ST / Mbed 2 deprecated FreeFall_IKS01A2

Example of free fall detection for LSM6DSL in X-NUCLEO-IKS01A2

Dependencies:   X_NUCLEO_IKS01A2 mbed

Fork of FreeFall_IKS01A2 by ST Expansion SW Team

Free Fall Detection Demo Application based on sensor expansion board X-NUCLEO-IKS01A2

Main function is to show how to detect the free fall event using the sensor expansion board and send a notification using UART to a connected PC or Desktop and display it on terminal applications like TeraTerm.
After connection has been established:
- the user can try to leave falling the board and then view the notification using an hyper terminal. When the free fall is detected, the LED is switched on for a while.
- the user button can be used to enable/disable the free fall detection feature.

X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.cpp@0:6a670fda63c2, 2016-08-12 (annotated)

Committer:
cparata
Date:
Fri Aug 12 13:39:06 2016 +0000
Revision:
0:6a670fda63c2
First release of Free Fall for LSM6DSL in IKS01A2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 0:6a670fda63c2 1 /**
cparata 0:6a670fda63c2 2 ******************************************************************************
cparata 0:6a670fda63c2 3 * @file LSM6DSLSensor.cpp
cparata 0:6a670fda63c2 4 * @author AST
cparata 0:6a670fda63c2 5 * @version V1.0.0
cparata 0:6a670fda63c2 6 * @date 5 August 2016
cparata 0:6a670fda63c2 7 * @brief Implementation of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
cparata 0:6a670fda63c2 8 * sensor.
cparata 0:6a670fda63c2 9 ******************************************************************************
cparata 0:6a670fda63c2 10 * @attention
cparata 0:6a670fda63c2 11 *
cparata 0:6a670fda63c2 12 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 0:6a670fda63c2 13 *
cparata 0:6a670fda63c2 14 * Redistribution and use in source and binary forms, with or without modification,
cparata 0:6a670fda63c2 15 * are permitted provided that the following conditions are met:
cparata 0:6a670fda63c2 16 * 1. Redistributions of source code must retain the above copyright notice,
cparata 0:6a670fda63c2 17 * this list of conditions and the following disclaimer.
cparata 0:6a670fda63c2 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 0:6a670fda63c2 19 * this list of conditions and the following disclaimer in the documentation
cparata 0:6a670fda63c2 20 * and/or other materials provided with the distribution.
cparata 0:6a670fda63c2 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 0:6a670fda63c2 22 * may be used to endorse or promote products derived from this software
cparata 0:6a670fda63c2 23 * without specific prior written permission.
cparata 0:6a670fda63c2 24 *
cparata 0:6a670fda63c2 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 0:6a670fda63c2 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 0:6a670fda63c2 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 0:6a670fda63c2 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 0:6a670fda63c2 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 0:6a670fda63c2 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 0:6a670fda63c2 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 0:6a670fda63c2 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 0:6a670fda63c2 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 0:6a670fda63c2 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 0:6a670fda63c2 35 *
cparata 0:6a670fda63c2 36 ******************************************************************************
cparata 0:6a670fda63c2 37 */
cparata 0:6a670fda63c2 38
cparata 0:6a670fda63c2 39
cparata 0:6a670fda63c2 40 /* Includes ------------------------------------------------------------------*/
cparata 0:6a670fda63c2 41
cparata 0:6a670fda63c2 42 #include "mbed.h"
cparata 0:6a670fda63c2 43 #include "DevI2C.h"
cparata 0:6a670fda63c2 44 #include "LSM6DSLSensor.h"
cparata 0:6a670fda63c2 45 #include "LSM6DSL_ACC_GYRO_driver.h"
cparata 0:6a670fda63c2 46
cparata 0:6a670fda63c2 47
cparata 0:6a670fda63c2 48 /* Class Implementation ------------------------------------------------------*/
cparata 0:6a670fda63c2 49
cparata 0:6a670fda63c2 50 /** Constructor
cparata 0:6a670fda63c2 51 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:6a670fda63c2 52 * @param address the address of the component's instance
cparata 0:6a670fda63c2 53 */
cparata 0:6a670fda63c2 54 LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c) : dev_i2c(i2c)
cparata 0:6a670fda63c2 55 {
cparata 0:6a670fda63c2 56 address = LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH;
cparata 0:6a670fda63c2 57
cparata 0:6a670fda63c2 58 /* Enable register address automatically incremented during a multiple byte
cparata 0:6a670fda63c2 59 access with a serial interface. */
cparata 0:6a670fda63c2 60 if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 61 {
cparata 0:6a670fda63c2 62 return;
cparata 0:6a670fda63c2 63 }
cparata 0:6a670fda63c2 64
cparata 0:6a670fda63c2 65 /* Enable BDU */
cparata 0:6a670fda63c2 66 if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
cparata 0:6a670fda63c2 67 {
cparata 0:6a670fda63c2 68 return;
cparata 0:6a670fda63c2 69 }
cparata 0:6a670fda63c2 70
cparata 0:6a670fda63c2 71 /* FIFO mode selection */
cparata 0:6a670fda63c2 72 if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
cparata 0:6a670fda63c2 73 {
cparata 0:6a670fda63c2 74 return;
cparata 0:6a670fda63c2 75 }
cparata 0:6a670fda63c2 76
cparata 0:6a670fda63c2 77 /* Output data rate selection - power down. */
cparata 0:6a670fda63c2 78 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata 0:6a670fda63c2 79 {
cparata 0:6a670fda63c2 80 return;
cparata 0:6a670fda63c2 81 }
cparata 0:6a670fda63c2 82
cparata 0:6a670fda63c2 83 /* Full scale selection. */
cparata 0:6a670fda63c2 84 if ( Set_X_FS( 2.0f ) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 85 {
cparata 0:6a670fda63c2 86 return;
cparata 0:6a670fda63c2 87 }
cparata 0:6a670fda63c2 88
cparata 0:6a670fda63c2 89 /* Output data rate selection - power down */
cparata 0:6a670fda63c2 90 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata 0:6a670fda63c2 91 {
cparata 0:6a670fda63c2 92 return;
cparata 0:6a670fda63c2 93 }
cparata 0:6a670fda63c2 94
cparata 0:6a670fda63c2 95 /* Full scale selection. */
cparata 0:6a670fda63c2 96 if ( Set_G_FS( 2000.0f ) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 97 {
cparata 0:6a670fda63c2 98 return;
cparata 0:6a670fda63c2 99 }
cparata 0:6a670fda63c2 100
cparata 0:6a670fda63c2 101 X_Last_ODR = 104.0f;
cparata 0:6a670fda63c2 102
cparata 0:6a670fda63c2 103 X_isEnabled = 0;
cparata 0:6a670fda63c2 104
cparata 0:6a670fda63c2 105 G_Last_ODR = 104.0f;
cparata 0:6a670fda63c2 106
cparata 0:6a670fda63c2 107 G_isEnabled = 0;
cparata 0:6a670fda63c2 108 };
cparata 0:6a670fda63c2 109
cparata 0:6a670fda63c2 110 /** Constructor
cparata 0:6a670fda63c2 111 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:6a670fda63c2 112 * @param address the address of the component's instance
cparata 0:6a670fda63c2 113 */
cparata 0:6a670fda63c2 114 LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
cparata 0:6a670fda63c2 115 {
cparata 0:6a670fda63c2 116 /* Enable register address automatically incremented during a multiple byte
cparata 0:6a670fda63c2 117 access with a serial interface. */
cparata 0:6a670fda63c2 118 if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 119 {
cparata 0:6a670fda63c2 120 return;
cparata 0:6a670fda63c2 121 }
cparata 0:6a670fda63c2 122
cparata 0:6a670fda63c2 123 /* Enable BDU */
cparata 0:6a670fda63c2 124 if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
cparata 0:6a670fda63c2 125 {
cparata 0:6a670fda63c2 126 return;
cparata 0:6a670fda63c2 127 }
cparata 0:6a670fda63c2 128
cparata 0:6a670fda63c2 129 /* FIFO mode selection */
cparata 0:6a670fda63c2 130 if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
cparata 0:6a670fda63c2 131 {
cparata 0:6a670fda63c2 132 return;
cparata 0:6a670fda63c2 133 }
cparata 0:6a670fda63c2 134
cparata 0:6a670fda63c2 135 /* Output data rate selection - power down. */
cparata 0:6a670fda63c2 136 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata 0:6a670fda63c2 137 {
cparata 0:6a670fda63c2 138 return;
cparata 0:6a670fda63c2 139 }
cparata 0:6a670fda63c2 140
cparata 0:6a670fda63c2 141 /* Full scale selection. */
cparata 0:6a670fda63c2 142 if ( Set_X_FS( 2.0f ) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 143 {
cparata 0:6a670fda63c2 144 return;
cparata 0:6a670fda63c2 145 }
cparata 0:6a670fda63c2 146
cparata 0:6a670fda63c2 147 /* Output data rate selection - power down */
cparata 0:6a670fda63c2 148 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata 0:6a670fda63c2 149 {
cparata 0:6a670fda63c2 150 return;
cparata 0:6a670fda63c2 151 }
cparata 0:6a670fda63c2 152
cparata 0:6a670fda63c2 153 /* Full scale selection. */
cparata 0:6a670fda63c2 154 if ( Set_G_FS( 2000.0f ) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 155 {
cparata 0:6a670fda63c2 156 return;
cparata 0:6a670fda63c2 157 }
cparata 0:6a670fda63c2 158
cparata 0:6a670fda63c2 159 X_Last_ODR = 104.0f;
cparata 0:6a670fda63c2 160
cparata 0:6a670fda63c2 161 X_isEnabled = 0;
cparata 0:6a670fda63c2 162
cparata 0:6a670fda63c2 163 G_Last_ODR = 104.0f;
cparata 0:6a670fda63c2 164
cparata 0:6a670fda63c2 165 G_isEnabled = 0;
cparata 0:6a670fda63c2 166 };
cparata 0:6a670fda63c2 167
cparata 0:6a670fda63c2 168 /**
cparata 0:6a670fda63c2 169 * @brief Enable LSM6DSL Accelerator
cparata 0:6a670fda63c2 170 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 171 */
cparata 0:6a670fda63c2 172 LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_X(void)
cparata 0:6a670fda63c2 173 {
cparata 0:6a670fda63c2 174 /* Check if the component is already enabled */
cparata 0:6a670fda63c2 175 if ( X_isEnabled == 1 )
cparata 0:6a670fda63c2 176 {
cparata 0:6a670fda63c2 177 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 178 }
cparata 0:6a670fda63c2 179
cparata 0:6a670fda63c2 180 /* Output data rate selection. */
cparata 0:6a670fda63c2 181 if ( Set_X_ODR_When_Enabled( X_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 182 {
cparata 0:6a670fda63c2 183 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 184 }
cparata 0:6a670fda63c2 185
cparata 0:6a670fda63c2 186 X_isEnabled = 1;
cparata 0:6a670fda63c2 187
cparata 0:6a670fda63c2 188 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 189 }
cparata 0:6a670fda63c2 190
cparata 0:6a670fda63c2 191 /**
cparata 0:6a670fda63c2 192 * @brief Enable LSM6DSL Gyroscope
cparata 0:6a670fda63c2 193 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 194 */
cparata 0:6a670fda63c2 195 LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_G(void)
cparata 0:6a670fda63c2 196 {
cparata 0:6a670fda63c2 197 /* Check if the component is already enabled */
cparata 0:6a670fda63c2 198 if ( G_isEnabled == 1 )
cparata 0:6a670fda63c2 199 {
cparata 0:6a670fda63c2 200 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 201 }
cparata 0:6a670fda63c2 202
cparata 0:6a670fda63c2 203 /* Output data rate selection. */
cparata 0:6a670fda63c2 204 if ( Set_G_ODR_When_Enabled( G_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 205 {
cparata 0:6a670fda63c2 206 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 207 }
cparata 0:6a670fda63c2 208
cparata 0:6a670fda63c2 209 G_isEnabled = 1;
cparata 0:6a670fda63c2 210
cparata 0:6a670fda63c2 211 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 212 }
cparata 0:6a670fda63c2 213
cparata 0:6a670fda63c2 214 /**
cparata 0:6a670fda63c2 215 * @brief Disable LSM6DSL Accelerator
cparata 0:6a670fda63c2 216 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 217 */
cparata 0:6a670fda63c2 218 LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_X(void)
cparata 0:6a670fda63c2 219 {
cparata 0:6a670fda63c2 220 /* Check if the component is already disabled */
cparata 0:6a670fda63c2 221 if ( X_isEnabled == 0 )
cparata 0:6a670fda63c2 222 {
cparata 0:6a670fda63c2 223 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 224 }
cparata 0:6a670fda63c2 225
cparata 0:6a670fda63c2 226 /* Store actual output data rate. */
cparata 0:6a670fda63c2 227 if ( Get_X_ODR( &X_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 228 {
cparata 0:6a670fda63c2 229 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 230 }
cparata 0:6a670fda63c2 231
cparata 0:6a670fda63c2 232 /* Output data rate selection - power down. */
cparata 0:6a670fda63c2 233 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata 0:6a670fda63c2 234 {
cparata 0:6a670fda63c2 235 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 236 }
cparata 0:6a670fda63c2 237
cparata 0:6a670fda63c2 238 X_isEnabled = 0;
cparata 0:6a670fda63c2 239
cparata 0:6a670fda63c2 240 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 241 }
cparata 0:6a670fda63c2 242
cparata 0:6a670fda63c2 243 /**
cparata 0:6a670fda63c2 244 * @brief Disable LSM6DSL Gyroscope
cparata 0:6a670fda63c2 245 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 246 */
cparata 0:6a670fda63c2 247 LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_G(void)
cparata 0:6a670fda63c2 248 {
cparata 0:6a670fda63c2 249 /* Check if the component is already disabled */
cparata 0:6a670fda63c2 250 if ( G_isEnabled == 0 )
cparata 0:6a670fda63c2 251 {
cparata 0:6a670fda63c2 252 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 253 }
cparata 0:6a670fda63c2 254
cparata 0:6a670fda63c2 255 /* Store actual output data rate. */
cparata 0:6a670fda63c2 256 if ( Get_G_ODR( &G_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 257 {
cparata 0:6a670fda63c2 258 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 259 }
cparata 0:6a670fda63c2 260
cparata 0:6a670fda63c2 261 /* Output data rate selection - power down */
cparata 0:6a670fda63c2 262 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata 0:6a670fda63c2 263 {
cparata 0:6a670fda63c2 264 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 265 }
cparata 0:6a670fda63c2 266
cparata 0:6a670fda63c2 267 G_isEnabled = 0;
cparata 0:6a670fda63c2 268
cparata 0:6a670fda63c2 269 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 270 }
cparata 0:6a670fda63c2 271
cparata 0:6a670fda63c2 272 /**
cparata 0:6a670fda63c2 273 * @brief Read ID of LSM6DSL Accelerometer and Gyroscope
cparata 0:6a670fda63c2 274 * @param p_id the pointer where the ID of the device is stored
cparata 0:6a670fda63c2 275 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 276 */
cparata 0:6a670fda63c2 277 LSM6DSLStatusTypeDef LSM6DSLSensor::ReadID(uint8_t *p_id)
cparata 0:6a670fda63c2 278 {
cparata 0:6a670fda63c2 279 if(!p_id)
cparata 0:6a670fda63c2 280 {
cparata 0:6a670fda63c2 281 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 282 }
cparata 0:6a670fda63c2 283
cparata 0:6a670fda63c2 284 /* Read WHO AM I register */
cparata 0:6a670fda63c2 285 if ( LSM6DSL_ACC_GYRO_R_WHO_AM_I( (void *)this, p_id ) == MEMS_ERROR )
cparata 0:6a670fda63c2 286 {
cparata 0:6a670fda63c2 287 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 288 }
cparata 0:6a670fda63c2 289
cparata 0:6a670fda63c2 290 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 291 }
cparata 0:6a670fda63c2 292
cparata 0:6a670fda63c2 293 /**
cparata 0:6a670fda63c2 294 * @brief Read data from LSM6DSL Accelerometer
cparata 0:6a670fda63c2 295 * @param pData the pointer where the accelerometer data are stored
cparata 0:6a670fda63c2 296 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 297 */
cparata 0:6a670fda63c2 298 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_Axes(int32_t *pData)
cparata 0:6a670fda63c2 299 {
cparata 0:6a670fda63c2 300 int16_t dataRaw[3];
cparata 0:6a670fda63c2 301 float sensitivity = 0;
cparata 0:6a670fda63c2 302
cparata 0:6a670fda63c2 303 /* Read raw data from LSM6DSL output register. */
cparata 0:6a670fda63c2 304 if ( Get_X_AxesRaw( dataRaw ) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 305 {
cparata 0:6a670fda63c2 306 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 307 }
cparata 0:6a670fda63c2 308
cparata 0:6a670fda63c2 309 /* Get LSM6DSL actual sensitivity. */
cparata 0:6a670fda63c2 310 if ( Get_X_Sensitivity( &sensitivity ) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 311 {
cparata 0:6a670fda63c2 312 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 313 }
cparata 0:6a670fda63c2 314
cparata 0:6a670fda63c2 315 /* Calculate the data. */
cparata 0:6a670fda63c2 316 pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata 0:6a670fda63c2 317 pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata 0:6a670fda63c2 318 pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata 0:6a670fda63c2 319
cparata 0:6a670fda63c2 320 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 321 }
cparata 0:6a670fda63c2 322
cparata 0:6a670fda63c2 323 /**
cparata 0:6a670fda63c2 324 * @brief Read data from LSM6DSL Gyroscope
cparata 0:6a670fda63c2 325 * @param pData the pointer where the gyroscope data are stored
cparata 0:6a670fda63c2 326 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 327 */
cparata 0:6a670fda63c2 328 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_Axes(int32_t *pData)
cparata 0:6a670fda63c2 329 {
cparata 0:6a670fda63c2 330 int16_t dataRaw[3];
cparata 0:6a670fda63c2 331 float sensitivity = 0;
cparata 0:6a670fda63c2 332
cparata 0:6a670fda63c2 333 /* Read raw data from LSM6DSL output register. */
cparata 0:6a670fda63c2 334 if ( Get_G_AxesRaw( dataRaw ) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 335 {
cparata 0:6a670fda63c2 336 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 337 }
cparata 0:6a670fda63c2 338
cparata 0:6a670fda63c2 339 /* Get LSM6DSL actual sensitivity. */
cparata 0:6a670fda63c2 340 if ( Get_G_Sensitivity( &sensitivity ) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 341 {
cparata 0:6a670fda63c2 342 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 343 }
cparata 0:6a670fda63c2 344
cparata 0:6a670fda63c2 345 /* Calculate the data. */
cparata 0:6a670fda63c2 346 pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata 0:6a670fda63c2 347 pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata 0:6a670fda63c2 348 pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata 0:6a670fda63c2 349
cparata 0:6a670fda63c2 350 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 351 }
cparata 0:6a670fda63c2 352
cparata 0:6a670fda63c2 353 /**
cparata 0:6a670fda63c2 354 * @brief Read Accelerometer Sensitivity
cparata 0:6a670fda63c2 355 * @param pfData the pointer where the accelerometer sensitivity is stored
cparata 0:6a670fda63c2 356 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 357 */
cparata 0:6a670fda63c2 358 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_Sensitivity(float *pfData)
cparata 0:6a670fda63c2 359 {
cparata 0:6a670fda63c2 360 LSM6DSL_ACC_GYRO_FS_XL_t fullScale;
cparata 0:6a670fda63c2 361
cparata 0:6a670fda63c2 362 /* Read actual full scale selection from sensor. */
cparata 0:6a670fda63c2 363 if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:6a670fda63c2 364 {
cparata 0:6a670fda63c2 365 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 366 }
cparata 0:6a670fda63c2 367
cparata 0:6a670fda63c2 368 /* Store the sensitivity based on actual full scale. */
cparata 0:6a670fda63c2 369 switch( fullScale )
cparata 0:6a670fda63c2 370 {
cparata 0:6a670fda63c2 371 case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata 0:6a670fda63c2 372 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G;
cparata 0:6a670fda63c2 373 break;
cparata 0:6a670fda63c2 374 case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata 0:6a670fda63c2 375 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G;
cparata 0:6a670fda63c2 376 break;
cparata 0:6a670fda63c2 377 case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata 0:6a670fda63c2 378 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G;
cparata 0:6a670fda63c2 379 break;
cparata 0:6a670fda63c2 380 case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata 0:6a670fda63c2 381 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G;
cparata 0:6a670fda63c2 382 break;
cparata 0:6a670fda63c2 383 default:
cparata 0:6a670fda63c2 384 *pfData = -1.0f;
cparata 0:6a670fda63c2 385 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 386 }
cparata 0:6a670fda63c2 387
cparata 0:6a670fda63c2 388 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 389 }
cparata 0:6a670fda63c2 390
cparata 0:6a670fda63c2 391 /**
cparata 0:6a670fda63c2 392 * @brief Read Gyroscope Sensitivity
cparata 0:6a670fda63c2 393 * @param pfData the pointer where the gyroscope sensitivity is stored
cparata 0:6a670fda63c2 394 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 395 */
cparata 0:6a670fda63c2 396 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_Sensitivity(float *pfData)
cparata 0:6a670fda63c2 397 {
cparata 0:6a670fda63c2 398 LSM6DSL_ACC_GYRO_FS_125_t fullScale125;
cparata 0:6a670fda63c2 399 LSM6DSL_ACC_GYRO_FS_G_t fullScale;
cparata 0:6a670fda63c2 400
cparata 0:6a670fda63c2 401 /* Read full scale 125 selection from sensor. */
cparata 0:6a670fda63c2 402 if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fullScale125 ) == MEMS_ERROR )
cparata 0:6a670fda63c2 403 {
cparata 0:6a670fda63c2 404 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 405 }
cparata 0:6a670fda63c2 406
cparata 0:6a670fda63c2 407 if ( fullScale125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata 0:6a670fda63c2 408 {
cparata 0:6a670fda63c2 409 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS;
cparata 0:6a670fda63c2 410 }
cparata 0:6a670fda63c2 411
cparata 0:6a670fda63c2 412 else
cparata 0:6a670fda63c2 413 {
cparata 0:6a670fda63c2 414
cparata 0:6a670fda63c2 415 /* Read actual full scale selection from sensor. */
cparata 0:6a670fda63c2 416 if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:6a670fda63c2 417 {
cparata 0:6a670fda63c2 418 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 419 }
cparata 0:6a670fda63c2 420
cparata 0:6a670fda63c2 421 /* Store the sensitivity based on actual full scale. */
cparata 0:6a670fda63c2 422 switch( fullScale )
cparata 0:6a670fda63c2 423 {
cparata 0:6a670fda63c2 424 case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata 0:6a670fda63c2 425 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS;
cparata 0:6a670fda63c2 426 break;
cparata 0:6a670fda63c2 427 case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata 0:6a670fda63c2 428 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS;
cparata 0:6a670fda63c2 429 break;
cparata 0:6a670fda63c2 430 case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata 0:6a670fda63c2 431 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS;
cparata 0:6a670fda63c2 432 break;
cparata 0:6a670fda63c2 433 case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata 0:6a670fda63c2 434 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS;
cparata 0:6a670fda63c2 435 break;
cparata 0:6a670fda63c2 436 default:
cparata 0:6a670fda63c2 437 *pfData = -1.0f;
cparata 0:6a670fda63c2 438 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 439 }
cparata 0:6a670fda63c2 440 }
cparata 0:6a670fda63c2 441
cparata 0:6a670fda63c2 442 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 443 }
cparata 0:6a670fda63c2 444
cparata 0:6a670fda63c2 445 /**
cparata 0:6a670fda63c2 446 * @brief Read raw data from LSM6DSL Accelerometer
cparata 0:6a670fda63c2 447 * @param pData the pointer where the accelerometer raw data are stored
cparata 0:6a670fda63c2 448 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 449 */
cparata 0:6a670fda63c2 450 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_AxesRaw(int16_t *pData)
cparata 0:6a670fda63c2 451 {
cparata 0:6a670fda63c2 452 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 0:6a670fda63c2 453
cparata 0:6a670fda63c2 454 /* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_XL to LSM6DSL_ACC_GYRO_OUTZ_H_XL. */
cparata 0:6a670fda63c2 455 if ( LSM6DSL_ACC_GYRO_GetRawAccData( (void *)this, regValue ) == MEMS_ERROR )
cparata 0:6a670fda63c2 456 {
cparata 0:6a670fda63c2 457 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 458 }
cparata 0:6a670fda63c2 459
cparata 0:6a670fda63c2 460 /* Format the data. */
cparata 0:6a670fda63c2 461 pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata 0:6a670fda63c2 462 pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata 0:6a670fda63c2 463 pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata 0:6a670fda63c2 464
cparata 0:6a670fda63c2 465 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 466 }
cparata 0:6a670fda63c2 467
cparata 0:6a670fda63c2 468 /**
cparata 0:6a670fda63c2 469 * @brief Read raw data from LSM6DSL Gyroscope
cparata 0:6a670fda63c2 470 * @param pData the pointer where the gyroscope raw data are stored
cparata 0:6a670fda63c2 471 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 472 */
cparata 0:6a670fda63c2 473 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_AxesRaw(int16_t *pData)
cparata 0:6a670fda63c2 474 {
cparata 0:6a670fda63c2 475 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 0:6a670fda63c2 476
cparata 0:6a670fda63c2 477 /* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_G to LSM6DSL_ACC_GYRO_OUTZ_H_G. */
cparata 0:6a670fda63c2 478 if ( LSM6DSL_ACC_GYRO_GetRawGyroData( (void *)this, regValue ) == MEMS_ERROR )
cparata 0:6a670fda63c2 479 {
cparata 0:6a670fda63c2 480 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 481 }
cparata 0:6a670fda63c2 482
cparata 0:6a670fda63c2 483 /* Format the data. */
cparata 0:6a670fda63c2 484 pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata 0:6a670fda63c2 485 pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata 0:6a670fda63c2 486 pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata 0:6a670fda63c2 487
cparata 0:6a670fda63c2 488 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 489 }
cparata 0:6a670fda63c2 490
cparata 0:6a670fda63c2 491 /**
cparata 0:6a670fda63c2 492 * @brief Read LSM6DSL Accelerometer output data rate
cparata 0:6a670fda63c2 493 * @param odr the pointer to the output data rate
cparata 0:6a670fda63c2 494 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 495 */
cparata 0:6a670fda63c2 496 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_ODR(float* odr)
cparata 0:6a670fda63c2 497 {
cparata 0:6a670fda63c2 498 LSM6DSL_ACC_GYRO_ODR_XL_t odr_low_level;
cparata 0:6a670fda63c2 499
cparata 0:6a670fda63c2 500 if ( LSM6DSL_ACC_GYRO_R_ODR_XL( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 0:6a670fda63c2 501 {
cparata 0:6a670fda63c2 502 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 503 }
cparata 0:6a670fda63c2 504
cparata 0:6a670fda63c2 505 switch( odr_low_level )
cparata 0:6a670fda63c2 506 {
cparata 0:6a670fda63c2 507 case LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN:
cparata 0:6a670fda63c2 508 *odr = 0.0f;
cparata 0:6a670fda63c2 509 break;
cparata 0:6a670fda63c2 510 case LSM6DSL_ACC_GYRO_ODR_XL_13Hz:
cparata 0:6a670fda63c2 511 *odr = 13.0f;
cparata 0:6a670fda63c2 512 break;
cparata 0:6a670fda63c2 513 case LSM6DSL_ACC_GYRO_ODR_XL_26Hz:
cparata 0:6a670fda63c2 514 *odr = 26.0f;
cparata 0:6a670fda63c2 515 break;
cparata 0:6a670fda63c2 516 case LSM6DSL_ACC_GYRO_ODR_XL_52Hz:
cparata 0:6a670fda63c2 517 *odr = 52.0f;
cparata 0:6a670fda63c2 518 break;
cparata 0:6a670fda63c2 519 case LSM6DSL_ACC_GYRO_ODR_XL_104Hz:
cparata 0:6a670fda63c2 520 *odr = 104.0f;
cparata 0:6a670fda63c2 521 break;
cparata 0:6a670fda63c2 522 case LSM6DSL_ACC_GYRO_ODR_XL_208Hz:
cparata 0:6a670fda63c2 523 *odr = 208.0f;
cparata 0:6a670fda63c2 524 break;
cparata 0:6a670fda63c2 525 case LSM6DSL_ACC_GYRO_ODR_XL_416Hz:
cparata 0:6a670fda63c2 526 *odr = 416.0f;
cparata 0:6a670fda63c2 527 break;
cparata 0:6a670fda63c2 528 case LSM6DSL_ACC_GYRO_ODR_XL_833Hz:
cparata 0:6a670fda63c2 529 *odr = 833.0f;
cparata 0:6a670fda63c2 530 break;
cparata 0:6a670fda63c2 531 case LSM6DSL_ACC_GYRO_ODR_XL_1660Hz:
cparata 0:6a670fda63c2 532 *odr = 1660.0f;
cparata 0:6a670fda63c2 533 break;
cparata 0:6a670fda63c2 534 case LSM6DSL_ACC_GYRO_ODR_XL_3330Hz:
cparata 0:6a670fda63c2 535 *odr = 3330.0f;
cparata 0:6a670fda63c2 536 break;
cparata 0:6a670fda63c2 537 case LSM6DSL_ACC_GYRO_ODR_XL_6660Hz:
cparata 0:6a670fda63c2 538 *odr = 6660.0f;
cparata 0:6a670fda63c2 539 break;
cparata 0:6a670fda63c2 540 default:
cparata 0:6a670fda63c2 541 *odr = -1.0f;
cparata 0:6a670fda63c2 542 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 543 }
cparata 0:6a670fda63c2 544
cparata 0:6a670fda63c2 545 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 546 }
cparata 0:6a670fda63c2 547
cparata 0:6a670fda63c2 548 /**
cparata 0:6a670fda63c2 549 * @brief Read LSM6DSL Gyroscope output data rate
cparata 0:6a670fda63c2 550 * @param odr the pointer to the output data rate
cparata 0:6a670fda63c2 551 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 552 */
cparata 0:6a670fda63c2 553 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_ODR(float* odr)
cparata 0:6a670fda63c2 554 {
cparata 0:6a670fda63c2 555 LSM6DSL_ACC_GYRO_ODR_G_t odr_low_level;
cparata 0:6a670fda63c2 556
cparata 0:6a670fda63c2 557 if ( LSM6DSL_ACC_GYRO_R_ODR_G( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 0:6a670fda63c2 558 {
cparata 0:6a670fda63c2 559 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 560 }
cparata 0:6a670fda63c2 561
cparata 0:6a670fda63c2 562 switch( odr_low_level )
cparata 0:6a670fda63c2 563 {
cparata 0:6a670fda63c2 564 case LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN:
cparata 0:6a670fda63c2 565 *odr = 0.0f;
cparata 0:6a670fda63c2 566 break;
cparata 0:6a670fda63c2 567 case LSM6DSL_ACC_GYRO_ODR_G_13Hz:
cparata 0:6a670fda63c2 568 *odr = 13.0f;
cparata 0:6a670fda63c2 569 break;
cparata 0:6a670fda63c2 570 case LSM6DSL_ACC_GYRO_ODR_G_26Hz:
cparata 0:6a670fda63c2 571 *odr = 26.0f;
cparata 0:6a670fda63c2 572 break;
cparata 0:6a670fda63c2 573 case LSM6DSL_ACC_GYRO_ODR_G_52Hz:
cparata 0:6a670fda63c2 574 *odr = 52.0f;
cparata 0:6a670fda63c2 575 break;
cparata 0:6a670fda63c2 576 case LSM6DSL_ACC_GYRO_ODR_G_104Hz:
cparata 0:6a670fda63c2 577 *odr = 104.0f;
cparata 0:6a670fda63c2 578 break;
cparata 0:6a670fda63c2 579 case LSM6DSL_ACC_GYRO_ODR_G_208Hz:
cparata 0:6a670fda63c2 580 *odr = 208.0f;
cparata 0:6a670fda63c2 581 break;
cparata 0:6a670fda63c2 582 case LSM6DSL_ACC_GYRO_ODR_G_416Hz:
cparata 0:6a670fda63c2 583 *odr = 416.0f;
cparata 0:6a670fda63c2 584 break;
cparata 0:6a670fda63c2 585 case LSM6DSL_ACC_GYRO_ODR_G_833Hz:
cparata 0:6a670fda63c2 586 *odr = 833.0f;
cparata 0:6a670fda63c2 587 break;
cparata 0:6a670fda63c2 588 case LSM6DSL_ACC_GYRO_ODR_G_1660Hz:
cparata 0:6a670fda63c2 589 *odr = 1660.0f;
cparata 0:6a670fda63c2 590 break;
cparata 0:6a670fda63c2 591 case LSM6DSL_ACC_GYRO_ODR_G_3330Hz:
cparata 0:6a670fda63c2 592 *odr = 3330.0f;
cparata 0:6a670fda63c2 593 break;
cparata 0:6a670fda63c2 594 case LSM6DSL_ACC_GYRO_ODR_G_6660Hz:
cparata 0:6a670fda63c2 595 *odr = 6660.0f;
cparata 0:6a670fda63c2 596 break;
cparata 0:6a670fda63c2 597 default:
cparata 0:6a670fda63c2 598 *odr = -1.0f;
cparata 0:6a670fda63c2 599 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 600 }
cparata 0:6a670fda63c2 601
cparata 0:6a670fda63c2 602 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 603 }
cparata 0:6a670fda63c2 604
cparata 0:6a670fda63c2 605 /**
cparata 0:6a670fda63c2 606 * @brief Set LSM6DSL Accelerometer output data rate
cparata 0:6a670fda63c2 607 * @param odr the output data rate to be set
cparata 0:6a670fda63c2 608 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 609 */
cparata 0:6a670fda63c2 610 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_ODR(float odr)
cparata 0:6a670fda63c2 611 {
cparata 0:6a670fda63c2 612 if(X_isEnabled == 1)
cparata 0:6a670fda63c2 613 {
cparata 0:6a670fda63c2 614 if(Set_X_ODR_When_Enabled(odr) == LSM6DSL_STATUS_ERROR)
cparata 0:6a670fda63c2 615 {
cparata 0:6a670fda63c2 616 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 617 }
cparata 0:6a670fda63c2 618 }
cparata 0:6a670fda63c2 619 else
cparata 0:6a670fda63c2 620 {
cparata 0:6a670fda63c2 621 if(Set_X_ODR_When_Disabled(odr) == LSM6DSL_STATUS_ERROR)
cparata 0:6a670fda63c2 622 {
cparata 0:6a670fda63c2 623 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 624 }
cparata 0:6a670fda63c2 625 }
cparata 0:6a670fda63c2 626
cparata 0:6a670fda63c2 627 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 628 }
cparata 0:6a670fda63c2 629
cparata 0:6a670fda63c2 630 /**
cparata 0:6a670fda63c2 631 * @brief Set LSM6DSL Accelerometer output data rate when enabled
cparata 0:6a670fda63c2 632 * @param odr the output data rate to be set
cparata 0:6a670fda63c2 633 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 634 */
cparata 0:6a670fda63c2 635 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_ODR_When_Enabled(float odr)
cparata 0:6a670fda63c2 636 {
cparata 0:6a670fda63c2 637 LSM6DSL_ACC_GYRO_ODR_XL_t new_odr;
cparata 0:6a670fda63c2 638
cparata 0:6a670fda63c2 639 new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_13Hz
cparata 0:6a670fda63c2 640 : ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_26Hz
cparata 0:6a670fda63c2 641 : ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_52Hz
cparata 0:6a670fda63c2 642 : ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_104Hz
cparata 0:6a670fda63c2 643 : ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_208Hz
cparata 0:6a670fda63c2 644 : ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_416Hz
cparata 0:6a670fda63c2 645 : ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_833Hz
cparata 0:6a670fda63c2 646 : ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_1660Hz
cparata 0:6a670fda63c2 647 : ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_3330Hz
cparata 0:6a670fda63c2 648 : LSM6DSL_ACC_GYRO_ODR_XL_6660Hz;
cparata 0:6a670fda63c2 649
cparata 0:6a670fda63c2 650 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, new_odr ) == MEMS_ERROR )
cparata 0:6a670fda63c2 651 {
cparata 0:6a670fda63c2 652 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 653 }
cparata 0:6a670fda63c2 654
cparata 0:6a670fda63c2 655 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 656 }
cparata 0:6a670fda63c2 657
cparata 0:6a670fda63c2 658 /**
cparata 0:6a670fda63c2 659 * @brief Set LSM6DSL Accelerometer output data rate when disabled
cparata 0:6a670fda63c2 660 * @param odr the output data rate to be set
cparata 0:6a670fda63c2 661 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 662 */
cparata 0:6a670fda63c2 663 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_ODR_When_Disabled(float odr)
cparata 0:6a670fda63c2 664 {
cparata 0:6a670fda63c2 665 X_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata 0:6a670fda63c2 666 : ( odr <= 26.0f ) ? 26.0f
cparata 0:6a670fda63c2 667 : ( odr <= 52.0f ) ? 52.0f
cparata 0:6a670fda63c2 668 : ( odr <= 104.0f ) ? 104.0f
cparata 0:6a670fda63c2 669 : ( odr <= 208.0f ) ? 208.0f
cparata 0:6a670fda63c2 670 : ( odr <= 416.0f ) ? 416.0f
cparata 0:6a670fda63c2 671 : ( odr <= 833.0f ) ? 833.0f
cparata 0:6a670fda63c2 672 : ( odr <= 1660.0f ) ? 1660.0f
cparata 0:6a670fda63c2 673 : ( odr <= 3330.0f ) ? 3330.0f
cparata 0:6a670fda63c2 674 : 6660.0f;
cparata 0:6a670fda63c2 675
cparata 0:6a670fda63c2 676 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 677 }
cparata 0:6a670fda63c2 678
cparata 0:6a670fda63c2 679 /**
cparata 0:6a670fda63c2 680 * @brief Set LSM6DSL Gyroscope output data rate
cparata 0:6a670fda63c2 681 * @param odr the output data rate to be set
cparata 0:6a670fda63c2 682 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 683 */
cparata 0:6a670fda63c2 684 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_ODR(float odr)
cparata 0:6a670fda63c2 685 {
cparata 0:6a670fda63c2 686 if(G_isEnabled == 1)
cparata 0:6a670fda63c2 687 {
cparata 0:6a670fda63c2 688 if(Set_G_ODR_When_Enabled(odr) == LSM6DSL_STATUS_ERROR)
cparata 0:6a670fda63c2 689 {
cparata 0:6a670fda63c2 690 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 691 }
cparata 0:6a670fda63c2 692 }
cparata 0:6a670fda63c2 693 else
cparata 0:6a670fda63c2 694 {
cparata 0:6a670fda63c2 695 if(Set_G_ODR_When_Disabled(odr) == LSM6DSL_STATUS_ERROR)
cparata 0:6a670fda63c2 696 {
cparata 0:6a670fda63c2 697 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 698 }
cparata 0:6a670fda63c2 699 }
cparata 0:6a670fda63c2 700
cparata 0:6a670fda63c2 701 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 702 }
cparata 0:6a670fda63c2 703
cparata 0:6a670fda63c2 704 /**
cparata 0:6a670fda63c2 705 * @brief Set LSM6DSL Gyroscope output data rate when enabled
cparata 0:6a670fda63c2 706 * @param odr the output data rate to be set
cparata 0:6a670fda63c2 707 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 708 */
cparata 0:6a670fda63c2 709 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_ODR_When_Enabled(float odr)
cparata 0:6a670fda63c2 710 {
cparata 0:6a670fda63c2 711 LSM6DSL_ACC_GYRO_ODR_G_t new_odr;
cparata 0:6a670fda63c2 712
cparata 0:6a670fda63c2 713 new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_13Hz
cparata 0:6a670fda63c2 714 : ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_26Hz
cparata 0:6a670fda63c2 715 : ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_52Hz
cparata 0:6a670fda63c2 716 : ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_104Hz
cparata 0:6a670fda63c2 717 : ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_208Hz
cparata 0:6a670fda63c2 718 : ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_416Hz
cparata 0:6a670fda63c2 719 : ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_833Hz
cparata 0:6a670fda63c2 720 : ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_1660Hz
cparata 0:6a670fda63c2 721 : ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_3330Hz
cparata 0:6a670fda63c2 722 : LSM6DSL_ACC_GYRO_ODR_G_6660Hz;
cparata 0:6a670fda63c2 723
cparata 0:6a670fda63c2 724 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, new_odr ) == MEMS_ERROR )
cparata 0:6a670fda63c2 725 {
cparata 0:6a670fda63c2 726 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 727 }
cparata 0:6a670fda63c2 728
cparata 0:6a670fda63c2 729 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 730 }
cparata 0:6a670fda63c2 731
cparata 0:6a670fda63c2 732 /**
cparata 0:6a670fda63c2 733 * @brief Set LSM6DSL Gyroscope output data rate when disabled
cparata 0:6a670fda63c2 734 * @param odr the output data rate to be set
cparata 0:6a670fda63c2 735 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 736 */
cparata 0:6a670fda63c2 737 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_ODR_When_Disabled(float odr)
cparata 0:6a670fda63c2 738 {
cparata 0:6a670fda63c2 739 G_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata 0:6a670fda63c2 740 : ( odr <= 26.0f ) ? 26.0f
cparata 0:6a670fda63c2 741 : ( odr <= 52.0f ) ? 52.0f
cparata 0:6a670fda63c2 742 : ( odr <= 104.0f ) ? 104.0f
cparata 0:6a670fda63c2 743 : ( odr <= 208.0f ) ? 208.0f
cparata 0:6a670fda63c2 744 : ( odr <= 416.0f ) ? 416.0f
cparata 0:6a670fda63c2 745 : ( odr <= 833.0f ) ? 833.0f
cparata 0:6a670fda63c2 746 : ( odr <= 1660.0f ) ? 1660.0f
cparata 0:6a670fda63c2 747 : ( odr <= 3330.0f ) ? 3330.0f
cparata 0:6a670fda63c2 748 : 6660.0f;
cparata 0:6a670fda63c2 749
cparata 0:6a670fda63c2 750 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 751 }
cparata 0:6a670fda63c2 752
cparata 0:6a670fda63c2 753 /**
cparata 0:6a670fda63c2 754 * @brief Read LSM6DSL Accelerometer full scale
cparata 0:6a670fda63c2 755 * @param fullScale the pointer to the full scale
cparata 0:6a670fda63c2 756 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 757 */
cparata 0:6a670fda63c2 758 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_FS(float* fullScale)
cparata 0:6a670fda63c2 759 {
cparata 0:6a670fda63c2 760 LSM6DSL_ACC_GYRO_FS_XL_t fs_low_level;
cparata 0:6a670fda63c2 761
cparata 0:6a670fda63c2 762 if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata 0:6a670fda63c2 763 {
cparata 0:6a670fda63c2 764 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 765 }
cparata 0:6a670fda63c2 766
cparata 0:6a670fda63c2 767 switch( fs_low_level )
cparata 0:6a670fda63c2 768 {
cparata 0:6a670fda63c2 769 case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata 0:6a670fda63c2 770 *fullScale = 2.0f;
cparata 0:6a670fda63c2 771 break;
cparata 0:6a670fda63c2 772 case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata 0:6a670fda63c2 773 *fullScale = 4.0f;
cparata 0:6a670fda63c2 774 break;
cparata 0:6a670fda63c2 775 case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata 0:6a670fda63c2 776 *fullScale = 8.0f;
cparata 0:6a670fda63c2 777 break;
cparata 0:6a670fda63c2 778 case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata 0:6a670fda63c2 779 *fullScale = 16.0f;
cparata 0:6a670fda63c2 780 break;
cparata 0:6a670fda63c2 781 default:
cparata 0:6a670fda63c2 782 *fullScale = -1.0f;
cparata 0:6a670fda63c2 783 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 784 }
cparata 0:6a670fda63c2 785
cparata 0:6a670fda63c2 786 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 787 }
cparata 0:6a670fda63c2 788
cparata 0:6a670fda63c2 789 /**
cparata 0:6a670fda63c2 790 * @brief Read LSM6DSL Gyroscope full scale
cparata 0:6a670fda63c2 791 * @param fullScale the pointer to the full scale
cparata 0:6a670fda63c2 792 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 793 */
cparata 0:6a670fda63c2 794 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_FS(float* fullScale)
cparata 0:6a670fda63c2 795 {
cparata 0:6a670fda63c2 796 LSM6DSL_ACC_GYRO_FS_G_t fs_low_level;
cparata 0:6a670fda63c2 797 LSM6DSL_ACC_GYRO_FS_125_t fs_125;
cparata 0:6a670fda63c2 798
cparata 0:6a670fda63c2 799 if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fs_125 ) == MEMS_ERROR )
cparata 0:6a670fda63c2 800 {
cparata 0:6a670fda63c2 801 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 802 }
cparata 0:6a670fda63c2 803 if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata 0:6a670fda63c2 804 {
cparata 0:6a670fda63c2 805 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 806 }
cparata 0:6a670fda63c2 807
cparata 0:6a670fda63c2 808 if ( fs_125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata 0:6a670fda63c2 809 {
cparata 0:6a670fda63c2 810 *fullScale = 125.0f;
cparata 0:6a670fda63c2 811 }
cparata 0:6a670fda63c2 812
cparata 0:6a670fda63c2 813 else
cparata 0:6a670fda63c2 814 {
cparata 0:6a670fda63c2 815 switch( fs_low_level )
cparata 0:6a670fda63c2 816 {
cparata 0:6a670fda63c2 817 case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata 0:6a670fda63c2 818 *fullScale = 245.0f;
cparata 0:6a670fda63c2 819 break;
cparata 0:6a670fda63c2 820 case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata 0:6a670fda63c2 821 *fullScale = 500.0f;
cparata 0:6a670fda63c2 822 break;
cparata 0:6a670fda63c2 823 case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata 0:6a670fda63c2 824 *fullScale = 1000.0f;
cparata 0:6a670fda63c2 825 break;
cparata 0:6a670fda63c2 826 case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata 0:6a670fda63c2 827 *fullScale = 2000.0f;
cparata 0:6a670fda63c2 828 break;
cparata 0:6a670fda63c2 829 default:
cparata 0:6a670fda63c2 830 *fullScale = -1.0f;
cparata 0:6a670fda63c2 831 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 832 }
cparata 0:6a670fda63c2 833 }
cparata 0:6a670fda63c2 834
cparata 0:6a670fda63c2 835 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 836 }
cparata 0:6a670fda63c2 837
cparata 0:6a670fda63c2 838 /**
cparata 0:6a670fda63c2 839 * @brief Set LSM6DSL Accelerometer full scale
cparata 0:6a670fda63c2 840 * @param fullScale the full scale to be set
cparata 0:6a670fda63c2 841 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 842 */
cparata 0:6a670fda63c2 843 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_FS(float fullScale)
cparata 0:6a670fda63c2 844 {
cparata 0:6a670fda63c2 845 LSM6DSL_ACC_GYRO_FS_XL_t new_fs;
cparata 0:6a670fda63c2 846
cparata 0:6a670fda63c2 847 new_fs = ( fullScale <= 2.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_2g
cparata 0:6a670fda63c2 848 : ( fullScale <= 4.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_4g
cparata 0:6a670fda63c2 849 : ( fullScale <= 8.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_8g
cparata 0:6a670fda63c2 850 : LSM6DSL_ACC_GYRO_FS_XL_16g;
cparata 0:6a670fda63c2 851
cparata 0:6a670fda63c2 852 if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, new_fs ) == MEMS_ERROR )
cparata 0:6a670fda63c2 853 {
cparata 0:6a670fda63c2 854 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 855 }
cparata 0:6a670fda63c2 856
cparata 0:6a670fda63c2 857 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 858 }
cparata 0:6a670fda63c2 859
cparata 0:6a670fda63c2 860 /**
cparata 0:6a670fda63c2 861 * @brief Set LSM6DSL Gyroscope full scale
cparata 0:6a670fda63c2 862 * @param fullScale the full scale to be set
cparata 0:6a670fda63c2 863 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 864 */
cparata 0:6a670fda63c2 865 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_FS(float fullScale)
cparata 0:6a670fda63c2 866 {
cparata 0:6a670fda63c2 867 LSM6DSL_ACC_GYRO_FS_G_t new_fs;
cparata 0:6a670fda63c2 868
cparata 0:6a670fda63c2 869 if ( fullScale <= 125.0f )
cparata 0:6a670fda63c2 870 {
cparata 0:6a670fda63c2 871 if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 872 {
cparata 0:6a670fda63c2 873 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 874 }
cparata 0:6a670fda63c2 875 }
cparata 0:6a670fda63c2 876 else
cparata 0:6a670fda63c2 877 {
cparata 0:6a670fda63c2 878 new_fs = ( fullScale <= 245.0f ) ? LSM6DSL_ACC_GYRO_FS_G_245dps
cparata 0:6a670fda63c2 879 : ( fullScale <= 500.0f ) ? LSM6DSL_ACC_GYRO_FS_G_500dps
cparata 0:6a670fda63c2 880 : ( fullScale <= 1000.0f ) ? LSM6DSL_ACC_GYRO_FS_G_1000dps
cparata 0:6a670fda63c2 881 : LSM6DSL_ACC_GYRO_FS_G_2000dps;
cparata 0:6a670fda63c2 882
cparata 0:6a670fda63c2 883 if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_DISABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 884 {
cparata 0:6a670fda63c2 885 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 886 }
cparata 0:6a670fda63c2 887 if ( LSM6DSL_ACC_GYRO_W_FS_G( (void *)this, new_fs ) == MEMS_ERROR )
cparata 0:6a670fda63c2 888 {
cparata 0:6a670fda63c2 889 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 890 }
cparata 0:6a670fda63c2 891 }
cparata 0:6a670fda63c2 892
cparata 0:6a670fda63c2 893 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 894 }
cparata 0:6a670fda63c2 895
cparata 0:6a670fda63c2 896 /**
cparata 0:6a670fda63c2 897 * @brief Enable free fall detection
cparata 0:6a670fda63c2 898 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 0:6a670fda63c2 899 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 900 */
cparata 0:6a670fda63c2 901 LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Free_Fall_Detection(void)
cparata 0:6a670fda63c2 902 {
cparata 0:6a670fda63c2 903 /* Output Data Rate selection */
cparata 0:6a670fda63c2 904 if(Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR)
cparata 0:6a670fda63c2 905 {
cparata 0:6a670fda63c2 906 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 907 }
cparata 0:6a670fda63c2 908
cparata 0:6a670fda63c2 909 /* Full scale selection */
cparata 0:6a670fda63c2 910 if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, LSM6DSL_ACC_GYRO_FS_XL_2g ) == MEMS_ERROR )
cparata 0:6a670fda63c2 911 {
cparata 0:6a670fda63c2 912 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 913 }
cparata 0:6a670fda63c2 914
cparata 0:6a670fda63c2 915 /* FF_DUR setting */
cparata 0:6a670fda63c2 916 if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x06 ) == MEMS_ERROR )
cparata 0:6a670fda63c2 917 {
cparata 0:6a670fda63c2 918 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 919 }
cparata 0:6a670fda63c2 920
cparata 0:6a670fda63c2 921 /* WAKE_DUR setting */
cparata 0:6a670fda63c2 922 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:6a670fda63c2 923 {
cparata 0:6a670fda63c2 924 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 925 }
cparata 0:6a670fda63c2 926
cparata 0:6a670fda63c2 927 /* TIMER_HR setting */
cparata 0:6a670fda63c2 928 if ( LSM6DSL_ACC_GYRO_W_TIMER_HR( (void *)this, LSM6DSL_ACC_GYRO_TIMER_HR_6_4ms ) == MEMS_ERROR )
cparata 0:6a670fda63c2 929 {
cparata 0:6a670fda63c2 930 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 931 }
cparata 0:6a670fda63c2 932
cparata 0:6a670fda63c2 933 /* SLEEP_DUR setting */
cparata 0:6a670fda63c2 934 if ( LSM6DSL_ACC_GYRO_W_SLEEP_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:6a670fda63c2 935 {
cparata 0:6a670fda63c2 936 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 937 }
cparata 0:6a670fda63c2 938
cparata 0:6a670fda63c2 939 /* FF_THS setting */
cparata 0:6a670fda63c2 940 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_312mg ) == MEMS_ERROR )
cparata 0:6a670fda63c2 941 {
cparata 0:6a670fda63c2 942 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 943 }
cparata 0:6a670fda63c2 944
cparata 0:6a670fda63c2 945 /* Enable basic Interrupts */
cparata 0:6a670fda63c2 946 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 947 {
cparata 0:6a670fda63c2 948 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 949 }
cparata 0:6a670fda63c2 950
cparata 0:6a670fda63c2 951 /* INT1_FF setting */
cparata 0:6a670fda63c2 952 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 953 {
cparata 0:6a670fda63c2 954 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 955 }
cparata 0:6a670fda63c2 956
cparata 0:6a670fda63c2 957 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 958 }
cparata 0:6a670fda63c2 959
cparata 0:6a670fda63c2 960 /**
cparata 0:6a670fda63c2 961 * @brief Disable free fall detection
cparata 0:6a670fda63c2 962 * @param None
cparata 0:6a670fda63c2 963 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 964 */
cparata 0:6a670fda63c2 965 LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Free_Fall_Detection(void)
cparata 0:6a670fda63c2 966 {
cparata 0:6a670fda63c2 967 /* INT1_FF setting */
cparata 0:6a670fda63c2 968 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 969 {
cparata 0:6a670fda63c2 970 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 971 }
cparata 0:6a670fda63c2 972
cparata 0:6a670fda63c2 973 /* Disable basic Interrupts */
cparata 0:6a670fda63c2 974 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 975 {
cparata 0:6a670fda63c2 976 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 977 }
cparata 0:6a670fda63c2 978
cparata 0:6a670fda63c2 979 /* FF_DUR setting */
cparata 0:6a670fda63c2 980 if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:6a670fda63c2 981 {
cparata 0:6a670fda63c2 982 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 983 }
cparata 0:6a670fda63c2 984
cparata 0:6a670fda63c2 985 /* FF_THS setting */
cparata 0:6a670fda63c2 986 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_156mg ) == MEMS_ERROR )
cparata 0:6a670fda63c2 987 {
cparata 0:6a670fda63c2 988 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 989 }
cparata 0:6a670fda63c2 990
cparata 0:6a670fda63c2 991 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 992 }
cparata 0:6a670fda63c2 993
cparata 0:6a670fda63c2 994 /**
cparata 0:6a670fda63c2 995 * @brief Get status of free fall detection
cparata 0:6a670fda63c2 996 * @param status the pointer where the status of free fall detection is stored; 0 means no detection, 1 means detection happened
cparata 0:6a670fda63c2 997 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 998 */
cparata 0:6a670fda63c2 999 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Free_Fall_Detection(uint8_t *status)
cparata 0:6a670fda63c2 1000 {
cparata 0:6a670fda63c2 1001 LSM6DSL_ACC_GYRO_FF_EV_STATUS_t free_fall_status;
cparata 0:6a670fda63c2 1002
cparata 0:6a670fda63c2 1003 if ( LSM6DSL_ACC_GYRO_R_FF_EV_STATUS( (void *)this, &free_fall_status ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1004 {
cparata 0:6a670fda63c2 1005 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1006 }
cparata 0:6a670fda63c2 1007
cparata 0:6a670fda63c2 1008 switch( free_fall_status )
cparata 0:6a670fda63c2 1009 {
cparata 0:6a670fda63c2 1010 case LSM6DSL_ACC_GYRO_FF_EV_STATUS_DETECTED:
cparata 0:6a670fda63c2 1011 *status = 1;
cparata 0:6a670fda63c2 1012 break;
cparata 0:6a670fda63c2 1013 case LSM6DSL_ACC_GYRO_FF_EV_STATUS_NOT_DETECTED:
cparata 0:6a670fda63c2 1014 *status = 0;
cparata 0:6a670fda63c2 1015 break;
cparata 0:6a670fda63c2 1016 default:
cparata 0:6a670fda63c2 1017 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1018 }
cparata 0:6a670fda63c2 1019
cparata 0:6a670fda63c2 1020 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1021 }
cparata 0:6a670fda63c2 1022
cparata 0:6a670fda63c2 1023 /**
cparata 0:6a670fda63c2 1024 * @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1025 * @param thr the threshold to be set
cparata 0:6a670fda63c2 1026 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1027 */
cparata 0:6a670fda63c2 1028 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Free_Fall_Threshold(uint8_t thr)
cparata 0:6a670fda63c2 1029 {
cparata 0:6a670fda63c2 1030
cparata 0:6a670fda63c2 1031 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1032 {
cparata 0:6a670fda63c2 1033 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1034 }
cparata 0:6a670fda63c2 1035
cparata 0:6a670fda63c2 1036 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1037 }
cparata 0:6a670fda63c2 1038
cparata 0:6a670fda63c2 1039 /**
cparata 0:6a670fda63c2 1040 * @brief Enable the pedometer feature for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1041 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata 0:6a670fda63c2 1042 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1043 */
cparata 0:6a670fda63c2 1044 LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Pedometer(void)
cparata 0:6a670fda63c2 1045 {
cparata 0:6a670fda63c2 1046 /* Output Data Rate selection */
cparata 0:6a670fda63c2 1047 if( Set_X_ODR(26.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1048 {
cparata 0:6a670fda63c2 1049 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1050 }
cparata 0:6a670fda63c2 1051
cparata 0:6a670fda63c2 1052 /* Full scale selection. */
cparata 0:6a670fda63c2 1053 if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1054 {
cparata 0:6a670fda63c2 1055 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1056 }
cparata 0:6a670fda63c2 1057
cparata 0:6a670fda63c2 1058 /* Set pedometer threshold. */
cparata 0:6a670fda63c2 1059 if ( Set_Pedometer_Threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1060 {
cparata 0:6a670fda63c2 1061 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1062 }
cparata 0:6a670fda63c2 1063
cparata 0:6a670fda63c2 1064 /* Enable embedded functionalities. */
cparata 0:6a670fda63c2 1065 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1066 {
cparata 0:6a670fda63c2 1067 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1068 }
cparata 0:6a670fda63c2 1069
cparata 0:6a670fda63c2 1070 /* Enable pedometer algorithm. */
cparata 0:6a670fda63c2 1071 if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1072 {
cparata 0:6a670fda63c2 1073 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1074 }
cparata 0:6a670fda63c2 1075
cparata 0:6a670fda63c2 1076 /* Enable pedometer on INT1. */
cparata 0:6a670fda63c2 1077 if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1078 {
cparata 0:6a670fda63c2 1079 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1080 }
cparata 0:6a670fda63c2 1081
cparata 0:6a670fda63c2 1082 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1083 }
cparata 0:6a670fda63c2 1084
cparata 0:6a670fda63c2 1085 /**
cparata 0:6a670fda63c2 1086 * @brief Disable the pedometer feature for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1087 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1088 */
cparata 0:6a670fda63c2 1089 LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Pedometer(void)
cparata 0:6a670fda63c2 1090 {
cparata 0:6a670fda63c2 1091 /* Disable pedometer on INT1. */
cparata 0:6a670fda63c2 1092 if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1093 {
cparata 0:6a670fda63c2 1094 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1095 }
cparata 0:6a670fda63c2 1096
cparata 0:6a670fda63c2 1097 /* Disable pedometer algorithm. */
cparata 0:6a670fda63c2 1098 if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1099 {
cparata 0:6a670fda63c2 1100 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1101 }
cparata 0:6a670fda63c2 1102
cparata 0:6a670fda63c2 1103 /* Disable embedded functionalities. */
cparata 0:6a670fda63c2 1104 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1105 {
cparata 0:6a670fda63c2 1106 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1107 }
cparata 0:6a670fda63c2 1108
cparata 0:6a670fda63c2 1109 /* Reset pedometer threshold. */
cparata 0:6a670fda63c2 1110 if ( Set_Pedometer_Threshold(0x0) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1111 {
cparata 0:6a670fda63c2 1112 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1113 }
cparata 0:6a670fda63c2 1114
cparata 0:6a670fda63c2 1115 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1116 }
cparata 0:6a670fda63c2 1117
cparata 0:6a670fda63c2 1118 /**
cparata 0:6a670fda63c2 1119 * @brief Get the pedometer status for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1120 * @param status the pointer to the pedometer status: 0 means no step detected, 1 means step detected
cparata 0:6a670fda63c2 1121 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1122 */
cparata 0:6a670fda63c2 1123 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Pedometer(uint8_t *status)
cparata 0:6a670fda63c2 1124 {
cparata 0:6a670fda63c2 1125 LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_t pedometer_status;
cparata 0:6a670fda63c2 1126
cparata 0:6a670fda63c2 1127 if ( LSM6DSL_ACC_GYRO_R_PEDO_EV_STATUS( (void *)this, &pedometer_status ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1128 {
cparata 0:6a670fda63c2 1129 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1130 }
cparata 0:6a670fda63c2 1131
cparata 0:6a670fda63c2 1132 switch( pedometer_status )
cparata 0:6a670fda63c2 1133 {
cparata 0:6a670fda63c2 1134 case LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_DETECTED:
cparata 0:6a670fda63c2 1135 *status = 1;
cparata 0:6a670fda63c2 1136 break;
cparata 0:6a670fda63c2 1137 case LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_NOT_DETECTED:
cparata 0:6a670fda63c2 1138 *status = 0;
cparata 0:6a670fda63c2 1139 break;
cparata 0:6a670fda63c2 1140 default:
cparata 0:6a670fda63c2 1141 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1142 }
cparata 0:6a670fda63c2 1143
cparata 0:6a670fda63c2 1144 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1145 }
cparata 0:6a670fda63c2 1146
cparata 0:6a670fda63c2 1147 /**
cparata 0:6a670fda63c2 1148 * @brief Get the step counter for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1149 * @param step_count the pointer to the step counter
cparata 0:6a670fda63c2 1150 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1151 */
cparata 0:6a670fda63c2 1152 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Step_Counter(uint16_t *step_count)
cparata 0:6a670fda63c2 1153 {
cparata 0:6a670fda63c2 1154 if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void *)this, ( uint8_t* )step_count ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1155 {
cparata 0:6a670fda63c2 1156 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1157 }
cparata 0:6a670fda63c2 1158
cparata 0:6a670fda63c2 1159 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1160 }
cparata 0:6a670fda63c2 1161
cparata 0:6a670fda63c2 1162 /**
cparata 0:6a670fda63c2 1163 * @brief Reset of the step counter for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1164 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1165 */
cparata 0:6a670fda63c2 1166 LSM6DSLStatusTypeDef LSM6DSLSensor::Reset_Step_Counter(void)
cparata 0:6a670fda63c2 1167 {
cparata 0:6a670fda63c2 1168 if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1169 {
cparata 0:6a670fda63c2 1170 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1171 }
cparata 0:6a670fda63c2 1172
cparata 0:6a670fda63c2 1173 wait_ms(10);
cparata 0:6a670fda63c2 1174
cparata 0:6a670fda63c2 1175 if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1176 {
cparata 0:6a670fda63c2 1177 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1178 }
cparata 0:6a670fda63c2 1179
cparata 0:6a670fda63c2 1180 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1181 }
cparata 0:6a670fda63c2 1182
cparata 0:6a670fda63c2 1183 /**
cparata 0:6a670fda63c2 1184 * @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1185 * @param thr the threshold to be set
cparata 0:6a670fda63c2 1186 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1187 */
cparata 0:6a670fda63c2 1188 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Pedometer_Threshold(uint8_t thr)
cparata 0:6a670fda63c2 1189 {
cparata 0:6a670fda63c2 1190 if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1191 {
cparata 0:6a670fda63c2 1192 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1193 }
cparata 0:6a670fda63c2 1194
cparata 0:6a670fda63c2 1195 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1196 }
cparata 0:6a670fda63c2 1197
cparata 0:6a670fda63c2 1198 /**
cparata 0:6a670fda63c2 1199 * @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1200 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata 0:6a670fda63c2 1201 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1202 */
cparata 0:6a670fda63c2 1203 LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Tilt_Detection(void)
cparata 0:6a670fda63c2 1204 {
cparata 0:6a670fda63c2 1205 /* Output Data Rate selection */
cparata 0:6a670fda63c2 1206 if( Set_X_ODR(26.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1207 {
cparata 0:6a670fda63c2 1208 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1209 }
cparata 0:6a670fda63c2 1210
cparata 0:6a670fda63c2 1211 /* Full scale selection. */
cparata 0:6a670fda63c2 1212 if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1213 {
cparata 0:6a670fda63c2 1214 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1215 }
cparata 0:6a670fda63c2 1216
cparata 0:6a670fda63c2 1217 /* Enable embedded functionalities */
cparata 0:6a670fda63c2 1218 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1219 {
cparata 0:6a670fda63c2 1220 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1221 }
cparata 0:6a670fda63c2 1222
cparata 0:6a670fda63c2 1223 /* Enable tilt calculation. */
cparata 0:6a670fda63c2 1224 if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1225 {
cparata 0:6a670fda63c2 1226 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1227 }
cparata 0:6a670fda63c2 1228
cparata 0:6a670fda63c2 1229 /* Enable tilt event on INT1. */
cparata 0:6a670fda63c2 1230 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1231 {
cparata 0:6a670fda63c2 1232 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1233 }
cparata 0:6a670fda63c2 1234
cparata 0:6a670fda63c2 1235 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1236 }
cparata 0:6a670fda63c2 1237
cparata 0:6a670fda63c2 1238 /**
cparata 0:6a670fda63c2 1239 * @brief Disable the tilt detection for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1240 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1241 */
cparata 0:6a670fda63c2 1242 LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Tilt_Detection(void)
cparata 0:6a670fda63c2 1243 {
cparata 0:6a670fda63c2 1244 /* Disable tilt event on INT1. */
cparata 0:6a670fda63c2 1245 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_DISABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1246 {
cparata 0:6a670fda63c2 1247 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1248 }
cparata 0:6a670fda63c2 1249
cparata 0:6a670fda63c2 1250 /* Disable tilt calculation. */
cparata 0:6a670fda63c2 1251 if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1252 {
cparata 0:6a670fda63c2 1253 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1254 }
cparata 0:6a670fda63c2 1255
cparata 0:6a670fda63c2 1256 /* Disable embedded functionalities */
cparata 0:6a670fda63c2 1257 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1258 {
cparata 0:6a670fda63c2 1259 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1260 }
cparata 0:6a670fda63c2 1261
cparata 0:6a670fda63c2 1262 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1263 }
cparata 0:6a670fda63c2 1264
cparata 0:6a670fda63c2 1265 /**
cparata 0:6a670fda63c2 1266 * @brief Get the tilt detection status for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1267 * @param status the pointer to the tilt detection status: 0 means no tilt detected, 1 means tilt detected
cparata 0:6a670fda63c2 1268 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1269 */
cparata 0:6a670fda63c2 1270 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Tilt_Detection(uint8_t *status)
cparata 0:6a670fda63c2 1271 {
cparata 0:6a670fda63c2 1272 LSM6DSL_ACC_GYRO_TILT_EV_STATUS_t tilt_status;
cparata 0:6a670fda63c2 1273
cparata 0:6a670fda63c2 1274 if ( LSM6DSL_ACC_GYRO_R_TILT_EV_STATUS( (void *)this, &tilt_status ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1275 {
cparata 0:6a670fda63c2 1276 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1277 }
cparata 0:6a670fda63c2 1278
cparata 0:6a670fda63c2 1279 switch( tilt_status )
cparata 0:6a670fda63c2 1280 {
cparata 0:6a670fda63c2 1281 case LSM6DSL_ACC_GYRO_TILT_EV_STATUS_DETECTED:
cparata 0:6a670fda63c2 1282 *status = 1;
cparata 0:6a670fda63c2 1283 break;
cparata 0:6a670fda63c2 1284 case LSM6DSL_ACC_GYRO_TILT_EV_STATUS_NOT_DETECTED:
cparata 0:6a670fda63c2 1285 *status = 0;
cparata 0:6a670fda63c2 1286 break;
cparata 0:6a670fda63c2 1287 default:
cparata 0:6a670fda63c2 1288 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1289 }
cparata 0:6a670fda63c2 1290
cparata 0:6a670fda63c2 1291 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1292 }
cparata 0:6a670fda63c2 1293
cparata 0:6a670fda63c2 1294 /**
cparata 0:6a670fda63c2 1295 * @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1296 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 0:6a670fda63c2 1297 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1298 */
cparata 0:6a670fda63c2 1299 LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Wake_Up_Detection(void)
cparata 0:6a670fda63c2 1300 {
cparata 0:6a670fda63c2 1301 /* Output Data Rate selection */
cparata 0:6a670fda63c2 1302 if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1303 {
cparata 0:6a670fda63c2 1304 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1305 }
cparata 0:6a670fda63c2 1306
cparata 0:6a670fda63c2 1307 /* Full scale selection. */
cparata 0:6a670fda63c2 1308 if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1309 {
cparata 0:6a670fda63c2 1310 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1311 }
cparata 0:6a670fda63c2 1312
cparata 0:6a670fda63c2 1313 /* WAKE_DUR setting */
cparata 0:6a670fda63c2 1314 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1315 {
cparata 0:6a670fda63c2 1316 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1317 }
cparata 0:6a670fda63c2 1318
cparata 0:6a670fda63c2 1319 /* Set wake up threshold. */
cparata 0:6a670fda63c2 1320 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1321 {
cparata 0:6a670fda63c2 1322 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1323 }
cparata 0:6a670fda63c2 1324
cparata 0:6a670fda63c2 1325 /* Enable basic Interrupts */
cparata 0:6a670fda63c2 1326 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1327 {
cparata 0:6a670fda63c2 1328 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1329 }
cparata 0:6a670fda63c2 1330
cparata 0:6a670fda63c2 1331 /* INT1_WU setting */
cparata 0:6a670fda63c2 1332 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1333 {
cparata 0:6a670fda63c2 1334 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1335 }
cparata 0:6a670fda63c2 1336
cparata 0:6a670fda63c2 1337 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1338 }
cparata 0:6a670fda63c2 1339
cparata 0:6a670fda63c2 1340 /**
cparata 0:6a670fda63c2 1341 * @brief Disable the wake up detection for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1342 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1343 */
cparata 0:6a670fda63c2 1344 LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Wake_Up_Detection(void)
cparata 0:6a670fda63c2 1345 {
cparata 0:6a670fda63c2 1346 /* INT1_WU setting */
cparata 0:6a670fda63c2 1347 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_DISABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1348 {
cparata 0:6a670fda63c2 1349 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1350 }
cparata 0:6a670fda63c2 1351
cparata 0:6a670fda63c2 1352 /* Disable basic Interrupts */
cparata 0:6a670fda63c2 1353 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1354 {
cparata 0:6a670fda63c2 1355 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1356 }
cparata 0:6a670fda63c2 1357
cparata 0:6a670fda63c2 1358 /* WU_DUR setting */
cparata 0:6a670fda63c2 1359 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1360 {
cparata 0:6a670fda63c2 1361 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1362 }
cparata 0:6a670fda63c2 1363
cparata 0:6a670fda63c2 1364 /* WU_THS setting */
cparata 0:6a670fda63c2 1365 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1366 {
cparata 0:6a670fda63c2 1367 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1368 }
cparata 0:6a670fda63c2 1369
cparata 0:6a670fda63c2 1370 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1371 }
cparata 0:6a670fda63c2 1372
cparata 0:6a670fda63c2 1373 /**
cparata 0:6a670fda63c2 1374 * @brief Get the status of the wake up detection for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1375 * @param status the pointer to the status of the wake up detection: 0 means no detection, 1 means detection happened
cparata 0:6a670fda63c2 1376 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1377 */
cparata 0:6a670fda63c2 1378 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Wake_Up_Detection(uint8_t *status)
cparata 0:6a670fda63c2 1379 {
cparata 0:6a670fda63c2 1380 LSM6DSL_ACC_GYRO_WU_EV_STATUS_t wake_up_status;
cparata 0:6a670fda63c2 1381
cparata 0:6a670fda63c2 1382 if ( LSM6DSL_ACC_GYRO_R_WU_EV_STATUS( (void *)this, &wake_up_status ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1383 {
cparata 0:6a670fda63c2 1384 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1385 }
cparata 0:6a670fda63c2 1386
cparata 0:6a670fda63c2 1387 switch( wake_up_status )
cparata 0:6a670fda63c2 1388 {
cparata 0:6a670fda63c2 1389 case LSM6DSL_ACC_GYRO_WU_EV_STATUS_DETECTED:
cparata 0:6a670fda63c2 1390 *status = 1;
cparata 0:6a670fda63c2 1391 break;
cparata 0:6a670fda63c2 1392 case LSM6DSL_ACC_GYRO_WU_EV_STATUS_NOT_DETECTED:
cparata 0:6a670fda63c2 1393 *status = 0;
cparata 0:6a670fda63c2 1394 break;
cparata 0:6a670fda63c2 1395 default:
cparata 0:6a670fda63c2 1396 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1397 }
cparata 0:6a670fda63c2 1398
cparata 0:6a670fda63c2 1399 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1400 }
cparata 0:6a670fda63c2 1401
cparata 0:6a670fda63c2 1402 /**
cparata 0:6a670fda63c2 1403 * @brief Set the wake up threshold for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1404 * @param thr the threshold to be set
cparata 0:6a670fda63c2 1405 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1406 */
cparata 0:6a670fda63c2 1407 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Wake_Up_Threshold(uint8_t thr)
cparata 0:6a670fda63c2 1408 {
cparata 0:6a670fda63c2 1409 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1410 {
cparata 0:6a670fda63c2 1411 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1412 }
cparata 0:6a670fda63c2 1413
cparata 0:6a670fda63c2 1414 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1415 }
cparata 0:6a670fda63c2 1416
cparata 0:6a670fda63c2 1417 /**
cparata 0:6a670fda63c2 1418 * @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1419 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 0:6a670fda63c2 1420 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1421 */
cparata 0:6a670fda63c2 1422 LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Single_Tap_Detection(void)
cparata 0:6a670fda63c2 1423 {
cparata 0:6a670fda63c2 1424 /* Output Data Rate selection */
cparata 0:6a670fda63c2 1425 if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1426 {
cparata 0:6a670fda63c2 1427 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1428 }
cparata 0:6a670fda63c2 1429
cparata 0:6a670fda63c2 1430 /* Full scale selection. */
cparata 0:6a670fda63c2 1431 if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1432 {
cparata 0:6a670fda63c2 1433 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1434 }
cparata 0:6a670fda63c2 1435
cparata 0:6a670fda63c2 1436 /* Enable X direction in tap recognition. */
cparata 0:6a670fda63c2 1437 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1438 {
cparata 0:6a670fda63c2 1439 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1440 }
cparata 0:6a670fda63c2 1441
cparata 0:6a670fda63c2 1442 /* Enable Y direction in tap recognition. */
cparata 0:6a670fda63c2 1443 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1444 {
cparata 0:6a670fda63c2 1445 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1446 }
cparata 0:6a670fda63c2 1447
cparata 0:6a670fda63c2 1448 /* Enable Z direction in tap recognition. */
cparata 0:6a670fda63c2 1449 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1450 {
cparata 0:6a670fda63c2 1451 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1452 }
cparata 0:6a670fda63c2 1453
cparata 0:6a670fda63c2 1454 /* Set tap threshold. */
cparata 0:6a670fda63c2 1455 if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1456 {
cparata 0:6a670fda63c2 1457 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1458 }
cparata 0:6a670fda63c2 1459
cparata 0:6a670fda63c2 1460 /* Set tap shock time window. */
cparata 0:6a670fda63c2 1461 if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1462 {
cparata 0:6a670fda63c2 1463 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1464 }
cparata 0:6a670fda63c2 1465
cparata 0:6a670fda63c2 1466 /* Set tap quiet time window. */
cparata 0:6a670fda63c2 1467 if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1468 {
cparata 0:6a670fda63c2 1469 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1470 }
cparata 0:6a670fda63c2 1471
cparata 0:6a670fda63c2 1472 /* _NOTE_: Tap duration time window - don't care for single tap. */
cparata 0:6a670fda63c2 1473
cparata 0:6a670fda63c2 1474 /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata 0:6a670fda63c2 1475
cparata 0:6a670fda63c2 1476 /* Enable basic Interrupts */
cparata 0:6a670fda63c2 1477 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1478 {
cparata 0:6a670fda63c2 1479 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1480 }
cparata 0:6a670fda63c2 1481
cparata 0:6a670fda63c2 1482 /* Enable single tap interrupt on INT1 pin. */
cparata 0:6a670fda63c2 1483 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1484 {
cparata 0:6a670fda63c2 1485 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1486 }
cparata 0:6a670fda63c2 1487
cparata 0:6a670fda63c2 1488 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1489 }
cparata 0:6a670fda63c2 1490
cparata 0:6a670fda63c2 1491 /**
cparata 0:6a670fda63c2 1492 * @brief Disable the single tap detection for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1493 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1494 */
cparata 0:6a670fda63c2 1495 LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Single_Tap_Detection(void)
cparata 0:6a670fda63c2 1496 {
cparata 0:6a670fda63c2 1497 /* Disable single tap interrupt on INT1 pin. */
cparata 0:6a670fda63c2 1498 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1499 {
cparata 0:6a670fda63c2 1500 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1501 }
cparata 0:6a670fda63c2 1502
cparata 0:6a670fda63c2 1503 /* Disable basic Interrupts */
cparata 0:6a670fda63c2 1504 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1505 {
cparata 0:6a670fda63c2 1506 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1507 }
cparata 0:6a670fda63c2 1508
cparata 0:6a670fda63c2 1509 /* Reset tap threshold. */
cparata 0:6a670fda63c2 1510 if ( Set_Tap_Threshold( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1511 {
cparata 0:6a670fda63c2 1512 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1513 }
cparata 0:6a670fda63c2 1514
cparata 0:6a670fda63c2 1515 /* Reset tap shock time window. */
cparata 0:6a670fda63c2 1516 if ( Set_Tap_Shock_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1517 {
cparata 0:6a670fda63c2 1518 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1519 }
cparata 0:6a670fda63c2 1520
cparata 0:6a670fda63c2 1521 /* Reset tap quiet time window. */
cparata 0:6a670fda63c2 1522 if ( Set_Tap_Quiet_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1523 {
cparata 0:6a670fda63c2 1524 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1525 }
cparata 0:6a670fda63c2 1526
cparata 0:6a670fda63c2 1527 /* _NOTE_: Tap duration time window - don't care for single tap. */
cparata 0:6a670fda63c2 1528
cparata 0:6a670fda63c2 1529 /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata 0:6a670fda63c2 1530
cparata 0:6a670fda63c2 1531 /* Disable Z direction in tap recognition. */
cparata 0:6a670fda63c2 1532 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1533 {
cparata 0:6a670fda63c2 1534 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1535 }
cparata 0:6a670fda63c2 1536
cparata 0:6a670fda63c2 1537 /* Disable Y direction in tap recognition. */
cparata 0:6a670fda63c2 1538 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1539 {
cparata 0:6a670fda63c2 1540 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1541 }
cparata 0:6a670fda63c2 1542
cparata 0:6a670fda63c2 1543 /* Disable X direction in tap recognition. */
cparata 0:6a670fda63c2 1544 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1545 {
cparata 0:6a670fda63c2 1546 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1547 }
cparata 0:6a670fda63c2 1548
cparata 0:6a670fda63c2 1549 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1550 }
cparata 0:6a670fda63c2 1551
cparata 0:6a670fda63c2 1552 /**
cparata 0:6a670fda63c2 1553 * @brief Get the single tap detection status for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1554 * @param status the pointer to the single tap detection status: 0 means no single tap detected, 1 means single tap detected
cparata 0:6a670fda63c2 1555 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1556 */
cparata 0:6a670fda63c2 1557 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Single_Tap_Detection(uint8_t *status)
cparata 0:6a670fda63c2 1558 {
cparata 0:6a670fda63c2 1559 LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_t tap_status;
cparata 0:6a670fda63c2 1560
cparata 0:6a670fda63c2 1561 if ( LSM6DSL_ACC_GYRO_R_SINGLE_TAP_EV_STATUS( (void *)this, &tap_status ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1562 {
cparata 0:6a670fda63c2 1563 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1564 }
cparata 0:6a670fda63c2 1565
cparata 0:6a670fda63c2 1566 switch( tap_status )
cparata 0:6a670fda63c2 1567 {
cparata 0:6a670fda63c2 1568 case LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_DETECTED:
cparata 0:6a670fda63c2 1569 *status = 1;
cparata 0:6a670fda63c2 1570 break;
cparata 0:6a670fda63c2 1571
cparata 0:6a670fda63c2 1572 case LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_NOT_DETECTED:
cparata 0:6a670fda63c2 1573 *status = 0;
cparata 0:6a670fda63c2 1574 break;
cparata 0:6a670fda63c2 1575
cparata 0:6a670fda63c2 1576 default:
cparata 0:6a670fda63c2 1577 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1578 }
cparata 0:6a670fda63c2 1579
cparata 0:6a670fda63c2 1580 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1581 }
cparata 0:6a670fda63c2 1582
cparata 0:6a670fda63c2 1583 /**
cparata 0:6a670fda63c2 1584 * @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1585 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 0:6a670fda63c2 1586 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1587 */
cparata 0:6a670fda63c2 1588 LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Double_Tap_Detection(void)
cparata 0:6a670fda63c2 1589 {
cparata 0:6a670fda63c2 1590 /* Output Data Rate selection */
cparata 0:6a670fda63c2 1591 if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1592 {
cparata 0:6a670fda63c2 1593 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1594 }
cparata 0:6a670fda63c2 1595
cparata 0:6a670fda63c2 1596 /* Full scale selection. */
cparata 0:6a670fda63c2 1597 if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1598 {
cparata 0:6a670fda63c2 1599 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1600 }
cparata 0:6a670fda63c2 1601
cparata 0:6a670fda63c2 1602 /* Enable X direction in tap recognition. */
cparata 0:6a670fda63c2 1603 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1604 {
cparata 0:6a670fda63c2 1605 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1606 }
cparata 0:6a670fda63c2 1607
cparata 0:6a670fda63c2 1608 /* Enable Y direction in tap recognition. */
cparata 0:6a670fda63c2 1609 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1610 {
cparata 0:6a670fda63c2 1611 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1612 }
cparata 0:6a670fda63c2 1613
cparata 0:6a670fda63c2 1614 /* Enable Z direction in tap recognition. */
cparata 0:6a670fda63c2 1615 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1616 {
cparata 0:6a670fda63c2 1617 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1618 }
cparata 0:6a670fda63c2 1619
cparata 0:6a670fda63c2 1620 /* Set tap threshold. */
cparata 0:6a670fda63c2 1621 if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1622 {
cparata 0:6a670fda63c2 1623 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1624 }
cparata 0:6a670fda63c2 1625
cparata 0:6a670fda63c2 1626 /* Set tap shock time window. */
cparata 0:6a670fda63c2 1627 if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1628 {
cparata 0:6a670fda63c2 1629 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1630 }
cparata 0:6a670fda63c2 1631
cparata 0:6a670fda63c2 1632 /* Set tap quiet time window. */
cparata 0:6a670fda63c2 1633 if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1634 {
cparata 0:6a670fda63c2 1635 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1636 }
cparata 0:6a670fda63c2 1637
cparata 0:6a670fda63c2 1638 /* Set tap duration time window. */
cparata 0:6a670fda63c2 1639 if ( Set_Tap_Duration_Time( LSM6DSL_TAP_DURATION_TIME_MID ) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1640 {
cparata 0:6a670fda63c2 1641 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1642 }
cparata 0:6a670fda63c2 1643
cparata 0:6a670fda63c2 1644 /* Single and double tap enabled. */
cparata 0:6a670fda63c2 1645 if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1646 {
cparata 0:6a670fda63c2 1647 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1648 }
cparata 0:6a670fda63c2 1649
cparata 0:6a670fda63c2 1650 /* Enable basic Interrupts */
cparata 0:6a670fda63c2 1651 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1652 {
cparata 0:6a670fda63c2 1653 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1654 }
cparata 0:6a670fda63c2 1655
cparata 0:6a670fda63c2 1656 /* Enable double tap interrupt on INT1 pin. */
cparata 0:6a670fda63c2 1657 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1658 {
cparata 0:6a670fda63c2 1659 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1660 }
cparata 0:6a670fda63c2 1661
cparata 0:6a670fda63c2 1662 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1663 }
cparata 0:6a670fda63c2 1664
cparata 0:6a670fda63c2 1665 /**
cparata 0:6a670fda63c2 1666 * @brief Disable the double tap detection for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1667 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1668 */
cparata 0:6a670fda63c2 1669 LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Double_Tap_Detection(void)
cparata 0:6a670fda63c2 1670 {
cparata 0:6a670fda63c2 1671 /* Disable double tap interrupt on INT1 pin. */
cparata 0:6a670fda63c2 1672 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1673 {
cparata 0:6a670fda63c2 1674 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1675 }
cparata 0:6a670fda63c2 1676
cparata 0:6a670fda63c2 1677 /* Disable basic Interrupts */
cparata 0:6a670fda63c2 1678 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1679 {
cparata 0:6a670fda63c2 1680 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1681 }
cparata 0:6a670fda63c2 1682
cparata 0:6a670fda63c2 1683 /* Reset tap threshold. */
cparata 0:6a670fda63c2 1684 if ( Set_Tap_Threshold( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1685 {
cparata 0:6a670fda63c2 1686 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1687 }
cparata 0:6a670fda63c2 1688
cparata 0:6a670fda63c2 1689 /* Reset tap shock time window. */
cparata 0:6a670fda63c2 1690 if ( Set_Tap_Shock_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1691 {
cparata 0:6a670fda63c2 1692 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1693 }
cparata 0:6a670fda63c2 1694
cparata 0:6a670fda63c2 1695 /* Reset tap quiet time window. */
cparata 0:6a670fda63c2 1696 if ( Set_Tap_Quiet_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1697 {
cparata 0:6a670fda63c2 1698 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1699 }
cparata 0:6a670fda63c2 1700
cparata 0:6a670fda63c2 1701 /* Reset tap duration time window. */
cparata 0:6a670fda63c2 1702 if ( Set_Tap_Duration_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1703 {
cparata 0:6a670fda63c2 1704 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1705 }
cparata 0:6a670fda63c2 1706
cparata 0:6a670fda63c2 1707 /* Only single tap enabled. */
cparata 0:6a670fda63c2 1708 if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1709 {
cparata 0:6a670fda63c2 1710 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1711 }
cparata 0:6a670fda63c2 1712
cparata 0:6a670fda63c2 1713 /* Disable Z direction in tap recognition. */
cparata 0:6a670fda63c2 1714 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1715 {
cparata 0:6a670fda63c2 1716 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1717 }
cparata 0:6a670fda63c2 1718
cparata 0:6a670fda63c2 1719 /* Disable Y direction in tap recognition. */
cparata 0:6a670fda63c2 1720 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1721 {
cparata 0:6a670fda63c2 1722 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1723 }
cparata 0:6a670fda63c2 1724
cparata 0:6a670fda63c2 1725 /* Disable X direction in tap recognition. */
cparata 0:6a670fda63c2 1726 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1727 {
cparata 0:6a670fda63c2 1728 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1729 }
cparata 0:6a670fda63c2 1730
cparata 0:6a670fda63c2 1731 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1732 }
cparata 0:6a670fda63c2 1733
cparata 0:6a670fda63c2 1734 /**
cparata 0:6a670fda63c2 1735 * @brief Get the double tap detection status for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1736 * @param status the pointer to the double tap detection status: 0 means no double tap detected, 1 means double tap detected
cparata 0:6a670fda63c2 1737 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1738 */
cparata 0:6a670fda63c2 1739 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Double_Tap_Detection(uint8_t *status)
cparata 0:6a670fda63c2 1740 {
cparata 0:6a670fda63c2 1741 LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_t tap_status;
cparata 0:6a670fda63c2 1742
cparata 0:6a670fda63c2 1743 if ( LSM6DSL_ACC_GYRO_R_DOUBLE_TAP_EV_STATUS( (void *)this, &tap_status ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1744 {
cparata 0:6a670fda63c2 1745 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1746 }
cparata 0:6a670fda63c2 1747
cparata 0:6a670fda63c2 1748 switch( tap_status )
cparata 0:6a670fda63c2 1749 {
cparata 0:6a670fda63c2 1750 case LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_DETECTED:
cparata 0:6a670fda63c2 1751 *status = 1;
cparata 0:6a670fda63c2 1752 break;
cparata 0:6a670fda63c2 1753
cparata 0:6a670fda63c2 1754 case LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_NOT_DETECTED:
cparata 0:6a670fda63c2 1755 *status = 0;
cparata 0:6a670fda63c2 1756 break;
cparata 0:6a670fda63c2 1757
cparata 0:6a670fda63c2 1758 default:
cparata 0:6a670fda63c2 1759 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1760 }
cparata 0:6a670fda63c2 1761
cparata 0:6a670fda63c2 1762 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1763 }
cparata 0:6a670fda63c2 1764
cparata 0:6a670fda63c2 1765 /**
cparata 0:6a670fda63c2 1766 * @brief Set the tap threshold for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1767 * @param thr the threshold to be set
cparata 0:6a670fda63c2 1768 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1769 */
cparata 0:6a670fda63c2 1770 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Threshold(uint8_t thr)
cparata 0:6a670fda63c2 1771 {
cparata 0:6a670fda63c2 1772 if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1773 {
cparata 0:6a670fda63c2 1774 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1775 }
cparata 0:6a670fda63c2 1776
cparata 0:6a670fda63c2 1777 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1778 }
cparata 0:6a670fda63c2 1779
cparata 0:6a670fda63c2 1780 /**
cparata 0:6a670fda63c2 1781 * @brief Set the tap shock time window for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1782 * @param time the shock time window to be set
cparata 0:6a670fda63c2 1783 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1784 */
cparata 0:6a670fda63c2 1785 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Shock_Time(uint8_t time)
cparata 0:6a670fda63c2 1786 {
cparata 0:6a670fda63c2 1787 if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1788 {
cparata 0:6a670fda63c2 1789 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1790 }
cparata 0:6a670fda63c2 1791
cparata 0:6a670fda63c2 1792 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1793 }
cparata 0:6a670fda63c2 1794
cparata 0:6a670fda63c2 1795 /**
cparata 0:6a670fda63c2 1796 * @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1797 * @param time the quiet time window to be set
cparata 0:6a670fda63c2 1798 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1799 */
cparata 0:6a670fda63c2 1800 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Quiet_Time(uint8_t time)
cparata 0:6a670fda63c2 1801 {
cparata 0:6a670fda63c2 1802 if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1803 {
cparata 0:6a670fda63c2 1804 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1805 }
cparata 0:6a670fda63c2 1806
cparata 0:6a670fda63c2 1807 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1808 }
cparata 0:6a670fda63c2 1809
cparata 0:6a670fda63c2 1810 /**
cparata 0:6a670fda63c2 1811 * @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1812 * @param time the duration of the time window to be set
cparata 0:6a670fda63c2 1813 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1814 */
cparata 0:6a670fda63c2 1815 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Duration_Time(uint8_t time)
cparata 0:6a670fda63c2 1816 {
cparata 0:6a670fda63c2 1817 if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1818 {
cparata 0:6a670fda63c2 1819 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1820 }
cparata 0:6a670fda63c2 1821
cparata 0:6a670fda63c2 1822 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1823 }
cparata 0:6a670fda63c2 1824
cparata 0:6a670fda63c2 1825 /**
cparata 0:6a670fda63c2 1826 * @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1827 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 0:6a670fda63c2 1828 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1829 */
cparata 0:6a670fda63c2 1830 LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_6D_Orientation(void)
cparata 0:6a670fda63c2 1831 {
cparata 0:6a670fda63c2 1832 /* Output Data Rate selection */
cparata 0:6a670fda63c2 1833 if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1834 {
cparata 0:6a670fda63c2 1835 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1836 }
cparata 0:6a670fda63c2 1837
cparata 0:6a670fda63c2 1838 /* Full scale selection. */
cparata 0:6a670fda63c2 1839 if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:6a670fda63c2 1840 {
cparata 0:6a670fda63c2 1841 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1842 }
cparata 0:6a670fda63c2 1843
cparata 0:6a670fda63c2 1844 /* Set 6D threshold. */
cparata 0:6a670fda63c2 1845 if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1846 {
cparata 0:6a670fda63c2 1847 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1848 }
cparata 0:6a670fda63c2 1849
cparata 0:6a670fda63c2 1850 /* Enable basic Interrupts */
cparata 0:6a670fda63c2 1851 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1852 {
cparata 0:6a670fda63c2 1853 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1854 }
cparata 0:6a670fda63c2 1855
cparata 0:6a670fda63c2 1856 /* INT1_6D setting. */
cparata 0:6a670fda63c2 1857 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1858 {
cparata 0:6a670fda63c2 1859 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1860 }
cparata 0:6a670fda63c2 1861
cparata 0:6a670fda63c2 1862 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1863 }
cparata 0:6a670fda63c2 1864
cparata 0:6a670fda63c2 1865 /**
cparata 0:6a670fda63c2 1866 * @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1867 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1868 */
cparata 0:6a670fda63c2 1869 LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_6D_Orientation(void)
cparata 0:6a670fda63c2 1870 {
cparata 0:6a670fda63c2 1871 /* INT1_6D setting. */
cparata 0:6a670fda63c2 1872 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1873 {
cparata 0:6a670fda63c2 1874 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1875 }
cparata 0:6a670fda63c2 1876
cparata 0:6a670fda63c2 1877 /* Disable basic Interrupts */
cparata 0:6a670fda63c2 1878 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1879 {
cparata 0:6a670fda63c2 1880 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1881 }
cparata 0:6a670fda63c2 1882
cparata 0:6a670fda63c2 1883 /* Reset 6D threshold. */
cparata 0:6a670fda63c2 1884 if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1885 {
cparata 0:6a670fda63c2 1886 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1887 }
cparata 0:6a670fda63c2 1888
cparata 0:6a670fda63c2 1889 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1890 }
cparata 0:6a670fda63c2 1891
cparata 0:6a670fda63c2 1892 /**
cparata 0:6a670fda63c2 1893 * @brief Get the status of the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1894 * @param status the pointer to the status of the 6D orientation detection: 0 means no detection, 1 means detection happened
cparata 0:6a670fda63c2 1895 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1896 */
cparata 0:6a670fda63c2 1897 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_6D_Orientation(uint8_t *status)
cparata 0:6a670fda63c2 1898 {
cparata 0:6a670fda63c2 1899 LSM6DSL_ACC_GYRO_D6D_EV_STATUS_t status_raw;
cparata 0:6a670fda63c2 1900
cparata 0:6a670fda63c2 1901 if ( LSM6DSL_ACC_GYRO_R_D6D_EV_STATUS( (void *)this, &status_raw ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1902 {
cparata 0:6a670fda63c2 1903 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1904 }
cparata 0:6a670fda63c2 1905
cparata 0:6a670fda63c2 1906 switch( status_raw )
cparata 0:6a670fda63c2 1907 {
cparata 0:6a670fda63c2 1908 case LSM6DSL_ACC_GYRO_D6D_EV_STATUS_DETECTED:
cparata 0:6a670fda63c2 1909 *status = 1;
cparata 0:6a670fda63c2 1910 break;
cparata 0:6a670fda63c2 1911 case LSM6DSL_ACC_GYRO_D6D_EV_STATUS_NOT_DETECTED:
cparata 0:6a670fda63c2 1912 *status = 0;
cparata 0:6a670fda63c2 1913 break;
cparata 0:6a670fda63c2 1914 default:
cparata 0:6a670fda63c2 1915 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1916 }
cparata 0:6a670fda63c2 1917
cparata 0:6a670fda63c2 1918 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1919 }
cparata 0:6a670fda63c2 1920
cparata 0:6a670fda63c2 1921 /**
cparata 0:6a670fda63c2 1922 * @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1923 * @param xl the pointer to the 6D orientation XL axis
cparata 0:6a670fda63c2 1924 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1925 */
cparata 0:6a670fda63c2 1926 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_XL(uint8_t *xl)
cparata 0:6a670fda63c2 1927 {
cparata 0:6a670fda63c2 1928 LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
cparata 0:6a670fda63c2 1929
cparata 0:6a670fda63c2 1930 if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1931 {
cparata 0:6a670fda63c2 1932 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1933 }
cparata 0:6a670fda63c2 1934
cparata 0:6a670fda63c2 1935 switch( xl_raw )
cparata 0:6a670fda63c2 1936 {
cparata 0:6a670fda63c2 1937 case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
cparata 0:6a670fda63c2 1938 *xl = 1;
cparata 0:6a670fda63c2 1939 break;
cparata 0:6a670fda63c2 1940 case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
cparata 0:6a670fda63c2 1941 *xl = 0;
cparata 0:6a670fda63c2 1942 break;
cparata 0:6a670fda63c2 1943 default:
cparata 0:6a670fda63c2 1944 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1945 }
cparata 0:6a670fda63c2 1946
cparata 0:6a670fda63c2 1947 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1948 }
cparata 0:6a670fda63c2 1949
cparata 0:6a670fda63c2 1950 /**
cparata 0:6a670fda63c2 1951 * @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1952 * @param xh the pointer to the 6D orientation XH axis
cparata 0:6a670fda63c2 1953 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1954 */
cparata 0:6a670fda63c2 1955 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_XH(uint8_t *xh)
cparata 0:6a670fda63c2 1956 {
cparata 0:6a670fda63c2 1957 LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
cparata 0:6a670fda63c2 1958
cparata 0:6a670fda63c2 1959 if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1960 {
cparata 0:6a670fda63c2 1961 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1962 }
cparata 0:6a670fda63c2 1963
cparata 0:6a670fda63c2 1964 switch( xh_raw )
cparata 0:6a670fda63c2 1965 {
cparata 0:6a670fda63c2 1966 case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
cparata 0:6a670fda63c2 1967 *xh = 1;
cparata 0:6a670fda63c2 1968 break;
cparata 0:6a670fda63c2 1969 case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
cparata 0:6a670fda63c2 1970 *xh = 0;
cparata 0:6a670fda63c2 1971 break;
cparata 0:6a670fda63c2 1972 default:
cparata 0:6a670fda63c2 1973 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1974 }
cparata 0:6a670fda63c2 1975
cparata 0:6a670fda63c2 1976 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 1977 }
cparata 0:6a670fda63c2 1978
cparata 0:6a670fda63c2 1979 /**
cparata 0:6a670fda63c2 1980 * @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 1981 * @param yl the pointer to the 6D orientation YL axis
cparata 0:6a670fda63c2 1982 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 1983 */
cparata 0:6a670fda63c2 1984 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_YL(uint8_t *yl)
cparata 0:6a670fda63c2 1985 {
cparata 0:6a670fda63c2 1986 LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
cparata 0:6a670fda63c2 1987
cparata 0:6a670fda63c2 1988 if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
cparata 0:6a670fda63c2 1989 {
cparata 0:6a670fda63c2 1990 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 1991 }
cparata 0:6a670fda63c2 1992
cparata 0:6a670fda63c2 1993 switch( yl_raw )
cparata 0:6a670fda63c2 1994 {
cparata 0:6a670fda63c2 1995 case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
cparata 0:6a670fda63c2 1996 *yl = 1;
cparata 0:6a670fda63c2 1997 break;
cparata 0:6a670fda63c2 1998 case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
cparata 0:6a670fda63c2 1999 *yl = 0;
cparata 0:6a670fda63c2 2000 break;
cparata 0:6a670fda63c2 2001 default:
cparata 0:6a670fda63c2 2002 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 2003 }
cparata 0:6a670fda63c2 2004
cparata 0:6a670fda63c2 2005 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 2006 }
cparata 0:6a670fda63c2 2007
cparata 0:6a670fda63c2 2008 /**
cparata 0:6a670fda63c2 2009 * @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 2010 * @param yh the pointer to the 6D orientation YH axis
cparata 0:6a670fda63c2 2011 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 2012 */
cparata 0:6a670fda63c2 2013 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_YH(uint8_t *yh)
cparata 0:6a670fda63c2 2014 {
cparata 0:6a670fda63c2 2015 LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
cparata 0:6a670fda63c2 2016
cparata 0:6a670fda63c2 2017 if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
cparata 0:6a670fda63c2 2018 {
cparata 0:6a670fda63c2 2019 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 2020 }
cparata 0:6a670fda63c2 2021
cparata 0:6a670fda63c2 2022 switch( yh_raw )
cparata 0:6a670fda63c2 2023 {
cparata 0:6a670fda63c2 2024 case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
cparata 0:6a670fda63c2 2025 *yh = 1;
cparata 0:6a670fda63c2 2026 break;
cparata 0:6a670fda63c2 2027 case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
cparata 0:6a670fda63c2 2028 *yh = 0;
cparata 0:6a670fda63c2 2029 break;
cparata 0:6a670fda63c2 2030 default:
cparata 0:6a670fda63c2 2031 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 2032 }
cparata 0:6a670fda63c2 2033
cparata 0:6a670fda63c2 2034 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 2035 }
cparata 0:6a670fda63c2 2036
cparata 0:6a670fda63c2 2037 /**
cparata 0:6a670fda63c2 2038 * @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 2039 * @param zl the pointer to the 6D orientation ZL axis
cparata 0:6a670fda63c2 2040 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 2041 */
cparata 0:6a670fda63c2 2042 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_ZL(uint8_t *zl)
cparata 0:6a670fda63c2 2043 {
cparata 0:6a670fda63c2 2044 LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
cparata 0:6a670fda63c2 2045
cparata 0:6a670fda63c2 2046 if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
cparata 0:6a670fda63c2 2047 {
cparata 0:6a670fda63c2 2048 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 2049 }
cparata 0:6a670fda63c2 2050
cparata 0:6a670fda63c2 2051 switch( zl_raw )
cparata 0:6a670fda63c2 2052 {
cparata 0:6a670fda63c2 2053 case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
cparata 0:6a670fda63c2 2054 *zl = 1;
cparata 0:6a670fda63c2 2055 break;
cparata 0:6a670fda63c2 2056 case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
cparata 0:6a670fda63c2 2057 *zl = 0;
cparata 0:6a670fda63c2 2058 break;
cparata 0:6a670fda63c2 2059 default:
cparata 0:6a670fda63c2 2060 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 2061 }
cparata 0:6a670fda63c2 2062
cparata 0:6a670fda63c2 2063 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 2064 }
cparata 0:6a670fda63c2 2065
cparata 0:6a670fda63c2 2066 /**
cparata 0:6a670fda63c2 2067 * @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
cparata 0:6a670fda63c2 2068 * @param zh the pointer to the 6D orientation ZH axis
cparata 0:6a670fda63c2 2069 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:6a670fda63c2 2070 */
cparata 0:6a670fda63c2 2071 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_ZH(uint8_t *zh)
cparata 0:6a670fda63c2 2072 {
cparata 0:6a670fda63c2 2073 LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
cparata 0:6a670fda63c2 2074
cparata 0:6a670fda63c2 2075 if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
cparata 0:6a670fda63c2 2076 {
cparata 0:6a670fda63c2 2077 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 2078 }
cparata 0:6a670fda63c2 2079
cparata 0:6a670fda63c2 2080 switch( zh_raw )
cparata 0:6a670fda63c2 2081 {
cparata 0:6a670fda63c2 2082 case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
cparata 0:6a670fda63c2 2083 *zh = 1;
cparata 0:6a670fda63c2 2084 break;
cparata 0:6a670fda63c2 2085 case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
cparata 0:6a670fda63c2 2086 *zh = 0;
cparata 0:6a670fda63c2 2087 break;
cparata 0:6a670fda63c2 2088 default:
cparata 0:6a670fda63c2 2089 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 2090 }
cparata 0:6a670fda63c2 2091
cparata 0:6a670fda63c2 2092 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 2093 }
cparata 0:6a670fda63c2 2094
cparata 0:6a670fda63c2 2095 /**
cparata 0:6a670fda63c2 2096 * @brief Read the data from register
cparata 0:6a670fda63c2 2097 * @param reg register address
cparata 0:6a670fda63c2 2098 * @param data register data
cparata 0:6a670fda63c2 2099 * @retval LSM6DSL_STATUS_OK in case of success
cparata 0:6a670fda63c2 2100 * @retval LSM6DSL_STATUS_ERROR in case of failure
cparata 0:6a670fda63c2 2101 */
cparata 0:6a670fda63c2 2102 LSM6DSLStatusTypeDef LSM6DSLSensor::ReadReg( uint8_t reg, uint8_t *data )
cparata 0:6a670fda63c2 2103 {
cparata 0:6a670fda63c2 2104
cparata 0:6a670fda63c2 2105 if ( LSM6DSL_ACC_GYRO_ReadReg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
cparata 0:6a670fda63c2 2106 {
cparata 0:6a670fda63c2 2107 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 2108 }
cparata 0:6a670fda63c2 2109
cparata 0:6a670fda63c2 2110 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 2111 }
cparata 0:6a670fda63c2 2112
cparata 0:6a670fda63c2 2113 /**
cparata 0:6a670fda63c2 2114 * @brief Write the data to register
cparata 0:6a670fda63c2 2115 * @param reg register address
cparata 0:6a670fda63c2 2116 * @param data register data
cparata 0:6a670fda63c2 2117 * @retval LSM6DSL_STATUS_OK in case of success
cparata 0:6a670fda63c2 2118 * @retval LSM6DSL_STATUS_ERROR in case of failure
cparata 0:6a670fda63c2 2119 */
cparata 0:6a670fda63c2 2120 LSM6DSLStatusTypeDef LSM6DSLSensor::WriteReg( uint8_t reg, uint8_t data )
cparata 0:6a670fda63c2 2121 {
cparata 0:6a670fda63c2 2122
cparata 0:6a670fda63c2 2123 if ( LSM6DSL_ACC_GYRO_WriteReg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
cparata 0:6a670fda63c2 2124 {
cparata 0:6a670fda63c2 2125 return LSM6DSL_STATUS_ERROR;
cparata 0:6a670fda63c2 2126 }
cparata 0:6a670fda63c2 2127
cparata 0:6a670fda63c2 2128 return LSM6DSL_STATUS_OK;
cparata 0:6a670fda63c2 2129 }
cparata 0:6a670fda63c2 2130
cparata 0:6a670fda63c2 2131
cparata 0:6a670fda63c2 2132 uint8_t LSM6DSL_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
cparata 0:6a670fda63c2 2133 {
cparata 0:6a670fda63c2 2134 return ((LSM6DSLSensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata 0:6a670fda63c2 2135 }
cparata 0:6a670fda63c2 2136
cparata 0:6a670fda63c2 2137 uint8_t LSM6DSL_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
cparata 0:6a670fda63c2 2138 {
cparata 0:6a670fda63c2 2139 return ((LSM6DSLSensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata 0:6a670fda63c2 2140 }