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@4:bcf0cf6e43a7, 2019-09-17 (annotated)

Committer:: martlefebvre94
Date:: Tue Sep 17 08:40:49 2019 +0000
Revision:: 4:bcf0cf6e43a7
Parent:: 3:4274d9103f1d
Child:: 5:213250c75a9e

Addition of functions for the configuration of the accelerometer and gyroscope sensor

Who changed what in which revision?

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

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

LSM6DSOSensor.cpp@4:bcf0cf6e43a7, 2019-09-17 (annotated)

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