ST / Mbed 2 deprecated WakeUp_IKS01A2

Example of wake up detection for LSM6DSL in X-NUCLEO-IKS01A2

Dependencies:   X_NUCLEO_IKS01A2 mbed

Fork of WakeUp_IKS01A2 by ST Expansion SW Team

Wake up Demo Application based on sensor expansion board X-NUCLEO-IKS01A2

Main function is to show how to detect the wake up 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 shake the board and then view the notification using an hyper terminal. When the wake up event is detected, the LED is switched on for a while.
- the user button can be used to enable/disable the wake up detection feature.

X_NUCLEO_IKS01A2/Components/LSM303AGRSensor/LSM303AGR_ACC_Sensor.cpp@2:7ad7571557a5, 2016-08-19 (annotated)

Committer:
cparata
Date:
Fri Aug 19 12:35:45 2016 +0000
Revision:
2:7ad7571557a5
Add interfaces to all components

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 2:7ad7571557a5 1 /**
cparata 2:7ad7571557a5 2 ******************************************************************************
cparata 2:7ad7571557a5 3 * @file LSM303AGR_ACC_Sensor.cpp
cparata 2:7ad7571557a5 4 * @author AST
cparata 2:7ad7571557a5 5 * @version V1.0.0
cparata 2:7ad7571557a5 6 * @date 5 August 2016
cparata 2:7ad7571557a5 7 * @brief Implementation an LSM303AGR accelerometer sensor.
cparata 2:7ad7571557a5 8 ******************************************************************************
cparata 2:7ad7571557a5 9 * @attention
cparata 2:7ad7571557a5 10 *
cparata 2:7ad7571557a5 11 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 2:7ad7571557a5 12 *
cparata 2:7ad7571557a5 13 * Redistribution and use in source and binary forms, with or without modification,
cparata 2:7ad7571557a5 14 * are permitted provided that the following conditions are met:
cparata 2:7ad7571557a5 15 * 1. Redistributions of source code must retain the above copyright notice,
cparata 2:7ad7571557a5 16 * this list of conditions and the following disclaimer.
cparata 2:7ad7571557a5 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 2:7ad7571557a5 18 * this list of conditions and the following disclaimer in the documentation
cparata 2:7ad7571557a5 19 * and/or other materials provided with the distribution.
cparata 2:7ad7571557a5 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 2:7ad7571557a5 21 * may be used to endorse or promote products derived from this software
cparata 2:7ad7571557a5 22 * without specific prior written permission.
cparata 2:7ad7571557a5 23 *
cparata 2:7ad7571557a5 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 2:7ad7571557a5 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 2:7ad7571557a5 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 2:7ad7571557a5 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 2:7ad7571557a5 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 2:7ad7571557a5 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 2:7ad7571557a5 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 2:7ad7571557a5 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 2:7ad7571557a5 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 2:7ad7571557a5 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 2:7ad7571557a5 34 *
cparata 2:7ad7571557a5 35 ******************************************************************************
cparata 2:7ad7571557a5 36 */
cparata 2:7ad7571557a5 37
cparata 2:7ad7571557a5 38
cparata 2:7ad7571557a5 39 /* Includes ------------------------------------------------------------------*/
cparata 2:7ad7571557a5 40
cparata 2:7ad7571557a5 41 #include "DevI2C.h"
cparata 2:7ad7571557a5 42 #include "LSM303AGR_ACC_Sensor.h"
cparata 2:7ad7571557a5 43 #include "LSM303AGR_ACC_driver.h"
cparata 2:7ad7571557a5 44
cparata 2:7ad7571557a5 45
cparata 2:7ad7571557a5 46 /* Class Implementation ------------------------------------------------------*/
cparata 2:7ad7571557a5 47
cparata 2:7ad7571557a5 48 /** Constructor
cparata 2:7ad7571557a5 49 * @param i2c object of an helper class which handles the I2C peripheral
cparata 2:7ad7571557a5 50 * @param address the address of the component's instance
cparata 2:7ad7571557a5 51 */
cparata 2:7ad7571557a5 52 LSM303AGR_ACC_Sensor::LSM303AGR_ACC_Sensor(DevI2C &i2c) : dev_i2c(i2c)
cparata 2:7ad7571557a5 53 {
cparata 2:7ad7571557a5 54 address = LSM303AGR_ACC_I2C_ADDRESS;
cparata 2:7ad7571557a5 55 };
cparata 2:7ad7571557a5 56
cparata 2:7ad7571557a5 57 /** Constructor
cparata 2:7ad7571557a5 58 * @param i2c object of an helper class which handles the I2C peripheral
cparata 2:7ad7571557a5 59 * @param address the address of the component's instance
cparata 2:7ad7571557a5 60 */
cparata 2:7ad7571557a5 61 LSM303AGR_ACC_Sensor::LSM303AGR_ACC_Sensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
cparata 2:7ad7571557a5 62 {
cparata 2:7ad7571557a5 63
cparata 2:7ad7571557a5 64 };
cparata 2:7ad7571557a5 65
cparata 2:7ad7571557a5 66 /**
cparata 2:7ad7571557a5 67 * @brief Initializing the component.
cparata 2:7ad7571557a5 68 * @param[in] init pointer to device specific initalization structure.
cparata 2:7ad7571557a5 69 * @retval "0" in case of success, an error code otherwise.
cparata 2:7ad7571557a5 70 */
cparata 2:7ad7571557a5 71 int LSM303AGR_ACC_Sensor::Init(void *init)
cparata 2:7ad7571557a5 72 {
cparata 2:7ad7571557a5 73 /* Enable BDU */
cparata 2:7ad7571557a5 74 if ( LSM303AGR_ACC_W_BlockDataUpdate( (void *)this, LSM303AGR_ACC_BDU_ENABLED ) == MEMS_ERROR )
cparata 2:7ad7571557a5 75 {
cparata 2:7ad7571557a5 76 return 1;
cparata 2:7ad7571557a5 77 }
cparata 2:7ad7571557a5 78
cparata 2:7ad7571557a5 79 /* FIFO mode selection */
cparata 2:7ad7571557a5 80 if ( LSM303AGR_ACC_W_FifoMode( (void *)this, LSM303AGR_ACC_FM_BYPASS ) == MEMS_ERROR )
cparata 2:7ad7571557a5 81 {
cparata 2:7ad7571557a5 82 return 1;
cparata 2:7ad7571557a5 83 }
cparata 2:7ad7571557a5 84
cparata 2:7ad7571557a5 85 /* Output data rate selection - power down. */
cparata 2:7ad7571557a5 86 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
cparata 2:7ad7571557a5 87 {
cparata 2:7ad7571557a5 88 return 1;
cparata 2:7ad7571557a5 89 }
cparata 2:7ad7571557a5 90
cparata 2:7ad7571557a5 91 /* Full scale selection. */
cparata 2:7ad7571557a5 92 if ( Set_X_FS( 2.0f ) == 1 )
cparata 2:7ad7571557a5 93 {
cparata 2:7ad7571557a5 94 return 1;
cparata 2:7ad7571557a5 95 }
cparata 2:7ad7571557a5 96
cparata 2:7ad7571557a5 97 /* Enable axes. */
cparata 2:7ad7571557a5 98 if ( LSM303AGR_ACC_W_XEN( (void *)this, LSM303AGR_ACC_XEN_ENABLED ) == MEMS_ERROR )
cparata 2:7ad7571557a5 99 {
cparata 2:7ad7571557a5 100 return 1;
cparata 2:7ad7571557a5 101 }
cparata 2:7ad7571557a5 102
cparata 2:7ad7571557a5 103 if ( LSM303AGR_ACC_W_YEN ( (void *)this, LSM303AGR_ACC_YEN_ENABLED ) == MEMS_ERROR )
cparata 2:7ad7571557a5 104 {
cparata 2:7ad7571557a5 105 return 1;
cparata 2:7ad7571557a5 106 }
cparata 2:7ad7571557a5 107
cparata 2:7ad7571557a5 108 if ( LSM303AGR_ACC_W_ZEN ( (void *)this, LSM303AGR_ACC_ZEN_ENABLED ) == MEMS_ERROR )
cparata 2:7ad7571557a5 109 {
cparata 2:7ad7571557a5 110 return 1;
cparata 2:7ad7571557a5 111 }
cparata 2:7ad7571557a5 112
cparata 2:7ad7571557a5 113 /* Select default output data rate. */
cparata 2:7ad7571557a5 114 Last_ODR = 100.0f;
cparata 2:7ad7571557a5 115
cparata 2:7ad7571557a5 116 isEnabled = 0;
cparata 2:7ad7571557a5 117
cparata 2:7ad7571557a5 118 return 0;
cparata 2:7ad7571557a5 119 }
cparata 2:7ad7571557a5 120
cparata 2:7ad7571557a5 121 /**
cparata 2:7ad7571557a5 122 * @brief Enable LSM303AGR Accelerator
cparata 2:7ad7571557a5 123 * @retval 0 in case of success, an error code otherwise
cparata 2:7ad7571557a5 124 */
cparata 2:7ad7571557a5 125 int LSM303AGR_ACC_Sensor::Enable(void)
cparata 2:7ad7571557a5 126 {
cparata 2:7ad7571557a5 127 /* Check if the component is already enabled */
cparata 2:7ad7571557a5 128 if ( isEnabled == 1 )
cparata 2:7ad7571557a5 129 {
cparata 2:7ad7571557a5 130 return 0;
cparata 2:7ad7571557a5 131 }
cparata 2:7ad7571557a5 132
cparata 2:7ad7571557a5 133 /* Output data rate selection. */
cparata 2:7ad7571557a5 134 if ( Set_X_ODR_When_Enabled( Last_ODR ) == 1 )
cparata 2:7ad7571557a5 135 {
cparata 2:7ad7571557a5 136 return 1;
cparata 2:7ad7571557a5 137 }
cparata 2:7ad7571557a5 138
cparata 2:7ad7571557a5 139 isEnabled = 1;
cparata 2:7ad7571557a5 140
cparata 2:7ad7571557a5 141 return 0;
cparata 2:7ad7571557a5 142 }
cparata 2:7ad7571557a5 143
cparata 2:7ad7571557a5 144 /**
cparata 2:7ad7571557a5 145 * @brief Disable LSM303AGR Accelerator
cparata 2:7ad7571557a5 146 * @retval 0 in case of success, an error code otherwise
cparata 2:7ad7571557a5 147 */
cparata 2:7ad7571557a5 148 int LSM303AGR_ACC_Sensor::Disable(void)
cparata 2:7ad7571557a5 149 {
cparata 2:7ad7571557a5 150 /* Check if the component is already disabled */
cparata 2:7ad7571557a5 151 if ( isEnabled == 0 )
cparata 2:7ad7571557a5 152 {
cparata 2:7ad7571557a5 153 return 0;
cparata 2:7ad7571557a5 154 }
cparata 2:7ad7571557a5 155
cparata 2:7ad7571557a5 156 /* Store actual output data rate. */
cparata 2:7ad7571557a5 157 if ( Get_X_ODR( &Last_ODR ) == 1 )
cparata 2:7ad7571557a5 158 {
cparata 2:7ad7571557a5 159 return 1;
cparata 2:7ad7571557a5 160 }
cparata 2:7ad7571557a5 161
cparata 2:7ad7571557a5 162 /* Output data rate selection - power down. */
cparata 2:7ad7571557a5 163 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
cparata 2:7ad7571557a5 164 {
cparata 2:7ad7571557a5 165 return 1;
cparata 2:7ad7571557a5 166 }
cparata 2:7ad7571557a5 167
cparata 2:7ad7571557a5 168 isEnabled = 0;
cparata 2:7ad7571557a5 169
cparata 2:7ad7571557a5 170 return 0;
cparata 2:7ad7571557a5 171 }
cparata 2:7ad7571557a5 172
cparata 2:7ad7571557a5 173 /**
cparata 2:7ad7571557a5 174 * @brief Read ID of LSM303AGR Accelerometer
cparata 2:7ad7571557a5 175 * @param p_id the pointer where the ID of the device is stored
cparata 2:7ad7571557a5 176 * @retval 0 in case of success, an error code otherwise
cparata 2:7ad7571557a5 177 */
cparata 2:7ad7571557a5 178 int LSM303AGR_ACC_Sensor::ReadID(uint8_t *id)
cparata 2:7ad7571557a5 179 {
cparata 2:7ad7571557a5 180 if(!id)
cparata 2:7ad7571557a5 181 {
cparata 2:7ad7571557a5 182 return 1;
cparata 2:7ad7571557a5 183 }
cparata 2:7ad7571557a5 184
cparata 2:7ad7571557a5 185 /* Read WHO AM I register */
cparata 2:7ad7571557a5 186 if ( LSM303AGR_ACC_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
cparata 2:7ad7571557a5 187 {
cparata 2:7ad7571557a5 188 return 1;
cparata 2:7ad7571557a5 189 }
cparata 2:7ad7571557a5 190
cparata 2:7ad7571557a5 191 return 0;
cparata 2:7ad7571557a5 192 }
cparata 2:7ad7571557a5 193
cparata 2:7ad7571557a5 194 /**
cparata 2:7ad7571557a5 195 * @brief Read data from LSM303AGR Accelerometer
cparata 2:7ad7571557a5 196 * @param pData the pointer where the accelerometer data are stored
cparata 2:7ad7571557a5 197 * @retval 0 in case of success, an error code otherwise
cparata 2:7ad7571557a5 198 */
cparata 2:7ad7571557a5 199 int LSM303AGR_ACC_Sensor::Get_X_Axes(int32_t *pData)
cparata 2:7ad7571557a5 200 {
cparata 2:7ad7571557a5 201 int data[3];
cparata 2:7ad7571557a5 202
cparata 2:7ad7571557a5 203 /* Read data from LSM303AGR. */
cparata 2:7ad7571557a5 204 if ( !LSM303AGR_ACC_Get_Acceleration((void *)this, data) )
cparata 2:7ad7571557a5 205 {
cparata 2:7ad7571557a5 206 return 1;
cparata 2:7ad7571557a5 207 }
cparata 2:7ad7571557a5 208
cparata 2:7ad7571557a5 209 /* Calculate the data. */
cparata 2:7ad7571557a5 210 pData[0] = (int32_t)data[0];
cparata 2:7ad7571557a5 211 pData[1] = (int32_t)data[1];
cparata 2:7ad7571557a5 212 pData[2] = (int32_t)data[2];
cparata 2:7ad7571557a5 213
cparata 2:7ad7571557a5 214 return 0;
cparata 2:7ad7571557a5 215 }
cparata 2:7ad7571557a5 216
cparata 2:7ad7571557a5 217 /**
cparata 2:7ad7571557a5 218 * @brief Read Accelerometer Sensitivity
cparata 2:7ad7571557a5 219 * @param pfData the pointer where the accelerometer sensitivity is stored
cparata 2:7ad7571557a5 220 * @retval 0 in case of success, an error code otherwise
cparata 2:7ad7571557a5 221 */
cparata 2:7ad7571557a5 222 int LSM303AGR_ACC_Sensor::Get_X_Sensitivity(float *pfData)
cparata 2:7ad7571557a5 223 {
cparata 2:7ad7571557a5 224 LSM303AGR_ACC_LPEN_t lp_value;
cparata 2:7ad7571557a5 225 LSM303AGR_ACC_HR_t hr_value;
cparata 2:7ad7571557a5 226
cparata 2:7ad7571557a5 227 /* Read low power flag */
cparata 2:7ad7571557a5 228 if( LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp_value ) == MEMS_ERROR )
cparata 2:7ad7571557a5 229 {
cparata 2:7ad7571557a5 230 return 1;
cparata 2:7ad7571557a5 231 }
cparata 2:7ad7571557a5 232
cparata 2:7ad7571557a5 233 /* Read high performance flag */
cparata 2:7ad7571557a5 234 if( LSM303AGR_ACC_R_HiRes( (void *)this, &hr_value ) == MEMS_ERROR )
cparata 2:7ad7571557a5 235 {
cparata 2:7ad7571557a5 236 return 1;
cparata 2:7ad7571557a5 237 }
cparata 2:7ad7571557a5 238
cparata 2:7ad7571557a5 239 if( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
cparata 2:7ad7571557a5 240 {
cparata 2:7ad7571557a5 241 /* Normal Mode */
cparata 2:7ad7571557a5 242 return Get_X_Sensitivity_Normal_Mode( pfData );
cparata 2:7ad7571557a5 243 } else if ( lp_value == LSM303AGR_ACC_LPEN_ENABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
cparata 2:7ad7571557a5 244 {
cparata 2:7ad7571557a5 245 /* Low Power Mode */
cparata 2:7ad7571557a5 246 return Get_X_Sensitivity_LP_Mode( pfData );
cparata 2:7ad7571557a5 247 } else if ( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_ENABLED )
cparata 2:7ad7571557a5 248 {
cparata 2:7ad7571557a5 249 /* High Resolution Mode */
cparata 2:7ad7571557a5 250 return Get_X_Sensitivity_HR_Mode( pfData );
cparata 2:7ad7571557a5 251 } else
cparata 2:7ad7571557a5 252 {
cparata 2:7ad7571557a5 253 /* Not allowed */
cparata 2:7ad7571557a5 254 return 1;
cparata 2:7ad7571557a5 255 }
cparata 2:7ad7571557a5 256 }
cparata 2:7ad7571557a5 257
cparata 2:7ad7571557a5 258 /**
cparata 2:7ad7571557a5 259 * @brief Read Accelerometer Sensitivity in Normal Mode
cparata 2:7ad7571557a5 260 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 2:7ad7571557a5 261 * @retval 0 in case of success, an error code otherwise
cparata 2:7ad7571557a5 262 */
cparata 2:7ad7571557a5 263 int LSM303AGR_ACC_Sensor::Get_X_Sensitivity_Normal_Mode( float *sensitivity )
cparata 2:7ad7571557a5 264 {
cparata 2:7ad7571557a5 265 LSM303AGR_ACC_FS_t fullScale;
cparata 2:7ad7571557a5 266
cparata 2:7ad7571557a5 267 /* Read actual full scale selection from sensor. */
cparata 2:7ad7571557a5 268 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 2:7ad7571557a5 269 {
cparata 2:7ad7571557a5 270 return 1;
cparata 2:7ad7571557a5 271 }
cparata 2:7ad7571557a5 272
cparata 2:7ad7571557a5 273 /* Store the sensitivity based on actual full scale. */
cparata 2:7ad7571557a5 274 switch( fullScale )
cparata 2:7ad7571557a5 275 {
cparata 2:7ad7571557a5 276 case LSM303AGR_ACC_FS_2G:
cparata 2:7ad7571557a5 277 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_NORMAL_MODE;
cparata 2:7ad7571557a5 278 break;
cparata 2:7ad7571557a5 279 case LSM303AGR_ACC_FS_4G:
cparata 2:7ad7571557a5 280 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_NORMAL_MODE;
cparata 2:7ad7571557a5 281 break;
cparata 2:7ad7571557a5 282 case LSM303AGR_ACC_FS_8G:
cparata 2:7ad7571557a5 283 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_NORMAL_MODE;
cparata 2:7ad7571557a5 284 break;
cparata 2:7ad7571557a5 285 case LSM303AGR_ACC_FS_16G:
cparata 2:7ad7571557a5 286 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_NORMAL_MODE;
cparata 2:7ad7571557a5 287 break;
cparata 2:7ad7571557a5 288 default:
cparata 2:7ad7571557a5 289 *sensitivity = -1.0f;
cparata 2:7ad7571557a5 290 return 1;
cparata 2:7ad7571557a5 291 }
cparata 2:7ad7571557a5 292
cparata 2:7ad7571557a5 293 return 0;
cparata 2:7ad7571557a5 294 }
cparata 2:7ad7571557a5 295
cparata 2:7ad7571557a5 296 /**
cparata 2:7ad7571557a5 297 * @brief Read Accelerometer Sensitivity in LP Mode
cparata 2:7ad7571557a5 298 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 2:7ad7571557a5 299 * @retval 0 in case of success, an error code otherwise
cparata 2:7ad7571557a5 300 */
cparata 2:7ad7571557a5 301 int LSM303AGR_ACC_Sensor::Get_X_Sensitivity_LP_Mode( float *sensitivity )
cparata 2:7ad7571557a5 302 {
cparata 2:7ad7571557a5 303 LSM303AGR_ACC_FS_t fullScale;
cparata 2:7ad7571557a5 304
cparata 2:7ad7571557a5 305 /* Read actual full scale selection from sensor. */
cparata 2:7ad7571557a5 306 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 2:7ad7571557a5 307 {
cparata 2:7ad7571557a5 308 return 1;
cparata 2:7ad7571557a5 309 }
cparata 2:7ad7571557a5 310
cparata 2:7ad7571557a5 311 /* Store the sensitivity based on actual full scale. */
cparata 2:7ad7571557a5 312 switch( fullScale )
cparata 2:7ad7571557a5 313 {
cparata 2:7ad7571557a5 314 case LSM303AGR_ACC_FS_2G:
cparata 2:7ad7571557a5 315 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_LOW_POWER_MODE;
cparata 2:7ad7571557a5 316 break;
cparata 2:7ad7571557a5 317 case LSM303AGR_ACC_FS_4G:
cparata 2:7ad7571557a5 318 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_LOW_POWER_MODE;
cparata 2:7ad7571557a5 319 break;
cparata 2:7ad7571557a5 320 case LSM303AGR_ACC_FS_8G:
cparata 2:7ad7571557a5 321 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_LOW_POWER_MODE;
cparata 2:7ad7571557a5 322 break;
cparata 2:7ad7571557a5 323 case LSM303AGR_ACC_FS_16G:
cparata 2:7ad7571557a5 324 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_LOW_POWER_MODE;
cparata 2:7ad7571557a5 325 break;
cparata 2:7ad7571557a5 326 default:
cparata 2:7ad7571557a5 327 *sensitivity = -1.0f;
cparata 2:7ad7571557a5 328 return 1;
cparata 2:7ad7571557a5 329 }
cparata 2:7ad7571557a5 330
cparata 2:7ad7571557a5 331 return 0;
cparata 2:7ad7571557a5 332 }
cparata 2:7ad7571557a5 333
cparata 2:7ad7571557a5 334 /**
cparata 2:7ad7571557a5 335 * @brief Read Accelerometer Sensitivity in HR Mode
cparata 2:7ad7571557a5 336 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 2:7ad7571557a5 337 * @retval 0 in case of success, an error code otherwise
cparata 2:7ad7571557a5 338 */
cparata 2:7ad7571557a5 339 int LSM303AGR_ACC_Sensor::Get_X_Sensitivity_HR_Mode( float *sensitivity )
cparata 2:7ad7571557a5 340 {
cparata 2:7ad7571557a5 341 LSM303AGR_ACC_FS_t fullScale;
cparata 2:7ad7571557a5 342
cparata 2:7ad7571557a5 343 /* Read actual full scale selection from sensor. */
cparata 2:7ad7571557a5 344 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 2:7ad7571557a5 345 {
cparata 2:7ad7571557a5 346 return 1;
cparata 2:7ad7571557a5 347 }
cparata 2:7ad7571557a5 348
cparata 2:7ad7571557a5 349 /* Store the sensitivity based on actual full scale. */
cparata 2:7ad7571557a5 350 switch( fullScale )
cparata 2:7ad7571557a5 351 {
cparata 2:7ad7571557a5 352 case LSM303AGR_ACC_FS_2G:
cparata 2:7ad7571557a5 353 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_HIGH_RESOLUTION_MODE;
cparata 2:7ad7571557a5 354 break;
cparata 2:7ad7571557a5 355 case LSM303AGR_ACC_FS_4G:
cparata 2:7ad7571557a5 356 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_HIGH_RESOLUTION_MODE;
cparata 2:7ad7571557a5 357 break;
cparata 2:7ad7571557a5 358 case LSM303AGR_ACC_FS_8G:
cparata 2:7ad7571557a5 359 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_HIGH_RESOLUTION_MODE;
cparata 2:7ad7571557a5 360 break;
cparata 2:7ad7571557a5 361 case LSM303AGR_ACC_FS_16G:
cparata 2:7ad7571557a5 362 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_HIGH_RESOLUTION_MODE;
cparata 2:7ad7571557a5 363 break;
cparata 2:7ad7571557a5 364 default:
cparata 2:7ad7571557a5 365 *sensitivity = -1.0f;
cparata 2:7ad7571557a5 366 return 1;
cparata 2:7ad7571557a5 367 }
cparata 2:7ad7571557a5 368
cparata 2:7ad7571557a5 369 return 0;
cparata 2:7ad7571557a5 370 }
cparata 2:7ad7571557a5 371
cparata 2:7ad7571557a5 372 /**
cparata 2:7ad7571557a5 373 * @brief Read raw data from LSM303AGR Accelerometer
cparata 2:7ad7571557a5 374 * @param pData the pointer where the accelerometer raw data are stored
cparata 2:7ad7571557a5 375 * @retval 0 in case of success, an error code otherwise
cparata 2:7ad7571557a5 376 */
cparata 2:7ad7571557a5 377 int LSM303AGR_ACC_Sensor::Get_X_AxesRaw(int16_t *pData)
cparata 2:7ad7571557a5 378 {
cparata 2:7ad7571557a5 379 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 2:7ad7571557a5 380 u8_t shift = 0;
cparata 2:7ad7571557a5 381 LSM303AGR_ACC_LPEN_t lp;
cparata 2:7ad7571557a5 382 LSM303AGR_ACC_HR_t hr;
cparata 2:7ad7571557a5 383
cparata 2:7ad7571557a5 384 /* Determine which operational mode the acc is set */
cparata 2:7ad7571557a5 385 if(!LSM303AGR_ACC_R_HiRes( (void *)this, &hr )) {
cparata 2:7ad7571557a5 386 return 1;
cparata 2:7ad7571557a5 387 }
cparata 2:7ad7571557a5 388
cparata 2:7ad7571557a5 389 if(!LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp )) {
cparata 2:7ad7571557a5 390 return 1;
cparata 2:7ad7571557a5 391 }
cparata 2:7ad7571557a5 392
cparata 2:7ad7571557a5 393 if (lp == LSM303AGR_ACC_LPEN_ENABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
cparata 2:7ad7571557a5 394 /* op mode is LP 8-bit */
cparata 2:7ad7571557a5 395 shift = 8;
cparata 2:7ad7571557a5 396 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
cparata 2:7ad7571557a5 397 /* op mode is Normal 10-bit */
cparata 2:7ad7571557a5 398 shift = 6;
cparata 2:7ad7571557a5 399 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_ENABLED) {
cparata 2:7ad7571557a5 400 /* op mode is HR 12-bit */
cparata 2:7ad7571557a5 401 shift = 4;
cparata 2:7ad7571557a5 402 } else {
cparata 2:7ad7571557a5 403 return 1;
cparata 2:7ad7571557a5 404 }
cparata 2:7ad7571557a5 405
cparata 2:7ad7571557a5 406 /* Read output registers from LSM303AGR_ACC_GYRO_OUTX_L_XL to LSM303AGR_ACC_GYRO_OUTZ_H_XL. */
cparata 2:7ad7571557a5 407 if (!LSM303AGR_ACC_Get_Raw_Acceleration( (void *)this, ( uint8_t* )regValue ))
cparata 2:7ad7571557a5 408 {
cparata 2:7ad7571557a5 409 return 1;
cparata 2:7ad7571557a5 410 }
cparata 2:7ad7571557a5 411
cparata 2:7ad7571557a5 412 /* Format the data. */
cparata 2:7ad7571557a5 413 pData[0] = ( ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] ) >> shift );
cparata 2:7ad7571557a5 414 pData[1] = ( ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] ) >> shift );
cparata 2:7ad7571557a5 415 pData[2] = ( ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] ) >> shift );
cparata 2:7ad7571557a5 416
cparata 2:7ad7571557a5 417 return 0;
cparata 2:7ad7571557a5 418 }
cparata 2:7ad7571557a5 419
cparata 2:7ad7571557a5 420 /**
cparata 2:7ad7571557a5 421 * @brief Read LSM303AGR Accelerometer output data rate
cparata 2:7ad7571557a5 422 * @param odr the pointer to the output data rate
cparata 2:7ad7571557a5 423 * @retval 0 in case of success, an error code otherwise
cparata 2:7ad7571557a5 424 */
cparata 2:7ad7571557a5 425 int LSM303AGR_ACC_Sensor::Get_X_ODR(float* odr)
cparata 2:7ad7571557a5 426 {
cparata 2:7ad7571557a5 427 LSM303AGR_ACC_ODR_t odr_low_level;
cparata 2:7ad7571557a5 428
cparata 2:7ad7571557a5 429 if ( LSM303AGR_ACC_R_ODR( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 2:7ad7571557a5 430 {
cparata 2:7ad7571557a5 431 return 1;
cparata 2:7ad7571557a5 432 }
cparata 2:7ad7571557a5 433
cparata 2:7ad7571557a5 434 switch( odr_low_level )
cparata 2:7ad7571557a5 435 {
cparata 2:7ad7571557a5 436 case LSM303AGR_ACC_ODR_DO_PWR_DOWN:
cparata 2:7ad7571557a5 437 *odr = 0.0f;
cparata 2:7ad7571557a5 438 break;
cparata 2:7ad7571557a5 439 case LSM303AGR_ACC_ODR_DO_1Hz:
cparata 2:7ad7571557a5 440 *odr = 1.0f;
cparata 2:7ad7571557a5 441 break;
cparata 2:7ad7571557a5 442 case LSM303AGR_ACC_ODR_DO_10Hz:
cparata 2:7ad7571557a5 443 *odr = 10.0f;
cparata 2:7ad7571557a5 444 break;
cparata 2:7ad7571557a5 445 case LSM303AGR_ACC_ODR_DO_25Hz:
cparata 2:7ad7571557a5 446 *odr = 25.0f;
cparata 2:7ad7571557a5 447 break;
cparata 2:7ad7571557a5 448 case LSM303AGR_ACC_ODR_DO_50Hz:
cparata 2:7ad7571557a5 449 *odr = 50.0f;
cparata 2:7ad7571557a5 450 break;
cparata 2:7ad7571557a5 451 case LSM303AGR_ACC_ODR_DO_100Hz:
cparata 2:7ad7571557a5 452 *odr = 100.0f;
cparata 2:7ad7571557a5 453 break;
cparata 2:7ad7571557a5 454 case LSM303AGR_ACC_ODR_DO_200Hz:
cparata 2:7ad7571557a5 455 *odr = 200.0f;
cparata 2:7ad7571557a5 456 break;
cparata 2:7ad7571557a5 457 case LSM303AGR_ACC_ODR_DO_400Hz:
cparata 2:7ad7571557a5 458 *odr = 400.0f;
cparata 2:7ad7571557a5 459 break;
cparata 2:7ad7571557a5 460 default:
cparata 2:7ad7571557a5 461 *odr = -1.0f;
cparata 2:7ad7571557a5 462 return 1;
cparata 2:7ad7571557a5 463 }
cparata 2:7ad7571557a5 464
cparata 2:7ad7571557a5 465 return 0;
cparata 2:7ad7571557a5 466 }
cparata 2:7ad7571557a5 467
cparata 2:7ad7571557a5 468 /**
cparata 2:7ad7571557a5 469 * @brief Set ODR
cparata 2:7ad7571557a5 470 * @param odr the output data rate to be set
cparata 2:7ad7571557a5 471 * @retval 0 in case of success, an error code otherwise
cparata 2:7ad7571557a5 472 */
cparata 2:7ad7571557a5 473 int LSM303AGR_ACC_Sensor::Set_X_ODR(float odr)
cparata 2:7ad7571557a5 474 {
cparata 2:7ad7571557a5 475 if(isEnabled == 1)
cparata 2:7ad7571557a5 476 {
cparata 2:7ad7571557a5 477 if(Set_X_ODR_When_Enabled(odr) == 1)
cparata 2:7ad7571557a5 478 {
cparata 2:7ad7571557a5 479 return 1;
cparata 2:7ad7571557a5 480 }
cparata 2:7ad7571557a5 481 }
cparata 2:7ad7571557a5 482 else
cparata 2:7ad7571557a5 483 {
cparata 2:7ad7571557a5 484 if(Set_X_ODR_When_Disabled(odr) == 1)
cparata 2:7ad7571557a5 485 {
cparata 2:7ad7571557a5 486 return 1;
cparata 2:7ad7571557a5 487 }
cparata 2:7ad7571557a5 488 }
cparata 2:7ad7571557a5 489
cparata 2:7ad7571557a5 490 return 0;
cparata 2:7ad7571557a5 491 }
cparata 2:7ad7571557a5 492
cparata 2:7ad7571557a5 493 /**
cparata 2:7ad7571557a5 494 * @brief Set ODR when enabled
cparata 2:7ad7571557a5 495 * @param odr the output data rate to be set
cparata 2:7ad7571557a5 496 * @retval 0 in case of success, an error code otherwise
cparata 2:7ad7571557a5 497 */
cparata 2:7ad7571557a5 498 int LSM303AGR_ACC_Sensor::Set_X_ODR_When_Enabled(float odr)
cparata 2:7ad7571557a5 499 {
cparata 2:7ad7571557a5 500 LSM303AGR_ACC_ODR_t new_odr;
cparata 2:7ad7571557a5 501
cparata 2:7ad7571557a5 502 new_odr = ( odr <= 1.0f ) ? LSM303AGR_ACC_ODR_DO_1Hz
cparata 2:7ad7571557a5 503 : ( odr <= 10.0f ) ? LSM303AGR_ACC_ODR_DO_10Hz
cparata 2:7ad7571557a5 504 : ( odr <= 25.0f ) ? LSM303AGR_ACC_ODR_DO_25Hz
cparata 2:7ad7571557a5 505 : ( odr <= 50.0f ) ? LSM303AGR_ACC_ODR_DO_50Hz
cparata 2:7ad7571557a5 506 : ( odr <= 100.0f ) ? LSM303AGR_ACC_ODR_DO_100Hz
cparata 2:7ad7571557a5 507 : ( odr <= 200.0f ) ? LSM303AGR_ACC_ODR_DO_200Hz
cparata 2:7ad7571557a5 508 : LSM303AGR_ACC_ODR_DO_400Hz;
cparata 2:7ad7571557a5 509
cparata 2:7ad7571557a5 510 if ( LSM303AGR_ACC_W_ODR( (void *)this, new_odr ) == MEMS_ERROR )
cparata 2:7ad7571557a5 511 {
cparata 2:7ad7571557a5 512 return 1;
cparata 2:7ad7571557a5 513 }
cparata 2:7ad7571557a5 514
cparata 2:7ad7571557a5 515 return 0;
cparata 2:7ad7571557a5 516 }
cparata 2:7ad7571557a5 517
cparata 2:7ad7571557a5 518 /**
cparata 2:7ad7571557a5 519 * @brief Set ODR when disabled
cparata 2:7ad7571557a5 520 * @param odr the output data rate to be set
cparata 2:7ad7571557a5 521 * @retval 0 in case of success, an error code otherwise
cparata 2:7ad7571557a5 522 */
cparata 2:7ad7571557a5 523 int LSM303AGR_ACC_Sensor::Set_X_ODR_When_Disabled(float odr)
cparata 2:7ad7571557a5 524 {
cparata 2:7ad7571557a5 525 Last_ODR = ( odr <= 1.0f ) ? 1.0f
cparata 2:7ad7571557a5 526 : ( odr <= 10.0f ) ? 10.0f
cparata 2:7ad7571557a5 527 : ( odr <= 25.0f ) ? 25.0f
cparata 2:7ad7571557a5 528 : ( odr <= 50.0f ) ? 50.0f
cparata 2:7ad7571557a5 529 : ( odr <= 100.0f ) ? 100.0f
cparata 2:7ad7571557a5 530 : ( odr <= 200.0f ) ? 200.0f
cparata 2:7ad7571557a5 531 : 400.0f;
cparata 2:7ad7571557a5 532
cparata 2:7ad7571557a5 533 return 0;
cparata 2:7ad7571557a5 534 }
cparata 2:7ad7571557a5 535
cparata 2:7ad7571557a5 536
cparata 2:7ad7571557a5 537 /**
cparata 2:7ad7571557a5 538 * @brief Read LSM303AGR Accelerometer full scale
cparata 2:7ad7571557a5 539 * @param fullScale the pointer to the full scale
cparata 2:7ad7571557a5 540 * @retval 0 in case of success, an error code otherwise
cparata 2:7ad7571557a5 541 */
cparata 2:7ad7571557a5 542 int LSM303AGR_ACC_Sensor::Get_X_FS(float* fullScale)
cparata 2:7ad7571557a5 543 {
cparata 2:7ad7571557a5 544 LSM303AGR_ACC_FS_t fs_low_level;
cparata 2:7ad7571557a5 545
cparata 2:7ad7571557a5 546 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata 2:7ad7571557a5 547 {
cparata 2:7ad7571557a5 548 return 1;
cparata 2:7ad7571557a5 549 }
cparata 2:7ad7571557a5 550
cparata 2:7ad7571557a5 551 switch( fs_low_level )
cparata 2:7ad7571557a5 552 {
cparata 2:7ad7571557a5 553 case LSM303AGR_ACC_FS_2G:
cparata 2:7ad7571557a5 554 *fullScale = 2.0f;
cparata 2:7ad7571557a5 555 break;
cparata 2:7ad7571557a5 556 case LSM303AGR_ACC_FS_4G:
cparata 2:7ad7571557a5 557 *fullScale = 4.0f;
cparata 2:7ad7571557a5 558 break;
cparata 2:7ad7571557a5 559 case LSM303AGR_ACC_FS_8G:
cparata 2:7ad7571557a5 560 *fullScale = 8.0f;
cparata 2:7ad7571557a5 561 break;
cparata 2:7ad7571557a5 562 case LSM303AGR_ACC_FS_16G:
cparata 2:7ad7571557a5 563 *fullScale = 16.0f;
cparata 2:7ad7571557a5 564 break;
cparata 2:7ad7571557a5 565 default:
cparata 2:7ad7571557a5 566 *fullScale = -1.0f;
cparata 2:7ad7571557a5 567 return 1;
cparata 2:7ad7571557a5 568 }
cparata 2:7ad7571557a5 569
cparata 2:7ad7571557a5 570 return 0;
cparata 2:7ad7571557a5 571 }
cparata 2:7ad7571557a5 572
cparata 2:7ad7571557a5 573 /**
cparata 2:7ad7571557a5 574 * @brief Set full scale
cparata 2:7ad7571557a5 575 * @param fullScale the full scale to be set
cparata 2:7ad7571557a5 576 * @retval 0 in case of success, an error code otherwise
cparata 2:7ad7571557a5 577 */
cparata 2:7ad7571557a5 578 int LSM303AGR_ACC_Sensor::Set_X_FS(float fullScale)
cparata 2:7ad7571557a5 579 {
cparata 2:7ad7571557a5 580 LSM303AGR_ACC_FS_t new_fs;
cparata 2:7ad7571557a5 581
cparata 2:7ad7571557a5 582 new_fs = ( fullScale <= 2.0f ) ? LSM303AGR_ACC_FS_2G
cparata 2:7ad7571557a5 583 : ( fullScale <= 4.0f ) ? LSM303AGR_ACC_FS_4G
cparata 2:7ad7571557a5 584 : ( fullScale <= 8.0f ) ? LSM303AGR_ACC_FS_8G
cparata 2:7ad7571557a5 585 : LSM303AGR_ACC_FS_16G;
cparata 2:7ad7571557a5 586
cparata 2:7ad7571557a5 587 if ( LSM303AGR_ACC_W_FullScale( (void *)this, new_fs ) == MEMS_ERROR )
cparata 2:7ad7571557a5 588 {
cparata 2:7ad7571557a5 589 return 1;
cparata 2:7ad7571557a5 590 }
cparata 2:7ad7571557a5 591
cparata 2:7ad7571557a5 592 return 0;
cparata 2:7ad7571557a5 593 }
cparata 2:7ad7571557a5 594
cparata 2:7ad7571557a5 595 /**
cparata 2:7ad7571557a5 596 * @brief Read accelerometer data from register
cparata 2:7ad7571557a5 597 * @param reg register address
cparata 2:7ad7571557a5 598 * @param data register data
cparata 2:7ad7571557a5 599 * @retval 0 in case of success
cparata 2:7ad7571557a5 600 * @retval 1 in case of failure
cparata 2:7ad7571557a5 601 */
cparata 2:7ad7571557a5 602 int LSM303AGR_ACC_Sensor::ReadReg( uint8_t reg, uint8_t *data )
cparata 2:7ad7571557a5 603 {
cparata 2:7ad7571557a5 604
cparata 2:7ad7571557a5 605 if ( LSM303AGR_ACC_ReadReg( (void *)this, reg, data ) == MEMS_ERROR )
cparata 2:7ad7571557a5 606 {
cparata 2:7ad7571557a5 607 return 1;
cparata 2:7ad7571557a5 608 }
cparata 2:7ad7571557a5 609
cparata 2:7ad7571557a5 610 return 0;
cparata 2:7ad7571557a5 611 }
cparata 2:7ad7571557a5 612
cparata 2:7ad7571557a5 613 /**
cparata 2:7ad7571557a5 614 * @brief Write accelerometer data to register
cparata 2:7ad7571557a5 615 * @param reg register address
cparata 2:7ad7571557a5 616 * @param data register data
cparata 2:7ad7571557a5 617 * @retval 0 in case of success
cparata 2:7ad7571557a5 618 * @retval 1 in case of failure
cparata 2:7ad7571557a5 619 */
cparata 2:7ad7571557a5 620 int LSM303AGR_ACC_Sensor::WriteReg( uint8_t reg, uint8_t data )
cparata 2:7ad7571557a5 621 {
cparata 2:7ad7571557a5 622
cparata 2:7ad7571557a5 623 if ( LSM303AGR_ACC_WriteReg( (void *)this, reg, data ) == MEMS_ERROR )
cparata 2:7ad7571557a5 624 {
cparata 2:7ad7571557a5 625 return 1;
cparata 2:7ad7571557a5 626 }
cparata 2:7ad7571557a5 627
cparata 2:7ad7571557a5 628 return 0;
cparata 2:7ad7571557a5 629 }
cparata 2:7ad7571557a5 630
cparata 2:7ad7571557a5 631 uint8_t LSM303AGR_ACC_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
cparata 2:7ad7571557a5 632 {
cparata 2:7ad7571557a5 633 return ((LSM303AGR_ACC_Sensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata 2:7ad7571557a5 634 }
cparata 2:7ad7571557a5 635
cparata 2:7ad7571557a5 636 uint8_t LSM303AGR_ACC_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
cparata 2:7ad7571557a5 637 {
cparata 2:7ad7571557a5 638 return ((LSM303AGR_ACC_Sensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata 2:7ad7571557a5 639 }