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@0:69566eea0fba, 2016-08-12 (annotated)

Committer:
cparata
Date:
Fri Aug 12 13:40:12 2016 +0000
Revision:
0:69566eea0fba
Child:
2:f23b144da50a
First release of Hello World for IKS01A2

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 0:69566eea0fba 54 LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c) : dev_i2c(i2c)
cparata 0:69566eea0fba 55 {
cparata 0:69566eea0fba 56 address = LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH;
cparata 0:69566eea0fba 57
cparata 0:69566eea0fba 58 /* Enable register address automatically incremented during a multiple byte
cparata 0:69566eea0fba 59 access with a serial interface. */
cparata 0:69566eea0fba 60 if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 61 {
cparata 0:69566eea0fba 62 return;
cparata 0:69566eea0fba 63 }
cparata 0:69566eea0fba 64
cparata 0:69566eea0fba 65 /* Enable BDU */
cparata 0:69566eea0fba 66 if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
cparata 0:69566eea0fba 67 {
cparata 0:69566eea0fba 68 return;
cparata 0:69566eea0fba 69 }
cparata 0:69566eea0fba 70
cparata 0:69566eea0fba 71 /* FIFO mode selection */
cparata 0:69566eea0fba 72 if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
cparata 0:69566eea0fba 73 {
cparata 0:69566eea0fba 74 return;
cparata 0:69566eea0fba 75 }
cparata 0:69566eea0fba 76
cparata 0:69566eea0fba 77 /* Output data rate selection - power down. */
cparata 0:69566eea0fba 78 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata 0:69566eea0fba 79 {
cparata 0:69566eea0fba 80 return;
cparata 0:69566eea0fba 81 }
cparata 0:69566eea0fba 82
cparata 0:69566eea0fba 83 /* Full scale selection. */
cparata 0:69566eea0fba 84 if ( Set_X_FS( 2.0f ) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 85 {
cparata 0:69566eea0fba 86 return;
cparata 0:69566eea0fba 87 }
cparata 0:69566eea0fba 88
cparata 0:69566eea0fba 89 /* Output data rate selection - power down */
cparata 0:69566eea0fba 90 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata 0:69566eea0fba 91 {
cparata 0:69566eea0fba 92 return;
cparata 0:69566eea0fba 93 }
cparata 0:69566eea0fba 94
cparata 0:69566eea0fba 95 /* Full scale selection. */
cparata 0:69566eea0fba 96 if ( Set_G_FS( 2000.0f ) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 97 {
cparata 0:69566eea0fba 98 return;
cparata 0:69566eea0fba 99 }
cparata 0:69566eea0fba 100
cparata 0:69566eea0fba 101 X_Last_ODR = 104.0f;
cparata 0:69566eea0fba 102
cparata 0:69566eea0fba 103 X_isEnabled = 0;
cparata 0:69566eea0fba 104
cparata 0:69566eea0fba 105 G_Last_ODR = 104.0f;
cparata 0:69566eea0fba 106
cparata 0:69566eea0fba 107 G_isEnabled = 0;
cparata 0:69566eea0fba 108 };
cparata 0:69566eea0fba 109
cparata 0:69566eea0fba 110 /** Constructor
cparata 0:69566eea0fba 111 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:69566eea0fba 112 * @param address the address of the component's instance
cparata 0:69566eea0fba 113 */
cparata 0:69566eea0fba 114 LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
cparata 0:69566eea0fba 115 {
cparata 0:69566eea0fba 116 /* Enable register address automatically incremented during a multiple byte
cparata 0:69566eea0fba 117 access with a serial interface. */
cparata 0:69566eea0fba 118 if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 119 {
cparata 0:69566eea0fba 120 return;
cparata 0:69566eea0fba 121 }
cparata 0:69566eea0fba 122
cparata 0:69566eea0fba 123 /* Enable BDU */
cparata 0:69566eea0fba 124 if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
cparata 0:69566eea0fba 125 {
cparata 0:69566eea0fba 126 return;
cparata 0:69566eea0fba 127 }
cparata 0:69566eea0fba 128
cparata 0:69566eea0fba 129 /* FIFO mode selection */
cparata 0:69566eea0fba 130 if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
cparata 0:69566eea0fba 131 {
cparata 0:69566eea0fba 132 return;
cparata 0:69566eea0fba 133 }
cparata 0:69566eea0fba 134
cparata 0:69566eea0fba 135 /* Output data rate selection - power down. */
cparata 0:69566eea0fba 136 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata 0:69566eea0fba 137 {
cparata 0:69566eea0fba 138 return;
cparata 0:69566eea0fba 139 }
cparata 0:69566eea0fba 140
cparata 0:69566eea0fba 141 /* Full scale selection. */
cparata 0:69566eea0fba 142 if ( Set_X_FS( 2.0f ) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 143 {
cparata 0:69566eea0fba 144 return;
cparata 0:69566eea0fba 145 }
cparata 0:69566eea0fba 146
cparata 0:69566eea0fba 147 /* Output data rate selection - power down */
cparata 0:69566eea0fba 148 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata 0:69566eea0fba 149 {
cparata 0:69566eea0fba 150 return;
cparata 0:69566eea0fba 151 }
cparata 0:69566eea0fba 152
cparata 0:69566eea0fba 153 /* Full scale selection. */
cparata 0:69566eea0fba 154 if ( Set_G_FS( 2000.0f ) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 155 {
cparata 0:69566eea0fba 156 return;
cparata 0:69566eea0fba 157 }
cparata 0:69566eea0fba 158
cparata 0:69566eea0fba 159 X_Last_ODR = 104.0f;
cparata 0:69566eea0fba 160
cparata 0:69566eea0fba 161 X_isEnabled = 0;
cparata 0:69566eea0fba 162
cparata 0:69566eea0fba 163 G_Last_ODR = 104.0f;
cparata 0:69566eea0fba 164
cparata 0:69566eea0fba 165 G_isEnabled = 0;
cparata 0:69566eea0fba 166 };
cparata 0:69566eea0fba 167
cparata 0:69566eea0fba 168 /**
cparata 0:69566eea0fba 169 * @brief Enable LSM6DSL Accelerator
cparata 0:69566eea0fba 170 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 171 */
cparata 0:69566eea0fba 172 LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_X(void)
cparata 0:69566eea0fba 173 {
cparata 0:69566eea0fba 174 /* Check if the component is already enabled */
cparata 0:69566eea0fba 175 if ( X_isEnabled == 1 )
cparata 0:69566eea0fba 176 {
cparata 0:69566eea0fba 177 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 178 }
cparata 0:69566eea0fba 179
cparata 0:69566eea0fba 180 /* Output data rate selection. */
cparata 0:69566eea0fba 181 if ( Set_X_ODR_When_Enabled( X_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 182 {
cparata 0:69566eea0fba 183 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 184 }
cparata 0:69566eea0fba 185
cparata 0:69566eea0fba 186 X_isEnabled = 1;
cparata 0:69566eea0fba 187
cparata 0:69566eea0fba 188 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 189 }
cparata 0:69566eea0fba 190
cparata 0:69566eea0fba 191 /**
cparata 0:69566eea0fba 192 * @brief Enable LSM6DSL Gyroscope
cparata 0:69566eea0fba 193 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 194 */
cparata 0:69566eea0fba 195 LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_G(void)
cparata 0:69566eea0fba 196 {
cparata 0:69566eea0fba 197 /* Check if the component is already enabled */
cparata 0:69566eea0fba 198 if ( G_isEnabled == 1 )
cparata 0:69566eea0fba 199 {
cparata 0:69566eea0fba 200 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 201 }
cparata 0:69566eea0fba 202
cparata 0:69566eea0fba 203 /* Output data rate selection. */
cparata 0:69566eea0fba 204 if ( Set_G_ODR_When_Enabled( G_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 205 {
cparata 0:69566eea0fba 206 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 207 }
cparata 0:69566eea0fba 208
cparata 0:69566eea0fba 209 G_isEnabled = 1;
cparata 0:69566eea0fba 210
cparata 0:69566eea0fba 211 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 212 }
cparata 0:69566eea0fba 213
cparata 0:69566eea0fba 214 /**
cparata 0:69566eea0fba 215 * @brief Disable LSM6DSL Accelerator
cparata 0:69566eea0fba 216 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 217 */
cparata 0:69566eea0fba 218 LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_X(void)
cparata 0:69566eea0fba 219 {
cparata 0:69566eea0fba 220 /* Check if the component is already disabled */
cparata 0:69566eea0fba 221 if ( X_isEnabled == 0 )
cparata 0:69566eea0fba 222 {
cparata 0:69566eea0fba 223 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 224 }
cparata 0:69566eea0fba 225
cparata 0:69566eea0fba 226 /* Store actual output data rate. */
cparata 0:69566eea0fba 227 if ( Get_X_ODR( &X_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 228 {
cparata 0:69566eea0fba 229 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 230 }
cparata 0:69566eea0fba 231
cparata 0:69566eea0fba 232 /* Output data rate selection - power down. */
cparata 0:69566eea0fba 233 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata 0:69566eea0fba 234 {
cparata 0:69566eea0fba 235 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 236 }
cparata 0:69566eea0fba 237
cparata 0:69566eea0fba 238 X_isEnabled = 0;
cparata 0:69566eea0fba 239
cparata 0:69566eea0fba 240 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 241 }
cparata 0:69566eea0fba 242
cparata 0:69566eea0fba 243 /**
cparata 0:69566eea0fba 244 * @brief Disable LSM6DSL Gyroscope
cparata 0:69566eea0fba 245 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 246 */
cparata 0:69566eea0fba 247 LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_G(void)
cparata 0:69566eea0fba 248 {
cparata 0:69566eea0fba 249 /* Check if the component is already disabled */
cparata 0:69566eea0fba 250 if ( G_isEnabled == 0 )
cparata 0:69566eea0fba 251 {
cparata 0:69566eea0fba 252 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 253 }
cparata 0:69566eea0fba 254
cparata 0:69566eea0fba 255 /* Store actual output data rate. */
cparata 0:69566eea0fba 256 if ( Get_G_ODR( &G_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 257 {
cparata 0:69566eea0fba 258 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 259 }
cparata 0:69566eea0fba 260
cparata 0:69566eea0fba 261 /* Output data rate selection - power down */
cparata 0:69566eea0fba 262 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata 0:69566eea0fba 263 {
cparata 0:69566eea0fba 264 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 265 }
cparata 0:69566eea0fba 266
cparata 0:69566eea0fba 267 G_isEnabled = 0;
cparata 0:69566eea0fba 268
cparata 0:69566eea0fba 269 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 270 }
cparata 0:69566eea0fba 271
cparata 0:69566eea0fba 272 /**
cparata 0:69566eea0fba 273 * @brief Read ID of LSM6DSL Accelerometer and Gyroscope
cparata 0:69566eea0fba 274 * @param p_id the pointer where the ID of the device is stored
cparata 0:69566eea0fba 275 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 276 */
cparata 0:69566eea0fba 277 LSM6DSLStatusTypeDef LSM6DSLSensor::ReadID(uint8_t *p_id)
cparata 0:69566eea0fba 278 {
cparata 0:69566eea0fba 279 if(!p_id)
cparata 0:69566eea0fba 280 {
cparata 0:69566eea0fba 281 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 282 }
cparata 0:69566eea0fba 283
cparata 0:69566eea0fba 284 /* Read WHO AM I register */
cparata 0:69566eea0fba 285 if ( LSM6DSL_ACC_GYRO_R_WHO_AM_I( (void *)this, p_id ) == MEMS_ERROR )
cparata 0:69566eea0fba 286 {
cparata 0:69566eea0fba 287 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 288 }
cparata 0:69566eea0fba 289
cparata 0:69566eea0fba 290 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 291 }
cparata 0:69566eea0fba 292
cparata 0:69566eea0fba 293 /**
cparata 0:69566eea0fba 294 * @brief Read data from LSM6DSL Accelerometer
cparata 0:69566eea0fba 295 * @param pData the pointer where the accelerometer data are stored
cparata 0:69566eea0fba 296 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 297 */
cparata 0:69566eea0fba 298 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_Axes(int32_t *pData)
cparata 0:69566eea0fba 299 {
cparata 0:69566eea0fba 300 int16_t dataRaw[3];
cparata 0:69566eea0fba 301 float sensitivity = 0;
cparata 0:69566eea0fba 302
cparata 0:69566eea0fba 303 /* Read raw data from LSM6DSL output register. */
cparata 0:69566eea0fba 304 if ( Get_X_AxesRaw( dataRaw ) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 305 {
cparata 0:69566eea0fba 306 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 307 }
cparata 0:69566eea0fba 308
cparata 0:69566eea0fba 309 /* Get LSM6DSL actual sensitivity. */
cparata 0:69566eea0fba 310 if ( Get_X_Sensitivity( &sensitivity ) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 311 {
cparata 0:69566eea0fba 312 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 313 }
cparata 0:69566eea0fba 314
cparata 0:69566eea0fba 315 /* Calculate the data. */
cparata 0:69566eea0fba 316 pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata 0:69566eea0fba 317 pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata 0:69566eea0fba 318 pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata 0:69566eea0fba 319
cparata 0:69566eea0fba 320 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 321 }
cparata 0:69566eea0fba 322
cparata 0:69566eea0fba 323 /**
cparata 0:69566eea0fba 324 * @brief Read data from LSM6DSL Gyroscope
cparata 0:69566eea0fba 325 * @param pData the pointer where the gyroscope data are stored
cparata 0:69566eea0fba 326 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 327 */
cparata 0:69566eea0fba 328 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_Axes(int32_t *pData)
cparata 0:69566eea0fba 329 {
cparata 0:69566eea0fba 330 int16_t dataRaw[3];
cparata 0:69566eea0fba 331 float sensitivity = 0;
cparata 0:69566eea0fba 332
cparata 0:69566eea0fba 333 /* Read raw data from LSM6DSL output register. */
cparata 0:69566eea0fba 334 if ( Get_G_AxesRaw( dataRaw ) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 335 {
cparata 0:69566eea0fba 336 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 337 }
cparata 0:69566eea0fba 338
cparata 0:69566eea0fba 339 /* Get LSM6DSL actual sensitivity. */
cparata 0:69566eea0fba 340 if ( Get_G_Sensitivity( &sensitivity ) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 341 {
cparata 0:69566eea0fba 342 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 343 }
cparata 0:69566eea0fba 344
cparata 0:69566eea0fba 345 /* Calculate the data. */
cparata 0:69566eea0fba 346 pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata 0:69566eea0fba 347 pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata 0:69566eea0fba 348 pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata 0:69566eea0fba 349
cparata 0:69566eea0fba 350 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 351 }
cparata 0:69566eea0fba 352
cparata 0:69566eea0fba 353 /**
cparata 0:69566eea0fba 354 * @brief Read Accelerometer Sensitivity
cparata 0:69566eea0fba 355 * @param pfData the pointer where the accelerometer sensitivity is stored
cparata 0:69566eea0fba 356 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 357 */
cparata 0:69566eea0fba 358 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_Sensitivity(float *pfData)
cparata 0:69566eea0fba 359 {
cparata 0:69566eea0fba 360 LSM6DSL_ACC_GYRO_FS_XL_t fullScale;
cparata 0:69566eea0fba 361
cparata 0:69566eea0fba 362 /* Read actual full scale selection from sensor. */
cparata 0:69566eea0fba 363 if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:69566eea0fba 364 {
cparata 0:69566eea0fba 365 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 366 }
cparata 0:69566eea0fba 367
cparata 0:69566eea0fba 368 /* Store the sensitivity based on actual full scale. */
cparata 0:69566eea0fba 369 switch( fullScale )
cparata 0:69566eea0fba 370 {
cparata 0:69566eea0fba 371 case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata 0:69566eea0fba 372 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G;
cparata 0:69566eea0fba 373 break;
cparata 0:69566eea0fba 374 case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata 0:69566eea0fba 375 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G;
cparata 0:69566eea0fba 376 break;
cparata 0:69566eea0fba 377 case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata 0:69566eea0fba 378 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G;
cparata 0:69566eea0fba 379 break;
cparata 0:69566eea0fba 380 case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata 0:69566eea0fba 381 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G;
cparata 0:69566eea0fba 382 break;
cparata 0:69566eea0fba 383 default:
cparata 0:69566eea0fba 384 *pfData = -1.0f;
cparata 0:69566eea0fba 385 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 386 }
cparata 0:69566eea0fba 387
cparata 0:69566eea0fba 388 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 389 }
cparata 0:69566eea0fba 390
cparata 0:69566eea0fba 391 /**
cparata 0:69566eea0fba 392 * @brief Read Gyroscope Sensitivity
cparata 0:69566eea0fba 393 * @param pfData the pointer where the gyroscope sensitivity is stored
cparata 0:69566eea0fba 394 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 395 */
cparata 0:69566eea0fba 396 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_Sensitivity(float *pfData)
cparata 0:69566eea0fba 397 {
cparata 0:69566eea0fba 398 LSM6DSL_ACC_GYRO_FS_125_t fullScale125;
cparata 0:69566eea0fba 399 LSM6DSL_ACC_GYRO_FS_G_t fullScale;
cparata 0:69566eea0fba 400
cparata 0:69566eea0fba 401 /* Read full scale 125 selection from sensor. */
cparata 0:69566eea0fba 402 if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fullScale125 ) == MEMS_ERROR )
cparata 0:69566eea0fba 403 {
cparata 0:69566eea0fba 404 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 405 }
cparata 0:69566eea0fba 406
cparata 0:69566eea0fba 407 if ( fullScale125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata 0:69566eea0fba 408 {
cparata 0:69566eea0fba 409 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS;
cparata 0:69566eea0fba 410 }
cparata 0:69566eea0fba 411
cparata 0:69566eea0fba 412 else
cparata 0:69566eea0fba 413 {
cparata 0:69566eea0fba 414
cparata 0:69566eea0fba 415 /* Read actual full scale selection from sensor. */
cparata 0:69566eea0fba 416 if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:69566eea0fba 417 {
cparata 0:69566eea0fba 418 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 419 }
cparata 0:69566eea0fba 420
cparata 0:69566eea0fba 421 /* Store the sensitivity based on actual full scale. */
cparata 0:69566eea0fba 422 switch( fullScale )
cparata 0:69566eea0fba 423 {
cparata 0:69566eea0fba 424 case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata 0:69566eea0fba 425 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS;
cparata 0:69566eea0fba 426 break;
cparata 0:69566eea0fba 427 case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata 0:69566eea0fba 428 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS;
cparata 0:69566eea0fba 429 break;
cparata 0:69566eea0fba 430 case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata 0:69566eea0fba 431 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS;
cparata 0:69566eea0fba 432 break;
cparata 0:69566eea0fba 433 case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata 0:69566eea0fba 434 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS;
cparata 0:69566eea0fba 435 break;
cparata 0:69566eea0fba 436 default:
cparata 0:69566eea0fba 437 *pfData = -1.0f;
cparata 0:69566eea0fba 438 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 439 }
cparata 0:69566eea0fba 440 }
cparata 0:69566eea0fba 441
cparata 0:69566eea0fba 442 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 443 }
cparata 0:69566eea0fba 444
cparata 0:69566eea0fba 445 /**
cparata 0:69566eea0fba 446 * @brief Read raw data from LSM6DSL Accelerometer
cparata 0:69566eea0fba 447 * @param pData the pointer where the accelerometer raw data are stored
cparata 0:69566eea0fba 448 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 449 */
cparata 0:69566eea0fba 450 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_AxesRaw(int16_t *pData)
cparata 0:69566eea0fba 451 {
cparata 0:69566eea0fba 452 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 0:69566eea0fba 453
cparata 0:69566eea0fba 454 /* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_XL to LSM6DSL_ACC_GYRO_OUTZ_H_XL. */
cparata 0:69566eea0fba 455 if ( LSM6DSL_ACC_GYRO_GetRawAccData( (void *)this, regValue ) == MEMS_ERROR )
cparata 0:69566eea0fba 456 {
cparata 0:69566eea0fba 457 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 458 }
cparata 0:69566eea0fba 459
cparata 0:69566eea0fba 460 /* Format the data. */
cparata 0:69566eea0fba 461 pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata 0:69566eea0fba 462 pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata 0:69566eea0fba 463 pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata 0:69566eea0fba 464
cparata 0:69566eea0fba 465 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 466 }
cparata 0:69566eea0fba 467
cparata 0:69566eea0fba 468 /**
cparata 0:69566eea0fba 469 * @brief Read raw data from LSM6DSL Gyroscope
cparata 0:69566eea0fba 470 * @param pData the pointer where the gyroscope raw data are stored
cparata 0:69566eea0fba 471 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 472 */
cparata 0:69566eea0fba 473 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_AxesRaw(int16_t *pData)
cparata 0:69566eea0fba 474 {
cparata 0:69566eea0fba 475 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 0:69566eea0fba 476
cparata 0:69566eea0fba 477 /* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_G to LSM6DSL_ACC_GYRO_OUTZ_H_G. */
cparata 0:69566eea0fba 478 if ( LSM6DSL_ACC_GYRO_GetRawGyroData( (void *)this, regValue ) == MEMS_ERROR )
cparata 0:69566eea0fba 479 {
cparata 0:69566eea0fba 480 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 481 }
cparata 0:69566eea0fba 482
cparata 0:69566eea0fba 483 /* Format the data. */
cparata 0:69566eea0fba 484 pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata 0:69566eea0fba 485 pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata 0:69566eea0fba 486 pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata 0:69566eea0fba 487
cparata 0:69566eea0fba 488 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 489 }
cparata 0:69566eea0fba 490
cparata 0:69566eea0fba 491 /**
cparata 0:69566eea0fba 492 * @brief Read LSM6DSL Accelerometer output data rate
cparata 0:69566eea0fba 493 * @param odr the pointer to the output data rate
cparata 0:69566eea0fba 494 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 495 */
cparata 0:69566eea0fba 496 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_ODR(float* odr)
cparata 0:69566eea0fba 497 {
cparata 0:69566eea0fba 498 LSM6DSL_ACC_GYRO_ODR_XL_t odr_low_level;
cparata 0:69566eea0fba 499
cparata 0:69566eea0fba 500 if ( LSM6DSL_ACC_GYRO_R_ODR_XL( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 0:69566eea0fba 501 {
cparata 0:69566eea0fba 502 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 503 }
cparata 0:69566eea0fba 504
cparata 0:69566eea0fba 505 switch( odr_low_level )
cparata 0:69566eea0fba 506 {
cparata 0:69566eea0fba 507 case LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN:
cparata 0:69566eea0fba 508 *odr = 0.0f;
cparata 0:69566eea0fba 509 break;
cparata 0:69566eea0fba 510 case LSM6DSL_ACC_GYRO_ODR_XL_13Hz:
cparata 0:69566eea0fba 511 *odr = 13.0f;
cparata 0:69566eea0fba 512 break;
cparata 0:69566eea0fba 513 case LSM6DSL_ACC_GYRO_ODR_XL_26Hz:
cparata 0:69566eea0fba 514 *odr = 26.0f;
cparata 0:69566eea0fba 515 break;
cparata 0:69566eea0fba 516 case LSM6DSL_ACC_GYRO_ODR_XL_52Hz:
cparata 0:69566eea0fba 517 *odr = 52.0f;
cparata 0:69566eea0fba 518 break;
cparata 0:69566eea0fba 519 case LSM6DSL_ACC_GYRO_ODR_XL_104Hz:
cparata 0:69566eea0fba 520 *odr = 104.0f;
cparata 0:69566eea0fba 521 break;
cparata 0:69566eea0fba 522 case LSM6DSL_ACC_GYRO_ODR_XL_208Hz:
cparata 0:69566eea0fba 523 *odr = 208.0f;
cparata 0:69566eea0fba 524 break;
cparata 0:69566eea0fba 525 case LSM6DSL_ACC_GYRO_ODR_XL_416Hz:
cparata 0:69566eea0fba 526 *odr = 416.0f;
cparata 0:69566eea0fba 527 break;
cparata 0:69566eea0fba 528 case LSM6DSL_ACC_GYRO_ODR_XL_833Hz:
cparata 0:69566eea0fba 529 *odr = 833.0f;
cparata 0:69566eea0fba 530 break;
cparata 0:69566eea0fba 531 case LSM6DSL_ACC_GYRO_ODR_XL_1660Hz:
cparata 0:69566eea0fba 532 *odr = 1660.0f;
cparata 0:69566eea0fba 533 break;
cparata 0:69566eea0fba 534 case LSM6DSL_ACC_GYRO_ODR_XL_3330Hz:
cparata 0:69566eea0fba 535 *odr = 3330.0f;
cparata 0:69566eea0fba 536 break;
cparata 0:69566eea0fba 537 case LSM6DSL_ACC_GYRO_ODR_XL_6660Hz:
cparata 0:69566eea0fba 538 *odr = 6660.0f;
cparata 0:69566eea0fba 539 break;
cparata 0:69566eea0fba 540 default:
cparata 0:69566eea0fba 541 *odr = -1.0f;
cparata 0:69566eea0fba 542 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 543 }
cparata 0:69566eea0fba 544
cparata 0:69566eea0fba 545 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 546 }
cparata 0:69566eea0fba 547
cparata 0:69566eea0fba 548 /**
cparata 0:69566eea0fba 549 * @brief Read LSM6DSL Gyroscope output data rate
cparata 0:69566eea0fba 550 * @param odr the pointer to the output data rate
cparata 0:69566eea0fba 551 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 552 */
cparata 0:69566eea0fba 553 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_ODR(float* odr)
cparata 0:69566eea0fba 554 {
cparata 0:69566eea0fba 555 LSM6DSL_ACC_GYRO_ODR_G_t odr_low_level;
cparata 0:69566eea0fba 556
cparata 0:69566eea0fba 557 if ( LSM6DSL_ACC_GYRO_R_ODR_G( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 0:69566eea0fba 558 {
cparata 0:69566eea0fba 559 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 560 }
cparata 0:69566eea0fba 561
cparata 0:69566eea0fba 562 switch( odr_low_level )
cparata 0:69566eea0fba 563 {
cparata 0:69566eea0fba 564 case LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN:
cparata 0:69566eea0fba 565 *odr = 0.0f;
cparata 0:69566eea0fba 566 break;
cparata 0:69566eea0fba 567 case LSM6DSL_ACC_GYRO_ODR_G_13Hz:
cparata 0:69566eea0fba 568 *odr = 13.0f;
cparata 0:69566eea0fba 569 break;
cparata 0:69566eea0fba 570 case LSM6DSL_ACC_GYRO_ODR_G_26Hz:
cparata 0:69566eea0fba 571 *odr = 26.0f;
cparata 0:69566eea0fba 572 break;
cparata 0:69566eea0fba 573 case LSM6DSL_ACC_GYRO_ODR_G_52Hz:
cparata 0:69566eea0fba 574 *odr = 52.0f;
cparata 0:69566eea0fba 575 break;
cparata 0:69566eea0fba 576 case LSM6DSL_ACC_GYRO_ODR_G_104Hz:
cparata 0:69566eea0fba 577 *odr = 104.0f;
cparata 0:69566eea0fba 578 break;
cparata 0:69566eea0fba 579 case LSM6DSL_ACC_GYRO_ODR_G_208Hz:
cparata 0:69566eea0fba 580 *odr = 208.0f;
cparata 0:69566eea0fba 581 break;
cparata 0:69566eea0fba 582 case LSM6DSL_ACC_GYRO_ODR_G_416Hz:
cparata 0:69566eea0fba 583 *odr = 416.0f;
cparata 0:69566eea0fba 584 break;
cparata 0:69566eea0fba 585 case LSM6DSL_ACC_GYRO_ODR_G_833Hz:
cparata 0:69566eea0fba 586 *odr = 833.0f;
cparata 0:69566eea0fba 587 break;
cparata 0:69566eea0fba 588 case LSM6DSL_ACC_GYRO_ODR_G_1660Hz:
cparata 0:69566eea0fba 589 *odr = 1660.0f;
cparata 0:69566eea0fba 590 break;
cparata 0:69566eea0fba 591 case LSM6DSL_ACC_GYRO_ODR_G_3330Hz:
cparata 0:69566eea0fba 592 *odr = 3330.0f;
cparata 0:69566eea0fba 593 break;
cparata 0:69566eea0fba 594 case LSM6DSL_ACC_GYRO_ODR_G_6660Hz:
cparata 0:69566eea0fba 595 *odr = 6660.0f;
cparata 0:69566eea0fba 596 break;
cparata 0:69566eea0fba 597 default:
cparata 0:69566eea0fba 598 *odr = -1.0f;
cparata 0:69566eea0fba 599 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 600 }
cparata 0:69566eea0fba 601
cparata 0:69566eea0fba 602 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 603 }
cparata 0:69566eea0fba 604
cparata 0:69566eea0fba 605 /**
cparata 0:69566eea0fba 606 * @brief Set LSM6DSL Accelerometer output data rate
cparata 0:69566eea0fba 607 * @param odr the output data rate to be set
cparata 0:69566eea0fba 608 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 609 */
cparata 0:69566eea0fba 610 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_ODR(float odr)
cparata 0:69566eea0fba 611 {
cparata 0:69566eea0fba 612 if(X_isEnabled == 1)
cparata 0:69566eea0fba 613 {
cparata 0:69566eea0fba 614 if(Set_X_ODR_When_Enabled(odr) == LSM6DSL_STATUS_ERROR)
cparata 0:69566eea0fba 615 {
cparata 0:69566eea0fba 616 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 617 }
cparata 0:69566eea0fba 618 }
cparata 0:69566eea0fba 619 else
cparata 0:69566eea0fba 620 {
cparata 0:69566eea0fba 621 if(Set_X_ODR_When_Disabled(odr) == LSM6DSL_STATUS_ERROR)
cparata 0:69566eea0fba 622 {
cparata 0:69566eea0fba 623 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 624 }
cparata 0:69566eea0fba 625 }
cparata 0:69566eea0fba 626
cparata 0:69566eea0fba 627 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 628 }
cparata 0:69566eea0fba 629
cparata 0:69566eea0fba 630 /**
cparata 0:69566eea0fba 631 * @brief Set LSM6DSL Accelerometer output data rate when enabled
cparata 0:69566eea0fba 632 * @param odr the output data rate to be set
cparata 0:69566eea0fba 633 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 634 */
cparata 0:69566eea0fba 635 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_ODR_When_Enabled(float odr)
cparata 0:69566eea0fba 636 {
cparata 0:69566eea0fba 637 LSM6DSL_ACC_GYRO_ODR_XL_t new_odr;
cparata 0:69566eea0fba 638
cparata 0:69566eea0fba 639 new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_13Hz
cparata 0:69566eea0fba 640 : ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_26Hz
cparata 0:69566eea0fba 641 : ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_52Hz
cparata 0:69566eea0fba 642 : ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_104Hz
cparata 0:69566eea0fba 643 : ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_208Hz
cparata 0:69566eea0fba 644 : ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_416Hz
cparata 0:69566eea0fba 645 : ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_833Hz
cparata 0:69566eea0fba 646 : ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_1660Hz
cparata 0:69566eea0fba 647 : ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_3330Hz
cparata 0:69566eea0fba 648 : LSM6DSL_ACC_GYRO_ODR_XL_6660Hz;
cparata 0:69566eea0fba 649
cparata 0:69566eea0fba 650 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, new_odr ) == MEMS_ERROR )
cparata 0:69566eea0fba 651 {
cparata 0:69566eea0fba 652 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 653 }
cparata 0:69566eea0fba 654
cparata 0:69566eea0fba 655 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 656 }
cparata 0:69566eea0fba 657
cparata 0:69566eea0fba 658 /**
cparata 0:69566eea0fba 659 * @brief Set LSM6DSL Accelerometer output data rate when disabled
cparata 0:69566eea0fba 660 * @param odr the output data rate to be set
cparata 0:69566eea0fba 661 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 662 */
cparata 0:69566eea0fba 663 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_ODR_When_Disabled(float odr)
cparata 0:69566eea0fba 664 {
cparata 0:69566eea0fba 665 X_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata 0:69566eea0fba 666 : ( odr <= 26.0f ) ? 26.0f
cparata 0:69566eea0fba 667 : ( odr <= 52.0f ) ? 52.0f
cparata 0:69566eea0fba 668 : ( odr <= 104.0f ) ? 104.0f
cparata 0:69566eea0fba 669 : ( odr <= 208.0f ) ? 208.0f
cparata 0:69566eea0fba 670 : ( odr <= 416.0f ) ? 416.0f
cparata 0:69566eea0fba 671 : ( odr <= 833.0f ) ? 833.0f
cparata 0:69566eea0fba 672 : ( odr <= 1660.0f ) ? 1660.0f
cparata 0:69566eea0fba 673 : ( odr <= 3330.0f ) ? 3330.0f
cparata 0:69566eea0fba 674 : 6660.0f;
cparata 0:69566eea0fba 675
cparata 0:69566eea0fba 676 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 677 }
cparata 0:69566eea0fba 678
cparata 0:69566eea0fba 679 /**
cparata 0:69566eea0fba 680 * @brief Set LSM6DSL Gyroscope output data rate
cparata 0:69566eea0fba 681 * @param odr the output data rate to be set
cparata 0:69566eea0fba 682 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 683 */
cparata 0:69566eea0fba 684 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_ODR(float odr)
cparata 0:69566eea0fba 685 {
cparata 0:69566eea0fba 686 if(G_isEnabled == 1)
cparata 0:69566eea0fba 687 {
cparata 0:69566eea0fba 688 if(Set_G_ODR_When_Enabled(odr) == LSM6DSL_STATUS_ERROR)
cparata 0:69566eea0fba 689 {
cparata 0:69566eea0fba 690 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 691 }
cparata 0:69566eea0fba 692 }
cparata 0:69566eea0fba 693 else
cparata 0:69566eea0fba 694 {
cparata 0:69566eea0fba 695 if(Set_G_ODR_When_Disabled(odr) == LSM6DSL_STATUS_ERROR)
cparata 0:69566eea0fba 696 {
cparata 0:69566eea0fba 697 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 698 }
cparata 0:69566eea0fba 699 }
cparata 0:69566eea0fba 700
cparata 0:69566eea0fba 701 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 702 }
cparata 0:69566eea0fba 703
cparata 0:69566eea0fba 704 /**
cparata 0:69566eea0fba 705 * @brief Set LSM6DSL Gyroscope output data rate when enabled
cparata 0:69566eea0fba 706 * @param odr the output data rate to be set
cparata 0:69566eea0fba 707 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 708 */
cparata 0:69566eea0fba 709 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_ODR_When_Enabled(float odr)
cparata 0:69566eea0fba 710 {
cparata 0:69566eea0fba 711 LSM6DSL_ACC_GYRO_ODR_G_t new_odr;
cparata 0:69566eea0fba 712
cparata 0:69566eea0fba 713 new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_13Hz
cparata 0:69566eea0fba 714 : ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_26Hz
cparata 0:69566eea0fba 715 : ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_52Hz
cparata 0:69566eea0fba 716 : ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_104Hz
cparata 0:69566eea0fba 717 : ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_208Hz
cparata 0:69566eea0fba 718 : ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_416Hz
cparata 0:69566eea0fba 719 : ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_833Hz
cparata 0:69566eea0fba 720 : ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_1660Hz
cparata 0:69566eea0fba 721 : ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_3330Hz
cparata 0:69566eea0fba 722 : LSM6DSL_ACC_GYRO_ODR_G_6660Hz;
cparata 0:69566eea0fba 723
cparata 0:69566eea0fba 724 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, new_odr ) == MEMS_ERROR )
cparata 0:69566eea0fba 725 {
cparata 0:69566eea0fba 726 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 727 }
cparata 0:69566eea0fba 728
cparata 0:69566eea0fba 729 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 730 }
cparata 0:69566eea0fba 731
cparata 0:69566eea0fba 732 /**
cparata 0:69566eea0fba 733 * @brief Set LSM6DSL Gyroscope output data rate when disabled
cparata 0:69566eea0fba 734 * @param odr the output data rate to be set
cparata 0:69566eea0fba 735 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 736 */
cparata 0:69566eea0fba 737 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_ODR_When_Disabled(float odr)
cparata 0:69566eea0fba 738 {
cparata 0:69566eea0fba 739 G_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata 0:69566eea0fba 740 : ( odr <= 26.0f ) ? 26.0f
cparata 0:69566eea0fba 741 : ( odr <= 52.0f ) ? 52.0f
cparata 0:69566eea0fba 742 : ( odr <= 104.0f ) ? 104.0f
cparata 0:69566eea0fba 743 : ( odr <= 208.0f ) ? 208.0f
cparata 0:69566eea0fba 744 : ( odr <= 416.0f ) ? 416.0f
cparata 0:69566eea0fba 745 : ( odr <= 833.0f ) ? 833.0f
cparata 0:69566eea0fba 746 : ( odr <= 1660.0f ) ? 1660.0f
cparata 0:69566eea0fba 747 : ( odr <= 3330.0f ) ? 3330.0f
cparata 0:69566eea0fba 748 : 6660.0f;
cparata 0:69566eea0fba 749
cparata 0:69566eea0fba 750 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 751 }
cparata 0:69566eea0fba 752
cparata 0:69566eea0fba 753 /**
cparata 0:69566eea0fba 754 * @brief Read LSM6DSL Accelerometer full scale
cparata 0:69566eea0fba 755 * @param fullScale the pointer to the full scale
cparata 0:69566eea0fba 756 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 757 */
cparata 0:69566eea0fba 758 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_FS(float* fullScale)
cparata 0:69566eea0fba 759 {
cparata 0:69566eea0fba 760 LSM6DSL_ACC_GYRO_FS_XL_t fs_low_level;
cparata 0:69566eea0fba 761
cparata 0:69566eea0fba 762 if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata 0:69566eea0fba 763 {
cparata 0:69566eea0fba 764 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 765 }
cparata 0:69566eea0fba 766
cparata 0:69566eea0fba 767 switch( fs_low_level )
cparata 0:69566eea0fba 768 {
cparata 0:69566eea0fba 769 case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata 0:69566eea0fba 770 *fullScale = 2.0f;
cparata 0:69566eea0fba 771 break;
cparata 0:69566eea0fba 772 case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata 0:69566eea0fba 773 *fullScale = 4.0f;
cparata 0:69566eea0fba 774 break;
cparata 0:69566eea0fba 775 case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata 0:69566eea0fba 776 *fullScale = 8.0f;
cparata 0:69566eea0fba 777 break;
cparata 0:69566eea0fba 778 case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata 0:69566eea0fba 779 *fullScale = 16.0f;
cparata 0:69566eea0fba 780 break;
cparata 0:69566eea0fba 781 default:
cparata 0:69566eea0fba 782 *fullScale = -1.0f;
cparata 0:69566eea0fba 783 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 784 }
cparata 0:69566eea0fba 785
cparata 0:69566eea0fba 786 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 787 }
cparata 0:69566eea0fba 788
cparata 0:69566eea0fba 789 /**
cparata 0:69566eea0fba 790 * @brief Read LSM6DSL Gyroscope full scale
cparata 0:69566eea0fba 791 * @param fullScale the pointer to the full scale
cparata 0:69566eea0fba 792 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 793 */
cparata 0:69566eea0fba 794 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_FS(float* fullScale)
cparata 0:69566eea0fba 795 {
cparata 0:69566eea0fba 796 LSM6DSL_ACC_GYRO_FS_G_t fs_low_level;
cparata 0:69566eea0fba 797 LSM6DSL_ACC_GYRO_FS_125_t fs_125;
cparata 0:69566eea0fba 798
cparata 0:69566eea0fba 799 if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fs_125 ) == MEMS_ERROR )
cparata 0:69566eea0fba 800 {
cparata 0:69566eea0fba 801 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 802 }
cparata 0:69566eea0fba 803 if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata 0:69566eea0fba 804 {
cparata 0:69566eea0fba 805 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 806 }
cparata 0:69566eea0fba 807
cparata 0:69566eea0fba 808 if ( fs_125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata 0:69566eea0fba 809 {
cparata 0:69566eea0fba 810 *fullScale = 125.0f;
cparata 0:69566eea0fba 811 }
cparata 0:69566eea0fba 812
cparata 0:69566eea0fba 813 else
cparata 0:69566eea0fba 814 {
cparata 0:69566eea0fba 815 switch( fs_low_level )
cparata 0:69566eea0fba 816 {
cparata 0:69566eea0fba 817 case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata 0:69566eea0fba 818 *fullScale = 245.0f;
cparata 0:69566eea0fba 819 break;
cparata 0:69566eea0fba 820 case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata 0:69566eea0fba 821 *fullScale = 500.0f;
cparata 0:69566eea0fba 822 break;
cparata 0:69566eea0fba 823 case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata 0:69566eea0fba 824 *fullScale = 1000.0f;
cparata 0:69566eea0fba 825 break;
cparata 0:69566eea0fba 826 case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata 0:69566eea0fba 827 *fullScale = 2000.0f;
cparata 0:69566eea0fba 828 break;
cparata 0:69566eea0fba 829 default:
cparata 0:69566eea0fba 830 *fullScale = -1.0f;
cparata 0:69566eea0fba 831 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 832 }
cparata 0:69566eea0fba 833 }
cparata 0:69566eea0fba 834
cparata 0:69566eea0fba 835 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 836 }
cparata 0:69566eea0fba 837
cparata 0:69566eea0fba 838 /**
cparata 0:69566eea0fba 839 * @brief Set LSM6DSL Accelerometer full scale
cparata 0:69566eea0fba 840 * @param fullScale the full scale to be set
cparata 0:69566eea0fba 841 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 842 */
cparata 0:69566eea0fba 843 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_FS(float fullScale)
cparata 0:69566eea0fba 844 {
cparata 0:69566eea0fba 845 LSM6DSL_ACC_GYRO_FS_XL_t new_fs;
cparata 0:69566eea0fba 846
cparata 0:69566eea0fba 847 new_fs = ( fullScale <= 2.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_2g
cparata 0:69566eea0fba 848 : ( fullScale <= 4.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_4g
cparata 0:69566eea0fba 849 : ( fullScale <= 8.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_8g
cparata 0:69566eea0fba 850 : LSM6DSL_ACC_GYRO_FS_XL_16g;
cparata 0:69566eea0fba 851
cparata 0:69566eea0fba 852 if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, new_fs ) == MEMS_ERROR )
cparata 0:69566eea0fba 853 {
cparata 0:69566eea0fba 854 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 855 }
cparata 0:69566eea0fba 856
cparata 0:69566eea0fba 857 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 858 }
cparata 0:69566eea0fba 859
cparata 0:69566eea0fba 860 /**
cparata 0:69566eea0fba 861 * @brief Set LSM6DSL Gyroscope full scale
cparata 0:69566eea0fba 862 * @param fullScale the full scale to be set
cparata 0:69566eea0fba 863 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 864 */
cparata 0:69566eea0fba 865 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_FS(float fullScale)
cparata 0:69566eea0fba 866 {
cparata 0:69566eea0fba 867 LSM6DSL_ACC_GYRO_FS_G_t new_fs;
cparata 0:69566eea0fba 868
cparata 0:69566eea0fba 869 if ( fullScale <= 125.0f )
cparata 0:69566eea0fba 870 {
cparata 0:69566eea0fba 871 if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 872 {
cparata 0:69566eea0fba 873 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 874 }
cparata 0:69566eea0fba 875 }
cparata 0:69566eea0fba 876 else
cparata 0:69566eea0fba 877 {
cparata 0:69566eea0fba 878 new_fs = ( fullScale <= 245.0f ) ? LSM6DSL_ACC_GYRO_FS_G_245dps
cparata 0:69566eea0fba 879 : ( fullScale <= 500.0f ) ? LSM6DSL_ACC_GYRO_FS_G_500dps
cparata 0:69566eea0fba 880 : ( fullScale <= 1000.0f ) ? LSM6DSL_ACC_GYRO_FS_G_1000dps
cparata 0:69566eea0fba 881 : LSM6DSL_ACC_GYRO_FS_G_2000dps;
cparata 0:69566eea0fba 882
cparata 0:69566eea0fba 883 if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 884 {
cparata 0:69566eea0fba 885 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 886 }
cparata 0:69566eea0fba 887 if ( LSM6DSL_ACC_GYRO_W_FS_G( (void *)this, new_fs ) == MEMS_ERROR )
cparata 0:69566eea0fba 888 {
cparata 0:69566eea0fba 889 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 890 }
cparata 0:69566eea0fba 891 }
cparata 0:69566eea0fba 892
cparata 0:69566eea0fba 893 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 894 }
cparata 0:69566eea0fba 895
cparata 0:69566eea0fba 896 /**
cparata 0:69566eea0fba 897 * @brief Enable free fall detection
cparata 0:69566eea0fba 898 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 0:69566eea0fba 899 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 900 */
cparata 0:69566eea0fba 901 LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Free_Fall_Detection(void)
cparata 0:69566eea0fba 902 {
cparata 0:69566eea0fba 903 /* Output Data Rate selection */
cparata 0:69566eea0fba 904 if(Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR)
cparata 0:69566eea0fba 905 {
cparata 0:69566eea0fba 906 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 907 }
cparata 0:69566eea0fba 908
cparata 0:69566eea0fba 909 /* Full scale selection */
cparata 0:69566eea0fba 910 if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, LSM6DSL_ACC_GYRO_FS_XL_2g ) == MEMS_ERROR )
cparata 0:69566eea0fba 911 {
cparata 0:69566eea0fba 912 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 913 }
cparata 0:69566eea0fba 914
cparata 0:69566eea0fba 915 /* FF_DUR setting */
cparata 0:69566eea0fba 916 if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x06 ) == MEMS_ERROR )
cparata 0:69566eea0fba 917 {
cparata 0:69566eea0fba 918 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 919 }
cparata 0:69566eea0fba 920
cparata 0:69566eea0fba 921 /* WAKE_DUR setting */
cparata 0:69566eea0fba 922 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:69566eea0fba 923 {
cparata 0:69566eea0fba 924 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 925 }
cparata 0:69566eea0fba 926
cparata 0:69566eea0fba 927 /* TIMER_HR setting */
cparata 0:69566eea0fba 928 if ( LSM6DSL_ACC_GYRO_W_TIMER_HR( (void *)this, LSM6DSL_ACC_GYRO_TIMER_HR_6_4ms ) == MEMS_ERROR )
cparata 0:69566eea0fba 929 {
cparata 0:69566eea0fba 930 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 931 }
cparata 0:69566eea0fba 932
cparata 0:69566eea0fba 933 /* SLEEP_DUR setting */
cparata 0:69566eea0fba 934 if ( LSM6DSL_ACC_GYRO_W_SLEEP_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:69566eea0fba 935 {
cparata 0:69566eea0fba 936 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 937 }
cparata 0:69566eea0fba 938
cparata 0:69566eea0fba 939 /* FF_THS setting */
cparata 0:69566eea0fba 940 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_312mg ) == MEMS_ERROR )
cparata 0:69566eea0fba 941 {
cparata 0:69566eea0fba 942 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 943 }
cparata 0:69566eea0fba 944
cparata 0:69566eea0fba 945 /* Enable basic Interrupts */
cparata 0:69566eea0fba 946 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 947 {
cparata 0:69566eea0fba 948 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 949 }
cparata 0:69566eea0fba 950
cparata 0:69566eea0fba 951 /* INT1_FF setting */
cparata 0:69566eea0fba 952 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 953 {
cparata 0:69566eea0fba 954 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 955 }
cparata 0:69566eea0fba 956
cparata 0:69566eea0fba 957 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 958 }
cparata 0:69566eea0fba 959
cparata 0:69566eea0fba 960 /**
cparata 0:69566eea0fba 961 * @brief Disable free fall detection
cparata 0:69566eea0fba 962 * @param None
cparata 0:69566eea0fba 963 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 964 */
cparata 0:69566eea0fba 965 LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Free_Fall_Detection(void)
cparata 0:69566eea0fba 966 {
cparata 0:69566eea0fba 967 /* INT1_FF setting */
cparata 0:69566eea0fba 968 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 969 {
cparata 0:69566eea0fba 970 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 971 }
cparata 0:69566eea0fba 972
cparata 0:69566eea0fba 973 /* Disable basic Interrupts */
cparata 0:69566eea0fba 974 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 975 {
cparata 0:69566eea0fba 976 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 977 }
cparata 0:69566eea0fba 978
cparata 0:69566eea0fba 979 /* FF_DUR setting */
cparata 0:69566eea0fba 980 if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:69566eea0fba 981 {
cparata 0:69566eea0fba 982 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 983 }
cparata 0:69566eea0fba 984
cparata 0:69566eea0fba 985 /* FF_THS setting */
cparata 0:69566eea0fba 986 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_156mg ) == MEMS_ERROR )
cparata 0:69566eea0fba 987 {
cparata 0:69566eea0fba 988 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 989 }
cparata 0:69566eea0fba 990
cparata 0:69566eea0fba 991 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 992 }
cparata 0:69566eea0fba 993
cparata 0:69566eea0fba 994 /**
cparata 0:69566eea0fba 995 * @brief Get status of free fall detection
cparata 0:69566eea0fba 996 * @param status the pointer where the status of free fall detection is stored; 0 means no detection, 1 means detection happened
cparata 0:69566eea0fba 997 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 998 */
cparata 0:69566eea0fba 999 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Free_Fall_Detection(uint8_t *status)
cparata 0:69566eea0fba 1000 {
cparata 0:69566eea0fba 1001 LSM6DSL_ACC_GYRO_FF_EV_STATUS_t free_fall_status;
cparata 0:69566eea0fba 1002
cparata 0:69566eea0fba 1003 if ( LSM6DSL_ACC_GYRO_R_FF_EV_STATUS( (void *)this, &free_fall_status ) == MEMS_ERROR )
cparata 0:69566eea0fba 1004 {
cparata 0:69566eea0fba 1005 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1006 }
cparata 0:69566eea0fba 1007
cparata 0:69566eea0fba 1008 switch( free_fall_status )
cparata 0:69566eea0fba 1009 {
cparata 0:69566eea0fba 1010 case LSM6DSL_ACC_GYRO_FF_EV_STATUS_DETECTED:
cparata 0:69566eea0fba 1011 *status = 1;
cparata 0:69566eea0fba 1012 break;
cparata 0:69566eea0fba 1013 case LSM6DSL_ACC_GYRO_FF_EV_STATUS_NOT_DETECTED:
cparata 0:69566eea0fba 1014 *status = 0;
cparata 0:69566eea0fba 1015 break;
cparata 0:69566eea0fba 1016 default:
cparata 0:69566eea0fba 1017 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1018 }
cparata 0:69566eea0fba 1019
cparata 0:69566eea0fba 1020 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1021 }
cparata 0:69566eea0fba 1022
cparata 0:69566eea0fba 1023 /**
cparata 0:69566eea0fba 1024 * @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1025 * @param thr the threshold to be set
cparata 0:69566eea0fba 1026 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1027 */
cparata 0:69566eea0fba 1028 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Free_Fall_Threshold(uint8_t thr)
cparata 0:69566eea0fba 1029 {
cparata 0:69566eea0fba 1030
cparata 0:69566eea0fba 1031 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR )
cparata 0:69566eea0fba 1032 {
cparata 0:69566eea0fba 1033 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1034 }
cparata 0:69566eea0fba 1035
cparata 0:69566eea0fba 1036 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1037 }
cparata 0:69566eea0fba 1038
cparata 0:69566eea0fba 1039 /**
cparata 0:69566eea0fba 1040 * @brief Enable the pedometer feature for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1041 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata 0:69566eea0fba 1042 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1043 */
cparata 0:69566eea0fba 1044 LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Pedometer(void)
cparata 0:69566eea0fba 1045 {
cparata 0:69566eea0fba 1046 /* Output Data Rate selection */
cparata 0:69566eea0fba 1047 if( Set_X_ODR(26.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1048 {
cparata 0:69566eea0fba 1049 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1050 }
cparata 0:69566eea0fba 1051
cparata 0:69566eea0fba 1052 /* Full scale selection. */
cparata 0:69566eea0fba 1053 if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1054 {
cparata 0:69566eea0fba 1055 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1056 }
cparata 0:69566eea0fba 1057
cparata 0:69566eea0fba 1058 /* Set pedometer threshold. */
cparata 0:69566eea0fba 1059 if ( Set_Pedometer_Threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1060 {
cparata 0:69566eea0fba 1061 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1062 }
cparata 0:69566eea0fba 1063
cparata 0:69566eea0fba 1064 /* Enable embedded functionalities. */
cparata 0:69566eea0fba 1065 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1066 {
cparata 0:69566eea0fba 1067 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1068 }
cparata 0:69566eea0fba 1069
cparata 0:69566eea0fba 1070 /* Enable pedometer algorithm. */
cparata 0:69566eea0fba 1071 if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1072 {
cparata 0:69566eea0fba 1073 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1074 }
cparata 0:69566eea0fba 1075
cparata 0:69566eea0fba 1076 /* Enable pedometer on INT1. */
cparata 0:69566eea0fba 1077 if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1078 {
cparata 0:69566eea0fba 1079 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1080 }
cparata 0:69566eea0fba 1081
cparata 0:69566eea0fba 1082 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1083 }
cparata 0:69566eea0fba 1084
cparata 0:69566eea0fba 1085 /**
cparata 0:69566eea0fba 1086 * @brief Disable the pedometer feature for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1087 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1088 */
cparata 0:69566eea0fba 1089 LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Pedometer(void)
cparata 0:69566eea0fba 1090 {
cparata 0:69566eea0fba 1091 /* Disable pedometer on INT1. */
cparata 0:69566eea0fba 1092 if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1093 {
cparata 0:69566eea0fba 1094 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1095 }
cparata 0:69566eea0fba 1096
cparata 0:69566eea0fba 1097 /* Disable pedometer algorithm. */
cparata 0:69566eea0fba 1098 if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1099 {
cparata 0:69566eea0fba 1100 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1101 }
cparata 0:69566eea0fba 1102
cparata 0:69566eea0fba 1103 /* Disable embedded functionalities. */
cparata 0:69566eea0fba 1104 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1105 {
cparata 0:69566eea0fba 1106 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1107 }
cparata 0:69566eea0fba 1108
cparata 0:69566eea0fba 1109 /* Reset pedometer threshold. */
cparata 0:69566eea0fba 1110 if ( Set_Pedometer_Threshold(0x0) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1111 {
cparata 0:69566eea0fba 1112 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1113 }
cparata 0:69566eea0fba 1114
cparata 0:69566eea0fba 1115 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1116 }
cparata 0:69566eea0fba 1117
cparata 0:69566eea0fba 1118 /**
cparata 0:69566eea0fba 1119 * @brief Get the pedometer status for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1120 * @param status the pointer to the pedometer status: 0 means no step detected, 1 means step detected
cparata 0:69566eea0fba 1121 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1122 */
cparata 0:69566eea0fba 1123 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Pedometer(uint8_t *status)
cparata 0:69566eea0fba 1124 {
cparata 0:69566eea0fba 1125 LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_t pedometer_status;
cparata 0:69566eea0fba 1126
cparata 0:69566eea0fba 1127 if ( LSM6DSL_ACC_GYRO_R_PEDO_EV_STATUS( (void *)this, &pedometer_status ) == MEMS_ERROR )
cparata 0:69566eea0fba 1128 {
cparata 0:69566eea0fba 1129 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1130 }
cparata 0:69566eea0fba 1131
cparata 0:69566eea0fba 1132 switch( pedometer_status )
cparata 0:69566eea0fba 1133 {
cparata 0:69566eea0fba 1134 case LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_DETECTED:
cparata 0:69566eea0fba 1135 *status = 1;
cparata 0:69566eea0fba 1136 break;
cparata 0:69566eea0fba 1137 case LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_NOT_DETECTED:
cparata 0:69566eea0fba 1138 *status = 0;
cparata 0:69566eea0fba 1139 break;
cparata 0:69566eea0fba 1140 default:
cparata 0:69566eea0fba 1141 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1142 }
cparata 0:69566eea0fba 1143
cparata 0:69566eea0fba 1144 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1145 }
cparata 0:69566eea0fba 1146
cparata 0:69566eea0fba 1147 /**
cparata 0:69566eea0fba 1148 * @brief Get the step counter for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1149 * @param step_count the pointer to the step counter
cparata 0:69566eea0fba 1150 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1151 */
cparata 0:69566eea0fba 1152 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Step_Counter(uint16_t *step_count)
cparata 0:69566eea0fba 1153 {
cparata 0:69566eea0fba 1154 if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void *)this, ( uint8_t* )step_count ) == MEMS_ERROR )
cparata 0:69566eea0fba 1155 {
cparata 0:69566eea0fba 1156 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1157 }
cparata 0:69566eea0fba 1158
cparata 0:69566eea0fba 1159 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1160 }
cparata 0:69566eea0fba 1161
cparata 0:69566eea0fba 1162 /**
cparata 0:69566eea0fba 1163 * @brief Reset of the step counter for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1164 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1165 */
cparata 0:69566eea0fba 1166 LSM6DSLStatusTypeDef LSM6DSLSensor::Reset_Step_Counter(void)
cparata 0:69566eea0fba 1167 {
cparata 0:69566eea0fba 1168 if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1169 {
cparata 0:69566eea0fba 1170 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1171 }
cparata 0:69566eea0fba 1172
cparata 0:69566eea0fba 1173 wait_ms(10);
cparata 0:69566eea0fba 1174
cparata 0:69566eea0fba 1175 if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1176 {
cparata 0:69566eea0fba 1177 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1178 }
cparata 0:69566eea0fba 1179
cparata 0:69566eea0fba 1180 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1181 }
cparata 0:69566eea0fba 1182
cparata 0:69566eea0fba 1183 /**
cparata 0:69566eea0fba 1184 * @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1185 * @param thr the threshold to be set
cparata 0:69566eea0fba 1186 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1187 */
cparata 0:69566eea0fba 1188 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Pedometer_Threshold(uint8_t thr)
cparata 0:69566eea0fba 1189 {
cparata 0:69566eea0fba 1190 if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
cparata 0:69566eea0fba 1191 {
cparata 0:69566eea0fba 1192 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1193 }
cparata 0:69566eea0fba 1194
cparata 0:69566eea0fba 1195 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1196 }
cparata 0:69566eea0fba 1197
cparata 0:69566eea0fba 1198 /**
cparata 0:69566eea0fba 1199 * @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1200 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata 0:69566eea0fba 1201 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1202 */
cparata 0:69566eea0fba 1203 LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Tilt_Detection(void)
cparata 0:69566eea0fba 1204 {
cparata 0:69566eea0fba 1205 /* Output Data Rate selection */
cparata 0:69566eea0fba 1206 if( Set_X_ODR(26.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1207 {
cparata 0:69566eea0fba 1208 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1209 }
cparata 0:69566eea0fba 1210
cparata 0:69566eea0fba 1211 /* Full scale selection. */
cparata 0:69566eea0fba 1212 if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1213 {
cparata 0:69566eea0fba 1214 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1215 }
cparata 0:69566eea0fba 1216
cparata 0:69566eea0fba 1217 /* Enable embedded functionalities */
cparata 0:69566eea0fba 1218 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1219 {
cparata 0:69566eea0fba 1220 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1221 }
cparata 0:69566eea0fba 1222
cparata 0:69566eea0fba 1223 /* Enable tilt calculation. */
cparata 0:69566eea0fba 1224 if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1225 {
cparata 0:69566eea0fba 1226 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1227 }
cparata 0:69566eea0fba 1228
cparata 0:69566eea0fba 1229 /* Enable tilt event on INT1. */
cparata 0:69566eea0fba 1230 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1231 {
cparata 0:69566eea0fba 1232 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1233 }
cparata 0:69566eea0fba 1234
cparata 0:69566eea0fba 1235 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1236 }
cparata 0:69566eea0fba 1237
cparata 0:69566eea0fba 1238 /**
cparata 0:69566eea0fba 1239 * @brief Disable the tilt detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1240 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1241 */
cparata 0:69566eea0fba 1242 LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Tilt_Detection(void)
cparata 0:69566eea0fba 1243 {
cparata 0:69566eea0fba 1244 /* Disable tilt event on INT1. */
cparata 0:69566eea0fba 1245 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1246 {
cparata 0:69566eea0fba 1247 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1248 }
cparata 0:69566eea0fba 1249
cparata 0:69566eea0fba 1250 /* Disable tilt calculation. */
cparata 0:69566eea0fba 1251 if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1252 {
cparata 0:69566eea0fba 1253 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1254 }
cparata 0:69566eea0fba 1255
cparata 0:69566eea0fba 1256 /* Disable embedded functionalities */
cparata 0:69566eea0fba 1257 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1258 {
cparata 0:69566eea0fba 1259 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1260 }
cparata 0:69566eea0fba 1261
cparata 0:69566eea0fba 1262 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1263 }
cparata 0:69566eea0fba 1264
cparata 0:69566eea0fba 1265 /**
cparata 0:69566eea0fba 1266 * @brief Get the tilt detection status for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1267 * @param status the pointer to the tilt detection status: 0 means no tilt detected, 1 means tilt detected
cparata 0:69566eea0fba 1268 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1269 */
cparata 0:69566eea0fba 1270 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Tilt_Detection(uint8_t *status)
cparata 0:69566eea0fba 1271 {
cparata 0:69566eea0fba 1272 LSM6DSL_ACC_GYRO_TILT_EV_STATUS_t tilt_status;
cparata 0:69566eea0fba 1273
cparata 0:69566eea0fba 1274 if ( LSM6DSL_ACC_GYRO_R_TILT_EV_STATUS( (void *)this, &tilt_status ) == MEMS_ERROR )
cparata 0:69566eea0fba 1275 {
cparata 0:69566eea0fba 1276 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1277 }
cparata 0:69566eea0fba 1278
cparata 0:69566eea0fba 1279 switch( tilt_status )
cparata 0:69566eea0fba 1280 {
cparata 0:69566eea0fba 1281 case LSM6DSL_ACC_GYRO_TILT_EV_STATUS_DETECTED:
cparata 0:69566eea0fba 1282 *status = 1;
cparata 0:69566eea0fba 1283 break;
cparata 0:69566eea0fba 1284 case LSM6DSL_ACC_GYRO_TILT_EV_STATUS_NOT_DETECTED:
cparata 0:69566eea0fba 1285 *status = 0;
cparata 0:69566eea0fba 1286 break;
cparata 0:69566eea0fba 1287 default:
cparata 0:69566eea0fba 1288 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1289 }
cparata 0:69566eea0fba 1290
cparata 0:69566eea0fba 1291 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1292 }
cparata 0:69566eea0fba 1293
cparata 0:69566eea0fba 1294 /**
cparata 0:69566eea0fba 1295 * @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1296 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 0:69566eea0fba 1297 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1298 */
cparata 0:69566eea0fba 1299 LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Wake_Up_Detection(void)
cparata 0:69566eea0fba 1300 {
cparata 0:69566eea0fba 1301 /* Output Data Rate selection */
cparata 0:69566eea0fba 1302 if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1303 {
cparata 0:69566eea0fba 1304 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1305 }
cparata 0:69566eea0fba 1306
cparata 0:69566eea0fba 1307 /* Full scale selection. */
cparata 0:69566eea0fba 1308 if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1309 {
cparata 0:69566eea0fba 1310 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1311 }
cparata 0:69566eea0fba 1312
cparata 0:69566eea0fba 1313 /* WAKE_DUR setting */
cparata 0:69566eea0fba 1314 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:69566eea0fba 1315 {
cparata 0:69566eea0fba 1316 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1317 }
cparata 0:69566eea0fba 1318
cparata 0:69566eea0fba 1319 /* Set wake up threshold. */
cparata 0:69566eea0fba 1320 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
cparata 0:69566eea0fba 1321 {
cparata 0:69566eea0fba 1322 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1323 }
cparata 0:69566eea0fba 1324
cparata 0:69566eea0fba 1325 /* Enable basic Interrupts */
cparata 0:69566eea0fba 1326 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1327 {
cparata 0:69566eea0fba 1328 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1329 }
cparata 0:69566eea0fba 1330
cparata 0:69566eea0fba 1331 /* INT1_WU setting */
cparata 0:69566eea0fba 1332 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1333 {
cparata 0:69566eea0fba 1334 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1335 }
cparata 0:69566eea0fba 1336
cparata 0:69566eea0fba 1337 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1338 }
cparata 0:69566eea0fba 1339
cparata 0:69566eea0fba 1340 /**
cparata 0:69566eea0fba 1341 * @brief Disable the wake up detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1342 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1343 */
cparata 0:69566eea0fba 1344 LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Wake_Up_Detection(void)
cparata 0:69566eea0fba 1345 {
cparata 0:69566eea0fba 1346 /* INT1_WU setting */
cparata 0:69566eea0fba 1347 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1348 {
cparata 0:69566eea0fba 1349 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1350 }
cparata 0:69566eea0fba 1351
cparata 0:69566eea0fba 1352 /* Disable basic Interrupts */
cparata 0:69566eea0fba 1353 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1354 {
cparata 0:69566eea0fba 1355 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1356 }
cparata 0:69566eea0fba 1357
cparata 0:69566eea0fba 1358 /* WU_DUR setting */
cparata 0:69566eea0fba 1359 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:69566eea0fba 1360 {
cparata 0:69566eea0fba 1361 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1362 }
cparata 0:69566eea0fba 1363
cparata 0:69566eea0fba 1364 /* WU_THS setting */
cparata 0:69566eea0fba 1365 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:69566eea0fba 1366 {
cparata 0:69566eea0fba 1367 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1368 }
cparata 0:69566eea0fba 1369
cparata 0:69566eea0fba 1370 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1371 }
cparata 0:69566eea0fba 1372
cparata 0:69566eea0fba 1373 /**
cparata 0:69566eea0fba 1374 * @brief Get the status of the wake up detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1375 * @param status the pointer to the status of the wake up detection: 0 means no detection, 1 means detection happened
cparata 0:69566eea0fba 1376 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1377 */
cparata 0:69566eea0fba 1378 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Wake_Up_Detection(uint8_t *status)
cparata 0:69566eea0fba 1379 {
cparata 0:69566eea0fba 1380 LSM6DSL_ACC_GYRO_WU_EV_STATUS_t wake_up_status;
cparata 0:69566eea0fba 1381
cparata 0:69566eea0fba 1382 if ( LSM6DSL_ACC_GYRO_R_WU_EV_STATUS( (void *)this, &wake_up_status ) == MEMS_ERROR )
cparata 0:69566eea0fba 1383 {
cparata 0:69566eea0fba 1384 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1385 }
cparata 0:69566eea0fba 1386
cparata 0:69566eea0fba 1387 switch( wake_up_status )
cparata 0:69566eea0fba 1388 {
cparata 0:69566eea0fba 1389 case LSM6DSL_ACC_GYRO_WU_EV_STATUS_DETECTED:
cparata 0:69566eea0fba 1390 *status = 1;
cparata 0:69566eea0fba 1391 break;
cparata 0:69566eea0fba 1392 case LSM6DSL_ACC_GYRO_WU_EV_STATUS_NOT_DETECTED:
cparata 0:69566eea0fba 1393 *status = 0;
cparata 0:69566eea0fba 1394 break;
cparata 0:69566eea0fba 1395 default:
cparata 0:69566eea0fba 1396 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1397 }
cparata 0:69566eea0fba 1398
cparata 0:69566eea0fba 1399 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1400 }
cparata 0:69566eea0fba 1401
cparata 0:69566eea0fba 1402 /**
cparata 0:69566eea0fba 1403 * @brief Set the wake up threshold for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1404 * @param thr the threshold to be set
cparata 0:69566eea0fba 1405 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1406 */
cparata 0:69566eea0fba 1407 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Wake_Up_Threshold(uint8_t thr)
cparata 0:69566eea0fba 1408 {
cparata 0:69566eea0fba 1409 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
cparata 0:69566eea0fba 1410 {
cparata 0:69566eea0fba 1411 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1412 }
cparata 0:69566eea0fba 1413
cparata 0:69566eea0fba 1414 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1415 }
cparata 0:69566eea0fba 1416
cparata 0:69566eea0fba 1417 /**
cparata 0:69566eea0fba 1418 * @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1419 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 0:69566eea0fba 1420 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1421 */
cparata 0:69566eea0fba 1422 LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Single_Tap_Detection(void)
cparata 0:69566eea0fba 1423 {
cparata 0:69566eea0fba 1424 /* Output Data Rate selection */
cparata 0:69566eea0fba 1425 if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1426 {
cparata 0:69566eea0fba 1427 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1428 }
cparata 0:69566eea0fba 1429
cparata 0:69566eea0fba 1430 /* Full scale selection. */
cparata 0:69566eea0fba 1431 if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1432 {
cparata 0:69566eea0fba 1433 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1434 }
cparata 0:69566eea0fba 1435
cparata 0:69566eea0fba 1436 /* Enable X direction in tap recognition. */
cparata 0:69566eea0fba 1437 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1438 {
cparata 0:69566eea0fba 1439 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1440 }
cparata 0:69566eea0fba 1441
cparata 0:69566eea0fba 1442 /* Enable Y direction in tap recognition. */
cparata 0:69566eea0fba 1443 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1444 {
cparata 0:69566eea0fba 1445 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1446 }
cparata 0:69566eea0fba 1447
cparata 0:69566eea0fba 1448 /* Enable Z direction in tap recognition. */
cparata 0:69566eea0fba 1449 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1450 {
cparata 0:69566eea0fba 1451 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1452 }
cparata 0:69566eea0fba 1453
cparata 0:69566eea0fba 1454 /* Set tap threshold. */
cparata 0:69566eea0fba 1455 if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1456 {
cparata 0:69566eea0fba 1457 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1458 }
cparata 0:69566eea0fba 1459
cparata 0:69566eea0fba 1460 /* Set tap shock time window. */
cparata 0:69566eea0fba 1461 if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1462 {
cparata 0:69566eea0fba 1463 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1464 }
cparata 0:69566eea0fba 1465
cparata 0:69566eea0fba 1466 /* Set tap quiet time window. */
cparata 0:69566eea0fba 1467 if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1468 {
cparata 0:69566eea0fba 1469 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1470 }
cparata 0:69566eea0fba 1471
cparata 0:69566eea0fba 1472 /* _NOTE_: Tap duration time window - don't care for single tap. */
cparata 0:69566eea0fba 1473
cparata 0:69566eea0fba 1474 /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata 0:69566eea0fba 1475
cparata 0:69566eea0fba 1476 /* Enable basic Interrupts */
cparata 0:69566eea0fba 1477 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1478 {
cparata 0:69566eea0fba 1479 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1480 }
cparata 0:69566eea0fba 1481
cparata 0:69566eea0fba 1482 /* Enable single tap interrupt on INT1 pin. */
cparata 0:69566eea0fba 1483 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1484 {
cparata 0:69566eea0fba 1485 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1486 }
cparata 0:69566eea0fba 1487
cparata 0:69566eea0fba 1488 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1489 }
cparata 0:69566eea0fba 1490
cparata 0:69566eea0fba 1491 /**
cparata 0:69566eea0fba 1492 * @brief Disable the single tap detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1493 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1494 */
cparata 0:69566eea0fba 1495 LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Single_Tap_Detection(void)
cparata 0:69566eea0fba 1496 {
cparata 0:69566eea0fba 1497 /* Disable single tap interrupt on INT1 pin. */
cparata 0:69566eea0fba 1498 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1499 {
cparata 0:69566eea0fba 1500 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1501 }
cparata 0:69566eea0fba 1502
cparata 0:69566eea0fba 1503 /* Disable basic Interrupts */
cparata 0:69566eea0fba 1504 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1505 {
cparata 0:69566eea0fba 1506 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1507 }
cparata 0:69566eea0fba 1508
cparata 0:69566eea0fba 1509 /* Reset tap threshold. */
cparata 0:69566eea0fba 1510 if ( Set_Tap_Threshold( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1511 {
cparata 0:69566eea0fba 1512 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1513 }
cparata 0:69566eea0fba 1514
cparata 0:69566eea0fba 1515 /* Reset tap shock time window. */
cparata 0:69566eea0fba 1516 if ( Set_Tap_Shock_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1517 {
cparata 0:69566eea0fba 1518 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1519 }
cparata 0:69566eea0fba 1520
cparata 0:69566eea0fba 1521 /* Reset tap quiet time window. */
cparata 0:69566eea0fba 1522 if ( Set_Tap_Quiet_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1523 {
cparata 0:69566eea0fba 1524 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1525 }
cparata 0:69566eea0fba 1526
cparata 0:69566eea0fba 1527 /* _NOTE_: Tap duration time window - don't care for single tap. */
cparata 0:69566eea0fba 1528
cparata 0:69566eea0fba 1529 /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata 0:69566eea0fba 1530
cparata 0:69566eea0fba 1531 /* Disable Z direction in tap recognition. */
cparata 0:69566eea0fba 1532 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1533 {
cparata 0:69566eea0fba 1534 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1535 }
cparata 0:69566eea0fba 1536
cparata 0:69566eea0fba 1537 /* Disable Y direction in tap recognition. */
cparata 0:69566eea0fba 1538 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1539 {
cparata 0:69566eea0fba 1540 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1541 }
cparata 0:69566eea0fba 1542
cparata 0:69566eea0fba 1543 /* Disable X direction in tap recognition. */
cparata 0:69566eea0fba 1544 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1545 {
cparata 0:69566eea0fba 1546 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1547 }
cparata 0:69566eea0fba 1548
cparata 0:69566eea0fba 1549 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1550 }
cparata 0:69566eea0fba 1551
cparata 0:69566eea0fba 1552 /**
cparata 0:69566eea0fba 1553 * @brief Get the single tap detection status for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1554 * @param status the pointer to the single tap detection status: 0 means no single tap detected, 1 means single tap detected
cparata 0:69566eea0fba 1555 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1556 */
cparata 0:69566eea0fba 1557 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Single_Tap_Detection(uint8_t *status)
cparata 0:69566eea0fba 1558 {
cparata 0:69566eea0fba 1559 LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_t tap_status;
cparata 0:69566eea0fba 1560
cparata 0:69566eea0fba 1561 if ( LSM6DSL_ACC_GYRO_R_SINGLE_TAP_EV_STATUS( (void *)this, &tap_status ) == MEMS_ERROR )
cparata 0:69566eea0fba 1562 {
cparata 0:69566eea0fba 1563 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1564 }
cparata 0:69566eea0fba 1565
cparata 0:69566eea0fba 1566 switch( tap_status )
cparata 0:69566eea0fba 1567 {
cparata 0:69566eea0fba 1568 case LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_DETECTED:
cparata 0:69566eea0fba 1569 *status = 1;
cparata 0:69566eea0fba 1570 break;
cparata 0:69566eea0fba 1571
cparata 0:69566eea0fba 1572 case LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_NOT_DETECTED:
cparata 0:69566eea0fba 1573 *status = 0;
cparata 0:69566eea0fba 1574 break;
cparata 0:69566eea0fba 1575
cparata 0:69566eea0fba 1576 default:
cparata 0:69566eea0fba 1577 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1578 }
cparata 0:69566eea0fba 1579
cparata 0:69566eea0fba 1580 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1581 }
cparata 0:69566eea0fba 1582
cparata 0:69566eea0fba 1583 /**
cparata 0:69566eea0fba 1584 * @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1585 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 0:69566eea0fba 1586 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1587 */
cparata 0:69566eea0fba 1588 LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Double_Tap_Detection(void)
cparata 0:69566eea0fba 1589 {
cparata 0:69566eea0fba 1590 /* Output Data Rate selection */
cparata 0:69566eea0fba 1591 if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1592 {
cparata 0:69566eea0fba 1593 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1594 }
cparata 0:69566eea0fba 1595
cparata 0:69566eea0fba 1596 /* Full scale selection. */
cparata 0:69566eea0fba 1597 if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1598 {
cparata 0:69566eea0fba 1599 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1600 }
cparata 0:69566eea0fba 1601
cparata 0:69566eea0fba 1602 /* Enable X direction in tap recognition. */
cparata 0:69566eea0fba 1603 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1604 {
cparata 0:69566eea0fba 1605 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1606 }
cparata 0:69566eea0fba 1607
cparata 0:69566eea0fba 1608 /* Enable Y direction in tap recognition. */
cparata 0:69566eea0fba 1609 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1610 {
cparata 0:69566eea0fba 1611 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1612 }
cparata 0:69566eea0fba 1613
cparata 0:69566eea0fba 1614 /* Enable Z direction in tap recognition. */
cparata 0:69566eea0fba 1615 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1616 {
cparata 0:69566eea0fba 1617 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1618 }
cparata 0:69566eea0fba 1619
cparata 0:69566eea0fba 1620 /* Set tap threshold. */
cparata 0:69566eea0fba 1621 if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1622 {
cparata 0:69566eea0fba 1623 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1624 }
cparata 0:69566eea0fba 1625
cparata 0:69566eea0fba 1626 /* Set tap shock time window. */
cparata 0:69566eea0fba 1627 if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1628 {
cparata 0:69566eea0fba 1629 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1630 }
cparata 0:69566eea0fba 1631
cparata 0:69566eea0fba 1632 /* Set tap quiet time window. */
cparata 0:69566eea0fba 1633 if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1634 {
cparata 0:69566eea0fba 1635 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1636 }
cparata 0:69566eea0fba 1637
cparata 0:69566eea0fba 1638 /* Set tap duration time window. */
cparata 0:69566eea0fba 1639 if ( Set_Tap_Duration_Time( LSM6DSL_TAP_DURATION_TIME_MID ) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1640 {
cparata 0:69566eea0fba 1641 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1642 }
cparata 0:69566eea0fba 1643
cparata 0:69566eea0fba 1644 /* Single and double tap enabled. */
cparata 0:69566eea0fba 1645 if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
cparata 0:69566eea0fba 1646 {
cparata 0:69566eea0fba 1647 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1648 }
cparata 0:69566eea0fba 1649
cparata 0:69566eea0fba 1650 /* Enable basic Interrupts */
cparata 0:69566eea0fba 1651 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1652 {
cparata 0:69566eea0fba 1653 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1654 }
cparata 0:69566eea0fba 1655
cparata 0:69566eea0fba 1656 /* Enable double tap interrupt on INT1 pin. */
cparata 0:69566eea0fba 1657 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1658 {
cparata 0:69566eea0fba 1659 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1660 }
cparata 0:69566eea0fba 1661
cparata 0:69566eea0fba 1662 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1663 }
cparata 0:69566eea0fba 1664
cparata 0:69566eea0fba 1665 /**
cparata 0:69566eea0fba 1666 * @brief Disable the double tap detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1667 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1668 */
cparata 0:69566eea0fba 1669 LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Double_Tap_Detection(void)
cparata 0:69566eea0fba 1670 {
cparata 0:69566eea0fba 1671 /* Disable double tap interrupt on INT1 pin. */
cparata 0:69566eea0fba 1672 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1673 {
cparata 0:69566eea0fba 1674 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1675 }
cparata 0:69566eea0fba 1676
cparata 0:69566eea0fba 1677 /* Disable basic Interrupts */
cparata 0:69566eea0fba 1678 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1679 {
cparata 0:69566eea0fba 1680 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1681 }
cparata 0:69566eea0fba 1682
cparata 0:69566eea0fba 1683 /* Reset tap threshold. */
cparata 0:69566eea0fba 1684 if ( Set_Tap_Threshold( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1685 {
cparata 0:69566eea0fba 1686 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1687 }
cparata 0:69566eea0fba 1688
cparata 0:69566eea0fba 1689 /* Reset tap shock time window. */
cparata 0:69566eea0fba 1690 if ( Set_Tap_Shock_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1691 {
cparata 0:69566eea0fba 1692 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1693 }
cparata 0:69566eea0fba 1694
cparata 0:69566eea0fba 1695 /* Reset tap quiet time window. */
cparata 0:69566eea0fba 1696 if ( Set_Tap_Quiet_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1697 {
cparata 0:69566eea0fba 1698 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1699 }
cparata 0:69566eea0fba 1700
cparata 0:69566eea0fba 1701 /* Reset tap duration time window. */
cparata 0:69566eea0fba 1702 if ( Set_Tap_Duration_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1703 {
cparata 0:69566eea0fba 1704 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1705 }
cparata 0:69566eea0fba 1706
cparata 0:69566eea0fba 1707 /* Only single tap enabled. */
cparata 0:69566eea0fba 1708 if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
cparata 0:69566eea0fba 1709 {
cparata 0:69566eea0fba 1710 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1711 }
cparata 0:69566eea0fba 1712
cparata 0:69566eea0fba 1713 /* Disable Z direction in tap recognition. */
cparata 0:69566eea0fba 1714 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1715 {
cparata 0:69566eea0fba 1716 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1717 }
cparata 0:69566eea0fba 1718
cparata 0:69566eea0fba 1719 /* Disable Y direction in tap recognition. */
cparata 0:69566eea0fba 1720 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1721 {
cparata 0:69566eea0fba 1722 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1723 }
cparata 0:69566eea0fba 1724
cparata 0:69566eea0fba 1725 /* Disable X direction in tap recognition. */
cparata 0:69566eea0fba 1726 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1727 {
cparata 0:69566eea0fba 1728 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1729 }
cparata 0:69566eea0fba 1730
cparata 0:69566eea0fba 1731 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1732 }
cparata 0:69566eea0fba 1733
cparata 0:69566eea0fba 1734 /**
cparata 0:69566eea0fba 1735 * @brief Get the double tap detection status for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1736 * @param status the pointer to the double tap detection status: 0 means no double tap detected, 1 means double tap detected
cparata 0:69566eea0fba 1737 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1738 */
cparata 0:69566eea0fba 1739 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Double_Tap_Detection(uint8_t *status)
cparata 0:69566eea0fba 1740 {
cparata 0:69566eea0fba 1741 LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_t tap_status;
cparata 0:69566eea0fba 1742
cparata 0:69566eea0fba 1743 if ( LSM6DSL_ACC_GYRO_R_DOUBLE_TAP_EV_STATUS( (void *)this, &tap_status ) == MEMS_ERROR )
cparata 0:69566eea0fba 1744 {
cparata 0:69566eea0fba 1745 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1746 }
cparata 0:69566eea0fba 1747
cparata 0:69566eea0fba 1748 switch( tap_status )
cparata 0:69566eea0fba 1749 {
cparata 0:69566eea0fba 1750 case LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_DETECTED:
cparata 0:69566eea0fba 1751 *status = 1;
cparata 0:69566eea0fba 1752 break;
cparata 0:69566eea0fba 1753
cparata 0:69566eea0fba 1754 case LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_NOT_DETECTED:
cparata 0:69566eea0fba 1755 *status = 0;
cparata 0:69566eea0fba 1756 break;
cparata 0:69566eea0fba 1757
cparata 0:69566eea0fba 1758 default:
cparata 0:69566eea0fba 1759 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1760 }
cparata 0:69566eea0fba 1761
cparata 0:69566eea0fba 1762 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1763 }
cparata 0:69566eea0fba 1764
cparata 0:69566eea0fba 1765 /**
cparata 0:69566eea0fba 1766 * @brief Set the tap threshold for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1767 * @param thr the threshold to be set
cparata 0:69566eea0fba 1768 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1769 */
cparata 0:69566eea0fba 1770 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Threshold(uint8_t thr)
cparata 0:69566eea0fba 1771 {
cparata 0:69566eea0fba 1772 if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
cparata 0:69566eea0fba 1773 {
cparata 0:69566eea0fba 1774 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1775 }
cparata 0:69566eea0fba 1776
cparata 0:69566eea0fba 1777 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1778 }
cparata 0:69566eea0fba 1779
cparata 0:69566eea0fba 1780 /**
cparata 0:69566eea0fba 1781 * @brief Set the tap shock time window for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1782 * @param time the shock time window to be set
cparata 0:69566eea0fba 1783 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1784 */
cparata 0:69566eea0fba 1785 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Shock_Time(uint8_t time)
cparata 0:69566eea0fba 1786 {
cparata 0:69566eea0fba 1787 if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
cparata 0:69566eea0fba 1788 {
cparata 0:69566eea0fba 1789 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1790 }
cparata 0:69566eea0fba 1791
cparata 0:69566eea0fba 1792 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1793 }
cparata 0:69566eea0fba 1794
cparata 0:69566eea0fba 1795 /**
cparata 0:69566eea0fba 1796 * @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1797 * @param time the quiet time window to be set
cparata 0:69566eea0fba 1798 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1799 */
cparata 0:69566eea0fba 1800 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Quiet_Time(uint8_t time)
cparata 0:69566eea0fba 1801 {
cparata 0:69566eea0fba 1802 if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
cparata 0:69566eea0fba 1803 {
cparata 0:69566eea0fba 1804 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1805 }
cparata 0:69566eea0fba 1806
cparata 0:69566eea0fba 1807 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1808 }
cparata 0:69566eea0fba 1809
cparata 0:69566eea0fba 1810 /**
cparata 0:69566eea0fba 1811 * @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1812 * @param time the duration of the time window to be set
cparata 0:69566eea0fba 1813 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1814 */
cparata 0:69566eea0fba 1815 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Duration_Time(uint8_t time)
cparata 0:69566eea0fba 1816 {
cparata 0:69566eea0fba 1817 if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
cparata 0:69566eea0fba 1818 {
cparata 0:69566eea0fba 1819 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1820 }
cparata 0:69566eea0fba 1821
cparata 0:69566eea0fba 1822 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1823 }
cparata 0:69566eea0fba 1824
cparata 0:69566eea0fba 1825 /**
cparata 0:69566eea0fba 1826 * @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1827 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 0:69566eea0fba 1828 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1829 */
cparata 0:69566eea0fba 1830 LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_6D_Orientation(void)
cparata 0:69566eea0fba 1831 {
cparata 0:69566eea0fba 1832 /* Output Data Rate selection */
cparata 0:69566eea0fba 1833 if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1834 {
cparata 0:69566eea0fba 1835 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1836 }
cparata 0:69566eea0fba 1837
cparata 0:69566eea0fba 1838 /* Full scale selection. */
cparata 0:69566eea0fba 1839 if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:69566eea0fba 1840 {
cparata 0:69566eea0fba 1841 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1842 }
cparata 0:69566eea0fba 1843
cparata 0:69566eea0fba 1844 /* Set 6D threshold. */
cparata 0:69566eea0fba 1845 if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
cparata 0:69566eea0fba 1846 {
cparata 0:69566eea0fba 1847 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1848 }
cparata 0:69566eea0fba 1849
cparata 0:69566eea0fba 1850 /* Enable basic Interrupts */
cparata 0:69566eea0fba 1851 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1852 {
cparata 0:69566eea0fba 1853 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1854 }
cparata 0:69566eea0fba 1855
cparata 0:69566eea0fba 1856 /* INT1_6D setting. */
cparata 0:69566eea0fba 1857 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1858 {
cparata 0:69566eea0fba 1859 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1860 }
cparata 0:69566eea0fba 1861
cparata 0:69566eea0fba 1862 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1863 }
cparata 0:69566eea0fba 1864
cparata 0:69566eea0fba 1865 /**
cparata 0:69566eea0fba 1866 * @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1867 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1868 */
cparata 0:69566eea0fba 1869 LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_6D_Orientation(void)
cparata 0:69566eea0fba 1870 {
cparata 0:69566eea0fba 1871 /* INT1_6D setting. */
cparata 0:69566eea0fba 1872 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1873 {
cparata 0:69566eea0fba 1874 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1875 }
cparata 0:69566eea0fba 1876
cparata 0:69566eea0fba 1877 /* Disable basic Interrupts */
cparata 0:69566eea0fba 1878 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1879 {
cparata 0:69566eea0fba 1880 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1881 }
cparata 0:69566eea0fba 1882
cparata 0:69566eea0fba 1883 /* Reset 6D threshold. */
cparata 0:69566eea0fba 1884 if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
cparata 0:69566eea0fba 1885 {
cparata 0:69566eea0fba 1886 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1887 }
cparata 0:69566eea0fba 1888
cparata 0:69566eea0fba 1889 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1890 }
cparata 0:69566eea0fba 1891
cparata 0:69566eea0fba 1892 /**
cparata 0:69566eea0fba 1893 * @brief Get the status of the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1894 * @param status the pointer to the status of the 6D orientation detection: 0 means no detection, 1 means detection happened
cparata 0:69566eea0fba 1895 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1896 */
cparata 0:69566eea0fba 1897 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_6D_Orientation(uint8_t *status)
cparata 0:69566eea0fba 1898 {
cparata 0:69566eea0fba 1899 LSM6DSL_ACC_GYRO_D6D_EV_STATUS_t status_raw;
cparata 0:69566eea0fba 1900
cparata 0:69566eea0fba 1901 if ( LSM6DSL_ACC_GYRO_R_D6D_EV_STATUS( (void *)this, &status_raw ) == MEMS_ERROR )
cparata 0:69566eea0fba 1902 {
cparata 0:69566eea0fba 1903 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1904 }
cparata 0:69566eea0fba 1905
cparata 0:69566eea0fba 1906 switch( status_raw )
cparata 0:69566eea0fba 1907 {
cparata 0:69566eea0fba 1908 case LSM6DSL_ACC_GYRO_D6D_EV_STATUS_DETECTED:
cparata 0:69566eea0fba 1909 *status = 1;
cparata 0:69566eea0fba 1910 break;
cparata 0:69566eea0fba 1911 case LSM6DSL_ACC_GYRO_D6D_EV_STATUS_NOT_DETECTED:
cparata 0:69566eea0fba 1912 *status = 0;
cparata 0:69566eea0fba 1913 break;
cparata 0:69566eea0fba 1914 default:
cparata 0:69566eea0fba 1915 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1916 }
cparata 0:69566eea0fba 1917
cparata 0:69566eea0fba 1918 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1919 }
cparata 0:69566eea0fba 1920
cparata 0:69566eea0fba 1921 /**
cparata 0:69566eea0fba 1922 * @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1923 * @param xl the pointer to the 6D orientation XL axis
cparata 0:69566eea0fba 1924 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1925 */
cparata 0:69566eea0fba 1926 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_XL(uint8_t *xl)
cparata 0:69566eea0fba 1927 {
cparata 0:69566eea0fba 1928 LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
cparata 0:69566eea0fba 1929
cparata 0:69566eea0fba 1930 if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
cparata 0:69566eea0fba 1931 {
cparata 0:69566eea0fba 1932 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1933 }
cparata 0:69566eea0fba 1934
cparata 0:69566eea0fba 1935 switch( xl_raw )
cparata 0:69566eea0fba 1936 {
cparata 0:69566eea0fba 1937 case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
cparata 0:69566eea0fba 1938 *xl = 1;
cparata 0:69566eea0fba 1939 break;
cparata 0:69566eea0fba 1940 case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
cparata 0:69566eea0fba 1941 *xl = 0;
cparata 0:69566eea0fba 1942 break;
cparata 0:69566eea0fba 1943 default:
cparata 0:69566eea0fba 1944 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1945 }
cparata 0:69566eea0fba 1946
cparata 0:69566eea0fba 1947 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1948 }
cparata 0:69566eea0fba 1949
cparata 0:69566eea0fba 1950 /**
cparata 0:69566eea0fba 1951 * @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1952 * @param xh the pointer to the 6D orientation XH axis
cparata 0:69566eea0fba 1953 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1954 */
cparata 0:69566eea0fba 1955 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_XH(uint8_t *xh)
cparata 0:69566eea0fba 1956 {
cparata 0:69566eea0fba 1957 LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
cparata 0:69566eea0fba 1958
cparata 0:69566eea0fba 1959 if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
cparata 0:69566eea0fba 1960 {
cparata 0:69566eea0fba 1961 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1962 }
cparata 0:69566eea0fba 1963
cparata 0:69566eea0fba 1964 switch( xh_raw )
cparata 0:69566eea0fba 1965 {
cparata 0:69566eea0fba 1966 case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
cparata 0:69566eea0fba 1967 *xh = 1;
cparata 0:69566eea0fba 1968 break;
cparata 0:69566eea0fba 1969 case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
cparata 0:69566eea0fba 1970 *xh = 0;
cparata 0:69566eea0fba 1971 break;
cparata 0:69566eea0fba 1972 default:
cparata 0:69566eea0fba 1973 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1974 }
cparata 0:69566eea0fba 1975
cparata 0:69566eea0fba 1976 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 1977 }
cparata 0:69566eea0fba 1978
cparata 0:69566eea0fba 1979 /**
cparata 0:69566eea0fba 1980 * @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1981 * @param yl the pointer to the 6D orientation YL axis
cparata 0:69566eea0fba 1982 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 1983 */
cparata 0:69566eea0fba 1984 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_YL(uint8_t *yl)
cparata 0:69566eea0fba 1985 {
cparata 0:69566eea0fba 1986 LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
cparata 0:69566eea0fba 1987
cparata 0:69566eea0fba 1988 if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
cparata 0:69566eea0fba 1989 {
cparata 0:69566eea0fba 1990 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 1991 }
cparata 0:69566eea0fba 1992
cparata 0:69566eea0fba 1993 switch( yl_raw )
cparata 0:69566eea0fba 1994 {
cparata 0:69566eea0fba 1995 case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
cparata 0:69566eea0fba 1996 *yl = 1;
cparata 0:69566eea0fba 1997 break;
cparata 0:69566eea0fba 1998 case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
cparata 0:69566eea0fba 1999 *yl = 0;
cparata 0:69566eea0fba 2000 break;
cparata 0:69566eea0fba 2001 default:
cparata 0:69566eea0fba 2002 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 2003 }
cparata 0:69566eea0fba 2004
cparata 0:69566eea0fba 2005 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 2006 }
cparata 0:69566eea0fba 2007
cparata 0:69566eea0fba 2008 /**
cparata 0:69566eea0fba 2009 * @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 2010 * @param yh the pointer to the 6D orientation YH axis
cparata 0:69566eea0fba 2011 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 2012 */
cparata 0:69566eea0fba 2013 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_YH(uint8_t *yh)
cparata 0:69566eea0fba 2014 {
cparata 0:69566eea0fba 2015 LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
cparata 0:69566eea0fba 2016
cparata 0:69566eea0fba 2017 if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
cparata 0:69566eea0fba 2018 {
cparata 0:69566eea0fba 2019 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 2020 }
cparata 0:69566eea0fba 2021
cparata 0:69566eea0fba 2022 switch( yh_raw )
cparata 0:69566eea0fba 2023 {
cparata 0:69566eea0fba 2024 case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
cparata 0:69566eea0fba 2025 *yh = 1;
cparata 0:69566eea0fba 2026 break;
cparata 0:69566eea0fba 2027 case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
cparata 0:69566eea0fba 2028 *yh = 0;
cparata 0:69566eea0fba 2029 break;
cparata 0:69566eea0fba 2030 default:
cparata 0:69566eea0fba 2031 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 2032 }
cparata 0:69566eea0fba 2033
cparata 0:69566eea0fba 2034 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 2035 }
cparata 0:69566eea0fba 2036
cparata 0:69566eea0fba 2037 /**
cparata 0:69566eea0fba 2038 * @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 2039 * @param zl the pointer to the 6D orientation ZL axis
cparata 0:69566eea0fba 2040 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 2041 */
cparata 0:69566eea0fba 2042 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_ZL(uint8_t *zl)
cparata 0:69566eea0fba 2043 {
cparata 0:69566eea0fba 2044 LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
cparata 0:69566eea0fba 2045
cparata 0:69566eea0fba 2046 if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
cparata 0:69566eea0fba 2047 {
cparata 0:69566eea0fba 2048 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 2049 }
cparata 0:69566eea0fba 2050
cparata 0:69566eea0fba 2051 switch( zl_raw )
cparata 0:69566eea0fba 2052 {
cparata 0:69566eea0fba 2053 case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
cparata 0:69566eea0fba 2054 *zl = 1;
cparata 0:69566eea0fba 2055 break;
cparata 0:69566eea0fba 2056 case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
cparata 0:69566eea0fba 2057 *zl = 0;
cparata 0:69566eea0fba 2058 break;
cparata 0:69566eea0fba 2059 default:
cparata 0:69566eea0fba 2060 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 2061 }
cparata 0:69566eea0fba 2062
cparata 0:69566eea0fba 2063 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 2064 }
cparata 0:69566eea0fba 2065
cparata 0:69566eea0fba 2066 /**
cparata 0:69566eea0fba 2067 * @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 2068 * @param zh the pointer to the 6D orientation ZH axis
cparata 0:69566eea0fba 2069 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:69566eea0fba 2070 */
cparata 0:69566eea0fba 2071 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_ZH(uint8_t *zh)
cparata 0:69566eea0fba 2072 {
cparata 0:69566eea0fba 2073 LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
cparata 0:69566eea0fba 2074
cparata 0:69566eea0fba 2075 if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
cparata 0:69566eea0fba 2076 {
cparata 0:69566eea0fba 2077 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 2078 }
cparata 0:69566eea0fba 2079
cparata 0:69566eea0fba 2080 switch( zh_raw )
cparata 0:69566eea0fba 2081 {
cparata 0:69566eea0fba 2082 case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
cparata 0:69566eea0fba 2083 *zh = 1;
cparata 0:69566eea0fba 2084 break;
cparata 0:69566eea0fba 2085 case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
cparata 0:69566eea0fba 2086 *zh = 0;
cparata 0:69566eea0fba 2087 break;
cparata 0:69566eea0fba 2088 default:
cparata 0:69566eea0fba 2089 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 2090 }
cparata 0:69566eea0fba 2091
cparata 0:69566eea0fba 2092 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 2093 }
cparata 0:69566eea0fba 2094
cparata 0:69566eea0fba 2095 /**
cparata 0:69566eea0fba 2096 * @brief Read the data from register
cparata 0:69566eea0fba 2097 * @param reg register address
cparata 0:69566eea0fba 2098 * @param data register data
cparata 0:69566eea0fba 2099 * @retval LSM6DSL_STATUS_OK in case of success
cparata 0:69566eea0fba 2100 * @retval LSM6DSL_STATUS_ERROR in case of failure
cparata 0:69566eea0fba 2101 */
cparata 0:69566eea0fba 2102 LSM6DSLStatusTypeDef LSM6DSLSensor::ReadReg( uint8_t reg, uint8_t *data )
cparata 0:69566eea0fba 2103 {
cparata 0:69566eea0fba 2104
cparata 0:69566eea0fba 2105 if ( LSM6DSL_ACC_GYRO_ReadReg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
cparata 0:69566eea0fba 2106 {
cparata 0:69566eea0fba 2107 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 2108 }
cparata 0:69566eea0fba 2109
cparata 0:69566eea0fba 2110 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 2111 }
cparata 0:69566eea0fba 2112
cparata 0:69566eea0fba 2113 /**
cparata 0:69566eea0fba 2114 * @brief Write the data to register
cparata 0:69566eea0fba 2115 * @param reg register address
cparata 0:69566eea0fba 2116 * @param data register data
cparata 0:69566eea0fba 2117 * @retval LSM6DSL_STATUS_OK in case of success
cparata 0:69566eea0fba 2118 * @retval LSM6DSL_STATUS_ERROR in case of failure
cparata 0:69566eea0fba 2119 */
cparata 0:69566eea0fba 2120 LSM6DSLStatusTypeDef LSM6DSLSensor::WriteReg( uint8_t reg, uint8_t data )
cparata 0:69566eea0fba 2121 {
cparata 0:69566eea0fba 2122
cparata 0:69566eea0fba 2123 if ( LSM6DSL_ACC_GYRO_WriteReg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
cparata 0:69566eea0fba 2124 {
cparata 0:69566eea0fba 2125 return LSM6DSL_STATUS_ERROR;
cparata 0:69566eea0fba 2126 }
cparata 0:69566eea0fba 2127
cparata 0:69566eea0fba 2128 return LSM6DSL_STATUS_OK;
cparata 0:69566eea0fba 2129 }
cparata 0:69566eea0fba 2130
cparata 0:69566eea0fba 2131
cparata 0:69566eea0fba 2132 uint8_t LSM6DSL_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
cparata 0:69566eea0fba 2133 {
cparata 0:69566eea0fba 2134 return ((LSM6DSLSensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata 0:69566eea0fba 2135 }
cparata 0:69566eea0fba 2136
cparata 0:69566eea0fba 2137 uint8_t LSM6DSL_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
cparata 0:69566eea0fba 2138 {
cparata 0:69566eea0fba 2139 return ((LSM6DSLSensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata 0:69566eea0fba 2140 }