * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2> + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * 3. Neither the name of STMicroelectronics nor the names of its contributors + * may be used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************** + */ + + +/* Prevent recursive inclusion -----------------------------------------------*/ + +#ifndef __LSM303AGRAccSensor_H__ +#define __LSM303AGRAccSensor_H__ + + +/* Includes ------------------------------------------------------------------*/ + +#include "DevI2C.h" +#include "LSM303AGR_acc_driver.h" +#include "MotionSensor.h" + +/* Defines -------------------------------------------------------------------*/ +#define LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_NORMAL_MODE 3.900f /**< Sensitivity value for 2 g full scale and normal mode [mg/LSB] */ +#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] */ +#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] */ +#define LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_NORMAL_MODE 7.820f /**< Sensitivity value for 4 g full scale and normal mode [mg/LSB] */ +#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] */ +#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] */ +#define LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_NORMAL_MODE 15.630f /**< Sensitivity value for 8 g full scale and normal mode [mg/LSB] */ +#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] */ +#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] */ +#define LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_NORMAL_MODE 46.900f /**< Sensitivity value for 16 g full scale and normal mode [mg/LSB] */ +#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] */ +#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] */ + +/* Class Declaration ---------------------------------------------------------*/ + +/** + * Abstract class of an LSM303AGR Inertial Measurement Unit (IMU) 6 axes + * sensor. + */ +class LSM303AGRAccSensor : public MotionSensor +{ + public: + LSM303AGRAccSensor(DevI2C &i2c); + LSM303AGRAccSensor(DevI2C &i2c, uint8_t address); + virtual int init(void *init); + virtual int read_id(uint8_t *id); + virtual int get_x_axes(int32_t *pData); + virtual int get_x_axes_raw(int16_t *pData); + virtual int get_x_sensitivity(float *pfData); + virtual int get_x_odr(float *odr); + virtual int set_x_odr(float odr); + virtual int get_x_fs(float *fullScale); + virtual int set_x_fs(float fullScale); + int enable(void); + int disable(void); + int read_reg(uint8_t reg, uint8_t *data); + int write_reg(uint8_t reg, uint8_t data); + + /** + * @brief Utility function to read data. + * @param pBuffer: pointer to data to be read. + * @param RegisterAddr: specifies internal address register to be read. + * @param NumByteToRead: number of bytes to be read. + * @retval 0 if ok, an error code otherwise. + */ + uint8_t io_read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead) + { + return (uint8_t) _dev_i2c.i2c_read(pBuffer, _address, RegisterAddr, NumByteToRead); + } + + /** + * @brief Utility function to write data. + * @param pBuffer: pointer to data to be written. + * @param RegisterAddr: specifies internal address register to be written. + * @param NumByteToWrite: number of bytes to write. + * @retval 0 if ok, an error code otherwise. + */ + uint8_t io_write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite) + { + return (uint8_t) _dev_i2c.i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite); + } + + private: + int set_x_odr_when_enabled(float odr); + int set_x_odr_when_disabled(float odr); + int get_x_sensitivity_normal_mode(float *sensitivity ); + int get_x_sensitivity_lp_mode(float *sensitivity ); + int get_x_sensitivity_hr_mode(float *sensitivity ); + + /* Helper classes. */ + DevI2C &_dev_i2c; + + /* Configuration */ + uint8_t _address; + + uint8_t _is_enabled; + float _last_odr; +}; + +#ifdef __cplusplus + extern "C" { +#endif +uint8_t LSM303AGR_ACC_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite ); +uint8_t LSM303AGR_ACC_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead ); +#ifdef __cplusplus + } +#endif + +#endif