ST / LIS2DW12

3-axis MEMS ultra low power accelerometer

Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

Dependents:   X_NUCLEO_IKS01A3 X_NUCLEO_IKS01A3

LIS2DW12Sensor.cpp@0:dff8803aace7, 2018-11-19 (annotated)

Committer:
cparata
Date:
Mon Nov 19 13:20:07 2018 +0000
Revision:
0:dff8803aace7
Child:
4:94c5d5546161
First release of LIS2DW12 driver

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 0:dff8803aace7 1 /**
cparata 0:dff8803aace7 2 ******************************************************************************
cparata 0:dff8803aace7 3 * @file LIS2DW12Sensor.cpp
cparata 0:dff8803aace7 4 * @author CLab
cparata 0:dff8803aace7 5 * @version V1.0.0
cparata 0:dff8803aace7 6 * @date 15 November 2018
cparata 0:dff8803aace7 7 * @brief Implementation of an LIS2DW12 Inertial Measurement Unit (IMU) 3 axes
cparata 0:dff8803aace7 8 * sensor.
cparata 0:dff8803aace7 9 ******************************************************************************
cparata 0:dff8803aace7 10 * @attention
cparata 0:dff8803aace7 11 *
cparata 0:dff8803aace7 12 * <h2><center>&copy; COPYRIGHT(c) 2018 STMicroelectronics</center></h2>
cparata 0:dff8803aace7 13 *
cparata 0:dff8803aace7 14 * Redistribution and use in source and binary forms, with or without modification,
cparata 0:dff8803aace7 15 * are permitted provided that the following conditions are met:
cparata 0:dff8803aace7 16 * 1. Redistributions of source code must retain the above copyright notice,
cparata 0:dff8803aace7 17 * this list of conditions and the following disclaimer.
cparata 0:dff8803aace7 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 0:dff8803aace7 19 * this list of conditions and the following disclaimer in the documentation
cparata 0:dff8803aace7 20 * and/or other materials provided with the distribution.
cparata 0:dff8803aace7 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 0:dff8803aace7 22 * may be used to endorse or promote products derived from this software
cparata 0:dff8803aace7 23 * without specific prior written permission.
cparata 0:dff8803aace7 24 *
cparata 0:dff8803aace7 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 0:dff8803aace7 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 0:dff8803aace7 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 0:dff8803aace7 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 0:dff8803aace7 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 0:dff8803aace7 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 0:dff8803aace7 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 0:dff8803aace7 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 0:dff8803aace7 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 0:dff8803aace7 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 0:dff8803aace7 35 *
cparata 0:dff8803aace7 36 ******************************************************************************
cparata 0:dff8803aace7 37 */
cparata 0:dff8803aace7 38
cparata 0:dff8803aace7 39
cparata 0:dff8803aace7 40 /* Includes ------------------------------------------------------------------*/
cparata 0:dff8803aace7 41
cparata 0:dff8803aace7 42 #include "LIS2DW12Sensor.h"
cparata 0:dff8803aace7 43
cparata 0:dff8803aace7 44
cparata 0:dff8803aace7 45 /* Class Implementation ------------------------------------------------------*/
cparata 0:dff8803aace7 46
cparata 0:dff8803aace7 47 /** Constructor
cparata 0:dff8803aace7 48 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:dff8803aace7 49 * @param address the address of the component's instance
cparata 0:dff8803aace7 50 * @param int1_pin the interrupt 1 pin
cparata 0:dff8803aace7 51 * @param int2_pin the interrupt 2 pin
cparata 0:dff8803aace7 52 */
cparata 0:dff8803aace7 53 LIS2DW12Sensor::LIS2DW12Sensor(DevI2C *i2c, uint8_t address, PinName int1_pin, PinName int2_pin) :
cparata 0:dff8803aace7 54 _dev_i2c(i2c), _address(address), _cs_pin(NC), _int1_irq(int1_pin), _int2_irq(int2_pin)
cparata 0:dff8803aace7 55 {
cparata 0:dff8803aace7 56 assert (i2c);
cparata 0:dff8803aace7 57 _dev_spi = NULL;
cparata 0:dff8803aace7 58 _reg_ctx.write_reg = LIS2DW12_io_write;
cparata 0:dff8803aace7 59 _reg_ctx.read_reg = LIS2DW12_io_read;
cparata 0:dff8803aace7 60 _reg_ctx.handle = (void *)this;
cparata 0:dff8803aace7 61 }
cparata 0:dff8803aace7 62
cparata 0:dff8803aace7 63 /** Constructor
cparata 0:dff8803aace7 64 * @param spi object of an helper class which handles the SPI peripheral
cparata 0:dff8803aace7 65 * @param cs_pin the chip select pin
cparata 0:dff8803aace7 66 * @param int1_pin the interrupt 1 pin
cparata 0:dff8803aace7 67 * @param int2_pin the interrupt 2 pin
cparata 0:dff8803aace7 68 * @param spi_type the SPI type (4-Wires or 3-Wires)
cparata 0:dff8803aace7 69 */
cparata 0:dff8803aace7 70 LIS2DW12Sensor::LIS2DW12Sensor(SPI *spi, PinName cs_pin, PinName int1_pin, PinName int2_pin, SPI_type_t spi_type ) :
cparata 0:dff8803aace7 71 _dev_spi(spi), _cs_pin(cs_pin), _int1_irq(int1_pin), _int2_irq(int2_pin), _spi_type(spi_type)
cparata 0:dff8803aace7 72 {
cparata 0:dff8803aace7 73 assert (spi);
cparata 0:dff8803aace7 74 if (cs_pin == NC)
cparata 0:dff8803aace7 75 {
cparata 0:dff8803aace7 76 printf ("ERROR LPS22HBSensor CS MUST NOT BE NC\n\r");
cparata 0:dff8803aace7 77 _dev_spi = NULL;
cparata 0:dff8803aace7 78 _dev_i2c = NULL;
cparata 0:dff8803aace7 79 return;
cparata 0:dff8803aace7 80 }
cparata 0:dff8803aace7 81 _reg_ctx.write_reg = LIS2DW12_io_write;
cparata 0:dff8803aace7 82 _reg_ctx.read_reg = LIS2DW12_io_read;
cparata 0:dff8803aace7 83 _reg_ctx.handle = (void *)this;
cparata 0:dff8803aace7 84 _cs_pin = 1;
cparata 0:dff8803aace7 85 _dev_i2c = NULL;
cparata 0:dff8803aace7 86 _address = 0;
cparata 0:dff8803aace7 87
cparata 0:dff8803aace7 88 if (_spi_type == SPI3W)
cparata 0:dff8803aace7 89 {
cparata 0:dff8803aace7 90 /* Enable SPI 3-Wires on the component */
cparata 0:dff8803aace7 91 uint8_t data = 0x05;
cparata 0:dff8803aace7 92 lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL2, &data, 1);
cparata 0:dff8803aace7 93 }
cparata 0:dff8803aace7 94
cparata 0:dff8803aace7 95 /* Disable I2C on the component */
cparata 0:dff8803aace7 96 lis2dw12_i2c_interface_set(&_reg_ctx, LIS2DW12_I2C_DISABLE);
cparata 0:dff8803aace7 97 }
cparata 0:dff8803aace7 98
cparata 0:dff8803aace7 99 /**
cparata 0:dff8803aace7 100 * @brief Initializing the component.
cparata 0:dff8803aace7 101 * @param[in] init pointer to device specific initalization structure.
cparata 0:dff8803aace7 102 * @retval "0" in case of success, an error code otherwise.
cparata 0:dff8803aace7 103 */
cparata 0:dff8803aace7 104 int LIS2DW12Sensor::init(void *init)
cparata 0:dff8803aace7 105 {
cparata 0:dff8803aace7 106 /* Enable register address automatically incremented during a multiple byte
cparata 0:dff8803aace7 107 access with a serial interface. */
cparata 0:dff8803aace7 108 if (lis2dw12_auto_increment_set(&_reg_ctx, PROPERTY_ENABLE) != 0)
cparata 0:dff8803aace7 109 {
cparata 0:dff8803aace7 110 return 1;
cparata 0:dff8803aace7 111 }
cparata 0:dff8803aace7 112
cparata 0:dff8803aace7 113 /* Enable BDU */
cparata 0:dff8803aace7 114 if (lis2dw12_block_data_update_set(&_reg_ctx, PROPERTY_ENABLE) != 0)
cparata 0:dff8803aace7 115 {
cparata 0:dff8803aace7 116 return 1;
cparata 0:dff8803aace7 117 }
cparata 0:dff8803aace7 118
cparata 0:dff8803aace7 119 /* FIFO mode selection */
cparata 0:dff8803aace7 120 if (lis2dw12_fifo_mode_set(&_reg_ctx, LIS2DW12_BYPASS_MODE) != 0)
cparata 0:dff8803aace7 121 {
cparata 0:dff8803aace7 122 return 1;
cparata 0:dff8803aace7 123 }
cparata 0:dff8803aace7 124
cparata 0:dff8803aace7 125 /* Power mode selection */
cparata 0:dff8803aace7 126 if (lis2dw12_power_mode_set(&_reg_ctx, LIS2DW12_HIGH_PERFORMANCE) != 0)
cparata 0:dff8803aace7 127 {
cparata 0:dff8803aace7 128 return 1;
cparata 0:dff8803aace7 129 }
cparata 0:dff8803aace7 130
cparata 0:dff8803aace7 131 /* Output data rate selection - power down. */
cparata 0:dff8803aace7 132 if (lis2dw12_data_rate_set(&_reg_ctx, LIS2DW12_XL_ODR_OFF) != 0)
cparata 0:dff8803aace7 133 {
cparata 0:dff8803aace7 134 return 1;
cparata 0:dff8803aace7 135 }
cparata 0:dff8803aace7 136
cparata 0:dff8803aace7 137 /* Full scale selection. */
cparata 0:dff8803aace7 138 if (lis2dw12_full_scale_set(&_reg_ctx, LIS2DW12_2g) != 0)
cparata 0:dff8803aace7 139 {
cparata 0:dff8803aace7 140 return 1;
cparata 0:dff8803aace7 141 }
cparata 0:dff8803aace7 142
cparata 0:dff8803aace7 143 /* Select default output data rate. */
cparata 0:dff8803aace7 144 _x_last_odr = 100.0f;
cparata 0:dff8803aace7 145
cparata 0:dff8803aace7 146 _x_last_operating_mode = LIS2DW12_HIGH_PERFORMANCE_MODE;
cparata 0:dff8803aace7 147
cparata 0:dff8803aace7 148 _x_last_noise = LIS2DW12_LOW_NOISE_DISABLE;
cparata 0:dff8803aace7 149
cparata 0:dff8803aace7 150 _x_is_enabled = 0;
cparata 0:dff8803aace7 151
cparata 0:dff8803aace7 152 return 0;
cparata 0:dff8803aace7 153 }
cparata 0:dff8803aace7 154
cparata 0:dff8803aace7 155 /**
cparata 0:dff8803aace7 156 * @brief Enable LIS2DW12 Accelerator
cparata 0:dff8803aace7 157 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 158 */
cparata 0:dff8803aace7 159 int LIS2DW12Sensor::enable_x(void)
cparata 0:dff8803aace7 160 {
cparata 0:dff8803aace7 161 /* Check if the component is already enabled */
cparata 0:dff8803aace7 162 if ( _x_is_enabled == 1 )
cparata 0:dff8803aace7 163 {
cparata 0:dff8803aace7 164 return 0;
cparata 0:dff8803aace7 165 }
cparata 0:dff8803aace7 166
cparata 0:dff8803aace7 167 /* Output data rate selection. */
cparata 0:dff8803aace7 168 if ( set_x_odr_when_enabled( _x_last_odr, _x_last_operating_mode, _x_last_noise ) == 1 )
cparata 0:dff8803aace7 169 {
cparata 0:dff8803aace7 170 return 1;
cparata 0:dff8803aace7 171 }
cparata 0:dff8803aace7 172
cparata 0:dff8803aace7 173 _x_is_enabled = 1;
cparata 0:dff8803aace7 174
cparata 0:dff8803aace7 175 return 0;
cparata 0:dff8803aace7 176 }
cparata 0:dff8803aace7 177
cparata 0:dff8803aace7 178 /**
cparata 0:dff8803aace7 179 * @brief Disable LIS2DW12 Accelerator
cparata 0:dff8803aace7 180 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 181 */
cparata 0:dff8803aace7 182 int LIS2DW12Sensor::disable_x(void)
cparata 0:dff8803aace7 183 {
cparata 0:dff8803aace7 184 /* Check if the component is already disabled */
cparata 0:dff8803aace7 185 if ( _x_is_enabled == 0 )
cparata 0:dff8803aace7 186 {
cparata 0:dff8803aace7 187 return 0;
cparata 0:dff8803aace7 188 }
cparata 0:dff8803aace7 189
cparata 0:dff8803aace7 190 /* Output data rate selection - power down. */
cparata 0:dff8803aace7 191 if (lis2dw12_data_rate_set(&_reg_ctx, LIS2DW12_XL_ODR_OFF) != 0)
cparata 0:dff8803aace7 192 {
cparata 0:dff8803aace7 193 return 1;
cparata 0:dff8803aace7 194 }
cparata 0:dff8803aace7 195
cparata 0:dff8803aace7 196 _x_is_enabled = 0;
cparata 0:dff8803aace7 197
cparata 0:dff8803aace7 198 return 0;
cparata 0:dff8803aace7 199 }
cparata 0:dff8803aace7 200
cparata 0:dff8803aace7 201 /**
cparata 0:dff8803aace7 202 * @brief Read ID of LIS2DW12 Accelerometer and Gyroscope
cparata 0:dff8803aace7 203 * @param p_id the pointer where the ID of the device is stored
cparata 0:dff8803aace7 204 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 205 */
cparata 0:dff8803aace7 206 int LIS2DW12Sensor::read_id(uint8_t *id)
cparata 0:dff8803aace7 207 {
cparata 0:dff8803aace7 208 if(!id)
cparata 0:dff8803aace7 209 {
cparata 0:dff8803aace7 210 return 1;
cparata 0:dff8803aace7 211 }
cparata 0:dff8803aace7 212
cparata 0:dff8803aace7 213 /* Read WHO AM I register */
cparata 0:dff8803aace7 214 if (lis2dw12_device_id_get(&_reg_ctx, id) != 0)
cparata 0:dff8803aace7 215 {
cparata 0:dff8803aace7 216 return 1;
cparata 0:dff8803aace7 217 }
cparata 0:dff8803aace7 218
cparata 0:dff8803aace7 219 return 0;
cparata 0:dff8803aace7 220 }
cparata 0:dff8803aace7 221
cparata 0:dff8803aace7 222 /**
cparata 0:dff8803aace7 223 * @brief Read data from LIS2DW12 Accelerometer
cparata 0:dff8803aace7 224 * @param acceleration the pointer where the accelerometer data are stored
cparata 0:dff8803aace7 225 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 226 */
cparata 0:dff8803aace7 227 int LIS2DW12Sensor::get_x_axes(int32_t *acceleration)
cparata 0:dff8803aace7 228 {
cparata 0:dff8803aace7 229 int16_t data_raw[3];
cparata 0:dff8803aace7 230 float sensitivity = 0;
cparata 0:dff8803aace7 231
cparata 0:dff8803aace7 232 /* Read raw data from LIS2DW12 output register. */
cparata 0:dff8803aace7 233 if ( get_x_axes_raw( data_raw ) == 1 )
cparata 0:dff8803aace7 234 {
cparata 0:dff8803aace7 235 return 1;
cparata 0:dff8803aace7 236 }
cparata 0:dff8803aace7 237
cparata 0:dff8803aace7 238 /* Get LIS2DW12 actual sensitivity. */
cparata 0:dff8803aace7 239 if ( get_x_sensitivity( &sensitivity ) == 1 )
cparata 0:dff8803aace7 240 {
cparata 0:dff8803aace7 241 return 1;
cparata 0:dff8803aace7 242 }
cparata 0:dff8803aace7 243
cparata 0:dff8803aace7 244 /* Calculate the data. */
cparata 0:dff8803aace7 245 acceleration[0] = ( int32_t )( data_raw[0] * sensitivity );
cparata 0:dff8803aace7 246 acceleration[1] = ( int32_t )( data_raw[1] * sensitivity );
cparata 0:dff8803aace7 247 acceleration[2] = ( int32_t )( data_raw[2] * sensitivity );
cparata 0:dff8803aace7 248
cparata 0:dff8803aace7 249 return 0;
cparata 0:dff8803aace7 250 }
cparata 0:dff8803aace7 251
cparata 0:dff8803aace7 252 /**
cparata 0:dff8803aace7 253 * @brief Read Accelerometer Sensitivity
cparata 0:dff8803aace7 254 * @param sensitivity the pointer where the accelerometer sensitivity is stored
cparata 0:dff8803aace7 255 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 256 */
cparata 0:dff8803aace7 257 int LIS2DW12Sensor::get_x_sensitivity(float *sensitivity)
cparata 0:dff8803aace7 258 {
cparata 0:dff8803aace7 259 int32_t ret = 0;
cparata 0:dff8803aace7 260 lis2dw12_fs_t full_scale;
cparata 0:dff8803aace7 261 lis2dw12_mode_t mode;
cparata 0:dff8803aace7 262
cparata 0:dff8803aace7 263 /* Read actual full scale selection from sensor. */
cparata 0:dff8803aace7 264 if (lis2dw12_full_scale_get(&_reg_ctx, &full_scale) != 0)
cparata 0:dff8803aace7 265 {
cparata 0:dff8803aace7 266 return 1;
cparata 0:dff8803aace7 267 }
cparata 0:dff8803aace7 268
cparata 0:dff8803aace7 269 /* Read actual power mode selection from sensor. */
cparata 0:dff8803aace7 270 if (lis2dw12_power_mode_get(&_reg_ctx, &mode) != 0)
cparata 0:dff8803aace7 271 {
cparata 0:dff8803aace7 272 return 1;
cparata 0:dff8803aace7 273 }
cparata 0:dff8803aace7 274
cparata 0:dff8803aace7 275 switch(mode)
cparata 0:dff8803aace7 276 {
cparata 0:dff8803aace7 277 case LIS2DW12_CONT_LOW_PWR_12bit:
cparata 0:dff8803aace7 278 case LIS2DW12_SINGLE_LOW_PWR_12bit:
cparata 0:dff8803aace7 279 case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
cparata 0:dff8803aace7 280 case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
cparata 0:dff8803aace7 281 switch (full_scale)
cparata 0:dff8803aace7 282 {
cparata 0:dff8803aace7 283 case LIS2DW12_2g:
cparata 0:dff8803aace7 284 *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_2G_LOPOW1_MODE;
cparata 0:dff8803aace7 285 break;
cparata 0:dff8803aace7 286
cparata 0:dff8803aace7 287 case LIS2DW12_4g:
cparata 0:dff8803aace7 288 *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_4G_LOPOW1_MODE;
cparata 0:dff8803aace7 289 break;
cparata 0:dff8803aace7 290
cparata 0:dff8803aace7 291 case LIS2DW12_8g:
cparata 0:dff8803aace7 292 *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_8G_LOPOW1_MODE;
cparata 0:dff8803aace7 293 break;
cparata 0:dff8803aace7 294
cparata 0:dff8803aace7 295 case LIS2DW12_16g:
cparata 0:dff8803aace7 296 *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_16G_LOPOW1_MODE;
cparata 0:dff8803aace7 297 break;
cparata 0:dff8803aace7 298
cparata 0:dff8803aace7 299 default:
cparata 0:dff8803aace7 300 *sensitivity = -1.0f;
cparata 0:dff8803aace7 301 ret = 1;
cparata 0:dff8803aace7 302 break;
cparata 0:dff8803aace7 303 }
cparata 0:dff8803aace7 304 break;
cparata 0:dff8803aace7 305
cparata 0:dff8803aace7 306 case LIS2DW12_HIGH_PERFORMANCE:
cparata 0:dff8803aace7 307 case LIS2DW12_CONT_LOW_PWR_4:
cparata 0:dff8803aace7 308 case LIS2DW12_CONT_LOW_PWR_3:
cparata 0:dff8803aace7 309 case LIS2DW12_CONT_LOW_PWR_2:
cparata 0:dff8803aace7 310 case LIS2DW12_SINGLE_LOW_PWR_4:
cparata 0:dff8803aace7 311 case LIS2DW12_SINGLE_LOW_PWR_3:
cparata 0:dff8803aace7 312 case LIS2DW12_SINGLE_LOW_PWR_2:
cparata 0:dff8803aace7 313 case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
cparata 0:dff8803aace7 314 case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
cparata 0:dff8803aace7 315 case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
cparata 0:dff8803aace7 316 case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
cparata 0:dff8803aace7 317 case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
cparata 0:dff8803aace7 318 case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
cparata 0:dff8803aace7 319 case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
cparata 0:dff8803aace7 320 switch (full_scale)
cparata 0:dff8803aace7 321 {
cparata 0:dff8803aace7 322 case LIS2DW12_2g:
cparata 0:dff8803aace7 323 *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_2G_OTHER_MODES;
cparata 0:dff8803aace7 324 break;
cparata 0:dff8803aace7 325
cparata 0:dff8803aace7 326 case LIS2DW12_4g:
cparata 0:dff8803aace7 327 *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_4G_OTHER_MODES;
cparata 0:dff8803aace7 328 break;
cparata 0:dff8803aace7 329
cparata 0:dff8803aace7 330 case LIS2DW12_8g:
cparata 0:dff8803aace7 331 *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_8G_OTHER_MODES;
cparata 0:dff8803aace7 332 break;
cparata 0:dff8803aace7 333
cparata 0:dff8803aace7 334 case LIS2DW12_16g:
cparata 0:dff8803aace7 335 *sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_16G_OTHER_MODES;
cparata 0:dff8803aace7 336 break;
cparata 0:dff8803aace7 337
cparata 0:dff8803aace7 338 default:
cparata 0:dff8803aace7 339 *sensitivity = -1.0f;
cparata 0:dff8803aace7 340 ret = 1;
cparata 0:dff8803aace7 341 break;
cparata 0:dff8803aace7 342 }
cparata 0:dff8803aace7 343 break;
cparata 0:dff8803aace7 344
cparata 0:dff8803aace7 345 default:
cparata 0:dff8803aace7 346 *sensitivity = -1.0f;
cparata 0:dff8803aace7 347 ret = 1;
cparata 0:dff8803aace7 348 break;
cparata 0:dff8803aace7 349 }
cparata 0:dff8803aace7 350
cparata 0:dff8803aace7 351 return ret;
cparata 0:dff8803aace7 352 }
cparata 0:dff8803aace7 353
cparata 0:dff8803aace7 354 /**
cparata 0:dff8803aace7 355 * @brief Read raw data from LIS2DW12 Accelerometer
cparata 0:dff8803aace7 356 * @param value the pointer where the accelerometer raw data are stored
cparata 0:dff8803aace7 357 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 358 */
cparata 0:dff8803aace7 359 int LIS2DW12Sensor::get_x_axes_raw(int16_t *value)
cparata 0:dff8803aace7 360 {
cparata 0:dff8803aace7 361 axis3bit16_t data_raw;
cparata 0:dff8803aace7 362 lis2dw12_mode_t mode;
cparata 0:dff8803aace7 363 int32_t ret = 0;
cparata 0:dff8803aace7 364
cparata 0:dff8803aace7 365 /* Read actual power mode selection from sensor. */
cparata 0:dff8803aace7 366 if (lis2dw12_power_mode_get(&_reg_ctx, &mode) != 0)
cparata 0:dff8803aace7 367 {
cparata 0:dff8803aace7 368 return 1;
cparata 0:dff8803aace7 369 }
cparata 0:dff8803aace7 370
cparata 0:dff8803aace7 371 /* Read raw data values. */
cparata 0:dff8803aace7 372 if (lis2dw12_acceleration_raw_get(&_reg_ctx, data_raw.u8bit) != 0)
cparata 0:dff8803aace7 373 {
cparata 0:dff8803aace7 374 return 1;
cparata 0:dff8803aace7 375 }
cparata 0:dff8803aace7 376
cparata 0:dff8803aace7 377 switch(mode)
cparata 0:dff8803aace7 378 {
cparata 0:dff8803aace7 379 case LIS2DW12_CONT_LOW_PWR_12bit:
cparata 0:dff8803aace7 380 case LIS2DW12_SINGLE_LOW_PWR_12bit:
cparata 0:dff8803aace7 381 case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
cparata 0:dff8803aace7 382 case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
cparata 0:dff8803aace7 383 /* Data format 12 bits. */
cparata 0:dff8803aace7 384 value[0] = (data_raw.i16bit[0] / 16);
cparata 0:dff8803aace7 385 value[1] = (data_raw.i16bit[1] / 16);
cparata 0:dff8803aace7 386 value[2] = (data_raw.i16bit[2] / 16);
cparata 0:dff8803aace7 387 break;
cparata 0:dff8803aace7 388
cparata 0:dff8803aace7 389 case LIS2DW12_HIGH_PERFORMANCE:
cparata 0:dff8803aace7 390 case LIS2DW12_CONT_LOW_PWR_4:
cparata 0:dff8803aace7 391 case LIS2DW12_CONT_LOW_PWR_3:
cparata 0:dff8803aace7 392 case LIS2DW12_CONT_LOW_PWR_2:
cparata 0:dff8803aace7 393 case LIS2DW12_SINGLE_LOW_PWR_4:
cparata 0:dff8803aace7 394 case LIS2DW12_SINGLE_LOW_PWR_3:
cparata 0:dff8803aace7 395 case LIS2DW12_SINGLE_LOW_PWR_2:
cparata 0:dff8803aace7 396 case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
cparata 0:dff8803aace7 397 case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
cparata 0:dff8803aace7 398 case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
cparata 0:dff8803aace7 399 case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
cparata 0:dff8803aace7 400 case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
cparata 0:dff8803aace7 401 case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
cparata 0:dff8803aace7 402 case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
cparata 0:dff8803aace7 403 /* Data format 14 bits. */
cparata 0:dff8803aace7 404 value[0] = (data_raw.i16bit[0] / 4);
cparata 0:dff8803aace7 405 value[1] = (data_raw.i16bit[1] / 4);
cparata 0:dff8803aace7 406 value[2] = (data_raw.i16bit[2] / 4);
cparata 0:dff8803aace7 407 break;
cparata 0:dff8803aace7 408
cparata 0:dff8803aace7 409 default:
cparata 0:dff8803aace7 410 ret = 1;
cparata 0:dff8803aace7 411 break;
cparata 0:dff8803aace7 412 }
cparata 0:dff8803aace7 413
cparata 0:dff8803aace7 414 return ret;
cparata 0:dff8803aace7 415 }
cparata 0:dff8803aace7 416
cparata 0:dff8803aace7 417 /**
cparata 0:dff8803aace7 418 * @brief Read LIS2DW12 Accelerometer output data rate
cparata 0:dff8803aace7 419 * @param odr the pointer to the output data rate
cparata 0:dff8803aace7 420 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 421 */
cparata 0:dff8803aace7 422 int LIS2DW12Sensor::get_x_odr(float* odr)
cparata 0:dff8803aace7 423 {
cparata 0:dff8803aace7 424 int32_t ret = 0;
cparata 0:dff8803aace7 425 lis2dw12_odr_t odr_low_level;
cparata 0:dff8803aace7 426 lis2dw12_mode_t mode;
cparata 0:dff8803aace7 427
cparata 0:dff8803aace7 428 /* Get current output data rate. */
cparata 0:dff8803aace7 429 if (lis2dw12_data_rate_get(&_reg_ctx, &odr_low_level) != 0)
cparata 0:dff8803aace7 430 {
cparata 0:dff8803aace7 431 return 1;
cparata 0:dff8803aace7 432 }
cparata 0:dff8803aace7 433
cparata 0:dff8803aace7 434 /* Read actual power mode selection from sensor. */
cparata 0:dff8803aace7 435 if (lis2dw12_power_mode_get(&_reg_ctx, &mode) != 0)
cparata 0:dff8803aace7 436 {
cparata 0:dff8803aace7 437 return 1;
cparata 0:dff8803aace7 438 }
cparata 0:dff8803aace7 439
cparata 0:dff8803aace7 440 switch (odr_low_level)
cparata 0:dff8803aace7 441 {
cparata 0:dff8803aace7 442 case LIS2DW12_XL_ODR_OFF:
cparata 0:dff8803aace7 443 case LIS2DW12_XL_SET_SW_TRIG:
cparata 0:dff8803aace7 444 case LIS2DW12_XL_SET_PIN_TRIG:
cparata 0:dff8803aace7 445 *odr = 0.0f;
cparata 0:dff8803aace7 446 break;
cparata 0:dff8803aace7 447
cparata 0:dff8803aace7 448 case LIS2DW12_XL_ODR_1Hz6_LP_ONLY:
cparata 0:dff8803aace7 449 switch (mode)
cparata 0:dff8803aace7 450 {
cparata 0:dff8803aace7 451 case LIS2DW12_HIGH_PERFORMANCE:
cparata 0:dff8803aace7 452 case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
cparata 0:dff8803aace7 453 *odr = 12.5f;
cparata 0:dff8803aace7 454 break;
cparata 0:dff8803aace7 455
cparata 0:dff8803aace7 456 case LIS2DW12_CONT_LOW_PWR_4:
cparata 0:dff8803aace7 457 case LIS2DW12_CONT_LOW_PWR_3:
cparata 0:dff8803aace7 458 case LIS2DW12_CONT_LOW_PWR_2:
cparata 0:dff8803aace7 459 case LIS2DW12_CONT_LOW_PWR_12bit:
cparata 0:dff8803aace7 460 case LIS2DW12_SINGLE_LOW_PWR_4:
cparata 0:dff8803aace7 461 case LIS2DW12_SINGLE_LOW_PWR_3:
cparata 0:dff8803aace7 462 case LIS2DW12_SINGLE_LOW_PWR_2:
cparata 0:dff8803aace7 463 case LIS2DW12_SINGLE_LOW_PWR_12bit:
cparata 0:dff8803aace7 464 case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
cparata 0:dff8803aace7 465 case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
cparata 0:dff8803aace7 466 case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
cparata 0:dff8803aace7 467 case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
cparata 0:dff8803aace7 468 case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
cparata 0:dff8803aace7 469 case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
cparata 0:dff8803aace7 470 case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
cparata 0:dff8803aace7 471 case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
cparata 0:dff8803aace7 472 *odr = 1.6f;
cparata 0:dff8803aace7 473 break;
cparata 0:dff8803aace7 474
cparata 0:dff8803aace7 475 default:
cparata 0:dff8803aace7 476 *odr = -1.0f;
cparata 0:dff8803aace7 477 ret = 1;
cparata 0:dff8803aace7 478 break;
cparata 0:dff8803aace7 479 }
cparata 0:dff8803aace7 480 break;
cparata 0:dff8803aace7 481
cparata 0:dff8803aace7 482 case LIS2DW12_XL_ODR_12Hz5:
cparata 0:dff8803aace7 483 *odr = 12.5f;
cparata 0:dff8803aace7 484 break;
cparata 0:dff8803aace7 485
cparata 0:dff8803aace7 486 case LIS2DW12_XL_ODR_25Hz:
cparata 0:dff8803aace7 487 *odr = 25.0f;
cparata 0:dff8803aace7 488 break;
cparata 0:dff8803aace7 489
cparata 0:dff8803aace7 490 case LIS2DW12_XL_ODR_50Hz:
cparata 0:dff8803aace7 491 *odr = 50.0f;
cparata 0:dff8803aace7 492 break;
cparata 0:dff8803aace7 493
cparata 0:dff8803aace7 494 case LIS2DW12_XL_ODR_100Hz:
cparata 0:dff8803aace7 495 *odr = 100.0f;
cparata 0:dff8803aace7 496 break;
cparata 0:dff8803aace7 497
cparata 0:dff8803aace7 498 case LIS2DW12_XL_ODR_200Hz:
cparata 0:dff8803aace7 499 *odr = 200.0f;
cparata 0:dff8803aace7 500 break;
cparata 0:dff8803aace7 501
cparata 0:dff8803aace7 502 case LIS2DW12_XL_ODR_400Hz:
cparata 0:dff8803aace7 503 switch (mode)
cparata 0:dff8803aace7 504 {
cparata 0:dff8803aace7 505 case LIS2DW12_HIGH_PERFORMANCE:
cparata 0:dff8803aace7 506 case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
cparata 0:dff8803aace7 507 *odr = 400.0f;
cparata 0:dff8803aace7 508 break;
cparata 0:dff8803aace7 509
cparata 0:dff8803aace7 510 case LIS2DW12_CONT_LOW_PWR_4:
cparata 0:dff8803aace7 511 case LIS2DW12_CONT_LOW_PWR_3:
cparata 0:dff8803aace7 512 case LIS2DW12_CONT_LOW_PWR_2:
cparata 0:dff8803aace7 513 case LIS2DW12_CONT_LOW_PWR_12bit:
cparata 0:dff8803aace7 514 case LIS2DW12_SINGLE_LOW_PWR_4:
cparata 0:dff8803aace7 515 case LIS2DW12_SINGLE_LOW_PWR_3:
cparata 0:dff8803aace7 516 case LIS2DW12_SINGLE_LOW_PWR_2:
cparata 0:dff8803aace7 517 case LIS2DW12_SINGLE_LOW_PWR_12bit:
cparata 0:dff8803aace7 518 case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
cparata 0:dff8803aace7 519 case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
cparata 0:dff8803aace7 520 case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
cparata 0:dff8803aace7 521 case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
cparata 0:dff8803aace7 522 case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
cparata 0:dff8803aace7 523 case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
cparata 0:dff8803aace7 524 case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
cparata 0:dff8803aace7 525 case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
cparata 0:dff8803aace7 526 *odr = 200.0f;
cparata 0:dff8803aace7 527 break;
cparata 0:dff8803aace7 528
cparata 0:dff8803aace7 529 default:
cparata 0:dff8803aace7 530 *odr = -1.0f;
cparata 0:dff8803aace7 531 ret = 1;
cparata 0:dff8803aace7 532 break;
cparata 0:dff8803aace7 533 }
cparata 0:dff8803aace7 534 break;
cparata 0:dff8803aace7 535
cparata 0:dff8803aace7 536 case LIS2DW12_XL_ODR_800Hz:
cparata 0:dff8803aace7 537 switch (mode)
cparata 0:dff8803aace7 538 {
cparata 0:dff8803aace7 539 case LIS2DW12_HIGH_PERFORMANCE:
cparata 0:dff8803aace7 540 case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
cparata 0:dff8803aace7 541 *odr = 800.0f;
cparata 0:dff8803aace7 542 break;
cparata 0:dff8803aace7 543
cparata 0:dff8803aace7 544 case LIS2DW12_CONT_LOW_PWR_4:
cparata 0:dff8803aace7 545 case LIS2DW12_CONT_LOW_PWR_3:
cparata 0:dff8803aace7 546 case LIS2DW12_CONT_LOW_PWR_2:
cparata 0:dff8803aace7 547 case LIS2DW12_CONT_LOW_PWR_12bit:
cparata 0:dff8803aace7 548 case LIS2DW12_SINGLE_LOW_PWR_4:
cparata 0:dff8803aace7 549 case LIS2DW12_SINGLE_LOW_PWR_3:
cparata 0:dff8803aace7 550 case LIS2DW12_SINGLE_LOW_PWR_2:
cparata 0:dff8803aace7 551 case LIS2DW12_SINGLE_LOW_PWR_12bit:
cparata 0:dff8803aace7 552 case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
cparata 0:dff8803aace7 553 case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
cparata 0:dff8803aace7 554 case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
cparata 0:dff8803aace7 555 case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
cparata 0:dff8803aace7 556 case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
cparata 0:dff8803aace7 557 case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
cparata 0:dff8803aace7 558 case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
cparata 0:dff8803aace7 559 case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
cparata 0:dff8803aace7 560 *odr = 200.0f;
cparata 0:dff8803aace7 561 break;
cparata 0:dff8803aace7 562
cparata 0:dff8803aace7 563 default:
cparata 0:dff8803aace7 564 *odr = -1.0f;
cparata 0:dff8803aace7 565 ret = 1;
cparata 0:dff8803aace7 566 break;
cparata 0:dff8803aace7 567 }
cparata 0:dff8803aace7 568 break;
cparata 0:dff8803aace7 569
cparata 0:dff8803aace7 570 case LIS2DW12_XL_ODR_1k6Hz:
cparata 0:dff8803aace7 571 switch (mode)
cparata 0:dff8803aace7 572 {
cparata 0:dff8803aace7 573 case LIS2DW12_HIGH_PERFORMANCE:
cparata 0:dff8803aace7 574 case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
cparata 0:dff8803aace7 575 *odr = 1600.0f;
cparata 0:dff8803aace7 576 break;
cparata 0:dff8803aace7 577
cparata 0:dff8803aace7 578 case LIS2DW12_CONT_LOW_PWR_4:
cparata 0:dff8803aace7 579 case LIS2DW12_CONT_LOW_PWR_3:
cparata 0:dff8803aace7 580 case LIS2DW12_CONT_LOW_PWR_2:
cparata 0:dff8803aace7 581 case LIS2DW12_CONT_LOW_PWR_12bit:
cparata 0:dff8803aace7 582 case LIS2DW12_SINGLE_LOW_PWR_4:
cparata 0:dff8803aace7 583 case LIS2DW12_SINGLE_LOW_PWR_3:
cparata 0:dff8803aace7 584 case LIS2DW12_SINGLE_LOW_PWR_2:
cparata 0:dff8803aace7 585 case LIS2DW12_SINGLE_LOW_PWR_12bit:
cparata 0:dff8803aace7 586 case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
cparata 0:dff8803aace7 587 case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
cparata 0:dff8803aace7 588 case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
cparata 0:dff8803aace7 589 case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
cparata 0:dff8803aace7 590 case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
cparata 0:dff8803aace7 591 case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
cparata 0:dff8803aace7 592 case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
cparata 0:dff8803aace7 593 case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
cparata 0:dff8803aace7 594 *odr = 200.0f;
cparata 0:dff8803aace7 595 break;
cparata 0:dff8803aace7 596
cparata 0:dff8803aace7 597 default:
cparata 0:dff8803aace7 598 *odr = -1.0f;
cparata 0:dff8803aace7 599 ret = 1;
cparata 0:dff8803aace7 600 break;
cparata 0:dff8803aace7 601 }
cparata 0:dff8803aace7 602 break;
cparata 0:dff8803aace7 603
cparata 0:dff8803aace7 604 default:
cparata 0:dff8803aace7 605 *odr = -1.0f;
cparata 0:dff8803aace7 606 ret = 1;
cparata 0:dff8803aace7 607 break;
cparata 0:dff8803aace7 608 }
cparata 0:dff8803aace7 609
cparata 0:dff8803aace7 610 return ret;
cparata 0:dff8803aace7 611 }
cparata 0:dff8803aace7 612
cparata 0:dff8803aace7 613 /**
cparata 0:dff8803aace7 614 * @brief Set LIS2DW12 Accelerometer output data rate
cparata 0:dff8803aace7 615 * @param odr the output data rate to be set
cparata 0:dff8803aace7 616 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 617 */
cparata 0:dff8803aace7 618 int LIS2DW12Sensor::set_x_odr(float odr)
cparata 0:dff8803aace7 619 {
cparata 0:dff8803aace7 620 return set_x_odr_with_mode(odr, LIS2DW12_HIGH_PERFORMANCE_MODE, LIS2DW12_LOW_NOISE_DISABLE);
cparata 0:dff8803aace7 621 }
cparata 0:dff8803aace7 622
cparata 0:dff8803aace7 623 /**
cparata 0:dff8803aace7 624 * @brief Set LIS2DW12 Accelerometer output data rate
cparata 0:dff8803aace7 625 * @param odr the output data rate to be set
cparata 0:dff8803aace7 626 * @param mode the operating mode to be used
cparata 0:dff8803aace7 627 * @param noise the low noise option
cparata 0:dff8803aace7 628 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 629 */
cparata 0:dff8803aace7 630 int LIS2DW12Sensor::set_x_odr_with_mode(float odr, LIS2DW12_Operating_Mode_t mode, LIS2DW12_Low_Noise_t noise)
cparata 0:dff8803aace7 631 {
cparata 0:dff8803aace7 632 if(_x_is_enabled == 1)
cparata 0:dff8803aace7 633 {
cparata 0:dff8803aace7 634 if(set_x_odr_when_enabled(odr, mode, noise) != 0)
cparata 0:dff8803aace7 635 {
cparata 0:dff8803aace7 636 return 1;
cparata 0:dff8803aace7 637 }
cparata 0:dff8803aace7 638 }
cparata 0:dff8803aace7 639 else
cparata 0:dff8803aace7 640 {
cparata 0:dff8803aace7 641 if(set_x_odr_when_disabled(odr, mode, noise) != 0)
cparata 0:dff8803aace7 642 {
cparata 0:dff8803aace7 643 return 1;
cparata 0:dff8803aace7 644 }
cparata 0:dff8803aace7 645 }
cparata 0:dff8803aace7 646
cparata 0:dff8803aace7 647 return 0;
cparata 0:dff8803aace7 648 }
cparata 0:dff8803aace7 649
cparata 0:dff8803aace7 650 /**
cparata 0:dff8803aace7 651 * @brief Set LIS2DW12 Accelerometer output data rate when enabled
cparata 0:dff8803aace7 652 * @param odr the output data rate to be set
cparata 0:dff8803aace7 653 * @param mode the operating mode to be used
cparata 0:dff8803aace7 654 * @param noise the low noise option
cparata 0:dff8803aace7 655 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 656 */
cparata 0:dff8803aace7 657 int LIS2DW12Sensor::set_x_odr_when_enabled(float odr, LIS2DW12_Operating_Mode_t mode, LIS2DW12_Low_Noise_t noise)
cparata 0:dff8803aace7 658 {
cparata 0:dff8803aace7 659 lis2dw12_odr_t new_odr;
cparata 0:dff8803aace7 660 lis2dw12_mode_t new_power_mode;
cparata 0:dff8803aace7 661
cparata 0:dff8803aace7 662 switch (mode)
cparata 0:dff8803aace7 663 {
cparata 0:dff8803aace7 664 case LIS2DW12_HIGH_PERFORMANCE_MODE:
cparata 0:dff8803aace7 665 default:
cparata 0:dff8803aace7 666 switch (noise)
cparata 0:dff8803aace7 667 {
cparata 0:dff8803aace7 668 case LIS2DW12_LOW_NOISE_DISABLE:
cparata 0:dff8803aace7 669 default:
cparata 0:dff8803aace7 670 new_power_mode = LIS2DW12_HIGH_PERFORMANCE;
cparata 0:dff8803aace7 671 break;
cparata 0:dff8803aace7 672 case LIS2DW12_LOW_NOISE_ENABLE:
cparata 0:dff8803aace7 673 new_power_mode = LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE;
cparata 0:dff8803aace7 674 break;
cparata 0:dff8803aace7 675 }
cparata 0:dff8803aace7 676
cparata 0:dff8803aace7 677 /* If High Performance mode minimum ODR is 12.5Hz */
cparata 0:dff8803aace7 678 if(odr < 12.5f)
cparata 0:dff8803aace7 679 {
cparata 0:dff8803aace7 680 odr = 12.5f;
cparata 0:dff8803aace7 681 }
cparata 0:dff8803aace7 682 break;
cparata 0:dff8803aace7 683 case LIS2DW12_LOW_POWER_MODE4:
cparata 0:dff8803aace7 684 switch (noise)
cparata 0:dff8803aace7 685 {
cparata 0:dff8803aace7 686 case LIS2DW12_LOW_NOISE_DISABLE:
cparata 0:dff8803aace7 687 default:
cparata 0:dff8803aace7 688 new_power_mode = LIS2DW12_CONT_LOW_PWR_4;
cparata 0:dff8803aace7 689 break;
cparata 0:dff8803aace7 690 case LIS2DW12_LOW_NOISE_ENABLE:
cparata 0:dff8803aace7 691 new_power_mode = LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4;
cparata 0:dff8803aace7 692 break;
cparata 0:dff8803aace7 693 }
cparata 0:dff8803aace7 694
cparata 0:dff8803aace7 695 /* If Low Power mode maximum ODR is 200Hz */
cparata 0:dff8803aace7 696 if(odr > 200.0f)
cparata 0:dff8803aace7 697 {
cparata 0:dff8803aace7 698 odr = 200.0f;
cparata 0:dff8803aace7 699 }
cparata 0:dff8803aace7 700 break;
cparata 0:dff8803aace7 701 case LIS2DW12_LOW_POWER_MODE3:
cparata 0:dff8803aace7 702 switch (noise)
cparata 0:dff8803aace7 703 {
cparata 0:dff8803aace7 704 case LIS2DW12_LOW_NOISE_DISABLE:
cparata 0:dff8803aace7 705 default:
cparata 0:dff8803aace7 706 new_power_mode = LIS2DW12_CONT_LOW_PWR_3;
cparata 0:dff8803aace7 707 break;
cparata 0:dff8803aace7 708 case LIS2DW12_LOW_NOISE_ENABLE:
cparata 0:dff8803aace7 709 new_power_mode = LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3;
cparata 0:dff8803aace7 710 break;
cparata 0:dff8803aace7 711 }
cparata 0:dff8803aace7 712
cparata 0:dff8803aace7 713 /* If Low Power mode maximum ODR is 200Hz */
cparata 0:dff8803aace7 714 if(odr > 200.0f)
cparata 0:dff8803aace7 715 {
cparata 0:dff8803aace7 716 odr = 200.0f;
cparata 0:dff8803aace7 717 }
cparata 0:dff8803aace7 718 break;
cparata 0:dff8803aace7 719 case LIS2DW12_LOW_POWER_MODE2:
cparata 0:dff8803aace7 720 switch (noise)
cparata 0:dff8803aace7 721 {
cparata 0:dff8803aace7 722 case LIS2DW12_LOW_NOISE_DISABLE:
cparata 0:dff8803aace7 723 default:
cparata 0:dff8803aace7 724 new_power_mode = LIS2DW12_CONT_LOW_PWR_2;
cparata 0:dff8803aace7 725 break;
cparata 0:dff8803aace7 726 case LIS2DW12_LOW_NOISE_ENABLE:
cparata 0:dff8803aace7 727 new_power_mode = LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2;
cparata 0:dff8803aace7 728 break;
cparata 0:dff8803aace7 729 }
cparata 0:dff8803aace7 730
cparata 0:dff8803aace7 731 /* If Low Power mode maximum ODR is 200Hz */
cparata 0:dff8803aace7 732 if(odr > 200.0f)
cparata 0:dff8803aace7 733 {
cparata 0:dff8803aace7 734 odr = 200.0f;
cparata 0:dff8803aace7 735 }
cparata 0:dff8803aace7 736 break;
cparata 0:dff8803aace7 737 case LIS2DW12_LOW_POWER_MODE1:
cparata 0:dff8803aace7 738 switch (noise)
cparata 0:dff8803aace7 739 {
cparata 0:dff8803aace7 740 case LIS2DW12_LOW_NOISE_DISABLE:
cparata 0:dff8803aace7 741 default:
cparata 0:dff8803aace7 742 new_power_mode = LIS2DW12_CONT_LOW_PWR_12bit;
cparata 0:dff8803aace7 743 break;
cparata 0:dff8803aace7 744 case LIS2DW12_LOW_NOISE_ENABLE:
cparata 0:dff8803aace7 745 new_power_mode = LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit;
cparata 0:dff8803aace7 746 break;
cparata 0:dff8803aace7 747 }
cparata 0:dff8803aace7 748
cparata 0:dff8803aace7 749 /* If Low Power mode maximum ODR is 200Hz */
cparata 0:dff8803aace7 750 if(odr > 200.0f)
cparata 0:dff8803aace7 751 {
cparata 0:dff8803aace7 752 odr = 200.0f;
cparata 0:dff8803aace7 753 }
cparata 0:dff8803aace7 754 break;
cparata 0:dff8803aace7 755 }
cparata 0:dff8803aace7 756
cparata 0:dff8803aace7 757
cparata 0:dff8803aace7 758 new_odr = (odr <= 1.6f) ? LIS2DW12_XL_ODR_1Hz6_LP_ONLY
cparata 0:dff8803aace7 759 : (odr <= 12.5f) ? LIS2DW12_XL_ODR_12Hz5
cparata 0:dff8803aace7 760 : (odr <= 25.0f) ? LIS2DW12_XL_ODR_25Hz
cparata 0:dff8803aace7 761 : (odr <= 50.0f) ? LIS2DW12_XL_ODR_50Hz
cparata 0:dff8803aace7 762 : (odr <= 100.0f) ? LIS2DW12_XL_ODR_100Hz
cparata 0:dff8803aace7 763 : (odr <= 200.0f) ? LIS2DW12_XL_ODR_200Hz
cparata 0:dff8803aace7 764 : (odr <= 400.0f) ? LIS2DW12_XL_ODR_400Hz
cparata 0:dff8803aace7 765 : (odr <= 800.0f) ? LIS2DW12_XL_ODR_800Hz
cparata 0:dff8803aace7 766 : LIS2DW12_XL_ODR_1k6Hz;
cparata 0:dff8803aace7 767
cparata 0:dff8803aace7 768 /* Output data rate selection. */
cparata 0:dff8803aace7 769 if (lis2dw12_data_rate_set(&_reg_ctx, new_odr) != 0)
cparata 0:dff8803aace7 770 {
cparata 0:dff8803aace7 771 return 1;
cparata 0:dff8803aace7 772 }
cparata 0:dff8803aace7 773
cparata 0:dff8803aace7 774 /* Power mode selection. */
cparata 0:dff8803aace7 775 if (lis2dw12_power_mode_set(&_reg_ctx, new_power_mode) != 0)
cparata 0:dff8803aace7 776 {
cparata 0:dff8803aace7 777 return 1;
cparata 0:dff8803aace7 778 }
cparata 0:dff8803aace7 779
cparata 0:dff8803aace7 780 /* Store actual output data rate, operating mode and low noise. */
cparata 0:dff8803aace7 781 _x_last_odr = odr;
cparata 0:dff8803aace7 782 _x_last_operating_mode = mode;
cparata 0:dff8803aace7 783 _x_last_noise = noise;
cparata 0:dff8803aace7 784
cparata 0:dff8803aace7 785 return 0;
cparata 0:dff8803aace7 786 }
cparata 0:dff8803aace7 787
cparata 0:dff8803aace7 788 /**
cparata 0:dff8803aace7 789 * @brief Set LIS2DW12 Accelerometer output data rate when disabled
cparata 0:dff8803aace7 790 * @param odr the output data rate to be set
cparata 0:dff8803aace7 791 * @param mode the operating mode to be used
cparata 0:dff8803aace7 792 * @param noise the low noise option
cparata 0:dff8803aace7 793 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 794 */
cparata 0:dff8803aace7 795 int LIS2DW12Sensor::set_x_odr_when_disabled(float odr, LIS2DW12_Operating_Mode_t mode, LIS2DW12_Low_Noise_t noise)
cparata 0:dff8803aace7 796 {
cparata 0:dff8803aace7 797 _x_last_operating_mode = mode;
cparata 0:dff8803aace7 798 _x_last_noise = noise;
cparata 0:dff8803aace7 799
cparata 0:dff8803aace7 800 _x_last_odr = (odr <= 1.6f) ? 1.6f
cparata 0:dff8803aace7 801 : (odr <= 12.5f) ? 12.5f
cparata 0:dff8803aace7 802 : (odr <= 25.0f) ? 25.0f
cparata 0:dff8803aace7 803 : (odr <= 50.0f) ? 50.0f
cparata 0:dff8803aace7 804 : (odr <= 100.0f) ? 100.0f
cparata 0:dff8803aace7 805 : (odr <= 200.0f) ? 200.0f
cparata 0:dff8803aace7 806 : (odr <= 400.0f) ? 400.0f
cparata 0:dff8803aace7 807 : (odr <= 800.0f) ? 800.0f
cparata 0:dff8803aace7 808 : 1600.0f;
cparata 0:dff8803aace7 809
cparata 0:dff8803aace7 810 return 0;
cparata 0:dff8803aace7 811 }
cparata 0:dff8803aace7 812
cparata 0:dff8803aace7 813 /**
cparata 0:dff8803aace7 814 * @brief Read LIS2DW12 Accelerometer full scale
cparata 0:dff8803aace7 815 * @param full_scale the pointer to the full scale
cparata 0:dff8803aace7 816 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 817 */
cparata 0:dff8803aace7 818 int LIS2DW12Sensor::get_x_fs(float* full_scale)
cparata 0:dff8803aace7 819 {
cparata 0:dff8803aace7 820 int32_t ret = 0;
cparata 0:dff8803aace7 821 lis2dw12_fs_t fs_low_level;
cparata 0:dff8803aace7 822
cparata 0:dff8803aace7 823 /* Read actual full scale selection from sensor. */
cparata 0:dff8803aace7 824 if (lis2dw12_full_scale_get(&_reg_ctx, &fs_low_level) != 0)
cparata 0:dff8803aace7 825 {
cparata 0:dff8803aace7 826 return 1;
cparata 0:dff8803aace7 827 }
cparata 0:dff8803aace7 828
cparata 0:dff8803aace7 829 switch (fs_low_level)
cparata 0:dff8803aace7 830 {
cparata 0:dff8803aace7 831 case LIS2DW12_2g:
cparata 0:dff8803aace7 832 *full_scale = 2;
cparata 0:dff8803aace7 833 break;
cparata 0:dff8803aace7 834
cparata 0:dff8803aace7 835 case LIS2DW12_4g:
cparata 0:dff8803aace7 836 *full_scale = 4;
cparata 0:dff8803aace7 837 break;
cparata 0:dff8803aace7 838
cparata 0:dff8803aace7 839 case LIS2DW12_8g:
cparata 0:dff8803aace7 840 *full_scale = 8;
cparata 0:dff8803aace7 841 break;
cparata 0:dff8803aace7 842
cparata 0:dff8803aace7 843 case LIS2DW12_16g:
cparata 0:dff8803aace7 844 *full_scale = 16;
cparata 0:dff8803aace7 845 break;
cparata 0:dff8803aace7 846
cparata 0:dff8803aace7 847 default:
cparata 0:dff8803aace7 848 *full_scale = -1;
cparata 0:dff8803aace7 849 ret = 1;
cparata 0:dff8803aace7 850 break;
cparata 0:dff8803aace7 851 }
cparata 0:dff8803aace7 852
cparata 0:dff8803aace7 853 return ret;
cparata 0:dff8803aace7 854 }
cparata 0:dff8803aace7 855
cparata 0:dff8803aace7 856 /**
cparata 0:dff8803aace7 857 * @brief Set LIS2DW12 Accelerometer full scale
cparata 0:dff8803aace7 858 * @param full_scale the full scale to be set
cparata 0:dff8803aace7 859 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 860 */
cparata 0:dff8803aace7 861 int LIS2DW12Sensor::set_x_fs(float full_scale)
cparata 0:dff8803aace7 862 {
cparata 0:dff8803aace7 863 lis2dw12_fs_t new_fs;
cparata 0:dff8803aace7 864
cparata 0:dff8803aace7 865 /* Seems like MISRA C-2012 rule 14.3a violation but only from single file statical analysis point of view because
cparata 0:dff8803aace7 866 the parameter passed to the function is not known at the moment of analysis */
cparata 0:dff8803aace7 867 new_fs = (full_scale <= 2) ? LIS2DW12_2g
cparata 0:dff8803aace7 868 : (full_scale <= 4) ? LIS2DW12_4g
cparata 0:dff8803aace7 869 : (full_scale <= 8) ? LIS2DW12_8g
cparata 0:dff8803aace7 870 : LIS2DW12_16g;
cparata 0:dff8803aace7 871
cparata 0:dff8803aace7 872 if (lis2dw12_full_scale_set(&_reg_ctx, new_fs) != 0)
cparata 0:dff8803aace7 873 {
cparata 0:dff8803aace7 874 return 1;
cparata 0:dff8803aace7 875 }
cparata 0:dff8803aace7 876
cparata 0:dff8803aace7 877 return 0;
cparata 0:dff8803aace7 878 }
cparata 0:dff8803aace7 879
cparata 0:dff8803aace7 880 /**
cparata 0:dff8803aace7 881 * @brief Enable the wake up detection for LIS2DW12 accelerometer sensor
cparata 0:dff8803aace7 882 * @note This function sets the LIS2DW12 accelerometer ODR to 200Hz and the LIS2DW12 accelerometer full scale to 2g
cparata 0:dff8803aace7 883 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 884 */
cparata 0:dff8803aace7 885 int LIS2DW12Sensor::enable_wake_up_detection(void)
cparata 0:dff8803aace7 886 {
cparata 0:dff8803aace7 887 int32_t ret = 0;
cparata 0:dff8803aace7 888 lis2dw12_ctrl4_int1_pad_ctrl_t val;
cparata 0:dff8803aace7 889
cparata 0:dff8803aace7 890 /* Output Data Rate selection */
cparata 0:dff8803aace7 891 if (set_x_odr(200.0f) != 0)
cparata 0:dff8803aace7 892 {
cparata 0:dff8803aace7 893 return 1;
cparata 0:dff8803aace7 894 }
cparata 0:dff8803aace7 895
cparata 0:dff8803aace7 896 /* Full scale selection */
cparata 0:dff8803aace7 897 if (set_x_fs(2) != 0)
cparata 0:dff8803aace7 898 {
cparata 0:dff8803aace7 899 return 1;
cparata 0:dff8803aace7 900 }
cparata 0:dff8803aace7 901
cparata 0:dff8803aace7 902 /* WAKE_DUR setting */
cparata 0:dff8803aace7 903 if (lis2dw12_wkup_dur_set(&_reg_ctx, 0x00) != 0)
cparata 0:dff8803aace7 904 {
cparata 0:dff8803aace7 905 return 1;
cparata 0:dff8803aace7 906 }
cparata 0:dff8803aace7 907
cparata 0:dff8803aace7 908 /* Set wake up threshold. */
cparata 0:dff8803aace7 909 if (lis2dw12_wkup_threshold_set(&_reg_ctx, 0x02) != 0)
cparata 0:dff8803aace7 910 {
cparata 0:dff8803aace7 911 return 1;
cparata 0:dff8803aace7 912 }
cparata 0:dff8803aace7 913
cparata 0:dff8803aace7 914 if (lis2dw12_pin_int1_route_get(&_reg_ctx, &val) != 0)
cparata 0:dff8803aace7 915 {
cparata 0:dff8803aace7 916 return 1;
cparata 0:dff8803aace7 917 }
cparata 0:dff8803aace7 918
cparata 0:dff8803aace7 919 val.int1_wu = PROPERTY_ENABLE;
cparata 0:dff8803aace7 920
cparata 0:dff8803aace7 921 if (lis2dw12_pin_int1_route_set(&_reg_ctx, &val) != 0)
cparata 0:dff8803aace7 922 {
cparata 0:dff8803aace7 923 return 1;
cparata 0:dff8803aace7 924 }
cparata 0:dff8803aace7 925
cparata 0:dff8803aace7 926 return ret;
cparata 0:dff8803aace7 927 }
cparata 0:dff8803aace7 928
cparata 0:dff8803aace7 929 /**
cparata 0:dff8803aace7 930 * @brief Disable the wake up detection for LIS2DW12 accelerometer sensor
cparata 0:dff8803aace7 931 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 932 */
cparata 0:dff8803aace7 933 int LIS2DW12Sensor::disable_wake_up_detection(void)
cparata 0:dff8803aace7 934 {
cparata 0:dff8803aace7 935 lis2dw12_ctrl4_int1_pad_ctrl_t ctrl4_int1_reg;
cparata 0:dff8803aace7 936 lis2dw12_ctrl5_int2_pad_ctrl_t ctrl5_int2_reg;
cparata 0:dff8803aace7 937 lis2dw12_ctrl_reg7_t ctrl_reg7;
cparata 0:dff8803aace7 938
cparata 0:dff8803aace7 939 /* Disable wake up event on INT1 pin. */
cparata 0:dff8803aace7 940 if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0)
cparata 0:dff8803aace7 941 {
cparata 0:dff8803aace7 942 return 1;
cparata 0:dff8803aace7 943 }
cparata 0:dff8803aace7 944
cparata 0:dff8803aace7 945 ctrl4_int1_reg.int1_wu = PROPERTY_DISABLE;
cparata 0:dff8803aace7 946
cparata 0:dff8803aace7 947 if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0)
cparata 0:dff8803aace7 948 {
cparata 0:dff8803aace7 949 return 1;
cparata 0:dff8803aace7 950 }
cparata 0:dff8803aace7 951
cparata 0:dff8803aace7 952 /* Read INT2 Sleep Change */
cparata 0:dff8803aace7 953 if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0)
cparata 0:dff8803aace7 954 {
cparata 0:dff8803aace7 955 return 1;
cparata 0:dff8803aace7 956 }
cparata 0:dff8803aace7 957
cparata 0:dff8803aace7 958 /*Disable Interrupts bit if none event is still enabled */
cparata 0:dff8803aace7 959 if(ctrl5_int2_reg.int2_sleep_chg == 0 && ctrl4_int1_reg.int1_wu == 0 && ctrl4_int1_reg.int1_6d == 0)
cparata 0:dff8803aace7 960 {
cparata 0:dff8803aace7 961 if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0)
cparata 0:dff8803aace7 962 {
cparata 0:dff8803aace7 963 return 1;
cparata 0:dff8803aace7 964 }
cparata 0:dff8803aace7 965
cparata 0:dff8803aace7 966 ctrl_reg7.interrupts_enable = PROPERTY_DISABLE;
cparata 0:dff8803aace7 967
cparata 0:dff8803aace7 968 if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0)
cparata 0:dff8803aace7 969 {
cparata 0:dff8803aace7 970 return 1;
cparata 0:dff8803aace7 971 }
cparata 0:dff8803aace7 972 }
cparata 0:dff8803aace7 973
cparata 0:dff8803aace7 974 /* Reset wake up threshold. */
cparata 0:dff8803aace7 975 if (lis2dw12_wkup_threshold_set(&_reg_ctx, 0x00) != 0)
cparata 0:dff8803aace7 976 {
cparata 0:dff8803aace7 977 return 1;
cparata 0:dff8803aace7 978 }
cparata 0:dff8803aace7 979
cparata 0:dff8803aace7 980 /* WAKE_DUR setting */
cparata 0:dff8803aace7 981 if (lis2dw12_wkup_dur_set(&_reg_ctx, 0x00) != 0)
cparata 0:dff8803aace7 982 {
cparata 0:dff8803aace7 983 return 1;
cparata 0:dff8803aace7 984 }
cparata 0:dff8803aace7 985
cparata 0:dff8803aace7 986 return 0;
cparata 0:dff8803aace7 987 }
cparata 0:dff8803aace7 988
cparata 0:dff8803aace7 989 /**
cparata 0:dff8803aace7 990 * @brief Set the wake up threshold for LIS2DW12 accelerometer sensor
cparata 0:dff8803aace7 991 * @param thr the threshold to be set
cparata 0:dff8803aace7 992 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 993 */
cparata 0:dff8803aace7 994 int LIS2DW12Sensor::set_wake_up_threshold(uint8_t thr)
cparata 0:dff8803aace7 995 {
cparata 0:dff8803aace7 996 /* Set wake up threshold. */
cparata 0:dff8803aace7 997 if (lis2dw12_wkup_threshold_set(&_reg_ctx, thr) != 0)
cparata 0:dff8803aace7 998 {
cparata 0:dff8803aace7 999 return 1;
cparata 0:dff8803aace7 1000 }
cparata 0:dff8803aace7 1001
cparata 0:dff8803aace7 1002 return 0;
cparata 0:dff8803aace7 1003 }
cparata 0:dff8803aace7 1004
cparata 0:dff8803aace7 1005 /**
cparata 0:dff8803aace7 1006 * @brief Set the wake up duration for LIS2DW12 accelerometer sensor
cparata 0:dff8803aace7 1007 * @param dur the duration to be set
cparata 0:dff8803aace7 1008 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 1009 */
cparata 0:dff8803aace7 1010 int LIS2DW12Sensor::set_wake_up_duration(uint8_t dur)
cparata 0:dff8803aace7 1011 {
cparata 0:dff8803aace7 1012 /* Set wake up duration. */
cparata 0:dff8803aace7 1013 if (lis2dw12_wkup_dur_set(&_reg_ctx, dur) != 0)
cparata 0:dff8803aace7 1014 {
cparata 0:dff8803aace7 1015 return 1;
cparata 0:dff8803aace7 1016 }
cparata 0:dff8803aace7 1017
cparata 0:dff8803aace7 1018 return 0;
cparata 0:dff8803aace7 1019 }
cparata 0:dff8803aace7 1020
cparata 0:dff8803aace7 1021 /**
cparata 0:dff8803aace7 1022 * @brief Enable the inactivity detection for LIS2DW12 accelerometer sensor
cparata 0:dff8803aace7 1023 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 1024 */
cparata 0:dff8803aace7 1025 int LIS2DW12Sensor::enable_inactivity_detection(void)
cparata 0:dff8803aace7 1026 {
cparata 0:dff8803aace7 1027 int32_t ret = 0;
cparata 0:dff8803aace7 1028 lis2dw12_ctrl5_int2_pad_ctrl_t val;
cparata 0:dff8803aace7 1029
cparata 0:dff8803aace7 1030 /* Output Data Rate and Full scale must be selected externally */
cparata 0:dff8803aace7 1031
cparata 0:dff8803aace7 1032 /* SLEEP_DUR setting */
cparata 0:dff8803aace7 1033 if (lis2dw12_act_sleep_dur_set(&_reg_ctx, 0x01) != 0)
cparata 0:dff8803aace7 1034 {
cparata 0:dff8803aace7 1035 return 1;
cparata 0:dff8803aace7 1036 }
cparata 0:dff8803aace7 1037
cparata 0:dff8803aace7 1038 /* Set wake up threshold. */
cparata 0:dff8803aace7 1039 if (lis2dw12_wkup_threshold_set(&_reg_ctx, 0x02) != 0)
cparata 0:dff8803aace7 1040 {
cparata 0:dff8803aace7 1041 return 1;
cparata 0:dff8803aace7 1042 }
cparata 0:dff8803aace7 1043
cparata 0:dff8803aace7 1044 /* Enable inactivity detection. */
cparata 0:dff8803aace7 1045 if (lis2dw12_act_mode_set(&_reg_ctx, LIS2DW12_DETECT_ACT_INACT) != 0)
cparata 0:dff8803aace7 1046 {
cparata 0:dff8803aace7 1047 return 1;
cparata 0:dff8803aace7 1048 }
cparata 0:dff8803aace7 1049
cparata 0:dff8803aace7 1050 if (lis2dw12_pin_int2_route_get(&_reg_ctx, &val) != 0)
cparata 0:dff8803aace7 1051 {
cparata 0:dff8803aace7 1052 return 1;
cparata 0:dff8803aace7 1053 }
cparata 0:dff8803aace7 1054
cparata 0:dff8803aace7 1055 val.int2_sleep_chg = PROPERTY_ENABLE;
cparata 0:dff8803aace7 1056
cparata 0:dff8803aace7 1057 if (lis2dw12_pin_int2_route_set(&_reg_ctx, &val) != 0)
cparata 0:dff8803aace7 1058 {
cparata 0:dff8803aace7 1059 return 1;
cparata 0:dff8803aace7 1060 }
cparata 0:dff8803aace7 1061
cparata 0:dff8803aace7 1062 return ret;
cparata 0:dff8803aace7 1063 }
cparata 0:dff8803aace7 1064
cparata 0:dff8803aace7 1065 /**
cparata 0:dff8803aace7 1066 * @brief Disable the inactivity detection for LIS2DW12 accelerometer sensor
cparata 0:dff8803aace7 1067 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 1068 */
cparata 0:dff8803aace7 1069 int LIS2DW12Sensor::disable_inactivity_detection(void)
cparata 0:dff8803aace7 1070 {
cparata 0:dff8803aace7 1071 lis2dw12_ctrl4_int1_pad_ctrl_t ctrl4_int1_reg;
cparata 0:dff8803aace7 1072 lis2dw12_ctrl5_int2_pad_ctrl_t ctrl5_int2_reg;
cparata 0:dff8803aace7 1073 lis2dw12_ctrl_reg7_t ctrl_reg7;
cparata 0:dff8803aace7 1074
cparata 0:dff8803aace7 1075 /* Disable inactivity event on INT2 pin */
cparata 0:dff8803aace7 1076 if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0)
cparata 0:dff8803aace7 1077 {
cparata 0:dff8803aace7 1078 return 1;
cparata 0:dff8803aace7 1079 }
cparata 0:dff8803aace7 1080
cparata 0:dff8803aace7 1081 ctrl5_int2_reg.int2_sleep_chg = PROPERTY_DISABLE;
cparata 0:dff8803aace7 1082
cparata 0:dff8803aace7 1083 if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0)
cparata 0:dff8803aace7 1084 {
cparata 0:dff8803aace7 1085 return 1;
cparata 0:dff8803aace7 1086 }
cparata 0:dff8803aace7 1087
cparata 0:dff8803aace7 1088 /* Read INT1 Wake Up event and INT1 6D Orientation event */
cparata 0:dff8803aace7 1089 if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0)
cparata 0:dff8803aace7 1090 {
cparata 0:dff8803aace7 1091 return 1;
cparata 0:dff8803aace7 1092 }
cparata 0:dff8803aace7 1093
cparata 0:dff8803aace7 1094 /*Disable Interrupts bit if none event is still enabled */
cparata 0:dff8803aace7 1095 if(ctrl5_int2_reg.int2_sleep_chg == 0 && ctrl4_int1_reg.int1_wu == 0 && ctrl4_int1_reg.int1_6d == 0)
cparata 0:dff8803aace7 1096 {
cparata 0:dff8803aace7 1097 if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0)
cparata 0:dff8803aace7 1098 {
cparata 0:dff8803aace7 1099 return 1;
cparata 0:dff8803aace7 1100 }
cparata 0:dff8803aace7 1101
cparata 0:dff8803aace7 1102 ctrl_reg7.interrupts_enable = PROPERTY_DISABLE;
cparata 0:dff8803aace7 1103
cparata 0:dff8803aace7 1104 if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0)
cparata 0:dff8803aace7 1105 {
cparata 0:dff8803aace7 1106 return 1;
cparata 0:dff8803aace7 1107 }
cparata 0:dff8803aace7 1108 }
cparata 0:dff8803aace7 1109
cparata 0:dff8803aace7 1110 /* Disable inactivity detection. */
cparata 0:dff8803aace7 1111 if (lis2dw12_act_mode_set(&_reg_ctx, LIS2DW12_NO_DETECTION) != 0)
cparata 0:dff8803aace7 1112 {
cparata 0:dff8803aace7 1113 return 1;
cparata 0:dff8803aace7 1114 }
cparata 0:dff8803aace7 1115
cparata 0:dff8803aace7 1116 /* Reset wake up threshold. */
cparata 0:dff8803aace7 1117 if (lis2dw12_wkup_threshold_set(&_reg_ctx, 0x00) != 0)
cparata 0:dff8803aace7 1118 {
cparata 0:dff8803aace7 1119 return 1;
cparata 0:dff8803aace7 1120 }
cparata 0:dff8803aace7 1121
cparata 0:dff8803aace7 1122 /* SLEEP_DUR setting */
cparata 0:dff8803aace7 1123 if (lis2dw12_act_sleep_dur_set(&_reg_ctx, 0x00) != 0)
cparata 0:dff8803aace7 1124 {
cparata 0:dff8803aace7 1125 return 1;
cparata 0:dff8803aace7 1126 }
cparata 0:dff8803aace7 1127
cparata 0:dff8803aace7 1128 return 0;
cparata 0:dff8803aace7 1129 }
cparata 0:dff8803aace7 1130
cparata 0:dff8803aace7 1131 /**
cparata 0:dff8803aace7 1132 * @brief Set the sleep duration for LIS2DW12 accelerometer sensor
cparata 0:dff8803aace7 1133 * @param dur the duration to be set
cparata 0:dff8803aace7 1134 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 1135 */
cparata 0:dff8803aace7 1136 int LIS2DW12Sensor::set_sleep_duration(uint8_t dur)
cparata 0:dff8803aace7 1137 {
cparata 0:dff8803aace7 1138 /* Set sleep duration. */
cparata 0:dff8803aace7 1139 if (lis2dw12_act_sleep_dur_set(&_reg_ctx, dur) != 0)
cparata 0:dff8803aace7 1140 {
cparata 0:dff8803aace7 1141 return 1;
cparata 0:dff8803aace7 1142 }
cparata 0:dff8803aace7 1143
cparata 0:dff8803aace7 1144 return 0;
cparata 0:dff8803aace7 1145 }
cparata 0:dff8803aace7 1146
cparata 0:dff8803aace7 1147 /**
cparata 0:dff8803aace7 1148 * @brief Enable the 6D orientation detection for LIS2DW12 accelerometer sensor
cparata 0:dff8803aace7 1149 * @note This function sets the LIS2DW12 accelerometer ODR to 200Hz and the LIS2DW12 accelerometer full scale to 2g
cparata 0:dff8803aace7 1150 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 1151 */
cparata 0:dff8803aace7 1152 int LIS2DW12Sensor::enable_6d_orientation(void)
cparata 0:dff8803aace7 1153 {
cparata 0:dff8803aace7 1154 int32_t ret = 0;
cparata 0:dff8803aace7 1155 lis2dw12_ctrl4_int1_pad_ctrl_t val;
cparata 0:dff8803aace7 1156
cparata 0:dff8803aace7 1157 /* Output Data Rate selection */
cparata 0:dff8803aace7 1158 if(set_x_odr(200.0f) == 1)
cparata 0:dff8803aace7 1159 {
cparata 0:dff8803aace7 1160 return 1;
cparata 0:dff8803aace7 1161 }
cparata 0:dff8803aace7 1162
cparata 0:dff8803aace7 1163 /* Full scale selection. */
cparata 0:dff8803aace7 1164 if(set_x_fs(2.0f) == 1)
cparata 0:dff8803aace7 1165 {
cparata 0:dff8803aace7 1166 return 1;
cparata 0:dff8803aace7 1167 }
cparata 0:dff8803aace7 1168
cparata 0:dff8803aace7 1169 /* 6D orientation threshold. */
cparata 0:dff8803aace7 1170 if (lis2dw12_6d_threshold_set(&_reg_ctx, 2) != 0) /* 60 degrees */
cparata 0:dff8803aace7 1171 {
cparata 0:dff8803aace7 1172 return 1;
cparata 0:dff8803aace7 1173 }
cparata 0:dff8803aace7 1174
cparata 0:dff8803aace7 1175 /* Enable 6D orientation event on INT1 pin */
cparata 0:dff8803aace7 1176 if (lis2dw12_pin_int1_route_get(&_reg_ctx, &val) != 0)
cparata 0:dff8803aace7 1177 {
cparata 0:dff8803aace7 1178 return 1;
cparata 0:dff8803aace7 1179 }
cparata 0:dff8803aace7 1180
cparata 0:dff8803aace7 1181 val.int1_6d = PROPERTY_ENABLE;
cparata 0:dff8803aace7 1182
cparata 0:dff8803aace7 1183 if (lis2dw12_pin_int1_route_set(&_reg_ctx, &val) != 0)
cparata 0:dff8803aace7 1184 {
cparata 0:dff8803aace7 1185 return 1;
cparata 0:dff8803aace7 1186 }
cparata 0:dff8803aace7 1187
cparata 0:dff8803aace7 1188 return ret;
cparata 0:dff8803aace7 1189 }
cparata 0:dff8803aace7 1190
cparata 0:dff8803aace7 1191 /**
cparata 0:dff8803aace7 1192 * @brief Disable the 6D orientation detection for LIS2DW12 accelerometer sensor
cparata 0:dff8803aace7 1193 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 1194 */
cparata 0:dff8803aace7 1195 int LIS2DW12Sensor::disable_6d_orientation(void)
cparata 0:dff8803aace7 1196 {
cparata 0:dff8803aace7 1197 lis2dw12_ctrl4_int1_pad_ctrl_t ctrl4_int1_reg;
cparata 0:dff8803aace7 1198 lis2dw12_ctrl5_int2_pad_ctrl_t ctrl5_int2_reg;
cparata 0:dff8803aace7 1199 lis2dw12_ctrl_reg7_t ctrl_reg7;
cparata 0:dff8803aace7 1200
cparata 0:dff8803aace7 1201 /* Disable 6D orientation event on INT1 pin */
cparata 0:dff8803aace7 1202 if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0)
cparata 0:dff8803aace7 1203 {
cparata 0:dff8803aace7 1204 return 1;
cparata 0:dff8803aace7 1205 }
cparata 0:dff8803aace7 1206
cparata 0:dff8803aace7 1207 ctrl4_int1_reg.int1_6d = PROPERTY_DISABLE;
cparata 0:dff8803aace7 1208
cparata 0:dff8803aace7 1209 if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0)
cparata 0:dff8803aace7 1210 {
cparata 0:dff8803aace7 1211 return 1;
cparata 0:dff8803aace7 1212 }
cparata 0:dff8803aace7 1213
cparata 0:dff8803aace7 1214 /* Read INT2 Sleep Change */
cparata 0:dff8803aace7 1215 if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0)
cparata 0:dff8803aace7 1216 {
cparata 0:dff8803aace7 1217 return 1;
cparata 0:dff8803aace7 1218 }
cparata 0:dff8803aace7 1219
cparata 0:dff8803aace7 1220 /*Disable Interrupts bit if none event is still enabled */
cparata 0:dff8803aace7 1221 if(ctrl5_int2_reg.int2_sleep_chg == 0 && ctrl4_int1_reg.int1_wu == 0 && ctrl4_int1_reg.int1_6d == 0)
cparata 0:dff8803aace7 1222 {
cparata 0:dff8803aace7 1223 if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0)
cparata 0:dff8803aace7 1224 {
cparata 0:dff8803aace7 1225 return 1;
cparata 0:dff8803aace7 1226 }
cparata 0:dff8803aace7 1227
cparata 0:dff8803aace7 1228 ctrl_reg7.interrupts_enable = PROPERTY_DISABLE;
cparata 0:dff8803aace7 1229
cparata 0:dff8803aace7 1230 if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0)
cparata 0:dff8803aace7 1231 {
cparata 0:dff8803aace7 1232 return 1;
cparata 0:dff8803aace7 1233 }
cparata 0:dff8803aace7 1234 }
cparata 0:dff8803aace7 1235
cparata 0:dff8803aace7 1236 /* Reset 6D orientation threshold. */
cparata 0:dff8803aace7 1237 if (lis2dw12_6d_threshold_set(&_reg_ctx, 0) != 0)
cparata 0:dff8803aace7 1238 {
cparata 0:dff8803aace7 1239 return 1;
cparata 0:dff8803aace7 1240 }
cparata 0:dff8803aace7 1241
cparata 0:dff8803aace7 1242 return 0;
cparata 0:dff8803aace7 1243 }
cparata 0:dff8803aace7 1244
cparata 0:dff8803aace7 1245 /**
cparata 0:dff8803aace7 1246 * @brief Set the 6D orientation threshold for LIS2DW12 accelerometer sensor
cparata 0:dff8803aace7 1247 * @param thr the threshold to be set
cparata 0:dff8803aace7 1248 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 1249 */
cparata 0:dff8803aace7 1250 int LIS2DW12Sensor::set_6d_orientation_threshold(uint8_t thr)
cparata 0:dff8803aace7 1251 {
cparata 0:dff8803aace7 1252 if(thr > 3)
cparata 0:dff8803aace7 1253 {
cparata 0:dff8803aace7 1254 return 1;
cparata 0:dff8803aace7 1255 }
cparata 0:dff8803aace7 1256
cparata 0:dff8803aace7 1257 if (lis2dw12_6d_threshold_set(&_reg_ctx, thr) != 0)
cparata 0:dff8803aace7 1258 {
cparata 0:dff8803aace7 1259 return 1;
cparata 0:dff8803aace7 1260 }
cparata 0:dff8803aace7 1261
cparata 0:dff8803aace7 1262 return 0;
cparata 0:dff8803aace7 1263 }
cparata 0:dff8803aace7 1264
cparata 0:dff8803aace7 1265 /**
cparata 0:dff8803aace7 1266 * @brief Get the 6D orientation XL axis for LIS2DW12 accelerometer sensor
cparata 0:dff8803aace7 1267 * @param xl the pointer to the 6D orientation XL axis
cparata 0:dff8803aace7 1268 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 1269 */
cparata 0:dff8803aace7 1270 int LIS2DW12Sensor::get_6d_orientation_xl(uint8_t *xl)
cparata 0:dff8803aace7 1271 {
cparata 0:dff8803aace7 1272 lis2dw12_sixd_src_t data;
cparata 0:dff8803aace7 1273
cparata 0:dff8803aace7 1274 if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0)
cparata 0:dff8803aace7 1275 {
cparata 0:dff8803aace7 1276 return 1;
cparata 0:dff8803aace7 1277 }
cparata 0:dff8803aace7 1278
cparata 0:dff8803aace7 1279 *xl = data.xl;
cparata 0:dff8803aace7 1280
cparata 0:dff8803aace7 1281 return 0;
cparata 0:dff8803aace7 1282 }
cparata 0:dff8803aace7 1283
cparata 0:dff8803aace7 1284 /**
cparata 0:dff8803aace7 1285 * @brief Get the 6D orientation XH axis for LIS2DW12 accelerometer sensor
cparata 0:dff8803aace7 1286 * @param xh the pointer to the 6D orientation XH axis
cparata 0:dff8803aace7 1287 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 1288 */
cparata 0:dff8803aace7 1289 int LIS2DW12Sensor::get_6d_orientation_xh(uint8_t *xh)
cparata 0:dff8803aace7 1290 {
cparata 0:dff8803aace7 1291 lis2dw12_sixd_src_t data;
cparata 0:dff8803aace7 1292
cparata 0:dff8803aace7 1293 if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0)
cparata 0:dff8803aace7 1294 {
cparata 0:dff8803aace7 1295 return 1;
cparata 0:dff8803aace7 1296 }
cparata 0:dff8803aace7 1297
cparata 0:dff8803aace7 1298 *xh = data.xh;
cparata 0:dff8803aace7 1299
cparata 0:dff8803aace7 1300 return 0;
cparata 0:dff8803aace7 1301 }
cparata 0:dff8803aace7 1302
cparata 0:dff8803aace7 1303 /**
cparata 0:dff8803aace7 1304 * @brief Get the 6D orientation YL axis for LIS2DW12 accelerometer sensor
cparata 0:dff8803aace7 1305 * @param yl the pointer to the 6D orientation YL axis
cparata 0:dff8803aace7 1306 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 1307 */
cparata 0:dff8803aace7 1308 int LIS2DW12Sensor::get_6d_orientation_yl(uint8_t *yl)
cparata 0:dff8803aace7 1309 {
cparata 0:dff8803aace7 1310 lis2dw12_sixd_src_t data;
cparata 0:dff8803aace7 1311
cparata 0:dff8803aace7 1312 if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0)
cparata 0:dff8803aace7 1313 {
cparata 0:dff8803aace7 1314 return 1;
cparata 0:dff8803aace7 1315 }
cparata 0:dff8803aace7 1316
cparata 0:dff8803aace7 1317 *yl = data.yl;
cparata 0:dff8803aace7 1318
cparata 0:dff8803aace7 1319 return 0;
cparata 0:dff8803aace7 1320 }
cparata 0:dff8803aace7 1321
cparata 0:dff8803aace7 1322 /**
cparata 0:dff8803aace7 1323 * @brief Get the 6D orientation YH axis for LIS2DW12 accelerometer sensor
cparata 0:dff8803aace7 1324 * @param yh the pointer to the 6D orientation YH axis
cparata 0:dff8803aace7 1325 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 1326 */
cparata 0:dff8803aace7 1327 int LIS2DW12Sensor::get_6d_orientation_yh(uint8_t *yh)
cparata 0:dff8803aace7 1328 {
cparata 0:dff8803aace7 1329 lis2dw12_sixd_src_t data;
cparata 0:dff8803aace7 1330
cparata 0:dff8803aace7 1331 if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0)
cparata 0:dff8803aace7 1332 {
cparata 0:dff8803aace7 1333 return 1;
cparata 0:dff8803aace7 1334 }
cparata 0:dff8803aace7 1335
cparata 0:dff8803aace7 1336 *yh = data.yh;
cparata 0:dff8803aace7 1337
cparata 0:dff8803aace7 1338 return 0;
cparata 0:dff8803aace7 1339 }
cparata 0:dff8803aace7 1340
cparata 0:dff8803aace7 1341 /**
cparata 0:dff8803aace7 1342 * @brief Get the 6D orientation ZL axis for LIS2DW12 accelerometer sensor
cparata 0:dff8803aace7 1343 * @param zl the pointer to the 6D orientation ZL axis
cparata 0:dff8803aace7 1344 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 1345 */
cparata 0:dff8803aace7 1346 int LIS2DW12Sensor::get_6d_orientation_zl(uint8_t *zl)
cparata 0:dff8803aace7 1347 {
cparata 0:dff8803aace7 1348 lis2dw12_sixd_src_t data;
cparata 0:dff8803aace7 1349
cparata 0:dff8803aace7 1350 if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0)
cparata 0:dff8803aace7 1351 {
cparata 0:dff8803aace7 1352 return 1;
cparata 0:dff8803aace7 1353 }
cparata 0:dff8803aace7 1354
cparata 0:dff8803aace7 1355 *zl = data.zl;
cparata 0:dff8803aace7 1356
cparata 0:dff8803aace7 1357 return 0;
cparata 0:dff8803aace7 1358 }
cparata 0:dff8803aace7 1359
cparata 0:dff8803aace7 1360 /**
cparata 0:dff8803aace7 1361 * @brief Get the 6D orientation ZH axis for LIS2DW12 accelerometer sensor
cparata 0:dff8803aace7 1362 * @param zh the pointer to the 6D orientation ZH axis
cparata 0:dff8803aace7 1363 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 1364 */
cparata 0:dff8803aace7 1365 int LIS2DW12Sensor::get_6d_orientation_zh(uint8_t *zh)
cparata 0:dff8803aace7 1366 {
cparata 0:dff8803aace7 1367 lis2dw12_sixd_src_t data;
cparata 0:dff8803aace7 1368
cparata 0:dff8803aace7 1369 if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0)
cparata 0:dff8803aace7 1370 {
cparata 0:dff8803aace7 1371 return 1;
cparata 0:dff8803aace7 1372 }
cparata 0:dff8803aace7 1373
cparata 0:dff8803aace7 1374 *zh = data.zh;
cparata 0:dff8803aace7 1375
cparata 0:dff8803aace7 1376 return 0;
cparata 0:dff8803aace7 1377 }
cparata 0:dff8803aace7 1378
cparata 0:dff8803aace7 1379 /**
cparata 0:dff8803aace7 1380 * @brief Get the status of all hardware events for LIS2DW12 accelerometer sensor
cparata 0:dff8803aace7 1381 * @param status the pointer to the status of all hardware events
cparata 0:dff8803aace7 1382 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 1383 */
cparata 0:dff8803aace7 1384 int LIS2DW12Sensor::get_event_status(LIS2DW12_Event_Status_t *status)
cparata 0:dff8803aace7 1385 {
cparata 0:dff8803aace7 1386 lis2dw12_status_t status_reg;
cparata 0:dff8803aace7 1387 lis2dw12_ctrl4_int1_pad_ctrl_t ctrl4_int1_reg;
cparata 0:dff8803aace7 1388 lis2dw12_ctrl5_int2_pad_ctrl_t ctrl5_int2_reg;
cparata 0:dff8803aace7 1389
cparata 0:dff8803aace7 1390 (void)memset((void *)status, 0x0, sizeof(LIS2DW12_Event_Status_t));
cparata 0:dff8803aace7 1391
cparata 0:dff8803aace7 1392 if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_STATUS, (uint8_t *)&status_reg, 1) != 0)
cparata 0:dff8803aace7 1393 {
cparata 0:dff8803aace7 1394 return 1;
cparata 0:dff8803aace7 1395 }
cparata 0:dff8803aace7 1396
cparata 0:dff8803aace7 1397 if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0)
cparata 0:dff8803aace7 1398 {
cparata 0:dff8803aace7 1399 return 1;
cparata 0:dff8803aace7 1400 }
cparata 0:dff8803aace7 1401
cparata 0:dff8803aace7 1402 if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0)
cparata 0:dff8803aace7 1403 {
cparata 0:dff8803aace7 1404 return 1;
cparata 0:dff8803aace7 1405 }
cparata 0:dff8803aace7 1406
cparata 0:dff8803aace7 1407 if (ctrl4_int1_reg.int1_wu == 1U)
cparata 0:dff8803aace7 1408 {
cparata 0:dff8803aace7 1409 if (status_reg.wu_ia == 1U)
cparata 0:dff8803aace7 1410 {
cparata 0:dff8803aace7 1411 status->WakeUpStatus = 1;
cparata 0:dff8803aace7 1412 }
cparata 0:dff8803aace7 1413 }
cparata 0:dff8803aace7 1414
cparata 0:dff8803aace7 1415 if (ctrl4_int1_reg.int1_6d == 1U)
cparata 0:dff8803aace7 1416 {
cparata 0:dff8803aace7 1417 if (status_reg._6d_ia == 1U)
cparata 0:dff8803aace7 1418 {
cparata 0:dff8803aace7 1419 status->D6DOrientationStatus = 1;
cparata 0:dff8803aace7 1420 }
cparata 0:dff8803aace7 1421 }
cparata 0:dff8803aace7 1422
cparata 0:dff8803aace7 1423 if (ctrl5_int2_reg.int2_sleep_chg == 1U)
cparata 0:dff8803aace7 1424 {
cparata 0:dff8803aace7 1425 if (status_reg.sleep_state == 1U)
cparata 0:dff8803aace7 1426 {
cparata 0:dff8803aace7 1427 status->SleepStatus = 1;
cparata 0:dff8803aace7 1428 }
cparata 0:dff8803aace7 1429 }
cparata 0:dff8803aace7 1430
cparata 0:dff8803aace7 1431 return 0;
cparata 0:dff8803aace7 1432 }
cparata 0:dff8803aace7 1433
cparata 0:dff8803aace7 1434 /**
cparata 0:dff8803aace7 1435 * @brief Get the number of samples contained into the FIFO
cparata 0:dff8803aace7 1436 * @param num_samples the number of samples contained into the FIFO
cparata 0:dff8803aace7 1437 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 1438 */
cparata 0:dff8803aace7 1439 int LIS2DW12Sensor::get_fifo_num_samples(uint16_t *num_samples)
cparata 0:dff8803aace7 1440 {
cparata 0:dff8803aace7 1441 lis2dw12_fifo_samples_t fifo_samples;
cparata 0:dff8803aace7 1442
cparata 0:dff8803aace7 1443 if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_FIFO_SAMPLES, (uint8_t *)&fifo_samples, 1) != 0)
cparata 0:dff8803aace7 1444 {
cparata 0:dff8803aace7 1445 return 1;
cparata 0:dff8803aace7 1446 }
cparata 0:dff8803aace7 1447
cparata 0:dff8803aace7 1448 if(fifo_samples.diff == 0x20)
cparata 0:dff8803aace7 1449 {
cparata 0:dff8803aace7 1450 *num_samples = 32;
cparata 0:dff8803aace7 1451 }
cparata 0:dff8803aace7 1452 else
cparata 0:dff8803aace7 1453 {
cparata 0:dff8803aace7 1454 *num_samples = fifo_samples.diff;
cparata 0:dff8803aace7 1455 }
cparata 0:dff8803aace7 1456
cparata 0:dff8803aace7 1457 return 0;
cparata 0:dff8803aace7 1458 }
cparata 0:dff8803aace7 1459
cparata 0:dff8803aace7 1460 /**
cparata 0:dff8803aace7 1461 * @brief Set the FIFO mode
cparata 0:dff8803aace7 1462 * @param mode FIFO mode
cparata 0:dff8803aace7 1463 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 1464 */
cparata 0:dff8803aace7 1465 int LIS2DW12Sensor::set_fifo_mode(uint8_t mode)
cparata 0:dff8803aace7 1466 {
cparata 0:dff8803aace7 1467 int32_t ret = 0;
cparata 0:dff8803aace7 1468
cparata 0:dff8803aace7 1469 /* Verify that the passed parameter contains one of the valid values. */
cparata 0:dff8803aace7 1470 switch ((lis2dw12_fmode_t)mode)
cparata 0:dff8803aace7 1471 {
cparata 0:dff8803aace7 1472 case LIS2DW12_BYPASS_MODE:
cparata 0:dff8803aace7 1473 case LIS2DW12_FIFO_MODE:
cparata 0:dff8803aace7 1474 case LIS2DW12_STREAM_TO_FIFO_MODE:
cparata 0:dff8803aace7 1475 case LIS2DW12_BYPASS_TO_STREAM_MODE:
cparata 0:dff8803aace7 1476 case LIS2DW12_STREAM_MODE:
cparata 0:dff8803aace7 1477 break;
cparata 0:dff8803aace7 1478
cparata 0:dff8803aace7 1479 default:
cparata 0:dff8803aace7 1480 ret = 1;
cparata 0:dff8803aace7 1481 break;
cparata 0:dff8803aace7 1482 }
cparata 0:dff8803aace7 1483
cparata 0:dff8803aace7 1484 if (ret == 1)
cparata 0:dff8803aace7 1485 {
cparata 0:dff8803aace7 1486 return ret;
cparata 0:dff8803aace7 1487 }
cparata 0:dff8803aace7 1488
cparata 0:dff8803aace7 1489 if (lis2dw12_fifo_mode_set(&_reg_ctx, (lis2dw12_fmode_t)mode) != 0)
cparata 0:dff8803aace7 1490 {
cparata 0:dff8803aace7 1491 return 1;
cparata 0:dff8803aace7 1492 }
cparata 0:dff8803aace7 1493
cparata 0:dff8803aace7 1494 return ret;
cparata 0:dff8803aace7 1495 }
cparata 0:dff8803aace7 1496
cparata 0:dff8803aace7 1497 /**
cparata 0:dff8803aace7 1498 * @brief Read the data from register
cparata 0:dff8803aace7 1499 * @param reg register address
cparata 0:dff8803aace7 1500 * @param data register data
cparata 0:dff8803aace7 1501 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 1502 */
cparata 0:dff8803aace7 1503 int LIS2DW12Sensor::read_reg(uint8_t reg, uint8_t *data)
cparata 0:dff8803aace7 1504 {
cparata 0:dff8803aace7 1505
cparata 0:dff8803aace7 1506 if (lis2dw12_read_reg(&_reg_ctx, reg, data, 1) != 0)
cparata 0:dff8803aace7 1507 {
cparata 0:dff8803aace7 1508 return 1;
cparata 0:dff8803aace7 1509 }
cparata 0:dff8803aace7 1510
cparata 0:dff8803aace7 1511 return 0;
cparata 0:dff8803aace7 1512 }
cparata 0:dff8803aace7 1513
cparata 0:dff8803aace7 1514 /**
cparata 0:dff8803aace7 1515 * @brief Write the data to register
cparata 0:dff8803aace7 1516 * @param reg register address
cparata 0:dff8803aace7 1517 * @param data register data
cparata 0:dff8803aace7 1518 * @retval 0 in case of success, an error code otherwise
cparata 0:dff8803aace7 1519 */
cparata 0:dff8803aace7 1520 int LIS2DW12Sensor::write_reg(uint8_t reg, uint8_t data)
cparata 0:dff8803aace7 1521 {
cparata 0:dff8803aace7 1522
cparata 0:dff8803aace7 1523 if (lis2dw12_write_reg(&_reg_ctx, reg, &data, 1) != 0)
cparata 0:dff8803aace7 1524 {
cparata 0:dff8803aace7 1525 return 1;
cparata 0:dff8803aace7 1526 }
cparata 0:dff8803aace7 1527
cparata 0:dff8803aace7 1528 return 0;
cparata 0:dff8803aace7 1529 }
cparata 0:dff8803aace7 1530
cparata 0:dff8803aace7 1531
cparata 0:dff8803aace7 1532 int32_t LIS2DW12_io_write(void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite)
cparata 0:dff8803aace7 1533 {
cparata 0:dff8803aace7 1534 return ((LIS2DW12Sensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite);
cparata 0:dff8803aace7 1535 }
cparata 0:dff8803aace7 1536
cparata 0:dff8803aace7 1537 int32_t LIS2DW12_io_read(void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead)
cparata 0:dff8803aace7 1538 {
cparata 0:dff8803aace7 1539 return ((LIS2DW12Sensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead);
cparata 0:dff8803aace7 1540 }