Diff: X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.cpp

Revision:

0:69566eea0fba

Child:

2:f23b144da50a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.cpp	Fri Aug 12 13:40:12 2016 +0000
@@ -0,0 +1,2140 @@
+/**
+ ******************************************************************************
+ * @file    LSM6DSLSensor.cpp
+ * @author  AST
+ * @version V1.0.0
+ * @date    5 August 2016
+ * @brief   Implementation of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
+ *          sensor.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *      without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "mbed.h"
+#include "DevI2C.h"
+#include "LSM6DSLSensor.h"
+#include "LSM6DSL_ACC_GYRO_driver.h"
+
+
+/* Class Implementation ------------------------------------------------------*/
+
+/** Constructor
+ * @param i2c object of an helper class which handles the I2C peripheral
+ * @param address the address of the component's instance
+ */
+LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c) : dev_i2c(i2c)
+{
+  address = LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH; 
+
+  /* Enable register address automatically incremented during a multiple byte
+     access with a serial interface. */
+  if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
+  {
+    return;
+  }
+  
+  /* Enable BDU */
+  if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
+  {
+    return;
+  }
+  
+  /* FIFO mode selection */
+  if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
+  {
+    return;
+  }
+  
+  /* Output data rate selection - power down. */
+  if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
+  {
+    return;
+  }
+  
+  /* Full scale selection. */
+  if ( Set_X_FS( 2.0f ) == LSM6DSL_STATUS_ERROR )
+  {
+    return;
+  }
+
+  /* Output data rate selection - power down */
+  if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
+  {
+    return;
+  }
+
+  /* Full scale selection. */
+  if ( Set_G_FS( 2000.0f ) == LSM6DSL_STATUS_ERROR )
+  {
+    return;
+  }
+  
+  X_Last_ODR = 104.0f;
+
+  X_isEnabled = 0;
+  
+  G_Last_ODR = 104.0f;
+
+  G_isEnabled = 0;
+};
+
+/** Constructor
+ * @param i2c object of an helper class which handles the I2C peripheral
+ * @param address the address of the component's instance
+ */
+LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
+{ 
+  /* Enable register address automatically incremented during a multiple byte
+     access with a serial interface. */
+  if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
+  {
+    return;
+  }
+  
+  /* Enable BDU */
+  if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
+  {
+    return;
+  }
+  
+  /* FIFO mode selection */
+  if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
+  {
+    return;
+  }
+  
+  /* Output data rate selection - power down. */
+  if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
+  {
+    return;
+  }
+  
+  /* Full scale selection. */
+  if ( Set_X_FS( 2.0f ) == LSM6DSL_STATUS_ERROR )
+  {
+    return;
+  }
+
+  /* Output data rate selection - power down */
+  if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
+  {
+    return;
+  }
+
+  /* Full scale selection. */
+  if ( Set_G_FS( 2000.0f ) == LSM6DSL_STATUS_ERROR )
+  {
+    return;
+  }
+  
+  X_Last_ODR = 104.0f;
+
+  X_isEnabled = 0;
+  
+  G_Last_ODR = 104.0f;
+
+  G_isEnabled = 0;
+};
+
+/**
+ * @brief  Enable LSM6DSL Accelerator
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_X(void)
+{ 
+  /* Check if the component is already enabled */
+  if ( X_isEnabled == 1 )
+  {
+    return LSM6DSL_STATUS_OK;
+  }
+  
+  /* Output data rate selection. */
+  if ( Set_X_ODR_When_Enabled( X_Last_ODR ) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  X_isEnabled = 1;
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief  Enable LSM6DSL Gyroscope
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_G(void)
+{ 
+  /* Check if the component is already enabled */
+  if ( G_isEnabled == 1 )
+  {
+    return LSM6DSL_STATUS_OK;
+  }
+  
+  /* Output data rate selection. */
+  if ( Set_G_ODR_When_Enabled( G_Last_ODR ) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  G_isEnabled = 1;
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief  Disable LSM6DSL Accelerator
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_X(void)
+{ 
+  /* Check if the component is already disabled */
+  if ( X_isEnabled == 0 )
+  {
+    return LSM6DSL_STATUS_OK;
+  }
+  
+  /* Store actual output data rate. */
+  if ( Get_X_ODR( &X_Last_ODR ) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Output data rate selection - power down. */
+  if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  X_isEnabled = 0;
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief  Disable LSM6DSL Gyroscope
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_G(void)
+{ 
+  /* Check if the component is already disabled */
+  if ( G_isEnabled == 0 )
+  {
+    return LSM6DSL_STATUS_OK;
+  }
+  
+  /* Store actual output data rate. */
+  if ( Get_G_ODR( &G_Last_ODR ) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Output data rate selection - power down */
+  if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  G_isEnabled = 0;
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief  Read ID of LSM6DSL Accelerometer and Gyroscope
+ * @param  p_id the pointer where the ID of the device is stored
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::ReadID(uint8_t *p_id)
+{
+  if(!p_id)
+  { 
+    return LSM6DSL_STATUS_ERROR;
+  }
+
+  /* Read WHO AM I register */
+  if ( LSM6DSL_ACC_GYRO_R_WHO_AM_I( (void *)this, p_id ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief  Read data from LSM6DSL Accelerometer
+ * @param  pData the pointer where the accelerometer data are stored
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_Axes(int32_t *pData)
+{
+  int16_t dataRaw[3];
+  float sensitivity = 0;
+  
+  /* Read raw data from LSM6DSL output register. */
+  if ( Get_X_AxesRaw( dataRaw ) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Get LSM6DSL actual sensitivity. */
+  if ( Get_X_Sensitivity( &sensitivity ) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Calculate the data. */
+  pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
+  pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
+  pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief  Read data from LSM6DSL Gyroscope
+ * @param  pData the pointer where the gyroscope data are stored
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_Axes(int32_t *pData)
+{
+  int16_t dataRaw[3];
+  float sensitivity = 0;
+  
+  /* Read raw data from LSM6DSL output register. */
+  if ( Get_G_AxesRaw( dataRaw ) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Get LSM6DSL actual sensitivity. */
+  if ( Get_G_Sensitivity( &sensitivity ) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Calculate the data. */
+  pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
+  pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
+  pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief  Read Accelerometer Sensitivity
+ * @param  pfData the pointer where the accelerometer sensitivity is stored
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_Sensitivity(float *pfData)
+{
+  LSM6DSL_ACC_GYRO_FS_XL_t fullScale;
+  
+  /* Read actual full scale selection from sensor. */
+  if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fullScale ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Store the sensitivity based on actual full scale. */
+  switch( fullScale )
+  {
+    case LSM6DSL_ACC_GYRO_FS_XL_2g:
+      *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G;
+      break;
+    case LSM6DSL_ACC_GYRO_FS_XL_4g:
+      *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G;
+      break;
+    case LSM6DSL_ACC_GYRO_FS_XL_8g:
+      *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G;
+      break;
+    case LSM6DSL_ACC_GYRO_FS_XL_16g:
+      *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G;
+      break;
+    default:
+      *pfData = -1.0f;
+      return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief  Read Gyroscope Sensitivity
+ * @param  pfData the pointer where the gyroscope sensitivity is stored
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_Sensitivity(float *pfData)
+{
+  LSM6DSL_ACC_GYRO_FS_125_t fullScale125;
+  LSM6DSL_ACC_GYRO_FS_G_t   fullScale;
+  
+  /* Read full scale 125 selection from sensor. */
+  if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fullScale125 ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  if ( fullScale125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
+  {
+    *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS;
+  }
+  
+  else
+  {
+  
+    /* Read actual full scale selection from sensor. */
+    if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fullScale ) == MEMS_ERROR )
+    {
+      return LSM6DSL_STATUS_ERROR;
+    }
+    
+    /* Store the sensitivity based on actual full scale. */
+    switch( fullScale )
+    {
+      case LSM6DSL_ACC_GYRO_FS_G_245dps:
+        *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS;
+        break;
+      case LSM6DSL_ACC_GYRO_FS_G_500dps:
+        *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS;
+        break;
+      case LSM6DSL_ACC_GYRO_FS_G_1000dps:
+        *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS;
+        break;
+      case LSM6DSL_ACC_GYRO_FS_G_2000dps:
+        *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS;
+        break;
+      default:
+        *pfData = -1.0f;
+        return LSM6DSL_STATUS_ERROR;
+    }
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief  Read raw data from LSM6DSL Accelerometer
+ * @param  pData the pointer where the accelerometer raw data are stored
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_AxesRaw(int16_t *pData)
+{
+  uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
+  
+  /* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_XL to LSM6DSL_ACC_GYRO_OUTZ_H_XL. */
+  if ( LSM6DSL_ACC_GYRO_GetRawAccData( (void *)this, regValue ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Format the data. */
+  pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
+  pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
+  pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief  Read raw data from LSM6DSL Gyroscope
+ * @param  pData the pointer where the gyroscope raw data are stored
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_AxesRaw(int16_t *pData)
+{
+  uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
+  
+  /* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_G to LSM6DSL_ACC_GYRO_OUTZ_H_G. */
+  if ( LSM6DSL_ACC_GYRO_GetRawGyroData( (void *)this, regValue ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Format the data. */
+  pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
+  pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
+  pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief  Read LSM6DSL Accelerometer output data rate
+ * @param  odr the pointer to the output data rate
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_ODR(float* odr)
+{
+  LSM6DSL_ACC_GYRO_ODR_XL_t odr_low_level;
+  
+  if ( LSM6DSL_ACC_GYRO_R_ODR_XL( (void *)this, &odr_low_level ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  switch( odr_low_level )
+  {
+    case LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN:
+      *odr = 0.0f;
+      break;
+    case LSM6DSL_ACC_GYRO_ODR_XL_13Hz:
+      *odr = 13.0f;
+      break;
+    case LSM6DSL_ACC_GYRO_ODR_XL_26Hz:
+      *odr = 26.0f;
+      break;
+    case LSM6DSL_ACC_GYRO_ODR_XL_52Hz:
+      *odr = 52.0f;
+      break;
+    case LSM6DSL_ACC_GYRO_ODR_XL_104Hz:
+      *odr = 104.0f;
+      break;
+    case LSM6DSL_ACC_GYRO_ODR_XL_208Hz:
+      *odr = 208.0f;
+      break;
+    case LSM6DSL_ACC_GYRO_ODR_XL_416Hz:
+      *odr = 416.0f;
+      break;
+    case LSM6DSL_ACC_GYRO_ODR_XL_833Hz:
+      *odr = 833.0f;
+      break;
+    case LSM6DSL_ACC_GYRO_ODR_XL_1660Hz:
+      *odr = 1660.0f;
+      break;
+    case LSM6DSL_ACC_GYRO_ODR_XL_3330Hz:
+      *odr = 3330.0f;
+      break;
+    case LSM6DSL_ACC_GYRO_ODR_XL_6660Hz:
+      *odr = 6660.0f;
+      break;
+    default:
+      *odr = -1.0f;
+      return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief  Read LSM6DSL Gyroscope output data rate
+ * @param  odr the pointer to the output data rate
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_ODR(float* odr)
+{
+  LSM6DSL_ACC_GYRO_ODR_G_t odr_low_level;
+  
+  if ( LSM6DSL_ACC_GYRO_R_ODR_G( (void *)this, &odr_low_level ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  switch( odr_low_level )
+  {
+    case LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN:
+      *odr = 0.0f;
+      break;
+    case LSM6DSL_ACC_GYRO_ODR_G_13Hz:
+      *odr = 13.0f;
+      break;
+    case LSM6DSL_ACC_GYRO_ODR_G_26Hz:
+      *odr = 26.0f;
+      break;
+    case LSM6DSL_ACC_GYRO_ODR_G_52Hz:
+      *odr = 52.0f;
+      break;
+    case LSM6DSL_ACC_GYRO_ODR_G_104Hz:
+      *odr = 104.0f;
+      break;
+    case LSM6DSL_ACC_GYRO_ODR_G_208Hz:
+      *odr = 208.0f;
+      break;
+    case LSM6DSL_ACC_GYRO_ODR_G_416Hz:
+      *odr = 416.0f;
+      break;
+    case LSM6DSL_ACC_GYRO_ODR_G_833Hz:
+      *odr = 833.0f;
+      break;
+    case LSM6DSL_ACC_GYRO_ODR_G_1660Hz:
+      *odr = 1660.0f;
+      break;
+    case LSM6DSL_ACC_GYRO_ODR_G_3330Hz:
+      *odr = 3330.0f;
+      break;
+    case LSM6DSL_ACC_GYRO_ODR_G_6660Hz:
+      *odr = 6660.0f;
+      break;
+    default:
+      *odr = -1.0f;
+      return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief  Set LSM6DSL Accelerometer output data rate
+ * @param  odr the output data rate to be set
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_ODR(float odr)
+{
+  if(X_isEnabled == 1)
+  {
+    if(Set_X_ODR_When_Enabled(odr) == LSM6DSL_STATUS_ERROR)
+    {
+      return LSM6DSL_STATUS_ERROR;
+    }
+  }
+  else
+  {
+    if(Set_X_ODR_When_Disabled(odr) == LSM6DSL_STATUS_ERROR)
+    {
+      return LSM6DSL_STATUS_ERROR;
+    }
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief  Set LSM6DSL Accelerometer output data rate when enabled
+ * @param  odr the output data rate to be set
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_ODR_When_Enabled(float odr)
+{
+  LSM6DSL_ACC_GYRO_ODR_XL_t new_odr;
+  
+  new_odr = ( odr <=   13.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_13Hz
+          : ( odr <=   26.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_26Hz
+          : ( odr <=   52.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_52Hz
+          : ( odr <=  104.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_104Hz
+          : ( odr <=  208.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_208Hz
+          : ( odr <=  416.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_416Hz
+          : ( odr <=  833.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_833Hz
+          : ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_1660Hz
+          : ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_3330Hz
+          :                      LSM6DSL_ACC_GYRO_ODR_XL_6660Hz;
+            
+  if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, new_odr ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief  Set LSM6DSL Accelerometer output data rate when disabled
+ * @param  odr the output data rate to be set
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_ODR_When_Disabled(float odr)
+{ 
+  X_Last_ODR = ( odr <=   13.0f ) ? 13.0f
+             : ( odr <=   26.0f ) ? 26.0f
+             : ( odr <=   52.0f ) ? 52.0f
+             : ( odr <=  104.0f ) ? 104.0f
+             : ( odr <=  208.0f ) ? 208.0f
+             : ( odr <=  416.0f ) ? 416.0f
+             : ( odr <=  833.0f ) ? 833.0f
+             : ( odr <= 1660.0f ) ? 1660.0f
+             : ( odr <= 3330.0f ) ? 3330.0f
+             :                      6660.0f;
+                                 
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief  Set LSM6DSL Gyroscope output data rate
+ * @param  odr the output data rate to be set
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_ODR(float odr)
+{
+  if(G_isEnabled == 1)
+  {
+    if(Set_G_ODR_When_Enabled(odr) == LSM6DSL_STATUS_ERROR)
+    {
+      return LSM6DSL_STATUS_ERROR;
+    }
+  }
+  else
+  {
+    if(Set_G_ODR_When_Disabled(odr) == LSM6DSL_STATUS_ERROR)
+    {
+      return LSM6DSL_STATUS_ERROR;
+    }
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief  Set LSM6DSL Gyroscope output data rate when enabled
+ * @param  odr the output data rate to be set
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_ODR_When_Enabled(float odr)
+{
+  LSM6DSL_ACC_GYRO_ODR_G_t new_odr;
+  
+  new_odr = ( odr <=  13.0f )  ? LSM6DSL_ACC_GYRO_ODR_G_13Hz
+          : ( odr <=  26.0f )  ? LSM6DSL_ACC_GYRO_ODR_G_26Hz
+          : ( odr <=  52.0f )  ? LSM6DSL_ACC_GYRO_ODR_G_52Hz
+          : ( odr <= 104.0f )  ? LSM6DSL_ACC_GYRO_ODR_G_104Hz
+          : ( odr <= 208.0f )  ? LSM6DSL_ACC_GYRO_ODR_G_208Hz
+          : ( odr <= 416.0f )  ? LSM6DSL_ACC_GYRO_ODR_G_416Hz
+          : ( odr <= 833.0f )  ? LSM6DSL_ACC_GYRO_ODR_G_833Hz
+          : ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_1660Hz
+          : ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_3330Hz
+          :                      LSM6DSL_ACC_GYRO_ODR_G_6660Hz;
+            
+  if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, new_odr ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief  Set LSM6DSL Gyroscope output data rate when disabled
+ * @param  odr the output data rate to be set
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_ODR_When_Disabled(float odr)
+{
+  G_Last_ODR = ( odr <=  13.0f )  ? 13.0f
+             : ( odr <=  26.0f )  ? 26.0f
+             : ( odr <=  52.0f )  ? 52.0f
+             : ( odr <= 104.0f )  ? 104.0f
+             : ( odr <= 208.0f )  ? 208.0f
+             : ( odr <= 416.0f )  ? 416.0f
+             : ( odr <= 833.0f )  ? 833.0f
+             : ( odr <= 1660.0f ) ? 1660.0f
+             : ( odr <= 3330.0f ) ? 3330.0f
+             :                      6660.0f;
+                                 
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief  Read LSM6DSL Accelerometer full scale
+ * @param  fullScale the pointer to the full scale
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_FS(float* fullScale)
+{
+  LSM6DSL_ACC_GYRO_FS_XL_t fs_low_level;
+  
+  if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fs_low_level ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  switch( fs_low_level )
+  {
+    case LSM6DSL_ACC_GYRO_FS_XL_2g:
+      *fullScale = 2.0f;
+      break;
+    case LSM6DSL_ACC_GYRO_FS_XL_4g:
+      *fullScale = 4.0f;
+      break;
+    case LSM6DSL_ACC_GYRO_FS_XL_8g:
+      *fullScale = 8.0f;
+      break;
+    case LSM6DSL_ACC_GYRO_FS_XL_16g:
+      *fullScale = 16.0f;
+      break;
+    default:
+      *fullScale = -1.0f;
+      return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief  Read LSM6DSL Gyroscope full scale
+ * @param  fullScale the pointer to the full scale
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_FS(float* fullScale)
+{
+  LSM6DSL_ACC_GYRO_FS_G_t fs_low_level;
+  LSM6DSL_ACC_GYRO_FS_125_t fs_125;
+  
+  if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fs_125 ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fs_low_level ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  if ( fs_125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
+  {
+    *fullScale = 125.0f;
+  }
+  
+  else
+  {
+    switch( fs_low_level )
+    {
+      case LSM6DSL_ACC_GYRO_FS_G_245dps:
+        *fullScale = 245.0f;
+        break;
+      case LSM6DSL_ACC_GYRO_FS_G_500dps:
+        *fullScale = 500.0f;
+        break;
+      case LSM6DSL_ACC_GYRO_FS_G_1000dps:
+        *fullScale = 1000.0f;
+        break;
+      case LSM6DSL_ACC_GYRO_FS_G_2000dps:
+        *fullScale = 2000.0f;
+        break;
+      default:
+        *fullScale = -1.0f;
+        return LSM6DSL_STATUS_ERROR;
+    }
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief  Set LSM6DSL Accelerometer full scale
+ * @param  fullScale the full scale to be set
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_FS(float fullScale)
+{
+  LSM6DSL_ACC_GYRO_FS_XL_t new_fs;
+  
+  new_fs = ( fullScale <= 2.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_2g
+         : ( fullScale <= 4.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_4g
+         : ( fullScale <= 8.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_8g
+         :                         LSM6DSL_ACC_GYRO_FS_XL_16g;
+           
+  if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, new_fs ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief  Set LSM6DSL Gyroscope full scale
+ * @param  fullScale the full scale to be set
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_FS(float fullScale)
+{
+  LSM6DSL_ACC_GYRO_FS_G_t new_fs;
+  
+  if ( fullScale <= 125.0f )
+  {
+    if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_ENABLED ) == MEMS_ERROR )
+    {
+      return LSM6DSL_STATUS_ERROR;
+    }
+  }
+  else
+  {
+    new_fs = ( fullScale <=  245.0f ) ? LSM6DSL_ACC_GYRO_FS_G_245dps
+           : ( fullScale <=  500.0f ) ? LSM6DSL_ACC_GYRO_FS_G_500dps
+           : ( fullScale <= 1000.0f ) ? LSM6DSL_ACC_GYRO_FS_G_1000dps
+           :                            LSM6DSL_ACC_GYRO_FS_G_2000dps;
+             
+    if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_DISABLED ) == MEMS_ERROR )
+    {
+      return LSM6DSL_STATUS_ERROR;
+    }
+    if ( LSM6DSL_ACC_GYRO_W_FS_G( (void *)this, new_fs ) == MEMS_ERROR )
+    {
+      return LSM6DSL_STATUS_ERROR;
+    }
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief  Enable free fall detection
+ * @note  This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+*/
+LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Free_Fall_Detection(void)
+{
+  /* Output Data Rate selection */
+  if(Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR)
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Full scale selection */
+  if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, LSM6DSL_ACC_GYRO_FS_XL_2g ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* FF_DUR setting */
+  if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x06 ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* WAKE_DUR setting */
+  if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* TIMER_HR setting */
+  if ( LSM6DSL_ACC_GYRO_W_TIMER_HR( (void *)this, LSM6DSL_ACC_GYRO_TIMER_HR_6_4ms ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* SLEEP_DUR setting */
+  if ( LSM6DSL_ACC_GYRO_W_SLEEP_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* FF_THS setting */
+  if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_312mg ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Enable basic Interrupts */
+  if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* INT1_FF setting */
+  if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief  Disable free fall detection
+ * @param  None
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+*/
+LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Free_Fall_Detection(void)
+{
+  /* INT1_FF setting */
+  if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Disable basic Interrupts */
+  if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* FF_DUR setting */
+  if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x00 ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* FF_THS setting */
+  if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_156mg ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief  Get status of free fall detection
+ * @param  status the pointer where the status of free fall detection is stored; 0 means no detection, 1 means detection happened
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+*/
+LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Free_Fall_Detection(uint8_t *status)
+{
+  LSM6DSL_ACC_GYRO_FF_EV_STATUS_t free_fall_status;
+  
+  if ( LSM6DSL_ACC_GYRO_R_FF_EV_STATUS( (void *)this, &free_fall_status ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  switch( free_fall_status )
+  {
+    case LSM6DSL_ACC_GYRO_FF_EV_STATUS_DETECTED:
+      *status = 1;
+      break;
+    case LSM6DSL_ACC_GYRO_FF_EV_STATUS_NOT_DETECTED:
+      *status = 0;
+      break;
+    default:
+      return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor
+ * @param thr the threshold to be set
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Free_Fall_Threshold(uint8_t thr)
+{
+
+  if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Enable the pedometer feature for LSM6DSL accelerometer sensor
+ * @note  This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Pedometer(void)
+{
+  /* Output Data Rate selection */
+  if( Set_X_ODR(26.0f) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Full scale selection. */
+  if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Set pedometer threshold. */
+  if ( Set_Pedometer_Threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Enable embedded functionalities. */
+  if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Enable pedometer algorithm. */
+  if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Enable pedometer on INT1. */
+  if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Disable the pedometer feature for LSM6DSL accelerometer sensor
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Pedometer(void)
+{
+  /* Disable pedometer on INT1. */
+  if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Disable pedometer algorithm. */
+  if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Disable embedded functionalities. */
+  if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Reset pedometer threshold. */
+  if ( Set_Pedometer_Threshold(0x0) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Get the pedometer status for LSM6DSL accelerometer sensor
+ * @param status the pointer to the pedometer status: 0 means no step detected, 1 means step detected
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Pedometer(uint8_t *status)
+{
+  LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_t pedometer_status;
+  
+  if ( LSM6DSL_ACC_GYRO_R_PEDO_EV_STATUS( (void *)this, &pedometer_status ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  switch( pedometer_status )
+  {
+    case LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_DETECTED:
+      *status = 1;
+      break;
+    case LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_NOT_DETECTED:
+      *status = 0;
+      break;
+    default:
+      return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Get the step counter for LSM6DSL accelerometer sensor
+ * @param step_count the pointer to the step counter
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Step_Counter(uint16_t *step_count)
+{
+  if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void *)this, ( uint8_t* )step_count ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Reset of the step counter for LSM6DSL accelerometer sensor
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Reset_Step_Counter(void)
+{
+  if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  wait_ms(10);
+  
+  if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
+ * @param thr the threshold to be set
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Pedometer_Threshold(uint8_t thr)
+{
+  if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Enable the tilt detection for LSM6DSL accelerometer sensor
+ * @note  This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Tilt_Detection(void)
+{
+  /* Output Data Rate selection */
+  if( Set_X_ODR(26.0f) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Full scale selection. */
+  if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Enable embedded functionalities */
+  if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Enable tilt calculation. */
+  if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Enable tilt event on INT1. */
+  if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Disable the tilt detection for LSM6DSL accelerometer sensor
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Tilt_Detection(void)
+{
+  /* Disable tilt event on INT1. */
+  if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_DISABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+
+  /* Disable tilt calculation. */
+  if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Disable embedded functionalities */
+  if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Get the tilt detection status for LSM6DSL accelerometer sensor
+ * @param status the pointer to the tilt detection status: 0 means no tilt detected, 1 means tilt detected
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Tilt_Detection(uint8_t *status)
+{
+  LSM6DSL_ACC_GYRO_TILT_EV_STATUS_t tilt_status;
+  
+  if ( LSM6DSL_ACC_GYRO_R_TILT_EV_STATUS( (void *)this, &tilt_status ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  switch( tilt_status )
+  {
+    case LSM6DSL_ACC_GYRO_TILT_EV_STATUS_DETECTED:
+      *status = 1;
+      break;
+    case LSM6DSL_ACC_GYRO_TILT_EV_STATUS_NOT_DETECTED:
+      *status = 0;
+      break;
+    default:
+      return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Enable the wake up detection for LSM6DSL accelerometer sensor
+ * @note  This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Wake_Up_Detection(void)
+{
+  /* Output Data Rate selection */
+  if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Full scale selection. */
+  if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* WAKE_DUR setting */
+  if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Set wake up threshold. */
+  if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Enable basic Interrupts */
+  if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* INT1_WU setting */
+  if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_ENABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Disable the wake up detection for LSM6DSL accelerometer sensor
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Wake_Up_Detection(void)
+{
+  /* INT1_WU setting */
+  if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_DISABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Disable basic Interrupts */
+  if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* WU_DUR setting */
+  if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* WU_THS setting */
+  if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Get the status of the wake up detection for LSM6DSL accelerometer sensor
+ * @param status the pointer to the status of the wake up detection: 0 means no detection, 1 means detection happened
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Wake_Up_Detection(uint8_t *status)
+{
+  LSM6DSL_ACC_GYRO_WU_EV_STATUS_t wake_up_status;
+  
+  if ( LSM6DSL_ACC_GYRO_R_WU_EV_STATUS( (void *)this, &wake_up_status ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  switch( wake_up_status )
+  {
+    case LSM6DSL_ACC_GYRO_WU_EV_STATUS_DETECTED:
+      *status = 1;
+      break;
+    case LSM6DSL_ACC_GYRO_WU_EV_STATUS_NOT_DETECTED:
+      *status = 0;
+      break;
+    default:
+      return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Set the wake up threshold for LSM6DSL accelerometer sensor
+ * @param thr the threshold to be set
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Wake_Up_Threshold(uint8_t thr)
+{
+  if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Enable the single tap detection for LSM6DSL accelerometer sensor
+ * @note  This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Single_Tap_Detection(void)
+{
+  /* Output Data Rate selection */
+  if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Full scale selection. */
+  if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+
+  /* Enable X direction in tap recognition. */
+  if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Enable Y direction in tap recognition. */
+  if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Enable Z direction in tap recognition. */
+  if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Set tap threshold. */
+  if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Set tap shock time window. */
+  if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Set tap quiet time window. */
+  if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* _NOTE_: Tap duration time window - don't care for single tap. */
+  
+  /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
+  
+  /* Enable basic Interrupts */
+  if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Enable single tap interrupt on INT1 pin. */
+  if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Disable the single tap detection for LSM6DSL accelerometer sensor
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Single_Tap_Detection(void)
+{
+  /* Disable single tap interrupt on INT1 pin. */
+  if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Disable basic Interrupts */
+  if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Reset tap threshold. */
+  if ( Set_Tap_Threshold( 0x0 ) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Reset tap shock time window. */
+  if ( Set_Tap_Shock_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Reset tap quiet time window. */
+  if ( Set_Tap_Quiet_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* _NOTE_: Tap duration time window - don't care for single tap. */
+  
+  /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
+  
+  /* Disable Z direction in tap recognition. */
+  if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Disable Y direction in tap recognition. */
+  if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Disable X direction in tap recognition. */
+  if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Get the single tap detection status for LSM6DSL accelerometer sensor
+ * @param status the pointer to the single tap detection status: 0 means no single tap detected, 1 means single tap detected
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Single_Tap_Detection(uint8_t *status)
+{
+  LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_t tap_status;
+  
+  if ( LSM6DSL_ACC_GYRO_R_SINGLE_TAP_EV_STATUS( (void *)this, &tap_status ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  switch( tap_status )
+  {
+    case LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_DETECTED:
+      *status = 1;
+      break;
+     
+    case LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_NOT_DETECTED:
+      *status = 0;
+      break;
+      
+    default:
+      return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Enable the double tap detection for LSM6DSL accelerometer sensor
+ * @note  This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Double_Tap_Detection(void)
+{
+  /* Output Data Rate selection */
+  if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Full scale selection. */
+  if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+
+  /* Enable X direction in tap recognition. */
+  if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Enable Y direction in tap recognition. */
+  if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Enable Z direction in tap recognition. */
+  if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Set tap threshold. */
+  if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Set tap shock time window. */
+  if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Set tap quiet time window. */
+  if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Set tap duration time window. */
+  if ( Set_Tap_Duration_Time( LSM6DSL_TAP_DURATION_TIME_MID ) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Single and double tap enabled. */
+  if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Enable basic Interrupts */
+  if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Enable double tap interrupt on INT1 pin. */
+  if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Disable the double tap detection for LSM6DSL accelerometer sensor
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Double_Tap_Detection(void)
+{
+  /* Disable double tap interrupt on INT1 pin. */
+  if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Disable basic Interrupts */
+  if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Reset tap threshold. */
+  if ( Set_Tap_Threshold( 0x0 ) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Reset tap shock time window. */
+  if ( Set_Tap_Shock_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Reset tap quiet time window. */
+  if ( Set_Tap_Quiet_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Reset tap duration time window. */
+  if ( Set_Tap_Duration_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Only single tap enabled. */
+  if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Disable Z direction in tap recognition. */
+  if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Disable Y direction in tap recognition. */
+  if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Disable X direction in tap recognition. */
+  if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Get the double tap detection status for LSM6DSL accelerometer sensor
+ * @param status the pointer to the double tap detection status: 0 means no double tap detected, 1 means double tap detected
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Double_Tap_Detection(uint8_t *status)
+{
+  LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_t tap_status;
+  
+  if ( LSM6DSL_ACC_GYRO_R_DOUBLE_TAP_EV_STATUS( (void *)this, &tap_status ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  switch( tap_status )
+  {
+    case LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_DETECTED:
+      *status = 1;
+      break;
+      
+    case LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_NOT_DETECTED:
+      *status = 0;
+      break;
+      
+    default:
+      return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Set the tap threshold for LSM6DSL accelerometer sensor
+ * @param thr the threshold to be set
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Threshold(uint8_t thr)
+{
+  if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Set the tap shock time window for LSM6DSL accelerometer sensor
+ * @param time the shock time window to be set
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Shock_Time(uint8_t time)
+{
+  if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
+ * @param time the quiet time window to be set
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Quiet_Time(uint8_t time)
+{
+  if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
+ * @param time the duration of the time window to be set
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Duration_Time(uint8_t time)
+{
+  if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
+ * @note  This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_6D_Orientation(void)
+{
+  /* Output Data Rate selection */
+  if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Full scale selection. */
+  if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+
+  /* Set 6D threshold. */
+  if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Enable basic Interrupts */
+  if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* INT1_6D setting. */
+  if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_6D_Orientation(void)
+{
+  /* INT1_6D setting. */
+  if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Disable basic Interrupts */
+  if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  /* Reset 6D threshold. */
+  if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Get the status of the 6D orientation detection for LSM6DSL accelerometer sensor
+ * @param status the pointer to the status of the 6D orientation detection: 0 means no detection, 1 means detection happened
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_6D_Orientation(uint8_t *status)
+{
+  LSM6DSL_ACC_GYRO_D6D_EV_STATUS_t status_raw;
+  
+  if ( LSM6DSL_ACC_GYRO_R_D6D_EV_STATUS( (void *)this, &status_raw ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  switch( status_raw )
+  {
+    case LSM6DSL_ACC_GYRO_D6D_EV_STATUS_DETECTED:
+      *status = 1;
+      break;
+    case LSM6DSL_ACC_GYRO_D6D_EV_STATUS_NOT_DETECTED:
+      *status = 0;
+      break;
+    default:
+      return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
+ * @param xl the pointer to the 6D orientation XL axis
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_XL(uint8_t *xl)
+{
+  LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
+  
+  if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  switch( xl_raw )
+  {
+    case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
+      *xl = 1;
+      break;
+    case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
+      *xl = 0;
+      break;
+    default:
+      return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
+ * @param xh the pointer to the 6D orientation XH axis
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_XH(uint8_t *xh)
+{
+  LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
+  
+  if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  switch( xh_raw )
+  {
+    case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
+      *xh = 1;
+      break;
+    case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
+      *xh = 0;
+      break;
+    default:
+      return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
+ * @param yl the pointer to the 6D orientation YL axis
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_YL(uint8_t *yl)
+{
+  LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
+  
+  if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  switch( yl_raw )
+  {
+    case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
+      *yl = 1;
+      break;
+    case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
+      *yl = 0;
+      break;
+    default:
+      return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
+ * @param yh the pointer to the 6D orientation YH axis
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_YH(uint8_t *yh)
+{
+  LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
+  
+  if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  switch( yh_raw )
+  {
+    case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
+      *yh = 1;
+      break;
+    case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
+      *yh = 0;
+      break;
+    default:
+      return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
+ * @param zl the pointer to the 6D orientation ZL axis
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_ZL(uint8_t *zl)
+{
+  LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
+  
+  if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  switch( zl_raw )
+  {
+    case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
+      *zl = 1;
+      break;
+    case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
+      *zl = 0;
+      break;
+    default:
+      return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
+ * @param zh the pointer to the 6D orientation ZH axis
+ * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_ZH(uint8_t *zh)
+{
+  LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
+  
+  if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+  
+  switch( zh_raw )
+  {
+    case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
+      *zh = 1;
+      break;
+    case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
+      *zh = 0;
+      break;
+    default:
+      return LSM6DSL_STATUS_ERROR;
+  }
+  
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Read the data from register
+ * @param reg register address
+ * @param data register data
+ * @retval LSM6DSL_STATUS_OK in case of success
+ * @retval LSM6DSL_STATUS_ERROR in case of failure
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::ReadReg( uint8_t reg, uint8_t *data )
+{
+
+  if ( LSM6DSL_ACC_GYRO_ReadReg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+
+  return LSM6DSL_STATUS_OK;
+}
+
+/**
+ * @brief Write the data to register
+ * @param reg register address
+ * @param data register data
+ * @retval LSM6DSL_STATUS_OK in case of success
+ * @retval LSM6DSL_STATUS_ERROR in case of failure
+ */
+LSM6DSLStatusTypeDef LSM6DSLSensor::WriteReg( uint8_t reg, uint8_t data )
+{
+
+  if ( LSM6DSL_ACC_GYRO_WriteReg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
+  {
+    return LSM6DSL_STATUS_ERROR;
+  }
+
+  return LSM6DSL_STATUS_OK;
+}
+
+
+uint8_t LSM6DSL_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
+{
+  return ((LSM6DSLSensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
+}
+
+uint8_t LSM6DSL_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
+{
+  return ((LSM6DSLSensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
+}