ST / Mbed 2 deprecated MultiEvent_IKS01A2

Example of multiple event detection for LSM6DSL in X-NUCLEO-IKS01A2

Dependencies:   X_NUCLEO_IKS01A2 mbed

Fork of MultiEvent_IKS01A2 by ST Expansion SW Team

Multi Event Demo Application based on sensor expansion board X-NUCLEO-IKS01A2

Main function is to show how to detect the free fall, tap, double tap, tilt, wake up, 6D Orientation and step events using the sensor expansion board and send a notification using UART to a connected PC or Desktop and display it on terminal applications like TeraTerm.
After connection has been established:
- the user can simulate all the events and then view the notification using an hyper terminal.
- the user button can be used to enable/disable all hardware features.

X_NUCLEO_IKS01A2/Components/LSM303AGRSensor/LSM303AGR_ACC_Sensor.cpp@0:763b80993db4, 2016-11-24 (annotated)

Committer:
cparata
Date:
Thu Nov 24 15:42:24 2016 +0000
Revision:
0:763b80993db4
Add multi event example

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 0:763b80993db4 1 /**
cparata 0:763b80993db4 2 ******************************************************************************
cparata 0:763b80993db4 3 * @file LSM303AGR_ACC_Sensor.cpp
cparata 0:763b80993db4 4 * @author AST
cparata 0:763b80993db4 5 * @version V1.0.0
cparata 0:763b80993db4 6 * @date 5 August 2016
cparata 0:763b80993db4 7 * @brief Implementation an LSM303AGR accelerometer sensor.
cparata 0:763b80993db4 8 ******************************************************************************
cparata 0:763b80993db4 9 * @attention
cparata 0:763b80993db4 10 *
cparata 0:763b80993db4 11 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 0:763b80993db4 12 *
cparata 0:763b80993db4 13 * Redistribution and use in source and binary forms, with or without modification,
cparata 0:763b80993db4 14 * are permitted provided that the following conditions are met:
cparata 0:763b80993db4 15 * 1. Redistributions of source code must retain the above copyright notice,
cparata 0:763b80993db4 16 * this list of conditions and the following disclaimer.
cparata 0:763b80993db4 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 0:763b80993db4 18 * this list of conditions and the following disclaimer in the documentation
cparata 0:763b80993db4 19 * and/or other materials provided with the distribution.
cparata 0:763b80993db4 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 0:763b80993db4 21 * may be used to endorse or promote products derived from this software
cparata 0:763b80993db4 22 * without specific prior written permission.
cparata 0:763b80993db4 23 *
cparata 0:763b80993db4 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 0:763b80993db4 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 0:763b80993db4 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 0:763b80993db4 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 0:763b80993db4 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 0:763b80993db4 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 0:763b80993db4 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 0:763b80993db4 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 0:763b80993db4 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 0:763b80993db4 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 0:763b80993db4 34 *
cparata 0:763b80993db4 35 ******************************************************************************
cparata 0:763b80993db4 36 */
cparata 0:763b80993db4 37
cparata 0:763b80993db4 38
cparata 0:763b80993db4 39 /* Includes ------------------------------------------------------------------*/
cparata 0:763b80993db4 40
cparata 0:763b80993db4 41 #include "DevI2C.h"
cparata 0:763b80993db4 42 #include "LSM303AGR_ACC_Sensor.h"
cparata 0:763b80993db4 43 #include "LSM303AGR_ACC_driver.h"
cparata 0:763b80993db4 44
cparata 0:763b80993db4 45
cparata 0:763b80993db4 46 /* Class Implementation ------------------------------------------------------*/
cparata 0:763b80993db4 47
cparata 0:763b80993db4 48 /** Constructor
cparata 0:763b80993db4 49 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:763b80993db4 50 * @param address the address of the component's instance
cparata 0:763b80993db4 51 */
cparata 0:763b80993db4 52 LSM303AGR_ACC_Sensor::LSM303AGR_ACC_Sensor(DevI2C &i2c) : dev_i2c(i2c)
cparata 0:763b80993db4 53 {
cparata 0:763b80993db4 54 address = LSM303AGR_ACC_I2C_ADDRESS;
cparata 0:763b80993db4 55 };
cparata 0:763b80993db4 56
cparata 0:763b80993db4 57 /** Constructor
cparata 0:763b80993db4 58 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:763b80993db4 59 * @param address the address of the component's instance
cparata 0:763b80993db4 60 */
cparata 0:763b80993db4 61 LSM303AGR_ACC_Sensor::LSM303AGR_ACC_Sensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
cparata 0:763b80993db4 62 {
cparata 0:763b80993db4 63
cparata 0:763b80993db4 64 };
cparata 0:763b80993db4 65
cparata 0:763b80993db4 66 /**
cparata 0:763b80993db4 67 * @brief Initializing the component.
cparata 0:763b80993db4 68 * @param[in] init pointer to device specific initalization structure.
cparata 0:763b80993db4 69 * @retval "0" in case of success, an error code otherwise.
cparata 0:763b80993db4 70 */
cparata 0:763b80993db4 71 int LSM303AGR_ACC_Sensor::Init(void *init)
cparata 0:763b80993db4 72 {
cparata 0:763b80993db4 73 /* Enable BDU */
cparata 0:763b80993db4 74 if ( LSM303AGR_ACC_W_BlockDataUpdate( (void *)this, LSM303AGR_ACC_BDU_ENABLED ) == MEMS_ERROR )
cparata 0:763b80993db4 75 {
cparata 0:763b80993db4 76 return 1;
cparata 0:763b80993db4 77 }
cparata 0:763b80993db4 78
cparata 0:763b80993db4 79 /* FIFO mode selection */
cparata 0:763b80993db4 80 if ( LSM303AGR_ACC_W_FifoMode( (void *)this, LSM303AGR_ACC_FM_BYPASS ) == MEMS_ERROR )
cparata 0:763b80993db4 81 {
cparata 0:763b80993db4 82 return 1;
cparata 0:763b80993db4 83 }
cparata 0:763b80993db4 84
cparata 0:763b80993db4 85 /* Output data rate selection - power down. */
cparata 0:763b80993db4 86 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
cparata 0:763b80993db4 87 {
cparata 0:763b80993db4 88 return 1;
cparata 0:763b80993db4 89 }
cparata 0:763b80993db4 90
cparata 0:763b80993db4 91 /* Full scale selection. */
cparata 0:763b80993db4 92 if ( Set_X_FS( 2.0f ) == 1 )
cparata 0:763b80993db4 93 {
cparata 0:763b80993db4 94 return 1;
cparata 0:763b80993db4 95 }
cparata 0:763b80993db4 96
cparata 0:763b80993db4 97 /* Enable axes. */
cparata 0:763b80993db4 98 if ( LSM303AGR_ACC_W_XEN( (void *)this, LSM303AGR_ACC_XEN_ENABLED ) == MEMS_ERROR )
cparata 0:763b80993db4 99 {
cparata 0:763b80993db4 100 return 1;
cparata 0:763b80993db4 101 }
cparata 0:763b80993db4 102
cparata 0:763b80993db4 103 if ( LSM303AGR_ACC_W_YEN ( (void *)this, LSM303AGR_ACC_YEN_ENABLED ) == MEMS_ERROR )
cparata 0:763b80993db4 104 {
cparata 0:763b80993db4 105 return 1;
cparata 0:763b80993db4 106 }
cparata 0:763b80993db4 107
cparata 0:763b80993db4 108 if ( LSM303AGR_ACC_W_ZEN ( (void *)this, LSM303AGR_ACC_ZEN_ENABLED ) == MEMS_ERROR )
cparata 0:763b80993db4 109 {
cparata 0:763b80993db4 110 return 1;
cparata 0:763b80993db4 111 }
cparata 0:763b80993db4 112
cparata 0:763b80993db4 113 /* Select default output data rate. */
cparata 0:763b80993db4 114 Last_ODR = 100.0f;
cparata 0:763b80993db4 115
cparata 0:763b80993db4 116 isEnabled = 0;
cparata 0:763b80993db4 117
cparata 0:763b80993db4 118 return 0;
cparata 0:763b80993db4 119 }
cparata 0:763b80993db4 120
cparata 0:763b80993db4 121 /**
cparata 0:763b80993db4 122 * @brief Enable LSM303AGR Accelerator
cparata 0:763b80993db4 123 * @retval 0 in case of success, an error code otherwise
cparata 0:763b80993db4 124 */
cparata 0:763b80993db4 125 int LSM303AGR_ACC_Sensor::Enable(void)
cparata 0:763b80993db4 126 {
cparata 0:763b80993db4 127 /* Check if the component is already enabled */
cparata 0:763b80993db4 128 if ( isEnabled == 1 )
cparata 0:763b80993db4 129 {
cparata 0:763b80993db4 130 return 0;
cparata 0:763b80993db4 131 }
cparata 0:763b80993db4 132
cparata 0:763b80993db4 133 /* Output data rate selection. */
cparata 0:763b80993db4 134 if ( Set_X_ODR_When_Enabled( Last_ODR ) == 1 )
cparata 0:763b80993db4 135 {
cparata 0:763b80993db4 136 return 1;
cparata 0:763b80993db4 137 }
cparata 0:763b80993db4 138
cparata 0:763b80993db4 139 isEnabled = 1;
cparata 0:763b80993db4 140
cparata 0:763b80993db4 141 return 0;
cparata 0:763b80993db4 142 }
cparata 0:763b80993db4 143
cparata 0:763b80993db4 144 /**
cparata 0:763b80993db4 145 * @brief Disable LSM303AGR Accelerator
cparata 0:763b80993db4 146 * @retval 0 in case of success, an error code otherwise
cparata 0:763b80993db4 147 */
cparata 0:763b80993db4 148 int LSM303AGR_ACC_Sensor::Disable(void)
cparata 0:763b80993db4 149 {
cparata 0:763b80993db4 150 /* Check if the component is already disabled */
cparata 0:763b80993db4 151 if ( isEnabled == 0 )
cparata 0:763b80993db4 152 {
cparata 0:763b80993db4 153 return 0;
cparata 0:763b80993db4 154 }
cparata 0:763b80993db4 155
cparata 0:763b80993db4 156 /* Store actual output data rate. */
cparata 0:763b80993db4 157 if ( Get_X_ODR( &Last_ODR ) == 1 )
cparata 0:763b80993db4 158 {
cparata 0:763b80993db4 159 return 1;
cparata 0:763b80993db4 160 }
cparata 0:763b80993db4 161
cparata 0:763b80993db4 162 /* Output data rate selection - power down. */
cparata 0:763b80993db4 163 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
cparata 0:763b80993db4 164 {
cparata 0:763b80993db4 165 return 1;
cparata 0:763b80993db4 166 }
cparata 0:763b80993db4 167
cparata 0:763b80993db4 168 isEnabled = 0;
cparata 0:763b80993db4 169
cparata 0:763b80993db4 170 return 0;
cparata 0:763b80993db4 171 }
cparata 0:763b80993db4 172
cparata 0:763b80993db4 173 /**
cparata 0:763b80993db4 174 * @brief Read ID of LSM303AGR Accelerometer
cparata 0:763b80993db4 175 * @param p_id the pointer where the ID of the device is stored
cparata 0:763b80993db4 176 * @retval 0 in case of success, an error code otherwise
cparata 0:763b80993db4 177 */
cparata 0:763b80993db4 178 int LSM303AGR_ACC_Sensor::ReadID(uint8_t *id)
cparata 0:763b80993db4 179 {
cparata 0:763b80993db4 180 if(!id)
cparata 0:763b80993db4 181 {
cparata 0:763b80993db4 182 return 1;
cparata 0:763b80993db4 183 }
cparata 0:763b80993db4 184
cparata 0:763b80993db4 185 /* Read WHO AM I register */
cparata 0:763b80993db4 186 if ( LSM303AGR_ACC_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
cparata 0:763b80993db4 187 {
cparata 0:763b80993db4 188 return 1;
cparata 0:763b80993db4 189 }
cparata 0:763b80993db4 190
cparata 0:763b80993db4 191 return 0;
cparata 0:763b80993db4 192 }
cparata 0:763b80993db4 193
cparata 0:763b80993db4 194 /**
cparata 0:763b80993db4 195 * @brief Read data from LSM303AGR Accelerometer
cparata 0:763b80993db4 196 * @param pData the pointer where the accelerometer data are stored
cparata 0:763b80993db4 197 * @retval 0 in case of success, an error code otherwise
cparata 0:763b80993db4 198 */
cparata 0:763b80993db4 199 int LSM303AGR_ACC_Sensor::Get_X_Axes(int32_t *pData)
cparata 0:763b80993db4 200 {
cparata 0:763b80993db4 201 int data[3];
cparata 0:763b80993db4 202
cparata 0:763b80993db4 203 /* Read data from LSM303AGR. */
cparata 0:763b80993db4 204 if ( !LSM303AGR_ACC_Get_Acceleration((void *)this, data) )
cparata 0:763b80993db4 205 {
cparata 0:763b80993db4 206 return 1;
cparata 0:763b80993db4 207 }
cparata 0:763b80993db4 208
cparata 0:763b80993db4 209 /* Calculate the data. */
cparata 0:763b80993db4 210 pData[0] = (int32_t)data[0];
cparata 0:763b80993db4 211 pData[1] = (int32_t)data[1];
cparata 0:763b80993db4 212 pData[2] = (int32_t)data[2];
cparata 0:763b80993db4 213
cparata 0:763b80993db4 214 return 0;
cparata 0:763b80993db4 215 }
cparata 0:763b80993db4 216
cparata 0:763b80993db4 217 /**
cparata 0:763b80993db4 218 * @brief Read Accelerometer Sensitivity
cparata 0:763b80993db4 219 * @param pfData the pointer where the accelerometer sensitivity is stored
cparata 0:763b80993db4 220 * @retval 0 in case of success, an error code otherwise
cparata 0:763b80993db4 221 */
cparata 0:763b80993db4 222 int LSM303AGR_ACC_Sensor::Get_X_Sensitivity(float *pfData)
cparata 0:763b80993db4 223 {
cparata 0:763b80993db4 224 LSM303AGR_ACC_LPEN_t lp_value;
cparata 0:763b80993db4 225 LSM303AGR_ACC_HR_t hr_value;
cparata 0:763b80993db4 226
cparata 0:763b80993db4 227 /* Read low power flag */
cparata 0:763b80993db4 228 if( LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp_value ) == MEMS_ERROR )
cparata 0:763b80993db4 229 {
cparata 0:763b80993db4 230 return 1;
cparata 0:763b80993db4 231 }
cparata 0:763b80993db4 232
cparata 0:763b80993db4 233 /* Read high performance flag */
cparata 0:763b80993db4 234 if( LSM303AGR_ACC_R_HiRes( (void *)this, &hr_value ) == MEMS_ERROR )
cparata 0:763b80993db4 235 {
cparata 0:763b80993db4 236 return 1;
cparata 0:763b80993db4 237 }
cparata 0:763b80993db4 238
cparata 0:763b80993db4 239 if( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
cparata 0:763b80993db4 240 {
cparata 0:763b80993db4 241 /* Normal Mode */
cparata 0:763b80993db4 242 return Get_X_Sensitivity_Normal_Mode( pfData );
cparata 0:763b80993db4 243 } else if ( lp_value == LSM303AGR_ACC_LPEN_ENABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
cparata 0:763b80993db4 244 {
cparata 0:763b80993db4 245 /* Low Power Mode */
cparata 0:763b80993db4 246 return Get_X_Sensitivity_LP_Mode( pfData );
cparata 0:763b80993db4 247 } else if ( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_ENABLED )
cparata 0:763b80993db4 248 {
cparata 0:763b80993db4 249 /* High Resolution Mode */
cparata 0:763b80993db4 250 return Get_X_Sensitivity_HR_Mode( pfData );
cparata 0:763b80993db4 251 } else
cparata 0:763b80993db4 252 {
cparata 0:763b80993db4 253 /* Not allowed */
cparata 0:763b80993db4 254 return 1;
cparata 0:763b80993db4 255 }
cparata 0:763b80993db4 256 }
cparata 0:763b80993db4 257
cparata 0:763b80993db4 258 /**
cparata 0:763b80993db4 259 * @brief Read Accelerometer Sensitivity in Normal Mode
cparata 0:763b80993db4 260 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 0:763b80993db4 261 * @retval 0 in case of success, an error code otherwise
cparata 0:763b80993db4 262 */
cparata 0:763b80993db4 263 int LSM303AGR_ACC_Sensor::Get_X_Sensitivity_Normal_Mode( float *sensitivity )
cparata 0:763b80993db4 264 {
cparata 0:763b80993db4 265 LSM303AGR_ACC_FS_t fullScale;
cparata 0:763b80993db4 266
cparata 0:763b80993db4 267 /* Read actual full scale selection from sensor. */
cparata 0:763b80993db4 268 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:763b80993db4 269 {
cparata 0:763b80993db4 270 return 1;
cparata 0:763b80993db4 271 }
cparata 0:763b80993db4 272
cparata 0:763b80993db4 273 /* Store the sensitivity based on actual full scale. */
cparata 0:763b80993db4 274 switch( fullScale )
cparata 0:763b80993db4 275 {
cparata 0:763b80993db4 276 case LSM303AGR_ACC_FS_2G:
cparata 0:763b80993db4 277 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_NORMAL_MODE;
cparata 0:763b80993db4 278 break;
cparata 0:763b80993db4 279 case LSM303AGR_ACC_FS_4G:
cparata 0:763b80993db4 280 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_NORMAL_MODE;
cparata 0:763b80993db4 281 break;
cparata 0:763b80993db4 282 case LSM303AGR_ACC_FS_8G:
cparata 0:763b80993db4 283 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_NORMAL_MODE;
cparata 0:763b80993db4 284 break;
cparata 0:763b80993db4 285 case LSM303AGR_ACC_FS_16G:
cparata 0:763b80993db4 286 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_NORMAL_MODE;
cparata 0:763b80993db4 287 break;
cparata 0:763b80993db4 288 default:
cparata 0:763b80993db4 289 *sensitivity = -1.0f;
cparata 0:763b80993db4 290 return 1;
cparata 0:763b80993db4 291 }
cparata 0:763b80993db4 292
cparata 0:763b80993db4 293 return 0;
cparata 0:763b80993db4 294 }
cparata 0:763b80993db4 295
cparata 0:763b80993db4 296 /**
cparata 0:763b80993db4 297 * @brief Read Accelerometer Sensitivity in LP Mode
cparata 0:763b80993db4 298 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 0:763b80993db4 299 * @retval 0 in case of success, an error code otherwise
cparata 0:763b80993db4 300 */
cparata 0:763b80993db4 301 int LSM303AGR_ACC_Sensor::Get_X_Sensitivity_LP_Mode( float *sensitivity )
cparata 0:763b80993db4 302 {
cparata 0:763b80993db4 303 LSM303AGR_ACC_FS_t fullScale;
cparata 0:763b80993db4 304
cparata 0:763b80993db4 305 /* Read actual full scale selection from sensor. */
cparata 0:763b80993db4 306 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:763b80993db4 307 {
cparata 0:763b80993db4 308 return 1;
cparata 0:763b80993db4 309 }
cparata 0:763b80993db4 310
cparata 0:763b80993db4 311 /* Store the sensitivity based on actual full scale. */
cparata 0:763b80993db4 312 switch( fullScale )
cparata 0:763b80993db4 313 {
cparata 0:763b80993db4 314 case LSM303AGR_ACC_FS_2G:
cparata 0:763b80993db4 315 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_LOW_POWER_MODE;
cparata 0:763b80993db4 316 break;
cparata 0:763b80993db4 317 case LSM303AGR_ACC_FS_4G:
cparata 0:763b80993db4 318 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_LOW_POWER_MODE;
cparata 0:763b80993db4 319 break;
cparata 0:763b80993db4 320 case LSM303AGR_ACC_FS_8G:
cparata 0:763b80993db4 321 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_LOW_POWER_MODE;
cparata 0:763b80993db4 322 break;
cparata 0:763b80993db4 323 case LSM303AGR_ACC_FS_16G:
cparata 0:763b80993db4 324 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_LOW_POWER_MODE;
cparata 0:763b80993db4 325 break;
cparata 0:763b80993db4 326 default:
cparata 0:763b80993db4 327 *sensitivity = -1.0f;
cparata 0:763b80993db4 328 return 1;
cparata 0:763b80993db4 329 }
cparata 0:763b80993db4 330
cparata 0:763b80993db4 331 return 0;
cparata 0:763b80993db4 332 }
cparata 0:763b80993db4 333
cparata 0:763b80993db4 334 /**
cparata 0:763b80993db4 335 * @brief Read Accelerometer Sensitivity in HR Mode
cparata 0:763b80993db4 336 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 0:763b80993db4 337 * @retval 0 in case of success, an error code otherwise
cparata 0:763b80993db4 338 */
cparata 0:763b80993db4 339 int LSM303AGR_ACC_Sensor::Get_X_Sensitivity_HR_Mode( float *sensitivity )
cparata 0:763b80993db4 340 {
cparata 0:763b80993db4 341 LSM303AGR_ACC_FS_t fullScale;
cparata 0:763b80993db4 342
cparata 0:763b80993db4 343 /* Read actual full scale selection from sensor. */
cparata 0:763b80993db4 344 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:763b80993db4 345 {
cparata 0:763b80993db4 346 return 1;
cparata 0:763b80993db4 347 }
cparata 0:763b80993db4 348
cparata 0:763b80993db4 349 /* Store the sensitivity based on actual full scale. */
cparata 0:763b80993db4 350 switch( fullScale )
cparata 0:763b80993db4 351 {
cparata 0:763b80993db4 352 case LSM303AGR_ACC_FS_2G:
cparata 0:763b80993db4 353 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_HIGH_RESOLUTION_MODE;
cparata 0:763b80993db4 354 break;
cparata 0:763b80993db4 355 case LSM303AGR_ACC_FS_4G:
cparata 0:763b80993db4 356 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_HIGH_RESOLUTION_MODE;
cparata 0:763b80993db4 357 break;
cparata 0:763b80993db4 358 case LSM303AGR_ACC_FS_8G:
cparata 0:763b80993db4 359 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_HIGH_RESOLUTION_MODE;
cparata 0:763b80993db4 360 break;
cparata 0:763b80993db4 361 case LSM303AGR_ACC_FS_16G:
cparata 0:763b80993db4 362 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_HIGH_RESOLUTION_MODE;
cparata 0:763b80993db4 363 break;
cparata 0:763b80993db4 364 default:
cparata 0:763b80993db4 365 *sensitivity = -1.0f;
cparata 0:763b80993db4 366 return 1;
cparata 0:763b80993db4 367 }
cparata 0:763b80993db4 368
cparata 0:763b80993db4 369 return 0;
cparata 0:763b80993db4 370 }
cparata 0:763b80993db4 371
cparata 0:763b80993db4 372 /**
cparata 0:763b80993db4 373 * @brief Read raw data from LSM303AGR Accelerometer
cparata 0:763b80993db4 374 * @param pData the pointer where the accelerometer raw data are stored
cparata 0:763b80993db4 375 * @retval 0 in case of success, an error code otherwise
cparata 0:763b80993db4 376 */
cparata 0:763b80993db4 377 int LSM303AGR_ACC_Sensor::Get_X_AxesRaw(int16_t *pData)
cparata 0:763b80993db4 378 {
cparata 0:763b80993db4 379 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 0:763b80993db4 380 u8_t shift = 0;
cparata 0:763b80993db4 381 LSM303AGR_ACC_LPEN_t lp;
cparata 0:763b80993db4 382 LSM303AGR_ACC_HR_t hr;
cparata 0:763b80993db4 383
cparata 0:763b80993db4 384 /* Determine which operational mode the acc is set */
cparata 0:763b80993db4 385 if(!LSM303AGR_ACC_R_HiRes( (void *)this, &hr )) {
cparata 0:763b80993db4 386 return 1;
cparata 0:763b80993db4 387 }
cparata 0:763b80993db4 388
cparata 0:763b80993db4 389 if(!LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp )) {
cparata 0:763b80993db4 390 return 1;
cparata 0:763b80993db4 391 }
cparata 0:763b80993db4 392
cparata 0:763b80993db4 393 if (lp == LSM303AGR_ACC_LPEN_ENABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
cparata 0:763b80993db4 394 /* op mode is LP 8-bit */
cparata 0:763b80993db4 395 shift = 8;
cparata 0:763b80993db4 396 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
cparata 0:763b80993db4 397 /* op mode is Normal 10-bit */
cparata 0:763b80993db4 398 shift = 6;
cparata 0:763b80993db4 399 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_ENABLED) {
cparata 0:763b80993db4 400 /* op mode is HR 12-bit */
cparata 0:763b80993db4 401 shift = 4;
cparata 0:763b80993db4 402 } else {
cparata 0:763b80993db4 403 return 1;
cparata 0:763b80993db4 404 }
cparata 0:763b80993db4 405
cparata 0:763b80993db4 406 /* Read output registers from LSM303AGR_ACC_GYRO_OUTX_L_XL to LSM303AGR_ACC_GYRO_OUTZ_H_XL. */
cparata 0:763b80993db4 407 if (!LSM303AGR_ACC_Get_Raw_Acceleration( (void *)this, ( uint8_t* )regValue ))
cparata 0:763b80993db4 408 {
cparata 0:763b80993db4 409 return 1;
cparata 0:763b80993db4 410 }
cparata 0:763b80993db4 411
cparata 0:763b80993db4 412 /* Format the data. */
cparata 0:763b80993db4 413 pData[0] = ( ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] ) >> shift );
cparata 0:763b80993db4 414 pData[1] = ( ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] ) >> shift );
cparata 0:763b80993db4 415 pData[2] = ( ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] ) >> shift );
cparata 0:763b80993db4 416
cparata 0:763b80993db4 417 return 0;
cparata 0:763b80993db4 418 }
cparata 0:763b80993db4 419
cparata 0:763b80993db4 420 /**
cparata 0:763b80993db4 421 * @brief Read LSM303AGR Accelerometer output data rate
cparata 0:763b80993db4 422 * @param odr the pointer to the output data rate
cparata 0:763b80993db4 423 * @retval 0 in case of success, an error code otherwise
cparata 0:763b80993db4 424 */
cparata 0:763b80993db4 425 int LSM303AGR_ACC_Sensor::Get_X_ODR(float* odr)
cparata 0:763b80993db4 426 {
cparata 0:763b80993db4 427 LSM303AGR_ACC_ODR_t odr_low_level;
cparata 0:763b80993db4 428
cparata 0:763b80993db4 429 if ( LSM303AGR_ACC_R_ODR( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 0:763b80993db4 430 {
cparata 0:763b80993db4 431 return 1;
cparata 0:763b80993db4 432 }
cparata 0:763b80993db4 433
cparata 0:763b80993db4 434 switch( odr_low_level )
cparata 0:763b80993db4 435 {
cparata 0:763b80993db4 436 case LSM303AGR_ACC_ODR_DO_PWR_DOWN:
cparata 0:763b80993db4 437 *odr = 0.0f;
cparata 0:763b80993db4 438 break;
cparata 0:763b80993db4 439 case LSM303AGR_ACC_ODR_DO_1Hz:
cparata 0:763b80993db4 440 *odr = 1.0f;
cparata 0:763b80993db4 441 break;
cparata 0:763b80993db4 442 case LSM303AGR_ACC_ODR_DO_10Hz:
cparata 0:763b80993db4 443 *odr = 10.0f;
cparata 0:763b80993db4 444 break;
cparata 0:763b80993db4 445 case LSM303AGR_ACC_ODR_DO_25Hz:
cparata 0:763b80993db4 446 *odr = 25.0f;
cparata 0:763b80993db4 447 break;
cparata 0:763b80993db4 448 case LSM303AGR_ACC_ODR_DO_50Hz:
cparata 0:763b80993db4 449 *odr = 50.0f;
cparata 0:763b80993db4 450 break;
cparata 0:763b80993db4 451 case LSM303AGR_ACC_ODR_DO_100Hz:
cparata 0:763b80993db4 452 *odr = 100.0f;
cparata 0:763b80993db4 453 break;
cparata 0:763b80993db4 454 case LSM303AGR_ACC_ODR_DO_200Hz:
cparata 0:763b80993db4 455 *odr = 200.0f;
cparata 0:763b80993db4 456 break;
cparata 0:763b80993db4 457 case LSM303AGR_ACC_ODR_DO_400Hz:
cparata 0:763b80993db4 458 *odr = 400.0f;
cparata 0:763b80993db4 459 break;
cparata 0:763b80993db4 460 default:
cparata 0:763b80993db4 461 *odr = -1.0f;
cparata 0:763b80993db4 462 return 1;
cparata 0:763b80993db4 463 }
cparata 0:763b80993db4 464
cparata 0:763b80993db4 465 return 0;
cparata 0:763b80993db4 466 }
cparata 0:763b80993db4 467
cparata 0:763b80993db4 468 /**
cparata 0:763b80993db4 469 * @brief Set ODR
cparata 0:763b80993db4 470 * @param odr the output data rate to be set
cparata 0:763b80993db4 471 * @retval 0 in case of success, an error code otherwise
cparata 0:763b80993db4 472 */
cparata 0:763b80993db4 473 int LSM303AGR_ACC_Sensor::Set_X_ODR(float odr)
cparata 0:763b80993db4 474 {
cparata 0:763b80993db4 475 if(isEnabled == 1)
cparata 0:763b80993db4 476 {
cparata 0:763b80993db4 477 if(Set_X_ODR_When_Enabled(odr) == 1)
cparata 0:763b80993db4 478 {
cparata 0:763b80993db4 479 return 1;
cparata 0:763b80993db4 480 }
cparata 0:763b80993db4 481 }
cparata 0:763b80993db4 482 else
cparata 0:763b80993db4 483 {
cparata 0:763b80993db4 484 if(Set_X_ODR_When_Disabled(odr) == 1)
cparata 0:763b80993db4 485 {
cparata 0:763b80993db4 486 return 1;
cparata 0:763b80993db4 487 }
cparata 0:763b80993db4 488 }
cparata 0:763b80993db4 489
cparata 0:763b80993db4 490 return 0;
cparata 0:763b80993db4 491 }
cparata 0:763b80993db4 492
cparata 0:763b80993db4 493 /**
cparata 0:763b80993db4 494 * @brief Set ODR when enabled
cparata 0:763b80993db4 495 * @param odr the output data rate to be set
cparata 0:763b80993db4 496 * @retval 0 in case of success, an error code otherwise
cparata 0:763b80993db4 497 */
cparata 0:763b80993db4 498 int LSM303AGR_ACC_Sensor::Set_X_ODR_When_Enabled(float odr)
cparata 0:763b80993db4 499 {
cparata 0:763b80993db4 500 LSM303AGR_ACC_ODR_t new_odr;
cparata 0:763b80993db4 501
cparata 0:763b80993db4 502 new_odr = ( odr <= 1.0f ) ? LSM303AGR_ACC_ODR_DO_1Hz
cparata 0:763b80993db4 503 : ( odr <= 10.0f ) ? LSM303AGR_ACC_ODR_DO_10Hz
cparata 0:763b80993db4 504 : ( odr <= 25.0f ) ? LSM303AGR_ACC_ODR_DO_25Hz
cparata 0:763b80993db4 505 : ( odr <= 50.0f ) ? LSM303AGR_ACC_ODR_DO_50Hz
cparata 0:763b80993db4 506 : ( odr <= 100.0f ) ? LSM303AGR_ACC_ODR_DO_100Hz
cparata 0:763b80993db4 507 : ( odr <= 200.0f ) ? LSM303AGR_ACC_ODR_DO_200Hz
cparata 0:763b80993db4 508 : LSM303AGR_ACC_ODR_DO_400Hz;
cparata 0:763b80993db4 509
cparata 0:763b80993db4 510 if ( LSM303AGR_ACC_W_ODR( (void *)this, new_odr ) == MEMS_ERROR )
cparata 0:763b80993db4 511 {
cparata 0:763b80993db4 512 return 1;
cparata 0:763b80993db4 513 }
cparata 0:763b80993db4 514
cparata 0:763b80993db4 515 return 0;
cparata 0:763b80993db4 516 }
cparata 0:763b80993db4 517
cparata 0:763b80993db4 518 /**
cparata 0:763b80993db4 519 * @brief Set ODR when disabled
cparata 0:763b80993db4 520 * @param odr the output data rate to be set
cparata 0:763b80993db4 521 * @retval 0 in case of success, an error code otherwise
cparata 0:763b80993db4 522 */
cparata 0:763b80993db4 523 int LSM303AGR_ACC_Sensor::Set_X_ODR_When_Disabled(float odr)
cparata 0:763b80993db4 524 {
cparata 0:763b80993db4 525 Last_ODR = ( odr <= 1.0f ) ? 1.0f
cparata 0:763b80993db4 526 : ( odr <= 10.0f ) ? 10.0f
cparata 0:763b80993db4 527 : ( odr <= 25.0f ) ? 25.0f
cparata 0:763b80993db4 528 : ( odr <= 50.0f ) ? 50.0f
cparata 0:763b80993db4 529 : ( odr <= 100.0f ) ? 100.0f
cparata 0:763b80993db4 530 : ( odr <= 200.0f ) ? 200.0f
cparata 0:763b80993db4 531 : 400.0f;
cparata 0:763b80993db4 532
cparata 0:763b80993db4 533 return 0;
cparata 0:763b80993db4 534 }
cparata 0:763b80993db4 535
cparata 0:763b80993db4 536
cparata 0:763b80993db4 537 /**
cparata 0:763b80993db4 538 * @brief Read LSM303AGR Accelerometer full scale
cparata 0:763b80993db4 539 * @param fullScale the pointer to the full scale
cparata 0:763b80993db4 540 * @retval 0 in case of success, an error code otherwise
cparata 0:763b80993db4 541 */
cparata 0:763b80993db4 542 int LSM303AGR_ACC_Sensor::Get_X_FS(float* fullScale)
cparata 0:763b80993db4 543 {
cparata 0:763b80993db4 544 LSM303AGR_ACC_FS_t fs_low_level;
cparata 0:763b80993db4 545
cparata 0:763b80993db4 546 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata 0:763b80993db4 547 {
cparata 0:763b80993db4 548 return 1;
cparata 0:763b80993db4 549 }
cparata 0:763b80993db4 550
cparata 0:763b80993db4 551 switch( fs_low_level )
cparata 0:763b80993db4 552 {
cparata 0:763b80993db4 553 case LSM303AGR_ACC_FS_2G:
cparata 0:763b80993db4 554 *fullScale = 2.0f;
cparata 0:763b80993db4 555 break;
cparata 0:763b80993db4 556 case LSM303AGR_ACC_FS_4G:
cparata 0:763b80993db4 557 *fullScale = 4.0f;
cparata 0:763b80993db4 558 break;
cparata 0:763b80993db4 559 case LSM303AGR_ACC_FS_8G:
cparata 0:763b80993db4 560 *fullScale = 8.0f;
cparata 0:763b80993db4 561 break;
cparata 0:763b80993db4 562 case LSM303AGR_ACC_FS_16G:
cparata 0:763b80993db4 563 *fullScale = 16.0f;
cparata 0:763b80993db4 564 break;
cparata 0:763b80993db4 565 default:
cparata 0:763b80993db4 566 *fullScale = -1.0f;
cparata 0:763b80993db4 567 return 1;
cparata 0:763b80993db4 568 }
cparata 0:763b80993db4 569
cparata 0:763b80993db4 570 return 0;
cparata 0:763b80993db4 571 }
cparata 0:763b80993db4 572
cparata 0:763b80993db4 573 /**
cparata 0:763b80993db4 574 * @brief Set full scale
cparata 0:763b80993db4 575 * @param fullScale the full scale to be set
cparata 0:763b80993db4 576 * @retval 0 in case of success, an error code otherwise
cparata 0:763b80993db4 577 */
cparata 0:763b80993db4 578 int LSM303AGR_ACC_Sensor::Set_X_FS(float fullScale)
cparata 0:763b80993db4 579 {
cparata 0:763b80993db4 580 LSM303AGR_ACC_FS_t new_fs;
cparata 0:763b80993db4 581
cparata 0:763b80993db4 582 new_fs = ( fullScale <= 2.0f ) ? LSM303AGR_ACC_FS_2G
cparata 0:763b80993db4 583 : ( fullScale <= 4.0f ) ? LSM303AGR_ACC_FS_4G
cparata 0:763b80993db4 584 : ( fullScale <= 8.0f ) ? LSM303AGR_ACC_FS_8G
cparata 0:763b80993db4 585 : LSM303AGR_ACC_FS_16G;
cparata 0:763b80993db4 586
cparata 0:763b80993db4 587 if ( LSM303AGR_ACC_W_FullScale( (void *)this, new_fs ) == MEMS_ERROR )
cparata 0:763b80993db4 588 {
cparata 0:763b80993db4 589 return 1;
cparata 0:763b80993db4 590 }
cparata 0:763b80993db4 591
cparata 0:763b80993db4 592 return 0;
cparata 0:763b80993db4 593 }
cparata 0:763b80993db4 594
cparata 0:763b80993db4 595 /**
cparata 0:763b80993db4 596 * @brief Read accelerometer data from register
cparata 0:763b80993db4 597 * @param reg register address
cparata 0:763b80993db4 598 * @param data register data
cparata 0:763b80993db4 599 * @retval 0 in case of success
cparata 0:763b80993db4 600 * @retval 1 in case of failure
cparata 0:763b80993db4 601 */
cparata 0:763b80993db4 602 int LSM303AGR_ACC_Sensor::ReadReg( uint8_t reg, uint8_t *data )
cparata 0:763b80993db4 603 {
cparata 0:763b80993db4 604
cparata 0:763b80993db4 605 if ( LSM303AGR_ACC_ReadReg( (void *)this, reg, data ) == MEMS_ERROR )
cparata 0:763b80993db4 606 {
cparata 0:763b80993db4 607 return 1;
cparata 0:763b80993db4 608 }
cparata 0:763b80993db4 609
cparata 0:763b80993db4 610 return 0;
cparata 0:763b80993db4 611 }
cparata 0:763b80993db4 612
cparata 0:763b80993db4 613 /**
cparata 0:763b80993db4 614 * @brief Write accelerometer data to register
cparata 0:763b80993db4 615 * @param reg register address
cparata 0:763b80993db4 616 * @param data register data
cparata 0:763b80993db4 617 * @retval 0 in case of success
cparata 0:763b80993db4 618 * @retval 1 in case of failure
cparata 0:763b80993db4 619 */
cparata 0:763b80993db4 620 int LSM303AGR_ACC_Sensor::WriteReg( uint8_t reg, uint8_t data )
cparata 0:763b80993db4 621 {
cparata 0:763b80993db4 622
cparata 0:763b80993db4 623 if ( LSM303AGR_ACC_WriteReg( (void *)this, reg, data ) == MEMS_ERROR )
cparata 0:763b80993db4 624 {
cparata 0:763b80993db4 625 return 1;
cparata 0:763b80993db4 626 }
cparata 0:763b80993db4 627
cparata 0:763b80993db4 628 return 0;
cparata 0:763b80993db4 629 }
cparata 0:763b80993db4 630
cparata 0:763b80993db4 631 uint8_t LSM303AGR_ACC_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
cparata 0:763b80993db4 632 {
cparata 0:763b80993db4 633 return ((LSM303AGR_ACC_Sensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata 0:763b80993db4 634 }
cparata 0:763b80993db4 635
cparata 0:763b80993db4 636 uint8_t LSM303AGR_ACC_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
cparata 0:763b80993db4 637 {
cparata 0:763b80993db4 638 return ((LSM303AGR_ACC_Sensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata 0:763b80993db4 639 }