FreeFall_IKS01A2 - Example of free fall detection for LSM6DSL in X-N…

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

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@2:8308cb42bc49, 2016-08-19 (annotated)

Committer:: cparata
Date:: Fri Aug 19 12:26:01 2016 +0000
Revision:: 2:8308cb42bc49
Child:: 4:6b137af9100e

Add interfaces to all components

Who changed what in which revision?

User	Revision	Line number	New contents of line
cparata	2:8308cb42bc49	1	/**
cparata	2:8308cb42bc49	2	******************************************************************************
cparata	2:8308cb42bc49	3	* @file LSM6DSLSensor.cpp
cparata	2:8308cb42bc49	4	* @author AST
cparata	2:8308cb42bc49	5	* @version V1.0.0
cparata	2:8308cb42bc49	6	* @date 5 August 2016
cparata	2:8308cb42bc49	7	* @brief Implementation of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
cparata	2:8308cb42bc49	8	* sensor.
cparata	2:8308cb42bc49	9	******************************************************************************
cparata	2:8308cb42bc49	10	* @attention
cparata	2:8308cb42bc49	11	*
cparata	2:8308cb42bc49	12	* <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata	2:8308cb42bc49	13	*
cparata	2:8308cb42bc49	14	* Redistribution and use in source and binary forms, with or without modification,
cparata	2:8308cb42bc49	15	* are permitted provided that the following conditions are met:
cparata	2:8308cb42bc49	16	* 1. Redistributions of source code must retain the above copyright notice,
cparata	2:8308cb42bc49	17	* this list of conditions and the following disclaimer.
cparata	2:8308cb42bc49	18	* 2. Redistributions in binary form must reproduce the above copyright notice,
cparata	2:8308cb42bc49	19	* this list of conditions and the following disclaimer in the documentation
cparata	2:8308cb42bc49	20	* and/or other materials provided with the distribution.
cparata	2:8308cb42bc49	21	* 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata	2:8308cb42bc49	22	* may be used to endorse or promote products derived from this software
cparata	2:8308cb42bc49	23	* without specific prior written permission.
cparata	2:8308cb42bc49	24	*
cparata	2:8308cb42bc49	25	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata	2:8308cb42bc49	26	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata	2:8308cb42bc49	27	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata	2:8308cb42bc49	28	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata	2:8308cb42bc49	29	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata	2:8308cb42bc49	30	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata	2:8308cb42bc49	31	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata	2:8308cb42bc49	32	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata	2:8308cb42bc49	33	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata	2:8308cb42bc49	34	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata	2:8308cb42bc49	35	*
cparata	2:8308cb42bc49	36	******************************************************************************
cparata	2:8308cb42bc49	37	*/
cparata	2:8308cb42bc49	38
cparata	2:8308cb42bc49	39
cparata	2:8308cb42bc49	40	/* Includes ------------------------------------------------------------------*/
cparata	2:8308cb42bc49	41
cparata	2:8308cb42bc49	42	#include "mbed.h"
cparata	2:8308cb42bc49	43	#include "DevI2C.h"
cparata	2:8308cb42bc49	44	#include "LSM6DSLSensor.h"
cparata	2:8308cb42bc49	45	#include "LSM6DSL_ACC_GYRO_driver.h"
cparata	2:8308cb42bc49	46
cparata	2:8308cb42bc49	47
cparata	2:8308cb42bc49	48	/* Class Implementation ------------------------------------------------------*/
cparata	2:8308cb42bc49	49
cparata	2:8308cb42bc49	50	/** Constructor
cparata	2:8308cb42bc49	51	* @param i2c object of an helper class which handles the I2C peripheral
cparata	2:8308cb42bc49	52	* @param address the address of the component's instance
cparata	2:8308cb42bc49	53	*/
cparata	2:8308cb42bc49	54	LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c) : dev_i2c(i2c)
cparata	2:8308cb42bc49	55	{
cparata	2:8308cb42bc49	56	address = LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH;
cparata	2:8308cb42bc49	57	};
cparata	2:8308cb42bc49	58
cparata	2:8308cb42bc49	59	/** Constructor
cparata	2:8308cb42bc49	60	* @param i2c object of an helper class which handles the I2C peripheral
cparata	2:8308cb42bc49	61	* @param address the address of the component's instance
cparata	2:8308cb42bc49	62	*/
cparata	2:8308cb42bc49	63	LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
cparata	2:8308cb42bc49	64	{
cparata	2:8308cb42bc49	65
cparata	2:8308cb42bc49	66	};
cparata	2:8308cb42bc49	67
cparata	2:8308cb42bc49	68	/**
cparata	2:8308cb42bc49	69	* @brief Initializing the component.
cparata	2:8308cb42bc49	70	* @param[in] init pointer to device specific initalization structure.
cparata	2:8308cb42bc49	71	* @retval "0" in case of success, an error code otherwise.
cparata	2:8308cb42bc49	72	*/
cparata	2:8308cb42bc49	73	int LSM6DSLSensor::Init(void *init)
cparata	2:8308cb42bc49	74	{
cparata	2:8308cb42bc49	75	/* Enable register address automatically incremented during a multiple byte
cparata	2:8308cb42bc49	76	access with a serial interface. */
cparata	2:8308cb42bc49	77	if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	78	{
cparata	2:8308cb42bc49	79	return 1;
cparata	2:8308cb42bc49	80	}
cparata	2:8308cb42bc49	81
cparata	2:8308cb42bc49	82	/* Enable BDU */
cparata	2:8308cb42bc49	83	if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
cparata	2:8308cb42bc49	84	{
cparata	2:8308cb42bc49	85	return 1;
cparata	2:8308cb42bc49	86	}
cparata	2:8308cb42bc49	87
cparata	2:8308cb42bc49	88	/* FIFO mode selection */
cparata	2:8308cb42bc49	89	if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
cparata	2:8308cb42bc49	90	{
cparata	2:8308cb42bc49	91	return 1;
cparata	2:8308cb42bc49	92	}
cparata	2:8308cb42bc49	93
cparata	2:8308cb42bc49	94	/* Output data rate selection - power down. */
cparata	2:8308cb42bc49	95	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata	2:8308cb42bc49	96	{
cparata	2:8308cb42bc49	97	return 1;
cparata	2:8308cb42bc49	98	}
cparata	2:8308cb42bc49	99
cparata	2:8308cb42bc49	100	/* Full scale selection. */
cparata	2:8308cb42bc49	101	if ( Set_X_FS( 2.0f ) == 1 )
cparata	2:8308cb42bc49	102	{
cparata	2:8308cb42bc49	103	return 1;
cparata	2:8308cb42bc49	104	}
cparata	2:8308cb42bc49	105
cparata	2:8308cb42bc49	106	/* Output data rate selection - power down */
cparata	2:8308cb42bc49	107	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata	2:8308cb42bc49	108	{
cparata	2:8308cb42bc49	109	return 1;
cparata	2:8308cb42bc49	110	}
cparata	2:8308cb42bc49	111
cparata	2:8308cb42bc49	112	/* Full scale selection. */
cparata	2:8308cb42bc49	113	if ( Set_G_FS( 2000.0f ) == 1 )
cparata	2:8308cb42bc49	114	{
cparata	2:8308cb42bc49	115	return 1;
cparata	2:8308cb42bc49	116	}
cparata	2:8308cb42bc49	117
cparata	2:8308cb42bc49	118	X_Last_ODR = 104.0f;
cparata	2:8308cb42bc49	119
cparata	2:8308cb42bc49	120	X_isEnabled = 0;
cparata	2:8308cb42bc49	121
cparata	2:8308cb42bc49	122	G_Last_ODR = 104.0f;
cparata	2:8308cb42bc49	123
cparata	2:8308cb42bc49	124	G_isEnabled = 0;
cparata	2:8308cb42bc49	125
cparata	2:8308cb42bc49	126	return 0;
cparata	2:8308cb42bc49	127	}
cparata	2:8308cb42bc49	128
cparata	2:8308cb42bc49	129	/**
cparata	2:8308cb42bc49	130	* @brief Enable LSM6DSL Accelerator
cparata	2:8308cb42bc49	131	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	132	*/
cparata	2:8308cb42bc49	133	int LSM6DSLSensor::Enable_X(void)
cparata	2:8308cb42bc49	134	{
cparata	2:8308cb42bc49	135	/* Check if the component is already enabled */
cparata	2:8308cb42bc49	136	if ( X_isEnabled == 1 )
cparata	2:8308cb42bc49	137	{
cparata	2:8308cb42bc49	138	return 0;
cparata	2:8308cb42bc49	139	}
cparata	2:8308cb42bc49	140
cparata	2:8308cb42bc49	141	/* Output data rate selection. */
cparata	2:8308cb42bc49	142	if ( Set_X_ODR_When_Enabled( X_Last_ODR ) == 1 )
cparata	2:8308cb42bc49	143	{
cparata	2:8308cb42bc49	144	return 1;
cparata	2:8308cb42bc49	145	}
cparata	2:8308cb42bc49	146
cparata	2:8308cb42bc49	147	X_isEnabled = 1;
cparata	2:8308cb42bc49	148
cparata	2:8308cb42bc49	149	return 0;
cparata	2:8308cb42bc49	150	}
cparata	2:8308cb42bc49	151
cparata	2:8308cb42bc49	152	/**
cparata	2:8308cb42bc49	153	* @brief Enable LSM6DSL Gyroscope
cparata	2:8308cb42bc49	154	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	155	*/
cparata	2:8308cb42bc49	156	int LSM6DSLSensor::Enable_G(void)
cparata	2:8308cb42bc49	157	{
cparata	2:8308cb42bc49	158	/* Check if the component is already enabled */
cparata	2:8308cb42bc49	159	if ( G_isEnabled == 1 )
cparata	2:8308cb42bc49	160	{
cparata	2:8308cb42bc49	161	return 0;
cparata	2:8308cb42bc49	162	}
cparata	2:8308cb42bc49	163
cparata	2:8308cb42bc49	164	/* Output data rate selection. */
cparata	2:8308cb42bc49	165	if ( Set_G_ODR_When_Enabled( G_Last_ODR ) == 1 )
cparata	2:8308cb42bc49	166	{
cparata	2:8308cb42bc49	167	return 1;
cparata	2:8308cb42bc49	168	}
cparata	2:8308cb42bc49	169
cparata	2:8308cb42bc49	170	G_isEnabled = 1;
cparata	2:8308cb42bc49	171
cparata	2:8308cb42bc49	172	return 0;
cparata	2:8308cb42bc49	173	}
cparata	2:8308cb42bc49	174
cparata	2:8308cb42bc49	175	/**
cparata	2:8308cb42bc49	176	* @brief Disable LSM6DSL Accelerator
cparata	2:8308cb42bc49	177	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	178	*/
cparata	2:8308cb42bc49	179	int LSM6DSLSensor::Disable_X(void)
cparata	2:8308cb42bc49	180	{
cparata	2:8308cb42bc49	181	/* Check if the component is already disabled */
cparata	2:8308cb42bc49	182	if ( X_isEnabled == 0 )
cparata	2:8308cb42bc49	183	{
cparata	2:8308cb42bc49	184	return 0;
cparata	2:8308cb42bc49	185	}
cparata	2:8308cb42bc49	186
cparata	2:8308cb42bc49	187	/* Store actual output data rate. */
cparata	2:8308cb42bc49	188	if ( Get_X_ODR( &X_Last_ODR ) == 1 )
cparata	2:8308cb42bc49	189	{
cparata	2:8308cb42bc49	190	return 1;
cparata	2:8308cb42bc49	191	}
cparata	2:8308cb42bc49	192
cparata	2:8308cb42bc49	193	/* Output data rate selection - power down. */
cparata	2:8308cb42bc49	194	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata	2:8308cb42bc49	195	{
cparata	2:8308cb42bc49	196	return 1;
cparata	2:8308cb42bc49	197	}
cparata	2:8308cb42bc49	198
cparata	2:8308cb42bc49	199	X_isEnabled = 0;
cparata	2:8308cb42bc49	200
cparata	2:8308cb42bc49	201	return 0;
cparata	2:8308cb42bc49	202	}
cparata	2:8308cb42bc49	203
cparata	2:8308cb42bc49	204	/**
cparata	2:8308cb42bc49	205	* @brief Disable LSM6DSL Gyroscope
cparata	2:8308cb42bc49	206	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	207	*/
cparata	2:8308cb42bc49	208	int LSM6DSLSensor::Disable_G(void)
cparata	2:8308cb42bc49	209	{
cparata	2:8308cb42bc49	210	/* Check if the component is already disabled */
cparata	2:8308cb42bc49	211	if ( G_isEnabled == 0 )
cparata	2:8308cb42bc49	212	{
cparata	2:8308cb42bc49	213	return 0;
cparata	2:8308cb42bc49	214	}
cparata	2:8308cb42bc49	215
cparata	2:8308cb42bc49	216	/* Store actual output data rate. */
cparata	2:8308cb42bc49	217	if ( Get_G_ODR( &G_Last_ODR ) == 1 )
cparata	2:8308cb42bc49	218	{
cparata	2:8308cb42bc49	219	return 1;
cparata	2:8308cb42bc49	220	}
cparata	2:8308cb42bc49	221
cparata	2:8308cb42bc49	222	/* Output data rate selection - power down */
cparata	2:8308cb42bc49	223	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata	2:8308cb42bc49	224	{
cparata	2:8308cb42bc49	225	return 1;
cparata	2:8308cb42bc49	226	}
cparata	2:8308cb42bc49	227
cparata	2:8308cb42bc49	228	G_isEnabled = 0;
cparata	2:8308cb42bc49	229
cparata	2:8308cb42bc49	230	return 0;
cparata	2:8308cb42bc49	231	}
cparata	2:8308cb42bc49	232
cparata	2:8308cb42bc49	233	/**
cparata	2:8308cb42bc49	234	* @brief Read ID of LSM6DSL Accelerometer and Gyroscope
cparata	2:8308cb42bc49	235	* @param p_id the pointer where the ID of the device is stored
cparata	2:8308cb42bc49	236	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	237	*/
cparata	2:8308cb42bc49	238	int LSM6DSLSensor::ReadID(uint8_t *id)
cparata	2:8308cb42bc49	239	{
cparata	2:8308cb42bc49	240	if(!id)
cparata	2:8308cb42bc49	241	{
cparata	2:8308cb42bc49	242	return 1;
cparata	2:8308cb42bc49	243	}
cparata	2:8308cb42bc49	244
cparata	2:8308cb42bc49	245	/* Read WHO AM I register */
cparata	2:8308cb42bc49	246	if ( LSM6DSL_ACC_GYRO_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
cparata	2:8308cb42bc49	247	{
cparata	2:8308cb42bc49	248	return 1;
cparata	2:8308cb42bc49	249	}
cparata	2:8308cb42bc49	250
cparata	2:8308cb42bc49	251	return 0;
cparata	2:8308cb42bc49	252	}
cparata	2:8308cb42bc49	253
cparata	2:8308cb42bc49	254	/**
cparata	2:8308cb42bc49	255	* @brief Read data from LSM6DSL Accelerometer
cparata	2:8308cb42bc49	256	* @param pData the pointer where the accelerometer data are stored
cparata	2:8308cb42bc49	257	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	258	*/
cparata	2:8308cb42bc49	259	int LSM6DSLSensor::Get_X_Axes(int32_t *pData)
cparata	2:8308cb42bc49	260	{
cparata	2:8308cb42bc49	261	int16_t dataRaw[3];
cparata	2:8308cb42bc49	262	float sensitivity = 0;
cparata	2:8308cb42bc49	263
cparata	2:8308cb42bc49	264	/* Read raw data from LSM6DSL output register. */
cparata	2:8308cb42bc49	265	if ( Get_X_AxesRaw( dataRaw ) == 1 )
cparata	2:8308cb42bc49	266	{
cparata	2:8308cb42bc49	267	return 1;
cparata	2:8308cb42bc49	268	}
cparata	2:8308cb42bc49	269
cparata	2:8308cb42bc49	270	/* Get LSM6DSL actual sensitivity. */
cparata	2:8308cb42bc49	271	if ( Get_X_Sensitivity( &sensitivity ) == 1 )
cparata	2:8308cb42bc49	272	{
cparata	2:8308cb42bc49	273	return 1;
cparata	2:8308cb42bc49	274	}
cparata	2:8308cb42bc49	275
cparata	2:8308cb42bc49	276	/* Calculate the data. */
cparata	2:8308cb42bc49	277	pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata	2:8308cb42bc49	278	pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata	2:8308cb42bc49	279	pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata	2:8308cb42bc49	280
cparata	2:8308cb42bc49	281	return 0;
cparata	2:8308cb42bc49	282	}
cparata	2:8308cb42bc49	283
cparata	2:8308cb42bc49	284	/**
cparata	2:8308cb42bc49	285	* @brief Read data from LSM6DSL Gyroscope
cparata	2:8308cb42bc49	286	* @param pData the pointer where the gyroscope data are stored
cparata	2:8308cb42bc49	287	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	288	*/
cparata	2:8308cb42bc49	289	int LSM6DSLSensor::Get_G_Axes(int32_t *pData)
cparata	2:8308cb42bc49	290	{
cparata	2:8308cb42bc49	291	int16_t dataRaw[3];
cparata	2:8308cb42bc49	292	float sensitivity = 0;
cparata	2:8308cb42bc49	293
cparata	2:8308cb42bc49	294	/* Read raw data from LSM6DSL output register. */
cparata	2:8308cb42bc49	295	if ( Get_G_AxesRaw( dataRaw ) == 1 )
cparata	2:8308cb42bc49	296	{
cparata	2:8308cb42bc49	297	return 1;
cparata	2:8308cb42bc49	298	}
cparata	2:8308cb42bc49	299
cparata	2:8308cb42bc49	300	/* Get LSM6DSL actual sensitivity. */
cparata	2:8308cb42bc49	301	if ( Get_G_Sensitivity( &sensitivity ) == 1 )
cparata	2:8308cb42bc49	302	{
cparata	2:8308cb42bc49	303	return 1;
cparata	2:8308cb42bc49	304	}
cparata	2:8308cb42bc49	305
cparata	2:8308cb42bc49	306	/* Calculate the data. */
cparata	2:8308cb42bc49	307	pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata	2:8308cb42bc49	308	pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata	2:8308cb42bc49	309	pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata	2:8308cb42bc49	310
cparata	2:8308cb42bc49	311	return 0;
cparata	2:8308cb42bc49	312	}
cparata	2:8308cb42bc49	313
cparata	2:8308cb42bc49	314	/**
cparata	2:8308cb42bc49	315	* @brief Read Accelerometer Sensitivity
cparata	2:8308cb42bc49	316	* @param pfData the pointer where the accelerometer sensitivity is stored
cparata	2:8308cb42bc49	317	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	318	*/
cparata	2:8308cb42bc49	319	int LSM6DSLSensor::Get_X_Sensitivity(float *pfData)
cparata	2:8308cb42bc49	320	{
cparata	2:8308cb42bc49	321	LSM6DSL_ACC_GYRO_FS_XL_t fullScale;
cparata	2:8308cb42bc49	322
cparata	2:8308cb42bc49	323	/* Read actual full scale selection from sensor. */
cparata	2:8308cb42bc49	324	if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fullScale ) == MEMS_ERROR )
cparata	2:8308cb42bc49	325	{
cparata	2:8308cb42bc49	326	return 1;
cparata	2:8308cb42bc49	327	}
cparata	2:8308cb42bc49	328
cparata	2:8308cb42bc49	329	/* Store the sensitivity based on actual full scale. */
cparata	2:8308cb42bc49	330	switch( fullScale )
cparata	2:8308cb42bc49	331	{
cparata	2:8308cb42bc49	332	case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata	2:8308cb42bc49	333	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G;
cparata	2:8308cb42bc49	334	break;
cparata	2:8308cb42bc49	335	case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata	2:8308cb42bc49	336	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G;
cparata	2:8308cb42bc49	337	break;
cparata	2:8308cb42bc49	338	case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata	2:8308cb42bc49	339	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G;
cparata	2:8308cb42bc49	340	break;
cparata	2:8308cb42bc49	341	case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata	2:8308cb42bc49	342	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G;
cparata	2:8308cb42bc49	343	break;
cparata	2:8308cb42bc49	344	default:
cparata	2:8308cb42bc49	345	*pfData = -1.0f;
cparata	2:8308cb42bc49	346	return 1;
cparata	2:8308cb42bc49	347	}
cparata	2:8308cb42bc49	348
cparata	2:8308cb42bc49	349	return 0;
cparata	2:8308cb42bc49	350	}
cparata	2:8308cb42bc49	351
cparata	2:8308cb42bc49	352	/**
cparata	2:8308cb42bc49	353	* @brief Read Gyroscope Sensitivity
cparata	2:8308cb42bc49	354	* @param pfData the pointer where the gyroscope sensitivity is stored
cparata	2:8308cb42bc49	355	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	356	*/
cparata	2:8308cb42bc49	357	int LSM6DSLSensor::Get_G_Sensitivity(float *pfData)
cparata	2:8308cb42bc49	358	{
cparata	2:8308cb42bc49	359	LSM6DSL_ACC_GYRO_FS_125_t fullScale125;
cparata	2:8308cb42bc49	360	LSM6DSL_ACC_GYRO_FS_G_t fullScale;
cparata	2:8308cb42bc49	361
cparata	2:8308cb42bc49	362	/* Read full scale 125 selection from sensor. */
cparata	2:8308cb42bc49	363	if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fullScale125 ) == MEMS_ERROR )
cparata	2:8308cb42bc49	364	{
cparata	2:8308cb42bc49	365	return 1;
cparata	2:8308cb42bc49	366	}
cparata	2:8308cb42bc49	367
cparata	2:8308cb42bc49	368	if ( fullScale125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata	2:8308cb42bc49	369	{
cparata	2:8308cb42bc49	370	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS;
cparata	2:8308cb42bc49	371	}
cparata	2:8308cb42bc49	372
cparata	2:8308cb42bc49	373	else
cparata	2:8308cb42bc49	374	{
cparata	2:8308cb42bc49	375
cparata	2:8308cb42bc49	376	/* Read actual full scale selection from sensor. */
cparata	2:8308cb42bc49	377	if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fullScale ) == MEMS_ERROR )
cparata	2:8308cb42bc49	378	{
cparata	2:8308cb42bc49	379	return 1;
cparata	2:8308cb42bc49	380	}
cparata	2:8308cb42bc49	381
cparata	2:8308cb42bc49	382	/* Store the sensitivity based on actual full scale. */
cparata	2:8308cb42bc49	383	switch( fullScale )
cparata	2:8308cb42bc49	384	{
cparata	2:8308cb42bc49	385	case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata	2:8308cb42bc49	386	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS;
cparata	2:8308cb42bc49	387	break;
cparata	2:8308cb42bc49	388	case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata	2:8308cb42bc49	389	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS;
cparata	2:8308cb42bc49	390	break;
cparata	2:8308cb42bc49	391	case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata	2:8308cb42bc49	392	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS;
cparata	2:8308cb42bc49	393	break;
cparata	2:8308cb42bc49	394	case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata	2:8308cb42bc49	395	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS;
cparata	2:8308cb42bc49	396	break;
cparata	2:8308cb42bc49	397	default:
cparata	2:8308cb42bc49	398	*pfData = -1.0f;
cparata	2:8308cb42bc49	399	return 1;
cparata	2:8308cb42bc49	400	}
cparata	2:8308cb42bc49	401	}
cparata	2:8308cb42bc49	402
cparata	2:8308cb42bc49	403	return 0;
cparata	2:8308cb42bc49	404	}
cparata	2:8308cb42bc49	405
cparata	2:8308cb42bc49	406	/**
cparata	2:8308cb42bc49	407	* @brief Read raw data from LSM6DSL Accelerometer
cparata	2:8308cb42bc49	408	* @param pData the pointer where the accelerometer raw data are stored
cparata	2:8308cb42bc49	409	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	410	*/
cparata	2:8308cb42bc49	411	int LSM6DSLSensor::Get_X_AxesRaw(int16_t *pData)
cparata	2:8308cb42bc49	412	{
cparata	2:8308cb42bc49	413	uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata	2:8308cb42bc49	414
cparata	2:8308cb42bc49	415	/* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_XL to LSM6DSL_ACC_GYRO_OUTZ_H_XL. */
cparata	2:8308cb42bc49	416	if ( LSM6DSL_ACC_GYRO_GetRawAccData( (void *)this, regValue ) == MEMS_ERROR )
cparata	2:8308cb42bc49	417	{
cparata	2:8308cb42bc49	418	return 1;
cparata	2:8308cb42bc49	419	}
cparata	2:8308cb42bc49	420
cparata	2:8308cb42bc49	421	/* Format the data. */
cparata	2:8308cb42bc49	422	pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata	2:8308cb42bc49	423	pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata	2:8308cb42bc49	424	pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata	2:8308cb42bc49	425
cparata	2:8308cb42bc49	426	return 0;
cparata	2:8308cb42bc49	427	}
cparata	2:8308cb42bc49	428
cparata	2:8308cb42bc49	429	/**
cparata	2:8308cb42bc49	430	* @brief Read raw data from LSM6DSL Gyroscope
cparata	2:8308cb42bc49	431	* @param pData the pointer where the gyroscope raw data are stored
cparata	2:8308cb42bc49	432	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	433	*/
cparata	2:8308cb42bc49	434	int LSM6DSLSensor::Get_G_AxesRaw(int16_t *pData)
cparata	2:8308cb42bc49	435	{
cparata	2:8308cb42bc49	436	uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata	2:8308cb42bc49	437
cparata	2:8308cb42bc49	438	/* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_G to LSM6DSL_ACC_GYRO_OUTZ_H_G. */
cparata	2:8308cb42bc49	439	if ( LSM6DSL_ACC_GYRO_GetRawGyroData( (void *)this, regValue ) == MEMS_ERROR )
cparata	2:8308cb42bc49	440	{
cparata	2:8308cb42bc49	441	return 1;
cparata	2:8308cb42bc49	442	}
cparata	2:8308cb42bc49	443
cparata	2:8308cb42bc49	444	/* Format the data. */
cparata	2:8308cb42bc49	445	pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata	2:8308cb42bc49	446	pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata	2:8308cb42bc49	447	pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata	2:8308cb42bc49	448
cparata	2:8308cb42bc49	449	return 0;
cparata	2:8308cb42bc49	450	}
cparata	2:8308cb42bc49	451
cparata	2:8308cb42bc49	452	/**
cparata	2:8308cb42bc49	453	* @brief Read LSM6DSL Accelerometer output data rate
cparata	2:8308cb42bc49	454	* @param odr the pointer to the output data rate
cparata	2:8308cb42bc49	455	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	456	*/
cparata	2:8308cb42bc49	457	int LSM6DSLSensor::Get_X_ODR(float* odr)
cparata	2:8308cb42bc49	458	{
cparata	2:8308cb42bc49	459	LSM6DSL_ACC_GYRO_ODR_XL_t odr_low_level;
cparata	2:8308cb42bc49	460
cparata	2:8308cb42bc49	461	if ( LSM6DSL_ACC_GYRO_R_ODR_XL( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata	2:8308cb42bc49	462	{
cparata	2:8308cb42bc49	463	return 1;
cparata	2:8308cb42bc49	464	}
cparata	2:8308cb42bc49	465
cparata	2:8308cb42bc49	466	switch( odr_low_level )
cparata	2:8308cb42bc49	467	{
cparata	2:8308cb42bc49	468	case LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN:
cparata	2:8308cb42bc49	469	*odr = 0.0f;
cparata	2:8308cb42bc49	470	break;
cparata	2:8308cb42bc49	471	case LSM6DSL_ACC_GYRO_ODR_XL_13Hz:
cparata	2:8308cb42bc49	472	*odr = 13.0f;
cparata	2:8308cb42bc49	473	break;
cparata	2:8308cb42bc49	474	case LSM6DSL_ACC_GYRO_ODR_XL_26Hz:
cparata	2:8308cb42bc49	475	*odr = 26.0f;
cparata	2:8308cb42bc49	476	break;
cparata	2:8308cb42bc49	477	case LSM6DSL_ACC_GYRO_ODR_XL_52Hz:
cparata	2:8308cb42bc49	478	*odr = 52.0f;
cparata	2:8308cb42bc49	479	break;
cparata	2:8308cb42bc49	480	case LSM6DSL_ACC_GYRO_ODR_XL_104Hz:
cparata	2:8308cb42bc49	481	*odr = 104.0f;
cparata	2:8308cb42bc49	482	break;
cparata	2:8308cb42bc49	483	case LSM6DSL_ACC_GYRO_ODR_XL_208Hz:
cparata	2:8308cb42bc49	484	*odr = 208.0f;
cparata	2:8308cb42bc49	485	break;
cparata	2:8308cb42bc49	486	case LSM6DSL_ACC_GYRO_ODR_XL_416Hz:
cparata	2:8308cb42bc49	487	*odr = 416.0f;
cparata	2:8308cb42bc49	488	break;
cparata	2:8308cb42bc49	489	case LSM6DSL_ACC_GYRO_ODR_XL_833Hz:
cparata	2:8308cb42bc49	490	*odr = 833.0f;
cparata	2:8308cb42bc49	491	break;
cparata	2:8308cb42bc49	492	case LSM6DSL_ACC_GYRO_ODR_XL_1660Hz:
cparata	2:8308cb42bc49	493	*odr = 1660.0f;
cparata	2:8308cb42bc49	494	break;
cparata	2:8308cb42bc49	495	case LSM6DSL_ACC_GYRO_ODR_XL_3330Hz:
cparata	2:8308cb42bc49	496	*odr = 3330.0f;
cparata	2:8308cb42bc49	497	break;
cparata	2:8308cb42bc49	498	case LSM6DSL_ACC_GYRO_ODR_XL_6660Hz:
cparata	2:8308cb42bc49	499	*odr = 6660.0f;
cparata	2:8308cb42bc49	500	break;
cparata	2:8308cb42bc49	501	default:
cparata	2:8308cb42bc49	502	*odr = -1.0f;
cparata	2:8308cb42bc49	503	return 1;
cparata	2:8308cb42bc49	504	}
cparata	2:8308cb42bc49	505
cparata	2:8308cb42bc49	506	return 0;
cparata	2:8308cb42bc49	507	}
cparata	2:8308cb42bc49	508
cparata	2:8308cb42bc49	509	/**
cparata	2:8308cb42bc49	510	* @brief Read LSM6DSL Gyroscope output data rate
cparata	2:8308cb42bc49	511	* @param odr the pointer to the output data rate
cparata	2:8308cb42bc49	512	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	513	*/
cparata	2:8308cb42bc49	514	int LSM6DSLSensor::Get_G_ODR(float* odr)
cparata	2:8308cb42bc49	515	{
cparata	2:8308cb42bc49	516	LSM6DSL_ACC_GYRO_ODR_G_t odr_low_level;
cparata	2:8308cb42bc49	517
cparata	2:8308cb42bc49	518	if ( LSM6DSL_ACC_GYRO_R_ODR_G( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata	2:8308cb42bc49	519	{
cparata	2:8308cb42bc49	520	return 1;
cparata	2:8308cb42bc49	521	}
cparata	2:8308cb42bc49	522
cparata	2:8308cb42bc49	523	switch( odr_low_level )
cparata	2:8308cb42bc49	524	{
cparata	2:8308cb42bc49	525	case LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN:
cparata	2:8308cb42bc49	526	*odr = 0.0f;
cparata	2:8308cb42bc49	527	break;
cparata	2:8308cb42bc49	528	case LSM6DSL_ACC_GYRO_ODR_G_13Hz:
cparata	2:8308cb42bc49	529	*odr = 13.0f;
cparata	2:8308cb42bc49	530	break;
cparata	2:8308cb42bc49	531	case LSM6DSL_ACC_GYRO_ODR_G_26Hz:
cparata	2:8308cb42bc49	532	*odr = 26.0f;
cparata	2:8308cb42bc49	533	break;
cparata	2:8308cb42bc49	534	case LSM6DSL_ACC_GYRO_ODR_G_52Hz:
cparata	2:8308cb42bc49	535	*odr = 52.0f;
cparata	2:8308cb42bc49	536	break;
cparata	2:8308cb42bc49	537	case LSM6DSL_ACC_GYRO_ODR_G_104Hz:
cparata	2:8308cb42bc49	538	*odr = 104.0f;
cparata	2:8308cb42bc49	539	break;
cparata	2:8308cb42bc49	540	case LSM6DSL_ACC_GYRO_ODR_G_208Hz:
cparata	2:8308cb42bc49	541	*odr = 208.0f;
cparata	2:8308cb42bc49	542	break;
cparata	2:8308cb42bc49	543	case LSM6DSL_ACC_GYRO_ODR_G_416Hz:
cparata	2:8308cb42bc49	544	*odr = 416.0f;
cparata	2:8308cb42bc49	545	break;
cparata	2:8308cb42bc49	546	case LSM6DSL_ACC_GYRO_ODR_G_833Hz:
cparata	2:8308cb42bc49	547	*odr = 833.0f;
cparata	2:8308cb42bc49	548	break;
cparata	2:8308cb42bc49	549	case LSM6DSL_ACC_GYRO_ODR_G_1660Hz:
cparata	2:8308cb42bc49	550	*odr = 1660.0f;
cparata	2:8308cb42bc49	551	break;
cparata	2:8308cb42bc49	552	case LSM6DSL_ACC_GYRO_ODR_G_3330Hz:
cparata	2:8308cb42bc49	553	*odr = 3330.0f;
cparata	2:8308cb42bc49	554	break;
cparata	2:8308cb42bc49	555	case LSM6DSL_ACC_GYRO_ODR_G_6660Hz:
cparata	2:8308cb42bc49	556	*odr = 6660.0f;
cparata	2:8308cb42bc49	557	break;
cparata	2:8308cb42bc49	558	default:
cparata	2:8308cb42bc49	559	*odr = -1.0f;
cparata	2:8308cb42bc49	560	return 1;
cparata	2:8308cb42bc49	561	}
cparata	2:8308cb42bc49	562
cparata	2:8308cb42bc49	563	return 0;
cparata	2:8308cb42bc49	564	}
cparata	2:8308cb42bc49	565
cparata	2:8308cb42bc49	566	/**
cparata	2:8308cb42bc49	567	* @brief Set LSM6DSL Accelerometer output data rate
cparata	2:8308cb42bc49	568	* @param odr the output data rate to be set
cparata	2:8308cb42bc49	569	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	570	*/
cparata	2:8308cb42bc49	571	int LSM6DSLSensor::Set_X_ODR(float odr)
cparata	2:8308cb42bc49	572	{
cparata	2:8308cb42bc49	573	if(X_isEnabled == 1)
cparata	2:8308cb42bc49	574	{
cparata	2:8308cb42bc49	575	if(Set_X_ODR_When_Enabled(odr) == 1)
cparata	2:8308cb42bc49	576	{
cparata	2:8308cb42bc49	577	return 1;
cparata	2:8308cb42bc49	578	}
cparata	2:8308cb42bc49	579	}
cparata	2:8308cb42bc49	580	else
cparata	2:8308cb42bc49	581	{
cparata	2:8308cb42bc49	582	if(Set_X_ODR_When_Disabled(odr) == 1)
cparata	2:8308cb42bc49	583	{
cparata	2:8308cb42bc49	584	return 1;
cparata	2:8308cb42bc49	585	}
cparata	2:8308cb42bc49	586	}
cparata	2:8308cb42bc49	587
cparata	2:8308cb42bc49	588	return 0;
cparata	2:8308cb42bc49	589	}
cparata	2:8308cb42bc49	590
cparata	2:8308cb42bc49	591	/**
cparata	2:8308cb42bc49	592	* @brief Set LSM6DSL Accelerometer output data rate when enabled
cparata	2:8308cb42bc49	593	* @param odr the output data rate to be set
cparata	2:8308cb42bc49	594	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	595	*/
cparata	2:8308cb42bc49	596	int LSM6DSLSensor::Set_X_ODR_When_Enabled(float odr)
cparata	2:8308cb42bc49	597	{
cparata	2:8308cb42bc49	598	LSM6DSL_ACC_GYRO_ODR_XL_t new_odr;
cparata	2:8308cb42bc49	599
cparata	2:8308cb42bc49	600	new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_13Hz
cparata	2:8308cb42bc49	601	: ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_26Hz
cparata	2:8308cb42bc49	602	: ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_52Hz
cparata	2:8308cb42bc49	603	: ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_104Hz
cparata	2:8308cb42bc49	604	: ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_208Hz
cparata	2:8308cb42bc49	605	: ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_416Hz
cparata	2:8308cb42bc49	606	: ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_833Hz
cparata	2:8308cb42bc49	607	: ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_1660Hz
cparata	2:8308cb42bc49	608	: ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_3330Hz
cparata	2:8308cb42bc49	609	: LSM6DSL_ACC_GYRO_ODR_XL_6660Hz;
cparata	2:8308cb42bc49	610
cparata	2:8308cb42bc49	611	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, new_odr ) == MEMS_ERROR )
cparata	2:8308cb42bc49	612	{
cparata	2:8308cb42bc49	613	return 1;
cparata	2:8308cb42bc49	614	}
cparata	2:8308cb42bc49	615
cparata	2:8308cb42bc49	616	return 0;
cparata	2:8308cb42bc49	617	}
cparata	2:8308cb42bc49	618
cparata	2:8308cb42bc49	619	/**
cparata	2:8308cb42bc49	620	* @brief Set LSM6DSL Accelerometer output data rate when disabled
cparata	2:8308cb42bc49	621	* @param odr the output data rate to be set
cparata	2:8308cb42bc49	622	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	623	*/
cparata	2:8308cb42bc49	624	int LSM6DSLSensor::Set_X_ODR_When_Disabled(float odr)
cparata	2:8308cb42bc49	625	{
cparata	2:8308cb42bc49	626	X_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata	2:8308cb42bc49	627	: ( odr <= 26.0f ) ? 26.0f
cparata	2:8308cb42bc49	628	: ( odr <= 52.0f ) ? 52.0f
cparata	2:8308cb42bc49	629	: ( odr <= 104.0f ) ? 104.0f
cparata	2:8308cb42bc49	630	: ( odr <= 208.0f ) ? 208.0f
cparata	2:8308cb42bc49	631	: ( odr <= 416.0f ) ? 416.0f
cparata	2:8308cb42bc49	632	: ( odr <= 833.0f ) ? 833.0f
cparata	2:8308cb42bc49	633	: ( odr <= 1660.0f ) ? 1660.0f
cparata	2:8308cb42bc49	634	: ( odr <= 3330.0f ) ? 3330.0f
cparata	2:8308cb42bc49	635	: 6660.0f;
cparata	2:8308cb42bc49	636
cparata	2:8308cb42bc49	637	return 0;
cparata	2:8308cb42bc49	638	}
cparata	2:8308cb42bc49	639
cparata	2:8308cb42bc49	640	/**
cparata	2:8308cb42bc49	641	* @brief Set LSM6DSL Gyroscope output data rate
cparata	2:8308cb42bc49	642	* @param odr the output data rate to be set
cparata	2:8308cb42bc49	643	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	644	*/
cparata	2:8308cb42bc49	645	int LSM6DSLSensor::Set_G_ODR(float odr)
cparata	2:8308cb42bc49	646	{
cparata	2:8308cb42bc49	647	if(G_isEnabled == 1)
cparata	2:8308cb42bc49	648	{
cparata	2:8308cb42bc49	649	if(Set_G_ODR_When_Enabled(odr) == 1)
cparata	2:8308cb42bc49	650	{
cparata	2:8308cb42bc49	651	return 1;
cparata	2:8308cb42bc49	652	}
cparata	2:8308cb42bc49	653	}
cparata	2:8308cb42bc49	654	else
cparata	2:8308cb42bc49	655	{
cparata	2:8308cb42bc49	656	if(Set_G_ODR_When_Disabled(odr) == 1)
cparata	2:8308cb42bc49	657	{
cparata	2:8308cb42bc49	658	return 1;
cparata	2:8308cb42bc49	659	}
cparata	2:8308cb42bc49	660	}
cparata	2:8308cb42bc49	661
cparata	2:8308cb42bc49	662	return 0;
cparata	2:8308cb42bc49	663	}
cparata	2:8308cb42bc49	664
cparata	2:8308cb42bc49	665	/**
cparata	2:8308cb42bc49	666	* @brief Set LSM6DSL Gyroscope output data rate when enabled
cparata	2:8308cb42bc49	667	* @param odr the output data rate to be set
cparata	2:8308cb42bc49	668	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	669	*/
cparata	2:8308cb42bc49	670	int LSM6DSLSensor::Set_G_ODR_When_Enabled(float odr)
cparata	2:8308cb42bc49	671	{
cparata	2:8308cb42bc49	672	LSM6DSL_ACC_GYRO_ODR_G_t new_odr;
cparata	2:8308cb42bc49	673
cparata	2:8308cb42bc49	674	new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_13Hz
cparata	2:8308cb42bc49	675	: ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_26Hz
cparata	2:8308cb42bc49	676	: ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_52Hz
cparata	2:8308cb42bc49	677	: ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_104Hz
cparata	2:8308cb42bc49	678	: ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_208Hz
cparata	2:8308cb42bc49	679	: ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_416Hz
cparata	2:8308cb42bc49	680	: ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_833Hz
cparata	2:8308cb42bc49	681	: ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_1660Hz
cparata	2:8308cb42bc49	682	: ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_3330Hz
cparata	2:8308cb42bc49	683	: LSM6DSL_ACC_GYRO_ODR_G_6660Hz;
cparata	2:8308cb42bc49	684
cparata	2:8308cb42bc49	685	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, new_odr ) == MEMS_ERROR )
cparata	2:8308cb42bc49	686	{
cparata	2:8308cb42bc49	687	return 1;
cparata	2:8308cb42bc49	688	}
cparata	2:8308cb42bc49	689
cparata	2:8308cb42bc49	690	return 0;
cparata	2:8308cb42bc49	691	}
cparata	2:8308cb42bc49	692
cparata	2:8308cb42bc49	693	/**
cparata	2:8308cb42bc49	694	* @brief Set LSM6DSL Gyroscope output data rate when disabled
cparata	2:8308cb42bc49	695	* @param odr the output data rate to be set
cparata	2:8308cb42bc49	696	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	697	*/
cparata	2:8308cb42bc49	698	int LSM6DSLSensor::Set_G_ODR_When_Disabled(float odr)
cparata	2:8308cb42bc49	699	{
cparata	2:8308cb42bc49	700	G_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata	2:8308cb42bc49	701	: ( odr <= 26.0f ) ? 26.0f
cparata	2:8308cb42bc49	702	: ( odr <= 52.0f ) ? 52.0f
cparata	2:8308cb42bc49	703	: ( odr <= 104.0f ) ? 104.0f
cparata	2:8308cb42bc49	704	: ( odr <= 208.0f ) ? 208.0f
cparata	2:8308cb42bc49	705	: ( odr <= 416.0f ) ? 416.0f
cparata	2:8308cb42bc49	706	: ( odr <= 833.0f ) ? 833.0f
cparata	2:8308cb42bc49	707	: ( odr <= 1660.0f ) ? 1660.0f
cparata	2:8308cb42bc49	708	: ( odr <= 3330.0f ) ? 3330.0f
cparata	2:8308cb42bc49	709	: 6660.0f;
cparata	2:8308cb42bc49	710
cparata	2:8308cb42bc49	711	return 0;
cparata	2:8308cb42bc49	712	}
cparata	2:8308cb42bc49	713
cparata	2:8308cb42bc49	714	/**
cparata	2:8308cb42bc49	715	* @brief Read LSM6DSL Accelerometer full scale
cparata	2:8308cb42bc49	716	* @param fullScale the pointer to the full scale
cparata	2:8308cb42bc49	717	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	718	*/
cparata	2:8308cb42bc49	719	int LSM6DSLSensor::Get_X_FS(float* fullScale)
cparata	2:8308cb42bc49	720	{
cparata	2:8308cb42bc49	721	LSM6DSL_ACC_GYRO_FS_XL_t fs_low_level;
cparata	2:8308cb42bc49	722
cparata	2:8308cb42bc49	723	if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata	2:8308cb42bc49	724	{
cparata	2:8308cb42bc49	725	return 1;
cparata	2:8308cb42bc49	726	}
cparata	2:8308cb42bc49	727
cparata	2:8308cb42bc49	728	switch( fs_low_level )
cparata	2:8308cb42bc49	729	{
cparata	2:8308cb42bc49	730	case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata	2:8308cb42bc49	731	*fullScale = 2.0f;
cparata	2:8308cb42bc49	732	break;
cparata	2:8308cb42bc49	733	case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata	2:8308cb42bc49	734	*fullScale = 4.0f;
cparata	2:8308cb42bc49	735	break;
cparata	2:8308cb42bc49	736	case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata	2:8308cb42bc49	737	*fullScale = 8.0f;
cparata	2:8308cb42bc49	738	break;
cparata	2:8308cb42bc49	739	case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata	2:8308cb42bc49	740	*fullScale = 16.0f;
cparata	2:8308cb42bc49	741	break;
cparata	2:8308cb42bc49	742	default:
cparata	2:8308cb42bc49	743	*fullScale = -1.0f;
cparata	2:8308cb42bc49	744	return 1;
cparata	2:8308cb42bc49	745	}
cparata	2:8308cb42bc49	746
cparata	2:8308cb42bc49	747	return 0;
cparata	2:8308cb42bc49	748	}
cparata	2:8308cb42bc49	749
cparata	2:8308cb42bc49	750	/**
cparata	2:8308cb42bc49	751	* @brief Read LSM6DSL Gyroscope full scale
cparata	2:8308cb42bc49	752	* @param fullScale the pointer to the full scale
cparata	2:8308cb42bc49	753	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	754	*/
cparata	2:8308cb42bc49	755	int LSM6DSLSensor::Get_G_FS(float* fullScale)
cparata	2:8308cb42bc49	756	{
cparata	2:8308cb42bc49	757	LSM6DSL_ACC_GYRO_FS_G_t fs_low_level;
cparata	2:8308cb42bc49	758	LSM6DSL_ACC_GYRO_FS_125_t fs_125;
cparata	2:8308cb42bc49	759
cparata	2:8308cb42bc49	760	if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fs_125 ) == MEMS_ERROR )
cparata	2:8308cb42bc49	761	{
cparata	2:8308cb42bc49	762	return 1;
cparata	2:8308cb42bc49	763	}
cparata	2:8308cb42bc49	764	if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata	2:8308cb42bc49	765	{
cparata	2:8308cb42bc49	766	return 1;
cparata	2:8308cb42bc49	767	}
cparata	2:8308cb42bc49	768
cparata	2:8308cb42bc49	769	if ( fs_125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata	2:8308cb42bc49	770	{
cparata	2:8308cb42bc49	771	*fullScale = 125.0f;
cparata	2:8308cb42bc49	772	}
cparata	2:8308cb42bc49	773
cparata	2:8308cb42bc49	774	else
cparata	2:8308cb42bc49	775	{
cparata	2:8308cb42bc49	776	switch( fs_low_level )
cparata	2:8308cb42bc49	777	{
cparata	2:8308cb42bc49	778	case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata	2:8308cb42bc49	779	*fullScale = 245.0f;
cparata	2:8308cb42bc49	780	break;
cparata	2:8308cb42bc49	781	case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata	2:8308cb42bc49	782	*fullScale = 500.0f;
cparata	2:8308cb42bc49	783	break;
cparata	2:8308cb42bc49	784	case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata	2:8308cb42bc49	785	*fullScale = 1000.0f;
cparata	2:8308cb42bc49	786	break;
cparata	2:8308cb42bc49	787	case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata	2:8308cb42bc49	788	*fullScale = 2000.0f;
cparata	2:8308cb42bc49	789	break;
cparata	2:8308cb42bc49	790	default:
cparata	2:8308cb42bc49	791	*fullScale = -1.0f;
cparata	2:8308cb42bc49	792	return 1;
cparata	2:8308cb42bc49	793	}
cparata	2:8308cb42bc49	794	}
cparata	2:8308cb42bc49	795
cparata	2:8308cb42bc49	796	return 0;
cparata	2:8308cb42bc49	797	}
cparata	2:8308cb42bc49	798
cparata	2:8308cb42bc49	799	/**
cparata	2:8308cb42bc49	800	* @brief Set LSM6DSL Accelerometer full scale
cparata	2:8308cb42bc49	801	* @param fullScale the full scale to be set
cparata	2:8308cb42bc49	802	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	803	*/
cparata	2:8308cb42bc49	804	int LSM6DSLSensor::Set_X_FS(float fullScale)
cparata	2:8308cb42bc49	805	{
cparata	2:8308cb42bc49	806	LSM6DSL_ACC_GYRO_FS_XL_t new_fs;
cparata	2:8308cb42bc49	807
cparata	2:8308cb42bc49	808	new_fs = ( fullScale <= 2.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_2g
cparata	2:8308cb42bc49	809	: ( fullScale <= 4.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_4g
cparata	2:8308cb42bc49	810	: ( fullScale <= 8.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_8g
cparata	2:8308cb42bc49	811	: LSM6DSL_ACC_GYRO_FS_XL_16g;
cparata	2:8308cb42bc49	812
cparata	2:8308cb42bc49	813	if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, new_fs ) == MEMS_ERROR )
cparata	2:8308cb42bc49	814	{
cparata	2:8308cb42bc49	815	return 1;
cparata	2:8308cb42bc49	816	}
cparata	2:8308cb42bc49	817
cparata	2:8308cb42bc49	818	return 0;
cparata	2:8308cb42bc49	819	}
cparata	2:8308cb42bc49	820
cparata	2:8308cb42bc49	821	/**
cparata	2:8308cb42bc49	822	* @brief Set LSM6DSL Gyroscope full scale
cparata	2:8308cb42bc49	823	* @param fullScale the full scale to be set
cparata	2:8308cb42bc49	824	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	825	*/
cparata	2:8308cb42bc49	826	int LSM6DSLSensor::Set_G_FS(float fullScale)
cparata	2:8308cb42bc49	827	{
cparata	2:8308cb42bc49	828	LSM6DSL_ACC_GYRO_FS_G_t new_fs;
cparata	2:8308cb42bc49	829
cparata	2:8308cb42bc49	830	if ( fullScale <= 125.0f )
cparata	2:8308cb42bc49	831	{
cparata	2:8308cb42bc49	832	if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	833	{
cparata	2:8308cb42bc49	834	return 1;
cparata	2:8308cb42bc49	835	}
cparata	2:8308cb42bc49	836	}
cparata	2:8308cb42bc49	837	else
cparata	2:8308cb42bc49	838	{
cparata	2:8308cb42bc49	839	new_fs = ( fullScale <= 245.0f ) ? LSM6DSL_ACC_GYRO_FS_G_245dps
cparata	2:8308cb42bc49	840	: ( fullScale <= 500.0f ) ? LSM6DSL_ACC_GYRO_FS_G_500dps
cparata	2:8308cb42bc49	841	: ( fullScale <= 1000.0f ) ? LSM6DSL_ACC_GYRO_FS_G_1000dps
cparata	2:8308cb42bc49	842	: LSM6DSL_ACC_GYRO_FS_G_2000dps;
cparata	2:8308cb42bc49	843
cparata	2:8308cb42bc49	844	if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	845	{
cparata	2:8308cb42bc49	846	return 1;
cparata	2:8308cb42bc49	847	}
cparata	2:8308cb42bc49	848	if ( LSM6DSL_ACC_GYRO_W_FS_G( (void *)this, new_fs ) == MEMS_ERROR )
cparata	2:8308cb42bc49	849	{
cparata	2:8308cb42bc49	850	return 1;
cparata	2:8308cb42bc49	851	}
cparata	2:8308cb42bc49	852	}
cparata	2:8308cb42bc49	853
cparata	2:8308cb42bc49	854	return 0;
cparata	2:8308cb42bc49	855	}
cparata	2:8308cb42bc49	856
cparata	2:8308cb42bc49	857	/**
cparata	2:8308cb42bc49	858	* @brief Enable free fall detection
cparata	2:8308cb42bc49	859	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:8308cb42bc49	860	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	861	*/
cparata	2:8308cb42bc49	862	int LSM6DSLSensor::Enable_Free_Fall_Detection(void)
cparata	2:8308cb42bc49	863	{
cparata	2:8308cb42bc49	864	/* Output Data Rate selection */
cparata	2:8308cb42bc49	865	if(Set_X_ODR(416.0f) == 1)
cparata	2:8308cb42bc49	866	{
cparata	2:8308cb42bc49	867	return 1;
cparata	2:8308cb42bc49	868	}
cparata	2:8308cb42bc49	869
cparata	2:8308cb42bc49	870	/* Full scale selection */
cparata	2:8308cb42bc49	871	if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, LSM6DSL_ACC_GYRO_FS_XL_2g ) == MEMS_ERROR )
cparata	2:8308cb42bc49	872	{
cparata	2:8308cb42bc49	873	return 1;
cparata	2:8308cb42bc49	874	}
cparata	2:8308cb42bc49	875
cparata	2:8308cb42bc49	876	/* FF_DUR setting */
cparata	2:8308cb42bc49	877	if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x06 ) == MEMS_ERROR )
cparata	2:8308cb42bc49	878	{
cparata	2:8308cb42bc49	879	return 1;
cparata	2:8308cb42bc49	880	}
cparata	2:8308cb42bc49	881
cparata	2:8308cb42bc49	882	/* WAKE_DUR setting */
cparata	2:8308cb42bc49	883	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:8308cb42bc49	884	{
cparata	2:8308cb42bc49	885	return 1;
cparata	2:8308cb42bc49	886	}
cparata	2:8308cb42bc49	887
cparata	2:8308cb42bc49	888	/* TIMER_HR setting */
cparata	2:8308cb42bc49	889	if ( LSM6DSL_ACC_GYRO_W_TIMER_HR( (void *)this, LSM6DSL_ACC_GYRO_TIMER_HR_6_4ms ) == MEMS_ERROR )
cparata	2:8308cb42bc49	890	{
cparata	2:8308cb42bc49	891	return 1;
cparata	2:8308cb42bc49	892	}
cparata	2:8308cb42bc49	893
cparata	2:8308cb42bc49	894	/* SLEEP_DUR setting */
cparata	2:8308cb42bc49	895	if ( LSM6DSL_ACC_GYRO_W_SLEEP_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:8308cb42bc49	896	{
cparata	2:8308cb42bc49	897	return 1;
cparata	2:8308cb42bc49	898	}
cparata	2:8308cb42bc49	899
cparata	2:8308cb42bc49	900	/* FF_THS setting */
cparata	2:8308cb42bc49	901	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_312mg ) == MEMS_ERROR )
cparata	2:8308cb42bc49	902	{
cparata	2:8308cb42bc49	903	return 1;
cparata	2:8308cb42bc49	904	}
cparata	2:8308cb42bc49	905
cparata	2:8308cb42bc49	906	/* Enable basic Interrupts */
cparata	2:8308cb42bc49	907	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	908	{
cparata	2:8308cb42bc49	909	return 1;
cparata	2:8308cb42bc49	910	}
cparata	2:8308cb42bc49	911
cparata	2:8308cb42bc49	912	/* INT1_FF setting */
cparata	2:8308cb42bc49	913	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	914	{
cparata	2:8308cb42bc49	915	return 1;
cparata	2:8308cb42bc49	916	}
cparata	2:8308cb42bc49	917
cparata	2:8308cb42bc49	918	return 0;
cparata	2:8308cb42bc49	919	}
cparata	2:8308cb42bc49	920
cparata	2:8308cb42bc49	921	/**
cparata	2:8308cb42bc49	922	* @brief Disable free fall detection
cparata	2:8308cb42bc49	923	* @param None
cparata	2:8308cb42bc49	924	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	925	*/
cparata	2:8308cb42bc49	926	int LSM6DSLSensor::Disable_Free_Fall_Detection(void)
cparata	2:8308cb42bc49	927	{
cparata	2:8308cb42bc49	928	/* INT1_FF setting */
cparata	2:8308cb42bc49	929	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	930	{
cparata	2:8308cb42bc49	931	return 1;
cparata	2:8308cb42bc49	932	}
cparata	2:8308cb42bc49	933
cparata	2:8308cb42bc49	934	/* Disable basic Interrupts */
cparata	2:8308cb42bc49	935	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	936	{
cparata	2:8308cb42bc49	937	return 1;
cparata	2:8308cb42bc49	938	}
cparata	2:8308cb42bc49	939
cparata	2:8308cb42bc49	940	/* FF_DUR setting */
cparata	2:8308cb42bc49	941	if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:8308cb42bc49	942	{
cparata	2:8308cb42bc49	943	return 1;
cparata	2:8308cb42bc49	944	}
cparata	2:8308cb42bc49	945
cparata	2:8308cb42bc49	946	/* FF_THS setting */
cparata	2:8308cb42bc49	947	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_156mg ) == MEMS_ERROR )
cparata	2:8308cb42bc49	948	{
cparata	2:8308cb42bc49	949	return 1;
cparata	2:8308cb42bc49	950	}
cparata	2:8308cb42bc49	951
cparata	2:8308cb42bc49	952	return 0;
cparata	2:8308cb42bc49	953	}
cparata	2:8308cb42bc49	954
cparata	2:8308cb42bc49	955	/**
cparata	2:8308cb42bc49	956	* @brief Get status of free fall detection
cparata	2:8308cb42bc49	957	* @param status the pointer where the status of free fall detection is stored; 0 means no detection, 1 means detection happened
cparata	2:8308cb42bc49	958	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	959	*/
cparata	2:8308cb42bc49	960	int LSM6DSLSensor::Get_Status_Free_Fall_Detection(uint8_t *status)
cparata	2:8308cb42bc49	961	{
cparata	2:8308cb42bc49	962	LSM6DSL_ACC_GYRO_FF_EV_STATUS_t free_fall_status;
cparata	2:8308cb42bc49	963
cparata	2:8308cb42bc49	964	if ( LSM6DSL_ACC_GYRO_R_FF_EV_STATUS( (void *)this, &free_fall_status ) == MEMS_ERROR )
cparata	2:8308cb42bc49	965	{
cparata	2:8308cb42bc49	966	return 1;
cparata	2:8308cb42bc49	967	}
cparata	2:8308cb42bc49	968
cparata	2:8308cb42bc49	969	switch( free_fall_status )
cparata	2:8308cb42bc49	970	{
cparata	2:8308cb42bc49	971	case LSM6DSL_ACC_GYRO_FF_EV_STATUS_DETECTED:
cparata	2:8308cb42bc49	972	*status = 1;
cparata	2:8308cb42bc49	973	break;
cparata	2:8308cb42bc49	974	case LSM6DSL_ACC_GYRO_FF_EV_STATUS_NOT_DETECTED:
cparata	2:8308cb42bc49	975	*status = 0;
cparata	2:8308cb42bc49	976	break;
cparata	2:8308cb42bc49	977	default:
cparata	2:8308cb42bc49	978	return 1;
cparata	2:8308cb42bc49	979	}
cparata	2:8308cb42bc49	980
cparata	2:8308cb42bc49	981	return 0;
cparata	2:8308cb42bc49	982	}
cparata	2:8308cb42bc49	983
cparata	2:8308cb42bc49	984	/**
cparata	2:8308cb42bc49	985	* @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	986	* @param thr the threshold to be set
cparata	2:8308cb42bc49	987	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	988	*/
cparata	2:8308cb42bc49	989	int LSM6DSLSensor::Set_Free_Fall_Threshold(uint8_t thr)
cparata	2:8308cb42bc49	990	{
cparata	2:8308cb42bc49	991
cparata	2:8308cb42bc49	992	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR )
cparata	2:8308cb42bc49	993	{
cparata	2:8308cb42bc49	994	return 1;
cparata	2:8308cb42bc49	995	}
cparata	2:8308cb42bc49	996
cparata	2:8308cb42bc49	997	return 0;
cparata	2:8308cb42bc49	998	}
cparata	2:8308cb42bc49	999
cparata	2:8308cb42bc49	1000	/**
cparata	2:8308cb42bc49	1001	* @brief Enable the pedometer feature for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1002	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:8308cb42bc49	1003	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1004	*/
cparata	2:8308cb42bc49	1005	int LSM6DSLSensor::Enable_Pedometer(void)
cparata	2:8308cb42bc49	1006	{
cparata	2:8308cb42bc49	1007	/* Output Data Rate selection */
cparata	2:8308cb42bc49	1008	if( Set_X_ODR(26.0f) == 1 )
cparata	2:8308cb42bc49	1009	{
cparata	2:8308cb42bc49	1010	return 1;
cparata	2:8308cb42bc49	1011	}
cparata	2:8308cb42bc49	1012
cparata	2:8308cb42bc49	1013	/* Full scale selection. */
cparata	2:8308cb42bc49	1014	if( Set_X_FS(2.0f) == 1 )
cparata	2:8308cb42bc49	1015	{
cparata	2:8308cb42bc49	1016	return 1;
cparata	2:8308cb42bc49	1017	}
cparata	2:8308cb42bc49	1018
cparata	2:8308cb42bc49	1019	/* Set pedometer threshold. */
cparata	2:8308cb42bc49	1020	if ( Set_Pedometer_Threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == 1 )
cparata	2:8308cb42bc49	1021	{
cparata	2:8308cb42bc49	1022	return 1;
cparata	2:8308cb42bc49	1023	}
cparata	2:8308cb42bc49	1024
cparata	2:8308cb42bc49	1025	/* Enable embedded functionalities. */
cparata	2:8308cb42bc49	1026	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1027	{
cparata	2:8308cb42bc49	1028	return 1;
cparata	2:8308cb42bc49	1029	}
cparata	2:8308cb42bc49	1030
cparata	2:8308cb42bc49	1031	/* Enable pedometer algorithm. */
cparata	2:8308cb42bc49	1032	if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1033	{
cparata	2:8308cb42bc49	1034	return 1;
cparata	2:8308cb42bc49	1035	}
cparata	2:8308cb42bc49	1036
cparata	2:8308cb42bc49	1037	/* Enable pedometer on INT1. */
cparata	2:8308cb42bc49	1038	if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1039	{
cparata	2:8308cb42bc49	1040	return 1;
cparata	2:8308cb42bc49	1041	}
cparata	2:8308cb42bc49	1042
cparata	2:8308cb42bc49	1043	return 0;
cparata	2:8308cb42bc49	1044	}
cparata	2:8308cb42bc49	1045
cparata	2:8308cb42bc49	1046	/**
cparata	2:8308cb42bc49	1047	* @brief Disable the pedometer feature for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1048	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1049	*/
cparata	2:8308cb42bc49	1050	int LSM6DSLSensor::Disable_Pedometer(void)
cparata	2:8308cb42bc49	1051	{
cparata	2:8308cb42bc49	1052	/* Disable pedometer on INT1. */
cparata	2:8308cb42bc49	1053	if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1054	{
cparata	2:8308cb42bc49	1055	return 1;
cparata	2:8308cb42bc49	1056	}
cparata	2:8308cb42bc49	1057
cparata	2:8308cb42bc49	1058	/* Disable pedometer algorithm. */
cparata	2:8308cb42bc49	1059	if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1060	{
cparata	2:8308cb42bc49	1061	return 1;
cparata	2:8308cb42bc49	1062	}
cparata	2:8308cb42bc49	1063
cparata	2:8308cb42bc49	1064	/* Disable embedded functionalities. */
cparata	2:8308cb42bc49	1065	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1066	{
cparata	2:8308cb42bc49	1067	return 1;
cparata	2:8308cb42bc49	1068	}
cparata	2:8308cb42bc49	1069
cparata	2:8308cb42bc49	1070	/* Reset pedometer threshold. */
cparata	2:8308cb42bc49	1071	if ( Set_Pedometer_Threshold(0x0) == 1 )
cparata	2:8308cb42bc49	1072	{
cparata	2:8308cb42bc49	1073	return 1;
cparata	2:8308cb42bc49	1074	}
cparata	2:8308cb42bc49	1075
cparata	2:8308cb42bc49	1076	return 0;
cparata	2:8308cb42bc49	1077	}
cparata	2:8308cb42bc49	1078
cparata	2:8308cb42bc49	1079	/**
cparata	2:8308cb42bc49	1080	* @brief Get the pedometer status for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1081	* @param status the pointer to the pedometer status: 0 means no step detected, 1 means step detected
cparata	2:8308cb42bc49	1082	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1083	*/
cparata	2:8308cb42bc49	1084	int LSM6DSLSensor::Get_Status_Pedometer(uint8_t *status)
cparata	2:8308cb42bc49	1085	{
cparata	2:8308cb42bc49	1086	LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_t pedometer_status;
cparata	2:8308cb42bc49	1087
cparata	2:8308cb42bc49	1088	if ( LSM6DSL_ACC_GYRO_R_PEDO_EV_STATUS( (void *)this, &pedometer_status ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1089	{
cparata	2:8308cb42bc49	1090	return 1;
cparata	2:8308cb42bc49	1091	}
cparata	2:8308cb42bc49	1092
cparata	2:8308cb42bc49	1093	switch( pedometer_status )
cparata	2:8308cb42bc49	1094	{
cparata	2:8308cb42bc49	1095	case LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_DETECTED:
cparata	2:8308cb42bc49	1096	*status = 1;
cparata	2:8308cb42bc49	1097	break;
cparata	2:8308cb42bc49	1098	case LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_NOT_DETECTED:
cparata	2:8308cb42bc49	1099	*status = 0;
cparata	2:8308cb42bc49	1100	break;
cparata	2:8308cb42bc49	1101	default:
cparata	2:8308cb42bc49	1102	return 1;
cparata	2:8308cb42bc49	1103	}
cparata	2:8308cb42bc49	1104
cparata	2:8308cb42bc49	1105	return 0;
cparata	2:8308cb42bc49	1106	}
cparata	2:8308cb42bc49	1107
cparata	2:8308cb42bc49	1108	/**
cparata	2:8308cb42bc49	1109	* @brief Get the step counter for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1110	* @param step_count the pointer to the step counter
cparata	2:8308cb42bc49	1111	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1112	*/
cparata	2:8308cb42bc49	1113	int LSM6DSLSensor::Get_Step_Counter(uint16_t *step_count)
cparata	2:8308cb42bc49	1114	{
cparata	2:8308cb42bc49	1115	if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void )this, ( uint8_t )step_count ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1116	{
cparata	2:8308cb42bc49	1117	return 1;
cparata	2:8308cb42bc49	1118	}
cparata	2:8308cb42bc49	1119
cparata	2:8308cb42bc49	1120	return 0;
cparata	2:8308cb42bc49	1121	}
cparata	2:8308cb42bc49	1122
cparata	2:8308cb42bc49	1123	/**
cparata	2:8308cb42bc49	1124	* @brief Reset of the step counter for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1125	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1126	*/
cparata	2:8308cb42bc49	1127	int LSM6DSLSensor::Reset_Step_Counter(void)
cparata	2:8308cb42bc49	1128	{
cparata	2:8308cb42bc49	1129	if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1130	{
cparata	2:8308cb42bc49	1131	return 1;
cparata	2:8308cb42bc49	1132	}
cparata	2:8308cb42bc49	1133
cparata	2:8308cb42bc49	1134	wait_ms(10);
cparata	2:8308cb42bc49	1135
cparata	2:8308cb42bc49	1136	if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1137	{
cparata	2:8308cb42bc49	1138	return 1;
cparata	2:8308cb42bc49	1139	}
cparata	2:8308cb42bc49	1140
cparata	2:8308cb42bc49	1141	return 0;
cparata	2:8308cb42bc49	1142	}
cparata	2:8308cb42bc49	1143
cparata	2:8308cb42bc49	1144	/**
cparata	2:8308cb42bc49	1145	* @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1146	* @param thr the threshold to be set
cparata	2:8308cb42bc49	1147	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1148	*/
cparata	2:8308cb42bc49	1149	int LSM6DSLSensor::Set_Pedometer_Threshold(uint8_t thr)
cparata	2:8308cb42bc49	1150	{
cparata	2:8308cb42bc49	1151	if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1152	{
cparata	2:8308cb42bc49	1153	return 1;
cparata	2:8308cb42bc49	1154	}
cparata	2:8308cb42bc49	1155
cparata	2:8308cb42bc49	1156	return 0;
cparata	2:8308cb42bc49	1157	}
cparata	2:8308cb42bc49	1158
cparata	2:8308cb42bc49	1159	/**
cparata	2:8308cb42bc49	1160	* @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1161	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:8308cb42bc49	1162	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1163	*/
cparata	2:8308cb42bc49	1164	int LSM6DSLSensor::Enable_Tilt_Detection(void)
cparata	2:8308cb42bc49	1165	{
cparata	2:8308cb42bc49	1166	/* Output Data Rate selection */
cparata	2:8308cb42bc49	1167	if( Set_X_ODR(26.0f) == 1 )
cparata	2:8308cb42bc49	1168	{
cparata	2:8308cb42bc49	1169	return 1;
cparata	2:8308cb42bc49	1170	}
cparata	2:8308cb42bc49	1171
cparata	2:8308cb42bc49	1172	/* Full scale selection. */
cparata	2:8308cb42bc49	1173	if( Set_X_FS(2.0f) == 1 )
cparata	2:8308cb42bc49	1174	{
cparata	2:8308cb42bc49	1175	return 1;
cparata	2:8308cb42bc49	1176	}
cparata	2:8308cb42bc49	1177
cparata	2:8308cb42bc49	1178	/* Enable embedded functionalities */
cparata	2:8308cb42bc49	1179	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1180	{
cparata	2:8308cb42bc49	1181	return 1;
cparata	2:8308cb42bc49	1182	}
cparata	2:8308cb42bc49	1183
cparata	2:8308cb42bc49	1184	/* Enable tilt calculation. */
cparata	2:8308cb42bc49	1185	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1186	{
cparata	2:8308cb42bc49	1187	return 1;
cparata	2:8308cb42bc49	1188	}
cparata	2:8308cb42bc49	1189
cparata	2:8308cb42bc49	1190	/* Enable tilt event on INT1. */
cparata	2:8308cb42bc49	1191	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1192	{
cparata	2:8308cb42bc49	1193	return 1;
cparata	2:8308cb42bc49	1194	}
cparata	2:8308cb42bc49	1195
cparata	2:8308cb42bc49	1196	return 0;
cparata	2:8308cb42bc49	1197	}
cparata	2:8308cb42bc49	1198
cparata	2:8308cb42bc49	1199	/**
cparata	2:8308cb42bc49	1200	* @brief Disable the tilt detection for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1201	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1202	*/
cparata	2:8308cb42bc49	1203	int LSM6DSLSensor::Disable_Tilt_Detection(void)
cparata	2:8308cb42bc49	1204	{
cparata	2:8308cb42bc49	1205	/* Disable tilt event on INT1. */
cparata	2:8308cb42bc49	1206	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1207	{
cparata	2:8308cb42bc49	1208	return 1;
cparata	2:8308cb42bc49	1209	}
cparata	2:8308cb42bc49	1210
cparata	2:8308cb42bc49	1211	/* Disable tilt calculation. */
cparata	2:8308cb42bc49	1212	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1213	{
cparata	2:8308cb42bc49	1214	return 1;
cparata	2:8308cb42bc49	1215	}
cparata	2:8308cb42bc49	1216
cparata	2:8308cb42bc49	1217	/* Disable embedded functionalities */
cparata	2:8308cb42bc49	1218	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1219	{
cparata	2:8308cb42bc49	1220	return 1;
cparata	2:8308cb42bc49	1221	}
cparata	2:8308cb42bc49	1222
cparata	2:8308cb42bc49	1223	return 0;
cparata	2:8308cb42bc49	1224	}
cparata	2:8308cb42bc49	1225
cparata	2:8308cb42bc49	1226	/**
cparata	2:8308cb42bc49	1227	* @brief Get the tilt detection status for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1228	* @param status the pointer to the tilt detection status: 0 means no tilt detected, 1 means tilt detected
cparata	2:8308cb42bc49	1229	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1230	*/
cparata	2:8308cb42bc49	1231	int LSM6DSLSensor::Get_Status_Tilt_Detection(uint8_t *status)
cparata	2:8308cb42bc49	1232	{
cparata	2:8308cb42bc49	1233	LSM6DSL_ACC_GYRO_TILT_EV_STATUS_t tilt_status;
cparata	2:8308cb42bc49	1234
cparata	2:8308cb42bc49	1235	if ( LSM6DSL_ACC_GYRO_R_TILT_EV_STATUS( (void *)this, &tilt_status ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1236	{
cparata	2:8308cb42bc49	1237	return 1;
cparata	2:8308cb42bc49	1238	}
cparata	2:8308cb42bc49	1239
cparata	2:8308cb42bc49	1240	switch( tilt_status )
cparata	2:8308cb42bc49	1241	{
cparata	2:8308cb42bc49	1242	case LSM6DSL_ACC_GYRO_TILT_EV_STATUS_DETECTED:
cparata	2:8308cb42bc49	1243	*status = 1;
cparata	2:8308cb42bc49	1244	break;
cparata	2:8308cb42bc49	1245	case LSM6DSL_ACC_GYRO_TILT_EV_STATUS_NOT_DETECTED:
cparata	2:8308cb42bc49	1246	*status = 0;
cparata	2:8308cb42bc49	1247	break;
cparata	2:8308cb42bc49	1248	default:
cparata	2:8308cb42bc49	1249	return 1;
cparata	2:8308cb42bc49	1250	}
cparata	2:8308cb42bc49	1251
cparata	2:8308cb42bc49	1252	return 0;
cparata	2:8308cb42bc49	1253	}
cparata	2:8308cb42bc49	1254
cparata	2:8308cb42bc49	1255	/**
cparata	2:8308cb42bc49	1256	* @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1257	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:8308cb42bc49	1258	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1259	*/
cparata	2:8308cb42bc49	1260	int LSM6DSLSensor::Enable_Wake_Up_Detection(void)
cparata	2:8308cb42bc49	1261	{
cparata	2:8308cb42bc49	1262	/* Output Data Rate selection */
cparata	2:8308cb42bc49	1263	if( Set_X_ODR(416.0f) == 1 )
cparata	2:8308cb42bc49	1264	{
cparata	2:8308cb42bc49	1265	return 1;
cparata	2:8308cb42bc49	1266	}
cparata	2:8308cb42bc49	1267
cparata	2:8308cb42bc49	1268	/* Full scale selection. */
cparata	2:8308cb42bc49	1269	if( Set_X_FS(2.0f) == 1 )
cparata	2:8308cb42bc49	1270	{
cparata	2:8308cb42bc49	1271	return 1;
cparata	2:8308cb42bc49	1272	}
cparata	2:8308cb42bc49	1273
cparata	2:8308cb42bc49	1274	/* WAKE_DUR setting */
cparata	2:8308cb42bc49	1275	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1276	{
cparata	2:8308cb42bc49	1277	return 1;
cparata	2:8308cb42bc49	1278	}
cparata	2:8308cb42bc49	1279
cparata	2:8308cb42bc49	1280	/* Set wake up threshold. */
cparata	2:8308cb42bc49	1281	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1282	{
cparata	2:8308cb42bc49	1283	return 1;
cparata	2:8308cb42bc49	1284	}
cparata	2:8308cb42bc49	1285
cparata	2:8308cb42bc49	1286	/* Enable basic Interrupts */
cparata	2:8308cb42bc49	1287	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1288	{
cparata	2:8308cb42bc49	1289	return 1;
cparata	2:8308cb42bc49	1290	}
cparata	2:8308cb42bc49	1291
cparata	2:8308cb42bc49	1292	/* INT1_WU setting */
cparata	2:8308cb42bc49	1293	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1294	{
cparata	2:8308cb42bc49	1295	return 1;
cparata	2:8308cb42bc49	1296	}
cparata	2:8308cb42bc49	1297
cparata	2:8308cb42bc49	1298	return 0;
cparata	2:8308cb42bc49	1299	}
cparata	2:8308cb42bc49	1300
cparata	2:8308cb42bc49	1301	/**
cparata	2:8308cb42bc49	1302	* @brief Disable the wake up detection for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1303	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1304	*/
cparata	2:8308cb42bc49	1305	int LSM6DSLSensor::Disable_Wake_Up_Detection(void)
cparata	2:8308cb42bc49	1306	{
cparata	2:8308cb42bc49	1307	/* INT1_WU setting */
cparata	2:8308cb42bc49	1308	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1309	{
cparata	2:8308cb42bc49	1310	return 1;
cparata	2:8308cb42bc49	1311	}
cparata	2:8308cb42bc49	1312
cparata	2:8308cb42bc49	1313	/* Disable basic Interrupts */
cparata	2:8308cb42bc49	1314	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1315	{
cparata	2:8308cb42bc49	1316	return 1;
cparata	2:8308cb42bc49	1317	}
cparata	2:8308cb42bc49	1318
cparata	2:8308cb42bc49	1319	/* WU_DUR setting */
cparata	2:8308cb42bc49	1320	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1321	{
cparata	2:8308cb42bc49	1322	return 1;
cparata	2:8308cb42bc49	1323	}
cparata	2:8308cb42bc49	1324
cparata	2:8308cb42bc49	1325	/* WU_THS setting */
cparata	2:8308cb42bc49	1326	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1327	{
cparata	2:8308cb42bc49	1328	return 1;
cparata	2:8308cb42bc49	1329	}
cparata	2:8308cb42bc49	1330
cparata	2:8308cb42bc49	1331	return 0;
cparata	2:8308cb42bc49	1332	}
cparata	2:8308cb42bc49	1333
cparata	2:8308cb42bc49	1334	/**
cparata	2:8308cb42bc49	1335	* @brief Get the status of the wake up detection for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1336	* @param status the pointer to the status of the wake up detection: 0 means no detection, 1 means detection happened
cparata	2:8308cb42bc49	1337	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1338	*/
cparata	2:8308cb42bc49	1339	int LSM6DSLSensor::Get_Status_Wake_Up_Detection(uint8_t *status)
cparata	2:8308cb42bc49	1340	{
cparata	2:8308cb42bc49	1341	LSM6DSL_ACC_GYRO_WU_EV_STATUS_t wake_up_status;
cparata	2:8308cb42bc49	1342
cparata	2:8308cb42bc49	1343	if ( LSM6DSL_ACC_GYRO_R_WU_EV_STATUS( (void *)this, &wake_up_status ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1344	{
cparata	2:8308cb42bc49	1345	return 1;
cparata	2:8308cb42bc49	1346	}
cparata	2:8308cb42bc49	1347
cparata	2:8308cb42bc49	1348	switch( wake_up_status )
cparata	2:8308cb42bc49	1349	{
cparata	2:8308cb42bc49	1350	case LSM6DSL_ACC_GYRO_WU_EV_STATUS_DETECTED:
cparata	2:8308cb42bc49	1351	*status = 1;
cparata	2:8308cb42bc49	1352	break;
cparata	2:8308cb42bc49	1353	case LSM6DSL_ACC_GYRO_WU_EV_STATUS_NOT_DETECTED:
cparata	2:8308cb42bc49	1354	*status = 0;
cparata	2:8308cb42bc49	1355	break;
cparata	2:8308cb42bc49	1356	default:
cparata	2:8308cb42bc49	1357	return 1;
cparata	2:8308cb42bc49	1358	}
cparata	2:8308cb42bc49	1359
cparata	2:8308cb42bc49	1360	return 0;
cparata	2:8308cb42bc49	1361	}
cparata	2:8308cb42bc49	1362
cparata	2:8308cb42bc49	1363	/**
cparata	2:8308cb42bc49	1364	* @brief Set the wake up threshold for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1365	* @param thr the threshold to be set
cparata	2:8308cb42bc49	1366	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1367	*/
cparata	2:8308cb42bc49	1368	int LSM6DSLSensor::Set_Wake_Up_Threshold(uint8_t thr)
cparata	2:8308cb42bc49	1369	{
cparata	2:8308cb42bc49	1370	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1371	{
cparata	2:8308cb42bc49	1372	return 1;
cparata	2:8308cb42bc49	1373	}
cparata	2:8308cb42bc49	1374
cparata	2:8308cb42bc49	1375	return 0;
cparata	2:8308cb42bc49	1376	}
cparata	2:8308cb42bc49	1377
cparata	2:8308cb42bc49	1378	/**
cparata	2:8308cb42bc49	1379	* @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1380	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:8308cb42bc49	1381	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1382	*/
cparata	2:8308cb42bc49	1383	int LSM6DSLSensor::Enable_Single_Tap_Detection(void)
cparata	2:8308cb42bc49	1384	{
cparata	2:8308cb42bc49	1385	/* Output Data Rate selection */
cparata	2:8308cb42bc49	1386	if( Set_X_ODR(416.0f) == 1 )
cparata	2:8308cb42bc49	1387	{
cparata	2:8308cb42bc49	1388	return 1;
cparata	2:8308cb42bc49	1389	}
cparata	2:8308cb42bc49	1390
cparata	2:8308cb42bc49	1391	/* Full scale selection. */
cparata	2:8308cb42bc49	1392	if( Set_X_FS(2.0f) == 1 )
cparata	2:8308cb42bc49	1393	{
cparata	2:8308cb42bc49	1394	return 1;
cparata	2:8308cb42bc49	1395	}
cparata	2:8308cb42bc49	1396
cparata	2:8308cb42bc49	1397	/* Enable X direction in tap recognition. */
cparata	2:8308cb42bc49	1398	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1399	{
cparata	2:8308cb42bc49	1400	return 1;
cparata	2:8308cb42bc49	1401	}
cparata	2:8308cb42bc49	1402
cparata	2:8308cb42bc49	1403	/* Enable Y direction in tap recognition. */
cparata	2:8308cb42bc49	1404	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1405	{
cparata	2:8308cb42bc49	1406	return 1;
cparata	2:8308cb42bc49	1407	}
cparata	2:8308cb42bc49	1408
cparata	2:8308cb42bc49	1409	/* Enable Z direction in tap recognition. */
cparata	2:8308cb42bc49	1410	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1411	{
cparata	2:8308cb42bc49	1412	return 1;
cparata	2:8308cb42bc49	1413	}
cparata	2:8308cb42bc49	1414
cparata	2:8308cb42bc49	1415	/* Set tap threshold. */
cparata	2:8308cb42bc49	1416	if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata	2:8308cb42bc49	1417	{
cparata	2:8308cb42bc49	1418	return 1;
cparata	2:8308cb42bc49	1419	}
cparata	2:8308cb42bc49	1420
cparata	2:8308cb42bc49	1421	/* Set tap shock time window. */
cparata	2:8308cb42bc49	1422	if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == 1 )
cparata	2:8308cb42bc49	1423	{
cparata	2:8308cb42bc49	1424	return 1;
cparata	2:8308cb42bc49	1425	}
cparata	2:8308cb42bc49	1426
cparata	2:8308cb42bc49	1427	/* Set tap quiet time window. */
cparata	2:8308cb42bc49	1428	if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == 1 )
cparata	2:8308cb42bc49	1429	{
cparata	2:8308cb42bc49	1430	return 1;
cparata	2:8308cb42bc49	1431	}
cparata	2:8308cb42bc49	1432
cparata	2:8308cb42bc49	1433	/* _NOTE_: Tap duration time window - don't care for single tap. */
cparata	2:8308cb42bc49	1434
cparata	2:8308cb42bc49	1435	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata	2:8308cb42bc49	1436
cparata	2:8308cb42bc49	1437	/* Enable basic Interrupts */
cparata	2:8308cb42bc49	1438	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1439	{
cparata	2:8308cb42bc49	1440	return 1;
cparata	2:8308cb42bc49	1441	}
cparata	2:8308cb42bc49	1442
cparata	2:8308cb42bc49	1443	/* Enable single tap interrupt on INT1 pin. */
cparata	2:8308cb42bc49	1444	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1445	{
cparata	2:8308cb42bc49	1446	return 1;
cparata	2:8308cb42bc49	1447	}
cparata	2:8308cb42bc49	1448
cparata	2:8308cb42bc49	1449	return 0;
cparata	2:8308cb42bc49	1450	}
cparata	2:8308cb42bc49	1451
cparata	2:8308cb42bc49	1452	/**
cparata	2:8308cb42bc49	1453	* @brief Disable the single tap detection for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1454	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1455	*/
cparata	2:8308cb42bc49	1456	int LSM6DSLSensor::Disable_Single_Tap_Detection(void)
cparata	2:8308cb42bc49	1457	{
cparata	2:8308cb42bc49	1458	/* Disable single tap interrupt on INT1 pin. */
cparata	2:8308cb42bc49	1459	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1460	{
cparata	2:8308cb42bc49	1461	return 1;
cparata	2:8308cb42bc49	1462	}
cparata	2:8308cb42bc49	1463
cparata	2:8308cb42bc49	1464	/* Disable basic Interrupts */
cparata	2:8308cb42bc49	1465	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1466	{
cparata	2:8308cb42bc49	1467	return 1;
cparata	2:8308cb42bc49	1468	}
cparata	2:8308cb42bc49	1469
cparata	2:8308cb42bc49	1470	/* Reset tap threshold. */
cparata	2:8308cb42bc49	1471	if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata	2:8308cb42bc49	1472	{
cparata	2:8308cb42bc49	1473	return 1;
cparata	2:8308cb42bc49	1474	}
cparata	2:8308cb42bc49	1475
cparata	2:8308cb42bc49	1476	/* Reset tap shock time window. */
cparata	2:8308cb42bc49	1477	if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata	2:8308cb42bc49	1478	{
cparata	2:8308cb42bc49	1479	return 1;
cparata	2:8308cb42bc49	1480	}
cparata	2:8308cb42bc49	1481
cparata	2:8308cb42bc49	1482	/* Reset tap quiet time window. */
cparata	2:8308cb42bc49	1483	if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata	2:8308cb42bc49	1484	{
cparata	2:8308cb42bc49	1485	return 1;
cparata	2:8308cb42bc49	1486	}
cparata	2:8308cb42bc49	1487
cparata	2:8308cb42bc49	1488	/* _NOTE_: Tap duration time window - don't care for single tap. */
cparata	2:8308cb42bc49	1489
cparata	2:8308cb42bc49	1490	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata	2:8308cb42bc49	1491
cparata	2:8308cb42bc49	1492	/* Disable Z direction in tap recognition. */
cparata	2:8308cb42bc49	1493	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1494	{
cparata	2:8308cb42bc49	1495	return 1;
cparata	2:8308cb42bc49	1496	}
cparata	2:8308cb42bc49	1497
cparata	2:8308cb42bc49	1498	/* Disable Y direction in tap recognition. */
cparata	2:8308cb42bc49	1499	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1500	{
cparata	2:8308cb42bc49	1501	return 1;
cparata	2:8308cb42bc49	1502	}
cparata	2:8308cb42bc49	1503
cparata	2:8308cb42bc49	1504	/* Disable X direction in tap recognition. */
cparata	2:8308cb42bc49	1505	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1506	{
cparata	2:8308cb42bc49	1507	return 1;
cparata	2:8308cb42bc49	1508	}
cparata	2:8308cb42bc49	1509
cparata	2:8308cb42bc49	1510	return 0;
cparata	2:8308cb42bc49	1511	}
cparata	2:8308cb42bc49	1512
cparata	2:8308cb42bc49	1513	/**
cparata	2:8308cb42bc49	1514	* @brief Get the single tap detection status for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1515	* @param status the pointer to the single tap detection status: 0 means no single tap detected, 1 means single tap detected
cparata	2:8308cb42bc49	1516	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1517	*/
cparata	2:8308cb42bc49	1518	int LSM6DSLSensor::Get_Status_Single_Tap_Detection(uint8_t *status)
cparata	2:8308cb42bc49	1519	{
cparata	2:8308cb42bc49	1520	LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_t tap_status;
cparata	2:8308cb42bc49	1521
cparata	2:8308cb42bc49	1522	if ( LSM6DSL_ACC_GYRO_R_SINGLE_TAP_EV_STATUS( (void *)this, &tap_status ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1523	{
cparata	2:8308cb42bc49	1524	return 1;
cparata	2:8308cb42bc49	1525	}
cparata	2:8308cb42bc49	1526
cparata	2:8308cb42bc49	1527	switch( tap_status )
cparata	2:8308cb42bc49	1528	{
cparata	2:8308cb42bc49	1529	case LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_DETECTED:
cparata	2:8308cb42bc49	1530	*status = 1;
cparata	2:8308cb42bc49	1531	break;
cparata	2:8308cb42bc49	1532
cparata	2:8308cb42bc49	1533	case LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_NOT_DETECTED:
cparata	2:8308cb42bc49	1534	*status = 0;
cparata	2:8308cb42bc49	1535	break;
cparata	2:8308cb42bc49	1536
cparata	2:8308cb42bc49	1537	default:
cparata	2:8308cb42bc49	1538	return 1;
cparata	2:8308cb42bc49	1539	}
cparata	2:8308cb42bc49	1540
cparata	2:8308cb42bc49	1541	return 0;
cparata	2:8308cb42bc49	1542	}
cparata	2:8308cb42bc49	1543
cparata	2:8308cb42bc49	1544	/**
cparata	2:8308cb42bc49	1545	* @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1546	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:8308cb42bc49	1547	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1548	*/
cparata	2:8308cb42bc49	1549	int LSM6DSLSensor::Enable_Double_Tap_Detection(void)
cparata	2:8308cb42bc49	1550	{
cparata	2:8308cb42bc49	1551	/* Output Data Rate selection */
cparata	2:8308cb42bc49	1552	if( Set_X_ODR(416.0f) == 1 )
cparata	2:8308cb42bc49	1553	{
cparata	2:8308cb42bc49	1554	return 1;
cparata	2:8308cb42bc49	1555	}
cparata	2:8308cb42bc49	1556
cparata	2:8308cb42bc49	1557	/* Full scale selection. */
cparata	2:8308cb42bc49	1558	if( Set_X_FS(2.0f) == 1 )
cparata	2:8308cb42bc49	1559	{
cparata	2:8308cb42bc49	1560	return 1;
cparata	2:8308cb42bc49	1561	}
cparata	2:8308cb42bc49	1562
cparata	2:8308cb42bc49	1563	/* Enable X direction in tap recognition. */
cparata	2:8308cb42bc49	1564	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1565	{
cparata	2:8308cb42bc49	1566	return 1;
cparata	2:8308cb42bc49	1567	}
cparata	2:8308cb42bc49	1568
cparata	2:8308cb42bc49	1569	/* Enable Y direction in tap recognition. */
cparata	2:8308cb42bc49	1570	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1571	{
cparata	2:8308cb42bc49	1572	return 1;
cparata	2:8308cb42bc49	1573	}
cparata	2:8308cb42bc49	1574
cparata	2:8308cb42bc49	1575	/* Enable Z direction in tap recognition. */
cparata	2:8308cb42bc49	1576	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1577	{
cparata	2:8308cb42bc49	1578	return 1;
cparata	2:8308cb42bc49	1579	}
cparata	2:8308cb42bc49	1580
cparata	2:8308cb42bc49	1581	/* Set tap threshold. */
cparata	2:8308cb42bc49	1582	if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata	2:8308cb42bc49	1583	{
cparata	2:8308cb42bc49	1584	return 1;
cparata	2:8308cb42bc49	1585	}
cparata	2:8308cb42bc49	1586
cparata	2:8308cb42bc49	1587	/* Set tap shock time window. */
cparata	2:8308cb42bc49	1588	if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == 1 )
cparata	2:8308cb42bc49	1589	{
cparata	2:8308cb42bc49	1590	return 1;
cparata	2:8308cb42bc49	1591	}
cparata	2:8308cb42bc49	1592
cparata	2:8308cb42bc49	1593	/* Set tap quiet time window. */
cparata	2:8308cb42bc49	1594	if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == 1 )
cparata	2:8308cb42bc49	1595	{
cparata	2:8308cb42bc49	1596	return 1;
cparata	2:8308cb42bc49	1597	}
cparata	2:8308cb42bc49	1598
cparata	2:8308cb42bc49	1599	/* Set tap duration time window. */
cparata	2:8308cb42bc49	1600	if ( Set_Tap_Duration_Time( LSM6DSL_TAP_DURATION_TIME_MID ) == 1 )
cparata	2:8308cb42bc49	1601	{
cparata	2:8308cb42bc49	1602	return 1;
cparata	2:8308cb42bc49	1603	}
cparata	2:8308cb42bc49	1604
cparata	2:8308cb42bc49	1605	/* Single and double tap enabled. */
cparata	2:8308cb42bc49	1606	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1607	{
cparata	2:8308cb42bc49	1608	return 1;
cparata	2:8308cb42bc49	1609	}
cparata	2:8308cb42bc49	1610
cparata	2:8308cb42bc49	1611	/* Enable basic Interrupts */
cparata	2:8308cb42bc49	1612	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1613	{
cparata	2:8308cb42bc49	1614	return 1;
cparata	2:8308cb42bc49	1615	}
cparata	2:8308cb42bc49	1616
cparata	2:8308cb42bc49	1617	/* Enable double tap interrupt on INT1 pin. */
cparata	2:8308cb42bc49	1618	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1619	{
cparata	2:8308cb42bc49	1620	return 1;
cparata	2:8308cb42bc49	1621	}
cparata	2:8308cb42bc49	1622
cparata	2:8308cb42bc49	1623	return 0;
cparata	2:8308cb42bc49	1624	}
cparata	2:8308cb42bc49	1625
cparata	2:8308cb42bc49	1626	/**
cparata	2:8308cb42bc49	1627	* @brief Disable the double tap detection for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1628	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1629	*/
cparata	2:8308cb42bc49	1630	int LSM6DSLSensor::Disable_Double_Tap_Detection(void)
cparata	2:8308cb42bc49	1631	{
cparata	2:8308cb42bc49	1632	/* Disable double tap interrupt on INT1 pin. */
cparata	2:8308cb42bc49	1633	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1634	{
cparata	2:8308cb42bc49	1635	return 1;
cparata	2:8308cb42bc49	1636	}
cparata	2:8308cb42bc49	1637
cparata	2:8308cb42bc49	1638	/* Disable basic Interrupts */
cparata	2:8308cb42bc49	1639	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1640	{
cparata	2:8308cb42bc49	1641	return 1;
cparata	2:8308cb42bc49	1642	}
cparata	2:8308cb42bc49	1643
cparata	2:8308cb42bc49	1644	/* Reset tap threshold. */
cparata	2:8308cb42bc49	1645	if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata	2:8308cb42bc49	1646	{
cparata	2:8308cb42bc49	1647	return 1;
cparata	2:8308cb42bc49	1648	}
cparata	2:8308cb42bc49	1649
cparata	2:8308cb42bc49	1650	/* Reset tap shock time window. */
cparata	2:8308cb42bc49	1651	if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata	2:8308cb42bc49	1652	{
cparata	2:8308cb42bc49	1653	return 1;
cparata	2:8308cb42bc49	1654	}
cparata	2:8308cb42bc49	1655
cparata	2:8308cb42bc49	1656	/* Reset tap quiet time window. */
cparata	2:8308cb42bc49	1657	if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata	2:8308cb42bc49	1658	{
cparata	2:8308cb42bc49	1659	return 1;
cparata	2:8308cb42bc49	1660	}
cparata	2:8308cb42bc49	1661
cparata	2:8308cb42bc49	1662	/* Reset tap duration time window. */
cparata	2:8308cb42bc49	1663	if ( Set_Tap_Duration_Time( 0x0 ) == 1 )
cparata	2:8308cb42bc49	1664	{
cparata	2:8308cb42bc49	1665	return 1;
cparata	2:8308cb42bc49	1666	}
cparata	2:8308cb42bc49	1667
cparata	2:8308cb42bc49	1668	/* Only single tap enabled. */
cparata	2:8308cb42bc49	1669	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1670	{
cparata	2:8308cb42bc49	1671	return 1;
cparata	2:8308cb42bc49	1672	}
cparata	2:8308cb42bc49	1673
cparata	2:8308cb42bc49	1674	/* Disable Z direction in tap recognition. */
cparata	2:8308cb42bc49	1675	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1676	{
cparata	2:8308cb42bc49	1677	return 1;
cparata	2:8308cb42bc49	1678	}
cparata	2:8308cb42bc49	1679
cparata	2:8308cb42bc49	1680	/* Disable Y direction in tap recognition. */
cparata	2:8308cb42bc49	1681	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1682	{
cparata	2:8308cb42bc49	1683	return 1;
cparata	2:8308cb42bc49	1684	}
cparata	2:8308cb42bc49	1685
cparata	2:8308cb42bc49	1686	/* Disable X direction in tap recognition. */
cparata	2:8308cb42bc49	1687	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1688	{
cparata	2:8308cb42bc49	1689	return 1;
cparata	2:8308cb42bc49	1690	}
cparata	2:8308cb42bc49	1691
cparata	2:8308cb42bc49	1692	return 0;
cparata	2:8308cb42bc49	1693	}
cparata	2:8308cb42bc49	1694
cparata	2:8308cb42bc49	1695	/**
cparata	2:8308cb42bc49	1696	* @brief Get the double tap detection status for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1697	* @param status the pointer to the double tap detection status: 0 means no double tap detected, 1 means double tap detected
cparata	2:8308cb42bc49	1698	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1699	*/
cparata	2:8308cb42bc49	1700	int LSM6DSLSensor::Get_Status_Double_Tap_Detection(uint8_t *status)
cparata	2:8308cb42bc49	1701	{
cparata	2:8308cb42bc49	1702	LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_t tap_status;
cparata	2:8308cb42bc49	1703
cparata	2:8308cb42bc49	1704	if ( LSM6DSL_ACC_GYRO_R_DOUBLE_TAP_EV_STATUS( (void *)this, &tap_status ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1705	{
cparata	2:8308cb42bc49	1706	return 1;
cparata	2:8308cb42bc49	1707	}
cparata	2:8308cb42bc49	1708
cparata	2:8308cb42bc49	1709	switch( tap_status )
cparata	2:8308cb42bc49	1710	{
cparata	2:8308cb42bc49	1711	case LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_DETECTED:
cparata	2:8308cb42bc49	1712	*status = 1;
cparata	2:8308cb42bc49	1713	break;
cparata	2:8308cb42bc49	1714
cparata	2:8308cb42bc49	1715	case LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_NOT_DETECTED:
cparata	2:8308cb42bc49	1716	*status = 0;
cparata	2:8308cb42bc49	1717	break;
cparata	2:8308cb42bc49	1718
cparata	2:8308cb42bc49	1719	default:
cparata	2:8308cb42bc49	1720	return 1;
cparata	2:8308cb42bc49	1721	}
cparata	2:8308cb42bc49	1722
cparata	2:8308cb42bc49	1723	return 0;
cparata	2:8308cb42bc49	1724	}
cparata	2:8308cb42bc49	1725
cparata	2:8308cb42bc49	1726	/**
cparata	2:8308cb42bc49	1727	* @brief Set the tap threshold for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1728	* @param thr the threshold to be set
cparata	2:8308cb42bc49	1729	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1730	*/
cparata	2:8308cb42bc49	1731	int LSM6DSLSensor::Set_Tap_Threshold(uint8_t thr)
cparata	2:8308cb42bc49	1732	{
cparata	2:8308cb42bc49	1733	if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1734	{
cparata	2:8308cb42bc49	1735	return 1;
cparata	2:8308cb42bc49	1736	}
cparata	2:8308cb42bc49	1737
cparata	2:8308cb42bc49	1738	return 0;
cparata	2:8308cb42bc49	1739	}
cparata	2:8308cb42bc49	1740
cparata	2:8308cb42bc49	1741	/**
cparata	2:8308cb42bc49	1742	* @brief Set the tap shock time window for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1743	* @param time the shock time window to be set
cparata	2:8308cb42bc49	1744	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1745	*/
cparata	2:8308cb42bc49	1746	int LSM6DSLSensor::Set_Tap_Shock_Time(uint8_t time)
cparata	2:8308cb42bc49	1747	{
cparata	2:8308cb42bc49	1748	if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1749	{
cparata	2:8308cb42bc49	1750	return 1;
cparata	2:8308cb42bc49	1751	}
cparata	2:8308cb42bc49	1752
cparata	2:8308cb42bc49	1753	return 0;
cparata	2:8308cb42bc49	1754	}
cparata	2:8308cb42bc49	1755
cparata	2:8308cb42bc49	1756	/**
cparata	2:8308cb42bc49	1757	* @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1758	* @param time the quiet time window to be set
cparata	2:8308cb42bc49	1759	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1760	*/
cparata	2:8308cb42bc49	1761	int LSM6DSLSensor::Set_Tap_Quiet_Time(uint8_t time)
cparata	2:8308cb42bc49	1762	{
cparata	2:8308cb42bc49	1763	if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1764	{
cparata	2:8308cb42bc49	1765	return 1;
cparata	2:8308cb42bc49	1766	}
cparata	2:8308cb42bc49	1767
cparata	2:8308cb42bc49	1768	return 0;
cparata	2:8308cb42bc49	1769	}
cparata	2:8308cb42bc49	1770
cparata	2:8308cb42bc49	1771	/**
cparata	2:8308cb42bc49	1772	* @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1773	* @param time the duration of the time window to be set
cparata	2:8308cb42bc49	1774	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1775	*/
cparata	2:8308cb42bc49	1776	int LSM6DSLSensor::Set_Tap_Duration_Time(uint8_t time)
cparata	2:8308cb42bc49	1777	{
cparata	2:8308cb42bc49	1778	if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1779	{
cparata	2:8308cb42bc49	1780	return 1;
cparata	2:8308cb42bc49	1781	}
cparata	2:8308cb42bc49	1782
cparata	2:8308cb42bc49	1783	return 0;
cparata	2:8308cb42bc49	1784	}
cparata	2:8308cb42bc49	1785
cparata	2:8308cb42bc49	1786	/**
cparata	2:8308cb42bc49	1787	* @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1788	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:8308cb42bc49	1789	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1790	*/
cparata	2:8308cb42bc49	1791	int LSM6DSLSensor::Enable_6D_Orientation(void)
cparata	2:8308cb42bc49	1792	{
cparata	2:8308cb42bc49	1793	/* Output Data Rate selection */
cparata	2:8308cb42bc49	1794	if( Set_X_ODR(416.0f) == 1 )
cparata	2:8308cb42bc49	1795	{
cparata	2:8308cb42bc49	1796	return 1;
cparata	2:8308cb42bc49	1797	}
cparata	2:8308cb42bc49	1798
cparata	2:8308cb42bc49	1799	/* Full scale selection. */
cparata	2:8308cb42bc49	1800	if( Set_X_FS(2.0f) == 1 )
cparata	2:8308cb42bc49	1801	{
cparata	2:8308cb42bc49	1802	return 1;
cparata	2:8308cb42bc49	1803	}
cparata	2:8308cb42bc49	1804
cparata	2:8308cb42bc49	1805	/* Set 6D threshold. */
cparata	2:8308cb42bc49	1806	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1807	{
cparata	2:8308cb42bc49	1808	return 1;
cparata	2:8308cb42bc49	1809	}
cparata	2:8308cb42bc49	1810
cparata	2:8308cb42bc49	1811	/* Enable basic Interrupts */
cparata	2:8308cb42bc49	1812	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1813	{
cparata	2:8308cb42bc49	1814	return 1;
cparata	2:8308cb42bc49	1815	}
cparata	2:8308cb42bc49	1816
cparata	2:8308cb42bc49	1817	/* INT1_6D setting. */
cparata	2:8308cb42bc49	1818	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1819	{
cparata	2:8308cb42bc49	1820	return 1;
cparata	2:8308cb42bc49	1821	}
cparata	2:8308cb42bc49	1822
cparata	2:8308cb42bc49	1823	return 0;
cparata	2:8308cb42bc49	1824	}
cparata	2:8308cb42bc49	1825
cparata	2:8308cb42bc49	1826	/**
cparata	2:8308cb42bc49	1827	* @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1828	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1829	*/
cparata	2:8308cb42bc49	1830	int LSM6DSLSensor::Disable_6D_Orientation(void)
cparata	2:8308cb42bc49	1831	{
cparata	2:8308cb42bc49	1832	/* INT1_6D setting. */
cparata	2:8308cb42bc49	1833	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1834	{
cparata	2:8308cb42bc49	1835	return 1;
cparata	2:8308cb42bc49	1836	}
cparata	2:8308cb42bc49	1837
cparata	2:8308cb42bc49	1838	/* Disable basic Interrupts */
cparata	2:8308cb42bc49	1839	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1840	{
cparata	2:8308cb42bc49	1841	return 1;
cparata	2:8308cb42bc49	1842	}
cparata	2:8308cb42bc49	1843
cparata	2:8308cb42bc49	1844	/* Reset 6D threshold. */
cparata	2:8308cb42bc49	1845	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1846	{
cparata	2:8308cb42bc49	1847	return 1;
cparata	2:8308cb42bc49	1848	}
cparata	2:8308cb42bc49	1849
cparata	2:8308cb42bc49	1850	return 0;
cparata	2:8308cb42bc49	1851	}
cparata	2:8308cb42bc49	1852
cparata	2:8308cb42bc49	1853	/**
cparata	2:8308cb42bc49	1854	* @brief Get the status of the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1855	* @param status the pointer to the status of the 6D orientation detection: 0 means no detection, 1 means detection happened
cparata	2:8308cb42bc49	1856	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1857	*/
cparata	2:8308cb42bc49	1858	int LSM6DSLSensor::Get_Status_6D_Orientation(uint8_t *status)
cparata	2:8308cb42bc49	1859	{
cparata	2:8308cb42bc49	1860	LSM6DSL_ACC_GYRO_D6D_EV_STATUS_t status_raw;
cparata	2:8308cb42bc49	1861
cparata	2:8308cb42bc49	1862	if ( LSM6DSL_ACC_GYRO_R_D6D_EV_STATUS( (void *)this, &status_raw ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1863	{
cparata	2:8308cb42bc49	1864	return 1;
cparata	2:8308cb42bc49	1865	}
cparata	2:8308cb42bc49	1866
cparata	2:8308cb42bc49	1867	switch( status_raw )
cparata	2:8308cb42bc49	1868	{
cparata	2:8308cb42bc49	1869	case LSM6DSL_ACC_GYRO_D6D_EV_STATUS_DETECTED:
cparata	2:8308cb42bc49	1870	*status = 1;
cparata	2:8308cb42bc49	1871	break;
cparata	2:8308cb42bc49	1872	case LSM6DSL_ACC_GYRO_D6D_EV_STATUS_NOT_DETECTED:
cparata	2:8308cb42bc49	1873	*status = 0;
cparata	2:8308cb42bc49	1874	break;
cparata	2:8308cb42bc49	1875	default:
cparata	2:8308cb42bc49	1876	return 1;
cparata	2:8308cb42bc49	1877	}
cparata	2:8308cb42bc49	1878
cparata	2:8308cb42bc49	1879	return 0;
cparata	2:8308cb42bc49	1880	}
cparata	2:8308cb42bc49	1881
cparata	2:8308cb42bc49	1882	/**
cparata	2:8308cb42bc49	1883	* @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1884	* @param xl the pointer to the 6D orientation XL axis
cparata	2:8308cb42bc49	1885	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1886	*/
cparata	2:8308cb42bc49	1887	int LSM6DSLSensor::Get_6D_Orientation_XL(uint8_t *xl)
cparata	2:8308cb42bc49	1888	{
cparata	2:8308cb42bc49	1889	LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
cparata	2:8308cb42bc49	1890
cparata	2:8308cb42bc49	1891	if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1892	{
cparata	2:8308cb42bc49	1893	return 1;
cparata	2:8308cb42bc49	1894	}
cparata	2:8308cb42bc49	1895
cparata	2:8308cb42bc49	1896	switch( xl_raw )
cparata	2:8308cb42bc49	1897	{
cparata	2:8308cb42bc49	1898	case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
cparata	2:8308cb42bc49	1899	*xl = 1;
cparata	2:8308cb42bc49	1900	break;
cparata	2:8308cb42bc49	1901	case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
cparata	2:8308cb42bc49	1902	*xl = 0;
cparata	2:8308cb42bc49	1903	break;
cparata	2:8308cb42bc49	1904	default:
cparata	2:8308cb42bc49	1905	return 1;
cparata	2:8308cb42bc49	1906	}
cparata	2:8308cb42bc49	1907
cparata	2:8308cb42bc49	1908	return 0;
cparata	2:8308cb42bc49	1909	}
cparata	2:8308cb42bc49	1910
cparata	2:8308cb42bc49	1911	/**
cparata	2:8308cb42bc49	1912	* @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1913	* @param xh the pointer to the 6D orientation XH axis
cparata	2:8308cb42bc49	1914	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1915	*/
cparata	2:8308cb42bc49	1916	int LSM6DSLSensor::Get_6D_Orientation_XH(uint8_t *xh)
cparata	2:8308cb42bc49	1917	{
cparata	2:8308cb42bc49	1918	LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
cparata	2:8308cb42bc49	1919
cparata	2:8308cb42bc49	1920	if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1921	{
cparata	2:8308cb42bc49	1922	return 1;
cparata	2:8308cb42bc49	1923	}
cparata	2:8308cb42bc49	1924
cparata	2:8308cb42bc49	1925	switch( xh_raw )
cparata	2:8308cb42bc49	1926	{
cparata	2:8308cb42bc49	1927	case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
cparata	2:8308cb42bc49	1928	*xh = 1;
cparata	2:8308cb42bc49	1929	break;
cparata	2:8308cb42bc49	1930	case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
cparata	2:8308cb42bc49	1931	*xh = 0;
cparata	2:8308cb42bc49	1932	break;
cparata	2:8308cb42bc49	1933	default:
cparata	2:8308cb42bc49	1934	return 1;
cparata	2:8308cb42bc49	1935	}
cparata	2:8308cb42bc49	1936
cparata	2:8308cb42bc49	1937	return 0;
cparata	2:8308cb42bc49	1938	}
cparata	2:8308cb42bc49	1939
cparata	2:8308cb42bc49	1940	/**
cparata	2:8308cb42bc49	1941	* @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1942	* @param yl the pointer to the 6D orientation YL axis
cparata	2:8308cb42bc49	1943	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1944	*/
cparata	2:8308cb42bc49	1945	int LSM6DSLSensor::Get_6D_Orientation_YL(uint8_t *yl)
cparata	2:8308cb42bc49	1946	{
cparata	2:8308cb42bc49	1947	LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
cparata	2:8308cb42bc49	1948
cparata	2:8308cb42bc49	1949	if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1950	{
cparata	2:8308cb42bc49	1951	return 1;
cparata	2:8308cb42bc49	1952	}
cparata	2:8308cb42bc49	1953
cparata	2:8308cb42bc49	1954	switch( yl_raw )
cparata	2:8308cb42bc49	1955	{
cparata	2:8308cb42bc49	1956	case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
cparata	2:8308cb42bc49	1957	*yl = 1;
cparata	2:8308cb42bc49	1958	break;
cparata	2:8308cb42bc49	1959	case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
cparata	2:8308cb42bc49	1960	*yl = 0;
cparata	2:8308cb42bc49	1961	break;
cparata	2:8308cb42bc49	1962	default:
cparata	2:8308cb42bc49	1963	return 1;
cparata	2:8308cb42bc49	1964	}
cparata	2:8308cb42bc49	1965
cparata	2:8308cb42bc49	1966	return 0;
cparata	2:8308cb42bc49	1967	}
cparata	2:8308cb42bc49	1968
cparata	2:8308cb42bc49	1969	/**
cparata	2:8308cb42bc49	1970	* @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1971	* @param yh the pointer to the 6D orientation YH axis
cparata	2:8308cb42bc49	1972	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1973	*/
cparata	2:8308cb42bc49	1974	int LSM6DSLSensor::Get_6D_Orientation_YH(uint8_t *yh)
cparata	2:8308cb42bc49	1975	{
cparata	2:8308cb42bc49	1976	LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
cparata	2:8308cb42bc49	1977
cparata	2:8308cb42bc49	1978	if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1979	{
cparata	2:8308cb42bc49	1980	return 1;
cparata	2:8308cb42bc49	1981	}
cparata	2:8308cb42bc49	1982
cparata	2:8308cb42bc49	1983	switch( yh_raw )
cparata	2:8308cb42bc49	1984	{
cparata	2:8308cb42bc49	1985	case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
cparata	2:8308cb42bc49	1986	*yh = 1;
cparata	2:8308cb42bc49	1987	break;
cparata	2:8308cb42bc49	1988	case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
cparata	2:8308cb42bc49	1989	*yh = 0;
cparata	2:8308cb42bc49	1990	break;
cparata	2:8308cb42bc49	1991	default:
cparata	2:8308cb42bc49	1992	return 1;
cparata	2:8308cb42bc49	1993	}
cparata	2:8308cb42bc49	1994
cparata	2:8308cb42bc49	1995	return 0;
cparata	2:8308cb42bc49	1996	}
cparata	2:8308cb42bc49	1997
cparata	2:8308cb42bc49	1998	/**
cparata	2:8308cb42bc49	1999	* @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	2000	* @param zl the pointer to the 6D orientation ZL axis
cparata	2:8308cb42bc49	2001	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	2002	*/
cparata	2:8308cb42bc49	2003	int LSM6DSLSensor::Get_6D_Orientation_ZL(uint8_t *zl)
cparata	2:8308cb42bc49	2004	{
cparata	2:8308cb42bc49	2005	LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
cparata	2:8308cb42bc49	2006
cparata	2:8308cb42bc49	2007	if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
cparata	2:8308cb42bc49	2008	{
cparata	2:8308cb42bc49	2009	return 1;
cparata	2:8308cb42bc49	2010	}
cparata	2:8308cb42bc49	2011
cparata	2:8308cb42bc49	2012	switch( zl_raw )
cparata	2:8308cb42bc49	2013	{
cparata	2:8308cb42bc49	2014	case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
cparata	2:8308cb42bc49	2015	*zl = 1;
cparata	2:8308cb42bc49	2016	break;
cparata	2:8308cb42bc49	2017	case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
cparata	2:8308cb42bc49	2018	*zl = 0;
cparata	2:8308cb42bc49	2019	break;
cparata	2:8308cb42bc49	2020	default:
cparata	2:8308cb42bc49	2021	return 1;
cparata	2:8308cb42bc49	2022	}
cparata	2:8308cb42bc49	2023
cparata	2:8308cb42bc49	2024	return 0;
cparata	2:8308cb42bc49	2025	}
cparata	2:8308cb42bc49	2026
cparata	2:8308cb42bc49	2027	/**
cparata	2:8308cb42bc49	2028	* @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	2029	* @param zh the pointer to the 6D orientation ZH axis
cparata	2:8308cb42bc49	2030	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	2031	*/
cparata	2:8308cb42bc49	2032	int LSM6DSLSensor::Get_6D_Orientation_ZH(uint8_t *zh)
cparata	2:8308cb42bc49	2033	{
cparata	2:8308cb42bc49	2034	LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
cparata	2:8308cb42bc49	2035
cparata	2:8308cb42bc49	2036	if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
cparata	2:8308cb42bc49	2037	{
cparata	2:8308cb42bc49	2038	return 1;
cparata	2:8308cb42bc49	2039	}
cparata	2:8308cb42bc49	2040
cparata	2:8308cb42bc49	2041	switch( zh_raw )
cparata	2:8308cb42bc49	2042	{
cparata	2:8308cb42bc49	2043	case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
cparata	2:8308cb42bc49	2044	*zh = 1;
cparata	2:8308cb42bc49	2045	break;
cparata	2:8308cb42bc49	2046	case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
cparata	2:8308cb42bc49	2047	*zh = 0;
cparata	2:8308cb42bc49	2048	break;
cparata	2:8308cb42bc49	2049	default:
cparata	2:8308cb42bc49	2050	return 1;
cparata	2:8308cb42bc49	2051	}
cparata	2:8308cb42bc49	2052
cparata	2:8308cb42bc49	2053	return 0;
cparata	2:8308cb42bc49	2054	}
cparata	2:8308cb42bc49	2055
cparata	2:8308cb42bc49	2056	/**
cparata	2:8308cb42bc49	2057	* @brief Read the data from register
cparata	2:8308cb42bc49	2058	* @param reg register address
cparata	2:8308cb42bc49	2059	* @param data register data
cparata	2:8308cb42bc49	2060	* @retval 0 in case of success
cparata	2:8308cb42bc49	2061	* @retval 1 in case of failure
cparata	2:8308cb42bc49	2062	*/
cparata	2:8308cb42bc49	2063	int LSM6DSLSensor::ReadReg( uint8_t reg, uint8_t *data )
cparata	2:8308cb42bc49	2064	{
cparata	2:8308cb42bc49	2065
cparata	2:8308cb42bc49	2066	if ( LSM6DSL_ACC_GYRO_ReadReg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
cparata	2:8308cb42bc49	2067	{
cparata	2:8308cb42bc49	2068	return 1;
cparata	2:8308cb42bc49	2069	}
cparata	2:8308cb42bc49	2070
cparata	2:8308cb42bc49	2071	return 0;
cparata	2:8308cb42bc49	2072	}
cparata	2:8308cb42bc49	2073
cparata	2:8308cb42bc49	2074	/**
cparata	2:8308cb42bc49	2075	* @brief Write the data to register
cparata	2:8308cb42bc49	2076	* @param reg register address
cparata	2:8308cb42bc49	2077	* @param data register data
cparata	2:8308cb42bc49	2078	* @retval 0 in case of success
cparata	2:8308cb42bc49	2079	* @retval 1 in case of failure
cparata	2:8308cb42bc49	2080	*/
cparata	2:8308cb42bc49	2081	int LSM6DSLSensor::WriteReg( uint8_t reg, uint8_t data )
cparata	2:8308cb42bc49	2082	{
cparata	2:8308cb42bc49	2083
cparata	2:8308cb42bc49	2084	if ( LSM6DSL_ACC_GYRO_WriteReg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
cparata	2:8308cb42bc49	2085	{
cparata	2:8308cb42bc49	2086	return 1;
cparata	2:8308cb42bc49	2087	}
cparata	2:8308cb42bc49	2088
cparata	2:8308cb42bc49	2089	return 0;
cparata	2:8308cb42bc49	2090	}
cparata	2:8308cb42bc49	2091
cparata	2:8308cb42bc49	2092
cparata	2:8308cb42bc49	2093	uint8_t LSM6DSL_IO_Write( void handle, uint8_t WriteAddr, uint8_t pBuffer, uint16_t nBytesToWrite )
cparata	2:8308cb42bc49	2094	{
cparata	2:8308cb42bc49	2095	return ((LSM6DSLSensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata	2:8308cb42bc49	2096	}
cparata	2:8308cb42bc49	2097
cparata	2:8308cb42bc49	2098	uint8_t LSM6DSL_IO_Read( void handle, uint8_t ReadAddr, uint8_t pBuffer, uint16_t nBytesToRead )
cparata	2:8308cb42bc49	2099	{
cparata	2:8308cb42bc49	2100	return ((LSM6DSLSensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata	2:8308cb42bc49	2101	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	16 Dec 2016
Imports:	132
Forks:	0
Commits:	17
Dependents:	0
Dependencies:	2
Followers:	401

The code in this repository is Apache licensed.

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

X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.cpp@2:8308cb42bc49, 2016-08-19 (annotated)

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