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.h@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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davide.aliprandi@st.com 6:671fd10a51b7 1 /**
davide.aliprandi@st.com 6:671fd10a51b7 2 ******************************************************************************
davide.aliprandi@st.com 6:671fd10a51b7 3 * @file LSM303AGRAccSensor.h
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 Abstract Class of 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 /* Prevent recursive inclusion -----------------------------------------------*/
davide.aliprandi@st.com 6:671fd10a51b7 40
davide.aliprandi@st.com 6:671fd10a51b7 41 #ifndef __LSM303AGRAccSensor_H__
davide.aliprandi@st.com 6:671fd10a51b7 42 #define __LSM303AGRAccSensor_H__
davide.aliprandi@st.com 6:671fd10a51b7 43
davide.aliprandi@st.com 6:671fd10a51b7 44
davide.aliprandi@st.com 6:671fd10a51b7 45 /* Includes ------------------------------------------------------------------*/
davide.aliprandi@st.com 6:671fd10a51b7 46
davide.aliprandi@st.com 6:671fd10a51b7 47 #include "DevI2C.h"
davide.aliprandi@st.com 6:671fd10a51b7 48 #include "LSM303AGR_acc_driver.h"
davide.aliprandi@st.com 6:671fd10a51b7 49 #include "MotionSensor.h"
davide.aliprandi@st.com 6:671fd10a51b7 50
davide.aliprandi@st.com 6:671fd10a51b7 51 /* Defines -------------------------------------------------------------------*/
davide.aliprandi@st.com 6:671fd10a51b7 52 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_NORMAL_MODE 3.900f /**< Sensitivity value for 2 g full scale and normal mode [mg/LSB] */
davide.aliprandi@st.com 6:671fd10a51b7 53 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_HIGH_RESOLUTION_MODE 0.980f /**< Sensitivity value for 2 g full scale and high resolution mode [mg/LSB] */
davide.aliprandi@st.com 6:671fd10a51b7 54 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_LOW_POWER_MODE 15.630f /**< Sensitivity value for 2 g full scale and low power mode [mg/LSB] */
davide.aliprandi@st.com 6:671fd10a51b7 55 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_NORMAL_MODE 7.820f /**< Sensitivity value for 4 g full scale and normal mode [mg/LSB] */
davide.aliprandi@st.com 6:671fd10a51b7 56 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_HIGH_RESOLUTION_MODE 1.950f /**< Sensitivity value for 4 g full scale and high resolution mode [mg/LSB] */
davide.aliprandi@st.com 6:671fd10a51b7 57 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_LOW_POWER_MODE 31.260f /**< Sensitivity value for 4 g full scale and low power mode [mg/LSB] */
davide.aliprandi@st.com 6:671fd10a51b7 58 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_NORMAL_MODE 15.630f /**< Sensitivity value for 8 g full scale and normal mode [mg/LSB] */
davide.aliprandi@st.com 6:671fd10a51b7 59 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_HIGH_RESOLUTION_MODE 3.900f /**< Sensitivity value for 8 g full scale and high resolution mode [mg/LSB] */
davide.aliprandi@st.com 6:671fd10a51b7 60 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_LOW_POWER_MODE 62.520f /**< Sensitivity value for 8 g full scale and low power mode [mg/LSB] */
davide.aliprandi@st.com 6:671fd10a51b7 61 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_NORMAL_MODE 46.900f /**< Sensitivity value for 16 g full scale and normal mode [mg/LSB] */
davide.aliprandi@st.com 6:671fd10a51b7 62 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_HIGH_RESOLUTION_MODE 11.720f /**< Sensitivity value for 16 g full scale and high resolution mode [mg/LSB] */
davide.aliprandi@st.com 6:671fd10a51b7 63 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_LOW_POWER_MODE 187.580f /**< Sensitivity value for 16 g full scale and low power mode [mg/LSB] */
davide.aliprandi@st.com 6:671fd10a51b7 64
davide.aliprandi@st.com 6:671fd10a51b7 65 /* Class Declaration ---------------------------------------------------------*/
davide.aliprandi@st.com 6:671fd10a51b7 66
davide.aliprandi@st.com 6:671fd10a51b7 67 /**
davide.aliprandi@st.com 6:671fd10a51b7 68 * Abstract class of an LSM303AGR Inertial Measurement Unit (IMU) 6 axes
davide.aliprandi@st.com 6:671fd10a51b7 69 * sensor.
davide.aliprandi@st.com 6:671fd10a51b7 70 */
davide.aliprandi@st.com 6:671fd10a51b7 71 class LSM303AGRAccSensor : public MotionSensor
davide.aliprandi@st.com 6:671fd10a51b7 72 {
davide.aliprandi@st.com 6:671fd10a51b7 73 public:
davide.aliprandi@st.com 6:671fd10a51b7 74 LSM303AGRAccSensor(DevI2C &i2c);
davide.aliprandi@st.com 6:671fd10a51b7 75 LSM303AGRAccSensor(DevI2C &i2c, uint8_t address);
davide.aliprandi@st.com 6:671fd10a51b7 76 virtual int init(void *init);
davide.aliprandi@st.com 6:671fd10a51b7 77 virtual int read_id(uint8_t *id);
davide.aliprandi@st.com 6:671fd10a51b7 78 virtual int get_x_axes(int32_t *pData);
Davidroid 9:038121268b07 79 virtual int get_x_axes_raw(int16_t *pData);
davide.aliprandi@st.com 6:671fd10a51b7 80 virtual int get_x_sensitivity(float *pfData);
davide.aliprandi@st.com 6:671fd10a51b7 81 virtual int get_x_odr(float *odr);
davide.aliprandi@st.com 6:671fd10a51b7 82 virtual int set_x_odr(float odr);
davide.aliprandi@st.com 6:671fd10a51b7 83 virtual int get_x_fs(float *fullScale);
davide.aliprandi@st.com 6:671fd10a51b7 84 virtual int set_x_fs(float fullScale);
davide.aliprandi@st.com 6:671fd10a51b7 85 int enable(void);
davide.aliprandi@st.com 6:671fd10a51b7 86 int disable(void);
davide.aliprandi@st.com 6:671fd10a51b7 87 int read_reg(uint8_t reg, uint8_t *data);
davide.aliprandi@st.com 6:671fd10a51b7 88 int write_reg(uint8_t reg, uint8_t data);
davide.aliprandi@st.com 6:671fd10a51b7 89
davide.aliprandi@st.com 6:671fd10a51b7 90 /**
davide.aliprandi@st.com 6:671fd10a51b7 91 * @brief Utility function to read data.
davide.aliprandi@st.com 6:671fd10a51b7 92 * @param pBuffer: pointer to data to be read.
davide.aliprandi@st.com 6:671fd10a51b7 93 * @param RegisterAddr: specifies internal address register to be read.
davide.aliprandi@st.com 6:671fd10a51b7 94 * @param NumByteToRead: number of bytes to be read.
davide.aliprandi@st.com 6:671fd10a51b7 95 * @retval 0 if ok, an error code otherwise.
davide.aliprandi@st.com 6:671fd10a51b7 96 */
davide.aliprandi@st.com 6:671fd10a51b7 97 uint8_t io_read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
davide.aliprandi@st.com 6:671fd10a51b7 98 {
Davidroid 9:038121268b07 99 return (uint8_t) _dev_i2c.i2c_read(pBuffer, _address, RegisterAddr, NumByteToRead);
davide.aliprandi@st.com 6:671fd10a51b7 100 }
davide.aliprandi@st.com 6:671fd10a51b7 101
davide.aliprandi@st.com 6:671fd10a51b7 102 /**
davide.aliprandi@st.com 6:671fd10a51b7 103 * @brief Utility function to write data.
davide.aliprandi@st.com 6:671fd10a51b7 104 * @param pBuffer: pointer to data to be written.
davide.aliprandi@st.com 6:671fd10a51b7 105 * @param RegisterAddr: specifies internal address register to be written.
davide.aliprandi@st.com 6:671fd10a51b7 106 * @param NumByteToWrite: number of bytes to write.
davide.aliprandi@st.com 6:671fd10a51b7 107 * @retval 0 if ok, an error code otherwise.
davide.aliprandi@st.com 6:671fd10a51b7 108 */
davide.aliprandi@st.com 6:671fd10a51b7 109 uint8_t io_write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
davide.aliprandi@st.com 6:671fd10a51b7 110 {
Davidroid 9:038121268b07 111 return (uint8_t) _dev_i2c.i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite);
davide.aliprandi@st.com 6:671fd10a51b7 112 }
davide.aliprandi@st.com 6:671fd10a51b7 113
davide.aliprandi@st.com 6:671fd10a51b7 114 private:
davide.aliprandi@st.com 6:671fd10a51b7 115 int set_x_odr_when_enabled(float odr);
davide.aliprandi@st.com 6:671fd10a51b7 116 int set_x_odr_when_disabled(float odr);
Davidroid 9:038121268b07 117 int get_x_sensitivity_normal_mode(float *sensitivity );
Davidroid 9:038121268b07 118 int get_x_sensitivity_lp_mode(float *sensitivity );
Davidroid 9:038121268b07 119 int get_x_sensitivity_hr_mode(float *sensitivity );
davide.aliprandi@st.com 6:671fd10a51b7 120
davide.aliprandi@st.com 6:671fd10a51b7 121 /* Helper classes. */
Davidroid 9:038121268b07 122 DevI2C &_dev_i2c;
davide.aliprandi@st.com 6:671fd10a51b7 123
davide.aliprandi@st.com 6:671fd10a51b7 124 /* Configuration */
Davidroid 9:038121268b07 125 uint8_t _address;
davide.aliprandi@st.com 6:671fd10a51b7 126
Davidroid 9:038121268b07 127 uint8_t _is_enabled;
Davidroid 9:038121268b07 128 float _last_odr;
davide.aliprandi@st.com 6:671fd10a51b7 129 };
davide.aliprandi@st.com 6:671fd10a51b7 130
davide.aliprandi@st.com 6:671fd10a51b7 131 #ifdef __cplusplus
davide.aliprandi@st.com 6:671fd10a51b7 132 extern "C" {
davide.aliprandi@st.com 6:671fd10a51b7 133 #endif
davide.aliprandi@st.com 6:671fd10a51b7 134 uint8_t LSM303AGR_ACC_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
davide.aliprandi@st.com 6:671fd10a51b7 135 uint8_t LSM303AGR_ACC_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
davide.aliprandi@st.com 6:671fd10a51b7 136 #ifdef __cplusplus
davide.aliprandi@st.com 6:671fd10a51b7 137 }
davide.aliprandi@st.com 6:671fd10a51b7 138 #endif
davide.aliprandi@st.com 6:671fd10a51b7 139
davide.aliprandi@st.com 6:671fd10a51b7 140 #endif