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@4:6c7e83ae885e, 2019-03-04 (annotated)

Committer:
cparata
Date:
Mon Mar 04 13:08:21 2019 +0000
Revision:
4:6c7e83ae885e
Parent:
2:e37be5550633 
Fix issue in SPI write

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
mapellil 2:e37be5550633 46 LSM303AGRAccSensor::LSM303AGRAccSensor(SPI *spi, PinName cs_pin, PinName int1_pin, PinName int2_pin) :
mapellil 2:e37be5550633 47 _dev_spi(spi), _cs_pin(cs_pin), _int1_pin(int1_pin), _int2_pin(int2_pin) // SPI3W ONLY
mapellil 2:e37be5550633 48 {
mapellil 2:e37be5550633 49 assert (spi);
mapellil 2:e37be5550633 50 if (cs_pin == NC)
mapellil 2:e37be5550633 51 {
mapellil 2:e37be5550633 52 printf ("ERROR LSM303AGRAccSensor CS MUST NOT BE NC\n\r");
mapellil 2:e37be5550633 53 _dev_spi = NULL;
mapellil 2:e37be5550633 54 _dev_i2c=NULL;
mapellil 2:e37be5550633 55 return;
mapellil 2:e37be5550633 56 }
mapellil 2:e37be5550633 57 _cs_pin = 0; // enable SPI3W disable I2C
mapellil 2:e37be5550633 58 _dev_i2c=NULL;
mapellil 2:e37be5550633 59
mapellil 2:e37be5550633 60 LSM303AGR_ACC_W_SPI_mode((void *)this, LSM303AGR_ACC_SIM_3_WIRES);
mapellil 2:e37be5550633 61 }
mapellil 2:e37be5550633 62
mapellil 2:e37be5550633 63
nikapov 0:ec6e59cc6f40 64 /** Constructor
nikapov 0:ec6e59cc6f40 65 * @param i2c object of an helper class which handles the I2C peripheral
nikapov 0:ec6e59cc6f40 66 * @param address the address of the component's instance
nikapov 0:ec6e59cc6f40 67 */
mapellil 1:86d530a7f949 68 LSM303AGRAccSensor::LSM303AGRAccSensor(DevI2C *i2c, uint8_t address, PinName int1_pin, PinName int2_pin) :
mapellil 1:86d530a7f949 69 _dev_i2c(i2c), _address(address), _cs_pin(NC), _int1_pin(int1_pin), _int2_pin(int2_pin)
nikapov 0:ec6e59cc6f40 70 {
mapellil 1:86d530a7f949 71 assert (i2c);
mapellil 2:e37be5550633 72 _dev_spi = NULL;
nikapov 0:ec6e59cc6f40 73 };
nikapov 0:ec6e59cc6f40 74
nikapov 0:ec6e59cc6f40 75 /**
nikapov 0:ec6e59cc6f40 76 * @brief Initializing the component.
nikapov 0:ec6e59cc6f40 77 * @param[in] init pointer to device specific initalization structure.
nikapov 0:ec6e59cc6f40 78 * @retval "0" in case of success, an error code otherwise.
nikapov 0:ec6e59cc6f40 79 */
nikapov 0:ec6e59cc6f40 80 int LSM303AGRAccSensor::init(void *init)
nikapov 0:ec6e59cc6f40 81 {
nikapov 0:ec6e59cc6f40 82 /* Enable BDU */
nikapov 0:ec6e59cc6f40 83 if ( LSM303AGR_ACC_W_BlockDataUpdate( (void *)this, LSM303AGR_ACC_BDU_ENABLED ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 84 {
nikapov 0:ec6e59cc6f40 85 return 1;
nikapov 0:ec6e59cc6f40 86 }
nikapov 0:ec6e59cc6f40 87
nikapov 0:ec6e59cc6f40 88 /* FIFO mode selection */
nikapov 0:ec6e59cc6f40 89 if ( LSM303AGR_ACC_W_FifoMode( (void *)this, LSM303AGR_ACC_FM_BYPASS ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 90 {
nikapov 0:ec6e59cc6f40 91 return 1;
nikapov 0:ec6e59cc6f40 92 }
nikapov 0:ec6e59cc6f40 93
nikapov 0:ec6e59cc6f40 94 /* Output data rate selection - power down. */
nikapov 0:ec6e59cc6f40 95 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 96 {
nikapov 0:ec6e59cc6f40 97 return 1;
nikapov 0:ec6e59cc6f40 98 }
nikapov 0:ec6e59cc6f40 99
nikapov 0:ec6e59cc6f40 100 /* Full scale selection. */
nikapov 0:ec6e59cc6f40 101 if ( set_x_fs( 2.0f ) == 1 )
nikapov 0:ec6e59cc6f40 102 {
nikapov 0:ec6e59cc6f40 103 return 1;
nikapov 0:ec6e59cc6f40 104 }
nikapov 0:ec6e59cc6f40 105
nikapov 0:ec6e59cc6f40 106 /* Enable axes. */
nikapov 0:ec6e59cc6f40 107 if ( LSM303AGR_ACC_W_XEN( (void *)this, LSM303AGR_ACC_XEN_ENABLED ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 108 {
nikapov 0:ec6e59cc6f40 109 return 1;
nikapov 0:ec6e59cc6f40 110 }
nikapov 0:ec6e59cc6f40 111
nikapov 0:ec6e59cc6f40 112 if ( LSM303AGR_ACC_W_YEN ( (void *)this, LSM303AGR_ACC_YEN_ENABLED ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 113 {
nikapov 0:ec6e59cc6f40 114 return 1;
nikapov 0:ec6e59cc6f40 115 }
nikapov 0:ec6e59cc6f40 116
nikapov 0:ec6e59cc6f40 117 if ( LSM303AGR_ACC_W_ZEN ( (void *)this, LSM303AGR_ACC_ZEN_ENABLED ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 118 {
nikapov 0:ec6e59cc6f40 119 return 1;
nikapov 0:ec6e59cc6f40 120 }
nikapov 0:ec6e59cc6f40 121
nikapov 0:ec6e59cc6f40 122 /* Select default output data rate. */
nikapov 0:ec6e59cc6f40 123 _last_odr = 100.0f;
nikapov 0:ec6e59cc6f40 124
nikapov 0:ec6e59cc6f40 125 _is_enabled = 0;
nikapov 0:ec6e59cc6f40 126
nikapov 0:ec6e59cc6f40 127 return 0;
nikapov 0:ec6e59cc6f40 128 }
nikapov 0:ec6e59cc6f40 129
nikapov 0:ec6e59cc6f40 130 /**
nikapov 0:ec6e59cc6f40 131 * @brief Enable LSM303AGR Accelerator
nikapov 0:ec6e59cc6f40 132 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 133 */
nikapov 0:ec6e59cc6f40 134 int LSM303AGRAccSensor::enable(void)
nikapov 0:ec6e59cc6f40 135 {
nikapov 0:ec6e59cc6f40 136 /* Check if the component is already enabled */
nikapov 0:ec6e59cc6f40 137 if ( _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 /* Output data rate selection. */
nikapov 0:ec6e59cc6f40 143 if ( set_x_odr_when_enabled( _last_odr ) == 1 )
nikapov 0:ec6e59cc6f40 144 {
nikapov 0:ec6e59cc6f40 145 return 1;
nikapov 0:ec6e59cc6f40 146 }
nikapov 0:ec6e59cc6f40 147
nikapov 0:ec6e59cc6f40 148 _is_enabled = 1;
nikapov 0:ec6e59cc6f40 149
nikapov 0:ec6e59cc6f40 150 return 0;
nikapov 0:ec6e59cc6f40 151 }
nikapov 0:ec6e59cc6f40 152
nikapov 0:ec6e59cc6f40 153 /**
nikapov 0:ec6e59cc6f40 154 * @brief Disable LSM303AGR Accelerator
nikapov 0:ec6e59cc6f40 155 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 156 */
nikapov 0:ec6e59cc6f40 157 int LSM303AGRAccSensor::disable(void)
nikapov 0:ec6e59cc6f40 158 {
nikapov 0:ec6e59cc6f40 159 /* Check if the component is already disabled */
nikapov 0:ec6e59cc6f40 160 if ( _is_enabled == 0 )
nikapov 0:ec6e59cc6f40 161 {
nikapov 0:ec6e59cc6f40 162 return 0;
nikapov 0:ec6e59cc6f40 163 }
nikapov 0:ec6e59cc6f40 164
nikapov 0:ec6e59cc6f40 165 /* Store actual output data rate. */
nikapov 0:ec6e59cc6f40 166 if ( get_x_odr( &_last_odr ) == 1 )
nikapov 0:ec6e59cc6f40 167 {
nikapov 0:ec6e59cc6f40 168 return 1;
nikapov 0:ec6e59cc6f40 169 }
nikapov 0:ec6e59cc6f40 170
nikapov 0:ec6e59cc6f40 171 /* Output data rate selection - power down. */
nikapov 0:ec6e59cc6f40 172 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 173 {
nikapov 0:ec6e59cc6f40 174 return 1;
nikapov 0:ec6e59cc6f40 175 }
nikapov 0:ec6e59cc6f40 176
nikapov 0:ec6e59cc6f40 177 _is_enabled = 0;
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 ID of LSM303AGR Accelerometer
nikapov 0:ec6e59cc6f40 184 * @param p_id the pointer where the ID of the device 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 LSM303AGRAccSensor::read_id(uint8_t *id)
nikapov 0:ec6e59cc6f40 188 {
nikapov 0:ec6e59cc6f40 189 if(!id)
nikapov 0:ec6e59cc6f40 190 {
nikapov 0:ec6e59cc6f40 191 return 1;
nikapov 0:ec6e59cc6f40 192 }
nikapov 0:ec6e59cc6f40 193
nikapov 0:ec6e59cc6f40 194 /* Read WHO AM I register */
nikapov 0:ec6e59cc6f40 195 if ( LSM303AGR_ACC_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 196 {
nikapov 0:ec6e59cc6f40 197 return 1;
nikapov 0:ec6e59cc6f40 198 }
nikapov 0:ec6e59cc6f40 199
nikapov 0:ec6e59cc6f40 200 return 0;
nikapov 0:ec6e59cc6f40 201 }
nikapov 0:ec6e59cc6f40 202
nikapov 0:ec6e59cc6f40 203 /**
nikapov 0:ec6e59cc6f40 204 * @brief Read data from LSM303AGR Accelerometer
nikapov 0:ec6e59cc6f40 205 * @param pData the pointer where the accelerometer data are stored
nikapov 0:ec6e59cc6f40 206 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 207 */
nikapov 0:ec6e59cc6f40 208 int LSM303AGRAccSensor::get_x_axes(int32_t *pData)
nikapov 0:ec6e59cc6f40 209 {
nikapov 0:ec6e59cc6f40 210 int data[3];
nikapov 0:ec6e59cc6f40 211
nikapov 0:ec6e59cc6f40 212 /* Read data from LSM303AGR. */
nikapov 0:ec6e59cc6f40 213 if ( !LSM303AGR_ACC_Get_Acceleration((void *)this, data) )
nikapov 0:ec6e59cc6f40 214 {
nikapov 0:ec6e59cc6f40 215 return 1;
nikapov 0:ec6e59cc6f40 216 }
nikapov 0:ec6e59cc6f40 217
nikapov 0:ec6e59cc6f40 218 /* Calculate the data. */
nikapov 0:ec6e59cc6f40 219 pData[0] = (int32_t)data[0];
nikapov 0:ec6e59cc6f40 220 pData[1] = (int32_t)data[1];
nikapov 0:ec6e59cc6f40 221 pData[2] = (int32_t)data[2];
nikapov 0:ec6e59cc6f40 222
nikapov 0:ec6e59cc6f40 223 return 0;
nikapov 0:ec6e59cc6f40 224 }
nikapov 0:ec6e59cc6f40 225
nikapov 0:ec6e59cc6f40 226 /**
nikapov 0:ec6e59cc6f40 227 * @brief Read Accelerometer Sensitivity
nikapov 0:ec6e59cc6f40 228 * @param pfData the pointer where the accelerometer sensitivity is stored
nikapov 0:ec6e59cc6f40 229 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 230 */
nikapov 0:ec6e59cc6f40 231 int LSM303AGRAccSensor::get_x_sensitivity(float *pfData)
nikapov 0:ec6e59cc6f40 232 {
nikapov 0:ec6e59cc6f40 233 LSM303AGR_ACC_LPEN_t lp_value;
nikapov 0:ec6e59cc6f40 234 LSM303AGR_ACC_HR_t hr_value;
nikapov 0:ec6e59cc6f40 235
nikapov 0:ec6e59cc6f40 236 /* Read low power flag */
nikapov 0:ec6e59cc6f40 237 if( LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp_value ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 238 {
nikapov 0:ec6e59cc6f40 239 return 1;
nikapov 0:ec6e59cc6f40 240 }
nikapov 0:ec6e59cc6f40 241
nikapov 0:ec6e59cc6f40 242 /* Read high performance flag */
nikapov 0:ec6e59cc6f40 243 if( LSM303AGR_ACC_R_HiRes( (void *)this, &hr_value ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 244 {
nikapov 0:ec6e59cc6f40 245 return 1;
nikapov 0:ec6e59cc6f40 246 }
nikapov 0:ec6e59cc6f40 247
nikapov 0:ec6e59cc6f40 248 if( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
nikapov 0:ec6e59cc6f40 249 {
nikapov 0:ec6e59cc6f40 250 /* Normal Mode */
nikapov 0:ec6e59cc6f40 251 return get_x_sensitivity_normal_mode( pfData );
nikapov 0:ec6e59cc6f40 252 } else if ( lp_value == LSM303AGR_ACC_LPEN_ENABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
nikapov 0:ec6e59cc6f40 253 {
nikapov 0:ec6e59cc6f40 254 /* Low Power Mode */
nikapov 0:ec6e59cc6f40 255 return get_x_sensitivity_lp_mode( pfData );
nikapov 0:ec6e59cc6f40 256 } else if ( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_ENABLED )
nikapov 0:ec6e59cc6f40 257 {
nikapov 0:ec6e59cc6f40 258 /* High Resolution Mode */
nikapov 0:ec6e59cc6f40 259 return get_x_sensitivity_hr_mode( pfData );
nikapov 0:ec6e59cc6f40 260 } else
nikapov 0:ec6e59cc6f40 261 {
nikapov 0:ec6e59cc6f40 262 /* Not allowed */
nikapov 0:ec6e59cc6f40 263 return 1;
nikapov 0:ec6e59cc6f40 264 }
nikapov 0:ec6e59cc6f40 265 }
nikapov 0:ec6e59cc6f40 266
nikapov 0:ec6e59cc6f40 267 /**
nikapov 0:ec6e59cc6f40 268 * @brief Read Accelerometer Sensitivity in Normal Mode
nikapov 0:ec6e59cc6f40 269 * @param sensitivity the pointer where the accelerometer sensitivity is stored
nikapov 0:ec6e59cc6f40 270 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 271 */
nikapov 0:ec6e59cc6f40 272 int LSM303AGRAccSensor::get_x_sensitivity_normal_mode( float *sensitivity )
nikapov 0:ec6e59cc6f40 273 {
nikapov 0:ec6e59cc6f40 274 LSM303AGR_ACC_FS_t fullScale;
nikapov 0:ec6e59cc6f40 275
nikapov 0:ec6e59cc6f40 276 /* Read actual full scale selection from sensor. */
nikapov 0:ec6e59cc6f40 277 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 278 {
nikapov 0:ec6e59cc6f40 279 return 1;
nikapov 0:ec6e59cc6f40 280 }
nikapov 0:ec6e59cc6f40 281
nikapov 0:ec6e59cc6f40 282 /* Store the sensitivity based on actual full scale. */
nikapov 0:ec6e59cc6f40 283 switch( fullScale )
nikapov 0:ec6e59cc6f40 284 {
nikapov 0:ec6e59cc6f40 285 case LSM303AGR_ACC_FS_2G:
nikapov 0:ec6e59cc6f40 286 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_NORMAL_MODE;
nikapov 0:ec6e59cc6f40 287 break;
nikapov 0:ec6e59cc6f40 288 case LSM303AGR_ACC_FS_4G:
nikapov 0:ec6e59cc6f40 289 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_NORMAL_MODE;
nikapov 0:ec6e59cc6f40 290 break;
nikapov 0:ec6e59cc6f40 291 case LSM303AGR_ACC_FS_8G:
nikapov 0:ec6e59cc6f40 292 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_NORMAL_MODE;
nikapov 0:ec6e59cc6f40 293 break;
nikapov 0:ec6e59cc6f40 294 case LSM303AGR_ACC_FS_16G:
nikapov 0:ec6e59cc6f40 295 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_NORMAL_MODE;
nikapov 0:ec6e59cc6f40 296 break;
nikapov 0:ec6e59cc6f40 297 default:
nikapov 0:ec6e59cc6f40 298 *sensitivity = -1.0f;
nikapov 0:ec6e59cc6f40 299 return 1;
nikapov 0:ec6e59cc6f40 300 }
nikapov 0:ec6e59cc6f40 301
nikapov 0:ec6e59cc6f40 302 return 0;
nikapov 0:ec6e59cc6f40 303 }
nikapov 0:ec6e59cc6f40 304
nikapov 0:ec6e59cc6f40 305 /**
nikapov 0:ec6e59cc6f40 306 * @brief Read Accelerometer Sensitivity in LP Mode
nikapov 0:ec6e59cc6f40 307 * @param sensitivity the pointer where the accelerometer sensitivity is stored
nikapov 0:ec6e59cc6f40 308 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 309 */
nikapov 0:ec6e59cc6f40 310 int LSM303AGRAccSensor::get_x_sensitivity_lp_mode( float *sensitivity )
nikapov 0:ec6e59cc6f40 311 {
nikapov 0:ec6e59cc6f40 312 LSM303AGR_ACC_FS_t fullScale;
nikapov 0:ec6e59cc6f40 313
nikapov 0:ec6e59cc6f40 314 /* Read actual full scale selection from sensor. */
nikapov 0:ec6e59cc6f40 315 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 316 {
nikapov 0:ec6e59cc6f40 317 return 1;
nikapov 0:ec6e59cc6f40 318 }
nikapov 0:ec6e59cc6f40 319
nikapov 0:ec6e59cc6f40 320 /* Store the sensitivity based on actual full scale. */
nikapov 0:ec6e59cc6f40 321 switch( fullScale )
nikapov 0:ec6e59cc6f40 322 {
nikapov 0:ec6e59cc6f40 323 case LSM303AGR_ACC_FS_2G:
nikapov 0:ec6e59cc6f40 324 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_LOW_POWER_MODE;
nikapov 0:ec6e59cc6f40 325 break;
nikapov 0:ec6e59cc6f40 326 case LSM303AGR_ACC_FS_4G:
nikapov 0:ec6e59cc6f40 327 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_LOW_POWER_MODE;
nikapov 0:ec6e59cc6f40 328 break;
nikapov 0:ec6e59cc6f40 329 case LSM303AGR_ACC_FS_8G:
nikapov 0:ec6e59cc6f40 330 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_LOW_POWER_MODE;
nikapov 0:ec6e59cc6f40 331 break;
nikapov 0:ec6e59cc6f40 332 case LSM303AGR_ACC_FS_16G:
nikapov 0:ec6e59cc6f40 333 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_LOW_POWER_MODE;
nikapov 0:ec6e59cc6f40 334 break;
nikapov 0:ec6e59cc6f40 335 default:
nikapov 0:ec6e59cc6f40 336 *sensitivity = -1.0f;
nikapov 0:ec6e59cc6f40 337 return 1;
nikapov 0:ec6e59cc6f40 338 }
nikapov 0:ec6e59cc6f40 339
nikapov 0:ec6e59cc6f40 340 return 0;
nikapov 0:ec6e59cc6f40 341 }
nikapov 0:ec6e59cc6f40 342
nikapov 0:ec6e59cc6f40 343 /**
nikapov 0:ec6e59cc6f40 344 * @brief Read Accelerometer Sensitivity in HR Mode
nikapov 0:ec6e59cc6f40 345 * @param sensitivity the pointer where the accelerometer sensitivity is stored
nikapov 0:ec6e59cc6f40 346 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 347 */
nikapov 0:ec6e59cc6f40 348 int LSM303AGRAccSensor::get_x_sensitivity_hr_mode( float *sensitivity )
nikapov 0:ec6e59cc6f40 349 {
nikapov 0:ec6e59cc6f40 350 LSM303AGR_ACC_FS_t fullScale;
nikapov 0:ec6e59cc6f40 351
nikapov 0:ec6e59cc6f40 352 /* Read actual full scale selection from sensor. */
nikapov 0:ec6e59cc6f40 353 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 354 {
nikapov 0:ec6e59cc6f40 355 return 1;
nikapov 0:ec6e59cc6f40 356 }
nikapov 0:ec6e59cc6f40 357
nikapov 0:ec6e59cc6f40 358 /* Store the sensitivity based on actual full scale. */
nikapov 0:ec6e59cc6f40 359 switch( fullScale )
nikapov 0:ec6e59cc6f40 360 {
nikapov 0:ec6e59cc6f40 361 case LSM303AGR_ACC_FS_2G:
nikapov 0:ec6e59cc6f40 362 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_HIGH_RESOLUTION_MODE;
nikapov 0:ec6e59cc6f40 363 break;
nikapov 0:ec6e59cc6f40 364 case LSM303AGR_ACC_FS_4G:
nikapov 0:ec6e59cc6f40 365 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_HIGH_RESOLUTION_MODE;
nikapov 0:ec6e59cc6f40 366 break;
nikapov 0:ec6e59cc6f40 367 case LSM303AGR_ACC_FS_8G:
nikapov 0:ec6e59cc6f40 368 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_HIGH_RESOLUTION_MODE;
nikapov 0:ec6e59cc6f40 369 break;
nikapov 0:ec6e59cc6f40 370 case LSM303AGR_ACC_FS_16G:
nikapov 0:ec6e59cc6f40 371 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_HIGH_RESOLUTION_MODE;
nikapov 0:ec6e59cc6f40 372 break;
nikapov 0:ec6e59cc6f40 373 default:
nikapov 0:ec6e59cc6f40 374 *sensitivity = -1.0f;
nikapov 0:ec6e59cc6f40 375 return 1;
nikapov 0:ec6e59cc6f40 376 }
nikapov 0:ec6e59cc6f40 377
nikapov 0:ec6e59cc6f40 378 return 0;
nikapov 0:ec6e59cc6f40 379 }
nikapov 0:ec6e59cc6f40 380
nikapov 0:ec6e59cc6f40 381 /**
nikapov 0:ec6e59cc6f40 382 * @brief Read raw data from LSM303AGR Accelerometer
nikapov 0:ec6e59cc6f40 383 * @param pData the pointer where the accelerometer raw data are stored
nikapov 0:ec6e59cc6f40 384 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 385 */
nikapov 0:ec6e59cc6f40 386 int LSM303AGRAccSensor::get_x_axes_raw(int16_t *pData)
nikapov 0:ec6e59cc6f40 387 {
nikapov 0:ec6e59cc6f40 388 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
nikapov 0:ec6e59cc6f40 389 u8_t shift = 0;
nikapov 0:ec6e59cc6f40 390 LSM303AGR_ACC_LPEN_t lp;
nikapov 0:ec6e59cc6f40 391 LSM303AGR_ACC_HR_t hr;
nikapov 0:ec6e59cc6f40 392
nikapov 0:ec6e59cc6f40 393 /* Determine which operational mode the acc is set */
nikapov 0:ec6e59cc6f40 394 if(!LSM303AGR_ACC_R_HiRes( (void *)this, &hr )) {
nikapov 0:ec6e59cc6f40 395 return 1;
nikapov 0:ec6e59cc6f40 396 }
nikapov 0:ec6e59cc6f40 397
nikapov 0:ec6e59cc6f40 398 if(!LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp )) {
nikapov 0:ec6e59cc6f40 399 return 1;
nikapov 0:ec6e59cc6f40 400 }
nikapov 0:ec6e59cc6f40 401
nikapov 0:ec6e59cc6f40 402 if (lp == LSM303AGR_ACC_LPEN_ENABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
nikapov 0:ec6e59cc6f40 403 /* op mode is LP 8-bit */
nikapov 0:ec6e59cc6f40 404 shift = 8;
nikapov 0:ec6e59cc6f40 405 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
nikapov 0:ec6e59cc6f40 406 /* op mode is Normal 10-bit */
nikapov 0:ec6e59cc6f40 407 shift = 6;
nikapov 0:ec6e59cc6f40 408 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_ENABLED) {
nikapov 0:ec6e59cc6f40 409 /* op mode is HR 12-bit */
nikapov 0:ec6e59cc6f40 410 shift = 4;
nikapov 0:ec6e59cc6f40 411 } else {
nikapov 0:ec6e59cc6f40 412 return 1;
nikapov 0:ec6e59cc6f40 413 }
nikapov 0:ec6e59cc6f40 414
nikapov 0:ec6e59cc6f40 415 /* Read output registers from LSM303AGR_ACC_GYRO_OUTX_L_XL to LSM303AGR_ACC_GYRO_OUTZ_H_XL. */
nikapov 0:ec6e59cc6f40 416 if (!LSM303AGR_ACC_Get_Raw_Acceleration( (void *)this, ( uint8_t* )regValue ))
nikapov 0:ec6e59cc6f40 417 {
nikapov 0:ec6e59cc6f40 418 return 1;
nikapov 0:ec6e59cc6f40 419 }
nikapov 0:ec6e59cc6f40 420
nikapov 0:ec6e59cc6f40 421 /* Format the data. */
nikapov 0:ec6e59cc6f40 422 pData[0] = ( ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] ) >> shift );
nikapov 0:ec6e59cc6f40 423 pData[1] = ( ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] ) >> shift );
nikapov 0:ec6e59cc6f40 424 pData[2] = ( ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] ) >> shift );
nikapov 0:ec6e59cc6f40 425
nikapov 0:ec6e59cc6f40 426 return 0;
nikapov 0:ec6e59cc6f40 427 }
nikapov 0:ec6e59cc6f40 428
nikapov 0:ec6e59cc6f40 429 /**
nikapov 0:ec6e59cc6f40 430 * @brief Read LSM303AGR Accelerometer output data rate
nikapov 0:ec6e59cc6f40 431 * @param odr the pointer to the output data rate
nikapov 0:ec6e59cc6f40 432 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 433 */
nikapov 0:ec6e59cc6f40 434 int LSM303AGRAccSensor::get_x_odr(float* odr)
nikapov 0:ec6e59cc6f40 435 {
nikapov 0:ec6e59cc6f40 436 LSM303AGR_ACC_ODR_t odr_low_level;
nikapov 0:ec6e59cc6f40 437
nikapov 0:ec6e59cc6f40 438 if ( LSM303AGR_ACC_R_ODR( (void *)this, &odr_low_level ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 439 {
nikapov 0:ec6e59cc6f40 440 return 1;
nikapov 0:ec6e59cc6f40 441 }
nikapov 0:ec6e59cc6f40 442
nikapov 0:ec6e59cc6f40 443 switch( odr_low_level )
nikapov 0:ec6e59cc6f40 444 {
nikapov 0:ec6e59cc6f40 445 case LSM303AGR_ACC_ODR_DO_PWR_DOWN:
nikapov 0:ec6e59cc6f40 446 *odr = 0.0f;
nikapov 0:ec6e59cc6f40 447 break;
nikapov 0:ec6e59cc6f40 448 case LSM303AGR_ACC_ODR_DO_1Hz:
nikapov 0:ec6e59cc6f40 449 *odr = 1.0f;
nikapov 0:ec6e59cc6f40 450 break;
nikapov 0:ec6e59cc6f40 451 case LSM303AGR_ACC_ODR_DO_10Hz:
nikapov 0:ec6e59cc6f40 452 *odr = 10.0f;
nikapov 0:ec6e59cc6f40 453 break;
nikapov 0:ec6e59cc6f40 454 case LSM303AGR_ACC_ODR_DO_25Hz:
nikapov 0:ec6e59cc6f40 455 *odr = 25.0f;
nikapov 0:ec6e59cc6f40 456 break;
nikapov 0:ec6e59cc6f40 457 case LSM303AGR_ACC_ODR_DO_50Hz:
nikapov 0:ec6e59cc6f40 458 *odr = 50.0f;
nikapov 0:ec6e59cc6f40 459 break;
nikapov 0:ec6e59cc6f40 460 case LSM303AGR_ACC_ODR_DO_100Hz:
nikapov 0:ec6e59cc6f40 461 *odr = 100.0f;
nikapov 0:ec6e59cc6f40 462 break;
nikapov 0:ec6e59cc6f40 463 case LSM303AGR_ACC_ODR_DO_200Hz:
nikapov 0:ec6e59cc6f40 464 *odr = 200.0f;
nikapov 0:ec6e59cc6f40 465 break;
nikapov 0:ec6e59cc6f40 466 case LSM303AGR_ACC_ODR_DO_400Hz:
nikapov 0:ec6e59cc6f40 467 *odr = 400.0f;
nikapov 0:ec6e59cc6f40 468 break;
nikapov 0:ec6e59cc6f40 469 default:
nikapov 0:ec6e59cc6f40 470 *odr = -1.0f;
nikapov 0:ec6e59cc6f40 471 return 1;
nikapov 0:ec6e59cc6f40 472 }
nikapov 0:ec6e59cc6f40 473
nikapov 0:ec6e59cc6f40 474 return 0;
nikapov 0:ec6e59cc6f40 475 }
nikapov 0:ec6e59cc6f40 476
nikapov 0:ec6e59cc6f40 477 /**
nikapov 0:ec6e59cc6f40 478 * @brief Set ODR
nikapov 0:ec6e59cc6f40 479 * @param odr the output data rate to be set
nikapov 0:ec6e59cc6f40 480 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 481 */
nikapov 0:ec6e59cc6f40 482 int LSM303AGRAccSensor::set_x_odr(float odr)
nikapov 0:ec6e59cc6f40 483 {
nikapov 0:ec6e59cc6f40 484 if(_is_enabled == 1)
nikapov 0:ec6e59cc6f40 485 {
nikapov 0:ec6e59cc6f40 486 if(set_x_odr_when_enabled(odr) == 1)
nikapov 0:ec6e59cc6f40 487 {
nikapov 0:ec6e59cc6f40 488 return 1;
nikapov 0:ec6e59cc6f40 489 }
nikapov 0:ec6e59cc6f40 490 }
nikapov 0:ec6e59cc6f40 491 else
nikapov 0:ec6e59cc6f40 492 {
nikapov 0:ec6e59cc6f40 493 if(set_x_odr_when_disabled(odr) == 1)
nikapov 0:ec6e59cc6f40 494 {
nikapov 0:ec6e59cc6f40 495 return 1;
nikapov 0:ec6e59cc6f40 496 }
nikapov 0:ec6e59cc6f40 497 }
nikapov 0:ec6e59cc6f40 498
nikapov 0:ec6e59cc6f40 499 return 0;
nikapov 0:ec6e59cc6f40 500 }
nikapov 0:ec6e59cc6f40 501
nikapov 0:ec6e59cc6f40 502 /**
nikapov 0:ec6e59cc6f40 503 * @brief Set ODR when enabled
nikapov 0:ec6e59cc6f40 504 * @param odr the output data rate to be set
nikapov 0:ec6e59cc6f40 505 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 506 */
nikapov 0:ec6e59cc6f40 507 int LSM303AGRAccSensor::set_x_odr_when_enabled(float odr)
nikapov 0:ec6e59cc6f40 508 {
nikapov 0:ec6e59cc6f40 509 LSM303AGR_ACC_ODR_t new_odr;
nikapov 0:ec6e59cc6f40 510
nikapov 0:ec6e59cc6f40 511 new_odr = ( odr <= 1.0f ) ? LSM303AGR_ACC_ODR_DO_1Hz
nikapov 0:ec6e59cc6f40 512 : ( odr <= 10.0f ) ? LSM303AGR_ACC_ODR_DO_10Hz
nikapov 0:ec6e59cc6f40 513 : ( odr <= 25.0f ) ? LSM303AGR_ACC_ODR_DO_25Hz
nikapov 0:ec6e59cc6f40 514 : ( odr <= 50.0f ) ? LSM303AGR_ACC_ODR_DO_50Hz
nikapov 0:ec6e59cc6f40 515 : ( odr <= 100.0f ) ? LSM303AGR_ACC_ODR_DO_100Hz
nikapov 0:ec6e59cc6f40 516 : ( odr <= 200.0f ) ? LSM303AGR_ACC_ODR_DO_200Hz
nikapov 0:ec6e59cc6f40 517 : LSM303AGR_ACC_ODR_DO_400Hz;
nikapov 0:ec6e59cc6f40 518
nikapov 0:ec6e59cc6f40 519 if ( LSM303AGR_ACC_W_ODR( (void *)this, new_odr ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 520 {
nikapov 0:ec6e59cc6f40 521 return 1;
nikapov 0:ec6e59cc6f40 522 }
nikapov 0:ec6e59cc6f40 523
nikapov 0:ec6e59cc6f40 524 return 0;
nikapov 0:ec6e59cc6f40 525 }
nikapov 0:ec6e59cc6f40 526
nikapov 0:ec6e59cc6f40 527 /**
nikapov 0:ec6e59cc6f40 528 * @brief Set ODR when disabled
nikapov 0:ec6e59cc6f40 529 * @param odr the output data rate to be set
nikapov 0:ec6e59cc6f40 530 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 531 */
nikapov 0:ec6e59cc6f40 532 int LSM303AGRAccSensor::set_x_odr_when_disabled(float odr)
nikapov 0:ec6e59cc6f40 533 {
nikapov 0:ec6e59cc6f40 534 _last_odr = ( odr <= 1.0f ) ? 1.0f
nikapov 0:ec6e59cc6f40 535 : ( odr <= 10.0f ) ? 10.0f
nikapov 0:ec6e59cc6f40 536 : ( odr <= 25.0f ) ? 25.0f
nikapov 0:ec6e59cc6f40 537 : ( odr <= 50.0f ) ? 50.0f
nikapov 0:ec6e59cc6f40 538 : ( odr <= 100.0f ) ? 100.0f
nikapov 0:ec6e59cc6f40 539 : ( odr <= 200.0f ) ? 200.0f
nikapov 0:ec6e59cc6f40 540 : 400.0f;
nikapov 0:ec6e59cc6f40 541
nikapov 0:ec6e59cc6f40 542 return 0;
nikapov 0:ec6e59cc6f40 543 }
nikapov 0:ec6e59cc6f40 544
nikapov 0:ec6e59cc6f40 545
nikapov 0:ec6e59cc6f40 546 /**
nikapov 0:ec6e59cc6f40 547 * @brief Read LSM303AGR Accelerometer full scale
nikapov 0:ec6e59cc6f40 548 * @param fullScale the pointer to the full scale
nikapov 0:ec6e59cc6f40 549 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 550 */
nikapov 0:ec6e59cc6f40 551 int LSM303AGRAccSensor::get_x_fs(float* fullScale)
nikapov 0:ec6e59cc6f40 552 {
nikapov 0:ec6e59cc6f40 553 LSM303AGR_ACC_FS_t fs_low_level;
nikapov 0:ec6e59cc6f40 554
nikapov 0:ec6e59cc6f40 555 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fs_low_level ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 556 {
nikapov 0:ec6e59cc6f40 557 return 1;
nikapov 0:ec6e59cc6f40 558 }
nikapov 0:ec6e59cc6f40 559
nikapov 0:ec6e59cc6f40 560 switch( fs_low_level )
nikapov 0:ec6e59cc6f40 561 {
nikapov 0:ec6e59cc6f40 562 case LSM303AGR_ACC_FS_2G:
nikapov 0:ec6e59cc6f40 563 *fullScale = 2.0f;
nikapov 0:ec6e59cc6f40 564 break;
nikapov 0:ec6e59cc6f40 565 case LSM303AGR_ACC_FS_4G:
nikapov 0:ec6e59cc6f40 566 *fullScale = 4.0f;
nikapov 0:ec6e59cc6f40 567 break;
nikapov 0:ec6e59cc6f40 568 case LSM303AGR_ACC_FS_8G:
nikapov 0:ec6e59cc6f40 569 *fullScale = 8.0f;
nikapov 0:ec6e59cc6f40 570 break;
nikapov 0:ec6e59cc6f40 571 case LSM303AGR_ACC_FS_16G:
nikapov 0:ec6e59cc6f40 572 *fullScale = 16.0f;
nikapov 0:ec6e59cc6f40 573 break;
nikapov 0:ec6e59cc6f40 574 default:
nikapov 0:ec6e59cc6f40 575 *fullScale = -1.0f;
nikapov 0:ec6e59cc6f40 576 return 1;
nikapov 0:ec6e59cc6f40 577 }
nikapov 0:ec6e59cc6f40 578
nikapov 0:ec6e59cc6f40 579 return 0;
nikapov 0:ec6e59cc6f40 580 }
nikapov 0:ec6e59cc6f40 581
nikapov 0:ec6e59cc6f40 582 /**
nikapov 0:ec6e59cc6f40 583 * @brief Set full scale
nikapov 0:ec6e59cc6f40 584 * @param fullScale the full scale to be set
nikapov 0:ec6e59cc6f40 585 * @retval 0 in case of success, an error code otherwise
nikapov 0:ec6e59cc6f40 586 */
nikapov 0:ec6e59cc6f40 587 int LSM303AGRAccSensor::set_x_fs(float fullScale)
nikapov 0:ec6e59cc6f40 588 {
nikapov 0:ec6e59cc6f40 589 LSM303AGR_ACC_FS_t new_fs;
nikapov 0:ec6e59cc6f40 590
nikapov 0:ec6e59cc6f40 591 new_fs = ( fullScale <= 2.0f ) ? LSM303AGR_ACC_FS_2G
nikapov 0:ec6e59cc6f40 592 : ( fullScale <= 4.0f ) ? LSM303AGR_ACC_FS_4G
nikapov 0:ec6e59cc6f40 593 : ( fullScale <= 8.0f ) ? LSM303AGR_ACC_FS_8G
nikapov 0:ec6e59cc6f40 594 : LSM303AGR_ACC_FS_16G;
nikapov 0:ec6e59cc6f40 595
nikapov 0:ec6e59cc6f40 596 if ( LSM303AGR_ACC_W_FullScale( (void *)this, new_fs ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 597 {
nikapov 0:ec6e59cc6f40 598 return 1;
nikapov 0:ec6e59cc6f40 599 }
nikapov 0:ec6e59cc6f40 600
nikapov 0:ec6e59cc6f40 601 return 0;
nikapov 0:ec6e59cc6f40 602 }
nikapov 0:ec6e59cc6f40 603
nikapov 0:ec6e59cc6f40 604 /**
nikapov 0:ec6e59cc6f40 605 * @brief Read accelerometer data from register
nikapov 0:ec6e59cc6f40 606 * @param reg register address
nikapov 0:ec6e59cc6f40 607 * @param data register data
nikapov 0:ec6e59cc6f40 608 * @retval 0 in case of success
nikapov 0:ec6e59cc6f40 609 * @retval 1 in case of failure
nikapov 0:ec6e59cc6f40 610 */
nikapov 0:ec6e59cc6f40 611 int LSM303AGRAccSensor::read_reg( uint8_t reg, uint8_t *data )
nikapov 0:ec6e59cc6f40 612 {
nikapov 0:ec6e59cc6f40 613
nikapov 0:ec6e59cc6f40 614 if ( LSM303AGR_ACC_read_reg( (void *)this, reg, data ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 615 {
nikapov 0:ec6e59cc6f40 616 return 1;
nikapov 0:ec6e59cc6f40 617 }
nikapov 0:ec6e59cc6f40 618
nikapov 0:ec6e59cc6f40 619 return 0;
nikapov 0:ec6e59cc6f40 620 }
nikapov 0:ec6e59cc6f40 621
nikapov 0:ec6e59cc6f40 622 /**
nikapov 0:ec6e59cc6f40 623 * @brief Write accelerometer data to register
nikapov 0:ec6e59cc6f40 624 * @param reg register address
nikapov 0:ec6e59cc6f40 625 * @param data register data
nikapov 0:ec6e59cc6f40 626 * @retval 0 in case of success
nikapov 0:ec6e59cc6f40 627 * @retval 1 in case of failure
nikapov 0:ec6e59cc6f40 628 */
nikapov 0:ec6e59cc6f40 629 int LSM303AGRAccSensor::write_reg( uint8_t reg, uint8_t data )
nikapov 0:ec6e59cc6f40 630 {
nikapov 0:ec6e59cc6f40 631
nikapov 0:ec6e59cc6f40 632 if ( LSM303AGR_ACC_write_reg( (void *)this, reg, data ) == MEMS_ERROR )
nikapov 0:ec6e59cc6f40 633 {
nikapov 0:ec6e59cc6f40 634 return 1;
nikapov 0:ec6e59cc6f40 635 }
nikapov 0:ec6e59cc6f40 636
nikapov 0:ec6e59cc6f40 637 return 0;
nikapov 0:ec6e59cc6f40 638 }
nikapov 0:ec6e59cc6f40 639
nikapov 0:ec6e59cc6f40 640 uint8_t LSM303AGR_ACC_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
nikapov 0:ec6e59cc6f40 641 {
nikapov 0:ec6e59cc6f40 642 return ((LSM303AGRAccSensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite);
nikapov 0:ec6e59cc6f40 643 }
nikapov 0:ec6e59cc6f40 644
nikapov 0:ec6e59cc6f40 645 uint8_t LSM303AGR_ACC_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
nikapov 0:ec6e59cc6f40 646 {
nikapov 0:ec6e59cc6f40 647 return ((LSM303AGRAccSensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead);
nikapov 0:ec6e59cc6f40 648 }