LSM6DSO - 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: X_NUCLEO_IKS01A3 X_NUCLEO_IKS01A3

LSM6DSOSensor.cpp@0:6d69e896ce38, 2019-03-05 (annotated)

Committer:: cparata
Date:: Tue Mar 05 16:26:47 2019 +0000
Revision:: 0:6d69e896ce38
Child:: 2:4d14e9edf37e

First version of the LSM6DSO library

Who changed what in which revision?

User	Revision	Line number	New contents of line
cparata	0:6d69e896ce38	1	/**
cparata	0:6d69e896ce38	2	******************************************************************************
cparata	0:6d69e896ce38	3	* @file LSM6DSOSensor.cpp
cparata	0:6d69e896ce38	4	* @author SRA
cparata	0:6d69e896ce38	5	* @version V1.0.0
cparata	0:6d69e896ce38	6	* @date February 2019
cparata	0:6d69e896ce38	7	* @brief Implementation of an LSM6DSO Inertial Measurement Unit (IMU) 6 axes
cparata	0:6d69e896ce38	8	* sensor.
cparata	0:6d69e896ce38	9	******************************************************************************
cparata	0:6d69e896ce38	10	* @attention
cparata	0:6d69e896ce38	11	*
cparata	0:6d69e896ce38	12	* <h2><center>© COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
cparata	0:6d69e896ce38	13	*
cparata	0:6d69e896ce38	14	* Redistribution and use in source and binary forms, with or without modification,
cparata	0:6d69e896ce38	15	* are permitted provided that the following conditions are met:
cparata	0:6d69e896ce38	16	* 1. Redistributions of source code must retain the above copyright notice,
cparata	0:6d69e896ce38	17	* this list of conditions and the following disclaimer.
cparata	0:6d69e896ce38	18	* 2. Redistributions in binary form must reproduce the above copyright notice,
cparata	0:6d69e896ce38	19	* this list of conditions and the following disclaimer in the documentation
cparata	0:6d69e896ce38	20	* and/or other materials provided with the distribution.
cparata	0:6d69e896ce38	21	* 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata	0:6d69e896ce38	22	* may be used to endorse or promote products derived from this software
cparata	0:6d69e896ce38	23	* without specific prior written permission.
cparata	0:6d69e896ce38	24	*
cparata	0:6d69e896ce38	25	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata	0:6d69e896ce38	26	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata	0:6d69e896ce38	27	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata	0:6d69e896ce38	28	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata	0:6d69e896ce38	29	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata	0:6d69e896ce38	30	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata	0:6d69e896ce38	31	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata	0:6d69e896ce38	32	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata	0:6d69e896ce38	33	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata	0:6d69e896ce38	34	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata	0:6d69e896ce38	35	*
cparata	0:6d69e896ce38	36	******************************************************************************
cparata	0:6d69e896ce38	37	*/
cparata	0:6d69e896ce38	38
cparata	0:6d69e896ce38	39
cparata	0:6d69e896ce38	40	/* Includes ------------------------------------------------------------------*/
cparata	0:6d69e896ce38	41
cparata	0:6d69e896ce38	42	#include "LSM6DSOSensor.h"
cparata	0:6d69e896ce38	43
cparata	0:6d69e896ce38	44
cparata	0:6d69e896ce38	45	/* Class Implementation ------------------------------------------------------*/
cparata	0:6d69e896ce38	46
cparata	0:6d69e896ce38	47	/** Constructor
cparata	0:6d69e896ce38	48	* @param spi object of an helper class which handles the SPI peripheral
cparata	0:6d69e896ce38	49	* @param cs_pin the chip select pin
cparata	0:6d69e896ce38	50	* @param int1_pin the interrupt 1 pin
cparata	0:6d69e896ce38	51	* @param int2_pin the interrupt 2 pin
cparata	0:6d69e896ce38	52	* @param spi_type the SPI type
cparata	0:6d69e896ce38	53	*/
cparata	0:6d69e896ce38	54	LSM6DSOSensor::LSM6DSOSensor(SPI *spi, PinName cs_pin, PinName int1_pin, PinName int2_pin, SPI_type_t spi_type) : _dev_spi(spi), _cs_pin(cs_pin), _int1_irq(int1_pin), _int2_irq(int2_pin), _spi_type(spi_type)
cparata	0:6d69e896ce38	55	{
cparata	0:6d69e896ce38	56	assert (spi);
cparata	0:6d69e896ce38	57	if (cs_pin == NC)
cparata	0:6d69e896ce38	58	{
cparata	0:6d69e896ce38	59	printf ("ERROR LSM6DSO CS MUST NOT BE NC\n\r");
cparata	0:6d69e896ce38	60	_dev_spi = NULL;
cparata	0:6d69e896ce38	61	_dev_i2c = NULL;
cparata	0:6d69e896ce38	62	return;
cparata	0:6d69e896ce38	63	}
cparata	0:6d69e896ce38	64
cparata	0:6d69e896ce38	65	_reg_ctx.write_reg = LSM6DSO_io_write;
cparata	0:6d69e896ce38	66	_reg_ctx.read_reg = LSM6DSO_io_read;
cparata	0:6d69e896ce38	67	_reg_ctx.handle = (void *)this;
cparata	0:6d69e896ce38	68	_cs_pin = 1;
cparata	0:6d69e896ce38	69	_dev_i2c = NULL;
cparata	0:6d69e896ce38	70	_address = 0;
cparata	0:6d69e896ce38	71
cparata	0:6d69e896ce38	72	if (_spi_type == SPI3W)
cparata	0:6d69e896ce38	73	{
cparata	0:6d69e896ce38	74	/* Enable SPI 3-Wires on the component */
cparata	0:6d69e896ce38	75	uint8_t data = 0x0C;
cparata	0:6d69e896ce38	76	lsm6dso_write_reg(&_reg_ctx, LSM6DSO_CTRL3_C, &data, 1);
cparata	0:6d69e896ce38	77	}
cparata	0:6d69e896ce38	78	}
cparata	0:6d69e896ce38	79
cparata	0:6d69e896ce38	80
cparata	0:6d69e896ce38	81	/** Constructor
cparata	0:6d69e896ce38	82	* @param i2c object of an helper class which handles the I2C peripheral
cparata	0:6d69e896ce38	83	* @param address the address of the component's instance
cparata	0:6d69e896ce38	84	* @param int1_pin the interrupt 1 pin
cparata	0:6d69e896ce38	85	* @param int2_pin the interrupt 2 pin
cparata	0:6d69e896ce38	86	*/
cparata	0:6d69e896ce38	87	LSM6DSOSensor::LSM6DSOSensor(DevI2C *i2c, uint8_t address, PinName int1_pin, PinName int2_pin) : _dev_i2c(i2c), _address(address), _cs_pin(NC), _int1_irq(int1_pin), _int2_irq(int2_pin)
cparata	0:6d69e896ce38	88	{
cparata	0:6d69e896ce38	89	assert (i2c);
cparata	0:6d69e896ce38	90	_dev_spi = NULL;
cparata	0:6d69e896ce38	91	_reg_ctx.write_reg = LSM6DSO_io_write;
cparata	0:6d69e896ce38	92	_reg_ctx.read_reg = LSM6DSO_io_read;
cparata	0:6d69e896ce38	93	_reg_ctx.handle = (void *)this;
cparata	0:6d69e896ce38	94	}
cparata	0:6d69e896ce38	95
cparata	0:6d69e896ce38	96	/**
cparata	0:6d69e896ce38	97	* @brief Initializing the component
cparata	0:6d69e896ce38	98	* @param init pointer to device specific initalization structure
cparata	0:6d69e896ce38	99	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	100	*/
cparata	0:6d69e896ce38	101	int LSM6DSOSensor::init(void *init)
cparata	0:6d69e896ce38	102	{
cparata	0:6d69e896ce38	103	/* Enable register address automatically incremented during a multiple byte
cparata	0:6d69e896ce38	104	access with a serial interface. */
cparata	0:6d69e896ce38	105	if (lsm6dso_auto_increment_set(&_reg_ctx, PROPERTY_ENABLE) != 0)
cparata	0:6d69e896ce38	106	{
cparata	0:6d69e896ce38	107	return 1;
cparata	0:6d69e896ce38	108	}
cparata	0:6d69e896ce38	109
cparata	0:6d69e896ce38	110	/* Enable BDU */
cparata	0:6d69e896ce38	111	if (lsm6dso_block_data_update_set(&_reg_ctx, PROPERTY_ENABLE) != 0)
cparata	0:6d69e896ce38	112	{
cparata	0:6d69e896ce38	113	return 1;
cparata	0:6d69e896ce38	114	}
cparata	0:6d69e896ce38	115
cparata	0:6d69e896ce38	116	/* FIFO mode selection */
cparata	0:6d69e896ce38	117	if (lsm6dso_fifo_mode_set(&_reg_ctx, LSM6DSO_BYPASS_MODE) != 0)
cparata	0:6d69e896ce38	118	{
cparata	0:6d69e896ce38	119	return 1;
cparata	0:6d69e896ce38	120	}
cparata	0:6d69e896ce38	121
cparata	0:6d69e896ce38	122	/* Output data rate selection - power down. */
cparata	0:6d69e896ce38	123	if (lsm6dso_xl_data_rate_set(&_reg_ctx, LSM6DSO_XL_ODR_OFF) != 0)
cparata	0:6d69e896ce38	124	{
cparata	0:6d69e896ce38	125	return 1;
cparata	0:6d69e896ce38	126	}
cparata	0:6d69e896ce38	127
cparata	0:6d69e896ce38	128	/* Full scale selection. */
cparata	0:6d69e896ce38	129	if (lsm6dso_xl_full_scale_set(&_reg_ctx, LSM6DSO_2g) != 0)
cparata	0:6d69e896ce38	130	{
cparata	0:6d69e896ce38	131	return 1;
cparata	0:6d69e896ce38	132	}
cparata	0:6d69e896ce38	133
cparata	0:6d69e896ce38	134	/* Output data rate selection - power down. */
cparata	0:6d69e896ce38	135	if (lsm6dso_gy_data_rate_set(&_reg_ctx, LSM6DSO_GY_ODR_OFF) != 0)
cparata	0:6d69e896ce38	136	{
cparata	0:6d69e896ce38	137	return 1;
cparata	0:6d69e896ce38	138	}
cparata	0:6d69e896ce38	139
cparata	0:6d69e896ce38	140	/* Full scale selection. */
cparata	0:6d69e896ce38	141	if (lsm6dso_gy_full_scale_set(&_reg_ctx, LSM6DSO_2000dps) != 0)
cparata	0:6d69e896ce38	142	{
cparata	0:6d69e896ce38	143	return 1;
cparata	0:6d69e896ce38	144	}
cparata	0:6d69e896ce38	145
cparata	0:6d69e896ce38	146	/* Select default output data rate. */
cparata	0:6d69e896ce38	147	_x_last_odr = LSM6DSO_XL_ODR_104Hz;
cparata	0:6d69e896ce38	148
cparata	0:6d69e896ce38	149	/* Select default output data rate. */
cparata	0:6d69e896ce38	150	_g_last_odr = LSM6DSO_GY_ODR_104Hz;
cparata	0:6d69e896ce38	151
cparata	0:6d69e896ce38	152	_x_is_enabled = 0;
cparata	0:6d69e896ce38	153
cparata	0:6d69e896ce38	154	_g_is_enabled = 0;
cparata	0:6d69e896ce38	155
cparata	0:6d69e896ce38	156	return 0;
cparata	0:6d69e896ce38	157	}
cparata	0:6d69e896ce38	158
cparata	0:6d69e896ce38	159	/**
cparata	0:6d69e896ce38	160	* @brief Read component ID
cparata	0:6d69e896ce38	161	* @param id the WHO_AM_I value
cparata	0:6d69e896ce38	162	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	163	*/
cparata	0:6d69e896ce38	164	int LSM6DSOSensor::read_id(uint8_t *id)
cparata	0:6d69e896ce38	165	{
cparata	0:6d69e896ce38	166	if (lsm6dso_device_id_get(&_reg_ctx, id) != 0)
cparata	0:6d69e896ce38	167	{
cparata	0:6d69e896ce38	168	return 1;
cparata	0:6d69e896ce38	169	}
cparata	0:6d69e896ce38	170
cparata	0:6d69e896ce38	171	return 0;
cparata	0:6d69e896ce38	172	}
cparata	0:6d69e896ce38	173
cparata	0:6d69e896ce38	174	/**
cparata	0:6d69e896ce38	175	* @brief Enable the LSM6DSO accelerometer sensor
cparata	0:6d69e896ce38	176	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	177	*/
cparata	0:6d69e896ce38	178	int LSM6DSOSensor::enable_x()
cparata	0:6d69e896ce38	179	{
cparata	0:6d69e896ce38	180	/* Check if the component is already enabled */
cparata	0:6d69e896ce38	181	if (_x_is_enabled == 1U)
cparata	0:6d69e896ce38	182	{
cparata	0:6d69e896ce38	183	return 0;
cparata	0:6d69e896ce38	184	}
cparata	0:6d69e896ce38	185
cparata	0:6d69e896ce38	186	/* Output data rate selection. */
cparata	0:6d69e896ce38	187	if (lsm6dso_xl_data_rate_set(&_reg_ctx, _x_last_odr) != 0)
cparata	0:6d69e896ce38	188	{
cparata	0:6d69e896ce38	189	return 1;
cparata	0:6d69e896ce38	190	}
cparata	0:6d69e896ce38	191
cparata	0:6d69e896ce38	192	_x_is_enabled = 1;
cparata	0:6d69e896ce38	193
cparata	0:6d69e896ce38	194	return 0;
cparata	0:6d69e896ce38	195	}
cparata	0:6d69e896ce38	196
cparata	0:6d69e896ce38	197	/**
cparata	0:6d69e896ce38	198	* @brief Disable the LSM6DSO accelerometer sensor
cparata	0:6d69e896ce38	199	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	200	*/
cparata	0:6d69e896ce38	201	int LSM6DSOSensor::disable_x()
cparata	0:6d69e896ce38	202	{
cparata	0:6d69e896ce38	203	/* Check if the component is already disabled */
cparata	0:6d69e896ce38	204	if (_x_is_enabled == 0U)
cparata	0:6d69e896ce38	205	{
cparata	0:6d69e896ce38	206	return 0;
cparata	0:6d69e896ce38	207	}
cparata	0:6d69e896ce38	208
cparata	0:6d69e896ce38	209	/* Get current output data rate. */
cparata	0:6d69e896ce38	210	if (lsm6dso_xl_data_rate_get(&_reg_ctx, &_x_last_odr) != 0)
cparata	0:6d69e896ce38	211	{
cparata	0:6d69e896ce38	212	return 1;
cparata	0:6d69e896ce38	213	}
cparata	0:6d69e896ce38	214
cparata	0:6d69e896ce38	215	/* Output data rate selection - power down. */
cparata	0:6d69e896ce38	216	if (lsm6dso_xl_data_rate_set(&_reg_ctx, LSM6DSO_XL_ODR_OFF) != 0)
cparata	0:6d69e896ce38	217	{
cparata	0:6d69e896ce38	218	return 1;
cparata	0:6d69e896ce38	219	}
cparata	0:6d69e896ce38	220
cparata	0:6d69e896ce38	221	_x_is_enabled = 0;
cparata	0:6d69e896ce38	222
cparata	0:6d69e896ce38	223	return 0;
cparata	0:6d69e896ce38	224	}
cparata	0:6d69e896ce38	225
cparata	0:6d69e896ce38	226	/**
cparata	0:6d69e896ce38	227	* @brief Get the LSM6DSO accelerometer sensor sensitivity
cparata	0:6d69e896ce38	228	* @param sensitivity pointer where the sensitivity is written
cparata	0:6d69e896ce38	229	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	230	*/
cparata	0:6d69e896ce38	231	int LSM6DSOSensor::get_x_sensitivity(float *sensitivity)
cparata	0:6d69e896ce38	232	{
cparata	0:6d69e896ce38	233	int ret = 0;
cparata	0:6d69e896ce38	234	lsm6dso_fs_xl_t full_scale;
cparata	0:6d69e896ce38	235
cparata	0:6d69e896ce38	236	/* Read actual full scale selection from sensor. */
cparata	0:6d69e896ce38	237	if (lsm6dso_xl_full_scale_get(&_reg_ctx, &full_scale) != 0)
cparata	0:6d69e896ce38	238	{
cparata	0:6d69e896ce38	239	return 1;
cparata	0:6d69e896ce38	240	}
cparata	0:6d69e896ce38	241
cparata	0:6d69e896ce38	242	/* Store the sensitivity based on actual full scale. */
cparata	0:6d69e896ce38	243	switch (full_scale)
cparata	0:6d69e896ce38	244	{
cparata	0:6d69e896ce38	245	case LSM6DSO_2g:
cparata	0:6d69e896ce38	246	*sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_2G;
cparata	0:6d69e896ce38	247	break;
cparata	0:6d69e896ce38	248
cparata	0:6d69e896ce38	249	case LSM6DSO_4g:
cparata	0:6d69e896ce38	250	*sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_4G;
cparata	0:6d69e896ce38	251	break;
cparata	0:6d69e896ce38	252
cparata	0:6d69e896ce38	253	case LSM6DSO_8g:
cparata	0:6d69e896ce38	254	*sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_8G;
cparata	0:6d69e896ce38	255	break;
cparata	0:6d69e896ce38	256
cparata	0:6d69e896ce38	257	case LSM6DSO_16g:
cparata	0:6d69e896ce38	258	*sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_16G;
cparata	0:6d69e896ce38	259	break;
cparata	0:6d69e896ce38	260
cparata	0:6d69e896ce38	261	default:
cparata	0:6d69e896ce38	262	ret = 1;
cparata	0:6d69e896ce38	263	break;
cparata	0:6d69e896ce38	264	}
cparata	0:6d69e896ce38	265
cparata	0:6d69e896ce38	266	return ret;
cparata	0:6d69e896ce38	267	}
cparata	0:6d69e896ce38	268
cparata	0:6d69e896ce38	269	/**
cparata	0:6d69e896ce38	270	* @brief Get the LSM6DSO accelerometer sensor output data rate
cparata	0:6d69e896ce38	271	* @param odr pointer where the output data rate is written
cparata	0:6d69e896ce38	272	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	273	*/
cparata	0:6d69e896ce38	274	int LSM6DSOSensor::get_x_odr(float *odr)
cparata	0:6d69e896ce38	275	{
cparata	0:6d69e896ce38	276	int ret = 0;
cparata	0:6d69e896ce38	277	lsm6dso_odr_xl_t odr_low_level;
cparata	0:6d69e896ce38	278
cparata	0:6d69e896ce38	279	/* Get current output data rate. */
cparata	0:6d69e896ce38	280	if (lsm6dso_xl_data_rate_get(&_reg_ctx, &odr_low_level) != 0)
cparata	0:6d69e896ce38	281	{
cparata	0:6d69e896ce38	282	return 1;
cparata	0:6d69e896ce38	283	}
cparata	0:6d69e896ce38	284
cparata	0:6d69e896ce38	285	switch (odr_low_level)
cparata	0:6d69e896ce38	286	{
cparata	0:6d69e896ce38	287	case LSM6DSO_XL_ODR_OFF:
cparata	0:6d69e896ce38	288	*odr = 0.0f;
cparata	0:6d69e896ce38	289	break;
cparata	0:6d69e896ce38	290
cparata	0:6d69e896ce38	291	case LSM6DSO_XL_ODR_6Hz5:
cparata	0:6d69e896ce38	292	*odr = 6.5f;
cparata	0:6d69e896ce38	293	break;
cparata	0:6d69e896ce38	294
cparata	0:6d69e896ce38	295	case LSM6DSO_XL_ODR_12Hz5:
cparata	0:6d69e896ce38	296	*odr = 12.5f;
cparata	0:6d69e896ce38	297	break;
cparata	0:6d69e896ce38	298
cparata	0:6d69e896ce38	299	case LSM6DSO_XL_ODR_26Hz:
cparata	0:6d69e896ce38	300	*odr = 26.0f;
cparata	0:6d69e896ce38	301	break;
cparata	0:6d69e896ce38	302
cparata	0:6d69e896ce38	303	case LSM6DSO_XL_ODR_52Hz:
cparata	0:6d69e896ce38	304	*odr = 52.0f;
cparata	0:6d69e896ce38	305	break;
cparata	0:6d69e896ce38	306
cparata	0:6d69e896ce38	307	case LSM6DSO_XL_ODR_104Hz:
cparata	0:6d69e896ce38	308	*odr = 104.0f;
cparata	0:6d69e896ce38	309	break;
cparata	0:6d69e896ce38	310
cparata	0:6d69e896ce38	311	case LSM6DSO_XL_ODR_208Hz:
cparata	0:6d69e896ce38	312	*odr = 208.0f;
cparata	0:6d69e896ce38	313	break;
cparata	0:6d69e896ce38	314
cparata	0:6d69e896ce38	315	case LSM6DSO_XL_ODR_417Hz:
cparata	0:6d69e896ce38	316	*odr = 417.0f;
cparata	0:6d69e896ce38	317	break;
cparata	0:6d69e896ce38	318
cparata	0:6d69e896ce38	319	case LSM6DSO_XL_ODR_833Hz:
cparata	0:6d69e896ce38	320	*odr = 833.0f;
cparata	0:6d69e896ce38	321	break;
cparata	0:6d69e896ce38	322
cparata	0:6d69e896ce38	323	case LSM6DSO_XL_ODR_1667Hz:
cparata	0:6d69e896ce38	324	*odr = 1667.0f;
cparata	0:6d69e896ce38	325	break;
cparata	0:6d69e896ce38	326
cparata	0:6d69e896ce38	327	case LSM6DSO_XL_ODR_3333Hz:
cparata	0:6d69e896ce38	328	*odr = 3333.0f;
cparata	0:6d69e896ce38	329	break;
cparata	0:6d69e896ce38	330
cparata	0:6d69e896ce38	331	case LSM6DSO_XL_ODR_6667Hz:
cparata	0:6d69e896ce38	332	*odr = 6667.0f;
cparata	0:6d69e896ce38	333	break;
cparata	0:6d69e896ce38	334
cparata	0:6d69e896ce38	335	default:
cparata	0:6d69e896ce38	336	ret = 1;
cparata	0:6d69e896ce38	337	break;
cparata	0:6d69e896ce38	338	}
cparata	0:6d69e896ce38	339
cparata	0:6d69e896ce38	340	return ret;
cparata	0:6d69e896ce38	341	}
cparata	0:6d69e896ce38	342
cparata	0:6d69e896ce38	343	/**
cparata	0:6d69e896ce38	344	* @brief Set the LSM6DSO accelerometer sensor output data rate
cparata	0:6d69e896ce38	345	* @param odr the output data rate value to be set
cparata	0:6d69e896ce38	346	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	347	*/
cparata	0:6d69e896ce38	348	int LSM6DSOSensor::set_x_odr(float odr)
cparata	0:6d69e896ce38	349	{
cparata	0:6d69e896ce38	350	/* Check if the component is enabled */
cparata	0:6d69e896ce38	351	if (_x_is_enabled == 1U)
cparata	0:6d69e896ce38	352	{
cparata	0:6d69e896ce38	353	return set_x_odr_when_enabled(odr);
cparata	0:6d69e896ce38	354	}
cparata	0:6d69e896ce38	355	else
cparata	0:6d69e896ce38	356	{
cparata	0:6d69e896ce38	357	return set_x_odr_when_disabled(odr);
cparata	0:6d69e896ce38	358	}
cparata	0:6d69e896ce38	359	}
cparata	0:6d69e896ce38	360
cparata	0:6d69e896ce38	361	/**
cparata	0:6d69e896ce38	362	* @brief Set the LSM6DSO accelerometer sensor output data rate when enabled
cparata	0:6d69e896ce38	363	* @param odr the functional output data rate to be set
cparata	0:6d69e896ce38	364	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	365	*/
cparata	0:6d69e896ce38	366	int LSM6DSOSensor::set_x_odr_when_enabled(float odr)
cparata	0:6d69e896ce38	367	{
cparata	0:6d69e896ce38	368	lsm6dso_odr_xl_t new_odr;
cparata	0:6d69e896ce38	369
cparata	0:6d69e896ce38	370	new_odr = (odr <= 12.5f) ? LSM6DSO_XL_ODR_12Hz5
cparata	0:6d69e896ce38	371	: (odr <= 26.0f) ? LSM6DSO_XL_ODR_26Hz
cparata	0:6d69e896ce38	372	: (odr <= 52.0f) ? LSM6DSO_XL_ODR_52Hz
cparata	0:6d69e896ce38	373	: (odr <= 104.0f) ? LSM6DSO_XL_ODR_104Hz
cparata	0:6d69e896ce38	374	: (odr <= 208.0f) ? LSM6DSO_XL_ODR_208Hz
cparata	0:6d69e896ce38	375	: (odr <= 417.0f) ? LSM6DSO_XL_ODR_417Hz
cparata	0:6d69e896ce38	376	: (odr <= 833.0f) ? LSM6DSO_XL_ODR_833Hz
cparata	0:6d69e896ce38	377	: (odr <= 1667.0f) ? LSM6DSO_XL_ODR_1667Hz
cparata	0:6d69e896ce38	378	: (odr <= 3333.0f) ? LSM6DSO_XL_ODR_3333Hz
cparata	0:6d69e896ce38	379	: LSM6DSO_XL_ODR_6667Hz;
cparata	0:6d69e896ce38	380
cparata	0:6d69e896ce38	381	/* Output data rate selection. */
cparata	0:6d69e896ce38	382	if (lsm6dso_xl_data_rate_set(&_reg_ctx, new_odr) != 0)
cparata	0:6d69e896ce38	383	{
cparata	0:6d69e896ce38	384	return 1;
cparata	0:6d69e896ce38	385	}
cparata	0:6d69e896ce38	386
cparata	0:6d69e896ce38	387	return 0;
cparata	0:6d69e896ce38	388	}
cparata	0:6d69e896ce38	389
cparata	0:6d69e896ce38	390	/**
cparata	0:6d69e896ce38	391	* @brief Set the LSM6DSO accelerometer sensor output data rate when disabled
cparata	0:6d69e896ce38	392	* @param odr the functional output data rate to be set
cparata	0:6d69e896ce38	393	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	394	*/
cparata	0:6d69e896ce38	395	int LSM6DSOSensor::set_x_odr_when_disabled(float odr)
cparata	0:6d69e896ce38	396	{
cparata	0:6d69e896ce38	397	_x_last_odr = (odr <= 12.5f) ? LSM6DSO_XL_ODR_12Hz5
cparata	0:6d69e896ce38	398	: (odr <= 26.0f) ? LSM6DSO_XL_ODR_26Hz
cparata	0:6d69e896ce38	399	: (odr <= 52.0f) ? LSM6DSO_XL_ODR_52Hz
cparata	0:6d69e896ce38	400	: (odr <= 104.0f) ? LSM6DSO_XL_ODR_104Hz
cparata	0:6d69e896ce38	401	: (odr <= 208.0f) ? LSM6DSO_XL_ODR_208Hz
cparata	0:6d69e896ce38	402	: (odr <= 417.0f) ? LSM6DSO_XL_ODR_417Hz
cparata	0:6d69e896ce38	403	: (odr <= 833.0f) ? LSM6DSO_XL_ODR_833Hz
cparata	0:6d69e896ce38	404	: (odr <= 1667.0f) ? LSM6DSO_XL_ODR_1667Hz
cparata	0:6d69e896ce38	405	: (odr <= 3333.0f) ? LSM6DSO_XL_ODR_3333Hz
cparata	0:6d69e896ce38	406	: LSM6DSO_XL_ODR_6667Hz;
cparata	0:6d69e896ce38	407
cparata	0:6d69e896ce38	408	return 0;
cparata	0:6d69e896ce38	409	}
cparata	0:6d69e896ce38	410
cparata	0:6d69e896ce38	411
cparata	0:6d69e896ce38	412	/**
cparata	0:6d69e896ce38	413	* @brief Get the LSM6DSO accelerometer sensor full scale
cparata	0:6d69e896ce38	414	* @param full_scale pointer where the full scale is written
cparata	0:6d69e896ce38	415	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	416	*/
cparata	0:6d69e896ce38	417	int LSM6DSOSensor::get_x_fs(float *full_scale)
cparata	0:6d69e896ce38	418	{
cparata	0:6d69e896ce38	419	int ret = 0;
cparata	0:6d69e896ce38	420	lsm6dso_fs_xl_t fs_low_level;
cparata	0:6d69e896ce38	421
cparata	0:6d69e896ce38	422	/* Read actual full scale selection from sensor. */
cparata	0:6d69e896ce38	423	if (lsm6dso_xl_full_scale_get(&_reg_ctx, &fs_low_level) != 0)
cparata	0:6d69e896ce38	424	{
cparata	0:6d69e896ce38	425	return 1;
cparata	0:6d69e896ce38	426	}
cparata	0:6d69e896ce38	427
cparata	0:6d69e896ce38	428	switch (fs_low_level)
cparata	0:6d69e896ce38	429	{
cparata	0:6d69e896ce38	430	case LSM6DSO_2g:
cparata	0:6d69e896ce38	431	*full_scale = 2.0f;
cparata	0:6d69e896ce38	432	break;
cparata	0:6d69e896ce38	433
cparata	0:6d69e896ce38	434	case LSM6DSO_4g:
cparata	0:6d69e896ce38	435	*full_scale = 4.0f;
cparata	0:6d69e896ce38	436	break;
cparata	0:6d69e896ce38	437
cparata	0:6d69e896ce38	438	case LSM6DSO_8g:
cparata	0:6d69e896ce38	439	*full_scale = 8.0f;
cparata	0:6d69e896ce38	440	break;
cparata	0:6d69e896ce38	441
cparata	0:6d69e896ce38	442	case LSM6DSO_16g:
cparata	0:6d69e896ce38	443	*full_scale = 16.0f;
cparata	0:6d69e896ce38	444	break;
cparata	0:6d69e896ce38	445
cparata	0:6d69e896ce38	446	default:
cparata	0:6d69e896ce38	447	ret = 1;
cparata	0:6d69e896ce38	448	break;
cparata	0:6d69e896ce38	449	}
cparata	0:6d69e896ce38	450
cparata	0:6d69e896ce38	451	return ret;
cparata	0:6d69e896ce38	452	}
cparata	0:6d69e896ce38	453
cparata	0:6d69e896ce38	454	/**
cparata	0:6d69e896ce38	455	* @brief Set the LSM6DSO accelerometer sensor full scale
cparata	0:6d69e896ce38	456	* @param full_scale the functional full scale to be set
cparata	0:6d69e896ce38	457	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	458	*/
cparata	0:6d69e896ce38	459	int LSM6DSOSensor::set_x_fs(float full_scale)
cparata	0:6d69e896ce38	460	{
cparata	0:6d69e896ce38	461	lsm6dso_fs_xl_t new_fs;
cparata	0:6d69e896ce38	462
cparata	0:6d69e896ce38	463	/* Seems like MISRA C-2012 rule 14.3a violation but only from single file statical analysis point of view because
cparata	0:6d69e896ce38	464	the parameter passed to the function is not known at the moment of analysis */
cparata	0:6d69e896ce38	465	new_fs = (full_scale <= 2.0f) ? LSM6DSO_2g
cparata	0:6d69e896ce38	466	: (full_scale <= 4.0f) ? LSM6DSO_4g
cparata	0:6d69e896ce38	467	: (full_scale <= 8.0f) ? LSM6DSO_8g
cparata	0:6d69e896ce38	468	: LSM6DSO_16g;
cparata	0:6d69e896ce38	469
cparata	0:6d69e896ce38	470	if (lsm6dso_xl_full_scale_set(&_reg_ctx, new_fs) != 0)
cparata	0:6d69e896ce38	471	{
cparata	0:6d69e896ce38	472	return 1;
cparata	0:6d69e896ce38	473	}
cparata	0:6d69e896ce38	474
cparata	0:6d69e896ce38	475	return 0;
cparata	0:6d69e896ce38	476	}
cparata	0:6d69e896ce38	477
cparata	0:6d69e896ce38	478	/**
cparata	0:6d69e896ce38	479	* @brief Get the LSM6DSO accelerometer sensor raw axes
cparata	0:6d69e896ce38	480	* @param value pointer where the raw values of the axes are written
cparata	0:6d69e896ce38	481	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	482	*/
cparata	0:6d69e896ce38	483	int LSM6DSOSensor::get_x_axes_raw(int16_t *value)
cparata	0:6d69e896ce38	484	{
cparata	0:6d69e896ce38	485	axis3bit16_t data_raw;
cparata	0:6d69e896ce38	486
cparata	0:6d69e896ce38	487	/* Read raw data values. */
cparata	0:6d69e896ce38	488	if (lsm6dso_acceleration_raw_get(&_reg_ctx, data_raw.u8bit) != 0)
cparata	0:6d69e896ce38	489	{
cparata	0:6d69e896ce38	490	return 1;
cparata	0:6d69e896ce38	491	}
cparata	0:6d69e896ce38	492
cparata	0:6d69e896ce38	493	/* Format the data. */
cparata	0:6d69e896ce38	494	value[0] = data_raw.i16bit[0];
cparata	0:6d69e896ce38	495	value[1] = data_raw.i16bit[1];
cparata	0:6d69e896ce38	496	value[2] = data_raw.i16bit[2];
cparata	0:6d69e896ce38	497
cparata	0:6d69e896ce38	498	return 0;
cparata	0:6d69e896ce38	499	}
cparata	0:6d69e896ce38	500
cparata	0:6d69e896ce38	501
cparata	0:6d69e896ce38	502	/**
cparata	0:6d69e896ce38	503	* @brief Get the LSM6DSO accelerometer sensor axes
cparata	0:6d69e896ce38	504	* @param acceleration pointer where the values of the axes are written
cparata	0:6d69e896ce38	505	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	506	*/
cparata	0:6d69e896ce38	507	int LSM6DSOSensor::get_x_axes(int32_t *acceleration)
cparata	0:6d69e896ce38	508	{
cparata	0:6d69e896ce38	509	axis3bit16_t data_raw;
cparata	0:6d69e896ce38	510	float sensitivity = 0.0f;
cparata	0:6d69e896ce38	511
cparata	0:6d69e896ce38	512	/* Read raw data values. */
cparata	0:6d69e896ce38	513	if (lsm6dso_acceleration_raw_get(&_reg_ctx, data_raw.u8bit) != 0)
cparata	0:6d69e896ce38	514	{
cparata	0:6d69e896ce38	515	return 1;
cparata	0:6d69e896ce38	516	}
cparata	0:6d69e896ce38	517
cparata	0:6d69e896ce38	518	/* Get LSM6DSO actual sensitivity. */
cparata	0:6d69e896ce38	519	if (get_x_sensitivity(&sensitivity) != 0)
cparata	0:6d69e896ce38	520	{
cparata	0:6d69e896ce38	521	return 1;
cparata	0:6d69e896ce38	522	}
cparata	0:6d69e896ce38	523
cparata	0:6d69e896ce38	524	/* Calculate the data. */
cparata	0:6d69e896ce38	525	acceleration[0] = (int32_t)((float)((float)data_raw.i16bit[0] * sensitivity));
cparata	0:6d69e896ce38	526	acceleration[1] = (int32_t)((float)((float)data_raw.i16bit[1] * sensitivity));
cparata	0:6d69e896ce38	527	acceleration[2] = (int32_t)((float)((float)data_raw.i16bit[2] * sensitivity));
cparata	0:6d69e896ce38	528
cparata	0:6d69e896ce38	529	return 0;
cparata	0:6d69e896ce38	530	}
cparata	0:6d69e896ce38	531
cparata	0:6d69e896ce38	532
cparata	0:6d69e896ce38	533	/**
cparata	0:6d69e896ce38	534	* @brief Enable the LSM6DSO gyroscope sensor
cparata	0:6d69e896ce38	535	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	536	*/
cparata	0:6d69e896ce38	537	int LSM6DSOSensor::enable_g()
cparata	0:6d69e896ce38	538	{
cparata	0:6d69e896ce38	539	/* Check if the component is already enabled */
cparata	0:6d69e896ce38	540	if (_g_is_enabled == 1U)
cparata	0:6d69e896ce38	541	{
cparata	0:6d69e896ce38	542	return 0;
cparata	0:6d69e896ce38	543	}
cparata	0:6d69e896ce38	544
cparata	0:6d69e896ce38	545	/* Output data rate selection. */
cparata	0:6d69e896ce38	546	if (lsm6dso_gy_data_rate_set(&_reg_ctx, _g_last_odr) != 0)
cparata	0:6d69e896ce38	547	{
cparata	0:6d69e896ce38	548	return 1;
cparata	0:6d69e896ce38	549	}
cparata	0:6d69e896ce38	550
cparata	0:6d69e896ce38	551	_g_is_enabled = 1;
cparata	0:6d69e896ce38	552
cparata	0:6d69e896ce38	553	return 0;
cparata	0:6d69e896ce38	554	}
cparata	0:6d69e896ce38	555
cparata	0:6d69e896ce38	556
cparata	0:6d69e896ce38	557	/**
cparata	0:6d69e896ce38	558	* @brief Disable the LSM6DSO gyroscope sensor
cparata	0:6d69e896ce38	559	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	560	*/
cparata	0:6d69e896ce38	561	int LSM6DSOSensor::disable_g()
cparata	0:6d69e896ce38	562	{
cparata	0:6d69e896ce38	563	/* Check if the component is already disabled */
cparata	0:6d69e896ce38	564	if (_g_is_enabled == 0U)
cparata	0:6d69e896ce38	565	{
cparata	0:6d69e896ce38	566	return 0;
cparata	0:6d69e896ce38	567	}
cparata	0:6d69e896ce38	568
cparata	0:6d69e896ce38	569	/* Get current output data rate. */
cparata	0:6d69e896ce38	570	if (lsm6dso_gy_data_rate_get(&_reg_ctx, &_g_last_odr) != 0)
cparata	0:6d69e896ce38	571	{
cparata	0:6d69e896ce38	572	return 1;
cparata	0:6d69e896ce38	573	}
cparata	0:6d69e896ce38	574
cparata	0:6d69e896ce38	575	/* Output data rate selection - power down. */
cparata	0:6d69e896ce38	576	if (lsm6dso_gy_data_rate_set(&_reg_ctx, LSM6DSO_GY_ODR_OFF) != 0)
cparata	0:6d69e896ce38	577	{
cparata	0:6d69e896ce38	578	return 1;
cparata	0:6d69e896ce38	579	}
cparata	0:6d69e896ce38	580
cparata	0:6d69e896ce38	581	_g_is_enabled = 0;
cparata	0:6d69e896ce38	582
cparata	0:6d69e896ce38	583	return 0;
cparata	0:6d69e896ce38	584	}
cparata	0:6d69e896ce38	585
cparata	0:6d69e896ce38	586	/**
cparata	0:6d69e896ce38	587	* @brief Get the LSM6DSO gyroscope sensor sensitivity
cparata	0:6d69e896ce38	588	* @param sensitivity pointer where the sensitivity is written
cparata	0:6d69e896ce38	589	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	590	*/
cparata	0:6d69e896ce38	591	int LSM6DSOSensor::get_g_sensitivity(float *sensitivity)
cparata	0:6d69e896ce38	592	{
cparata	0:6d69e896ce38	593	int ret = 0;
cparata	0:6d69e896ce38	594	lsm6dso_fs_g_t full_scale;
cparata	0:6d69e896ce38	595
cparata	0:6d69e896ce38	596	/* Read actual full scale selection from sensor. */
cparata	0:6d69e896ce38	597	if (lsm6dso_gy_full_scale_get(&_reg_ctx, &full_scale) != 0)
cparata	0:6d69e896ce38	598	{
cparata	0:6d69e896ce38	599	return 1;
cparata	0:6d69e896ce38	600	}
cparata	0:6d69e896ce38	601
cparata	0:6d69e896ce38	602	/* Store the sensitivity based on actual full scale. */
cparata	0:6d69e896ce38	603	switch (full_scale)
cparata	0:6d69e896ce38	604	{
cparata	0:6d69e896ce38	605	case LSM6DSO_125dps:
cparata	0:6d69e896ce38	606	*sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_125DPS;
cparata	0:6d69e896ce38	607	break;
cparata	0:6d69e896ce38	608
cparata	0:6d69e896ce38	609	case LSM6DSO_250dps:
cparata	0:6d69e896ce38	610	*sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_250DPS;
cparata	0:6d69e896ce38	611	break;
cparata	0:6d69e896ce38	612
cparata	0:6d69e896ce38	613	case LSM6DSO_500dps:
cparata	0:6d69e896ce38	614	*sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_500DPS;
cparata	0:6d69e896ce38	615	break;
cparata	0:6d69e896ce38	616
cparata	0:6d69e896ce38	617	case LSM6DSO_1000dps:
cparata	0:6d69e896ce38	618	*sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_1000DPS;
cparata	0:6d69e896ce38	619	break;
cparata	0:6d69e896ce38	620
cparata	0:6d69e896ce38	621	case LSM6DSO_2000dps:
cparata	0:6d69e896ce38	622	*sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_2000DPS;
cparata	0:6d69e896ce38	623	break;
cparata	0:6d69e896ce38	624
cparata	0:6d69e896ce38	625	default:
cparata	0:6d69e896ce38	626	ret = 1;
cparata	0:6d69e896ce38	627	break;
cparata	0:6d69e896ce38	628	}
cparata	0:6d69e896ce38	629
cparata	0:6d69e896ce38	630	return ret;
cparata	0:6d69e896ce38	631	}
cparata	0:6d69e896ce38	632
cparata	0:6d69e896ce38	633	/**
cparata	0:6d69e896ce38	634	* @brief Get the LSM6DSO gyroscope sensor output data rate
cparata	0:6d69e896ce38	635	* @param odr pointer where the output data rate is written
cparata	0:6d69e896ce38	636	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	637	*/
cparata	0:6d69e896ce38	638	int LSM6DSOSensor::get_g_odr(float *odr)
cparata	0:6d69e896ce38	639	{
cparata	0:6d69e896ce38	640	int ret = 0;
cparata	0:6d69e896ce38	641	lsm6dso_odr_g_t odr_low_level;
cparata	0:6d69e896ce38	642
cparata	0:6d69e896ce38	643	/* Get current output data rate. */
cparata	0:6d69e896ce38	644	if (lsm6dso_gy_data_rate_get(&_reg_ctx, &odr_low_level) != 0)
cparata	0:6d69e896ce38	645	{
cparata	0:6d69e896ce38	646	return 1;
cparata	0:6d69e896ce38	647	}
cparata	0:6d69e896ce38	648
cparata	0:6d69e896ce38	649	switch (odr_low_level)
cparata	0:6d69e896ce38	650	{
cparata	0:6d69e896ce38	651	case LSM6DSO_GY_ODR_OFF:
cparata	0:6d69e896ce38	652	*odr = 0.0f;
cparata	0:6d69e896ce38	653	break;
cparata	0:6d69e896ce38	654
cparata	0:6d69e896ce38	655	case LSM6DSO_GY_ODR_12Hz5:
cparata	0:6d69e896ce38	656	*odr = 12.5f;
cparata	0:6d69e896ce38	657	break;
cparata	0:6d69e896ce38	658
cparata	0:6d69e896ce38	659	case LSM6DSO_GY_ODR_26Hz:
cparata	0:6d69e896ce38	660	*odr = 26.0f;
cparata	0:6d69e896ce38	661	break;
cparata	0:6d69e896ce38	662
cparata	0:6d69e896ce38	663	case LSM6DSO_GY_ODR_52Hz:
cparata	0:6d69e896ce38	664	*odr = 52.0f;
cparata	0:6d69e896ce38	665	break;
cparata	0:6d69e896ce38	666
cparata	0:6d69e896ce38	667	case LSM6DSO_GY_ODR_104Hz:
cparata	0:6d69e896ce38	668	*odr = 104.0f;
cparata	0:6d69e896ce38	669	break;
cparata	0:6d69e896ce38	670
cparata	0:6d69e896ce38	671	case LSM6DSO_GY_ODR_208Hz:
cparata	0:6d69e896ce38	672	*odr = 208.0f;
cparata	0:6d69e896ce38	673	break;
cparata	0:6d69e896ce38	674
cparata	0:6d69e896ce38	675	case LSM6DSO_GY_ODR_417Hz:
cparata	0:6d69e896ce38	676	*odr = 417.0f;
cparata	0:6d69e896ce38	677	break;
cparata	0:6d69e896ce38	678
cparata	0:6d69e896ce38	679	case LSM6DSO_GY_ODR_833Hz:
cparata	0:6d69e896ce38	680	*odr = 833.0f;
cparata	0:6d69e896ce38	681	break;
cparata	0:6d69e896ce38	682
cparata	0:6d69e896ce38	683	case LSM6DSO_GY_ODR_1667Hz:
cparata	0:6d69e896ce38	684	*odr = 1667.0f;
cparata	0:6d69e896ce38	685	break;
cparata	0:6d69e896ce38	686
cparata	0:6d69e896ce38	687	case LSM6DSO_GY_ODR_3333Hz:
cparata	0:6d69e896ce38	688	*odr = 3333.0f;
cparata	0:6d69e896ce38	689	break;
cparata	0:6d69e896ce38	690
cparata	0:6d69e896ce38	691	case LSM6DSO_GY_ODR_6667Hz:
cparata	0:6d69e896ce38	692	*odr = 6667.0f;
cparata	0:6d69e896ce38	693	break;
cparata	0:6d69e896ce38	694
cparata	0:6d69e896ce38	695	default:
cparata	0:6d69e896ce38	696	ret = 1;
cparata	0:6d69e896ce38	697	break;
cparata	0:6d69e896ce38	698	}
cparata	0:6d69e896ce38	699
cparata	0:6d69e896ce38	700	return ret;
cparata	0:6d69e896ce38	701	}
cparata	0:6d69e896ce38	702
cparata	0:6d69e896ce38	703	/**
cparata	0:6d69e896ce38	704	* @brief Set the LSM6DSO gyroscope sensor output data rate
cparata	0:6d69e896ce38	705	* @param odr the output data rate value to be set
cparata	0:6d69e896ce38	706	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	707	*/
cparata	0:6d69e896ce38	708	int LSM6DSOSensor::set_g_odr(float odr)
cparata	0:6d69e896ce38	709	{
cparata	0:6d69e896ce38	710	/* Check if the component is enabled */
cparata	0:6d69e896ce38	711	if (_g_is_enabled == 1U)
cparata	0:6d69e896ce38	712	{
cparata	0:6d69e896ce38	713	return set_g_odr_when_enabled(odr);
cparata	0:6d69e896ce38	714	}
cparata	0:6d69e896ce38	715	else
cparata	0:6d69e896ce38	716	{
cparata	0:6d69e896ce38	717	return set_g_odr_when_disabled(odr);
cparata	0:6d69e896ce38	718	}
cparata	0:6d69e896ce38	719	}
cparata	0:6d69e896ce38	720
cparata	0:6d69e896ce38	721	/**
cparata	0:6d69e896ce38	722	* @brief Set the LSM6DSO gyroscope sensor output data rate when enabled
cparata	0:6d69e896ce38	723	* @param odr the functional output data rate to be set
cparata	0:6d69e896ce38	724	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	725	*/
cparata	0:6d69e896ce38	726	int LSM6DSOSensor::set_g_odr_when_enabled(float odr)
cparata	0:6d69e896ce38	727	{
cparata	0:6d69e896ce38	728	lsm6dso_odr_g_t new_odr;
cparata	0:6d69e896ce38	729
cparata	0:6d69e896ce38	730	new_odr = (odr <= 12.5f) ? LSM6DSO_GY_ODR_12Hz5
cparata	0:6d69e896ce38	731	: (odr <= 26.0f) ? LSM6DSO_GY_ODR_26Hz
cparata	0:6d69e896ce38	732	: (odr <= 52.0f) ? LSM6DSO_GY_ODR_52Hz
cparata	0:6d69e896ce38	733	: (odr <= 104.0f) ? LSM6DSO_GY_ODR_104Hz
cparata	0:6d69e896ce38	734	: (odr <= 208.0f) ? LSM6DSO_GY_ODR_208Hz
cparata	0:6d69e896ce38	735	: (odr <= 417.0f) ? LSM6DSO_GY_ODR_417Hz
cparata	0:6d69e896ce38	736	: (odr <= 833.0f) ? LSM6DSO_GY_ODR_833Hz
cparata	0:6d69e896ce38	737	: (odr <= 1667.0f) ? LSM6DSO_GY_ODR_1667Hz
cparata	0:6d69e896ce38	738	: (odr <= 3333.0f) ? LSM6DSO_GY_ODR_3333Hz
cparata	0:6d69e896ce38	739	: LSM6DSO_GY_ODR_6667Hz;
cparata	0:6d69e896ce38	740
cparata	0:6d69e896ce38	741	/* Output data rate selection. */
cparata	0:6d69e896ce38	742	if (lsm6dso_gy_data_rate_set(&_reg_ctx, new_odr) != 0)
cparata	0:6d69e896ce38	743	{
cparata	0:6d69e896ce38	744	return 1;
cparata	0:6d69e896ce38	745	}
cparata	0:6d69e896ce38	746
cparata	0:6d69e896ce38	747	return 0;
cparata	0:6d69e896ce38	748	}
cparata	0:6d69e896ce38	749
cparata	0:6d69e896ce38	750	/**
cparata	0:6d69e896ce38	751	* @brief Set the LSM6DSO gyroscope sensor output data rate when disabled
cparata	0:6d69e896ce38	752	* @param odr the functional output data rate to be set
cparata	0:6d69e896ce38	753	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	754	*/
cparata	0:6d69e896ce38	755	int LSM6DSOSensor::set_g_odr_when_disabled(float odr)
cparata	0:6d69e896ce38	756	{
cparata	0:6d69e896ce38	757	_g_last_odr = (odr <= 12.5f) ? LSM6DSO_GY_ODR_12Hz5
cparata	0:6d69e896ce38	758	: (odr <= 26.0f) ? LSM6DSO_GY_ODR_26Hz
cparata	0:6d69e896ce38	759	: (odr <= 52.0f) ? LSM6DSO_GY_ODR_52Hz
cparata	0:6d69e896ce38	760	: (odr <= 104.0f) ? LSM6DSO_GY_ODR_104Hz
cparata	0:6d69e896ce38	761	: (odr <= 208.0f) ? LSM6DSO_GY_ODR_208Hz
cparata	0:6d69e896ce38	762	: (odr <= 417.0f) ? LSM6DSO_GY_ODR_417Hz
cparata	0:6d69e896ce38	763	: (odr <= 833.0f) ? LSM6DSO_GY_ODR_833Hz
cparata	0:6d69e896ce38	764	: (odr <= 1667.0f) ? LSM6DSO_GY_ODR_1667Hz
cparata	0:6d69e896ce38	765	: (odr <= 3333.0f) ? LSM6DSO_GY_ODR_3333Hz
cparata	0:6d69e896ce38	766	: LSM6DSO_GY_ODR_6667Hz;
cparata	0:6d69e896ce38	767
cparata	0:6d69e896ce38	768	return 0;
cparata	0:6d69e896ce38	769	}
cparata	0:6d69e896ce38	770
cparata	0:6d69e896ce38	771
cparata	0:6d69e896ce38	772	/**
cparata	0:6d69e896ce38	773	* @brief Get the LSM6DSO gyroscope sensor full scale
cparata	0:6d69e896ce38	774	* @param full_scale pointer where the full scale is written
cparata	0:6d69e896ce38	775	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	776	*/
cparata	0:6d69e896ce38	777	int LSM6DSOSensor::get_g_fs(float *full_scale)
cparata	0:6d69e896ce38	778	{
cparata	0:6d69e896ce38	779	int ret = 0;
cparata	0:6d69e896ce38	780	lsm6dso_fs_g_t fs_low_level;
cparata	0:6d69e896ce38	781
cparata	0:6d69e896ce38	782	/* Read actual full scale selection from sensor. */
cparata	0:6d69e896ce38	783	if (lsm6dso_gy_full_scale_get(&_reg_ctx, &fs_low_level) != 0)
cparata	0:6d69e896ce38	784	{
cparata	0:6d69e896ce38	785	return 1;
cparata	0:6d69e896ce38	786	}
cparata	0:6d69e896ce38	787
cparata	0:6d69e896ce38	788	switch (fs_low_level)
cparata	0:6d69e896ce38	789	{
cparata	0:6d69e896ce38	790	case LSM6DSO_125dps:
cparata	0:6d69e896ce38	791	*full_scale = 125.0f;
cparata	0:6d69e896ce38	792	break;
cparata	0:6d69e896ce38	793
cparata	0:6d69e896ce38	794	case LSM6DSO_250dps:
cparata	0:6d69e896ce38	795	*full_scale = 250.0f;
cparata	0:6d69e896ce38	796	break;
cparata	0:6d69e896ce38	797
cparata	0:6d69e896ce38	798	case LSM6DSO_500dps:
cparata	0:6d69e896ce38	799	*full_scale = 500.0f;
cparata	0:6d69e896ce38	800	break;
cparata	0:6d69e896ce38	801
cparata	0:6d69e896ce38	802	case LSM6DSO_1000dps:
cparata	0:6d69e896ce38	803	*full_scale = 1000.0f;
cparata	0:6d69e896ce38	804	break;
cparata	0:6d69e896ce38	805
cparata	0:6d69e896ce38	806	case LSM6DSO_2000dps:
cparata	0:6d69e896ce38	807	*full_scale = 2000.0f;
cparata	0:6d69e896ce38	808	break;
cparata	0:6d69e896ce38	809
cparata	0:6d69e896ce38	810	default:
cparata	0:6d69e896ce38	811	ret = 1;
cparata	0:6d69e896ce38	812	break;
cparata	0:6d69e896ce38	813	}
cparata	0:6d69e896ce38	814
cparata	0:6d69e896ce38	815	return ret;
cparata	0:6d69e896ce38	816	}
cparata	0:6d69e896ce38	817
cparata	0:6d69e896ce38	818	/**
cparata	0:6d69e896ce38	819	* @brief Set the LSM6DSO gyroscope sensor full scale
cparata	0:6d69e896ce38	820	* @param full_scale the functional full scale to be set
cparata	0:6d69e896ce38	821	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	822	*/
cparata	0:6d69e896ce38	823	int LSM6DSOSensor::set_g_fs(float full_scale)
cparata	0:6d69e896ce38	824	{
cparata	0:6d69e896ce38	825	lsm6dso_fs_g_t new_fs;
cparata	0:6d69e896ce38	826
cparata	0:6d69e896ce38	827	new_fs = (full_scale <= 125.0f) ? LSM6DSO_125dps
cparata	0:6d69e896ce38	828	: (full_scale <= 250.0f) ? LSM6DSO_250dps
cparata	0:6d69e896ce38	829	: (full_scale <= 500.0f) ? LSM6DSO_500dps
cparata	0:6d69e896ce38	830	: (full_scale <= 1000.0f) ? LSM6DSO_1000dps
cparata	0:6d69e896ce38	831	: LSM6DSO_2000dps;
cparata	0:6d69e896ce38	832
cparata	0:6d69e896ce38	833	if (lsm6dso_gy_full_scale_set(&_reg_ctx, new_fs) != 0)
cparata	0:6d69e896ce38	834	{
cparata	0:6d69e896ce38	835	return 1;
cparata	0:6d69e896ce38	836	}
cparata	0:6d69e896ce38	837
cparata	0:6d69e896ce38	838	return 0;
cparata	0:6d69e896ce38	839	}
cparata	0:6d69e896ce38	840
cparata	0:6d69e896ce38	841	/**
cparata	0:6d69e896ce38	842	* @brief Get the LSM6DSO gyroscope sensor raw axes
cparata	0:6d69e896ce38	843	* @param value pointer where the raw values of the axes are written
cparata	0:6d69e896ce38	844	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	845	*/
cparata	0:6d69e896ce38	846	int LSM6DSOSensor::get_g_axes_raw(int16_t *value)
cparata	0:6d69e896ce38	847	{
cparata	0:6d69e896ce38	848	axis3bit16_t data_raw;
cparata	0:6d69e896ce38	849
cparata	0:6d69e896ce38	850	/* Read raw data values. */
cparata	0:6d69e896ce38	851	if (lsm6dso_angular_rate_raw_get(&_reg_ctx, data_raw.u8bit) != 0)
cparata	0:6d69e896ce38	852	{
cparata	0:6d69e896ce38	853	return 1;
cparata	0:6d69e896ce38	854	}
cparata	0:6d69e896ce38	855
cparata	0:6d69e896ce38	856	/* Format the data. */
cparata	0:6d69e896ce38	857	value[0] = data_raw.i16bit[0];
cparata	0:6d69e896ce38	858	value[1] = data_raw.i16bit[1];
cparata	0:6d69e896ce38	859	value[2] = data_raw.i16bit[2];
cparata	0:6d69e896ce38	860
cparata	0:6d69e896ce38	861	return 0;
cparata	0:6d69e896ce38	862	}
cparata	0:6d69e896ce38	863
cparata	0:6d69e896ce38	864
cparata	0:6d69e896ce38	865	/**
cparata	0:6d69e896ce38	866	* @brief Get the LSM6DSO gyroscope sensor axes
cparata	0:6d69e896ce38	867	* @param angular_rate pointer where the values of the axes are written
cparata	0:6d69e896ce38	868	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	869	*/
cparata	0:6d69e896ce38	870	int LSM6DSOSensor::get_g_axes(int32_t *angular_rate)
cparata	0:6d69e896ce38	871	{
cparata	0:6d69e896ce38	872	axis3bit16_t data_raw;
cparata	0:6d69e896ce38	873	float sensitivity;
cparata	0:6d69e896ce38	874
cparata	0:6d69e896ce38	875	/* Read raw data values. */
cparata	0:6d69e896ce38	876	if (lsm6dso_angular_rate_raw_get(&_reg_ctx, data_raw.u8bit) != 0)
cparata	0:6d69e896ce38	877	{
cparata	0:6d69e896ce38	878	return 1;
cparata	0:6d69e896ce38	879	}
cparata	0:6d69e896ce38	880
cparata	0:6d69e896ce38	881	/* Get LSM6DSO actual sensitivity. */
cparata	0:6d69e896ce38	882	if (get_g_sensitivity(&sensitivity) != 0)
cparata	0:6d69e896ce38	883	{
cparata	0:6d69e896ce38	884	return 1;
cparata	0:6d69e896ce38	885	}
cparata	0:6d69e896ce38	886
cparata	0:6d69e896ce38	887	/* Calculate the data. */
cparata	0:6d69e896ce38	888	angular_rate[0] = (int32_t)((float)((float)data_raw.i16bit[0] * sensitivity));
cparata	0:6d69e896ce38	889	angular_rate[1] = (int32_t)((float)((float)data_raw.i16bit[1] * sensitivity));
cparata	0:6d69e896ce38	890	angular_rate[2] = (int32_t)((float)((float)data_raw.i16bit[2] * sensitivity));
cparata	0:6d69e896ce38	891
cparata	0:6d69e896ce38	892	return 0;
cparata	0:6d69e896ce38	893	}
cparata	0:6d69e896ce38	894
cparata	0:6d69e896ce38	895
cparata	0:6d69e896ce38	896	/**
cparata	0:6d69e896ce38	897	* @brief Get the LSM6DSO register value
cparata	0:6d69e896ce38	898	* @param reg address to be read
cparata	0:6d69e896ce38	899	* @param data pointer where the value is written
cparata	0:6d69e896ce38	900	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	901	*/
cparata	0:6d69e896ce38	902	int LSM6DSOSensor::read_reg(uint8_t reg, uint8_t *data)
cparata	0:6d69e896ce38	903	{
cparata	0:6d69e896ce38	904	if (lsm6dso_read_reg(&_reg_ctx, reg, data, 1) != 0)
cparata	0:6d69e896ce38	905	{
cparata	0:6d69e896ce38	906	return 1;
cparata	0:6d69e896ce38	907	}
cparata	0:6d69e896ce38	908
cparata	0:6d69e896ce38	909	return 0;
cparata	0:6d69e896ce38	910	}
cparata	0:6d69e896ce38	911
cparata	0:6d69e896ce38	912
cparata	0:6d69e896ce38	913	/**
cparata	0:6d69e896ce38	914	* @brief Set the LSM6DSO register value
cparata	0:6d69e896ce38	915	* @param reg address to be written
cparata	0:6d69e896ce38	916	* @param data value to be written
cparata	0:6d69e896ce38	917	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	918	*/
cparata	0:6d69e896ce38	919	int LSM6DSOSensor::write_reg(uint8_t reg, uint8_t data)
cparata	0:6d69e896ce38	920	{
cparata	0:6d69e896ce38	921	if (lsm6dso_write_reg(&_reg_ctx, reg, &data, 1) != 0)
cparata	0:6d69e896ce38	922	{
cparata	0:6d69e896ce38	923	return 1;
cparata	0:6d69e896ce38	924	}
cparata	0:6d69e896ce38	925
cparata	0:6d69e896ce38	926	return 0;
cparata	0:6d69e896ce38	927	}
cparata	0:6d69e896ce38	928
cparata	0:6d69e896ce38	929	/**
cparata	0:6d69e896ce38	930	* @brief Set the interrupt latch
cparata	0:6d69e896ce38	931	* @param status value to be written
cparata	0:6d69e896ce38	932	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	933	*/
cparata	0:6d69e896ce38	934	int LSM6DSOSensor::set_interrupt_latch(uint8_t status)
cparata	0:6d69e896ce38	935	{
cparata	0:6d69e896ce38	936	if (status > 1U)
cparata	0:6d69e896ce38	937	{
cparata	0:6d69e896ce38	938	return 1;
cparata	0:6d69e896ce38	939	}
cparata	0:6d69e896ce38	940
cparata	0:6d69e896ce38	941	if (lsm6dso_int_notification_set(&_reg_ctx, (lsm6dso_lir_t)status) != 0)
cparata	0:6d69e896ce38	942	{
cparata	0:6d69e896ce38	943	return 1;
cparata	0:6d69e896ce38	944	}
cparata	0:6d69e896ce38	945
cparata	0:6d69e896ce38	946	return 0;
cparata	0:6d69e896ce38	947	}
cparata	0:6d69e896ce38	948
cparata	0:6d69e896ce38	949	/**
cparata	0:6d69e896ce38	950	* @brief Enable free fall detection
cparata	0:6d69e896ce38	951	* @param int_pin interrupt pin line to be used
cparata	0:6d69e896ce38	952	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	953	*/
cparata	0:6d69e896ce38	954	int LSM6DSOSensor::enable_free_fall_detection(LSM6DSO_Interrupt_Pin_t int_pin)
cparata	0:6d69e896ce38	955	{
cparata	0:6d69e896ce38	956	int ret = 0;
cparata	0:6d69e896ce38	957	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	958	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	959
cparata	0:6d69e896ce38	960	/* Output Data Rate selection */
cparata	0:6d69e896ce38	961	if (set_x_odr(416.0f) != 0)
cparata	0:6d69e896ce38	962	{
cparata	0:6d69e896ce38	963	return 1;
cparata	0:6d69e896ce38	964	}
cparata	0:6d69e896ce38	965
cparata	0:6d69e896ce38	966	/* Full scale selection */
cparata	0:6d69e896ce38	967	if (set_x_fs(2.0f) != 0)
cparata	0:6d69e896ce38	968	{
cparata	0:6d69e896ce38	969	return 1;
cparata	0:6d69e896ce38	970	}
cparata	0:6d69e896ce38	971
cparata	0:6d69e896ce38	972	/* FF_DUR setting */
cparata	0:6d69e896ce38	973	if (lsm6dso_ff_dur_set(&_reg_ctx, 0x06) != 0)
cparata	0:6d69e896ce38	974	{
cparata	0:6d69e896ce38	975	return 1;
cparata	0:6d69e896ce38	976	}
cparata	0:6d69e896ce38	977
cparata	0:6d69e896ce38	978	/* WAKE_DUR setting */
cparata	0:6d69e896ce38	979	if (lsm6dso_wkup_dur_set(&_reg_ctx, 0x00) != 0)
cparata	0:6d69e896ce38	980	{
cparata	0:6d69e896ce38	981	return 1;
cparata	0:6d69e896ce38	982	}
cparata	0:6d69e896ce38	983
cparata	0:6d69e896ce38	984	/* SLEEP_DUR setting */
cparata	0:6d69e896ce38	985	if (lsm6dso_act_sleep_dur_set(&_reg_ctx, 0x00) != 0)
cparata	0:6d69e896ce38	986	{
cparata	0:6d69e896ce38	987	return 1;
cparata	0:6d69e896ce38	988	}
cparata	0:6d69e896ce38	989
cparata	0:6d69e896ce38	990	/* FF_THS setting */
cparata	0:6d69e896ce38	991	if (lsm6dso_ff_threshold_set(&_reg_ctx, LSM6DSO_FF_TSH_312mg) != 0)
cparata	0:6d69e896ce38	992	{
cparata	0:6d69e896ce38	993	return 1;
cparata	0:6d69e896ce38	994	}
cparata	0:6d69e896ce38	995
cparata	0:6d69e896ce38	996	/* Enable free fall event on either INT1 or INT2 pin */
cparata	0:6d69e896ce38	997	switch (int_pin)
cparata	0:6d69e896ce38	998	{
cparata	0:6d69e896ce38	999	case LSM6DSO_INT1_PIN:
cparata	0:6d69e896ce38	1000	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1001	{
cparata	0:6d69e896ce38	1002	return 1;
cparata	0:6d69e896ce38	1003	}
cparata	0:6d69e896ce38	1004
cparata	0:6d69e896ce38	1005	val1.md1_cfg.int1_ff = PROPERTY_ENABLE;
cparata	0:6d69e896ce38	1006
cparata	0:6d69e896ce38	1007	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1008	{
cparata	0:6d69e896ce38	1009	return 1;
cparata	0:6d69e896ce38	1010	}
cparata	0:6d69e896ce38	1011	break;
cparata	0:6d69e896ce38	1012
cparata	0:6d69e896ce38	1013	case LSM6DSO_INT2_PIN:
cparata	0:6d69e896ce38	1014	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1015	{
cparata	0:6d69e896ce38	1016	return 1;
cparata	0:6d69e896ce38	1017	}
cparata	0:6d69e896ce38	1018
cparata	0:6d69e896ce38	1019	val2.md2_cfg.int2_ff = PROPERTY_ENABLE;
cparata	0:6d69e896ce38	1020
cparata	0:6d69e896ce38	1021	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1022	{
cparata	0:6d69e896ce38	1023	return 1;
cparata	0:6d69e896ce38	1024	}
cparata	0:6d69e896ce38	1025	break;
cparata	0:6d69e896ce38	1026
cparata	0:6d69e896ce38	1027	default:
cparata	0:6d69e896ce38	1028	ret = 1;
cparata	0:6d69e896ce38	1029	break;
cparata	0:6d69e896ce38	1030	}
cparata	0:6d69e896ce38	1031
cparata	0:6d69e896ce38	1032	return ret;
cparata	0:6d69e896ce38	1033	}
cparata	0:6d69e896ce38	1034
cparata	0:6d69e896ce38	1035	/**
cparata	0:6d69e896ce38	1036	* @brief Disable free fall detection
cparata	0:6d69e896ce38	1037	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1038	*/
cparata	0:6d69e896ce38	1039	int LSM6DSOSensor::disable_free_fall_detection()
cparata	0:6d69e896ce38	1040	{
cparata	0:6d69e896ce38	1041	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1042	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	1043
cparata	0:6d69e896ce38	1044	/* Disable free fall event on both INT1 and INT2 pins */
cparata	0:6d69e896ce38	1045	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1046	{
cparata	0:6d69e896ce38	1047	return 1;
cparata	0:6d69e896ce38	1048	}
cparata	0:6d69e896ce38	1049
cparata	0:6d69e896ce38	1050	val1.md1_cfg.int1_ff = PROPERTY_DISABLE;
cparata	0:6d69e896ce38	1051
cparata	0:6d69e896ce38	1052	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1053	{
cparata	0:6d69e896ce38	1054	return 1;
cparata	0:6d69e896ce38	1055	}
cparata	0:6d69e896ce38	1056
cparata	0:6d69e896ce38	1057	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1058	{
cparata	0:6d69e896ce38	1059	return 1;
cparata	0:6d69e896ce38	1060	}
cparata	0:6d69e896ce38	1061
cparata	0:6d69e896ce38	1062	val2.md2_cfg.int2_ff = PROPERTY_DISABLE;
cparata	0:6d69e896ce38	1063
cparata	0:6d69e896ce38	1064	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1065	{
cparata	0:6d69e896ce38	1066	return 1;
cparata	0:6d69e896ce38	1067	}
cparata	0:6d69e896ce38	1068
cparata	0:6d69e896ce38	1069	/* FF_DUR setting */
cparata	0:6d69e896ce38	1070	if (lsm6dso_ff_dur_set(&_reg_ctx, 0x00) != 0)
cparata	0:6d69e896ce38	1071	{
cparata	0:6d69e896ce38	1072	return 1;
cparata	0:6d69e896ce38	1073	}
cparata	0:6d69e896ce38	1074
cparata	0:6d69e896ce38	1075	/* FF_THS setting */
cparata	0:6d69e896ce38	1076	if (lsm6dso_ff_threshold_set(&_reg_ctx, LSM6DSO_FF_TSH_156mg) != 0)
cparata	0:6d69e896ce38	1077	{
cparata	0:6d69e896ce38	1078	return 1;
cparata	0:6d69e896ce38	1079	}
cparata	0:6d69e896ce38	1080
cparata	0:6d69e896ce38	1081	return 0;
cparata	0:6d69e896ce38	1082	}
cparata	0:6d69e896ce38	1083
cparata	0:6d69e896ce38	1084	/**
cparata	0:6d69e896ce38	1085	* @brief Set free fall threshold
cparata	0:6d69e896ce38	1086	* @param thr free fall detection threshold
cparata	0:6d69e896ce38	1087	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1088	*/
cparata	0:6d69e896ce38	1089	int LSM6DSOSensor::set_free_fall_threshold(uint8_t thr)
cparata	0:6d69e896ce38	1090	{
cparata	0:6d69e896ce38	1091	if (lsm6dso_ff_threshold_set(&_reg_ctx, (lsm6dso_ff_ths_t)thr) != 0)
cparata	0:6d69e896ce38	1092	{
cparata	0:6d69e896ce38	1093	return 1;
cparata	0:6d69e896ce38	1094	}
cparata	0:6d69e896ce38	1095
cparata	0:6d69e896ce38	1096	return 0;
cparata	0:6d69e896ce38	1097	}
cparata	0:6d69e896ce38	1098
cparata	0:6d69e896ce38	1099
cparata	0:6d69e896ce38	1100	/**
cparata	0:6d69e896ce38	1101	* @brief Set free fall duration
cparata	0:6d69e896ce38	1102	* @param dur free fall detection duration
cparata	0:6d69e896ce38	1103	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1104	*/
cparata	0:6d69e896ce38	1105	int LSM6DSOSensor::set_free_fall_duration(uint8_t dur)
cparata	0:6d69e896ce38	1106	{
cparata	0:6d69e896ce38	1107	if (lsm6dso_ff_dur_set(&_reg_ctx, dur) != 0)
cparata	0:6d69e896ce38	1108	{
cparata	0:6d69e896ce38	1109	return 1;
cparata	0:6d69e896ce38	1110	}
cparata	0:6d69e896ce38	1111
cparata	0:6d69e896ce38	1112	return 0;
cparata	0:6d69e896ce38	1113	}
cparata	0:6d69e896ce38	1114
cparata	0:6d69e896ce38	1115
cparata	0:6d69e896ce38	1116	/**
cparata	0:6d69e896ce38	1117	* @brief Enable pedometer
cparata	0:6d69e896ce38	1118	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1119	*/
cparata	0:6d69e896ce38	1120	int LSM6DSOSensor::enable_pedometer()
cparata	0:6d69e896ce38	1121	{
cparata	0:6d69e896ce38	1122	lsm6dso_pin_int1_route_t val;
cparata	0:6d69e896ce38	1123
cparata	0:6d69e896ce38	1124	/* Output Data Rate selection */
cparata	0:6d69e896ce38	1125	if (set_x_odr(26.0f) != 0)
cparata	0:6d69e896ce38	1126	{
cparata	0:6d69e896ce38	1127	return 1;
cparata	0:6d69e896ce38	1128	}
cparata	0:6d69e896ce38	1129
cparata	0:6d69e896ce38	1130	/* Full scale selection */
cparata	0:6d69e896ce38	1131	if (set_x_fs(2.0f) != 0)
cparata	0:6d69e896ce38	1132	{
cparata	0:6d69e896ce38	1133	return 1;
cparata	0:6d69e896ce38	1134	}
cparata	0:6d69e896ce38	1135
cparata	0:6d69e896ce38	1136	/* Enable pedometer algorithm. */
cparata	0:6d69e896ce38	1137	if (lsm6dso_pedo_sens_set(&_reg_ctx, LSM6DSO_PEDO_BASE_MODE) != 0)
cparata	0:6d69e896ce38	1138	{
cparata	0:6d69e896ce38	1139	return 1;
cparata	0:6d69e896ce38	1140	}
cparata	0:6d69e896ce38	1141
cparata	0:6d69e896ce38	1142	/* Enable step detector on INT1 pin */
cparata	0:6d69e896ce38	1143	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val) != 0)
cparata	0:6d69e896ce38	1144	{
cparata	0:6d69e896ce38	1145	return 1;
cparata	0:6d69e896ce38	1146	}
cparata	0:6d69e896ce38	1147
cparata	0:6d69e896ce38	1148	val.emb_func_int1.int1_step_detector = PROPERTY_ENABLE;
cparata	0:6d69e896ce38	1149
cparata	0:6d69e896ce38	1150	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val) != 0)
cparata	0:6d69e896ce38	1151	{
cparata	0:6d69e896ce38	1152	return 1;
cparata	0:6d69e896ce38	1153	}
cparata	0:6d69e896ce38	1154
cparata	0:6d69e896ce38	1155	return 0;
cparata	0:6d69e896ce38	1156	}
cparata	0:6d69e896ce38	1157
cparata	0:6d69e896ce38	1158	/**
cparata	0:6d69e896ce38	1159	* @brief Disable pedometer
cparata	0:6d69e896ce38	1160	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1161	*/
cparata	0:6d69e896ce38	1162	int LSM6DSOSensor::disable_pedometer()
cparata	0:6d69e896ce38	1163	{
cparata	0:6d69e896ce38	1164	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1165
cparata	0:6d69e896ce38	1166	/* Disable step detector on INT1 pin */
cparata	0:6d69e896ce38	1167	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1168	{
cparata	0:6d69e896ce38	1169	return 1;
cparata	0:6d69e896ce38	1170	}
cparata	0:6d69e896ce38	1171
cparata	0:6d69e896ce38	1172	val1.emb_func_int1.int1_step_detector = PROPERTY_DISABLE;
cparata	0:6d69e896ce38	1173
cparata	0:6d69e896ce38	1174	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1175	{
cparata	0:6d69e896ce38	1176	return 1;
cparata	0:6d69e896ce38	1177	}
cparata	0:6d69e896ce38	1178
cparata	0:6d69e896ce38	1179	/* Disable pedometer algorithm. */
cparata	0:6d69e896ce38	1180	if (lsm6dso_pedo_sens_set(&_reg_ctx, LSM6DSO_PEDO_DISABLE) != 0)
cparata	0:6d69e896ce38	1181	{
cparata	0:6d69e896ce38	1182	return 1;
cparata	0:6d69e896ce38	1183	}
cparata	0:6d69e896ce38	1184
cparata	0:6d69e896ce38	1185	return 0;
cparata	0:6d69e896ce38	1186	}
cparata	0:6d69e896ce38	1187
cparata	0:6d69e896ce38	1188	/**
cparata	0:6d69e896ce38	1189	* @brief Get step count
cparata	0:6d69e896ce38	1190	* @param step_count step counter
cparata	0:6d69e896ce38	1191	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1192	*/
cparata	0:6d69e896ce38	1193	int LSM6DSOSensor::get_step_counter(uint16_t *step_count)
cparata	0:6d69e896ce38	1194	{
cparata	0:6d69e896ce38	1195	if (lsm6dso_number_of_steps_get(&_reg_ctx, (uint8_t *)step_count) != 0)
cparata	0:6d69e896ce38	1196	{
cparata	0:6d69e896ce38	1197	return 1;
cparata	0:6d69e896ce38	1198	}
cparata	0:6d69e896ce38	1199
cparata	0:6d69e896ce38	1200	return 0;
cparata	0:6d69e896ce38	1201	}
cparata	0:6d69e896ce38	1202
cparata	0:6d69e896ce38	1203	/**
cparata	0:6d69e896ce38	1204	* @brief Enable step counter reset
cparata	0:6d69e896ce38	1205	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1206	*/
cparata	0:6d69e896ce38	1207	int LSM6DSOSensor::reset_step_counter()
cparata	0:6d69e896ce38	1208	{
cparata	0:6d69e896ce38	1209	if (lsm6dso_steps_reset(&_reg_ctx) != 0)
cparata	0:6d69e896ce38	1210	{
cparata	0:6d69e896ce38	1211	return 1;
cparata	0:6d69e896ce38	1212	}
cparata	0:6d69e896ce38	1213
cparata	0:6d69e896ce38	1214	return 0;
cparata	0:6d69e896ce38	1215	}
cparata	0:6d69e896ce38	1216
cparata	0:6d69e896ce38	1217	/**
cparata	0:6d69e896ce38	1218	* @brief Enable tilt detection
cparata	0:6d69e896ce38	1219	* @param int_pin interrupt pin line to be used
cparata	0:6d69e896ce38	1220	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1221	*/
cparata	0:6d69e896ce38	1222	int LSM6DSOSensor::enable_tilt_detection(LSM6DSO_Interrupt_Pin_t int_pin)
cparata	0:6d69e896ce38	1223	{
cparata	0:6d69e896ce38	1224	int ret = 0;
cparata	0:6d69e896ce38	1225	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1226	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	1227
cparata	0:6d69e896ce38	1228	/* Output Data Rate selection */
cparata	0:6d69e896ce38	1229	if (set_x_odr(26.0f) != 0)
cparata	0:6d69e896ce38	1230	{
cparata	0:6d69e896ce38	1231	return 1;
cparata	0:6d69e896ce38	1232	}
cparata	0:6d69e896ce38	1233
cparata	0:6d69e896ce38	1234	/* Full scale selection */
cparata	0:6d69e896ce38	1235	if (set_x_fs(2.0f) != 0)
cparata	0:6d69e896ce38	1236	{
cparata	0:6d69e896ce38	1237	return 1;
cparata	0:6d69e896ce38	1238	}
cparata	0:6d69e896ce38	1239
cparata	0:6d69e896ce38	1240	/* Enable tilt calculation. */
cparata	0:6d69e896ce38	1241	if (lsm6dso_tilt_sens_set(&_reg_ctx, PROPERTY_ENABLE) != 0)
cparata	0:6d69e896ce38	1242	{
cparata	0:6d69e896ce38	1243	return 1;
cparata	0:6d69e896ce38	1244	}
cparata	0:6d69e896ce38	1245
cparata	0:6d69e896ce38	1246	/* Enable tilt event on either INT1 or INT2 pin */
cparata	0:6d69e896ce38	1247	switch (int_pin)
cparata	0:6d69e896ce38	1248	{
cparata	0:6d69e896ce38	1249	case LSM6DSO_INT1_PIN:
cparata	0:6d69e896ce38	1250	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1251	{
cparata	0:6d69e896ce38	1252	return 1;
cparata	0:6d69e896ce38	1253	}
cparata	0:6d69e896ce38	1254
cparata	0:6d69e896ce38	1255	val1.emb_func_int1.int1_tilt = PROPERTY_ENABLE;
cparata	0:6d69e896ce38	1256
cparata	0:6d69e896ce38	1257	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1258	{
cparata	0:6d69e896ce38	1259	return 1;
cparata	0:6d69e896ce38	1260	}
cparata	0:6d69e896ce38	1261	break;
cparata	0:6d69e896ce38	1262
cparata	0:6d69e896ce38	1263	case LSM6DSO_INT2_PIN:
cparata	0:6d69e896ce38	1264	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1265	{
cparata	0:6d69e896ce38	1266	return 1;
cparata	0:6d69e896ce38	1267	}
cparata	0:6d69e896ce38	1268
cparata	0:6d69e896ce38	1269	val2.emb_func_int2.int2_tilt = PROPERTY_ENABLE;
cparata	0:6d69e896ce38	1270
cparata	0:6d69e896ce38	1271	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1272	{
cparata	0:6d69e896ce38	1273	return 1;
cparata	0:6d69e896ce38	1274	}
cparata	0:6d69e896ce38	1275	break;
cparata	0:6d69e896ce38	1276
cparata	0:6d69e896ce38	1277	default:
cparata	0:6d69e896ce38	1278	ret = 1;
cparata	0:6d69e896ce38	1279	break;
cparata	0:6d69e896ce38	1280	}
cparata	0:6d69e896ce38	1281
cparata	0:6d69e896ce38	1282	return ret;
cparata	0:6d69e896ce38	1283	}
cparata	0:6d69e896ce38	1284
cparata	0:6d69e896ce38	1285	/**
cparata	0:6d69e896ce38	1286	* @brief Disable tilt detection
cparata	0:6d69e896ce38	1287	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1288	*/
cparata	0:6d69e896ce38	1289	int LSM6DSOSensor::disable_tilt_detection()
cparata	0:6d69e896ce38	1290	{
cparata	0:6d69e896ce38	1291	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1292	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	1293
cparata	0:6d69e896ce38	1294	/* Disable tilt event on both INT1 and INT2 pins */
cparata	0:6d69e896ce38	1295	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1296	{
cparata	0:6d69e896ce38	1297	return 1;
cparata	0:6d69e896ce38	1298	}
cparata	0:6d69e896ce38	1299
cparata	0:6d69e896ce38	1300	val1.emb_func_int1.int1_tilt = PROPERTY_DISABLE;
cparata	0:6d69e896ce38	1301
cparata	0:6d69e896ce38	1302	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1303	{
cparata	0:6d69e896ce38	1304	return 1;
cparata	0:6d69e896ce38	1305	}
cparata	0:6d69e896ce38	1306
cparata	0:6d69e896ce38	1307	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1308	{
cparata	0:6d69e896ce38	1309	return 1;
cparata	0:6d69e896ce38	1310	}
cparata	0:6d69e896ce38	1311
cparata	0:6d69e896ce38	1312	val2.emb_func_int2.int2_tilt = PROPERTY_DISABLE;
cparata	0:6d69e896ce38	1313
cparata	0:6d69e896ce38	1314	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1315	{
cparata	0:6d69e896ce38	1316	return 1;
cparata	0:6d69e896ce38	1317	}
cparata	0:6d69e896ce38	1318
cparata	0:6d69e896ce38	1319	/* Disable tilt calculation. */
cparata	0:6d69e896ce38	1320	if (lsm6dso_tilt_sens_set(&_reg_ctx, PROPERTY_DISABLE) != 0)
cparata	0:6d69e896ce38	1321	{
cparata	0:6d69e896ce38	1322	return 1;
cparata	0:6d69e896ce38	1323	}
cparata	0:6d69e896ce38	1324
cparata	0:6d69e896ce38	1325	return 0;
cparata	0:6d69e896ce38	1326	}
cparata	0:6d69e896ce38	1327
cparata	0:6d69e896ce38	1328	/**
cparata	0:6d69e896ce38	1329	* @brief Enable wake up detection
cparata	0:6d69e896ce38	1330	* @param int_pin interrupt pin line to be used
cparata	0:6d69e896ce38	1331	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1332	*/
cparata	0:6d69e896ce38	1333	int LSM6DSOSensor::enable_wake_up_detection(LSM6DSO_Interrupt_Pin_t int_pin)
cparata	0:6d69e896ce38	1334	{
cparata	0:6d69e896ce38	1335	int ret = 0;
cparata	0:6d69e896ce38	1336	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1337	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	1338
cparata	0:6d69e896ce38	1339	/* Output Data Rate selection */
cparata	0:6d69e896ce38	1340	if (set_x_odr(416.0f) != 0)
cparata	0:6d69e896ce38	1341	{
cparata	0:6d69e896ce38	1342	return 1;
cparata	0:6d69e896ce38	1343	}
cparata	0:6d69e896ce38	1344
cparata	0:6d69e896ce38	1345	/* Full scale selection */
cparata	0:6d69e896ce38	1346	if (set_x_fs(2.0f) != 0)
cparata	0:6d69e896ce38	1347	{
cparata	0:6d69e896ce38	1348	return 1;
cparata	0:6d69e896ce38	1349	}
cparata	0:6d69e896ce38	1350
cparata	0:6d69e896ce38	1351	/* WAKE_DUR setting */
cparata	0:6d69e896ce38	1352	if (lsm6dso_wkup_dur_set(&_reg_ctx, 0x00) != 0)
cparata	0:6d69e896ce38	1353	{
cparata	0:6d69e896ce38	1354	return 1;
cparata	0:6d69e896ce38	1355	}
cparata	0:6d69e896ce38	1356
cparata	0:6d69e896ce38	1357	/* Set wake up threshold. */
cparata	0:6d69e896ce38	1358	if (lsm6dso_wkup_threshold_set(&_reg_ctx, 0x02) != 0)
cparata	0:6d69e896ce38	1359	{
cparata	0:6d69e896ce38	1360	return 1;
cparata	0:6d69e896ce38	1361	}
cparata	0:6d69e896ce38	1362
cparata	0:6d69e896ce38	1363	/* Enable wake up event on either INT1 or INT2 pin */
cparata	0:6d69e896ce38	1364	switch (int_pin)
cparata	0:6d69e896ce38	1365	{
cparata	0:6d69e896ce38	1366	case LSM6DSO_INT1_PIN:
cparata	0:6d69e896ce38	1367	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1368	{
cparata	0:6d69e896ce38	1369	return 1;
cparata	0:6d69e896ce38	1370	}
cparata	0:6d69e896ce38	1371
cparata	0:6d69e896ce38	1372	val1.md1_cfg.int1_wu = PROPERTY_ENABLE;
cparata	0:6d69e896ce38	1373
cparata	0:6d69e896ce38	1374	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1375	{
cparata	0:6d69e896ce38	1376	return 1;
cparata	0:6d69e896ce38	1377	}
cparata	0:6d69e896ce38	1378	break;
cparata	0:6d69e896ce38	1379
cparata	0:6d69e896ce38	1380	case LSM6DSO_INT2_PIN:
cparata	0:6d69e896ce38	1381	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1382	{
cparata	0:6d69e896ce38	1383	return 1;
cparata	0:6d69e896ce38	1384	}
cparata	0:6d69e896ce38	1385
cparata	0:6d69e896ce38	1386	val2.md2_cfg.int2_wu = PROPERTY_ENABLE;
cparata	0:6d69e896ce38	1387
cparata	0:6d69e896ce38	1388	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1389	{
cparata	0:6d69e896ce38	1390	return 1;
cparata	0:6d69e896ce38	1391	}
cparata	0:6d69e896ce38	1392	break;
cparata	0:6d69e896ce38	1393
cparata	0:6d69e896ce38	1394	default:
cparata	0:6d69e896ce38	1395	ret = 1;
cparata	0:6d69e896ce38	1396	break;
cparata	0:6d69e896ce38	1397	}
cparata	0:6d69e896ce38	1398
cparata	0:6d69e896ce38	1399	return ret;
cparata	0:6d69e896ce38	1400	}
cparata	0:6d69e896ce38	1401
cparata	0:6d69e896ce38	1402
cparata	0:6d69e896ce38	1403	/**
cparata	0:6d69e896ce38	1404	* @brief Disable wake up detection
cparata	0:6d69e896ce38	1405	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1406	*/
cparata	0:6d69e896ce38	1407	int LSM6DSOSensor::disable_wake_up_detection()
cparata	0:6d69e896ce38	1408	{
cparata	0:6d69e896ce38	1409	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1410	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	1411
cparata	0:6d69e896ce38	1412	/* Disable wake up event on both INT1 and INT2 pins */
cparata	0:6d69e896ce38	1413	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1414	{
cparata	0:6d69e896ce38	1415	return 1;
cparata	0:6d69e896ce38	1416	}
cparata	0:6d69e896ce38	1417
cparata	0:6d69e896ce38	1418	val1.md1_cfg.int1_wu = PROPERTY_DISABLE;
cparata	0:6d69e896ce38	1419
cparata	0:6d69e896ce38	1420	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1421	{
cparata	0:6d69e896ce38	1422	return 1;
cparata	0:6d69e896ce38	1423	}
cparata	0:6d69e896ce38	1424
cparata	0:6d69e896ce38	1425	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1426	{
cparata	0:6d69e896ce38	1427	return 1;
cparata	0:6d69e896ce38	1428	}
cparata	0:6d69e896ce38	1429
cparata	0:6d69e896ce38	1430	val2.md2_cfg.int2_wu = PROPERTY_DISABLE;
cparata	0:6d69e896ce38	1431
cparata	0:6d69e896ce38	1432	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1433	{
cparata	0:6d69e896ce38	1434	return 1;
cparata	0:6d69e896ce38	1435	}
cparata	0:6d69e896ce38	1436
cparata	0:6d69e896ce38	1437	/* Reset wake up threshold. */
cparata	0:6d69e896ce38	1438	if (lsm6dso_wkup_threshold_set(&_reg_ctx, 0x00) != 0)
cparata	0:6d69e896ce38	1439	{
cparata	0:6d69e896ce38	1440	return 1;
cparata	0:6d69e896ce38	1441	}
cparata	0:6d69e896ce38	1442
cparata	0:6d69e896ce38	1443	/* WAKE_DUR setting */
cparata	0:6d69e896ce38	1444	if (lsm6dso_wkup_dur_set(&_reg_ctx, 0x00) != 0)
cparata	0:6d69e896ce38	1445	{
cparata	0:6d69e896ce38	1446	return 1;
cparata	0:6d69e896ce38	1447	}
cparata	0:6d69e896ce38	1448
cparata	0:6d69e896ce38	1449	return 0;
cparata	0:6d69e896ce38	1450	}
cparata	0:6d69e896ce38	1451
cparata	0:6d69e896ce38	1452	/**
cparata	0:6d69e896ce38	1453	* @brief Set wake up threshold
cparata	0:6d69e896ce38	1454	* @param thr wake up detection threshold
cparata	0:6d69e896ce38	1455	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1456	*/
cparata	0:6d69e896ce38	1457	int LSM6DSOSensor::set_wake_up_threshold(uint8_t thr)
cparata	0:6d69e896ce38	1458	{
cparata	0:6d69e896ce38	1459	/* Set wake up threshold. */
cparata	0:6d69e896ce38	1460	if (lsm6dso_wkup_threshold_set(&_reg_ctx, thr) != 0)
cparata	0:6d69e896ce38	1461	{
cparata	0:6d69e896ce38	1462	return 1;
cparata	0:6d69e896ce38	1463	}
cparata	0:6d69e896ce38	1464
cparata	0:6d69e896ce38	1465	return 0;
cparata	0:6d69e896ce38	1466	}
cparata	0:6d69e896ce38	1467
cparata	0:6d69e896ce38	1468	/**
cparata	0:6d69e896ce38	1469	* @brief Set wake up duration
cparata	0:6d69e896ce38	1470	* @param dur wake up detection duration
cparata	0:6d69e896ce38	1471	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1472	*/
cparata	0:6d69e896ce38	1473	int LSM6DSOSensor::set_wake_up_duration(uint8_t dur)
cparata	0:6d69e896ce38	1474	{
cparata	0:6d69e896ce38	1475	/* Set wake up duration. */
cparata	0:6d69e896ce38	1476	if (lsm6dso_wkup_dur_set(&_reg_ctx, dur) != 0)
cparata	0:6d69e896ce38	1477	{
cparata	0:6d69e896ce38	1478	return 1;
cparata	0:6d69e896ce38	1479	}
cparata	0:6d69e896ce38	1480
cparata	0:6d69e896ce38	1481	return 0;
cparata	0:6d69e896ce38	1482	}
cparata	0:6d69e896ce38	1483
cparata	0:6d69e896ce38	1484	/**
cparata	0:6d69e896ce38	1485	* @brief Enable single tap detection
cparata	0:6d69e896ce38	1486	* @param int_pin interrupt pin line to be used
cparata	0:6d69e896ce38	1487	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1488	*/
cparata	0:6d69e896ce38	1489	int LSM6DSOSensor::enable_single_tap_detection(LSM6DSO_Interrupt_Pin_t int_pin)
cparata	0:6d69e896ce38	1490	{
cparata	0:6d69e896ce38	1491	int ret = 0;
cparata	0:6d69e896ce38	1492	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1493	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	1494
cparata	0:6d69e896ce38	1495	/* Output Data Rate selection */
cparata	0:6d69e896ce38	1496	if (set_x_odr(416.0f) != 0)
cparata	0:6d69e896ce38	1497	{
cparata	0:6d69e896ce38	1498	return 1;
cparata	0:6d69e896ce38	1499	}
cparata	0:6d69e896ce38	1500
cparata	0:6d69e896ce38	1501	/* Full scale selection */
cparata	0:6d69e896ce38	1502	if (set_x_fs(2.0f) != 0)
cparata	0:6d69e896ce38	1503	{
cparata	0:6d69e896ce38	1504	return 1;
cparata	0:6d69e896ce38	1505	}
cparata	0:6d69e896ce38	1506
cparata	0:6d69e896ce38	1507	/* Enable X direction in tap recognition. */
cparata	0:6d69e896ce38	1508	if (lsm6dso_tap_detection_on_x_set(&_reg_ctx, PROPERTY_ENABLE) != 0)
cparata	0:6d69e896ce38	1509	{
cparata	0:6d69e896ce38	1510	return 1;
cparata	0:6d69e896ce38	1511	}
cparata	0:6d69e896ce38	1512
cparata	0:6d69e896ce38	1513	/* Enable Y direction in tap recognition. */
cparata	0:6d69e896ce38	1514	if (lsm6dso_tap_detection_on_y_set(&_reg_ctx, PROPERTY_ENABLE) != 0)
cparata	0:6d69e896ce38	1515	{
cparata	0:6d69e896ce38	1516	return 1;
cparata	0:6d69e896ce38	1517	}
cparata	0:6d69e896ce38	1518
cparata	0:6d69e896ce38	1519	/* Enable Z direction in tap recognition. */
cparata	0:6d69e896ce38	1520	if (lsm6dso_tap_detection_on_z_set(&_reg_ctx, PROPERTY_ENABLE) != 0)
cparata	0:6d69e896ce38	1521	{
cparata	0:6d69e896ce38	1522	return 1;
cparata	0:6d69e896ce38	1523	}
cparata	0:6d69e896ce38	1524
cparata	0:6d69e896ce38	1525	/* Set tap threshold. */
cparata	0:6d69e896ce38	1526	if (lsm6dso_tap_threshold_x_set(&_reg_ctx, 0x08) != 0)
cparata	0:6d69e896ce38	1527	{
cparata	0:6d69e896ce38	1528	return 1;
cparata	0:6d69e896ce38	1529	}
cparata	0:6d69e896ce38	1530
cparata	0:6d69e896ce38	1531	/* Set tap shock time window. */
cparata	0:6d69e896ce38	1532	if (lsm6dso_tap_shock_set(&_reg_ctx, 0x02) != 0)
cparata	0:6d69e896ce38	1533	{
cparata	0:6d69e896ce38	1534	return 1;
cparata	0:6d69e896ce38	1535	}
cparata	0:6d69e896ce38	1536
cparata	0:6d69e896ce38	1537	/* Set tap quiet time window. */
cparata	0:6d69e896ce38	1538	if (lsm6dso_tap_quiet_set(&_reg_ctx, 0x01) != 0)
cparata	0:6d69e896ce38	1539	{
cparata	0:6d69e896ce38	1540	return 1;
cparata	0:6d69e896ce38	1541	}
cparata	0:6d69e896ce38	1542
cparata	0:6d69e896ce38	1543	/* _NOTE_: Tap duration time window - don't care for single tap. */
cparata	0:6d69e896ce38	1544
cparata	0:6d69e896ce38	1545	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata	0:6d69e896ce38	1546
cparata	0:6d69e896ce38	1547	/* Enable single tap event on either INT1 or INT2 pin */
cparata	0:6d69e896ce38	1548	switch (int_pin)
cparata	0:6d69e896ce38	1549	{
cparata	0:6d69e896ce38	1550	case LSM6DSO_INT1_PIN:
cparata	0:6d69e896ce38	1551	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1552	{
cparata	0:6d69e896ce38	1553	return 1;
cparata	0:6d69e896ce38	1554	}
cparata	0:6d69e896ce38	1555
cparata	0:6d69e896ce38	1556	val1.md1_cfg.int1_single_tap = PROPERTY_ENABLE;
cparata	0:6d69e896ce38	1557
cparata	0:6d69e896ce38	1558	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1559	{
cparata	0:6d69e896ce38	1560	return 1;
cparata	0:6d69e896ce38	1561	}
cparata	0:6d69e896ce38	1562	break;
cparata	0:6d69e896ce38	1563
cparata	0:6d69e896ce38	1564	case LSM6DSO_INT2_PIN:
cparata	0:6d69e896ce38	1565	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1566	{
cparata	0:6d69e896ce38	1567	return 1;
cparata	0:6d69e896ce38	1568	}
cparata	0:6d69e896ce38	1569
cparata	0:6d69e896ce38	1570	val2.md2_cfg.int2_single_tap = PROPERTY_ENABLE;
cparata	0:6d69e896ce38	1571
cparata	0:6d69e896ce38	1572	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1573	{
cparata	0:6d69e896ce38	1574	return 1;
cparata	0:6d69e896ce38	1575	}
cparata	0:6d69e896ce38	1576	break;
cparata	0:6d69e896ce38	1577
cparata	0:6d69e896ce38	1578	default:
cparata	0:6d69e896ce38	1579	ret = 1;
cparata	0:6d69e896ce38	1580	break;
cparata	0:6d69e896ce38	1581	}
cparata	0:6d69e896ce38	1582
cparata	0:6d69e896ce38	1583	return ret;
cparata	0:6d69e896ce38	1584	}
cparata	0:6d69e896ce38	1585
cparata	0:6d69e896ce38	1586	/**
cparata	0:6d69e896ce38	1587	* @brief Disable single tap detection
cparata	0:6d69e896ce38	1588	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1589	*/
cparata	0:6d69e896ce38	1590	int LSM6DSOSensor::disable_single_tap_detection()
cparata	0:6d69e896ce38	1591	{
cparata	0:6d69e896ce38	1592	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1593	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	1594
cparata	0:6d69e896ce38	1595	/* Disable single tap event on both INT1 and INT2 pins */
cparata	0:6d69e896ce38	1596	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1597	{
cparata	0:6d69e896ce38	1598	return 1;
cparata	0:6d69e896ce38	1599	}
cparata	0:6d69e896ce38	1600
cparata	0:6d69e896ce38	1601	val1.md1_cfg.int1_single_tap = PROPERTY_DISABLE;
cparata	0:6d69e896ce38	1602
cparata	0:6d69e896ce38	1603	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1604	{
cparata	0:6d69e896ce38	1605	return 1;
cparata	0:6d69e896ce38	1606	}
cparata	0:6d69e896ce38	1607
cparata	0:6d69e896ce38	1608	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1609	{
cparata	0:6d69e896ce38	1610	return 1;
cparata	0:6d69e896ce38	1611	}
cparata	0:6d69e896ce38	1612
cparata	0:6d69e896ce38	1613	val2.md2_cfg.int2_single_tap = PROPERTY_DISABLE;
cparata	0:6d69e896ce38	1614
cparata	0:6d69e896ce38	1615	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1616	{
cparata	0:6d69e896ce38	1617	return 1;
cparata	0:6d69e896ce38	1618	}
cparata	0:6d69e896ce38	1619
cparata	0:6d69e896ce38	1620	/* Reset tap quiet time window. */
cparata	0:6d69e896ce38	1621	if (lsm6dso_tap_quiet_set(&_reg_ctx, 0x00) != 0)
cparata	0:6d69e896ce38	1622	{
cparata	0:6d69e896ce38	1623	return 1;
cparata	0:6d69e896ce38	1624	}
cparata	0:6d69e896ce38	1625
cparata	0:6d69e896ce38	1626	/* Reset tap shock time window. */
cparata	0:6d69e896ce38	1627	if (lsm6dso_tap_shock_set(&_reg_ctx, 0x00) != 0)
cparata	0:6d69e896ce38	1628	{
cparata	0:6d69e896ce38	1629	return 1;
cparata	0:6d69e896ce38	1630	}
cparata	0:6d69e896ce38	1631
cparata	0:6d69e896ce38	1632	/* Reset tap threshold. */
cparata	0:6d69e896ce38	1633	if (lsm6dso_tap_threshold_x_set(&_reg_ctx, 0x00) != 0)
cparata	0:6d69e896ce38	1634	{
cparata	0:6d69e896ce38	1635	return 1;
cparata	0:6d69e896ce38	1636	}
cparata	0:6d69e896ce38	1637
cparata	0:6d69e896ce38	1638	/* Disable Z direction in tap recognition. */
cparata	0:6d69e896ce38	1639	if (lsm6dso_tap_detection_on_z_set(&_reg_ctx, PROPERTY_DISABLE) != 0)
cparata	0:6d69e896ce38	1640	{
cparata	0:6d69e896ce38	1641	return 1;
cparata	0:6d69e896ce38	1642	}
cparata	0:6d69e896ce38	1643
cparata	0:6d69e896ce38	1644	/* Disable Y direction in tap recognition. */
cparata	0:6d69e896ce38	1645	if (lsm6dso_tap_detection_on_y_set(&_reg_ctx, PROPERTY_DISABLE) != 0)
cparata	0:6d69e896ce38	1646	{
cparata	0:6d69e896ce38	1647	return 1;
cparata	0:6d69e896ce38	1648	}
cparata	0:6d69e896ce38	1649
cparata	0:6d69e896ce38	1650	/* Disable X direction in tap recognition. */
cparata	0:6d69e896ce38	1651	if (lsm6dso_tap_detection_on_x_set(&_reg_ctx, PROPERTY_DISABLE) != 0)
cparata	0:6d69e896ce38	1652	{
cparata	0:6d69e896ce38	1653	return 1;
cparata	0:6d69e896ce38	1654	}
cparata	0:6d69e896ce38	1655
cparata	0:6d69e896ce38	1656	return 0;
cparata	0:6d69e896ce38	1657	}
cparata	0:6d69e896ce38	1658
cparata	0:6d69e896ce38	1659	/**
cparata	0:6d69e896ce38	1660	* @brief Enable double tap detection
cparata	0:6d69e896ce38	1661	* @param int_pin interrupt pin line to be used
cparata	0:6d69e896ce38	1662	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1663	*/
cparata	0:6d69e896ce38	1664	int LSM6DSOSensor::enable_double_tap_detection(LSM6DSO_Interrupt_Pin_t int_pin)
cparata	0:6d69e896ce38	1665	{
cparata	0:6d69e896ce38	1666	int ret = 0;
cparata	0:6d69e896ce38	1667	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1668	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	1669
cparata	0:6d69e896ce38	1670	/* Output Data Rate selection */
cparata	0:6d69e896ce38	1671	if (set_x_odr(416.0f) != 0)
cparata	0:6d69e896ce38	1672	{
cparata	0:6d69e896ce38	1673	return 1;
cparata	0:6d69e896ce38	1674	}
cparata	0:6d69e896ce38	1675
cparata	0:6d69e896ce38	1676	/* Full scale selection */
cparata	0:6d69e896ce38	1677	if (set_x_fs(2.0f) != 0)
cparata	0:6d69e896ce38	1678	{
cparata	0:6d69e896ce38	1679	return 1;
cparata	0:6d69e896ce38	1680	}
cparata	0:6d69e896ce38	1681
cparata	0:6d69e896ce38	1682	/* Enable X direction in tap recognition. */
cparata	0:6d69e896ce38	1683	if (lsm6dso_tap_detection_on_x_set(&_reg_ctx, PROPERTY_ENABLE) != 0)
cparata	0:6d69e896ce38	1684	{
cparata	0:6d69e896ce38	1685	return 1;
cparata	0:6d69e896ce38	1686	}
cparata	0:6d69e896ce38	1687
cparata	0:6d69e896ce38	1688	/* Enable Y direction in tap recognition. */
cparata	0:6d69e896ce38	1689	if (lsm6dso_tap_detection_on_y_set(&_reg_ctx, PROPERTY_ENABLE) != 0)
cparata	0:6d69e896ce38	1690	{
cparata	0:6d69e896ce38	1691	return 1;
cparata	0:6d69e896ce38	1692	}
cparata	0:6d69e896ce38	1693
cparata	0:6d69e896ce38	1694	/* Enable Z direction in tap recognition. */
cparata	0:6d69e896ce38	1695	if (lsm6dso_tap_detection_on_z_set(&_reg_ctx, PROPERTY_ENABLE) != 0)
cparata	0:6d69e896ce38	1696	{
cparata	0:6d69e896ce38	1697	return 1;
cparata	0:6d69e896ce38	1698	}
cparata	0:6d69e896ce38	1699
cparata	0:6d69e896ce38	1700	/* Set tap threshold. */
cparata	0:6d69e896ce38	1701	if (lsm6dso_tap_threshold_x_set(&_reg_ctx, 0x08) != 0)
cparata	0:6d69e896ce38	1702	{
cparata	0:6d69e896ce38	1703	return 1;
cparata	0:6d69e896ce38	1704	}
cparata	0:6d69e896ce38	1705
cparata	0:6d69e896ce38	1706	/* Set tap shock time window. */
cparata	0:6d69e896ce38	1707	if (lsm6dso_tap_shock_set(&_reg_ctx, 0x03) != 0)
cparata	0:6d69e896ce38	1708	{
cparata	0:6d69e896ce38	1709	return 1;
cparata	0:6d69e896ce38	1710	}
cparata	0:6d69e896ce38	1711
cparata	0:6d69e896ce38	1712	/* Set tap quiet time window. */
cparata	0:6d69e896ce38	1713	if (lsm6dso_tap_quiet_set(&_reg_ctx, 0x03) != 0)
cparata	0:6d69e896ce38	1714	{
cparata	0:6d69e896ce38	1715	return 1;
cparata	0:6d69e896ce38	1716	}
cparata	0:6d69e896ce38	1717
cparata	0:6d69e896ce38	1718	/* Set tap duration time window. */
cparata	0:6d69e896ce38	1719	if (lsm6dso_tap_dur_set(&_reg_ctx, 0x08) != 0)
cparata	0:6d69e896ce38	1720	{
cparata	0:6d69e896ce38	1721	return 1;
cparata	0:6d69e896ce38	1722	}
cparata	0:6d69e896ce38	1723
cparata	0:6d69e896ce38	1724	/* Single and double tap enabled. */
cparata	0:6d69e896ce38	1725	if (lsm6dso_tap_mode_set(&_reg_ctx, LSM6DSO_BOTH_SINGLE_DOUBLE) != 0)
cparata	0:6d69e896ce38	1726	{
cparata	0:6d69e896ce38	1727	return 1;
cparata	0:6d69e896ce38	1728	}
cparata	0:6d69e896ce38	1729
cparata	0:6d69e896ce38	1730	/* Enable double tap event on either INT1 or INT2 pin */
cparata	0:6d69e896ce38	1731	switch (int_pin)
cparata	0:6d69e896ce38	1732	{
cparata	0:6d69e896ce38	1733	case LSM6DSO_INT1_PIN:
cparata	0:6d69e896ce38	1734	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1735	{
cparata	0:6d69e896ce38	1736	return 1;
cparata	0:6d69e896ce38	1737	}
cparata	0:6d69e896ce38	1738
cparata	0:6d69e896ce38	1739	val1.md1_cfg.int1_double_tap = PROPERTY_ENABLE;
cparata	0:6d69e896ce38	1740
cparata	0:6d69e896ce38	1741	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1742	{
cparata	0:6d69e896ce38	1743	return 1;
cparata	0:6d69e896ce38	1744	}
cparata	0:6d69e896ce38	1745	break;
cparata	0:6d69e896ce38	1746
cparata	0:6d69e896ce38	1747	case LSM6DSO_INT2_PIN:
cparata	0:6d69e896ce38	1748	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1749	{
cparata	0:6d69e896ce38	1750	return 1;
cparata	0:6d69e896ce38	1751	}
cparata	0:6d69e896ce38	1752
cparata	0:6d69e896ce38	1753	val2.md2_cfg.int2_double_tap = PROPERTY_ENABLE;
cparata	0:6d69e896ce38	1754
cparata	0:6d69e896ce38	1755	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1756	{
cparata	0:6d69e896ce38	1757	return 1;
cparata	0:6d69e896ce38	1758	}
cparata	0:6d69e896ce38	1759	break;
cparata	0:6d69e896ce38	1760
cparata	0:6d69e896ce38	1761	default:
cparata	0:6d69e896ce38	1762	ret = 1;
cparata	0:6d69e896ce38	1763	break;
cparata	0:6d69e896ce38	1764	}
cparata	0:6d69e896ce38	1765
cparata	0:6d69e896ce38	1766	return ret;
cparata	0:6d69e896ce38	1767	}
cparata	0:6d69e896ce38	1768
cparata	0:6d69e896ce38	1769	/**
cparata	0:6d69e896ce38	1770	* @brief Disable double tap detection
cparata	0:6d69e896ce38	1771	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1772	*/
cparata	0:6d69e896ce38	1773	int LSM6DSOSensor::disable_double_tap_detection()
cparata	0:6d69e896ce38	1774	{
cparata	0:6d69e896ce38	1775	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1776	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	1777
cparata	0:6d69e896ce38	1778	/* Disable double tap event on both INT1 and INT2 pins */
cparata	0:6d69e896ce38	1779	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1780	{
cparata	0:6d69e896ce38	1781	return 1;
cparata	0:6d69e896ce38	1782	}
cparata	0:6d69e896ce38	1783
cparata	0:6d69e896ce38	1784	val1.md1_cfg.int1_double_tap = PROPERTY_DISABLE;
cparata	0:6d69e896ce38	1785
cparata	0:6d69e896ce38	1786	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1787	{
cparata	0:6d69e896ce38	1788	return 1;
cparata	0:6d69e896ce38	1789	}
cparata	0:6d69e896ce38	1790
cparata	0:6d69e896ce38	1791	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1792	{
cparata	0:6d69e896ce38	1793	return 1;
cparata	0:6d69e896ce38	1794	}
cparata	0:6d69e896ce38	1795
cparata	0:6d69e896ce38	1796	val2.md2_cfg.int2_double_tap = PROPERTY_DISABLE;
cparata	0:6d69e896ce38	1797
cparata	0:6d69e896ce38	1798	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1799	{
cparata	0:6d69e896ce38	1800	return 1;
cparata	0:6d69e896ce38	1801	}
cparata	0:6d69e896ce38	1802
cparata	0:6d69e896ce38	1803	/* Only single tap enabled. */
cparata	0:6d69e896ce38	1804	if (lsm6dso_tap_mode_set(&_reg_ctx, LSM6DSO_ONLY_SINGLE) != 0)
cparata	0:6d69e896ce38	1805	{
cparata	0:6d69e896ce38	1806	return 1;
cparata	0:6d69e896ce38	1807	}
cparata	0:6d69e896ce38	1808
cparata	0:6d69e896ce38	1809	/* Reset tap duration time window. */
cparata	0:6d69e896ce38	1810	if (lsm6dso_tap_dur_set(&_reg_ctx, 0x00) != 0)
cparata	0:6d69e896ce38	1811	{
cparata	0:6d69e896ce38	1812	return 1;
cparata	0:6d69e896ce38	1813	}
cparata	0:6d69e896ce38	1814
cparata	0:6d69e896ce38	1815	/* Reset tap quiet time window. */
cparata	0:6d69e896ce38	1816	if (lsm6dso_tap_quiet_set(&_reg_ctx, 0x00) != 0)
cparata	0:6d69e896ce38	1817	{
cparata	0:6d69e896ce38	1818	return 1;
cparata	0:6d69e896ce38	1819	}
cparata	0:6d69e896ce38	1820
cparata	0:6d69e896ce38	1821	/* Reset tap shock time window. */
cparata	0:6d69e896ce38	1822	if (lsm6dso_tap_shock_set(&_reg_ctx, 0x00) != 0)
cparata	0:6d69e896ce38	1823	{
cparata	0:6d69e896ce38	1824	return 1;
cparata	0:6d69e896ce38	1825	}
cparata	0:6d69e896ce38	1826
cparata	0:6d69e896ce38	1827	/* Reset tap threshold. */
cparata	0:6d69e896ce38	1828	if (lsm6dso_tap_threshold_x_set(&_reg_ctx, 0x00) != 0)
cparata	0:6d69e896ce38	1829	{
cparata	0:6d69e896ce38	1830	return 1;
cparata	0:6d69e896ce38	1831	}
cparata	0:6d69e896ce38	1832
cparata	0:6d69e896ce38	1833	/* Disable Z direction in tap recognition. */
cparata	0:6d69e896ce38	1834	if (lsm6dso_tap_detection_on_z_set(&_reg_ctx, PROPERTY_DISABLE) != 0)
cparata	0:6d69e896ce38	1835	{
cparata	0:6d69e896ce38	1836	return 1;
cparata	0:6d69e896ce38	1837	}
cparata	0:6d69e896ce38	1838
cparata	0:6d69e896ce38	1839	/* Disable Y direction in tap recognition. */
cparata	0:6d69e896ce38	1840	if (lsm6dso_tap_detection_on_y_set(&_reg_ctx, PROPERTY_DISABLE) != 0)
cparata	0:6d69e896ce38	1841	{
cparata	0:6d69e896ce38	1842	return 1;
cparata	0:6d69e896ce38	1843	}
cparata	0:6d69e896ce38	1844
cparata	0:6d69e896ce38	1845	/* Disable X direction in tap recognition. */
cparata	0:6d69e896ce38	1846	if (lsm6dso_tap_detection_on_x_set(&_reg_ctx, PROPERTY_DISABLE) != 0)
cparata	0:6d69e896ce38	1847	{
cparata	0:6d69e896ce38	1848	return 1;
cparata	0:6d69e896ce38	1849	}
cparata	0:6d69e896ce38	1850
cparata	0:6d69e896ce38	1851	return 0;
cparata	0:6d69e896ce38	1852	}
cparata	0:6d69e896ce38	1853
cparata	0:6d69e896ce38	1854	/**
cparata	0:6d69e896ce38	1855	* @brief Set tap threshold
cparata	0:6d69e896ce38	1856	* @param thr tap threshold
cparata	0:6d69e896ce38	1857	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1858	*/
cparata	0:6d69e896ce38	1859	int LSM6DSOSensor::set_tap_threshold(uint8_t thr)
cparata	0:6d69e896ce38	1860	{
cparata	0:6d69e896ce38	1861	/* Set tap threshold. */
cparata	0:6d69e896ce38	1862	if (lsm6dso_tap_threshold_x_set(&_reg_ctx, thr) != 0)
cparata	0:6d69e896ce38	1863	{
cparata	0:6d69e896ce38	1864	return 1;
cparata	0:6d69e896ce38	1865	}
cparata	0:6d69e896ce38	1866
cparata	0:6d69e896ce38	1867	return 0;
cparata	0:6d69e896ce38	1868	}
cparata	0:6d69e896ce38	1869
cparata	0:6d69e896ce38	1870	/**
cparata	0:6d69e896ce38	1871	* @brief Set tap shock time
cparata	0:6d69e896ce38	1872	* @param time tap shock time
cparata	0:6d69e896ce38	1873	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1874	*/
cparata	0:6d69e896ce38	1875	int LSM6DSOSensor::set_tap_shock_time(uint8_t time)
cparata	0:6d69e896ce38	1876	{
cparata	0:6d69e896ce38	1877	/* Set tap shock time window. */
cparata	0:6d69e896ce38	1878	if (lsm6dso_tap_shock_set(&_reg_ctx, time) != 0)
cparata	0:6d69e896ce38	1879	{
cparata	0:6d69e896ce38	1880	return 1;
cparata	0:6d69e896ce38	1881	}
cparata	0:6d69e896ce38	1882
cparata	0:6d69e896ce38	1883	return 0;
cparata	0:6d69e896ce38	1884	}
cparata	0:6d69e896ce38	1885
cparata	0:6d69e896ce38	1886	/**
cparata	0:6d69e896ce38	1887	* @brief Set tap quiet time
cparata	0:6d69e896ce38	1888	* @param time tap quiet time
cparata	0:6d69e896ce38	1889	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1890	*/
cparata	0:6d69e896ce38	1891	int LSM6DSOSensor::set_tap_quiet_time(uint8_t time)
cparata	0:6d69e896ce38	1892	{
cparata	0:6d69e896ce38	1893	/* Set tap quiet time window. */
cparata	0:6d69e896ce38	1894	if (lsm6dso_tap_quiet_set(&_reg_ctx, time) != 0)
cparata	0:6d69e896ce38	1895	{
cparata	0:6d69e896ce38	1896	return 1;
cparata	0:6d69e896ce38	1897	}
cparata	0:6d69e896ce38	1898
cparata	0:6d69e896ce38	1899	return 0;
cparata	0:6d69e896ce38	1900	}
cparata	0:6d69e896ce38	1901
cparata	0:6d69e896ce38	1902	/**
cparata	0:6d69e896ce38	1903	* @brief Set tap duration time
cparata	0:6d69e896ce38	1904	* @param time tap duration time
cparata	0:6d69e896ce38	1905	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1906	*/
cparata	0:6d69e896ce38	1907	int LSM6DSOSensor::set_tap_duration_time(uint8_t time)
cparata	0:6d69e896ce38	1908	{
cparata	0:6d69e896ce38	1909	/* Set tap duration time window. */
cparata	0:6d69e896ce38	1910	if (lsm6dso_tap_dur_set(&_reg_ctx, time) != 0)
cparata	0:6d69e896ce38	1911	{
cparata	0:6d69e896ce38	1912	return 1;
cparata	0:6d69e896ce38	1913	}
cparata	0:6d69e896ce38	1914
cparata	0:6d69e896ce38	1915	return 0;
cparata	0:6d69e896ce38	1916	}
cparata	0:6d69e896ce38	1917
cparata	0:6d69e896ce38	1918	/**
cparata	0:6d69e896ce38	1919	* @brief Enable 6D orientation detection
cparata	0:6d69e896ce38	1920	* @param int_pin interrupt pin line to be used
cparata	0:6d69e896ce38	1921	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1922	*/
cparata	0:6d69e896ce38	1923	int LSM6DSOSensor::enable_6d_orientation(LSM6DSO_Interrupt_Pin_t int_pin)
cparata	0:6d69e896ce38	1924	{
cparata	0:6d69e896ce38	1925	int ret = 0;
cparata	0:6d69e896ce38	1926	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1927	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	1928
cparata	0:6d69e896ce38	1929	/* Output Data Rate selection */
cparata	0:6d69e896ce38	1930	if (set_x_odr(416.0f) != 0)
cparata	0:6d69e896ce38	1931	{
cparata	0:6d69e896ce38	1932	return 1;
cparata	0:6d69e896ce38	1933	}
cparata	0:6d69e896ce38	1934
cparata	0:6d69e896ce38	1935	/* Full scale selection */
cparata	0:6d69e896ce38	1936	if (set_x_fs(2.0f) != 0)
cparata	0:6d69e896ce38	1937	{
cparata	0:6d69e896ce38	1938	return 1;
cparata	0:6d69e896ce38	1939	}
cparata	0:6d69e896ce38	1940
cparata	0:6d69e896ce38	1941	/* 6D orientation enabled. */
cparata	0:6d69e896ce38	1942	if (lsm6dso_6d_threshold_set(&_reg_ctx, LSM6DSO_DEG_60) != 0)
cparata	0:6d69e896ce38	1943	{
cparata	0:6d69e896ce38	1944	return 1;
cparata	0:6d69e896ce38	1945	}
cparata	0:6d69e896ce38	1946
cparata	0:6d69e896ce38	1947	/* Enable 6D orientation event on either INT1 or INT2 pin */
cparata	0:6d69e896ce38	1948	switch (int_pin)
cparata	0:6d69e896ce38	1949	{
cparata	0:6d69e896ce38	1950	case LSM6DSO_INT1_PIN:
cparata	0:6d69e896ce38	1951	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1952	{
cparata	0:6d69e896ce38	1953	return 1;
cparata	0:6d69e896ce38	1954	}
cparata	0:6d69e896ce38	1955
cparata	0:6d69e896ce38	1956	val1.md1_cfg.int1_6d = PROPERTY_ENABLE;
cparata	0:6d69e896ce38	1957
cparata	0:6d69e896ce38	1958	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1959	{
cparata	0:6d69e896ce38	1960	return 1;
cparata	0:6d69e896ce38	1961	}
cparata	0:6d69e896ce38	1962	break;
cparata	0:6d69e896ce38	1963
cparata	0:6d69e896ce38	1964	case LSM6DSO_INT2_PIN:
cparata	0:6d69e896ce38	1965	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1966	{
cparata	0:6d69e896ce38	1967	return 1;
cparata	0:6d69e896ce38	1968	}
cparata	0:6d69e896ce38	1969
cparata	0:6d69e896ce38	1970	val2.md2_cfg.int2_6d = PROPERTY_ENABLE;
cparata	0:6d69e896ce38	1971
cparata	0:6d69e896ce38	1972	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1973	{
cparata	0:6d69e896ce38	1974	return 1;
cparata	0:6d69e896ce38	1975	}
cparata	0:6d69e896ce38	1976	break;
cparata	0:6d69e896ce38	1977
cparata	0:6d69e896ce38	1978	default:
cparata	0:6d69e896ce38	1979	ret = 1;
cparata	0:6d69e896ce38	1980	break;
cparata	0:6d69e896ce38	1981	}
cparata	0:6d69e896ce38	1982
cparata	0:6d69e896ce38	1983	return ret;
cparata	0:6d69e896ce38	1984	}
cparata	0:6d69e896ce38	1985
cparata	0:6d69e896ce38	1986	/**
cparata	0:6d69e896ce38	1987	* @brief Disable 6D orientation detection
cparata	0:6d69e896ce38	1988	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1989	*/
cparata	0:6d69e896ce38	1990	int LSM6DSOSensor::disable_6d_orientation()
cparata	0:6d69e896ce38	1991	{
cparata	0:6d69e896ce38	1992	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1993	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	1994
cparata	0:6d69e896ce38	1995	/* Disable 6D orientation event on both INT1 and INT2 pins */
cparata	0:6d69e896ce38	1996	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1997	{
cparata	0:6d69e896ce38	1998	return 1;
cparata	0:6d69e896ce38	1999	}
cparata	0:6d69e896ce38	2000
cparata	0:6d69e896ce38	2001	val1.md1_cfg.int1_6d = PROPERTY_DISABLE;
cparata	0:6d69e896ce38	2002
cparata	0:6d69e896ce38	2003	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	2004	{
cparata	0:6d69e896ce38	2005	return 1;
cparata	0:6d69e896ce38	2006	}
cparata	0:6d69e896ce38	2007
cparata	0:6d69e896ce38	2008	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	2009	{
cparata	0:6d69e896ce38	2010	return 1;
cparata	0:6d69e896ce38	2011	}
cparata	0:6d69e896ce38	2012
cparata	0:6d69e896ce38	2013	val2.md2_cfg.int2_6d = PROPERTY_DISABLE;
cparata	0:6d69e896ce38	2014
cparata	0:6d69e896ce38	2015	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	2016	{
cparata	0:6d69e896ce38	2017	return 1;
cparata	0:6d69e896ce38	2018	}
cparata	0:6d69e896ce38	2019
cparata	0:6d69e896ce38	2020	/* Reset 6D orientation. */
cparata	0:6d69e896ce38	2021	if (lsm6dso_6d_threshold_set(&_reg_ctx, LSM6DSO_DEG_80) != 0)
cparata	0:6d69e896ce38	2022	{
cparata	0:6d69e896ce38	2023	return 1;
cparata	0:6d69e896ce38	2024	}
cparata	0:6d69e896ce38	2025
cparata	0:6d69e896ce38	2026	return 0;
cparata	0:6d69e896ce38	2027	}
cparata	0:6d69e896ce38	2028
cparata	0:6d69e896ce38	2029	/**
cparata	0:6d69e896ce38	2030	* @brief Set 6D orientation threshold
cparata	0:6d69e896ce38	2031	* @param thr 6D Orientation detection threshold
cparata	0:6d69e896ce38	2032	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2033	*/
cparata	0:6d69e896ce38	2034	int LSM6DSOSensor::set_6d_orientation_threshold(uint8_t thr)
cparata	0:6d69e896ce38	2035	{
cparata	0:6d69e896ce38	2036	if (lsm6dso_6d_threshold_set(&_reg_ctx, (lsm6dso_sixd_ths_t)thr) != 0)
cparata	0:6d69e896ce38	2037	{
cparata	0:6d69e896ce38	2038	return 1;
cparata	0:6d69e896ce38	2039	}
cparata	0:6d69e896ce38	2040
cparata	0:6d69e896ce38	2041	return 0;
cparata	0:6d69e896ce38	2042	}
cparata	0:6d69e896ce38	2043
cparata	0:6d69e896ce38	2044	/**
cparata	0:6d69e896ce38	2045	* @brief Get the status of XLow orientation
cparata	0:6d69e896ce38	2046	* @param xl the status of XLow orientation
cparata	0:6d69e896ce38	2047	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2048	*/
cparata	0:6d69e896ce38	2049	int LSM6DSOSensor::get_6d_orientation_xl(uint8_t *xl)
cparata	0:6d69e896ce38	2050	{
cparata	0:6d69e896ce38	2051	lsm6dso_d6d_src_t data;
cparata	0:6d69e896ce38	2052
cparata	0:6d69e896ce38	2053	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0)
cparata	0:6d69e896ce38	2054	{
cparata	0:6d69e896ce38	2055	return 1;
cparata	0:6d69e896ce38	2056	}
cparata	0:6d69e896ce38	2057
cparata	0:6d69e896ce38	2058	*xl = data.xl;
cparata	0:6d69e896ce38	2059
cparata	0:6d69e896ce38	2060	return 0;
cparata	0:6d69e896ce38	2061	}
cparata	0:6d69e896ce38	2062
cparata	0:6d69e896ce38	2063	/**
cparata	0:6d69e896ce38	2064	* @brief Get the status of XHigh orientation
cparata	0:6d69e896ce38	2065	* @param xh the status of XHigh orientation
cparata	0:6d69e896ce38	2066	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2067	*/
cparata	0:6d69e896ce38	2068	int LSM6DSOSensor::get_6d_orientation_xh(uint8_t *xh)
cparata	0:6d69e896ce38	2069	{
cparata	0:6d69e896ce38	2070	lsm6dso_d6d_src_t data;
cparata	0:6d69e896ce38	2071
cparata	0:6d69e896ce38	2072	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0)
cparata	0:6d69e896ce38	2073	{
cparata	0:6d69e896ce38	2074	return 1;
cparata	0:6d69e896ce38	2075	}
cparata	0:6d69e896ce38	2076
cparata	0:6d69e896ce38	2077	*xh = data.xh;
cparata	0:6d69e896ce38	2078
cparata	0:6d69e896ce38	2079	return 0;
cparata	0:6d69e896ce38	2080	}
cparata	0:6d69e896ce38	2081
cparata	0:6d69e896ce38	2082	/**
cparata	0:6d69e896ce38	2083	* @brief Get the status of YLow orientation
cparata	0:6d69e896ce38	2084	* @param yl the status of YLow orientation
cparata	0:6d69e896ce38	2085	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2086	*/
cparata	0:6d69e896ce38	2087	int LSM6DSOSensor::get_6d_orientation_yl(uint8_t *yl)
cparata	0:6d69e896ce38	2088	{
cparata	0:6d69e896ce38	2089	lsm6dso_d6d_src_t data;
cparata	0:6d69e896ce38	2090
cparata	0:6d69e896ce38	2091	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0)
cparata	0:6d69e896ce38	2092	{
cparata	0:6d69e896ce38	2093	return 1;
cparata	0:6d69e896ce38	2094	}
cparata	0:6d69e896ce38	2095
cparata	0:6d69e896ce38	2096	*yl = data.yl;
cparata	0:6d69e896ce38	2097
cparata	0:6d69e896ce38	2098	return 0;
cparata	0:6d69e896ce38	2099	}
cparata	0:6d69e896ce38	2100
cparata	0:6d69e896ce38	2101	/**
cparata	0:6d69e896ce38	2102	* @brief Get the status of YHigh orientation
cparata	0:6d69e896ce38	2103	* @param yh the status of YHigh orientation
cparata	0:6d69e896ce38	2104	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2105	*/
cparata	0:6d69e896ce38	2106	int LSM6DSOSensor::get_6d_orientation_yh(uint8_t *yh)
cparata	0:6d69e896ce38	2107	{
cparata	0:6d69e896ce38	2108	lsm6dso_d6d_src_t data;
cparata	0:6d69e896ce38	2109
cparata	0:6d69e896ce38	2110	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0)
cparata	0:6d69e896ce38	2111	{
cparata	0:6d69e896ce38	2112	return 1;
cparata	0:6d69e896ce38	2113	}
cparata	0:6d69e896ce38	2114
cparata	0:6d69e896ce38	2115	*yh = data.yh;
cparata	0:6d69e896ce38	2116
cparata	0:6d69e896ce38	2117	return 0;
cparata	0:6d69e896ce38	2118	}
cparata	0:6d69e896ce38	2119
cparata	0:6d69e896ce38	2120	/**
cparata	0:6d69e896ce38	2121	* @brief Get the status of ZLow orientation
cparata	0:6d69e896ce38	2122	* @param zl the status of ZLow orientation
cparata	0:6d69e896ce38	2123	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2124	*/
cparata	0:6d69e896ce38	2125	int LSM6DSOSensor::get_6d_orientation_zl(uint8_t *zl)
cparata	0:6d69e896ce38	2126	{
cparata	0:6d69e896ce38	2127	lsm6dso_d6d_src_t data;
cparata	0:6d69e896ce38	2128
cparata	0:6d69e896ce38	2129	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0)
cparata	0:6d69e896ce38	2130	{
cparata	0:6d69e896ce38	2131	return 1;
cparata	0:6d69e896ce38	2132	}
cparata	0:6d69e896ce38	2133
cparata	0:6d69e896ce38	2134	*zl = data.zl;
cparata	0:6d69e896ce38	2135
cparata	0:6d69e896ce38	2136	return 0;
cparata	0:6d69e896ce38	2137	}
cparata	0:6d69e896ce38	2138
cparata	0:6d69e896ce38	2139	/**
cparata	0:6d69e896ce38	2140	* @brief Get the status of ZHigh orientation
cparata	0:6d69e896ce38	2141	* @param zh the status of ZHigh orientation
cparata	0:6d69e896ce38	2142	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2143	*/
cparata	0:6d69e896ce38	2144	int LSM6DSOSensor::get_6d_orientation_zh(uint8_t *zh)
cparata	0:6d69e896ce38	2145	{
cparata	0:6d69e896ce38	2146	lsm6dso_d6d_src_t data;
cparata	0:6d69e896ce38	2147
cparata	0:6d69e896ce38	2148	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0)
cparata	0:6d69e896ce38	2149	{
cparata	0:6d69e896ce38	2150	return 1;
cparata	0:6d69e896ce38	2151	}
cparata	0:6d69e896ce38	2152
cparata	0:6d69e896ce38	2153	*zh = data.zh;
cparata	0:6d69e896ce38	2154
cparata	0:6d69e896ce38	2155	return 0;
cparata	0:6d69e896ce38	2156	}
cparata	0:6d69e896ce38	2157
cparata	0:6d69e896ce38	2158	/**
cparata	0:6d69e896ce38	2159	* @brief Get the LSM6DSO ACC data ready bit value
cparata	0:6d69e896ce38	2160	* @param status the status of data ready bit
cparata	0:6d69e896ce38	2161	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2162	*/
cparata	0:6d69e896ce38	2163	int LSM6DSOSensor::get_x_drdy_status(uint8_t *status)
cparata	0:6d69e896ce38	2164	{
cparata	0:6d69e896ce38	2165	if (lsm6dso_xl_flag_data_ready_get(&_reg_ctx, status) != 0)
cparata	0:6d69e896ce38	2166	{
cparata	0:6d69e896ce38	2167	return 1;
cparata	0:6d69e896ce38	2168	}
cparata	0:6d69e896ce38	2169
cparata	0:6d69e896ce38	2170	return 0;
cparata	0:6d69e896ce38	2171	}
cparata	0:6d69e896ce38	2172
cparata	0:6d69e896ce38	2173	/**
cparata	0:6d69e896ce38	2174	* @brief Get the status of all hardware events
cparata	0:6d69e896ce38	2175	* @param status the status of all hardware events
cparata	0:6d69e896ce38	2176	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2177	*/
cparata	0:6d69e896ce38	2178	int LSM6DSOSensor::get_event_status(LSM6DSO_Event_Status_t *status)
cparata	0:6d69e896ce38	2179	{
cparata	0:6d69e896ce38	2180	uint8_t tilt_ia = 0U;
cparata	0:6d69e896ce38	2181	lsm6dso_wake_up_src_t wake_up_src;
cparata	0:6d69e896ce38	2182	lsm6dso_tap_src_t tap_src;
cparata	0:6d69e896ce38	2183	lsm6dso_d6d_src_t d6d_src;
cparata	0:6d69e896ce38	2184	lsm6dso_emb_func_src_t func_src;
cparata	0:6d69e896ce38	2185	lsm6dso_md1_cfg_t md1_cfg;
cparata	0:6d69e896ce38	2186	lsm6dso_md2_cfg_t md2_cfg;
cparata	0:6d69e896ce38	2187	lsm6dso_emb_func_int1_t int1_ctrl;
cparata	0:6d69e896ce38	2188	lsm6dso_emb_func_int2_t int2_ctrl;
cparata	0:6d69e896ce38	2189
cparata	0:6d69e896ce38	2190	(void)memset((void *)status, 0x0, sizeof(LSM6DSO_Event_Status_t));
cparata	0:6d69e896ce38	2191
cparata	0:6d69e896ce38	2192	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_WAKE_UP_SRC, (uint8_t *)&wake_up_src, 1) != 0)
cparata	0:6d69e896ce38	2193	{
cparata	0:6d69e896ce38	2194	return 1;
cparata	0:6d69e896ce38	2195	}
cparata	0:6d69e896ce38	2196
cparata	0:6d69e896ce38	2197	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_TAP_SRC, (uint8_t *)&tap_src, 1) != 0)
cparata	0:6d69e896ce38	2198	{
cparata	0:6d69e896ce38	2199	return 1;
cparata	0:6d69e896ce38	2200	}
cparata	0:6d69e896ce38	2201
cparata	0:6d69e896ce38	2202	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&d6d_src, 1) != 0)
cparata	0:6d69e896ce38	2203	{
cparata	0:6d69e896ce38	2204	return 1;
cparata	0:6d69e896ce38	2205	}
cparata	0:6d69e896ce38	2206
cparata	0:6d69e896ce38	2207	if (lsm6dso_mem_bank_set(&_reg_ctx, LSM6DSO_EMBEDDED_FUNC_BANK) != 0)
cparata	0:6d69e896ce38	2208	{
cparata	0:6d69e896ce38	2209	return 1;
cparata	0:6d69e896ce38	2210	}
cparata	0:6d69e896ce38	2211
cparata	0:6d69e896ce38	2212	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_EMB_FUNC_SRC, (uint8_t *)&func_src, 1) != 0)
cparata	0:6d69e896ce38	2213	{
cparata	0:6d69e896ce38	2214	return 1;
cparata	0:6d69e896ce38	2215	}
cparata	0:6d69e896ce38	2216
cparata	0:6d69e896ce38	2217	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_EMB_FUNC_INT1, (uint8_t *)&int1_ctrl, 1) != 0)
cparata	0:6d69e896ce38	2218	{
cparata	0:6d69e896ce38	2219	return 1;
cparata	0:6d69e896ce38	2220	}
cparata	0:6d69e896ce38	2221
cparata	0:6d69e896ce38	2222	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_EMB_FUNC_INT2, (uint8_t *)&int2_ctrl, 1) != 0)
cparata	0:6d69e896ce38	2223	{
cparata	0:6d69e896ce38	2224	return 1;
cparata	0:6d69e896ce38	2225	}
cparata	0:6d69e896ce38	2226
cparata	0:6d69e896ce38	2227	if (lsm6dso_mem_bank_set(&_reg_ctx, LSM6DSO_USER_BANK) != 0)
cparata	0:6d69e896ce38	2228	{
cparata	0:6d69e896ce38	2229	return 1;
cparata	0:6d69e896ce38	2230	}
cparata	0:6d69e896ce38	2231
cparata	0:6d69e896ce38	2232	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_MD1_CFG, (uint8_t *)&md1_cfg, 1) != 0)
cparata	0:6d69e896ce38	2233	{
cparata	0:6d69e896ce38	2234	return 1;
cparata	0:6d69e896ce38	2235	}
cparata	0:6d69e896ce38	2236
cparata	0:6d69e896ce38	2237	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_MD2_CFG, (uint8_t *)&md2_cfg, 1) != 0)
cparata	0:6d69e896ce38	2238	{
cparata	0:6d69e896ce38	2239	return 1;
cparata	0:6d69e896ce38	2240	}
cparata	0:6d69e896ce38	2241
cparata	0:6d69e896ce38	2242	if (lsm6dso_tilt_flag_data_ready_get(&_reg_ctx, &tilt_ia) != 0)
cparata	0:6d69e896ce38	2243	{
cparata	0:6d69e896ce38	2244	return 1;
cparata	0:6d69e896ce38	2245	}
cparata	0:6d69e896ce38	2246
cparata	0:6d69e896ce38	2247	if ((md1_cfg.int1_ff == 1U) \|\| (md2_cfg.int2_ff == 1U))
cparata	0:6d69e896ce38	2248	{
cparata	0:6d69e896ce38	2249	if (wake_up_src.ff_ia == 1U)
cparata	0:6d69e896ce38	2250	{
cparata	0:6d69e896ce38	2251	status->FreeFallStatus = 1;
cparata	0:6d69e896ce38	2252	}
cparata	0:6d69e896ce38	2253	}
cparata	0:6d69e896ce38	2254
cparata	0:6d69e896ce38	2255	if ((md1_cfg.int1_wu == 1U) \|\| (md2_cfg.int2_wu == 1U))
cparata	0:6d69e896ce38	2256	{
cparata	0:6d69e896ce38	2257	if (wake_up_src.wu_ia == 1U)
cparata	0:6d69e896ce38	2258	{
cparata	0:6d69e896ce38	2259	status->WakeUpStatus = 1;
cparata	0:6d69e896ce38	2260	}
cparata	0:6d69e896ce38	2261	}
cparata	0:6d69e896ce38	2262
cparata	0:6d69e896ce38	2263	if ((md1_cfg.int1_single_tap == 1U) \|\| (md2_cfg.int2_single_tap == 1U))
cparata	0:6d69e896ce38	2264	{
cparata	0:6d69e896ce38	2265	if (tap_src.single_tap == 1U)
cparata	0:6d69e896ce38	2266	{
cparata	0:6d69e896ce38	2267	status->TapStatus = 1;
cparata	0:6d69e896ce38	2268	}
cparata	0:6d69e896ce38	2269	}
cparata	0:6d69e896ce38	2270
cparata	0:6d69e896ce38	2271	if ((md1_cfg.int1_double_tap == 1U) \|\| (md2_cfg.int2_double_tap == 1U))
cparata	0:6d69e896ce38	2272	{
cparata	0:6d69e896ce38	2273	if (tap_src.double_tap == 1U)
cparata	0:6d69e896ce38	2274	{
cparata	0:6d69e896ce38	2275	status->DoubleTapStatus = 1;
cparata	0:6d69e896ce38	2276	}
cparata	0:6d69e896ce38	2277	}
cparata	0:6d69e896ce38	2278
cparata	0:6d69e896ce38	2279	if ((md1_cfg.int1_6d == 1U) \|\| (md2_cfg.int2_6d == 1U))
cparata	0:6d69e896ce38	2280	{
cparata	0:6d69e896ce38	2281	if (d6d_src.d6d_ia == 1U)
cparata	0:6d69e896ce38	2282	{
cparata	0:6d69e896ce38	2283	status->D6DOrientationStatus = 1;
cparata	0:6d69e896ce38	2284	}
cparata	0:6d69e896ce38	2285	}
cparata	0:6d69e896ce38	2286
cparata	0:6d69e896ce38	2287	if (int1_ctrl.int1_step_detector == 1U)
cparata	0:6d69e896ce38	2288	{
cparata	0:6d69e896ce38	2289	if (func_src.step_detected == 1U)
cparata	0:6d69e896ce38	2290	{
cparata	0:6d69e896ce38	2291	status->StepStatus = 1;
cparata	0:6d69e896ce38	2292	}
cparata	0:6d69e896ce38	2293	}
cparata	0:6d69e896ce38	2294
cparata	0:6d69e896ce38	2295	if ((int1_ctrl.int1_tilt == 1U) \|\| (int2_ctrl.int2_tilt == 1U))
cparata	0:6d69e896ce38	2296	{
cparata	0:6d69e896ce38	2297	if (tilt_ia == 1U)
cparata	0:6d69e896ce38	2298	{
cparata	0:6d69e896ce38	2299	status->TiltStatus = 1;
cparata	0:6d69e896ce38	2300	}
cparata	0:6d69e896ce38	2301	}
cparata	0:6d69e896ce38	2302
cparata	0:6d69e896ce38	2303	return 0;
cparata	0:6d69e896ce38	2304	}
cparata	0:6d69e896ce38	2305
cparata	0:6d69e896ce38	2306	/**
cparata	0:6d69e896ce38	2307	* @brief Set self test
cparata	0:6d69e896ce38	2308	* @param val the value of st_xl in reg CTRL5_C
cparata	0:6d69e896ce38	2309	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2310	*/
cparata	0:6d69e896ce38	2311	int LSM6DSOSensor::set_x_self_test(uint8_t val)
cparata	0:6d69e896ce38	2312	{
cparata	0:6d69e896ce38	2313	lsm6dso_st_xl_t reg;
cparata	0:6d69e896ce38	2314
cparata	0:6d69e896ce38	2315	reg = (val == 0U) ? LSM6DSO_XL_ST_DISABLE
cparata	0:6d69e896ce38	2316	: (val == 1U) ? LSM6DSO_XL_ST_POSITIVE
cparata	0:6d69e896ce38	2317	: (val == 2U) ? LSM6DSO_XL_ST_NEGATIVE
cparata	0:6d69e896ce38	2318	: LSM6DSO_XL_ST_DISABLE;
cparata	0:6d69e896ce38	2319
cparata	0:6d69e896ce38	2320	if (lsm6dso_xl_self_test_set(&_reg_ctx, reg) != 0)
cparata	0:6d69e896ce38	2321	{
cparata	0:6d69e896ce38	2322	return 1;
cparata	0:6d69e896ce38	2323	}
cparata	0:6d69e896ce38	2324
cparata	0:6d69e896ce38	2325	return 0;
cparata	0:6d69e896ce38	2326	}
cparata	0:6d69e896ce38	2327
cparata	0:6d69e896ce38	2328	/**
cparata	0:6d69e896ce38	2329	* @brief Get the LSM6DSO GYRO data ready bit value
cparata	0:6d69e896ce38	2330	* @param status the status of data ready bit
cparata	0:6d69e896ce38	2331	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2332	*/
cparata	0:6d69e896ce38	2333	int LSM6DSOSensor::get_g_drdy_status(uint8_t *status)
cparata	0:6d69e896ce38	2334	{
cparata	0:6d69e896ce38	2335	if (lsm6dso_gy_flag_data_ready_get(&_reg_ctx, status) != 0)
cparata	0:6d69e896ce38	2336	{
cparata	0:6d69e896ce38	2337	return 1;
cparata	0:6d69e896ce38	2338	}
cparata	0:6d69e896ce38	2339
cparata	0:6d69e896ce38	2340	return 0;
cparata	0:6d69e896ce38	2341	}
cparata	0:6d69e896ce38	2342
cparata	0:6d69e896ce38	2343	/**
cparata	0:6d69e896ce38	2344	* @brief Set self test
cparata	0:6d69e896ce38	2345	* @param val the value of st_xl in reg CTRL5_C
cparata	0:6d69e896ce38	2346	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2347	*/
cparata	0:6d69e896ce38	2348	int LSM6DSOSensor::set_g_self_test(uint8_t val)
cparata	0:6d69e896ce38	2349	{
cparata	0:6d69e896ce38	2350	lsm6dso_st_g_t reg;
cparata	0:6d69e896ce38	2351
cparata	0:6d69e896ce38	2352	reg = (val == 0U) ? LSM6DSO_GY_ST_DISABLE
cparata	0:6d69e896ce38	2353	: (val == 1U) ? LSM6DSO_GY_ST_POSITIVE
cparata	0:6d69e896ce38	2354	: (val == 2U) ? LSM6DSO_GY_ST_NEGATIVE
cparata	0:6d69e896ce38	2355	: LSM6DSO_GY_ST_DISABLE;
cparata	0:6d69e896ce38	2356
cparata	0:6d69e896ce38	2357
cparata	0:6d69e896ce38	2358	if (lsm6dso_gy_self_test_set(&_reg_ctx, reg) != 0)
cparata	0:6d69e896ce38	2359	{
cparata	0:6d69e896ce38	2360	return 1;
cparata	0:6d69e896ce38	2361	}
cparata	0:6d69e896ce38	2362
cparata	0:6d69e896ce38	2363	return 0;
cparata	0:6d69e896ce38	2364	}
cparata	0:6d69e896ce38	2365
cparata	0:6d69e896ce38	2366	/**
cparata	0:6d69e896ce38	2367	* @brief Get the LSM6DSO FIFO number of samples
cparata	0:6d69e896ce38	2368	* @param num_samples number of samples
cparata	0:6d69e896ce38	2369	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2370	*/
cparata	0:6d69e896ce38	2371	int LSM6DSOSensor::get_fifo_num_samples(uint16_t *num_samples)
cparata	0:6d69e896ce38	2372	{
cparata	0:6d69e896ce38	2373	if (lsm6dso_fifo_data_level_get(&_reg_ctx, num_samples) != 0)
cparata	0:6d69e896ce38	2374	{
cparata	0:6d69e896ce38	2375	return 1;
cparata	0:6d69e896ce38	2376	}
cparata	0:6d69e896ce38	2377
cparata	0:6d69e896ce38	2378	return 0;
cparata	0:6d69e896ce38	2379	}
cparata	0:6d69e896ce38	2380
cparata	0:6d69e896ce38	2381	/**
cparata	0:6d69e896ce38	2382	* @brief Get the LSM6DSO FIFO full status
cparata	0:6d69e896ce38	2383	* @param status FIFO full status
cparata	0:6d69e896ce38	2384	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2385	*/
cparata	0:6d69e896ce38	2386	int LSM6DSOSensor::get_fifo_full_status(uint8_t *status)
cparata	0:6d69e896ce38	2387	{
cparata	0:6d69e896ce38	2388	lsm6dso_reg_t reg;
cparata	0:6d69e896ce38	2389
cparata	0:6d69e896ce38	2390	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_FIFO_STATUS2, &reg.byte, 1) != 0)
cparata	0:6d69e896ce38	2391	{
cparata	0:6d69e896ce38	2392	return 1;
cparata	0:6d69e896ce38	2393	}
cparata	0:6d69e896ce38	2394
cparata	0:6d69e896ce38	2395	*status = reg.fifo_status2.fifo_full_ia;
cparata	0:6d69e896ce38	2396
cparata	0:6d69e896ce38	2397	return 0;
cparata	0:6d69e896ce38	2398	}
cparata	0:6d69e896ce38	2399
cparata	0:6d69e896ce38	2400	/**
cparata	0:6d69e896ce38	2401	* @brief Set the LSM6DSO FIFO full interrupt on INT1 pin
cparata	0:6d69e896ce38	2402	* @param status FIFO full interrupt on INT1 pin status
cparata	0:6d69e896ce38	2403	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2404	*/
cparata	0:6d69e896ce38	2405	int LSM6DSOSensor::set_fifo_int1_fifo_full(uint8_t status)
cparata	0:6d69e896ce38	2406	{
cparata	0:6d69e896ce38	2407	lsm6dso_reg_t reg;
cparata	0:6d69e896ce38	2408
cparata	0:6d69e896ce38	2409	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_INT1_CTRL, &reg.byte, 1) != 0)
cparata	0:6d69e896ce38	2410	{
cparata	0:6d69e896ce38	2411	return 1;
cparata	0:6d69e896ce38	2412	}
cparata	0:6d69e896ce38	2413
cparata	0:6d69e896ce38	2414	reg.int1_ctrl.int1_fifo_full = status;
cparata	0:6d69e896ce38	2415
cparata	0:6d69e896ce38	2416	if (lsm6dso_write_reg(&_reg_ctx, LSM6DSO_INT1_CTRL, &reg.byte, 1) != 0)
cparata	0:6d69e896ce38	2417	{
cparata	0:6d69e896ce38	2418	return 1;
cparata	0:6d69e896ce38	2419	}
cparata	0:6d69e896ce38	2420
cparata	0:6d69e896ce38	2421	return 0;
cparata	0:6d69e896ce38	2422	}
cparata	0:6d69e896ce38	2423
cparata	0:6d69e896ce38	2424	/**
cparata	0:6d69e896ce38	2425	* @brief Set the LSM6DSO FIFO watermark level
cparata	0:6d69e896ce38	2426	* @param watermark FIFO watermark level
cparata	0:6d69e896ce38	2427	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2428	*/
cparata	0:6d69e896ce38	2429	int LSM6DSOSensor::set_fifo_watermark_level(uint16_t watermark)
cparata	0:6d69e896ce38	2430	{
cparata	0:6d69e896ce38	2431	if (lsm6dso_fifo_watermark_set(&_reg_ctx, watermark) != 0)
cparata	0:6d69e896ce38	2432	{
cparata	0:6d69e896ce38	2433	return 1;
cparata	0:6d69e896ce38	2434	}
cparata	0:6d69e896ce38	2435
cparata	0:6d69e896ce38	2436	return 0;
cparata	0:6d69e896ce38	2437	}
cparata	0:6d69e896ce38	2438
cparata	0:6d69e896ce38	2439	/**
cparata	0:6d69e896ce38	2440	* @brief Set the LSM6DSO FIFO stop on watermark
cparata	0:6d69e896ce38	2441	* @param status FIFO stop on watermark status
cparata	0:6d69e896ce38	2442	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2443	*/
cparata	0:6d69e896ce38	2444	int LSM6DSOSensor::set_fifo_stop_on_fth(uint8_t status)
cparata	0:6d69e896ce38	2445	{
cparata	0:6d69e896ce38	2446	if (lsm6dso_fifo_stop_on_wtm_set(&_reg_ctx, status) != 0)
cparata	0:6d69e896ce38	2447	{
cparata	0:6d69e896ce38	2448	return 1;
cparata	0:6d69e896ce38	2449	}
cparata	0:6d69e896ce38	2450
cparata	0:6d69e896ce38	2451	return 0;
cparata	0:6d69e896ce38	2452	}
cparata	0:6d69e896ce38	2453
cparata	0:6d69e896ce38	2454	/**
cparata	0:6d69e896ce38	2455	* @brief Set the LSM6DSO FIFO mode
cparata	0:6d69e896ce38	2456	* @param mode FIFO mode
cparata	0:6d69e896ce38	2457	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2458	*/
cparata	0:6d69e896ce38	2459	int LSM6DSOSensor::set_fifo_mode(uint8_t mode)
cparata	0:6d69e896ce38	2460	{
cparata	0:6d69e896ce38	2461	int ret = 0;
cparata	0:6d69e896ce38	2462
cparata	0:6d69e896ce38	2463	/* Verify that the passed parameter contains one of the valid values. */
cparata	0:6d69e896ce38	2464	switch ((lsm6dso_fifo_mode_t)mode)
cparata	0:6d69e896ce38	2465	{
cparata	0:6d69e896ce38	2466	case LSM6DSO_BYPASS_MODE:
cparata	0:6d69e896ce38	2467	case LSM6DSO_FIFO_MODE:
cparata	0:6d69e896ce38	2468	case LSM6DSO_STREAM_TO_FIFO_MODE:
cparata	0:6d69e896ce38	2469	case LSM6DSO_BYPASS_TO_STREAM_MODE:
cparata	0:6d69e896ce38	2470	case LSM6DSO_STREAM_MODE:
cparata	0:6d69e896ce38	2471	break;
cparata	0:6d69e896ce38	2472
cparata	0:6d69e896ce38	2473	default:
cparata	0:6d69e896ce38	2474	ret = 1;
cparata	0:6d69e896ce38	2475	break;
cparata	0:6d69e896ce38	2476	}
cparata	0:6d69e896ce38	2477
cparata	0:6d69e896ce38	2478	if (ret == 1)
cparata	0:6d69e896ce38	2479	{
cparata	0:6d69e896ce38	2480	return ret;
cparata	0:6d69e896ce38	2481	}
cparata	0:6d69e896ce38	2482
cparata	0:6d69e896ce38	2483	if (lsm6dso_fifo_mode_set(&_reg_ctx, (lsm6dso_fifo_mode_t)mode) != 0)
cparata	0:6d69e896ce38	2484	{
cparata	0:6d69e896ce38	2485	return 1;
cparata	0:6d69e896ce38	2486	}
cparata	0:6d69e896ce38	2487
cparata	0:6d69e896ce38	2488	return ret;
cparata	0:6d69e896ce38	2489	}
cparata	0:6d69e896ce38	2490
cparata	0:6d69e896ce38	2491	/**
cparata	0:6d69e896ce38	2492	* @brief Get the LSM6DSO FIFO tag
cparata	0:6d69e896ce38	2493	* @param tag FIFO tag
cparata	0:6d69e896ce38	2494	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2495	*/
cparata	0:6d69e896ce38	2496	int LSM6DSOSensor::get_fifo_tag(uint8_t *tag)
cparata	0:6d69e896ce38	2497	{
cparata	0:6d69e896ce38	2498	lsm6dso_fifo_tag_t tag_local;
cparata	0:6d69e896ce38	2499
cparata	0:6d69e896ce38	2500	if (lsm6dso_fifo_sensor_tag_get(&_reg_ctx, &tag_local) != 0)
cparata	0:6d69e896ce38	2501	{
cparata	0:6d69e896ce38	2502	return 1;
cparata	0:6d69e896ce38	2503	}
cparata	0:6d69e896ce38	2504
cparata	0:6d69e896ce38	2505	*tag = (uint8_t)tag_local;
cparata	0:6d69e896ce38	2506
cparata	0:6d69e896ce38	2507	return 0;
cparata	0:6d69e896ce38	2508	}
cparata	0:6d69e896ce38	2509
cparata	0:6d69e896ce38	2510	/**
cparata	0:6d69e896ce38	2511	* @brief Get the LSM6DSO FIFO raw data
cparata	0:6d69e896ce38	2512	* @param data FIFO raw data array [6]
cparata	0:6d69e896ce38	2513	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2514	*/
cparata	0:6d69e896ce38	2515	int LSM6DSOSensor::get_fifo_data(uint8_t *data)
cparata	0:6d69e896ce38	2516	{
cparata	0:6d69e896ce38	2517	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_FIFO_DATA_OUT_X_L, data, 6) != 0)
cparata	0:6d69e896ce38	2518	{
cparata	0:6d69e896ce38	2519	return 1;
cparata	0:6d69e896ce38	2520	}
cparata	0:6d69e896ce38	2521
cparata	0:6d69e896ce38	2522	return 0;
cparata	0:6d69e896ce38	2523	}
cparata	0:6d69e896ce38	2524
cparata	0:6d69e896ce38	2525	/**
cparata	0:6d69e896ce38	2526	* @brief Get the LSM6DSO FIFO accelero single sample (16-bit data per 3 axes) and calculate acceleration [mg]
cparata	0:6d69e896ce38	2527	* @param acceleration FIFO accelero axes [mg]
cparata	0:6d69e896ce38	2528	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2529	*/
cparata	0:6d69e896ce38	2530	int LSM6DSOSensor::get_fifo_x_axes(int32_t *acceleration)
cparata	0:6d69e896ce38	2531	{
cparata	0:6d69e896ce38	2532	uint8_t data[6];
cparata	0:6d69e896ce38	2533	int16_t data_raw[3];
cparata	0:6d69e896ce38	2534	float sensitivity = 0.0f;
cparata	0:6d69e896ce38	2535	float acceleration_float[3];
cparata	0:6d69e896ce38	2536
cparata	0:6d69e896ce38	2537	if (get_fifo_data(data) != 0)
cparata	0:6d69e896ce38	2538	{
cparata	0:6d69e896ce38	2539	return 1;
cparata	0:6d69e896ce38	2540	}
cparata	0:6d69e896ce38	2541
cparata	0:6d69e896ce38	2542	data_raw[0] = ((int16_t)data[1] << 8) \| data[0];
cparata	0:6d69e896ce38	2543	data_raw[1] = ((int16_t)data[3] << 8) \| data[2];
cparata	0:6d69e896ce38	2544	data_raw[2] = ((int16_t)data[5] << 8) \| data[4];
cparata	0:6d69e896ce38	2545
cparata	0:6d69e896ce38	2546	if (get_x_sensitivity(&sensitivity) != 0)
cparata	0:6d69e896ce38	2547	{
cparata	0:6d69e896ce38	2548	return 1;
cparata	0:6d69e896ce38	2549	}
cparata	0:6d69e896ce38	2550
cparata	0:6d69e896ce38	2551	acceleration_float[0] = (float)data_raw[0] * sensitivity;
cparata	0:6d69e896ce38	2552	acceleration_float[1] = (float)data_raw[1] * sensitivity;
cparata	0:6d69e896ce38	2553	acceleration_float[2] = (float)data_raw[2] * sensitivity;
cparata	0:6d69e896ce38	2554
cparata	0:6d69e896ce38	2555	acceleration[0] = (int32_t)acceleration_float[0];
cparata	0:6d69e896ce38	2556	acceleration[1] = (int32_t)acceleration_float[1];
cparata	0:6d69e896ce38	2557	acceleration[2] = (int32_t)acceleration_float[2];
cparata	0:6d69e896ce38	2558
cparata	0:6d69e896ce38	2559	return 0;
cparata	0:6d69e896ce38	2560	}
cparata	0:6d69e896ce38	2561
cparata	0:6d69e896ce38	2562	/**
cparata	0:6d69e896ce38	2563	* @brief Set the LSM6DSO FIFO accelero BDR value
cparata	0:6d69e896ce38	2564	* @param bdr FIFO accelero BDR value
cparata	0:6d69e896ce38	2565	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2566	*/
cparata	0:6d69e896ce38	2567	int LSM6DSOSensor::set_fifo_x_bdr(float bdr)
cparata	0:6d69e896ce38	2568	{
cparata	0:6d69e896ce38	2569	lsm6dso_bdr_xl_t new_bdr;
cparata	0:6d69e896ce38	2570
cparata	0:6d69e896ce38	2571	new_bdr = (bdr <= 0.0f) ? LSM6DSO_XL_NOT_BATCHED
cparata	0:6d69e896ce38	2572	: (bdr <= 12.5f) ? LSM6DSO_XL_BATCHED_AT_12Hz5
cparata	0:6d69e896ce38	2573	: (bdr <= 26.0f) ? LSM6DSO_XL_BATCHED_AT_26Hz
cparata	0:6d69e896ce38	2574	: (bdr <= 52.0f) ? LSM6DSO_XL_BATCHED_AT_52Hz
cparata	0:6d69e896ce38	2575	: (bdr <= 104.0f) ? LSM6DSO_XL_BATCHED_AT_104Hz
cparata	0:6d69e896ce38	2576	: (bdr <= 208.0f) ? LSM6DSO_XL_BATCHED_AT_208Hz
cparata	0:6d69e896ce38	2577	: (bdr <= 416.0f) ? LSM6DSO_XL_BATCHED_AT_417Hz
cparata	0:6d69e896ce38	2578	: (bdr <= 833.0f) ? LSM6DSO_XL_BATCHED_AT_833Hz
cparata	0:6d69e896ce38	2579	: (bdr <= 1660.0f) ? LSM6DSO_XL_BATCHED_AT_1667Hz
cparata	0:6d69e896ce38	2580	: (bdr <= 3330.0f) ? LSM6DSO_XL_BATCHED_AT_3333Hz
cparata	0:6d69e896ce38	2581	: LSM6DSO_XL_BATCHED_AT_6667Hz;
cparata	0:6d69e896ce38	2582
cparata	0:6d69e896ce38	2583	if (lsm6dso_fifo_xl_batch_set(&_reg_ctx, new_bdr) != 0)
cparata	0:6d69e896ce38	2584	{
cparata	0:6d69e896ce38	2585	return 1;
cparata	0:6d69e896ce38	2586	}
cparata	0:6d69e896ce38	2587
cparata	0:6d69e896ce38	2588	return 0;
cparata	0:6d69e896ce38	2589	}
cparata	0:6d69e896ce38	2590
cparata	0:6d69e896ce38	2591	/**
cparata	0:6d69e896ce38	2592	* @brief Get the LSM6DSO FIFO gyro single sample (16-bit data per 3 axes) and calculate angular velocity [mDPS]
cparata	0:6d69e896ce38	2593	* @param angular_velocity FIFO gyro axes [mDPS]
cparata	0:6d69e896ce38	2594	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2595	*/
cparata	0:6d69e896ce38	2596	int LSM6DSOSensor::get_fifo_g_axes(int32_t *angular_velocity)
cparata	0:6d69e896ce38	2597	{
cparata	0:6d69e896ce38	2598	uint8_t data[6];
cparata	0:6d69e896ce38	2599	int16_t data_raw[3];
cparata	0:6d69e896ce38	2600	float sensitivity = 0.0f;
cparata	0:6d69e896ce38	2601	float angular_velocity_float[3];
cparata	0:6d69e896ce38	2602
cparata	0:6d69e896ce38	2603	if (get_fifo_data(data) != 0)
cparata	0:6d69e896ce38	2604	{
cparata	0:6d69e896ce38	2605	return 1;
cparata	0:6d69e896ce38	2606	}
cparata	0:6d69e896ce38	2607
cparata	0:6d69e896ce38	2608	data_raw[0] = ((int16_t)data[1] << 8) \| data[0];
cparata	0:6d69e896ce38	2609	data_raw[1] = ((int16_t)data[3] << 8) \| data[2];
cparata	0:6d69e896ce38	2610	data_raw[2] = ((int16_t)data[5] << 8) \| data[4];
cparata	0:6d69e896ce38	2611
cparata	0:6d69e896ce38	2612	if (get_g_sensitivity(&sensitivity) != 0)
cparata	0:6d69e896ce38	2613	{
cparata	0:6d69e896ce38	2614	return 1;
cparata	0:6d69e896ce38	2615	}
cparata	0:6d69e896ce38	2616
cparata	0:6d69e896ce38	2617	angular_velocity_float[0] = (float)data_raw[0] * sensitivity;
cparata	0:6d69e896ce38	2618	angular_velocity_float[1] = (float)data_raw[1] * sensitivity;
cparata	0:6d69e896ce38	2619	angular_velocity_float[2] = (float)data_raw[2] * sensitivity;
cparata	0:6d69e896ce38	2620
cparata	0:6d69e896ce38	2621	angular_velocity[0] = (int32_t)angular_velocity_float[0];
cparata	0:6d69e896ce38	2622	angular_velocity[1] = (int32_t)angular_velocity_float[1];
cparata	0:6d69e896ce38	2623	angular_velocity[2] = (int32_t)angular_velocity_float[2];
cparata	0:6d69e896ce38	2624
cparata	0:6d69e896ce38	2625	return 0;
cparata	0:6d69e896ce38	2626	}
cparata	0:6d69e896ce38	2627
cparata	0:6d69e896ce38	2628	/**
cparata	0:6d69e896ce38	2629	* @brief Set the LSM6DSO FIFO gyro BDR value
cparata	0:6d69e896ce38	2630	* @param bdr FIFO gyro BDR value
cparata	0:6d69e896ce38	2631	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2632	*/
cparata	0:6d69e896ce38	2633	int LSM6DSOSensor::set_fifo_g_bdr(float bdr)
cparata	0:6d69e896ce38	2634	{
cparata	0:6d69e896ce38	2635	lsm6dso_bdr_gy_t new_bdr;
cparata	0:6d69e896ce38	2636
cparata	0:6d69e896ce38	2637	new_bdr = (bdr <= 0.0f) ? LSM6DSO_GY_NOT_BATCHED
cparata	0:6d69e896ce38	2638	: (bdr <= 12.5f) ? LSM6DSO_GY_BATCHED_AT_12Hz5
cparata	0:6d69e896ce38	2639	: (bdr <= 26.0f) ? LSM6DSO_GY_BATCHED_AT_26Hz
cparata	0:6d69e896ce38	2640	: (bdr <= 52.0f) ? LSM6DSO_GY_BATCHED_AT_52Hz
cparata	0:6d69e896ce38	2641	: (bdr <= 104.0f) ? LSM6DSO_GY_BATCHED_AT_104Hz
cparata	0:6d69e896ce38	2642	: (bdr <= 208.0f) ? LSM6DSO_GY_BATCHED_AT_208Hz
cparata	0:6d69e896ce38	2643	: (bdr <= 416.0f) ? LSM6DSO_GY_BATCHED_AT_417Hz
cparata	0:6d69e896ce38	2644	: (bdr <= 833.0f) ? LSM6DSO_GY_BATCHED_AT_833Hz
cparata	0:6d69e896ce38	2645	: (bdr <= 1660.0f) ? LSM6DSO_GY_BATCHED_AT_1667Hz
cparata	0:6d69e896ce38	2646	: (bdr <= 3330.0f) ? LSM6DSO_GY_BATCHED_AT_3333Hz
cparata	0:6d69e896ce38	2647	: LSM6DSO_GY_BATCHED_AT_6667Hz;
cparata	0:6d69e896ce38	2648
cparata	0:6d69e896ce38	2649	if (lsm6dso_fifo_gy_batch_set(&_reg_ctx, new_bdr) != 0)
cparata	0:6d69e896ce38	2650	{
cparata	0:6d69e896ce38	2651	return 1;
cparata	0:6d69e896ce38	2652	}
cparata	0:6d69e896ce38	2653
cparata	0:6d69e896ce38	2654	return 0;
cparata	0:6d69e896ce38	2655	}
cparata	0:6d69e896ce38	2656
cparata	0:6d69e896ce38	2657
cparata	0:6d69e896ce38	2658
cparata	0:6d69e896ce38	2659	int32_t LSM6DSO_io_write(void handle, uint8_t WriteAddr, uint8_t pBuffer, uint16_t nBytesToWrite)
cparata	0:6d69e896ce38	2660	{
cparata	0:6d69e896ce38	2661	return ((LSM6DSOSensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite);
cparata	0:6d69e896ce38	2662	}
cparata	0:6d69e896ce38	2663
cparata	0:6d69e896ce38	2664	int32_t LSM6DSO_io_read(void handle, uint8_t ReadAddr, uint8_t pBuffer, uint16_t nBytesToRead)
cparata	0:6d69e896ce38	2665	{
cparata	0:6d69e896ce38	2666	return ((LSM6DSOSensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead);
cparata	0:6d69e896ce38	2667	}

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Type:	Library
Created:	07 Mar 2019
Imports:	15
Forks:	0
Commits:	7
Dependents:	2
Dependencies:	2
Followers:	401

The code in this repository is Apache licensed.

LSM6DSOSensor.cpp@0:6d69e896ce38, 2019-03-05 (annotated)

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