LSM6DSO - LSM6DSO accelerometer and gyroscope sensor library

LELEC2811 - I&S » Code » LSM6DSO

LSM6DSO accelerometer and gyroscope sensor library

Dependencies: X_NUCLEO_COMMON ST_INTERFACES

LSM6DSOSensor.cpp@5:213250c75a9e, 2019-09-17 (annotated)

Committer:: martlefebvre94
Date:: Tue Sep 17 12:29:47 2019 +0000
Revision:: 5:213250c75a9e
Parent:: 4:bcf0cf6e43a7

Functions to configure the LP and HP filters

Who changed what in which revision?

User	Revision	Line number	New contents of line
cparata	0:6d69e896ce38	1	/**
cparata	0:6d69e896ce38	2	******************************************************************************
cparata	0:6d69e896ce38	3	* @file LSM6DSOSensor.cpp
cparata	0:6d69e896ce38	4	* @author SRA
cparata	0:6d69e896ce38	5	* @version V1.0.0
cparata	0:6d69e896ce38	6	* @date February 2019
cparata	0:6d69e896ce38	7	* @brief Implementation of an LSM6DSO Inertial Measurement Unit (IMU) 6 axes
cparata	0:6d69e896ce38	8	* sensor.
cparata	0:6d69e896ce38	9	******************************************************************************
cparata	0:6d69e896ce38	10	* @attention
cparata	0:6d69e896ce38	11	*
cparata	0:6d69e896ce38	12	* <h2><center>© COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
cparata	0:6d69e896ce38	13	*
cparata	0:6d69e896ce38	14	* Redistribution and use in source and binary forms, with or without modification,
cparata	0:6d69e896ce38	15	* are permitted provided that the following conditions are met:
cparata	0:6d69e896ce38	16	* 1. Redistributions of source code must retain the above copyright notice,
cparata	0:6d69e896ce38	17	* this list of conditions and the following disclaimer.
cparata	0:6d69e896ce38	18	* 2. Redistributions in binary form must reproduce the above copyright notice,
cparata	0:6d69e896ce38	19	* this list of conditions and the following disclaimer in the documentation
cparata	0:6d69e896ce38	20	* and/or other materials provided with the distribution.
cparata	0:6d69e896ce38	21	* 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata	0:6d69e896ce38	22	* may be used to endorse or promote products derived from this software
cparata	0:6d69e896ce38	23	* without specific prior written permission.
cparata	0:6d69e896ce38	24	*
cparata	0:6d69e896ce38	25	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata	0:6d69e896ce38	26	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata	0:6d69e896ce38	27	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata	0:6d69e896ce38	28	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata	0:6d69e896ce38	29	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata	0:6d69e896ce38	30	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata	0:6d69e896ce38	31	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata	0:6d69e896ce38	32	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata	0:6d69e896ce38	33	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata	0:6d69e896ce38	34	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata	0:6d69e896ce38	35	*
cparata	0:6d69e896ce38	36	******************************************************************************
cparata	0:6d69e896ce38	37	*/
cparata	0:6d69e896ce38	38
cparata	0:6d69e896ce38	39
cparata	0:6d69e896ce38	40	/* Includes ------------------------------------------------------------------*/
cparata	0:6d69e896ce38	41
cparata	0:6d69e896ce38	42	#include "LSM6DSOSensor.h"
cparata	0:6d69e896ce38	43
cparata	0:6d69e896ce38	44
cparata	0:6d69e896ce38	45	/* Class Implementation ------------------------------------------------------*/
cparata	0:6d69e896ce38	46
cparata	0:6d69e896ce38	47	/** Constructor
cparata	0:6d69e896ce38	48	* @param spi object of an helper class which handles the SPI peripheral
cparata	0:6d69e896ce38	49	* @param cs_pin the chip select pin
cparata	0:6d69e896ce38	50	* @param int1_pin the interrupt 1 pin
cparata	0:6d69e896ce38	51	* @param int2_pin the interrupt 2 pin
cparata	0:6d69e896ce38	52	* @param spi_type the SPI type
cparata	0:6d69e896ce38	53	*/
cparata	0:6d69e896ce38	54	LSM6DSOSensor::LSM6DSOSensor(SPI *spi, PinName cs_pin, PinName int1_pin, PinName int2_pin, SPI_type_t spi_type) : _dev_spi(spi), _cs_pin(cs_pin), _int1_irq(int1_pin), _int2_irq(int2_pin), _spi_type(spi_type)
cparata	0:6d69e896ce38	55	{
cparata	3:4274d9103f1d	56	assert(spi);
cparata	3:4274d9103f1d	57	if (cs_pin == NC) {
cparata	3:4274d9103f1d	58	printf("ERROR LSM6DSO CS MUST NOT BE NC\n\r");
cparata	3:4274d9103f1d	59	_dev_spi = NULL;
cparata	3:4274d9103f1d	60	_dev_i2c = NULL;
cparata	3:4274d9103f1d	61	return;
cparata	3:4274d9103f1d	62	}
cparata	3:4274d9103f1d	63
cparata	3:4274d9103f1d	64	_reg_ctx.write_reg = LSM6DSO_io_write;
cparata	3:4274d9103f1d	65	_reg_ctx.read_reg = LSM6DSO_io_read;
cparata	3:4274d9103f1d	66	_reg_ctx.handle = (void *)this;
cparata	3:4274d9103f1d	67	_cs_pin = 1;
cparata	0:6d69e896ce38	68	_dev_i2c = NULL;
cparata	3:4274d9103f1d	69	_address = 0;
cparata	3:4274d9103f1d	70
cparata	3:4274d9103f1d	71	if (_spi_type == SPI3W) {
cparata	3:4274d9103f1d	72	/* Enable SPI 3-Wires on the component */
cparata	3:4274d9103f1d	73	uint8_t data = 0x0C;
cparata	3:4274d9103f1d	74	lsm6dso_write_reg(&_reg_ctx, LSM6DSO_CTRL3_C, &data, 1);
cparata	3:4274d9103f1d	75	}
cparata	0:6d69e896ce38	76	}
cparata	0:6d69e896ce38	77
cparata	0:6d69e896ce38	78
cparata	0:6d69e896ce38	79	/** Constructor
cparata	0:6d69e896ce38	80	* @param i2c object of an helper class which handles the I2C peripheral
cparata	0:6d69e896ce38	81	* @param address the address of the component's instance
cparata	0:6d69e896ce38	82	* @param int1_pin the interrupt 1 pin
cparata	0:6d69e896ce38	83	* @param int2_pin the interrupt 2 pin
cparata	0:6d69e896ce38	84	*/
cparata	0:6d69e896ce38	85	LSM6DSOSensor::LSM6DSOSensor(DevI2C *i2c, uint8_t address, PinName int1_pin, PinName int2_pin) : _dev_i2c(i2c), _address(address), _cs_pin(NC), _int1_irq(int1_pin), _int2_irq(int2_pin)
cparata	0:6d69e896ce38	86	{
cparata	3:4274d9103f1d	87	assert(i2c);
cparata	3:4274d9103f1d	88	_dev_spi = NULL;
cparata	3:4274d9103f1d	89	_reg_ctx.write_reg = LSM6DSO_io_write;
cparata	3:4274d9103f1d	90	_reg_ctx.read_reg = LSM6DSO_io_read;
cparata	3:4274d9103f1d	91	_reg_ctx.handle = (void *)this;
cparata	0:6d69e896ce38	92	}
cparata	0:6d69e896ce38	93
cparata	0:6d69e896ce38	94	/**
cparata	0:6d69e896ce38	95	* @brief Initializing the component
cparata	0:6d69e896ce38	96	* @param init pointer to device specific initalization structure
cparata	0:6d69e896ce38	97	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	98	*/
cparata	0:6d69e896ce38	99	int LSM6DSOSensor::init(void *init)
cparata	0:6d69e896ce38	100	{
cparata	3:4274d9103f1d	101	/* Disable I3C */
cparata	3:4274d9103f1d	102	if (lsm6dso_i3c_disable_set(&_reg_ctx, LSM6DSO_I3C_DISABLE) != 0) {
cparata	3:4274d9103f1d	103	return 1;
cparata	3:4274d9103f1d	104	}
cparata	3:4274d9103f1d	105
cparata	3:4274d9103f1d	106	/* Enable register address automatically incremented during a multiple byte
cparata	3:4274d9103f1d	107	access with a serial interface. */
cparata	3:4274d9103f1d	108	if (lsm6dso_auto_increment_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
cparata	3:4274d9103f1d	109	return 1;
cparata	3:4274d9103f1d	110	}
cparata	3:4274d9103f1d	111
cparata	3:4274d9103f1d	112	/* Enable BDU */
cparata	3:4274d9103f1d	113	if (lsm6dso_block_data_update_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
cparata	3:4274d9103f1d	114	return 1;
cparata	3:4274d9103f1d	115	}
cparata	3:4274d9103f1d	116
cparata	3:4274d9103f1d	117	/* FIFO mode selection */
cparata	3:4274d9103f1d	118	if (lsm6dso_fifo_mode_set(&_reg_ctx, LSM6DSO_BYPASS_MODE) != 0) {
cparata	3:4274d9103f1d	119	return 1;
cparata	3:4274d9103f1d	120	}
cparata	3:4274d9103f1d	121
cparata	3:4274d9103f1d	122	/* Output data rate selection - power down. */
cparata	3:4274d9103f1d	123	if (lsm6dso_xl_data_rate_set(&_reg_ctx, LSM6DSO_XL_ODR_OFF) != 0) {
cparata	3:4274d9103f1d	124	return 1;
cparata	3:4274d9103f1d	125	}
cparata	3:4274d9103f1d	126
cparata	3:4274d9103f1d	127	/* Full scale selection. */
cparata	3:4274d9103f1d	128	if (lsm6dso_xl_full_scale_set(&_reg_ctx, LSM6DSO_2g) != 0) {
cparata	3:4274d9103f1d	129	return 1;
cparata	3:4274d9103f1d	130	}
cparata	3:4274d9103f1d	131
cparata	3:4274d9103f1d	132	/* Output data rate selection - power down. */
cparata	3:4274d9103f1d	133	if (lsm6dso_gy_data_rate_set(&_reg_ctx, LSM6DSO_GY_ODR_OFF) != 0) {
cparata	3:4274d9103f1d	134	return 1;
cparata	3:4274d9103f1d	135	}
cparata	3:4274d9103f1d	136
cparata	3:4274d9103f1d	137	/* Full scale selection. */
cparata	3:4274d9103f1d	138	if (lsm6dso_gy_full_scale_set(&_reg_ctx, LSM6DSO_2000dps) != 0) {
cparata	3:4274d9103f1d	139	return 1;
cparata	3:4274d9103f1d	140	}
cparata	3:4274d9103f1d	141
cparata	3:4274d9103f1d	142	/* Select default output data rate. */
cparata	3:4274d9103f1d	143	_x_last_odr = LSM6DSO_XL_ODR_104Hz;
cparata	3:4274d9103f1d	144
cparata	3:4274d9103f1d	145	/* Select default output data rate. */
cparata	3:4274d9103f1d	146	_g_last_odr = LSM6DSO_GY_ODR_104Hz;
cparata	3:4274d9103f1d	147
cparata	3:4274d9103f1d	148	_x_is_enabled = 0;
cparata	3:4274d9103f1d	149
cparata	3:4274d9103f1d	150	_g_is_enabled = 0;
cparata	3:4274d9103f1d	151
cparata	3:4274d9103f1d	152	return 0;
cparata	0:6d69e896ce38	153	}
cparata	0:6d69e896ce38	154
cparata	0:6d69e896ce38	155	/**
cparata	0:6d69e896ce38	156	* @brief Read component ID
cparata	0:6d69e896ce38	157	* @param id the WHO_AM_I value
cparata	0:6d69e896ce38	158	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	159	*/
cparata	0:6d69e896ce38	160	int LSM6DSOSensor::read_id(uint8_t *id)
cparata	0:6d69e896ce38	161	{
cparata	3:4274d9103f1d	162	if (lsm6dso_device_id_get(&_reg_ctx, id) != 0) {
cparata	3:4274d9103f1d	163	return 1;
cparata	3:4274d9103f1d	164	}
cparata	3:4274d9103f1d	165
cparata	3:4274d9103f1d	166	return 0;
cparata	0:6d69e896ce38	167	}
cparata	0:6d69e896ce38	168
cparata	0:6d69e896ce38	169	/**
cparata	0:6d69e896ce38	170	* @brief Enable the LSM6DSO accelerometer sensor
cparata	0:6d69e896ce38	171	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	172	*/
cparata	0:6d69e896ce38	173	int LSM6DSOSensor::enable_x()
cparata	0:6d69e896ce38	174	{
cparata	3:4274d9103f1d	175	/* Check if the component is already enabled */
cparata	3:4274d9103f1d	176	if (_x_is_enabled == 1U) {
cparata	3:4274d9103f1d	177	return 0;
cparata	3:4274d9103f1d	178	}
cparata	3:4274d9103f1d	179
cparata	3:4274d9103f1d	180	/* Output data rate selection. */
cparata	3:4274d9103f1d	181	if (lsm6dso_xl_data_rate_set(&_reg_ctx, _x_last_odr) != 0) {
cparata	3:4274d9103f1d	182	return 1;
cparata	3:4274d9103f1d	183	}
cparata	3:4274d9103f1d	184
cparata	3:4274d9103f1d	185	_x_is_enabled = 1;
cparata	3:4274d9103f1d	186
cparata	0:6d69e896ce38	187	return 0;
cparata	0:6d69e896ce38	188	}
cparata	0:6d69e896ce38	189
cparata	0:6d69e896ce38	190	/**
cparata	0:6d69e896ce38	191	* @brief Disable the LSM6DSO accelerometer sensor
cparata	0:6d69e896ce38	192	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	193	*/
cparata	0:6d69e896ce38	194	int LSM6DSOSensor::disable_x()
cparata	0:6d69e896ce38	195	{
cparata	3:4274d9103f1d	196	/* Check if the component is already disabled */
cparata	3:4274d9103f1d	197	if (_x_is_enabled == 0U) {
cparata	3:4274d9103f1d	198	return 0;
cparata	3:4274d9103f1d	199	}
cparata	3:4274d9103f1d	200
cparata	3:4274d9103f1d	201	/* Get current output data rate. */
cparata	3:4274d9103f1d	202	if (lsm6dso_xl_data_rate_get(&_reg_ctx, &_x_last_odr) != 0) {
cparata	3:4274d9103f1d	203	return 1;
cparata	3:4274d9103f1d	204	}
cparata	3:4274d9103f1d	205
cparata	3:4274d9103f1d	206	/* Output data rate selection - power down. */
cparata	3:4274d9103f1d	207	if (lsm6dso_xl_data_rate_set(&_reg_ctx, LSM6DSO_XL_ODR_OFF) != 0) {
cparata	3:4274d9103f1d	208	return 1;
cparata	3:4274d9103f1d	209	}
cparata	3:4274d9103f1d	210
cparata	3:4274d9103f1d	211	_x_is_enabled = 0;
cparata	3:4274d9103f1d	212
cparata	0:6d69e896ce38	213	return 0;
cparata	0:6d69e896ce38	214	}
cparata	0:6d69e896ce38	215
cparata	0:6d69e896ce38	216	/**
cparata	0:6d69e896ce38	217	* @brief Get the LSM6DSO accelerometer sensor sensitivity
cparata	0:6d69e896ce38	218	* @param sensitivity pointer where the sensitivity is written
cparata	0:6d69e896ce38	219	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	220	*/
cparata	0:6d69e896ce38	221	int LSM6DSOSensor::get_x_sensitivity(float *sensitivity)
cparata	0:6d69e896ce38	222	{
cparata	3:4274d9103f1d	223	int ret = 0;
cparata	3:4274d9103f1d	224	lsm6dso_fs_xl_t full_scale;
cparata	3:4274d9103f1d	225
cparata	3:4274d9103f1d	226	/* Read actual full scale selection from sensor. */
cparata	3:4274d9103f1d	227	if (lsm6dso_xl_full_scale_get(&_reg_ctx, &full_scale) != 0) {
cparata	3:4274d9103f1d	228	return 1;
cparata	3:4274d9103f1d	229	}
cparata	3:4274d9103f1d	230
cparata	3:4274d9103f1d	231	/* Store the sensitivity based on actual full scale. */
cparata	3:4274d9103f1d	232	switch (full_scale) {
cparata	3:4274d9103f1d	233	case LSM6DSO_2g:
cparata	3:4274d9103f1d	234	*sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_2G;
cparata	3:4274d9103f1d	235	break;
cparata	3:4274d9103f1d	236
cparata	3:4274d9103f1d	237	case LSM6DSO_4g:
cparata	3:4274d9103f1d	238	*sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_4G;
cparata	3:4274d9103f1d	239	break;
cparata	3:4274d9103f1d	240
cparata	3:4274d9103f1d	241	case LSM6DSO_8g:
cparata	3:4274d9103f1d	242	*sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_8G;
cparata	3:4274d9103f1d	243	break;
cparata	3:4274d9103f1d	244
cparata	3:4274d9103f1d	245	case LSM6DSO_16g:
cparata	3:4274d9103f1d	246	*sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_16G;
cparata	3:4274d9103f1d	247	break;
cparata	3:4274d9103f1d	248
cparata	3:4274d9103f1d	249	default:
cparata	3:4274d9103f1d	250	ret = 1;
cparata	3:4274d9103f1d	251	break;
cparata	3:4274d9103f1d	252	}
cparata	3:4274d9103f1d	253
cparata	3:4274d9103f1d	254	return ret;
cparata	0:6d69e896ce38	255	}
cparata	0:6d69e896ce38	256
cparata	0:6d69e896ce38	257	/**
cparata	0:6d69e896ce38	258	* @brief Get the LSM6DSO accelerometer sensor output data rate
cparata	0:6d69e896ce38	259	* @param odr pointer where the output data rate is written
cparata	0:6d69e896ce38	260	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	261	*/
cparata	0:6d69e896ce38	262	int LSM6DSOSensor::get_x_odr(float *odr)
cparata	0:6d69e896ce38	263	{
cparata	3:4274d9103f1d	264	int ret = 0;
cparata	3:4274d9103f1d	265	lsm6dso_odr_xl_t odr_low_level;
cparata	3:4274d9103f1d	266
cparata	3:4274d9103f1d	267	/* Get current output data rate. */
cparata	3:4274d9103f1d	268	if (lsm6dso_xl_data_rate_get(&_reg_ctx, &odr_low_level) != 0) {
cparata	3:4274d9103f1d	269	return 1;
cparata	3:4274d9103f1d	270	}
cparata	3:4274d9103f1d	271
cparata	3:4274d9103f1d	272	switch (odr_low_level) {
cparata	3:4274d9103f1d	273	case LSM6DSO_XL_ODR_OFF:
cparata	3:4274d9103f1d	274	*odr = 0.0f;
cparata	3:4274d9103f1d	275	break;
cparata	3:4274d9103f1d	276
cparata	3:4274d9103f1d	277	case LSM6DSO_XL_ODR_6Hz5:
cparata	3:4274d9103f1d	278	*odr = 6.5f;
cparata	3:4274d9103f1d	279	break;
cparata	3:4274d9103f1d	280
cparata	3:4274d9103f1d	281	case LSM6DSO_XL_ODR_12Hz5:
cparata	3:4274d9103f1d	282	*odr = 12.5f;
cparata	3:4274d9103f1d	283	break;
cparata	3:4274d9103f1d	284
cparata	3:4274d9103f1d	285	case LSM6DSO_XL_ODR_26Hz:
cparata	3:4274d9103f1d	286	*odr = 26.0f;
cparata	3:4274d9103f1d	287	break;
cparata	3:4274d9103f1d	288
cparata	3:4274d9103f1d	289	case LSM6DSO_XL_ODR_52Hz:
cparata	3:4274d9103f1d	290	*odr = 52.0f;
cparata	3:4274d9103f1d	291	break;
cparata	3:4274d9103f1d	292
cparata	3:4274d9103f1d	293	case LSM6DSO_XL_ODR_104Hz:
cparata	3:4274d9103f1d	294	*odr = 104.0f;
cparata	3:4274d9103f1d	295	break;
cparata	3:4274d9103f1d	296
cparata	3:4274d9103f1d	297	case LSM6DSO_XL_ODR_208Hz:
cparata	3:4274d9103f1d	298	*odr = 208.0f;
cparata	3:4274d9103f1d	299	break;
cparata	3:4274d9103f1d	300
cparata	3:4274d9103f1d	301	case LSM6DSO_XL_ODR_417Hz:
cparata	3:4274d9103f1d	302	*odr = 417.0f;
cparata	3:4274d9103f1d	303	break;
cparata	3:4274d9103f1d	304
cparata	3:4274d9103f1d	305	case LSM6DSO_XL_ODR_833Hz:
cparata	3:4274d9103f1d	306	*odr = 833.0f;
cparata	3:4274d9103f1d	307	break;
cparata	3:4274d9103f1d	308
cparata	3:4274d9103f1d	309	case LSM6DSO_XL_ODR_1667Hz:
cparata	3:4274d9103f1d	310	*odr = 1667.0f;
cparata	3:4274d9103f1d	311	break;
cparata	3:4274d9103f1d	312
cparata	3:4274d9103f1d	313	case LSM6DSO_XL_ODR_3333Hz:
cparata	3:4274d9103f1d	314	*odr = 3333.0f;
cparata	3:4274d9103f1d	315	break;
cparata	3:4274d9103f1d	316
cparata	3:4274d9103f1d	317	case LSM6DSO_XL_ODR_6667Hz:
cparata	3:4274d9103f1d	318	*odr = 6667.0f;
cparata	3:4274d9103f1d	319	break;
cparata	3:4274d9103f1d	320
cparata	3:4274d9103f1d	321	default:
cparata	3:4274d9103f1d	322	ret = 1;
cparata	3:4274d9103f1d	323	break;
cparata	3:4274d9103f1d	324	}
cparata	3:4274d9103f1d	325
cparata	3:4274d9103f1d	326	return ret;
cparata	0:6d69e896ce38	327	}
cparata	0:6d69e896ce38	328
cparata	0:6d69e896ce38	329	/**
cparata	0:6d69e896ce38	330	* @brief Set the LSM6DSO accelerometer sensor output data rate
cparata	0:6d69e896ce38	331	* @param odr the output data rate value to be set
cparata	0:6d69e896ce38	332	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	333	*/
cparata	0:6d69e896ce38	334	int LSM6DSOSensor::set_x_odr(float odr)
cparata	0:6d69e896ce38	335	{
cparata	3:4274d9103f1d	336	/* Check if the component is enabled */
cparata	3:4274d9103f1d	337	if (_x_is_enabled == 1U) {
cparata	3:4274d9103f1d	338	return set_x_odr_when_enabled(odr);
cparata	3:4274d9103f1d	339	} else {
cparata	3:4274d9103f1d	340	return set_x_odr_when_disabled(odr);
cparata	3:4274d9103f1d	341	}
cparata	0:6d69e896ce38	342	}
cparata	0:6d69e896ce38	343
cparata	0:6d69e896ce38	344	/**
cparata	0:6d69e896ce38	345	* @brief Set the LSM6DSO accelerometer sensor output data rate when enabled
cparata	0:6d69e896ce38	346	* @param odr the functional output data rate to be set
cparata	0:6d69e896ce38	347	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	348	*/
cparata	0:6d69e896ce38	349	int LSM6DSOSensor::set_x_odr_when_enabled(float odr)
cparata	0:6d69e896ce38	350	{
cparata	3:4274d9103f1d	351	lsm6dso_odr_xl_t new_odr;
cparata	3:4274d9103f1d	352
cparata	3:4274d9103f1d	353	new_odr = (odr <= 12.5f) ? LSM6DSO_XL_ODR_12Hz5
cparata	3:4274d9103f1d	354	: (odr <= 26.0f) ? LSM6DSO_XL_ODR_26Hz
cparata	3:4274d9103f1d	355	: (odr <= 52.0f) ? LSM6DSO_XL_ODR_52Hz
cparata	3:4274d9103f1d	356	: (odr <= 104.0f) ? LSM6DSO_XL_ODR_104Hz
cparata	3:4274d9103f1d	357	: (odr <= 208.0f) ? LSM6DSO_XL_ODR_208Hz
cparata	3:4274d9103f1d	358	: (odr <= 417.0f) ? LSM6DSO_XL_ODR_417Hz
cparata	3:4274d9103f1d	359	: (odr <= 833.0f) ? LSM6DSO_XL_ODR_833Hz
cparata	3:4274d9103f1d	360	: (odr <= 1667.0f) ? LSM6DSO_XL_ODR_1667Hz
cparata	3:4274d9103f1d	361	: (odr <= 3333.0f) ? LSM6DSO_XL_ODR_3333Hz
cparata	3:4274d9103f1d	362	: LSM6DSO_XL_ODR_6667Hz;
cparata	3:4274d9103f1d	363
cparata	3:4274d9103f1d	364	/* Output data rate selection. */
cparata	3:4274d9103f1d	365	if (lsm6dso_xl_data_rate_set(&_reg_ctx, new_odr) != 0) {
cparata	3:4274d9103f1d	366	return 1;
cparata	3:4274d9103f1d	367	}
cparata	3:4274d9103f1d	368
cparata	3:4274d9103f1d	369	return 0;
cparata	0:6d69e896ce38	370	}
cparata	0:6d69e896ce38	371
cparata	0:6d69e896ce38	372	/**
cparata	0:6d69e896ce38	373	* @brief Set the LSM6DSO accelerometer sensor output data rate when disabled
cparata	0:6d69e896ce38	374	* @param odr the functional output data rate to be set
cparata	0:6d69e896ce38	375	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	376	*/
cparata	0:6d69e896ce38	377	int LSM6DSOSensor::set_x_odr_when_disabled(float odr)
cparata	0:6d69e896ce38	378	{
cparata	3:4274d9103f1d	379	_x_last_odr = (odr <= 12.5f) ? LSM6DSO_XL_ODR_12Hz5
cparata	3:4274d9103f1d	380	: (odr <= 26.0f) ? LSM6DSO_XL_ODR_26Hz
cparata	3:4274d9103f1d	381	: (odr <= 52.0f) ? LSM6DSO_XL_ODR_52Hz
cparata	3:4274d9103f1d	382	: (odr <= 104.0f) ? LSM6DSO_XL_ODR_104Hz
cparata	3:4274d9103f1d	383	: (odr <= 208.0f) ? LSM6DSO_XL_ODR_208Hz
cparata	3:4274d9103f1d	384	: (odr <= 417.0f) ? LSM6DSO_XL_ODR_417Hz
cparata	3:4274d9103f1d	385	: (odr <= 833.0f) ? LSM6DSO_XL_ODR_833Hz
cparata	3:4274d9103f1d	386	: (odr <= 1667.0f) ? LSM6DSO_XL_ODR_1667Hz
cparata	3:4274d9103f1d	387	: (odr <= 3333.0f) ? LSM6DSO_XL_ODR_3333Hz
cparata	3:4274d9103f1d	388	: LSM6DSO_XL_ODR_6667Hz;
cparata	3:4274d9103f1d	389
cparata	3:4274d9103f1d	390	return 0;
cparata	0:6d69e896ce38	391	}
cparata	0:6d69e896ce38	392
cparata	0:6d69e896ce38	393	/**
cparata	0:6d69e896ce38	394	* @brief Get the LSM6DSO accelerometer sensor full scale
cparata	0:6d69e896ce38	395	* @param full_scale pointer where the full scale is written
cparata	0:6d69e896ce38	396	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	397	*/
cparata	0:6d69e896ce38	398	int LSM6DSOSensor::get_x_fs(float *full_scale)
cparata	0:6d69e896ce38	399	{
cparata	3:4274d9103f1d	400	int ret = 0;
cparata	3:4274d9103f1d	401	lsm6dso_fs_xl_t fs_low_level;
cparata	3:4274d9103f1d	402
cparata	3:4274d9103f1d	403	/* Read actual full scale selection from sensor. */
cparata	3:4274d9103f1d	404	if (lsm6dso_xl_full_scale_get(&_reg_ctx, &fs_low_level) != 0) {
cparata	3:4274d9103f1d	405	return 1;
cparata	3:4274d9103f1d	406	}
cparata	3:4274d9103f1d	407
cparata	3:4274d9103f1d	408	switch (fs_low_level) {
cparata	3:4274d9103f1d	409	case LSM6DSO_2g:
cparata	3:4274d9103f1d	410	*full_scale = 2.0f;
cparata	3:4274d9103f1d	411	break;
cparata	3:4274d9103f1d	412
cparata	3:4274d9103f1d	413	case LSM6DSO_4g:
cparata	3:4274d9103f1d	414	*full_scale = 4.0f;
cparata	3:4274d9103f1d	415	break;
cparata	3:4274d9103f1d	416
cparata	3:4274d9103f1d	417	case LSM6DSO_8g:
cparata	3:4274d9103f1d	418	*full_scale = 8.0f;
cparata	3:4274d9103f1d	419	break;
cparata	3:4274d9103f1d	420
cparata	3:4274d9103f1d	421	case LSM6DSO_16g:
cparata	3:4274d9103f1d	422	*full_scale = 16.0f;
cparata	3:4274d9103f1d	423	break;
cparata	3:4274d9103f1d	424
cparata	3:4274d9103f1d	425	default:
cparata	3:4274d9103f1d	426	ret = 1;
cparata	3:4274d9103f1d	427	break;
cparata	3:4274d9103f1d	428	}
cparata	3:4274d9103f1d	429
cparata	3:4274d9103f1d	430	return ret;
cparata	0:6d69e896ce38	431	}
cparata	0:6d69e896ce38	432
cparata	0:6d69e896ce38	433	/**
cparata	0:6d69e896ce38	434	* @brief Set the LSM6DSO accelerometer sensor full scale
cparata	0:6d69e896ce38	435	* @param full_scale the functional full scale to be set
cparata	0:6d69e896ce38	436	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	437	*/
cparata	0:6d69e896ce38	438	int LSM6DSOSensor::set_x_fs(float full_scale)
cparata	0:6d69e896ce38	439	{
cparata	3:4274d9103f1d	440	lsm6dso_fs_xl_t new_fs;
cparata	3:4274d9103f1d	441
cparata	3:4274d9103f1d	442	/* Seems like MISRA C-2012 rule 14.3a violation but only from single file statical analysis point of view because
cparata	3:4274d9103f1d	443	the parameter passed to the function is not known at the moment of analysis */
cparata	3:4274d9103f1d	444	new_fs = (full_scale <= 2.0f) ? LSM6DSO_2g
cparata	3:4274d9103f1d	445	: (full_scale <= 4.0f) ? LSM6DSO_4g
cparata	3:4274d9103f1d	446	: (full_scale <= 8.0f) ? LSM6DSO_8g
cparata	3:4274d9103f1d	447	: LSM6DSO_16g;
cparata	3:4274d9103f1d	448
cparata	3:4274d9103f1d	449	if (lsm6dso_xl_full_scale_set(&_reg_ctx, new_fs) != 0) {
cparata	3:4274d9103f1d	450	return 1;
cparata	3:4274d9103f1d	451	}
cparata	3:4274d9103f1d	452
cparata	3:4274d9103f1d	453	return 0;
cparata	0:6d69e896ce38	454	}
cparata	0:6d69e896ce38	455
cparata	0:6d69e896ce38	456	/**
martlefebvre94	4:bcf0cf6e43a7	457	* @brief Get the LSM6DSO accelerometer sensor power mode
martlefebvre94	4:bcf0cf6e43a7	458	* @param xl_hm_mode the pointer where the high-performance mode is written, xl_ulp_en the pointer where the ultra-low-power enable is written
martlefebvre94	4:bcf0cf6e43a7	459	* @retval 0 in case of success, an error code otherwise
martlefebvre94	4:bcf0cf6e43a7	460	*/
martlefebvre94	4:bcf0cf6e43a7	461	int LSM6DSOSensor::get_x_power_mode(uint8_t xl_hm_mode, uint8_t xl_ulp_en)
martlefebvre94	4:bcf0cf6e43a7	462	{
martlefebvre94	4:bcf0cf6e43a7	463	int ret = 0;
martlefebvre94	4:bcf0cf6e43a7	464	lsm6dso_xl_hm_mode_t power_mode_low_level;
martlefebvre94	4:bcf0cf6e43a7	465
martlefebvre94	4:bcf0cf6e43a7	466	/* Read actual power mode from sensor. */
martlefebvre94	4:bcf0cf6e43a7	467	if (lsm6dso_xl_power_mode_get(&_reg_ctx, &power_mode_low_level) != 0) {
martlefebvre94	4:bcf0cf6e43a7	468	return 1;
martlefebvre94	4:bcf0cf6e43a7	469	}
martlefebvre94	4:bcf0cf6e43a7	470
martlefebvre94	4:bcf0cf6e43a7	471	switch (power_mode_low_level) {
martlefebvre94	4:bcf0cf6e43a7	472	case LSM6DSO_HIGH_PERFORMANCE_MD:
martlefebvre94	4:bcf0cf6e43a7	473	*xl_hm_mode = 0;
martlefebvre94	4:bcf0cf6e43a7	474	*xl_ulp_en = 0;
martlefebvre94	4:bcf0cf6e43a7	475	break;
martlefebvre94	4:bcf0cf6e43a7	476
martlefebvre94	4:bcf0cf6e43a7	477	case LSM6DSO_LOW_NORMAL_POWER_MD:
martlefebvre94	4:bcf0cf6e43a7	478	*xl_hm_mode = 1;
martlefebvre94	4:bcf0cf6e43a7	479	*xl_ulp_en = 0;
martlefebvre94	4:bcf0cf6e43a7	480	break;
martlefebvre94	4:bcf0cf6e43a7	481
martlefebvre94	4:bcf0cf6e43a7	482	case LSM6DSO_ULTRA_LOW_POWER_MD:
martlefebvre94	4:bcf0cf6e43a7	483	*xl_hm_mode = 0;
martlefebvre94	4:bcf0cf6e43a7	484	*xl_ulp_en = 1;
martlefebvre94	4:bcf0cf6e43a7	485	break;
martlefebvre94	4:bcf0cf6e43a7	486
martlefebvre94	4:bcf0cf6e43a7	487	default:
martlefebvre94	4:bcf0cf6e43a7	488	ret = 1;
martlefebvre94	4:bcf0cf6e43a7	489	break;
martlefebvre94	4:bcf0cf6e43a7	490	}
martlefebvre94	4:bcf0cf6e43a7	491
martlefebvre94	4:bcf0cf6e43a7	492	return ret;
martlefebvre94	4:bcf0cf6e43a7	493	}
martlefebvre94	4:bcf0cf6e43a7	494
martlefebvre94	4:bcf0cf6e43a7	495	/**
martlefebvre94	4:bcf0cf6e43a7	496	* @brief Set the LSM6DSO accelerometer sensor power mode
martlefebvre94	4:bcf0cf6e43a7	497	* @param xl_hm_mode the high-performance mode to be set, xl_ulp_en the ultra-low-power enable to be set
martlefebvre94	4:bcf0cf6e43a7	498	* @retval 0 in case of success, an error code otherwise
martlefebvre94	4:bcf0cf6e43a7	499	*/
martlefebvre94	4:bcf0cf6e43a7	500	int LSM6DSOSensor::set_x_power_mode(uint8_t xl_hm_mode, uint8_t xl_ulp_en)
martlefebvre94	4:bcf0cf6e43a7	501	{
martlefebvre94	4:bcf0cf6e43a7	502	uint8_t power_mode = xl_hm_mode + (xl_ulp_en << 1);
martlefebvre94	4:bcf0cf6e43a7	503	lsm6dso_xl_hm_mode_t new_power_mode;
martlefebvre94	4:bcf0cf6e43a7	504
martlefebvre94	4:bcf0cf6e43a7	505	new_power_mode = (power_mode == 0) ? LSM6DSO_HIGH_PERFORMANCE_MD
martlefebvre94	4:bcf0cf6e43a7	506	: (power_mode == 1) ? LSM6DSO_LOW_NORMAL_POWER_MD
martlefebvre94	4:bcf0cf6e43a7	507	: LSM6DSO_ULTRA_LOW_POWER_MD;
martlefebvre94	4:bcf0cf6e43a7	508
martlefebvre94	4:bcf0cf6e43a7	509	if (lsm6dso_xl_power_mode_set(&_reg_ctx, new_power_mode) != 0) {
martlefebvre94	4:bcf0cf6e43a7	510	return 1;
martlefebvre94	4:bcf0cf6e43a7	511	}
martlefebvre94	4:bcf0cf6e43a7	512
martlefebvre94	4:bcf0cf6e43a7	513	return 0;
martlefebvre94	4:bcf0cf6e43a7	514	}
martlefebvre94	4:bcf0cf6e43a7	515
martlefebvre94	4:bcf0cf6e43a7	516	/**
martlefebvre94	5:213250c75a9e	517	* @brief Get the LSM6DSO accelerometer sensor high-resolution selection
martlefebvre94	5:213250c75a9e	518	* @param lpf2_en the pointer where the high-resolution selection is written
martlefebvre94	5:213250c75a9e	519	* @retval 0 in case of success, an error code otherwise
martlefebvre94	5:213250c75a9e	520	*/
martlefebvre94	5:213250c75a9e	521	int LSM6DSOSensor::get_x_lpf2_en(uint8_t *lpf2_en)
martlefebvre94	5:213250c75a9e	522	{
martlefebvre94	5:213250c75a9e	523
martlefebvre94	5:213250c75a9e	524	/* Read actual high-resolution selection from sensor. */
martlefebvre94	5:213250c75a9e	525	if (lsm6dso_xl_filter_lp2_get(&_reg_ctx, lpf2_en) != 0) {
martlefebvre94	5:213250c75a9e	526	return 1;
martlefebvre94	5:213250c75a9e	527	}
martlefebvre94	5:213250c75a9e	528
martlefebvre94	5:213250c75a9e	529	return 0;
martlefebvre94	5:213250c75a9e	530	}
martlefebvre94	5:213250c75a9e	531
martlefebvre94	5:213250c75a9e	532	/**
martlefebvre94	5:213250c75a9e	533	* @brief Set the LSM6DSO accelerometer sensor high-resolution selection
martlefebvre94	5:213250c75a9e	534	* @param lpf2_en the high-resolution selection to be set
martlefebvre94	5:213250c75a9e	535	* @retval 0 in case of success, an error code otherwise
martlefebvre94	5:213250c75a9e	536	*/
martlefebvre94	5:213250c75a9e	537	int LSM6DSOSensor::set_x_lpf2_en(uint8_t lpf2_en)
martlefebvre94	5:213250c75a9e	538	{
martlefebvre94	5:213250c75a9e	539	if (lsm6dso_xl_filter_lp2_set(&_reg_ctx, lpf2_en) != 0) {
martlefebvre94	5:213250c75a9e	540	return 1;
martlefebvre94	5:213250c75a9e	541	}
martlefebvre94	5:213250c75a9e	542
martlefebvre94	5:213250c75a9e	543	return 0;
martlefebvre94	5:213250c75a9e	544	}
martlefebvre94	5:213250c75a9e	545
martlefebvre94	5:213250c75a9e	546	/**
martlefebvre94	5:213250c75a9e	547	* @brief Get the LSM6DSO accelerometer sensor filter configuration
martlefebvre94	5:213250c75a9e	548	* @param hp_slope_xl_en the pointer where the filter selection is written, hpcf_xl the pointer where the filter configuration is written
martlefebvre94	5:213250c75a9e	549	* @retval 0 in case of success, an error code otherwise
martlefebvre94	5:213250c75a9e	550	*/
martlefebvre94	5:213250c75a9e	551	int LSM6DSOSensor::get_x_filter_config(uint8_t hp_slope_xl_en, uint8_t hpcf_xl)
martlefebvre94	5:213250c75a9e	552	{
martlefebvre94	5:213250c75a9e	553	int ret = 0;
martlefebvre94	5:213250c75a9e	554	lsm6dso_hp_slope_xl_en_t filter_low_level;
martlefebvre94	5:213250c75a9e	555
martlefebvre94	5:213250c75a9e	556	/* Read actual filter configuration from sensor. */
martlefebvre94	5:213250c75a9e	557	if (lsm6dso_xl_hp_path_on_out_get(&_reg_ctx, &filter_low_level) != 0) {
martlefebvre94	5:213250c75a9e	558	return 1;
martlefebvre94	5:213250c75a9e	559	}
martlefebvre94	5:213250c75a9e	560
martlefebvre94	5:213250c75a9e	561	switch (filter_low_level) {
martlefebvre94	5:213250c75a9e	562	case LSM6DSO_HP_PATH_DISABLE_ON_OUT:
martlefebvre94	5:213250c75a9e	563	*hp_slope_xl_en = 0;
martlefebvre94	5:213250c75a9e	564	*hpcf_xl = 0;
martlefebvre94	5:213250c75a9e	565	break;
martlefebvre94	5:213250c75a9e	566
martlefebvre94	5:213250c75a9e	567	case LSM6DSO_LP_ODR_DIV_10:
martlefebvre94	5:213250c75a9e	568	*hp_slope_xl_en = 0;
martlefebvre94	5:213250c75a9e	569	*hpcf_xl = 1;
martlefebvre94	5:213250c75a9e	570	break;
martlefebvre94	5:213250c75a9e	571
martlefebvre94	5:213250c75a9e	572	case LSM6DSO_LP_ODR_DIV_20:
martlefebvre94	5:213250c75a9e	573	*hp_slope_xl_en = 0;
martlefebvre94	5:213250c75a9e	574	*hpcf_xl = 2;
martlefebvre94	5:213250c75a9e	575	break;
martlefebvre94	5:213250c75a9e	576
martlefebvre94	5:213250c75a9e	577	case LSM6DSO_LP_ODR_DIV_45:
martlefebvre94	5:213250c75a9e	578	*hp_slope_xl_en = 0;
martlefebvre94	5:213250c75a9e	579	*hpcf_xl = 3;
martlefebvre94	5:213250c75a9e	580	break;
martlefebvre94	5:213250c75a9e	581
martlefebvre94	5:213250c75a9e	582	case LSM6DSO_LP_ODR_DIV_100:
martlefebvre94	5:213250c75a9e	583	*hp_slope_xl_en = 0;
martlefebvre94	5:213250c75a9e	584	*hpcf_xl = 4;
martlefebvre94	5:213250c75a9e	585	break;
martlefebvre94	5:213250c75a9e	586
martlefebvre94	5:213250c75a9e	587	case LSM6DSO_LP_ODR_DIV_200:
martlefebvre94	5:213250c75a9e	588	*hp_slope_xl_en = 0;
martlefebvre94	5:213250c75a9e	589	*hpcf_xl = 5;
martlefebvre94	5:213250c75a9e	590	break;
martlefebvre94	5:213250c75a9e	591
martlefebvre94	5:213250c75a9e	592	case LSM6DSO_LP_ODR_DIV_400:
martlefebvre94	5:213250c75a9e	593	*hp_slope_xl_en = 0;
martlefebvre94	5:213250c75a9e	594	*hpcf_xl = 6;
martlefebvre94	5:213250c75a9e	595	break;
martlefebvre94	5:213250c75a9e	596
martlefebvre94	5:213250c75a9e	597	case LSM6DSO_LP_ODR_DIV_800:
martlefebvre94	5:213250c75a9e	598	*hp_slope_xl_en = 0;
martlefebvre94	5:213250c75a9e	599	*hpcf_xl = 7;
martlefebvre94	5:213250c75a9e	600	break;
martlefebvre94	5:213250c75a9e	601
martlefebvre94	5:213250c75a9e	602	case LSM6DSO_SLOPE_ODR_DIV_4:
martlefebvre94	5:213250c75a9e	603	*hp_slope_xl_en = 1;
martlefebvre94	5:213250c75a9e	604	*hpcf_xl = 0;
martlefebvre94	5:213250c75a9e	605	break;
martlefebvre94	5:213250c75a9e	606
martlefebvre94	5:213250c75a9e	607	case LSM6DSO_HP_ODR_DIV_10:
martlefebvre94	5:213250c75a9e	608	*hp_slope_xl_en = 1;
martlefebvre94	5:213250c75a9e	609	*hpcf_xl = 1;
martlefebvre94	5:213250c75a9e	610	break;
martlefebvre94	5:213250c75a9e	611
martlefebvre94	5:213250c75a9e	612	case LSM6DSO_HP_ODR_DIV_20:
martlefebvre94	5:213250c75a9e	613	*hp_slope_xl_en = 1;
martlefebvre94	5:213250c75a9e	614	*hpcf_xl = 2;
martlefebvre94	5:213250c75a9e	615	break;
martlefebvre94	5:213250c75a9e	616
martlefebvre94	5:213250c75a9e	617	case LSM6DSO_HP_ODR_DIV_45:
martlefebvre94	5:213250c75a9e	618	*hp_slope_xl_en = 1;
martlefebvre94	5:213250c75a9e	619	*hpcf_xl = 3;
martlefebvre94	5:213250c75a9e	620	break;
martlefebvre94	5:213250c75a9e	621
martlefebvre94	5:213250c75a9e	622	case LSM6DSO_HP_ODR_DIV_100:
martlefebvre94	5:213250c75a9e	623	*hp_slope_xl_en = 1;
martlefebvre94	5:213250c75a9e	624	*hpcf_xl = 4;
martlefebvre94	5:213250c75a9e	625	break;
martlefebvre94	5:213250c75a9e	626
martlefebvre94	5:213250c75a9e	627	case LSM6DSO_HP_ODR_DIV_200:
martlefebvre94	5:213250c75a9e	628	*hp_slope_xl_en = 1;
martlefebvre94	5:213250c75a9e	629	*hpcf_xl = 5;
martlefebvre94	5:213250c75a9e	630	break;
martlefebvre94	5:213250c75a9e	631
martlefebvre94	5:213250c75a9e	632	case LSM6DSO_HP_ODR_DIV_400:
martlefebvre94	5:213250c75a9e	633	*hp_slope_xl_en = 1;
martlefebvre94	5:213250c75a9e	634	*hpcf_xl = 6;
martlefebvre94	5:213250c75a9e	635	break;
martlefebvre94	5:213250c75a9e	636
martlefebvre94	5:213250c75a9e	637	case LSM6DSO_HP_ODR_DIV_800:
martlefebvre94	5:213250c75a9e	638	*hp_slope_xl_en = 1;
martlefebvre94	5:213250c75a9e	639	*hpcf_xl = 7;
martlefebvre94	5:213250c75a9e	640	break;
martlefebvre94	5:213250c75a9e	641
martlefebvre94	5:213250c75a9e	642	default:
martlefebvre94	5:213250c75a9e	643	ret = 1;
martlefebvre94	5:213250c75a9e	644	break;
martlefebvre94	5:213250c75a9e	645	}
martlefebvre94	5:213250c75a9e	646
martlefebvre94	5:213250c75a9e	647	return ret;
martlefebvre94	5:213250c75a9e	648	}
martlefebvre94	5:213250c75a9e	649
martlefebvre94	5:213250c75a9e	650	/**
martlefebvre94	5:213250c75a9e	651	* @brief Set the LSM6DSO accelerometer sensor filter configuration
martlefebvre94	5:213250c75a9e	652	* @param hp_slope_xl_en the filter selection to be set, hpcf_xl the filter configuration to be set
martlefebvre94	5:213250c75a9e	653	* @retval 0 in case of success, an error code otherwise
martlefebvre94	5:213250c75a9e	654	*/
martlefebvre94	5:213250c75a9e	655	int LSM6DSOSensor::set_x_filter_config(uint8_t hp_slope_xl_en, uint8_t hpcf_xl)
martlefebvre94	5:213250c75a9e	656	{
martlefebvre94	5:213250c75a9e	657	uint8_t filter = hpcf_xl + (hp_slope_xl_en << 4);
martlefebvre94	5:213250c75a9e	658	lsm6dso_hp_slope_xl_en_t new_filter;
martlefebvre94	5:213250c75a9e	659
martlefebvre94	5:213250c75a9e	660	new_filter = (filter == 0x00) ? LSM6DSO_HP_PATH_DISABLE_ON_OUT
martlefebvre94	5:213250c75a9e	661	: (filter == 0x01) ? LSM6DSO_LP_ODR_DIV_10
martlefebvre94	5:213250c75a9e	662	: (filter == 0x02) ? LSM6DSO_LP_ODR_DIV_20
martlefebvre94	5:213250c75a9e	663	: (filter == 0x03) ? LSM6DSO_LP_ODR_DIV_45
martlefebvre94	5:213250c75a9e	664	: (filter == 0x04) ? LSM6DSO_LP_ODR_DIV_100
martlefebvre94	5:213250c75a9e	665	: (filter == 0x05) ? LSM6DSO_LP_ODR_DIV_200
martlefebvre94	5:213250c75a9e	666	: (filter == 0x06) ? LSM6DSO_LP_ODR_DIV_400
martlefebvre94	5:213250c75a9e	667	: (filter == 0x07) ? LSM6DSO_LP_ODR_DIV_800
martlefebvre94	5:213250c75a9e	668	: (filter == 0x10) ? LSM6DSO_SLOPE_ODR_DIV_4
martlefebvre94	5:213250c75a9e	669	: (filter == 0x11) ? LSM6DSO_HP_ODR_DIV_10
martlefebvre94	5:213250c75a9e	670	: (filter == 0x12) ? LSM6DSO_HP_ODR_DIV_20
martlefebvre94	5:213250c75a9e	671	: (filter == 0x13) ? LSM6DSO_HP_ODR_DIV_45
martlefebvre94	5:213250c75a9e	672	: (filter == 0x14) ? LSM6DSO_HP_ODR_DIV_100
martlefebvre94	5:213250c75a9e	673	: (filter == 0x15) ? LSM6DSO_HP_ODR_DIV_200
martlefebvre94	5:213250c75a9e	674	: (filter == 0x16) ? LSM6DSO_HP_ODR_DIV_400
martlefebvre94	5:213250c75a9e	675	: (filter == 0x17) ? LSM6DSO_HP_ODR_DIV_800
martlefebvre94	5:213250c75a9e	676	: LSM6DSO_HP_PATH_DISABLE_ON_OUT;
martlefebvre94	5:213250c75a9e	677
martlefebvre94	5:213250c75a9e	678	if (lsm6dso_xl_hp_path_on_out_set(&_reg_ctx, new_filter) != 0) {
martlefebvre94	5:213250c75a9e	679	return 1;
martlefebvre94	5:213250c75a9e	680	}
martlefebvre94	5:213250c75a9e	681
martlefebvre94	5:213250c75a9e	682	return 0;
martlefebvre94	5:213250c75a9e	683	}
martlefebvre94	5:213250c75a9e	684
martlefebvre94	5:213250c75a9e	685	/**
martlefebvre94	5:213250c75a9e	686	* @brief Get the LSM6DSO gyroscope sensor power mode
martlefebvre94	5:213250c75a9e	687	* @param g_hm_mode the pointer where the high-performance mode is written
martlefebvre94	5:213250c75a9e	688	* @retval 0 in case of success, an error code otherwise
martlefebvre94	5:213250c75a9e	689	*/
martlefebvre94	5:213250c75a9e	690	int LSM6DSOSensor::get_g_power_mode(uint8_t *g_hm_mode)
martlefebvre94	5:213250c75a9e	691	{
martlefebvre94	5:213250c75a9e	692	int ret = 0;
martlefebvre94	5:213250c75a9e	693	lsm6dso_g_hm_mode_t power_mode_low_level;
martlefebvre94	5:213250c75a9e	694
martlefebvre94	5:213250c75a9e	695	/* Read actual power mode from sensor. */
martlefebvre94	5:213250c75a9e	696	if (lsm6dso_gy_power_mode_get(&_reg_ctx, &power_mode_low_level) != 0) {
martlefebvre94	5:213250c75a9e	697	return 1;
martlefebvre94	5:213250c75a9e	698	}
martlefebvre94	5:213250c75a9e	699
martlefebvre94	5:213250c75a9e	700	switch (power_mode_low_level) {
martlefebvre94	5:213250c75a9e	701	case LSM6DSO_GY_HIGH_PERFORMANCE:
martlefebvre94	5:213250c75a9e	702	*g_hm_mode = 0;
martlefebvre94	5:213250c75a9e	703	break;
martlefebvre94	5:213250c75a9e	704
martlefebvre94	5:213250c75a9e	705	case LSM6DSO_GY_NORMAL:
martlefebvre94	5:213250c75a9e	706	*g_hm_mode = 1;
martlefebvre94	5:213250c75a9e	707	break;
martlefebvre94	5:213250c75a9e	708
martlefebvre94	5:213250c75a9e	709	default:
martlefebvre94	5:213250c75a9e	710	ret = 1;
martlefebvre94	5:213250c75a9e	711	break;
martlefebvre94	5:213250c75a9e	712	}
martlefebvre94	5:213250c75a9e	713
martlefebvre94	5:213250c75a9e	714	return ret;
martlefebvre94	5:213250c75a9e	715	}
martlefebvre94	5:213250c75a9e	716
martlefebvre94	5:213250c75a9e	717	/**
martlefebvre94	5:213250c75a9e	718	* @brief Set the LSM6DSO gyroscope sensor power mode
martlefebvre94	5:213250c75a9e	719	* @param g_hm_mode the high-performance mode to be set
martlefebvre94	5:213250c75a9e	720	* @retval 0 in case of success, an error code otherwise
martlefebvre94	5:213250c75a9e	721	*/
martlefebvre94	5:213250c75a9e	722	int LSM6DSOSensor::set_g_power_mode(uint8_t g_hm_mode)
martlefebvre94	5:213250c75a9e	723	{
martlefebvre94	5:213250c75a9e	724	lsm6dso_g_hm_mode_t new_power_mode;
martlefebvre94	5:213250c75a9e	725
martlefebvre94	5:213250c75a9e	726	new_power_mode = (g_hm_mode == 0) ? LSM6DSO_GY_HIGH_PERFORMANCE
martlefebvre94	5:213250c75a9e	727	: LSM6DSO_GY_NORMAL;
martlefebvre94	5:213250c75a9e	728
martlefebvre94	5:213250c75a9e	729	if (lsm6dso_gy_power_mode_set(&_reg_ctx, new_power_mode) != 0) {
martlefebvre94	5:213250c75a9e	730	return 1;
martlefebvre94	5:213250c75a9e	731	}
martlefebvre94	5:213250c75a9e	732
martlefebvre94	5:213250c75a9e	733	return 0;
martlefebvre94	5:213250c75a9e	734	}
martlefebvre94	5:213250c75a9e	735
martlefebvre94	5:213250c75a9e	736	/**
martlefebvre94	5:213250c75a9e	737	* @brief Get the LSM6DSO gyroscope sensor low-pass filter configuration
martlefebvre94	5:213250c75a9e	738	* @param lpf1_sel_g the pointer where the lpf enable is written, ftype the pointer where the filter configuration is written
martlefebvre94	5:213250c75a9e	739	* @retval 0 in case of success, an error code otherwise
martlefebvre94	5:213250c75a9e	740	*/
martlefebvre94	5:213250c75a9e	741	int LSM6DSOSensor::get_g_lpf_config(uint8_t lpf1_sel_g, uint8_t ftype)
martlefebvre94	5:213250c75a9e	742	{
martlefebvre94	5:213250c75a9e	743	int ret = 0;
martlefebvre94	5:213250c75a9e	744	lsm6dso_ftype_t ftype_low_level;
martlefebvre94	5:213250c75a9e	745
martlefebvre94	5:213250c75a9e	746	/* Read actual lpf enable from sensor. */
martlefebvre94	5:213250c75a9e	747	if (lsm6dso_gy_filter_lp1_get(&_reg_ctx, lpf1_sel_g) != 0) {
martlefebvre94	5:213250c75a9e	748	return 1;
martlefebvre94	5:213250c75a9e	749	}
martlefebvre94	5:213250c75a9e	750
martlefebvre94	5:213250c75a9e	751	/* Read actual filter configuration from sensor. */
martlefebvre94	5:213250c75a9e	752	if (lsm6dso_gy_lp1_bandwidth_get(&_reg_ctx, &ftype_low_level) != 0) {
martlefebvre94	5:213250c75a9e	753	return 1;
martlefebvre94	5:213250c75a9e	754	}
martlefebvre94	5:213250c75a9e	755
martlefebvre94	5:213250c75a9e	756	switch (ftype_low_level) {
martlefebvre94	5:213250c75a9e	757	case LSM6DSO_ULTRA_LIGHT:
martlefebvre94	5:213250c75a9e	758	*ftype = 0;
martlefebvre94	5:213250c75a9e	759	break;
martlefebvre94	5:213250c75a9e	760
martlefebvre94	5:213250c75a9e	761	case LSM6DSO_VERY_LIGHT:
martlefebvre94	5:213250c75a9e	762	*ftype = 1;
martlefebvre94	5:213250c75a9e	763	break;
martlefebvre94	5:213250c75a9e	764
martlefebvre94	5:213250c75a9e	765	case LSM6DSO_LIGHT:
martlefebvre94	5:213250c75a9e	766	*ftype = 2;
martlefebvre94	5:213250c75a9e	767	break;
martlefebvre94	5:213250c75a9e	768
martlefebvre94	5:213250c75a9e	769	case LSM6DSO_MEDIUM:
martlefebvre94	5:213250c75a9e	770	*ftype = 3;
martlefebvre94	5:213250c75a9e	771	break;
martlefebvre94	5:213250c75a9e	772
martlefebvre94	5:213250c75a9e	773	case LSM6DSO_STRONG:
martlefebvre94	5:213250c75a9e	774	*ftype = 4;
martlefebvre94	5:213250c75a9e	775	break;
martlefebvre94	5:213250c75a9e	776
martlefebvre94	5:213250c75a9e	777	case LSM6DSO_VERY_STRONG:
martlefebvre94	5:213250c75a9e	778	*ftype = 5;
martlefebvre94	5:213250c75a9e	779	break;
martlefebvre94	5:213250c75a9e	780
martlefebvre94	5:213250c75a9e	781	case LSM6DSO_AGGRESSIVE:
martlefebvre94	5:213250c75a9e	782	*ftype = 6;
martlefebvre94	5:213250c75a9e	783	break;
martlefebvre94	5:213250c75a9e	784
martlefebvre94	5:213250c75a9e	785	case LSM6DSO_XTREME:
martlefebvre94	5:213250c75a9e	786	*ftype = 7;
martlefebvre94	5:213250c75a9e	787	break;
martlefebvre94	5:213250c75a9e	788
martlefebvre94	5:213250c75a9e	789	default:
martlefebvre94	5:213250c75a9e	790	ret = 1;
martlefebvre94	5:213250c75a9e	791	break;
martlefebvre94	5:213250c75a9e	792	}
martlefebvre94	5:213250c75a9e	793
martlefebvre94	5:213250c75a9e	794	return ret;
martlefebvre94	5:213250c75a9e	795	}
martlefebvre94	5:213250c75a9e	796
martlefebvre94	5:213250c75a9e	797	/**
martlefebvre94	5:213250c75a9e	798	* @brief Set the LSM6DSO gyroscope sensor low-pass filter configuration
martlefebvre94	5:213250c75a9e	799	* @param lpf1_sel_g the lpf enable to be set, ftype the filter configuration to be set
martlefebvre94	5:213250c75a9e	800	* @retval 0 in case of success, an error code otherwise
martlefebvre94	5:213250c75a9e	801	*/
martlefebvre94	5:213250c75a9e	802	int LSM6DSOSensor::set_g_lpf_config(uint8_t lpf1_sel_g, uint8_t ftype)
martlefebvre94	5:213250c75a9e	803	{
martlefebvre94	5:213250c75a9e	804	lsm6dso_ftype_t new_ftype;
martlefebvre94	5:213250c75a9e	805
martlefebvre94	5:213250c75a9e	806	new_ftype = (ftype == 0) ? LSM6DSO_ULTRA_LIGHT
martlefebvre94	5:213250c75a9e	807	: (ftype == 1) ? LSM6DSO_VERY_LIGHT
martlefebvre94	5:213250c75a9e	808	: (ftype == 2) ? LSM6DSO_LIGHT
martlefebvre94	5:213250c75a9e	809	: (ftype == 3) ? LSM6DSO_MEDIUM
martlefebvre94	5:213250c75a9e	810	: (ftype == 4) ? LSM6DSO_STRONG
martlefebvre94	5:213250c75a9e	811	: (ftype == 5) ? LSM6DSO_VERY_STRONG
martlefebvre94	5:213250c75a9e	812	: (ftype == 6) ? LSM6DSO_AGGRESSIVE
martlefebvre94	5:213250c75a9e	813	: LSM6DSO_XTREME;
martlefebvre94	5:213250c75a9e	814
martlefebvre94	5:213250c75a9e	815	if (lsm6dso_gy_filter_lp1_set(&_reg_ctx, lpf1_sel_g) != 0) {
martlefebvre94	5:213250c75a9e	816	return 1;
martlefebvre94	5:213250c75a9e	817	}
martlefebvre94	5:213250c75a9e	818
martlefebvre94	5:213250c75a9e	819	if (lsm6dso_gy_lp1_bandwidth_set(&_reg_ctx, new_ftype) != 0) {
martlefebvre94	5:213250c75a9e	820	return 1;
martlefebvre94	5:213250c75a9e	821	}
martlefebvre94	5:213250c75a9e	822
martlefebvre94	5:213250c75a9e	823	return 0;
martlefebvre94	5:213250c75a9e	824	}
martlefebvre94	5:213250c75a9e	825
martlefebvre94	5:213250c75a9e	826	/**
martlefebvre94	5:213250c75a9e	827	* @brief Get the LSM6DSO gyroscope sensor high-pass filter configuration
martlefebvre94	5:213250c75a9e	828	* @param hp_en_g the pointer where the hpf enable is written, hpm_g the pointer where the cutoff selection is written
martlefebvre94	5:213250c75a9e	829	* @retval 0 in case of success, an error code otherwise
martlefebvre94	5:213250c75a9e	830	*/
martlefebvre94	5:213250c75a9e	831	int LSM6DSOSensor::get_g_hpf_config(uint8_t hp_en_g, uint8_t hpm_g)
martlefebvre94	5:213250c75a9e	832	{
martlefebvre94	5:213250c75a9e	833	int ret = 0;
martlefebvre94	5:213250c75a9e	834	lsm6dso_hpm_g_t hpm_g_low_level;
martlefebvre94	5:213250c75a9e	835
martlefebvre94	5:213250c75a9e	836	/* Read actual filter configuration from sensor. */
martlefebvre94	5:213250c75a9e	837	if (lsm6dso_gy_hp_path_internal_get(&_reg_ctx, &hpm_g_low_level) != 0) {
martlefebvre94	5:213250c75a9e	838	return 1;
martlefebvre94	5:213250c75a9e	839	}
martlefebvre94	5:213250c75a9e	840
martlefebvre94	5:213250c75a9e	841	switch (hpm_g_low_level) {
martlefebvre94	5:213250c75a9e	842	case LSM6DSO_HP_FILTER_NONE:
martlefebvre94	5:213250c75a9e	843	*hp_en_g = 0;
martlefebvre94	5:213250c75a9e	844	*hpm_g = 0;
martlefebvre94	5:213250c75a9e	845	break;
martlefebvre94	5:213250c75a9e	846
martlefebvre94	5:213250c75a9e	847	case LSM6DSO_HP_FILTER_16mHz:
martlefebvre94	5:213250c75a9e	848	*hp_en_g = 1;
martlefebvre94	5:213250c75a9e	849	*hpm_g = 0;
martlefebvre94	5:213250c75a9e	850	break;
martlefebvre94	5:213250c75a9e	851
martlefebvre94	5:213250c75a9e	852	case LSM6DSO_HP_FILTER_65mHz:
martlefebvre94	5:213250c75a9e	853	*hp_en_g = 1;
martlefebvre94	5:213250c75a9e	854	*hpm_g = 1;
martlefebvre94	5:213250c75a9e	855	break;
martlefebvre94	5:213250c75a9e	856
martlefebvre94	5:213250c75a9e	857	case LSM6DSO_HP_FILTER_260mHz:
martlefebvre94	5:213250c75a9e	858	*hp_en_g = 1;
martlefebvre94	5:213250c75a9e	859	*hpm_g = 2;
martlefebvre94	5:213250c75a9e	860	break;
martlefebvre94	5:213250c75a9e	861
martlefebvre94	5:213250c75a9e	862	case LSM6DSO_HP_FILTER_1Hz04:
martlefebvre94	5:213250c75a9e	863	*hp_en_g = 1;
martlefebvre94	5:213250c75a9e	864	*hpm_g = 3;
martlefebvre94	5:213250c75a9e	865	break;
martlefebvre94	5:213250c75a9e	866
martlefebvre94	5:213250c75a9e	867	default:
martlefebvre94	5:213250c75a9e	868	ret = 1;
martlefebvre94	5:213250c75a9e	869	break;
martlefebvre94	5:213250c75a9e	870	}
martlefebvre94	5:213250c75a9e	871
martlefebvre94	5:213250c75a9e	872	return ret;
martlefebvre94	5:213250c75a9e	873	}
martlefebvre94	5:213250c75a9e	874
martlefebvre94	5:213250c75a9e	875	/**
martlefebvre94	5:213250c75a9e	876	* @brief Set the LSM6DSO gyroscope sensor high-pass filter configuration
martlefebvre94	5:213250c75a9e	877	* @param hp_en_g the hpf enable to be set, hpm_g the cutoff selection to be set
martlefebvre94	5:213250c75a9e	878	* @retval 0 in case of success, an error code otherwise
martlefebvre94	5:213250c75a9e	879	*/
martlefebvre94	5:213250c75a9e	880	int LSM6DSOSensor::set_g_hpf_config(uint8_t hp_en_g, uint8_t hpm_g)
martlefebvre94	5:213250c75a9e	881	{
martlefebvre94	5:213250c75a9e	882	uint8_t hpf_config = hpm_g + (hp_en_g << 7);
martlefebvre94	5:213250c75a9e	883	lsm6dso_hpm_g_t new_hpm_g;
martlefebvre94	5:213250c75a9e	884
martlefebvre94	5:213250c75a9e	885	new_hpm_g = (hpf_config == 0x00) ? LSM6DSO_HP_FILTER_NONE
martlefebvre94	5:213250c75a9e	886	: (hpf_config == 0x80) ? LSM6DSO_HP_FILTER_16mHz
martlefebvre94	5:213250c75a9e	887	: (hpf_config == 0x81) ? LSM6DSO_HP_FILTER_65mHz
martlefebvre94	5:213250c75a9e	888	: (hpf_config == 0x82) ? LSM6DSO_HP_FILTER_260mHz
martlefebvre94	5:213250c75a9e	889	: (hpf_config == 0x83) ? LSM6DSO_HP_FILTER_1Hz04
martlefebvre94	5:213250c75a9e	890	: LSM6DSO_HP_FILTER_NONE;
martlefebvre94	5:213250c75a9e	891
martlefebvre94	5:213250c75a9e	892	if (lsm6dso_gy_hp_path_internal_set(&_reg_ctx, new_hpm_g) != 0) {
martlefebvre94	5:213250c75a9e	893	return 1;
martlefebvre94	5:213250c75a9e	894	}
martlefebvre94	5:213250c75a9e	895
martlefebvre94	5:213250c75a9e	896	return 0;
martlefebvre94	5:213250c75a9e	897	}
martlefebvre94	5:213250c75a9e	898
martlefebvre94	5:213250c75a9e	899	/**
cparata	0:6d69e896ce38	900	* @brief Get the LSM6DSO accelerometer sensor raw axes
cparata	0:6d69e896ce38	901	* @param value pointer where the raw values of the axes are written
cparata	0:6d69e896ce38	902	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	903	*/
cparata	0:6d69e896ce38	904	int LSM6DSOSensor::get_x_axes_raw(int16_t *value)
cparata	0:6d69e896ce38	905	{
cparata	3:4274d9103f1d	906	axis3bit16_t data_raw;
cparata	3:4274d9103f1d	907
cparata	3:4274d9103f1d	908	/* Read raw data values. */
cparata	3:4274d9103f1d	909	if (lsm6dso_acceleration_raw_get(&_reg_ctx, data_raw.u8bit) != 0) {
cparata	3:4274d9103f1d	910	return 1;
cparata	3:4274d9103f1d	911	}
cparata	3:4274d9103f1d	912
cparata	3:4274d9103f1d	913	/* Format the data. */
cparata	3:4274d9103f1d	914	value[0] = data_raw.i16bit[0];
cparata	3:4274d9103f1d	915	value[1] = data_raw.i16bit[1];
cparata	3:4274d9103f1d	916	value[2] = data_raw.i16bit[2];
cparata	3:4274d9103f1d	917
cparata	3:4274d9103f1d	918	return 0;
cparata	0:6d69e896ce38	919	}
cparata	0:6d69e896ce38	920
cparata	0:6d69e896ce38	921
cparata	0:6d69e896ce38	922	/**
cparata	0:6d69e896ce38	923	* @brief Get the LSM6DSO accelerometer sensor axes
cparata	0:6d69e896ce38	924	* @param acceleration pointer where the values of the axes are written
cparata	0:6d69e896ce38	925	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	926	*/
cparata	0:6d69e896ce38	927	int LSM6DSOSensor::get_x_axes(int32_t *acceleration)
cparata	0:6d69e896ce38	928	{
cparata	3:4274d9103f1d	929	axis3bit16_t data_raw;
cparata	3:4274d9103f1d	930	float sensitivity = 0.0f;
cparata	3:4274d9103f1d	931
cparata	3:4274d9103f1d	932	/* Read raw data values. */
cparata	3:4274d9103f1d	933	if (lsm6dso_acceleration_raw_get(&_reg_ctx, data_raw.u8bit) != 0) {
cparata	3:4274d9103f1d	934	return 1;
cparata	3:4274d9103f1d	935	}
cparata	3:4274d9103f1d	936
cparata	3:4274d9103f1d	937	/* Get LSM6DSO actual sensitivity. */
cparata	3:4274d9103f1d	938	if (get_x_sensitivity(&sensitivity) != 0) {
cparata	3:4274d9103f1d	939	return 1;
cparata	3:4274d9103f1d	940	}
cparata	3:4274d9103f1d	941
cparata	3:4274d9103f1d	942	/* Calculate the data. */
cparata	3:4274d9103f1d	943	acceleration[0] = (int32_t)((float)((float)data_raw.i16bit[0] * sensitivity));
cparata	3:4274d9103f1d	944	acceleration[1] = (int32_t)((float)((float)data_raw.i16bit[1] * sensitivity));
cparata	3:4274d9103f1d	945	acceleration[2] = (int32_t)((float)((float)data_raw.i16bit[2] * sensitivity));
cparata	3:4274d9103f1d	946
cparata	3:4274d9103f1d	947	return 0;
cparata	0:6d69e896ce38	948	}
cparata	0:6d69e896ce38	949
cparata	0:6d69e896ce38	950
cparata	0:6d69e896ce38	951	/**
cparata	0:6d69e896ce38	952	* @brief Enable the LSM6DSO gyroscope sensor
cparata	0:6d69e896ce38	953	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	954	*/
cparata	0:6d69e896ce38	955	int LSM6DSOSensor::enable_g()
cparata	0:6d69e896ce38	956	{
cparata	3:4274d9103f1d	957	/* Check if the component is already enabled */
cparata	3:4274d9103f1d	958	if (_g_is_enabled == 1U) {
cparata	3:4274d9103f1d	959	return 0;
cparata	3:4274d9103f1d	960	}
cparata	3:4274d9103f1d	961
cparata	3:4274d9103f1d	962	/* Output data rate selection. */
cparata	3:4274d9103f1d	963	if (lsm6dso_gy_data_rate_set(&_reg_ctx, _g_last_odr) != 0) {
cparata	3:4274d9103f1d	964	return 1;
cparata	3:4274d9103f1d	965	}
cparata	3:4274d9103f1d	966
cparata	3:4274d9103f1d	967	_g_is_enabled = 1;
cparata	3:4274d9103f1d	968
cparata	0:6d69e896ce38	969	return 0;
cparata	0:6d69e896ce38	970	}
cparata	0:6d69e896ce38	971
cparata	0:6d69e896ce38	972
cparata	0:6d69e896ce38	973	/**
cparata	0:6d69e896ce38	974	* @brief Disable the LSM6DSO gyroscope sensor
cparata	0:6d69e896ce38	975	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	976	*/
cparata	0:6d69e896ce38	977	int LSM6DSOSensor::disable_g()
cparata	0:6d69e896ce38	978	{
cparata	3:4274d9103f1d	979	/* Check if the component is already disabled */
cparata	3:4274d9103f1d	980	if (_g_is_enabled == 0U) {
cparata	3:4274d9103f1d	981	return 0;
cparata	3:4274d9103f1d	982	}
cparata	3:4274d9103f1d	983
cparata	3:4274d9103f1d	984	/* Get current output data rate. */
cparata	3:4274d9103f1d	985	if (lsm6dso_gy_data_rate_get(&_reg_ctx, &_g_last_odr) != 0) {
cparata	3:4274d9103f1d	986	return 1;
cparata	3:4274d9103f1d	987	}
cparata	3:4274d9103f1d	988
cparata	3:4274d9103f1d	989	/* Output data rate selection - power down. */
cparata	3:4274d9103f1d	990	if (lsm6dso_gy_data_rate_set(&_reg_ctx, LSM6DSO_GY_ODR_OFF) != 0) {
cparata	3:4274d9103f1d	991	return 1;
cparata	3:4274d9103f1d	992	}
cparata	3:4274d9103f1d	993
cparata	3:4274d9103f1d	994	_g_is_enabled = 0;
cparata	3:4274d9103f1d	995
cparata	0:6d69e896ce38	996	return 0;
cparata	0:6d69e896ce38	997	}
cparata	0:6d69e896ce38	998
cparata	0:6d69e896ce38	999	/**
cparata	0:6d69e896ce38	1000	* @brief Get the LSM6DSO gyroscope sensor sensitivity
cparata	0:6d69e896ce38	1001	* @param sensitivity pointer where the sensitivity is written
cparata	0:6d69e896ce38	1002	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1003	*/
cparata	0:6d69e896ce38	1004	int LSM6DSOSensor::get_g_sensitivity(float *sensitivity)
cparata	0:6d69e896ce38	1005	{
cparata	3:4274d9103f1d	1006	int ret = 0;
cparata	3:4274d9103f1d	1007	lsm6dso_fs_g_t full_scale;
cparata	3:4274d9103f1d	1008
cparata	3:4274d9103f1d	1009	/* Read actual full scale selection from sensor. */
cparata	3:4274d9103f1d	1010	if (lsm6dso_gy_full_scale_get(&_reg_ctx, &full_scale) != 0) {
cparata	3:4274d9103f1d	1011	return 1;
cparata	3:4274d9103f1d	1012	}
cparata	3:4274d9103f1d	1013
cparata	3:4274d9103f1d	1014	/* Store the sensitivity based on actual full scale. */
cparata	3:4274d9103f1d	1015	switch (full_scale) {
cparata	3:4274d9103f1d	1016	case LSM6DSO_125dps:
cparata	3:4274d9103f1d	1017	*sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_125DPS;
cparata	3:4274d9103f1d	1018	break;
cparata	3:4274d9103f1d	1019
cparata	3:4274d9103f1d	1020	case LSM6DSO_250dps:
cparata	3:4274d9103f1d	1021	*sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_250DPS;
cparata	3:4274d9103f1d	1022	break;
cparata	3:4274d9103f1d	1023
cparata	3:4274d9103f1d	1024	case LSM6DSO_500dps:
cparata	3:4274d9103f1d	1025	*sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_500DPS;
cparata	3:4274d9103f1d	1026	break;
cparata	3:4274d9103f1d	1027
cparata	3:4274d9103f1d	1028	case LSM6DSO_1000dps:
cparata	3:4274d9103f1d	1029	*sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_1000DPS;
cparata	3:4274d9103f1d	1030	break;
cparata	3:4274d9103f1d	1031
cparata	3:4274d9103f1d	1032	case LSM6DSO_2000dps:
cparata	3:4274d9103f1d	1033	*sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_2000DPS;
cparata	3:4274d9103f1d	1034	break;
cparata	3:4274d9103f1d	1035
cparata	3:4274d9103f1d	1036	default:
cparata	3:4274d9103f1d	1037	ret = 1;
cparata	3:4274d9103f1d	1038	break;
cparata	3:4274d9103f1d	1039	}
cparata	3:4274d9103f1d	1040
cparata	3:4274d9103f1d	1041	return ret;
cparata	0:6d69e896ce38	1042	}
cparata	0:6d69e896ce38	1043
cparata	0:6d69e896ce38	1044	/**
cparata	0:6d69e896ce38	1045	* @brief Get the LSM6DSO gyroscope sensor output data rate
cparata	0:6d69e896ce38	1046	* @param odr pointer where the output data rate is written
cparata	0:6d69e896ce38	1047	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1048	*/
cparata	0:6d69e896ce38	1049	int LSM6DSOSensor::get_g_odr(float *odr)
cparata	0:6d69e896ce38	1050	{
cparata	3:4274d9103f1d	1051	int ret = 0;
cparata	3:4274d9103f1d	1052	lsm6dso_odr_g_t odr_low_level;
cparata	3:4274d9103f1d	1053
cparata	3:4274d9103f1d	1054	/* Get current output data rate. */
cparata	3:4274d9103f1d	1055	if (lsm6dso_gy_data_rate_get(&_reg_ctx, &odr_low_level) != 0) {
cparata	3:4274d9103f1d	1056	return 1;
cparata	3:4274d9103f1d	1057	}
cparata	3:4274d9103f1d	1058
cparata	3:4274d9103f1d	1059	switch (odr_low_level) {
cparata	3:4274d9103f1d	1060	case LSM6DSO_GY_ODR_OFF:
cparata	3:4274d9103f1d	1061	*odr = 0.0f;
cparata	3:4274d9103f1d	1062	break;
cparata	3:4274d9103f1d	1063
cparata	3:4274d9103f1d	1064	case LSM6DSO_GY_ODR_12Hz5:
cparata	3:4274d9103f1d	1065	*odr = 12.5f;
cparata	3:4274d9103f1d	1066	break;
cparata	3:4274d9103f1d	1067
cparata	3:4274d9103f1d	1068	case LSM6DSO_GY_ODR_26Hz:
cparata	3:4274d9103f1d	1069	*odr = 26.0f;
cparata	3:4274d9103f1d	1070	break;
cparata	3:4274d9103f1d	1071
cparata	3:4274d9103f1d	1072	case LSM6DSO_GY_ODR_52Hz:
cparata	3:4274d9103f1d	1073	*odr = 52.0f;
cparata	3:4274d9103f1d	1074	break;
cparata	3:4274d9103f1d	1075
cparata	3:4274d9103f1d	1076	case LSM6DSO_GY_ODR_104Hz:
cparata	3:4274d9103f1d	1077	*odr = 104.0f;
cparata	3:4274d9103f1d	1078	break;
cparata	3:4274d9103f1d	1079
cparata	3:4274d9103f1d	1080	case LSM6DSO_GY_ODR_208Hz:
cparata	3:4274d9103f1d	1081	*odr = 208.0f;
cparata	3:4274d9103f1d	1082	break;
cparata	3:4274d9103f1d	1083
cparata	3:4274d9103f1d	1084	case LSM6DSO_GY_ODR_417Hz:
cparata	3:4274d9103f1d	1085	*odr = 417.0f;
cparata	3:4274d9103f1d	1086	break;
cparata	3:4274d9103f1d	1087
cparata	3:4274d9103f1d	1088	case LSM6DSO_GY_ODR_833Hz:
cparata	3:4274d9103f1d	1089	*odr = 833.0f;
cparata	3:4274d9103f1d	1090	break;
cparata	3:4274d9103f1d	1091
cparata	3:4274d9103f1d	1092	case LSM6DSO_GY_ODR_1667Hz:
cparata	3:4274d9103f1d	1093	*odr = 1667.0f;
cparata	3:4274d9103f1d	1094	break;
cparata	3:4274d9103f1d	1095
cparata	3:4274d9103f1d	1096	case LSM6DSO_GY_ODR_3333Hz:
cparata	3:4274d9103f1d	1097	*odr = 3333.0f;
cparata	3:4274d9103f1d	1098	break;
cparata	3:4274d9103f1d	1099
cparata	3:4274d9103f1d	1100	case LSM6DSO_GY_ODR_6667Hz:
cparata	3:4274d9103f1d	1101	*odr = 6667.0f;
cparata	3:4274d9103f1d	1102	break;
cparata	3:4274d9103f1d	1103
cparata	3:4274d9103f1d	1104	default:
cparata	3:4274d9103f1d	1105	ret = 1;
cparata	3:4274d9103f1d	1106	break;
cparata	3:4274d9103f1d	1107	}
cparata	3:4274d9103f1d	1108
cparata	3:4274d9103f1d	1109	return ret;
cparata	0:6d69e896ce38	1110	}
cparata	0:6d69e896ce38	1111
cparata	0:6d69e896ce38	1112	/**
cparata	0:6d69e896ce38	1113	* @brief Set the LSM6DSO gyroscope sensor output data rate
cparata	0:6d69e896ce38	1114	* @param odr the output data rate value to be set
cparata	0:6d69e896ce38	1115	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1116	*/
cparata	0:6d69e896ce38	1117	int LSM6DSOSensor::set_g_odr(float odr)
cparata	0:6d69e896ce38	1118	{
cparata	3:4274d9103f1d	1119	/* Check if the component is enabled */
cparata	3:4274d9103f1d	1120	if (_g_is_enabled == 1U) {
cparata	3:4274d9103f1d	1121	return set_g_odr_when_enabled(odr);
cparata	3:4274d9103f1d	1122	} else {
cparata	3:4274d9103f1d	1123	return set_g_odr_when_disabled(odr);
cparata	3:4274d9103f1d	1124	}
cparata	0:6d69e896ce38	1125	}
cparata	0:6d69e896ce38	1126
cparata	0:6d69e896ce38	1127	/**
cparata	0:6d69e896ce38	1128	* @brief Set the LSM6DSO gyroscope sensor output data rate when enabled
cparata	0:6d69e896ce38	1129	* @param odr the functional output data rate to be set
cparata	0:6d69e896ce38	1130	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1131	*/
cparata	0:6d69e896ce38	1132	int LSM6DSOSensor::set_g_odr_when_enabled(float odr)
cparata	0:6d69e896ce38	1133	{
cparata	3:4274d9103f1d	1134	lsm6dso_odr_g_t new_odr;
cparata	3:4274d9103f1d	1135
cparata	3:4274d9103f1d	1136	new_odr = (odr <= 12.5f) ? LSM6DSO_GY_ODR_12Hz5
cparata	3:4274d9103f1d	1137	: (odr <= 26.0f) ? LSM6DSO_GY_ODR_26Hz
cparata	3:4274d9103f1d	1138	: (odr <= 52.0f) ? LSM6DSO_GY_ODR_52Hz
cparata	3:4274d9103f1d	1139	: (odr <= 104.0f) ? LSM6DSO_GY_ODR_104Hz
cparata	3:4274d9103f1d	1140	: (odr <= 208.0f) ? LSM6DSO_GY_ODR_208Hz
cparata	3:4274d9103f1d	1141	: (odr <= 417.0f) ? LSM6DSO_GY_ODR_417Hz
cparata	3:4274d9103f1d	1142	: (odr <= 833.0f) ? LSM6DSO_GY_ODR_833Hz
cparata	3:4274d9103f1d	1143	: (odr <= 1667.0f) ? LSM6DSO_GY_ODR_1667Hz
cparata	3:4274d9103f1d	1144	: (odr <= 3333.0f) ? LSM6DSO_GY_ODR_3333Hz
cparata	3:4274d9103f1d	1145	: LSM6DSO_GY_ODR_6667Hz;
cparata	3:4274d9103f1d	1146
cparata	3:4274d9103f1d	1147	/* Output data rate selection. */
cparata	3:4274d9103f1d	1148	if (lsm6dso_gy_data_rate_set(&_reg_ctx, new_odr) != 0) {
cparata	3:4274d9103f1d	1149	return 1;
cparata	3:4274d9103f1d	1150	}
cparata	3:4274d9103f1d	1151
cparata	3:4274d9103f1d	1152	return 0;
cparata	0:6d69e896ce38	1153	}
cparata	0:6d69e896ce38	1154
cparata	0:6d69e896ce38	1155	/**
cparata	0:6d69e896ce38	1156	* @brief Set the LSM6DSO gyroscope sensor output data rate when disabled
cparata	0:6d69e896ce38	1157	* @param odr the functional output data rate to be set
cparata	0:6d69e896ce38	1158	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1159	*/
cparata	0:6d69e896ce38	1160	int LSM6DSOSensor::set_g_odr_when_disabled(float odr)
cparata	0:6d69e896ce38	1161	{
cparata	3:4274d9103f1d	1162	_g_last_odr = (odr <= 12.5f) ? LSM6DSO_GY_ODR_12Hz5
cparata	3:4274d9103f1d	1163	: (odr <= 26.0f) ? LSM6DSO_GY_ODR_26Hz
cparata	3:4274d9103f1d	1164	: (odr <= 52.0f) ? LSM6DSO_GY_ODR_52Hz
cparata	3:4274d9103f1d	1165	: (odr <= 104.0f) ? LSM6DSO_GY_ODR_104Hz
cparata	3:4274d9103f1d	1166	: (odr <= 208.0f) ? LSM6DSO_GY_ODR_208Hz
cparata	3:4274d9103f1d	1167	: (odr <= 417.0f) ? LSM6DSO_GY_ODR_417Hz
cparata	3:4274d9103f1d	1168	: (odr <= 833.0f) ? LSM6DSO_GY_ODR_833Hz
cparata	3:4274d9103f1d	1169	: (odr <= 1667.0f) ? LSM6DSO_GY_ODR_1667Hz
cparata	3:4274d9103f1d	1170	: (odr <= 3333.0f) ? LSM6DSO_GY_ODR_3333Hz
cparata	3:4274d9103f1d	1171	: LSM6DSO_GY_ODR_6667Hz;
cparata	3:4274d9103f1d	1172
cparata	3:4274d9103f1d	1173	return 0;
cparata	0:6d69e896ce38	1174	}
cparata	0:6d69e896ce38	1175
cparata	0:6d69e896ce38	1176
cparata	0:6d69e896ce38	1177	/**
cparata	0:6d69e896ce38	1178	* @brief Get the LSM6DSO gyroscope sensor full scale
cparata	0:6d69e896ce38	1179	* @param full_scale pointer where the full scale is written
cparata	0:6d69e896ce38	1180	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1181	*/
cparata	0:6d69e896ce38	1182	int LSM6DSOSensor::get_g_fs(float *full_scale)
cparata	0:6d69e896ce38	1183	{
cparata	3:4274d9103f1d	1184	int ret = 0;
cparata	3:4274d9103f1d	1185	lsm6dso_fs_g_t fs_low_level;
cparata	3:4274d9103f1d	1186
cparata	3:4274d9103f1d	1187	/* Read actual full scale selection from sensor. */
cparata	3:4274d9103f1d	1188	if (lsm6dso_gy_full_scale_get(&_reg_ctx, &fs_low_level) != 0) {
cparata	3:4274d9103f1d	1189	return 1;
cparata	3:4274d9103f1d	1190	}
cparata	3:4274d9103f1d	1191
cparata	3:4274d9103f1d	1192	switch (fs_low_level) {
cparata	3:4274d9103f1d	1193	case LSM6DSO_125dps:
cparata	3:4274d9103f1d	1194	*full_scale = 125.0f;
cparata	3:4274d9103f1d	1195	break;
cparata	3:4274d9103f1d	1196
cparata	3:4274d9103f1d	1197	case LSM6DSO_250dps:
cparata	3:4274d9103f1d	1198	*full_scale = 250.0f;
cparata	3:4274d9103f1d	1199	break;
cparata	3:4274d9103f1d	1200
cparata	3:4274d9103f1d	1201	case LSM6DSO_500dps:
cparata	3:4274d9103f1d	1202	*full_scale = 500.0f;
cparata	3:4274d9103f1d	1203	break;
cparata	3:4274d9103f1d	1204
cparata	3:4274d9103f1d	1205	case LSM6DSO_1000dps:
cparata	3:4274d9103f1d	1206	*full_scale = 1000.0f;
cparata	3:4274d9103f1d	1207	break;
cparata	3:4274d9103f1d	1208
cparata	3:4274d9103f1d	1209	case LSM6DSO_2000dps:
cparata	3:4274d9103f1d	1210	*full_scale = 2000.0f;
cparata	3:4274d9103f1d	1211	break;
cparata	3:4274d9103f1d	1212
cparata	3:4274d9103f1d	1213	default:
cparata	3:4274d9103f1d	1214	ret = 1;
cparata	3:4274d9103f1d	1215	break;
cparata	3:4274d9103f1d	1216	}
cparata	3:4274d9103f1d	1217
cparata	3:4274d9103f1d	1218	return ret;
cparata	0:6d69e896ce38	1219	}
cparata	0:6d69e896ce38	1220
cparata	0:6d69e896ce38	1221	/**
cparata	0:6d69e896ce38	1222	* @brief Set the LSM6DSO gyroscope sensor full scale
cparata	0:6d69e896ce38	1223	* @param full_scale the functional full scale to be set
cparata	0:6d69e896ce38	1224	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1225	*/
cparata	0:6d69e896ce38	1226	int LSM6DSOSensor::set_g_fs(float full_scale)
cparata	0:6d69e896ce38	1227	{
cparata	3:4274d9103f1d	1228	lsm6dso_fs_g_t new_fs;
cparata	3:4274d9103f1d	1229
cparata	3:4274d9103f1d	1230	new_fs = (full_scale <= 125.0f) ? LSM6DSO_125dps
cparata	3:4274d9103f1d	1231	: (full_scale <= 250.0f) ? LSM6DSO_250dps
cparata	3:4274d9103f1d	1232	: (full_scale <= 500.0f) ? LSM6DSO_500dps
cparata	3:4274d9103f1d	1233	: (full_scale <= 1000.0f) ? LSM6DSO_1000dps
cparata	3:4274d9103f1d	1234	: LSM6DSO_2000dps;
cparata	3:4274d9103f1d	1235
cparata	3:4274d9103f1d	1236	if (lsm6dso_gy_full_scale_set(&_reg_ctx, new_fs) != 0) {
cparata	3:4274d9103f1d	1237	return 1;
cparata	3:4274d9103f1d	1238	}
cparata	3:4274d9103f1d	1239
cparata	3:4274d9103f1d	1240	return 0;
cparata	0:6d69e896ce38	1241	}
cparata	0:6d69e896ce38	1242
cparata	0:6d69e896ce38	1243	/**
cparata	0:6d69e896ce38	1244	* @brief Get the LSM6DSO gyroscope sensor raw axes
cparata	0:6d69e896ce38	1245	* @param value pointer where the raw values of the axes are written
cparata	0:6d69e896ce38	1246	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1247	*/
cparata	0:6d69e896ce38	1248	int LSM6DSOSensor::get_g_axes_raw(int16_t *value)
cparata	0:6d69e896ce38	1249	{
cparata	3:4274d9103f1d	1250	axis3bit16_t data_raw;
cparata	3:4274d9103f1d	1251
cparata	3:4274d9103f1d	1252	/* Read raw data values. */
cparata	3:4274d9103f1d	1253	if (lsm6dso_angular_rate_raw_get(&_reg_ctx, data_raw.u8bit) != 0) {
cparata	3:4274d9103f1d	1254	return 1;
cparata	3:4274d9103f1d	1255	}
cparata	3:4274d9103f1d	1256
cparata	3:4274d9103f1d	1257	/* Format the data. */
cparata	3:4274d9103f1d	1258	value[0] = data_raw.i16bit[0];
cparata	3:4274d9103f1d	1259	value[1] = data_raw.i16bit[1];
cparata	3:4274d9103f1d	1260	value[2] = data_raw.i16bit[2];
cparata	3:4274d9103f1d	1261
cparata	3:4274d9103f1d	1262	return 0;
cparata	0:6d69e896ce38	1263	}
cparata	0:6d69e896ce38	1264
cparata	0:6d69e896ce38	1265
cparata	0:6d69e896ce38	1266	/**
cparata	0:6d69e896ce38	1267	* @brief Get the LSM6DSO gyroscope sensor axes
cparata	0:6d69e896ce38	1268	* @param angular_rate pointer where the values of the axes are written
cparata	0:6d69e896ce38	1269	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1270	*/
cparata	0:6d69e896ce38	1271	int LSM6DSOSensor::get_g_axes(int32_t *angular_rate)
cparata	0:6d69e896ce38	1272	{
cparata	3:4274d9103f1d	1273	axis3bit16_t data_raw;
cparata	3:4274d9103f1d	1274	float sensitivity;
cparata	3:4274d9103f1d	1275
cparata	3:4274d9103f1d	1276	/* Read raw data values. */
cparata	3:4274d9103f1d	1277	if (lsm6dso_angular_rate_raw_get(&_reg_ctx, data_raw.u8bit) != 0) {
cparata	3:4274d9103f1d	1278	return 1;
cparata	3:4274d9103f1d	1279	}
cparata	3:4274d9103f1d	1280
cparata	3:4274d9103f1d	1281	/* Get LSM6DSO actual sensitivity. */
cparata	3:4274d9103f1d	1282	if (get_g_sensitivity(&sensitivity) != 0) {
cparata	3:4274d9103f1d	1283	return 1;
cparata	3:4274d9103f1d	1284	}
cparata	3:4274d9103f1d	1285
cparata	3:4274d9103f1d	1286	/* Calculate the data. */
cparata	3:4274d9103f1d	1287	angular_rate[0] = (int32_t)((float)((float)data_raw.i16bit[0] * sensitivity));
cparata	3:4274d9103f1d	1288	angular_rate[1] = (int32_t)((float)((float)data_raw.i16bit[1] * sensitivity));
cparata	3:4274d9103f1d	1289	angular_rate[2] = (int32_t)((float)((float)data_raw.i16bit[2] * sensitivity));
cparata	3:4274d9103f1d	1290
cparata	3:4274d9103f1d	1291	return 0;
cparata	0:6d69e896ce38	1292	}
cparata	0:6d69e896ce38	1293
cparata	0:6d69e896ce38	1294
cparata	0:6d69e896ce38	1295	/**
cparata	0:6d69e896ce38	1296	* @brief Get the LSM6DSO register value
cparata	0:6d69e896ce38	1297	* @param reg address to be read
cparata	0:6d69e896ce38	1298	* @param data pointer where the value is written
cparata	0:6d69e896ce38	1299	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1300	*/
cparata	0:6d69e896ce38	1301	int LSM6DSOSensor::read_reg(uint8_t reg, uint8_t *data)
cparata	0:6d69e896ce38	1302	{
cparata	3:4274d9103f1d	1303	if (lsm6dso_read_reg(&_reg_ctx, reg, data, 1) != 0) {
cparata	3:4274d9103f1d	1304	return 1;
cparata	3:4274d9103f1d	1305	}
cparata	3:4274d9103f1d	1306
cparata	3:4274d9103f1d	1307	return 0;
cparata	0:6d69e896ce38	1308	}
cparata	0:6d69e896ce38	1309
cparata	0:6d69e896ce38	1310
cparata	0:6d69e896ce38	1311	/**
cparata	0:6d69e896ce38	1312	* @brief Set the LSM6DSO register value
cparata	0:6d69e896ce38	1313	* @param reg address to be written
cparata	0:6d69e896ce38	1314	* @param data value to be written
cparata	0:6d69e896ce38	1315	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1316	*/
cparata	0:6d69e896ce38	1317	int LSM6DSOSensor::write_reg(uint8_t reg, uint8_t data)
cparata	0:6d69e896ce38	1318	{
cparata	3:4274d9103f1d	1319	if (lsm6dso_write_reg(&_reg_ctx, reg, &data, 1) != 0) {
cparata	3:4274d9103f1d	1320	return 1;
cparata	3:4274d9103f1d	1321	}
cparata	3:4274d9103f1d	1322
cparata	3:4274d9103f1d	1323	return 0;
cparata	0:6d69e896ce38	1324	}
cparata	0:6d69e896ce38	1325
cparata	0:6d69e896ce38	1326	/**
cparata	0:6d69e896ce38	1327	* @brief Set the interrupt latch
cparata	0:6d69e896ce38	1328	* @param status value to be written
cparata	0:6d69e896ce38	1329	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1330	*/
cparata	0:6d69e896ce38	1331	int LSM6DSOSensor::set_interrupt_latch(uint8_t status)
cparata	0:6d69e896ce38	1332	{
cparata	3:4274d9103f1d	1333	if (status > 1U) {
cparata	3:4274d9103f1d	1334	return 1;
cparata	3:4274d9103f1d	1335	}
cparata	3:4274d9103f1d	1336
cparata	3:4274d9103f1d	1337	if (lsm6dso_int_notification_set(&_reg_ctx, (lsm6dso_lir_t)status) != 0) {
cparata	3:4274d9103f1d	1338	return 1;
cparata	3:4274d9103f1d	1339	}
cparata	3:4274d9103f1d	1340
cparata	3:4274d9103f1d	1341	return 0;
cparata	0:6d69e896ce38	1342	}
cparata	0:6d69e896ce38	1343
cparata	0:6d69e896ce38	1344	/**
cparata	0:6d69e896ce38	1345	* @brief Enable free fall detection
cparata	0:6d69e896ce38	1346	* @param int_pin interrupt pin line to be used
cparata	0:6d69e896ce38	1347	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1348	*/
cparata	0:6d69e896ce38	1349	int LSM6DSOSensor::enable_free_fall_detection(LSM6DSO_Interrupt_Pin_t int_pin)
cparata	0:6d69e896ce38	1350	{
cparata	3:4274d9103f1d	1351	int ret = 0;
cparata	3:4274d9103f1d	1352	lsm6dso_pin_int1_route_t val1;
cparata	3:4274d9103f1d	1353	lsm6dso_pin_int2_route_t val2;
cparata	3:4274d9103f1d	1354
cparata	3:4274d9103f1d	1355	/* Output Data Rate selection */
cparata	3:4274d9103f1d	1356	if (set_x_odr(416.0f) != 0) {
cparata	3:4274d9103f1d	1357	return 1;
cparata	3:4274d9103f1d	1358	}
cparata	3:4274d9103f1d	1359
cparata	3:4274d9103f1d	1360	/* Full scale selection */
cparata	3:4274d9103f1d	1361	if (set_x_fs(2.0f) != 0) {
cparata	3:4274d9103f1d	1362	return 1;
cparata	3:4274d9103f1d	1363	}
cparata	3:4274d9103f1d	1364
cparata	3:4274d9103f1d	1365	/* FF_DUR setting */
cparata	3:4274d9103f1d	1366	if (lsm6dso_ff_dur_set(&_reg_ctx, 0x06) != 0) {
cparata	3:4274d9103f1d	1367	return 1;
cparata	3:4274d9103f1d	1368	}
cparata	3:4274d9103f1d	1369
cparata	3:4274d9103f1d	1370	/* WAKE_DUR setting */
cparata	3:4274d9103f1d	1371	if (lsm6dso_wkup_dur_set(&_reg_ctx, 0x00) != 0) {
cparata	3:4274d9103f1d	1372	return 1;
cparata	3:4274d9103f1d	1373	}
cparata	3:4274d9103f1d	1374
cparata	3:4274d9103f1d	1375	/* SLEEP_DUR setting */
cparata	3:4274d9103f1d	1376	if (lsm6dso_act_sleep_dur_set(&_reg_ctx, 0x00) != 0) {
cparata	3:4274d9103f1d	1377	return 1;
cparata	3:4274d9103f1d	1378	}
cparata	3:4274d9103f1d	1379
cparata	3:4274d9103f1d	1380	/* FF_THS setting */
cparata	3:4274d9103f1d	1381	if (lsm6dso_ff_threshold_set(&_reg_ctx, LSM6DSO_FF_TSH_312mg) != 0) {
cparata	0:6d69e896ce38	1382	return 1;
cparata	3:4274d9103f1d	1383	}
cparata	3:4274d9103f1d	1384
cparata	3:4274d9103f1d	1385	/* Enable free fall event on either INT1 or INT2 pin */
cparata	3:4274d9103f1d	1386	switch (int_pin) {
cparata	3:4274d9103f1d	1387	case LSM6DSO_INT1_PIN:
cparata	3:4274d9103f1d	1388	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1389	return 1;
cparata	3:4274d9103f1d	1390	}
cparata	3:4274d9103f1d	1391
cparata	3:4274d9103f1d	1392	val1.md1_cfg.int1_ff = PROPERTY_ENABLE;
cparata	3:4274d9103f1d	1393
cparata	3:4274d9103f1d	1394	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1395	return 1;
cparata	3:4274d9103f1d	1396	}
cparata	3:4274d9103f1d	1397	break;
cparata	3:4274d9103f1d	1398
cparata	3:4274d9103f1d	1399	case LSM6DSO_INT2_PIN:
cparata	3:4274d9103f1d	1400	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0) {
cparata	3:4274d9103f1d	1401	return 1;
cparata	3:4274d9103f1d	1402	}
cparata	3:4274d9103f1d	1403
cparata	3:4274d9103f1d	1404	val2.md2_cfg.int2_ff = PROPERTY_ENABLE;
cparata	3:4274d9103f1d	1405
cparata	3:4274d9103f1d	1406	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0) {
cparata	3:4274d9103f1d	1407	return 1;
cparata	3:4274d9103f1d	1408	}
cparata	3:4274d9103f1d	1409	break;
cparata	3:4274d9103f1d	1410
cparata	3:4274d9103f1d	1411	default:
cparata	3:4274d9103f1d	1412	ret = 1;
cparata	3:4274d9103f1d	1413	break;
cparata	3:4274d9103f1d	1414	}
cparata	3:4274d9103f1d	1415
cparata	3:4274d9103f1d	1416	return ret;
cparata	0:6d69e896ce38	1417	}
cparata	0:6d69e896ce38	1418
cparata	0:6d69e896ce38	1419	/**
cparata	0:6d69e896ce38	1420	* @brief Disable free fall detection
cparata	0:6d69e896ce38	1421	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1422	*/
cparata	0:6d69e896ce38	1423	int LSM6DSOSensor::disable_free_fall_detection()
cparata	0:6d69e896ce38	1424	{
cparata	3:4274d9103f1d	1425	lsm6dso_pin_int1_route_t val1;
cparata	3:4274d9103f1d	1426	lsm6dso_pin_int2_route_t val2;
cparata	3:4274d9103f1d	1427
cparata	3:4274d9103f1d	1428	/* Disable free fall event on both INT1 and INT2 pins */
cparata	3:4274d9103f1d	1429	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1430	return 1;
cparata	3:4274d9103f1d	1431	}
cparata	3:4274d9103f1d	1432
cparata	3:4274d9103f1d	1433	val1.md1_cfg.int1_ff = PROPERTY_DISABLE;
cparata	3:4274d9103f1d	1434
cparata	3:4274d9103f1d	1435	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1436	return 1;
cparata	3:4274d9103f1d	1437	}
cparata	3:4274d9103f1d	1438
cparata	3:4274d9103f1d	1439	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0) {
cparata	3:4274d9103f1d	1440	return 1;
cparata	3:4274d9103f1d	1441	}
cparata	3:4274d9103f1d	1442
cparata	3:4274d9103f1d	1443	val2.md2_cfg.int2_ff = PROPERTY_DISABLE;
cparata	3:4274d9103f1d	1444
cparata	3:4274d9103f1d	1445	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0) {
cparata	3:4274d9103f1d	1446	return 1;
cparata	3:4274d9103f1d	1447	}
cparata	3:4274d9103f1d	1448
cparata	3:4274d9103f1d	1449	/* FF_DUR setting */
cparata	3:4274d9103f1d	1450	if (lsm6dso_ff_dur_set(&_reg_ctx, 0x00) != 0) {
cparata	3:4274d9103f1d	1451	return 1;
cparata	3:4274d9103f1d	1452	}
cparata	3:4274d9103f1d	1453
cparata	3:4274d9103f1d	1454	/* FF_THS setting */
cparata	3:4274d9103f1d	1455	if (lsm6dso_ff_threshold_set(&_reg_ctx, LSM6DSO_FF_TSH_156mg) != 0) {
cparata	3:4274d9103f1d	1456	return 1;
cparata	3:4274d9103f1d	1457	}
cparata	3:4274d9103f1d	1458
cparata	3:4274d9103f1d	1459	return 0;
cparata	0:6d69e896ce38	1460	}
cparata	0:6d69e896ce38	1461
cparata	0:6d69e896ce38	1462	/**
cparata	0:6d69e896ce38	1463	* @brief Set free fall threshold
cparata	0:6d69e896ce38	1464	* @param thr free fall detection threshold
cparata	0:6d69e896ce38	1465	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1466	*/
cparata	0:6d69e896ce38	1467	int LSM6DSOSensor::set_free_fall_threshold(uint8_t thr)
cparata	0:6d69e896ce38	1468	{
cparata	3:4274d9103f1d	1469	if (lsm6dso_ff_threshold_set(&_reg_ctx, (lsm6dso_ff_ths_t)thr) != 0) {
cparata	3:4274d9103f1d	1470	return 1;
cparata	3:4274d9103f1d	1471	}
cparata	3:4274d9103f1d	1472
cparata	3:4274d9103f1d	1473	return 0;
cparata	0:6d69e896ce38	1474	}
cparata	0:6d69e896ce38	1475
cparata	0:6d69e896ce38	1476
cparata	0:6d69e896ce38	1477	/**
cparata	0:6d69e896ce38	1478	* @brief Set free fall duration
cparata	0:6d69e896ce38	1479	* @param dur free fall detection duration
cparata	0:6d69e896ce38	1480	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1481	*/
cparata	0:6d69e896ce38	1482	int LSM6DSOSensor::set_free_fall_duration(uint8_t dur)
cparata	0:6d69e896ce38	1483	{
cparata	3:4274d9103f1d	1484	if (lsm6dso_ff_dur_set(&_reg_ctx, dur) != 0) {
cparata	3:4274d9103f1d	1485	return 1;
cparata	3:4274d9103f1d	1486	}
cparata	3:4274d9103f1d	1487
cparata	3:4274d9103f1d	1488	return 0;
cparata	0:6d69e896ce38	1489	}
cparata	0:6d69e896ce38	1490
cparata	0:6d69e896ce38	1491
cparata	0:6d69e896ce38	1492	/**
cparata	0:6d69e896ce38	1493	* @brief Enable pedometer
cparata	0:6d69e896ce38	1494	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1495	*/
cparata	0:6d69e896ce38	1496	int LSM6DSOSensor::enable_pedometer()
cparata	0:6d69e896ce38	1497	{
cparata	0:6d69e896ce38	1498	lsm6dso_pin_int1_route_t val;
cparata	0:6d69e896ce38	1499
cparata	3:4274d9103f1d	1500	/* Output Data Rate selection */
cparata	3:4274d9103f1d	1501	if (set_x_odr(26.0f) != 0) {
cparata	3:4274d9103f1d	1502	return 1;
cparata	3:4274d9103f1d	1503	}
cparata	3:4274d9103f1d	1504
cparata	3:4274d9103f1d	1505	/* Full scale selection */
cparata	3:4274d9103f1d	1506	if (set_x_fs(2.0f) != 0) {
cparata	3:4274d9103f1d	1507	return 1;
cparata	3:4274d9103f1d	1508	}
cparata	3:4274d9103f1d	1509
cparata	3:4274d9103f1d	1510	/* Enable pedometer algorithm. */
cparata	3:4274d9103f1d	1511	if (lsm6dso_pedo_sens_set(&_reg_ctx, LSM6DSO_PEDO_BASE_MODE) != 0) {
cparata	3:4274d9103f1d	1512	return 1;
cparata	3:4274d9103f1d	1513	}
cparata	3:4274d9103f1d	1514
cparata	3:4274d9103f1d	1515	/* Enable step detector on INT1 pin */
cparata	3:4274d9103f1d	1516	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val) != 0) {
cparata	3:4274d9103f1d	1517	return 1;
cparata	3:4274d9103f1d	1518	}
cparata	3:4274d9103f1d	1519
cparata	3:4274d9103f1d	1520	val.emb_func_int1.int1_step_detector = PROPERTY_ENABLE;
cparata	3:4274d9103f1d	1521
cparata	3:4274d9103f1d	1522	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val) != 0) {
cparata	3:4274d9103f1d	1523	return 1;
cparata	3:4274d9103f1d	1524	}
cparata	3:4274d9103f1d	1525
cparata	3:4274d9103f1d	1526	return 0;
cparata	0:6d69e896ce38	1527	}
cparata	0:6d69e896ce38	1528
cparata	0:6d69e896ce38	1529	/**
cparata	0:6d69e896ce38	1530	* @brief Disable pedometer
cparata	0:6d69e896ce38	1531	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1532	*/
cparata	0:6d69e896ce38	1533	int LSM6DSOSensor::disable_pedometer()
cparata	0:6d69e896ce38	1534	{
cparata	3:4274d9103f1d	1535	lsm6dso_pin_int1_route_t val1;
cparata	3:4274d9103f1d	1536
cparata	3:4274d9103f1d	1537	/* Disable step detector on INT1 pin */
cparata	3:4274d9103f1d	1538	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1539	return 1;
cparata	3:4274d9103f1d	1540	}
cparata	3:4274d9103f1d	1541
cparata	3:4274d9103f1d	1542	val1.emb_func_int1.int1_step_detector = PROPERTY_DISABLE;
cparata	3:4274d9103f1d	1543
cparata	3:4274d9103f1d	1544	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1545	return 1;
cparata	3:4274d9103f1d	1546	}
cparata	3:4274d9103f1d	1547
cparata	3:4274d9103f1d	1548	/* Disable pedometer algorithm. */
cparata	3:4274d9103f1d	1549	if (lsm6dso_pedo_sens_set(&_reg_ctx, LSM6DSO_PEDO_DISABLE) != 0) {
cparata	3:4274d9103f1d	1550	return 1;
cparata	3:4274d9103f1d	1551	}
cparata	3:4274d9103f1d	1552
cparata	3:4274d9103f1d	1553	return 0;
cparata	0:6d69e896ce38	1554	}
cparata	0:6d69e896ce38	1555
cparata	0:6d69e896ce38	1556	/**
cparata	0:6d69e896ce38	1557	* @brief Get step count
cparata	0:6d69e896ce38	1558	* @param step_count step counter
cparata	0:6d69e896ce38	1559	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1560	*/
cparata	0:6d69e896ce38	1561	int LSM6DSOSensor::get_step_counter(uint16_t *step_count)
cparata	0:6d69e896ce38	1562	{
cparata	3:4274d9103f1d	1563	if (lsm6dso_number_of_steps_get(&_reg_ctx, (uint8_t *)step_count) != 0) {
cparata	3:4274d9103f1d	1564	return 1;
cparata	3:4274d9103f1d	1565	}
cparata	3:4274d9103f1d	1566
cparata	3:4274d9103f1d	1567	return 0;
cparata	0:6d69e896ce38	1568	}
cparata	0:6d69e896ce38	1569
cparata	0:6d69e896ce38	1570	/**
cparata	0:6d69e896ce38	1571	* @brief Enable step counter reset
cparata	0:6d69e896ce38	1572	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1573	*/
cparata	0:6d69e896ce38	1574	int LSM6DSOSensor::reset_step_counter()
cparata	0:6d69e896ce38	1575	{
cparata	3:4274d9103f1d	1576	if (lsm6dso_steps_reset(&_reg_ctx) != 0) {
cparata	3:4274d9103f1d	1577	return 1;
cparata	3:4274d9103f1d	1578	}
cparata	3:4274d9103f1d	1579
cparata	3:4274d9103f1d	1580	return 0;
cparata	0:6d69e896ce38	1581	}
cparata	0:6d69e896ce38	1582
cparata	0:6d69e896ce38	1583	/**
cparata	0:6d69e896ce38	1584	* @brief Enable tilt detection
cparata	0:6d69e896ce38	1585	* @param int_pin interrupt pin line to be used
cparata	0:6d69e896ce38	1586	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1587	*/
cparata	0:6d69e896ce38	1588	int LSM6DSOSensor::enable_tilt_detection(LSM6DSO_Interrupt_Pin_t int_pin)
cparata	0:6d69e896ce38	1589	{
cparata	3:4274d9103f1d	1590	int ret = 0;
cparata	3:4274d9103f1d	1591	lsm6dso_pin_int1_route_t val1;
cparata	3:4274d9103f1d	1592	lsm6dso_pin_int2_route_t val2;
cparata	3:4274d9103f1d	1593
cparata	3:4274d9103f1d	1594	/* Output Data Rate selection */
cparata	3:4274d9103f1d	1595	if (set_x_odr(26.0f) != 0) {
cparata	3:4274d9103f1d	1596	return 1;
cparata	3:4274d9103f1d	1597	}
cparata	3:4274d9103f1d	1598
cparata	3:4274d9103f1d	1599	/* Full scale selection */
cparata	3:4274d9103f1d	1600	if (set_x_fs(2.0f) != 0) {
cparata	3:4274d9103f1d	1601	return 1;
cparata	3:4274d9103f1d	1602	}
cparata	3:4274d9103f1d	1603
cparata	3:4274d9103f1d	1604	/* Enable tilt calculation. */
cparata	3:4274d9103f1d	1605	if (lsm6dso_tilt_sens_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
cparata	0:6d69e896ce38	1606	return 1;
cparata	3:4274d9103f1d	1607	}
cparata	3:4274d9103f1d	1608
cparata	3:4274d9103f1d	1609	/* Enable tilt event on either INT1 or INT2 pin */
cparata	3:4274d9103f1d	1610	switch (int_pin) {
cparata	3:4274d9103f1d	1611	case LSM6DSO_INT1_PIN:
cparata	3:4274d9103f1d	1612	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1613	return 1;
cparata	3:4274d9103f1d	1614	}
cparata	3:4274d9103f1d	1615
cparata	3:4274d9103f1d	1616	val1.emb_func_int1.int1_tilt = PROPERTY_ENABLE;
cparata	3:4274d9103f1d	1617
cparata	3:4274d9103f1d	1618	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1619	return 1;
cparata	3:4274d9103f1d	1620	}
cparata	3:4274d9103f1d	1621	break;
cparata	3:4274d9103f1d	1622
cparata	3:4274d9103f1d	1623	case LSM6DSO_INT2_PIN:
cparata	3:4274d9103f1d	1624	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0) {
cparata	3:4274d9103f1d	1625	return 1;
cparata	3:4274d9103f1d	1626	}
cparata	3:4274d9103f1d	1627
cparata	3:4274d9103f1d	1628	val2.emb_func_int2.int2_tilt = PROPERTY_ENABLE;
cparata	3:4274d9103f1d	1629
cparata	3:4274d9103f1d	1630	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0) {
cparata	3:4274d9103f1d	1631	return 1;
cparata	3:4274d9103f1d	1632	}
cparata	3:4274d9103f1d	1633	break;
cparata	3:4274d9103f1d	1634
cparata	3:4274d9103f1d	1635	default:
cparata	3:4274d9103f1d	1636	ret = 1;
cparata	3:4274d9103f1d	1637	break;
cparata	3:4274d9103f1d	1638	}
cparata	3:4274d9103f1d	1639
cparata	3:4274d9103f1d	1640	return ret;
cparata	0:6d69e896ce38	1641	}
cparata	0:6d69e896ce38	1642
cparata	0:6d69e896ce38	1643	/**
cparata	0:6d69e896ce38	1644	* @brief Disable tilt detection
cparata	0:6d69e896ce38	1645	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1646	*/
cparata	0:6d69e896ce38	1647	int LSM6DSOSensor::disable_tilt_detection()
cparata	0:6d69e896ce38	1648	{
cparata	3:4274d9103f1d	1649	lsm6dso_pin_int1_route_t val1;
cparata	3:4274d9103f1d	1650	lsm6dso_pin_int2_route_t val2;
cparata	3:4274d9103f1d	1651
cparata	3:4274d9103f1d	1652	/* Disable tilt event on both INT1 and INT2 pins */
cparata	3:4274d9103f1d	1653	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1654	return 1;
cparata	3:4274d9103f1d	1655	}
cparata	3:4274d9103f1d	1656
cparata	3:4274d9103f1d	1657	val1.emb_func_int1.int1_tilt = PROPERTY_DISABLE;
cparata	3:4274d9103f1d	1658
cparata	3:4274d9103f1d	1659	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1660	return 1;
cparata	3:4274d9103f1d	1661	}
cparata	3:4274d9103f1d	1662
cparata	3:4274d9103f1d	1663	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0) {
cparata	3:4274d9103f1d	1664	return 1;
cparata	3:4274d9103f1d	1665	}
cparata	3:4274d9103f1d	1666
cparata	3:4274d9103f1d	1667	val2.emb_func_int2.int2_tilt = PROPERTY_DISABLE;
cparata	3:4274d9103f1d	1668
cparata	3:4274d9103f1d	1669	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0) {
cparata	3:4274d9103f1d	1670	return 1;
cparata	3:4274d9103f1d	1671	}
cparata	3:4274d9103f1d	1672
cparata	3:4274d9103f1d	1673	/* Disable tilt calculation. */
cparata	3:4274d9103f1d	1674	if (lsm6dso_tilt_sens_set(&_reg_ctx, PROPERTY_DISABLE) != 0) {
cparata	3:4274d9103f1d	1675	return 1;
cparata	3:4274d9103f1d	1676	}
cparata	3:4274d9103f1d	1677
cparata	3:4274d9103f1d	1678	return 0;
cparata	0:6d69e896ce38	1679	}
cparata	0:6d69e896ce38	1680
cparata	0:6d69e896ce38	1681	/**
cparata	0:6d69e896ce38	1682	* @brief Enable wake up detection
cparata	0:6d69e896ce38	1683	* @param int_pin interrupt pin line to be used
cparata	0:6d69e896ce38	1684	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1685	*/
cparata	0:6d69e896ce38	1686	int LSM6DSOSensor::enable_wake_up_detection(LSM6DSO_Interrupt_Pin_t int_pin)
cparata	0:6d69e896ce38	1687	{
cparata	3:4274d9103f1d	1688	int ret = 0;
cparata	3:4274d9103f1d	1689	lsm6dso_pin_int1_route_t val1;
cparata	3:4274d9103f1d	1690	lsm6dso_pin_int2_route_t val2;
cparata	3:4274d9103f1d	1691
cparata	3:4274d9103f1d	1692	/* Output Data Rate selection */
cparata	3:4274d9103f1d	1693	if (set_x_odr(416.0f) != 0) {
cparata	3:4274d9103f1d	1694	return 1;
cparata	3:4274d9103f1d	1695	}
cparata	3:4274d9103f1d	1696
cparata	3:4274d9103f1d	1697	/* Full scale selection */
cparata	3:4274d9103f1d	1698	if (set_x_fs(2.0f) != 0) {
cparata	3:4274d9103f1d	1699	return 1;
cparata	3:4274d9103f1d	1700	}
cparata	3:4274d9103f1d	1701
cparata	3:4274d9103f1d	1702	/* WAKE_DUR setting */
cparata	3:4274d9103f1d	1703	if (lsm6dso_wkup_dur_set(&_reg_ctx, 0x00) != 0) {
cparata	3:4274d9103f1d	1704	return 1;
cparata	3:4274d9103f1d	1705	}
cparata	3:4274d9103f1d	1706
cparata	3:4274d9103f1d	1707	/* Set wake up threshold. */
cparata	3:4274d9103f1d	1708	if (lsm6dso_wkup_threshold_set(&_reg_ctx, 0x02) != 0) {
cparata	0:6d69e896ce38	1709	return 1;
cparata	3:4274d9103f1d	1710	}
cparata	3:4274d9103f1d	1711
cparata	3:4274d9103f1d	1712	/* Enable wake up event on either INT1 or INT2 pin */
cparata	3:4274d9103f1d	1713	switch (int_pin) {
cparata	3:4274d9103f1d	1714	case LSM6DSO_INT1_PIN:
cparata	3:4274d9103f1d	1715	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1716	return 1;
cparata	3:4274d9103f1d	1717	}
cparata	3:4274d9103f1d	1718
cparata	3:4274d9103f1d	1719	val1.md1_cfg.int1_wu = PROPERTY_ENABLE;
cparata	3:4274d9103f1d	1720
cparata	3:4274d9103f1d	1721	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1722	return 1;
cparata	3:4274d9103f1d	1723	}
cparata	3:4274d9103f1d	1724	break;
cparata	3:4274d9103f1d	1725
cparata	3:4274d9103f1d	1726	case LSM6DSO_INT2_PIN:
cparata	3:4274d9103f1d	1727	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0) {
cparata	3:4274d9103f1d	1728	return 1;
cparata	3:4274d9103f1d	1729	}
cparata	3:4274d9103f1d	1730
cparata	3:4274d9103f1d	1731	val2.md2_cfg.int2_wu = PROPERTY_ENABLE;
cparata	3:4274d9103f1d	1732
cparata	3:4274d9103f1d	1733	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0) {
cparata	3:4274d9103f1d	1734	return 1;
cparata	3:4274d9103f1d	1735	}
cparata	3:4274d9103f1d	1736	break;
cparata	3:4274d9103f1d	1737
cparata	3:4274d9103f1d	1738	default:
cparata	3:4274d9103f1d	1739	ret = 1;
cparata	3:4274d9103f1d	1740	break;
cparata	3:4274d9103f1d	1741	}
cparata	3:4274d9103f1d	1742
cparata	3:4274d9103f1d	1743	return ret;
cparata	0:6d69e896ce38	1744	}
cparata	0:6d69e896ce38	1745
cparata	0:6d69e896ce38	1746
cparata	0:6d69e896ce38	1747	/**
cparata	0:6d69e896ce38	1748	* @brief Disable wake up detection
cparata	0:6d69e896ce38	1749	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1750	*/
cparata	0:6d69e896ce38	1751	int LSM6DSOSensor::disable_wake_up_detection()
cparata	0:6d69e896ce38	1752	{
cparata	0:6d69e896ce38	1753	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1754	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	1755
cparata	3:4274d9103f1d	1756	/* Disable wake up event on both INT1 and INT2 pins */
cparata	3:4274d9103f1d	1757	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1758	return 1;
cparata	3:4274d9103f1d	1759	}
cparata	3:4274d9103f1d	1760
cparata	3:4274d9103f1d	1761	val1.md1_cfg.int1_wu = PROPERTY_DISABLE;
cparata	3:4274d9103f1d	1762
cparata	3:4274d9103f1d	1763	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1764	return 1;
cparata	3:4274d9103f1d	1765	}
cparata	3:4274d9103f1d	1766
cparata	3:4274d9103f1d	1767	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0) {
cparata	3:4274d9103f1d	1768	return 1;
cparata	3:4274d9103f1d	1769	}
cparata	3:4274d9103f1d	1770
cparata	3:4274d9103f1d	1771	val2.md2_cfg.int2_wu = PROPERTY_DISABLE;
cparata	3:4274d9103f1d	1772
cparata	3:4274d9103f1d	1773	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0) {
cparata	3:4274d9103f1d	1774	return 1;
cparata	3:4274d9103f1d	1775	}
cparata	3:4274d9103f1d	1776
cparata	3:4274d9103f1d	1777	/* Reset wake up threshold. */
cparata	3:4274d9103f1d	1778	if (lsm6dso_wkup_threshold_set(&_reg_ctx, 0x00) != 0) {
cparata	3:4274d9103f1d	1779	return 1;
cparata	3:4274d9103f1d	1780	}
cparata	3:4274d9103f1d	1781
cparata	3:4274d9103f1d	1782	/* WAKE_DUR setting */
cparata	3:4274d9103f1d	1783	if (lsm6dso_wkup_dur_set(&_reg_ctx, 0x00) != 0) {
cparata	3:4274d9103f1d	1784	return 1;
cparata	3:4274d9103f1d	1785	}
cparata	3:4274d9103f1d	1786
cparata	3:4274d9103f1d	1787	return 0;
cparata	0:6d69e896ce38	1788	}
cparata	0:6d69e896ce38	1789
cparata	0:6d69e896ce38	1790	/**
cparata	0:6d69e896ce38	1791	* @brief Set wake up threshold
cparata	0:6d69e896ce38	1792	* @param thr wake up detection threshold
cparata	0:6d69e896ce38	1793	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1794	*/
cparata	0:6d69e896ce38	1795	int LSM6DSOSensor::set_wake_up_threshold(uint8_t thr)
cparata	0:6d69e896ce38	1796	{
cparata	3:4274d9103f1d	1797	/* Set wake up threshold. */
cparata	3:4274d9103f1d	1798	if (lsm6dso_wkup_threshold_set(&_reg_ctx, thr) != 0) {
cparata	3:4274d9103f1d	1799	return 1;
cparata	3:4274d9103f1d	1800	}
cparata	3:4274d9103f1d	1801
cparata	3:4274d9103f1d	1802	return 0;
cparata	0:6d69e896ce38	1803	}
cparata	0:6d69e896ce38	1804
cparata	0:6d69e896ce38	1805	/**
cparata	0:6d69e896ce38	1806	* @brief Set wake up duration
cparata	0:6d69e896ce38	1807	* @param dur wake up detection duration
cparata	0:6d69e896ce38	1808	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1809	*/
cparata	0:6d69e896ce38	1810	int LSM6DSOSensor::set_wake_up_duration(uint8_t dur)
cparata	0:6d69e896ce38	1811	{
cparata	3:4274d9103f1d	1812	/* Set wake up duration. */
cparata	3:4274d9103f1d	1813	if (lsm6dso_wkup_dur_set(&_reg_ctx, dur) != 0) {
cparata	3:4274d9103f1d	1814	return 1;
cparata	3:4274d9103f1d	1815	}
cparata	3:4274d9103f1d	1816
cparata	3:4274d9103f1d	1817	return 0;
cparata	0:6d69e896ce38	1818	}
cparata	0:6d69e896ce38	1819
cparata	0:6d69e896ce38	1820	/**
cparata	0:6d69e896ce38	1821	* @brief Enable single tap detection
cparata	0:6d69e896ce38	1822	* @param int_pin interrupt pin line to be used
cparata	0:6d69e896ce38	1823	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1824	*/
cparata	0:6d69e896ce38	1825	int LSM6DSOSensor::enable_single_tap_detection(LSM6DSO_Interrupt_Pin_t int_pin)
cparata	0:6d69e896ce38	1826	{
cparata	3:4274d9103f1d	1827	int ret = 0;
cparata	3:4274d9103f1d	1828	lsm6dso_pin_int1_route_t val1;
cparata	3:4274d9103f1d	1829	lsm6dso_pin_int2_route_t val2;
cparata	3:4274d9103f1d	1830
cparata	3:4274d9103f1d	1831	/* Output Data Rate selection */
cparata	3:4274d9103f1d	1832	if (set_x_odr(416.0f) != 0) {
cparata	3:4274d9103f1d	1833	return 1;
cparata	3:4274d9103f1d	1834	}
cparata	3:4274d9103f1d	1835
cparata	3:4274d9103f1d	1836	/* Full scale selection */
cparata	3:4274d9103f1d	1837	if (set_x_fs(2.0f) != 0) {
cparata	3:4274d9103f1d	1838	return 1;
cparata	3:4274d9103f1d	1839	}
cparata	3:4274d9103f1d	1840
cparata	3:4274d9103f1d	1841	/* Enable X direction in tap recognition. */
cparata	3:4274d9103f1d	1842	if (lsm6dso_tap_detection_on_x_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
cparata	3:4274d9103f1d	1843	return 1;
cparata	3:4274d9103f1d	1844	}
cparata	3:4274d9103f1d	1845
cparata	3:4274d9103f1d	1846	/* Enable Y direction in tap recognition. */
cparata	3:4274d9103f1d	1847	if (lsm6dso_tap_detection_on_y_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
cparata	3:4274d9103f1d	1848	return 1;
cparata	3:4274d9103f1d	1849	}
cparata	3:4274d9103f1d	1850
cparata	3:4274d9103f1d	1851	/* Enable Z direction in tap recognition. */
cparata	3:4274d9103f1d	1852	if (lsm6dso_tap_detection_on_z_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
cparata	3:4274d9103f1d	1853	return 1;
cparata	3:4274d9103f1d	1854	}
cparata	3:4274d9103f1d	1855
cparata	3:4274d9103f1d	1856	/* Set tap threshold. */
cparata	3:4274d9103f1d	1857	if (lsm6dso_tap_threshold_x_set(&_reg_ctx, 0x08) != 0) {
cparata	3:4274d9103f1d	1858	return 1;
cparata	3:4274d9103f1d	1859	}
cparata	3:4274d9103f1d	1860
cparata	3:4274d9103f1d	1861	/* Set tap shock time window. */
cparata	3:4274d9103f1d	1862	if (lsm6dso_tap_shock_set(&_reg_ctx, 0x02) != 0) {
cparata	0:6d69e896ce38	1863	return 1;
cparata	3:4274d9103f1d	1864	}
cparata	3:4274d9103f1d	1865
cparata	3:4274d9103f1d	1866	/* Set tap quiet time window. */
cparata	3:4274d9103f1d	1867	if (lsm6dso_tap_quiet_set(&_reg_ctx, 0x01) != 0) {
cparata	0:6d69e896ce38	1868	return 1;
cparata	3:4274d9103f1d	1869	}
cparata	3:4274d9103f1d	1870
cparata	3:4274d9103f1d	1871	/* _NOTE_: Tap duration time window - don't care for single tap. */
cparata	3:4274d9103f1d	1872
cparata	3:4274d9103f1d	1873	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata	3:4274d9103f1d	1874
cparata	3:4274d9103f1d	1875	/* Enable single tap event on either INT1 or INT2 pin */
cparata	3:4274d9103f1d	1876	switch (int_pin) {
cparata	3:4274d9103f1d	1877	case LSM6DSO_INT1_PIN:
cparata	3:4274d9103f1d	1878	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1879	return 1;
cparata	3:4274d9103f1d	1880	}
cparata	3:4274d9103f1d	1881
cparata	3:4274d9103f1d	1882	val1.md1_cfg.int1_single_tap = PROPERTY_ENABLE;
cparata	3:4274d9103f1d	1883
cparata	3:4274d9103f1d	1884	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1885	return 1;
cparata	3:4274d9103f1d	1886	}
cparata	3:4274d9103f1d	1887	break;
cparata	3:4274d9103f1d	1888
cparata	3:4274d9103f1d	1889	case LSM6DSO_INT2_PIN:
cparata	3:4274d9103f1d	1890	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0) {
cparata	3:4274d9103f1d	1891	return 1;
cparata	3:4274d9103f1d	1892	}
cparata	3:4274d9103f1d	1893
cparata	3:4274d9103f1d	1894	val2.md2_cfg.int2_single_tap = PROPERTY_ENABLE;
cparata	3:4274d9103f1d	1895
cparata	3:4274d9103f1d	1896	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0) {
cparata	3:4274d9103f1d	1897	return 1;
cparata	3:4274d9103f1d	1898	}
cparata	3:4274d9103f1d	1899	break;
cparata	3:4274d9103f1d	1900
cparata	3:4274d9103f1d	1901	default:
cparata	3:4274d9103f1d	1902	ret = 1;
cparata	3:4274d9103f1d	1903	break;
cparata	3:4274d9103f1d	1904	}
cparata	3:4274d9103f1d	1905
cparata	3:4274d9103f1d	1906	return ret;
cparata	0:6d69e896ce38	1907	}
cparata	0:6d69e896ce38	1908
cparata	0:6d69e896ce38	1909	/**
cparata	0:6d69e896ce38	1910	* @brief Disable single tap detection
cparata	0:6d69e896ce38	1911	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1912	*/
cparata	0:6d69e896ce38	1913	int LSM6DSOSensor::disable_single_tap_detection()
cparata	0:6d69e896ce38	1914	{
cparata	0:6d69e896ce38	1915	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1916	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	1917
cparata	3:4274d9103f1d	1918	/* Disable single tap event on both INT1 and INT2 pins */
cparata	3:4274d9103f1d	1919	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1920	return 1;
cparata	3:4274d9103f1d	1921	}
cparata	3:4274d9103f1d	1922
cparata	3:4274d9103f1d	1923	val1.md1_cfg.int1_single_tap = PROPERTY_DISABLE;
cparata	3:4274d9103f1d	1924
cparata	3:4274d9103f1d	1925	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1926	return 1;
cparata	3:4274d9103f1d	1927	}
cparata	3:4274d9103f1d	1928
cparata	3:4274d9103f1d	1929	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0) {
cparata	3:4274d9103f1d	1930	return 1;
cparata	3:4274d9103f1d	1931	}
cparata	3:4274d9103f1d	1932
cparata	3:4274d9103f1d	1933	val2.md2_cfg.int2_single_tap = PROPERTY_DISABLE;
cparata	3:4274d9103f1d	1934
cparata	3:4274d9103f1d	1935	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0) {
cparata	3:4274d9103f1d	1936	return 1;
cparata	3:4274d9103f1d	1937	}
cparata	3:4274d9103f1d	1938
cparata	3:4274d9103f1d	1939	/* Reset tap quiet time window. */
cparata	3:4274d9103f1d	1940	if (lsm6dso_tap_quiet_set(&_reg_ctx, 0x00) != 0) {
cparata	3:4274d9103f1d	1941	return 1;
cparata	3:4274d9103f1d	1942	}
cparata	3:4274d9103f1d	1943
cparata	3:4274d9103f1d	1944	/* Reset tap shock time window. */
cparata	3:4274d9103f1d	1945	if (lsm6dso_tap_shock_set(&_reg_ctx, 0x00) != 0) {
cparata	3:4274d9103f1d	1946	return 1;
cparata	3:4274d9103f1d	1947	}
cparata	3:4274d9103f1d	1948
cparata	3:4274d9103f1d	1949	/* Reset tap threshold. */
cparata	3:4274d9103f1d	1950	if (lsm6dso_tap_threshold_x_set(&_reg_ctx, 0x00) != 0) {
cparata	3:4274d9103f1d	1951	return 1;
cparata	3:4274d9103f1d	1952	}
cparata	3:4274d9103f1d	1953
cparata	3:4274d9103f1d	1954	/* Disable Z direction in tap recognition. */
cparata	3:4274d9103f1d	1955	if (lsm6dso_tap_detection_on_z_set(&_reg_ctx, PROPERTY_DISABLE) != 0) {
cparata	3:4274d9103f1d	1956	return 1;
cparata	3:4274d9103f1d	1957	}
cparata	3:4274d9103f1d	1958
cparata	3:4274d9103f1d	1959	/* Disable Y direction in tap recognition. */
cparata	3:4274d9103f1d	1960	if (lsm6dso_tap_detection_on_y_set(&_reg_ctx, PROPERTY_DISABLE) != 0) {
cparata	3:4274d9103f1d	1961	return 1;
cparata	3:4274d9103f1d	1962	}
cparata	3:4274d9103f1d	1963
cparata	3:4274d9103f1d	1964	/* Disable X direction in tap recognition. */
cparata	3:4274d9103f1d	1965	if (lsm6dso_tap_detection_on_x_set(&_reg_ctx, PROPERTY_DISABLE) != 0) {
cparata	3:4274d9103f1d	1966	return 1;
cparata	3:4274d9103f1d	1967	}
cparata	3:4274d9103f1d	1968
cparata	3:4274d9103f1d	1969	return 0;
cparata	0:6d69e896ce38	1970	}
cparata	0:6d69e896ce38	1971
cparata	0:6d69e896ce38	1972	/**
cparata	0:6d69e896ce38	1973	* @brief Enable double tap detection
cparata	0:6d69e896ce38	1974	* @param int_pin interrupt pin line to be used
cparata	0:6d69e896ce38	1975	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1976	*/
cparata	0:6d69e896ce38	1977	int LSM6DSOSensor::enable_double_tap_detection(LSM6DSO_Interrupt_Pin_t int_pin)
cparata	0:6d69e896ce38	1978	{
cparata	3:4274d9103f1d	1979	int ret = 0;
cparata	3:4274d9103f1d	1980	lsm6dso_pin_int1_route_t val1;
cparata	3:4274d9103f1d	1981	lsm6dso_pin_int2_route_t val2;
cparata	3:4274d9103f1d	1982
cparata	3:4274d9103f1d	1983	/* Output Data Rate selection */
cparata	3:4274d9103f1d	1984	if (set_x_odr(416.0f) != 0) {
cparata	3:4274d9103f1d	1985	return 1;
cparata	3:4274d9103f1d	1986	}
cparata	3:4274d9103f1d	1987
cparata	3:4274d9103f1d	1988	/* Full scale selection */
cparata	3:4274d9103f1d	1989	if (set_x_fs(2.0f) != 0) {
cparata	3:4274d9103f1d	1990	return 1;
cparata	3:4274d9103f1d	1991	}
cparata	3:4274d9103f1d	1992
cparata	3:4274d9103f1d	1993	/* Enable X direction in tap recognition. */
cparata	3:4274d9103f1d	1994	if (lsm6dso_tap_detection_on_x_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
cparata	3:4274d9103f1d	1995	return 1;
cparata	3:4274d9103f1d	1996	}
cparata	3:4274d9103f1d	1997
cparata	3:4274d9103f1d	1998	/* Enable Y direction in tap recognition. */
cparata	3:4274d9103f1d	1999	if (lsm6dso_tap_detection_on_y_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
cparata	3:4274d9103f1d	2000	return 1;
cparata	3:4274d9103f1d	2001	}
cparata	3:4274d9103f1d	2002
cparata	3:4274d9103f1d	2003	/* Enable Z direction in tap recognition. */
cparata	3:4274d9103f1d	2004	if (lsm6dso_tap_detection_on_z_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
cparata	3:4274d9103f1d	2005	return 1;
cparata	3:4274d9103f1d	2006	}
cparata	3:4274d9103f1d	2007
cparata	3:4274d9103f1d	2008	/* Set tap threshold. */
cparata	3:4274d9103f1d	2009	if (lsm6dso_tap_threshold_x_set(&_reg_ctx, 0x08) != 0) {
cparata	3:4274d9103f1d	2010	return 1;
cparata	3:4274d9103f1d	2011	}
cparata	3:4274d9103f1d	2012
cparata	3:4274d9103f1d	2013	/* Set tap shock time window. */
cparata	3:4274d9103f1d	2014	if (lsm6dso_tap_shock_set(&_reg_ctx, 0x03) != 0) {
cparata	3:4274d9103f1d	2015	return 1;
cparata	3:4274d9103f1d	2016	}
cparata	3:4274d9103f1d	2017
cparata	3:4274d9103f1d	2018	/* Set tap quiet time window. */
cparata	3:4274d9103f1d	2019	if (lsm6dso_tap_quiet_set(&_reg_ctx, 0x03) != 0) {
cparata	0:6d69e896ce38	2020	return 1;
cparata	3:4274d9103f1d	2021	}
cparata	3:4274d9103f1d	2022
cparata	3:4274d9103f1d	2023	/* Set tap duration time window. */
cparata	3:4274d9103f1d	2024	if (lsm6dso_tap_dur_set(&_reg_ctx, 0x08) != 0) {
cparata	0:6d69e896ce38	2025	return 1;
cparata	3:4274d9103f1d	2026	}
cparata	3:4274d9103f1d	2027
cparata	3:4274d9103f1d	2028	/* Single and double tap enabled. */
cparata	3:4274d9103f1d	2029	if (lsm6dso_tap_mode_set(&_reg_ctx, LSM6DSO_BOTH_SINGLE_DOUBLE) != 0) {
cparata	0:6d69e896ce38	2030	return 1;
cparata	3:4274d9103f1d	2031	}
cparata	3:4274d9103f1d	2032
cparata	3:4274d9103f1d	2033	/* Enable double tap event on either INT1 or INT2 pin */
cparata	3:4274d9103f1d	2034	switch (int_pin) {
cparata	3:4274d9103f1d	2035	case LSM6DSO_INT1_PIN:
cparata	3:4274d9103f1d	2036	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	2037	return 1;
cparata	3:4274d9103f1d	2038	}
cparata	3:4274d9103f1d	2039
cparata	3:4274d9103f1d	2040	val1.md1_cfg.int1_double_tap = PROPERTY_ENABLE;
cparata	3:4274d9103f1d	2041
cparata	3:4274d9103f1d	2042	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	2043	return 1;
cparata	3:4274d9103f1d	2044	}
cparata	3:4274d9103f1d	2045	break;
cparata	3:4274d9103f1d	2046
cparata	3:4274d9103f1d	2047	case LSM6DSO_INT2_PIN:
cparata	3:4274d9103f1d	2048	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0) {
cparata	3:4274d9103f1d	2049	return 1;
cparata	3:4274d9103f1d	2050	}
cparata	3:4274d9103f1d	2051
cparata	3:4274d9103f1d	2052	val2.md2_cfg.int2_double_tap = PROPERTY_ENABLE;
cparata	3:4274d9103f1d	2053
cparata	3:4274d9103f1d	2054	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0) {
cparata	3:4274d9103f1d	2055	return 1;
cparata	3:4274d9103f1d	2056	}
cparata	3:4274d9103f1d	2057	break;
cparata	3:4274d9103f1d	2058
cparata	3:4274d9103f1d	2059	default:
cparata	3:4274d9103f1d	2060	ret = 1;
cparata	3:4274d9103f1d	2061	break;
cparata	3:4274d9103f1d	2062	}
cparata	3:4274d9103f1d	2063
cparata	3:4274d9103f1d	2064	return ret;
cparata	0:6d69e896ce38	2065	}
cparata	0:6d69e896ce38	2066
cparata	0:6d69e896ce38	2067	/**
cparata	0:6d69e896ce38	2068	* @brief Disable double tap detection
cparata	0:6d69e896ce38	2069	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2070	*/
cparata	0:6d69e896ce38	2071	int LSM6DSOSensor::disable_double_tap_detection()
cparata	0:6d69e896ce38	2072	{
cparata	3:4274d9103f1d	2073	lsm6dso_pin_int1_route_t val1;
cparata	3:4274d9103f1d	2074	lsm6dso_pin_int2_route_t val2;
cparata	3:4274d9103f1d	2075
cparata	3:4274d9103f1d	2076	/* Disable double tap event on both INT1 and INT2 pins */
cparata	3:4274d9103f1d	2077	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	2078	return 1;
cparata	3:4274d9103f1d	2079	}
cparata	3:4274d9103f1d	2080
cparata	3:4274d9103f1d	2081	val1.md1_cfg.int1_double_tap = PROPERTY_DISABLE;
cparata	3:4274d9103f1d	2082
cparata	3:4274d9103f1d	2083	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	2084	return 1;
cparata	3:4274d9103f1d	2085	}
cparata	3:4274d9103f1d	2086
cparata	3:4274d9103f1d	2087	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0) {
cparata	3:4274d9103f1d	2088	return 1;
cparata	3:4274d9103f1d	2089	}
cparata	3:4274d9103f1d	2090
cparata	3:4274d9103f1d	2091	val2.md2_cfg.int2_double_tap = PROPERTY_DISABLE;
cparata	3:4274d9103f1d	2092
cparata	3:4274d9103f1d	2093	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0) {
cparata	3:4274d9103f1d	2094	return 1;
cparata	3:4274d9103f1d	2095	}
cparata	3:4274d9103f1d	2096
cparata	3:4274d9103f1d	2097	/* Only single tap enabled. */
cparata	3:4274d9103f1d	2098	if (lsm6dso_tap_mode_set(&_reg_ctx, LSM6DSO_ONLY_SINGLE) != 0) {
cparata	3:4274d9103f1d	2099	return 1;
cparata	3:4274d9103f1d	2100	}
cparata	3:4274d9103f1d	2101
cparata	3:4274d9103f1d	2102	/* Reset tap duration time window. */
cparata	3:4274d9103f1d	2103	if (lsm6dso_tap_dur_set(&_reg_ctx, 0x00) != 0) {
cparata	3:4274d9103f1d	2104	return 1;
cparata	3:4274d9103f1d	2105	}
cparata	3:4274d9103f1d	2106
cparata	3:4274d9103f1d	2107	/* Reset tap quiet time window. */
cparata	3:4274d9103f1d	2108	if (lsm6dso_tap_quiet_set(&_reg_ctx, 0x00) != 0) {
cparata	3:4274d9103f1d	2109	return 1;
cparata	3:4274d9103f1d	2110	}
cparata	3:4274d9103f1d	2111
cparata	3:4274d9103f1d	2112	/* Reset tap shock time window. */
cparata	3:4274d9103f1d	2113	if (lsm6dso_tap_shock_set(&_reg_ctx, 0x00) != 0) {
cparata	3:4274d9103f1d	2114	return 1;
cparata	3:4274d9103f1d	2115	}
cparata	3:4274d9103f1d	2116
cparata	3:4274d9103f1d	2117	/* Reset tap threshold. */
cparata	3:4274d9103f1d	2118	if (lsm6dso_tap_threshold_x_set(&_reg_ctx, 0x00) != 0) {
cparata	3:4274d9103f1d	2119	return 1;
cparata	3:4274d9103f1d	2120	}
cparata	3:4274d9103f1d	2121
cparata	3:4274d9103f1d	2122	/* Disable Z direction in tap recognition. */
cparata	3:4274d9103f1d	2123	if (lsm6dso_tap_detection_on_z_set(&_reg_ctx, PROPERTY_DISABLE) != 0) {
cparata	3:4274d9103f1d	2124	return 1;
cparata	3:4274d9103f1d	2125	}
cparata	3:4274d9103f1d	2126
cparata	3:4274d9103f1d	2127	/* Disable Y direction in tap recognition. */
cparata	3:4274d9103f1d	2128	if (lsm6dso_tap_detection_on_y_set(&_reg_ctx, PROPERTY_DISABLE) != 0) {
cparata	3:4274d9103f1d	2129	return 1;
cparata	3:4274d9103f1d	2130	}
cparata	3:4274d9103f1d	2131
cparata	3:4274d9103f1d	2132	/* Disable X direction in tap recognition. */
cparata	3:4274d9103f1d	2133	if (lsm6dso_tap_detection_on_x_set(&_reg_ctx, PROPERTY_DISABLE) != 0) {
cparata	3:4274d9103f1d	2134	return 1;
cparata	3:4274d9103f1d	2135	}
cparata	3:4274d9103f1d	2136
cparata	3:4274d9103f1d	2137	return 0;
cparata	0:6d69e896ce38	2138	}
cparata	0:6d69e896ce38	2139
cparata	0:6d69e896ce38	2140	/**
cparata	0:6d69e896ce38	2141	* @brief Set tap threshold
cparata	0:6d69e896ce38	2142	* @param thr tap threshold
cparata	0:6d69e896ce38	2143	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2144	*/
cparata	0:6d69e896ce38	2145	int LSM6DSOSensor::set_tap_threshold(uint8_t thr)
cparata	0:6d69e896ce38	2146	{
cparata	3:4274d9103f1d	2147	/* Set tap threshold. */
cparata	3:4274d9103f1d	2148	if (lsm6dso_tap_threshold_x_set(&_reg_ctx, thr) != 0) {
cparata	3:4274d9103f1d	2149	return 1;
cparata	3:4274d9103f1d	2150	}
cparata	3:4274d9103f1d	2151
cparata	3:4274d9103f1d	2152	return 0;
cparata	0:6d69e896ce38	2153	}
cparata	0:6d69e896ce38	2154
cparata	0:6d69e896ce38	2155	/**
cparata	0:6d69e896ce38	2156	* @brief Set tap shock time
cparata	0:6d69e896ce38	2157	* @param time tap shock time
cparata	0:6d69e896ce38	2158	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2159	*/
cparata	0:6d69e896ce38	2160	int LSM6DSOSensor::set_tap_shock_time(uint8_t time)
cparata	0:6d69e896ce38	2161	{
cparata	3:4274d9103f1d	2162	/* Set tap shock time window. */
cparata	3:4274d9103f1d	2163	if (lsm6dso_tap_shock_set(&_reg_ctx, time) != 0) {
cparata	3:4274d9103f1d	2164	return 1;
cparata	3:4274d9103f1d	2165	}
cparata	3:4274d9103f1d	2166
cparata	3:4274d9103f1d	2167	return 0;
cparata	0:6d69e896ce38	2168	}
cparata	0:6d69e896ce38	2169
cparata	0:6d69e896ce38	2170	/**
cparata	0:6d69e896ce38	2171	* @brief Set tap quiet time
cparata	0:6d69e896ce38	2172	* @param time tap quiet time
cparata	0:6d69e896ce38	2173	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2174	*/
cparata	0:6d69e896ce38	2175	int LSM6DSOSensor::set_tap_quiet_time(uint8_t time)
cparata	0:6d69e896ce38	2176	{
cparata	3:4274d9103f1d	2177	/* Set tap quiet time window. */
cparata	3:4274d9103f1d	2178	if (lsm6dso_tap_quiet_set(&_reg_ctx, time) != 0) {
cparata	3:4274d9103f1d	2179	return 1;
cparata	3:4274d9103f1d	2180	}
cparata	3:4274d9103f1d	2181
cparata	3:4274d9103f1d	2182	return 0;
cparata	0:6d69e896ce38	2183	}
cparata	0:6d69e896ce38	2184
cparata	0:6d69e896ce38	2185	/**
cparata	0:6d69e896ce38	2186	* @brief Set tap duration time
cparata	0:6d69e896ce38	2187	* @param time tap duration time
cparata	0:6d69e896ce38	2188	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2189	*/
cparata	0:6d69e896ce38	2190	int LSM6DSOSensor::set_tap_duration_time(uint8_t time)
cparata	0:6d69e896ce38	2191	{
cparata	3:4274d9103f1d	2192	/* Set tap duration time window. */
cparata	3:4274d9103f1d	2193	if (lsm6dso_tap_dur_set(&_reg_ctx, time) != 0) {
cparata	3:4274d9103f1d	2194	return 1;
cparata	3:4274d9103f1d	2195	}
cparata	3:4274d9103f1d	2196
cparata	3:4274d9103f1d	2197	return 0;
cparata	0:6d69e896ce38	2198	}
cparata	0:6d69e896ce38	2199
cparata	0:6d69e896ce38	2200	/**
cparata	0:6d69e896ce38	2201	* @brief Enable 6D orientation detection
cparata	0:6d69e896ce38	2202	* @param int_pin interrupt pin line to be used
cparata	0:6d69e896ce38	2203	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2204	*/
cparata	0:6d69e896ce38	2205	int LSM6DSOSensor::enable_6d_orientation(LSM6DSO_Interrupt_Pin_t int_pin)
cparata	0:6d69e896ce38	2206	{
cparata	3:4274d9103f1d	2207	int ret = 0;
cparata	3:4274d9103f1d	2208	lsm6dso_pin_int1_route_t val1;
cparata	3:4274d9103f1d	2209	lsm6dso_pin_int2_route_t val2;
cparata	3:4274d9103f1d	2210
cparata	3:4274d9103f1d	2211	/* Output Data Rate selection */
cparata	3:4274d9103f1d	2212	if (set_x_odr(416.0f) != 0) {
cparata	3:4274d9103f1d	2213	return 1;
cparata	3:4274d9103f1d	2214	}
cparata	3:4274d9103f1d	2215
cparata	3:4274d9103f1d	2216	/* Full scale selection */
cparata	3:4274d9103f1d	2217	if (set_x_fs(2.0f) != 0) {
cparata	3:4274d9103f1d	2218	return 1;
cparata	3:4274d9103f1d	2219	}
cparata	3:4274d9103f1d	2220
cparata	3:4274d9103f1d	2221	/* 6D orientation enabled. */
cparata	3:4274d9103f1d	2222	if (lsm6dso_6d_threshold_set(&_reg_ctx, LSM6DSO_DEG_60) != 0) {
cparata	0:6d69e896ce38	2223	return 1;
cparata	3:4274d9103f1d	2224	}
cparata	3:4274d9103f1d	2225
cparata	3:4274d9103f1d	2226	/* Enable 6D orientation event on either INT1 or INT2 pin */
cparata	3:4274d9103f1d	2227	switch (int_pin) {
cparata	3:4274d9103f1d	2228	case LSM6DSO_INT1_PIN:
cparata	3:4274d9103f1d	2229	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	2230	return 1;
cparata	3:4274d9103f1d	2231	}
cparata	3:4274d9103f1d	2232
cparata	3:4274d9103f1d	2233	val1.md1_cfg.int1_6d = PROPERTY_ENABLE;
cparata	3:4274d9103f1d	2234
cparata	3:4274d9103f1d	2235	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	2236	return 1;
cparata	3:4274d9103f1d	2237	}
cparata	3:4274d9103f1d	2238	break;
cparata	3:4274d9103f1d	2239
cparata	3:4274d9103f1d	2240	case LSM6DSO_INT2_PIN:
cparata	3:4274d9103f1d	2241	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0) {
cparata	3:4274d9103f1d	2242	return 1;
cparata	3:4274d9103f1d	2243	}
cparata	3:4274d9103f1d	2244
cparata	3:4274d9103f1d	2245	val2.md2_cfg.int2_6d = PROPERTY_ENABLE;
cparata	3:4274d9103f1d	2246
cparata	3:4274d9103f1d	2247	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0) {
cparata	3:4274d9103f1d	2248	return 1;
cparata	3:4274d9103f1d	2249	}
cparata	3:4274d9103f1d	2250	break;
cparata	3:4274d9103f1d	2251
cparata	3:4274d9103f1d	2252	default:
cparata	3:4274d9103f1d	2253	ret = 1;
cparata	3:4274d9103f1d	2254	break;
cparata	3:4274d9103f1d	2255	}
cparata	3:4274d9103f1d	2256
cparata	3:4274d9103f1d	2257	return ret;
cparata	0:6d69e896ce38	2258	}
cparata	0:6d69e896ce38	2259
cparata	0:6d69e896ce38	2260	/**
cparata	0:6d69e896ce38	2261	* @brief Disable 6D orientation detection
cparata	0:6d69e896ce38	2262	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2263	*/
cparata	0:6d69e896ce38	2264	int LSM6DSOSensor::disable_6d_orientation()
cparata	0:6d69e896ce38	2265	{
cparata	3:4274d9103f1d	2266	lsm6dso_pin_int1_route_t val1;
cparata	3:4274d9103f1d	2267	lsm6dso_pin_int2_route_t val2;
cparata	3:4274d9103f1d	2268
cparata	3:4274d9103f1d	2269	/* Disable 6D orientation event on both INT1 and INT2 pins */
cparata	3:4274d9103f1d	2270	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	2271	return 1;
cparata	3:4274d9103f1d	2272	}
cparata	3:4274d9103f1d	2273
cparata	3:4274d9103f1d	2274	val1.md1_cfg.int1_6d = PROPERTY_DISABLE;
cparata	3:4274d9103f1d	2275
cparata	3:4274d9103f1d	2276	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	2277	return 1;
cparata	3:4274d9103f1d	2278	}
cparata	3:4274d9103f1d	2279
cparata	3:4274d9103f1d	2280	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0) {
cparata	3:4274d9103f1d	2281	return 1;
cparata	3:4274d9103f1d	2282	}
cparata	3:4274d9103f1d	2283
cparata	3:4274d9103f1d	2284	val2.md2_cfg.int2_6d = PROPERTY_DISABLE;
cparata	3:4274d9103f1d	2285
cparata	3:4274d9103f1d	2286	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0) {
cparata	3:4274d9103f1d	2287	return 1;
cparata	3:4274d9103f1d	2288	}
cparata	3:4274d9103f1d	2289
cparata	3:4274d9103f1d	2290	/* Reset 6D orientation. */
cparata	3:4274d9103f1d	2291	if (lsm6dso_6d_threshold_set(&_reg_ctx, LSM6DSO_DEG_80) != 0) {
cparata	3:4274d9103f1d	2292	return 1;
cparata	3:4274d9103f1d	2293	}
cparata	3:4274d9103f1d	2294
cparata	3:4274d9103f1d	2295	return 0;
cparata	0:6d69e896ce38	2296	}
cparata	0:6d69e896ce38	2297
cparata	0:6d69e896ce38	2298	/**
cparata	0:6d69e896ce38	2299	* @brief Set 6D orientation threshold
cparata	0:6d69e896ce38	2300	* @param thr 6D Orientation detection threshold
cparata	0:6d69e896ce38	2301	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2302	*/
cparata	0:6d69e896ce38	2303	int LSM6DSOSensor::set_6d_orientation_threshold(uint8_t thr)
cparata	0:6d69e896ce38	2304	{
cparata	3:4274d9103f1d	2305	if (lsm6dso_6d_threshold_set(&_reg_ctx, (lsm6dso_sixd_ths_t)thr) != 0) {
cparata	3:4274d9103f1d	2306	return 1;
cparata	3:4274d9103f1d	2307	}
cparata	3:4274d9103f1d	2308
cparata	3:4274d9103f1d	2309	return 0;
cparata	0:6d69e896ce38	2310	}
cparata	0:6d69e896ce38	2311
cparata	0:6d69e896ce38	2312	/**
cparata	0:6d69e896ce38	2313	* @brief Get the status of XLow orientation
cparata	0:6d69e896ce38	2314	* @param xl the status of XLow orientation
cparata	0:6d69e896ce38	2315	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2316	*/
cparata	0:6d69e896ce38	2317	int LSM6DSOSensor::get_6d_orientation_xl(uint8_t *xl)
cparata	0:6d69e896ce38	2318	{
cparata	3:4274d9103f1d	2319	lsm6dso_d6d_src_t data;
cparata	3:4274d9103f1d	2320
cparata	3:4274d9103f1d	2321	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0) {
cparata	3:4274d9103f1d	2322	return 1;
cparata	3:4274d9103f1d	2323	}
cparata	3:4274d9103f1d	2324
cparata	3:4274d9103f1d	2325	*xl = data.xl;
cparata	3:4274d9103f1d	2326
cparata	3:4274d9103f1d	2327	return 0;
cparata	0:6d69e896ce38	2328	}
cparata	0:6d69e896ce38	2329
cparata	0:6d69e896ce38	2330	/**
cparata	0:6d69e896ce38	2331	* @brief Get the status of XHigh orientation
cparata	0:6d69e896ce38	2332	* @param xh the status of XHigh orientation
cparata	0:6d69e896ce38	2333	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2334	*/
cparata	0:6d69e896ce38	2335	int LSM6DSOSensor::get_6d_orientation_xh(uint8_t *xh)
cparata	0:6d69e896ce38	2336	{
cparata	3:4274d9103f1d	2337	lsm6dso_d6d_src_t data;
cparata	3:4274d9103f1d	2338
cparata	3:4274d9103f1d	2339	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0) {
cparata	3:4274d9103f1d	2340	return 1;
cparata	3:4274d9103f1d	2341	}
cparata	3:4274d9103f1d	2342
cparata	3:4274d9103f1d	2343	*xh = data.xh;
cparata	3:4274d9103f1d	2344
cparata	3:4274d9103f1d	2345	return 0;
cparata	0:6d69e896ce38	2346	}
cparata	0:6d69e896ce38	2347
cparata	0:6d69e896ce38	2348	/**
cparata	0:6d69e896ce38	2349	* @brief Get the status of YLow orientation
cparata	0:6d69e896ce38	2350	* @param yl the status of YLow orientation
cparata	0:6d69e896ce38	2351	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2352	*/
cparata	0:6d69e896ce38	2353	int LSM6DSOSensor::get_6d_orientation_yl(uint8_t *yl)
cparata	0:6d69e896ce38	2354	{
cparata	3:4274d9103f1d	2355	lsm6dso_d6d_src_t data;
cparata	3:4274d9103f1d	2356
cparata	3:4274d9103f1d	2357	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0) {
cparata	3:4274d9103f1d	2358	return 1;
cparata	3:4274d9103f1d	2359	}
cparata	3:4274d9103f1d	2360
cparata	3:4274d9103f1d	2361	*yl = data.yl;
cparata	3:4274d9103f1d	2362
cparata	3:4274d9103f1d	2363	return 0;
cparata	0:6d69e896ce38	2364	}
cparata	0:6d69e896ce38	2365
cparata	0:6d69e896ce38	2366	/**
cparata	0:6d69e896ce38	2367	* @brief Get the status of YHigh orientation
cparata	0:6d69e896ce38	2368	* @param yh the status of YHigh orientation
cparata	0:6d69e896ce38	2369	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2370	*/
cparata	0:6d69e896ce38	2371	int LSM6DSOSensor::get_6d_orientation_yh(uint8_t *yh)
cparata	0:6d69e896ce38	2372	{
cparata	3:4274d9103f1d	2373	lsm6dso_d6d_src_t data;
cparata	3:4274d9103f1d	2374
cparata	3:4274d9103f1d	2375	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0) {
cparata	3:4274d9103f1d	2376	return 1;
cparata	3:4274d9103f1d	2377	}
cparata	3:4274d9103f1d	2378
cparata	3:4274d9103f1d	2379	*yh = data.yh;
cparata	3:4274d9103f1d	2380
cparata	3:4274d9103f1d	2381	return 0;
cparata	0:6d69e896ce38	2382	}
cparata	0:6d69e896ce38	2383
cparata	0:6d69e896ce38	2384	/**
cparata	0:6d69e896ce38	2385	* @brief Get the status of ZLow orientation
cparata	0:6d69e896ce38	2386	* @param zl the status of ZLow orientation
cparata	0:6d69e896ce38	2387	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2388	*/
cparata	0:6d69e896ce38	2389	int LSM6DSOSensor::get_6d_orientation_zl(uint8_t *zl)
cparata	0:6d69e896ce38	2390	{
cparata	3:4274d9103f1d	2391	lsm6dso_d6d_src_t data;
cparata	3:4274d9103f1d	2392
cparata	3:4274d9103f1d	2393	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0) {
cparata	3:4274d9103f1d	2394	return 1;
cparata	3:4274d9103f1d	2395	}
cparata	3:4274d9103f1d	2396
cparata	3:4274d9103f1d	2397	*zl = data.zl;
cparata	3:4274d9103f1d	2398
cparata	3:4274d9103f1d	2399	return 0;
cparata	0:6d69e896ce38	2400	}
cparata	0:6d69e896ce38	2401
cparata	0:6d69e896ce38	2402	/**
cparata	0:6d69e896ce38	2403	* @brief Get the status of ZHigh orientation
cparata	0:6d69e896ce38	2404	* @param zh the status of ZHigh orientation
cparata	0:6d69e896ce38	2405	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2406	*/
cparata	0:6d69e896ce38	2407	int LSM6DSOSensor::get_6d_orientation_zh(uint8_t *zh)
cparata	0:6d69e896ce38	2408	{
cparata	3:4274d9103f1d	2409	lsm6dso_d6d_src_t data;
cparata	3:4274d9103f1d	2410
cparata	3:4274d9103f1d	2411	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0) {
cparata	3:4274d9103f1d	2412	return 1;
cparata	3:4274d9103f1d	2413	}
cparata	3:4274d9103f1d	2414
cparata	3:4274d9103f1d	2415	*zh = data.zh;
cparata	3:4274d9103f1d	2416
cparata	3:4274d9103f1d	2417	return 0;
cparata	0:6d69e896ce38	2418	}
cparata	0:6d69e896ce38	2419
cparata	0:6d69e896ce38	2420	/**
cparata	0:6d69e896ce38	2421	* @brief Get the LSM6DSO ACC data ready bit value
cparata	0:6d69e896ce38	2422	* @param status the status of data ready bit
cparata	0:6d69e896ce38	2423	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2424	*/
cparata	0:6d69e896ce38	2425	int LSM6DSOSensor::get_x_drdy_status(uint8_t *status)
cparata	0:6d69e896ce38	2426	{
cparata	3:4274d9103f1d	2427	if (lsm6dso_xl_flag_data_ready_get(&_reg_ctx, status) != 0) {
cparata	3:4274d9103f1d	2428	return 1;
cparata	3:4274d9103f1d	2429	}
cparata	3:4274d9103f1d	2430
cparata	3:4274d9103f1d	2431	return 0;
cparata	0:6d69e896ce38	2432	}
cparata	0:6d69e896ce38	2433
cparata	0:6d69e896ce38	2434	/**
cparata	0:6d69e896ce38	2435	* @brief Get the status of all hardware events
cparata	0:6d69e896ce38	2436	* @param status the status of all hardware events
cparata	0:6d69e896ce38	2437	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2438	*/
cparata	0:6d69e896ce38	2439	int LSM6DSOSensor::get_event_status(LSM6DSO_Event_Status_t *status)
cparata	0:6d69e896ce38	2440	{
cparata	3:4274d9103f1d	2441	uint8_t tilt_ia = 0U;
cparata	3:4274d9103f1d	2442	lsm6dso_wake_up_src_t wake_up_src;
cparata	3:4274d9103f1d	2443	lsm6dso_tap_src_t tap_src;
cparata	3:4274d9103f1d	2444	lsm6dso_d6d_src_t d6d_src;
cparata	3:4274d9103f1d	2445	lsm6dso_emb_func_src_t func_src;
cparata	3:4274d9103f1d	2446	lsm6dso_md1_cfg_t md1_cfg;
cparata	3:4274d9103f1d	2447	lsm6dso_md2_cfg_t md2_cfg;
cparata	3:4274d9103f1d	2448	lsm6dso_emb_func_int1_t int1_ctrl;
cparata	3:4274d9103f1d	2449	lsm6dso_emb_func_int2_t int2_ctrl;
cparata	3:4274d9103f1d	2450
cparata	3:4274d9103f1d	2451	(void)memset((void *)status, 0x0, sizeof(LSM6DSO_Event_Status_t));
cparata	3:4274d9103f1d	2452
cparata	3:4274d9103f1d	2453	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_WAKE_UP_SRC, (uint8_t *)&wake_up_src, 1) != 0) {
cparata	3:4274d9103f1d	2454	return 1;
cparata	3:4274d9103f1d	2455	}
cparata	3:4274d9103f1d	2456
cparata	3:4274d9103f1d	2457	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_TAP_SRC, (uint8_t *)&tap_src, 1) != 0) {
cparata	3:4274d9103f1d	2458	return 1;
cparata	3:4274d9103f1d	2459	}
cparata	3:4274d9103f1d	2460
cparata	3:4274d9103f1d	2461	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&d6d_src, 1) != 0) {
cparata	3:4274d9103f1d	2462	return 1;
cparata	3:4274d9103f1d	2463	}
cparata	3:4274d9103f1d	2464
cparata	3:4274d9103f1d	2465	if (lsm6dso_mem_bank_set(&_reg_ctx, LSM6DSO_EMBEDDED_FUNC_BANK) != 0) {
cparata	3:4274d9103f1d	2466	return 1;
cparata	3:4274d9103f1d	2467	}
cparata	3:4274d9103f1d	2468
cparata	3:4274d9103f1d	2469	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_EMB_FUNC_SRC, (uint8_t *)&func_src, 1) != 0) {
cparata	3:4274d9103f1d	2470	return 1;
cparata	3:4274d9103f1d	2471	}
cparata	3:4274d9103f1d	2472
cparata	3:4274d9103f1d	2473	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_EMB_FUNC_INT1, (uint8_t *)&int1_ctrl, 1) != 0) {
cparata	3:4274d9103f1d	2474	return 1;
cparata	3:4274d9103f1d	2475	}
cparata	3:4274d9103f1d	2476
cparata	3:4274d9103f1d	2477	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_EMB_FUNC_INT2, (uint8_t *)&int2_ctrl, 1) != 0) {
cparata	3:4274d9103f1d	2478	return 1;
cparata	3:4274d9103f1d	2479	}
cparata	3:4274d9103f1d	2480
cparata	3:4274d9103f1d	2481	if (lsm6dso_mem_bank_set(&_reg_ctx, LSM6DSO_USER_BANK) != 0) {
cparata	3:4274d9103f1d	2482	return 1;
cparata	3:4274d9103f1d	2483	}
cparata	3:4274d9103f1d	2484
cparata	3:4274d9103f1d	2485	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_MD1_CFG, (uint8_t *)&md1_cfg, 1) != 0) {
cparata	3:4274d9103f1d	2486	return 1;
cparata	0:6d69e896ce38	2487	}
cparata	3:4274d9103f1d	2488
cparata	3:4274d9103f1d	2489	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_MD2_CFG, (uint8_t *)&md2_cfg, 1) != 0) {
cparata	3:4274d9103f1d	2490	return 1;
cparata	3:4274d9103f1d	2491	}
cparata	3:4274d9103f1d	2492
cparata	3:4274d9103f1d	2493	if (lsm6dso_tilt_flag_data_ready_get(&_reg_ctx, &tilt_ia) != 0) {
cparata	3:4274d9103f1d	2494	return 1;
cparata	0:6d69e896ce38	2495	}
cparata	3:4274d9103f1d	2496
cparata	3:4274d9103f1d	2497	if ((md1_cfg.int1_ff == 1U) \|\| (md2_cfg.int2_ff == 1U)) {
cparata	3:4274d9103f1d	2498	if (wake_up_src.ff_ia == 1U) {
cparata	3:4274d9103f1d	2499	status->FreeFallStatus = 1;
cparata	3:4274d9103f1d	2500	}
cparata	0:6d69e896ce38	2501	}
cparata	3:4274d9103f1d	2502
cparata	3:4274d9103f1d	2503	if ((md1_cfg.int1_wu == 1U) \|\| (md2_cfg.int2_wu == 1U)) {
cparata	3:4274d9103f1d	2504	if (wake_up_src.wu_ia == 1U) {
cparata	3:4274d9103f1d	2505	status->WakeUpStatus = 1;
cparata	3:4274d9103f1d	2506	}
cparata	3:4274d9103f1d	2507	}
cparata	3:4274d9103f1d	2508
cparata	3:4274d9103f1d	2509	if ((md1_cfg.int1_single_tap == 1U) \|\| (md2_cfg.int2_single_tap == 1U)) {
cparata	3:4274d9103f1d	2510	if (tap_src.single_tap == 1U) {
cparata	3:4274d9103f1d	2511	status->TapStatus = 1;
cparata	3:4274d9103f1d	2512	}
cparata	0:6d69e896ce38	2513	}
cparata	3:4274d9103f1d	2514
cparata	3:4274d9103f1d	2515	if ((md1_cfg.int1_double_tap == 1U) \|\| (md2_cfg.int2_double_tap == 1U)) {
cparata	3:4274d9103f1d	2516	if (tap_src.double_tap == 1U) {
cparata	3:4274d9103f1d	2517	status->DoubleTapStatus = 1;
cparata	3:4274d9103f1d	2518	}
cparata	3:4274d9103f1d	2519	}
cparata	3:4274d9103f1d	2520
cparata	3:4274d9103f1d	2521	if ((md1_cfg.int1_6d == 1U) \|\| (md2_cfg.int2_6d == 1U)) {
cparata	3:4274d9103f1d	2522	if (d6d_src.d6d_ia == 1U) {
cparata	3:4274d9103f1d	2523	status->D6DOrientationStatus = 1;
cparata	3:4274d9103f1d	2524	}
cparata	0:6d69e896ce38	2525	}
cparata	3:4274d9103f1d	2526
cparata	3:4274d9103f1d	2527	if (int1_ctrl.int1_step_detector == 1U) {
cparata	3:4274d9103f1d	2528	if (func_src.step_detected == 1U) {
cparata	3:4274d9103f1d	2529	status->StepStatus = 1;
cparata	3:4274d9103f1d	2530	}
cparata	0:6d69e896ce38	2531	}
cparata	3:4274d9103f1d	2532
cparata	3:4274d9103f1d	2533	if ((int1_ctrl.int1_tilt == 1U) \|\| (int2_ctrl.int2_tilt == 1U)) {
cparata	3:4274d9103f1d	2534	if (tilt_ia == 1U) {
cparata	3:4274d9103f1d	2535	status->TiltStatus = 1;
cparata	3:4274d9103f1d	2536	}
cparata	0:6d69e896ce38	2537	}
cparata	3:4274d9103f1d	2538
cparata	3:4274d9103f1d	2539	return 0;
cparata	0:6d69e896ce38	2540	}
cparata	0:6d69e896ce38	2541
cparata	0:6d69e896ce38	2542	/**
cparata	0:6d69e896ce38	2543	* @brief Set self test
cparata	0:6d69e896ce38	2544	* @param val the value of st_xl in reg CTRL5_C
cparata	0:6d69e896ce38	2545	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2546	*/
cparata	0:6d69e896ce38	2547	int LSM6DSOSensor::set_x_self_test(uint8_t val)
cparata	0:6d69e896ce38	2548	{
cparata	3:4274d9103f1d	2549	lsm6dso_st_xl_t reg;
cparata	3:4274d9103f1d	2550
cparata	3:4274d9103f1d	2551	reg = (val == 0U) ? LSM6DSO_XL_ST_DISABLE
cparata	3:4274d9103f1d	2552	: (val == 1U) ? LSM6DSO_XL_ST_POSITIVE
cparata	3:4274d9103f1d	2553	: (val == 2U) ? LSM6DSO_XL_ST_NEGATIVE
cparata	3:4274d9103f1d	2554	: LSM6DSO_XL_ST_DISABLE;
cparata	3:4274d9103f1d	2555
cparata	3:4274d9103f1d	2556	if (lsm6dso_xl_self_test_set(&_reg_ctx, reg) != 0) {
cparata	3:4274d9103f1d	2557	return 1;
cparata	3:4274d9103f1d	2558	}
cparata	3:4274d9103f1d	2559
cparata	3:4274d9103f1d	2560	return 0;
cparata	0:6d69e896ce38	2561	}
cparata	0:6d69e896ce38	2562
cparata	0:6d69e896ce38	2563	/**
cparata	0:6d69e896ce38	2564	* @brief Get the LSM6DSO GYRO data ready bit value
cparata	0:6d69e896ce38	2565	* @param status the status of data ready bit
cparata	0:6d69e896ce38	2566	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2567	*/
cparata	0:6d69e896ce38	2568	int LSM6DSOSensor::get_g_drdy_status(uint8_t *status)
cparata	0:6d69e896ce38	2569	{
cparata	3:4274d9103f1d	2570	if (lsm6dso_gy_flag_data_ready_get(&_reg_ctx, status) != 0) {
cparata	3:4274d9103f1d	2571	return 1;
cparata	3:4274d9103f1d	2572	}
cparata	3:4274d9103f1d	2573
cparata	3:4274d9103f1d	2574	return 0;
cparata	0:6d69e896ce38	2575	}
cparata	0:6d69e896ce38	2576
cparata	0:6d69e896ce38	2577	/**
cparata	0:6d69e896ce38	2578	* @brief Set self test
cparata	0:6d69e896ce38	2579	* @param val the value of st_xl in reg CTRL5_C
cparata	0:6d69e896ce38	2580	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2581	*/
cparata	0:6d69e896ce38	2582	int LSM6DSOSensor::set_g_self_test(uint8_t val)
cparata	0:6d69e896ce38	2583	{
cparata	3:4274d9103f1d	2584	lsm6dso_st_g_t reg;
cparata	3:4274d9103f1d	2585
cparata	3:4274d9103f1d	2586	reg = (val == 0U) ? LSM6DSO_GY_ST_DISABLE
cparata	3:4274d9103f1d	2587	: (val == 1U) ? LSM6DSO_GY_ST_POSITIVE
cparata	3:4274d9103f1d	2588	: (val == 2U) ? LSM6DSO_GY_ST_NEGATIVE
cparata	3:4274d9103f1d	2589	: LSM6DSO_GY_ST_DISABLE;
cparata	3:4274d9103f1d	2590
cparata	3:4274d9103f1d	2591
cparata	3:4274d9103f1d	2592	if (lsm6dso_gy_self_test_set(&_reg_ctx, reg) != 0) {
cparata	3:4274d9103f1d	2593	return 1;
cparata	3:4274d9103f1d	2594	}
cparata	3:4274d9103f1d	2595
cparata	3:4274d9103f1d	2596	return 0;
cparata	0:6d69e896ce38	2597	}
cparata	0:6d69e896ce38	2598
cparata	0:6d69e896ce38	2599	/**
cparata	0:6d69e896ce38	2600	* @brief Get the LSM6DSO FIFO number of samples
cparata	0:6d69e896ce38	2601	* @param num_samples number of samples
cparata	0:6d69e896ce38	2602	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2603	*/
cparata	0:6d69e896ce38	2604	int LSM6DSOSensor::get_fifo_num_samples(uint16_t *num_samples)
cparata	0:6d69e896ce38	2605	{
cparata	3:4274d9103f1d	2606	if (lsm6dso_fifo_data_level_get(&_reg_ctx, num_samples) != 0) {
cparata	3:4274d9103f1d	2607	return 1;
cparata	3:4274d9103f1d	2608	}
cparata	3:4274d9103f1d	2609
cparata	3:4274d9103f1d	2610	return 0;
cparata	0:6d69e896ce38	2611	}
cparata	0:6d69e896ce38	2612
cparata	0:6d69e896ce38	2613	/**
cparata	0:6d69e896ce38	2614	* @brief Get the LSM6DSO FIFO full status
cparata	0:6d69e896ce38	2615	* @param status FIFO full status
cparata	0:6d69e896ce38	2616	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2617	*/
cparata	0:6d69e896ce38	2618	int LSM6DSOSensor::get_fifo_full_status(uint8_t *status)
cparata	0:6d69e896ce38	2619	{
cparata	3:4274d9103f1d	2620	lsm6dso_reg_t reg;
cparata	3:4274d9103f1d	2621
cparata	3:4274d9103f1d	2622	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_FIFO_STATUS2, &reg.byte, 1) != 0) {
cparata	3:4274d9103f1d	2623	return 1;
cparata	3:4274d9103f1d	2624	}
cparata	3:4274d9103f1d	2625
cparata	3:4274d9103f1d	2626	*status = reg.fifo_status2.fifo_full_ia;
cparata	3:4274d9103f1d	2627
cparata	3:4274d9103f1d	2628	return 0;
cparata	0:6d69e896ce38	2629	}
cparata	0:6d69e896ce38	2630
cparata	0:6d69e896ce38	2631	/**
cparata	0:6d69e896ce38	2632	* @brief Set the LSM6DSO FIFO full interrupt on INT1 pin
cparata	0:6d69e896ce38	2633	* @param status FIFO full interrupt on INT1 pin status
cparata	0:6d69e896ce38	2634	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2635	*/
cparata	0:6d69e896ce38	2636	int LSM6DSOSensor::set_fifo_int1_fifo_full(uint8_t status)
cparata	0:6d69e896ce38	2637	{
cparata	3:4274d9103f1d	2638	lsm6dso_reg_t reg;
cparata	3:4274d9103f1d	2639
cparata	3:4274d9103f1d	2640	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_INT1_CTRL, &reg.byte, 1) != 0) {
cparata	3:4274d9103f1d	2641	return 1;
cparata	3:4274d9103f1d	2642	}
cparata	3:4274d9103f1d	2643
cparata	3:4274d9103f1d	2644	reg.int1_ctrl.int1_fifo_full = status;
cparata	3:4274d9103f1d	2645
cparata	3:4274d9103f1d	2646	if (lsm6dso_write_reg(&_reg_ctx, LSM6DSO_INT1_CTRL, &reg.byte, 1) != 0) {
cparata	3:4274d9103f1d	2647	return 1;
cparata	3:4274d9103f1d	2648	}
cparata	3:4274d9103f1d	2649
cparata	3:4274d9103f1d	2650	return 0;
cparata	0:6d69e896ce38	2651	}
cparata	0:6d69e896ce38	2652
cparata	0:6d69e896ce38	2653	/**
cparata	0:6d69e896ce38	2654	* @brief Set the LSM6DSO FIFO watermark level
cparata	0:6d69e896ce38	2655	* @param watermark FIFO watermark level
cparata	0:6d69e896ce38	2656	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2657	*/
cparata	0:6d69e896ce38	2658	int LSM6DSOSensor::set_fifo_watermark_level(uint16_t watermark)
cparata	0:6d69e896ce38	2659	{
cparata	3:4274d9103f1d	2660	if (lsm6dso_fifo_watermark_set(&_reg_ctx, watermark) != 0) {
cparata	3:4274d9103f1d	2661	return 1;
cparata	3:4274d9103f1d	2662	}
cparata	3:4274d9103f1d	2663
cparata	3:4274d9103f1d	2664	return 0;
cparata	0:6d69e896ce38	2665	}
cparata	0:6d69e896ce38	2666
cparata	0:6d69e896ce38	2667	/**
cparata	0:6d69e896ce38	2668	* @brief Set the LSM6DSO FIFO stop on watermark
cparata	0:6d69e896ce38	2669	* @param status FIFO stop on watermark status
cparata	0:6d69e896ce38	2670	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2671	*/
cparata	0:6d69e896ce38	2672	int LSM6DSOSensor::set_fifo_stop_on_fth(uint8_t status)
cparata	0:6d69e896ce38	2673	{
cparata	3:4274d9103f1d	2674	if (lsm6dso_fifo_stop_on_wtm_set(&_reg_ctx, status) != 0) {
cparata	3:4274d9103f1d	2675	return 1;
cparata	3:4274d9103f1d	2676	}
cparata	3:4274d9103f1d	2677
cparata	3:4274d9103f1d	2678	return 0;
cparata	0:6d69e896ce38	2679	}
cparata	0:6d69e896ce38	2680
cparata	0:6d69e896ce38	2681	/**
cparata	0:6d69e896ce38	2682	* @brief Set the LSM6DSO FIFO mode
cparata	0:6d69e896ce38	2683	* @param mode FIFO mode
cparata	0:6d69e896ce38	2684	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2685	*/
cparata	0:6d69e896ce38	2686	int LSM6DSOSensor::set_fifo_mode(uint8_t mode)
cparata	0:6d69e896ce38	2687	{
cparata	3:4274d9103f1d	2688	int ret = 0;
cparata	3:4274d9103f1d	2689
cparata	3:4274d9103f1d	2690	/* Verify that the passed parameter contains one of the valid values. */
cparata	3:4274d9103f1d	2691	switch ((lsm6dso_fifo_mode_t)mode) {
cparata	3:4274d9103f1d	2692	case LSM6DSO_BYPASS_MODE:
cparata	3:4274d9103f1d	2693	case LSM6DSO_FIFO_MODE:
cparata	3:4274d9103f1d	2694	case LSM6DSO_STREAM_TO_FIFO_MODE:
cparata	3:4274d9103f1d	2695	case LSM6DSO_BYPASS_TO_STREAM_MODE:
cparata	3:4274d9103f1d	2696	case LSM6DSO_STREAM_MODE:
cparata	3:4274d9103f1d	2697	break;
cparata	3:4274d9103f1d	2698
cparata	3:4274d9103f1d	2699	default:
cparata	3:4274d9103f1d	2700	ret = 1;
cparata	3:4274d9103f1d	2701	break;
cparata	3:4274d9103f1d	2702	}
cparata	3:4274d9103f1d	2703
cparata	3:4274d9103f1d	2704	if (ret == 1) {
cparata	3:4274d9103f1d	2705	return ret;
cparata	3:4274d9103f1d	2706	}
cparata	3:4274d9103f1d	2707
cparata	3:4274d9103f1d	2708	if (lsm6dso_fifo_mode_set(&_reg_ctx, (lsm6dso_fifo_mode_t)mode) != 0) {
cparata	3:4274d9103f1d	2709	return 1;
cparata	3:4274d9103f1d	2710	}
cparata	3:4274d9103f1d	2711
cparata	0:6d69e896ce38	2712	return ret;
cparata	0:6d69e896ce38	2713	}
cparata	0:6d69e896ce38	2714
cparata	0:6d69e896ce38	2715	/**
cparata	0:6d69e896ce38	2716	* @brief Get the LSM6DSO FIFO tag
cparata	0:6d69e896ce38	2717	* @param tag FIFO tag
cparata	0:6d69e896ce38	2718	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2719	*/
cparata	0:6d69e896ce38	2720	int LSM6DSOSensor::get_fifo_tag(uint8_t *tag)
cparata	0:6d69e896ce38	2721	{
cparata	3:4274d9103f1d	2722	lsm6dso_fifo_tag_t tag_local;
cparata	3:4274d9103f1d	2723
cparata	3:4274d9103f1d	2724	if (lsm6dso_fifo_sensor_tag_get(&_reg_ctx, &tag_local) != 0) {
cparata	3:4274d9103f1d	2725	return 1;
cparata	3:4274d9103f1d	2726	}
cparata	3:4274d9103f1d	2727
cparata	3:4274d9103f1d	2728	*tag = (uint8_t)tag_local;
cparata	3:4274d9103f1d	2729
cparata	3:4274d9103f1d	2730	return 0;
cparata	0:6d69e896ce38	2731	}
cparata	0:6d69e896ce38	2732
cparata	0:6d69e896ce38	2733	/**
cparata	0:6d69e896ce38	2734	* @brief Get the LSM6DSO FIFO raw data
cparata	0:6d69e896ce38	2735	* @param data FIFO raw data array [6]
cparata	0:6d69e896ce38	2736	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2737	*/
cparata	0:6d69e896ce38	2738	int LSM6DSOSensor::get_fifo_data(uint8_t *data)
cparata	0:6d69e896ce38	2739	{
cparata	3:4274d9103f1d	2740	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_FIFO_DATA_OUT_X_L, data, 6) != 0) {
cparata	3:4274d9103f1d	2741	return 1;
cparata	3:4274d9103f1d	2742	}
cparata	3:4274d9103f1d	2743
cparata	3:4274d9103f1d	2744	return 0;
cparata	0:6d69e896ce38	2745	}
cparata	0:6d69e896ce38	2746
cparata	0:6d69e896ce38	2747	/**
cparata	0:6d69e896ce38	2748	* @brief Get the LSM6DSO FIFO accelero single sample (16-bit data per 3 axes) and calculate acceleration [mg]
cparata	0:6d69e896ce38	2749	* @param acceleration FIFO accelero axes [mg]
cparata	0:6d69e896ce38	2750	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2751	*/
cparata	0:6d69e896ce38	2752	int LSM6DSOSensor::get_fifo_x_axes(int32_t *acceleration)
cparata	0:6d69e896ce38	2753	{
cparata	3:4274d9103f1d	2754	uint8_t data[6];
cparata	3:4274d9103f1d	2755	int16_t data_raw[3];
cparata	3:4274d9103f1d	2756	float sensitivity = 0.0f;
cparata	3:4274d9103f1d	2757	float acceleration_float[3];
cparata	3:4274d9103f1d	2758
cparata	3:4274d9103f1d	2759	if (get_fifo_data(data) != 0) {
cparata	3:4274d9103f1d	2760	return 1;
cparata	3:4274d9103f1d	2761	}
cparata	3:4274d9103f1d	2762
cparata	3:4274d9103f1d	2763	data_raw[0] = ((int16_t)data[1] << 8) \| data[0];
cparata	3:4274d9103f1d	2764	data_raw[1] = ((int16_t)data[3] << 8) \| data[2];
cparata	3:4274d9103f1d	2765	data_raw[2] = ((int16_t)data[5] << 8) \| data[4];
cparata	3:4274d9103f1d	2766
cparata	3:4274d9103f1d	2767	if (get_x_sensitivity(&sensitivity) != 0) {
cparata	3:4274d9103f1d	2768	return 1;
cparata	3:4274d9103f1d	2769	}
cparata	3:4274d9103f1d	2770
cparata	3:4274d9103f1d	2771	acceleration_float[0] = (float)data_raw[0] * sensitivity;
cparata	3:4274d9103f1d	2772	acceleration_float[1] = (float)data_raw[1] * sensitivity;
cparata	3:4274d9103f1d	2773	acceleration_float[2] = (float)data_raw[2] * sensitivity;
cparata	3:4274d9103f1d	2774
cparata	3:4274d9103f1d	2775	acceleration[0] = (int32_t)acceleration_float[0];
cparata	3:4274d9103f1d	2776	acceleration[1] = (int32_t)acceleration_float[1];
cparata	3:4274d9103f1d	2777	acceleration[2] = (int32_t)acceleration_float[2];
cparata	3:4274d9103f1d	2778
cparata	3:4274d9103f1d	2779	return 0;
cparata	0:6d69e896ce38	2780	}
cparata	0:6d69e896ce38	2781
cparata	0:6d69e896ce38	2782	/**
cparata	0:6d69e896ce38	2783	* @brief Set the LSM6DSO FIFO accelero BDR value
cparata	0:6d69e896ce38	2784	* @param bdr FIFO accelero BDR value
cparata	0:6d69e896ce38	2785	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2786	*/
cparata	0:6d69e896ce38	2787	int LSM6DSOSensor::set_fifo_x_bdr(float bdr)
cparata	0:6d69e896ce38	2788	{
cparata	3:4274d9103f1d	2789	lsm6dso_bdr_xl_t new_bdr;
cparata	3:4274d9103f1d	2790
cparata	3:4274d9103f1d	2791	new_bdr = (bdr <= 0.0f) ? LSM6DSO_XL_NOT_BATCHED
cparata	3:4274d9103f1d	2792	: (bdr <= 12.5f) ? LSM6DSO_XL_BATCHED_AT_12Hz5
cparata	3:4274d9103f1d	2793	: (bdr <= 26.0f) ? LSM6DSO_XL_BATCHED_AT_26Hz
cparata	3:4274d9103f1d	2794	: (bdr <= 52.0f) ? LSM6DSO_XL_BATCHED_AT_52Hz
cparata	3:4274d9103f1d	2795	: (bdr <= 104.0f) ? LSM6DSO_XL_BATCHED_AT_104Hz
cparata	3:4274d9103f1d	2796	: (bdr <= 208.0f) ? LSM6DSO_XL_BATCHED_AT_208Hz
cparata	3:4274d9103f1d	2797	: (bdr <= 416.0f) ? LSM6DSO_XL_BATCHED_AT_417Hz
cparata	3:4274d9103f1d	2798	: (bdr <= 833.0f) ? LSM6DSO_XL_BATCHED_AT_833Hz
cparata	3:4274d9103f1d	2799	: (bdr <= 1660.0f) ? LSM6DSO_XL_BATCHED_AT_1667Hz
cparata	3:4274d9103f1d	2800	: (bdr <= 3330.0f) ? LSM6DSO_XL_BATCHED_AT_3333Hz
cparata	3:4274d9103f1d	2801	: LSM6DSO_XL_BATCHED_AT_6667Hz;
cparata	3:4274d9103f1d	2802
cparata	3:4274d9103f1d	2803	if (lsm6dso_fifo_xl_batch_set(&_reg_ctx, new_bdr) != 0) {
cparata	3:4274d9103f1d	2804	return 1;
cparata	3:4274d9103f1d	2805	}
cparata	3:4274d9103f1d	2806
cparata	3:4274d9103f1d	2807	return 0;
cparata	0:6d69e896ce38	2808	}
cparata	0:6d69e896ce38	2809
cparata	0:6d69e896ce38	2810	/**
cparata	0:6d69e896ce38	2811	* @brief Get the LSM6DSO FIFO gyro single sample (16-bit data per 3 axes) and calculate angular velocity [mDPS]
cparata	0:6d69e896ce38	2812	* @param angular_velocity FIFO gyro axes [mDPS]
cparata	0:6d69e896ce38	2813	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2814	*/
cparata	0:6d69e896ce38	2815	int LSM6DSOSensor::get_fifo_g_axes(int32_t *angular_velocity)
cparata	0:6d69e896ce38	2816	{
cparata	3:4274d9103f1d	2817	uint8_t data[6];
cparata	3:4274d9103f1d	2818	int16_t data_raw[3];
cparata	3:4274d9103f1d	2819	float sensitivity = 0.0f;
cparata	3:4274d9103f1d	2820	float angular_velocity_float[3];
cparata	3:4274d9103f1d	2821
cparata	3:4274d9103f1d	2822	if (get_fifo_data(data) != 0) {
cparata	3:4274d9103f1d	2823	return 1;
cparata	3:4274d9103f1d	2824	}
cparata	3:4274d9103f1d	2825
cparata	3:4274d9103f1d	2826	data_raw[0] = ((int16_t)data[1] << 8) \| data[0];
cparata	3:4274d9103f1d	2827	data_raw[1] = ((int16_t)data[3] << 8) \| data[2];
cparata	3:4274d9103f1d	2828	data_raw[2] = ((int16_t)data[5] << 8) \| data[4];
cparata	3:4274d9103f1d	2829
cparata	3:4274d9103f1d	2830	if (get_g_sensitivity(&sensitivity) != 0) {
cparata	3:4274d9103f1d	2831	return 1;
cparata	3:4274d9103f1d	2832	}
cparata	3:4274d9103f1d	2833
cparata	3:4274d9103f1d	2834	angular_velocity_float[0] = (float)data_raw[0] * sensitivity;
cparata	3:4274d9103f1d	2835	angular_velocity_float[1] = (float)data_raw[1] * sensitivity;
cparata	3:4274d9103f1d	2836	angular_velocity_float[2] = (float)data_raw[2] * sensitivity;
cparata	3:4274d9103f1d	2837
cparata	3:4274d9103f1d	2838	angular_velocity[0] = (int32_t)angular_velocity_float[0];
cparata	3:4274d9103f1d	2839	angular_velocity[1] = (int32_t)angular_velocity_float[1];
cparata	3:4274d9103f1d	2840	angular_velocity[2] = (int32_t)angular_velocity_float[2];
cparata	3:4274d9103f1d	2841
cparata	3:4274d9103f1d	2842	return 0;
cparata	0:6d69e896ce38	2843	}
cparata	0:6d69e896ce38	2844
cparata	0:6d69e896ce38	2845	/**
cparata	0:6d69e896ce38	2846	* @brief Set the LSM6DSO FIFO gyro BDR value
cparata	0:6d69e896ce38	2847	* @param bdr FIFO gyro BDR value
cparata	0:6d69e896ce38	2848	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2849	*/
cparata	0:6d69e896ce38	2850	int LSM6DSOSensor::set_fifo_g_bdr(float bdr)
cparata	0:6d69e896ce38	2851	{
cparata	3:4274d9103f1d	2852	lsm6dso_bdr_gy_t new_bdr;
cparata	3:4274d9103f1d	2853
cparata	3:4274d9103f1d	2854	new_bdr = (bdr <= 0.0f) ? LSM6DSO_GY_NOT_BATCHED
cparata	3:4274d9103f1d	2855	: (bdr <= 12.5f) ? LSM6DSO_GY_BATCHED_AT_12Hz5
cparata	3:4274d9103f1d	2856	: (bdr <= 26.0f) ? LSM6DSO_GY_BATCHED_AT_26Hz
cparata	3:4274d9103f1d	2857	: (bdr <= 52.0f) ? LSM6DSO_GY_BATCHED_AT_52Hz
cparata	3:4274d9103f1d	2858	: (bdr <= 104.0f) ? LSM6DSO_GY_BATCHED_AT_104Hz
cparata	3:4274d9103f1d	2859	: (bdr <= 208.0f) ? LSM6DSO_GY_BATCHED_AT_208Hz
cparata	3:4274d9103f1d	2860	: (bdr <= 416.0f) ? LSM6DSO_GY_BATCHED_AT_417Hz
cparata	3:4274d9103f1d	2861	: (bdr <= 833.0f) ? LSM6DSO_GY_BATCHED_AT_833Hz
cparata	3:4274d9103f1d	2862	: (bdr <= 1660.0f) ? LSM6DSO_GY_BATCHED_AT_1667Hz
cparata	3:4274d9103f1d	2863	: (bdr <= 3330.0f) ? LSM6DSO_GY_BATCHED_AT_3333Hz
cparata	3:4274d9103f1d	2864	: LSM6DSO_GY_BATCHED_AT_6667Hz;
cparata	3:4274d9103f1d	2865
cparata	3:4274d9103f1d	2866	if (lsm6dso_fifo_gy_batch_set(&_reg_ctx, new_bdr) != 0) {
cparata	3:4274d9103f1d	2867	return 1;
cparata	3:4274d9103f1d	2868	}
cparata	3:4274d9103f1d	2869
cparata	3:4274d9103f1d	2870	return 0;
cparata	0:6d69e896ce38	2871	}
cparata	0:6d69e896ce38	2872
cparata	0:6d69e896ce38	2873
cparata	0:6d69e896ce38	2874
cparata	0:6d69e896ce38	2875	int32_t LSM6DSO_io_write(void handle, uint8_t WriteAddr, uint8_t pBuffer, uint16_t nBytesToWrite)
cparata	0:6d69e896ce38	2876	{
cparata	3:4274d9103f1d	2877	return ((LSM6DSOSensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite);
cparata	0:6d69e896ce38	2878	}
cparata	0:6d69e896ce38	2879
cparata	0:6d69e896ce38	2880	int32_t LSM6DSO_io_read(void handle, uint8_t ReadAddr, uint8_t pBuffer, uint16_t nBytesToRead)
cparata	0:6d69e896ce38	2881	{
cparata	3:4274d9103f1d	2882	return ((LSM6DSOSensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead);
cparata	0:6d69e896ce38	2883	}

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Type:	Library
Created:	17 Sep 2019
Imports:	2
Forks:	0
Commits:	6
Dependents:	1
Dependencies:	2
Followers:	34

LSM6DSOSensor.cpp@5:213250c75a9e, 2019-09-17 (annotated)

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