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@6:7a7f36ab6c20, 2016-11-23 (annotated)

Committer:
cparata
Date:
Wed Nov 23 16:45:36 2016 +0000
Revision:
6:7a7f36ab6c20
Parent:
5:61e1b61c7e7d
Child:
7:12afd7461180
Move interrupt settings inside component drivers

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 0:69566eea0fba 1 /**
cparata 0:69566eea0fba 2 ******************************************************************************
cparata 0:69566eea0fba 3 * @file LSM6DSLSensor.cpp
cparata 0:69566eea0fba 4 * @author AST
cparata 0:69566eea0fba 5 * @version V1.0.0
cparata 0:69566eea0fba 6 * @date 5 August 2016
cparata 0:69566eea0fba 7 * @brief Implementation of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
cparata 0:69566eea0fba 8 * sensor.
cparata 0:69566eea0fba 9 ******************************************************************************
cparata 0:69566eea0fba 10 * @attention
cparata 0:69566eea0fba 11 *
cparata 0:69566eea0fba 12 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 0:69566eea0fba 13 *
cparata 0:69566eea0fba 14 * Redistribution and use in source and binary forms, with or without modification,
cparata 0:69566eea0fba 15 * are permitted provided that the following conditions are met:
cparata 0:69566eea0fba 16 * 1. Redistributions of source code must retain the above copyright notice,
cparata 0:69566eea0fba 17 * this list of conditions and the following disclaimer.
cparata 0:69566eea0fba 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 0:69566eea0fba 19 * this list of conditions and the following disclaimer in the documentation
cparata 0:69566eea0fba 20 * and/or other materials provided with the distribution.
cparata 0:69566eea0fba 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 0:69566eea0fba 22 * may be used to endorse or promote products derived from this software
cparata 0:69566eea0fba 23 * without specific prior written permission.
cparata 0:69566eea0fba 24 *
cparata 0:69566eea0fba 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 0:69566eea0fba 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 0:69566eea0fba 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 0:69566eea0fba 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 0:69566eea0fba 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 0:69566eea0fba 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 0:69566eea0fba 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 0:69566eea0fba 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 0:69566eea0fba 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 0:69566eea0fba 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 0:69566eea0fba 35 *
cparata 0:69566eea0fba 36 ******************************************************************************
cparata 0:69566eea0fba 37 */
cparata 0:69566eea0fba 38
cparata 0:69566eea0fba 39
cparata 0:69566eea0fba 40 /* Includes ------------------------------------------------------------------*/
cparata 0:69566eea0fba 41
cparata 0:69566eea0fba 42 #include "mbed.h"
cparata 0:69566eea0fba 43 #include "DevI2C.h"
cparata 0:69566eea0fba 44 #include "LSM6DSLSensor.h"
cparata 0:69566eea0fba 45 #include "LSM6DSL_ACC_GYRO_driver.h"
cparata 0:69566eea0fba 46
cparata 0:69566eea0fba 47
cparata 0:69566eea0fba 48 /* Class Implementation ------------------------------------------------------*/
cparata 0:69566eea0fba 49
cparata 0:69566eea0fba 50 /** Constructor
cparata 0:69566eea0fba 51 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:69566eea0fba 52 * @param address the address of the component's instance
cparata 0:69566eea0fba 53 */
cparata 6:7a7f36ab6c20 54 LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, PinName INT1_pin, PinName INT2_pin) : dev_i2c(i2c), INT1_irq(INT1_pin), INT2_irq(INT2_pin)
cparata 0:69566eea0fba 55 {
cparata 0:69566eea0fba 56 address = LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH;
cparata 0:69566eea0fba 57 };
cparata 0:69566eea0fba 58
cparata 0:69566eea0fba 59 /** Constructor
cparata 0:69566eea0fba 60 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:69566eea0fba 61 * @param address the address of the component's instance
cparata 0:69566eea0fba 62 */
cparata 6:7a7f36ab6c20 63 LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, PinName INT1_pin, PinName INT2_pin, uint8_t address) : dev_i2c(i2c), INT1_irq(INT1_pin), INT2_irq(INT2_pin), address(address)
cparata 2:f23b144da50a 64 {
cparata 2:f23b144da50a 65
cparata 2:f23b144da50a 66 };
cparata 2:f23b144da50a 67
cparata 2:f23b144da50a 68 /**
cparata 2:f23b144da50a 69 * @brief Initializing the component.
cparata 2:f23b144da50a 70 * @param[in] init pointer to device specific initalization structure.
cparata 2:f23b144da50a 71 * @retval "0" in case of success, an error code otherwise.
cparata 2:f23b144da50a 72 */
cparata 2:f23b144da50a 73 int LSM6DSLSensor::Init(void *init)
cparata 2:f23b144da50a 74 {
cparata 0:69566eea0fba 75 /* Enable register address automatically incremented during a multiple byte
cparata 0:69566eea0fba 76 access with a serial interface. */
cparata 0:69566eea0fba 77 if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 78 {
cparata 2:f23b144da50a 79 return 1;
cparata 0:69566eea0fba 80 }
cparata 0:69566eea0fba 81
cparata 0:69566eea0fba 82 /* Enable BDU */
cparata 0:69566eea0fba 83 if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
cparata 0:69566eea0fba 84 {
cparata 2:f23b144da50a 85 return 1;
cparata 0:69566eea0fba 86 }
cparata 0:69566eea0fba 87
cparata 0:69566eea0fba 88 /* FIFO mode selection */
cparata 0:69566eea0fba 89 if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
cparata 0:69566eea0fba 90 {
cparata 2:f23b144da50a 91 return 1;
cparata 0:69566eea0fba 92 }
cparata 0:69566eea0fba 93
cparata 0:69566eea0fba 94 /* Output data rate selection - power down. */
cparata 0:69566eea0fba 95 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata 0:69566eea0fba 96 {
cparata 2:f23b144da50a 97 return 1;
cparata 0:69566eea0fba 98 }
cparata 0:69566eea0fba 99
cparata 0:69566eea0fba 100 /* Full scale selection. */
cparata 2:f23b144da50a 101 if ( Set_X_FS( 2.0f ) == 1 )
cparata 0:69566eea0fba 102 {
cparata 2:f23b144da50a 103 return 1;
cparata 0:69566eea0fba 104 }
cparata 0:69566eea0fba 105
cparata 0:69566eea0fba 106 /* Output data rate selection - power down */
cparata 0:69566eea0fba 107 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata 0:69566eea0fba 108 {
cparata 2:f23b144da50a 109 return 1;
cparata 0:69566eea0fba 110 }
cparata 0:69566eea0fba 111
cparata 0:69566eea0fba 112 /* Full scale selection. */
cparata 2:f23b144da50a 113 if ( Set_G_FS( 2000.0f ) == 1 )
cparata 0:69566eea0fba 114 {
cparata 2:f23b144da50a 115 return 1;
cparata 0:69566eea0fba 116 }
cparata 0:69566eea0fba 117
cparata 0:69566eea0fba 118 X_Last_ODR = 104.0f;
cparata 0:69566eea0fba 119
cparata 0:69566eea0fba 120 X_isEnabled = 0;
cparata 0:69566eea0fba 121
cparata 0:69566eea0fba 122 G_Last_ODR = 104.0f;
cparata 0:69566eea0fba 123
cparata 0:69566eea0fba 124 G_isEnabled = 0;
cparata 2:f23b144da50a 125
cparata 2:f23b144da50a 126 return 0;
cparata 2:f23b144da50a 127 }
cparata 0:69566eea0fba 128
cparata 0:69566eea0fba 129 /**
cparata 0:69566eea0fba 130 * @brief Enable LSM6DSL Accelerator
cparata 2:f23b144da50a 131 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 132 */
cparata 2:f23b144da50a 133 int LSM6DSLSensor::Enable_X(void)
cparata 0:69566eea0fba 134 {
cparata 0:69566eea0fba 135 /* Check if the component is already enabled */
cparata 0:69566eea0fba 136 if ( X_isEnabled == 1 )
cparata 0:69566eea0fba 137 {
cparata 2:f23b144da50a 138 return 0;
cparata 0:69566eea0fba 139 }
cparata 0:69566eea0fba 140
cparata 0:69566eea0fba 141 /* Output data rate selection. */
cparata 2:f23b144da50a 142 if ( Set_X_ODR_When_Enabled( X_Last_ODR ) == 1 )
cparata 0:69566eea0fba 143 {
cparata 2:f23b144da50a 144 return 1;
cparata 0:69566eea0fba 145 }
cparata 0:69566eea0fba 146
cparata 0:69566eea0fba 147 X_isEnabled = 1;
cparata 0:69566eea0fba 148
cparata 2:f23b144da50a 149 return 0;
cparata 0:69566eea0fba 150 }
cparata 0:69566eea0fba 151
cparata 0:69566eea0fba 152 /**
cparata 0:69566eea0fba 153 * @brief Enable LSM6DSL Gyroscope
cparata 2:f23b144da50a 154 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 155 */
cparata 2:f23b144da50a 156 int LSM6DSLSensor::Enable_G(void)
cparata 0:69566eea0fba 157 {
cparata 0:69566eea0fba 158 /* Check if the component is already enabled */
cparata 0:69566eea0fba 159 if ( G_isEnabled == 1 )
cparata 0:69566eea0fba 160 {
cparata 2:f23b144da50a 161 return 0;
cparata 0:69566eea0fba 162 }
cparata 0:69566eea0fba 163
cparata 0:69566eea0fba 164 /* Output data rate selection. */
cparata 2:f23b144da50a 165 if ( Set_G_ODR_When_Enabled( G_Last_ODR ) == 1 )
cparata 0:69566eea0fba 166 {
cparata 2:f23b144da50a 167 return 1;
cparata 0:69566eea0fba 168 }
cparata 0:69566eea0fba 169
cparata 0:69566eea0fba 170 G_isEnabled = 1;
cparata 0:69566eea0fba 171
cparata 2:f23b144da50a 172 return 0;
cparata 0:69566eea0fba 173 }
cparata 0:69566eea0fba 174
cparata 0:69566eea0fba 175 /**
cparata 0:69566eea0fba 176 * @brief Disable LSM6DSL Accelerator
cparata 2:f23b144da50a 177 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 178 */
cparata 2:f23b144da50a 179 int LSM6DSLSensor::Disable_X(void)
cparata 0:69566eea0fba 180 {
cparata 0:69566eea0fba 181 /* Check if the component is already disabled */
cparata 0:69566eea0fba 182 if ( X_isEnabled == 0 )
cparata 0:69566eea0fba 183 {
cparata 2:f23b144da50a 184 return 0;
cparata 0:69566eea0fba 185 }
cparata 0:69566eea0fba 186
cparata 0:69566eea0fba 187 /* Store actual output data rate. */
cparata 2:f23b144da50a 188 if ( Get_X_ODR( &X_Last_ODR ) == 1 )
cparata 0:69566eea0fba 189 {
cparata 2:f23b144da50a 190 return 1;
cparata 0:69566eea0fba 191 }
cparata 0:69566eea0fba 192
cparata 0:69566eea0fba 193 /* Output data rate selection - power down. */
cparata 0:69566eea0fba 194 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata 0:69566eea0fba 195 {
cparata 2:f23b144da50a 196 return 1;
cparata 0:69566eea0fba 197 }
cparata 0:69566eea0fba 198
cparata 0:69566eea0fba 199 X_isEnabled = 0;
cparata 0:69566eea0fba 200
cparata 2:f23b144da50a 201 return 0;
cparata 0:69566eea0fba 202 }
cparata 0:69566eea0fba 203
cparata 0:69566eea0fba 204 /**
cparata 0:69566eea0fba 205 * @brief Disable LSM6DSL Gyroscope
cparata 2:f23b144da50a 206 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 207 */
cparata 2:f23b144da50a 208 int LSM6DSLSensor::Disable_G(void)
cparata 0:69566eea0fba 209 {
cparata 0:69566eea0fba 210 /* Check if the component is already disabled */
cparata 0:69566eea0fba 211 if ( G_isEnabled == 0 )
cparata 0:69566eea0fba 212 {
cparata 2:f23b144da50a 213 return 0;
cparata 0:69566eea0fba 214 }
cparata 0:69566eea0fba 215
cparata 0:69566eea0fba 216 /* Store actual output data rate. */
cparata 2:f23b144da50a 217 if ( Get_G_ODR( &G_Last_ODR ) == 1 )
cparata 0:69566eea0fba 218 {
cparata 2:f23b144da50a 219 return 1;
cparata 0:69566eea0fba 220 }
cparata 0:69566eea0fba 221
cparata 0:69566eea0fba 222 /* Output data rate selection - power down */
cparata 0:69566eea0fba 223 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata 0:69566eea0fba 224 {
cparata 2:f23b144da50a 225 return 1;
cparata 0:69566eea0fba 226 }
cparata 0:69566eea0fba 227
cparata 0:69566eea0fba 228 G_isEnabled = 0;
cparata 0:69566eea0fba 229
cparata 2:f23b144da50a 230 return 0;
cparata 0:69566eea0fba 231 }
cparata 0:69566eea0fba 232
cparata 0:69566eea0fba 233 /**
cparata 0:69566eea0fba 234 * @brief Read ID of LSM6DSL Accelerometer and Gyroscope
cparata 0:69566eea0fba 235 * @param p_id the pointer where the ID of the device is stored
cparata 2:f23b144da50a 236 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 237 */
cparata 2:f23b144da50a 238 int LSM6DSLSensor::ReadID(uint8_t *id)
cparata 0:69566eea0fba 239 {
cparata 2:f23b144da50a 240 if(!id)
cparata 0:69566eea0fba 241 {
cparata 2:f23b144da50a 242 return 1;
cparata 0:69566eea0fba 243 }
cparata 0:69566eea0fba 244
cparata 0:69566eea0fba 245 /* Read WHO AM I register */
cparata 2:f23b144da50a 246 if ( LSM6DSL_ACC_GYRO_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
cparata 0:69566eea0fba 247 {
cparata 2:f23b144da50a 248 return 1;
cparata 0:69566eea0fba 249 }
cparata 0:69566eea0fba 250
cparata 2:f23b144da50a 251 return 0;
cparata 0:69566eea0fba 252 }
cparata 0:69566eea0fba 253
cparata 0:69566eea0fba 254 /**
cparata 0:69566eea0fba 255 * @brief Read data from LSM6DSL Accelerometer
cparata 0:69566eea0fba 256 * @param pData the pointer where the accelerometer data are stored
cparata 2:f23b144da50a 257 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 258 */
cparata 2:f23b144da50a 259 int LSM6DSLSensor::Get_X_Axes(int32_t *pData)
cparata 0:69566eea0fba 260 {
cparata 0:69566eea0fba 261 int16_t dataRaw[3];
cparata 0:69566eea0fba 262 float sensitivity = 0;
cparata 0:69566eea0fba 263
cparata 0:69566eea0fba 264 /* Read raw data from LSM6DSL output register. */
cparata 2:f23b144da50a 265 if ( Get_X_AxesRaw( dataRaw ) == 1 )
cparata 0:69566eea0fba 266 {
cparata 2:f23b144da50a 267 return 1;
cparata 0:69566eea0fba 268 }
cparata 0:69566eea0fba 269
cparata 0:69566eea0fba 270 /* Get LSM6DSL actual sensitivity. */
cparata 2:f23b144da50a 271 if ( Get_X_Sensitivity( &sensitivity ) == 1 )
cparata 0:69566eea0fba 272 {
cparata 2:f23b144da50a 273 return 1;
cparata 0:69566eea0fba 274 }
cparata 0:69566eea0fba 275
cparata 0:69566eea0fba 276 /* Calculate the data. */
cparata 0:69566eea0fba 277 pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata 0:69566eea0fba 278 pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata 0:69566eea0fba 279 pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata 0:69566eea0fba 280
cparata 2:f23b144da50a 281 return 0;
cparata 0:69566eea0fba 282 }
cparata 0:69566eea0fba 283
cparata 0:69566eea0fba 284 /**
cparata 0:69566eea0fba 285 * @brief Read data from LSM6DSL Gyroscope
cparata 0:69566eea0fba 286 * @param pData the pointer where the gyroscope data are stored
cparata 2:f23b144da50a 287 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 288 */
cparata 2:f23b144da50a 289 int LSM6DSLSensor::Get_G_Axes(int32_t *pData)
cparata 0:69566eea0fba 290 {
cparata 0:69566eea0fba 291 int16_t dataRaw[3];
cparata 0:69566eea0fba 292 float sensitivity = 0;
cparata 0:69566eea0fba 293
cparata 0:69566eea0fba 294 /* Read raw data from LSM6DSL output register. */
cparata 2:f23b144da50a 295 if ( Get_G_AxesRaw( dataRaw ) == 1 )
cparata 0:69566eea0fba 296 {
cparata 2:f23b144da50a 297 return 1;
cparata 0:69566eea0fba 298 }
cparata 0:69566eea0fba 299
cparata 0:69566eea0fba 300 /* Get LSM6DSL actual sensitivity. */
cparata 2:f23b144da50a 301 if ( Get_G_Sensitivity( &sensitivity ) == 1 )
cparata 0:69566eea0fba 302 {
cparata 2:f23b144da50a 303 return 1;
cparata 0:69566eea0fba 304 }
cparata 0:69566eea0fba 305
cparata 0:69566eea0fba 306 /* Calculate the data. */
cparata 0:69566eea0fba 307 pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata 0:69566eea0fba 308 pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata 0:69566eea0fba 309 pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata 0:69566eea0fba 310
cparata 2:f23b144da50a 311 return 0;
cparata 0:69566eea0fba 312 }
cparata 0:69566eea0fba 313
cparata 0:69566eea0fba 314 /**
cparata 0:69566eea0fba 315 * @brief Read Accelerometer Sensitivity
cparata 0:69566eea0fba 316 * @param pfData the pointer where the accelerometer sensitivity is stored
cparata 2:f23b144da50a 317 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 318 */
cparata 2:f23b144da50a 319 int LSM6DSLSensor::Get_X_Sensitivity(float *pfData)
cparata 0:69566eea0fba 320 {
cparata 0:69566eea0fba 321 LSM6DSL_ACC_GYRO_FS_XL_t fullScale;
cparata 0:69566eea0fba 322
cparata 0:69566eea0fba 323 /* Read actual full scale selection from sensor. */
cparata 0:69566eea0fba 324 if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:69566eea0fba 325 {
cparata 2:f23b144da50a 326 return 1;
cparata 0:69566eea0fba 327 }
cparata 0:69566eea0fba 328
cparata 0:69566eea0fba 329 /* Store the sensitivity based on actual full scale. */
cparata 0:69566eea0fba 330 switch( fullScale )
cparata 0:69566eea0fba 331 {
cparata 0:69566eea0fba 332 case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata 0:69566eea0fba 333 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G;
cparata 0:69566eea0fba 334 break;
cparata 0:69566eea0fba 335 case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata 0:69566eea0fba 336 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G;
cparata 0:69566eea0fba 337 break;
cparata 0:69566eea0fba 338 case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata 0:69566eea0fba 339 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G;
cparata 0:69566eea0fba 340 break;
cparata 0:69566eea0fba 341 case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata 0:69566eea0fba 342 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G;
cparata 0:69566eea0fba 343 break;
cparata 0:69566eea0fba 344 default:
cparata 0:69566eea0fba 345 *pfData = -1.0f;
cparata 2:f23b144da50a 346 return 1;
cparata 0:69566eea0fba 347 }
cparata 0:69566eea0fba 348
cparata 2:f23b144da50a 349 return 0;
cparata 0:69566eea0fba 350 }
cparata 0:69566eea0fba 351
cparata 0:69566eea0fba 352 /**
cparata 0:69566eea0fba 353 * @brief Read Gyroscope Sensitivity
cparata 0:69566eea0fba 354 * @param pfData the pointer where the gyroscope sensitivity is stored
cparata 2:f23b144da50a 355 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 356 */
cparata 2:f23b144da50a 357 int LSM6DSLSensor::Get_G_Sensitivity(float *pfData)
cparata 0:69566eea0fba 358 {
cparata 0:69566eea0fba 359 LSM6DSL_ACC_GYRO_FS_125_t fullScale125;
cparata 0:69566eea0fba 360 LSM6DSL_ACC_GYRO_FS_G_t fullScale;
cparata 0:69566eea0fba 361
cparata 0:69566eea0fba 362 /* Read full scale 125 selection from sensor. */
cparata 0:69566eea0fba 363 if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fullScale125 ) == MEMS_ERROR )
cparata 0:69566eea0fba 364 {
cparata 2:f23b144da50a 365 return 1;
cparata 0:69566eea0fba 366 }
cparata 0:69566eea0fba 367
cparata 0:69566eea0fba 368 if ( fullScale125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata 0:69566eea0fba 369 {
cparata 0:69566eea0fba 370 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS;
cparata 0:69566eea0fba 371 }
cparata 0:69566eea0fba 372
cparata 0:69566eea0fba 373 else
cparata 0:69566eea0fba 374 {
cparata 0:69566eea0fba 375
cparata 0:69566eea0fba 376 /* Read actual full scale selection from sensor. */
cparata 0:69566eea0fba 377 if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:69566eea0fba 378 {
cparata 2:f23b144da50a 379 return 1;
cparata 0:69566eea0fba 380 }
cparata 0:69566eea0fba 381
cparata 0:69566eea0fba 382 /* Store the sensitivity based on actual full scale. */
cparata 0:69566eea0fba 383 switch( fullScale )
cparata 0:69566eea0fba 384 {
cparata 0:69566eea0fba 385 case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata 0:69566eea0fba 386 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS;
cparata 0:69566eea0fba 387 break;
cparata 0:69566eea0fba 388 case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata 0:69566eea0fba 389 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS;
cparata 0:69566eea0fba 390 break;
cparata 0:69566eea0fba 391 case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata 0:69566eea0fba 392 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS;
cparata 0:69566eea0fba 393 break;
cparata 0:69566eea0fba 394 case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata 0:69566eea0fba 395 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS;
cparata 0:69566eea0fba 396 break;
cparata 0:69566eea0fba 397 default:
cparata 0:69566eea0fba 398 *pfData = -1.0f;
cparata 2:f23b144da50a 399 return 1;
cparata 0:69566eea0fba 400 }
cparata 0:69566eea0fba 401 }
cparata 0:69566eea0fba 402
cparata 2:f23b144da50a 403 return 0;
cparata 0:69566eea0fba 404 }
cparata 0:69566eea0fba 405
cparata 0:69566eea0fba 406 /**
cparata 0:69566eea0fba 407 * @brief Read raw data from LSM6DSL Accelerometer
cparata 0:69566eea0fba 408 * @param pData the pointer where the accelerometer raw data are stored
cparata 2:f23b144da50a 409 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 410 */
cparata 2:f23b144da50a 411 int LSM6DSLSensor::Get_X_AxesRaw(int16_t *pData)
cparata 0:69566eea0fba 412 {
cparata 0:69566eea0fba 413 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 0:69566eea0fba 414
cparata 0:69566eea0fba 415 /* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_XL to LSM6DSL_ACC_GYRO_OUTZ_H_XL. */
cparata 0:69566eea0fba 416 if ( LSM6DSL_ACC_GYRO_GetRawAccData( (void *)this, regValue ) == MEMS_ERROR )
cparata 0:69566eea0fba 417 {
cparata 2:f23b144da50a 418 return 1;
cparata 0:69566eea0fba 419 }
cparata 0:69566eea0fba 420
cparata 0:69566eea0fba 421 /* Format the data. */
cparata 0:69566eea0fba 422 pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata 0:69566eea0fba 423 pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata 0:69566eea0fba 424 pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata 0:69566eea0fba 425
cparata 2:f23b144da50a 426 return 0;
cparata 0:69566eea0fba 427 }
cparata 0:69566eea0fba 428
cparata 0:69566eea0fba 429 /**
cparata 0:69566eea0fba 430 * @brief Read raw data from LSM6DSL Gyroscope
cparata 0:69566eea0fba 431 * @param pData the pointer where the gyroscope raw data are stored
cparata 2:f23b144da50a 432 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 433 */
cparata 2:f23b144da50a 434 int LSM6DSLSensor::Get_G_AxesRaw(int16_t *pData)
cparata 0:69566eea0fba 435 {
cparata 0:69566eea0fba 436 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 0:69566eea0fba 437
cparata 0:69566eea0fba 438 /* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_G to LSM6DSL_ACC_GYRO_OUTZ_H_G. */
cparata 0:69566eea0fba 439 if ( LSM6DSL_ACC_GYRO_GetRawGyroData( (void *)this, regValue ) == MEMS_ERROR )
cparata 0:69566eea0fba 440 {
cparata 2:f23b144da50a 441 return 1;
cparata 0:69566eea0fba 442 }
cparata 0:69566eea0fba 443
cparata 0:69566eea0fba 444 /* Format the data. */
cparata 0:69566eea0fba 445 pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata 0:69566eea0fba 446 pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata 0:69566eea0fba 447 pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata 0:69566eea0fba 448
cparata 2:f23b144da50a 449 return 0;
cparata 0:69566eea0fba 450 }
cparata 0:69566eea0fba 451
cparata 0:69566eea0fba 452 /**
cparata 0:69566eea0fba 453 * @brief Read LSM6DSL Accelerometer output data rate
cparata 0:69566eea0fba 454 * @param odr the pointer to the output data rate
cparata 2:f23b144da50a 455 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 456 */
cparata 2:f23b144da50a 457 int LSM6DSLSensor::Get_X_ODR(float* odr)
cparata 0:69566eea0fba 458 {
cparata 0:69566eea0fba 459 LSM6DSL_ACC_GYRO_ODR_XL_t odr_low_level;
cparata 0:69566eea0fba 460
cparata 0:69566eea0fba 461 if ( LSM6DSL_ACC_GYRO_R_ODR_XL( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 0:69566eea0fba 462 {
cparata 2:f23b144da50a 463 return 1;
cparata 0:69566eea0fba 464 }
cparata 0:69566eea0fba 465
cparata 0:69566eea0fba 466 switch( odr_low_level )
cparata 0:69566eea0fba 467 {
cparata 0:69566eea0fba 468 case LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN:
cparata 0:69566eea0fba 469 *odr = 0.0f;
cparata 0:69566eea0fba 470 break;
cparata 0:69566eea0fba 471 case LSM6DSL_ACC_GYRO_ODR_XL_13Hz:
cparata 0:69566eea0fba 472 *odr = 13.0f;
cparata 0:69566eea0fba 473 break;
cparata 0:69566eea0fba 474 case LSM6DSL_ACC_GYRO_ODR_XL_26Hz:
cparata 0:69566eea0fba 475 *odr = 26.0f;
cparata 0:69566eea0fba 476 break;
cparata 0:69566eea0fba 477 case LSM6DSL_ACC_GYRO_ODR_XL_52Hz:
cparata 0:69566eea0fba 478 *odr = 52.0f;
cparata 0:69566eea0fba 479 break;
cparata 0:69566eea0fba 480 case LSM6DSL_ACC_GYRO_ODR_XL_104Hz:
cparata 0:69566eea0fba 481 *odr = 104.0f;
cparata 0:69566eea0fba 482 break;
cparata 0:69566eea0fba 483 case LSM6DSL_ACC_GYRO_ODR_XL_208Hz:
cparata 0:69566eea0fba 484 *odr = 208.0f;
cparata 0:69566eea0fba 485 break;
cparata 0:69566eea0fba 486 case LSM6DSL_ACC_GYRO_ODR_XL_416Hz:
cparata 0:69566eea0fba 487 *odr = 416.0f;
cparata 0:69566eea0fba 488 break;
cparata 0:69566eea0fba 489 case LSM6DSL_ACC_GYRO_ODR_XL_833Hz:
cparata 0:69566eea0fba 490 *odr = 833.0f;
cparata 0:69566eea0fba 491 break;
cparata 0:69566eea0fba 492 case LSM6DSL_ACC_GYRO_ODR_XL_1660Hz:
cparata 0:69566eea0fba 493 *odr = 1660.0f;
cparata 0:69566eea0fba 494 break;
cparata 0:69566eea0fba 495 case LSM6DSL_ACC_GYRO_ODR_XL_3330Hz:
cparata 0:69566eea0fba 496 *odr = 3330.0f;
cparata 0:69566eea0fba 497 break;
cparata 0:69566eea0fba 498 case LSM6DSL_ACC_GYRO_ODR_XL_6660Hz:
cparata 0:69566eea0fba 499 *odr = 6660.0f;
cparata 0:69566eea0fba 500 break;
cparata 0:69566eea0fba 501 default:
cparata 0:69566eea0fba 502 *odr = -1.0f;
cparata 2:f23b144da50a 503 return 1;
cparata 0:69566eea0fba 504 }
cparata 0:69566eea0fba 505
cparata 2:f23b144da50a 506 return 0;
cparata 0:69566eea0fba 507 }
cparata 0:69566eea0fba 508
cparata 0:69566eea0fba 509 /**
cparata 0:69566eea0fba 510 * @brief Read LSM6DSL Gyroscope output data rate
cparata 0:69566eea0fba 511 * @param odr the pointer to the output data rate
cparata 2:f23b144da50a 512 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 513 */
cparata 2:f23b144da50a 514 int LSM6DSLSensor::Get_G_ODR(float* odr)
cparata 0:69566eea0fba 515 {
cparata 0:69566eea0fba 516 LSM6DSL_ACC_GYRO_ODR_G_t odr_low_level;
cparata 0:69566eea0fba 517
cparata 0:69566eea0fba 518 if ( LSM6DSL_ACC_GYRO_R_ODR_G( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 0:69566eea0fba 519 {
cparata 2:f23b144da50a 520 return 1;
cparata 0:69566eea0fba 521 }
cparata 0:69566eea0fba 522
cparata 0:69566eea0fba 523 switch( odr_low_level )
cparata 0:69566eea0fba 524 {
cparata 0:69566eea0fba 525 case LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN:
cparata 0:69566eea0fba 526 *odr = 0.0f;
cparata 0:69566eea0fba 527 break;
cparata 0:69566eea0fba 528 case LSM6DSL_ACC_GYRO_ODR_G_13Hz:
cparata 0:69566eea0fba 529 *odr = 13.0f;
cparata 0:69566eea0fba 530 break;
cparata 0:69566eea0fba 531 case LSM6DSL_ACC_GYRO_ODR_G_26Hz:
cparata 0:69566eea0fba 532 *odr = 26.0f;
cparata 0:69566eea0fba 533 break;
cparata 0:69566eea0fba 534 case LSM6DSL_ACC_GYRO_ODR_G_52Hz:
cparata 0:69566eea0fba 535 *odr = 52.0f;
cparata 0:69566eea0fba 536 break;
cparata 0:69566eea0fba 537 case LSM6DSL_ACC_GYRO_ODR_G_104Hz:
cparata 0:69566eea0fba 538 *odr = 104.0f;
cparata 0:69566eea0fba 539 break;
cparata 0:69566eea0fba 540 case LSM6DSL_ACC_GYRO_ODR_G_208Hz:
cparata 0:69566eea0fba 541 *odr = 208.0f;
cparata 0:69566eea0fba 542 break;
cparata 0:69566eea0fba 543 case LSM6DSL_ACC_GYRO_ODR_G_416Hz:
cparata 0:69566eea0fba 544 *odr = 416.0f;
cparata 0:69566eea0fba 545 break;
cparata 0:69566eea0fba 546 case LSM6DSL_ACC_GYRO_ODR_G_833Hz:
cparata 0:69566eea0fba 547 *odr = 833.0f;
cparata 0:69566eea0fba 548 break;
cparata 0:69566eea0fba 549 case LSM6DSL_ACC_GYRO_ODR_G_1660Hz:
cparata 0:69566eea0fba 550 *odr = 1660.0f;
cparata 0:69566eea0fba 551 break;
cparata 0:69566eea0fba 552 case LSM6DSL_ACC_GYRO_ODR_G_3330Hz:
cparata 0:69566eea0fba 553 *odr = 3330.0f;
cparata 0:69566eea0fba 554 break;
cparata 0:69566eea0fba 555 case LSM6DSL_ACC_GYRO_ODR_G_6660Hz:
cparata 0:69566eea0fba 556 *odr = 6660.0f;
cparata 0:69566eea0fba 557 break;
cparata 0:69566eea0fba 558 default:
cparata 0:69566eea0fba 559 *odr = -1.0f;
cparata 2:f23b144da50a 560 return 1;
cparata 0:69566eea0fba 561 }
cparata 0:69566eea0fba 562
cparata 2:f23b144da50a 563 return 0;
cparata 0:69566eea0fba 564 }
cparata 0:69566eea0fba 565
cparata 0:69566eea0fba 566 /**
cparata 0:69566eea0fba 567 * @brief Set LSM6DSL Accelerometer output data rate
cparata 0:69566eea0fba 568 * @param odr the output data rate to be set
cparata 2:f23b144da50a 569 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 570 */
cparata 2:f23b144da50a 571 int LSM6DSLSensor::Set_X_ODR(float odr)
cparata 0:69566eea0fba 572 {
cparata 0:69566eea0fba 573 if(X_isEnabled == 1)
cparata 0:69566eea0fba 574 {
cparata 2:f23b144da50a 575 if(Set_X_ODR_When_Enabled(odr) == 1)
cparata 0:69566eea0fba 576 {
cparata 2:f23b144da50a 577 return 1;
cparata 0:69566eea0fba 578 }
cparata 0:69566eea0fba 579 }
cparata 0:69566eea0fba 580 else
cparata 0:69566eea0fba 581 {
cparata 2:f23b144da50a 582 if(Set_X_ODR_When_Disabled(odr) == 1)
cparata 0:69566eea0fba 583 {
cparata 2:f23b144da50a 584 return 1;
cparata 0:69566eea0fba 585 }
cparata 0:69566eea0fba 586 }
cparata 0:69566eea0fba 587
cparata 2:f23b144da50a 588 return 0;
cparata 0:69566eea0fba 589 }
cparata 0:69566eea0fba 590
cparata 0:69566eea0fba 591 /**
cparata 0:69566eea0fba 592 * @brief Set LSM6DSL Accelerometer output data rate when enabled
cparata 0:69566eea0fba 593 * @param odr the output data rate to be set
cparata 2:f23b144da50a 594 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 595 */
cparata 2:f23b144da50a 596 int LSM6DSLSensor::Set_X_ODR_When_Enabled(float odr)
cparata 0:69566eea0fba 597 {
cparata 0:69566eea0fba 598 LSM6DSL_ACC_GYRO_ODR_XL_t new_odr;
cparata 0:69566eea0fba 599
cparata 0:69566eea0fba 600 new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_13Hz
cparata 0:69566eea0fba 601 : ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_26Hz
cparata 0:69566eea0fba 602 : ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_52Hz
cparata 0:69566eea0fba 603 : ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_104Hz
cparata 0:69566eea0fba 604 : ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_208Hz
cparata 0:69566eea0fba 605 : ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_416Hz
cparata 0:69566eea0fba 606 : ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_833Hz
cparata 0:69566eea0fba 607 : ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_1660Hz
cparata 0:69566eea0fba 608 : ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_3330Hz
cparata 0:69566eea0fba 609 : LSM6DSL_ACC_GYRO_ODR_XL_6660Hz;
cparata 0:69566eea0fba 610
cparata 0:69566eea0fba 611 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, new_odr ) == MEMS_ERROR )
cparata 0:69566eea0fba 612 {
cparata 2:f23b144da50a 613 return 1;
cparata 0:69566eea0fba 614 }
cparata 0:69566eea0fba 615
cparata 2:f23b144da50a 616 return 0;
cparata 0:69566eea0fba 617 }
cparata 0:69566eea0fba 618
cparata 0:69566eea0fba 619 /**
cparata 0:69566eea0fba 620 * @brief Set LSM6DSL Accelerometer output data rate when disabled
cparata 0:69566eea0fba 621 * @param odr the output data rate to be set
cparata 2:f23b144da50a 622 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 623 */
cparata 2:f23b144da50a 624 int LSM6DSLSensor::Set_X_ODR_When_Disabled(float odr)
cparata 0:69566eea0fba 625 {
cparata 0:69566eea0fba 626 X_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata 0:69566eea0fba 627 : ( odr <= 26.0f ) ? 26.0f
cparata 0:69566eea0fba 628 : ( odr <= 52.0f ) ? 52.0f
cparata 0:69566eea0fba 629 : ( odr <= 104.0f ) ? 104.0f
cparata 0:69566eea0fba 630 : ( odr <= 208.0f ) ? 208.0f
cparata 0:69566eea0fba 631 : ( odr <= 416.0f ) ? 416.0f
cparata 0:69566eea0fba 632 : ( odr <= 833.0f ) ? 833.0f
cparata 0:69566eea0fba 633 : ( odr <= 1660.0f ) ? 1660.0f
cparata 0:69566eea0fba 634 : ( odr <= 3330.0f ) ? 3330.0f
cparata 0:69566eea0fba 635 : 6660.0f;
cparata 0:69566eea0fba 636
cparata 2:f23b144da50a 637 return 0;
cparata 0:69566eea0fba 638 }
cparata 0:69566eea0fba 639
cparata 0:69566eea0fba 640 /**
cparata 0:69566eea0fba 641 * @brief Set LSM6DSL Gyroscope output data rate
cparata 0:69566eea0fba 642 * @param odr the output data rate to be set
cparata 2:f23b144da50a 643 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 644 */
cparata 2:f23b144da50a 645 int LSM6DSLSensor::Set_G_ODR(float odr)
cparata 0:69566eea0fba 646 {
cparata 0:69566eea0fba 647 if(G_isEnabled == 1)
cparata 0:69566eea0fba 648 {
cparata 2:f23b144da50a 649 if(Set_G_ODR_When_Enabled(odr) == 1)
cparata 0:69566eea0fba 650 {
cparata 2:f23b144da50a 651 return 1;
cparata 0:69566eea0fba 652 }
cparata 0:69566eea0fba 653 }
cparata 0:69566eea0fba 654 else
cparata 0:69566eea0fba 655 {
cparata 2:f23b144da50a 656 if(Set_G_ODR_When_Disabled(odr) == 1)
cparata 0:69566eea0fba 657 {
cparata 2:f23b144da50a 658 return 1;
cparata 0:69566eea0fba 659 }
cparata 0:69566eea0fba 660 }
cparata 0:69566eea0fba 661
cparata 2:f23b144da50a 662 return 0;
cparata 0:69566eea0fba 663 }
cparata 0:69566eea0fba 664
cparata 0:69566eea0fba 665 /**
cparata 0:69566eea0fba 666 * @brief Set LSM6DSL Gyroscope output data rate when enabled
cparata 0:69566eea0fba 667 * @param odr the output data rate to be set
cparata 2:f23b144da50a 668 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 669 */
cparata 2:f23b144da50a 670 int LSM6DSLSensor::Set_G_ODR_When_Enabled(float odr)
cparata 0:69566eea0fba 671 {
cparata 0:69566eea0fba 672 LSM6DSL_ACC_GYRO_ODR_G_t new_odr;
cparata 0:69566eea0fba 673
cparata 0:69566eea0fba 674 new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_13Hz
cparata 0:69566eea0fba 675 : ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_26Hz
cparata 0:69566eea0fba 676 : ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_52Hz
cparata 0:69566eea0fba 677 : ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_104Hz
cparata 0:69566eea0fba 678 : ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_208Hz
cparata 0:69566eea0fba 679 : ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_416Hz
cparata 0:69566eea0fba 680 : ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_833Hz
cparata 0:69566eea0fba 681 : ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_1660Hz
cparata 0:69566eea0fba 682 : ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_3330Hz
cparata 0:69566eea0fba 683 : LSM6DSL_ACC_GYRO_ODR_G_6660Hz;
cparata 0:69566eea0fba 684
cparata 0:69566eea0fba 685 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, new_odr ) == MEMS_ERROR )
cparata 0:69566eea0fba 686 {
cparata 2:f23b144da50a 687 return 1;
cparata 0:69566eea0fba 688 }
cparata 0:69566eea0fba 689
cparata 2:f23b144da50a 690 return 0;
cparata 0:69566eea0fba 691 }
cparata 0:69566eea0fba 692
cparata 0:69566eea0fba 693 /**
cparata 0:69566eea0fba 694 * @brief Set LSM6DSL Gyroscope output data rate when disabled
cparata 0:69566eea0fba 695 * @param odr the output data rate to be set
cparata 2:f23b144da50a 696 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 697 */
cparata 2:f23b144da50a 698 int LSM6DSLSensor::Set_G_ODR_When_Disabled(float odr)
cparata 0:69566eea0fba 699 {
cparata 0:69566eea0fba 700 G_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata 0:69566eea0fba 701 : ( odr <= 26.0f ) ? 26.0f
cparata 0:69566eea0fba 702 : ( odr <= 52.0f ) ? 52.0f
cparata 0:69566eea0fba 703 : ( odr <= 104.0f ) ? 104.0f
cparata 0:69566eea0fba 704 : ( odr <= 208.0f ) ? 208.0f
cparata 0:69566eea0fba 705 : ( odr <= 416.0f ) ? 416.0f
cparata 0:69566eea0fba 706 : ( odr <= 833.0f ) ? 833.0f
cparata 0:69566eea0fba 707 : ( odr <= 1660.0f ) ? 1660.0f
cparata 0:69566eea0fba 708 : ( odr <= 3330.0f ) ? 3330.0f
cparata 0:69566eea0fba 709 : 6660.0f;
cparata 0:69566eea0fba 710
cparata 2:f23b144da50a 711 return 0;
cparata 0:69566eea0fba 712 }
cparata 0:69566eea0fba 713
cparata 0:69566eea0fba 714 /**
cparata 0:69566eea0fba 715 * @brief Read LSM6DSL Accelerometer full scale
cparata 0:69566eea0fba 716 * @param fullScale the pointer to the full scale
cparata 2:f23b144da50a 717 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 718 */
cparata 2:f23b144da50a 719 int LSM6DSLSensor::Get_X_FS(float* fullScale)
cparata 0:69566eea0fba 720 {
cparata 0:69566eea0fba 721 LSM6DSL_ACC_GYRO_FS_XL_t fs_low_level;
cparata 0:69566eea0fba 722
cparata 0:69566eea0fba 723 if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata 0:69566eea0fba 724 {
cparata 2:f23b144da50a 725 return 1;
cparata 0:69566eea0fba 726 }
cparata 0:69566eea0fba 727
cparata 0:69566eea0fba 728 switch( fs_low_level )
cparata 0:69566eea0fba 729 {
cparata 0:69566eea0fba 730 case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata 0:69566eea0fba 731 *fullScale = 2.0f;
cparata 0:69566eea0fba 732 break;
cparata 0:69566eea0fba 733 case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata 0:69566eea0fba 734 *fullScale = 4.0f;
cparata 0:69566eea0fba 735 break;
cparata 0:69566eea0fba 736 case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata 0:69566eea0fba 737 *fullScale = 8.0f;
cparata 0:69566eea0fba 738 break;
cparata 0:69566eea0fba 739 case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata 0:69566eea0fba 740 *fullScale = 16.0f;
cparata 0:69566eea0fba 741 break;
cparata 0:69566eea0fba 742 default:
cparata 0:69566eea0fba 743 *fullScale = -1.0f;
cparata 2:f23b144da50a 744 return 1;
cparata 0:69566eea0fba 745 }
cparata 0:69566eea0fba 746
cparata 2:f23b144da50a 747 return 0;
cparata 0:69566eea0fba 748 }
cparata 0:69566eea0fba 749
cparata 0:69566eea0fba 750 /**
cparata 0:69566eea0fba 751 * @brief Read LSM6DSL Gyroscope full scale
cparata 0:69566eea0fba 752 * @param fullScale the pointer to the full scale
cparata 2:f23b144da50a 753 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 754 */
cparata 2:f23b144da50a 755 int LSM6DSLSensor::Get_G_FS(float* fullScale)
cparata 0:69566eea0fba 756 {
cparata 0:69566eea0fba 757 LSM6DSL_ACC_GYRO_FS_G_t fs_low_level;
cparata 0:69566eea0fba 758 LSM6DSL_ACC_GYRO_FS_125_t fs_125;
cparata 0:69566eea0fba 759
cparata 0:69566eea0fba 760 if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fs_125 ) == MEMS_ERROR )
cparata 0:69566eea0fba 761 {
cparata 2:f23b144da50a 762 return 1;
cparata 0:69566eea0fba 763 }
cparata 0:69566eea0fba 764 if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata 0:69566eea0fba 765 {
cparata 2:f23b144da50a 766 return 1;
cparata 0:69566eea0fba 767 }
cparata 0:69566eea0fba 768
cparata 0:69566eea0fba 769 if ( fs_125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata 0:69566eea0fba 770 {
cparata 0:69566eea0fba 771 *fullScale = 125.0f;
cparata 0:69566eea0fba 772 }
cparata 0:69566eea0fba 773
cparata 0:69566eea0fba 774 else
cparata 0:69566eea0fba 775 {
cparata 0:69566eea0fba 776 switch( fs_low_level )
cparata 0:69566eea0fba 777 {
cparata 0:69566eea0fba 778 case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata 0:69566eea0fba 779 *fullScale = 245.0f;
cparata 0:69566eea0fba 780 break;
cparata 0:69566eea0fba 781 case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata 0:69566eea0fba 782 *fullScale = 500.0f;
cparata 0:69566eea0fba 783 break;
cparata 0:69566eea0fba 784 case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata 0:69566eea0fba 785 *fullScale = 1000.0f;
cparata 0:69566eea0fba 786 break;
cparata 0:69566eea0fba 787 case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata 0:69566eea0fba 788 *fullScale = 2000.0f;
cparata 0:69566eea0fba 789 break;
cparata 0:69566eea0fba 790 default:
cparata 0:69566eea0fba 791 *fullScale = -1.0f;
cparata 2:f23b144da50a 792 return 1;
cparata 0:69566eea0fba 793 }
cparata 0:69566eea0fba 794 }
cparata 0:69566eea0fba 795
cparata 2:f23b144da50a 796 return 0;
cparata 0:69566eea0fba 797 }
cparata 0:69566eea0fba 798
cparata 0:69566eea0fba 799 /**
cparata 0:69566eea0fba 800 * @brief Set LSM6DSL Accelerometer full scale
cparata 0:69566eea0fba 801 * @param fullScale the full scale to be set
cparata 2:f23b144da50a 802 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 803 */
cparata 2:f23b144da50a 804 int LSM6DSLSensor::Set_X_FS(float fullScale)
cparata 0:69566eea0fba 805 {
cparata 0:69566eea0fba 806 LSM6DSL_ACC_GYRO_FS_XL_t new_fs;
cparata 0:69566eea0fba 807
cparata 0:69566eea0fba 808 new_fs = ( fullScale <= 2.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_2g
cparata 0:69566eea0fba 809 : ( fullScale <= 4.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_4g
cparata 0:69566eea0fba 810 : ( fullScale <= 8.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_8g
cparata 0:69566eea0fba 811 : LSM6DSL_ACC_GYRO_FS_XL_16g;
cparata 0:69566eea0fba 812
cparata 0:69566eea0fba 813 if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, new_fs ) == MEMS_ERROR )
cparata 0:69566eea0fba 814 {
cparata 2:f23b144da50a 815 return 1;
cparata 0:69566eea0fba 816 }
cparata 0:69566eea0fba 817
cparata 2:f23b144da50a 818 return 0;
cparata 0:69566eea0fba 819 }
cparata 0:69566eea0fba 820
cparata 0:69566eea0fba 821 /**
cparata 0:69566eea0fba 822 * @brief Set LSM6DSL Gyroscope full scale
cparata 0:69566eea0fba 823 * @param fullScale the full scale to be set
cparata 2:f23b144da50a 824 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 825 */
cparata 2:f23b144da50a 826 int LSM6DSLSensor::Set_G_FS(float fullScale)
cparata 0:69566eea0fba 827 {
cparata 0:69566eea0fba 828 LSM6DSL_ACC_GYRO_FS_G_t new_fs;
cparata 0:69566eea0fba 829
cparata 0:69566eea0fba 830 if ( fullScale <= 125.0f )
cparata 0:69566eea0fba 831 {
cparata 0:69566eea0fba 832 if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 833 {
cparata 2:f23b144da50a 834 return 1;
cparata 0:69566eea0fba 835 }
cparata 0:69566eea0fba 836 }
cparata 0:69566eea0fba 837 else
cparata 0:69566eea0fba 838 {
cparata 0:69566eea0fba 839 new_fs = ( fullScale <= 245.0f ) ? LSM6DSL_ACC_GYRO_FS_G_245dps
cparata 0:69566eea0fba 840 : ( fullScale <= 500.0f ) ? LSM6DSL_ACC_GYRO_FS_G_500dps
cparata 0:69566eea0fba 841 : ( fullScale <= 1000.0f ) ? LSM6DSL_ACC_GYRO_FS_G_1000dps
cparata 0:69566eea0fba 842 : LSM6DSL_ACC_GYRO_FS_G_2000dps;
cparata 0:69566eea0fba 843
cparata 0:69566eea0fba 844 if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 845 {
cparata 2:f23b144da50a 846 return 1;
cparata 0:69566eea0fba 847 }
cparata 0:69566eea0fba 848 if ( LSM6DSL_ACC_GYRO_W_FS_G( (void *)this, new_fs ) == MEMS_ERROR )
cparata 0:69566eea0fba 849 {
cparata 2:f23b144da50a 850 return 1;
cparata 0:69566eea0fba 851 }
cparata 0:69566eea0fba 852 }
cparata 0:69566eea0fba 853
cparata 2:f23b144da50a 854 return 0;
cparata 0:69566eea0fba 855 }
cparata 0:69566eea0fba 856
cparata 0:69566eea0fba 857 /**
cparata 0:69566eea0fba 858 * @brief Enable free fall detection
cparata 0:69566eea0fba 859 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:f23b144da50a 860 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 861 */
cparata 2:f23b144da50a 862 int LSM6DSLSensor::Enable_Free_Fall_Detection(void)
cparata 0:69566eea0fba 863 {
cparata 0:69566eea0fba 864 /* Output Data Rate selection */
cparata 2:f23b144da50a 865 if(Set_X_ODR(416.0f) == 1)
cparata 0:69566eea0fba 866 {
cparata 2:f23b144da50a 867 return 1;
cparata 0:69566eea0fba 868 }
cparata 0:69566eea0fba 869
cparata 0:69566eea0fba 870 /* Full scale selection */
cparata 0:69566eea0fba 871 if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, LSM6DSL_ACC_GYRO_FS_XL_2g ) == MEMS_ERROR )
cparata 0:69566eea0fba 872 {
cparata 2:f23b144da50a 873 return 1;
cparata 0:69566eea0fba 874 }
cparata 0:69566eea0fba 875
cparata 0:69566eea0fba 876 /* FF_DUR setting */
cparata 0:69566eea0fba 877 if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x06 ) == MEMS_ERROR )
cparata 0:69566eea0fba 878 {
cparata 2:f23b144da50a 879 return 1;
cparata 0:69566eea0fba 880 }
cparata 0:69566eea0fba 881
cparata 0:69566eea0fba 882 /* WAKE_DUR setting */
cparata 0:69566eea0fba 883 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:69566eea0fba 884 {
cparata 2:f23b144da50a 885 return 1;
cparata 0:69566eea0fba 886 }
cparata 0:69566eea0fba 887
cparata 0:69566eea0fba 888 /* TIMER_HR setting */
cparata 0:69566eea0fba 889 if ( LSM6DSL_ACC_GYRO_W_TIMER_HR( (void *)this, LSM6DSL_ACC_GYRO_TIMER_HR_6_4ms ) == MEMS_ERROR )
cparata 0:69566eea0fba 890 {
cparata 2:f23b144da50a 891 return 1;
cparata 0:69566eea0fba 892 }
cparata 0:69566eea0fba 893
cparata 0:69566eea0fba 894 /* SLEEP_DUR setting */
cparata 0:69566eea0fba 895 if ( LSM6DSL_ACC_GYRO_W_SLEEP_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:69566eea0fba 896 {
cparata 2:f23b144da50a 897 return 1;
cparata 0:69566eea0fba 898 }
cparata 0:69566eea0fba 899
cparata 0:69566eea0fba 900 /* FF_THS setting */
cparata 0:69566eea0fba 901 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_312mg ) == MEMS_ERROR )
cparata 0:69566eea0fba 902 {
cparata 2:f23b144da50a 903 return 1;
cparata 0:69566eea0fba 904 }
cparata 0:69566eea0fba 905
cparata 0:69566eea0fba 906 /* Enable basic Interrupts */
cparata 0:69566eea0fba 907 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 908 {
cparata 2:f23b144da50a 909 return 1;
cparata 0:69566eea0fba 910 }
cparata 0:69566eea0fba 911
cparata 0:69566eea0fba 912 /* INT1_FF setting */
cparata 0:69566eea0fba 913 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 914 {
cparata 2:f23b144da50a 915 return 1;
cparata 0:69566eea0fba 916 }
cparata 0:69566eea0fba 917
cparata 2:f23b144da50a 918 return 0;
cparata 0:69566eea0fba 919 }
cparata 0:69566eea0fba 920
cparata 0:69566eea0fba 921 /**
cparata 0:69566eea0fba 922 * @brief Disable free fall detection
cparata 0:69566eea0fba 923 * @param None
cparata 2:f23b144da50a 924 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 925 */
cparata 2:f23b144da50a 926 int LSM6DSLSensor::Disable_Free_Fall_Detection(void)
cparata 0:69566eea0fba 927 {
cparata 0:69566eea0fba 928 /* INT1_FF setting */
cparata 0:69566eea0fba 929 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 930 {
cparata 2:f23b144da50a 931 return 1;
cparata 0:69566eea0fba 932 }
cparata 0:69566eea0fba 933
cparata 0:69566eea0fba 934 /* Disable basic Interrupts */
cparata 0:69566eea0fba 935 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 936 {
cparata 2:f23b144da50a 937 return 1;
cparata 0:69566eea0fba 938 }
cparata 0:69566eea0fba 939
cparata 0:69566eea0fba 940 /* FF_DUR setting */
cparata 0:69566eea0fba 941 if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:69566eea0fba 942 {
cparata 2:f23b144da50a 943 return 1;
cparata 0:69566eea0fba 944 }
cparata 0:69566eea0fba 945
cparata 0:69566eea0fba 946 /* FF_THS setting */
cparata 0:69566eea0fba 947 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_156mg ) == MEMS_ERROR )
cparata 0:69566eea0fba 948 {
cparata 2:f23b144da50a 949 return 1;
cparata 0:69566eea0fba 950 }
cparata 0:69566eea0fba 951
cparata 2:f23b144da50a 952 return 0;
cparata 0:69566eea0fba 953 }
cparata 0:69566eea0fba 954
cparata 0:69566eea0fba 955 /**
cparata 0:69566eea0fba 956 * @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 957 * @param thr the threshold to be set
cparata 2:f23b144da50a 958 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 959 */
cparata 2:f23b144da50a 960 int LSM6DSLSensor::Set_Free_Fall_Threshold(uint8_t thr)
cparata 0:69566eea0fba 961 {
cparata 0:69566eea0fba 962
cparata 0:69566eea0fba 963 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR )
cparata 0:69566eea0fba 964 {
cparata 2:f23b144da50a 965 return 1;
cparata 0:69566eea0fba 966 }
cparata 0:69566eea0fba 967
cparata 2:f23b144da50a 968 return 0;
cparata 0:69566eea0fba 969 }
cparata 0:69566eea0fba 970
cparata 0:69566eea0fba 971 /**
cparata 0:69566eea0fba 972 * @brief Enable the pedometer feature for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 973 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:f23b144da50a 974 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 975 */
cparata 2:f23b144da50a 976 int LSM6DSLSensor::Enable_Pedometer(void)
cparata 0:69566eea0fba 977 {
cparata 0:69566eea0fba 978 /* Output Data Rate selection */
cparata 2:f23b144da50a 979 if( Set_X_ODR(26.0f) == 1 )
cparata 0:69566eea0fba 980 {
cparata 2:f23b144da50a 981 return 1;
cparata 0:69566eea0fba 982 }
cparata 0:69566eea0fba 983
cparata 0:69566eea0fba 984 /* Full scale selection. */
cparata 2:f23b144da50a 985 if( Set_X_FS(2.0f) == 1 )
cparata 0:69566eea0fba 986 {
cparata 2:f23b144da50a 987 return 1;
cparata 0:69566eea0fba 988 }
cparata 0:69566eea0fba 989
cparata 0:69566eea0fba 990 /* Set pedometer threshold. */
cparata 2:f23b144da50a 991 if ( Set_Pedometer_Threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == 1 )
cparata 0:69566eea0fba 992 {
cparata 2:f23b144da50a 993 return 1;
cparata 0:69566eea0fba 994 }
cparata 0:69566eea0fba 995
cparata 0:69566eea0fba 996 /* Enable embedded functionalities. */
cparata 0:69566eea0fba 997 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 998 {
cparata 2:f23b144da50a 999 return 1;
cparata 0:69566eea0fba 1000 }
cparata 0:69566eea0fba 1001
cparata 0:69566eea0fba 1002 /* Enable pedometer algorithm. */
cparata 0:69566eea0fba 1003 if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1004 {
cparata 2:f23b144da50a 1005 return 1;
cparata 0:69566eea0fba 1006 }
cparata 0:69566eea0fba 1007
cparata 0:69566eea0fba 1008 /* Enable pedometer on INT1. */
cparata 0:69566eea0fba 1009 if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1010 {
cparata 2:f23b144da50a 1011 return 1;
cparata 0:69566eea0fba 1012 }
cparata 0:69566eea0fba 1013
cparata 2:f23b144da50a 1014 return 0;
cparata 0:69566eea0fba 1015 }
cparata 0:69566eea0fba 1016
cparata 0:69566eea0fba 1017 /**
cparata 0:69566eea0fba 1018 * @brief Disable the pedometer feature for LSM6DSL accelerometer sensor
cparata 2:f23b144da50a 1019 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1020 */
cparata 2:f23b144da50a 1021 int LSM6DSLSensor::Disable_Pedometer(void)
cparata 0:69566eea0fba 1022 {
cparata 0:69566eea0fba 1023 /* Disable pedometer on INT1. */
cparata 0:69566eea0fba 1024 if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1025 {
cparata 2:f23b144da50a 1026 return 1;
cparata 0:69566eea0fba 1027 }
cparata 0:69566eea0fba 1028
cparata 0:69566eea0fba 1029 /* Disable pedometer algorithm. */
cparata 0:69566eea0fba 1030 if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1031 {
cparata 2:f23b144da50a 1032 return 1;
cparata 0:69566eea0fba 1033 }
cparata 0:69566eea0fba 1034
cparata 0:69566eea0fba 1035 /* Disable embedded functionalities. */
cparata 0:69566eea0fba 1036 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1037 {
cparata 2:f23b144da50a 1038 return 1;
cparata 0:69566eea0fba 1039 }
cparata 0:69566eea0fba 1040
cparata 0:69566eea0fba 1041 /* Reset pedometer threshold. */
cparata 2:f23b144da50a 1042 if ( Set_Pedometer_Threshold(0x0) == 1 )
cparata 0:69566eea0fba 1043 {
cparata 2:f23b144da50a 1044 return 1;
cparata 0:69566eea0fba 1045 }
cparata 0:69566eea0fba 1046
cparata 2:f23b144da50a 1047 return 0;
cparata 0:69566eea0fba 1048 }
cparata 0:69566eea0fba 1049
cparata 0:69566eea0fba 1050 /**
cparata 0:69566eea0fba 1051 * @brief Get the step counter for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1052 * @param step_count the pointer to the step counter
cparata 2:f23b144da50a 1053 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1054 */
cparata 2:f23b144da50a 1055 int LSM6DSLSensor::Get_Step_Counter(uint16_t *step_count)
cparata 0:69566eea0fba 1056 {
cparata 0:69566eea0fba 1057 if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void *)this, ( uint8_t* )step_count ) == MEMS_ERROR )
cparata 0:69566eea0fba 1058 {
cparata 2:f23b144da50a 1059 return 1;
cparata 0:69566eea0fba 1060 }
cparata 0:69566eea0fba 1061
cparata 2:f23b144da50a 1062 return 0;
cparata 0:69566eea0fba 1063 }
cparata 0:69566eea0fba 1064
cparata 0:69566eea0fba 1065 /**
cparata 0:69566eea0fba 1066 * @brief Reset of the step counter for LSM6DSL accelerometer sensor
cparata 2:f23b144da50a 1067 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1068 */
cparata 2:f23b144da50a 1069 int LSM6DSLSensor::Reset_Step_Counter(void)
cparata 0:69566eea0fba 1070 {
cparata 0:69566eea0fba 1071 if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1072 {
cparata 2:f23b144da50a 1073 return 1;
cparata 0:69566eea0fba 1074 }
cparata 0:69566eea0fba 1075
cparata 0:69566eea0fba 1076 wait_ms(10);
cparata 0:69566eea0fba 1077
cparata 0:69566eea0fba 1078 if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1079 {
cparata 2:f23b144da50a 1080 return 1;
cparata 0:69566eea0fba 1081 }
cparata 0:69566eea0fba 1082
cparata 2:f23b144da50a 1083 return 0;
cparata 0:69566eea0fba 1084 }
cparata 0:69566eea0fba 1085
cparata 0:69566eea0fba 1086 /**
cparata 0:69566eea0fba 1087 * @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1088 * @param thr the threshold to be set
cparata 2:f23b144da50a 1089 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1090 */
cparata 2:f23b144da50a 1091 int LSM6DSLSensor::Set_Pedometer_Threshold(uint8_t thr)
cparata 0:69566eea0fba 1092 {
cparata 0:69566eea0fba 1093 if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
cparata 0:69566eea0fba 1094 {
cparata 2:f23b144da50a 1095 return 1;
cparata 0:69566eea0fba 1096 }
cparata 0:69566eea0fba 1097
cparata 2:f23b144da50a 1098 return 0;
cparata 0:69566eea0fba 1099 }
cparata 0:69566eea0fba 1100
cparata 0:69566eea0fba 1101 /**
cparata 0:69566eea0fba 1102 * @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1103 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:f23b144da50a 1104 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1105 */
cparata 2:f23b144da50a 1106 int LSM6DSLSensor::Enable_Tilt_Detection(void)
cparata 0:69566eea0fba 1107 {
cparata 0:69566eea0fba 1108 /* Output Data Rate selection */
cparata 2:f23b144da50a 1109 if( Set_X_ODR(26.0f) == 1 )
cparata 0:69566eea0fba 1110 {
cparata 2:f23b144da50a 1111 return 1;
cparata 0:69566eea0fba 1112 }
cparata 0:69566eea0fba 1113
cparata 0:69566eea0fba 1114 /* Full scale selection. */
cparata 2:f23b144da50a 1115 if( Set_X_FS(2.0f) == 1 )
cparata 0:69566eea0fba 1116 {
cparata 2:f23b144da50a 1117 return 1;
cparata 0:69566eea0fba 1118 }
cparata 0:69566eea0fba 1119
cparata 0:69566eea0fba 1120 /* Enable embedded functionalities */
cparata 0:69566eea0fba 1121 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1122 {
cparata 2:f23b144da50a 1123 return 1;
cparata 0:69566eea0fba 1124 }
cparata 0:69566eea0fba 1125
cparata 0:69566eea0fba 1126 /* Enable tilt calculation. */
cparata 0:69566eea0fba 1127 if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1128 {
cparata 2:f23b144da50a 1129 return 1;
cparata 0:69566eea0fba 1130 }
cparata 0:69566eea0fba 1131
cparata 0:69566eea0fba 1132 /* Enable tilt event on INT1. */
cparata 0:69566eea0fba 1133 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1134 {
cparata 2:f23b144da50a 1135 return 1;
cparata 0:69566eea0fba 1136 }
cparata 0:69566eea0fba 1137
cparata 2:f23b144da50a 1138 return 0;
cparata 0:69566eea0fba 1139 }
cparata 0:69566eea0fba 1140
cparata 0:69566eea0fba 1141 /**
cparata 0:69566eea0fba 1142 * @brief Disable the tilt detection for LSM6DSL accelerometer sensor
cparata 2:f23b144da50a 1143 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1144 */
cparata 2:f23b144da50a 1145 int LSM6DSLSensor::Disable_Tilt_Detection(void)
cparata 0:69566eea0fba 1146 {
cparata 0:69566eea0fba 1147 /* Disable tilt event on INT1. */
cparata 0:69566eea0fba 1148 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1149 {
cparata 2:f23b144da50a 1150 return 1;
cparata 0:69566eea0fba 1151 }
cparata 0:69566eea0fba 1152
cparata 0:69566eea0fba 1153 /* Disable tilt calculation. */
cparata 0:69566eea0fba 1154 if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1155 {
cparata 2:f23b144da50a 1156 return 1;
cparata 0:69566eea0fba 1157 }
cparata 0:69566eea0fba 1158
cparata 0:69566eea0fba 1159 /* Disable embedded functionalities */
cparata 0:69566eea0fba 1160 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1161 {
cparata 2:f23b144da50a 1162 return 1;
cparata 0:69566eea0fba 1163 }
cparata 0:69566eea0fba 1164
cparata 2:f23b144da50a 1165 return 0;
cparata 0:69566eea0fba 1166 }
cparata 0:69566eea0fba 1167
cparata 0:69566eea0fba 1168 /**
cparata 0:69566eea0fba 1169 * @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1170 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:f23b144da50a 1171 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1172 */
cparata 2:f23b144da50a 1173 int LSM6DSLSensor::Enable_Wake_Up_Detection(void)
cparata 0:69566eea0fba 1174 {
cparata 0:69566eea0fba 1175 /* Output Data Rate selection */
cparata 2:f23b144da50a 1176 if( Set_X_ODR(416.0f) == 1 )
cparata 0:69566eea0fba 1177 {
cparata 2:f23b144da50a 1178 return 1;
cparata 0:69566eea0fba 1179 }
cparata 0:69566eea0fba 1180
cparata 0:69566eea0fba 1181 /* Full scale selection. */
cparata 2:f23b144da50a 1182 if( Set_X_FS(2.0f) == 1 )
cparata 0:69566eea0fba 1183 {
cparata 2:f23b144da50a 1184 return 1;
cparata 0:69566eea0fba 1185 }
cparata 0:69566eea0fba 1186
cparata 0:69566eea0fba 1187 /* WAKE_DUR setting */
cparata 0:69566eea0fba 1188 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:69566eea0fba 1189 {
cparata 2:f23b144da50a 1190 return 1;
cparata 0:69566eea0fba 1191 }
cparata 0:69566eea0fba 1192
cparata 0:69566eea0fba 1193 /* Set wake up threshold. */
cparata 0:69566eea0fba 1194 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
cparata 0:69566eea0fba 1195 {
cparata 2:f23b144da50a 1196 return 1;
cparata 0:69566eea0fba 1197 }
cparata 0:69566eea0fba 1198
cparata 0:69566eea0fba 1199 /* Enable basic Interrupts */
cparata 0:69566eea0fba 1200 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1201 {
cparata 2:f23b144da50a 1202 return 1;
cparata 0:69566eea0fba 1203 }
cparata 0:69566eea0fba 1204
cparata 5:61e1b61c7e7d 1205 /* INT2_WU setting */
cparata 5:61e1b61c7e7d 1206 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1207 {
cparata 2:f23b144da50a 1208 return 1;
cparata 0:69566eea0fba 1209 }
cparata 0:69566eea0fba 1210
cparata 2:f23b144da50a 1211 return 0;
cparata 0:69566eea0fba 1212 }
cparata 0:69566eea0fba 1213
cparata 0:69566eea0fba 1214 /**
cparata 0:69566eea0fba 1215 * @brief Disable the wake up detection for LSM6DSL accelerometer sensor
cparata 2:f23b144da50a 1216 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1217 */
cparata 2:f23b144da50a 1218 int LSM6DSLSensor::Disable_Wake_Up_Detection(void)
cparata 0:69566eea0fba 1219 {
cparata 5:61e1b61c7e7d 1220 /* INT2_WU setting */
cparata 5:61e1b61c7e7d 1221 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1222 {
cparata 2:f23b144da50a 1223 return 1;
cparata 0:69566eea0fba 1224 }
cparata 0:69566eea0fba 1225
cparata 0:69566eea0fba 1226 /* Disable basic Interrupts */
cparata 0:69566eea0fba 1227 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1228 {
cparata 2:f23b144da50a 1229 return 1;
cparata 0:69566eea0fba 1230 }
cparata 0:69566eea0fba 1231
cparata 0:69566eea0fba 1232 /* WU_DUR setting */
cparata 0:69566eea0fba 1233 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:69566eea0fba 1234 {
cparata 2:f23b144da50a 1235 return 1;
cparata 0:69566eea0fba 1236 }
cparata 0:69566eea0fba 1237
cparata 0:69566eea0fba 1238 /* WU_THS setting */
cparata 0:69566eea0fba 1239 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:69566eea0fba 1240 {
cparata 2:f23b144da50a 1241 return 1;
cparata 0:69566eea0fba 1242 }
cparata 0:69566eea0fba 1243
cparata 2:f23b144da50a 1244 return 0;
cparata 0:69566eea0fba 1245 }
cparata 0:69566eea0fba 1246
cparata 0:69566eea0fba 1247 /**
cparata 0:69566eea0fba 1248 * @brief Set the wake up threshold for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1249 * @param thr the threshold to be set
cparata 2:f23b144da50a 1250 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1251 */
cparata 2:f23b144da50a 1252 int LSM6DSLSensor::Set_Wake_Up_Threshold(uint8_t thr)
cparata 0:69566eea0fba 1253 {
cparata 0:69566eea0fba 1254 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
cparata 0:69566eea0fba 1255 {
cparata 2:f23b144da50a 1256 return 1;
cparata 0:69566eea0fba 1257 }
cparata 0:69566eea0fba 1258
cparata 2:f23b144da50a 1259 return 0;
cparata 0:69566eea0fba 1260 }
cparata 0:69566eea0fba 1261
cparata 0:69566eea0fba 1262 /**
cparata 0:69566eea0fba 1263 * @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1264 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:f23b144da50a 1265 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1266 */
cparata 2:f23b144da50a 1267 int LSM6DSLSensor::Enable_Single_Tap_Detection(void)
cparata 0:69566eea0fba 1268 {
cparata 0:69566eea0fba 1269 /* Output Data Rate selection */
cparata 2:f23b144da50a 1270 if( Set_X_ODR(416.0f) == 1 )
cparata 0:69566eea0fba 1271 {
cparata 2:f23b144da50a 1272 return 1;
cparata 0:69566eea0fba 1273 }
cparata 0:69566eea0fba 1274
cparata 0:69566eea0fba 1275 /* Full scale selection. */
cparata 2:f23b144da50a 1276 if( Set_X_FS(2.0f) == 1 )
cparata 0:69566eea0fba 1277 {
cparata 2:f23b144da50a 1278 return 1;
cparata 0:69566eea0fba 1279 }
cparata 0:69566eea0fba 1280
cparata 0:69566eea0fba 1281 /* Enable X direction in tap recognition. */
cparata 0:69566eea0fba 1282 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1283 {
cparata 2:f23b144da50a 1284 return 1;
cparata 0:69566eea0fba 1285 }
cparata 0:69566eea0fba 1286
cparata 0:69566eea0fba 1287 /* Enable Y direction in tap recognition. */
cparata 0:69566eea0fba 1288 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1289 {
cparata 2:f23b144da50a 1290 return 1;
cparata 0:69566eea0fba 1291 }
cparata 0:69566eea0fba 1292
cparata 0:69566eea0fba 1293 /* Enable Z direction in tap recognition. */
cparata 0:69566eea0fba 1294 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1295 {
cparata 2:f23b144da50a 1296 return 1;
cparata 0:69566eea0fba 1297 }
cparata 0:69566eea0fba 1298
cparata 0:69566eea0fba 1299 /* Set tap threshold. */
cparata 2:f23b144da50a 1300 if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata 0:69566eea0fba 1301 {
cparata 2:f23b144da50a 1302 return 1;
cparata 0:69566eea0fba 1303 }
cparata 0:69566eea0fba 1304
cparata 0:69566eea0fba 1305 /* Set tap shock time window. */
cparata 2:f23b144da50a 1306 if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == 1 )
cparata 0:69566eea0fba 1307 {
cparata 2:f23b144da50a 1308 return 1;
cparata 0:69566eea0fba 1309 }
cparata 0:69566eea0fba 1310
cparata 0:69566eea0fba 1311 /* Set tap quiet time window. */
cparata 2:f23b144da50a 1312 if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == 1 )
cparata 0:69566eea0fba 1313 {
cparata 2:f23b144da50a 1314 return 1;
cparata 0:69566eea0fba 1315 }
cparata 0:69566eea0fba 1316
cparata 0:69566eea0fba 1317 /* _NOTE_: Tap duration time window - don't care for single tap. */
cparata 0:69566eea0fba 1318
cparata 0:69566eea0fba 1319 /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata 0:69566eea0fba 1320
cparata 0:69566eea0fba 1321 /* Enable basic Interrupts */
cparata 0:69566eea0fba 1322 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1323 {
cparata 2:f23b144da50a 1324 return 1;
cparata 0:69566eea0fba 1325 }
cparata 0:69566eea0fba 1326
cparata 0:69566eea0fba 1327 /* Enable single tap interrupt on INT1 pin. */
cparata 0:69566eea0fba 1328 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1329 {
cparata 2:f23b144da50a 1330 return 1;
cparata 0:69566eea0fba 1331 }
cparata 0:69566eea0fba 1332
cparata 2:f23b144da50a 1333 return 0;
cparata 0:69566eea0fba 1334 }
cparata 0:69566eea0fba 1335
cparata 0:69566eea0fba 1336 /**
cparata 0:69566eea0fba 1337 * @brief Disable the single tap detection for LSM6DSL accelerometer sensor
cparata 2:f23b144da50a 1338 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1339 */
cparata 2:f23b144da50a 1340 int LSM6DSLSensor::Disable_Single_Tap_Detection(void)
cparata 0:69566eea0fba 1341 {
cparata 0:69566eea0fba 1342 /* Disable single tap interrupt on INT1 pin. */
cparata 0:69566eea0fba 1343 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1344 {
cparata 2:f23b144da50a 1345 return 1;
cparata 0:69566eea0fba 1346 }
cparata 0:69566eea0fba 1347
cparata 0:69566eea0fba 1348 /* Disable basic Interrupts */
cparata 0:69566eea0fba 1349 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1350 {
cparata 2:f23b144da50a 1351 return 1;
cparata 0:69566eea0fba 1352 }
cparata 0:69566eea0fba 1353
cparata 0:69566eea0fba 1354 /* Reset tap threshold. */
cparata 2:f23b144da50a 1355 if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata 0:69566eea0fba 1356 {
cparata 2:f23b144da50a 1357 return 1;
cparata 0:69566eea0fba 1358 }
cparata 0:69566eea0fba 1359
cparata 0:69566eea0fba 1360 /* Reset tap shock time window. */
cparata 2:f23b144da50a 1361 if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata 0:69566eea0fba 1362 {
cparata 2:f23b144da50a 1363 return 1;
cparata 0:69566eea0fba 1364 }
cparata 0:69566eea0fba 1365
cparata 0:69566eea0fba 1366 /* Reset tap quiet time window. */
cparata 2:f23b144da50a 1367 if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata 0:69566eea0fba 1368 {
cparata 2:f23b144da50a 1369 return 1;
cparata 0:69566eea0fba 1370 }
cparata 0:69566eea0fba 1371
cparata 0:69566eea0fba 1372 /* _NOTE_: Tap duration time window - don't care for single tap. */
cparata 0:69566eea0fba 1373
cparata 0:69566eea0fba 1374 /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata 0:69566eea0fba 1375
cparata 0:69566eea0fba 1376 /* Disable Z direction in tap recognition. */
cparata 0:69566eea0fba 1377 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1378 {
cparata 2:f23b144da50a 1379 return 1;
cparata 0:69566eea0fba 1380 }
cparata 0:69566eea0fba 1381
cparata 0:69566eea0fba 1382 /* Disable Y direction in tap recognition. */
cparata 0:69566eea0fba 1383 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1384 {
cparata 2:f23b144da50a 1385 return 1;
cparata 0:69566eea0fba 1386 }
cparata 0:69566eea0fba 1387
cparata 0:69566eea0fba 1388 /* Disable X direction in tap recognition. */
cparata 0:69566eea0fba 1389 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1390 {
cparata 2:f23b144da50a 1391 return 1;
cparata 0:69566eea0fba 1392 }
cparata 0:69566eea0fba 1393
cparata 2:f23b144da50a 1394 return 0;
cparata 0:69566eea0fba 1395 }
cparata 0:69566eea0fba 1396
cparata 0:69566eea0fba 1397 /**
cparata 0:69566eea0fba 1398 * @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1399 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:f23b144da50a 1400 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1401 */
cparata 2:f23b144da50a 1402 int LSM6DSLSensor::Enable_Double_Tap_Detection(void)
cparata 0:69566eea0fba 1403 {
cparata 0:69566eea0fba 1404 /* Output Data Rate selection */
cparata 2:f23b144da50a 1405 if( Set_X_ODR(416.0f) == 1 )
cparata 0:69566eea0fba 1406 {
cparata 2:f23b144da50a 1407 return 1;
cparata 0:69566eea0fba 1408 }
cparata 0:69566eea0fba 1409
cparata 0:69566eea0fba 1410 /* Full scale selection. */
cparata 2:f23b144da50a 1411 if( Set_X_FS(2.0f) == 1 )
cparata 0:69566eea0fba 1412 {
cparata 2:f23b144da50a 1413 return 1;
cparata 0:69566eea0fba 1414 }
cparata 0:69566eea0fba 1415
cparata 0:69566eea0fba 1416 /* Enable X direction in tap recognition. */
cparata 0:69566eea0fba 1417 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1418 {
cparata 2:f23b144da50a 1419 return 1;
cparata 0:69566eea0fba 1420 }
cparata 0:69566eea0fba 1421
cparata 0:69566eea0fba 1422 /* Enable Y direction in tap recognition. */
cparata 0:69566eea0fba 1423 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1424 {
cparata 2:f23b144da50a 1425 return 1;
cparata 0:69566eea0fba 1426 }
cparata 0:69566eea0fba 1427
cparata 0:69566eea0fba 1428 /* Enable Z direction in tap recognition. */
cparata 0:69566eea0fba 1429 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1430 {
cparata 2:f23b144da50a 1431 return 1;
cparata 0:69566eea0fba 1432 }
cparata 0:69566eea0fba 1433
cparata 0:69566eea0fba 1434 /* Set tap threshold. */
cparata 2:f23b144da50a 1435 if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata 0:69566eea0fba 1436 {
cparata 2:f23b144da50a 1437 return 1;
cparata 0:69566eea0fba 1438 }
cparata 0:69566eea0fba 1439
cparata 0:69566eea0fba 1440 /* Set tap shock time window. */
cparata 2:f23b144da50a 1441 if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == 1 )
cparata 0:69566eea0fba 1442 {
cparata 2:f23b144da50a 1443 return 1;
cparata 0:69566eea0fba 1444 }
cparata 0:69566eea0fba 1445
cparata 0:69566eea0fba 1446 /* Set tap quiet time window. */
cparata 2:f23b144da50a 1447 if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == 1 )
cparata 0:69566eea0fba 1448 {
cparata 2:f23b144da50a 1449 return 1;
cparata 0:69566eea0fba 1450 }
cparata 0:69566eea0fba 1451
cparata 0:69566eea0fba 1452 /* Set tap duration time window. */
cparata 2:f23b144da50a 1453 if ( Set_Tap_Duration_Time( LSM6DSL_TAP_DURATION_TIME_MID ) == 1 )
cparata 0:69566eea0fba 1454 {
cparata 2:f23b144da50a 1455 return 1;
cparata 0:69566eea0fba 1456 }
cparata 0:69566eea0fba 1457
cparata 0:69566eea0fba 1458 /* Single and double tap enabled. */
cparata 0:69566eea0fba 1459 if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
cparata 0:69566eea0fba 1460 {
cparata 2:f23b144da50a 1461 return 1;
cparata 0:69566eea0fba 1462 }
cparata 0:69566eea0fba 1463
cparata 0:69566eea0fba 1464 /* Enable basic Interrupts */
cparata 0:69566eea0fba 1465 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1466 {
cparata 2:f23b144da50a 1467 return 1;
cparata 0:69566eea0fba 1468 }
cparata 0:69566eea0fba 1469
cparata 0:69566eea0fba 1470 /* Enable double tap interrupt on INT1 pin. */
cparata 0:69566eea0fba 1471 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1472 {
cparata 2:f23b144da50a 1473 return 1;
cparata 0:69566eea0fba 1474 }
cparata 0:69566eea0fba 1475
cparata 2:f23b144da50a 1476 return 0;
cparata 0:69566eea0fba 1477 }
cparata 0:69566eea0fba 1478
cparata 0:69566eea0fba 1479 /**
cparata 0:69566eea0fba 1480 * @brief Disable the double tap detection for LSM6DSL accelerometer sensor
cparata 2:f23b144da50a 1481 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1482 */
cparata 2:f23b144da50a 1483 int LSM6DSLSensor::Disable_Double_Tap_Detection(void)
cparata 0:69566eea0fba 1484 {
cparata 0:69566eea0fba 1485 /* Disable double tap interrupt on INT1 pin. */
cparata 0:69566eea0fba 1486 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1487 {
cparata 2:f23b144da50a 1488 return 1;
cparata 0:69566eea0fba 1489 }
cparata 0:69566eea0fba 1490
cparata 0:69566eea0fba 1491 /* Disable basic Interrupts */
cparata 0:69566eea0fba 1492 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1493 {
cparata 2:f23b144da50a 1494 return 1;
cparata 0:69566eea0fba 1495 }
cparata 0:69566eea0fba 1496
cparata 0:69566eea0fba 1497 /* Reset tap threshold. */
cparata 2:f23b144da50a 1498 if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata 0:69566eea0fba 1499 {
cparata 2:f23b144da50a 1500 return 1;
cparata 0:69566eea0fba 1501 }
cparata 0:69566eea0fba 1502
cparata 0:69566eea0fba 1503 /* Reset tap shock time window. */
cparata 2:f23b144da50a 1504 if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata 0:69566eea0fba 1505 {
cparata 2:f23b144da50a 1506 return 1;
cparata 0:69566eea0fba 1507 }
cparata 0:69566eea0fba 1508
cparata 0:69566eea0fba 1509 /* Reset tap quiet time window. */
cparata 2:f23b144da50a 1510 if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata 0:69566eea0fba 1511 {
cparata 2:f23b144da50a 1512 return 1;
cparata 0:69566eea0fba 1513 }
cparata 0:69566eea0fba 1514
cparata 0:69566eea0fba 1515 /* Reset tap duration time window. */
cparata 2:f23b144da50a 1516 if ( Set_Tap_Duration_Time( 0x0 ) == 1 )
cparata 0:69566eea0fba 1517 {
cparata 2:f23b144da50a 1518 return 1;
cparata 0:69566eea0fba 1519 }
cparata 0:69566eea0fba 1520
cparata 0:69566eea0fba 1521 /* Only single tap enabled. */
cparata 0:69566eea0fba 1522 if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
cparata 0:69566eea0fba 1523 {
cparata 2:f23b144da50a 1524 return 1;
cparata 0:69566eea0fba 1525 }
cparata 0:69566eea0fba 1526
cparata 0:69566eea0fba 1527 /* Disable Z direction in tap recognition. */
cparata 0:69566eea0fba 1528 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1529 {
cparata 2:f23b144da50a 1530 return 1;
cparata 0:69566eea0fba 1531 }
cparata 0:69566eea0fba 1532
cparata 0:69566eea0fba 1533 /* Disable Y direction in tap recognition. */
cparata 0:69566eea0fba 1534 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1535 {
cparata 2:f23b144da50a 1536 return 1;
cparata 0:69566eea0fba 1537 }
cparata 0:69566eea0fba 1538
cparata 0:69566eea0fba 1539 /* Disable X direction in tap recognition. */
cparata 0:69566eea0fba 1540 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1541 {
cparata 2:f23b144da50a 1542 return 1;
cparata 0:69566eea0fba 1543 }
cparata 0:69566eea0fba 1544
cparata 2:f23b144da50a 1545 return 0;
cparata 0:69566eea0fba 1546 }
cparata 0:69566eea0fba 1547
cparata 0:69566eea0fba 1548 /**
cparata 0:69566eea0fba 1549 * @brief Set the tap threshold for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1550 * @param thr the threshold to be set
cparata 2:f23b144da50a 1551 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1552 */
cparata 2:f23b144da50a 1553 int LSM6DSLSensor::Set_Tap_Threshold(uint8_t thr)
cparata 0:69566eea0fba 1554 {
cparata 0:69566eea0fba 1555 if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
cparata 0:69566eea0fba 1556 {
cparata 2:f23b144da50a 1557 return 1;
cparata 0:69566eea0fba 1558 }
cparata 0:69566eea0fba 1559
cparata 2:f23b144da50a 1560 return 0;
cparata 0:69566eea0fba 1561 }
cparata 0:69566eea0fba 1562
cparata 0:69566eea0fba 1563 /**
cparata 0:69566eea0fba 1564 * @brief Set the tap shock time window for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1565 * @param time the shock time window to be set
cparata 2:f23b144da50a 1566 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1567 */
cparata 2:f23b144da50a 1568 int LSM6DSLSensor::Set_Tap_Shock_Time(uint8_t time)
cparata 0:69566eea0fba 1569 {
cparata 0:69566eea0fba 1570 if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
cparata 0:69566eea0fba 1571 {
cparata 2:f23b144da50a 1572 return 1;
cparata 0:69566eea0fba 1573 }
cparata 0:69566eea0fba 1574
cparata 2:f23b144da50a 1575 return 0;
cparata 0:69566eea0fba 1576 }
cparata 0:69566eea0fba 1577
cparata 0:69566eea0fba 1578 /**
cparata 0:69566eea0fba 1579 * @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1580 * @param time the quiet time window to be set
cparata 2:f23b144da50a 1581 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1582 */
cparata 2:f23b144da50a 1583 int LSM6DSLSensor::Set_Tap_Quiet_Time(uint8_t time)
cparata 0:69566eea0fba 1584 {
cparata 0:69566eea0fba 1585 if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
cparata 0:69566eea0fba 1586 {
cparata 2:f23b144da50a 1587 return 1;
cparata 0:69566eea0fba 1588 }
cparata 0:69566eea0fba 1589
cparata 2:f23b144da50a 1590 return 0;
cparata 0:69566eea0fba 1591 }
cparata 0:69566eea0fba 1592
cparata 0:69566eea0fba 1593 /**
cparata 0:69566eea0fba 1594 * @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1595 * @param time the duration of the time window to be set
cparata 2:f23b144da50a 1596 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1597 */
cparata 2:f23b144da50a 1598 int LSM6DSLSensor::Set_Tap_Duration_Time(uint8_t time)
cparata 0:69566eea0fba 1599 {
cparata 0:69566eea0fba 1600 if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
cparata 0:69566eea0fba 1601 {
cparata 2:f23b144da50a 1602 return 1;
cparata 0:69566eea0fba 1603 }
cparata 0:69566eea0fba 1604
cparata 2:f23b144da50a 1605 return 0;
cparata 0:69566eea0fba 1606 }
cparata 0:69566eea0fba 1607
cparata 0:69566eea0fba 1608 /**
cparata 0:69566eea0fba 1609 * @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1610 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:f23b144da50a 1611 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1612 */
cparata 2:f23b144da50a 1613 int LSM6DSLSensor::Enable_6D_Orientation(void)
cparata 0:69566eea0fba 1614 {
cparata 0:69566eea0fba 1615 /* Output Data Rate selection */
cparata 2:f23b144da50a 1616 if( Set_X_ODR(416.0f) == 1 )
cparata 0:69566eea0fba 1617 {
cparata 2:f23b144da50a 1618 return 1;
cparata 0:69566eea0fba 1619 }
cparata 0:69566eea0fba 1620
cparata 0:69566eea0fba 1621 /* Full scale selection. */
cparata 2:f23b144da50a 1622 if( Set_X_FS(2.0f) == 1 )
cparata 0:69566eea0fba 1623 {
cparata 2:f23b144da50a 1624 return 1;
cparata 0:69566eea0fba 1625 }
cparata 0:69566eea0fba 1626
cparata 0:69566eea0fba 1627 /* Set 6D threshold. */
cparata 0:69566eea0fba 1628 if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
cparata 0:69566eea0fba 1629 {
cparata 2:f23b144da50a 1630 return 1;
cparata 0:69566eea0fba 1631 }
cparata 0:69566eea0fba 1632
cparata 0:69566eea0fba 1633 /* Enable basic Interrupts */
cparata 0:69566eea0fba 1634 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1635 {
cparata 2:f23b144da50a 1636 return 1;
cparata 0:69566eea0fba 1637 }
cparata 0:69566eea0fba 1638
cparata 0:69566eea0fba 1639 /* INT1_6D setting. */
cparata 0:69566eea0fba 1640 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1641 {
cparata 2:f23b144da50a 1642 return 1;
cparata 0:69566eea0fba 1643 }
cparata 0:69566eea0fba 1644
cparata 2:f23b144da50a 1645 return 0;
cparata 0:69566eea0fba 1646 }
cparata 0:69566eea0fba 1647
cparata 0:69566eea0fba 1648 /**
cparata 0:69566eea0fba 1649 * @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 2:f23b144da50a 1650 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1651 */
cparata 2:f23b144da50a 1652 int LSM6DSLSensor::Disable_6D_Orientation(void)
cparata 0:69566eea0fba 1653 {
cparata 0:69566eea0fba 1654 /* INT1_6D setting. */
cparata 0:69566eea0fba 1655 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1656 {
cparata 2:f23b144da50a 1657 return 1;
cparata 0:69566eea0fba 1658 }
cparata 0:69566eea0fba 1659
cparata 0:69566eea0fba 1660 /* Disable basic Interrupts */
cparata 0:69566eea0fba 1661 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1662 {
cparata 2:f23b144da50a 1663 return 1;
cparata 0:69566eea0fba 1664 }
cparata 0:69566eea0fba 1665
cparata 0:69566eea0fba 1666 /* Reset 6D threshold. */
cparata 0:69566eea0fba 1667 if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
cparata 0:69566eea0fba 1668 {
cparata 2:f23b144da50a 1669 return 1;
cparata 0:69566eea0fba 1670 }
cparata 0:69566eea0fba 1671
cparata 2:f23b144da50a 1672 return 0;
cparata 0:69566eea0fba 1673 }
cparata 0:69566eea0fba 1674
cparata 0:69566eea0fba 1675 /**
cparata 0:69566eea0fba 1676 * @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1677 * @param xl the pointer to the 6D orientation XL axis
cparata 2:f23b144da50a 1678 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1679 */
cparata 2:f23b144da50a 1680 int LSM6DSLSensor::Get_6D_Orientation_XL(uint8_t *xl)
cparata 0:69566eea0fba 1681 {
cparata 0:69566eea0fba 1682 LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
cparata 0:69566eea0fba 1683
cparata 0:69566eea0fba 1684 if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
cparata 0:69566eea0fba 1685 {
cparata 2:f23b144da50a 1686 return 1;
cparata 0:69566eea0fba 1687 }
cparata 0:69566eea0fba 1688
cparata 0:69566eea0fba 1689 switch( xl_raw )
cparata 0:69566eea0fba 1690 {
cparata 0:69566eea0fba 1691 case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
cparata 0:69566eea0fba 1692 *xl = 1;
cparata 0:69566eea0fba 1693 break;
cparata 0:69566eea0fba 1694 case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
cparata 0:69566eea0fba 1695 *xl = 0;
cparata 0:69566eea0fba 1696 break;
cparata 0:69566eea0fba 1697 default:
cparata 2:f23b144da50a 1698 return 1;
cparata 0:69566eea0fba 1699 }
cparata 0:69566eea0fba 1700
cparata 2:f23b144da50a 1701 return 0;
cparata 0:69566eea0fba 1702 }
cparata 0:69566eea0fba 1703
cparata 0:69566eea0fba 1704 /**
cparata 0:69566eea0fba 1705 * @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1706 * @param xh the pointer to the 6D orientation XH axis
cparata 2:f23b144da50a 1707 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1708 */
cparata 2:f23b144da50a 1709 int LSM6DSLSensor::Get_6D_Orientation_XH(uint8_t *xh)
cparata 0:69566eea0fba 1710 {
cparata 0:69566eea0fba 1711 LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
cparata 0:69566eea0fba 1712
cparata 0:69566eea0fba 1713 if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
cparata 0:69566eea0fba 1714 {
cparata 2:f23b144da50a 1715 return 1;
cparata 0:69566eea0fba 1716 }
cparata 0:69566eea0fba 1717
cparata 0:69566eea0fba 1718 switch( xh_raw )
cparata 0:69566eea0fba 1719 {
cparata 0:69566eea0fba 1720 case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
cparata 0:69566eea0fba 1721 *xh = 1;
cparata 0:69566eea0fba 1722 break;
cparata 0:69566eea0fba 1723 case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
cparata 0:69566eea0fba 1724 *xh = 0;
cparata 0:69566eea0fba 1725 break;
cparata 0:69566eea0fba 1726 default:
cparata 2:f23b144da50a 1727 return 1;
cparata 0:69566eea0fba 1728 }
cparata 0:69566eea0fba 1729
cparata 2:f23b144da50a 1730 return 0;
cparata 0:69566eea0fba 1731 }
cparata 0:69566eea0fba 1732
cparata 0:69566eea0fba 1733 /**
cparata 0:69566eea0fba 1734 * @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1735 * @param yl the pointer to the 6D orientation YL axis
cparata 2:f23b144da50a 1736 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1737 */
cparata 2:f23b144da50a 1738 int LSM6DSLSensor::Get_6D_Orientation_YL(uint8_t *yl)
cparata 0:69566eea0fba 1739 {
cparata 0:69566eea0fba 1740 LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
cparata 0:69566eea0fba 1741
cparata 0:69566eea0fba 1742 if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
cparata 0:69566eea0fba 1743 {
cparata 2:f23b144da50a 1744 return 1;
cparata 0:69566eea0fba 1745 }
cparata 0:69566eea0fba 1746
cparata 0:69566eea0fba 1747 switch( yl_raw )
cparata 0:69566eea0fba 1748 {
cparata 0:69566eea0fba 1749 case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
cparata 0:69566eea0fba 1750 *yl = 1;
cparata 0:69566eea0fba 1751 break;
cparata 0:69566eea0fba 1752 case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
cparata 0:69566eea0fba 1753 *yl = 0;
cparata 0:69566eea0fba 1754 break;
cparata 0:69566eea0fba 1755 default:
cparata 2:f23b144da50a 1756 return 1;
cparata 0:69566eea0fba 1757 }
cparata 0:69566eea0fba 1758
cparata 2:f23b144da50a 1759 return 0;
cparata 0:69566eea0fba 1760 }
cparata 0:69566eea0fba 1761
cparata 0:69566eea0fba 1762 /**
cparata 0:69566eea0fba 1763 * @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1764 * @param yh the pointer to the 6D orientation YH axis
cparata 2:f23b144da50a 1765 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1766 */
cparata 2:f23b144da50a 1767 int LSM6DSLSensor::Get_6D_Orientation_YH(uint8_t *yh)
cparata 0:69566eea0fba 1768 {
cparata 0:69566eea0fba 1769 LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
cparata 0:69566eea0fba 1770
cparata 0:69566eea0fba 1771 if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
cparata 0:69566eea0fba 1772 {
cparata 2:f23b144da50a 1773 return 1;
cparata 0:69566eea0fba 1774 }
cparata 0:69566eea0fba 1775
cparata 0:69566eea0fba 1776 switch( yh_raw )
cparata 0:69566eea0fba 1777 {
cparata 0:69566eea0fba 1778 case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
cparata 0:69566eea0fba 1779 *yh = 1;
cparata 0:69566eea0fba 1780 break;
cparata 0:69566eea0fba 1781 case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
cparata 0:69566eea0fba 1782 *yh = 0;
cparata 0:69566eea0fba 1783 break;
cparata 0:69566eea0fba 1784 default:
cparata 2:f23b144da50a 1785 return 1;
cparata 0:69566eea0fba 1786 }
cparata 0:69566eea0fba 1787
cparata 2:f23b144da50a 1788 return 0;
cparata 0:69566eea0fba 1789 }
cparata 0:69566eea0fba 1790
cparata 0:69566eea0fba 1791 /**
cparata 0:69566eea0fba 1792 * @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1793 * @param zl the pointer to the 6D orientation ZL axis
cparata 2:f23b144da50a 1794 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1795 */
cparata 2:f23b144da50a 1796 int LSM6DSLSensor::Get_6D_Orientation_ZL(uint8_t *zl)
cparata 0:69566eea0fba 1797 {
cparata 0:69566eea0fba 1798 LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
cparata 0:69566eea0fba 1799
cparata 0:69566eea0fba 1800 if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
cparata 0:69566eea0fba 1801 {
cparata 2:f23b144da50a 1802 return 1;
cparata 0:69566eea0fba 1803 }
cparata 0:69566eea0fba 1804
cparata 0:69566eea0fba 1805 switch( zl_raw )
cparata 0:69566eea0fba 1806 {
cparata 0:69566eea0fba 1807 case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
cparata 0:69566eea0fba 1808 *zl = 1;
cparata 0:69566eea0fba 1809 break;
cparata 0:69566eea0fba 1810 case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
cparata 0:69566eea0fba 1811 *zl = 0;
cparata 0:69566eea0fba 1812 break;
cparata 0:69566eea0fba 1813 default:
cparata 2:f23b144da50a 1814 return 1;
cparata 0:69566eea0fba 1815 }
cparata 0:69566eea0fba 1816
cparata 2:f23b144da50a 1817 return 0;
cparata 0:69566eea0fba 1818 }
cparata 0:69566eea0fba 1819
cparata 0:69566eea0fba 1820 /**
cparata 0:69566eea0fba 1821 * @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1822 * @param zh the pointer to the 6D orientation ZH axis
cparata 2:f23b144da50a 1823 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1824 */
cparata 2:f23b144da50a 1825 int LSM6DSLSensor::Get_6D_Orientation_ZH(uint8_t *zh)
cparata 0:69566eea0fba 1826 {
cparata 0:69566eea0fba 1827 LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
cparata 0:69566eea0fba 1828
cparata 0:69566eea0fba 1829 if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
cparata 0:69566eea0fba 1830 {
cparata 2:f23b144da50a 1831 return 1;
cparata 0:69566eea0fba 1832 }
cparata 0:69566eea0fba 1833
cparata 0:69566eea0fba 1834 switch( zh_raw )
cparata 0:69566eea0fba 1835 {
cparata 0:69566eea0fba 1836 case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
cparata 0:69566eea0fba 1837 *zh = 1;
cparata 0:69566eea0fba 1838 break;
cparata 0:69566eea0fba 1839 case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
cparata 0:69566eea0fba 1840 *zh = 0;
cparata 0:69566eea0fba 1841 break;
cparata 0:69566eea0fba 1842 default:
cparata 2:f23b144da50a 1843 return 1;
cparata 0:69566eea0fba 1844 }
cparata 0:69566eea0fba 1845
cparata 2:f23b144da50a 1846 return 0;
cparata 0:69566eea0fba 1847 }
cparata 0:69566eea0fba 1848
cparata 0:69566eea0fba 1849 /**
cparata 4:c295cb5fc9c7 1850 * @brief Get the status of all hardware events for LSM6DSL accelerometer sensor
cparata 4:c295cb5fc9c7 1851 * @param status the pointer to the status of all hardware events
cparata 4:c295cb5fc9c7 1852 * @retval 0 in case of success, an error code otherwise
cparata 4:c295cb5fc9c7 1853 */
cparata 4:c295cb5fc9c7 1854 int LSM6DSLSensor::Get_Event_Status(LSM6DSL_Event_Status_t *status)
cparata 4:c295cb5fc9c7 1855 {
cparata 5:61e1b61c7e7d 1856 uint8_t Wake_Up_Src = 0, Tap_Src = 0, D6D_Src = 0, Func_Src = 0, Md1_Cfg = 0, Md2_Cfg = 0, Int1_Ctrl = 0;
cparata 4:c295cb5fc9c7 1857
cparata 4:c295cb5fc9c7 1858 memset((void *)status, 0x0, sizeof(LSM6DSL_Event_Status_t));
cparata 4:c295cb5fc9c7 1859
cparata 4:c295cb5fc9c7 1860 if(ReadReg(LSM6DSL_ACC_GYRO_WAKE_UP_SRC, &Wake_Up_Src) != 0)
cparata 4:c295cb5fc9c7 1861 {
cparata 4:c295cb5fc9c7 1862 return 1;
cparata 4:c295cb5fc9c7 1863 }
cparata 4:c295cb5fc9c7 1864
cparata 4:c295cb5fc9c7 1865 if(ReadReg(LSM6DSL_ACC_GYRO_TAP_SRC, &Tap_Src) != 0)
cparata 4:c295cb5fc9c7 1866 {
cparata 4:c295cb5fc9c7 1867 return 1;
cparata 4:c295cb5fc9c7 1868 }
cparata 4:c295cb5fc9c7 1869
cparata 4:c295cb5fc9c7 1870 if(ReadReg(LSM6DSL_ACC_GYRO_D6D_SRC, &D6D_Src) != 0)
cparata 4:c295cb5fc9c7 1871 {
cparata 4:c295cb5fc9c7 1872 return 1;
cparata 4:c295cb5fc9c7 1873 }
cparata 4:c295cb5fc9c7 1874
cparata 4:c295cb5fc9c7 1875 if(ReadReg(LSM6DSL_ACC_GYRO_FUNC_SRC, &Func_Src) != 0)
cparata 4:c295cb5fc9c7 1876 {
cparata 4:c295cb5fc9c7 1877 return 1;
cparata 4:c295cb5fc9c7 1878 }
cparata 4:c295cb5fc9c7 1879
cparata 5:61e1b61c7e7d 1880 if(ReadReg(LSM6DSL_ACC_GYRO_MD1_CFG, &Md1_Cfg ) != 0 )
cparata 5:61e1b61c7e7d 1881 {
cparata 5:61e1b61c7e7d 1882 return 1;
cparata 5:61e1b61c7e7d 1883 }
cparata 5:61e1b61c7e7d 1884
cparata 5:61e1b61c7e7d 1885 if(ReadReg(LSM6DSL_ACC_GYRO_MD2_CFG, &Md2_Cfg ) != 0)
cparata 4:c295cb5fc9c7 1886 {
cparata 5:61e1b61c7e7d 1887 return 1;
cparata 5:61e1b61c7e7d 1888 }
cparata 5:61e1b61c7e7d 1889
cparata 5:61e1b61c7e7d 1890 if(ReadReg(LSM6DSL_ACC_GYRO_INT1_CTRL, &Int1_Ctrl ) != 0)
cparata 5:61e1b61c7e7d 1891 {
cparata 5:61e1b61c7e7d 1892 return 1;
cparata 4:c295cb5fc9c7 1893 }
cparata 4:c295cb5fc9c7 1894
cparata 5:61e1b61c7e7d 1895 if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_FF_MASK)
cparata 4:c295cb5fc9c7 1896 {
cparata 5:61e1b61c7e7d 1897 if((Wake_Up_Src & LSM6DSL_ACC_GYRO_FF_EV_STATUS_MASK))
cparata 5:61e1b61c7e7d 1898 {
cparata 5:61e1b61c7e7d 1899 status->FreeFallStatus = 1;
cparata 5:61e1b61c7e7d 1900 }
cparata 4:c295cb5fc9c7 1901 }
cparata 4:c295cb5fc9c7 1902
cparata 5:61e1b61c7e7d 1903 if(Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_WU_MASK)
cparata 4:c295cb5fc9c7 1904 {
cparata 5:61e1b61c7e7d 1905 if((Wake_Up_Src & LSM6DSL_ACC_GYRO_WU_EV_STATUS_MASK))
cparata 5:61e1b61c7e7d 1906 {
cparata 5:61e1b61c7e7d 1907 status->WakeUpStatus = 1;
cparata 5:61e1b61c7e7d 1908 }
cparata 4:c295cb5fc9c7 1909 }
cparata 4:c295cb5fc9c7 1910
cparata 5:61e1b61c7e7d 1911 if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_MASK)
cparata 4:c295cb5fc9c7 1912 {
cparata 5:61e1b61c7e7d 1913 if((Tap_Src & LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_MASK))
cparata 5:61e1b61c7e7d 1914 {
cparata 5:61e1b61c7e7d 1915 status->TapStatus = 1;
cparata 5:61e1b61c7e7d 1916 }
cparata 5:61e1b61c7e7d 1917 }
cparata 5:61e1b61c7e7d 1918
cparata 5:61e1b61c7e7d 1919 if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TAP_MASK)
cparata 5:61e1b61c7e7d 1920 {
cparata 5:61e1b61c7e7d 1921 if((Tap_Src & LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_MASK))
cparata 5:61e1b61c7e7d 1922 {
cparata 5:61e1b61c7e7d 1923 status->DoubleTapStatus = 1;
cparata 5:61e1b61c7e7d 1924 }
cparata 4:c295cb5fc9c7 1925 }
cparata 4:c295cb5fc9c7 1926
cparata 5:61e1b61c7e7d 1927 if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_6D_MASK)
cparata 4:c295cb5fc9c7 1928 {
cparata 5:61e1b61c7e7d 1929 if((D6D_Src & LSM6DSL_ACC_GYRO_D6D_EV_STATUS_MASK))
cparata 5:61e1b61c7e7d 1930 {
cparata 5:61e1b61c7e7d 1931 status->D6DOrientationStatus = 1;
cparata 5:61e1b61c7e7d 1932 }
cparata 4:c295cb5fc9c7 1933 }
cparata 4:c295cb5fc9c7 1934
cparata 5:61e1b61c7e7d 1935 if(Int1_Ctrl & LSM6DSL_ACC_GYRO_INT1_PEDO_MASK)
cparata 4:c295cb5fc9c7 1936 {
cparata 5:61e1b61c7e7d 1937 if((Func_Src & LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_MASK))
cparata 5:61e1b61c7e7d 1938 {
cparata 5:61e1b61c7e7d 1939 status->StepStatus = 1;
cparata 5:61e1b61c7e7d 1940 }
cparata 4:c295cb5fc9c7 1941 }
cparata 4:c295cb5fc9c7 1942
cparata 5:61e1b61c7e7d 1943 if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TILT_MASK)
cparata 4:c295cb5fc9c7 1944 {
cparata 5:61e1b61c7e7d 1945 if((Func_Src & LSM6DSL_ACC_GYRO_TILT_EV_STATUS_MASK))
cparata 5:61e1b61c7e7d 1946 {
cparata 5:61e1b61c7e7d 1947 status->TiltStatus = 1;
cparata 5:61e1b61c7e7d 1948 }
cparata 4:c295cb5fc9c7 1949 }
cparata 4:c295cb5fc9c7 1950
cparata 4:c295cb5fc9c7 1951 return 0;
cparata 4:c295cb5fc9c7 1952 }
cparata 4:c295cb5fc9c7 1953
cparata 4:c295cb5fc9c7 1954 /**
cparata 0:69566eea0fba 1955 * @brief Read the data from register
cparata 0:69566eea0fba 1956 * @param reg register address
cparata 0:69566eea0fba 1957 * @param data register data
cparata 4:c295cb5fc9c7 1958 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1959 */
cparata 2:f23b144da50a 1960 int LSM6DSLSensor::ReadReg( uint8_t reg, uint8_t *data )
cparata 0:69566eea0fba 1961 {
cparata 0:69566eea0fba 1962
cparata 0:69566eea0fba 1963 if ( LSM6DSL_ACC_GYRO_ReadReg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
cparata 0:69566eea0fba 1964 {
cparata 2:f23b144da50a 1965 return 1;
cparata 0:69566eea0fba 1966 }
cparata 0:69566eea0fba 1967
cparata 2:f23b144da50a 1968 return 0;
cparata 0:69566eea0fba 1969 }
cparata 0:69566eea0fba 1970
cparata 0:69566eea0fba 1971 /**
cparata 0:69566eea0fba 1972 * @brief Write the data to register
cparata 0:69566eea0fba 1973 * @param reg register address
cparata 0:69566eea0fba 1974 * @param data register data
cparata 4:c295cb5fc9c7 1975 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1976 */
cparata 2:f23b144da50a 1977 int LSM6DSLSensor::WriteReg( uint8_t reg, uint8_t data )
cparata 0:69566eea0fba 1978 {
cparata 0:69566eea0fba 1979
cparata 0:69566eea0fba 1980 if ( LSM6DSL_ACC_GYRO_WriteReg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
cparata 0:69566eea0fba 1981 {
cparata 2:f23b144da50a 1982 return 1;
cparata 0:69566eea0fba 1983 }
cparata 0:69566eea0fba 1984
cparata 2:f23b144da50a 1985 return 0;
cparata 0:69566eea0fba 1986 }
cparata 0:69566eea0fba 1987
cparata 0:69566eea0fba 1988
cparata 0:69566eea0fba 1989 uint8_t LSM6DSL_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
cparata 0:69566eea0fba 1990 {
cparata 0:69566eea0fba 1991 return ((LSM6DSLSensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata 0:69566eea0fba 1992 }
cparata 0:69566eea0fba 1993
cparata 0:69566eea0fba 1994 uint8_t LSM6DSL_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
cparata 0:69566eea0fba 1995 {
cparata 0:69566eea0fba 1996 return ((LSM6DSLSensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata 0:69566eea0fba 1997 }