ST / LSM6DSL

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

Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

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

LSM6DSLSensor.cpp@7:ec5abe7d3a62, 2022-01-10 (annotated)

Committer:
cparata
Date:
Mon Jan 10 14:47:57 2022 +0000
Revision:
7:ec5abe7d3a62
Parent:
6:1fcf5cb8d615
Child:
8:9a1017389cc7
Remove useless include

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nikapov 0:704c89673b57 1 /**
nikapov 0:704c89673b57 2 ******************************************************************************
nikapov 0:704c89673b57 3 * @file LSM6DSLSensor.cpp
nikapov 0:704c89673b57 4 * @author CLab
nikapov 0:704c89673b57 5 * @version V1.0.0
nikapov 0:704c89673b57 6 * @date 5 August 2016
nikapov 0:704c89673b57 7 * @brief Implementation of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
nikapov 0:704c89673b57 8 * sensor.
nikapov 0:704c89673b57 9 ******************************************************************************
nikapov 0:704c89673b57 10 * @attention
nikapov 0:704c89673b57 11 *
nikapov 0:704c89673b57 12 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
nikapov 0:704c89673b57 13 *
nikapov 0:704c89673b57 14 * Redistribution and use in source and binary forms, with or without modification,
nikapov 0:704c89673b57 15 * are permitted provided that the following conditions are met:
nikapov 0:704c89673b57 16 * 1. Redistributions of source code must retain the above copyright notice,
nikapov 0:704c89673b57 17 * this list of conditions and the following disclaimer.
nikapov 0:704c89673b57 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
nikapov 0:704c89673b57 19 * this list of conditions and the following disclaimer in the documentation
nikapov 0:704c89673b57 20 * and/or other materials provided with the distribution.
nikapov 0:704c89673b57 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
nikapov 0:704c89673b57 22 * may be used to endorse or promote products derived from this software
nikapov 0:704c89673b57 23 * without specific prior written permission.
nikapov 0:704c89673b57 24 *
nikapov 0:704c89673b57 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
nikapov 0:704c89673b57 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
nikapov 0:704c89673b57 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
nikapov 0:704c89673b57 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
nikapov 0:704c89673b57 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
nikapov 0:704c89673b57 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
nikapov 0:704c89673b57 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
nikapov 0:704c89673b57 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
nikapov 0:704c89673b57 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
nikapov 0:704c89673b57 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
nikapov 0:704c89673b57 35 *
nikapov 0:704c89673b57 36 ******************************************************************************
nikapov 0:704c89673b57 37 */
nikapov 0:704c89673b57 38
nikapov 0:704c89673b57 39
nikapov 0:704c89673b57 40 /* Includes ------------------------------------------------------------------*/
nikapov 0:704c89673b57 41
nikapov 0:704c89673b57 42 #include "LSM6DSLSensor.h"
nikapov 0:704c89673b57 43
nikapov 0:704c89673b57 44 /* Class Implementation ------------------------------------------------------*/
nikapov 0:704c89673b57 45
mapellil 2:578a45c4dad5 46 LSM6DSLSensor::LSM6DSLSensor(SPI *spi, PinName cs_pin, PinName int1_pin, PinName int2_pin, SPI_type_t spi_type ) :
mapellil 2:578a45c4dad5 47 _dev_spi(spi), _cs_pin(cs_pin), _int1_irq(int1_pin), _int2_irq(int2_pin), _spi_type(spi_type)
mapellil 2:578a45c4dad5 48 {
mapellil 2:578a45c4dad5 49 assert (spi);
mapellil 2:578a45c4dad5 50 if (cs_pin == NC)
mapellil 2:578a45c4dad5 51 {
mapellil 2:578a45c4dad5 52 printf ("ERROR LPS22HBSensor CS MUST NOT BE NC\n\r");
mapellil 2:578a45c4dad5 53 _dev_spi = NULL;
mapellil 2:578a45c4dad5 54 _dev_i2c=NULL;
mapellil 2:578a45c4dad5 55 return;
mapellil 2:578a45c4dad5 56 }
mapellil 2:578a45c4dad5 57 _cs_pin = 1;
mapellil 2:578a45c4dad5 58 _dev_i2c=NULL;
mapellil 2:578a45c4dad5 59
mapellil 2:578a45c4dad5 60 if (_spi_type == SPI3W) LSM6DSL_ACC_GYRO_W_SPI_Mode((void *)this, LSM6DSL_ACC_GYRO_SIM_3_WIRE);
mapellil 2:578a45c4dad5 61 else LSM6DSL_ACC_GYRO_W_SPI_Mode((void *)this, LSM6DSL_ACC_GYRO_SIM_4_WIRE);
mapellil 2:578a45c4dad5 62
mapellil 2:578a45c4dad5 63 LSM6DSL_ACC_GYRO_W_I2C_MASTER_Enable((void *)this, LSM6DSL_ACC_GYRO_MASTER_ON_DISABLED);
mapellil 2:578a45c4dad5 64 }
mapellil 2:578a45c4dad5 65
nikapov 0:704c89673b57 66 /** Constructor
nikapov 0:704c89673b57 67 * @param i2c object of an helper class which handles the I2C peripheral
nikapov 0:704c89673b57 68 * @param address the address of the component's instance
nikapov 0:704c89673b57 69 */
mapellil 1:c583f32fe272 70 LSM6DSLSensor::LSM6DSLSensor(DevI2C *i2c, uint8_t address, PinName int1_pin, PinName int2_pin) :
mapellil 1:c583f32fe272 71 _dev_i2c(i2c), _address(address), _cs_pin(NC), _int1_irq(int1_pin), _int2_irq(int2_pin)
nikapov 0:704c89673b57 72 {
mapellil 1:c583f32fe272 73 assert (i2c);
mapellil 2:578a45c4dad5 74 _dev_spi = NULL;
mapellil 2:578a45c4dad5 75 }
nikapov 0:704c89673b57 76
nikapov 0:704c89673b57 77 /**
nikapov 0:704c89673b57 78 * @brief Initializing the component.
nikapov 0:704c89673b57 79 * @param[in] init pointer to device specific initalization structure.
nikapov 0:704c89673b57 80 * @retval "0" in case of success, an error code otherwise.
nikapov 0:704c89673b57 81 */
nikapov 0:704c89673b57 82 int LSM6DSLSensor::init(void *init)
nikapov 0:704c89673b57 83 {
nikapov 0:704c89673b57 84 /* Enable register address automatically incremented during a multiple byte
nikapov 0:704c89673b57 85 access with a serial interface. */
nikapov 0:704c89673b57 86 if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 87 {
nikapov 0:704c89673b57 88 return 1;
nikapov 0:704c89673b57 89 }
nikapov 0:704c89673b57 90
nikapov 0:704c89673b57 91 /* Enable BDU */
nikapov 0:704c89673b57 92 if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
nikapov 0:704c89673b57 93 {
nikapov 0:704c89673b57 94 return 1;
nikapov 0:704c89673b57 95 }
nikapov 0:704c89673b57 96
nikapov 0:704c89673b57 97 /* FIFO mode selection */
nikapov 0:704c89673b57 98 if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
nikapov 0:704c89673b57 99 {
nikapov 0:704c89673b57 100 return 1;
nikapov 0:704c89673b57 101 }
nikapov 0:704c89673b57 102
nikapov 0:704c89673b57 103 /* Output data rate selection - power down. */
nikapov 0:704c89673b57 104 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
nikapov 0:704c89673b57 105 {
nikapov 0:704c89673b57 106 return 1;
nikapov 0:704c89673b57 107 }
nikapov 0:704c89673b57 108
nikapov 0:704c89673b57 109 /* Full scale selection. */
nikapov 0:704c89673b57 110 if ( set_x_fs( 2.0f ) == 1 )
nikapov 0:704c89673b57 111 {
nikapov 0:704c89673b57 112 return 1;
nikapov 0:704c89673b57 113 }
nikapov 0:704c89673b57 114
nikapov 0:704c89673b57 115 /* Output data rate selection - power down */
nikapov 0:704c89673b57 116 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
nikapov 0:704c89673b57 117 {
nikapov 0:704c89673b57 118 return 1;
nikapov 0:704c89673b57 119 }
nikapov 0:704c89673b57 120
nikapov 0:704c89673b57 121 /* Full scale selection. */
nikapov 0:704c89673b57 122 if ( set_g_fs( 2000.0f ) == 1 )
nikapov 0:704c89673b57 123 {
nikapov 0:704c89673b57 124 return 1;
nikapov 0:704c89673b57 125 }
nikapov 0:704c89673b57 126
nikapov 0:704c89673b57 127 _x_last_odr = 104.0f;
nikapov 0:704c89673b57 128
nikapov 0:704c89673b57 129 _x_is_enabled = 0;
nikapov 0:704c89673b57 130
nikapov 0:704c89673b57 131 _g_last_odr = 104.0f;
nikapov 0:704c89673b57 132
nikapov 0:704c89673b57 133 _g_is_enabled = 0;
nikapov 0:704c89673b57 134
nikapov 0:704c89673b57 135 return 0;
nikapov 0:704c89673b57 136 }
nikapov 0:704c89673b57 137
nikapov 0:704c89673b57 138 /**
nikapov 0:704c89673b57 139 * @brief Enable LSM6DSL Accelerator
nikapov 0:704c89673b57 140 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 141 */
nikapov 0:704c89673b57 142 int LSM6DSLSensor::enable_x(void)
nikapov 0:704c89673b57 143 {
nikapov 0:704c89673b57 144 /* Check if the component is already enabled */
nikapov 0:704c89673b57 145 if ( _x_is_enabled == 1 )
nikapov 0:704c89673b57 146 {
nikapov 0:704c89673b57 147 return 0;
nikapov 0:704c89673b57 148 }
nikapov 0:704c89673b57 149
nikapov 0:704c89673b57 150 /* Output data rate selection. */
nikapov 0:704c89673b57 151 if ( set_x_odr_when_enabled( _x_last_odr ) == 1 )
nikapov 0:704c89673b57 152 {
nikapov 0:704c89673b57 153 return 1;
nikapov 0:704c89673b57 154 }
nikapov 0:704c89673b57 155
nikapov 0:704c89673b57 156 _x_is_enabled = 1;
nikapov 0:704c89673b57 157
nikapov 0:704c89673b57 158 return 0;
nikapov 0:704c89673b57 159 }
nikapov 0:704c89673b57 160
nikapov 0:704c89673b57 161 /**
nikapov 0:704c89673b57 162 * @brief Enable LSM6DSL Gyroscope
nikapov 0:704c89673b57 163 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 164 */
nikapov 0:704c89673b57 165 int LSM6DSLSensor::enable_g(void)
nikapov 0:704c89673b57 166 {
nikapov 0:704c89673b57 167 /* Check if the component is already enabled */
nikapov 0:704c89673b57 168 if ( _g_is_enabled == 1 )
nikapov 0:704c89673b57 169 {
nikapov 0:704c89673b57 170 return 0;
nikapov 0:704c89673b57 171 }
nikapov 0:704c89673b57 172
nikapov 0:704c89673b57 173 /* Output data rate selection. */
nikapov 0:704c89673b57 174 if ( set_g_odr_when_enabled( _g_last_odr ) == 1 )
nikapov 0:704c89673b57 175 {
nikapov 0:704c89673b57 176 return 1;
nikapov 0:704c89673b57 177 }
nikapov 0:704c89673b57 178
nikapov 0:704c89673b57 179 _g_is_enabled = 1;
nikapov 0:704c89673b57 180
nikapov 0:704c89673b57 181 return 0;
nikapov 0:704c89673b57 182 }
nikapov 0:704c89673b57 183
nikapov 0:704c89673b57 184 /**
nikapov 0:704c89673b57 185 * @brief Disable LSM6DSL Accelerator
nikapov 0:704c89673b57 186 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 187 */
nikapov 0:704c89673b57 188 int LSM6DSLSensor::disable_x(void)
nikapov 0:704c89673b57 189 {
nikapov 0:704c89673b57 190 /* Check if the component is already disabled */
nikapov 0:704c89673b57 191 if ( _x_is_enabled == 0 )
nikapov 0:704c89673b57 192 {
nikapov 0:704c89673b57 193 return 0;
nikapov 0:704c89673b57 194 }
nikapov 0:704c89673b57 195
nikapov 0:704c89673b57 196 /* Store actual output data rate. */
nikapov 0:704c89673b57 197 if ( get_x_odr( &_x_last_odr ) == 1 )
nikapov 0:704c89673b57 198 {
nikapov 0:704c89673b57 199 return 1;
nikapov 0:704c89673b57 200 }
nikapov 0:704c89673b57 201
nikapov 0:704c89673b57 202 /* Output data rate selection - power down. */
nikapov 0:704c89673b57 203 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
nikapov 0:704c89673b57 204 {
nikapov 0:704c89673b57 205 return 1;
nikapov 0:704c89673b57 206 }
nikapov 0:704c89673b57 207
nikapov 0:704c89673b57 208 _x_is_enabled = 0;
nikapov 0:704c89673b57 209
nikapov 0:704c89673b57 210 return 0;
nikapov 0:704c89673b57 211 }
nikapov 0:704c89673b57 212
nikapov 0:704c89673b57 213 /**
nikapov 0:704c89673b57 214 * @brief Disable LSM6DSL Gyroscope
nikapov 0:704c89673b57 215 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 216 */
nikapov 0:704c89673b57 217 int LSM6DSLSensor::disable_g(void)
nikapov 0:704c89673b57 218 {
nikapov 0:704c89673b57 219 /* Check if the component is already disabled */
nikapov 0:704c89673b57 220 if ( _g_is_enabled == 0 )
nikapov 0:704c89673b57 221 {
nikapov 0:704c89673b57 222 return 0;
nikapov 0:704c89673b57 223 }
nikapov 0:704c89673b57 224
nikapov 0:704c89673b57 225 /* Store actual output data rate. */
nikapov 0:704c89673b57 226 if ( get_g_odr( &_g_last_odr ) == 1 )
nikapov 0:704c89673b57 227 {
nikapov 0:704c89673b57 228 return 1;
nikapov 0:704c89673b57 229 }
nikapov 0:704c89673b57 230
nikapov 0:704c89673b57 231 /* Output data rate selection - power down */
nikapov 0:704c89673b57 232 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
nikapov 0:704c89673b57 233 {
nikapov 0:704c89673b57 234 return 1;
nikapov 0:704c89673b57 235 }
nikapov 0:704c89673b57 236
nikapov 0:704c89673b57 237 _g_is_enabled = 0;
nikapov 0:704c89673b57 238
nikapov 0:704c89673b57 239 return 0;
nikapov 0:704c89673b57 240 }
nikapov 0:704c89673b57 241
nikapov 0:704c89673b57 242 /**
nikapov 0:704c89673b57 243 * @brief Read ID of LSM6DSL Accelerometer and Gyroscope
nikapov 0:704c89673b57 244 * @param p_id the pointer where the ID of the device is stored
nikapov 0:704c89673b57 245 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 246 */
nikapov 0:704c89673b57 247 int LSM6DSLSensor::read_id(uint8_t *id)
nikapov 0:704c89673b57 248 {
nikapov 0:704c89673b57 249 if(!id)
nikapov 0:704c89673b57 250 {
nikapov 0:704c89673b57 251 return 1;
nikapov 0:704c89673b57 252 }
nikapov 0:704c89673b57 253
nikapov 0:704c89673b57 254 /* Read WHO AM I register */
nikapov 0:704c89673b57 255 if ( LSM6DSL_ACC_GYRO_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
nikapov 0:704c89673b57 256 {
nikapov 0:704c89673b57 257 return 1;
nikapov 0:704c89673b57 258 }
nikapov 0:704c89673b57 259
nikapov 0:704c89673b57 260 return 0;
nikapov 0:704c89673b57 261 }
nikapov 0:704c89673b57 262
nikapov 0:704c89673b57 263 /**
nikapov 0:704c89673b57 264 * @brief Read data from LSM6DSL Accelerometer
nikapov 0:704c89673b57 265 * @param pData the pointer where the accelerometer data are stored
nikapov 0:704c89673b57 266 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 267 */
nikapov 0:704c89673b57 268 int LSM6DSLSensor::get_x_axes(int32_t *pData)
nikapov 0:704c89673b57 269 {
nikapov 0:704c89673b57 270 int16_t dataRaw[3];
nikapov 0:704c89673b57 271 float sensitivity = 0;
nikapov 0:704c89673b57 272
nikapov 0:704c89673b57 273 /* Read raw data from LSM6DSL output register. */
nikapov 0:704c89673b57 274 if ( get_x_axes_raw( dataRaw ) == 1 )
nikapov 0:704c89673b57 275 {
nikapov 0:704c89673b57 276 return 1;
nikapov 0:704c89673b57 277 }
nikapov 0:704c89673b57 278
nikapov 0:704c89673b57 279 /* Get LSM6DSL actual sensitivity. */
nikapov 0:704c89673b57 280 if ( get_x_sensitivity( &sensitivity ) == 1 )
nikapov 0:704c89673b57 281 {
nikapov 0:704c89673b57 282 return 1;
nikapov 0:704c89673b57 283 }
nikapov 0:704c89673b57 284
nikapov 0:704c89673b57 285 /* Calculate the data. */
nikapov 0:704c89673b57 286 pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
nikapov 0:704c89673b57 287 pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
nikapov 0:704c89673b57 288 pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
nikapov 0:704c89673b57 289
nikapov 0:704c89673b57 290 return 0;
nikapov 0:704c89673b57 291 }
nikapov 0:704c89673b57 292
nikapov 0:704c89673b57 293 /**
nikapov 0:704c89673b57 294 * @brief Read data from LSM6DSL Gyroscope
nikapov 0:704c89673b57 295 * @param pData the pointer where the gyroscope data are stored
nikapov 0:704c89673b57 296 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 297 */
nikapov 0:704c89673b57 298 int LSM6DSLSensor::get_g_axes(int32_t *pData)
nikapov 0:704c89673b57 299 {
nikapov 0:704c89673b57 300 int16_t dataRaw[3];
nikapov 0:704c89673b57 301 float sensitivity = 0;
nikapov 0:704c89673b57 302
nikapov 0:704c89673b57 303 /* Read raw data from LSM6DSL output register. */
nikapov 0:704c89673b57 304 if ( get_g_axes_raw( dataRaw ) == 1 )
nikapov 0:704c89673b57 305 {
nikapov 0:704c89673b57 306 return 1;
nikapov 0:704c89673b57 307 }
nikapov 0:704c89673b57 308
nikapov 0:704c89673b57 309 /* Get LSM6DSL actual sensitivity. */
nikapov 0:704c89673b57 310 if ( get_g_sensitivity( &sensitivity ) == 1 )
nikapov 0:704c89673b57 311 {
nikapov 0:704c89673b57 312 return 1;
nikapov 0:704c89673b57 313 }
nikapov 0:704c89673b57 314
nikapov 0:704c89673b57 315 /* Calculate the data. */
nikapov 0:704c89673b57 316 pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
nikapov 0:704c89673b57 317 pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
nikapov 0:704c89673b57 318 pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
nikapov 0:704c89673b57 319
nikapov 0:704c89673b57 320 return 0;
nikapov 0:704c89673b57 321 }
nikapov 0:704c89673b57 322
nikapov 0:704c89673b57 323 /**
nikapov 0:704c89673b57 324 * @brief Read Accelerometer Sensitivity
nikapov 0:704c89673b57 325 * @param pfData the pointer where the accelerometer sensitivity is stored
nikapov 0:704c89673b57 326 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 327 */
nikapov 0:704c89673b57 328 int LSM6DSLSensor::get_x_sensitivity(float *pfData)
nikapov 0:704c89673b57 329 {
nikapov 0:704c89673b57 330 LSM6DSL_ACC_GYRO_FS_XL_t fullScale;
nikapov 0:704c89673b57 331
nikapov 0:704c89673b57 332 /* Read actual full scale selection from sensor. */
nikapov 0:704c89673b57 333 if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fullScale ) == MEMS_ERROR )
nikapov 0:704c89673b57 334 {
nikapov 0:704c89673b57 335 return 1;
nikapov 0:704c89673b57 336 }
nikapov 0:704c89673b57 337
nikapov 0:704c89673b57 338 /* Store the sensitivity based on actual full scale. */
nikapov 0:704c89673b57 339 switch( fullScale )
nikapov 0:704c89673b57 340 {
nikapov 0:704c89673b57 341 case LSM6DSL_ACC_GYRO_FS_XL_2g:
nikapov 0:704c89673b57 342 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G;
nikapov 0:704c89673b57 343 break;
nikapov 0:704c89673b57 344 case LSM6DSL_ACC_GYRO_FS_XL_4g:
nikapov 0:704c89673b57 345 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G;
nikapov 0:704c89673b57 346 break;
nikapov 0:704c89673b57 347 case LSM6DSL_ACC_GYRO_FS_XL_8g:
nikapov 0:704c89673b57 348 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G;
nikapov 0:704c89673b57 349 break;
nikapov 0:704c89673b57 350 case LSM6DSL_ACC_GYRO_FS_XL_16g:
nikapov 0:704c89673b57 351 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G;
nikapov 0:704c89673b57 352 break;
nikapov 0:704c89673b57 353 default:
nikapov 0:704c89673b57 354 *pfData = -1.0f;
nikapov 0:704c89673b57 355 return 1;
nikapov 0:704c89673b57 356 }
nikapov 0:704c89673b57 357
nikapov 0:704c89673b57 358 return 0;
nikapov 0:704c89673b57 359 }
nikapov 0:704c89673b57 360
nikapov 0:704c89673b57 361 /**
nikapov 0:704c89673b57 362 * @brief Read Gyroscope Sensitivity
nikapov 0:704c89673b57 363 * @param pfData the pointer where the gyroscope sensitivity is stored
nikapov 0:704c89673b57 364 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 365 */
nikapov 0:704c89673b57 366 int LSM6DSLSensor::get_g_sensitivity(float *pfData)
nikapov 0:704c89673b57 367 {
nikapov 0:704c89673b57 368 LSM6DSL_ACC_GYRO_FS_125_t fullScale125;
nikapov 0:704c89673b57 369 LSM6DSL_ACC_GYRO_FS_G_t fullScale;
nikapov 0:704c89673b57 370
nikapov 0:704c89673b57 371 /* Read full scale 125 selection from sensor. */
nikapov 0:704c89673b57 372 if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fullScale125 ) == MEMS_ERROR )
nikapov 0:704c89673b57 373 {
nikapov 0:704c89673b57 374 return 1;
nikapov 0:704c89673b57 375 }
nikapov 0:704c89673b57 376
nikapov 0:704c89673b57 377 if ( fullScale125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
nikapov 0:704c89673b57 378 {
nikapov 0:704c89673b57 379 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS;
nikapov 0:704c89673b57 380 }
nikapov 0:704c89673b57 381
nikapov 0:704c89673b57 382 else
nikapov 0:704c89673b57 383 {
nikapov 0:704c89673b57 384
nikapov 0:704c89673b57 385 /* Read actual full scale selection from sensor. */
nikapov 0:704c89673b57 386 if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fullScale ) == MEMS_ERROR )
nikapov 0:704c89673b57 387 {
nikapov 0:704c89673b57 388 return 1;
nikapov 0:704c89673b57 389 }
nikapov 0:704c89673b57 390
nikapov 0:704c89673b57 391 /* Store the sensitivity based on actual full scale. */
nikapov 0:704c89673b57 392 switch( fullScale )
nikapov 0:704c89673b57 393 {
nikapov 0:704c89673b57 394 case LSM6DSL_ACC_GYRO_FS_G_245dps:
nikapov 0:704c89673b57 395 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS;
nikapov 0:704c89673b57 396 break;
nikapov 0:704c89673b57 397 case LSM6DSL_ACC_GYRO_FS_G_500dps:
nikapov 0:704c89673b57 398 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS;
nikapov 0:704c89673b57 399 break;
nikapov 0:704c89673b57 400 case LSM6DSL_ACC_GYRO_FS_G_1000dps:
nikapov 0:704c89673b57 401 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS;
nikapov 0:704c89673b57 402 break;
nikapov 0:704c89673b57 403 case LSM6DSL_ACC_GYRO_FS_G_2000dps:
nikapov 0:704c89673b57 404 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS;
nikapov 0:704c89673b57 405 break;
nikapov 0:704c89673b57 406 default:
nikapov 0:704c89673b57 407 *pfData = -1.0f;
nikapov 0:704c89673b57 408 return 1;
nikapov 0:704c89673b57 409 }
nikapov 0:704c89673b57 410 }
nikapov 0:704c89673b57 411
nikapov 0:704c89673b57 412 return 0;
nikapov 0:704c89673b57 413 }
nikapov 0:704c89673b57 414
nikapov 0:704c89673b57 415 /**
nikapov 0:704c89673b57 416 * @brief Read raw data from LSM6DSL Accelerometer
nikapov 0:704c89673b57 417 * @param pData the pointer where the accelerometer raw data are stored
nikapov 0:704c89673b57 418 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 419 */
nikapov 0:704c89673b57 420 int LSM6DSLSensor::get_x_axes_raw(int16_t *pData)
nikapov 0:704c89673b57 421 {
nikapov 0:704c89673b57 422 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
nikapov 0:704c89673b57 423
nikapov 0:704c89673b57 424 /* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_XL to LSM6DSL_ACC_GYRO_OUTZ_H_XL. */
nikapov 0:704c89673b57 425 if ( LSM6DSL_ACC_GYRO_GetRawAccData( (void *)this, regValue ) == MEMS_ERROR )
nikapov 0:704c89673b57 426 {
nikapov 0:704c89673b57 427 return 1;
nikapov 0:704c89673b57 428 }
nikapov 0:704c89673b57 429
nikapov 0:704c89673b57 430 /* Format the data. */
nikapov 0:704c89673b57 431 pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
nikapov 0:704c89673b57 432 pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
nikapov 0:704c89673b57 433 pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
nikapov 0:704c89673b57 434
nikapov 0:704c89673b57 435 return 0;
nikapov 0:704c89673b57 436 }
nikapov 0:704c89673b57 437
nikapov 0:704c89673b57 438 /**
nikapov 0:704c89673b57 439 * @brief Read raw data from LSM6DSL Gyroscope
nikapov 0:704c89673b57 440 * @param pData the pointer where the gyroscope raw data are stored
nikapov 0:704c89673b57 441 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 442 */
nikapov 0:704c89673b57 443 int LSM6DSLSensor::get_g_axes_raw(int16_t *pData)
nikapov 0:704c89673b57 444 {
nikapov 0:704c89673b57 445 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
nikapov 0:704c89673b57 446
nikapov 0:704c89673b57 447 /* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_G to LSM6DSL_ACC_GYRO_OUTZ_H_G. */
nikapov 0:704c89673b57 448 if ( LSM6DSL_ACC_GYRO_GetRawGyroData( (void *)this, regValue ) == MEMS_ERROR )
nikapov 0:704c89673b57 449 {
nikapov 0:704c89673b57 450 return 1;
nikapov 0:704c89673b57 451 }
nikapov 0:704c89673b57 452
nikapov 0:704c89673b57 453 /* Format the data. */
nikapov 0:704c89673b57 454 pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
nikapov 0:704c89673b57 455 pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
nikapov 0:704c89673b57 456 pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
nikapov 0:704c89673b57 457
nikapov 0:704c89673b57 458 return 0;
nikapov 0:704c89673b57 459 }
nikapov 0:704c89673b57 460
nikapov 0:704c89673b57 461 /**
nikapov 0:704c89673b57 462 * @brief Read LSM6DSL Accelerometer output data rate
nikapov 0:704c89673b57 463 * @param odr the pointer to the output data rate
nikapov 0:704c89673b57 464 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 465 */
nikapov 0:704c89673b57 466 int LSM6DSLSensor::get_x_odr(float* odr)
nikapov 0:704c89673b57 467 {
nikapov 0:704c89673b57 468 LSM6DSL_ACC_GYRO_ODR_XL_t odr_low_level;
nikapov 0:704c89673b57 469
nikapov 0:704c89673b57 470 if ( LSM6DSL_ACC_GYRO_R_ODR_XL( (void *)this, &odr_low_level ) == MEMS_ERROR )
nikapov 0:704c89673b57 471 {
nikapov 0:704c89673b57 472 return 1;
nikapov 0:704c89673b57 473 }
nikapov 0:704c89673b57 474
nikapov 0:704c89673b57 475 switch( odr_low_level )
nikapov 0:704c89673b57 476 {
nikapov 0:704c89673b57 477 case LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN:
nikapov 0:704c89673b57 478 *odr = 0.0f;
nikapov 0:704c89673b57 479 break;
nikapov 0:704c89673b57 480 case LSM6DSL_ACC_GYRO_ODR_XL_13Hz:
nikapov 0:704c89673b57 481 *odr = 13.0f;
nikapov 0:704c89673b57 482 break;
nikapov 0:704c89673b57 483 case LSM6DSL_ACC_GYRO_ODR_XL_26Hz:
nikapov 0:704c89673b57 484 *odr = 26.0f;
nikapov 0:704c89673b57 485 break;
nikapov 0:704c89673b57 486 case LSM6DSL_ACC_GYRO_ODR_XL_52Hz:
nikapov 0:704c89673b57 487 *odr = 52.0f;
nikapov 0:704c89673b57 488 break;
nikapov 0:704c89673b57 489 case LSM6DSL_ACC_GYRO_ODR_XL_104Hz:
nikapov 0:704c89673b57 490 *odr = 104.0f;
nikapov 0:704c89673b57 491 break;
nikapov 0:704c89673b57 492 case LSM6DSL_ACC_GYRO_ODR_XL_208Hz:
nikapov 0:704c89673b57 493 *odr = 208.0f;
nikapov 0:704c89673b57 494 break;
nikapov 0:704c89673b57 495 case LSM6DSL_ACC_GYRO_ODR_XL_416Hz:
nikapov 0:704c89673b57 496 *odr = 416.0f;
nikapov 0:704c89673b57 497 break;
nikapov 0:704c89673b57 498 case LSM6DSL_ACC_GYRO_ODR_XL_833Hz:
nikapov 0:704c89673b57 499 *odr = 833.0f;
nikapov 0:704c89673b57 500 break;
nikapov 0:704c89673b57 501 case LSM6DSL_ACC_GYRO_ODR_XL_1660Hz:
nikapov 0:704c89673b57 502 *odr = 1660.0f;
nikapov 0:704c89673b57 503 break;
nikapov 0:704c89673b57 504 case LSM6DSL_ACC_GYRO_ODR_XL_3330Hz:
nikapov 0:704c89673b57 505 *odr = 3330.0f;
nikapov 0:704c89673b57 506 break;
nikapov 0:704c89673b57 507 case LSM6DSL_ACC_GYRO_ODR_XL_6660Hz:
nikapov 0:704c89673b57 508 *odr = 6660.0f;
nikapov 0:704c89673b57 509 break;
nikapov 0:704c89673b57 510 default:
nikapov 0:704c89673b57 511 *odr = -1.0f;
nikapov 0:704c89673b57 512 return 1;
nikapov 0:704c89673b57 513 }
nikapov 0:704c89673b57 514
nikapov 0:704c89673b57 515 return 0;
nikapov 0:704c89673b57 516 }
nikapov 0:704c89673b57 517
nikapov 0:704c89673b57 518 /**
nikapov 0:704c89673b57 519 * @brief Read LSM6DSL Gyroscope output data rate
nikapov 0:704c89673b57 520 * @param odr the pointer to the output data rate
nikapov 0:704c89673b57 521 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 522 */
nikapov 0:704c89673b57 523 int LSM6DSLSensor::get_g_odr(float* odr)
nikapov 0:704c89673b57 524 {
nikapov 0:704c89673b57 525 LSM6DSL_ACC_GYRO_ODR_G_t odr_low_level;
nikapov 0:704c89673b57 526
nikapov 0:704c89673b57 527 if ( LSM6DSL_ACC_GYRO_R_ODR_G( (void *)this, &odr_low_level ) == MEMS_ERROR )
nikapov 0:704c89673b57 528 {
nikapov 0:704c89673b57 529 return 1;
nikapov 0:704c89673b57 530 }
nikapov 0:704c89673b57 531
nikapov 0:704c89673b57 532 switch( odr_low_level )
nikapov 0:704c89673b57 533 {
nikapov 0:704c89673b57 534 case LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN:
nikapov 0:704c89673b57 535 *odr = 0.0f;
nikapov 0:704c89673b57 536 break;
nikapov 0:704c89673b57 537 case LSM6DSL_ACC_GYRO_ODR_G_13Hz:
nikapov 0:704c89673b57 538 *odr = 13.0f;
nikapov 0:704c89673b57 539 break;
nikapov 0:704c89673b57 540 case LSM6DSL_ACC_GYRO_ODR_G_26Hz:
nikapov 0:704c89673b57 541 *odr = 26.0f;
nikapov 0:704c89673b57 542 break;
nikapov 0:704c89673b57 543 case LSM6DSL_ACC_GYRO_ODR_G_52Hz:
nikapov 0:704c89673b57 544 *odr = 52.0f;
nikapov 0:704c89673b57 545 break;
nikapov 0:704c89673b57 546 case LSM6DSL_ACC_GYRO_ODR_G_104Hz:
nikapov 0:704c89673b57 547 *odr = 104.0f;
nikapov 0:704c89673b57 548 break;
nikapov 0:704c89673b57 549 case LSM6DSL_ACC_GYRO_ODR_G_208Hz:
nikapov 0:704c89673b57 550 *odr = 208.0f;
nikapov 0:704c89673b57 551 break;
nikapov 0:704c89673b57 552 case LSM6DSL_ACC_GYRO_ODR_G_416Hz:
nikapov 0:704c89673b57 553 *odr = 416.0f;
nikapov 0:704c89673b57 554 break;
nikapov 0:704c89673b57 555 case LSM6DSL_ACC_GYRO_ODR_G_833Hz:
nikapov 0:704c89673b57 556 *odr = 833.0f;
nikapov 0:704c89673b57 557 break;
nikapov 0:704c89673b57 558 case LSM6DSL_ACC_GYRO_ODR_G_1660Hz:
nikapov 0:704c89673b57 559 *odr = 1660.0f;
nikapov 0:704c89673b57 560 break;
nikapov 0:704c89673b57 561 case LSM6DSL_ACC_GYRO_ODR_G_3330Hz:
nikapov 0:704c89673b57 562 *odr = 3330.0f;
nikapov 0:704c89673b57 563 break;
nikapov 0:704c89673b57 564 case LSM6DSL_ACC_GYRO_ODR_G_6660Hz:
nikapov 0:704c89673b57 565 *odr = 6660.0f;
nikapov 0:704c89673b57 566 break;
nikapov 0:704c89673b57 567 default:
nikapov 0:704c89673b57 568 *odr = -1.0f;
nikapov 0:704c89673b57 569 return 1;
nikapov 0:704c89673b57 570 }
nikapov 0:704c89673b57 571
nikapov 0:704c89673b57 572 return 0;
nikapov 0:704c89673b57 573 }
nikapov 0:704c89673b57 574
nikapov 0:704c89673b57 575 /**
nikapov 0:704c89673b57 576 * @brief Set LSM6DSL Accelerometer output data rate
nikapov 0:704c89673b57 577 * @param odr the output data rate to be set
nikapov 0:704c89673b57 578 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 579 */
nikapov 0:704c89673b57 580 int LSM6DSLSensor::set_x_odr(float odr)
nikapov 0:704c89673b57 581 {
nikapov 0:704c89673b57 582 if(_x_is_enabled == 1)
nikapov 0:704c89673b57 583 {
nikapov 0:704c89673b57 584 if(set_x_odr_when_enabled(odr) == 1)
nikapov 0:704c89673b57 585 {
nikapov 0:704c89673b57 586 return 1;
nikapov 0:704c89673b57 587 }
nikapov 0:704c89673b57 588 }
nikapov 0:704c89673b57 589 else
nikapov 0:704c89673b57 590 {
nikapov 0:704c89673b57 591 if(set_x_odr_when_disabled(odr) == 1)
nikapov 0:704c89673b57 592 {
nikapov 0:704c89673b57 593 return 1;
nikapov 0:704c89673b57 594 }
nikapov 0:704c89673b57 595 }
nikapov 0:704c89673b57 596
nikapov 0:704c89673b57 597 return 0;
nikapov 0:704c89673b57 598 }
nikapov 0:704c89673b57 599
nikapov 0:704c89673b57 600 /**
nikapov 0:704c89673b57 601 * @brief Set LSM6DSL Accelerometer output data rate when enabled
nikapov 0:704c89673b57 602 * @param odr the output data rate to be set
nikapov 0:704c89673b57 603 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 604 */
nikapov 0:704c89673b57 605 int LSM6DSLSensor::set_x_odr_when_enabled(float odr)
nikapov 0:704c89673b57 606 {
nikapov 0:704c89673b57 607 LSM6DSL_ACC_GYRO_ODR_XL_t new_odr;
nikapov 0:704c89673b57 608
nikapov 0:704c89673b57 609 new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_13Hz
nikapov 0:704c89673b57 610 : ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_26Hz
nikapov 0:704c89673b57 611 : ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_52Hz
nikapov 0:704c89673b57 612 : ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_104Hz
nikapov 0:704c89673b57 613 : ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_208Hz
nikapov 0:704c89673b57 614 : ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_416Hz
nikapov 0:704c89673b57 615 : ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_833Hz
nikapov 0:704c89673b57 616 : ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_1660Hz
nikapov 0:704c89673b57 617 : ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_3330Hz
nikapov 0:704c89673b57 618 : LSM6DSL_ACC_GYRO_ODR_XL_6660Hz;
nikapov 0:704c89673b57 619
nikapov 0:704c89673b57 620 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, new_odr ) == MEMS_ERROR )
nikapov 0:704c89673b57 621 {
nikapov 0:704c89673b57 622 return 1;
nikapov 0:704c89673b57 623 }
nikapov 0:704c89673b57 624
nikapov 0:704c89673b57 625 return 0;
nikapov 0:704c89673b57 626 }
nikapov 0:704c89673b57 627
nikapov 0:704c89673b57 628 /**
nikapov 0:704c89673b57 629 * @brief Set LSM6DSL Accelerometer output data rate when disabled
nikapov 0:704c89673b57 630 * @param odr the output data rate to be set
nikapov 0:704c89673b57 631 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 632 */
nikapov 0:704c89673b57 633 int LSM6DSLSensor::set_x_odr_when_disabled(float odr)
nikapov 0:704c89673b57 634 {
nikapov 0:704c89673b57 635 _x_last_odr = ( odr <= 13.0f ) ? 13.0f
nikapov 0:704c89673b57 636 : ( odr <= 26.0f ) ? 26.0f
nikapov 0:704c89673b57 637 : ( odr <= 52.0f ) ? 52.0f
nikapov 0:704c89673b57 638 : ( odr <= 104.0f ) ? 104.0f
nikapov 0:704c89673b57 639 : ( odr <= 208.0f ) ? 208.0f
nikapov 0:704c89673b57 640 : ( odr <= 416.0f ) ? 416.0f
nikapov 0:704c89673b57 641 : ( odr <= 833.0f ) ? 833.0f
nikapov 0:704c89673b57 642 : ( odr <= 1660.0f ) ? 1660.0f
nikapov 0:704c89673b57 643 : ( odr <= 3330.0f ) ? 3330.0f
nikapov 0:704c89673b57 644 : 6660.0f;
nikapov 0:704c89673b57 645
nikapov 0:704c89673b57 646 return 0;
nikapov 0:704c89673b57 647 }
nikapov 0:704c89673b57 648
nikapov 0:704c89673b57 649 /**
nikapov 0:704c89673b57 650 * @brief Set LSM6DSL Gyroscope output data rate
nikapov 0:704c89673b57 651 * @param odr the output data rate to be set
nikapov 0:704c89673b57 652 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 653 */
nikapov 0:704c89673b57 654 int LSM6DSLSensor::set_g_odr(float odr)
nikapov 0:704c89673b57 655 {
nikapov 0:704c89673b57 656 if(_g_is_enabled == 1)
nikapov 0:704c89673b57 657 {
nikapov 0:704c89673b57 658 if(set_g_odr_when_enabled(odr) == 1)
nikapov 0:704c89673b57 659 {
nikapov 0:704c89673b57 660 return 1;
nikapov 0:704c89673b57 661 }
nikapov 0:704c89673b57 662 }
nikapov 0:704c89673b57 663 else
nikapov 0:704c89673b57 664 {
nikapov 0:704c89673b57 665 if(set_g_odr_when_disabled(odr) == 1)
nikapov 0:704c89673b57 666 {
nikapov 0:704c89673b57 667 return 1;
nikapov 0:704c89673b57 668 }
nikapov 0:704c89673b57 669 }
nikapov 0:704c89673b57 670
nikapov 0:704c89673b57 671 return 0;
nikapov 0:704c89673b57 672 }
nikapov 0:704c89673b57 673
nikapov 0:704c89673b57 674 /**
nikapov 0:704c89673b57 675 * @brief Set LSM6DSL Gyroscope output data rate when enabled
nikapov 0:704c89673b57 676 * @param odr the output data rate to be set
nikapov 0:704c89673b57 677 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 678 */
nikapov 0:704c89673b57 679 int LSM6DSLSensor::set_g_odr_when_enabled(float odr)
nikapov 0:704c89673b57 680 {
nikapov 0:704c89673b57 681 LSM6DSL_ACC_GYRO_ODR_G_t new_odr;
nikapov 0:704c89673b57 682
nikapov 0:704c89673b57 683 new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_13Hz
nikapov 0:704c89673b57 684 : ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_26Hz
nikapov 0:704c89673b57 685 : ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_52Hz
nikapov 0:704c89673b57 686 : ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_104Hz
nikapov 0:704c89673b57 687 : ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_208Hz
nikapov 0:704c89673b57 688 : ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_416Hz
nikapov 0:704c89673b57 689 : ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_833Hz
nikapov 0:704c89673b57 690 : ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_1660Hz
nikapov 0:704c89673b57 691 : ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_3330Hz
nikapov 0:704c89673b57 692 : LSM6DSL_ACC_GYRO_ODR_G_6660Hz;
nikapov 0:704c89673b57 693
nikapov 0:704c89673b57 694 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, new_odr ) == MEMS_ERROR )
nikapov 0:704c89673b57 695 {
nikapov 0:704c89673b57 696 return 1;
nikapov 0:704c89673b57 697 }
nikapov 0:704c89673b57 698
nikapov 0:704c89673b57 699 return 0;
nikapov 0:704c89673b57 700 }
nikapov 0:704c89673b57 701
nikapov 0:704c89673b57 702 /**
nikapov 0:704c89673b57 703 * @brief Set LSM6DSL Gyroscope output data rate when disabled
nikapov 0:704c89673b57 704 * @param odr the output data rate to be set
nikapov 0:704c89673b57 705 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 706 */
nikapov 0:704c89673b57 707 int LSM6DSLSensor::set_g_odr_when_disabled(float odr)
nikapov 0:704c89673b57 708 {
nikapov 0:704c89673b57 709 _g_last_odr = ( odr <= 13.0f ) ? 13.0f
nikapov 0:704c89673b57 710 : ( odr <= 26.0f ) ? 26.0f
nikapov 0:704c89673b57 711 : ( odr <= 52.0f ) ? 52.0f
nikapov 0:704c89673b57 712 : ( odr <= 104.0f ) ? 104.0f
nikapov 0:704c89673b57 713 : ( odr <= 208.0f ) ? 208.0f
nikapov 0:704c89673b57 714 : ( odr <= 416.0f ) ? 416.0f
nikapov 0:704c89673b57 715 : ( odr <= 833.0f ) ? 833.0f
nikapov 0:704c89673b57 716 : ( odr <= 1660.0f ) ? 1660.0f
nikapov 0:704c89673b57 717 : ( odr <= 3330.0f ) ? 3330.0f
nikapov 0:704c89673b57 718 : 6660.0f;
nikapov 0:704c89673b57 719
nikapov 0:704c89673b57 720 return 0;
nikapov 0:704c89673b57 721 }
nikapov 0:704c89673b57 722
nikapov 0:704c89673b57 723 /**
nikapov 0:704c89673b57 724 * @brief Read LSM6DSL Accelerometer full scale
nikapov 0:704c89673b57 725 * @param fullScale the pointer to the full scale
nikapov 0:704c89673b57 726 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 727 */
nikapov 0:704c89673b57 728 int LSM6DSLSensor::get_x_fs(float* fullScale)
nikapov 0:704c89673b57 729 {
nikapov 0:704c89673b57 730 LSM6DSL_ACC_GYRO_FS_XL_t fs_low_level;
nikapov 0:704c89673b57 731
nikapov 0:704c89673b57 732 if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fs_low_level ) == MEMS_ERROR )
nikapov 0:704c89673b57 733 {
nikapov 0:704c89673b57 734 return 1;
nikapov 0:704c89673b57 735 }
nikapov 0:704c89673b57 736
nikapov 0:704c89673b57 737 switch( fs_low_level )
nikapov 0:704c89673b57 738 {
nikapov 0:704c89673b57 739 case LSM6DSL_ACC_GYRO_FS_XL_2g:
nikapov 0:704c89673b57 740 *fullScale = 2.0f;
nikapov 0:704c89673b57 741 break;
nikapov 0:704c89673b57 742 case LSM6DSL_ACC_GYRO_FS_XL_4g:
nikapov 0:704c89673b57 743 *fullScale = 4.0f;
nikapov 0:704c89673b57 744 break;
nikapov 0:704c89673b57 745 case LSM6DSL_ACC_GYRO_FS_XL_8g:
nikapov 0:704c89673b57 746 *fullScale = 8.0f;
nikapov 0:704c89673b57 747 break;
nikapov 0:704c89673b57 748 case LSM6DSL_ACC_GYRO_FS_XL_16g:
nikapov 0:704c89673b57 749 *fullScale = 16.0f;
nikapov 0:704c89673b57 750 break;
nikapov 0:704c89673b57 751 default:
nikapov 0:704c89673b57 752 *fullScale = -1.0f;
nikapov 0:704c89673b57 753 return 1;
nikapov 0:704c89673b57 754 }
nikapov 0:704c89673b57 755
nikapov 0:704c89673b57 756 return 0;
nikapov 0:704c89673b57 757 }
nikapov 0:704c89673b57 758
nikapov 0:704c89673b57 759 /**
nikapov 0:704c89673b57 760 * @brief Read LSM6DSL Gyroscope full scale
nikapov 0:704c89673b57 761 * @param fullScale the pointer to the full scale
nikapov 0:704c89673b57 762 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 763 */
nikapov 0:704c89673b57 764 int LSM6DSLSensor::get_g_fs(float* fullScale)
nikapov 0:704c89673b57 765 {
nikapov 0:704c89673b57 766 LSM6DSL_ACC_GYRO_FS_G_t fs_low_level;
nikapov 0:704c89673b57 767 LSM6DSL_ACC_GYRO_FS_125_t fs_125;
nikapov 0:704c89673b57 768
nikapov 0:704c89673b57 769 if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fs_125 ) == MEMS_ERROR )
nikapov 0:704c89673b57 770 {
nikapov 0:704c89673b57 771 return 1;
nikapov 0:704c89673b57 772 }
nikapov 0:704c89673b57 773 if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fs_low_level ) == MEMS_ERROR )
nikapov 0:704c89673b57 774 {
nikapov 0:704c89673b57 775 return 1;
nikapov 0:704c89673b57 776 }
nikapov 0:704c89673b57 777
nikapov 0:704c89673b57 778 if ( fs_125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
nikapov 0:704c89673b57 779 {
nikapov 0:704c89673b57 780 *fullScale = 125.0f;
nikapov 0:704c89673b57 781 }
nikapov 0:704c89673b57 782
nikapov 0:704c89673b57 783 else
nikapov 0:704c89673b57 784 {
nikapov 0:704c89673b57 785 switch( fs_low_level )
nikapov 0:704c89673b57 786 {
nikapov 0:704c89673b57 787 case LSM6DSL_ACC_GYRO_FS_G_245dps:
nikapov 0:704c89673b57 788 *fullScale = 245.0f;
nikapov 0:704c89673b57 789 break;
nikapov 0:704c89673b57 790 case LSM6DSL_ACC_GYRO_FS_G_500dps:
nikapov 0:704c89673b57 791 *fullScale = 500.0f;
nikapov 0:704c89673b57 792 break;
nikapov 0:704c89673b57 793 case LSM6DSL_ACC_GYRO_FS_G_1000dps:
nikapov 0:704c89673b57 794 *fullScale = 1000.0f;
nikapov 0:704c89673b57 795 break;
nikapov 0:704c89673b57 796 case LSM6DSL_ACC_GYRO_FS_G_2000dps:
nikapov 0:704c89673b57 797 *fullScale = 2000.0f;
nikapov 0:704c89673b57 798 break;
nikapov 0:704c89673b57 799 default:
nikapov 0:704c89673b57 800 *fullScale = -1.0f;
nikapov 0:704c89673b57 801 return 1;
nikapov 0:704c89673b57 802 }
nikapov 0:704c89673b57 803 }
nikapov 0:704c89673b57 804
nikapov 0:704c89673b57 805 return 0;
nikapov 0:704c89673b57 806 }
nikapov 0:704c89673b57 807
nikapov 0:704c89673b57 808 /**
nikapov 0:704c89673b57 809 * @brief Set LSM6DSL Accelerometer full scale
nikapov 0:704c89673b57 810 * @param fullScale the full scale to be set
nikapov 0:704c89673b57 811 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 812 */
nikapov 0:704c89673b57 813 int LSM6DSLSensor::set_x_fs(float fullScale)
nikapov 0:704c89673b57 814 {
nikapov 0:704c89673b57 815 LSM6DSL_ACC_GYRO_FS_XL_t new_fs;
nikapov 0:704c89673b57 816
nikapov 0:704c89673b57 817 new_fs = ( fullScale <= 2.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_2g
nikapov 0:704c89673b57 818 : ( fullScale <= 4.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_4g
nikapov 0:704c89673b57 819 : ( fullScale <= 8.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_8g
nikapov 0:704c89673b57 820 : LSM6DSL_ACC_GYRO_FS_XL_16g;
nikapov 0:704c89673b57 821
nikapov 0:704c89673b57 822 if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, new_fs ) == MEMS_ERROR )
nikapov 0:704c89673b57 823 {
nikapov 0:704c89673b57 824 return 1;
nikapov 0:704c89673b57 825 }
nikapov 0:704c89673b57 826
nikapov 0:704c89673b57 827 return 0;
nikapov 0:704c89673b57 828 }
nikapov 0:704c89673b57 829
nikapov 0:704c89673b57 830 /**
nikapov 0:704c89673b57 831 * @brief Set LSM6DSL Gyroscope full scale
nikapov 0:704c89673b57 832 * @param fullScale the full scale to be set
nikapov 0:704c89673b57 833 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 834 */
nikapov 0:704c89673b57 835 int LSM6DSLSensor::set_g_fs(float fullScale)
nikapov 0:704c89673b57 836 {
nikapov 0:704c89673b57 837 LSM6DSL_ACC_GYRO_FS_G_t new_fs;
nikapov 0:704c89673b57 838
nikapov 0:704c89673b57 839 if ( fullScale <= 125.0f )
nikapov 0:704c89673b57 840 {
nikapov 0:704c89673b57 841 if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 842 {
nikapov 0:704c89673b57 843 return 1;
nikapov 0:704c89673b57 844 }
nikapov 0:704c89673b57 845 }
nikapov 0:704c89673b57 846 else
nikapov 0:704c89673b57 847 {
nikapov 0:704c89673b57 848 new_fs = ( fullScale <= 245.0f ) ? LSM6DSL_ACC_GYRO_FS_G_245dps
nikapov 0:704c89673b57 849 : ( fullScale <= 500.0f ) ? LSM6DSL_ACC_GYRO_FS_G_500dps
nikapov 0:704c89673b57 850 : ( fullScale <= 1000.0f ) ? LSM6DSL_ACC_GYRO_FS_G_1000dps
nikapov 0:704c89673b57 851 : LSM6DSL_ACC_GYRO_FS_G_2000dps;
nikapov 0:704c89673b57 852
nikapov 0:704c89673b57 853 if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 854 {
nikapov 0:704c89673b57 855 return 1;
nikapov 0:704c89673b57 856 }
nikapov 0:704c89673b57 857 if ( LSM6DSL_ACC_GYRO_W_FS_G( (void *)this, new_fs ) == MEMS_ERROR )
nikapov 0:704c89673b57 858 {
nikapov 0:704c89673b57 859 return 1;
nikapov 0:704c89673b57 860 }
nikapov 0:704c89673b57 861 }
nikapov 0:704c89673b57 862
nikapov 0:704c89673b57 863 return 0;
nikapov 0:704c89673b57 864 }
nikapov 0:704c89673b57 865
nikapov 0:704c89673b57 866 /**
nikapov 0:704c89673b57 867 * @brief Enable free fall detection
nikapov 0:704c89673b57 868 * @param pin the interrupt pin to be used
nikapov 0:704c89673b57 869 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
nikapov 0:704c89673b57 870 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 871 */
nikapov 0:704c89673b57 872 int LSM6DSLSensor::enable_free_fall_detection(LSM6DSL_Interrupt_Pin_t pin)
nikapov 0:704c89673b57 873 {
nikapov 0:704c89673b57 874 /* Output Data Rate selection */
nikapov 0:704c89673b57 875 if(set_x_odr(416.0f) == 1)
nikapov 0:704c89673b57 876 {
nikapov 0:704c89673b57 877 return 1;
nikapov 0:704c89673b57 878 }
nikapov 0:704c89673b57 879
nikapov 0:704c89673b57 880 /* Full scale selection */
nikapov 0:704c89673b57 881 if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, LSM6DSL_ACC_GYRO_FS_XL_2g ) == MEMS_ERROR )
nikapov 0:704c89673b57 882 {
nikapov 0:704c89673b57 883 return 1;
nikapov 0:704c89673b57 884 }
nikapov 0:704c89673b57 885
nikapov 0:704c89673b57 886 /* FF_DUR setting */
nikapov 0:704c89673b57 887 if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x06 ) == MEMS_ERROR )
nikapov 0:704c89673b57 888 {
nikapov 0:704c89673b57 889 return 1;
nikapov 0:704c89673b57 890 }
nikapov 0:704c89673b57 891
nikapov 0:704c89673b57 892 /* WAKE_DUR setting */
nikapov 0:704c89673b57 893 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
nikapov 0:704c89673b57 894 {
nikapov 0:704c89673b57 895 return 1;
nikapov 0:704c89673b57 896 }
nikapov 0:704c89673b57 897
nikapov 0:704c89673b57 898 /* TIMER_HR setting */
nikapov 0:704c89673b57 899 if ( LSM6DSL_ACC_GYRO_W_TIMER_HR( (void *)this, LSM6DSL_ACC_GYRO_TIMER_HR_6_4ms ) == MEMS_ERROR )
nikapov 0:704c89673b57 900 {
nikapov 0:704c89673b57 901 return 1;
nikapov 0:704c89673b57 902 }
nikapov 0:704c89673b57 903
nikapov 0:704c89673b57 904 /* SLEEP_DUR setting */
nikapov 0:704c89673b57 905 if ( LSM6DSL_ACC_GYRO_W_SLEEP_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
nikapov 0:704c89673b57 906 {
nikapov 0:704c89673b57 907 return 1;
nikapov 0:704c89673b57 908 }
nikapov 0:704c89673b57 909
nikapov 0:704c89673b57 910 /* FF_THS setting */
nikapov 0:704c89673b57 911 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_312mg ) == MEMS_ERROR )
nikapov 0:704c89673b57 912 {
nikapov 0:704c89673b57 913 return 1;
nikapov 0:704c89673b57 914 }
nikapov 0:704c89673b57 915
nikapov 0:704c89673b57 916 /* Enable basic Interrupts */
nikapov 0:704c89673b57 917 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 918 {
nikapov 0:704c89673b57 919 return 1;
nikapov 0:704c89673b57 920 }
nikapov 0:704c89673b57 921
nikapov 0:704c89673b57 922 /* Enable free fall event on either INT1 or INT2 pin */
nikapov 0:704c89673b57 923 switch (pin)
nikapov 0:704c89673b57 924 {
nikapov 0:704c89673b57 925 case LSM6DSL_INT1_PIN:
nikapov 0:704c89673b57 926 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 927 {
nikapov 0:704c89673b57 928 return 1;
nikapov 0:704c89673b57 929 }
nikapov 0:704c89673b57 930 break;
nikapov 0:704c89673b57 931
nikapov 0:704c89673b57 932 case LSM6DSL_INT2_PIN:
nikapov 0:704c89673b57 933 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_FF_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 934 {
nikapov 0:704c89673b57 935 return 1;
nikapov 0:704c89673b57 936 }
nikapov 0:704c89673b57 937 break;
nikapov 0:704c89673b57 938
nikapov 0:704c89673b57 939 default:
nikapov 0:704c89673b57 940 return 1;
nikapov 0:704c89673b57 941 }
nikapov 0:704c89673b57 942
nikapov 0:704c89673b57 943 return 0;
nikapov 0:704c89673b57 944 }
nikapov 0:704c89673b57 945
nikapov 0:704c89673b57 946 /**
nikapov 0:704c89673b57 947 * @brief Disable free fall detection
nikapov 0:704c89673b57 948 * @param None
nikapov 0:704c89673b57 949 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 950 */
nikapov 0:704c89673b57 951 int LSM6DSLSensor::disable_free_fall_detection(void)
nikapov 0:704c89673b57 952 {
nikapov 0:704c89673b57 953 /* Disable free fall event on INT1 pin */
nikapov 0:704c89673b57 954 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 955 {
nikapov 0:704c89673b57 956 return 1;
nikapov 0:704c89673b57 957 }
nikapov 0:704c89673b57 958
nikapov 0:704c89673b57 959 /* Disable free fall event on INT2 pin */
nikapov 0:704c89673b57 960 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_FF_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 961 {
nikapov 0:704c89673b57 962 return 1;
nikapov 0:704c89673b57 963 }
nikapov 0:704c89673b57 964
nikapov 0:704c89673b57 965 /* Disable basic Interrupts */
nikapov 0:704c89673b57 966 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 967 {
nikapov 0:704c89673b57 968 return 1;
nikapov 0:704c89673b57 969 }
nikapov 0:704c89673b57 970
nikapov 0:704c89673b57 971 /* FF_DUR setting */
nikapov 0:704c89673b57 972 if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x00 ) == MEMS_ERROR )
nikapov 0:704c89673b57 973 {
nikapov 0:704c89673b57 974 return 1;
nikapov 0:704c89673b57 975 }
nikapov 0:704c89673b57 976
nikapov 0:704c89673b57 977 /* FF_THS setting */
nikapov 0:704c89673b57 978 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_156mg ) == MEMS_ERROR )
nikapov 0:704c89673b57 979 {
nikapov 0:704c89673b57 980 return 1;
nikapov 0:704c89673b57 981 }
nikapov 0:704c89673b57 982
nikapov 0:704c89673b57 983 return 0;
nikapov 0:704c89673b57 984 }
nikapov 0:704c89673b57 985
nikapov 0:704c89673b57 986 /**
nikapov 0:704c89673b57 987 * @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 988 * @param thr the threshold to be set
nikapov 0:704c89673b57 989 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 990 */
nikapov 0:704c89673b57 991 int LSM6DSLSensor::set_free_fall_threshold(uint8_t thr)
nikapov 0:704c89673b57 992 {
nikapov 0:704c89673b57 993
nikapov 0:704c89673b57 994 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR )
nikapov 0:704c89673b57 995 {
nikapov 0:704c89673b57 996 return 1;
nikapov 0:704c89673b57 997 }
nikapov 0:704c89673b57 998
nikapov 0:704c89673b57 999 return 0;
nikapov 0:704c89673b57 1000 }
nikapov 0:704c89673b57 1001
nikapov 0:704c89673b57 1002 /**
nikapov 0:704c89673b57 1003 * @brief Enable the pedometer feature for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1004 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
nikapov 0:704c89673b57 1005 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1006 */
nikapov 0:704c89673b57 1007 int LSM6DSLSensor::enable_pedometer(void)
nikapov 0:704c89673b57 1008 {
nikapov 0:704c89673b57 1009 /* Output Data Rate selection */
nikapov 0:704c89673b57 1010 if( set_x_odr(26.0f) == 1 )
nikapov 0:704c89673b57 1011 {
nikapov 0:704c89673b57 1012 return 1;
nikapov 0:704c89673b57 1013 }
nikapov 0:704c89673b57 1014
nikapov 0:704c89673b57 1015 /* Full scale selection. */
nikapov 0:704c89673b57 1016 if( set_x_fs(2.0f) == 1 )
nikapov 0:704c89673b57 1017 {
nikapov 0:704c89673b57 1018 return 1;
nikapov 0:704c89673b57 1019 }
nikapov 0:704c89673b57 1020
nikapov 0:704c89673b57 1021 /* Set pedometer threshold. */
nikapov 0:704c89673b57 1022 if ( set_pedometer_threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == 1 )
nikapov 0:704c89673b57 1023 {
nikapov 0:704c89673b57 1024 return 1;
nikapov 0:704c89673b57 1025 }
nikapov 0:704c89673b57 1026
nikapov 0:704c89673b57 1027 /* Enable embedded functionalities. */
nikapov 0:704c89673b57 1028 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1029 {
nikapov 0:704c89673b57 1030 return 1;
nikapov 0:704c89673b57 1031 }
nikapov 0:704c89673b57 1032
nikapov 0:704c89673b57 1033 /* Enable pedometer algorithm. */
nikapov 0:704c89673b57 1034 if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1035 {
nikapov 0:704c89673b57 1036 return 1;
nikapov 0:704c89673b57 1037 }
nikapov 0:704c89673b57 1038
nikapov 0:704c89673b57 1039 /* Enable pedometer on INT1. */
nikapov 0:704c89673b57 1040 if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1041 {
nikapov 0:704c89673b57 1042 return 1;
nikapov 0:704c89673b57 1043 }
nikapov 0:704c89673b57 1044
nikapov 0:704c89673b57 1045 return 0;
nikapov 0:704c89673b57 1046 }
nikapov 0:704c89673b57 1047
nikapov 0:704c89673b57 1048 /**
nikapov 0:704c89673b57 1049 * @brief Disable the pedometer feature for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1050 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1051 */
nikapov 0:704c89673b57 1052 int LSM6DSLSensor::disable_pedometer(void)
nikapov 0:704c89673b57 1053 {
nikapov 0:704c89673b57 1054 /* Disable pedometer on INT1. */
nikapov 0:704c89673b57 1055 if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1056 {
nikapov 0:704c89673b57 1057 return 1;
nikapov 0:704c89673b57 1058 }
nikapov 0:704c89673b57 1059
nikapov 0:704c89673b57 1060 /* Disable pedometer algorithm. */
nikapov 0:704c89673b57 1061 if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1062 {
nikapov 0:704c89673b57 1063 return 1;
nikapov 0:704c89673b57 1064 }
nikapov 0:704c89673b57 1065
nikapov 0:704c89673b57 1066 /* Disable embedded functionalities. */
nikapov 0:704c89673b57 1067 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1068 {
nikapov 0:704c89673b57 1069 return 1;
nikapov 0:704c89673b57 1070 }
nikapov 0:704c89673b57 1071
nikapov 0:704c89673b57 1072 /* Reset pedometer threshold. */
nikapov 0:704c89673b57 1073 if ( set_pedometer_threshold(0x0) == 1 )
nikapov 0:704c89673b57 1074 {
nikapov 0:704c89673b57 1075 return 1;
nikapov 0:704c89673b57 1076 }
nikapov 0:704c89673b57 1077
nikapov 0:704c89673b57 1078 return 0;
nikapov 0:704c89673b57 1079 }
nikapov 0:704c89673b57 1080
nikapov 0:704c89673b57 1081 /**
nikapov 0:704c89673b57 1082 * @brief Get the step counter for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1083 * @param step_count the pointer to the step counter
nikapov 0:704c89673b57 1084 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1085 */
nikapov 0:704c89673b57 1086 int LSM6DSLSensor::get_step_counter(uint16_t *step_count)
nikapov 0:704c89673b57 1087 {
nikapov 0:704c89673b57 1088 if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void *)this, ( uint8_t* )step_count ) == MEMS_ERROR )
nikapov 0:704c89673b57 1089 {
nikapov 0:704c89673b57 1090 return 1;
nikapov 0:704c89673b57 1091 }
nikapov 0:704c89673b57 1092
nikapov 0:704c89673b57 1093 return 0;
nikapov 0:704c89673b57 1094 }
nikapov 0:704c89673b57 1095
nikapov 0:704c89673b57 1096 /**
nikapov 0:704c89673b57 1097 * @brief Reset of the step counter for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1098 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1099 */
nikapov 0:704c89673b57 1100 int LSM6DSLSensor::reset_step_counter(void)
nikapov 0:704c89673b57 1101 {
nikapov 0:704c89673b57 1102 if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1103 {
nikapov 0:704c89673b57 1104 return 1;
nikapov 0:704c89673b57 1105 }
nikapov 0:704c89673b57 1106
cparata 6:1fcf5cb8d615 1107 ThisThread::sleep_for(10);
nikapov 0:704c89673b57 1108
nikapov 0:704c89673b57 1109 if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1110 {
nikapov 0:704c89673b57 1111 return 1;
nikapov 0:704c89673b57 1112 }
nikapov 0:704c89673b57 1113
nikapov 0:704c89673b57 1114 return 0;
nikapov 0:704c89673b57 1115 }
nikapov 0:704c89673b57 1116
nikapov 0:704c89673b57 1117 /**
nikapov 0:704c89673b57 1118 * @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1119 * @param thr the threshold to be set
nikapov 0:704c89673b57 1120 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1121 */
nikapov 0:704c89673b57 1122 int LSM6DSLSensor::set_pedometer_threshold(uint8_t thr)
nikapov 0:704c89673b57 1123 {
nikapov 0:704c89673b57 1124 if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
nikapov 0:704c89673b57 1125 {
nikapov 0:704c89673b57 1126 return 1;
nikapov 0:704c89673b57 1127 }
nikapov 0:704c89673b57 1128
nikapov 0:704c89673b57 1129 return 0;
nikapov 0:704c89673b57 1130 }
nikapov 0:704c89673b57 1131
nikapov 0:704c89673b57 1132 /**
nikapov 0:704c89673b57 1133 * @brief Enable the tilt detection for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1134 * @param pin the interrupt pin to be used
nikapov 0:704c89673b57 1135 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
nikapov 0:704c89673b57 1136 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1137 */
nikapov 0:704c89673b57 1138 int LSM6DSLSensor::enable_tilt_detection(LSM6DSL_Interrupt_Pin_t pin)
nikapov 0:704c89673b57 1139 {
nikapov 0:704c89673b57 1140 /* Output Data Rate selection */
nikapov 0:704c89673b57 1141 if( set_x_odr(26.0f) == 1 )
nikapov 0:704c89673b57 1142 {
nikapov 0:704c89673b57 1143 return 1;
nikapov 0:704c89673b57 1144 }
nikapov 0:704c89673b57 1145
nikapov 0:704c89673b57 1146 /* Full scale selection. */
nikapov 0:704c89673b57 1147 if( set_x_fs(2.0f) == 1 )
nikapov 0:704c89673b57 1148 {
nikapov 0:704c89673b57 1149 return 1;
nikapov 0:704c89673b57 1150 }
nikapov 0:704c89673b57 1151
nikapov 0:704c89673b57 1152 /* Enable embedded functionalities */
nikapov 0:704c89673b57 1153 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1154 {
nikapov 0:704c89673b57 1155 return 1;
nikapov 0:704c89673b57 1156 }
nikapov 0:704c89673b57 1157
nikapov 0:704c89673b57 1158 /* Enable tilt calculation. */
nikapov 0:704c89673b57 1159 if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1160 {
nikapov 0:704c89673b57 1161 return 1;
nikapov 0:704c89673b57 1162 }
nikapov 0:704c89673b57 1163
nikapov 0:704c89673b57 1164 /* Enable tilt detection on either INT1 or INT2 pin */
nikapov 0:704c89673b57 1165 switch (pin)
nikapov 0:704c89673b57 1166 {
nikapov 0:704c89673b57 1167 case LSM6DSL_INT1_PIN:
nikapov 0:704c89673b57 1168 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1169 {
nikapov 0:704c89673b57 1170 return 1;
nikapov 0:704c89673b57 1171 }
nikapov 0:704c89673b57 1172 break;
nikapov 0:704c89673b57 1173
nikapov 0:704c89673b57 1174 case LSM6DSL_INT2_PIN:
nikapov 0:704c89673b57 1175 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TILT_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1176 {
nikapov 0:704c89673b57 1177 return 1;
nikapov 0:704c89673b57 1178 }
nikapov 0:704c89673b57 1179 break;
nikapov 0:704c89673b57 1180
nikapov 0:704c89673b57 1181 default:
nikapov 0:704c89673b57 1182 return 1;
nikapov 0:704c89673b57 1183 }
nikapov 0:704c89673b57 1184
nikapov 0:704c89673b57 1185 return 0;
nikapov 0:704c89673b57 1186 }
nikapov 0:704c89673b57 1187
nikapov 0:704c89673b57 1188 /**
nikapov 0:704c89673b57 1189 * @brief Disable the tilt detection for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1190 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1191 */
nikapov 0:704c89673b57 1192 int LSM6DSLSensor::disable_tilt_detection(void)
nikapov 0:704c89673b57 1193 {
nikapov 0:704c89673b57 1194 /* Disable tilt event on INT1. */
nikapov 0:704c89673b57 1195 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1196 {
nikapov 0:704c89673b57 1197 return 1;
nikapov 0:704c89673b57 1198 }
nikapov 0:704c89673b57 1199
nikapov 0:704c89673b57 1200 /* Disable tilt event on INT2. */
nikapov 0:704c89673b57 1201 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TILT_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1202 {
nikapov 0:704c89673b57 1203 return 1;
nikapov 0:704c89673b57 1204 }
nikapov 0:704c89673b57 1205
nikapov 0:704c89673b57 1206 /* Disable tilt calculation. */
nikapov 0:704c89673b57 1207 if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1208 {
nikapov 0:704c89673b57 1209 return 1;
nikapov 0:704c89673b57 1210 }
nikapov 0:704c89673b57 1211
nikapov 0:704c89673b57 1212 /* Disable embedded functionalities */
nikapov 0:704c89673b57 1213 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1214 {
nikapov 0:704c89673b57 1215 return 1;
nikapov 0:704c89673b57 1216 }
nikapov 0:704c89673b57 1217
nikapov 0:704c89673b57 1218 return 0;
nikapov 0:704c89673b57 1219 }
nikapov 0:704c89673b57 1220
nikapov 0:704c89673b57 1221 /**
nikapov 0:704c89673b57 1222 * @brief Enable the wake up detection for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1223 * @param pin the interrupt pin to be used
nikapov 0:704c89673b57 1224 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
nikapov 0:704c89673b57 1225 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1226 */
nikapov 0:704c89673b57 1227 int LSM6DSLSensor::enable_wake_up_detection(LSM6DSL_Interrupt_Pin_t pin)
nikapov 0:704c89673b57 1228 {
nikapov 0:704c89673b57 1229 /* Output Data Rate selection */
nikapov 0:704c89673b57 1230 if( set_x_odr(416.0f) == 1 )
nikapov 0:704c89673b57 1231 {
nikapov 0:704c89673b57 1232 return 1;
nikapov 0:704c89673b57 1233 }
nikapov 0:704c89673b57 1234
nikapov 0:704c89673b57 1235 /* Full scale selection. */
nikapov 0:704c89673b57 1236 if( set_x_fs(2.0f) == 1 )
nikapov 0:704c89673b57 1237 {
nikapov 0:704c89673b57 1238 return 1;
nikapov 0:704c89673b57 1239 }
nikapov 0:704c89673b57 1240
nikapov 0:704c89673b57 1241 /* WAKE_DUR setting */
nikapov 0:704c89673b57 1242 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
nikapov 0:704c89673b57 1243 {
nikapov 0:704c89673b57 1244 return 1;
nikapov 0:704c89673b57 1245 }
nikapov 0:704c89673b57 1246
nikapov 0:704c89673b57 1247 /* Set wake up threshold. */
nikapov 0:704c89673b57 1248 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
nikapov 0:704c89673b57 1249 {
nikapov 0:704c89673b57 1250 return 1;
nikapov 0:704c89673b57 1251 }
nikapov 0:704c89673b57 1252
nikapov 0:704c89673b57 1253 /* Enable basic Interrupts */
nikapov 0:704c89673b57 1254 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1255 {
nikapov 0:704c89673b57 1256 return 1;
nikapov 0:704c89673b57 1257 }
nikapov 0:704c89673b57 1258
nikapov 0:704c89673b57 1259 /* Enable wake up detection on either INT1 or INT2 pin */
nikapov 0:704c89673b57 1260 switch (pin)
nikapov 0:704c89673b57 1261 {
nikapov 0:704c89673b57 1262 case LSM6DSL_INT1_PIN:
nikapov 0:704c89673b57 1263 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1264 {
nikapov 0:704c89673b57 1265 return 1;
nikapov 0:704c89673b57 1266 }
nikapov 0:704c89673b57 1267 break;
nikapov 0:704c89673b57 1268
nikapov 0:704c89673b57 1269 case LSM6DSL_INT2_PIN:
nikapov 0:704c89673b57 1270 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1271 {
nikapov 0:704c89673b57 1272 return 1;
nikapov 0:704c89673b57 1273 }
nikapov 0:704c89673b57 1274 break;
nikapov 0:704c89673b57 1275
nikapov 0:704c89673b57 1276 default:
nikapov 0:704c89673b57 1277 return 1;
nikapov 0:704c89673b57 1278 }
nikapov 0:704c89673b57 1279
nikapov 0:704c89673b57 1280 return 0;
nikapov 0:704c89673b57 1281 }
nikapov 0:704c89673b57 1282
nikapov 0:704c89673b57 1283 /**
nikapov 0:704c89673b57 1284 * @brief Disable the wake up detection for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1285 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1286 */
nikapov 0:704c89673b57 1287 int LSM6DSLSensor::disable_wake_up_detection(void)
nikapov 0:704c89673b57 1288 {
nikapov 0:704c89673b57 1289 /* Disable wake up event on INT1 */
nikapov 0:704c89673b57 1290 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1291 {
nikapov 0:704c89673b57 1292 return 1;
nikapov 0:704c89673b57 1293 }
nikapov 0:704c89673b57 1294
nikapov 0:704c89673b57 1295 /* Disable wake up event on INT2 */
nikapov 0:704c89673b57 1296 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1297 {
nikapov 0:704c89673b57 1298 return 1;
nikapov 0:704c89673b57 1299 }
nikapov 0:704c89673b57 1300
nikapov 0:704c89673b57 1301 /* Disable basic Interrupts */
nikapov 0:704c89673b57 1302 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1303 {
nikapov 0:704c89673b57 1304 return 1;
nikapov 0:704c89673b57 1305 }
nikapov 0:704c89673b57 1306
nikapov 0:704c89673b57 1307 /* WU_DUR setting */
nikapov 0:704c89673b57 1308 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
nikapov 0:704c89673b57 1309 {
nikapov 0:704c89673b57 1310 return 1;
nikapov 0:704c89673b57 1311 }
nikapov 0:704c89673b57 1312
nikapov 0:704c89673b57 1313 /* WU_THS setting */
nikapov 0:704c89673b57 1314 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
nikapov 0:704c89673b57 1315 {
nikapov 0:704c89673b57 1316 return 1;
nikapov 0:704c89673b57 1317 }
nikapov 0:704c89673b57 1318
nikapov 0:704c89673b57 1319 return 0;
nikapov 0:704c89673b57 1320 }
nikapov 0:704c89673b57 1321
nikapov 0:704c89673b57 1322 /**
nikapov 0:704c89673b57 1323 * @brief Set the wake up threshold for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1324 * @param thr the threshold to be set
nikapov 0:704c89673b57 1325 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1326 */
nikapov 0:704c89673b57 1327 int LSM6DSLSensor::set_wake_up_threshold(uint8_t thr)
nikapov 0:704c89673b57 1328 {
nikapov 0:704c89673b57 1329 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
nikapov 0:704c89673b57 1330 {
nikapov 0:704c89673b57 1331 return 1;
nikapov 0:704c89673b57 1332 }
nikapov 0:704c89673b57 1333
nikapov 0:704c89673b57 1334 return 0;
nikapov 0:704c89673b57 1335 }
nikapov 0:704c89673b57 1336
nikapov 0:704c89673b57 1337 /**
nikapov 0:704c89673b57 1338 * @brief Enable the single tap detection for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1339 * @param pin the interrupt pin to be used
nikapov 0:704c89673b57 1340 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
nikapov 0:704c89673b57 1341 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1342 */
nikapov 0:704c89673b57 1343 int LSM6DSLSensor::enable_single_tap_detection(LSM6DSL_Interrupt_Pin_t pin)
nikapov 0:704c89673b57 1344 {
nikapov 0:704c89673b57 1345 /* Output Data Rate selection */
nikapov 0:704c89673b57 1346 if( set_x_odr(416.0f) == 1 )
nikapov 0:704c89673b57 1347 {
nikapov 0:704c89673b57 1348 return 1;
nikapov 0:704c89673b57 1349 }
nikapov 0:704c89673b57 1350
nikapov 0:704c89673b57 1351 /* Full scale selection. */
nikapov 0:704c89673b57 1352 if( set_x_fs(2.0f) == 1 )
nikapov 0:704c89673b57 1353 {
nikapov 0:704c89673b57 1354 return 1;
nikapov 0:704c89673b57 1355 }
nikapov 0:704c89673b57 1356
nikapov 0:704c89673b57 1357 /* Enable X direction in tap recognition. */
nikapov 0:704c89673b57 1358 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1359 {
nikapov 0:704c89673b57 1360 return 1;
nikapov 0:704c89673b57 1361 }
nikapov 0:704c89673b57 1362
nikapov 0:704c89673b57 1363 /* Enable Y direction in tap recognition. */
nikapov 0:704c89673b57 1364 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1365 {
nikapov 0:704c89673b57 1366 return 1;
nikapov 0:704c89673b57 1367 }
nikapov 0:704c89673b57 1368
nikapov 0:704c89673b57 1369 /* Enable Z direction in tap recognition. */
nikapov 0:704c89673b57 1370 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1371 {
nikapov 0:704c89673b57 1372 return 1;
nikapov 0:704c89673b57 1373 }
nikapov 0:704c89673b57 1374
nikapov 0:704c89673b57 1375 /* Set tap threshold. */
nikapov 0:704c89673b57 1376 if ( set_tap_threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
nikapov 0:704c89673b57 1377 {
nikapov 0:704c89673b57 1378 return 1;
nikapov 0:704c89673b57 1379 }
nikapov 0:704c89673b57 1380
nikapov 0:704c89673b57 1381 /* Set tap shock time window. */
nikapov 0:704c89673b57 1382 if ( set_tap_shock_time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == 1 )
nikapov 0:704c89673b57 1383 {
nikapov 0:704c89673b57 1384 return 1;
nikapov 0:704c89673b57 1385 }
nikapov 0:704c89673b57 1386
nikapov 0:704c89673b57 1387 /* Set tap quiet time window. */
nikapov 0:704c89673b57 1388 if ( set_tap_quiet_time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == 1 )
nikapov 0:704c89673b57 1389 {
nikapov 0:704c89673b57 1390 return 1;
nikapov 0:704c89673b57 1391 }
nikapov 0:704c89673b57 1392
nikapov 0:704c89673b57 1393 /* _NOTE_: Tap duration time window - don't care for single tap. */
nikapov 0:704c89673b57 1394
nikapov 0:704c89673b57 1395 /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
nikapov 0:704c89673b57 1396
nikapov 0:704c89673b57 1397 /* Enable basic Interrupts */
nikapov 0:704c89673b57 1398 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1399 {
nikapov 0:704c89673b57 1400 return 1;
nikapov 0:704c89673b57 1401 }
nikapov 0:704c89673b57 1402
nikapov 0:704c89673b57 1403 /* Enable single tap on either INT1 or INT2 pin */
nikapov 0:704c89673b57 1404 switch (pin)
nikapov 0:704c89673b57 1405 {
nikapov 0:704c89673b57 1406 case LSM6DSL_INT1_PIN:
nikapov 0:704c89673b57 1407 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1408 {
nikapov 0:704c89673b57 1409 return 1;
nikapov 0:704c89673b57 1410 }
nikapov 0:704c89673b57 1411 break;
nikapov 0:704c89673b57 1412
nikapov 0:704c89673b57 1413 case LSM6DSL_INT2_PIN:
nikapov 0:704c89673b57 1414 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1415 {
nikapov 0:704c89673b57 1416 return 1;
nikapov 0:704c89673b57 1417 }
nikapov 0:704c89673b57 1418 break;
nikapov 0:704c89673b57 1419
nikapov 0:704c89673b57 1420 default:
nikapov 0:704c89673b57 1421 return 1;
nikapov 0:704c89673b57 1422 }
nikapov 0:704c89673b57 1423
nikapov 0:704c89673b57 1424 return 0;
nikapov 0:704c89673b57 1425 }
nikapov 0:704c89673b57 1426
nikapov 0:704c89673b57 1427 /**
nikapov 0:704c89673b57 1428 * @brief Disable the single tap detection for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1429 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1430 */
nikapov 0:704c89673b57 1431 int LSM6DSLSensor::disable_single_tap_detection(void)
nikapov 0:704c89673b57 1432 {
nikapov 0:704c89673b57 1433 /* Disable single tap interrupt on INT1 pin. */
nikapov 0:704c89673b57 1434 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1435 {
nikapov 0:704c89673b57 1436 return 1;
nikapov 0:704c89673b57 1437 }
nikapov 0:704c89673b57 1438
nikapov 0:704c89673b57 1439 /* Disable single tap interrupt on INT2 pin. */
nikapov 0:704c89673b57 1440 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1441 {
nikapov 0:704c89673b57 1442 return 1;
nikapov 0:704c89673b57 1443 }
nikapov 0:704c89673b57 1444
nikapov 0:704c89673b57 1445 /* Disable basic Interrupts */
nikapov 0:704c89673b57 1446 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1447 {
nikapov 0:704c89673b57 1448 return 1;
nikapov 0:704c89673b57 1449 }
nikapov 0:704c89673b57 1450
nikapov 0:704c89673b57 1451 /* Reset tap threshold. */
nikapov 0:704c89673b57 1452 if ( set_tap_threshold( 0x0 ) == 1 )
nikapov 0:704c89673b57 1453 {
nikapov 0:704c89673b57 1454 return 1;
nikapov 0:704c89673b57 1455 }
nikapov 0:704c89673b57 1456
nikapov 0:704c89673b57 1457 /* Reset tap shock time window. */
nikapov 0:704c89673b57 1458 if ( set_tap_shock_time( 0x0 ) == 1 )
nikapov 0:704c89673b57 1459 {
nikapov 0:704c89673b57 1460 return 1;
nikapov 0:704c89673b57 1461 }
nikapov 0:704c89673b57 1462
nikapov 0:704c89673b57 1463 /* Reset tap quiet time window. */
nikapov 0:704c89673b57 1464 if ( set_tap_quiet_time( 0x0 ) == 1 )
nikapov 0:704c89673b57 1465 {
nikapov 0:704c89673b57 1466 return 1;
nikapov 0:704c89673b57 1467 }
nikapov 0:704c89673b57 1468
nikapov 0:704c89673b57 1469 /* _NOTE_: Tap duration time window - don't care for single tap. */
nikapov 0:704c89673b57 1470
nikapov 0:704c89673b57 1471 /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
nikapov 0:704c89673b57 1472
nikapov 0:704c89673b57 1473 /* Disable Z direction in tap recognition. */
nikapov 0:704c89673b57 1474 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1475 {
nikapov 0:704c89673b57 1476 return 1;
nikapov 0:704c89673b57 1477 }
nikapov 0:704c89673b57 1478
nikapov 0:704c89673b57 1479 /* Disable Y direction in tap recognition. */
nikapov 0:704c89673b57 1480 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1481 {
nikapov 0:704c89673b57 1482 return 1;
nikapov 0:704c89673b57 1483 }
nikapov 0:704c89673b57 1484
nikapov 0:704c89673b57 1485 /* Disable X direction in tap recognition. */
nikapov 0:704c89673b57 1486 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1487 {
nikapov 0:704c89673b57 1488 return 1;
nikapov 0:704c89673b57 1489 }
nikapov 0:704c89673b57 1490
nikapov 0:704c89673b57 1491 return 0;
nikapov 0:704c89673b57 1492 }
nikapov 0:704c89673b57 1493
nikapov 0:704c89673b57 1494 /**
nikapov 0:704c89673b57 1495 * @brief Enable the double tap detection for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1496 * @param pin the interrupt pin to be used
nikapov 0:704c89673b57 1497 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
nikapov 0:704c89673b57 1498 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1499 */
nikapov 0:704c89673b57 1500 int LSM6DSLSensor::enable_double_tap_detection(LSM6DSL_Interrupt_Pin_t pin)
nikapov 0:704c89673b57 1501 {
nikapov 0:704c89673b57 1502 /* Output Data Rate selection */
nikapov 0:704c89673b57 1503 if( set_x_odr(416.0f) == 1 )
nikapov 0:704c89673b57 1504 {
nikapov 0:704c89673b57 1505 return 1;
nikapov 0:704c89673b57 1506 }
nikapov 0:704c89673b57 1507
nikapov 0:704c89673b57 1508 /* Full scale selection. */
nikapov 0:704c89673b57 1509 if( set_x_fs(2.0f) == 1 )
nikapov 0:704c89673b57 1510 {
nikapov 0:704c89673b57 1511 return 1;
nikapov 0:704c89673b57 1512 }
nikapov 0:704c89673b57 1513
nikapov 0:704c89673b57 1514 /* Enable X direction in tap recognition. */
nikapov 0:704c89673b57 1515 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1516 {
nikapov 0:704c89673b57 1517 return 1;
nikapov 0:704c89673b57 1518 }
nikapov 0:704c89673b57 1519
nikapov 0:704c89673b57 1520 /* Enable Y direction in tap recognition. */
nikapov 0:704c89673b57 1521 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1522 {
nikapov 0:704c89673b57 1523 return 1;
nikapov 0:704c89673b57 1524 }
nikapov 0:704c89673b57 1525
nikapov 0:704c89673b57 1526 /* Enable Z direction in tap recognition. */
nikapov 0:704c89673b57 1527 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1528 {
nikapov 0:704c89673b57 1529 return 1;
nikapov 0:704c89673b57 1530 }
nikapov 0:704c89673b57 1531
nikapov 0:704c89673b57 1532 /* Set tap threshold. */
nikapov 0:704c89673b57 1533 if ( set_tap_threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
nikapov 0:704c89673b57 1534 {
nikapov 0:704c89673b57 1535 return 1;
nikapov 0:704c89673b57 1536 }
nikapov 0:704c89673b57 1537
nikapov 0:704c89673b57 1538 /* Set tap shock time window. */
nikapov 0:704c89673b57 1539 if ( set_tap_shock_time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == 1 )
nikapov 0:704c89673b57 1540 {
nikapov 0:704c89673b57 1541 return 1;
nikapov 0:704c89673b57 1542 }
nikapov 0:704c89673b57 1543
nikapov 0:704c89673b57 1544 /* Set tap quiet time window. */
nikapov 0:704c89673b57 1545 if ( set_tap_quiet_time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == 1 )
nikapov 0:704c89673b57 1546 {
nikapov 0:704c89673b57 1547 return 1;
nikapov 0:704c89673b57 1548 }
nikapov 0:704c89673b57 1549
nikapov 0:704c89673b57 1550 /* Set tap duration time window. */
nikapov 0:704c89673b57 1551 if ( set_tap_duration_time( LSM6DSL_TAP_DURATION_TIME_MID ) == 1 )
nikapov 0:704c89673b57 1552 {
nikapov 0:704c89673b57 1553 return 1;
nikapov 0:704c89673b57 1554 }
nikapov 0:704c89673b57 1555
nikapov 0:704c89673b57 1556 /* Single and double tap enabled. */
nikapov 0:704c89673b57 1557 if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
nikapov 0:704c89673b57 1558 {
nikapov 0:704c89673b57 1559 return 1;
nikapov 0:704c89673b57 1560 }
nikapov 0:704c89673b57 1561
nikapov 0:704c89673b57 1562 /* Enable basic Interrupts */
nikapov 0:704c89673b57 1563 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1564 {
nikapov 0:704c89673b57 1565 return 1;
nikapov 0:704c89673b57 1566 }
nikapov 0:704c89673b57 1567
nikapov 0:704c89673b57 1568 /* Enable double tap on either INT1 or INT2 pin */
nikapov 0:704c89673b57 1569 switch (pin)
nikapov 0:704c89673b57 1570 {
nikapov 0:704c89673b57 1571 case LSM6DSL_INT1_PIN:
nikapov 0:704c89673b57 1572 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1573 {
nikapov 0:704c89673b57 1574 return 1;
nikapov 0:704c89673b57 1575 }
nikapov 0:704c89673b57 1576 break;
nikapov 0:704c89673b57 1577
nikapov 0:704c89673b57 1578 case LSM6DSL_INT2_PIN:
nikapov 0:704c89673b57 1579 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TAP_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1580 {
nikapov 0:704c89673b57 1581 return 1;
nikapov 0:704c89673b57 1582 }
nikapov 0:704c89673b57 1583 break;
nikapov 0:704c89673b57 1584
nikapov 0:704c89673b57 1585 default:
nikapov 0:704c89673b57 1586 return 1;
nikapov 0:704c89673b57 1587 }
nikapov 0:704c89673b57 1588
nikapov 0:704c89673b57 1589 return 0;
nikapov 0:704c89673b57 1590 }
nikapov 0:704c89673b57 1591
nikapov 0:704c89673b57 1592 /**
nikapov 0:704c89673b57 1593 * @brief Disable the double tap detection for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1594 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1595 */
nikapov 0:704c89673b57 1596 int LSM6DSLSensor::disable_double_tap_detection(void)
nikapov 0:704c89673b57 1597 {
nikapov 0:704c89673b57 1598 /* Disable double tap interrupt on INT1 pin. */
nikapov 0:704c89673b57 1599 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1600 {
nikapov 0:704c89673b57 1601 return 1;
nikapov 0:704c89673b57 1602 }
nikapov 0:704c89673b57 1603
nikapov 0:704c89673b57 1604 /* Disable double tap interrupt on INT2 pin. */
nikapov 0:704c89673b57 1605 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TAP_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1606 {
nikapov 0:704c89673b57 1607 return 1;
nikapov 0:704c89673b57 1608 }
nikapov 0:704c89673b57 1609
nikapov 0:704c89673b57 1610 /* Disable basic Interrupts */
nikapov 0:704c89673b57 1611 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1612 {
nikapov 0:704c89673b57 1613 return 1;
nikapov 0:704c89673b57 1614 }
nikapov 0:704c89673b57 1615
nikapov 0:704c89673b57 1616 /* Reset tap threshold. */
nikapov 0:704c89673b57 1617 if ( set_tap_threshold( 0x0 ) == 1 )
nikapov 0:704c89673b57 1618 {
nikapov 0:704c89673b57 1619 return 1;
nikapov 0:704c89673b57 1620 }
nikapov 0:704c89673b57 1621
nikapov 0:704c89673b57 1622 /* Reset tap shock time window. */
nikapov 0:704c89673b57 1623 if ( set_tap_shock_time( 0x0 ) == 1 )
nikapov 0:704c89673b57 1624 {
nikapov 0:704c89673b57 1625 return 1;
nikapov 0:704c89673b57 1626 }
nikapov 0:704c89673b57 1627
nikapov 0:704c89673b57 1628 /* Reset tap quiet time window. */
nikapov 0:704c89673b57 1629 if ( set_tap_quiet_time( 0x0 ) == 1 )
nikapov 0:704c89673b57 1630 {
nikapov 0:704c89673b57 1631 return 1;
nikapov 0:704c89673b57 1632 }
nikapov 0:704c89673b57 1633
nikapov 0:704c89673b57 1634 /* Reset tap duration time window. */
nikapov 0:704c89673b57 1635 if ( set_tap_duration_time( 0x0 ) == 1 )
nikapov 0:704c89673b57 1636 {
nikapov 0:704c89673b57 1637 return 1;
nikapov 0:704c89673b57 1638 }
nikapov 0:704c89673b57 1639
nikapov 0:704c89673b57 1640 /* Only single tap enabled. */
nikapov 0:704c89673b57 1641 if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
nikapov 0:704c89673b57 1642 {
nikapov 0:704c89673b57 1643 return 1;
nikapov 0:704c89673b57 1644 }
nikapov 0:704c89673b57 1645
nikapov 0:704c89673b57 1646 /* Disable Z direction in tap recognition. */
nikapov 0:704c89673b57 1647 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1648 {
nikapov 0:704c89673b57 1649 return 1;
nikapov 0:704c89673b57 1650 }
nikapov 0:704c89673b57 1651
nikapov 0:704c89673b57 1652 /* Disable Y direction in tap recognition. */
nikapov 0:704c89673b57 1653 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1654 {
nikapov 0:704c89673b57 1655 return 1;
nikapov 0:704c89673b57 1656 }
nikapov 0:704c89673b57 1657
nikapov 0:704c89673b57 1658 /* Disable X direction in tap recognition. */
nikapov 0:704c89673b57 1659 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1660 {
nikapov 0:704c89673b57 1661 return 1;
nikapov 0:704c89673b57 1662 }
nikapov 0:704c89673b57 1663
nikapov 0:704c89673b57 1664 return 0;
nikapov 0:704c89673b57 1665 }
nikapov 0:704c89673b57 1666
nikapov 0:704c89673b57 1667 /**
nikapov 0:704c89673b57 1668 * @brief Set the tap threshold for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1669 * @param thr the threshold to be set
nikapov 0:704c89673b57 1670 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1671 */
nikapov 0:704c89673b57 1672 int LSM6DSLSensor::set_tap_threshold(uint8_t thr)
nikapov 0:704c89673b57 1673 {
nikapov 0:704c89673b57 1674 if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
nikapov 0:704c89673b57 1675 {
nikapov 0:704c89673b57 1676 return 1;
nikapov 0:704c89673b57 1677 }
nikapov 0:704c89673b57 1678
nikapov 0:704c89673b57 1679 return 0;
nikapov 0:704c89673b57 1680 }
nikapov 0:704c89673b57 1681
nikapov 0:704c89673b57 1682 /**
nikapov 0:704c89673b57 1683 * @brief Set the tap shock time window for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1684 * @param time the shock time window to be set
nikapov 0:704c89673b57 1685 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1686 */
nikapov 0:704c89673b57 1687 int LSM6DSLSensor::set_tap_shock_time(uint8_t time)
nikapov 0:704c89673b57 1688 {
nikapov 0:704c89673b57 1689 if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
nikapov 0:704c89673b57 1690 {
nikapov 0:704c89673b57 1691 return 1;
nikapov 0:704c89673b57 1692 }
nikapov 0:704c89673b57 1693
nikapov 0:704c89673b57 1694 return 0;
nikapov 0:704c89673b57 1695 }
nikapov 0:704c89673b57 1696
nikapov 0:704c89673b57 1697 /**
nikapov 0:704c89673b57 1698 * @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1699 * @param time the quiet time window to be set
nikapov 0:704c89673b57 1700 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1701 */
nikapov 0:704c89673b57 1702 int LSM6DSLSensor::set_tap_quiet_time(uint8_t time)
nikapov 0:704c89673b57 1703 {
nikapov 0:704c89673b57 1704 if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
nikapov 0:704c89673b57 1705 {
nikapov 0:704c89673b57 1706 return 1;
nikapov 0:704c89673b57 1707 }
nikapov 0:704c89673b57 1708
nikapov 0:704c89673b57 1709 return 0;
nikapov 0:704c89673b57 1710 }
nikapov 0:704c89673b57 1711
nikapov 0:704c89673b57 1712 /**
nikapov 0:704c89673b57 1713 * @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1714 * @param time the duration of the time window to be set
nikapov 0:704c89673b57 1715 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1716 */
nikapov 0:704c89673b57 1717 int LSM6DSLSensor::set_tap_duration_time(uint8_t time)
nikapov 0:704c89673b57 1718 {
nikapov 0:704c89673b57 1719 if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
nikapov 0:704c89673b57 1720 {
nikapov 0:704c89673b57 1721 return 1;
nikapov 0:704c89673b57 1722 }
nikapov 0:704c89673b57 1723
nikapov 0:704c89673b57 1724 return 0;
nikapov 0:704c89673b57 1725 }
nikapov 0:704c89673b57 1726
nikapov 0:704c89673b57 1727 /**
nikapov 0:704c89673b57 1728 * @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1729 * @param pin the interrupt pin to be used
nikapov 0:704c89673b57 1730 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
nikapov 0:704c89673b57 1731 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1732 */
nikapov 0:704c89673b57 1733 int LSM6DSLSensor::enable_6d_orientation(LSM6DSL_Interrupt_Pin_t pin)
nikapov 0:704c89673b57 1734 {
nikapov 0:704c89673b57 1735 /* Output Data Rate selection */
nikapov 0:704c89673b57 1736 if( set_x_odr(416.0f) == 1 )
nikapov 0:704c89673b57 1737 {
nikapov 0:704c89673b57 1738 return 1;
nikapov 0:704c89673b57 1739 }
nikapov 0:704c89673b57 1740
nikapov 0:704c89673b57 1741 /* Full scale selection. */
nikapov 0:704c89673b57 1742 if( set_x_fs(2.0f) == 1 )
nikapov 0:704c89673b57 1743 {
nikapov 0:704c89673b57 1744 return 1;
nikapov 0:704c89673b57 1745 }
nikapov 0:704c89673b57 1746
nikapov 0:704c89673b57 1747 /* Set 6D threshold. */
nikapov 0:704c89673b57 1748 if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
nikapov 0:704c89673b57 1749 {
nikapov 0:704c89673b57 1750 return 1;
nikapov 0:704c89673b57 1751 }
nikapov 0:704c89673b57 1752
nikapov 0:704c89673b57 1753 /* Enable basic Interrupts */
nikapov 0:704c89673b57 1754 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1755 {
nikapov 0:704c89673b57 1756 return 1;
nikapov 0:704c89673b57 1757 }
nikapov 0:704c89673b57 1758
nikapov 0:704c89673b57 1759 /* Enable 6D orientation on either INT1 or INT2 pin */
nikapov 0:704c89673b57 1760 switch (pin)
nikapov 0:704c89673b57 1761 {
nikapov 0:704c89673b57 1762 case LSM6DSL_INT1_PIN:
nikapov 0:704c89673b57 1763 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1764 {
nikapov 0:704c89673b57 1765 return 1;
nikapov 0:704c89673b57 1766 }
nikapov 0:704c89673b57 1767 break;
nikapov 0:704c89673b57 1768
nikapov 0:704c89673b57 1769 case LSM6DSL_INT2_PIN:
nikapov 0:704c89673b57 1770 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_6D_ENABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1771 {
nikapov 0:704c89673b57 1772 return 1;
nikapov 0:704c89673b57 1773 }
nikapov 0:704c89673b57 1774 break;
nikapov 0:704c89673b57 1775
nikapov 0:704c89673b57 1776 default:
nikapov 0:704c89673b57 1777 return 1;
nikapov 0:704c89673b57 1778 }
nikapov 0:704c89673b57 1779
nikapov 0:704c89673b57 1780 return 0;
nikapov 0:704c89673b57 1781 }
nikapov 0:704c89673b57 1782
nikapov 0:704c89673b57 1783 /**
nikapov 0:704c89673b57 1784 * @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1785 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1786 */
nikapov 0:704c89673b57 1787 int LSM6DSLSensor::disable_6d_orientation(void)
nikapov 0:704c89673b57 1788 {
nikapov 0:704c89673b57 1789 /* Disable 6D orientation interrupt on INT1 pin. */
nikapov 0:704c89673b57 1790 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1791 {
nikapov 0:704c89673b57 1792 return 1;
nikapov 0:704c89673b57 1793 }
nikapov 0:704c89673b57 1794
nikapov 0:704c89673b57 1795 /* Disable 6D orientation interrupt on INT2 pin. */
nikapov 0:704c89673b57 1796 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_6D_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1797 {
nikapov 0:704c89673b57 1798 return 1;
nikapov 0:704c89673b57 1799 }
nikapov 0:704c89673b57 1800
nikapov 0:704c89673b57 1801 /* Disable basic Interrupts */
nikapov 0:704c89673b57 1802 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
nikapov 0:704c89673b57 1803 {
nikapov 0:704c89673b57 1804 return 1;
nikapov 0:704c89673b57 1805 }
nikapov 0:704c89673b57 1806
nikapov 0:704c89673b57 1807 /* Reset 6D threshold. */
nikapov 0:704c89673b57 1808 if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
nikapov 0:704c89673b57 1809 {
nikapov 0:704c89673b57 1810 return 1;
nikapov 0:704c89673b57 1811 }
nikapov 0:704c89673b57 1812
nikapov 0:704c89673b57 1813 return 0;
nikapov 0:704c89673b57 1814 }
nikapov 0:704c89673b57 1815
nikapov 0:704c89673b57 1816 /**
nikapov 0:704c89673b57 1817 * @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1818 * @param xl the pointer to the 6D orientation XL axis
nikapov 0:704c89673b57 1819 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1820 */
nikapov 0:704c89673b57 1821 int LSM6DSLSensor::get_6d_orientation_xl(uint8_t *xl)
nikapov 0:704c89673b57 1822 {
nikapov 0:704c89673b57 1823 LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
nikapov 0:704c89673b57 1824
nikapov 0:704c89673b57 1825 if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
nikapov 0:704c89673b57 1826 {
nikapov 0:704c89673b57 1827 return 1;
nikapov 0:704c89673b57 1828 }
nikapov 0:704c89673b57 1829
nikapov 0:704c89673b57 1830 switch( xl_raw )
nikapov 0:704c89673b57 1831 {
nikapov 0:704c89673b57 1832 case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
nikapov 0:704c89673b57 1833 *xl = 1;
nikapov 0:704c89673b57 1834 break;
nikapov 0:704c89673b57 1835 case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
nikapov 0:704c89673b57 1836 *xl = 0;
nikapov 0:704c89673b57 1837 break;
nikapov 0:704c89673b57 1838 default:
nikapov 0:704c89673b57 1839 return 1;
nikapov 0:704c89673b57 1840 }
nikapov 0:704c89673b57 1841
nikapov 0:704c89673b57 1842 return 0;
nikapov 0:704c89673b57 1843 }
nikapov 0:704c89673b57 1844
nikapov 0:704c89673b57 1845 /**
nikapov 0:704c89673b57 1846 * @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1847 * @param xh the pointer to the 6D orientation XH axis
nikapov 0:704c89673b57 1848 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1849 */
nikapov 0:704c89673b57 1850 int LSM6DSLSensor::get_6d_orientation_xh(uint8_t *xh)
nikapov 0:704c89673b57 1851 {
nikapov 0:704c89673b57 1852 LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
nikapov 0:704c89673b57 1853
nikapov 0:704c89673b57 1854 if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
nikapov 0:704c89673b57 1855 {
nikapov 0:704c89673b57 1856 return 1;
nikapov 0:704c89673b57 1857 }
nikapov 0:704c89673b57 1858
nikapov 0:704c89673b57 1859 switch( xh_raw )
nikapov 0:704c89673b57 1860 {
nikapov 0:704c89673b57 1861 case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
nikapov 0:704c89673b57 1862 *xh = 1;
nikapov 0:704c89673b57 1863 break;
nikapov 0:704c89673b57 1864 case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
nikapov 0:704c89673b57 1865 *xh = 0;
nikapov 0:704c89673b57 1866 break;
nikapov 0:704c89673b57 1867 default:
nikapov 0:704c89673b57 1868 return 1;
nikapov 0:704c89673b57 1869 }
nikapov 0:704c89673b57 1870
nikapov 0:704c89673b57 1871 return 0;
nikapov 0:704c89673b57 1872 }
nikapov 0:704c89673b57 1873
nikapov 0:704c89673b57 1874 /**
nikapov 0:704c89673b57 1875 * @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1876 * @param yl the pointer to the 6D orientation YL axis
nikapov 0:704c89673b57 1877 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1878 */
nikapov 0:704c89673b57 1879 int LSM6DSLSensor::get_6d_orientation_yl(uint8_t *yl)
nikapov 0:704c89673b57 1880 {
nikapov 0:704c89673b57 1881 LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
nikapov 0:704c89673b57 1882
nikapov 0:704c89673b57 1883 if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
nikapov 0:704c89673b57 1884 {
nikapov 0:704c89673b57 1885 return 1;
nikapov 0:704c89673b57 1886 }
nikapov 0:704c89673b57 1887
nikapov 0:704c89673b57 1888 switch( yl_raw )
nikapov 0:704c89673b57 1889 {
nikapov 0:704c89673b57 1890 case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
nikapov 0:704c89673b57 1891 *yl = 1;
nikapov 0:704c89673b57 1892 break;
nikapov 0:704c89673b57 1893 case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
nikapov 0:704c89673b57 1894 *yl = 0;
nikapov 0:704c89673b57 1895 break;
nikapov 0:704c89673b57 1896 default:
nikapov 0:704c89673b57 1897 return 1;
nikapov 0:704c89673b57 1898 }
nikapov 0:704c89673b57 1899
nikapov 0:704c89673b57 1900 return 0;
nikapov 0:704c89673b57 1901 }
nikapov 0:704c89673b57 1902
nikapov 0:704c89673b57 1903 /**
nikapov 0:704c89673b57 1904 * @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1905 * @param yh the pointer to the 6D orientation YH axis
nikapov 0:704c89673b57 1906 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1907 */
nikapov 0:704c89673b57 1908 int LSM6DSLSensor::get_6d_orientation_yh(uint8_t *yh)
nikapov 0:704c89673b57 1909 {
nikapov 0:704c89673b57 1910 LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
nikapov 0:704c89673b57 1911
nikapov 0:704c89673b57 1912 if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
nikapov 0:704c89673b57 1913 {
nikapov 0:704c89673b57 1914 return 1;
nikapov 0:704c89673b57 1915 }
nikapov 0:704c89673b57 1916
nikapov 0:704c89673b57 1917 switch( yh_raw )
nikapov 0:704c89673b57 1918 {
nikapov 0:704c89673b57 1919 case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
nikapov 0:704c89673b57 1920 *yh = 1;
nikapov 0:704c89673b57 1921 break;
nikapov 0:704c89673b57 1922 case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
nikapov 0:704c89673b57 1923 *yh = 0;
nikapov 0:704c89673b57 1924 break;
nikapov 0:704c89673b57 1925 default:
nikapov 0:704c89673b57 1926 return 1;
nikapov 0:704c89673b57 1927 }
nikapov 0:704c89673b57 1928
nikapov 0:704c89673b57 1929 return 0;
nikapov 0:704c89673b57 1930 }
nikapov 0:704c89673b57 1931
nikapov 0:704c89673b57 1932 /**
nikapov 0:704c89673b57 1933 * @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1934 * @param zl the pointer to the 6D orientation ZL axis
nikapov 0:704c89673b57 1935 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1936 */
nikapov 0:704c89673b57 1937 int LSM6DSLSensor::get_6d_orientation_zl(uint8_t *zl)
nikapov 0:704c89673b57 1938 {
nikapov 0:704c89673b57 1939 LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
nikapov 0:704c89673b57 1940
nikapov 0:704c89673b57 1941 if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
nikapov 0:704c89673b57 1942 {
nikapov 0:704c89673b57 1943 return 1;
nikapov 0:704c89673b57 1944 }
nikapov 0:704c89673b57 1945
nikapov 0:704c89673b57 1946 switch( zl_raw )
nikapov 0:704c89673b57 1947 {
nikapov 0:704c89673b57 1948 case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
nikapov 0:704c89673b57 1949 *zl = 1;
nikapov 0:704c89673b57 1950 break;
nikapov 0:704c89673b57 1951 case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
nikapov 0:704c89673b57 1952 *zl = 0;
nikapov 0:704c89673b57 1953 break;
nikapov 0:704c89673b57 1954 default:
nikapov 0:704c89673b57 1955 return 1;
nikapov 0:704c89673b57 1956 }
nikapov 0:704c89673b57 1957
nikapov 0:704c89673b57 1958 return 0;
nikapov 0:704c89673b57 1959 }
nikapov 0:704c89673b57 1960
nikapov 0:704c89673b57 1961 /**
nikapov 0:704c89673b57 1962 * @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1963 * @param zh the pointer to the 6D orientation ZH axis
nikapov 0:704c89673b57 1964 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1965 */
nikapov 0:704c89673b57 1966 int LSM6DSLSensor::get_6d_orientation_zh(uint8_t *zh)
nikapov 0:704c89673b57 1967 {
nikapov 0:704c89673b57 1968 LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
nikapov 0:704c89673b57 1969
nikapov 0:704c89673b57 1970 if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
nikapov 0:704c89673b57 1971 {
nikapov 0:704c89673b57 1972 return 1;
nikapov 0:704c89673b57 1973 }
nikapov 0:704c89673b57 1974
nikapov 0:704c89673b57 1975 switch( zh_raw )
nikapov 0:704c89673b57 1976 {
nikapov 0:704c89673b57 1977 case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
nikapov 0:704c89673b57 1978 *zh = 1;
nikapov 0:704c89673b57 1979 break;
nikapov 0:704c89673b57 1980 case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
nikapov 0:704c89673b57 1981 *zh = 0;
nikapov 0:704c89673b57 1982 break;
nikapov 0:704c89673b57 1983 default:
nikapov 0:704c89673b57 1984 return 1;
nikapov 0:704c89673b57 1985 }
nikapov 0:704c89673b57 1986
nikapov 0:704c89673b57 1987 return 0;
nikapov 0:704c89673b57 1988 }
nikapov 0:704c89673b57 1989
nikapov 0:704c89673b57 1990 /**
nikapov 0:704c89673b57 1991 * @brief Get the status of all hardware events for LSM6DSL accelerometer sensor
nikapov 0:704c89673b57 1992 * @param status the pointer to the status of all hardware events
nikapov 0:704c89673b57 1993 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 1994 */
nikapov 0:704c89673b57 1995 int LSM6DSLSensor::get_event_status(LSM6DSL_Event_Status_t *status)
nikapov 0:704c89673b57 1996 {
nikapov 0:704c89673b57 1997 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 1998
nikapov 0:704c89673b57 1999 memset((void *)status, 0x0, sizeof(LSM6DSL_Event_Status_t));
nikapov 0:704c89673b57 2000
nikapov 0:704c89673b57 2001 if(read_reg(LSM6DSL_ACC_GYRO_WAKE_UP_SRC, &Wake_Up_Src) != 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_TAP_SRC, &Tap_Src) != 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_D6D_SRC, &D6D_Src) != 0)
nikapov 0:704c89673b57 2012 {
nikapov 0:704c89673b57 2013 return 1;
nikapov 0:704c89673b57 2014 }
nikapov 0:704c89673b57 2015
nikapov 0:704c89673b57 2016 if(read_reg(LSM6DSL_ACC_GYRO_FUNC_SRC, &Func_Src) != 0)
nikapov 0:704c89673b57 2017 {
nikapov 0:704c89673b57 2018 return 1;
nikapov 0:704c89673b57 2019 }
nikapov 0:704c89673b57 2020
nikapov 0:704c89673b57 2021 if(read_reg(LSM6DSL_ACC_GYRO_MD1_CFG, &Md1_Cfg ) != 0 )
nikapov 0:704c89673b57 2022 {
nikapov 0:704c89673b57 2023 return 1;
nikapov 0:704c89673b57 2024 }
nikapov 0:704c89673b57 2025
nikapov 0:704c89673b57 2026 if(read_reg(LSM6DSL_ACC_GYRO_MD2_CFG, &Md2_Cfg ) != 0)
nikapov 0:704c89673b57 2027 {
nikapov 0:704c89673b57 2028 return 1;
nikapov 0:704c89673b57 2029 }
nikapov 0:704c89673b57 2030
nikapov 0:704c89673b57 2031 if(read_reg(LSM6DSL_ACC_GYRO_INT1_CTRL, &Int1_Ctrl ) != 0)
nikapov 0:704c89673b57 2032 {
nikapov 0:704c89673b57 2033 return 1;
nikapov 0:704c89673b57 2034 }
nikapov 0:704c89673b57 2035
nikapov 0:704c89673b57 2036 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_FF_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_FF_MASK))
nikapov 0:704c89673b57 2037 {
nikapov 0:704c89673b57 2038 if((Wake_Up_Src & LSM6DSL_ACC_GYRO_FF_EV_STATUS_MASK))
nikapov 0:704c89673b57 2039 {
nikapov 0:704c89673b57 2040 status->FreeFallStatus = 1;
nikapov 0:704c89673b57 2041 }
nikapov 0:704c89673b57 2042 }
nikapov 0:704c89673b57 2043
nikapov 0:704c89673b57 2044 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_WU_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_WU_MASK))
nikapov 0:704c89673b57 2045 {
nikapov 0:704c89673b57 2046 if((Wake_Up_Src & LSM6DSL_ACC_GYRO_WU_EV_STATUS_MASK))
nikapov 0:704c89673b57 2047 {
nikapov 0:704c89673b57 2048 status->WakeUpStatus = 1;
nikapov 0:704c89673b57 2049 }
nikapov 0:704c89673b57 2050 }
nikapov 0:704c89673b57 2051
nikapov 0:704c89673b57 2052 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_MASK))
nikapov 0:704c89673b57 2053 {
nikapov 0:704c89673b57 2054 if((Tap_Src & LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_MASK))
nikapov 0:704c89673b57 2055 {
nikapov 0:704c89673b57 2056 status->TapStatus = 1;
nikapov 0:704c89673b57 2057 }
nikapov 0:704c89673b57 2058 }
nikapov 0:704c89673b57 2059
nikapov 0:704c89673b57 2060 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TAP_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_TAP_MASK))
nikapov 0:704c89673b57 2061 {
nikapov 0:704c89673b57 2062 if((Tap_Src & LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_MASK))
nikapov 0:704c89673b57 2063 {
nikapov 0:704c89673b57 2064 status->DoubleTapStatus = 1;
nikapov 0:704c89673b57 2065 }
nikapov 0:704c89673b57 2066 }
nikapov 0:704c89673b57 2067
nikapov 0:704c89673b57 2068 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_6D_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_6D_MASK))
nikapov 0:704c89673b57 2069 {
nikapov 0:704c89673b57 2070 if((D6D_Src & LSM6DSL_ACC_GYRO_D6D_EV_STATUS_MASK))
nikapov 0:704c89673b57 2071 {
nikapov 0:704c89673b57 2072 status->D6DOrientationStatus = 1;
nikapov 0:704c89673b57 2073 }
nikapov 0:704c89673b57 2074 }
nikapov 0:704c89673b57 2075
nikapov 0:704c89673b57 2076 if((Int1_Ctrl & LSM6DSL_ACC_GYRO_INT1_PEDO_MASK))
nikapov 0:704c89673b57 2077 {
nikapov 0:704c89673b57 2078 if((Func_Src & LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_MASK))
nikapov 0:704c89673b57 2079 {
nikapov 0:704c89673b57 2080 status->StepStatus = 1;
nikapov 0:704c89673b57 2081 }
nikapov 0:704c89673b57 2082 }
nikapov 0:704c89673b57 2083
nikapov 0:704c89673b57 2084 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TILT_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_TILT_MASK))
nikapov 0:704c89673b57 2085 {
nikapov 0:704c89673b57 2086 if((Func_Src & LSM6DSL_ACC_GYRO_TILT_EV_STATUS_MASK))
nikapov 0:704c89673b57 2087 {
nikapov 0:704c89673b57 2088 status->TiltStatus = 1;
nikapov 0:704c89673b57 2089 }
nikapov 0:704c89673b57 2090 }
nikapov 0:704c89673b57 2091
nikapov 0:704c89673b57 2092 return 0;
nikapov 0:704c89673b57 2093 }
nikapov 0:704c89673b57 2094
nikapov 0:704c89673b57 2095 /**
nikapov 0:704c89673b57 2096 * @brief Read the data from register
nikapov 0:704c89673b57 2097 * @param reg register address
nikapov 0:704c89673b57 2098 * @param data register data
nikapov 0:704c89673b57 2099 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 2100 */
nikapov 0:704c89673b57 2101 int LSM6DSLSensor::read_reg( uint8_t reg, uint8_t *data )
nikapov 0:704c89673b57 2102 {
nikapov 0:704c89673b57 2103
nikapov 0:704c89673b57 2104 if ( LSM6DSL_ACC_GYRO_read_reg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
nikapov 0:704c89673b57 2105 {
nikapov 0:704c89673b57 2106 return 1;
nikapov 0:704c89673b57 2107 }
nikapov 0:704c89673b57 2108
nikapov 0:704c89673b57 2109 return 0;
nikapov 0:704c89673b57 2110 }
nikapov 0:704c89673b57 2111
nikapov 0:704c89673b57 2112 /**
nikapov 0:704c89673b57 2113 * @brief Write the data to register
nikapov 0:704c89673b57 2114 * @param reg register address
nikapov 0:704c89673b57 2115 * @param data register data
nikapov 0:704c89673b57 2116 * @retval 0 in case of success, an error code otherwise
nikapov 0:704c89673b57 2117 */
nikapov 0:704c89673b57 2118 int LSM6DSLSensor::write_reg( uint8_t reg, uint8_t data )
nikapov 0:704c89673b57 2119 {
nikapov 0:704c89673b57 2120
nikapov 0:704c89673b57 2121 if ( LSM6DSL_ACC_GYRO_write_reg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
nikapov 0:704c89673b57 2122 {
nikapov 0:704c89673b57 2123 return 1;
nikapov 0:704c89673b57 2124 }
nikapov 0:704c89673b57 2125
nikapov 0:704c89673b57 2126 return 0;
nikapov 0:704c89673b57 2127 }
nikapov 0:704c89673b57 2128
nikapov 0:704c89673b57 2129
nikapov 0:704c89673b57 2130 uint8_t LSM6DSL_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
nikapov 0:704c89673b57 2131 {
nikapov 0:704c89673b57 2132 return ((LSM6DSLSensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite);
nikapov 0:704c89673b57 2133 }
nikapov 0:704c89673b57 2134
nikapov 0:704c89673b57 2135 uint8_t LSM6DSL_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
nikapov 0:704c89673b57 2136 {
nikapov 0:704c89673b57 2137 return ((LSM6DSLSensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead);
nikapov 0:704c89673b57 2138 }