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@2:f23b144da50a, 2016-08-19 (annotated)

Committer:
cparata
Date:
Fri Aug 19 12:13:37 2016 +0000
Revision:
2:f23b144da50a
Parent:
0:69566eea0fba
Child:
4:c295cb5fc9c7
Add interfaces for all components

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 0:69566eea0fba 1 /**
cparata 0:69566eea0fba 2 ******************************************************************************
cparata 0:69566eea0fba 3 * @file LSM6DSLSensor.cpp
cparata 0:69566eea0fba 4 * @author AST
cparata 0:69566eea0fba 5 * @version V1.0.0
cparata 0:69566eea0fba 6 * @date 5 August 2016
cparata 0:69566eea0fba 7 * @brief Implementation of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
cparata 0:69566eea0fba 8 * sensor.
cparata 0:69566eea0fba 9 ******************************************************************************
cparata 0:69566eea0fba 10 * @attention
cparata 0:69566eea0fba 11 *
cparata 0:69566eea0fba 12 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 0:69566eea0fba 13 *
cparata 0:69566eea0fba 14 * Redistribution and use in source and binary forms, with or without modification,
cparata 0:69566eea0fba 15 * are permitted provided that the following conditions are met:
cparata 0:69566eea0fba 16 * 1. Redistributions of source code must retain the above copyright notice,
cparata 0:69566eea0fba 17 * this list of conditions and the following disclaimer.
cparata 0:69566eea0fba 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 0:69566eea0fba 19 * this list of conditions and the following disclaimer in the documentation
cparata 0:69566eea0fba 20 * and/or other materials provided with the distribution.
cparata 0:69566eea0fba 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 0:69566eea0fba 22 * may be used to endorse or promote products derived from this software
cparata 0:69566eea0fba 23 * without specific prior written permission.
cparata 0:69566eea0fba 24 *
cparata 0:69566eea0fba 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 0:69566eea0fba 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 0:69566eea0fba 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 0:69566eea0fba 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 0:69566eea0fba 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 0:69566eea0fba 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 0:69566eea0fba 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 0:69566eea0fba 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 0:69566eea0fba 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 0:69566eea0fba 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 0:69566eea0fba 35 *
cparata 0:69566eea0fba 36 ******************************************************************************
cparata 0:69566eea0fba 37 */
cparata 0:69566eea0fba 38
cparata 0:69566eea0fba 39
cparata 0:69566eea0fba 40 /* Includes ------------------------------------------------------------------*/
cparata 0:69566eea0fba 41
cparata 0:69566eea0fba 42 #include "mbed.h"
cparata 0:69566eea0fba 43 #include "DevI2C.h"
cparata 0:69566eea0fba 44 #include "LSM6DSLSensor.h"
cparata 0:69566eea0fba 45 #include "LSM6DSL_ACC_GYRO_driver.h"
cparata 0:69566eea0fba 46
cparata 0:69566eea0fba 47
cparata 0:69566eea0fba 48 /* Class Implementation ------------------------------------------------------*/
cparata 0:69566eea0fba 49
cparata 0:69566eea0fba 50 /** Constructor
cparata 0:69566eea0fba 51 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:69566eea0fba 52 * @param address the address of the component's instance
cparata 0:69566eea0fba 53 */
cparata 0:69566eea0fba 54 LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c) : dev_i2c(i2c)
cparata 0:69566eea0fba 55 {
cparata 0:69566eea0fba 56 address = LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH;
cparata 0:69566eea0fba 57 };
cparata 0:69566eea0fba 58
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 0:69566eea0fba 63 LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), 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 Get status of free fall detection
cparata 0:69566eea0fba 957 * @param status the pointer where the status of free fall detection is stored; 0 means no detection, 1 means detection happened
cparata 2:f23b144da50a 958 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 959 */
cparata 2:f23b144da50a 960 int LSM6DSLSensor::Get_Status_Free_Fall_Detection(uint8_t *status)
cparata 0:69566eea0fba 961 {
cparata 0:69566eea0fba 962 LSM6DSL_ACC_GYRO_FF_EV_STATUS_t free_fall_status;
cparata 0:69566eea0fba 963
cparata 0:69566eea0fba 964 if ( LSM6DSL_ACC_GYRO_R_FF_EV_STATUS( (void *)this, &free_fall_status ) == MEMS_ERROR )
cparata 0:69566eea0fba 965 {
cparata 2:f23b144da50a 966 return 1;
cparata 0:69566eea0fba 967 }
cparata 0:69566eea0fba 968
cparata 0:69566eea0fba 969 switch( free_fall_status )
cparata 0:69566eea0fba 970 {
cparata 0:69566eea0fba 971 case LSM6DSL_ACC_GYRO_FF_EV_STATUS_DETECTED:
cparata 0:69566eea0fba 972 *status = 1;
cparata 0:69566eea0fba 973 break;
cparata 0:69566eea0fba 974 case LSM6DSL_ACC_GYRO_FF_EV_STATUS_NOT_DETECTED:
cparata 0:69566eea0fba 975 *status = 0;
cparata 0:69566eea0fba 976 break;
cparata 0:69566eea0fba 977 default:
cparata 2:f23b144da50a 978 return 1;
cparata 0:69566eea0fba 979 }
cparata 0:69566eea0fba 980
cparata 2:f23b144da50a 981 return 0;
cparata 0:69566eea0fba 982 }
cparata 0:69566eea0fba 983
cparata 0:69566eea0fba 984 /**
cparata 0:69566eea0fba 985 * @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 986 * @param thr the threshold to be set
cparata 2:f23b144da50a 987 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 988 */
cparata 2:f23b144da50a 989 int LSM6DSLSensor::Set_Free_Fall_Threshold(uint8_t thr)
cparata 0:69566eea0fba 990 {
cparata 0:69566eea0fba 991
cparata 0:69566eea0fba 992 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR )
cparata 0:69566eea0fba 993 {
cparata 2:f23b144da50a 994 return 1;
cparata 0:69566eea0fba 995 }
cparata 0:69566eea0fba 996
cparata 2:f23b144da50a 997 return 0;
cparata 0:69566eea0fba 998 }
cparata 0:69566eea0fba 999
cparata 0:69566eea0fba 1000 /**
cparata 0:69566eea0fba 1001 * @brief Enable the pedometer feature for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1002 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:f23b144da50a 1003 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1004 */
cparata 2:f23b144da50a 1005 int LSM6DSLSensor::Enable_Pedometer(void)
cparata 0:69566eea0fba 1006 {
cparata 0:69566eea0fba 1007 /* Output Data Rate selection */
cparata 2:f23b144da50a 1008 if( Set_X_ODR(26.0f) == 1 )
cparata 0:69566eea0fba 1009 {
cparata 2:f23b144da50a 1010 return 1;
cparata 0:69566eea0fba 1011 }
cparata 0:69566eea0fba 1012
cparata 0:69566eea0fba 1013 /* Full scale selection. */
cparata 2:f23b144da50a 1014 if( Set_X_FS(2.0f) == 1 )
cparata 0:69566eea0fba 1015 {
cparata 2:f23b144da50a 1016 return 1;
cparata 0:69566eea0fba 1017 }
cparata 0:69566eea0fba 1018
cparata 0:69566eea0fba 1019 /* Set pedometer threshold. */
cparata 2:f23b144da50a 1020 if ( Set_Pedometer_Threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == 1 )
cparata 0:69566eea0fba 1021 {
cparata 2:f23b144da50a 1022 return 1;
cparata 0:69566eea0fba 1023 }
cparata 0:69566eea0fba 1024
cparata 0:69566eea0fba 1025 /* Enable embedded functionalities. */
cparata 0:69566eea0fba 1026 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1027 {
cparata 2:f23b144da50a 1028 return 1;
cparata 0:69566eea0fba 1029 }
cparata 0:69566eea0fba 1030
cparata 0:69566eea0fba 1031 /* Enable pedometer algorithm. */
cparata 0:69566eea0fba 1032 if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1033 {
cparata 2:f23b144da50a 1034 return 1;
cparata 0:69566eea0fba 1035 }
cparata 0:69566eea0fba 1036
cparata 0:69566eea0fba 1037 /* Enable pedometer on INT1. */
cparata 0:69566eea0fba 1038 if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1039 {
cparata 2:f23b144da50a 1040 return 1;
cparata 0:69566eea0fba 1041 }
cparata 0:69566eea0fba 1042
cparata 2:f23b144da50a 1043 return 0;
cparata 0:69566eea0fba 1044 }
cparata 0:69566eea0fba 1045
cparata 0:69566eea0fba 1046 /**
cparata 0:69566eea0fba 1047 * @brief Disable the pedometer feature for LSM6DSL accelerometer sensor
cparata 2:f23b144da50a 1048 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1049 */
cparata 2:f23b144da50a 1050 int LSM6DSLSensor::Disable_Pedometer(void)
cparata 0:69566eea0fba 1051 {
cparata 0:69566eea0fba 1052 /* Disable pedometer on INT1. */
cparata 0:69566eea0fba 1053 if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1054 {
cparata 2:f23b144da50a 1055 return 1;
cparata 0:69566eea0fba 1056 }
cparata 0:69566eea0fba 1057
cparata 0:69566eea0fba 1058 /* Disable pedometer algorithm. */
cparata 0:69566eea0fba 1059 if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1060 {
cparata 2:f23b144da50a 1061 return 1;
cparata 0:69566eea0fba 1062 }
cparata 0:69566eea0fba 1063
cparata 0:69566eea0fba 1064 /* Disable embedded functionalities. */
cparata 0:69566eea0fba 1065 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1066 {
cparata 2:f23b144da50a 1067 return 1;
cparata 0:69566eea0fba 1068 }
cparata 0:69566eea0fba 1069
cparata 0:69566eea0fba 1070 /* Reset pedometer threshold. */
cparata 2:f23b144da50a 1071 if ( Set_Pedometer_Threshold(0x0) == 1 )
cparata 0:69566eea0fba 1072 {
cparata 2:f23b144da50a 1073 return 1;
cparata 0:69566eea0fba 1074 }
cparata 0:69566eea0fba 1075
cparata 2:f23b144da50a 1076 return 0;
cparata 0:69566eea0fba 1077 }
cparata 0:69566eea0fba 1078
cparata 0:69566eea0fba 1079 /**
cparata 0:69566eea0fba 1080 * @brief Get the pedometer status for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1081 * @param status the pointer to the pedometer status: 0 means no step detected, 1 means step detected
cparata 2:f23b144da50a 1082 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1083 */
cparata 2:f23b144da50a 1084 int LSM6DSLSensor::Get_Status_Pedometer(uint8_t *status)
cparata 0:69566eea0fba 1085 {
cparata 0:69566eea0fba 1086 LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_t pedometer_status;
cparata 0:69566eea0fba 1087
cparata 0:69566eea0fba 1088 if ( LSM6DSL_ACC_GYRO_R_PEDO_EV_STATUS( (void *)this, &pedometer_status ) == MEMS_ERROR )
cparata 0:69566eea0fba 1089 {
cparata 2:f23b144da50a 1090 return 1;
cparata 0:69566eea0fba 1091 }
cparata 0:69566eea0fba 1092
cparata 0:69566eea0fba 1093 switch( pedometer_status )
cparata 0:69566eea0fba 1094 {
cparata 0:69566eea0fba 1095 case LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_DETECTED:
cparata 0:69566eea0fba 1096 *status = 1;
cparata 0:69566eea0fba 1097 break;
cparata 0:69566eea0fba 1098 case LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_NOT_DETECTED:
cparata 0:69566eea0fba 1099 *status = 0;
cparata 0:69566eea0fba 1100 break;
cparata 0:69566eea0fba 1101 default:
cparata 2:f23b144da50a 1102 return 1;
cparata 0:69566eea0fba 1103 }
cparata 0:69566eea0fba 1104
cparata 2:f23b144da50a 1105 return 0;
cparata 0:69566eea0fba 1106 }
cparata 0:69566eea0fba 1107
cparata 0:69566eea0fba 1108 /**
cparata 0:69566eea0fba 1109 * @brief Get the step counter for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1110 * @param step_count the pointer to the step counter
cparata 2:f23b144da50a 1111 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1112 */
cparata 2:f23b144da50a 1113 int LSM6DSLSensor::Get_Step_Counter(uint16_t *step_count)
cparata 0:69566eea0fba 1114 {
cparata 0:69566eea0fba 1115 if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void *)this, ( uint8_t* )step_count ) == MEMS_ERROR )
cparata 0:69566eea0fba 1116 {
cparata 2:f23b144da50a 1117 return 1;
cparata 0:69566eea0fba 1118 }
cparata 0:69566eea0fba 1119
cparata 2:f23b144da50a 1120 return 0;
cparata 0:69566eea0fba 1121 }
cparata 0:69566eea0fba 1122
cparata 0:69566eea0fba 1123 /**
cparata 0:69566eea0fba 1124 * @brief Reset of the step counter for LSM6DSL accelerometer sensor
cparata 2:f23b144da50a 1125 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1126 */
cparata 2:f23b144da50a 1127 int LSM6DSLSensor::Reset_Step_Counter(void)
cparata 0:69566eea0fba 1128 {
cparata 0:69566eea0fba 1129 if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1130 {
cparata 2:f23b144da50a 1131 return 1;
cparata 0:69566eea0fba 1132 }
cparata 0:69566eea0fba 1133
cparata 0:69566eea0fba 1134 wait_ms(10);
cparata 0:69566eea0fba 1135
cparata 0:69566eea0fba 1136 if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1137 {
cparata 2:f23b144da50a 1138 return 1;
cparata 0:69566eea0fba 1139 }
cparata 0:69566eea0fba 1140
cparata 2:f23b144da50a 1141 return 0;
cparata 0:69566eea0fba 1142 }
cparata 0:69566eea0fba 1143
cparata 0:69566eea0fba 1144 /**
cparata 0:69566eea0fba 1145 * @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1146 * @param thr the threshold to be set
cparata 2:f23b144da50a 1147 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1148 */
cparata 2:f23b144da50a 1149 int LSM6DSLSensor::Set_Pedometer_Threshold(uint8_t thr)
cparata 0:69566eea0fba 1150 {
cparata 0:69566eea0fba 1151 if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
cparata 0:69566eea0fba 1152 {
cparata 2:f23b144da50a 1153 return 1;
cparata 0:69566eea0fba 1154 }
cparata 0:69566eea0fba 1155
cparata 2:f23b144da50a 1156 return 0;
cparata 0:69566eea0fba 1157 }
cparata 0:69566eea0fba 1158
cparata 0:69566eea0fba 1159 /**
cparata 0:69566eea0fba 1160 * @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1161 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:f23b144da50a 1162 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1163 */
cparata 2:f23b144da50a 1164 int LSM6DSLSensor::Enable_Tilt_Detection(void)
cparata 0:69566eea0fba 1165 {
cparata 0:69566eea0fba 1166 /* Output Data Rate selection */
cparata 2:f23b144da50a 1167 if( Set_X_ODR(26.0f) == 1 )
cparata 0:69566eea0fba 1168 {
cparata 2:f23b144da50a 1169 return 1;
cparata 0:69566eea0fba 1170 }
cparata 0:69566eea0fba 1171
cparata 0:69566eea0fba 1172 /* Full scale selection. */
cparata 2:f23b144da50a 1173 if( Set_X_FS(2.0f) == 1 )
cparata 0:69566eea0fba 1174 {
cparata 2:f23b144da50a 1175 return 1;
cparata 0:69566eea0fba 1176 }
cparata 0:69566eea0fba 1177
cparata 0:69566eea0fba 1178 /* Enable embedded functionalities */
cparata 0:69566eea0fba 1179 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1180 {
cparata 2:f23b144da50a 1181 return 1;
cparata 0:69566eea0fba 1182 }
cparata 0:69566eea0fba 1183
cparata 0:69566eea0fba 1184 /* Enable tilt calculation. */
cparata 0:69566eea0fba 1185 if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1186 {
cparata 2:f23b144da50a 1187 return 1;
cparata 0:69566eea0fba 1188 }
cparata 0:69566eea0fba 1189
cparata 0:69566eea0fba 1190 /* Enable tilt event on INT1. */
cparata 0:69566eea0fba 1191 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1192 {
cparata 2:f23b144da50a 1193 return 1;
cparata 0:69566eea0fba 1194 }
cparata 0:69566eea0fba 1195
cparata 2:f23b144da50a 1196 return 0;
cparata 0:69566eea0fba 1197 }
cparata 0:69566eea0fba 1198
cparata 0:69566eea0fba 1199 /**
cparata 0:69566eea0fba 1200 * @brief Disable the tilt detection for LSM6DSL accelerometer sensor
cparata 2:f23b144da50a 1201 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1202 */
cparata 2:f23b144da50a 1203 int LSM6DSLSensor::Disable_Tilt_Detection(void)
cparata 0:69566eea0fba 1204 {
cparata 0:69566eea0fba 1205 /* Disable tilt event on INT1. */
cparata 0:69566eea0fba 1206 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1207 {
cparata 2:f23b144da50a 1208 return 1;
cparata 0:69566eea0fba 1209 }
cparata 0:69566eea0fba 1210
cparata 0:69566eea0fba 1211 /* Disable tilt calculation. */
cparata 0:69566eea0fba 1212 if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1213 {
cparata 2:f23b144da50a 1214 return 1;
cparata 0:69566eea0fba 1215 }
cparata 0:69566eea0fba 1216
cparata 0:69566eea0fba 1217 /* Disable embedded functionalities */
cparata 0:69566eea0fba 1218 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1219 {
cparata 2:f23b144da50a 1220 return 1;
cparata 0:69566eea0fba 1221 }
cparata 0:69566eea0fba 1222
cparata 2:f23b144da50a 1223 return 0;
cparata 0:69566eea0fba 1224 }
cparata 0:69566eea0fba 1225
cparata 0:69566eea0fba 1226 /**
cparata 0:69566eea0fba 1227 * @brief Get the tilt detection status for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1228 * @param status the pointer to the tilt detection status: 0 means no tilt detected, 1 means tilt detected
cparata 2:f23b144da50a 1229 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1230 */
cparata 2:f23b144da50a 1231 int LSM6DSLSensor::Get_Status_Tilt_Detection(uint8_t *status)
cparata 0:69566eea0fba 1232 {
cparata 0:69566eea0fba 1233 LSM6DSL_ACC_GYRO_TILT_EV_STATUS_t tilt_status;
cparata 0:69566eea0fba 1234
cparata 0:69566eea0fba 1235 if ( LSM6DSL_ACC_GYRO_R_TILT_EV_STATUS( (void *)this, &tilt_status ) == MEMS_ERROR )
cparata 0:69566eea0fba 1236 {
cparata 2:f23b144da50a 1237 return 1;
cparata 0:69566eea0fba 1238 }
cparata 0:69566eea0fba 1239
cparata 0:69566eea0fba 1240 switch( tilt_status )
cparata 0:69566eea0fba 1241 {
cparata 0:69566eea0fba 1242 case LSM6DSL_ACC_GYRO_TILT_EV_STATUS_DETECTED:
cparata 0:69566eea0fba 1243 *status = 1;
cparata 0:69566eea0fba 1244 break;
cparata 0:69566eea0fba 1245 case LSM6DSL_ACC_GYRO_TILT_EV_STATUS_NOT_DETECTED:
cparata 0:69566eea0fba 1246 *status = 0;
cparata 0:69566eea0fba 1247 break;
cparata 0:69566eea0fba 1248 default:
cparata 2:f23b144da50a 1249 return 1;
cparata 0:69566eea0fba 1250 }
cparata 0:69566eea0fba 1251
cparata 2:f23b144da50a 1252 return 0;
cparata 0:69566eea0fba 1253 }
cparata 0:69566eea0fba 1254
cparata 0:69566eea0fba 1255 /**
cparata 0:69566eea0fba 1256 * @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1257 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:f23b144da50a 1258 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1259 */
cparata 2:f23b144da50a 1260 int LSM6DSLSensor::Enable_Wake_Up_Detection(void)
cparata 0:69566eea0fba 1261 {
cparata 0:69566eea0fba 1262 /* Output Data Rate selection */
cparata 2:f23b144da50a 1263 if( Set_X_ODR(416.0f) == 1 )
cparata 0:69566eea0fba 1264 {
cparata 2:f23b144da50a 1265 return 1;
cparata 0:69566eea0fba 1266 }
cparata 0:69566eea0fba 1267
cparata 0:69566eea0fba 1268 /* Full scale selection. */
cparata 2:f23b144da50a 1269 if( Set_X_FS(2.0f) == 1 )
cparata 0:69566eea0fba 1270 {
cparata 2:f23b144da50a 1271 return 1;
cparata 0:69566eea0fba 1272 }
cparata 0:69566eea0fba 1273
cparata 0:69566eea0fba 1274 /* WAKE_DUR setting */
cparata 0:69566eea0fba 1275 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:69566eea0fba 1276 {
cparata 2:f23b144da50a 1277 return 1;
cparata 0:69566eea0fba 1278 }
cparata 0:69566eea0fba 1279
cparata 0:69566eea0fba 1280 /* Set wake up threshold. */
cparata 0:69566eea0fba 1281 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
cparata 0:69566eea0fba 1282 {
cparata 2:f23b144da50a 1283 return 1;
cparata 0:69566eea0fba 1284 }
cparata 0:69566eea0fba 1285
cparata 0:69566eea0fba 1286 /* Enable basic Interrupts */
cparata 0:69566eea0fba 1287 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1288 {
cparata 2:f23b144da50a 1289 return 1;
cparata 0:69566eea0fba 1290 }
cparata 0:69566eea0fba 1291
cparata 0:69566eea0fba 1292 /* INT1_WU setting */
cparata 0:69566eea0fba 1293 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1294 {
cparata 2:f23b144da50a 1295 return 1;
cparata 0:69566eea0fba 1296 }
cparata 0:69566eea0fba 1297
cparata 2:f23b144da50a 1298 return 0;
cparata 0:69566eea0fba 1299 }
cparata 0:69566eea0fba 1300
cparata 0:69566eea0fba 1301 /**
cparata 0:69566eea0fba 1302 * @brief Disable the wake up detection for LSM6DSL accelerometer sensor
cparata 2:f23b144da50a 1303 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1304 */
cparata 2:f23b144da50a 1305 int LSM6DSLSensor::Disable_Wake_Up_Detection(void)
cparata 0:69566eea0fba 1306 {
cparata 0:69566eea0fba 1307 /* INT1_WU setting */
cparata 0:69566eea0fba 1308 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1309 {
cparata 2:f23b144da50a 1310 return 1;
cparata 0:69566eea0fba 1311 }
cparata 0:69566eea0fba 1312
cparata 0:69566eea0fba 1313 /* Disable basic Interrupts */
cparata 0:69566eea0fba 1314 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1315 {
cparata 2:f23b144da50a 1316 return 1;
cparata 0:69566eea0fba 1317 }
cparata 0:69566eea0fba 1318
cparata 0:69566eea0fba 1319 /* WU_DUR setting */
cparata 0:69566eea0fba 1320 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:69566eea0fba 1321 {
cparata 2:f23b144da50a 1322 return 1;
cparata 0:69566eea0fba 1323 }
cparata 0:69566eea0fba 1324
cparata 0:69566eea0fba 1325 /* WU_THS setting */
cparata 0:69566eea0fba 1326 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:69566eea0fba 1327 {
cparata 2:f23b144da50a 1328 return 1;
cparata 0:69566eea0fba 1329 }
cparata 0:69566eea0fba 1330
cparata 2:f23b144da50a 1331 return 0;
cparata 0:69566eea0fba 1332 }
cparata 0:69566eea0fba 1333
cparata 0:69566eea0fba 1334 /**
cparata 0:69566eea0fba 1335 * @brief Get the status of the wake up detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1336 * @param status the pointer to the status of the wake up detection: 0 means no detection, 1 means detection happened
cparata 2:f23b144da50a 1337 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1338 */
cparata 2:f23b144da50a 1339 int LSM6DSLSensor::Get_Status_Wake_Up_Detection(uint8_t *status)
cparata 0:69566eea0fba 1340 {
cparata 0:69566eea0fba 1341 LSM6DSL_ACC_GYRO_WU_EV_STATUS_t wake_up_status;
cparata 0:69566eea0fba 1342
cparata 0:69566eea0fba 1343 if ( LSM6DSL_ACC_GYRO_R_WU_EV_STATUS( (void *)this, &wake_up_status ) == MEMS_ERROR )
cparata 0:69566eea0fba 1344 {
cparata 2:f23b144da50a 1345 return 1;
cparata 0:69566eea0fba 1346 }
cparata 0:69566eea0fba 1347
cparata 0:69566eea0fba 1348 switch( wake_up_status )
cparata 0:69566eea0fba 1349 {
cparata 0:69566eea0fba 1350 case LSM6DSL_ACC_GYRO_WU_EV_STATUS_DETECTED:
cparata 0:69566eea0fba 1351 *status = 1;
cparata 0:69566eea0fba 1352 break;
cparata 0:69566eea0fba 1353 case LSM6DSL_ACC_GYRO_WU_EV_STATUS_NOT_DETECTED:
cparata 0:69566eea0fba 1354 *status = 0;
cparata 0:69566eea0fba 1355 break;
cparata 0:69566eea0fba 1356 default:
cparata 2:f23b144da50a 1357 return 1;
cparata 0:69566eea0fba 1358 }
cparata 0:69566eea0fba 1359
cparata 2:f23b144da50a 1360 return 0;
cparata 0:69566eea0fba 1361 }
cparata 0:69566eea0fba 1362
cparata 0:69566eea0fba 1363 /**
cparata 0:69566eea0fba 1364 * @brief Set the wake up threshold for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1365 * @param thr the threshold to be set
cparata 2:f23b144da50a 1366 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1367 */
cparata 2:f23b144da50a 1368 int LSM6DSLSensor::Set_Wake_Up_Threshold(uint8_t thr)
cparata 0:69566eea0fba 1369 {
cparata 0:69566eea0fba 1370 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
cparata 0:69566eea0fba 1371 {
cparata 2:f23b144da50a 1372 return 1;
cparata 0:69566eea0fba 1373 }
cparata 0:69566eea0fba 1374
cparata 2:f23b144da50a 1375 return 0;
cparata 0:69566eea0fba 1376 }
cparata 0:69566eea0fba 1377
cparata 0:69566eea0fba 1378 /**
cparata 0:69566eea0fba 1379 * @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1380 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:f23b144da50a 1381 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1382 */
cparata 2:f23b144da50a 1383 int LSM6DSLSensor::Enable_Single_Tap_Detection(void)
cparata 0:69566eea0fba 1384 {
cparata 0:69566eea0fba 1385 /* Output Data Rate selection */
cparata 2:f23b144da50a 1386 if( Set_X_ODR(416.0f) == 1 )
cparata 0:69566eea0fba 1387 {
cparata 2:f23b144da50a 1388 return 1;
cparata 0:69566eea0fba 1389 }
cparata 0:69566eea0fba 1390
cparata 0:69566eea0fba 1391 /* Full scale selection. */
cparata 2:f23b144da50a 1392 if( Set_X_FS(2.0f) == 1 )
cparata 0:69566eea0fba 1393 {
cparata 2:f23b144da50a 1394 return 1;
cparata 0:69566eea0fba 1395 }
cparata 0:69566eea0fba 1396
cparata 0:69566eea0fba 1397 /* Enable X direction in tap recognition. */
cparata 0:69566eea0fba 1398 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1399 {
cparata 2:f23b144da50a 1400 return 1;
cparata 0:69566eea0fba 1401 }
cparata 0:69566eea0fba 1402
cparata 0:69566eea0fba 1403 /* Enable Y direction in tap recognition. */
cparata 0:69566eea0fba 1404 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1405 {
cparata 2:f23b144da50a 1406 return 1;
cparata 0:69566eea0fba 1407 }
cparata 0:69566eea0fba 1408
cparata 0:69566eea0fba 1409 /* Enable Z direction in tap recognition. */
cparata 0:69566eea0fba 1410 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1411 {
cparata 2:f23b144da50a 1412 return 1;
cparata 0:69566eea0fba 1413 }
cparata 0:69566eea0fba 1414
cparata 0:69566eea0fba 1415 /* Set tap threshold. */
cparata 2:f23b144da50a 1416 if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata 0:69566eea0fba 1417 {
cparata 2:f23b144da50a 1418 return 1;
cparata 0:69566eea0fba 1419 }
cparata 0:69566eea0fba 1420
cparata 0:69566eea0fba 1421 /* Set tap shock time window. */
cparata 2:f23b144da50a 1422 if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == 1 )
cparata 0:69566eea0fba 1423 {
cparata 2:f23b144da50a 1424 return 1;
cparata 0:69566eea0fba 1425 }
cparata 0:69566eea0fba 1426
cparata 0:69566eea0fba 1427 /* Set tap quiet time window. */
cparata 2:f23b144da50a 1428 if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == 1 )
cparata 0:69566eea0fba 1429 {
cparata 2:f23b144da50a 1430 return 1;
cparata 0:69566eea0fba 1431 }
cparata 0:69566eea0fba 1432
cparata 0:69566eea0fba 1433 /* _NOTE_: Tap duration time window - don't care for single tap. */
cparata 0:69566eea0fba 1434
cparata 0:69566eea0fba 1435 /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata 0:69566eea0fba 1436
cparata 0:69566eea0fba 1437 /* Enable basic Interrupts */
cparata 0:69566eea0fba 1438 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1439 {
cparata 2:f23b144da50a 1440 return 1;
cparata 0:69566eea0fba 1441 }
cparata 0:69566eea0fba 1442
cparata 0:69566eea0fba 1443 /* Enable single tap interrupt on INT1 pin. */
cparata 0:69566eea0fba 1444 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1445 {
cparata 2:f23b144da50a 1446 return 1;
cparata 0:69566eea0fba 1447 }
cparata 0:69566eea0fba 1448
cparata 2:f23b144da50a 1449 return 0;
cparata 0:69566eea0fba 1450 }
cparata 0:69566eea0fba 1451
cparata 0:69566eea0fba 1452 /**
cparata 0:69566eea0fba 1453 * @brief Disable the single tap detection for LSM6DSL accelerometer sensor
cparata 2:f23b144da50a 1454 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1455 */
cparata 2:f23b144da50a 1456 int LSM6DSLSensor::Disable_Single_Tap_Detection(void)
cparata 0:69566eea0fba 1457 {
cparata 0:69566eea0fba 1458 /* Disable single tap interrupt on INT1 pin. */
cparata 0:69566eea0fba 1459 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1460 {
cparata 2:f23b144da50a 1461 return 1;
cparata 0:69566eea0fba 1462 }
cparata 0:69566eea0fba 1463
cparata 0:69566eea0fba 1464 /* Disable basic Interrupts */
cparata 0:69566eea0fba 1465 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1466 {
cparata 2:f23b144da50a 1467 return 1;
cparata 0:69566eea0fba 1468 }
cparata 0:69566eea0fba 1469
cparata 0:69566eea0fba 1470 /* Reset tap threshold. */
cparata 2:f23b144da50a 1471 if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata 0:69566eea0fba 1472 {
cparata 2:f23b144da50a 1473 return 1;
cparata 0:69566eea0fba 1474 }
cparata 0:69566eea0fba 1475
cparata 0:69566eea0fba 1476 /* Reset tap shock time window. */
cparata 2:f23b144da50a 1477 if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata 0:69566eea0fba 1478 {
cparata 2:f23b144da50a 1479 return 1;
cparata 0:69566eea0fba 1480 }
cparata 0:69566eea0fba 1481
cparata 0:69566eea0fba 1482 /* Reset tap quiet time window. */
cparata 2:f23b144da50a 1483 if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata 0:69566eea0fba 1484 {
cparata 2:f23b144da50a 1485 return 1;
cparata 0:69566eea0fba 1486 }
cparata 0:69566eea0fba 1487
cparata 0:69566eea0fba 1488 /* _NOTE_: Tap duration time window - don't care for single tap. */
cparata 0:69566eea0fba 1489
cparata 0:69566eea0fba 1490 /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata 0:69566eea0fba 1491
cparata 0:69566eea0fba 1492 /* Disable Z direction in tap recognition. */
cparata 0:69566eea0fba 1493 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1494 {
cparata 2:f23b144da50a 1495 return 1;
cparata 0:69566eea0fba 1496 }
cparata 0:69566eea0fba 1497
cparata 0:69566eea0fba 1498 /* Disable Y direction in tap recognition. */
cparata 0:69566eea0fba 1499 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1500 {
cparata 2:f23b144da50a 1501 return 1;
cparata 0:69566eea0fba 1502 }
cparata 0:69566eea0fba 1503
cparata 0:69566eea0fba 1504 /* Disable X direction in tap recognition. */
cparata 0:69566eea0fba 1505 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1506 {
cparata 2:f23b144da50a 1507 return 1;
cparata 0:69566eea0fba 1508 }
cparata 0:69566eea0fba 1509
cparata 2:f23b144da50a 1510 return 0;
cparata 0:69566eea0fba 1511 }
cparata 0:69566eea0fba 1512
cparata 0:69566eea0fba 1513 /**
cparata 0:69566eea0fba 1514 * @brief Get the single tap detection status for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1515 * @param status the pointer to the single tap detection status: 0 means no single tap detected, 1 means single tap detected
cparata 2:f23b144da50a 1516 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1517 */
cparata 2:f23b144da50a 1518 int LSM6DSLSensor::Get_Status_Single_Tap_Detection(uint8_t *status)
cparata 0:69566eea0fba 1519 {
cparata 0:69566eea0fba 1520 LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_t tap_status;
cparata 0:69566eea0fba 1521
cparata 0:69566eea0fba 1522 if ( LSM6DSL_ACC_GYRO_R_SINGLE_TAP_EV_STATUS( (void *)this, &tap_status ) == MEMS_ERROR )
cparata 0:69566eea0fba 1523 {
cparata 2:f23b144da50a 1524 return 1;
cparata 0:69566eea0fba 1525 }
cparata 0:69566eea0fba 1526
cparata 0:69566eea0fba 1527 switch( tap_status )
cparata 0:69566eea0fba 1528 {
cparata 0:69566eea0fba 1529 case LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_DETECTED:
cparata 0:69566eea0fba 1530 *status = 1;
cparata 0:69566eea0fba 1531 break;
cparata 0:69566eea0fba 1532
cparata 0:69566eea0fba 1533 case LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_NOT_DETECTED:
cparata 0:69566eea0fba 1534 *status = 0;
cparata 0:69566eea0fba 1535 break;
cparata 0:69566eea0fba 1536
cparata 0:69566eea0fba 1537 default:
cparata 2:f23b144da50a 1538 return 1;
cparata 0:69566eea0fba 1539 }
cparata 0:69566eea0fba 1540
cparata 2:f23b144da50a 1541 return 0;
cparata 0:69566eea0fba 1542 }
cparata 0:69566eea0fba 1543
cparata 0:69566eea0fba 1544 /**
cparata 0:69566eea0fba 1545 * @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1546 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:f23b144da50a 1547 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1548 */
cparata 2:f23b144da50a 1549 int LSM6DSLSensor::Enable_Double_Tap_Detection(void)
cparata 0:69566eea0fba 1550 {
cparata 0:69566eea0fba 1551 /* Output Data Rate selection */
cparata 2:f23b144da50a 1552 if( Set_X_ODR(416.0f) == 1 )
cparata 0:69566eea0fba 1553 {
cparata 2:f23b144da50a 1554 return 1;
cparata 0:69566eea0fba 1555 }
cparata 0:69566eea0fba 1556
cparata 0:69566eea0fba 1557 /* Full scale selection. */
cparata 2:f23b144da50a 1558 if( Set_X_FS(2.0f) == 1 )
cparata 0:69566eea0fba 1559 {
cparata 2:f23b144da50a 1560 return 1;
cparata 0:69566eea0fba 1561 }
cparata 0:69566eea0fba 1562
cparata 0:69566eea0fba 1563 /* Enable X direction in tap recognition. */
cparata 0:69566eea0fba 1564 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1565 {
cparata 2:f23b144da50a 1566 return 1;
cparata 0:69566eea0fba 1567 }
cparata 0:69566eea0fba 1568
cparata 0:69566eea0fba 1569 /* Enable Y direction in tap recognition. */
cparata 0:69566eea0fba 1570 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1571 {
cparata 2:f23b144da50a 1572 return 1;
cparata 0:69566eea0fba 1573 }
cparata 0:69566eea0fba 1574
cparata 0:69566eea0fba 1575 /* Enable Z direction in tap recognition. */
cparata 0:69566eea0fba 1576 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1577 {
cparata 2:f23b144da50a 1578 return 1;
cparata 0:69566eea0fba 1579 }
cparata 0:69566eea0fba 1580
cparata 0:69566eea0fba 1581 /* Set tap threshold. */
cparata 2:f23b144da50a 1582 if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata 0:69566eea0fba 1583 {
cparata 2:f23b144da50a 1584 return 1;
cparata 0:69566eea0fba 1585 }
cparata 0:69566eea0fba 1586
cparata 0:69566eea0fba 1587 /* Set tap shock time window. */
cparata 2:f23b144da50a 1588 if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == 1 )
cparata 0:69566eea0fba 1589 {
cparata 2:f23b144da50a 1590 return 1;
cparata 0:69566eea0fba 1591 }
cparata 0:69566eea0fba 1592
cparata 0:69566eea0fba 1593 /* Set tap quiet time window. */
cparata 2:f23b144da50a 1594 if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == 1 )
cparata 0:69566eea0fba 1595 {
cparata 2:f23b144da50a 1596 return 1;
cparata 0:69566eea0fba 1597 }
cparata 0:69566eea0fba 1598
cparata 0:69566eea0fba 1599 /* Set tap duration time window. */
cparata 2:f23b144da50a 1600 if ( Set_Tap_Duration_Time( LSM6DSL_TAP_DURATION_TIME_MID ) == 1 )
cparata 0:69566eea0fba 1601 {
cparata 2:f23b144da50a 1602 return 1;
cparata 0:69566eea0fba 1603 }
cparata 0:69566eea0fba 1604
cparata 0:69566eea0fba 1605 /* Single and double tap enabled. */
cparata 0:69566eea0fba 1606 if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
cparata 0:69566eea0fba 1607 {
cparata 2:f23b144da50a 1608 return 1;
cparata 0:69566eea0fba 1609 }
cparata 0:69566eea0fba 1610
cparata 0:69566eea0fba 1611 /* Enable basic Interrupts */
cparata 0:69566eea0fba 1612 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1613 {
cparata 2:f23b144da50a 1614 return 1;
cparata 0:69566eea0fba 1615 }
cparata 0:69566eea0fba 1616
cparata 0:69566eea0fba 1617 /* Enable double tap interrupt on INT1 pin. */
cparata 0:69566eea0fba 1618 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1619 {
cparata 2:f23b144da50a 1620 return 1;
cparata 0:69566eea0fba 1621 }
cparata 0:69566eea0fba 1622
cparata 2:f23b144da50a 1623 return 0;
cparata 0:69566eea0fba 1624 }
cparata 0:69566eea0fba 1625
cparata 0:69566eea0fba 1626 /**
cparata 0:69566eea0fba 1627 * @brief Disable the double tap detection for LSM6DSL accelerometer sensor
cparata 2:f23b144da50a 1628 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1629 */
cparata 2:f23b144da50a 1630 int LSM6DSLSensor::Disable_Double_Tap_Detection(void)
cparata 0:69566eea0fba 1631 {
cparata 0:69566eea0fba 1632 /* Disable double tap interrupt on INT1 pin. */
cparata 0:69566eea0fba 1633 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1634 {
cparata 2:f23b144da50a 1635 return 1;
cparata 0:69566eea0fba 1636 }
cparata 0:69566eea0fba 1637
cparata 0:69566eea0fba 1638 /* Disable basic Interrupts */
cparata 0:69566eea0fba 1639 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1640 {
cparata 2:f23b144da50a 1641 return 1;
cparata 0:69566eea0fba 1642 }
cparata 0:69566eea0fba 1643
cparata 0:69566eea0fba 1644 /* Reset tap threshold. */
cparata 2:f23b144da50a 1645 if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata 0:69566eea0fba 1646 {
cparata 2:f23b144da50a 1647 return 1;
cparata 0:69566eea0fba 1648 }
cparata 0:69566eea0fba 1649
cparata 0:69566eea0fba 1650 /* Reset tap shock time window. */
cparata 2:f23b144da50a 1651 if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata 0:69566eea0fba 1652 {
cparata 2:f23b144da50a 1653 return 1;
cparata 0:69566eea0fba 1654 }
cparata 0:69566eea0fba 1655
cparata 0:69566eea0fba 1656 /* Reset tap quiet time window. */
cparata 2:f23b144da50a 1657 if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata 0:69566eea0fba 1658 {
cparata 2:f23b144da50a 1659 return 1;
cparata 0:69566eea0fba 1660 }
cparata 0:69566eea0fba 1661
cparata 0:69566eea0fba 1662 /* Reset tap duration time window. */
cparata 2:f23b144da50a 1663 if ( Set_Tap_Duration_Time( 0x0 ) == 1 )
cparata 0:69566eea0fba 1664 {
cparata 2:f23b144da50a 1665 return 1;
cparata 0:69566eea0fba 1666 }
cparata 0:69566eea0fba 1667
cparata 0:69566eea0fba 1668 /* Only single tap enabled. */
cparata 0:69566eea0fba 1669 if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
cparata 0:69566eea0fba 1670 {
cparata 2:f23b144da50a 1671 return 1;
cparata 0:69566eea0fba 1672 }
cparata 0:69566eea0fba 1673
cparata 0:69566eea0fba 1674 /* Disable Z direction in tap recognition. */
cparata 0:69566eea0fba 1675 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1676 {
cparata 2:f23b144da50a 1677 return 1;
cparata 0:69566eea0fba 1678 }
cparata 0:69566eea0fba 1679
cparata 0:69566eea0fba 1680 /* Disable Y direction in tap recognition. */
cparata 0:69566eea0fba 1681 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1682 {
cparata 2:f23b144da50a 1683 return 1;
cparata 0:69566eea0fba 1684 }
cparata 0:69566eea0fba 1685
cparata 0:69566eea0fba 1686 /* Disable X direction in tap recognition. */
cparata 0:69566eea0fba 1687 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1688 {
cparata 2:f23b144da50a 1689 return 1;
cparata 0:69566eea0fba 1690 }
cparata 0:69566eea0fba 1691
cparata 2:f23b144da50a 1692 return 0;
cparata 0:69566eea0fba 1693 }
cparata 0:69566eea0fba 1694
cparata 0:69566eea0fba 1695 /**
cparata 0:69566eea0fba 1696 * @brief Get the double tap detection status for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1697 * @param status the pointer to the double tap detection status: 0 means no double tap detected, 1 means double tap detected
cparata 2:f23b144da50a 1698 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1699 */
cparata 2:f23b144da50a 1700 int LSM6DSLSensor::Get_Status_Double_Tap_Detection(uint8_t *status)
cparata 0:69566eea0fba 1701 {
cparata 0:69566eea0fba 1702 LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_t tap_status;
cparata 0:69566eea0fba 1703
cparata 0:69566eea0fba 1704 if ( LSM6DSL_ACC_GYRO_R_DOUBLE_TAP_EV_STATUS( (void *)this, &tap_status ) == MEMS_ERROR )
cparata 0:69566eea0fba 1705 {
cparata 2:f23b144da50a 1706 return 1;
cparata 0:69566eea0fba 1707 }
cparata 0:69566eea0fba 1708
cparata 0:69566eea0fba 1709 switch( tap_status )
cparata 0:69566eea0fba 1710 {
cparata 0:69566eea0fba 1711 case LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_DETECTED:
cparata 0:69566eea0fba 1712 *status = 1;
cparata 0:69566eea0fba 1713 break;
cparata 0:69566eea0fba 1714
cparata 0:69566eea0fba 1715 case LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_NOT_DETECTED:
cparata 0:69566eea0fba 1716 *status = 0;
cparata 0:69566eea0fba 1717 break;
cparata 0:69566eea0fba 1718
cparata 0:69566eea0fba 1719 default:
cparata 2:f23b144da50a 1720 return 1;
cparata 0:69566eea0fba 1721 }
cparata 0:69566eea0fba 1722
cparata 2:f23b144da50a 1723 return 0;
cparata 0:69566eea0fba 1724 }
cparata 0:69566eea0fba 1725
cparata 0:69566eea0fba 1726 /**
cparata 0:69566eea0fba 1727 * @brief Set the tap threshold for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1728 * @param thr the threshold to be set
cparata 2:f23b144da50a 1729 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1730 */
cparata 2:f23b144da50a 1731 int LSM6DSLSensor::Set_Tap_Threshold(uint8_t thr)
cparata 0:69566eea0fba 1732 {
cparata 0:69566eea0fba 1733 if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
cparata 0:69566eea0fba 1734 {
cparata 2:f23b144da50a 1735 return 1;
cparata 0:69566eea0fba 1736 }
cparata 0:69566eea0fba 1737
cparata 2:f23b144da50a 1738 return 0;
cparata 0:69566eea0fba 1739 }
cparata 0:69566eea0fba 1740
cparata 0:69566eea0fba 1741 /**
cparata 0:69566eea0fba 1742 * @brief Set the tap shock time window for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1743 * @param time the shock time window to be set
cparata 2:f23b144da50a 1744 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1745 */
cparata 2:f23b144da50a 1746 int LSM6DSLSensor::Set_Tap_Shock_Time(uint8_t time)
cparata 0:69566eea0fba 1747 {
cparata 0:69566eea0fba 1748 if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
cparata 0:69566eea0fba 1749 {
cparata 2:f23b144da50a 1750 return 1;
cparata 0:69566eea0fba 1751 }
cparata 0:69566eea0fba 1752
cparata 2:f23b144da50a 1753 return 0;
cparata 0:69566eea0fba 1754 }
cparata 0:69566eea0fba 1755
cparata 0:69566eea0fba 1756 /**
cparata 0:69566eea0fba 1757 * @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1758 * @param time the quiet time window to be set
cparata 2:f23b144da50a 1759 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1760 */
cparata 2:f23b144da50a 1761 int LSM6DSLSensor::Set_Tap_Quiet_Time(uint8_t time)
cparata 0:69566eea0fba 1762 {
cparata 0:69566eea0fba 1763 if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
cparata 0:69566eea0fba 1764 {
cparata 2:f23b144da50a 1765 return 1;
cparata 0:69566eea0fba 1766 }
cparata 0:69566eea0fba 1767
cparata 2:f23b144da50a 1768 return 0;
cparata 0:69566eea0fba 1769 }
cparata 0:69566eea0fba 1770
cparata 0:69566eea0fba 1771 /**
cparata 0:69566eea0fba 1772 * @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1773 * @param time the duration of the time window to be set
cparata 2:f23b144da50a 1774 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1775 */
cparata 2:f23b144da50a 1776 int LSM6DSLSensor::Set_Tap_Duration_Time(uint8_t time)
cparata 0:69566eea0fba 1777 {
cparata 0:69566eea0fba 1778 if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
cparata 0:69566eea0fba 1779 {
cparata 2:f23b144da50a 1780 return 1;
cparata 0:69566eea0fba 1781 }
cparata 0:69566eea0fba 1782
cparata 2:f23b144da50a 1783 return 0;
cparata 0:69566eea0fba 1784 }
cparata 0:69566eea0fba 1785
cparata 0:69566eea0fba 1786 /**
cparata 0:69566eea0fba 1787 * @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1788 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:f23b144da50a 1789 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1790 */
cparata 2:f23b144da50a 1791 int LSM6DSLSensor::Enable_6D_Orientation(void)
cparata 0:69566eea0fba 1792 {
cparata 0:69566eea0fba 1793 /* Output Data Rate selection */
cparata 2:f23b144da50a 1794 if( Set_X_ODR(416.0f) == 1 )
cparata 0:69566eea0fba 1795 {
cparata 2:f23b144da50a 1796 return 1;
cparata 0:69566eea0fba 1797 }
cparata 0:69566eea0fba 1798
cparata 0:69566eea0fba 1799 /* Full scale selection. */
cparata 2:f23b144da50a 1800 if( Set_X_FS(2.0f) == 1 )
cparata 0:69566eea0fba 1801 {
cparata 2:f23b144da50a 1802 return 1;
cparata 0:69566eea0fba 1803 }
cparata 0:69566eea0fba 1804
cparata 0:69566eea0fba 1805 /* Set 6D threshold. */
cparata 0:69566eea0fba 1806 if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
cparata 0:69566eea0fba 1807 {
cparata 2:f23b144da50a 1808 return 1;
cparata 0:69566eea0fba 1809 }
cparata 0:69566eea0fba 1810
cparata 0:69566eea0fba 1811 /* Enable basic Interrupts */
cparata 0:69566eea0fba 1812 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1813 {
cparata 2:f23b144da50a 1814 return 1;
cparata 0:69566eea0fba 1815 }
cparata 0:69566eea0fba 1816
cparata 0:69566eea0fba 1817 /* INT1_6D setting. */
cparata 0:69566eea0fba 1818 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1819 {
cparata 2:f23b144da50a 1820 return 1;
cparata 0:69566eea0fba 1821 }
cparata 0:69566eea0fba 1822
cparata 2:f23b144da50a 1823 return 0;
cparata 0:69566eea0fba 1824 }
cparata 0:69566eea0fba 1825
cparata 0:69566eea0fba 1826 /**
cparata 0:69566eea0fba 1827 * @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 2:f23b144da50a 1828 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1829 */
cparata 2:f23b144da50a 1830 int LSM6DSLSensor::Disable_6D_Orientation(void)
cparata 0:69566eea0fba 1831 {
cparata 0:69566eea0fba 1832 /* INT1_6D setting. */
cparata 0:69566eea0fba 1833 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1834 {
cparata 2:f23b144da50a 1835 return 1;
cparata 0:69566eea0fba 1836 }
cparata 0:69566eea0fba 1837
cparata 0:69566eea0fba 1838 /* Disable basic Interrupts */
cparata 0:69566eea0fba 1839 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:69566eea0fba 1840 {
cparata 2:f23b144da50a 1841 return 1;
cparata 0:69566eea0fba 1842 }
cparata 0:69566eea0fba 1843
cparata 0:69566eea0fba 1844 /* Reset 6D threshold. */
cparata 0:69566eea0fba 1845 if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
cparata 0:69566eea0fba 1846 {
cparata 2:f23b144da50a 1847 return 1;
cparata 0:69566eea0fba 1848 }
cparata 0:69566eea0fba 1849
cparata 2:f23b144da50a 1850 return 0;
cparata 0:69566eea0fba 1851 }
cparata 0:69566eea0fba 1852
cparata 0:69566eea0fba 1853 /**
cparata 0:69566eea0fba 1854 * @brief Get the status of the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1855 * @param status the pointer to the status of the 6D orientation detection: 0 means no detection, 1 means detection happened
cparata 2:f23b144da50a 1856 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1857 */
cparata 2:f23b144da50a 1858 int LSM6DSLSensor::Get_Status_6D_Orientation(uint8_t *status)
cparata 0:69566eea0fba 1859 {
cparata 0:69566eea0fba 1860 LSM6DSL_ACC_GYRO_D6D_EV_STATUS_t status_raw;
cparata 0:69566eea0fba 1861
cparata 0:69566eea0fba 1862 if ( LSM6DSL_ACC_GYRO_R_D6D_EV_STATUS( (void *)this, &status_raw ) == MEMS_ERROR )
cparata 0:69566eea0fba 1863 {
cparata 2:f23b144da50a 1864 return 1;
cparata 0:69566eea0fba 1865 }
cparata 0:69566eea0fba 1866
cparata 0:69566eea0fba 1867 switch( status_raw )
cparata 0:69566eea0fba 1868 {
cparata 0:69566eea0fba 1869 case LSM6DSL_ACC_GYRO_D6D_EV_STATUS_DETECTED:
cparata 0:69566eea0fba 1870 *status = 1;
cparata 0:69566eea0fba 1871 break;
cparata 0:69566eea0fba 1872 case LSM6DSL_ACC_GYRO_D6D_EV_STATUS_NOT_DETECTED:
cparata 0:69566eea0fba 1873 *status = 0;
cparata 0:69566eea0fba 1874 break;
cparata 0:69566eea0fba 1875 default:
cparata 2:f23b144da50a 1876 return 1;
cparata 0:69566eea0fba 1877 }
cparata 0:69566eea0fba 1878
cparata 2:f23b144da50a 1879 return 0;
cparata 0:69566eea0fba 1880 }
cparata 0:69566eea0fba 1881
cparata 0:69566eea0fba 1882 /**
cparata 0:69566eea0fba 1883 * @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1884 * @param xl the pointer to the 6D orientation XL axis
cparata 2:f23b144da50a 1885 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1886 */
cparata 2:f23b144da50a 1887 int LSM6DSLSensor::Get_6D_Orientation_XL(uint8_t *xl)
cparata 0:69566eea0fba 1888 {
cparata 0:69566eea0fba 1889 LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
cparata 0:69566eea0fba 1890
cparata 0:69566eea0fba 1891 if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
cparata 0:69566eea0fba 1892 {
cparata 2:f23b144da50a 1893 return 1;
cparata 0:69566eea0fba 1894 }
cparata 0:69566eea0fba 1895
cparata 0:69566eea0fba 1896 switch( xl_raw )
cparata 0:69566eea0fba 1897 {
cparata 0:69566eea0fba 1898 case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
cparata 0:69566eea0fba 1899 *xl = 1;
cparata 0:69566eea0fba 1900 break;
cparata 0:69566eea0fba 1901 case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
cparata 0:69566eea0fba 1902 *xl = 0;
cparata 0:69566eea0fba 1903 break;
cparata 0:69566eea0fba 1904 default:
cparata 2:f23b144da50a 1905 return 1;
cparata 0:69566eea0fba 1906 }
cparata 0:69566eea0fba 1907
cparata 2:f23b144da50a 1908 return 0;
cparata 0:69566eea0fba 1909 }
cparata 0:69566eea0fba 1910
cparata 0:69566eea0fba 1911 /**
cparata 0:69566eea0fba 1912 * @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1913 * @param xh the pointer to the 6D orientation XH axis
cparata 2:f23b144da50a 1914 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1915 */
cparata 2:f23b144da50a 1916 int LSM6DSLSensor::Get_6D_Orientation_XH(uint8_t *xh)
cparata 0:69566eea0fba 1917 {
cparata 0:69566eea0fba 1918 LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
cparata 0:69566eea0fba 1919
cparata 0:69566eea0fba 1920 if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
cparata 0:69566eea0fba 1921 {
cparata 2:f23b144da50a 1922 return 1;
cparata 0:69566eea0fba 1923 }
cparata 0:69566eea0fba 1924
cparata 0:69566eea0fba 1925 switch( xh_raw )
cparata 0:69566eea0fba 1926 {
cparata 0:69566eea0fba 1927 case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
cparata 0:69566eea0fba 1928 *xh = 1;
cparata 0:69566eea0fba 1929 break;
cparata 0:69566eea0fba 1930 case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
cparata 0:69566eea0fba 1931 *xh = 0;
cparata 0:69566eea0fba 1932 break;
cparata 0:69566eea0fba 1933 default:
cparata 2:f23b144da50a 1934 return 1;
cparata 0:69566eea0fba 1935 }
cparata 0:69566eea0fba 1936
cparata 2:f23b144da50a 1937 return 0;
cparata 0:69566eea0fba 1938 }
cparata 0:69566eea0fba 1939
cparata 0:69566eea0fba 1940 /**
cparata 0:69566eea0fba 1941 * @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1942 * @param yl the pointer to the 6D orientation YL axis
cparata 2:f23b144da50a 1943 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1944 */
cparata 2:f23b144da50a 1945 int LSM6DSLSensor::Get_6D_Orientation_YL(uint8_t *yl)
cparata 0:69566eea0fba 1946 {
cparata 0:69566eea0fba 1947 LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
cparata 0:69566eea0fba 1948
cparata 0:69566eea0fba 1949 if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
cparata 0:69566eea0fba 1950 {
cparata 2:f23b144da50a 1951 return 1;
cparata 0:69566eea0fba 1952 }
cparata 0:69566eea0fba 1953
cparata 0:69566eea0fba 1954 switch( yl_raw )
cparata 0:69566eea0fba 1955 {
cparata 0:69566eea0fba 1956 case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
cparata 0:69566eea0fba 1957 *yl = 1;
cparata 0:69566eea0fba 1958 break;
cparata 0:69566eea0fba 1959 case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
cparata 0:69566eea0fba 1960 *yl = 0;
cparata 0:69566eea0fba 1961 break;
cparata 0:69566eea0fba 1962 default:
cparata 2:f23b144da50a 1963 return 1;
cparata 0:69566eea0fba 1964 }
cparata 0:69566eea0fba 1965
cparata 2:f23b144da50a 1966 return 0;
cparata 0:69566eea0fba 1967 }
cparata 0:69566eea0fba 1968
cparata 0:69566eea0fba 1969 /**
cparata 0:69566eea0fba 1970 * @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 1971 * @param yh the pointer to the 6D orientation YH axis
cparata 2:f23b144da50a 1972 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 1973 */
cparata 2:f23b144da50a 1974 int LSM6DSLSensor::Get_6D_Orientation_YH(uint8_t *yh)
cparata 0:69566eea0fba 1975 {
cparata 0:69566eea0fba 1976 LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
cparata 0:69566eea0fba 1977
cparata 0:69566eea0fba 1978 if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
cparata 0:69566eea0fba 1979 {
cparata 2:f23b144da50a 1980 return 1;
cparata 0:69566eea0fba 1981 }
cparata 0:69566eea0fba 1982
cparata 0:69566eea0fba 1983 switch( yh_raw )
cparata 0:69566eea0fba 1984 {
cparata 0:69566eea0fba 1985 case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
cparata 0:69566eea0fba 1986 *yh = 1;
cparata 0:69566eea0fba 1987 break;
cparata 0:69566eea0fba 1988 case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
cparata 0:69566eea0fba 1989 *yh = 0;
cparata 0:69566eea0fba 1990 break;
cparata 0:69566eea0fba 1991 default:
cparata 2:f23b144da50a 1992 return 1;
cparata 0:69566eea0fba 1993 }
cparata 0:69566eea0fba 1994
cparata 2:f23b144da50a 1995 return 0;
cparata 0:69566eea0fba 1996 }
cparata 0:69566eea0fba 1997
cparata 0:69566eea0fba 1998 /**
cparata 0:69566eea0fba 1999 * @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 2000 * @param zl the pointer to the 6D orientation ZL axis
cparata 2:f23b144da50a 2001 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 2002 */
cparata 2:f23b144da50a 2003 int LSM6DSLSensor::Get_6D_Orientation_ZL(uint8_t *zl)
cparata 0:69566eea0fba 2004 {
cparata 0:69566eea0fba 2005 LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
cparata 0:69566eea0fba 2006
cparata 0:69566eea0fba 2007 if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
cparata 0:69566eea0fba 2008 {
cparata 2:f23b144da50a 2009 return 1;
cparata 0:69566eea0fba 2010 }
cparata 0:69566eea0fba 2011
cparata 0:69566eea0fba 2012 switch( zl_raw )
cparata 0:69566eea0fba 2013 {
cparata 0:69566eea0fba 2014 case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
cparata 0:69566eea0fba 2015 *zl = 1;
cparata 0:69566eea0fba 2016 break;
cparata 0:69566eea0fba 2017 case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
cparata 0:69566eea0fba 2018 *zl = 0;
cparata 0:69566eea0fba 2019 break;
cparata 0:69566eea0fba 2020 default:
cparata 2:f23b144da50a 2021 return 1;
cparata 0:69566eea0fba 2022 }
cparata 0:69566eea0fba 2023
cparata 2:f23b144da50a 2024 return 0;
cparata 0:69566eea0fba 2025 }
cparata 0:69566eea0fba 2026
cparata 0:69566eea0fba 2027 /**
cparata 0:69566eea0fba 2028 * @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
cparata 0:69566eea0fba 2029 * @param zh the pointer to the 6D orientation ZH axis
cparata 2:f23b144da50a 2030 * @retval 0 in case of success, an error code otherwise
cparata 0:69566eea0fba 2031 */
cparata 2:f23b144da50a 2032 int LSM6DSLSensor::Get_6D_Orientation_ZH(uint8_t *zh)
cparata 0:69566eea0fba 2033 {
cparata 0:69566eea0fba 2034 LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
cparata 0:69566eea0fba 2035
cparata 0:69566eea0fba 2036 if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
cparata 0:69566eea0fba 2037 {
cparata 2:f23b144da50a 2038 return 1;
cparata 0:69566eea0fba 2039 }
cparata 0:69566eea0fba 2040
cparata 0:69566eea0fba 2041 switch( zh_raw )
cparata 0:69566eea0fba 2042 {
cparata 0:69566eea0fba 2043 case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
cparata 0:69566eea0fba 2044 *zh = 1;
cparata 0:69566eea0fba 2045 break;
cparata 0:69566eea0fba 2046 case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
cparata 0:69566eea0fba 2047 *zh = 0;
cparata 0:69566eea0fba 2048 break;
cparata 0:69566eea0fba 2049 default:
cparata 2:f23b144da50a 2050 return 1;
cparata 0:69566eea0fba 2051 }
cparata 0:69566eea0fba 2052
cparata 2:f23b144da50a 2053 return 0;
cparata 0:69566eea0fba 2054 }
cparata 0:69566eea0fba 2055
cparata 0:69566eea0fba 2056 /**
cparata 0:69566eea0fba 2057 * @brief Read the data from register
cparata 0:69566eea0fba 2058 * @param reg register address
cparata 0:69566eea0fba 2059 * @param data register data
cparata 2:f23b144da50a 2060 * @retval 0 in case of success
cparata 2:f23b144da50a 2061 * @retval 1 in case of failure
cparata 0:69566eea0fba 2062 */
cparata 2:f23b144da50a 2063 int LSM6DSLSensor::ReadReg( uint8_t reg, uint8_t *data )
cparata 0:69566eea0fba 2064 {
cparata 0:69566eea0fba 2065
cparata 0:69566eea0fba 2066 if ( LSM6DSL_ACC_GYRO_ReadReg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
cparata 0:69566eea0fba 2067 {
cparata 2:f23b144da50a 2068 return 1;
cparata 0:69566eea0fba 2069 }
cparata 0:69566eea0fba 2070
cparata 2:f23b144da50a 2071 return 0;
cparata 0:69566eea0fba 2072 }
cparata 0:69566eea0fba 2073
cparata 0:69566eea0fba 2074 /**
cparata 0:69566eea0fba 2075 * @brief Write the data to register
cparata 0:69566eea0fba 2076 * @param reg register address
cparata 0:69566eea0fba 2077 * @param data register data
cparata 2:f23b144da50a 2078 * @retval 0 in case of success
cparata 2:f23b144da50a 2079 * @retval 1 in case of failure
cparata 0:69566eea0fba 2080 */
cparata 2:f23b144da50a 2081 int LSM6DSLSensor::WriteReg( uint8_t reg, uint8_t data )
cparata 0:69566eea0fba 2082 {
cparata 0:69566eea0fba 2083
cparata 0:69566eea0fba 2084 if ( LSM6DSL_ACC_GYRO_WriteReg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
cparata 0:69566eea0fba 2085 {
cparata 2:f23b144da50a 2086 return 1;
cparata 0:69566eea0fba 2087 }
cparata 0:69566eea0fba 2088
cparata 2:f23b144da50a 2089 return 0;
cparata 0:69566eea0fba 2090 }
cparata 0:69566eea0fba 2091
cparata 0:69566eea0fba 2092
cparata 0:69566eea0fba 2093 uint8_t LSM6DSL_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
cparata 0:69566eea0fba 2094 {
cparata 0:69566eea0fba 2095 return ((LSM6DSLSensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata 0:69566eea0fba 2096 }
cparata 0:69566eea0fba 2097
cparata 0:69566eea0fba 2098 uint8_t LSM6DSL_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
cparata 0:69566eea0fba 2099 {
cparata 0:69566eea0fba 2100 return ((LSM6DSLSensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata 0:69566eea0fba 2101 }