6DOrientation_IKS01A2 - Example of 6D orientation recognition for LSM6DSL…

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ST / Mbed 2 deprecated 6DOrientation_IKS01A2

Example of 6D orientation recognition for LSM6DSL in X-NUCLEO-IKS01A2

Fork of 6DOrientation_IKS01A2 by ST Expansion SW Team

6D Orientation Demo Application based on sensor expansion board X-NUCLEO-IKS01A2

Main function is to show how to use sensor expansion board to find out the 6D orientation and send data using UART to a connected PC or Desktop and display it on terminal applications like TeraTerm.
After connection has been established:
- the user can rotate the board to change the 6D orientation and then view the data using an hyper terminal.
- the user button can be used to display the current 6D orientation.

X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.cpp@0:485458fca2bd, 2016-08-12 (annotated)

Committer:: cparata
Date:: Fri Aug 12 13:37:49 2016 +0000
Revision:: 0:485458fca2bd

First release of 6D orientation for LSM6DSL in IKS01A2

Who changed what in which revision?

User	Revision	Line number	New contents of line
cparata	0:485458fca2bd	1	/**
cparata	0:485458fca2bd	2	******************************************************************************
cparata	0:485458fca2bd	3	* @file LSM6DSLSensor.cpp
cparata	0:485458fca2bd	4	* @author AST
cparata	0:485458fca2bd	5	* @version V1.0.0
cparata	0:485458fca2bd	6	* @date 5 August 2016
cparata	0:485458fca2bd	7	* @brief Implementation of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
cparata	0:485458fca2bd	8	* sensor.
cparata	0:485458fca2bd	9	******************************************************************************
cparata	0:485458fca2bd	10	* @attention
cparata	0:485458fca2bd	11	*
cparata	0:485458fca2bd	12	* <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata	0:485458fca2bd	13	*
cparata	0:485458fca2bd	14	* Redistribution and use in source and binary forms, with or without modification,
cparata	0:485458fca2bd	15	* are permitted provided that the following conditions are met:
cparata	0:485458fca2bd	16	* 1. Redistributions of source code must retain the above copyright notice,
cparata	0:485458fca2bd	17	* this list of conditions and the following disclaimer.
cparata	0:485458fca2bd	18	* 2. Redistributions in binary form must reproduce the above copyright notice,
cparata	0:485458fca2bd	19	* this list of conditions and the following disclaimer in the documentation
cparata	0:485458fca2bd	20	* and/or other materials provided with the distribution.
cparata	0:485458fca2bd	21	* 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata	0:485458fca2bd	22	* may be used to endorse or promote products derived from this software
cparata	0:485458fca2bd	23	* without specific prior written permission.
cparata	0:485458fca2bd	24	*
cparata	0:485458fca2bd	25	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata	0:485458fca2bd	26	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata	0:485458fca2bd	27	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata	0:485458fca2bd	28	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata	0:485458fca2bd	29	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata	0:485458fca2bd	30	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata	0:485458fca2bd	31	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata	0:485458fca2bd	32	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata	0:485458fca2bd	33	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata	0:485458fca2bd	34	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata	0:485458fca2bd	35	*
cparata	0:485458fca2bd	36	******************************************************************************
cparata	0:485458fca2bd	37	*/
cparata	0:485458fca2bd	38
cparata	0:485458fca2bd	39
cparata	0:485458fca2bd	40	/* Includes ------------------------------------------------------------------*/
cparata	0:485458fca2bd	41
cparata	0:485458fca2bd	42	#include "mbed.h"
cparata	0:485458fca2bd	43	#include "DevI2C.h"
cparata	0:485458fca2bd	44	#include "LSM6DSLSensor.h"
cparata	0:485458fca2bd	45	#include "LSM6DSL_ACC_GYRO_driver.h"
cparata	0:485458fca2bd	46
cparata	0:485458fca2bd	47
cparata	0:485458fca2bd	48	/* Class Implementation ------------------------------------------------------*/
cparata	0:485458fca2bd	49
cparata	0:485458fca2bd	50	/** Constructor
cparata	0:485458fca2bd	51	* @param i2c object of an helper class which handles the I2C peripheral
cparata	0:485458fca2bd	52	* @param address the address of the component's instance
cparata	0:485458fca2bd	53	*/
cparata	0:485458fca2bd	54	LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c) : dev_i2c(i2c)
cparata	0:485458fca2bd	55	{
cparata	0:485458fca2bd	56	address = LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH;
cparata	0:485458fca2bd	57
cparata	0:485458fca2bd	58	/* Enable register address automatically incremented during a multiple byte
cparata	0:485458fca2bd	59	access with a serial interface. */
cparata	0:485458fca2bd	60	if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	61	{
cparata	0:485458fca2bd	62	return;
cparata	0:485458fca2bd	63	}
cparata	0:485458fca2bd	64
cparata	0:485458fca2bd	65	/* Enable BDU */
cparata	0:485458fca2bd	66	if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
cparata	0:485458fca2bd	67	{
cparata	0:485458fca2bd	68	return;
cparata	0:485458fca2bd	69	}
cparata	0:485458fca2bd	70
cparata	0:485458fca2bd	71	/* FIFO mode selection */
cparata	0:485458fca2bd	72	if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
cparata	0:485458fca2bd	73	{
cparata	0:485458fca2bd	74	return;
cparata	0:485458fca2bd	75	}
cparata	0:485458fca2bd	76
cparata	0:485458fca2bd	77	/* Output data rate selection - power down. */
cparata	0:485458fca2bd	78	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata	0:485458fca2bd	79	{
cparata	0:485458fca2bd	80	return;
cparata	0:485458fca2bd	81	}
cparata	0:485458fca2bd	82
cparata	0:485458fca2bd	83	/* Full scale selection. */
cparata	0:485458fca2bd	84	if ( Set_X_FS( 2.0f ) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	85	{
cparata	0:485458fca2bd	86	return;
cparata	0:485458fca2bd	87	}
cparata	0:485458fca2bd	88
cparata	0:485458fca2bd	89	/* Output data rate selection - power down */
cparata	0:485458fca2bd	90	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata	0:485458fca2bd	91	{
cparata	0:485458fca2bd	92	return;
cparata	0:485458fca2bd	93	}
cparata	0:485458fca2bd	94
cparata	0:485458fca2bd	95	/* Full scale selection. */
cparata	0:485458fca2bd	96	if ( Set_G_FS( 2000.0f ) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	97	{
cparata	0:485458fca2bd	98	return;
cparata	0:485458fca2bd	99	}
cparata	0:485458fca2bd	100
cparata	0:485458fca2bd	101	X_Last_ODR = 104.0f;
cparata	0:485458fca2bd	102
cparata	0:485458fca2bd	103	X_isEnabled = 0;
cparata	0:485458fca2bd	104
cparata	0:485458fca2bd	105	G_Last_ODR = 104.0f;
cparata	0:485458fca2bd	106
cparata	0:485458fca2bd	107	G_isEnabled = 0;
cparata	0:485458fca2bd	108	};
cparata	0:485458fca2bd	109
cparata	0:485458fca2bd	110	/** Constructor
cparata	0:485458fca2bd	111	* @param i2c object of an helper class which handles the I2C peripheral
cparata	0:485458fca2bd	112	* @param address the address of the component's instance
cparata	0:485458fca2bd	113	*/
cparata	0:485458fca2bd	114	LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
cparata	0:485458fca2bd	115	{
cparata	0:485458fca2bd	116	/* Enable register address automatically incremented during a multiple byte
cparata	0:485458fca2bd	117	access with a serial interface. */
cparata	0:485458fca2bd	118	if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	119	{
cparata	0:485458fca2bd	120	return;
cparata	0:485458fca2bd	121	}
cparata	0:485458fca2bd	122
cparata	0:485458fca2bd	123	/* Enable BDU */
cparata	0:485458fca2bd	124	if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
cparata	0:485458fca2bd	125	{
cparata	0:485458fca2bd	126	return;
cparata	0:485458fca2bd	127	}
cparata	0:485458fca2bd	128
cparata	0:485458fca2bd	129	/* FIFO mode selection */
cparata	0:485458fca2bd	130	if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
cparata	0:485458fca2bd	131	{
cparata	0:485458fca2bd	132	return;
cparata	0:485458fca2bd	133	}
cparata	0:485458fca2bd	134
cparata	0:485458fca2bd	135	/* Output data rate selection - power down. */
cparata	0:485458fca2bd	136	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata	0:485458fca2bd	137	{
cparata	0:485458fca2bd	138	return;
cparata	0:485458fca2bd	139	}
cparata	0:485458fca2bd	140
cparata	0:485458fca2bd	141	/* Full scale selection. */
cparata	0:485458fca2bd	142	if ( Set_X_FS( 2.0f ) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	143	{
cparata	0:485458fca2bd	144	return;
cparata	0:485458fca2bd	145	}
cparata	0:485458fca2bd	146
cparata	0:485458fca2bd	147	/* Output data rate selection - power down */
cparata	0:485458fca2bd	148	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata	0:485458fca2bd	149	{
cparata	0:485458fca2bd	150	return;
cparata	0:485458fca2bd	151	}
cparata	0:485458fca2bd	152
cparata	0:485458fca2bd	153	/* Full scale selection. */
cparata	0:485458fca2bd	154	if ( Set_G_FS( 2000.0f ) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	155	{
cparata	0:485458fca2bd	156	return;
cparata	0:485458fca2bd	157	}
cparata	0:485458fca2bd	158
cparata	0:485458fca2bd	159	X_Last_ODR = 104.0f;
cparata	0:485458fca2bd	160
cparata	0:485458fca2bd	161	X_isEnabled = 0;
cparata	0:485458fca2bd	162
cparata	0:485458fca2bd	163	G_Last_ODR = 104.0f;
cparata	0:485458fca2bd	164
cparata	0:485458fca2bd	165	G_isEnabled = 0;
cparata	0:485458fca2bd	166	};
cparata	0:485458fca2bd	167
cparata	0:485458fca2bd	168	/**
cparata	0:485458fca2bd	169	* @brief Enable LSM6DSL Accelerator
cparata	0:485458fca2bd	170	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	171	*/
cparata	0:485458fca2bd	172	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_X(void)
cparata	0:485458fca2bd	173	{
cparata	0:485458fca2bd	174	/* Check if the component is already enabled */
cparata	0:485458fca2bd	175	if ( X_isEnabled == 1 )
cparata	0:485458fca2bd	176	{
cparata	0:485458fca2bd	177	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	178	}
cparata	0:485458fca2bd	179
cparata	0:485458fca2bd	180	/* Output data rate selection. */
cparata	0:485458fca2bd	181	if ( Set_X_ODR_When_Enabled( X_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	182	{
cparata	0:485458fca2bd	183	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	184	}
cparata	0:485458fca2bd	185
cparata	0:485458fca2bd	186	X_isEnabled = 1;
cparata	0:485458fca2bd	187
cparata	0:485458fca2bd	188	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	189	}
cparata	0:485458fca2bd	190
cparata	0:485458fca2bd	191	/**
cparata	0:485458fca2bd	192	* @brief Enable LSM6DSL Gyroscope
cparata	0:485458fca2bd	193	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	194	*/
cparata	0:485458fca2bd	195	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_G(void)
cparata	0:485458fca2bd	196	{
cparata	0:485458fca2bd	197	/* Check if the component is already enabled */
cparata	0:485458fca2bd	198	if ( G_isEnabled == 1 )
cparata	0:485458fca2bd	199	{
cparata	0:485458fca2bd	200	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	201	}
cparata	0:485458fca2bd	202
cparata	0:485458fca2bd	203	/* Output data rate selection. */
cparata	0:485458fca2bd	204	if ( Set_G_ODR_When_Enabled( G_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	205	{
cparata	0:485458fca2bd	206	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	207	}
cparata	0:485458fca2bd	208
cparata	0:485458fca2bd	209	G_isEnabled = 1;
cparata	0:485458fca2bd	210
cparata	0:485458fca2bd	211	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	212	}
cparata	0:485458fca2bd	213
cparata	0:485458fca2bd	214	/**
cparata	0:485458fca2bd	215	* @brief Disable LSM6DSL Accelerator
cparata	0:485458fca2bd	216	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	217	*/
cparata	0:485458fca2bd	218	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_X(void)
cparata	0:485458fca2bd	219	{
cparata	0:485458fca2bd	220	/* Check if the component is already disabled */
cparata	0:485458fca2bd	221	if ( X_isEnabled == 0 )
cparata	0:485458fca2bd	222	{
cparata	0:485458fca2bd	223	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	224	}
cparata	0:485458fca2bd	225
cparata	0:485458fca2bd	226	/* Store actual output data rate. */
cparata	0:485458fca2bd	227	if ( Get_X_ODR( &X_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	228	{
cparata	0:485458fca2bd	229	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	230	}
cparata	0:485458fca2bd	231
cparata	0:485458fca2bd	232	/* Output data rate selection - power down. */
cparata	0:485458fca2bd	233	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata	0:485458fca2bd	234	{
cparata	0:485458fca2bd	235	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	236	}
cparata	0:485458fca2bd	237
cparata	0:485458fca2bd	238	X_isEnabled = 0;
cparata	0:485458fca2bd	239
cparata	0:485458fca2bd	240	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	241	}
cparata	0:485458fca2bd	242
cparata	0:485458fca2bd	243	/**
cparata	0:485458fca2bd	244	* @brief Disable LSM6DSL Gyroscope
cparata	0:485458fca2bd	245	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	246	*/
cparata	0:485458fca2bd	247	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_G(void)
cparata	0:485458fca2bd	248	{
cparata	0:485458fca2bd	249	/* Check if the component is already disabled */
cparata	0:485458fca2bd	250	if ( G_isEnabled == 0 )
cparata	0:485458fca2bd	251	{
cparata	0:485458fca2bd	252	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	253	}
cparata	0:485458fca2bd	254
cparata	0:485458fca2bd	255	/* Store actual output data rate. */
cparata	0:485458fca2bd	256	if ( Get_G_ODR( &G_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	257	{
cparata	0:485458fca2bd	258	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	259	}
cparata	0:485458fca2bd	260
cparata	0:485458fca2bd	261	/* Output data rate selection - power down */
cparata	0:485458fca2bd	262	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata	0:485458fca2bd	263	{
cparata	0:485458fca2bd	264	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	265	}
cparata	0:485458fca2bd	266
cparata	0:485458fca2bd	267	G_isEnabled = 0;
cparata	0:485458fca2bd	268
cparata	0:485458fca2bd	269	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	270	}
cparata	0:485458fca2bd	271
cparata	0:485458fca2bd	272	/**
cparata	0:485458fca2bd	273	* @brief Read ID of LSM6DSL Accelerometer and Gyroscope
cparata	0:485458fca2bd	274	* @param p_id the pointer where the ID of the device is stored
cparata	0:485458fca2bd	275	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	276	*/
cparata	0:485458fca2bd	277	LSM6DSLStatusTypeDef LSM6DSLSensor::ReadID(uint8_t *p_id)
cparata	0:485458fca2bd	278	{
cparata	0:485458fca2bd	279	if(!p_id)
cparata	0:485458fca2bd	280	{
cparata	0:485458fca2bd	281	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	282	}
cparata	0:485458fca2bd	283
cparata	0:485458fca2bd	284	/* Read WHO AM I register */
cparata	0:485458fca2bd	285	if ( LSM6DSL_ACC_GYRO_R_WHO_AM_I( (void *)this, p_id ) == MEMS_ERROR )
cparata	0:485458fca2bd	286	{
cparata	0:485458fca2bd	287	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	288	}
cparata	0:485458fca2bd	289
cparata	0:485458fca2bd	290	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	291	}
cparata	0:485458fca2bd	292
cparata	0:485458fca2bd	293	/**
cparata	0:485458fca2bd	294	* @brief Read data from LSM6DSL Accelerometer
cparata	0:485458fca2bd	295	* @param pData the pointer where the accelerometer data are stored
cparata	0:485458fca2bd	296	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	297	*/
cparata	0:485458fca2bd	298	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_Axes(int32_t *pData)
cparata	0:485458fca2bd	299	{
cparata	0:485458fca2bd	300	int16_t dataRaw[3];
cparata	0:485458fca2bd	301	float sensitivity = 0;
cparata	0:485458fca2bd	302
cparata	0:485458fca2bd	303	/* Read raw data from LSM6DSL output register. */
cparata	0:485458fca2bd	304	if ( Get_X_AxesRaw( dataRaw ) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	305	{
cparata	0:485458fca2bd	306	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	307	}
cparata	0:485458fca2bd	308
cparata	0:485458fca2bd	309	/* Get LSM6DSL actual sensitivity. */
cparata	0:485458fca2bd	310	if ( Get_X_Sensitivity( &sensitivity ) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	311	{
cparata	0:485458fca2bd	312	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	313	}
cparata	0:485458fca2bd	314
cparata	0:485458fca2bd	315	/* Calculate the data. */
cparata	0:485458fca2bd	316	pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata	0:485458fca2bd	317	pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata	0:485458fca2bd	318	pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata	0:485458fca2bd	319
cparata	0:485458fca2bd	320	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	321	}
cparata	0:485458fca2bd	322
cparata	0:485458fca2bd	323	/**
cparata	0:485458fca2bd	324	* @brief Read data from LSM6DSL Gyroscope
cparata	0:485458fca2bd	325	* @param pData the pointer where the gyroscope data are stored
cparata	0:485458fca2bd	326	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	327	*/
cparata	0:485458fca2bd	328	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_Axes(int32_t *pData)
cparata	0:485458fca2bd	329	{
cparata	0:485458fca2bd	330	int16_t dataRaw[3];
cparata	0:485458fca2bd	331	float sensitivity = 0;
cparata	0:485458fca2bd	332
cparata	0:485458fca2bd	333	/* Read raw data from LSM6DSL output register. */
cparata	0:485458fca2bd	334	if ( Get_G_AxesRaw( dataRaw ) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	335	{
cparata	0:485458fca2bd	336	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	337	}
cparata	0:485458fca2bd	338
cparata	0:485458fca2bd	339	/* Get LSM6DSL actual sensitivity. */
cparata	0:485458fca2bd	340	if ( Get_G_Sensitivity( &sensitivity ) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	341	{
cparata	0:485458fca2bd	342	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	343	}
cparata	0:485458fca2bd	344
cparata	0:485458fca2bd	345	/* Calculate the data. */
cparata	0:485458fca2bd	346	pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata	0:485458fca2bd	347	pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata	0:485458fca2bd	348	pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata	0:485458fca2bd	349
cparata	0:485458fca2bd	350	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	351	}
cparata	0:485458fca2bd	352
cparata	0:485458fca2bd	353	/**
cparata	0:485458fca2bd	354	* @brief Read Accelerometer Sensitivity
cparata	0:485458fca2bd	355	* @param pfData the pointer where the accelerometer sensitivity is stored
cparata	0:485458fca2bd	356	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	357	*/
cparata	0:485458fca2bd	358	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_Sensitivity(float *pfData)
cparata	0:485458fca2bd	359	{
cparata	0:485458fca2bd	360	LSM6DSL_ACC_GYRO_FS_XL_t fullScale;
cparata	0:485458fca2bd	361
cparata	0:485458fca2bd	362	/* Read actual full scale selection from sensor. */
cparata	0:485458fca2bd	363	if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fullScale ) == MEMS_ERROR )
cparata	0:485458fca2bd	364	{
cparata	0:485458fca2bd	365	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	366	}
cparata	0:485458fca2bd	367
cparata	0:485458fca2bd	368	/* Store the sensitivity based on actual full scale. */
cparata	0:485458fca2bd	369	switch( fullScale )
cparata	0:485458fca2bd	370	{
cparata	0:485458fca2bd	371	case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata	0:485458fca2bd	372	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G;
cparata	0:485458fca2bd	373	break;
cparata	0:485458fca2bd	374	case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata	0:485458fca2bd	375	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G;
cparata	0:485458fca2bd	376	break;
cparata	0:485458fca2bd	377	case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata	0:485458fca2bd	378	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G;
cparata	0:485458fca2bd	379	break;
cparata	0:485458fca2bd	380	case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata	0:485458fca2bd	381	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G;
cparata	0:485458fca2bd	382	break;
cparata	0:485458fca2bd	383	default:
cparata	0:485458fca2bd	384	*pfData = -1.0f;
cparata	0:485458fca2bd	385	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	386	}
cparata	0:485458fca2bd	387
cparata	0:485458fca2bd	388	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	389	}
cparata	0:485458fca2bd	390
cparata	0:485458fca2bd	391	/**
cparata	0:485458fca2bd	392	* @brief Read Gyroscope Sensitivity
cparata	0:485458fca2bd	393	* @param pfData the pointer where the gyroscope sensitivity is stored
cparata	0:485458fca2bd	394	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	395	*/
cparata	0:485458fca2bd	396	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_Sensitivity(float *pfData)
cparata	0:485458fca2bd	397	{
cparata	0:485458fca2bd	398	LSM6DSL_ACC_GYRO_FS_125_t fullScale125;
cparata	0:485458fca2bd	399	LSM6DSL_ACC_GYRO_FS_G_t fullScale;
cparata	0:485458fca2bd	400
cparata	0:485458fca2bd	401	/* Read full scale 125 selection from sensor. */
cparata	0:485458fca2bd	402	if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fullScale125 ) == MEMS_ERROR )
cparata	0:485458fca2bd	403	{
cparata	0:485458fca2bd	404	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	405	}
cparata	0:485458fca2bd	406
cparata	0:485458fca2bd	407	if ( fullScale125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata	0:485458fca2bd	408	{
cparata	0:485458fca2bd	409	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS;
cparata	0:485458fca2bd	410	}
cparata	0:485458fca2bd	411
cparata	0:485458fca2bd	412	else
cparata	0:485458fca2bd	413	{
cparata	0:485458fca2bd	414
cparata	0:485458fca2bd	415	/* Read actual full scale selection from sensor. */
cparata	0:485458fca2bd	416	if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fullScale ) == MEMS_ERROR )
cparata	0:485458fca2bd	417	{
cparata	0:485458fca2bd	418	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	419	}
cparata	0:485458fca2bd	420
cparata	0:485458fca2bd	421	/* Store the sensitivity based on actual full scale. */
cparata	0:485458fca2bd	422	switch( fullScale )
cparata	0:485458fca2bd	423	{
cparata	0:485458fca2bd	424	case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata	0:485458fca2bd	425	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS;
cparata	0:485458fca2bd	426	break;
cparata	0:485458fca2bd	427	case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata	0:485458fca2bd	428	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS;
cparata	0:485458fca2bd	429	break;
cparata	0:485458fca2bd	430	case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata	0:485458fca2bd	431	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS;
cparata	0:485458fca2bd	432	break;
cparata	0:485458fca2bd	433	case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata	0:485458fca2bd	434	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS;
cparata	0:485458fca2bd	435	break;
cparata	0:485458fca2bd	436	default:
cparata	0:485458fca2bd	437	*pfData = -1.0f;
cparata	0:485458fca2bd	438	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	439	}
cparata	0:485458fca2bd	440	}
cparata	0:485458fca2bd	441
cparata	0:485458fca2bd	442	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	443	}
cparata	0:485458fca2bd	444
cparata	0:485458fca2bd	445	/**
cparata	0:485458fca2bd	446	* @brief Read raw data from LSM6DSL Accelerometer
cparata	0:485458fca2bd	447	* @param pData the pointer where the accelerometer raw data are stored
cparata	0:485458fca2bd	448	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	449	*/
cparata	0:485458fca2bd	450	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_AxesRaw(int16_t *pData)
cparata	0:485458fca2bd	451	{
cparata	0:485458fca2bd	452	uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata	0:485458fca2bd	453
cparata	0:485458fca2bd	454	/* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_XL to LSM6DSL_ACC_GYRO_OUTZ_H_XL. */
cparata	0:485458fca2bd	455	if ( LSM6DSL_ACC_GYRO_GetRawAccData( (void *)this, regValue ) == MEMS_ERROR )
cparata	0:485458fca2bd	456	{
cparata	0:485458fca2bd	457	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	458	}
cparata	0:485458fca2bd	459
cparata	0:485458fca2bd	460	/* Format the data. */
cparata	0:485458fca2bd	461	pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata	0:485458fca2bd	462	pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata	0:485458fca2bd	463	pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata	0:485458fca2bd	464
cparata	0:485458fca2bd	465	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	466	}
cparata	0:485458fca2bd	467
cparata	0:485458fca2bd	468	/**
cparata	0:485458fca2bd	469	* @brief Read raw data from LSM6DSL Gyroscope
cparata	0:485458fca2bd	470	* @param pData the pointer where the gyroscope raw data are stored
cparata	0:485458fca2bd	471	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	472	*/
cparata	0:485458fca2bd	473	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_AxesRaw(int16_t *pData)
cparata	0:485458fca2bd	474	{
cparata	0:485458fca2bd	475	uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata	0:485458fca2bd	476
cparata	0:485458fca2bd	477	/* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_G to LSM6DSL_ACC_GYRO_OUTZ_H_G. */
cparata	0:485458fca2bd	478	if ( LSM6DSL_ACC_GYRO_GetRawGyroData( (void *)this, regValue ) == MEMS_ERROR )
cparata	0:485458fca2bd	479	{
cparata	0:485458fca2bd	480	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	481	}
cparata	0:485458fca2bd	482
cparata	0:485458fca2bd	483	/* Format the data. */
cparata	0:485458fca2bd	484	pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata	0:485458fca2bd	485	pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata	0:485458fca2bd	486	pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata	0:485458fca2bd	487
cparata	0:485458fca2bd	488	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	489	}
cparata	0:485458fca2bd	490
cparata	0:485458fca2bd	491	/**
cparata	0:485458fca2bd	492	* @brief Read LSM6DSL Accelerometer output data rate
cparata	0:485458fca2bd	493	* @param odr the pointer to the output data rate
cparata	0:485458fca2bd	494	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	495	*/
cparata	0:485458fca2bd	496	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_ODR(float* odr)
cparata	0:485458fca2bd	497	{
cparata	0:485458fca2bd	498	LSM6DSL_ACC_GYRO_ODR_XL_t odr_low_level;
cparata	0:485458fca2bd	499
cparata	0:485458fca2bd	500	if ( LSM6DSL_ACC_GYRO_R_ODR_XL( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata	0:485458fca2bd	501	{
cparata	0:485458fca2bd	502	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	503	}
cparata	0:485458fca2bd	504
cparata	0:485458fca2bd	505	switch( odr_low_level )
cparata	0:485458fca2bd	506	{
cparata	0:485458fca2bd	507	case LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN:
cparata	0:485458fca2bd	508	*odr = 0.0f;
cparata	0:485458fca2bd	509	break;
cparata	0:485458fca2bd	510	case LSM6DSL_ACC_GYRO_ODR_XL_13Hz:
cparata	0:485458fca2bd	511	*odr = 13.0f;
cparata	0:485458fca2bd	512	break;
cparata	0:485458fca2bd	513	case LSM6DSL_ACC_GYRO_ODR_XL_26Hz:
cparata	0:485458fca2bd	514	*odr = 26.0f;
cparata	0:485458fca2bd	515	break;
cparata	0:485458fca2bd	516	case LSM6DSL_ACC_GYRO_ODR_XL_52Hz:
cparata	0:485458fca2bd	517	*odr = 52.0f;
cparata	0:485458fca2bd	518	break;
cparata	0:485458fca2bd	519	case LSM6DSL_ACC_GYRO_ODR_XL_104Hz:
cparata	0:485458fca2bd	520	*odr = 104.0f;
cparata	0:485458fca2bd	521	break;
cparata	0:485458fca2bd	522	case LSM6DSL_ACC_GYRO_ODR_XL_208Hz:
cparata	0:485458fca2bd	523	*odr = 208.0f;
cparata	0:485458fca2bd	524	break;
cparata	0:485458fca2bd	525	case LSM6DSL_ACC_GYRO_ODR_XL_416Hz:
cparata	0:485458fca2bd	526	*odr = 416.0f;
cparata	0:485458fca2bd	527	break;
cparata	0:485458fca2bd	528	case LSM6DSL_ACC_GYRO_ODR_XL_833Hz:
cparata	0:485458fca2bd	529	*odr = 833.0f;
cparata	0:485458fca2bd	530	break;
cparata	0:485458fca2bd	531	case LSM6DSL_ACC_GYRO_ODR_XL_1660Hz:
cparata	0:485458fca2bd	532	*odr = 1660.0f;
cparata	0:485458fca2bd	533	break;
cparata	0:485458fca2bd	534	case LSM6DSL_ACC_GYRO_ODR_XL_3330Hz:
cparata	0:485458fca2bd	535	*odr = 3330.0f;
cparata	0:485458fca2bd	536	break;
cparata	0:485458fca2bd	537	case LSM6DSL_ACC_GYRO_ODR_XL_6660Hz:
cparata	0:485458fca2bd	538	*odr = 6660.0f;
cparata	0:485458fca2bd	539	break;
cparata	0:485458fca2bd	540	default:
cparata	0:485458fca2bd	541	*odr = -1.0f;
cparata	0:485458fca2bd	542	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	543	}
cparata	0:485458fca2bd	544
cparata	0:485458fca2bd	545	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	546	}
cparata	0:485458fca2bd	547
cparata	0:485458fca2bd	548	/**
cparata	0:485458fca2bd	549	* @brief Read LSM6DSL Gyroscope output data rate
cparata	0:485458fca2bd	550	* @param odr the pointer to the output data rate
cparata	0:485458fca2bd	551	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	552	*/
cparata	0:485458fca2bd	553	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_ODR(float* odr)
cparata	0:485458fca2bd	554	{
cparata	0:485458fca2bd	555	LSM6DSL_ACC_GYRO_ODR_G_t odr_low_level;
cparata	0:485458fca2bd	556
cparata	0:485458fca2bd	557	if ( LSM6DSL_ACC_GYRO_R_ODR_G( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata	0:485458fca2bd	558	{
cparata	0:485458fca2bd	559	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	560	}
cparata	0:485458fca2bd	561
cparata	0:485458fca2bd	562	switch( odr_low_level )
cparata	0:485458fca2bd	563	{
cparata	0:485458fca2bd	564	case LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN:
cparata	0:485458fca2bd	565	*odr = 0.0f;
cparata	0:485458fca2bd	566	break;
cparata	0:485458fca2bd	567	case LSM6DSL_ACC_GYRO_ODR_G_13Hz:
cparata	0:485458fca2bd	568	*odr = 13.0f;
cparata	0:485458fca2bd	569	break;
cparata	0:485458fca2bd	570	case LSM6DSL_ACC_GYRO_ODR_G_26Hz:
cparata	0:485458fca2bd	571	*odr = 26.0f;
cparata	0:485458fca2bd	572	break;
cparata	0:485458fca2bd	573	case LSM6DSL_ACC_GYRO_ODR_G_52Hz:
cparata	0:485458fca2bd	574	*odr = 52.0f;
cparata	0:485458fca2bd	575	break;
cparata	0:485458fca2bd	576	case LSM6DSL_ACC_GYRO_ODR_G_104Hz:
cparata	0:485458fca2bd	577	*odr = 104.0f;
cparata	0:485458fca2bd	578	break;
cparata	0:485458fca2bd	579	case LSM6DSL_ACC_GYRO_ODR_G_208Hz:
cparata	0:485458fca2bd	580	*odr = 208.0f;
cparata	0:485458fca2bd	581	break;
cparata	0:485458fca2bd	582	case LSM6DSL_ACC_GYRO_ODR_G_416Hz:
cparata	0:485458fca2bd	583	*odr = 416.0f;
cparata	0:485458fca2bd	584	break;
cparata	0:485458fca2bd	585	case LSM6DSL_ACC_GYRO_ODR_G_833Hz:
cparata	0:485458fca2bd	586	*odr = 833.0f;
cparata	0:485458fca2bd	587	break;
cparata	0:485458fca2bd	588	case LSM6DSL_ACC_GYRO_ODR_G_1660Hz:
cparata	0:485458fca2bd	589	*odr = 1660.0f;
cparata	0:485458fca2bd	590	break;
cparata	0:485458fca2bd	591	case LSM6DSL_ACC_GYRO_ODR_G_3330Hz:
cparata	0:485458fca2bd	592	*odr = 3330.0f;
cparata	0:485458fca2bd	593	break;
cparata	0:485458fca2bd	594	case LSM6DSL_ACC_GYRO_ODR_G_6660Hz:
cparata	0:485458fca2bd	595	*odr = 6660.0f;
cparata	0:485458fca2bd	596	break;
cparata	0:485458fca2bd	597	default:
cparata	0:485458fca2bd	598	*odr = -1.0f;
cparata	0:485458fca2bd	599	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	600	}
cparata	0:485458fca2bd	601
cparata	0:485458fca2bd	602	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	603	}
cparata	0:485458fca2bd	604
cparata	0:485458fca2bd	605	/**
cparata	0:485458fca2bd	606	* @brief Set LSM6DSL Accelerometer output data rate
cparata	0:485458fca2bd	607	* @param odr the output data rate to be set
cparata	0:485458fca2bd	608	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	609	*/
cparata	0:485458fca2bd	610	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_ODR(float odr)
cparata	0:485458fca2bd	611	{
cparata	0:485458fca2bd	612	if(X_isEnabled == 1)
cparata	0:485458fca2bd	613	{
cparata	0:485458fca2bd	614	if(Set_X_ODR_When_Enabled(odr) == LSM6DSL_STATUS_ERROR)
cparata	0:485458fca2bd	615	{
cparata	0:485458fca2bd	616	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	617	}
cparata	0:485458fca2bd	618	}
cparata	0:485458fca2bd	619	else
cparata	0:485458fca2bd	620	{
cparata	0:485458fca2bd	621	if(Set_X_ODR_When_Disabled(odr) == LSM6DSL_STATUS_ERROR)
cparata	0:485458fca2bd	622	{
cparata	0:485458fca2bd	623	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	624	}
cparata	0:485458fca2bd	625	}
cparata	0:485458fca2bd	626
cparata	0:485458fca2bd	627	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	628	}
cparata	0:485458fca2bd	629
cparata	0:485458fca2bd	630	/**
cparata	0:485458fca2bd	631	* @brief Set LSM6DSL Accelerometer output data rate when enabled
cparata	0:485458fca2bd	632	* @param odr the output data rate to be set
cparata	0:485458fca2bd	633	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	634	*/
cparata	0:485458fca2bd	635	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_ODR_When_Enabled(float odr)
cparata	0:485458fca2bd	636	{
cparata	0:485458fca2bd	637	LSM6DSL_ACC_GYRO_ODR_XL_t new_odr;
cparata	0:485458fca2bd	638
cparata	0:485458fca2bd	639	new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_13Hz
cparata	0:485458fca2bd	640	: ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_26Hz
cparata	0:485458fca2bd	641	: ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_52Hz
cparata	0:485458fca2bd	642	: ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_104Hz
cparata	0:485458fca2bd	643	: ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_208Hz
cparata	0:485458fca2bd	644	: ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_416Hz
cparata	0:485458fca2bd	645	: ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_833Hz
cparata	0:485458fca2bd	646	: ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_1660Hz
cparata	0:485458fca2bd	647	: ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_3330Hz
cparata	0:485458fca2bd	648	: LSM6DSL_ACC_GYRO_ODR_XL_6660Hz;
cparata	0:485458fca2bd	649
cparata	0:485458fca2bd	650	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, new_odr ) == MEMS_ERROR )
cparata	0:485458fca2bd	651	{
cparata	0:485458fca2bd	652	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	653	}
cparata	0:485458fca2bd	654
cparata	0:485458fca2bd	655	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	656	}
cparata	0:485458fca2bd	657
cparata	0:485458fca2bd	658	/**
cparata	0:485458fca2bd	659	* @brief Set LSM6DSL Accelerometer output data rate when disabled
cparata	0:485458fca2bd	660	* @param odr the output data rate to be set
cparata	0:485458fca2bd	661	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	662	*/
cparata	0:485458fca2bd	663	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_ODR_When_Disabled(float odr)
cparata	0:485458fca2bd	664	{
cparata	0:485458fca2bd	665	X_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata	0:485458fca2bd	666	: ( odr <= 26.0f ) ? 26.0f
cparata	0:485458fca2bd	667	: ( odr <= 52.0f ) ? 52.0f
cparata	0:485458fca2bd	668	: ( odr <= 104.0f ) ? 104.0f
cparata	0:485458fca2bd	669	: ( odr <= 208.0f ) ? 208.0f
cparata	0:485458fca2bd	670	: ( odr <= 416.0f ) ? 416.0f
cparata	0:485458fca2bd	671	: ( odr <= 833.0f ) ? 833.0f
cparata	0:485458fca2bd	672	: ( odr <= 1660.0f ) ? 1660.0f
cparata	0:485458fca2bd	673	: ( odr <= 3330.0f ) ? 3330.0f
cparata	0:485458fca2bd	674	: 6660.0f;
cparata	0:485458fca2bd	675
cparata	0:485458fca2bd	676	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	677	}
cparata	0:485458fca2bd	678
cparata	0:485458fca2bd	679	/**
cparata	0:485458fca2bd	680	* @brief Set LSM6DSL Gyroscope output data rate
cparata	0:485458fca2bd	681	* @param odr the output data rate to be set
cparata	0:485458fca2bd	682	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	683	*/
cparata	0:485458fca2bd	684	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_ODR(float odr)
cparata	0:485458fca2bd	685	{
cparata	0:485458fca2bd	686	if(G_isEnabled == 1)
cparata	0:485458fca2bd	687	{
cparata	0:485458fca2bd	688	if(Set_G_ODR_When_Enabled(odr) == LSM6DSL_STATUS_ERROR)
cparata	0:485458fca2bd	689	{
cparata	0:485458fca2bd	690	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	691	}
cparata	0:485458fca2bd	692	}
cparata	0:485458fca2bd	693	else
cparata	0:485458fca2bd	694	{
cparata	0:485458fca2bd	695	if(Set_G_ODR_When_Disabled(odr) == LSM6DSL_STATUS_ERROR)
cparata	0:485458fca2bd	696	{
cparata	0:485458fca2bd	697	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	698	}
cparata	0:485458fca2bd	699	}
cparata	0:485458fca2bd	700
cparata	0:485458fca2bd	701	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	702	}
cparata	0:485458fca2bd	703
cparata	0:485458fca2bd	704	/**
cparata	0:485458fca2bd	705	* @brief Set LSM6DSL Gyroscope output data rate when enabled
cparata	0:485458fca2bd	706	* @param odr the output data rate to be set
cparata	0:485458fca2bd	707	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	708	*/
cparata	0:485458fca2bd	709	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_ODR_When_Enabled(float odr)
cparata	0:485458fca2bd	710	{
cparata	0:485458fca2bd	711	LSM6DSL_ACC_GYRO_ODR_G_t new_odr;
cparata	0:485458fca2bd	712
cparata	0:485458fca2bd	713	new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_13Hz
cparata	0:485458fca2bd	714	: ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_26Hz
cparata	0:485458fca2bd	715	: ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_52Hz
cparata	0:485458fca2bd	716	: ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_104Hz
cparata	0:485458fca2bd	717	: ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_208Hz
cparata	0:485458fca2bd	718	: ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_416Hz
cparata	0:485458fca2bd	719	: ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_833Hz
cparata	0:485458fca2bd	720	: ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_1660Hz
cparata	0:485458fca2bd	721	: ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_3330Hz
cparata	0:485458fca2bd	722	: LSM6DSL_ACC_GYRO_ODR_G_6660Hz;
cparata	0:485458fca2bd	723
cparata	0:485458fca2bd	724	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, new_odr ) == MEMS_ERROR )
cparata	0:485458fca2bd	725	{
cparata	0:485458fca2bd	726	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	727	}
cparata	0:485458fca2bd	728
cparata	0:485458fca2bd	729	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	730	}
cparata	0:485458fca2bd	731
cparata	0:485458fca2bd	732	/**
cparata	0:485458fca2bd	733	* @brief Set LSM6DSL Gyroscope output data rate when disabled
cparata	0:485458fca2bd	734	* @param odr the output data rate to be set
cparata	0:485458fca2bd	735	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	736	*/
cparata	0:485458fca2bd	737	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_ODR_When_Disabled(float odr)
cparata	0:485458fca2bd	738	{
cparata	0:485458fca2bd	739	G_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata	0:485458fca2bd	740	: ( odr <= 26.0f ) ? 26.0f
cparata	0:485458fca2bd	741	: ( odr <= 52.0f ) ? 52.0f
cparata	0:485458fca2bd	742	: ( odr <= 104.0f ) ? 104.0f
cparata	0:485458fca2bd	743	: ( odr <= 208.0f ) ? 208.0f
cparata	0:485458fca2bd	744	: ( odr <= 416.0f ) ? 416.0f
cparata	0:485458fca2bd	745	: ( odr <= 833.0f ) ? 833.0f
cparata	0:485458fca2bd	746	: ( odr <= 1660.0f ) ? 1660.0f
cparata	0:485458fca2bd	747	: ( odr <= 3330.0f ) ? 3330.0f
cparata	0:485458fca2bd	748	: 6660.0f;
cparata	0:485458fca2bd	749
cparata	0:485458fca2bd	750	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	751	}
cparata	0:485458fca2bd	752
cparata	0:485458fca2bd	753	/**
cparata	0:485458fca2bd	754	* @brief Read LSM6DSL Accelerometer full scale
cparata	0:485458fca2bd	755	* @param fullScale the pointer to the full scale
cparata	0:485458fca2bd	756	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	757	*/
cparata	0:485458fca2bd	758	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_FS(float* fullScale)
cparata	0:485458fca2bd	759	{
cparata	0:485458fca2bd	760	LSM6DSL_ACC_GYRO_FS_XL_t fs_low_level;
cparata	0:485458fca2bd	761
cparata	0:485458fca2bd	762	if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata	0:485458fca2bd	763	{
cparata	0:485458fca2bd	764	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	765	}
cparata	0:485458fca2bd	766
cparata	0:485458fca2bd	767	switch( fs_low_level )
cparata	0:485458fca2bd	768	{
cparata	0:485458fca2bd	769	case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata	0:485458fca2bd	770	*fullScale = 2.0f;
cparata	0:485458fca2bd	771	break;
cparata	0:485458fca2bd	772	case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata	0:485458fca2bd	773	*fullScale = 4.0f;
cparata	0:485458fca2bd	774	break;
cparata	0:485458fca2bd	775	case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata	0:485458fca2bd	776	*fullScale = 8.0f;
cparata	0:485458fca2bd	777	break;
cparata	0:485458fca2bd	778	case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata	0:485458fca2bd	779	*fullScale = 16.0f;
cparata	0:485458fca2bd	780	break;
cparata	0:485458fca2bd	781	default:
cparata	0:485458fca2bd	782	*fullScale = -1.0f;
cparata	0:485458fca2bd	783	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	784	}
cparata	0:485458fca2bd	785
cparata	0:485458fca2bd	786	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	787	}
cparata	0:485458fca2bd	788
cparata	0:485458fca2bd	789	/**
cparata	0:485458fca2bd	790	* @brief Read LSM6DSL Gyroscope full scale
cparata	0:485458fca2bd	791	* @param fullScale the pointer to the full scale
cparata	0:485458fca2bd	792	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	793	*/
cparata	0:485458fca2bd	794	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_FS(float* fullScale)
cparata	0:485458fca2bd	795	{
cparata	0:485458fca2bd	796	LSM6DSL_ACC_GYRO_FS_G_t fs_low_level;
cparata	0:485458fca2bd	797	LSM6DSL_ACC_GYRO_FS_125_t fs_125;
cparata	0:485458fca2bd	798
cparata	0:485458fca2bd	799	if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fs_125 ) == MEMS_ERROR )
cparata	0:485458fca2bd	800	{
cparata	0:485458fca2bd	801	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	802	}
cparata	0:485458fca2bd	803	if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata	0:485458fca2bd	804	{
cparata	0:485458fca2bd	805	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	806	}
cparata	0:485458fca2bd	807
cparata	0:485458fca2bd	808	if ( fs_125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata	0:485458fca2bd	809	{
cparata	0:485458fca2bd	810	*fullScale = 125.0f;
cparata	0:485458fca2bd	811	}
cparata	0:485458fca2bd	812
cparata	0:485458fca2bd	813	else
cparata	0:485458fca2bd	814	{
cparata	0:485458fca2bd	815	switch( fs_low_level )
cparata	0:485458fca2bd	816	{
cparata	0:485458fca2bd	817	case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata	0:485458fca2bd	818	*fullScale = 245.0f;
cparata	0:485458fca2bd	819	break;
cparata	0:485458fca2bd	820	case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata	0:485458fca2bd	821	*fullScale = 500.0f;
cparata	0:485458fca2bd	822	break;
cparata	0:485458fca2bd	823	case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata	0:485458fca2bd	824	*fullScale = 1000.0f;
cparata	0:485458fca2bd	825	break;
cparata	0:485458fca2bd	826	case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata	0:485458fca2bd	827	*fullScale = 2000.0f;
cparata	0:485458fca2bd	828	break;
cparata	0:485458fca2bd	829	default:
cparata	0:485458fca2bd	830	*fullScale = -1.0f;
cparata	0:485458fca2bd	831	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	832	}
cparata	0:485458fca2bd	833	}
cparata	0:485458fca2bd	834
cparata	0:485458fca2bd	835	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	836	}
cparata	0:485458fca2bd	837
cparata	0:485458fca2bd	838	/**
cparata	0:485458fca2bd	839	* @brief Set LSM6DSL Accelerometer full scale
cparata	0:485458fca2bd	840	* @param fullScale the full scale to be set
cparata	0:485458fca2bd	841	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	842	*/
cparata	0:485458fca2bd	843	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_FS(float fullScale)
cparata	0:485458fca2bd	844	{
cparata	0:485458fca2bd	845	LSM6DSL_ACC_GYRO_FS_XL_t new_fs;
cparata	0:485458fca2bd	846
cparata	0:485458fca2bd	847	new_fs = ( fullScale <= 2.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_2g
cparata	0:485458fca2bd	848	: ( fullScale <= 4.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_4g
cparata	0:485458fca2bd	849	: ( fullScale <= 8.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_8g
cparata	0:485458fca2bd	850	: LSM6DSL_ACC_GYRO_FS_XL_16g;
cparata	0:485458fca2bd	851
cparata	0:485458fca2bd	852	if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, new_fs ) == MEMS_ERROR )
cparata	0:485458fca2bd	853	{
cparata	0:485458fca2bd	854	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	855	}
cparata	0:485458fca2bd	856
cparata	0:485458fca2bd	857	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	858	}
cparata	0:485458fca2bd	859
cparata	0:485458fca2bd	860	/**
cparata	0:485458fca2bd	861	* @brief Set LSM6DSL Gyroscope full scale
cparata	0:485458fca2bd	862	* @param fullScale the full scale to be set
cparata	0:485458fca2bd	863	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	864	*/
cparata	0:485458fca2bd	865	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_FS(float fullScale)
cparata	0:485458fca2bd	866	{
cparata	0:485458fca2bd	867	LSM6DSL_ACC_GYRO_FS_G_t new_fs;
cparata	0:485458fca2bd	868
cparata	0:485458fca2bd	869	if ( fullScale <= 125.0f )
cparata	0:485458fca2bd	870	{
cparata	0:485458fca2bd	871	if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_ENABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	872	{
cparata	0:485458fca2bd	873	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	874	}
cparata	0:485458fca2bd	875	}
cparata	0:485458fca2bd	876	else
cparata	0:485458fca2bd	877	{
cparata	0:485458fca2bd	878	new_fs = ( fullScale <= 245.0f ) ? LSM6DSL_ACC_GYRO_FS_G_245dps
cparata	0:485458fca2bd	879	: ( fullScale <= 500.0f ) ? LSM6DSL_ACC_GYRO_FS_G_500dps
cparata	0:485458fca2bd	880	: ( fullScale <= 1000.0f ) ? LSM6DSL_ACC_GYRO_FS_G_1000dps
cparata	0:485458fca2bd	881	: LSM6DSL_ACC_GYRO_FS_G_2000dps;
cparata	0:485458fca2bd	882
cparata	0:485458fca2bd	883	if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_DISABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	884	{
cparata	0:485458fca2bd	885	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	886	}
cparata	0:485458fca2bd	887	if ( LSM6DSL_ACC_GYRO_W_FS_G( (void *)this, new_fs ) == MEMS_ERROR )
cparata	0:485458fca2bd	888	{
cparata	0:485458fca2bd	889	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	890	}
cparata	0:485458fca2bd	891	}
cparata	0:485458fca2bd	892
cparata	0:485458fca2bd	893	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	894	}
cparata	0:485458fca2bd	895
cparata	0:485458fca2bd	896	/**
cparata	0:485458fca2bd	897	* @brief Enable free fall detection
cparata	0:485458fca2bd	898	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:485458fca2bd	899	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	900	*/
cparata	0:485458fca2bd	901	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Free_Fall_Detection(void)
cparata	0:485458fca2bd	902	{
cparata	0:485458fca2bd	903	/* Output Data Rate selection */
cparata	0:485458fca2bd	904	if(Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR)
cparata	0:485458fca2bd	905	{
cparata	0:485458fca2bd	906	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	907	}
cparata	0:485458fca2bd	908
cparata	0:485458fca2bd	909	/* Full scale selection */
cparata	0:485458fca2bd	910	if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, LSM6DSL_ACC_GYRO_FS_XL_2g ) == MEMS_ERROR )
cparata	0:485458fca2bd	911	{
cparata	0:485458fca2bd	912	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	913	}
cparata	0:485458fca2bd	914
cparata	0:485458fca2bd	915	/* FF_DUR setting */
cparata	0:485458fca2bd	916	if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x06 ) == MEMS_ERROR )
cparata	0:485458fca2bd	917	{
cparata	0:485458fca2bd	918	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	919	}
cparata	0:485458fca2bd	920
cparata	0:485458fca2bd	921	/* WAKE_DUR setting */
cparata	0:485458fca2bd	922	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:485458fca2bd	923	{
cparata	0:485458fca2bd	924	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	925	}
cparata	0:485458fca2bd	926
cparata	0:485458fca2bd	927	/* TIMER_HR setting */
cparata	0:485458fca2bd	928	if ( LSM6DSL_ACC_GYRO_W_TIMER_HR( (void *)this, LSM6DSL_ACC_GYRO_TIMER_HR_6_4ms ) == MEMS_ERROR )
cparata	0:485458fca2bd	929	{
cparata	0:485458fca2bd	930	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	931	}
cparata	0:485458fca2bd	932
cparata	0:485458fca2bd	933	/* SLEEP_DUR setting */
cparata	0:485458fca2bd	934	if ( LSM6DSL_ACC_GYRO_W_SLEEP_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:485458fca2bd	935	{
cparata	0:485458fca2bd	936	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	937	}
cparata	0:485458fca2bd	938
cparata	0:485458fca2bd	939	/* FF_THS setting */
cparata	0:485458fca2bd	940	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_312mg ) == MEMS_ERROR )
cparata	0:485458fca2bd	941	{
cparata	0:485458fca2bd	942	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	943	}
cparata	0:485458fca2bd	944
cparata	0:485458fca2bd	945	/* Enable basic Interrupts */
cparata	0:485458fca2bd	946	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	947	{
cparata	0:485458fca2bd	948	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	949	}
cparata	0:485458fca2bd	950
cparata	0:485458fca2bd	951	/* INT1_FF setting */
cparata	0:485458fca2bd	952	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	953	{
cparata	0:485458fca2bd	954	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	955	}
cparata	0:485458fca2bd	956
cparata	0:485458fca2bd	957	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	958	}
cparata	0:485458fca2bd	959
cparata	0:485458fca2bd	960	/**
cparata	0:485458fca2bd	961	* @brief Disable free fall detection
cparata	0:485458fca2bd	962	* @param None
cparata	0:485458fca2bd	963	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	964	*/
cparata	0:485458fca2bd	965	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Free_Fall_Detection(void)
cparata	0:485458fca2bd	966	{
cparata	0:485458fca2bd	967	/* INT1_FF setting */
cparata	0:485458fca2bd	968	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	969	{
cparata	0:485458fca2bd	970	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	971	}
cparata	0:485458fca2bd	972
cparata	0:485458fca2bd	973	/* Disable basic Interrupts */
cparata	0:485458fca2bd	974	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	975	{
cparata	0:485458fca2bd	976	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	977	}
cparata	0:485458fca2bd	978
cparata	0:485458fca2bd	979	/* FF_DUR setting */
cparata	0:485458fca2bd	980	if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:485458fca2bd	981	{
cparata	0:485458fca2bd	982	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	983	}
cparata	0:485458fca2bd	984
cparata	0:485458fca2bd	985	/* FF_THS setting */
cparata	0:485458fca2bd	986	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_156mg ) == MEMS_ERROR )
cparata	0:485458fca2bd	987	{
cparata	0:485458fca2bd	988	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	989	}
cparata	0:485458fca2bd	990
cparata	0:485458fca2bd	991	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	992	}
cparata	0:485458fca2bd	993
cparata	0:485458fca2bd	994	/**
cparata	0:485458fca2bd	995	* @brief Get status of free fall detection
cparata	0:485458fca2bd	996	* @param status the pointer where the status of free fall detection is stored; 0 means no detection, 1 means detection happened
cparata	0:485458fca2bd	997	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	998	*/
cparata	0:485458fca2bd	999	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Free_Fall_Detection(uint8_t *status)
cparata	0:485458fca2bd	1000	{
cparata	0:485458fca2bd	1001	LSM6DSL_ACC_GYRO_FF_EV_STATUS_t free_fall_status;
cparata	0:485458fca2bd	1002
cparata	0:485458fca2bd	1003	if ( LSM6DSL_ACC_GYRO_R_FF_EV_STATUS( (void *)this, &free_fall_status ) == MEMS_ERROR )
cparata	0:485458fca2bd	1004	{
cparata	0:485458fca2bd	1005	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1006	}
cparata	0:485458fca2bd	1007
cparata	0:485458fca2bd	1008	switch( free_fall_status )
cparata	0:485458fca2bd	1009	{
cparata	0:485458fca2bd	1010	case LSM6DSL_ACC_GYRO_FF_EV_STATUS_DETECTED:
cparata	0:485458fca2bd	1011	*status = 1;
cparata	0:485458fca2bd	1012	break;
cparata	0:485458fca2bd	1013	case LSM6DSL_ACC_GYRO_FF_EV_STATUS_NOT_DETECTED:
cparata	0:485458fca2bd	1014	*status = 0;
cparata	0:485458fca2bd	1015	break;
cparata	0:485458fca2bd	1016	default:
cparata	0:485458fca2bd	1017	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1018	}
cparata	0:485458fca2bd	1019
cparata	0:485458fca2bd	1020	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1021	}
cparata	0:485458fca2bd	1022
cparata	0:485458fca2bd	1023	/**
cparata	0:485458fca2bd	1024	* @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1025	* @param thr the threshold to be set
cparata	0:485458fca2bd	1026	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1027	*/
cparata	0:485458fca2bd	1028	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Free_Fall_Threshold(uint8_t thr)
cparata	0:485458fca2bd	1029	{
cparata	0:485458fca2bd	1030
cparata	0:485458fca2bd	1031	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR )
cparata	0:485458fca2bd	1032	{
cparata	0:485458fca2bd	1033	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1034	}
cparata	0:485458fca2bd	1035
cparata	0:485458fca2bd	1036	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1037	}
cparata	0:485458fca2bd	1038
cparata	0:485458fca2bd	1039	/**
cparata	0:485458fca2bd	1040	* @brief Enable the pedometer feature for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1041	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:485458fca2bd	1042	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1043	*/
cparata	0:485458fca2bd	1044	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Pedometer(void)
cparata	0:485458fca2bd	1045	{
cparata	0:485458fca2bd	1046	/* Output Data Rate selection */
cparata	0:485458fca2bd	1047	if( Set_X_ODR(26.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1048	{
cparata	0:485458fca2bd	1049	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1050	}
cparata	0:485458fca2bd	1051
cparata	0:485458fca2bd	1052	/* Full scale selection. */
cparata	0:485458fca2bd	1053	if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1054	{
cparata	0:485458fca2bd	1055	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1056	}
cparata	0:485458fca2bd	1057
cparata	0:485458fca2bd	1058	/* Set pedometer threshold. */
cparata	0:485458fca2bd	1059	if ( Set_Pedometer_Threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1060	{
cparata	0:485458fca2bd	1061	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1062	}
cparata	0:485458fca2bd	1063
cparata	0:485458fca2bd	1064	/* Enable embedded functionalities. */
cparata	0:485458fca2bd	1065	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1066	{
cparata	0:485458fca2bd	1067	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1068	}
cparata	0:485458fca2bd	1069
cparata	0:485458fca2bd	1070	/* Enable pedometer algorithm. */
cparata	0:485458fca2bd	1071	if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1072	{
cparata	0:485458fca2bd	1073	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1074	}
cparata	0:485458fca2bd	1075
cparata	0:485458fca2bd	1076	/* Enable pedometer on INT1. */
cparata	0:485458fca2bd	1077	if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1078	{
cparata	0:485458fca2bd	1079	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1080	}
cparata	0:485458fca2bd	1081
cparata	0:485458fca2bd	1082	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1083	}
cparata	0:485458fca2bd	1084
cparata	0:485458fca2bd	1085	/**
cparata	0:485458fca2bd	1086	* @brief Disable the pedometer feature for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1087	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1088	*/
cparata	0:485458fca2bd	1089	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Pedometer(void)
cparata	0:485458fca2bd	1090	{
cparata	0:485458fca2bd	1091	/* Disable pedometer on INT1. */
cparata	0:485458fca2bd	1092	if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1093	{
cparata	0:485458fca2bd	1094	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1095	}
cparata	0:485458fca2bd	1096
cparata	0:485458fca2bd	1097	/* Disable pedometer algorithm. */
cparata	0:485458fca2bd	1098	if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1099	{
cparata	0:485458fca2bd	1100	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1101	}
cparata	0:485458fca2bd	1102
cparata	0:485458fca2bd	1103	/* Disable embedded functionalities. */
cparata	0:485458fca2bd	1104	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1105	{
cparata	0:485458fca2bd	1106	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1107	}
cparata	0:485458fca2bd	1108
cparata	0:485458fca2bd	1109	/* Reset pedometer threshold. */
cparata	0:485458fca2bd	1110	if ( Set_Pedometer_Threshold(0x0) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1111	{
cparata	0:485458fca2bd	1112	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1113	}
cparata	0:485458fca2bd	1114
cparata	0:485458fca2bd	1115	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1116	}
cparata	0:485458fca2bd	1117
cparata	0:485458fca2bd	1118	/**
cparata	0:485458fca2bd	1119	* @brief Get the pedometer status for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1120	* @param status the pointer to the pedometer status: 0 means no step detected, 1 means step detected
cparata	0:485458fca2bd	1121	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1122	*/
cparata	0:485458fca2bd	1123	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Pedometer(uint8_t *status)
cparata	0:485458fca2bd	1124	{
cparata	0:485458fca2bd	1125	LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_t pedometer_status;
cparata	0:485458fca2bd	1126
cparata	0:485458fca2bd	1127	if ( LSM6DSL_ACC_GYRO_R_PEDO_EV_STATUS( (void *)this, &pedometer_status ) == MEMS_ERROR )
cparata	0:485458fca2bd	1128	{
cparata	0:485458fca2bd	1129	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1130	}
cparata	0:485458fca2bd	1131
cparata	0:485458fca2bd	1132	switch( pedometer_status )
cparata	0:485458fca2bd	1133	{
cparata	0:485458fca2bd	1134	case LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_DETECTED:
cparata	0:485458fca2bd	1135	*status = 1;
cparata	0:485458fca2bd	1136	break;
cparata	0:485458fca2bd	1137	case LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_NOT_DETECTED:
cparata	0:485458fca2bd	1138	*status = 0;
cparata	0:485458fca2bd	1139	break;
cparata	0:485458fca2bd	1140	default:
cparata	0:485458fca2bd	1141	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1142	}
cparata	0:485458fca2bd	1143
cparata	0:485458fca2bd	1144	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1145	}
cparata	0:485458fca2bd	1146
cparata	0:485458fca2bd	1147	/**
cparata	0:485458fca2bd	1148	* @brief Get the step counter for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1149	* @param step_count the pointer to the step counter
cparata	0:485458fca2bd	1150	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1151	*/
cparata	0:485458fca2bd	1152	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Step_Counter(uint16_t *step_count)
cparata	0:485458fca2bd	1153	{
cparata	0:485458fca2bd	1154	if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void )this, ( uint8_t )step_count ) == MEMS_ERROR )
cparata	0:485458fca2bd	1155	{
cparata	0:485458fca2bd	1156	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1157	}
cparata	0:485458fca2bd	1158
cparata	0:485458fca2bd	1159	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1160	}
cparata	0:485458fca2bd	1161
cparata	0:485458fca2bd	1162	/**
cparata	0:485458fca2bd	1163	* @brief Reset of the step counter for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1164	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1165	*/
cparata	0:485458fca2bd	1166	LSM6DSLStatusTypeDef LSM6DSLSensor::Reset_Step_Counter(void)
cparata	0:485458fca2bd	1167	{
cparata	0:485458fca2bd	1168	if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1169	{
cparata	0:485458fca2bd	1170	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1171	}
cparata	0:485458fca2bd	1172
cparata	0:485458fca2bd	1173	wait_ms(10);
cparata	0:485458fca2bd	1174
cparata	0:485458fca2bd	1175	if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1176	{
cparata	0:485458fca2bd	1177	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1178	}
cparata	0:485458fca2bd	1179
cparata	0:485458fca2bd	1180	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1181	}
cparata	0:485458fca2bd	1182
cparata	0:485458fca2bd	1183	/**
cparata	0:485458fca2bd	1184	* @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1185	* @param thr the threshold to be set
cparata	0:485458fca2bd	1186	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1187	*/
cparata	0:485458fca2bd	1188	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Pedometer_Threshold(uint8_t thr)
cparata	0:485458fca2bd	1189	{
cparata	0:485458fca2bd	1190	if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
cparata	0:485458fca2bd	1191	{
cparata	0:485458fca2bd	1192	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1193	}
cparata	0:485458fca2bd	1194
cparata	0:485458fca2bd	1195	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1196	}
cparata	0:485458fca2bd	1197
cparata	0:485458fca2bd	1198	/**
cparata	0:485458fca2bd	1199	* @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1200	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:485458fca2bd	1201	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1202	*/
cparata	0:485458fca2bd	1203	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Tilt_Detection(void)
cparata	0:485458fca2bd	1204	{
cparata	0:485458fca2bd	1205	/* Output Data Rate selection */
cparata	0:485458fca2bd	1206	if( Set_X_ODR(26.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1207	{
cparata	0:485458fca2bd	1208	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1209	}
cparata	0:485458fca2bd	1210
cparata	0:485458fca2bd	1211	/* Full scale selection. */
cparata	0:485458fca2bd	1212	if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1213	{
cparata	0:485458fca2bd	1214	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1215	}
cparata	0:485458fca2bd	1216
cparata	0:485458fca2bd	1217	/* Enable embedded functionalities */
cparata	0:485458fca2bd	1218	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1219	{
cparata	0:485458fca2bd	1220	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1221	}
cparata	0:485458fca2bd	1222
cparata	0:485458fca2bd	1223	/* Enable tilt calculation. */
cparata	0:485458fca2bd	1224	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1225	{
cparata	0:485458fca2bd	1226	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1227	}
cparata	0:485458fca2bd	1228
cparata	0:485458fca2bd	1229	/* Enable tilt event on INT1. */
cparata	0:485458fca2bd	1230	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1231	{
cparata	0:485458fca2bd	1232	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1233	}
cparata	0:485458fca2bd	1234
cparata	0:485458fca2bd	1235	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1236	}
cparata	0:485458fca2bd	1237
cparata	0:485458fca2bd	1238	/**
cparata	0:485458fca2bd	1239	* @brief Disable the tilt detection for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1240	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1241	*/
cparata	0:485458fca2bd	1242	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Tilt_Detection(void)
cparata	0:485458fca2bd	1243	{
cparata	0:485458fca2bd	1244	/* Disable tilt event on INT1. */
cparata	0:485458fca2bd	1245	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_DISABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1246	{
cparata	0:485458fca2bd	1247	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1248	}
cparata	0:485458fca2bd	1249
cparata	0:485458fca2bd	1250	/* Disable tilt calculation. */
cparata	0:485458fca2bd	1251	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1252	{
cparata	0:485458fca2bd	1253	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1254	}
cparata	0:485458fca2bd	1255
cparata	0:485458fca2bd	1256	/* Disable embedded functionalities */
cparata	0:485458fca2bd	1257	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1258	{
cparata	0:485458fca2bd	1259	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1260	}
cparata	0:485458fca2bd	1261
cparata	0:485458fca2bd	1262	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1263	}
cparata	0:485458fca2bd	1264
cparata	0:485458fca2bd	1265	/**
cparata	0:485458fca2bd	1266	* @brief Get the tilt detection status for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1267	* @param status the pointer to the tilt detection status: 0 means no tilt detected, 1 means tilt detected
cparata	0:485458fca2bd	1268	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1269	*/
cparata	0:485458fca2bd	1270	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Tilt_Detection(uint8_t *status)
cparata	0:485458fca2bd	1271	{
cparata	0:485458fca2bd	1272	LSM6DSL_ACC_GYRO_TILT_EV_STATUS_t tilt_status;
cparata	0:485458fca2bd	1273
cparata	0:485458fca2bd	1274	if ( LSM6DSL_ACC_GYRO_R_TILT_EV_STATUS( (void *)this, &tilt_status ) == MEMS_ERROR )
cparata	0:485458fca2bd	1275	{
cparata	0:485458fca2bd	1276	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1277	}
cparata	0:485458fca2bd	1278
cparata	0:485458fca2bd	1279	switch( tilt_status )
cparata	0:485458fca2bd	1280	{
cparata	0:485458fca2bd	1281	case LSM6DSL_ACC_GYRO_TILT_EV_STATUS_DETECTED:
cparata	0:485458fca2bd	1282	*status = 1;
cparata	0:485458fca2bd	1283	break;
cparata	0:485458fca2bd	1284	case LSM6DSL_ACC_GYRO_TILT_EV_STATUS_NOT_DETECTED:
cparata	0:485458fca2bd	1285	*status = 0;
cparata	0:485458fca2bd	1286	break;
cparata	0:485458fca2bd	1287	default:
cparata	0:485458fca2bd	1288	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1289	}
cparata	0:485458fca2bd	1290
cparata	0:485458fca2bd	1291	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1292	}
cparata	0:485458fca2bd	1293
cparata	0:485458fca2bd	1294	/**
cparata	0:485458fca2bd	1295	* @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1296	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:485458fca2bd	1297	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1298	*/
cparata	0:485458fca2bd	1299	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Wake_Up_Detection(void)
cparata	0:485458fca2bd	1300	{
cparata	0:485458fca2bd	1301	/* Output Data Rate selection */
cparata	0:485458fca2bd	1302	if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1303	{
cparata	0:485458fca2bd	1304	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1305	}
cparata	0:485458fca2bd	1306
cparata	0:485458fca2bd	1307	/* Full scale selection. */
cparata	0:485458fca2bd	1308	if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1309	{
cparata	0:485458fca2bd	1310	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1311	}
cparata	0:485458fca2bd	1312
cparata	0:485458fca2bd	1313	/* WAKE_DUR setting */
cparata	0:485458fca2bd	1314	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:485458fca2bd	1315	{
cparata	0:485458fca2bd	1316	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1317	}
cparata	0:485458fca2bd	1318
cparata	0:485458fca2bd	1319	/* Set wake up threshold. */
cparata	0:485458fca2bd	1320	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
cparata	0:485458fca2bd	1321	{
cparata	0:485458fca2bd	1322	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1323	}
cparata	0:485458fca2bd	1324
cparata	0:485458fca2bd	1325	/* Enable basic Interrupts */
cparata	0:485458fca2bd	1326	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1327	{
cparata	0:485458fca2bd	1328	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1329	}
cparata	0:485458fca2bd	1330
cparata	0:485458fca2bd	1331	/* INT1_WU setting */
cparata	0:485458fca2bd	1332	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_ENABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1333	{
cparata	0:485458fca2bd	1334	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1335	}
cparata	0:485458fca2bd	1336
cparata	0:485458fca2bd	1337	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1338	}
cparata	0:485458fca2bd	1339
cparata	0:485458fca2bd	1340	/**
cparata	0:485458fca2bd	1341	* @brief Disable the wake up detection for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1342	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1343	*/
cparata	0:485458fca2bd	1344	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Wake_Up_Detection(void)
cparata	0:485458fca2bd	1345	{
cparata	0:485458fca2bd	1346	/* INT1_WU setting */
cparata	0:485458fca2bd	1347	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_DISABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1348	{
cparata	0:485458fca2bd	1349	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1350	}
cparata	0:485458fca2bd	1351
cparata	0:485458fca2bd	1352	/* Disable basic Interrupts */
cparata	0:485458fca2bd	1353	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1354	{
cparata	0:485458fca2bd	1355	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1356	}
cparata	0:485458fca2bd	1357
cparata	0:485458fca2bd	1358	/* WU_DUR setting */
cparata	0:485458fca2bd	1359	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:485458fca2bd	1360	{
cparata	0:485458fca2bd	1361	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1362	}
cparata	0:485458fca2bd	1363
cparata	0:485458fca2bd	1364	/* WU_THS setting */
cparata	0:485458fca2bd	1365	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:485458fca2bd	1366	{
cparata	0:485458fca2bd	1367	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1368	}
cparata	0:485458fca2bd	1369
cparata	0:485458fca2bd	1370	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1371	}
cparata	0:485458fca2bd	1372
cparata	0:485458fca2bd	1373	/**
cparata	0:485458fca2bd	1374	* @brief Get the status of the wake up detection for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1375	* @param status the pointer to the status of the wake up detection: 0 means no detection, 1 means detection happened
cparata	0:485458fca2bd	1376	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1377	*/
cparata	0:485458fca2bd	1378	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Wake_Up_Detection(uint8_t *status)
cparata	0:485458fca2bd	1379	{
cparata	0:485458fca2bd	1380	LSM6DSL_ACC_GYRO_WU_EV_STATUS_t wake_up_status;
cparata	0:485458fca2bd	1381
cparata	0:485458fca2bd	1382	if ( LSM6DSL_ACC_GYRO_R_WU_EV_STATUS( (void *)this, &wake_up_status ) == MEMS_ERROR )
cparata	0:485458fca2bd	1383	{
cparata	0:485458fca2bd	1384	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1385	}
cparata	0:485458fca2bd	1386
cparata	0:485458fca2bd	1387	switch( wake_up_status )
cparata	0:485458fca2bd	1388	{
cparata	0:485458fca2bd	1389	case LSM6DSL_ACC_GYRO_WU_EV_STATUS_DETECTED:
cparata	0:485458fca2bd	1390	*status = 1;
cparata	0:485458fca2bd	1391	break;
cparata	0:485458fca2bd	1392	case LSM6DSL_ACC_GYRO_WU_EV_STATUS_NOT_DETECTED:
cparata	0:485458fca2bd	1393	*status = 0;
cparata	0:485458fca2bd	1394	break;
cparata	0:485458fca2bd	1395	default:
cparata	0:485458fca2bd	1396	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1397	}
cparata	0:485458fca2bd	1398
cparata	0:485458fca2bd	1399	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1400	}
cparata	0:485458fca2bd	1401
cparata	0:485458fca2bd	1402	/**
cparata	0:485458fca2bd	1403	* @brief Set the wake up threshold for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1404	* @param thr the threshold to be set
cparata	0:485458fca2bd	1405	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1406	*/
cparata	0:485458fca2bd	1407	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Wake_Up_Threshold(uint8_t thr)
cparata	0:485458fca2bd	1408	{
cparata	0:485458fca2bd	1409	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
cparata	0:485458fca2bd	1410	{
cparata	0:485458fca2bd	1411	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1412	}
cparata	0:485458fca2bd	1413
cparata	0:485458fca2bd	1414	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1415	}
cparata	0:485458fca2bd	1416
cparata	0:485458fca2bd	1417	/**
cparata	0:485458fca2bd	1418	* @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1419	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:485458fca2bd	1420	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1421	*/
cparata	0:485458fca2bd	1422	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Single_Tap_Detection(void)
cparata	0:485458fca2bd	1423	{
cparata	0:485458fca2bd	1424	/* Output Data Rate selection */
cparata	0:485458fca2bd	1425	if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1426	{
cparata	0:485458fca2bd	1427	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1428	}
cparata	0:485458fca2bd	1429
cparata	0:485458fca2bd	1430	/* Full scale selection. */
cparata	0:485458fca2bd	1431	if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1432	{
cparata	0:485458fca2bd	1433	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1434	}
cparata	0:485458fca2bd	1435
cparata	0:485458fca2bd	1436	/* Enable X direction in tap recognition. */
cparata	0:485458fca2bd	1437	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1438	{
cparata	0:485458fca2bd	1439	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1440	}
cparata	0:485458fca2bd	1441
cparata	0:485458fca2bd	1442	/* Enable Y direction in tap recognition. */
cparata	0:485458fca2bd	1443	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1444	{
cparata	0:485458fca2bd	1445	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1446	}
cparata	0:485458fca2bd	1447
cparata	0:485458fca2bd	1448	/* Enable Z direction in tap recognition. */
cparata	0:485458fca2bd	1449	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1450	{
cparata	0:485458fca2bd	1451	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1452	}
cparata	0:485458fca2bd	1453
cparata	0:485458fca2bd	1454	/* Set tap threshold. */
cparata	0:485458fca2bd	1455	if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1456	{
cparata	0:485458fca2bd	1457	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1458	}
cparata	0:485458fca2bd	1459
cparata	0:485458fca2bd	1460	/* Set tap shock time window. */
cparata	0:485458fca2bd	1461	if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1462	{
cparata	0:485458fca2bd	1463	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1464	}
cparata	0:485458fca2bd	1465
cparata	0:485458fca2bd	1466	/* Set tap quiet time window. */
cparata	0:485458fca2bd	1467	if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1468	{
cparata	0:485458fca2bd	1469	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1470	}
cparata	0:485458fca2bd	1471
cparata	0:485458fca2bd	1472	/* _NOTE_: Tap duration time window - don't care for single tap. */
cparata	0:485458fca2bd	1473
cparata	0:485458fca2bd	1474	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata	0:485458fca2bd	1475
cparata	0:485458fca2bd	1476	/* Enable basic Interrupts */
cparata	0:485458fca2bd	1477	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1478	{
cparata	0:485458fca2bd	1479	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1480	}
cparata	0:485458fca2bd	1481
cparata	0:485458fca2bd	1482	/* Enable single tap interrupt on INT1 pin. */
cparata	0:485458fca2bd	1483	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1484	{
cparata	0:485458fca2bd	1485	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1486	}
cparata	0:485458fca2bd	1487
cparata	0:485458fca2bd	1488	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1489	}
cparata	0:485458fca2bd	1490
cparata	0:485458fca2bd	1491	/**
cparata	0:485458fca2bd	1492	* @brief Disable the single tap detection for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1493	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1494	*/
cparata	0:485458fca2bd	1495	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Single_Tap_Detection(void)
cparata	0:485458fca2bd	1496	{
cparata	0:485458fca2bd	1497	/* Disable single tap interrupt on INT1 pin. */
cparata	0:485458fca2bd	1498	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1499	{
cparata	0:485458fca2bd	1500	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1501	}
cparata	0:485458fca2bd	1502
cparata	0:485458fca2bd	1503	/* Disable basic Interrupts */
cparata	0:485458fca2bd	1504	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1505	{
cparata	0:485458fca2bd	1506	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1507	}
cparata	0:485458fca2bd	1508
cparata	0:485458fca2bd	1509	/* Reset tap threshold. */
cparata	0:485458fca2bd	1510	if ( Set_Tap_Threshold( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1511	{
cparata	0:485458fca2bd	1512	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1513	}
cparata	0:485458fca2bd	1514
cparata	0:485458fca2bd	1515	/* Reset tap shock time window. */
cparata	0:485458fca2bd	1516	if ( Set_Tap_Shock_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1517	{
cparata	0:485458fca2bd	1518	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1519	}
cparata	0:485458fca2bd	1520
cparata	0:485458fca2bd	1521	/* Reset tap quiet time window. */
cparata	0:485458fca2bd	1522	if ( Set_Tap_Quiet_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1523	{
cparata	0:485458fca2bd	1524	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1525	}
cparata	0:485458fca2bd	1526
cparata	0:485458fca2bd	1527	/* _NOTE_: Tap duration time window - don't care for single tap. */
cparata	0:485458fca2bd	1528
cparata	0:485458fca2bd	1529	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata	0:485458fca2bd	1530
cparata	0:485458fca2bd	1531	/* Disable Z direction in tap recognition. */
cparata	0:485458fca2bd	1532	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1533	{
cparata	0:485458fca2bd	1534	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1535	}
cparata	0:485458fca2bd	1536
cparata	0:485458fca2bd	1537	/* Disable Y direction in tap recognition. */
cparata	0:485458fca2bd	1538	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1539	{
cparata	0:485458fca2bd	1540	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1541	}
cparata	0:485458fca2bd	1542
cparata	0:485458fca2bd	1543	/* Disable X direction in tap recognition. */
cparata	0:485458fca2bd	1544	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1545	{
cparata	0:485458fca2bd	1546	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1547	}
cparata	0:485458fca2bd	1548
cparata	0:485458fca2bd	1549	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1550	}
cparata	0:485458fca2bd	1551
cparata	0:485458fca2bd	1552	/**
cparata	0:485458fca2bd	1553	* @brief Get the single tap detection status for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1554	* @param status the pointer to the single tap detection status: 0 means no single tap detected, 1 means single tap detected
cparata	0:485458fca2bd	1555	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1556	*/
cparata	0:485458fca2bd	1557	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Single_Tap_Detection(uint8_t *status)
cparata	0:485458fca2bd	1558	{
cparata	0:485458fca2bd	1559	LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_t tap_status;
cparata	0:485458fca2bd	1560
cparata	0:485458fca2bd	1561	if ( LSM6DSL_ACC_GYRO_R_SINGLE_TAP_EV_STATUS( (void *)this, &tap_status ) == MEMS_ERROR )
cparata	0:485458fca2bd	1562	{
cparata	0:485458fca2bd	1563	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1564	}
cparata	0:485458fca2bd	1565
cparata	0:485458fca2bd	1566	switch( tap_status )
cparata	0:485458fca2bd	1567	{
cparata	0:485458fca2bd	1568	case LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_DETECTED:
cparata	0:485458fca2bd	1569	*status = 1;
cparata	0:485458fca2bd	1570	break;
cparata	0:485458fca2bd	1571
cparata	0:485458fca2bd	1572	case LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_NOT_DETECTED:
cparata	0:485458fca2bd	1573	*status = 0;
cparata	0:485458fca2bd	1574	break;
cparata	0:485458fca2bd	1575
cparata	0:485458fca2bd	1576	default:
cparata	0:485458fca2bd	1577	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1578	}
cparata	0:485458fca2bd	1579
cparata	0:485458fca2bd	1580	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1581	}
cparata	0:485458fca2bd	1582
cparata	0:485458fca2bd	1583	/**
cparata	0:485458fca2bd	1584	* @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1585	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:485458fca2bd	1586	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1587	*/
cparata	0:485458fca2bd	1588	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Double_Tap_Detection(void)
cparata	0:485458fca2bd	1589	{
cparata	0:485458fca2bd	1590	/* Output Data Rate selection */
cparata	0:485458fca2bd	1591	if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1592	{
cparata	0:485458fca2bd	1593	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1594	}
cparata	0:485458fca2bd	1595
cparata	0:485458fca2bd	1596	/* Full scale selection. */
cparata	0:485458fca2bd	1597	if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1598	{
cparata	0:485458fca2bd	1599	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1600	}
cparata	0:485458fca2bd	1601
cparata	0:485458fca2bd	1602	/* Enable X direction in tap recognition. */
cparata	0:485458fca2bd	1603	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1604	{
cparata	0:485458fca2bd	1605	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1606	}
cparata	0:485458fca2bd	1607
cparata	0:485458fca2bd	1608	/* Enable Y direction in tap recognition. */
cparata	0:485458fca2bd	1609	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1610	{
cparata	0:485458fca2bd	1611	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1612	}
cparata	0:485458fca2bd	1613
cparata	0:485458fca2bd	1614	/* Enable Z direction in tap recognition. */
cparata	0:485458fca2bd	1615	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1616	{
cparata	0:485458fca2bd	1617	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1618	}
cparata	0:485458fca2bd	1619
cparata	0:485458fca2bd	1620	/* Set tap threshold. */
cparata	0:485458fca2bd	1621	if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1622	{
cparata	0:485458fca2bd	1623	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1624	}
cparata	0:485458fca2bd	1625
cparata	0:485458fca2bd	1626	/* Set tap shock time window. */
cparata	0:485458fca2bd	1627	if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1628	{
cparata	0:485458fca2bd	1629	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1630	}
cparata	0:485458fca2bd	1631
cparata	0:485458fca2bd	1632	/* Set tap quiet time window. */
cparata	0:485458fca2bd	1633	if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1634	{
cparata	0:485458fca2bd	1635	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1636	}
cparata	0:485458fca2bd	1637
cparata	0:485458fca2bd	1638	/* Set tap duration time window. */
cparata	0:485458fca2bd	1639	if ( Set_Tap_Duration_Time( LSM6DSL_TAP_DURATION_TIME_MID ) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1640	{
cparata	0:485458fca2bd	1641	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1642	}
cparata	0:485458fca2bd	1643
cparata	0:485458fca2bd	1644	/* Single and double tap enabled. */
cparata	0:485458fca2bd	1645	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
cparata	0:485458fca2bd	1646	{
cparata	0:485458fca2bd	1647	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1648	}
cparata	0:485458fca2bd	1649
cparata	0:485458fca2bd	1650	/* Enable basic Interrupts */
cparata	0:485458fca2bd	1651	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1652	{
cparata	0:485458fca2bd	1653	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1654	}
cparata	0:485458fca2bd	1655
cparata	0:485458fca2bd	1656	/* Enable double tap interrupt on INT1 pin. */
cparata	0:485458fca2bd	1657	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1658	{
cparata	0:485458fca2bd	1659	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1660	}
cparata	0:485458fca2bd	1661
cparata	0:485458fca2bd	1662	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1663	}
cparata	0:485458fca2bd	1664
cparata	0:485458fca2bd	1665	/**
cparata	0:485458fca2bd	1666	* @brief Disable the double tap detection for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1667	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1668	*/
cparata	0:485458fca2bd	1669	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Double_Tap_Detection(void)
cparata	0:485458fca2bd	1670	{
cparata	0:485458fca2bd	1671	/* Disable double tap interrupt on INT1 pin. */
cparata	0:485458fca2bd	1672	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1673	{
cparata	0:485458fca2bd	1674	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1675	}
cparata	0:485458fca2bd	1676
cparata	0:485458fca2bd	1677	/* Disable basic Interrupts */
cparata	0:485458fca2bd	1678	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1679	{
cparata	0:485458fca2bd	1680	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1681	}
cparata	0:485458fca2bd	1682
cparata	0:485458fca2bd	1683	/* Reset tap threshold. */
cparata	0:485458fca2bd	1684	if ( Set_Tap_Threshold( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1685	{
cparata	0:485458fca2bd	1686	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1687	}
cparata	0:485458fca2bd	1688
cparata	0:485458fca2bd	1689	/* Reset tap shock time window. */
cparata	0:485458fca2bd	1690	if ( Set_Tap_Shock_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1691	{
cparata	0:485458fca2bd	1692	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1693	}
cparata	0:485458fca2bd	1694
cparata	0:485458fca2bd	1695	/* Reset tap quiet time window. */
cparata	0:485458fca2bd	1696	if ( Set_Tap_Quiet_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1697	{
cparata	0:485458fca2bd	1698	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1699	}
cparata	0:485458fca2bd	1700
cparata	0:485458fca2bd	1701	/* Reset tap duration time window. */
cparata	0:485458fca2bd	1702	if ( Set_Tap_Duration_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1703	{
cparata	0:485458fca2bd	1704	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1705	}
cparata	0:485458fca2bd	1706
cparata	0:485458fca2bd	1707	/* Only single tap enabled. */
cparata	0:485458fca2bd	1708	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
cparata	0:485458fca2bd	1709	{
cparata	0:485458fca2bd	1710	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1711	}
cparata	0:485458fca2bd	1712
cparata	0:485458fca2bd	1713	/* Disable Z direction in tap recognition. */
cparata	0:485458fca2bd	1714	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1715	{
cparata	0:485458fca2bd	1716	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1717	}
cparata	0:485458fca2bd	1718
cparata	0:485458fca2bd	1719	/* Disable Y direction in tap recognition. */
cparata	0:485458fca2bd	1720	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1721	{
cparata	0:485458fca2bd	1722	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1723	}
cparata	0:485458fca2bd	1724
cparata	0:485458fca2bd	1725	/* Disable X direction in tap recognition. */
cparata	0:485458fca2bd	1726	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1727	{
cparata	0:485458fca2bd	1728	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1729	}
cparata	0:485458fca2bd	1730
cparata	0:485458fca2bd	1731	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1732	}
cparata	0:485458fca2bd	1733
cparata	0:485458fca2bd	1734	/**
cparata	0:485458fca2bd	1735	* @brief Get the double tap detection status for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1736	* @param status the pointer to the double tap detection status: 0 means no double tap detected, 1 means double tap detected
cparata	0:485458fca2bd	1737	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1738	*/
cparata	0:485458fca2bd	1739	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Double_Tap_Detection(uint8_t *status)
cparata	0:485458fca2bd	1740	{
cparata	0:485458fca2bd	1741	LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_t tap_status;
cparata	0:485458fca2bd	1742
cparata	0:485458fca2bd	1743	if ( LSM6DSL_ACC_GYRO_R_DOUBLE_TAP_EV_STATUS( (void *)this, &tap_status ) == MEMS_ERROR )
cparata	0:485458fca2bd	1744	{
cparata	0:485458fca2bd	1745	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1746	}
cparata	0:485458fca2bd	1747
cparata	0:485458fca2bd	1748	switch( tap_status )
cparata	0:485458fca2bd	1749	{
cparata	0:485458fca2bd	1750	case LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_DETECTED:
cparata	0:485458fca2bd	1751	*status = 1;
cparata	0:485458fca2bd	1752	break;
cparata	0:485458fca2bd	1753
cparata	0:485458fca2bd	1754	case LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_NOT_DETECTED:
cparata	0:485458fca2bd	1755	*status = 0;
cparata	0:485458fca2bd	1756	break;
cparata	0:485458fca2bd	1757
cparata	0:485458fca2bd	1758	default:
cparata	0:485458fca2bd	1759	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1760	}
cparata	0:485458fca2bd	1761
cparata	0:485458fca2bd	1762	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1763	}
cparata	0:485458fca2bd	1764
cparata	0:485458fca2bd	1765	/**
cparata	0:485458fca2bd	1766	* @brief Set the tap threshold for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1767	* @param thr the threshold to be set
cparata	0:485458fca2bd	1768	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1769	*/
cparata	0:485458fca2bd	1770	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Threshold(uint8_t thr)
cparata	0:485458fca2bd	1771	{
cparata	0:485458fca2bd	1772	if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
cparata	0:485458fca2bd	1773	{
cparata	0:485458fca2bd	1774	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1775	}
cparata	0:485458fca2bd	1776
cparata	0:485458fca2bd	1777	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1778	}
cparata	0:485458fca2bd	1779
cparata	0:485458fca2bd	1780	/**
cparata	0:485458fca2bd	1781	* @brief Set the tap shock time window for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1782	* @param time the shock time window to be set
cparata	0:485458fca2bd	1783	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1784	*/
cparata	0:485458fca2bd	1785	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Shock_Time(uint8_t time)
cparata	0:485458fca2bd	1786	{
cparata	0:485458fca2bd	1787	if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
cparata	0:485458fca2bd	1788	{
cparata	0:485458fca2bd	1789	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1790	}
cparata	0:485458fca2bd	1791
cparata	0:485458fca2bd	1792	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1793	}
cparata	0:485458fca2bd	1794
cparata	0:485458fca2bd	1795	/**
cparata	0:485458fca2bd	1796	* @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1797	* @param time the quiet time window to be set
cparata	0:485458fca2bd	1798	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1799	*/
cparata	0:485458fca2bd	1800	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Quiet_Time(uint8_t time)
cparata	0:485458fca2bd	1801	{
cparata	0:485458fca2bd	1802	if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
cparata	0:485458fca2bd	1803	{
cparata	0:485458fca2bd	1804	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1805	}
cparata	0:485458fca2bd	1806
cparata	0:485458fca2bd	1807	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1808	}
cparata	0:485458fca2bd	1809
cparata	0:485458fca2bd	1810	/**
cparata	0:485458fca2bd	1811	* @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1812	* @param time the duration of the time window to be set
cparata	0:485458fca2bd	1813	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1814	*/
cparata	0:485458fca2bd	1815	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Duration_Time(uint8_t time)
cparata	0:485458fca2bd	1816	{
cparata	0:485458fca2bd	1817	if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
cparata	0:485458fca2bd	1818	{
cparata	0:485458fca2bd	1819	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1820	}
cparata	0:485458fca2bd	1821
cparata	0:485458fca2bd	1822	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1823	}
cparata	0:485458fca2bd	1824
cparata	0:485458fca2bd	1825	/**
cparata	0:485458fca2bd	1826	* @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1827	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:485458fca2bd	1828	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1829	*/
cparata	0:485458fca2bd	1830	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_6D_Orientation(void)
cparata	0:485458fca2bd	1831	{
cparata	0:485458fca2bd	1832	/* Output Data Rate selection */
cparata	0:485458fca2bd	1833	if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1834	{
cparata	0:485458fca2bd	1835	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1836	}
cparata	0:485458fca2bd	1837
cparata	0:485458fca2bd	1838	/* Full scale selection. */
cparata	0:485458fca2bd	1839	if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:485458fca2bd	1840	{
cparata	0:485458fca2bd	1841	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1842	}
cparata	0:485458fca2bd	1843
cparata	0:485458fca2bd	1844	/* Set 6D threshold. */
cparata	0:485458fca2bd	1845	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
cparata	0:485458fca2bd	1846	{
cparata	0:485458fca2bd	1847	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1848	}
cparata	0:485458fca2bd	1849
cparata	0:485458fca2bd	1850	/* Enable basic Interrupts */
cparata	0:485458fca2bd	1851	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1852	{
cparata	0:485458fca2bd	1853	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1854	}
cparata	0:485458fca2bd	1855
cparata	0:485458fca2bd	1856	/* INT1_6D setting. */
cparata	0:485458fca2bd	1857	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1858	{
cparata	0:485458fca2bd	1859	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1860	}
cparata	0:485458fca2bd	1861
cparata	0:485458fca2bd	1862	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1863	}
cparata	0:485458fca2bd	1864
cparata	0:485458fca2bd	1865	/**
cparata	0:485458fca2bd	1866	* @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1867	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1868	*/
cparata	0:485458fca2bd	1869	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_6D_Orientation(void)
cparata	0:485458fca2bd	1870	{
cparata	0:485458fca2bd	1871	/* INT1_6D setting. */
cparata	0:485458fca2bd	1872	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1873	{
cparata	0:485458fca2bd	1874	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1875	}
cparata	0:485458fca2bd	1876
cparata	0:485458fca2bd	1877	/* Disable basic Interrupts */
cparata	0:485458fca2bd	1878	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	0:485458fca2bd	1879	{
cparata	0:485458fca2bd	1880	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1881	}
cparata	0:485458fca2bd	1882
cparata	0:485458fca2bd	1883	/* Reset 6D threshold. */
cparata	0:485458fca2bd	1884	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
cparata	0:485458fca2bd	1885	{
cparata	0:485458fca2bd	1886	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1887	}
cparata	0:485458fca2bd	1888
cparata	0:485458fca2bd	1889	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1890	}
cparata	0:485458fca2bd	1891
cparata	0:485458fca2bd	1892	/**
cparata	0:485458fca2bd	1893	* @brief Get the status of the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1894	* @param status the pointer to the status of the 6D orientation detection: 0 means no detection, 1 means detection happened
cparata	0:485458fca2bd	1895	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1896	*/
cparata	0:485458fca2bd	1897	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_6D_Orientation(uint8_t *status)
cparata	0:485458fca2bd	1898	{
cparata	0:485458fca2bd	1899	LSM6DSL_ACC_GYRO_D6D_EV_STATUS_t status_raw;
cparata	0:485458fca2bd	1900
cparata	0:485458fca2bd	1901	if ( LSM6DSL_ACC_GYRO_R_D6D_EV_STATUS( (void *)this, &status_raw ) == MEMS_ERROR )
cparata	0:485458fca2bd	1902	{
cparata	0:485458fca2bd	1903	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1904	}
cparata	0:485458fca2bd	1905
cparata	0:485458fca2bd	1906	switch( status_raw )
cparata	0:485458fca2bd	1907	{
cparata	0:485458fca2bd	1908	case LSM6DSL_ACC_GYRO_D6D_EV_STATUS_DETECTED:
cparata	0:485458fca2bd	1909	*status = 1;
cparata	0:485458fca2bd	1910	break;
cparata	0:485458fca2bd	1911	case LSM6DSL_ACC_GYRO_D6D_EV_STATUS_NOT_DETECTED:
cparata	0:485458fca2bd	1912	*status = 0;
cparata	0:485458fca2bd	1913	break;
cparata	0:485458fca2bd	1914	default:
cparata	0:485458fca2bd	1915	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1916	}
cparata	0:485458fca2bd	1917
cparata	0:485458fca2bd	1918	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1919	}
cparata	0:485458fca2bd	1920
cparata	0:485458fca2bd	1921	/**
cparata	0:485458fca2bd	1922	* @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1923	* @param xl the pointer to the 6D orientation XL axis
cparata	0:485458fca2bd	1924	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1925	*/
cparata	0:485458fca2bd	1926	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_XL(uint8_t *xl)
cparata	0:485458fca2bd	1927	{
cparata	0:485458fca2bd	1928	LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
cparata	0:485458fca2bd	1929
cparata	0:485458fca2bd	1930	if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
cparata	0:485458fca2bd	1931	{
cparata	0:485458fca2bd	1932	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1933	}
cparata	0:485458fca2bd	1934
cparata	0:485458fca2bd	1935	switch( xl_raw )
cparata	0:485458fca2bd	1936	{
cparata	0:485458fca2bd	1937	case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
cparata	0:485458fca2bd	1938	*xl = 1;
cparata	0:485458fca2bd	1939	break;
cparata	0:485458fca2bd	1940	case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
cparata	0:485458fca2bd	1941	*xl = 0;
cparata	0:485458fca2bd	1942	break;
cparata	0:485458fca2bd	1943	default:
cparata	0:485458fca2bd	1944	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1945	}
cparata	0:485458fca2bd	1946
cparata	0:485458fca2bd	1947	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1948	}
cparata	0:485458fca2bd	1949
cparata	0:485458fca2bd	1950	/**
cparata	0:485458fca2bd	1951	* @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1952	* @param xh the pointer to the 6D orientation XH axis
cparata	0:485458fca2bd	1953	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1954	*/
cparata	0:485458fca2bd	1955	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_XH(uint8_t *xh)
cparata	0:485458fca2bd	1956	{
cparata	0:485458fca2bd	1957	LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
cparata	0:485458fca2bd	1958
cparata	0:485458fca2bd	1959	if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
cparata	0:485458fca2bd	1960	{
cparata	0:485458fca2bd	1961	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1962	}
cparata	0:485458fca2bd	1963
cparata	0:485458fca2bd	1964	switch( xh_raw )
cparata	0:485458fca2bd	1965	{
cparata	0:485458fca2bd	1966	case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
cparata	0:485458fca2bd	1967	*xh = 1;
cparata	0:485458fca2bd	1968	break;
cparata	0:485458fca2bd	1969	case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
cparata	0:485458fca2bd	1970	*xh = 0;
cparata	0:485458fca2bd	1971	break;
cparata	0:485458fca2bd	1972	default:
cparata	0:485458fca2bd	1973	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1974	}
cparata	0:485458fca2bd	1975
cparata	0:485458fca2bd	1976	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	1977	}
cparata	0:485458fca2bd	1978
cparata	0:485458fca2bd	1979	/**
cparata	0:485458fca2bd	1980	* @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	1981	* @param yl the pointer to the 6D orientation YL axis
cparata	0:485458fca2bd	1982	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	1983	*/
cparata	0:485458fca2bd	1984	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_YL(uint8_t *yl)
cparata	0:485458fca2bd	1985	{
cparata	0:485458fca2bd	1986	LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
cparata	0:485458fca2bd	1987
cparata	0:485458fca2bd	1988	if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
cparata	0:485458fca2bd	1989	{
cparata	0:485458fca2bd	1990	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	1991	}
cparata	0:485458fca2bd	1992
cparata	0:485458fca2bd	1993	switch( yl_raw )
cparata	0:485458fca2bd	1994	{
cparata	0:485458fca2bd	1995	case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
cparata	0:485458fca2bd	1996	*yl = 1;
cparata	0:485458fca2bd	1997	break;
cparata	0:485458fca2bd	1998	case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
cparata	0:485458fca2bd	1999	*yl = 0;
cparata	0:485458fca2bd	2000	break;
cparata	0:485458fca2bd	2001	default:
cparata	0:485458fca2bd	2002	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	2003	}
cparata	0:485458fca2bd	2004
cparata	0:485458fca2bd	2005	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	2006	}
cparata	0:485458fca2bd	2007
cparata	0:485458fca2bd	2008	/**
cparata	0:485458fca2bd	2009	* @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	2010	* @param yh the pointer to the 6D orientation YH axis
cparata	0:485458fca2bd	2011	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	2012	*/
cparata	0:485458fca2bd	2013	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_YH(uint8_t *yh)
cparata	0:485458fca2bd	2014	{
cparata	0:485458fca2bd	2015	LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
cparata	0:485458fca2bd	2016
cparata	0:485458fca2bd	2017	if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
cparata	0:485458fca2bd	2018	{
cparata	0:485458fca2bd	2019	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	2020	}
cparata	0:485458fca2bd	2021
cparata	0:485458fca2bd	2022	switch( yh_raw )
cparata	0:485458fca2bd	2023	{
cparata	0:485458fca2bd	2024	case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
cparata	0:485458fca2bd	2025	*yh = 1;
cparata	0:485458fca2bd	2026	break;
cparata	0:485458fca2bd	2027	case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
cparata	0:485458fca2bd	2028	*yh = 0;
cparata	0:485458fca2bd	2029	break;
cparata	0:485458fca2bd	2030	default:
cparata	0:485458fca2bd	2031	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	2032	}
cparata	0:485458fca2bd	2033
cparata	0:485458fca2bd	2034	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	2035	}
cparata	0:485458fca2bd	2036
cparata	0:485458fca2bd	2037	/**
cparata	0:485458fca2bd	2038	* @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	2039	* @param zl the pointer to the 6D orientation ZL axis
cparata	0:485458fca2bd	2040	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	2041	*/
cparata	0:485458fca2bd	2042	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_ZL(uint8_t *zl)
cparata	0:485458fca2bd	2043	{
cparata	0:485458fca2bd	2044	LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
cparata	0:485458fca2bd	2045
cparata	0:485458fca2bd	2046	if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
cparata	0:485458fca2bd	2047	{
cparata	0:485458fca2bd	2048	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	2049	}
cparata	0:485458fca2bd	2050
cparata	0:485458fca2bd	2051	switch( zl_raw )
cparata	0:485458fca2bd	2052	{
cparata	0:485458fca2bd	2053	case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
cparata	0:485458fca2bd	2054	*zl = 1;
cparata	0:485458fca2bd	2055	break;
cparata	0:485458fca2bd	2056	case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
cparata	0:485458fca2bd	2057	*zl = 0;
cparata	0:485458fca2bd	2058	break;
cparata	0:485458fca2bd	2059	default:
cparata	0:485458fca2bd	2060	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	2061	}
cparata	0:485458fca2bd	2062
cparata	0:485458fca2bd	2063	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	2064	}
cparata	0:485458fca2bd	2065
cparata	0:485458fca2bd	2066	/**
cparata	0:485458fca2bd	2067	* @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
cparata	0:485458fca2bd	2068	* @param zh the pointer to the 6D orientation ZH axis
cparata	0:485458fca2bd	2069	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:485458fca2bd	2070	*/
cparata	0:485458fca2bd	2071	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_ZH(uint8_t *zh)
cparata	0:485458fca2bd	2072	{
cparata	0:485458fca2bd	2073	LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
cparata	0:485458fca2bd	2074
cparata	0:485458fca2bd	2075	if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
cparata	0:485458fca2bd	2076	{
cparata	0:485458fca2bd	2077	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	2078	}
cparata	0:485458fca2bd	2079
cparata	0:485458fca2bd	2080	switch( zh_raw )
cparata	0:485458fca2bd	2081	{
cparata	0:485458fca2bd	2082	case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
cparata	0:485458fca2bd	2083	*zh = 1;
cparata	0:485458fca2bd	2084	break;
cparata	0:485458fca2bd	2085	case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
cparata	0:485458fca2bd	2086	*zh = 0;
cparata	0:485458fca2bd	2087	break;
cparata	0:485458fca2bd	2088	default:
cparata	0:485458fca2bd	2089	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	2090	}
cparata	0:485458fca2bd	2091
cparata	0:485458fca2bd	2092	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	2093	}
cparata	0:485458fca2bd	2094
cparata	0:485458fca2bd	2095	/**
cparata	0:485458fca2bd	2096	* @brief Read the data from register
cparata	0:485458fca2bd	2097	* @param reg register address
cparata	0:485458fca2bd	2098	* @param data register data
cparata	0:485458fca2bd	2099	* @retval LSM6DSL_STATUS_OK in case of success
cparata	0:485458fca2bd	2100	* @retval LSM6DSL_STATUS_ERROR in case of failure
cparata	0:485458fca2bd	2101	*/
cparata	0:485458fca2bd	2102	LSM6DSLStatusTypeDef LSM6DSLSensor::ReadReg( uint8_t reg, uint8_t *data )
cparata	0:485458fca2bd	2103	{
cparata	0:485458fca2bd	2104
cparata	0:485458fca2bd	2105	if ( LSM6DSL_ACC_GYRO_ReadReg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
cparata	0:485458fca2bd	2106	{
cparata	0:485458fca2bd	2107	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	2108	}
cparata	0:485458fca2bd	2109
cparata	0:485458fca2bd	2110	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	2111	}
cparata	0:485458fca2bd	2112
cparata	0:485458fca2bd	2113	/**
cparata	0:485458fca2bd	2114	* @brief Write the data to register
cparata	0:485458fca2bd	2115	* @param reg register address
cparata	0:485458fca2bd	2116	* @param data register data
cparata	0:485458fca2bd	2117	* @retval LSM6DSL_STATUS_OK in case of success
cparata	0:485458fca2bd	2118	* @retval LSM6DSL_STATUS_ERROR in case of failure
cparata	0:485458fca2bd	2119	*/
cparata	0:485458fca2bd	2120	LSM6DSLStatusTypeDef LSM6DSLSensor::WriteReg( uint8_t reg, uint8_t data )
cparata	0:485458fca2bd	2121	{
cparata	0:485458fca2bd	2122
cparata	0:485458fca2bd	2123	if ( LSM6DSL_ACC_GYRO_WriteReg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
cparata	0:485458fca2bd	2124	{
cparata	0:485458fca2bd	2125	return LSM6DSL_STATUS_ERROR;
cparata	0:485458fca2bd	2126	}
cparata	0:485458fca2bd	2127
cparata	0:485458fca2bd	2128	return LSM6DSL_STATUS_OK;
cparata	0:485458fca2bd	2129	}
cparata	0:485458fca2bd	2130
cparata	0:485458fca2bd	2131
cparata	0:485458fca2bd	2132	uint8_t LSM6DSL_IO_Write( void handle, uint8_t WriteAddr, uint8_t pBuffer, uint16_t nBytesToWrite )
cparata	0:485458fca2bd	2133	{
cparata	0:485458fca2bd	2134	return ((LSM6DSLSensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata	0:485458fca2bd	2135	}
cparata	0:485458fca2bd	2136
cparata	0:485458fca2bd	2137	uint8_t LSM6DSL_IO_Read( void handle, uint8_t ReadAddr, uint8_t pBuffer, uint16_t nBytesToRead )
cparata	0:485458fca2bd	2138	{
cparata	0:485458fca2bd	2139	return ((LSM6DSLSensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata	0:485458fca2bd	2140	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	16 Dec 2016
Imports:	440
Forks:	1
Commits:	17
Dependents:	0
Dependencies:	2
Followers:	406

The code in this repository is Apache licensed.

6D Orientation Demo Application based on sensor expansion board X-NUCLEO-IKS01A2

X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.cpp@0:485458fca2bd, 2016-08-12 (annotated)

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