status_t LSM303C::ACC_SetODR(ACC_ODR_t val)
{
// printf("EMPTY\n");
uint8_t value;
if ( ACC_ReadReg(ACC_CTRL1, value) )
{
return IMU_HW_ERROR;
}
value &= ~ACC_ODR_MASK;
value |= val;
if ( ACC_WriteReg(ACC_CTRL1, value) )
{
return IMU_HW_ERROR;
}
return IMU_SUCCESS;
}
status_t LSM303C::ACC_BlockDataUpdate(ACC_BDU_t val)
{
// printf("EMPTY\n");
uint8_t value;
if ( ACC_ReadReg(ACC_CTRL1, value) )
{
return IMU_HW_ERROR;
}
value &= ~ACC_BDU_ENABLE;
value |= val;
if ( ACC_WriteReg(ACC_CTRL1, value) )
{
return IMU_HW_ERROR;
}
return IMU_SUCCESS;
}
status_t LSM303C::ACC_EnableAxis(uint8_t val)
{
// printf("EMPTY\n");
uint8_t value;
if ( ACC_ReadReg(ACC_CTRL1, value) )
{
printf("AERROR\n");
return IMU_HW_ERROR;
}
value &= ~0x07;
value |= val;
if ( ACC_WriteReg(ACC_CTRL1, value) )
{
return IMU_HW_ERROR;
}
return IMU_SUCCESS;
}
status_t LSM303C::ACC_EnableAxis(uint8_t val)
{
debug_print(EMPTY);
uint8_t value;
if ( ACC_ReadReg(ACC_CTRL1, value) )
{
debug_println(AERROR);
return IMU_HW_ERROR;
}
value &= ~0x07;
value |= val;
if ( ACC_WriteReg(ACC_CTRL1, value) )
{
return IMU_HW_ERROR;
}
return IMU_SUCCESS;
}
status_t LSM303C::ACC_SetFullScale(ACC_FS_t val)
{
// printf("EMPTY\n");
uint8_t value;
if ( ACC_ReadReg(ACC_CTRL4, value) )
{
printf("Failed ACC read\n");
return IMU_HW_ERROR;
}
value &= ~ACC_FS_8g;
value |= val;
if ( ACC_WriteReg(ACC_CTRL4, value) )
{
return IMU_HW_ERROR;
}
return IMU_SUCCESS;
}