LSM6DSL - iNEMO inertial module: 3D accelerometer and 3D gy…

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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@1:c583f32fe272, 2017-09-27 (annotated)

Committer:: mapellil
Date:: Wed Sep 27 16:50:11 2017 +0200
Revision:: 1:c583f32fe272
Parent:: 0:704c89673b57
Child:: 2:578a45c4dad5

Fixed NonCopyable

Who changed what in which revision?

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

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Type:	Library
Created:	04 Sep 2017
Imports:	224
Forks:	1
Commits:	10
Dependents:	24
Dependencies:	2
Followers:	406

The code in this repository is Apache licensed.

LSM6DSLSensor.cpp@1:c583f32fe272, 2017-09-27 (annotated)

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