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

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

Dependencies: X_NUCLEO_COMMON ST_INTERFACES

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

LSM6DSLSensor.cpp@9:fad44d0eacd4, 2022-02-08 (annotated)

Committer:: cparata
Date:: Tue Feb 08 08:27:15 2022 +0000
Revision:: 9:fad44d0eacd4
Parent:: 8:9a1017389cc7

Fix typo on MBED_MAJOR_VERSION

Who changed what in which revision?

User	Revision	Line number	New contents of line
nikapov	0:704c89673b57	1	/**
nikapov	0:704c89673b57	2	******************************************************************************
nikapov	0:704c89673b57	3	* @file LSM6DSLSensor.cpp
nikapov	0:704c89673b57	4	* @author CLab
nikapov	0:704c89673b57	5	* @version V1.0.0
nikapov	0:704c89673b57	6	* @date 5 August 2016
nikapov	0:704c89673b57	7	* @brief Implementation of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
nikapov	0:704c89673b57	8	* sensor.
nikapov	0:704c89673b57	9	******************************************************************************
nikapov	0:704c89673b57	10	* @attention
nikapov	0:704c89673b57	11	*
nikapov	0:704c89673b57	12	* <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
nikapov	0:704c89673b57	13	*
nikapov	0:704c89673b57	14	* Redistribution and use in source and binary forms, with or without modification,
nikapov	0:704c89673b57	15	* are permitted provided that the following conditions are met:
nikapov	0:704c89673b57	16	* 1. Redistributions of source code must retain the above copyright notice,
nikapov	0:704c89673b57	17	* this list of conditions and the following disclaimer.
nikapov	0:704c89673b57	18	* 2. Redistributions in binary form must reproduce the above copyright notice,
nikapov	0:704c89673b57	19	* this list of conditions and the following disclaimer in the documentation
nikapov	0:704c89673b57	20	* and/or other materials provided with the distribution.
nikapov	0:704c89673b57	21	* 3. Neither the name of STMicroelectronics nor the names of its contributors
nikapov	0:704c89673b57	22	* may be used to endorse or promote products derived from this software
nikapov	0:704c89673b57	23	* without specific prior written permission.
nikapov	0:704c89673b57	24	*
nikapov	0:704c89673b57	25	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
nikapov	0:704c89673b57	26	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
nikapov	0:704c89673b57	27	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
nikapov	0:704c89673b57	28	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
nikapov	0:704c89673b57	29	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
nikapov	0:704c89673b57	30	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
nikapov	0:704c89673b57	31	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
nikapov	0:704c89673b57	32	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
nikapov	0:704c89673b57	33	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
nikapov	0:704c89673b57	34	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
nikapov	0:704c89673b57	35	*
nikapov	0:704c89673b57	36	******************************************************************************
nikapov	0:704c89673b57	37	*/
nikapov	0:704c89673b57	38
nikapov	0:704c89673b57	39
nikapov	0:704c89673b57	40	/* Includes ------------------------------------------------------------------*/
nikapov	0:704c89673b57	41
nikapov	0:704c89673b57	42	#include "LSM6DSLSensor.h"
nikapov	0:704c89673b57	43
nikapov	0:704c89673b57	44	/* 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	9:fad44d0eacd4	1107	#if MBED_MAJOR_VERSION == 5
cparata	8:9a1017389cc7	1108	wait_ms(10);
cparata	8:9a1017389cc7	1109	#else
cparata	8:9a1017389cc7	1110	ThisThread::sleep_for(10ms);
cparata	8:9a1017389cc7	1111	#endif
nikapov	0:704c89673b57	1112
nikapov	0:704c89673b57	1113	if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1114	{
nikapov	0:704c89673b57	1115	return 1;
nikapov	0:704c89673b57	1116	}
nikapov	0:704c89673b57	1117
nikapov	0:704c89673b57	1118	return 0;
nikapov	0:704c89673b57	1119	}
nikapov	0:704c89673b57	1120
nikapov	0:704c89673b57	1121	/**
nikapov	0:704c89673b57	1122	* @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1123	* @param thr the threshold to be set
nikapov	0:704c89673b57	1124	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1125	*/
nikapov	0:704c89673b57	1126	int LSM6DSLSensor::set_pedometer_threshold(uint8_t thr)
nikapov	0:704c89673b57	1127	{
nikapov	0:704c89673b57	1128	if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
nikapov	0:704c89673b57	1129	{
nikapov	0:704c89673b57	1130	return 1;
nikapov	0:704c89673b57	1131	}
nikapov	0:704c89673b57	1132
nikapov	0:704c89673b57	1133	return 0;
nikapov	0:704c89673b57	1134	}
nikapov	0:704c89673b57	1135
nikapov	0:704c89673b57	1136	/**
nikapov	0:704c89673b57	1137	* @brief Enable the tilt detection for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1138	* @param pin the interrupt pin to be used
nikapov	0:704c89673b57	1139	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
nikapov	0:704c89673b57	1140	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1141	*/
nikapov	0:704c89673b57	1142	int LSM6DSLSensor::enable_tilt_detection(LSM6DSL_Interrupt_Pin_t pin)
nikapov	0:704c89673b57	1143	{
nikapov	0:704c89673b57	1144	/* Output Data Rate selection */
nikapov	0:704c89673b57	1145	if( set_x_odr(26.0f) == 1 )
nikapov	0:704c89673b57	1146	{
nikapov	0:704c89673b57	1147	return 1;
nikapov	0:704c89673b57	1148	}
nikapov	0:704c89673b57	1149
nikapov	0:704c89673b57	1150	/* Full scale selection. */
nikapov	0:704c89673b57	1151	if( set_x_fs(2.0f) == 1 )
nikapov	0:704c89673b57	1152	{
nikapov	0:704c89673b57	1153	return 1;
nikapov	0:704c89673b57	1154	}
nikapov	0:704c89673b57	1155
nikapov	0:704c89673b57	1156	/* Enable embedded functionalities */
nikapov	0:704c89673b57	1157	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1158	{
nikapov	0:704c89673b57	1159	return 1;
nikapov	0:704c89673b57	1160	}
nikapov	0:704c89673b57	1161
nikapov	0:704c89673b57	1162	/* Enable tilt calculation. */
nikapov	0:704c89673b57	1163	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1164	{
nikapov	0:704c89673b57	1165	return 1;
nikapov	0:704c89673b57	1166	}
nikapov	0:704c89673b57	1167
nikapov	0:704c89673b57	1168	/* Enable tilt detection on either INT1 or INT2 pin */
nikapov	0:704c89673b57	1169	switch (pin)
nikapov	0:704c89673b57	1170	{
nikapov	0:704c89673b57	1171	case LSM6DSL_INT1_PIN:
nikapov	0:704c89673b57	1172	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1173	{
nikapov	0:704c89673b57	1174	return 1;
nikapov	0:704c89673b57	1175	}
nikapov	0:704c89673b57	1176	break;
nikapov	0:704c89673b57	1177
nikapov	0:704c89673b57	1178	case LSM6DSL_INT2_PIN:
nikapov	0:704c89673b57	1179	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TILT_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1180	{
nikapov	0:704c89673b57	1181	return 1;
nikapov	0:704c89673b57	1182	}
nikapov	0:704c89673b57	1183	break;
nikapov	0:704c89673b57	1184
nikapov	0:704c89673b57	1185	default:
nikapov	0:704c89673b57	1186	return 1;
nikapov	0:704c89673b57	1187	}
nikapov	0:704c89673b57	1188
nikapov	0:704c89673b57	1189	return 0;
nikapov	0:704c89673b57	1190	}
nikapov	0:704c89673b57	1191
nikapov	0:704c89673b57	1192	/**
nikapov	0:704c89673b57	1193	* @brief Disable the tilt detection for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1194	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1195	*/
nikapov	0:704c89673b57	1196	int LSM6DSLSensor::disable_tilt_detection(void)
nikapov	0:704c89673b57	1197	{
nikapov	0:704c89673b57	1198	/* Disable tilt event on INT1. */
nikapov	0:704c89673b57	1199	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1200	{
nikapov	0:704c89673b57	1201	return 1;
nikapov	0:704c89673b57	1202	}
nikapov	0:704c89673b57	1203
nikapov	0:704c89673b57	1204	/* Disable tilt event on INT2. */
nikapov	0:704c89673b57	1205	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TILT_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1206	{
nikapov	0:704c89673b57	1207	return 1;
nikapov	0:704c89673b57	1208	}
nikapov	0:704c89673b57	1209
nikapov	0:704c89673b57	1210	/* Disable tilt calculation. */
nikapov	0:704c89673b57	1211	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1212	{
nikapov	0:704c89673b57	1213	return 1;
nikapov	0:704c89673b57	1214	}
nikapov	0:704c89673b57	1215
nikapov	0:704c89673b57	1216	/* Disable embedded functionalities */
nikapov	0:704c89673b57	1217	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1218	{
nikapov	0:704c89673b57	1219	return 1;
nikapov	0:704c89673b57	1220	}
nikapov	0:704c89673b57	1221
nikapov	0:704c89673b57	1222	return 0;
nikapov	0:704c89673b57	1223	}
nikapov	0:704c89673b57	1224
nikapov	0:704c89673b57	1225	/**
nikapov	0:704c89673b57	1226	* @brief Enable the wake up detection for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1227	* @param pin the interrupt pin to be used
nikapov	0:704c89673b57	1228	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
nikapov	0:704c89673b57	1229	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1230	*/
nikapov	0:704c89673b57	1231	int LSM6DSLSensor::enable_wake_up_detection(LSM6DSL_Interrupt_Pin_t pin)
nikapov	0:704c89673b57	1232	{
nikapov	0:704c89673b57	1233	/* Output Data Rate selection */
nikapov	0:704c89673b57	1234	if( set_x_odr(416.0f) == 1 )
nikapov	0:704c89673b57	1235	{
nikapov	0:704c89673b57	1236	return 1;
nikapov	0:704c89673b57	1237	}
nikapov	0:704c89673b57	1238
nikapov	0:704c89673b57	1239	/* Full scale selection. */
nikapov	0:704c89673b57	1240	if( set_x_fs(2.0f) == 1 )
nikapov	0:704c89673b57	1241	{
nikapov	0:704c89673b57	1242	return 1;
nikapov	0:704c89673b57	1243	}
nikapov	0:704c89673b57	1244
nikapov	0:704c89673b57	1245	/* WAKE_DUR setting */
nikapov	0:704c89673b57	1246	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
nikapov	0:704c89673b57	1247	{
nikapov	0:704c89673b57	1248	return 1;
nikapov	0:704c89673b57	1249	}
nikapov	0:704c89673b57	1250
nikapov	0:704c89673b57	1251	/* Set wake up threshold. */
nikapov	0:704c89673b57	1252	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
nikapov	0:704c89673b57	1253	{
nikapov	0:704c89673b57	1254	return 1;
nikapov	0:704c89673b57	1255	}
nikapov	0:704c89673b57	1256
nikapov	0:704c89673b57	1257	/* Enable basic Interrupts */
nikapov	0:704c89673b57	1258	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1259	{
nikapov	0:704c89673b57	1260	return 1;
nikapov	0:704c89673b57	1261	}
nikapov	0:704c89673b57	1262
nikapov	0:704c89673b57	1263	/* Enable wake up detection on either INT1 or INT2 pin */
nikapov	0:704c89673b57	1264	switch (pin)
nikapov	0:704c89673b57	1265	{
nikapov	0:704c89673b57	1266	case LSM6DSL_INT1_PIN:
nikapov	0:704c89673b57	1267	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1268	{
nikapov	0:704c89673b57	1269	return 1;
nikapov	0:704c89673b57	1270	}
nikapov	0:704c89673b57	1271	break;
nikapov	0:704c89673b57	1272
nikapov	0:704c89673b57	1273	case LSM6DSL_INT2_PIN:
nikapov	0:704c89673b57	1274	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1275	{
nikapov	0:704c89673b57	1276	return 1;
nikapov	0:704c89673b57	1277	}
nikapov	0:704c89673b57	1278	break;
nikapov	0:704c89673b57	1279
nikapov	0:704c89673b57	1280	default:
nikapov	0:704c89673b57	1281	return 1;
nikapov	0:704c89673b57	1282	}
nikapov	0:704c89673b57	1283
nikapov	0:704c89673b57	1284	return 0;
nikapov	0:704c89673b57	1285	}
nikapov	0:704c89673b57	1286
nikapov	0:704c89673b57	1287	/**
nikapov	0:704c89673b57	1288	* @brief Disable the wake up detection for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1289	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1290	*/
nikapov	0:704c89673b57	1291	int LSM6DSLSensor::disable_wake_up_detection(void)
nikapov	0:704c89673b57	1292	{
nikapov	0:704c89673b57	1293	/* Disable wake up event on INT1 */
nikapov	0:704c89673b57	1294	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1295	{
nikapov	0:704c89673b57	1296	return 1;
nikapov	0:704c89673b57	1297	}
nikapov	0:704c89673b57	1298
nikapov	0:704c89673b57	1299	/* Disable wake up event on INT2 */
nikapov	0:704c89673b57	1300	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1301	{
nikapov	0:704c89673b57	1302	return 1;
nikapov	0:704c89673b57	1303	}
nikapov	0:704c89673b57	1304
nikapov	0:704c89673b57	1305	/* Disable basic Interrupts */
nikapov	0:704c89673b57	1306	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1307	{
nikapov	0:704c89673b57	1308	return 1;
nikapov	0:704c89673b57	1309	}
nikapov	0:704c89673b57	1310
nikapov	0:704c89673b57	1311	/* WU_DUR setting */
nikapov	0:704c89673b57	1312	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
nikapov	0:704c89673b57	1313	{
nikapov	0:704c89673b57	1314	return 1;
nikapov	0:704c89673b57	1315	}
nikapov	0:704c89673b57	1316
nikapov	0:704c89673b57	1317	/* WU_THS setting */
nikapov	0:704c89673b57	1318	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
nikapov	0:704c89673b57	1319	{
nikapov	0:704c89673b57	1320	return 1;
nikapov	0:704c89673b57	1321	}
nikapov	0:704c89673b57	1322
nikapov	0:704c89673b57	1323	return 0;
nikapov	0:704c89673b57	1324	}
nikapov	0:704c89673b57	1325
nikapov	0:704c89673b57	1326	/**
nikapov	0:704c89673b57	1327	* @brief Set the wake up threshold for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1328	* @param thr the threshold to be set
nikapov	0:704c89673b57	1329	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1330	*/
nikapov	0:704c89673b57	1331	int LSM6DSLSensor::set_wake_up_threshold(uint8_t thr)
nikapov	0:704c89673b57	1332	{
nikapov	0:704c89673b57	1333	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
nikapov	0:704c89673b57	1334	{
nikapov	0:704c89673b57	1335	return 1;
nikapov	0:704c89673b57	1336	}
nikapov	0:704c89673b57	1337
nikapov	0:704c89673b57	1338	return 0;
nikapov	0:704c89673b57	1339	}
nikapov	0:704c89673b57	1340
nikapov	0:704c89673b57	1341	/**
nikapov	0:704c89673b57	1342	* @brief Enable the single tap detection for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1343	* @param pin the interrupt pin to be used
nikapov	0:704c89673b57	1344	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
nikapov	0:704c89673b57	1345	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1346	*/
nikapov	0:704c89673b57	1347	int LSM6DSLSensor::enable_single_tap_detection(LSM6DSL_Interrupt_Pin_t pin)
nikapov	0:704c89673b57	1348	{
nikapov	0:704c89673b57	1349	/* Output Data Rate selection */
nikapov	0:704c89673b57	1350	if( set_x_odr(416.0f) == 1 )
nikapov	0:704c89673b57	1351	{
nikapov	0:704c89673b57	1352	return 1;
nikapov	0:704c89673b57	1353	}
nikapov	0:704c89673b57	1354
nikapov	0:704c89673b57	1355	/* Full scale selection. */
nikapov	0:704c89673b57	1356	if( set_x_fs(2.0f) == 1 )
nikapov	0:704c89673b57	1357	{
nikapov	0:704c89673b57	1358	return 1;
nikapov	0:704c89673b57	1359	}
nikapov	0:704c89673b57	1360
nikapov	0:704c89673b57	1361	/* Enable X direction in tap recognition. */
nikapov	0:704c89673b57	1362	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1363	{
nikapov	0:704c89673b57	1364	return 1;
nikapov	0:704c89673b57	1365	}
nikapov	0:704c89673b57	1366
nikapov	0:704c89673b57	1367	/* Enable Y direction in tap recognition. */
nikapov	0:704c89673b57	1368	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1369	{
nikapov	0:704c89673b57	1370	return 1;
nikapov	0:704c89673b57	1371	}
nikapov	0:704c89673b57	1372
nikapov	0:704c89673b57	1373	/* Enable Z direction in tap recognition. */
nikapov	0:704c89673b57	1374	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1375	{
nikapov	0:704c89673b57	1376	return 1;
nikapov	0:704c89673b57	1377	}
nikapov	0:704c89673b57	1378
nikapov	0:704c89673b57	1379	/* Set tap threshold. */
nikapov	0:704c89673b57	1380	if ( set_tap_threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
nikapov	0:704c89673b57	1381	{
nikapov	0:704c89673b57	1382	return 1;
nikapov	0:704c89673b57	1383	}
nikapov	0:704c89673b57	1384
nikapov	0:704c89673b57	1385	/* Set tap shock time window. */
nikapov	0:704c89673b57	1386	if ( set_tap_shock_time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == 1 )
nikapov	0:704c89673b57	1387	{
nikapov	0:704c89673b57	1388	return 1;
nikapov	0:704c89673b57	1389	}
nikapov	0:704c89673b57	1390
nikapov	0:704c89673b57	1391	/* Set tap quiet time window. */
nikapov	0:704c89673b57	1392	if ( set_tap_quiet_time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == 1 )
nikapov	0:704c89673b57	1393	{
nikapov	0:704c89673b57	1394	return 1;
nikapov	0:704c89673b57	1395	}
nikapov	0:704c89673b57	1396
nikapov	0:704c89673b57	1397	/* _NOTE_: Tap duration time window - don't care for single tap. */
nikapov	0:704c89673b57	1398
nikapov	0:704c89673b57	1399	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
nikapov	0:704c89673b57	1400
nikapov	0:704c89673b57	1401	/* Enable basic Interrupts */
nikapov	0:704c89673b57	1402	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1403	{
nikapov	0:704c89673b57	1404	return 1;
nikapov	0:704c89673b57	1405	}
nikapov	0:704c89673b57	1406
nikapov	0:704c89673b57	1407	/* Enable single tap on either INT1 or INT2 pin */
nikapov	0:704c89673b57	1408	switch (pin)
nikapov	0:704c89673b57	1409	{
nikapov	0:704c89673b57	1410	case LSM6DSL_INT1_PIN:
nikapov	0:704c89673b57	1411	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1412	{
nikapov	0:704c89673b57	1413	return 1;
nikapov	0:704c89673b57	1414	}
nikapov	0:704c89673b57	1415	break;
nikapov	0:704c89673b57	1416
nikapov	0:704c89673b57	1417	case LSM6DSL_INT2_PIN:
nikapov	0:704c89673b57	1418	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1419	{
nikapov	0:704c89673b57	1420	return 1;
nikapov	0:704c89673b57	1421	}
nikapov	0:704c89673b57	1422	break;
nikapov	0:704c89673b57	1423
nikapov	0:704c89673b57	1424	default:
nikapov	0:704c89673b57	1425	return 1;
nikapov	0:704c89673b57	1426	}
nikapov	0:704c89673b57	1427
nikapov	0:704c89673b57	1428	return 0;
nikapov	0:704c89673b57	1429	}
nikapov	0:704c89673b57	1430
nikapov	0:704c89673b57	1431	/**
nikapov	0:704c89673b57	1432	* @brief Disable the single tap detection for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1433	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1434	*/
nikapov	0:704c89673b57	1435	int LSM6DSLSensor::disable_single_tap_detection(void)
nikapov	0:704c89673b57	1436	{
nikapov	0:704c89673b57	1437	/* Disable single tap interrupt on INT1 pin. */
nikapov	0:704c89673b57	1438	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1439	{
nikapov	0:704c89673b57	1440	return 1;
nikapov	0:704c89673b57	1441	}
nikapov	0:704c89673b57	1442
nikapov	0:704c89673b57	1443	/* Disable single tap interrupt on INT2 pin. */
nikapov	0:704c89673b57	1444	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1445	{
nikapov	0:704c89673b57	1446	return 1;
nikapov	0:704c89673b57	1447	}
nikapov	0:704c89673b57	1448
nikapov	0:704c89673b57	1449	/* Disable basic Interrupts */
nikapov	0:704c89673b57	1450	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1451	{
nikapov	0:704c89673b57	1452	return 1;
nikapov	0:704c89673b57	1453	}
nikapov	0:704c89673b57	1454
nikapov	0:704c89673b57	1455	/* Reset tap threshold. */
nikapov	0:704c89673b57	1456	if ( set_tap_threshold( 0x0 ) == 1 )
nikapov	0:704c89673b57	1457	{
nikapov	0:704c89673b57	1458	return 1;
nikapov	0:704c89673b57	1459	}
nikapov	0:704c89673b57	1460
nikapov	0:704c89673b57	1461	/* Reset tap shock time window. */
nikapov	0:704c89673b57	1462	if ( set_tap_shock_time( 0x0 ) == 1 )
nikapov	0:704c89673b57	1463	{
nikapov	0:704c89673b57	1464	return 1;
nikapov	0:704c89673b57	1465	}
nikapov	0:704c89673b57	1466
nikapov	0:704c89673b57	1467	/* Reset tap quiet time window. */
nikapov	0:704c89673b57	1468	if ( set_tap_quiet_time( 0x0 ) == 1 )
nikapov	0:704c89673b57	1469	{
nikapov	0:704c89673b57	1470	return 1;
nikapov	0:704c89673b57	1471	}
nikapov	0:704c89673b57	1472
nikapov	0:704c89673b57	1473	/* _NOTE_: Tap duration time window - don't care for single tap. */
nikapov	0:704c89673b57	1474
nikapov	0:704c89673b57	1475	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
nikapov	0:704c89673b57	1476
nikapov	0:704c89673b57	1477	/* Disable Z direction in tap recognition. */
nikapov	0:704c89673b57	1478	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1479	{
nikapov	0:704c89673b57	1480	return 1;
nikapov	0:704c89673b57	1481	}
nikapov	0:704c89673b57	1482
nikapov	0:704c89673b57	1483	/* Disable Y direction in tap recognition. */
nikapov	0:704c89673b57	1484	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1485	{
nikapov	0:704c89673b57	1486	return 1;
nikapov	0:704c89673b57	1487	}
nikapov	0:704c89673b57	1488
nikapov	0:704c89673b57	1489	/* Disable X direction in tap recognition. */
nikapov	0:704c89673b57	1490	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1491	{
nikapov	0:704c89673b57	1492	return 1;
nikapov	0:704c89673b57	1493	}
nikapov	0:704c89673b57	1494
nikapov	0:704c89673b57	1495	return 0;
nikapov	0:704c89673b57	1496	}
nikapov	0:704c89673b57	1497
nikapov	0:704c89673b57	1498	/**
nikapov	0:704c89673b57	1499	* @brief Enable the double tap detection for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1500	* @param pin the interrupt pin to be used
nikapov	0:704c89673b57	1501	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
nikapov	0:704c89673b57	1502	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1503	*/
nikapov	0:704c89673b57	1504	int LSM6DSLSensor::enable_double_tap_detection(LSM6DSL_Interrupt_Pin_t pin)
nikapov	0:704c89673b57	1505	{
nikapov	0:704c89673b57	1506	/* Output Data Rate selection */
nikapov	0:704c89673b57	1507	if( set_x_odr(416.0f) == 1 )
nikapov	0:704c89673b57	1508	{
nikapov	0:704c89673b57	1509	return 1;
nikapov	0:704c89673b57	1510	}
nikapov	0:704c89673b57	1511
nikapov	0:704c89673b57	1512	/* Full scale selection. */
nikapov	0:704c89673b57	1513	if( set_x_fs(2.0f) == 1 )
nikapov	0:704c89673b57	1514	{
nikapov	0:704c89673b57	1515	return 1;
nikapov	0:704c89673b57	1516	}
nikapov	0:704c89673b57	1517
nikapov	0:704c89673b57	1518	/* Enable X direction in tap recognition. */
nikapov	0:704c89673b57	1519	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1520	{
nikapov	0:704c89673b57	1521	return 1;
nikapov	0:704c89673b57	1522	}
nikapov	0:704c89673b57	1523
nikapov	0:704c89673b57	1524	/* Enable Y direction in tap recognition. */
nikapov	0:704c89673b57	1525	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1526	{
nikapov	0:704c89673b57	1527	return 1;
nikapov	0:704c89673b57	1528	}
nikapov	0:704c89673b57	1529
nikapov	0:704c89673b57	1530	/* Enable Z direction in tap recognition. */
nikapov	0:704c89673b57	1531	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1532	{
nikapov	0:704c89673b57	1533	return 1;
nikapov	0:704c89673b57	1534	}
nikapov	0:704c89673b57	1535
nikapov	0:704c89673b57	1536	/* Set tap threshold. */
nikapov	0:704c89673b57	1537	if ( set_tap_threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
nikapov	0:704c89673b57	1538	{
nikapov	0:704c89673b57	1539	return 1;
nikapov	0:704c89673b57	1540	}
nikapov	0:704c89673b57	1541
nikapov	0:704c89673b57	1542	/* Set tap shock time window. */
nikapov	0:704c89673b57	1543	if ( set_tap_shock_time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == 1 )
nikapov	0:704c89673b57	1544	{
nikapov	0:704c89673b57	1545	return 1;
nikapov	0:704c89673b57	1546	}
nikapov	0:704c89673b57	1547
nikapov	0:704c89673b57	1548	/* Set tap quiet time window. */
nikapov	0:704c89673b57	1549	if ( set_tap_quiet_time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == 1 )
nikapov	0:704c89673b57	1550	{
nikapov	0:704c89673b57	1551	return 1;
nikapov	0:704c89673b57	1552	}
nikapov	0:704c89673b57	1553
nikapov	0:704c89673b57	1554	/* Set tap duration time window. */
nikapov	0:704c89673b57	1555	if ( set_tap_duration_time( LSM6DSL_TAP_DURATION_TIME_MID ) == 1 )
nikapov	0:704c89673b57	1556	{
nikapov	0:704c89673b57	1557	return 1;
nikapov	0:704c89673b57	1558	}
nikapov	0:704c89673b57	1559
nikapov	0:704c89673b57	1560	/* Single and double tap enabled. */
nikapov	0:704c89673b57	1561	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
nikapov	0:704c89673b57	1562	{
nikapov	0:704c89673b57	1563	return 1;
nikapov	0:704c89673b57	1564	}
nikapov	0:704c89673b57	1565
nikapov	0:704c89673b57	1566	/* Enable basic Interrupts */
nikapov	0:704c89673b57	1567	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1568	{
nikapov	0:704c89673b57	1569	return 1;
nikapov	0:704c89673b57	1570	}
nikapov	0:704c89673b57	1571
nikapov	0:704c89673b57	1572	/* Enable double tap on either INT1 or INT2 pin */
nikapov	0:704c89673b57	1573	switch (pin)
nikapov	0:704c89673b57	1574	{
nikapov	0:704c89673b57	1575	case LSM6DSL_INT1_PIN:
nikapov	0:704c89673b57	1576	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1577	{
nikapov	0:704c89673b57	1578	return 1;
nikapov	0:704c89673b57	1579	}
nikapov	0:704c89673b57	1580	break;
nikapov	0:704c89673b57	1581
nikapov	0:704c89673b57	1582	case LSM6DSL_INT2_PIN:
nikapov	0:704c89673b57	1583	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TAP_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1584	{
nikapov	0:704c89673b57	1585	return 1;
nikapov	0:704c89673b57	1586	}
nikapov	0:704c89673b57	1587	break;
nikapov	0:704c89673b57	1588
nikapov	0:704c89673b57	1589	default:
nikapov	0:704c89673b57	1590	return 1;
nikapov	0:704c89673b57	1591	}
nikapov	0:704c89673b57	1592
nikapov	0:704c89673b57	1593	return 0;
nikapov	0:704c89673b57	1594	}
nikapov	0:704c89673b57	1595
nikapov	0:704c89673b57	1596	/**
nikapov	0:704c89673b57	1597	* @brief Disable the double tap detection for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1598	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1599	*/
nikapov	0:704c89673b57	1600	int LSM6DSLSensor::disable_double_tap_detection(void)
nikapov	0:704c89673b57	1601	{
nikapov	0:704c89673b57	1602	/* Disable double tap interrupt on INT1 pin. */
nikapov	0:704c89673b57	1603	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1604	{
nikapov	0:704c89673b57	1605	return 1;
nikapov	0:704c89673b57	1606	}
nikapov	0:704c89673b57	1607
nikapov	0:704c89673b57	1608	/* Disable double tap interrupt on INT2 pin. */
nikapov	0:704c89673b57	1609	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TAP_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1610	{
nikapov	0:704c89673b57	1611	return 1;
nikapov	0:704c89673b57	1612	}
nikapov	0:704c89673b57	1613
nikapov	0:704c89673b57	1614	/* Disable basic Interrupts */
nikapov	0:704c89673b57	1615	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1616	{
nikapov	0:704c89673b57	1617	return 1;
nikapov	0:704c89673b57	1618	}
nikapov	0:704c89673b57	1619
nikapov	0:704c89673b57	1620	/* Reset tap threshold. */
nikapov	0:704c89673b57	1621	if ( set_tap_threshold( 0x0 ) == 1 )
nikapov	0:704c89673b57	1622	{
nikapov	0:704c89673b57	1623	return 1;
nikapov	0:704c89673b57	1624	}
nikapov	0:704c89673b57	1625
nikapov	0:704c89673b57	1626	/* Reset tap shock time window. */
nikapov	0:704c89673b57	1627	if ( set_tap_shock_time( 0x0 ) == 1 )
nikapov	0:704c89673b57	1628	{
nikapov	0:704c89673b57	1629	return 1;
nikapov	0:704c89673b57	1630	}
nikapov	0:704c89673b57	1631
nikapov	0:704c89673b57	1632	/* Reset tap quiet time window. */
nikapov	0:704c89673b57	1633	if ( set_tap_quiet_time( 0x0 ) == 1 )
nikapov	0:704c89673b57	1634	{
nikapov	0:704c89673b57	1635	return 1;
nikapov	0:704c89673b57	1636	}
nikapov	0:704c89673b57	1637
nikapov	0:704c89673b57	1638	/* Reset tap duration time window. */
nikapov	0:704c89673b57	1639	if ( set_tap_duration_time( 0x0 ) == 1 )
nikapov	0:704c89673b57	1640	{
nikapov	0:704c89673b57	1641	return 1;
nikapov	0:704c89673b57	1642	}
nikapov	0:704c89673b57	1643
nikapov	0:704c89673b57	1644	/* Only single tap enabled. */
nikapov	0:704c89673b57	1645	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
nikapov	0:704c89673b57	1646	{
nikapov	0:704c89673b57	1647	return 1;
nikapov	0:704c89673b57	1648	}
nikapov	0:704c89673b57	1649
nikapov	0:704c89673b57	1650	/* Disable Z direction in tap recognition. */
nikapov	0:704c89673b57	1651	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1652	{
nikapov	0:704c89673b57	1653	return 1;
nikapov	0:704c89673b57	1654	}
nikapov	0:704c89673b57	1655
nikapov	0:704c89673b57	1656	/* Disable Y direction in tap recognition. */
nikapov	0:704c89673b57	1657	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1658	{
nikapov	0:704c89673b57	1659	return 1;
nikapov	0:704c89673b57	1660	}
nikapov	0:704c89673b57	1661
nikapov	0:704c89673b57	1662	/* Disable X direction in tap recognition. */
nikapov	0:704c89673b57	1663	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1664	{
nikapov	0:704c89673b57	1665	return 1;
nikapov	0:704c89673b57	1666	}
nikapov	0:704c89673b57	1667
nikapov	0:704c89673b57	1668	return 0;
nikapov	0:704c89673b57	1669	}
nikapov	0:704c89673b57	1670
nikapov	0:704c89673b57	1671	/**
nikapov	0:704c89673b57	1672	* @brief Set the tap threshold for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1673	* @param thr the threshold to be set
nikapov	0:704c89673b57	1674	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1675	*/
nikapov	0:704c89673b57	1676	int LSM6DSLSensor::set_tap_threshold(uint8_t thr)
nikapov	0:704c89673b57	1677	{
nikapov	0:704c89673b57	1678	if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
nikapov	0:704c89673b57	1679	{
nikapov	0:704c89673b57	1680	return 1;
nikapov	0:704c89673b57	1681	}
nikapov	0:704c89673b57	1682
nikapov	0:704c89673b57	1683	return 0;
nikapov	0:704c89673b57	1684	}
nikapov	0:704c89673b57	1685
nikapov	0:704c89673b57	1686	/**
nikapov	0:704c89673b57	1687	* @brief Set the tap shock time window for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1688	* @param time the shock time window to be set
nikapov	0:704c89673b57	1689	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1690	*/
nikapov	0:704c89673b57	1691	int LSM6DSLSensor::set_tap_shock_time(uint8_t time)
nikapov	0:704c89673b57	1692	{
nikapov	0:704c89673b57	1693	if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
nikapov	0:704c89673b57	1694	{
nikapov	0:704c89673b57	1695	return 1;
nikapov	0:704c89673b57	1696	}
nikapov	0:704c89673b57	1697
nikapov	0:704c89673b57	1698	return 0;
nikapov	0:704c89673b57	1699	}
nikapov	0:704c89673b57	1700
nikapov	0:704c89673b57	1701	/**
nikapov	0:704c89673b57	1702	* @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1703	* @param time the quiet time window to be set
nikapov	0:704c89673b57	1704	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1705	*/
nikapov	0:704c89673b57	1706	int LSM6DSLSensor::set_tap_quiet_time(uint8_t time)
nikapov	0:704c89673b57	1707	{
nikapov	0:704c89673b57	1708	if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
nikapov	0:704c89673b57	1709	{
nikapov	0:704c89673b57	1710	return 1;
nikapov	0:704c89673b57	1711	}
nikapov	0:704c89673b57	1712
nikapov	0:704c89673b57	1713	return 0;
nikapov	0:704c89673b57	1714	}
nikapov	0:704c89673b57	1715
nikapov	0:704c89673b57	1716	/**
nikapov	0:704c89673b57	1717	* @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1718	* @param time the duration of the time window to be set
nikapov	0:704c89673b57	1719	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1720	*/
nikapov	0:704c89673b57	1721	int LSM6DSLSensor::set_tap_duration_time(uint8_t time)
nikapov	0:704c89673b57	1722	{
nikapov	0:704c89673b57	1723	if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
nikapov	0:704c89673b57	1724	{
nikapov	0:704c89673b57	1725	return 1;
nikapov	0:704c89673b57	1726	}
nikapov	0:704c89673b57	1727
nikapov	0:704c89673b57	1728	return 0;
nikapov	0:704c89673b57	1729	}
nikapov	0:704c89673b57	1730
nikapov	0:704c89673b57	1731	/**
nikapov	0:704c89673b57	1732	* @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1733	* @param pin the interrupt pin to be used
nikapov	0:704c89673b57	1734	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
nikapov	0:704c89673b57	1735	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1736	*/
nikapov	0:704c89673b57	1737	int LSM6DSLSensor::enable_6d_orientation(LSM6DSL_Interrupt_Pin_t pin)
nikapov	0:704c89673b57	1738	{
nikapov	0:704c89673b57	1739	/* Output Data Rate selection */
nikapov	0:704c89673b57	1740	if( set_x_odr(416.0f) == 1 )
nikapov	0:704c89673b57	1741	{
nikapov	0:704c89673b57	1742	return 1;
nikapov	0:704c89673b57	1743	}
nikapov	0:704c89673b57	1744
nikapov	0:704c89673b57	1745	/* Full scale selection. */
nikapov	0:704c89673b57	1746	if( set_x_fs(2.0f) == 1 )
nikapov	0:704c89673b57	1747	{
nikapov	0:704c89673b57	1748	return 1;
nikapov	0:704c89673b57	1749	}
nikapov	0:704c89673b57	1750
nikapov	0:704c89673b57	1751	/* Set 6D threshold. */
nikapov	0:704c89673b57	1752	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
nikapov	0:704c89673b57	1753	{
nikapov	0:704c89673b57	1754	return 1;
nikapov	0:704c89673b57	1755	}
nikapov	0:704c89673b57	1756
nikapov	0:704c89673b57	1757	/* Enable basic Interrupts */
nikapov	0:704c89673b57	1758	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1759	{
nikapov	0:704c89673b57	1760	return 1;
nikapov	0:704c89673b57	1761	}
nikapov	0:704c89673b57	1762
nikapov	0:704c89673b57	1763	/* Enable 6D orientation on either INT1 or INT2 pin */
nikapov	0:704c89673b57	1764	switch (pin)
nikapov	0:704c89673b57	1765	{
nikapov	0:704c89673b57	1766	case LSM6DSL_INT1_PIN:
nikapov	0:704c89673b57	1767	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1768	{
nikapov	0:704c89673b57	1769	return 1;
nikapov	0:704c89673b57	1770	}
nikapov	0:704c89673b57	1771	break;
nikapov	0:704c89673b57	1772
nikapov	0:704c89673b57	1773	case LSM6DSL_INT2_PIN:
nikapov	0:704c89673b57	1774	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_6D_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1775	{
nikapov	0:704c89673b57	1776	return 1;
nikapov	0:704c89673b57	1777	}
nikapov	0:704c89673b57	1778	break;
nikapov	0:704c89673b57	1779
nikapov	0:704c89673b57	1780	default:
nikapov	0:704c89673b57	1781	return 1;
nikapov	0:704c89673b57	1782	}
nikapov	0:704c89673b57	1783
nikapov	0:704c89673b57	1784	return 0;
nikapov	0:704c89673b57	1785	}
nikapov	0:704c89673b57	1786
nikapov	0:704c89673b57	1787	/**
nikapov	0:704c89673b57	1788	* @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1789	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1790	*/
nikapov	0:704c89673b57	1791	int LSM6DSLSensor::disable_6d_orientation(void)
nikapov	0:704c89673b57	1792	{
nikapov	0:704c89673b57	1793	/* Disable 6D orientation interrupt on INT1 pin. */
nikapov	0:704c89673b57	1794	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1795	{
nikapov	0:704c89673b57	1796	return 1;
nikapov	0:704c89673b57	1797	}
nikapov	0:704c89673b57	1798
nikapov	0:704c89673b57	1799	/* Disable 6D orientation interrupt on INT2 pin. */
nikapov	0:704c89673b57	1800	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_6D_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1801	{
nikapov	0:704c89673b57	1802	return 1;
nikapov	0:704c89673b57	1803	}
nikapov	0:704c89673b57	1804
nikapov	0:704c89673b57	1805	/* Disable basic Interrupts */
nikapov	0:704c89673b57	1806	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1807	{
nikapov	0:704c89673b57	1808	return 1;
nikapov	0:704c89673b57	1809	}
nikapov	0:704c89673b57	1810
nikapov	0:704c89673b57	1811	/* Reset 6D threshold. */
nikapov	0:704c89673b57	1812	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
nikapov	0:704c89673b57	1813	{
nikapov	0:704c89673b57	1814	return 1;
nikapov	0:704c89673b57	1815	}
nikapov	0:704c89673b57	1816
nikapov	0:704c89673b57	1817	return 0;
nikapov	0:704c89673b57	1818	}
nikapov	0:704c89673b57	1819
nikapov	0:704c89673b57	1820	/**
nikapov	0:704c89673b57	1821	* @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1822	* @param xl the pointer to the 6D orientation XL axis
nikapov	0:704c89673b57	1823	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1824	*/
nikapov	0:704c89673b57	1825	int LSM6DSLSensor::get_6d_orientation_xl(uint8_t *xl)
nikapov	0:704c89673b57	1826	{
nikapov	0:704c89673b57	1827	LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
nikapov	0:704c89673b57	1828
nikapov	0:704c89673b57	1829	if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
nikapov	0:704c89673b57	1830	{
nikapov	0:704c89673b57	1831	return 1;
nikapov	0:704c89673b57	1832	}
nikapov	0:704c89673b57	1833
nikapov	0:704c89673b57	1834	switch( xl_raw )
nikapov	0:704c89673b57	1835	{
nikapov	0:704c89673b57	1836	case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
nikapov	0:704c89673b57	1837	*xl = 1;
nikapov	0:704c89673b57	1838	break;
nikapov	0:704c89673b57	1839	case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
nikapov	0:704c89673b57	1840	*xl = 0;
nikapov	0:704c89673b57	1841	break;
nikapov	0:704c89673b57	1842	default:
nikapov	0:704c89673b57	1843	return 1;
nikapov	0:704c89673b57	1844	}
nikapov	0:704c89673b57	1845
nikapov	0:704c89673b57	1846	return 0;
nikapov	0:704c89673b57	1847	}
nikapov	0:704c89673b57	1848
nikapov	0:704c89673b57	1849	/**
nikapov	0:704c89673b57	1850	* @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1851	* @param xh the pointer to the 6D orientation XH axis
nikapov	0:704c89673b57	1852	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1853	*/
nikapov	0:704c89673b57	1854	int LSM6DSLSensor::get_6d_orientation_xh(uint8_t *xh)
nikapov	0:704c89673b57	1855	{
nikapov	0:704c89673b57	1856	LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
nikapov	0:704c89673b57	1857
nikapov	0:704c89673b57	1858	if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
nikapov	0:704c89673b57	1859	{
nikapov	0:704c89673b57	1860	return 1;
nikapov	0:704c89673b57	1861	}
nikapov	0:704c89673b57	1862
nikapov	0:704c89673b57	1863	switch( xh_raw )
nikapov	0:704c89673b57	1864	{
nikapov	0:704c89673b57	1865	case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
nikapov	0:704c89673b57	1866	*xh = 1;
nikapov	0:704c89673b57	1867	break;
nikapov	0:704c89673b57	1868	case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
nikapov	0:704c89673b57	1869	*xh = 0;
nikapov	0:704c89673b57	1870	break;
nikapov	0:704c89673b57	1871	default:
nikapov	0:704c89673b57	1872	return 1;
nikapov	0:704c89673b57	1873	}
nikapov	0:704c89673b57	1874
nikapov	0:704c89673b57	1875	return 0;
nikapov	0:704c89673b57	1876	}
nikapov	0:704c89673b57	1877
nikapov	0:704c89673b57	1878	/**
nikapov	0:704c89673b57	1879	* @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1880	* @param yl the pointer to the 6D orientation YL axis
nikapov	0:704c89673b57	1881	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1882	*/
nikapov	0:704c89673b57	1883	int LSM6DSLSensor::get_6d_orientation_yl(uint8_t *yl)
nikapov	0:704c89673b57	1884	{
nikapov	0:704c89673b57	1885	LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
nikapov	0:704c89673b57	1886
nikapov	0:704c89673b57	1887	if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
nikapov	0:704c89673b57	1888	{
nikapov	0:704c89673b57	1889	return 1;
nikapov	0:704c89673b57	1890	}
nikapov	0:704c89673b57	1891
nikapov	0:704c89673b57	1892	switch( yl_raw )
nikapov	0:704c89673b57	1893	{
nikapov	0:704c89673b57	1894	case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
nikapov	0:704c89673b57	1895	*yl = 1;
nikapov	0:704c89673b57	1896	break;
nikapov	0:704c89673b57	1897	case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
nikapov	0:704c89673b57	1898	*yl = 0;
nikapov	0:704c89673b57	1899	break;
nikapov	0:704c89673b57	1900	default:
nikapov	0:704c89673b57	1901	return 1;
nikapov	0:704c89673b57	1902	}
nikapov	0:704c89673b57	1903
nikapov	0:704c89673b57	1904	return 0;
nikapov	0:704c89673b57	1905	}
nikapov	0:704c89673b57	1906
nikapov	0:704c89673b57	1907	/**
nikapov	0:704c89673b57	1908	* @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1909	* @param yh the pointer to the 6D orientation YH axis
nikapov	0:704c89673b57	1910	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1911	*/
nikapov	0:704c89673b57	1912	int LSM6DSLSensor::get_6d_orientation_yh(uint8_t *yh)
nikapov	0:704c89673b57	1913	{
nikapov	0:704c89673b57	1914	LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
nikapov	0:704c89673b57	1915
nikapov	0:704c89673b57	1916	if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
nikapov	0:704c89673b57	1917	{
nikapov	0:704c89673b57	1918	return 1;
nikapov	0:704c89673b57	1919	}
nikapov	0:704c89673b57	1920
nikapov	0:704c89673b57	1921	switch( yh_raw )
nikapov	0:704c89673b57	1922	{
nikapov	0:704c89673b57	1923	case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
nikapov	0:704c89673b57	1924	*yh = 1;
nikapov	0:704c89673b57	1925	break;
nikapov	0:704c89673b57	1926	case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
nikapov	0:704c89673b57	1927	*yh = 0;
nikapov	0:704c89673b57	1928	break;
nikapov	0:704c89673b57	1929	default:
nikapov	0:704c89673b57	1930	return 1;
nikapov	0:704c89673b57	1931	}
nikapov	0:704c89673b57	1932
nikapov	0:704c89673b57	1933	return 0;
nikapov	0:704c89673b57	1934	}
nikapov	0:704c89673b57	1935
nikapov	0:704c89673b57	1936	/**
nikapov	0:704c89673b57	1937	* @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1938	* @param zl the pointer to the 6D orientation ZL axis
nikapov	0:704c89673b57	1939	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1940	*/
nikapov	0:704c89673b57	1941	int LSM6DSLSensor::get_6d_orientation_zl(uint8_t *zl)
nikapov	0:704c89673b57	1942	{
nikapov	0:704c89673b57	1943	LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
nikapov	0:704c89673b57	1944
nikapov	0:704c89673b57	1945	if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
nikapov	0:704c89673b57	1946	{
nikapov	0:704c89673b57	1947	return 1;
nikapov	0:704c89673b57	1948	}
nikapov	0:704c89673b57	1949
nikapov	0:704c89673b57	1950	switch( zl_raw )
nikapov	0:704c89673b57	1951	{
nikapov	0:704c89673b57	1952	case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
nikapov	0:704c89673b57	1953	*zl = 1;
nikapov	0:704c89673b57	1954	break;
nikapov	0:704c89673b57	1955	case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
nikapov	0:704c89673b57	1956	*zl = 0;
nikapov	0:704c89673b57	1957	break;
nikapov	0:704c89673b57	1958	default:
nikapov	0:704c89673b57	1959	return 1;
nikapov	0:704c89673b57	1960	}
nikapov	0:704c89673b57	1961
nikapov	0:704c89673b57	1962	return 0;
nikapov	0:704c89673b57	1963	}
nikapov	0:704c89673b57	1964
nikapov	0:704c89673b57	1965	/**
nikapov	0:704c89673b57	1966	* @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1967	* @param zh the pointer to the 6D orientation ZH axis
nikapov	0:704c89673b57	1968	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1969	*/
nikapov	0:704c89673b57	1970	int LSM6DSLSensor::get_6d_orientation_zh(uint8_t *zh)
nikapov	0:704c89673b57	1971	{
nikapov	0:704c89673b57	1972	LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
nikapov	0:704c89673b57	1973
nikapov	0:704c89673b57	1974	if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
nikapov	0:704c89673b57	1975	{
nikapov	0:704c89673b57	1976	return 1;
nikapov	0:704c89673b57	1977	}
nikapov	0:704c89673b57	1978
nikapov	0:704c89673b57	1979	switch( zh_raw )
nikapov	0:704c89673b57	1980	{
nikapov	0:704c89673b57	1981	case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
nikapov	0:704c89673b57	1982	*zh = 1;
nikapov	0:704c89673b57	1983	break;
nikapov	0:704c89673b57	1984	case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
nikapov	0:704c89673b57	1985	*zh = 0;
nikapov	0:704c89673b57	1986	break;
nikapov	0:704c89673b57	1987	default:
nikapov	0:704c89673b57	1988	return 1;
nikapov	0:704c89673b57	1989	}
nikapov	0:704c89673b57	1990
nikapov	0:704c89673b57	1991	return 0;
nikapov	0:704c89673b57	1992	}
nikapov	0:704c89673b57	1993
nikapov	0:704c89673b57	1994	/**
nikapov	0:704c89673b57	1995	* @brief Get the status of all hardware events for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1996	* @param status the pointer to the status of all hardware events
nikapov	0:704c89673b57	1997	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1998	*/
nikapov	0:704c89673b57	1999	int LSM6DSLSensor::get_event_status(LSM6DSL_Event_Status_t *status)
nikapov	0:704c89673b57	2000	{
nikapov	0:704c89673b57	2001	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	2002
nikapov	0:704c89673b57	2003	memset((void *)status, 0x0, sizeof(LSM6DSL_Event_Status_t));
nikapov	0:704c89673b57	2004
nikapov	0:704c89673b57	2005	if(read_reg(LSM6DSL_ACC_GYRO_WAKE_UP_SRC, &Wake_Up_Src) != 0)
nikapov	0:704c89673b57	2006	{
nikapov	0:704c89673b57	2007	return 1;
nikapov	0:704c89673b57	2008	}
nikapov	0:704c89673b57	2009
nikapov	0:704c89673b57	2010	if(read_reg(LSM6DSL_ACC_GYRO_TAP_SRC, &Tap_Src) != 0)
nikapov	0:704c89673b57	2011	{
nikapov	0:704c89673b57	2012	return 1;
nikapov	0:704c89673b57	2013	}
nikapov	0:704c89673b57	2014
nikapov	0:704c89673b57	2015	if(read_reg(LSM6DSL_ACC_GYRO_D6D_SRC, &D6D_Src) != 0)
nikapov	0:704c89673b57	2016	{
nikapov	0:704c89673b57	2017	return 1;
nikapov	0:704c89673b57	2018	}
nikapov	0:704c89673b57	2019
nikapov	0:704c89673b57	2020	if(read_reg(LSM6DSL_ACC_GYRO_FUNC_SRC, &Func_Src) != 0)
nikapov	0:704c89673b57	2021	{
nikapov	0:704c89673b57	2022	return 1;
nikapov	0:704c89673b57	2023	}
nikapov	0:704c89673b57	2024
nikapov	0:704c89673b57	2025	if(read_reg(LSM6DSL_ACC_GYRO_MD1_CFG, &Md1_Cfg ) != 0 )
nikapov	0:704c89673b57	2026	{
nikapov	0:704c89673b57	2027	return 1;
nikapov	0:704c89673b57	2028	}
nikapov	0:704c89673b57	2029
nikapov	0:704c89673b57	2030	if(read_reg(LSM6DSL_ACC_GYRO_MD2_CFG, &Md2_Cfg ) != 0)
nikapov	0:704c89673b57	2031	{
nikapov	0:704c89673b57	2032	return 1;
nikapov	0:704c89673b57	2033	}
nikapov	0:704c89673b57	2034
nikapov	0:704c89673b57	2035	if(read_reg(LSM6DSL_ACC_GYRO_INT1_CTRL, &Int1_Ctrl ) != 0)
nikapov	0:704c89673b57	2036	{
nikapov	0:704c89673b57	2037	return 1;
nikapov	0:704c89673b57	2038	}
nikapov	0:704c89673b57	2039
nikapov	0:704c89673b57	2040	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_FF_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_FF_MASK))
nikapov	0:704c89673b57	2041	{
nikapov	0:704c89673b57	2042	if((Wake_Up_Src & LSM6DSL_ACC_GYRO_FF_EV_STATUS_MASK))
nikapov	0:704c89673b57	2043	{
nikapov	0:704c89673b57	2044	status->FreeFallStatus = 1;
nikapov	0:704c89673b57	2045	}
nikapov	0:704c89673b57	2046	}
nikapov	0:704c89673b57	2047
nikapov	0:704c89673b57	2048	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_WU_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_WU_MASK))
nikapov	0:704c89673b57	2049	{
nikapov	0:704c89673b57	2050	if((Wake_Up_Src & LSM6DSL_ACC_GYRO_WU_EV_STATUS_MASK))
nikapov	0:704c89673b57	2051	{
nikapov	0:704c89673b57	2052	status->WakeUpStatus = 1;
nikapov	0:704c89673b57	2053	}
nikapov	0:704c89673b57	2054	}
nikapov	0:704c89673b57	2055
nikapov	0:704c89673b57	2056	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_MASK))
nikapov	0:704c89673b57	2057	{
nikapov	0:704c89673b57	2058	if((Tap_Src & LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_MASK))
nikapov	0:704c89673b57	2059	{
nikapov	0:704c89673b57	2060	status->TapStatus = 1;
nikapov	0:704c89673b57	2061	}
nikapov	0:704c89673b57	2062	}
nikapov	0:704c89673b57	2063
nikapov	0:704c89673b57	2064	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TAP_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_TAP_MASK))
nikapov	0:704c89673b57	2065	{
nikapov	0:704c89673b57	2066	if((Tap_Src & LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_MASK))
nikapov	0:704c89673b57	2067	{
nikapov	0:704c89673b57	2068	status->DoubleTapStatus = 1;
nikapov	0:704c89673b57	2069	}
nikapov	0:704c89673b57	2070	}
nikapov	0:704c89673b57	2071
nikapov	0:704c89673b57	2072	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_6D_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_6D_MASK))
nikapov	0:704c89673b57	2073	{
nikapov	0:704c89673b57	2074	if((D6D_Src & LSM6DSL_ACC_GYRO_D6D_EV_STATUS_MASK))
nikapov	0:704c89673b57	2075	{
nikapov	0:704c89673b57	2076	status->D6DOrientationStatus = 1;
nikapov	0:704c89673b57	2077	}
nikapov	0:704c89673b57	2078	}
nikapov	0:704c89673b57	2079
nikapov	0:704c89673b57	2080	if((Int1_Ctrl & LSM6DSL_ACC_GYRO_INT1_PEDO_MASK))
nikapov	0:704c89673b57	2081	{
nikapov	0:704c89673b57	2082	if((Func_Src & LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_MASK))
nikapov	0:704c89673b57	2083	{
nikapov	0:704c89673b57	2084	status->StepStatus = 1;
nikapov	0:704c89673b57	2085	}
nikapov	0:704c89673b57	2086	}
nikapov	0:704c89673b57	2087
nikapov	0:704c89673b57	2088	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TILT_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_TILT_MASK))
nikapov	0:704c89673b57	2089	{
nikapov	0:704c89673b57	2090	if((Func_Src & LSM6DSL_ACC_GYRO_TILT_EV_STATUS_MASK))
nikapov	0:704c89673b57	2091	{
nikapov	0:704c89673b57	2092	status->TiltStatus = 1;
nikapov	0:704c89673b57	2093	}
nikapov	0:704c89673b57	2094	}
nikapov	0:704c89673b57	2095
nikapov	0:704c89673b57	2096	return 0;
nikapov	0:704c89673b57	2097	}
nikapov	0:704c89673b57	2098
nikapov	0:704c89673b57	2099	/**
nikapov	0:704c89673b57	2100	* @brief Read the data from register
nikapov	0:704c89673b57	2101	* @param reg register address
nikapov	0:704c89673b57	2102	* @param data register data
nikapov	0:704c89673b57	2103	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	2104	*/
nikapov	0:704c89673b57	2105	int LSM6DSLSensor::read_reg( uint8_t reg, uint8_t *data )
nikapov	0:704c89673b57	2106	{
nikapov	0:704c89673b57	2107
nikapov	0:704c89673b57	2108	if ( LSM6DSL_ACC_GYRO_read_reg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
nikapov	0:704c89673b57	2109	{
nikapov	0:704c89673b57	2110	return 1;
nikapov	0:704c89673b57	2111	}
nikapov	0:704c89673b57	2112
nikapov	0:704c89673b57	2113	return 0;
nikapov	0:704c89673b57	2114	}
nikapov	0:704c89673b57	2115
nikapov	0:704c89673b57	2116	/**
nikapov	0:704c89673b57	2117	* @brief Write the data to register
nikapov	0:704c89673b57	2118	* @param reg register address
nikapov	0:704c89673b57	2119	* @param data register data
nikapov	0:704c89673b57	2120	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	2121	*/
nikapov	0:704c89673b57	2122	int LSM6DSLSensor::write_reg( uint8_t reg, uint8_t data )
nikapov	0:704c89673b57	2123	{
nikapov	0:704c89673b57	2124
nikapov	0:704c89673b57	2125	if ( LSM6DSL_ACC_GYRO_write_reg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
nikapov	0:704c89673b57	2126	{
nikapov	0:704c89673b57	2127	return 1;
nikapov	0:704c89673b57	2128	}
nikapov	0:704c89673b57	2129
nikapov	0:704c89673b57	2130	return 0;
nikapov	0:704c89673b57	2131	}
nikapov	0:704c89673b57	2132
nikapov	0:704c89673b57	2133
nikapov	0:704c89673b57	2134	uint8_t LSM6DSL_io_write( void handle, uint8_t WriteAddr, uint8_t pBuffer, uint16_t nBytesToWrite )
nikapov	0:704c89673b57	2135	{
nikapov	0:704c89673b57	2136	return ((LSM6DSLSensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite);
nikapov	0:704c89673b57	2137	}
nikapov	0:704c89673b57	2138
nikapov	0:704c89673b57	2139	uint8_t LSM6DSL_io_read( void handle, uint8_t ReadAddr, uint8_t pBuffer, uint16_t nBytesToRead )
nikapov	0:704c89673b57	2140	{
nikapov	0:704c89673b57	2141	return ((LSM6DSLSensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead);
nikapov	0:704c89673b57	2142	}

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Type:	Library
Created:	04 Sep 2017
Imports:	224
Forks:	1
Commits:	10
Dependents:	24
Dependencies:	2
Followers:	409

The code in this repository is Apache licensed.

LSM6DSLSensor.cpp@9:fad44d0eacd4, 2022-02-08 (annotated)

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