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
- Committer:
- mapellil
- Date:
- 2017-09-27
- Revision:
- 1:86d530a7f949
- Parent:
- 0:ec6e59cc6f40
- Child:
- 2:e37be5550633
File content as of revision 1:86d530a7f949:
/** ****************************************************************************** * @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" #include <assert.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, uint8_t address=LSM303AGR_ACC_I2C_ADDRESS, PinName int1_pin=NC, PinName int2_pin=NC); 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; DigitalOut _cs_pin; InterruptIn _int1_pin; InterruptIn _int2_pin; 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