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 |
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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, ®.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, ®.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, ®.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 | } |