text: /**
   ******************************************************************************
   * @file    LSM303AGR_ACC_Sensor.h
   * @author  AST
   * @version V1.0.0
   * @date    7 September 2017
   * @brief   Abstract Class of an LSM303AGR accelerometer sensor.
   ******************************************************************************
   * @attention
   *
   * <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
   *
   * Redistribution and use in source and binary forms, with or without modification,
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   *      this list of conditions and the following disclaimer in the documentation
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   *      may be used to endorse or promote products derived from this software
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   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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   * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
   * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   *
   ******************************************************************************
   */
  
  
  /* Prevent recursive inclusion -----------------------------------------------*/
  
  #ifndef __LSM303AGR_ACC_Sensor_H__
  #define __LSM303AGR_ACC_Sensor_H__
  
  
  /* Includes ------------------------------------------------------------------*/
  
  #include "Wire.h"
  #include "LSM303AGR_ACC_Driver.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] */
  
  
  /* Typedefs ------------------------------------------------------------------*/
  typedef enum
  {
    LSM303AGR_ACC_STATUS_OK = 0,
    LSM303AGR_ACC_STATUS_ERROR,
    LSM303AGR_ACC_STATUS_TIMEOUT,
    LSM303AGR_ACC_STATUS_NOT_IMPLEMENTED
  } LSM303AGR_ACC_StatusTypeDef;
  
  
  /* Class Declaration ---------------------------------------------------------*/
  
  /**
   * Abstract class of an LSM303AGR Inertial Measurement Unit (IMU) 6 axes
   * sensor.
   */
  class LSM303AGR_ACC_Sensor
  {
    public:
      LSM303AGR_ACC_Sensor                       (TwoWire *i2c);
      LSM303AGR_ACC_Sensor                       (TwoWire *i2c, uint8_t address);
      LSM303AGR_ACC_StatusTypeDef Enable         (void);
      LSM303AGR_ACC_StatusTypeDef Disable        (void);
      LSM303AGR_ACC_StatusTypeDef ReadID         (uint8_t *p_id);
      LSM303AGR_ACC_StatusTypeDef GetAxes        (int32_t *pData);
      LSM303AGR_ACC_StatusTypeDef GetSensitivity (float *pfData);
  	LSM303AGR_ACC_StatusTypeDef GetAxesRaw     (int16_t *pData);
  	LSM303AGR_ACC_StatusTypeDef GetODR         (float *odr);
  	LSM303AGR_ACC_StatusTypeDef SetODR         (float odr);
  	LSM303AGR_ACC_StatusTypeDef GetFS          (float *fullScale);
  	LSM303AGR_ACC_StatusTypeDef SetFS          (float fullScale);
  	LSM303AGR_ACC_StatusTypeDef ReadReg        (uint8_t reg, uint8_t *data);
  	LSM303AGR_ACC_StatusTypeDef WriteReg       (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)
      {
        dev_i2c->beginTransmission(((uint8_t)(((address) >> 1) & 0x7F)));
        dev_i2c->write(RegisterAddr);
        dev_i2c->endTransmission(false);
  
        dev_i2c->requestFrom(((uint8_t)(((address) >> 1) & 0x7F)), (byte) NumByteToRead);
  
        int i=0;
        while (dev_i2c->available())
        {
          pBuffer[i] = dev_i2c->read();
          i++;
        }
  
        return 0;
      }
      
      /**
       * @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)
      {
        dev_i2c->beginTransmission(((uint8_t)(((address) >> 1) & 0x7F)));
  
        dev_i2c->write(RegisterAddr);
        for (int i = 0 ; i < NumByteToWrite ; i++)
          dev_i2c->write(pBuffer[i]);
  
        dev_i2c->endTransmission(true);
  
        return 0;
      }
  
    private:
      LSM303AGR_ACC_StatusTypeDef SetODR_When_Enabled(float odr);
      LSM303AGR_ACC_StatusTypeDef SetODR_When_Disabled(float odr);
      LSM303AGR_ACC_StatusTypeDef GetSensitivity_Normal_Mode( float *sensitivity );
      LSM303AGR_ACC_StatusTypeDef GetSensitivity_LP_Mode( float *sensitivity );
      LSM303AGR_ACC_StatusTypeDef GetSensitivity_HR_Mode( float *sensitivity );
  
      /* Helper classes. */
      TwoWire *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