Diff: X_NUCLEO_IKS01A2/Components/LSM303AGRSensor/LSM303AGR_ACC_Sensor.cpp

Revision:

1:e4ecb8d551fd

Parent:

0:e4f89df7a7a5

Child:

2:21a191bd1998

--- a/X_NUCLEO_IKS01A2/Components/LSM303AGRSensor/LSM303AGR_ACC_Sensor.cpp	Fri Aug 12 13:42:02 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,672 +0,0 @@
-/**
- ******************************************************************************
- * @file    LSM303AGR_ACC_Sensor.cpp
- * @author  AST
- * @version V1.0.0
- * @date    5 August 2016
- * @brief   Implementation an LSM303AGR accelerometer sensor.
- ******************************************************************************
- * @attention
- *
- * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- *   1. Redistributions of source code must retain the above copyright notice,
- *      this list of conditions and the following disclaimer.
- *   2. Redistributions in binary form must reproduce the above copyright notice,
- *      this list of conditions and the following disclaimer in the documentation
- *      and/or other materials provided with the distribution.
- *   3. Neither the name of STMicroelectronics nor the names of its contributors
- *      may be used to endorse or promote products derived from this software
- *      without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include "DevI2C.h"
-#include "LSM303AGR_ACC_Sensor.h"
-#include "LSM303AGR_ACC_driver.h"
-
-
-/* Class Implementation ------------------------------------------------------*/
-
-/** Constructor
- * @param i2c object of an helper class which handles the I2C peripheral
- * @param address the address of the component's instance
- */
-LSM303AGR_ACC_Sensor::LSM303AGR_ACC_Sensor(DevI2C &i2c) : dev_i2c(i2c)
-{
-  address = LSM303AGR_ACC_I2C_ADDRESS;
-  
-  /* Enable BDU */
-  if ( LSM303AGR_ACC_W_BlockDataUpdate( (void *)this, LSM303AGR_ACC_BDU_ENABLED ) == MEMS_ERROR )
-  {
-    return;
-  }
-  
-  /* FIFO mode selection */
-  if ( LSM303AGR_ACC_W_FifoMode( (void *)this, LSM303AGR_ACC_FM_BYPASS ) == MEMS_ERROR )
-  {
-    return;
-  }
-  
-  /* Output data rate selection - power down. */
-  if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
-  {
-    return;
-  }
-  
-  /* Full scale selection. */
-  if ( SetFS( 2.0f ) == LSM303AGR_ACC_STATUS_ERROR )
-  {
-    return;
-  }
-  
-  /* Enable axes. */
-  if ( LSM303AGR_ACC_W_XEN( (void *)this, LSM303AGR_ACC_XEN_ENABLED ) == MEMS_ERROR )
-  {
-    return;
-  }
-  
-  if ( LSM303AGR_ACC_W_YEN ( (void *)this, LSM303AGR_ACC_YEN_ENABLED ) == MEMS_ERROR )
-  {
-    return;
-  }
-  
-  if ( LSM303AGR_ACC_W_ZEN ( (void *)this, LSM303AGR_ACC_ZEN_ENABLED ) == MEMS_ERROR )
-  {
-    return;
-  }
-  
-  /* Select default output data rate. */
-  Last_ODR = 100.0f;
-  
-  isEnabled = 0;
-};
-
-/** Constructor
- * @param i2c object of an helper class which handles the I2C peripheral
- * @param address the address of the component's instance
- */
-LSM303AGR_ACC_Sensor::LSM303AGR_ACC_Sensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
-{
-  /* Enable BDU */
-  if ( LSM303AGR_ACC_W_BlockDataUpdate( (void *)this, LSM303AGR_ACC_BDU_ENABLED ) == MEMS_ERROR )
-  {
-    return;
-  }
-  
-  /* FIFO mode selection */
-  if ( LSM303AGR_ACC_W_FifoMode( (void *)this, LSM303AGR_ACC_FM_BYPASS ) == MEMS_ERROR )
-  {
-    return;
-  }
-  
-  /* Output data rate selection - power down. */
-  if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
-  {
-    return;
-  }
-  
-  /* Full scale selection. */
-  if ( SetFS( 2.0f ) == LSM303AGR_ACC_STATUS_ERROR )
-  {
-    return;
-  }
-  
-  /* Enable axes. */
-  if ( LSM303AGR_ACC_W_XEN( (void *)this, LSM303AGR_ACC_XEN_ENABLED ) == MEMS_ERROR )
-  {
-    return;
-  }
-  
-  if ( LSM303AGR_ACC_W_YEN ( (void *)this, LSM303AGR_ACC_YEN_ENABLED ) == MEMS_ERROR )
-  {
-    return;
-  }
-  
-  if ( LSM303AGR_ACC_W_ZEN ( (void *)this, LSM303AGR_ACC_ZEN_ENABLED ) == MEMS_ERROR )
-  {
-    return;
-  }
-  
-  /* Select default output data rate. */
-  Last_ODR = 100.0f;
-  
-  isEnabled = 0;
-};
-
-/**
- * @brief  Enable LSM303AGR Accelerator
- * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
- */
-LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::Enable(void)
-{ 
-  /* Check if the component is already enabled */
-  if ( isEnabled == 1 )
-  {
-    return LSM303AGR_ACC_STATUS_OK;
-  }
-  
-  /* Output data rate selection. */
-  if ( SetODR_When_Enabled( Last_ODR ) == LSM303AGR_ACC_STATUS_ERROR )
-  {
-    return LSM303AGR_ACC_STATUS_ERROR;
-  }
-  
-  isEnabled = 1;
-  
-  return LSM303AGR_ACC_STATUS_OK;
-}
-
-/**
- * @brief  Disable LSM303AGR Accelerator
- * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
- */
-LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::Disable(void)
-{ 
-  /* Check if the component is already disabled */
-  if ( isEnabled == 0 )
-  {
-    return LSM303AGR_ACC_STATUS_OK;
-  }
-  
-  /* Store actual output data rate. */
-  if ( GetODR( &Last_ODR ) == LSM303AGR_ACC_STATUS_ERROR )
-  {
-    return LSM303AGR_ACC_STATUS_ERROR;
-  }
-  
-  /* Output data rate selection - power down. */
-  if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
-  {
-    return LSM303AGR_ACC_STATUS_ERROR;
-  }
-  
-  isEnabled = 0;
-  
-  return LSM303AGR_ACC_STATUS_OK;
-}
-
-/**
- * @brief  Read ID of LSM303AGR Accelerometer
- * @param  p_id the pointer where the ID of the device is stored
- * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
- */
-LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::ReadID(uint8_t *p_id)
-{
-  if(!p_id)
-  { 
-    return LSM303AGR_ACC_STATUS_ERROR; 
-  }
- 
-  /* Read WHO AM I register */
-  if ( LSM303AGR_ACC_R_WHO_AM_I( (void *)this, p_id ) == MEMS_ERROR )
-  {
-    return LSM303AGR_ACC_STATUS_ERROR;
-  }
-  
-  return LSM303AGR_ACC_STATUS_OK;
-}
-
-/**
- * @brief  Read data from LSM303AGR Accelerometer
- * @param  pData the pointer where the accelerometer data are stored
- * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
- */
-LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetAxes(int32_t *pData)
-{
-  int data[3];
-  
-  /* Read data from LSM303AGR. */
-  if ( !LSM303AGR_ACC_Get_Acceleration((void *)this, data) )
-  {
-    return LSM303AGR_ACC_STATUS_ERROR;
-  }
-  
-  /* Calculate the data. */
-  pData[0] = (int32_t)data[0];
-  pData[1] = (int32_t)data[1];
-  pData[2] = (int32_t)data[2];
-  
-  return LSM303AGR_ACC_STATUS_OK;
-}
-
-/**
- * @brief  Read Accelerometer Sensitivity
- * @param  pfData the pointer where the accelerometer sensitivity is stored
- * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
- */
-LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetSensitivity(float *pfData)
-{
-  LSM303AGR_ACC_LPEN_t lp_value;
-  LSM303AGR_ACC_HR_t hr_value;
-  
-  /* Read low power flag */
-  if( LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp_value ) == MEMS_ERROR )
-  {
-    return LSM303AGR_ACC_STATUS_ERROR;
-  }
-  
-  /* Read high performance flag */
-  if( LSM303AGR_ACC_R_HiRes( (void *)this, &hr_value ) == MEMS_ERROR )
-  {
-    return LSM303AGR_ACC_STATUS_ERROR;
-  }
-  
-  if( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
-  {
-    /* Normal Mode */
-    return GetSensitivity_Normal_Mode( pfData );
-  } else if ( lp_value == LSM303AGR_ACC_LPEN_ENABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
-  {
-    /* Low Power Mode */
-    return GetSensitivity_LP_Mode( pfData );
-  } else if ( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_ENABLED )
-  {
-    /* High Resolution Mode */
-    return GetSensitivity_HR_Mode( pfData );
-  } else
-  {
-    /* Not allowed */
-    return LSM303AGR_ACC_STATUS_ERROR;
-  }
-}
-
-/**
- * @brief  Read Accelerometer Sensitivity in Normal Mode
- * @param  sensitivity the pointer where the accelerometer sensitivity is stored
- * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
- */
-LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetSensitivity_Normal_Mode( float *sensitivity )
-{
-  LSM303AGR_ACC_FS_t fullScale;
-  
-  /* Read actual full scale selection from sensor. */
-  if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
-  {
-    return LSM303AGR_ACC_STATUS_ERROR;
-  }
-  
-  /* Store the sensitivity based on actual full scale. */
-  switch( fullScale )
-  {
-    case LSM303AGR_ACC_FS_2G:
-      *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_NORMAL_MODE;
-      break;
-    case LSM303AGR_ACC_FS_4G:
-      *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_NORMAL_MODE;
-      break;
-    case LSM303AGR_ACC_FS_8G:
-      *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_NORMAL_MODE;
-      break;
-    case LSM303AGR_ACC_FS_16G:
-      *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_NORMAL_MODE;
-      break;
-    default:
-      *sensitivity = -1.0f;
-      return LSM303AGR_ACC_STATUS_ERROR;
-  }
-  
-  return LSM303AGR_ACC_STATUS_OK;
-}
-
-/**
- * @brief  Read Accelerometer Sensitivity in LP Mode
- * @param  sensitivity the pointer where the accelerometer sensitivity is stored
- * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
- */
-LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetSensitivity_LP_Mode( float *sensitivity )
-{
-  LSM303AGR_ACC_FS_t fullScale;
-  
-  /* Read actual full scale selection from sensor. */
-  if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
-  {
-    return LSM303AGR_ACC_STATUS_ERROR;
-  }
-  
-  /* Store the sensitivity based on actual full scale. */
-  switch( fullScale )
-  {
-    case LSM303AGR_ACC_FS_2G:
-      *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_LOW_POWER_MODE;
-      break;
-    case LSM303AGR_ACC_FS_4G:
-      *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_LOW_POWER_MODE;
-      break;
-    case LSM303AGR_ACC_FS_8G:
-      *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_LOW_POWER_MODE;
-      break;
-    case LSM303AGR_ACC_FS_16G:
-      *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_LOW_POWER_MODE;
-      break;
-    default:
-      *sensitivity = -1.0f;
-      return LSM303AGR_ACC_STATUS_ERROR;
-  }
-  
-  return LSM303AGR_ACC_STATUS_OK;
-}
-
-/**
- * @brief  Read Accelerometer Sensitivity in HR Mode
- * @param  sensitivity the pointer where the accelerometer sensitivity is stored
- * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
- */
-LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetSensitivity_HR_Mode( float *sensitivity )
-{
-  LSM303AGR_ACC_FS_t fullScale;
-  
-  /* Read actual full scale selection from sensor. */
-  if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
-  {
-    return LSM303AGR_ACC_STATUS_ERROR;
-  }
-  
-  /* Store the sensitivity based on actual full scale. */
-  switch( fullScale )
-  {
-    case LSM303AGR_ACC_FS_2G:
-      *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_HIGH_RESOLUTION_MODE;
-      break;
-    case LSM303AGR_ACC_FS_4G:
-      *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_HIGH_RESOLUTION_MODE;
-      break;
-    case LSM303AGR_ACC_FS_8G:
-      *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_HIGH_RESOLUTION_MODE;
-      break;
-    case LSM303AGR_ACC_FS_16G:
-      *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_HIGH_RESOLUTION_MODE;
-      break;
-    default:
-      *sensitivity = -1.0f;
-      return LSM303AGR_ACC_STATUS_ERROR;
-  }
-  
-  return LSM303AGR_ACC_STATUS_OK;
-}
-
-/**
- * @brief  Read raw data from LSM303AGR Accelerometer
- * @param  pData the pointer where the accelerometer raw data are stored
- * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
- */
-LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetAxesRaw(int16_t *pData)
-{
-  uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
-  u8_t shift = 0;
-  LSM303AGR_ACC_LPEN_t lp;
-  LSM303AGR_ACC_HR_t hr;
-  
-  /* Determine which operational mode the acc is set */
-  if(!LSM303AGR_ACC_R_HiRes( (void *)this, &hr )) {
-    return LSM303AGR_ACC_STATUS_ERROR;
-  }
-
-  if(!LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp )) {
-    return LSM303AGR_ACC_STATUS_ERROR;
-  }
-  
-  if (lp == LSM303AGR_ACC_LPEN_ENABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
-    /* op mode is LP 8-bit */
-    shift = 8;
-  } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
-    /* op mode is Normal 10-bit */
-    shift = 6;
-  } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_ENABLED) {
-    /* op mode is HR 12-bit */
-    shift = 4;
-  } else {
-    return LSM303AGR_ACC_STATUS_ERROR;
-  }
-  
-  /* Read output registers from LSM303AGR_ACC_GYRO_OUTX_L_XL to LSM303AGR_ACC_GYRO_OUTZ_H_XL. */
-  if (!LSM303AGR_ACC_Get_Raw_Acceleration( (void *)this, ( uint8_t* )regValue ))
-  {
-    return LSM303AGR_ACC_STATUS_ERROR;
-  }
-  
-  /* Format the data. */
-  pData[0] = ( ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] ) >> shift );
-  pData[1] = ( ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] ) >> shift );
-  pData[2] = ( ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] ) >> shift );
-  
-  return LSM303AGR_ACC_STATUS_OK;
-}
-
-/**
- * @brief  Read LSM303AGR Accelerometer output data rate
- * @param  odr the pointer to the output data rate
- * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
- */
-LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetODR(float* odr)
-{
-  LSM303AGR_ACC_ODR_t odr_low_level;
-  
-  if ( LSM303AGR_ACC_R_ODR( (void *)this, &odr_low_level ) == MEMS_ERROR )
-  {
-    return LSM303AGR_ACC_STATUS_ERROR;
-  }
-  
-  switch( odr_low_level )
-  {
-    case LSM303AGR_ACC_ODR_DO_PWR_DOWN:
-      *odr = 0.0f;
-      break;
-    case LSM303AGR_ACC_ODR_DO_1Hz:
-      *odr = 1.0f;
-      break;
-    case LSM303AGR_ACC_ODR_DO_10Hz:
-      *odr = 10.0f;
-      break;
-    case LSM303AGR_ACC_ODR_DO_25Hz:
-      *odr = 25.0f;
-      break;
-    case LSM303AGR_ACC_ODR_DO_50Hz:
-      *odr = 50.0f;
-      break;
-    case LSM303AGR_ACC_ODR_DO_100Hz:
-      *odr = 100.0f;
-      break;
-    case LSM303AGR_ACC_ODR_DO_200Hz:
-      *odr = 200.0f;
-      break;
-    case LSM303AGR_ACC_ODR_DO_400Hz:
-      *odr = 400.0f;
-      break;
-    default:
-      *odr = -1.0f;
-      return LSM303AGR_ACC_STATUS_ERROR;
-  }
-  
-  return LSM303AGR_ACC_STATUS_OK;
-}
-
-/**
- * @brief  Set ODR
- * @param  odr the output data rate to be set
- * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
- */
-LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::SetODR(float odr)
-{
-  if(isEnabled == 1)
-  {
-    if(SetODR_When_Enabled(odr) == LSM303AGR_ACC_STATUS_ERROR)
-    {
-      return LSM303AGR_ACC_STATUS_ERROR;
-    }
-  }
-  else
-  {
-    if(SetODR_When_Disabled(odr) == LSM303AGR_ACC_STATUS_ERROR)
-    {
-      return LSM303AGR_ACC_STATUS_ERROR;
-    }
-  }
-  
-  return LSM303AGR_ACC_STATUS_OK;
-}
-
-/**
- * @brief  Set ODR when enabled
- * @param  odr the output data rate to be set
- * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
- */
-LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::SetODR_When_Enabled(float odr)
-{
-  LSM303AGR_ACC_ODR_t new_odr;
-  
-  new_odr = ( odr <=    1.0f ) ? LSM303AGR_ACC_ODR_DO_1Hz
-          : ( odr <=   10.0f ) ? LSM303AGR_ACC_ODR_DO_10Hz
-          : ( odr <=   25.0f ) ? LSM303AGR_ACC_ODR_DO_25Hz
-          : ( odr <=   50.0f ) ? LSM303AGR_ACC_ODR_DO_50Hz
-          : ( odr <=  100.0f ) ? LSM303AGR_ACC_ODR_DO_100Hz
-          : ( odr <=  200.0f ) ? LSM303AGR_ACC_ODR_DO_200Hz
-          :                      LSM303AGR_ACC_ODR_DO_400Hz;
-            
-  if ( LSM303AGR_ACC_W_ODR( (void *)this, new_odr ) == MEMS_ERROR )
-  {
-    return LSM303AGR_ACC_STATUS_ERROR;
-  }
-  
-  return LSM303AGR_ACC_STATUS_OK;
-}
-
-/**
- * @brief  Set ODR when disabled
- * @param  odr the output data rate to be set
- * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
- */
-LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::SetODR_When_Disabled(float odr)
-{ 
-  Last_ODR = ( odr <=    1.0f ) ?  1.0f
-           : ( odr <=   10.0f ) ? 10.0f
-           : ( odr <=   25.0f ) ? 25.0f
-           : ( odr <=   50.0f ) ? 50.0f
-           : ( odr <=  100.0f ) ? 100.0f
-           : ( odr <=  200.0f ) ? 200.0f
-           :                      400.0f;
-                                 
-  return LSM303AGR_ACC_STATUS_OK;
-}
-
-
-/**
- * @brief  Read LSM303AGR Accelerometer full scale
- * @param  fullScale the pointer to the full scale
- * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
- */
-LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetFS(float* fullScale)
-{
-  LSM303AGR_ACC_FS_t fs_low_level;
-  
-  if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fs_low_level ) == MEMS_ERROR )
-  {
-    return LSM303AGR_ACC_STATUS_ERROR;
-  }
-  
-  switch( fs_low_level )
-  {
-    case LSM303AGR_ACC_FS_2G:
-      *fullScale =  2.0f;
-      break;
-    case LSM303AGR_ACC_FS_4G:
-      *fullScale =  4.0f;
-      break;
-    case LSM303AGR_ACC_FS_8G:
-      *fullScale =  8.0f;
-      break;
-    case LSM303AGR_ACC_FS_16G:
-      *fullScale = 16.0f;
-      break;
-    default:
-      *fullScale = -1.0f;
-      return LSM303AGR_ACC_STATUS_ERROR;
-  }
-  
-  return LSM303AGR_ACC_STATUS_OK;
-}
-
-/**
- * @brief  Set full scale
- * @param  fullScale the full scale to be set
- * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
- */
-LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::SetFS(float fullScale)
-{
-  LSM303AGR_ACC_FS_t new_fs;
-  
-  new_fs = ( fullScale <= 2.0f ) ? LSM303AGR_ACC_FS_2G
-         : ( fullScale <= 4.0f ) ? LSM303AGR_ACC_FS_4G
-         : ( fullScale <= 8.0f ) ? LSM303AGR_ACC_FS_8G
-         :                         LSM303AGR_ACC_FS_16G;
-           
-  if ( LSM303AGR_ACC_W_FullScale( (void *)this, new_fs ) == MEMS_ERROR )
-  {
-    return LSM303AGR_ACC_STATUS_ERROR;
-  }
-  
-  return LSM303AGR_ACC_STATUS_OK;
-}
-
-/**
- * @brief Read accelerometer data from register
- * @param reg register address
- * @param data register data
- * @retval LSM303AGR_ACC_STATUS_OK in case of success
- * @retval LSM303AGR_ACC_STATUS_ERROR in case of failure
- */
-LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::ReadReg( uint8_t reg, uint8_t *data )
-{
-
-  if ( LSM303AGR_ACC_ReadReg( (void *)this, reg, data ) == MEMS_ERROR )
-  {
-    return LSM303AGR_ACC_STATUS_ERROR;
-  }
-
-  return LSM303AGR_ACC_STATUS_OK;
-}
-
-/**
- * @brief Write accelerometer data to register
- * @param reg register address
- * @param data register data
- * @retval LSM303AGR_ACC_STATUS_OK in case of success
- * @retval LSM303AGR_ACC_STATUS_ERROR in case of failure
- */
-LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::WriteReg( uint8_t reg, uint8_t data )
-{
-
-  if ( LSM303AGR_ACC_WriteReg( (void *)this, reg, data ) == MEMS_ERROR )
-  {
-    return LSM303AGR_ACC_STATUS_ERROR;
-  }
-
-  return LSM303AGR_ACC_STATUS_OK;
-}
-
-uint8_t LSM303AGR_ACC_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
-{
-  return ((LSM303AGR_ACC_Sensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
-}
-
-uint8_t LSM303AGR_ACC_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
-{
-  return ((LSM303AGR_ACC_Sensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
-}