ST / Mbed 2 deprecated 6DOrientation_IKS01A2

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

Dependencies:   X_NUCLEO_IKS01A2 mbed

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@2:ae74845fa96a, 2016-08-19 (annotated)

Committer:
cparata
Date:
Fri Aug 19 12:23:23 2016 +0000
Revision:
2:ae74845fa96a
Child:
4:1adb1ce17b05
Add interfaces to all components

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 2:ae74845fa96a 1 /**
cparata 2:ae74845fa96a 2 ******************************************************************************
cparata 2:ae74845fa96a 3 * @file LSM6DSLSensor.cpp
cparata 2:ae74845fa96a 4 * @author AST
cparata 2:ae74845fa96a 5 * @version V1.0.0
cparata 2:ae74845fa96a 6 * @date 5 August 2016
cparata 2:ae74845fa96a 7 * @brief Implementation of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
cparata 2:ae74845fa96a 8 * sensor.
cparata 2:ae74845fa96a 9 ******************************************************************************
cparata 2:ae74845fa96a 10 * @attention
cparata 2:ae74845fa96a 11 *
cparata 2:ae74845fa96a 12 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 2:ae74845fa96a 13 *
cparata 2:ae74845fa96a 14 * Redistribution and use in source and binary forms, with or without modification,
cparata 2:ae74845fa96a 15 * are permitted provided that the following conditions are met:
cparata 2:ae74845fa96a 16 * 1. Redistributions of source code must retain the above copyright notice,
cparata 2:ae74845fa96a 17 * this list of conditions and the following disclaimer.
cparata 2:ae74845fa96a 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 2:ae74845fa96a 19 * this list of conditions and the following disclaimer in the documentation
cparata 2:ae74845fa96a 20 * and/or other materials provided with the distribution.
cparata 2:ae74845fa96a 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 2:ae74845fa96a 22 * may be used to endorse or promote products derived from this software
cparata 2:ae74845fa96a 23 * without specific prior written permission.
cparata 2:ae74845fa96a 24 *
cparata 2:ae74845fa96a 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 2:ae74845fa96a 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 2:ae74845fa96a 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 2:ae74845fa96a 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 2:ae74845fa96a 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 2:ae74845fa96a 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 2:ae74845fa96a 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 2:ae74845fa96a 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 2:ae74845fa96a 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 2:ae74845fa96a 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 2:ae74845fa96a 35 *
cparata 2:ae74845fa96a 36 ******************************************************************************
cparata 2:ae74845fa96a 37 */
cparata 2:ae74845fa96a 38
cparata 2:ae74845fa96a 39
cparata 2:ae74845fa96a 40 /* Includes ------------------------------------------------------------------*/
cparata 2:ae74845fa96a 41
cparata 2:ae74845fa96a 42 #include "mbed.h"
cparata 2:ae74845fa96a 43 #include "DevI2C.h"
cparata 2:ae74845fa96a 44 #include "LSM6DSLSensor.h"
cparata 2:ae74845fa96a 45 #include "LSM6DSL_ACC_GYRO_driver.h"
cparata 2:ae74845fa96a 46
cparata 2:ae74845fa96a 47
cparata 2:ae74845fa96a 48 /* Class Implementation ------------------------------------------------------*/
cparata 2:ae74845fa96a 49
cparata 2:ae74845fa96a 50 /** Constructor
cparata 2:ae74845fa96a 51 * @param i2c object of an helper class which handles the I2C peripheral
cparata 2:ae74845fa96a 52 * @param address the address of the component's instance
cparata 2:ae74845fa96a 53 */
cparata 2:ae74845fa96a 54 LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c) : dev_i2c(i2c)
cparata 2:ae74845fa96a 55 {
cparata 2:ae74845fa96a 56 address = LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH;
cparata 2:ae74845fa96a 57 };
cparata 2:ae74845fa96a 58
cparata 2:ae74845fa96a 59 /** Constructor
cparata 2:ae74845fa96a 60 * @param i2c object of an helper class which handles the I2C peripheral
cparata 2:ae74845fa96a 61 * @param address the address of the component's instance
cparata 2:ae74845fa96a 62 */
cparata 2:ae74845fa96a 63 LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
cparata 2:ae74845fa96a 64 {
cparata 2:ae74845fa96a 65
cparata 2:ae74845fa96a 66 };
cparata 2:ae74845fa96a 67
cparata 2:ae74845fa96a 68 /**
cparata 2:ae74845fa96a 69 * @brief Initializing the component.
cparata 2:ae74845fa96a 70 * @param[in] init pointer to device specific initalization structure.
cparata 2:ae74845fa96a 71 * @retval "0" in case of success, an error code otherwise.
cparata 2:ae74845fa96a 72 */
cparata 2:ae74845fa96a 73 int LSM6DSLSensor::Init(void *init)
cparata 2:ae74845fa96a 74 {
cparata 2:ae74845fa96a 75 /* Enable register address automatically incremented during a multiple byte
cparata 2:ae74845fa96a 76 access with a serial interface. */
cparata 2:ae74845fa96a 77 if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 78 {
cparata 2:ae74845fa96a 79 return 1;
cparata 2:ae74845fa96a 80 }
cparata 2:ae74845fa96a 81
cparata 2:ae74845fa96a 82 /* Enable BDU */
cparata 2:ae74845fa96a 83 if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
cparata 2:ae74845fa96a 84 {
cparata 2:ae74845fa96a 85 return 1;
cparata 2:ae74845fa96a 86 }
cparata 2:ae74845fa96a 87
cparata 2:ae74845fa96a 88 /* FIFO mode selection */
cparata 2:ae74845fa96a 89 if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
cparata 2:ae74845fa96a 90 {
cparata 2:ae74845fa96a 91 return 1;
cparata 2:ae74845fa96a 92 }
cparata 2:ae74845fa96a 93
cparata 2:ae74845fa96a 94 /* Output data rate selection - power down. */
cparata 2:ae74845fa96a 95 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata 2:ae74845fa96a 96 {
cparata 2:ae74845fa96a 97 return 1;
cparata 2:ae74845fa96a 98 }
cparata 2:ae74845fa96a 99
cparata 2:ae74845fa96a 100 /* Full scale selection. */
cparata 2:ae74845fa96a 101 if ( Set_X_FS( 2.0f ) == 1 )
cparata 2:ae74845fa96a 102 {
cparata 2:ae74845fa96a 103 return 1;
cparata 2:ae74845fa96a 104 }
cparata 2:ae74845fa96a 105
cparata 2:ae74845fa96a 106 /* Output data rate selection - power down */
cparata 2:ae74845fa96a 107 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata 2:ae74845fa96a 108 {
cparata 2:ae74845fa96a 109 return 1;
cparata 2:ae74845fa96a 110 }
cparata 2:ae74845fa96a 111
cparata 2:ae74845fa96a 112 /* Full scale selection. */
cparata 2:ae74845fa96a 113 if ( Set_G_FS( 2000.0f ) == 1 )
cparata 2:ae74845fa96a 114 {
cparata 2:ae74845fa96a 115 return 1;
cparata 2:ae74845fa96a 116 }
cparata 2:ae74845fa96a 117
cparata 2:ae74845fa96a 118 X_Last_ODR = 104.0f;
cparata 2:ae74845fa96a 119
cparata 2:ae74845fa96a 120 X_isEnabled = 0;
cparata 2:ae74845fa96a 121
cparata 2:ae74845fa96a 122 G_Last_ODR = 104.0f;
cparata 2:ae74845fa96a 123
cparata 2:ae74845fa96a 124 G_isEnabled = 0;
cparata 2:ae74845fa96a 125
cparata 2:ae74845fa96a 126 return 0;
cparata 2:ae74845fa96a 127 }
cparata 2:ae74845fa96a 128
cparata 2:ae74845fa96a 129 /**
cparata 2:ae74845fa96a 130 * @brief Enable LSM6DSL Accelerator
cparata 2:ae74845fa96a 131 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 132 */
cparata 2:ae74845fa96a 133 int LSM6DSLSensor::Enable_X(void)
cparata 2:ae74845fa96a 134 {
cparata 2:ae74845fa96a 135 /* Check if the component is already enabled */
cparata 2:ae74845fa96a 136 if ( X_isEnabled == 1 )
cparata 2:ae74845fa96a 137 {
cparata 2:ae74845fa96a 138 return 0;
cparata 2:ae74845fa96a 139 }
cparata 2:ae74845fa96a 140
cparata 2:ae74845fa96a 141 /* Output data rate selection. */
cparata 2:ae74845fa96a 142 if ( Set_X_ODR_When_Enabled( X_Last_ODR ) == 1 )
cparata 2:ae74845fa96a 143 {
cparata 2:ae74845fa96a 144 return 1;
cparata 2:ae74845fa96a 145 }
cparata 2:ae74845fa96a 146
cparata 2:ae74845fa96a 147 X_isEnabled = 1;
cparata 2:ae74845fa96a 148
cparata 2:ae74845fa96a 149 return 0;
cparata 2:ae74845fa96a 150 }
cparata 2:ae74845fa96a 151
cparata 2:ae74845fa96a 152 /**
cparata 2:ae74845fa96a 153 * @brief Enable LSM6DSL Gyroscope
cparata 2:ae74845fa96a 154 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 155 */
cparata 2:ae74845fa96a 156 int LSM6DSLSensor::Enable_G(void)
cparata 2:ae74845fa96a 157 {
cparata 2:ae74845fa96a 158 /* Check if the component is already enabled */
cparata 2:ae74845fa96a 159 if ( G_isEnabled == 1 )
cparata 2:ae74845fa96a 160 {
cparata 2:ae74845fa96a 161 return 0;
cparata 2:ae74845fa96a 162 }
cparata 2:ae74845fa96a 163
cparata 2:ae74845fa96a 164 /* Output data rate selection. */
cparata 2:ae74845fa96a 165 if ( Set_G_ODR_When_Enabled( G_Last_ODR ) == 1 )
cparata 2:ae74845fa96a 166 {
cparata 2:ae74845fa96a 167 return 1;
cparata 2:ae74845fa96a 168 }
cparata 2:ae74845fa96a 169
cparata 2:ae74845fa96a 170 G_isEnabled = 1;
cparata 2:ae74845fa96a 171
cparata 2:ae74845fa96a 172 return 0;
cparata 2:ae74845fa96a 173 }
cparata 2:ae74845fa96a 174
cparata 2:ae74845fa96a 175 /**
cparata 2:ae74845fa96a 176 * @brief Disable LSM6DSL Accelerator
cparata 2:ae74845fa96a 177 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 178 */
cparata 2:ae74845fa96a 179 int LSM6DSLSensor::Disable_X(void)
cparata 2:ae74845fa96a 180 {
cparata 2:ae74845fa96a 181 /* Check if the component is already disabled */
cparata 2:ae74845fa96a 182 if ( X_isEnabled == 0 )
cparata 2:ae74845fa96a 183 {
cparata 2:ae74845fa96a 184 return 0;
cparata 2:ae74845fa96a 185 }
cparata 2:ae74845fa96a 186
cparata 2:ae74845fa96a 187 /* Store actual output data rate. */
cparata 2:ae74845fa96a 188 if ( Get_X_ODR( &X_Last_ODR ) == 1 )
cparata 2:ae74845fa96a 189 {
cparata 2:ae74845fa96a 190 return 1;
cparata 2:ae74845fa96a 191 }
cparata 2:ae74845fa96a 192
cparata 2:ae74845fa96a 193 /* Output data rate selection - power down. */
cparata 2:ae74845fa96a 194 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata 2:ae74845fa96a 195 {
cparata 2:ae74845fa96a 196 return 1;
cparata 2:ae74845fa96a 197 }
cparata 2:ae74845fa96a 198
cparata 2:ae74845fa96a 199 X_isEnabled = 0;
cparata 2:ae74845fa96a 200
cparata 2:ae74845fa96a 201 return 0;
cparata 2:ae74845fa96a 202 }
cparata 2:ae74845fa96a 203
cparata 2:ae74845fa96a 204 /**
cparata 2:ae74845fa96a 205 * @brief Disable LSM6DSL Gyroscope
cparata 2:ae74845fa96a 206 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 207 */
cparata 2:ae74845fa96a 208 int LSM6DSLSensor::Disable_G(void)
cparata 2:ae74845fa96a 209 {
cparata 2:ae74845fa96a 210 /* Check if the component is already disabled */
cparata 2:ae74845fa96a 211 if ( G_isEnabled == 0 )
cparata 2:ae74845fa96a 212 {
cparata 2:ae74845fa96a 213 return 0;
cparata 2:ae74845fa96a 214 }
cparata 2:ae74845fa96a 215
cparata 2:ae74845fa96a 216 /* Store actual output data rate. */
cparata 2:ae74845fa96a 217 if ( Get_G_ODR( &G_Last_ODR ) == 1 )
cparata 2:ae74845fa96a 218 {
cparata 2:ae74845fa96a 219 return 1;
cparata 2:ae74845fa96a 220 }
cparata 2:ae74845fa96a 221
cparata 2:ae74845fa96a 222 /* Output data rate selection - power down */
cparata 2:ae74845fa96a 223 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata 2:ae74845fa96a 224 {
cparata 2:ae74845fa96a 225 return 1;
cparata 2:ae74845fa96a 226 }
cparata 2:ae74845fa96a 227
cparata 2:ae74845fa96a 228 G_isEnabled = 0;
cparata 2:ae74845fa96a 229
cparata 2:ae74845fa96a 230 return 0;
cparata 2:ae74845fa96a 231 }
cparata 2:ae74845fa96a 232
cparata 2:ae74845fa96a 233 /**
cparata 2:ae74845fa96a 234 * @brief Read ID of LSM6DSL Accelerometer and Gyroscope
cparata 2:ae74845fa96a 235 * @param p_id the pointer where the ID of the device is stored
cparata 2:ae74845fa96a 236 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 237 */
cparata 2:ae74845fa96a 238 int LSM6DSLSensor::ReadID(uint8_t *id)
cparata 2:ae74845fa96a 239 {
cparata 2:ae74845fa96a 240 if(!id)
cparata 2:ae74845fa96a 241 {
cparata 2:ae74845fa96a 242 return 1;
cparata 2:ae74845fa96a 243 }
cparata 2:ae74845fa96a 244
cparata 2:ae74845fa96a 245 /* Read WHO AM I register */
cparata 2:ae74845fa96a 246 if ( LSM6DSL_ACC_GYRO_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
cparata 2:ae74845fa96a 247 {
cparata 2:ae74845fa96a 248 return 1;
cparata 2:ae74845fa96a 249 }
cparata 2:ae74845fa96a 250
cparata 2:ae74845fa96a 251 return 0;
cparata 2:ae74845fa96a 252 }
cparata 2:ae74845fa96a 253
cparata 2:ae74845fa96a 254 /**
cparata 2:ae74845fa96a 255 * @brief Read data from LSM6DSL Accelerometer
cparata 2:ae74845fa96a 256 * @param pData the pointer where the accelerometer data are stored
cparata 2:ae74845fa96a 257 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 258 */
cparata 2:ae74845fa96a 259 int LSM6DSLSensor::Get_X_Axes(int32_t *pData)
cparata 2:ae74845fa96a 260 {
cparata 2:ae74845fa96a 261 int16_t dataRaw[3];
cparata 2:ae74845fa96a 262 float sensitivity = 0;
cparata 2:ae74845fa96a 263
cparata 2:ae74845fa96a 264 /* Read raw data from LSM6DSL output register. */
cparata 2:ae74845fa96a 265 if ( Get_X_AxesRaw( dataRaw ) == 1 )
cparata 2:ae74845fa96a 266 {
cparata 2:ae74845fa96a 267 return 1;
cparata 2:ae74845fa96a 268 }
cparata 2:ae74845fa96a 269
cparata 2:ae74845fa96a 270 /* Get LSM6DSL actual sensitivity. */
cparata 2:ae74845fa96a 271 if ( Get_X_Sensitivity( &sensitivity ) == 1 )
cparata 2:ae74845fa96a 272 {
cparata 2:ae74845fa96a 273 return 1;
cparata 2:ae74845fa96a 274 }
cparata 2:ae74845fa96a 275
cparata 2:ae74845fa96a 276 /* Calculate the data. */
cparata 2:ae74845fa96a 277 pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata 2:ae74845fa96a 278 pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata 2:ae74845fa96a 279 pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata 2:ae74845fa96a 280
cparata 2:ae74845fa96a 281 return 0;
cparata 2:ae74845fa96a 282 }
cparata 2:ae74845fa96a 283
cparata 2:ae74845fa96a 284 /**
cparata 2:ae74845fa96a 285 * @brief Read data from LSM6DSL Gyroscope
cparata 2:ae74845fa96a 286 * @param pData the pointer where the gyroscope data are stored
cparata 2:ae74845fa96a 287 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 288 */
cparata 2:ae74845fa96a 289 int LSM6DSLSensor::Get_G_Axes(int32_t *pData)
cparata 2:ae74845fa96a 290 {
cparata 2:ae74845fa96a 291 int16_t dataRaw[3];
cparata 2:ae74845fa96a 292 float sensitivity = 0;
cparata 2:ae74845fa96a 293
cparata 2:ae74845fa96a 294 /* Read raw data from LSM6DSL output register. */
cparata 2:ae74845fa96a 295 if ( Get_G_AxesRaw( dataRaw ) == 1 )
cparata 2:ae74845fa96a 296 {
cparata 2:ae74845fa96a 297 return 1;
cparata 2:ae74845fa96a 298 }
cparata 2:ae74845fa96a 299
cparata 2:ae74845fa96a 300 /* Get LSM6DSL actual sensitivity. */
cparata 2:ae74845fa96a 301 if ( Get_G_Sensitivity( &sensitivity ) == 1 )
cparata 2:ae74845fa96a 302 {
cparata 2:ae74845fa96a 303 return 1;
cparata 2:ae74845fa96a 304 }
cparata 2:ae74845fa96a 305
cparata 2:ae74845fa96a 306 /* Calculate the data. */
cparata 2:ae74845fa96a 307 pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata 2:ae74845fa96a 308 pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata 2:ae74845fa96a 309 pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata 2:ae74845fa96a 310
cparata 2:ae74845fa96a 311 return 0;
cparata 2:ae74845fa96a 312 }
cparata 2:ae74845fa96a 313
cparata 2:ae74845fa96a 314 /**
cparata 2:ae74845fa96a 315 * @brief Read Accelerometer Sensitivity
cparata 2:ae74845fa96a 316 * @param pfData the pointer where the accelerometer sensitivity is stored
cparata 2:ae74845fa96a 317 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 318 */
cparata 2:ae74845fa96a 319 int LSM6DSLSensor::Get_X_Sensitivity(float *pfData)
cparata 2:ae74845fa96a 320 {
cparata 2:ae74845fa96a 321 LSM6DSL_ACC_GYRO_FS_XL_t fullScale;
cparata 2:ae74845fa96a 322
cparata 2:ae74845fa96a 323 /* Read actual full scale selection from sensor. */
cparata 2:ae74845fa96a 324 if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 2:ae74845fa96a 325 {
cparata 2:ae74845fa96a 326 return 1;
cparata 2:ae74845fa96a 327 }
cparata 2:ae74845fa96a 328
cparata 2:ae74845fa96a 329 /* Store the sensitivity based on actual full scale. */
cparata 2:ae74845fa96a 330 switch( fullScale )
cparata 2:ae74845fa96a 331 {
cparata 2:ae74845fa96a 332 case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata 2:ae74845fa96a 333 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G;
cparata 2:ae74845fa96a 334 break;
cparata 2:ae74845fa96a 335 case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata 2:ae74845fa96a 336 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G;
cparata 2:ae74845fa96a 337 break;
cparata 2:ae74845fa96a 338 case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata 2:ae74845fa96a 339 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G;
cparata 2:ae74845fa96a 340 break;
cparata 2:ae74845fa96a 341 case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata 2:ae74845fa96a 342 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G;
cparata 2:ae74845fa96a 343 break;
cparata 2:ae74845fa96a 344 default:
cparata 2:ae74845fa96a 345 *pfData = -1.0f;
cparata 2:ae74845fa96a 346 return 1;
cparata 2:ae74845fa96a 347 }
cparata 2:ae74845fa96a 348
cparata 2:ae74845fa96a 349 return 0;
cparata 2:ae74845fa96a 350 }
cparata 2:ae74845fa96a 351
cparata 2:ae74845fa96a 352 /**
cparata 2:ae74845fa96a 353 * @brief Read Gyroscope Sensitivity
cparata 2:ae74845fa96a 354 * @param pfData the pointer where the gyroscope sensitivity is stored
cparata 2:ae74845fa96a 355 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 356 */
cparata 2:ae74845fa96a 357 int LSM6DSLSensor::Get_G_Sensitivity(float *pfData)
cparata 2:ae74845fa96a 358 {
cparata 2:ae74845fa96a 359 LSM6DSL_ACC_GYRO_FS_125_t fullScale125;
cparata 2:ae74845fa96a 360 LSM6DSL_ACC_GYRO_FS_G_t fullScale;
cparata 2:ae74845fa96a 361
cparata 2:ae74845fa96a 362 /* Read full scale 125 selection from sensor. */
cparata 2:ae74845fa96a 363 if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fullScale125 ) == MEMS_ERROR )
cparata 2:ae74845fa96a 364 {
cparata 2:ae74845fa96a 365 return 1;
cparata 2:ae74845fa96a 366 }
cparata 2:ae74845fa96a 367
cparata 2:ae74845fa96a 368 if ( fullScale125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata 2:ae74845fa96a 369 {
cparata 2:ae74845fa96a 370 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS;
cparata 2:ae74845fa96a 371 }
cparata 2:ae74845fa96a 372
cparata 2:ae74845fa96a 373 else
cparata 2:ae74845fa96a 374 {
cparata 2:ae74845fa96a 375
cparata 2:ae74845fa96a 376 /* Read actual full scale selection from sensor. */
cparata 2:ae74845fa96a 377 if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 2:ae74845fa96a 378 {
cparata 2:ae74845fa96a 379 return 1;
cparata 2:ae74845fa96a 380 }
cparata 2:ae74845fa96a 381
cparata 2:ae74845fa96a 382 /* Store the sensitivity based on actual full scale. */
cparata 2:ae74845fa96a 383 switch( fullScale )
cparata 2:ae74845fa96a 384 {
cparata 2:ae74845fa96a 385 case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata 2:ae74845fa96a 386 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS;
cparata 2:ae74845fa96a 387 break;
cparata 2:ae74845fa96a 388 case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata 2:ae74845fa96a 389 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS;
cparata 2:ae74845fa96a 390 break;
cparata 2:ae74845fa96a 391 case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata 2:ae74845fa96a 392 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS;
cparata 2:ae74845fa96a 393 break;
cparata 2:ae74845fa96a 394 case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata 2:ae74845fa96a 395 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS;
cparata 2:ae74845fa96a 396 break;
cparata 2:ae74845fa96a 397 default:
cparata 2:ae74845fa96a 398 *pfData = -1.0f;
cparata 2:ae74845fa96a 399 return 1;
cparata 2:ae74845fa96a 400 }
cparata 2:ae74845fa96a 401 }
cparata 2:ae74845fa96a 402
cparata 2:ae74845fa96a 403 return 0;
cparata 2:ae74845fa96a 404 }
cparata 2:ae74845fa96a 405
cparata 2:ae74845fa96a 406 /**
cparata 2:ae74845fa96a 407 * @brief Read raw data from LSM6DSL Accelerometer
cparata 2:ae74845fa96a 408 * @param pData the pointer where the accelerometer raw data are stored
cparata 2:ae74845fa96a 409 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 410 */
cparata 2:ae74845fa96a 411 int LSM6DSLSensor::Get_X_AxesRaw(int16_t *pData)
cparata 2:ae74845fa96a 412 {
cparata 2:ae74845fa96a 413 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 2:ae74845fa96a 414
cparata 2:ae74845fa96a 415 /* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_XL to LSM6DSL_ACC_GYRO_OUTZ_H_XL. */
cparata 2:ae74845fa96a 416 if ( LSM6DSL_ACC_GYRO_GetRawAccData( (void *)this, regValue ) == MEMS_ERROR )
cparata 2:ae74845fa96a 417 {
cparata 2:ae74845fa96a 418 return 1;
cparata 2:ae74845fa96a 419 }
cparata 2:ae74845fa96a 420
cparata 2:ae74845fa96a 421 /* Format the data. */
cparata 2:ae74845fa96a 422 pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata 2:ae74845fa96a 423 pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata 2:ae74845fa96a 424 pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata 2:ae74845fa96a 425
cparata 2:ae74845fa96a 426 return 0;
cparata 2:ae74845fa96a 427 }
cparata 2:ae74845fa96a 428
cparata 2:ae74845fa96a 429 /**
cparata 2:ae74845fa96a 430 * @brief Read raw data from LSM6DSL Gyroscope
cparata 2:ae74845fa96a 431 * @param pData the pointer where the gyroscope raw data are stored
cparata 2:ae74845fa96a 432 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 433 */
cparata 2:ae74845fa96a 434 int LSM6DSLSensor::Get_G_AxesRaw(int16_t *pData)
cparata 2:ae74845fa96a 435 {
cparata 2:ae74845fa96a 436 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 2:ae74845fa96a 437
cparata 2:ae74845fa96a 438 /* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_G to LSM6DSL_ACC_GYRO_OUTZ_H_G. */
cparata 2:ae74845fa96a 439 if ( LSM6DSL_ACC_GYRO_GetRawGyroData( (void *)this, regValue ) == MEMS_ERROR )
cparata 2:ae74845fa96a 440 {
cparata 2:ae74845fa96a 441 return 1;
cparata 2:ae74845fa96a 442 }
cparata 2:ae74845fa96a 443
cparata 2:ae74845fa96a 444 /* Format the data. */
cparata 2:ae74845fa96a 445 pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata 2:ae74845fa96a 446 pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata 2:ae74845fa96a 447 pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata 2:ae74845fa96a 448
cparata 2:ae74845fa96a 449 return 0;
cparata 2:ae74845fa96a 450 }
cparata 2:ae74845fa96a 451
cparata 2:ae74845fa96a 452 /**
cparata 2:ae74845fa96a 453 * @brief Read LSM6DSL Accelerometer output data rate
cparata 2:ae74845fa96a 454 * @param odr the pointer to the output data rate
cparata 2:ae74845fa96a 455 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 456 */
cparata 2:ae74845fa96a 457 int LSM6DSLSensor::Get_X_ODR(float* odr)
cparata 2:ae74845fa96a 458 {
cparata 2:ae74845fa96a 459 LSM6DSL_ACC_GYRO_ODR_XL_t odr_low_level;
cparata 2:ae74845fa96a 460
cparata 2:ae74845fa96a 461 if ( LSM6DSL_ACC_GYRO_R_ODR_XL( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 2:ae74845fa96a 462 {
cparata 2:ae74845fa96a 463 return 1;
cparata 2:ae74845fa96a 464 }
cparata 2:ae74845fa96a 465
cparata 2:ae74845fa96a 466 switch( odr_low_level )
cparata 2:ae74845fa96a 467 {
cparata 2:ae74845fa96a 468 case LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN:
cparata 2:ae74845fa96a 469 *odr = 0.0f;
cparata 2:ae74845fa96a 470 break;
cparata 2:ae74845fa96a 471 case LSM6DSL_ACC_GYRO_ODR_XL_13Hz:
cparata 2:ae74845fa96a 472 *odr = 13.0f;
cparata 2:ae74845fa96a 473 break;
cparata 2:ae74845fa96a 474 case LSM6DSL_ACC_GYRO_ODR_XL_26Hz:
cparata 2:ae74845fa96a 475 *odr = 26.0f;
cparata 2:ae74845fa96a 476 break;
cparata 2:ae74845fa96a 477 case LSM6DSL_ACC_GYRO_ODR_XL_52Hz:
cparata 2:ae74845fa96a 478 *odr = 52.0f;
cparata 2:ae74845fa96a 479 break;
cparata 2:ae74845fa96a 480 case LSM6DSL_ACC_GYRO_ODR_XL_104Hz:
cparata 2:ae74845fa96a 481 *odr = 104.0f;
cparata 2:ae74845fa96a 482 break;
cparata 2:ae74845fa96a 483 case LSM6DSL_ACC_GYRO_ODR_XL_208Hz:
cparata 2:ae74845fa96a 484 *odr = 208.0f;
cparata 2:ae74845fa96a 485 break;
cparata 2:ae74845fa96a 486 case LSM6DSL_ACC_GYRO_ODR_XL_416Hz:
cparata 2:ae74845fa96a 487 *odr = 416.0f;
cparata 2:ae74845fa96a 488 break;
cparata 2:ae74845fa96a 489 case LSM6DSL_ACC_GYRO_ODR_XL_833Hz:
cparata 2:ae74845fa96a 490 *odr = 833.0f;
cparata 2:ae74845fa96a 491 break;
cparata 2:ae74845fa96a 492 case LSM6DSL_ACC_GYRO_ODR_XL_1660Hz:
cparata 2:ae74845fa96a 493 *odr = 1660.0f;
cparata 2:ae74845fa96a 494 break;
cparata 2:ae74845fa96a 495 case LSM6DSL_ACC_GYRO_ODR_XL_3330Hz:
cparata 2:ae74845fa96a 496 *odr = 3330.0f;
cparata 2:ae74845fa96a 497 break;
cparata 2:ae74845fa96a 498 case LSM6DSL_ACC_GYRO_ODR_XL_6660Hz:
cparata 2:ae74845fa96a 499 *odr = 6660.0f;
cparata 2:ae74845fa96a 500 break;
cparata 2:ae74845fa96a 501 default:
cparata 2:ae74845fa96a 502 *odr = -1.0f;
cparata 2:ae74845fa96a 503 return 1;
cparata 2:ae74845fa96a 504 }
cparata 2:ae74845fa96a 505
cparata 2:ae74845fa96a 506 return 0;
cparata 2:ae74845fa96a 507 }
cparata 2:ae74845fa96a 508
cparata 2:ae74845fa96a 509 /**
cparata 2:ae74845fa96a 510 * @brief Read LSM6DSL Gyroscope output data rate
cparata 2:ae74845fa96a 511 * @param odr the pointer to the output data rate
cparata 2:ae74845fa96a 512 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 513 */
cparata 2:ae74845fa96a 514 int LSM6DSLSensor::Get_G_ODR(float* odr)
cparata 2:ae74845fa96a 515 {
cparata 2:ae74845fa96a 516 LSM6DSL_ACC_GYRO_ODR_G_t odr_low_level;
cparata 2:ae74845fa96a 517
cparata 2:ae74845fa96a 518 if ( LSM6DSL_ACC_GYRO_R_ODR_G( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 2:ae74845fa96a 519 {
cparata 2:ae74845fa96a 520 return 1;
cparata 2:ae74845fa96a 521 }
cparata 2:ae74845fa96a 522
cparata 2:ae74845fa96a 523 switch( odr_low_level )
cparata 2:ae74845fa96a 524 {
cparata 2:ae74845fa96a 525 case LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN:
cparata 2:ae74845fa96a 526 *odr = 0.0f;
cparata 2:ae74845fa96a 527 break;
cparata 2:ae74845fa96a 528 case LSM6DSL_ACC_GYRO_ODR_G_13Hz:
cparata 2:ae74845fa96a 529 *odr = 13.0f;
cparata 2:ae74845fa96a 530 break;
cparata 2:ae74845fa96a 531 case LSM6DSL_ACC_GYRO_ODR_G_26Hz:
cparata 2:ae74845fa96a 532 *odr = 26.0f;
cparata 2:ae74845fa96a 533 break;
cparata 2:ae74845fa96a 534 case LSM6DSL_ACC_GYRO_ODR_G_52Hz:
cparata 2:ae74845fa96a 535 *odr = 52.0f;
cparata 2:ae74845fa96a 536 break;
cparata 2:ae74845fa96a 537 case LSM6DSL_ACC_GYRO_ODR_G_104Hz:
cparata 2:ae74845fa96a 538 *odr = 104.0f;
cparata 2:ae74845fa96a 539 break;
cparata 2:ae74845fa96a 540 case LSM6DSL_ACC_GYRO_ODR_G_208Hz:
cparata 2:ae74845fa96a 541 *odr = 208.0f;
cparata 2:ae74845fa96a 542 break;
cparata 2:ae74845fa96a 543 case LSM6DSL_ACC_GYRO_ODR_G_416Hz:
cparata 2:ae74845fa96a 544 *odr = 416.0f;
cparata 2:ae74845fa96a 545 break;
cparata 2:ae74845fa96a 546 case LSM6DSL_ACC_GYRO_ODR_G_833Hz:
cparata 2:ae74845fa96a 547 *odr = 833.0f;
cparata 2:ae74845fa96a 548 break;
cparata 2:ae74845fa96a 549 case LSM6DSL_ACC_GYRO_ODR_G_1660Hz:
cparata 2:ae74845fa96a 550 *odr = 1660.0f;
cparata 2:ae74845fa96a 551 break;
cparata 2:ae74845fa96a 552 case LSM6DSL_ACC_GYRO_ODR_G_3330Hz:
cparata 2:ae74845fa96a 553 *odr = 3330.0f;
cparata 2:ae74845fa96a 554 break;
cparata 2:ae74845fa96a 555 case LSM6DSL_ACC_GYRO_ODR_G_6660Hz:
cparata 2:ae74845fa96a 556 *odr = 6660.0f;
cparata 2:ae74845fa96a 557 break;
cparata 2:ae74845fa96a 558 default:
cparata 2:ae74845fa96a 559 *odr = -1.0f;
cparata 2:ae74845fa96a 560 return 1;
cparata 2:ae74845fa96a 561 }
cparata 2:ae74845fa96a 562
cparata 2:ae74845fa96a 563 return 0;
cparata 2:ae74845fa96a 564 }
cparata 2:ae74845fa96a 565
cparata 2:ae74845fa96a 566 /**
cparata 2:ae74845fa96a 567 * @brief Set LSM6DSL Accelerometer output data rate
cparata 2:ae74845fa96a 568 * @param odr the output data rate to be set
cparata 2:ae74845fa96a 569 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 570 */
cparata 2:ae74845fa96a 571 int LSM6DSLSensor::Set_X_ODR(float odr)
cparata 2:ae74845fa96a 572 {
cparata 2:ae74845fa96a 573 if(X_isEnabled == 1)
cparata 2:ae74845fa96a 574 {
cparata 2:ae74845fa96a 575 if(Set_X_ODR_When_Enabled(odr) == 1)
cparata 2:ae74845fa96a 576 {
cparata 2:ae74845fa96a 577 return 1;
cparata 2:ae74845fa96a 578 }
cparata 2:ae74845fa96a 579 }
cparata 2:ae74845fa96a 580 else
cparata 2:ae74845fa96a 581 {
cparata 2:ae74845fa96a 582 if(Set_X_ODR_When_Disabled(odr) == 1)
cparata 2:ae74845fa96a 583 {
cparata 2:ae74845fa96a 584 return 1;
cparata 2:ae74845fa96a 585 }
cparata 2:ae74845fa96a 586 }
cparata 2:ae74845fa96a 587
cparata 2:ae74845fa96a 588 return 0;
cparata 2:ae74845fa96a 589 }
cparata 2:ae74845fa96a 590
cparata 2:ae74845fa96a 591 /**
cparata 2:ae74845fa96a 592 * @brief Set LSM6DSL Accelerometer output data rate when enabled
cparata 2:ae74845fa96a 593 * @param odr the output data rate to be set
cparata 2:ae74845fa96a 594 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 595 */
cparata 2:ae74845fa96a 596 int LSM6DSLSensor::Set_X_ODR_When_Enabled(float odr)
cparata 2:ae74845fa96a 597 {
cparata 2:ae74845fa96a 598 LSM6DSL_ACC_GYRO_ODR_XL_t new_odr;
cparata 2:ae74845fa96a 599
cparata 2:ae74845fa96a 600 new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_13Hz
cparata 2:ae74845fa96a 601 : ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_26Hz
cparata 2:ae74845fa96a 602 : ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_52Hz
cparata 2:ae74845fa96a 603 : ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_104Hz
cparata 2:ae74845fa96a 604 : ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_208Hz
cparata 2:ae74845fa96a 605 : ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_416Hz
cparata 2:ae74845fa96a 606 : ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_833Hz
cparata 2:ae74845fa96a 607 : ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_1660Hz
cparata 2:ae74845fa96a 608 : ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_3330Hz
cparata 2:ae74845fa96a 609 : LSM6DSL_ACC_GYRO_ODR_XL_6660Hz;
cparata 2:ae74845fa96a 610
cparata 2:ae74845fa96a 611 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, new_odr ) == MEMS_ERROR )
cparata 2:ae74845fa96a 612 {
cparata 2:ae74845fa96a 613 return 1;
cparata 2:ae74845fa96a 614 }
cparata 2:ae74845fa96a 615
cparata 2:ae74845fa96a 616 return 0;
cparata 2:ae74845fa96a 617 }
cparata 2:ae74845fa96a 618
cparata 2:ae74845fa96a 619 /**
cparata 2:ae74845fa96a 620 * @brief Set LSM6DSL Accelerometer output data rate when disabled
cparata 2:ae74845fa96a 621 * @param odr the output data rate to be set
cparata 2:ae74845fa96a 622 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 623 */
cparata 2:ae74845fa96a 624 int LSM6DSLSensor::Set_X_ODR_When_Disabled(float odr)
cparata 2:ae74845fa96a 625 {
cparata 2:ae74845fa96a 626 X_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata 2:ae74845fa96a 627 : ( odr <= 26.0f ) ? 26.0f
cparata 2:ae74845fa96a 628 : ( odr <= 52.0f ) ? 52.0f
cparata 2:ae74845fa96a 629 : ( odr <= 104.0f ) ? 104.0f
cparata 2:ae74845fa96a 630 : ( odr <= 208.0f ) ? 208.0f
cparata 2:ae74845fa96a 631 : ( odr <= 416.0f ) ? 416.0f
cparata 2:ae74845fa96a 632 : ( odr <= 833.0f ) ? 833.0f
cparata 2:ae74845fa96a 633 : ( odr <= 1660.0f ) ? 1660.0f
cparata 2:ae74845fa96a 634 : ( odr <= 3330.0f ) ? 3330.0f
cparata 2:ae74845fa96a 635 : 6660.0f;
cparata 2:ae74845fa96a 636
cparata 2:ae74845fa96a 637 return 0;
cparata 2:ae74845fa96a 638 }
cparata 2:ae74845fa96a 639
cparata 2:ae74845fa96a 640 /**
cparata 2:ae74845fa96a 641 * @brief Set LSM6DSL Gyroscope output data rate
cparata 2:ae74845fa96a 642 * @param odr the output data rate to be set
cparata 2:ae74845fa96a 643 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 644 */
cparata 2:ae74845fa96a 645 int LSM6DSLSensor::Set_G_ODR(float odr)
cparata 2:ae74845fa96a 646 {
cparata 2:ae74845fa96a 647 if(G_isEnabled == 1)
cparata 2:ae74845fa96a 648 {
cparata 2:ae74845fa96a 649 if(Set_G_ODR_When_Enabled(odr) == 1)
cparata 2:ae74845fa96a 650 {
cparata 2:ae74845fa96a 651 return 1;
cparata 2:ae74845fa96a 652 }
cparata 2:ae74845fa96a 653 }
cparata 2:ae74845fa96a 654 else
cparata 2:ae74845fa96a 655 {
cparata 2:ae74845fa96a 656 if(Set_G_ODR_When_Disabled(odr) == 1)
cparata 2:ae74845fa96a 657 {
cparata 2:ae74845fa96a 658 return 1;
cparata 2:ae74845fa96a 659 }
cparata 2:ae74845fa96a 660 }
cparata 2:ae74845fa96a 661
cparata 2:ae74845fa96a 662 return 0;
cparata 2:ae74845fa96a 663 }
cparata 2:ae74845fa96a 664
cparata 2:ae74845fa96a 665 /**
cparata 2:ae74845fa96a 666 * @brief Set LSM6DSL Gyroscope output data rate when enabled
cparata 2:ae74845fa96a 667 * @param odr the output data rate to be set
cparata 2:ae74845fa96a 668 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 669 */
cparata 2:ae74845fa96a 670 int LSM6DSLSensor::Set_G_ODR_When_Enabled(float odr)
cparata 2:ae74845fa96a 671 {
cparata 2:ae74845fa96a 672 LSM6DSL_ACC_GYRO_ODR_G_t new_odr;
cparata 2:ae74845fa96a 673
cparata 2:ae74845fa96a 674 new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_13Hz
cparata 2:ae74845fa96a 675 : ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_26Hz
cparata 2:ae74845fa96a 676 : ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_52Hz
cparata 2:ae74845fa96a 677 : ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_104Hz
cparata 2:ae74845fa96a 678 : ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_208Hz
cparata 2:ae74845fa96a 679 : ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_416Hz
cparata 2:ae74845fa96a 680 : ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_833Hz
cparata 2:ae74845fa96a 681 : ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_1660Hz
cparata 2:ae74845fa96a 682 : ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_3330Hz
cparata 2:ae74845fa96a 683 : LSM6DSL_ACC_GYRO_ODR_G_6660Hz;
cparata 2:ae74845fa96a 684
cparata 2:ae74845fa96a 685 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, new_odr ) == MEMS_ERROR )
cparata 2:ae74845fa96a 686 {
cparata 2:ae74845fa96a 687 return 1;
cparata 2:ae74845fa96a 688 }
cparata 2:ae74845fa96a 689
cparata 2:ae74845fa96a 690 return 0;
cparata 2:ae74845fa96a 691 }
cparata 2:ae74845fa96a 692
cparata 2:ae74845fa96a 693 /**
cparata 2:ae74845fa96a 694 * @brief Set LSM6DSL Gyroscope output data rate when disabled
cparata 2:ae74845fa96a 695 * @param odr the output data rate to be set
cparata 2:ae74845fa96a 696 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 697 */
cparata 2:ae74845fa96a 698 int LSM6DSLSensor::Set_G_ODR_When_Disabled(float odr)
cparata 2:ae74845fa96a 699 {
cparata 2:ae74845fa96a 700 G_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata 2:ae74845fa96a 701 : ( odr <= 26.0f ) ? 26.0f
cparata 2:ae74845fa96a 702 : ( odr <= 52.0f ) ? 52.0f
cparata 2:ae74845fa96a 703 : ( odr <= 104.0f ) ? 104.0f
cparata 2:ae74845fa96a 704 : ( odr <= 208.0f ) ? 208.0f
cparata 2:ae74845fa96a 705 : ( odr <= 416.0f ) ? 416.0f
cparata 2:ae74845fa96a 706 : ( odr <= 833.0f ) ? 833.0f
cparata 2:ae74845fa96a 707 : ( odr <= 1660.0f ) ? 1660.0f
cparata 2:ae74845fa96a 708 : ( odr <= 3330.0f ) ? 3330.0f
cparata 2:ae74845fa96a 709 : 6660.0f;
cparata 2:ae74845fa96a 710
cparata 2:ae74845fa96a 711 return 0;
cparata 2:ae74845fa96a 712 }
cparata 2:ae74845fa96a 713
cparata 2:ae74845fa96a 714 /**
cparata 2:ae74845fa96a 715 * @brief Read LSM6DSL Accelerometer full scale
cparata 2:ae74845fa96a 716 * @param fullScale the pointer to the full scale
cparata 2:ae74845fa96a 717 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 718 */
cparata 2:ae74845fa96a 719 int LSM6DSLSensor::Get_X_FS(float* fullScale)
cparata 2:ae74845fa96a 720 {
cparata 2:ae74845fa96a 721 LSM6DSL_ACC_GYRO_FS_XL_t fs_low_level;
cparata 2:ae74845fa96a 722
cparata 2:ae74845fa96a 723 if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata 2:ae74845fa96a 724 {
cparata 2:ae74845fa96a 725 return 1;
cparata 2:ae74845fa96a 726 }
cparata 2:ae74845fa96a 727
cparata 2:ae74845fa96a 728 switch( fs_low_level )
cparata 2:ae74845fa96a 729 {
cparata 2:ae74845fa96a 730 case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata 2:ae74845fa96a 731 *fullScale = 2.0f;
cparata 2:ae74845fa96a 732 break;
cparata 2:ae74845fa96a 733 case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata 2:ae74845fa96a 734 *fullScale = 4.0f;
cparata 2:ae74845fa96a 735 break;
cparata 2:ae74845fa96a 736 case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata 2:ae74845fa96a 737 *fullScale = 8.0f;
cparata 2:ae74845fa96a 738 break;
cparata 2:ae74845fa96a 739 case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata 2:ae74845fa96a 740 *fullScale = 16.0f;
cparata 2:ae74845fa96a 741 break;
cparata 2:ae74845fa96a 742 default:
cparata 2:ae74845fa96a 743 *fullScale = -1.0f;
cparata 2:ae74845fa96a 744 return 1;
cparata 2:ae74845fa96a 745 }
cparata 2:ae74845fa96a 746
cparata 2:ae74845fa96a 747 return 0;
cparata 2:ae74845fa96a 748 }
cparata 2:ae74845fa96a 749
cparata 2:ae74845fa96a 750 /**
cparata 2:ae74845fa96a 751 * @brief Read LSM6DSL Gyroscope full scale
cparata 2:ae74845fa96a 752 * @param fullScale the pointer to the full scale
cparata 2:ae74845fa96a 753 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 754 */
cparata 2:ae74845fa96a 755 int LSM6DSLSensor::Get_G_FS(float* fullScale)
cparata 2:ae74845fa96a 756 {
cparata 2:ae74845fa96a 757 LSM6DSL_ACC_GYRO_FS_G_t fs_low_level;
cparata 2:ae74845fa96a 758 LSM6DSL_ACC_GYRO_FS_125_t fs_125;
cparata 2:ae74845fa96a 759
cparata 2:ae74845fa96a 760 if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fs_125 ) == MEMS_ERROR )
cparata 2:ae74845fa96a 761 {
cparata 2:ae74845fa96a 762 return 1;
cparata 2:ae74845fa96a 763 }
cparata 2:ae74845fa96a 764 if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata 2:ae74845fa96a 765 {
cparata 2:ae74845fa96a 766 return 1;
cparata 2:ae74845fa96a 767 }
cparata 2:ae74845fa96a 768
cparata 2:ae74845fa96a 769 if ( fs_125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata 2:ae74845fa96a 770 {
cparata 2:ae74845fa96a 771 *fullScale = 125.0f;
cparata 2:ae74845fa96a 772 }
cparata 2:ae74845fa96a 773
cparata 2:ae74845fa96a 774 else
cparata 2:ae74845fa96a 775 {
cparata 2:ae74845fa96a 776 switch( fs_low_level )
cparata 2:ae74845fa96a 777 {
cparata 2:ae74845fa96a 778 case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata 2:ae74845fa96a 779 *fullScale = 245.0f;
cparata 2:ae74845fa96a 780 break;
cparata 2:ae74845fa96a 781 case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata 2:ae74845fa96a 782 *fullScale = 500.0f;
cparata 2:ae74845fa96a 783 break;
cparata 2:ae74845fa96a 784 case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata 2:ae74845fa96a 785 *fullScale = 1000.0f;
cparata 2:ae74845fa96a 786 break;
cparata 2:ae74845fa96a 787 case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata 2:ae74845fa96a 788 *fullScale = 2000.0f;
cparata 2:ae74845fa96a 789 break;
cparata 2:ae74845fa96a 790 default:
cparata 2:ae74845fa96a 791 *fullScale = -1.0f;
cparata 2:ae74845fa96a 792 return 1;
cparata 2:ae74845fa96a 793 }
cparata 2:ae74845fa96a 794 }
cparata 2:ae74845fa96a 795
cparata 2:ae74845fa96a 796 return 0;
cparata 2:ae74845fa96a 797 }
cparata 2:ae74845fa96a 798
cparata 2:ae74845fa96a 799 /**
cparata 2:ae74845fa96a 800 * @brief Set LSM6DSL Accelerometer full scale
cparata 2:ae74845fa96a 801 * @param fullScale the full scale to be set
cparata 2:ae74845fa96a 802 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 803 */
cparata 2:ae74845fa96a 804 int LSM6DSLSensor::Set_X_FS(float fullScale)
cparata 2:ae74845fa96a 805 {
cparata 2:ae74845fa96a 806 LSM6DSL_ACC_GYRO_FS_XL_t new_fs;
cparata 2:ae74845fa96a 807
cparata 2:ae74845fa96a 808 new_fs = ( fullScale <= 2.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_2g
cparata 2:ae74845fa96a 809 : ( fullScale <= 4.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_4g
cparata 2:ae74845fa96a 810 : ( fullScale <= 8.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_8g
cparata 2:ae74845fa96a 811 : LSM6DSL_ACC_GYRO_FS_XL_16g;
cparata 2:ae74845fa96a 812
cparata 2:ae74845fa96a 813 if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, new_fs ) == MEMS_ERROR )
cparata 2:ae74845fa96a 814 {
cparata 2:ae74845fa96a 815 return 1;
cparata 2:ae74845fa96a 816 }
cparata 2:ae74845fa96a 817
cparata 2:ae74845fa96a 818 return 0;
cparata 2:ae74845fa96a 819 }
cparata 2:ae74845fa96a 820
cparata 2:ae74845fa96a 821 /**
cparata 2:ae74845fa96a 822 * @brief Set LSM6DSL Gyroscope full scale
cparata 2:ae74845fa96a 823 * @param fullScale the full scale to be set
cparata 2:ae74845fa96a 824 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 825 */
cparata 2:ae74845fa96a 826 int LSM6DSLSensor::Set_G_FS(float fullScale)
cparata 2:ae74845fa96a 827 {
cparata 2:ae74845fa96a 828 LSM6DSL_ACC_GYRO_FS_G_t new_fs;
cparata 2:ae74845fa96a 829
cparata 2:ae74845fa96a 830 if ( fullScale <= 125.0f )
cparata 2:ae74845fa96a 831 {
cparata 2:ae74845fa96a 832 if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 833 {
cparata 2:ae74845fa96a 834 return 1;
cparata 2:ae74845fa96a 835 }
cparata 2:ae74845fa96a 836 }
cparata 2:ae74845fa96a 837 else
cparata 2:ae74845fa96a 838 {
cparata 2:ae74845fa96a 839 new_fs = ( fullScale <= 245.0f ) ? LSM6DSL_ACC_GYRO_FS_G_245dps
cparata 2:ae74845fa96a 840 : ( fullScale <= 500.0f ) ? LSM6DSL_ACC_GYRO_FS_G_500dps
cparata 2:ae74845fa96a 841 : ( fullScale <= 1000.0f ) ? LSM6DSL_ACC_GYRO_FS_G_1000dps
cparata 2:ae74845fa96a 842 : LSM6DSL_ACC_GYRO_FS_G_2000dps;
cparata 2:ae74845fa96a 843
cparata 2:ae74845fa96a 844 if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 845 {
cparata 2:ae74845fa96a 846 return 1;
cparata 2:ae74845fa96a 847 }
cparata 2:ae74845fa96a 848 if ( LSM6DSL_ACC_GYRO_W_FS_G( (void *)this, new_fs ) == MEMS_ERROR )
cparata 2:ae74845fa96a 849 {
cparata 2:ae74845fa96a 850 return 1;
cparata 2:ae74845fa96a 851 }
cparata 2:ae74845fa96a 852 }
cparata 2:ae74845fa96a 853
cparata 2:ae74845fa96a 854 return 0;
cparata 2:ae74845fa96a 855 }
cparata 2:ae74845fa96a 856
cparata 2:ae74845fa96a 857 /**
cparata 2:ae74845fa96a 858 * @brief Enable free fall detection
cparata 2:ae74845fa96a 859 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:ae74845fa96a 860 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 861 */
cparata 2:ae74845fa96a 862 int LSM6DSLSensor::Enable_Free_Fall_Detection(void)
cparata 2:ae74845fa96a 863 {
cparata 2:ae74845fa96a 864 /* Output Data Rate selection */
cparata 2:ae74845fa96a 865 if(Set_X_ODR(416.0f) == 1)
cparata 2:ae74845fa96a 866 {
cparata 2:ae74845fa96a 867 return 1;
cparata 2:ae74845fa96a 868 }
cparata 2:ae74845fa96a 869
cparata 2:ae74845fa96a 870 /* Full scale selection */
cparata 2:ae74845fa96a 871 if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, LSM6DSL_ACC_GYRO_FS_XL_2g ) == MEMS_ERROR )
cparata 2:ae74845fa96a 872 {
cparata 2:ae74845fa96a 873 return 1;
cparata 2:ae74845fa96a 874 }
cparata 2:ae74845fa96a 875
cparata 2:ae74845fa96a 876 /* FF_DUR setting */
cparata 2:ae74845fa96a 877 if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x06 ) == MEMS_ERROR )
cparata 2:ae74845fa96a 878 {
cparata 2:ae74845fa96a 879 return 1;
cparata 2:ae74845fa96a 880 }
cparata 2:ae74845fa96a 881
cparata 2:ae74845fa96a 882 /* WAKE_DUR setting */
cparata 2:ae74845fa96a 883 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:ae74845fa96a 884 {
cparata 2:ae74845fa96a 885 return 1;
cparata 2:ae74845fa96a 886 }
cparata 2:ae74845fa96a 887
cparata 2:ae74845fa96a 888 /* TIMER_HR setting */
cparata 2:ae74845fa96a 889 if ( LSM6DSL_ACC_GYRO_W_TIMER_HR( (void *)this, LSM6DSL_ACC_GYRO_TIMER_HR_6_4ms ) == MEMS_ERROR )
cparata 2:ae74845fa96a 890 {
cparata 2:ae74845fa96a 891 return 1;
cparata 2:ae74845fa96a 892 }
cparata 2:ae74845fa96a 893
cparata 2:ae74845fa96a 894 /* SLEEP_DUR setting */
cparata 2:ae74845fa96a 895 if ( LSM6DSL_ACC_GYRO_W_SLEEP_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:ae74845fa96a 896 {
cparata 2:ae74845fa96a 897 return 1;
cparata 2:ae74845fa96a 898 }
cparata 2:ae74845fa96a 899
cparata 2:ae74845fa96a 900 /* FF_THS setting */
cparata 2:ae74845fa96a 901 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_312mg ) == MEMS_ERROR )
cparata 2:ae74845fa96a 902 {
cparata 2:ae74845fa96a 903 return 1;
cparata 2:ae74845fa96a 904 }
cparata 2:ae74845fa96a 905
cparata 2:ae74845fa96a 906 /* Enable basic Interrupts */
cparata 2:ae74845fa96a 907 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 908 {
cparata 2:ae74845fa96a 909 return 1;
cparata 2:ae74845fa96a 910 }
cparata 2:ae74845fa96a 911
cparata 2:ae74845fa96a 912 /* INT1_FF setting */
cparata 2:ae74845fa96a 913 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 914 {
cparata 2:ae74845fa96a 915 return 1;
cparata 2:ae74845fa96a 916 }
cparata 2:ae74845fa96a 917
cparata 2:ae74845fa96a 918 return 0;
cparata 2:ae74845fa96a 919 }
cparata 2:ae74845fa96a 920
cparata 2:ae74845fa96a 921 /**
cparata 2:ae74845fa96a 922 * @brief Disable free fall detection
cparata 2:ae74845fa96a 923 * @param None
cparata 2:ae74845fa96a 924 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 925 */
cparata 2:ae74845fa96a 926 int LSM6DSLSensor::Disable_Free_Fall_Detection(void)
cparata 2:ae74845fa96a 927 {
cparata 2:ae74845fa96a 928 /* INT1_FF setting */
cparata 2:ae74845fa96a 929 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 930 {
cparata 2:ae74845fa96a 931 return 1;
cparata 2:ae74845fa96a 932 }
cparata 2:ae74845fa96a 933
cparata 2:ae74845fa96a 934 /* Disable basic Interrupts */
cparata 2:ae74845fa96a 935 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 936 {
cparata 2:ae74845fa96a 937 return 1;
cparata 2:ae74845fa96a 938 }
cparata 2:ae74845fa96a 939
cparata 2:ae74845fa96a 940 /* FF_DUR setting */
cparata 2:ae74845fa96a 941 if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:ae74845fa96a 942 {
cparata 2:ae74845fa96a 943 return 1;
cparata 2:ae74845fa96a 944 }
cparata 2:ae74845fa96a 945
cparata 2:ae74845fa96a 946 /* FF_THS setting */
cparata 2:ae74845fa96a 947 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_156mg ) == MEMS_ERROR )
cparata 2:ae74845fa96a 948 {
cparata 2:ae74845fa96a 949 return 1;
cparata 2:ae74845fa96a 950 }
cparata 2:ae74845fa96a 951
cparata 2:ae74845fa96a 952 return 0;
cparata 2:ae74845fa96a 953 }
cparata 2:ae74845fa96a 954
cparata 2:ae74845fa96a 955 /**
cparata 2:ae74845fa96a 956 * @brief Get status of free fall detection
cparata 2:ae74845fa96a 957 * @param status the pointer where the status of free fall detection is stored; 0 means no detection, 1 means detection happened
cparata 2:ae74845fa96a 958 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 959 */
cparata 2:ae74845fa96a 960 int LSM6DSLSensor::Get_Status_Free_Fall_Detection(uint8_t *status)
cparata 2:ae74845fa96a 961 {
cparata 2:ae74845fa96a 962 LSM6DSL_ACC_GYRO_FF_EV_STATUS_t free_fall_status;
cparata 2:ae74845fa96a 963
cparata 2:ae74845fa96a 964 if ( LSM6DSL_ACC_GYRO_R_FF_EV_STATUS( (void *)this, &free_fall_status ) == MEMS_ERROR )
cparata 2:ae74845fa96a 965 {
cparata 2:ae74845fa96a 966 return 1;
cparata 2:ae74845fa96a 967 }
cparata 2:ae74845fa96a 968
cparata 2:ae74845fa96a 969 switch( free_fall_status )
cparata 2:ae74845fa96a 970 {
cparata 2:ae74845fa96a 971 case LSM6DSL_ACC_GYRO_FF_EV_STATUS_DETECTED:
cparata 2:ae74845fa96a 972 *status = 1;
cparata 2:ae74845fa96a 973 break;
cparata 2:ae74845fa96a 974 case LSM6DSL_ACC_GYRO_FF_EV_STATUS_NOT_DETECTED:
cparata 2:ae74845fa96a 975 *status = 0;
cparata 2:ae74845fa96a 976 break;
cparata 2:ae74845fa96a 977 default:
cparata 2:ae74845fa96a 978 return 1;
cparata 2:ae74845fa96a 979 }
cparata 2:ae74845fa96a 980
cparata 2:ae74845fa96a 981 return 0;
cparata 2:ae74845fa96a 982 }
cparata 2:ae74845fa96a 983
cparata 2:ae74845fa96a 984 /**
cparata 2:ae74845fa96a 985 * @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 986 * @param thr the threshold to be set
cparata 2:ae74845fa96a 987 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 988 */
cparata 2:ae74845fa96a 989 int LSM6DSLSensor::Set_Free_Fall_Threshold(uint8_t thr)
cparata 2:ae74845fa96a 990 {
cparata 2:ae74845fa96a 991
cparata 2:ae74845fa96a 992 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR )
cparata 2:ae74845fa96a 993 {
cparata 2:ae74845fa96a 994 return 1;
cparata 2:ae74845fa96a 995 }
cparata 2:ae74845fa96a 996
cparata 2:ae74845fa96a 997 return 0;
cparata 2:ae74845fa96a 998 }
cparata 2:ae74845fa96a 999
cparata 2:ae74845fa96a 1000 /**
cparata 2:ae74845fa96a 1001 * @brief Enable the pedometer feature for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1002 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:ae74845fa96a 1003 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1004 */
cparata 2:ae74845fa96a 1005 int LSM6DSLSensor::Enable_Pedometer(void)
cparata 2:ae74845fa96a 1006 {
cparata 2:ae74845fa96a 1007 /* Output Data Rate selection */
cparata 2:ae74845fa96a 1008 if( Set_X_ODR(26.0f) == 1 )
cparata 2:ae74845fa96a 1009 {
cparata 2:ae74845fa96a 1010 return 1;
cparata 2:ae74845fa96a 1011 }
cparata 2:ae74845fa96a 1012
cparata 2:ae74845fa96a 1013 /* Full scale selection. */
cparata 2:ae74845fa96a 1014 if( Set_X_FS(2.0f) == 1 )
cparata 2:ae74845fa96a 1015 {
cparata 2:ae74845fa96a 1016 return 1;
cparata 2:ae74845fa96a 1017 }
cparata 2:ae74845fa96a 1018
cparata 2:ae74845fa96a 1019 /* Set pedometer threshold. */
cparata 2:ae74845fa96a 1020 if ( Set_Pedometer_Threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == 1 )
cparata 2:ae74845fa96a 1021 {
cparata 2:ae74845fa96a 1022 return 1;
cparata 2:ae74845fa96a 1023 }
cparata 2:ae74845fa96a 1024
cparata 2:ae74845fa96a 1025 /* Enable embedded functionalities. */
cparata 2:ae74845fa96a 1026 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1027 {
cparata 2:ae74845fa96a 1028 return 1;
cparata 2:ae74845fa96a 1029 }
cparata 2:ae74845fa96a 1030
cparata 2:ae74845fa96a 1031 /* Enable pedometer algorithm. */
cparata 2:ae74845fa96a 1032 if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1033 {
cparata 2:ae74845fa96a 1034 return 1;
cparata 2:ae74845fa96a 1035 }
cparata 2:ae74845fa96a 1036
cparata 2:ae74845fa96a 1037 /* Enable pedometer on INT1. */
cparata 2:ae74845fa96a 1038 if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1039 {
cparata 2:ae74845fa96a 1040 return 1;
cparata 2:ae74845fa96a 1041 }
cparata 2:ae74845fa96a 1042
cparata 2:ae74845fa96a 1043 return 0;
cparata 2:ae74845fa96a 1044 }
cparata 2:ae74845fa96a 1045
cparata 2:ae74845fa96a 1046 /**
cparata 2:ae74845fa96a 1047 * @brief Disable the pedometer feature for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1048 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1049 */
cparata 2:ae74845fa96a 1050 int LSM6DSLSensor::Disable_Pedometer(void)
cparata 2:ae74845fa96a 1051 {
cparata 2:ae74845fa96a 1052 /* Disable pedometer on INT1. */
cparata 2:ae74845fa96a 1053 if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1054 {
cparata 2:ae74845fa96a 1055 return 1;
cparata 2:ae74845fa96a 1056 }
cparata 2:ae74845fa96a 1057
cparata 2:ae74845fa96a 1058 /* Disable pedometer algorithm. */
cparata 2:ae74845fa96a 1059 if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1060 {
cparata 2:ae74845fa96a 1061 return 1;
cparata 2:ae74845fa96a 1062 }
cparata 2:ae74845fa96a 1063
cparata 2:ae74845fa96a 1064 /* Disable embedded functionalities. */
cparata 2:ae74845fa96a 1065 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1066 {
cparata 2:ae74845fa96a 1067 return 1;
cparata 2:ae74845fa96a 1068 }
cparata 2:ae74845fa96a 1069
cparata 2:ae74845fa96a 1070 /* Reset pedometer threshold. */
cparata 2:ae74845fa96a 1071 if ( Set_Pedometer_Threshold(0x0) == 1 )
cparata 2:ae74845fa96a 1072 {
cparata 2:ae74845fa96a 1073 return 1;
cparata 2:ae74845fa96a 1074 }
cparata 2:ae74845fa96a 1075
cparata 2:ae74845fa96a 1076 return 0;
cparata 2:ae74845fa96a 1077 }
cparata 2:ae74845fa96a 1078
cparata 2:ae74845fa96a 1079 /**
cparata 2:ae74845fa96a 1080 * @brief Get the pedometer status for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1081 * @param status the pointer to the pedometer status: 0 means no step detected, 1 means step detected
cparata 2:ae74845fa96a 1082 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1083 */
cparata 2:ae74845fa96a 1084 int LSM6DSLSensor::Get_Status_Pedometer(uint8_t *status)
cparata 2:ae74845fa96a 1085 {
cparata 2:ae74845fa96a 1086 LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_t pedometer_status;
cparata 2:ae74845fa96a 1087
cparata 2:ae74845fa96a 1088 if ( LSM6DSL_ACC_GYRO_R_PEDO_EV_STATUS( (void *)this, &pedometer_status ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1089 {
cparata 2:ae74845fa96a 1090 return 1;
cparata 2:ae74845fa96a 1091 }
cparata 2:ae74845fa96a 1092
cparata 2:ae74845fa96a 1093 switch( pedometer_status )
cparata 2:ae74845fa96a 1094 {
cparata 2:ae74845fa96a 1095 case LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_DETECTED:
cparata 2:ae74845fa96a 1096 *status = 1;
cparata 2:ae74845fa96a 1097 break;
cparata 2:ae74845fa96a 1098 case LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_NOT_DETECTED:
cparata 2:ae74845fa96a 1099 *status = 0;
cparata 2:ae74845fa96a 1100 break;
cparata 2:ae74845fa96a 1101 default:
cparata 2:ae74845fa96a 1102 return 1;
cparata 2:ae74845fa96a 1103 }
cparata 2:ae74845fa96a 1104
cparata 2:ae74845fa96a 1105 return 0;
cparata 2:ae74845fa96a 1106 }
cparata 2:ae74845fa96a 1107
cparata 2:ae74845fa96a 1108 /**
cparata 2:ae74845fa96a 1109 * @brief Get the step counter for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1110 * @param step_count the pointer to the step counter
cparata 2:ae74845fa96a 1111 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1112 */
cparata 2:ae74845fa96a 1113 int LSM6DSLSensor::Get_Step_Counter(uint16_t *step_count)
cparata 2:ae74845fa96a 1114 {
cparata 2:ae74845fa96a 1115 if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void *)this, ( uint8_t* )step_count ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1116 {
cparata 2:ae74845fa96a 1117 return 1;
cparata 2:ae74845fa96a 1118 }
cparata 2:ae74845fa96a 1119
cparata 2:ae74845fa96a 1120 return 0;
cparata 2:ae74845fa96a 1121 }
cparata 2:ae74845fa96a 1122
cparata 2:ae74845fa96a 1123 /**
cparata 2:ae74845fa96a 1124 * @brief Reset of the step counter for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1125 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1126 */
cparata 2:ae74845fa96a 1127 int LSM6DSLSensor::Reset_Step_Counter(void)
cparata 2:ae74845fa96a 1128 {
cparata 2:ae74845fa96a 1129 if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1130 {
cparata 2:ae74845fa96a 1131 return 1;
cparata 2:ae74845fa96a 1132 }
cparata 2:ae74845fa96a 1133
cparata 2:ae74845fa96a 1134 wait_ms(10);
cparata 2:ae74845fa96a 1135
cparata 2:ae74845fa96a 1136 if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1137 {
cparata 2:ae74845fa96a 1138 return 1;
cparata 2:ae74845fa96a 1139 }
cparata 2:ae74845fa96a 1140
cparata 2:ae74845fa96a 1141 return 0;
cparata 2:ae74845fa96a 1142 }
cparata 2:ae74845fa96a 1143
cparata 2:ae74845fa96a 1144 /**
cparata 2:ae74845fa96a 1145 * @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1146 * @param thr the threshold to be set
cparata 2:ae74845fa96a 1147 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1148 */
cparata 2:ae74845fa96a 1149 int LSM6DSLSensor::Set_Pedometer_Threshold(uint8_t thr)
cparata 2:ae74845fa96a 1150 {
cparata 2:ae74845fa96a 1151 if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1152 {
cparata 2:ae74845fa96a 1153 return 1;
cparata 2:ae74845fa96a 1154 }
cparata 2:ae74845fa96a 1155
cparata 2:ae74845fa96a 1156 return 0;
cparata 2:ae74845fa96a 1157 }
cparata 2:ae74845fa96a 1158
cparata 2:ae74845fa96a 1159 /**
cparata 2:ae74845fa96a 1160 * @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1161 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:ae74845fa96a 1162 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1163 */
cparata 2:ae74845fa96a 1164 int LSM6DSLSensor::Enable_Tilt_Detection(void)
cparata 2:ae74845fa96a 1165 {
cparata 2:ae74845fa96a 1166 /* Output Data Rate selection */
cparata 2:ae74845fa96a 1167 if( Set_X_ODR(26.0f) == 1 )
cparata 2:ae74845fa96a 1168 {
cparata 2:ae74845fa96a 1169 return 1;
cparata 2:ae74845fa96a 1170 }
cparata 2:ae74845fa96a 1171
cparata 2:ae74845fa96a 1172 /* Full scale selection. */
cparata 2:ae74845fa96a 1173 if( Set_X_FS(2.0f) == 1 )
cparata 2:ae74845fa96a 1174 {
cparata 2:ae74845fa96a 1175 return 1;
cparata 2:ae74845fa96a 1176 }
cparata 2:ae74845fa96a 1177
cparata 2:ae74845fa96a 1178 /* Enable embedded functionalities */
cparata 2:ae74845fa96a 1179 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1180 {
cparata 2:ae74845fa96a 1181 return 1;
cparata 2:ae74845fa96a 1182 }
cparata 2:ae74845fa96a 1183
cparata 2:ae74845fa96a 1184 /* Enable tilt calculation. */
cparata 2:ae74845fa96a 1185 if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1186 {
cparata 2:ae74845fa96a 1187 return 1;
cparata 2:ae74845fa96a 1188 }
cparata 2:ae74845fa96a 1189
cparata 2:ae74845fa96a 1190 /* Enable tilt event on INT1. */
cparata 2:ae74845fa96a 1191 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1192 {
cparata 2:ae74845fa96a 1193 return 1;
cparata 2:ae74845fa96a 1194 }
cparata 2:ae74845fa96a 1195
cparata 2:ae74845fa96a 1196 return 0;
cparata 2:ae74845fa96a 1197 }
cparata 2:ae74845fa96a 1198
cparata 2:ae74845fa96a 1199 /**
cparata 2:ae74845fa96a 1200 * @brief Disable the tilt detection for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1201 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1202 */
cparata 2:ae74845fa96a 1203 int LSM6DSLSensor::Disable_Tilt_Detection(void)
cparata 2:ae74845fa96a 1204 {
cparata 2:ae74845fa96a 1205 /* Disable tilt event on INT1. */
cparata 2:ae74845fa96a 1206 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1207 {
cparata 2:ae74845fa96a 1208 return 1;
cparata 2:ae74845fa96a 1209 }
cparata 2:ae74845fa96a 1210
cparata 2:ae74845fa96a 1211 /* Disable tilt calculation. */
cparata 2:ae74845fa96a 1212 if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1213 {
cparata 2:ae74845fa96a 1214 return 1;
cparata 2:ae74845fa96a 1215 }
cparata 2:ae74845fa96a 1216
cparata 2:ae74845fa96a 1217 /* Disable embedded functionalities */
cparata 2:ae74845fa96a 1218 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1219 {
cparata 2:ae74845fa96a 1220 return 1;
cparata 2:ae74845fa96a 1221 }
cparata 2:ae74845fa96a 1222
cparata 2:ae74845fa96a 1223 return 0;
cparata 2:ae74845fa96a 1224 }
cparata 2:ae74845fa96a 1225
cparata 2:ae74845fa96a 1226 /**
cparata 2:ae74845fa96a 1227 * @brief Get the tilt detection status for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1228 * @param status the pointer to the tilt detection status: 0 means no tilt detected, 1 means tilt detected
cparata 2:ae74845fa96a 1229 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1230 */
cparata 2:ae74845fa96a 1231 int LSM6DSLSensor::Get_Status_Tilt_Detection(uint8_t *status)
cparata 2:ae74845fa96a 1232 {
cparata 2:ae74845fa96a 1233 LSM6DSL_ACC_GYRO_TILT_EV_STATUS_t tilt_status;
cparata 2:ae74845fa96a 1234
cparata 2:ae74845fa96a 1235 if ( LSM6DSL_ACC_GYRO_R_TILT_EV_STATUS( (void *)this, &tilt_status ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1236 {
cparata 2:ae74845fa96a 1237 return 1;
cparata 2:ae74845fa96a 1238 }
cparata 2:ae74845fa96a 1239
cparata 2:ae74845fa96a 1240 switch( tilt_status )
cparata 2:ae74845fa96a 1241 {
cparata 2:ae74845fa96a 1242 case LSM6DSL_ACC_GYRO_TILT_EV_STATUS_DETECTED:
cparata 2:ae74845fa96a 1243 *status = 1;
cparata 2:ae74845fa96a 1244 break;
cparata 2:ae74845fa96a 1245 case LSM6DSL_ACC_GYRO_TILT_EV_STATUS_NOT_DETECTED:
cparata 2:ae74845fa96a 1246 *status = 0;
cparata 2:ae74845fa96a 1247 break;
cparata 2:ae74845fa96a 1248 default:
cparata 2:ae74845fa96a 1249 return 1;
cparata 2:ae74845fa96a 1250 }
cparata 2:ae74845fa96a 1251
cparata 2:ae74845fa96a 1252 return 0;
cparata 2:ae74845fa96a 1253 }
cparata 2:ae74845fa96a 1254
cparata 2:ae74845fa96a 1255 /**
cparata 2:ae74845fa96a 1256 * @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1257 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:ae74845fa96a 1258 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1259 */
cparata 2:ae74845fa96a 1260 int LSM6DSLSensor::Enable_Wake_Up_Detection(void)
cparata 2:ae74845fa96a 1261 {
cparata 2:ae74845fa96a 1262 /* Output Data Rate selection */
cparata 2:ae74845fa96a 1263 if( Set_X_ODR(416.0f) == 1 )
cparata 2:ae74845fa96a 1264 {
cparata 2:ae74845fa96a 1265 return 1;
cparata 2:ae74845fa96a 1266 }
cparata 2:ae74845fa96a 1267
cparata 2:ae74845fa96a 1268 /* Full scale selection. */
cparata 2:ae74845fa96a 1269 if( Set_X_FS(2.0f) == 1 )
cparata 2:ae74845fa96a 1270 {
cparata 2:ae74845fa96a 1271 return 1;
cparata 2:ae74845fa96a 1272 }
cparata 2:ae74845fa96a 1273
cparata 2:ae74845fa96a 1274 /* WAKE_DUR setting */
cparata 2:ae74845fa96a 1275 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1276 {
cparata 2:ae74845fa96a 1277 return 1;
cparata 2:ae74845fa96a 1278 }
cparata 2:ae74845fa96a 1279
cparata 2:ae74845fa96a 1280 /* Set wake up threshold. */
cparata 2:ae74845fa96a 1281 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1282 {
cparata 2:ae74845fa96a 1283 return 1;
cparata 2:ae74845fa96a 1284 }
cparata 2:ae74845fa96a 1285
cparata 2:ae74845fa96a 1286 /* Enable basic Interrupts */
cparata 2:ae74845fa96a 1287 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1288 {
cparata 2:ae74845fa96a 1289 return 1;
cparata 2:ae74845fa96a 1290 }
cparata 2:ae74845fa96a 1291
cparata 2:ae74845fa96a 1292 /* INT1_WU setting */
cparata 2:ae74845fa96a 1293 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1294 {
cparata 2:ae74845fa96a 1295 return 1;
cparata 2:ae74845fa96a 1296 }
cparata 2:ae74845fa96a 1297
cparata 2:ae74845fa96a 1298 return 0;
cparata 2:ae74845fa96a 1299 }
cparata 2:ae74845fa96a 1300
cparata 2:ae74845fa96a 1301 /**
cparata 2:ae74845fa96a 1302 * @brief Disable the wake up detection for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1303 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1304 */
cparata 2:ae74845fa96a 1305 int LSM6DSLSensor::Disable_Wake_Up_Detection(void)
cparata 2:ae74845fa96a 1306 {
cparata 2:ae74845fa96a 1307 /* INT1_WU setting */
cparata 2:ae74845fa96a 1308 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1309 {
cparata 2:ae74845fa96a 1310 return 1;
cparata 2:ae74845fa96a 1311 }
cparata 2:ae74845fa96a 1312
cparata 2:ae74845fa96a 1313 /* Disable basic Interrupts */
cparata 2:ae74845fa96a 1314 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1315 {
cparata 2:ae74845fa96a 1316 return 1;
cparata 2:ae74845fa96a 1317 }
cparata 2:ae74845fa96a 1318
cparata 2:ae74845fa96a 1319 /* WU_DUR setting */
cparata 2:ae74845fa96a 1320 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1321 {
cparata 2:ae74845fa96a 1322 return 1;
cparata 2:ae74845fa96a 1323 }
cparata 2:ae74845fa96a 1324
cparata 2:ae74845fa96a 1325 /* WU_THS setting */
cparata 2:ae74845fa96a 1326 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1327 {
cparata 2:ae74845fa96a 1328 return 1;
cparata 2:ae74845fa96a 1329 }
cparata 2:ae74845fa96a 1330
cparata 2:ae74845fa96a 1331 return 0;
cparata 2:ae74845fa96a 1332 }
cparata 2:ae74845fa96a 1333
cparata 2:ae74845fa96a 1334 /**
cparata 2:ae74845fa96a 1335 * @brief Get the status of the wake up detection for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1336 * @param status the pointer to the status of the wake up detection: 0 means no detection, 1 means detection happened
cparata 2:ae74845fa96a 1337 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1338 */
cparata 2:ae74845fa96a 1339 int LSM6DSLSensor::Get_Status_Wake_Up_Detection(uint8_t *status)
cparata 2:ae74845fa96a 1340 {
cparata 2:ae74845fa96a 1341 LSM6DSL_ACC_GYRO_WU_EV_STATUS_t wake_up_status;
cparata 2:ae74845fa96a 1342
cparata 2:ae74845fa96a 1343 if ( LSM6DSL_ACC_GYRO_R_WU_EV_STATUS( (void *)this, &wake_up_status ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1344 {
cparata 2:ae74845fa96a 1345 return 1;
cparata 2:ae74845fa96a 1346 }
cparata 2:ae74845fa96a 1347
cparata 2:ae74845fa96a 1348 switch( wake_up_status )
cparata 2:ae74845fa96a 1349 {
cparata 2:ae74845fa96a 1350 case LSM6DSL_ACC_GYRO_WU_EV_STATUS_DETECTED:
cparata 2:ae74845fa96a 1351 *status = 1;
cparata 2:ae74845fa96a 1352 break;
cparata 2:ae74845fa96a 1353 case LSM6DSL_ACC_GYRO_WU_EV_STATUS_NOT_DETECTED:
cparata 2:ae74845fa96a 1354 *status = 0;
cparata 2:ae74845fa96a 1355 break;
cparata 2:ae74845fa96a 1356 default:
cparata 2:ae74845fa96a 1357 return 1;
cparata 2:ae74845fa96a 1358 }
cparata 2:ae74845fa96a 1359
cparata 2:ae74845fa96a 1360 return 0;
cparata 2:ae74845fa96a 1361 }
cparata 2:ae74845fa96a 1362
cparata 2:ae74845fa96a 1363 /**
cparata 2:ae74845fa96a 1364 * @brief Set the wake up threshold for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1365 * @param thr the threshold to be set
cparata 2:ae74845fa96a 1366 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1367 */
cparata 2:ae74845fa96a 1368 int LSM6DSLSensor::Set_Wake_Up_Threshold(uint8_t thr)
cparata 2:ae74845fa96a 1369 {
cparata 2:ae74845fa96a 1370 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1371 {
cparata 2:ae74845fa96a 1372 return 1;
cparata 2:ae74845fa96a 1373 }
cparata 2:ae74845fa96a 1374
cparata 2:ae74845fa96a 1375 return 0;
cparata 2:ae74845fa96a 1376 }
cparata 2:ae74845fa96a 1377
cparata 2:ae74845fa96a 1378 /**
cparata 2:ae74845fa96a 1379 * @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1380 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:ae74845fa96a 1381 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1382 */
cparata 2:ae74845fa96a 1383 int LSM6DSLSensor::Enable_Single_Tap_Detection(void)
cparata 2:ae74845fa96a 1384 {
cparata 2:ae74845fa96a 1385 /* Output Data Rate selection */
cparata 2:ae74845fa96a 1386 if( Set_X_ODR(416.0f) == 1 )
cparata 2:ae74845fa96a 1387 {
cparata 2:ae74845fa96a 1388 return 1;
cparata 2:ae74845fa96a 1389 }
cparata 2:ae74845fa96a 1390
cparata 2:ae74845fa96a 1391 /* Full scale selection. */
cparata 2:ae74845fa96a 1392 if( Set_X_FS(2.0f) == 1 )
cparata 2:ae74845fa96a 1393 {
cparata 2:ae74845fa96a 1394 return 1;
cparata 2:ae74845fa96a 1395 }
cparata 2:ae74845fa96a 1396
cparata 2:ae74845fa96a 1397 /* Enable X direction in tap recognition. */
cparata 2:ae74845fa96a 1398 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1399 {
cparata 2:ae74845fa96a 1400 return 1;
cparata 2:ae74845fa96a 1401 }
cparata 2:ae74845fa96a 1402
cparata 2:ae74845fa96a 1403 /* Enable Y direction in tap recognition. */
cparata 2:ae74845fa96a 1404 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1405 {
cparata 2:ae74845fa96a 1406 return 1;
cparata 2:ae74845fa96a 1407 }
cparata 2:ae74845fa96a 1408
cparata 2:ae74845fa96a 1409 /* Enable Z direction in tap recognition. */
cparata 2:ae74845fa96a 1410 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1411 {
cparata 2:ae74845fa96a 1412 return 1;
cparata 2:ae74845fa96a 1413 }
cparata 2:ae74845fa96a 1414
cparata 2:ae74845fa96a 1415 /* Set tap threshold. */
cparata 2:ae74845fa96a 1416 if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata 2:ae74845fa96a 1417 {
cparata 2:ae74845fa96a 1418 return 1;
cparata 2:ae74845fa96a 1419 }
cparata 2:ae74845fa96a 1420
cparata 2:ae74845fa96a 1421 /* Set tap shock time window. */
cparata 2:ae74845fa96a 1422 if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == 1 )
cparata 2:ae74845fa96a 1423 {
cparata 2:ae74845fa96a 1424 return 1;
cparata 2:ae74845fa96a 1425 }
cparata 2:ae74845fa96a 1426
cparata 2:ae74845fa96a 1427 /* Set tap quiet time window. */
cparata 2:ae74845fa96a 1428 if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == 1 )
cparata 2:ae74845fa96a 1429 {
cparata 2:ae74845fa96a 1430 return 1;
cparata 2:ae74845fa96a 1431 }
cparata 2:ae74845fa96a 1432
cparata 2:ae74845fa96a 1433 /* _NOTE_: Tap duration time window - don't care for single tap. */
cparata 2:ae74845fa96a 1434
cparata 2:ae74845fa96a 1435 /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata 2:ae74845fa96a 1436
cparata 2:ae74845fa96a 1437 /* Enable basic Interrupts */
cparata 2:ae74845fa96a 1438 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1439 {
cparata 2:ae74845fa96a 1440 return 1;
cparata 2:ae74845fa96a 1441 }
cparata 2:ae74845fa96a 1442
cparata 2:ae74845fa96a 1443 /* Enable single tap interrupt on INT1 pin. */
cparata 2:ae74845fa96a 1444 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1445 {
cparata 2:ae74845fa96a 1446 return 1;
cparata 2:ae74845fa96a 1447 }
cparata 2:ae74845fa96a 1448
cparata 2:ae74845fa96a 1449 return 0;
cparata 2:ae74845fa96a 1450 }
cparata 2:ae74845fa96a 1451
cparata 2:ae74845fa96a 1452 /**
cparata 2:ae74845fa96a 1453 * @brief Disable the single tap detection for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1454 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1455 */
cparata 2:ae74845fa96a 1456 int LSM6DSLSensor::Disable_Single_Tap_Detection(void)
cparata 2:ae74845fa96a 1457 {
cparata 2:ae74845fa96a 1458 /* Disable single tap interrupt on INT1 pin. */
cparata 2:ae74845fa96a 1459 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1460 {
cparata 2:ae74845fa96a 1461 return 1;
cparata 2:ae74845fa96a 1462 }
cparata 2:ae74845fa96a 1463
cparata 2:ae74845fa96a 1464 /* Disable basic Interrupts */
cparata 2:ae74845fa96a 1465 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1466 {
cparata 2:ae74845fa96a 1467 return 1;
cparata 2:ae74845fa96a 1468 }
cparata 2:ae74845fa96a 1469
cparata 2:ae74845fa96a 1470 /* Reset tap threshold. */
cparata 2:ae74845fa96a 1471 if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata 2:ae74845fa96a 1472 {
cparata 2:ae74845fa96a 1473 return 1;
cparata 2:ae74845fa96a 1474 }
cparata 2:ae74845fa96a 1475
cparata 2:ae74845fa96a 1476 /* Reset tap shock time window. */
cparata 2:ae74845fa96a 1477 if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata 2:ae74845fa96a 1478 {
cparata 2:ae74845fa96a 1479 return 1;
cparata 2:ae74845fa96a 1480 }
cparata 2:ae74845fa96a 1481
cparata 2:ae74845fa96a 1482 /* Reset tap quiet time window. */
cparata 2:ae74845fa96a 1483 if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata 2:ae74845fa96a 1484 {
cparata 2:ae74845fa96a 1485 return 1;
cparata 2:ae74845fa96a 1486 }
cparata 2:ae74845fa96a 1487
cparata 2:ae74845fa96a 1488 /* _NOTE_: Tap duration time window - don't care for single tap. */
cparata 2:ae74845fa96a 1489
cparata 2:ae74845fa96a 1490 /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata 2:ae74845fa96a 1491
cparata 2:ae74845fa96a 1492 /* Disable Z direction in tap recognition. */
cparata 2:ae74845fa96a 1493 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1494 {
cparata 2:ae74845fa96a 1495 return 1;
cparata 2:ae74845fa96a 1496 }
cparata 2:ae74845fa96a 1497
cparata 2:ae74845fa96a 1498 /* Disable Y direction in tap recognition. */
cparata 2:ae74845fa96a 1499 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1500 {
cparata 2:ae74845fa96a 1501 return 1;
cparata 2:ae74845fa96a 1502 }
cparata 2:ae74845fa96a 1503
cparata 2:ae74845fa96a 1504 /* Disable X direction in tap recognition. */
cparata 2:ae74845fa96a 1505 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1506 {
cparata 2:ae74845fa96a 1507 return 1;
cparata 2:ae74845fa96a 1508 }
cparata 2:ae74845fa96a 1509
cparata 2:ae74845fa96a 1510 return 0;
cparata 2:ae74845fa96a 1511 }
cparata 2:ae74845fa96a 1512
cparata 2:ae74845fa96a 1513 /**
cparata 2:ae74845fa96a 1514 * @brief Get the single tap detection status for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1515 * @param status the pointer to the single tap detection status: 0 means no single tap detected, 1 means single tap detected
cparata 2:ae74845fa96a 1516 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1517 */
cparata 2:ae74845fa96a 1518 int LSM6DSLSensor::Get_Status_Single_Tap_Detection(uint8_t *status)
cparata 2:ae74845fa96a 1519 {
cparata 2:ae74845fa96a 1520 LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_t tap_status;
cparata 2:ae74845fa96a 1521
cparata 2:ae74845fa96a 1522 if ( LSM6DSL_ACC_GYRO_R_SINGLE_TAP_EV_STATUS( (void *)this, &tap_status ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1523 {
cparata 2:ae74845fa96a 1524 return 1;
cparata 2:ae74845fa96a 1525 }
cparata 2:ae74845fa96a 1526
cparata 2:ae74845fa96a 1527 switch( tap_status )
cparata 2:ae74845fa96a 1528 {
cparata 2:ae74845fa96a 1529 case LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_DETECTED:
cparata 2:ae74845fa96a 1530 *status = 1;
cparata 2:ae74845fa96a 1531 break;
cparata 2:ae74845fa96a 1532
cparata 2:ae74845fa96a 1533 case LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_NOT_DETECTED:
cparata 2:ae74845fa96a 1534 *status = 0;
cparata 2:ae74845fa96a 1535 break;
cparata 2:ae74845fa96a 1536
cparata 2:ae74845fa96a 1537 default:
cparata 2:ae74845fa96a 1538 return 1;
cparata 2:ae74845fa96a 1539 }
cparata 2:ae74845fa96a 1540
cparata 2:ae74845fa96a 1541 return 0;
cparata 2:ae74845fa96a 1542 }
cparata 2:ae74845fa96a 1543
cparata 2:ae74845fa96a 1544 /**
cparata 2:ae74845fa96a 1545 * @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1546 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:ae74845fa96a 1547 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1548 */
cparata 2:ae74845fa96a 1549 int LSM6DSLSensor::Enable_Double_Tap_Detection(void)
cparata 2:ae74845fa96a 1550 {
cparata 2:ae74845fa96a 1551 /* Output Data Rate selection */
cparata 2:ae74845fa96a 1552 if( Set_X_ODR(416.0f) == 1 )
cparata 2:ae74845fa96a 1553 {
cparata 2:ae74845fa96a 1554 return 1;
cparata 2:ae74845fa96a 1555 }
cparata 2:ae74845fa96a 1556
cparata 2:ae74845fa96a 1557 /* Full scale selection. */
cparata 2:ae74845fa96a 1558 if( Set_X_FS(2.0f) == 1 )
cparata 2:ae74845fa96a 1559 {
cparata 2:ae74845fa96a 1560 return 1;
cparata 2:ae74845fa96a 1561 }
cparata 2:ae74845fa96a 1562
cparata 2:ae74845fa96a 1563 /* Enable X direction in tap recognition. */
cparata 2:ae74845fa96a 1564 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1565 {
cparata 2:ae74845fa96a 1566 return 1;
cparata 2:ae74845fa96a 1567 }
cparata 2:ae74845fa96a 1568
cparata 2:ae74845fa96a 1569 /* Enable Y direction in tap recognition. */
cparata 2:ae74845fa96a 1570 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1571 {
cparata 2:ae74845fa96a 1572 return 1;
cparata 2:ae74845fa96a 1573 }
cparata 2:ae74845fa96a 1574
cparata 2:ae74845fa96a 1575 /* Enable Z direction in tap recognition. */
cparata 2:ae74845fa96a 1576 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1577 {
cparata 2:ae74845fa96a 1578 return 1;
cparata 2:ae74845fa96a 1579 }
cparata 2:ae74845fa96a 1580
cparata 2:ae74845fa96a 1581 /* Set tap threshold. */
cparata 2:ae74845fa96a 1582 if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata 2:ae74845fa96a 1583 {
cparata 2:ae74845fa96a 1584 return 1;
cparata 2:ae74845fa96a 1585 }
cparata 2:ae74845fa96a 1586
cparata 2:ae74845fa96a 1587 /* Set tap shock time window. */
cparata 2:ae74845fa96a 1588 if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == 1 )
cparata 2:ae74845fa96a 1589 {
cparata 2:ae74845fa96a 1590 return 1;
cparata 2:ae74845fa96a 1591 }
cparata 2:ae74845fa96a 1592
cparata 2:ae74845fa96a 1593 /* Set tap quiet time window. */
cparata 2:ae74845fa96a 1594 if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == 1 )
cparata 2:ae74845fa96a 1595 {
cparata 2:ae74845fa96a 1596 return 1;
cparata 2:ae74845fa96a 1597 }
cparata 2:ae74845fa96a 1598
cparata 2:ae74845fa96a 1599 /* Set tap duration time window. */
cparata 2:ae74845fa96a 1600 if ( Set_Tap_Duration_Time( LSM6DSL_TAP_DURATION_TIME_MID ) == 1 )
cparata 2:ae74845fa96a 1601 {
cparata 2:ae74845fa96a 1602 return 1;
cparata 2:ae74845fa96a 1603 }
cparata 2:ae74845fa96a 1604
cparata 2:ae74845fa96a 1605 /* Single and double tap enabled. */
cparata 2:ae74845fa96a 1606 if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1607 {
cparata 2:ae74845fa96a 1608 return 1;
cparata 2:ae74845fa96a 1609 }
cparata 2:ae74845fa96a 1610
cparata 2:ae74845fa96a 1611 /* Enable basic Interrupts */
cparata 2:ae74845fa96a 1612 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1613 {
cparata 2:ae74845fa96a 1614 return 1;
cparata 2:ae74845fa96a 1615 }
cparata 2:ae74845fa96a 1616
cparata 2:ae74845fa96a 1617 /* Enable double tap interrupt on INT1 pin. */
cparata 2:ae74845fa96a 1618 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1619 {
cparata 2:ae74845fa96a 1620 return 1;
cparata 2:ae74845fa96a 1621 }
cparata 2:ae74845fa96a 1622
cparata 2:ae74845fa96a 1623 return 0;
cparata 2:ae74845fa96a 1624 }
cparata 2:ae74845fa96a 1625
cparata 2:ae74845fa96a 1626 /**
cparata 2:ae74845fa96a 1627 * @brief Disable the double tap detection for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1628 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1629 */
cparata 2:ae74845fa96a 1630 int LSM6DSLSensor::Disable_Double_Tap_Detection(void)
cparata 2:ae74845fa96a 1631 {
cparata 2:ae74845fa96a 1632 /* Disable double tap interrupt on INT1 pin. */
cparata 2:ae74845fa96a 1633 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1634 {
cparata 2:ae74845fa96a 1635 return 1;
cparata 2:ae74845fa96a 1636 }
cparata 2:ae74845fa96a 1637
cparata 2:ae74845fa96a 1638 /* Disable basic Interrupts */
cparata 2:ae74845fa96a 1639 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1640 {
cparata 2:ae74845fa96a 1641 return 1;
cparata 2:ae74845fa96a 1642 }
cparata 2:ae74845fa96a 1643
cparata 2:ae74845fa96a 1644 /* Reset tap threshold. */
cparata 2:ae74845fa96a 1645 if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata 2:ae74845fa96a 1646 {
cparata 2:ae74845fa96a 1647 return 1;
cparata 2:ae74845fa96a 1648 }
cparata 2:ae74845fa96a 1649
cparata 2:ae74845fa96a 1650 /* Reset tap shock time window. */
cparata 2:ae74845fa96a 1651 if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata 2:ae74845fa96a 1652 {
cparata 2:ae74845fa96a 1653 return 1;
cparata 2:ae74845fa96a 1654 }
cparata 2:ae74845fa96a 1655
cparata 2:ae74845fa96a 1656 /* Reset tap quiet time window. */
cparata 2:ae74845fa96a 1657 if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata 2:ae74845fa96a 1658 {
cparata 2:ae74845fa96a 1659 return 1;
cparata 2:ae74845fa96a 1660 }
cparata 2:ae74845fa96a 1661
cparata 2:ae74845fa96a 1662 /* Reset tap duration time window. */
cparata 2:ae74845fa96a 1663 if ( Set_Tap_Duration_Time( 0x0 ) == 1 )
cparata 2:ae74845fa96a 1664 {
cparata 2:ae74845fa96a 1665 return 1;
cparata 2:ae74845fa96a 1666 }
cparata 2:ae74845fa96a 1667
cparata 2:ae74845fa96a 1668 /* Only single tap enabled. */
cparata 2:ae74845fa96a 1669 if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1670 {
cparata 2:ae74845fa96a 1671 return 1;
cparata 2:ae74845fa96a 1672 }
cparata 2:ae74845fa96a 1673
cparata 2:ae74845fa96a 1674 /* Disable Z direction in tap recognition. */
cparata 2:ae74845fa96a 1675 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1676 {
cparata 2:ae74845fa96a 1677 return 1;
cparata 2:ae74845fa96a 1678 }
cparata 2:ae74845fa96a 1679
cparata 2:ae74845fa96a 1680 /* Disable Y direction in tap recognition. */
cparata 2:ae74845fa96a 1681 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1682 {
cparata 2:ae74845fa96a 1683 return 1;
cparata 2:ae74845fa96a 1684 }
cparata 2:ae74845fa96a 1685
cparata 2:ae74845fa96a 1686 /* Disable X direction in tap recognition. */
cparata 2:ae74845fa96a 1687 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1688 {
cparata 2:ae74845fa96a 1689 return 1;
cparata 2:ae74845fa96a 1690 }
cparata 2:ae74845fa96a 1691
cparata 2:ae74845fa96a 1692 return 0;
cparata 2:ae74845fa96a 1693 }
cparata 2:ae74845fa96a 1694
cparata 2:ae74845fa96a 1695 /**
cparata 2:ae74845fa96a 1696 * @brief Get the double tap detection status for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1697 * @param status the pointer to the double tap detection status: 0 means no double tap detected, 1 means double tap detected
cparata 2:ae74845fa96a 1698 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1699 */
cparata 2:ae74845fa96a 1700 int LSM6DSLSensor::Get_Status_Double_Tap_Detection(uint8_t *status)
cparata 2:ae74845fa96a 1701 {
cparata 2:ae74845fa96a 1702 LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_t tap_status;
cparata 2:ae74845fa96a 1703
cparata 2:ae74845fa96a 1704 if ( LSM6DSL_ACC_GYRO_R_DOUBLE_TAP_EV_STATUS( (void *)this, &tap_status ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1705 {
cparata 2:ae74845fa96a 1706 return 1;
cparata 2:ae74845fa96a 1707 }
cparata 2:ae74845fa96a 1708
cparata 2:ae74845fa96a 1709 switch( tap_status )
cparata 2:ae74845fa96a 1710 {
cparata 2:ae74845fa96a 1711 case LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_DETECTED:
cparata 2:ae74845fa96a 1712 *status = 1;
cparata 2:ae74845fa96a 1713 break;
cparata 2:ae74845fa96a 1714
cparata 2:ae74845fa96a 1715 case LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_NOT_DETECTED:
cparata 2:ae74845fa96a 1716 *status = 0;
cparata 2:ae74845fa96a 1717 break;
cparata 2:ae74845fa96a 1718
cparata 2:ae74845fa96a 1719 default:
cparata 2:ae74845fa96a 1720 return 1;
cparata 2:ae74845fa96a 1721 }
cparata 2:ae74845fa96a 1722
cparata 2:ae74845fa96a 1723 return 0;
cparata 2:ae74845fa96a 1724 }
cparata 2:ae74845fa96a 1725
cparata 2:ae74845fa96a 1726 /**
cparata 2:ae74845fa96a 1727 * @brief Set the tap threshold for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1728 * @param thr the threshold to be set
cparata 2:ae74845fa96a 1729 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1730 */
cparata 2:ae74845fa96a 1731 int LSM6DSLSensor::Set_Tap_Threshold(uint8_t thr)
cparata 2:ae74845fa96a 1732 {
cparata 2:ae74845fa96a 1733 if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1734 {
cparata 2:ae74845fa96a 1735 return 1;
cparata 2:ae74845fa96a 1736 }
cparata 2:ae74845fa96a 1737
cparata 2:ae74845fa96a 1738 return 0;
cparata 2:ae74845fa96a 1739 }
cparata 2:ae74845fa96a 1740
cparata 2:ae74845fa96a 1741 /**
cparata 2:ae74845fa96a 1742 * @brief Set the tap shock time window for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1743 * @param time the shock time window to be set
cparata 2:ae74845fa96a 1744 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1745 */
cparata 2:ae74845fa96a 1746 int LSM6DSLSensor::Set_Tap_Shock_Time(uint8_t time)
cparata 2:ae74845fa96a 1747 {
cparata 2:ae74845fa96a 1748 if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1749 {
cparata 2:ae74845fa96a 1750 return 1;
cparata 2:ae74845fa96a 1751 }
cparata 2:ae74845fa96a 1752
cparata 2:ae74845fa96a 1753 return 0;
cparata 2:ae74845fa96a 1754 }
cparata 2:ae74845fa96a 1755
cparata 2:ae74845fa96a 1756 /**
cparata 2:ae74845fa96a 1757 * @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1758 * @param time the quiet time window to be set
cparata 2:ae74845fa96a 1759 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1760 */
cparata 2:ae74845fa96a 1761 int LSM6DSLSensor::Set_Tap_Quiet_Time(uint8_t time)
cparata 2:ae74845fa96a 1762 {
cparata 2:ae74845fa96a 1763 if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1764 {
cparata 2:ae74845fa96a 1765 return 1;
cparata 2:ae74845fa96a 1766 }
cparata 2:ae74845fa96a 1767
cparata 2:ae74845fa96a 1768 return 0;
cparata 2:ae74845fa96a 1769 }
cparata 2:ae74845fa96a 1770
cparata 2:ae74845fa96a 1771 /**
cparata 2:ae74845fa96a 1772 * @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1773 * @param time the duration of the time window to be set
cparata 2:ae74845fa96a 1774 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1775 */
cparata 2:ae74845fa96a 1776 int LSM6DSLSensor::Set_Tap_Duration_Time(uint8_t time)
cparata 2:ae74845fa96a 1777 {
cparata 2:ae74845fa96a 1778 if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1779 {
cparata 2:ae74845fa96a 1780 return 1;
cparata 2:ae74845fa96a 1781 }
cparata 2:ae74845fa96a 1782
cparata 2:ae74845fa96a 1783 return 0;
cparata 2:ae74845fa96a 1784 }
cparata 2:ae74845fa96a 1785
cparata 2:ae74845fa96a 1786 /**
cparata 2:ae74845fa96a 1787 * @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1788 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:ae74845fa96a 1789 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1790 */
cparata 2:ae74845fa96a 1791 int LSM6DSLSensor::Enable_6D_Orientation(void)
cparata 2:ae74845fa96a 1792 {
cparata 2:ae74845fa96a 1793 /* Output Data Rate selection */
cparata 2:ae74845fa96a 1794 if( Set_X_ODR(416.0f) == 1 )
cparata 2:ae74845fa96a 1795 {
cparata 2:ae74845fa96a 1796 return 1;
cparata 2:ae74845fa96a 1797 }
cparata 2:ae74845fa96a 1798
cparata 2:ae74845fa96a 1799 /* Full scale selection. */
cparata 2:ae74845fa96a 1800 if( Set_X_FS(2.0f) == 1 )
cparata 2:ae74845fa96a 1801 {
cparata 2:ae74845fa96a 1802 return 1;
cparata 2:ae74845fa96a 1803 }
cparata 2:ae74845fa96a 1804
cparata 2:ae74845fa96a 1805 /* Set 6D threshold. */
cparata 2:ae74845fa96a 1806 if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1807 {
cparata 2:ae74845fa96a 1808 return 1;
cparata 2:ae74845fa96a 1809 }
cparata 2:ae74845fa96a 1810
cparata 2:ae74845fa96a 1811 /* Enable basic Interrupts */
cparata 2:ae74845fa96a 1812 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1813 {
cparata 2:ae74845fa96a 1814 return 1;
cparata 2:ae74845fa96a 1815 }
cparata 2:ae74845fa96a 1816
cparata 2:ae74845fa96a 1817 /* INT1_6D setting. */
cparata 2:ae74845fa96a 1818 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1819 {
cparata 2:ae74845fa96a 1820 return 1;
cparata 2:ae74845fa96a 1821 }
cparata 2:ae74845fa96a 1822
cparata 2:ae74845fa96a 1823 return 0;
cparata 2:ae74845fa96a 1824 }
cparata 2:ae74845fa96a 1825
cparata 2:ae74845fa96a 1826 /**
cparata 2:ae74845fa96a 1827 * @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1828 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1829 */
cparata 2:ae74845fa96a 1830 int LSM6DSLSensor::Disable_6D_Orientation(void)
cparata 2:ae74845fa96a 1831 {
cparata 2:ae74845fa96a 1832 /* INT1_6D setting. */
cparata 2:ae74845fa96a 1833 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1834 {
cparata 2:ae74845fa96a 1835 return 1;
cparata 2:ae74845fa96a 1836 }
cparata 2:ae74845fa96a 1837
cparata 2:ae74845fa96a 1838 /* Disable basic Interrupts */
cparata 2:ae74845fa96a 1839 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1840 {
cparata 2:ae74845fa96a 1841 return 1;
cparata 2:ae74845fa96a 1842 }
cparata 2:ae74845fa96a 1843
cparata 2:ae74845fa96a 1844 /* Reset 6D threshold. */
cparata 2:ae74845fa96a 1845 if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1846 {
cparata 2:ae74845fa96a 1847 return 1;
cparata 2:ae74845fa96a 1848 }
cparata 2:ae74845fa96a 1849
cparata 2:ae74845fa96a 1850 return 0;
cparata 2:ae74845fa96a 1851 }
cparata 2:ae74845fa96a 1852
cparata 2:ae74845fa96a 1853 /**
cparata 2:ae74845fa96a 1854 * @brief Get the status of the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1855 * @param status the pointer to the status of the 6D orientation detection: 0 means no detection, 1 means detection happened
cparata 2:ae74845fa96a 1856 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1857 */
cparata 2:ae74845fa96a 1858 int LSM6DSLSensor::Get_Status_6D_Orientation(uint8_t *status)
cparata 2:ae74845fa96a 1859 {
cparata 2:ae74845fa96a 1860 LSM6DSL_ACC_GYRO_D6D_EV_STATUS_t status_raw;
cparata 2:ae74845fa96a 1861
cparata 2:ae74845fa96a 1862 if ( LSM6DSL_ACC_GYRO_R_D6D_EV_STATUS( (void *)this, &status_raw ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1863 {
cparata 2:ae74845fa96a 1864 return 1;
cparata 2:ae74845fa96a 1865 }
cparata 2:ae74845fa96a 1866
cparata 2:ae74845fa96a 1867 switch( status_raw )
cparata 2:ae74845fa96a 1868 {
cparata 2:ae74845fa96a 1869 case LSM6DSL_ACC_GYRO_D6D_EV_STATUS_DETECTED:
cparata 2:ae74845fa96a 1870 *status = 1;
cparata 2:ae74845fa96a 1871 break;
cparata 2:ae74845fa96a 1872 case LSM6DSL_ACC_GYRO_D6D_EV_STATUS_NOT_DETECTED:
cparata 2:ae74845fa96a 1873 *status = 0;
cparata 2:ae74845fa96a 1874 break;
cparata 2:ae74845fa96a 1875 default:
cparata 2:ae74845fa96a 1876 return 1;
cparata 2:ae74845fa96a 1877 }
cparata 2:ae74845fa96a 1878
cparata 2:ae74845fa96a 1879 return 0;
cparata 2:ae74845fa96a 1880 }
cparata 2:ae74845fa96a 1881
cparata 2:ae74845fa96a 1882 /**
cparata 2:ae74845fa96a 1883 * @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1884 * @param xl the pointer to the 6D orientation XL axis
cparata 2:ae74845fa96a 1885 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1886 */
cparata 2:ae74845fa96a 1887 int LSM6DSLSensor::Get_6D_Orientation_XL(uint8_t *xl)
cparata 2:ae74845fa96a 1888 {
cparata 2:ae74845fa96a 1889 LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
cparata 2:ae74845fa96a 1890
cparata 2:ae74845fa96a 1891 if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1892 {
cparata 2:ae74845fa96a 1893 return 1;
cparata 2:ae74845fa96a 1894 }
cparata 2:ae74845fa96a 1895
cparata 2:ae74845fa96a 1896 switch( xl_raw )
cparata 2:ae74845fa96a 1897 {
cparata 2:ae74845fa96a 1898 case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
cparata 2:ae74845fa96a 1899 *xl = 1;
cparata 2:ae74845fa96a 1900 break;
cparata 2:ae74845fa96a 1901 case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
cparata 2:ae74845fa96a 1902 *xl = 0;
cparata 2:ae74845fa96a 1903 break;
cparata 2:ae74845fa96a 1904 default:
cparata 2:ae74845fa96a 1905 return 1;
cparata 2:ae74845fa96a 1906 }
cparata 2:ae74845fa96a 1907
cparata 2:ae74845fa96a 1908 return 0;
cparata 2:ae74845fa96a 1909 }
cparata 2:ae74845fa96a 1910
cparata 2:ae74845fa96a 1911 /**
cparata 2:ae74845fa96a 1912 * @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1913 * @param xh the pointer to the 6D orientation XH axis
cparata 2:ae74845fa96a 1914 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1915 */
cparata 2:ae74845fa96a 1916 int LSM6DSLSensor::Get_6D_Orientation_XH(uint8_t *xh)
cparata 2:ae74845fa96a 1917 {
cparata 2:ae74845fa96a 1918 LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
cparata 2:ae74845fa96a 1919
cparata 2:ae74845fa96a 1920 if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1921 {
cparata 2:ae74845fa96a 1922 return 1;
cparata 2:ae74845fa96a 1923 }
cparata 2:ae74845fa96a 1924
cparata 2:ae74845fa96a 1925 switch( xh_raw )
cparata 2:ae74845fa96a 1926 {
cparata 2:ae74845fa96a 1927 case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
cparata 2:ae74845fa96a 1928 *xh = 1;
cparata 2:ae74845fa96a 1929 break;
cparata 2:ae74845fa96a 1930 case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
cparata 2:ae74845fa96a 1931 *xh = 0;
cparata 2:ae74845fa96a 1932 break;
cparata 2:ae74845fa96a 1933 default:
cparata 2:ae74845fa96a 1934 return 1;
cparata 2:ae74845fa96a 1935 }
cparata 2:ae74845fa96a 1936
cparata 2:ae74845fa96a 1937 return 0;
cparata 2:ae74845fa96a 1938 }
cparata 2:ae74845fa96a 1939
cparata 2:ae74845fa96a 1940 /**
cparata 2:ae74845fa96a 1941 * @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1942 * @param yl the pointer to the 6D orientation YL axis
cparata 2:ae74845fa96a 1943 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1944 */
cparata 2:ae74845fa96a 1945 int LSM6DSLSensor::Get_6D_Orientation_YL(uint8_t *yl)
cparata 2:ae74845fa96a 1946 {
cparata 2:ae74845fa96a 1947 LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
cparata 2:ae74845fa96a 1948
cparata 2:ae74845fa96a 1949 if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1950 {
cparata 2:ae74845fa96a 1951 return 1;
cparata 2:ae74845fa96a 1952 }
cparata 2:ae74845fa96a 1953
cparata 2:ae74845fa96a 1954 switch( yl_raw )
cparata 2:ae74845fa96a 1955 {
cparata 2:ae74845fa96a 1956 case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
cparata 2:ae74845fa96a 1957 *yl = 1;
cparata 2:ae74845fa96a 1958 break;
cparata 2:ae74845fa96a 1959 case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
cparata 2:ae74845fa96a 1960 *yl = 0;
cparata 2:ae74845fa96a 1961 break;
cparata 2:ae74845fa96a 1962 default:
cparata 2:ae74845fa96a 1963 return 1;
cparata 2:ae74845fa96a 1964 }
cparata 2:ae74845fa96a 1965
cparata 2:ae74845fa96a 1966 return 0;
cparata 2:ae74845fa96a 1967 }
cparata 2:ae74845fa96a 1968
cparata 2:ae74845fa96a 1969 /**
cparata 2:ae74845fa96a 1970 * @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1971 * @param yh the pointer to the 6D orientation YH axis
cparata 2:ae74845fa96a 1972 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1973 */
cparata 2:ae74845fa96a 1974 int LSM6DSLSensor::Get_6D_Orientation_YH(uint8_t *yh)
cparata 2:ae74845fa96a 1975 {
cparata 2:ae74845fa96a 1976 LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
cparata 2:ae74845fa96a 1977
cparata 2:ae74845fa96a 1978 if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1979 {
cparata 2:ae74845fa96a 1980 return 1;
cparata 2:ae74845fa96a 1981 }
cparata 2:ae74845fa96a 1982
cparata 2:ae74845fa96a 1983 switch( yh_raw )
cparata 2:ae74845fa96a 1984 {
cparata 2:ae74845fa96a 1985 case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
cparata 2:ae74845fa96a 1986 *yh = 1;
cparata 2:ae74845fa96a 1987 break;
cparata 2:ae74845fa96a 1988 case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
cparata 2:ae74845fa96a 1989 *yh = 0;
cparata 2:ae74845fa96a 1990 break;
cparata 2:ae74845fa96a 1991 default:
cparata 2:ae74845fa96a 1992 return 1;
cparata 2:ae74845fa96a 1993 }
cparata 2:ae74845fa96a 1994
cparata 2:ae74845fa96a 1995 return 0;
cparata 2:ae74845fa96a 1996 }
cparata 2:ae74845fa96a 1997
cparata 2:ae74845fa96a 1998 /**
cparata 2:ae74845fa96a 1999 * @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 2000 * @param zl the pointer to the 6D orientation ZL axis
cparata 2:ae74845fa96a 2001 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 2002 */
cparata 2:ae74845fa96a 2003 int LSM6DSLSensor::Get_6D_Orientation_ZL(uint8_t *zl)
cparata 2:ae74845fa96a 2004 {
cparata 2:ae74845fa96a 2005 LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
cparata 2:ae74845fa96a 2006
cparata 2:ae74845fa96a 2007 if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
cparata 2:ae74845fa96a 2008 {
cparata 2:ae74845fa96a 2009 return 1;
cparata 2:ae74845fa96a 2010 }
cparata 2:ae74845fa96a 2011
cparata 2:ae74845fa96a 2012 switch( zl_raw )
cparata 2:ae74845fa96a 2013 {
cparata 2:ae74845fa96a 2014 case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
cparata 2:ae74845fa96a 2015 *zl = 1;
cparata 2:ae74845fa96a 2016 break;
cparata 2:ae74845fa96a 2017 case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
cparata 2:ae74845fa96a 2018 *zl = 0;
cparata 2:ae74845fa96a 2019 break;
cparata 2:ae74845fa96a 2020 default:
cparata 2:ae74845fa96a 2021 return 1;
cparata 2:ae74845fa96a 2022 }
cparata 2:ae74845fa96a 2023
cparata 2:ae74845fa96a 2024 return 0;
cparata 2:ae74845fa96a 2025 }
cparata 2:ae74845fa96a 2026
cparata 2:ae74845fa96a 2027 /**
cparata 2:ae74845fa96a 2028 * @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 2029 * @param zh the pointer to the 6D orientation ZH axis
cparata 2:ae74845fa96a 2030 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 2031 */
cparata 2:ae74845fa96a 2032 int LSM6DSLSensor::Get_6D_Orientation_ZH(uint8_t *zh)
cparata 2:ae74845fa96a 2033 {
cparata 2:ae74845fa96a 2034 LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
cparata 2:ae74845fa96a 2035
cparata 2:ae74845fa96a 2036 if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
cparata 2:ae74845fa96a 2037 {
cparata 2:ae74845fa96a 2038 return 1;
cparata 2:ae74845fa96a 2039 }
cparata 2:ae74845fa96a 2040
cparata 2:ae74845fa96a 2041 switch( zh_raw )
cparata 2:ae74845fa96a 2042 {
cparata 2:ae74845fa96a 2043 case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
cparata 2:ae74845fa96a 2044 *zh = 1;
cparata 2:ae74845fa96a 2045 break;
cparata 2:ae74845fa96a 2046 case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
cparata 2:ae74845fa96a 2047 *zh = 0;
cparata 2:ae74845fa96a 2048 break;
cparata 2:ae74845fa96a 2049 default:
cparata 2:ae74845fa96a 2050 return 1;
cparata 2:ae74845fa96a 2051 }
cparata 2:ae74845fa96a 2052
cparata 2:ae74845fa96a 2053 return 0;
cparata 2:ae74845fa96a 2054 }
cparata 2:ae74845fa96a 2055
cparata 2:ae74845fa96a 2056 /**
cparata 2:ae74845fa96a 2057 * @brief Read the data from register
cparata 2:ae74845fa96a 2058 * @param reg register address
cparata 2:ae74845fa96a 2059 * @param data register data
cparata 2:ae74845fa96a 2060 * @retval 0 in case of success
cparata 2:ae74845fa96a 2061 * @retval 1 in case of failure
cparata 2:ae74845fa96a 2062 */
cparata 2:ae74845fa96a 2063 int LSM6DSLSensor::ReadReg( uint8_t reg, uint8_t *data )
cparata 2:ae74845fa96a 2064 {
cparata 2:ae74845fa96a 2065
cparata 2:ae74845fa96a 2066 if ( LSM6DSL_ACC_GYRO_ReadReg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
cparata 2:ae74845fa96a 2067 {
cparata 2:ae74845fa96a 2068 return 1;
cparata 2:ae74845fa96a 2069 }
cparata 2:ae74845fa96a 2070
cparata 2:ae74845fa96a 2071 return 0;
cparata 2:ae74845fa96a 2072 }
cparata 2:ae74845fa96a 2073
cparata 2:ae74845fa96a 2074 /**
cparata 2:ae74845fa96a 2075 * @brief Write the data to register
cparata 2:ae74845fa96a 2076 * @param reg register address
cparata 2:ae74845fa96a 2077 * @param data register data
cparata 2:ae74845fa96a 2078 * @retval 0 in case of success
cparata 2:ae74845fa96a 2079 * @retval 1 in case of failure
cparata 2:ae74845fa96a 2080 */
cparata 2:ae74845fa96a 2081 int LSM6DSLSensor::WriteReg( uint8_t reg, uint8_t data )
cparata 2:ae74845fa96a 2082 {
cparata 2:ae74845fa96a 2083
cparata 2:ae74845fa96a 2084 if ( LSM6DSL_ACC_GYRO_WriteReg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
cparata 2:ae74845fa96a 2085 {
cparata 2:ae74845fa96a 2086 return 1;
cparata 2:ae74845fa96a 2087 }
cparata 2:ae74845fa96a 2088
cparata 2:ae74845fa96a 2089 return 0;
cparata 2:ae74845fa96a 2090 }
cparata 2:ae74845fa96a 2091
cparata 2:ae74845fa96a 2092
cparata 2:ae74845fa96a 2093 uint8_t LSM6DSL_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
cparata 2:ae74845fa96a 2094 {
cparata 2:ae74845fa96a 2095 return ((LSM6DSLSensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata 2:ae74845fa96a 2096 }
cparata 2:ae74845fa96a 2097
cparata 2:ae74845fa96a 2098 uint8_t LSM6DSL_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
cparata 2:ae74845fa96a 2099 {
cparata 2:ae74845fa96a 2100 return ((LSM6DSLSensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata 2:ae74845fa96a 2101 }