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:
- 0:dff8803aace7
- Child:
- 4:94c5d5546161
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LIS2DW12Sensor.cpp Mon Nov 19 13:20:07 2018 +0000
@@ -0,0 +1,1540 @@
+/**
+ ******************************************************************************
+ * @file LIS2DW12Sensor.cpp
+ * @author CLab
+ * @version V1.0.0
+ * @date 15 November 2018
+ * @brief Implementation of an LIS2DW12 Inertial Measurement Unit (IMU) 3 axes
+ * sensor.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2018 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "LIS2DW12Sensor.h"
+
+
+/* Class Implementation ------------------------------------------------------*/
+
+/** Constructor
+ * @param i2c object of an helper class which handles the I2C peripheral
+ * @param address the address of the component's instance
+ * @param int1_pin the interrupt 1 pin
+ * @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)
+{
+ 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
+ * @param spi object of an helper class which handles the SPI peripheral
+ * @param cs_pin the chip select pin
+ * @param int1_pin the interrupt 1 pin
+ * @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)
+{
+ 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;
+ _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);
+ }
+
+ /* Disable I2C on the component */
+ lis2dw12_i2c_interface_set(&_reg_ctx, LIS2DW12_I2C_DISABLE);
+}
+
+/**
+ * @brief Initializing the component.
+ * @param[in] init pointer to device specific initalization structure.
+ * @retval "0" in case of success, an error code otherwise.
+ */
+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 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;
+ }
+
+ /* 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;
+ }
+
+ /* 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;
+
+ _x_last_noise = LIS2DW12_LOW_NOISE_DISABLE;
+
+ _x_is_enabled = 0;
+
+ return 0;
+}
+
+/**
+ * @brief Enable LIS2DW12 Accelerator
+ * @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 )
+ {
+ 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;
+}
+
+/**
+ * @brief Disable LIS2DW12 Accelerator
+ * @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;
+ }
+
+ /* 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;
+}
+
+/**
+ * @brief Read ID of LIS2DW12 Accelerometer and Gyroscope
+ * @param p_id the pointer where the ID of the device is stored
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2DW12Sensor::read_id(uint8_t *id)
+{
+ if(!id)
+ {
+ return 1;
+ }
+
+ /* Read WHO AM I register */
+ if (lis2dw12_device_id_get(&_reg_ctx, id) != 0)
+ {
+ return 1;
+ }
+
+ return 0;
+}
+
+/**
+ * @brief Read data from LIS2DW12 Accelerometer
+ * @param acceleration the pointer where the accelerometer data are stored
+ * @retval 0 in case of success, an error code otherwise
+ */
+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;
+}
+
+/**
+ * @brief Read Accelerometer Sensitivity
+ * @param sensitivity the pointer where the accelerometer sensitivity is stored
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2DW12Sensor::get_x_sensitivity(float *sensitivity)
+{
+ 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;
+ }
+
+ 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;
+
+ 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;
+
+ 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;
+
+ 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;
+}
+
+/**
+ * @brief Read raw data from LIS2DW12 Accelerometer
+ * @param value the pointer where the accelerometer raw data are stored
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2DW12Sensor::get_x_axes_raw(int16_t *value)
+{
+ 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 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;
+
+ 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;
+ }
+
+ return ret;
+}
+
+/**
+ * @brief Read LIS2DW12 Accelerometer output data rate
+ * @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)
+{
+ 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;
+ }
+
+ /* 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;
+
+ 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;
+
+ 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;
+
+ 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;
+}
+
+/**
+ * @brief Set LIS2DW12 Accelerometer output data rate
+ * @param odr the output data rate to be set
+ * @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);
+}
+
+/**
+ * @brief Set LIS2DW12 Accelerometer output data rate
+ * @param odr the output data rate to be set
+ * @param mode the operating mode to be used
+ * @param noise the low noise option
+ * @retval 0 in case of success, an error code otherwise
+ */
+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;
+ }
+ }
+ else
+ {
+ if(set_x_odr_when_disabled(odr, mode, noise) != 0)
+ {
+ return 1;
+ }
+ }
+
+ return 0;
+}
+
+/**
+ * @brief Set LIS2DW12 Accelerometer output data rate when enabled
+ * @param odr the output data rate to be set
+ * @param mode the operating mode to be used
+ * @param noise the low noise option
+ * @retval 0 in case of success, an error code otherwise
+ */
+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;
+
+ switch (mode)
+ {
+ case LIS2DW12_HIGH_PERFORMANCE_MODE:
+ default:
+ 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 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_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;
+ }
+
+
+ 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;
+ }
+
+ /* Power mode selection. */
+ if (lis2dw12_power_mode_set(&_reg_ctx, new_power_mode) != 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;
+
+ return 0;
+}
+
+/**
+ * @brief Set LIS2DW12 Accelerometer output data rate when disabled
+ * @param odr the output data rate to be set
+ * @param mode the operating mode to be used
+ * @param noise the low noise option
+ * @retval 0 in case of success, an error code otherwise
+ */
+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_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;
+}
+
+/**
+ * @brief Read LIS2DW12 Accelerometer full scale
+ * @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)
+{
+ 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;
+ }
+
+ switch (fs_low_level)
+ {
+ case LIS2DW12_2g:
+ *full_scale = 2;
+ break;
+
+ case LIS2DW12_4g:
+ *full_scale = 4;
+ break;
+
+ case LIS2DW12_8g:
+ *full_scale = 8;
+ break;
+
+ case LIS2DW12_16g:
+ *full_scale = 16;
+ break;
+
+ default:
+ *full_scale = -1;
+ ret = 1;
+ break;
+ }
+
+ return ret;
+}
+
+/**
+ * @brief Set LIS2DW12 Accelerometer full scale
+ * @param full_scale the full scale to be set
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2DW12Sensor::set_x_fs(float full_scale)
+{
+ 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;
+
+ if (lis2dw12_full_scale_set(&_reg_ctx, new_fs) != 0)
+ {
+ return 1;
+ }
+
+ return 0;
+}
+
+/**
+ * @brief Enable the wake up detection for LIS2DW12 accelerometer sensor
+ * @note This function sets the LIS2DW12 accelerometer ODR to 200Hz and the LIS2DW12 accelerometer full scale to 2g
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2DW12Sensor::enable_wake_up_detection(void)
+{
+ int32_t ret = 0;
+ lis2dw12_ctrl4_int1_pad_ctrl_t val;
+
+ /* Output Data Rate selection */
+ if (set_x_odr(200.0f) != 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;
+ }
+
+ /* 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;
+ }
+
+ val.int1_wu = PROPERTY_ENABLE;
+
+ if (lis2dw12_pin_int1_route_set(&_reg_ctx, &val) != 0)
+ {
+ return 1;
+ }
+
+ return ret;
+}
+
+/**
+ * @brief Disable the wake up detection for LIS2DW12 accelerometer sensor
+ * @retval 0 in case of success, an error code otherwise
+ */
+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;
+
+ /* 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;
+
+ if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 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;
+ }
+
+ /*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;
+ }
+
+ ctrl_reg7.interrupts_enable = PROPERTY_DISABLE;
+
+ if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0)
+ {
+ return 1;
+ }
+ }
+
+ /* Reset wake up threshold. */
+ if (lis2dw12_wkup_threshold_set(&_reg_ctx, 0x00) != 0)
+ {
+ return 1;
+ }
+
+ /* WAKE_DUR setting */
+ if (lis2dw12_wkup_dur_set(&_reg_ctx, 0x00) != 0)
+ {
+ return 1;
+ }
+
+ return 0;
+}
+
+/**
+ * @brief Set the wake up threshold for LIS2DW12 accelerometer sensor
+ * @param thr the threshold to be set
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2DW12Sensor::set_wake_up_threshold(uint8_t thr)
+{
+ /* Set wake up threshold. */
+ if (lis2dw12_wkup_threshold_set(&_reg_ctx, thr) != 0)
+ {
+ return 1;
+ }
+
+ return 0;
+}
+
+/**
+ * @brief Set the wake up duration for LIS2DW12 accelerometer sensor
+ * @param dur the duration to be set
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2DW12Sensor::set_wake_up_duration(uint8_t dur)
+{
+ /* Set wake up duration. */
+ if (lis2dw12_wkup_dur_set(&_reg_ctx, dur) != 0)
+ {
+ return 1;
+ }
+
+ return 0;
+}
+
+/**
+ * @brief Enable the inactivity detection for LIS2DW12 accelerometer sensor
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2DW12Sensor::enable_inactivity_detection(void)
+{
+ int32_t ret = 0;
+ lis2dw12_ctrl5_int2_pad_ctrl_t val;
+
+ /* 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;
+ }
+
+ /* 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;
+ }
+
+ if (lis2dw12_pin_int2_route_get(&_reg_ctx, &val) != 0)
+ {
+ return 1;
+ }
+
+ val.int2_sleep_chg = PROPERTY_ENABLE;
+
+ if (lis2dw12_pin_int2_route_set(&_reg_ctx, &val) != 0)
+ {
+ return 1;
+ }
+
+ return ret;
+}
+
+/**
+ * @brief Disable the inactivity detection for LIS2DW12 accelerometer sensor
+ * @retval 0 in case of success, an error code otherwise
+ */
+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;
+
+ /* 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;
+
+ if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 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;
+ }
+
+ /*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;
+ }
+
+ 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;
+ }
+
+ /* SLEEP_DUR setting */
+ if (lis2dw12_act_sleep_dur_set(&_reg_ctx, 0x00) != 0)
+ {
+ return 1;
+ }
+
+ return 0;
+}
+
+/**
+ * @brief Set the sleep duration for LIS2DW12 accelerometer sensor
+ * @param dur the duration to be set
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2DW12Sensor::set_sleep_duration(uint8_t dur)
+{
+ /* Set sleep duration. */
+ if (lis2dw12_act_sleep_dur_set(&_reg_ctx, dur) != 0)
+ {
+ return 1;
+ }
+
+ return 0;
+}
+
+/**
+ * @brief Enable the 6D orientation detection for LIS2DW12 accelerometer sensor
+ * @note This function sets the LIS2DW12 accelerometer ODR to 200Hz and the LIS2DW12 accelerometer full scale to 2g
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2DW12Sensor::enable_6d_orientation(void)
+{
+ 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;
+ }
+
+ /* 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;
+ }
+
+ val.int1_6d = PROPERTY_ENABLE;
+
+ if (lis2dw12_pin_int1_route_set(&_reg_ctx, &val) != 0)
+ {
+ return 1;
+ }
+
+ return ret;
+}
+
+/**
+ * @brief Disable the 6D orientation detection for LIS2DW12 accelerometer sensor
+ * @retval 0 in case of success, an error code otherwise
+ */
+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;
+
+ /* 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;
+
+ if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 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;
+ }
+
+ /*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;
+ }
+
+ ctrl_reg7.interrupts_enable = PROPERTY_DISABLE;
+
+ if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0)
+ {
+ return 1;
+ }
+ }
+
+ /* Reset 6D orientation threshold. */
+ if (lis2dw12_6d_threshold_set(&_reg_ctx, 0) != 0)
+ {
+ return 1;
+ }
+
+ return 0;
+}
+
+/**
+ * @brief Set the 6D orientation threshold for LIS2DW12 accelerometer sensor
+ * @param thr the threshold to be set
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2DW12Sensor::set_6d_orientation_threshold(uint8_t thr)
+{
+ if(thr > 3)
+ {
+ return 1;
+ }
+
+ if (lis2dw12_6d_threshold_set(&_reg_ctx, thr) != 0)
+ {
+ return 1;
+ }
+
+ return 0;
+}
+
+/**
+ * @brief Get the 6D orientation XL axis for LIS2DW12 accelerometer sensor
+ * @param xl the pointer to the 6D orientation XL axis
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2DW12Sensor::get_6d_orientation_xl(uint8_t *xl)
+{
+ lis2dw12_sixd_src_t data;
+
+ if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0)
+ {
+ return 1;
+ }
+
+ *xl = data.xl;
+
+ return 0;
+}
+
+/**
+ * @brief Get the 6D orientation XH axis for LIS2DW12 accelerometer sensor
+ * @param xh the pointer to the 6D orientation XH axis
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2DW12Sensor::get_6d_orientation_xh(uint8_t *xh)
+{
+ lis2dw12_sixd_src_t data;
+
+ if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0)
+ {
+ return 1;
+ }
+
+ *xh = data.xh;
+
+ return 0;
+}
+
+/**
+ * @brief Get the 6D orientation YL axis for LIS2DW12 accelerometer sensor
+ * @param yl the pointer to the 6D orientation YL axis
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2DW12Sensor::get_6d_orientation_yl(uint8_t *yl)
+{
+ lis2dw12_sixd_src_t data;
+
+ if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0)
+ {
+ return 1;
+ }
+
+ *yl = data.yl;
+
+ return 0;
+}
+
+/**
+ * @brief Get the 6D orientation YH axis for LIS2DW12 accelerometer sensor
+ * @param yh the pointer to the 6D orientation YH axis
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2DW12Sensor::get_6d_orientation_yh(uint8_t *yh)
+{
+ lis2dw12_sixd_src_t data;
+
+ if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0)
+ {
+ return 1;
+ }
+
+ *yh = data.yh;
+
+ return 0;
+}
+
+/**
+ * @brief Get the 6D orientation ZL axis for LIS2DW12 accelerometer sensor
+ * @param zl the pointer to the 6D orientation ZL axis
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2DW12Sensor::get_6d_orientation_zl(uint8_t *zl)
+{
+ lis2dw12_sixd_src_t data;
+
+ if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0)
+ {
+ return 1;
+ }
+
+ *zl = data.zl;
+
+ return 0;
+}
+
+/**
+ * @brief Get the 6D orientation ZH axis for LIS2DW12 accelerometer sensor
+ * @param zh the pointer to the 6D orientation ZH axis
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2DW12Sensor::get_6d_orientation_zh(uint8_t *zh)
+{
+ lis2dw12_sixd_src_t data;
+
+ if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0)
+ {
+ return 1;
+ }
+
+ *zh = data.zh;
+
+ return 0;
+}
+
+/**
+ * @brief Get the status of all hardware events for LIS2DW12 accelerometer sensor
+ * @param status the pointer to the status of all hardware events
+ * @retval 0 in case of success, an error code otherwise
+ */
+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;
+
+ (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_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 (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 (ctrl5_int2_reg.int2_sleep_chg == 1U)
+ {
+ if (status_reg.sleep_state == 1U)
+ {
+ status->SleepStatus = 1;
+ }
+ }
+
+ return 0;
+}
+
+/**
+ * @brief Get the number of samples contained into the FIFO
+ * @param num_samples the number of samples contained into the FIFO
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2DW12Sensor::get_fifo_num_samples(uint16_t *num_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(fifo_samples.diff == 0x20)
+ {
+ *num_samples = 32;
+ }
+ else
+ {
+ *num_samples = fifo_samples.diff;
+ }
+
+ return 0;
+}
+
+/**
+ * @brief Set the FIFO mode
+ * @param mode FIFO mode
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2DW12Sensor::set_fifo_mode(uint8_t mode)
+{
+ 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;
+
+ default:
+ ret = 1;
+ break;
+ }
+
+ if (ret == 1)
+ {
+ return ret;
+ }
+
+ if (lis2dw12_fifo_mode_set(&_reg_ctx, (lis2dw12_fmode_t)mode) != 0)
+ {
+ return 1;
+ }
+
+ return ret;
+}
+
+/**
+ * @brief Read the data from register
+ * @param reg register address
+ * @param data register data
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2DW12Sensor::read_reg(uint8_t reg, uint8_t *data)
+{
+
+ if (lis2dw12_read_reg(&_reg_ctx, reg, data, 1) != 0)
+ {
+ return 1;
+ }
+
+ return 0;
+}
+
+/**
+ * @brief Write the data to register
+ * @param reg register address
+ * @param data register data
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LIS2DW12Sensor::write_reg(uint8_t reg, uint8_t data)
+{
+
+ if (lis2dw12_write_reg(&_reg_ctx, reg, &data, 1) != 0)
+ {
+ return 1;
+ }
+
+ 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);
+}
+
+int32_t LIS2DW12_io_read(void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead)
+{
+ return ((LIS2DW12Sensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead);
+}