Initial release. Mbed library for VL53L1CB
Diff: ST_INTERFACES/Sensors/GyroSensor.h
- Revision:
- 0:3d72bef69191
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ST_INTERFACES/Sensors/GyroSensor.h Fri Nov 06 12:15:24 2020 +0000 @@ -0,0 +1,126 @@ +/** + ****************************************************************************** + * @file GyroSensor.h + * @author AST / EST + * @version V0.0.1 + * @date 13-April-2015 + * @brief This file contains the abstract class describing in general + * the interfaces of a gyroscope + ****************************************************************************** + * @attention + * + * <h2><center>© COPYRIGHT(c) 2015 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. + * + ****************************************************************************** + */ + + +/* Define to prevent from recursive inclusion --------------------------------*/ + +#ifndef __GYRO_SENSOR_CLASS_H +#define __GYRO_SENSOR_CLASS_H + + +/* Includes ------------------------------------------------------------------*/ + +#include <Component.h> + + +/* Classes ------------------------------------------------------------------*/ + +/** + * An abstract class for a Gyroscope + */ +class GyroSensor : public Component { +public: + + /** + * @brief Get current gyroscope angular rate X/Y/Z-axes values + * in standard data units [mdps] + * @param[out] p_data Pointer to where to store angular rates to. + * p_data must point to an array of (at least) three elements, where: + * p_data[0] corresponds to X-axis, + * p_data[1] corresponds to Y-axis, and + * p_data[2] corresponds to Z-axis. + * @return 0 in case of success, an error code otherwise + */ + virtual int get_g_axes(int32_t *p_data) = 0; + + /** + * @brief Get current gyroscope raw data X/Y/Z-axes values + * in device sepcific LSB units + * @param[out] p_data Pointer to where to store gyroscope raw data to. + * p_data must point to an array of (at least) three elements, where: + * p_data[0] corresponds to X-axis, + * p_data[1] corresponds to Y-axis, and + * p_data[2] corresponds to Z-axis. + * @return 0 in case of success, an error code otherwise + */ + virtual int get_g_axes_raw(int16_t *p_data) = 0; + + /** + * @brief Get gyroscope's current sensitivity [mdps/LSB] + * @param[out] pf_data Pointer to where the gyroscope's sensitivity is stored to + * @return 0 in case of success, an error code otherwise + */ + virtual int get_g_sensitivity(float *pf_data) = 0; + + /** + * @brief Get gyroscope's current output data rate [Hz] + * @param[out] pf_data Pointer to where the gyroscope output data rate is stored to + * @return 0 in case of success, an error code otherwise + */ + virtual int get_g_odr(float *pf_data) = 0; + + /** + * @brief Set gyroscope's output data rate + * @param[in] odr New value for gyroscope's output data rate in [Hz] + * @return 0 in case of success, an error code otherwise + */ + virtual int set_g_odr(float odr) = 0; + + /** + * @brief Get gyroscope's full scale value + * i.e.\ min/max measurable value [dps] + * @param[out] pf_data Pointer to where the gyroscope full scale value is stored to + * @return 0 in case of success, an error code otherwise + */ + virtual int get_g_fs(float *pf_data) = 0; + + /** + * @brief Set gyroscope's full scale value + * i.e.\ min/max measurable value + * @param[in] fs New full scale value for gyroscope in [dps] + * @return 0 in case of success, an error code otherwise + */ + virtual int set_g_fs(float fs) = 0; + + /** + * @brief Destructor. + */ + virtual ~GyroSensor() {}; +}; + +#endif /* __GYRO_SENSOR_CLASS_H */