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

ST » Code » 6DOrientation_IKS01A2

ST / Mbed 2 deprecated 6DOrientation_IKS01A2

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

Fork of 6DOrientation_IKS01A2 by ST Expansion SW Team

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

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

X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.cpp@6:f215defe10e4, 2016-11-23 (annotated)

Committer:: cparata
Date:: Wed Nov 23 16:44:59 2016 +0000
Revision:: 6:f215defe10e4
Parent:: 5:c81b6e8dec7e
Child:: 7:d598eeaedcbd

Move interrupt settings inside component drivers

Who changed what in which revision?

User	Revision	Line number	New 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>© 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	2:ae74845fa96a	864	/* Output Data Rate selection */
cparata	2:ae74845fa96a	865	if(Set_X_ODR(416.0f) == 1)
cparata	2:ae74845fa96a	866	{
cparata	2:ae74845fa96a	867	return 1;
cparata	2:ae74845fa96a	868	}
cparata	2:ae74845fa96a	869
cparata	2:ae74845fa96a	870	/* Full scale selection */
cparata	2:ae74845fa96a	871	if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, LSM6DSL_ACC_GYRO_FS_XL_2g ) == MEMS_ERROR )
cparata	2:ae74845fa96a	872	{
cparata	2:ae74845fa96a	873	return 1;
cparata	2:ae74845fa96a	874	}
cparata	2:ae74845fa96a	875
cparata	2:ae74845fa96a	876	/* FF_DUR setting */
cparata	2:ae74845fa96a	877	if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x06 ) == MEMS_ERROR )
cparata	2:ae74845fa96a	878	{
cparata	2:ae74845fa96a	879	return 1;
cparata	2:ae74845fa96a	880	}
cparata	2:ae74845fa96a	881
cparata	2:ae74845fa96a	882	/* WAKE_DUR setting */
cparata	2:ae74845fa96a	883	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:ae74845fa96a	884	{
cparata	2:ae74845fa96a	885	return 1;
cparata	2:ae74845fa96a	886	}
cparata	2:ae74845fa96a	887
cparata	2:ae74845fa96a	888	/* TIMER_HR setting */
cparata	2:ae74845fa96a	889	if ( LSM6DSL_ACC_GYRO_W_TIMER_HR( (void *)this, LSM6DSL_ACC_GYRO_TIMER_HR_6_4ms ) == MEMS_ERROR )
cparata	2:ae74845fa96a	890	{
cparata	2:ae74845fa96a	891	return 1;
cparata	2:ae74845fa96a	892	}
cparata	2:ae74845fa96a	893
cparata	2:ae74845fa96a	894	/* SLEEP_DUR setting */
cparata	2:ae74845fa96a	895	if ( LSM6DSL_ACC_GYRO_W_SLEEP_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:ae74845fa96a	896	{
cparata	2:ae74845fa96a	897	return 1;
cparata	2:ae74845fa96a	898	}
cparata	2:ae74845fa96a	899
cparata	2:ae74845fa96a	900	/* FF_THS setting */
cparata	2:ae74845fa96a	901	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_312mg ) == MEMS_ERROR )
cparata	2:ae74845fa96a	902	{
cparata	2:ae74845fa96a	903	return 1;
cparata	2:ae74845fa96a	904	}
cparata	2:ae74845fa96a	905
cparata	2:ae74845fa96a	906	/* Enable basic Interrupts */
cparata	2:ae74845fa96a	907	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	908	{
cparata	2:ae74845fa96a	909	return 1;
cparata	2:ae74845fa96a	910	}
cparata	2:ae74845fa96a	911
cparata	2:ae74845fa96a	912	/* INT1_FF setting */
cparata	2:ae74845fa96a	913	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	914	{
cparata	2:ae74845fa96a	915	return 1;
cparata	2:ae74845fa96a	916	}
cparata	2:ae74845fa96a	917
cparata	2:ae74845fa96a	918	return 0;
cparata	2:ae74845fa96a	919	}
cparata	2:ae74845fa96a	920
cparata	2:ae74845fa96a	921	/**
cparata	2:ae74845fa96a	922	* @brief Disable free fall detection
cparata	2:ae74845fa96a	923	* @param None
cparata	2:ae74845fa96a	924	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	925	*/
cparata	2:ae74845fa96a	926	int LSM6DSLSensor::Disable_Free_Fall_Detection(void)
cparata	2:ae74845fa96a	927	{
cparata	2:ae74845fa96a	928	/* INT1_FF setting */
cparata	2:ae74845fa96a	929	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	930	{
cparata	2:ae74845fa96a	931	return 1;
cparata	2:ae74845fa96a	932	}
cparata	2:ae74845fa96a	933
cparata	2:ae74845fa96a	934	/* Disable basic Interrupts */
cparata	2:ae74845fa96a	935	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	936	{
cparata	2:ae74845fa96a	937	return 1;
cparata	2:ae74845fa96a	938	}
cparata	2:ae74845fa96a	939
cparata	2:ae74845fa96a	940	/* FF_DUR setting */
cparata	2:ae74845fa96a	941	if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:ae74845fa96a	942	{
cparata	2:ae74845fa96a	943	return 1;
cparata	2:ae74845fa96a	944	}
cparata	2:ae74845fa96a	945
cparata	2:ae74845fa96a	946	/* FF_THS setting */
cparata	2:ae74845fa96a	947	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_156mg ) == MEMS_ERROR )
cparata	2:ae74845fa96a	948	{
cparata	2:ae74845fa96a	949	return 1;
cparata	2:ae74845fa96a	950	}
cparata	2:ae74845fa96a	951
cparata	2:ae74845fa96a	952	return 0;
cparata	2:ae74845fa96a	953	}
cparata	2:ae74845fa96a	954
cparata	2:ae74845fa96a	955	/**
cparata	2:ae74845fa96a	956	* @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor
cparata	2:ae74845fa96a	957	* @param thr the threshold to be set
cparata	2:ae74845fa96a	958	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	959	*/
cparata	2:ae74845fa96a	960	int LSM6DSLSensor::Set_Free_Fall_Threshold(uint8_t thr)
cparata	2:ae74845fa96a	961	{
cparata	2:ae74845fa96a	962
cparata	2:ae74845fa96a	963	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR )
cparata	2:ae74845fa96a	964	{
cparata	2:ae74845fa96a	965	return 1;
cparata	2:ae74845fa96a	966	}
cparata	2:ae74845fa96a	967
cparata	2:ae74845fa96a	968	return 0;
cparata	2:ae74845fa96a	969	}
cparata	2:ae74845fa96a	970
cparata	2:ae74845fa96a	971	/**
cparata	2:ae74845fa96a	972	* @brief Enable the pedometer feature for LSM6DSL accelerometer sensor
cparata	2:ae74845fa96a	973	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:ae74845fa96a	974	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	975	*/
cparata	2:ae74845fa96a	976	int LSM6DSLSensor::Enable_Pedometer(void)
cparata	2:ae74845fa96a	977	{
cparata	2:ae74845fa96a	978	/* Output Data Rate selection */
cparata	2:ae74845fa96a	979	if( Set_X_ODR(26.0f) == 1 )
cparata	2:ae74845fa96a	980	{
cparata	2:ae74845fa96a	981	return 1;
cparata	2:ae74845fa96a	982	}
cparata	2:ae74845fa96a	983
cparata	2:ae74845fa96a	984	/* Full scale selection. */
cparata	2:ae74845fa96a	985	if( Set_X_FS(2.0f) == 1 )
cparata	2:ae74845fa96a	986	{
cparata	2:ae74845fa96a	987	return 1;
cparata	2:ae74845fa96a	988	}
cparata	2:ae74845fa96a	989
cparata	2:ae74845fa96a	990	/* Set pedometer threshold. */
cparata	2:ae74845fa96a	991	if ( Set_Pedometer_Threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == 1 )
cparata	2:ae74845fa96a	992	{
cparata	2:ae74845fa96a	993	return 1;
cparata	2:ae74845fa96a	994	}
cparata	2:ae74845fa96a	995
cparata	2:ae74845fa96a	996	/* Enable embedded functionalities. */
cparata	2:ae74845fa96a	997	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	998	{
cparata	2:ae74845fa96a	999	return 1;
cparata	2:ae74845fa96a	1000	}
cparata	2:ae74845fa96a	1001
cparata	2:ae74845fa96a	1002	/* Enable pedometer algorithm. */
cparata	2:ae74845fa96a	1003	if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1004	{
cparata	2:ae74845fa96a	1005	return 1;
cparata	2:ae74845fa96a	1006	}
cparata	2:ae74845fa96a	1007
cparata	2:ae74845fa96a	1008	/* Enable pedometer on INT1. */
cparata	2:ae74845fa96a	1009	if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1010	{
cparata	2:ae74845fa96a	1011	return 1;
cparata	2:ae74845fa96a	1012	}
cparata	2:ae74845fa96a	1013
cparata	2:ae74845fa96a	1014	return 0;
cparata	2:ae74845fa96a	1015	}
cparata	2:ae74845fa96a	1016
cparata	2:ae74845fa96a	1017	/**
cparata	2:ae74845fa96a	1018	* @brief Disable the pedometer feature for LSM6DSL accelerometer sensor
cparata	2:ae74845fa96a	1019	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	1020	*/
cparata	2:ae74845fa96a	1021	int LSM6DSLSensor::Disable_Pedometer(void)
cparata	2:ae74845fa96a	1022	{
cparata	2:ae74845fa96a	1023	/* Disable pedometer on INT1. */
cparata	2:ae74845fa96a	1024	if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1025	{
cparata	2:ae74845fa96a	1026	return 1;
cparata	2:ae74845fa96a	1027	}
cparata	2:ae74845fa96a	1028
cparata	2:ae74845fa96a	1029	/* Disable pedometer algorithm. */
cparata	2:ae74845fa96a	1030	if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1031	{
cparata	2:ae74845fa96a	1032	return 1;
cparata	2:ae74845fa96a	1033	}
cparata	2:ae74845fa96a	1034
cparata	2:ae74845fa96a	1035	/* Disable embedded functionalities. */
cparata	2:ae74845fa96a	1036	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1037	{
cparata	2:ae74845fa96a	1038	return 1;
cparata	2:ae74845fa96a	1039	}
cparata	2:ae74845fa96a	1040
cparata	2:ae74845fa96a	1041	/* Reset pedometer threshold. */
cparata	2:ae74845fa96a	1042	if ( Set_Pedometer_Threshold(0x0) == 1 )
cparata	2:ae74845fa96a	1043	{
cparata	2:ae74845fa96a	1044	return 1;
cparata	2:ae74845fa96a	1045	}
cparata	2:ae74845fa96a	1046
cparata	2:ae74845fa96a	1047	return 0;
cparata	2:ae74845fa96a	1048	}
cparata	2:ae74845fa96a	1049
cparata	2:ae74845fa96a	1050	/**
cparata	2:ae74845fa96a	1051	* @brief Get the step counter for LSM6DSL accelerometer sensor
cparata	2:ae74845fa96a	1052	* @param step_count the pointer to the step counter
cparata	2:ae74845fa96a	1053	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	1054	*/
cparata	2:ae74845fa96a	1055	int LSM6DSLSensor::Get_Step_Counter(uint16_t *step_count)
cparata	2:ae74845fa96a	1056	{
cparata	2:ae74845fa96a	1057	if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void )this, ( uint8_t )step_count ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1058	{
cparata	2:ae74845fa96a	1059	return 1;
cparata	2:ae74845fa96a	1060	}
cparata	2:ae74845fa96a	1061
cparata	2:ae74845fa96a	1062	return 0;
cparata	2:ae74845fa96a	1063	}
cparata	2:ae74845fa96a	1064
cparata	2:ae74845fa96a	1065	/**
cparata	2:ae74845fa96a	1066	* @brief Reset of the step counter for LSM6DSL accelerometer sensor
cparata	2:ae74845fa96a	1067	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	1068	*/
cparata	2:ae74845fa96a	1069	int LSM6DSLSensor::Reset_Step_Counter(void)
cparata	2:ae74845fa96a	1070	{
cparata	2:ae74845fa96a	1071	if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1072	{
cparata	2:ae74845fa96a	1073	return 1;
cparata	2:ae74845fa96a	1074	}
cparata	2:ae74845fa96a	1075
cparata	2:ae74845fa96a	1076	wait_ms(10);
cparata	2:ae74845fa96a	1077
cparata	2:ae74845fa96a	1078	if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1079	{
cparata	2:ae74845fa96a	1080	return 1;
cparata	2:ae74845fa96a	1081	}
cparata	2:ae74845fa96a	1082
cparata	2:ae74845fa96a	1083	return 0;
cparata	2:ae74845fa96a	1084	}
cparata	2:ae74845fa96a	1085
cparata	2:ae74845fa96a	1086	/**
cparata	2:ae74845fa96a	1087	* @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
cparata	2:ae74845fa96a	1088	* @param thr the threshold to be set
cparata	2:ae74845fa96a	1089	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	1090	*/
cparata	2:ae74845fa96a	1091	int LSM6DSLSensor::Set_Pedometer_Threshold(uint8_t thr)
cparata	2:ae74845fa96a	1092	{
cparata	2:ae74845fa96a	1093	if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1094	{
cparata	2:ae74845fa96a	1095	return 1;
cparata	2:ae74845fa96a	1096	}
cparata	2:ae74845fa96a	1097
cparata	2:ae74845fa96a	1098	return 0;
cparata	2:ae74845fa96a	1099	}
cparata	2:ae74845fa96a	1100
cparata	2:ae74845fa96a	1101	/**
cparata	2:ae74845fa96a	1102	* @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata	2:ae74845fa96a	1103	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:ae74845fa96a	1104	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	1105	*/
cparata	2:ae74845fa96a	1106	int LSM6DSLSensor::Enable_Tilt_Detection(void)
cparata	2:ae74845fa96a	1107	{
cparata	2:ae74845fa96a	1108	/* Output Data Rate selection */
cparata	2:ae74845fa96a	1109	if( Set_X_ODR(26.0f) == 1 )
cparata	2:ae74845fa96a	1110	{
cparata	2:ae74845fa96a	1111	return 1;
cparata	2:ae74845fa96a	1112	}
cparata	2:ae74845fa96a	1113
cparata	2:ae74845fa96a	1114	/* Full scale selection. */
cparata	2:ae74845fa96a	1115	if( Set_X_FS(2.0f) == 1 )
cparata	2:ae74845fa96a	1116	{
cparata	2:ae74845fa96a	1117	return 1;
cparata	2:ae74845fa96a	1118	}
cparata	2:ae74845fa96a	1119
cparata	2:ae74845fa96a	1120	/* Enable embedded functionalities */
cparata	2:ae74845fa96a	1121	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1122	{
cparata	2:ae74845fa96a	1123	return 1;
cparata	2:ae74845fa96a	1124	}
cparata	2:ae74845fa96a	1125
cparata	2:ae74845fa96a	1126	/* Enable tilt calculation. */
cparata	2:ae74845fa96a	1127	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1128	{
cparata	2:ae74845fa96a	1129	return 1;
cparata	2:ae74845fa96a	1130	}
cparata	2:ae74845fa96a	1131
cparata	2:ae74845fa96a	1132	/* Enable tilt event on INT1. */
cparata	2:ae74845fa96a	1133	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1134	{
cparata	2:ae74845fa96a	1135	return 1;
cparata	2:ae74845fa96a	1136	}
cparata	2:ae74845fa96a	1137
cparata	2:ae74845fa96a	1138	return 0;
cparata	2:ae74845fa96a	1139	}
cparata	2:ae74845fa96a	1140
cparata	2:ae74845fa96a	1141	/**
cparata	2:ae74845fa96a	1142	* @brief Disable the tilt detection for LSM6DSL accelerometer sensor
cparata	2:ae74845fa96a	1143	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	1144	*/
cparata	2:ae74845fa96a	1145	int LSM6DSLSensor::Disable_Tilt_Detection(void)
cparata	2:ae74845fa96a	1146	{
cparata	2:ae74845fa96a	1147	/* Disable tilt event on INT1. */
cparata	2:ae74845fa96a	1148	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_DISABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1149	{
cparata	2:ae74845fa96a	1150	return 1;
cparata	2:ae74845fa96a	1151	}
cparata	2:ae74845fa96a	1152
cparata	2:ae74845fa96a	1153	/* Disable tilt calculation. */
cparata	2:ae74845fa96a	1154	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1155	{
cparata	2:ae74845fa96a	1156	return 1;
cparata	2:ae74845fa96a	1157	}
cparata	2:ae74845fa96a	1158
cparata	2:ae74845fa96a	1159	/* Disable embedded functionalities */
cparata	2:ae74845fa96a	1160	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1161	{
cparata	2:ae74845fa96a	1162	return 1;
cparata	2:ae74845fa96a	1163	}
cparata	2:ae74845fa96a	1164
cparata	2:ae74845fa96a	1165	return 0;
cparata	2:ae74845fa96a	1166	}
cparata	2:ae74845fa96a	1167
cparata	2:ae74845fa96a	1168	/**
cparata	2:ae74845fa96a	1169	* @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata	2:ae74845fa96a	1170	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:ae74845fa96a	1171	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	1172	*/
cparata	2:ae74845fa96a	1173	int LSM6DSLSensor::Enable_Wake_Up_Detection(void)
cparata	2:ae74845fa96a	1174	{
cparata	2:ae74845fa96a	1175	/* Output Data Rate selection */
cparata	2:ae74845fa96a	1176	if( Set_X_ODR(416.0f) == 1 )
cparata	2:ae74845fa96a	1177	{
cparata	2:ae74845fa96a	1178	return 1;
cparata	2:ae74845fa96a	1179	}
cparata	2:ae74845fa96a	1180
cparata	2:ae74845fa96a	1181	/* Full scale selection. */
cparata	2:ae74845fa96a	1182	if( Set_X_FS(2.0f) == 1 )
cparata	2:ae74845fa96a	1183	{
cparata	2:ae74845fa96a	1184	return 1;
cparata	2:ae74845fa96a	1185	}
cparata	2:ae74845fa96a	1186
cparata	2:ae74845fa96a	1187	/* WAKE_DUR setting */
cparata	2:ae74845fa96a	1188	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1189	{
cparata	2:ae74845fa96a	1190	return 1;
cparata	2:ae74845fa96a	1191	}
cparata	2:ae74845fa96a	1192
cparata	2:ae74845fa96a	1193	/* Set wake up threshold. */
cparata	2:ae74845fa96a	1194	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1195	{
cparata	2:ae74845fa96a	1196	return 1;
cparata	2:ae74845fa96a	1197	}
cparata	2:ae74845fa96a	1198
cparata	2:ae74845fa96a	1199	/* Enable basic Interrupts */
cparata	2:ae74845fa96a	1200	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1201	{
cparata	2:ae74845fa96a	1202	return 1;
cparata	2:ae74845fa96a	1203	}
cparata	2:ae74845fa96a	1204
cparata	5:c81b6e8dec7e	1205	/* INT2_WU setting */
cparata	5:c81b6e8dec7e	1206	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_ENABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1207	{
cparata	2:ae74845fa96a	1208	return 1;
cparata	2:ae74845fa96a	1209	}
cparata	2:ae74845fa96a	1210
cparata	2:ae74845fa96a	1211	return 0;
cparata	2:ae74845fa96a	1212	}
cparata	2:ae74845fa96a	1213
cparata	2:ae74845fa96a	1214	/**
cparata	2:ae74845fa96a	1215	* @brief Disable the wake up detection for LSM6DSL accelerometer sensor
cparata	2:ae74845fa96a	1216	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	1217	*/
cparata	2:ae74845fa96a	1218	int LSM6DSLSensor::Disable_Wake_Up_Detection(void)
cparata	2:ae74845fa96a	1219	{
cparata	5:c81b6e8dec7e	1220	/* INT2_WU setting */
cparata	5:c81b6e8dec7e	1221	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_DISABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1222	{
cparata	2:ae74845fa96a	1223	return 1;
cparata	2:ae74845fa96a	1224	}
cparata	2:ae74845fa96a	1225
cparata	2:ae74845fa96a	1226	/* Disable basic Interrupts */
cparata	2:ae74845fa96a	1227	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1228	{
cparata	2:ae74845fa96a	1229	return 1;
cparata	2:ae74845fa96a	1230	}
cparata	2:ae74845fa96a	1231
cparata	2:ae74845fa96a	1232	/* WU_DUR setting */
cparata	2:ae74845fa96a	1233	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1234	{
cparata	2:ae74845fa96a	1235	return 1;
cparata	2:ae74845fa96a	1236	}
cparata	2:ae74845fa96a	1237
cparata	2:ae74845fa96a	1238	/* WU_THS setting */
cparata	2:ae74845fa96a	1239	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1240	{
cparata	2:ae74845fa96a	1241	return 1;
cparata	2:ae74845fa96a	1242	}
cparata	2:ae74845fa96a	1243
cparata	2:ae74845fa96a	1244	return 0;
cparata	2:ae74845fa96a	1245	}
cparata	2:ae74845fa96a	1246
cparata	2:ae74845fa96a	1247	/**
cparata	2:ae74845fa96a	1248	* @brief Set the wake up threshold for LSM6DSL accelerometer sensor
cparata	2:ae74845fa96a	1249	* @param thr the threshold to be set
cparata	2:ae74845fa96a	1250	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	1251	*/
cparata	2:ae74845fa96a	1252	int LSM6DSLSensor::Set_Wake_Up_Threshold(uint8_t thr)
cparata	2:ae74845fa96a	1253	{
cparata	2:ae74845fa96a	1254	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1255	{
cparata	2:ae74845fa96a	1256	return 1;
cparata	2:ae74845fa96a	1257	}
cparata	2:ae74845fa96a	1258
cparata	2:ae74845fa96a	1259	return 0;
cparata	2:ae74845fa96a	1260	}
cparata	2:ae74845fa96a	1261
cparata	2:ae74845fa96a	1262	/**
cparata	2:ae74845fa96a	1263	* @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata	2:ae74845fa96a	1264	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:ae74845fa96a	1265	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	1266	*/
cparata	2:ae74845fa96a	1267	int LSM6DSLSensor::Enable_Single_Tap_Detection(void)
cparata	2:ae74845fa96a	1268	{
cparata	2:ae74845fa96a	1269	/* Output Data Rate selection */
cparata	2:ae74845fa96a	1270	if( Set_X_ODR(416.0f) == 1 )
cparata	2:ae74845fa96a	1271	{
cparata	2:ae74845fa96a	1272	return 1;
cparata	2:ae74845fa96a	1273	}
cparata	2:ae74845fa96a	1274
cparata	2:ae74845fa96a	1275	/* Full scale selection. */
cparata	2:ae74845fa96a	1276	if( Set_X_FS(2.0f) == 1 )
cparata	2:ae74845fa96a	1277	{
cparata	2:ae74845fa96a	1278	return 1;
cparata	2:ae74845fa96a	1279	}
cparata	2:ae74845fa96a	1280
cparata	2:ae74845fa96a	1281	/* Enable X direction in tap recognition. */
cparata	2:ae74845fa96a	1282	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1283	{
cparata	2:ae74845fa96a	1284	return 1;
cparata	2:ae74845fa96a	1285	}
cparata	2:ae74845fa96a	1286
cparata	2:ae74845fa96a	1287	/* Enable Y direction in tap recognition. */
cparata	2:ae74845fa96a	1288	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1289	{
cparata	2:ae74845fa96a	1290	return 1;
cparata	2:ae74845fa96a	1291	}
cparata	2:ae74845fa96a	1292
cparata	2:ae74845fa96a	1293	/* Enable Z direction in tap recognition. */
cparata	2:ae74845fa96a	1294	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1295	{
cparata	2:ae74845fa96a	1296	return 1;
cparata	2:ae74845fa96a	1297	}
cparata	2:ae74845fa96a	1298
cparata	2:ae74845fa96a	1299	/* Set tap threshold. */
cparata	2:ae74845fa96a	1300	if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata	2:ae74845fa96a	1301	{
cparata	2:ae74845fa96a	1302	return 1;
cparata	2:ae74845fa96a	1303	}
cparata	2:ae74845fa96a	1304
cparata	2:ae74845fa96a	1305	/* Set tap shock time window. */
cparata	2:ae74845fa96a	1306	if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == 1 )
cparata	2:ae74845fa96a	1307	{
cparata	2:ae74845fa96a	1308	return 1;
cparata	2:ae74845fa96a	1309	}
cparata	2:ae74845fa96a	1310
cparata	2:ae74845fa96a	1311	/* Set tap quiet time window. */
cparata	2:ae74845fa96a	1312	if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == 1 )
cparata	2:ae74845fa96a	1313	{
cparata	2:ae74845fa96a	1314	return 1;
cparata	2:ae74845fa96a	1315	}
cparata	2:ae74845fa96a	1316
cparata	2:ae74845fa96a	1317	/* _NOTE_: Tap duration time window - don't care for single tap. */
cparata	2:ae74845fa96a	1318
cparata	2:ae74845fa96a	1319	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata	2:ae74845fa96a	1320
cparata	2:ae74845fa96a	1321	/* Enable basic Interrupts */
cparata	2:ae74845fa96a	1322	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1323	{
cparata	2:ae74845fa96a	1324	return 1;
cparata	2:ae74845fa96a	1325	}
cparata	2:ae74845fa96a	1326
cparata	2:ae74845fa96a	1327	/* Enable single tap interrupt on INT1 pin. */
cparata	2:ae74845fa96a	1328	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1329	{
cparata	2:ae74845fa96a	1330	return 1;
cparata	2:ae74845fa96a	1331	}
cparata	2:ae74845fa96a	1332
cparata	2:ae74845fa96a	1333	return 0;
cparata	2:ae74845fa96a	1334	}
cparata	2:ae74845fa96a	1335
cparata	2:ae74845fa96a	1336	/**
cparata	2:ae74845fa96a	1337	* @brief Disable the single tap detection for LSM6DSL accelerometer sensor
cparata	2:ae74845fa96a	1338	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	1339	*/
cparata	2:ae74845fa96a	1340	int LSM6DSLSensor::Disable_Single_Tap_Detection(void)
cparata	2:ae74845fa96a	1341	{
cparata	2:ae74845fa96a	1342	/* Disable single tap interrupt on INT1 pin. */
cparata	2:ae74845fa96a	1343	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1344	{
cparata	2:ae74845fa96a	1345	return 1;
cparata	2:ae74845fa96a	1346	}
cparata	2:ae74845fa96a	1347
cparata	2:ae74845fa96a	1348	/* Disable basic Interrupts */
cparata	2:ae74845fa96a	1349	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1350	{
cparata	2:ae74845fa96a	1351	return 1;
cparata	2:ae74845fa96a	1352	}
cparata	2:ae74845fa96a	1353
cparata	2:ae74845fa96a	1354	/* Reset tap threshold. */
cparata	2:ae74845fa96a	1355	if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata	2:ae74845fa96a	1356	{
cparata	2:ae74845fa96a	1357	return 1;
cparata	2:ae74845fa96a	1358	}
cparata	2:ae74845fa96a	1359
cparata	2:ae74845fa96a	1360	/* Reset tap shock time window. */
cparata	2:ae74845fa96a	1361	if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata	2:ae74845fa96a	1362	{
cparata	2:ae74845fa96a	1363	return 1;
cparata	2:ae74845fa96a	1364	}
cparata	2:ae74845fa96a	1365
cparata	2:ae74845fa96a	1366	/* Reset tap quiet time window. */
cparata	2:ae74845fa96a	1367	if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata	2:ae74845fa96a	1368	{
cparata	2:ae74845fa96a	1369	return 1;
cparata	2:ae74845fa96a	1370	}
cparata	2:ae74845fa96a	1371
cparata	2:ae74845fa96a	1372	/* _NOTE_: Tap duration time window - don't care for single tap. */
cparata	2:ae74845fa96a	1373
cparata	2:ae74845fa96a	1374	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata	2:ae74845fa96a	1375
cparata	2:ae74845fa96a	1376	/* Disable Z direction in tap recognition. */
cparata	2:ae74845fa96a	1377	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1378	{
cparata	2:ae74845fa96a	1379	return 1;
cparata	2:ae74845fa96a	1380	}
cparata	2:ae74845fa96a	1381
cparata	2:ae74845fa96a	1382	/* Disable Y direction in tap recognition. */
cparata	2:ae74845fa96a	1383	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1384	{
cparata	2:ae74845fa96a	1385	return 1;
cparata	2:ae74845fa96a	1386	}
cparata	2:ae74845fa96a	1387
cparata	2:ae74845fa96a	1388	/* Disable 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_DISABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1390	{
cparata	2:ae74845fa96a	1391	return 1;
cparata	2:ae74845fa96a	1392	}
cparata	2:ae74845fa96a	1393
cparata	2:ae74845fa96a	1394	return 0;
cparata	2:ae74845fa96a	1395	}
cparata	2:ae74845fa96a	1396
cparata	2:ae74845fa96a	1397	/**
cparata	2:ae74845fa96a	1398	* @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata	2:ae74845fa96a	1399	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:ae74845fa96a	1400	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	1401	*/
cparata	2:ae74845fa96a	1402	int LSM6DSLSensor::Enable_Double_Tap_Detection(void)
cparata	2:ae74845fa96a	1403	{
cparata	2:ae74845fa96a	1404	/* Output Data Rate selection */
cparata	2:ae74845fa96a	1405	if( Set_X_ODR(416.0f) == 1 )
cparata	2:ae74845fa96a	1406	{
cparata	2:ae74845fa96a	1407	return 1;
cparata	2:ae74845fa96a	1408	}
cparata	2:ae74845fa96a	1409
cparata	2:ae74845fa96a	1410	/* Full scale selection. */
cparata	2:ae74845fa96a	1411	if( Set_X_FS(2.0f) == 1 )
cparata	2:ae74845fa96a	1412	{
cparata	2:ae74845fa96a	1413	return 1;
cparata	2:ae74845fa96a	1414	}
cparata	2:ae74845fa96a	1415
cparata	2:ae74845fa96a	1416	/* Enable X direction in tap recognition. */
cparata	2:ae74845fa96a	1417	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1418	{
cparata	2:ae74845fa96a	1419	return 1;
cparata	2:ae74845fa96a	1420	}
cparata	2:ae74845fa96a	1421
cparata	2:ae74845fa96a	1422	/* Enable Y direction in tap recognition. */
cparata	2:ae74845fa96a	1423	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1424	{
cparata	2:ae74845fa96a	1425	return 1;
cparata	2:ae74845fa96a	1426	}
cparata	2:ae74845fa96a	1427
cparata	2:ae74845fa96a	1428	/* Enable Z direction in tap recognition. */
cparata	2:ae74845fa96a	1429	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1430	{
cparata	2:ae74845fa96a	1431	return 1;
cparata	2:ae74845fa96a	1432	}
cparata	2:ae74845fa96a	1433
cparata	2:ae74845fa96a	1434	/* Set tap threshold. */
cparata	2:ae74845fa96a	1435	if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata	2:ae74845fa96a	1436	{
cparata	2:ae74845fa96a	1437	return 1;
cparata	2:ae74845fa96a	1438	}
cparata	2:ae74845fa96a	1439
cparata	2:ae74845fa96a	1440	/* Set tap shock time window. */
cparata	2:ae74845fa96a	1441	if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == 1 )
cparata	2:ae74845fa96a	1442	{
cparata	2:ae74845fa96a	1443	return 1;
cparata	2:ae74845fa96a	1444	}
cparata	2:ae74845fa96a	1445
cparata	2:ae74845fa96a	1446	/* Set tap quiet time window. */
cparata	2:ae74845fa96a	1447	if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == 1 )
cparata	2:ae74845fa96a	1448	{
cparata	2:ae74845fa96a	1449	return 1;
cparata	2:ae74845fa96a	1450	}
cparata	2:ae74845fa96a	1451
cparata	2:ae74845fa96a	1452	/* Set tap duration time window. */
cparata	2:ae74845fa96a	1453	if ( Set_Tap_Duration_Time( LSM6DSL_TAP_DURATION_TIME_MID ) == 1 )
cparata	2:ae74845fa96a	1454	{
cparata	2:ae74845fa96a	1455	return 1;
cparata	2:ae74845fa96a	1456	}
cparata	2:ae74845fa96a	1457
cparata	2:ae74845fa96a	1458	/* Single and double tap enabled. */
cparata	2:ae74845fa96a	1459	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1460	{
cparata	2:ae74845fa96a	1461	return 1;
cparata	2:ae74845fa96a	1462	}
cparata	2:ae74845fa96a	1463
cparata	2:ae74845fa96a	1464	/* Enable basic Interrupts */
cparata	2:ae74845fa96a	1465	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1466	{
cparata	2:ae74845fa96a	1467	return 1;
cparata	2:ae74845fa96a	1468	}
cparata	2:ae74845fa96a	1469
cparata	2:ae74845fa96a	1470	/* Enable double tap interrupt on INT1 pin. */
cparata	2:ae74845fa96a	1471	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1472	{
cparata	2:ae74845fa96a	1473	return 1;
cparata	2:ae74845fa96a	1474	}
cparata	2:ae74845fa96a	1475
cparata	2:ae74845fa96a	1476	return 0;
cparata	2:ae74845fa96a	1477	}
cparata	2:ae74845fa96a	1478
cparata	2:ae74845fa96a	1479	/**
cparata	2:ae74845fa96a	1480	* @brief Disable the double tap detection for LSM6DSL accelerometer sensor
cparata	2:ae74845fa96a	1481	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	1482	*/
cparata	2:ae74845fa96a	1483	int LSM6DSLSensor::Disable_Double_Tap_Detection(void)
cparata	2:ae74845fa96a	1484	{
cparata	2:ae74845fa96a	1485	/* Disable double tap interrupt on INT1 pin. */
cparata	2:ae74845fa96a	1486	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1487	{
cparata	2:ae74845fa96a	1488	return 1;
cparata	2:ae74845fa96a	1489	}
cparata	2:ae74845fa96a	1490
cparata	2:ae74845fa96a	1491	/* Disable basic Interrupts */
cparata	2:ae74845fa96a	1492	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1493	{
cparata	2:ae74845fa96a	1494	return 1;
cparata	2:ae74845fa96a	1495	}
cparata	2:ae74845fa96a	1496
cparata	2:ae74845fa96a	1497	/* Reset tap threshold. */
cparata	2:ae74845fa96a	1498	if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata	2:ae74845fa96a	1499	{
cparata	2:ae74845fa96a	1500	return 1;
cparata	2:ae74845fa96a	1501	}
cparata	2:ae74845fa96a	1502
cparata	2:ae74845fa96a	1503	/* Reset tap shock time window. */
cparata	2:ae74845fa96a	1504	if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata	2:ae74845fa96a	1505	{
cparata	2:ae74845fa96a	1506	return 1;
cparata	2:ae74845fa96a	1507	}
cparata	2:ae74845fa96a	1508
cparata	2:ae74845fa96a	1509	/* Reset tap quiet time window. */
cparata	2:ae74845fa96a	1510	if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata	2:ae74845fa96a	1511	{
cparata	2:ae74845fa96a	1512	return 1;
cparata	2:ae74845fa96a	1513	}
cparata	2:ae74845fa96a	1514
cparata	2:ae74845fa96a	1515	/* Reset tap duration time window. */
cparata	2:ae74845fa96a	1516	if ( Set_Tap_Duration_Time( 0x0 ) == 1 )
cparata	2:ae74845fa96a	1517	{
cparata	2:ae74845fa96a	1518	return 1;
cparata	2:ae74845fa96a	1519	}
cparata	2:ae74845fa96a	1520
cparata	2:ae74845fa96a	1521	/* Only single tap enabled. */
cparata	2:ae74845fa96a	1522	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1523	{
cparata	2:ae74845fa96a	1524	return 1;
cparata	2:ae74845fa96a	1525	}
cparata	2:ae74845fa96a	1526
cparata	2:ae74845fa96a	1527	/* Disable Z direction in tap recognition. */
cparata	2:ae74845fa96a	1528	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1529	{
cparata	2:ae74845fa96a	1530	return 1;
cparata	2:ae74845fa96a	1531	}
cparata	2:ae74845fa96a	1532
cparata	2:ae74845fa96a	1533	/* Disable Y direction in tap recognition. */
cparata	2:ae74845fa96a	1534	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1535	{
cparata	2:ae74845fa96a	1536	return 1;
cparata	2:ae74845fa96a	1537	}
cparata	2:ae74845fa96a	1538
cparata	2:ae74845fa96a	1539	/* Disable X direction in tap recognition. */
cparata	2:ae74845fa96a	1540	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1541	{
cparata	2:ae74845fa96a	1542	return 1;
cparata	2:ae74845fa96a	1543	}
cparata	2:ae74845fa96a	1544
cparata	2:ae74845fa96a	1545	return 0;
cparata	2:ae74845fa96a	1546	}
cparata	2:ae74845fa96a	1547
cparata	2:ae74845fa96a	1548	/**
cparata	2:ae74845fa96a	1549	* @brief Set the tap threshold for LSM6DSL accelerometer sensor
cparata	2:ae74845fa96a	1550	* @param thr the threshold to be set
cparata	2:ae74845fa96a	1551	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	1552	*/
cparata	2:ae74845fa96a	1553	int LSM6DSLSensor::Set_Tap_Threshold(uint8_t thr)
cparata	2:ae74845fa96a	1554	{
cparata	2:ae74845fa96a	1555	if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1556	{
cparata	2:ae74845fa96a	1557	return 1;
cparata	2:ae74845fa96a	1558	}
cparata	2:ae74845fa96a	1559
cparata	2:ae74845fa96a	1560	return 0;
cparata	2:ae74845fa96a	1561	}
cparata	2:ae74845fa96a	1562
cparata	2:ae74845fa96a	1563	/**
cparata	2:ae74845fa96a	1564	* @brief Set the tap shock time window for LSM6DSL accelerometer sensor
cparata	2:ae74845fa96a	1565	* @param time the shock time window to be set
cparata	2:ae74845fa96a	1566	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	1567	*/
cparata	2:ae74845fa96a	1568	int LSM6DSLSensor::Set_Tap_Shock_Time(uint8_t time)
cparata	2:ae74845fa96a	1569	{
cparata	2:ae74845fa96a	1570	if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1571	{
cparata	2:ae74845fa96a	1572	return 1;
cparata	2:ae74845fa96a	1573	}
cparata	2:ae74845fa96a	1574
cparata	2:ae74845fa96a	1575	return 0;
cparata	2:ae74845fa96a	1576	}
cparata	2:ae74845fa96a	1577
cparata	2:ae74845fa96a	1578	/**
cparata	2:ae74845fa96a	1579	* @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
cparata	2:ae74845fa96a	1580	* @param time the quiet time window to be set
cparata	2:ae74845fa96a	1581	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	1582	*/
cparata	2:ae74845fa96a	1583	int LSM6DSLSensor::Set_Tap_Quiet_Time(uint8_t time)
cparata	2:ae74845fa96a	1584	{
cparata	2:ae74845fa96a	1585	if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1586	{
cparata	2:ae74845fa96a	1587	return 1;
cparata	2:ae74845fa96a	1588	}
cparata	2:ae74845fa96a	1589
cparata	2:ae74845fa96a	1590	return 0;
cparata	2:ae74845fa96a	1591	}
cparata	2:ae74845fa96a	1592
cparata	2:ae74845fa96a	1593	/**
cparata	2:ae74845fa96a	1594	* @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
cparata	2:ae74845fa96a	1595	* @param time the duration of the time window to be set
cparata	2:ae74845fa96a	1596	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	1597	*/
cparata	2:ae74845fa96a	1598	int LSM6DSLSensor::Set_Tap_Duration_Time(uint8_t time)
cparata	2:ae74845fa96a	1599	{
cparata	2:ae74845fa96a	1600	if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1601	{
cparata	2:ae74845fa96a	1602	return 1;
cparata	2:ae74845fa96a	1603	}
cparata	2:ae74845fa96a	1604
cparata	2:ae74845fa96a	1605	return 0;
cparata	2:ae74845fa96a	1606	}
cparata	2:ae74845fa96a	1607
cparata	2:ae74845fa96a	1608	/**
cparata	2:ae74845fa96a	1609	* @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	2:ae74845fa96a	1610	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:ae74845fa96a	1611	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	1612	*/
cparata	2:ae74845fa96a	1613	int LSM6DSLSensor::Enable_6D_Orientation(void)
cparata	2:ae74845fa96a	1614	{
cparata	2:ae74845fa96a	1615	/* Output Data Rate selection */
cparata	2:ae74845fa96a	1616	if( Set_X_ODR(416.0f) == 1 )
cparata	2:ae74845fa96a	1617	{
cparata	2:ae74845fa96a	1618	return 1;
cparata	2:ae74845fa96a	1619	}
cparata	2:ae74845fa96a	1620
cparata	2:ae74845fa96a	1621	/* Full scale selection. */
cparata	2:ae74845fa96a	1622	if( Set_X_FS(2.0f) == 1 )
cparata	2:ae74845fa96a	1623	{
cparata	2:ae74845fa96a	1624	return 1;
cparata	2:ae74845fa96a	1625	}
cparata	2:ae74845fa96a	1626
cparata	2:ae74845fa96a	1627	/* Set 6D threshold. */
cparata	2:ae74845fa96a	1628	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1629	{
cparata	2:ae74845fa96a	1630	return 1;
cparata	2:ae74845fa96a	1631	}
cparata	2:ae74845fa96a	1632
cparata	2:ae74845fa96a	1633	/* Enable basic Interrupts */
cparata	2:ae74845fa96a	1634	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1635	{
cparata	2:ae74845fa96a	1636	return 1;
cparata	2:ae74845fa96a	1637	}
cparata	2:ae74845fa96a	1638
cparata	2:ae74845fa96a	1639	/* INT1_6D setting. */
cparata	2:ae74845fa96a	1640	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1641	{
cparata	2:ae74845fa96a	1642	return 1;
cparata	2:ae74845fa96a	1643	}
cparata	2:ae74845fa96a	1644
cparata	2:ae74845fa96a	1645	return 0;
cparata	2:ae74845fa96a	1646	}
cparata	2:ae74845fa96a	1647
cparata	2:ae74845fa96a	1648	/**
cparata	2:ae74845fa96a	1649	* @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	2:ae74845fa96a	1650	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	1651	*/
cparata	2:ae74845fa96a	1652	int LSM6DSLSensor::Disable_6D_Orientation(void)
cparata	2:ae74845fa96a	1653	{
cparata	2:ae74845fa96a	1654	/* INT1_6D setting. */
cparata	2:ae74845fa96a	1655	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1656	{
cparata	2:ae74845fa96a	1657	return 1;
cparata	2:ae74845fa96a	1658	}
cparata	2:ae74845fa96a	1659
cparata	2:ae74845fa96a	1660	/* Disable basic Interrupts */
cparata	2:ae74845fa96a	1661	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1662	{
cparata	2:ae74845fa96a	1663	return 1;
cparata	2:ae74845fa96a	1664	}
cparata	2:ae74845fa96a	1665
cparata	2:ae74845fa96a	1666	/* Reset 6D threshold. */
cparata	2:ae74845fa96a	1667	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1668	{
cparata	2:ae74845fa96a	1669	return 1;
cparata	2:ae74845fa96a	1670	}
cparata	2:ae74845fa96a	1671
cparata	2:ae74845fa96a	1672	return 0;
cparata	2:ae74845fa96a	1673	}
cparata	2:ae74845fa96a	1674
cparata	2:ae74845fa96a	1675	/**
cparata	2:ae74845fa96a	1676	* @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
cparata	2:ae74845fa96a	1677	* @param xl the pointer to the 6D orientation XL axis
cparata	2:ae74845fa96a	1678	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	1679	*/
cparata	2:ae74845fa96a	1680	int LSM6DSLSensor::Get_6D_Orientation_XL(uint8_t *xl)
cparata	2:ae74845fa96a	1681	{
cparata	2:ae74845fa96a	1682	LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
cparata	2:ae74845fa96a	1683
cparata	2:ae74845fa96a	1684	if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1685	{
cparata	2:ae74845fa96a	1686	return 1;
cparata	2:ae74845fa96a	1687	}
cparata	2:ae74845fa96a	1688
cparata	2:ae74845fa96a	1689	switch( xl_raw )
cparata	2:ae74845fa96a	1690	{
cparata	2:ae74845fa96a	1691	case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
cparata	2:ae74845fa96a	1692	*xl = 1;
cparata	2:ae74845fa96a	1693	break;
cparata	2:ae74845fa96a	1694	case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
cparata	2:ae74845fa96a	1695	*xl = 0;
cparata	2:ae74845fa96a	1696	break;
cparata	2:ae74845fa96a	1697	default:
cparata	2:ae74845fa96a	1698	return 1;
cparata	2:ae74845fa96a	1699	}
cparata	2:ae74845fa96a	1700
cparata	2:ae74845fa96a	1701	return 0;
cparata	2:ae74845fa96a	1702	}
cparata	2:ae74845fa96a	1703
cparata	2:ae74845fa96a	1704	/**
cparata	2:ae74845fa96a	1705	* @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
cparata	2:ae74845fa96a	1706	* @param xh the pointer to the 6D orientation XH axis
cparata	2:ae74845fa96a	1707	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	1708	*/
cparata	2:ae74845fa96a	1709	int LSM6DSLSensor::Get_6D_Orientation_XH(uint8_t *xh)
cparata	2:ae74845fa96a	1710	{
cparata	2:ae74845fa96a	1711	LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
cparata	2:ae74845fa96a	1712
cparata	2:ae74845fa96a	1713	if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1714	{
cparata	2:ae74845fa96a	1715	return 1;
cparata	2:ae74845fa96a	1716	}
cparata	2:ae74845fa96a	1717
cparata	2:ae74845fa96a	1718	switch( xh_raw )
cparata	2:ae74845fa96a	1719	{
cparata	2:ae74845fa96a	1720	case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
cparata	2:ae74845fa96a	1721	*xh = 1;
cparata	2:ae74845fa96a	1722	break;
cparata	2:ae74845fa96a	1723	case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
cparata	2:ae74845fa96a	1724	*xh = 0;
cparata	2:ae74845fa96a	1725	break;
cparata	2:ae74845fa96a	1726	default:
cparata	2:ae74845fa96a	1727	return 1;
cparata	2:ae74845fa96a	1728	}
cparata	2:ae74845fa96a	1729
cparata	2:ae74845fa96a	1730	return 0;
cparata	2:ae74845fa96a	1731	}
cparata	2:ae74845fa96a	1732
cparata	2:ae74845fa96a	1733	/**
cparata	2:ae74845fa96a	1734	* @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
cparata	2:ae74845fa96a	1735	* @param yl the pointer to the 6D orientation YL axis
cparata	2:ae74845fa96a	1736	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	1737	*/
cparata	2:ae74845fa96a	1738	int LSM6DSLSensor::Get_6D_Orientation_YL(uint8_t *yl)
cparata	2:ae74845fa96a	1739	{
cparata	2:ae74845fa96a	1740	LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
cparata	2:ae74845fa96a	1741
cparata	2:ae74845fa96a	1742	if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1743	{
cparata	2:ae74845fa96a	1744	return 1;
cparata	2:ae74845fa96a	1745	}
cparata	2:ae74845fa96a	1746
cparata	2:ae74845fa96a	1747	switch( yl_raw )
cparata	2:ae74845fa96a	1748	{
cparata	2:ae74845fa96a	1749	case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
cparata	2:ae74845fa96a	1750	*yl = 1;
cparata	2:ae74845fa96a	1751	break;
cparata	2:ae74845fa96a	1752	case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
cparata	2:ae74845fa96a	1753	*yl = 0;
cparata	2:ae74845fa96a	1754	break;
cparata	2:ae74845fa96a	1755	default:
cparata	2:ae74845fa96a	1756	return 1;
cparata	2:ae74845fa96a	1757	}
cparata	2:ae74845fa96a	1758
cparata	2:ae74845fa96a	1759	return 0;
cparata	2:ae74845fa96a	1760	}
cparata	2:ae74845fa96a	1761
cparata	2:ae74845fa96a	1762	/**
cparata	2:ae74845fa96a	1763	* @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
cparata	2:ae74845fa96a	1764	* @param yh the pointer to the 6D orientation YH axis
cparata	2:ae74845fa96a	1765	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	1766	*/
cparata	2:ae74845fa96a	1767	int LSM6DSLSensor::Get_6D_Orientation_YH(uint8_t *yh)
cparata	2:ae74845fa96a	1768	{
cparata	2:ae74845fa96a	1769	LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
cparata	2:ae74845fa96a	1770
cparata	2:ae74845fa96a	1771	if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1772	{
cparata	2:ae74845fa96a	1773	return 1;
cparata	2:ae74845fa96a	1774	}
cparata	2:ae74845fa96a	1775
cparata	2:ae74845fa96a	1776	switch( yh_raw )
cparata	2:ae74845fa96a	1777	{
cparata	2:ae74845fa96a	1778	case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
cparata	2:ae74845fa96a	1779	*yh = 1;
cparata	2:ae74845fa96a	1780	break;
cparata	2:ae74845fa96a	1781	case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
cparata	2:ae74845fa96a	1782	*yh = 0;
cparata	2:ae74845fa96a	1783	break;
cparata	2:ae74845fa96a	1784	default:
cparata	2:ae74845fa96a	1785	return 1;
cparata	2:ae74845fa96a	1786	}
cparata	2:ae74845fa96a	1787
cparata	2:ae74845fa96a	1788	return 0;
cparata	2:ae74845fa96a	1789	}
cparata	2:ae74845fa96a	1790
cparata	2:ae74845fa96a	1791	/**
cparata	2:ae74845fa96a	1792	* @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
cparata	2:ae74845fa96a	1793	* @param zl the pointer to the 6D orientation ZL axis
cparata	2:ae74845fa96a	1794	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	1795	*/
cparata	2:ae74845fa96a	1796	int LSM6DSLSensor::Get_6D_Orientation_ZL(uint8_t *zl)
cparata	2:ae74845fa96a	1797	{
cparata	2:ae74845fa96a	1798	LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
cparata	2:ae74845fa96a	1799
cparata	2:ae74845fa96a	1800	if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1801	{
cparata	2:ae74845fa96a	1802	return 1;
cparata	2:ae74845fa96a	1803	}
cparata	2:ae74845fa96a	1804
cparata	2:ae74845fa96a	1805	switch( zl_raw )
cparata	2:ae74845fa96a	1806	{
cparata	2:ae74845fa96a	1807	case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
cparata	2:ae74845fa96a	1808	*zl = 1;
cparata	2:ae74845fa96a	1809	break;
cparata	2:ae74845fa96a	1810	case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
cparata	2:ae74845fa96a	1811	*zl = 0;
cparata	2:ae74845fa96a	1812	break;
cparata	2:ae74845fa96a	1813	default:
cparata	2:ae74845fa96a	1814	return 1;
cparata	2:ae74845fa96a	1815	}
cparata	2:ae74845fa96a	1816
cparata	2:ae74845fa96a	1817	return 0;
cparata	2:ae74845fa96a	1818	}
cparata	2:ae74845fa96a	1819
cparata	2:ae74845fa96a	1820	/**
cparata	2:ae74845fa96a	1821	* @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
cparata	2:ae74845fa96a	1822	* @param zh the pointer to the 6D orientation ZH axis
cparata	2:ae74845fa96a	1823	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	1824	*/
cparata	2:ae74845fa96a	1825	int LSM6DSLSensor::Get_6D_Orientation_ZH(uint8_t *zh)
cparata	2:ae74845fa96a	1826	{
cparata	2:ae74845fa96a	1827	LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
cparata	2:ae74845fa96a	1828
cparata	2:ae74845fa96a	1829	if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1830	{
cparata	2:ae74845fa96a	1831	return 1;
cparata	2:ae74845fa96a	1832	}
cparata	2:ae74845fa96a	1833
cparata	2:ae74845fa96a	1834	switch( zh_raw )
cparata	2:ae74845fa96a	1835	{
cparata	2:ae74845fa96a	1836	case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
cparata	2:ae74845fa96a	1837	*zh = 1;
cparata	2:ae74845fa96a	1838	break;
cparata	2:ae74845fa96a	1839	case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
cparata	2:ae74845fa96a	1840	*zh = 0;
cparata	2:ae74845fa96a	1841	break;
cparata	2:ae74845fa96a	1842	default:
cparata	2:ae74845fa96a	1843	return 1;
cparata	2:ae74845fa96a	1844	}
cparata	2:ae74845fa96a	1845
cparata	2:ae74845fa96a	1846	return 0;
cparata	2:ae74845fa96a	1847	}
cparata	2:ae74845fa96a	1848
cparata	2:ae74845fa96a	1849	/**
cparata	4:1adb1ce17b05	1850	* @brief Get the status of all hardware events for LSM6DSL accelerometer sensor
cparata	4:1adb1ce17b05	1851	* @param status the pointer to the status of all hardware events
cparata	4:1adb1ce17b05	1852	* @retval 0 in case of success, an error code otherwise
cparata	4:1adb1ce17b05	1853	*/
cparata	4:1adb1ce17b05	1854	int LSM6DSLSensor::Get_Event_Status(LSM6DSL_Event_Status_t *status)
cparata	4:1adb1ce17b05	1855	{
cparata	5:c81b6e8dec7e	1856	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	1857
cparata	4:1adb1ce17b05	1858	memset((void *)status, 0x0, sizeof(LSM6DSL_Event_Status_t));
cparata	4:1adb1ce17b05	1859
cparata	4:1adb1ce17b05	1860	if(ReadReg(LSM6DSL_ACC_GYRO_WAKE_UP_SRC, &Wake_Up_Src) != 0)
cparata	4:1adb1ce17b05	1861	{
cparata	4:1adb1ce17b05	1862	return 1;
cparata	4:1adb1ce17b05	1863	}
cparata	4:1adb1ce17b05	1864
cparata	4:1adb1ce17b05	1865	if(ReadReg(LSM6DSL_ACC_GYRO_TAP_SRC, &Tap_Src) != 0)
cparata	4:1adb1ce17b05	1866	{
cparata	4:1adb1ce17b05	1867	return 1;
cparata	4:1adb1ce17b05	1868	}
cparata	4:1adb1ce17b05	1869
cparata	4:1adb1ce17b05	1870	if(ReadReg(LSM6DSL_ACC_GYRO_D6D_SRC, &D6D_Src) != 0)
cparata	4:1adb1ce17b05	1871	{
cparata	4:1adb1ce17b05	1872	return 1;
cparata	4:1adb1ce17b05	1873	}
cparata	4:1adb1ce17b05	1874
cparata	4:1adb1ce17b05	1875	if(ReadReg(LSM6DSL_ACC_GYRO_FUNC_SRC, &Func_Src) != 0)
cparata	4:1adb1ce17b05	1876	{
cparata	4:1adb1ce17b05	1877	return 1;
cparata	4:1adb1ce17b05	1878	}
cparata	4:1adb1ce17b05	1879
cparata	5:c81b6e8dec7e	1880	if(ReadReg(LSM6DSL_ACC_GYRO_MD1_CFG, &Md1_Cfg ) != 0 )
cparata	5:c81b6e8dec7e	1881	{
cparata	5:c81b6e8dec7e	1882	return 1;
cparata	5:c81b6e8dec7e	1883	}
cparata	5:c81b6e8dec7e	1884
cparata	5:c81b6e8dec7e	1885	if(ReadReg(LSM6DSL_ACC_GYRO_MD2_CFG, &Md2_Cfg ) != 0)
cparata	4:1adb1ce17b05	1886	{
cparata	5:c81b6e8dec7e	1887	return 1;
cparata	5:c81b6e8dec7e	1888	}
cparata	5:c81b6e8dec7e	1889
cparata	5:c81b6e8dec7e	1890	if(ReadReg(LSM6DSL_ACC_GYRO_INT1_CTRL, &Int1_Ctrl ) != 0)
cparata	5:c81b6e8dec7e	1891	{
cparata	5:c81b6e8dec7e	1892	return 1;
cparata	4:1adb1ce17b05	1893	}
cparata	4:1adb1ce17b05	1894
cparata	5:c81b6e8dec7e	1895	if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_FF_MASK)
cparata	4:1adb1ce17b05	1896	{
cparata	5:c81b6e8dec7e	1897	if((Wake_Up_Src & LSM6DSL_ACC_GYRO_FF_EV_STATUS_MASK))
cparata	5:c81b6e8dec7e	1898	{
cparata	5:c81b6e8dec7e	1899	status->FreeFallStatus = 1;
cparata	5:c81b6e8dec7e	1900	}
cparata	4:1adb1ce17b05	1901	}
cparata	4:1adb1ce17b05	1902
cparata	5:c81b6e8dec7e	1903	if(Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_WU_MASK)
cparata	4:1adb1ce17b05	1904	{
cparata	5:c81b6e8dec7e	1905	if((Wake_Up_Src & LSM6DSL_ACC_GYRO_WU_EV_STATUS_MASK))
cparata	5:c81b6e8dec7e	1906	{
cparata	5:c81b6e8dec7e	1907	status->WakeUpStatus = 1;
cparata	5:c81b6e8dec7e	1908	}
cparata	4:1adb1ce17b05	1909	}
cparata	4:1adb1ce17b05	1910
cparata	5:c81b6e8dec7e	1911	if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_MASK)
cparata	4:1adb1ce17b05	1912	{
cparata	5:c81b6e8dec7e	1913	if((Tap_Src & LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_MASK))
cparata	5:c81b6e8dec7e	1914	{
cparata	5:c81b6e8dec7e	1915	status->TapStatus = 1;
cparata	5:c81b6e8dec7e	1916	}
cparata	5:c81b6e8dec7e	1917	}
cparata	5:c81b6e8dec7e	1918
cparata	5:c81b6e8dec7e	1919	if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TAP_MASK)
cparata	5:c81b6e8dec7e	1920	{
cparata	5:c81b6e8dec7e	1921	if((Tap_Src & LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_MASK))
cparata	5:c81b6e8dec7e	1922	{
cparata	5:c81b6e8dec7e	1923	status->DoubleTapStatus = 1;
cparata	5:c81b6e8dec7e	1924	}
cparata	4:1adb1ce17b05	1925	}
cparata	4:1adb1ce17b05	1926
cparata	5:c81b6e8dec7e	1927	if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_6D_MASK)
cparata	4:1adb1ce17b05	1928	{
cparata	5:c81b6e8dec7e	1929	if((D6D_Src & LSM6DSL_ACC_GYRO_D6D_EV_STATUS_MASK))
cparata	5:c81b6e8dec7e	1930	{
cparata	5:c81b6e8dec7e	1931	status->D6DOrientationStatus = 1;
cparata	5:c81b6e8dec7e	1932	}
cparata	4:1adb1ce17b05	1933	}
cparata	4:1adb1ce17b05	1934
cparata	5:c81b6e8dec7e	1935	if(Int1_Ctrl & LSM6DSL_ACC_GYRO_INT1_PEDO_MASK)
cparata	4:1adb1ce17b05	1936	{
cparata	5:c81b6e8dec7e	1937	if((Func_Src & LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_MASK))
cparata	5:c81b6e8dec7e	1938	{
cparata	5:c81b6e8dec7e	1939	status->StepStatus = 1;
cparata	5:c81b6e8dec7e	1940	}
cparata	4:1adb1ce17b05	1941	}
cparata	4:1adb1ce17b05	1942
cparata	5:c81b6e8dec7e	1943	if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TILT_MASK)
cparata	4:1adb1ce17b05	1944	{
cparata	5:c81b6e8dec7e	1945	if((Func_Src & LSM6DSL_ACC_GYRO_TILT_EV_STATUS_MASK))
cparata	5:c81b6e8dec7e	1946	{
cparata	5:c81b6e8dec7e	1947	status->TiltStatus = 1;
cparata	5:c81b6e8dec7e	1948	}
cparata	4:1adb1ce17b05	1949	}
cparata	4:1adb1ce17b05	1950
cparata	4:1adb1ce17b05	1951	return 0;
cparata	4:1adb1ce17b05	1952	}
cparata	4:1adb1ce17b05	1953
cparata	4:1adb1ce17b05	1954	/**
cparata	2:ae74845fa96a	1955	* @brief Read the data from register
cparata	2:ae74845fa96a	1956	* @param reg register address
cparata	2:ae74845fa96a	1957	* @param data register data
cparata	4:1adb1ce17b05	1958	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	1959	*/
cparata	2:ae74845fa96a	1960	int LSM6DSLSensor::ReadReg( uint8_t reg, uint8_t *data )
cparata	2:ae74845fa96a	1961	{
cparata	2:ae74845fa96a	1962
cparata	2:ae74845fa96a	1963	if ( LSM6DSL_ACC_GYRO_ReadReg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1964	{
cparata	2:ae74845fa96a	1965	return 1;
cparata	2:ae74845fa96a	1966	}
cparata	2:ae74845fa96a	1967
cparata	2:ae74845fa96a	1968	return 0;
cparata	2:ae74845fa96a	1969	}
cparata	2:ae74845fa96a	1970
cparata	2:ae74845fa96a	1971	/**
cparata	2:ae74845fa96a	1972	* @brief Write the data to register
cparata	2:ae74845fa96a	1973	* @param reg register address
cparata	2:ae74845fa96a	1974	* @param data register data
cparata	4:1adb1ce17b05	1975	* @retval 0 in case of success, an error code otherwise
cparata	2:ae74845fa96a	1976	*/
cparata	2:ae74845fa96a	1977	int LSM6DSLSensor::WriteReg( uint8_t reg, uint8_t data )
cparata	2:ae74845fa96a	1978	{
cparata	2:ae74845fa96a	1979
cparata	2:ae74845fa96a	1980	if ( LSM6DSL_ACC_GYRO_WriteReg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
cparata	2:ae74845fa96a	1981	{
cparata	2:ae74845fa96a	1982	return 1;
cparata	2:ae74845fa96a	1983	}
cparata	2:ae74845fa96a	1984
cparata	2:ae74845fa96a	1985	return 0;
cparata	2:ae74845fa96a	1986	}
cparata	2:ae74845fa96a	1987
cparata	2:ae74845fa96a	1988
cparata	2:ae74845fa96a	1989	uint8_t LSM6DSL_IO_Write( void handle, uint8_t WriteAddr, uint8_t pBuffer, uint16_t nBytesToWrite )
cparata	2:ae74845fa96a	1990	{
cparata	2:ae74845fa96a	1991	return ((LSM6DSLSensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata	2:ae74845fa96a	1992	}
cparata	2:ae74845fa96a	1993
cparata	2:ae74845fa96a	1994	uint8_t LSM6DSL_IO_Read( void handle, uint8_t ReadAddr, uint8_t pBuffer, uint16_t nBytesToRead )
cparata	2:ae74845fa96a	1995	{
cparata	2:ae74845fa96a	1996	return ((LSM6DSLSensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata	2:ae74845fa96a	1997	}

Repository toolbox

Export to desktop IDE

Build repository

Repository details

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

The code in this repository is Apache licensed.

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

X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.cpp@6:f215defe10e4, 2016-11-23 (annotated)

Who changed what in which revision?

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning