Diff: main.cpp

Revision:

12:2c129618b350

Parent:

10:3a7580daadda

Child:

13:f4ad8550374a

--- a/main.cpp	Tue Sep 17 09:22:38 2019 +0000
+++ b/main.cpp	Tue Sep 17 12:33:08 2019 +0000
@@ -86,8 +86,16 @@
 #define LSM6DSO_FS_XL           4       // Accelerometer full scale (2, 4, 8, 16g)
 #define LSM6DSO_XL_HM_MODE      1       // Accelerometer high-performance mode (0 enabled, 1 disabled)
 #define LSM6DSO_XL_ULP_EN       0       // Accelerometer ultra-low-power configuration (0 disabled, 1 enabled)
+#define LSM6DSO_LPF2_XL_EN      1       // Accelerometer high-resolution selection (0 for 1st stage of digital filtering, 1 for 2nd stage)
+#define LSM6DSO_HP_SLOPE_XL_EN  0       // Accelerometer high-pass filter selection (0 for low-pass, 1 for high-pass)
+#define LSM6DSO_HPCF_XL         2       // Accelerometer filter configuration and cutoff setting (0 for ODR/4, 1 for ODR/10, 2 for ODR/20, 3 for ODR/45, 4 for ODR/100, 5 for ODR/200, 6 for ODR/400, 7 for ODR/800)      
 #define LSM6DSO_ODR_G           16      // Gyroscope output data rate (12.5, 26, 52, 104, 208, 416, 833, 1.66k, 3.33k, 6.66kHz)
 #define LSM6DSO_FS_G            1000    // Gyroscope full scale (250, 500, 1000, 2000dps)
+#define LSM6DSO_G_HM_MODE       1       // Gyroscope high-performance mode (0 enabled, 1 disabled)
+#define LSM6DSO_LPF1_SEL_G      1       // Gyroscope digital LPF1 enable (0 disabled, 1 enabled)
+#define LSM6DSO_FTYPE           3       // Gyroscope LPF1 bandwidth selection (0 ultra light, 1 very light, 2 light, 3 medium, 4 strong, 5 very strong, 6 aggressive, 7 xtreme)
+#define LSM6DSO_HP_EN_G         1       // Gyroscope digital HPF enable (0 HPF disabled, 1 HPF enabled)
+#define LSM6DSO_HPM_G           2       // Gyroscope HPF cutoff selection (0 for 16mHz, 1 for 65mHz, 10 for 260 mHz, 11 for 1.04Hz)
 
 /* Functions definition */
 bool acquisition_task(bool verbose);
@@ -258,6 +266,15 @@
     printf("LSM6DSO XL_HM_MODE = %1d\r\n", read_reg_int);
     printf("LSM6DSO XL_ULP_EN = %1d\r\n", read_reg_int_1);
     
+    acc_gyro->set_x_lpf2_en(LSM6DSO_LPF2_XL_EN);
+    acc_gyro->get_x_lpf2_en(&read_reg_int);
+    printf("LSM6DSO LPF2_XL_EN = %1d\r\n", read_reg_int);
+    
+    acc_gyro->set_x_filter_config(LSM6DSO_HP_SLOPE_XL_EN, LSM6DSO_HPCF_XL);
+    acc_gyro->get_x_filter_config(&read_reg_int, &read_reg_int_1);
+    printf("LSM6DSO HP_SLOPE_XL_EN = %1d\r\n", read_reg_int);
+    printf("LSM6DSO HPCF_XL = %1d\r\n", read_reg_int_1);
+    
     acc_gyro->set_g_odr(LSM6DSO_ODR_G);
     acc_gyro->get_g_odr(&read_reg);
     printf("LSM6DSO ODR_G = %1.3f [Hz]\r\n", read_reg);
@@ -266,6 +283,20 @@
     acc_gyro->get_g_fs(&read_reg);
     printf("LSM6DSO FS_G = %1.3f [dps]\r\n", read_reg);
     
+    acc_gyro->set_g_power_mode(LSM6DSO_G_HM_MODE);
+    acc_gyro->get_g_power_mode(&read_reg_int);
+    printf("LSM6DSO G_HM_MODE = %1d\r\n", read_reg_int);
+    
+    acc_gyro->set_g_lpf_config(LSM6DSO_LPF1_SEL_G, LSM6DSO_FTYPE);
+    acc_gyro->get_g_lpf_config(&read_reg_int, &read_reg_int_1);
+    printf("LSM6DSO LPF1_SEL_G = %1d\r\n", read_reg_int);
+    printf("LSM6DSO FTYPE = %1d\r\n", read_reg_int_1);
+    
+    acc_gyro->set_g_hpf_config(LSM6DSO_HP_EN_G, LSM6DSO_HPM_G);
+    acc_gyro->get_g_hpf_config(&read_reg_int, &read_reg_int_1);
+    printf("LSM6DSO HP_EN_G = %1d\r\n", read_reg_int);
+    printf("LSM6DSO HPM_G = %1d\r\n", read_reg_int_1);
+    
     /* Print Flash memory information */
     print_flash_info();