LSM6DSO - LSM6DSO accelerometer and gyroscope sensor library

LELEC2811 - I&S » Code » LSM6DSO

LSM6DSO accelerometer and gyroscope sensor library

Dependencies: X_NUCLEO_COMMON ST_INTERFACES

LSM6DSOSensor.cpp@3:4274d9103f1d, 2019-07-24 (annotated)

Committer:: cparata
Date:: Wed Jul 24 14:19:35 2019 +0000
Revision:: 3:4274d9103f1d
Parent:: 2:4d14e9edf37e
Child:: 4:bcf0cf6e43a7

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User	Revision	Line number	New contents of line
cparata	0:6d69e896ce38	1	/**
cparata	0:6d69e896ce38	2	******************************************************************************
cparata	0:6d69e896ce38	3	* @file LSM6DSOSensor.cpp
cparata	0:6d69e896ce38	4	* @author SRA
cparata	0:6d69e896ce38	5	* @version V1.0.0
cparata	0:6d69e896ce38	6	* @date February 2019
cparata	0:6d69e896ce38	7	* @brief Implementation of an LSM6DSO Inertial Measurement Unit (IMU) 6 axes
cparata	0:6d69e896ce38	8	* sensor.
cparata	0:6d69e896ce38	9	******************************************************************************
cparata	0:6d69e896ce38	10	* @attention
cparata	0:6d69e896ce38	11	*
cparata	0:6d69e896ce38	12	* <h2><center>© COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
cparata	0:6d69e896ce38	13	*
cparata	0:6d69e896ce38	14	* Redistribution and use in source and binary forms, with or without modification,
cparata	0:6d69e896ce38	15	* are permitted provided that the following conditions are met:
cparata	0:6d69e896ce38	16	* 1. Redistributions of source code must retain the above copyright notice,
cparata	0:6d69e896ce38	17	* this list of conditions and the following disclaimer.
cparata	0:6d69e896ce38	18	* 2. Redistributions in binary form must reproduce the above copyright notice,
cparata	0:6d69e896ce38	19	* this list of conditions and the following disclaimer in the documentation
cparata	0:6d69e896ce38	20	* and/or other materials provided with the distribution.
cparata	0:6d69e896ce38	21	* 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata	0:6d69e896ce38	22	* may be used to endorse or promote products derived from this software
cparata	0:6d69e896ce38	23	* without specific prior written permission.
cparata	0:6d69e896ce38	24	*
cparata	0:6d69e896ce38	25	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata	0:6d69e896ce38	26	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata	0:6d69e896ce38	27	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata	0:6d69e896ce38	28	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata	0:6d69e896ce38	29	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata	0:6d69e896ce38	30	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata	0:6d69e896ce38	31	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata	0:6d69e896ce38	32	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata	0:6d69e896ce38	33	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata	0:6d69e896ce38	34	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata	0:6d69e896ce38	35	*
cparata	0:6d69e896ce38	36	******************************************************************************
cparata	0:6d69e896ce38	37	*/
cparata	0:6d69e896ce38	38
cparata	0:6d69e896ce38	39
cparata	0:6d69e896ce38	40	/* Includes ------------------------------------------------------------------*/
cparata	0:6d69e896ce38	41
cparata	0:6d69e896ce38	42	#include "LSM6DSOSensor.h"
cparata	0:6d69e896ce38	43
cparata	0:6d69e896ce38	44
cparata	0:6d69e896ce38	45	/* Class Implementation ------------------------------------------------------*/
cparata	0:6d69e896ce38	46
cparata	0:6d69e896ce38	47	/** Constructor
cparata	0:6d69e896ce38	48	* @param spi object of an helper class which handles the SPI peripheral
cparata	0:6d69e896ce38	49	* @param cs_pin the chip select pin
cparata	0:6d69e896ce38	50	* @param int1_pin the interrupt 1 pin
cparata	0:6d69e896ce38	51	* @param int2_pin the interrupt 2 pin
cparata	0:6d69e896ce38	52	* @param spi_type the SPI type
cparata	0:6d69e896ce38	53	*/
cparata	0:6d69e896ce38	54	LSM6DSOSensor::LSM6DSOSensor(SPI *spi, PinName cs_pin, PinName int1_pin, PinName int2_pin, SPI_type_t spi_type) : _dev_spi(spi), _cs_pin(cs_pin), _int1_irq(int1_pin), _int2_irq(int2_pin), _spi_type(spi_type)
cparata	0:6d69e896ce38	55	{
cparata	3:4274d9103f1d	56	assert(spi);
cparata	3:4274d9103f1d	57	if (cs_pin == NC) {
cparata	3:4274d9103f1d	58	printf("ERROR LSM6DSO CS MUST NOT BE NC\n\r");
cparata	3:4274d9103f1d	59	_dev_spi = NULL;
cparata	3:4274d9103f1d	60	_dev_i2c = NULL;
cparata	3:4274d9103f1d	61	return;
cparata	3:4274d9103f1d	62	}
cparata	3:4274d9103f1d	63
cparata	3:4274d9103f1d	64	_reg_ctx.write_reg = LSM6DSO_io_write;
cparata	3:4274d9103f1d	65	_reg_ctx.read_reg = LSM6DSO_io_read;
cparata	3:4274d9103f1d	66	_reg_ctx.handle = (void *)this;
cparata	3:4274d9103f1d	67	_cs_pin = 1;
cparata	0:6d69e896ce38	68	_dev_i2c = NULL;
cparata	3:4274d9103f1d	69	_address = 0;
cparata	3:4274d9103f1d	70
cparata	3:4274d9103f1d	71	if (_spi_type == SPI3W) {
cparata	3:4274d9103f1d	72	/* Enable SPI 3-Wires on the component */
cparata	3:4274d9103f1d	73	uint8_t data = 0x0C;
cparata	3:4274d9103f1d	74	lsm6dso_write_reg(&_reg_ctx, LSM6DSO_CTRL3_C, &data, 1);
cparata	3:4274d9103f1d	75	}
cparata	0:6d69e896ce38	76	}
cparata	0:6d69e896ce38	77
cparata	0:6d69e896ce38	78
cparata	0:6d69e896ce38	79	/** Constructor
cparata	0:6d69e896ce38	80	* @param i2c object of an helper class which handles the I2C peripheral
cparata	0:6d69e896ce38	81	* @param address the address of the component's instance
cparata	0:6d69e896ce38	82	* @param int1_pin the interrupt 1 pin
cparata	0:6d69e896ce38	83	* @param int2_pin the interrupt 2 pin
cparata	0:6d69e896ce38	84	*/
cparata	0:6d69e896ce38	85	LSM6DSOSensor::LSM6DSOSensor(DevI2C *i2c, uint8_t address, PinName int1_pin, PinName int2_pin) : _dev_i2c(i2c), _address(address), _cs_pin(NC), _int1_irq(int1_pin), _int2_irq(int2_pin)
cparata	0:6d69e896ce38	86	{
cparata	3:4274d9103f1d	87	assert(i2c);
cparata	3:4274d9103f1d	88	_dev_spi = NULL;
cparata	3:4274d9103f1d	89	_reg_ctx.write_reg = LSM6DSO_io_write;
cparata	3:4274d9103f1d	90	_reg_ctx.read_reg = LSM6DSO_io_read;
cparata	3:4274d9103f1d	91	_reg_ctx.handle = (void *)this;
cparata	0:6d69e896ce38	92	}
cparata	0:6d69e896ce38	93
cparata	0:6d69e896ce38	94	/**
cparata	0:6d69e896ce38	95	* @brief Initializing the component
cparata	0:6d69e896ce38	96	* @param init pointer to device specific initalization structure
cparata	0:6d69e896ce38	97	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	98	*/
cparata	0:6d69e896ce38	99	int LSM6DSOSensor::init(void *init)
cparata	0:6d69e896ce38	100	{
cparata	3:4274d9103f1d	101	/* Disable I3C */
cparata	3:4274d9103f1d	102	if (lsm6dso_i3c_disable_set(&_reg_ctx, LSM6DSO_I3C_DISABLE) != 0) {
cparata	3:4274d9103f1d	103	return 1;
cparata	3:4274d9103f1d	104	}
cparata	3:4274d9103f1d	105
cparata	3:4274d9103f1d	106	/* Enable register address automatically incremented during a multiple byte
cparata	3:4274d9103f1d	107	access with a serial interface. */
cparata	3:4274d9103f1d	108	if (lsm6dso_auto_increment_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
cparata	3:4274d9103f1d	109	return 1;
cparata	3:4274d9103f1d	110	}
cparata	3:4274d9103f1d	111
cparata	3:4274d9103f1d	112	/* Enable BDU */
cparata	3:4274d9103f1d	113	if (lsm6dso_block_data_update_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
cparata	3:4274d9103f1d	114	return 1;
cparata	3:4274d9103f1d	115	}
cparata	3:4274d9103f1d	116
cparata	3:4274d9103f1d	117	/* FIFO mode selection */
cparata	3:4274d9103f1d	118	if (lsm6dso_fifo_mode_set(&_reg_ctx, LSM6DSO_BYPASS_MODE) != 0) {
cparata	3:4274d9103f1d	119	return 1;
cparata	3:4274d9103f1d	120	}
cparata	3:4274d9103f1d	121
cparata	3:4274d9103f1d	122	/* Output data rate selection - power down. */
cparata	3:4274d9103f1d	123	if (lsm6dso_xl_data_rate_set(&_reg_ctx, LSM6DSO_XL_ODR_OFF) != 0) {
cparata	3:4274d9103f1d	124	return 1;
cparata	3:4274d9103f1d	125	}
cparata	3:4274d9103f1d	126
cparata	3:4274d9103f1d	127	/* Full scale selection. */
cparata	3:4274d9103f1d	128	if (lsm6dso_xl_full_scale_set(&_reg_ctx, LSM6DSO_2g) != 0) {
cparata	3:4274d9103f1d	129	return 1;
cparata	3:4274d9103f1d	130	}
cparata	3:4274d9103f1d	131
cparata	3:4274d9103f1d	132	/* Output data rate selection - power down. */
cparata	3:4274d9103f1d	133	if (lsm6dso_gy_data_rate_set(&_reg_ctx, LSM6DSO_GY_ODR_OFF) != 0) {
cparata	3:4274d9103f1d	134	return 1;
cparata	3:4274d9103f1d	135	}
cparata	3:4274d9103f1d	136
cparata	3:4274d9103f1d	137	/* Full scale selection. */
cparata	3:4274d9103f1d	138	if (lsm6dso_gy_full_scale_set(&_reg_ctx, LSM6DSO_2000dps) != 0) {
cparata	3:4274d9103f1d	139	return 1;
cparata	3:4274d9103f1d	140	}
cparata	3:4274d9103f1d	141
cparata	3:4274d9103f1d	142	/* Select default output data rate. */
cparata	3:4274d9103f1d	143	_x_last_odr = LSM6DSO_XL_ODR_104Hz;
cparata	3:4274d9103f1d	144
cparata	3:4274d9103f1d	145	/* Select default output data rate. */
cparata	3:4274d9103f1d	146	_g_last_odr = LSM6DSO_GY_ODR_104Hz;
cparata	3:4274d9103f1d	147
cparata	3:4274d9103f1d	148	_x_is_enabled = 0;
cparata	3:4274d9103f1d	149
cparata	3:4274d9103f1d	150	_g_is_enabled = 0;
cparata	3:4274d9103f1d	151
cparata	3:4274d9103f1d	152	return 0;
cparata	0:6d69e896ce38	153	}
cparata	0:6d69e896ce38	154
cparata	0:6d69e896ce38	155	/**
cparata	0:6d69e896ce38	156	* @brief Read component ID
cparata	0:6d69e896ce38	157	* @param id the WHO_AM_I value
cparata	0:6d69e896ce38	158	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	159	*/
cparata	0:6d69e896ce38	160	int LSM6DSOSensor::read_id(uint8_t *id)
cparata	0:6d69e896ce38	161	{
cparata	3:4274d9103f1d	162	if (lsm6dso_device_id_get(&_reg_ctx, id) != 0) {
cparata	3:4274d9103f1d	163	return 1;
cparata	3:4274d9103f1d	164	}
cparata	3:4274d9103f1d	165
cparata	3:4274d9103f1d	166	return 0;
cparata	0:6d69e896ce38	167	}
cparata	0:6d69e896ce38	168
cparata	0:6d69e896ce38	169	/**
cparata	0:6d69e896ce38	170	* @brief Enable the LSM6DSO accelerometer sensor
cparata	0:6d69e896ce38	171	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	172	*/
cparata	0:6d69e896ce38	173	int LSM6DSOSensor::enable_x()
cparata	0:6d69e896ce38	174	{
cparata	3:4274d9103f1d	175	/* Check if the component is already enabled */
cparata	3:4274d9103f1d	176	if (_x_is_enabled == 1U) {
cparata	3:4274d9103f1d	177	return 0;
cparata	3:4274d9103f1d	178	}
cparata	3:4274d9103f1d	179
cparata	3:4274d9103f1d	180	/* Output data rate selection. */
cparata	3:4274d9103f1d	181	if (lsm6dso_xl_data_rate_set(&_reg_ctx, _x_last_odr) != 0) {
cparata	3:4274d9103f1d	182	return 1;
cparata	3:4274d9103f1d	183	}
cparata	3:4274d9103f1d	184
cparata	3:4274d9103f1d	185	_x_is_enabled = 1;
cparata	3:4274d9103f1d	186
cparata	0:6d69e896ce38	187	return 0;
cparata	0:6d69e896ce38	188	}
cparata	0:6d69e896ce38	189
cparata	0:6d69e896ce38	190	/**
cparata	0:6d69e896ce38	191	* @brief Disable the LSM6DSO accelerometer sensor
cparata	0:6d69e896ce38	192	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	193	*/
cparata	0:6d69e896ce38	194	int LSM6DSOSensor::disable_x()
cparata	0:6d69e896ce38	195	{
cparata	3:4274d9103f1d	196	/* Check if the component is already disabled */
cparata	3:4274d9103f1d	197	if (_x_is_enabled == 0U) {
cparata	3:4274d9103f1d	198	return 0;
cparata	3:4274d9103f1d	199	}
cparata	3:4274d9103f1d	200
cparata	3:4274d9103f1d	201	/* Get current output data rate. */
cparata	3:4274d9103f1d	202	if (lsm6dso_xl_data_rate_get(&_reg_ctx, &_x_last_odr) != 0) {
cparata	3:4274d9103f1d	203	return 1;
cparata	3:4274d9103f1d	204	}
cparata	3:4274d9103f1d	205
cparata	3:4274d9103f1d	206	/* Output data rate selection - power down. */
cparata	3:4274d9103f1d	207	if (lsm6dso_xl_data_rate_set(&_reg_ctx, LSM6DSO_XL_ODR_OFF) != 0) {
cparata	3:4274d9103f1d	208	return 1;
cparata	3:4274d9103f1d	209	}
cparata	3:4274d9103f1d	210
cparata	3:4274d9103f1d	211	_x_is_enabled = 0;
cparata	3:4274d9103f1d	212
cparata	0:6d69e896ce38	213	return 0;
cparata	0:6d69e896ce38	214	}
cparata	0:6d69e896ce38	215
cparata	0:6d69e896ce38	216	/**
cparata	0:6d69e896ce38	217	* @brief Get the LSM6DSO accelerometer sensor sensitivity
cparata	0:6d69e896ce38	218	* @param sensitivity pointer where the sensitivity is written
cparata	0:6d69e896ce38	219	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	220	*/
cparata	0:6d69e896ce38	221	int LSM6DSOSensor::get_x_sensitivity(float *sensitivity)
cparata	0:6d69e896ce38	222	{
cparata	3:4274d9103f1d	223	int ret = 0;
cparata	3:4274d9103f1d	224	lsm6dso_fs_xl_t full_scale;
cparata	3:4274d9103f1d	225
cparata	3:4274d9103f1d	226	/* Read actual full scale selection from sensor. */
cparata	3:4274d9103f1d	227	if (lsm6dso_xl_full_scale_get(&_reg_ctx, &full_scale) != 0) {
cparata	3:4274d9103f1d	228	return 1;
cparata	3:4274d9103f1d	229	}
cparata	3:4274d9103f1d	230
cparata	3:4274d9103f1d	231	/* Store the sensitivity based on actual full scale. */
cparata	3:4274d9103f1d	232	switch (full_scale) {
cparata	3:4274d9103f1d	233	case LSM6DSO_2g:
cparata	3:4274d9103f1d	234	*sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_2G;
cparata	3:4274d9103f1d	235	break;
cparata	3:4274d9103f1d	236
cparata	3:4274d9103f1d	237	case LSM6DSO_4g:
cparata	3:4274d9103f1d	238	*sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_4G;
cparata	3:4274d9103f1d	239	break;
cparata	3:4274d9103f1d	240
cparata	3:4274d9103f1d	241	case LSM6DSO_8g:
cparata	3:4274d9103f1d	242	*sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_8G;
cparata	3:4274d9103f1d	243	break;
cparata	3:4274d9103f1d	244
cparata	3:4274d9103f1d	245	case LSM6DSO_16g:
cparata	3:4274d9103f1d	246	*sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_16G;
cparata	3:4274d9103f1d	247	break;
cparata	3:4274d9103f1d	248
cparata	3:4274d9103f1d	249	default:
cparata	3:4274d9103f1d	250	ret = 1;
cparata	3:4274d9103f1d	251	break;
cparata	3:4274d9103f1d	252	}
cparata	3:4274d9103f1d	253
cparata	3:4274d9103f1d	254	return ret;
cparata	0:6d69e896ce38	255	}
cparata	0:6d69e896ce38	256
cparata	0:6d69e896ce38	257	/**
cparata	0:6d69e896ce38	258	* @brief Get the LSM6DSO accelerometer sensor output data rate
cparata	0:6d69e896ce38	259	* @param odr pointer where the output data rate is written
cparata	0:6d69e896ce38	260	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	261	*/
cparata	0:6d69e896ce38	262	int LSM6DSOSensor::get_x_odr(float *odr)
cparata	0:6d69e896ce38	263	{
cparata	3:4274d9103f1d	264	int ret = 0;
cparata	3:4274d9103f1d	265	lsm6dso_odr_xl_t odr_low_level;
cparata	3:4274d9103f1d	266
cparata	3:4274d9103f1d	267	/* Get current output data rate. */
cparata	3:4274d9103f1d	268	if (lsm6dso_xl_data_rate_get(&_reg_ctx, &odr_low_level) != 0) {
cparata	3:4274d9103f1d	269	return 1;
cparata	3:4274d9103f1d	270	}
cparata	3:4274d9103f1d	271
cparata	3:4274d9103f1d	272	switch (odr_low_level) {
cparata	3:4274d9103f1d	273	case LSM6DSO_XL_ODR_OFF:
cparata	3:4274d9103f1d	274	*odr = 0.0f;
cparata	3:4274d9103f1d	275	break;
cparata	3:4274d9103f1d	276
cparata	3:4274d9103f1d	277	case LSM6DSO_XL_ODR_6Hz5:
cparata	3:4274d9103f1d	278	*odr = 6.5f;
cparata	3:4274d9103f1d	279	break;
cparata	3:4274d9103f1d	280
cparata	3:4274d9103f1d	281	case LSM6DSO_XL_ODR_12Hz5:
cparata	3:4274d9103f1d	282	*odr = 12.5f;
cparata	3:4274d9103f1d	283	break;
cparata	3:4274d9103f1d	284
cparata	3:4274d9103f1d	285	case LSM6DSO_XL_ODR_26Hz:
cparata	3:4274d9103f1d	286	*odr = 26.0f;
cparata	3:4274d9103f1d	287	break;
cparata	3:4274d9103f1d	288
cparata	3:4274d9103f1d	289	case LSM6DSO_XL_ODR_52Hz:
cparata	3:4274d9103f1d	290	*odr = 52.0f;
cparata	3:4274d9103f1d	291	break;
cparata	3:4274d9103f1d	292
cparata	3:4274d9103f1d	293	case LSM6DSO_XL_ODR_104Hz:
cparata	3:4274d9103f1d	294	*odr = 104.0f;
cparata	3:4274d9103f1d	295	break;
cparata	3:4274d9103f1d	296
cparata	3:4274d9103f1d	297	case LSM6DSO_XL_ODR_208Hz:
cparata	3:4274d9103f1d	298	*odr = 208.0f;
cparata	3:4274d9103f1d	299	break;
cparata	3:4274d9103f1d	300
cparata	3:4274d9103f1d	301	case LSM6DSO_XL_ODR_417Hz:
cparata	3:4274d9103f1d	302	*odr = 417.0f;
cparata	3:4274d9103f1d	303	break;
cparata	3:4274d9103f1d	304
cparata	3:4274d9103f1d	305	case LSM6DSO_XL_ODR_833Hz:
cparata	3:4274d9103f1d	306	*odr = 833.0f;
cparata	3:4274d9103f1d	307	break;
cparata	3:4274d9103f1d	308
cparata	3:4274d9103f1d	309	case LSM6DSO_XL_ODR_1667Hz:
cparata	3:4274d9103f1d	310	*odr = 1667.0f;
cparata	3:4274d9103f1d	311	break;
cparata	3:4274d9103f1d	312
cparata	3:4274d9103f1d	313	case LSM6DSO_XL_ODR_3333Hz:
cparata	3:4274d9103f1d	314	*odr = 3333.0f;
cparata	3:4274d9103f1d	315	break;
cparata	3:4274d9103f1d	316
cparata	3:4274d9103f1d	317	case LSM6DSO_XL_ODR_6667Hz:
cparata	3:4274d9103f1d	318	*odr = 6667.0f;
cparata	3:4274d9103f1d	319	break;
cparata	3:4274d9103f1d	320
cparata	3:4274d9103f1d	321	default:
cparata	3:4274d9103f1d	322	ret = 1;
cparata	3:4274d9103f1d	323	break;
cparata	3:4274d9103f1d	324	}
cparata	3:4274d9103f1d	325
cparata	3:4274d9103f1d	326	return ret;
cparata	0:6d69e896ce38	327	}
cparata	0:6d69e896ce38	328
cparata	0:6d69e896ce38	329	/**
cparata	0:6d69e896ce38	330	* @brief Set the LSM6DSO accelerometer sensor output data rate
cparata	0:6d69e896ce38	331	* @param odr the output data rate value to be set
cparata	0:6d69e896ce38	332	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	333	*/
cparata	0:6d69e896ce38	334	int LSM6DSOSensor::set_x_odr(float odr)
cparata	0:6d69e896ce38	335	{
cparata	3:4274d9103f1d	336	/* Check if the component is enabled */
cparata	3:4274d9103f1d	337	if (_x_is_enabled == 1U) {
cparata	3:4274d9103f1d	338	return set_x_odr_when_enabled(odr);
cparata	3:4274d9103f1d	339	} else {
cparata	3:4274d9103f1d	340	return set_x_odr_when_disabled(odr);
cparata	3:4274d9103f1d	341	}
cparata	0:6d69e896ce38	342	}
cparata	0:6d69e896ce38	343
cparata	0:6d69e896ce38	344	/**
cparata	0:6d69e896ce38	345	* @brief Set the LSM6DSO accelerometer sensor output data rate when enabled
cparata	0:6d69e896ce38	346	* @param odr the functional output data rate to be set
cparata	0:6d69e896ce38	347	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	348	*/
cparata	0:6d69e896ce38	349	int LSM6DSOSensor::set_x_odr_when_enabled(float odr)
cparata	0:6d69e896ce38	350	{
cparata	3:4274d9103f1d	351	lsm6dso_odr_xl_t new_odr;
cparata	3:4274d9103f1d	352
cparata	3:4274d9103f1d	353	new_odr = (odr <= 12.5f) ? LSM6DSO_XL_ODR_12Hz5
cparata	3:4274d9103f1d	354	: (odr <= 26.0f) ? LSM6DSO_XL_ODR_26Hz
cparata	3:4274d9103f1d	355	: (odr <= 52.0f) ? LSM6DSO_XL_ODR_52Hz
cparata	3:4274d9103f1d	356	: (odr <= 104.0f) ? LSM6DSO_XL_ODR_104Hz
cparata	3:4274d9103f1d	357	: (odr <= 208.0f) ? LSM6DSO_XL_ODR_208Hz
cparata	3:4274d9103f1d	358	: (odr <= 417.0f) ? LSM6DSO_XL_ODR_417Hz
cparata	3:4274d9103f1d	359	: (odr <= 833.0f) ? LSM6DSO_XL_ODR_833Hz
cparata	3:4274d9103f1d	360	: (odr <= 1667.0f) ? LSM6DSO_XL_ODR_1667Hz
cparata	3:4274d9103f1d	361	: (odr <= 3333.0f) ? LSM6DSO_XL_ODR_3333Hz
cparata	3:4274d9103f1d	362	: LSM6DSO_XL_ODR_6667Hz;
cparata	3:4274d9103f1d	363
cparata	3:4274d9103f1d	364	/* Output data rate selection. */
cparata	3:4274d9103f1d	365	if (lsm6dso_xl_data_rate_set(&_reg_ctx, new_odr) != 0) {
cparata	3:4274d9103f1d	366	return 1;
cparata	3:4274d9103f1d	367	}
cparata	3:4274d9103f1d	368
cparata	3:4274d9103f1d	369	return 0;
cparata	0:6d69e896ce38	370	}
cparata	0:6d69e896ce38	371
cparata	0:6d69e896ce38	372	/**
cparata	0:6d69e896ce38	373	* @brief Set the LSM6DSO accelerometer sensor output data rate when disabled
cparata	0:6d69e896ce38	374	* @param odr the functional output data rate to be set
cparata	0:6d69e896ce38	375	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	376	*/
cparata	0:6d69e896ce38	377	int LSM6DSOSensor::set_x_odr_when_disabled(float odr)
cparata	0:6d69e896ce38	378	{
cparata	3:4274d9103f1d	379	_x_last_odr = (odr <= 12.5f) ? LSM6DSO_XL_ODR_12Hz5
cparata	3:4274d9103f1d	380	: (odr <= 26.0f) ? LSM6DSO_XL_ODR_26Hz
cparata	3:4274d9103f1d	381	: (odr <= 52.0f) ? LSM6DSO_XL_ODR_52Hz
cparata	3:4274d9103f1d	382	: (odr <= 104.0f) ? LSM6DSO_XL_ODR_104Hz
cparata	3:4274d9103f1d	383	: (odr <= 208.0f) ? LSM6DSO_XL_ODR_208Hz
cparata	3:4274d9103f1d	384	: (odr <= 417.0f) ? LSM6DSO_XL_ODR_417Hz
cparata	3:4274d9103f1d	385	: (odr <= 833.0f) ? LSM6DSO_XL_ODR_833Hz
cparata	3:4274d9103f1d	386	: (odr <= 1667.0f) ? LSM6DSO_XL_ODR_1667Hz
cparata	3:4274d9103f1d	387	: (odr <= 3333.0f) ? LSM6DSO_XL_ODR_3333Hz
cparata	3:4274d9103f1d	388	: LSM6DSO_XL_ODR_6667Hz;
cparata	3:4274d9103f1d	389
cparata	3:4274d9103f1d	390	return 0;
cparata	0:6d69e896ce38	391	}
cparata	0:6d69e896ce38	392
cparata	0:6d69e896ce38	393
cparata	0:6d69e896ce38	394	/**
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	}

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

LSM6DSOSensor.cpp@3:4274d9103f1d, 2019-07-24 (annotated)

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