ST / Mbed 2 deprecated Tilt_IKS01A2

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@0:489965565a0d, 2016-08-12 (annotated)

Committer:
cparata
Date:
Fri Aug 12 13:42:49 2016 +0000
Revision:
0:489965565a0d
First release of Tilt Detection for LSM6DSL in IKS01A2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 0:489965565a0d 1 /**
cparata 0:489965565a0d 2 ******************************************************************************
cparata 0:489965565a0d 3 * @file LSM303AGR_ACC_Sensor.cpp
cparata 0:489965565a0d 4 * @author AST
cparata 0:489965565a0d 5 * @version V1.0.0
cparata 0:489965565a0d 6 * @date 5 August 2016
cparata 0:489965565a0d 7 * @brief Implementation an LSM303AGR accelerometer sensor.
cparata 0:489965565a0d 8 ******************************************************************************
cparata 0:489965565a0d 9 * @attention
cparata 0:489965565a0d 10 *
cparata 0:489965565a0d 11 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 0:489965565a0d 12 *
cparata 0:489965565a0d 13 * Redistribution and use in source and binary forms, with or without modification,
cparata 0:489965565a0d 14 * are permitted provided that the following conditions are met:
cparata 0:489965565a0d 15 * 1. Redistributions of source code must retain the above copyright notice,
cparata 0:489965565a0d 16 * this list of conditions and the following disclaimer.
cparata 0:489965565a0d 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 0:489965565a0d 18 * this list of conditions and the following disclaimer in the documentation
cparata 0:489965565a0d 19 * and/or other materials provided with the distribution.
cparata 0:489965565a0d 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 0:489965565a0d 21 * may be used to endorse or promote products derived from this software
cparata 0:489965565a0d 22 * without specific prior written permission.
cparata 0:489965565a0d 23 *
cparata 0:489965565a0d 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 0:489965565a0d 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 0:489965565a0d 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 0:489965565a0d 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 0:489965565a0d 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 0:489965565a0d 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 0:489965565a0d 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 0:489965565a0d 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 0:489965565a0d 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 0:489965565a0d 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 0:489965565a0d 34 *
cparata 0:489965565a0d 35 ******************************************************************************
cparata 0:489965565a0d 36 */
cparata 0:489965565a0d 37
cparata 0:489965565a0d 38
cparata 0:489965565a0d 39 /* Includes ------------------------------------------------------------------*/
cparata 0:489965565a0d 40
cparata 0:489965565a0d 41 #include "DevI2C.h"
cparata 0:489965565a0d 42 #include "LSM303AGR_ACC_Sensor.h"
cparata 0:489965565a0d 43 #include "LSM303AGR_ACC_driver.h"
cparata 0:489965565a0d 44
cparata 0:489965565a0d 45
cparata 0:489965565a0d 46 /* Class Implementation ------------------------------------------------------*/
cparata 0:489965565a0d 47
cparata 0:489965565a0d 48 /** Constructor
cparata 0:489965565a0d 49 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:489965565a0d 50 * @param address the address of the component's instance
cparata 0:489965565a0d 51 */
cparata 0:489965565a0d 52 LSM303AGR_ACC_Sensor::LSM303AGR_ACC_Sensor(DevI2C &i2c) : dev_i2c(i2c)
cparata 0:489965565a0d 53 {
cparata 0:489965565a0d 54 address = LSM303AGR_ACC_I2C_ADDRESS;
cparata 0:489965565a0d 55
cparata 0:489965565a0d 56 /* Enable BDU */
cparata 0:489965565a0d 57 if ( LSM303AGR_ACC_W_BlockDataUpdate( (void *)this, LSM303AGR_ACC_BDU_ENABLED ) == MEMS_ERROR )
cparata 0:489965565a0d 58 {
cparata 0:489965565a0d 59 return;
cparata 0:489965565a0d 60 }
cparata 0:489965565a0d 61
cparata 0:489965565a0d 62 /* FIFO mode selection */
cparata 0:489965565a0d 63 if ( LSM303AGR_ACC_W_FifoMode( (void *)this, LSM303AGR_ACC_FM_BYPASS ) == MEMS_ERROR )
cparata 0:489965565a0d 64 {
cparata 0:489965565a0d 65 return;
cparata 0:489965565a0d 66 }
cparata 0:489965565a0d 67
cparata 0:489965565a0d 68 /* Output data rate selection - power down. */
cparata 0:489965565a0d 69 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
cparata 0:489965565a0d 70 {
cparata 0:489965565a0d 71 return;
cparata 0:489965565a0d 72 }
cparata 0:489965565a0d 73
cparata 0:489965565a0d 74 /* Full scale selection. */
cparata 0:489965565a0d 75 if ( SetFS( 2.0f ) == LSM303AGR_ACC_STATUS_ERROR )
cparata 0:489965565a0d 76 {
cparata 0:489965565a0d 77 return;
cparata 0:489965565a0d 78 }
cparata 0:489965565a0d 79
cparata 0:489965565a0d 80 /* Enable axes. */
cparata 0:489965565a0d 81 if ( LSM303AGR_ACC_W_XEN( (void *)this, LSM303AGR_ACC_XEN_ENABLED ) == MEMS_ERROR )
cparata 0:489965565a0d 82 {
cparata 0:489965565a0d 83 return;
cparata 0:489965565a0d 84 }
cparata 0:489965565a0d 85
cparata 0:489965565a0d 86 if ( LSM303AGR_ACC_W_YEN ( (void *)this, LSM303AGR_ACC_YEN_ENABLED ) == MEMS_ERROR )
cparata 0:489965565a0d 87 {
cparata 0:489965565a0d 88 return;
cparata 0:489965565a0d 89 }
cparata 0:489965565a0d 90
cparata 0:489965565a0d 91 if ( LSM303AGR_ACC_W_ZEN ( (void *)this, LSM303AGR_ACC_ZEN_ENABLED ) == MEMS_ERROR )
cparata 0:489965565a0d 92 {
cparata 0:489965565a0d 93 return;
cparata 0:489965565a0d 94 }
cparata 0:489965565a0d 95
cparata 0:489965565a0d 96 /* Select default output data rate. */
cparata 0:489965565a0d 97 Last_ODR = 100.0f;
cparata 0:489965565a0d 98
cparata 0:489965565a0d 99 isEnabled = 0;
cparata 0:489965565a0d 100 };
cparata 0:489965565a0d 101
cparata 0:489965565a0d 102 /** Constructor
cparata 0:489965565a0d 103 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:489965565a0d 104 * @param address the address of the component's instance
cparata 0:489965565a0d 105 */
cparata 0:489965565a0d 106 LSM303AGR_ACC_Sensor::LSM303AGR_ACC_Sensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
cparata 0:489965565a0d 107 {
cparata 0:489965565a0d 108 /* Enable BDU */
cparata 0:489965565a0d 109 if ( LSM303AGR_ACC_W_BlockDataUpdate( (void *)this, LSM303AGR_ACC_BDU_ENABLED ) == MEMS_ERROR )
cparata 0:489965565a0d 110 {
cparata 0:489965565a0d 111 return;
cparata 0:489965565a0d 112 }
cparata 0:489965565a0d 113
cparata 0:489965565a0d 114 /* FIFO mode selection */
cparata 0:489965565a0d 115 if ( LSM303AGR_ACC_W_FifoMode( (void *)this, LSM303AGR_ACC_FM_BYPASS ) == MEMS_ERROR )
cparata 0:489965565a0d 116 {
cparata 0:489965565a0d 117 return;
cparata 0:489965565a0d 118 }
cparata 0:489965565a0d 119
cparata 0:489965565a0d 120 /* Output data rate selection - power down. */
cparata 0:489965565a0d 121 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
cparata 0:489965565a0d 122 {
cparata 0:489965565a0d 123 return;
cparata 0:489965565a0d 124 }
cparata 0:489965565a0d 125
cparata 0:489965565a0d 126 /* Full scale selection. */
cparata 0:489965565a0d 127 if ( SetFS( 2.0f ) == LSM303AGR_ACC_STATUS_ERROR )
cparata 0:489965565a0d 128 {
cparata 0:489965565a0d 129 return;
cparata 0:489965565a0d 130 }
cparata 0:489965565a0d 131
cparata 0:489965565a0d 132 /* Enable axes. */
cparata 0:489965565a0d 133 if ( LSM303AGR_ACC_W_XEN( (void *)this, LSM303AGR_ACC_XEN_ENABLED ) == MEMS_ERROR )
cparata 0:489965565a0d 134 {
cparata 0:489965565a0d 135 return;
cparata 0:489965565a0d 136 }
cparata 0:489965565a0d 137
cparata 0:489965565a0d 138 if ( LSM303AGR_ACC_W_YEN ( (void *)this, LSM303AGR_ACC_YEN_ENABLED ) == MEMS_ERROR )
cparata 0:489965565a0d 139 {
cparata 0:489965565a0d 140 return;
cparata 0:489965565a0d 141 }
cparata 0:489965565a0d 142
cparata 0:489965565a0d 143 if ( LSM303AGR_ACC_W_ZEN ( (void *)this, LSM303AGR_ACC_ZEN_ENABLED ) == MEMS_ERROR )
cparata 0:489965565a0d 144 {
cparata 0:489965565a0d 145 return;
cparata 0:489965565a0d 146 }
cparata 0:489965565a0d 147
cparata 0:489965565a0d 148 /* Select default output data rate. */
cparata 0:489965565a0d 149 Last_ODR = 100.0f;
cparata 0:489965565a0d 150
cparata 0:489965565a0d 151 isEnabled = 0;
cparata 0:489965565a0d 152 };
cparata 0:489965565a0d 153
cparata 0:489965565a0d 154 /**
cparata 0:489965565a0d 155 * @brief Enable LSM303AGR Accelerator
cparata 0:489965565a0d 156 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:489965565a0d 157 */
cparata 0:489965565a0d 158 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::Enable(void)
cparata 0:489965565a0d 159 {
cparata 0:489965565a0d 160 /* Check if the component is already enabled */
cparata 0:489965565a0d 161 if ( isEnabled == 1 )
cparata 0:489965565a0d 162 {
cparata 0:489965565a0d 163 return LSM303AGR_ACC_STATUS_OK;
cparata 0:489965565a0d 164 }
cparata 0:489965565a0d 165
cparata 0:489965565a0d 166 /* Output data rate selection. */
cparata 0:489965565a0d 167 if ( SetODR_When_Enabled( Last_ODR ) == LSM303AGR_ACC_STATUS_ERROR )
cparata 0:489965565a0d 168 {
cparata 0:489965565a0d 169 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 170 }
cparata 0:489965565a0d 171
cparata 0:489965565a0d 172 isEnabled = 1;
cparata 0:489965565a0d 173
cparata 0:489965565a0d 174 return LSM303AGR_ACC_STATUS_OK;
cparata 0:489965565a0d 175 }
cparata 0:489965565a0d 176
cparata 0:489965565a0d 177 /**
cparata 0:489965565a0d 178 * @brief Disable LSM303AGR Accelerator
cparata 0:489965565a0d 179 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:489965565a0d 180 */
cparata 0:489965565a0d 181 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::Disable(void)
cparata 0:489965565a0d 182 {
cparata 0:489965565a0d 183 /* Check if the component is already disabled */
cparata 0:489965565a0d 184 if ( isEnabled == 0 )
cparata 0:489965565a0d 185 {
cparata 0:489965565a0d 186 return LSM303AGR_ACC_STATUS_OK;
cparata 0:489965565a0d 187 }
cparata 0:489965565a0d 188
cparata 0:489965565a0d 189 /* Store actual output data rate. */
cparata 0:489965565a0d 190 if ( GetODR( &Last_ODR ) == LSM303AGR_ACC_STATUS_ERROR )
cparata 0:489965565a0d 191 {
cparata 0:489965565a0d 192 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 193 }
cparata 0:489965565a0d 194
cparata 0:489965565a0d 195 /* Output data rate selection - power down. */
cparata 0:489965565a0d 196 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
cparata 0:489965565a0d 197 {
cparata 0:489965565a0d 198 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 199 }
cparata 0:489965565a0d 200
cparata 0:489965565a0d 201 isEnabled = 0;
cparata 0:489965565a0d 202
cparata 0:489965565a0d 203 return LSM303AGR_ACC_STATUS_OK;
cparata 0:489965565a0d 204 }
cparata 0:489965565a0d 205
cparata 0:489965565a0d 206 /**
cparata 0:489965565a0d 207 * @brief Read ID of LSM303AGR Accelerometer
cparata 0:489965565a0d 208 * @param p_id the pointer where the ID of the device is stored
cparata 0:489965565a0d 209 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:489965565a0d 210 */
cparata 0:489965565a0d 211 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::ReadID(uint8_t *p_id)
cparata 0:489965565a0d 212 {
cparata 0:489965565a0d 213 if(!p_id)
cparata 0:489965565a0d 214 {
cparata 0:489965565a0d 215 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 216 }
cparata 0:489965565a0d 217
cparata 0:489965565a0d 218 /* Read WHO AM I register */
cparata 0:489965565a0d 219 if ( LSM303AGR_ACC_R_WHO_AM_I( (void *)this, p_id ) == MEMS_ERROR )
cparata 0:489965565a0d 220 {
cparata 0:489965565a0d 221 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 222 }
cparata 0:489965565a0d 223
cparata 0:489965565a0d 224 return LSM303AGR_ACC_STATUS_OK;
cparata 0:489965565a0d 225 }
cparata 0:489965565a0d 226
cparata 0:489965565a0d 227 /**
cparata 0:489965565a0d 228 * @brief Read data from LSM303AGR Accelerometer
cparata 0:489965565a0d 229 * @param pData the pointer where the accelerometer data are stored
cparata 0:489965565a0d 230 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:489965565a0d 231 */
cparata 0:489965565a0d 232 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetAxes(int32_t *pData)
cparata 0:489965565a0d 233 {
cparata 0:489965565a0d 234 int data[3];
cparata 0:489965565a0d 235
cparata 0:489965565a0d 236 /* Read data from LSM303AGR. */
cparata 0:489965565a0d 237 if ( !LSM303AGR_ACC_Get_Acceleration((void *)this, data) )
cparata 0:489965565a0d 238 {
cparata 0:489965565a0d 239 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 240 }
cparata 0:489965565a0d 241
cparata 0:489965565a0d 242 /* Calculate the data. */
cparata 0:489965565a0d 243 pData[0] = (int32_t)data[0];
cparata 0:489965565a0d 244 pData[1] = (int32_t)data[1];
cparata 0:489965565a0d 245 pData[2] = (int32_t)data[2];
cparata 0:489965565a0d 246
cparata 0:489965565a0d 247 return LSM303AGR_ACC_STATUS_OK;
cparata 0:489965565a0d 248 }
cparata 0:489965565a0d 249
cparata 0:489965565a0d 250 /**
cparata 0:489965565a0d 251 * @brief Read Accelerometer Sensitivity
cparata 0:489965565a0d 252 * @param pfData the pointer where the accelerometer sensitivity is stored
cparata 0:489965565a0d 253 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:489965565a0d 254 */
cparata 0:489965565a0d 255 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetSensitivity(float *pfData)
cparata 0:489965565a0d 256 {
cparata 0:489965565a0d 257 LSM303AGR_ACC_LPEN_t lp_value;
cparata 0:489965565a0d 258 LSM303AGR_ACC_HR_t hr_value;
cparata 0:489965565a0d 259
cparata 0:489965565a0d 260 /* Read low power flag */
cparata 0:489965565a0d 261 if( LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp_value ) == MEMS_ERROR )
cparata 0:489965565a0d 262 {
cparata 0:489965565a0d 263 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 264 }
cparata 0:489965565a0d 265
cparata 0:489965565a0d 266 /* Read high performance flag */
cparata 0:489965565a0d 267 if( LSM303AGR_ACC_R_HiRes( (void *)this, &hr_value ) == MEMS_ERROR )
cparata 0:489965565a0d 268 {
cparata 0:489965565a0d 269 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 270 }
cparata 0:489965565a0d 271
cparata 0:489965565a0d 272 if( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
cparata 0:489965565a0d 273 {
cparata 0:489965565a0d 274 /* Normal Mode */
cparata 0:489965565a0d 275 return GetSensitivity_Normal_Mode( pfData );
cparata 0:489965565a0d 276 } else if ( lp_value == LSM303AGR_ACC_LPEN_ENABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
cparata 0:489965565a0d 277 {
cparata 0:489965565a0d 278 /* Low Power Mode */
cparata 0:489965565a0d 279 return GetSensitivity_LP_Mode( pfData );
cparata 0:489965565a0d 280 } else if ( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_ENABLED )
cparata 0:489965565a0d 281 {
cparata 0:489965565a0d 282 /* High Resolution Mode */
cparata 0:489965565a0d 283 return GetSensitivity_HR_Mode( pfData );
cparata 0:489965565a0d 284 } else
cparata 0:489965565a0d 285 {
cparata 0:489965565a0d 286 /* Not allowed */
cparata 0:489965565a0d 287 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 288 }
cparata 0:489965565a0d 289 }
cparata 0:489965565a0d 290
cparata 0:489965565a0d 291 /**
cparata 0:489965565a0d 292 * @brief Read Accelerometer Sensitivity in Normal Mode
cparata 0:489965565a0d 293 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 0:489965565a0d 294 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:489965565a0d 295 */
cparata 0:489965565a0d 296 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetSensitivity_Normal_Mode( float *sensitivity )
cparata 0:489965565a0d 297 {
cparata 0:489965565a0d 298 LSM303AGR_ACC_FS_t fullScale;
cparata 0:489965565a0d 299
cparata 0:489965565a0d 300 /* Read actual full scale selection from sensor. */
cparata 0:489965565a0d 301 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:489965565a0d 302 {
cparata 0:489965565a0d 303 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 304 }
cparata 0:489965565a0d 305
cparata 0:489965565a0d 306 /* Store the sensitivity based on actual full scale. */
cparata 0:489965565a0d 307 switch( fullScale )
cparata 0:489965565a0d 308 {
cparata 0:489965565a0d 309 case LSM303AGR_ACC_FS_2G:
cparata 0:489965565a0d 310 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_NORMAL_MODE;
cparata 0:489965565a0d 311 break;
cparata 0:489965565a0d 312 case LSM303AGR_ACC_FS_4G:
cparata 0:489965565a0d 313 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_NORMAL_MODE;
cparata 0:489965565a0d 314 break;
cparata 0:489965565a0d 315 case LSM303AGR_ACC_FS_8G:
cparata 0:489965565a0d 316 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_NORMAL_MODE;
cparata 0:489965565a0d 317 break;
cparata 0:489965565a0d 318 case LSM303AGR_ACC_FS_16G:
cparata 0:489965565a0d 319 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_NORMAL_MODE;
cparata 0:489965565a0d 320 break;
cparata 0:489965565a0d 321 default:
cparata 0:489965565a0d 322 *sensitivity = -1.0f;
cparata 0:489965565a0d 323 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 324 }
cparata 0:489965565a0d 325
cparata 0:489965565a0d 326 return LSM303AGR_ACC_STATUS_OK;
cparata 0:489965565a0d 327 }
cparata 0:489965565a0d 328
cparata 0:489965565a0d 329 /**
cparata 0:489965565a0d 330 * @brief Read Accelerometer Sensitivity in LP Mode
cparata 0:489965565a0d 331 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 0:489965565a0d 332 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:489965565a0d 333 */
cparata 0:489965565a0d 334 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetSensitivity_LP_Mode( float *sensitivity )
cparata 0:489965565a0d 335 {
cparata 0:489965565a0d 336 LSM303AGR_ACC_FS_t fullScale;
cparata 0:489965565a0d 337
cparata 0:489965565a0d 338 /* Read actual full scale selection from sensor. */
cparata 0:489965565a0d 339 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:489965565a0d 340 {
cparata 0:489965565a0d 341 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 342 }
cparata 0:489965565a0d 343
cparata 0:489965565a0d 344 /* Store the sensitivity based on actual full scale. */
cparata 0:489965565a0d 345 switch( fullScale )
cparata 0:489965565a0d 346 {
cparata 0:489965565a0d 347 case LSM303AGR_ACC_FS_2G:
cparata 0:489965565a0d 348 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_LOW_POWER_MODE;
cparata 0:489965565a0d 349 break;
cparata 0:489965565a0d 350 case LSM303AGR_ACC_FS_4G:
cparata 0:489965565a0d 351 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_LOW_POWER_MODE;
cparata 0:489965565a0d 352 break;
cparata 0:489965565a0d 353 case LSM303AGR_ACC_FS_8G:
cparata 0:489965565a0d 354 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_LOW_POWER_MODE;
cparata 0:489965565a0d 355 break;
cparata 0:489965565a0d 356 case LSM303AGR_ACC_FS_16G:
cparata 0:489965565a0d 357 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_LOW_POWER_MODE;
cparata 0:489965565a0d 358 break;
cparata 0:489965565a0d 359 default:
cparata 0:489965565a0d 360 *sensitivity = -1.0f;
cparata 0:489965565a0d 361 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 362 }
cparata 0:489965565a0d 363
cparata 0:489965565a0d 364 return LSM303AGR_ACC_STATUS_OK;
cparata 0:489965565a0d 365 }
cparata 0:489965565a0d 366
cparata 0:489965565a0d 367 /**
cparata 0:489965565a0d 368 * @brief Read Accelerometer Sensitivity in HR Mode
cparata 0:489965565a0d 369 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 0:489965565a0d 370 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:489965565a0d 371 */
cparata 0:489965565a0d 372 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetSensitivity_HR_Mode( float *sensitivity )
cparata 0:489965565a0d 373 {
cparata 0:489965565a0d 374 LSM303AGR_ACC_FS_t fullScale;
cparata 0:489965565a0d 375
cparata 0:489965565a0d 376 /* Read actual full scale selection from sensor. */
cparata 0:489965565a0d 377 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:489965565a0d 378 {
cparata 0:489965565a0d 379 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 380 }
cparata 0:489965565a0d 381
cparata 0:489965565a0d 382 /* Store the sensitivity based on actual full scale. */
cparata 0:489965565a0d 383 switch( fullScale )
cparata 0:489965565a0d 384 {
cparata 0:489965565a0d 385 case LSM303AGR_ACC_FS_2G:
cparata 0:489965565a0d 386 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_HIGH_RESOLUTION_MODE;
cparata 0:489965565a0d 387 break;
cparata 0:489965565a0d 388 case LSM303AGR_ACC_FS_4G:
cparata 0:489965565a0d 389 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_HIGH_RESOLUTION_MODE;
cparata 0:489965565a0d 390 break;
cparata 0:489965565a0d 391 case LSM303AGR_ACC_FS_8G:
cparata 0:489965565a0d 392 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_HIGH_RESOLUTION_MODE;
cparata 0:489965565a0d 393 break;
cparata 0:489965565a0d 394 case LSM303AGR_ACC_FS_16G:
cparata 0:489965565a0d 395 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_HIGH_RESOLUTION_MODE;
cparata 0:489965565a0d 396 break;
cparata 0:489965565a0d 397 default:
cparata 0:489965565a0d 398 *sensitivity = -1.0f;
cparata 0:489965565a0d 399 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 400 }
cparata 0:489965565a0d 401
cparata 0:489965565a0d 402 return LSM303AGR_ACC_STATUS_OK;
cparata 0:489965565a0d 403 }
cparata 0:489965565a0d 404
cparata 0:489965565a0d 405 /**
cparata 0:489965565a0d 406 * @brief Read raw data from LSM303AGR Accelerometer
cparata 0:489965565a0d 407 * @param pData the pointer where the accelerometer raw data are stored
cparata 0:489965565a0d 408 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:489965565a0d 409 */
cparata 0:489965565a0d 410 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetAxesRaw(int16_t *pData)
cparata 0:489965565a0d 411 {
cparata 0:489965565a0d 412 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 0:489965565a0d 413 u8_t shift = 0;
cparata 0:489965565a0d 414 LSM303AGR_ACC_LPEN_t lp;
cparata 0:489965565a0d 415 LSM303AGR_ACC_HR_t hr;
cparata 0:489965565a0d 416
cparata 0:489965565a0d 417 /* Determine which operational mode the acc is set */
cparata 0:489965565a0d 418 if(!LSM303AGR_ACC_R_HiRes( (void *)this, &hr )) {
cparata 0:489965565a0d 419 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 420 }
cparata 0:489965565a0d 421
cparata 0:489965565a0d 422 if(!LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp )) {
cparata 0:489965565a0d 423 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 424 }
cparata 0:489965565a0d 425
cparata 0:489965565a0d 426 if (lp == LSM303AGR_ACC_LPEN_ENABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
cparata 0:489965565a0d 427 /* op mode is LP 8-bit */
cparata 0:489965565a0d 428 shift = 8;
cparata 0:489965565a0d 429 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
cparata 0:489965565a0d 430 /* op mode is Normal 10-bit */
cparata 0:489965565a0d 431 shift = 6;
cparata 0:489965565a0d 432 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_ENABLED) {
cparata 0:489965565a0d 433 /* op mode is HR 12-bit */
cparata 0:489965565a0d 434 shift = 4;
cparata 0:489965565a0d 435 } else {
cparata 0:489965565a0d 436 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 437 }
cparata 0:489965565a0d 438
cparata 0:489965565a0d 439 /* Read output registers from LSM303AGR_ACC_GYRO_OUTX_L_XL to LSM303AGR_ACC_GYRO_OUTZ_H_XL. */
cparata 0:489965565a0d 440 if (!LSM303AGR_ACC_Get_Raw_Acceleration( (void *)this, ( uint8_t* )regValue ))
cparata 0:489965565a0d 441 {
cparata 0:489965565a0d 442 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 443 }
cparata 0:489965565a0d 444
cparata 0:489965565a0d 445 /* Format the data. */
cparata 0:489965565a0d 446 pData[0] = ( ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] ) >> shift );
cparata 0:489965565a0d 447 pData[1] = ( ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] ) >> shift );
cparata 0:489965565a0d 448 pData[2] = ( ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] ) >> shift );
cparata 0:489965565a0d 449
cparata 0:489965565a0d 450 return LSM303AGR_ACC_STATUS_OK;
cparata 0:489965565a0d 451 }
cparata 0:489965565a0d 452
cparata 0:489965565a0d 453 /**
cparata 0:489965565a0d 454 * @brief Read LSM303AGR Accelerometer output data rate
cparata 0:489965565a0d 455 * @param odr the pointer to the output data rate
cparata 0:489965565a0d 456 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:489965565a0d 457 */
cparata 0:489965565a0d 458 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetODR(float* odr)
cparata 0:489965565a0d 459 {
cparata 0:489965565a0d 460 LSM303AGR_ACC_ODR_t odr_low_level;
cparata 0:489965565a0d 461
cparata 0:489965565a0d 462 if ( LSM303AGR_ACC_R_ODR( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 0:489965565a0d 463 {
cparata 0:489965565a0d 464 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 465 }
cparata 0:489965565a0d 466
cparata 0:489965565a0d 467 switch( odr_low_level )
cparata 0:489965565a0d 468 {
cparata 0:489965565a0d 469 case LSM303AGR_ACC_ODR_DO_PWR_DOWN:
cparata 0:489965565a0d 470 *odr = 0.0f;
cparata 0:489965565a0d 471 break;
cparata 0:489965565a0d 472 case LSM303AGR_ACC_ODR_DO_1Hz:
cparata 0:489965565a0d 473 *odr = 1.0f;
cparata 0:489965565a0d 474 break;
cparata 0:489965565a0d 475 case LSM303AGR_ACC_ODR_DO_10Hz:
cparata 0:489965565a0d 476 *odr = 10.0f;
cparata 0:489965565a0d 477 break;
cparata 0:489965565a0d 478 case LSM303AGR_ACC_ODR_DO_25Hz:
cparata 0:489965565a0d 479 *odr = 25.0f;
cparata 0:489965565a0d 480 break;
cparata 0:489965565a0d 481 case LSM303AGR_ACC_ODR_DO_50Hz:
cparata 0:489965565a0d 482 *odr = 50.0f;
cparata 0:489965565a0d 483 break;
cparata 0:489965565a0d 484 case LSM303AGR_ACC_ODR_DO_100Hz:
cparata 0:489965565a0d 485 *odr = 100.0f;
cparata 0:489965565a0d 486 break;
cparata 0:489965565a0d 487 case LSM303AGR_ACC_ODR_DO_200Hz:
cparata 0:489965565a0d 488 *odr = 200.0f;
cparata 0:489965565a0d 489 break;
cparata 0:489965565a0d 490 case LSM303AGR_ACC_ODR_DO_400Hz:
cparata 0:489965565a0d 491 *odr = 400.0f;
cparata 0:489965565a0d 492 break;
cparata 0:489965565a0d 493 default:
cparata 0:489965565a0d 494 *odr = -1.0f;
cparata 0:489965565a0d 495 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 496 }
cparata 0:489965565a0d 497
cparata 0:489965565a0d 498 return LSM303AGR_ACC_STATUS_OK;
cparata 0:489965565a0d 499 }
cparata 0:489965565a0d 500
cparata 0:489965565a0d 501 /**
cparata 0:489965565a0d 502 * @brief Set ODR
cparata 0:489965565a0d 503 * @param odr the output data rate to be set
cparata 0:489965565a0d 504 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:489965565a0d 505 */
cparata 0:489965565a0d 506 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::SetODR(float odr)
cparata 0:489965565a0d 507 {
cparata 0:489965565a0d 508 if(isEnabled == 1)
cparata 0:489965565a0d 509 {
cparata 0:489965565a0d 510 if(SetODR_When_Enabled(odr) == LSM303AGR_ACC_STATUS_ERROR)
cparata 0:489965565a0d 511 {
cparata 0:489965565a0d 512 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 513 }
cparata 0:489965565a0d 514 }
cparata 0:489965565a0d 515 else
cparata 0:489965565a0d 516 {
cparata 0:489965565a0d 517 if(SetODR_When_Disabled(odr) == LSM303AGR_ACC_STATUS_ERROR)
cparata 0:489965565a0d 518 {
cparata 0:489965565a0d 519 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 520 }
cparata 0:489965565a0d 521 }
cparata 0:489965565a0d 522
cparata 0:489965565a0d 523 return LSM303AGR_ACC_STATUS_OK;
cparata 0:489965565a0d 524 }
cparata 0:489965565a0d 525
cparata 0:489965565a0d 526 /**
cparata 0:489965565a0d 527 * @brief Set ODR when enabled
cparata 0:489965565a0d 528 * @param odr the output data rate to be set
cparata 0:489965565a0d 529 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:489965565a0d 530 */
cparata 0:489965565a0d 531 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::SetODR_When_Enabled(float odr)
cparata 0:489965565a0d 532 {
cparata 0:489965565a0d 533 LSM303AGR_ACC_ODR_t new_odr;
cparata 0:489965565a0d 534
cparata 0:489965565a0d 535 new_odr = ( odr <= 1.0f ) ? LSM303AGR_ACC_ODR_DO_1Hz
cparata 0:489965565a0d 536 : ( odr <= 10.0f ) ? LSM303AGR_ACC_ODR_DO_10Hz
cparata 0:489965565a0d 537 : ( odr <= 25.0f ) ? LSM303AGR_ACC_ODR_DO_25Hz
cparata 0:489965565a0d 538 : ( odr <= 50.0f ) ? LSM303AGR_ACC_ODR_DO_50Hz
cparata 0:489965565a0d 539 : ( odr <= 100.0f ) ? LSM303AGR_ACC_ODR_DO_100Hz
cparata 0:489965565a0d 540 : ( odr <= 200.0f ) ? LSM303AGR_ACC_ODR_DO_200Hz
cparata 0:489965565a0d 541 : LSM303AGR_ACC_ODR_DO_400Hz;
cparata 0:489965565a0d 542
cparata 0:489965565a0d 543 if ( LSM303AGR_ACC_W_ODR( (void *)this, new_odr ) == MEMS_ERROR )
cparata 0:489965565a0d 544 {
cparata 0:489965565a0d 545 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 546 }
cparata 0:489965565a0d 547
cparata 0:489965565a0d 548 return LSM303AGR_ACC_STATUS_OK;
cparata 0:489965565a0d 549 }
cparata 0:489965565a0d 550
cparata 0:489965565a0d 551 /**
cparata 0:489965565a0d 552 * @brief Set ODR when disabled
cparata 0:489965565a0d 553 * @param odr the output data rate to be set
cparata 0:489965565a0d 554 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:489965565a0d 555 */
cparata 0:489965565a0d 556 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::SetODR_When_Disabled(float odr)
cparata 0:489965565a0d 557 {
cparata 0:489965565a0d 558 Last_ODR = ( odr <= 1.0f ) ? 1.0f
cparata 0:489965565a0d 559 : ( odr <= 10.0f ) ? 10.0f
cparata 0:489965565a0d 560 : ( odr <= 25.0f ) ? 25.0f
cparata 0:489965565a0d 561 : ( odr <= 50.0f ) ? 50.0f
cparata 0:489965565a0d 562 : ( odr <= 100.0f ) ? 100.0f
cparata 0:489965565a0d 563 : ( odr <= 200.0f ) ? 200.0f
cparata 0:489965565a0d 564 : 400.0f;
cparata 0:489965565a0d 565
cparata 0:489965565a0d 566 return LSM303AGR_ACC_STATUS_OK;
cparata 0:489965565a0d 567 }
cparata 0:489965565a0d 568
cparata 0:489965565a0d 569
cparata 0:489965565a0d 570 /**
cparata 0:489965565a0d 571 * @brief Read LSM303AGR Accelerometer full scale
cparata 0:489965565a0d 572 * @param fullScale the pointer to the full scale
cparata 0:489965565a0d 573 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:489965565a0d 574 */
cparata 0:489965565a0d 575 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::GetFS(float* fullScale)
cparata 0:489965565a0d 576 {
cparata 0:489965565a0d 577 LSM303AGR_ACC_FS_t fs_low_level;
cparata 0:489965565a0d 578
cparata 0:489965565a0d 579 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata 0:489965565a0d 580 {
cparata 0:489965565a0d 581 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 582 }
cparata 0:489965565a0d 583
cparata 0:489965565a0d 584 switch( fs_low_level )
cparata 0:489965565a0d 585 {
cparata 0:489965565a0d 586 case LSM303AGR_ACC_FS_2G:
cparata 0:489965565a0d 587 *fullScale = 2.0f;
cparata 0:489965565a0d 588 break;
cparata 0:489965565a0d 589 case LSM303AGR_ACC_FS_4G:
cparata 0:489965565a0d 590 *fullScale = 4.0f;
cparata 0:489965565a0d 591 break;
cparata 0:489965565a0d 592 case LSM303AGR_ACC_FS_8G:
cparata 0:489965565a0d 593 *fullScale = 8.0f;
cparata 0:489965565a0d 594 break;
cparata 0:489965565a0d 595 case LSM303AGR_ACC_FS_16G:
cparata 0:489965565a0d 596 *fullScale = 16.0f;
cparata 0:489965565a0d 597 break;
cparata 0:489965565a0d 598 default:
cparata 0:489965565a0d 599 *fullScale = -1.0f;
cparata 0:489965565a0d 600 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 601 }
cparata 0:489965565a0d 602
cparata 0:489965565a0d 603 return LSM303AGR_ACC_STATUS_OK;
cparata 0:489965565a0d 604 }
cparata 0:489965565a0d 605
cparata 0:489965565a0d 606 /**
cparata 0:489965565a0d 607 * @brief Set full scale
cparata 0:489965565a0d 608 * @param fullScale the full scale to be set
cparata 0:489965565a0d 609 * @retval LSM303AGR_ACC_STATUS_OK in case of success, an error code otherwise
cparata 0:489965565a0d 610 */
cparata 0:489965565a0d 611 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::SetFS(float fullScale)
cparata 0:489965565a0d 612 {
cparata 0:489965565a0d 613 LSM303AGR_ACC_FS_t new_fs;
cparata 0:489965565a0d 614
cparata 0:489965565a0d 615 new_fs = ( fullScale <= 2.0f ) ? LSM303AGR_ACC_FS_2G
cparata 0:489965565a0d 616 : ( fullScale <= 4.0f ) ? LSM303AGR_ACC_FS_4G
cparata 0:489965565a0d 617 : ( fullScale <= 8.0f ) ? LSM303AGR_ACC_FS_8G
cparata 0:489965565a0d 618 : LSM303AGR_ACC_FS_16G;
cparata 0:489965565a0d 619
cparata 0:489965565a0d 620 if ( LSM303AGR_ACC_W_FullScale( (void *)this, new_fs ) == MEMS_ERROR )
cparata 0:489965565a0d 621 {
cparata 0:489965565a0d 622 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 623 }
cparata 0:489965565a0d 624
cparata 0:489965565a0d 625 return LSM303AGR_ACC_STATUS_OK;
cparata 0:489965565a0d 626 }
cparata 0:489965565a0d 627
cparata 0:489965565a0d 628 /**
cparata 0:489965565a0d 629 * @brief Read accelerometer data from register
cparata 0:489965565a0d 630 * @param reg register address
cparata 0:489965565a0d 631 * @param data register data
cparata 0:489965565a0d 632 * @retval LSM303AGR_ACC_STATUS_OK in case of success
cparata 0:489965565a0d 633 * @retval LSM303AGR_ACC_STATUS_ERROR in case of failure
cparata 0:489965565a0d 634 */
cparata 0:489965565a0d 635 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::ReadReg( uint8_t reg, uint8_t *data )
cparata 0:489965565a0d 636 {
cparata 0:489965565a0d 637
cparata 0:489965565a0d 638 if ( LSM303AGR_ACC_ReadReg( (void *)this, reg, data ) == MEMS_ERROR )
cparata 0:489965565a0d 639 {
cparata 0:489965565a0d 640 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 641 }
cparata 0:489965565a0d 642
cparata 0:489965565a0d 643 return LSM303AGR_ACC_STATUS_OK;
cparata 0:489965565a0d 644 }
cparata 0:489965565a0d 645
cparata 0:489965565a0d 646 /**
cparata 0:489965565a0d 647 * @brief Write accelerometer data to register
cparata 0:489965565a0d 648 * @param reg register address
cparata 0:489965565a0d 649 * @param data register data
cparata 0:489965565a0d 650 * @retval LSM303AGR_ACC_STATUS_OK in case of success
cparata 0:489965565a0d 651 * @retval LSM303AGR_ACC_STATUS_ERROR in case of failure
cparata 0:489965565a0d 652 */
cparata 0:489965565a0d 653 LSM303AGR_ACC_StatusTypeDef LSM303AGR_ACC_Sensor::WriteReg( uint8_t reg, uint8_t data )
cparata 0:489965565a0d 654 {
cparata 0:489965565a0d 655
cparata 0:489965565a0d 656 if ( LSM303AGR_ACC_WriteReg( (void *)this, reg, data ) == MEMS_ERROR )
cparata 0:489965565a0d 657 {
cparata 0:489965565a0d 658 return LSM303AGR_ACC_STATUS_ERROR;
cparata 0:489965565a0d 659 }
cparata 0:489965565a0d 660
cparata 0:489965565a0d 661 return LSM303AGR_ACC_STATUS_OK;
cparata 0:489965565a0d 662 }
cparata 0:489965565a0d 663
cparata 0:489965565a0d 664 uint8_t LSM303AGR_ACC_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
cparata 0:489965565a0d 665 {
cparata 0:489965565a0d 666 return ((LSM303AGR_ACC_Sensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata 0:489965565a0d 667 }
cparata 0:489965565a0d 668
cparata 0:489965565a0d 669 uint8_t LSM303AGR_ACC_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
cparata 0:489965565a0d 670 {
cparata 0:489965565a0d 671 return ((LSM303AGR_ACC_Sensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata 0:489965565a0d 672 }