LSM303AGRMagSensor.h

00001 /**
00002  ******************************************************************************
00003  * @file    LSM303AGRMagSensor.h
00004  * @author  CLab
00005  * @version V1.0.0
00006  * @date    5 August 2016
00007  * @brief   Abstract Class of an LSM303AGR magnetometer sensor.
00008  ******************************************************************************
00009  * @attention
00010  *
00011  * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
00012  *
00013  * Redistribution and use in source and binary forms, with or without modification,
00014  * are permitted provided that the following conditions are met:
00015  *   1. Redistributions of source code must retain the above copyright notice,
00016  *      this list of conditions and the following disclaimer.
00017  *   2. Redistributions in binary form must reproduce the above copyright notice,
00018  *      this list of conditions and the following disclaimer in the documentation
00019  *      and/or other materials provided with the distribution.
00020  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00021  *      may be used to endorse or promote products derived from this software
00022  *      without specific prior written permission.
00023  *
00024  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00025  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00026  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00027  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00028  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00029  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00030  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00031  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00032  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00033  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00034  *
00035  ******************************************************************************
00036  */
00037 
00038 
00039 /* Prevent recursive inclusion -----------------------------------------------*/
00040 
00041 #ifndef __LSM303AGRMagSensor_H__
00042 #define __LSM303AGRMagSensor_H__
00043 
00044 
00045 /* Includes ------------------------------------------------------------------*/
00046 
00047 #include "DevI2C.h"
00048 #include "LSM303AGR_mag_driver.h"
00049 #include "LSM303AGR_acc_driver.h"
00050 #include "MagneticSensor.h"
00051 #include <assert.h>
00052 
00053 /* Class Declaration ---------------------------------------------------------*/
00054 
00055 /**
00056  * Abstract class of an LSM303AGR Inertial Measurement Unit (IMU) 6 axes
00057  * sensor.
00058  */
00059 class LSM303AGRMagSensor : public MagneticSensor
00060 {
00061   public:
00062     LSM303AGRMagSensor(SPI *spi, PinName cs_pin, PinName intmag_pin=NC);  // SPI3W ONLY
00063     LSM303AGRMagSensor(DevI2C *i2c, uint8_t address=LSM303AGR_MAG_I2C_ADDRESS, PinName intmag_pin=NC);
00064     virtual int init(void *init);
00065     virtual int read_id(uint8_t *id);
00066     virtual int get_m_axes(int32_t *pData);
00067     virtual int get_m_axes_raw(int16_t *pData);
00068     int enable(void);
00069     int disable(void);
00070     int get_m_sensitivity(float *pfData);
00071     int get_m_odr(float *odr);
00072     int set_m_odr(float odr);
00073     int get_m_fs(float *fullScale);
00074     int set_m_fs(float fullScale);
00075     int read_reg(uint8_t reg, uint8_t *data);
00076     int write_reg(uint8_t reg, uint8_t data);
00077     
00078     /**
00079      * @brief Utility function to read data.
00080      * @param  pBuffer: pointer to data to be read.
00081      * @param  RegisterAddr: specifies internal address register to be read.
00082      * @param  NumByteToRead: number of bytes to be read.
00083      * @retval 0 if ok, an error code otherwise.
00084      */
00085     uint8_t io_read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
00086     {
00087         if (_dev_spi) {
00088         /* Write Reg Address */
00089             _dev_spi->lock();
00090             _cs_pin = 0;           
00091             /* Write RD Reg Address with RD bit*/
00092             uint8_t TxByte = RegisterAddr | 0x80;    
00093             _dev_spi->write((char *)&TxByte, 1, (char *)pBuffer, (int) NumByteToRead);
00094             _cs_pin = 1;
00095             _dev_spi->unlock(); 
00096             return 0;
00097         }                       
00098         if (_dev_i2c) return (uint8_t) _dev_i2c->i2c_read(pBuffer, _address, RegisterAddr, NumByteToRead);
00099         return 1;
00100     }
00101     
00102     /**
00103      * @brief Utility function to write data.
00104      * @param  pBuffer: pointer to data to be written.
00105      * @param  RegisterAddr: specifies internal address register to be written.
00106      * @param  NumByteToWrite: number of bytes to write.
00107      * @retval 0 if ok, an error code otherwise.
00108      */
00109     uint8_t io_write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
00110     {
00111         if (_dev_spi) { 
00112             _dev_spi->lock();
00113             _cs_pin = 0;
00114             _dev_spi->write(RegisterAddr);                    
00115             _dev_spi->write((char *)pBuffer, (int) NumByteToWrite, NULL, 0);                     
00116             _cs_pin = 1;                    
00117             _dev_spi->unlock();
00118             return 0;                    
00119         }        
00120         if (_dev_i2c) return (uint8_t) _dev_i2c->i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite);    
00121         return 1;
00122     }
00123 
00124   private:
00125 
00126     /* Helper classes. */
00127     DevI2C *_dev_i2c;
00128     SPI    *_dev_spi;         
00129     
00130     /* Configuration */
00131     uint8_t _address;
00132     DigitalOut  _cs_pin;
00133     InterruptIn _intmag_pin;     
00134 };
00135 
00136 #ifdef __cplusplus
00137  extern "C" {
00138 #endif
00139 uint8_t LSM303AGR_MAG_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
00140 uint8_t LSM303AGR_MAG_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
00141 #ifdef __cplusplus
00142   }
00143 #endif
00144 
00145 #endif