Emilio Salomone / X_NUCLEO_IKS01A2

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Components/LSM303AGRSensor/LSM303AGRMagSensor.cpp@6:671fd10a51b7, 2017-03-14 (annotated)

Committer:
davide.aliprandi@st.com
Date:
Tue Mar 14 13:41:32 2017 +0100
Revision:
6:671fd10a51b7
Child:
9:038121268b07
Aligning to ARM mbed coding style.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
davide.aliprandi@st.com 6:671fd10a51b7 1 /**
davide.aliprandi@st.com 6:671fd10a51b7 2 ******************************************************************************
davide.aliprandi@st.com 6:671fd10a51b7 3 * @file LSM303AGRMagSensor.cpp
davide.aliprandi@st.com 6:671fd10a51b7 4 * @author CLab
davide.aliprandi@st.com 6:671fd10a51b7 5 * @version V1.0.0
davide.aliprandi@st.com 6:671fd10a51b7 6 * @date 5 August 2016
davide.aliprandi@st.com 6:671fd10a51b7 7 * @brief Implementation an LSM303AGR magnetometer sensor.
davide.aliprandi@st.com 6:671fd10a51b7 8 ******************************************************************************
davide.aliprandi@st.com 6:671fd10a51b7 9 * @attention
davide.aliprandi@st.com 6:671fd10a51b7 10 *
davide.aliprandi@st.com 6:671fd10a51b7 11 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
davide.aliprandi@st.com 6:671fd10a51b7 12 *
davide.aliprandi@st.com 6:671fd10a51b7 13 * Redistribution and use in source and binary forms, with or without modification,
davide.aliprandi@st.com 6:671fd10a51b7 14 * are permitted provided that the following conditions are met:
davide.aliprandi@st.com 6:671fd10a51b7 15 * 1. Redistributions of source code must retain the above copyright notice,
davide.aliprandi@st.com 6:671fd10a51b7 16 * this list of conditions and the following disclaimer.
davide.aliprandi@st.com 6:671fd10a51b7 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
davide.aliprandi@st.com 6:671fd10a51b7 18 * this list of conditions and the following disclaimer in the documentation
davide.aliprandi@st.com 6:671fd10a51b7 19 * and/or other materials provided with the distribution.
davide.aliprandi@st.com 6:671fd10a51b7 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
davide.aliprandi@st.com 6:671fd10a51b7 21 * may be used to endorse or promote products derived from this software
davide.aliprandi@st.com 6:671fd10a51b7 22 * without specific prior written permission.
davide.aliprandi@st.com 6:671fd10a51b7 23 *
davide.aliprandi@st.com 6:671fd10a51b7 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
davide.aliprandi@st.com 6:671fd10a51b7 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
davide.aliprandi@st.com 6:671fd10a51b7 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
davide.aliprandi@st.com 6:671fd10a51b7 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
davide.aliprandi@st.com 6:671fd10a51b7 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
davide.aliprandi@st.com 6:671fd10a51b7 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
davide.aliprandi@st.com 6:671fd10a51b7 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
davide.aliprandi@st.com 6:671fd10a51b7 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
davide.aliprandi@st.com 6:671fd10a51b7 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
davide.aliprandi@st.com 6:671fd10a51b7 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
davide.aliprandi@st.com 6:671fd10a51b7 34 *
davide.aliprandi@st.com 6:671fd10a51b7 35 ******************************************************************************
davide.aliprandi@st.com 6:671fd10a51b7 36 */
davide.aliprandi@st.com 6:671fd10a51b7 37
davide.aliprandi@st.com 6:671fd10a51b7 38
davide.aliprandi@st.com 6:671fd10a51b7 39 /* Includes ------------------------------------------------------------------*/
davide.aliprandi@st.com 6:671fd10a51b7 40
davide.aliprandi@st.com 6:671fd10a51b7 41 #include "mbed.h"
davide.aliprandi@st.com 6:671fd10a51b7 42 #include "DevI2C.h"
davide.aliprandi@st.com 6:671fd10a51b7 43 #include "LSM303AGRMagSensor.h"
davide.aliprandi@st.com 6:671fd10a51b7 44 #include "LSM303AGR_mag_driver.h"
davide.aliprandi@st.com 6:671fd10a51b7 45
davide.aliprandi@st.com 6:671fd10a51b7 46
davide.aliprandi@st.com 6:671fd10a51b7 47 /* Class Implementation ------------------------------------------------------*/
davide.aliprandi@st.com 6:671fd10a51b7 48
davide.aliprandi@st.com 6:671fd10a51b7 49 /** Constructor
davide.aliprandi@st.com 6:671fd10a51b7 50 * @param i2c object of an helper class which handles the I2C peripheral
davide.aliprandi@st.com 6:671fd10a51b7 51 * @param address the address of the component's instance
davide.aliprandi@st.com 6:671fd10a51b7 52 */
davide.aliprandi@st.com 6:671fd10a51b7 53 LSM303AGRMagSensor::LSM303AGRMagSensor(DevI2C &i2c) : dev_i2c(i2c)
davide.aliprandi@st.com 6:671fd10a51b7 54 {
davide.aliprandi@st.com 6:671fd10a51b7 55 address = LSM303AGR_MAG_I2C_ADDRESS;
davide.aliprandi@st.com 6:671fd10a51b7 56 };
davide.aliprandi@st.com 6:671fd10a51b7 57
davide.aliprandi@st.com 6:671fd10a51b7 58 /** Constructor
davide.aliprandi@st.com 6:671fd10a51b7 59 * @param i2c object of an helper class which handles the I2C peripheral
davide.aliprandi@st.com 6:671fd10a51b7 60 * @param address the address of the component's instance
davide.aliprandi@st.com 6:671fd10a51b7 61 */
davide.aliprandi@st.com 6:671fd10a51b7 62 LSM303AGRMagSensor::LSM303AGRMagSensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
davide.aliprandi@st.com 6:671fd10a51b7 63 {
davide.aliprandi@st.com 6:671fd10a51b7 64
davide.aliprandi@st.com 6:671fd10a51b7 65 };
davide.aliprandi@st.com 6:671fd10a51b7 66
davide.aliprandi@st.com 6:671fd10a51b7 67 /**
davide.aliprandi@st.com 6:671fd10a51b7 68 * @brief Initializing the component.
davide.aliprandi@st.com 6:671fd10a51b7 69 * @param[in] init pointer to device specific initalization structure.
davide.aliprandi@st.com 6:671fd10a51b7 70 * @retval "0" in case of success, an error code otherwise.
davide.aliprandi@st.com 6:671fd10a51b7 71 */
davide.aliprandi@st.com 6:671fd10a51b7 72 int LSM303AGRMagSensor::init(void *init)
davide.aliprandi@st.com 6:671fd10a51b7 73 {
davide.aliprandi@st.com 6:671fd10a51b7 74 /* Operating mode selection - power down */
davide.aliprandi@st.com 6:671fd10a51b7 75 if ( LSM303AGR_MAG_W_MD( (void *)this, LSM303AGR_MAG_MD_IDLE1_MODE ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 76 {
davide.aliprandi@st.com 6:671fd10a51b7 77 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 78 }
davide.aliprandi@st.com 6:671fd10a51b7 79
davide.aliprandi@st.com 6:671fd10a51b7 80 /* Enable BDU */
davide.aliprandi@st.com 6:671fd10a51b7 81 if ( LSM303AGR_MAG_W_BDU( (void *)this, LSM303AGR_MAG_BDU_ENABLED ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 82 {
davide.aliprandi@st.com 6:671fd10a51b7 83 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 84 }
davide.aliprandi@st.com 6:671fd10a51b7 85
davide.aliprandi@st.com 6:671fd10a51b7 86 if ( set_m_odr( 100.0f ) == 1 )
davide.aliprandi@st.com 6:671fd10a51b7 87 {
davide.aliprandi@st.com 6:671fd10a51b7 88 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 89 }
davide.aliprandi@st.com 6:671fd10a51b7 90
davide.aliprandi@st.com 6:671fd10a51b7 91 if ( set_m_fs( 50.0f ) == 1 )
davide.aliprandi@st.com 6:671fd10a51b7 92 {
davide.aliprandi@st.com 6:671fd10a51b7 93 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 94 }
davide.aliprandi@st.com 6:671fd10a51b7 95
davide.aliprandi@st.com 6:671fd10a51b7 96 if ( LSM303AGR_MAG_W_ST( (void *)this, LSM303AGR_MAG_ST_DISABLED ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 97 {
davide.aliprandi@st.com 6:671fd10a51b7 98 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 99 }
davide.aliprandi@st.com 6:671fd10a51b7 100
davide.aliprandi@st.com 6:671fd10a51b7 101 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 102 }
davide.aliprandi@st.com 6:671fd10a51b7 103
davide.aliprandi@st.com 6:671fd10a51b7 104 /**
davide.aliprandi@st.com 6:671fd10a51b7 105 * @brief Enable LSM303AGR magnetometer
davide.aliprandi@st.com 6:671fd10a51b7 106 * @retval 0 in case of success, an error code otherwise
davide.aliprandi@st.com 6:671fd10a51b7 107 */
davide.aliprandi@st.com 6:671fd10a51b7 108 int LSM303AGRMagSensor::Enable(void)
davide.aliprandi@st.com 6:671fd10a51b7 109 {
davide.aliprandi@st.com 6:671fd10a51b7 110 /* Operating mode selection */
davide.aliprandi@st.com 6:671fd10a51b7 111 if ( LSM303AGR_MAG_W_MD( (void *)this, LSM303AGR_MAG_MD_CONTINUOS_MODE ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 112 {
davide.aliprandi@st.com 6:671fd10a51b7 113 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 114 }
davide.aliprandi@st.com 6:671fd10a51b7 115
davide.aliprandi@st.com 6:671fd10a51b7 116 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 117 }
davide.aliprandi@st.com 6:671fd10a51b7 118
davide.aliprandi@st.com 6:671fd10a51b7 119 /**
davide.aliprandi@st.com 6:671fd10a51b7 120 * @brief Disable LSM303AGR magnetometer
davide.aliprandi@st.com 6:671fd10a51b7 121 * @retval 0 in case of success, an error code otherwise
davide.aliprandi@st.com 6:671fd10a51b7 122 */
davide.aliprandi@st.com 6:671fd10a51b7 123 int LSM303AGRMagSensor::Disable(void)
davide.aliprandi@st.com 6:671fd10a51b7 124 {
davide.aliprandi@st.com 6:671fd10a51b7 125 /* Operating mode selection - power down */
davide.aliprandi@st.com 6:671fd10a51b7 126 if ( LSM303AGR_MAG_W_MD( (void *)this, LSM303AGR_MAG_MD_IDLE1_MODE ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 127 {
davide.aliprandi@st.com 6:671fd10a51b7 128 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 129 }
davide.aliprandi@st.com 6:671fd10a51b7 130
davide.aliprandi@st.com 6:671fd10a51b7 131 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 132 }
davide.aliprandi@st.com 6:671fd10a51b7 133
davide.aliprandi@st.com 6:671fd10a51b7 134 /**
davide.aliprandi@st.com 6:671fd10a51b7 135 * @brief Read ID of LSM303AGR Magnetometer
davide.aliprandi@st.com 6:671fd10a51b7 136 * @param p_id the pointer where the ID of the device is stored
davide.aliprandi@st.com 6:671fd10a51b7 137 * @retval 0 in case of success, an error code otherwise
davide.aliprandi@st.com 6:671fd10a51b7 138 */
davide.aliprandi@st.com 6:671fd10a51b7 139 int LSM303AGRMagSensor::read_id(uint8_t *id)
davide.aliprandi@st.com 6:671fd10a51b7 140 {
davide.aliprandi@st.com 6:671fd10a51b7 141 if(!id)
davide.aliprandi@st.com 6:671fd10a51b7 142 {
davide.aliprandi@st.com 6:671fd10a51b7 143 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 144 }
davide.aliprandi@st.com 6:671fd10a51b7 145
davide.aliprandi@st.com 6:671fd10a51b7 146 /* Read WHO AM I register */
davide.aliprandi@st.com 6:671fd10a51b7 147 if ( LSM303AGR_MAG_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 148 {
davide.aliprandi@st.com 6:671fd10a51b7 149 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 150 }
davide.aliprandi@st.com 6:671fd10a51b7 151
davide.aliprandi@st.com 6:671fd10a51b7 152 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 153 }
davide.aliprandi@st.com 6:671fd10a51b7 154
davide.aliprandi@st.com 6:671fd10a51b7 155 /**
davide.aliprandi@st.com 6:671fd10a51b7 156 * @brief Read data from LSM303AGR Magnetometer
davide.aliprandi@st.com 6:671fd10a51b7 157 * @param pData the pointer where the magnetometer data are stored
davide.aliprandi@st.com 6:671fd10a51b7 158 * @retval 0 in case of success, an error code otherwise
davide.aliprandi@st.com 6:671fd10a51b7 159 */
davide.aliprandi@st.com 6:671fd10a51b7 160 int LSM303AGRMagSensor::get_m_axes(int32_t *pData)
davide.aliprandi@st.com 6:671fd10a51b7 161 {
davide.aliprandi@st.com 6:671fd10a51b7 162 int16_t pDataRaw[3];
davide.aliprandi@st.com 6:671fd10a51b7 163 float sensitivity = 0;
davide.aliprandi@st.com 6:671fd10a51b7 164
davide.aliprandi@st.com 6:671fd10a51b7 165 /* Read raw data from LSM303AGR output register. */
davide.aliprandi@st.com 6:671fd10a51b7 166 if ( get_m_axesRaw( pDataRaw ) == 1 )
davide.aliprandi@st.com 6:671fd10a51b7 167 {
davide.aliprandi@st.com 6:671fd10a51b7 168 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 169 }
davide.aliprandi@st.com 6:671fd10a51b7 170
davide.aliprandi@st.com 6:671fd10a51b7 171 /* Get LSM303AGR actual sensitivity. */
davide.aliprandi@st.com 6:671fd10a51b7 172 if ( get_m_sensitivity( &sensitivity ) == 1 )
davide.aliprandi@st.com 6:671fd10a51b7 173 {
davide.aliprandi@st.com 6:671fd10a51b7 174 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 175 }
davide.aliprandi@st.com 6:671fd10a51b7 176
davide.aliprandi@st.com 6:671fd10a51b7 177 /* Calculate the data. */
davide.aliprandi@st.com 6:671fd10a51b7 178 pData[0] = ( int32_t )( pDataRaw[0] * sensitivity );
davide.aliprandi@st.com 6:671fd10a51b7 179 pData[1] = ( int32_t )( pDataRaw[1] * sensitivity );
davide.aliprandi@st.com 6:671fd10a51b7 180 pData[2] = ( int32_t )( pDataRaw[2] * sensitivity );
davide.aliprandi@st.com 6:671fd10a51b7 181
davide.aliprandi@st.com 6:671fd10a51b7 182 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 183 }
davide.aliprandi@st.com 6:671fd10a51b7 184
davide.aliprandi@st.com 6:671fd10a51b7 185 /**
davide.aliprandi@st.com 6:671fd10a51b7 186 * @brief Read Magnetometer Sensitivity
davide.aliprandi@st.com 6:671fd10a51b7 187 * @param pfData the pointer where the magnetometer sensitivity is stored
davide.aliprandi@st.com 6:671fd10a51b7 188 * @retval 0 in case of success, an error code otherwise
davide.aliprandi@st.com 6:671fd10a51b7 189 */
davide.aliprandi@st.com 6:671fd10a51b7 190 int LSM303AGRMagSensor::get_m_sensitivity(float *pfData)
davide.aliprandi@st.com 6:671fd10a51b7 191 {
davide.aliprandi@st.com 6:671fd10a51b7 192 *pfData = 1.5f;
davide.aliprandi@st.com 6:671fd10a51b7 193
davide.aliprandi@st.com 6:671fd10a51b7 194 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 195 }
davide.aliprandi@st.com 6:671fd10a51b7 196
davide.aliprandi@st.com 6:671fd10a51b7 197 /**
davide.aliprandi@st.com 6:671fd10a51b7 198 * @brief Read raw data from LSM303AGR Magnetometer
davide.aliprandi@st.com 6:671fd10a51b7 199 * @param pData the pointer where the magnetomer raw data are stored
davide.aliprandi@st.com 6:671fd10a51b7 200 * @retval 0 in case of success, an error code otherwise
davide.aliprandi@st.com 6:671fd10a51b7 201 */
davide.aliprandi@st.com 6:671fd10a51b7 202 int LSM303AGRMagSensor::get_m_axesRaw(int16_t *pData)
davide.aliprandi@st.com 6:671fd10a51b7 203 {
davide.aliprandi@st.com 6:671fd10a51b7 204 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
davide.aliprandi@st.com 6:671fd10a51b7 205 int16_t *regValueInt16;
davide.aliprandi@st.com 6:671fd10a51b7 206
davide.aliprandi@st.com 6:671fd10a51b7 207 /* Read output registers from LSM303AGR_MAG_OUTX_L to LSM303AGR_MAG_OUTZ_H. */
davide.aliprandi@st.com 6:671fd10a51b7 208 if ( LSM303AGR_MAG_Get_Raw_Magnetic( (void *)this, regValue ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 209 {
davide.aliprandi@st.com 6:671fd10a51b7 210 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 211 }
davide.aliprandi@st.com 6:671fd10a51b7 212
davide.aliprandi@st.com 6:671fd10a51b7 213 regValueInt16 = (int16_t *)regValue;
davide.aliprandi@st.com 6:671fd10a51b7 214
davide.aliprandi@st.com 6:671fd10a51b7 215 /* Format the data. */
davide.aliprandi@st.com 6:671fd10a51b7 216 pData[0] = regValueInt16[0];
davide.aliprandi@st.com 6:671fd10a51b7 217 pData[1] = regValueInt16[1];
davide.aliprandi@st.com 6:671fd10a51b7 218 pData[2] = regValueInt16[2];
davide.aliprandi@st.com 6:671fd10a51b7 219
davide.aliprandi@st.com 6:671fd10a51b7 220 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 221 }
davide.aliprandi@st.com 6:671fd10a51b7 222
davide.aliprandi@st.com 6:671fd10a51b7 223 /**
davide.aliprandi@st.com 6:671fd10a51b7 224 * @brief Read LSM303AGR Magnetometer output data rate
davide.aliprandi@st.com 6:671fd10a51b7 225 * @param odr the pointer to the output data rate
davide.aliprandi@st.com 6:671fd10a51b7 226 * @retval 0 in case of success, an error code otherwise
davide.aliprandi@st.com 6:671fd10a51b7 227 */
davide.aliprandi@st.com 6:671fd10a51b7 228 int LSM303AGRMagSensor::get_m_odr(float* odr)
davide.aliprandi@st.com 6:671fd10a51b7 229 {
davide.aliprandi@st.com 6:671fd10a51b7 230 LSM303AGR_MAG_ODR_t odr_low_level;
davide.aliprandi@st.com 6:671fd10a51b7 231
davide.aliprandi@st.com 6:671fd10a51b7 232 if ( LSM303AGR_MAG_R_ODR( (void *)this, &odr_low_level ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 233 {
davide.aliprandi@st.com 6:671fd10a51b7 234 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 235 }
davide.aliprandi@st.com 6:671fd10a51b7 236
davide.aliprandi@st.com 6:671fd10a51b7 237 switch( odr_low_level )
davide.aliprandi@st.com 6:671fd10a51b7 238 {
davide.aliprandi@st.com 6:671fd10a51b7 239 case LSM303AGR_MAG_ODR_10Hz:
davide.aliprandi@st.com 6:671fd10a51b7 240 *odr = 10.000f;
davide.aliprandi@st.com 6:671fd10a51b7 241 break;
davide.aliprandi@st.com 6:671fd10a51b7 242 case LSM303AGR_MAG_ODR_20Hz:
davide.aliprandi@st.com 6:671fd10a51b7 243 *odr = 20.000f;
davide.aliprandi@st.com 6:671fd10a51b7 244 break;
davide.aliprandi@st.com 6:671fd10a51b7 245 case LSM303AGR_MAG_ODR_50Hz:
davide.aliprandi@st.com 6:671fd10a51b7 246 *odr = 50.000f;
davide.aliprandi@st.com 6:671fd10a51b7 247 break;
davide.aliprandi@st.com 6:671fd10a51b7 248 case LSM303AGR_MAG_ODR_100Hz:
davide.aliprandi@st.com 6:671fd10a51b7 249 *odr = 100.000f;
davide.aliprandi@st.com 6:671fd10a51b7 250 break;
davide.aliprandi@st.com 6:671fd10a51b7 251 default:
davide.aliprandi@st.com 6:671fd10a51b7 252 *odr = -1.000f;
davide.aliprandi@st.com 6:671fd10a51b7 253 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 254 }
davide.aliprandi@st.com 6:671fd10a51b7 255 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 256 }
davide.aliprandi@st.com 6:671fd10a51b7 257
davide.aliprandi@st.com 6:671fd10a51b7 258 /**
davide.aliprandi@st.com 6:671fd10a51b7 259 * @brief Set ODR
davide.aliprandi@st.com 6:671fd10a51b7 260 * @param odr the output data rate to be set
davide.aliprandi@st.com 6:671fd10a51b7 261 * @retval 0 in case of success, an error code otherwise
davide.aliprandi@st.com 6:671fd10a51b7 262 */
davide.aliprandi@st.com 6:671fd10a51b7 263 int LSM303AGRMagSensor::set_m_odr(float odr)
davide.aliprandi@st.com 6:671fd10a51b7 264 {
davide.aliprandi@st.com 6:671fd10a51b7 265 LSM303AGR_MAG_ODR_t new_odr;
davide.aliprandi@st.com 6:671fd10a51b7 266
davide.aliprandi@st.com 6:671fd10a51b7 267 new_odr = ( odr <= 10.000f ) ? LSM303AGR_MAG_ODR_10Hz
davide.aliprandi@st.com 6:671fd10a51b7 268 : ( odr <= 20.000f ) ? LSM303AGR_MAG_ODR_20Hz
davide.aliprandi@st.com 6:671fd10a51b7 269 : ( odr <= 50.000f ) ? LSM303AGR_MAG_ODR_50Hz
davide.aliprandi@st.com 6:671fd10a51b7 270 : LSM303AGR_MAG_ODR_100Hz;
davide.aliprandi@st.com 6:671fd10a51b7 271
davide.aliprandi@st.com 6:671fd10a51b7 272 if ( LSM303AGR_MAG_W_ODR( (void *)this, new_odr ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 273 {
davide.aliprandi@st.com 6:671fd10a51b7 274 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 275 }
davide.aliprandi@st.com 6:671fd10a51b7 276
davide.aliprandi@st.com 6:671fd10a51b7 277 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 278 }
davide.aliprandi@st.com 6:671fd10a51b7 279
davide.aliprandi@st.com 6:671fd10a51b7 280
davide.aliprandi@st.com 6:671fd10a51b7 281 /**
davide.aliprandi@st.com 6:671fd10a51b7 282 * @brief Read LSM303AGR Magnetometer full scale
davide.aliprandi@st.com 6:671fd10a51b7 283 * @param fullScale the pointer to the output data rate
davide.aliprandi@st.com 6:671fd10a51b7 284 * @retval 0 in case of success, an error code otherwise
davide.aliprandi@st.com 6:671fd10a51b7 285 */
davide.aliprandi@st.com 6:671fd10a51b7 286 int LSM303AGRMagSensor::get_m_fs(float* fullScale)
davide.aliprandi@st.com 6:671fd10a51b7 287 {
davide.aliprandi@st.com 6:671fd10a51b7 288 *fullScale = 50.0f;
davide.aliprandi@st.com 6:671fd10a51b7 289
davide.aliprandi@st.com 6:671fd10a51b7 290 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 291 }
davide.aliprandi@st.com 6:671fd10a51b7 292
davide.aliprandi@st.com 6:671fd10a51b7 293 /**
davide.aliprandi@st.com 6:671fd10a51b7 294 * @brief Set full scale
davide.aliprandi@st.com 6:671fd10a51b7 295 * @param fullScale the full scale to be set
davide.aliprandi@st.com 6:671fd10a51b7 296 * @retval 0 in case of success, an error code otherwise
davide.aliprandi@st.com 6:671fd10a51b7 297 */
davide.aliprandi@st.com 6:671fd10a51b7 298 int LSM303AGRMagSensor::set_m_fs(float fullScale)
davide.aliprandi@st.com 6:671fd10a51b7 299 {
davide.aliprandi@st.com 6:671fd10a51b7 300 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 301 }
davide.aliprandi@st.com 6:671fd10a51b7 302
davide.aliprandi@st.com 6:671fd10a51b7 303
davide.aliprandi@st.com 6:671fd10a51b7 304 /**
davide.aliprandi@st.com 6:671fd10a51b7 305 * @brief Read magnetometer data from register
davide.aliprandi@st.com 6:671fd10a51b7 306 * @param reg register address
davide.aliprandi@st.com 6:671fd10a51b7 307 * @param data register data
davide.aliprandi@st.com 6:671fd10a51b7 308 * @retval 0 in case of success
davide.aliprandi@st.com 6:671fd10a51b7 309 * @retval 1 in case of failure
davide.aliprandi@st.com 6:671fd10a51b7 310 */
davide.aliprandi@st.com 6:671fd10a51b7 311 int LSM303AGRMagSensor::read_reg( uint8_t reg, uint8_t *data )
davide.aliprandi@st.com 6:671fd10a51b7 312 {
davide.aliprandi@st.com 6:671fd10a51b7 313 if ( LSM303AGR_MAG_read_reg( (void *)this, reg, data ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 314 {
davide.aliprandi@st.com 6:671fd10a51b7 315 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 316 }
davide.aliprandi@st.com 6:671fd10a51b7 317
davide.aliprandi@st.com 6:671fd10a51b7 318 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 319 }
davide.aliprandi@st.com 6:671fd10a51b7 320
davide.aliprandi@st.com 6:671fd10a51b7 321
davide.aliprandi@st.com 6:671fd10a51b7 322 /**
davide.aliprandi@st.com 6:671fd10a51b7 323 * @brief Write magnetometer data to register
davide.aliprandi@st.com 6:671fd10a51b7 324 * @param reg register address
davide.aliprandi@st.com 6:671fd10a51b7 325 * @param data register data
davide.aliprandi@st.com 6:671fd10a51b7 326 * @retval 0 in case of success
davide.aliprandi@st.com 6:671fd10a51b7 327 * @retval 1 in case of failure
davide.aliprandi@st.com 6:671fd10a51b7 328 */
davide.aliprandi@st.com 6:671fd10a51b7 329 int LSM303AGRMagSensor::write_reg( uint8_t reg, uint8_t data )
davide.aliprandi@st.com 6:671fd10a51b7 330 {
davide.aliprandi@st.com 6:671fd10a51b7 331 if ( LSM303AGR_MAG_write_reg( (void *)this, reg, data ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 332 {
davide.aliprandi@st.com 6:671fd10a51b7 333 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 334 }
davide.aliprandi@st.com 6:671fd10a51b7 335
davide.aliprandi@st.com 6:671fd10a51b7 336 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 337 }
davide.aliprandi@st.com 6:671fd10a51b7 338
davide.aliprandi@st.com 6:671fd10a51b7 339 uint8_t LSM303AGR_MAG_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
davide.aliprandi@st.com 6:671fd10a51b7 340 {
davide.aliprandi@st.com 6:671fd10a51b7 341 return ((LSM303AGRMagSensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite);
davide.aliprandi@st.com 6:671fd10a51b7 342 }
davide.aliprandi@st.com 6:671fd10a51b7 343
davide.aliprandi@st.com 6:671fd10a51b7 344 uint8_t LSM303AGR_MAG_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
davide.aliprandi@st.com 6:671fd10a51b7 345 {
davide.aliprandi@st.com 6:671fd10a51b7 346 return ((LSM303AGRMagSensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead);
davide.aliprandi@st.com 6:671fd10a51b7 347 }