ST
3-axis MEMS ultra low power accelerometer
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
Dependents: X_NUCLEO_IKS01A3 X_NUCLEO_IKS01A3
Diff: LIS2DW12Sensor.cpp
- Revision:
- 4:94c5d5546161
- Parent:
- 0:dff8803aace7
--- a/LIS2DW12Sensor.cpp Wed Nov 21 15:43:22 2018 +0000
+++ b/LIS2DW12Sensor.cpp Wed Jul 24 14:18:07 2019 +0000
@@ -51,13 +51,13 @@
* @param int2_pin the interrupt 2 pin
*/
LIS2DW12Sensor::LIS2DW12Sensor(DevI2C *i2c, uint8_t address, PinName int1_pin, PinName int2_pin) :
- _dev_i2c(i2c), _address(address), _cs_pin(NC), _int1_irq(int1_pin), _int2_irq(int2_pin)
+ _dev_i2c(i2c), _address(address), _cs_pin(NC), _int1_irq(int1_pin), _int2_irq(int2_pin)
{
- assert (i2c);
- _dev_spi = NULL;
- _reg_ctx.write_reg = LIS2DW12_io_write;
- _reg_ctx.read_reg = LIS2DW12_io_read;
- _reg_ctx.handle = (void *)this;
+ assert(i2c);
+ _dev_spi = NULL;
+ _reg_ctx.write_reg = LIS2DW12_io_write;
+ _reg_ctx.read_reg = LIS2DW12_io_read;
+ _reg_ctx.handle = (void *)this;
}
/** Constructor
@@ -67,33 +67,31 @@
* @param int2_pin the interrupt 2 pin
* @param spi_type the SPI type (4-Wires or 3-Wires)
*/
-LIS2DW12Sensor::LIS2DW12Sensor(SPI *spi, PinName cs_pin, PinName int1_pin, PinName int2_pin, SPI_type_t spi_type ) :
- _dev_spi(spi), _cs_pin(cs_pin), _int1_irq(int1_pin), _int2_irq(int2_pin), _spi_type(spi_type)
+LIS2DW12Sensor::LIS2DW12Sensor(SPI *spi, PinName cs_pin, PinName int1_pin, PinName int2_pin, SPI_type_t spi_type) :
+ _dev_spi(spi), _cs_pin(cs_pin), _int1_irq(int1_pin), _int2_irq(int2_pin), _spi_type(spi_type)
{
- assert (spi);
- if (cs_pin == NC)
- {
- printf ("ERROR LPS22HBSensor CS MUST NOT BE NC\n\r");
- _dev_spi = NULL;
+ assert(spi);
+ if (cs_pin == NC) {
+ printf("ERROR LPS22HBSensor CS MUST NOT BE NC\n\r");
+ _dev_spi = NULL;
+ _dev_i2c = NULL;
+ return;
+ }
+ _reg_ctx.write_reg = LIS2DW12_io_write;
+ _reg_ctx.read_reg = LIS2DW12_io_read;
+ _reg_ctx.handle = (void *)this;
+ _cs_pin = 1;
_dev_i2c = NULL;
- return;
- }
- _reg_ctx.write_reg = LIS2DW12_io_write;
- _reg_ctx.read_reg = LIS2DW12_io_read;
- _reg_ctx.handle = (void *)this;
- _cs_pin = 1;
- _dev_i2c = NULL;
- _address = 0;
-
- if (_spi_type == SPI3W)
- {
- /* Enable SPI 3-Wires on the component */
- uint8_t data = 0x05;
- lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL2, &data, 1);
- }
+ _address = 0;
- /* Disable I2C on the component */
- lis2dw12_i2c_interface_set(&_reg_ctx, LIS2DW12_I2C_DISABLE);
+ if (_spi_type == SPI3W) {
+ /* Enable SPI 3-Wires on the component */
+ uint8_t data = 0x05;
+ lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL2, &data, 1);
+ }
+
+ /* Disable I2C on the component */
+ lis2dw12_i2c_interface_set(&_reg_ctx, LIS2DW12_I2C_DISABLE);
}
/**
@@ -103,53 +101,47 @@
*/
int LIS2DW12Sensor::init(void *init)
{
- /* Enable register address automatically incremented during a multiple byte
- access with a serial interface. */
- if (lis2dw12_auto_increment_set(&_reg_ctx, PROPERTY_ENABLE) != 0)
- {
- return 1;
- }
+ /* Enable register address automatically incremented during a multiple byte
+ access with a serial interface. */
+ if (lis2dw12_auto_increment_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
+ return 1;
+ }
- /* Enable BDU */
- if (lis2dw12_block_data_update_set(&_reg_ctx, PROPERTY_ENABLE) != 0)
- {
- return 1;
- }
+ /* Enable BDU */
+ if (lis2dw12_block_data_update_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
+ return 1;
+ }
- /* FIFO mode selection */
- if (lis2dw12_fifo_mode_set(&_reg_ctx, LIS2DW12_BYPASS_MODE) != 0)
- {
- return 1;
- }
+ /* FIFO mode selection */
+ if (lis2dw12_fifo_mode_set(&_reg_ctx, LIS2DW12_BYPASS_MODE) != 0) {
+ return 1;
+ }
+
+ /* Power mode selection */
+ if (lis2dw12_power_mode_set(&_reg_ctx, LIS2DW12_HIGH_PERFORMANCE) != 0) {
+ return 1;
+ }
- /* Power mode selection */
- if (lis2dw12_power_mode_set(&_reg_ctx, LIS2DW12_HIGH_PERFORMANCE) != 0)
- {
- return 1;
- }
+ /* Output data rate selection - power down. */
+ if (lis2dw12_data_rate_set(&_reg_ctx, LIS2DW12_XL_ODR_OFF) != 0) {
+ return 1;
+ }
- /* Output data rate selection - power down. */
- if (lis2dw12_data_rate_set(&_reg_ctx, LIS2DW12_XL_ODR_OFF) != 0)
- {
- return 1;
- }
+ /* Full scale selection. */
+ if (lis2dw12_full_scale_set(&_reg_ctx, LIS2DW12_2g) != 0) {
+ return 1;
+ }
- /* Full scale selection. */
- if (lis2dw12_full_scale_set(&_reg_ctx, LIS2DW12_2g) != 0)
- {
- return 1;
- }
+ /* Select default output data rate. */
+ _x_last_odr = 100.0f;
+
+ _x_last_operating_mode = LIS2DW12_HIGH_PERFORMANCE_MODE;
- /* Select default output data rate. */
- _x_last_odr = 100.0f;
-
- _x_last_operating_mode = LIS2DW12_HIGH_PERFORMANCE_MODE;
+ _x_last_noise = LIS2DW12_LOW_NOISE_DISABLE;
- _x_last_noise = LIS2DW12_LOW_NOISE_DISABLE;
+ _x_is_enabled = 0;
- _x_is_enabled = 0;
-
- return 0;
+ return 0;
}
/**
@@ -157,22 +149,20 @@
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::enable_x(void)
-{
- /* Check if the component is already enabled */
- if ( _x_is_enabled == 1 )
- {
+{
+ /* Check if the component is already enabled */
+ if (_x_is_enabled == 1) {
+ return 0;
+ }
+
+ /* Output data rate selection. */
+ if (set_x_odr_when_enabled(_x_last_odr, _x_last_operating_mode, _x_last_noise) == 1) {
+ return 1;
+ }
+
+ _x_is_enabled = 1;
+
return 0;
- }
-
- /* Output data rate selection. */
- if ( set_x_odr_when_enabled( _x_last_odr, _x_last_operating_mode, _x_last_noise ) == 1 )
- {
- return 1;
- }
-
- _x_is_enabled = 1;
-
- return 0;
}
/**
@@ -180,22 +170,20 @@
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::disable_x(void)
-{
- /* Check if the component is already disabled */
- if ( _x_is_enabled == 0 )
- {
- return 0;
- }
+{
+ /* Check if the component is already disabled */
+ if (_x_is_enabled == 0) {
+ return 0;
+ }
- /* Output data rate selection - power down. */
- if (lis2dw12_data_rate_set(&_reg_ctx, LIS2DW12_XL_ODR_OFF) != 0)
- {
- return 1;
- }
-
- _x_is_enabled = 0;
-
- return 0;
+ /* Output data rate selection - power down. */
+ if (lis2dw12_data_rate_set(&_reg_ctx, LIS2DW12_XL_ODR_OFF) != 0) {
+ return 1;
+ }
+
+ _x_is_enabled = 0;
+
+ return 0;
}
/**
@@ -205,18 +193,16 @@
*/
int LIS2DW12Sensor::read_id(uint8_t *id)
{
- if(!id)
- {
- return 1;
- }
+ if (!id) {
+ return 1;
+ }
- /* Read WHO AM I register */
- if (lis2dw12_device_id_get(&_reg_ctx, id) != 0)
- {
- return 1;
- }
+ /* Read WHO AM I register */
+ if (lis2dw12_device_id_get(&_reg_ctx, id) != 0) {
+ return 1;
+ }
- return 0;
+ return 0;
}
/**
@@ -226,27 +212,25 @@
*/
int LIS2DW12Sensor::get_x_axes(int32_t *acceleration)
{
- int16_t data_raw[3];
- float sensitivity = 0;
-
- /* Read raw data from LIS2DW12 output register. */
- if ( get_x_axes_raw( data_raw ) == 1 )
- {
- return 1;
- }
-
- /* Get LIS2DW12 actual sensitivity. */
- if ( get_x_sensitivity( &sensitivity ) == 1 )
- {
- return 1;
- }
-
- /* Calculate the data. */
- acceleration[0] = ( int32_t )( data_raw[0] * sensitivity );
- acceleration[1] = ( int32_t )( data_raw[1] * sensitivity );
- acceleration[2] = ( int32_t )( data_raw[2] * sensitivity );
-
- return 0;
+ int16_t data_raw[3];
+ float sensitivity = 0;
+
+ /* Read raw data from LIS2DW12 output register. */
+ if (get_x_axes_raw(data_raw) == 1) {
+ return 1;
+ }
+
+ /* Get LIS2DW12 actual sensitivity. */
+ if (get_x_sensitivity(&sensitivity) == 1) {
+ return 1;
+ }
+
+ /* Calculate the data. */
+ acceleration[0] = (int32_t)(data_raw[0] * sensitivity);
+ acceleration[1] = (int32_t)(data_raw[1] * sensitivity);
+ acceleration[2] = (int32_t)(data_raw[2] * sensitivity);
+
+ return 0;
}
/**
@@ -256,99 +240,94 @@
*/
int LIS2DW12Sensor::get_x_sensitivity(float *sensitivity)
{
- int32_t ret = 0;
- lis2dw12_fs_t full_scale;
- lis2dw12_mode_t mode;
+ int32_t ret = 0;
+ lis2dw12_fs_t full_scale;
+ lis2dw12_mode_t mode;
+
+ /* Read actual full scale selection from sensor. */
+ if (lis2dw12_full_scale_get(&_reg_ctx, &full_scale) != 0) {
+ return 1;
+ }
+
+ /* Read actual power mode selection from sensor. */
+ if (lis2dw12_power_mode_get(&_reg_ctx, &mode) != 0) {
+ return 1;
+ }
- /* Read actual full scale selection from sensor. */
- if (lis2dw12_full_scale_get(&_reg_ctx, &full_scale) != 0)
- {
- return 1;
- }
+ switch (mode) {
+ case LIS2DW12_CONT_LOW_PWR_12bit:
+ case LIS2DW12_SINGLE_LOW_PWR_12bit:
+ case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
+ case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
+ switch (full_scale) {
+ case LIS2DW12_2g:
+ *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_2G_LOPOW1_MODE;
+ break;
- /* Read actual power mode selection from sensor. */
- if (lis2dw12_power_mode_get(&_reg_ctx, &mode) != 0)
- {
- return 1;
- }
+ case LIS2DW12_4g:
+ *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_4G_LOPOW1_MODE;
+ break;
+
+ case LIS2DW12_8g:
+ *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_8G_LOPOW1_MODE;
+ break;
+
+ case LIS2DW12_16g:
+ *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_16G_LOPOW1_MODE;
+ break;
- switch(mode)
- {
- case LIS2DW12_CONT_LOW_PWR_12bit:
- case LIS2DW12_SINGLE_LOW_PWR_12bit:
- case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
- case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
- switch (full_scale)
- {
- case LIS2DW12_2g:
- *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_2G_LOPOW1_MODE;
- break;
+ default:
+ *sensitivity = -1.0f;
+ ret = 1;
+ break;
+ }
+ break;
- case LIS2DW12_4g:
- *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_4G_LOPOW1_MODE;
- break;
+ case LIS2DW12_HIGH_PERFORMANCE:
+ case LIS2DW12_CONT_LOW_PWR_4:
+ case LIS2DW12_CONT_LOW_PWR_3:
+ case LIS2DW12_CONT_LOW_PWR_2:
+ case LIS2DW12_SINGLE_LOW_PWR_4:
+ case LIS2DW12_SINGLE_LOW_PWR_3:
+ case LIS2DW12_SINGLE_LOW_PWR_2:
+ case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
+ case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
+ case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
+ case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
+ case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
+ case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
+ case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
+ switch (full_scale) {
+ case LIS2DW12_2g:
+ *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_2G_OTHER_MODES;
+ break;
- case LIS2DW12_8g:
- *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_8G_LOPOW1_MODE;
- break;
+ case LIS2DW12_4g:
+ *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_4G_OTHER_MODES;
+ break;
+
+ case LIS2DW12_8g:
+ *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_8G_OTHER_MODES;
+ break;
- case LIS2DW12_16g:
- *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_16G_LOPOW1_MODE;
- break;
+ case LIS2DW12_16g:
+ *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_16G_OTHER_MODES;
+ break;
+
+ default:
+ *sensitivity = -1.0f;
+ ret = 1;
+ break;
+ }
+ break;
default:
- *sensitivity = -1.0f;
- ret = 1;
- break;
- }
- break;
-
- case LIS2DW12_HIGH_PERFORMANCE:
- case LIS2DW12_CONT_LOW_PWR_4:
- case LIS2DW12_CONT_LOW_PWR_3:
- case LIS2DW12_CONT_LOW_PWR_2:
- case LIS2DW12_SINGLE_LOW_PWR_4:
- case LIS2DW12_SINGLE_LOW_PWR_3:
- case LIS2DW12_SINGLE_LOW_PWR_2:
- case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
- case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
- case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
- case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
- case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
- case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
- case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
- switch (full_scale)
- {
- case LIS2DW12_2g:
- *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_2G_OTHER_MODES;
- break;
+ *sensitivity = -1.0f;
+ ret = 1;
+ break;
+ }
- case LIS2DW12_4g:
- *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_4G_OTHER_MODES;
- break;
-
- case LIS2DW12_8g:
- *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_8G_OTHER_MODES;
- break;
-
- case LIS2DW12_16g:
- *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_16G_OTHER_MODES;
- break;
-
- default:
- *sensitivity = -1.0f;
- ret = 1;
- break;
- }
- break;
-
- default:
- *sensitivity = -1.0f;
- ret = 1;
- break;
- }
-
- return ret;
+ return ret;
}
/**
@@ -358,60 +337,57 @@
*/
int LIS2DW12Sensor::get_x_axes_raw(int16_t *value)
{
- axis3bit16_t data_raw;
- lis2dw12_mode_t mode;
- int32_t ret = 0;
+ axis3bit16_t data_raw;
+ lis2dw12_mode_t mode;
+ int32_t ret = 0;
+
+ /* Read actual power mode selection from sensor. */
+ if (lis2dw12_power_mode_get(&_reg_ctx, &mode) != 0) {
+ return 1;
+ }
- /* Read actual power mode selection from sensor. */
- if (lis2dw12_power_mode_get(&_reg_ctx, &mode) != 0)
- {
- return 1;
- }
+ /* Read raw data values. */
+ if (lis2dw12_acceleration_raw_get(&_reg_ctx, data_raw.u8bit) != 0) {
+ return 1;
+ }
- /* Read raw data values. */
- if (lis2dw12_acceleration_raw_get(&_reg_ctx, data_raw.u8bit) != 0)
- {
- return 1;
- }
+ switch (mode) {
+ case LIS2DW12_CONT_LOW_PWR_12bit:
+ case LIS2DW12_SINGLE_LOW_PWR_12bit:
+ case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
+ case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
+ /* Data format 12 bits. */
+ value[0] = (data_raw.i16bit[0] / 16);
+ value[1] = (data_raw.i16bit[1] / 16);
+ value[2] = (data_raw.i16bit[2] / 16);
+ break;
- switch(mode)
- {
- case LIS2DW12_CONT_LOW_PWR_12bit:
- case LIS2DW12_SINGLE_LOW_PWR_12bit:
- case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
- case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
- /* Data format 12 bits. */
- value[0] = (data_raw.i16bit[0] / 16);
- value[1] = (data_raw.i16bit[1] / 16);
- value[2] = (data_raw.i16bit[2] / 16);
- break;
+ case LIS2DW12_HIGH_PERFORMANCE:
+ case LIS2DW12_CONT_LOW_PWR_4:
+ case LIS2DW12_CONT_LOW_PWR_3:
+ case LIS2DW12_CONT_LOW_PWR_2:
+ case LIS2DW12_SINGLE_LOW_PWR_4:
+ case LIS2DW12_SINGLE_LOW_PWR_3:
+ case LIS2DW12_SINGLE_LOW_PWR_2:
+ case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
+ case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
+ case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
+ case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
+ case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
+ case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
+ case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
+ /* Data format 14 bits. */
+ value[0] = (data_raw.i16bit[0] / 4);
+ value[1] = (data_raw.i16bit[1] / 4);
+ value[2] = (data_raw.i16bit[2] / 4);
+ break;
- case LIS2DW12_HIGH_PERFORMANCE:
- case LIS2DW12_CONT_LOW_PWR_4:
- case LIS2DW12_CONT_LOW_PWR_3:
- case LIS2DW12_CONT_LOW_PWR_2:
- case LIS2DW12_SINGLE_LOW_PWR_4:
- case LIS2DW12_SINGLE_LOW_PWR_3:
- case LIS2DW12_SINGLE_LOW_PWR_2:
- case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
- case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
- case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
- case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
- case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
- case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
- case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
- /* Data format 14 bits. */
- value[0] = (data_raw.i16bit[0] / 4);
- value[1] = (data_raw.i16bit[1] / 4);
- value[2] = (data_raw.i16bit[2] / 4);
- break;
+ default:
+ ret = 1;
+ break;
+ }
- default:
- ret = 1;
- break;
- }
-
- return ret;
+ return ret;
}
/**
@@ -419,195 +395,188 @@
* @param odr the pointer to the output data rate
* @retval 0 in case of success, an error code otherwise
*/
-int LIS2DW12Sensor::get_x_odr(float* odr)
+int LIS2DW12Sensor::get_x_odr(float *odr)
{
- int32_t ret = 0;
- lis2dw12_odr_t odr_low_level;
- lis2dw12_mode_t mode;
+ int32_t ret = 0;
+ lis2dw12_odr_t odr_low_level;
+ lis2dw12_mode_t mode;
+
+ /* Get current output data rate. */
+ if (lis2dw12_data_rate_get(&_reg_ctx, &odr_low_level) != 0) {
+ return 1;
+ }
- /* Get current output data rate. */
- if (lis2dw12_data_rate_get(&_reg_ctx, &odr_low_level) != 0)
- {
- return 1;
- }
+ /* Read actual power mode selection from sensor. */
+ if (lis2dw12_power_mode_get(&_reg_ctx, &mode) != 0) {
+ return 1;
+ }
+
+ switch (odr_low_level) {
+ case LIS2DW12_XL_ODR_OFF:
+ case LIS2DW12_XL_SET_SW_TRIG:
+ case LIS2DW12_XL_SET_PIN_TRIG:
+ *odr = 0.0f;
+ break;
+
+ case LIS2DW12_XL_ODR_1Hz6_LP_ONLY:
+ switch (mode) {
+ case LIS2DW12_HIGH_PERFORMANCE:
+ case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
+ *odr = 12.5f;
+ break;
- /* Read actual power mode selection from sensor. */
- if (lis2dw12_power_mode_get(&_reg_ctx, &mode) != 0)
- {
- return 1;
- }
+ case LIS2DW12_CONT_LOW_PWR_4:
+ case LIS2DW12_CONT_LOW_PWR_3:
+ case LIS2DW12_CONT_LOW_PWR_2:
+ case LIS2DW12_CONT_LOW_PWR_12bit:
+ case LIS2DW12_SINGLE_LOW_PWR_4:
+ case LIS2DW12_SINGLE_LOW_PWR_3:
+ case LIS2DW12_SINGLE_LOW_PWR_2:
+ case LIS2DW12_SINGLE_LOW_PWR_12bit:
+ case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
+ case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
+ case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
+ case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
+ case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
+ case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
+ case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
+ case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
+ *odr = 1.6f;
+ break;
+
+ default:
+ *odr = -1.0f;
+ ret = 1;
+ break;
+ }
+ break;
- switch (odr_low_level)
- {
- case LIS2DW12_XL_ODR_OFF:
- case LIS2DW12_XL_SET_SW_TRIG:
- case LIS2DW12_XL_SET_PIN_TRIG:
- *odr = 0.0f;
- break;
+ case LIS2DW12_XL_ODR_12Hz5:
+ *odr = 12.5f;
+ break;
+
+ case LIS2DW12_XL_ODR_25Hz:
+ *odr = 25.0f;
+ break;
+
+ case LIS2DW12_XL_ODR_50Hz:
+ *odr = 50.0f;
+ break;
+
+ case LIS2DW12_XL_ODR_100Hz:
+ *odr = 100.0f;
+ break;
+
+ case LIS2DW12_XL_ODR_200Hz:
+ *odr = 200.0f;
+ break;
+
+ case LIS2DW12_XL_ODR_400Hz:
+ switch (mode) {
+ case LIS2DW12_HIGH_PERFORMANCE:
+ case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
+ *odr = 400.0f;
+ break;
- case LIS2DW12_XL_ODR_1Hz6_LP_ONLY:
- switch (mode)
- {
- case LIS2DW12_HIGH_PERFORMANCE:
- case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
- *odr = 12.5f;
- break;
+ case LIS2DW12_CONT_LOW_PWR_4:
+ case LIS2DW12_CONT_LOW_PWR_3:
+ case LIS2DW12_CONT_LOW_PWR_2:
+ case LIS2DW12_CONT_LOW_PWR_12bit:
+ case LIS2DW12_SINGLE_LOW_PWR_4:
+ case LIS2DW12_SINGLE_LOW_PWR_3:
+ case LIS2DW12_SINGLE_LOW_PWR_2:
+ case LIS2DW12_SINGLE_LOW_PWR_12bit:
+ case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
+ case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
+ case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
+ case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
+ case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
+ case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
+ case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
+ case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
+ *odr = 200.0f;
+ break;
+
+ default:
+ *odr = -1.0f;
+ ret = 1;
+ break;
+ }
+ break;
+
+ case LIS2DW12_XL_ODR_800Hz:
+ switch (mode) {
+ case LIS2DW12_HIGH_PERFORMANCE:
+ case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
+ *odr = 800.0f;
+ break;
- case LIS2DW12_CONT_LOW_PWR_4:
- case LIS2DW12_CONT_LOW_PWR_3:
- case LIS2DW12_CONT_LOW_PWR_2:
- case LIS2DW12_CONT_LOW_PWR_12bit:
- case LIS2DW12_SINGLE_LOW_PWR_4:
- case LIS2DW12_SINGLE_LOW_PWR_3:
- case LIS2DW12_SINGLE_LOW_PWR_2:
- case LIS2DW12_SINGLE_LOW_PWR_12bit:
- case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
- case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
- case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
- case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
- case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
- case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
- case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
- case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
- *odr = 1.6f;
- break;
+ case LIS2DW12_CONT_LOW_PWR_4:
+ case LIS2DW12_CONT_LOW_PWR_3:
+ case LIS2DW12_CONT_LOW_PWR_2:
+ case LIS2DW12_CONT_LOW_PWR_12bit:
+ case LIS2DW12_SINGLE_LOW_PWR_4:
+ case LIS2DW12_SINGLE_LOW_PWR_3:
+ case LIS2DW12_SINGLE_LOW_PWR_2:
+ case LIS2DW12_SINGLE_LOW_PWR_12bit:
+ case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
+ case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
+ case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
+ case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
+ case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
+ case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
+ case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
+ case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
+ *odr = 200.0f;
+ break;
+
+ default:
+ *odr = -1.0f;
+ ret = 1;
+ break;
+ }
+ break;
+
+ case LIS2DW12_XL_ODR_1k6Hz:
+ switch (mode) {
+ case LIS2DW12_HIGH_PERFORMANCE:
+ case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
+ *odr = 1600.0f;
+ break;
+
+ case LIS2DW12_CONT_LOW_PWR_4:
+ case LIS2DW12_CONT_LOW_PWR_3:
+ case LIS2DW12_CONT_LOW_PWR_2:
+ case LIS2DW12_CONT_LOW_PWR_12bit:
+ case LIS2DW12_SINGLE_LOW_PWR_4:
+ case LIS2DW12_SINGLE_LOW_PWR_3:
+ case LIS2DW12_SINGLE_LOW_PWR_2:
+ case LIS2DW12_SINGLE_LOW_PWR_12bit:
+ case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
+ case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
+ case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
+ case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
+ case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
+ case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
+ case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
+ case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
+ *odr = 200.0f;
+ break;
+
+ default:
+ *odr = -1.0f;
+ ret = 1;
+ break;
+ }
+ break;
default:
- *odr = -1.0f;
- ret = 1;
- break;
- }
- break;
-
- case LIS2DW12_XL_ODR_12Hz5:
- *odr = 12.5f;
- break;
-
- case LIS2DW12_XL_ODR_25Hz:
- *odr = 25.0f;
- break;
-
- case LIS2DW12_XL_ODR_50Hz:
- *odr = 50.0f;
- break;
-
- case LIS2DW12_XL_ODR_100Hz:
- *odr = 100.0f;
- break;
-
- case LIS2DW12_XL_ODR_200Hz:
- *odr = 200.0f;
- break;
-
- case LIS2DW12_XL_ODR_400Hz:
- switch (mode)
- {
- case LIS2DW12_HIGH_PERFORMANCE:
- case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
- *odr = 400.0f;
- break;
-
- case LIS2DW12_CONT_LOW_PWR_4:
- case LIS2DW12_CONT_LOW_PWR_3:
- case LIS2DW12_CONT_LOW_PWR_2:
- case LIS2DW12_CONT_LOW_PWR_12bit:
- case LIS2DW12_SINGLE_LOW_PWR_4:
- case LIS2DW12_SINGLE_LOW_PWR_3:
- case LIS2DW12_SINGLE_LOW_PWR_2:
- case LIS2DW12_SINGLE_LOW_PWR_12bit:
- case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
- case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
- case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
- case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
- case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
- case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
- case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
- case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
- *odr = 200.0f;
- break;
-
- default:
- *odr = -1.0f;
- ret = 1;
- break;
- }
- break;
-
- case LIS2DW12_XL_ODR_800Hz:
- switch (mode)
- {
- case LIS2DW12_HIGH_PERFORMANCE:
- case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
- *odr = 800.0f;
- break;
+ *odr = -1.0f;
+ ret = 1;
+ break;
+ }
- case LIS2DW12_CONT_LOW_PWR_4:
- case LIS2DW12_CONT_LOW_PWR_3:
- case LIS2DW12_CONT_LOW_PWR_2:
- case LIS2DW12_CONT_LOW_PWR_12bit:
- case LIS2DW12_SINGLE_LOW_PWR_4:
- case LIS2DW12_SINGLE_LOW_PWR_3:
- case LIS2DW12_SINGLE_LOW_PWR_2:
- case LIS2DW12_SINGLE_LOW_PWR_12bit:
- case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
- case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
- case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
- case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
- case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
- case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
- case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
- case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
- *odr = 200.0f;
- break;
-
- default:
- *odr = -1.0f;
- ret = 1;
- break;
- }
- break;
-
- case LIS2DW12_XL_ODR_1k6Hz:
- switch (mode)
- {
- case LIS2DW12_HIGH_PERFORMANCE:
- case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
- *odr = 1600.0f;
- break;
-
- case LIS2DW12_CONT_LOW_PWR_4:
- case LIS2DW12_CONT_LOW_PWR_3:
- case LIS2DW12_CONT_LOW_PWR_2:
- case LIS2DW12_CONT_LOW_PWR_12bit:
- case LIS2DW12_SINGLE_LOW_PWR_4:
- case LIS2DW12_SINGLE_LOW_PWR_3:
- case LIS2DW12_SINGLE_LOW_PWR_2:
- case LIS2DW12_SINGLE_LOW_PWR_12bit:
- case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
- case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
- case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
- case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
- case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
- case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
- case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
- case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
- *odr = 200.0f;
- break;
-
- default:
- *odr = -1.0f;
- ret = 1;
- break;
- }
- break;
-
- default:
- *odr = -1.0f;
- ret = 1;
- break;
- }
-
- return ret;
+ return ret;
}
/**
@@ -616,8 +585,8 @@
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::set_x_odr(float odr)
-{
- return set_x_odr_with_mode(odr, LIS2DW12_HIGH_PERFORMANCE_MODE, LIS2DW12_LOW_NOISE_DISABLE);
+{
+ return set_x_odr_with_mode(odr, LIS2DW12_HIGH_PERFORMANCE_MODE, LIS2DW12_LOW_NOISE_DISABLE);
}
/**
@@ -629,22 +598,17 @@
*/
int LIS2DW12Sensor::set_x_odr_with_mode(float odr, LIS2DW12_Operating_Mode_t mode, LIS2DW12_Low_Noise_t noise)
{
- if(_x_is_enabled == 1)
- {
- if(set_x_odr_when_enabled(odr, mode, noise) != 0)
- {
- return 1;
+ if (_x_is_enabled == 1) {
+ if (set_x_odr_when_enabled(odr, mode, noise) != 0) {
+ return 1;
+ }
+ } else {
+ if (set_x_odr_when_disabled(odr, mode, noise) != 0) {
+ return 1;
+ }
}
- }
- else
- {
- if(set_x_odr_when_disabled(odr, mode, noise) != 0)
- {
- return 1;
- }
- }
-
- return 0;
+
+ return 0;
}
/**
@@ -656,133 +620,120 @@
*/
int LIS2DW12Sensor::set_x_odr_when_enabled(float odr, LIS2DW12_Operating_Mode_t mode, LIS2DW12_Low_Noise_t noise)
{
- lis2dw12_odr_t new_odr;
- lis2dw12_mode_t new_power_mode;
+ lis2dw12_odr_t new_odr;
+ lis2dw12_mode_t new_power_mode;
- switch (mode)
- {
- case LIS2DW12_HIGH_PERFORMANCE_MODE:
- default:
- switch (noise)
- {
- case LIS2DW12_LOW_NOISE_DISABLE:
+ switch (mode) {
+ case LIS2DW12_HIGH_PERFORMANCE_MODE:
default:
- new_power_mode = LIS2DW12_HIGH_PERFORMANCE;
- break;
- case LIS2DW12_LOW_NOISE_ENABLE:
- new_power_mode = LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE;
- break;
- }
+ switch (noise) {
+ case LIS2DW12_LOW_NOISE_DISABLE:
+ default:
+ new_power_mode = LIS2DW12_HIGH_PERFORMANCE;
+ break;
+ case LIS2DW12_LOW_NOISE_ENABLE:
+ new_power_mode = LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE;
+ break;
+ }
- /* If High Performance mode minimum ODR is 12.5Hz */
- if(odr < 12.5f)
- {
- odr = 12.5f;
- }
- break;
- case LIS2DW12_LOW_POWER_MODE4:
- switch (noise)
- {
- case LIS2DW12_LOW_NOISE_DISABLE:
- default:
- new_power_mode = LIS2DW12_CONT_LOW_PWR_4;
- break;
- case LIS2DW12_LOW_NOISE_ENABLE:
- new_power_mode = LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4;
- break;
- }
+ /* If High Performance mode minimum ODR is 12.5Hz */
+ if (odr < 12.5f) {
+ odr = 12.5f;
+ }
+ break;
+ case LIS2DW12_LOW_POWER_MODE4:
+ switch (noise) {
+ case LIS2DW12_LOW_NOISE_DISABLE:
+ default:
+ new_power_mode = LIS2DW12_CONT_LOW_PWR_4;
+ break;
+ case LIS2DW12_LOW_NOISE_ENABLE:
+ new_power_mode = LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4;
+ break;
+ }
- /* If Low Power mode maximum ODR is 200Hz */
- if(odr > 200.0f)
- {
- odr = 200.0f;
- }
- break;
- case LIS2DW12_LOW_POWER_MODE3:
- switch (noise)
- {
- case LIS2DW12_LOW_NOISE_DISABLE:
- default:
- new_power_mode = LIS2DW12_CONT_LOW_PWR_3;
- break;
- case LIS2DW12_LOW_NOISE_ENABLE:
- new_power_mode = LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3;
- break;
- }
+ /* If Low Power mode maximum ODR is 200Hz */
+ if (odr > 200.0f) {
+ odr = 200.0f;
+ }
+ break;
+ case LIS2DW12_LOW_POWER_MODE3:
+ switch (noise) {
+ case LIS2DW12_LOW_NOISE_DISABLE:
+ default:
+ new_power_mode = LIS2DW12_CONT_LOW_PWR_3;
+ break;
+ case LIS2DW12_LOW_NOISE_ENABLE:
+ new_power_mode = LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3;
+ break;
+ }
- /* If Low Power mode maximum ODR is 200Hz */
- if(odr > 200.0f)
- {
- odr = 200.0f;
- }
- break;
- case LIS2DW12_LOW_POWER_MODE2:
- switch (noise)
- {
- case LIS2DW12_LOW_NOISE_DISABLE:
- default:
- new_power_mode = LIS2DW12_CONT_LOW_PWR_2;
- break;
- case LIS2DW12_LOW_NOISE_ENABLE:
- new_power_mode = LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2;
- break;
- }
+ /* If Low Power mode maximum ODR is 200Hz */
+ if (odr > 200.0f) {
+ odr = 200.0f;
+ }
+ break;
+ case LIS2DW12_LOW_POWER_MODE2:
+ switch (noise) {
+ case LIS2DW12_LOW_NOISE_DISABLE:
+ default:
+ new_power_mode = LIS2DW12_CONT_LOW_PWR_2;
+ break;
+ case LIS2DW12_LOW_NOISE_ENABLE:
+ new_power_mode = LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2;
+ break;
+ }
- /* If Low Power mode maximum ODR is 200Hz */
- if(odr > 200.0f)
- {
- odr = 200.0f;
- }
- break;
- case LIS2DW12_LOW_POWER_MODE1:
- switch (noise)
- {
- case LIS2DW12_LOW_NOISE_DISABLE:
- default:
- new_power_mode = LIS2DW12_CONT_LOW_PWR_12bit;
- break;
- case LIS2DW12_LOW_NOISE_ENABLE:
- new_power_mode = LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit;
- break;
- }
+ /* If Low Power mode maximum ODR is 200Hz */
+ if (odr > 200.0f) {
+ odr = 200.0f;
+ }
+ break;
+ case LIS2DW12_LOW_POWER_MODE1:
+ switch (noise) {
+ case LIS2DW12_LOW_NOISE_DISABLE:
+ default:
+ new_power_mode = LIS2DW12_CONT_LOW_PWR_12bit;
+ break;
+ case LIS2DW12_LOW_NOISE_ENABLE:
+ new_power_mode = LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit;
+ break;
+ }
- /* If Low Power mode maximum ODR is 200Hz */
- if(odr > 200.0f)
- {
- odr = 200.0f;
- }
- break;
- }
-
+ /* If Low Power mode maximum ODR is 200Hz */
+ if (odr > 200.0f) {
+ odr = 200.0f;
+ }
+ break;
+ }
- new_odr = (odr <= 1.6f) ? LIS2DW12_XL_ODR_1Hz6_LP_ONLY
- : (odr <= 12.5f) ? LIS2DW12_XL_ODR_12Hz5
- : (odr <= 25.0f) ? LIS2DW12_XL_ODR_25Hz
- : (odr <= 50.0f) ? LIS2DW12_XL_ODR_50Hz
- : (odr <= 100.0f) ? LIS2DW12_XL_ODR_100Hz
- : (odr <= 200.0f) ? LIS2DW12_XL_ODR_200Hz
- : (odr <= 400.0f) ? LIS2DW12_XL_ODR_400Hz
- : (odr <= 800.0f) ? LIS2DW12_XL_ODR_800Hz
- : LIS2DW12_XL_ODR_1k6Hz;
- /* Output data rate selection. */
- if (lis2dw12_data_rate_set(&_reg_ctx, new_odr) != 0)
- {
- return 1;
- }
+ new_odr = (odr <= 1.6f) ? LIS2DW12_XL_ODR_1Hz6_LP_ONLY
+ : (odr <= 12.5f) ? LIS2DW12_XL_ODR_12Hz5
+ : (odr <= 25.0f) ? LIS2DW12_XL_ODR_25Hz
+ : (odr <= 50.0f) ? LIS2DW12_XL_ODR_50Hz
+ : (odr <= 100.0f) ? LIS2DW12_XL_ODR_100Hz
+ : (odr <= 200.0f) ? LIS2DW12_XL_ODR_200Hz
+ : (odr <= 400.0f) ? LIS2DW12_XL_ODR_400Hz
+ : (odr <= 800.0f) ? LIS2DW12_XL_ODR_800Hz
+ : LIS2DW12_XL_ODR_1k6Hz;
- /* Power mode selection. */
- if (lis2dw12_power_mode_set(&_reg_ctx, new_power_mode) != 0)
- {
- return 1;
- }
+ /* Output data rate selection. */
+ if (lis2dw12_data_rate_set(&_reg_ctx, new_odr) != 0) {
+ return 1;
+ }
- /* Store actual output data rate, operating mode and low noise. */
- _x_last_odr = odr;
- _x_last_operating_mode = mode;
- _x_last_noise = noise;
+ /* Power mode selection. */
+ if (lis2dw12_power_mode_set(&_reg_ctx, new_power_mode) != 0) {
+ return 1;
+ }
- return 0;
+ /* Store actual output data rate, operating mode and low noise. */
+ _x_last_odr = odr;
+ _x_last_operating_mode = mode;
+ _x_last_noise = noise;
+
+ return 0;
}
/**
@@ -794,20 +745,20 @@
*/
int LIS2DW12Sensor::set_x_odr_when_disabled(float odr, LIS2DW12_Operating_Mode_t mode, LIS2DW12_Low_Noise_t noise)
{
- _x_last_operating_mode = mode;
- _x_last_noise = noise;
+ _x_last_operating_mode = mode;
+ _x_last_noise = noise;
- _x_last_odr = (odr <= 1.6f) ? 1.6f
- : (odr <= 12.5f) ? 12.5f
- : (odr <= 25.0f) ? 25.0f
- : (odr <= 50.0f) ? 50.0f
- : (odr <= 100.0f) ? 100.0f
- : (odr <= 200.0f) ? 200.0f
- : (odr <= 400.0f) ? 400.0f
- : (odr <= 800.0f) ? 800.0f
- : 1600.0f;
-
- return 0;
+ _x_last_odr = (odr <= 1.6f) ? 1.6f
+ : (odr <= 12.5f) ? 12.5f
+ : (odr <= 25.0f) ? 25.0f
+ : (odr <= 50.0f) ? 50.0f
+ : (odr <= 100.0f) ? 100.0f
+ : (odr <= 200.0f) ? 200.0f
+ : (odr <= 400.0f) ? 400.0f
+ : (odr <= 800.0f) ? 800.0f
+ : 1600.0f;
+
+ return 0;
}
/**
@@ -815,42 +766,40 @@
* @param full_scale the pointer to the full scale
* @retval 0 in case of success, an error code otherwise
*/
-int LIS2DW12Sensor::get_x_fs(float* full_scale)
+int LIS2DW12Sensor::get_x_fs(float *full_scale)
{
- int32_t ret = 0;
- lis2dw12_fs_t fs_low_level;
+ int32_t ret = 0;
+ lis2dw12_fs_t fs_low_level;
- /* Read actual full scale selection from sensor. */
- if (lis2dw12_full_scale_get(&_reg_ctx, &fs_low_level) != 0)
- {
- return 1;
- }
+ /* Read actual full scale selection from sensor. */
+ if (lis2dw12_full_scale_get(&_reg_ctx, &fs_low_level) != 0) {
+ return 1;
+ }
- switch (fs_low_level)
- {
- case LIS2DW12_2g:
- *full_scale = 2;
- break;
+ switch (fs_low_level) {
+ case LIS2DW12_2g:
+ *full_scale = 2;
+ break;
- case LIS2DW12_4g:
- *full_scale = 4;
- break;
+ case LIS2DW12_4g:
+ *full_scale = 4;
+ break;
- case LIS2DW12_8g:
- *full_scale = 8;
- break;
+ case LIS2DW12_8g:
+ *full_scale = 8;
+ break;
- case LIS2DW12_16g:
- *full_scale = 16;
- break;
+ case LIS2DW12_16g:
+ *full_scale = 16;
+ break;
- default:
- *full_scale = -1;
- ret = 1;
- break;
- }
+ default:
+ *full_scale = -1;
+ ret = 1;
+ break;
+ }
- return ret;
+ return ret;
}
/**
@@ -860,21 +809,20 @@
*/
int LIS2DW12Sensor::set_x_fs(float full_scale)
{
- lis2dw12_fs_t new_fs;
+ lis2dw12_fs_t new_fs;
- /* Seems like MISRA C-2012 rule 14.3a violation but only from single file statical analysis point of view because
- the parameter passed to the function is not known at the moment of analysis */
- new_fs = (full_scale <= 2) ? LIS2DW12_2g
- : (full_scale <= 4) ? LIS2DW12_4g
- : (full_scale <= 8) ? LIS2DW12_8g
- : LIS2DW12_16g;
+ /* Seems like MISRA C-2012 rule 14.3a violation but only from single file statical analysis point of view because
+ the parameter passed to the function is not known at the moment of analysis */
+ new_fs = (full_scale <= 2) ? LIS2DW12_2g
+ : (full_scale <= 4) ? LIS2DW12_4g
+ : (full_scale <= 8) ? LIS2DW12_8g
+ : LIS2DW12_16g;
- if (lis2dw12_full_scale_set(&_reg_ctx, new_fs) != 0)
- {
- return 1;
- }
+ if (lis2dw12_full_scale_set(&_reg_ctx, new_fs) != 0) {
+ return 1;
+ }
- return 0;
+ return 0;
}
/**
@@ -884,46 +832,40 @@
*/
int LIS2DW12Sensor::enable_wake_up_detection(void)
{
- int32_t ret = 0;
- lis2dw12_ctrl4_int1_pad_ctrl_t val;
+ int32_t ret = 0;
+ lis2dw12_ctrl4_int1_pad_ctrl_t val;
- /* Output Data Rate selection */
- if (set_x_odr(200.0f) != 0)
- {
- return 1;
- }
+ /* Output Data Rate selection */
+ if (set_x_odr(200.0f) != 0) {
+ return 1;
+ }
- /* Full scale selection */
- if (set_x_fs(2) != 0)
- {
- return 1;
- }
+ /* Full scale selection */
+ if (set_x_fs(2) != 0) {
+ return 1;
+ }
- /* WAKE_DUR setting */
- if (lis2dw12_wkup_dur_set(&_reg_ctx, 0x00) != 0)
- {
- return 1;
- }
+ /* WAKE_DUR setting */
+ if (lis2dw12_wkup_dur_set(&_reg_ctx, 0x00) != 0) {
+ return 1;
+ }
- /* Set wake up threshold. */
- if (lis2dw12_wkup_threshold_set(&_reg_ctx, 0x02) != 0)
- {
- return 1;
- }
+ /* Set wake up threshold. */
+ if (lis2dw12_wkup_threshold_set(&_reg_ctx, 0x02) != 0) {
+ return 1;
+ }
- if (lis2dw12_pin_int1_route_get(&_reg_ctx, &val) != 0)
- {
- return 1;
- }
+ if (lis2dw12_pin_int1_route_get(&_reg_ctx, &val) != 0) {
+ return 1;
+ }
- val.int1_wu = PROPERTY_ENABLE;
+ val.int1_wu = PROPERTY_ENABLE;
- if (lis2dw12_pin_int1_route_set(&_reg_ctx, &val) != 0)
- {
- return 1;
- }
+ if (lis2dw12_pin_int1_route_set(&_reg_ctx, &val) != 0) {
+ return 1;
+ }
- return ret;
+ return ret;
}
/**
@@ -932,58 +874,50 @@
*/
int LIS2DW12Sensor::disable_wake_up_detection(void)
{
- lis2dw12_ctrl4_int1_pad_ctrl_t ctrl4_int1_reg;
- lis2dw12_ctrl5_int2_pad_ctrl_t ctrl5_int2_reg;
- lis2dw12_ctrl_reg7_t ctrl_reg7;
+ lis2dw12_ctrl4_int1_pad_ctrl_t ctrl4_int1_reg;
+ lis2dw12_ctrl5_int2_pad_ctrl_t ctrl5_int2_reg;
+ lis2dw12_ctrl_reg7_t ctrl_reg7;
- /* Disable wake up event on INT1 pin. */
- if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0)
- {
- return 1;
- }
-
- ctrl4_int1_reg.int1_wu = PROPERTY_DISABLE;
+ /* Disable wake up event on INT1 pin. */
+ if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0) {
+ return 1;
+ }
- if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0)
- {
- return 1;
- }
+ ctrl4_int1_reg.int1_wu = PROPERTY_DISABLE;
- /* Read INT2 Sleep Change */
- if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0)
- {
- return 1;
- }
+ if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0) {
+ return 1;
+ }
- /*Disable Interrupts bit if none event is still enabled */
- if(ctrl5_int2_reg.int2_sleep_chg == 0 && ctrl4_int1_reg.int1_wu == 0 && ctrl4_int1_reg.int1_6d == 0)
- {
- if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0)
- {
- return 1;
+ /* Read INT2 Sleep Change */
+ if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0) {
+ return 1;
}
- ctrl_reg7.interrupts_enable = PROPERTY_DISABLE;
+ /*Disable Interrupts bit if none event is still enabled */
+ if (ctrl5_int2_reg.int2_sleep_chg == 0 && ctrl4_int1_reg.int1_wu == 0 && ctrl4_int1_reg.int1_6d == 0) {
+ if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0) {
+ return 1;
+ }
- if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0)
- {
- return 1;
- }
- }
+ ctrl_reg7.interrupts_enable = PROPERTY_DISABLE;
- /* Reset wake up threshold. */
- if (lis2dw12_wkup_threshold_set(&_reg_ctx, 0x00) != 0)
- {
- return 1;
- }
+ if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0) {
+ return 1;
+ }
+ }
- /* WAKE_DUR setting */
- if (lis2dw12_wkup_dur_set(&_reg_ctx, 0x00) != 0)
- {
- return 1;
- }
+ /* Reset wake up threshold. */
+ if (lis2dw12_wkup_threshold_set(&_reg_ctx, 0x00) != 0) {
+ return 1;
+ }
- return 0;
+ /* WAKE_DUR setting */
+ if (lis2dw12_wkup_dur_set(&_reg_ctx, 0x00) != 0) {
+ return 1;
+ }
+
+ return 0;
}
/**
@@ -993,13 +927,12 @@
*/
int LIS2DW12Sensor::set_wake_up_threshold(uint8_t thr)
{
- /* Set wake up threshold. */
- if (lis2dw12_wkup_threshold_set(&_reg_ctx, thr) != 0)
- {
- return 1;
- }
+ /* Set wake up threshold. */
+ if (lis2dw12_wkup_threshold_set(&_reg_ctx, thr) != 0) {
+ return 1;
+ }
- return 0;
+ return 0;
}
/**
@@ -1009,13 +942,12 @@
*/
int LIS2DW12Sensor::set_wake_up_duration(uint8_t dur)
{
- /* Set wake up duration. */
- if (lis2dw12_wkup_dur_set(&_reg_ctx, dur) != 0)
- {
- return 1;
- }
+ /* Set wake up duration. */
+ if (lis2dw12_wkup_dur_set(&_reg_ctx, dur) != 0) {
+ return 1;
+ }
- return 0;
+ return 0;
}
/**
@@ -1024,42 +956,37 @@
*/
int LIS2DW12Sensor::enable_inactivity_detection(void)
{
- int32_t ret = 0;
- lis2dw12_ctrl5_int2_pad_ctrl_t val;
+ int32_t ret = 0;
+ lis2dw12_ctrl5_int2_pad_ctrl_t val;
- /* Output Data Rate and Full scale must be selected externally */
+ /* Output Data Rate and Full scale must be selected externally */
- /* SLEEP_DUR setting */
- if (lis2dw12_act_sleep_dur_set(&_reg_ctx, 0x01) != 0)
- {
- return 1;
- }
+ /* SLEEP_DUR setting */
+ if (lis2dw12_act_sleep_dur_set(&_reg_ctx, 0x01) != 0) {
+ return 1;
+ }
- /* Set wake up threshold. */
- if (lis2dw12_wkup_threshold_set(&_reg_ctx, 0x02) != 0)
- {
- return 1;
- }
+ /* Set wake up threshold. */
+ if (lis2dw12_wkup_threshold_set(&_reg_ctx, 0x02) != 0) {
+ return 1;
+ }
- /* Enable inactivity detection. */
- if (lis2dw12_act_mode_set(&_reg_ctx, LIS2DW12_DETECT_ACT_INACT) != 0)
- {
- return 1;
- }
+ /* Enable inactivity detection. */
+ if (lis2dw12_act_mode_set(&_reg_ctx, LIS2DW12_DETECT_ACT_INACT) != 0) {
+ return 1;
+ }
- if (lis2dw12_pin_int2_route_get(&_reg_ctx, &val) != 0)
- {
- return 1;
- }
+ if (lis2dw12_pin_int2_route_get(&_reg_ctx, &val) != 0) {
+ return 1;
+ }
- val.int2_sleep_chg = PROPERTY_ENABLE;
+ val.int2_sleep_chg = PROPERTY_ENABLE;
- if (lis2dw12_pin_int2_route_set(&_reg_ctx, &val) != 0)
- {
- return 1;
- }
+ if (lis2dw12_pin_int2_route_set(&_reg_ctx, &val) != 0) {
+ return 1;
+ }
- return ret;
+ return ret;
}
/**
@@ -1068,64 +995,55 @@
*/
int LIS2DW12Sensor::disable_inactivity_detection(void)
{
- lis2dw12_ctrl4_int1_pad_ctrl_t ctrl4_int1_reg;
- lis2dw12_ctrl5_int2_pad_ctrl_t ctrl5_int2_reg;
- lis2dw12_ctrl_reg7_t ctrl_reg7;
+ lis2dw12_ctrl4_int1_pad_ctrl_t ctrl4_int1_reg;
+ lis2dw12_ctrl5_int2_pad_ctrl_t ctrl5_int2_reg;
+ lis2dw12_ctrl_reg7_t ctrl_reg7;
- /* Disable inactivity event on INT2 pin */
- if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0)
- {
- return 1;
- }
-
- ctrl5_int2_reg.int2_sleep_chg = PROPERTY_DISABLE;
+ /* Disable inactivity event on INT2 pin */
+ if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0) {
+ return 1;
+ }
- if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0)
- {
- return 1;
- }
+ ctrl5_int2_reg.int2_sleep_chg = PROPERTY_DISABLE;
- /* Read INT1 Wake Up event and INT1 6D Orientation event */
- if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0)
- {
- return 1;
- }
+ if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0) {
+ return 1;
+ }
- /*Disable Interrupts bit if none event is still enabled */
- if(ctrl5_int2_reg.int2_sleep_chg == 0 && ctrl4_int1_reg.int1_wu == 0 && ctrl4_int1_reg.int1_6d == 0)
- {
- if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0)
- {
- return 1;
+ /* Read INT1 Wake Up event and INT1 6D Orientation event */
+ if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0) {
+ return 1;
}
- ctrl_reg7.interrupts_enable = PROPERTY_DISABLE;
+ /*Disable Interrupts bit if none event is still enabled */
+ if (ctrl5_int2_reg.int2_sleep_chg == 0 && ctrl4_int1_reg.int1_wu == 0 && ctrl4_int1_reg.int1_6d == 0) {
+ if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0) {
+ return 1;
+ }
- if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0)
- {
- return 1;
+ ctrl_reg7.interrupts_enable = PROPERTY_DISABLE;
+
+ if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0) {
+ return 1;
+ }
}
- }
-
- /* Disable inactivity detection. */
- if (lis2dw12_act_mode_set(&_reg_ctx, LIS2DW12_NO_DETECTION) != 0)
- {
- return 1;
- }
- /* Reset wake up threshold. */
- if (lis2dw12_wkup_threshold_set(&_reg_ctx, 0x00) != 0)
- {
- return 1;
- }
+ /* Disable inactivity detection. */
+ if (lis2dw12_act_mode_set(&_reg_ctx, LIS2DW12_NO_DETECTION) != 0) {
+ return 1;
+ }
- /* SLEEP_DUR setting */
- if (lis2dw12_act_sleep_dur_set(&_reg_ctx, 0x00) != 0)
- {
- return 1;
- }
+ /* Reset wake up threshold. */
+ if (lis2dw12_wkup_threshold_set(&_reg_ctx, 0x00) != 0) {
+ return 1;
+ }
- return 0;
+ /* SLEEP_DUR setting */
+ if (lis2dw12_act_sleep_dur_set(&_reg_ctx, 0x00) != 0) {
+ return 1;
+ }
+
+ return 0;
}
/**
@@ -1135,13 +1053,12 @@
*/
int LIS2DW12Sensor::set_sleep_duration(uint8_t dur)
{
- /* Set sleep duration. */
- if (lis2dw12_act_sleep_dur_set(&_reg_ctx, dur) != 0)
- {
- return 1;
- }
+ /* Set sleep duration. */
+ if (lis2dw12_act_sleep_dur_set(&_reg_ctx, dur) != 0) {
+ return 1;
+ }
- return 0;
+ return 0;
}
/**
@@ -1151,41 +1068,36 @@
*/
int LIS2DW12Sensor::enable_6d_orientation(void)
{
- int32_t ret = 0;
- lis2dw12_ctrl4_int1_pad_ctrl_t val;
+ int32_t ret = 0;
+ lis2dw12_ctrl4_int1_pad_ctrl_t val;
- /* Output Data Rate selection */
- if(set_x_odr(200.0f) == 1)
- {
- return 1;
- }
-
- /* Full scale selection. */
- if(set_x_fs(2.0f) == 1)
- {
- return 1;
- }
+ /* Output Data Rate selection */
+ if (set_x_odr(200.0f) == 1) {
+ return 1;
+ }
+
+ /* Full scale selection. */
+ if (set_x_fs(2.0f) == 1) {
+ return 1;
+ }
- /* 6D orientation threshold. */
- if (lis2dw12_6d_threshold_set(&_reg_ctx, 2) != 0) /* 60 degrees */
- {
- return 1;
- }
+ /* 6D orientation threshold. */
+ if (lis2dw12_6d_threshold_set(&_reg_ctx, 2) != 0) { /* 60 degrees */
+ return 1;
+ }
- /* Enable 6D orientation event on INT1 pin */
- if (lis2dw12_pin_int1_route_get(&_reg_ctx, &val) != 0)
- {
- return 1;
- }
+ /* Enable 6D orientation event on INT1 pin */
+ if (lis2dw12_pin_int1_route_get(&_reg_ctx, &val) != 0) {
+ return 1;
+ }
- val.int1_6d = PROPERTY_ENABLE;
+ val.int1_6d = PROPERTY_ENABLE;
- if (lis2dw12_pin_int1_route_set(&_reg_ctx, &val) != 0)
- {
- return 1;
- }
+ if (lis2dw12_pin_int1_route_set(&_reg_ctx, &val) != 0) {
+ return 1;
+ }
- return ret;
+ return ret;
}
/**
@@ -1194,52 +1106,45 @@
*/
int LIS2DW12Sensor::disable_6d_orientation(void)
{
- lis2dw12_ctrl4_int1_pad_ctrl_t ctrl4_int1_reg;
- lis2dw12_ctrl5_int2_pad_ctrl_t ctrl5_int2_reg;
- lis2dw12_ctrl_reg7_t ctrl_reg7;
+ lis2dw12_ctrl4_int1_pad_ctrl_t ctrl4_int1_reg;
+ lis2dw12_ctrl5_int2_pad_ctrl_t ctrl5_int2_reg;
+ lis2dw12_ctrl_reg7_t ctrl_reg7;
- /* Disable 6D orientation event on INT1 pin */
- if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0)
- {
- return 1;
- }
-
- ctrl4_int1_reg.int1_6d = PROPERTY_DISABLE;
+ /* Disable 6D orientation event on INT1 pin */
+ if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0) {
+ return 1;
+ }
- if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0)
- {
- return 1;
- }
+ ctrl4_int1_reg.int1_6d = PROPERTY_DISABLE;
- /* Read INT2 Sleep Change */
- if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0)
- {
- return 1;
- }
+ if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0) {
+ return 1;
+ }
- /*Disable Interrupts bit if none event is still enabled */
- if(ctrl5_int2_reg.int2_sleep_chg == 0 && ctrl4_int1_reg.int1_wu == 0 && ctrl4_int1_reg.int1_6d == 0)
- {
- if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0)
- {
- return 1;
+ /* Read INT2 Sleep Change */
+ if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0) {
+ return 1;
}
- ctrl_reg7.interrupts_enable = PROPERTY_DISABLE;
+ /*Disable Interrupts bit if none event is still enabled */
+ if (ctrl5_int2_reg.int2_sleep_chg == 0 && ctrl4_int1_reg.int1_wu == 0 && ctrl4_int1_reg.int1_6d == 0) {
+ if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0) {
+ return 1;
+ }
- if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0)
- {
- return 1;
- }
- }
+ ctrl_reg7.interrupts_enable = PROPERTY_DISABLE;
- /* Reset 6D orientation threshold. */
- if (lis2dw12_6d_threshold_set(&_reg_ctx, 0) != 0)
- {
- return 1;
- }
+ if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0) {
+ return 1;
+ }
+ }
- return 0;
+ /* Reset 6D orientation threshold. */
+ if (lis2dw12_6d_threshold_set(&_reg_ctx, 0) != 0) {
+ return 1;
+ }
+
+ return 0;
}
/**
@@ -1249,17 +1154,15 @@
*/
int LIS2DW12Sensor::set_6d_orientation_threshold(uint8_t thr)
{
- if(thr > 3)
- {
- return 1;
- }
+ if (thr > 3) {
+ return 1;
+ }
- if (lis2dw12_6d_threshold_set(&_reg_ctx, thr) != 0)
- {
- return 1;
- }
+ if (lis2dw12_6d_threshold_set(&_reg_ctx, thr) != 0) {
+ return 1;
+ }
- return 0;
+ return 0;
}
/**
@@ -1269,16 +1172,15 @@
*/
int LIS2DW12Sensor::get_6d_orientation_xl(uint8_t *xl)
{
- lis2dw12_sixd_src_t data;
+ lis2dw12_sixd_src_t data;
- if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0)
- {
- return 1;
- }
+ if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0) {
+ return 1;
+ }
- *xl = data.xl;
+ *xl = data.xl;
- return 0;
+ return 0;
}
/**
@@ -1288,16 +1190,15 @@
*/
int LIS2DW12Sensor::get_6d_orientation_xh(uint8_t *xh)
{
- lis2dw12_sixd_src_t data;
+ lis2dw12_sixd_src_t data;
- if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0)
- {
- return 1;
- }
+ if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0) {
+ return 1;
+ }
- *xh = data.xh;
+ *xh = data.xh;
- return 0;
+ return 0;
}
/**
@@ -1307,16 +1208,15 @@
*/
int LIS2DW12Sensor::get_6d_orientation_yl(uint8_t *yl)
{
- lis2dw12_sixd_src_t data;
+ lis2dw12_sixd_src_t data;
- if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0)
- {
- return 1;
- }
+ if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0) {
+ return 1;
+ }
- *yl = data.yl;
+ *yl = data.yl;
- return 0;
+ return 0;
}
/**
@@ -1326,16 +1226,15 @@
*/
int LIS2DW12Sensor::get_6d_orientation_yh(uint8_t *yh)
{
- lis2dw12_sixd_src_t data;
+ lis2dw12_sixd_src_t data;
- if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0)
- {
- return 1;
- }
+ if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0) {
+ return 1;
+ }
- *yh = data.yh;
+ *yh = data.yh;
- return 0;
+ return 0;
}
/**
@@ -1345,16 +1244,15 @@
*/
int LIS2DW12Sensor::get_6d_orientation_zl(uint8_t *zl)
{
- lis2dw12_sixd_src_t data;
+ lis2dw12_sixd_src_t data;
- if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0)
- {
- return 1;
- }
+ if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0) {
+ return 1;
+ }
- *zl = data.zl;
+ *zl = data.zl;
- return 0;
+ return 0;
}
/**
@@ -1364,16 +1262,15 @@
*/
int LIS2DW12Sensor::get_6d_orientation_zh(uint8_t *zh)
{
- lis2dw12_sixd_src_t data;
+ lis2dw12_sixd_src_t data;
- if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0)
- {
- return 1;
- }
+ if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0) {
+ return 1;
+ }
- *zh = data.zh;
+ *zh = data.zh;
- return 0;
+ return 0;
}
/**
@@ -1383,52 +1280,43 @@
*/
int LIS2DW12Sensor::get_event_status(LIS2DW12_Event_Status_t *status)
{
- lis2dw12_status_t status_reg;
- lis2dw12_ctrl4_int1_pad_ctrl_t ctrl4_int1_reg;
- lis2dw12_ctrl5_int2_pad_ctrl_t ctrl5_int2_reg;
+ lis2dw12_status_t status_reg;
+ lis2dw12_ctrl4_int1_pad_ctrl_t ctrl4_int1_reg;
+ lis2dw12_ctrl5_int2_pad_ctrl_t ctrl5_int2_reg;
- (void)memset((void *)status, 0x0, sizeof(LIS2DW12_Event_Status_t));
+ (void)memset((void *)status, 0x0, sizeof(LIS2DW12_Event_Status_t));
- if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_STATUS, (uint8_t *)&status_reg, 1) != 0)
- {
- return 1;
- }
+ if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_STATUS, (uint8_t *)&status_reg, 1) != 0) {
+ return 1;
+ }
- if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0)
- {
- return 1;
- }
+ if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0) {
+ return 1;
+ }
- if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0)
- {
- return 1;
- }
+ if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0) {
+ return 1;
+ }
- if (ctrl4_int1_reg.int1_wu == 1U)
- {
- if (status_reg.wu_ia == 1U)
- {
- status->WakeUpStatus = 1;
+ if (ctrl4_int1_reg.int1_wu == 1U) {
+ if (status_reg.wu_ia == 1U) {
+ status->WakeUpStatus = 1;
+ }
}
- }
- if (ctrl4_int1_reg.int1_6d == 1U)
- {
- if (status_reg._6d_ia == 1U)
- {
- status->D6DOrientationStatus = 1;
+ if (ctrl4_int1_reg.int1_6d == 1U) {
+ if (status_reg._6d_ia == 1U) {
+ status->D6DOrientationStatus = 1;
+ }
}
- }
- if (ctrl5_int2_reg.int2_sleep_chg == 1U)
- {
- if (status_reg.sleep_state == 1U)
- {
- status->SleepStatus = 1;
+ if (ctrl5_int2_reg.int2_sleep_chg == 1U) {
+ if (status_reg.sleep_state == 1U) {
+ status->SleepStatus = 1;
+ }
}
- }
- return 0;
+ return 0;
}
/**
@@ -1438,23 +1326,19 @@
*/
int LIS2DW12Sensor::get_fifo_num_samples(uint16_t *num_samples)
{
- lis2dw12_fifo_samples_t fifo_samples;
+ lis2dw12_fifo_samples_t fifo_samples;
- if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_FIFO_SAMPLES, (uint8_t *)&fifo_samples, 1) != 0)
- {
- return 1;
- }
+ if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_FIFO_SAMPLES, (uint8_t *)&fifo_samples, 1) != 0) {
+ return 1;
+ }
- if(fifo_samples.diff == 0x20)
- {
- *num_samples = 32;
- }
- else
- {
- *num_samples = fifo_samples.diff;
- }
+ if (fifo_samples.diff == 0x20) {
+ *num_samples = 32;
+ } else {
+ *num_samples = fifo_samples.diff;
+ }
- return 0;
+ return 0;
}
/**
@@ -1464,34 +1348,31 @@
*/
int LIS2DW12Sensor::set_fifo_mode(uint8_t mode)
{
- int32_t ret = 0;
+ int32_t ret = 0;
- /* Verify that the passed parameter contains one of the valid values. */
- switch ((lis2dw12_fmode_t)mode)
- {
- case LIS2DW12_BYPASS_MODE:
- case LIS2DW12_FIFO_MODE:
- case LIS2DW12_STREAM_TO_FIFO_MODE:
- case LIS2DW12_BYPASS_TO_STREAM_MODE:
- case LIS2DW12_STREAM_MODE:
- break;
+ /* Verify that the passed parameter contains one of the valid values. */
+ switch ((lis2dw12_fmode_t)mode) {
+ case LIS2DW12_BYPASS_MODE:
+ case LIS2DW12_FIFO_MODE:
+ case LIS2DW12_STREAM_TO_FIFO_MODE:
+ case LIS2DW12_BYPASS_TO_STREAM_MODE:
+ case LIS2DW12_STREAM_MODE:
+ break;
- default:
- ret = 1;
- break;
- }
+ default:
+ ret = 1;
+ break;
+ }
- if (ret == 1)
- {
+ if (ret == 1) {
+ return ret;
+ }
+
+ if (lis2dw12_fifo_mode_set(&_reg_ctx, (lis2dw12_fmode_t)mode) != 0) {
+ return 1;
+ }
+
return ret;
- }
-
- if (lis2dw12_fifo_mode_set(&_reg_ctx, (lis2dw12_fmode_t)mode) != 0)
- {
- return 1;
- }
-
- return ret;
}
/**
@@ -1503,12 +1384,11 @@
int LIS2DW12Sensor::read_reg(uint8_t reg, uint8_t *data)
{
- if (lis2dw12_read_reg(&_reg_ctx, reg, data, 1) != 0)
- {
- return 1;
- }
+ if (lis2dw12_read_reg(&_reg_ctx, reg, data, 1) != 0) {
+ return 1;
+ }
- return 0;
+ return 0;
}
/**
@@ -1520,21 +1400,20 @@
int LIS2DW12Sensor::write_reg(uint8_t reg, uint8_t data)
{
- if (lis2dw12_write_reg(&_reg_ctx, reg, &data, 1) != 0)
- {
- return 1;
- }
+ if (lis2dw12_write_reg(&_reg_ctx, reg, &data, 1) != 0) {
+ return 1;
+ }
- return 0;
+ return 0;
}
int32_t LIS2DW12_io_write(void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite)
{
- return ((LIS2DW12Sensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite);
+ return ((LIS2DW12Sensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite);
}
int32_t LIS2DW12_io_read(void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead)
{
- return ((LIS2DW12Sensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead);
+ return ((LIS2DW12Sensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead);
}