ST / Mbed 2 deprecated SingleDoubleTap_IKS01A2

Example of single tap and double tap detection for LSM6DSL in X-NUCLEO-IKS01A2

Dependencies:   X_NUCLEO_IKS01A2 mbed

Fork of SingleDoubleTap_IKS01A2 by ST Expansion SW Team

Single and Double Tap Demo Application based on sensor expansion board X-NUCLEO-IKS01A2

Main function is to show how to detect the single and double tap 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 try to tap the board and then view the notification using an hyper terminal. When the single tap is detected, the LED is switched on for a while.
- the user can press the user button to pass from the single tap detection to the double tap detection feature. The user can try to double tap the board and then view the notification using an hyper terminal. When the double tap is detected, the LED is switched on twice for a while.
- the user can press again the user button to disable the single and double tap detection feature.
- the user can press the user button to enable again the single tap detection feature and so on.

X_NUCLEO_IKS01A2/Components/LSM303AGRSensor/LSM303AGR_ACC_Sensor.cpp@0:e4f89df7a7a5, 2016-08-12 (annotated)

Committer:
cparata
Date:
Fri Aug 12 13:42:02 2016 +0000
Revision:
0:e4f89df7a7a5
First release of Single/Double Tap for LSM6DSL in IKS01A2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 0:e4f89df7a7a5 1 /**
cparata 0:e4f89df7a7a5 2 ******************************************************************************
cparata 0:e4f89df7a7a5 3 * @file LSM303AGR_ACC_Sensor.cpp
cparata 0:e4f89df7a7a5 4 * @author AST
cparata 0:e4f89df7a7a5 5 * @version V1.0.0
cparata 0:e4f89df7a7a5 6 * @date 5 August 2016
cparata 0:e4f89df7a7a5 7 * @brief Implementation an LSM303AGR accelerometer sensor.
cparata 0:e4f89df7a7a5 8 ******************************************************************************
cparata 0:e4f89df7a7a5 9 * @attention
cparata 0:e4f89df7a7a5 10 *
cparata 0:e4f89df7a7a5 11 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 0:e4f89df7a7a5 12 *
cparata 0:e4f89df7a7a5 13 * Redistribution and use in source and binary forms, with or without modification,
cparata 0:e4f89df7a7a5 14 * are permitted provided that the following conditions are met:
cparata 0:e4f89df7a7a5 15 * 1. Redistributions of source code must retain the above copyright notice,
cparata 0:e4f89df7a7a5 16 * this list of conditions and the following disclaimer.
cparata 0:e4f89df7a7a5 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 0:e4f89df7a7a5 18 * this list of conditions and the following disclaimer in the documentation
cparata 0:e4f89df7a7a5 19 * and/or other materials provided with the distribution.
cparata 0:e4f89df7a7a5 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 0:e4f89df7a7a5 21 * may be used to endorse or promote products derived from this software
cparata 0:e4f89df7a7a5 22 * without specific prior written permission.
cparata 0:e4f89df7a7a5 23 *
cparata 0:e4f89df7a7a5 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 0:e4f89df7a7a5 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 0:e4f89df7a7a5 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 0:e4f89df7a7a5 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 0:e4f89df7a7a5 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 0:e4f89df7a7a5 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 0:e4f89df7a7a5 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 0:e4f89df7a7a5 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 0:e4f89df7a7a5 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 0:e4f89df7a7a5 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 0:e4f89df7a7a5 34 *
cparata 0:e4f89df7a7a5 35 ******************************************************************************
cparata 0:e4f89df7a7a5 36 */
cparata 0:e4f89df7a7a5 37
cparata 0:e4f89df7a7a5 38
cparata 0:e4f89df7a7a5 39 /* Includes ------------------------------------------------------------------*/
cparata 0:e4f89df7a7a5 40
cparata 0:e4f89df7a7a5 41 #include "DevI2C.h"
cparata 0:e4f89df7a7a5 42 #include "LSM303AGR_ACC_Sensor.h"
cparata 0:e4f89df7a7a5 43 #include "LSM303AGR_ACC_driver.h"
cparata 0:e4f89df7a7a5 44
cparata 0:e4f89df7a7a5 45
cparata 0:e4f89df7a7a5 46 /* Class Implementation ------------------------------------------------------*/
cparata 0:e4f89df7a7a5 47
cparata 0:e4f89df7a7a5 48 /** Constructor
cparata 0:e4f89df7a7a5 49 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:e4f89df7a7a5 50 * @param address the address of the component's instance
cparata 0:e4f89df7a7a5 51 */
cparata 0:e4f89df7a7a5 52 LSM303AGR_ACC_Sensor::LSM303AGR_ACC_Sensor(DevI2C &i2c) : dev_i2c(i2c)
cparata 0:e4f89df7a7a5 53 {
cparata 0:e4f89df7a7a5 54 address = LSM303AGR_ACC_I2C_ADDRESS;
cparata 0:e4f89df7a7a5 55
cparata 0:e4f89df7a7a5 56 /* Enable BDU */
cparata 0:e4f89df7a7a5 57 if ( LSM303AGR_ACC_W_BlockDataUpdate( (void *)this, LSM303AGR_ACC_BDU_ENABLED ) == MEMS_ERROR )
cparata 0:e4f89df7a7a5 58 {
cparata 0:e4f89df7a7a5 59 return;
cparata 0:e4f89df7a7a5 60 }
cparata 0:e4f89df7a7a5 61
cparata 0:e4f89df7a7a5 62 /* FIFO mode selection */
cparata 0:e4f89df7a7a5 63 if ( LSM303AGR_ACC_W_FifoMode( (void *)this, LSM303AGR_ACC_FM_BYPASS ) == MEMS_ERROR )
cparata 0:e4f89df7a7a5 64 {
cparata 0:e4f89df7a7a5 65 return;
cparata 0:e4f89df7a7a5 66 }
cparata 0:e4f89df7a7a5 67
cparata 0:e4f89df7a7a5 68 /* Output data rate selection - power down. */
cparata 0:e4f89df7a7a5 69 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
cparata 0:e4f89df7a7a5 70 {
cparata 0:e4f89df7a7a5 71 return;
cparata 0:e4f89df7a7a5 72 }
cparata 0:e4f89df7a7a5 73
cparata 0:e4f89df7a7a5 74 /* Full scale selection. */
cparata 0:e4f89df7a7a5 75 if ( SetFS( 2.0f ) == LSM303AGR_ACC_STATUS_ERROR )
cparata 0:e4f89df7a7a5 76 {
cparata 0:e4f89df7a7a5 77 return;
cparata 0:e4f89df7a7a5 78 }
cparata 0:e4f89df7a7a5 79
cparata 0:e4f89df7a7a5 80 /* Enable axes. */
cparata 0:e4f89df7a7a5 81 if ( LSM303AGR_ACC_W_XEN( (void *)this, LSM303AGR_ACC_XEN_ENABLED ) == MEMS_ERROR )
cparata 0:e4f89df7a7a5 82 {
cparata 0:e4f89df7a7a5 83 return;
cparata 0:e4f89df7a7a5 84 }
cparata 0:e4f89df7a7a5 85
cparata 0:e4f89df7a7a5 86 if ( LSM303AGR_ACC_W_YEN ( (void *)this, LSM303AGR_ACC_YEN_ENABLED ) == MEMS_ERROR )
cparata 0:e4f89df7a7a5 87 {
cparata 0:e4f89df7a7a5 88 return;
cparata 0:e4f89df7a7a5 89 }
cparata 0:e4f89df7a7a5 90
cparata 0:e4f89df7a7a5 91 if ( LSM303AGR_ACC_W_ZEN ( (void *)this, LSM303AGR_ACC_ZEN_ENABLED ) == MEMS_ERROR )
cparata 0:e4f89df7a7a5 92 {
cparata 0:e4f89df7a7a5 93 return;
cparata 0:e4f89df7a7a5 94 }
cparata 0:e4f89df7a7a5 95
cparata 0:e4f89df7a7a5 96 /* Select default output data rate. */
cparata 0:e4f89df7a7a5 97 Last_ODR = 100.0f;
cparata 0:e4f89df7a7a5 98
cparata 0:e4f89df7a7a5 99 isEnabled = 0;
cparata 0:e4f89df7a7a5 100 };
cparata 0:e4f89df7a7a5 101
cparata 0:e4f89df7a7a5 102 /** Constructor
cparata 0:e4f89df7a7a5 103 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:e4f89df7a7a5 104 * @param address the address of the component's instance
cparata 0:e4f89df7a7a5 105 */
cparata 0:e4f89df7a7a5 106 LSM303AGR_ACC_Sensor::LSM303AGR_ACC_Sensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
cparata 0:e4f89df7a7a5 107 {
cparata 0:e4f89df7a7a5 108 /* Enable BDU */
cparata 0:e4f89df7a7a5 109 if ( LSM303AGR_ACC_W_BlockDataUpdate( (void *)this, LSM303AGR_ACC_BDU_ENABLED ) == MEMS_ERROR )
cparata 0:e4f89df7a7a5 110 {
cparata 0:e4f89df7a7a5 111 return;
cparata 0:e4f89df7a7a5 112 }
cparata 0:e4f89df7a7a5 113
cparata 0:e4f89df7a7a5 114 /* FIFO mode selection */
cparata 0:e4f89df7a7a5 115 if ( LSM303AGR_ACC_W_FifoMode( (void *)this, LSM303AGR_ACC_FM_BYPASS ) == MEMS_ERROR )
cparata 0:e4f89df7a7a5 116 {
cparata 0:e4f89df7a7a5 117 return;
cparata 0:e4f89df7a7a5 118 }
cparata 0:e4f89df7a7a5 119
cparata 0:e4f89df7a7a5 120 /* Output data rate selection - power down. */
cparata 0:e4f89df7a7a5 121 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
cparata 0:e4f89df7a7a5 122 {
cparata 0:e4f89df7a7a5 123 return;
cparata 0:e4f89df7a7a5 124 }
cparata 0:e4f89df7a7a5 125
cparata 0:e4f89df7a7a5 126 /* Full scale selection. */
cparata 0:e4f89df7a7a5 127 if ( SetFS( 2.0f ) == LSM303AGR_ACC_STATUS_ERROR )
cparata 0:e4f89df7a7a5 128 {
cparata 0:e4f89df7a7a5 129 return;
cparata 0:e4f89df7a7a5 130 }
cparata 0:e4f89df7a7a5 131
cparata 0:e4f89df7a7a5 132 /* Enable axes. */
cparata 0:e4f89df7a7a5 133 if ( LSM303AGR_ACC_W_XEN( (void *)this, LSM303AGR_ACC_XEN_ENABLED ) == MEMS_ERROR )
cparata 0:e4f89df7a7a5 134 {
cparata 0:e4f89df7a7a5 135 return;
cparata 0:e4f89df7a7a5 136 }
cparata 0:e4f89df7a7a5 137
cparata 0:e4f89df7a7a5 138 if ( LSM303AGR_ACC_W_YEN ( (void *)this, LSM303AGR_ACC_YEN_ENABLED ) == MEMS_ERROR )
cparata 0:e4f89df7a7a5 139 {
cparata 0:e4f89df7a7a5 140 return;
cparata 0:e4f89df7a7a5 141 }
cparata 0:e4f89df7a7a5 142
cparata 0:e4f89df7a7a5 143 if ( LSM303AGR_ACC_W_ZEN ( (void *)this, LSM303AGR_ACC_ZEN_ENABLED ) == MEMS_ERROR )
cparata 0:e4f89df7a7a5 144 {
cparata 0:e4f89df7a7a5 145 return;
cparata 0:e4f89df7a7a5 146 }
cparata 0:e4f89df7a7a5 147
cparata 0:e4f89df7a7a5 148 /* Select default output data rate. */
cparata 0:e4f89df7a7a5 149 Last_ODR = 100.0f;
cparata 0:e4f89df7a7a5 150
cparata 0:e4f89df7a7a5 151 isEnabled = 0;
cparata 0:e4f89df7a7a5 152 };
cparata 0:e4f89df7a7a5 153
cparata 0:e4f89df7a7a5 154 /**
cparata 0:e4f89df7a7a5 155 * @brief Enable LSM303AGR Accelerator
cparata 0:e4f89df7a7a5 156 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:e4f89df7a7a5 157 */
cparata 0:e4f89df7a7a5 158 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::Enable(void)
cparata 0:e4f89df7a7a5 159 {
cparata 0:e4f89df7a7a5 160 /* Check if the component is already enabled */
cparata 0:e4f89df7a7a5 161 if ( isEnabled == 1 )
cparata 0:e4f89df7a7a5 162 {
cparata 0:e4f89df7a7a5 163 return LSM303AGR_ACC_STATUS_OK;
cparata 0:e4f89df7a7a5 164 }
cparata 0:e4f89df7a7a5 165
cparata 0:e4f89df7a7a5 166 /* Output data rate selection. */
cparata 0:e4f89df7a7a5 167 if ( SetODR_When_Enabled( Last_ODR ) == LSM303AGR_ACC_STATUS_ERROR )
cparata 0:e4f89df7a7a5 168 {
cparata 0:e4f89df7a7a5 169 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 170 }
cparata 0:e4f89df7a7a5 171
cparata 0:e4f89df7a7a5 172 isEnabled = 1;
cparata 0:e4f89df7a7a5 173
cparata 0:e4f89df7a7a5 174 return LSM303AGR_ACC_STATUS_OK;
cparata 0:e4f89df7a7a5 175 }
cparata 0:e4f89df7a7a5 176
cparata 0:e4f89df7a7a5 177 /**
cparata 0:e4f89df7a7a5 178 * @brief Disable LSM303AGR Accelerator
cparata 0:e4f89df7a7a5 179 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:e4f89df7a7a5 180 */
cparata 0:e4f89df7a7a5 181 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::Disable(void)
cparata 0:e4f89df7a7a5 182 {
cparata 0:e4f89df7a7a5 183 /* Check if the component is already disabled */
cparata 0:e4f89df7a7a5 184 if ( isEnabled == 0 )
cparata 0:e4f89df7a7a5 185 {
cparata 0:e4f89df7a7a5 186 return LSM303AGR_ACC_STATUS_OK;
cparata 0:e4f89df7a7a5 187 }
cparata 0:e4f89df7a7a5 188
cparata 0:e4f89df7a7a5 189 /* Store actual output data rate. */
cparata 0:e4f89df7a7a5 190 if ( GetODR( &Last_ODR ) == LSM303AGR_ACC_STATUS_ERROR )
cparata 0:e4f89df7a7a5 191 {
cparata 0:e4f89df7a7a5 192 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 193 }
cparata 0:e4f89df7a7a5 194
cparata 0:e4f89df7a7a5 195 /* Output data rate selection - power down. */
cparata 0:e4f89df7a7a5 196 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
cparata 0:e4f89df7a7a5 197 {
cparata 0:e4f89df7a7a5 198 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 199 }
cparata 0:e4f89df7a7a5 200
cparata 0:e4f89df7a7a5 201 isEnabled = 0;
cparata 0:e4f89df7a7a5 202
cparata 0:e4f89df7a7a5 203 return LSM303AGR_ACC_STATUS_OK;
cparata 0:e4f89df7a7a5 204 }
cparata 0:e4f89df7a7a5 205
cparata 0:e4f89df7a7a5 206 /**
cparata 0:e4f89df7a7a5 207 * @brief Read ID of LSM303AGR Accelerometer
cparata 0:e4f89df7a7a5 208 * @param p_id the pointer where the ID of the device is stored
cparata 0:e4f89df7a7a5 209 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:e4f89df7a7a5 210 */
cparata 0:e4f89df7a7a5 211 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::ReadID(uint8_t *p_id)
cparata 0:e4f89df7a7a5 212 {
cparata 0:e4f89df7a7a5 213 if(!p_id)
cparata 0:e4f89df7a7a5 214 {
cparata 0:e4f89df7a7a5 215 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 216 }
cparata 0:e4f89df7a7a5 217
cparata 0:e4f89df7a7a5 218 /* Read WHO AM I register */
cparata 0:e4f89df7a7a5 219 if ( LSM303AGR_ACC_R_WHO_AM_I( (void *)this, p_id ) == MEMS_ERROR )
cparata 0:e4f89df7a7a5 220 {
cparata 0:e4f89df7a7a5 221 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 222 }
cparata 0:e4f89df7a7a5 223
cparata 0:e4f89df7a7a5 224 return LSM303AGR_ACC_STATUS_OK;
cparata 0:e4f89df7a7a5 225 }
cparata 0:e4f89df7a7a5 226
cparata 0:e4f89df7a7a5 227 /**
cparata 0:e4f89df7a7a5 228 * @brief Read data from LSM303AGR Accelerometer
cparata 0:e4f89df7a7a5 229 * @param pData the pointer where the accelerometer data are stored
cparata 0:e4f89df7a7a5 230 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:e4f89df7a7a5 231 */
cparata 0:e4f89df7a7a5 232 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetAxes(int32_t *pData)
cparata 0:e4f89df7a7a5 233 {
cparata 0:e4f89df7a7a5 234 int data[3];
cparata 0:e4f89df7a7a5 235
cparata 0:e4f89df7a7a5 236 /* Read data from LSM303AGR. */
cparata 0:e4f89df7a7a5 237 if ( !LSM303AGR_ACC_Get_Acceleration((void *)this, data) )
cparata 0:e4f89df7a7a5 238 {
cparata 0:e4f89df7a7a5 239 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 240 }
cparata 0:e4f89df7a7a5 241
cparata 0:e4f89df7a7a5 242 /* Calculate the data. */
cparata 0:e4f89df7a7a5 243 pData[0] = (int32_t)data[0];
cparata 0:e4f89df7a7a5 244 pData[1] = (int32_t)data[1];
cparata 0:e4f89df7a7a5 245 pData[2] = (int32_t)data[2];
cparata 0:e4f89df7a7a5 246
cparata 0:e4f89df7a7a5 247 return LSM303AGR_ACC_STATUS_OK;
cparata 0:e4f89df7a7a5 248 }
cparata 0:e4f89df7a7a5 249
cparata 0:e4f89df7a7a5 250 /**
cparata 0:e4f89df7a7a5 251 * @brief Read Accelerometer Sensitivity
cparata 0:e4f89df7a7a5 252 * @param pfData the pointer where the accelerometer sensitivity is stored
cparata 0:e4f89df7a7a5 253 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:e4f89df7a7a5 254 */
cparata 0:e4f89df7a7a5 255 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetSensitivity(float *pfData)
cparata 0:e4f89df7a7a5 256 {
cparata 0:e4f89df7a7a5 257 LSM303AGR_ACC_LPEN_t lp_value;
cparata 0:e4f89df7a7a5 258 LSM303AGR_ACC_HR_t hr_value;
cparata 0:e4f89df7a7a5 259
cparata 0:e4f89df7a7a5 260 /* Read low power flag */
cparata 0:e4f89df7a7a5 261 if( LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp_value ) == MEMS_ERROR )
cparata 0:e4f89df7a7a5 262 {
cparata 0:e4f89df7a7a5 263 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 264 }
cparata 0:e4f89df7a7a5 265
cparata 0:e4f89df7a7a5 266 /* Read high performance flag */
cparata 0:e4f89df7a7a5 267 if( LSM303AGR_ACC_R_HiRes( (void *)this, &hr_value ) == MEMS_ERROR )
cparata 0:e4f89df7a7a5 268 {
cparata 0:e4f89df7a7a5 269 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 270 }
cparata 0:e4f89df7a7a5 271
cparata 0:e4f89df7a7a5 272 if( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
cparata 0:e4f89df7a7a5 273 {
cparata 0:e4f89df7a7a5 274 /* Normal Mode */
cparata 0:e4f89df7a7a5 275 return GetSensitivity_Normal_Mode( pfData );
cparata 0:e4f89df7a7a5 276 } else if ( lp_value == LSM303AGR_ACC_LPEN_ENABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
cparata 0:e4f89df7a7a5 277 {
cparata 0:e4f89df7a7a5 278 /* Low Power Mode */
cparata 0:e4f89df7a7a5 279 return GetSensitivity_LP_Mode( pfData );
cparata 0:e4f89df7a7a5 280 } else if ( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_ENABLED )
cparata 0:e4f89df7a7a5 281 {
cparata 0:e4f89df7a7a5 282 /* High Resolution Mode */
cparata 0:e4f89df7a7a5 283 return GetSensitivity_HR_Mode( pfData );
cparata 0:e4f89df7a7a5 284 } else
cparata 0:e4f89df7a7a5 285 {
cparata 0:e4f89df7a7a5 286 /* Not allowed */
cparata 0:e4f89df7a7a5 287 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 288 }
cparata 0:e4f89df7a7a5 289 }
cparata 0:e4f89df7a7a5 290
cparata 0:e4f89df7a7a5 291 /**
cparata 0:e4f89df7a7a5 292 * @brief Read Accelerometer Sensitivity in Normal Mode
cparata 0:e4f89df7a7a5 293 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 0:e4f89df7a7a5 294 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:e4f89df7a7a5 295 */
cparata 0:e4f89df7a7a5 296 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetSensitivity_Normal_Mode( float *sensitivity )
cparata 0:e4f89df7a7a5 297 {
cparata 0:e4f89df7a7a5 298 LSM303AGR_ACC_FS_t fullScale;
cparata 0:e4f89df7a7a5 299
cparata 0:e4f89df7a7a5 300 /* Read actual full scale selection from sensor. */
cparata 0:e4f89df7a7a5 301 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:e4f89df7a7a5 302 {
cparata 0:e4f89df7a7a5 303 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 304 }
cparata 0:e4f89df7a7a5 305
cparata 0:e4f89df7a7a5 306 /* Store the sensitivity based on actual full scale. */
cparata 0:e4f89df7a7a5 307 switch( fullScale )
cparata 0:e4f89df7a7a5 308 {
cparata 0:e4f89df7a7a5 309 case LSM303AGR_ACC_FS_2G:
cparata 0:e4f89df7a7a5 310 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_NORMAL_MODE;
cparata 0:e4f89df7a7a5 311 break;
cparata 0:e4f89df7a7a5 312 case LSM303AGR_ACC_FS_4G:
cparata 0:e4f89df7a7a5 313 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_NORMAL_MODE;
cparata 0:e4f89df7a7a5 314 break;
cparata 0:e4f89df7a7a5 315 case LSM303AGR_ACC_FS_8G:
cparata 0:e4f89df7a7a5 316 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_NORMAL_MODE;
cparata 0:e4f89df7a7a5 317 break;
cparata 0:e4f89df7a7a5 318 case LSM303AGR_ACC_FS_16G:
cparata 0:e4f89df7a7a5 319 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_NORMAL_MODE;
cparata 0:e4f89df7a7a5 320 break;
cparata 0:e4f89df7a7a5 321 default:
cparata 0:e4f89df7a7a5 322 *sensitivity = -1.0f;
cparata 0:e4f89df7a7a5 323 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 324 }
cparata 0:e4f89df7a7a5 325
cparata 0:e4f89df7a7a5 326 return LSM303AGR_ACC_STATUS_OK;
cparata 0:e4f89df7a7a5 327 }
cparata 0:e4f89df7a7a5 328
cparata 0:e4f89df7a7a5 329 /**
cparata 0:e4f89df7a7a5 330 * @brief Read Accelerometer Sensitivity in LP Mode
cparata 0:e4f89df7a7a5 331 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 0:e4f89df7a7a5 332 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:e4f89df7a7a5 333 */
cparata 0:e4f89df7a7a5 334 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetSensitivity_LP_Mode( float *sensitivity )
cparata 0:e4f89df7a7a5 335 {
cparata 0:e4f89df7a7a5 336 LSM303AGR_ACC_FS_t fullScale;
cparata 0:e4f89df7a7a5 337
cparata 0:e4f89df7a7a5 338 /* Read actual full scale selection from sensor. */
cparata 0:e4f89df7a7a5 339 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:e4f89df7a7a5 340 {
cparata 0:e4f89df7a7a5 341 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 342 }
cparata 0:e4f89df7a7a5 343
cparata 0:e4f89df7a7a5 344 /* Store the sensitivity based on actual full scale. */
cparata 0:e4f89df7a7a5 345 switch( fullScale )
cparata 0:e4f89df7a7a5 346 {
cparata 0:e4f89df7a7a5 347 case LSM303AGR_ACC_FS_2G:
cparata 0:e4f89df7a7a5 348 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_LOW_POWER_MODE;
cparata 0:e4f89df7a7a5 349 break;
cparata 0:e4f89df7a7a5 350 case LSM303AGR_ACC_FS_4G:
cparata 0:e4f89df7a7a5 351 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_LOW_POWER_MODE;
cparata 0:e4f89df7a7a5 352 break;
cparata 0:e4f89df7a7a5 353 case LSM303AGR_ACC_FS_8G:
cparata 0:e4f89df7a7a5 354 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_LOW_POWER_MODE;
cparata 0:e4f89df7a7a5 355 break;
cparata 0:e4f89df7a7a5 356 case LSM303AGR_ACC_FS_16G:
cparata 0:e4f89df7a7a5 357 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_LOW_POWER_MODE;
cparata 0:e4f89df7a7a5 358 break;
cparata 0:e4f89df7a7a5 359 default:
cparata 0:e4f89df7a7a5 360 *sensitivity = -1.0f;
cparata 0:e4f89df7a7a5 361 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 362 }
cparata 0:e4f89df7a7a5 363
cparata 0:e4f89df7a7a5 364 return LSM303AGR_ACC_STATUS_OK;
cparata 0:e4f89df7a7a5 365 }
cparata 0:e4f89df7a7a5 366
cparata 0:e4f89df7a7a5 367 /**
cparata 0:e4f89df7a7a5 368 * @brief Read Accelerometer Sensitivity in HR Mode
cparata 0:e4f89df7a7a5 369 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 0:e4f89df7a7a5 370 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:e4f89df7a7a5 371 */
cparata 0:e4f89df7a7a5 372 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetSensitivity_HR_Mode( float *sensitivity )
cparata 0:e4f89df7a7a5 373 {
cparata 0:e4f89df7a7a5 374 LSM303AGR_ACC_FS_t fullScale;
cparata 0:e4f89df7a7a5 375
cparata 0:e4f89df7a7a5 376 /* Read actual full scale selection from sensor. */
cparata 0:e4f89df7a7a5 377 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:e4f89df7a7a5 378 {
cparata 0:e4f89df7a7a5 379 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 380 }
cparata 0:e4f89df7a7a5 381
cparata 0:e4f89df7a7a5 382 /* Store the sensitivity based on actual full scale. */
cparata 0:e4f89df7a7a5 383 switch( fullScale )
cparata 0:e4f89df7a7a5 384 {
cparata 0:e4f89df7a7a5 385 case LSM303AGR_ACC_FS_2G:
cparata 0:e4f89df7a7a5 386 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_HIGH_RESOLUTION_MODE;
cparata 0:e4f89df7a7a5 387 break;
cparata 0:e4f89df7a7a5 388 case LSM303AGR_ACC_FS_4G:
cparata 0:e4f89df7a7a5 389 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_HIGH_RESOLUTION_MODE;
cparata 0:e4f89df7a7a5 390 break;
cparata 0:e4f89df7a7a5 391 case LSM303AGR_ACC_FS_8G:
cparata 0:e4f89df7a7a5 392 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_HIGH_RESOLUTION_MODE;
cparata 0:e4f89df7a7a5 393 break;
cparata 0:e4f89df7a7a5 394 case LSM303AGR_ACC_FS_16G:
cparata 0:e4f89df7a7a5 395 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_HIGH_RESOLUTION_MODE;
cparata 0:e4f89df7a7a5 396 break;
cparata 0:e4f89df7a7a5 397 default:
cparata 0:e4f89df7a7a5 398 *sensitivity = -1.0f;
cparata 0:e4f89df7a7a5 399 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 400 }
cparata 0:e4f89df7a7a5 401
cparata 0:e4f89df7a7a5 402 return LSM303AGR_ACC_STATUS_OK;
cparata 0:e4f89df7a7a5 403 }
cparata 0:e4f89df7a7a5 404
cparata 0:e4f89df7a7a5 405 /**
cparata 0:e4f89df7a7a5 406 * @brief Read raw data from LSM303AGR Accelerometer
cparata 0:e4f89df7a7a5 407 * @param pData the pointer where the accelerometer raw data are stored
cparata 0:e4f89df7a7a5 408 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:e4f89df7a7a5 409 */
cparata 0:e4f89df7a7a5 410 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetAxesRaw(int16_t *pData)
cparata 0:e4f89df7a7a5 411 {
cparata 0:e4f89df7a7a5 412 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 0:e4f89df7a7a5 413 u8_t shift = 0;
cparata 0:e4f89df7a7a5 414 LSM303AGR_ACC_LPEN_t lp;
cparata 0:e4f89df7a7a5 415 LSM303AGR_ACC_HR_t hr;
cparata 0:e4f89df7a7a5 416
cparata 0:e4f89df7a7a5 417 /* Determine which operational mode the acc is set */
cparata 0:e4f89df7a7a5 418 if(!LSM303AGR_ACC_R_HiRes( (void *)this, &hr )) {
cparata 0:e4f89df7a7a5 419 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 420 }
cparata 0:e4f89df7a7a5 421
cparata 0:e4f89df7a7a5 422 if(!LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp )) {
cparata 0:e4f89df7a7a5 423 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 424 }
cparata 0:e4f89df7a7a5 425
cparata 0:e4f89df7a7a5 426 if (lp == LSM303AGR_ACC_LPEN_ENABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
cparata 0:e4f89df7a7a5 427 /* op mode is LP 8-bit */
cparata 0:e4f89df7a7a5 428 shift = 8;
cparata 0:e4f89df7a7a5 429 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
cparata 0:e4f89df7a7a5 430 /* op mode is Normal 10-bit */
cparata 0:e4f89df7a7a5 431 shift = 6;
cparata 0:e4f89df7a7a5 432 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_ENABLED) {
cparata 0:e4f89df7a7a5 433 /* op mode is HR 12-bit */
cparata 0:e4f89df7a7a5 434 shift = 4;
cparata 0:e4f89df7a7a5 435 } else {
cparata 0:e4f89df7a7a5 436 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 437 }
cparata 0:e4f89df7a7a5 438
cparata 0:e4f89df7a7a5 439 /* Read output registers from LSM303AGR_ACC_GYRO_OUTX_L_XL to LSM303AGR_ACC_GYRO_OUTZ_H_XL. */
cparata 0:e4f89df7a7a5 440 if (!LSM303AGR_ACC_Get_Raw_Acceleration( (void *)this, ( uint8_t* )regValue ))
cparata 0:e4f89df7a7a5 441 {
cparata 0:e4f89df7a7a5 442 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 443 }
cparata 0:e4f89df7a7a5 444
cparata 0:e4f89df7a7a5 445 /* Format the data. */
cparata 0:e4f89df7a7a5 446 pData[0] = ( ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] ) >> shift );
cparata 0:e4f89df7a7a5 447 pData[1] = ( ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] ) >> shift );
cparata 0:e4f89df7a7a5 448 pData[2] = ( ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] ) >> shift );
cparata 0:e4f89df7a7a5 449
cparata 0:e4f89df7a7a5 450 return LSM303AGR_ACC_STATUS_OK;
cparata 0:e4f89df7a7a5 451 }
cparata 0:e4f89df7a7a5 452
cparata 0:e4f89df7a7a5 453 /**
cparata 0:e4f89df7a7a5 454 * @brief Read LSM303AGR Accelerometer output data rate
cparata 0:e4f89df7a7a5 455 * @param odr the pointer to the output data rate
cparata 0:e4f89df7a7a5 456 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:e4f89df7a7a5 457 */
cparata 0:e4f89df7a7a5 458 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetODR(float* odr)
cparata 0:e4f89df7a7a5 459 {
cparata 0:e4f89df7a7a5 460 LSM303AGR_ACC_ODR_t odr_low_level;
cparata 0:e4f89df7a7a5 461
cparata 0:e4f89df7a7a5 462 if ( LSM303AGR_ACC_R_ODR( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 0:e4f89df7a7a5 463 {
cparata 0:e4f89df7a7a5 464 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 465 }
cparata 0:e4f89df7a7a5 466
cparata 0:e4f89df7a7a5 467 switch( odr_low_level )
cparata 0:e4f89df7a7a5 468 {
cparata 0:e4f89df7a7a5 469 case LSM303AGR_ACC_ODR_DO_PWR_DOWN:
cparata 0:e4f89df7a7a5 470 *odr = 0.0f;
cparata 0:e4f89df7a7a5 471 break;
cparata 0:e4f89df7a7a5 472 case LSM303AGR_ACC_ODR_DO_1Hz:
cparata 0:e4f89df7a7a5 473 *odr = 1.0f;
cparata 0:e4f89df7a7a5 474 break;
cparata 0:e4f89df7a7a5 475 case LSM303AGR_ACC_ODR_DO_10Hz:
cparata 0:e4f89df7a7a5 476 *odr = 10.0f;
cparata 0:e4f89df7a7a5 477 break;
cparata 0:e4f89df7a7a5 478 case LSM303AGR_ACC_ODR_DO_25Hz:
cparata 0:e4f89df7a7a5 479 *odr = 25.0f;
cparata 0:e4f89df7a7a5 480 break;
cparata 0:e4f89df7a7a5 481 case LSM303AGR_ACC_ODR_DO_50Hz:
cparata 0:e4f89df7a7a5 482 *odr = 50.0f;
cparata 0:e4f89df7a7a5 483 break;
cparata 0:e4f89df7a7a5 484 case LSM303AGR_ACC_ODR_DO_100Hz:
cparata 0:e4f89df7a7a5 485 *odr = 100.0f;
cparata 0:e4f89df7a7a5 486 break;
cparata 0:e4f89df7a7a5 487 case LSM303AGR_ACC_ODR_DO_200Hz:
cparata 0:e4f89df7a7a5 488 *odr = 200.0f;
cparata 0:e4f89df7a7a5 489 break;
cparata 0:e4f89df7a7a5 490 case LSM303AGR_ACC_ODR_DO_400Hz:
cparata 0:e4f89df7a7a5 491 *odr = 400.0f;
cparata 0:e4f89df7a7a5 492 break;
cparata 0:e4f89df7a7a5 493 default:
cparata 0:e4f89df7a7a5 494 *odr = -1.0f;
cparata 0:e4f89df7a7a5 495 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 496 }
cparata 0:e4f89df7a7a5 497
cparata 0:e4f89df7a7a5 498 return LSM303AGR_ACC_STATUS_OK;
cparata 0:e4f89df7a7a5 499 }
cparata 0:e4f89df7a7a5 500
cparata 0:e4f89df7a7a5 501 /**
cparata 0:e4f89df7a7a5 502 * @brief Set ODR
cparata 0:e4f89df7a7a5 503 * @param odr the output data rate to be set
cparata 0:e4f89df7a7a5 504 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:e4f89df7a7a5 505 */
cparata 0:e4f89df7a7a5 506 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::SetODR(float odr)
cparata 0:e4f89df7a7a5 507 {
cparata 0:e4f89df7a7a5 508 if(isEnabled == 1)
cparata 0:e4f89df7a7a5 509 {
cparata 0:e4f89df7a7a5 510 if(SetODR_When_Enabled(odr) == LSM303AGR_ACC_STATUS_ERROR)
cparata 0:e4f89df7a7a5 511 {
cparata 0:e4f89df7a7a5 512 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 513 }
cparata 0:e4f89df7a7a5 514 }
cparata 0:e4f89df7a7a5 515 else
cparata 0:e4f89df7a7a5 516 {
cparata 0:e4f89df7a7a5 517 if(SetODR_When_Disabled(odr) == LSM303AGR_ACC_STATUS_ERROR)
cparata 0:e4f89df7a7a5 518 {
cparata 0:e4f89df7a7a5 519 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 520 }
cparata 0:e4f89df7a7a5 521 }
cparata 0:e4f89df7a7a5 522
cparata 0:e4f89df7a7a5 523 return LSM303AGR_ACC_STATUS_OK;
cparata 0:e4f89df7a7a5 524 }
cparata 0:e4f89df7a7a5 525
cparata 0:e4f89df7a7a5 526 /**
cparata 0:e4f89df7a7a5 527 * @brief Set ODR when enabled
cparata 0:e4f89df7a7a5 528 * @param odr the output data rate to be set
cparata 0:e4f89df7a7a5 529 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:e4f89df7a7a5 530 */
cparata 0:e4f89df7a7a5 531 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::SetODR_When_Enabled(float odr)
cparata 0:e4f89df7a7a5 532 {
cparata 0:e4f89df7a7a5 533 LSM303AGR_ACC_ODR_t new_odr;
cparata 0:e4f89df7a7a5 534
cparata 0:e4f89df7a7a5 535 new_odr = ( odr <= 1.0f ) ? LSM303AGR_ACC_ODR_DO_1Hz
cparata 0:e4f89df7a7a5 536 : ( odr <= 10.0f ) ? LSM303AGR_ACC_ODR_DO_10Hz
cparata 0:e4f89df7a7a5 537 : ( odr <= 25.0f ) ? LSM303AGR_ACC_ODR_DO_25Hz
cparata 0:e4f89df7a7a5 538 : ( odr <= 50.0f ) ? LSM303AGR_ACC_ODR_DO_50Hz
cparata 0:e4f89df7a7a5 539 : ( odr <= 100.0f ) ? LSM303AGR_ACC_ODR_DO_100Hz
cparata 0:e4f89df7a7a5 540 : ( odr <= 200.0f ) ? LSM303AGR_ACC_ODR_DO_200Hz
cparata 0:e4f89df7a7a5 541 : LSM303AGR_ACC_ODR_DO_400Hz;
cparata 0:e4f89df7a7a5 542
cparata 0:e4f89df7a7a5 543 if ( LSM303AGR_ACC_W_ODR( (void *)this, new_odr ) == MEMS_ERROR )
cparata 0:e4f89df7a7a5 544 {
cparata 0:e4f89df7a7a5 545 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 546 }
cparata 0:e4f89df7a7a5 547
cparata 0:e4f89df7a7a5 548 return LSM303AGR_ACC_STATUS_OK;
cparata 0:e4f89df7a7a5 549 }
cparata 0:e4f89df7a7a5 550
cparata 0:e4f89df7a7a5 551 /**
cparata 0:e4f89df7a7a5 552 * @brief Set ODR when disabled
cparata 0:e4f89df7a7a5 553 * @param odr the output data rate to be set
cparata 0:e4f89df7a7a5 554 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:e4f89df7a7a5 555 */
cparata 0:e4f89df7a7a5 556 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::SetODR_When_Disabled(float odr)
cparata 0:e4f89df7a7a5 557 {
cparata 0:e4f89df7a7a5 558 Last_ODR = ( odr <= 1.0f ) ? 1.0f
cparata 0:e4f89df7a7a5 559 : ( odr <= 10.0f ) ? 10.0f
cparata 0:e4f89df7a7a5 560 : ( odr <= 25.0f ) ? 25.0f
cparata 0:e4f89df7a7a5 561 : ( odr <= 50.0f ) ? 50.0f
cparata 0:e4f89df7a7a5 562 : ( odr <= 100.0f ) ? 100.0f
cparata 0:e4f89df7a7a5 563 : ( odr <= 200.0f ) ? 200.0f
cparata 0:e4f89df7a7a5 564 : 400.0f;
cparata 0:e4f89df7a7a5 565
cparata 0:e4f89df7a7a5 566 return LSM303AGR_ACC_STATUS_OK;
cparata 0:e4f89df7a7a5 567 }
cparata 0:e4f89df7a7a5 568
cparata 0:e4f89df7a7a5 569
cparata 0:e4f89df7a7a5 570 /**
cparata 0:e4f89df7a7a5 571 * @brief Read LSM303AGR Accelerometer full scale
cparata 0:e4f89df7a7a5 572 * @param fullScale the pointer to the full scale
cparata 0:e4f89df7a7a5 573 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:e4f89df7a7a5 574 */
cparata 0:e4f89df7a7a5 575 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetFS(float* fullScale)
cparata 0:e4f89df7a7a5 576 {
cparata 0:e4f89df7a7a5 577 LSM303AGR_ACC_FS_t fs_low_level;
cparata 0:e4f89df7a7a5 578
cparata 0:e4f89df7a7a5 579 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata 0:e4f89df7a7a5 580 {
cparata 0:e4f89df7a7a5 581 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 582 }
cparata 0:e4f89df7a7a5 583
cparata 0:e4f89df7a7a5 584 switch( fs_low_level )
cparata 0:e4f89df7a7a5 585 {
cparata 0:e4f89df7a7a5 586 case LSM303AGR_ACC_FS_2G:
cparata 0:e4f89df7a7a5 587 *fullScale = 2.0f;
cparata 0:e4f89df7a7a5 588 break;
cparata 0:e4f89df7a7a5 589 case LSM303AGR_ACC_FS_4G:
cparata 0:e4f89df7a7a5 590 *fullScale = 4.0f;
cparata 0:e4f89df7a7a5 591 break;
cparata 0:e4f89df7a7a5 592 case LSM303AGR_ACC_FS_8G:
cparata 0:e4f89df7a7a5 593 *fullScale = 8.0f;
cparata 0:e4f89df7a7a5 594 break;
cparata 0:e4f89df7a7a5 595 case LSM303AGR_ACC_FS_16G:
cparata 0:e4f89df7a7a5 596 *fullScale = 16.0f;
cparata 0:e4f89df7a7a5 597 break;
cparata 0:e4f89df7a7a5 598 default:
cparata 0:e4f89df7a7a5 599 *fullScale = -1.0f;
cparata 0:e4f89df7a7a5 600 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 601 }
cparata 0:e4f89df7a7a5 602
cparata 0:e4f89df7a7a5 603 return LSM303AGR_ACC_STATUS_OK;
cparata 0:e4f89df7a7a5 604 }
cparata 0:e4f89df7a7a5 605
cparata 0:e4f89df7a7a5 606 /**
cparata 0:e4f89df7a7a5 607 * @brief Set full scale
cparata 0:e4f89df7a7a5 608 * @param fullScale the full scale to be set
cparata 0:e4f89df7a7a5 609 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:e4f89df7a7a5 610 */
cparata 0:e4f89df7a7a5 611 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::SetFS(float fullScale)
cparata 0:e4f89df7a7a5 612 {
cparata 0:e4f89df7a7a5 613 LSM303AGR_ACC_FS_t new_fs;
cparata 0:e4f89df7a7a5 614
cparata 0:e4f89df7a7a5 615 new_fs = ( fullScale <= 2.0f ) ? LSM303AGR_ACC_FS_2G
cparata 0:e4f89df7a7a5 616 : ( fullScale <= 4.0f ) ? LSM303AGR_ACC_FS_4G
cparata 0:e4f89df7a7a5 617 : ( fullScale <= 8.0f ) ? LSM303AGR_ACC_FS_8G
cparata 0:e4f89df7a7a5 618 : LSM303AGR_ACC_FS_16G;
cparata 0:e4f89df7a7a5 619
cparata 0:e4f89df7a7a5 620 if ( LSM303AGR_ACC_W_FullScale( (void *)this, new_fs ) == MEMS_ERROR )
cparata 0:e4f89df7a7a5 621 {
cparata 0:e4f89df7a7a5 622 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 623 }
cparata 0:e4f89df7a7a5 624
cparata 0:e4f89df7a7a5 625 return LSM303AGR_ACC_STATUS_OK;
cparata 0:e4f89df7a7a5 626 }
cparata 0:e4f89df7a7a5 627
cparata 0:e4f89df7a7a5 628 /**
cparata 0:e4f89df7a7a5 629 * @brief Read accelerometer data from register
cparata 0:e4f89df7a7a5 630 * @param reg register address
cparata 0:e4f89df7a7a5 631 * @param data register data
cparata 0:e4f89df7a7a5 632 * @retval LSM303AGR_ACC_STATUS_OK in case of success
cparata 0:e4f89df7a7a5 633 * @retval LSM303AGR_ACC_STATUS_ERROR in case of failure
cparata 0:e4f89df7a7a5 634 */
cparata 0:e4f89df7a7a5 635 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::ReadReg( uint8_t reg, uint8_t *data )
cparata 0:e4f89df7a7a5 636 {
cparata 0:e4f89df7a7a5 637
cparata 0:e4f89df7a7a5 638 if ( LSM303AGR_ACC_ReadReg( (void *)this, reg, data ) == MEMS_ERROR )
cparata 0:e4f89df7a7a5 639 {
cparata 0:e4f89df7a7a5 640 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 641 }
cparata 0:e4f89df7a7a5 642
cparata 0:e4f89df7a7a5 643 return LSM303AGR_ACC_STATUS_OK;
cparata 0:e4f89df7a7a5 644 }
cparata 0:e4f89df7a7a5 645
cparata 0:e4f89df7a7a5 646 /**
cparata 0:e4f89df7a7a5 647 * @brief Write accelerometer data to register
cparata 0:e4f89df7a7a5 648 * @param reg register address
cparata 0:e4f89df7a7a5 649 * @param data register data
cparata 0:e4f89df7a7a5 650 * @retval LSM303AGR_ACC_STATUS_OK in case of success
cparata 0:e4f89df7a7a5 651 * @retval LSM303AGR_ACC_STATUS_ERROR in case of failure
cparata 0:e4f89df7a7a5 652 */
cparata 0:e4f89df7a7a5 653 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::WriteReg( uint8_t reg, uint8_t data )
cparata 0:e4f89df7a7a5 654 {
cparata 0:e4f89df7a7a5 655
cparata 0:e4f89df7a7a5 656 if ( LSM303AGR_ACC_WriteReg( (void *)this, reg, data ) == MEMS_ERROR )
cparata 0:e4f89df7a7a5 657 {
cparata 0:e4f89df7a7a5 658 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:e4f89df7a7a5 659 }
cparata 0:e4f89df7a7a5 660
cparata 0:e4f89df7a7a5 661 return LSM303AGR_ACC_STATUS_OK;
cparata 0:e4f89df7a7a5 662 }
cparata 0:e4f89df7a7a5 663
cparata 0:e4f89df7a7a5 664 uint8_t LSM303AGR_ACC_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
cparata 0:e4f89df7a7a5 665 {
cparata 0:e4f89df7a7a5 666 return ((LSM303AGR_ACC_Sensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata 0:e4f89df7a7a5 667 }
cparata 0:e4f89df7a7a5 668
cparata 0:e4f89df7a7a5 669 uint8_t LSM303AGR_ACC_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
cparata 0:e4f89df7a7a5 670 {
cparata 0:e4f89df7a7a5 671 return ((LSM303AGR_ACC_Sensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata 0:e4f89df7a7a5 672 }