Emilio Salomone / X_NUCLEO_IKS01A2

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Dependencies:   ST_INTERFACES X_NUCLEO_COMMON

Fork of X_NUCLEO_IKS01A2 by ST

Components/LSM303AGRSensor/LSM303AGRAccSensor.cpp@11:8f4e5789b6b3, 2017-11-02 (annotated)

Committer:
Qksalo
Date:
Thu Nov 02 10:58:12 2017 +0000
Revision:
11:8f4e5789b6b3
Parent:
9:038121268b07 
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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 LSM303AGRAccSensor.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 accelerometer 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 "DevI2C.h"
davide.aliprandi@st.com 6:671fd10a51b7 42 #include "LSM303AGRAccSensor.h"
davide.aliprandi@st.com 6:671fd10a51b7 43 #include "LSM303AGR_acc_driver.h"
davide.aliprandi@st.com 6:671fd10a51b7 44
davide.aliprandi@st.com 6:671fd10a51b7 45
davide.aliprandi@st.com 6:671fd10a51b7 46 /* Class Implementation ------------------------------------------------------*/
davide.aliprandi@st.com 6:671fd10a51b7 47
davide.aliprandi@st.com 6:671fd10a51b7 48 /** Constructor
davide.aliprandi@st.com 6:671fd10a51b7 49 * @param i2c object of an helper class which handles the I2C peripheral
davide.aliprandi@st.com 6:671fd10a51b7 50 * @param address the address of the component's instance
davide.aliprandi@st.com 6:671fd10a51b7 51 */
Davidroid 9:038121268b07 52 LSM303AGRAccSensor::LSM303AGRAccSensor(DevI2C &i2c) : _dev_i2c(i2c)
davide.aliprandi@st.com 6:671fd10a51b7 53 {
Davidroid 9:038121268b07 54 _address = LSM303AGR_ACC_I2C_ADDRESS;
davide.aliprandi@st.com 6:671fd10a51b7 55 };
davide.aliprandi@st.com 6:671fd10a51b7 56
davide.aliprandi@st.com 6:671fd10a51b7 57 /** Constructor
davide.aliprandi@st.com 6:671fd10a51b7 58 * @param i2c object of an helper class which handles the I2C peripheral
davide.aliprandi@st.com 6:671fd10a51b7 59 * @param address the address of the component's instance
davide.aliprandi@st.com 6:671fd10a51b7 60 */
Davidroid 9:038121268b07 61 LSM303AGRAccSensor::LSM303AGRAccSensor(DevI2C &i2c, uint8_t address) : _dev_i2c(i2c), _address(address)
davide.aliprandi@st.com 6:671fd10a51b7 62 {
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 * @brief Initializing the component.
davide.aliprandi@st.com 6:671fd10a51b7 68 * @param[in] init pointer to device specific initalization structure.
davide.aliprandi@st.com 6:671fd10a51b7 69 * @retval "0" in case of success, an error code otherwise.
davide.aliprandi@st.com 6:671fd10a51b7 70 */
davide.aliprandi@st.com 6:671fd10a51b7 71 int LSM303AGRAccSensor::init(void *init)
davide.aliprandi@st.com 6:671fd10a51b7 72 {
davide.aliprandi@st.com 6:671fd10a51b7 73 /* Enable BDU */
davide.aliprandi@st.com 6:671fd10a51b7 74 if ( LSM303AGR_ACC_W_BlockDataUpdate( (void *)this, LSM303AGR_ACC_BDU_ENABLED ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 75 {
davide.aliprandi@st.com 6:671fd10a51b7 76 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 77 }
davide.aliprandi@st.com 6:671fd10a51b7 78
davide.aliprandi@st.com 6:671fd10a51b7 79 /* FIFO mode selection */
davide.aliprandi@st.com 6:671fd10a51b7 80 if ( LSM303AGR_ACC_W_FifoMode( (void *)this, LSM303AGR_ACC_FM_BYPASS ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 81 {
davide.aliprandi@st.com 6:671fd10a51b7 82 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 83 }
davide.aliprandi@st.com 6:671fd10a51b7 84
davide.aliprandi@st.com 6:671fd10a51b7 85 /* Output data rate selection - power down. */
davide.aliprandi@st.com 6:671fd10a51b7 86 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
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 /* Full scale selection. */
davide.aliprandi@st.com 6:671fd10a51b7 92 if ( set_x_fs( 2.0f ) == 1 )
davide.aliprandi@st.com 6:671fd10a51b7 93 {
davide.aliprandi@st.com 6:671fd10a51b7 94 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 95 }
davide.aliprandi@st.com 6:671fd10a51b7 96
davide.aliprandi@st.com 6:671fd10a51b7 97 /* Enable axes. */
davide.aliprandi@st.com 6:671fd10a51b7 98 if ( LSM303AGR_ACC_W_XEN( (void *)this, LSM303AGR_ACC_XEN_ENABLED ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 99 {
davide.aliprandi@st.com 6:671fd10a51b7 100 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 101 }
davide.aliprandi@st.com 6:671fd10a51b7 102
davide.aliprandi@st.com 6:671fd10a51b7 103 if ( LSM303AGR_ACC_W_YEN ( (void *)this, LSM303AGR_ACC_YEN_ENABLED ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 104 {
davide.aliprandi@st.com 6:671fd10a51b7 105 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 106 }
davide.aliprandi@st.com 6:671fd10a51b7 107
davide.aliprandi@st.com 6:671fd10a51b7 108 if ( LSM303AGR_ACC_W_ZEN ( (void *)this, LSM303AGR_ACC_ZEN_ENABLED ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 109 {
davide.aliprandi@st.com 6:671fd10a51b7 110 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 111 }
davide.aliprandi@st.com 6:671fd10a51b7 112
davide.aliprandi@st.com 6:671fd10a51b7 113 /* Select default output data rate. */
Davidroid 9:038121268b07 114 _last_odr = 100.0f;
davide.aliprandi@st.com 6:671fd10a51b7 115
Davidroid 9:038121268b07 116 _is_enabled = 0;
davide.aliprandi@st.com 6:671fd10a51b7 117
davide.aliprandi@st.com 6:671fd10a51b7 118 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 119 }
davide.aliprandi@st.com 6:671fd10a51b7 120
davide.aliprandi@st.com 6:671fd10a51b7 121 /**
davide.aliprandi@st.com 6:671fd10a51b7 122 * @brief Enable LSM303AGR Accelerator
davide.aliprandi@st.com 6:671fd10a51b7 123 * @retval 0 in case of success, an error code otherwise
davide.aliprandi@st.com 6:671fd10a51b7 124 */
Davidroid 9:038121268b07 125 int LSM303AGRAccSensor::enable(void)
davide.aliprandi@st.com 6:671fd10a51b7 126 {
davide.aliprandi@st.com 6:671fd10a51b7 127 /* Check if the component is already enabled */
Davidroid 9:038121268b07 128 if ( _is_enabled == 1 )
davide.aliprandi@st.com 6:671fd10a51b7 129 {
davide.aliprandi@st.com 6:671fd10a51b7 130 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 131 }
davide.aliprandi@st.com 6:671fd10a51b7 132
davide.aliprandi@st.com 6:671fd10a51b7 133 /* Output data rate selection. */
Davidroid 9:038121268b07 134 if ( set_x_odr_when_enabled( _last_odr ) == 1 )
davide.aliprandi@st.com 6:671fd10a51b7 135 {
davide.aliprandi@st.com 6:671fd10a51b7 136 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 137 }
davide.aliprandi@st.com 6:671fd10a51b7 138
Davidroid 9:038121268b07 139 _is_enabled = 1;
davide.aliprandi@st.com 6:671fd10a51b7 140
davide.aliprandi@st.com 6:671fd10a51b7 141 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 142 }
davide.aliprandi@st.com 6:671fd10a51b7 143
davide.aliprandi@st.com 6:671fd10a51b7 144 /**
davide.aliprandi@st.com 6:671fd10a51b7 145 * @brief Disable LSM303AGR Accelerator
davide.aliprandi@st.com 6:671fd10a51b7 146 * @retval 0 in case of success, an error code otherwise
davide.aliprandi@st.com 6:671fd10a51b7 147 */
Davidroid 9:038121268b07 148 int LSM303AGRAccSensor::disable(void)
davide.aliprandi@st.com 6:671fd10a51b7 149 {
davide.aliprandi@st.com 6:671fd10a51b7 150 /* Check if the component is already disabled */
Davidroid 9:038121268b07 151 if ( _is_enabled == 0 )
davide.aliprandi@st.com 6:671fd10a51b7 152 {
davide.aliprandi@st.com 6:671fd10a51b7 153 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 154 }
davide.aliprandi@st.com 6:671fd10a51b7 155
davide.aliprandi@st.com 6:671fd10a51b7 156 /* Store actual output data rate. */
Davidroid 9:038121268b07 157 if ( get_x_odr( &_last_odr ) == 1 )
davide.aliprandi@st.com 6:671fd10a51b7 158 {
davide.aliprandi@st.com 6:671fd10a51b7 159 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 160 }
davide.aliprandi@st.com 6:671fd10a51b7 161
davide.aliprandi@st.com 6:671fd10a51b7 162 /* Output data rate selection - power down. */
davide.aliprandi@st.com 6:671fd10a51b7 163 if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 164 {
davide.aliprandi@st.com 6:671fd10a51b7 165 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 166 }
davide.aliprandi@st.com 6:671fd10a51b7 167
Davidroid 9:038121268b07 168 _is_enabled = 0;
davide.aliprandi@st.com 6:671fd10a51b7 169
davide.aliprandi@st.com 6:671fd10a51b7 170 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 171 }
davide.aliprandi@st.com 6:671fd10a51b7 172
davide.aliprandi@st.com 6:671fd10a51b7 173 /**
davide.aliprandi@st.com 6:671fd10a51b7 174 * @brief Read ID of LSM303AGR Accelerometer
davide.aliprandi@st.com 6:671fd10a51b7 175 * @param p_id the pointer where the ID of the device is stored
davide.aliprandi@st.com 6:671fd10a51b7 176 * @retval 0 in case of success, an error code otherwise
davide.aliprandi@st.com 6:671fd10a51b7 177 */
davide.aliprandi@st.com 6:671fd10a51b7 178 int LSM303AGRAccSensor::read_id(uint8_t *id)
davide.aliprandi@st.com 6:671fd10a51b7 179 {
davide.aliprandi@st.com 6:671fd10a51b7 180 if(!id)
davide.aliprandi@st.com 6:671fd10a51b7 181 {
davide.aliprandi@st.com 6:671fd10a51b7 182 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 183 }
davide.aliprandi@st.com 6:671fd10a51b7 184
davide.aliprandi@st.com 6:671fd10a51b7 185 /* Read WHO AM I register */
davide.aliprandi@st.com 6:671fd10a51b7 186 if ( LSM303AGR_ACC_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 187 {
davide.aliprandi@st.com 6:671fd10a51b7 188 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 189 }
davide.aliprandi@st.com 6:671fd10a51b7 190
davide.aliprandi@st.com 6:671fd10a51b7 191 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 192 }
davide.aliprandi@st.com 6:671fd10a51b7 193
davide.aliprandi@st.com 6:671fd10a51b7 194 /**
davide.aliprandi@st.com 6:671fd10a51b7 195 * @brief Read data from LSM303AGR Accelerometer
davide.aliprandi@st.com 6:671fd10a51b7 196 * @param pData the pointer where the accelerometer data are stored
davide.aliprandi@st.com 6:671fd10a51b7 197 * @retval 0 in case of success, an error code otherwise
davide.aliprandi@st.com 6:671fd10a51b7 198 */
davide.aliprandi@st.com 6:671fd10a51b7 199 int LSM303AGRAccSensor::get_x_axes(int32_t *pData)
davide.aliprandi@st.com 6:671fd10a51b7 200 {
davide.aliprandi@st.com 6:671fd10a51b7 201 int data[3];
davide.aliprandi@st.com 6:671fd10a51b7 202
davide.aliprandi@st.com 6:671fd10a51b7 203 /* Read data from LSM303AGR. */
davide.aliprandi@st.com 6:671fd10a51b7 204 if ( !LSM303AGR_ACC_Get_Acceleration((void *)this, data) )
davide.aliprandi@st.com 6:671fd10a51b7 205 {
davide.aliprandi@st.com 6:671fd10a51b7 206 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 207 }
davide.aliprandi@st.com 6:671fd10a51b7 208
davide.aliprandi@st.com 6:671fd10a51b7 209 /* Calculate the data. */
davide.aliprandi@st.com 6:671fd10a51b7 210 pData[0] = (int32_t)data[0];
davide.aliprandi@st.com 6:671fd10a51b7 211 pData[1] = (int32_t)data[1];
davide.aliprandi@st.com 6:671fd10a51b7 212 pData[2] = (int32_t)data[2];
davide.aliprandi@st.com 6:671fd10a51b7 213
davide.aliprandi@st.com 6:671fd10a51b7 214 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 215 }
davide.aliprandi@st.com 6:671fd10a51b7 216
davide.aliprandi@st.com 6:671fd10a51b7 217 /**
davide.aliprandi@st.com 6:671fd10a51b7 218 * @brief Read Accelerometer Sensitivity
davide.aliprandi@st.com 6:671fd10a51b7 219 * @param pfData the pointer where the accelerometer sensitivity is stored
davide.aliprandi@st.com 6:671fd10a51b7 220 * @retval 0 in case of success, an error code otherwise
davide.aliprandi@st.com 6:671fd10a51b7 221 */
davide.aliprandi@st.com 6:671fd10a51b7 222 int LSM303AGRAccSensor::get_x_sensitivity(float *pfData)
davide.aliprandi@st.com 6:671fd10a51b7 223 {
davide.aliprandi@st.com 6:671fd10a51b7 224 LSM303AGR_ACC_LPEN_t lp_value;
davide.aliprandi@st.com 6:671fd10a51b7 225 LSM303AGR_ACC_HR_t hr_value;
davide.aliprandi@st.com 6:671fd10a51b7 226
davide.aliprandi@st.com 6:671fd10a51b7 227 /* Read low power flag */
davide.aliprandi@st.com 6:671fd10a51b7 228 if( LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp_value ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 229 {
davide.aliprandi@st.com 6:671fd10a51b7 230 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 231 }
davide.aliprandi@st.com 6:671fd10a51b7 232
davide.aliprandi@st.com 6:671fd10a51b7 233 /* Read high performance flag */
davide.aliprandi@st.com 6:671fd10a51b7 234 if( LSM303AGR_ACC_R_HiRes( (void *)this, &hr_value ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 235 {
davide.aliprandi@st.com 6:671fd10a51b7 236 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 237 }
davide.aliprandi@st.com 6:671fd10a51b7 238
davide.aliprandi@st.com 6:671fd10a51b7 239 if( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
davide.aliprandi@st.com 6:671fd10a51b7 240 {
davide.aliprandi@st.com 6:671fd10a51b7 241 /* Normal Mode */
Davidroid 9:038121268b07 242 return get_x_sensitivity_normal_mode( pfData );
davide.aliprandi@st.com 6:671fd10a51b7 243 } else if ( lp_value == LSM303AGR_ACC_LPEN_ENABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
davide.aliprandi@st.com 6:671fd10a51b7 244 {
davide.aliprandi@st.com 6:671fd10a51b7 245 /* Low Power Mode */
Davidroid 9:038121268b07 246 return get_x_sensitivity_lp_mode( pfData );
davide.aliprandi@st.com 6:671fd10a51b7 247 } else if ( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_ENABLED )
davide.aliprandi@st.com 6:671fd10a51b7 248 {
davide.aliprandi@st.com 6:671fd10a51b7 249 /* High Resolution Mode */
Davidroid 9:038121268b07 250 return get_x_sensitivity_hr_mode( pfData );
davide.aliprandi@st.com 6:671fd10a51b7 251 } else
davide.aliprandi@st.com 6:671fd10a51b7 252 {
davide.aliprandi@st.com 6:671fd10a51b7 253 /* Not allowed */
davide.aliprandi@st.com 6:671fd10a51b7 254 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 255 }
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 Read Accelerometer Sensitivity in Normal Mode
davide.aliprandi@st.com 6:671fd10a51b7 260 * @param sensitivity the pointer where the accelerometer sensitivity is stored
davide.aliprandi@st.com 6:671fd10a51b7 261 * @retval 0 in case of success, an error code otherwise
davide.aliprandi@st.com 6:671fd10a51b7 262 */
Davidroid 9:038121268b07 263 int LSM303AGRAccSensor::get_x_sensitivity_normal_mode( float *sensitivity )
davide.aliprandi@st.com 6:671fd10a51b7 264 {
davide.aliprandi@st.com 6:671fd10a51b7 265 LSM303AGR_ACC_FS_t fullScale;
davide.aliprandi@st.com 6:671fd10a51b7 266
davide.aliprandi@st.com 6:671fd10a51b7 267 /* Read actual full scale selection from sensor. */
davide.aliprandi@st.com 6:671fd10a51b7 268 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 269 {
davide.aliprandi@st.com 6:671fd10a51b7 270 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 271 }
davide.aliprandi@st.com 6:671fd10a51b7 272
davide.aliprandi@st.com 6:671fd10a51b7 273 /* Store the sensitivity based on actual full scale. */
davide.aliprandi@st.com 6:671fd10a51b7 274 switch( fullScale )
davide.aliprandi@st.com 6:671fd10a51b7 275 {
davide.aliprandi@st.com 6:671fd10a51b7 276 case LSM303AGR_ACC_FS_2G:
davide.aliprandi@st.com 6:671fd10a51b7 277 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_NORMAL_MODE;
davide.aliprandi@st.com 6:671fd10a51b7 278 break;
davide.aliprandi@st.com 6:671fd10a51b7 279 case LSM303AGR_ACC_FS_4G:
davide.aliprandi@st.com 6:671fd10a51b7 280 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_NORMAL_MODE;
davide.aliprandi@st.com 6:671fd10a51b7 281 break;
davide.aliprandi@st.com 6:671fd10a51b7 282 case LSM303AGR_ACC_FS_8G:
davide.aliprandi@st.com 6:671fd10a51b7 283 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_NORMAL_MODE;
davide.aliprandi@st.com 6:671fd10a51b7 284 break;
davide.aliprandi@st.com 6:671fd10a51b7 285 case LSM303AGR_ACC_FS_16G:
davide.aliprandi@st.com 6:671fd10a51b7 286 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_NORMAL_MODE;
davide.aliprandi@st.com 6:671fd10a51b7 287 break;
davide.aliprandi@st.com 6:671fd10a51b7 288 default:
davide.aliprandi@st.com 6:671fd10a51b7 289 *sensitivity = -1.0f;
davide.aliprandi@st.com 6:671fd10a51b7 290 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 291 }
davide.aliprandi@st.com 6:671fd10a51b7 292
davide.aliprandi@st.com 6:671fd10a51b7 293 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 294 }
davide.aliprandi@st.com 6:671fd10a51b7 295
davide.aliprandi@st.com 6:671fd10a51b7 296 /**
davide.aliprandi@st.com 6:671fd10a51b7 297 * @brief Read Accelerometer Sensitivity in LP Mode
davide.aliprandi@st.com 6:671fd10a51b7 298 * @param sensitivity the pointer where the accelerometer sensitivity is stored
davide.aliprandi@st.com 6:671fd10a51b7 299 * @retval 0 in case of success, an error code otherwise
davide.aliprandi@st.com 6:671fd10a51b7 300 */
Davidroid 9:038121268b07 301 int LSM303AGRAccSensor::get_x_sensitivity_lp_mode( float *sensitivity )
davide.aliprandi@st.com 6:671fd10a51b7 302 {
davide.aliprandi@st.com 6:671fd10a51b7 303 LSM303AGR_ACC_FS_t fullScale;
davide.aliprandi@st.com 6:671fd10a51b7 304
davide.aliprandi@st.com 6:671fd10a51b7 305 /* Read actual full scale selection from sensor. */
davide.aliprandi@st.com 6:671fd10a51b7 306 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 307 {
davide.aliprandi@st.com 6:671fd10a51b7 308 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 309 }
davide.aliprandi@st.com 6:671fd10a51b7 310
davide.aliprandi@st.com 6:671fd10a51b7 311 /* Store the sensitivity based on actual full scale. */
davide.aliprandi@st.com 6:671fd10a51b7 312 switch( fullScale )
davide.aliprandi@st.com 6:671fd10a51b7 313 {
davide.aliprandi@st.com 6:671fd10a51b7 314 case LSM303AGR_ACC_FS_2G:
davide.aliprandi@st.com 6:671fd10a51b7 315 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_LOW_POWER_MODE;
davide.aliprandi@st.com 6:671fd10a51b7 316 break;
davide.aliprandi@st.com 6:671fd10a51b7 317 case LSM303AGR_ACC_FS_4G:
davide.aliprandi@st.com 6:671fd10a51b7 318 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_LOW_POWER_MODE;
davide.aliprandi@st.com 6:671fd10a51b7 319 break;
davide.aliprandi@st.com 6:671fd10a51b7 320 case LSM303AGR_ACC_FS_8G:
davide.aliprandi@st.com 6:671fd10a51b7 321 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_LOW_POWER_MODE;
davide.aliprandi@st.com 6:671fd10a51b7 322 break;
davide.aliprandi@st.com 6:671fd10a51b7 323 case LSM303AGR_ACC_FS_16G:
davide.aliprandi@st.com 6:671fd10a51b7 324 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_LOW_POWER_MODE;
davide.aliprandi@st.com 6:671fd10a51b7 325 break;
davide.aliprandi@st.com 6:671fd10a51b7 326 default:
davide.aliprandi@st.com 6:671fd10a51b7 327 *sensitivity = -1.0f;
davide.aliprandi@st.com 6:671fd10a51b7 328 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 329 }
davide.aliprandi@st.com 6:671fd10a51b7 330
davide.aliprandi@st.com 6:671fd10a51b7 331 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 332 }
davide.aliprandi@st.com 6:671fd10a51b7 333
davide.aliprandi@st.com 6:671fd10a51b7 334 /**
davide.aliprandi@st.com 6:671fd10a51b7 335 * @brief Read Accelerometer Sensitivity in HR Mode
davide.aliprandi@st.com 6:671fd10a51b7 336 * @param sensitivity the pointer where the accelerometer sensitivity is stored
davide.aliprandi@st.com 6:671fd10a51b7 337 * @retval 0 in case of success, an error code otherwise
davide.aliprandi@st.com 6:671fd10a51b7 338 */
Davidroid 9:038121268b07 339 int LSM303AGRAccSensor::get_x_sensitivity_hr_mode( float *sensitivity )
davide.aliprandi@st.com 6:671fd10a51b7 340 {
davide.aliprandi@st.com 6:671fd10a51b7 341 LSM303AGR_ACC_FS_t fullScale;
davide.aliprandi@st.com 6:671fd10a51b7 342
davide.aliprandi@st.com 6:671fd10a51b7 343 /* Read actual full scale selection from sensor. */
davide.aliprandi@st.com 6:671fd10a51b7 344 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 345 {
davide.aliprandi@st.com 6:671fd10a51b7 346 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 347 }
davide.aliprandi@st.com 6:671fd10a51b7 348
davide.aliprandi@st.com 6:671fd10a51b7 349 /* Store the sensitivity based on actual full scale. */
davide.aliprandi@st.com 6:671fd10a51b7 350 switch( fullScale )
davide.aliprandi@st.com 6:671fd10a51b7 351 {
davide.aliprandi@st.com 6:671fd10a51b7 352 case LSM303AGR_ACC_FS_2G:
davide.aliprandi@st.com 6:671fd10a51b7 353 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_HIGH_RESOLUTION_MODE;
davide.aliprandi@st.com 6:671fd10a51b7 354 break;
davide.aliprandi@st.com 6:671fd10a51b7 355 case LSM303AGR_ACC_FS_4G:
davide.aliprandi@st.com 6:671fd10a51b7 356 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_HIGH_RESOLUTION_MODE;
davide.aliprandi@st.com 6:671fd10a51b7 357 break;
davide.aliprandi@st.com 6:671fd10a51b7 358 case LSM303AGR_ACC_FS_8G:
davide.aliprandi@st.com 6:671fd10a51b7 359 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_HIGH_RESOLUTION_MODE;
davide.aliprandi@st.com 6:671fd10a51b7 360 break;
davide.aliprandi@st.com 6:671fd10a51b7 361 case LSM303AGR_ACC_FS_16G:
davide.aliprandi@st.com 6:671fd10a51b7 362 *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_HIGH_RESOLUTION_MODE;
davide.aliprandi@st.com 6:671fd10a51b7 363 break;
davide.aliprandi@st.com 6:671fd10a51b7 364 default:
davide.aliprandi@st.com 6:671fd10a51b7 365 *sensitivity = -1.0f;
davide.aliprandi@st.com 6:671fd10a51b7 366 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 367 }
davide.aliprandi@st.com 6:671fd10a51b7 368
davide.aliprandi@st.com 6:671fd10a51b7 369 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 370 }
davide.aliprandi@st.com 6:671fd10a51b7 371
davide.aliprandi@st.com 6:671fd10a51b7 372 /**
davide.aliprandi@st.com 6:671fd10a51b7 373 * @brief Read raw data from LSM303AGR Accelerometer
davide.aliprandi@st.com 6:671fd10a51b7 374 * @param pData the pointer where the accelerometer raw data are stored
davide.aliprandi@st.com 6:671fd10a51b7 375 * @retval 0 in case of success, an error code otherwise
davide.aliprandi@st.com 6:671fd10a51b7 376 */
Davidroid 9:038121268b07 377 int LSM303AGRAccSensor::get_x_axes_raw(int16_t *pData)
davide.aliprandi@st.com 6:671fd10a51b7 378 {
davide.aliprandi@st.com 6:671fd10a51b7 379 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
davide.aliprandi@st.com 6:671fd10a51b7 380 u8_t shift = 0;
davide.aliprandi@st.com 6:671fd10a51b7 381 LSM303AGR_ACC_LPEN_t lp;
davide.aliprandi@st.com 6:671fd10a51b7 382 LSM303AGR_ACC_HR_t hr;
davide.aliprandi@st.com 6:671fd10a51b7 383
davide.aliprandi@st.com 6:671fd10a51b7 384 /* Determine which operational mode the acc is set */
davide.aliprandi@st.com 6:671fd10a51b7 385 if(!LSM303AGR_ACC_R_HiRes( (void *)this, &hr )) {
davide.aliprandi@st.com 6:671fd10a51b7 386 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 387 }
davide.aliprandi@st.com 6:671fd10a51b7 388
davide.aliprandi@st.com 6:671fd10a51b7 389 if(!LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp )) {
davide.aliprandi@st.com 6:671fd10a51b7 390 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 391 }
davide.aliprandi@st.com 6:671fd10a51b7 392
davide.aliprandi@st.com 6:671fd10a51b7 393 if (lp == LSM303AGR_ACC_LPEN_ENABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
davide.aliprandi@st.com 6:671fd10a51b7 394 /* op mode is LP 8-bit */
davide.aliprandi@st.com 6:671fd10a51b7 395 shift = 8;
davide.aliprandi@st.com 6:671fd10a51b7 396 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
davide.aliprandi@st.com 6:671fd10a51b7 397 /* op mode is Normal 10-bit */
davide.aliprandi@st.com 6:671fd10a51b7 398 shift = 6;
davide.aliprandi@st.com 6:671fd10a51b7 399 } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_ENABLED) {
davide.aliprandi@st.com 6:671fd10a51b7 400 /* op mode is HR 12-bit */
davide.aliprandi@st.com 6:671fd10a51b7 401 shift = 4;
davide.aliprandi@st.com 6:671fd10a51b7 402 } else {
davide.aliprandi@st.com 6:671fd10a51b7 403 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 404 }
davide.aliprandi@st.com 6:671fd10a51b7 405
davide.aliprandi@st.com 6:671fd10a51b7 406 /* Read output registers from LSM303AGR_ACC_GYRO_OUTX_L_XL to LSM303AGR_ACC_GYRO_OUTZ_H_XL. */
davide.aliprandi@st.com 6:671fd10a51b7 407 if (!LSM303AGR_ACC_Get_Raw_Acceleration( (void *)this, ( uint8_t* )regValue ))
davide.aliprandi@st.com 6:671fd10a51b7 408 {
davide.aliprandi@st.com 6:671fd10a51b7 409 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 410 }
davide.aliprandi@st.com 6:671fd10a51b7 411
davide.aliprandi@st.com 6:671fd10a51b7 412 /* Format the data. */
davide.aliprandi@st.com 6:671fd10a51b7 413 pData[0] = ( ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] ) >> shift );
davide.aliprandi@st.com 6:671fd10a51b7 414 pData[1] = ( ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] ) >> shift );
davide.aliprandi@st.com 6:671fd10a51b7 415 pData[2] = ( ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] ) >> shift );
davide.aliprandi@st.com 6:671fd10a51b7 416
davide.aliprandi@st.com 6:671fd10a51b7 417 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 418 }
davide.aliprandi@st.com 6:671fd10a51b7 419
davide.aliprandi@st.com 6:671fd10a51b7 420 /**
davide.aliprandi@st.com 6:671fd10a51b7 421 * @brief Read LSM303AGR Accelerometer output data rate
davide.aliprandi@st.com 6:671fd10a51b7 422 * @param odr the pointer to the output data rate
davide.aliprandi@st.com 6:671fd10a51b7 423 * @retval 0 in case of success, an error code otherwise
davide.aliprandi@st.com 6:671fd10a51b7 424 */
davide.aliprandi@st.com 6:671fd10a51b7 425 int LSM303AGRAccSensor::get_x_odr(float* odr)
davide.aliprandi@st.com 6:671fd10a51b7 426 {
davide.aliprandi@st.com 6:671fd10a51b7 427 LSM303AGR_ACC_ODR_t odr_low_level;
davide.aliprandi@st.com 6:671fd10a51b7 428
davide.aliprandi@st.com 6:671fd10a51b7 429 if ( LSM303AGR_ACC_R_ODR( (void *)this, &odr_low_level ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 430 {
davide.aliprandi@st.com 6:671fd10a51b7 431 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 432 }
davide.aliprandi@st.com 6:671fd10a51b7 433
davide.aliprandi@st.com 6:671fd10a51b7 434 switch( odr_low_level )
davide.aliprandi@st.com 6:671fd10a51b7 435 {
davide.aliprandi@st.com 6:671fd10a51b7 436 case LSM303AGR_ACC_ODR_DO_PWR_DOWN:
davide.aliprandi@st.com 6:671fd10a51b7 437 *odr = 0.0f;
davide.aliprandi@st.com 6:671fd10a51b7 438 break;
davide.aliprandi@st.com 6:671fd10a51b7 439 case LSM303AGR_ACC_ODR_DO_1Hz:
davide.aliprandi@st.com 6:671fd10a51b7 440 *odr = 1.0f;
davide.aliprandi@st.com 6:671fd10a51b7 441 break;
davide.aliprandi@st.com 6:671fd10a51b7 442 case LSM303AGR_ACC_ODR_DO_10Hz:
davide.aliprandi@st.com 6:671fd10a51b7 443 *odr = 10.0f;
davide.aliprandi@st.com 6:671fd10a51b7 444 break;
davide.aliprandi@st.com 6:671fd10a51b7 445 case LSM303AGR_ACC_ODR_DO_25Hz:
davide.aliprandi@st.com 6:671fd10a51b7 446 *odr = 25.0f;
davide.aliprandi@st.com 6:671fd10a51b7 447 break;
davide.aliprandi@st.com 6:671fd10a51b7 448 case LSM303AGR_ACC_ODR_DO_50Hz:
davide.aliprandi@st.com 6:671fd10a51b7 449 *odr = 50.0f;
davide.aliprandi@st.com 6:671fd10a51b7 450 break;
davide.aliprandi@st.com 6:671fd10a51b7 451 case LSM303AGR_ACC_ODR_DO_100Hz:
davide.aliprandi@st.com 6:671fd10a51b7 452 *odr = 100.0f;
davide.aliprandi@st.com 6:671fd10a51b7 453 break;
davide.aliprandi@st.com 6:671fd10a51b7 454 case LSM303AGR_ACC_ODR_DO_200Hz:
davide.aliprandi@st.com 6:671fd10a51b7 455 *odr = 200.0f;
davide.aliprandi@st.com 6:671fd10a51b7 456 break;
davide.aliprandi@st.com 6:671fd10a51b7 457 case LSM303AGR_ACC_ODR_DO_400Hz:
davide.aliprandi@st.com 6:671fd10a51b7 458 *odr = 400.0f;
davide.aliprandi@st.com 6:671fd10a51b7 459 break;
davide.aliprandi@st.com 6:671fd10a51b7 460 default:
davide.aliprandi@st.com 6:671fd10a51b7 461 *odr = -1.0f;
davide.aliprandi@st.com 6:671fd10a51b7 462 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 463 }
davide.aliprandi@st.com 6:671fd10a51b7 464
davide.aliprandi@st.com 6:671fd10a51b7 465 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 466 }
davide.aliprandi@st.com 6:671fd10a51b7 467
davide.aliprandi@st.com 6:671fd10a51b7 468 /**
davide.aliprandi@st.com 6:671fd10a51b7 469 * @brief Set ODR
davide.aliprandi@st.com 6:671fd10a51b7 470 * @param odr the output data rate to be set
davide.aliprandi@st.com 6:671fd10a51b7 471 * @retval 0 in case of success, an error code otherwise
davide.aliprandi@st.com 6:671fd10a51b7 472 */
davide.aliprandi@st.com 6:671fd10a51b7 473 int LSM303AGRAccSensor::set_x_odr(float odr)
davide.aliprandi@st.com 6:671fd10a51b7 474 {
Davidroid 9:038121268b07 475 if(_is_enabled == 1)
davide.aliprandi@st.com 6:671fd10a51b7 476 {
davide.aliprandi@st.com 6:671fd10a51b7 477 if(set_x_odr_when_enabled(odr) == 1)
davide.aliprandi@st.com 6:671fd10a51b7 478 {
davide.aliprandi@st.com 6:671fd10a51b7 479 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 480 }
davide.aliprandi@st.com 6:671fd10a51b7 481 }
davide.aliprandi@st.com 6:671fd10a51b7 482 else
davide.aliprandi@st.com 6:671fd10a51b7 483 {
davide.aliprandi@st.com 6:671fd10a51b7 484 if(set_x_odr_when_disabled(odr) == 1)
davide.aliprandi@st.com 6:671fd10a51b7 485 {
davide.aliprandi@st.com 6:671fd10a51b7 486 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 487 }
davide.aliprandi@st.com 6:671fd10a51b7 488 }
davide.aliprandi@st.com 6:671fd10a51b7 489
davide.aliprandi@st.com 6:671fd10a51b7 490 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 491 }
davide.aliprandi@st.com 6:671fd10a51b7 492
davide.aliprandi@st.com 6:671fd10a51b7 493 /**
davide.aliprandi@st.com 6:671fd10a51b7 494 * @brief Set ODR when enabled
davide.aliprandi@st.com 6:671fd10a51b7 495 * @param odr the output data rate to be set
davide.aliprandi@st.com 6:671fd10a51b7 496 * @retval 0 in case of success, an error code otherwise
davide.aliprandi@st.com 6:671fd10a51b7 497 */
davide.aliprandi@st.com 6:671fd10a51b7 498 int LSM303AGRAccSensor::set_x_odr_when_enabled(float odr)
davide.aliprandi@st.com 6:671fd10a51b7 499 {
davide.aliprandi@st.com 6:671fd10a51b7 500 LSM303AGR_ACC_ODR_t new_odr;
davide.aliprandi@st.com 6:671fd10a51b7 501
davide.aliprandi@st.com 6:671fd10a51b7 502 new_odr = ( odr <= 1.0f ) ? LSM303AGR_ACC_ODR_DO_1Hz
davide.aliprandi@st.com 6:671fd10a51b7 503 : ( odr <= 10.0f ) ? LSM303AGR_ACC_ODR_DO_10Hz
davide.aliprandi@st.com 6:671fd10a51b7 504 : ( odr <= 25.0f ) ? LSM303AGR_ACC_ODR_DO_25Hz
davide.aliprandi@st.com 6:671fd10a51b7 505 : ( odr <= 50.0f ) ? LSM303AGR_ACC_ODR_DO_50Hz
davide.aliprandi@st.com 6:671fd10a51b7 506 : ( odr <= 100.0f ) ? LSM303AGR_ACC_ODR_DO_100Hz
davide.aliprandi@st.com 6:671fd10a51b7 507 : ( odr <= 200.0f ) ? LSM303AGR_ACC_ODR_DO_200Hz
davide.aliprandi@st.com 6:671fd10a51b7 508 : LSM303AGR_ACC_ODR_DO_400Hz;
davide.aliprandi@st.com 6:671fd10a51b7 509
davide.aliprandi@st.com 6:671fd10a51b7 510 if ( LSM303AGR_ACC_W_ODR( (void *)this, new_odr ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 511 {
davide.aliprandi@st.com 6:671fd10a51b7 512 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 513 }
davide.aliprandi@st.com 6:671fd10a51b7 514
davide.aliprandi@st.com 6:671fd10a51b7 515 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 516 }
davide.aliprandi@st.com 6:671fd10a51b7 517
davide.aliprandi@st.com 6:671fd10a51b7 518 /**
davide.aliprandi@st.com 6:671fd10a51b7 519 * @brief Set ODR when disabled
davide.aliprandi@st.com 6:671fd10a51b7 520 * @param odr the output data rate to be set
davide.aliprandi@st.com 6:671fd10a51b7 521 * @retval 0 in case of success, an error code otherwise
davide.aliprandi@st.com 6:671fd10a51b7 522 */
davide.aliprandi@st.com 6:671fd10a51b7 523 int LSM303AGRAccSensor::set_x_odr_when_disabled(float odr)
davide.aliprandi@st.com 6:671fd10a51b7 524 {
Davidroid 9:038121268b07 525 _last_odr = ( odr <= 1.0f ) ? 1.0f
davide.aliprandi@st.com 6:671fd10a51b7 526 : ( odr <= 10.0f ) ? 10.0f
davide.aliprandi@st.com 6:671fd10a51b7 527 : ( odr <= 25.0f ) ? 25.0f
davide.aliprandi@st.com 6:671fd10a51b7 528 : ( odr <= 50.0f ) ? 50.0f
davide.aliprandi@st.com 6:671fd10a51b7 529 : ( odr <= 100.0f ) ? 100.0f
davide.aliprandi@st.com 6:671fd10a51b7 530 : ( odr <= 200.0f ) ? 200.0f
davide.aliprandi@st.com 6:671fd10a51b7 531 : 400.0f;
davide.aliprandi@st.com 6:671fd10a51b7 532
davide.aliprandi@st.com 6:671fd10a51b7 533 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 534 }
davide.aliprandi@st.com 6:671fd10a51b7 535
davide.aliprandi@st.com 6:671fd10a51b7 536
davide.aliprandi@st.com 6:671fd10a51b7 537 /**
davide.aliprandi@st.com 6:671fd10a51b7 538 * @brief Read LSM303AGR Accelerometer full scale
davide.aliprandi@st.com 6:671fd10a51b7 539 * @param fullScale the pointer to the full scale
davide.aliprandi@st.com 6:671fd10a51b7 540 * @retval 0 in case of success, an error code otherwise
davide.aliprandi@st.com 6:671fd10a51b7 541 */
davide.aliprandi@st.com 6:671fd10a51b7 542 int LSM303AGRAccSensor::get_x_fs(float* fullScale)
davide.aliprandi@st.com 6:671fd10a51b7 543 {
davide.aliprandi@st.com 6:671fd10a51b7 544 LSM303AGR_ACC_FS_t fs_low_level;
davide.aliprandi@st.com 6:671fd10a51b7 545
davide.aliprandi@st.com 6:671fd10a51b7 546 if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fs_low_level ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 547 {
davide.aliprandi@st.com 6:671fd10a51b7 548 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 549 }
davide.aliprandi@st.com 6:671fd10a51b7 550
davide.aliprandi@st.com 6:671fd10a51b7 551 switch( fs_low_level )
davide.aliprandi@st.com 6:671fd10a51b7 552 {
davide.aliprandi@st.com 6:671fd10a51b7 553 case LSM303AGR_ACC_FS_2G:
davide.aliprandi@st.com 6:671fd10a51b7 554 *fullScale = 2.0f;
davide.aliprandi@st.com 6:671fd10a51b7 555 break;
davide.aliprandi@st.com 6:671fd10a51b7 556 case LSM303AGR_ACC_FS_4G:
davide.aliprandi@st.com 6:671fd10a51b7 557 *fullScale = 4.0f;
davide.aliprandi@st.com 6:671fd10a51b7 558 break;
davide.aliprandi@st.com 6:671fd10a51b7 559 case LSM303AGR_ACC_FS_8G:
davide.aliprandi@st.com 6:671fd10a51b7 560 *fullScale = 8.0f;
davide.aliprandi@st.com 6:671fd10a51b7 561 break;
davide.aliprandi@st.com 6:671fd10a51b7 562 case LSM303AGR_ACC_FS_16G:
davide.aliprandi@st.com 6:671fd10a51b7 563 *fullScale = 16.0f;
davide.aliprandi@st.com 6:671fd10a51b7 564 break;
davide.aliprandi@st.com 6:671fd10a51b7 565 default:
davide.aliprandi@st.com 6:671fd10a51b7 566 *fullScale = -1.0f;
davide.aliprandi@st.com 6:671fd10a51b7 567 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 568 }
davide.aliprandi@st.com 6:671fd10a51b7 569
davide.aliprandi@st.com 6:671fd10a51b7 570 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 571 }
davide.aliprandi@st.com 6:671fd10a51b7 572
davide.aliprandi@st.com 6:671fd10a51b7 573 /**
davide.aliprandi@st.com 6:671fd10a51b7 574 * @brief Set full scale
davide.aliprandi@st.com 6:671fd10a51b7 575 * @param fullScale the full scale to be set
davide.aliprandi@st.com 6:671fd10a51b7 576 * @retval 0 in case of success, an error code otherwise
davide.aliprandi@st.com 6:671fd10a51b7 577 */
davide.aliprandi@st.com 6:671fd10a51b7 578 int LSM303AGRAccSensor::set_x_fs(float fullScale)
davide.aliprandi@st.com 6:671fd10a51b7 579 {
davide.aliprandi@st.com 6:671fd10a51b7 580 LSM303AGR_ACC_FS_t new_fs;
davide.aliprandi@st.com 6:671fd10a51b7 581
davide.aliprandi@st.com 6:671fd10a51b7 582 new_fs = ( fullScale <= 2.0f ) ? LSM303AGR_ACC_FS_2G
davide.aliprandi@st.com 6:671fd10a51b7 583 : ( fullScale <= 4.0f ) ? LSM303AGR_ACC_FS_4G
davide.aliprandi@st.com 6:671fd10a51b7 584 : ( fullScale <= 8.0f ) ? LSM303AGR_ACC_FS_8G
davide.aliprandi@st.com 6:671fd10a51b7 585 : LSM303AGR_ACC_FS_16G;
davide.aliprandi@st.com 6:671fd10a51b7 586
davide.aliprandi@st.com 6:671fd10a51b7 587 if ( LSM303AGR_ACC_W_FullScale( (void *)this, new_fs ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 588 {
davide.aliprandi@st.com 6:671fd10a51b7 589 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 590 }
davide.aliprandi@st.com 6:671fd10a51b7 591
davide.aliprandi@st.com 6:671fd10a51b7 592 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 593 }
davide.aliprandi@st.com 6:671fd10a51b7 594
davide.aliprandi@st.com 6:671fd10a51b7 595 /**
davide.aliprandi@st.com 6:671fd10a51b7 596 * @brief Read accelerometer data from register
davide.aliprandi@st.com 6:671fd10a51b7 597 * @param reg register address
davide.aliprandi@st.com 6:671fd10a51b7 598 * @param data register data
davide.aliprandi@st.com 6:671fd10a51b7 599 * @retval 0 in case of success
davide.aliprandi@st.com 6:671fd10a51b7 600 * @retval 1 in case of failure
davide.aliprandi@st.com 6:671fd10a51b7 601 */
davide.aliprandi@st.com 6:671fd10a51b7 602 int LSM303AGRAccSensor::read_reg( uint8_t reg, uint8_t *data )
davide.aliprandi@st.com 6:671fd10a51b7 603 {
davide.aliprandi@st.com 6:671fd10a51b7 604
davide.aliprandi@st.com 6:671fd10a51b7 605 if ( LSM303AGR_ACC_read_reg( (void *)this, reg, data ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 606 {
davide.aliprandi@st.com 6:671fd10a51b7 607 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 608 }
davide.aliprandi@st.com 6:671fd10a51b7 609
davide.aliprandi@st.com 6:671fd10a51b7 610 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 611 }
davide.aliprandi@st.com 6:671fd10a51b7 612
davide.aliprandi@st.com 6:671fd10a51b7 613 /**
davide.aliprandi@st.com 6:671fd10a51b7 614 * @brief Write accelerometer data to register
davide.aliprandi@st.com 6:671fd10a51b7 615 * @param reg register address
davide.aliprandi@st.com 6:671fd10a51b7 616 * @param data register data
davide.aliprandi@st.com 6:671fd10a51b7 617 * @retval 0 in case of success
davide.aliprandi@st.com 6:671fd10a51b7 618 * @retval 1 in case of failure
davide.aliprandi@st.com 6:671fd10a51b7 619 */
davide.aliprandi@st.com 6:671fd10a51b7 620 int LSM303AGRAccSensor::write_reg( uint8_t reg, uint8_t data )
davide.aliprandi@st.com 6:671fd10a51b7 621 {
davide.aliprandi@st.com 6:671fd10a51b7 622
davide.aliprandi@st.com 6:671fd10a51b7 623 if ( LSM303AGR_ACC_write_reg( (void *)this, reg, data ) == MEMS_ERROR )
davide.aliprandi@st.com 6:671fd10a51b7 624 {
davide.aliprandi@st.com 6:671fd10a51b7 625 return 1;
davide.aliprandi@st.com 6:671fd10a51b7 626 }
davide.aliprandi@st.com 6:671fd10a51b7 627
davide.aliprandi@st.com 6:671fd10a51b7 628 return 0;
davide.aliprandi@st.com 6:671fd10a51b7 629 }
davide.aliprandi@st.com 6:671fd10a51b7 630
davide.aliprandi@st.com 6:671fd10a51b7 631 uint8_t LSM303AGR_ACC_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
davide.aliprandi@st.com 6:671fd10a51b7 632 {
davide.aliprandi@st.com 6:671fd10a51b7 633 return ((LSM303AGRAccSensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite);
davide.aliprandi@st.com 6:671fd10a51b7 634 }
davide.aliprandi@st.com 6:671fd10a51b7 635
davide.aliprandi@st.com 6:671fd10a51b7 636 uint8_t LSM303AGR_ACC_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
davide.aliprandi@st.com 6:671fd10a51b7 637 {
davide.aliprandi@st.com 6:671fd10a51b7 638 return ((LSM303AGRAccSensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead);
davide.aliprandi@st.com 6:671fd10a51b7 639 }