ST / LSM6DSL

iNEMO inertial module: 3D accelerometer and 3D gyroscope.

Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

Dependents:   HelloWorld_ST_Sensors MOTENV_Mbed mbed-os-mqtt-client LSM6DSL_JS ... more

LSM6DSLSensor.cpp@5:77ec4781b110, 2019-03-04 (annotated)

Committer:
cparata
Date:
Mon Mar 04 13:51:21 2019 +0000
Revision:
5:77ec4781b110
Parent:
2:578a45c4dad5
Child:
6:1fcf5cb8d615
Fix warnings

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nikapov 0:704c89673b57 1 /**
nikapov 0:704c89673b57 2 ******************************************************************************
nikapov 0:704c89673b57 3 * @file LSM6DSLSensor.cpp
nikapov 0:704c89673b57 4 * @author CLab
nikapov 0:704c89673b57 5 * @version V1.0.0
nikapov 0:704c89673b57 6 * @date 5 August 2016
nikapov 0:704c89673b57 7 * @brief Implementation of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
nikapov 0:704c89673b57 8 * sensor.
nikapov 0:704c89673b57 9 ******************************************************************************
nikapov 0:704c89673b57 10 * @attention
nikapov 0:704c89673b57 11 *
nikapov 0:704c89673b57 12 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
nikapov 0:704c89673b57 13 *
nikapov 0:704c89673b57 14 * Redistribution and use in source and binary forms, with or without modification,
nikapov 0:704c89673b57 15 * are permitted provided that the following conditions are met:
nikapov 0:704c89673b57 16 * 1. Redistributions of source code must retain the above copyright notice,
nikapov 0:704c89673b57 17 * this list of conditions and the following disclaimer.
nikapov 0:704c89673b57 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
nikapov 0:704c89673b57 19 * this list of conditions and the following disclaimer in the documentation
nikapov 0:704c89673b57 20 * and/or other materials provided with the distribution.
nikapov 0:704c89673b57 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
nikapov 0:704c89673b57 22 * may be used to endorse or promote products derived from this software
nikapov 0:704c89673b57 23 * without specific prior written permission.
nikapov 0:704c89673b57 24 *
nikapov 0:704c89673b57 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
nikapov 0:704c89673b57 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
nikapov 0:704c89673b57 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
nikapov 0:704c89673b57 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
nikapov 0:704c89673b57 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
nikapov 0:704c89673b57 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
nikapov 0:704c89673b57 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
nikapov 0:704c89673b57 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
nikapov 0:704c89673b57 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
nikapov 0:704c89673b57 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
nikapov 0:704c89673b57 35 *
nikapov 0:704c89673b57 36 ******************************************************************************
nikapov 0:704c89673b57 37 */
nikapov 0:704c89673b57 38
nikapov 0:704c89673b57 39
nikapov 0:704c89673b57 40 /* Includes ------------------------------------------------------------------*/
nikapov 0:704c89673b57 41
nikapov 0:704c89673b57 42 #include "LSM6DSLSensor.h"
nikapov 0:704c89673b57 43
nikapov 0:704c89673b57 44
nikapov 0:704c89673b57 45 /* Class Implementation ------------------------------------------------------*/
nikapov 0:704c89673b57 46
mapellil 2:578a45c4dad5 47 LSM6DSLSensor::LSM6DSLSensor(SPI *spi, PinName cs_pin, PinName int1_pin, PinName int2_pin, SPI_type_t spi_type ) :
mapellil 2:578a45c4dad5 48 _dev_spi(spi), _cs_pin(cs_pin), _int1_irq(int1_pin), _int2_irq(int2_pin), _spi_type(spi_type)
mapellil 2:578a45c4dad5 49 {
mapellil 2:578a45c4dad5 50 assert (spi);
mapellil 2:578a45c4dad5 51 if (cs_pin == NC)
mapellil 2:578a45c4dad5 52 {
mapellil 2:578a45c4dad5 53 printf ("ERROR LPS22HBSensor CS MUST NOT BE NC\n\r");
mapellil 2:578a45c4dad5 54 _dev_spi = NULL;
mapellil 2:578a45c4dad5 55 _dev_i2c=NULL;
mapellil 2:578a45c4dad5 56 return;
mapellil 2:578a45c4dad5 57 }
mapellil 2:578a45c4dad5 58 _cs_pin = 1;
mapellil 2:578a45c4dad5 59 _dev_i2c=NULL;
mapellil 2:578a45c4dad5 60
mapellil 2:578a45c4dad5 61 if (_spi_type == SPI3W) LSM6DSL_ACC_GYRO_W_SPI_Mode((void *)this, LSM6DSL_ACC_GYRO_SIM_3_WIRE);
mapellil 2:578a45c4dad5 62 else LSM6DSL_ACC_GYRO_W_SPI_Mode((void *)this, LSM6DSL_ACC_GYRO_SIM_4_WIRE);
mapellil 2:578a45c4dad5 63
mapellil 2:578a45c4dad5 64 LSM6DSL_ACC_GYRO_W_I2C_MASTER_Enable((void *)this, LSM6DSL_ACC_GYRO_MASTER_ON_DISABLED);
mapellil 2:578a45c4dad5 65 }
mapellil 2:578a45c4dad5 66
nikapov 0:704c89673b57 67 /** Constructor
nikapov 0:704c89673b57 68 * @param i2c object of an helper class which handles the I2C peripheral
nikapov 0:704c89673b57 69 * @param address the address of the component's instance
nikapov 0:704c89673b57 70 */
mapellil 1:c583f32fe272 71 LSM6DSLSensor::LSM6DSLSensor(DevI2C *i2c, uint8_t address, PinName int1_pin, PinName int2_pin) :
mapellil 1:c583f32fe272 72 _dev_i2c(i2c), _address(address), _cs_pin(NC), _int1_irq(int1_pin), _int2_irq(int2_pin)
nikapov 0:704c89673b57 73 {
mapellil 1:c583f32fe272 74 assert (i2c);
mapellil 2:578a45c4dad5 75 _dev_spi = NULL;
mapellil 2:578a45c4dad5 76 }
nikapov 0:704c89673b57 77
nikapov 0:704c89673b57 78 /**
nikapov 0:704c89673b57 79 * @brief Initializing the component.
nikapov 0:704c89673b57 80 * @param[in] init pointer to device specific initalization structure.
nikapov 0:704c89673b57 81 * @retval "0" in case of success, an error code otherwise.
nikapov 0:704c89673b57 82 */
nikapov 0:704c89673b57 83 int LSM6DSLSensor::init(void *init)
nikapov 0:704c89673b57 84 {
nikapov 0:704c89673b57 85 /* Enable register address automatically incremented during a multiple byte
nikapov 0:704c89673b57 86 access with a serial interface. */
nikapov 0:704c89673b57 87 if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 88 {
nikapov 0:704c89673b57 89 return 1;
nikapov 0:704c89673b57 90 }
nikapov 0:704c89673b57 91
nikapov 0:704c89673b57 92 /* Enable BDU */
nikapov 0:704c89673b57 93 if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
nikapov 0:704c89673b57 94 {
nikapov 0:704c89673b57 95 return 1;
nikapov 0:704c89673b57 96 }
nikapov 0:704c89673b57 97
nikapov 0:704c89673b57 98 /* FIFO mode selection */
nikapov 0:704c89673b57 99 if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
nikapov 0:704c89673b57 100 {
nikapov 0:704c89673b57 101 return 1;
nikapov 0:704c89673b57 102 }
nikapov 0:704c89673b57 103
nikapov 0:704c89673b57 104 /* Output data rate selection - power down. */
nikapov 0:704c89673b57 105 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
nikapov 0:704c89673b57 106 {
nikapov 0:704c89673b57 107 return 1;
nikapov 0:704c89673b57 108 }
nikapov 0:704c89673b57 109
nikapov 0:704c89673b57 110 /* Full scale selection. */
nikapov 0:704c89673b57 111 if ( set_x_fs( 2.0f ) == 1 )
nikapov 0:704c89673b57 112 {
nikapov 0:704c89673b57 113 return 1;
nikapov 0:704c89673b57 114 }
nikapov 0:704c89673b57 115
nikapov 0:704c89673b57 116 /* Output data rate selection - power down */
nikapov 0:704c89673b57 117 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
nikapov 0:704c89673b57 118 {
nikapov 0:704c89673b57 119 return 1;
nikapov 0:704c89673b57 120 }
nikapov 0:704c89673b57 121
nikapov 0:704c89673b57 122 /* Full scale selection. */
nikapov 0:704c89673b57 123 if ( set_g_fs( 2000.0f ) == 1 )
nikapov 0:704c89673b57 124 {
nikapov 0:704c89673b57 125 return 1;
nikapov 0:704c89673b57 126 }
nikapov 0:704c89673b57 127
nikapov 0:704c89673b57 128 _x_last_odr = 104.0f;
nikapov 0:704c89673b57 129
nikapov 0:704c89673b57 130 _x_is_enabled = 0;
nikapov 0:704c89673b57 131
nikapov 0:704c89673b57 132 _g_last_odr = 104.0f;
nikapov 0:704c89673b57 133
nikapov 0:704c89673b57 134 _g_is_enabled = 0;
nikapov 0:704c89673b57 135
nikapov 0:704c89673b57 136 return 0;
nikapov 0:704c89673b57 137 }
nikapov 0:704c89673b57 138
nikapov 0:704c89673b57 139 /**
nikapov 0:704c89673b57 140 * @brief Enable LSM6DSL Accelerator
nikapov 0:704c89673b57 141 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 142 */
nikapov 0:704c89673b57 143 int LSM6DSLSensor::enable_x(void)
nikapov 0:704c89673b57 144 {
nikapov 0:704c89673b57 145 /* Check if the component is already enabled */
nikapov 0:704c89673b57 146 if ( _x_is_enabled == 1 )
nikapov 0:704c89673b57 147 {
nikapov 0:704c89673b57 148 return 0;
nikapov 0:704c89673b57 149 }
nikapov 0:704c89673b57 150
nikapov 0:704c89673b57 151 /* Output data rate selection. */
nikapov 0:704c89673b57 152 if ( set_x_odr_when_enabled( _x_last_odr ) == 1 )
nikapov 0:704c89673b57 153 {
nikapov 0:704c89673b57 154 return 1;
nikapov 0:704c89673b57 155 }
nikapov 0:704c89673b57 156
nikapov 0:704c89673b57 157 _x_is_enabled = 1;
nikapov 0:704c89673b57 158
nikapov 0:704c89673b57 159 return 0;
nikapov 0:704c89673b57 160 }
nikapov 0:704c89673b57 161
nikapov 0:704c89673b57 162 /**
nikapov 0:704c89673b57 163 * @brief Enable LSM6DSL Gyroscope
nikapov 0:704c89673b57 164 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 165 */
nikapov 0:704c89673b57 166 int LSM6DSLSensor::enable_g(void)
nikapov 0:704c89673b57 167 {
nikapov 0:704c89673b57 168 /* Check if the component is already enabled */
nikapov 0:704c89673b57 169 if ( _g_is_enabled == 1 )
nikapov 0:704c89673b57 170 {
nikapov 0:704c89673b57 171 return 0;
nikapov 0:704c89673b57 172 }
nikapov 0:704c89673b57 173
nikapov 0:704c89673b57 174 /* Output data rate selection. */
nikapov 0:704c89673b57 175 if ( set_g_odr_when_enabled( _g_last_odr ) == 1 )
nikapov 0:704c89673b57 176 {
nikapov 0:704c89673b57 177 return 1;
nikapov 0:704c89673b57 178 }
nikapov 0:704c89673b57 179
nikapov 0:704c89673b57 180 _g_is_enabled = 1;
nikapov 0:704c89673b57 181
nikapov 0:704c89673b57 182 return 0;
nikapov 0:704c89673b57 183 }
nikapov 0:704c89673b57 184
nikapov 0:704c89673b57 185 /**
nikapov 0:704c89673b57 186 * @brief Disable LSM6DSL Accelerator
nikapov 0:704c89673b57 187 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 188 */
nikapov 0:704c89673b57 189 int LSM6DSLSensor::disable_x(void)
nikapov 0:704c89673b57 190 {
nikapov 0:704c89673b57 191 /* Check if the component is already disabled */
nikapov 0:704c89673b57 192 if ( _x_is_enabled == 0 )
nikapov 0:704c89673b57 193 {
nikapov 0:704c89673b57 194 return 0;
nikapov 0:704c89673b57 195 }
nikapov 0:704c89673b57 196
nikapov 0:704c89673b57 197 /* Store actual output data rate. */
nikapov 0:704c89673b57 198 if ( get_x_odr( &_x_last_odr ) == 1 )
nikapov 0:704c89673b57 199 {
nikapov 0:704c89673b57 200 return 1;
nikapov 0:704c89673b57 201 }
nikapov 0:704c89673b57 202
nikapov 0:704c89673b57 203 /* Output data rate selection - power down. */
nikapov 0:704c89673b57 204 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
nikapov 0:704c89673b57 205 {
nikapov 0:704c89673b57 206 return 1;
nikapov 0:704c89673b57 207 }
nikapov 0:704c89673b57 208
nikapov 0:704c89673b57 209 _x_is_enabled = 0;
nikapov 0:704c89673b57 210
nikapov 0:704c89673b57 211 return 0;
nikapov 0:704c89673b57 212 }
nikapov 0:704c89673b57 213
nikapov 0:704c89673b57 214 /**
nikapov 0:704c89673b57 215 * @brief Disable LSM6DSL Gyroscope
nikapov 0:704c89673b57 216 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 217 */
nikapov 0:704c89673b57 218 int LSM6DSLSensor::disable_g(void)
nikapov 0:704c89673b57 219 {
nikapov 0:704c89673b57 220 /* Check if the component is already disabled */
nikapov 0:704c89673b57 221 if ( _g_is_enabled == 0 )
nikapov 0:704c89673b57 222 {
nikapov 0:704c89673b57 223 return 0;
nikapov 0:704c89673b57 224 }
nikapov 0:704c89673b57 225
nikapov 0:704c89673b57 226 /* Store actual output data rate. */
nikapov 0:704c89673b57 227 if ( get_g_odr( &_g_last_odr ) == 1 )
nikapov 0:704c89673b57 228 {
nikapov 0:704c89673b57 229 return 1;
nikapov 0:704c89673b57 230 }
nikapov 0:704c89673b57 231
nikapov 0:704c89673b57 232 /* Output data rate selection - power down */
nikapov 0:704c89673b57 233 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
nikapov 0:704c89673b57 234 {
nikapov 0:704c89673b57 235 return 1;
nikapov 0:704c89673b57 236 }
nikapov 0:704c89673b57 237
nikapov 0:704c89673b57 238 _g_is_enabled = 0;
nikapov 0:704c89673b57 239
nikapov 0:704c89673b57 240 return 0;
nikapov 0:704c89673b57 241 }
nikapov 0:704c89673b57 242
nikapov 0:704c89673b57 243 /**
nikapov 0:704c89673b57 244 * @brief Read ID of LSM6DSL Accelerometer and Gyroscope
nikapov 0:704c89673b57 245 * @param p_id the pointer where the ID of the device is stored
nikapov 0:704c89673b57 246 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 247 */
nikapov 0:704c89673b57 248 int LSM6DSLSensor::read_id(uint8_t *id)
nikapov 0:704c89673b57 249 {
nikapov 0:704c89673b57 250 if(!id)
nikapov 0:704c89673b57 251 {
nikapov 0:704c89673b57 252 return 1;
nikapov 0:704c89673b57 253 }
nikapov 0:704c89673b57 254
nikapov 0:704c89673b57 255 /* Read WHO AM I register */
nikapov 0:704c89673b57 256 if ( LSM6DSL_ACC_GYRO_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
nikapov 0:704c89673b57 257 {
nikapov 0:704c89673b57 258 return 1;
nikapov 0:704c89673b57 259 }
nikapov 0:704c89673b57 260
nikapov 0:704c89673b57 261 return 0;
nikapov 0:704c89673b57 262 }
nikapov 0:704c89673b57 263
nikapov 0:704c89673b57 264 /**
nikapov 0:704c89673b57 265 * @brief Read data from LSM6DSL Accelerometer
nikapov 0:704c89673b57 266 * @param pData the pointer where the accelerometer data are stored
nikapov 0:704c89673b57 267 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 268 */
nikapov 0:704c89673b57 269 int LSM6DSLSensor::get_x_axes(int32_t *pData)
nikapov 0:704c89673b57 270 {
nikapov 0:704c89673b57 271 int16_t dataRaw[3];
nikapov 0:704c89673b57 272 float sensitivity = 0;
nikapov 0:704c89673b57 273
nikapov 0:704c89673b57 274 /* Read raw data from LSM6DSL output register. */
nikapov 0:704c89673b57 275 if ( get_x_axes_raw( dataRaw ) == 1 )
nikapov 0:704c89673b57 276 {
nikapov 0:704c89673b57 277 return 1;
nikapov 0:704c89673b57 278 }
nikapov 0:704c89673b57 279
nikapov 0:704c89673b57 280 /* Get LSM6DSL actual sensitivity. */
nikapov 0:704c89673b57 281 if ( get_x_sensitivity( &sensitivity ) == 1 )
nikapov 0:704c89673b57 282 {
nikapov 0:704c89673b57 283 return 1;
nikapov 0:704c89673b57 284 }
nikapov 0:704c89673b57 285
nikapov 0:704c89673b57 286 /* Calculate the data. */
nikapov 0:704c89673b57 287 pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
nikapov 0:704c89673b57 288 pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
nikapov 0:704c89673b57 289 pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
nikapov 0:704c89673b57 290
nikapov 0:704c89673b57 291 return 0;
nikapov 0:704c89673b57 292 }
nikapov 0:704c89673b57 293
nikapov 0:704c89673b57 294 /**
nikapov 0:704c89673b57 295 * @brief Read data from LSM6DSL Gyroscope
nikapov 0:704c89673b57 296 * @param pData the pointer where the gyroscope data are stored
nikapov 0:704c89673b57 297 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 298 */
nikapov 0:704c89673b57 299 int LSM6DSLSensor::get_g_axes(int32_t *pData)
nikapov 0:704c89673b57 300 {
nikapov 0:704c89673b57 301 int16_t dataRaw[3];
nikapov 0:704c89673b57 302 float sensitivity = 0;
nikapov 0:704c89673b57 303
nikapov 0:704c89673b57 304 /* Read raw data from LSM6DSL output register. */
nikapov 0:704c89673b57 305 if ( get_g_axes_raw( dataRaw ) == 1 )
nikapov 0:704c89673b57 306 {
nikapov 0:704c89673b57 307 return 1;
nikapov 0:704c89673b57 308 }
nikapov 0:704c89673b57 309
nikapov 0:704c89673b57 310 /* Get LSM6DSL actual sensitivity. */
nikapov 0:704c89673b57 311 if ( get_g_sensitivity( &sensitivity ) == 1 )
nikapov 0:704c89673b57 312 {
nikapov 0:704c89673b57 313 return 1;
nikapov 0:704c89673b57 314 }
nikapov 0:704c89673b57 315
nikapov 0:704c89673b57 316 /* Calculate the data. */
nikapov 0:704c89673b57 317 pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
nikapov 0:704c89673b57 318 pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
nikapov 0:704c89673b57 319 pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
nikapov 0:704c89673b57 320
nikapov 0:704c89673b57 321 return 0;
nikapov 0:704c89673b57 322 }
nikapov 0:704c89673b57 323
nikapov 0:704c89673b57 324 /**
nikapov 0:704c89673b57 325 * @brief Read Accelerometer Sensitivity
nikapov 0:704c89673b57 326 * @param pfData the pointer where the accelerometer sensitivity is stored
nikapov 0:704c89673b57 327 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 328 */
nikapov 0:704c89673b57 329 int LSM6DSLSensor::get_x_sensitivity(float *pfData)
nikapov 0:704c89673b57 330 {
nikapov 0:704c89673b57 331 LSM6DSL_ACC_GYRO_FS_XL_t fullScale;
nikapov 0:704c89673b57 332
nikapov 0:704c89673b57 333 /* Read actual full scale selection from sensor. */
nikapov 0:704c89673b57 334 if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fullScale ) == MEMS_ERROR )
nikapov 0:704c89673b57 335 {
nikapov 0:704c89673b57 336 return 1;
nikapov 0:704c89673b57 337 }
nikapov 0:704c89673b57 338
nikapov 0:704c89673b57 339 /* Store the sensitivity based on actual full scale. */
nikapov 0:704c89673b57 340 switch( fullScale )
nikapov 0:704c89673b57 341 {
nikapov 0:704c89673b57 342 case LSM6DSL_ACC_GYRO_FS_XL_2g:
nikapov 0:704c89673b57 343 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G;
nikapov 0:704c89673b57 344 break;
nikapov 0:704c89673b57 345 case LSM6DSL_ACC_GYRO_FS_XL_4g:
nikapov 0:704c89673b57 346 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G;
nikapov 0:704c89673b57 347 break;
nikapov 0:704c89673b57 348 case LSM6DSL_ACC_GYRO_FS_XL_8g:
nikapov 0:704c89673b57 349 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G;
nikapov 0:704c89673b57 350 break;
nikapov 0:704c89673b57 351 case LSM6DSL_ACC_GYRO_FS_XL_16g:
nikapov 0:704c89673b57 352 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G;
nikapov 0:704c89673b57 353 break;
nikapov 0:704c89673b57 354 default:
nikapov 0:704c89673b57 355 *pfData = -1.0f;
nikapov 0:704c89673b57 356 return 1;
nikapov 0:704c89673b57 357 }
nikapov 0:704c89673b57 358
nikapov 0:704c89673b57 359 return 0;
nikapov 0:704c89673b57 360 }
nikapov 0:704c89673b57 361
nikapov 0:704c89673b57 362 /**
nikapov 0:704c89673b57 363 * @brief Read Gyroscope Sensitivity
nikapov 0:704c89673b57 364 * @param pfData the pointer where the gyroscope sensitivity is stored
nikapov 0:704c89673b57 365 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 366 */
nikapov 0:704c89673b57 367 int LSM6DSLSensor::get_g_sensitivity(float *pfData)
nikapov 0:704c89673b57 368 {
nikapov 0:704c89673b57 369 LSM6DSL_ACC_GYRO_FS_125_t fullScale125;
nikapov 0:704c89673b57 370 LSM6DSL_ACC_GYRO_FS_G_t fullScale;
nikapov 0:704c89673b57 371
nikapov 0:704c89673b57 372 /* Read full scale 125 selection from sensor. */
nikapov 0:704c89673b57 373 if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fullScale125 ) == MEMS_ERROR )
nikapov 0:704c89673b57 374 {
nikapov 0:704c89673b57 375 return 1;
nikapov 0:704c89673b57 376 }
nikapov 0:704c89673b57 377
nikapov 0:704c89673b57 378 if ( fullScale125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
nikapov 0:704c89673b57 379 {
nikapov 0:704c89673b57 380 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS;
nikapov 0:704c89673b57 381 }
nikapov 0:704c89673b57 382
nikapov 0:704c89673b57 383 else
nikapov 0:704c89673b57 384 {
nikapov 0:704c89673b57 385
nikapov 0:704c89673b57 386 /* Read actual full scale selection from sensor. */
nikapov 0:704c89673b57 387 if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fullScale ) == MEMS_ERROR )
nikapov 0:704c89673b57 388 {
nikapov 0:704c89673b57 389 return 1;
nikapov 0:704c89673b57 390 }
nikapov 0:704c89673b57 391
nikapov 0:704c89673b57 392 /* Store the sensitivity based on actual full scale. */
nikapov 0:704c89673b57 393 switch( fullScale )
nikapov 0:704c89673b57 394 {
nikapov 0:704c89673b57 395 case LSM6DSL_ACC_GYRO_FS_G_245dps:
nikapov 0:704c89673b57 396 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS;
nikapov 0:704c89673b57 397 break;
nikapov 0:704c89673b57 398 case LSM6DSL_ACC_GYRO_FS_G_500dps:
nikapov 0:704c89673b57 399 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS;
nikapov 0:704c89673b57 400 break;
nikapov 0:704c89673b57 401 case LSM6DSL_ACC_GYRO_FS_G_1000dps:
nikapov 0:704c89673b57 402 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS;
nikapov 0:704c89673b57 403 break;
nikapov 0:704c89673b57 404 case LSM6DSL_ACC_GYRO_FS_G_2000dps:
nikapov 0:704c89673b57 405 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS;
nikapov 0:704c89673b57 406 break;
nikapov 0:704c89673b57 407 default:
nikapov 0:704c89673b57 408 *pfData = -1.0f;
nikapov 0:704c89673b57 409 return 1;
nikapov 0:704c89673b57 410 }
nikapov 0:704c89673b57 411 }
nikapov 0:704c89673b57 412
nikapov 0:704c89673b57 413 return 0;
nikapov 0:704c89673b57 414 }
nikapov 0:704c89673b57 415
nikapov 0:704c89673b57 416 /**
nikapov 0:704c89673b57 417 * @brief Read raw data from LSM6DSL Accelerometer
nikapov 0:704c89673b57 418 * @param pData the pointer where the accelerometer raw data are stored
nikapov 0:704c89673b57 419 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 420 */
nikapov 0:704c89673b57 421 int LSM6DSLSensor::get_x_axes_raw(int16_t *pData)
nikapov 0:704c89673b57 422 {
nikapov 0:704c89673b57 423 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
nikapov 0:704c89673b57 424
nikapov 0:704c89673b57 425 /* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_XL to LSM6DSL_ACC_GYRO_OUTZ_H_XL. */
nikapov 0:704c89673b57 426 if ( LSM6DSL_ACC_GYRO_GetRawAccData( (void *)this, regValue ) == MEMS_ERROR )
nikapov 0:704c89673b57 427 {
nikapov 0:704c89673b57 428 return 1;
nikapov 0:704c89673b57 429 }
nikapov 0:704c89673b57 430
nikapov 0:704c89673b57 431 /* Format the data. */
nikapov 0:704c89673b57 432 pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
nikapov 0:704c89673b57 433 pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
nikapov 0:704c89673b57 434 pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
nikapov 0:704c89673b57 435
nikapov 0:704c89673b57 436 return 0;
nikapov 0:704c89673b57 437 }
nikapov 0:704c89673b57 438
nikapov 0:704c89673b57 439 /**
nikapov 0:704c89673b57 440 * @brief Read raw data from LSM6DSL Gyroscope
nikapov 0:704c89673b57 441 * @param pData the pointer where the gyroscope raw data are stored
nikapov 0:704c89673b57 442 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 443 */
nikapov 0:704c89673b57 444 int LSM6DSLSensor::get_g_axes_raw(int16_t *pData)
nikapov 0:704c89673b57 445 {
nikapov 0:704c89673b57 446 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
nikapov 0:704c89673b57 447
nikapov 0:704c89673b57 448 /* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_G to LSM6DSL_ACC_GYRO_OUTZ_H_G. */
nikapov 0:704c89673b57 449 if ( LSM6DSL_ACC_GYRO_GetRawGyroData( (void *)this, regValue ) == MEMS_ERROR )
nikapov 0:704c89673b57 450 {
nikapov 0:704c89673b57 451 return 1;
nikapov 0:704c89673b57 452 }
nikapov 0:704c89673b57 453
nikapov 0:704c89673b57 454 /* Format the data. */
nikapov 0:704c89673b57 455 pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
nikapov 0:704c89673b57 456 pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
nikapov 0:704c89673b57 457 pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
nikapov 0:704c89673b57 458
nikapov 0:704c89673b57 459 return 0;
nikapov 0:704c89673b57 460 }
nikapov 0:704c89673b57 461
nikapov 0:704c89673b57 462 /**
nikapov 0:704c89673b57 463 * @brief Read LSM6DSL Accelerometer output data rate
nikapov 0:704c89673b57 464 * @param odr the pointer to the output data rate
nikapov 0:704c89673b57 465 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 466 */
nikapov 0:704c89673b57 467 int LSM6DSLSensor::get_x_odr(float* odr)
nikapov 0:704c89673b57 468 {
nikapov 0:704c89673b57 469 LSM6DSL_ACC_GYRO_ODR_XL_t odr_low_level;
nikapov 0:704c89673b57 470
nikapov 0:704c89673b57 471 if ( LSM6DSL_ACC_GYRO_R_ODR_XL( (void *)this, &odr_low_level ) == MEMS_ERROR )
nikapov 0:704c89673b57 472 {
nikapov 0:704c89673b57 473 return 1;
nikapov 0:704c89673b57 474 }
nikapov 0:704c89673b57 475
nikapov 0:704c89673b57 476 switch( odr_low_level )
nikapov 0:704c89673b57 477 {
nikapov 0:704c89673b57 478 case LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN:
nikapov 0:704c89673b57 479 *odr = 0.0f;
nikapov 0:704c89673b57 480 break;
nikapov 0:704c89673b57 481 case LSM6DSL_ACC_GYRO_ODR_XL_13Hz:
nikapov 0:704c89673b57 482 *odr = 13.0f;
nikapov 0:704c89673b57 483 break;
nikapov 0:704c89673b57 484 case LSM6DSL_ACC_GYRO_ODR_XL_26Hz:
nikapov 0:704c89673b57 485 *odr = 26.0f;
nikapov 0:704c89673b57 486 break;
nikapov 0:704c89673b57 487 case LSM6DSL_ACC_GYRO_ODR_XL_52Hz:
nikapov 0:704c89673b57 488 *odr = 52.0f;
nikapov 0:704c89673b57 489 break;
nikapov 0:704c89673b57 490 case LSM6DSL_ACC_GYRO_ODR_XL_104Hz:
nikapov 0:704c89673b57 491 *odr = 104.0f;
nikapov 0:704c89673b57 492 break;
nikapov 0:704c89673b57 493 case LSM6DSL_ACC_GYRO_ODR_XL_208Hz:
nikapov 0:704c89673b57 494 *odr = 208.0f;
nikapov 0:704c89673b57 495 break;
nikapov 0:704c89673b57 496 case LSM6DSL_ACC_GYRO_ODR_XL_416Hz:
nikapov 0:704c89673b57 497 *odr = 416.0f;
nikapov 0:704c89673b57 498 break;
nikapov 0:704c89673b57 499 case LSM6DSL_ACC_GYRO_ODR_XL_833Hz:
nikapov 0:704c89673b57 500 *odr = 833.0f;
nikapov 0:704c89673b57 501 break;
nikapov 0:704c89673b57 502 case LSM6DSL_ACC_GYRO_ODR_XL_1660Hz:
nikapov 0:704c89673b57 503 *odr = 1660.0f;
nikapov 0:704c89673b57 504 break;
nikapov 0:704c89673b57 505 case LSM6DSL_ACC_GYRO_ODR_XL_3330Hz:
nikapov 0:704c89673b57 506 *odr = 3330.0f;
nikapov 0:704c89673b57 507 break;
nikapov 0:704c89673b57 508 case LSM6DSL_ACC_GYRO_ODR_XL_6660Hz:
nikapov 0:704c89673b57 509 *odr = 6660.0f;
nikapov 0:704c89673b57 510 break;
nikapov 0:704c89673b57 511 default:
nikapov 0:704c89673b57 512 *odr = -1.0f;
nikapov 0:704c89673b57 513 return 1;
nikapov 0:704c89673b57 514 }
nikapov 0:704c89673b57 515
nikapov 0:704c89673b57 516 return 0;
nikapov 0:704c89673b57 517 }
nikapov 0:704c89673b57 518
nikapov 0:704c89673b57 519 /**
nikapov 0:704c89673b57 520 * @brief Read LSM6DSL Gyroscope output data rate
nikapov 0:704c89673b57 521 * @param odr the pointer to the output data rate
nikapov 0:704c89673b57 522 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 523 */
nikapov 0:704c89673b57 524 int LSM6DSLSensor::get_g_odr(float* odr)
nikapov 0:704c89673b57 525 {
nikapov 0:704c89673b57 526 LSM6DSL_ACC_GYRO_ODR_G_t odr_low_level;
nikapov 0:704c89673b57 527
nikapov 0:704c89673b57 528 if ( LSM6DSL_ACC_GYRO_R_ODR_G( (void *)this, &odr_low_level ) == MEMS_ERROR )
nikapov 0:704c89673b57 529 {
nikapov 0:704c89673b57 530 return 1;
nikapov 0:704c89673b57 531 }
nikapov 0:704c89673b57 532
nikapov 0:704c89673b57 533 switch( odr_low_level )
nikapov 0:704c89673b57 534 {
nikapov 0:704c89673b57 535 case LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN:
nikapov 0:704c89673b57 536 *odr = 0.0f;
nikapov 0:704c89673b57 537 break;
nikapov 0:704c89673b57 538 case LSM6DSL_ACC_GYRO_ODR_G_13Hz:
nikapov 0:704c89673b57 539 *odr = 13.0f;
nikapov 0:704c89673b57 540 break;
nikapov 0:704c89673b57 541 case LSM6DSL_ACC_GYRO_ODR_G_26Hz:
nikapov 0:704c89673b57 542 *odr = 26.0f;
nikapov 0:704c89673b57 543 break;
nikapov 0:704c89673b57 544 case LSM6DSL_ACC_GYRO_ODR_G_52Hz:
nikapov 0:704c89673b57 545 *odr = 52.0f;
nikapov 0:704c89673b57 546 break;
nikapov 0:704c89673b57 547 case LSM6DSL_ACC_GYRO_ODR_G_104Hz:
nikapov 0:704c89673b57 548 *odr = 104.0f;
nikapov 0:704c89673b57 549 break;
nikapov 0:704c89673b57 550 case LSM6DSL_ACC_GYRO_ODR_G_208Hz:
nikapov 0:704c89673b57 551 *odr = 208.0f;
nikapov 0:704c89673b57 552 break;
nikapov 0:704c89673b57 553 case LSM6DSL_ACC_GYRO_ODR_G_416Hz:
nikapov 0:704c89673b57 554 *odr = 416.0f;
nikapov 0:704c89673b57 555 break;
nikapov 0:704c89673b57 556 case LSM6DSL_ACC_GYRO_ODR_G_833Hz:
nikapov 0:704c89673b57 557 *odr = 833.0f;
nikapov 0:704c89673b57 558 break;
nikapov 0:704c89673b57 559 case LSM6DSL_ACC_GYRO_ODR_G_1660Hz:
nikapov 0:704c89673b57 560 *odr = 1660.0f;
nikapov 0:704c89673b57 561 break;
nikapov 0:704c89673b57 562 case LSM6DSL_ACC_GYRO_ODR_G_3330Hz:
nikapov 0:704c89673b57 563 *odr = 3330.0f;
nikapov 0:704c89673b57 564 break;
nikapov 0:704c89673b57 565 case LSM6DSL_ACC_GYRO_ODR_G_6660Hz:
nikapov 0:704c89673b57 566 *odr = 6660.0f;
nikapov 0:704c89673b57 567 break;
nikapov 0:704c89673b57 568 default:
nikapov 0:704c89673b57 569 *odr = -1.0f;
nikapov 0:704c89673b57 570 return 1;
nikapov 0:704c89673b57 571 }
nikapov 0:704c89673b57 572
nikapov 0:704c89673b57 573 return 0;
nikapov 0:704c89673b57 574 }
nikapov 0:704c89673b57 575
nikapov 0:704c89673b57 576 /**
nikapov 0:704c89673b57 577 * @brief Set LSM6DSL Accelerometer output data rate
nikapov 0:704c89673b57 578 * @param odr the output data rate to be set
nikapov 0:704c89673b57 579 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 580 */
nikapov 0:704c89673b57 581 int LSM6DSLSensor::set_x_odr(float odr)
nikapov 0:704c89673b57 582 {
nikapov 0:704c89673b57 583 if(_x_is_enabled == 1)
nikapov 0:704c89673b57 584 {
nikapov 0:704c89673b57 585 if(set_x_odr_when_enabled(odr) == 1)
nikapov 0:704c89673b57 586 {
nikapov 0:704c89673b57 587 return 1;
nikapov 0:704c89673b57 588 }
nikapov 0:704c89673b57 589 }
nikapov 0:704c89673b57 590 else
nikapov 0:704c89673b57 591 {
nikapov 0:704c89673b57 592 if(set_x_odr_when_disabled(odr) == 1)
nikapov 0:704c89673b57 593 {
nikapov 0:704c89673b57 594 return 1;
nikapov 0:704c89673b57 595 }
nikapov 0:704c89673b57 596 }
nikapov 0:704c89673b57 597
nikapov 0:704c89673b57 598 return 0;
nikapov 0:704c89673b57 599 }
nikapov 0:704c89673b57 600
nikapov 0:704c89673b57 601 /**
nikapov 0:704c89673b57 602 * @brief Set LSM6DSL Accelerometer output data rate when enabled
nikapov 0:704c89673b57 603 * @param odr the output data rate to be set
nikapov 0:704c89673b57 604 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 605 */
nikapov 0:704c89673b57 606 int LSM6DSLSensor::set_x_odr_when_enabled(float odr)
nikapov 0:704c89673b57 607 {
nikapov 0:704c89673b57 608 LSM6DSL_ACC_GYRO_ODR_XL_t new_odr;
nikapov 0:704c89673b57 609
nikapov 0:704c89673b57 610 new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_13Hz
nikapov 0:704c89673b57 611 : ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_26Hz
nikapov 0:704c89673b57 612 : ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_52Hz
nikapov 0:704c89673b57 613 : ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_104Hz
nikapov 0:704c89673b57 614 : ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_208Hz
nikapov 0:704c89673b57 615 : ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_416Hz
nikapov 0:704c89673b57 616 : ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_833Hz
nikapov 0:704c89673b57 617 : ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_1660Hz
nikapov 0:704c89673b57 618 : ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_3330Hz
nikapov 0:704c89673b57 619 : LSM6DSL_ACC_GYRO_ODR_XL_6660Hz;
nikapov 0:704c89673b57 620
nikapov 0:704c89673b57 621 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, new_odr ) == MEMS_ERROR )
nikapov 0:704c89673b57 622 {
nikapov 0:704c89673b57 623 return 1;
nikapov 0:704c89673b57 624 }
nikapov 0:704c89673b57 625
nikapov 0:704c89673b57 626 return 0;
nikapov 0:704c89673b57 627 }
nikapov 0:704c89673b57 628
nikapov 0:704c89673b57 629 /**
nikapov 0:704c89673b57 630 * @brief Set LSM6DSL Accelerometer output data rate when disabled
nikapov 0:704c89673b57 631 * @param odr the output data rate to be set
nikapov 0:704c89673b57 632 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 633 */
nikapov 0:704c89673b57 634 int LSM6DSLSensor::set_x_odr_when_disabled(float odr)
nikapov 0:704c89673b57 635 {
nikapov 0:704c89673b57 636 _x_last_odr = ( odr <= 13.0f ) ? 13.0f
nikapov 0:704c89673b57 637 : ( odr <= 26.0f ) ? 26.0f
nikapov 0:704c89673b57 638 : ( odr <= 52.0f ) ? 52.0f
nikapov 0:704c89673b57 639 : ( odr <= 104.0f ) ? 104.0f
nikapov 0:704c89673b57 640 : ( odr <= 208.0f ) ? 208.0f
nikapov 0:704c89673b57 641 : ( odr <= 416.0f ) ? 416.0f
nikapov 0:704c89673b57 642 : ( odr <= 833.0f ) ? 833.0f
nikapov 0:704c89673b57 643 : ( odr <= 1660.0f ) ? 1660.0f
nikapov 0:704c89673b57 644 : ( odr <= 3330.0f ) ? 3330.0f
nikapov 0:704c89673b57 645 : 6660.0f;
nikapov 0:704c89673b57 646
nikapov 0:704c89673b57 647 return 0;
nikapov 0:704c89673b57 648 }
nikapov 0:704c89673b57 649
nikapov 0:704c89673b57 650 /**
nikapov 0:704c89673b57 651 * @brief Set LSM6DSL Gyroscope output data rate
nikapov 0:704c89673b57 652 * @param odr the output data rate to be set
nikapov 0:704c89673b57 653 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 654 */
nikapov 0:704c89673b57 655 int LSM6DSLSensor::set_g_odr(float odr)
nikapov 0:704c89673b57 656 {
nikapov 0:704c89673b57 657 if(_g_is_enabled == 1)
nikapov 0:704c89673b57 658 {
nikapov 0:704c89673b57 659 if(set_g_odr_when_enabled(odr) == 1)
nikapov 0:704c89673b57 660 {
nikapov 0:704c89673b57 661 return 1;
nikapov 0:704c89673b57 662 }
nikapov 0:704c89673b57 663 }
nikapov 0:704c89673b57 664 else
nikapov 0:704c89673b57 665 {
nikapov 0:704c89673b57 666 if(set_g_odr_when_disabled(odr) == 1)
nikapov 0:704c89673b57 667 {
nikapov 0:704c89673b57 668 return 1;
nikapov 0:704c89673b57 669 }
nikapov 0:704c89673b57 670 }
nikapov 0:704c89673b57 671
nikapov 0:704c89673b57 672 return 0;
nikapov 0:704c89673b57 673 }
nikapov 0:704c89673b57 674
nikapov 0:704c89673b57 675 /**
nikapov 0:704c89673b57 676 * @brief Set LSM6DSL Gyroscope output data rate when enabled
nikapov 0:704c89673b57 677 * @param odr the output data rate to be set
nikapov 0:704c89673b57 678 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 679 */
nikapov 0:704c89673b57 680 int LSM6DSLSensor::set_g_odr_when_enabled(float odr)
nikapov 0:704c89673b57 681 {
nikapov 0:704c89673b57 682 LSM6DSL_ACC_GYRO_ODR_G_t new_odr;
nikapov 0:704c89673b57 683
nikapov 0:704c89673b57 684 new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_13Hz
nikapov 0:704c89673b57 685 : ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_26Hz
nikapov 0:704c89673b57 686 : ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_52Hz
nikapov 0:704c89673b57 687 : ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_104Hz
nikapov 0:704c89673b57 688 : ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_208Hz
nikapov 0:704c89673b57 689 : ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_416Hz
nikapov 0:704c89673b57 690 : ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_833Hz
nikapov 0:704c89673b57 691 : ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_1660Hz
nikapov 0:704c89673b57 692 : ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_3330Hz
nikapov 0:704c89673b57 693 : LSM6DSL_ACC_GYRO_ODR_G_6660Hz;
nikapov 0:704c89673b57 694
nikapov 0:704c89673b57 695 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, new_odr ) == MEMS_ERROR )
nikapov 0:704c89673b57 696 {
nikapov 0:704c89673b57 697 return 1;
nikapov 0:704c89673b57 698 }
nikapov 0:704c89673b57 699
nikapov 0:704c89673b57 700 return 0;
nikapov 0:704c89673b57 701 }
nikapov 0:704c89673b57 702
nikapov 0:704c89673b57 703 /**
nikapov 0:704c89673b57 704 * @brief Set LSM6DSL Gyroscope output data rate when disabled
nikapov 0:704c89673b57 705 * @param odr the output data rate to be set
nikapov 0:704c89673b57 706 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 707 */
nikapov 0:704c89673b57 708 int LSM6DSLSensor::set_g_odr_when_disabled(float odr)
nikapov 0:704c89673b57 709 {
nikapov 0:704c89673b57 710 _g_last_odr = ( odr <= 13.0f ) ? 13.0f
nikapov 0:704c89673b57 711 : ( odr <= 26.0f ) ? 26.0f
nikapov 0:704c89673b57 712 : ( odr <= 52.0f ) ? 52.0f
nikapov 0:704c89673b57 713 : ( odr <= 104.0f ) ? 104.0f
nikapov 0:704c89673b57 714 : ( odr <= 208.0f ) ? 208.0f
nikapov 0:704c89673b57 715 : ( odr <= 416.0f ) ? 416.0f
nikapov 0:704c89673b57 716 : ( odr <= 833.0f ) ? 833.0f
nikapov 0:704c89673b57 717 : ( odr <= 1660.0f ) ? 1660.0f
nikapov 0:704c89673b57 718 : ( odr <= 3330.0f ) ? 3330.0f
nikapov 0:704c89673b57 719 : 6660.0f;
nikapov 0:704c89673b57 720
nikapov 0:704c89673b57 721 return 0;
nikapov 0:704c89673b57 722 }
nikapov 0:704c89673b57 723
nikapov 0:704c89673b57 724 /**
nikapov 0:704c89673b57 725 * @brief Read LSM6DSL Accelerometer full scale
nikapov 0:704c89673b57 726 * @param fullScale the pointer to the full scale
nikapov 0:704c89673b57 727 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 728 */
nikapov 0:704c89673b57 729 int LSM6DSLSensor::get_x_fs(float* fullScale)
nikapov 0:704c89673b57 730 {
nikapov 0:704c89673b57 731 LSM6DSL_ACC_GYRO_FS_XL_t fs_low_level;
nikapov 0:704c89673b57 732
nikapov 0:704c89673b57 733 if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fs_low_level ) == MEMS_ERROR )
nikapov 0:704c89673b57 734 {
nikapov 0:704c89673b57 735 return 1;
nikapov 0:704c89673b57 736 }
nikapov 0:704c89673b57 737
nikapov 0:704c89673b57 738 switch( fs_low_level )
nikapov 0:704c89673b57 739 {
nikapov 0:704c89673b57 740 case LSM6DSL_ACC_GYRO_FS_XL_2g:
nikapov 0:704c89673b57 741 *fullScale = 2.0f;
nikapov 0:704c89673b57 742 break;
nikapov 0:704c89673b57 743 case LSM6DSL_ACC_GYRO_FS_XL_4g:
nikapov 0:704c89673b57 744 *fullScale = 4.0f;
nikapov 0:704c89673b57 745 break;
nikapov 0:704c89673b57 746 case LSM6DSL_ACC_GYRO_FS_XL_8g:
nikapov 0:704c89673b57 747 *fullScale = 8.0f;
nikapov 0:704c89673b57 748 break;
nikapov 0:704c89673b57 749 case LSM6DSL_ACC_GYRO_FS_XL_16g:
nikapov 0:704c89673b57 750 *fullScale = 16.0f;
nikapov 0:704c89673b57 751 break;
nikapov 0:704c89673b57 752 default:
nikapov 0:704c89673b57 753 *fullScale = -1.0f;
nikapov 0:704c89673b57 754 return 1;
nikapov 0:704c89673b57 755 }
nikapov 0:704c89673b57 756
nikapov 0:704c89673b57 757 return 0;
nikapov 0:704c89673b57 758 }
nikapov 0:704c89673b57 759
nikapov 0:704c89673b57 760 /**
nikapov 0:704c89673b57 761 * @brief Read LSM6DSL Gyroscope full scale
nikapov 0:704c89673b57 762 * @param fullScale the pointer to the full scale
nikapov 0:704c89673b57 763 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 764 */
nikapov 0:704c89673b57 765 int LSM6DSLSensor::get_g_fs(float* fullScale)
nikapov 0:704c89673b57 766 {
nikapov 0:704c89673b57 767 LSM6DSL_ACC_GYRO_FS_G_t fs_low_level;
nikapov 0:704c89673b57 768 LSM6DSL_ACC_GYRO_FS_125_t fs_125;
nikapov 0:704c89673b57 769
nikapov 0:704c89673b57 770 if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fs_125 ) == MEMS_ERROR )
nikapov 0:704c89673b57 771 {
nikapov 0:704c89673b57 772 return 1;
nikapov 0:704c89673b57 773 }
nikapov 0:704c89673b57 774 if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fs_low_level ) == MEMS_ERROR )
nikapov 0:704c89673b57 775 {
nikapov 0:704c89673b57 776 return 1;
nikapov 0:704c89673b57 777 }
nikapov 0:704c89673b57 778
nikapov 0:704c89673b57 779 if ( fs_125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
nikapov 0:704c89673b57 780 {
nikapov 0:704c89673b57 781 *fullScale = 125.0f;
nikapov 0:704c89673b57 782 }
nikapov 0:704c89673b57 783
nikapov 0:704c89673b57 784 else
nikapov 0:704c89673b57 785 {
nikapov 0:704c89673b57 786 switch( fs_low_level )
nikapov 0:704c89673b57 787 {
nikapov 0:704c89673b57 788 case LSM6DSL_ACC_GYRO_FS_G_245dps:
nikapov 0:704c89673b57 789 *fullScale = 245.0f;
nikapov 0:704c89673b57 790 break;
nikapov 0:704c89673b57 791 case LSM6DSL_ACC_GYRO_FS_G_500dps:
nikapov 0:704c89673b57 792 *fullScale = 500.0f;
nikapov 0:704c89673b57 793 break;
nikapov 0:704c89673b57 794 case LSM6DSL_ACC_GYRO_FS_G_1000dps:
nikapov 0:704c89673b57 795 *fullScale = 1000.0f;
nikapov 0:704c89673b57 796 break;
nikapov 0:704c89673b57 797 case LSM6DSL_ACC_GYRO_FS_G_2000dps:
nikapov 0:704c89673b57 798 *fullScale = 2000.0f;
nikapov 0:704c89673b57 799 break;
nikapov 0:704c89673b57 800 default:
nikapov 0:704c89673b57 801 *fullScale = -1.0f;
nikapov 0:704c89673b57 802 return 1;
nikapov 0:704c89673b57 803 }
nikapov 0:704c89673b57 804 }
nikapov 0:704c89673b57 805
nikapov 0:704c89673b57 806 return 0;
nikapov 0:704c89673b57 807 }
nikapov 0:704c89673b57 808
nikapov 0:704c89673b57 809 /**
nikapov 0:704c89673b57 810 * @brief Set LSM6DSL Accelerometer full scale
nikapov 0:704c89673b57 811 * @param fullScale the full scale to be set
nikapov 0:704c89673b57 812 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 813 */
nikapov 0:704c89673b57 814 int LSM6DSLSensor::set_x_fs(float fullScale)
nikapov 0:704c89673b57 815 {
nikapov 0:704c89673b57 816 LSM6DSL_ACC_GYRO_FS_XL_t new_fs;
nikapov 0:704c89673b57 817
nikapov 0:704c89673b57 818 new_fs = ( fullScale <= 2.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_2g
nikapov 0:704c89673b57 819 : ( fullScale <= 4.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_4g
nikapov 0:704c89673b57 820 : ( fullScale <= 8.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_8g
nikapov 0:704c89673b57 821 : LSM6DSL_ACC_GYRO_FS_XL_16g;
nikapov 0:704c89673b57 822
nikapov 0:704c89673b57 823 if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, new_fs ) == MEMS_ERROR )
nikapov 0:704c89673b57 824 {
nikapov 0:704c89673b57 825 return 1;
nikapov 0:704c89673b57 826 }
nikapov 0:704c89673b57 827
nikapov 0:704c89673b57 828 return 0;
nikapov 0:704c89673b57 829 }
nikapov 0:704c89673b57 830
nikapov 0:704c89673b57 831 /**
nikapov 0:704c89673b57 832 * @brief Set LSM6DSL Gyroscope full scale
nikapov 0:704c89673b57 833 * @param fullScale the full scale to be set
nikapov 0:704c89673b57 834 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 835 */
nikapov 0:704c89673b57 836 int LSM6DSLSensor::set_g_fs(float fullScale)
nikapov 0:704c89673b57 837 {
nikapov 0:704c89673b57 838 LSM6DSL_ACC_GYRO_FS_G_t new_fs;
nikapov 0:704c89673b57 839
nikapov 0:704c89673b57 840 if ( fullScale <= 125.0f )
nikapov 0:704c89673b57 841 {
nikapov 0:704c89673b57 842 if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 843 {
nikapov 0:704c89673b57 844 return 1;
nikapov 0:704c89673b57 845 }
nikapov 0:704c89673b57 846 }
nikapov 0:704c89673b57 847 else
nikapov 0:704c89673b57 848 {
nikapov 0:704c89673b57 849 new_fs = ( fullScale <= 245.0f ) ? LSM6DSL_ACC_GYRO_FS_G_245dps
nikapov 0:704c89673b57 850 : ( fullScale <= 500.0f ) ? LSM6DSL_ACC_GYRO_FS_G_500dps
nikapov 0:704c89673b57 851 : ( fullScale <= 1000.0f ) ? LSM6DSL_ACC_GYRO_FS_G_1000dps
nikapov 0:704c89673b57 852 : LSM6DSL_ACC_GYRO_FS_G_2000dps;
nikapov 0:704c89673b57 853
nikapov 0:704c89673b57 854 if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 855 {
nikapov 0:704c89673b57 856 return 1;
nikapov 0:704c89673b57 857 }
nikapov 0:704c89673b57 858 if ( LSM6DSL_ACC_GYRO_W_FS_G( (void *)this, new_fs ) == MEMS_ERROR )
nikapov 0:704c89673b57 859 {
nikapov 0:704c89673b57 860 return 1;
nikapov 0:704c89673b57 861 }
nikapov 0:704c89673b57 862 }
nikapov 0:704c89673b57 863
nikapov 0:704c89673b57 864 return 0;
nikapov 0:704c89673b57 865 }
nikapov 0:704c89673b57 866
nikapov 0:704c89673b57 867 /**
nikapov 0:704c89673b57 868 * @brief Enable free fall detection
nikapov 0:704c89673b57 869 * @param pin the interrupt pin to be used
nikapov 0:704c89673b57 870 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
nikapov 0:704c89673b57 871 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 872 */
nikapov 0:704c89673b57 873 int LSM6DSLSensor::enable_free_fall_detection(LSM6DSL_Interrupt_Pin_t pin)
nikapov 0:704c89673b57 874 {
nikapov 0:704c89673b57 875 /* Output Data Rate selection */
nikapov 0:704c89673b57 876 if(set_x_odr(416.0f) == 1)
nikapov 0:704c89673b57 877 {
nikapov 0:704c89673b57 878 return 1;
nikapov 0:704c89673b57 879 }
nikapov 0:704c89673b57 880
nikapov 0:704c89673b57 881 /* Full scale selection */
nikapov 0:704c89673b57 882 if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, LSM6DSL_ACC_GYRO_FS_XL_2g ) == MEMS_ERROR )
nikapov 0:704c89673b57 883 {
nikapov 0:704c89673b57 884 return 1;
nikapov 0:704c89673b57 885 }
nikapov 0:704c89673b57 886
nikapov 0:704c89673b57 887 /* FF_DUR setting */
nikapov 0:704c89673b57 888 if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x06 ) == MEMS_ERROR )
nikapov 0:704c89673b57 889 {
nikapov 0:704c89673b57 890 return 1;
nikapov 0:704c89673b57 891 }
nikapov 0:704c89673b57 892
nikapov 0:704c89673b57 893 /* WAKE_DUR setting */
nikapov 0:704c89673b57 894 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
nikapov 0:704c89673b57 895 {
nikapov 0:704c89673b57 896 return 1;
nikapov 0:704c89673b57 897 }
nikapov 0:704c89673b57 898
nikapov 0:704c89673b57 899 /* TIMER_HR setting */
nikapov 0:704c89673b57 900 if ( LSM6DSL_ACC_GYRO_W_TIMER_HR( (void *)this, LSM6DSL_ACC_GYRO_TIMER_HR_6_4ms ) == MEMS_ERROR )
nikapov 0:704c89673b57 901 {
nikapov 0:704c89673b57 902 return 1;
nikapov 0:704c89673b57 903 }
nikapov 0:704c89673b57 904
nikapov 0:704c89673b57 905 /* SLEEP_DUR setting */
nikapov 0:704c89673b57 906 if ( LSM6DSL_ACC_GYRO_W_SLEEP_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
nikapov 0:704c89673b57 907 {
nikapov 0:704c89673b57 908 return 1;
nikapov 0:704c89673b57 909 }
nikapov 0:704c89673b57 910
nikapov 0:704c89673b57 911 /* FF_THS setting */
nikapov 0:704c89673b57 912 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_312mg ) == MEMS_ERROR )
nikapov 0:704c89673b57 913 {
nikapov 0:704c89673b57 914 return 1;
nikapov 0:704c89673b57 915 }
nikapov 0:704c89673b57 916
nikapov 0:704c89673b57 917 /* Enable basic Interrupts */
nikapov 0:704c89673b57 918 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 919 {
nikapov 0:704c89673b57 920 return 1;
nikapov 0:704c89673b57 921 }
nikapov 0:704c89673b57 922
nikapov 0:704c89673b57 923 /* Enable free fall event on either INT1 or INT2 pin */
nikapov 0:704c89673b57 924 switch (pin)
nikapov 0:704c89673b57 925 {
nikapov 0:704c89673b57 926 case LSM6DSL_INT1_PIN:
nikapov 0:704c89673b57 927 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 928 {
nikapov 0:704c89673b57 929 return 1;
nikapov 0:704c89673b57 930 }
nikapov 0:704c89673b57 931 break;
nikapov 0:704c89673b57 932
nikapov 0:704c89673b57 933 case LSM6DSL_INT2_PIN:
nikapov 0:704c89673b57 934 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_FF_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 935 {
nikapov 0:704c89673b57 936 return 1;
nikapov 0:704c89673b57 937 }
nikapov 0:704c89673b57 938 break;
nikapov 0:704c89673b57 939
nikapov 0:704c89673b57 940 default:
nikapov 0:704c89673b57 941 return 1;
nikapov 0:704c89673b57 942 }
nikapov 0:704c89673b57 943
nikapov 0:704c89673b57 944 return 0;
nikapov 0:704c89673b57 945 }
nikapov 0:704c89673b57 946
nikapov 0:704c89673b57 947 /**
nikapov 0:704c89673b57 948 * @brief Disable free fall detection
nikapov 0:704c89673b57 949 * @param None
nikapov 0:704c89673b57 950 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 951 */
nikapov 0:704c89673b57 952 int LSM6DSLSensor::disable_free_fall_detection(void)
nikapov 0:704c89673b57 953 {
nikapov 0:704c89673b57 954 /* Disable free fall event on INT1 pin */
nikapov 0:704c89673b57 955 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 956 {
nikapov 0:704c89673b57 957 return 1;
nikapov 0:704c89673b57 958 }
nikapov 0:704c89673b57 959
nikapov 0:704c89673b57 960 /* Disable free fall event on INT2 pin */
nikapov 0:704c89673b57 961 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_FF_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 962 {
nikapov 0:704c89673b57 963 return 1;
nikapov 0:704c89673b57 964 }
nikapov 0:704c89673b57 965
nikapov 0:704c89673b57 966 /* Disable basic Interrupts */
nikapov 0:704c89673b57 967 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 968 {
nikapov 0:704c89673b57 969 return 1;
nikapov 0:704c89673b57 970 }
nikapov 0:704c89673b57 971
nikapov 0:704c89673b57 972 /* FF_DUR setting */
nikapov 0:704c89673b57 973 if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x00 ) == MEMS_ERROR )
nikapov 0:704c89673b57 974 {
nikapov 0:704c89673b57 975 return 1;
nikapov 0:704c89673b57 976 }
nikapov 0:704c89673b57 977
nikapov 0:704c89673b57 978 /* FF_THS setting */
nikapov 0:704c89673b57 979 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_156mg ) == MEMS_ERROR )
nikapov 0:704c89673b57 980 {
nikapov 0:704c89673b57 981 return 1;
nikapov 0:704c89673b57 982 }
nikapov 0:704c89673b57 983
nikapov 0:704c89673b57 984 return 0;
nikapov 0:704c89673b57 985 }
nikapov 0:704c89673b57 986
nikapov 0:704c89673b57 987 /**
nikapov 0:704c89673b57 988 * @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 989 * @param thr the threshold to be set
nikapov 0:704c89673b57 990 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 991 */
nikapov 0:704c89673b57 992 int LSM6DSLSensor::set_free_fall_threshold(uint8_t thr)
nikapov 0:704c89673b57 993 {
nikapov 0:704c89673b57 994
nikapov 0:704c89673b57 995 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR )
nikapov 0:704c89673b57 996 {
nikapov 0:704c89673b57 997 return 1;
nikapov 0:704c89673b57 998 }
nikapov 0:704c89673b57 999
nikapov 0:704c89673b57 1000 return 0;
nikapov 0:704c89673b57 1001 }
nikapov 0:704c89673b57 1002
nikapov 0:704c89673b57 1003 /**
nikapov 0:704c89673b57 1004 * @brief Enable the pedometer feature for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1005 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
nikapov 0:704c89673b57 1006 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1007 */
nikapov 0:704c89673b57 1008 int LSM6DSLSensor::enable_pedometer(void)
nikapov 0:704c89673b57 1009 {
nikapov 0:704c89673b57 1010 /* Output Data Rate selection */
nikapov 0:704c89673b57 1011 if( set_x_odr(26.0f) == 1 )
nikapov 0:704c89673b57 1012 {
nikapov 0:704c89673b57 1013 return 1;
nikapov 0:704c89673b57 1014 }
nikapov 0:704c89673b57 1015
nikapov 0:704c89673b57 1016 /* Full scale selection. */
nikapov 0:704c89673b57 1017 if( set_x_fs(2.0f) == 1 )
nikapov 0:704c89673b57 1018 {
nikapov 0:704c89673b57 1019 return 1;
nikapov 0:704c89673b57 1020 }
nikapov 0:704c89673b57 1021
nikapov 0:704c89673b57 1022 /* Set pedometer threshold. */
nikapov 0:704c89673b57 1023 if ( set_pedometer_threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == 1 )
nikapov 0:704c89673b57 1024 {
nikapov 0:704c89673b57 1025 return 1;
nikapov 0:704c89673b57 1026 }
nikapov 0:704c89673b57 1027
nikapov 0:704c89673b57 1028 /* Enable embedded functionalities. */
nikapov 0:704c89673b57 1029 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1030 {
nikapov 0:704c89673b57 1031 return 1;
nikapov 0:704c89673b57 1032 }
nikapov 0:704c89673b57 1033
nikapov 0:704c89673b57 1034 /* Enable pedometer algorithm. */
nikapov 0:704c89673b57 1035 if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1036 {
nikapov 0:704c89673b57 1037 return 1;
nikapov 0:704c89673b57 1038 }
nikapov 0:704c89673b57 1039
nikapov 0:704c89673b57 1040 /* Enable pedometer on INT1. */
nikapov 0:704c89673b57 1041 if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1042 {
nikapov 0:704c89673b57 1043 return 1;
nikapov 0:704c89673b57 1044 }
nikapov 0:704c89673b57 1045
nikapov 0:704c89673b57 1046 return 0;
nikapov 0:704c89673b57 1047 }
nikapov 0:704c89673b57 1048
nikapov 0:704c89673b57 1049 /**
nikapov 0:704c89673b57 1050 * @brief Disable the pedometer feature for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1051 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1052 */
nikapov 0:704c89673b57 1053 int LSM6DSLSensor::disable_pedometer(void)
nikapov 0:704c89673b57 1054 {
nikapov 0:704c89673b57 1055 /* Disable pedometer on INT1. */
nikapov 0:704c89673b57 1056 if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1057 {
nikapov 0:704c89673b57 1058 return 1;
nikapov 0:704c89673b57 1059 }
nikapov 0:704c89673b57 1060
nikapov 0:704c89673b57 1061 /* Disable pedometer algorithm. */
nikapov 0:704c89673b57 1062 if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1063 {
nikapov 0:704c89673b57 1064 return 1;
nikapov 0:704c89673b57 1065 }
nikapov 0:704c89673b57 1066
nikapov 0:704c89673b57 1067 /* Disable embedded functionalities. */
nikapov 0:704c89673b57 1068 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1069 {
nikapov 0:704c89673b57 1070 return 1;
nikapov 0:704c89673b57 1071 }
nikapov 0:704c89673b57 1072
nikapov 0:704c89673b57 1073 /* Reset pedometer threshold. */
nikapov 0:704c89673b57 1074 if ( set_pedometer_threshold(0x0) == 1 )
nikapov 0:704c89673b57 1075 {
nikapov 0:704c89673b57 1076 return 1;
nikapov 0:704c89673b57 1077 }
nikapov 0:704c89673b57 1078
nikapov 0:704c89673b57 1079 return 0;
nikapov 0:704c89673b57 1080 }
nikapov 0:704c89673b57 1081
nikapov 0:704c89673b57 1082 /**
nikapov 0:704c89673b57 1083 * @brief Get the step counter for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1084 * @param step_count the pointer to the step counter
nikapov 0:704c89673b57 1085 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1086 */
nikapov 0:704c89673b57 1087 int LSM6DSLSensor::get_step_counter(uint16_t *step_count)
nikapov 0:704c89673b57 1088 {
nikapov 0:704c89673b57 1089 if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void *)this, ( uint8_t* )step_count ) == MEMS_ERROR )
nikapov 0:704c89673b57 1090 {
nikapov 0:704c89673b57 1091 return 1;
nikapov 0:704c89673b57 1092 }
nikapov 0:704c89673b57 1093
nikapov 0:704c89673b57 1094 return 0;
nikapov 0:704c89673b57 1095 }
nikapov 0:704c89673b57 1096
nikapov 0:704c89673b57 1097 /**
nikapov 0:704c89673b57 1098 * @brief Reset of the step counter for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1099 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1100 */
nikapov 0:704c89673b57 1101 int LSM6DSLSensor::reset_step_counter(void)
nikapov 0:704c89673b57 1102 {
nikapov 0:704c89673b57 1103 if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1104 {
nikapov 0:704c89673b57 1105 return 1;
nikapov 0:704c89673b57 1106 }
nikapov 0:704c89673b57 1107
nikapov 0:704c89673b57 1108 wait_ms(10);
nikapov 0:704c89673b57 1109
nikapov 0:704c89673b57 1110 if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1111 {
nikapov 0:704c89673b57 1112 return 1;
nikapov 0:704c89673b57 1113 }
nikapov 0:704c89673b57 1114
nikapov 0:704c89673b57 1115 return 0;
nikapov 0:704c89673b57 1116 }
nikapov 0:704c89673b57 1117
nikapov 0:704c89673b57 1118 /**
nikapov 0:704c89673b57 1119 * @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1120 * @param thr the threshold to be set
nikapov 0:704c89673b57 1121 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1122 */
nikapov 0:704c89673b57 1123 int LSM6DSLSensor::set_pedometer_threshold(uint8_t thr)
nikapov 0:704c89673b57 1124 {
nikapov 0:704c89673b57 1125 if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
nikapov 0:704c89673b57 1126 {
nikapov 0:704c89673b57 1127 return 1;
nikapov 0:704c89673b57 1128 }
nikapov 0:704c89673b57 1129
nikapov 0:704c89673b57 1130 return 0;
nikapov 0:704c89673b57 1131 }
nikapov 0:704c89673b57 1132
nikapov 0:704c89673b57 1133 /**
nikapov 0:704c89673b57 1134 * @brief Enable the tilt detection for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1135 * @param pin the interrupt pin to be used
nikapov 0:704c89673b57 1136 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
nikapov 0:704c89673b57 1137 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1138 */
nikapov 0:704c89673b57 1139 int LSM6DSLSensor::enable_tilt_detection(LSM6DSL_Interrupt_Pin_t pin)
nikapov 0:704c89673b57 1140 {
nikapov 0:704c89673b57 1141 /* Output Data Rate selection */
nikapov 0:704c89673b57 1142 if( set_x_odr(26.0f) == 1 )
nikapov 0:704c89673b57 1143 {
nikapov 0:704c89673b57 1144 return 1;
nikapov 0:704c89673b57 1145 }
nikapov 0:704c89673b57 1146
nikapov 0:704c89673b57 1147 /* Full scale selection. */
nikapov 0:704c89673b57 1148 if( set_x_fs(2.0f) == 1 )
nikapov 0:704c89673b57 1149 {
nikapov 0:704c89673b57 1150 return 1;
nikapov 0:704c89673b57 1151 }
nikapov 0:704c89673b57 1152
nikapov 0:704c89673b57 1153 /* Enable embedded functionalities */
nikapov 0:704c89673b57 1154 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1155 {
nikapov 0:704c89673b57 1156 return 1;
nikapov 0:704c89673b57 1157 }
nikapov 0:704c89673b57 1158
nikapov 0:704c89673b57 1159 /* Enable tilt calculation. */
nikapov 0:704c89673b57 1160 if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1161 {
nikapov 0:704c89673b57 1162 return 1;
nikapov 0:704c89673b57 1163 }
nikapov 0:704c89673b57 1164
nikapov 0:704c89673b57 1165 /* Enable tilt detection on either INT1 or INT2 pin */
nikapov 0:704c89673b57 1166 switch (pin)
nikapov 0:704c89673b57 1167 {
nikapov 0:704c89673b57 1168 case LSM6DSL_INT1_PIN:
nikapov 0:704c89673b57 1169 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1170 {
nikapov 0:704c89673b57 1171 return 1;
nikapov 0:704c89673b57 1172 }
nikapov 0:704c89673b57 1173 break;
nikapov 0:704c89673b57 1174
nikapov 0:704c89673b57 1175 case LSM6DSL_INT2_PIN:
nikapov 0:704c89673b57 1176 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TILT_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1177 {
nikapov 0:704c89673b57 1178 return 1;
nikapov 0:704c89673b57 1179 }
nikapov 0:704c89673b57 1180 break;
nikapov 0:704c89673b57 1181
nikapov 0:704c89673b57 1182 default:
nikapov 0:704c89673b57 1183 return 1;
nikapov 0:704c89673b57 1184 }
nikapov 0:704c89673b57 1185
nikapov 0:704c89673b57 1186 return 0;
nikapov 0:704c89673b57 1187 }
nikapov 0:704c89673b57 1188
nikapov 0:704c89673b57 1189 /**
nikapov 0:704c89673b57 1190 * @brief Disable the tilt detection for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1191 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1192 */
nikapov 0:704c89673b57 1193 int LSM6DSLSensor::disable_tilt_detection(void)
nikapov 0:704c89673b57 1194 {
nikapov 0:704c89673b57 1195 /* Disable tilt event on INT1. */
nikapov 0:704c89673b57 1196 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1197 {
nikapov 0:704c89673b57 1198 return 1;
nikapov 0:704c89673b57 1199 }
nikapov 0:704c89673b57 1200
nikapov 0:704c89673b57 1201 /* Disable tilt event on INT2. */
nikapov 0:704c89673b57 1202 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TILT_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1203 {
nikapov 0:704c89673b57 1204 return 1;
nikapov 0:704c89673b57 1205 }
nikapov 0:704c89673b57 1206
nikapov 0:704c89673b57 1207 /* Disable tilt calculation. */
nikapov 0:704c89673b57 1208 if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1209 {
nikapov 0:704c89673b57 1210 return 1;
nikapov 0:704c89673b57 1211 }
nikapov 0:704c89673b57 1212
nikapov 0:704c89673b57 1213 /* Disable embedded functionalities */
nikapov 0:704c89673b57 1214 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1215 {
nikapov 0:704c89673b57 1216 return 1;
nikapov 0:704c89673b57 1217 }
nikapov 0:704c89673b57 1218
nikapov 0:704c89673b57 1219 return 0;
nikapov 0:704c89673b57 1220 }
nikapov 0:704c89673b57 1221
nikapov 0:704c89673b57 1222 /**
nikapov 0:704c89673b57 1223 * @brief Enable the wake up detection for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1224 * @param pin the interrupt pin to be used
nikapov 0:704c89673b57 1225 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
nikapov 0:704c89673b57 1226 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1227 */
nikapov 0:704c89673b57 1228 int LSM6DSLSensor::enable_wake_up_detection(LSM6DSL_Interrupt_Pin_t pin)
nikapov 0:704c89673b57 1229 {
nikapov 0:704c89673b57 1230 /* Output Data Rate selection */
nikapov 0:704c89673b57 1231 if( set_x_odr(416.0f) == 1 )
nikapov 0:704c89673b57 1232 {
nikapov 0:704c89673b57 1233 return 1;
nikapov 0:704c89673b57 1234 }
nikapov 0:704c89673b57 1235
nikapov 0:704c89673b57 1236 /* Full scale selection. */
nikapov 0:704c89673b57 1237 if( set_x_fs(2.0f) == 1 )
nikapov 0:704c89673b57 1238 {
nikapov 0:704c89673b57 1239 return 1;
nikapov 0:704c89673b57 1240 }
nikapov 0:704c89673b57 1241
nikapov 0:704c89673b57 1242 /* WAKE_DUR setting */
nikapov 0:704c89673b57 1243 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
nikapov 0:704c89673b57 1244 {
nikapov 0:704c89673b57 1245 return 1;
nikapov 0:704c89673b57 1246 }
nikapov 0:704c89673b57 1247
nikapov 0:704c89673b57 1248 /* Set wake up threshold. */
nikapov 0:704c89673b57 1249 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
nikapov 0:704c89673b57 1250 {
nikapov 0:704c89673b57 1251 return 1;
nikapov 0:704c89673b57 1252 }
nikapov 0:704c89673b57 1253
nikapov 0:704c89673b57 1254 /* Enable basic Interrupts */
nikapov 0:704c89673b57 1255 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1256 {
nikapov 0:704c89673b57 1257 return 1;
nikapov 0:704c89673b57 1258 }
nikapov 0:704c89673b57 1259
nikapov 0:704c89673b57 1260 /* Enable wake up detection on either INT1 or INT2 pin */
nikapov 0:704c89673b57 1261 switch (pin)
nikapov 0:704c89673b57 1262 {
nikapov 0:704c89673b57 1263 case LSM6DSL_INT1_PIN:
nikapov 0:704c89673b57 1264 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1265 {
nikapov 0:704c89673b57 1266 return 1;
nikapov 0:704c89673b57 1267 }
nikapov 0:704c89673b57 1268 break;
nikapov 0:704c89673b57 1269
nikapov 0:704c89673b57 1270 case LSM6DSL_INT2_PIN:
nikapov 0:704c89673b57 1271 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1272 {
nikapov 0:704c89673b57 1273 return 1;
nikapov 0:704c89673b57 1274 }
nikapov 0:704c89673b57 1275 break;
nikapov 0:704c89673b57 1276
nikapov 0:704c89673b57 1277 default:
nikapov 0:704c89673b57 1278 return 1;
nikapov 0:704c89673b57 1279 }
nikapov 0:704c89673b57 1280
nikapov 0:704c89673b57 1281 return 0;
nikapov 0:704c89673b57 1282 }
nikapov 0:704c89673b57 1283
nikapov 0:704c89673b57 1284 /**
nikapov 0:704c89673b57 1285 * @brief Disable the wake up detection for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1286 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1287 */
nikapov 0:704c89673b57 1288 int LSM6DSLSensor::disable_wake_up_detection(void)
nikapov 0:704c89673b57 1289 {
nikapov 0:704c89673b57 1290 /* Disable wake up event on INT1 */
nikapov 0:704c89673b57 1291 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1292 {
nikapov 0:704c89673b57 1293 return 1;
nikapov 0:704c89673b57 1294 }
nikapov 0:704c89673b57 1295
nikapov 0:704c89673b57 1296 /* Disable wake up event on INT2 */
nikapov 0:704c89673b57 1297 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1298 {
nikapov 0:704c89673b57 1299 return 1;
nikapov 0:704c89673b57 1300 }
nikapov 0:704c89673b57 1301
nikapov 0:704c89673b57 1302 /* Disable basic Interrupts */
nikapov 0:704c89673b57 1303 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1304 {
nikapov 0:704c89673b57 1305 return 1;
nikapov 0:704c89673b57 1306 }
nikapov 0:704c89673b57 1307
nikapov 0:704c89673b57 1308 /* WU_DUR setting */
nikapov 0:704c89673b57 1309 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
nikapov 0:704c89673b57 1310 {
nikapov 0:704c89673b57 1311 return 1;
nikapov 0:704c89673b57 1312 }
nikapov 0:704c89673b57 1313
nikapov 0:704c89673b57 1314 /* WU_THS setting */
nikapov 0:704c89673b57 1315 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
nikapov 0:704c89673b57 1316 {
nikapov 0:704c89673b57 1317 return 1;
nikapov 0:704c89673b57 1318 }
nikapov 0:704c89673b57 1319
nikapov 0:704c89673b57 1320 return 0;
nikapov 0:704c89673b57 1321 }
nikapov 0:704c89673b57 1322
nikapov 0:704c89673b57 1323 /**
nikapov 0:704c89673b57 1324 * @brief Set the wake up threshold for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1325 * @param thr the threshold to be set
nikapov 0:704c89673b57 1326 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1327 */
nikapov 0:704c89673b57 1328 int LSM6DSLSensor::set_wake_up_threshold(uint8_t thr)
nikapov 0:704c89673b57 1329 {
nikapov 0:704c89673b57 1330 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
nikapov 0:704c89673b57 1331 {
nikapov 0:704c89673b57 1332 return 1;
nikapov 0:704c89673b57 1333 }
nikapov 0:704c89673b57 1334
nikapov 0:704c89673b57 1335 return 0;
nikapov 0:704c89673b57 1336 }
nikapov 0:704c89673b57 1337
nikapov 0:704c89673b57 1338 /**
nikapov 0:704c89673b57 1339 * @brief Enable the single tap detection for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1340 * @param pin the interrupt pin to be used
nikapov 0:704c89673b57 1341 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
nikapov 0:704c89673b57 1342 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1343 */
nikapov 0:704c89673b57 1344 int LSM6DSLSensor::enable_single_tap_detection(LSM6DSL_Interrupt_Pin_t pin)
nikapov 0:704c89673b57 1345 {
nikapov 0:704c89673b57 1346 /* Output Data Rate selection */
nikapov 0:704c89673b57 1347 if( set_x_odr(416.0f) == 1 )
nikapov 0:704c89673b57 1348 {
nikapov 0:704c89673b57 1349 return 1;
nikapov 0:704c89673b57 1350 }
nikapov 0:704c89673b57 1351
nikapov 0:704c89673b57 1352 /* Full scale selection. */
nikapov 0:704c89673b57 1353 if( set_x_fs(2.0f) == 1 )
nikapov 0:704c89673b57 1354 {
nikapov 0:704c89673b57 1355 return 1;
nikapov 0:704c89673b57 1356 }
nikapov 0:704c89673b57 1357
nikapov 0:704c89673b57 1358 /* Enable X direction in tap recognition. */
nikapov 0:704c89673b57 1359 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1360 {
nikapov 0:704c89673b57 1361 return 1;
nikapov 0:704c89673b57 1362 }
nikapov 0:704c89673b57 1363
nikapov 0:704c89673b57 1364 /* Enable Y direction in tap recognition. */
nikapov 0:704c89673b57 1365 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1366 {
nikapov 0:704c89673b57 1367 return 1;
nikapov 0:704c89673b57 1368 }
nikapov 0:704c89673b57 1369
nikapov 0:704c89673b57 1370 /* Enable Z direction in tap recognition. */
nikapov 0:704c89673b57 1371 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1372 {
nikapov 0:704c89673b57 1373 return 1;
nikapov 0:704c89673b57 1374 }
nikapov 0:704c89673b57 1375
nikapov 0:704c89673b57 1376 /* Set tap threshold. */
nikapov 0:704c89673b57 1377 if ( set_tap_threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
nikapov 0:704c89673b57 1378 {
nikapov 0:704c89673b57 1379 return 1;
nikapov 0:704c89673b57 1380 }
nikapov 0:704c89673b57 1381
nikapov 0:704c89673b57 1382 /* Set tap shock time window. */
nikapov 0:704c89673b57 1383 if ( set_tap_shock_time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == 1 )
nikapov 0:704c89673b57 1384 {
nikapov 0:704c89673b57 1385 return 1;
nikapov 0:704c89673b57 1386 }
nikapov 0:704c89673b57 1387
nikapov 0:704c89673b57 1388 /* Set tap quiet time window. */
nikapov 0:704c89673b57 1389 if ( set_tap_quiet_time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == 1 )
nikapov 0:704c89673b57 1390 {
nikapov 0:704c89673b57 1391 return 1;
nikapov 0:704c89673b57 1392 }
nikapov 0:704c89673b57 1393
nikapov 0:704c89673b57 1394 /* _NOTE_: Tap duration time window - don't care for single tap. */
nikapov 0:704c89673b57 1395
nikapov 0:704c89673b57 1396 /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
nikapov 0:704c89673b57 1397
nikapov 0:704c89673b57 1398 /* Enable basic Interrupts */
nikapov 0:704c89673b57 1399 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1400 {
nikapov 0:704c89673b57 1401 return 1;
nikapov 0:704c89673b57 1402 }
nikapov 0:704c89673b57 1403
nikapov 0:704c89673b57 1404 /* Enable single tap on either INT1 or INT2 pin */
nikapov 0:704c89673b57 1405 switch (pin)
nikapov 0:704c89673b57 1406 {
nikapov 0:704c89673b57 1407 case LSM6DSL_INT1_PIN:
nikapov 0:704c89673b57 1408 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1409 {
nikapov 0:704c89673b57 1410 return 1;
nikapov 0:704c89673b57 1411 }
nikapov 0:704c89673b57 1412 break;
nikapov 0:704c89673b57 1413
nikapov 0:704c89673b57 1414 case LSM6DSL_INT2_PIN:
nikapov 0:704c89673b57 1415 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1416 {
nikapov 0:704c89673b57 1417 return 1;
nikapov 0:704c89673b57 1418 }
nikapov 0:704c89673b57 1419 break;
nikapov 0:704c89673b57 1420
nikapov 0:704c89673b57 1421 default:
nikapov 0:704c89673b57 1422 return 1;
nikapov 0:704c89673b57 1423 }
nikapov 0:704c89673b57 1424
nikapov 0:704c89673b57 1425 return 0;
nikapov 0:704c89673b57 1426 }
nikapov 0:704c89673b57 1427
nikapov 0:704c89673b57 1428 /**
nikapov 0:704c89673b57 1429 * @brief Disable the single tap detection for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1430 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1431 */
nikapov 0:704c89673b57 1432 int LSM6DSLSensor::disable_single_tap_detection(void)
nikapov 0:704c89673b57 1433 {
nikapov 0:704c89673b57 1434 /* Disable single tap interrupt on INT1 pin. */
nikapov 0:704c89673b57 1435 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1436 {
nikapov 0:704c89673b57 1437 return 1;
nikapov 0:704c89673b57 1438 }
nikapov 0:704c89673b57 1439
nikapov 0:704c89673b57 1440 /* Disable single tap interrupt on INT2 pin. */
nikapov 0:704c89673b57 1441 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1442 {
nikapov 0:704c89673b57 1443 return 1;
nikapov 0:704c89673b57 1444 }
nikapov 0:704c89673b57 1445
nikapov 0:704c89673b57 1446 /* Disable basic Interrupts */
nikapov 0:704c89673b57 1447 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1448 {
nikapov 0:704c89673b57 1449 return 1;
nikapov 0:704c89673b57 1450 }
nikapov 0:704c89673b57 1451
nikapov 0:704c89673b57 1452 /* Reset tap threshold. */
nikapov 0:704c89673b57 1453 if ( set_tap_threshold( 0x0 ) == 1 )
nikapov 0:704c89673b57 1454 {
nikapov 0:704c89673b57 1455 return 1;
nikapov 0:704c89673b57 1456 }
nikapov 0:704c89673b57 1457
nikapov 0:704c89673b57 1458 /* Reset tap shock time window. */
nikapov 0:704c89673b57 1459 if ( set_tap_shock_time( 0x0 ) == 1 )
nikapov 0:704c89673b57 1460 {
nikapov 0:704c89673b57 1461 return 1;
nikapov 0:704c89673b57 1462 }
nikapov 0:704c89673b57 1463
nikapov 0:704c89673b57 1464 /* Reset tap quiet time window. */
nikapov 0:704c89673b57 1465 if ( set_tap_quiet_time( 0x0 ) == 1 )
nikapov 0:704c89673b57 1466 {
nikapov 0:704c89673b57 1467 return 1;
nikapov 0:704c89673b57 1468 }
nikapov 0:704c89673b57 1469
nikapov 0:704c89673b57 1470 /* _NOTE_: Tap duration time window - don't care for single tap. */
nikapov 0:704c89673b57 1471
nikapov 0:704c89673b57 1472 /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
nikapov 0:704c89673b57 1473
nikapov 0:704c89673b57 1474 /* Disable Z direction in tap recognition. */
nikapov 0:704c89673b57 1475 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1476 {
nikapov 0:704c89673b57 1477 return 1;
nikapov 0:704c89673b57 1478 }
nikapov 0:704c89673b57 1479
nikapov 0:704c89673b57 1480 /* Disable Y direction in tap recognition. */
nikapov 0:704c89673b57 1481 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1482 {
nikapov 0:704c89673b57 1483 return 1;
nikapov 0:704c89673b57 1484 }
nikapov 0:704c89673b57 1485
nikapov 0:704c89673b57 1486 /* Disable X direction in tap recognition. */
nikapov 0:704c89673b57 1487 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1488 {
nikapov 0:704c89673b57 1489 return 1;
nikapov 0:704c89673b57 1490 }
nikapov 0:704c89673b57 1491
nikapov 0:704c89673b57 1492 return 0;
nikapov 0:704c89673b57 1493 }
nikapov 0:704c89673b57 1494
nikapov 0:704c89673b57 1495 /**
nikapov 0:704c89673b57 1496 * @brief Enable the double tap detection for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1497 * @param pin the interrupt pin to be used
nikapov 0:704c89673b57 1498 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
nikapov 0:704c89673b57 1499 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1500 */
nikapov 0:704c89673b57 1501 int LSM6DSLSensor::enable_double_tap_detection(LSM6DSL_Interrupt_Pin_t pin)
nikapov 0:704c89673b57 1502 {
nikapov 0:704c89673b57 1503 /* Output Data Rate selection */
nikapov 0:704c89673b57 1504 if( set_x_odr(416.0f) == 1 )
nikapov 0:704c89673b57 1505 {
nikapov 0:704c89673b57 1506 return 1;
nikapov 0:704c89673b57 1507 }
nikapov 0:704c89673b57 1508
nikapov 0:704c89673b57 1509 /* Full scale selection. */
nikapov 0:704c89673b57 1510 if( set_x_fs(2.0f) == 1 )
nikapov 0:704c89673b57 1511 {
nikapov 0:704c89673b57 1512 return 1;
nikapov 0:704c89673b57 1513 }
nikapov 0:704c89673b57 1514
nikapov 0:704c89673b57 1515 /* Enable X direction in tap recognition. */
nikapov 0:704c89673b57 1516 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1517 {
nikapov 0:704c89673b57 1518 return 1;
nikapov 0:704c89673b57 1519 }
nikapov 0:704c89673b57 1520
nikapov 0:704c89673b57 1521 /* Enable Y direction in tap recognition. */
nikapov 0:704c89673b57 1522 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1523 {
nikapov 0:704c89673b57 1524 return 1;
nikapov 0:704c89673b57 1525 }
nikapov 0:704c89673b57 1526
nikapov 0:704c89673b57 1527 /* Enable Z direction in tap recognition. */
nikapov 0:704c89673b57 1528 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1529 {
nikapov 0:704c89673b57 1530 return 1;
nikapov 0:704c89673b57 1531 }
nikapov 0:704c89673b57 1532
nikapov 0:704c89673b57 1533 /* Set tap threshold. */
nikapov 0:704c89673b57 1534 if ( set_tap_threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
nikapov 0:704c89673b57 1535 {
nikapov 0:704c89673b57 1536 return 1;
nikapov 0:704c89673b57 1537 }
nikapov 0:704c89673b57 1538
nikapov 0:704c89673b57 1539 /* Set tap shock time window. */
nikapov 0:704c89673b57 1540 if ( set_tap_shock_time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == 1 )
nikapov 0:704c89673b57 1541 {
nikapov 0:704c89673b57 1542 return 1;
nikapov 0:704c89673b57 1543 }
nikapov 0:704c89673b57 1544
nikapov 0:704c89673b57 1545 /* Set tap quiet time window. */
nikapov 0:704c89673b57 1546 if ( set_tap_quiet_time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == 1 )
nikapov 0:704c89673b57 1547 {
nikapov 0:704c89673b57 1548 return 1;
nikapov 0:704c89673b57 1549 }
nikapov 0:704c89673b57 1550
nikapov 0:704c89673b57 1551 /* Set tap duration time window. */
nikapov 0:704c89673b57 1552 if ( set_tap_duration_time( LSM6DSL_TAP_DURATION_TIME_MID ) == 1 )
nikapov 0:704c89673b57 1553 {
nikapov 0:704c89673b57 1554 return 1;
nikapov 0:704c89673b57 1555 }
nikapov 0:704c89673b57 1556
nikapov 0:704c89673b57 1557 /* Single and double tap enabled. */
nikapov 0:704c89673b57 1558 if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
nikapov 0:704c89673b57 1559 {
nikapov 0:704c89673b57 1560 return 1;
nikapov 0:704c89673b57 1561 }
nikapov 0:704c89673b57 1562
nikapov 0:704c89673b57 1563 /* Enable basic Interrupts */
nikapov 0:704c89673b57 1564 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1565 {
nikapov 0:704c89673b57 1566 return 1;
nikapov 0:704c89673b57 1567 }
nikapov 0:704c89673b57 1568
nikapov 0:704c89673b57 1569 /* Enable double tap on either INT1 or INT2 pin */
nikapov 0:704c89673b57 1570 switch (pin)
nikapov 0:704c89673b57 1571 {
nikapov 0:704c89673b57 1572 case LSM6DSL_INT1_PIN:
nikapov 0:704c89673b57 1573 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1574 {
nikapov 0:704c89673b57 1575 return 1;
nikapov 0:704c89673b57 1576 }
nikapov 0:704c89673b57 1577 break;
nikapov 0:704c89673b57 1578
nikapov 0:704c89673b57 1579 case LSM6DSL_INT2_PIN:
nikapov 0:704c89673b57 1580 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TAP_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1581 {
nikapov 0:704c89673b57 1582 return 1;
nikapov 0:704c89673b57 1583 }
nikapov 0:704c89673b57 1584 break;
nikapov 0:704c89673b57 1585
nikapov 0:704c89673b57 1586 default:
nikapov 0:704c89673b57 1587 return 1;
nikapov 0:704c89673b57 1588 }
nikapov 0:704c89673b57 1589
nikapov 0:704c89673b57 1590 return 0;
nikapov 0:704c89673b57 1591 }
nikapov 0:704c89673b57 1592
nikapov 0:704c89673b57 1593 /**
nikapov 0:704c89673b57 1594 * @brief Disable the double tap detection for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1595 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1596 */
nikapov 0:704c89673b57 1597 int LSM6DSLSensor::disable_double_tap_detection(void)
nikapov 0:704c89673b57 1598 {
nikapov 0:704c89673b57 1599 /* Disable double tap interrupt on INT1 pin. */
nikapov 0:704c89673b57 1600 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1601 {
nikapov 0:704c89673b57 1602 return 1;
nikapov 0:704c89673b57 1603 }
nikapov 0:704c89673b57 1604
nikapov 0:704c89673b57 1605 /* Disable double tap interrupt on INT2 pin. */
nikapov 0:704c89673b57 1606 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TAP_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1607 {
nikapov 0:704c89673b57 1608 return 1;
nikapov 0:704c89673b57 1609 }
nikapov 0:704c89673b57 1610
nikapov 0:704c89673b57 1611 /* Disable basic Interrupts */
nikapov 0:704c89673b57 1612 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1613 {
nikapov 0:704c89673b57 1614 return 1;
nikapov 0:704c89673b57 1615 }
nikapov 0:704c89673b57 1616
nikapov 0:704c89673b57 1617 /* Reset tap threshold. */
nikapov 0:704c89673b57 1618 if ( set_tap_threshold( 0x0 ) == 1 )
nikapov 0:704c89673b57 1619 {
nikapov 0:704c89673b57 1620 return 1;
nikapov 0:704c89673b57 1621 }
nikapov 0:704c89673b57 1622
nikapov 0:704c89673b57 1623 /* Reset tap shock time window. */
nikapov 0:704c89673b57 1624 if ( set_tap_shock_time( 0x0 ) == 1 )
nikapov 0:704c89673b57 1625 {
nikapov 0:704c89673b57 1626 return 1;
nikapov 0:704c89673b57 1627 }
nikapov 0:704c89673b57 1628
nikapov 0:704c89673b57 1629 /* Reset tap quiet time window. */
nikapov 0:704c89673b57 1630 if ( set_tap_quiet_time( 0x0 ) == 1 )
nikapov 0:704c89673b57 1631 {
nikapov 0:704c89673b57 1632 return 1;
nikapov 0:704c89673b57 1633 }
nikapov 0:704c89673b57 1634
nikapov 0:704c89673b57 1635 /* Reset tap duration time window. */
nikapov 0:704c89673b57 1636 if ( set_tap_duration_time( 0x0 ) == 1 )
nikapov 0:704c89673b57 1637 {
nikapov 0:704c89673b57 1638 return 1;
nikapov 0:704c89673b57 1639 }
nikapov 0:704c89673b57 1640
nikapov 0:704c89673b57 1641 /* Only single tap enabled. */
nikapov 0:704c89673b57 1642 if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
nikapov 0:704c89673b57 1643 {
nikapov 0:704c89673b57 1644 return 1;
nikapov 0:704c89673b57 1645 }
nikapov 0:704c89673b57 1646
nikapov 0:704c89673b57 1647 /* Disable Z direction in tap recognition. */
nikapov 0:704c89673b57 1648 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1649 {
nikapov 0:704c89673b57 1650 return 1;
nikapov 0:704c89673b57 1651 }
nikapov 0:704c89673b57 1652
nikapov 0:704c89673b57 1653 /* Disable Y direction in tap recognition. */
nikapov 0:704c89673b57 1654 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1655 {
nikapov 0:704c89673b57 1656 return 1;
nikapov 0:704c89673b57 1657 }
nikapov 0:704c89673b57 1658
nikapov 0:704c89673b57 1659 /* Disable X direction in tap recognition. */
nikapov 0:704c89673b57 1660 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1661 {
nikapov 0:704c89673b57 1662 return 1;
nikapov 0:704c89673b57 1663 }
nikapov 0:704c89673b57 1664
nikapov 0:704c89673b57 1665 return 0;
nikapov 0:704c89673b57 1666 }
nikapov 0:704c89673b57 1667
nikapov 0:704c89673b57 1668 /**
nikapov 0:704c89673b57 1669 * @brief Set the tap threshold for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1670 * @param thr the threshold to be set
nikapov 0:704c89673b57 1671 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1672 */
nikapov 0:704c89673b57 1673 int LSM6DSLSensor::set_tap_threshold(uint8_t thr)
nikapov 0:704c89673b57 1674 {
nikapov 0:704c89673b57 1675 if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
nikapov 0:704c89673b57 1676 {
nikapov 0:704c89673b57 1677 return 1;
nikapov 0:704c89673b57 1678 }
nikapov 0:704c89673b57 1679
nikapov 0:704c89673b57 1680 return 0;
nikapov 0:704c89673b57 1681 }
nikapov 0:704c89673b57 1682
nikapov 0:704c89673b57 1683 /**
nikapov 0:704c89673b57 1684 * @brief Set the tap shock time window for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1685 * @param time the shock time window to be set
nikapov 0:704c89673b57 1686 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1687 */
nikapov 0:704c89673b57 1688 int LSM6DSLSensor::set_tap_shock_time(uint8_t time)
nikapov 0:704c89673b57 1689 {
nikapov 0:704c89673b57 1690 if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
nikapov 0:704c89673b57 1691 {
nikapov 0:704c89673b57 1692 return 1;
nikapov 0:704c89673b57 1693 }
nikapov 0:704c89673b57 1694
nikapov 0:704c89673b57 1695 return 0;
nikapov 0:704c89673b57 1696 }
nikapov 0:704c89673b57 1697
nikapov 0:704c89673b57 1698 /**
nikapov 0:704c89673b57 1699 * @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1700 * @param time the quiet time window to be set
nikapov 0:704c89673b57 1701 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1702 */
nikapov 0:704c89673b57 1703 int LSM6DSLSensor::set_tap_quiet_time(uint8_t time)
nikapov 0:704c89673b57 1704 {
nikapov 0:704c89673b57 1705 if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
nikapov 0:704c89673b57 1706 {
nikapov 0:704c89673b57 1707 return 1;
nikapov 0:704c89673b57 1708 }
nikapov 0:704c89673b57 1709
nikapov 0:704c89673b57 1710 return 0;
nikapov 0:704c89673b57 1711 }
nikapov 0:704c89673b57 1712
nikapov 0:704c89673b57 1713 /**
nikapov 0:704c89673b57 1714 * @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1715 * @param time the duration of the time window to be set
nikapov 0:704c89673b57 1716 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1717 */
nikapov 0:704c89673b57 1718 int LSM6DSLSensor::set_tap_duration_time(uint8_t time)
nikapov 0:704c89673b57 1719 {
nikapov 0:704c89673b57 1720 if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
nikapov 0:704c89673b57 1721 {
nikapov 0:704c89673b57 1722 return 1;
nikapov 0:704c89673b57 1723 }
nikapov 0:704c89673b57 1724
nikapov 0:704c89673b57 1725 return 0;
nikapov 0:704c89673b57 1726 }
nikapov 0:704c89673b57 1727
nikapov 0:704c89673b57 1728 /**
nikapov 0:704c89673b57 1729 * @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1730 * @param pin the interrupt pin to be used
nikapov 0:704c89673b57 1731 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
nikapov 0:704c89673b57 1732 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1733 */
nikapov 0:704c89673b57 1734 int LSM6DSLSensor::enable_6d_orientation(LSM6DSL_Interrupt_Pin_t pin)
nikapov 0:704c89673b57 1735 {
nikapov 0:704c89673b57 1736 /* Output Data Rate selection */
nikapov 0:704c89673b57 1737 if( set_x_odr(416.0f) == 1 )
nikapov 0:704c89673b57 1738 {
nikapov 0:704c89673b57 1739 return 1;
nikapov 0:704c89673b57 1740 }
nikapov 0:704c89673b57 1741
nikapov 0:704c89673b57 1742 /* Full scale selection. */
nikapov 0:704c89673b57 1743 if( set_x_fs(2.0f) == 1 )
nikapov 0:704c89673b57 1744 {
nikapov 0:704c89673b57 1745 return 1;
nikapov 0:704c89673b57 1746 }
nikapov 0:704c89673b57 1747
nikapov 0:704c89673b57 1748 /* Set 6D threshold. */
nikapov 0:704c89673b57 1749 if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
nikapov 0:704c89673b57 1750 {
nikapov 0:704c89673b57 1751 return 1;
nikapov 0:704c89673b57 1752 }
nikapov 0:704c89673b57 1753
nikapov 0:704c89673b57 1754 /* Enable basic Interrupts */
nikapov 0:704c89673b57 1755 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1756 {
nikapov 0:704c89673b57 1757 return 1;
nikapov 0:704c89673b57 1758 }
nikapov 0:704c89673b57 1759
nikapov 0:704c89673b57 1760 /* Enable 6D orientation on either INT1 or INT2 pin */
nikapov 0:704c89673b57 1761 switch (pin)
nikapov 0:704c89673b57 1762 {
nikapov 0:704c89673b57 1763 case LSM6DSL_INT1_PIN:
nikapov 0:704c89673b57 1764 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1765 {
nikapov 0:704c89673b57 1766 return 1;
nikapov 0:704c89673b57 1767 }
nikapov 0:704c89673b57 1768 break;
nikapov 0:704c89673b57 1769
nikapov 0:704c89673b57 1770 case LSM6DSL_INT2_PIN:
nikapov 0:704c89673b57 1771 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_6D_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1772 {
nikapov 0:704c89673b57 1773 return 1;
nikapov 0:704c89673b57 1774 }
nikapov 0:704c89673b57 1775 break;
nikapov 0:704c89673b57 1776
nikapov 0:704c89673b57 1777 default:
nikapov 0:704c89673b57 1778 return 1;
nikapov 0:704c89673b57 1779 }
nikapov 0:704c89673b57 1780
nikapov 0:704c89673b57 1781 return 0;
nikapov 0:704c89673b57 1782 }
nikapov 0:704c89673b57 1783
nikapov 0:704c89673b57 1784 /**
nikapov 0:704c89673b57 1785 * @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1786 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1787 */
nikapov 0:704c89673b57 1788 int LSM6DSLSensor::disable_6d_orientation(void)
nikapov 0:704c89673b57 1789 {
nikapov 0:704c89673b57 1790 /* Disable 6D orientation interrupt on INT1 pin. */
nikapov 0:704c89673b57 1791 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1792 {
nikapov 0:704c89673b57 1793 return 1;
nikapov 0:704c89673b57 1794 }
nikapov 0:704c89673b57 1795
nikapov 0:704c89673b57 1796 /* Disable 6D orientation interrupt on INT2 pin. */
nikapov 0:704c89673b57 1797 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_6D_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1798 {
nikapov 0:704c89673b57 1799 return 1;
nikapov 0:704c89673b57 1800 }
nikapov 0:704c89673b57 1801
nikapov 0:704c89673b57 1802 /* Disable basic Interrupts */
nikapov 0:704c89673b57 1803 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1804 {
nikapov 0:704c89673b57 1805 return 1;
nikapov 0:704c89673b57 1806 }
nikapov 0:704c89673b57 1807
nikapov 0:704c89673b57 1808 /* Reset 6D threshold. */
nikapov 0:704c89673b57 1809 if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
nikapov 0:704c89673b57 1810 {
nikapov 0:704c89673b57 1811 return 1;
nikapov 0:704c89673b57 1812 }
nikapov 0:704c89673b57 1813
nikapov 0:704c89673b57 1814 return 0;
nikapov 0:704c89673b57 1815 }
nikapov 0:704c89673b57 1816
nikapov 0:704c89673b57 1817 /**
nikapov 0:704c89673b57 1818 * @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1819 * @param xl the pointer to the 6D orientation XL axis
nikapov 0:704c89673b57 1820 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1821 */
nikapov 0:704c89673b57 1822 int LSM6DSLSensor::get_6d_orientation_xl(uint8_t *xl)
nikapov 0:704c89673b57 1823 {
nikapov 0:704c89673b57 1824 LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
nikapov 0:704c89673b57 1825
nikapov 0:704c89673b57 1826 if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
nikapov 0:704c89673b57 1827 {
nikapov 0:704c89673b57 1828 return 1;
nikapov 0:704c89673b57 1829 }
nikapov 0:704c89673b57 1830
nikapov 0:704c89673b57 1831 switch( xl_raw )
nikapov 0:704c89673b57 1832 {
nikapov 0:704c89673b57 1833 case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
nikapov 0:704c89673b57 1834 *xl = 1;
nikapov 0:704c89673b57 1835 break;
nikapov 0:704c89673b57 1836 case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
nikapov 0:704c89673b57 1837 *xl = 0;
nikapov 0:704c89673b57 1838 break;
nikapov 0:704c89673b57 1839 default:
nikapov 0:704c89673b57 1840 return 1;
nikapov 0:704c89673b57 1841 }
nikapov 0:704c89673b57 1842
nikapov 0:704c89673b57 1843 return 0;
nikapov 0:704c89673b57 1844 }
nikapov 0:704c89673b57 1845
nikapov 0:704c89673b57 1846 /**
nikapov 0:704c89673b57 1847 * @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1848 * @param xh the pointer to the 6D orientation XH axis
nikapov 0:704c89673b57 1849 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1850 */
nikapov 0:704c89673b57 1851 int LSM6DSLSensor::get_6d_orientation_xh(uint8_t *xh)
nikapov 0:704c89673b57 1852 {
nikapov 0:704c89673b57 1853 LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
nikapov 0:704c89673b57 1854
nikapov 0:704c89673b57 1855 if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
nikapov 0:704c89673b57 1856 {
nikapov 0:704c89673b57 1857 return 1;
nikapov 0:704c89673b57 1858 }
nikapov 0:704c89673b57 1859
nikapov 0:704c89673b57 1860 switch( xh_raw )
nikapov 0:704c89673b57 1861 {
nikapov 0:704c89673b57 1862 case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
nikapov 0:704c89673b57 1863 *xh = 1;
nikapov 0:704c89673b57 1864 break;
nikapov 0:704c89673b57 1865 case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
nikapov 0:704c89673b57 1866 *xh = 0;
nikapov 0:704c89673b57 1867 break;
nikapov 0:704c89673b57 1868 default:
nikapov 0:704c89673b57 1869 return 1;
nikapov 0:704c89673b57 1870 }
nikapov 0:704c89673b57 1871
nikapov 0:704c89673b57 1872 return 0;
nikapov 0:704c89673b57 1873 }
nikapov 0:704c89673b57 1874
nikapov 0:704c89673b57 1875 /**
nikapov 0:704c89673b57 1876 * @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1877 * @param yl the pointer to the 6D orientation YL axis
nikapov 0:704c89673b57 1878 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1879 */
nikapov 0:704c89673b57 1880 int LSM6DSLSensor::get_6d_orientation_yl(uint8_t *yl)
nikapov 0:704c89673b57 1881 {
nikapov 0:704c89673b57 1882 LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
nikapov 0:704c89673b57 1883
nikapov 0:704c89673b57 1884 if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
nikapov 0:704c89673b57 1885 {
nikapov 0:704c89673b57 1886 return 1;
nikapov 0:704c89673b57 1887 }
nikapov 0:704c89673b57 1888
nikapov 0:704c89673b57 1889 switch( yl_raw )
nikapov 0:704c89673b57 1890 {
nikapov 0:704c89673b57 1891 case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
nikapov 0:704c89673b57 1892 *yl = 1;
nikapov 0:704c89673b57 1893 break;
nikapov 0:704c89673b57 1894 case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
nikapov 0:704c89673b57 1895 *yl = 0;
nikapov 0:704c89673b57 1896 break;
nikapov 0:704c89673b57 1897 default:
nikapov 0:704c89673b57 1898 return 1;
nikapov 0:704c89673b57 1899 }
nikapov 0:704c89673b57 1900
nikapov 0:704c89673b57 1901 return 0;
nikapov 0:704c89673b57 1902 }
nikapov 0:704c89673b57 1903
nikapov 0:704c89673b57 1904 /**
nikapov 0:704c89673b57 1905 * @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1906 * @param yh the pointer to the 6D orientation YH axis
nikapov 0:704c89673b57 1907 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1908 */
nikapov 0:704c89673b57 1909 int LSM6DSLSensor::get_6d_orientation_yh(uint8_t *yh)
nikapov 0:704c89673b57 1910 {
nikapov 0:704c89673b57 1911 LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
nikapov 0:704c89673b57 1912
nikapov 0:704c89673b57 1913 if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
nikapov 0:704c89673b57 1914 {
nikapov 0:704c89673b57 1915 return 1;
nikapov 0:704c89673b57 1916 }
nikapov 0:704c89673b57 1917
nikapov 0:704c89673b57 1918 switch( yh_raw )
nikapov 0:704c89673b57 1919 {
nikapov 0:704c89673b57 1920 case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
nikapov 0:704c89673b57 1921 *yh = 1;
nikapov 0:704c89673b57 1922 break;
nikapov 0:704c89673b57 1923 case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
nikapov 0:704c89673b57 1924 *yh = 0;
nikapov 0:704c89673b57 1925 break;
nikapov 0:704c89673b57 1926 default:
nikapov 0:704c89673b57 1927 return 1;
nikapov 0:704c89673b57 1928 }
nikapov 0:704c89673b57 1929
nikapov 0:704c89673b57 1930 return 0;
nikapov 0:704c89673b57 1931 }
nikapov 0:704c89673b57 1932
nikapov 0:704c89673b57 1933 /**
nikapov 0:704c89673b57 1934 * @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1935 * @param zl the pointer to the 6D orientation ZL axis
nikapov 0:704c89673b57 1936 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1937 */
nikapov 0:704c89673b57 1938 int LSM6DSLSensor::get_6d_orientation_zl(uint8_t *zl)
nikapov 0:704c89673b57 1939 {
nikapov 0:704c89673b57 1940 LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
nikapov 0:704c89673b57 1941
nikapov 0:704c89673b57 1942 if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
nikapov 0:704c89673b57 1943 {
nikapov 0:704c89673b57 1944 return 1;
nikapov 0:704c89673b57 1945 }
nikapov 0:704c89673b57 1946
nikapov 0:704c89673b57 1947 switch( zl_raw )
nikapov 0:704c89673b57 1948 {
nikapov 0:704c89673b57 1949 case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
nikapov 0:704c89673b57 1950 *zl = 1;
nikapov 0:704c89673b57 1951 break;
nikapov 0:704c89673b57 1952 case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
nikapov 0:704c89673b57 1953 *zl = 0;
nikapov 0:704c89673b57 1954 break;
nikapov 0:704c89673b57 1955 default:
nikapov 0:704c89673b57 1956 return 1;
nikapov 0:704c89673b57 1957 }
nikapov 0:704c89673b57 1958
nikapov 0:704c89673b57 1959 return 0;
nikapov 0:704c89673b57 1960 }
nikapov 0:704c89673b57 1961
nikapov 0:704c89673b57 1962 /**
nikapov 0:704c89673b57 1963 * @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1964 * @param zh the pointer to the 6D orientation ZH axis
nikapov 0:704c89673b57 1965 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1966 */
nikapov 0:704c89673b57 1967 int LSM6DSLSensor::get_6d_orientation_zh(uint8_t *zh)
nikapov 0:704c89673b57 1968 {
nikapov 0:704c89673b57 1969 LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
nikapov 0:704c89673b57 1970
nikapov 0:704c89673b57 1971 if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
nikapov 0:704c89673b57 1972 {
nikapov 0:704c89673b57 1973 return 1;
nikapov 0:704c89673b57 1974 }
nikapov 0:704c89673b57 1975
nikapov 0:704c89673b57 1976 switch( zh_raw )
nikapov 0:704c89673b57 1977 {
nikapov 0:704c89673b57 1978 case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
nikapov 0:704c89673b57 1979 *zh = 1;
nikapov 0:704c89673b57 1980 break;
nikapov 0:704c89673b57 1981 case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
nikapov 0:704c89673b57 1982 *zh = 0;
nikapov 0:704c89673b57 1983 break;
nikapov 0:704c89673b57 1984 default:
nikapov 0:704c89673b57 1985 return 1;
nikapov 0:704c89673b57 1986 }
nikapov 0:704c89673b57 1987
nikapov 0:704c89673b57 1988 return 0;
nikapov 0:704c89673b57 1989 }
nikapov 0:704c89673b57 1990
nikapov 0:704c89673b57 1991 /**
nikapov 0:704c89673b57 1992 * @brief Get the status of all hardware events for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1993 * @param status the pointer to the status of all hardware events
nikapov 0:704c89673b57 1994 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1995 */
nikapov 0:704c89673b57 1996 int LSM6DSLSensor::get_event_status(LSM6DSL_Event_Status_t *status)
nikapov 0:704c89673b57 1997 {
nikapov 0:704c89673b57 1998 uint8_t Wake_Up_Src = 0, Tap_Src = 0, D6D_Src = 0, Func_Src = 0, Md1_Cfg = 0, Md2_Cfg = 0, Int1_Ctrl = 0;
nikapov 0:704c89673b57 1999
nikapov 0:704c89673b57 2000 memset((void *)status, 0x0, sizeof(LSM6DSL_Event_Status_t));
nikapov 0:704c89673b57 2001
nikapov 0:704c89673b57 2002 if(read_reg(LSM6DSL_ACC_GYRO_WAKE_UP_SRC, &Wake_Up_Src) != 0)
nikapov 0:704c89673b57 2003 {
nikapov 0:704c89673b57 2004 return 1;
nikapov 0:704c89673b57 2005 }
nikapov 0:704c89673b57 2006
nikapov 0:704c89673b57 2007 if(read_reg(LSM6DSL_ACC_GYRO_TAP_SRC, &Tap_Src) != 0)
nikapov 0:704c89673b57 2008 {
nikapov 0:704c89673b57 2009 return 1;
nikapov 0:704c89673b57 2010 }
nikapov 0:704c89673b57 2011
nikapov 0:704c89673b57 2012 if(read_reg(LSM6DSL_ACC_GYRO_D6D_SRC, &D6D_Src) != 0)
nikapov 0:704c89673b57 2013 {
nikapov 0:704c89673b57 2014 return 1;
nikapov 0:704c89673b57 2015 }
nikapov 0:704c89673b57 2016
nikapov 0:704c89673b57 2017 if(read_reg(LSM6DSL_ACC_GYRO_FUNC_SRC, &Func_Src) != 0)
nikapov 0:704c89673b57 2018 {
nikapov 0:704c89673b57 2019 return 1;
nikapov 0:704c89673b57 2020 }
nikapov 0:704c89673b57 2021
nikapov 0:704c89673b57 2022 if(read_reg(LSM6DSL_ACC_GYRO_MD1_CFG, &Md1_Cfg ) != 0 )
nikapov 0:704c89673b57 2023 {
nikapov 0:704c89673b57 2024 return 1;
nikapov 0:704c89673b57 2025 }
nikapov 0:704c89673b57 2026
nikapov 0:704c89673b57 2027 if(read_reg(LSM6DSL_ACC_GYRO_MD2_CFG, &Md2_Cfg ) != 0)
nikapov 0:704c89673b57 2028 {
nikapov 0:704c89673b57 2029 return 1;
nikapov 0:704c89673b57 2030 }
nikapov 0:704c89673b57 2031
nikapov 0:704c89673b57 2032 if(read_reg(LSM6DSL_ACC_GYRO_INT1_CTRL, &Int1_Ctrl ) != 0)
nikapov 0:704c89673b57 2033 {
nikapov 0:704c89673b57 2034 return 1;
nikapov 0:704c89673b57 2035 }
nikapov 0:704c89673b57 2036
nikapov 0:704c89673b57 2037 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_FF_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_FF_MASK))
nikapov 0:704c89673b57 2038 {
nikapov 0:704c89673b57 2039 if((Wake_Up_Src & LSM6DSL_ACC_GYRO_FF_EV_STATUS_MASK))
nikapov 0:704c89673b57 2040 {
nikapov 0:704c89673b57 2041 status->FreeFallStatus = 1;
nikapov 0:704c89673b57 2042 }
nikapov 0:704c89673b57 2043 }
nikapov 0:704c89673b57 2044
nikapov 0:704c89673b57 2045 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_WU_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_WU_MASK))
nikapov 0:704c89673b57 2046 {
nikapov 0:704c89673b57 2047 if((Wake_Up_Src & LSM6DSL_ACC_GYRO_WU_EV_STATUS_MASK))
nikapov 0:704c89673b57 2048 {
nikapov 0:704c89673b57 2049 status->WakeUpStatus = 1;
nikapov 0:704c89673b57 2050 }
nikapov 0:704c89673b57 2051 }
nikapov 0:704c89673b57 2052
nikapov 0:704c89673b57 2053 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_MASK))
nikapov 0:704c89673b57 2054 {
nikapov 0:704c89673b57 2055 if((Tap_Src & LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_MASK))
nikapov 0:704c89673b57 2056 {
nikapov 0:704c89673b57 2057 status->TapStatus = 1;
nikapov 0:704c89673b57 2058 }
nikapov 0:704c89673b57 2059 }
nikapov 0:704c89673b57 2060
nikapov 0:704c89673b57 2061 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TAP_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_TAP_MASK))
nikapov 0:704c89673b57 2062 {
nikapov 0:704c89673b57 2063 if((Tap_Src & LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_MASK))
nikapov 0:704c89673b57 2064 {
nikapov 0:704c89673b57 2065 status->DoubleTapStatus = 1;
nikapov 0:704c89673b57 2066 }
nikapov 0:704c89673b57 2067 }
nikapov 0:704c89673b57 2068
nikapov 0:704c89673b57 2069 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_6D_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_6D_MASK))
nikapov 0:704c89673b57 2070 {
nikapov 0:704c89673b57 2071 if((D6D_Src & LSM6DSL_ACC_GYRO_D6D_EV_STATUS_MASK))
nikapov 0:704c89673b57 2072 {
nikapov 0:704c89673b57 2073 status->D6DOrientationStatus = 1;
nikapov 0:704c89673b57 2074 }
nikapov 0:704c89673b57 2075 }
nikapov 0:704c89673b57 2076
nikapov 0:704c89673b57 2077 if((Int1_Ctrl & LSM6DSL_ACC_GYRO_INT1_PEDO_MASK))
nikapov 0:704c89673b57 2078 {
nikapov 0:704c89673b57 2079 if((Func_Src & LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_MASK))
nikapov 0:704c89673b57 2080 {
nikapov 0:704c89673b57 2081 status->StepStatus = 1;
nikapov 0:704c89673b57 2082 }
nikapov 0:704c89673b57 2083 }
nikapov 0:704c89673b57 2084
nikapov 0:704c89673b57 2085 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TILT_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_TILT_MASK))
nikapov 0:704c89673b57 2086 {
nikapov 0:704c89673b57 2087 if((Func_Src & LSM6DSL_ACC_GYRO_TILT_EV_STATUS_MASK))
nikapov 0:704c89673b57 2088 {
nikapov 0:704c89673b57 2089 status->TiltStatus = 1;
nikapov 0:704c89673b57 2090 }
nikapov 0:704c89673b57 2091 }
nikapov 0:704c89673b57 2092
nikapov 0:704c89673b57 2093 return 0;
nikapov 0:704c89673b57 2094 }
nikapov 0:704c89673b57 2095
nikapov 0:704c89673b57 2096 /**
nikapov 0:704c89673b57 2097 * @brief Read the data from register
nikapov 0:704c89673b57 2098 * @param reg register address
nikapov 0:704c89673b57 2099 * @param data register data
nikapov 0:704c89673b57 2100 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 2101 */
nikapov 0:704c89673b57 2102 int LSM6DSLSensor::read_reg( uint8_t reg, uint8_t *data )
nikapov 0:704c89673b57 2103 {
nikapov 0:704c89673b57 2104
nikapov 0:704c89673b57 2105 if ( LSM6DSL_ACC_GYRO_read_reg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
nikapov 0:704c89673b57 2106 {
nikapov 0:704c89673b57 2107 return 1;
nikapov 0:704c89673b57 2108 }
nikapov 0:704c89673b57 2109
nikapov 0:704c89673b57 2110 return 0;
nikapov 0:704c89673b57 2111 }
nikapov 0:704c89673b57 2112
nikapov 0:704c89673b57 2113 /**
nikapov 0:704c89673b57 2114 * @brief Write the data to register
nikapov 0:704c89673b57 2115 * @param reg register address
nikapov 0:704c89673b57 2116 * @param data register data
nikapov 0:704c89673b57 2117 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 2118 */
nikapov 0:704c89673b57 2119 int LSM6DSLSensor::write_reg( uint8_t reg, uint8_t data )
nikapov 0:704c89673b57 2120 {
nikapov 0:704c89673b57 2121
nikapov 0:704c89673b57 2122 if ( LSM6DSL_ACC_GYRO_write_reg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
nikapov 0:704c89673b57 2123 {
nikapov 0:704c89673b57 2124 return 1;
nikapov 0:704c89673b57 2125 }
nikapov 0:704c89673b57 2126
nikapov 0:704c89673b57 2127 return 0;
nikapov 0:704c89673b57 2128 }
nikapov 0:704c89673b57 2129
nikapov 0:704c89673b57 2130
nikapov 0:704c89673b57 2131 uint8_t LSM6DSL_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
nikapov 0:704c89673b57 2132 {
nikapov 0:704c89673b57 2133 return ((LSM6DSLSensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite);
nikapov 0:704c89673b57 2134 }
nikapov 0:704c89673b57 2135
nikapov 0:704c89673b57 2136 uint8_t LSM6DSL_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
nikapov 0:704c89673b57 2137 {
nikapov 0:704c89673b57 2138 return ((LSM6DSLSensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead);
nikapov 0:704c89673b57 2139 }