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@1:86d530a7f949, 2017-09-27 (annotated)

Committer:
mapellil
Date:
Wed Sep 27 16:49:51 2017 +0200
Revision:
1:86d530a7f949
Parent:
0:ec6e59cc6f40
Child:
2:e37be5550633
Fixed NonCopyable

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 */
mapellil 1:86d530a7f949 50 LSM303AGRAccSensor::LSM303AGRAccSensor(DevI2C *i2c, uint8_t address, PinName int1_pin, PinName int2_pin) :
mapellil 1:86d530a7f949 51 _dev_i2c(i2c), _address(address), _cs_pin(NC), _int1_pin(int1_pin), _int2_pin(int2_pin)
nikapov 0:ec6e59cc6f40 52 {
mapellil 1:86d530a7f949 53 assert (i2c);
nikapov 0:ec6e59cc6f40 54 };
nikapov 0:ec6e59cc6f40 55
nikapov 0:ec6e59cc6f40 56 /**
nikapov 0:ec6e59cc6f40 57 * @brief Initializing the component.
nikapov 0:ec6e59cc6f40 58 * @param[in] init pointer to device specific initalization structure.
nikapov 0:ec6e59cc6f40 59 * @retval "0" in case of success, an error code otherwise.
nikapov 0:ec6e59cc6f40 60 */
nikapov 0:ec6e59cc6f40 61 int LSM303AGRAccSensor::init(void *init)
nikapov 0:ec6e59cc6f40 62 {
nikapov 0:ec6e59cc6f40 63 /* Enable BDU */
nikapov 0:ec6e59cc6f40 64 if ( LSM303AGR_ACC_W_BlockDataUpdate( (void *)this, LSM303AGR_ACC_BDU_ENABLED ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 65 {
nikapov 0:ec6e59cc6f40 66 return 1;
nikapov 0:ec6e59cc6f40 67 }
nikapov 0:ec6e59cc6f40 68
nikapov 0:ec6e59cc6f40 69 /* FIFO mode selection */
nikapov 0:ec6e59cc6f40 70 if ( LSM303AGR_ACC_W_FifoMode( (void *)this, LSM303AGR_ACC_FM_BYPASS ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 71 {
nikapov 0:ec6e59cc6f40 72 return 1;
nikapov 0:ec6e59cc6f40 73 }
nikapov 0:ec6e59cc6f40 74
nikapov 0:ec6e59cc6f40 75 /* Output data rate selection - power down. */
nikapov 0:ec6e59cc6f40 76 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 77 {
nikapov 0:ec6e59cc6f40 78 return 1;
nikapov 0:ec6e59cc6f40 79 }
nikapov 0:ec6e59cc6f40 80
nikapov 0:ec6e59cc6f40 81 /* Full scale selection. */
nikapov 0:ec6e59cc6f40 82 if ( set_x_fs( 2.0f ) == 1 )
nikapov 0:ec6e59cc6f40 83 {
nikapov 0:ec6e59cc6f40 84 return 1;
nikapov 0:ec6e59cc6f40 85 }
nikapov 0:ec6e59cc6f40 86
nikapov 0:ec6e59cc6f40 87 /* Enable axes. */
nikapov 0:ec6e59cc6f40 88 if ( LSM303AGR_ACC_W_XEN( (void *)this, LSM303AGR_ACC_XEN_ENABLED ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 89 {
nikapov 0:ec6e59cc6f40 90 return 1;
nikapov 0:ec6e59cc6f40 91 }
nikapov 0:ec6e59cc6f40 92
nikapov 0:ec6e59cc6f40 93 if ( LSM303AGR_ACC_W_YEN ( (void *)this, LSM303AGR_ACC_YEN_ENABLED ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 94 {
nikapov 0:ec6e59cc6f40 95 return 1;
nikapov 0:ec6e59cc6f40 96 }
nikapov 0:ec6e59cc6f40 97
nikapov 0:ec6e59cc6f40 98 if ( LSM303AGR_ACC_W_ZEN ( (void *)this, LSM303AGR_ACC_ZEN_ENABLED ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 99 {
nikapov 0:ec6e59cc6f40 100 return 1;
nikapov 0:ec6e59cc6f40 101 }
nikapov 0:ec6e59cc6f40 102
nikapov 0:ec6e59cc6f40 103 /* Select default output data rate. */
nikapov 0:ec6e59cc6f40 104 _last_odr = 100.0f;
nikapov 0:ec6e59cc6f40 105
nikapov 0:ec6e59cc6f40 106 _is_enabled = 0;
nikapov 0:ec6e59cc6f40 107
nikapov 0:ec6e59cc6f40 108 return 0;
nikapov 0:ec6e59cc6f40 109 }
nikapov 0:ec6e59cc6f40 110
nikapov 0:ec6e59cc6f40 111 /**
nikapov 0:ec6e59cc6f40 112 * @brief Enable LSM303AGR Accelerator
nikapov 0:ec6e59cc6f40 113 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 114 */
nikapov 0:ec6e59cc6f40 115 int LSM303AGRAccSensor::enable(void)
nikapov 0:ec6e59cc6f40 116 {
nikapov 0:ec6e59cc6f40 117 /* Check if the component is already enabled */
nikapov 0:ec6e59cc6f40 118 if ( _is_enabled == 1 )
nikapov 0:ec6e59cc6f40 119 {
nikapov 0:ec6e59cc6f40 120 return 0;
nikapov 0:ec6e59cc6f40 121 }
nikapov 0:ec6e59cc6f40 122
nikapov 0:ec6e59cc6f40 123 /* Output data rate selection. */
nikapov 0:ec6e59cc6f40 124 if ( set_x_odr_when_enabled( _last_odr ) == 1 )
nikapov 0:ec6e59cc6f40 125 {
nikapov 0:ec6e59cc6f40 126 return 1;
nikapov 0:ec6e59cc6f40 127 }
nikapov 0:ec6e59cc6f40 128
nikapov 0:ec6e59cc6f40 129 _is_enabled = 1;
nikapov 0:ec6e59cc6f40 130
nikapov 0:ec6e59cc6f40 131 return 0;
nikapov 0:ec6e59cc6f40 132 }
nikapov 0:ec6e59cc6f40 133
nikapov 0:ec6e59cc6f40 134 /**
nikapov 0:ec6e59cc6f40 135 * @brief Disable LSM303AGR Accelerator
nikapov 0:ec6e59cc6f40 136 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 137 */
nikapov 0:ec6e59cc6f40 138 int LSM303AGRAccSensor::disable(void)
nikapov 0:ec6e59cc6f40 139 {
nikapov 0:ec6e59cc6f40 140 /* Check if the component is already disabled */
nikapov 0:ec6e59cc6f40 141 if ( _is_enabled == 0 )
nikapov 0:ec6e59cc6f40 142 {
nikapov 0:ec6e59cc6f40 143 return 0;
nikapov 0:ec6e59cc6f40 144 }
nikapov 0:ec6e59cc6f40 145
nikapov 0:ec6e59cc6f40 146 /* Store actual output data rate. */
nikapov 0:ec6e59cc6f40 147 if ( get_x_odr( &_last_odr ) == 1 )
nikapov 0:ec6e59cc6f40 148 {
nikapov 0:ec6e59cc6f40 149 return 1;
nikapov 0:ec6e59cc6f40 150 }
nikapov 0:ec6e59cc6f40 151
nikapov 0:ec6e59cc6f40 152 /* Output data rate selection - power down. */
nikapov 0:ec6e59cc6f40 153 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 154 {
nikapov 0:ec6e59cc6f40 155 return 1;
nikapov 0:ec6e59cc6f40 156 }
nikapov 0:ec6e59cc6f40 157
nikapov 0:ec6e59cc6f40 158 _is_enabled = 0;
nikapov 0:ec6e59cc6f40 159
nikapov 0:ec6e59cc6f40 160 return 0;
nikapov 0:ec6e59cc6f40 161 }
nikapov 0:ec6e59cc6f40 162
nikapov 0:ec6e59cc6f40 163 /**
nikapov 0:ec6e59cc6f40 164 * @brief Read ID of LSM303AGR Accelerometer
nikapov 0:ec6e59cc6f40 165 * @param p_id the pointer where the ID of the device is stored
nikapov 0:ec6e59cc6f40 166 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 167 */
nikapov 0:ec6e59cc6f40 168 int LSM303AGRAccSensor::read_id(uint8_t *id)
nikapov 0:ec6e59cc6f40 169 {
nikapov 0:ec6e59cc6f40 170 if(!id)
nikapov 0:ec6e59cc6f40 171 {
nikapov 0:ec6e59cc6f40 172 return 1;
nikapov 0:ec6e59cc6f40 173 }
nikapov 0:ec6e59cc6f40 174
nikapov 0:ec6e59cc6f40 175 /* Read WHO AM I register */
nikapov 0:ec6e59cc6f40 176 if ( LSM303AGR_ACC_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 177 {
nikapov 0:ec6e59cc6f40 178 return 1;
nikapov 0:ec6e59cc6f40 179 }
nikapov 0:ec6e59cc6f40 180
nikapov 0:ec6e59cc6f40 181 return 0;
nikapov 0:ec6e59cc6f40 182 }
nikapov 0:ec6e59cc6f40 183
nikapov 0:ec6e59cc6f40 184 /**
nikapov 0:ec6e59cc6f40 185 * @brief Read data from LSM303AGR Accelerometer
nikapov 0:ec6e59cc6f40 186 * @param pData the pointer where the accelerometer data are stored
nikapov 0:ec6e59cc6f40 187 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 188 */
nikapov 0:ec6e59cc6f40 189 int LSM303AGRAccSensor::get_x_axes(int32_t *pData)
nikapov 0:ec6e59cc6f40 190 {
nikapov 0:ec6e59cc6f40 191 int data[3];
nikapov 0:ec6e59cc6f40 192
nikapov 0:ec6e59cc6f40 193 /* Read data from LSM303AGR. */
nikapov 0:ec6e59cc6f40 194 if ( !LSM303AGR_ACC_Get_Acceleration((void *)this, data) )
nikapov 0:ec6e59cc6f40 195 {
nikapov 0:ec6e59cc6f40 196 return 1;
nikapov 0:ec6e59cc6f40 197 }
nikapov 0:ec6e59cc6f40 198
nikapov 0:ec6e59cc6f40 199 /* Calculate the data. */
nikapov 0:ec6e59cc6f40 200 pData[0] = (int32_t)data[0];
nikapov 0:ec6e59cc6f40 201 pData[1] = (int32_t)data[1];
nikapov 0:ec6e59cc6f40 202 pData[2] = (int32_t)data[2];
nikapov 0:ec6e59cc6f40 203
nikapov 0:ec6e59cc6f40 204 return 0;
nikapov 0:ec6e59cc6f40 205 }
nikapov 0:ec6e59cc6f40 206
nikapov 0:ec6e59cc6f40 207 /**
nikapov 0:ec6e59cc6f40 208 * @brief Read Accelerometer Sensitivity
nikapov 0:ec6e59cc6f40 209 * @param pfData the pointer where the accelerometer sensitivity is stored
nikapov 0:ec6e59cc6f40 210 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 211 */
nikapov 0:ec6e59cc6f40 212 int LSM303AGRAccSensor::get_x_sensitivity(float *pfData)
nikapov 0:ec6e59cc6f40 213 {
nikapov 0:ec6e59cc6f40 214 LSM303AGR_ACC_LPEN_t lp_value;
nikapov 0:ec6e59cc6f40 215 LSM303AGR_ACC_HR_t hr_value;
nikapov 0:ec6e59cc6f40 216
nikapov 0:ec6e59cc6f40 217 /* Read low power flag */
nikapov 0:ec6e59cc6f40 218 if( LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp_value ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 219 {
nikapov 0:ec6e59cc6f40 220 return 1;
nikapov 0:ec6e59cc6f40 221 }
nikapov 0:ec6e59cc6f40 222
nikapov 0:ec6e59cc6f40 223 /* Read high performance flag */
nikapov 0:ec6e59cc6f40 224 if( LSM303AGR_ACC_R_HiRes( (void *)this, &hr_value ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 225 {
nikapov 0:ec6e59cc6f40 226 return 1;
nikapov 0:ec6e59cc6f40 227 }
nikapov 0:ec6e59cc6f40 228
nikapov 0:ec6e59cc6f40 229 if( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
nikapov 0:ec6e59cc6f40 230 {
nikapov 0:ec6e59cc6f40 231 /* Normal Mode */
nikapov 0:ec6e59cc6f40 232 return get_x_sensitivity_normal_mode( pfData );
nikapov 0:ec6e59cc6f40 233 } else if ( lp_value == LSM303AGR_ACC_LPEN_ENABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
nikapov 0:ec6e59cc6f40 234 {
nikapov 0:ec6e59cc6f40 235 /* Low Power Mode */
nikapov 0:ec6e59cc6f40 236 return get_x_sensitivity_lp_mode( pfData );
nikapov 0:ec6e59cc6f40 237 } else if ( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_ENABLED )
nikapov 0:ec6e59cc6f40 238 {
nikapov 0:ec6e59cc6f40 239 /* High Resolution Mode */
nikapov 0:ec6e59cc6f40 240 return get_x_sensitivity_hr_mode( pfData );
nikapov 0:ec6e59cc6f40 241 } else
nikapov 0:ec6e59cc6f40 242 {
nikapov 0:ec6e59cc6f40 243 /* Not allowed */
nikapov 0:ec6e59cc6f40 244 return 1;
nikapov 0:ec6e59cc6f40 245 }
nikapov 0:ec6e59cc6f40 246 }
nikapov 0:ec6e59cc6f40 247
nikapov 0:ec6e59cc6f40 248 /**
nikapov 0:ec6e59cc6f40 249 * @brief Read Accelerometer Sensitivity in Normal Mode
nikapov 0:ec6e59cc6f40 250 * @param sensitivity the pointer where the accelerometer sensitivity is stored
nikapov 0:ec6e59cc6f40 251 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 252 */
nikapov 0:ec6e59cc6f40 253 int LSM303AGRAccSensor::get_x_sensitivity_normal_mode( float *sensitivity )
nikapov 0:ec6e59cc6f40 254 {
nikapov 0:ec6e59cc6f40 255 LSM303AGR_ACC_FS_t fullScale;
nikapov 0:ec6e59cc6f40 256
nikapov 0:ec6e59cc6f40 257 /* Read actual full scale selection from sensor. */
nikapov 0:ec6e59cc6f40 258 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 259 {
nikapov 0:ec6e59cc6f40 260 return 1;
nikapov 0:ec6e59cc6f40 261 }
nikapov 0:ec6e59cc6f40 262
nikapov 0:ec6e59cc6f40 263 /* Store the sensitivity based on actual full scale. */
nikapov 0:ec6e59cc6f40 264 switch( fullScale )
nikapov 0:ec6e59cc6f40 265 {
nikapov 0:ec6e59cc6f40 266 case LSM303AGR_ACC_FS_2G:
nikapov 0:ec6e59cc6f40 267 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_NORMAL_MODE;
nikapov 0:ec6e59cc6f40 268 break;
nikapov 0:ec6e59cc6f40 269 case LSM303AGR_ACC_FS_4G:
nikapov 0:ec6e59cc6f40 270 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_NORMAL_MODE;
nikapov 0:ec6e59cc6f40 271 break;
nikapov 0:ec6e59cc6f40 272 case LSM303AGR_ACC_FS_8G:
nikapov 0:ec6e59cc6f40 273 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_NORMAL_MODE;
nikapov 0:ec6e59cc6f40 274 break;
nikapov 0:ec6e59cc6f40 275 case LSM303AGR_ACC_FS_16G:
nikapov 0:ec6e59cc6f40 276 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_NORMAL_MODE;
nikapov 0:ec6e59cc6f40 277 break;
nikapov 0:ec6e59cc6f40 278 default:
nikapov 0:ec6e59cc6f40 279 *sensitivity = -1.0f;
nikapov 0:ec6e59cc6f40 280 return 1;
nikapov 0:ec6e59cc6f40 281 }
nikapov 0:ec6e59cc6f40 282
nikapov 0:ec6e59cc6f40 283 return 0;
nikapov 0:ec6e59cc6f40 284 }
nikapov 0:ec6e59cc6f40 285
nikapov 0:ec6e59cc6f40 286 /**
nikapov 0:ec6e59cc6f40 287 * @brief Read Accelerometer Sensitivity in LP Mode
nikapov 0:ec6e59cc6f40 288 * @param sensitivity the pointer where the accelerometer sensitivity is stored
nikapov 0:ec6e59cc6f40 289 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 290 */
nikapov 0:ec6e59cc6f40 291 int LSM303AGRAccSensor::get_x_sensitivity_lp_mode( float *sensitivity )
nikapov 0:ec6e59cc6f40 292 {
nikapov 0:ec6e59cc6f40 293 LSM303AGR_ACC_FS_t fullScale;
nikapov 0:ec6e59cc6f40 294
nikapov 0:ec6e59cc6f40 295 /* Read actual full scale selection from sensor. */
nikapov 0:ec6e59cc6f40 296 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 297 {
nikapov 0:ec6e59cc6f40 298 return 1;
nikapov 0:ec6e59cc6f40 299 }
nikapov 0:ec6e59cc6f40 300
nikapov 0:ec6e59cc6f40 301 /* Store the sensitivity based on actual full scale. */
nikapov 0:ec6e59cc6f40 302 switch( fullScale )
nikapov 0:ec6e59cc6f40 303 {
nikapov 0:ec6e59cc6f40 304 case LSM303AGR_ACC_FS_2G:
nikapov 0:ec6e59cc6f40 305 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_LOW_POWER_MODE;
nikapov 0:ec6e59cc6f40 306 break;
nikapov 0:ec6e59cc6f40 307 case LSM303AGR_ACC_FS_4G:
nikapov 0:ec6e59cc6f40 308 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_LOW_POWER_MODE;
nikapov 0:ec6e59cc6f40 309 break;
nikapov 0:ec6e59cc6f40 310 case LSM303AGR_ACC_FS_8G:
nikapov 0:ec6e59cc6f40 311 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_LOW_POWER_MODE;
nikapov 0:ec6e59cc6f40 312 break;
nikapov 0:ec6e59cc6f40 313 case LSM303AGR_ACC_FS_16G:
nikapov 0:ec6e59cc6f40 314 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_LOW_POWER_MODE;
nikapov 0:ec6e59cc6f40 315 break;
nikapov 0:ec6e59cc6f40 316 default:
nikapov 0:ec6e59cc6f40 317 *sensitivity = -1.0f;
nikapov 0:ec6e59cc6f40 318 return 1;
nikapov 0:ec6e59cc6f40 319 }
nikapov 0:ec6e59cc6f40 320
nikapov 0:ec6e59cc6f40 321 return 0;
nikapov 0:ec6e59cc6f40 322 }
nikapov 0:ec6e59cc6f40 323
nikapov 0:ec6e59cc6f40 324 /**
nikapov 0:ec6e59cc6f40 325 * @brief Read Accelerometer Sensitivity in HR Mode
nikapov 0:ec6e59cc6f40 326 * @param sensitivity the pointer where the accelerometer sensitivity is stored
nikapov 0:ec6e59cc6f40 327 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 328 */
nikapov 0:ec6e59cc6f40 329 int LSM303AGRAccSensor::get_x_sensitivity_hr_mode( float *sensitivity )
nikapov 0:ec6e59cc6f40 330 {
nikapov 0:ec6e59cc6f40 331 LSM303AGR_ACC_FS_t fullScale;
nikapov 0:ec6e59cc6f40 332
nikapov 0:ec6e59cc6f40 333 /* Read actual full scale selection from sensor. */
nikapov 0:ec6e59cc6f40 334 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 335 {
nikapov 0:ec6e59cc6f40 336 return 1;
nikapov 0:ec6e59cc6f40 337 }
nikapov 0:ec6e59cc6f40 338
nikapov 0:ec6e59cc6f40 339 /* Store the sensitivity based on actual full scale. */
nikapov 0:ec6e59cc6f40 340 switch( fullScale )
nikapov 0:ec6e59cc6f40 341 {
nikapov 0:ec6e59cc6f40 342 case LSM303AGR_ACC_FS_2G:
nikapov 0:ec6e59cc6f40 343 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_HIGH_RESOLUTION_MODE;
nikapov 0:ec6e59cc6f40 344 break;
nikapov 0:ec6e59cc6f40 345 case LSM303AGR_ACC_FS_4G:
nikapov 0:ec6e59cc6f40 346 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_HIGH_RESOLUTION_MODE;
nikapov 0:ec6e59cc6f40 347 break;
nikapov 0:ec6e59cc6f40 348 case LSM303AGR_ACC_FS_8G:
nikapov 0:ec6e59cc6f40 349 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_HIGH_RESOLUTION_MODE;
nikapov 0:ec6e59cc6f40 350 break;
nikapov 0:ec6e59cc6f40 351 case LSM303AGR_ACC_FS_16G:
nikapov 0:ec6e59cc6f40 352 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_HIGH_RESOLUTION_MODE;
nikapov 0:ec6e59cc6f40 353 break;
nikapov 0:ec6e59cc6f40 354 default:
nikapov 0:ec6e59cc6f40 355 *sensitivity = -1.0f;
nikapov 0:ec6e59cc6f40 356 return 1;
nikapov 0:ec6e59cc6f40 357 }
nikapov 0:ec6e59cc6f40 358
nikapov 0:ec6e59cc6f40 359 return 0;
nikapov 0:ec6e59cc6f40 360 }
nikapov 0:ec6e59cc6f40 361
nikapov 0:ec6e59cc6f40 362 /**
nikapov 0:ec6e59cc6f40 363 * @brief Read raw data from LSM303AGR Accelerometer
nikapov 0:ec6e59cc6f40 364 * @param pData the pointer where the accelerometer raw data are stored
nikapov 0:ec6e59cc6f40 365 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 366 */
nikapov 0:ec6e59cc6f40 367 int LSM303AGRAccSensor::get_x_axes_raw(int16_t *pData)
nikapov 0:ec6e59cc6f40 368 {
nikapov 0:ec6e59cc6f40 369 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
nikapov 0:ec6e59cc6f40 370 u8_t shift = 0;
nikapov 0:ec6e59cc6f40 371 LSM303AGR_ACC_LPEN_t lp;
nikapov 0:ec6e59cc6f40 372 LSM303AGR_ACC_HR_t hr;
nikapov 0:ec6e59cc6f40 373
nikapov 0:ec6e59cc6f40 374 /* Determine which operational mode the acc is set */
nikapov 0:ec6e59cc6f40 375 if(!LSM303AGR_ACC_R_HiRes( (void *)this, &hr )) {
nikapov 0:ec6e59cc6f40 376 return 1;
nikapov 0:ec6e59cc6f40 377 }
nikapov 0:ec6e59cc6f40 378
nikapov 0:ec6e59cc6f40 379 if(!LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp )) {
nikapov 0:ec6e59cc6f40 380 return 1;
nikapov 0:ec6e59cc6f40 381 }
nikapov 0:ec6e59cc6f40 382
nikapov 0:ec6e59cc6f40 383 if (lp == LSM303AGR_ACC_LPEN_ENABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
nikapov 0:ec6e59cc6f40 384 /* op mode is LP 8-bit */
nikapov 0:ec6e59cc6f40 385 shift = 8;
nikapov 0:ec6e59cc6f40 386 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
nikapov 0:ec6e59cc6f40 387 /* op mode is Normal 10-bit */
nikapov 0:ec6e59cc6f40 388 shift = 6;
nikapov 0:ec6e59cc6f40 389 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_ENABLED) {
nikapov 0:ec6e59cc6f40 390 /* op mode is HR 12-bit */
nikapov 0:ec6e59cc6f40 391 shift = 4;
nikapov 0:ec6e59cc6f40 392 } else {
nikapov 0:ec6e59cc6f40 393 return 1;
nikapov 0:ec6e59cc6f40 394 }
nikapov 0:ec6e59cc6f40 395
nikapov 0:ec6e59cc6f40 396 /* Read output registers from LSM303AGR_ACC_GYRO_OUTX_L_XL to LSM303AGR_ACC_GYRO_OUTZ_H_XL. */
nikapov 0:ec6e59cc6f40 397 if (!LSM303AGR_ACC_Get_Raw_Acceleration( (void *)this, ( uint8_t* )regValue ))
nikapov 0:ec6e59cc6f40 398 {
nikapov 0:ec6e59cc6f40 399 return 1;
nikapov 0:ec6e59cc6f40 400 }
nikapov 0:ec6e59cc6f40 401
nikapov 0:ec6e59cc6f40 402 /* Format the data. */
nikapov 0:ec6e59cc6f40 403 pData[0] = ( ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] ) >> shift );
nikapov 0:ec6e59cc6f40 404 pData[1] = ( ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] ) >> shift );
nikapov 0:ec6e59cc6f40 405 pData[2] = ( ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] ) >> shift );
nikapov 0:ec6e59cc6f40 406
nikapov 0:ec6e59cc6f40 407 return 0;
nikapov 0:ec6e59cc6f40 408 }
nikapov 0:ec6e59cc6f40 409
nikapov 0:ec6e59cc6f40 410 /**
nikapov 0:ec6e59cc6f40 411 * @brief Read LSM303AGR Accelerometer output data rate
nikapov 0:ec6e59cc6f40 412 * @param odr the pointer to the output data rate
nikapov 0:ec6e59cc6f40 413 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 414 */
nikapov 0:ec6e59cc6f40 415 int LSM303AGRAccSensor::get_x_odr(float* odr)
nikapov 0:ec6e59cc6f40 416 {
nikapov 0:ec6e59cc6f40 417 LSM303AGR_ACC_ODR_t odr_low_level;
nikapov 0:ec6e59cc6f40 418
nikapov 0:ec6e59cc6f40 419 if ( LSM303AGR_ACC_R_ODR( (void *)this, &odr_low_level ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 420 {
nikapov 0:ec6e59cc6f40 421 return 1;
nikapov 0:ec6e59cc6f40 422 }
nikapov 0:ec6e59cc6f40 423
nikapov 0:ec6e59cc6f40 424 switch( odr_low_level )
nikapov 0:ec6e59cc6f40 425 {
nikapov 0:ec6e59cc6f40 426 case LSM303AGR_ACC_ODR_DO_PWR_DOWN:
nikapov 0:ec6e59cc6f40 427 *odr = 0.0f;
nikapov 0:ec6e59cc6f40 428 break;
nikapov 0:ec6e59cc6f40 429 case LSM303AGR_ACC_ODR_DO_1Hz:
nikapov 0:ec6e59cc6f40 430 *odr = 1.0f;
nikapov 0:ec6e59cc6f40 431 break;
nikapov 0:ec6e59cc6f40 432 case LSM303AGR_ACC_ODR_DO_10Hz:
nikapov 0:ec6e59cc6f40 433 *odr = 10.0f;
nikapov 0:ec6e59cc6f40 434 break;
nikapov 0:ec6e59cc6f40 435 case LSM303AGR_ACC_ODR_DO_25Hz:
nikapov 0:ec6e59cc6f40 436 *odr = 25.0f;
nikapov 0:ec6e59cc6f40 437 break;
nikapov 0:ec6e59cc6f40 438 case LSM303AGR_ACC_ODR_DO_50Hz:
nikapov 0:ec6e59cc6f40 439 *odr = 50.0f;
nikapov 0:ec6e59cc6f40 440 break;
nikapov 0:ec6e59cc6f40 441 case LSM303AGR_ACC_ODR_DO_100Hz:
nikapov 0:ec6e59cc6f40 442 *odr = 100.0f;
nikapov 0:ec6e59cc6f40 443 break;
nikapov 0:ec6e59cc6f40 444 case LSM303AGR_ACC_ODR_DO_200Hz:
nikapov 0:ec6e59cc6f40 445 *odr = 200.0f;
nikapov 0:ec6e59cc6f40 446 break;
nikapov 0:ec6e59cc6f40 447 case LSM303AGR_ACC_ODR_DO_400Hz:
nikapov 0:ec6e59cc6f40 448 *odr = 400.0f;
nikapov 0:ec6e59cc6f40 449 break;
nikapov 0:ec6e59cc6f40 450 default:
nikapov 0:ec6e59cc6f40 451 *odr = -1.0f;
nikapov 0:ec6e59cc6f40 452 return 1;
nikapov 0:ec6e59cc6f40 453 }
nikapov 0:ec6e59cc6f40 454
nikapov 0:ec6e59cc6f40 455 return 0;
nikapov 0:ec6e59cc6f40 456 }
nikapov 0:ec6e59cc6f40 457
nikapov 0:ec6e59cc6f40 458 /**
nikapov 0:ec6e59cc6f40 459 * @brief Set ODR
nikapov 0:ec6e59cc6f40 460 * @param odr the output data rate to be set
nikapov 0:ec6e59cc6f40 461 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 462 */
nikapov 0:ec6e59cc6f40 463 int LSM303AGRAccSensor::set_x_odr(float odr)
nikapov 0:ec6e59cc6f40 464 {
nikapov 0:ec6e59cc6f40 465 if(_is_enabled == 1)
nikapov 0:ec6e59cc6f40 466 {
nikapov 0:ec6e59cc6f40 467 if(set_x_odr_when_enabled(odr) == 1)
nikapov 0:ec6e59cc6f40 468 {
nikapov 0:ec6e59cc6f40 469 return 1;
nikapov 0:ec6e59cc6f40 470 }
nikapov 0:ec6e59cc6f40 471 }
nikapov 0:ec6e59cc6f40 472 else
nikapov 0:ec6e59cc6f40 473 {
nikapov 0:ec6e59cc6f40 474 if(set_x_odr_when_disabled(odr) == 1)
nikapov 0:ec6e59cc6f40 475 {
nikapov 0:ec6e59cc6f40 476 return 1;
nikapov 0:ec6e59cc6f40 477 }
nikapov 0:ec6e59cc6f40 478 }
nikapov 0:ec6e59cc6f40 479
nikapov 0:ec6e59cc6f40 480 return 0;
nikapov 0:ec6e59cc6f40 481 }
nikapov 0:ec6e59cc6f40 482
nikapov 0:ec6e59cc6f40 483 /**
nikapov 0:ec6e59cc6f40 484 * @brief Set ODR when enabled
nikapov 0:ec6e59cc6f40 485 * @param odr the output data rate to be set
nikapov 0:ec6e59cc6f40 486 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 487 */
nikapov 0:ec6e59cc6f40 488 int LSM303AGRAccSensor::set_x_odr_when_enabled(float odr)
nikapov 0:ec6e59cc6f40 489 {
nikapov 0:ec6e59cc6f40 490 LSM303AGR_ACC_ODR_t new_odr;
nikapov 0:ec6e59cc6f40 491
nikapov 0:ec6e59cc6f40 492 new_odr = ( odr <= 1.0f ) ? LSM303AGR_ACC_ODR_DO_1Hz
nikapov 0:ec6e59cc6f40 493 : ( odr <= 10.0f ) ? LSM303AGR_ACC_ODR_DO_10Hz
nikapov 0:ec6e59cc6f40 494 : ( odr <= 25.0f ) ? LSM303AGR_ACC_ODR_DO_25Hz
nikapov 0:ec6e59cc6f40 495 : ( odr <= 50.0f ) ? LSM303AGR_ACC_ODR_DO_50Hz
nikapov 0:ec6e59cc6f40 496 : ( odr <= 100.0f ) ? LSM303AGR_ACC_ODR_DO_100Hz
nikapov 0:ec6e59cc6f40 497 : ( odr <= 200.0f ) ? LSM303AGR_ACC_ODR_DO_200Hz
nikapov 0:ec6e59cc6f40 498 : LSM303AGR_ACC_ODR_DO_400Hz;
nikapov 0:ec6e59cc6f40 499
nikapov 0:ec6e59cc6f40 500 if ( LSM303AGR_ACC_W_ODR( (void *)this, new_odr ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 501 {
nikapov 0:ec6e59cc6f40 502 return 1;
nikapov 0:ec6e59cc6f40 503 }
nikapov 0:ec6e59cc6f40 504
nikapov 0:ec6e59cc6f40 505 return 0;
nikapov 0:ec6e59cc6f40 506 }
nikapov 0:ec6e59cc6f40 507
nikapov 0:ec6e59cc6f40 508 /**
nikapov 0:ec6e59cc6f40 509 * @brief Set ODR when disabled
nikapov 0:ec6e59cc6f40 510 * @param odr the output data rate to be set
nikapov 0:ec6e59cc6f40 511 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 512 */
nikapov 0:ec6e59cc6f40 513 int LSM303AGRAccSensor::set_x_odr_when_disabled(float odr)
nikapov 0:ec6e59cc6f40 514 {
nikapov 0:ec6e59cc6f40 515 _last_odr = ( odr <= 1.0f ) ? 1.0f
nikapov 0:ec6e59cc6f40 516 : ( odr <= 10.0f ) ? 10.0f
nikapov 0:ec6e59cc6f40 517 : ( odr <= 25.0f ) ? 25.0f
nikapov 0:ec6e59cc6f40 518 : ( odr <= 50.0f ) ? 50.0f
nikapov 0:ec6e59cc6f40 519 : ( odr <= 100.0f ) ? 100.0f
nikapov 0:ec6e59cc6f40 520 : ( odr <= 200.0f ) ? 200.0f
nikapov 0:ec6e59cc6f40 521 : 400.0f;
nikapov 0:ec6e59cc6f40 522
nikapov 0:ec6e59cc6f40 523 return 0;
nikapov 0:ec6e59cc6f40 524 }
nikapov 0:ec6e59cc6f40 525
nikapov 0:ec6e59cc6f40 526
nikapov 0:ec6e59cc6f40 527 /**
nikapov 0:ec6e59cc6f40 528 * @brief Read LSM303AGR Accelerometer full scale
nikapov 0:ec6e59cc6f40 529 * @param fullScale the pointer to the full scale
nikapov 0:ec6e59cc6f40 530 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 531 */
nikapov 0:ec6e59cc6f40 532 int LSM303AGRAccSensor::get_x_fs(float* fullScale)
nikapov 0:ec6e59cc6f40 533 {
nikapov 0:ec6e59cc6f40 534 LSM303AGR_ACC_FS_t fs_low_level;
nikapov 0:ec6e59cc6f40 535
nikapov 0:ec6e59cc6f40 536 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fs_low_level ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 537 {
nikapov 0:ec6e59cc6f40 538 return 1;
nikapov 0:ec6e59cc6f40 539 }
nikapov 0:ec6e59cc6f40 540
nikapov 0:ec6e59cc6f40 541 switch( fs_low_level )
nikapov 0:ec6e59cc6f40 542 {
nikapov 0:ec6e59cc6f40 543 case LSM303AGR_ACC_FS_2G:
nikapov 0:ec6e59cc6f40 544 *fullScale = 2.0f;
nikapov 0:ec6e59cc6f40 545 break;
nikapov 0:ec6e59cc6f40 546 case LSM303AGR_ACC_FS_4G:
nikapov 0:ec6e59cc6f40 547 *fullScale = 4.0f;
nikapov 0:ec6e59cc6f40 548 break;
nikapov 0:ec6e59cc6f40 549 case LSM303AGR_ACC_FS_8G:
nikapov 0:ec6e59cc6f40 550 *fullScale = 8.0f;
nikapov 0:ec6e59cc6f40 551 break;
nikapov 0:ec6e59cc6f40 552 case LSM303AGR_ACC_FS_16G:
nikapov 0:ec6e59cc6f40 553 *fullScale = 16.0f;
nikapov 0:ec6e59cc6f40 554 break;
nikapov 0:ec6e59cc6f40 555 default:
nikapov 0:ec6e59cc6f40 556 *fullScale = -1.0f;
nikapov 0:ec6e59cc6f40 557 return 1;
nikapov 0:ec6e59cc6f40 558 }
nikapov 0:ec6e59cc6f40 559
nikapov 0:ec6e59cc6f40 560 return 0;
nikapov 0:ec6e59cc6f40 561 }
nikapov 0:ec6e59cc6f40 562
nikapov 0:ec6e59cc6f40 563 /**
nikapov 0:ec6e59cc6f40 564 * @brief Set full scale
nikapov 0:ec6e59cc6f40 565 * @param fullScale the full scale to be set
nikapov 0:ec6e59cc6f40 566 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 567 */
nikapov 0:ec6e59cc6f40 568 int LSM303AGRAccSensor::set_x_fs(float fullScale)
nikapov 0:ec6e59cc6f40 569 {
nikapov 0:ec6e59cc6f40 570 LSM303AGR_ACC_FS_t new_fs;
nikapov 0:ec6e59cc6f40 571
nikapov 0:ec6e59cc6f40 572 new_fs = ( fullScale <= 2.0f ) ? LSM303AGR_ACC_FS_2G
nikapov 0:ec6e59cc6f40 573 : ( fullScale <= 4.0f ) ? LSM303AGR_ACC_FS_4G
nikapov 0:ec6e59cc6f40 574 : ( fullScale <= 8.0f ) ? LSM303AGR_ACC_FS_8G
nikapov 0:ec6e59cc6f40 575 : LSM303AGR_ACC_FS_16G;
nikapov 0:ec6e59cc6f40 576
nikapov 0:ec6e59cc6f40 577 if ( LSM303AGR_ACC_W_FullScale( (void *)this, new_fs ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 578 {
nikapov 0:ec6e59cc6f40 579 return 1;
nikapov 0:ec6e59cc6f40 580 }
nikapov 0:ec6e59cc6f40 581
nikapov 0:ec6e59cc6f40 582 return 0;
nikapov 0:ec6e59cc6f40 583 }
nikapov 0:ec6e59cc6f40 584
nikapov 0:ec6e59cc6f40 585 /**
nikapov 0:ec6e59cc6f40 586 * @brief Read accelerometer data from register
nikapov 0:ec6e59cc6f40 587 * @param reg register address
nikapov 0:ec6e59cc6f40 588 * @param data register data
nikapov 0:ec6e59cc6f40 589 * @retval 0 in case of success
nikapov 0:ec6e59cc6f40 590 * @retval 1 in case of failure
nikapov 0:ec6e59cc6f40 591 */
nikapov 0:ec6e59cc6f40 592 int LSM303AGRAccSensor::read_reg( uint8_t reg, uint8_t *data )
nikapov 0:ec6e59cc6f40 593 {
nikapov 0:ec6e59cc6f40 594
nikapov 0:ec6e59cc6f40 595 if ( LSM303AGR_ACC_read_reg( (void *)this, reg, data ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 596 {
nikapov 0:ec6e59cc6f40 597 return 1;
nikapov 0:ec6e59cc6f40 598 }
nikapov 0:ec6e59cc6f40 599
nikapov 0:ec6e59cc6f40 600 return 0;
nikapov 0:ec6e59cc6f40 601 }
nikapov 0:ec6e59cc6f40 602
nikapov 0:ec6e59cc6f40 603 /**
nikapov 0:ec6e59cc6f40 604 * @brief Write accelerometer data to register
nikapov 0:ec6e59cc6f40 605 * @param reg register address
nikapov 0:ec6e59cc6f40 606 * @param data register data
nikapov 0:ec6e59cc6f40 607 * @retval 0 in case of success
nikapov 0:ec6e59cc6f40 608 * @retval 1 in case of failure
nikapov 0:ec6e59cc6f40 609 */
nikapov 0:ec6e59cc6f40 610 int LSM303AGRAccSensor::write_reg( uint8_t reg, uint8_t data )
nikapov 0:ec6e59cc6f40 611 {
nikapov 0:ec6e59cc6f40 612
nikapov 0:ec6e59cc6f40 613 if ( LSM303AGR_ACC_write_reg( (void *)this, reg, data ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 614 {
nikapov 0:ec6e59cc6f40 615 return 1;
nikapov 0:ec6e59cc6f40 616 }
nikapov 0:ec6e59cc6f40 617
nikapov 0:ec6e59cc6f40 618 return 0;
nikapov 0:ec6e59cc6f40 619 }
nikapov 0:ec6e59cc6f40 620
nikapov 0:ec6e59cc6f40 621 uint8_t LSM303AGR_ACC_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
nikapov 0:ec6e59cc6f40 622 {
nikapov 0:ec6e59cc6f40 623 return ((LSM303AGRAccSensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite);
nikapov 0:ec6e59cc6f40 624 }
nikapov 0:ec6e59cc6f40 625
nikapov 0:ec6e59cc6f40 626 uint8_t LSM303AGR_ACC_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
nikapov 0:ec6e59cc6f40 627 {
nikapov 0:ec6e59cc6f40 628 return ((LSM303AGRAccSensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead);
nikapov 0:ec6e59cc6f40 629 }