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IIS2DLPC
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Dependencies: X_NUCLEO_COMMON ST_INTERFACES
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IIS2DLPCSensor.cpp
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00001 /** 00002 ****************************************************************************** 00003 * @file IIS2DLPCSensor.cpp 00004 * @author CLab 00005 * @version V1.0.0 00006 * @date 15 November 2018 00007 * @brief Implementation of an IIS2DLPC Inertial Measurement Unit (IMU) 3 axes 00008 * sensor. 00009 ****************************************************************************** 00010 * @attention 00011 * 00012 * <h2><center>© COPYRIGHT(c) 2018 STMicroelectronics</center></h2> 00013 * 00014 * Redistribution and use in source and binary forms, with or without modification, 00015 * are permitted provided that the following conditions are met: 00016 * 1. Redistributions of source code must retain the above copyright notice, 00017 * this list of conditions and the following disclaimer. 00018 * 2. Redistributions in binary form must reproduce the above copyright notice, 00019 * this list of conditions and the following disclaimer in the documentation 00020 * and/or other materials provided with the distribution. 00021 * 3. Neither the name of STMicroelectronics nor the names of its contributors 00022 * may be used to endorse or promote products derived from this software 00023 * without specific prior written permission. 00024 * 00025 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00026 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00027 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00028 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 00029 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 00030 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 00031 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 00033 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 00034 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 ****************************************************************************** 00037 */ 00038 00039 00040 /* Includes ------------------------------------------------------------------*/ 00041 00042 #include "IIS2DLPCSensor.h" 00043 00044 00045 /* Class Implementation ------------------------------------------------------*/ 00046 00047 /** Constructor 00048 * @param i2c object of an helper class which handles the I2C peripheral 00049 * @param address the address of the component's instance 00050 * @param int1_pin the interrupt 1 pin 00051 * @param int2_pin the interrupt 2 pin 00052 */ 00053 IIS2DLPCSensor::IIS2DLPCSensor(DevI2C *i2c, uint8_t address, PinName int1_pin, PinName int2_pin) : 00054 _dev_i2c(i2c), _address(address), _cs_pin(NC), _int1_irq(int1_pin), _int2_irq(int2_pin) 00055 { 00056 assert (i2c); 00057 _dev_spi = NULL; 00058 _reg_ctx.write_reg = IIS2DLPC_io_write; 00059 _reg_ctx.read_reg = IIS2DLPC_io_read; 00060 _reg_ctx.handle = (void *)this; 00061 } 00062 00063 /** Constructor 00064 * @param spi object of an helper class which handles the SPI peripheral 00065 * @param cs_pin the chip select pin 00066 * @param int1_pin the interrupt 1 pin 00067 * @param int2_pin the interrupt 2 pin 00068 * @param spi_type the SPI type (4-Wires or 3-Wires) 00069 */ 00070 IIS2DLPCSensor::IIS2DLPCSensor(SPI *spi, PinName cs_pin, PinName int1_pin, PinName int2_pin, SPI_type_t spi_type ) : 00071 _dev_spi(spi), _cs_pin(cs_pin), _int1_irq(int1_pin), _int2_irq(int2_pin), _spi_type(spi_type) 00072 { 00073 assert (spi); 00074 if (cs_pin == NC) 00075 { 00076 printf ("ERROR LPS22HBSensor CS MUST NOT BE NC\n\r"); 00077 _dev_spi = NULL; 00078 _dev_i2c = NULL; 00079 return; 00080 } 00081 _reg_ctx.write_reg = IIS2DLPC_io_write; 00082 _reg_ctx.read_reg = IIS2DLPC_io_read; 00083 _reg_ctx.handle = (void *)this; 00084 _cs_pin = 1; 00085 _dev_i2c = NULL; 00086 _address = 0; 00087 00088 if (_spi_type == SPI3W) 00089 { 00090 /* Enable SPI 3-Wires on the component */ 00091 uint8_t data = 0x05; 00092 iis2dlpc_write_reg(&_reg_ctx, IIS2DLPC_CTRL2, &data, 1); 00093 } 00094 00095 /* Disable I2C on the component */ 00096 iis2dlpc_i2c_interface_set(&_reg_ctx, IIS2DLPC_I2C_DISABLE); 00097 } 00098 00099 /** 00100 * @brief Initializing the component. 00101 * @param[in] init pointer to device specific initalization structure. 00102 * @retval "0" in case of success, an error code otherwise. 00103 */ 00104 int IIS2DLPCSensor::init(void *init) 00105 { 00106 /* Enable register address automatically incremented during a multiple byte 00107 access with a serial interface. */ 00108 if (iis2dlpc_auto_increment_set(&_reg_ctx, PROPERTY_ENABLE) != 0) 00109 { 00110 return 1; 00111 } 00112 00113 /* Enable BDU */ 00114 if (iis2dlpc_block_data_update_set(&_reg_ctx, PROPERTY_ENABLE) != 0) 00115 { 00116 return 1; 00117 } 00118 00119 /* FIFO mode selection */ 00120 if (iis2dlpc_fifo_mode_set(&_reg_ctx, IIS2DLPC_BYPASS_MODE) != 0) 00121 { 00122 return 1; 00123 } 00124 00125 /* Power mode selection */ 00126 if (iis2dlpc_power_mode_set(&_reg_ctx, IIS2DLPC_HIGH_PERFORMANCE) != 0) 00127 { 00128 return 1; 00129 } 00130 00131 /* Output data rate selection - power down. */ 00132 if (iis2dlpc_data_rate_set(&_reg_ctx, IIS2DLPC_XL_ODR_OFF) != 0) 00133 { 00134 return 1; 00135 } 00136 00137 /* Full scale selection. */ 00138 if (iis2dlpc_full_scale_set(&_reg_ctx, IIS2DLPC_2g) != 0) 00139 { 00140 return 1; 00141 } 00142 00143 /* Select default output data rate. */ 00144 _x_last_odr = 100.0f; 00145 00146 _x_last_operating_mode = IIS2DLPC_HIGH_PERFORMANCE_MODE; 00147 00148 _x_last_noise = IIS2DLPC_LOW_NOISE_DISABLE; 00149 00150 _x_is_enabled = 0; 00151 00152 return 0; 00153 } 00154 00155 /** 00156 * @brief Enable IIS2DLPC Accelerator 00157 * @retval 0 in case of success, an error code otherwise 00158 */ 00159 int IIS2DLPCSensor::enable_x(void) 00160 { 00161 /* Check if the component is already enabled */ 00162 if ( _x_is_enabled == 1 ) 00163 { 00164 return 0; 00165 } 00166 00167 /* Output data rate selection. */ 00168 if ( set_x_odr_when_enabled( _x_last_odr, _x_last_operating_mode, _x_last_noise ) == 1 ) 00169 { 00170 return 1; 00171 } 00172 00173 _x_is_enabled = 1; 00174 00175 return 0; 00176 } 00177 00178 /** 00179 * @brief Disable IIS2DLPC Accelerator 00180 * @retval 0 in case of success, an error code otherwise 00181 */ 00182 int IIS2DLPCSensor::disable_x(void) 00183 { 00184 /* Check if the component is already disabled */ 00185 if ( _x_is_enabled == 0 ) 00186 { 00187 return 0; 00188 } 00189 00190 /* Output data rate selection - power down. */ 00191 if (iis2dlpc_data_rate_set(&_reg_ctx, IIS2DLPC_XL_ODR_OFF) != 0) 00192 { 00193 return 1; 00194 } 00195 00196 _x_is_enabled = 0; 00197 00198 return 0; 00199 } 00200 00201 /** 00202 * @brief Read ID of IIS2DLPC Accelerometer and Gyroscope 00203 * @param p_id the pointer where the ID of the device is stored 00204 * @retval 0 in case of success, an error code otherwise 00205 */ 00206 int IIS2DLPCSensor::read_id(uint8_t *id) 00207 { 00208 if(!id) 00209 { 00210 return 1; 00211 } 00212 00213 /* Read WHO AM I register */ 00214 if (iis2dlpc_device_id_get(&_reg_ctx, id) != 0) 00215 { 00216 return 1; 00217 } 00218 00219 return 0; 00220 } 00221 00222 /** 00223 * @brief Read data from IIS2DLPC Accelerometer 00224 * @param acceleration the pointer where the accelerometer data are stored 00225 * @retval 0 in case of success, an error code otherwise 00226 */ 00227 int IIS2DLPCSensor::get_x_axes(int32_t *acceleration) 00228 { 00229 int16_t data_raw[3]; 00230 float sensitivity = 0; 00231 00232 /* Read raw data from IIS2DLPC output register. */ 00233 if ( get_x_axes_raw( data_raw ) == 1 ) 00234 { 00235 return 1; 00236 } 00237 00238 /* Get IIS2DLPC actual sensitivity. */ 00239 if ( get_x_sensitivity( &sensitivity ) == 1 ) 00240 { 00241 return 1; 00242 } 00243 00244 /* Calculate the data. */ 00245 acceleration[0] = ( int32_t )( data_raw[0] * sensitivity ); 00246 acceleration[1] = ( int32_t )( data_raw[1] * sensitivity ); 00247 acceleration[2] = ( int32_t )( data_raw[2] * sensitivity ); 00248 00249 return 0; 00250 } 00251 00252 /** 00253 * @brief Read Accelerometer Sensitivity 00254 * @param sensitivity the pointer where the accelerometer sensitivity is stored 00255 * @retval 0 in case of success, an error code otherwise 00256 */ 00257 int IIS2DLPCSensor::get_x_sensitivity(float *sensitivity) 00258 { 00259 int32_t ret = 0; 00260 iis2dlpc_fs_t full_scale; 00261 iis2dlpc_mode_t mode; 00262 00263 /* Read actual full scale selection from sensor. */ 00264 if (iis2dlpc_full_scale_get(&_reg_ctx, &full_scale) != 0) 00265 { 00266 return 1; 00267 } 00268 00269 /* Read actual power mode selection from sensor. */ 00270 if (iis2dlpc_power_mode_get(&_reg_ctx, &mode) != 0) 00271 { 00272 return 1; 00273 } 00274 00275 switch(mode) 00276 { 00277 case IIS2DLPC_CONT_LOW_PWR_12bit: 00278 case IIS2DLPC_SINGLE_LOW_PWR_12bit: 00279 case IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_12bit: 00280 case IIS2DLPC_SINGLE_LOW_LOW_NOISE_PWR_12bit: 00281 switch (full_scale) 00282 { 00283 case IIS2DLPC_2g: 00284 *sensitivity = IIS2DLPC_ACC_SENSITIVITY_FOR_FS_2G_LOPOW1_MODE; 00285 break; 00286 00287 case IIS2DLPC_4g: 00288 *sensitivity = IIS2DLPC_ACC_SENSITIVITY_FOR_FS_4G_LOPOW1_MODE; 00289 break; 00290 00291 case IIS2DLPC_8g: 00292 *sensitivity = IIS2DLPC_ACC_SENSITIVITY_FOR_FS_8G_LOPOW1_MODE; 00293 break; 00294 00295 case IIS2DLPC_16g: 00296 *sensitivity = IIS2DLPC_ACC_SENSITIVITY_FOR_FS_16G_LOPOW1_MODE; 00297 break; 00298 00299 default: 00300 *sensitivity = -1.0f; 00301 ret = 1; 00302 break; 00303 } 00304 break; 00305 00306 case IIS2DLPC_HIGH_PERFORMANCE: 00307 case IIS2DLPC_CONT_LOW_PWR_4: 00308 case IIS2DLPC_CONT_LOW_PWR_3: 00309 case IIS2DLPC_CONT_LOW_PWR_2: 00310 case IIS2DLPC_SINGLE_LOW_PWR_4: 00311 case IIS2DLPC_SINGLE_LOW_PWR_3: 00312 case IIS2DLPC_SINGLE_LOW_PWR_2: 00313 case IIS2DLPC_HIGH_PERFORMANCE_LOW_NOISE: 00314 case IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_4: 00315 case IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_3: 00316 case IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_2: 00317 case IIS2DLPC_SINGLE_LOW_PWR_LOW_NOISE_4: 00318 case IIS2DLPC_SINGLE_LOW_PWR_LOW_NOISE_3: 00319 case IIS2DLPC_SINGLE_LOW_PWR_LOW_NOISE_2: 00320 switch (full_scale) 00321 { 00322 case IIS2DLPC_2g: 00323 *sensitivity = IIS2DLPC_ACC_SENSITIVITY_FOR_FS_2G_OTHER_MODES; 00324 break; 00325 00326 case IIS2DLPC_4g: 00327 *sensitivity = IIS2DLPC_ACC_SENSITIVITY_FOR_FS_4G_OTHER_MODES; 00328 break; 00329 00330 case IIS2DLPC_8g: 00331 *sensitivity = IIS2DLPC_ACC_SENSITIVITY_FOR_FS_8G_OTHER_MODES; 00332 break; 00333 00334 case IIS2DLPC_16g: 00335 *sensitivity = IIS2DLPC_ACC_SENSITIVITY_FOR_FS_16G_OTHER_MODES; 00336 break; 00337 00338 default: 00339 *sensitivity = -1.0f; 00340 ret = 1; 00341 break; 00342 } 00343 break; 00344 00345 default: 00346 *sensitivity = -1.0f; 00347 ret = 1; 00348 break; 00349 } 00350 00351 return ret; 00352 } 00353 00354 /** 00355 * @brief Read raw data from IIS2DLPC Accelerometer 00356 * @param value the pointer where the accelerometer raw data are stored 00357 * @retval 0 in case of success, an error code otherwise 00358 */ 00359 int IIS2DLPCSensor::get_x_axes_raw(int16_t *value) 00360 { 00361 axis3bit16_t data_raw; 00362 iis2dlpc_mode_t mode; 00363 int32_t ret = 0; 00364 00365 /* Read actual power mode selection from sensor. */ 00366 if (iis2dlpc_power_mode_get(&_reg_ctx, &mode) != 0) 00367 { 00368 return 1; 00369 } 00370 00371 /* Read raw data values. */ 00372 if (iis2dlpc_acceleration_raw_get(&_reg_ctx, data_raw.u8bit) != 0) 00373 { 00374 return 1; 00375 } 00376 00377 switch(mode) 00378 { 00379 case IIS2DLPC_CONT_LOW_PWR_12bit: 00380 case IIS2DLPC_SINGLE_LOW_PWR_12bit: 00381 case IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_12bit: 00382 case IIS2DLPC_SINGLE_LOW_LOW_NOISE_PWR_12bit: 00383 /* Data format 12 bits. */ 00384 value[0] = (data_raw.i16bit[0] / 16); 00385 value[1] = (data_raw.i16bit[1] / 16); 00386 value[2] = (data_raw.i16bit[2] / 16); 00387 break; 00388 00389 case IIS2DLPC_HIGH_PERFORMANCE: 00390 case IIS2DLPC_CONT_LOW_PWR_4: 00391 case IIS2DLPC_CONT_LOW_PWR_3: 00392 case IIS2DLPC_CONT_LOW_PWR_2: 00393 case IIS2DLPC_SINGLE_LOW_PWR_4: 00394 case IIS2DLPC_SINGLE_LOW_PWR_3: 00395 case IIS2DLPC_SINGLE_LOW_PWR_2: 00396 case IIS2DLPC_HIGH_PERFORMANCE_LOW_NOISE: 00397 case IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_4: 00398 case IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_3: 00399 case IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_2: 00400 case IIS2DLPC_SINGLE_LOW_PWR_LOW_NOISE_4: 00401 case IIS2DLPC_SINGLE_LOW_PWR_LOW_NOISE_3: 00402 case IIS2DLPC_SINGLE_LOW_PWR_LOW_NOISE_2: 00403 /* Data format 14 bits. */ 00404 value[0] = (data_raw.i16bit[0] / 4); 00405 value[1] = (data_raw.i16bit[1] / 4); 00406 value[2] = (data_raw.i16bit[2] / 4); 00407 break; 00408 00409 default: 00410 ret = 1; 00411 break; 00412 } 00413 00414 return ret; 00415 } 00416 00417 /** 00418 * @brief Read IIS2DLPC Accelerometer output data rate 00419 * @param odr the pointer to the output data rate 00420 * @retval 0 in case of success, an error code otherwise 00421 */ 00422 int IIS2DLPCSensor::get_x_odr(float* odr) 00423 { 00424 int32_t ret = 0; 00425 iis2dlpc_odr_t odr_low_level; 00426 iis2dlpc_mode_t mode; 00427 00428 /* Get current output data rate. */ 00429 if (iis2dlpc_data_rate_get(&_reg_ctx, &odr_low_level) != 0) 00430 { 00431 return 1; 00432 } 00433 00434 /* Read actual power mode selection from sensor. */ 00435 if (iis2dlpc_power_mode_get(&_reg_ctx, &mode) != 0) 00436 { 00437 return 1; 00438 } 00439 00440 switch (odr_low_level) 00441 { 00442 case IIS2DLPC_XL_ODR_OFF: 00443 case IIS2DLPC_XL_SET_SW_TRIG: 00444 case IIS2DLPC_XL_SET_PIN_TRIG: 00445 *odr = 0.0f; 00446 break; 00447 00448 case IIS2DLPC_XL_ODR_1Hz6_LP_ONLY: 00449 switch (mode) 00450 { 00451 case IIS2DLPC_HIGH_PERFORMANCE: 00452 case IIS2DLPC_HIGH_PERFORMANCE_LOW_NOISE: 00453 *odr = 12.5f; 00454 break; 00455 00456 case IIS2DLPC_CONT_LOW_PWR_4: 00457 case IIS2DLPC_CONT_LOW_PWR_3: 00458 case IIS2DLPC_CONT_LOW_PWR_2: 00459 case IIS2DLPC_CONT_LOW_PWR_12bit: 00460 case IIS2DLPC_SINGLE_LOW_PWR_4: 00461 case IIS2DLPC_SINGLE_LOW_PWR_3: 00462 case IIS2DLPC_SINGLE_LOW_PWR_2: 00463 case IIS2DLPC_SINGLE_LOW_PWR_12bit: 00464 case IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_4: 00465 case IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_3: 00466 case IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_2: 00467 case IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_12bit: 00468 case IIS2DLPC_SINGLE_LOW_PWR_LOW_NOISE_4: 00469 case IIS2DLPC_SINGLE_LOW_PWR_LOW_NOISE_3: 00470 case IIS2DLPC_SINGLE_LOW_PWR_LOW_NOISE_2: 00471 case IIS2DLPC_SINGLE_LOW_LOW_NOISE_PWR_12bit: 00472 *odr = 1.6f; 00473 break; 00474 00475 default: 00476 *odr = -1.0f; 00477 ret = 1; 00478 break; 00479 } 00480 break; 00481 00482 case IIS2DLPC_XL_ODR_12Hz5: 00483 *odr = 12.5f; 00484 break; 00485 00486 case IIS2DLPC_XL_ODR_25Hz: 00487 *odr = 25.0f; 00488 break; 00489 00490 case IIS2DLPC_XL_ODR_50Hz: 00491 *odr = 50.0f; 00492 break; 00493 00494 case IIS2DLPC_XL_ODR_100Hz: 00495 *odr = 100.0f; 00496 break; 00497 00498 case IIS2DLPC_XL_ODR_200Hz: 00499 *odr = 200.0f; 00500 break; 00501 00502 case IIS2DLPC_XL_ODR_400Hz: 00503 switch (mode) 00504 { 00505 case IIS2DLPC_HIGH_PERFORMANCE: 00506 case IIS2DLPC_HIGH_PERFORMANCE_LOW_NOISE: 00507 *odr = 400.0f; 00508 break; 00509 00510 case IIS2DLPC_CONT_LOW_PWR_4: 00511 case IIS2DLPC_CONT_LOW_PWR_3: 00512 case IIS2DLPC_CONT_LOW_PWR_2: 00513 case IIS2DLPC_CONT_LOW_PWR_12bit: 00514 case IIS2DLPC_SINGLE_LOW_PWR_4: 00515 case IIS2DLPC_SINGLE_LOW_PWR_3: 00516 case IIS2DLPC_SINGLE_LOW_PWR_2: 00517 case IIS2DLPC_SINGLE_LOW_PWR_12bit: 00518 case IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_4: 00519 case IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_3: 00520 case IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_2: 00521 case IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_12bit: 00522 case IIS2DLPC_SINGLE_LOW_PWR_LOW_NOISE_4: 00523 case IIS2DLPC_SINGLE_LOW_PWR_LOW_NOISE_3: 00524 case IIS2DLPC_SINGLE_LOW_PWR_LOW_NOISE_2: 00525 case IIS2DLPC_SINGLE_LOW_LOW_NOISE_PWR_12bit: 00526 *odr = 200.0f; 00527 break; 00528 00529 default: 00530 *odr = -1.0f; 00531 ret = 1; 00532 break; 00533 } 00534 break; 00535 00536 case IIS2DLPC_XL_ODR_800Hz: 00537 switch (mode) 00538 { 00539 case IIS2DLPC_HIGH_PERFORMANCE: 00540 case IIS2DLPC_HIGH_PERFORMANCE_LOW_NOISE: 00541 *odr = 800.0f; 00542 break; 00543 00544 case IIS2DLPC_CONT_LOW_PWR_4: 00545 case IIS2DLPC_CONT_LOW_PWR_3: 00546 case IIS2DLPC_CONT_LOW_PWR_2: 00547 case IIS2DLPC_CONT_LOW_PWR_12bit: 00548 case IIS2DLPC_SINGLE_LOW_PWR_4: 00549 case IIS2DLPC_SINGLE_LOW_PWR_3: 00550 case IIS2DLPC_SINGLE_LOW_PWR_2: 00551 case IIS2DLPC_SINGLE_LOW_PWR_12bit: 00552 case IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_4: 00553 case IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_3: 00554 case IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_2: 00555 case IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_12bit: 00556 case IIS2DLPC_SINGLE_LOW_PWR_LOW_NOISE_4: 00557 case IIS2DLPC_SINGLE_LOW_PWR_LOW_NOISE_3: 00558 case IIS2DLPC_SINGLE_LOW_PWR_LOW_NOISE_2: 00559 case IIS2DLPC_SINGLE_LOW_LOW_NOISE_PWR_12bit: 00560 *odr = 200.0f; 00561 break; 00562 00563 default: 00564 *odr = -1.0f; 00565 ret = 1; 00566 break; 00567 } 00568 break; 00569 00570 case IIS2DLPC_XL_ODR_1k6Hz: 00571 switch (mode) 00572 { 00573 case IIS2DLPC_HIGH_PERFORMANCE: 00574 case IIS2DLPC_HIGH_PERFORMANCE_LOW_NOISE: 00575 *odr = 1600.0f; 00576 break; 00577 00578 case IIS2DLPC_CONT_LOW_PWR_4: 00579 case IIS2DLPC_CONT_LOW_PWR_3: 00580 case IIS2DLPC_CONT_LOW_PWR_2: 00581 case IIS2DLPC_CONT_LOW_PWR_12bit: 00582 case IIS2DLPC_SINGLE_LOW_PWR_4: 00583 case IIS2DLPC_SINGLE_LOW_PWR_3: 00584 case IIS2DLPC_SINGLE_LOW_PWR_2: 00585 case IIS2DLPC_SINGLE_LOW_PWR_12bit: 00586 case IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_4: 00587 case IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_3: 00588 case IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_2: 00589 case IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_12bit: 00590 case IIS2DLPC_SINGLE_LOW_PWR_LOW_NOISE_4: 00591 case IIS2DLPC_SINGLE_LOW_PWR_LOW_NOISE_3: 00592 case IIS2DLPC_SINGLE_LOW_PWR_LOW_NOISE_2: 00593 case IIS2DLPC_SINGLE_LOW_LOW_NOISE_PWR_12bit: 00594 *odr = 200.0f; 00595 break; 00596 00597 default: 00598 *odr = -1.0f; 00599 ret = 1; 00600 break; 00601 } 00602 break; 00603 00604 default: 00605 *odr = -1.0f; 00606 ret = 1; 00607 break; 00608 } 00609 00610 return ret; 00611 } 00612 00613 /** 00614 * @brief Set IIS2DLPC Accelerometer output data rate 00615 * @param odr the output data rate to be set 00616 * @retval 0 in case of success, an error code otherwise 00617 */ 00618 int IIS2DLPCSensor::set_x_odr(float odr) 00619 { 00620 return set_x_odr_with_mode(odr, IIS2DLPC_HIGH_PERFORMANCE_MODE, IIS2DLPC_LOW_NOISE_DISABLE); 00621 } 00622 00623 /** 00624 * @brief Set IIS2DLPC Accelerometer output data rate 00625 * @param odr the output data rate to be set 00626 * @param mode the operating mode to be used 00627 * @param noise the low noise option 00628 * @retval 0 in case of success, an error code otherwise 00629 */ 00630 int IIS2DLPCSensor::set_x_odr_with_mode(float odr, IIS2DLPC_Operating_Mode_t mode, IIS2DLPC_Low_Noise_t noise) 00631 { 00632 if(_x_is_enabled == 1) 00633 { 00634 if(set_x_odr_when_enabled(odr, mode, noise) != 0) 00635 { 00636 return 1; 00637 } 00638 } 00639 else 00640 { 00641 if(set_x_odr_when_disabled(odr, mode, noise) != 0) 00642 { 00643 return 1; 00644 } 00645 } 00646 00647 return 0; 00648 } 00649 00650 /** 00651 * @brief Set IIS2DLPC Accelerometer output data rate when enabled 00652 * @param odr the output data rate to be set 00653 * @param mode the operating mode to be used 00654 * @param noise the low noise option 00655 * @retval 0 in case of success, an error code otherwise 00656 */ 00657 int IIS2DLPCSensor::set_x_odr_when_enabled(float odr, IIS2DLPC_Operating_Mode_t mode, IIS2DLPC_Low_Noise_t noise) 00658 { 00659 iis2dlpc_odr_t new_odr; 00660 iis2dlpc_mode_t new_power_mode; 00661 00662 switch (mode) 00663 { 00664 case IIS2DLPC_HIGH_PERFORMANCE_MODE: 00665 default: 00666 switch (noise) 00667 { 00668 case IIS2DLPC_LOW_NOISE_DISABLE: 00669 default: 00670 new_power_mode = IIS2DLPC_HIGH_PERFORMANCE; 00671 break; 00672 case IIS2DLPC_LOW_NOISE_ENABLE: 00673 new_power_mode = IIS2DLPC_HIGH_PERFORMANCE_LOW_NOISE; 00674 break; 00675 } 00676 00677 /* If High Performance mode minimum ODR is 12.5Hz */ 00678 if(odr < 12.5f) 00679 { 00680 odr = 12.5f; 00681 } 00682 break; 00683 case IIS2DLPC_LOW_POWER_MODE4: 00684 switch (noise) 00685 { 00686 case IIS2DLPC_LOW_NOISE_DISABLE: 00687 default: 00688 new_power_mode = IIS2DLPC_CONT_LOW_PWR_4; 00689 break; 00690 case IIS2DLPC_LOW_NOISE_ENABLE: 00691 new_power_mode = IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_4; 00692 break; 00693 } 00694 00695 /* If Low Power mode maximum ODR is 200Hz */ 00696 if(odr > 200.0f) 00697 { 00698 odr = 200.0f; 00699 } 00700 break; 00701 case IIS2DLPC_LOW_POWER_MODE3: 00702 switch (noise) 00703 { 00704 case IIS2DLPC_LOW_NOISE_DISABLE: 00705 default: 00706 new_power_mode = IIS2DLPC_CONT_LOW_PWR_3; 00707 break; 00708 case IIS2DLPC_LOW_NOISE_ENABLE: 00709 new_power_mode = IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_3; 00710 break; 00711 } 00712 00713 /* If Low Power mode maximum ODR is 200Hz */ 00714 if(odr > 200.0f) 00715 { 00716 odr = 200.0f; 00717 } 00718 break; 00719 case IIS2DLPC_LOW_POWER_MODE2: 00720 switch (noise) 00721 { 00722 case IIS2DLPC_LOW_NOISE_DISABLE: 00723 default: 00724 new_power_mode = IIS2DLPC_CONT_LOW_PWR_2; 00725 break; 00726 case IIS2DLPC_LOW_NOISE_ENABLE: 00727 new_power_mode = IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_2; 00728 break; 00729 } 00730 00731 /* If Low Power mode maximum ODR is 200Hz */ 00732 if(odr > 200.0f) 00733 { 00734 odr = 200.0f; 00735 } 00736 break; 00737 case IIS2DLPC_LOW_POWER_MODE1: 00738 switch (noise) 00739 { 00740 case IIS2DLPC_LOW_NOISE_DISABLE: 00741 default: 00742 new_power_mode = IIS2DLPC_CONT_LOW_PWR_12bit; 00743 break; 00744 case IIS2DLPC_LOW_NOISE_ENABLE: 00745 new_power_mode = IIS2DLPC_CONT_LOW_PWR_LOW_NOISE_12bit; 00746 break; 00747 } 00748 00749 /* If Low Power mode maximum ODR is 200Hz */ 00750 if(odr > 200.0f) 00751 { 00752 odr = 200.0f; 00753 } 00754 break; 00755 } 00756 00757 00758 new_odr = (odr <= 1.6f) ? IIS2DLPC_XL_ODR_1Hz6_LP_ONLY 00759 : (odr <= 12.5f) ? IIS2DLPC_XL_ODR_12Hz5 00760 : (odr <= 25.0f) ? IIS2DLPC_XL_ODR_25Hz 00761 : (odr <= 50.0f) ? IIS2DLPC_XL_ODR_50Hz 00762 : (odr <= 100.0f) ? IIS2DLPC_XL_ODR_100Hz 00763 : (odr <= 200.0f) ? IIS2DLPC_XL_ODR_200Hz 00764 : (odr <= 400.0f) ? IIS2DLPC_XL_ODR_400Hz 00765 : (odr <= 800.0f) ? IIS2DLPC_XL_ODR_800Hz 00766 : IIS2DLPC_XL_ODR_1k6Hz; 00767 00768 /* Output data rate selection. */ 00769 if (iis2dlpc_data_rate_set(&_reg_ctx, new_odr) != 0) 00770 { 00771 return 1; 00772 } 00773 00774 /* Power mode selection. */ 00775 if (iis2dlpc_power_mode_set(&_reg_ctx, new_power_mode) != 0) 00776 { 00777 return 1; 00778 } 00779 00780 /* Store actual output data rate, operating mode and low noise. */ 00781 _x_last_odr = odr; 00782 _x_last_operating_mode = mode; 00783 _x_last_noise = noise; 00784 00785 return 0; 00786 } 00787 00788 /** 00789 * @brief Set IIS2DLPC Accelerometer output data rate when disabled 00790 * @param odr the output data rate to be set 00791 * @param mode the operating mode to be used 00792 * @param noise the low noise option 00793 * @retval 0 in case of success, an error code otherwise 00794 */ 00795 int IIS2DLPCSensor::set_x_odr_when_disabled(float odr, IIS2DLPC_Operating_Mode_t mode, IIS2DLPC_Low_Noise_t noise) 00796 { 00797 _x_last_operating_mode = mode; 00798 _x_last_noise = noise; 00799 00800 _x_last_odr = (odr <= 1.6f) ? 1.6f 00801 : (odr <= 12.5f) ? 12.5f 00802 : (odr <= 25.0f) ? 25.0f 00803 : (odr <= 50.0f) ? 50.0f 00804 : (odr <= 100.0f) ? 100.0f 00805 : (odr <= 200.0f) ? 200.0f 00806 : (odr <= 400.0f) ? 400.0f 00807 : (odr <= 800.0f) ? 800.0f 00808 : 1600.0f; 00809 00810 return 0; 00811 } 00812 00813 /** 00814 * @brief Read IIS2DLPC Accelerometer full scale 00815 * @param full_scale the pointer to the full scale 00816 * @retval 0 in case of success, an error code otherwise 00817 */ 00818 int IIS2DLPCSensor::get_x_fs(float* full_scale) 00819 { 00820 int32_t ret = 0; 00821 iis2dlpc_fs_t fs_low_level; 00822 00823 /* Read actual full scale selection from sensor. */ 00824 if (iis2dlpc_full_scale_get(&_reg_ctx, &fs_low_level) != 0) 00825 { 00826 return 1; 00827 } 00828 00829 switch (fs_low_level) 00830 { 00831 case IIS2DLPC_2g: 00832 *full_scale = 2; 00833 break; 00834 00835 case IIS2DLPC_4g: 00836 *full_scale = 4; 00837 break; 00838 00839 case IIS2DLPC_8g: 00840 *full_scale = 8; 00841 break; 00842 00843 case IIS2DLPC_16g: 00844 *full_scale = 16; 00845 break; 00846 00847 default: 00848 *full_scale = -1; 00849 ret = 1; 00850 break; 00851 } 00852 00853 return ret; 00854 } 00855 00856 /** 00857 * @brief Set IIS2DLPC Accelerometer full scale 00858 * @param full_scale the full scale to be set 00859 * @retval 0 in case of success, an error code otherwise 00860 */ 00861 int IIS2DLPCSensor::set_x_fs(float full_scale) 00862 { 00863 iis2dlpc_fs_t new_fs; 00864 00865 /* Seems like MISRA C-2012 rule 14.3a violation but only from single file statical analysis point of view because 00866 the parameter passed to the function is not known at the moment of analysis */ 00867 new_fs = (full_scale <= 2) ? IIS2DLPC_2g 00868 : (full_scale <= 4) ? IIS2DLPC_4g 00869 : (full_scale <= 8) ? IIS2DLPC_8g 00870 : IIS2DLPC_16g; 00871 00872 if (iis2dlpc_full_scale_set(&_reg_ctx, new_fs) != 0) 00873 { 00874 return 1; 00875 } 00876 00877 return 0; 00878 } 00879 00880 /** 00881 * @brief Enable the wake up detection for IIS2DLPC accelerometer sensor 00882 * @note This function sets the IIS2DLPC accelerometer ODR to 200Hz and the IIS2DLPC accelerometer full scale to 2g 00883 * @retval 0 in case of success, an error code otherwise 00884 */ 00885 int IIS2DLPCSensor::enable_wake_up_detection(void) 00886 { 00887 int32_t ret = 0; 00888 iis2dlpc_ctrl4_int1_pad_ctrl_t val; 00889 00890 /* Output Data Rate selection */ 00891 if (set_x_odr(200.0f) != 0) 00892 { 00893 return 1; 00894 } 00895 00896 /* Full scale selection */ 00897 if (set_x_fs(2) != 0) 00898 { 00899 return 1; 00900 } 00901 00902 /* WAKE_DUR setting */ 00903 if (iis2dlpc_wkup_dur_set(&_reg_ctx, 0x00) != 0) 00904 { 00905 return 1; 00906 } 00907 00908 /* Set wake up threshold. */ 00909 if (iis2dlpc_wkup_threshold_set(&_reg_ctx, 0x02) != 0) 00910 { 00911 return 1; 00912 } 00913 00914 if (iis2dlpc_pin_int1_route_get(&_reg_ctx, &val) != 0) 00915 { 00916 return 1; 00917 } 00918 00919 val.int1_wu = PROPERTY_ENABLE; 00920 00921 if (iis2dlpc_pin_int1_route_set(&_reg_ctx, &val) != 0) 00922 { 00923 return 1; 00924 } 00925 00926 return ret; 00927 } 00928 00929 /** 00930 * @brief Disable the wake up detection for IIS2DLPC accelerometer sensor 00931 * @retval 0 in case of success, an error code otherwise 00932 */ 00933 int IIS2DLPCSensor::disable_wake_up_detection(void) 00934 { 00935 iis2dlpc_ctrl4_int1_pad_ctrl_t ctrl4_int1_reg; 00936 iis2dlpc_ctrl5_int2_pad_ctrl_t ctrl5_int2_reg; 00937 iis2dlpc_ctrl_reg7_t ctrl_reg7; 00938 00939 /* Disable wake up event on INT1 pin. */ 00940 if (iis2dlpc_read_reg(&_reg_ctx, IIS2DLPC_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0) 00941 { 00942 return 1; 00943 } 00944 00945 ctrl4_int1_reg.int1_wu = PROPERTY_DISABLE; 00946 00947 if (iis2dlpc_write_reg(&_reg_ctx, IIS2DLPC_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0) 00948 { 00949 return 1; 00950 } 00951 00952 /* Read INT2 Sleep Change */ 00953 if (iis2dlpc_read_reg(&_reg_ctx, IIS2DLPC_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0) 00954 { 00955 return 1; 00956 } 00957 00958 /*Disable Interrupts bit if none event is still enabled */ 00959 if(ctrl5_int2_reg.int2_sleep_chg == 0 && ctrl4_int1_reg.int1_wu == 0 && ctrl4_int1_reg.int1_6d == 0) 00960 { 00961 if (iis2dlpc_read_reg(&_reg_ctx, IIS2DLPC_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0) 00962 { 00963 return 1; 00964 } 00965 00966 ctrl_reg7.interrupts_enable = PROPERTY_DISABLE; 00967 00968 if (iis2dlpc_write_reg(&_reg_ctx, IIS2DLPC_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0) 00969 { 00970 return 1; 00971 } 00972 } 00973 00974 /* Reset wake up threshold. */ 00975 if (iis2dlpc_wkup_threshold_set(&_reg_ctx, 0x00) != 0) 00976 { 00977 return 1; 00978 } 00979 00980 /* WAKE_DUR setting */ 00981 if (iis2dlpc_wkup_dur_set(&_reg_ctx, 0x00) != 0) 00982 { 00983 return 1; 00984 } 00985 00986 return 0; 00987 } 00988 00989 /** 00990 * @brief Set the wake up threshold for IIS2DLPC accelerometer sensor 00991 * @param thr the threshold to be set 00992 * @retval 0 in case of success, an error code otherwise 00993 */ 00994 int IIS2DLPCSensor::set_wake_up_threshold(uint8_t thr) 00995 { 00996 /* Set wake up threshold. */ 00997 if (iis2dlpc_wkup_threshold_set(&_reg_ctx, thr) != 0) 00998 { 00999 return 1; 01000 } 01001 01002 return 0; 01003 } 01004 01005 /** 01006 * @brief Set the wake up duration for IIS2DLPC accelerometer sensor 01007 * @param dur the duration to be set 01008 * @retval 0 in case of success, an error code otherwise 01009 */ 01010 int IIS2DLPCSensor::set_wake_up_duration(uint8_t dur) 01011 { 01012 /* Set wake up duration. */ 01013 if (iis2dlpc_wkup_dur_set(&_reg_ctx, dur) != 0) 01014 { 01015 return 1; 01016 } 01017 01018 return 0; 01019 } 01020 01021 /** 01022 * @brief Enable the inactivity detection for IIS2DLPC accelerometer sensor 01023 * @retval 0 in case of success, an error code otherwise 01024 */ 01025 int IIS2DLPCSensor::enable_inactivity_detection(void) 01026 { 01027 int32_t ret = 0; 01028 iis2dlpc_ctrl5_int2_pad_ctrl_t val; 01029 01030 /* Output Data Rate and Full scale must be selected externally */ 01031 01032 /* SLEEP_DUR setting */ 01033 if (iis2dlpc_act_sleep_dur_set(&_reg_ctx, 0x01) != 0) 01034 { 01035 return 1; 01036 } 01037 01038 /* Set wake up threshold. */ 01039 if (iis2dlpc_wkup_threshold_set(&_reg_ctx, 0x02) != 0) 01040 { 01041 return 1; 01042 } 01043 01044 /* Enable inactivity detection. */ 01045 if (iis2dlpc_act_mode_set(&_reg_ctx, IIS2DLPC_DETECT_ACT_INACT) != 0) 01046 { 01047 return 1; 01048 } 01049 01050 if (iis2dlpc_pin_int2_route_get(&_reg_ctx, &val) != 0) 01051 { 01052 return 1; 01053 } 01054 01055 val.int2_sleep_chg = PROPERTY_ENABLE; 01056 01057 if (iis2dlpc_pin_int2_route_set(&_reg_ctx, &val) != 0) 01058 { 01059 return 1; 01060 } 01061 01062 return ret; 01063 } 01064 01065 /** 01066 * @brief Disable the inactivity detection for IIS2DLPC accelerometer sensor 01067 * @retval 0 in case of success, an error code otherwise 01068 */ 01069 int IIS2DLPCSensor::disable_inactivity_detection(void) 01070 { 01071 iis2dlpc_ctrl4_int1_pad_ctrl_t ctrl4_int1_reg; 01072 iis2dlpc_ctrl5_int2_pad_ctrl_t ctrl5_int2_reg; 01073 iis2dlpc_ctrl_reg7_t ctrl_reg7; 01074 01075 /* Disable inactivity event on INT2 pin */ 01076 if (iis2dlpc_read_reg(&_reg_ctx, IIS2DLPC_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0) 01077 { 01078 return 1; 01079 } 01080 01081 ctrl5_int2_reg.int2_sleep_chg = PROPERTY_DISABLE; 01082 01083 if (iis2dlpc_write_reg(&_reg_ctx, IIS2DLPC_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0) 01084 { 01085 return 1; 01086 } 01087 01088 /* Read INT1 Wake Up event and INT1 6D Orientation event */ 01089 if (iis2dlpc_read_reg(&_reg_ctx, IIS2DLPC_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0) 01090 { 01091 return 1; 01092 } 01093 01094 /*Disable Interrupts bit if none event is still enabled */ 01095 if(ctrl5_int2_reg.int2_sleep_chg == 0 && ctrl4_int1_reg.int1_wu == 0 && ctrl4_int1_reg.int1_6d == 0) 01096 { 01097 if (iis2dlpc_read_reg(&_reg_ctx, IIS2DLPC_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0) 01098 { 01099 return 1; 01100 } 01101 01102 ctrl_reg7.interrupts_enable = PROPERTY_DISABLE; 01103 01104 if (iis2dlpc_write_reg(&_reg_ctx, IIS2DLPC_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0) 01105 { 01106 return 1; 01107 } 01108 } 01109 01110 /* Disable inactivity detection. */ 01111 if (iis2dlpc_act_mode_set(&_reg_ctx, IIS2DLPC_NO_DETECTION) != 0) 01112 { 01113 return 1; 01114 } 01115 01116 /* Reset wake up threshold. */ 01117 if (iis2dlpc_wkup_threshold_set(&_reg_ctx, 0x00) != 0) 01118 { 01119 return 1; 01120 } 01121 01122 /* SLEEP_DUR setting */ 01123 if (iis2dlpc_act_sleep_dur_set(&_reg_ctx, 0x00) != 0) 01124 { 01125 return 1; 01126 } 01127 01128 return 0; 01129 } 01130 01131 /** 01132 * @brief Set the sleep duration for IIS2DLPC accelerometer sensor 01133 * @param dur the duration to be set 01134 * @retval 0 in case of success, an error code otherwise 01135 */ 01136 int IIS2DLPCSensor::set_sleep_duration(uint8_t dur) 01137 { 01138 /* Set sleep duration. */ 01139 if (iis2dlpc_act_sleep_dur_set(&_reg_ctx, dur) != 0) 01140 { 01141 return 1; 01142 } 01143 01144 return 0; 01145 } 01146 01147 /** 01148 * @brief Enable the 6D orientation detection for IIS2DLPC accelerometer sensor 01149 * @note This function sets the IIS2DLPC accelerometer ODR to 200Hz and the IIS2DLPC accelerometer full scale to 2g 01150 * @retval 0 in case of success, an error code otherwise 01151 */ 01152 int IIS2DLPCSensor::enable_6d_orientation(void) 01153 { 01154 int32_t ret = 0; 01155 iis2dlpc_ctrl4_int1_pad_ctrl_t val; 01156 01157 /* Output Data Rate selection */ 01158 if(set_x_odr(200.0f) == 1) 01159 { 01160 return 1; 01161 } 01162 01163 /* Full scale selection. */ 01164 if(set_x_fs(2.0f) == 1) 01165 { 01166 return 1; 01167 } 01168 01169 /* 6D orientation threshold. */ 01170 if (iis2dlpc_6d_threshold_set(&_reg_ctx, 2) != 0) /* 60 degrees */ 01171 { 01172 return 1; 01173 } 01174 01175 /* Enable 6D orientation event on INT1 pin */ 01176 if (iis2dlpc_pin_int1_route_get(&_reg_ctx, &val) != 0) 01177 { 01178 return 1; 01179 } 01180 01181 val.int1_6d = PROPERTY_ENABLE; 01182 01183 if (iis2dlpc_pin_int1_route_set(&_reg_ctx, &val) != 0) 01184 { 01185 return 1; 01186 } 01187 01188 return ret; 01189 } 01190 01191 /** 01192 * @brief Disable the 6D orientation detection for IIS2DLPC accelerometer sensor 01193 * @retval 0 in case of success, an error code otherwise 01194 */ 01195 int IIS2DLPCSensor::disable_6d_orientation(void) 01196 { 01197 iis2dlpc_ctrl4_int1_pad_ctrl_t ctrl4_int1_reg; 01198 iis2dlpc_ctrl5_int2_pad_ctrl_t ctrl5_int2_reg; 01199 iis2dlpc_ctrl_reg7_t ctrl_reg7; 01200 01201 /* Disable 6D orientation event on INT1 pin */ 01202 if (iis2dlpc_read_reg(&_reg_ctx, IIS2DLPC_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0) 01203 { 01204 return 1; 01205 } 01206 01207 ctrl4_int1_reg.int1_6d = PROPERTY_DISABLE; 01208 01209 if (iis2dlpc_write_reg(&_reg_ctx, IIS2DLPC_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0) 01210 { 01211 return 1; 01212 } 01213 01214 /* Read INT2 Sleep Change */ 01215 if (iis2dlpc_read_reg(&_reg_ctx, IIS2DLPC_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0) 01216 { 01217 return 1; 01218 } 01219 01220 /*Disable Interrupts bit if none event is still enabled */ 01221 if(ctrl5_int2_reg.int2_sleep_chg == 0 && ctrl4_int1_reg.int1_wu == 0 && ctrl4_int1_reg.int1_6d == 0) 01222 { 01223 if (iis2dlpc_read_reg(&_reg_ctx, IIS2DLPC_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0) 01224 { 01225 return 1; 01226 } 01227 01228 ctrl_reg7.interrupts_enable = PROPERTY_DISABLE; 01229 01230 if (iis2dlpc_write_reg(&_reg_ctx, IIS2DLPC_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0) 01231 { 01232 return 1; 01233 } 01234 } 01235 01236 /* Reset 6D orientation threshold. */ 01237 if (iis2dlpc_6d_threshold_set(&_reg_ctx, 0) != 0) 01238 { 01239 return 1; 01240 } 01241 01242 return 0; 01243 } 01244 01245 /** 01246 * @brief Set the 6D orientation threshold for IIS2DLPC accelerometer sensor 01247 * @param thr the threshold to be set 01248 * @retval 0 in case of success, an error code otherwise 01249 */ 01250 int IIS2DLPCSensor::set_6d_orientation_threshold(uint8_t thr) 01251 { 01252 if(thr > 3) 01253 { 01254 return 1; 01255 } 01256 01257 if (iis2dlpc_6d_threshold_set(&_reg_ctx, thr) != 0) 01258 { 01259 return 1; 01260 } 01261 01262 return 0; 01263 } 01264 01265 /** 01266 * @brief Get the 6D orientation XL axis for IIS2DLPC accelerometer sensor 01267 * @param xl the pointer to the 6D orientation XL axis 01268 * @retval 0 in case of success, an error code otherwise 01269 */ 01270 int IIS2DLPCSensor::get_6d_orientation_xl(uint8_t *xl) 01271 { 01272 iis2dlpc_sixd_src_t data; 01273 01274 if (iis2dlpc_read_reg(&_reg_ctx, IIS2DLPC_SIXD_SRC, (uint8_t *)&data, 1) != 0) 01275 { 01276 return 1; 01277 } 01278 01279 *xl = data.xl; 01280 01281 return 0; 01282 } 01283 01284 /** 01285 * @brief Get the 6D orientation XH axis for IIS2DLPC accelerometer sensor 01286 * @param xh the pointer to the 6D orientation XH axis 01287 * @retval 0 in case of success, an error code otherwise 01288 */ 01289 int IIS2DLPCSensor::get_6d_orientation_xh(uint8_t *xh) 01290 { 01291 iis2dlpc_sixd_src_t data; 01292 01293 if (iis2dlpc_read_reg(&_reg_ctx, IIS2DLPC_SIXD_SRC, (uint8_t *)&data, 1) != 0) 01294 { 01295 return 1; 01296 } 01297 01298 *xh = data.xh; 01299 01300 return 0; 01301 } 01302 01303 /** 01304 * @brief Get the 6D orientation YL axis for IIS2DLPC accelerometer sensor 01305 * @param yl the pointer to the 6D orientation YL axis 01306 * @retval 0 in case of success, an error code otherwise 01307 */ 01308 int IIS2DLPCSensor::get_6d_orientation_yl(uint8_t *yl) 01309 { 01310 iis2dlpc_sixd_src_t data; 01311 01312 if (iis2dlpc_read_reg(&_reg_ctx, IIS2DLPC_SIXD_SRC, (uint8_t *)&data, 1) != 0) 01313 { 01314 return 1; 01315 } 01316 01317 *yl = data.yl; 01318 01319 return 0; 01320 } 01321 01322 /** 01323 * @brief Get the 6D orientation YH axis for IIS2DLPC accelerometer sensor 01324 * @param yh the pointer to the 6D orientation YH axis 01325 * @retval 0 in case of success, an error code otherwise 01326 */ 01327 int IIS2DLPCSensor::get_6d_orientation_yh(uint8_t *yh) 01328 { 01329 iis2dlpc_sixd_src_t data; 01330 01331 if (iis2dlpc_read_reg(&_reg_ctx, IIS2DLPC_SIXD_SRC, (uint8_t *)&data, 1) != 0) 01332 { 01333 return 1; 01334 } 01335 01336 *yh = data.yh; 01337 01338 return 0; 01339 } 01340 01341 /** 01342 * @brief Get the 6D orientation ZL axis for IIS2DLPC accelerometer sensor 01343 * @param zl the pointer to the 6D orientation ZL axis 01344 * @retval 0 in case of success, an error code otherwise 01345 */ 01346 int IIS2DLPCSensor::get_6d_orientation_zl(uint8_t *zl) 01347 { 01348 iis2dlpc_sixd_src_t data; 01349 01350 if (iis2dlpc_read_reg(&_reg_ctx, IIS2DLPC_SIXD_SRC, (uint8_t *)&data, 1) != 0) 01351 { 01352 return 1; 01353 } 01354 01355 *zl = data.zl; 01356 01357 return 0; 01358 } 01359 01360 /** 01361 * @brief Get the 6D orientation ZH axis for IIS2DLPC accelerometer sensor 01362 * @param zh the pointer to the 6D orientation ZH axis 01363 * @retval 0 in case of success, an error code otherwise 01364 */ 01365 int IIS2DLPCSensor::get_6d_orientation_zh(uint8_t *zh) 01366 { 01367 iis2dlpc_sixd_src_t data; 01368 01369 if (iis2dlpc_read_reg(&_reg_ctx, IIS2DLPC_SIXD_SRC, (uint8_t *)&data, 1) != 0) 01370 { 01371 return 1; 01372 } 01373 01374 *zh = data.zh; 01375 01376 return 0; 01377 } 01378 01379 /** 01380 * @brief Get the status of all hardware events for IIS2DLPC accelerometer sensor 01381 * @param status the pointer to the status of all hardware events 01382 * @retval 0 in case of success, an error code otherwise 01383 */ 01384 int IIS2DLPCSensor::get_event_status(IIS2DLPC_Event_Status_t *status) 01385 { 01386 iis2dlpc_status_t status_reg; 01387 iis2dlpc_ctrl4_int1_pad_ctrl_t ctrl4_int1_reg; 01388 iis2dlpc_ctrl5_int2_pad_ctrl_t ctrl5_int2_reg; 01389 01390 (void)memset((void *)status, 0x0, sizeof(IIS2DLPC_Event_Status_t)); 01391 01392 if (iis2dlpc_read_reg(&_reg_ctx, IIS2DLPC_STATUS, (uint8_t *)&status_reg, 1) != 0) 01393 { 01394 return 1; 01395 } 01396 01397 if (iis2dlpc_read_reg(&_reg_ctx, IIS2DLPC_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0) 01398 { 01399 return 1; 01400 } 01401 01402 if (iis2dlpc_read_reg(&_reg_ctx, IIS2DLPC_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0) 01403 { 01404 return 1; 01405 } 01406 01407 if (ctrl4_int1_reg.int1_wu == 1U) 01408 { 01409 if (status_reg.wu_ia == 1U) 01410 { 01411 status->WakeUpStatus = 1; 01412 } 01413 } 01414 01415 if (ctrl4_int1_reg.int1_6d == 1U) 01416 { 01417 if (status_reg._6d_ia == 1U) 01418 { 01419 status->D6DOrientationStatus = 1; 01420 } 01421 } 01422 01423 if (ctrl5_int2_reg.int2_sleep_chg == 1U) 01424 { 01425 if (status_reg.sleep_state == 1U) 01426 { 01427 status->SleepStatus = 1; 01428 } 01429 } 01430 01431 return 0; 01432 } 01433 01434 /** 01435 * @brief Get the number of samples contained into the FIFO 01436 * @param num_samples the number of samples contained into the FIFO 01437 * @retval 0 in case of success, an error code otherwise 01438 */ 01439 int IIS2DLPCSensor::get_fifo_num_samples(uint16_t *num_samples) 01440 { 01441 iis2dlpc_fifo_samples_t fifo_samples; 01442 01443 if (iis2dlpc_read_reg(&_reg_ctx, IIS2DLPC_FIFO_SAMPLES, (uint8_t *)&fifo_samples, 1) != 0) 01444 { 01445 return 1; 01446 } 01447 01448 if(fifo_samples.diff == 0x20) 01449 { 01450 *num_samples = 32; 01451 } 01452 else 01453 { 01454 *num_samples = fifo_samples.diff; 01455 } 01456 01457 return 0; 01458 } 01459 01460 /** 01461 * @brief Set the FIFO mode 01462 * @param mode FIFO mode 01463 * @retval 0 in case of success, an error code otherwise 01464 */ 01465 int IIS2DLPCSensor::set_fifo_mode(uint8_t mode) 01466 { 01467 int32_t ret = 0; 01468 01469 /* Verify that the passed parameter contains one of the valid values. */ 01470 switch ((iis2dlpc_fmode_t)mode) 01471 { 01472 case IIS2DLPC_BYPASS_MODE: 01473 case IIS2DLPC_FIFO_MODE: 01474 case IIS2DLPC_STREAM_TO_FIFO_MODE: 01475 case IIS2DLPC_BYPASS_TO_STREAM_MODE: 01476 case IIS2DLPC_STREAM_MODE: 01477 break; 01478 01479 default: 01480 ret = 1; 01481 break; 01482 } 01483 01484 if (ret == 1) 01485 { 01486 return ret; 01487 } 01488 01489 if (iis2dlpc_fifo_mode_set(&_reg_ctx, (iis2dlpc_fmode_t)mode) != 0) 01490 { 01491 return 1; 01492 } 01493 01494 return ret; 01495 } 01496 01497 /** 01498 * @brief Read the data from register 01499 * @param reg register address 01500 * @param data register data 01501 * @retval 0 in case of success, an error code otherwise 01502 */ 01503 int IIS2DLPCSensor::read_reg(uint8_t reg, uint8_t *data) 01504 { 01505 01506 if (iis2dlpc_read_reg(&_reg_ctx, reg, data, 1) != 0) 01507 { 01508 return 1; 01509 } 01510 01511 return 0; 01512 } 01513 01514 /** 01515 * @brief Write the data to register 01516 * @param reg register address 01517 * @param data register data 01518 * @retval 0 in case of success, an error code otherwise 01519 */ 01520 int IIS2DLPCSensor::write_reg(uint8_t reg, uint8_t data) 01521 { 01522 01523 if (iis2dlpc_write_reg(&_reg_ctx, reg, &data, 1) != 0) 01524 { 01525 return 1; 01526 } 01527 01528 return 0; 01529 } 01530 01531 01532 int32_t IIS2DLPC_io_write(void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite) 01533 { 01534 return ((IIS2DLPCSensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite); 01535 } 01536 01537 int32_t IIS2DLPC_io_read(void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead) 01538 { 01539 return ((IIS2DLPCSensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead); 01540 }
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