Jamie Satchell
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JSatchell_SOFT253ReferredCoursework
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Components/lsm6ds3/lsm6ds3_class.h@50:f507d4465c31, 2015-06-08 (annotated)
- Committer:
- Wolfgang Betz
- Date:
- Mon Jun 08 18:04:19 2015 +0200
- Revision:
- 50:f507d4465c31
- Parent:
- 46:badcff0675e8
- Child:
- 52:54553fd15b50
Cleanup interfaces from not yet comfirmed methods
Potential generic methods to be put into interface classes from which to
derive other interfaces from are (among others):
- virtual int PowerOff(void) { /* not yet implemented */ return 0; }
- virtual int Reset(void) { /* not yet implemented */ return 0; }
- virtual void ConfigIT(uint16_t) { /* not yet implemented */ }
- virtual void EnableIT(uint8_t) { /* not yet implemented */ }
- virtual void DisableIT(uint8_t) { /* not yet implemented */ }
- virtual uint8_t ITStatus(uint16_t, uint16_t) { /* not yet implemented */ return 0; }
- virtual void ClearIT(uint16_t, uint16_t) { /* not yet implemented */ }
- virtual void AttachIT(void (*fptr)(void)) { /* not yet implemented */ }
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Wolfgang Betz |
44:d757094f6229 | 1 | /** |
| Wolfgang Betz |
44:d757094f6229 | 2 | ****************************************************************************** |
| Wolfgang Betz |
44:d757094f6229 | 3 | * @file lsm6ds3_class.h |
| Wolfgang Betz |
44:d757094f6229 | 4 | * @author AST / EST |
| Wolfgang Betz |
44:d757094f6229 | 5 | * @version V0.0.1 |
| Wolfgang Betz |
44:d757094f6229 | 6 | * @date 14-April-2015 |
| Wolfgang Betz |
44:d757094f6229 | 7 | * @brief Header file for component LSM6DS3 |
| Wolfgang Betz |
44:d757094f6229 | 8 | ****************************************************************************** |
| Wolfgang Betz |
44:d757094f6229 | 9 | * @attention |
| Wolfgang Betz |
44:d757094f6229 | 10 | * |
| Wolfgang Betz |
44:d757094f6229 | 11 | * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> |
| Wolfgang Betz |
44:d757094f6229 | 12 | * |
| Wolfgang Betz |
44:d757094f6229 | 13 | * Redistribution and use in source and binary forms, with or without modification, |
| Wolfgang Betz |
44:d757094f6229 | 14 | * are permitted provided that the following conditions are met: |
| Wolfgang Betz |
44:d757094f6229 | 15 | * 1. Redistributions of source code must retain the above copyright notice, |
| Wolfgang Betz |
44:d757094f6229 | 16 | * this list of conditions and the following disclaimer. |
| Wolfgang Betz |
44:d757094f6229 | 17 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
| Wolfgang Betz |
44:d757094f6229 | 18 | * this list of conditions and the following disclaimer in the documentation |
| Wolfgang Betz |
44:d757094f6229 | 19 | * and/or other materials provided with the distribution. |
| Wolfgang Betz |
44:d757094f6229 | 20 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
| Wolfgang Betz |
44:d757094f6229 | 21 | * may be used to endorse or promote products derived from this software |
| Wolfgang Betz |
44:d757094f6229 | 22 | * without specific prior written permission. |
| Wolfgang Betz |
44:d757094f6229 | 23 | * |
| Wolfgang Betz |
44:d757094f6229 | 24 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| Wolfgang Betz |
44:d757094f6229 | 25 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| Wolfgang Betz |
44:d757094f6229 | 26 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
| Wolfgang Betz |
44:d757094f6229 | 27 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
| Wolfgang Betz |
44:d757094f6229 | 28 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| Wolfgang Betz |
44:d757094f6229 | 29 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
| Wolfgang Betz |
44:d757094f6229 | 30 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| Wolfgang Betz |
44:d757094f6229 | 31 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
| Wolfgang Betz |
44:d757094f6229 | 32 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| Wolfgang Betz |
44:d757094f6229 | 33 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| Wolfgang Betz |
44:d757094f6229 | 34 | * |
| Wolfgang Betz |
44:d757094f6229 | 35 | ****************************************************************************** |
| Wolfgang Betz |
44:d757094f6229 | 36 | */ |
| Wolfgang Betz |
44:d757094f6229 | 37 | |
| Wolfgang Betz |
44:d757094f6229 | 38 | #ifndef __LSM6DS3_CLASS_H |
| Wolfgang Betz |
44:d757094f6229 | 39 | #define __LSM6DS3_CLASS_H |
| Wolfgang Betz |
44:d757094f6229 | 40 | |
| Wolfgang Betz |
44:d757094f6229 | 41 | /* Includes ------------------------------------------------------------------*/ |
| Wolfgang Betz |
44:d757094f6229 | 42 | #include "mbed.h" |
| Wolfgang Betz |
44:d757094f6229 | 43 | #include "DevI2C.h" |
| Wolfgang Betz |
44:d757094f6229 | 44 | #include "../Interfaces/GyroSensor.h" |
| Wolfgang Betz |
44:d757094f6229 | 45 | #include "../Interfaces/MotionSensor.h" |
| Wolfgang Betz |
44:d757094f6229 | 46 | #include "lsm6ds3.h" |
| Wolfgang Betz |
44:d757094f6229 | 47 | |
| Wolfgang Betz |
44:d757094f6229 | 48 | /* Classes -------------------------------------------------------------------*/ |
| Wolfgang Betz |
44:d757094f6229 | 49 | /** Class representing a LSM6DS3 sensor component |
| Wolfgang Betz |
44:d757094f6229 | 50 | */ |
| Wolfgang Betz |
44:d757094f6229 | 51 | class LSM6DS3 : public GyroSensor, public MotionSensor { |
| Wolfgang Betz |
44:d757094f6229 | 52 | public: |
| Wolfgang Betz |
44:d757094f6229 | 53 | /** Constructor |
| Wolfgang Betz |
44:d757094f6229 | 54 | * @param i2c device I2C to be used for communication |
| Wolfgang Betz |
44:d757094f6229 | 55 | */ |
| Wolfgang Betz |
44:d757094f6229 | 56 | LSM6DS3(DevI2C &i2c) : GyroSensor(), MotionSensor(), dev_i2c(i2c) { |
| Wolfgang Betz |
44:d757094f6229 | 57 | } |
| Wolfgang Betz |
44:d757094f6229 | 58 | |
| Wolfgang Betz |
44:d757094f6229 | 59 | /** Destructor |
| Wolfgang Betz |
44:d757094f6229 | 60 | */ |
| Wolfgang Betz |
44:d757094f6229 | 61 | virtual ~LSM6DS3() {} |
| Wolfgang Betz |
44:d757094f6229 | 62 | |
| Wolfgang Betz |
44:d757094f6229 | 63 | /*** Interface Methods ***/ |
| Wolfgang Betz |
44:d757094f6229 | 64 | virtual int Init(void *init_struct) { |
| Wolfgang Betz |
44:d757094f6229 | 65 | return LSM6DS3_Init((IMU_6AXES_InitTypeDef*)init_struct); |
| Wolfgang Betz |
44:d757094f6229 | 66 | } |
| Wolfgang Betz |
44:d757094f6229 | 67 | |
| Wolfgang Betz |
44:d757094f6229 | 68 | virtual int ReadID(uint8_t *xg_id) { |
| Wolfgang Betz |
44:d757094f6229 | 69 | return LSM6DS3_Read_XG_ID(xg_id); |
| Wolfgang Betz |
44:d757094f6229 | 70 | } |
| Wolfgang Betz |
44:d757094f6229 | 71 | |
| Wolfgang Betz |
44:d757094f6229 | 72 | virtual int Get_X_Axes(int32_t *pData) { |
| Wolfgang Betz |
44:d757094f6229 | 73 | return LSM6DS3_X_GetAxes(pData); |
| Wolfgang Betz |
44:d757094f6229 | 74 | } |
| Wolfgang Betz |
44:d757094f6229 | 75 | |
| Wolfgang Betz |
44:d757094f6229 | 76 | virtual int Get_X_AxesRaw(int16_t *pData) { |
| Wolfgang Betz |
44:d757094f6229 | 77 | return LSM6DS3_X_GetAxesRaw(pData); |
| Wolfgang Betz |
44:d757094f6229 | 78 | } |
| Wolfgang Betz |
44:d757094f6229 | 79 | |
| Wolfgang Betz |
44:d757094f6229 | 80 | virtual int Get_G_Axes(int32_t *pData) { |
| Wolfgang Betz |
44:d757094f6229 | 81 | return LSM6DS3_G_GetAxes(pData); |
| Wolfgang Betz |
44:d757094f6229 | 82 | } |
| Wolfgang Betz |
44:d757094f6229 | 83 | |
| Wolfgang Betz |
44:d757094f6229 | 84 | virtual int Get_G_AxesRaw(int16_t *pData) { |
| Wolfgang Betz |
44:d757094f6229 | 85 | return LSM6DS3_G_GetAxesRaw(pData); |
| Wolfgang Betz |
44:d757094f6229 | 86 | } |
| Wolfgang Betz |
44:d757094f6229 | 87 | |
| Wolfgang Betz |
44:d757094f6229 | 88 | virtual int Get_X_ODR(float *odr) { |
| Wolfgang Betz |
44:d757094f6229 | 89 | return LSM6DS3_X_Get_ODR(odr); |
| Wolfgang Betz |
44:d757094f6229 | 90 | } |
| Wolfgang Betz |
44:d757094f6229 | 91 | |
| Wolfgang Betz |
44:d757094f6229 | 92 | virtual int Set_X_ODR(float odr) { |
| Wolfgang Betz |
44:d757094f6229 | 93 | return LSM6DS3_X_Set_ODR(odr); |
| Wolfgang Betz |
44:d757094f6229 | 94 | } |
| Wolfgang Betz |
44:d757094f6229 | 95 | |
| Wolfgang Betz |
44:d757094f6229 | 96 | virtual int Get_X_Sensitivity(float *pfData) { |
| Wolfgang Betz |
44:d757094f6229 | 97 | return LSM6DS3_X_GetSensitivity(pfData); |
| Wolfgang Betz |
44:d757094f6229 | 98 | } |
| Wolfgang Betz |
44:d757094f6229 | 99 | |
| Wolfgang Betz |
44:d757094f6229 | 100 | virtual int Get_X_FS(float *fullScale) { |
| Wolfgang Betz |
44:d757094f6229 | 101 | return LSM6DS3_X_Get_FS(fullScale); |
| Wolfgang Betz |
44:d757094f6229 | 102 | } |
| Wolfgang Betz |
44:d757094f6229 | 103 | |
| Wolfgang Betz |
44:d757094f6229 | 104 | virtual int Set_X_FS(float fullScale) { |
| Wolfgang Betz |
44:d757094f6229 | 105 | return LSM6DS3_X_Set_FS(fullScale); |
| Wolfgang Betz |
44:d757094f6229 | 106 | } |
| Wolfgang Betz |
44:d757094f6229 | 107 | |
| Wolfgang Betz |
44:d757094f6229 | 108 | virtual int Get_G_ODR(float *odr) { |
| Wolfgang Betz |
44:d757094f6229 | 109 | return LSM6DS3_G_Get_ODR(odr); |
| Wolfgang Betz |
44:d757094f6229 | 110 | } |
| Wolfgang Betz |
44:d757094f6229 | 111 | |
| Wolfgang Betz |
44:d757094f6229 | 112 | virtual int Set_G_ODR(float odr) { |
| Wolfgang Betz |
44:d757094f6229 | 113 | return LSM6DS3_G_Set_ODR(odr); |
| Wolfgang Betz |
44:d757094f6229 | 114 | } |
| Wolfgang Betz |
44:d757094f6229 | 115 | |
| Wolfgang Betz |
44:d757094f6229 | 116 | virtual int Get_G_Sensitivity(float *pfData) { |
| Wolfgang Betz |
44:d757094f6229 | 117 | return LSM6DS3_G_GetSensitivity(pfData); |
| Wolfgang Betz |
44:d757094f6229 | 118 | } |
| Wolfgang Betz |
44:d757094f6229 | 119 | |
| Wolfgang Betz |
44:d757094f6229 | 120 | virtual int Get_G_FS(float *fullScale) { |
| Wolfgang Betz |
44:d757094f6229 | 121 | return LSM6DS3_G_Get_FS(fullScale); |
| Wolfgang Betz |
44:d757094f6229 | 122 | } |
| Wolfgang Betz |
44:d757094f6229 | 123 | |
| Wolfgang Betz |
44:d757094f6229 | 124 | virtual int Set_G_FS(float fullScale) { |
| Wolfgang Betz |
44:d757094f6229 | 125 | return LSM6DS3_G_Set_FS(fullScale); |
| Wolfgang Betz |
44:d757094f6229 | 126 | } |
| Wolfgang Betz |
44:d757094f6229 | 127 | |
| Wolfgang Betz |
44:d757094f6229 | 128 | /* Additional Public Methods */ |
| Wolfgang Betz |
44:d757094f6229 | 129 | IMU_6AXES_StatusTypeDef Enable_Free_Fall_Detection(void) { |
| Wolfgang Betz |
44:d757094f6229 | 130 | return LSM6DS3_Enable_Free_Fall_Detection(); |
| Wolfgang Betz |
44:d757094f6229 | 131 | } |
| Wolfgang Betz |
44:d757094f6229 | 132 | |
| Wolfgang Betz |
44:d757094f6229 | 133 | IMU_6AXES_StatusTypeDef Disable_Free_Fall_Detection(void) { |
| Wolfgang Betz |
44:d757094f6229 | 134 | return LSM6DS3_Disable_Free_Fall_Detection(); |
| Wolfgang Betz |
44:d757094f6229 | 135 | } |
| Wolfgang Betz |
44:d757094f6229 | 136 | |
| Wolfgang Betz |
44:d757094f6229 | 137 | IMU_6AXES_StatusTypeDef Get_Status_Free_Fall_Detection(uint8_t *status) { |
| Wolfgang Betz |
44:d757094f6229 | 138 | return LSM6DS3_Get_Status_Free_Fall_Detection(status); |
| Wolfgang Betz |
44:d757094f6229 | 139 | } |
| Wolfgang Betz |
44:d757094f6229 | 140 | |
| Wolfgang Betz |
44:d757094f6229 | 141 | protected: |
| Wolfgang Betz |
44:d757094f6229 | 142 | /*** Methods ***/ |
| Wolfgang Betz |
44:d757094f6229 | 143 | IMU_6AXES_StatusTypeDef LSM6DS3_Init(IMU_6AXES_InitTypeDef *LSM6DS3_Init); |
| Wolfgang Betz |
44:d757094f6229 | 144 | IMU_6AXES_StatusTypeDef LSM6DS3_Read_XG_ID(uint8_t *xg_id); |
| Wolfgang Betz |
44:d757094f6229 | 145 | IMU_6AXES_StatusTypeDef LSM6DS3_X_GetAxes(int32_t *pData); |
| Wolfgang Betz |
44:d757094f6229 | 146 | IMU_6AXES_StatusTypeDef LSM6DS3_X_GetAxesRaw(int16_t *pData); |
| Wolfgang Betz |
44:d757094f6229 | 147 | IMU_6AXES_StatusTypeDef LSM6DS3_G_GetAxes(int32_t *pData); |
| Wolfgang Betz |
44:d757094f6229 | 148 | IMU_6AXES_StatusTypeDef LSM6DS3_G_GetAxesRaw(int16_t *pData); |
| Wolfgang Betz |
44:d757094f6229 | 149 | IMU_6AXES_StatusTypeDef LSM6DS3_X_Get_ODR( float *odr ); |
| Wolfgang Betz |
44:d757094f6229 | 150 | IMU_6AXES_StatusTypeDef LSM6DS3_X_Set_ODR( float odr ); |
| Wolfgang Betz |
44:d757094f6229 | 151 | IMU_6AXES_StatusTypeDef LSM6DS3_X_GetSensitivity( float *pfData ); |
| Wolfgang Betz |
44:d757094f6229 | 152 | IMU_6AXES_StatusTypeDef LSM6DS3_X_Get_FS( float *fullScale ); |
| Wolfgang Betz |
44:d757094f6229 | 153 | IMU_6AXES_StatusTypeDef LSM6DS3_X_Set_FS( float fullScale ); |
| Wolfgang Betz |
44:d757094f6229 | 154 | IMU_6AXES_StatusTypeDef LSM6DS3_G_Get_ODR( float *odr ); |
| Wolfgang Betz |
44:d757094f6229 | 155 | IMU_6AXES_StatusTypeDef LSM6DS3_G_Set_ODR( float odr ); |
| Wolfgang Betz |
44:d757094f6229 | 156 | IMU_6AXES_StatusTypeDef LSM6DS3_G_GetSensitivity( float *pfData ); |
| Wolfgang Betz |
44:d757094f6229 | 157 | IMU_6AXES_StatusTypeDef LSM6DS3_G_Get_FS( float *fullScale ); |
| Wolfgang Betz |
44:d757094f6229 | 158 | IMU_6AXES_StatusTypeDef LSM6DS3_G_Set_FS( float fullScale ); |
| Wolfgang Betz |
44:d757094f6229 | 159 | IMU_6AXES_StatusTypeDef LSM6DS3_Enable_Free_Fall_Detection( void ); |
| Wolfgang Betz |
44:d757094f6229 | 160 | IMU_6AXES_StatusTypeDef LSM6DS3_Disable_Free_Fall_Detection( void ); |
| Wolfgang Betz |
44:d757094f6229 | 161 | IMU_6AXES_StatusTypeDef LSM6DS3_Get_Status_Free_Fall_Detection( uint8_t *status ); |
| Wolfgang Betz |
44:d757094f6229 | 162 | |
| Wolfgang Betz |
44:d757094f6229 | 163 | IMU_6AXES_StatusTypeDef LSM6DS3_Common_Sensor_Enable(void); |
| Wolfgang Betz |
44:d757094f6229 | 164 | IMU_6AXES_StatusTypeDef LSM6DS3_X_Set_Axes_Status(uint8_t enableX, uint8_t enableY, uint8_t enableZ); |
| Wolfgang Betz |
44:d757094f6229 | 165 | IMU_6AXES_StatusTypeDef LSM6DS3_G_Set_Axes_Status(uint8_t enableX, uint8_t enableY, uint8_t enableZ); |
| Wolfgang Betz |
44:d757094f6229 | 166 | |
| Wolfgang Betz |
44:d757094f6229 | 167 | /** |
| Wolfgang Betz |
44:d757094f6229 | 168 | * @brief Configures LSM6DS3 interrupt lines for NUCLEO boards |
| Wolfgang Betz |
44:d757094f6229 | 169 | * @param None |
| Wolfgang Betz |
44:d757094f6229 | 170 | * @retval None |
| Wolfgang Betz |
44:d757094f6229 | 171 | */ |
| Wolfgang Betz |
44:d757094f6229 | 172 | void LSM6DS3_IO_ITConfig(void) |
| Wolfgang Betz |
44:d757094f6229 | 173 | { |
| Wolfgang Betz |
44:d757094f6229 | 174 | /* To be implemented */ |
| Wolfgang Betz |
44:d757094f6229 | 175 | } |
| Wolfgang Betz |
44:d757094f6229 | 176 | |
| Wolfgang Betz |
44:d757094f6229 | 177 | /** |
| Wolfgang Betz |
44:d757094f6229 | 178 | * @brief Configures LSM6DS3 I2C interface |
| Wolfgang Betz |
44:d757094f6229 | 179 | * @param None |
| Wolfgang Betz |
44:d757094f6229 | 180 | * @retval IMU_6AXES_OK in case of success, an error code otherwise |
| Wolfgang Betz |
44:d757094f6229 | 181 | */ |
| Wolfgang Betz |
44:d757094f6229 | 182 | IMU_6AXES_StatusTypeDef LSM6DS3_IO_Init(void) |
| Wolfgang Betz |
44:d757094f6229 | 183 | { |
| Wolfgang Betz |
44:d757094f6229 | 184 | return IMU_6AXES_OK; /* done in constructor */ |
| Wolfgang Betz |
44:d757094f6229 | 185 | } |
| Wolfgang Betz |
44:d757094f6229 | 186 | |
| Wolfgang Betz |
44:d757094f6229 | 187 | /** |
| Wolfgang Betz |
44:d757094f6229 | 188 | * @brief utility function to read data from STC3115 |
| Wolfgang Betz |
44:d757094f6229 | 189 | * @param pBuffer: pointer to data to be read. |
| Wolfgang Betz |
44:d757094f6229 | 190 | * @param RegisterAddr: specifies internal address register to read from. |
| Wolfgang Betz |
44:d757094f6229 | 191 | * @param NumByteToRead: number of bytes to be read. |
| Wolfgang Betz |
44:d757094f6229 | 192 | * @retval IMU_6AXES_OK if ok, IMU_6AXES_ERROR if an I2C error has occured |
| Wolfgang Betz |
44:d757094f6229 | 193 | */ |
| Wolfgang Betz |
44:d757094f6229 | 194 | IMU_6AXES_StatusTypeDef LSM6DS3_IO_Read(uint8_t* pBuffer, |
| Wolfgang Betz |
44:d757094f6229 | 195 | uint8_t RegisterAddr, uint16_t NumByteToRead) |
| Wolfgang Betz |
44:d757094f6229 | 196 | { |
| Wolfgang Betz |
44:d757094f6229 | 197 | int ret = dev_i2c.i2c_read(pBuffer, |
| Wolfgang Betz |
44:d757094f6229 | 198 | LSM6DS3_XG_MEMS_ADDRESS, |
| Wolfgang Betz |
44:d757094f6229 | 199 | RegisterAddr, |
| Wolfgang Betz |
44:d757094f6229 | 200 | NumByteToRead); |
| Wolfgang Betz |
44:d757094f6229 | 201 | if(ret != 0) { |
| Wolfgang Betz |
44:d757094f6229 | 202 | return IMU_6AXES_ERROR; |
| Wolfgang Betz |
44:d757094f6229 | 203 | } |
| Wolfgang Betz |
44:d757094f6229 | 204 | return IMU_6AXES_OK; |
| Wolfgang Betz |
44:d757094f6229 | 205 | } |
| Wolfgang Betz |
44:d757094f6229 | 206 | |
| Wolfgang Betz |
44:d757094f6229 | 207 | /** |
| Wolfgang Betz |
44:d757094f6229 | 208 | * @brief utility function to write data to STC3115 |
| Wolfgang Betz |
44:d757094f6229 | 209 | * @param pBuffer: pointer to buffer to be filled. |
| Wolfgang Betz |
44:d757094f6229 | 210 | * @param RegisterAddr: specifies internal address register to read from. |
| Wolfgang Betz |
44:d757094f6229 | 211 | * @param NumByteToWrite: number of bytes to write. |
| Wolfgang Betz |
44:d757094f6229 | 212 | * @retval 0 if ok, -1 if an I2C error has occured |
| Wolfgang Betz |
44:d757094f6229 | 213 | */ |
| Wolfgang Betz |
44:d757094f6229 | 214 | IMU_6AXES_StatusTypeDef LSM6DS3_IO_Write(uint8_t* pBuffer, |
| Wolfgang Betz |
44:d757094f6229 | 215 | uint8_t RegisterAddr, uint16_t NumByteToWrite) |
| Wolfgang Betz |
44:d757094f6229 | 216 | { |
| Wolfgang Betz |
44:d757094f6229 | 217 | int ret = dev_i2c.i2c_write(pBuffer, |
| Wolfgang Betz |
44:d757094f6229 | 218 | LSM6DS3_XG_MEMS_ADDRESS, |
| Wolfgang Betz |
44:d757094f6229 | 219 | RegisterAddr, |
| Wolfgang Betz |
44:d757094f6229 | 220 | NumByteToWrite); |
| Wolfgang Betz |
44:d757094f6229 | 221 | if(ret != 0) { |
| Wolfgang Betz |
44:d757094f6229 | 222 | return IMU_6AXES_ERROR; |
| Wolfgang Betz |
44:d757094f6229 | 223 | } |
| Wolfgang Betz |
44:d757094f6229 | 224 | return IMU_6AXES_OK; |
| Wolfgang Betz |
44:d757094f6229 | 225 | } |
| Wolfgang Betz |
44:d757094f6229 | 226 | |
| Wolfgang Betz |
44:d757094f6229 | 227 | /*** Instance Variables ***/ |
| Wolfgang Betz |
44:d757094f6229 | 228 | /* IO Device */ |
| Wolfgang Betz |
44:d757094f6229 | 229 | DevI2C &dev_i2c; |
| Wolfgang Betz |
44:d757094f6229 | 230 | }; |
| Wolfgang Betz |
44:d757094f6229 | 231 | |
| Wolfgang Betz |
44:d757094f6229 | 232 | #endif // __LSM6DS3_CLASS_H |