ST / Mbed 2 deprecated HelloWorld_IKS01A2

Example of hello world for X-NUCLEO-IKS01A2

Dependencies:   X_NUCLEO_IKS01A2 mbed

Fork of HelloWorld_IKS01A2 by ST Expansion SW Team

Hello World Demo Application based on sensor expansion board X-NUCLEO-IKS01A2

Main function is to show how to get humidity, temperature, pressure, accelerometer, magnetomer and gyroscope data using the sensor expansion board and send them using UART to a connected PC or Desktop and display it on terminal applications like TeraTerm.

X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.cpp@7:12afd7461180, 2016-11-24 (annotated)

Committer:
cparata
Date:
Thu Nov 24 16:44:56 2016 +0000
Revision:
7:12afd7461180
Parent:
6:7a7f36ab6c20 
Add possibility to choose the interrupt line for HW events

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 0:69566eea0fba 1 /**
cparata 0:69566eea0fba 2 ******************************************************************************
cparata 0:69566eea0fba 3 * @file LSM6DSLSensor.cpp
cparata 0:69566eea0fba 4 * @author AST
cparata 0:69566eea0fba 5 * @version V1.0.0
cparata 0:69566eea0fba 6 * @date 5 August 2016
cparata 0:69566eea0fba 7 * @brief Implementation of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
cparata 0:69566eea0fba 8 * sensor.
cparata 0:69566eea0fba 9 ******************************************************************************
cparata 0:69566eea0fba 10 * @attention
cparata 0:69566eea0fba 11 *
cparata 0:69566eea0fba 12 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 0:69566eea0fba 13 *
cparata 0:69566eea0fba 14 * Redistribution and use in source and binary forms, with or without modification,
cparata 0:69566eea0fba 15 * are permitted provided that the following conditions are met:
cparata 0:69566eea0fba 16 * 1. Redistributions of source code must retain the above copyright notice,
cparata 0:69566eea0fba 17 * this list of conditions and the following disclaimer.
cparata 0:69566eea0fba 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 0:69566eea0fba 19 * this list of conditions and the following disclaimer in the documentation
cparata 0:69566eea0fba 20 * and/or other materials provided with the distribution.
cparata 0:69566eea0fba 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 0:69566eea0fba 22 * may be used to endorse or promote products derived from this software
cparata 0:69566eea0fba 23 * without specific prior written permission.
cparata 0:69566eea0fba 24 *
cparata 0:69566eea0fba 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 0:69566eea0fba 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 0:69566eea0fba 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 0:69566eea0fba 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 0:69566eea0fba 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 0:69566eea0fba 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 0:69566eea0fba 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 0:69566eea0fba 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 0:69566eea0fba 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 0:69566eea0fba 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 0:69566eea0fba 35 *
cparata 0:69566eea0fba 36 ******************************************************************************
cparata 0:69566eea0fba 37 */
cparata 0:69566eea0fba 38
cparata 0:69566eea0fba 39
cparata 0:69566eea0fba 40 /* Includes ------------------------------------------------------------------*/
cparata 0:69566eea0fba 41
cparata 0:69566eea0fba 42 #include "mbed.h"
cparata 0:69566eea0fba 43 #include "DevI2C.h"
cparata 0:69566eea0fba 44 #include "LSM6DSLSensor.h"
cparata 0:69566eea0fba 45 #include "LSM6DSL_ACC_GYRO_driver.h"
cparata 0:69566eea0fba 46
cparata 0:69566eea0fba 47
cparata 0:69566eea0fba 48 /* Class Implementation ------------------------------------------------------*/
cparata 0:69566eea0fba 49
cparata 0:69566eea0fba 50 /** Constructor
cparata 0:69566eea0fba 51 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:69566eea0fba 52 * @param address the address of the component's instance
cparata 0:69566eea0fba 53 */
cparata 6:7a7f36ab6c20 54 LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, PinName INT1_pin, PinName INT2_pin) : dev_i2c(i2c), INT1_irq(INT1_pin), INT2_irq(INT2_pin)
cparata 0:69566eea0fba 55 {
cparata 0:69566eea0fba 56 address = LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH;
cparata 0:69566eea0fba 57 };
cparata 0:69566eea0fba 58
cparata 0:69566eea0fba 59 /** Constructor
cparata 0:69566eea0fba 60 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:69566eea0fba 61 * @param address the address of the component's instance
cparata 0:69566eea0fba 62 */
cparata 6:7a7f36ab6c20 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:f23b144da50a 64 {
cparata 2:f23b144da50a 65
cparata 2:f23b144da50a 66 };
cparata 2:f23b144da50a 67
cparata 2:f23b144da50a 68 /**
cparata 2:f23b144da50a 69 * @brief Initializing the component.
cparata 2:f23b144da50a 70 * @param[in] init pointer to device specific initalization structure.
cparata 2:f23b144da50a 71 * @retval "0" in case of success, an error code otherwise.
cparata 2:f23b144da50a 72 */
cparata 2:f23b144da50a 73 int LSM6DSLSensor::Init(void *init)
cparata 2:f23b144da50a 74 {
cparata 0:69566eea0fba 75 /* Enable register address automatically incremented during a multiple byte
cparata 0:69566eea0fba 76 access with a serial interface. */
cparata 0:69566eea0fba 77 if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 78 {
cparata 2:f23b144da50a 79 return 1;
cparata 0:69566eea0fba 80 }
cparata 0:69566eea0fba 81
cparata 0:69566eea0fba 82 /* Enable BDU */
cparata 0:69566eea0fba 83 if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
cparata 0:69566eea0fba 84 {
cparata 2:f23b144da50a 85 return 1;
cparata 0:69566eea0fba 86 }
cparata 0:69566eea0fba 87
cparata 0:69566eea0fba 88 /* FIFO mode selection */
cparata 0:69566eea0fba 89 if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
cparata 0:69566eea0fba 90 {
cparata 2:f23b144da50a 91 return 1;
cparata 0:69566eea0fba 92 }
cparata 0:69566eea0fba 93
cparata 0:69566eea0fba 94 /* Output data rate selection - power down. */
cparata 0:69566eea0fba 95 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata 0:69566eea0fba 96 {
cparata 2:f23b144da50a 97 return 1;
cparata 0:69566eea0fba 98 }
cparata 0:69566eea0fba 99
cparata 0:69566eea0fba 100 /* Full scale selection. */
cparata 2:f23b144da50a 101 if ( Set_X_FS( 2.0f ) == 1 )
cparata 0:69566eea0fba 102 {
cparata 2:f23b144da50a 103 return 1;
cparata 0:69566eea0fba 104 }
cparata 0:69566eea0fba 105
cparata 0:69566eea0fba 106 /* Output data rate selection - power down */
cparata 0:69566eea0fba 107 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata 0:69566eea0fba 108 {
cparata 2:f23b144da50a 109 return 1;
cparata 0:69566eea0fba 110 }
cparata 0:69566eea0fba 111
cparata 0:69566eea0fba 112 /* Full scale selection. */
cparata 2:f23b144da50a 113 if ( Set_G_FS( 2000.0f ) == 1 )
cparata 0:69566eea0fba 114 {
cparata 2:f23b144da50a 115 return 1;
cparata 0:69566eea0fba 116 }
cparata 0:69566eea0fba 117
cparata 0:69566eea0fba 118 X_Last_ODR = 104.0f;
cparata 0:69566eea0fba 119
cparata 0:69566eea0fba 120 X_isEnabled = 0;
cparata 0:69566eea0fba 121
cparata 0:69566eea0fba 122 G_Last_ODR = 104.0f;
cparata 0:69566eea0fba 123
cparata 0:69566eea0fba 124 G_isEnabled = 0;
cparata 2:f23b144da50a 125
cparata 2:f23b144da50a 126 return 0;
cparata 2:f23b144da50a 127 }
cparata 0:69566eea0fba 128
cparata 0:69566eea0fba 129 /**
cparata 0:69566eea0fba 130 * @brief Enable LSM6DSL Accelerator
cparata 2:f23b144da50a 131 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 132 */
cparata 2:f23b144da50a 133 int LSM6DSLSensor::Enable_X(void)
cparata 0:69566eea0fba 134 {
cparata 0:69566eea0fba 135 /* Check if the component is already enabled */
cparata 0:69566eea0fba 136 if ( X_isEnabled == 1 )
cparata 0:69566eea0fba 137 {
cparata 2:f23b144da50a 138 return 0;
cparata 0:69566eea0fba 139 }
cparata 0:69566eea0fba 140
cparata 0:69566eea0fba 141 /* Output data rate selection. */
cparata 2:f23b144da50a 142 if ( Set_X_ODR_When_Enabled( X_Last_ODR ) == 1 )
cparata 0:69566eea0fba 143 {
cparata 2:f23b144da50a 144 return 1;
cparata 0:69566eea0fba 145 }
cparata 0:69566eea0fba 146
cparata 0:69566eea0fba 147 X_isEnabled = 1;
cparata 0:69566eea0fba 148
cparata 2:f23b144da50a 149 return 0;
cparata 0:69566eea0fba 150 }
cparata 0:69566eea0fba 151
cparata 0:69566eea0fba 152 /**
cparata 0:69566eea0fba 153 * @brief Enable LSM6DSL Gyroscope
cparata 2:f23b144da50a 154 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 155 */
cparata 2:f23b144da50a 156 int LSM6DSLSensor::Enable_G(void)
cparata 0:69566eea0fba 157 {
cparata 0:69566eea0fba 158 /* Check if the component is already enabled */
cparata 0:69566eea0fba 159 if ( G_isEnabled == 1 )
cparata 0:69566eea0fba 160 {
cparata 2:f23b144da50a 161 return 0;
cparata 0:69566eea0fba 162 }
cparata 0:69566eea0fba 163
cparata 0:69566eea0fba 164 /* Output data rate selection. */
cparata 2:f23b144da50a 165 if ( Set_G_ODR_When_Enabled( G_Last_ODR ) == 1 )
cparata 0:69566eea0fba 166 {
cparata 2:f23b144da50a 167 return 1;
cparata 0:69566eea0fba 168 }
cparata 0:69566eea0fba 169
cparata 0:69566eea0fba 170 G_isEnabled = 1;
cparata 0:69566eea0fba 171
cparata 2:f23b144da50a 172 return 0;
cparata 0:69566eea0fba 173 }
cparata 0:69566eea0fba 174
cparata 0:69566eea0fba 175 /**
cparata 0:69566eea0fba 176 * @brief Disable LSM6DSL Accelerator
cparata 2:f23b144da50a 177 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 178 */
cparata 2:f23b144da50a 179 int LSM6DSLSensor::Disable_X(void)
cparata 0:69566eea0fba 180 {
cparata 0:69566eea0fba 181 /* Check if the component is already disabled */
cparata 0:69566eea0fba 182 if ( X_isEnabled == 0 )
cparata 0:69566eea0fba 183 {
cparata 2:f23b144da50a 184 return 0;
cparata 0:69566eea0fba 185 }
cparata 0:69566eea0fba 186
cparata 0:69566eea0fba 187 /* Store actual output data rate. */
cparata 2:f23b144da50a 188 if ( Get_X_ODR( &X_Last_ODR ) == 1 )
cparata 0:69566eea0fba 189 {
cparata 2:f23b144da50a 190 return 1;
cparata 0:69566eea0fba 191 }
cparata 0:69566eea0fba 192
cparata 0:69566eea0fba 193 /* Output data rate selection - power down. */
cparata 0:69566eea0fba 194 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata 0:69566eea0fba 195 {
cparata 2:f23b144da50a 196 return 1;
cparata 0:69566eea0fba 197 }
cparata 0:69566eea0fba 198
cparata 0:69566eea0fba 199 X_isEnabled = 0;
cparata 0:69566eea0fba 200
cparata 2:f23b144da50a 201 return 0;
cparata 0:69566eea0fba 202 }
cparata 0:69566eea0fba 203
cparata 0:69566eea0fba 204 /**
cparata 0:69566eea0fba 205 * @brief Disable LSM6DSL Gyroscope
cparata 2:f23b144da50a 206 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 207 */
cparata 2:f23b144da50a 208 int LSM6DSLSensor::Disable_G(void)
cparata 0:69566eea0fba 209 {
cparata 0:69566eea0fba 210 /* Check if the component is already disabled */
cparata 0:69566eea0fba 211 if ( G_isEnabled == 0 )
cparata 0:69566eea0fba 212 {
cparata 2:f23b144da50a 213 return 0;
cparata 0:69566eea0fba 214 }
cparata 0:69566eea0fba 215
cparata 0:69566eea0fba 216 /* Store actual output data rate. */
cparata 2:f23b144da50a 217 if ( Get_G_ODR( &G_Last_ODR ) == 1 )
cparata 0:69566eea0fba 218 {
cparata 2:f23b144da50a 219 return 1;
cparata 0:69566eea0fba 220 }
cparata 0:69566eea0fba 221
cparata 0:69566eea0fba 222 /* Output data rate selection - power down */
cparata 0:69566eea0fba 223 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata 0:69566eea0fba 224 {
cparata 2:f23b144da50a 225 return 1;
cparata 0:69566eea0fba 226 }
cparata 0:69566eea0fba 227
cparata 0:69566eea0fba 228 G_isEnabled = 0;
cparata 0:69566eea0fba 229
cparata 2:f23b144da50a 230 return 0;
cparata 0:69566eea0fba 231 }
cparata 0:69566eea0fba 232
cparata 0:69566eea0fba 233 /**
cparata 0:69566eea0fba 234 * @brief Read ID of LSM6DSL Accelerometer and Gyroscope
cparata 0:69566eea0fba 235 * @param p_id the pointer where the ID of the device is stored
cparata 2:f23b144da50a 236 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 237 */
cparata 2:f23b144da50a 238 int LSM6DSLSensor::ReadID(uint8_t *id)
cparata 0:69566eea0fba 239 {
cparata 2:f23b144da50a 240 if(!id)
cparata 0:69566eea0fba 241 {
cparata 2:f23b144da50a 242 return 1;
cparata 0:69566eea0fba 243 }
cparata 0:69566eea0fba 244
cparata 0:69566eea0fba 245 /* Read WHO AM I register */
cparata 2:f23b144da50a 246 if ( LSM6DSL_ACC_GYRO_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
cparata 0:69566eea0fba 247 {
cparata 2:f23b144da50a 248 return 1;
cparata 0:69566eea0fba 249 }
cparata 0:69566eea0fba 250
cparata 2:f23b144da50a 251 return 0;
cparata 0:69566eea0fba 252 }
cparata 0:69566eea0fba 253
cparata 0:69566eea0fba 254 /**
cparata 0:69566eea0fba 255 * @brief Read data from LSM6DSL Accelerometer
cparata 0:69566eea0fba 256 * @param pData the pointer where the accelerometer data are stored
cparata 2:f23b144da50a 257 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 258 */
cparata 2:f23b144da50a 259 int LSM6DSLSensor::Get_X_Axes(int32_t *pData)
cparata 0:69566eea0fba 260 {
cparata 0:69566eea0fba 261 int16_t dataRaw[3];
cparata 0:69566eea0fba 262 float sensitivity = 0;
cparata 0:69566eea0fba 263
cparata 0:69566eea0fba 264 /* Read raw data from LSM6DSL output register. */
cparata 2:f23b144da50a 265 if ( Get_X_AxesRaw( dataRaw ) == 1 )
cparata 0:69566eea0fba 266 {
cparata 2:f23b144da50a 267 return 1;
cparata 0:69566eea0fba 268 }
cparata 0:69566eea0fba 269
cparata 0:69566eea0fba 270 /* Get LSM6DSL actual sensitivity. */
cparata 2:f23b144da50a 271 if ( Get_X_Sensitivity( &sensitivity ) == 1 )
cparata 0:69566eea0fba 272 {
cparata 2:f23b144da50a 273 return 1;
cparata 0:69566eea0fba 274 }
cparata 0:69566eea0fba 275
cparata 0:69566eea0fba 276 /* Calculate the data. */
cparata 0:69566eea0fba 277 pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata 0:69566eea0fba 278 pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata 0:69566eea0fba 279 pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata 0:69566eea0fba 280
cparata 2:f23b144da50a 281 return 0;
cparata 0:69566eea0fba 282 }
cparata 0:69566eea0fba 283
cparata 0:69566eea0fba 284 /**
cparata 0:69566eea0fba 285 * @brief Read data from LSM6DSL Gyroscope
cparata 0:69566eea0fba 286 * @param pData the pointer where the gyroscope data are stored
cparata 2:f23b144da50a 287 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 288 */
cparata 2:f23b144da50a 289 int LSM6DSLSensor::Get_G_Axes(int32_t *pData)
cparata 0:69566eea0fba 290 {
cparata 0:69566eea0fba 291 int16_t dataRaw[3];
cparata 0:69566eea0fba 292 float sensitivity = 0;
cparata 0:69566eea0fba 293
cparata 0:69566eea0fba 294 /* Read raw data from LSM6DSL output register. */
cparata 2:f23b144da50a 295 if ( Get_G_AxesRaw( dataRaw ) == 1 )
cparata 0:69566eea0fba 296 {
cparata 2:f23b144da50a 297 return 1;
cparata 0:69566eea0fba 298 }
cparata 0:69566eea0fba 299
cparata 0:69566eea0fba 300 /* Get LSM6DSL actual sensitivity. */
cparata 2:f23b144da50a 301 if ( Get_G_Sensitivity( &sensitivity ) == 1 )
cparata 0:69566eea0fba 302 {
cparata 2:f23b144da50a 303 return 1;
cparata 0:69566eea0fba 304 }
cparata 0:69566eea0fba 305
cparata 0:69566eea0fba 306 /* Calculate the data. */
cparata 0:69566eea0fba 307 pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata 0:69566eea0fba 308 pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata 0:69566eea0fba 309 pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata 0:69566eea0fba 310
cparata 2:f23b144da50a 311 return 0;
cparata 0:69566eea0fba 312 }
cparata 0:69566eea0fba 313
cparata 0:69566eea0fba 314 /**
cparata 0:69566eea0fba 315 * @brief Read Accelerometer Sensitivity
cparata 0:69566eea0fba 316 * @param pfData the pointer where the accelerometer sensitivity is stored
cparata 2:f23b144da50a 317 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 318 */
cparata 2:f23b144da50a 319 int LSM6DSLSensor::Get_X_Sensitivity(float *pfData)
cparata 0:69566eea0fba 320 {
cparata 0:69566eea0fba 321 LSM6DSL_ACC_GYRO_FS_XL_t fullScale;
cparata 0:69566eea0fba 322
cparata 0:69566eea0fba 323 /* Read actual full scale selection from sensor. */
cparata 0:69566eea0fba 324 if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:69566eea0fba 325 {
cparata 2:f23b144da50a 326 return 1;
cparata 0:69566eea0fba 327 }
cparata 0:69566eea0fba 328
cparata 0:69566eea0fba 329 /* Store the sensitivity based on actual full scale. */
cparata 0:69566eea0fba 330 switch( fullScale )
cparata 0:69566eea0fba 331 {
cparata 0:69566eea0fba 332 case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata 0:69566eea0fba 333 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G;
cparata 0:69566eea0fba 334 break;
cparata 0:69566eea0fba 335 case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata 0:69566eea0fba 336 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G;
cparata 0:69566eea0fba 337 break;
cparata 0:69566eea0fba 338 case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata 0:69566eea0fba 339 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G;
cparata 0:69566eea0fba 340 break;
cparata 0:69566eea0fba 341 case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata 0:69566eea0fba 342 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G;
cparata 0:69566eea0fba 343 break;
cparata 0:69566eea0fba 344 default:
cparata 0:69566eea0fba 345 *pfData = -1.0f;
cparata 2:f23b144da50a 346 return 1;
cparata 0:69566eea0fba 347 }
cparata 0:69566eea0fba 348
cparata 2:f23b144da50a 349 return 0;
cparata 0:69566eea0fba 350 }
cparata 0:69566eea0fba 351
cparata 0:69566eea0fba 352 /**
cparata 0:69566eea0fba 353 * @brief Read Gyroscope Sensitivity
cparata 0:69566eea0fba 354 * @param pfData the pointer where the gyroscope sensitivity is stored
cparata 2:f23b144da50a 355 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 356 */
cparata 2:f23b144da50a 357 int LSM6DSLSensor::Get_G_Sensitivity(float *pfData)
cparata 0:69566eea0fba 358 {
cparata 0:69566eea0fba 359 LSM6DSL_ACC_GYRO_FS_125_t fullScale125;
cparata 0:69566eea0fba 360 LSM6DSL_ACC_GYRO_FS_G_t fullScale;
cparata 0:69566eea0fba 361
cparata 0:69566eea0fba 362 /* Read full scale 125 selection from sensor. */
cparata 0:69566eea0fba 363 if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fullScale125 ) == MEMS_ERROR )
cparata 0:69566eea0fba 364 {
cparata 2:f23b144da50a 365 return 1;
cparata 0:69566eea0fba 366 }
cparata 0:69566eea0fba 367
cparata 0:69566eea0fba 368 if ( fullScale125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata 0:69566eea0fba 369 {
cparata 0:69566eea0fba 370 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS;
cparata 0:69566eea0fba 371 }
cparata 0:69566eea0fba 372
cparata 0:69566eea0fba 373 else
cparata 0:69566eea0fba 374 {
cparata 0:69566eea0fba 375
cparata 0:69566eea0fba 376 /* Read actual full scale selection from sensor. */
cparata 0:69566eea0fba 377 if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:69566eea0fba 378 {
cparata 2:f23b144da50a 379 return 1;
cparata 0:69566eea0fba 380 }
cparata 0:69566eea0fba 381
cparata 0:69566eea0fba 382 /* Store the sensitivity based on actual full scale. */
cparata 0:69566eea0fba 383 switch( fullScale )
cparata 0:69566eea0fba 384 {
cparata 0:69566eea0fba 385 case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata 0:69566eea0fba 386 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS;
cparata 0:69566eea0fba 387 break;
cparata 0:69566eea0fba 388 case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata 0:69566eea0fba 389 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS;
cparata 0:69566eea0fba 390 break;
cparata 0:69566eea0fba 391 case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata 0:69566eea0fba 392 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS;
cparata 0:69566eea0fba 393 break;
cparata 0:69566eea0fba 394 case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata 0:69566eea0fba 395 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS;
cparata 0:69566eea0fba 396 break;
cparata 0:69566eea0fba 397 default:
cparata 0:69566eea0fba 398 *pfData = -1.0f;
cparata 2:f23b144da50a 399 return 1;
cparata 0:69566eea0fba 400 }
cparata 0:69566eea0fba 401 }
cparata 0:69566eea0fba 402
cparata 2:f23b144da50a 403 return 0;
cparata 0:69566eea0fba 404 }
cparata 0:69566eea0fba 405
cparata 0:69566eea0fba 406 /**
cparata 0:69566eea0fba 407 * @brief Read raw data from LSM6DSL Accelerometer
cparata 0:69566eea0fba 408 * @param pData the pointer where the accelerometer raw data are stored
cparata 2:f23b144da50a 409 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 410 */
cparata 2:f23b144da50a 411 int LSM6DSLSensor::Get_X_AxesRaw(int16_t *pData)
cparata 0:69566eea0fba 412 {
cparata 0:69566eea0fba 413 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 0:69566eea0fba 414
cparata 0:69566eea0fba 415 /* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_XL to LSM6DSL_ACC_GYRO_OUTZ_H_XL. */
cparata 0:69566eea0fba 416 if ( LSM6DSL_ACC_GYRO_GetRawAccData( (void *)this, regValue ) == MEMS_ERROR )
cparata 0:69566eea0fba 417 {
cparata 2:f23b144da50a 418 return 1;
cparata 0:69566eea0fba 419 }
cparata 0:69566eea0fba 420
cparata 0:69566eea0fba 421 /* Format the data. */
cparata 0:69566eea0fba 422 pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata 0:69566eea0fba 423 pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata 0:69566eea0fba 424 pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata 0:69566eea0fba 425
cparata 2:f23b144da50a 426 return 0;
cparata 0:69566eea0fba 427 }
cparata 0:69566eea0fba 428
cparata 0:69566eea0fba 429 /**
cparata 0:69566eea0fba 430 * @brief Read raw data from LSM6DSL Gyroscope
cparata 0:69566eea0fba 431 * @param pData the pointer where the gyroscope raw data are stored
cparata 2:f23b144da50a 432 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 433 */
cparata 2:f23b144da50a 434 int LSM6DSLSensor::Get_G_AxesRaw(int16_t *pData)
cparata 0:69566eea0fba 435 {
cparata 0:69566eea0fba 436 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 0:69566eea0fba 437
cparata 0:69566eea0fba 438 /* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_G to LSM6DSL_ACC_GYRO_OUTZ_H_G. */
cparata 0:69566eea0fba 439 if ( LSM6DSL_ACC_GYRO_GetRawGyroData( (void *)this, regValue ) == MEMS_ERROR )
cparata 0:69566eea0fba 440 {
cparata 2:f23b144da50a 441 return 1;
cparata 0:69566eea0fba 442 }
cparata 0:69566eea0fba 443
cparata 0:69566eea0fba 444 /* Format the data. */
cparata 0:69566eea0fba 445 pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata 0:69566eea0fba 446 pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata 0:69566eea0fba 447 pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata 0:69566eea0fba 448
cparata 2:f23b144da50a 449 return 0;
cparata 0:69566eea0fba 450 }
cparata 0:69566eea0fba 451
cparata 0:69566eea0fba 452 /**
cparata 0:69566eea0fba 453 * @brief Read LSM6DSL Accelerometer output data rate
cparata 0:69566eea0fba 454 * @param odr the pointer to the output data rate
cparata 2:f23b144da50a 455 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 456 */
cparata 2:f23b144da50a 457 int LSM6DSLSensor::Get_X_ODR(float* odr)
cparata 0:69566eea0fba 458 {
cparata 0:69566eea0fba 459 LSM6DSL_ACC_GYRO_ODR_XL_t odr_low_level;
cparata 0:69566eea0fba 460
cparata 0:69566eea0fba 461 if ( LSM6DSL_ACC_GYRO_R_ODR_XL( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 0:69566eea0fba 462 {
cparata 2:f23b144da50a 463 return 1;
cparata 0:69566eea0fba 464 }
cparata 0:69566eea0fba 465
cparata 0:69566eea0fba 466 switch( odr_low_level )
cparata 0:69566eea0fba 467 {
cparata 0:69566eea0fba 468 case LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN:
cparata 0:69566eea0fba 469 *odr = 0.0f;
cparata 0:69566eea0fba 470 break;
cparata 0:69566eea0fba 471 case LSM6DSL_ACC_GYRO_ODR_XL_13Hz:
cparata 0:69566eea0fba 472 *odr = 13.0f;
cparata 0:69566eea0fba 473 break;
cparata 0:69566eea0fba 474 case LSM6DSL_ACC_GYRO_ODR_XL_26Hz:
cparata 0:69566eea0fba 475 *odr = 26.0f;
cparata 0:69566eea0fba 476 break;
cparata 0:69566eea0fba 477 case LSM6DSL_ACC_GYRO_ODR_XL_52Hz:
cparata 0:69566eea0fba 478 *odr = 52.0f;
cparata 0:69566eea0fba 479 break;
cparata 0:69566eea0fba 480 case LSM6DSL_ACC_GYRO_ODR_XL_104Hz:
cparata 0:69566eea0fba 481 *odr = 104.0f;
cparata 0:69566eea0fba 482 break;
cparata 0:69566eea0fba 483 case LSM6DSL_ACC_GYRO_ODR_XL_208Hz:
cparata 0:69566eea0fba 484 *odr = 208.0f;
cparata 0:69566eea0fba 485 break;
cparata 0:69566eea0fba 486 case LSM6DSL_ACC_GYRO_ODR_XL_416Hz:
cparata 0:69566eea0fba 487 *odr = 416.0f;
cparata 0:69566eea0fba 488 break;
cparata 0:69566eea0fba 489 case LSM6DSL_ACC_GYRO_ODR_XL_833Hz:
cparata 0:69566eea0fba 490 *odr = 833.0f;
cparata 0:69566eea0fba 491 break;
cparata 0:69566eea0fba 492 case LSM6DSL_ACC_GYRO_ODR_XL_1660Hz:
cparata 0:69566eea0fba 493 *odr = 1660.0f;
cparata 0:69566eea0fba 494 break;
cparata 0:69566eea0fba 495 case LSM6DSL_ACC_GYRO_ODR_XL_3330Hz:
cparata 0:69566eea0fba 496 *odr = 3330.0f;
cparata 0:69566eea0fba 497 break;
cparata 0:69566eea0fba 498 case LSM6DSL_ACC_GYRO_ODR_XL_6660Hz:
cparata 0:69566eea0fba 499 *odr = 6660.0f;
cparata 0:69566eea0fba 500 break;
cparata 0:69566eea0fba 501 default:
cparata 0:69566eea0fba 502 *odr = -1.0f;
cparata 2:f23b144da50a 503 return 1;
cparata 0:69566eea0fba 504 }
cparata 0:69566eea0fba 505
cparata 2:f23b144da50a 506 return 0;
cparata 0:69566eea0fba 507 }
cparata 0:69566eea0fba 508
cparata 0:69566eea0fba 509 /**
cparata 0:69566eea0fba 510 * @brief Read LSM6DSL Gyroscope output data rate
cparata 0:69566eea0fba 511 * @param odr the pointer to the output data rate
cparata 2:f23b144da50a 512 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 513 */
cparata 2:f23b144da50a 514 int LSM6DSLSensor::Get_G_ODR(float* odr)
cparata 0:69566eea0fba 515 {
cparata 0:69566eea0fba 516 LSM6DSL_ACC_GYRO_ODR_G_t odr_low_level;
cparata 0:69566eea0fba 517
cparata 0:69566eea0fba 518 if ( LSM6DSL_ACC_GYRO_R_ODR_G( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 0:69566eea0fba 519 {
cparata 2:f23b144da50a 520 return 1;
cparata 0:69566eea0fba 521 }
cparata 0:69566eea0fba 522
cparata 0:69566eea0fba 523 switch( odr_low_level )
cparata 0:69566eea0fba 524 {
cparata 0:69566eea0fba 525 case LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN:
cparata 0:69566eea0fba 526 *odr = 0.0f;
cparata 0:69566eea0fba 527 break;
cparata 0:69566eea0fba 528 case LSM6DSL_ACC_GYRO_ODR_G_13Hz:
cparata 0:69566eea0fba 529 *odr = 13.0f;
cparata 0:69566eea0fba 530 break;
cparata 0:69566eea0fba 531 case LSM6DSL_ACC_GYRO_ODR_G_26Hz:
cparata 0:69566eea0fba 532 *odr = 26.0f;
cparata 0:69566eea0fba 533 break;
cparata 0:69566eea0fba 534 case LSM6DSL_ACC_GYRO_ODR_G_52Hz:
cparata 0:69566eea0fba 535 *odr = 52.0f;
cparata 0:69566eea0fba 536 break;
cparata 0:69566eea0fba 537 case LSM6DSL_ACC_GYRO_ODR_G_104Hz:
cparata 0:69566eea0fba 538 *odr = 104.0f;
cparata 0:69566eea0fba 539 break;
cparata 0:69566eea0fba 540 case LSM6DSL_ACC_GYRO_ODR_G_208Hz:
cparata 0:69566eea0fba 541 *odr = 208.0f;
cparata 0:69566eea0fba 542 break;
cparata 0:69566eea0fba 543 case LSM6DSL_ACC_GYRO_ODR_G_416Hz:
cparata 0:69566eea0fba 544 *odr = 416.0f;
cparata 0:69566eea0fba 545 break;
cparata 0:69566eea0fba 546 case LSM6DSL_ACC_GYRO_ODR_G_833Hz:
cparata 0:69566eea0fba 547 *odr = 833.0f;
cparata 0:69566eea0fba 548 break;
cparata 0:69566eea0fba 549 case LSM6DSL_ACC_GYRO_ODR_G_1660Hz:
cparata 0:69566eea0fba 550 *odr = 1660.0f;
cparata 0:69566eea0fba 551 break;
cparata 0:69566eea0fba 552 case LSM6DSL_ACC_GYRO_ODR_G_3330Hz:
cparata 0:69566eea0fba 553 *odr = 3330.0f;
cparata 0:69566eea0fba 554 break;
cparata 0:69566eea0fba 555 case LSM6DSL_ACC_GYRO_ODR_G_6660Hz:
cparata 0:69566eea0fba 556 *odr = 6660.0f;
cparata 0:69566eea0fba 557 break;
cparata 0:69566eea0fba 558 default:
cparata 0:69566eea0fba 559 *odr = -1.0f;
cparata 2:f23b144da50a 560 return 1;
cparata 0:69566eea0fba 561 }
cparata 0:69566eea0fba 562
cparata 2:f23b144da50a 563 return 0;
cparata 0:69566eea0fba 564 }
cparata 0:69566eea0fba 565
cparata 0:69566eea0fba 566 /**
cparata 0:69566eea0fba 567 * @brief Set LSM6DSL Accelerometer output data rate
cparata 0:69566eea0fba 568 * @param odr the output data rate to be set
cparata 2:f23b144da50a 569 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 570 */
cparata 2:f23b144da50a 571 int LSM6DSLSensor::Set_X_ODR(float odr)
cparata 0:69566eea0fba 572 {
cparata 0:69566eea0fba 573 if(X_isEnabled == 1)
cparata 0:69566eea0fba 574 {
cparata 2:f23b144da50a 575 if(Set_X_ODR_When_Enabled(odr) == 1)
cparata 0:69566eea0fba 576 {
cparata 2:f23b144da50a 577 return 1;
cparata 0:69566eea0fba 578 }
cparata 0:69566eea0fba 579 }
cparata 0:69566eea0fba 580 else
cparata 0:69566eea0fba 581 {
cparata 2:f23b144da50a 582 if(Set_X_ODR_When_Disabled(odr) == 1)
cparata 0:69566eea0fba 583 {
cparata 2:f23b144da50a 584 return 1;
cparata 0:69566eea0fba 585 }
cparata 0:69566eea0fba 586 }
cparata 0:69566eea0fba 587
cparata 2:f23b144da50a 588 return 0;
cparata 0:69566eea0fba 589 }
cparata 0:69566eea0fba 590
cparata 0:69566eea0fba 591 /**
cparata 0:69566eea0fba 592 * @brief Set LSM6DSL Accelerometer output data rate when enabled
cparata 0:69566eea0fba 593 * @param odr the output data rate to be set
cparata 2:f23b144da50a 594 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 595 */
cparata 2:f23b144da50a 596 int LSM6DSLSensor::Set_X_ODR_When_Enabled(float odr)
cparata 0:69566eea0fba 597 {
cparata 0:69566eea0fba 598 LSM6DSL_ACC_GYRO_ODR_XL_t new_odr;
cparata 0:69566eea0fba 599
cparata 0:69566eea0fba 600 new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_13Hz
cparata 0:69566eea0fba 601 : ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_26Hz
cparata 0:69566eea0fba 602 : ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_52Hz
cparata 0:69566eea0fba 603 : ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_104Hz
cparata 0:69566eea0fba 604 : ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_208Hz
cparata 0:69566eea0fba 605 : ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_416Hz
cparata 0:69566eea0fba 606 : ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_833Hz
cparata 0:69566eea0fba 607 : ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_1660Hz
cparata 0:69566eea0fba 608 : ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_3330Hz
cparata 0:69566eea0fba 609 : LSM6DSL_ACC_GYRO_ODR_XL_6660Hz;
cparata 0:69566eea0fba 610
cparata 0:69566eea0fba 611 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, new_odr ) == MEMS_ERROR )
cparata 0:69566eea0fba 612 {
cparata 2:f23b144da50a 613 return 1;
cparata 0:69566eea0fba 614 }
cparata 0:69566eea0fba 615
cparata 2:f23b144da50a 616 return 0;
cparata 0:69566eea0fba 617 }
cparata 0:69566eea0fba 618
cparata 0:69566eea0fba 619 /**
cparata 0:69566eea0fba 620 * @brief Set LSM6DSL Accelerometer output data rate when disabled
cparata 0:69566eea0fba 621 * @param odr the output data rate to be set
cparata 2:f23b144da50a 622 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 623 */
cparata 2:f23b144da50a 624 int LSM6DSLSensor::Set_X_ODR_When_Disabled(float odr)
cparata 0:69566eea0fba 625 {
cparata 0:69566eea0fba 626 X_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata 0:69566eea0fba 627 : ( odr <= 26.0f ) ? 26.0f
cparata 0:69566eea0fba 628 : ( odr <= 52.0f ) ? 52.0f
cparata 0:69566eea0fba 629 : ( odr <= 104.0f ) ? 104.0f
cparata 0:69566eea0fba 630 : ( odr <= 208.0f ) ? 208.0f
cparata 0:69566eea0fba 631 : ( odr <= 416.0f ) ? 416.0f
cparata 0:69566eea0fba 632 : ( odr <= 833.0f ) ? 833.0f
cparata 0:69566eea0fba 633 : ( odr <= 1660.0f ) ? 1660.0f
cparata 0:69566eea0fba 634 : ( odr <= 3330.0f ) ? 3330.0f
cparata 0:69566eea0fba 635 : 6660.0f;
cparata 0:69566eea0fba 636
cparata 2:f23b144da50a 637 return 0;
cparata 0:69566eea0fba 638 }
cparata 0:69566eea0fba 639
cparata 0:69566eea0fba 640 /**
cparata 0:69566eea0fba 641 * @brief Set LSM6DSL Gyroscope output data rate
cparata 0:69566eea0fba 642 * @param odr the output data rate to be set
cparata 2:f23b144da50a 643 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 644 */
cparata 2:f23b144da50a 645 int LSM6DSLSensor::Set_G_ODR(float odr)
cparata 0:69566eea0fba 646 {
cparata 0:69566eea0fba 647 if(G_isEnabled == 1)
cparata 0:69566eea0fba 648 {
cparata 2:f23b144da50a 649 if(Set_G_ODR_When_Enabled(odr) == 1)
cparata 0:69566eea0fba 650 {
cparata 2:f23b144da50a 651 return 1;
cparata 0:69566eea0fba 652 }
cparata 0:69566eea0fba 653 }
cparata 0:69566eea0fba 654 else
cparata 0:69566eea0fba 655 {
cparata 2:f23b144da50a 656 if(Set_G_ODR_When_Disabled(odr) == 1)
cparata 0:69566eea0fba 657 {
cparata 2:f23b144da50a 658 return 1;
cparata 0:69566eea0fba 659 }
cparata 0:69566eea0fba 660 }
cparata 0:69566eea0fba 661
cparata 2:f23b144da50a 662 return 0;
cparata 0:69566eea0fba 663 }
cparata 0:69566eea0fba 664
cparata 0:69566eea0fba 665 /**
cparata 0:69566eea0fba 666 * @brief Set LSM6DSL Gyroscope output data rate when enabled
cparata 0:69566eea0fba 667 * @param odr the output data rate to be set
cparata 2:f23b144da50a 668 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 669 */
cparata 2:f23b144da50a 670 int LSM6DSLSensor::Set_G_ODR_When_Enabled(float odr)
cparata 0:69566eea0fba 671 {
cparata 0:69566eea0fba 672 LSM6DSL_ACC_GYRO_ODR_G_t new_odr;
cparata 0:69566eea0fba 673
cparata 0:69566eea0fba 674 new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_13Hz
cparata 0:69566eea0fba 675 : ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_26Hz
cparata 0:69566eea0fba 676 : ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_52Hz
cparata 0:69566eea0fba 677 : ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_104Hz
cparata 0:69566eea0fba 678 : ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_208Hz
cparata 0:69566eea0fba 679 : ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_416Hz
cparata 0:69566eea0fba 680 : ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_833Hz
cparata 0:69566eea0fba 681 : ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_1660Hz
cparata 0:69566eea0fba 682 : ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_3330Hz
cparata 0:69566eea0fba 683 : LSM6DSL_ACC_GYRO_ODR_G_6660Hz;
cparata 0:69566eea0fba 684
cparata 0:69566eea0fba 685 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, new_odr ) == MEMS_ERROR )
cparata 0:69566eea0fba 686 {
cparata 2:f23b144da50a 687 return 1;
cparata 0:69566eea0fba 688 }
cparata 0:69566eea0fba 689
cparata 2:f23b144da50a 690 return 0;
cparata 0:69566eea0fba 691 }
cparata 0:69566eea0fba 692
cparata 0:69566eea0fba 693 /**
cparata 0:69566eea0fba 694 * @brief Set LSM6DSL Gyroscope output data rate when disabled
cparata 0:69566eea0fba 695 * @param odr the output data rate to be set
cparata 2:f23b144da50a 696 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 697 */
cparata 2:f23b144da50a 698 int LSM6DSLSensor::Set_G_ODR_When_Disabled(float odr)
cparata 0:69566eea0fba 699 {
cparata 0:69566eea0fba 700 G_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata 0:69566eea0fba 701 : ( odr <= 26.0f ) ? 26.0f
cparata 0:69566eea0fba 702 : ( odr <= 52.0f ) ? 52.0f
cparata 0:69566eea0fba 703 : ( odr <= 104.0f ) ? 104.0f
cparata 0:69566eea0fba 704 : ( odr <= 208.0f ) ? 208.0f
cparata 0:69566eea0fba 705 : ( odr <= 416.0f ) ? 416.0f
cparata 0:69566eea0fba 706 : ( odr <= 833.0f ) ? 833.0f
cparata 0:69566eea0fba 707 : ( odr <= 1660.0f ) ? 1660.0f
cparata 0:69566eea0fba 708 : ( odr <= 3330.0f ) ? 3330.0f
cparata 0:69566eea0fba 709 : 6660.0f;
cparata 0:69566eea0fba 710
cparata 2:f23b144da50a 711 return 0;
cparata 0:69566eea0fba 712 }
cparata 0:69566eea0fba 713
cparata 0:69566eea0fba 714 /**
cparata 0:69566eea0fba 715 * @brief Read LSM6DSL Accelerometer full scale
cparata 0:69566eea0fba 716 * @param fullScale the pointer to the full scale
cparata 2:f23b144da50a 717 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 718 */
cparata 2:f23b144da50a 719 int LSM6DSLSensor::Get_X_FS(float* fullScale)
cparata 0:69566eea0fba 720 {
cparata 0:69566eea0fba 721 LSM6DSL_ACC_GYRO_FS_XL_t fs_low_level;
cparata 0:69566eea0fba 722
cparata 0:69566eea0fba 723 if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata 0:69566eea0fba 724 {
cparata 2:f23b144da50a 725 return 1;
cparata 0:69566eea0fba 726 }
cparata 0:69566eea0fba 727
cparata 0:69566eea0fba 728 switch( fs_low_level )
cparata 0:69566eea0fba 729 {
cparata 0:69566eea0fba 730 case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata 0:69566eea0fba 731 *fullScale = 2.0f;
cparata 0:69566eea0fba 732 break;
cparata 0:69566eea0fba 733 case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata 0:69566eea0fba 734 *fullScale = 4.0f;
cparata 0:69566eea0fba 735 break;
cparata 0:69566eea0fba 736 case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata 0:69566eea0fba 737 *fullScale = 8.0f;
cparata 0:69566eea0fba 738 break;
cparata 0:69566eea0fba 739 case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata 0:69566eea0fba 740 *fullScale = 16.0f;
cparata 0:69566eea0fba 741 break;
cparata 0:69566eea0fba 742 default:
cparata 0:69566eea0fba 743 *fullScale = -1.0f;
cparata 2:f23b144da50a 744 return 1;
cparata 0:69566eea0fba 745 }
cparata 0:69566eea0fba 746
cparata 2:f23b144da50a 747 return 0;
cparata 0:69566eea0fba 748 }
cparata 0:69566eea0fba 749
cparata 0:69566eea0fba 750 /**
cparata 0:69566eea0fba 751 * @brief Read LSM6DSL Gyroscope full scale
cparata 0:69566eea0fba 752 * @param fullScale the pointer to the full scale
cparata 2:f23b144da50a 753 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 754 */
cparata 2:f23b144da50a 755 int LSM6DSLSensor::Get_G_FS(float* fullScale)
cparata 0:69566eea0fba 756 {
cparata 0:69566eea0fba 757 LSM6DSL_ACC_GYRO_FS_G_t fs_low_level;
cparata 0:69566eea0fba 758 LSM6DSL_ACC_GYRO_FS_125_t fs_125;
cparata 0:69566eea0fba 759
cparata 0:69566eea0fba 760 if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fs_125 ) == MEMS_ERROR )
cparata 0:69566eea0fba 761 {
cparata 2:f23b144da50a 762 return 1;
cparata 0:69566eea0fba 763 }
cparata 0:69566eea0fba 764 if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata 0:69566eea0fba 765 {
cparata 2:f23b144da50a 766 return 1;
cparata 0:69566eea0fba 767 }
cparata 0:69566eea0fba 768
cparata 0:69566eea0fba 769 if ( fs_125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata 0:69566eea0fba 770 {
cparata 0:69566eea0fba 771 *fullScale = 125.0f;
cparata 0:69566eea0fba 772 }
cparata 0:69566eea0fba 773
cparata 0:69566eea0fba 774 else
cparata 0:69566eea0fba 775 {
cparata 0:69566eea0fba 776 switch( fs_low_level )
cparata 0:69566eea0fba 777 {
cparata 0:69566eea0fba 778 case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata 0:69566eea0fba 779 *fullScale = 245.0f;
cparata 0:69566eea0fba 780 break;
cparata 0:69566eea0fba 781 case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata 0:69566eea0fba 782 *fullScale = 500.0f;
cparata 0:69566eea0fba 783 break;
cparata 0:69566eea0fba 784 case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata 0:69566eea0fba 785 *fullScale = 1000.0f;
cparata 0:69566eea0fba 786 break;
cparata 0:69566eea0fba 787 case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata 0:69566eea0fba 788 *fullScale = 2000.0f;
cparata 0:69566eea0fba 789 break;
cparata 0:69566eea0fba 790 default:
cparata 0:69566eea0fba 791 *fullScale = -1.0f;
cparata 2:f23b144da50a 792 return 1;
cparata 0:69566eea0fba 793 }
cparata 0:69566eea0fba 794 }
cparata 0:69566eea0fba 795
cparata 2:f23b144da50a 796 return 0;
cparata 0:69566eea0fba 797 }
cparata 0:69566eea0fba 798
cparata 0:69566eea0fba 799 /**
cparata 0:69566eea0fba 800 * @brief Set LSM6DSL Accelerometer full scale
cparata 0:69566eea0fba 801 * @param fullScale the full scale to be set
cparata 2:f23b144da50a 802 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 803 */
cparata 2:f23b144da50a 804 int LSM6DSLSensor::Set_X_FS(float fullScale)
cparata 0:69566eea0fba 805 {
cparata 0:69566eea0fba 806 LSM6DSL_ACC_GYRO_FS_XL_t new_fs;
cparata 0:69566eea0fba 807
cparata 0:69566eea0fba 808 new_fs = ( fullScale <= 2.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_2g
cparata 0:69566eea0fba 809 : ( fullScale <= 4.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_4g
cparata 0:69566eea0fba 810 : ( fullScale <= 8.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_8g
cparata 0:69566eea0fba 811 : LSM6DSL_ACC_GYRO_FS_XL_16g;
cparata 0:69566eea0fba 812
cparata 0:69566eea0fba 813 if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, new_fs ) == MEMS_ERROR )
cparata 0:69566eea0fba 814 {
cparata 2:f23b144da50a 815 return 1;
cparata 0:69566eea0fba 816 }
cparata 0:69566eea0fba 817
cparata 2:f23b144da50a 818 return 0;
cparata 0:69566eea0fba 819 }
cparata 0:69566eea0fba 820
cparata 0:69566eea0fba 821 /**
cparata 0:69566eea0fba 822 * @brief Set LSM6DSL Gyroscope full scale
cparata 0:69566eea0fba 823 * @param fullScale the full scale to be set
cparata 2:f23b144da50a 824 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 825 */
cparata 2:f23b144da50a 826 int LSM6DSLSensor::Set_G_FS(float fullScale)
cparata 0:69566eea0fba 827 {
cparata 0:69566eea0fba 828 LSM6DSL_ACC_GYRO_FS_G_t new_fs;
cparata 0:69566eea0fba 829
cparata 0:69566eea0fba 830 if ( fullScale <= 125.0f )
cparata 0:69566eea0fba 831 {
cparata 0:69566eea0fba 832 if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 833 {
cparata 2:f23b144da50a 834 return 1;
cparata 0:69566eea0fba 835 }
cparata 0:69566eea0fba 836 }
cparata 0:69566eea0fba 837 else
cparata 0:69566eea0fba 838 {
cparata 0:69566eea0fba 839 new_fs = ( fullScale <= 245.0f ) ? LSM6DSL_ACC_GYRO_FS_G_245dps
cparata 0:69566eea0fba 840 : ( fullScale <= 500.0f ) ? LSM6DSL_ACC_GYRO_FS_G_500dps
cparata 0:69566eea0fba 841 : ( fullScale <= 1000.0f ) ? LSM6DSL_ACC_GYRO_FS_G_1000dps
cparata 0:69566eea0fba 842 : LSM6DSL_ACC_GYRO_FS_G_2000dps;
cparata 0:69566eea0fba 843
cparata 0:69566eea0fba 844 if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 845 {
cparata 2:f23b144da50a 846 return 1;
cparata 0:69566eea0fba 847 }
cparata 0:69566eea0fba 848 if ( LSM6DSL_ACC_GYRO_W_FS_G( (void *)this, new_fs ) == MEMS_ERROR )
cparata 0:69566eea0fba 849 {
cparata 2:f23b144da50a 850 return 1;
cparata 0:69566eea0fba 851 }
cparata 0:69566eea0fba 852 }
cparata 0:69566eea0fba 853
cparata 2:f23b144da50a 854 return 0;
cparata 0:69566eea0fba 855 }
cparata 0:69566eea0fba 856
cparata 0:69566eea0fba 857 /**
cparata 0:69566eea0fba 858 * @brief Enable free fall detection
cparata 0:69566eea0fba 859 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:f23b144da50a 860 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 861 */
cparata 2:f23b144da50a 862 int LSM6DSLSensor::Enable_Free_Fall_Detection(void)
cparata 0:69566eea0fba 863 {
cparata 7:12afd7461180 864 return Enable_Free_Fall_Detection(LSM6DSL_INT1_PIN);
cparata 7:12afd7461180 865 }
cparata 7:12afd7461180 866
cparata 7:12afd7461180 867 /**
cparata 7:12afd7461180 868 * @brief Enable free fall detection
cparata 7:12afd7461180 869 * @param pin the interrupt pin to be used
cparata 7:12afd7461180 870 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 7:12afd7461180 871 * @retval 0 in case of success, an error code otherwise
cparata 7:12afd7461180 872 */
cparata 7:12afd7461180 873 int LSM6DSLSensor::Enable_Free_Fall_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata 7:12afd7461180 874 {
cparata 0:69566eea0fba 875 /* Output Data Rate selection */
cparata 2:f23b144da50a 876 if(Set_X_ODR(416.0f) == 1)
cparata 0:69566eea0fba 877 {
cparata 2:f23b144da50a 878 return 1;
cparata 0:69566eea0fba 879 }
cparata 0:69566eea0fba 880
cparata 0:69566eea0fba 881 /* Full scale selection */
cparata 0:69566eea0fba 882 if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, LSM6DSL_ACC_GYRO_FS_XL_2g ) == MEMS_ERROR )
cparata 0:69566eea0fba 883 {
cparata 2:f23b144da50a 884 return 1;
cparata 0:69566eea0fba 885 }
cparata 0:69566eea0fba 886
cparata 0:69566eea0fba 887 /* FF_DUR setting */
cparata 0:69566eea0fba 888 if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x06 ) == MEMS_ERROR )
cparata 0:69566eea0fba 889 {
cparata 2:f23b144da50a 890 return 1;
cparata 0:69566eea0fba 891 }
cparata 0:69566eea0fba 892
cparata 0:69566eea0fba 893 /* WAKE_DUR setting */
cparata 0:69566eea0fba 894 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:69566eea0fba 895 {
cparata 2:f23b144da50a 896 return 1;
cparata 0:69566eea0fba 897 }
cparata 0:69566eea0fba 898
cparata 0:69566eea0fba 899 /* TIMER_HR setting */
cparata 0:69566eea0fba 900 if ( LSM6DSL_ACC_GYRO_W_TIMER_HR( (void *)this, LSM6DSL_ACC_GYRO_TIMER_HR_6_4ms ) == MEMS_ERROR )
cparata 0:69566eea0fba 901 {
cparata 2:f23b144da50a 902 return 1;
cparata 0:69566eea0fba 903 }
cparata 0:69566eea0fba 904
cparata 0:69566eea0fba 905 /* SLEEP_DUR setting */
cparata 0:69566eea0fba 906 if ( LSM6DSL_ACC_GYRO_W_SLEEP_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:69566eea0fba 907 {
cparata 2:f23b144da50a 908 return 1;
cparata 0:69566eea0fba 909 }
cparata 0:69566eea0fba 910
cparata 0:69566eea0fba 911 /* FF_THS setting */
cparata 0:69566eea0fba 912 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_312mg ) == MEMS_ERROR )
cparata 0:69566eea0fba 913 {
cparata 2:f23b144da50a 914 return 1;
cparata 0:69566eea0fba 915 }
cparata 0:69566eea0fba 916
cparata 0:69566eea0fba 917 /* Enable basic Interrupts */
cparata 0:69566eea0fba 918 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 919 {
cparata 2:f23b144da50a 920 return 1;
cparata 0:69566eea0fba 921 }
cparata 0:69566eea0fba 922
cparata 7:12afd7461180 923 /* Enable free fall event on either INT1 or INT2 pin */
cparata 7:12afd7461180 924 switch (pin)
cparata 0:69566eea0fba 925 {
cparata 7:12afd7461180 926 case LSM6DSL_INT1_PIN:
cparata 7:12afd7461180 927 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
cparata 7:12afd7461180 928 {
cparata 7:12afd7461180 929 return 1;
cparata 7:12afd7461180 930 }
cparata 7:12afd7461180 931 break;
cparata 7:12afd7461180 932
cparata 7:12afd7461180 933 case LSM6DSL_INT2_PIN:
cparata 7:12afd7461180 934 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_FF_ENABLED ) == MEMS_ERROR )
cparata 7:12afd7461180 935 {
cparata 7:12afd7461180 936 return 1;
cparata 7:12afd7461180 937 }
cparata 7:12afd7461180 938 break;
cparata 7:12afd7461180 939
cparata 7:12afd7461180 940 default:
cparata 2:f23b144da50a 941 return 1;
cparata 0:69566eea0fba 942 }
cparata 0:69566eea0fba 943
cparata 2:f23b144da50a 944 return 0;
cparata 0:69566eea0fba 945 }
cparata 0:69566eea0fba 946
cparata 0:69566eea0fba 947 /**
cparata 0:69566eea0fba 948 * @brief Disable free fall detection
cparata 0:69566eea0fba 949 * @param None
cparata 2:f23b144da50a 950 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 951 */
cparata 2:f23b144da50a 952 int LSM6DSLSensor::Disable_Free_Fall_Detection(void)
cparata 0:69566eea0fba 953 {
cparata 7:12afd7461180 954 /* Disable free fall event on INT1 pin */
cparata 0:69566eea0fba 955 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 956 {
cparata 2:f23b144da50a 957 return 1;
cparata 0:69566eea0fba 958 }
cparata 0:69566eea0fba 959
cparata 7:12afd7461180 960 /* Disable free fall event on INT2 pin */
cparata 7:12afd7461180 961 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_FF_DISABLED ) == MEMS_ERROR )
cparata 7:12afd7461180 962 {
cparata 7:12afd7461180 963 return 1;
cparata 7:12afd7461180 964 }
cparata 7:12afd7461180 965
cparata 0:69566eea0fba 966 /* Disable basic Interrupts */
cparata 0:69566eea0fba 967 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 968 {
cparata 2:f23b144da50a 969 return 1;
cparata 0:69566eea0fba 970 }
cparata 0:69566eea0fba 971
cparata 0:69566eea0fba 972 /* FF_DUR setting */
cparata 0:69566eea0fba 973 if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:69566eea0fba 974 {
cparata 2:f23b144da50a 975 return 1;
cparata 0:69566eea0fba 976 }
cparata 0:69566eea0fba 977
cparata 0:69566eea0fba 978 /* FF_THS setting */
cparata 0:69566eea0fba 979 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_156mg ) == MEMS_ERROR )
cparata 0:69566eea0fba 980 {
cparata 2:f23b144da50a 981 return 1;
cparata 0:69566eea0fba 982 }
cparata 0:69566eea0fba 983
cparata 2:f23b144da50a 984 return 0;
cparata 0:69566eea0fba 985 }
cparata 0:69566eea0fba 986
cparata 0:69566eea0fba 987 /**
cparata 0:69566eea0fba 988 * @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 989 * @param thr the threshold to be set
cparata 2:f23b144da50a 990 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 991 */
cparata 2:f23b144da50a 992 int LSM6DSLSensor::Set_Free_Fall_Threshold(uint8_t thr)
cparata 0:69566eea0fba 993 {
cparata 0:69566eea0fba 994
cparata 0:69566eea0fba 995 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR )
cparata 0:69566eea0fba 996 {
cparata 2:f23b144da50a 997 return 1;
cparata 0:69566eea0fba 998 }
cparata 0:69566eea0fba 999
cparata 2:f23b144da50a 1000 return 0;
cparata 0:69566eea0fba 1001 }
cparata 0:69566eea0fba 1002
cparata 0:69566eea0fba 1003 /**
cparata 0:69566eea0fba 1004 * @brief Enable the pedometer feature for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1005 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:f23b144da50a 1006 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1007 */
cparata 2:f23b144da50a 1008 int LSM6DSLSensor::Enable_Pedometer(void)
cparata 0:69566eea0fba 1009 {
cparata 0:69566eea0fba 1010 /* Output Data Rate selection */
cparata 2:f23b144da50a 1011 if( Set_X_ODR(26.0f) == 1 )
cparata 0:69566eea0fba 1012 {
cparata 2:f23b144da50a 1013 return 1;
cparata 0:69566eea0fba 1014 }
cparata 0:69566eea0fba 1015
cparata 0:69566eea0fba 1016 /* Full scale selection. */
cparata 2:f23b144da50a 1017 if( Set_X_FS(2.0f) == 1 )
cparata 0:69566eea0fba 1018 {
cparata 2:f23b144da50a 1019 return 1;
cparata 0:69566eea0fba 1020 }
cparata 0:69566eea0fba 1021
cparata 0:69566eea0fba 1022 /* Set pedometer threshold. */
cparata 2:f23b144da50a 1023 if ( Set_Pedometer_Threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == 1 )
cparata 0:69566eea0fba 1024 {
cparata 2:f23b144da50a 1025 return 1;
cparata 0:69566eea0fba 1026 }
cparata 0:69566eea0fba 1027
cparata 0:69566eea0fba 1028 /* Enable embedded functionalities. */
cparata 0:69566eea0fba 1029 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1030 {
cparata 2:f23b144da50a 1031 return 1;
cparata 0:69566eea0fba 1032 }
cparata 0:69566eea0fba 1033
cparata 0:69566eea0fba 1034 /* Enable pedometer algorithm. */
cparata 0:69566eea0fba 1035 if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1036 {
cparata 2:f23b144da50a 1037 return 1;
cparata 0:69566eea0fba 1038 }
cparata 0:69566eea0fba 1039
cparata 0:69566eea0fba 1040 /* Enable pedometer on INT1. */
cparata 0:69566eea0fba 1041 if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1042 {
cparata 2:f23b144da50a 1043 return 1;
cparata 0:69566eea0fba 1044 }
cparata 0:69566eea0fba 1045
cparata 2:f23b144da50a 1046 return 0;
cparata 0:69566eea0fba 1047 }
cparata 0:69566eea0fba 1048
cparata 0:69566eea0fba 1049 /**
cparata 0:69566eea0fba 1050 * @brief Disable the pedometer feature for LSM6DSL accelerometer sensor
cparata 2:f23b144da50a 1051 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1052 */
cparata 2:f23b144da50a 1053 int LSM6DSLSensor::Disable_Pedometer(void)
cparata 0:69566eea0fba 1054 {
cparata 0:69566eea0fba 1055 /* Disable pedometer on INT1. */
cparata 0:69566eea0fba 1056 if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1057 {
cparata 2:f23b144da50a 1058 return 1;
cparata 0:69566eea0fba 1059 }
cparata 0:69566eea0fba 1060
cparata 0:69566eea0fba 1061 /* Disable pedometer algorithm. */
cparata 0:69566eea0fba 1062 if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1063 {
cparata 2:f23b144da50a 1064 return 1;
cparata 0:69566eea0fba 1065 }
cparata 0:69566eea0fba 1066
cparata 0:69566eea0fba 1067 /* Disable embedded functionalities. */
cparata 0:69566eea0fba 1068 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1069 {
cparata 2:f23b144da50a 1070 return 1;
cparata 0:69566eea0fba 1071 }
cparata 0:69566eea0fba 1072
cparata 0:69566eea0fba 1073 /* Reset pedometer threshold. */
cparata 2:f23b144da50a 1074 if ( Set_Pedometer_Threshold(0x0) == 1 )
cparata 0:69566eea0fba 1075 {
cparata 2:f23b144da50a 1076 return 1;
cparata 0:69566eea0fba 1077 }
cparata 0:69566eea0fba 1078
cparata 2:f23b144da50a 1079 return 0;
cparata 0:69566eea0fba 1080 }
cparata 0:69566eea0fba 1081
cparata 0:69566eea0fba 1082 /**
cparata 0:69566eea0fba 1083 * @brief Get the step counter for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1084 * @param step_count the pointer to the step counter
cparata 2:f23b144da50a 1085 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1086 */
cparata 2:f23b144da50a 1087 int LSM6DSLSensor::Get_Step_Counter(uint16_t *step_count)
cparata 0:69566eea0fba 1088 {
cparata 0:69566eea0fba 1089 if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void *)this, ( uint8_t* )step_count ) == MEMS_ERROR )
cparata 0:69566eea0fba 1090 {
cparata 2:f23b144da50a 1091 return 1;
cparata 0:69566eea0fba 1092 }
cparata 0:69566eea0fba 1093
cparata 2:f23b144da50a 1094 return 0;
cparata 0:69566eea0fba 1095 }
cparata 0:69566eea0fba 1096
cparata 0:69566eea0fba 1097 /**
cparata 0:69566eea0fba 1098 * @brief Reset of the step counter for LSM6DSL accelerometer sensor
cparata 2:f23b144da50a 1099 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1100 */
cparata 2:f23b144da50a 1101 int LSM6DSLSensor::Reset_Step_Counter(void)
cparata 0:69566eea0fba 1102 {
cparata 0:69566eea0fba 1103 if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1104 {
cparata 2:f23b144da50a 1105 return 1;
cparata 0:69566eea0fba 1106 }
cparata 0:69566eea0fba 1107
cparata 0:69566eea0fba 1108 wait_ms(10);
cparata 0:69566eea0fba 1109
cparata 0:69566eea0fba 1110 if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1111 {
cparata 2:f23b144da50a 1112 return 1;
cparata 0:69566eea0fba 1113 }
cparata 0:69566eea0fba 1114
cparata 2:f23b144da50a 1115 return 0;
cparata 0:69566eea0fba 1116 }
cparata 0:69566eea0fba 1117
cparata 0:69566eea0fba 1118 /**
cparata 0:69566eea0fba 1119 * @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1120 * @param thr the threshold to be set
cparata 2:f23b144da50a 1121 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1122 */
cparata 2:f23b144da50a 1123 int LSM6DSLSensor::Set_Pedometer_Threshold(uint8_t thr)
cparata 0:69566eea0fba 1124 {
cparata 0:69566eea0fba 1125 if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
cparata 0:69566eea0fba 1126 {
cparata 2:f23b144da50a 1127 return 1;
cparata 0:69566eea0fba 1128 }
cparata 0:69566eea0fba 1129
cparata 2:f23b144da50a 1130 return 0;
cparata 0:69566eea0fba 1131 }
cparata 0:69566eea0fba 1132
cparata 0:69566eea0fba 1133 /**
cparata 0:69566eea0fba 1134 * @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1135 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:f23b144da50a 1136 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1137 */
cparata 2:f23b144da50a 1138 int LSM6DSLSensor::Enable_Tilt_Detection(void)
cparata 7:12afd7461180 1139 {
cparata 7:12afd7461180 1140 return Enable_Tilt_Detection(LSM6DSL_INT1_PIN);
cparata 7:12afd7461180 1141 }
cparata 7:12afd7461180 1142
cparata 7:12afd7461180 1143 /**
cparata 7:12afd7461180 1144 * @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata 7:12afd7461180 1145 * @param pin the interrupt pin to be used
cparata 7:12afd7461180 1146 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata 7:12afd7461180 1147 * @retval 0 in case of success, an error code otherwise
cparata 7:12afd7461180 1148 */
cparata 7:12afd7461180 1149 int LSM6DSLSensor::Enable_Tilt_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata 0:69566eea0fba 1150 {
cparata 0:69566eea0fba 1151 /* Output Data Rate selection */
cparata 2:f23b144da50a 1152 if( Set_X_ODR(26.0f) == 1 )
cparata 0:69566eea0fba 1153 {
cparata 2:f23b144da50a 1154 return 1;
cparata 0:69566eea0fba 1155 }
cparata 0:69566eea0fba 1156
cparata 0:69566eea0fba 1157 /* Full scale selection. */
cparata 2:f23b144da50a 1158 if( Set_X_FS(2.0f) == 1 )
cparata 0:69566eea0fba 1159 {
cparata 2:f23b144da50a 1160 return 1;
cparata 0:69566eea0fba 1161 }
cparata 0:69566eea0fba 1162
cparata 0:69566eea0fba 1163 /* Enable embedded functionalities */
cparata 0:69566eea0fba 1164 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1165 {
cparata 2:f23b144da50a 1166 return 1;
cparata 0:69566eea0fba 1167 }
cparata 0:69566eea0fba 1168
cparata 0:69566eea0fba 1169 /* Enable tilt calculation. */
cparata 0:69566eea0fba 1170 if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1171 {
cparata 2:f23b144da50a 1172 return 1;
cparata 0:69566eea0fba 1173 }
cparata 7:12afd7461180 1174
cparata 7:12afd7461180 1175 /* Enable tilt detection on either INT1 or INT2 pin */
cparata 7:12afd7461180 1176 switch (pin)
cparata 0:69566eea0fba 1177 {
cparata 7:12afd7461180 1178 case LSM6DSL_INT1_PIN:
cparata 7:12afd7461180 1179 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
cparata 7:12afd7461180 1180 {
cparata 7:12afd7461180 1181 return 1;
cparata 7:12afd7461180 1182 }
cparata 7:12afd7461180 1183 break;
cparata 7:12afd7461180 1184
cparata 7:12afd7461180 1185 case LSM6DSL_INT2_PIN:
cparata 7:12afd7461180 1186 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TILT_ENABLED ) == MEMS_ERROR )
cparata 7:12afd7461180 1187 {
cparata 7:12afd7461180 1188 return 1;
cparata 7:12afd7461180 1189 }
cparata 7:12afd7461180 1190 break;
cparata 7:12afd7461180 1191
cparata 7:12afd7461180 1192 default:
cparata 2:f23b144da50a 1193 return 1;
cparata 0:69566eea0fba 1194 }
cparata 7:12afd7461180 1195
cparata 2:f23b144da50a 1196 return 0;
cparata 0:69566eea0fba 1197 }
cparata 0:69566eea0fba 1198
cparata 0:69566eea0fba 1199 /**
cparata 0:69566eea0fba 1200 * @brief Disable the tilt detection for LSM6DSL accelerometer sensor
cparata 2:f23b144da50a 1201 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1202 */
cparata 2:f23b144da50a 1203 int LSM6DSLSensor::Disable_Tilt_Detection(void)
cparata 0:69566eea0fba 1204 {
cparata 0:69566eea0fba 1205 /* Disable tilt event on INT1. */
cparata 0:69566eea0fba 1206 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1207 {
cparata 2:f23b144da50a 1208 return 1;
cparata 0:69566eea0fba 1209 }
cparata 0:69566eea0fba 1210
cparata 7:12afd7461180 1211 /* Disable tilt event on INT2. */
cparata 7:12afd7461180 1212 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TILT_DISABLED ) == MEMS_ERROR )
cparata 7:12afd7461180 1213 {
cparata 7:12afd7461180 1214 return 1;
cparata 7:12afd7461180 1215 }
cparata 7:12afd7461180 1216
cparata 0:69566eea0fba 1217 /* Disable tilt calculation. */
cparata 0:69566eea0fba 1218 if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1219 {
cparata 2:f23b144da50a 1220 return 1;
cparata 0:69566eea0fba 1221 }
cparata 0:69566eea0fba 1222
cparata 0:69566eea0fba 1223 /* Disable embedded functionalities */
cparata 0:69566eea0fba 1224 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1225 {
cparata 2:f23b144da50a 1226 return 1;
cparata 0:69566eea0fba 1227 }
cparata 0:69566eea0fba 1228
cparata 2:f23b144da50a 1229 return 0;
cparata 0:69566eea0fba 1230 }
cparata 0:69566eea0fba 1231
cparata 0:69566eea0fba 1232 /**
cparata 0:69566eea0fba 1233 * @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1234 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:f23b144da50a 1235 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1236 */
cparata 2:f23b144da50a 1237 int LSM6DSLSensor::Enable_Wake_Up_Detection(void)
cparata 0:69566eea0fba 1238 {
cparata 7:12afd7461180 1239 return Enable_Wake_Up_Detection(LSM6DSL_INT2_PIN);
cparata 7:12afd7461180 1240 }
cparata 7:12afd7461180 1241
cparata 7:12afd7461180 1242 /**
cparata 7:12afd7461180 1243 * @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata 7:12afd7461180 1244 * @param pin the interrupt pin to be used
cparata 7:12afd7461180 1245 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 7:12afd7461180 1246 * @retval 0 in case of success, an error code otherwise
cparata 7:12afd7461180 1247 */
cparata 7:12afd7461180 1248 int LSM6DSLSensor::Enable_Wake_Up_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata 7:12afd7461180 1249 {
cparata 0:69566eea0fba 1250 /* Output Data Rate selection */
cparata 2:f23b144da50a 1251 if( Set_X_ODR(416.0f) == 1 )
cparata 0:69566eea0fba 1252 {
cparata 2:f23b144da50a 1253 return 1;
cparata 0:69566eea0fba 1254 }
cparata 0:69566eea0fba 1255
cparata 0:69566eea0fba 1256 /* Full scale selection. */
cparata 2:f23b144da50a 1257 if( Set_X_FS(2.0f) == 1 )
cparata 0:69566eea0fba 1258 {
cparata 2:f23b144da50a 1259 return 1;
cparata 0:69566eea0fba 1260 }
cparata 0:69566eea0fba 1261
cparata 0:69566eea0fba 1262 /* WAKE_DUR setting */
cparata 0:69566eea0fba 1263 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:69566eea0fba 1264 {
cparata 2:f23b144da50a 1265 return 1;
cparata 0:69566eea0fba 1266 }
cparata 0:69566eea0fba 1267
cparata 0:69566eea0fba 1268 /* Set wake up threshold. */
cparata 0:69566eea0fba 1269 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
cparata 0:69566eea0fba 1270 {
cparata 2:f23b144da50a 1271 return 1;
cparata 0:69566eea0fba 1272 }
cparata 0:69566eea0fba 1273
cparata 0:69566eea0fba 1274 /* Enable basic Interrupts */
cparata 0:69566eea0fba 1275 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1276 {
cparata 2:f23b144da50a 1277 return 1;
cparata 0:69566eea0fba 1278 }
cparata 7:12afd7461180 1279
cparata 7:12afd7461180 1280 /* Enable wake up detection on either INT1 or INT2 pin */
cparata 7:12afd7461180 1281 switch (pin)
cparata 0:69566eea0fba 1282 {
cparata 7:12afd7461180 1283 case LSM6DSL_INT1_PIN:
cparata 7:12afd7461180 1284 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_ENABLED ) == MEMS_ERROR )
cparata 7:12afd7461180 1285 {
cparata 7:12afd7461180 1286 return 1;
cparata 7:12afd7461180 1287 }
cparata 7:12afd7461180 1288 break;
cparata 7:12afd7461180 1289
cparata 7:12afd7461180 1290 case LSM6DSL_INT2_PIN:
cparata 7:12afd7461180 1291 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_ENABLED ) == MEMS_ERROR )
cparata 7:12afd7461180 1292 {
cparata 7:12afd7461180 1293 return 1;
cparata 7:12afd7461180 1294 }
cparata 7:12afd7461180 1295 break;
cparata 7:12afd7461180 1296
cparata 7:12afd7461180 1297 default:
cparata 2:f23b144da50a 1298 return 1;
cparata 0:69566eea0fba 1299 }
cparata 0:69566eea0fba 1300
cparata 2:f23b144da50a 1301 return 0;
cparata 0:69566eea0fba 1302 }
cparata 0:69566eea0fba 1303
cparata 0:69566eea0fba 1304 /**
cparata 0:69566eea0fba 1305 * @brief Disable the wake up detection for LSM6DSL accelerometer sensor
cparata 2:f23b144da50a 1306 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1307 */
cparata 2:f23b144da50a 1308 int LSM6DSLSensor::Disable_Wake_Up_Detection(void)
cparata 0:69566eea0fba 1309 {
cparata 7:12afd7461180 1310 /* Disable wake up event on INT1 */
cparata 7:12afd7461180 1311 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_DISABLED ) == MEMS_ERROR )
cparata 7:12afd7461180 1312 {
cparata 7:12afd7461180 1313 return 1;
cparata 7:12afd7461180 1314 }
cparata 7:12afd7461180 1315
cparata 7:12afd7461180 1316 /* Disable wake up event on INT2 */
cparata 5:61e1b61c7e7d 1317 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1318 {
cparata 2:f23b144da50a 1319 return 1;
cparata 0:69566eea0fba 1320 }
cparata 0:69566eea0fba 1321
cparata 0:69566eea0fba 1322 /* Disable basic Interrupts */
cparata 0:69566eea0fba 1323 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1324 {
cparata 2:f23b144da50a 1325 return 1;
cparata 0:69566eea0fba 1326 }
cparata 0:69566eea0fba 1327
cparata 0:69566eea0fba 1328 /* WU_DUR setting */
cparata 0:69566eea0fba 1329 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:69566eea0fba 1330 {
cparata 2:f23b144da50a 1331 return 1;
cparata 0:69566eea0fba 1332 }
cparata 0:69566eea0fba 1333
cparata 0:69566eea0fba 1334 /* WU_THS setting */
cparata 0:69566eea0fba 1335 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:69566eea0fba 1336 {
cparata 2:f23b144da50a 1337 return 1;
cparata 0:69566eea0fba 1338 }
cparata 0:69566eea0fba 1339
cparata 2:f23b144da50a 1340 return 0;
cparata 0:69566eea0fba 1341 }
cparata 0:69566eea0fba 1342
cparata 0:69566eea0fba 1343 /**
cparata 0:69566eea0fba 1344 * @brief Set the wake up threshold for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1345 * @param thr the threshold to be set
cparata 2:f23b144da50a 1346 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1347 */
cparata 2:f23b144da50a 1348 int LSM6DSLSensor::Set_Wake_Up_Threshold(uint8_t thr)
cparata 0:69566eea0fba 1349 {
cparata 0:69566eea0fba 1350 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
cparata 0:69566eea0fba 1351 {
cparata 2:f23b144da50a 1352 return 1;
cparata 0:69566eea0fba 1353 }
cparata 0:69566eea0fba 1354
cparata 2:f23b144da50a 1355 return 0;
cparata 0:69566eea0fba 1356 }
cparata 0:69566eea0fba 1357
cparata 0:69566eea0fba 1358 /**
cparata 0:69566eea0fba 1359 * @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1360 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:f23b144da50a 1361 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1362 */
cparata 2:f23b144da50a 1363 int LSM6DSLSensor::Enable_Single_Tap_Detection(void)
cparata 0:69566eea0fba 1364 {
cparata 7:12afd7461180 1365 return Enable_Single_Tap_Detection(LSM6DSL_INT1_PIN);
cparata 7:12afd7461180 1366 }
cparata 7:12afd7461180 1367
cparata 7:12afd7461180 1368 /**
cparata 7:12afd7461180 1369 * @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata 7:12afd7461180 1370 * @param pin the interrupt pin to be used
cparata 7:12afd7461180 1371 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 7:12afd7461180 1372 * @retval 0 in case of success, an error code otherwise
cparata 7:12afd7461180 1373 */
cparata 7:12afd7461180 1374 int LSM6DSLSensor::Enable_Single_Tap_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata 7:12afd7461180 1375 {
cparata 0:69566eea0fba 1376 /* Output Data Rate selection */
cparata 2:f23b144da50a 1377 if( Set_X_ODR(416.0f) == 1 )
cparata 0:69566eea0fba 1378 {
cparata 2:f23b144da50a 1379 return 1;
cparata 0:69566eea0fba 1380 }
cparata 0:69566eea0fba 1381
cparata 0:69566eea0fba 1382 /* Full scale selection. */
cparata 2:f23b144da50a 1383 if( Set_X_FS(2.0f) == 1 )
cparata 0:69566eea0fba 1384 {
cparata 2:f23b144da50a 1385 return 1;
cparata 0:69566eea0fba 1386 }
cparata 0:69566eea0fba 1387
cparata 0:69566eea0fba 1388 /* Enable X direction in tap recognition. */
cparata 0:69566eea0fba 1389 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1390 {
cparata 2:f23b144da50a 1391 return 1;
cparata 0:69566eea0fba 1392 }
cparata 0:69566eea0fba 1393
cparata 0:69566eea0fba 1394 /* Enable Y direction in tap recognition. */
cparata 0:69566eea0fba 1395 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1396 {
cparata 2:f23b144da50a 1397 return 1;
cparata 0:69566eea0fba 1398 }
cparata 0:69566eea0fba 1399
cparata 0:69566eea0fba 1400 /* Enable Z direction in tap recognition. */
cparata 0:69566eea0fba 1401 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1402 {
cparata 2:f23b144da50a 1403 return 1;
cparata 0:69566eea0fba 1404 }
cparata 0:69566eea0fba 1405
cparata 0:69566eea0fba 1406 /* Set tap threshold. */
cparata 2:f23b144da50a 1407 if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata 0:69566eea0fba 1408 {
cparata 2:f23b144da50a 1409 return 1;
cparata 0:69566eea0fba 1410 }
cparata 0:69566eea0fba 1411
cparata 0:69566eea0fba 1412 /* Set tap shock time window. */
cparata 2:f23b144da50a 1413 if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == 1 )
cparata 0:69566eea0fba 1414 {
cparata 2:f23b144da50a 1415 return 1;
cparata 0:69566eea0fba 1416 }
cparata 0:69566eea0fba 1417
cparata 0:69566eea0fba 1418 /* Set tap quiet time window. */
cparata 2:f23b144da50a 1419 if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == 1 )
cparata 0:69566eea0fba 1420 {
cparata 2:f23b144da50a 1421 return 1;
cparata 0:69566eea0fba 1422 }
cparata 0:69566eea0fba 1423
cparata 0:69566eea0fba 1424 /* _NOTE_: Tap duration time window - don't care for single tap. */
cparata 0:69566eea0fba 1425
cparata 0:69566eea0fba 1426 /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata 0:69566eea0fba 1427
cparata 0:69566eea0fba 1428 /* Enable basic Interrupts */
cparata 0:69566eea0fba 1429 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1430 {
cparata 2:f23b144da50a 1431 return 1;
cparata 0:69566eea0fba 1432 }
cparata 0:69566eea0fba 1433
cparata 7:12afd7461180 1434 /* Enable single tap on either INT1 or INT2 pin */
cparata 7:12afd7461180 1435 switch (pin)
cparata 0:69566eea0fba 1436 {
cparata 7:12afd7461180 1437 case LSM6DSL_INT1_PIN:
cparata 7:12afd7461180 1438 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata 7:12afd7461180 1439 {
cparata 7:12afd7461180 1440 return 1;
cparata 7:12afd7461180 1441 }
cparata 7:12afd7461180 1442 break;
cparata 7:12afd7461180 1443
cparata 7:12afd7461180 1444 case LSM6DSL_INT2_PIN:
cparata 7:12afd7461180 1445 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata 7:12afd7461180 1446 {
cparata 7:12afd7461180 1447 return 1;
cparata 7:12afd7461180 1448 }
cparata 7:12afd7461180 1449 break;
cparata 7:12afd7461180 1450
cparata 7:12afd7461180 1451 default:
cparata 2:f23b144da50a 1452 return 1;
cparata 0:69566eea0fba 1453 }
cparata 0:69566eea0fba 1454
cparata 2:f23b144da50a 1455 return 0;
cparata 0:69566eea0fba 1456 }
cparata 0:69566eea0fba 1457
cparata 0:69566eea0fba 1458 /**
cparata 0:69566eea0fba 1459 * @brief Disable the single tap detection for LSM6DSL accelerometer sensor
cparata 2:f23b144da50a 1460 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1461 */
cparata 2:f23b144da50a 1462 int LSM6DSLSensor::Disable_Single_Tap_Detection(void)
cparata 0:69566eea0fba 1463 {
cparata 0:69566eea0fba 1464 /* Disable single tap interrupt on INT1 pin. */
cparata 0:69566eea0fba 1465 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1466 {
cparata 2:f23b144da50a 1467 return 1;
cparata 0:69566eea0fba 1468 }
cparata 0:69566eea0fba 1469
cparata 7:12afd7461180 1470 /* Disable single tap interrupt on INT2 pin. */
cparata 7:12afd7461180 1471 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata 7:12afd7461180 1472 {
cparata 7:12afd7461180 1473 return 1;
cparata 7:12afd7461180 1474 }
cparata 7:12afd7461180 1475
cparata 0:69566eea0fba 1476 /* Disable basic Interrupts */
cparata 0:69566eea0fba 1477 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1478 {
cparata 2:f23b144da50a 1479 return 1;
cparata 0:69566eea0fba 1480 }
cparata 0:69566eea0fba 1481
cparata 0:69566eea0fba 1482 /* Reset tap threshold. */
cparata 2:f23b144da50a 1483 if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata 0:69566eea0fba 1484 {
cparata 2:f23b144da50a 1485 return 1;
cparata 0:69566eea0fba 1486 }
cparata 0:69566eea0fba 1487
cparata 0:69566eea0fba 1488 /* Reset tap shock time window. */
cparata 2:f23b144da50a 1489 if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata 0:69566eea0fba 1490 {
cparata 2:f23b144da50a 1491 return 1;
cparata 0:69566eea0fba 1492 }
cparata 0:69566eea0fba 1493
cparata 0:69566eea0fba 1494 /* Reset tap quiet time window. */
cparata 2:f23b144da50a 1495 if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata 0:69566eea0fba 1496 {
cparata 2:f23b144da50a 1497 return 1;
cparata 0:69566eea0fba 1498 }
cparata 0:69566eea0fba 1499
cparata 0:69566eea0fba 1500 /* _NOTE_: Tap duration time window - don't care for single tap. */
cparata 0:69566eea0fba 1501
cparata 0:69566eea0fba 1502 /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata 0:69566eea0fba 1503
cparata 0:69566eea0fba 1504 /* Disable Z direction in tap recognition. */
cparata 0:69566eea0fba 1505 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1506 {
cparata 2:f23b144da50a 1507 return 1;
cparata 0:69566eea0fba 1508 }
cparata 0:69566eea0fba 1509
cparata 0:69566eea0fba 1510 /* Disable Y direction in tap recognition. */
cparata 0:69566eea0fba 1511 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1512 {
cparata 2:f23b144da50a 1513 return 1;
cparata 0:69566eea0fba 1514 }
cparata 0:69566eea0fba 1515
cparata 0:69566eea0fba 1516 /* Disable X direction in tap recognition. */
cparata 0:69566eea0fba 1517 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1518 {
cparata 2:f23b144da50a 1519 return 1;
cparata 0:69566eea0fba 1520 }
cparata 0:69566eea0fba 1521
cparata 2:f23b144da50a 1522 return 0;
cparata 0:69566eea0fba 1523 }
cparata 0:69566eea0fba 1524
cparata 0:69566eea0fba 1525 /**
cparata 0:69566eea0fba 1526 * @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1527 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:f23b144da50a 1528 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1529 */
cparata 2:f23b144da50a 1530 int LSM6DSLSensor::Enable_Double_Tap_Detection(void)
cparata 0:69566eea0fba 1531 {
cparata 7:12afd7461180 1532 return Enable_Double_Tap_Detection(LSM6DSL_INT1_PIN);
cparata 7:12afd7461180 1533 }
cparata 7:12afd7461180 1534
cparata 7:12afd7461180 1535 /**
cparata 7:12afd7461180 1536 * @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata 7:12afd7461180 1537 * @param pin the interrupt pin to be used
cparata 7:12afd7461180 1538 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 7:12afd7461180 1539 * @retval 0 in case of success, an error code otherwise
cparata 7:12afd7461180 1540 */
cparata 7:12afd7461180 1541 int LSM6DSLSensor::Enable_Double_Tap_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata 7:12afd7461180 1542 {
cparata 0:69566eea0fba 1543 /* Output Data Rate selection */
cparata 2:f23b144da50a 1544 if( Set_X_ODR(416.0f) == 1 )
cparata 0:69566eea0fba 1545 {
cparata 2:f23b144da50a 1546 return 1;
cparata 0:69566eea0fba 1547 }
cparata 0:69566eea0fba 1548
cparata 0:69566eea0fba 1549 /* Full scale selection. */
cparata 2:f23b144da50a 1550 if( Set_X_FS(2.0f) == 1 )
cparata 0:69566eea0fba 1551 {
cparata 2:f23b144da50a 1552 return 1;
cparata 0:69566eea0fba 1553 }
cparata 0:69566eea0fba 1554
cparata 0:69566eea0fba 1555 /* Enable X direction in tap recognition. */
cparata 0:69566eea0fba 1556 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1557 {
cparata 2:f23b144da50a 1558 return 1;
cparata 0:69566eea0fba 1559 }
cparata 0:69566eea0fba 1560
cparata 0:69566eea0fba 1561 /* Enable Y direction in tap recognition. */
cparata 0:69566eea0fba 1562 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1563 {
cparata 2:f23b144da50a 1564 return 1;
cparata 0:69566eea0fba 1565 }
cparata 0:69566eea0fba 1566
cparata 0:69566eea0fba 1567 /* Enable Z direction in tap recognition. */
cparata 0:69566eea0fba 1568 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1569 {
cparata 2:f23b144da50a 1570 return 1;
cparata 0:69566eea0fba 1571 }
cparata 0:69566eea0fba 1572
cparata 0:69566eea0fba 1573 /* Set tap threshold. */
cparata 2:f23b144da50a 1574 if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata 0:69566eea0fba 1575 {
cparata 2:f23b144da50a 1576 return 1;
cparata 0:69566eea0fba 1577 }
cparata 0:69566eea0fba 1578
cparata 0:69566eea0fba 1579 /* Set tap shock time window. */
cparata 2:f23b144da50a 1580 if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == 1 )
cparata 0:69566eea0fba 1581 {
cparata 2:f23b144da50a 1582 return 1;
cparata 0:69566eea0fba 1583 }
cparata 0:69566eea0fba 1584
cparata 0:69566eea0fba 1585 /* Set tap quiet time window. */
cparata 2:f23b144da50a 1586 if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == 1 )
cparata 0:69566eea0fba 1587 {
cparata 2:f23b144da50a 1588 return 1;
cparata 0:69566eea0fba 1589 }
cparata 0:69566eea0fba 1590
cparata 0:69566eea0fba 1591 /* Set tap duration time window. */
cparata 2:f23b144da50a 1592 if ( Set_Tap_Duration_Time( LSM6DSL_TAP_DURATION_TIME_MID ) == 1 )
cparata 0:69566eea0fba 1593 {
cparata 2:f23b144da50a 1594 return 1;
cparata 0:69566eea0fba 1595 }
cparata 0:69566eea0fba 1596
cparata 0:69566eea0fba 1597 /* Single and double tap enabled. */
cparata 0:69566eea0fba 1598 if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
cparata 0:69566eea0fba 1599 {
cparata 2:f23b144da50a 1600 return 1;
cparata 0:69566eea0fba 1601 }
cparata 0:69566eea0fba 1602
cparata 0:69566eea0fba 1603 /* Enable basic Interrupts */
cparata 0:69566eea0fba 1604 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1605 {
cparata 2:f23b144da50a 1606 return 1;
cparata 0:69566eea0fba 1607 }
cparata 0:69566eea0fba 1608
cparata 7:12afd7461180 1609 /* Enable double tap on either INT1 or INT2 pin */
cparata 7:12afd7461180 1610 switch (pin)
cparata 0:69566eea0fba 1611 {
cparata 7:12afd7461180 1612 case LSM6DSL_INT1_PIN:
cparata 7:12afd7461180 1613 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
cparata 7:12afd7461180 1614 {
cparata 7:12afd7461180 1615 return 1;
cparata 7:12afd7461180 1616 }
cparata 7:12afd7461180 1617 break;
cparata 7:12afd7461180 1618
cparata 7:12afd7461180 1619 case LSM6DSL_INT2_PIN:
cparata 7:12afd7461180 1620 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TAP_ENABLED ) == MEMS_ERROR )
cparata 7:12afd7461180 1621 {
cparata 7:12afd7461180 1622 return 1;
cparata 7:12afd7461180 1623 }
cparata 7:12afd7461180 1624 break;
cparata 7:12afd7461180 1625
cparata 7:12afd7461180 1626 default:
cparata 2:f23b144da50a 1627 return 1;
cparata 0:69566eea0fba 1628 }
cparata 0:69566eea0fba 1629
cparata 2:f23b144da50a 1630 return 0;
cparata 0:69566eea0fba 1631 }
cparata 0:69566eea0fba 1632
cparata 0:69566eea0fba 1633 /**
cparata 0:69566eea0fba 1634 * @brief Disable the double tap detection for LSM6DSL accelerometer sensor
cparata 2:f23b144da50a 1635 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1636 */
cparata 2:f23b144da50a 1637 int LSM6DSLSensor::Disable_Double_Tap_Detection(void)
cparata 0:69566eea0fba 1638 {
cparata 0:69566eea0fba 1639 /* Disable double tap interrupt on INT1 pin. */
cparata 0:69566eea0fba 1640 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1641 {
cparata 2:f23b144da50a 1642 return 1;
cparata 0:69566eea0fba 1643 }
cparata 0:69566eea0fba 1644
cparata 7:12afd7461180 1645 /* Disable double tap interrupt on INT2 pin. */
cparata 7:12afd7461180 1646 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TAP_DISABLED ) == MEMS_ERROR )
cparata 7:12afd7461180 1647 {
cparata 7:12afd7461180 1648 return 1;
cparata 7:12afd7461180 1649 }
cparata 7:12afd7461180 1650
cparata 0:69566eea0fba 1651 /* Disable basic Interrupts */
cparata 0:69566eea0fba 1652 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1653 {
cparata 2:f23b144da50a 1654 return 1;
cparata 0:69566eea0fba 1655 }
cparata 0:69566eea0fba 1656
cparata 0:69566eea0fba 1657 /* Reset tap threshold. */
cparata 2:f23b144da50a 1658 if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata 0:69566eea0fba 1659 {
cparata 2:f23b144da50a 1660 return 1;
cparata 0:69566eea0fba 1661 }
cparata 0:69566eea0fba 1662
cparata 0:69566eea0fba 1663 /* Reset tap shock time window. */
cparata 2:f23b144da50a 1664 if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata 0:69566eea0fba 1665 {
cparata 2:f23b144da50a 1666 return 1;
cparata 0:69566eea0fba 1667 }
cparata 0:69566eea0fba 1668
cparata 0:69566eea0fba 1669 /* Reset tap quiet time window. */
cparata 2:f23b144da50a 1670 if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata 0:69566eea0fba 1671 {
cparata 2:f23b144da50a 1672 return 1;
cparata 0:69566eea0fba 1673 }
cparata 0:69566eea0fba 1674
cparata 0:69566eea0fba 1675 /* Reset tap duration time window. */
cparata 2:f23b144da50a 1676 if ( Set_Tap_Duration_Time( 0x0 ) == 1 )
cparata 0:69566eea0fba 1677 {
cparata 2:f23b144da50a 1678 return 1;
cparata 0:69566eea0fba 1679 }
cparata 0:69566eea0fba 1680
cparata 0:69566eea0fba 1681 /* Only single tap enabled. */
cparata 0:69566eea0fba 1682 if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
cparata 0:69566eea0fba 1683 {
cparata 2:f23b144da50a 1684 return 1;
cparata 0:69566eea0fba 1685 }
cparata 0:69566eea0fba 1686
cparata 0:69566eea0fba 1687 /* Disable Z direction in tap recognition. */
cparata 0:69566eea0fba 1688 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1689 {
cparata 2:f23b144da50a 1690 return 1;
cparata 0:69566eea0fba 1691 }
cparata 0:69566eea0fba 1692
cparata 0:69566eea0fba 1693 /* Disable Y direction in tap recognition. */
cparata 0:69566eea0fba 1694 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1695 {
cparata 2:f23b144da50a 1696 return 1;
cparata 0:69566eea0fba 1697 }
cparata 0:69566eea0fba 1698
cparata 0:69566eea0fba 1699 /* Disable X direction in tap recognition. */
cparata 0:69566eea0fba 1700 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1701 {
cparata 2:f23b144da50a 1702 return 1;
cparata 0:69566eea0fba 1703 }
cparata 0:69566eea0fba 1704
cparata 2:f23b144da50a 1705 return 0;
cparata 0:69566eea0fba 1706 }
cparata 0:69566eea0fba 1707
cparata 0:69566eea0fba 1708 /**
cparata 0:69566eea0fba 1709 * @brief Set the tap threshold for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1710 * @param thr the threshold to be set
cparata 2:f23b144da50a 1711 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1712 */
cparata 2:f23b144da50a 1713 int LSM6DSLSensor::Set_Tap_Threshold(uint8_t thr)
cparata 0:69566eea0fba 1714 {
cparata 0:69566eea0fba 1715 if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
cparata 0:69566eea0fba 1716 {
cparata 2:f23b144da50a 1717 return 1;
cparata 0:69566eea0fba 1718 }
cparata 0:69566eea0fba 1719
cparata 2:f23b144da50a 1720 return 0;
cparata 0:69566eea0fba 1721 }
cparata 0:69566eea0fba 1722
cparata 0:69566eea0fba 1723 /**
cparata 0:69566eea0fba 1724 * @brief Set the tap shock time window for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1725 * @param time the shock time window to be set
cparata 2:f23b144da50a 1726 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1727 */
cparata 2:f23b144da50a 1728 int LSM6DSLSensor::Set_Tap_Shock_Time(uint8_t time)
cparata 0:69566eea0fba 1729 {
cparata 0:69566eea0fba 1730 if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
cparata 0:69566eea0fba 1731 {
cparata 2:f23b144da50a 1732 return 1;
cparata 0:69566eea0fba 1733 }
cparata 0:69566eea0fba 1734
cparata 2:f23b144da50a 1735 return 0;
cparata 0:69566eea0fba 1736 }
cparata 0:69566eea0fba 1737
cparata 0:69566eea0fba 1738 /**
cparata 0:69566eea0fba 1739 * @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1740 * @param time the quiet time window to be set
cparata 2:f23b144da50a 1741 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1742 */
cparata 2:f23b144da50a 1743 int LSM6DSLSensor::Set_Tap_Quiet_Time(uint8_t time)
cparata 0:69566eea0fba 1744 {
cparata 0:69566eea0fba 1745 if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
cparata 0:69566eea0fba 1746 {
cparata 2:f23b144da50a 1747 return 1;
cparata 0:69566eea0fba 1748 }
cparata 0:69566eea0fba 1749
cparata 2:f23b144da50a 1750 return 0;
cparata 0:69566eea0fba 1751 }
cparata 0:69566eea0fba 1752
cparata 0:69566eea0fba 1753 /**
cparata 0:69566eea0fba 1754 * @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1755 * @param time the duration of the time window to be set
cparata 2:f23b144da50a 1756 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1757 */
cparata 2:f23b144da50a 1758 int LSM6DSLSensor::Set_Tap_Duration_Time(uint8_t time)
cparata 0:69566eea0fba 1759 {
cparata 0:69566eea0fba 1760 if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
cparata 0:69566eea0fba 1761 {
cparata 2:f23b144da50a 1762 return 1;
cparata 0:69566eea0fba 1763 }
cparata 0:69566eea0fba 1764
cparata 2:f23b144da50a 1765 return 0;
cparata 0:69566eea0fba 1766 }
cparata 0:69566eea0fba 1767
cparata 0:69566eea0fba 1768 /**
cparata 0:69566eea0fba 1769 * @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1770 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:f23b144da50a 1771 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1772 */
cparata 2:f23b144da50a 1773 int LSM6DSLSensor::Enable_6D_Orientation(void)
cparata 0:69566eea0fba 1774 {
cparata 7:12afd7461180 1775 return Enable_6D_Orientation(LSM6DSL_INT1_PIN);
cparata 7:12afd7461180 1776 }
cparata 7:12afd7461180 1777
cparata 7:12afd7461180 1778 /**
cparata 7:12afd7461180 1779 * @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 7:12afd7461180 1780 * @param pin the interrupt pin to be used
cparata 7:12afd7461180 1781 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 7:12afd7461180 1782 * @retval 0 in case of success, an error code otherwise
cparata 7:12afd7461180 1783 */
cparata 7:12afd7461180 1784 int LSM6DSLSensor::Enable_6D_Orientation(LSM6DSL_Interrupt_Pin_t pin)
cparata 7:12afd7461180 1785 {
cparata 0:69566eea0fba 1786 /* Output Data Rate selection */
cparata 2:f23b144da50a 1787 if( Set_X_ODR(416.0f) == 1 )
cparata 0:69566eea0fba 1788 {
cparata 2:f23b144da50a 1789 return 1;
cparata 0:69566eea0fba 1790 }
cparata 0:69566eea0fba 1791
cparata 0:69566eea0fba 1792 /* Full scale selection. */
cparata 2:f23b144da50a 1793 if( Set_X_FS(2.0f) == 1 )
cparata 0:69566eea0fba 1794 {
cparata 2:f23b144da50a 1795 return 1;
cparata 0:69566eea0fba 1796 }
cparata 0:69566eea0fba 1797
cparata 0:69566eea0fba 1798 /* Set 6D threshold. */
cparata 0:69566eea0fba 1799 if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
cparata 0:69566eea0fba 1800 {
cparata 2:f23b144da50a 1801 return 1;
cparata 0:69566eea0fba 1802 }
cparata 0:69566eea0fba 1803
cparata 0:69566eea0fba 1804 /* Enable basic Interrupts */
cparata 0:69566eea0fba 1805 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1806 {
cparata 2:f23b144da50a 1807 return 1;
cparata 0:69566eea0fba 1808 }
cparata 0:69566eea0fba 1809
cparata 7:12afd7461180 1810 /* Enable 6D orientation on either INT1 or INT2 pin */
cparata 7:12afd7461180 1811 switch (pin)
cparata 0:69566eea0fba 1812 {
cparata 7:12afd7461180 1813 case LSM6DSL_INT1_PIN:
cparata 7:12afd7461180 1814 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
cparata 7:12afd7461180 1815 {
cparata 7:12afd7461180 1816 return 1;
cparata 7:12afd7461180 1817 }
cparata 7:12afd7461180 1818 break;
cparata 7:12afd7461180 1819
cparata 7:12afd7461180 1820 case LSM6DSL_INT2_PIN:
cparata 7:12afd7461180 1821 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_6D_ENABLED ) == MEMS_ERROR )
cparata 7:12afd7461180 1822 {
cparata 7:12afd7461180 1823 return 1;
cparata 7:12afd7461180 1824 }
cparata 7:12afd7461180 1825 break;
cparata 7:12afd7461180 1826
cparata 7:12afd7461180 1827 default:
cparata 2:f23b144da50a 1828 return 1;
cparata 0:69566eea0fba 1829 }
cparata 0:69566eea0fba 1830
cparata 2:f23b144da50a 1831 return 0;
cparata 0:69566eea0fba 1832 }
cparata 0:69566eea0fba 1833
cparata 0:69566eea0fba 1834 /**
cparata 0:69566eea0fba 1835 * @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 2:f23b144da50a 1836 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1837 */
cparata 2:f23b144da50a 1838 int LSM6DSLSensor::Disable_6D_Orientation(void)
cparata 0:69566eea0fba 1839 {
cparata 7:12afd7461180 1840 /* Disable 6D orientation interrupt on INT1 pin. */
cparata 0:69566eea0fba 1841 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1842 {
cparata 2:f23b144da50a 1843 return 1;
cparata 0:69566eea0fba 1844 }
cparata 0:69566eea0fba 1845
cparata 7:12afd7461180 1846 /* Disable 6D orientation interrupt on INT2 pin. */
cparata 7:12afd7461180 1847 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_6D_DISABLED ) == MEMS_ERROR )
cparata 7:12afd7461180 1848 {
cparata 7:12afd7461180 1849 return 1;
cparata 7:12afd7461180 1850 }
cparata 7:12afd7461180 1851
cparata 0:69566eea0fba 1852 /* Disable basic Interrupts */
cparata 0:69566eea0fba 1853 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1854 {
cparata 2:f23b144da50a 1855 return 1;
cparata 0:69566eea0fba 1856 }
cparata 0:69566eea0fba 1857
cparata 0:69566eea0fba 1858 /* Reset 6D threshold. */
cparata 0:69566eea0fba 1859 if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
cparata 0:69566eea0fba 1860 {
cparata 2:f23b144da50a 1861 return 1;
cparata 0:69566eea0fba 1862 }
cparata 0:69566eea0fba 1863
cparata 2:f23b144da50a 1864 return 0;
cparata 0:69566eea0fba 1865 }
cparata 0:69566eea0fba 1866
cparata 0:69566eea0fba 1867 /**
cparata 0:69566eea0fba 1868 * @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1869 * @param xl the pointer to the 6D orientation XL axis
cparata 2:f23b144da50a 1870 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1871 */
cparata 2:f23b144da50a 1872 int LSM6DSLSensor::Get_6D_Orientation_XL(uint8_t *xl)
cparata 0:69566eea0fba 1873 {
cparata 0:69566eea0fba 1874 LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
cparata 0:69566eea0fba 1875
cparata 0:69566eea0fba 1876 if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
cparata 0:69566eea0fba 1877 {
cparata 2:f23b144da50a 1878 return 1;
cparata 0:69566eea0fba 1879 }
cparata 0:69566eea0fba 1880
cparata 0:69566eea0fba 1881 switch( xl_raw )
cparata 0:69566eea0fba 1882 {
cparata 0:69566eea0fba 1883 case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
cparata 0:69566eea0fba 1884 *xl = 1;
cparata 0:69566eea0fba 1885 break;
cparata 0:69566eea0fba 1886 case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
cparata 0:69566eea0fba 1887 *xl = 0;
cparata 0:69566eea0fba 1888 break;
cparata 0:69566eea0fba 1889 default:
cparata 2:f23b144da50a 1890 return 1;
cparata 0:69566eea0fba 1891 }
cparata 0:69566eea0fba 1892
cparata 2:f23b144da50a 1893 return 0;
cparata 0:69566eea0fba 1894 }
cparata 0:69566eea0fba 1895
cparata 0:69566eea0fba 1896 /**
cparata 0:69566eea0fba 1897 * @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1898 * @param xh the pointer to the 6D orientation XH axis
cparata 2:f23b144da50a 1899 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1900 */
cparata 2:f23b144da50a 1901 int LSM6DSLSensor::Get_6D_Orientation_XH(uint8_t *xh)
cparata 0:69566eea0fba 1902 {
cparata 0:69566eea0fba 1903 LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
cparata 0:69566eea0fba 1904
cparata 0:69566eea0fba 1905 if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
cparata 0:69566eea0fba 1906 {
cparata 2:f23b144da50a 1907 return 1;
cparata 0:69566eea0fba 1908 }
cparata 0:69566eea0fba 1909
cparata 0:69566eea0fba 1910 switch( xh_raw )
cparata 0:69566eea0fba 1911 {
cparata 0:69566eea0fba 1912 case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
cparata 0:69566eea0fba 1913 *xh = 1;
cparata 0:69566eea0fba 1914 break;
cparata 0:69566eea0fba 1915 case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
cparata 0:69566eea0fba 1916 *xh = 0;
cparata 0:69566eea0fba 1917 break;
cparata 0:69566eea0fba 1918 default:
cparata 2:f23b144da50a 1919 return 1;
cparata 0:69566eea0fba 1920 }
cparata 0:69566eea0fba 1921
cparata 2:f23b144da50a 1922 return 0;
cparata 0:69566eea0fba 1923 }
cparata 0:69566eea0fba 1924
cparata 0:69566eea0fba 1925 /**
cparata 0:69566eea0fba 1926 * @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1927 * @param yl the pointer to the 6D orientation YL axis
cparata 2:f23b144da50a 1928 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1929 */
cparata 2:f23b144da50a 1930 int LSM6DSLSensor::Get_6D_Orientation_YL(uint8_t *yl)
cparata 0:69566eea0fba 1931 {
cparata 0:69566eea0fba 1932 LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
cparata 0:69566eea0fba 1933
cparata 0:69566eea0fba 1934 if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
cparata 0:69566eea0fba 1935 {
cparata 2:f23b144da50a 1936 return 1;
cparata 0:69566eea0fba 1937 }
cparata 0:69566eea0fba 1938
cparata 0:69566eea0fba 1939 switch( yl_raw )
cparata 0:69566eea0fba 1940 {
cparata 0:69566eea0fba 1941 case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
cparata 0:69566eea0fba 1942 *yl = 1;
cparata 0:69566eea0fba 1943 break;
cparata 0:69566eea0fba 1944 case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
cparata 0:69566eea0fba 1945 *yl = 0;
cparata 0:69566eea0fba 1946 break;
cparata 0:69566eea0fba 1947 default:
cparata 2:f23b144da50a 1948 return 1;
cparata 0:69566eea0fba 1949 }
cparata 0:69566eea0fba 1950
cparata 2:f23b144da50a 1951 return 0;
cparata 0:69566eea0fba 1952 }
cparata 0:69566eea0fba 1953
cparata 0:69566eea0fba 1954 /**
cparata 0:69566eea0fba 1955 * @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1956 * @param yh the pointer to the 6D orientation YH axis
cparata 2:f23b144da50a 1957 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1958 */
cparata 2:f23b144da50a 1959 int LSM6DSLSensor::Get_6D_Orientation_YH(uint8_t *yh)
cparata 0:69566eea0fba 1960 {
cparata 0:69566eea0fba 1961 LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
cparata 0:69566eea0fba 1962
cparata 0:69566eea0fba 1963 if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
cparata 0:69566eea0fba 1964 {
cparata 2:f23b144da50a 1965 return 1;
cparata 0:69566eea0fba 1966 }
cparata 0:69566eea0fba 1967
cparata 0:69566eea0fba 1968 switch( yh_raw )
cparata 0:69566eea0fba 1969 {
cparata 0:69566eea0fba 1970 case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
cparata 0:69566eea0fba 1971 *yh = 1;
cparata 0:69566eea0fba 1972 break;
cparata 0:69566eea0fba 1973 case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
cparata 0:69566eea0fba 1974 *yh = 0;
cparata 0:69566eea0fba 1975 break;
cparata 0:69566eea0fba 1976 default:
cparata 2:f23b144da50a 1977 return 1;
cparata 0:69566eea0fba 1978 }
cparata 0:69566eea0fba 1979
cparata 2:f23b144da50a 1980 return 0;
cparata 0:69566eea0fba 1981 }
cparata 0:69566eea0fba 1982
cparata 0:69566eea0fba 1983 /**
cparata 0:69566eea0fba 1984 * @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1985 * @param zl the pointer to the 6D orientation ZL axis
cparata 2:f23b144da50a 1986 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1987 */
cparata 2:f23b144da50a 1988 int LSM6DSLSensor::Get_6D_Orientation_ZL(uint8_t *zl)
cparata 0:69566eea0fba 1989 {
cparata 0:69566eea0fba 1990 LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
cparata 0:69566eea0fba 1991
cparata 0:69566eea0fba 1992 if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
cparata 0:69566eea0fba 1993 {
cparata 2:f23b144da50a 1994 return 1;
cparata 0:69566eea0fba 1995 }
cparata 0:69566eea0fba 1996
cparata 0:69566eea0fba 1997 switch( zl_raw )
cparata 0:69566eea0fba 1998 {
cparata 0:69566eea0fba 1999 case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
cparata 0:69566eea0fba 2000 *zl = 1;
cparata 0:69566eea0fba 2001 break;
cparata 0:69566eea0fba 2002 case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
cparata 0:69566eea0fba 2003 *zl = 0;
cparata 0:69566eea0fba 2004 break;
cparata 0:69566eea0fba 2005 default:
cparata 2:f23b144da50a 2006 return 1;
cparata 0:69566eea0fba 2007 }
cparata 0:69566eea0fba 2008
cparata 2:f23b144da50a 2009 return 0;
cparata 0:69566eea0fba 2010 }
cparata 0:69566eea0fba 2011
cparata 0:69566eea0fba 2012 /**
cparata 0:69566eea0fba 2013 * @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 2014 * @param zh the pointer to the 6D orientation ZH axis
cparata 2:f23b144da50a 2015 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 2016 */
cparata 2:f23b144da50a 2017 int LSM6DSLSensor::Get_6D_Orientation_ZH(uint8_t *zh)
cparata 0:69566eea0fba 2018 {
cparata 0:69566eea0fba 2019 LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
cparata 0:69566eea0fba 2020
cparata 0:69566eea0fba 2021 if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
cparata 0:69566eea0fba 2022 {
cparata 2:f23b144da50a 2023 return 1;
cparata 0:69566eea0fba 2024 }
cparata 0:69566eea0fba 2025
cparata 0:69566eea0fba 2026 switch( zh_raw )
cparata 0:69566eea0fba 2027 {
cparata 0:69566eea0fba 2028 case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
cparata 0:69566eea0fba 2029 *zh = 1;
cparata 0:69566eea0fba 2030 break;
cparata 0:69566eea0fba 2031 case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
cparata 0:69566eea0fba 2032 *zh = 0;
cparata 0:69566eea0fba 2033 break;
cparata 0:69566eea0fba 2034 default:
cparata 2:f23b144da50a 2035 return 1;
cparata 0:69566eea0fba 2036 }
cparata 0:69566eea0fba 2037
cparata 2:f23b144da50a 2038 return 0;
cparata 0:69566eea0fba 2039 }
cparata 0:69566eea0fba 2040
cparata 0:69566eea0fba 2041 /**
cparata 4:c295cb5fc9c7 2042 * @brief Get the status of all hardware events for LSM6DSL accelerometer sensor
cparata 4:c295cb5fc9c7 2043 * @param status the pointer to the status of all hardware events
cparata 4:c295cb5fc9c7 2044 * @retval 0 in case of success, an error code otherwise
cparata 4:c295cb5fc9c7 2045 */
cparata 4:c295cb5fc9c7 2046 int LSM6DSLSensor::Get_Event_Status(LSM6DSL_Event_Status_t *status)
cparata 4:c295cb5fc9c7 2047 {
cparata 5:61e1b61c7e7d 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:c295cb5fc9c7 2049
cparata 4:c295cb5fc9c7 2050 memset((void *)status, 0x0, sizeof(LSM6DSL_Event_Status_t));
cparata 4:c295cb5fc9c7 2051
cparata 4:c295cb5fc9c7 2052 if(ReadReg(LSM6DSL_ACC_GYRO_WAKE_UP_SRC, &Wake_Up_Src) != 0)
cparata 4:c295cb5fc9c7 2053 {
cparata 4:c295cb5fc9c7 2054 return 1;
cparata 4:c295cb5fc9c7 2055 }
cparata 4:c295cb5fc9c7 2056
cparata 4:c295cb5fc9c7 2057 if(ReadReg(LSM6DSL_ACC_GYRO_TAP_SRC, &Tap_Src) != 0)
cparata 4:c295cb5fc9c7 2058 {
cparata 4:c295cb5fc9c7 2059 return 1;
cparata 4:c295cb5fc9c7 2060 }
cparata 4:c295cb5fc9c7 2061
cparata 4:c295cb5fc9c7 2062 if(ReadReg(LSM6DSL_ACC_GYRO_D6D_SRC, &D6D_Src) != 0)
cparata 4:c295cb5fc9c7 2063 {
cparata 4:c295cb5fc9c7 2064 return 1;
cparata 4:c295cb5fc9c7 2065 }
cparata 4:c295cb5fc9c7 2066
cparata 4:c295cb5fc9c7 2067 if(ReadReg(LSM6DSL_ACC_GYRO_FUNC_SRC, &Func_Src) != 0)
cparata 4:c295cb5fc9c7 2068 {
cparata 4:c295cb5fc9c7 2069 return 1;
cparata 4:c295cb5fc9c7 2070 }
cparata 4:c295cb5fc9c7 2071
cparata 5:61e1b61c7e7d 2072 if(ReadReg(LSM6DSL_ACC_GYRO_MD1_CFG, &Md1_Cfg ) != 0 )
cparata 5:61e1b61c7e7d 2073 {
cparata 5:61e1b61c7e7d 2074 return 1;
cparata 5:61e1b61c7e7d 2075 }
cparata 5:61e1b61c7e7d 2076
cparata 5:61e1b61c7e7d 2077 if(ReadReg(LSM6DSL_ACC_GYRO_MD2_CFG, &Md2_Cfg ) != 0)
cparata 4:c295cb5fc9c7 2078 {
cparata 5:61e1b61c7e7d 2079 return 1;
cparata 5:61e1b61c7e7d 2080 }
cparata 5:61e1b61c7e7d 2081
cparata 5:61e1b61c7e7d 2082 if(ReadReg(LSM6DSL_ACC_GYRO_INT1_CTRL, &Int1_Ctrl ) != 0)
cparata 5:61e1b61c7e7d 2083 {
cparata 5:61e1b61c7e7d 2084 return 1;
cparata 4:c295cb5fc9c7 2085 }
cparata 4:c295cb5fc9c7 2086
cparata 7:12afd7461180 2087 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_FF_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_FF_MASK))
cparata 4:c295cb5fc9c7 2088 {
cparata 5:61e1b61c7e7d 2089 if((Wake_Up_Src & LSM6DSL_ACC_GYRO_FF_EV_STATUS_MASK))
cparata 5:61e1b61c7e7d 2090 {
cparata 5:61e1b61c7e7d 2091 status->FreeFallStatus = 1;
cparata 5:61e1b61c7e7d 2092 }
cparata 4:c295cb5fc9c7 2093 }
cparata 4:c295cb5fc9c7 2094
cparata 7:12afd7461180 2095 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_WU_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_WU_MASK))
cparata 4:c295cb5fc9c7 2096 {
cparata 5:61e1b61c7e7d 2097 if((Wake_Up_Src & LSM6DSL_ACC_GYRO_WU_EV_STATUS_MASK))
cparata 5:61e1b61c7e7d 2098 {
cparata 5:61e1b61c7e7d 2099 status->WakeUpStatus = 1;
cparata 5:61e1b61c7e7d 2100 }
cparata 4:c295cb5fc9c7 2101 }
cparata 4:c295cb5fc9c7 2102
cparata 7:12afd7461180 2103 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_MASK))
cparata 4:c295cb5fc9c7 2104 {
cparata 5:61e1b61c7e7d 2105 if((Tap_Src & LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_MASK))
cparata 5:61e1b61c7e7d 2106 {
cparata 5:61e1b61c7e7d 2107 status->TapStatus = 1;
cparata 5:61e1b61c7e7d 2108 }
cparata 5:61e1b61c7e7d 2109 }
cparata 5:61e1b61c7e7d 2110
cparata 7:12afd7461180 2111 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TAP_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_TAP_MASK))
cparata 5:61e1b61c7e7d 2112 {
cparata 5:61e1b61c7e7d 2113 if((Tap_Src & LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_MASK))
cparata 5:61e1b61c7e7d 2114 {
cparata 5:61e1b61c7e7d 2115 status->DoubleTapStatus = 1;
cparata 5:61e1b61c7e7d 2116 }
cparata 4:c295cb5fc9c7 2117 }
cparata 4:c295cb5fc9c7 2118
cparata 7:12afd7461180 2119 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_6D_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_6D_MASK))
cparata 4:c295cb5fc9c7 2120 {
cparata 5:61e1b61c7e7d 2121 if((D6D_Src & LSM6DSL_ACC_GYRO_D6D_EV_STATUS_MASK))
cparata 5:61e1b61c7e7d 2122 {
cparata 5:61e1b61c7e7d 2123 status->D6DOrientationStatus = 1;
cparata 5:61e1b61c7e7d 2124 }
cparata 4:c295cb5fc9c7 2125 }
cparata 4:c295cb5fc9c7 2126
cparata 7:12afd7461180 2127 if((Int1_Ctrl & LSM6DSL_ACC_GYRO_INT1_PEDO_MASK))
cparata 4:c295cb5fc9c7 2128 {
cparata 5:61e1b61c7e7d 2129 if((Func_Src & LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_MASK))
cparata 5:61e1b61c7e7d 2130 {
cparata 5:61e1b61c7e7d 2131 status->StepStatus = 1;
cparata 5:61e1b61c7e7d 2132 }
cparata 4:c295cb5fc9c7 2133 }
cparata 4:c295cb5fc9c7 2134
cparata 7:12afd7461180 2135 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TILT_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_TILT_MASK))
cparata 4:c295cb5fc9c7 2136 {
cparata 5:61e1b61c7e7d 2137 if((Func_Src & LSM6DSL_ACC_GYRO_TILT_EV_STATUS_MASK))
cparata 5:61e1b61c7e7d 2138 {
cparata 5:61e1b61c7e7d 2139 status->TiltStatus = 1;
cparata 5:61e1b61c7e7d 2140 }
cparata 4:c295cb5fc9c7 2141 }
cparata 4:c295cb5fc9c7 2142
cparata 4:c295cb5fc9c7 2143 return 0;
cparata 4:c295cb5fc9c7 2144 }
cparata 4:c295cb5fc9c7 2145
cparata 4:c295cb5fc9c7 2146 /**
cparata 0:69566eea0fba 2147 * @brief Read the data from register
cparata 0:69566eea0fba 2148 * @param reg register address
cparata 0:69566eea0fba 2149 * @param data register data
cparata 4:c295cb5fc9c7 2150 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 2151 */
cparata 2:f23b144da50a 2152 int LSM6DSLSensor::ReadReg( uint8_t reg, uint8_t *data )
cparata 0:69566eea0fba 2153 {
cparata 0:69566eea0fba 2154
cparata 0:69566eea0fba 2155 if ( LSM6DSL_ACC_GYRO_ReadReg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
cparata 0:69566eea0fba 2156 {
cparata 2:f23b144da50a 2157 return 1;
cparata 0:69566eea0fba 2158 }
cparata 0:69566eea0fba 2159
cparata 2:f23b144da50a 2160 return 0;
cparata 0:69566eea0fba 2161 }
cparata 0:69566eea0fba 2162
cparata 0:69566eea0fba 2163 /**
cparata 0:69566eea0fba 2164 * @brief Write the data to register
cparata 0:69566eea0fba 2165 * @param reg register address
cparata 0:69566eea0fba 2166 * @param data register data
cparata 4:c295cb5fc9c7 2167 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 2168 */
cparata 2:f23b144da50a 2169 int LSM6DSLSensor::WriteReg( uint8_t reg, uint8_t data )
cparata 0:69566eea0fba 2170 {
cparata 0:69566eea0fba 2171
cparata 0:69566eea0fba 2172 if ( LSM6DSL_ACC_GYRO_WriteReg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
cparata 0:69566eea0fba 2173 {
cparata 2:f23b144da50a 2174 return 1;
cparata 0:69566eea0fba 2175 }
cparata 0:69566eea0fba 2176
cparata 2:f23b144da50a 2177 return 0;
cparata 0:69566eea0fba 2178 }
cparata 0:69566eea0fba 2179
cparata 0:69566eea0fba 2180
cparata 0:69566eea0fba 2181 uint8_t LSM6DSL_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
cparata 0:69566eea0fba 2182 {
cparata 0:69566eea0fba 2183 return ((LSM6DSLSensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata 0:69566eea0fba 2184 }
cparata 0:69566eea0fba 2185
cparata 0:69566eea0fba 2186 uint8_t LSM6DSL_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
cparata 0:69566eea0fba 2187 {
cparata 0:69566eea0fba 2188 return ((LSM6DSLSensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata 0:69566eea0fba 2189 }