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Dependencies:   mbed X_NUCLEO_IKS01A2

X_NUCLEO_IKS01A2/Components/LSM303AGRSensor/LSM303AGR_ACC_Sensor.h@2:f23b144da50a, 2016-08-19 (annotated)

Committer:
cparata
Date:
Fri Aug 19 12:13:37 2016 +0000
Revision:
2:f23b144da50a
Parent:
0:69566eea0fba 
Add interfaces for all components

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 0:69566eea0fba 1 /**
cparata 0:69566eea0fba 2 ******************************************************************************
cparata 0:69566eea0fba 3 * @file LSM303AGR_ACC_Sensor.h
cparata 0:69566eea0fba 4 * @author AST
cparata 0:69566eea0fba 5 * @version V1.0.0
cparata 0:69566eea0fba 6 * @date 5 August 2016
cparata 0:69566eea0fba 7 * @brief Abstract Class of an LSM303AGR accelerometer sensor.
cparata 0:69566eea0fba 8 ******************************************************************************
cparata 0:69566eea0fba 9 * @attention
cparata 0:69566eea0fba 10 *
cparata 0:69566eea0fba 11 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 0:69566eea0fba 12 *
cparata 0:69566eea0fba 13 * Redistribution and use in source and binary forms, with or without modification,
cparata 0:69566eea0fba 14 * are permitted provided that the following conditions are met:
cparata 0:69566eea0fba 15 * 1. Redistributions of source code must retain the above copyright notice,
cparata 0:69566eea0fba 16 * this list of conditions and the following disclaimer.
cparata 0:69566eea0fba 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 0:69566eea0fba 18 * this list of conditions and the following disclaimer in the documentation
cparata 0:69566eea0fba 19 * and/or other materials provided with the distribution.
cparata 0:69566eea0fba 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 0:69566eea0fba 21 * may be used to endorse or promote products derived from this software
cparata 0:69566eea0fba 22 * without specific prior written permission.
cparata 0:69566eea0fba 23 *
cparata 0:69566eea0fba 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 0:69566eea0fba 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 0:69566eea0fba 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 0:69566eea0fba 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 0:69566eea0fba 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 0:69566eea0fba 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 0:69566eea0fba 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 0:69566eea0fba 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 0:69566eea0fba 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 0:69566eea0fba 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 0:69566eea0fba 34 *
cparata 0:69566eea0fba 35 ******************************************************************************
cparata 0:69566eea0fba 36 */
cparata 0:69566eea0fba 37
cparata 0:69566eea0fba 38
cparata 0:69566eea0fba 39 /* Prevent recursive inclusion -----------------------------------------------*/
cparata 0:69566eea0fba 40
cparata 0:69566eea0fba 41 #ifndef __LSM303AGR_ACC_Sensor_H__
cparata 0:69566eea0fba 42 #define __LSM303AGR_ACC_Sensor_H__
cparata 0:69566eea0fba 43
cparata 0:69566eea0fba 44
cparata 0:69566eea0fba 45 /* Includes ------------------------------------------------------------------*/
cparata 0:69566eea0fba 46
cparata 0:69566eea0fba 47 #include "DevI2C.h"
cparata 0:69566eea0fba 48 #include "LSM303AGR_ACC_driver.h"
cparata 2:f23b144da50a 49 #include "MotionSensor.h"
cparata 0:69566eea0fba 50
cparata 0:69566eea0fba 51 /* Defines -------------------------------------------------------------------*/
cparata 0:69566eea0fba 52 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_NORMAL_MODE 3.900f /**< Sensitivity value for 2 g full scale and normal mode [mg/LSB] */
cparata 0:69566eea0fba 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] */
cparata 0:69566eea0fba 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] */
cparata 0:69566eea0fba 55 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_NORMAL_MODE 7.820f /**< Sensitivity value for 4 g full scale and normal mode [mg/LSB] */
cparata 0:69566eea0fba 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] */
cparata 0:69566eea0fba 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] */
cparata 0:69566eea0fba 58 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_NORMAL_MODE 15.630f /**< Sensitivity value for 8 g full scale and normal mode [mg/LSB] */
cparata 0:69566eea0fba 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] */
cparata 0:69566eea0fba 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] */
cparata 0:69566eea0fba 61 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_NORMAL_MODE 46.900f /**< Sensitivity value for 16 g full scale and normal mode [mg/LSB] */
cparata 0:69566eea0fba 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] */
cparata 0:69566eea0fba 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] */
cparata 0:69566eea0fba 64
cparata 0:69566eea0fba 65 /* Class Declaration ---------------------------------------------------------*/
cparata 0:69566eea0fba 66
cparata 0:69566eea0fba 67 /**
cparata 0:69566eea0fba 68 * Abstract class of an LSM303AGR Inertial Measurement Unit (IMU) 6 axes
cparata 0:69566eea0fba 69 * sensor.
cparata 0:69566eea0fba 70 */
cparata 2:f23b144da50a 71 class LSM303AGR_ACC_Sensor : public MotionSensor
cparata 0:69566eea0fba 72 {
cparata 0:69566eea0fba 73 public:
cparata 2:f23b144da50a 74 LSM303AGR_ACC_Sensor(DevI2C &i2c);
cparata 2:f23b144da50a 75 LSM303AGR_ACC_Sensor(DevI2C &i2c, uint8_t address);
cparata 2:f23b144da50a 76 virtual int Init(void *init);
cparata 2:f23b144da50a 77 virtual int ReadID(uint8_t *id);
cparata 2:f23b144da50a 78 virtual int Get_X_Axes(int32_t *pData);
cparata 2:f23b144da50a 79 virtual int Get_X_AxesRaw(int16_t *pData);
cparata 2:f23b144da50a 80 virtual int Get_X_Sensitivity(float *pfData);
cparata 2:f23b144da50a 81 virtual int Get_X_ODR(float *odr);
cparata 2:f23b144da50a 82 virtual int Set_X_ODR(float odr);
cparata 2:f23b144da50a 83 virtual int Get_X_FS(float *fullScale);
cparata 2:f23b144da50a 84 virtual int Set_X_FS(float fullScale);
cparata 2:f23b144da50a 85 int Enable(void);
cparata 2:f23b144da50a 86 int Disable(void);
cparata 2:f23b144da50a 87 int ReadReg(uint8_t reg, uint8_t *data);
cparata 2:f23b144da50a 88 int WriteReg(uint8_t reg, uint8_t data);
cparata 0:69566eea0fba 89
cparata 0:69566eea0fba 90 /**
cparata 0:69566eea0fba 91 * @brief Utility function to read data.
cparata 0:69566eea0fba 92 * @param pBuffer: pointer to data to be read.
cparata 0:69566eea0fba 93 * @param RegisterAddr: specifies internal address register to be read.
cparata 0:69566eea0fba 94 * @param NumByteToRead: number of bytes to be read.
cparata 0:69566eea0fba 95 * @retval 0 if ok, an error code otherwise.
cparata 0:69566eea0fba 96 */
cparata 0:69566eea0fba 97 uint8_t IO_Read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
cparata 0:69566eea0fba 98 {
cparata 0:69566eea0fba 99 return (uint8_t) dev_i2c.i2c_read(pBuffer, address, RegisterAddr, NumByteToRead);
cparata 0:69566eea0fba 100 }
cparata 0:69566eea0fba 101
cparata 0:69566eea0fba 102 /**
cparata 0:69566eea0fba 103 * @brief Utility function to write data.
cparata 0:69566eea0fba 104 * @param pBuffer: pointer to data to be written.
cparata 0:69566eea0fba 105 * @param RegisterAddr: specifies internal address register to be written.
cparata 0:69566eea0fba 106 * @param NumByteToWrite: number of bytes to write.
cparata 0:69566eea0fba 107 * @retval 0 if ok, an error code otherwise.
cparata 0:69566eea0fba 108 */
cparata 0:69566eea0fba 109 uint8_t IO_Write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
cparata 0:69566eea0fba 110 {
cparata 0:69566eea0fba 111 return (uint8_t) dev_i2c.i2c_write(pBuffer, address, RegisterAddr, NumByteToWrite);
cparata 0:69566eea0fba 112 }
cparata 0:69566eea0fba 113
cparata 0:69566eea0fba 114 private:
cparata 2:f23b144da50a 115 int Set_X_ODR_When_Enabled(float odr);
cparata 2:f23b144da50a 116 int Set_X_ODR_When_Disabled(float odr);
cparata 2:f23b144da50a 117 int Get_X_Sensitivity_Normal_Mode(float *sensitivity );
cparata 2:f23b144da50a 118 int Get_X_Sensitivity_LP_Mode(float *sensitivity );
cparata 2:f23b144da50a 119 int Get_X_Sensitivity_HR_Mode(float *sensitivity );
cparata 0:69566eea0fba 120
cparata 0:69566eea0fba 121 /* Helper classes. */
cparata 0:69566eea0fba 122 DevI2C &dev_i2c;
cparata 0:69566eea0fba 123
cparata 0:69566eea0fba 124 /* Configuration */
cparata 0:69566eea0fba 125 uint8_t address;
cparata 0:69566eea0fba 126
cparata 0:69566eea0fba 127 uint8_t isEnabled;
cparata 0:69566eea0fba 128 float Last_ODR;
cparata 0:69566eea0fba 129 };
cparata 0:69566eea0fba 130
cparata 0:69566eea0fba 131 #ifdef __cplusplus
cparata 0:69566eea0fba 132 extern "C" {
cparata 0:69566eea0fba 133 #endif
cparata 0:69566eea0fba 134 uint8_t LSM303AGR_ACC_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
cparata 0:69566eea0fba 135 uint8_t LSM303AGR_ACC_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
cparata 0:69566eea0fba 136 #ifdef __cplusplus
cparata 0:69566eea0fba 137 }
cparata 0:69566eea0fba 138 #endif
cparata 0:69566eea0fba 139
cparata 0:69566eea0fba 140 #endif