ST
Example of tilt detection for LSM6DSL in X-NUCLEO-IKS01A2
Dependencies: X_NUCLEO_IKS01A2 mbed
Fork of
Tilt_IKS01A2
by 
ST Expansion SW Team
Tilt Detection Demo Application based on sensor expansion board X-NUCLEO-IKS01A2
Main function is to show how to detect the tilt event 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 tilt the board and then view the notification using an hyper terminal. When the tilt event is detected, the LED is switched on for a while.
- the user button can be used to enable/disable the tilt detection feature.
X_NUCLEO_IKS01A2/Components/LSM303AGRSensor/LSM303AGR_ACC_Sensor.cpp@2:39ad2a393143, 2016-08-19 (annotated)
- Committer:
- cparata
- Date:
- Fri Aug 19 12:34:01 2016 +0000
- Revision:
- 2:39ad2a393143
Add interfaces to all components
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| cparata | 2:39ad2a393143 | 1 | /** |
| cparata | 2:39ad2a393143 | 2 | ****************************************************************************** |
| cparata | 2:39ad2a393143 | 3 | * @file LSM303AGR_ACC_Sensor.cpp |
| cparata | 2:39ad2a393143 | 4 | * @author AST |
| cparata | 2:39ad2a393143 | 5 | * @version V1.0.0 |
| cparata | 2:39ad2a393143 | 6 | * @date 5 August 2016 |
| cparata | 2:39ad2a393143 | 7 | * @brief Implementation an LSM303AGR accelerometer sensor. |
| cparata | 2:39ad2a393143 | 8 | ****************************************************************************** |
| cparata | 2:39ad2a393143 | 9 | * @attention |
| cparata | 2:39ad2a393143 | 10 | * |
| cparata | 2:39ad2a393143 | 11 | * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2> |
| cparata | 2:39ad2a393143 | 12 | * |
| cparata | 2:39ad2a393143 | 13 | * Redistribution and use in source and binary forms, with or without modification, |
| cparata | 2:39ad2a393143 | 14 | * are permitted provided that the following conditions are met: |
| cparata | 2:39ad2a393143 | 15 | * 1. Redistributions of source code must retain the above copyright notice, |
| cparata | 2:39ad2a393143 | 16 | * this list of conditions and the following disclaimer. |
| cparata | 2:39ad2a393143 | 17 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
| cparata | 2:39ad2a393143 | 18 | * this list of conditions and the following disclaimer in the documentation |
| cparata | 2:39ad2a393143 | 19 | * and/or other materials provided with the distribution. |
| cparata | 2:39ad2a393143 | 20 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
| cparata | 2:39ad2a393143 | 21 | * may be used to endorse or promote products derived from this software |
| cparata | 2:39ad2a393143 | 22 | * without specific prior written permission. |
| cparata | 2:39ad2a393143 | 23 | * |
| cparata | 2:39ad2a393143 | 24 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| cparata | 2:39ad2a393143 | 25 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| cparata | 2:39ad2a393143 | 26 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
| cparata | 2:39ad2a393143 | 27 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
| cparata | 2:39ad2a393143 | 28 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| cparata | 2:39ad2a393143 | 29 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
| cparata | 2:39ad2a393143 | 30 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| cparata | 2:39ad2a393143 | 31 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
| cparata | 2:39ad2a393143 | 32 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| cparata | 2:39ad2a393143 | 33 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| cparata | 2:39ad2a393143 | 34 | * |
| cparata | 2:39ad2a393143 | 35 | ****************************************************************************** |
| cparata | 2:39ad2a393143 | 36 | */ |
| cparata | 2:39ad2a393143 | 37 | |
| cparata | 2:39ad2a393143 | 38 | |
| cparata | 2:39ad2a393143 | 39 | /* Includes ------------------------------------------------------------------*/ |
| cparata | 2:39ad2a393143 | 40 | |
| cparata | 2:39ad2a393143 | 41 | #include "DevI2C.h" |
| cparata | 2:39ad2a393143 | 42 | #include "LSM303AGR_ACC_Sensor.h" |
| cparata | 2:39ad2a393143 | 43 | #include "LSM303AGR_ACC_driver.h" |
| cparata | 2:39ad2a393143 | 44 | |
| cparata | 2:39ad2a393143 | 45 | |
| cparata | 2:39ad2a393143 | 46 | /* Class Implementation ------------------------------------------------------*/ |
| cparata | 2:39ad2a393143 | 47 | |
| cparata | 2:39ad2a393143 | 48 | /** Constructor |
| cparata | 2:39ad2a393143 | 49 | * @param i2c object of an helper class which handles the I2C peripheral |
| cparata | 2:39ad2a393143 | 50 | * @param address the address of the component's instance |
| cparata | 2:39ad2a393143 | 51 | */ |
| cparata | 2:39ad2a393143 | 52 | LSM303AGR_ACC_Sensor::LSM303AGR_ACC_Sensor(DevI2C &i2c) : dev_i2c(i2c) |
| cparata | 2:39ad2a393143 | 53 | { |
| cparata | 2:39ad2a393143 | 54 | address = LSM303AGR_ACC_I2C_ADDRESS; |
| cparata | 2:39ad2a393143 | 55 | }; |
| cparata | 2:39ad2a393143 | 56 | |
| cparata | 2:39ad2a393143 | 57 | /** Constructor |
| cparata | 2:39ad2a393143 | 58 | * @param i2c object of an helper class which handles the I2C peripheral |
| cparata | 2:39ad2a393143 | 59 | * @param address the address of the component's instance |
| cparata | 2:39ad2a393143 | 60 | */ |
| cparata | 2:39ad2a393143 | 61 | LSM303AGR_ACC_Sensor::LSM303AGR_ACC_Sensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address) |
| cparata | 2:39ad2a393143 | 62 | { |
| cparata | 2:39ad2a393143 | 63 | |
| cparata | 2:39ad2a393143 | 64 | }; |
| cparata | 2:39ad2a393143 | 65 | |
| cparata | 2:39ad2a393143 | 66 | /** |
| cparata | 2:39ad2a393143 | 67 | * @brief Initializing the component. |
| cparata | 2:39ad2a393143 | 68 | * @param[in] init pointer to device specific initalization structure. |
| cparata | 2:39ad2a393143 | 69 | * @retval "0" in case of success, an error code otherwise. |
| cparata | 2:39ad2a393143 | 70 | */ |
| cparata | 2:39ad2a393143 | 71 | int LSM303AGR_ACC_Sensor::Init(void *init) |
| cparata | 2:39ad2a393143 | 72 | { |
| cparata | 2:39ad2a393143 | 73 | /* Enable BDU */ |
| cparata | 2:39ad2a393143 | 74 | if ( LSM303AGR_ACC_W_BlockDataUpdate( (void *)this, LSM303AGR_ACC_BDU_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 75 | { |
| cparata | 2:39ad2a393143 | 76 | return 1; |
| cparata | 2:39ad2a393143 | 77 | } |
| cparata | 2:39ad2a393143 | 78 | |
| cparata | 2:39ad2a393143 | 79 | /* FIFO mode selection */ |
| cparata | 2:39ad2a393143 | 80 | if ( LSM303AGR_ACC_W_FifoMode( (void *)this, LSM303AGR_ACC_FM_BYPASS ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 81 | { |
| cparata | 2:39ad2a393143 | 82 | return 1; |
| cparata | 2:39ad2a393143 | 83 | } |
| cparata | 2:39ad2a393143 | 84 | |
| cparata | 2:39ad2a393143 | 85 | /* Output data rate selection - power down. */ |
| cparata | 2:39ad2a393143 | 86 | if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 87 | { |
| cparata | 2:39ad2a393143 | 88 | return 1; |
| cparata | 2:39ad2a393143 | 89 | } |
| cparata | 2:39ad2a393143 | 90 | |
| cparata | 2:39ad2a393143 | 91 | /* Full scale selection. */ |
| cparata | 2:39ad2a393143 | 92 | if ( Set_X_FS( 2.0f ) == 1 ) |
| cparata | 2:39ad2a393143 | 93 | { |
| cparata | 2:39ad2a393143 | 94 | return 1; |
| cparata | 2:39ad2a393143 | 95 | } |
| cparata | 2:39ad2a393143 | 96 | |
| cparata | 2:39ad2a393143 | 97 | /* Enable axes. */ |
| cparata | 2:39ad2a393143 | 98 | if ( LSM303AGR_ACC_W_XEN( (void *)this, LSM303AGR_ACC_XEN_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 99 | { |
| cparata | 2:39ad2a393143 | 100 | return 1; |
| cparata | 2:39ad2a393143 | 101 | } |
| cparata | 2:39ad2a393143 | 102 | |
| cparata | 2:39ad2a393143 | 103 | if ( LSM303AGR_ACC_W_YEN ( (void *)this, LSM303AGR_ACC_YEN_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 104 | { |
| cparata | 2:39ad2a393143 | 105 | return 1; |
| cparata | 2:39ad2a393143 | 106 | } |
| cparata | 2:39ad2a393143 | 107 | |
| cparata | 2:39ad2a393143 | 108 | if ( LSM303AGR_ACC_W_ZEN ( (void *)this, LSM303AGR_ACC_ZEN_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 109 | { |
| cparata | 2:39ad2a393143 | 110 | return 1; |
| cparata | 2:39ad2a393143 | 111 | } |
| cparata | 2:39ad2a393143 | 112 | |
| cparata | 2:39ad2a393143 | 113 | /* Select default output data rate. */ |
| cparata | 2:39ad2a393143 | 114 | Last_ODR = 100.0f; |
| cparata | 2:39ad2a393143 | 115 | |
| cparata | 2:39ad2a393143 | 116 | isEnabled = 0; |
| cparata | 2:39ad2a393143 | 117 | |
| cparata | 2:39ad2a393143 | 118 | return 0; |
| cparata | 2:39ad2a393143 | 119 | } |
| cparata | 2:39ad2a393143 | 120 | |
| cparata | 2:39ad2a393143 | 121 | /** |
| cparata | 2:39ad2a393143 | 122 | * @brief Enable LSM303AGR Accelerator |
| cparata | 2:39ad2a393143 | 123 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 124 | */ |
| cparata | 2:39ad2a393143 | 125 | int LSM303AGR_ACC_Sensor::Enable(void) |
| cparata | 2:39ad2a393143 | 126 | { |
| cparata | 2:39ad2a393143 | 127 | /* Check if the component is already enabled */ |
| cparata | 2:39ad2a393143 | 128 | if ( isEnabled == 1 ) |
| cparata | 2:39ad2a393143 | 129 | { |
| cparata | 2:39ad2a393143 | 130 | return 0; |
| cparata | 2:39ad2a393143 | 131 | } |
| cparata | 2:39ad2a393143 | 132 | |
| cparata | 2:39ad2a393143 | 133 | /* Output data rate selection. */ |
| cparata | 2:39ad2a393143 | 134 | if ( Set_X_ODR_When_Enabled( Last_ODR ) == 1 ) |
| cparata | 2:39ad2a393143 | 135 | { |
| cparata | 2:39ad2a393143 | 136 | return 1; |
| cparata | 2:39ad2a393143 | 137 | } |
| cparata | 2:39ad2a393143 | 138 | |
| cparata | 2:39ad2a393143 | 139 | isEnabled = 1; |
| cparata | 2:39ad2a393143 | 140 | |
| cparata | 2:39ad2a393143 | 141 | return 0; |
| cparata | 2:39ad2a393143 | 142 | } |
| cparata | 2:39ad2a393143 | 143 | |
| cparata | 2:39ad2a393143 | 144 | /** |
| cparata | 2:39ad2a393143 | 145 | * @brief Disable LSM303AGR Accelerator |
| cparata | 2:39ad2a393143 | 146 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 147 | */ |
| cparata | 2:39ad2a393143 | 148 | int LSM303AGR_ACC_Sensor::Disable(void) |
| cparata | 2:39ad2a393143 | 149 | { |
| cparata | 2:39ad2a393143 | 150 | /* Check if the component is already disabled */ |
| cparata | 2:39ad2a393143 | 151 | if ( isEnabled == 0 ) |
| cparata | 2:39ad2a393143 | 152 | { |
| cparata | 2:39ad2a393143 | 153 | return 0; |
| cparata | 2:39ad2a393143 | 154 | } |
| cparata | 2:39ad2a393143 | 155 | |
| cparata | 2:39ad2a393143 | 156 | /* Store actual output data rate. */ |
| cparata | 2:39ad2a393143 | 157 | if ( Get_X_ODR( &Last_ODR ) == 1 ) |
| cparata | 2:39ad2a393143 | 158 | { |
| cparata | 2:39ad2a393143 | 159 | return 1; |
| cparata | 2:39ad2a393143 | 160 | } |
| cparata | 2:39ad2a393143 | 161 | |
| cparata | 2:39ad2a393143 | 162 | /* Output data rate selection - power down. */ |
| cparata | 2:39ad2a393143 | 163 | if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 164 | { |
| cparata | 2:39ad2a393143 | 165 | return 1; |
| cparata | 2:39ad2a393143 | 166 | } |
| cparata | 2:39ad2a393143 | 167 | |
| cparata | 2:39ad2a393143 | 168 | isEnabled = 0; |
| cparata | 2:39ad2a393143 | 169 | |
| cparata | 2:39ad2a393143 | 170 | return 0; |
| cparata | 2:39ad2a393143 | 171 | } |
| cparata | 2:39ad2a393143 | 172 | |
| cparata | 2:39ad2a393143 | 173 | /** |
| cparata | 2:39ad2a393143 | 174 | * @brief Read ID of LSM303AGR Accelerometer |
| cparata | 2:39ad2a393143 | 175 | * @param p_id the pointer where the ID of the device is stored |
| cparata | 2:39ad2a393143 | 176 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 177 | */ |
| cparata | 2:39ad2a393143 | 178 | int LSM303AGR_ACC_Sensor::ReadID(uint8_t *id) |
| cparata | 2:39ad2a393143 | 179 | { |
| cparata | 2:39ad2a393143 | 180 | if(!id) |
| cparata | 2:39ad2a393143 | 181 | { |
| cparata | 2:39ad2a393143 | 182 | return 1; |
| cparata | 2:39ad2a393143 | 183 | } |
| cparata | 2:39ad2a393143 | 184 | |
| cparata | 2:39ad2a393143 | 185 | /* Read WHO AM I register */ |
| cparata | 2:39ad2a393143 | 186 | if ( LSM303AGR_ACC_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 187 | { |
| cparata | 2:39ad2a393143 | 188 | return 1; |
| cparata | 2:39ad2a393143 | 189 | } |
| cparata | 2:39ad2a393143 | 190 | |
| cparata | 2:39ad2a393143 | 191 | return 0; |
| cparata | 2:39ad2a393143 | 192 | } |
| cparata | 2:39ad2a393143 | 193 | |
| cparata | 2:39ad2a393143 | 194 | /** |
| cparata | 2:39ad2a393143 | 195 | * @brief Read data from LSM303AGR Accelerometer |
| cparata | 2:39ad2a393143 | 196 | * @param pData the pointer where the accelerometer data are stored |
| cparata | 2:39ad2a393143 | 197 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 198 | */ |
| cparata | 2:39ad2a393143 | 199 | int LSM303AGR_ACC_Sensor::Get_X_Axes(int32_t *pData) |
| cparata | 2:39ad2a393143 | 200 | { |
| cparata | 2:39ad2a393143 | 201 | int data[3]; |
| cparata | 2:39ad2a393143 | 202 | |
| cparata | 2:39ad2a393143 | 203 | /* Read data from LSM303AGR. */ |
| cparata | 2:39ad2a393143 | 204 | if ( !LSM303AGR_ACC_Get_Acceleration((void *)this, data) ) |
| cparata | 2:39ad2a393143 | 205 | { |
| cparata | 2:39ad2a393143 | 206 | return 1; |
| cparata | 2:39ad2a393143 | 207 | } |
| cparata | 2:39ad2a393143 | 208 | |
| cparata | 2:39ad2a393143 | 209 | /* Calculate the data. */ |
| cparata | 2:39ad2a393143 | 210 | pData[0] = (int32_t)data[0]; |
| cparata | 2:39ad2a393143 | 211 | pData[1] = (int32_t)data[1]; |
| cparata | 2:39ad2a393143 | 212 | pData[2] = (int32_t)data[2]; |
| cparata | 2:39ad2a393143 | 213 | |
| cparata | 2:39ad2a393143 | 214 | return 0; |
| cparata | 2:39ad2a393143 | 215 | } |
| cparata | 2:39ad2a393143 | 216 | |
| cparata | 2:39ad2a393143 | 217 | /** |
| cparata | 2:39ad2a393143 | 218 | * @brief Read Accelerometer Sensitivity |
| cparata | 2:39ad2a393143 | 219 | * @param pfData the pointer where the accelerometer sensitivity is stored |
| cparata | 2:39ad2a393143 | 220 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 221 | */ |
| cparata | 2:39ad2a393143 | 222 | int LSM303AGR_ACC_Sensor::Get_X_Sensitivity(float *pfData) |
| cparata | 2:39ad2a393143 | 223 | { |
| cparata | 2:39ad2a393143 | 224 | LSM303AGR_ACC_LPEN_t lp_value; |
| cparata | 2:39ad2a393143 | 225 | LSM303AGR_ACC_HR_t hr_value; |
| cparata | 2:39ad2a393143 | 226 | |
| cparata | 2:39ad2a393143 | 227 | /* Read low power flag */ |
| cparata | 2:39ad2a393143 | 228 | if( LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp_value ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 229 | { |
| cparata | 2:39ad2a393143 | 230 | return 1; |
| cparata | 2:39ad2a393143 | 231 | } |
| cparata | 2:39ad2a393143 | 232 | |
| cparata | 2:39ad2a393143 | 233 | /* Read high performance flag */ |
| cparata | 2:39ad2a393143 | 234 | if( LSM303AGR_ACC_R_HiRes( (void *)this, &hr_value ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 235 | { |
| cparata | 2:39ad2a393143 | 236 | return 1; |
| cparata | 2:39ad2a393143 | 237 | } |
| cparata | 2:39ad2a393143 | 238 | |
| cparata | 2:39ad2a393143 | 239 | if( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_DISABLED ) |
| cparata | 2:39ad2a393143 | 240 | { |
| cparata | 2:39ad2a393143 | 241 | /* Normal Mode */ |
| cparata | 2:39ad2a393143 | 242 | return Get_X_Sensitivity_Normal_Mode( pfData ); |
| cparata | 2:39ad2a393143 | 243 | } else if ( lp_value == LSM303AGR_ACC_LPEN_ENABLED && hr_value == LSM303AGR_ACC_HR_DISABLED ) |
| cparata | 2:39ad2a393143 | 244 | { |
| cparata | 2:39ad2a393143 | 245 | /* Low Power Mode */ |
| cparata | 2:39ad2a393143 | 246 | return Get_X_Sensitivity_LP_Mode( pfData ); |
| cparata | 2:39ad2a393143 | 247 | } else if ( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_ENABLED ) |
| cparata | 2:39ad2a393143 | 248 | { |
| cparata | 2:39ad2a393143 | 249 | /* High Resolution Mode */ |
| cparata | 2:39ad2a393143 | 250 | return Get_X_Sensitivity_HR_Mode( pfData ); |
| cparata | 2:39ad2a393143 | 251 | } else |
| cparata | 2:39ad2a393143 | 252 | { |
| cparata | 2:39ad2a393143 | 253 | /* Not allowed */ |
| cparata | 2:39ad2a393143 | 254 | return 1; |
| cparata | 2:39ad2a393143 | 255 | } |
| cparata | 2:39ad2a393143 | 256 | } |
| cparata | 2:39ad2a393143 | 257 | |
| cparata | 2:39ad2a393143 | 258 | /** |
| cparata | 2:39ad2a393143 | 259 | * @brief Read Accelerometer Sensitivity in Normal Mode |
| cparata | 2:39ad2a393143 | 260 | * @param sensitivity the pointer where the accelerometer sensitivity is stored |
| cparata | 2:39ad2a393143 | 261 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 262 | */ |
| cparata | 2:39ad2a393143 | 263 | int LSM303AGR_ACC_Sensor::Get_X_Sensitivity_Normal_Mode( float *sensitivity ) |
| cparata | 2:39ad2a393143 | 264 | { |
| cparata | 2:39ad2a393143 | 265 | LSM303AGR_ACC_FS_t fullScale; |
| cparata | 2:39ad2a393143 | 266 | |
| cparata | 2:39ad2a393143 | 267 | /* Read actual full scale selection from sensor. */ |
| cparata | 2:39ad2a393143 | 268 | if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 269 | { |
| cparata | 2:39ad2a393143 | 270 | return 1; |
| cparata | 2:39ad2a393143 | 271 | } |
| cparata | 2:39ad2a393143 | 272 | |
| cparata | 2:39ad2a393143 | 273 | /* Store the sensitivity based on actual full scale. */ |
| cparata | 2:39ad2a393143 | 274 | switch( fullScale ) |
| cparata | 2:39ad2a393143 | 275 | { |
| cparata | 2:39ad2a393143 | 276 | case LSM303AGR_ACC_FS_2G: |
| cparata | 2:39ad2a393143 | 277 | *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_NORMAL_MODE; |
| cparata | 2:39ad2a393143 | 278 | break; |
| cparata | 2:39ad2a393143 | 279 | case LSM303AGR_ACC_FS_4G: |
| cparata | 2:39ad2a393143 | 280 | *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_NORMAL_MODE; |
| cparata | 2:39ad2a393143 | 281 | break; |
| cparata | 2:39ad2a393143 | 282 | case LSM303AGR_ACC_FS_8G: |
| cparata | 2:39ad2a393143 | 283 | *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_NORMAL_MODE; |
| cparata | 2:39ad2a393143 | 284 | break; |
| cparata | 2:39ad2a393143 | 285 | case LSM303AGR_ACC_FS_16G: |
| cparata | 2:39ad2a393143 | 286 | *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_NORMAL_MODE; |
| cparata | 2:39ad2a393143 | 287 | break; |
| cparata | 2:39ad2a393143 | 288 | default: |
| cparata | 2:39ad2a393143 | 289 | *sensitivity = -1.0f; |
| cparata | 2:39ad2a393143 | 290 | return 1; |
| cparata | 2:39ad2a393143 | 291 | } |
| cparata | 2:39ad2a393143 | 292 | |
| cparata | 2:39ad2a393143 | 293 | return 0; |
| cparata | 2:39ad2a393143 | 294 | } |
| cparata | 2:39ad2a393143 | 295 | |
| cparata | 2:39ad2a393143 | 296 | /** |
| cparata | 2:39ad2a393143 | 297 | * @brief Read Accelerometer Sensitivity in LP Mode |
| cparata | 2:39ad2a393143 | 298 | * @param sensitivity the pointer where the accelerometer sensitivity is stored |
| cparata | 2:39ad2a393143 | 299 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 300 | */ |
| cparata | 2:39ad2a393143 | 301 | int LSM303AGR_ACC_Sensor::Get_X_Sensitivity_LP_Mode( float *sensitivity ) |
| cparata | 2:39ad2a393143 | 302 | { |
| cparata | 2:39ad2a393143 | 303 | LSM303AGR_ACC_FS_t fullScale; |
| cparata | 2:39ad2a393143 | 304 | |
| cparata | 2:39ad2a393143 | 305 | /* Read actual full scale selection from sensor. */ |
| cparata | 2:39ad2a393143 | 306 | if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 307 | { |
| cparata | 2:39ad2a393143 | 308 | return 1; |
| cparata | 2:39ad2a393143 | 309 | } |
| cparata | 2:39ad2a393143 | 310 | |
| cparata | 2:39ad2a393143 | 311 | /* Store the sensitivity based on actual full scale. */ |
| cparata | 2:39ad2a393143 | 312 | switch( fullScale ) |
| cparata | 2:39ad2a393143 | 313 | { |
| cparata | 2:39ad2a393143 | 314 | case LSM303AGR_ACC_FS_2G: |
| cparata | 2:39ad2a393143 | 315 | *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_LOW_POWER_MODE; |
| cparata | 2:39ad2a393143 | 316 | break; |
| cparata | 2:39ad2a393143 | 317 | case LSM303AGR_ACC_FS_4G: |
| cparata | 2:39ad2a393143 | 318 | *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_LOW_POWER_MODE; |
| cparata | 2:39ad2a393143 | 319 | break; |
| cparata | 2:39ad2a393143 | 320 | case LSM303AGR_ACC_FS_8G: |
| cparata | 2:39ad2a393143 | 321 | *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_LOW_POWER_MODE; |
| cparata | 2:39ad2a393143 | 322 | break; |
| cparata | 2:39ad2a393143 | 323 | case LSM303AGR_ACC_FS_16G: |
| cparata | 2:39ad2a393143 | 324 | *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_LOW_POWER_MODE; |
| cparata | 2:39ad2a393143 | 325 | break; |
| cparata | 2:39ad2a393143 | 326 | default: |
| cparata | 2:39ad2a393143 | 327 | *sensitivity = -1.0f; |
| cparata | 2:39ad2a393143 | 328 | return 1; |
| cparata | 2:39ad2a393143 | 329 | } |
| cparata | 2:39ad2a393143 | 330 | |
| cparata | 2:39ad2a393143 | 331 | return 0; |
| cparata | 2:39ad2a393143 | 332 | } |
| cparata | 2:39ad2a393143 | 333 | |
| cparata | 2:39ad2a393143 | 334 | /** |
| cparata | 2:39ad2a393143 | 335 | * @brief Read Accelerometer Sensitivity in HR Mode |
| cparata | 2:39ad2a393143 | 336 | * @param sensitivity the pointer where the accelerometer sensitivity is stored |
| cparata | 2:39ad2a393143 | 337 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 338 | */ |
| cparata | 2:39ad2a393143 | 339 | int LSM303AGR_ACC_Sensor::Get_X_Sensitivity_HR_Mode( float *sensitivity ) |
| cparata | 2:39ad2a393143 | 340 | { |
| cparata | 2:39ad2a393143 | 341 | LSM303AGR_ACC_FS_t fullScale; |
| cparata | 2:39ad2a393143 | 342 | |
| cparata | 2:39ad2a393143 | 343 | /* Read actual full scale selection from sensor. */ |
| cparata | 2:39ad2a393143 | 344 | if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 345 | { |
| cparata | 2:39ad2a393143 | 346 | return 1; |
| cparata | 2:39ad2a393143 | 347 | } |
| cparata | 2:39ad2a393143 | 348 | |
| cparata | 2:39ad2a393143 | 349 | /* Store the sensitivity based on actual full scale. */ |
| cparata | 2:39ad2a393143 | 350 | switch( fullScale ) |
| cparata | 2:39ad2a393143 | 351 | { |
| cparata | 2:39ad2a393143 | 352 | case LSM303AGR_ACC_FS_2G: |
| cparata | 2:39ad2a393143 | 353 | *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_HIGH_RESOLUTION_MODE; |
| cparata | 2:39ad2a393143 | 354 | break; |
| cparata | 2:39ad2a393143 | 355 | case LSM303AGR_ACC_FS_4G: |
| cparata | 2:39ad2a393143 | 356 | *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_HIGH_RESOLUTION_MODE; |
| cparata | 2:39ad2a393143 | 357 | break; |
| cparata | 2:39ad2a393143 | 358 | case LSM303AGR_ACC_FS_8G: |
| cparata | 2:39ad2a393143 | 359 | *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_HIGH_RESOLUTION_MODE; |
| cparata | 2:39ad2a393143 | 360 | break; |
| cparata | 2:39ad2a393143 | 361 | case LSM303AGR_ACC_FS_16G: |
| cparata | 2:39ad2a393143 | 362 | *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_HIGH_RESOLUTION_MODE; |
| cparata | 2:39ad2a393143 | 363 | break; |
| cparata | 2:39ad2a393143 | 364 | default: |
| cparata | 2:39ad2a393143 | 365 | *sensitivity = -1.0f; |
| cparata | 2:39ad2a393143 | 366 | return 1; |
| cparata | 2:39ad2a393143 | 367 | } |
| cparata | 2:39ad2a393143 | 368 | |
| cparata | 2:39ad2a393143 | 369 | return 0; |
| cparata | 2:39ad2a393143 | 370 | } |
| cparata | 2:39ad2a393143 | 371 | |
| cparata | 2:39ad2a393143 | 372 | /** |
| cparata | 2:39ad2a393143 | 373 | * @brief Read raw data from LSM303AGR Accelerometer |
| cparata | 2:39ad2a393143 | 374 | * @param pData the pointer where the accelerometer raw data are stored |
| cparata | 2:39ad2a393143 | 375 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 376 | */ |
| cparata | 2:39ad2a393143 | 377 | int LSM303AGR_ACC_Sensor::Get_X_AxesRaw(int16_t *pData) |
| cparata | 2:39ad2a393143 | 378 | { |
| cparata | 2:39ad2a393143 | 379 | uint8_t regValue[6] = {0, 0, 0, 0, 0, 0}; |
| cparata | 2:39ad2a393143 | 380 | u8_t shift = 0; |
| cparata | 2:39ad2a393143 | 381 | LSM303AGR_ACC_LPEN_t lp; |
| cparata | 2:39ad2a393143 | 382 | LSM303AGR_ACC_HR_t hr; |
| cparata | 2:39ad2a393143 | 383 | |
| cparata | 2:39ad2a393143 | 384 | /* Determine which operational mode the acc is set */ |
| cparata | 2:39ad2a393143 | 385 | if(!LSM303AGR_ACC_R_HiRes( (void *)this, &hr )) { |
| cparata | 2:39ad2a393143 | 386 | return 1; |
| cparata | 2:39ad2a393143 | 387 | } |
| cparata | 2:39ad2a393143 | 388 | |
| cparata | 2:39ad2a393143 | 389 | if(!LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp )) { |
| cparata | 2:39ad2a393143 | 390 | return 1; |
| cparata | 2:39ad2a393143 | 391 | } |
| cparata | 2:39ad2a393143 | 392 | |
| cparata | 2:39ad2a393143 | 393 | if (lp == LSM303AGR_ACC_LPEN_ENABLED && hr == LSM303AGR_ACC_HR_DISABLED) { |
| cparata | 2:39ad2a393143 | 394 | /* op mode is LP 8-bit */ |
| cparata | 2:39ad2a393143 | 395 | shift = 8; |
| cparata | 2:39ad2a393143 | 396 | } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_DISABLED) { |
| cparata | 2:39ad2a393143 | 397 | /* op mode is Normal 10-bit */ |
| cparata | 2:39ad2a393143 | 398 | shift = 6; |
| cparata | 2:39ad2a393143 | 399 | } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_ENABLED) { |
| cparata | 2:39ad2a393143 | 400 | /* op mode is HR 12-bit */ |
| cparata | 2:39ad2a393143 | 401 | shift = 4; |
| cparata | 2:39ad2a393143 | 402 | } else { |
| cparata | 2:39ad2a393143 | 403 | return 1; |
| cparata | 2:39ad2a393143 | 404 | } |
| cparata | 2:39ad2a393143 | 405 | |
| cparata | 2:39ad2a393143 | 406 | /* Read output registers from LSM303AGR_ACC_GYRO_OUTX_L_XL to LSM303AGR_ACC_GYRO_OUTZ_H_XL. */ |
| cparata | 2:39ad2a393143 | 407 | if (!LSM303AGR_ACC_Get_Raw_Acceleration( (void *)this, ( uint8_t* )regValue )) |
| cparata | 2:39ad2a393143 | 408 | { |
| cparata | 2:39ad2a393143 | 409 | return 1; |
| cparata | 2:39ad2a393143 | 410 | } |
| cparata | 2:39ad2a393143 | 411 | |
| cparata | 2:39ad2a393143 | 412 | /* Format the data. */ |
| cparata | 2:39ad2a393143 | 413 | pData[0] = ( ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] ) >> shift ); |
| cparata | 2:39ad2a393143 | 414 | pData[1] = ( ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] ) >> shift ); |
| cparata | 2:39ad2a393143 | 415 | pData[2] = ( ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] ) >> shift ); |
| cparata | 2:39ad2a393143 | 416 | |
| cparata | 2:39ad2a393143 | 417 | return 0; |
| cparata | 2:39ad2a393143 | 418 | } |
| cparata | 2:39ad2a393143 | 419 | |
| cparata | 2:39ad2a393143 | 420 | /** |
| cparata | 2:39ad2a393143 | 421 | * @brief Read LSM303AGR Accelerometer output data rate |
| cparata | 2:39ad2a393143 | 422 | * @param odr the pointer to the output data rate |
| cparata | 2:39ad2a393143 | 423 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 424 | */ |
| cparata | 2:39ad2a393143 | 425 | int LSM303AGR_ACC_Sensor::Get_X_ODR(float* odr) |
| cparata | 2:39ad2a393143 | 426 | { |
| cparata | 2:39ad2a393143 | 427 | LSM303AGR_ACC_ODR_t odr_low_level; |
| cparata | 2:39ad2a393143 | 428 | |
| cparata | 2:39ad2a393143 | 429 | if ( LSM303AGR_ACC_R_ODR( (void *)this, &odr_low_level ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 430 | { |
| cparata | 2:39ad2a393143 | 431 | return 1; |
| cparata | 2:39ad2a393143 | 432 | } |
| cparata | 2:39ad2a393143 | 433 | |
| cparata | 2:39ad2a393143 | 434 | switch( odr_low_level ) |
| cparata | 2:39ad2a393143 | 435 | { |
| cparata | 2:39ad2a393143 | 436 | case LSM303AGR_ACC_ODR_DO_PWR_DOWN: |
| cparata | 2:39ad2a393143 | 437 | *odr = 0.0f; |
| cparata | 2:39ad2a393143 | 438 | break; |
| cparata | 2:39ad2a393143 | 439 | case LSM303AGR_ACC_ODR_DO_1Hz: |
| cparata | 2:39ad2a393143 | 440 | *odr = 1.0f; |
| cparata | 2:39ad2a393143 | 441 | break; |
| cparata | 2:39ad2a393143 | 442 | case LSM303AGR_ACC_ODR_DO_10Hz: |
| cparata | 2:39ad2a393143 | 443 | *odr = 10.0f; |
| cparata | 2:39ad2a393143 | 444 | break; |
| cparata | 2:39ad2a393143 | 445 | case LSM303AGR_ACC_ODR_DO_25Hz: |
| cparata | 2:39ad2a393143 | 446 | *odr = 25.0f; |
| cparata | 2:39ad2a393143 | 447 | break; |
| cparata | 2:39ad2a393143 | 448 | case LSM303AGR_ACC_ODR_DO_50Hz: |
| cparata | 2:39ad2a393143 | 449 | *odr = 50.0f; |
| cparata | 2:39ad2a393143 | 450 | break; |
| cparata | 2:39ad2a393143 | 451 | case LSM303AGR_ACC_ODR_DO_100Hz: |
| cparata | 2:39ad2a393143 | 452 | *odr = 100.0f; |
| cparata | 2:39ad2a393143 | 453 | break; |
| cparata | 2:39ad2a393143 | 454 | case LSM303AGR_ACC_ODR_DO_200Hz: |
| cparata | 2:39ad2a393143 | 455 | *odr = 200.0f; |
| cparata | 2:39ad2a393143 | 456 | break; |
| cparata | 2:39ad2a393143 | 457 | case LSM303AGR_ACC_ODR_DO_400Hz: |
| cparata | 2:39ad2a393143 | 458 | *odr = 400.0f; |
| cparata | 2:39ad2a393143 | 459 | break; |
| cparata | 2:39ad2a393143 | 460 | default: |
| cparata | 2:39ad2a393143 | 461 | *odr = -1.0f; |
| cparata | 2:39ad2a393143 | 462 | return 1; |
| cparata | 2:39ad2a393143 | 463 | } |
| cparata | 2:39ad2a393143 | 464 | |
| cparata | 2:39ad2a393143 | 465 | return 0; |
| cparata | 2:39ad2a393143 | 466 | } |
| cparata | 2:39ad2a393143 | 467 | |
| cparata | 2:39ad2a393143 | 468 | /** |
| cparata | 2:39ad2a393143 | 469 | * @brief Set ODR |
| cparata | 2:39ad2a393143 | 470 | * @param odr the output data rate to be set |
| cparata | 2:39ad2a393143 | 471 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 472 | */ |
| cparata | 2:39ad2a393143 | 473 | int LSM303AGR_ACC_Sensor::Set_X_ODR(float odr) |
| cparata | 2:39ad2a393143 | 474 | { |
| cparata | 2:39ad2a393143 | 475 | if(isEnabled == 1) |
| cparata | 2:39ad2a393143 | 476 | { |
| cparata | 2:39ad2a393143 | 477 | if(Set_X_ODR_When_Enabled(odr) == 1) |
| cparata | 2:39ad2a393143 | 478 | { |
| cparata | 2:39ad2a393143 | 479 | return 1; |
| cparata | 2:39ad2a393143 | 480 | } |
| cparata | 2:39ad2a393143 | 481 | } |
| cparata | 2:39ad2a393143 | 482 | else |
| cparata | 2:39ad2a393143 | 483 | { |
| cparata | 2:39ad2a393143 | 484 | if(Set_X_ODR_When_Disabled(odr) == 1) |
| cparata | 2:39ad2a393143 | 485 | { |
| cparata | 2:39ad2a393143 | 486 | return 1; |
| cparata | 2:39ad2a393143 | 487 | } |
| cparata | 2:39ad2a393143 | 488 | } |
| cparata | 2:39ad2a393143 | 489 | |
| cparata | 2:39ad2a393143 | 490 | return 0; |
| cparata | 2:39ad2a393143 | 491 | } |
| cparata | 2:39ad2a393143 | 492 | |
| cparata | 2:39ad2a393143 | 493 | /** |
| cparata | 2:39ad2a393143 | 494 | * @brief Set ODR when enabled |
| cparata | 2:39ad2a393143 | 495 | * @param odr the output data rate to be set |
| cparata | 2:39ad2a393143 | 496 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 497 | */ |
| cparata | 2:39ad2a393143 | 498 | int LSM303AGR_ACC_Sensor::Set_X_ODR_When_Enabled(float odr) |
| cparata | 2:39ad2a393143 | 499 | { |
| cparata | 2:39ad2a393143 | 500 | LSM303AGR_ACC_ODR_t new_odr; |
| cparata | 2:39ad2a393143 | 501 | |
| cparata | 2:39ad2a393143 | 502 | new_odr = ( odr <= 1.0f ) ? LSM303AGR_ACC_ODR_DO_1Hz |
| cparata | 2:39ad2a393143 | 503 | : ( odr <= 10.0f ) ? LSM303AGR_ACC_ODR_DO_10Hz |
| cparata | 2:39ad2a393143 | 504 | : ( odr <= 25.0f ) ? LSM303AGR_ACC_ODR_DO_25Hz |
| cparata | 2:39ad2a393143 | 505 | : ( odr <= 50.0f ) ? LSM303AGR_ACC_ODR_DO_50Hz |
| cparata | 2:39ad2a393143 | 506 | : ( odr <= 100.0f ) ? LSM303AGR_ACC_ODR_DO_100Hz |
| cparata | 2:39ad2a393143 | 507 | : ( odr <= 200.0f ) ? LSM303AGR_ACC_ODR_DO_200Hz |
| cparata | 2:39ad2a393143 | 508 | : LSM303AGR_ACC_ODR_DO_400Hz; |
| cparata | 2:39ad2a393143 | 509 | |
| cparata | 2:39ad2a393143 | 510 | if ( LSM303AGR_ACC_W_ODR( (void *)this, new_odr ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 511 | { |
| cparata | 2:39ad2a393143 | 512 | return 1; |
| cparata | 2:39ad2a393143 | 513 | } |
| cparata | 2:39ad2a393143 | 514 | |
| cparata | 2:39ad2a393143 | 515 | return 0; |
| cparata | 2:39ad2a393143 | 516 | } |
| cparata | 2:39ad2a393143 | 517 | |
| cparata | 2:39ad2a393143 | 518 | /** |
| cparata | 2:39ad2a393143 | 519 | * @brief Set ODR when disabled |
| cparata | 2:39ad2a393143 | 520 | * @param odr the output data rate to be set |
| cparata | 2:39ad2a393143 | 521 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 522 | */ |
| cparata | 2:39ad2a393143 | 523 | int LSM303AGR_ACC_Sensor::Set_X_ODR_When_Disabled(float odr) |
| cparata | 2:39ad2a393143 | 524 | { |
| cparata | 2:39ad2a393143 | 525 | Last_ODR = ( odr <= 1.0f ) ? 1.0f |
| cparata | 2:39ad2a393143 | 526 | : ( odr <= 10.0f ) ? 10.0f |
| cparata | 2:39ad2a393143 | 527 | : ( odr <= 25.0f ) ? 25.0f |
| cparata | 2:39ad2a393143 | 528 | : ( odr <= 50.0f ) ? 50.0f |
| cparata | 2:39ad2a393143 | 529 | : ( odr <= 100.0f ) ? 100.0f |
| cparata | 2:39ad2a393143 | 530 | : ( odr <= 200.0f ) ? 200.0f |
| cparata | 2:39ad2a393143 | 531 | : 400.0f; |
| cparata | 2:39ad2a393143 | 532 | |
| cparata | 2:39ad2a393143 | 533 | return 0; |
| cparata | 2:39ad2a393143 | 534 | } |
| cparata | 2:39ad2a393143 | 535 | |
| cparata | 2:39ad2a393143 | 536 | |
| cparata | 2:39ad2a393143 | 537 | /** |
| cparata | 2:39ad2a393143 | 538 | * @brief Read LSM303AGR Accelerometer full scale |
| cparata | 2:39ad2a393143 | 539 | * @param fullScale the pointer to the full scale |
| cparata | 2:39ad2a393143 | 540 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 541 | */ |
| cparata | 2:39ad2a393143 | 542 | int LSM303AGR_ACC_Sensor::Get_X_FS(float* fullScale) |
| cparata | 2:39ad2a393143 | 543 | { |
| cparata | 2:39ad2a393143 | 544 | LSM303AGR_ACC_FS_t fs_low_level; |
| cparata | 2:39ad2a393143 | 545 | |
| cparata | 2:39ad2a393143 | 546 | if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fs_low_level ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 547 | { |
| cparata | 2:39ad2a393143 | 548 | return 1; |
| cparata | 2:39ad2a393143 | 549 | } |
| cparata | 2:39ad2a393143 | 550 | |
| cparata | 2:39ad2a393143 | 551 | switch( fs_low_level ) |
| cparata | 2:39ad2a393143 | 552 | { |
| cparata | 2:39ad2a393143 | 553 | case LSM303AGR_ACC_FS_2G: |
| cparata | 2:39ad2a393143 | 554 | *fullScale = 2.0f; |
| cparata | 2:39ad2a393143 | 555 | break; |
| cparata | 2:39ad2a393143 | 556 | case LSM303AGR_ACC_FS_4G: |
| cparata | 2:39ad2a393143 | 557 | *fullScale = 4.0f; |
| cparata | 2:39ad2a393143 | 558 | break; |
| cparata | 2:39ad2a393143 | 559 | case LSM303AGR_ACC_FS_8G: |
| cparata | 2:39ad2a393143 | 560 | *fullScale = 8.0f; |
| cparata | 2:39ad2a393143 | 561 | break; |
| cparata | 2:39ad2a393143 | 562 | case LSM303AGR_ACC_FS_16G: |
| cparata | 2:39ad2a393143 | 563 | *fullScale = 16.0f; |
| cparata | 2:39ad2a393143 | 564 | break; |
| cparata | 2:39ad2a393143 | 565 | default: |
| cparata | 2:39ad2a393143 | 566 | *fullScale = -1.0f; |
| cparata | 2:39ad2a393143 | 567 | return 1; |
| cparata | 2:39ad2a393143 | 568 | } |
| cparata | 2:39ad2a393143 | 569 | |
| cparata | 2:39ad2a393143 | 570 | return 0; |
| cparata | 2:39ad2a393143 | 571 | } |
| cparata | 2:39ad2a393143 | 572 | |
| cparata | 2:39ad2a393143 | 573 | /** |
| cparata | 2:39ad2a393143 | 574 | * @brief Set full scale |
| cparata | 2:39ad2a393143 | 575 | * @param fullScale the full scale to be set |
| cparata | 2:39ad2a393143 | 576 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 577 | */ |
| cparata | 2:39ad2a393143 | 578 | int LSM303AGR_ACC_Sensor::Set_X_FS(float fullScale) |
| cparata | 2:39ad2a393143 | 579 | { |
| cparata | 2:39ad2a393143 | 580 | LSM303AGR_ACC_FS_t new_fs; |
| cparata | 2:39ad2a393143 | 581 | |
| cparata | 2:39ad2a393143 | 582 | new_fs = ( fullScale <= 2.0f ) ? LSM303AGR_ACC_FS_2G |
| cparata | 2:39ad2a393143 | 583 | : ( fullScale <= 4.0f ) ? LSM303AGR_ACC_FS_4G |
| cparata | 2:39ad2a393143 | 584 | : ( fullScale <= 8.0f ) ? LSM303AGR_ACC_FS_8G |
| cparata | 2:39ad2a393143 | 585 | : LSM303AGR_ACC_FS_16G; |
| cparata | 2:39ad2a393143 | 586 | |
| cparata | 2:39ad2a393143 | 587 | if ( LSM303AGR_ACC_W_FullScale( (void *)this, new_fs ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 588 | { |
| cparata | 2:39ad2a393143 | 589 | return 1; |
| cparata | 2:39ad2a393143 | 590 | } |
| cparata | 2:39ad2a393143 | 591 | |
| cparata | 2:39ad2a393143 | 592 | return 0; |
| cparata | 2:39ad2a393143 | 593 | } |
| cparata | 2:39ad2a393143 | 594 | |
| cparata | 2:39ad2a393143 | 595 | /** |
| cparata | 2:39ad2a393143 | 596 | * @brief Read accelerometer data from register |
| cparata | 2:39ad2a393143 | 597 | * @param reg register address |
| cparata | 2:39ad2a393143 | 598 | * @param data register data |
| cparata | 2:39ad2a393143 | 599 | * @retval 0 in case of success |
| cparata | 2:39ad2a393143 | 600 | * @retval 1 in case of failure |
| cparata | 2:39ad2a393143 | 601 | */ |
| cparata | 2:39ad2a393143 | 602 | int LSM303AGR_ACC_Sensor::ReadReg( uint8_t reg, uint8_t *data ) |
| cparata | 2:39ad2a393143 | 603 | { |
| cparata | 2:39ad2a393143 | 604 | |
| cparata | 2:39ad2a393143 | 605 | if ( LSM303AGR_ACC_ReadReg( (void *)this, reg, data ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 606 | { |
| cparata | 2:39ad2a393143 | 607 | return 1; |
| cparata | 2:39ad2a393143 | 608 | } |
| cparata | 2:39ad2a393143 | 609 | |
| cparata | 2:39ad2a393143 | 610 | return 0; |
| cparata | 2:39ad2a393143 | 611 | } |
| cparata | 2:39ad2a393143 | 612 | |
| cparata | 2:39ad2a393143 | 613 | /** |
| cparata | 2:39ad2a393143 | 614 | * @brief Write accelerometer data to register |
| cparata | 2:39ad2a393143 | 615 | * @param reg register address |
| cparata | 2:39ad2a393143 | 616 | * @param data register data |
| cparata | 2:39ad2a393143 | 617 | * @retval 0 in case of success |
| cparata | 2:39ad2a393143 | 618 | * @retval 1 in case of failure |
| cparata | 2:39ad2a393143 | 619 | */ |
| cparata | 2:39ad2a393143 | 620 | int LSM303AGR_ACC_Sensor::WriteReg( uint8_t reg, uint8_t data ) |
| cparata | 2:39ad2a393143 | 621 | { |
| cparata | 2:39ad2a393143 | 622 | |
| cparata | 2:39ad2a393143 | 623 | if ( LSM303AGR_ACC_WriteReg( (void *)this, reg, data ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 624 | { |
| cparata | 2:39ad2a393143 | 625 | return 1; |
| cparata | 2:39ad2a393143 | 626 | } |
| cparata | 2:39ad2a393143 | 627 | |
| cparata | 2:39ad2a393143 | 628 | return 0; |
| cparata | 2:39ad2a393143 | 629 | } |
| cparata | 2:39ad2a393143 | 630 | |
| cparata | 2:39ad2a393143 | 631 | uint8_t LSM303AGR_ACC_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite ) |
| cparata | 2:39ad2a393143 | 632 | { |
| cparata | 2:39ad2a393143 | 633 | return ((LSM303AGR_ACC_Sensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite); |
| cparata | 2:39ad2a393143 | 634 | } |
| cparata | 2:39ad2a393143 | 635 | |
| cparata | 2:39ad2a393143 | 636 | uint8_t LSM303AGR_ACC_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead ) |
| cparata | 2:39ad2a393143 | 637 | { |
| cparata | 2:39ad2a393143 | 638 | return ((LSM303AGR_ACC_Sensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead); |
| cparata | 2:39ad2a393143 | 639 | } |