Due Ingegneri Ed Un Controllore / Giroscopio

Dependencies:   X_NUCLEO_COMMON

Dependents:   Giroscopio_main

Fork of X_NUCLEO_IKS01A1-f2df by Ant Robinson

X_NUCLEO_IKS01A1-f255a2c75ecb/x_nucleo_iks01a1.cpp@1:7f97780b8ad4, 2017-02-09 (annotated)

Committer:
Salvatore94
Date:
Thu Feb 09 16:40:33 2017 +0000
Revision:
1:7f97780b8ad4
Parent:
0:5a49275457c6 
Per peppe;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
antseggs 0:5a49275457c6 1 /**
antseggs 0:5a49275457c6 2 ******************************************************************************
antseggs 0:5a49275457c6 3 * @file x_nucleo_iks01a1.cpp
antseggs 0:5a49275457c6 4 * @author AST / EST
antseggs 0:5a49275457c6 5 * @version V0.0.1
antseggs 0:5a49275457c6 6 * @date 08-October-2014
antseggs 0:5a49275457c6 7 * @brief Implementation file for the X_NUCLEO_IKS01A1 singleton class
antseggs 0:5a49275457c6 8 ******************************************************************************
antseggs 0:5a49275457c6 9 * @attention
antseggs 0:5a49275457c6 10 *
antseggs 0:5a49275457c6 11 * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
antseggs 0:5a49275457c6 12 *
antseggs 0:5a49275457c6 13 * Redistribution and use in source and binary forms, with or without modification,
antseggs 0:5a49275457c6 14 * are permitted provided that the following conditions are met:
antseggs 0:5a49275457c6 15 * 1. Redistributions of source code must retain the above copyright notice,
antseggs 0:5a49275457c6 16 * this list of conditions and the following disclaimer.
antseggs 0:5a49275457c6 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
antseggs 0:5a49275457c6 18 * this list of conditions and the following disclaimer in the documentation
antseggs 0:5a49275457c6 19 * and/or other materials provided with the distribution.
antseggs 0:5a49275457c6 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
antseggs 0:5a49275457c6 21 * may be used to endorse or promote products derived from this software
antseggs 0:5a49275457c6 22 * without specific prior written permission.
antseggs 0:5a49275457c6 23 *
antseggs 0:5a49275457c6 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
antseggs 0:5a49275457c6 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
antseggs 0:5a49275457c6 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
antseggs 0:5a49275457c6 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
antseggs 0:5a49275457c6 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
antseggs 0:5a49275457c6 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
antseggs 0:5a49275457c6 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
antseggs 0:5a49275457c6 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
antseggs 0:5a49275457c6 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
antseggs 0:5a49275457c6 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
antseggs 0:5a49275457c6 34 *
antseggs 0:5a49275457c6 35 ******************************************************************************
antseggs 0:5a49275457c6 36 */
antseggs 0:5a49275457c6 37
antseggs 0:5a49275457c6 38 /* Includes ------------------------------------------------------------------*/
antseggs 0:5a49275457c6 39 #include "mbed.h"
antseggs 0:5a49275457c6 40 #include "x_nucleo_iks01a1.h"
antseggs 0:5a49275457c6 41
antseggs 0:5a49275457c6 42 /* Static variables ----------------------------------------------------------*/
antseggs 0:5a49275457c6 43 X_NUCLEO_IKS01A1* X_NUCLEO_IKS01A1::_instance = NULL;
antseggs 0:5a49275457c6 44
antseggs 0:5a49275457c6 45
antseggs 0:5a49275457c6 46 /* Methods -------------------------------------------------------------------*/
antseggs 0:5a49275457c6 47 /**
antseggs 0:5a49275457c6 48 * @brief Constructor
antseggs 0:5a49275457c6 49 */
antseggs 0:5a49275457c6 50 X_NUCLEO_IKS01A1::X_NUCLEO_IKS01A1(DevI2C *ext_i2c, PinName ff_irq_pin) : dev_i2c(ext_i2c),
antseggs 0:5a49275457c6 51 ht_sensor(new HTS221(*dev_i2c)),
antseggs 0:5a49275457c6 52 magnetometer(new LIS3MDL(*dev_i2c)),
antseggs 0:5a49275457c6 53 pt_sensor(new LPS25H(*dev_i2c)),
antseggs 0:5a49275457c6 54 gyro_lsm6ds0(new LSM6DS0(*dev_i2c))
antseggs 0:5a49275457c6 55 {
antseggs 0:5a49275457c6 56 if(ff_irq_pin == NC) {
antseggs 0:5a49275457c6 57 gyro_lsm6ds3 = NULL;
antseggs 0:5a49275457c6 58 } else {
antseggs 0:5a49275457c6 59 gyro_lsm6ds3 = new LSM6DS3(*dev_i2c, ff_irq_pin);
antseggs 0:5a49275457c6 60 }
antseggs 0:5a49275457c6 61 }
antseggs 0:5a49275457c6 62
antseggs 0:5a49275457c6 63 /**
antseggs 0:5a49275457c6 64 * @brief Get singleton instance
antseggs 0:5a49275457c6 65 * @return a pointer to the initialized singleton instance of class X_NUCLEO_IKS01A1.
antseggs 0:5a49275457c6 66 * A return value of NULL indicates an out of memory situation.
antseggs 0:5a49275457c6 67 * @param[in] ext_i2c (optional) pointer to an instance of DevI2C to be used
antseggs 0:5a49275457c6 68 * for communication on the expansion board.
antseggs 0:5a49275457c6 69 * Defaults to NULL.
antseggs 0:5a49275457c6 70 * Taken into account only on the very first call of one of the 'Instance' functions.
antseggs 0:5a49275457c6 71 * If not provided a new DevI2C will be created with standard
antseggs 0:5a49275457c6 72 * configuration parameters.
antseggs 0:5a49275457c6 73 * The used DevI2C object gets saved in instance variable dev_i2c.
antseggs 0:5a49275457c6 74 * @param[in] ff_irq_pin (optional) PinName of the pin associated to asynchronous
antseggs 0:5a49275457c6 75 * (i.e. interrupt based) free fall detection in case a LSM6DS3 3D
antseggs 0:5a49275457c6 76 * Acceleromenter and 3D Gyroscope is mounted on top of the DIL 24-pin socket.
antseggs 0:5a49275457c6 77 * Defaults to IKS01A1_PIN_FF.
antseggs 0:5a49275457c6 78 * Taken into account only on the very first call of one of the 'Instance' functions.
antseggs 0:5a49275457c6 79 * A value of 'NC' will avoid instantiation of the LSM6DS3 even if present.
antseggs 0:5a49275457c6 80 */
antseggs 0:5a49275457c6 81 X_NUCLEO_IKS01A1* X_NUCLEO_IKS01A1::Instance(DevI2C *ext_i2c, PinName ff_irq_pin) {
antseggs 0:5a49275457c6 82 if(_instance == NULL) {
antseggs 0:5a49275457c6 83 if(ext_i2c == NULL)
antseggs 0:5a49275457c6 84 ext_i2c = new DevI2C(IKS01A1_PIN_I2C_SDA, IKS01A1_PIN_I2C_SCL);
antseggs 0:5a49275457c6 85
antseggs 0:5a49275457c6 86 if(ext_i2c != NULL)
antseggs 0:5a49275457c6 87 _instance = new X_NUCLEO_IKS01A1(ext_i2c, ff_irq_pin);
antseggs 0:5a49275457c6 88
antseggs 0:5a49275457c6 89 if(_instance != NULL) {
antseggs 0:5a49275457c6 90 bool ret = _instance->Init();
antseggs 0:5a49275457c6 91 if(!ret) {
antseggs 0:5a49275457c6 92 error("Failed to init X_NUCLEO_IKS01A1 expansion board!\n");
antseggs 0:5a49275457c6 93 }
antseggs 0:5a49275457c6 94 }
antseggs 0:5a49275457c6 95 }
antseggs 0:5a49275457c6 96
antseggs 0:5a49275457c6 97 return _instance;
antseggs 0:5a49275457c6 98 }
antseggs 0:5a49275457c6 99
antseggs 0:5a49275457c6 100 /**
antseggs 0:5a49275457c6 101 * @brief Get singleton instance
antseggs 0:5a49275457c6 102 * @return a pointer to the initialized singleton instance of class X_NUCLEO_IKS01A1.
antseggs 0:5a49275457c6 103 * A return value of NULL indicates an out of memory situation.
antseggs 0:5a49275457c6 104 * @param[in] sda I2C data line pin.
antseggs 0:5a49275457c6 105 * Taken into account only on the very first call of one of the 'Instance' functions.
antseggs 0:5a49275457c6 106 * A new DevI2C will be created based on parameters 'sda' and 'scl'.
antseggs 0:5a49275457c6 107 * The used DevI2C object gets saved in instance variable dev_i2c.
antseggs 0:5a49275457c6 108 * @param[in] scl I2C clock line pin.
antseggs 0:5a49275457c6 109 * Taken into account only on the very first call of one of the 'Instance' functions.
antseggs 0:5a49275457c6 110 * A new DevI2C will be created based on parameters 'sda' and 'scl'.
antseggs 0:5a49275457c6 111 * The used DevI2C object gets saved in instance variable dev_i2c.
antseggs 0:5a49275457c6 112 * @param[in] ff_irq_pin (optional) PinName of the pin associated to asynchronous
antseggs 0:5a49275457c6 113 * (i.e. interrupt based) free fall detection in case a LSM6DS3 3D
antseggs 0:5a49275457c6 114 * Acceleromenter and 3D Gyroscope is mounted on top of the DIL 24-pin socket.
antseggs 0:5a49275457c6 115 * Defaults to NC.
antseggs 0:5a49275457c6 116 * Taken into account only on the very first call of one of the 'Instance' functions.
antseggs 0:5a49275457c6 117 * A value of 'NC' will avoid instantiation of the LSM6DS3 even if present.
antseggs 0:5a49275457c6 118 */
antseggs 0:5a49275457c6 119 X_NUCLEO_IKS01A1* X_NUCLEO_IKS01A1::Instance(PinName sda, PinName scl, PinName ff_irq_pin) {
antseggs 0:5a49275457c6 120 if(_instance == NULL) {
antseggs 0:5a49275457c6 121 DevI2C *ext_i2c = new DevI2C(sda, scl);
antseggs 0:5a49275457c6 122
antseggs 0:5a49275457c6 123 if(ext_i2c != NULL)
antseggs 0:5a49275457c6 124 _instance = new X_NUCLEO_IKS01A1(ext_i2c, ff_irq_pin);
antseggs 0:5a49275457c6 125
antseggs 0:5a49275457c6 126 if(_instance != NULL) {
antseggs 0:5a49275457c6 127 bool ret = _instance->Init();
antseggs 0:5a49275457c6 128 if(!ret) {
antseggs 0:5a49275457c6 129 error("Failed to init X_NUCLEO_IKS01A1 expansion board!\n");
antseggs 0:5a49275457c6 130 }
antseggs 0:5a49275457c6 131 }
antseggs 0:5a49275457c6 132 }
antseggs 0:5a49275457c6 133
antseggs 0:5a49275457c6 134 return _instance;
antseggs 0:5a49275457c6 135 }
antseggs 0:5a49275457c6 136
antseggs 0:5a49275457c6 137 /**
antseggs 0:5a49275457c6 138 * @brief Initialize the singleton's HT sensor
antseggs 0:5a49275457c6 139 * @retval true if initialization successful,
antseggs 0:5a49275457c6 140 * @retval false otherwise
antseggs 0:5a49275457c6 141 */
antseggs 0:5a49275457c6 142 bool X_NUCLEO_IKS01A1::Init_HTS221(void) {
antseggs 0:5a49275457c6 143 uint8_t ht_id = 0;
antseggs 0:5a49275457c6 144 HUM_TEMP_InitTypeDef InitStructure;
antseggs 0:5a49275457c6 145
antseggs 0:5a49275457c6 146 /* Check presence */
antseggs 0:5a49275457c6 147 if((ht_sensor->ReadID(&ht_id) != HUM_TEMP_OK) ||
antseggs 0:5a49275457c6 148 (ht_id != I_AM_HTS221))
antseggs 0:5a49275457c6 149 {
antseggs 0:5a49275457c6 150 delete ht_sensor;
antseggs 0:5a49275457c6 151 ht_sensor = NULL;
antseggs 0:5a49275457c6 152 return true;
antseggs 0:5a49275457c6 153 }
antseggs 0:5a49275457c6 154
antseggs 0:5a49275457c6 155 /* Configure sensor */
antseggs 0:5a49275457c6 156 InitStructure.OutputDataRate = HTS221_ODR_12_5Hz;
antseggs 0:5a49275457c6 157
antseggs 0:5a49275457c6 158 if(ht_sensor->Init(&InitStructure) != HUM_TEMP_OK)
antseggs 0:5a49275457c6 159 {
antseggs 0:5a49275457c6 160 return false;
antseggs 0:5a49275457c6 161 }
antseggs 0:5a49275457c6 162
antseggs 0:5a49275457c6 163 return true;
antseggs 0:5a49275457c6 164 }
antseggs 0:5a49275457c6 165
antseggs 0:5a49275457c6 166 /**
antseggs 0:5a49275457c6 167 * @brief Initialize the singleton's magnetometer
antseggs 0:5a49275457c6 168 * @retval true if initialization successful,
antseggs 0:5a49275457c6 169 * @retval false otherwise
antseggs 0:5a49275457c6 170 */
antseggs 0:5a49275457c6 171 bool X_NUCLEO_IKS01A1::Init_LIS3MDL(void) {
antseggs 0:5a49275457c6 172 uint8_t m_id = 0;
antseggs 0:5a49275457c6 173 MAGNETO_InitTypeDef InitStructure;
antseggs 0:5a49275457c6 174
antseggs 0:5a49275457c6 175 /* Check presence */
antseggs 0:5a49275457c6 176 if((magnetometer->ReadID(&m_id) != MAGNETO_OK) ||
antseggs 0:5a49275457c6 177 (m_id != I_AM_LIS3MDL_M))
antseggs 0:5a49275457c6 178 {
antseggs 0:5a49275457c6 179 delete magnetometer;
antseggs 0:5a49275457c6 180 magnetometer = NULL;
antseggs 0:5a49275457c6 181 return true;
antseggs 0:5a49275457c6 182 }
antseggs 0:5a49275457c6 183
antseggs 0:5a49275457c6 184 /* Configure sensor */
antseggs 0:5a49275457c6 185 InitStructure.M_FullScale = LIS3MDL_M_FS_4;
antseggs 0:5a49275457c6 186 InitStructure.M_OperatingMode = LIS3MDL_M_MD_CONTINUOUS;
antseggs 0:5a49275457c6 187 InitStructure.M_XYOperativeMode = LIS3MDL_M_OM_HP;
antseggs 0:5a49275457c6 188 InitStructure.M_OutputDataRate = LIS3MDL_M_DO_80;
antseggs 0:5a49275457c6 189
antseggs 0:5a49275457c6 190 if(magnetometer->Init(&InitStructure) != MAGNETO_OK)
antseggs 0:5a49275457c6 191 {
antseggs 0:5a49275457c6 192 return false;
antseggs 0:5a49275457c6 193 }
antseggs 0:5a49275457c6 194
antseggs 0:5a49275457c6 195 return true;
antseggs 0:5a49275457c6 196 }
antseggs 0:5a49275457c6 197
antseggs 0:5a49275457c6 198 /**
antseggs 0:5a49275457c6 199 * @brief Initialize the singleton's pressure sensor
antseggs 0:5a49275457c6 200 * @retval true if initialization successful,
antseggs 0:5a49275457c6 201 * @retval false otherwise
antseggs 0:5a49275457c6 202 */
antseggs 0:5a49275457c6 203 bool X_NUCLEO_IKS01A1::Init_LPS25H(void) {
antseggs 0:5a49275457c6 204 uint8_t p_id = 0;
antseggs 0:5a49275457c6 205 PRESSURE_InitTypeDef InitStructure;
antseggs 0:5a49275457c6 206
antseggs 0:5a49275457c6 207 /* Check presence */
antseggs 0:5a49275457c6 208 if((pt_sensor->ReadID(&p_id) != PRESSURE_OK) ||
antseggs 0:5a49275457c6 209 (p_id != I_AM_LPS25H))
antseggs 0:5a49275457c6 210 {
antseggs 0:5a49275457c6 211 delete pt_sensor;
antseggs 0:5a49275457c6 212 pt_sensor = NULL;
antseggs 0:5a49275457c6 213 return true;
antseggs 0:5a49275457c6 214 }
antseggs 0:5a49275457c6 215
antseggs 0:5a49275457c6 216 /* Configure sensor */
antseggs 0:5a49275457c6 217 InitStructure.OutputDataRate = LPS25H_ODR_1Hz;
antseggs 0:5a49275457c6 218 InitStructure.BlockDataUpdate = LPS25H_BDU_CONT;
antseggs 0:5a49275457c6 219 InitStructure.DiffEnable = LPS25H_DIFF_ENABLE;
antseggs 0:5a49275457c6 220 InitStructure.SPIMode = LPS25H_SPI_SIM_3W;
antseggs 0:5a49275457c6 221 InitStructure.PressureResolution = LPS25H_P_RES_AVG_32;
antseggs 0:5a49275457c6 222 InitStructure.TemperatureResolution = LPS25H_T_RES_AVG_16;
antseggs 0:5a49275457c6 223
antseggs 0:5a49275457c6 224 if(pt_sensor->Init(&InitStructure) != PRESSURE_OK)
antseggs 0:5a49275457c6 225 {
antseggs 0:5a49275457c6 226 return false;
antseggs 0:5a49275457c6 227 }
antseggs 0:5a49275457c6 228
antseggs 0:5a49275457c6 229 return true;
antseggs 0:5a49275457c6 230 }
antseggs 0:5a49275457c6 231
antseggs 0:5a49275457c6 232 /**
antseggs 0:5a49275457c6 233 * @brief Initialize the singleton's LSM6DS0 gyroscope
antseggs 0:5a49275457c6 234 * @retval true if initialization successful,
antseggs 0:5a49275457c6 235 * @retval false otherwise
antseggs 0:5a49275457c6 236 */
antseggs 0:5a49275457c6 237 bool X_NUCLEO_IKS01A1::Init_LSM6DS0(void) {
antseggs 0:5a49275457c6 238 IMU_6AXES_InitTypeDef InitStructure;
antseggs 0:5a49275457c6 239 uint8_t xg_id = 0;
antseggs 0:5a49275457c6 240
antseggs 0:5a49275457c6 241 /* Check presence */
antseggs 0:5a49275457c6 242 if((gyro_lsm6ds3 != NULL) || // by default do not instantiate two gyroscopes
antseggs 0:5a49275457c6 243 (gyro_lsm6ds0->ReadID(&xg_id) != IMU_6AXES_OK) ||
antseggs 0:5a49275457c6 244 (xg_id != I_AM_LSM6DS0_XG))
antseggs 0:5a49275457c6 245 {
antseggs 0:5a49275457c6 246 delete gyro_lsm6ds0;
antseggs 0:5a49275457c6 247 gyro_lsm6ds0 = NULL;
antseggs 0:5a49275457c6 248 return true;
antseggs 0:5a49275457c6 249 }
antseggs 0:5a49275457c6 250
antseggs 0:5a49275457c6 251 /* Configure sensor */
antseggs 0:5a49275457c6 252 InitStructure.G_FullScale = 2000.0f; /* 2000DPS */
antseggs 0:5a49275457c6 253 InitStructure.G_OutputDataRate = 119.0f; /* 119HZ */
antseggs 0:5a49275457c6 254 InitStructure.G_X_Axis = 1; /* Enable */
antseggs 0:5a49275457c6 255 InitStructure.G_Y_Axis = 1; /* Enable */
antseggs 0:5a49275457c6 256 InitStructure.G_Z_Axis = 1; /* Enable */
antseggs 0:5a49275457c6 257
antseggs 0:5a49275457c6 258 InitStructure.X_FullScale = 2.0f; /* 2G */
antseggs 0:5a49275457c6 259 InitStructure.X_OutputDataRate = 119.0f; /* 119HZ */
antseggs 0:5a49275457c6 260 InitStructure.X_X_Axis = 1; /* Enable */
antseggs 0:5a49275457c6 261 InitStructure.X_Y_Axis = 1; /* Enable */
antseggs 0:5a49275457c6 262 InitStructure.X_Z_Axis = 1; /* Enable */
antseggs 0:5a49275457c6 263
antseggs 0:5a49275457c6 264 if(gyro_lsm6ds0->Init(&InitStructure) != IMU_6AXES_OK)
antseggs 0:5a49275457c6 265 {
antseggs 0:5a49275457c6 266 return false;
antseggs 0:5a49275457c6 267 }
antseggs 0:5a49275457c6 268
antseggs 0:5a49275457c6 269 return true;
antseggs 0:5a49275457c6 270 }
antseggs 0:5a49275457c6 271
antseggs 0:5a49275457c6 272 /**
antseggs 0:5a49275457c6 273 * @brief Initialize the singleton's LSMDS3 gyroscope
antseggs 0:5a49275457c6 274 * @retval true if initialization successful,
antseggs 0:5a49275457c6 275 * @retval false otherwise
antseggs 0:5a49275457c6 276 */
antseggs 0:5a49275457c6 277 bool X_NUCLEO_IKS01A1::Init_LSM6DS3(void) {
antseggs 0:5a49275457c6 278 IMU_6AXES_InitTypeDef InitStructure;
antseggs 0:5a49275457c6 279 uint8_t xg_id = 0;
antseggs 0:5a49275457c6 280
antseggs 0:5a49275457c6 281 /* Check presence */
antseggs 0:5a49275457c6 282 if(gyro_lsm6ds3 == NULL) return true;
antseggs 0:5a49275457c6 283
antseggs 0:5a49275457c6 284 if((gyro_lsm6ds3->ReadID(&xg_id) != IMU_6AXES_OK) ||
antseggs 0:5a49275457c6 285 (xg_id != I_AM_LSM6DS3_XG))
antseggs 0:5a49275457c6 286 {
antseggs 0:5a49275457c6 287 delete gyro_lsm6ds3;
antseggs 0:5a49275457c6 288 gyro_lsm6ds3 = NULL;
antseggs 0:5a49275457c6 289 return true;
antseggs 0:5a49275457c6 290 }
antseggs 0:5a49275457c6 291
antseggs 0:5a49275457c6 292 /* Configure sensor */
antseggs 0:5a49275457c6 293 InitStructure.G_FullScale = 2000.0f; /* 2000DPS */
antseggs 0:5a49275457c6 294 InitStructure.G_OutputDataRate = 104.0f; /* 104HZ */
antseggs 0:5a49275457c6 295 InitStructure.G_X_Axis = 1; /* Enable */
antseggs 0:5a49275457c6 296 InitStructure.G_Y_Axis = 1; /* Enable */
antseggs 0:5a49275457c6 297 InitStructure.G_Z_Axis = 1; /* Enable */
antseggs 0:5a49275457c6 298
antseggs 0:5a49275457c6 299 InitStructure.X_FullScale = 2.0f; /* 2G */
antseggs 0:5a49275457c6 300 InitStructure.X_OutputDataRate = 104.0f; /* 104HZ */
antseggs 0:5a49275457c6 301 InitStructure.X_X_Axis = 1; /* Enable */
antseggs 0:5a49275457c6 302 InitStructure.X_Y_Axis = 1; /* Enable */
antseggs 0:5a49275457c6 303 InitStructure.X_Z_Axis = 1; /* Enable */
antseggs 0:5a49275457c6 304
antseggs 0:5a49275457c6 305 if(gyro_lsm6ds3->Init(&InitStructure) != IMU_6AXES_OK)
antseggs 0:5a49275457c6 306 {
antseggs 0:5a49275457c6 307 return false;
antseggs 0:5a49275457c6 308 }
antseggs 0:5a49275457c6 309
antseggs 0:5a49275457c6 310 return true;
antseggs 0:5a49275457c6 311 }