LSM6DSO accelerometer and gyroscope sensor library

Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

Dependents:   X_NUCLEO_IKS01A3

Committer:
cparata
Date:
Wed Jul 24 14:19:35 2019 +0000
Revision:
3:4274d9103f1d
Parent:
2:4d14e9edf37e
Child:
4:bcf0cf6e43a7
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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>&copy; 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 /**
cparata 0:6d69e896ce38 395 * @brief Get the LSM6DSO accelerometer sensor full scale
cparata 0:6d69e896ce38 396 * @param full_scale pointer where the full scale is written
cparata 0:6d69e896ce38 397 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 398 */
cparata 0:6d69e896ce38 399 int LSM6DSOSensor::get_x_fs(float *full_scale)
cparata 0:6d69e896ce38 400 {
cparata 3:4274d9103f1d 401 int ret = 0;
cparata 3:4274d9103f1d 402 lsm6dso_fs_xl_t fs_low_level;
cparata 3:4274d9103f1d 403
cparata 3:4274d9103f1d 404 /* Read actual full scale selection from sensor. */
cparata 3:4274d9103f1d 405 if (lsm6dso_xl_full_scale_get(&_reg_ctx, &fs_low_level) != 0) {
cparata 3:4274d9103f1d 406 return 1;
cparata 3:4274d9103f1d 407 }
cparata 3:4274d9103f1d 408
cparata 3:4274d9103f1d 409 switch (fs_low_level) {
cparata 3:4274d9103f1d 410 case LSM6DSO_2g:
cparata 3:4274d9103f1d 411 *full_scale = 2.0f;
cparata 3:4274d9103f1d 412 break;
cparata 3:4274d9103f1d 413
cparata 3:4274d9103f1d 414 case LSM6DSO_4g:
cparata 3:4274d9103f1d 415 *full_scale = 4.0f;
cparata 3:4274d9103f1d 416 break;
cparata 3:4274d9103f1d 417
cparata 3:4274d9103f1d 418 case LSM6DSO_8g:
cparata 3:4274d9103f1d 419 *full_scale = 8.0f;
cparata 3:4274d9103f1d 420 break;
cparata 3:4274d9103f1d 421
cparata 3:4274d9103f1d 422 case LSM6DSO_16g:
cparata 3:4274d9103f1d 423 *full_scale = 16.0f;
cparata 3:4274d9103f1d 424 break;
cparata 3:4274d9103f1d 425
cparata 3:4274d9103f1d 426 default:
cparata 3:4274d9103f1d 427 ret = 1;
cparata 3:4274d9103f1d 428 break;
cparata 3:4274d9103f1d 429 }
cparata 3:4274d9103f1d 430
cparata 3:4274d9103f1d 431 return ret;
cparata 0:6d69e896ce38 432 }
cparata 0:6d69e896ce38 433
cparata 0:6d69e896ce38 434 /**
cparata 0:6d69e896ce38 435 * @brief Set the LSM6DSO accelerometer sensor full scale
cparata 0:6d69e896ce38 436 * @param full_scale the functional full scale to be set
cparata 0:6d69e896ce38 437 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 438 */
cparata 0:6d69e896ce38 439 int LSM6DSOSensor::set_x_fs(float full_scale)
cparata 0:6d69e896ce38 440 {
cparata 3:4274d9103f1d 441 lsm6dso_fs_xl_t new_fs;
cparata 3:4274d9103f1d 442
cparata 3:4274d9103f1d 443 /* Seems like MISRA C-2012 rule 14.3a violation but only from single file statical analysis point of view because
cparata 3:4274d9103f1d 444 the parameter passed to the function is not known at the moment of analysis */
cparata 3:4274d9103f1d 445 new_fs = (full_scale <= 2.0f) ? LSM6DSO_2g
cparata 3:4274d9103f1d 446 : (full_scale <= 4.0f) ? LSM6DSO_4g
cparata 3:4274d9103f1d 447 : (full_scale <= 8.0f) ? LSM6DSO_8g
cparata 3:4274d9103f1d 448 : LSM6DSO_16g;
cparata 3:4274d9103f1d 449
cparata 3:4274d9103f1d 450 if (lsm6dso_xl_full_scale_set(&_reg_ctx, new_fs) != 0) {
cparata 3:4274d9103f1d 451 return 1;
cparata 3:4274d9103f1d 452 }
cparata 3:4274d9103f1d 453
cparata 3:4274d9103f1d 454 return 0;
cparata 0:6d69e896ce38 455 }
cparata 0:6d69e896ce38 456
cparata 0:6d69e896ce38 457 /**
cparata 0:6d69e896ce38 458 * @brief Get the LSM6DSO accelerometer sensor raw axes
cparata 0:6d69e896ce38 459 * @param value pointer where the raw values of the axes are written
cparata 0:6d69e896ce38 460 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 461 */
cparata 0:6d69e896ce38 462 int LSM6DSOSensor::get_x_axes_raw(int16_t *value)
cparata 0:6d69e896ce38 463 {
cparata 3:4274d9103f1d 464 axis3bit16_t data_raw;
cparata 3:4274d9103f1d 465
cparata 3:4274d9103f1d 466 /* Read raw data values. */
cparata 3:4274d9103f1d 467 if (lsm6dso_acceleration_raw_get(&_reg_ctx, data_raw.u8bit) != 0) {
cparata 3:4274d9103f1d 468 return 1;
cparata 3:4274d9103f1d 469 }
cparata 3:4274d9103f1d 470
cparata 3:4274d9103f1d 471 /* Format the data. */
cparata 3:4274d9103f1d 472 value[0] = data_raw.i16bit[0];
cparata 3:4274d9103f1d 473 value[1] = data_raw.i16bit[1];
cparata 3:4274d9103f1d 474 value[2] = data_raw.i16bit[2];
cparata 3:4274d9103f1d 475
cparata 3:4274d9103f1d 476 return 0;
cparata 0:6d69e896ce38 477 }
cparata 0:6d69e896ce38 478
cparata 0:6d69e896ce38 479
cparata 0:6d69e896ce38 480 /**
cparata 0:6d69e896ce38 481 * @brief Get the LSM6DSO accelerometer sensor axes
cparata 0:6d69e896ce38 482 * @param acceleration pointer where the values of the axes are written
cparata 0:6d69e896ce38 483 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 484 */
cparata 0:6d69e896ce38 485 int LSM6DSOSensor::get_x_axes(int32_t *acceleration)
cparata 0:6d69e896ce38 486 {
cparata 3:4274d9103f1d 487 axis3bit16_t data_raw;
cparata 3:4274d9103f1d 488 float sensitivity = 0.0f;
cparata 3:4274d9103f1d 489
cparata 3:4274d9103f1d 490 /* Read raw data values. */
cparata 3:4274d9103f1d 491 if (lsm6dso_acceleration_raw_get(&_reg_ctx, data_raw.u8bit) != 0) {
cparata 3:4274d9103f1d 492 return 1;
cparata 3:4274d9103f1d 493 }
cparata 3:4274d9103f1d 494
cparata 3:4274d9103f1d 495 /* Get LSM6DSO actual sensitivity. */
cparata 3:4274d9103f1d 496 if (get_x_sensitivity(&sensitivity) != 0) {
cparata 3:4274d9103f1d 497 return 1;
cparata 3:4274d9103f1d 498 }
cparata 3:4274d9103f1d 499
cparata 3:4274d9103f1d 500 /* Calculate the data. */
cparata 3:4274d9103f1d 501 acceleration[0] = (int32_t)((float)((float)data_raw.i16bit[0] * sensitivity));
cparata 3:4274d9103f1d 502 acceleration[1] = (int32_t)((float)((float)data_raw.i16bit[1] * sensitivity));
cparata 3:4274d9103f1d 503 acceleration[2] = (int32_t)((float)((float)data_raw.i16bit[2] * sensitivity));
cparata 3:4274d9103f1d 504
cparata 3:4274d9103f1d 505 return 0;
cparata 0:6d69e896ce38 506 }
cparata 0:6d69e896ce38 507
cparata 0:6d69e896ce38 508
cparata 0:6d69e896ce38 509 /**
cparata 0:6d69e896ce38 510 * @brief Enable the LSM6DSO gyroscope sensor
cparata 0:6d69e896ce38 511 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 512 */
cparata 0:6d69e896ce38 513 int LSM6DSOSensor::enable_g()
cparata 0:6d69e896ce38 514 {
cparata 3:4274d9103f1d 515 /* Check if the component is already enabled */
cparata 3:4274d9103f1d 516 if (_g_is_enabled == 1U) {
cparata 3:4274d9103f1d 517 return 0;
cparata 3:4274d9103f1d 518 }
cparata 3:4274d9103f1d 519
cparata 3:4274d9103f1d 520 /* Output data rate selection. */
cparata 3:4274d9103f1d 521 if (lsm6dso_gy_data_rate_set(&_reg_ctx, _g_last_odr) != 0) {
cparata 3:4274d9103f1d 522 return 1;
cparata 3:4274d9103f1d 523 }
cparata 3:4274d9103f1d 524
cparata 3:4274d9103f1d 525 _g_is_enabled = 1;
cparata 3:4274d9103f1d 526
cparata 0:6d69e896ce38 527 return 0;
cparata 0:6d69e896ce38 528 }
cparata 0:6d69e896ce38 529
cparata 0:6d69e896ce38 530
cparata 0:6d69e896ce38 531 /**
cparata 0:6d69e896ce38 532 * @brief Disable the LSM6DSO gyroscope sensor
cparata 0:6d69e896ce38 533 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 534 */
cparata 0:6d69e896ce38 535 int LSM6DSOSensor::disable_g()
cparata 0:6d69e896ce38 536 {
cparata 3:4274d9103f1d 537 /* Check if the component is already disabled */
cparata 3:4274d9103f1d 538 if (_g_is_enabled == 0U) {
cparata 3:4274d9103f1d 539 return 0;
cparata 3:4274d9103f1d 540 }
cparata 3:4274d9103f1d 541
cparata 3:4274d9103f1d 542 /* Get current output data rate. */
cparata 3:4274d9103f1d 543 if (lsm6dso_gy_data_rate_get(&_reg_ctx, &_g_last_odr) != 0) {
cparata 3:4274d9103f1d 544 return 1;
cparata 3:4274d9103f1d 545 }
cparata 3:4274d9103f1d 546
cparata 3:4274d9103f1d 547 /* Output data rate selection - power down. */
cparata 3:4274d9103f1d 548 if (lsm6dso_gy_data_rate_set(&_reg_ctx, LSM6DSO_GY_ODR_OFF) != 0) {
cparata 3:4274d9103f1d 549 return 1;
cparata 3:4274d9103f1d 550 }
cparata 3:4274d9103f1d 551
cparata 3:4274d9103f1d 552 _g_is_enabled = 0;
cparata 3:4274d9103f1d 553
cparata 0:6d69e896ce38 554 return 0;
cparata 0:6d69e896ce38 555 }
cparata 0:6d69e896ce38 556
cparata 0:6d69e896ce38 557 /**
cparata 0:6d69e896ce38 558 * @brief Get the LSM6DSO gyroscope sensor sensitivity
cparata 0:6d69e896ce38 559 * @param sensitivity pointer where the sensitivity is written
cparata 0:6d69e896ce38 560 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 561 */
cparata 0:6d69e896ce38 562 int LSM6DSOSensor::get_g_sensitivity(float *sensitivity)
cparata 0:6d69e896ce38 563 {
cparata 3:4274d9103f1d 564 int ret = 0;
cparata 3:4274d9103f1d 565 lsm6dso_fs_g_t full_scale;
cparata 3:4274d9103f1d 566
cparata 3:4274d9103f1d 567 /* Read actual full scale selection from sensor. */
cparata 3:4274d9103f1d 568 if (lsm6dso_gy_full_scale_get(&_reg_ctx, &full_scale) != 0) {
cparata 3:4274d9103f1d 569 return 1;
cparata 3:4274d9103f1d 570 }
cparata 3:4274d9103f1d 571
cparata 3:4274d9103f1d 572 /* Store the sensitivity based on actual full scale. */
cparata 3:4274d9103f1d 573 switch (full_scale) {
cparata 3:4274d9103f1d 574 case LSM6DSO_125dps:
cparata 3:4274d9103f1d 575 *sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_125DPS;
cparata 3:4274d9103f1d 576 break;
cparata 3:4274d9103f1d 577
cparata 3:4274d9103f1d 578 case LSM6DSO_250dps:
cparata 3:4274d9103f1d 579 *sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_250DPS;
cparata 3:4274d9103f1d 580 break;
cparata 3:4274d9103f1d 581
cparata 3:4274d9103f1d 582 case LSM6DSO_500dps:
cparata 3:4274d9103f1d 583 *sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_500DPS;
cparata 3:4274d9103f1d 584 break;
cparata 3:4274d9103f1d 585
cparata 3:4274d9103f1d 586 case LSM6DSO_1000dps:
cparata 3:4274d9103f1d 587 *sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_1000DPS;
cparata 3:4274d9103f1d 588 break;
cparata 3:4274d9103f1d 589
cparata 3:4274d9103f1d 590 case LSM6DSO_2000dps:
cparata 3:4274d9103f1d 591 *sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_2000DPS;
cparata 3:4274d9103f1d 592 break;
cparata 3:4274d9103f1d 593
cparata 3:4274d9103f1d 594 default:
cparata 3:4274d9103f1d 595 ret = 1;
cparata 3:4274d9103f1d 596 break;
cparata 3:4274d9103f1d 597 }
cparata 3:4274d9103f1d 598
cparata 3:4274d9103f1d 599 return ret;
cparata 0:6d69e896ce38 600 }
cparata 0:6d69e896ce38 601
cparata 0:6d69e896ce38 602 /**
cparata 0:6d69e896ce38 603 * @brief Get the LSM6DSO gyroscope sensor output data rate
cparata 0:6d69e896ce38 604 * @param odr pointer where the output data rate is written
cparata 0:6d69e896ce38 605 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 606 */
cparata 0:6d69e896ce38 607 int LSM6DSOSensor::get_g_odr(float *odr)
cparata 0:6d69e896ce38 608 {
cparata 3:4274d9103f1d 609 int ret = 0;
cparata 3:4274d9103f1d 610 lsm6dso_odr_g_t odr_low_level;
cparata 3:4274d9103f1d 611
cparata 3:4274d9103f1d 612 /* Get current output data rate. */
cparata 3:4274d9103f1d 613 if (lsm6dso_gy_data_rate_get(&_reg_ctx, &odr_low_level) != 0) {
cparata 3:4274d9103f1d 614 return 1;
cparata 3:4274d9103f1d 615 }
cparata 3:4274d9103f1d 616
cparata 3:4274d9103f1d 617 switch (odr_low_level) {
cparata 3:4274d9103f1d 618 case LSM6DSO_GY_ODR_OFF:
cparata 3:4274d9103f1d 619 *odr = 0.0f;
cparata 3:4274d9103f1d 620 break;
cparata 3:4274d9103f1d 621
cparata 3:4274d9103f1d 622 case LSM6DSO_GY_ODR_12Hz5:
cparata 3:4274d9103f1d 623 *odr = 12.5f;
cparata 3:4274d9103f1d 624 break;
cparata 3:4274d9103f1d 625
cparata 3:4274d9103f1d 626 case LSM6DSO_GY_ODR_26Hz:
cparata 3:4274d9103f1d 627 *odr = 26.0f;
cparata 3:4274d9103f1d 628 break;
cparata 3:4274d9103f1d 629
cparata 3:4274d9103f1d 630 case LSM6DSO_GY_ODR_52Hz:
cparata 3:4274d9103f1d 631 *odr = 52.0f;
cparata 3:4274d9103f1d 632 break;
cparata 3:4274d9103f1d 633
cparata 3:4274d9103f1d 634 case LSM6DSO_GY_ODR_104Hz:
cparata 3:4274d9103f1d 635 *odr = 104.0f;
cparata 3:4274d9103f1d 636 break;
cparata 3:4274d9103f1d 637
cparata 3:4274d9103f1d 638 case LSM6DSO_GY_ODR_208Hz:
cparata 3:4274d9103f1d 639 *odr = 208.0f;
cparata 3:4274d9103f1d 640 break;
cparata 3:4274d9103f1d 641
cparata 3:4274d9103f1d 642 case LSM6DSO_GY_ODR_417Hz:
cparata 3:4274d9103f1d 643 *odr = 417.0f;
cparata 3:4274d9103f1d 644 break;
cparata 3:4274d9103f1d 645
cparata 3:4274d9103f1d 646 case LSM6DSO_GY_ODR_833Hz:
cparata 3:4274d9103f1d 647 *odr = 833.0f;
cparata 3:4274d9103f1d 648 break;
cparata 3:4274d9103f1d 649
cparata 3:4274d9103f1d 650 case LSM6DSO_GY_ODR_1667Hz:
cparata 3:4274d9103f1d 651 *odr = 1667.0f;
cparata 3:4274d9103f1d 652 break;
cparata 3:4274d9103f1d 653
cparata 3:4274d9103f1d 654 case LSM6DSO_GY_ODR_3333Hz:
cparata 3:4274d9103f1d 655 *odr = 3333.0f;
cparata 3:4274d9103f1d 656 break;
cparata 3:4274d9103f1d 657
cparata 3:4274d9103f1d 658 case LSM6DSO_GY_ODR_6667Hz:
cparata 3:4274d9103f1d 659 *odr = 6667.0f;
cparata 3:4274d9103f1d 660 break;
cparata 3:4274d9103f1d 661
cparata 3:4274d9103f1d 662 default:
cparata 3:4274d9103f1d 663 ret = 1;
cparata 3:4274d9103f1d 664 break;
cparata 3:4274d9103f1d 665 }
cparata 3:4274d9103f1d 666
cparata 3:4274d9103f1d 667 return ret;
cparata 0:6d69e896ce38 668 }
cparata 0:6d69e896ce38 669
cparata 0:6d69e896ce38 670 /**
cparata 0:6d69e896ce38 671 * @brief Set the LSM6DSO gyroscope sensor output data rate
cparata 0:6d69e896ce38 672 * @param odr the output data rate value to be set
cparata 0:6d69e896ce38 673 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 674 */
cparata 0:6d69e896ce38 675 int LSM6DSOSensor::set_g_odr(float odr)
cparata 0:6d69e896ce38 676 {
cparata 3:4274d9103f1d 677 /* Check if the component is enabled */
cparata 3:4274d9103f1d 678 if (_g_is_enabled == 1U) {
cparata 3:4274d9103f1d 679 return set_g_odr_when_enabled(odr);
cparata 3:4274d9103f1d 680 } else {
cparata 3:4274d9103f1d 681 return set_g_odr_when_disabled(odr);
cparata 3:4274d9103f1d 682 }
cparata 0:6d69e896ce38 683 }
cparata 0:6d69e896ce38 684
cparata 0:6d69e896ce38 685 /**
cparata 0:6d69e896ce38 686 * @brief Set the LSM6DSO gyroscope sensor output data rate when enabled
cparata 0:6d69e896ce38 687 * @param odr the functional output data rate to be set
cparata 0:6d69e896ce38 688 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 689 */
cparata 0:6d69e896ce38 690 int LSM6DSOSensor::set_g_odr_when_enabled(float odr)
cparata 0:6d69e896ce38 691 {
cparata 3:4274d9103f1d 692 lsm6dso_odr_g_t new_odr;
cparata 3:4274d9103f1d 693
cparata 3:4274d9103f1d 694 new_odr = (odr <= 12.5f) ? LSM6DSO_GY_ODR_12Hz5
cparata 3:4274d9103f1d 695 : (odr <= 26.0f) ? LSM6DSO_GY_ODR_26Hz
cparata 3:4274d9103f1d 696 : (odr <= 52.0f) ? LSM6DSO_GY_ODR_52Hz
cparata 3:4274d9103f1d 697 : (odr <= 104.0f) ? LSM6DSO_GY_ODR_104Hz
cparata 3:4274d9103f1d 698 : (odr <= 208.0f) ? LSM6DSO_GY_ODR_208Hz
cparata 3:4274d9103f1d 699 : (odr <= 417.0f) ? LSM6DSO_GY_ODR_417Hz
cparata 3:4274d9103f1d 700 : (odr <= 833.0f) ? LSM6DSO_GY_ODR_833Hz
cparata 3:4274d9103f1d 701 : (odr <= 1667.0f) ? LSM6DSO_GY_ODR_1667Hz
cparata 3:4274d9103f1d 702 : (odr <= 3333.0f) ? LSM6DSO_GY_ODR_3333Hz
cparata 3:4274d9103f1d 703 : LSM6DSO_GY_ODR_6667Hz;
cparata 3:4274d9103f1d 704
cparata 3:4274d9103f1d 705 /* Output data rate selection. */
cparata 3:4274d9103f1d 706 if (lsm6dso_gy_data_rate_set(&_reg_ctx, new_odr) != 0) {
cparata 3:4274d9103f1d 707 return 1;
cparata 3:4274d9103f1d 708 }
cparata 3:4274d9103f1d 709
cparata 3:4274d9103f1d 710 return 0;
cparata 0:6d69e896ce38 711 }
cparata 0:6d69e896ce38 712
cparata 0:6d69e896ce38 713 /**
cparata 0:6d69e896ce38 714 * @brief Set the LSM6DSO gyroscope sensor output data rate when disabled
cparata 0:6d69e896ce38 715 * @param odr the functional output data rate to be set
cparata 0:6d69e896ce38 716 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 717 */
cparata 0:6d69e896ce38 718 int LSM6DSOSensor::set_g_odr_when_disabled(float odr)
cparata 0:6d69e896ce38 719 {
cparata 3:4274d9103f1d 720 _g_last_odr = (odr <= 12.5f) ? LSM6DSO_GY_ODR_12Hz5
cparata 3:4274d9103f1d 721 : (odr <= 26.0f) ? LSM6DSO_GY_ODR_26Hz
cparata 3:4274d9103f1d 722 : (odr <= 52.0f) ? LSM6DSO_GY_ODR_52Hz
cparata 3:4274d9103f1d 723 : (odr <= 104.0f) ? LSM6DSO_GY_ODR_104Hz
cparata 3:4274d9103f1d 724 : (odr <= 208.0f) ? LSM6DSO_GY_ODR_208Hz
cparata 3:4274d9103f1d 725 : (odr <= 417.0f) ? LSM6DSO_GY_ODR_417Hz
cparata 3:4274d9103f1d 726 : (odr <= 833.0f) ? LSM6DSO_GY_ODR_833Hz
cparata 3:4274d9103f1d 727 : (odr <= 1667.0f) ? LSM6DSO_GY_ODR_1667Hz
cparata 3:4274d9103f1d 728 : (odr <= 3333.0f) ? LSM6DSO_GY_ODR_3333Hz
cparata 3:4274d9103f1d 729 : LSM6DSO_GY_ODR_6667Hz;
cparata 3:4274d9103f1d 730
cparata 3:4274d9103f1d 731 return 0;
cparata 0:6d69e896ce38 732 }
cparata 0:6d69e896ce38 733
cparata 0:6d69e896ce38 734
cparata 0:6d69e896ce38 735 /**
cparata 0:6d69e896ce38 736 * @brief Get the LSM6DSO gyroscope sensor full scale
cparata 0:6d69e896ce38 737 * @param full_scale pointer where the full scale is written
cparata 0:6d69e896ce38 738 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 739 */
cparata 0:6d69e896ce38 740 int LSM6DSOSensor::get_g_fs(float *full_scale)
cparata 0:6d69e896ce38 741 {
cparata 3:4274d9103f1d 742 int ret = 0;
cparata 3:4274d9103f1d 743 lsm6dso_fs_g_t fs_low_level;
cparata 3:4274d9103f1d 744
cparata 3:4274d9103f1d 745 /* Read actual full scale selection from sensor. */
cparata 3:4274d9103f1d 746 if (lsm6dso_gy_full_scale_get(&_reg_ctx, &fs_low_level) != 0) {
cparata 3:4274d9103f1d 747 return 1;
cparata 3:4274d9103f1d 748 }
cparata 3:4274d9103f1d 749
cparata 3:4274d9103f1d 750 switch (fs_low_level) {
cparata 3:4274d9103f1d 751 case LSM6DSO_125dps:
cparata 3:4274d9103f1d 752 *full_scale = 125.0f;
cparata 3:4274d9103f1d 753 break;
cparata 3:4274d9103f1d 754
cparata 3:4274d9103f1d 755 case LSM6DSO_250dps:
cparata 3:4274d9103f1d 756 *full_scale = 250.0f;
cparata 3:4274d9103f1d 757 break;
cparata 3:4274d9103f1d 758
cparata 3:4274d9103f1d 759 case LSM6DSO_500dps:
cparata 3:4274d9103f1d 760 *full_scale = 500.0f;
cparata 3:4274d9103f1d 761 break;
cparata 3:4274d9103f1d 762
cparata 3:4274d9103f1d 763 case LSM6DSO_1000dps:
cparata 3:4274d9103f1d 764 *full_scale = 1000.0f;
cparata 3:4274d9103f1d 765 break;
cparata 3:4274d9103f1d 766
cparata 3:4274d9103f1d 767 case LSM6DSO_2000dps:
cparata 3:4274d9103f1d 768 *full_scale = 2000.0f;
cparata 3:4274d9103f1d 769 break;
cparata 3:4274d9103f1d 770
cparata 3:4274d9103f1d 771 default:
cparata 3:4274d9103f1d 772 ret = 1;
cparata 3:4274d9103f1d 773 break;
cparata 3:4274d9103f1d 774 }
cparata 3:4274d9103f1d 775
cparata 3:4274d9103f1d 776 return ret;
cparata 0:6d69e896ce38 777 }
cparata 0:6d69e896ce38 778
cparata 0:6d69e896ce38 779 /**
cparata 0:6d69e896ce38 780 * @brief Set the LSM6DSO gyroscope sensor full scale
cparata 0:6d69e896ce38 781 * @param full_scale the functional full scale to be set
cparata 0:6d69e896ce38 782 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 783 */
cparata 0:6d69e896ce38 784 int LSM6DSOSensor::set_g_fs(float full_scale)
cparata 0:6d69e896ce38 785 {
cparata 3:4274d9103f1d 786 lsm6dso_fs_g_t new_fs;
cparata 3:4274d9103f1d 787
cparata 3:4274d9103f1d 788 new_fs = (full_scale <= 125.0f) ? LSM6DSO_125dps
cparata 3:4274d9103f1d 789 : (full_scale <= 250.0f) ? LSM6DSO_250dps
cparata 3:4274d9103f1d 790 : (full_scale <= 500.0f) ? LSM6DSO_500dps
cparata 3:4274d9103f1d 791 : (full_scale <= 1000.0f) ? LSM6DSO_1000dps
cparata 3:4274d9103f1d 792 : LSM6DSO_2000dps;
cparata 3:4274d9103f1d 793
cparata 3:4274d9103f1d 794 if (lsm6dso_gy_full_scale_set(&_reg_ctx, new_fs) != 0) {
cparata 3:4274d9103f1d 795 return 1;
cparata 3:4274d9103f1d 796 }
cparata 3:4274d9103f1d 797
cparata 3:4274d9103f1d 798 return 0;
cparata 0:6d69e896ce38 799 }
cparata 0:6d69e896ce38 800
cparata 0:6d69e896ce38 801 /**
cparata 0:6d69e896ce38 802 * @brief Get the LSM6DSO gyroscope sensor raw axes
cparata 0:6d69e896ce38 803 * @param value pointer where the raw values of the axes are written
cparata 0:6d69e896ce38 804 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 805 */
cparata 0:6d69e896ce38 806 int LSM6DSOSensor::get_g_axes_raw(int16_t *value)
cparata 0:6d69e896ce38 807 {
cparata 3:4274d9103f1d 808 axis3bit16_t data_raw;
cparata 3:4274d9103f1d 809
cparata 3:4274d9103f1d 810 /* Read raw data values. */
cparata 3:4274d9103f1d 811 if (lsm6dso_angular_rate_raw_get(&_reg_ctx, data_raw.u8bit) != 0) {
cparata 3:4274d9103f1d 812 return 1;
cparata 3:4274d9103f1d 813 }
cparata 3:4274d9103f1d 814
cparata 3:4274d9103f1d 815 /* Format the data. */
cparata 3:4274d9103f1d 816 value[0] = data_raw.i16bit[0];
cparata 3:4274d9103f1d 817 value[1] = data_raw.i16bit[1];
cparata 3:4274d9103f1d 818 value[2] = data_raw.i16bit[2];
cparata 3:4274d9103f1d 819
cparata 3:4274d9103f1d 820 return 0;
cparata 0:6d69e896ce38 821 }
cparata 0:6d69e896ce38 822
cparata 0:6d69e896ce38 823
cparata 0:6d69e896ce38 824 /**
cparata 0:6d69e896ce38 825 * @brief Get the LSM6DSO gyroscope sensor axes
cparata 0:6d69e896ce38 826 * @param angular_rate pointer where the values of the axes are written
cparata 0:6d69e896ce38 827 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 828 */
cparata 0:6d69e896ce38 829 int LSM6DSOSensor::get_g_axes(int32_t *angular_rate)
cparata 0:6d69e896ce38 830 {
cparata 3:4274d9103f1d 831 axis3bit16_t data_raw;
cparata 3:4274d9103f1d 832 float sensitivity;
cparata 3:4274d9103f1d 833
cparata 3:4274d9103f1d 834 /* Read raw data values. */
cparata 3:4274d9103f1d 835 if (lsm6dso_angular_rate_raw_get(&_reg_ctx, data_raw.u8bit) != 0) {
cparata 3:4274d9103f1d 836 return 1;
cparata 3:4274d9103f1d 837 }
cparata 3:4274d9103f1d 838
cparata 3:4274d9103f1d 839 /* Get LSM6DSO actual sensitivity. */
cparata 3:4274d9103f1d 840 if (get_g_sensitivity(&sensitivity) != 0) {
cparata 3:4274d9103f1d 841 return 1;
cparata 3:4274d9103f1d 842 }
cparata 3:4274d9103f1d 843
cparata 3:4274d9103f1d 844 /* Calculate the data. */
cparata 3:4274d9103f1d 845 angular_rate[0] = (int32_t)((float)((float)data_raw.i16bit[0] * sensitivity));
cparata 3:4274d9103f1d 846 angular_rate[1] = (int32_t)((float)((float)data_raw.i16bit[1] * sensitivity));
cparata 3:4274d9103f1d 847 angular_rate[2] = (int32_t)((float)((float)data_raw.i16bit[2] * sensitivity));
cparata 3:4274d9103f1d 848
cparata 3:4274d9103f1d 849 return 0;
cparata 0:6d69e896ce38 850 }
cparata 0:6d69e896ce38 851
cparata 0:6d69e896ce38 852
cparata 0:6d69e896ce38 853 /**
cparata 0:6d69e896ce38 854 * @brief Get the LSM6DSO register value
cparata 0:6d69e896ce38 855 * @param reg address to be read
cparata 0:6d69e896ce38 856 * @param data pointer where the value is written
cparata 0:6d69e896ce38 857 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 858 */
cparata 0:6d69e896ce38 859 int LSM6DSOSensor::read_reg(uint8_t reg, uint8_t *data)
cparata 0:6d69e896ce38 860 {
cparata 3:4274d9103f1d 861 if (lsm6dso_read_reg(&_reg_ctx, reg, data, 1) != 0) {
cparata 3:4274d9103f1d 862 return 1;
cparata 3:4274d9103f1d 863 }
cparata 3:4274d9103f1d 864
cparata 3:4274d9103f1d 865 return 0;
cparata 0:6d69e896ce38 866 }
cparata 0:6d69e896ce38 867
cparata 0:6d69e896ce38 868
cparata 0:6d69e896ce38 869 /**
cparata 0:6d69e896ce38 870 * @brief Set the LSM6DSO register value
cparata 0:6d69e896ce38 871 * @param reg address to be written
cparata 0:6d69e896ce38 872 * @param data value to be written
cparata 0:6d69e896ce38 873 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 874 */
cparata 0:6d69e896ce38 875 int LSM6DSOSensor::write_reg(uint8_t reg, uint8_t data)
cparata 0:6d69e896ce38 876 {
cparata 3:4274d9103f1d 877 if (lsm6dso_write_reg(&_reg_ctx, reg, &data, 1) != 0) {
cparata 3:4274d9103f1d 878 return 1;
cparata 3:4274d9103f1d 879 }
cparata 3:4274d9103f1d 880
cparata 3:4274d9103f1d 881 return 0;
cparata 0:6d69e896ce38 882 }
cparata 0:6d69e896ce38 883
cparata 0:6d69e896ce38 884 /**
cparata 0:6d69e896ce38 885 * @brief Set the interrupt latch
cparata 0:6d69e896ce38 886 * @param status value to be written
cparata 0:6d69e896ce38 887 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 888 */
cparata 0:6d69e896ce38 889 int LSM6DSOSensor::set_interrupt_latch(uint8_t status)
cparata 0:6d69e896ce38 890 {
cparata 3:4274d9103f1d 891 if (status > 1U) {
cparata 3:4274d9103f1d 892 return 1;
cparata 3:4274d9103f1d 893 }
cparata 3:4274d9103f1d 894
cparata 3:4274d9103f1d 895 if (lsm6dso_int_notification_set(&_reg_ctx, (lsm6dso_lir_t)status) != 0) {
cparata 3:4274d9103f1d 896 return 1;
cparata 3:4274d9103f1d 897 }
cparata 3:4274d9103f1d 898
cparata 3:4274d9103f1d 899 return 0;
cparata 0:6d69e896ce38 900 }
cparata 0:6d69e896ce38 901
cparata 0:6d69e896ce38 902 /**
cparata 0:6d69e896ce38 903 * @brief Enable free fall detection
cparata 0:6d69e896ce38 904 * @param int_pin interrupt pin line to be used
cparata 0:6d69e896ce38 905 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 906 */
cparata 0:6d69e896ce38 907 int LSM6DSOSensor::enable_free_fall_detection(LSM6DSO_Interrupt_Pin_t int_pin)
cparata 0:6d69e896ce38 908 {
cparata 3:4274d9103f1d 909 int ret = 0;
cparata 3:4274d9103f1d 910 lsm6dso_pin_int1_route_t val1;
cparata 3:4274d9103f1d 911 lsm6dso_pin_int2_route_t val2;
cparata 3:4274d9103f1d 912
cparata 3:4274d9103f1d 913 /* Output Data Rate selection */
cparata 3:4274d9103f1d 914 if (set_x_odr(416.0f) != 0) {
cparata 3:4274d9103f1d 915 return 1;
cparata 3:4274d9103f1d 916 }
cparata 3:4274d9103f1d 917
cparata 3:4274d9103f1d 918 /* Full scale selection */
cparata 3:4274d9103f1d 919 if (set_x_fs(2.0f) != 0) {
cparata 3:4274d9103f1d 920 return 1;
cparata 3:4274d9103f1d 921 }
cparata 3:4274d9103f1d 922
cparata 3:4274d9103f1d 923 /* FF_DUR setting */
cparata 3:4274d9103f1d 924 if (lsm6dso_ff_dur_set(&_reg_ctx, 0x06) != 0) {
cparata 3:4274d9103f1d 925 return 1;
cparata 3:4274d9103f1d 926 }
cparata 3:4274d9103f1d 927
cparata 3:4274d9103f1d 928 /* WAKE_DUR setting */
cparata 3:4274d9103f1d 929 if (lsm6dso_wkup_dur_set(&_reg_ctx, 0x00) != 0) {
cparata 3:4274d9103f1d 930 return 1;
cparata 3:4274d9103f1d 931 }
cparata 3:4274d9103f1d 932
cparata 3:4274d9103f1d 933 /* SLEEP_DUR setting */
cparata 3:4274d9103f1d 934 if (lsm6dso_act_sleep_dur_set(&_reg_ctx, 0x00) != 0) {
cparata 3:4274d9103f1d 935 return 1;
cparata 3:4274d9103f1d 936 }
cparata 3:4274d9103f1d 937
cparata 3:4274d9103f1d 938 /* FF_THS setting */
cparata 3:4274d9103f1d 939 if (lsm6dso_ff_threshold_set(&_reg_ctx, LSM6DSO_FF_TSH_312mg) != 0) {
cparata 0:6d69e896ce38 940 return 1;
cparata 3:4274d9103f1d 941 }
cparata 3:4274d9103f1d 942
cparata 3:4274d9103f1d 943 /* Enable free fall event on either INT1 or INT2 pin */
cparata 3:4274d9103f1d 944 switch (int_pin) {
cparata 3:4274d9103f1d 945 case LSM6DSO_INT1_PIN:
cparata 3:4274d9103f1d 946 if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata 3:4274d9103f1d 947 return 1;
cparata 3:4274d9103f1d 948 }
cparata 3:4274d9103f1d 949
cparata 3:4274d9103f1d 950 val1.md1_cfg.int1_ff = PROPERTY_ENABLE;
cparata 3:4274d9103f1d 951
cparata 3:4274d9103f1d 952 if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0) {
cparata 3:4274d9103f1d 953 return 1;
cparata 3:4274d9103f1d 954 }
cparata 3:4274d9103f1d 955 break;
cparata 3:4274d9103f1d 956
cparata 3:4274d9103f1d 957 case LSM6DSO_INT2_PIN:
cparata 3:4274d9103f1d 958 if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0) {
cparata 3:4274d9103f1d 959 return 1;
cparata 3:4274d9103f1d 960 }
cparata 3:4274d9103f1d 961
cparata 3:4274d9103f1d 962 val2.md2_cfg.int2_ff = PROPERTY_ENABLE;
cparata 3:4274d9103f1d 963
cparata 3:4274d9103f1d 964 if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0) {
cparata 3:4274d9103f1d 965 return 1;
cparata 3:4274d9103f1d 966 }
cparata 3:4274d9103f1d 967 break;
cparata 3:4274d9103f1d 968
cparata 3:4274d9103f1d 969 default:
cparata 3:4274d9103f1d 970 ret = 1;
cparata 3:4274d9103f1d 971 break;
cparata 3:4274d9103f1d 972 }
cparata 3:4274d9103f1d 973
cparata 3:4274d9103f1d 974 return ret;
cparata 0:6d69e896ce38 975 }
cparata 0:6d69e896ce38 976
cparata 0:6d69e896ce38 977 /**
cparata 0:6d69e896ce38 978 * @brief Disable free fall detection
cparata 0:6d69e896ce38 979 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 980 */
cparata 0:6d69e896ce38 981 int LSM6DSOSensor::disable_free_fall_detection()
cparata 0:6d69e896ce38 982 {
cparata 3:4274d9103f1d 983 lsm6dso_pin_int1_route_t val1;
cparata 3:4274d9103f1d 984 lsm6dso_pin_int2_route_t val2;
cparata 3:4274d9103f1d 985
cparata 3:4274d9103f1d 986 /* Disable free fall event on both INT1 and INT2 pins */
cparata 3:4274d9103f1d 987 if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata 3:4274d9103f1d 988 return 1;
cparata 3:4274d9103f1d 989 }
cparata 3:4274d9103f1d 990
cparata 3:4274d9103f1d 991 val1.md1_cfg.int1_ff = PROPERTY_DISABLE;
cparata 3:4274d9103f1d 992
cparata 3:4274d9103f1d 993 if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0) {
cparata 3:4274d9103f1d 994 return 1;
cparata 3:4274d9103f1d 995 }
cparata 3:4274d9103f1d 996
cparata 3:4274d9103f1d 997 if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0) {
cparata 3:4274d9103f1d 998 return 1;
cparata 3:4274d9103f1d 999 }
cparata 3:4274d9103f1d 1000
cparata 3:4274d9103f1d 1001 val2.md2_cfg.int2_ff = PROPERTY_DISABLE;
cparata 3:4274d9103f1d 1002
cparata 3:4274d9103f1d 1003 if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0) {
cparata 3:4274d9103f1d 1004 return 1;
cparata 3:4274d9103f1d 1005 }
cparata 3:4274d9103f1d 1006
cparata 3:4274d9103f1d 1007 /* FF_DUR setting */
cparata 3:4274d9103f1d 1008 if (lsm6dso_ff_dur_set(&_reg_ctx, 0x00) != 0) {
cparata 3:4274d9103f1d 1009 return 1;
cparata 3:4274d9103f1d 1010 }
cparata 3:4274d9103f1d 1011
cparata 3:4274d9103f1d 1012 /* FF_THS setting */
cparata 3:4274d9103f1d 1013 if (lsm6dso_ff_threshold_set(&_reg_ctx, LSM6DSO_FF_TSH_156mg) != 0) {
cparata 3:4274d9103f1d 1014 return 1;
cparata 3:4274d9103f1d 1015 }
cparata 3:4274d9103f1d 1016
cparata 3:4274d9103f1d 1017 return 0;
cparata 0:6d69e896ce38 1018 }
cparata 0:6d69e896ce38 1019
cparata 0:6d69e896ce38 1020 /**
cparata 0:6d69e896ce38 1021 * @brief Set free fall threshold
cparata 0:6d69e896ce38 1022 * @param thr free fall detection threshold
cparata 0:6d69e896ce38 1023 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1024 */
cparata 0:6d69e896ce38 1025 int LSM6DSOSensor::set_free_fall_threshold(uint8_t thr)
cparata 0:6d69e896ce38 1026 {
cparata 3:4274d9103f1d 1027 if (lsm6dso_ff_threshold_set(&_reg_ctx, (lsm6dso_ff_ths_t)thr) != 0) {
cparata 3:4274d9103f1d 1028 return 1;
cparata 3:4274d9103f1d 1029 }
cparata 3:4274d9103f1d 1030
cparata 3:4274d9103f1d 1031 return 0;
cparata 0:6d69e896ce38 1032 }
cparata 0:6d69e896ce38 1033
cparata 0:6d69e896ce38 1034
cparata 0:6d69e896ce38 1035 /**
cparata 0:6d69e896ce38 1036 * @brief Set free fall duration
cparata 0:6d69e896ce38 1037 * @param dur free fall detection duration
cparata 0:6d69e896ce38 1038 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1039 */
cparata 0:6d69e896ce38 1040 int LSM6DSOSensor::set_free_fall_duration(uint8_t dur)
cparata 0:6d69e896ce38 1041 {
cparata 3:4274d9103f1d 1042 if (lsm6dso_ff_dur_set(&_reg_ctx, dur) != 0) {
cparata 3:4274d9103f1d 1043 return 1;
cparata 3:4274d9103f1d 1044 }
cparata 3:4274d9103f1d 1045
cparata 3:4274d9103f1d 1046 return 0;
cparata 0:6d69e896ce38 1047 }
cparata 0:6d69e896ce38 1048
cparata 0:6d69e896ce38 1049
cparata 0:6d69e896ce38 1050 /**
cparata 0:6d69e896ce38 1051 * @brief Enable pedometer
cparata 0:6d69e896ce38 1052 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1053 */
cparata 0:6d69e896ce38 1054 int LSM6DSOSensor::enable_pedometer()
cparata 0:6d69e896ce38 1055 {
cparata 0:6d69e896ce38 1056 lsm6dso_pin_int1_route_t val;
cparata 0:6d69e896ce38 1057
cparata 3:4274d9103f1d 1058 /* Output Data Rate selection */
cparata 3:4274d9103f1d 1059 if (set_x_odr(26.0f) != 0) {
cparata 3:4274d9103f1d 1060 return 1;
cparata 3:4274d9103f1d 1061 }
cparata 3:4274d9103f1d 1062
cparata 3:4274d9103f1d 1063 /* Full scale selection */
cparata 3:4274d9103f1d 1064 if (set_x_fs(2.0f) != 0) {
cparata 3:4274d9103f1d 1065 return 1;
cparata 3:4274d9103f1d 1066 }
cparata 3:4274d9103f1d 1067
cparata 3:4274d9103f1d 1068 /* Enable pedometer algorithm. */
cparata 3:4274d9103f1d 1069 if (lsm6dso_pedo_sens_set(&_reg_ctx, LSM6DSO_PEDO_BASE_MODE) != 0) {
cparata 3:4274d9103f1d 1070 return 1;
cparata 3:4274d9103f1d 1071 }
cparata 3:4274d9103f1d 1072
cparata 3:4274d9103f1d 1073 /* Enable step detector on INT1 pin */
cparata 3:4274d9103f1d 1074 if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val) != 0) {
cparata 3:4274d9103f1d 1075 return 1;
cparata 3:4274d9103f1d 1076 }
cparata 3:4274d9103f1d 1077
cparata 3:4274d9103f1d 1078 val.emb_func_int1.int1_step_detector = PROPERTY_ENABLE;
cparata 3:4274d9103f1d 1079
cparata 3:4274d9103f1d 1080 if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val) != 0) {
cparata 3:4274d9103f1d 1081 return 1;
cparata 3:4274d9103f1d 1082 }
cparata 3:4274d9103f1d 1083
cparata 3:4274d9103f1d 1084 return 0;
cparata 0:6d69e896ce38 1085 }
cparata 0:6d69e896ce38 1086
cparata 0:6d69e896ce38 1087 /**
cparata 0:6d69e896ce38 1088 * @brief Disable pedometer
cparata 0:6d69e896ce38 1089 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1090 */
cparata 0:6d69e896ce38 1091 int LSM6DSOSensor::disable_pedometer()
cparata 0:6d69e896ce38 1092 {
cparata 3:4274d9103f1d 1093 lsm6dso_pin_int1_route_t val1;
cparata 3:4274d9103f1d 1094
cparata 3:4274d9103f1d 1095 /* Disable step detector on INT1 pin */
cparata 3:4274d9103f1d 1096 if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata 3:4274d9103f1d 1097 return 1;
cparata 3:4274d9103f1d 1098 }
cparata 3:4274d9103f1d 1099
cparata 3:4274d9103f1d 1100 val1.emb_func_int1.int1_step_detector = PROPERTY_DISABLE;
cparata 3:4274d9103f1d 1101
cparata 3:4274d9103f1d 1102 if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0) {
cparata 3:4274d9103f1d 1103 return 1;
cparata 3:4274d9103f1d 1104 }
cparata 3:4274d9103f1d 1105
cparata 3:4274d9103f1d 1106 /* Disable pedometer algorithm. */
cparata 3:4274d9103f1d 1107 if (lsm6dso_pedo_sens_set(&_reg_ctx, LSM6DSO_PEDO_DISABLE) != 0) {
cparata 3:4274d9103f1d 1108 return 1;
cparata 3:4274d9103f1d 1109 }
cparata 3:4274d9103f1d 1110
cparata 3:4274d9103f1d 1111 return 0;
cparata 0:6d69e896ce38 1112 }
cparata 0:6d69e896ce38 1113
cparata 0:6d69e896ce38 1114 /**
cparata 0:6d69e896ce38 1115 * @brief Get step count
cparata 0:6d69e896ce38 1116 * @param step_count step counter
cparata 0:6d69e896ce38 1117 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1118 */
cparata 0:6d69e896ce38 1119 int LSM6DSOSensor::get_step_counter(uint16_t *step_count)
cparata 0:6d69e896ce38 1120 {
cparata 3:4274d9103f1d 1121 if (lsm6dso_number_of_steps_get(&_reg_ctx, (uint8_t *)step_count) != 0) {
cparata 3:4274d9103f1d 1122 return 1;
cparata 3:4274d9103f1d 1123 }
cparata 3:4274d9103f1d 1124
cparata 3:4274d9103f1d 1125 return 0;
cparata 0:6d69e896ce38 1126 }
cparata 0:6d69e896ce38 1127
cparata 0:6d69e896ce38 1128 /**
cparata 0:6d69e896ce38 1129 * @brief Enable step counter reset
cparata 0:6d69e896ce38 1130 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1131 */
cparata 0:6d69e896ce38 1132 int LSM6DSOSensor::reset_step_counter()
cparata 0:6d69e896ce38 1133 {
cparata 3:4274d9103f1d 1134 if (lsm6dso_steps_reset(&_reg_ctx) != 0) {
cparata 3:4274d9103f1d 1135 return 1;
cparata 3:4274d9103f1d 1136 }
cparata 3:4274d9103f1d 1137
cparata 3:4274d9103f1d 1138 return 0;
cparata 0:6d69e896ce38 1139 }
cparata 0:6d69e896ce38 1140
cparata 0:6d69e896ce38 1141 /**
cparata 0:6d69e896ce38 1142 * @brief Enable tilt detection
cparata 0:6d69e896ce38 1143 * @param int_pin interrupt pin line to be used
cparata 0:6d69e896ce38 1144 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1145 */
cparata 0:6d69e896ce38 1146 int LSM6DSOSensor::enable_tilt_detection(LSM6DSO_Interrupt_Pin_t int_pin)
cparata 0:6d69e896ce38 1147 {
cparata 3:4274d9103f1d 1148 int ret = 0;
cparata 3:4274d9103f1d 1149 lsm6dso_pin_int1_route_t val1;
cparata 3:4274d9103f1d 1150 lsm6dso_pin_int2_route_t val2;
cparata 3:4274d9103f1d 1151
cparata 3:4274d9103f1d 1152 /* Output Data Rate selection */
cparata 3:4274d9103f1d 1153 if (set_x_odr(26.0f) != 0) {
cparata 3:4274d9103f1d 1154 return 1;
cparata 3:4274d9103f1d 1155 }
cparata 3:4274d9103f1d 1156
cparata 3:4274d9103f1d 1157 /* Full scale selection */
cparata 3:4274d9103f1d 1158 if (set_x_fs(2.0f) != 0) {
cparata 3:4274d9103f1d 1159 return 1;
cparata 3:4274d9103f1d 1160 }
cparata 3:4274d9103f1d 1161
cparata 3:4274d9103f1d 1162 /* Enable tilt calculation. */
cparata 3:4274d9103f1d 1163 if (lsm6dso_tilt_sens_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
cparata 0:6d69e896ce38 1164 return 1;
cparata 3:4274d9103f1d 1165 }
cparata 3:4274d9103f1d 1166
cparata 3:4274d9103f1d 1167 /* Enable tilt event on either INT1 or INT2 pin */
cparata 3:4274d9103f1d 1168 switch (int_pin) {
cparata 3:4274d9103f1d 1169 case LSM6DSO_INT1_PIN:
cparata 3:4274d9103f1d 1170 if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata 3:4274d9103f1d 1171 return 1;
cparata 3:4274d9103f1d 1172 }
cparata 3:4274d9103f1d 1173
cparata 3:4274d9103f1d 1174 val1.emb_func_int1.int1_tilt = PROPERTY_ENABLE;
cparata 3:4274d9103f1d 1175
cparata 3:4274d9103f1d 1176 if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0) {
cparata 3:4274d9103f1d 1177 return 1;
cparata 3:4274d9103f1d 1178 }
cparata 3:4274d9103f1d 1179 break;
cparata 3:4274d9103f1d 1180
cparata 3:4274d9103f1d 1181 case LSM6DSO_INT2_PIN:
cparata 3:4274d9103f1d 1182 if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0) {
cparata 3:4274d9103f1d 1183 return 1;
cparata 3:4274d9103f1d 1184 }
cparata 3:4274d9103f1d 1185
cparata 3:4274d9103f1d 1186 val2.emb_func_int2.int2_tilt = PROPERTY_ENABLE;
cparata 3:4274d9103f1d 1187
cparata 3:4274d9103f1d 1188 if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0) {
cparata 3:4274d9103f1d 1189 return 1;
cparata 3:4274d9103f1d 1190 }
cparata 3:4274d9103f1d 1191 break;
cparata 3:4274d9103f1d 1192
cparata 3:4274d9103f1d 1193 default:
cparata 3:4274d9103f1d 1194 ret = 1;
cparata 3:4274d9103f1d 1195 break;
cparata 3:4274d9103f1d 1196 }
cparata 3:4274d9103f1d 1197
cparata 3:4274d9103f1d 1198 return ret;
cparata 0:6d69e896ce38 1199 }
cparata 0:6d69e896ce38 1200
cparata 0:6d69e896ce38 1201 /**
cparata 0:6d69e896ce38 1202 * @brief Disable tilt detection
cparata 0:6d69e896ce38 1203 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1204 */
cparata 0:6d69e896ce38 1205 int LSM6DSOSensor::disable_tilt_detection()
cparata 0:6d69e896ce38 1206 {
cparata 3:4274d9103f1d 1207 lsm6dso_pin_int1_route_t val1;
cparata 3:4274d9103f1d 1208 lsm6dso_pin_int2_route_t val2;
cparata 3:4274d9103f1d 1209
cparata 3:4274d9103f1d 1210 /* Disable tilt event on both INT1 and INT2 pins */
cparata 3:4274d9103f1d 1211 if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata 3:4274d9103f1d 1212 return 1;
cparata 3:4274d9103f1d 1213 }
cparata 3:4274d9103f1d 1214
cparata 3:4274d9103f1d 1215 val1.emb_func_int1.int1_tilt = PROPERTY_DISABLE;
cparata 3:4274d9103f1d 1216
cparata 3:4274d9103f1d 1217 if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0) {
cparata 3:4274d9103f1d 1218 return 1;
cparata 3:4274d9103f1d 1219 }
cparata 3:4274d9103f1d 1220
cparata 3:4274d9103f1d 1221 if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0) {
cparata 3:4274d9103f1d 1222 return 1;
cparata 3:4274d9103f1d 1223 }
cparata 3:4274d9103f1d 1224
cparata 3:4274d9103f1d 1225 val2.emb_func_int2.int2_tilt = PROPERTY_DISABLE;
cparata 3:4274d9103f1d 1226
cparata 3:4274d9103f1d 1227 if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0) {
cparata 3:4274d9103f1d 1228 return 1;
cparata 3:4274d9103f1d 1229 }
cparata 3:4274d9103f1d 1230
cparata 3:4274d9103f1d 1231 /* Disable tilt calculation. */
cparata 3:4274d9103f1d 1232 if (lsm6dso_tilt_sens_set(&_reg_ctx, PROPERTY_DISABLE) != 0) {
cparata 3:4274d9103f1d 1233 return 1;
cparata 3:4274d9103f1d 1234 }
cparata 3:4274d9103f1d 1235
cparata 3:4274d9103f1d 1236 return 0;
cparata 0:6d69e896ce38 1237 }
cparata 0:6d69e896ce38 1238
cparata 0:6d69e896ce38 1239 /**
cparata 0:6d69e896ce38 1240 * @brief Enable wake up detection
cparata 0:6d69e896ce38 1241 * @param int_pin interrupt pin line to be used
cparata 0:6d69e896ce38 1242 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1243 */
cparata 0:6d69e896ce38 1244 int LSM6DSOSensor::enable_wake_up_detection(LSM6DSO_Interrupt_Pin_t int_pin)
cparata 0:6d69e896ce38 1245 {
cparata 3:4274d9103f1d 1246 int ret = 0;
cparata 3:4274d9103f1d 1247 lsm6dso_pin_int1_route_t val1;
cparata 3:4274d9103f1d 1248 lsm6dso_pin_int2_route_t val2;
cparata 3:4274d9103f1d 1249
cparata 3:4274d9103f1d 1250 /* Output Data Rate selection */
cparata 3:4274d9103f1d 1251 if (set_x_odr(416.0f) != 0) {
cparata 3:4274d9103f1d 1252 return 1;
cparata 3:4274d9103f1d 1253 }
cparata 3:4274d9103f1d 1254
cparata 3:4274d9103f1d 1255 /* Full scale selection */
cparata 3:4274d9103f1d 1256 if (set_x_fs(2.0f) != 0) {
cparata 3:4274d9103f1d 1257 return 1;
cparata 3:4274d9103f1d 1258 }
cparata 3:4274d9103f1d 1259
cparata 3:4274d9103f1d 1260 /* WAKE_DUR setting */
cparata 3:4274d9103f1d 1261 if (lsm6dso_wkup_dur_set(&_reg_ctx, 0x00) != 0) {
cparata 3:4274d9103f1d 1262 return 1;
cparata 3:4274d9103f1d 1263 }
cparata 3:4274d9103f1d 1264
cparata 3:4274d9103f1d 1265 /* Set wake up threshold. */
cparata 3:4274d9103f1d 1266 if (lsm6dso_wkup_threshold_set(&_reg_ctx, 0x02) != 0) {
cparata 0:6d69e896ce38 1267 return 1;
cparata 3:4274d9103f1d 1268 }
cparata 3:4274d9103f1d 1269
cparata 3:4274d9103f1d 1270 /* Enable wake up event on either INT1 or INT2 pin */
cparata 3:4274d9103f1d 1271 switch (int_pin) {
cparata 3:4274d9103f1d 1272 case LSM6DSO_INT1_PIN:
cparata 3:4274d9103f1d 1273 if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata 3:4274d9103f1d 1274 return 1;
cparata 3:4274d9103f1d 1275 }
cparata 3:4274d9103f1d 1276
cparata 3:4274d9103f1d 1277 val1.md1_cfg.int1_wu = PROPERTY_ENABLE;
cparata 3:4274d9103f1d 1278
cparata 3:4274d9103f1d 1279 if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0) {
cparata 3:4274d9103f1d 1280 return 1;
cparata 3:4274d9103f1d 1281 }
cparata 3:4274d9103f1d 1282 break;
cparata 3:4274d9103f1d 1283
cparata 3:4274d9103f1d 1284 case LSM6DSO_INT2_PIN:
cparata 3:4274d9103f1d 1285 if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0) {
cparata 3:4274d9103f1d 1286 return 1;
cparata 3:4274d9103f1d 1287 }
cparata 3:4274d9103f1d 1288
cparata 3:4274d9103f1d 1289 val2.md2_cfg.int2_wu = PROPERTY_ENABLE;
cparata 3:4274d9103f1d 1290
cparata 3:4274d9103f1d 1291 if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0) {
cparata 3:4274d9103f1d 1292 return 1;
cparata 3:4274d9103f1d 1293 }
cparata 3:4274d9103f1d 1294 break;
cparata 3:4274d9103f1d 1295
cparata 3:4274d9103f1d 1296 default:
cparata 3:4274d9103f1d 1297 ret = 1;
cparata 3:4274d9103f1d 1298 break;
cparata 3:4274d9103f1d 1299 }
cparata 3:4274d9103f1d 1300
cparata 3:4274d9103f1d 1301 return ret;
cparata 0:6d69e896ce38 1302 }
cparata 0:6d69e896ce38 1303
cparata 0:6d69e896ce38 1304
cparata 0:6d69e896ce38 1305 /**
cparata 0:6d69e896ce38 1306 * @brief Disable wake up detection
cparata 0:6d69e896ce38 1307 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1308 */
cparata 0:6d69e896ce38 1309 int LSM6DSOSensor::disable_wake_up_detection()
cparata 0:6d69e896ce38 1310 {
cparata 0:6d69e896ce38 1311 lsm6dso_pin_int1_route_t val1;
cparata 0:6d69e896ce38 1312 lsm6dso_pin_int2_route_t val2;
cparata 0:6d69e896ce38 1313
cparata 3:4274d9103f1d 1314 /* Disable wake up event on both INT1 and INT2 pins */
cparata 3:4274d9103f1d 1315 if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata 3:4274d9103f1d 1316 return 1;
cparata 3:4274d9103f1d 1317 }
cparata 3:4274d9103f1d 1318
cparata 3:4274d9103f1d 1319 val1.md1_cfg.int1_wu = PROPERTY_DISABLE;
cparata 3:4274d9103f1d 1320
cparata 3:4274d9103f1d 1321 if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0) {
cparata 3:4274d9103f1d 1322 return 1;
cparata 3:4274d9103f1d 1323 }
cparata 3:4274d9103f1d 1324
cparata 3:4274d9103f1d 1325 if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0) {
cparata 3:4274d9103f1d 1326 return 1;
cparata 3:4274d9103f1d 1327 }
cparata 3:4274d9103f1d 1328
cparata 3:4274d9103f1d 1329 val2.md2_cfg.int2_wu = PROPERTY_DISABLE;
cparata 3:4274d9103f1d 1330
cparata 3:4274d9103f1d 1331 if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0) {
cparata 3:4274d9103f1d 1332 return 1;
cparata 3:4274d9103f1d 1333 }
cparata 3:4274d9103f1d 1334
cparata 3:4274d9103f1d 1335 /* Reset wake up threshold. */
cparata 3:4274d9103f1d 1336 if (lsm6dso_wkup_threshold_set(&_reg_ctx, 0x00) != 0) {
cparata 3:4274d9103f1d 1337 return 1;
cparata 3:4274d9103f1d 1338 }
cparata 3:4274d9103f1d 1339
cparata 3:4274d9103f1d 1340 /* WAKE_DUR setting */
cparata 3:4274d9103f1d 1341 if (lsm6dso_wkup_dur_set(&_reg_ctx, 0x00) != 0) {
cparata 3:4274d9103f1d 1342 return 1;
cparata 3:4274d9103f1d 1343 }
cparata 3:4274d9103f1d 1344
cparata 3:4274d9103f1d 1345 return 0;
cparata 0:6d69e896ce38 1346 }
cparata 0:6d69e896ce38 1347
cparata 0:6d69e896ce38 1348 /**
cparata 0:6d69e896ce38 1349 * @brief Set wake up threshold
cparata 0:6d69e896ce38 1350 * @param thr wake up detection threshold
cparata 0:6d69e896ce38 1351 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1352 */
cparata 0:6d69e896ce38 1353 int LSM6DSOSensor::set_wake_up_threshold(uint8_t thr)
cparata 0:6d69e896ce38 1354 {
cparata 3:4274d9103f1d 1355 /* Set wake up threshold. */
cparata 3:4274d9103f1d 1356 if (lsm6dso_wkup_threshold_set(&_reg_ctx, thr) != 0) {
cparata 3:4274d9103f1d 1357 return 1;
cparata 3:4274d9103f1d 1358 }
cparata 3:4274d9103f1d 1359
cparata 3:4274d9103f1d 1360 return 0;
cparata 0:6d69e896ce38 1361 }
cparata 0:6d69e896ce38 1362
cparata 0:6d69e896ce38 1363 /**
cparata 0:6d69e896ce38 1364 * @brief Set wake up duration
cparata 0:6d69e896ce38 1365 * @param dur wake up detection duration
cparata 0:6d69e896ce38 1366 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1367 */
cparata 0:6d69e896ce38 1368 int LSM6DSOSensor::set_wake_up_duration(uint8_t dur)
cparata 0:6d69e896ce38 1369 {
cparata 3:4274d9103f1d 1370 /* Set wake up duration. */
cparata 3:4274d9103f1d 1371 if (lsm6dso_wkup_dur_set(&_reg_ctx, dur) != 0) {
cparata 3:4274d9103f1d 1372 return 1;
cparata 3:4274d9103f1d 1373 }
cparata 3:4274d9103f1d 1374
cparata 3:4274d9103f1d 1375 return 0;
cparata 0:6d69e896ce38 1376 }
cparata 0:6d69e896ce38 1377
cparata 0:6d69e896ce38 1378 /**
cparata 0:6d69e896ce38 1379 * @brief Enable single tap detection
cparata 0:6d69e896ce38 1380 * @param int_pin interrupt pin line to be used
cparata 0:6d69e896ce38 1381 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1382 */
cparata 0:6d69e896ce38 1383 int LSM6DSOSensor::enable_single_tap_detection(LSM6DSO_Interrupt_Pin_t int_pin)
cparata 0:6d69e896ce38 1384 {
cparata 3:4274d9103f1d 1385 int ret = 0;
cparata 3:4274d9103f1d 1386 lsm6dso_pin_int1_route_t val1;
cparata 3:4274d9103f1d 1387 lsm6dso_pin_int2_route_t val2;
cparata 3:4274d9103f1d 1388
cparata 3:4274d9103f1d 1389 /* Output Data Rate selection */
cparata 3:4274d9103f1d 1390 if (set_x_odr(416.0f) != 0) {
cparata 3:4274d9103f1d 1391 return 1;
cparata 3:4274d9103f1d 1392 }
cparata 3:4274d9103f1d 1393
cparata 3:4274d9103f1d 1394 /* Full scale selection */
cparata 3:4274d9103f1d 1395 if (set_x_fs(2.0f) != 0) {
cparata 3:4274d9103f1d 1396 return 1;
cparata 3:4274d9103f1d 1397 }
cparata 3:4274d9103f1d 1398
cparata 3:4274d9103f1d 1399 /* Enable X direction in tap recognition. */
cparata 3:4274d9103f1d 1400 if (lsm6dso_tap_detection_on_x_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
cparata 3:4274d9103f1d 1401 return 1;
cparata 3:4274d9103f1d 1402 }
cparata 3:4274d9103f1d 1403
cparata 3:4274d9103f1d 1404 /* Enable Y direction in tap recognition. */
cparata 3:4274d9103f1d 1405 if (lsm6dso_tap_detection_on_y_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
cparata 3:4274d9103f1d 1406 return 1;
cparata 3:4274d9103f1d 1407 }
cparata 3:4274d9103f1d 1408
cparata 3:4274d9103f1d 1409 /* Enable Z direction in tap recognition. */
cparata 3:4274d9103f1d 1410 if (lsm6dso_tap_detection_on_z_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
cparata 3:4274d9103f1d 1411 return 1;
cparata 3:4274d9103f1d 1412 }
cparata 3:4274d9103f1d 1413
cparata 3:4274d9103f1d 1414 /* Set tap threshold. */
cparata 3:4274d9103f1d 1415 if (lsm6dso_tap_threshold_x_set(&_reg_ctx, 0x08) != 0) {
cparata 3:4274d9103f1d 1416 return 1;
cparata 3:4274d9103f1d 1417 }
cparata 3:4274d9103f1d 1418
cparata 3:4274d9103f1d 1419 /* Set tap shock time window. */
cparata 3:4274d9103f1d 1420 if (lsm6dso_tap_shock_set(&_reg_ctx, 0x02) != 0) {
cparata 0:6d69e896ce38 1421 return 1;
cparata 3:4274d9103f1d 1422 }
cparata 3:4274d9103f1d 1423
cparata 3:4274d9103f1d 1424 /* Set tap quiet time window. */
cparata 3:4274d9103f1d 1425 if (lsm6dso_tap_quiet_set(&_reg_ctx, 0x01) != 0) {
cparata 0:6d69e896ce38 1426 return 1;
cparata 3:4274d9103f1d 1427 }
cparata 3:4274d9103f1d 1428
cparata 3:4274d9103f1d 1429 /* _NOTE_: Tap duration time window - don't care for single tap. */
cparata 3:4274d9103f1d 1430
cparata 3:4274d9103f1d 1431 /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata 3:4274d9103f1d 1432
cparata 3:4274d9103f1d 1433 /* Enable single tap event on either INT1 or INT2 pin */
cparata 3:4274d9103f1d 1434 switch (int_pin) {
cparata 3:4274d9103f1d 1435 case LSM6DSO_INT1_PIN:
cparata 3:4274d9103f1d 1436 if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata 3:4274d9103f1d 1437 return 1;
cparata 3:4274d9103f1d 1438 }
cparata 3:4274d9103f1d 1439
cparata 3:4274d9103f1d 1440 val1.md1_cfg.int1_single_tap = PROPERTY_ENABLE;
cparata 3:4274d9103f1d 1441
cparata 3:4274d9103f1d 1442 if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0) {
cparata 3:4274d9103f1d 1443 return 1;
cparata 3:4274d9103f1d 1444 }
cparata 3:4274d9103f1d 1445 break;
cparata 3:4274d9103f1d 1446
cparata 3:4274d9103f1d 1447 case LSM6DSO_INT2_PIN:
cparata 3:4274d9103f1d 1448 if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0) {
cparata 3:4274d9103f1d 1449 return 1;
cparata 3:4274d9103f1d 1450 }
cparata 3:4274d9103f1d 1451
cparata 3:4274d9103f1d 1452 val2.md2_cfg.int2_single_tap = PROPERTY_ENABLE;
cparata 3:4274d9103f1d 1453
cparata 3:4274d9103f1d 1454 if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0) {
cparata 3:4274d9103f1d 1455 return 1;
cparata 3:4274d9103f1d 1456 }
cparata 3:4274d9103f1d 1457 break;
cparata 3:4274d9103f1d 1458
cparata 3:4274d9103f1d 1459 default:
cparata 3:4274d9103f1d 1460 ret = 1;
cparata 3:4274d9103f1d 1461 break;
cparata 3:4274d9103f1d 1462 }
cparata 3:4274d9103f1d 1463
cparata 3:4274d9103f1d 1464 return ret;
cparata 0:6d69e896ce38 1465 }
cparata 0:6d69e896ce38 1466
cparata 0:6d69e896ce38 1467 /**
cparata 0:6d69e896ce38 1468 * @brief Disable single tap detection
cparata 0:6d69e896ce38 1469 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1470 */
cparata 0:6d69e896ce38 1471 int LSM6DSOSensor::disable_single_tap_detection()
cparata 0:6d69e896ce38 1472 {
cparata 0:6d69e896ce38 1473 lsm6dso_pin_int1_route_t val1;
cparata 0:6d69e896ce38 1474 lsm6dso_pin_int2_route_t val2;
cparata 0:6d69e896ce38 1475
cparata 3:4274d9103f1d 1476 /* Disable single tap event on both INT1 and INT2 pins */
cparata 3:4274d9103f1d 1477 if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata 3:4274d9103f1d 1478 return 1;
cparata 3:4274d9103f1d 1479 }
cparata 3:4274d9103f1d 1480
cparata 3:4274d9103f1d 1481 val1.md1_cfg.int1_single_tap = PROPERTY_DISABLE;
cparata 3:4274d9103f1d 1482
cparata 3:4274d9103f1d 1483 if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0) {
cparata 3:4274d9103f1d 1484 return 1;
cparata 3:4274d9103f1d 1485 }
cparata 3:4274d9103f1d 1486
cparata 3:4274d9103f1d 1487 if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0) {
cparata 3:4274d9103f1d 1488 return 1;
cparata 3:4274d9103f1d 1489 }
cparata 3:4274d9103f1d 1490
cparata 3:4274d9103f1d 1491 val2.md2_cfg.int2_single_tap = PROPERTY_DISABLE;
cparata 3:4274d9103f1d 1492
cparata 3:4274d9103f1d 1493 if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0) {
cparata 3:4274d9103f1d 1494 return 1;
cparata 3:4274d9103f1d 1495 }
cparata 3:4274d9103f1d 1496
cparata 3:4274d9103f1d 1497 /* Reset tap quiet time window. */
cparata 3:4274d9103f1d 1498 if (lsm6dso_tap_quiet_set(&_reg_ctx, 0x00) != 0) {
cparata 3:4274d9103f1d 1499 return 1;
cparata 3:4274d9103f1d 1500 }
cparata 3:4274d9103f1d 1501
cparata 3:4274d9103f1d 1502 /* Reset tap shock time window. */
cparata 3:4274d9103f1d 1503 if (lsm6dso_tap_shock_set(&_reg_ctx, 0x00) != 0) {
cparata 3:4274d9103f1d 1504 return 1;
cparata 3:4274d9103f1d 1505 }
cparata 3:4274d9103f1d 1506
cparata 3:4274d9103f1d 1507 /* Reset tap threshold. */
cparata 3:4274d9103f1d 1508 if (lsm6dso_tap_threshold_x_set(&_reg_ctx, 0x00) != 0) {
cparata 3:4274d9103f1d 1509 return 1;
cparata 3:4274d9103f1d 1510 }
cparata 3:4274d9103f1d 1511
cparata 3:4274d9103f1d 1512 /* Disable Z direction in tap recognition. */
cparata 3:4274d9103f1d 1513 if (lsm6dso_tap_detection_on_z_set(&_reg_ctx, PROPERTY_DISABLE) != 0) {
cparata 3:4274d9103f1d 1514 return 1;
cparata 3:4274d9103f1d 1515 }
cparata 3:4274d9103f1d 1516
cparata 3:4274d9103f1d 1517 /* Disable Y direction in tap recognition. */
cparata 3:4274d9103f1d 1518 if (lsm6dso_tap_detection_on_y_set(&_reg_ctx, PROPERTY_DISABLE) != 0) {
cparata 3:4274d9103f1d 1519 return 1;
cparata 3:4274d9103f1d 1520 }
cparata 3:4274d9103f1d 1521
cparata 3:4274d9103f1d 1522 /* Disable X direction in tap recognition. */
cparata 3:4274d9103f1d 1523 if (lsm6dso_tap_detection_on_x_set(&_reg_ctx, PROPERTY_DISABLE) != 0) {
cparata 3:4274d9103f1d 1524 return 1;
cparata 3:4274d9103f1d 1525 }
cparata 3:4274d9103f1d 1526
cparata 3:4274d9103f1d 1527 return 0;
cparata 0:6d69e896ce38 1528 }
cparata 0:6d69e896ce38 1529
cparata 0:6d69e896ce38 1530 /**
cparata 0:6d69e896ce38 1531 * @brief Enable double tap detection
cparata 0:6d69e896ce38 1532 * @param int_pin interrupt pin line to be used
cparata 0:6d69e896ce38 1533 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1534 */
cparata 0:6d69e896ce38 1535 int LSM6DSOSensor::enable_double_tap_detection(LSM6DSO_Interrupt_Pin_t int_pin)
cparata 0:6d69e896ce38 1536 {
cparata 3:4274d9103f1d 1537 int ret = 0;
cparata 3:4274d9103f1d 1538 lsm6dso_pin_int1_route_t val1;
cparata 3:4274d9103f1d 1539 lsm6dso_pin_int2_route_t val2;
cparata 3:4274d9103f1d 1540
cparata 3:4274d9103f1d 1541 /* Output Data Rate selection */
cparata 3:4274d9103f1d 1542 if (set_x_odr(416.0f) != 0) {
cparata 3:4274d9103f1d 1543 return 1;
cparata 3:4274d9103f1d 1544 }
cparata 3:4274d9103f1d 1545
cparata 3:4274d9103f1d 1546 /* Full scale selection */
cparata 3:4274d9103f1d 1547 if (set_x_fs(2.0f) != 0) {
cparata 3:4274d9103f1d 1548 return 1;
cparata 3:4274d9103f1d 1549 }
cparata 3:4274d9103f1d 1550
cparata 3:4274d9103f1d 1551 /* Enable X direction in tap recognition. */
cparata 3:4274d9103f1d 1552 if (lsm6dso_tap_detection_on_x_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
cparata 3:4274d9103f1d 1553 return 1;
cparata 3:4274d9103f1d 1554 }
cparata 3:4274d9103f1d 1555
cparata 3:4274d9103f1d 1556 /* Enable Y direction in tap recognition. */
cparata 3:4274d9103f1d 1557 if (lsm6dso_tap_detection_on_y_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
cparata 3:4274d9103f1d 1558 return 1;
cparata 3:4274d9103f1d 1559 }
cparata 3:4274d9103f1d 1560
cparata 3:4274d9103f1d 1561 /* Enable Z direction in tap recognition. */
cparata 3:4274d9103f1d 1562 if (lsm6dso_tap_detection_on_z_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
cparata 3:4274d9103f1d 1563 return 1;
cparata 3:4274d9103f1d 1564 }
cparata 3:4274d9103f1d 1565
cparata 3:4274d9103f1d 1566 /* Set tap threshold. */
cparata 3:4274d9103f1d 1567 if (lsm6dso_tap_threshold_x_set(&_reg_ctx, 0x08) != 0) {
cparata 3:4274d9103f1d 1568 return 1;
cparata 3:4274d9103f1d 1569 }
cparata 3:4274d9103f1d 1570
cparata 3:4274d9103f1d 1571 /* Set tap shock time window. */
cparata 3:4274d9103f1d 1572 if (lsm6dso_tap_shock_set(&_reg_ctx, 0x03) != 0) {
cparata 3:4274d9103f1d 1573 return 1;
cparata 3:4274d9103f1d 1574 }
cparata 3:4274d9103f1d 1575
cparata 3:4274d9103f1d 1576 /* Set tap quiet time window. */
cparata 3:4274d9103f1d 1577 if (lsm6dso_tap_quiet_set(&_reg_ctx, 0x03) != 0) {
cparata 0:6d69e896ce38 1578 return 1;
cparata 3:4274d9103f1d 1579 }
cparata 3:4274d9103f1d 1580
cparata 3:4274d9103f1d 1581 /* Set tap duration time window. */
cparata 3:4274d9103f1d 1582 if (lsm6dso_tap_dur_set(&_reg_ctx, 0x08) != 0) {
cparata 0:6d69e896ce38 1583 return 1;
cparata 3:4274d9103f1d 1584 }
cparata 3:4274d9103f1d 1585
cparata 3:4274d9103f1d 1586 /* Single and double tap enabled. */
cparata 3:4274d9103f1d 1587 if (lsm6dso_tap_mode_set(&_reg_ctx, LSM6DSO_BOTH_SINGLE_DOUBLE) != 0) {
cparata 0:6d69e896ce38 1588 return 1;
cparata 3:4274d9103f1d 1589 }
cparata 3:4274d9103f1d 1590
cparata 3:4274d9103f1d 1591 /* Enable double tap event on either INT1 or INT2 pin */
cparata 3:4274d9103f1d 1592 switch (int_pin) {
cparata 3:4274d9103f1d 1593 case LSM6DSO_INT1_PIN:
cparata 3:4274d9103f1d 1594 if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata 3:4274d9103f1d 1595 return 1;
cparata 3:4274d9103f1d 1596 }
cparata 3:4274d9103f1d 1597
cparata 3:4274d9103f1d 1598 val1.md1_cfg.int1_double_tap = PROPERTY_ENABLE;
cparata 3:4274d9103f1d 1599
cparata 3:4274d9103f1d 1600 if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0) {
cparata 3:4274d9103f1d 1601 return 1;
cparata 3:4274d9103f1d 1602 }
cparata 3:4274d9103f1d 1603 break;
cparata 3:4274d9103f1d 1604
cparata 3:4274d9103f1d 1605 case LSM6DSO_INT2_PIN:
cparata 3:4274d9103f1d 1606 if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0) {
cparata 3:4274d9103f1d 1607 return 1;
cparata 3:4274d9103f1d 1608 }
cparata 3:4274d9103f1d 1609
cparata 3:4274d9103f1d 1610 val2.md2_cfg.int2_double_tap = PROPERTY_ENABLE;
cparata 3:4274d9103f1d 1611
cparata 3:4274d9103f1d 1612 if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0) {
cparata 3:4274d9103f1d 1613 return 1;
cparata 3:4274d9103f1d 1614 }
cparata 3:4274d9103f1d 1615 break;
cparata 3:4274d9103f1d 1616
cparata 3:4274d9103f1d 1617 default:
cparata 3:4274d9103f1d 1618 ret = 1;
cparata 3:4274d9103f1d 1619 break;
cparata 3:4274d9103f1d 1620 }
cparata 3:4274d9103f1d 1621
cparata 3:4274d9103f1d 1622 return ret;
cparata 0:6d69e896ce38 1623 }
cparata 0:6d69e896ce38 1624
cparata 0:6d69e896ce38 1625 /**
cparata 0:6d69e896ce38 1626 * @brief Disable double tap detection
cparata 0:6d69e896ce38 1627 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1628 */
cparata 0:6d69e896ce38 1629 int LSM6DSOSensor::disable_double_tap_detection()
cparata 0:6d69e896ce38 1630 {
cparata 3:4274d9103f1d 1631 lsm6dso_pin_int1_route_t val1;
cparata 3:4274d9103f1d 1632 lsm6dso_pin_int2_route_t val2;
cparata 3:4274d9103f1d 1633
cparata 3:4274d9103f1d 1634 /* Disable double tap event on both INT1 and INT2 pins */
cparata 3:4274d9103f1d 1635 if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata 3:4274d9103f1d 1636 return 1;
cparata 3:4274d9103f1d 1637 }
cparata 3:4274d9103f1d 1638
cparata 3:4274d9103f1d 1639 val1.md1_cfg.int1_double_tap = PROPERTY_DISABLE;
cparata 3:4274d9103f1d 1640
cparata 3:4274d9103f1d 1641 if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0) {
cparata 3:4274d9103f1d 1642 return 1;
cparata 3:4274d9103f1d 1643 }
cparata 3:4274d9103f1d 1644
cparata 3:4274d9103f1d 1645 if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0) {
cparata 3:4274d9103f1d 1646 return 1;
cparata 3:4274d9103f1d 1647 }
cparata 3:4274d9103f1d 1648
cparata 3:4274d9103f1d 1649 val2.md2_cfg.int2_double_tap = PROPERTY_DISABLE;
cparata 3:4274d9103f1d 1650
cparata 3:4274d9103f1d 1651 if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0) {
cparata 3:4274d9103f1d 1652 return 1;
cparata 3:4274d9103f1d 1653 }
cparata 3:4274d9103f1d 1654
cparata 3:4274d9103f1d 1655 /* Only single tap enabled. */
cparata 3:4274d9103f1d 1656 if (lsm6dso_tap_mode_set(&_reg_ctx, LSM6DSO_ONLY_SINGLE) != 0) {
cparata 3:4274d9103f1d 1657 return 1;
cparata 3:4274d9103f1d 1658 }
cparata 3:4274d9103f1d 1659
cparata 3:4274d9103f1d 1660 /* Reset tap duration time window. */
cparata 3:4274d9103f1d 1661 if (lsm6dso_tap_dur_set(&_reg_ctx, 0x00) != 0) {
cparata 3:4274d9103f1d 1662 return 1;
cparata 3:4274d9103f1d 1663 }
cparata 3:4274d9103f1d 1664
cparata 3:4274d9103f1d 1665 /* Reset tap quiet time window. */
cparata 3:4274d9103f1d 1666 if (lsm6dso_tap_quiet_set(&_reg_ctx, 0x00) != 0) {
cparata 3:4274d9103f1d 1667 return 1;
cparata 3:4274d9103f1d 1668 }
cparata 3:4274d9103f1d 1669
cparata 3:4274d9103f1d 1670 /* Reset tap shock time window. */
cparata 3:4274d9103f1d 1671 if (lsm6dso_tap_shock_set(&_reg_ctx, 0x00) != 0) {
cparata 3:4274d9103f1d 1672 return 1;
cparata 3:4274d9103f1d 1673 }
cparata 3:4274d9103f1d 1674
cparata 3:4274d9103f1d 1675 /* Reset tap threshold. */
cparata 3:4274d9103f1d 1676 if (lsm6dso_tap_threshold_x_set(&_reg_ctx, 0x00) != 0) {
cparata 3:4274d9103f1d 1677 return 1;
cparata 3:4274d9103f1d 1678 }
cparata 3:4274d9103f1d 1679
cparata 3:4274d9103f1d 1680 /* Disable Z direction in tap recognition. */
cparata 3:4274d9103f1d 1681 if (lsm6dso_tap_detection_on_z_set(&_reg_ctx, PROPERTY_DISABLE) != 0) {
cparata 3:4274d9103f1d 1682 return 1;
cparata 3:4274d9103f1d 1683 }
cparata 3:4274d9103f1d 1684
cparata 3:4274d9103f1d 1685 /* Disable Y direction in tap recognition. */
cparata 3:4274d9103f1d 1686 if (lsm6dso_tap_detection_on_y_set(&_reg_ctx, PROPERTY_DISABLE) != 0) {
cparata 3:4274d9103f1d 1687 return 1;
cparata 3:4274d9103f1d 1688 }
cparata 3:4274d9103f1d 1689
cparata 3:4274d9103f1d 1690 /* Disable X direction in tap recognition. */
cparata 3:4274d9103f1d 1691 if (lsm6dso_tap_detection_on_x_set(&_reg_ctx, PROPERTY_DISABLE) != 0) {
cparata 3:4274d9103f1d 1692 return 1;
cparata 3:4274d9103f1d 1693 }
cparata 3:4274d9103f1d 1694
cparata 3:4274d9103f1d 1695 return 0;
cparata 0:6d69e896ce38 1696 }
cparata 0:6d69e896ce38 1697
cparata 0:6d69e896ce38 1698 /**
cparata 0:6d69e896ce38 1699 * @brief Set tap threshold
cparata 0:6d69e896ce38 1700 * @param thr tap threshold
cparata 0:6d69e896ce38 1701 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1702 */
cparata 0:6d69e896ce38 1703 int LSM6DSOSensor::set_tap_threshold(uint8_t thr)
cparata 0:6d69e896ce38 1704 {
cparata 3:4274d9103f1d 1705 /* Set tap threshold. */
cparata 3:4274d9103f1d 1706 if (lsm6dso_tap_threshold_x_set(&_reg_ctx, thr) != 0) {
cparata 3:4274d9103f1d 1707 return 1;
cparata 3:4274d9103f1d 1708 }
cparata 3:4274d9103f1d 1709
cparata 3:4274d9103f1d 1710 return 0;
cparata 0:6d69e896ce38 1711 }
cparata 0:6d69e896ce38 1712
cparata 0:6d69e896ce38 1713 /**
cparata 0:6d69e896ce38 1714 * @brief Set tap shock time
cparata 0:6d69e896ce38 1715 * @param time tap shock time
cparata 0:6d69e896ce38 1716 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1717 */
cparata 0:6d69e896ce38 1718 int LSM6DSOSensor::set_tap_shock_time(uint8_t time)
cparata 0:6d69e896ce38 1719 {
cparata 3:4274d9103f1d 1720 /* Set tap shock time window. */
cparata 3:4274d9103f1d 1721 if (lsm6dso_tap_shock_set(&_reg_ctx, time) != 0) {
cparata 3:4274d9103f1d 1722 return 1;
cparata 3:4274d9103f1d 1723 }
cparata 3:4274d9103f1d 1724
cparata 3:4274d9103f1d 1725 return 0;
cparata 0:6d69e896ce38 1726 }
cparata 0:6d69e896ce38 1727
cparata 0:6d69e896ce38 1728 /**
cparata 0:6d69e896ce38 1729 * @brief Set tap quiet time
cparata 0:6d69e896ce38 1730 * @param time tap quiet time
cparata 0:6d69e896ce38 1731 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1732 */
cparata 0:6d69e896ce38 1733 int LSM6DSOSensor::set_tap_quiet_time(uint8_t time)
cparata 0:6d69e896ce38 1734 {
cparata 3:4274d9103f1d 1735 /* Set tap quiet time window. */
cparata 3:4274d9103f1d 1736 if (lsm6dso_tap_quiet_set(&_reg_ctx, time) != 0) {
cparata 3:4274d9103f1d 1737 return 1;
cparata 3:4274d9103f1d 1738 }
cparata 3:4274d9103f1d 1739
cparata 3:4274d9103f1d 1740 return 0;
cparata 0:6d69e896ce38 1741 }
cparata 0:6d69e896ce38 1742
cparata 0:6d69e896ce38 1743 /**
cparata 0:6d69e896ce38 1744 * @brief Set tap duration time
cparata 0:6d69e896ce38 1745 * @param time tap duration time
cparata 0:6d69e896ce38 1746 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1747 */
cparata 0:6d69e896ce38 1748 int LSM6DSOSensor::set_tap_duration_time(uint8_t time)
cparata 0:6d69e896ce38 1749 {
cparata 3:4274d9103f1d 1750 /* Set tap duration time window. */
cparata 3:4274d9103f1d 1751 if (lsm6dso_tap_dur_set(&_reg_ctx, time) != 0) {
cparata 3:4274d9103f1d 1752 return 1;
cparata 3:4274d9103f1d 1753 }
cparata 3:4274d9103f1d 1754
cparata 3:4274d9103f1d 1755 return 0;
cparata 0:6d69e896ce38 1756 }
cparata 0:6d69e896ce38 1757
cparata 0:6d69e896ce38 1758 /**
cparata 0:6d69e896ce38 1759 * @brief Enable 6D orientation detection
cparata 0:6d69e896ce38 1760 * @param int_pin interrupt pin line to be used
cparata 0:6d69e896ce38 1761 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1762 */
cparata 0:6d69e896ce38 1763 int LSM6DSOSensor::enable_6d_orientation(LSM6DSO_Interrupt_Pin_t int_pin)
cparata 0:6d69e896ce38 1764 {
cparata 3:4274d9103f1d 1765 int ret = 0;
cparata 3:4274d9103f1d 1766 lsm6dso_pin_int1_route_t val1;
cparata 3:4274d9103f1d 1767 lsm6dso_pin_int2_route_t val2;
cparata 3:4274d9103f1d 1768
cparata 3:4274d9103f1d 1769 /* Output Data Rate selection */
cparata 3:4274d9103f1d 1770 if (set_x_odr(416.0f) != 0) {
cparata 3:4274d9103f1d 1771 return 1;
cparata 3:4274d9103f1d 1772 }
cparata 3:4274d9103f1d 1773
cparata 3:4274d9103f1d 1774 /* Full scale selection */
cparata 3:4274d9103f1d 1775 if (set_x_fs(2.0f) != 0) {
cparata 3:4274d9103f1d 1776 return 1;
cparata 3:4274d9103f1d 1777 }
cparata 3:4274d9103f1d 1778
cparata 3:4274d9103f1d 1779 /* 6D orientation enabled. */
cparata 3:4274d9103f1d 1780 if (lsm6dso_6d_threshold_set(&_reg_ctx, LSM6DSO_DEG_60) != 0) {
cparata 0:6d69e896ce38 1781 return 1;
cparata 3:4274d9103f1d 1782 }
cparata 3:4274d9103f1d 1783
cparata 3:4274d9103f1d 1784 /* Enable 6D orientation event on either INT1 or INT2 pin */
cparata 3:4274d9103f1d 1785 switch (int_pin) {
cparata 3:4274d9103f1d 1786 case LSM6DSO_INT1_PIN:
cparata 3:4274d9103f1d 1787 if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata 3:4274d9103f1d 1788 return 1;
cparata 3:4274d9103f1d 1789 }
cparata 3:4274d9103f1d 1790
cparata 3:4274d9103f1d 1791 val1.md1_cfg.int1_6d = PROPERTY_ENABLE;
cparata 3:4274d9103f1d 1792
cparata 3:4274d9103f1d 1793 if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0) {
cparata 3:4274d9103f1d 1794 return 1;
cparata 3:4274d9103f1d 1795 }
cparata 3:4274d9103f1d 1796 break;
cparata 3:4274d9103f1d 1797
cparata 3:4274d9103f1d 1798 case LSM6DSO_INT2_PIN:
cparata 3:4274d9103f1d 1799 if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0) {
cparata 3:4274d9103f1d 1800 return 1;
cparata 3:4274d9103f1d 1801 }
cparata 3:4274d9103f1d 1802
cparata 3:4274d9103f1d 1803 val2.md2_cfg.int2_6d = PROPERTY_ENABLE;
cparata 3:4274d9103f1d 1804
cparata 3:4274d9103f1d 1805 if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0) {
cparata 3:4274d9103f1d 1806 return 1;
cparata 3:4274d9103f1d 1807 }
cparata 3:4274d9103f1d 1808 break;
cparata 3:4274d9103f1d 1809
cparata 3:4274d9103f1d 1810 default:
cparata 3:4274d9103f1d 1811 ret = 1;
cparata 3:4274d9103f1d 1812 break;
cparata 3:4274d9103f1d 1813 }
cparata 3:4274d9103f1d 1814
cparata 3:4274d9103f1d 1815 return ret;
cparata 0:6d69e896ce38 1816 }
cparata 0:6d69e896ce38 1817
cparata 0:6d69e896ce38 1818 /**
cparata 0:6d69e896ce38 1819 * @brief Disable 6D orientation detection
cparata 0:6d69e896ce38 1820 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1821 */
cparata 0:6d69e896ce38 1822 int LSM6DSOSensor::disable_6d_orientation()
cparata 0:6d69e896ce38 1823 {
cparata 3:4274d9103f1d 1824 lsm6dso_pin_int1_route_t val1;
cparata 3:4274d9103f1d 1825 lsm6dso_pin_int2_route_t val2;
cparata 3:4274d9103f1d 1826
cparata 3:4274d9103f1d 1827 /* Disable 6D orientation event on both INT1 and INT2 pins */
cparata 3:4274d9103f1d 1828 if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata 3:4274d9103f1d 1829 return 1;
cparata 3:4274d9103f1d 1830 }
cparata 3:4274d9103f1d 1831
cparata 3:4274d9103f1d 1832 val1.md1_cfg.int1_6d = PROPERTY_DISABLE;
cparata 3:4274d9103f1d 1833
cparata 3:4274d9103f1d 1834 if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0) {
cparata 3:4274d9103f1d 1835 return 1;
cparata 3:4274d9103f1d 1836 }
cparata 3:4274d9103f1d 1837
cparata 3:4274d9103f1d 1838 if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0) {
cparata 3:4274d9103f1d 1839 return 1;
cparata 3:4274d9103f1d 1840 }
cparata 3:4274d9103f1d 1841
cparata 3:4274d9103f1d 1842 val2.md2_cfg.int2_6d = PROPERTY_DISABLE;
cparata 3:4274d9103f1d 1843
cparata 3:4274d9103f1d 1844 if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0) {
cparata 3:4274d9103f1d 1845 return 1;
cparata 3:4274d9103f1d 1846 }
cparata 3:4274d9103f1d 1847
cparata 3:4274d9103f1d 1848 /* Reset 6D orientation. */
cparata 3:4274d9103f1d 1849 if (lsm6dso_6d_threshold_set(&_reg_ctx, LSM6DSO_DEG_80) != 0) {
cparata 3:4274d9103f1d 1850 return 1;
cparata 3:4274d9103f1d 1851 }
cparata 3:4274d9103f1d 1852
cparata 3:4274d9103f1d 1853 return 0;
cparata 0:6d69e896ce38 1854 }
cparata 0:6d69e896ce38 1855
cparata 0:6d69e896ce38 1856 /**
cparata 0:6d69e896ce38 1857 * @brief Set 6D orientation threshold
cparata 0:6d69e896ce38 1858 * @param thr 6D Orientation detection threshold
cparata 0:6d69e896ce38 1859 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1860 */
cparata 0:6d69e896ce38 1861 int LSM6DSOSensor::set_6d_orientation_threshold(uint8_t thr)
cparata 0:6d69e896ce38 1862 {
cparata 3:4274d9103f1d 1863 if (lsm6dso_6d_threshold_set(&_reg_ctx, (lsm6dso_sixd_ths_t)thr) != 0) {
cparata 3:4274d9103f1d 1864 return 1;
cparata 3:4274d9103f1d 1865 }
cparata 3:4274d9103f1d 1866
cparata 3:4274d9103f1d 1867 return 0;
cparata 0:6d69e896ce38 1868 }
cparata 0:6d69e896ce38 1869
cparata 0:6d69e896ce38 1870 /**
cparata 0:6d69e896ce38 1871 * @brief Get the status of XLow orientation
cparata 0:6d69e896ce38 1872 * @param xl the status of XLow orientation
cparata 0:6d69e896ce38 1873 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1874 */
cparata 0:6d69e896ce38 1875 int LSM6DSOSensor::get_6d_orientation_xl(uint8_t *xl)
cparata 0:6d69e896ce38 1876 {
cparata 3:4274d9103f1d 1877 lsm6dso_d6d_src_t data;
cparata 3:4274d9103f1d 1878
cparata 3:4274d9103f1d 1879 if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0) {
cparata 3:4274d9103f1d 1880 return 1;
cparata 3:4274d9103f1d 1881 }
cparata 3:4274d9103f1d 1882
cparata 3:4274d9103f1d 1883 *xl = data.xl;
cparata 3:4274d9103f1d 1884
cparata 3:4274d9103f1d 1885 return 0;
cparata 0:6d69e896ce38 1886 }
cparata 0:6d69e896ce38 1887
cparata 0:6d69e896ce38 1888 /**
cparata 0:6d69e896ce38 1889 * @brief Get the status of XHigh orientation
cparata 0:6d69e896ce38 1890 * @param xh the status of XHigh orientation
cparata 0:6d69e896ce38 1891 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1892 */
cparata 0:6d69e896ce38 1893 int LSM6DSOSensor::get_6d_orientation_xh(uint8_t *xh)
cparata 0:6d69e896ce38 1894 {
cparata 3:4274d9103f1d 1895 lsm6dso_d6d_src_t data;
cparata 3:4274d9103f1d 1896
cparata 3:4274d9103f1d 1897 if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0) {
cparata 3:4274d9103f1d 1898 return 1;
cparata 3:4274d9103f1d 1899 }
cparata 3:4274d9103f1d 1900
cparata 3:4274d9103f1d 1901 *xh = data.xh;
cparata 3:4274d9103f1d 1902
cparata 3:4274d9103f1d 1903 return 0;
cparata 0:6d69e896ce38 1904 }
cparata 0:6d69e896ce38 1905
cparata 0:6d69e896ce38 1906 /**
cparata 0:6d69e896ce38 1907 * @brief Get the status of YLow orientation
cparata 0:6d69e896ce38 1908 * @param yl the status of YLow orientation
cparata 0:6d69e896ce38 1909 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1910 */
cparata 0:6d69e896ce38 1911 int LSM6DSOSensor::get_6d_orientation_yl(uint8_t *yl)
cparata 0:6d69e896ce38 1912 {
cparata 3:4274d9103f1d 1913 lsm6dso_d6d_src_t data;
cparata 3:4274d9103f1d 1914
cparata 3:4274d9103f1d 1915 if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0) {
cparata 3:4274d9103f1d 1916 return 1;
cparata 3:4274d9103f1d 1917 }
cparata 3:4274d9103f1d 1918
cparata 3:4274d9103f1d 1919 *yl = data.yl;
cparata 3:4274d9103f1d 1920
cparata 3:4274d9103f1d 1921 return 0;
cparata 0:6d69e896ce38 1922 }
cparata 0:6d69e896ce38 1923
cparata 0:6d69e896ce38 1924 /**
cparata 0:6d69e896ce38 1925 * @brief Get the status of YHigh orientation
cparata 0:6d69e896ce38 1926 * @param yh the status of YHigh orientation
cparata 0:6d69e896ce38 1927 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1928 */
cparata 0:6d69e896ce38 1929 int LSM6DSOSensor::get_6d_orientation_yh(uint8_t *yh)
cparata 0:6d69e896ce38 1930 {
cparata 3:4274d9103f1d 1931 lsm6dso_d6d_src_t data;
cparata 3:4274d9103f1d 1932
cparata 3:4274d9103f1d 1933 if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0) {
cparata 3:4274d9103f1d 1934 return 1;
cparata 3:4274d9103f1d 1935 }
cparata 3:4274d9103f1d 1936
cparata 3:4274d9103f1d 1937 *yh = data.yh;
cparata 3:4274d9103f1d 1938
cparata 3:4274d9103f1d 1939 return 0;
cparata 0:6d69e896ce38 1940 }
cparata 0:6d69e896ce38 1941
cparata 0:6d69e896ce38 1942 /**
cparata 0:6d69e896ce38 1943 * @brief Get the status of ZLow orientation
cparata 0:6d69e896ce38 1944 * @param zl the status of ZLow orientation
cparata 0:6d69e896ce38 1945 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1946 */
cparata 0:6d69e896ce38 1947 int LSM6DSOSensor::get_6d_orientation_zl(uint8_t *zl)
cparata 0:6d69e896ce38 1948 {
cparata 3:4274d9103f1d 1949 lsm6dso_d6d_src_t data;
cparata 3:4274d9103f1d 1950
cparata 3:4274d9103f1d 1951 if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0) {
cparata 3:4274d9103f1d 1952 return 1;
cparata 3:4274d9103f1d 1953 }
cparata 3:4274d9103f1d 1954
cparata 3:4274d9103f1d 1955 *zl = data.zl;
cparata 3:4274d9103f1d 1956
cparata 3:4274d9103f1d 1957 return 0;
cparata 0:6d69e896ce38 1958 }
cparata 0:6d69e896ce38 1959
cparata 0:6d69e896ce38 1960 /**
cparata 0:6d69e896ce38 1961 * @brief Get the status of ZHigh orientation
cparata 0:6d69e896ce38 1962 * @param zh the status of ZHigh orientation
cparata 0:6d69e896ce38 1963 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1964 */
cparata 0:6d69e896ce38 1965 int LSM6DSOSensor::get_6d_orientation_zh(uint8_t *zh)
cparata 0:6d69e896ce38 1966 {
cparata 3:4274d9103f1d 1967 lsm6dso_d6d_src_t data;
cparata 3:4274d9103f1d 1968
cparata 3:4274d9103f1d 1969 if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0) {
cparata 3:4274d9103f1d 1970 return 1;
cparata 3:4274d9103f1d 1971 }
cparata 3:4274d9103f1d 1972
cparata 3:4274d9103f1d 1973 *zh = data.zh;
cparata 3:4274d9103f1d 1974
cparata 3:4274d9103f1d 1975 return 0;
cparata 0:6d69e896ce38 1976 }
cparata 0:6d69e896ce38 1977
cparata 0:6d69e896ce38 1978 /**
cparata 0:6d69e896ce38 1979 * @brief Get the LSM6DSO ACC data ready bit value
cparata 0:6d69e896ce38 1980 * @param status the status of data ready bit
cparata 0:6d69e896ce38 1981 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1982 */
cparata 0:6d69e896ce38 1983 int LSM6DSOSensor::get_x_drdy_status(uint8_t *status)
cparata 0:6d69e896ce38 1984 {
cparata 3:4274d9103f1d 1985 if (lsm6dso_xl_flag_data_ready_get(&_reg_ctx, status) != 0) {
cparata 3:4274d9103f1d 1986 return 1;
cparata 3:4274d9103f1d 1987 }
cparata 3:4274d9103f1d 1988
cparata 3:4274d9103f1d 1989 return 0;
cparata 0:6d69e896ce38 1990 }
cparata 0:6d69e896ce38 1991
cparata 0:6d69e896ce38 1992 /**
cparata 0:6d69e896ce38 1993 * @brief Get the status of all hardware events
cparata 0:6d69e896ce38 1994 * @param status the status of all hardware events
cparata 0:6d69e896ce38 1995 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 1996 */
cparata 0:6d69e896ce38 1997 int LSM6DSOSensor::get_event_status(LSM6DSO_Event_Status_t *status)
cparata 0:6d69e896ce38 1998 {
cparata 3:4274d9103f1d 1999 uint8_t tilt_ia = 0U;
cparata 3:4274d9103f1d 2000 lsm6dso_wake_up_src_t wake_up_src;
cparata 3:4274d9103f1d 2001 lsm6dso_tap_src_t tap_src;
cparata 3:4274d9103f1d 2002 lsm6dso_d6d_src_t d6d_src;
cparata 3:4274d9103f1d 2003 lsm6dso_emb_func_src_t func_src;
cparata 3:4274d9103f1d 2004 lsm6dso_md1_cfg_t md1_cfg;
cparata 3:4274d9103f1d 2005 lsm6dso_md2_cfg_t md2_cfg;
cparata 3:4274d9103f1d 2006 lsm6dso_emb_func_int1_t int1_ctrl;
cparata 3:4274d9103f1d 2007 lsm6dso_emb_func_int2_t int2_ctrl;
cparata 3:4274d9103f1d 2008
cparata 3:4274d9103f1d 2009 (void)memset((void *)status, 0x0, sizeof(LSM6DSO_Event_Status_t));
cparata 3:4274d9103f1d 2010
cparata 3:4274d9103f1d 2011 if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_WAKE_UP_SRC, (uint8_t *)&wake_up_src, 1) != 0) {
cparata 3:4274d9103f1d 2012 return 1;
cparata 3:4274d9103f1d 2013 }
cparata 3:4274d9103f1d 2014
cparata 3:4274d9103f1d 2015 if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_TAP_SRC, (uint8_t *)&tap_src, 1) != 0) {
cparata 3:4274d9103f1d 2016 return 1;
cparata 3:4274d9103f1d 2017 }
cparata 3:4274d9103f1d 2018
cparata 3:4274d9103f1d 2019 if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&d6d_src, 1) != 0) {
cparata 3:4274d9103f1d 2020 return 1;
cparata 3:4274d9103f1d 2021 }
cparata 3:4274d9103f1d 2022
cparata 3:4274d9103f1d 2023 if (lsm6dso_mem_bank_set(&_reg_ctx, LSM6DSO_EMBEDDED_FUNC_BANK) != 0) {
cparata 3:4274d9103f1d 2024 return 1;
cparata 3:4274d9103f1d 2025 }
cparata 3:4274d9103f1d 2026
cparata 3:4274d9103f1d 2027 if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_EMB_FUNC_SRC, (uint8_t *)&func_src, 1) != 0) {
cparata 3:4274d9103f1d 2028 return 1;
cparata 3:4274d9103f1d 2029 }
cparata 3:4274d9103f1d 2030
cparata 3:4274d9103f1d 2031 if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_EMB_FUNC_INT1, (uint8_t *)&int1_ctrl, 1) != 0) {
cparata 3:4274d9103f1d 2032 return 1;
cparata 3:4274d9103f1d 2033 }
cparata 3:4274d9103f1d 2034
cparata 3:4274d9103f1d 2035 if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_EMB_FUNC_INT2, (uint8_t *)&int2_ctrl, 1) != 0) {
cparata 3:4274d9103f1d 2036 return 1;
cparata 3:4274d9103f1d 2037 }
cparata 3:4274d9103f1d 2038
cparata 3:4274d9103f1d 2039 if (lsm6dso_mem_bank_set(&_reg_ctx, LSM6DSO_USER_BANK) != 0) {
cparata 3:4274d9103f1d 2040 return 1;
cparata 3:4274d9103f1d 2041 }
cparata 3:4274d9103f1d 2042
cparata 3:4274d9103f1d 2043 if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_MD1_CFG, (uint8_t *)&md1_cfg, 1) != 0) {
cparata 3:4274d9103f1d 2044 return 1;
cparata 0:6d69e896ce38 2045 }
cparata 3:4274d9103f1d 2046
cparata 3:4274d9103f1d 2047 if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_MD2_CFG, (uint8_t *)&md2_cfg, 1) != 0) {
cparata 3:4274d9103f1d 2048 return 1;
cparata 3:4274d9103f1d 2049 }
cparata 3:4274d9103f1d 2050
cparata 3:4274d9103f1d 2051 if (lsm6dso_tilt_flag_data_ready_get(&_reg_ctx, &tilt_ia) != 0) {
cparata 3:4274d9103f1d 2052 return 1;
cparata 0:6d69e896ce38 2053 }
cparata 3:4274d9103f1d 2054
cparata 3:4274d9103f1d 2055 if ((md1_cfg.int1_ff == 1U) || (md2_cfg.int2_ff == 1U)) {
cparata 3:4274d9103f1d 2056 if (wake_up_src.ff_ia == 1U) {
cparata 3:4274d9103f1d 2057 status->FreeFallStatus = 1;
cparata 3:4274d9103f1d 2058 }
cparata 0:6d69e896ce38 2059 }
cparata 3:4274d9103f1d 2060
cparata 3:4274d9103f1d 2061 if ((md1_cfg.int1_wu == 1U) || (md2_cfg.int2_wu == 1U)) {
cparata 3:4274d9103f1d 2062 if (wake_up_src.wu_ia == 1U) {
cparata 3:4274d9103f1d 2063 status->WakeUpStatus = 1;
cparata 3:4274d9103f1d 2064 }
cparata 3:4274d9103f1d 2065 }
cparata 3:4274d9103f1d 2066
cparata 3:4274d9103f1d 2067 if ((md1_cfg.int1_single_tap == 1U) || (md2_cfg.int2_single_tap == 1U)) {
cparata 3:4274d9103f1d 2068 if (tap_src.single_tap == 1U) {
cparata 3:4274d9103f1d 2069 status->TapStatus = 1;
cparata 3:4274d9103f1d 2070 }
cparata 0:6d69e896ce38 2071 }
cparata 3:4274d9103f1d 2072
cparata 3:4274d9103f1d 2073 if ((md1_cfg.int1_double_tap == 1U) || (md2_cfg.int2_double_tap == 1U)) {
cparata 3:4274d9103f1d 2074 if (tap_src.double_tap == 1U) {
cparata 3:4274d9103f1d 2075 status->DoubleTapStatus = 1;
cparata 3:4274d9103f1d 2076 }
cparata 3:4274d9103f1d 2077 }
cparata 3:4274d9103f1d 2078
cparata 3:4274d9103f1d 2079 if ((md1_cfg.int1_6d == 1U) || (md2_cfg.int2_6d == 1U)) {
cparata 3:4274d9103f1d 2080 if (d6d_src.d6d_ia == 1U) {
cparata 3:4274d9103f1d 2081 status->D6DOrientationStatus = 1;
cparata 3:4274d9103f1d 2082 }
cparata 0:6d69e896ce38 2083 }
cparata 3:4274d9103f1d 2084
cparata 3:4274d9103f1d 2085 if (int1_ctrl.int1_step_detector == 1U) {
cparata 3:4274d9103f1d 2086 if (func_src.step_detected == 1U) {
cparata 3:4274d9103f1d 2087 status->StepStatus = 1;
cparata 3:4274d9103f1d 2088 }
cparata 0:6d69e896ce38 2089 }
cparata 3:4274d9103f1d 2090
cparata 3:4274d9103f1d 2091 if ((int1_ctrl.int1_tilt == 1U) || (int2_ctrl.int2_tilt == 1U)) {
cparata 3:4274d9103f1d 2092 if (tilt_ia == 1U) {
cparata 3:4274d9103f1d 2093 status->TiltStatus = 1;
cparata 3:4274d9103f1d 2094 }
cparata 0:6d69e896ce38 2095 }
cparata 3:4274d9103f1d 2096
cparata 3:4274d9103f1d 2097 return 0;
cparata 0:6d69e896ce38 2098 }
cparata 0:6d69e896ce38 2099
cparata 0:6d69e896ce38 2100 /**
cparata 0:6d69e896ce38 2101 * @brief Set self test
cparata 0:6d69e896ce38 2102 * @param val the value of st_xl in reg CTRL5_C
cparata 0:6d69e896ce38 2103 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 2104 */
cparata 0:6d69e896ce38 2105 int LSM6DSOSensor::set_x_self_test(uint8_t val)
cparata 0:6d69e896ce38 2106 {
cparata 3:4274d9103f1d 2107 lsm6dso_st_xl_t reg;
cparata 3:4274d9103f1d 2108
cparata 3:4274d9103f1d 2109 reg = (val == 0U) ? LSM6DSO_XL_ST_DISABLE
cparata 3:4274d9103f1d 2110 : (val == 1U) ? LSM6DSO_XL_ST_POSITIVE
cparata 3:4274d9103f1d 2111 : (val == 2U) ? LSM6DSO_XL_ST_NEGATIVE
cparata 3:4274d9103f1d 2112 : LSM6DSO_XL_ST_DISABLE;
cparata 3:4274d9103f1d 2113
cparata 3:4274d9103f1d 2114 if (lsm6dso_xl_self_test_set(&_reg_ctx, reg) != 0) {
cparata 3:4274d9103f1d 2115 return 1;
cparata 3:4274d9103f1d 2116 }
cparata 3:4274d9103f1d 2117
cparata 3:4274d9103f1d 2118 return 0;
cparata 0:6d69e896ce38 2119 }
cparata 0:6d69e896ce38 2120
cparata 0:6d69e896ce38 2121 /**
cparata 0:6d69e896ce38 2122 * @brief Get the LSM6DSO GYRO data ready bit value
cparata 0:6d69e896ce38 2123 * @param status the status of data ready bit
cparata 0:6d69e896ce38 2124 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 2125 */
cparata 0:6d69e896ce38 2126 int LSM6DSOSensor::get_g_drdy_status(uint8_t *status)
cparata 0:6d69e896ce38 2127 {
cparata 3:4274d9103f1d 2128 if (lsm6dso_gy_flag_data_ready_get(&_reg_ctx, status) != 0) {
cparata 3:4274d9103f1d 2129 return 1;
cparata 3:4274d9103f1d 2130 }
cparata 3:4274d9103f1d 2131
cparata 3:4274d9103f1d 2132 return 0;
cparata 0:6d69e896ce38 2133 }
cparata 0:6d69e896ce38 2134
cparata 0:6d69e896ce38 2135 /**
cparata 0:6d69e896ce38 2136 * @brief Set self test
cparata 0:6d69e896ce38 2137 * @param val the value of st_xl in reg CTRL5_C
cparata 0:6d69e896ce38 2138 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 2139 */
cparata 0:6d69e896ce38 2140 int LSM6DSOSensor::set_g_self_test(uint8_t val)
cparata 0:6d69e896ce38 2141 {
cparata 3:4274d9103f1d 2142 lsm6dso_st_g_t reg;
cparata 3:4274d9103f1d 2143
cparata 3:4274d9103f1d 2144 reg = (val == 0U) ? LSM6DSO_GY_ST_DISABLE
cparata 3:4274d9103f1d 2145 : (val == 1U) ? LSM6DSO_GY_ST_POSITIVE
cparata 3:4274d9103f1d 2146 : (val == 2U) ? LSM6DSO_GY_ST_NEGATIVE
cparata 3:4274d9103f1d 2147 : LSM6DSO_GY_ST_DISABLE;
cparata 3:4274d9103f1d 2148
cparata 3:4274d9103f1d 2149
cparata 3:4274d9103f1d 2150 if (lsm6dso_gy_self_test_set(&_reg_ctx, reg) != 0) {
cparata 3:4274d9103f1d 2151 return 1;
cparata 3:4274d9103f1d 2152 }
cparata 3:4274d9103f1d 2153
cparata 3:4274d9103f1d 2154 return 0;
cparata 0:6d69e896ce38 2155 }
cparata 0:6d69e896ce38 2156
cparata 0:6d69e896ce38 2157 /**
cparata 0:6d69e896ce38 2158 * @brief Get the LSM6DSO FIFO number of samples
cparata 0:6d69e896ce38 2159 * @param num_samples number of samples
cparata 0:6d69e896ce38 2160 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 2161 */
cparata 0:6d69e896ce38 2162 int LSM6DSOSensor::get_fifo_num_samples(uint16_t *num_samples)
cparata 0:6d69e896ce38 2163 {
cparata 3:4274d9103f1d 2164 if (lsm6dso_fifo_data_level_get(&_reg_ctx, num_samples) != 0) {
cparata 3:4274d9103f1d 2165 return 1;
cparata 3:4274d9103f1d 2166 }
cparata 3:4274d9103f1d 2167
cparata 3:4274d9103f1d 2168 return 0;
cparata 0:6d69e896ce38 2169 }
cparata 0:6d69e896ce38 2170
cparata 0:6d69e896ce38 2171 /**
cparata 0:6d69e896ce38 2172 * @brief Get the LSM6DSO FIFO full status
cparata 0:6d69e896ce38 2173 * @param status FIFO full status
cparata 0:6d69e896ce38 2174 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 2175 */
cparata 0:6d69e896ce38 2176 int LSM6DSOSensor::get_fifo_full_status(uint8_t *status)
cparata 0:6d69e896ce38 2177 {
cparata 3:4274d9103f1d 2178 lsm6dso_reg_t reg;
cparata 3:4274d9103f1d 2179
cparata 3:4274d9103f1d 2180 if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_FIFO_STATUS2, &reg.byte, 1) != 0) {
cparata 3:4274d9103f1d 2181 return 1;
cparata 3:4274d9103f1d 2182 }
cparata 3:4274d9103f1d 2183
cparata 3:4274d9103f1d 2184 *status = reg.fifo_status2.fifo_full_ia;
cparata 3:4274d9103f1d 2185
cparata 3:4274d9103f1d 2186 return 0;
cparata 0:6d69e896ce38 2187 }
cparata 0:6d69e896ce38 2188
cparata 0:6d69e896ce38 2189 /**
cparata 0:6d69e896ce38 2190 * @brief Set the LSM6DSO FIFO full interrupt on INT1 pin
cparata 0:6d69e896ce38 2191 * @param status FIFO full interrupt on INT1 pin status
cparata 0:6d69e896ce38 2192 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 2193 */
cparata 0:6d69e896ce38 2194 int LSM6DSOSensor::set_fifo_int1_fifo_full(uint8_t status)
cparata 0:6d69e896ce38 2195 {
cparata 3:4274d9103f1d 2196 lsm6dso_reg_t reg;
cparata 3:4274d9103f1d 2197
cparata 3:4274d9103f1d 2198 if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_INT1_CTRL, &reg.byte, 1) != 0) {
cparata 3:4274d9103f1d 2199 return 1;
cparata 3:4274d9103f1d 2200 }
cparata 3:4274d9103f1d 2201
cparata 3:4274d9103f1d 2202 reg.int1_ctrl.int1_fifo_full = status;
cparata 3:4274d9103f1d 2203
cparata 3:4274d9103f1d 2204 if (lsm6dso_write_reg(&_reg_ctx, LSM6DSO_INT1_CTRL, &reg.byte, 1) != 0) {
cparata 3:4274d9103f1d 2205 return 1;
cparata 3:4274d9103f1d 2206 }
cparata 3:4274d9103f1d 2207
cparata 3:4274d9103f1d 2208 return 0;
cparata 0:6d69e896ce38 2209 }
cparata 0:6d69e896ce38 2210
cparata 0:6d69e896ce38 2211 /**
cparata 0:6d69e896ce38 2212 * @brief Set the LSM6DSO FIFO watermark level
cparata 0:6d69e896ce38 2213 * @param watermark FIFO watermark level
cparata 0:6d69e896ce38 2214 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 2215 */
cparata 0:6d69e896ce38 2216 int LSM6DSOSensor::set_fifo_watermark_level(uint16_t watermark)
cparata 0:6d69e896ce38 2217 {
cparata 3:4274d9103f1d 2218 if (lsm6dso_fifo_watermark_set(&_reg_ctx, watermark) != 0) {
cparata 3:4274d9103f1d 2219 return 1;
cparata 3:4274d9103f1d 2220 }
cparata 3:4274d9103f1d 2221
cparata 3:4274d9103f1d 2222 return 0;
cparata 0:6d69e896ce38 2223 }
cparata 0:6d69e896ce38 2224
cparata 0:6d69e896ce38 2225 /**
cparata 0:6d69e896ce38 2226 * @brief Set the LSM6DSO FIFO stop on watermark
cparata 0:6d69e896ce38 2227 * @param status FIFO stop on watermark status
cparata 0:6d69e896ce38 2228 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 2229 */
cparata 0:6d69e896ce38 2230 int LSM6DSOSensor::set_fifo_stop_on_fth(uint8_t status)
cparata 0:6d69e896ce38 2231 {
cparata 3:4274d9103f1d 2232 if (lsm6dso_fifo_stop_on_wtm_set(&_reg_ctx, status) != 0) {
cparata 3:4274d9103f1d 2233 return 1;
cparata 3:4274d9103f1d 2234 }
cparata 3:4274d9103f1d 2235
cparata 3:4274d9103f1d 2236 return 0;
cparata 0:6d69e896ce38 2237 }
cparata 0:6d69e896ce38 2238
cparata 0:6d69e896ce38 2239 /**
cparata 0:6d69e896ce38 2240 * @brief Set the LSM6DSO FIFO mode
cparata 0:6d69e896ce38 2241 * @param mode FIFO mode
cparata 0:6d69e896ce38 2242 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 2243 */
cparata 0:6d69e896ce38 2244 int LSM6DSOSensor::set_fifo_mode(uint8_t mode)
cparata 0:6d69e896ce38 2245 {
cparata 3:4274d9103f1d 2246 int ret = 0;
cparata 3:4274d9103f1d 2247
cparata 3:4274d9103f1d 2248 /* Verify that the passed parameter contains one of the valid values. */
cparata 3:4274d9103f1d 2249 switch ((lsm6dso_fifo_mode_t)mode) {
cparata 3:4274d9103f1d 2250 case LSM6DSO_BYPASS_MODE:
cparata 3:4274d9103f1d 2251 case LSM6DSO_FIFO_MODE:
cparata 3:4274d9103f1d 2252 case LSM6DSO_STREAM_TO_FIFO_MODE:
cparata 3:4274d9103f1d 2253 case LSM6DSO_BYPASS_TO_STREAM_MODE:
cparata 3:4274d9103f1d 2254 case LSM6DSO_STREAM_MODE:
cparata 3:4274d9103f1d 2255 break;
cparata 3:4274d9103f1d 2256
cparata 3:4274d9103f1d 2257 default:
cparata 3:4274d9103f1d 2258 ret = 1;
cparata 3:4274d9103f1d 2259 break;
cparata 3:4274d9103f1d 2260 }
cparata 3:4274d9103f1d 2261
cparata 3:4274d9103f1d 2262 if (ret == 1) {
cparata 3:4274d9103f1d 2263 return ret;
cparata 3:4274d9103f1d 2264 }
cparata 3:4274d9103f1d 2265
cparata 3:4274d9103f1d 2266 if (lsm6dso_fifo_mode_set(&_reg_ctx, (lsm6dso_fifo_mode_t)mode) != 0) {
cparata 3:4274d9103f1d 2267 return 1;
cparata 3:4274d9103f1d 2268 }
cparata 3:4274d9103f1d 2269
cparata 0:6d69e896ce38 2270 return ret;
cparata 0:6d69e896ce38 2271 }
cparata 0:6d69e896ce38 2272
cparata 0:6d69e896ce38 2273 /**
cparata 0:6d69e896ce38 2274 * @brief Get the LSM6DSO FIFO tag
cparata 0:6d69e896ce38 2275 * @param tag FIFO tag
cparata 0:6d69e896ce38 2276 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 2277 */
cparata 0:6d69e896ce38 2278 int LSM6DSOSensor::get_fifo_tag(uint8_t *tag)
cparata 0:6d69e896ce38 2279 {
cparata 3:4274d9103f1d 2280 lsm6dso_fifo_tag_t tag_local;
cparata 3:4274d9103f1d 2281
cparata 3:4274d9103f1d 2282 if (lsm6dso_fifo_sensor_tag_get(&_reg_ctx, &tag_local) != 0) {
cparata 3:4274d9103f1d 2283 return 1;
cparata 3:4274d9103f1d 2284 }
cparata 3:4274d9103f1d 2285
cparata 3:4274d9103f1d 2286 *tag = (uint8_t)tag_local;
cparata 3:4274d9103f1d 2287
cparata 3:4274d9103f1d 2288 return 0;
cparata 0:6d69e896ce38 2289 }
cparata 0:6d69e896ce38 2290
cparata 0:6d69e896ce38 2291 /**
cparata 0:6d69e896ce38 2292 * @brief Get the LSM6DSO FIFO raw data
cparata 0:6d69e896ce38 2293 * @param data FIFO raw data array [6]
cparata 0:6d69e896ce38 2294 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 2295 */
cparata 0:6d69e896ce38 2296 int LSM6DSOSensor::get_fifo_data(uint8_t *data)
cparata 0:6d69e896ce38 2297 {
cparata 3:4274d9103f1d 2298 if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_FIFO_DATA_OUT_X_L, data, 6) != 0) {
cparata 3:4274d9103f1d 2299 return 1;
cparata 3:4274d9103f1d 2300 }
cparata 3:4274d9103f1d 2301
cparata 3:4274d9103f1d 2302 return 0;
cparata 0:6d69e896ce38 2303 }
cparata 0:6d69e896ce38 2304
cparata 0:6d69e896ce38 2305 /**
cparata 0:6d69e896ce38 2306 * @brief Get the LSM6DSO FIFO accelero single sample (16-bit data per 3 axes) and calculate acceleration [mg]
cparata 0:6d69e896ce38 2307 * @param acceleration FIFO accelero axes [mg]
cparata 0:6d69e896ce38 2308 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 2309 */
cparata 0:6d69e896ce38 2310 int LSM6DSOSensor::get_fifo_x_axes(int32_t *acceleration)
cparata 0:6d69e896ce38 2311 {
cparata 3:4274d9103f1d 2312 uint8_t data[6];
cparata 3:4274d9103f1d 2313 int16_t data_raw[3];
cparata 3:4274d9103f1d 2314 float sensitivity = 0.0f;
cparata 3:4274d9103f1d 2315 float acceleration_float[3];
cparata 3:4274d9103f1d 2316
cparata 3:4274d9103f1d 2317 if (get_fifo_data(data) != 0) {
cparata 3:4274d9103f1d 2318 return 1;
cparata 3:4274d9103f1d 2319 }
cparata 3:4274d9103f1d 2320
cparata 3:4274d9103f1d 2321 data_raw[0] = ((int16_t)data[1] << 8) | data[0];
cparata 3:4274d9103f1d 2322 data_raw[1] = ((int16_t)data[3] << 8) | data[2];
cparata 3:4274d9103f1d 2323 data_raw[2] = ((int16_t)data[5] << 8) | data[4];
cparata 3:4274d9103f1d 2324
cparata 3:4274d9103f1d 2325 if (get_x_sensitivity(&sensitivity) != 0) {
cparata 3:4274d9103f1d 2326 return 1;
cparata 3:4274d9103f1d 2327 }
cparata 3:4274d9103f1d 2328
cparata 3:4274d9103f1d 2329 acceleration_float[0] = (float)data_raw[0] * sensitivity;
cparata 3:4274d9103f1d 2330 acceleration_float[1] = (float)data_raw[1] * sensitivity;
cparata 3:4274d9103f1d 2331 acceleration_float[2] = (float)data_raw[2] * sensitivity;
cparata 3:4274d9103f1d 2332
cparata 3:4274d9103f1d 2333 acceleration[0] = (int32_t)acceleration_float[0];
cparata 3:4274d9103f1d 2334 acceleration[1] = (int32_t)acceleration_float[1];
cparata 3:4274d9103f1d 2335 acceleration[2] = (int32_t)acceleration_float[2];
cparata 3:4274d9103f1d 2336
cparata 3:4274d9103f1d 2337 return 0;
cparata 0:6d69e896ce38 2338 }
cparata 0:6d69e896ce38 2339
cparata 0:6d69e896ce38 2340 /**
cparata 0:6d69e896ce38 2341 * @brief Set the LSM6DSO FIFO accelero BDR value
cparata 0:6d69e896ce38 2342 * @param bdr FIFO accelero BDR value
cparata 0:6d69e896ce38 2343 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 2344 */
cparata 0:6d69e896ce38 2345 int LSM6DSOSensor::set_fifo_x_bdr(float bdr)
cparata 0:6d69e896ce38 2346 {
cparata 3:4274d9103f1d 2347 lsm6dso_bdr_xl_t new_bdr;
cparata 3:4274d9103f1d 2348
cparata 3:4274d9103f1d 2349 new_bdr = (bdr <= 0.0f) ? LSM6DSO_XL_NOT_BATCHED
cparata 3:4274d9103f1d 2350 : (bdr <= 12.5f) ? LSM6DSO_XL_BATCHED_AT_12Hz5
cparata 3:4274d9103f1d 2351 : (bdr <= 26.0f) ? LSM6DSO_XL_BATCHED_AT_26Hz
cparata 3:4274d9103f1d 2352 : (bdr <= 52.0f) ? LSM6DSO_XL_BATCHED_AT_52Hz
cparata 3:4274d9103f1d 2353 : (bdr <= 104.0f) ? LSM6DSO_XL_BATCHED_AT_104Hz
cparata 3:4274d9103f1d 2354 : (bdr <= 208.0f) ? LSM6DSO_XL_BATCHED_AT_208Hz
cparata 3:4274d9103f1d 2355 : (bdr <= 416.0f) ? LSM6DSO_XL_BATCHED_AT_417Hz
cparata 3:4274d9103f1d 2356 : (bdr <= 833.0f) ? LSM6DSO_XL_BATCHED_AT_833Hz
cparata 3:4274d9103f1d 2357 : (bdr <= 1660.0f) ? LSM6DSO_XL_BATCHED_AT_1667Hz
cparata 3:4274d9103f1d 2358 : (bdr <= 3330.0f) ? LSM6DSO_XL_BATCHED_AT_3333Hz
cparata 3:4274d9103f1d 2359 : LSM6DSO_XL_BATCHED_AT_6667Hz;
cparata 3:4274d9103f1d 2360
cparata 3:4274d9103f1d 2361 if (lsm6dso_fifo_xl_batch_set(&_reg_ctx, new_bdr) != 0) {
cparata 3:4274d9103f1d 2362 return 1;
cparata 3:4274d9103f1d 2363 }
cparata 3:4274d9103f1d 2364
cparata 3:4274d9103f1d 2365 return 0;
cparata 0:6d69e896ce38 2366 }
cparata 0:6d69e896ce38 2367
cparata 0:6d69e896ce38 2368 /**
cparata 0:6d69e896ce38 2369 * @brief Get the LSM6DSO FIFO gyro single sample (16-bit data per 3 axes) and calculate angular velocity [mDPS]
cparata 0:6d69e896ce38 2370 * @param angular_velocity FIFO gyro axes [mDPS]
cparata 0:6d69e896ce38 2371 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 2372 */
cparata 0:6d69e896ce38 2373 int LSM6DSOSensor::get_fifo_g_axes(int32_t *angular_velocity)
cparata 0:6d69e896ce38 2374 {
cparata 3:4274d9103f1d 2375 uint8_t data[6];
cparata 3:4274d9103f1d 2376 int16_t data_raw[3];
cparata 3:4274d9103f1d 2377 float sensitivity = 0.0f;
cparata 3:4274d9103f1d 2378 float angular_velocity_float[3];
cparata 3:4274d9103f1d 2379
cparata 3:4274d9103f1d 2380 if (get_fifo_data(data) != 0) {
cparata 3:4274d9103f1d 2381 return 1;
cparata 3:4274d9103f1d 2382 }
cparata 3:4274d9103f1d 2383
cparata 3:4274d9103f1d 2384 data_raw[0] = ((int16_t)data[1] << 8) | data[0];
cparata 3:4274d9103f1d 2385 data_raw[1] = ((int16_t)data[3] << 8) | data[2];
cparata 3:4274d9103f1d 2386 data_raw[2] = ((int16_t)data[5] << 8) | data[4];
cparata 3:4274d9103f1d 2387
cparata 3:4274d9103f1d 2388 if (get_g_sensitivity(&sensitivity) != 0) {
cparata 3:4274d9103f1d 2389 return 1;
cparata 3:4274d9103f1d 2390 }
cparata 3:4274d9103f1d 2391
cparata 3:4274d9103f1d 2392 angular_velocity_float[0] = (float)data_raw[0] * sensitivity;
cparata 3:4274d9103f1d 2393 angular_velocity_float[1] = (float)data_raw[1] * sensitivity;
cparata 3:4274d9103f1d 2394 angular_velocity_float[2] = (float)data_raw[2] * sensitivity;
cparata 3:4274d9103f1d 2395
cparata 3:4274d9103f1d 2396 angular_velocity[0] = (int32_t)angular_velocity_float[0];
cparata 3:4274d9103f1d 2397 angular_velocity[1] = (int32_t)angular_velocity_float[1];
cparata 3:4274d9103f1d 2398 angular_velocity[2] = (int32_t)angular_velocity_float[2];
cparata 3:4274d9103f1d 2399
cparata 3:4274d9103f1d 2400 return 0;
cparata 0:6d69e896ce38 2401 }
cparata 0:6d69e896ce38 2402
cparata 0:6d69e896ce38 2403 /**
cparata 0:6d69e896ce38 2404 * @brief Set the LSM6DSO FIFO gyro BDR value
cparata 0:6d69e896ce38 2405 * @param bdr FIFO gyro BDR value
cparata 0:6d69e896ce38 2406 * @retval 0 in case of success, an error code otherwise
cparata 0:6d69e896ce38 2407 */
cparata 0:6d69e896ce38 2408 int LSM6DSOSensor::set_fifo_g_bdr(float bdr)
cparata 0:6d69e896ce38 2409 {
cparata 3:4274d9103f1d 2410 lsm6dso_bdr_gy_t new_bdr;
cparata 3:4274d9103f1d 2411
cparata 3:4274d9103f1d 2412 new_bdr = (bdr <= 0.0f) ? LSM6DSO_GY_NOT_BATCHED
cparata 3:4274d9103f1d 2413 : (bdr <= 12.5f) ? LSM6DSO_GY_BATCHED_AT_12Hz5
cparata 3:4274d9103f1d 2414 : (bdr <= 26.0f) ? LSM6DSO_GY_BATCHED_AT_26Hz
cparata 3:4274d9103f1d 2415 : (bdr <= 52.0f) ? LSM6DSO_GY_BATCHED_AT_52Hz
cparata 3:4274d9103f1d 2416 : (bdr <= 104.0f) ? LSM6DSO_GY_BATCHED_AT_104Hz
cparata 3:4274d9103f1d 2417 : (bdr <= 208.0f) ? LSM6DSO_GY_BATCHED_AT_208Hz
cparata 3:4274d9103f1d 2418 : (bdr <= 416.0f) ? LSM6DSO_GY_BATCHED_AT_417Hz
cparata 3:4274d9103f1d 2419 : (bdr <= 833.0f) ? LSM6DSO_GY_BATCHED_AT_833Hz
cparata 3:4274d9103f1d 2420 : (bdr <= 1660.0f) ? LSM6DSO_GY_BATCHED_AT_1667Hz
cparata 3:4274d9103f1d 2421 : (bdr <= 3330.0f) ? LSM6DSO_GY_BATCHED_AT_3333Hz
cparata 3:4274d9103f1d 2422 : LSM6DSO_GY_BATCHED_AT_6667Hz;
cparata 3:4274d9103f1d 2423
cparata 3:4274d9103f1d 2424 if (lsm6dso_fifo_gy_batch_set(&_reg_ctx, new_bdr) != 0) {
cparata 3:4274d9103f1d 2425 return 1;
cparata 3:4274d9103f1d 2426 }
cparata 3:4274d9103f1d 2427
cparata 3:4274d9103f1d 2428 return 0;
cparata 0:6d69e896ce38 2429 }
cparata 0:6d69e896ce38 2430
cparata 0:6d69e896ce38 2431
cparata 0:6d69e896ce38 2432
cparata 0:6d69e896ce38 2433 int32_t LSM6DSO_io_write(void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite)
cparata 0:6d69e896ce38 2434 {
cparata 3:4274d9103f1d 2435 return ((LSM6DSOSensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite);
cparata 0:6d69e896ce38 2436 }
cparata 0:6d69e896ce38 2437
cparata 0:6d69e896ce38 2438 int32_t LSM6DSO_io_read(void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead)
cparata 0:6d69e896ce38 2439 {
cparata 3:4274d9103f1d 2440 return ((LSM6DSOSensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead);
cparata 0:6d69e896ce38 2441 }