Emilio Salomone
Beta
Dependencies: ST_INTERFACES X_NUCLEO_COMMON
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X_NUCLEO_IKS01A2
by 
ST
Revision 8:5a8e9a17659a, committed 2017-03-14
- Comitter:
- davide.aliprandi@st.com
- Date:
- Tue Mar 14 13:56:20 2017 +0100
- Parent:
- 7:753cd372c183
- Child:
- 9:038121268b07
- Commit message:
- Removed old files
Changed in this revision
--- a/Components/LSM303AGRSensor/LSM303AGR_ACC_Sensor.cpp Tue Mar 14 13:41:43 2017 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,639 +0,0 @@
-/**
- ******************************************************************************
- * @file LSM303AGRAccSensor.cpp
- * @author CLab
- * @version V1.0.0
- * @date 5 August 2016
- * @brief Implementation an LSM303AGR accelerometer sensor.
- ******************************************************************************
- * @attention
- *
- * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- * 3. Neither the name of STMicroelectronics nor the names of its contributors
- * may be used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include "DevI2C.h"
-#include "LSM303AGRAccSensor.h"
-#include "LSM303AGR_ACC_driver.h"
-
-
-/* Class Implementation ------------------------------------------------------*/
-
-/** Constructor
- * @param i2c object of an helper class which handles the I2C peripheral
- * @param address the address of the component's instance
- */
-LSM303AGRAccSensor::LSM303AGRAccSensor(DevI2C &i2c) : dev_i2c(i2c)
-{
- address = LSM303AGR_ACC_I2C_ADDRESS;
-};
-
-/** Constructor
- * @param i2c object of an helper class which handles the I2C peripheral
- * @param address the address of the component's instance
- */
-LSM303AGRAccSensor::LSM303AGRAccSensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
-{
-
-};
-
-/**
- * @brief Initializing the component.
- * @param[in] init pointer to device specific initalization structure.
- * @retval "0" in case of success, an error code otherwise.
- */
-int LSM303AGRAccSensor::Init(void *init)
-{
- /* Enable BDU */
- if ( LSM303AGR_ACC_W_BlockDataUpdate( (void *)this, LSM303AGR_ACC_BDU_ENABLED ) == MEMS_ERROR )
- {
- return 1;
- }
-
- /* FIFO mode selection */
- if ( LSM303AGR_ACC_W_FifoMode( (void *)this, LSM303AGR_ACC_FM_BYPASS ) == MEMS_ERROR )
- {
- return 1;
- }
-
- /* Output data rate selection - power down. */
- if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
- {
- return 1;
- }
-
- /* Full scale selection. */
- if ( set_x_fs( 2.0f ) == 1 )
- {
- return 1;
- }
-
- /* Enable axes. */
- if ( LSM303AGR_ACC_W_XEN( (void *)this, LSM303AGR_ACC_XEN_ENABLED ) == MEMS_ERROR )
- {
- return 1;
- }
-
- if ( LSM303AGR_ACC_W_YEN ( (void *)this, LSM303AGR_ACC_YEN_ENABLED ) == MEMS_ERROR )
- {
- return 1;
- }
-
- if ( LSM303AGR_ACC_W_ZEN ( (void *)this, LSM303AGR_ACC_ZEN_ENABLED ) == MEMS_ERROR )
- {
- return 1;
- }
-
- /* Select default output data rate. */
- Last_ODR = 100.0f;
-
- isEnabled = 0;
-
- return 0;
-}
-
-/**
- * @brief Enable LSM303AGR Accelerator
- * @retval 0 in case of success, an error code otherwise
- */
-int LSM303AGRAccSensor::Enable(void)
-{
- /* Check if the component is already enabled */
- if ( isEnabled == 1 )
- {
- return 0;
- }
-
- /* Output data rate selection. */
- if ( set_x_odr_when_enabled( Last_ODR ) == 1 )
- {
- return 1;
- }
-
- isEnabled = 1;
-
- return 0;
-}
-
-/**
- * @brief Disable LSM303AGR Accelerator
- * @retval 0 in case of success, an error code otherwise
- */
-int LSM303AGRAccSensor::Disable(void)
-{
- /* Check if the component is already disabled */
- if ( isEnabled == 0 )
- {
- return 0;
- }
-
- /* Store actual output data rate. */
- if ( get_x_odr( &Last_ODR ) == 1 )
- {
- return 1;
- }
-
- /* Output data rate selection - power down. */
- if ( LSM303AGR_ACC_W_ODR( (void *)this, LSM303AGR_ACC_ODR_DO_PWR_DOWN ) == MEMS_ERROR )
- {
- return 1;
- }
-
- isEnabled = 0;
-
- return 0;
-}
-
-/**
- * @brief Read ID of LSM303AGR Accelerometer
- * @param p_id the pointer where the ID of the device is stored
- * @retval 0 in case of success, an error code otherwise
- */
-int LSM303AGRAccSensor::ReadID(uint8_t *id)
-{
- if(!id)
- {
- return 1;
- }
-
- /* Read WHO AM I register */
- if ( LSM303AGR_ACC_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
- {
- return 1;
- }
-
- return 0;
-}
-
-/**
- * @brief Read data from LSM303AGR Accelerometer
- * @param pData the pointer where the accelerometer data are stored
- * @retval 0 in case of success, an error code otherwise
- */
-int LSM303AGRAccSensor::get_x_axes(int32_t *pData)
-{
- int data[3];
-
- /* Read data from LSM303AGR. */
- if ( !LSM303AGR_ACC_Get_Acceleration((void *)this, data) )
- {
- return 1;
- }
-
- /* Calculate the data. */
- pData[0] = (int32_t)data[0];
- pData[1] = (int32_t)data[1];
- pData[2] = (int32_t)data[2];
-
- return 0;
-}
-
-/**
- * @brief Read Accelerometer Sensitivity
- * @param pfData the pointer where the accelerometer sensitivity is stored
- * @retval 0 in case of success, an error code otherwise
- */
-int LSM303AGRAccSensor::get_x_sensitivity(float *pfData)
-{
- LSM303AGR_ACC_LPEN_t lp_value;
- LSM303AGR_ACC_HR_t hr_value;
-
- /* Read low power flag */
- if( LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp_value ) == MEMS_ERROR )
- {
- return 1;
- }
-
- /* Read high performance flag */
- if( LSM303AGR_ACC_R_HiRes( (void *)this, &hr_value ) == MEMS_ERROR )
- {
- return 1;
- }
-
- if( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
- {
- /* Normal Mode */
- return get_x_sensitivity_Normal_Mode( pfData );
- } else if ( lp_value == LSM303AGR_ACC_LPEN_ENABLED && hr_value == LSM303AGR_ACC_HR_DISABLED )
- {
- /* Low Power Mode */
- return get_x_sensitivity_LP_Mode( pfData );
- } else if ( lp_value == LSM303AGR_ACC_LPEN_DISABLED && hr_value == LSM303AGR_ACC_HR_ENABLED )
- {
- /* High Resolution Mode */
- return get_x_sensitivity_HR_Mode( pfData );
- } else
- {
- /* Not allowed */
- return 1;
- }
-}
-
-/**
- * @brief Read Accelerometer Sensitivity in Normal Mode
- * @param sensitivity the pointer where the accelerometer sensitivity is stored
- * @retval 0 in case of success, an error code otherwise
- */
-int LSM303AGRAccSensor::get_x_sensitivity_Normal_Mode( float *sensitivity )
-{
- LSM303AGR_ACC_FS_t fullScale;
-
- /* Read actual full scale selection from sensor. */
- if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
- {
- return 1;
- }
-
- /* Store the sensitivity based on actual full scale. */
- switch( fullScale )
- {
- case LSM303AGR_ACC_FS_2G:
- *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_NORMAL_MODE;
- break;
- case LSM303AGR_ACC_FS_4G:
- *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_NORMAL_MODE;
- break;
- case LSM303AGR_ACC_FS_8G:
- *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_NORMAL_MODE;
- break;
- case LSM303AGR_ACC_FS_16G:
- *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_NORMAL_MODE;
- break;
- default:
- *sensitivity = -1.0f;
- return 1;
- }
-
- return 0;
-}
-
-/**
- * @brief Read Accelerometer Sensitivity in LP Mode
- * @param sensitivity the pointer where the accelerometer sensitivity is stored
- * @retval 0 in case of success, an error code otherwise
- */
-int LSM303AGRAccSensor::get_x_sensitivity_LP_Mode( float *sensitivity )
-{
- LSM303AGR_ACC_FS_t fullScale;
-
- /* Read actual full scale selection from sensor. */
- if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
- {
- return 1;
- }
-
- /* Store the sensitivity based on actual full scale. */
- switch( fullScale )
- {
- case LSM303AGR_ACC_FS_2G:
- *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_LOW_POWER_MODE;
- break;
- case LSM303AGR_ACC_FS_4G:
- *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_LOW_POWER_MODE;
- break;
- case LSM303AGR_ACC_FS_8G:
- *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_LOW_POWER_MODE;
- break;
- case LSM303AGR_ACC_FS_16G:
- *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_LOW_POWER_MODE;
- break;
- default:
- *sensitivity = -1.0f;
- return 1;
- }
-
- return 0;
-}
-
-/**
- * @brief Read Accelerometer Sensitivity in HR Mode
- * @param sensitivity the pointer where the accelerometer sensitivity is stored
- * @retval 0 in case of success, an error code otherwise
- */
-int LSM303AGRAccSensor::get_x_sensitivity_HR_Mode( float *sensitivity )
-{
- LSM303AGR_ACC_FS_t fullScale;
-
- /* Read actual full scale selection from sensor. */
- if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fullScale ) == MEMS_ERROR )
- {
- return 1;
- }
-
- /* Store the sensitivity based on actual full scale. */
- switch( fullScale )
- {
- case LSM303AGR_ACC_FS_2G:
- *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_HIGH_RESOLUTION_MODE;
- break;
- case LSM303AGR_ACC_FS_4G:
- *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_HIGH_RESOLUTION_MODE;
- break;
- case LSM303AGR_ACC_FS_8G:
- *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_HIGH_RESOLUTION_MODE;
- break;
- case LSM303AGR_ACC_FS_16G:
- *sensitivity = ( float )LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_HIGH_RESOLUTION_MODE;
- break;
- default:
- *sensitivity = -1.0f;
- return 1;
- }
-
- return 0;
-}
-
-/**
- * @brief Read raw data from LSM303AGR Accelerometer
- * @param pData the pointer where the accelerometer raw data are stored
- * @retval 0 in case of success, an error code otherwise
- */
-int LSM303AGRAccSensor::get_x_axesRaw(int16_t *pData)
-{
- uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
- u8_t shift = 0;
- LSM303AGR_ACC_LPEN_t lp;
- LSM303AGR_ACC_HR_t hr;
-
- /* Determine which operational mode the acc is set */
- if(!LSM303AGR_ACC_R_HiRes( (void *)this, &hr )) {
- return 1;
- }
-
- if(!LSM303AGR_ACC_R_LOWPWR_EN( (void *)this, &lp )) {
- return 1;
- }
-
- if (lp == LSM303AGR_ACC_LPEN_ENABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
- /* op mode is LP 8-bit */
- shift = 8;
- } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_DISABLED) {
- /* op mode is Normal 10-bit */
- shift = 6;
- } else if (lp == LSM303AGR_ACC_LPEN_DISABLED && hr == LSM303AGR_ACC_HR_ENABLED) {
- /* op mode is HR 12-bit */
- shift = 4;
- } else {
- return 1;
- }
-
- /* Read output registers from LSM303AGR_ACC_GYRO_OUTX_L_XL to LSM303AGR_ACC_GYRO_OUTZ_H_XL. */
- if (!LSM303AGR_ACC_Get_Raw_Acceleration( (void *)this, ( uint8_t* )regValue ))
- {
- return 1;
- }
-
- /* Format the data. */
- pData[0] = ( ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] ) >> shift );
- pData[1] = ( ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] ) >> shift );
- pData[2] = ( ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] ) >> shift );
-
- return 0;
-}
-
-/**
- * @brief Read LSM303AGR Accelerometer output data rate
- * @param odr the pointer to the output data rate
- * @retval 0 in case of success, an error code otherwise
- */
-int LSM303AGRAccSensor::get_x_odr(float* odr)
-{
- LSM303AGR_ACC_ODR_t odr_low_level;
-
- if ( LSM303AGR_ACC_R_ODR( (void *)this, &odr_low_level ) == MEMS_ERROR )
- {
- return 1;
- }
-
- switch( odr_low_level )
- {
- case LSM303AGR_ACC_ODR_DO_PWR_DOWN:
- *odr = 0.0f;
- break;
- case LSM303AGR_ACC_ODR_DO_1Hz:
- *odr = 1.0f;
- break;
- case LSM303AGR_ACC_ODR_DO_10Hz:
- *odr = 10.0f;
- break;
- case LSM303AGR_ACC_ODR_DO_25Hz:
- *odr = 25.0f;
- break;
- case LSM303AGR_ACC_ODR_DO_50Hz:
- *odr = 50.0f;
- break;
- case LSM303AGR_ACC_ODR_DO_100Hz:
- *odr = 100.0f;
- break;
- case LSM303AGR_ACC_ODR_DO_200Hz:
- *odr = 200.0f;
- break;
- case LSM303AGR_ACC_ODR_DO_400Hz:
- *odr = 400.0f;
- break;
- default:
- *odr = -1.0f;
- return 1;
- }
-
- return 0;
-}
-
-/**
- * @brief Set ODR
- * @param odr the output data rate to be set
- * @retval 0 in case of success, an error code otherwise
- */
-int LSM303AGRAccSensor::set_x_odr(float odr)
-{
- if(isEnabled == 1)
- {
- if(set_x_odr_when_enabled(odr) == 1)
- {
- return 1;
- }
- }
- else
- {
- if(set_x_odr_when_disabled(odr) == 1)
- {
- return 1;
- }
- }
-
- return 0;
-}
-
-/**
- * @brief Set ODR when enabled
- * @param odr the output data rate to be set
- * @retval 0 in case of success, an error code otherwise
- */
-int LSM303AGRAccSensor::set_x_odr_when_enabled(float odr)
-{
- LSM303AGR_ACC_ODR_t new_odr;
-
- new_odr = ( odr <= 1.0f ) ? LSM303AGR_ACC_ODR_DO_1Hz
- : ( odr <= 10.0f ) ? LSM303AGR_ACC_ODR_DO_10Hz
- : ( odr <= 25.0f ) ? LSM303AGR_ACC_ODR_DO_25Hz
- : ( odr <= 50.0f ) ? LSM303AGR_ACC_ODR_DO_50Hz
- : ( odr <= 100.0f ) ? LSM303AGR_ACC_ODR_DO_100Hz
- : ( odr <= 200.0f ) ? LSM303AGR_ACC_ODR_DO_200Hz
- : LSM303AGR_ACC_ODR_DO_400Hz;
-
- if ( LSM303AGR_ACC_W_ODR( (void *)this, new_odr ) == MEMS_ERROR )
- {
- return 1;
- }
-
- return 0;
-}
-
-/**
- * @brief Set ODR when disabled
- * @param odr the output data rate to be set
- * @retval 0 in case of success, an error code otherwise
- */
-int LSM303AGRAccSensor::set_x_odr_when_disabled(float odr)
-{
- Last_ODR = ( odr <= 1.0f ) ? 1.0f
- : ( odr <= 10.0f ) ? 10.0f
- : ( odr <= 25.0f ) ? 25.0f
- : ( odr <= 50.0f ) ? 50.0f
- : ( odr <= 100.0f ) ? 100.0f
- : ( odr <= 200.0f ) ? 200.0f
- : 400.0f;
-
- return 0;
-}
-
-
-/**
- * @brief Read LSM303AGR Accelerometer full scale
- * @param fullScale the pointer to the full scale
- * @retval 0 in case of success, an error code otherwise
- */
-int LSM303AGRAccSensor::get_x_fs(float* fullScale)
-{
- LSM303AGR_ACC_FS_t fs_low_level;
-
- if ( LSM303AGR_ACC_R_FullScale( (void *)this, &fs_low_level ) == MEMS_ERROR )
- {
- return 1;
- }
-
- switch( fs_low_level )
- {
- case LSM303AGR_ACC_FS_2G:
- *fullScale = 2.0f;
- break;
- case LSM303AGR_ACC_FS_4G:
- *fullScale = 4.0f;
- break;
- case LSM303AGR_ACC_FS_8G:
- *fullScale = 8.0f;
- break;
- case LSM303AGR_ACC_FS_16G:
- *fullScale = 16.0f;
- break;
- default:
- *fullScale = -1.0f;
- return 1;
- }
-
- return 0;
-}
-
-/**
- * @brief Set full scale
- * @param fullScale the full scale to be set
- * @retval 0 in case of success, an error code otherwise
- */
-int LSM303AGRAccSensor::set_x_fs(float fullScale)
-{
- LSM303AGR_ACC_FS_t new_fs;
-
- new_fs = ( fullScale <= 2.0f ) ? LSM303AGR_ACC_FS_2G
- : ( fullScale <= 4.0f ) ? LSM303AGR_ACC_FS_4G
- : ( fullScale <= 8.0f ) ? LSM303AGR_ACC_FS_8G
- : LSM303AGR_ACC_FS_16G;
-
- if ( LSM303AGR_ACC_W_FullScale( (void *)this, new_fs ) == MEMS_ERROR )
- {
- return 1;
- }
-
- return 0;
-}
-
-/**
- * @brief Read accelerometer data from register
- * @param reg register address
- * @param data register data
- * @retval 0 in case of success
- * @retval 1 in case of failure
- */
-int LSM303AGRAccSensor::read_reg( uint8_t reg, uint8_t *data )
-{
-
- if ( LSM303AGR_ACC_read_reg( (void *)this, reg, data ) == MEMS_ERROR )
- {
- return 1;
- }
-
- return 0;
-}
-
-/**
- * @brief Write accelerometer data to register
- * @param reg register address
- * @param data register data
- * @retval 0 in case of success
- * @retval 1 in case of failure
- */
-int LSM303AGRAccSensor::write_reg( uint8_t reg, uint8_t data )
-{
-
- if ( LSM303AGR_ACC_write_reg( (void *)this, reg, data ) == MEMS_ERROR )
- {
- return 1;
- }
-
- return 0;
-}
-
-uint8_t LSM303AGR_ACC_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
-{
- return ((LSM303AGRAccSensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite);
-}
-
-uint8_t LSM303AGR_ACC_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
-{
- return ((LSM303AGRAccSensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead);
-}
--- a/Components/LSM303AGRSensor/LSM303AGR_ACC_Sensor.h Tue Mar 14 13:41:43 2017 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,140 +0,0 @@
-/**
- ******************************************************************************
- * @file LSM303AGRAccSensor.h
- * @author CLab
- * @version V1.0.0
- * @date 5 August 2016
- * @brief Abstract Class of an LSM303AGR accelerometer sensor.
- ******************************************************************************
- * @attention
- *
- * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- * 3. Neither the name of STMicroelectronics nor the names of its contributors
- * may be used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
-
-
-/* Prevent recursive inclusion -----------------------------------------------*/
-
-#ifndef __LSM303AGRAccSensor_H__
-#define __LSM303AGRAccSensor_H__
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include "DevI2C.h"
-#include "LSM303AGR_ACC_driver.h"
-#include "MotionSensor.h"
-
-/* Defines -------------------------------------------------------------------*/
-#define LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_NORMAL_MODE 3.900f /**< Sensitivity value for 2 g full scale and normal mode [mg/LSB] */
-#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] */
-#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] */
-#define LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_NORMAL_MODE 7.820f /**< Sensitivity value for 4 g full scale and normal mode [mg/LSB] */
-#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] */
-#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] */
-#define LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_NORMAL_MODE 15.630f /**< Sensitivity value for 8 g full scale and normal mode [mg/LSB] */
-#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] */
-#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] */
-#define LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_NORMAL_MODE 46.900f /**< Sensitivity value for 16 g full scale and normal mode [mg/LSB] */
-#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] */
-#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] */
-
-/* Class Declaration ---------------------------------------------------------*/
-
-/**
- * Abstract class of an LSM303AGR Inertial Measurement Unit (IMU) 6 axes
- * sensor.
- */
-class LSM303AGRAccSensor : public MotionSensor
-{
- public:
- LSM303AGRAccSensor(DevI2C &i2c);
- LSM303AGRAccSensor(DevI2C &i2c, uint8_t address);
- virtual int init(void *init);
- virtual int read_id(uint8_t *id);
- virtual int get_x_axes(int32_t *pData);
- virtual int get_x_axesRaw(int16_t *pData);
- virtual int get_x_sensitivity(float *pfData);
- virtual int get_x_odr(float *odr);
- virtual int set_x_odr(float odr);
- virtual int get_x_fs(float *fullScale);
- virtual int set_x_fs(float fullScale);
- int enable(void);
- int Disable(void);
- int read_reg(uint8_t reg, uint8_t *data);
- int write_reg(uint8_t reg, uint8_t data);
-
- /**
- * @brief Utility function to read data.
- * @param pBuffer: pointer to data to be read.
- * @param RegisterAddr: specifies internal address register to be read.
- * @param NumByteToRead: number of bytes to be read.
- * @retval 0 if ok, an error code otherwise.
- */
- uint8_t io_read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
- {
- return (uint8_t) dev_i2c.i2c_read(pBuffer, address, RegisterAddr, NumByteToRead);
- }
-
- /**
- * @brief Utility function to write data.
- * @param pBuffer: pointer to data to be written.
- * @param RegisterAddr: specifies internal address register to be written.
- * @param NumByteToWrite: number of bytes to write.
- * @retval 0 if ok, an error code otherwise.
- */
- uint8_t io_write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
- {
- return (uint8_t) dev_i2c.i2c_write(pBuffer, address, RegisterAddr, NumByteToWrite);
- }
-
- private:
- int set_x_odr_when_enabled(float odr);
- int set_x_odr_when_disabled(float odr);
- int get_x_sensitivity_Normal_Mode(float *sensitivity );
- int get_x_sensitivity_LP_Mode(float *sensitivity );
- int get_x_sensitivity_HR_Mode(float *sensitivity );
-
- /* Helper classes. */
- DevI2C &dev_i2c;
-
- /* Configuration */
- uint8_t address;
-
- uint8_t isEnabled;
- float Last_ODR;
-};
-
-#ifdef __cplusplus
- extern "C" {
-#endif
-uint8_t LSM303AGR_ACC_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
-uint8_t LSM303AGR_ACC_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
-#ifdef __cplusplus
- }
-#endif
-
-#endif
--- a/Components/LSM303AGRSensor/LSM303AGR_MAG_Sensor.cpp Tue Mar 14 13:41:43 2017 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,347 +0,0 @@
-/**
- ******************************************************************************
- * @file LSM303AGRMagSensor.cpp
- * @author CLab
- * @version V1.0.0
- * @date 5 August 2016
- * @brief Implementation an LSM303AGR magnetometer sensor.
- ******************************************************************************
- * @attention
- *
- * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- * 3. Neither the name of STMicroelectronics nor the names of its contributors
- * may be used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include "mbed.h"
-#include "DevI2C.h"
-#include "LSM303AGRMagSensor.h"
-#include "LSM303AGR_MAG_driver.h"
-
-
-/* Class Implementation ------------------------------------------------------*/
-
-/** Constructor
- * @param i2c object of an helper class which handles the I2C peripheral
- * @param address the address of the component's instance
- */
-LSM303AGRMagSensor::LSM303AGRMagSensor(DevI2C &i2c) : dev_i2c(i2c)
-{
- address = LSM303AGR_MAG_I2C_ADDRESS;
-};
-
-/** Constructor
- * @param i2c object of an helper class which handles the I2C peripheral
- * @param address the address of the component's instance
- */
-LSM303AGRMagSensor::LSM303AGRMagSensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
-{
-
-};
-
-/**
- * @brief Initializing the component.
- * @param[in] init pointer to device specific initalization structure.
- * @retval "0" in case of success, an error code otherwise.
- */
-int LSM303AGRMagSensor::Init(void *init)
-{
- /* Operating mode selection - power down */
- if ( LSM303AGR_MAG_W_MD( (void *)this, LSM303AGR_MAG_MD_IDLE1_MODE ) == MEMS_ERROR )
- {
- return 1;
- }
-
- /* Enable BDU */
- if ( LSM303AGR_MAG_W_BDU( (void *)this, LSM303AGR_MAG_BDU_ENABLED ) == MEMS_ERROR )
- {
- return 1;
- }
-
- if ( Set_M_ODR( 100.0f ) == 1 )
- {
- return 1;
- }
-
- if ( Set_M_FS( 50.0f ) == 1 )
- {
- return 1;
- }
-
- if ( LSM303AGR_MAG_W_ST( (void *)this, LSM303AGR_MAG_ST_DISABLED ) == MEMS_ERROR )
- {
- return 1;
- }
-
- return 0;
-}
-
-/**
- * @brief Enable LSM303AGR magnetometer
- * @retval 0 in case of success, an error code otherwise
- */
-int LSM303AGRMagSensor::Enable(void)
-{
- /* Operating mode selection */
- if ( LSM303AGR_MAG_W_MD( (void *)this, LSM303AGR_MAG_MD_CONTINUOS_MODE ) == MEMS_ERROR )
- {
- return 1;
- }
-
- return 0;
-}
-
-/**
- * @brief Disable LSM303AGR magnetometer
- * @retval 0 in case of success, an error code otherwise
- */
-int LSM303AGRMagSensor::Disable(void)
-{
- /* Operating mode selection - power down */
- if ( LSM303AGR_MAG_W_MD( (void *)this, LSM303AGR_MAG_MD_IDLE1_MODE ) == MEMS_ERROR )
- {
- return 1;
- }
-
- return 0;
-}
-
-/**
- * @brief Read ID of LSM303AGR Magnetometer
- * @param p_id the pointer where the ID of the device is stored
- * @retval 0 in case of success, an error code otherwise
- */
-int LSM303AGRMagSensor::ReadID(uint8_t *id)
-{
- if(!id)
- {
- return 1;
- }
-
- /* Read WHO AM I register */
- if ( LSM303AGR_MAG_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
- {
- return 1;
- }
-
- return 0;
-}
-
-/**
- * @brief Read data from LSM303AGR Magnetometer
- * @param pData the pointer where the magnetometer data are stored
- * @retval 0 in case of success, an error code otherwise
- */
-int LSM303AGRMagSensor::get_m_axes(int32_t *pData)
-{
- int16_t pDataRaw[3];
- float sensitivity = 0;
-
- /* Read raw data from LSM303AGR output register. */
- if ( get_m_axesRaw( pDataRaw ) == 1 )
- {
- return 1;
- }
-
- /* Get LSM303AGR actual sensitivity. */
- if ( Get_M_Sensitivity( &sensitivity ) == 1 )
- {
- return 1;
- }
-
- /* Calculate the data. */
- pData[0] = ( int32_t )( pDataRaw[0] * sensitivity );
- pData[1] = ( int32_t )( pDataRaw[1] * sensitivity );
- pData[2] = ( int32_t )( pDataRaw[2] * sensitivity );
-
- return 0;
-}
-
-/**
- * @brief Read Magnetometer Sensitivity
- * @param pfData the pointer where the magnetometer sensitivity is stored
- * @retval 0 in case of success, an error code otherwise
- */
-int LSM303AGRMagSensor::Get_M_Sensitivity(float *pfData)
-{
- *pfData = 1.5f;
-
- return 0;
-}
-
-/**
- * @brief Read raw data from LSM303AGR Magnetometer
- * @param pData the pointer where the magnetomer raw data are stored
- * @retval 0 in case of success, an error code otherwise
- */
-int LSM303AGRMagSensor::get_m_axesRaw(int16_t *pData)
-{
- uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
- int16_t *regValueInt16;
-
- /* Read output registers from LSM303AGR_MAG_OUTX_L to LSM303AGR_MAG_OUTZ_H. */
- if ( LSM303AGR_MAG_Get_Raw_Magnetic( (void *)this, regValue ) == MEMS_ERROR )
- {
- return 1;
- }
-
- regValueInt16 = (int16_t *)regValue;
-
- /* Format the data. */
- pData[0] = regValueInt16[0];
- pData[1] = regValueInt16[1];
- pData[2] = regValueInt16[2];
-
- return 0;
-}
-
-/**
- * @brief Read LSM303AGR Magnetometer output data rate
- * @param odr the pointer to the output data rate
- * @retval 0 in case of success, an error code otherwise
- */
-int LSM303AGRMagSensor::Get_M_ODR(float* odr)
-{
- LSM303AGR_MAG_ODR_t odr_low_level;
-
- if ( LSM303AGR_MAG_R_ODR( (void *)this, &odr_low_level ) == MEMS_ERROR )
- {
- return 1;
- }
-
- switch( odr_low_level )
- {
- case LSM303AGR_MAG_ODR_10Hz:
- *odr = 10.000f;
- break;
- case LSM303AGR_MAG_ODR_20Hz:
- *odr = 20.000f;
- break;
- case LSM303AGR_MAG_ODR_50Hz:
- *odr = 50.000f;
- break;
- case LSM303AGR_MAG_ODR_100Hz:
- *odr = 100.000f;
- break;
- default:
- *odr = -1.000f;
- return 1;
- }
- return 0;
-}
-
-/**
- * @brief Set ODR
- * @param odr the output data rate to be set
- * @retval 0 in case of success, an error code otherwise
- */
-int LSM303AGRMagSensor::Set_M_ODR(float odr)
-{
- LSM303AGR_MAG_ODR_t new_odr;
-
- new_odr = ( odr <= 10.000f ) ? LSM303AGR_MAG_ODR_10Hz
- : ( odr <= 20.000f ) ? LSM303AGR_MAG_ODR_20Hz
- : ( odr <= 50.000f ) ? LSM303AGR_MAG_ODR_50Hz
- : LSM303AGR_MAG_ODR_100Hz;
-
- if ( LSM303AGR_MAG_W_ODR( (void *)this, new_odr ) == MEMS_ERROR )
- {
- return 1;
- }
-
- return 0;
-}
-
-
-/**
- * @brief Read LSM303AGR Magnetometer full scale
- * @param fullScale the pointer to the output data rate
- * @retval 0 in case of success, an error code otherwise
- */
-int LSM303AGRMagSensor::Get_M_FS(float* fullScale)
-{
- *fullScale = 50.0f;
-
- return 0;
-}
-
-/**
- * @brief Set full scale
- * @param fullScale the full scale to be set
- * @retval 0 in case of success, an error code otherwise
- */
-int LSM303AGRMagSensor::Set_M_FS(float fullScale)
-{
- return 0;
-}
-
-
-/**
- * @brief Read magnetometer data from register
- * @param reg register address
- * @param data register data
- * @retval 0 in case of success
- * @retval 1 in case of failure
- */
-int LSM303AGRMagSensor::read_reg( uint8_t reg, uint8_t *data )
-{
- if ( LSM303AGR_MAG_read_reg( (void *)this, reg, data ) == MEMS_ERROR )
- {
- return 1;
- }
-
- return 0;
-}
-
-
-/**
- * @brief Write magnetometer data to register
- * @param reg register address
- * @param data register data
- * @retval 0 in case of success
- * @retval 1 in case of failure
- */
-int LSM303AGRMagSensor::write_reg( uint8_t reg, uint8_t data )
-{
- if ( LSM303AGR_MAG_write_reg( (void *)this, reg, data ) == MEMS_ERROR )
- {
- return 1;
- }
-
- return 0;
-}
-
-uint8_t LSM303AGR_MAG_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
-{
- return ((LSM303AGRMagSensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite);
-}
-
-uint8_t LSM303AGR_MAG_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
-{
- return ((LSM303AGRMagSensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead);
-}
--- a/Components/LSM303AGRSensor/LSM303AGR_MAG_Sensor.h Tue Mar 14 13:41:43 2017 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,119 +0,0 @@
-/**
- ******************************************************************************
- * @file LSM303AGRMagSensor.h
- * @author CLab
- * @version V1.0.0
- * @date 5 August 2016
- * @brief Abstract Class of an LSM303AGR magnetometer sensor.
- ******************************************************************************
- * @attention
- *
- * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- * 3. Neither the name of STMicroelectronics nor the names of its contributors
- * may be used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
-
-
-/* Prevent recursive inclusion -----------------------------------------------*/
-
-#ifndef __LSM303AGRMagSensor_H__
-#define __LSM303AGRMagSensor_H__
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include "DevI2C.h"
-#include "LSM303AGR_MAG_driver.h"
-#include "MagneticSensor.h"
-
-
-/* Class Declaration ---------------------------------------------------------*/
-
-/**
- * Abstract class of an LSM303AGR Inertial Measurement Unit (IMU) 6 axes
- * sensor.
- */
-class LSM303AGRMagSensor : public MagneticSensor
-{
- public:
- LSM303AGRMagSensor(DevI2C &i2c);
- LSM303AGRMagSensor(DevI2C &i2c, uint8_t address);
- virtual int init(void *init);
- virtual int read_id(uint8_t *id);
- virtual int get_m_axes(int32_t *pData);
- virtual int get_m_axesRaw(int16_t *pData);
- int enable(void);
- int Disable(void);
- int Get_M_Sensitivity(float *pfData);
- int Get_M_ODR(float *odr);
- int Set_M_ODR(float odr);
- int Get_M_FS(float *fullScale);
- int Set_M_FS(float fullScale);
- int read_reg(uint8_t reg, uint8_t *data);
- int write_reg(uint8_t reg, uint8_t data);
-
- /**
- * @brief Utility function to read data.
- * @param pBuffer: pointer to data to be read.
- * @param RegisterAddr: specifies internal address register to be read.
- * @param NumByteToRead: number of bytes to be read.
- * @retval 0 if ok, an error code otherwise.
- */
- uint8_t io_read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
- {
- return (uint8_t) dev_i2c.i2c_read(pBuffer, address, RegisterAddr, NumByteToRead);
- }
-
- /**
- * @brief Utility function to write data.
- * @param pBuffer: pointer to data to be written.
- * @param RegisterAddr: specifies internal address register to be written.
- * @param NumByteToWrite: number of bytes to write.
- * @retval 0 if ok, an error code otherwise.
- */
- uint8_t io_write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
- {
- return (uint8_t) dev_i2c.i2c_write(pBuffer, address, RegisterAddr, NumByteToWrite);
- }
-
- private:
-
- /* Helper classes. */
- DevI2C &dev_i2c;
-
- /* Configuration */
- uint8_t address;
-};
-
-#ifdef __cplusplus
- extern "C" {
-#endif
-uint8_t LSM303AGR_MAG_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
-uint8_t LSM303AGR_MAG_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
-#ifdef __cplusplus
- }
-#endif
-
-#endif