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@7:8d01cc2032b8, 2016-11-24 (annotated)

Committer:: cparata
Date:: Thu Nov 24 16:44:39 2016 +0000
Revision:: 7:8d01cc2032b8
Parent:: 6:f9bbe6142ac5

Add possibility to choose the interrupt line for HW events

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	6:f9bbe6142ac5	54	LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, PinName INT1_pin, PinName INT2_pin) : dev_i2c(i2c), INT1_irq(INT1_pin), INT2_irq(INT2_pin)
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	6:f9bbe6142ac5	63	LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, PinName INT1_pin, PinName INT2_pin, uint8_t address) : dev_i2c(i2c), INT1_irq(INT1_pin), INT2_irq(INT2_pin), address(address)
cparata	2:8308cb42bc49	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	7:8d01cc2032b8	864	return Enable_Free_Fall_Detection(LSM6DSL_INT1_PIN);
cparata	7:8d01cc2032b8	865	}
cparata	7:8d01cc2032b8	866
cparata	7:8d01cc2032b8	867	/**
cparata	7:8d01cc2032b8	868	* @brief Enable free fall detection
cparata	7:8d01cc2032b8	869	* @param pin the interrupt pin to be used
cparata	7:8d01cc2032b8	870	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	7:8d01cc2032b8	871	* @retval 0 in case of success, an error code otherwise
cparata	7:8d01cc2032b8	872	*/
cparata	7:8d01cc2032b8	873	int LSM6DSLSensor::Enable_Free_Fall_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata	7:8d01cc2032b8	874	{
cparata	2:8308cb42bc49	875	/* Output Data Rate selection */
cparata	2:8308cb42bc49	876	if(Set_X_ODR(416.0f) == 1)
cparata	2:8308cb42bc49	877	{
cparata	2:8308cb42bc49	878	return 1;
cparata	2:8308cb42bc49	879	}
cparata	2:8308cb42bc49	880
cparata	2:8308cb42bc49	881	/* Full scale selection */
cparata	2:8308cb42bc49	882	if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, LSM6DSL_ACC_GYRO_FS_XL_2g ) == MEMS_ERROR )
cparata	2:8308cb42bc49	883	{
cparata	2:8308cb42bc49	884	return 1;
cparata	2:8308cb42bc49	885	}
cparata	2:8308cb42bc49	886
cparata	2:8308cb42bc49	887	/* FF_DUR setting */
cparata	2:8308cb42bc49	888	if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x06 ) == MEMS_ERROR )
cparata	2:8308cb42bc49	889	{
cparata	2:8308cb42bc49	890	return 1;
cparata	2:8308cb42bc49	891	}
cparata	2:8308cb42bc49	892
cparata	2:8308cb42bc49	893	/* WAKE_DUR setting */
cparata	2:8308cb42bc49	894	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:8308cb42bc49	895	{
cparata	2:8308cb42bc49	896	return 1;
cparata	2:8308cb42bc49	897	}
cparata	2:8308cb42bc49	898
cparata	2:8308cb42bc49	899	/* TIMER_HR setting */
cparata	2:8308cb42bc49	900	if ( LSM6DSL_ACC_GYRO_W_TIMER_HR( (void *)this, LSM6DSL_ACC_GYRO_TIMER_HR_6_4ms ) == MEMS_ERROR )
cparata	2:8308cb42bc49	901	{
cparata	2:8308cb42bc49	902	return 1;
cparata	2:8308cb42bc49	903	}
cparata	2:8308cb42bc49	904
cparata	2:8308cb42bc49	905	/* SLEEP_DUR setting */
cparata	2:8308cb42bc49	906	if ( LSM6DSL_ACC_GYRO_W_SLEEP_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:8308cb42bc49	907	{
cparata	2:8308cb42bc49	908	return 1;
cparata	2:8308cb42bc49	909	}
cparata	2:8308cb42bc49	910
cparata	2:8308cb42bc49	911	/* FF_THS setting */
cparata	2:8308cb42bc49	912	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_312mg ) == MEMS_ERROR )
cparata	2:8308cb42bc49	913	{
cparata	2:8308cb42bc49	914	return 1;
cparata	2:8308cb42bc49	915	}
cparata	2:8308cb42bc49	916
cparata	2:8308cb42bc49	917	/* Enable basic Interrupts */
cparata	2:8308cb42bc49	918	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	919	{
cparata	2:8308cb42bc49	920	return 1;
cparata	2:8308cb42bc49	921	}
cparata	2:8308cb42bc49	922
cparata	7:8d01cc2032b8	923	/* Enable free fall event on either INT1 or INT2 pin */
cparata	7:8d01cc2032b8	924	switch (pin)
cparata	2:8308cb42bc49	925	{
cparata	7:8d01cc2032b8	926	case LSM6DSL_INT1_PIN:
cparata	7:8d01cc2032b8	927	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
cparata	7:8d01cc2032b8	928	{
cparata	7:8d01cc2032b8	929	return 1;
cparata	7:8d01cc2032b8	930	}
cparata	7:8d01cc2032b8	931	break;
cparata	7:8d01cc2032b8	932
cparata	7:8d01cc2032b8	933	case LSM6DSL_INT2_PIN:
cparata	7:8d01cc2032b8	934	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_FF_ENABLED ) == MEMS_ERROR )
cparata	7:8d01cc2032b8	935	{
cparata	7:8d01cc2032b8	936	return 1;
cparata	7:8d01cc2032b8	937	}
cparata	7:8d01cc2032b8	938	break;
cparata	7:8d01cc2032b8	939
cparata	7:8d01cc2032b8	940	default:
cparata	2:8308cb42bc49	941	return 1;
cparata	2:8308cb42bc49	942	}
cparata	2:8308cb42bc49	943
cparata	2:8308cb42bc49	944	return 0;
cparata	2:8308cb42bc49	945	}
cparata	2:8308cb42bc49	946
cparata	2:8308cb42bc49	947	/**
cparata	2:8308cb42bc49	948	* @brief Disable free fall detection
cparata	2:8308cb42bc49	949	* @param None
cparata	2:8308cb42bc49	950	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	951	*/
cparata	2:8308cb42bc49	952	int LSM6DSLSensor::Disable_Free_Fall_Detection(void)
cparata	2:8308cb42bc49	953	{
cparata	7:8d01cc2032b8	954	/* Disable free fall event on INT1 pin */
cparata	2:8308cb42bc49	955	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	956	{
cparata	2:8308cb42bc49	957	return 1;
cparata	2:8308cb42bc49	958	}
cparata	2:8308cb42bc49	959
cparata	7:8d01cc2032b8	960	/* Disable free fall event on INT2 pin */
cparata	7:8d01cc2032b8	961	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_FF_DISABLED ) == MEMS_ERROR )
cparata	7:8d01cc2032b8	962	{
cparata	7:8d01cc2032b8	963	return 1;
cparata	7:8d01cc2032b8	964	}
cparata	7:8d01cc2032b8	965
cparata	2:8308cb42bc49	966	/* Disable basic Interrupts */
cparata	2:8308cb42bc49	967	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	968	{
cparata	2:8308cb42bc49	969	return 1;
cparata	2:8308cb42bc49	970	}
cparata	2:8308cb42bc49	971
cparata	2:8308cb42bc49	972	/* FF_DUR setting */
cparata	2:8308cb42bc49	973	if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:8308cb42bc49	974	{
cparata	2:8308cb42bc49	975	return 1;
cparata	2:8308cb42bc49	976	}
cparata	2:8308cb42bc49	977
cparata	2:8308cb42bc49	978	/* FF_THS setting */
cparata	2:8308cb42bc49	979	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_156mg ) == MEMS_ERROR )
cparata	2:8308cb42bc49	980	{
cparata	2:8308cb42bc49	981	return 1;
cparata	2:8308cb42bc49	982	}
cparata	2:8308cb42bc49	983
cparata	2:8308cb42bc49	984	return 0;
cparata	2:8308cb42bc49	985	}
cparata	2:8308cb42bc49	986
cparata	2:8308cb42bc49	987	/**
cparata	2:8308cb42bc49	988	* @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	989	* @param thr the threshold to be set
cparata	2:8308cb42bc49	990	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	991	*/
cparata	2:8308cb42bc49	992	int LSM6DSLSensor::Set_Free_Fall_Threshold(uint8_t thr)
cparata	2:8308cb42bc49	993	{
cparata	2:8308cb42bc49	994
cparata	2:8308cb42bc49	995	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR )
cparata	2:8308cb42bc49	996	{
cparata	2:8308cb42bc49	997	return 1;
cparata	2:8308cb42bc49	998	}
cparata	2:8308cb42bc49	999
cparata	2:8308cb42bc49	1000	return 0;
cparata	2:8308cb42bc49	1001	}
cparata	2:8308cb42bc49	1002
cparata	2:8308cb42bc49	1003	/**
cparata	2:8308cb42bc49	1004	* @brief Enable the pedometer feature for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1005	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:8308cb42bc49	1006	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1007	*/
cparata	2:8308cb42bc49	1008	int LSM6DSLSensor::Enable_Pedometer(void)
cparata	2:8308cb42bc49	1009	{
cparata	2:8308cb42bc49	1010	/* Output Data Rate selection */
cparata	2:8308cb42bc49	1011	if( Set_X_ODR(26.0f) == 1 )
cparata	2:8308cb42bc49	1012	{
cparata	2:8308cb42bc49	1013	return 1;
cparata	2:8308cb42bc49	1014	}
cparata	2:8308cb42bc49	1015
cparata	2:8308cb42bc49	1016	/* Full scale selection. */
cparata	2:8308cb42bc49	1017	if( Set_X_FS(2.0f) == 1 )
cparata	2:8308cb42bc49	1018	{
cparata	2:8308cb42bc49	1019	return 1;
cparata	2:8308cb42bc49	1020	}
cparata	2:8308cb42bc49	1021
cparata	2:8308cb42bc49	1022	/* Set pedometer threshold. */
cparata	2:8308cb42bc49	1023	if ( Set_Pedometer_Threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == 1 )
cparata	2:8308cb42bc49	1024	{
cparata	2:8308cb42bc49	1025	return 1;
cparata	2:8308cb42bc49	1026	}
cparata	2:8308cb42bc49	1027
cparata	2:8308cb42bc49	1028	/* Enable embedded functionalities. */
cparata	2:8308cb42bc49	1029	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1030	{
cparata	2:8308cb42bc49	1031	return 1;
cparata	2:8308cb42bc49	1032	}
cparata	2:8308cb42bc49	1033
cparata	2:8308cb42bc49	1034	/* Enable pedometer algorithm. */
cparata	2:8308cb42bc49	1035	if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1036	{
cparata	2:8308cb42bc49	1037	return 1;
cparata	2:8308cb42bc49	1038	}
cparata	2:8308cb42bc49	1039
cparata	2:8308cb42bc49	1040	/* Enable pedometer on INT1. */
cparata	2:8308cb42bc49	1041	if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1042	{
cparata	2:8308cb42bc49	1043	return 1;
cparata	2:8308cb42bc49	1044	}
cparata	2:8308cb42bc49	1045
cparata	2:8308cb42bc49	1046	return 0;
cparata	2:8308cb42bc49	1047	}
cparata	2:8308cb42bc49	1048
cparata	2:8308cb42bc49	1049	/**
cparata	2:8308cb42bc49	1050	* @brief Disable the pedometer feature for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1051	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1052	*/
cparata	2:8308cb42bc49	1053	int LSM6DSLSensor::Disable_Pedometer(void)
cparata	2:8308cb42bc49	1054	{
cparata	2:8308cb42bc49	1055	/* Disable pedometer on INT1. */
cparata	2:8308cb42bc49	1056	if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1057	{
cparata	2:8308cb42bc49	1058	return 1;
cparata	2:8308cb42bc49	1059	}
cparata	2:8308cb42bc49	1060
cparata	2:8308cb42bc49	1061	/* Disable pedometer algorithm. */
cparata	2:8308cb42bc49	1062	if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1063	{
cparata	2:8308cb42bc49	1064	return 1;
cparata	2:8308cb42bc49	1065	}
cparata	2:8308cb42bc49	1066
cparata	2:8308cb42bc49	1067	/* Disable embedded functionalities. */
cparata	2:8308cb42bc49	1068	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1069	{
cparata	2:8308cb42bc49	1070	return 1;
cparata	2:8308cb42bc49	1071	}
cparata	2:8308cb42bc49	1072
cparata	2:8308cb42bc49	1073	/* Reset pedometer threshold. */
cparata	2:8308cb42bc49	1074	if ( Set_Pedometer_Threshold(0x0) == 1 )
cparata	2:8308cb42bc49	1075	{
cparata	2:8308cb42bc49	1076	return 1;
cparata	2:8308cb42bc49	1077	}
cparata	2:8308cb42bc49	1078
cparata	2:8308cb42bc49	1079	return 0;
cparata	2:8308cb42bc49	1080	}
cparata	2:8308cb42bc49	1081
cparata	2:8308cb42bc49	1082	/**
cparata	2:8308cb42bc49	1083	* @brief Get the step counter for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1084	* @param step_count the pointer to the step counter
cparata	2:8308cb42bc49	1085	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1086	*/
cparata	2:8308cb42bc49	1087	int LSM6DSLSensor::Get_Step_Counter(uint16_t *step_count)
cparata	2:8308cb42bc49	1088	{
cparata	2:8308cb42bc49	1089	if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void )this, ( uint8_t )step_count ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1090	{
cparata	2:8308cb42bc49	1091	return 1;
cparata	2:8308cb42bc49	1092	}
cparata	2:8308cb42bc49	1093
cparata	2:8308cb42bc49	1094	return 0;
cparata	2:8308cb42bc49	1095	}
cparata	2:8308cb42bc49	1096
cparata	2:8308cb42bc49	1097	/**
cparata	2:8308cb42bc49	1098	* @brief Reset of the step counter for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1099	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1100	*/
cparata	2:8308cb42bc49	1101	int LSM6DSLSensor::Reset_Step_Counter(void)
cparata	2:8308cb42bc49	1102	{
cparata	2:8308cb42bc49	1103	if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1104	{
cparata	2:8308cb42bc49	1105	return 1;
cparata	2:8308cb42bc49	1106	}
cparata	2:8308cb42bc49	1107
cparata	2:8308cb42bc49	1108	wait_ms(10);
cparata	2:8308cb42bc49	1109
cparata	2:8308cb42bc49	1110	if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1111	{
cparata	2:8308cb42bc49	1112	return 1;
cparata	2:8308cb42bc49	1113	}
cparata	2:8308cb42bc49	1114
cparata	2:8308cb42bc49	1115	return 0;
cparata	2:8308cb42bc49	1116	}
cparata	2:8308cb42bc49	1117
cparata	2:8308cb42bc49	1118	/**
cparata	2:8308cb42bc49	1119	* @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1120	* @param thr the threshold to be set
cparata	2:8308cb42bc49	1121	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1122	*/
cparata	2:8308cb42bc49	1123	int LSM6DSLSensor::Set_Pedometer_Threshold(uint8_t thr)
cparata	2:8308cb42bc49	1124	{
cparata	2:8308cb42bc49	1125	if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1126	{
cparata	2:8308cb42bc49	1127	return 1;
cparata	2:8308cb42bc49	1128	}
cparata	2:8308cb42bc49	1129
cparata	2:8308cb42bc49	1130	return 0;
cparata	2:8308cb42bc49	1131	}
cparata	2:8308cb42bc49	1132
cparata	2:8308cb42bc49	1133	/**
cparata	2:8308cb42bc49	1134	* @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1135	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:8308cb42bc49	1136	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1137	*/
cparata	2:8308cb42bc49	1138	int LSM6DSLSensor::Enable_Tilt_Detection(void)
cparata	7:8d01cc2032b8	1139	{
cparata	7:8d01cc2032b8	1140	return Enable_Tilt_Detection(LSM6DSL_INT1_PIN);
cparata	7:8d01cc2032b8	1141	}
cparata	7:8d01cc2032b8	1142
cparata	7:8d01cc2032b8	1143	/**
cparata	7:8d01cc2032b8	1144	* @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata	7:8d01cc2032b8	1145	* @param pin the interrupt pin to be used
cparata	7:8d01cc2032b8	1146	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata	7:8d01cc2032b8	1147	* @retval 0 in case of success, an error code otherwise
cparata	7:8d01cc2032b8	1148	*/
cparata	7:8d01cc2032b8	1149	int LSM6DSLSensor::Enable_Tilt_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata	2:8308cb42bc49	1150	{
cparata	2:8308cb42bc49	1151	/* Output Data Rate selection */
cparata	2:8308cb42bc49	1152	if( Set_X_ODR(26.0f) == 1 )
cparata	2:8308cb42bc49	1153	{
cparata	2:8308cb42bc49	1154	return 1;
cparata	2:8308cb42bc49	1155	}
cparata	2:8308cb42bc49	1156
cparata	2:8308cb42bc49	1157	/* Full scale selection. */
cparata	2:8308cb42bc49	1158	if( Set_X_FS(2.0f) == 1 )
cparata	2:8308cb42bc49	1159	{
cparata	2:8308cb42bc49	1160	return 1;
cparata	2:8308cb42bc49	1161	}
cparata	2:8308cb42bc49	1162
cparata	2:8308cb42bc49	1163	/* Enable embedded functionalities */
cparata	2:8308cb42bc49	1164	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1165	{
cparata	2:8308cb42bc49	1166	return 1;
cparata	2:8308cb42bc49	1167	}
cparata	2:8308cb42bc49	1168
cparata	2:8308cb42bc49	1169	/* Enable tilt calculation. */
cparata	2:8308cb42bc49	1170	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1171	{
cparata	2:8308cb42bc49	1172	return 1;
cparata	2:8308cb42bc49	1173	}
cparata	7:8d01cc2032b8	1174
cparata	7:8d01cc2032b8	1175	/* Enable tilt detection on either INT1 or INT2 pin */
cparata	7:8d01cc2032b8	1176	switch (pin)
cparata	2:8308cb42bc49	1177	{
cparata	7:8d01cc2032b8	1178	case LSM6DSL_INT1_PIN:
cparata	7:8d01cc2032b8	1179	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
cparata	7:8d01cc2032b8	1180	{
cparata	7:8d01cc2032b8	1181	return 1;
cparata	7:8d01cc2032b8	1182	}
cparata	7:8d01cc2032b8	1183	break;
cparata	7:8d01cc2032b8	1184
cparata	7:8d01cc2032b8	1185	case LSM6DSL_INT2_PIN:
cparata	7:8d01cc2032b8	1186	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TILT_ENABLED ) == MEMS_ERROR )
cparata	7:8d01cc2032b8	1187	{
cparata	7:8d01cc2032b8	1188	return 1;
cparata	7:8d01cc2032b8	1189	}
cparata	7:8d01cc2032b8	1190	break;
cparata	7:8d01cc2032b8	1191
cparata	7:8d01cc2032b8	1192	default:
cparata	2:8308cb42bc49	1193	return 1;
cparata	2:8308cb42bc49	1194	}
cparata	7:8d01cc2032b8	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	7:8d01cc2032b8	1211	/* Disable tilt event on INT2. */
cparata	7:8d01cc2032b8	1212	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TILT_DISABLED ) == MEMS_ERROR )
cparata	7:8d01cc2032b8	1213	{
cparata	7:8d01cc2032b8	1214	return 1;
cparata	7:8d01cc2032b8	1215	}
cparata	7:8d01cc2032b8	1216
cparata	2:8308cb42bc49	1217	/* Disable tilt calculation. */
cparata	2:8308cb42bc49	1218	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_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	/* Disable embedded functionalities */
cparata	2:8308cb42bc49	1224	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1225	{
cparata	2:8308cb42bc49	1226	return 1;
cparata	2:8308cb42bc49	1227	}
cparata	2:8308cb42bc49	1228
cparata	2:8308cb42bc49	1229	return 0;
cparata	2:8308cb42bc49	1230	}
cparata	2:8308cb42bc49	1231
cparata	2:8308cb42bc49	1232	/**
cparata	2:8308cb42bc49	1233	* @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1234	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:8308cb42bc49	1235	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1236	*/
cparata	2:8308cb42bc49	1237	int LSM6DSLSensor::Enable_Wake_Up_Detection(void)
cparata	2:8308cb42bc49	1238	{
cparata	7:8d01cc2032b8	1239	return Enable_Wake_Up_Detection(LSM6DSL_INT2_PIN);
cparata	7:8d01cc2032b8	1240	}
cparata	7:8d01cc2032b8	1241
cparata	7:8d01cc2032b8	1242	/**
cparata	7:8d01cc2032b8	1243	* @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata	7:8d01cc2032b8	1244	* @param pin the interrupt pin to be used
cparata	7:8d01cc2032b8	1245	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	7:8d01cc2032b8	1246	* @retval 0 in case of success, an error code otherwise
cparata	7:8d01cc2032b8	1247	*/
cparata	7:8d01cc2032b8	1248	int LSM6DSLSensor::Enable_Wake_Up_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata	7:8d01cc2032b8	1249	{
cparata	2:8308cb42bc49	1250	/* Output Data Rate selection */
cparata	2:8308cb42bc49	1251	if( Set_X_ODR(416.0f) == 1 )
cparata	2:8308cb42bc49	1252	{
cparata	2:8308cb42bc49	1253	return 1;
cparata	2:8308cb42bc49	1254	}
cparata	2:8308cb42bc49	1255
cparata	2:8308cb42bc49	1256	/* Full scale selection. */
cparata	2:8308cb42bc49	1257	if( Set_X_FS(2.0f) == 1 )
cparata	2:8308cb42bc49	1258	{
cparata	2:8308cb42bc49	1259	return 1;
cparata	2:8308cb42bc49	1260	}
cparata	2:8308cb42bc49	1261
cparata	2:8308cb42bc49	1262	/* WAKE_DUR setting */
cparata	2:8308cb42bc49	1263	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1264	{
cparata	2:8308cb42bc49	1265	return 1;
cparata	2:8308cb42bc49	1266	}
cparata	2:8308cb42bc49	1267
cparata	2:8308cb42bc49	1268	/* Set wake up threshold. */
cparata	2:8308cb42bc49	1269	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1270	{
cparata	2:8308cb42bc49	1271	return 1;
cparata	2:8308cb42bc49	1272	}
cparata	2:8308cb42bc49	1273
cparata	2:8308cb42bc49	1274	/* Enable basic Interrupts */
cparata	2:8308cb42bc49	1275	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1276	{
cparata	2:8308cb42bc49	1277	return 1;
cparata	2:8308cb42bc49	1278	}
cparata	7:8d01cc2032b8	1279
cparata	7:8d01cc2032b8	1280	/* Enable wake up detection on either INT1 or INT2 pin */
cparata	7:8d01cc2032b8	1281	switch (pin)
cparata	2:8308cb42bc49	1282	{
cparata	7:8d01cc2032b8	1283	case LSM6DSL_INT1_PIN:
cparata	7:8d01cc2032b8	1284	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_ENABLED ) == MEMS_ERROR )
cparata	7:8d01cc2032b8	1285	{
cparata	7:8d01cc2032b8	1286	return 1;
cparata	7:8d01cc2032b8	1287	}
cparata	7:8d01cc2032b8	1288	break;
cparata	7:8d01cc2032b8	1289
cparata	7:8d01cc2032b8	1290	case LSM6DSL_INT2_PIN:
cparata	7:8d01cc2032b8	1291	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_ENABLED ) == MEMS_ERROR )
cparata	7:8d01cc2032b8	1292	{
cparata	7:8d01cc2032b8	1293	return 1;
cparata	7:8d01cc2032b8	1294	}
cparata	7:8d01cc2032b8	1295	break;
cparata	7:8d01cc2032b8	1296
cparata	7:8d01cc2032b8	1297	default:
cparata	2:8308cb42bc49	1298	return 1;
cparata	2:8308cb42bc49	1299	}
cparata	2:8308cb42bc49	1300
cparata	2:8308cb42bc49	1301	return 0;
cparata	2:8308cb42bc49	1302	}
cparata	2:8308cb42bc49	1303
cparata	2:8308cb42bc49	1304	/**
cparata	2:8308cb42bc49	1305	* @brief Disable the wake up detection for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1306	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1307	*/
cparata	2:8308cb42bc49	1308	int LSM6DSLSensor::Disable_Wake_Up_Detection(void)
cparata	2:8308cb42bc49	1309	{
cparata	7:8d01cc2032b8	1310	/* Disable wake up event on INT1 */
cparata	7:8d01cc2032b8	1311	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_DISABLED ) == MEMS_ERROR )
cparata	7:8d01cc2032b8	1312	{
cparata	7:8d01cc2032b8	1313	return 1;
cparata	7:8d01cc2032b8	1314	}
cparata	7:8d01cc2032b8	1315
cparata	7:8d01cc2032b8	1316	/* Disable wake up event on INT2 */
cparata	5:7e71ac8fadc5	1317	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1318	{
cparata	2:8308cb42bc49	1319	return 1;
cparata	2:8308cb42bc49	1320	}
cparata	2:8308cb42bc49	1321
cparata	2:8308cb42bc49	1322	/* Disable basic Interrupts */
cparata	2:8308cb42bc49	1323	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1324	{
cparata	2:8308cb42bc49	1325	return 1;
cparata	2:8308cb42bc49	1326	}
cparata	2:8308cb42bc49	1327
cparata	2:8308cb42bc49	1328	/* WU_DUR setting */
cparata	2:8308cb42bc49	1329	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1330	{
cparata	2:8308cb42bc49	1331	return 1;
cparata	2:8308cb42bc49	1332	}
cparata	2:8308cb42bc49	1333
cparata	2:8308cb42bc49	1334	/* WU_THS setting */
cparata	2:8308cb42bc49	1335	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1336	{
cparata	2:8308cb42bc49	1337	return 1;
cparata	2:8308cb42bc49	1338	}
cparata	2:8308cb42bc49	1339
cparata	2:8308cb42bc49	1340	return 0;
cparata	2:8308cb42bc49	1341	}
cparata	2:8308cb42bc49	1342
cparata	2:8308cb42bc49	1343	/**
cparata	2:8308cb42bc49	1344	* @brief Set the wake up threshold for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1345	* @param thr the threshold to be set
cparata	2:8308cb42bc49	1346	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1347	*/
cparata	2:8308cb42bc49	1348	int LSM6DSLSensor::Set_Wake_Up_Threshold(uint8_t thr)
cparata	2:8308cb42bc49	1349	{
cparata	2:8308cb42bc49	1350	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1351	{
cparata	2:8308cb42bc49	1352	return 1;
cparata	2:8308cb42bc49	1353	}
cparata	2:8308cb42bc49	1354
cparata	2:8308cb42bc49	1355	return 0;
cparata	2:8308cb42bc49	1356	}
cparata	2:8308cb42bc49	1357
cparata	2:8308cb42bc49	1358	/**
cparata	2:8308cb42bc49	1359	* @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1360	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:8308cb42bc49	1361	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1362	*/
cparata	2:8308cb42bc49	1363	int LSM6DSLSensor::Enable_Single_Tap_Detection(void)
cparata	2:8308cb42bc49	1364	{
cparata	7:8d01cc2032b8	1365	return Enable_Single_Tap_Detection(LSM6DSL_INT1_PIN);
cparata	7:8d01cc2032b8	1366	}
cparata	7:8d01cc2032b8	1367
cparata	7:8d01cc2032b8	1368	/**
cparata	7:8d01cc2032b8	1369	* @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata	7:8d01cc2032b8	1370	* @param pin the interrupt pin to be used
cparata	7:8d01cc2032b8	1371	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	7:8d01cc2032b8	1372	* @retval 0 in case of success, an error code otherwise
cparata	7:8d01cc2032b8	1373	*/
cparata	7:8d01cc2032b8	1374	int LSM6DSLSensor::Enable_Single_Tap_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata	7:8d01cc2032b8	1375	{
cparata	2:8308cb42bc49	1376	/* Output Data Rate selection */
cparata	2:8308cb42bc49	1377	if( Set_X_ODR(416.0f) == 1 )
cparata	2:8308cb42bc49	1378	{
cparata	2:8308cb42bc49	1379	return 1;
cparata	2:8308cb42bc49	1380	}
cparata	2:8308cb42bc49	1381
cparata	2:8308cb42bc49	1382	/* Full scale selection. */
cparata	2:8308cb42bc49	1383	if( Set_X_FS(2.0f) == 1 )
cparata	2:8308cb42bc49	1384	{
cparata	2:8308cb42bc49	1385	return 1;
cparata	2:8308cb42bc49	1386	}
cparata	2:8308cb42bc49	1387
cparata	2:8308cb42bc49	1388	/* Enable X direction in tap recognition. */
cparata	2:8308cb42bc49	1389	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1390	{
cparata	2:8308cb42bc49	1391	return 1;
cparata	2:8308cb42bc49	1392	}
cparata	2:8308cb42bc49	1393
cparata	2:8308cb42bc49	1394	/* Enable Y direction in tap recognition. */
cparata	2:8308cb42bc49	1395	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1396	{
cparata	2:8308cb42bc49	1397	return 1;
cparata	2:8308cb42bc49	1398	}
cparata	2:8308cb42bc49	1399
cparata	2:8308cb42bc49	1400	/* Enable Z direction in tap recognition. */
cparata	2:8308cb42bc49	1401	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1402	{
cparata	2:8308cb42bc49	1403	return 1;
cparata	2:8308cb42bc49	1404	}
cparata	2:8308cb42bc49	1405
cparata	2:8308cb42bc49	1406	/* Set tap threshold. */
cparata	2:8308cb42bc49	1407	if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata	2:8308cb42bc49	1408	{
cparata	2:8308cb42bc49	1409	return 1;
cparata	2:8308cb42bc49	1410	}
cparata	2:8308cb42bc49	1411
cparata	2:8308cb42bc49	1412	/* Set tap shock time window. */
cparata	2:8308cb42bc49	1413	if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == 1 )
cparata	2:8308cb42bc49	1414	{
cparata	2:8308cb42bc49	1415	return 1;
cparata	2:8308cb42bc49	1416	}
cparata	2:8308cb42bc49	1417
cparata	2:8308cb42bc49	1418	/* Set tap quiet time window. */
cparata	2:8308cb42bc49	1419	if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == 1 )
cparata	2:8308cb42bc49	1420	{
cparata	2:8308cb42bc49	1421	return 1;
cparata	2:8308cb42bc49	1422	}
cparata	2:8308cb42bc49	1423
cparata	2:8308cb42bc49	1424	/* _NOTE_: Tap duration time window - don't care for single tap. */
cparata	2:8308cb42bc49	1425
cparata	2:8308cb42bc49	1426	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata	2:8308cb42bc49	1427
cparata	2:8308cb42bc49	1428	/* Enable basic Interrupts */
cparata	2:8308cb42bc49	1429	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1430	{
cparata	2:8308cb42bc49	1431	return 1;
cparata	2:8308cb42bc49	1432	}
cparata	2:8308cb42bc49	1433
cparata	7:8d01cc2032b8	1434	/* Enable single tap on either INT1 or INT2 pin */
cparata	7:8d01cc2032b8	1435	switch (pin)
cparata	2:8308cb42bc49	1436	{
cparata	7:8d01cc2032b8	1437	case LSM6DSL_INT1_PIN:
cparata	7:8d01cc2032b8	1438	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata	7:8d01cc2032b8	1439	{
cparata	7:8d01cc2032b8	1440	return 1;
cparata	7:8d01cc2032b8	1441	}
cparata	7:8d01cc2032b8	1442	break;
cparata	7:8d01cc2032b8	1443
cparata	7:8d01cc2032b8	1444	case LSM6DSL_INT2_PIN:
cparata	7:8d01cc2032b8	1445	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata	7:8d01cc2032b8	1446	{
cparata	7:8d01cc2032b8	1447	return 1;
cparata	7:8d01cc2032b8	1448	}
cparata	7:8d01cc2032b8	1449	break;
cparata	7:8d01cc2032b8	1450
cparata	7:8d01cc2032b8	1451	default:
cparata	2:8308cb42bc49	1452	return 1;
cparata	2:8308cb42bc49	1453	}
cparata	2:8308cb42bc49	1454
cparata	2:8308cb42bc49	1455	return 0;
cparata	2:8308cb42bc49	1456	}
cparata	2:8308cb42bc49	1457
cparata	2:8308cb42bc49	1458	/**
cparata	2:8308cb42bc49	1459	* @brief Disable the single tap detection for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1460	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1461	*/
cparata	2:8308cb42bc49	1462	int LSM6DSLSensor::Disable_Single_Tap_Detection(void)
cparata	2:8308cb42bc49	1463	{
cparata	2:8308cb42bc49	1464	/* Disable single tap interrupt on INT1 pin. */
cparata	2:8308cb42bc49	1465	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1466	{
cparata	2:8308cb42bc49	1467	return 1;
cparata	2:8308cb42bc49	1468	}
cparata	2:8308cb42bc49	1469
cparata	7:8d01cc2032b8	1470	/* Disable single tap interrupt on INT2 pin. */
cparata	7:8d01cc2032b8	1471	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata	7:8d01cc2032b8	1472	{
cparata	7:8d01cc2032b8	1473	return 1;
cparata	7:8d01cc2032b8	1474	}
cparata	7:8d01cc2032b8	1475
cparata	2:8308cb42bc49	1476	/* Disable basic Interrupts */
cparata	2:8308cb42bc49	1477	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1478	{
cparata	2:8308cb42bc49	1479	return 1;
cparata	2:8308cb42bc49	1480	}
cparata	2:8308cb42bc49	1481
cparata	2:8308cb42bc49	1482	/* Reset tap threshold. */
cparata	2:8308cb42bc49	1483	if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata	2:8308cb42bc49	1484	{
cparata	2:8308cb42bc49	1485	return 1;
cparata	2:8308cb42bc49	1486	}
cparata	2:8308cb42bc49	1487
cparata	2:8308cb42bc49	1488	/* Reset tap shock time window. */
cparata	2:8308cb42bc49	1489	if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata	2:8308cb42bc49	1490	{
cparata	2:8308cb42bc49	1491	return 1;
cparata	2:8308cb42bc49	1492	}
cparata	2:8308cb42bc49	1493
cparata	2:8308cb42bc49	1494	/* Reset tap quiet time window. */
cparata	2:8308cb42bc49	1495	if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata	2:8308cb42bc49	1496	{
cparata	2:8308cb42bc49	1497	return 1;
cparata	2:8308cb42bc49	1498	}
cparata	2:8308cb42bc49	1499
cparata	2:8308cb42bc49	1500	/* _NOTE_: Tap duration time window - don't care for single tap. */
cparata	2:8308cb42bc49	1501
cparata	2:8308cb42bc49	1502	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata	2:8308cb42bc49	1503
cparata	2:8308cb42bc49	1504	/* Disable Z direction in tap recognition. */
cparata	2:8308cb42bc49	1505	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_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	/* Disable Y direction in tap recognition. */
cparata	2:8308cb42bc49	1511	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1512	{
cparata	2:8308cb42bc49	1513	return 1;
cparata	2:8308cb42bc49	1514	}
cparata	2:8308cb42bc49	1515
cparata	2:8308cb42bc49	1516	/* Disable X direction in tap recognition. */
cparata	2:8308cb42bc49	1517	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1518	{
cparata	2:8308cb42bc49	1519	return 1;
cparata	2:8308cb42bc49	1520	}
cparata	2:8308cb42bc49	1521
cparata	2:8308cb42bc49	1522	return 0;
cparata	2:8308cb42bc49	1523	}
cparata	2:8308cb42bc49	1524
cparata	2:8308cb42bc49	1525	/**
cparata	2:8308cb42bc49	1526	* @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1527	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:8308cb42bc49	1528	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1529	*/
cparata	2:8308cb42bc49	1530	int LSM6DSLSensor::Enable_Double_Tap_Detection(void)
cparata	2:8308cb42bc49	1531	{
cparata	7:8d01cc2032b8	1532	return Enable_Double_Tap_Detection(LSM6DSL_INT1_PIN);
cparata	7:8d01cc2032b8	1533	}
cparata	7:8d01cc2032b8	1534
cparata	7:8d01cc2032b8	1535	/**
cparata	7:8d01cc2032b8	1536	* @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata	7:8d01cc2032b8	1537	* @param pin the interrupt pin to be used
cparata	7:8d01cc2032b8	1538	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	7:8d01cc2032b8	1539	* @retval 0 in case of success, an error code otherwise
cparata	7:8d01cc2032b8	1540	*/
cparata	7:8d01cc2032b8	1541	int LSM6DSLSensor::Enable_Double_Tap_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata	7:8d01cc2032b8	1542	{
cparata	2:8308cb42bc49	1543	/* Output Data Rate selection */
cparata	2:8308cb42bc49	1544	if( Set_X_ODR(416.0f) == 1 )
cparata	2:8308cb42bc49	1545	{
cparata	2:8308cb42bc49	1546	return 1;
cparata	2:8308cb42bc49	1547	}
cparata	2:8308cb42bc49	1548
cparata	2:8308cb42bc49	1549	/* Full scale selection. */
cparata	2:8308cb42bc49	1550	if( Set_X_FS(2.0f) == 1 )
cparata	2:8308cb42bc49	1551	{
cparata	2:8308cb42bc49	1552	return 1;
cparata	2:8308cb42bc49	1553	}
cparata	2:8308cb42bc49	1554
cparata	2:8308cb42bc49	1555	/* Enable X direction in tap recognition. */
cparata	2:8308cb42bc49	1556	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1557	{
cparata	2:8308cb42bc49	1558	return 1;
cparata	2:8308cb42bc49	1559	}
cparata	2:8308cb42bc49	1560
cparata	2:8308cb42bc49	1561	/* Enable Y direction in tap recognition. */
cparata	2:8308cb42bc49	1562	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1563	{
cparata	2:8308cb42bc49	1564	return 1;
cparata	2:8308cb42bc49	1565	}
cparata	2:8308cb42bc49	1566
cparata	2:8308cb42bc49	1567	/* Enable Z direction in tap recognition. */
cparata	2:8308cb42bc49	1568	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1569	{
cparata	2:8308cb42bc49	1570	return 1;
cparata	2:8308cb42bc49	1571	}
cparata	2:8308cb42bc49	1572
cparata	2:8308cb42bc49	1573	/* Set tap threshold. */
cparata	2:8308cb42bc49	1574	if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata	2:8308cb42bc49	1575	{
cparata	2:8308cb42bc49	1576	return 1;
cparata	2:8308cb42bc49	1577	}
cparata	2:8308cb42bc49	1578
cparata	2:8308cb42bc49	1579	/* Set tap shock time window. */
cparata	2:8308cb42bc49	1580	if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == 1 )
cparata	2:8308cb42bc49	1581	{
cparata	2:8308cb42bc49	1582	return 1;
cparata	2:8308cb42bc49	1583	}
cparata	2:8308cb42bc49	1584
cparata	2:8308cb42bc49	1585	/* Set tap quiet time window. */
cparata	2:8308cb42bc49	1586	if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == 1 )
cparata	2:8308cb42bc49	1587	{
cparata	2:8308cb42bc49	1588	return 1;
cparata	2:8308cb42bc49	1589	}
cparata	2:8308cb42bc49	1590
cparata	2:8308cb42bc49	1591	/* Set tap duration time window. */
cparata	2:8308cb42bc49	1592	if ( Set_Tap_Duration_Time( LSM6DSL_TAP_DURATION_TIME_MID ) == 1 )
cparata	2:8308cb42bc49	1593	{
cparata	2:8308cb42bc49	1594	return 1;
cparata	2:8308cb42bc49	1595	}
cparata	2:8308cb42bc49	1596
cparata	2:8308cb42bc49	1597	/* Single and double tap enabled. */
cparata	2:8308cb42bc49	1598	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1599	{
cparata	2:8308cb42bc49	1600	return 1;
cparata	2:8308cb42bc49	1601	}
cparata	2:8308cb42bc49	1602
cparata	2:8308cb42bc49	1603	/* Enable basic Interrupts */
cparata	2:8308cb42bc49	1604	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1605	{
cparata	2:8308cb42bc49	1606	return 1;
cparata	2:8308cb42bc49	1607	}
cparata	2:8308cb42bc49	1608
cparata	7:8d01cc2032b8	1609	/* Enable double tap on either INT1 or INT2 pin */
cparata	7:8d01cc2032b8	1610	switch (pin)
cparata	2:8308cb42bc49	1611	{
cparata	7:8d01cc2032b8	1612	case LSM6DSL_INT1_PIN:
cparata	7:8d01cc2032b8	1613	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
cparata	7:8d01cc2032b8	1614	{
cparata	7:8d01cc2032b8	1615	return 1;
cparata	7:8d01cc2032b8	1616	}
cparata	7:8d01cc2032b8	1617	break;
cparata	7:8d01cc2032b8	1618
cparata	7:8d01cc2032b8	1619	case LSM6DSL_INT2_PIN:
cparata	7:8d01cc2032b8	1620	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TAP_ENABLED ) == MEMS_ERROR )
cparata	7:8d01cc2032b8	1621	{
cparata	7:8d01cc2032b8	1622	return 1;
cparata	7:8d01cc2032b8	1623	}
cparata	7:8d01cc2032b8	1624	break;
cparata	7:8d01cc2032b8	1625
cparata	7:8d01cc2032b8	1626	default:
cparata	2:8308cb42bc49	1627	return 1;
cparata	2:8308cb42bc49	1628	}
cparata	2:8308cb42bc49	1629
cparata	2:8308cb42bc49	1630	return 0;
cparata	2:8308cb42bc49	1631	}
cparata	2:8308cb42bc49	1632
cparata	2:8308cb42bc49	1633	/**
cparata	2:8308cb42bc49	1634	* @brief Disable the double tap detection for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1635	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1636	*/
cparata	2:8308cb42bc49	1637	int LSM6DSLSensor::Disable_Double_Tap_Detection(void)
cparata	2:8308cb42bc49	1638	{
cparata	2:8308cb42bc49	1639	/* Disable double tap interrupt on INT1 pin. */
cparata	2:8308cb42bc49	1640	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1641	{
cparata	2:8308cb42bc49	1642	return 1;
cparata	2:8308cb42bc49	1643	}
cparata	2:8308cb42bc49	1644
cparata	7:8d01cc2032b8	1645	/* Disable double tap interrupt on INT2 pin. */
cparata	7:8d01cc2032b8	1646	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TAP_DISABLED ) == MEMS_ERROR )
cparata	7:8d01cc2032b8	1647	{
cparata	7:8d01cc2032b8	1648	return 1;
cparata	7:8d01cc2032b8	1649	}
cparata	7:8d01cc2032b8	1650
cparata	2:8308cb42bc49	1651	/* Disable basic Interrupts */
cparata	2:8308cb42bc49	1652	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1653	{
cparata	2:8308cb42bc49	1654	return 1;
cparata	2:8308cb42bc49	1655	}
cparata	2:8308cb42bc49	1656
cparata	2:8308cb42bc49	1657	/* Reset tap threshold. */
cparata	2:8308cb42bc49	1658	if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata	2:8308cb42bc49	1659	{
cparata	2:8308cb42bc49	1660	return 1;
cparata	2:8308cb42bc49	1661	}
cparata	2:8308cb42bc49	1662
cparata	2:8308cb42bc49	1663	/* Reset tap shock time window. */
cparata	2:8308cb42bc49	1664	if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata	2:8308cb42bc49	1665	{
cparata	2:8308cb42bc49	1666	return 1;
cparata	2:8308cb42bc49	1667	}
cparata	2:8308cb42bc49	1668
cparata	2:8308cb42bc49	1669	/* Reset tap quiet time window. */
cparata	2:8308cb42bc49	1670	if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata	2:8308cb42bc49	1671	{
cparata	2:8308cb42bc49	1672	return 1;
cparata	2:8308cb42bc49	1673	}
cparata	2:8308cb42bc49	1674
cparata	2:8308cb42bc49	1675	/* Reset tap duration time window. */
cparata	2:8308cb42bc49	1676	if ( Set_Tap_Duration_Time( 0x0 ) == 1 )
cparata	2:8308cb42bc49	1677	{
cparata	2:8308cb42bc49	1678	return 1;
cparata	2:8308cb42bc49	1679	}
cparata	2:8308cb42bc49	1680
cparata	2:8308cb42bc49	1681	/* Only single tap enabled. */
cparata	2:8308cb42bc49	1682	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1683	{
cparata	2:8308cb42bc49	1684	return 1;
cparata	2:8308cb42bc49	1685	}
cparata	2:8308cb42bc49	1686
cparata	2:8308cb42bc49	1687	/* Disable Z direction in tap recognition. */
cparata	2:8308cb42bc49	1688	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1689	{
cparata	2:8308cb42bc49	1690	return 1;
cparata	2:8308cb42bc49	1691	}
cparata	2:8308cb42bc49	1692
cparata	2:8308cb42bc49	1693	/* Disable Y direction in tap recognition. */
cparata	2:8308cb42bc49	1694	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1695	{
cparata	2:8308cb42bc49	1696	return 1;
cparata	2:8308cb42bc49	1697	}
cparata	2:8308cb42bc49	1698
cparata	2:8308cb42bc49	1699	/* Disable X direction in tap recognition. */
cparata	2:8308cb42bc49	1700	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1701	{
cparata	2:8308cb42bc49	1702	return 1;
cparata	2:8308cb42bc49	1703	}
cparata	2:8308cb42bc49	1704
cparata	2:8308cb42bc49	1705	return 0;
cparata	2:8308cb42bc49	1706	}
cparata	2:8308cb42bc49	1707
cparata	2:8308cb42bc49	1708	/**
cparata	2:8308cb42bc49	1709	* @brief Set the tap threshold for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1710	* @param thr the threshold to be set
cparata	2:8308cb42bc49	1711	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1712	*/
cparata	2:8308cb42bc49	1713	int LSM6DSLSensor::Set_Tap_Threshold(uint8_t thr)
cparata	2:8308cb42bc49	1714	{
cparata	2:8308cb42bc49	1715	if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1716	{
cparata	2:8308cb42bc49	1717	return 1;
cparata	2:8308cb42bc49	1718	}
cparata	2:8308cb42bc49	1719
cparata	2:8308cb42bc49	1720	return 0;
cparata	2:8308cb42bc49	1721	}
cparata	2:8308cb42bc49	1722
cparata	2:8308cb42bc49	1723	/**
cparata	2:8308cb42bc49	1724	* @brief Set the tap shock time window for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1725	* @param time the shock time window to be set
cparata	2:8308cb42bc49	1726	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1727	*/
cparata	2:8308cb42bc49	1728	int LSM6DSLSensor::Set_Tap_Shock_Time(uint8_t time)
cparata	2:8308cb42bc49	1729	{
cparata	2:8308cb42bc49	1730	if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1731	{
cparata	2:8308cb42bc49	1732	return 1;
cparata	2:8308cb42bc49	1733	}
cparata	2:8308cb42bc49	1734
cparata	2:8308cb42bc49	1735	return 0;
cparata	2:8308cb42bc49	1736	}
cparata	2:8308cb42bc49	1737
cparata	2:8308cb42bc49	1738	/**
cparata	2:8308cb42bc49	1739	* @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1740	* @param time the quiet time window to be set
cparata	2:8308cb42bc49	1741	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1742	*/
cparata	2:8308cb42bc49	1743	int LSM6DSLSensor::Set_Tap_Quiet_Time(uint8_t time)
cparata	2:8308cb42bc49	1744	{
cparata	2:8308cb42bc49	1745	if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1746	{
cparata	2:8308cb42bc49	1747	return 1;
cparata	2:8308cb42bc49	1748	}
cparata	2:8308cb42bc49	1749
cparata	2:8308cb42bc49	1750	return 0;
cparata	2:8308cb42bc49	1751	}
cparata	2:8308cb42bc49	1752
cparata	2:8308cb42bc49	1753	/**
cparata	2:8308cb42bc49	1754	* @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1755	* @param time the duration of the time window to be set
cparata	2:8308cb42bc49	1756	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1757	*/
cparata	2:8308cb42bc49	1758	int LSM6DSLSensor::Set_Tap_Duration_Time(uint8_t time)
cparata	2:8308cb42bc49	1759	{
cparata	2:8308cb42bc49	1760	if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1761	{
cparata	2:8308cb42bc49	1762	return 1;
cparata	2:8308cb42bc49	1763	}
cparata	2:8308cb42bc49	1764
cparata	2:8308cb42bc49	1765	return 0;
cparata	2:8308cb42bc49	1766	}
cparata	2:8308cb42bc49	1767
cparata	2:8308cb42bc49	1768	/**
cparata	2:8308cb42bc49	1769	* @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1770	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:8308cb42bc49	1771	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1772	*/
cparata	2:8308cb42bc49	1773	int LSM6DSLSensor::Enable_6D_Orientation(void)
cparata	2:8308cb42bc49	1774	{
cparata	7:8d01cc2032b8	1775	return Enable_6D_Orientation(LSM6DSL_INT1_PIN);
cparata	7:8d01cc2032b8	1776	}
cparata	7:8d01cc2032b8	1777
cparata	7:8d01cc2032b8	1778	/**
cparata	7:8d01cc2032b8	1779	* @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	7:8d01cc2032b8	1780	* @param pin the interrupt pin to be used
cparata	7:8d01cc2032b8	1781	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	7:8d01cc2032b8	1782	* @retval 0 in case of success, an error code otherwise
cparata	7:8d01cc2032b8	1783	*/
cparata	7:8d01cc2032b8	1784	int LSM6DSLSensor::Enable_6D_Orientation(LSM6DSL_Interrupt_Pin_t pin)
cparata	7:8d01cc2032b8	1785	{
cparata	2:8308cb42bc49	1786	/* Output Data Rate selection */
cparata	2:8308cb42bc49	1787	if( Set_X_ODR(416.0f) == 1 )
cparata	2:8308cb42bc49	1788	{
cparata	2:8308cb42bc49	1789	return 1;
cparata	2:8308cb42bc49	1790	}
cparata	2:8308cb42bc49	1791
cparata	2:8308cb42bc49	1792	/* Full scale selection. */
cparata	2:8308cb42bc49	1793	if( Set_X_FS(2.0f) == 1 )
cparata	2:8308cb42bc49	1794	{
cparata	2:8308cb42bc49	1795	return 1;
cparata	2:8308cb42bc49	1796	}
cparata	2:8308cb42bc49	1797
cparata	2:8308cb42bc49	1798	/* Set 6D threshold. */
cparata	2:8308cb42bc49	1799	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1800	{
cparata	2:8308cb42bc49	1801	return 1;
cparata	2:8308cb42bc49	1802	}
cparata	2:8308cb42bc49	1803
cparata	2:8308cb42bc49	1804	/* Enable basic Interrupts */
cparata	2:8308cb42bc49	1805	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1806	{
cparata	2:8308cb42bc49	1807	return 1;
cparata	2:8308cb42bc49	1808	}
cparata	2:8308cb42bc49	1809
cparata	7:8d01cc2032b8	1810	/* Enable 6D orientation on either INT1 or INT2 pin */
cparata	7:8d01cc2032b8	1811	switch (pin)
cparata	2:8308cb42bc49	1812	{
cparata	7:8d01cc2032b8	1813	case LSM6DSL_INT1_PIN:
cparata	7:8d01cc2032b8	1814	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
cparata	7:8d01cc2032b8	1815	{
cparata	7:8d01cc2032b8	1816	return 1;
cparata	7:8d01cc2032b8	1817	}
cparata	7:8d01cc2032b8	1818	break;
cparata	7:8d01cc2032b8	1819
cparata	7:8d01cc2032b8	1820	case LSM6DSL_INT2_PIN:
cparata	7:8d01cc2032b8	1821	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_6D_ENABLED ) == MEMS_ERROR )
cparata	7:8d01cc2032b8	1822	{
cparata	7:8d01cc2032b8	1823	return 1;
cparata	7:8d01cc2032b8	1824	}
cparata	7:8d01cc2032b8	1825	break;
cparata	7:8d01cc2032b8	1826
cparata	7:8d01cc2032b8	1827	default:
cparata	2:8308cb42bc49	1828	return 1;
cparata	2:8308cb42bc49	1829	}
cparata	2:8308cb42bc49	1830
cparata	2:8308cb42bc49	1831	return 0;
cparata	2:8308cb42bc49	1832	}
cparata	2:8308cb42bc49	1833
cparata	2:8308cb42bc49	1834	/**
cparata	2:8308cb42bc49	1835	* @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1836	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1837	*/
cparata	2:8308cb42bc49	1838	int LSM6DSLSensor::Disable_6D_Orientation(void)
cparata	2:8308cb42bc49	1839	{
cparata	7:8d01cc2032b8	1840	/* Disable 6D orientation interrupt on INT1 pin. */
cparata	2:8308cb42bc49	1841	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1842	{
cparata	2:8308cb42bc49	1843	return 1;
cparata	2:8308cb42bc49	1844	}
cparata	2:8308cb42bc49	1845
cparata	7:8d01cc2032b8	1846	/* Disable 6D orientation interrupt on INT2 pin. */
cparata	7:8d01cc2032b8	1847	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_6D_DISABLED ) == MEMS_ERROR )
cparata	7:8d01cc2032b8	1848	{
cparata	7:8d01cc2032b8	1849	return 1;
cparata	7:8d01cc2032b8	1850	}
cparata	7:8d01cc2032b8	1851
cparata	2:8308cb42bc49	1852	/* Disable basic Interrupts */
cparata	2:8308cb42bc49	1853	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1854	{
cparata	2:8308cb42bc49	1855	return 1;
cparata	2:8308cb42bc49	1856	}
cparata	2:8308cb42bc49	1857
cparata	2:8308cb42bc49	1858	/* Reset 6D threshold. */
cparata	2:8308cb42bc49	1859	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1860	{
cparata	2:8308cb42bc49	1861	return 1;
cparata	2:8308cb42bc49	1862	}
cparata	2:8308cb42bc49	1863
cparata	2:8308cb42bc49	1864	return 0;
cparata	2:8308cb42bc49	1865	}
cparata	2:8308cb42bc49	1866
cparata	2:8308cb42bc49	1867	/**
cparata	2:8308cb42bc49	1868	* @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1869	* @param xl the pointer to the 6D orientation XL axis
cparata	2:8308cb42bc49	1870	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1871	*/
cparata	2:8308cb42bc49	1872	int LSM6DSLSensor::Get_6D_Orientation_XL(uint8_t *xl)
cparata	2:8308cb42bc49	1873	{
cparata	2:8308cb42bc49	1874	LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
cparata	2:8308cb42bc49	1875
cparata	2:8308cb42bc49	1876	if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1877	{
cparata	2:8308cb42bc49	1878	return 1;
cparata	2:8308cb42bc49	1879	}
cparata	2:8308cb42bc49	1880
cparata	2:8308cb42bc49	1881	switch( xl_raw )
cparata	2:8308cb42bc49	1882	{
cparata	2:8308cb42bc49	1883	case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
cparata	2:8308cb42bc49	1884	*xl = 1;
cparata	2:8308cb42bc49	1885	break;
cparata	2:8308cb42bc49	1886	case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
cparata	2:8308cb42bc49	1887	*xl = 0;
cparata	2:8308cb42bc49	1888	break;
cparata	2:8308cb42bc49	1889	default:
cparata	2:8308cb42bc49	1890	return 1;
cparata	2:8308cb42bc49	1891	}
cparata	2:8308cb42bc49	1892
cparata	2:8308cb42bc49	1893	return 0;
cparata	2:8308cb42bc49	1894	}
cparata	2:8308cb42bc49	1895
cparata	2:8308cb42bc49	1896	/**
cparata	2:8308cb42bc49	1897	* @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1898	* @param xh the pointer to the 6D orientation XH axis
cparata	2:8308cb42bc49	1899	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1900	*/
cparata	2:8308cb42bc49	1901	int LSM6DSLSensor::Get_6D_Orientation_XH(uint8_t *xh)
cparata	2:8308cb42bc49	1902	{
cparata	2:8308cb42bc49	1903	LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
cparata	2:8308cb42bc49	1904
cparata	2:8308cb42bc49	1905	if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1906	{
cparata	2:8308cb42bc49	1907	return 1;
cparata	2:8308cb42bc49	1908	}
cparata	2:8308cb42bc49	1909
cparata	2:8308cb42bc49	1910	switch( xh_raw )
cparata	2:8308cb42bc49	1911	{
cparata	2:8308cb42bc49	1912	case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
cparata	2:8308cb42bc49	1913	*xh = 1;
cparata	2:8308cb42bc49	1914	break;
cparata	2:8308cb42bc49	1915	case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
cparata	2:8308cb42bc49	1916	*xh = 0;
cparata	2:8308cb42bc49	1917	break;
cparata	2:8308cb42bc49	1918	default:
cparata	2:8308cb42bc49	1919	return 1;
cparata	2:8308cb42bc49	1920	}
cparata	2:8308cb42bc49	1921
cparata	2:8308cb42bc49	1922	return 0;
cparata	2:8308cb42bc49	1923	}
cparata	2:8308cb42bc49	1924
cparata	2:8308cb42bc49	1925	/**
cparata	2:8308cb42bc49	1926	* @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1927	* @param yl the pointer to the 6D orientation YL axis
cparata	2:8308cb42bc49	1928	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1929	*/
cparata	2:8308cb42bc49	1930	int LSM6DSLSensor::Get_6D_Orientation_YL(uint8_t *yl)
cparata	2:8308cb42bc49	1931	{
cparata	2:8308cb42bc49	1932	LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
cparata	2:8308cb42bc49	1933
cparata	2:8308cb42bc49	1934	if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1935	{
cparata	2:8308cb42bc49	1936	return 1;
cparata	2:8308cb42bc49	1937	}
cparata	2:8308cb42bc49	1938
cparata	2:8308cb42bc49	1939	switch( yl_raw )
cparata	2:8308cb42bc49	1940	{
cparata	2:8308cb42bc49	1941	case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
cparata	2:8308cb42bc49	1942	*yl = 1;
cparata	2:8308cb42bc49	1943	break;
cparata	2:8308cb42bc49	1944	case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
cparata	2:8308cb42bc49	1945	*yl = 0;
cparata	2:8308cb42bc49	1946	break;
cparata	2:8308cb42bc49	1947	default:
cparata	2:8308cb42bc49	1948	return 1;
cparata	2:8308cb42bc49	1949	}
cparata	2:8308cb42bc49	1950
cparata	2:8308cb42bc49	1951	return 0;
cparata	2:8308cb42bc49	1952	}
cparata	2:8308cb42bc49	1953
cparata	2:8308cb42bc49	1954	/**
cparata	2:8308cb42bc49	1955	* @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1956	* @param yh the pointer to the 6D orientation YH axis
cparata	2:8308cb42bc49	1957	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1958	*/
cparata	2:8308cb42bc49	1959	int LSM6DSLSensor::Get_6D_Orientation_YH(uint8_t *yh)
cparata	2:8308cb42bc49	1960	{
cparata	2:8308cb42bc49	1961	LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
cparata	2:8308cb42bc49	1962
cparata	2:8308cb42bc49	1963	if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1964	{
cparata	2:8308cb42bc49	1965	return 1;
cparata	2:8308cb42bc49	1966	}
cparata	2:8308cb42bc49	1967
cparata	2:8308cb42bc49	1968	switch( yh_raw )
cparata	2:8308cb42bc49	1969	{
cparata	2:8308cb42bc49	1970	case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
cparata	2:8308cb42bc49	1971	*yh = 1;
cparata	2:8308cb42bc49	1972	break;
cparata	2:8308cb42bc49	1973	case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
cparata	2:8308cb42bc49	1974	*yh = 0;
cparata	2:8308cb42bc49	1975	break;
cparata	2:8308cb42bc49	1976	default:
cparata	2:8308cb42bc49	1977	return 1;
cparata	2:8308cb42bc49	1978	}
cparata	2:8308cb42bc49	1979
cparata	2:8308cb42bc49	1980	return 0;
cparata	2:8308cb42bc49	1981	}
cparata	2:8308cb42bc49	1982
cparata	2:8308cb42bc49	1983	/**
cparata	2:8308cb42bc49	1984	* @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	1985	* @param zl the pointer to the 6D orientation ZL axis
cparata	2:8308cb42bc49	1986	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	1987	*/
cparata	2:8308cb42bc49	1988	int LSM6DSLSensor::Get_6D_Orientation_ZL(uint8_t *zl)
cparata	2:8308cb42bc49	1989	{
cparata	2:8308cb42bc49	1990	LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
cparata	2:8308cb42bc49	1991
cparata	2:8308cb42bc49	1992	if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
cparata	2:8308cb42bc49	1993	{
cparata	2:8308cb42bc49	1994	return 1;
cparata	2:8308cb42bc49	1995	}
cparata	2:8308cb42bc49	1996
cparata	2:8308cb42bc49	1997	switch( zl_raw )
cparata	2:8308cb42bc49	1998	{
cparata	2:8308cb42bc49	1999	case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
cparata	2:8308cb42bc49	2000	*zl = 1;
cparata	2:8308cb42bc49	2001	break;
cparata	2:8308cb42bc49	2002	case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
cparata	2:8308cb42bc49	2003	*zl = 0;
cparata	2:8308cb42bc49	2004	break;
cparata	2:8308cb42bc49	2005	default:
cparata	2:8308cb42bc49	2006	return 1;
cparata	2:8308cb42bc49	2007	}
cparata	2:8308cb42bc49	2008
cparata	2:8308cb42bc49	2009	return 0;
cparata	2:8308cb42bc49	2010	}
cparata	2:8308cb42bc49	2011
cparata	2:8308cb42bc49	2012	/**
cparata	2:8308cb42bc49	2013	* @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
cparata	2:8308cb42bc49	2014	* @param zh the pointer to the 6D orientation ZH axis
cparata	2:8308cb42bc49	2015	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	2016	*/
cparata	2:8308cb42bc49	2017	int LSM6DSLSensor::Get_6D_Orientation_ZH(uint8_t *zh)
cparata	2:8308cb42bc49	2018	{
cparata	2:8308cb42bc49	2019	LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
cparata	2:8308cb42bc49	2020
cparata	2:8308cb42bc49	2021	if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
cparata	2:8308cb42bc49	2022	{
cparata	2:8308cb42bc49	2023	return 1;
cparata	2:8308cb42bc49	2024	}
cparata	2:8308cb42bc49	2025
cparata	2:8308cb42bc49	2026	switch( zh_raw )
cparata	2:8308cb42bc49	2027	{
cparata	2:8308cb42bc49	2028	case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
cparata	2:8308cb42bc49	2029	*zh = 1;
cparata	2:8308cb42bc49	2030	break;
cparata	2:8308cb42bc49	2031	case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
cparata	2:8308cb42bc49	2032	*zh = 0;
cparata	2:8308cb42bc49	2033	break;
cparata	2:8308cb42bc49	2034	default:
cparata	2:8308cb42bc49	2035	return 1;
cparata	2:8308cb42bc49	2036	}
cparata	2:8308cb42bc49	2037
cparata	2:8308cb42bc49	2038	return 0;
cparata	2:8308cb42bc49	2039	}
cparata	2:8308cb42bc49	2040
cparata	2:8308cb42bc49	2041	/**
cparata	4:6b137af9100e	2042	* @brief Get the status of all hardware events for LSM6DSL accelerometer sensor
cparata	4:6b137af9100e	2043	* @param status the pointer to the status of all hardware events
cparata	4:6b137af9100e	2044	* @retval 0 in case of success, an error code otherwise
cparata	4:6b137af9100e	2045	*/
cparata	4:6b137af9100e	2046	int LSM6DSLSensor::Get_Event_Status(LSM6DSL_Event_Status_t *status)
cparata	4:6b137af9100e	2047	{
cparata	5:7e71ac8fadc5	2048	uint8_t Wake_Up_Src = 0, Tap_Src = 0, D6D_Src = 0, Func_Src = 0, Md1_Cfg = 0, Md2_Cfg = 0, Int1_Ctrl = 0;
cparata	4:6b137af9100e	2049
cparata	4:6b137af9100e	2050	memset((void *)status, 0x0, sizeof(LSM6DSL_Event_Status_t));
cparata	4:6b137af9100e	2051
cparata	4:6b137af9100e	2052	if(ReadReg(LSM6DSL_ACC_GYRO_WAKE_UP_SRC, &Wake_Up_Src) != 0)
cparata	4:6b137af9100e	2053	{
cparata	4:6b137af9100e	2054	return 1;
cparata	4:6b137af9100e	2055	}
cparata	4:6b137af9100e	2056
cparata	4:6b137af9100e	2057	if(ReadReg(LSM6DSL_ACC_GYRO_TAP_SRC, &Tap_Src) != 0)
cparata	4:6b137af9100e	2058	{
cparata	4:6b137af9100e	2059	return 1;
cparata	4:6b137af9100e	2060	}
cparata	4:6b137af9100e	2061
cparata	4:6b137af9100e	2062	if(ReadReg(LSM6DSL_ACC_GYRO_D6D_SRC, &D6D_Src) != 0)
cparata	4:6b137af9100e	2063	{
cparata	4:6b137af9100e	2064	return 1;
cparata	4:6b137af9100e	2065	}
cparata	4:6b137af9100e	2066
cparata	4:6b137af9100e	2067	if(ReadReg(LSM6DSL_ACC_GYRO_FUNC_SRC, &Func_Src) != 0)
cparata	4:6b137af9100e	2068	{
cparata	4:6b137af9100e	2069	return 1;
cparata	4:6b137af9100e	2070	}
cparata	4:6b137af9100e	2071
cparata	5:7e71ac8fadc5	2072	if(ReadReg(LSM6DSL_ACC_GYRO_MD1_CFG, &Md1_Cfg ) != 0 )
cparata	5:7e71ac8fadc5	2073	{
cparata	5:7e71ac8fadc5	2074	return 1;
cparata	5:7e71ac8fadc5	2075	}
cparata	5:7e71ac8fadc5	2076
cparata	5:7e71ac8fadc5	2077	if(ReadReg(LSM6DSL_ACC_GYRO_MD2_CFG, &Md2_Cfg ) != 0)
cparata	4:6b137af9100e	2078	{
cparata	5:7e71ac8fadc5	2079	return 1;
cparata	5:7e71ac8fadc5	2080	}
cparata	5:7e71ac8fadc5	2081
cparata	5:7e71ac8fadc5	2082	if(ReadReg(LSM6DSL_ACC_GYRO_INT1_CTRL, &Int1_Ctrl ) != 0)
cparata	5:7e71ac8fadc5	2083	{
cparata	5:7e71ac8fadc5	2084	return 1;
cparata	4:6b137af9100e	2085	}
cparata	4:6b137af9100e	2086
cparata	7:8d01cc2032b8	2087	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_FF_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_FF_MASK))
cparata	4:6b137af9100e	2088	{
cparata	5:7e71ac8fadc5	2089	if((Wake_Up_Src & LSM6DSL_ACC_GYRO_FF_EV_STATUS_MASK))
cparata	5:7e71ac8fadc5	2090	{
cparata	5:7e71ac8fadc5	2091	status->FreeFallStatus = 1;
cparata	5:7e71ac8fadc5	2092	}
cparata	4:6b137af9100e	2093	}
cparata	4:6b137af9100e	2094
cparata	7:8d01cc2032b8	2095	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_WU_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_WU_MASK))
cparata	4:6b137af9100e	2096	{
cparata	5:7e71ac8fadc5	2097	if((Wake_Up_Src & LSM6DSL_ACC_GYRO_WU_EV_STATUS_MASK))
cparata	5:7e71ac8fadc5	2098	{
cparata	5:7e71ac8fadc5	2099	status->WakeUpStatus = 1;
cparata	5:7e71ac8fadc5	2100	}
cparata	4:6b137af9100e	2101	}
cparata	4:6b137af9100e	2102
cparata	7:8d01cc2032b8	2103	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_MASK))
cparata	4:6b137af9100e	2104	{
cparata	5:7e71ac8fadc5	2105	if((Tap_Src & LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_MASK))
cparata	5:7e71ac8fadc5	2106	{
cparata	5:7e71ac8fadc5	2107	status->TapStatus = 1;
cparata	5:7e71ac8fadc5	2108	}
cparata	5:7e71ac8fadc5	2109	}
cparata	5:7e71ac8fadc5	2110
cparata	7:8d01cc2032b8	2111	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TAP_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_TAP_MASK))
cparata	5:7e71ac8fadc5	2112	{
cparata	5:7e71ac8fadc5	2113	if((Tap_Src & LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_MASK))
cparata	5:7e71ac8fadc5	2114	{
cparata	5:7e71ac8fadc5	2115	status->DoubleTapStatus = 1;
cparata	5:7e71ac8fadc5	2116	}
cparata	4:6b137af9100e	2117	}
cparata	4:6b137af9100e	2118
cparata	7:8d01cc2032b8	2119	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_6D_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_6D_MASK))
cparata	4:6b137af9100e	2120	{
cparata	5:7e71ac8fadc5	2121	if((D6D_Src & LSM6DSL_ACC_GYRO_D6D_EV_STATUS_MASK))
cparata	5:7e71ac8fadc5	2122	{
cparata	5:7e71ac8fadc5	2123	status->D6DOrientationStatus = 1;
cparata	5:7e71ac8fadc5	2124	}
cparata	4:6b137af9100e	2125	}
cparata	4:6b137af9100e	2126
cparata	7:8d01cc2032b8	2127	if((Int1_Ctrl & LSM6DSL_ACC_GYRO_INT1_PEDO_MASK))
cparata	4:6b137af9100e	2128	{
cparata	5:7e71ac8fadc5	2129	if((Func_Src & LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_MASK))
cparata	5:7e71ac8fadc5	2130	{
cparata	5:7e71ac8fadc5	2131	status->StepStatus = 1;
cparata	5:7e71ac8fadc5	2132	}
cparata	4:6b137af9100e	2133	}
cparata	4:6b137af9100e	2134
cparata	7:8d01cc2032b8	2135	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TILT_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_TILT_MASK))
cparata	4:6b137af9100e	2136	{
cparata	5:7e71ac8fadc5	2137	if((Func_Src & LSM6DSL_ACC_GYRO_TILT_EV_STATUS_MASK))
cparata	5:7e71ac8fadc5	2138	{
cparata	5:7e71ac8fadc5	2139	status->TiltStatus = 1;
cparata	5:7e71ac8fadc5	2140	}
cparata	4:6b137af9100e	2141	}
cparata	4:6b137af9100e	2142
cparata	4:6b137af9100e	2143	return 0;
cparata	4:6b137af9100e	2144	}
cparata	4:6b137af9100e	2145
cparata	4:6b137af9100e	2146	/**
cparata	2:8308cb42bc49	2147	* @brief Read the data from register
cparata	2:8308cb42bc49	2148	* @param reg register address
cparata	2:8308cb42bc49	2149	* @param data register data
cparata	4:6b137af9100e	2150	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	2151	*/
cparata	2:8308cb42bc49	2152	int LSM6DSLSensor::ReadReg( uint8_t reg, uint8_t *data )
cparata	2:8308cb42bc49	2153	{
cparata	2:8308cb42bc49	2154
cparata	2:8308cb42bc49	2155	if ( LSM6DSL_ACC_GYRO_ReadReg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
cparata	2:8308cb42bc49	2156	{
cparata	2:8308cb42bc49	2157	return 1;
cparata	2:8308cb42bc49	2158	}
cparata	2:8308cb42bc49	2159
cparata	2:8308cb42bc49	2160	return 0;
cparata	2:8308cb42bc49	2161	}
cparata	2:8308cb42bc49	2162
cparata	2:8308cb42bc49	2163	/**
cparata	2:8308cb42bc49	2164	* @brief Write the data to register
cparata	2:8308cb42bc49	2165	* @param reg register address
cparata	2:8308cb42bc49	2166	* @param data register data
cparata	4:6b137af9100e	2167	* @retval 0 in case of success, an error code otherwise
cparata	2:8308cb42bc49	2168	*/
cparata	2:8308cb42bc49	2169	int LSM6DSLSensor::WriteReg( uint8_t reg, uint8_t data )
cparata	2:8308cb42bc49	2170	{
cparata	2:8308cb42bc49	2171
cparata	2:8308cb42bc49	2172	if ( LSM6DSL_ACC_GYRO_WriteReg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
cparata	2:8308cb42bc49	2173	{
cparata	2:8308cb42bc49	2174	return 1;
cparata	2:8308cb42bc49	2175	}
cparata	2:8308cb42bc49	2176
cparata	2:8308cb42bc49	2177	return 0;
cparata	2:8308cb42bc49	2178	}
cparata	2:8308cb42bc49	2179
cparata	2:8308cb42bc49	2180
cparata	2:8308cb42bc49	2181	uint8_t LSM6DSL_IO_Write( void handle, uint8_t WriteAddr, uint8_t pBuffer, uint16_t nBytesToWrite )
cparata	2:8308cb42bc49	2182	{
cparata	2:8308cb42bc49	2183	return ((LSM6DSLSensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata	2:8308cb42bc49	2184	}
cparata	2:8308cb42bc49	2185
cparata	2:8308cb42bc49	2186	uint8_t LSM6DSL_IO_Read( void handle, uint8_t ReadAddr, uint8_t pBuffer, uint16_t nBytesToRead )
cparata	2:8308cb42bc49	2187	{
cparata	2:8308cb42bc49	2188	return ((LSM6DSLSensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata	2:8308cb42bc49	2189	}

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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@7:8d01cc2032b8, 2016-11-24 (annotated)

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