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@7:d598eeaedcbd, 2016-11-24 (annotated)

Committer:
cparata
Date:
Thu Nov 24 16:44:18 2016 +0000
Revision:
7:d598eeaedcbd
Parent:
6:f215defe10e4 
Add possibility to choose the interrupt line for HW events

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 6:f215defe10e4 54 LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, PinName INT1_pin, PinName INT2_pin) : dev_i2c(i2c), INT1_irq(INT1_pin), INT2_irq(INT2_pin)
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 6:f215defe10e4 63 LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, PinName INT1_pin, PinName INT2_pin, uint8_t address) : dev_i2c(i2c), INT1_irq(INT1_pin), INT2_irq(INT2_pin), 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 7:d598eeaedcbd 864 return Enable_Free_Fall_Detection(LSM6DSL_INT1_PIN);
cparata 7:d598eeaedcbd 865 }
cparata 7:d598eeaedcbd 866
cparata 7:d598eeaedcbd 867 /**
cparata 7:d598eeaedcbd 868 * @brief Enable free fall detection
cparata 7:d598eeaedcbd 869 * @param pin the interrupt pin to be used
cparata 7:d598eeaedcbd 870 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 7:d598eeaedcbd 871 * @retval 0 in case of success, an error code otherwise
cparata 7:d598eeaedcbd 872 */
cparata 7:d598eeaedcbd 873 int LSM6DSLSensor::Enable_Free_Fall_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata 7:d598eeaedcbd 874 {
cparata 2:ae74845fa96a 875 /* Output Data Rate selection */
cparata 2:ae74845fa96a 876 if(Set_X_ODR(416.0f) == 1)
cparata 2:ae74845fa96a 877 {
cparata 2:ae74845fa96a 878 return 1;
cparata 2:ae74845fa96a 879 }
cparata 2:ae74845fa96a 880
cparata 2:ae74845fa96a 881 /* Full scale selection */
cparata 2:ae74845fa96a 882 if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, LSM6DSL_ACC_GYRO_FS_XL_2g ) == MEMS_ERROR )
cparata 2:ae74845fa96a 883 {
cparata 2:ae74845fa96a 884 return 1;
cparata 2:ae74845fa96a 885 }
cparata 2:ae74845fa96a 886
cparata 2:ae74845fa96a 887 /* FF_DUR setting */
cparata 2:ae74845fa96a 888 if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x06 ) == MEMS_ERROR )
cparata 2:ae74845fa96a 889 {
cparata 2:ae74845fa96a 890 return 1;
cparata 2:ae74845fa96a 891 }
cparata 2:ae74845fa96a 892
cparata 2:ae74845fa96a 893 /* WAKE_DUR setting */
cparata 2:ae74845fa96a 894 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:ae74845fa96a 895 {
cparata 2:ae74845fa96a 896 return 1;
cparata 2:ae74845fa96a 897 }
cparata 2:ae74845fa96a 898
cparata 2:ae74845fa96a 899 /* TIMER_HR setting */
cparata 2:ae74845fa96a 900 if ( LSM6DSL_ACC_GYRO_W_TIMER_HR( (void *)this, LSM6DSL_ACC_GYRO_TIMER_HR_6_4ms ) == MEMS_ERROR )
cparata 2:ae74845fa96a 901 {
cparata 2:ae74845fa96a 902 return 1;
cparata 2:ae74845fa96a 903 }
cparata 2:ae74845fa96a 904
cparata 2:ae74845fa96a 905 /* SLEEP_DUR setting */
cparata 2:ae74845fa96a 906 if ( LSM6DSL_ACC_GYRO_W_SLEEP_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:ae74845fa96a 907 {
cparata 2:ae74845fa96a 908 return 1;
cparata 2:ae74845fa96a 909 }
cparata 2:ae74845fa96a 910
cparata 2:ae74845fa96a 911 /* FF_THS setting */
cparata 2:ae74845fa96a 912 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_312mg ) == MEMS_ERROR )
cparata 2:ae74845fa96a 913 {
cparata 2:ae74845fa96a 914 return 1;
cparata 2:ae74845fa96a 915 }
cparata 2:ae74845fa96a 916
cparata 2:ae74845fa96a 917 /* Enable basic Interrupts */
cparata 2:ae74845fa96a 918 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 919 {
cparata 2:ae74845fa96a 920 return 1;
cparata 2:ae74845fa96a 921 }
cparata 2:ae74845fa96a 922
cparata 7:d598eeaedcbd 923 /* Enable free fall event on either INT1 or INT2 pin */
cparata 7:d598eeaedcbd 924 switch (pin)
cparata 2:ae74845fa96a 925 {
cparata 7:d598eeaedcbd 926 case LSM6DSL_INT1_PIN:
cparata 7:d598eeaedcbd 927 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
cparata 7:d598eeaedcbd 928 {
cparata 7:d598eeaedcbd 929 return 1;
cparata 7:d598eeaedcbd 930 }
cparata 7:d598eeaedcbd 931 break;
cparata 7:d598eeaedcbd 932
cparata 7:d598eeaedcbd 933 case LSM6DSL_INT2_PIN:
cparata 7:d598eeaedcbd 934 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_FF_ENABLED ) == MEMS_ERROR )
cparata 7:d598eeaedcbd 935 {
cparata 7:d598eeaedcbd 936 return 1;
cparata 7:d598eeaedcbd 937 }
cparata 7:d598eeaedcbd 938 break;
cparata 7:d598eeaedcbd 939
cparata 7:d598eeaedcbd 940 default:
cparata 2:ae74845fa96a 941 return 1;
cparata 2:ae74845fa96a 942 }
cparata 2:ae74845fa96a 943
cparata 2:ae74845fa96a 944 return 0;
cparata 2:ae74845fa96a 945 }
cparata 2:ae74845fa96a 946
cparata 2:ae74845fa96a 947 /**
cparata 2:ae74845fa96a 948 * @brief Disable free fall detection
cparata 2:ae74845fa96a 949 * @param None
cparata 2:ae74845fa96a 950 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 951 */
cparata 2:ae74845fa96a 952 int LSM6DSLSensor::Disable_Free_Fall_Detection(void)
cparata 2:ae74845fa96a 953 {
cparata 7:d598eeaedcbd 954 /* Disable free fall event on INT1 pin */
cparata 2:ae74845fa96a 955 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 956 {
cparata 2:ae74845fa96a 957 return 1;
cparata 2:ae74845fa96a 958 }
cparata 2:ae74845fa96a 959
cparata 7:d598eeaedcbd 960 /* Disable free fall event on INT2 pin */
cparata 7:d598eeaedcbd 961 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_FF_DISABLED ) == MEMS_ERROR )
cparata 7:d598eeaedcbd 962 {
cparata 7:d598eeaedcbd 963 return 1;
cparata 7:d598eeaedcbd 964 }
cparata 7:d598eeaedcbd 965
cparata 2:ae74845fa96a 966 /* Disable basic Interrupts */
cparata 2:ae74845fa96a 967 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 968 {
cparata 2:ae74845fa96a 969 return 1;
cparata 2:ae74845fa96a 970 }
cparata 2:ae74845fa96a 971
cparata 2:ae74845fa96a 972 /* FF_DUR setting */
cparata 2:ae74845fa96a 973 if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:ae74845fa96a 974 {
cparata 2:ae74845fa96a 975 return 1;
cparata 2:ae74845fa96a 976 }
cparata 2:ae74845fa96a 977
cparata 2:ae74845fa96a 978 /* FF_THS setting */
cparata 2:ae74845fa96a 979 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_156mg ) == MEMS_ERROR )
cparata 2:ae74845fa96a 980 {
cparata 2:ae74845fa96a 981 return 1;
cparata 2:ae74845fa96a 982 }
cparata 2:ae74845fa96a 983
cparata 2:ae74845fa96a 984 return 0;
cparata 2:ae74845fa96a 985 }
cparata 2:ae74845fa96a 986
cparata 2:ae74845fa96a 987 /**
cparata 2:ae74845fa96a 988 * @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 989 * @param thr the threshold to be set
cparata 2:ae74845fa96a 990 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 991 */
cparata 2:ae74845fa96a 992 int LSM6DSLSensor::Set_Free_Fall_Threshold(uint8_t thr)
cparata 2:ae74845fa96a 993 {
cparata 2:ae74845fa96a 994
cparata 2:ae74845fa96a 995 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR )
cparata 2:ae74845fa96a 996 {
cparata 2:ae74845fa96a 997 return 1;
cparata 2:ae74845fa96a 998 }
cparata 2:ae74845fa96a 999
cparata 2:ae74845fa96a 1000 return 0;
cparata 2:ae74845fa96a 1001 }
cparata 2:ae74845fa96a 1002
cparata 2:ae74845fa96a 1003 /**
cparata 2:ae74845fa96a 1004 * @brief Enable the pedometer feature for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1005 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:ae74845fa96a 1006 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1007 */
cparata 2:ae74845fa96a 1008 int LSM6DSLSensor::Enable_Pedometer(void)
cparata 2:ae74845fa96a 1009 {
cparata 2:ae74845fa96a 1010 /* Output Data Rate selection */
cparata 2:ae74845fa96a 1011 if( Set_X_ODR(26.0f) == 1 )
cparata 2:ae74845fa96a 1012 {
cparata 2:ae74845fa96a 1013 return 1;
cparata 2:ae74845fa96a 1014 }
cparata 2:ae74845fa96a 1015
cparata 2:ae74845fa96a 1016 /* Full scale selection. */
cparata 2:ae74845fa96a 1017 if( Set_X_FS(2.0f) == 1 )
cparata 2:ae74845fa96a 1018 {
cparata 2:ae74845fa96a 1019 return 1;
cparata 2:ae74845fa96a 1020 }
cparata 2:ae74845fa96a 1021
cparata 2:ae74845fa96a 1022 /* Set pedometer threshold. */
cparata 2:ae74845fa96a 1023 if ( Set_Pedometer_Threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == 1 )
cparata 2:ae74845fa96a 1024 {
cparata 2:ae74845fa96a 1025 return 1;
cparata 2:ae74845fa96a 1026 }
cparata 2:ae74845fa96a 1027
cparata 2:ae74845fa96a 1028 /* Enable embedded functionalities. */
cparata 2:ae74845fa96a 1029 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1030 {
cparata 2:ae74845fa96a 1031 return 1;
cparata 2:ae74845fa96a 1032 }
cparata 2:ae74845fa96a 1033
cparata 2:ae74845fa96a 1034 /* Enable pedometer algorithm. */
cparata 2:ae74845fa96a 1035 if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1036 {
cparata 2:ae74845fa96a 1037 return 1;
cparata 2:ae74845fa96a 1038 }
cparata 2:ae74845fa96a 1039
cparata 2:ae74845fa96a 1040 /* Enable pedometer on INT1. */
cparata 2:ae74845fa96a 1041 if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1042 {
cparata 2:ae74845fa96a 1043 return 1;
cparata 2:ae74845fa96a 1044 }
cparata 2:ae74845fa96a 1045
cparata 2:ae74845fa96a 1046 return 0;
cparata 2:ae74845fa96a 1047 }
cparata 2:ae74845fa96a 1048
cparata 2:ae74845fa96a 1049 /**
cparata 2:ae74845fa96a 1050 * @brief Disable the pedometer feature for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1051 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1052 */
cparata 2:ae74845fa96a 1053 int LSM6DSLSensor::Disable_Pedometer(void)
cparata 2:ae74845fa96a 1054 {
cparata 2:ae74845fa96a 1055 /* Disable pedometer on INT1. */
cparata 2:ae74845fa96a 1056 if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1057 {
cparata 2:ae74845fa96a 1058 return 1;
cparata 2:ae74845fa96a 1059 }
cparata 2:ae74845fa96a 1060
cparata 2:ae74845fa96a 1061 /* Disable pedometer algorithm. */
cparata 2:ae74845fa96a 1062 if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1063 {
cparata 2:ae74845fa96a 1064 return 1;
cparata 2:ae74845fa96a 1065 }
cparata 2:ae74845fa96a 1066
cparata 2:ae74845fa96a 1067 /* Disable embedded functionalities. */
cparata 2:ae74845fa96a 1068 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1069 {
cparata 2:ae74845fa96a 1070 return 1;
cparata 2:ae74845fa96a 1071 }
cparata 2:ae74845fa96a 1072
cparata 2:ae74845fa96a 1073 /* Reset pedometer threshold. */
cparata 2:ae74845fa96a 1074 if ( Set_Pedometer_Threshold(0x0) == 1 )
cparata 2:ae74845fa96a 1075 {
cparata 2:ae74845fa96a 1076 return 1;
cparata 2:ae74845fa96a 1077 }
cparata 2:ae74845fa96a 1078
cparata 2:ae74845fa96a 1079 return 0;
cparata 2:ae74845fa96a 1080 }
cparata 2:ae74845fa96a 1081
cparata 2:ae74845fa96a 1082 /**
cparata 2:ae74845fa96a 1083 * @brief Get the step counter for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1084 * @param step_count the pointer to the step counter
cparata 2:ae74845fa96a 1085 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1086 */
cparata 2:ae74845fa96a 1087 int LSM6DSLSensor::Get_Step_Counter(uint16_t *step_count)
cparata 2:ae74845fa96a 1088 {
cparata 2:ae74845fa96a 1089 if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void *)this, ( uint8_t* )step_count ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1090 {
cparata 2:ae74845fa96a 1091 return 1;
cparata 2:ae74845fa96a 1092 }
cparata 2:ae74845fa96a 1093
cparata 2:ae74845fa96a 1094 return 0;
cparata 2:ae74845fa96a 1095 }
cparata 2:ae74845fa96a 1096
cparata 2:ae74845fa96a 1097 /**
cparata 2:ae74845fa96a 1098 * @brief Reset of the step counter for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1099 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1100 */
cparata 2:ae74845fa96a 1101 int LSM6DSLSensor::Reset_Step_Counter(void)
cparata 2:ae74845fa96a 1102 {
cparata 2:ae74845fa96a 1103 if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1104 {
cparata 2:ae74845fa96a 1105 return 1;
cparata 2:ae74845fa96a 1106 }
cparata 2:ae74845fa96a 1107
cparata 2:ae74845fa96a 1108 wait_ms(10);
cparata 2:ae74845fa96a 1109
cparata 2:ae74845fa96a 1110 if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1111 {
cparata 2:ae74845fa96a 1112 return 1;
cparata 2:ae74845fa96a 1113 }
cparata 2:ae74845fa96a 1114
cparata 2:ae74845fa96a 1115 return 0;
cparata 2:ae74845fa96a 1116 }
cparata 2:ae74845fa96a 1117
cparata 2:ae74845fa96a 1118 /**
cparata 2:ae74845fa96a 1119 * @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1120 * @param thr the threshold to be set
cparata 2:ae74845fa96a 1121 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1122 */
cparata 2:ae74845fa96a 1123 int LSM6DSLSensor::Set_Pedometer_Threshold(uint8_t thr)
cparata 2:ae74845fa96a 1124 {
cparata 2:ae74845fa96a 1125 if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1126 {
cparata 2:ae74845fa96a 1127 return 1;
cparata 2:ae74845fa96a 1128 }
cparata 2:ae74845fa96a 1129
cparata 2:ae74845fa96a 1130 return 0;
cparata 2:ae74845fa96a 1131 }
cparata 2:ae74845fa96a 1132
cparata 2:ae74845fa96a 1133 /**
cparata 2:ae74845fa96a 1134 * @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1135 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:ae74845fa96a 1136 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1137 */
cparata 2:ae74845fa96a 1138 int LSM6DSLSensor::Enable_Tilt_Detection(void)
cparata 7:d598eeaedcbd 1139 {
cparata 7:d598eeaedcbd 1140 return Enable_Tilt_Detection(LSM6DSL_INT1_PIN);
cparata 7:d598eeaedcbd 1141 }
cparata 7:d598eeaedcbd 1142
cparata 7:d598eeaedcbd 1143 /**
cparata 7:d598eeaedcbd 1144 * @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata 7:d598eeaedcbd 1145 * @param pin the interrupt pin to be used
cparata 7:d598eeaedcbd 1146 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata 7:d598eeaedcbd 1147 * @retval 0 in case of success, an error code otherwise
cparata 7:d598eeaedcbd 1148 */
cparata 7:d598eeaedcbd 1149 int LSM6DSLSensor::Enable_Tilt_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata 2:ae74845fa96a 1150 {
cparata 2:ae74845fa96a 1151 /* Output Data Rate selection */
cparata 2:ae74845fa96a 1152 if( Set_X_ODR(26.0f) == 1 )
cparata 2:ae74845fa96a 1153 {
cparata 2:ae74845fa96a 1154 return 1;
cparata 2:ae74845fa96a 1155 }
cparata 2:ae74845fa96a 1156
cparata 2:ae74845fa96a 1157 /* Full scale selection. */
cparata 2:ae74845fa96a 1158 if( Set_X_FS(2.0f) == 1 )
cparata 2:ae74845fa96a 1159 {
cparata 2:ae74845fa96a 1160 return 1;
cparata 2:ae74845fa96a 1161 }
cparata 2:ae74845fa96a 1162
cparata 2:ae74845fa96a 1163 /* Enable embedded functionalities */
cparata 2:ae74845fa96a 1164 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1165 {
cparata 2:ae74845fa96a 1166 return 1;
cparata 2:ae74845fa96a 1167 }
cparata 2:ae74845fa96a 1168
cparata 2:ae74845fa96a 1169 /* Enable tilt calculation. */
cparata 2:ae74845fa96a 1170 if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1171 {
cparata 2:ae74845fa96a 1172 return 1;
cparata 2:ae74845fa96a 1173 }
cparata 7:d598eeaedcbd 1174
cparata 7:d598eeaedcbd 1175 /* Enable tilt detection on either INT1 or INT2 pin */
cparata 7:d598eeaedcbd 1176 switch (pin)
cparata 2:ae74845fa96a 1177 {
cparata 7:d598eeaedcbd 1178 case LSM6DSL_INT1_PIN:
cparata 7:d598eeaedcbd 1179 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
cparata 7:d598eeaedcbd 1180 {
cparata 7:d598eeaedcbd 1181 return 1;
cparata 7:d598eeaedcbd 1182 }
cparata 7:d598eeaedcbd 1183 break;
cparata 7:d598eeaedcbd 1184
cparata 7:d598eeaedcbd 1185 case LSM6DSL_INT2_PIN:
cparata 7:d598eeaedcbd 1186 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TILT_ENABLED ) == MEMS_ERROR )
cparata 7:d598eeaedcbd 1187 {
cparata 7:d598eeaedcbd 1188 return 1;
cparata 7:d598eeaedcbd 1189 }
cparata 7:d598eeaedcbd 1190 break;
cparata 7:d598eeaedcbd 1191
cparata 7:d598eeaedcbd 1192 default:
cparata 2:ae74845fa96a 1193 return 1;
cparata 2:ae74845fa96a 1194 }
cparata 7:d598eeaedcbd 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 7:d598eeaedcbd 1211 /* Disable tilt event on INT2. */
cparata 7:d598eeaedcbd 1212 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TILT_DISABLED ) == MEMS_ERROR )
cparata 7:d598eeaedcbd 1213 {
cparata 7:d598eeaedcbd 1214 return 1;
cparata 7:d598eeaedcbd 1215 }
cparata 7:d598eeaedcbd 1216
cparata 2:ae74845fa96a 1217 /* Disable tilt calculation. */
cparata 2:ae74845fa96a 1218 if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_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 /* Disable embedded functionalities */
cparata 2:ae74845fa96a 1224 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1225 {
cparata 2:ae74845fa96a 1226 return 1;
cparata 2:ae74845fa96a 1227 }
cparata 2:ae74845fa96a 1228
cparata 2:ae74845fa96a 1229 return 0;
cparata 2:ae74845fa96a 1230 }
cparata 2:ae74845fa96a 1231
cparata 2:ae74845fa96a 1232 /**
cparata 2:ae74845fa96a 1233 * @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1234 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:ae74845fa96a 1235 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1236 */
cparata 2:ae74845fa96a 1237 int LSM6DSLSensor::Enable_Wake_Up_Detection(void)
cparata 2:ae74845fa96a 1238 {
cparata 7:d598eeaedcbd 1239 return Enable_Wake_Up_Detection(LSM6DSL_INT2_PIN);
cparata 7:d598eeaedcbd 1240 }
cparata 7:d598eeaedcbd 1241
cparata 7:d598eeaedcbd 1242 /**
cparata 7:d598eeaedcbd 1243 * @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata 7:d598eeaedcbd 1244 * @param pin the interrupt pin to be used
cparata 7:d598eeaedcbd 1245 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 7:d598eeaedcbd 1246 * @retval 0 in case of success, an error code otherwise
cparata 7:d598eeaedcbd 1247 */
cparata 7:d598eeaedcbd 1248 int LSM6DSLSensor::Enable_Wake_Up_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata 7:d598eeaedcbd 1249 {
cparata 2:ae74845fa96a 1250 /* Output Data Rate selection */
cparata 2:ae74845fa96a 1251 if( Set_X_ODR(416.0f) == 1 )
cparata 2:ae74845fa96a 1252 {
cparata 2:ae74845fa96a 1253 return 1;
cparata 2:ae74845fa96a 1254 }
cparata 2:ae74845fa96a 1255
cparata 2:ae74845fa96a 1256 /* Full scale selection. */
cparata 2:ae74845fa96a 1257 if( Set_X_FS(2.0f) == 1 )
cparata 2:ae74845fa96a 1258 {
cparata 2:ae74845fa96a 1259 return 1;
cparata 2:ae74845fa96a 1260 }
cparata 2:ae74845fa96a 1261
cparata 2:ae74845fa96a 1262 /* WAKE_DUR setting */
cparata 2:ae74845fa96a 1263 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1264 {
cparata 2:ae74845fa96a 1265 return 1;
cparata 2:ae74845fa96a 1266 }
cparata 2:ae74845fa96a 1267
cparata 2:ae74845fa96a 1268 /* Set wake up threshold. */
cparata 2:ae74845fa96a 1269 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1270 {
cparata 2:ae74845fa96a 1271 return 1;
cparata 2:ae74845fa96a 1272 }
cparata 2:ae74845fa96a 1273
cparata 2:ae74845fa96a 1274 /* Enable basic Interrupts */
cparata 2:ae74845fa96a 1275 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1276 {
cparata 2:ae74845fa96a 1277 return 1;
cparata 2:ae74845fa96a 1278 }
cparata 7:d598eeaedcbd 1279
cparata 7:d598eeaedcbd 1280 /* Enable wake up detection on either INT1 or INT2 pin */
cparata 7:d598eeaedcbd 1281 switch (pin)
cparata 2:ae74845fa96a 1282 {
cparata 7:d598eeaedcbd 1283 case LSM6DSL_INT1_PIN:
cparata 7:d598eeaedcbd 1284 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_ENABLED ) == MEMS_ERROR )
cparata 7:d598eeaedcbd 1285 {
cparata 7:d598eeaedcbd 1286 return 1;
cparata 7:d598eeaedcbd 1287 }
cparata 7:d598eeaedcbd 1288 break;
cparata 7:d598eeaedcbd 1289
cparata 7:d598eeaedcbd 1290 case LSM6DSL_INT2_PIN:
cparata 7:d598eeaedcbd 1291 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_ENABLED ) == MEMS_ERROR )
cparata 7:d598eeaedcbd 1292 {
cparata 7:d598eeaedcbd 1293 return 1;
cparata 7:d598eeaedcbd 1294 }
cparata 7:d598eeaedcbd 1295 break;
cparata 7:d598eeaedcbd 1296
cparata 7:d598eeaedcbd 1297 default:
cparata 2:ae74845fa96a 1298 return 1;
cparata 2:ae74845fa96a 1299 }
cparata 2:ae74845fa96a 1300
cparata 2:ae74845fa96a 1301 return 0;
cparata 2:ae74845fa96a 1302 }
cparata 2:ae74845fa96a 1303
cparata 2:ae74845fa96a 1304 /**
cparata 2:ae74845fa96a 1305 * @brief Disable the wake up detection for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1306 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1307 */
cparata 2:ae74845fa96a 1308 int LSM6DSLSensor::Disable_Wake_Up_Detection(void)
cparata 2:ae74845fa96a 1309 {
cparata 7:d598eeaedcbd 1310 /* Disable wake up event on INT1 */
cparata 7:d598eeaedcbd 1311 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_DISABLED ) == MEMS_ERROR )
cparata 7:d598eeaedcbd 1312 {
cparata 7:d598eeaedcbd 1313 return 1;
cparata 7:d598eeaedcbd 1314 }
cparata 7:d598eeaedcbd 1315
cparata 7:d598eeaedcbd 1316 /* Disable wake up event on INT2 */
cparata 5:c81b6e8dec7e 1317 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1318 {
cparata 2:ae74845fa96a 1319 return 1;
cparata 2:ae74845fa96a 1320 }
cparata 2:ae74845fa96a 1321
cparata 2:ae74845fa96a 1322 /* Disable basic Interrupts */
cparata 2:ae74845fa96a 1323 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1324 {
cparata 2:ae74845fa96a 1325 return 1;
cparata 2:ae74845fa96a 1326 }
cparata 2:ae74845fa96a 1327
cparata 2:ae74845fa96a 1328 /* WU_DUR setting */
cparata 2:ae74845fa96a 1329 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1330 {
cparata 2:ae74845fa96a 1331 return 1;
cparata 2:ae74845fa96a 1332 }
cparata 2:ae74845fa96a 1333
cparata 2:ae74845fa96a 1334 /* WU_THS setting */
cparata 2:ae74845fa96a 1335 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1336 {
cparata 2:ae74845fa96a 1337 return 1;
cparata 2:ae74845fa96a 1338 }
cparata 2:ae74845fa96a 1339
cparata 2:ae74845fa96a 1340 return 0;
cparata 2:ae74845fa96a 1341 }
cparata 2:ae74845fa96a 1342
cparata 2:ae74845fa96a 1343 /**
cparata 2:ae74845fa96a 1344 * @brief Set the wake up threshold for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1345 * @param thr the threshold to be set
cparata 2:ae74845fa96a 1346 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1347 */
cparata 2:ae74845fa96a 1348 int LSM6DSLSensor::Set_Wake_Up_Threshold(uint8_t thr)
cparata 2:ae74845fa96a 1349 {
cparata 2:ae74845fa96a 1350 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1351 {
cparata 2:ae74845fa96a 1352 return 1;
cparata 2:ae74845fa96a 1353 }
cparata 2:ae74845fa96a 1354
cparata 2:ae74845fa96a 1355 return 0;
cparata 2:ae74845fa96a 1356 }
cparata 2:ae74845fa96a 1357
cparata 2:ae74845fa96a 1358 /**
cparata 2:ae74845fa96a 1359 * @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1360 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:ae74845fa96a 1361 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1362 */
cparata 2:ae74845fa96a 1363 int LSM6DSLSensor::Enable_Single_Tap_Detection(void)
cparata 2:ae74845fa96a 1364 {
cparata 7:d598eeaedcbd 1365 return Enable_Single_Tap_Detection(LSM6DSL_INT1_PIN);
cparata 7:d598eeaedcbd 1366 }
cparata 7:d598eeaedcbd 1367
cparata 7:d598eeaedcbd 1368 /**
cparata 7:d598eeaedcbd 1369 * @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata 7:d598eeaedcbd 1370 * @param pin the interrupt pin to be used
cparata 7:d598eeaedcbd 1371 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 7:d598eeaedcbd 1372 * @retval 0 in case of success, an error code otherwise
cparata 7:d598eeaedcbd 1373 */
cparata 7:d598eeaedcbd 1374 int LSM6DSLSensor::Enable_Single_Tap_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata 7:d598eeaedcbd 1375 {
cparata 2:ae74845fa96a 1376 /* Output Data Rate selection */
cparata 2:ae74845fa96a 1377 if( Set_X_ODR(416.0f) == 1 )
cparata 2:ae74845fa96a 1378 {
cparata 2:ae74845fa96a 1379 return 1;
cparata 2:ae74845fa96a 1380 }
cparata 2:ae74845fa96a 1381
cparata 2:ae74845fa96a 1382 /* Full scale selection. */
cparata 2:ae74845fa96a 1383 if( Set_X_FS(2.0f) == 1 )
cparata 2:ae74845fa96a 1384 {
cparata 2:ae74845fa96a 1385 return 1;
cparata 2:ae74845fa96a 1386 }
cparata 2:ae74845fa96a 1387
cparata 2:ae74845fa96a 1388 /* Enable X direction in tap recognition. */
cparata 2:ae74845fa96a 1389 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1390 {
cparata 2:ae74845fa96a 1391 return 1;
cparata 2:ae74845fa96a 1392 }
cparata 2:ae74845fa96a 1393
cparata 2:ae74845fa96a 1394 /* Enable Y direction in tap recognition. */
cparata 2:ae74845fa96a 1395 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1396 {
cparata 2:ae74845fa96a 1397 return 1;
cparata 2:ae74845fa96a 1398 }
cparata 2:ae74845fa96a 1399
cparata 2:ae74845fa96a 1400 /* Enable Z direction in tap recognition. */
cparata 2:ae74845fa96a 1401 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1402 {
cparata 2:ae74845fa96a 1403 return 1;
cparata 2:ae74845fa96a 1404 }
cparata 2:ae74845fa96a 1405
cparata 2:ae74845fa96a 1406 /* Set tap threshold. */
cparata 2:ae74845fa96a 1407 if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata 2:ae74845fa96a 1408 {
cparata 2:ae74845fa96a 1409 return 1;
cparata 2:ae74845fa96a 1410 }
cparata 2:ae74845fa96a 1411
cparata 2:ae74845fa96a 1412 /* Set tap shock time window. */
cparata 2:ae74845fa96a 1413 if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == 1 )
cparata 2:ae74845fa96a 1414 {
cparata 2:ae74845fa96a 1415 return 1;
cparata 2:ae74845fa96a 1416 }
cparata 2:ae74845fa96a 1417
cparata 2:ae74845fa96a 1418 /* Set tap quiet time window. */
cparata 2:ae74845fa96a 1419 if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == 1 )
cparata 2:ae74845fa96a 1420 {
cparata 2:ae74845fa96a 1421 return 1;
cparata 2:ae74845fa96a 1422 }
cparata 2:ae74845fa96a 1423
cparata 2:ae74845fa96a 1424 /* _NOTE_: Tap duration time window - don't care for single tap. */
cparata 2:ae74845fa96a 1425
cparata 2:ae74845fa96a 1426 /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata 2:ae74845fa96a 1427
cparata 2:ae74845fa96a 1428 /* Enable basic Interrupts */
cparata 2:ae74845fa96a 1429 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1430 {
cparata 2:ae74845fa96a 1431 return 1;
cparata 2:ae74845fa96a 1432 }
cparata 2:ae74845fa96a 1433
cparata 7:d598eeaedcbd 1434 /* Enable single tap on either INT1 or INT2 pin */
cparata 7:d598eeaedcbd 1435 switch (pin)
cparata 2:ae74845fa96a 1436 {
cparata 7:d598eeaedcbd 1437 case LSM6DSL_INT1_PIN:
cparata 7:d598eeaedcbd 1438 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata 7:d598eeaedcbd 1439 {
cparata 7:d598eeaedcbd 1440 return 1;
cparata 7:d598eeaedcbd 1441 }
cparata 7:d598eeaedcbd 1442 break;
cparata 7:d598eeaedcbd 1443
cparata 7:d598eeaedcbd 1444 case LSM6DSL_INT2_PIN:
cparata 7:d598eeaedcbd 1445 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata 7:d598eeaedcbd 1446 {
cparata 7:d598eeaedcbd 1447 return 1;
cparata 7:d598eeaedcbd 1448 }
cparata 7:d598eeaedcbd 1449 break;
cparata 7:d598eeaedcbd 1450
cparata 7:d598eeaedcbd 1451 default:
cparata 2:ae74845fa96a 1452 return 1;
cparata 2:ae74845fa96a 1453 }
cparata 2:ae74845fa96a 1454
cparata 2:ae74845fa96a 1455 return 0;
cparata 2:ae74845fa96a 1456 }
cparata 2:ae74845fa96a 1457
cparata 2:ae74845fa96a 1458 /**
cparata 2:ae74845fa96a 1459 * @brief Disable the single tap detection for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1460 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1461 */
cparata 2:ae74845fa96a 1462 int LSM6DSLSensor::Disable_Single_Tap_Detection(void)
cparata 2:ae74845fa96a 1463 {
cparata 2:ae74845fa96a 1464 /* Disable single tap interrupt on INT1 pin. */
cparata 2:ae74845fa96a 1465 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1466 {
cparata 2:ae74845fa96a 1467 return 1;
cparata 2:ae74845fa96a 1468 }
cparata 2:ae74845fa96a 1469
cparata 7:d598eeaedcbd 1470 /* Disable single tap interrupt on INT2 pin. */
cparata 7:d598eeaedcbd 1471 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata 7:d598eeaedcbd 1472 {
cparata 7:d598eeaedcbd 1473 return 1;
cparata 7:d598eeaedcbd 1474 }
cparata 7:d598eeaedcbd 1475
cparata 2:ae74845fa96a 1476 /* Disable basic Interrupts */
cparata 2:ae74845fa96a 1477 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1478 {
cparata 2:ae74845fa96a 1479 return 1;
cparata 2:ae74845fa96a 1480 }
cparata 2:ae74845fa96a 1481
cparata 2:ae74845fa96a 1482 /* Reset tap threshold. */
cparata 2:ae74845fa96a 1483 if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata 2:ae74845fa96a 1484 {
cparata 2:ae74845fa96a 1485 return 1;
cparata 2:ae74845fa96a 1486 }
cparata 2:ae74845fa96a 1487
cparata 2:ae74845fa96a 1488 /* Reset tap shock time window. */
cparata 2:ae74845fa96a 1489 if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata 2:ae74845fa96a 1490 {
cparata 2:ae74845fa96a 1491 return 1;
cparata 2:ae74845fa96a 1492 }
cparata 2:ae74845fa96a 1493
cparata 2:ae74845fa96a 1494 /* Reset tap quiet time window. */
cparata 2:ae74845fa96a 1495 if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata 2:ae74845fa96a 1496 {
cparata 2:ae74845fa96a 1497 return 1;
cparata 2:ae74845fa96a 1498 }
cparata 2:ae74845fa96a 1499
cparata 2:ae74845fa96a 1500 /* _NOTE_: Tap duration time window - don't care for single tap. */
cparata 2:ae74845fa96a 1501
cparata 2:ae74845fa96a 1502 /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata 2:ae74845fa96a 1503
cparata 2:ae74845fa96a 1504 /* Disable Z direction in tap recognition. */
cparata 2:ae74845fa96a 1505 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_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 /* Disable Y direction in tap recognition. */
cparata 2:ae74845fa96a 1511 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1512 {
cparata 2:ae74845fa96a 1513 return 1;
cparata 2:ae74845fa96a 1514 }
cparata 2:ae74845fa96a 1515
cparata 2:ae74845fa96a 1516 /* Disable X direction in tap recognition. */
cparata 2:ae74845fa96a 1517 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1518 {
cparata 2:ae74845fa96a 1519 return 1;
cparata 2:ae74845fa96a 1520 }
cparata 2:ae74845fa96a 1521
cparata 2:ae74845fa96a 1522 return 0;
cparata 2:ae74845fa96a 1523 }
cparata 2:ae74845fa96a 1524
cparata 2:ae74845fa96a 1525 /**
cparata 2:ae74845fa96a 1526 * @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1527 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:ae74845fa96a 1528 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1529 */
cparata 2:ae74845fa96a 1530 int LSM6DSLSensor::Enable_Double_Tap_Detection(void)
cparata 2:ae74845fa96a 1531 {
cparata 7:d598eeaedcbd 1532 return Enable_Double_Tap_Detection(LSM6DSL_INT1_PIN);
cparata 7:d598eeaedcbd 1533 }
cparata 7:d598eeaedcbd 1534
cparata 7:d598eeaedcbd 1535 /**
cparata 7:d598eeaedcbd 1536 * @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata 7:d598eeaedcbd 1537 * @param pin the interrupt pin to be used
cparata 7:d598eeaedcbd 1538 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 7:d598eeaedcbd 1539 * @retval 0 in case of success, an error code otherwise
cparata 7:d598eeaedcbd 1540 */
cparata 7:d598eeaedcbd 1541 int LSM6DSLSensor::Enable_Double_Tap_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata 7:d598eeaedcbd 1542 {
cparata 2:ae74845fa96a 1543 /* Output Data Rate selection */
cparata 2:ae74845fa96a 1544 if( Set_X_ODR(416.0f) == 1 )
cparata 2:ae74845fa96a 1545 {
cparata 2:ae74845fa96a 1546 return 1;
cparata 2:ae74845fa96a 1547 }
cparata 2:ae74845fa96a 1548
cparata 2:ae74845fa96a 1549 /* Full scale selection. */
cparata 2:ae74845fa96a 1550 if( Set_X_FS(2.0f) == 1 )
cparata 2:ae74845fa96a 1551 {
cparata 2:ae74845fa96a 1552 return 1;
cparata 2:ae74845fa96a 1553 }
cparata 2:ae74845fa96a 1554
cparata 2:ae74845fa96a 1555 /* Enable X direction in tap recognition. */
cparata 2:ae74845fa96a 1556 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1557 {
cparata 2:ae74845fa96a 1558 return 1;
cparata 2:ae74845fa96a 1559 }
cparata 2:ae74845fa96a 1560
cparata 2:ae74845fa96a 1561 /* Enable Y direction in tap recognition. */
cparata 2:ae74845fa96a 1562 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1563 {
cparata 2:ae74845fa96a 1564 return 1;
cparata 2:ae74845fa96a 1565 }
cparata 2:ae74845fa96a 1566
cparata 2:ae74845fa96a 1567 /* Enable Z direction in tap recognition. */
cparata 2:ae74845fa96a 1568 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1569 {
cparata 2:ae74845fa96a 1570 return 1;
cparata 2:ae74845fa96a 1571 }
cparata 2:ae74845fa96a 1572
cparata 2:ae74845fa96a 1573 /* Set tap threshold. */
cparata 2:ae74845fa96a 1574 if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata 2:ae74845fa96a 1575 {
cparata 2:ae74845fa96a 1576 return 1;
cparata 2:ae74845fa96a 1577 }
cparata 2:ae74845fa96a 1578
cparata 2:ae74845fa96a 1579 /* Set tap shock time window. */
cparata 2:ae74845fa96a 1580 if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == 1 )
cparata 2:ae74845fa96a 1581 {
cparata 2:ae74845fa96a 1582 return 1;
cparata 2:ae74845fa96a 1583 }
cparata 2:ae74845fa96a 1584
cparata 2:ae74845fa96a 1585 /* Set tap quiet time window. */
cparata 2:ae74845fa96a 1586 if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == 1 )
cparata 2:ae74845fa96a 1587 {
cparata 2:ae74845fa96a 1588 return 1;
cparata 2:ae74845fa96a 1589 }
cparata 2:ae74845fa96a 1590
cparata 2:ae74845fa96a 1591 /* Set tap duration time window. */
cparata 2:ae74845fa96a 1592 if ( Set_Tap_Duration_Time( LSM6DSL_TAP_DURATION_TIME_MID ) == 1 )
cparata 2:ae74845fa96a 1593 {
cparata 2:ae74845fa96a 1594 return 1;
cparata 2:ae74845fa96a 1595 }
cparata 2:ae74845fa96a 1596
cparata 2:ae74845fa96a 1597 /* Single and double tap enabled. */
cparata 2:ae74845fa96a 1598 if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1599 {
cparata 2:ae74845fa96a 1600 return 1;
cparata 2:ae74845fa96a 1601 }
cparata 2:ae74845fa96a 1602
cparata 2:ae74845fa96a 1603 /* Enable basic Interrupts */
cparata 2:ae74845fa96a 1604 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1605 {
cparata 2:ae74845fa96a 1606 return 1;
cparata 2:ae74845fa96a 1607 }
cparata 2:ae74845fa96a 1608
cparata 7:d598eeaedcbd 1609 /* Enable double tap on either INT1 or INT2 pin */
cparata 7:d598eeaedcbd 1610 switch (pin)
cparata 2:ae74845fa96a 1611 {
cparata 7:d598eeaedcbd 1612 case LSM6DSL_INT1_PIN:
cparata 7:d598eeaedcbd 1613 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
cparata 7:d598eeaedcbd 1614 {
cparata 7:d598eeaedcbd 1615 return 1;
cparata 7:d598eeaedcbd 1616 }
cparata 7:d598eeaedcbd 1617 break;
cparata 7:d598eeaedcbd 1618
cparata 7:d598eeaedcbd 1619 case LSM6DSL_INT2_PIN:
cparata 7:d598eeaedcbd 1620 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TAP_ENABLED ) == MEMS_ERROR )
cparata 7:d598eeaedcbd 1621 {
cparata 7:d598eeaedcbd 1622 return 1;
cparata 7:d598eeaedcbd 1623 }
cparata 7:d598eeaedcbd 1624 break;
cparata 7:d598eeaedcbd 1625
cparata 7:d598eeaedcbd 1626 default:
cparata 2:ae74845fa96a 1627 return 1;
cparata 2:ae74845fa96a 1628 }
cparata 2:ae74845fa96a 1629
cparata 2:ae74845fa96a 1630 return 0;
cparata 2:ae74845fa96a 1631 }
cparata 2:ae74845fa96a 1632
cparata 2:ae74845fa96a 1633 /**
cparata 2:ae74845fa96a 1634 * @brief Disable the double tap detection for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1635 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1636 */
cparata 2:ae74845fa96a 1637 int LSM6DSLSensor::Disable_Double_Tap_Detection(void)
cparata 2:ae74845fa96a 1638 {
cparata 2:ae74845fa96a 1639 /* Disable double tap interrupt on INT1 pin. */
cparata 2:ae74845fa96a 1640 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1641 {
cparata 2:ae74845fa96a 1642 return 1;
cparata 2:ae74845fa96a 1643 }
cparata 2:ae74845fa96a 1644
cparata 7:d598eeaedcbd 1645 /* Disable double tap interrupt on INT2 pin. */
cparata 7:d598eeaedcbd 1646 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TAP_DISABLED ) == MEMS_ERROR )
cparata 7:d598eeaedcbd 1647 {
cparata 7:d598eeaedcbd 1648 return 1;
cparata 7:d598eeaedcbd 1649 }
cparata 7:d598eeaedcbd 1650
cparata 2:ae74845fa96a 1651 /* Disable basic Interrupts */
cparata 2:ae74845fa96a 1652 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1653 {
cparata 2:ae74845fa96a 1654 return 1;
cparata 2:ae74845fa96a 1655 }
cparata 2:ae74845fa96a 1656
cparata 2:ae74845fa96a 1657 /* Reset tap threshold. */
cparata 2:ae74845fa96a 1658 if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata 2:ae74845fa96a 1659 {
cparata 2:ae74845fa96a 1660 return 1;
cparata 2:ae74845fa96a 1661 }
cparata 2:ae74845fa96a 1662
cparata 2:ae74845fa96a 1663 /* Reset tap shock time window. */
cparata 2:ae74845fa96a 1664 if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata 2:ae74845fa96a 1665 {
cparata 2:ae74845fa96a 1666 return 1;
cparata 2:ae74845fa96a 1667 }
cparata 2:ae74845fa96a 1668
cparata 2:ae74845fa96a 1669 /* Reset tap quiet time window. */
cparata 2:ae74845fa96a 1670 if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata 2:ae74845fa96a 1671 {
cparata 2:ae74845fa96a 1672 return 1;
cparata 2:ae74845fa96a 1673 }
cparata 2:ae74845fa96a 1674
cparata 2:ae74845fa96a 1675 /* Reset tap duration time window. */
cparata 2:ae74845fa96a 1676 if ( Set_Tap_Duration_Time( 0x0 ) == 1 )
cparata 2:ae74845fa96a 1677 {
cparata 2:ae74845fa96a 1678 return 1;
cparata 2:ae74845fa96a 1679 }
cparata 2:ae74845fa96a 1680
cparata 2:ae74845fa96a 1681 /* Only single tap enabled. */
cparata 2:ae74845fa96a 1682 if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1683 {
cparata 2:ae74845fa96a 1684 return 1;
cparata 2:ae74845fa96a 1685 }
cparata 2:ae74845fa96a 1686
cparata 2:ae74845fa96a 1687 /* Disable Z direction in tap recognition. */
cparata 2:ae74845fa96a 1688 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1689 {
cparata 2:ae74845fa96a 1690 return 1;
cparata 2:ae74845fa96a 1691 }
cparata 2:ae74845fa96a 1692
cparata 2:ae74845fa96a 1693 /* Disable Y direction in tap recognition. */
cparata 2:ae74845fa96a 1694 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1695 {
cparata 2:ae74845fa96a 1696 return 1;
cparata 2:ae74845fa96a 1697 }
cparata 2:ae74845fa96a 1698
cparata 2:ae74845fa96a 1699 /* Disable X direction in tap recognition. */
cparata 2:ae74845fa96a 1700 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1701 {
cparata 2:ae74845fa96a 1702 return 1;
cparata 2:ae74845fa96a 1703 }
cparata 2:ae74845fa96a 1704
cparata 2:ae74845fa96a 1705 return 0;
cparata 2:ae74845fa96a 1706 }
cparata 2:ae74845fa96a 1707
cparata 2:ae74845fa96a 1708 /**
cparata 2:ae74845fa96a 1709 * @brief Set the tap threshold for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1710 * @param thr the threshold to be set
cparata 2:ae74845fa96a 1711 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1712 */
cparata 2:ae74845fa96a 1713 int LSM6DSLSensor::Set_Tap_Threshold(uint8_t thr)
cparata 2:ae74845fa96a 1714 {
cparata 2:ae74845fa96a 1715 if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1716 {
cparata 2:ae74845fa96a 1717 return 1;
cparata 2:ae74845fa96a 1718 }
cparata 2:ae74845fa96a 1719
cparata 2:ae74845fa96a 1720 return 0;
cparata 2:ae74845fa96a 1721 }
cparata 2:ae74845fa96a 1722
cparata 2:ae74845fa96a 1723 /**
cparata 2:ae74845fa96a 1724 * @brief Set the tap shock time window for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1725 * @param time the shock time window to be set
cparata 2:ae74845fa96a 1726 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1727 */
cparata 2:ae74845fa96a 1728 int LSM6DSLSensor::Set_Tap_Shock_Time(uint8_t time)
cparata 2:ae74845fa96a 1729 {
cparata 2:ae74845fa96a 1730 if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1731 {
cparata 2:ae74845fa96a 1732 return 1;
cparata 2:ae74845fa96a 1733 }
cparata 2:ae74845fa96a 1734
cparata 2:ae74845fa96a 1735 return 0;
cparata 2:ae74845fa96a 1736 }
cparata 2:ae74845fa96a 1737
cparata 2:ae74845fa96a 1738 /**
cparata 2:ae74845fa96a 1739 * @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1740 * @param time the quiet time window to be set
cparata 2:ae74845fa96a 1741 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1742 */
cparata 2:ae74845fa96a 1743 int LSM6DSLSensor::Set_Tap_Quiet_Time(uint8_t time)
cparata 2:ae74845fa96a 1744 {
cparata 2:ae74845fa96a 1745 if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1746 {
cparata 2:ae74845fa96a 1747 return 1;
cparata 2:ae74845fa96a 1748 }
cparata 2:ae74845fa96a 1749
cparata 2:ae74845fa96a 1750 return 0;
cparata 2:ae74845fa96a 1751 }
cparata 2:ae74845fa96a 1752
cparata 2:ae74845fa96a 1753 /**
cparata 2:ae74845fa96a 1754 * @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1755 * @param time the duration of the time window to be set
cparata 2:ae74845fa96a 1756 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1757 */
cparata 2:ae74845fa96a 1758 int LSM6DSLSensor::Set_Tap_Duration_Time(uint8_t time)
cparata 2:ae74845fa96a 1759 {
cparata 2:ae74845fa96a 1760 if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1761 {
cparata 2:ae74845fa96a 1762 return 1;
cparata 2:ae74845fa96a 1763 }
cparata 2:ae74845fa96a 1764
cparata 2:ae74845fa96a 1765 return 0;
cparata 2:ae74845fa96a 1766 }
cparata 2:ae74845fa96a 1767
cparata 2:ae74845fa96a 1768 /**
cparata 2:ae74845fa96a 1769 * @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1770 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:ae74845fa96a 1771 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1772 */
cparata 2:ae74845fa96a 1773 int LSM6DSLSensor::Enable_6D_Orientation(void)
cparata 2:ae74845fa96a 1774 {
cparata 7:d598eeaedcbd 1775 return Enable_6D_Orientation(LSM6DSL_INT1_PIN);
cparata 7:d598eeaedcbd 1776 }
cparata 7:d598eeaedcbd 1777
cparata 7:d598eeaedcbd 1778 /**
cparata 7:d598eeaedcbd 1779 * @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 7:d598eeaedcbd 1780 * @param pin the interrupt pin to be used
cparata 7:d598eeaedcbd 1781 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 7:d598eeaedcbd 1782 * @retval 0 in case of success, an error code otherwise
cparata 7:d598eeaedcbd 1783 */
cparata 7:d598eeaedcbd 1784 int LSM6DSLSensor::Enable_6D_Orientation(LSM6DSL_Interrupt_Pin_t pin)
cparata 7:d598eeaedcbd 1785 {
cparata 2:ae74845fa96a 1786 /* Output Data Rate selection */
cparata 2:ae74845fa96a 1787 if( Set_X_ODR(416.0f) == 1 )
cparata 2:ae74845fa96a 1788 {
cparata 2:ae74845fa96a 1789 return 1;
cparata 2:ae74845fa96a 1790 }
cparata 2:ae74845fa96a 1791
cparata 2:ae74845fa96a 1792 /* Full scale selection. */
cparata 2:ae74845fa96a 1793 if( Set_X_FS(2.0f) == 1 )
cparata 2:ae74845fa96a 1794 {
cparata 2:ae74845fa96a 1795 return 1;
cparata 2:ae74845fa96a 1796 }
cparata 2:ae74845fa96a 1797
cparata 2:ae74845fa96a 1798 /* Set 6D threshold. */
cparata 2:ae74845fa96a 1799 if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1800 {
cparata 2:ae74845fa96a 1801 return 1;
cparata 2:ae74845fa96a 1802 }
cparata 2:ae74845fa96a 1803
cparata 2:ae74845fa96a 1804 /* Enable basic Interrupts */
cparata 2:ae74845fa96a 1805 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1806 {
cparata 2:ae74845fa96a 1807 return 1;
cparata 2:ae74845fa96a 1808 }
cparata 2:ae74845fa96a 1809
cparata 7:d598eeaedcbd 1810 /* Enable 6D orientation on either INT1 or INT2 pin */
cparata 7:d598eeaedcbd 1811 switch (pin)
cparata 2:ae74845fa96a 1812 {
cparata 7:d598eeaedcbd 1813 case LSM6DSL_INT1_PIN:
cparata 7:d598eeaedcbd 1814 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
cparata 7:d598eeaedcbd 1815 {
cparata 7:d598eeaedcbd 1816 return 1;
cparata 7:d598eeaedcbd 1817 }
cparata 7:d598eeaedcbd 1818 break;
cparata 7:d598eeaedcbd 1819
cparata 7:d598eeaedcbd 1820 case LSM6DSL_INT2_PIN:
cparata 7:d598eeaedcbd 1821 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_6D_ENABLED ) == MEMS_ERROR )
cparata 7:d598eeaedcbd 1822 {
cparata 7:d598eeaedcbd 1823 return 1;
cparata 7:d598eeaedcbd 1824 }
cparata 7:d598eeaedcbd 1825 break;
cparata 7:d598eeaedcbd 1826
cparata 7:d598eeaedcbd 1827 default:
cparata 2:ae74845fa96a 1828 return 1;
cparata 2:ae74845fa96a 1829 }
cparata 2:ae74845fa96a 1830
cparata 2:ae74845fa96a 1831 return 0;
cparata 2:ae74845fa96a 1832 }
cparata 2:ae74845fa96a 1833
cparata 2:ae74845fa96a 1834 /**
cparata 2:ae74845fa96a 1835 * @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1836 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1837 */
cparata 2:ae74845fa96a 1838 int LSM6DSLSensor::Disable_6D_Orientation(void)
cparata 2:ae74845fa96a 1839 {
cparata 7:d598eeaedcbd 1840 /* Disable 6D orientation interrupt on INT1 pin. */
cparata 2:ae74845fa96a 1841 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1842 {
cparata 2:ae74845fa96a 1843 return 1;
cparata 2:ae74845fa96a 1844 }
cparata 2:ae74845fa96a 1845
cparata 7:d598eeaedcbd 1846 /* Disable 6D orientation interrupt on INT2 pin. */
cparata 7:d598eeaedcbd 1847 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_6D_DISABLED ) == MEMS_ERROR )
cparata 7:d598eeaedcbd 1848 {
cparata 7:d598eeaedcbd 1849 return 1;
cparata 7:d598eeaedcbd 1850 }
cparata 7:d598eeaedcbd 1851
cparata 2:ae74845fa96a 1852 /* Disable basic Interrupts */
cparata 2:ae74845fa96a 1853 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1854 {
cparata 2:ae74845fa96a 1855 return 1;
cparata 2:ae74845fa96a 1856 }
cparata 2:ae74845fa96a 1857
cparata 2:ae74845fa96a 1858 /* Reset 6D threshold. */
cparata 2:ae74845fa96a 1859 if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1860 {
cparata 2:ae74845fa96a 1861 return 1;
cparata 2:ae74845fa96a 1862 }
cparata 2:ae74845fa96a 1863
cparata 2:ae74845fa96a 1864 return 0;
cparata 2:ae74845fa96a 1865 }
cparata 2:ae74845fa96a 1866
cparata 2:ae74845fa96a 1867 /**
cparata 2:ae74845fa96a 1868 * @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1869 * @param xl the pointer to the 6D orientation XL axis
cparata 2:ae74845fa96a 1870 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1871 */
cparata 2:ae74845fa96a 1872 int LSM6DSLSensor::Get_6D_Orientation_XL(uint8_t *xl)
cparata 2:ae74845fa96a 1873 {
cparata 2:ae74845fa96a 1874 LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
cparata 2:ae74845fa96a 1875
cparata 2:ae74845fa96a 1876 if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1877 {
cparata 2:ae74845fa96a 1878 return 1;
cparata 2:ae74845fa96a 1879 }
cparata 2:ae74845fa96a 1880
cparata 2:ae74845fa96a 1881 switch( xl_raw )
cparata 2:ae74845fa96a 1882 {
cparata 2:ae74845fa96a 1883 case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
cparata 2:ae74845fa96a 1884 *xl = 1;
cparata 2:ae74845fa96a 1885 break;
cparata 2:ae74845fa96a 1886 case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
cparata 2:ae74845fa96a 1887 *xl = 0;
cparata 2:ae74845fa96a 1888 break;
cparata 2:ae74845fa96a 1889 default:
cparata 2:ae74845fa96a 1890 return 1;
cparata 2:ae74845fa96a 1891 }
cparata 2:ae74845fa96a 1892
cparata 2:ae74845fa96a 1893 return 0;
cparata 2:ae74845fa96a 1894 }
cparata 2:ae74845fa96a 1895
cparata 2:ae74845fa96a 1896 /**
cparata 2:ae74845fa96a 1897 * @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1898 * @param xh the pointer to the 6D orientation XH axis
cparata 2:ae74845fa96a 1899 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1900 */
cparata 2:ae74845fa96a 1901 int LSM6DSLSensor::Get_6D_Orientation_XH(uint8_t *xh)
cparata 2:ae74845fa96a 1902 {
cparata 2:ae74845fa96a 1903 LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
cparata 2:ae74845fa96a 1904
cparata 2:ae74845fa96a 1905 if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1906 {
cparata 2:ae74845fa96a 1907 return 1;
cparata 2:ae74845fa96a 1908 }
cparata 2:ae74845fa96a 1909
cparata 2:ae74845fa96a 1910 switch( xh_raw )
cparata 2:ae74845fa96a 1911 {
cparata 2:ae74845fa96a 1912 case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
cparata 2:ae74845fa96a 1913 *xh = 1;
cparata 2:ae74845fa96a 1914 break;
cparata 2:ae74845fa96a 1915 case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
cparata 2:ae74845fa96a 1916 *xh = 0;
cparata 2:ae74845fa96a 1917 break;
cparata 2:ae74845fa96a 1918 default:
cparata 2:ae74845fa96a 1919 return 1;
cparata 2:ae74845fa96a 1920 }
cparata 2:ae74845fa96a 1921
cparata 2:ae74845fa96a 1922 return 0;
cparata 2:ae74845fa96a 1923 }
cparata 2:ae74845fa96a 1924
cparata 2:ae74845fa96a 1925 /**
cparata 2:ae74845fa96a 1926 * @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1927 * @param yl the pointer to the 6D orientation YL axis
cparata 2:ae74845fa96a 1928 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1929 */
cparata 2:ae74845fa96a 1930 int LSM6DSLSensor::Get_6D_Orientation_YL(uint8_t *yl)
cparata 2:ae74845fa96a 1931 {
cparata 2:ae74845fa96a 1932 LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
cparata 2:ae74845fa96a 1933
cparata 2:ae74845fa96a 1934 if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1935 {
cparata 2:ae74845fa96a 1936 return 1;
cparata 2:ae74845fa96a 1937 }
cparata 2:ae74845fa96a 1938
cparata 2:ae74845fa96a 1939 switch( yl_raw )
cparata 2:ae74845fa96a 1940 {
cparata 2:ae74845fa96a 1941 case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
cparata 2:ae74845fa96a 1942 *yl = 1;
cparata 2:ae74845fa96a 1943 break;
cparata 2:ae74845fa96a 1944 case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
cparata 2:ae74845fa96a 1945 *yl = 0;
cparata 2:ae74845fa96a 1946 break;
cparata 2:ae74845fa96a 1947 default:
cparata 2:ae74845fa96a 1948 return 1;
cparata 2:ae74845fa96a 1949 }
cparata 2:ae74845fa96a 1950
cparata 2:ae74845fa96a 1951 return 0;
cparata 2:ae74845fa96a 1952 }
cparata 2:ae74845fa96a 1953
cparata 2:ae74845fa96a 1954 /**
cparata 2:ae74845fa96a 1955 * @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1956 * @param yh the pointer to the 6D orientation YH axis
cparata 2:ae74845fa96a 1957 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1958 */
cparata 2:ae74845fa96a 1959 int LSM6DSLSensor::Get_6D_Orientation_YH(uint8_t *yh)
cparata 2:ae74845fa96a 1960 {
cparata 2:ae74845fa96a 1961 LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
cparata 2:ae74845fa96a 1962
cparata 2:ae74845fa96a 1963 if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1964 {
cparata 2:ae74845fa96a 1965 return 1;
cparata 2:ae74845fa96a 1966 }
cparata 2:ae74845fa96a 1967
cparata 2:ae74845fa96a 1968 switch( yh_raw )
cparata 2:ae74845fa96a 1969 {
cparata 2:ae74845fa96a 1970 case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
cparata 2:ae74845fa96a 1971 *yh = 1;
cparata 2:ae74845fa96a 1972 break;
cparata 2:ae74845fa96a 1973 case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
cparata 2:ae74845fa96a 1974 *yh = 0;
cparata 2:ae74845fa96a 1975 break;
cparata 2:ae74845fa96a 1976 default:
cparata 2:ae74845fa96a 1977 return 1;
cparata 2:ae74845fa96a 1978 }
cparata 2:ae74845fa96a 1979
cparata 2:ae74845fa96a 1980 return 0;
cparata 2:ae74845fa96a 1981 }
cparata 2:ae74845fa96a 1982
cparata 2:ae74845fa96a 1983 /**
cparata 2:ae74845fa96a 1984 * @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 1985 * @param zl the pointer to the 6D orientation ZL axis
cparata 2:ae74845fa96a 1986 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 1987 */
cparata 2:ae74845fa96a 1988 int LSM6DSLSensor::Get_6D_Orientation_ZL(uint8_t *zl)
cparata 2:ae74845fa96a 1989 {
cparata 2:ae74845fa96a 1990 LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
cparata 2:ae74845fa96a 1991
cparata 2:ae74845fa96a 1992 if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
cparata 2:ae74845fa96a 1993 {
cparata 2:ae74845fa96a 1994 return 1;
cparata 2:ae74845fa96a 1995 }
cparata 2:ae74845fa96a 1996
cparata 2:ae74845fa96a 1997 switch( zl_raw )
cparata 2:ae74845fa96a 1998 {
cparata 2:ae74845fa96a 1999 case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
cparata 2:ae74845fa96a 2000 *zl = 1;
cparata 2:ae74845fa96a 2001 break;
cparata 2:ae74845fa96a 2002 case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
cparata 2:ae74845fa96a 2003 *zl = 0;
cparata 2:ae74845fa96a 2004 break;
cparata 2:ae74845fa96a 2005 default:
cparata 2:ae74845fa96a 2006 return 1;
cparata 2:ae74845fa96a 2007 }
cparata 2:ae74845fa96a 2008
cparata 2:ae74845fa96a 2009 return 0;
cparata 2:ae74845fa96a 2010 }
cparata 2:ae74845fa96a 2011
cparata 2:ae74845fa96a 2012 /**
cparata 2:ae74845fa96a 2013 * @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
cparata 2:ae74845fa96a 2014 * @param zh the pointer to the 6D orientation ZH axis
cparata 2:ae74845fa96a 2015 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 2016 */
cparata 2:ae74845fa96a 2017 int LSM6DSLSensor::Get_6D_Orientation_ZH(uint8_t *zh)
cparata 2:ae74845fa96a 2018 {
cparata 2:ae74845fa96a 2019 LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
cparata 2:ae74845fa96a 2020
cparata 2:ae74845fa96a 2021 if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
cparata 2:ae74845fa96a 2022 {
cparata 2:ae74845fa96a 2023 return 1;
cparata 2:ae74845fa96a 2024 }
cparata 2:ae74845fa96a 2025
cparata 2:ae74845fa96a 2026 switch( zh_raw )
cparata 2:ae74845fa96a 2027 {
cparata 2:ae74845fa96a 2028 case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
cparata 2:ae74845fa96a 2029 *zh = 1;
cparata 2:ae74845fa96a 2030 break;
cparata 2:ae74845fa96a 2031 case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
cparata 2:ae74845fa96a 2032 *zh = 0;
cparata 2:ae74845fa96a 2033 break;
cparata 2:ae74845fa96a 2034 default:
cparata 2:ae74845fa96a 2035 return 1;
cparata 2:ae74845fa96a 2036 }
cparata 2:ae74845fa96a 2037
cparata 2:ae74845fa96a 2038 return 0;
cparata 2:ae74845fa96a 2039 }
cparata 2:ae74845fa96a 2040
cparata 2:ae74845fa96a 2041 /**
cparata 4:1adb1ce17b05 2042 * @brief Get the status of all hardware events for LSM6DSL accelerometer sensor
cparata 4:1adb1ce17b05 2043 * @param status the pointer to the status of all hardware events
cparata 4:1adb1ce17b05 2044 * @retval 0 in case of success, an error code otherwise
cparata 4:1adb1ce17b05 2045 */
cparata 4:1adb1ce17b05 2046 int LSM6DSLSensor::Get_Event_Status(LSM6DSL_Event_Status_t *status)
cparata 4:1adb1ce17b05 2047 {
cparata 5:c81b6e8dec7e 2048 uint8_t Wake_Up_Src = 0, Tap_Src = 0, D6D_Src = 0, Func_Src = 0, Md1_Cfg = 0, Md2_Cfg = 0, Int1_Ctrl = 0;
cparata 4:1adb1ce17b05 2049
cparata 4:1adb1ce17b05 2050 memset((void *)status, 0x0, sizeof(LSM6DSL_Event_Status_t));
cparata 4:1adb1ce17b05 2051
cparata 4:1adb1ce17b05 2052 if(ReadReg(LSM6DSL_ACC_GYRO_WAKE_UP_SRC, &Wake_Up_Src) != 0)
cparata 4:1adb1ce17b05 2053 {
cparata 4:1adb1ce17b05 2054 return 1;
cparata 4:1adb1ce17b05 2055 }
cparata 4:1adb1ce17b05 2056
cparata 4:1adb1ce17b05 2057 if(ReadReg(LSM6DSL_ACC_GYRO_TAP_SRC, &Tap_Src) != 0)
cparata 4:1adb1ce17b05 2058 {
cparata 4:1adb1ce17b05 2059 return 1;
cparata 4:1adb1ce17b05 2060 }
cparata 4:1adb1ce17b05 2061
cparata 4:1adb1ce17b05 2062 if(ReadReg(LSM6DSL_ACC_GYRO_D6D_SRC, &D6D_Src) != 0)
cparata 4:1adb1ce17b05 2063 {
cparata 4:1adb1ce17b05 2064 return 1;
cparata 4:1adb1ce17b05 2065 }
cparata 4:1adb1ce17b05 2066
cparata 4:1adb1ce17b05 2067 if(ReadReg(LSM6DSL_ACC_GYRO_FUNC_SRC, &Func_Src) != 0)
cparata 4:1adb1ce17b05 2068 {
cparata 4:1adb1ce17b05 2069 return 1;
cparata 4:1adb1ce17b05 2070 }
cparata 4:1adb1ce17b05 2071
cparata 5:c81b6e8dec7e 2072 if(ReadReg(LSM6DSL_ACC_GYRO_MD1_CFG, &Md1_Cfg ) != 0 )
cparata 5:c81b6e8dec7e 2073 {
cparata 5:c81b6e8dec7e 2074 return 1;
cparata 5:c81b6e8dec7e 2075 }
cparata 5:c81b6e8dec7e 2076
cparata 5:c81b6e8dec7e 2077 if(ReadReg(LSM6DSL_ACC_GYRO_MD2_CFG, &Md2_Cfg ) != 0)
cparata 4:1adb1ce17b05 2078 {
cparata 5:c81b6e8dec7e 2079 return 1;
cparata 5:c81b6e8dec7e 2080 }
cparata 5:c81b6e8dec7e 2081
cparata 5:c81b6e8dec7e 2082 if(ReadReg(LSM6DSL_ACC_GYRO_INT1_CTRL, &Int1_Ctrl ) != 0)
cparata 5:c81b6e8dec7e 2083 {
cparata 5:c81b6e8dec7e 2084 return 1;
cparata 4:1adb1ce17b05 2085 }
cparata 4:1adb1ce17b05 2086
cparata 7:d598eeaedcbd 2087 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_FF_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_FF_MASK))
cparata 4:1adb1ce17b05 2088 {
cparata 5:c81b6e8dec7e 2089 if((Wake_Up_Src & LSM6DSL_ACC_GYRO_FF_EV_STATUS_MASK))
cparata 5:c81b6e8dec7e 2090 {
cparata 5:c81b6e8dec7e 2091 status->FreeFallStatus = 1;
cparata 5:c81b6e8dec7e 2092 }
cparata 4:1adb1ce17b05 2093 }
cparata 4:1adb1ce17b05 2094
cparata 7:d598eeaedcbd 2095 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_WU_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_WU_MASK))
cparata 4:1adb1ce17b05 2096 {
cparata 5:c81b6e8dec7e 2097 if((Wake_Up_Src & LSM6DSL_ACC_GYRO_WU_EV_STATUS_MASK))
cparata 5:c81b6e8dec7e 2098 {
cparata 5:c81b6e8dec7e 2099 status->WakeUpStatus = 1;
cparata 5:c81b6e8dec7e 2100 }
cparata 4:1adb1ce17b05 2101 }
cparata 4:1adb1ce17b05 2102
cparata 7:d598eeaedcbd 2103 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_MASK))
cparata 4:1adb1ce17b05 2104 {
cparata 5:c81b6e8dec7e 2105 if((Tap_Src & LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_MASK))
cparata 5:c81b6e8dec7e 2106 {
cparata 5:c81b6e8dec7e 2107 status->TapStatus = 1;
cparata 5:c81b6e8dec7e 2108 }
cparata 5:c81b6e8dec7e 2109 }
cparata 5:c81b6e8dec7e 2110
cparata 7:d598eeaedcbd 2111 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TAP_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_TAP_MASK))
cparata 5:c81b6e8dec7e 2112 {
cparata 5:c81b6e8dec7e 2113 if((Tap_Src & LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_MASK))
cparata 5:c81b6e8dec7e 2114 {
cparata 5:c81b6e8dec7e 2115 status->DoubleTapStatus = 1;
cparata 5:c81b6e8dec7e 2116 }
cparata 4:1adb1ce17b05 2117 }
cparata 4:1adb1ce17b05 2118
cparata 7:d598eeaedcbd 2119 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_6D_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_6D_MASK))
cparata 4:1adb1ce17b05 2120 {
cparata 5:c81b6e8dec7e 2121 if((D6D_Src & LSM6DSL_ACC_GYRO_D6D_EV_STATUS_MASK))
cparata 5:c81b6e8dec7e 2122 {
cparata 5:c81b6e8dec7e 2123 status->D6DOrientationStatus = 1;
cparata 5:c81b6e8dec7e 2124 }
cparata 4:1adb1ce17b05 2125 }
cparata 4:1adb1ce17b05 2126
cparata 7:d598eeaedcbd 2127 if((Int1_Ctrl & LSM6DSL_ACC_GYRO_INT1_PEDO_MASK))
cparata 4:1adb1ce17b05 2128 {
cparata 5:c81b6e8dec7e 2129 if((Func_Src & LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_MASK))
cparata 5:c81b6e8dec7e 2130 {
cparata 5:c81b6e8dec7e 2131 status->StepStatus = 1;
cparata 5:c81b6e8dec7e 2132 }
cparata 4:1adb1ce17b05 2133 }
cparata 4:1adb1ce17b05 2134
cparata 7:d598eeaedcbd 2135 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TILT_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_TILT_MASK))
cparata 4:1adb1ce17b05 2136 {
cparata 5:c81b6e8dec7e 2137 if((Func_Src & LSM6DSL_ACC_GYRO_TILT_EV_STATUS_MASK))
cparata 5:c81b6e8dec7e 2138 {
cparata 5:c81b6e8dec7e 2139 status->TiltStatus = 1;
cparata 5:c81b6e8dec7e 2140 }
cparata 4:1adb1ce17b05 2141 }
cparata 4:1adb1ce17b05 2142
cparata 4:1adb1ce17b05 2143 return 0;
cparata 4:1adb1ce17b05 2144 }
cparata 4:1adb1ce17b05 2145
cparata 4:1adb1ce17b05 2146 /**
cparata 2:ae74845fa96a 2147 * @brief Read the data from register
cparata 2:ae74845fa96a 2148 * @param reg register address
cparata 2:ae74845fa96a 2149 * @param data register data
cparata 4:1adb1ce17b05 2150 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 2151 */
cparata 2:ae74845fa96a 2152 int LSM6DSLSensor::ReadReg( uint8_t reg, uint8_t *data )
cparata 2:ae74845fa96a 2153 {
cparata 2:ae74845fa96a 2154
cparata 2:ae74845fa96a 2155 if ( LSM6DSL_ACC_GYRO_ReadReg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
cparata 2:ae74845fa96a 2156 {
cparata 2:ae74845fa96a 2157 return 1;
cparata 2:ae74845fa96a 2158 }
cparata 2:ae74845fa96a 2159
cparata 2:ae74845fa96a 2160 return 0;
cparata 2:ae74845fa96a 2161 }
cparata 2:ae74845fa96a 2162
cparata 2:ae74845fa96a 2163 /**
cparata 2:ae74845fa96a 2164 * @brief Write the data to register
cparata 2:ae74845fa96a 2165 * @param reg register address
cparata 2:ae74845fa96a 2166 * @param data register data
cparata 4:1adb1ce17b05 2167 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 2168 */
cparata 2:ae74845fa96a 2169 int LSM6DSLSensor::WriteReg( uint8_t reg, uint8_t data )
cparata 2:ae74845fa96a 2170 {
cparata 2:ae74845fa96a 2171
cparata 2:ae74845fa96a 2172 if ( LSM6DSL_ACC_GYRO_WriteReg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
cparata 2:ae74845fa96a 2173 {
cparata 2:ae74845fa96a 2174 return 1;
cparata 2:ae74845fa96a 2175 }
cparata 2:ae74845fa96a 2176
cparata 2:ae74845fa96a 2177 return 0;
cparata 2:ae74845fa96a 2178 }
cparata 2:ae74845fa96a 2179
cparata 2:ae74845fa96a 2180
cparata 2:ae74845fa96a 2181 uint8_t LSM6DSL_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
cparata 2:ae74845fa96a 2182 {
cparata 2:ae74845fa96a 2183 return ((LSM6DSLSensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata 2:ae74845fa96a 2184 }
cparata 2:ae74845fa96a 2185
cparata 2:ae74845fa96a 2186 uint8_t LSM6DSL_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
cparata 2:ae74845fa96a 2187 {
cparata 2:ae74845fa96a 2188 return ((LSM6DSLSensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata 2:ae74845fa96a 2189 }