Diff: Components/lsm6ds3/lsm6ds3_class.cpp

Revision:

44:d757094f6229

Child:

57:04563dd74269

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/lsm6ds3/lsm6ds3_class.cpp	Mon Jun 08 15:36:36 2015 +0200
@@ -0,0 +1,1020 @@
+/**
+ ******************************************************************************
+ * @file    lsm6ds3_class.cpp
+ * @author  AST / EST
+ * @version V0.0.1
+ * @date    14-April-2015
+ * @brief   Implementation file for the LSM6DS3 driver class
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *      without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+*/
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+#include "lsm6ds3_class.h"
+#include "lsm6ds3.h"
+#include "../../x_nucleo_iks01a1_targets.h"
+
+/* Methods -------------------------------------------------------------------*/
+/* betzw - based on:
+           X-CUBE-MEMS1/trunk/Drivers/BSP/Components/lsm6ds3/lsm6ds3.c: revision #400,
+           X-CUBE-MEMS1/trunk: revision #410
+*/
+/**
+ * @brief  Set LSM6DS3 Initialization
+ * @param  LSM6DS3_Init the configuration setting for the LSM6DS3
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef    LSM6DS3::LSM6DS3_Init( IMU_6AXES_InitTypeDef *LSM6DS3_Init )
+{
+  /*Here we have to add the check if the parameters are valid*/
+  
+  /* Configure the low level interface -------------------------------------*/
+  if(LSM6DS3_IO_Init() != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  
+  /******** Common init *********/
+  
+  if(LSM6DS3_Common_Sensor_Enable() != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  
+  /******* Gyroscope init *******/
+  
+  if(LSM6DS3_G_Set_ODR( LSM6DS3_Init->G_OutputDataRate ) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  if(LSM6DS3_G_Set_FS( LSM6DS3_Init->G_FullScale ) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  if(LSM6DS3_G_Set_Axes_Status(LSM6DS3_Init->G_X_Axis, LSM6DS3_Init->G_Y_Axis, LSM6DS3_Init->G_Z_Axis) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  
+  /***** Accelerometer init *****/
+  
+  if(LSM6DS3_X_Set_ODR( LSM6DS3_Init->X_OutputDataRate ) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  if(LSM6DS3_X_Set_FS( LSM6DS3_Init->X_FullScale ) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  if(LSM6DS3_X_Set_Axes_Status(LSM6DS3_Init->X_X_Axis, LSM6DS3_Init->X_Y_Axis, LSM6DS3_Init->X_Z_Axis) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  /* Configure interrupt lines */
+  LSM6DS3_IO_ITConfig();
+  
+  return IMU_6AXES_OK;
+}
+
+/**
+ * @brief  Read ID of LSM6DS3 Accelerometer and Gyroscope
+ * @param  xg_id the pointer where the ID of the device is stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef    LSM6DS3::LSM6DS3_Read_XG_ID( uint8_t *xg_id)
+{
+  if(!xg_id)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  return LSM6DS3_IO_Read(xg_id, LSM6DS3_XG_WHO_AM_I_ADDR, 1);
+}
+
+/**
+ * @brief  Set LSM6DS3 common initialization
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS3::LSM6DS3_Common_Sensor_Enable(void)
+{
+  uint8_t tmp1 = 0x00;
+  
+  if(LSM6DS3_IO_Read(&tmp1, LSM6DS3_XG_CTRL3_C, 1) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  /* Enable register address automatically incremented during a multiple byte
+     access with a serial interface (I2C or SPI) */
+  tmp1 &= ~(LSM6DS3_XG_IF_INC_MASK);
+  tmp1 |= LSM6DS3_XG_IF_INC;
+  
+  if(LSM6DS3_IO_Write(&tmp1, LSM6DS3_XG_CTRL3_C, 1) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  
+  if(LSM6DS3_IO_Read(&tmp1, LSM6DS3_XG_FIFO_CTRL5, 1) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  /* FIFO ODR selection */
+  tmp1 &= ~(LSM6DS3_XG_FIFO_ODR_MASK);
+  tmp1 |= LSM6DS3_XG_FIFO_ODR_NA;
+  
+  /* FIFO mode selection */
+  tmp1 &= ~(LSM6DS3_XG_FIFO_MODE_MASK);
+  tmp1 |= LSM6DS3_XG_FIFO_MODE_BYPASS;
+  
+  if(LSM6DS3_IO_Write(&tmp1, LSM6DS3_XG_FIFO_CTRL5, 1) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  return IMU_6AXES_OK;
+}
+
+/**
+ * @brief  Read raw data from LSM6DS3 Accelerometer output register
+ * @param  pData the pointer where the accelerometer raw data are stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS3::LSM6DS3_X_GetAxesRaw( int16_t *pData )
+{
+  /*Here we have to add the check if the parameters are valid*/
+  
+  uint8_t tempReg[2] = {0, 0};
+  
+  
+  if(LSM6DS3_IO_Read(&tempReg[0], LSM6DS3_XG_OUT_X_L_XL, 2) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  pData[0] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]);
+  
+  if(LSM6DS3_IO_Read(&tempReg[0], LSM6DS3_XG_OUT_Y_L_XL, 2) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  pData[1] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]);
+  
+  if(LSM6DS3_IO_Read(&tempReg[0], LSM6DS3_XG_OUT_Z_L_XL, 2) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  pData[2] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]);
+  
+  return IMU_6AXES_OK;
+}
+
+
+
+/**
+ * @brief  Read data from LSM6DS3 Accelerometer and calculate linear acceleration in mg
+ * @param  pData the pointer where the accelerometer data are stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef    LSM6DS3::LSM6DS3_X_GetAxes( int32_t *pData )
+{
+  /*Here we have to add the check if the parameters are valid*/
+  int16_t pDataRaw[3];
+  float sensitivity = 0.0f;
+  
+  if(LSM6DS3_X_GetAxesRaw(pDataRaw) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  if(LSM6DS3_X_GetSensitivity( &sensitivity ) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  pData[0] = (int32_t)(pDataRaw[0] * sensitivity);
+  pData[1] = (int32_t)(pDataRaw[1] * sensitivity);
+  pData[2] = (int32_t)(pDataRaw[2] * sensitivity);
+  
+  return IMU_6AXES_OK;
+}
+
+
+
+/**
+ * @brief  Read raw data from LSM6DS3 Gyroscope output register
+ * @param  pData the pointer where the gyroscope raw data are stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS3::LSM6DS3_G_GetAxesRaw( int16_t *pData )
+{
+  /*Here we have to add the check if the parameters are valid*/
+  
+  uint8_t tempReg[2] = {0, 0};
+  
+  
+  if(LSM6DS3_IO_Read(&tempReg[0], LSM6DS3_XG_OUT_X_L_G, 2) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  pData[0] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]);
+  
+  if(LSM6DS3_IO_Read(&tempReg[0], LSM6DS3_XG_OUT_Y_L_G, 2) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  pData[1] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]);
+  
+  if(LSM6DS3_IO_Read(&tempReg[0], LSM6DS3_XG_OUT_Z_L_G, 2) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  pData[2] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]);
+  
+  return IMU_6AXES_OK;
+}
+
+/**
+ * @brief  Set the status of the axes for accelerometer
+ * @param  enableX the status of the x axis to be set
+ * @param  enableY the status of the y axis to be set
+ * @param  enableZ the status of the z axis to be set
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS3::LSM6DS3_X_Set_Axes_Status(uint8_t enableX, uint8_t enableY, uint8_t enableZ)
+{
+  uint8_t tmp1 = 0x00;
+  uint8_t eX = 0x00;
+  uint8_t eY = 0x00;
+  uint8_t eZ = 0x00;
+  
+  eX = ( enableX == 0 ) ? LSM6DS3_XL_XEN_DISABLE : LSM6DS3_XL_XEN_ENABLE;
+  eY = ( enableY == 0 ) ? LSM6DS3_XL_YEN_DISABLE : LSM6DS3_XL_YEN_ENABLE;
+  eZ = ( enableZ == 0 ) ? LSM6DS3_XL_ZEN_DISABLE : LSM6DS3_XL_ZEN_ENABLE;
+  
+  if(LSM6DS3_IO_Read(&tmp1, LSM6DS3_XG_CTRL9_XL, 1) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  /* Enable X axis selection */
+  tmp1 &= ~(LSM6DS3_XL_XEN_MASK);
+  tmp1 |= eX;
+  
+  /* Enable Y axis selection */
+  tmp1 &= ~(LSM6DS3_XL_YEN_MASK);
+  tmp1 |= eY;
+  
+  /* Enable Z axis selection */
+  tmp1 &= ~(LSM6DS3_XL_ZEN_MASK);
+  tmp1 |= eZ;
+  
+  if(LSM6DS3_IO_Write(&tmp1, LSM6DS3_XG_CTRL9_XL, 1) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  return IMU_6AXES_OK;
+}
+
+/**
+ * @brief  Set the status of the axes for gyroscope
+ * @param  enableX the status of the x axis to be set
+ * @param  enableY the status of the y axis to be set
+ * @param  enableZ the status of the z axis to be set
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS3::LSM6DS3_G_Set_Axes_Status(uint8_t enableX, uint8_t enableY, uint8_t enableZ)
+{
+  uint8_t tmp1 = 0x00;
+  uint8_t eX = 0x00;
+  uint8_t eY = 0x00;
+  uint8_t eZ = 0x00;
+  
+  eX = ( enableX == 0 ) ? LSM6DS3_G_XEN_DISABLE : LSM6DS3_G_XEN_ENABLE;
+  eY = ( enableY == 0 ) ? LSM6DS3_G_YEN_DISABLE : LSM6DS3_G_YEN_ENABLE;
+  eZ = ( enableZ == 0 ) ? LSM6DS3_G_ZEN_DISABLE : LSM6DS3_G_ZEN_ENABLE;
+  
+  if(LSM6DS3_IO_Read(&tmp1, LSM6DS3_XG_CTRL10_C, 1) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  /* Enable X axis selection */
+  tmp1 &= ~(LSM6DS3_G_XEN_MASK);
+  tmp1 |= eX;
+  
+  /* Enable Y axis selection */
+  tmp1 &= ~(LSM6DS3_G_YEN_MASK);
+  tmp1 |= eY;
+  
+  /* Enable Z axis selection */
+  tmp1 &= ~(LSM6DS3_G_ZEN_MASK);
+  tmp1 |= eZ;
+  
+  if(LSM6DS3_IO_Write(&tmp1, LSM6DS3_XG_CTRL10_C, 1) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  return IMU_6AXES_OK;
+}
+
+/**
+ * @brief  Read data from LSM6DS3 Gyroscope and calculate angular rate in mdps
+ * @param  pData the pointer where the gyroscope data are stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef    LSM6DS3::LSM6DS3_G_GetAxes( int32_t *pData )
+{
+  /*Here we have to add the check if the parameters are valid*/
+  int16_t pDataRaw[3];
+  float sensitivity = 0.0f;
+  
+  if(LSM6DS3_G_GetAxesRaw(pDataRaw) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  if(LSM6DS3_G_GetSensitivity( &sensitivity ) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  pData[0] = (int32_t)(pDataRaw[0] * sensitivity);
+  pData[1] = (int32_t)(pDataRaw[1] * sensitivity);
+  pData[2] = (int32_t)(pDataRaw[2] * sensitivity);
+  
+  return IMU_6AXES_OK;
+}
+
+/**
+ * @brief  Read Accelero Output Data Rate
+ * @param  odr the pointer where the accelerometer output data rate is stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef    LSM6DS3::LSM6DS3_X_Get_ODR( float *odr )
+{
+  /*Here we have to add the check if the parameters are valid*/
+  uint8_t tempReg = 0x00;
+  
+  if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL1_XL, 1 ) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  tempReg &= LSM6DS3_XL_ODR_MASK;
+  
+  switch( tempReg )
+  {
+    case LSM6DS3_XL_ODR_PD:
+      *odr = 0.0f;
+      break;
+    case LSM6DS3_XL_ODR_13HZ:
+      *odr = 13.0f;
+      break;
+    case LSM6DS3_XL_ODR_26HZ:
+      *odr = 26.0f;
+      break;
+    case LSM6DS3_XL_ODR_52HZ:
+      *odr = 52.0f;
+      break;
+    case LSM6DS3_XL_ODR_104HZ:
+      *odr = 104.0f;
+      break;
+    case LSM6DS3_XL_ODR_208HZ:
+      *odr = 208.0f;
+      break;
+    case LSM6DS3_XL_ODR_416HZ:
+      *odr = 416.0f;
+      break;
+    case LSM6DS3_XL_ODR_833HZ:
+      *odr = 833.0f;
+      break;
+    case LSM6DS3_XL_ODR_1660HZ:
+      *odr = 1660.0f;
+      break;
+    case LSM6DS3_XL_ODR_3330HZ:
+      *odr = 3330.0f;
+      break;
+    case LSM6DS3_XL_ODR_6660HZ:
+      *odr = 6660.0f;
+      break;
+    default:
+      break;
+  }
+  
+  return IMU_6AXES_OK;
+}
+
+/**
+ * @brief  Write Accelero Output Data Rate
+ * @param  odr the accelerometer output data rate to be set
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef    LSM6DS3::LSM6DS3_X_Set_ODR( float odr )
+{
+  uint8_t new_odr = 0x00;
+  uint8_t tempReg = 0x00;
+  
+  new_odr = ( odr <= 0.0f    ) ? LSM6DS3_XL_ODR_PD          /* Power Down */
+            : ( odr <= 13.0f   ) ? LSM6DS3_XL_ODR_13HZ
+            : ( odr <= 26.0f   ) ? LSM6DS3_XL_ODR_26HZ
+            : ( odr <= 52.0f   ) ? LSM6DS3_XL_ODR_52HZ
+            : ( odr <= 104.0f  ) ? LSM6DS3_XL_ODR_104HZ
+            : ( odr <= 208.0f  ) ? LSM6DS3_XL_ODR_208HZ
+            : ( odr <= 416.0f  ) ? LSM6DS3_XL_ODR_416HZ
+            : ( odr <= 833.0f  ) ? LSM6DS3_XL_ODR_833HZ
+            : ( odr <= 1660.0f ) ? LSM6DS3_XL_ODR_1660HZ
+            : ( odr <= 3330.0f ) ? LSM6DS3_XL_ODR_3330HZ
+            :                      LSM6DS3_XL_ODR_6660HZ;
+            
+  if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL1_XL, 1 ) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  tempReg &= ~(LSM6DS3_XL_ODR_MASK);
+  tempReg |= new_odr;
+  
+  if(LSM6DS3_IO_Write(&tempReg, LSM6DS3_XG_CTRL1_XL, 1) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  return IMU_6AXES_OK;
+}
+
+/**
+ * @brief  Read Accelero Sensitivity
+ * @param  pfData the pointer where the accelerometer sensitivity is stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef    LSM6DS3::LSM6DS3_X_GetSensitivity( float *pfData )
+{
+  /*Here we have to add the check if the parameters are valid*/
+  
+  uint8_t tempReg = 0x00;
+  
+  
+  if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL1_XL, 1 ) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  tempReg &= LSM6DS3_XL_FS_MASK;
+  
+  switch( tempReg )
+  {
+    case LSM6DS3_XL_FS_2G:
+      *pfData = 0.061f;
+      break;
+    case LSM6DS3_XL_FS_4G:
+      *pfData = 0.122f;
+      break;
+    case LSM6DS3_XL_FS_8G:
+      *pfData = 0.244f;
+      break;
+    case LSM6DS3_XL_FS_16G:
+      *pfData = 0.488f;
+      break;
+    default:
+      break;
+  }
+  
+  return IMU_6AXES_OK;
+}
+
+/**
+ * @brief  Read Accelero Full Scale
+ * @param  fullScale the pointer where the accelerometer full scale is stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef    LSM6DS3::LSM6DS3_X_Get_FS( float *fullScale )
+{
+  /*Here we have to add the check if the parameters are valid*/
+  
+  uint8_t tempReg = 0x00;
+  
+  
+  if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL1_XL, 1 ) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  tempReg &= LSM6DS3_XL_FS_MASK;
+  
+  switch( tempReg )
+  {
+    case LSM6DS3_XL_FS_2G:
+      *fullScale = 2.0f;
+      break;
+    case LSM6DS3_XL_FS_4G:
+      *fullScale = 4.0f;
+      break;
+    case LSM6DS3_XL_FS_8G:
+      *fullScale = 8.0f;
+      break;
+    case LSM6DS3_XL_FS_16G:
+      *fullScale = 16.0f;
+      break;
+    default:
+      break;
+  }
+  
+  return IMU_6AXES_OK;
+}
+
+/**
+ * @brief  Write Accelero Full Scale
+ * @param  fullScale the accelerometer full scale to be set
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef    LSM6DS3::LSM6DS3_X_Set_FS( float fullScale )
+{
+  uint8_t new_fs = 0x00;
+  uint8_t tempReg = 0x00;
+  
+  new_fs = ( fullScale <= 2.0f ) ? LSM6DS3_XL_FS_2G
+           : ( fullScale <= 4.0f ) ? LSM6DS3_XL_FS_4G
+           : ( fullScale <= 8.0f ) ? LSM6DS3_XL_FS_8G
+           :                         LSM6DS3_XL_FS_16G;
+           
+  if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL1_XL, 1 ) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  tempReg &= ~(LSM6DS3_XL_FS_MASK);
+  tempReg |= new_fs;
+  
+  if(LSM6DS3_IO_Write(&tempReg, LSM6DS3_XG_CTRL1_XL, 1) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  return IMU_6AXES_OK;
+}
+
+/**
+ * @brief  Read Gyro Output Data Rate
+ * @param  odr the pointer where the gyroscope output data rate is stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef    LSM6DS3::LSM6DS3_G_Get_ODR( float *odr )
+{
+  /*Here we have to add the check if the parameters are valid*/
+  uint8_t tempReg = 0x00;
+  
+  if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL2_G, 1 ) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  tempReg &= LSM6DS3_G_ODR_MASK;
+  
+  switch( tempReg )
+  {
+    case LSM6DS3_G_ODR_PD:
+      *odr = 0.0f;
+      break;
+    case LSM6DS3_G_ODR_13HZ:
+      *odr = 13.0f;
+      break;
+    case LSM6DS3_G_ODR_26HZ:
+      *odr = 26.0f;
+      break;
+    case LSM6DS3_G_ODR_52HZ:
+      *odr = 52.0f;
+      break;
+    case LSM6DS3_G_ODR_104HZ:
+      *odr = 104.0f;
+      break;
+    case LSM6DS3_G_ODR_208HZ:
+      *odr = 208.0f;
+      break;
+    case LSM6DS3_G_ODR_416HZ:
+      *odr = 416.0f;
+      break;
+    case LSM6DS3_G_ODR_833HZ:
+      *odr = 833.0f;
+      break;
+    case LSM6DS3_G_ODR_1660HZ:
+      *odr = 1660.0f;
+      break;
+    default:
+      break;
+  }
+  
+  return IMU_6AXES_OK;
+}
+
+/**
+ * @brief  Write Gyro Output Data Rate
+ * @param  odr the gyroscope output data rate to be set
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef    LSM6DS3::LSM6DS3_G_Set_ODR( float odr )
+{
+  uint8_t new_odr = 0x00;
+  uint8_t tempReg = 0x00;
+  
+  new_odr = ( odr <= 0.0f   ) ? LSM6DS3_G_ODR_PD          /* Power Down */
+            : ( odr <= 13.0f  ) ? LSM6DS3_G_ODR_13HZ
+            : ( odr <= 26.0f  ) ? LSM6DS3_G_ODR_26HZ
+            : ( odr <= 52.0f  ) ? LSM6DS3_G_ODR_52HZ
+            : ( odr <= 104.0f ) ? LSM6DS3_G_ODR_104HZ
+            : ( odr <= 208.0f ) ? LSM6DS3_G_ODR_208HZ
+            : ( odr <= 416.0f ) ? LSM6DS3_G_ODR_416HZ
+            : ( odr <= 833.0f ) ? LSM6DS3_G_ODR_833HZ
+            :                     LSM6DS3_G_ODR_1660HZ;
+            
+  if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL2_G, 1 ) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  tempReg &= ~(LSM6DS3_G_ODR_MASK);
+  tempReg |= new_odr;
+  
+  if(LSM6DS3_IO_Write(&tempReg, LSM6DS3_XG_CTRL2_G, 1) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  return IMU_6AXES_OK;
+}
+
+/**
+ * @brief  Read Gyro Sensitivity
+ * @param  pfData the pointer where the gyroscope sensitivity is stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+*/
+IMU_6AXES_StatusTypeDef    LSM6DS3::LSM6DS3_G_GetSensitivity( float *pfData )
+{
+  /*Here we have to add the check if the parameters are valid*/
+  
+  uint8_t tempReg = 0x00;
+  
+  if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL2_G, 1 ) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  tempReg &= LSM6DS3_G_FS_125_MASK;
+  
+  if(tempReg == LSM6DS3_G_FS_125_ENABLE)
+  {
+    *pfData = 4.375f;
+  }
+  else
+  {
+    if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL2_G, 1 ) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+    
+    tempReg &= LSM6DS3_G_FS_MASK;
+    
+    switch( tempReg )
+    {
+      case LSM6DS3_G_FS_245:
+        *pfData = 8.75f;
+        break;
+      case LSM6DS3_G_FS_500:
+        *pfData = 17.50f;
+        break;
+      case LSM6DS3_G_FS_1000:
+        *pfData = 35.0f;
+        break;
+      case LSM6DS3_G_FS_2000:
+        *pfData = 70.0f;
+        break;
+      default:
+        break;
+    }
+  }
+  
+  return IMU_6AXES_OK;
+}
+
+/**
+ * @brief  Read Gyro Full Scale
+ * @param  fullScale the pointer where the gyroscope full scale is stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+*/
+IMU_6AXES_StatusTypeDef    LSM6DS3::LSM6DS3_G_Get_FS( float *fullScale )
+{
+  /*Here we have to add the check if the parameters are valid*/
+  
+  uint8_t tempReg = 0x00;
+  
+  if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL2_G, 1 ) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  tempReg &= LSM6DS3_G_FS_125_MASK;
+  
+  if(tempReg == LSM6DS3_G_FS_125_ENABLE)
+  {
+    *fullScale = 125.0f;
+  }
+  else
+  {
+    if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL2_G, 1 ) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+    
+    tempReg &= LSM6DS3_G_FS_MASK;
+    
+    switch( tempReg )
+    {
+      case LSM6DS3_G_FS_245:
+        *fullScale = 245.0f;
+        break;
+      case LSM6DS3_G_FS_500:
+        *fullScale = 500.0f;
+        break;
+      case LSM6DS3_G_FS_1000:
+        *fullScale = 1000.0f;
+        break;
+      case LSM6DS3_G_FS_2000:
+        *fullScale = 2000.0f;
+        break;
+      default:
+        break;
+    }
+  }
+  
+  return IMU_6AXES_OK;
+}
+
+/**
+ * @brief  Write Gyro Full Scale
+ * @param  fullScale the gyroscope full scale to be set
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+*/
+IMU_6AXES_StatusTypeDef    LSM6DS3::LSM6DS3_G_Set_FS( float fullScale )
+{
+  uint8_t new_fs = 0x00;
+  uint8_t tempReg = 0x00;
+  
+  if(fullScale <= 125.0f)
+  {
+    new_fs = LSM6DS3_G_FS_125_ENABLE;
+    
+    if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL2_G, 1 ) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+    
+    tempReg &= ~(LSM6DS3_G_FS_125_MASK);
+    tempReg |= new_fs;
+    
+    if(LSM6DS3_IO_Write(&tempReg, LSM6DS3_XG_CTRL2_G, 1) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+  }
+  else
+  {
+    /* Disable G FS 125dpp  */
+    if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL2_G, 1 ) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+    
+    tempReg &= ~(LSM6DS3_G_FS_125_MASK);
+    tempReg |= LSM6DS3_G_FS_125_DISABLE;
+    
+    if(LSM6DS3_IO_Write(&tempReg, LSM6DS3_XG_CTRL2_G, 1) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+    
+    new_fs = ( fullScale <= 245.0f )  ? LSM6DS3_G_FS_245
+             : ( fullScale <= 500.0f )  ? LSM6DS3_G_FS_500
+             : ( fullScale <= 1000.0f ) ? LSM6DS3_G_FS_1000
+             :                            LSM6DS3_G_FS_2000;
+             
+    if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL2_G, 1 ) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+    
+    tempReg &= ~(LSM6DS3_G_FS_MASK);
+    tempReg |= new_fs;
+    
+    if(LSM6DS3_IO_Write(&tempReg, LSM6DS3_XG_CTRL2_G, 1) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+  }
+  
+  return IMU_6AXES_OK;
+}
+
+/**
+ * @brief  Enable free fall detection
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+*/
+IMU_6AXES_StatusTypeDef    LSM6DS3::LSM6DS3_Enable_Free_Fall_Detection( void )
+{
+  uint8_t tmp1 = 0x00;
+  
+  if(LSM6DS3_IO_Read(&tmp1, LSM6DS3_XG_CTRL1_XL, 1) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  /* Output Data Rate selection */
+  tmp1 &= ~(LSM6DS3_XL_ODR_MASK);
+  tmp1 |= LSM6DS3_XL_ODR_416HZ;
+  
+  /* Full scale selection */
+  tmp1 &= ~(LSM6DS3_XL_FS_MASK);
+  tmp1 |= LSM6DS3_XL_FS_2G;
+  
+  if(LSM6DS3_IO_Write(&tmp1, LSM6DS3_XG_CTRL1_XL, 1) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  if(LSM6DS3_IO_Read(&tmp1, LSM6DS3_XG_WAKE_UP_DUR, 1) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  /* FF_DUR5 setting */
+  tmp1 &= ~(LSM6DS3_XG_WAKE_UP_DUR_FF_DUR5_MASK);
+  tmp1 |= LSM6DS3_XG_WAKE_UP_DUR_FF_DUR5_DEFAULT;
+  
+  /* WAKE_DUR setting */
+  tmp1 &= ~(LSM6DS3_XG_WAKE_UP_DUR_WAKE_DUR_MASK);
+  tmp1 |= LSM6DS3_XG_WAKE_UP_DUR_WAKE_DUR_DEFAULT;
+  
+  /* TIMER_HR setting */
+  tmp1 &= ~(LSM6DS3_XG_WAKE_UP_DUR_TIMER_HR_MASK);
+  tmp1 |= LSM6DS3_XG_WAKE_UP_DUR_TIMER_HR_DEFAULT;
+  
+  /* SLEEP_DUR setting */
+  tmp1 &= ~(LSM6DS3_XG_WAKE_UP_DUR_SLEEP_DUR_MASK);
+  tmp1 |= LSM6DS3_XG_WAKE_UP_DUR_SLEEP_DUR_DEFAULT;
+  
+  if(LSM6DS3_IO_Write(&tmp1, LSM6DS3_XG_WAKE_UP_DUR, 1) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  if(LSM6DS3_IO_Read(&tmp1, LSM6DS3_XG_WAKE_FREE_FALL, 1) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  /* FF_DUR setting */
+  tmp1 &= ~(LSM6DS3_XG_WAKE_FREE_FALL_FF_DUR_MASK);
+  tmp1 |= LSM6DS3_XG_WAKE_FREE_FALL_FF_DUR_TYPICAL;
+  
+  /* FF_THS setting */
+  tmp1 &= ~(LSM6DS3_XG_WAKE_FREE_FALL_FF_THS_MASK);
+  tmp1 |= LSM6DS3_XG_WAKE_FREE_FALL_FF_THS_312MG;
+  
+  if(LSM6DS3_IO_Write(&tmp1, LSM6DS3_XG_WAKE_FREE_FALL, 1) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  if(LSM6DS3_IO_Read(&tmp1, LSM6DS3_XG_MD1_CFG, 1) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  /* INT1_FF setting */
+  tmp1 &= ~(LSM6DS3_XG_MD1_CFG_INT1_FF_MASK);
+  tmp1 |= LSM6DS3_XG_MD1_CFG_INT1_FF_ENABLE;
+  
+  if(LSM6DS3_IO_Write(&tmp1, LSM6DS3_XG_MD1_CFG, 1) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  return IMU_6AXES_OK;
+}
+
+/**
+ * @brief  Disable free fall detection
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+*/
+IMU_6AXES_StatusTypeDef    LSM6DS3::LSM6DS3_Disable_Free_Fall_Detection( void )
+{
+  uint8_t tmp1 = 0x00;
+  
+  if(LSM6DS3_IO_Read(&tmp1, LSM6DS3_XG_MD1_CFG, 1) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  /* INT1_FF setting */
+  tmp1 &= ~(LSM6DS3_XG_MD1_CFG_INT1_FF_MASK);
+  tmp1 |= LSM6DS3_XG_MD1_CFG_INT1_FF_DISABLE;
+  
+  if(LSM6DS3_IO_Write(&tmp1, LSM6DS3_XG_MD1_CFG, 1) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  if(LSM6DS3_IO_Read(&tmp1, LSM6DS3_XG_WAKE_FREE_FALL, 1) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  /* FF_DUR setting */
+  tmp1 &= ~(LSM6DS3_XG_WAKE_FREE_FALL_FF_DUR_MASK);
+  tmp1 |= LSM6DS3_XG_WAKE_FREE_FALL_FF_DUR_DEFAULT;
+  
+  /* FF_THS setting */
+  tmp1 &= ~(LSM6DS3_XG_WAKE_FREE_FALL_FF_THS_MASK);
+  tmp1 |= LSM6DS3_XG_WAKE_FREE_FALL_FF_THS_156MG;
+  
+  if(LSM6DS3_IO_Write(&tmp1, LSM6DS3_XG_WAKE_FREE_FALL, 1) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  return IMU_6AXES_OK;
+}
+
+/**
+ * @brief  Get status of free fall detection
+ * @param  status the pointer where the status of free fall detection is stored; 0 means no detection, 1 means detection happened
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+*/
+IMU_6AXES_StatusTypeDef    LSM6DS3::LSM6DS3_Get_Status_Free_Fall_Detection( uint8_t *status )
+{
+  uint8_t tmp1 = 0x00;
+  
+  if(LSM6DS3_IO_Read(&tmp1, LSM6DS3_XG_WAKE_UP_SRC, 1) != IMU_6AXES_OK)
+  {
+    return IMU_6AXES_ERROR;
+  }
+  
+  tmp1 &= LSM6DS3_XG_WAKE_UP_SRC_FF_IA_MASK;
+  
+  switch( tmp1 )
+  {
+    case LSM6DS3_XG_WAKE_UP_SRC_FF_IA_ENABLE:
+      *status = 1;
+      break;
+    case LSM6DS3_XG_WAKE_UP_SRC_FF_IA_DISABLE:
+    default:
+      *status = 0;
+      break;
+  }
+  
+  return IMU_6AXES_OK;
+}
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/