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@4:77faf76e3cd8, 2020-10-29 (annotated)

Committer:: cparata
Date:: Thu Oct 29 12:50:52 2020 +0000
Revision:: 4:77faf76e3cd8
Parent:: 3:4274d9103f1d

Update PID and add low power modes

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	3:4274d9103f1d	56	assert(spi);
cparata	3:4274d9103f1d	57	if (cs_pin == NC) {
cparata	3:4274d9103f1d	58	printf("ERROR LSM6DSO CS MUST NOT BE NC\n\r");
cparata	3:4274d9103f1d	59	_dev_spi = NULL;
cparata	3:4274d9103f1d	60	_dev_i2c = NULL;
cparata	3:4274d9103f1d	61	return;
cparata	3:4274d9103f1d	62	}
cparata	3:4274d9103f1d	63
cparata	3:4274d9103f1d	64	_reg_ctx.write_reg = LSM6DSO_io_write;
cparata	3:4274d9103f1d	65	_reg_ctx.read_reg = LSM6DSO_io_read;
cparata	3:4274d9103f1d	66	_reg_ctx.handle = (void *)this;
cparata	3:4274d9103f1d	67	_cs_pin = 1;
cparata	0:6d69e896ce38	68	_dev_i2c = NULL;
cparata	3:4274d9103f1d	69	_address = 0;
cparata	3:4274d9103f1d	70
cparata	3:4274d9103f1d	71	if (_spi_type == SPI3W) {
cparata	3:4274d9103f1d	72	/* Enable SPI 3-Wires on the component */
cparata	3:4274d9103f1d	73	uint8_t data = 0x0C;
cparata	3:4274d9103f1d	74	lsm6dso_write_reg(&_reg_ctx, LSM6DSO_CTRL3_C, &data, 1);
cparata	3:4274d9103f1d	75	}
cparata	0:6d69e896ce38	76	}
cparata	0:6d69e896ce38	77
cparata	0:6d69e896ce38	78
cparata	0:6d69e896ce38	79	/** Constructor
cparata	0:6d69e896ce38	80	* @param i2c object of an helper class which handles the I2C peripheral
cparata	0:6d69e896ce38	81	* @param address the address of the component's instance
cparata	0:6d69e896ce38	82	* @param int1_pin the interrupt 1 pin
cparata	0:6d69e896ce38	83	* @param int2_pin the interrupt 2 pin
cparata	0:6d69e896ce38	84	*/
cparata	0:6d69e896ce38	85	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	86	{
cparata	3:4274d9103f1d	87	assert(i2c);
cparata	3:4274d9103f1d	88	_dev_spi = NULL;
cparata	3:4274d9103f1d	89	_reg_ctx.write_reg = LSM6DSO_io_write;
cparata	3:4274d9103f1d	90	_reg_ctx.read_reg = LSM6DSO_io_read;
cparata	3:4274d9103f1d	91	_reg_ctx.handle = (void *)this;
cparata	0:6d69e896ce38	92	}
cparata	0:6d69e896ce38	93
cparata	0:6d69e896ce38	94	/**
cparata	0:6d69e896ce38	95	* @brief Initializing the component
cparata	0:6d69e896ce38	96	* @param init pointer to device specific initalization structure
cparata	0:6d69e896ce38	97	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	98	*/
cparata	0:6d69e896ce38	99	int LSM6DSOSensor::init(void *init)
cparata	0:6d69e896ce38	100	{
cparata	3:4274d9103f1d	101	/* Disable I3C */
cparata	3:4274d9103f1d	102	if (lsm6dso_i3c_disable_set(&_reg_ctx, LSM6DSO_I3C_DISABLE) != 0) {
cparata	3:4274d9103f1d	103	return 1;
cparata	3:4274d9103f1d	104	}
cparata	3:4274d9103f1d	105
cparata	3:4274d9103f1d	106	/* Enable register address automatically incremented during a multiple byte
cparata	3:4274d9103f1d	107	access with a serial interface. */
cparata	3:4274d9103f1d	108	if (lsm6dso_auto_increment_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
cparata	3:4274d9103f1d	109	return 1;
cparata	3:4274d9103f1d	110	}
cparata	3:4274d9103f1d	111
cparata	3:4274d9103f1d	112	/* Enable BDU */
cparata	3:4274d9103f1d	113	if (lsm6dso_block_data_update_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
cparata	3:4274d9103f1d	114	return 1;
cparata	3:4274d9103f1d	115	}
cparata	3:4274d9103f1d	116
cparata	3:4274d9103f1d	117	/* FIFO mode selection */
cparata	3:4274d9103f1d	118	if (lsm6dso_fifo_mode_set(&_reg_ctx, LSM6DSO_BYPASS_MODE) != 0) {
cparata	3:4274d9103f1d	119	return 1;
cparata	3:4274d9103f1d	120	}
cparata	3:4274d9103f1d	121
cparata	3:4274d9103f1d	122	/* Output data rate selection - power down. */
cparata	3:4274d9103f1d	123	if (lsm6dso_xl_data_rate_set(&_reg_ctx, LSM6DSO_XL_ODR_OFF) != 0) {
cparata	3:4274d9103f1d	124	return 1;
cparata	3:4274d9103f1d	125	}
cparata	3:4274d9103f1d	126
cparata	3:4274d9103f1d	127	/* Full scale selection. */
cparata	3:4274d9103f1d	128	if (lsm6dso_xl_full_scale_set(&_reg_ctx, LSM6DSO_2g) != 0) {
cparata	3:4274d9103f1d	129	return 1;
cparata	3:4274d9103f1d	130	}
cparata	3:4274d9103f1d	131
cparata	3:4274d9103f1d	132	/* Output data rate selection - power down. */
cparata	3:4274d9103f1d	133	if (lsm6dso_gy_data_rate_set(&_reg_ctx, LSM6DSO_GY_ODR_OFF) != 0) {
cparata	3:4274d9103f1d	134	return 1;
cparata	3:4274d9103f1d	135	}
cparata	3:4274d9103f1d	136
cparata	3:4274d9103f1d	137	/* Full scale selection. */
cparata	3:4274d9103f1d	138	if (lsm6dso_gy_full_scale_set(&_reg_ctx, LSM6DSO_2000dps) != 0) {
cparata	3:4274d9103f1d	139	return 1;
cparata	3:4274d9103f1d	140	}
cparata	3:4274d9103f1d	141
cparata	3:4274d9103f1d	142	/* Select default output data rate. */
cparata	3:4274d9103f1d	143	_x_last_odr = LSM6DSO_XL_ODR_104Hz;
cparata	3:4274d9103f1d	144
cparata	3:4274d9103f1d	145	/* Select default output data rate. */
cparata	3:4274d9103f1d	146	_g_last_odr = LSM6DSO_GY_ODR_104Hz;
cparata	3:4274d9103f1d	147
cparata	3:4274d9103f1d	148	_x_is_enabled = 0;
cparata	3:4274d9103f1d	149
cparata	3:4274d9103f1d	150	_g_is_enabled = 0;
cparata	3:4274d9103f1d	151
cparata	3:4274d9103f1d	152	return 0;
cparata	0:6d69e896ce38	153	}
cparata	0:6d69e896ce38	154
cparata	0:6d69e896ce38	155	/**
cparata	0:6d69e896ce38	156	* @brief Read component ID
cparata	0:6d69e896ce38	157	* @param id the WHO_AM_I value
cparata	0:6d69e896ce38	158	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	159	*/
cparata	0:6d69e896ce38	160	int LSM6DSOSensor::read_id(uint8_t *id)
cparata	0:6d69e896ce38	161	{
cparata	3:4274d9103f1d	162	if (lsm6dso_device_id_get(&_reg_ctx, id) != 0) {
cparata	3:4274d9103f1d	163	return 1;
cparata	3:4274d9103f1d	164	}
cparata	3:4274d9103f1d	165
cparata	3:4274d9103f1d	166	return 0;
cparata	0:6d69e896ce38	167	}
cparata	0:6d69e896ce38	168
cparata	0:6d69e896ce38	169	/**
cparata	0:6d69e896ce38	170	* @brief Enable the LSM6DSO accelerometer sensor
cparata	0:6d69e896ce38	171	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	172	*/
cparata	0:6d69e896ce38	173	int LSM6DSOSensor::enable_x()
cparata	0:6d69e896ce38	174	{
cparata	3:4274d9103f1d	175	/* Check if the component is already enabled */
cparata	3:4274d9103f1d	176	if (_x_is_enabled == 1U) {
cparata	3:4274d9103f1d	177	return 0;
cparata	3:4274d9103f1d	178	}
cparata	3:4274d9103f1d	179
cparata	3:4274d9103f1d	180	/* Output data rate selection. */
cparata	3:4274d9103f1d	181	if (lsm6dso_xl_data_rate_set(&_reg_ctx, _x_last_odr) != 0) {
cparata	3:4274d9103f1d	182	return 1;
cparata	3:4274d9103f1d	183	}
cparata	3:4274d9103f1d	184
cparata	3:4274d9103f1d	185	_x_is_enabled = 1;
cparata	3:4274d9103f1d	186
cparata	0:6d69e896ce38	187	return 0;
cparata	0:6d69e896ce38	188	}
cparata	0:6d69e896ce38	189
cparata	0:6d69e896ce38	190	/**
cparata	0:6d69e896ce38	191	* @brief Disable the LSM6DSO accelerometer sensor
cparata	0:6d69e896ce38	192	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	193	*/
cparata	0:6d69e896ce38	194	int LSM6DSOSensor::disable_x()
cparata	0:6d69e896ce38	195	{
cparata	3:4274d9103f1d	196	/* Check if the component is already disabled */
cparata	3:4274d9103f1d	197	if (_x_is_enabled == 0U) {
cparata	3:4274d9103f1d	198	return 0;
cparata	3:4274d9103f1d	199	}
cparata	3:4274d9103f1d	200
cparata	3:4274d9103f1d	201	/* Get current output data rate. */
cparata	3:4274d9103f1d	202	if (lsm6dso_xl_data_rate_get(&_reg_ctx, &_x_last_odr) != 0) {
cparata	3:4274d9103f1d	203	return 1;
cparata	3:4274d9103f1d	204	}
cparata	3:4274d9103f1d	205
cparata	3:4274d9103f1d	206	/* Output data rate selection - power down. */
cparata	3:4274d9103f1d	207	if (lsm6dso_xl_data_rate_set(&_reg_ctx, LSM6DSO_XL_ODR_OFF) != 0) {
cparata	3:4274d9103f1d	208	return 1;
cparata	3:4274d9103f1d	209	}
cparata	3:4274d9103f1d	210
cparata	3:4274d9103f1d	211	_x_is_enabled = 0;
cparata	3:4274d9103f1d	212
cparata	0:6d69e896ce38	213	return 0;
cparata	0:6d69e896ce38	214	}
cparata	0:6d69e896ce38	215
cparata	0:6d69e896ce38	216	/**
cparata	0:6d69e896ce38	217	* @brief Get the LSM6DSO accelerometer sensor sensitivity
cparata	0:6d69e896ce38	218	* @param sensitivity pointer where the sensitivity is written
cparata	0:6d69e896ce38	219	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	220	*/
cparata	0:6d69e896ce38	221	int LSM6DSOSensor::get_x_sensitivity(float *sensitivity)
cparata	0:6d69e896ce38	222	{
cparata	3:4274d9103f1d	223	int ret = 0;
cparata	3:4274d9103f1d	224	lsm6dso_fs_xl_t full_scale;
cparata	3:4274d9103f1d	225
cparata	3:4274d9103f1d	226	/* Read actual full scale selection from sensor. */
cparata	3:4274d9103f1d	227	if (lsm6dso_xl_full_scale_get(&_reg_ctx, &full_scale) != 0) {
cparata	3:4274d9103f1d	228	return 1;
cparata	3:4274d9103f1d	229	}
cparata	3:4274d9103f1d	230
cparata	3:4274d9103f1d	231	/* Store the sensitivity based on actual full scale. */
cparata	3:4274d9103f1d	232	switch (full_scale) {
cparata	3:4274d9103f1d	233	case LSM6DSO_2g:
cparata	3:4274d9103f1d	234	*sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_2G;
cparata	3:4274d9103f1d	235	break;
cparata	3:4274d9103f1d	236
cparata	3:4274d9103f1d	237	case LSM6DSO_4g:
cparata	3:4274d9103f1d	238	*sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_4G;
cparata	3:4274d9103f1d	239	break;
cparata	3:4274d9103f1d	240
cparata	3:4274d9103f1d	241	case LSM6DSO_8g:
cparata	3:4274d9103f1d	242	*sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_8G;
cparata	3:4274d9103f1d	243	break;
cparata	3:4274d9103f1d	244
cparata	3:4274d9103f1d	245	case LSM6DSO_16g:
cparata	3:4274d9103f1d	246	*sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_16G;
cparata	3:4274d9103f1d	247	break;
cparata	3:4274d9103f1d	248
cparata	3:4274d9103f1d	249	default:
cparata	3:4274d9103f1d	250	ret = 1;
cparata	3:4274d9103f1d	251	break;
cparata	3:4274d9103f1d	252	}
cparata	3:4274d9103f1d	253
cparata	3:4274d9103f1d	254	return ret;
cparata	0:6d69e896ce38	255	}
cparata	0:6d69e896ce38	256
cparata	0:6d69e896ce38	257	/**
cparata	0:6d69e896ce38	258	* @brief Get the LSM6DSO accelerometer sensor output data rate
cparata	0:6d69e896ce38	259	* @param odr pointer where the output data rate is written
cparata	0:6d69e896ce38	260	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	261	*/
cparata	0:6d69e896ce38	262	int LSM6DSOSensor::get_x_odr(float *odr)
cparata	0:6d69e896ce38	263	{
cparata	3:4274d9103f1d	264	int ret = 0;
cparata	3:4274d9103f1d	265	lsm6dso_odr_xl_t odr_low_level;
cparata	3:4274d9103f1d	266
cparata	3:4274d9103f1d	267	/* Get current output data rate. */
cparata	3:4274d9103f1d	268	if (lsm6dso_xl_data_rate_get(&_reg_ctx, &odr_low_level) != 0) {
cparata	3:4274d9103f1d	269	return 1;
cparata	3:4274d9103f1d	270	}
cparata	3:4274d9103f1d	271
cparata	3:4274d9103f1d	272	switch (odr_low_level) {
cparata	3:4274d9103f1d	273	case LSM6DSO_XL_ODR_OFF:
cparata	3:4274d9103f1d	274	*odr = 0.0f;
cparata	3:4274d9103f1d	275	break;
cparata	3:4274d9103f1d	276
cparata	4:77faf76e3cd8	277	case LSM6DSO_XL_ODR_1Hz6:
cparata	4:77faf76e3cd8	278	*odr = 1.6f;
cparata	3:4274d9103f1d	279	break;
cparata	3:4274d9103f1d	280
cparata	3:4274d9103f1d	281	case LSM6DSO_XL_ODR_12Hz5:
cparata	3:4274d9103f1d	282	*odr = 12.5f;
cparata	3:4274d9103f1d	283	break;
cparata	3:4274d9103f1d	284
cparata	3:4274d9103f1d	285	case LSM6DSO_XL_ODR_26Hz:
cparata	3:4274d9103f1d	286	*odr = 26.0f;
cparata	3:4274d9103f1d	287	break;
cparata	3:4274d9103f1d	288
cparata	3:4274d9103f1d	289	case LSM6DSO_XL_ODR_52Hz:
cparata	3:4274d9103f1d	290	*odr = 52.0f;
cparata	3:4274d9103f1d	291	break;
cparata	3:4274d9103f1d	292
cparata	3:4274d9103f1d	293	case LSM6DSO_XL_ODR_104Hz:
cparata	3:4274d9103f1d	294	*odr = 104.0f;
cparata	3:4274d9103f1d	295	break;
cparata	3:4274d9103f1d	296
cparata	3:4274d9103f1d	297	case LSM6DSO_XL_ODR_208Hz:
cparata	3:4274d9103f1d	298	*odr = 208.0f;
cparata	3:4274d9103f1d	299	break;
cparata	3:4274d9103f1d	300
cparata	3:4274d9103f1d	301	case LSM6DSO_XL_ODR_417Hz:
cparata	3:4274d9103f1d	302	*odr = 417.0f;
cparata	3:4274d9103f1d	303	break;
cparata	3:4274d9103f1d	304
cparata	3:4274d9103f1d	305	case LSM6DSO_XL_ODR_833Hz:
cparata	3:4274d9103f1d	306	*odr = 833.0f;
cparata	3:4274d9103f1d	307	break;
cparata	3:4274d9103f1d	308
cparata	3:4274d9103f1d	309	case LSM6DSO_XL_ODR_1667Hz:
cparata	3:4274d9103f1d	310	*odr = 1667.0f;
cparata	3:4274d9103f1d	311	break;
cparata	3:4274d9103f1d	312
cparata	3:4274d9103f1d	313	case LSM6DSO_XL_ODR_3333Hz:
cparata	3:4274d9103f1d	314	*odr = 3333.0f;
cparata	3:4274d9103f1d	315	break;
cparata	3:4274d9103f1d	316
cparata	3:4274d9103f1d	317	case LSM6DSO_XL_ODR_6667Hz:
cparata	3:4274d9103f1d	318	*odr = 6667.0f;
cparata	3:4274d9103f1d	319	break;
cparata	3:4274d9103f1d	320
cparata	3:4274d9103f1d	321	default:
cparata	3:4274d9103f1d	322	ret = 1;
cparata	3:4274d9103f1d	323	break;
cparata	3:4274d9103f1d	324	}
cparata	3:4274d9103f1d	325
cparata	3:4274d9103f1d	326	return ret;
cparata	0:6d69e896ce38	327	}
cparata	0:6d69e896ce38	328
cparata	0:6d69e896ce38	329	/**
cparata	0:6d69e896ce38	330	* @brief Set the LSM6DSO accelerometer sensor output data rate
cparata	0:6d69e896ce38	331	* @param odr the output data rate value to be set
cparata	0:6d69e896ce38	332	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	333	*/
cparata	0:6d69e896ce38	334	int LSM6DSOSensor::set_x_odr(float odr)
cparata	0:6d69e896ce38	335	{
cparata	4:77faf76e3cd8	336	return set_x_odr_with_mode(odr, LSM6DSO_ACC_HIGH_PERFORMANCE_MODE);
cparata	4:77faf76e3cd8	337	}
cparata	4:77faf76e3cd8	338
cparata	4:77faf76e3cd8	339	/**
cparata	4:77faf76e3cd8	340	* @brief Set the LSM6DSO accelerometer sensor output data rate with operating mode
cparata	4:77faf76e3cd8	341	* @param odr the output data rate value to be set
cparata	4:77faf76e3cd8	342	* @param mode the accelerometer operating mode
cparata	4:77faf76e3cd8	343	* @note This function switches off the gyroscope if Ultra Low Power Mode is set
cparata	4:77faf76e3cd8	344	* @retval 0 in case of success, an error code otherwise
cparata	4:77faf76e3cd8	345	*/
cparata	4:77faf76e3cd8	346	int LSM6DSOSensor::set_x_odr_with_mode(float odr, LSM6DSO_ACC_Operating_Mode_t mode)
cparata	4:77faf76e3cd8	347	{
cparata	4:77faf76e3cd8	348	int ret = 0;
cparata	4:77faf76e3cd8	349
cparata	4:77faf76e3cd8	350	switch (mode)
cparata	4:77faf76e3cd8	351	{
cparata	4:77faf76e3cd8	352	case LSM6DSO_ACC_HIGH_PERFORMANCE_MODE:
cparata	4:77faf76e3cd8	353	{
cparata	4:77faf76e3cd8	354	/* We must uncheck Low Power and Ultra Low Power bits if they are enabled */
cparata	4:77faf76e3cd8	355	lsm6dso_ctrl5_c_t val1;
cparata	4:77faf76e3cd8	356	lsm6dso_ctrl6_c_t val2;
cparata	4:77faf76e3cd8	357
cparata	4:77faf76e3cd8	358	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_CTRL5_C, (uint8_t *)&val1, 1) != 0)
cparata	4:77faf76e3cd8	359	{
cparata	4:77faf76e3cd8	360	return 1;
cparata	4:77faf76e3cd8	361	}
cparata	4:77faf76e3cd8	362
cparata	4:77faf76e3cd8	363	if (val1.xl_ulp_en)
cparata	4:77faf76e3cd8	364	{
cparata	4:77faf76e3cd8	365	/* Power off the accelerometer */
cparata	4:77faf76e3cd8	366	if (_x_is_enabled == 1U)
cparata	4:77faf76e3cd8	367	{
cparata	4:77faf76e3cd8	368	if (lsm6dso_xl_data_rate_set(&_reg_ctx, LSM6DSO_XL_ODR_OFF) != 0)
cparata	4:77faf76e3cd8	369	{
cparata	4:77faf76e3cd8	370	return 1;
cparata	4:77faf76e3cd8	371	}
cparata	4:77faf76e3cd8	372	}
cparata	4:77faf76e3cd8	373
cparata	4:77faf76e3cd8	374	val1.xl_ulp_en = 0;
cparata	4:77faf76e3cd8	375	if (lsm6dso_write_reg(&_reg_ctx, LSM6DSO_CTRL5_C, (uint8_t *)&val1, 1) != 0)
cparata	4:77faf76e3cd8	376	{
cparata	4:77faf76e3cd8	377	return 1;
cparata	4:77faf76e3cd8	378	}
cparata	4:77faf76e3cd8	379	}
cparata	4:77faf76e3cd8	380
cparata	4:77faf76e3cd8	381	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_CTRL6_C, (uint8_t *)&val2, 1) != 0)
cparata	4:77faf76e3cd8	382	{
cparata	4:77faf76e3cd8	383	return 1;
cparata	4:77faf76e3cd8	384	}
cparata	4:77faf76e3cd8	385
cparata	4:77faf76e3cd8	386	if (val2.xl_hm_mode)
cparata	4:77faf76e3cd8	387	{
cparata	4:77faf76e3cd8	388	val2.xl_hm_mode = 0;
cparata	4:77faf76e3cd8	389	if (lsm6dso_write_reg(&_reg_ctx, LSM6DSO_CTRL6_C, (uint8_t *)&val2, 1) != 0)
cparata	4:77faf76e3cd8	390	{
cparata	4:77faf76e3cd8	391	return 1;
cparata	4:77faf76e3cd8	392	}
cparata	4:77faf76e3cd8	393	}
cparata	4:77faf76e3cd8	394
cparata	4:77faf76e3cd8	395	/* ODR should be at least 12.5Hz */
cparata	4:77faf76e3cd8	396	if (odr < 12.5f)
cparata	4:77faf76e3cd8	397	{
cparata	4:77faf76e3cd8	398	odr = 12.5f;
cparata	4:77faf76e3cd8	399	}
cparata	4:77faf76e3cd8	400	break;
cparata	4:77faf76e3cd8	401	}
cparata	4:77faf76e3cd8	402	case LSM6DSO_ACC_LOW_POWER_NORMAL_MODE:
cparata	4:77faf76e3cd8	403	{
cparata	4:77faf76e3cd8	404	/* We must uncheck Ultra Low Power bit if it is enabled */
cparata	4:77faf76e3cd8	405	/* and check the Low Power bit if it is unchecked */
cparata	4:77faf76e3cd8	406	lsm6dso_ctrl5_c_t val1;
cparata	4:77faf76e3cd8	407	lsm6dso_ctrl6_c_t val2;
cparata	4:77faf76e3cd8	408
cparata	4:77faf76e3cd8	409	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_CTRL5_C, (uint8_t *)&val1, 1) != 0)
cparata	4:77faf76e3cd8	410	{
cparata	4:77faf76e3cd8	411	return 1;
cparata	4:77faf76e3cd8	412	}
cparata	4:77faf76e3cd8	413
cparata	4:77faf76e3cd8	414	if (val1.xl_ulp_en)
cparata	4:77faf76e3cd8	415	{
cparata	4:77faf76e3cd8	416	/* Power off the accelerometer */
cparata	4:77faf76e3cd8	417	if (_x_is_enabled == 1U)
cparata	4:77faf76e3cd8	418	{
cparata	4:77faf76e3cd8	419	if (lsm6dso_xl_data_rate_set(&_reg_ctx, LSM6DSO_XL_ODR_OFF) != 0)
cparata	4:77faf76e3cd8	420	{
cparata	4:77faf76e3cd8	421	return 1;
cparata	4:77faf76e3cd8	422	}
cparata	4:77faf76e3cd8	423	}
cparata	4:77faf76e3cd8	424
cparata	4:77faf76e3cd8	425	val1.xl_ulp_en = 0;
cparata	4:77faf76e3cd8	426	if (lsm6dso_write_reg(&_reg_ctx, LSM6DSO_CTRL5_C, (uint8_t *)&val1, 1) != 0)
cparata	4:77faf76e3cd8	427	{
cparata	4:77faf76e3cd8	428	return 1;
cparata	4:77faf76e3cd8	429	}
cparata	4:77faf76e3cd8	430	}
cparata	4:77faf76e3cd8	431
cparata	4:77faf76e3cd8	432	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_CTRL6_C, (uint8_t *)&val2, 1) != 0)
cparata	4:77faf76e3cd8	433	{
cparata	4:77faf76e3cd8	434	return 1;
cparata	4:77faf76e3cd8	435	}
cparata	4:77faf76e3cd8	436
cparata	4:77faf76e3cd8	437	if (!val2.xl_hm_mode)
cparata	4:77faf76e3cd8	438	{
cparata	4:77faf76e3cd8	439	val2.xl_hm_mode = 1U;
cparata	4:77faf76e3cd8	440	if (lsm6dso_write_reg(&_reg_ctx, LSM6DSO_CTRL6_C, (uint8_t *)&val2, 1) != 0)
cparata	4:77faf76e3cd8	441	{
cparata	4:77faf76e3cd8	442	return 1;
cparata	4:77faf76e3cd8	443	}
cparata	4:77faf76e3cd8	444	}
cparata	4:77faf76e3cd8	445
cparata	4:77faf76e3cd8	446	/* Now we need to limit the ODR to 208 Hz if it is higher */
cparata	4:77faf76e3cd8	447	if (odr > 208.0f)
cparata	4:77faf76e3cd8	448	{
cparata	4:77faf76e3cd8	449	odr = 208.0f;
cparata	4:77faf76e3cd8	450	}
cparata	4:77faf76e3cd8	451	break;
cparata	4:77faf76e3cd8	452	}
cparata	4:77faf76e3cd8	453	case LSM6DSO_ACC_ULTRA_LOW_POWER_MODE:
cparata	4:77faf76e3cd8	454	{
cparata	4:77faf76e3cd8	455	/* We must uncheck Low Power bit if it is enabled */
cparata	4:77faf76e3cd8	456	/* and check the Ultra Low Power bit if it is unchecked */
cparata	4:77faf76e3cd8	457	/* We must switch off gyro otherwise Ultra Low Power does not work */
cparata	4:77faf76e3cd8	458	lsm6dso_ctrl5_c_t val1;
cparata	4:77faf76e3cd8	459	lsm6dso_ctrl6_c_t val2;
cparata	4:77faf76e3cd8	460
cparata	4:77faf76e3cd8	461	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_CTRL6_C, (uint8_t *)&val2, 1) != 0)
cparata	4:77faf76e3cd8	462	{
cparata	4:77faf76e3cd8	463	return 1;
cparata	4:77faf76e3cd8	464	}
cparata	4:77faf76e3cd8	465
cparata	4:77faf76e3cd8	466	if (val2.xl_hm_mode)
cparata	4:77faf76e3cd8	467	{
cparata	4:77faf76e3cd8	468	val2.xl_hm_mode = 0;
cparata	4:77faf76e3cd8	469	if (lsm6dso_write_reg(&_reg_ctx, LSM6DSO_CTRL6_C, (uint8_t *)&val2, 1) != 0)
cparata	4:77faf76e3cd8	470	{
cparata	4:77faf76e3cd8	471	return 1;
cparata	4:77faf76e3cd8	472	}
cparata	4:77faf76e3cd8	473	}
cparata	4:77faf76e3cd8	474
cparata	4:77faf76e3cd8	475	/* Disable Gyro */
cparata	4:77faf76e3cd8	476	if (_g_is_enabled == 1U)
cparata	4:77faf76e3cd8	477	{
cparata	4:77faf76e3cd8	478	if (disable_g() != 0)
cparata	4:77faf76e3cd8	479	{
cparata	4:77faf76e3cd8	480	return 1;
cparata	4:77faf76e3cd8	481	}
cparata	4:77faf76e3cd8	482	}
cparata	4:77faf76e3cd8	483
cparata	4:77faf76e3cd8	484	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_CTRL5_C, (uint8_t *)&val1, 1) != 0)
cparata	4:77faf76e3cd8	485	{
cparata	4:77faf76e3cd8	486	return 1;
cparata	4:77faf76e3cd8	487	}
cparata	4:77faf76e3cd8	488
cparata	4:77faf76e3cd8	489	if (!val1.xl_ulp_en)
cparata	4:77faf76e3cd8	490	{
cparata	4:77faf76e3cd8	491	/* Power off the accelerometer */
cparata	4:77faf76e3cd8	492	if (_x_is_enabled == 1U)
cparata	4:77faf76e3cd8	493	{
cparata	4:77faf76e3cd8	494	if (lsm6dso_xl_data_rate_set(&_reg_ctx, LSM6DSO_XL_ODR_OFF) != 0)
cparata	4:77faf76e3cd8	495	{
cparata	4:77faf76e3cd8	496	return 1;
cparata	4:77faf76e3cd8	497	}
cparata	4:77faf76e3cd8	498	}
cparata	4:77faf76e3cd8	499
cparata	4:77faf76e3cd8	500	val1.xl_ulp_en = 1U;
cparata	4:77faf76e3cd8	501	if (lsm6dso_write_reg(&_reg_ctx, LSM6DSO_CTRL5_C, (uint8_t *)&val1, 1) != 0)
cparata	4:77faf76e3cd8	502	{
cparata	4:77faf76e3cd8	503	return 1;
cparata	4:77faf76e3cd8	504	}
cparata	4:77faf76e3cd8	505	}
cparata	4:77faf76e3cd8	506
cparata	4:77faf76e3cd8	507	/* Now we need to limit the ODR to 208 Hz if it is higher */
cparata	4:77faf76e3cd8	508	if (odr > 208.0f)
cparata	4:77faf76e3cd8	509	{
cparata	4:77faf76e3cd8	510	odr = 208.0f;
cparata	4:77faf76e3cd8	511	}
cparata	4:77faf76e3cd8	512	break;
cparata	4:77faf76e3cd8	513	}
cparata	4:77faf76e3cd8	514	default:
cparata	4:77faf76e3cd8	515	ret = 1;
cparata	4:77faf76e3cd8	516	break;
cparata	4:77faf76e3cd8	517	}
cparata	4:77faf76e3cd8	518
cparata	3:4274d9103f1d	519	/* Check if the component is enabled */
cparata	4:77faf76e3cd8	520	if (_x_is_enabled == 1U)
cparata	4:77faf76e3cd8	521	{
cparata	4:77faf76e3cd8	522	ret = set_x_odr_when_enabled(odr);
cparata	3:4274d9103f1d	523	}
cparata	4:77faf76e3cd8	524	else
cparata	4:77faf76e3cd8	525	{
cparata	4:77faf76e3cd8	526	ret = set_x_odr_when_disabled(odr);
cparata	4:77faf76e3cd8	527	}
cparata	4:77faf76e3cd8	528
cparata	4:77faf76e3cd8	529	return ret;
cparata	0:6d69e896ce38	530	}
cparata	0:6d69e896ce38	531
cparata	0:6d69e896ce38	532	/**
cparata	0:6d69e896ce38	533	* @brief Set the LSM6DSO accelerometer sensor output data rate when enabled
cparata	0:6d69e896ce38	534	* @param odr the functional output data rate to be set
cparata	0:6d69e896ce38	535	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	536	*/
cparata	0:6d69e896ce38	537	int LSM6DSOSensor::set_x_odr_when_enabled(float odr)
cparata	0:6d69e896ce38	538	{
cparata	3:4274d9103f1d	539	lsm6dso_odr_xl_t new_odr;
cparata	3:4274d9103f1d	540
cparata	4:77faf76e3cd8	541	new_odr = (odr <= 1.6f) ? LSM6DSO_XL_ODR_1Hz6
cparata	4:77faf76e3cd8	542	: (odr <= 12.5f) ? LSM6DSO_XL_ODR_12Hz5
cparata	4:77faf76e3cd8	543	: (odr <= 26.0f) ? LSM6DSO_XL_ODR_26Hz
cparata	4:77faf76e3cd8	544	: (odr <= 52.0f) ? LSM6DSO_XL_ODR_52Hz
cparata	4:77faf76e3cd8	545	: (odr <= 104.0f) ? LSM6DSO_XL_ODR_104Hz
cparata	4:77faf76e3cd8	546	: (odr <= 208.0f) ? LSM6DSO_XL_ODR_208Hz
cparata	4:77faf76e3cd8	547	: (odr <= 417.0f) ? LSM6DSO_XL_ODR_417Hz
cparata	4:77faf76e3cd8	548	: (odr <= 833.0f) ? LSM6DSO_XL_ODR_833Hz
cparata	4:77faf76e3cd8	549	: (odr <= 1667.0f) ? LSM6DSO_XL_ODR_1667Hz
cparata	4:77faf76e3cd8	550	: (odr <= 3333.0f) ? LSM6DSO_XL_ODR_3333Hz
cparata	4:77faf76e3cd8	551	: LSM6DSO_XL_ODR_6667Hz;
cparata	3:4274d9103f1d	552
cparata	3:4274d9103f1d	553	/* Output data rate selection. */
cparata	3:4274d9103f1d	554	if (lsm6dso_xl_data_rate_set(&_reg_ctx, new_odr) != 0) {
cparata	3:4274d9103f1d	555	return 1;
cparata	3:4274d9103f1d	556	}
cparata	3:4274d9103f1d	557
cparata	3:4274d9103f1d	558	return 0;
cparata	0:6d69e896ce38	559	}
cparata	0:6d69e896ce38	560
cparata	0:6d69e896ce38	561	/**
cparata	0:6d69e896ce38	562	* @brief Set the LSM6DSO accelerometer sensor output data rate when disabled
cparata	0:6d69e896ce38	563	* @param odr the functional output data rate to be set
cparata	0:6d69e896ce38	564	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	565	*/
cparata	0:6d69e896ce38	566	int LSM6DSOSensor::set_x_odr_when_disabled(float odr)
cparata	0:6d69e896ce38	567	{
cparata	4:77faf76e3cd8	568	_x_last_odr = (odr <= 1.6f) ? LSM6DSO_XL_ODR_1Hz6
cparata	4:77faf76e3cd8	569	: (odr <= 12.5f) ? LSM6DSO_XL_ODR_12Hz5
cparata	4:77faf76e3cd8	570	: (odr <= 26.0f) ? LSM6DSO_XL_ODR_26Hz
cparata	4:77faf76e3cd8	571	: (odr <= 52.0f) ? LSM6DSO_XL_ODR_52Hz
cparata	4:77faf76e3cd8	572	: (odr <= 104.0f) ? LSM6DSO_XL_ODR_104Hz
cparata	4:77faf76e3cd8	573	: (odr <= 208.0f) ? LSM6DSO_XL_ODR_208Hz
cparata	4:77faf76e3cd8	574	: (odr <= 417.0f) ? LSM6DSO_XL_ODR_417Hz
cparata	4:77faf76e3cd8	575	: (odr <= 833.0f) ? LSM6DSO_XL_ODR_833Hz
cparata	4:77faf76e3cd8	576	: (odr <= 1667.0f) ? LSM6DSO_XL_ODR_1667Hz
cparata	4:77faf76e3cd8	577	: (odr <= 3333.0f) ? LSM6DSO_XL_ODR_3333Hz
cparata	4:77faf76e3cd8	578	: LSM6DSO_XL_ODR_6667Hz;
cparata	3:4274d9103f1d	579
cparata	3:4274d9103f1d	580	return 0;
cparata	0:6d69e896ce38	581	}
cparata	0:6d69e896ce38	582
cparata	0:6d69e896ce38	583
cparata	0:6d69e896ce38	584	/**
cparata	0:6d69e896ce38	585	* @brief Get the LSM6DSO accelerometer sensor full scale
cparata	0:6d69e896ce38	586	* @param full_scale pointer where the full scale is written
cparata	0:6d69e896ce38	587	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	588	*/
cparata	0:6d69e896ce38	589	int LSM6DSOSensor::get_x_fs(float *full_scale)
cparata	0:6d69e896ce38	590	{
cparata	3:4274d9103f1d	591	int ret = 0;
cparata	3:4274d9103f1d	592	lsm6dso_fs_xl_t fs_low_level;
cparata	3:4274d9103f1d	593
cparata	3:4274d9103f1d	594	/* Read actual full scale selection from sensor. */
cparata	3:4274d9103f1d	595	if (lsm6dso_xl_full_scale_get(&_reg_ctx, &fs_low_level) != 0) {
cparata	3:4274d9103f1d	596	return 1;
cparata	3:4274d9103f1d	597	}
cparata	3:4274d9103f1d	598
cparata	3:4274d9103f1d	599	switch (fs_low_level) {
cparata	3:4274d9103f1d	600	case LSM6DSO_2g:
cparata	3:4274d9103f1d	601	*full_scale = 2.0f;
cparata	3:4274d9103f1d	602	break;
cparata	3:4274d9103f1d	603
cparata	3:4274d9103f1d	604	case LSM6DSO_4g:
cparata	3:4274d9103f1d	605	*full_scale = 4.0f;
cparata	3:4274d9103f1d	606	break;
cparata	3:4274d9103f1d	607
cparata	3:4274d9103f1d	608	case LSM6DSO_8g:
cparata	3:4274d9103f1d	609	*full_scale = 8.0f;
cparata	3:4274d9103f1d	610	break;
cparata	3:4274d9103f1d	611
cparata	3:4274d9103f1d	612	case LSM6DSO_16g:
cparata	3:4274d9103f1d	613	*full_scale = 16.0f;
cparata	3:4274d9103f1d	614	break;
cparata	3:4274d9103f1d	615
cparata	3:4274d9103f1d	616	default:
cparata	3:4274d9103f1d	617	ret = 1;
cparata	3:4274d9103f1d	618	break;
cparata	3:4274d9103f1d	619	}
cparata	3:4274d9103f1d	620
cparata	3:4274d9103f1d	621	return ret;
cparata	0:6d69e896ce38	622	}
cparata	0:6d69e896ce38	623
cparata	0:6d69e896ce38	624	/**
cparata	0:6d69e896ce38	625	* @brief Set the LSM6DSO accelerometer sensor full scale
cparata	0:6d69e896ce38	626	* @param full_scale the functional full scale to be set
cparata	0:6d69e896ce38	627	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	628	*/
cparata	0:6d69e896ce38	629	int LSM6DSOSensor::set_x_fs(float full_scale)
cparata	0:6d69e896ce38	630	{
cparata	3:4274d9103f1d	631	lsm6dso_fs_xl_t new_fs;
cparata	3:4274d9103f1d	632
cparata	3:4274d9103f1d	633	/* Seems like MISRA C-2012 rule 14.3a violation but only from single file statical analysis point of view because
cparata	3:4274d9103f1d	634	the parameter passed to the function is not known at the moment of analysis */
cparata	3:4274d9103f1d	635	new_fs = (full_scale <= 2.0f) ? LSM6DSO_2g
cparata	4:77faf76e3cd8	636	: (full_scale <= 4.0f) ? LSM6DSO_4g
cparata	4:77faf76e3cd8	637	: (full_scale <= 8.0f) ? LSM6DSO_8g
cparata	4:77faf76e3cd8	638	: LSM6DSO_16g;
cparata	3:4274d9103f1d	639
cparata	3:4274d9103f1d	640	if (lsm6dso_xl_full_scale_set(&_reg_ctx, new_fs) != 0) {
cparata	3:4274d9103f1d	641	return 1;
cparata	3:4274d9103f1d	642	}
cparata	3:4274d9103f1d	643
cparata	3:4274d9103f1d	644	return 0;
cparata	0:6d69e896ce38	645	}
cparata	0:6d69e896ce38	646
cparata	0:6d69e896ce38	647	/**
cparata	0:6d69e896ce38	648	* @brief Get the LSM6DSO accelerometer sensor raw axes
cparata	0:6d69e896ce38	649	* @param value pointer where the raw values of the axes are written
cparata	0:6d69e896ce38	650	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	651	*/
cparata	0:6d69e896ce38	652	int LSM6DSOSensor::get_x_axes_raw(int16_t *value)
cparata	0:6d69e896ce38	653	{
cparata	3:4274d9103f1d	654	axis3bit16_t data_raw;
cparata	3:4274d9103f1d	655
cparata	3:4274d9103f1d	656	/* Read raw data values. */
cparata	3:4274d9103f1d	657	if (lsm6dso_acceleration_raw_get(&_reg_ctx, data_raw.u8bit) != 0) {
cparata	3:4274d9103f1d	658	return 1;
cparata	3:4274d9103f1d	659	}
cparata	3:4274d9103f1d	660
cparata	3:4274d9103f1d	661	/* Format the data. */
cparata	3:4274d9103f1d	662	value[0] = data_raw.i16bit[0];
cparata	3:4274d9103f1d	663	value[1] = data_raw.i16bit[1];
cparata	3:4274d9103f1d	664	value[2] = data_raw.i16bit[2];
cparata	3:4274d9103f1d	665
cparata	3:4274d9103f1d	666	return 0;
cparata	0:6d69e896ce38	667	}
cparata	0:6d69e896ce38	668
cparata	0:6d69e896ce38	669
cparata	0:6d69e896ce38	670	/**
cparata	0:6d69e896ce38	671	* @brief Get the LSM6DSO accelerometer sensor axes
cparata	0:6d69e896ce38	672	* @param acceleration pointer where the values of the axes are written
cparata	0:6d69e896ce38	673	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	674	*/
cparata	0:6d69e896ce38	675	int LSM6DSOSensor::get_x_axes(int32_t *acceleration)
cparata	0:6d69e896ce38	676	{
cparata	3:4274d9103f1d	677	axis3bit16_t data_raw;
cparata	3:4274d9103f1d	678	float sensitivity = 0.0f;
cparata	3:4274d9103f1d	679
cparata	3:4274d9103f1d	680	/* Read raw data values. */
cparata	3:4274d9103f1d	681	if (lsm6dso_acceleration_raw_get(&_reg_ctx, data_raw.u8bit) != 0) {
cparata	3:4274d9103f1d	682	return 1;
cparata	3:4274d9103f1d	683	}
cparata	3:4274d9103f1d	684
cparata	3:4274d9103f1d	685	/* Get LSM6DSO actual sensitivity. */
cparata	3:4274d9103f1d	686	if (get_x_sensitivity(&sensitivity) != 0) {
cparata	3:4274d9103f1d	687	return 1;
cparata	3:4274d9103f1d	688	}
cparata	3:4274d9103f1d	689
cparata	3:4274d9103f1d	690	/* Calculate the data. */
cparata	3:4274d9103f1d	691	acceleration[0] = (int32_t)((float)((float)data_raw.i16bit[0] * sensitivity));
cparata	3:4274d9103f1d	692	acceleration[1] = (int32_t)((float)((float)data_raw.i16bit[1] * sensitivity));
cparata	3:4274d9103f1d	693	acceleration[2] = (int32_t)((float)((float)data_raw.i16bit[2] * sensitivity));
cparata	3:4274d9103f1d	694
cparata	3:4274d9103f1d	695	return 0;
cparata	0:6d69e896ce38	696	}
cparata	0:6d69e896ce38	697
cparata	0:6d69e896ce38	698
cparata	0:6d69e896ce38	699	/**
cparata	0:6d69e896ce38	700	* @brief Enable the LSM6DSO gyroscope sensor
cparata	0:6d69e896ce38	701	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	702	*/
cparata	0:6d69e896ce38	703	int LSM6DSOSensor::enable_g()
cparata	0:6d69e896ce38	704	{
cparata	3:4274d9103f1d	705	/* Check if the component is already enabled */
cparata	3:4274d9103f1d	706	if (_g_is_enabled == 1U) {
cparata	3:4274d9103f1d	707	return 0;
cparata	3:4274d9103f1d	708	}
cparata	3:4274d9103f1d	709
cparata	3:4274d9103f1d	710	/* Output data rate selection. */
cparata	3:4274d9103f1d	711	if (lsm6dso_gy_data_rate_set(&_reg_ctx, _g_last_odr) != 0) {
cparata	3:4274d9103f1d	712	return 1;
cparata	3:4274d9103f1d	713	}
cparata	3:4274d9103f1d	714
cparata	3:4274d9103f1d	715	_g_is_enabled = 1;
cparata	3:4274d9103f1d	716
cparata	0:6d69e896ce38	717	return 0;
cparata	0:6d69e896ce38	718	}
cparata	0:6d69e896ce38	719
cparata	0:6d69e896ce38	720
cparata	0:6d69e896ce38	721	/**
cparata	0:6d69e896ce38	722	* @brief Disable the LSM6DSO gyroscope sensor
cparata	0:6d69e896ce38	723	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	724	*/
cparata	0:6d69e896ce38	725	int LSM6DSOSensor::disable_g()
cparata	0:6d69e896ce38	726	{
cparata	3:4274d9103f1d	727	/* Check if the component is already disabled */
cparata	3:4274d9103f1d	728	if (_g_is_enabled == 0U) {
cparata	3:4274d9103f1d	729	return 0;
cparata	3:4274d9103f1d	730	}
cparata	3:4274d9103f1d	731
cparata	3:4274d9103f1d	732	/* Get current output data rate. */
cparata	3:4274d9103f1d	733	if (lsm6dso_gy_data_rate_get(&_reg_ctx, &_g_last_odr) != 0) {
cparata	3:4274d9103f1d	734	return 1;
cparata	3:4274d9103f1d	735	}
cparata	3:4274d9103f1d	736
cparata	3:4274d9103f1d	737	/* Output data rate selection - power down. */
cparata	3:4274d9103f1d	738	if (lsm6dso_gy_data_rate_set(&_reg_ctx, LSM6DSO_GY_ODR_OFF) != 0) {
cparata	3:4274d9103f1d	739	return 1;
cparata	3:4274d9103f1d	740	}
cparata	3:4274d9103f1d	741
cparata	3:4274d9103f1d	742	_g_is_enabled = 0;
cparata	3:4274d9103f1d	743
cparata	0:6d69e896ce38	744	return 0;
cparata	0:6d69e896ce38	745	}
cparata	0:6d69e896ce38	746
cparata	0:6d69e896ce38	747	/**
cparata	0:6d69e896ce38	748	* @brief Get the LSM6DSO gyroscope sensor sensitivity
cparata	0:6d69e896ce38	749	* @param sensitivity pointer where the sensitivity is written
cparata	0:6d69e896ce38	750	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	751	*/
cparata	0:6d69e896ce38	752	int LSM6DSOSensor::get_g_sensitivity(float *sensitivity)
cparata	0:6d69e896ce38	753	{
cparata	3:4274d9103f1d	754	int ret = 0;
cparata	3:4274d9103f1d	755	lsm6dso_fs_g_t full_scale;
cparata	3:4274d9103f1d	756
cparata	3:4274d9103f1d	757	/* Read actual full scale selection from sensor. */
cparata	3:4274d9103f1d	758	if (lsm6dso_gy_full_scale_get(&_reg_ctx, &full_scale) != 0) {
cparata	3:4274d9103f1d	759	return 1;
cparata	3:4274d9103f1d	760	}
cparata	3:4274d9103f1d	761
cparata	3:4274d9103f1d	762	/* Store the sensitivity based on actual full scale. */
cparata	3:4274d9103f1d	763	switch (full_scale) {
cparata	3:4274d9103f1d	764	case LSM6DSO_125dps:
cparata	3:4274d9103f1d	765	*sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_125DPS;
cparata	3:4274d9103f1d	766	break;
cparata	3:4274d9103f1d	767
cparata	3:4274d9103f1d	768	case LSM6DSO_250dps:
cparata	3:4274d9103f1d	769	*sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_250DPS;
cparata	3:4274d9103f1d	770	break;
cparata	3:4274d9103f1d	771
cparata	3:4274d9103f1d	772	case LSM6DSO_500dps:
cparata	3:4274d9103f1d	773	*sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_500DPS;
cparata	3:4274d9103f1d	774	break;
cparata	3:4274d9103f1d	775
cparata	3:4274d9103f1d	776	case LSM6DSO_1000dps:
cparata	3:4274d9103f1d	777	*sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_1000DPS;
cparata	3:4274d9103f1d	778	break;
cparata	3:4274d9103f1d	779
cparata	3:4274d9103f1d	780	case LSM6DSO_2000dps:
cparata	3:4274d9103f1d	781	*sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_2000DPS;
cparata	3:4274d9103f1d	782	break;
cparata	3:4274d9103f1d	783
cparata	3:4274d9103f1d	784	default:
cparata	3:4274d9103f1d	785	ret = 1;
cparata	3:4274d9103f1d	786	break;
cparata	3:4274d9103f1d	787	}
cparata	3:4274d9103f1d	788
cparata	3:4274d9103f1d	789	return ret;
cparata	0:6d69e896ce38	790	}
cparata	0:6d69e896ce38	791
cparata	0:6d69e896ce38	792	/**
cparata	0:6d69e896ce38	793	* @brief Get the LSM6DSO gyroscope sensor output data rate
cparata	0:6d69e896ce38	794	* @param odr pointer where the output data rate is written
cparata	0:6d69e896ce38	795	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	796	*/
cparata	0:6d69e896ce38	797	int LSM6DSOSensor::get_g_odr(float *odr)
cparata	0:6d69e896ce38	798	{
cparata	3:4274d9103f1d	799	int ret = 0;
cparata	3:4274d9103f1d	800	lsm6dso_odr_g_t odr_low_level;
cparata	3:4274d9103f1d	801
cparata	3:4274d9103f1d	802	/* Get current output data rate. */
cparata	3:4274d9103f1d	803	if (lsm6dso_gy_data_rate_get(&_reg_ctx, &odr_low_level) != 0) {
cparata	3:4274d9103f1d	804	return 1;
cparata	3:4274d9103f1d	805	}
cparata	3:4274d9103f1d	806
cparata	3:4274d9103f1d	807	switch (odr_low_level) {
cparata	3:4274d9103f1d	808	case LSM6DSO_GY_ODR_OFF:
cparata	3:4274d9103f1d	809	*odr = 0.0f;
cparata	3:4274d9103f1d	810	break;
cparata	3:4274d9103f1d	811
cparata	3:4274d9103f1d	812	case LSM6DSO_GY_ODR_12Hz5:
cparata	3:4274d9103f1d	813	*odr = 12.5f;
cparata	3:4274d9103f1d	814	break;
cparata	3:4274d9103f1d	815
cparata	3:4274d9103f1d	816	case LSM6DSO_GY_ODR_26Hz:
cparata	3:4274d9103f1d	817	*odr = 26.0f;
cparata	3:4274d9103f1d	818	break;
cparata	3:4274d9103f1d	819
cparata	3:4274d9103f1d	820	case LSM6DSO_GY_ODR_52Hz:
cparata	3:4274d9103f1d	821	*odr = 52.0f;
cparata	3:4274d9103f1d	822	break;
cparata	3:4274d9103f1d	823
cparata	3:4274d9103f1d	824	case LSM6DSO_GY_ODR_104Hz:
cparata	3:4274d9103f1d	825	*odr = 104.0f;
cparata	3:4274d9103f1d	826	break;
cparata	3:4274d9103f1d	827
cparata	3:4274d9103f1d	828	case LSM6DSO_GY_ODR_208Hz:
cparata	3:4274d9103f1d	829	*odr = 208.0f;
cparata	3:4274d9103f1d	830	break;
cparata	3:4274d9103f1d	831
cparata	3:4274d9103f1d	832	case LSM6DSO_GY_ODR_417Hz:
cparata	3:4274d9103f1d	833	*odr = 417.0f;
cparata	3:4274d9103f1d	834	break;
cparata	3:4274d9103f1d	835
cparata	3:4274d9103f1d	836	case LSM6DSO_GY_ODR_833Hz:
cparata	3:4274d9103f1d	837	*odr = 833.0f;
cparata	3:4274d9103f1d	838	break;
cparata	3:4274d9103f1d	839
cparata	3:4274d9103f1d	840	case LSM6DSO_GY_ODR_1667Hz:
cparata	3:4274d9103f1d	841	*odr = 1667.0f;
cparata	3:4274d9103f1d	842	break;
cparata	3:4274d9103f1d	843
cparata	3:4274d9103f1d	844	case LSM6DSO_GY_ODR_3333Hz:
cparata	3:4274d9103f1d	845	*odr = 3333.0f;
cparata	3:4274d9103f1d	846	break;
cparata	3:4274d9103f1d	847
cparata	3:4274d9103f1d	848	case LSM6DSO_GY_ODR_6667Hz:
cparata	3:4274d9103f1d	849	*odr = 6667.0f;
cparata	3:4274d9103f1d	850	break;
cparata	3:4274d9103f1d	851
cparata	3:4274d9103f1d	852	default:
cparata	3:4274d9103f1d	853	ret = 1;
cparata	3:4274d9103f1d	854	break;
cparata	3:4274d9103f1d	855	}
cparata	3:4274d9103f1d	856
cparata	3:4274d9103f1d	857	return ret;
cparata	0:6d69e896ce38	858	}
cparata	0:6d69e896ce38	859
cparata	0:6d69e896ce38	860	/**
cparata	0:6d69e896ce38	861	* @brief Set the LSM6DSO gyroscope sensor output data rate
cparata	0:6d69e896ce38	862	* @param odr the output data rate value to be set
cparata	0:6d69e896ce38	863	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	864	*/
cparata	0:6d69e896ce38	865	int LSM6DSOSensor::set_g_odr(float odr)
cparata	0:6d69e896ce38	866	{
cparata	4:77faf76e3cd8	867	return set_g_odr_with_mode(odr, LSM6DSO_GYRO_HIGH_PERFORMANCE_MODE);
cparata	4:77faf76e3cd8	868	}
cparata	4:77faf76e3cd8	869
cparata	4:77faf76e3cd8	870	/**
cparata	4:77faf76e3cd8	871	* @brief Set the LSM6DSO gyroscope sensor output data rate with operating mode
cparata	4:77faf76e3cd8	872	* @param odr the output data rate value to be set
cparata	4:77faf76e3cd8	873	* @param mode the gyroscope operating mode
cparata	4:77faf76e3cd8	874	* @retval 0 in case of success, an error code otherwise
cparata	4:77faf76e3cd8	875	*/
cparata	4:77faf76e3cd8	876	int LSM6DSOSensor::set_g_odr_with_mode(float odr, LSM6DSO_GYRO_Operating_Mode_t mode)
cparata	4:77faf76e3cd8	877	{
cparata	4:77faf76e3cd8	878	int ret = 0;
cparata	4:77faf76e3cd8	879
cparata	4:77faf76e3cd8	880	switch (mode)
cparata	4:77faf76e3cd8	881	{
cparata	4:77faf76e3cd8	882	case LSM6DSO_GYRO_HIGH_PERFORMANCE_MODE:
cparata	4:77faf76e3cd8	883	{
cparata	4:77faf76e3cd8	884	/* We must uncheck Low Power bit if it is enabled */
cparata	4:77faf76e3cd8	885	lsm6dso_ctrl7_g_t val1;
cparata	4:77faf76e3cd8	886
cparata	4:77faf76e3cd8	887	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_CTRL7_G, (uint8_t *)&val1, 1) != 0)
cparata	4:77faf76e3cd8	888	{
cparata	4:77faf76e3cd8	889	return 1;
cparata	4:77faf76e3cd8	890	}
cparata	4:77faf76e3cd8	891
cparata	4:77faf76e3cd8	892	if (val1.g_hm_mode)
cparata	4:77faf76e3cd8	893	{
cparata	4:77faf76e3cd8	894	val1.g_hm_mode = 0;
cparata	4:77faf76e3cd8	895	if (lsm6dso_write_reg(&_reg_ctx, LSM6DSO_CTRL7_G, (uint8_t *)&val1, 1) != 0)
cparata	4:77faf76e3cd8	896	{
cparata	4:77faf76e3cd8	897	return 1;
cparata	4:77faf76e3cd8	898	}
cparata	4:77faf76e3cd8	899	}
cparata	4:77faf76e3cd8	900	break;
cparata	4:77faf76e3cd8	901	}
cparata	4:77faf76e3cd8	902	case LSM6DSO_GYRO_LOW_POWER_NORMAL_MODE:
cparata	4:77faf76e3cd8	903	{
cparata	4:77faf76e3cd8	904	/* We must check the Low Power bit if it is unchecked */
cparata	4:77faf76e3cd8	905	lsm6dso_ctrl7_g_t val1;
cparata	4:77faf76e3cd8	906
cparata	4:77faf76e3cd8	907	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_CTRL7_G, (uint8_t *)&val1, 1) != 0)
cparata	4:77faf76e3cd8	908	{
cparata	4:77faf76e3cd8	909	return 1;
cparata	4:77faf76e3cd8	910	}
cparata	4:77faf76e3cd8	911
cparata	4:77faf76e3cd8	912	if (!val1.g_hm_mode)
cparata	4:77faf76e3cd8	913	{
cparata	4:77faf76e3cd8	914	val1.g_hm_mode = 1U;
cparata	4:77faf76e3cd8	915	if (lsm6dso_write_reg(&_reg_ctx, LSM6DSO_CTRL7_G, (uint8_t *)&val1, 1) != 0)
cparata	4:77faf76e3cd8	916	{
cparata	4:77faf76e3cd8	917	return 1;
cparata	4:77faf76e3cd8	918	}
cparata	4:77faf76e3cd8	919	}
cparata	4:77faf76e3cd8	920
cparata	4:77faf76e3cd8	921	/* Now we need to limit the ODR to 208 Hz if it is higher */
cparata	4:77faf76e3cd8	922	if (odr > 208.0f)
cparata	4:77faf76e3cd8	923	{
cparata	4:77faf76e3cd8	924	odr = 208.0f;
cparata	4:77faf76e3cd8	925	}
cparata	4:77faf76e3cd8	926	break;
cparata	4:77faf76e3cd8	927	}
cparata	4:77faf76e3cd8	928	default:
cparata	4:77faf76e3cd8	929	ret = 1;
cparata	4:77faf76e3cd8	930	break;
cparata	4:77faf76e3cd8	931	}
cparata	4:77faf76e3cd8	932
cparata	3:4274d9103f1d	933	/* Check if the component is enabled */
cparata	4:77faf76e3cd8	934	if (_g_is_enabled == 1U)
cparata	4:77faf76e3cd8	935	{
cparata	4:77faf76e3cd8	936	ret = set_g_odr_when_enabled(odr);
cparata	3:4274d9103f1d	937	}
cparata	4:77faf76e3cd8	938	else
cparata	4:77faf76e3cd8	939	{
cparata	4:77faf76e3cd8	940	ret = set_g_odr_when_disabled(odr);
cparata	4:77faf76e3cd8	941	}
cparata	4:77faf76e3cd8	942
cparata	4:77faf76e3cd8	943	return ret;
cparata	0:6d69e896ce38	944	}
cparata	0:6d69e896ce38	945
cparata	0:6d69e896ce38	946	/**
cparata	0:6d69e896ce38	947	* @brief Set the LSM6DSO gyroscope sensor output data rate when enabled
cparata	0:6d69e896ce38	948	* @param odr the functional output data rate to be set
cparata	0:6d69e896ce38	949	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	950	*/
cparata	0:6d69e896ce38	951	int LSM6DSOSensor::set_g_odr_when_enabled(float odr)
cparata	0:6d69e896ce38	952	{
cparata	3:4274d9103f1d	953	lsm6dso_odr_g_t new_odr;
cparata	3:4274d9103f1d	954
cparata	3:4274d9103f1d	955	new_odr = (odr <= 12.5f) ? LSM6DSO_GY_ODR_12Hz5
cparata	4:77faf76e3cd8	956	: (odr <= 26.0f) ? LSM6DSO_GY_ODR_26Hz
cparata	4:77faf76e3cd8	957	: (odr <= 52.0f) ? LSM6DSO_GY_ODR_52Hz
cparata	4:77faf76e3cd8	958	: (odr <= 104.0f) ? LSM6DSO_GY_ODR_104Hz
cparata	4:77faf76e3cd8	959	: (odr <= 208.0f) ? LSM6DSO_GY_ODR_208Hz
cparata	4:77faf76e3cd8	960	: (odr <= 417.0f) ? LSM6DSO_GY_ODR_417Hz
cparata	4:77faf76e3cd8	961	: (odr <= 833.0f) ? LSM6DSO_GY_ODR_833Hz
cparata	4:77faf76e3cd8	962	: (odr <= 1667.0f) ? LSM6DSO_GY_ODR_1667Hz
cparata	4:77faf76e3cd8	963	: (odr <= 3333.0f) ? LSM6DSO_GY_ODR_3333Hz
cparata	4:77faf76e3cd8	964	: LSM6DSO_GY_ODR_6667Hz;
cparata	3:4274d9103f1d	965
cparata	3:4274d9103f1d	966	/* Output data rate selection. */
cparata	3:4274d9103f1d	967	if (lsm6dso_gy_data_rate_set(&_reg_ctx, new_odr) != 0) {
cparata	3:4274d9103f1d	968	return 1;
cparata	3:4274d9103f1d	969	}
cparata	3:4274d9103f1d	970
cparata	3:4274d9103f1d	971	return 0;
cparata	0:6d69e896ce38	972	}
cparata	0:6d69e896ce38	973
cparata	0:6d69e896ce38	974	/**
cparata	0:6d69e896ce38	975	* @brief Set the LSM6DSO gyroscope sensor output data rate when disabled
cparata	0:6d69e896ce38	976	* @param odr the functional output data rate to be set
cparata	0:6d69e896ce38	977	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	978	*/
cparata	0:6d69e896ce38	979	int LSM6DSOSensor::set_g_odr_when_disabled(float odr)
cparata	0:6d69e896ce38	980	{
cparata	3:4274d9103f1d	981	_g_last_odr = (odr <= 12.5f) ? LSM6DSO_GY_ODR_12Hz5
cparata	4:77faf76e3cd8	982	: (odr <= 26.0f) ? LSM6DSO_GY_ODR_26Hz
cparata	4:77faf76e3cd8	983	: (odr <= 52.0f) ? LSM6DSO_GY_ODR_52Hz
cparata	4:77faf76e3cd8	984	: (odr <= 104.0f) ? LSM6DSO_GY_ODR_104Hz
cparata	4:77faf76e3cd8	985	: (odr <= 208.0f) ? LSM6DSO_GY_ODR_208Hz
cparata	4:77faf76e3cd8	986	: (odr <= 417.0f) ? LSM6DSO_GY_ODR_417Hz
cparata	4:77faf76e3cd8	987	: (odr <= 833.0f) ? LSM6DSO_GY_ODR_833Hz
cparata	4:77faf76e3cd8	988	: (odr <= 1667.0f) ? LSM6DSO_GY_ODR_1667Hz
cparata	4:77faf76e3cd8	989	: (odr <= 3333.0f) ? LSM6DSO_GY_ODR_3333Hz
cparata	4:77faf76e3cd8	990	: LSM6DSO_GY_ODR_6667Hz;
cparata	3:4274d9103f1d	991
cparata	3:4274d9103f1d	992	return 0;
cparata	0:6d69e896ce38	993	}
cparata	0:6d69e896ce38	994
cparata	0:6d69e896ce38	995
cparata	0:6d69e896ce38	996	/**
cparata	0:6d69e896ce38	997	* @brief Get the LSM6DSO gyroscope sensor full scale
cparata	0:6d69e896ce38	998	* @param full_scale pointer where the full scale is written
cparata	0:6d69e896ce38	999	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1000	*/
cparata	0:6d69e896ce38	1001	int LSM6DSOSensor::get_g_fs(float *full_scale)
cparata	0:6d69e896ce38	1002	{
cparata	3:4274d9103f1d	1003	int ret = 0;
cparata	3:4274d9103f1d	1004	lsm6dso_fs_g_t fs_low_level;
cparata	3:4274d9103f1d	1005
cparata	3:4274d9103f1d	1006	/* Read actual full scale selection from sensor. */
cparata	3:4274d9103f1d	1007	if (lsm6dso_gy_full_scale_get(&_reg_ctx, &fs_low_level) != 0) {
cparata	3:4274d9103f1d	1008	return 1;
cparata	3:4274d9103f1d	1009	}
cparata	3:4274d9103f1d	1010
cparata	3:4274d9103f1d	1011	switch (fs_low_level) {
cparata	3:4274d9103f1d	1012	case LSM6DSO_125dps:
cparata	3:4274d9103f1d	1013	*full_scale = 125.0f;
cparata	3:4274d9103f1d	1014	break;
cparata	3:4274d9103f1d	1015
cparata	3:4274d9103f1d	1016	case LSM6DSO_250dps:
cparata	3:4274d9103f1d	1017	*full_scale = 250.0f;
cparata	3:4274d9103f1d	1018	break;
cparata	3:4274d9103f1d	1019
cparata	3:4274d9103f1d	1020	case LSM6DSO_500dps:
cparata	3:4274d9103f1d	1021	*full_scale = 500.0f;
cparata	3:4274d9103f1d	1022	break;
cparata	3:4274d9103f1d	1023
cparata	3:4274d9103f1d	1024	case LSM6DSO_1000dps:
cparata	3:4274d9103f1d	1025	*full_scale = 1000.0f;
cparata	3:4274d9103f1d	1026	break;
cparata	3:4274d9103f1d	1027
cparata	3:4274d9103f1d	1028	case LSM6DSO_2000dps:
cparata	3:4274d9103f1d	1029	*full_scale = 2000.0f;
cparata	3:4274d9103f1d	1030	break;
cparata	3:4274d9103f1d	1031
cparata	3:4274d9103f1d	1032	default:
cparata	3:4274d9103f1d	1033	ret = 1;
cparata	3:4274d9103f1d	1034	break;
cparata	3:4274d9103f1d	1035	}
cparata	3:4274d9103f1d	1036
cparata	3:4274d9103f1d	1037	return ret;
cparata	0:6d69e896ce38	1038	}
cparata	0:6d69e896ce38	1039
cparata	0:6d69e896ce38	1040	/**
cparata	0:6d69e896ce38	1041	* @brief Set the LSM6DSO gyroscope sensor full scale
cparata	0:6d69e896ce38	1042	* @param full_scale the functional full scale to be set
cparata	0:6d69e896ce38	1043	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1044	*/
cparata	0:6d69e896ce38	1045	int LSM6DSOSensor::set_g_fs(float full_scale)
cparata	0:6d69e896ce38	1046	{
cparata	3:4274d9103f1d	1047	lsm6dso_fs_g_t new_fs;
cparata	3:4274d9103f1d	1048
cparata	3:4274d9103f1d	1049	new_fs = (full_scale <= 125.0f) ? LSM6DSO_125dps
cparata	4:77faf76e3cd8	1050	: (full_scale <= 250.0f) ? LSM6DSO_250dps
cparata	4:77faf76e3cd8	1051	: (full_scale <= 500.0f) ? LSM6DSO_500dps
cparata	4:77faf76e3cd8	1052	: (full_scale <= 1000.0f) ? LSM6DSO_1000dps
cparata	4:77faf76e3cd8	1053	: LSM6DSO_2000dps;
cparata	3:4274d9103f1d	1054
cparata	3:4274d9103f1d	1055	if (lsm6dso_gy_full_scale_set(&_reg_ctx, new_fs) != 0) {
cparata	3:4274d9103f1d	1056	return 1;
cparata	3:4274d9103f1d	1057	}
cparata	3:4274d9103f1d	1058
cparata	3:4274d9103f1d	1059	return 0;
cparata	0:6d69e896ce38	1060	}
cparata	0:6d69e896ce38	1061
cparata	0:6d69e896ce38	1062	/**
cparata	0:6d69e896ce38	1063	* @brief Get the LSM6DSO gyroscope sensor raw axes
cparata	0:6d69e896ce38	1064	* @param value pointer where the raw values of the axes are written
cparata	0:6d69e896ce38	1065	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1066	*/
cparata	0:6d69e896ce38	1067	int LSM6DSOSensor::get_g_axes_raw(int16_t *value)
cparata	0:6d69e896ce38	1068	{
cparata	3:4274d9103f1d	1069	axis3bit16_t data_raw;
cparata	3:4274d9103f1d	1070
cparata	3:4274d9103f1d	1071	/* Read raw data values. */
cparata	3:4274d9103f1d	1072	if (lsm6dso_angular_rate_raw_get(&_reg_ctx, data_raw.u8bit) != 0) {
cparata	3:4274d9103f1d	1073	return 1;
cparata	3:4274d9103f1d	1074	}
cparata	3:4274d9103f1d	1075
cparata	3:4274d9103f1d	1076	/* Format the data. */
cparata	3:4274d9103f1d	1077	value[0] = data_raw.i16bit[0];
cparata	3:4274d9103f1d	1078	value[1] = data_raw.i16bit[1];
cparata	3:4274d9103f1d	1079	value[2] = data_raw.i16bit[2];
cparata	3:4274d9103f1d	1080
cparata	3:4274d9103f1d	1081	return 0;
cparata	0:6d69e896ce38	1082	}
cparata	0:6d69e896ce38	1083
cparata	0:6d69e896ce38	1084
cparata	0:6d69e896ce38	1085	/**
cparata	0:6d69e896ce38	1086	* @brief Get the LSM6DSO gyroscope sensor axes
cparata	0:6d69e896ce38	1087	* @param angular_rate pointer where the values of the axes are written
cparata	0:6d69e896ce38	1088	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1089	*/
cparata	0:6d69e896ce38	1090	int LSM6DSOSensor::get_g_axes(int32_t *angular_rate)
cparata	0:6d69e896ce38	1091	{
cparata	3:4274d9103f1d	1092	axis3bit16_t data_raw;
cparata	3:4274d9103f1d	1093	float sensitivity;
cparata	3:4274d9103f1d	1094
cparata	3:4274d9103f1d	1095	/* Read raw data values. */
cparata	3:4274d9103f1d	1096	if (lsm6dso_angular_rate_raw_get(&_reg_ctx, data_raw.u8bit) != 0) {
cparata	3:4274d9103f1d	1097	return 1;
cparata	3:4274d9103f1d	1098	}
cparata	3:4274d9103f1d	1099
cparata	3:4274d9103f1d	1100	/* Get LSM6DSO actual sensitivity. */
cparata	3:4274d9103f1d	1101	if (get_g_sensitivity(&sensitivity) != 0) {
cparata	3:4274d9103f1d	1102	return 1;
cparata	3:4274d9103f1d	1103	}
cparata	3:4274d9103f1d	1104
cparata	3:4274d9103f1d	1105	/* Calculate the data. */
cparata	3:4274d9103f1d	1106	angular_rate[0] = (int32_t)((float)((float)data_raw.i16bit[0] * sensitivity));
cparata	3:4274d9103f1d	1107	angular_rate[1] = (int32_t)((float)((float)data_raw.i16bit[1] * sensitivity));
cparata	3:4274d9103f1d	1108	angular_rate[2] = (int32_t)((float)((float)data_raw.i16bit[2] * sensitivity));
cparata	3:4274d9103f1d	1109
cparata	3:4274d9103f1d	1110	return 0;
cparata	0:6d69e896ce38	1111	}
cparata	0:6d69e896ce38	1112
cparata	0:6d69e896ce38	1113
cparata	0:6d69e896ce38	1114	/**
cparata	0:6d69e896ce38	1115	* @brief Get the LSM6DSO register value
cparata	0:6d69e896ce38	1116	* @param reg address to be read
cparata	0:6d69e896ce38	1117	* @param data pointer where the value is written
cparata	0:6d69e896ce38	1118	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1119	*/
cparata	0:6d69e896ce38	1120	int LSM6DSOSensor::read_reg(uint8_t reg, uint8_t *data)
cparata	0:6d69e896ce38	1121	{
cparata	3:4274d9103f1d	1122	if (lsm6dso_read_reg(&_reg_ctx, reg, data, 1) != 0) {
cparata	3:4274d9103f1d	1123	return 1;
cparata	3:4274d9103f1d	1124	}
cparata	3:4274d9103f1d	1125
cparata	3:4274d9103f1d	1126	return 0;
cparata	0:6d69e896ce38	1127	}
cparata	0:6d69e896ce38	1128
cparata	0:6d69e896ce38	1129
cparata	0:6d69e896ce38	1130	/**
cparata	0:6d69e896ce38	1131	* @brief Set the LSM6DSO register value
cparata	0:6d69e896ce38	1132	* @param reg address to be written
cparata	0:6d69e896ce38	1133	* @param data value to be written
cparata	0:6d69e896ce38	1134	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1135	*/
cparata	0:6d69e896ce38	1136	int LSM6DSOSensor::write_reg(uint8_t reg, uint8_t data)
cparata	0:6d69e896ce38	1137	{
cparata	3:4274d9103f1d	1138	if (lsm6dso_write_reg(&_reg_ctx, reg, &data, 1) != 0) {
cparata	3:4274d9103f1d	1139	return 1;
cparata	3:4274d9103f1d	1140	}
cparata	3:4274d9103f1d	1141
cparata	3:4274d9103f1d	1142	return 0;
cparata	0:6d69e896ce38	1143	}
cparata	0:6d69e896ce38	1144
cparata	0:6d69e896ce38	1145	/**
cparata	0:6d69e896ce38	1146	* @brief Set the interrupt latch
cparata	0:6d69e896ce38	1147	* @param status value to be written
cparata	0:6d69e896ce38	1148	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1149	*/
cparata	0:6d69e896ce38	1150	int LSM6DSOSensor::set_interrupt_latch(uint8_t status)
cparata	0:6d69e896ce38	1151	{
cparata	3:4274d9103f1d	1152	if (status > 1U) {
cparata	3:4274d9103f1d	1153	return 1;
cparata	3:4274d9103f1d	1154	}
cparata	3:4274d9103f1d	1155
cparata	3:4274d9103f1d	1156	if (lsm6dso_int_notification_set(&_reg_ctx, (lsm6dso_lir_t)status) != 0) {
cparata	3:4274d9103f1d	1157	return 1;
cparata	3:4274d9103f1d	1158	}
cparata	3:4274d9103f1d	1159
cparata	3:4274d9103f1d	1160	return 0;
cparata	0:6d69e896ce38	1161	}
cparata	0:6d69e896ce38	1162
cparata	0:6d69e896ce38	1163	/**
cparata	0:6d69e896ce38	1164	* @brief Enable free fall detection
cparata	0:6d69e896ce38	1165	* @param int_pin interrupt pin line to be used
cparata	0:6d69e896ce38	1166	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1167	*/
cparata	0:6d69e896ce38	1168	int LSM6DSOSensor::enable_free_fall_detection(LSM6DSO_Interrupt_Pin_t int_pin)
cparata	0:6d69e896ce38	1169	{
cparata	3:4274d9103f1d	1170	int ret = 0;
cparata	3:4274d9103f1d	1171	lsm6dso_pin_int1_route_t val1;
cparata	3:4274d9103f1d	1172	lsm6dso_pin_int2_route_t val2;
cparata	3:4274d9103f1d	1173
cparata	3:4274d9103f1d	1174	/* Output Data Rate selection */
cparata	3:4274d9103f1d	1175	if (set_x_odr(416.0f) != 0) {
cparata	3:4274d9103f1d	1176	return 1;
cparata	3:4274d9103f1d	1177	}
cparata	3:4274d9103f1d	1178
cparata	3:4274d9103f1d	1179	/* Full scale selection */
cparata	3:4274d9103f1d	1180	if (set_x_fs(2.0f) != 0) {
cparata	3:4274d9103f1d	1181	return 1;
cparata	3:4274d9103f1d	1182	}
cparata	3:4274d9103f1d	1183
cparata	3:4274d9103f1d	1184	/* FF_DUR setting */
cparata	3:4274d9103f1d	1185	if (lsm6dso_ff_dur_set(&_reg_ctx, 0x06) != 0) {
cparata	3:4274d9103f1d	1186	return 1;
cparata	3:4274d9103f1d	1187	}
cparata	3:4274d9103f1d	1188
cparata	3:4274d9103f1d	1189	/* WAKE_DUR setting */
cparata	3:4274d9103f1d	1190	if (lsm6dso_wkup_dur_set(&_reg_ctx, 0x00) != 0) {
cparata	3:4274d9103f1d	1191	return 1;
cparata	3:4274d9103f1d	1192	}
cparata	3:4274d9103f1d	1193
cparata	3:4274d9103f1d	1194	/* SLEEP_DUR setting */
cparata	3:4274d9103f1d	1195	if (lsm6dso_act_sleep_dur_set(&_reg_ctx, 0x00) != 0) {
cparata	3:4274d9103f1d	1196	return 1;
cparata	3:4274d9103f1d	1197	}
cparata	3:4274d9103f1d	1198
cparata	3:4274d9103f1d	1199	/* FF_THS setting */
cparata	3:4274d9103f1d	1200	if (lsm6dso_ff_threshold_set(&_reg_ctx, LSM6DSO_FF_TSH_312mg) != 0) {
cparata	0:6d69e896ce38	1201	return 1;
cparata	3:4274d9103f1d	1202	}
cparata	3:4274d9103f1d	1203
cparata	3:4274d9103f1d	1204	/* Enable free fall event on either INT1 or INT2 pin */
cparata	3:4274d9103f1d	1205	switch (int_pin) {
cparata	3:4274d9103f1d	1206	case LSM6DSO_INT1_PIN:
cparata	3:4274d9103f1d	1207	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1208	return 1;
cparata	3:4274d9103f1d	1209	}
cparata	3:4274d9103f1d	1210
cparata	4:77faf76e3cd8	1211	val1.free_fall = PROPERTY_ENABLE;
cparata	4:77faf76e3cd8	1212
cparata	4:77faf76e3cd8	1213	if (lsm6dso_pin_int1_route_set(&_reg_ctx, val1) != 0) {
cparata	3:4274d9103f1d	1214	return 1;
cparata	3:4274d9103f1d	1215	}
cparata	3:4274d9103f1d	1216	break;
cparata	3:4274d9103f1d	1217
cparata	3:4274d9103f1d	1218	case LSM6DSO_INT2_PIN:
cparata	4:77faf76e3cd8	1219	if (lsm6dso_pin_int2_route_get(&_reg_ctx, NULL, &val2) != 0) {
cparata	3:4274d9103f1d	1220	return 1;
cparata	3:4274d9103f1d	1221	}
cparata	3:4274d9103f1d	1222
cparata	4:77faf76e3cd8	1223	val2.free_fall = PROPERTY_ENABLE;
cparata	4:77faf76e3cd8	1224
cparata	4:77faf76e3cd8	1225	if (lsm6dso_pin_int2_route_set(&_reg_ctx, NULL, val2) != 0) {
cparata	3:4274d9103f1d	1226	return 1;
cparata	3:4274d9103f1d	1227	}
cparata	3:4274d9103f1d	1228	break;
cparata	3:4274d9103f1d	1229
cparata	3:4274d9103f1d	1230	default:
cparata	3:4274d9103f1d	1231	ret = 1;
cparata	3:4274d9103f1d	1232	break;
cparata	3:4274d9103f1d	1233	}
cparata	3:4274d9103f1d	1234
cparata	3:4274d9103f1d	1235	return ret;
cparata	0:6d69e896ce38	1236	}
cparata	0:6d69e896ce38	1237
cparata	0:6d69e896ce38	1238	/**
cparata	0:6d69e896ce38	1239	* @brief Disable free fall detection
cparata	0:6d69e896ce38	1240	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1241	*/
cparata	0:6d69e896ce38	1242	int LSM6DSOSensor::disable_free_fall_detection()
cparata	0:6d69e896ce38	1243	{
cparata	3:4274d9103f1d	1244	lsm6dso_pin_int1_route_t val1;
cparata	3:4274d9103f1d	1245	lsm6dso_pin_int2_route_t val2;
cparata	3:4274d9103f1d	1246
cparata	3:4274d9103f1d	1247	/* Disable free fall event on both INT1 and INT2 pins */
cparata	3:4274d9103f1d	1248	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1249	return 1;
cparata	3:4274d9103f1d	1250	}
cparata	3:4274d9103f1d	1251
cparata	4:77faf76e3cd8	1252	val1.free_fall = PROPERTY_DISABLE;
cparata	4:77faf76e3cd8	1253
cparata	4:77faf76e3cd8	1254	if (lsm6dso_pin_int1_route_set(&_reg_ctx, val1) != 0) {
cparata	3:4274d9103f1d	1255	return 1;
cparata	3:4274d9103f1d	1256	}
cparata	3:4274d9103f1d	1257
cparata	4:77faf76e3cd8	1258	if (lsm6dso_pin_int2_route_get(&_reg_ctx, NULL, &val2) != 0) {
cparata	3:4274d9103f1d	1259	return 1;
cparata	3:4274d9103f1d	1260	}
cparata	3:4274d9103f1d	1261
cparata	4:77faf76e3cd8	1262	val2.free_fall = PROPERTY_DISABLE;
cparata	4:77faf76e3cd8	1263
cparata	4:77faf76e3cd8	1264	if (lsm6dso_pin_int2_route_set(&_reg_ctx, NULL, val2) != 0) {
cparata	3:4274d9103f1d	1265	return 1;
cparata	3:4274d9103f1d	1266	}
cparata	3:4274d9103f1d	1267
cparata	3:4274d9103f1d	1268	/* FF_DUR setting */
cparata	3:4274d9103f1d	1269	if (lsm6dso_ff_dur_set(&_reg_ctx, 0x00) != 0) {
cparata	3:4274d9103f1d	1270	return 1;
cparata	3:4274d9103f1d	1271	}
cparata	3:4274d9103f1d	1272
cparata	3:4274d9103f1d	1273	/* FF_THS setting */
cparata	3:4274d9103f1d	1274	if (lsm6dso_ff_threshold_set(&_reg_ctx, LSM6DSO_FF_TSH_156mg) != 0) {
cparata	3:4274d9103f1d	1275	return 1;
cparata	3:4274d9103f1d	1276	}
cparata	3:4274d9103f1d	1277
cparata	3:4274d9103f1d	1278	return 0;
cparata	0:6d69e896ce38	1279	}
cparata	0:6d69e896ce38	1280
cparata	0:6d69e896ce38	1281	/**
cparata	0:6d69e896ce38	1282	* @brief Set free fall threshold
cparata	0:6d69e896ce38	1283	* @param thr free fall detection threshold
cparata	0:6d69e896ce38	1284	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1285	*/
cparata	0:6d69e896ce38	1286	int LSM6DSOSensor::set_free_fall_threshold(uint8_t thr)
cparata	0:6d69e896ce38	1287	{
cparata	3:4274d9103f1d	1288	if (lsm6dso_ff_threshold_set(&_reg_ctx, (lsm6dso_ff_ths_t)thr) != 0) {
cparata	3:4274d9103f1d	1289	return 1;
cparata	3:4274d9103f1d	1290	}
cparata	3:4274d9103f1d	1291
cparata	3:4274d9103f1d	1292	return 0;
cparata	0:6d69e896ce38	1293	}
cparata	0:6d69e896ce38	1294
cparata	0:6d69e896ce38	1295
cparata	0:6d69e896ce38	1296	/**
cparata	0:6d69e896ce38	1297	* @brief Set free fall duration
cparata	0:6d69e896ce38	1298	* @param dur free fall detection duration
cparata	0:6d69e896ce38	1299	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1300	*/
cparata	0:6d69e896ce38	1301	int LSM6DSOSensor::set_free_fall_duration(uint8_t dur)
cparata	0:6d69e896ce38	1302	{
cparata	3:4274d9103f1d	1303	if (lsm6dso_ff_dur_set(&_reg_ctx, dur) != 0) {
cparata	3:4274d9103f1d	1304	return 1;
cparata	3:4274d9103f1d	1305	}
cparata	3:4274d9103f1d	1306
cparata	3:4274d9103f1d	1307	return 0;
cparata	0:6d69e896ce38	1308	}
cparata	0:6d69e896ce38	1309
cparata	0:6d69e896ce38	1310
cparata	0:6d69e896ce38	1311	/**
cparata	0:6d69e896ce38	1312	* @brief Enable pedometer
cparata	0:6d69e896ce38	1313	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1314	*/
cparata	0:6d69e896ce38	1315	int LSM6DSOSensor::enable_pedometer()
cparata	0:6d69e896ce38	1316	{
cparata	0:6d69e896ce38	1317	lsm6dso_pin_int1_route_t val;
cparata	4:77faf76e3cd8	1318	lsm6dso_emb_sens_t emb_sens;
cparata	0:6d69e896ce38	1319
cparata	3:4274d9103f1d	1320	/* Output Data Rate selection */
cparata	3:4274d9103f1d	1321	if (set_x_odr(26.0f) != 0) {
cparata	3:4274d9103f1d	1322	return 1;
cparata	3:4274d9103f1d	1323	}
cparata	3:4274d9103f1d	1324
cparata	3:4274d9103f1d	1325	/* Full scale selection */
cparata	3:4274d9103f1d	1326	if (set_x_fs(2.0f) != 0) {
cparata	3:4274d9103f1d	1327	return 1;
cparata	3:4274d9103f1d	1328	}
cparata	3:4274d9103f1d	1329
cparata	4:77faf76e3cd8	1330	/* Save current embedded features */
cparata	4:77faf76e3cd8	1331	if (lsm6dso_embedded_sens_get(&_reg_ctx, &emb_sens) != 0)
cparata	4:77faf76e3cd8	1332	{
cparata	4:77faf76e3cd8	1333	return 1;
cparata	4:77faf76e3cd8	1334	}
cparata	4:77faf76e3cd8	1335
cparata	4:77faf76e3cd8	1336	/* Turn off embedded features */
cparata	4:77faf76e3cd8	1337	if (lsm6dso_embedded_sens_off(&_reg_ctx) != 0)
cparata	4:77faf76e3cd8	1338	{
cparata	4:77faf76e3cd8	1339	return 1;
cparata	4:77faf76e3cd8	1340	}
cparata	4:77faf76e3cd8	1341
cparata	4:77faf76e3cd8	1342	/* Wait for 10 ms */
cparata	4:77faf76e3cd8	1343	ThisThread::sleep_for(10);
cparata	4:77faf76e3cd8	1344
cparata	3:4274d9103f1d	1345	/* Enable pedometer algorithm. */
cparata	4:77faf76e3cd8	1346	emb_sens.step = PROPERTY_ENABLE;
cparata	4:77faf76e3cd8	1347
cparata	4:77faf76e3cd8	1348	if (lsm6dso_pedo_sens_set(&_reg_ctx, LSM6DSO_PEDO_BASE_MODE) != 0)
cparata	4:77faf76e3cd8	1349	{
cparata	4:77faf76e3cd8	1350	return 1;
cparata	4:77faf76e3cd8	1351	}
cparata	4:77faf76e3cd8	1352
cparata	4:77faf76e3cd8	1353	/* Turn on embedded features */
cparata	4:77faf76e3cd8	1354	if (lsm6dso_embedded_sens_set(&_reg_ctx, &emb_sens) != 0)
cparata	4:77faf76e3cd8	1355	{
cparata	3:4274d9103f1d	1356	return 1;
cparata	3:4274d9103f1d	1357	}
cparata	3:4274d9103f1d	1358
cparata	3:4274d9103f1d	1359	/* Enable step detector on INT1 pin */
cparata	3:4274d9103f1d	1360	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val) != 0) {
cparata	3:4274d9103f1d	1361	return 1;
cparata	3:4274d9103f1d	1362	}
cparata	3:4274d9103f1d	1363
cparata	4:77faf76e3cd8	1364	val.step_detector = PROPERTY_ENABLE;
cparata	4:77faf76e3cd8	1365
cparata	4:77faf76e3cd8	1366	if (lsm6dso_pin_int1_route_set(&_reg_ctx, val) != 0) {
cparata	3:4274d9103f1d	1367	return 1;
cparata	3:4274d9103f1d	1368	}
cparata	3:4274d9103f1d	1369
cparata	3:4274d9103f1d	1370	return 0;
cparata	0:6d69e896ce38	1371	}
cparata	0:6d69e896ce38	1372
cparata	0:6d69e896ce38	1373	/**
cparata	0:6d69e896ce38	1374	* @brief Disable pedometer
cparata	0:6d69e896ce38	1375	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1376	*/
cparata	0:6d69e896ce38	1377	int LSM6DSOSensor::disable_pedometer()
cparata	0:6d69e896ce38	1378	{
cparata	3:4274d9103f1d	1379	lsm6dso_pin_int1_route_t val1;
cparata	4:77faf76e3cd8	1380	lsm6dso_emb_sens_t emb_sens;
cparata	3:4274d9103f1d	1381
cparata	3:4274d9103f1d	1382	/* Disable step detector on INT1 pin */
cparata	3:4274d9103f1d	1383	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1384	return 1;
cparata	3:4274d9103f1d	1385	}
cparata	3:4274d9103f1d	1386
cparata	4:77faf76e3cd8	1387	val1.step_detector = PROPERTY_DISABLE;
cparata	4:77faf76e3cd8	1388
cparata	4:77faf76e3cd8	1389	if (lsm6dso_pin_int1_route_set(&_reg_ctx, val1) != 0) {
cparata	4:77faf76e3cd8	1390	return 1;
cparata	4:77faf76e3cd8	1391	}
cparata	4:77faf76e3cd8	1392
cparata	4:77faf76e3cd8	1393	/* Save current embedded features */
cparata	4:77faf76e3cd8	1394	if (lsm6dso_embedded_sens_get(&_reg_ctx, &emb_sens) != 0)
cparata	4:77faf76e3cd8	1395	{
cparata	3:4274d9103f1d	1396	return 1;
cparata	3:4274d9103f1d	1397	}
cparata	3:4274d9103f1d	1398
cparata	3:4274d9103f1d	1399	/* Disable pedometer algorithm. */
cparata	4:77faf76e3cd8	1400	emb_sens.step = PROPERTY_DISABLE;
cparata	4:77faf76e3cd8	1401
cparata	4:77faf76e3cd8	1402	if (lsm6dso_embedded_sens_set(&_reg_ctx, &emb_sens) != 0)
cparata	4:77faf76e3cd8	1403	{
cparata	3:4274d9103f1d	1404	return 1;
cparata	3:4274d9103f1d	1405	}
cparata	3:4274d9103f1d	1406
cparata	3:4274d9103f1d	1407	return 0;
cparata	0:6d69e896ce38	1408	}
cparata	0:6d69e896ce38	1409
cparata	0:6d69e896ce38	1410	/**
cparata	0:6d69e896ce38	1411	* @brief Get step count
cparata	0:6d69e896ce38	1412	* @param step_count step counter
cparata	0:6d69e896ce38	1413	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1414	*/
cparata	0:6d69e896ce38	1415	int LSM6DSOSensor::get_step_counter(uint16_t *step_count)
cparata	0:6d69e896ce38	1416	{
cparata	3:4274d9103f1d	1417	if (lsm6dso_number_of_steps_get(&_reg_ctx, (uint8_t *)step_count) != 0) {
cparata	3:4274d9103f1d	1418	return 1;
cparata	3:4274d9103f1d	1419	}
cparata	3:4274d9103f1d	1420
cparata	3:4274d9103f1d	1421	return 0;
cparata	0:6d69e896ce38	1422	}
cparata	0:6d69e896ce38	1423
cparata	0:6d69e896ce38	1424	/**
cparata	0:6d69e896ce38	1425	* @brief Enable step counter reset
cparata	0:6d69e896ce38	1426	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1427	*/
cparata	0:6d69e896ce38	1428	int LSM6DSOSensor::reset_step_counter()
cparata	0:6d69e896ce38	1429	{
cparata	3:4274d9103f1d	1430	if (lsm6dso_steps_reset(&_reg_ctx) != 0) {
cparata	3:4274d9103f1d	1431	return 1;
cparata	3:4274d9103f1d	1432	}
cparata	3:4274d9103f1d	1433
cparata	3:4274d9103f1d	1434	return 0;
cparata	0:6d69e896ce38	1435	}
cparata	0:6d69e896ce38	1436
cparata	0:6d69e896ce38	1437	/**
cparata	0:6d69e896ce38	1438	* @brief Enable tilt detection
cparata	0:6d69e896ce38	1439	* @param int_pin interrupt pin line to be used
cparata	0:6d69e896ce38	1440	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1441	*/
cparata	0:6d69e896ce38	1442	int LSM6DSOSensor::enable_tilt_detection(LSM6DSO_Interrupt_Pin_t int_pin)
cparata	0:6d69e896ce38	1443	{
cparata	3:4274d9103f1d	1444	int ret = 0;
cparata	3:4274d9103f1d	1445	lsm6dso_pin_int1_route_t val1;
cparata	3:4274d9103f1d	1446	lsm6dso_pin_int2_route_t val2;
cparata	4:77faf76e3cd8	1447	lsm6dso_emb_sens_t emb_sens;
cparata	3:4274d9103f1d	1448
cparata	3:4274d9103f1d	1449	/* Output Data Rate selection */
cparata	3:4274d9103f1d	1450	if (set_x_odr(26.0f) != 0) {
cparata	3:4274d9103f1d	1451	return 1;
cparata	3:4274d9103f1d	1452	}
cparata	3:4274d9103f1d	1453
cparata	3:4274d9103f1d	1454	/* Full scale selection */
cparata	3:4274d9103f1d	1455	if (set_x_fs(2.0f) != 0) {
cparata	3:4274d9103f1d	1456	return 1;
cparata	3:4274d9103f1d	1457	}
cparata	3:4274d9103f1d	1458
cparata	4:77faf76e3cd8	1459	/* Save current embedded features */
cparata	4:77faf76e3cd8	1460	if (lsm6dso_embedded_sens_get(&_reg_ctx, &emb_sens) != 0)
cparata	4:77faf76e3cd8	1461	{
cparata	4:77faf76e3cd8	1462	return 1;
cparata	4:77faf76e3cd8	1463	}
cparata	4:77faf76e3cd8	1464
cparata	4:77faf76e3cd8	1465	/* Turn off embedded features */
cparata	4:77faf76e3cd8	1466	if (lsm6dso_embedded_sens_off(&_reg_ctx) != 0)
cparata	4:77faf76e3cd8	1467	{
cparata	4:77faf76e3cd8	1468	return 1;
cparata	4:77faf76e3cd8	1469	}
cparata	4:77faf76e3cd8	1470
cparata	4:77faf76e3cd8	1471	/* Wait for 10 ms */
cparata	4:77faf76e3cd8	1472	ThisThread::sleep_for(10);
cparata	4:77faf76e3cd8	1473
cparata	4:77faf76e3cd8	1474	/* Enable tilt algorithm. */
cparata	4:77faf76e3cd8	1475	emb_sens.tilt = PROPERTY_ENABLE;
cparata	4:77faf76e3cd8	1476
cparata	4:77faf76e3cd8	1477	/* Turn on embedded features */
cparata	4:77faf76e3cd8	1478	if (lsm6dso_embedded_sens_set(&_reg_ctx, &emb_sens) != 0)
cparata	4:77faf76e3cd8	1479	{
cparata	0:6d69e896ce38	1480	return 1;
cparata	3:4274d9103f1d	1481	}
cparata	3:4274d9103f1d	1482
cparata	3:4274d9103f1d	1483	/* Enable tilt event on either INT1 or INT2 pin */
cparata	3:4274d9103f1d	1484	switch (int_pin) {
cparata	3:4274d9103f1d	1485	case LSM6DSO_INT1_PIN:
cparata	3:4274d9103f1d	1486	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1487	return 1;
cparata	3:4274d9103f1d	1488	}
cparata	3:4274d9103f1d	1489
cparata	4:77faf76e3cd8	1490	val1.tilt = PROPERTY_ENABLE;
cparata	4:77faf76e3cd8	1491
cparata	4:77faf76e3cd8	1492	if (lsm6dso_pin_int1_route_set(&_reg_ctx, val1) != 0) {
cparata	3:4274d9103f1d	1493	return 1;
cparata	3:4274d9103f1d	1494	}
cparata	3:4274d9103f1d	1495	break;
cparata	3:4274d9103f1d	1496
cparata	3:4274d9103f1d	1497	case LSM6DSO_INT2_PIN:
cparata	4:77faf76e3cd8	1498	if (lsm6dso_pin_int2_route_get(&_reg_ctx, NULL, &val2) != 0) {
cparata	3:4274d9103f1d	1499	return 1;
cparata	3:4274d9103f1d	1500	}
cparata	3:4274d9103f1d	1501
cparata	4:77faf76e3cd8	1502	val2.tilt = PROPERTY_ENABLE;
cparata	4:77faf76e3cd8	1503
cparata	4:77faf76e3cd8	1504	if (lsm6dso_pin_int2_route_set(&_reg_ctx, NULL, val2) != 0) {
cparata	3:4274d9103f1d	1505	return 1;
cparata	3:4274d9103f1d	1506	}
cparata	3:4274d9103f1d	1507	break;
cparata	3:4274d9103f1d	1508
cparata	3:4274d9103f1d	1509	default:
cparata	3:4274d9103f1d	1510	ret = 1;
cparata	3:4274d9103f1d	1511	break;
cparata	3:4274d9103f1d	1512	}
cparata	3:4274d9103f1d	1513
cparata	3:4274d9103f1d	1514	return ret;
cparata	0:6d69e896ce38	1515	}
cparata	0:6d69e896ce38	1516
cparata	0:6d69e896ce38	1517	/**
cparata	0:6d69e896ce38	1518	* @brief Disable tilt detection
cparata	0:6d69e896ce38	1519	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1520	*/
cparata	0:6d69e896ce38	1521	int LSM6DSOSensor::disable_tilt_detection()
cparata	0:6d69e896ce38	1522	{
cparata	3:4274d9103f1d	1523	lsm6dso_pin_int1_route_t val1;
cparata	3:4274d9103f1d	1524	lsm6dso_pin_int2_route_t val2;
cparata	4:77faf76e3cd8	1525	lsm6dso_emb_sens_t emb_sens;
cparata	3:4274d9103f1d	1526
cparata	3:4274d9103f1d	1527	/* Disable tilt event on both INT1 and INT2 pins */
cparata	3:4274d9103f1d	1528	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1529	return 1;
cparata	3:4274d9103f1d	1530	}
cparata	3:4274d9103f1d	1531
cparata	4:77faf76e3cd8	1532	val1.tilt = PROPERTY_DISABLE;
cparata	4:77faf76e3cd8	1533
cparata	4:77faf76e3cd8	1534	if (lsm6dso_pin_int1_route_set(&_reg_ctx, val1) != 0) {
cparata	3:4274d9103f1d	1535	return 1;
cparata	3:4274d9103f1d	1536	}
cparata	3:4274d9103f1d	1537
cparata	4:77faf76e3cd8	1538	if (lsm6dso_pin_int2_route_get(&_reg_ctx, NULL, &val2) != 0) {
cparata	3:4274d9103f1d	1539	return 1;
cparata	3:4274d9103f1d	1540	}
cparata	3:4274d9103f1d	1541
cparata	4:77faf76e3cd8	1542	val2.tilt = PROPERTY_DISABLE;
cparata	4:77faf76e3cd8	1543
cparata	4:77faf76e3cd8	1544	if (lsm6dso_pin_int2_route_set(&_reg_ctx, NULL, val2) != 0) {
cparata	3:4274d9103f1d	1545	return 1;
cparata	3:4274d9103f1d	1546	}
cparata	3:4274d9103f1d	1547
cparata	4:77faf76e3cd8	1548	/* Save current embedded features */
cparata	4:77faf76e3cd8	1549	if (lsm6dso_embedded_sens_get(&_reg_ctx, &emb_sens) != 0)
cparata	4:77faf76e3cd8	1550	{
cparata	4:77faf76e3cd8	1551	return 1;
cparata	4:77faf76e3cd8	1552	}
cparata	4:77faf76e3cd8	1553
cparata	4:77faf76e3cd8	1554	/* Disable tilt algorithm. */
cparata	4:77faf76e3cd8	1555	emb_sens.tilt = PROPERTY_DISABLE;
cparata	4:77faf76e3cd8	1556
cparata	4:77faf76e3cd8	1557	if (lsm6dso_embedded_sens_set(&_reg_ctx, &emb_sens) != 0)
cparata	4:77faf76e3cd8	1558	{
cparata	3:4274d9103f1d	1559	return 1;
cparata	3:4274d9103f1d	1560	}
cparata	3:4274d9103f1d	1561
cparata	3:4274d9103f1d	1562	return 0;
cparata	0:6d69e896ce38	1563	}
cparata	0:6d69e896ce38	1564
cparata	0:6d69e896ce38	1565	/**
cparata	0:6d69e896ce38	1566	* @brief Enable wake up detection
cparata	0:6d69e896ce38	1567	* @param int_pin interrupt pin line to be used
cparata	0:6d69e896ce38	1568	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1569	*/
cparata	0:6d69e896ce38	1570	int LSM6DSOSensor::enable_wake_up_detection(LSM6DSO_Interrupt_Pin_t int_pin)
cparata	0:6d69e896ce38	1571	{
cparata	3:4274d9103f1d	1572	int ret = 0;
cparata	3:4274d9103f1d	1573	lsm6dso_pin_int1_route_t val1;
cparata	3:4274d9103f1d	1574	lsm6dso_pin_int2_route_t val2;
cparata	3:4274d9103f1d	1575
cparata	3:4274d9103f1d	1576	/* Output Data Rate selection */
cparata	3:4274d9103f1d	1577	if (set_x_odr(416.0f) != 0) {
cparata	3:4274d9103f1d	1578	return 1;
cparata	3:4274d9103f1d	1579	}
cparata	3:4274d9103f1d	1580
cparata	3:4274d9103f1d	1581	/* Full scale selection */
cparata	3:4274d9103f1d	1582	if (set_x_fs(2.0f) != 0) {
cparata	3:4274d9103f1d	1583	return 1;
cparata	3:4274d9103f1d	1584	}
cparata	3:4274d9103f1d	1585
cparata	3:4274d9103f1d	1586	/* WAKE_DUR setting */
cparata	3:4274d9103f1d	1587	if (lsm6dso_wkup_dur_set(&_reg_ctx, 0x00) != 0) {
cparata	3:4274d9103f1d	1588	return 1;
cparata	3:4274d9103f1d	1589	}
cparata	3:4274d9103f1d	1590
cparata	3:4274d9103f1d	1591	/* Set wake up threshold. */
cparata	3:4274d9103f1d	1592	if (lsm6dso_wkup_threshold_set(&_reg_ctx, 0x02) != 0) {
cparata	0:6d69e896ce38	1593	return 1;
cparata	3:4274d9103f1d	1594	}
cparata	3:4274d9103f1d	1595
cparata	3:4274d9103f1d	1596	/* Enable wake up event on either INT1 or INT2 pin */
cparata	3:4274d9103f1d	1597	switch (int_pin) {
cparata	3:4274d9103f1d	1598	case LSM6DSO_INT1_PIN:
cparata	3:4274d9103f1d	1599	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1600	return 1;
cparata	3:4274d9103f1d	1601	}
cparata	3:4274d9103f1d	1602
cparata	4:77faf76e3cd8	1603	val1.wake_up = PROPERTY_ENABLE;
cparata	4:77faf76e3cd8	1604
cparata	4:77faf76e3cd8	1605	if (lsm6dso_pin_int1_route_set(&_reg_ctx, val1) != 0) {
cparata	3:4274d9103f1d	1606	return 1;
cparata	3:4274d9103f1d	1607	}
cparata	3:4274d9103f1d	1608	break;
cparata	3:4274d9103f1d	1609
cparata	3:4274d9103f1d	1610	case LSM6DSO_INT2_PIN:
cparata	4:77faf76e3cd8	1611	if (lsm6dso_pin_int2_route_get(&_reg_ctx, NULL, &val2) != 0) {
cparata	3:4274d9103f1d	1612	return 1;
cparata	3:4274d9103f1d	1613	}
cparata	3:4274d9103f1d	1614
cparata	4:77faf76e3cd8	1615	val2.wake_up = PROPERTY_ENABLE;
cparata	4:77faf76e3cd8	1616
cparata	4:77faf76e3cd8	1617	if (lsm6dso_pin_int2_route_set(&_reg_ctx, NULL, val2) != 0) {
cparata	3:4274d9103f1d	1618	return 1;
cparata	3:4274d9103f1d	1619	}
cparata	3:4274d9103f1d	1620	break;
cparata	3:4274d9103f1d	1621
cparata	3:4274d9103f1d	1622	default:
cparata	3:4274d9103f1d	1623	ret = 1;
cparata	3:4274d9103f1d	1624	break;
cparata	3:4274d9103f1d	1625	}
cparata	3:4274d9103f1d	1626
cparata	3:4274d9103f1d	1627	return ret;
cparata	0:6d69e896ce38	1628	}
cparata	0:6d69e896ce38	1629
cparata	0:6d69e896ce38	1630
cparata	0:6d69e896ce38	1631	/**
cparata	0:6d69e896ce38	1632	* @brief Disable wake up detection
cparata	0:6d69e896ce38	1633	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1634	*/
cparata	0:6d69e896ce38	1635	int LSM6DSOSensor::disable_wake_up_detection()
cparata	0:6d69e896ce38	1636	{
cparata	0:6d69e896ce38	1637	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1638	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	1639
cparata	3:4274d9103f1d	1640	/* Disable wake up event on both INT1 and INT2 pins */
cparata	3:4274d9103f1d	1641	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1642	return 1;
cparata	3:4274d9103f1d	1643	}
cparata	3:4274d9103f1d	1644
cparata	4:77faf76e3cd8	1645	val1.wake_up = PROPERTY_DISABLE;
cparata	4:77faf76e3cd8	1646
cparata	4:77faf76e3cd8	1647	if (lsm6dso_pin_int1_route_set(&_reg_ctx, val1) != 0) {
cparata	3:4274d9103f1d	1648	return 1;
cparata	3:4274d9103f1d	1649	}
cparata	3:4274d9103f1d	1650
cparata	4:77faf76e3cd8	1651	if (lsm6dso_pin_int2_route_get(&_reg_ctx, NULL, &val2) != 0) {
cparata	3:4274d9103f1d	1652	return 1;
cparata	3:4274d9103f1d	1653	}
cparata	3:4274d9103f1d	1654
cparata	4:77faf76e3cd8	1655	val2.wake_up = PROPERTY_DISABLE;
cparata	4:77faf76e3cd8	1656
cparata	4:77faf76e3cd8	1657	if (lsm6dso_pin_int2_route_set(&_reg_ctx, NULL, val2) != 0) {
cparata	3:4274d9103f1d	1658	return 1;
cparata	3:4274d9103f1d	1659	}
cparata	3:4274d9103f1d	1660
cparata	3:4274d9103f1d	1661	/* Reset wake up threshold. */
cparata	3:4274d9103f1d	1662	if (lsm6dso_wkup_threshold_set(&_reg_ctx, 0x00) != 0) {
cparata	3:4274d9103f1d	1663	return 1;
cparata	3:4274d9103f1d	1664	}
cparata	3:4274d9103f1d	1665
cparata	3:4274d9103f1d	1666	/* WAKE_DUR setting */
cparata	3:4274d9103f1d	1667	if (lsm6dso_wkup_dur_set(&_reg_ctx, 0x00) != 0) {
cparata	3:4274d9103f1d	1668	return 1;
cparata	3:4274d9103f1d	1669	}
cparata	3:4274d9103f1d	1670
cparata	3:4274d9103f1d	1671	return 0;
cparata	0:6d69e896ce38	1672	}
cparata	0:6d69e896ce38	1673
cparata	0:6d69e896ce38	1674	/**
cparata	0:6d69e896ce38	1675	* @brief Set wake up threshold
cparata	0:6d69e896ce38	1676	* @param thr wake up detection threshold
cparata	0:6d69e896ce38	1677	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1678	*/
cparata	0:6d69e896ce38	1679	int LSM6DSOSensor::set_wake_up_threshold(uint8_t thr)
cparata	0:6d69e896ce38	1680	{
cparata	3:4274d9103f1d	1681	/* Set wake up threshold. */
cparata	3:4274d9103f1d	1682	if (lsm6dso_wkup_threshold_set(&_reg_ctx, thr) != 0) {
cparata	3:4274d9103f1d	1683	return 1;
cparata	3:4274d9103f1d	1684	}
cparata	3:4274d9103f1d	1685
cparata	3:4274d9103f1d	1686	return 0;
cparata	0:6d69e896ce38	1687	}
cparata	0:6d69e896ce38	1688
cparata	0:6d69e896ce38	1689	/**
cparata	0:6d69e896ce38	1690	* @brief Set wake up duration
cparata	0:6d69e896ce38	1691	* @param dur wake up detection duration
cparata	0:6d69e896ce38	1692	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1693	*/
cparata	0:6d69e896ce38	1694	int LSM6DSOSensor::set_wake_up_duration(uint8_t dur)
cparata	0:6d69e896ce38	1695	{
cparata	3:4274d9103f1d	1696	/* Set wake up duration. */
cparata	3:4274d9103f1d	1697	if (lsm6dso_wkup_dur_set(&_reg_ctx, dur) != 0) {
cparata	3:4274d9103f1d	1698	return 1;
cparata	3:4274d9103f1d	1699	}
cparata	3:4274d9103f1d	1700
cparata	3:4274d9103f1d	1701	return 0;
cparata	0:6d69e896ce38	1702	}
cparata	0:6d69e896ce38	1703
cparata	0:6d69e896ce38	1704	/**
cparata	0:6d69e896ce38	1705	* @brief Enable single tap detection
cparata	0:6d69e896ce38	1706	* @param int_pin interrupt pin line to be used
cparata	0:6d69e896ce38	1707	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1708	*/
cparata	0:6d69e896ce38	1709	int LSM6DSOSensor::enable_single_tap_detection(LSM6DSO_Interrupt_Pin_t int_pin)
cparata	0:6d69e896ce38	1710	{
cparata	3:4274d9103f1d	1711	int ret = 0;
cparata	3:4274d9103f1d	1712	lsm6dso_pin_int1_route_t val1;
cparata	3:4274d9103f1d	1713	lsm6dso_pin_int2_route_t val2;
cparata	3:4274d9103f1d	1714
cparata	3:4274d9103f1d	1715	/* Output Data Rate selection */
cparata	3:4274d9103f1d	1716	if (set_x_odr(416.0f) != 0) {
cparata	3:4274d9103f1d	1717	return 1;
cparata	3:4274d9103f1d	1718	}
cparata	3:4274d9103f1d	1719
cparata	3:4274d9103f1d	1720	/* Full scale selection */
cparata	3:4274d9103f1d	1721	if (set_x_fs(2.0f) != 0) {
cparata	3:4274d9103f1d	1722	return 1;
cparata	3:4274d9103f1d	1723	}
cparata	3:4274d9103f1d	1724
cparata	3:4274d9103f1d	1725	/* Enable X direction in tap recognition. */
cparata	3:4274d9103f1d	1726	if (lsm6dso_tap_detection_on_x_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
cparata	3:4274d9103f1d	1727	return 1;
cparata	3:4274d9103f1d	1728	}
cparata	3:4274d9103f1d	1729
cparata	3:4274d9103f1d	1730	/* Enable Y direction in tap recognition. */
cparata	3:4274d9103f1d	1731	if (lsm6dso_tap_detection_on_y_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
cparata	3:4274d9103f1d	1732	return 1;
cparata	3:4274d9103f1d	1733	}
cparata	3:4274d9103f1d	1734
cparata	3:4274d9103f1d	1735	/* Enable Z direction in tap recognition. */
cparata	3:4274d9103f1d	1736	if (lsm6dso_tap_detection_on_z_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
cparata	3:4274d9103f1d	1737	return 1;
cparata	3:4274d9103f1d	1738	}
cparata	3:4274d9103f1d	1739
cparata	3:4274d9103f1d	1740	/* Set tap threshold. */
cparata	3:4274d9103f1d	1741	if (lsm6dso_tap_threshold_x_set(&_reg_ctx, 0x08) != 0) {
cparata	3:4274d9103f1d	1742	return 1;
cparata	3:4274d9103f1d	1743	}
cparata	3:4274d9103f1d	1744
cparata	3:4274d9103f1d	1745	/* Set tap shock time window. */
cparata	3:4274d9103f1d	1746	if (lsm6dso_tap_shock_set(&_reg_ctx, 0x02) != 0) {
cparata	0:6d69e896ce38	1747	return 1;
cparata	3:4274d9103f1d	1748	}
cparata	3:4274d9103f1d	1749
cparata	3:4274d9103f1d	1750	/* Set tap quiet time window. */
cparata	3:4274d9103f1d	1751	if (lsm6dso_tap_quiet_set(&_reg_ctx, 0x01) != 0) {
cparata	0:6d69e896ce38	1752	return 1;
cparata	3:4274d9103f1d	1753	}
cparata	3:4274d9103f1d	1754
cparata	3:4274d9103f1d	1755	/* _NOTE_: Tap duration time window - don't care for single tap. */
cparata	3:4274d9103f1d	1756
cparata	3:4274d9103f1d	1757	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata	3:4274d9103f1d	1758
cparata	3:4274d9103f1d	1759	/* Enable single tap event on either INT1 or INT2 pin */
cparata	3:4274d9103f1d	1760	switch (int_pin) {
cparata	3:4274d9103f1d	1761	case LSM6DSO_INT1_PIN:
cparata	3:4274d9103f1d	1762	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1763	return 1;
cparata	3:4274d9103f1d	1764	}
cparata	3:4274d9103f1d	1765
cparata	4:77faf76e3cd8	1766	val1.single_tap = PROPERTY_ENABLE;
cparata	4:77faf76e3cd8	1767
cparata	4:77faf76e3cd8	1768	if (lsm6dso_pin_int1_route_set(&_reg_ctx, val1) != 0) {
cparata	3:4274d9103f1d	1769	return 1;
cparata	3:4274d9103f1d	1770	}
cparata	3:4274d9103f1d	1771	break;
cparata	3:4274d9103f1d	1772
cparata	3:4274d9103f1d	1773	case LSM6DSO_INT2_PIN:
cparata	4:77faf76e3cd8	1774	if (lsm6dso_pin_int2_route_get(&_reg_ctx, NULL, &val2) != 0) {
cparata	3:4274d9103f1d	1775	return 1;
cparata	3:4274d9103f1d	1776	}
cparata	3:4274d9103f1d	1777
cparata	4:77faf76e3cd8	1778	val2.single_tap = PROPERTY_ENABLE;
cparata	4:77faf76e3cd8	1779
cparata	4:77faf76e3cd8	1780	if (lsm6dso_pin_int2_route_set(&_reg_ctx, NULL, val2) != 0) {
cparata	3:4274d9103f1d	1781	return 1;
cparata	3:4274d9103f1d	1782	}
cparata	3:4274d9103f1d	1783	break;
cparata	3:4274d9103f1d	1784
cparata	3:4274d9103f1d	1785	default:
cparata	3:4274d9103f1d	1786	ret = 1;
cparata	3:4274d9103f1d	1787	break;
cparata	3:4274d9103f1d	1788	}
cparata	3:4274d9103f1d	1789
cparata	3:4274d9103f1d	1790	return ret;
cparata	0:6d69e896ce38	1791	}
cparata	0:6d69e896ce38	1792
cparata	0:6d69e896ce38	1793	/**
cparata	0:6d69e896ce38	1794	* @brief Disable single tap detection
cparata	0:6d69e896ce38	1795	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1796	*/
cparata	0:6d69e896ce38	1797	int LSM6DSOSensor::disable_single_tap_detection()
cparata	0:6d69e896ce38	1798	{
cparata	0:6d69e896ce38	1799	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1800	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	1801
cparata	3:4274d9103f1d	1802	/* Disable single tap event on both INT1 and INT2 pins */
cparata	3:4274d9103f1d	1803	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1804	return 1;
cparata	3:4274d9103f1d	1805	}
cparata	3:4274d9103f1d	1806
cparata	4:77faf76e3cd8	1807	val1.single_tap = PROPERTY_DISABLE;
cparata	4:77faf76e3cd8	1808
cparata	4:77faf76e3cd8	1809	if (lsm6dso_pin_int1_route_set(&_reg_ctx, val1) != 0) {
cparata	3:4274d9103f1d	1810	return 1;
cparata	3:4274d9103f1d	1811	}
cparata	3:4274d9103f1d	1812
cparata	4:77faf76e3cd8	1813	if (lsm6dso_pin_int2_route_get(&_reg_ctx, NULL, &val2) != 0) {
cparata	3:4274d9103f1d	1814	return 1;
cparata	3:4274d9103f1d	1815	}
cparata	3:4274d9103f1d	1816
cparata	4:77faf76e3cd8	1817	val2.single_tap = PROPERTY_DISABLE;
cparata	4:77faf76e3cd8	1818
cparata	4:77faf76e3cd8	1819	if (lsm6dso_pin_int2_route_set(&_reg_ctx, NULL, val2) != 0) {
cparata	3:4274d9103f1d	1820	return 1;
cparata	3:4274d9103f1d	1821	}
cparata	3:4274d9103f1d	1822
cparata	3:4274d9103f1d	1823	/* Reset tap quiet time window. */
cparata	3:4274d9103f1d	1824	if (lsm6dso_tap_quiet_set(&_reg_ctx, 0x00) != 0) {
cparata	3:4274d9103f1d	1825	return 1;
cparata	3:4274d9103f1d	1826	}
cparata	3:4274d9103f1d	1827
cparata	3:4274d9103f1d	1828	/* Reset tap shock time window. */
cparata	3:4274d9103f1d	1829	if (lsm6dso_tap_shock_set(&_reg_ctx, 0x00) != 0) {
cparata	3:4274d9103f1d	1830	return 1;
cparata	3:4274d9103f1d	1831	}
cparata	3:4274d9103f1d	1832
cparata	3:4274d9103f1d	1833	/* Reset tap threshold. */
cparata	3:4274d9103f1d	1834	if (lsm6dso_tap_threshold_x_set(&_reg_ctx, 0x00) != 0) {
cparata	3:4274d9103f1d	1835	return 1;
cparata	3:4274d9103f1d	1836	}
cparata	3:4274d9103f1d	1837
cparata	3:4274d9103f1d	1838	/* Disable Z direction in tap recognition. */
cparata	3:4274d9103f1d	1839	if (lsm6dso_tap_detection_on_z_set(&_reg_ctx, PROPERTY_DISABLE) != 0) {
cparata	3:4274d9103f1d	1840	return 1;
cparata	3:4274d9103f1d	1841	}
cparata	3:4274d9103f1d	1842
cparata	3:4274d9103f1d	1843	/* Disable Y direction in tap recognition. */
cparata	3:4274d9103f1d	1844	if (lsm6dso_tap_detection_on_y_set(&_reg_ctx, PROPERTY_DISABLE) != 0) {
cparata	3:4274d9103f1d	1845	return 1;
cparata	3:4274d9103f1d	1846	}
cparata	3:4274d9103f1d	1847
cparata	3:4274d9103f1d	1848	/* Disable X direction in tap recognition. */
cparata	3:4274d9103f1d	1849	if (lsm6dso_tap_detection_on_x_set(&_reg_ctx, PROPERTY_DISABLE) != 0) {
cparata	3:4274d9103f1d	1850	return 1;
cparata	3:4274d9103f1d	1851	}
cparata	3:4274d9103f1d	1852
cparata	3:4274d9103f1d	1853	return 0;
cparata	0:6d69e896ce38	1854	}
cparata	0:6d69e896ce38	1855
cparata	0:6d69e896ce38	1856	/**
cparata	0:6d69e896ce38	1857	* @brief Enable double tap detection
cparata	0:6d69e896ce38	1858	* @param int_pin interrupt pin line to be used
cparata	0:6d69e896ce38	1859	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1860	*/
cparata	0:6d69e896ce38	1861	int LSM6DSOSensor::enable_double_tap_detection(LSM6DSO_Interrupt_Pin_t int_pin)
cparata	0:6d69e896ce38	1862	{
cparata	3:4274d9103f1d	1863	int ret = 0;
cparata	3:4274d9103f1d	1864	lsm6dso_pin_int1_route_t val1;
cparata	3:4274d9103f1d	1865	lsm6dso_pin_int2_route_t val2;
cparata	3:4274d9103f1d	1866
cparata	3:4274d9103f1d	1867	/* Output Data Rate selection */
cparata	3:4274d9103f1d	1868	if (set_x_odr(416.0f) != 0) {
cparata	3:4274d9103f1d	1869	return 1;
cparata	3:4274d9103f1d	1870	}
cparata	3:4274d9103f1d	1871
cparata	3:4274d9103f1d	1872	/* Full scale selection */
cparata	3:4274d9103f1d	1873	if (set_x_fs(2.0f) != 0) {
cparata	3:4274d9103f1d	1874	return 1;
cparata	3:4274d9103f1d	1875	}
cparata	3:4274d9103f1d	1876
cparata	3:4274d9103f1d	1877	/* Enable X direction in tap recognition. */
cparata	3:4274d9103f1d	1878	if (lsm6dso_tap_detection_on_x_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
cparata	3:4274d9103f1d	1879	return 1;
cparata	3:4274d9103f1d	1880	}
cparata	3:4274d9103f1d	1881
cparata	3:4274d9103f1d	1882	/* Enable Y direction in tap recognition. */
cparata	3:4274d9103f1d	1883	if (lsm6dso_tap_detection_on_y_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
cparata	3:4274d9103f1d	1884	return 1;
cparata	3:4274d9103f1d	1885	}
cparata	3:4274d9103f1d	1886
cparata	3:4274d9103f1d	1887	/* Enable Z direction in tap recognition. */
cparata	3:4274d9103f1d	1888	if (lsm6dso_tap_detection_on_z_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
cparata	3:4274d9103f1d	1889	return 1;
cparata	3:4274d9103f1d	1890	}
cparata	3:4274d9103f1d	1891
cparata	3:4274d9103f1d	1892	/* Set tap threshold. */
cparata	3:4274d9103f1d	1893	if (lsm6dso_tap_threshold_x_set(&_reg_ctx, 0x08) != 0) {
cparata	3:4274d9103f1d	1894	return 1;
cparata	3:4274d9103f1d	1895	}
cparata	3:4274d9103f1d	1896
cparata	3:4274d9103f1d	1897	/* Set tap shock time window. */
cparata	3:4274d9103f1d	1898	if (lsm6dso_tap_shock_set(&_reg_ctx, 0x03) != 0) {
cparata	3:4274d9103f1d	1899	return 1;
cparata	3:4274d9103f1d	1900	}
cparata	3:4274d9103f1d	1901
cparata	3:4274d9103f1d	1902	/* Set tap quiet time window. */
cparata	3:4274d9103f1d	1903	if (lsm6dso_tap_quiet_set(&_reg_ctx, 0x03) != 0) {
cparata	0:6d69e896ce38	1904	return 1;
cparata	3:4274d9103f1d	1905	}
cparata	3:4274d9103f1d	1906
cparata	3:4274d9103f1d	1907	/* Set tap duration time window. */
cparata	3:4274d9103f1d	1908	if (lsm6dso_tap_dur_set(&_reg_ctx, 0x08) != 0) {
cparata	0:6d69e896ce38	1909	return 1;
cparata	3:4274d9103f1d	1910	}
cparata	3:4274d9103f1d	1911
cparata	3:4274d9103f1d	1912	/* Single and double tap enabled. */
cparata	3:4274d9103f1d	1913	if (lsm6dso_tap_mode_set(&_reg_ctx, LSM6DSO_BOTH_SINGLE_DOUBLE) != 0) {
cparata	0:6d69e896ce38	1914	return 1;
cparata	3:4274d9103f1d	1915	}
cparata	3:4274d9103f1d	1916
cparata	3:4274d9103f1d	1917	/* Enable double tap event on either INT1 or INT2 pin */
cparata	3:4274d9103f1d	1918	switch (int_pin) {
cparata	3:4274d9103f1d	1919	case LSM6DSO_INT1_PIN:
cparata	3:4274d9103f1d	1920	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1921	return 1;
cparata	3:4274d9103f1d	1922	}
cparata	3:4274d9103f1d	1923
cparata	4:77faf76e3cd8	1924	val1.double_tap = PROPERTY_ENABLE;
cparata	4:77faf76e3cd8	1925
cparata	4:77faf76e3cd8	1926	if (lsm6dso_pin_int1_route_set(&_reg_ctx, val1) != 0) {
cparata	3:4274d9103f1d	1927	return 1;
cparata	3:4274d9103f1d	1928	}
cparata	3:4274d9103f1d	1929	break;
cparata	3:4274d9103f1d	1930
cparata	3:4274d9103f1d	1931	case LSM6DSO_INT2_PIN:
cparata	4:77faf76e3cd8	1932	if (lsm6dso_pin_int2_route_get(&_reg_ctx, NULL, &val2) != 0) {
cparata	3:4274d9103f1d	1933	return 1;
cparata	3:4274d9103f1d	1934	}
cparata	3:4274d9103f1d	1935
cparata	4:77faf76e3cd8	1936	val2.double_tap = PROPERTY_ENABLE;
cparata	4:77faf76e3cd8	1937
cparata	4:77faf76e3cd8	1938	if (lsm6dso_pin_int2_route_set(&_reg_ctx, NULL, val2) != 0) {
cparata	3:4274d9103f1d	1939	return 1;
cparata	3:4274d9103f1d	1940	}
cparata	3:4274d9103f1d	1941	break;
cparata	3:4274d9103f1d	1942
cparata	3:4274d9103f1d	1943	default:
cparata	3:4274d9103f1d	1944	ret = 1;
cparata	3:4274d9103f1d	1945	break;
cparata	3:4274d9103f1d	1946	}
cparata	3:4274d9103f1d	1947
cparata	3:4274d9103f1d	1948	return ret;
cparata	0:6d69e896ce38	1949	}
cparata	0:6d69e896ce38	1950
cparata	0:6d69e896ce38	1951	/**
cparata	0:6d69e896ce38	1952	* @brief Disable double tap detection
cparata	0:6d69e896ce38	1953	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1954	*/
cparata	0:6d69e896ce38	1955	int LSM6DSOSensor::disable_double_tap_detection()
cparata	0:6d69e896ce38	1956	{
cparata	3:4274d9103f1d	1957	lsm6dso_pin_int1_route_t val1;
cparata	3:4274d9103f1d	1958	lsm6dso_pin_int2_route_t val2;
cparata	3:4274d9103f1d	1959
cparata	3:4274d9103f1d	1960	/* Disable double tap event on both INT1 and INT2 pins */
cparata	3:4274d9103f1d	1961	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	1962	return 1;
cparata	3:4274d9103f1d	1963	}
cparata	3:4274d9103f1d	1964
cparata	4:77faf76e3cd8	1965	val1.double_tap = PROPERTY_DISABLE;
cparata	4:77faf76e3cd8	1966
cparata	4:77faf76e3cd8	1967	if (lsm6dso_pin_int1_route_set(&_reg_ctx, val1) != 0) {
cparata	3:4274d9103f1d	1968	return 1;
cparata	3:4274d9103f1d	1969	}
cparata	3:4274d9103f1d	1970
cparata	4:77faf76e3cd8	1971	if (lsm6dso_pin_int2_route_get(&_reg_ctx, NULL, &val2) != 0) {
cparata	3:4274d9103f1d	1972	return 1;
cparata	3:4274d9103f1d	1973	}
cparata	3:4274d9103f1d	1974
cparata	4:77faf76e3cd8	1975	val2.double_tap = PROPERTY_DISABLE;
cparata	4:77faf76e3cd8	1976
cparata	4:77faf76e3cd8	1977	if (lsm6dso_pin_int2_route_set(&_reg_ctx, NULL, val2) != 0) {
cparata	3:4274d9103f1d	1978	return 1;
cparata	3:4274d9103f1d	1979	}
cparata	3:4274d9103f1d	1980
cparata	3:4274d9103f1d	1981	/* Only single tap enabled. */
cparata	3:4274d9103f1d	1982	if (lsm6dso_tap_mode_set(&_reg_ctx, LSM6DSO_ONLY_SINGLE) != 0) {
cparata	3:4274d9103f1d	1983	return 1;
cparata	3:4274d9103f1d	1984	}
cparata	3:4274d9103f1d	1985
cparata	3:4274d9103f1d	1986	/* Reset tap duration time window. */
cparata	3:4274d9103f1d	1987	if (lsm6dso_tap_dur_set(&_reg_ctx, 0x00) != 0) {
cparata	3:4274d9103f1d	1988	return 1;
cparata	3:4274d9103f1d	1989	}
cparata	3:4274d9103f1d	1990
cparata	3:4274d9103f1d	1991	/* Reset tap quiet time window. */
cparata	3:4274d9103f1d	1992	if (lsm6dso_tap_quiet_set(&_reg_ctx, 0x00) != 0) {
cparata	3:4274d9103f1d	1993	return 1;
cparata	3:4274d9103f1d	1994	}
cparata	3:4274d9103f1d	1995
cparata	3:4274d9103f1d	1996	/* Reset tap shock time window. */
cparata	3:4274d9103f1d	1997	if (lsm6dso_tap_shock_set(&_reg_ctx, 0x00) != 0) {
cparata	3:4274d9103f1d	1998	return 1;
cparata	3:4274d9103f1d	1999	}
cparata	3:4274d9103f1d	2000
cparata	3:4274d9103f1d	2001	/* Reset tap threshold. */
cparata	3:4274d9103f1d	2002	if (lsm6dso_tap_threshold_x_set(&_reg_ctx, 0x00) != 0) {
cparata	3:4274d9103f1d	2003	return 1;
cparata	3:4274d9103f1d	2004	}
cparata	3:4274d9103f1d	2005
cparata	3:4274d9103f1d	2006	/* Disable Z direction in tap recognition. */
cparata	3:4274d9103f1d	2007	if (lsm6dso_tap_detection_on_z_set(&_reg_ctx, PROPERTY_DISABLE) != 0) {
cparata	3:4274d9103f1d	2008	return 1;
cparata	3:4274d9103f1d	2009	}
cparata	3:4274d9103f1d	2010
cparata	3:4274d9103f1d	2011	/* Disable Y direction in tap recognition. */
cparata	3:4274d9103f1d	2012	if (lsm6dso_tap_detection_on_y_set(&_reg_ctx, PROPERTY_DISABLE) != 0) {
cparata	3:4274d9103f1d	2013	return 1;
cparata	3:4274d9103f1d	2014	}
cparata	3:4274d9103f1d	2015
cparata	3:4274d9103f1d	2016	/* Disable X direction in tap recognition. */
cparata	3:4274d9103f1d	2017	if (lsm6dso_tap_detection_on_x_set(&_reg_ctx, PROPERTY_DISABLE) != 0) {
cparata	3:4274d9103f1d	2018	return 1;
cparata	3:4274d9103f1d	2019	}
cparata	3:4274d9103f1d	2020
cparata	3:4274d9103f1d	2021	return 0;
cparata	0:6d69e896ce38	2022	}
cparata	0:6d69e896ce38	2023
cparata	0:6d69e896ce38	2024	/**
cparata	0:6d69e896ce38	2025	* @brief Set tap threshold
cparata	0:6d69e896ce38	2026	* @param thr tap threshold
cparata	0:6d69e896ce38	2027	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2028	*/
cparata	0:6d69e896ce38	2029	int LSM6DSOSensor::set_tap_threshold(uint8_t thr)
cparata	0:6d69e896ce38	2030	{
cparata	3:4274d9103f1d	2031	/* Set tap threshold. */
cparata	3:4274d9103f1d	2032	if (lsm6dso_tap_threshold_x_set(&_reg_ctx, thr) != 0) {
cparata	3:4274d9103f1d	2033	return 1;
cparata	3:4274d9103f1d	2034	}
cparata	3:4274d9103f1d	2035
cparata	3:4274d9103f1d	2036	return 0;
cparata	0:6d69e896ce38	2037	}
cparata	0:6d69e896ce38	2038
cparata	0:6d69e896ce38	2039	/**
cparata	0:6d69e896ce38	2040	* @brief Set tap shock time
cparata	0:6d69e896ce38	2041	* @param time tap shock time
cparata	0:6d69e896ce38	2042	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2043	*/
cparata	0:6d69e896ce38	2044	int LSM6DSOSensor::set_tap_shock_time(uint8_t time)
cparata	0:6d69e896ce38	2045	{
cparata	3:4274d9103f1d	2046	/* Set tap shock time window. */
cparata	3:4274d9103f1d	2047	if (lsm6dso_tap_shock_set(&_reg_ctx, time) != 0) {
cparata	3:4274d9103f1d	2048	return 1;
cparata	3:4274d9103f1d	2049	}
cparata	3:4274d9103f1d	2050
cparata	3:4274d9103f1d	2051	return 0;
cparata	0:6d69e896ce38	2052	}
cparata	0:6d69e896ce38	2053
cparata	0:6d69e896ce38	2054	/**
cparata	0:6d69e896ce38	2055	* @brief Set tap quiet time
cparata	0:6d69e896ce38	2056	* @param time tap quiet time
cparata	0:6d69e896ce38	2057	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2058	*/
cparata	0:6d69e896ce38	2059	int LSM6DSOSensor::set_tap_quiet_time(uint8_t time)
cparata	0:6d69e896ce38	2060	{
cparata	3:4274d9103f1d	2061	/* Set tap quiet time window. */
cparata	3:4274d9103f1d	2062	if (lsm6dso_tap_quiet_set(&_reg_ctx, time) != 0) {
cparata	3:4274d9103f1d	2063	return 1;
cparata	3:4274d9103f1d	2064	}
cparata	3:4274d9103f1d	2065
cparata	3:4274d9103f1d	2066	return 0;
cparata	0:6d69e896ce38	2067	}
cparata	0:6d69e896ce38	2068
cparata	0:6d69e896ce38	2069	/**
cparata	0:6d69e896ce38	2070	* @brief Set tap duration time
cparata	0:6d69e896ce38	2071	* @param time tap duration time
cparata	0:6d69e896ce38	2072	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2073	*/
cparata	0:6d69e896ce38	2074	int LSM6DSOSensor::set_tap_duration_time(uint8_t time)
cparata	0:6d69e896ce38	2075	{
cparata	3:4274d9103f1d	2076	/* Set tap duration time window. */
cparata	3:4274d9103f1d	2077	if (lsm6dso_tap_dur_set(&_reg_ctx, time) != 0) {
cparata	3:4274d9103f1d	2078	return 1;
cparata	3:4274d9103f1d	2079	}
cparata	3:4274d9103f1d	2080
cparata	3:4274d9103f1d	2081	return 0;
cparata	0:6d69e896ce38	2082	}
cparata	0:6d69e896ce38	2083
cparata	0:6d69e896ce38	2084	/**
cparata	0:6d69e896ce38	2085	* @brief Enable 6D orientation detection
cparata	0:6d69e896ce38	2086	* @param int_pin interrupt pin line to be used
cparata	0:6d69e896ce38	2087	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2088	*/
cparata	0:6d69e896ce38	2089	int LSM6DSOSensor::enable_6d_orientation(LSM6DSO_Interrupt_Pin_t int_pin)
cparata	0:6d69e896ce38	2090	{
cparata	3:4274d9103f1d	2091	int ret = 0;
cparata	3:4274d9103f1d	2092	lsm6dso_pin_int1_route_t val1;
cparata	3:4274d9103f1d	2093	lsm6dso_pin_int2_route_t val2;
cparata	3:4274d9103f1d	2094
cparata	3:4274d9103f1d	2095	/* Output Data Rate selection */
cparata	3:4274d9103f1d	2096	if (set_x_odr(416.0f) != 0) {
cparata	3:4274d9103f1d	2097	return 1;
cparata	3:4274d9103f1d	2098	}
cparata	3:4274d9103f1d	2099
cparata	3:4274d9103f1d	2100	/* Full scale selection */
cparata	3:4274d9103f1d	2101	if (set_x_fs(2.0f) != 0) {
cparata	3:4274d9103f1d	2102	return 1;
cparata	3:4274d9103f1d	2103	}
cparata	3:4274d9103f1d	2104
cparata	3:4274d9103f1d	2105	/* 6D orientation enabled. */
cparata	3:4274d9103f1d	2106	if (lsm6dso_6d_threshold_set(&_reg_ctx, LSM6DSO_DEG_60) != 0) {
cparata	0:6d69e896ce38	2107	return 1;
cparata	3:4274d9103f1d	2108	}
cparata	3:4274d9103f1d	2109
cparata	3:4274d9103f1d	2110	/* Enable 6D orientation event on either INT1 or INT2 pin */
cparata	3:4274d9103f1d	2111	switch (int_pin) {
cparata	3:4274d9103f1d	2112	case LSM6DSO_INT1_PIN:
cparata	3:4274d9103f1d	2113	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	2114	return 1;
cparata	3:4274d9103f1d	2115	}
cparata	3:4274d9103f1d	2116
cparata	4:77faf76e3cd8	2117	val1.six_d = PROPERTY_ENABLE;
cparata	4:77faf76e3cd8	2118
cparata	4:77faf76e3cd8	2119	if (lsm6dso_pin_int1_route_set(&_reg_ctx, val1) != 0) {
cparata	3:4274d9103f1d	2120	return 1;
cparata	3:4274d9103f1d	2121	}
cparata	3:4274d9103f1d	2122	break;
cparata	3:4274d9103f1d	2123
cparata	3:4274d9103f1d	2124	case LSM6DSO_INT2_PIN:
cparata	4:77faf76e3cd8	2125	if (lsm6dso_pin_int2_route_get(&_reg_ctx, NULL, &val2) != 0) {
cparata	3:4274d9103f1d	2126	return 1;
cparata	3:4274d9103f1d	2127	}
cparata	3:4274d9103f1d	2128
cparata	4:77faf76e3cd8	2129	val2.six_d = PROPERTY_ENABLE;
cparata	4:77faf76e3cd8	2130
cparata	4:77faf76e3cd8	2131	if (lsm6dso_pin_int2_route_set(&_reg_ctx, NULL, val2) != 0) {
cparata	3:4274d9103f1d	2132	return 1;
cparata	3:4274d9103f1d	2133	}
cparata	3:4274d9103f1d	2134	break;
cparata	3:4274d9103f1d	2135
cparata	3:4274d9103f1d	2136	default:
cparata	3:4274d9103f1d	2137	ret = 1;
cparata	3:4274d9103f1d	2138	break;
cparata	3:4274d9103f1d	2139	}
cparata	3:4274d9103f1d	2140
cparata	3:4274d9103f1d	2141	return ret;
cparata	0:6d69e896ce38	2142	}
cparata	0:6d69e896ce38	2143
cparata	0:6d69e896ce38	2144	/**
cparata	0:6d69e896ce38	2145	* @brief Disable 6D orientation detection
cparata	0:6d69e896ce38	2146	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2147	*/
cparata	0:6d69e896ce38	2148	int LSM6DSOSensor::disable_6d_orientation()
cparata	0:6d69e896ce38	2149	{
cparata	3:4274d9103f1d	2150	lsm6dso_pin_int1_route_t val1;
cparata	3:4274d9103f1d	2151	lsm6dso_pin_int2_route_t val2;
cparata	3:4274d9103f1d	2152
cparata	3:4274d9103f1d	2153	/* Disable 6D orientation event on both INT1 and INT2 pins */
cparata	3:4274d9103f1d	2154	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0) {
cparata	3:4274d9103f1d	2155	return 1;
cparata	3:4274d9103f1d	2156	}
cparata	3:4274d9103f1d	2157
cparata	4:77faf76e3cd8	2158	val1.six_d = PROPERTY_DISABLE;
cparata	4:77faf76e3cd8	2159
cparata	4:77faf76e3cd8	2160	if (lsm6dso_pin_int1_route_set(&_reg_ctx, val1) != 0) {
cparata	3:4274d9103f1d	2161	return 1;
cparata	3:4274d9103f1d	2162	}
cparata	3:4274d9103f1d	2163
cparata	4:77faf76e3cd8	2164	if (lsm6dso_pin_int2_route_get(&_reg_ctx, NULL, &val2) != 0) {
cparata	3:4274d9103f1d	2165	return 1;
cparata	3:4274d9103f1d	2166	}
cparata	3:4274d9103f1d	2167
cparata	4:77faf76e3cd8	2168	val2.six_d = PROPERTY_DISABLE;
cparata	4:77faf76e3cd8	2169
cparata	4:77faf76e3cd8	2170	if (lsm6dso_pin_int2_route_set(&_reg_ctx, NULL, val2) != 0) {
cparata	3:4274d9103f1d	2171	return 1;
cparata	3:4274d9103f1d	2172	}
cparata	3:4274d9103f1d	2173
cparata	3:4274d9103f1d	2174	/* Reset 6D orientation. */
cparata	3:4274d9103f1d	2175	if (lsm6dso_6d_threshold_set(&_reg_ctx, LSM6DSO_DEG_80) != 0) {
cparata	3:4274d9103f1d	2176	return 1;
cparata	3:4274d9103f1d	2177	}
cparata	3:4274d9103f1d	2178
cparata	3:4274d9103f1d	2179	return 0;
cparata	0:6d69e896ce38	2180	}
cparata	0:6d69e896ce38	2181
cparata	0:6d69e896ce38	2182	/**
cparata	0:6d69e896ce38	2183	* @brief Set 6D orientation threshold
cparata	0:6d69e896ce38	2184	* @param thr 6D Orientation detection threshold
cparata	0:6d69e896ce38	2185	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2186	*/
cparata	0:6d69e896ce38	2187	int LSM6DSOSensor::set_6d_orientation_threshold(uint8_t thr)
cparata	0:6d69e896ce38	2188	{
cparata	3:4274d9103f1d	2189	if (lsm6dso_6d_threshold_set(&_reg_ctx, (lsm6dso_sixd_ths_t)thr) != 0) {
cparata	3:4274d9103f1d	2190	return 1;
cparata	3:4274d9103f1d	2191	}
cparata	3:4274d9103f1d	2192
cparata	3:4274d9103f1d	2193	return 0;
cparata	0:6d69e896ce38	2194	}
cparata	0:6d69e896ce38	2195
cparata	0:6d69e896ce38	2196	/**
cparata	0:6d69e896ce38	2197	* @brief Get the status of XLow orientation
cparata	0:6d69e896ce38	2198	* @param xl the status of XLow orientation
cparata	0:6d69e896ce38	2199	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2200	*/
cparata	0:6d69e896ce38	2201	int LSM6DSOSensor::get_6d_orientation_xl(uint8_t *xl)
cparata	0:6d69e896ce38	2202	{
cparata	3:4274d9103f1d	2203	lsm6dso_d6d_src_t data;
cparata	3:4274d9103f1d	2204
cparata	3:4274d9103f1d	2205	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0) {
cparata	3:4274d9103f1d	2206	return 1;
cparata	3:4274d9103f1d	2207	}
cparata	3:4274d9103f1d	2208
cparata	3:4274d9103f1d	2209	*xl = data.xl;
cparata	3:4274d9103f1d	2210
cparata	3:4274d9103f1d	2211	return 0;
cparata	0:6d69e896ce38	2212	}
cparata	0:6d69e896ce38	2213
cparata	0:6d69e896ce38	2214	/**
cparata	0:6d69e896ce38	2215	* @brief Get the status of XHigh orientation
cparata	0:6d69e896ce38	2216	* @param xh the status of XHigh orientation
cparata	0:6d69e896ce38	2217	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2218	*/
cparata	0:6d69e896ce38	2219	int LSM6DSOSensor::get_6d_orientation_xh(uint8_t *xh)
cparata	0:6d69e896ce38	2220	{
cparata	3:4274d9103f1d	2221	lsm6dso_d6d_src_t data;
cparata	3:4274d9103f1d	2222
cparata	3:4274d9103f1d	2223	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0) {
cparata	3:4274d9103f1d	2224	return 1;
cparata	3:4274d9103f1d	2225	}
cparata	3:4274d9103f1d	2226
cparata	3:4274d9103f1d	2227	*xh = data.xh;
cparata	3:4274d9103f1d	2228
cparata	3:4274d9103f1d	2229	return 0;
cparata	0:6d69e896ce38	2230	}
cparata	0:6d69e896ce38	2231
cparata	0:6d69e896ce38	2232	/**
cparata	0:6d69e896ce38	2233	* @brief Get the status of YLow orientation
cparata	0:6d69e896ce38	2234	* @param yl the status of YLow orientation
cparata	0:6d69e896ce38	2235	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2236	*/
cparata	0:6d69e896ce38	2237	int LSM6DSOSensor::get_6d_orientation_yl(uint8_t *yl)
cparata	0:6d69e896ce38	2238	{
cparata	3:4274d9103f1d	2239	lsm6dso_d6d_src_t data;
cparata	3:4274d9103f1d	2240
cparata	3:4274d9103f1d	2241	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0) {
cparata	3:4274d9103f1d	2242	return 1;
cparata	3:4274d9103f1d	2243	}
cparata	3:4274d9103f1d	2244
cparata	3:4274d9103f1d	2245	*yl = data.yl;
cparata	3:4274d9103f1d	2246
cparata	3:4274d9103f1d	2247	return 0;
cparata	0:6d69e896ce38	2248	}
cparata	0:6d69e896ce38	2249
cparata	0:6d69e896ce38	2250	/**
cparata	0:6d69e896ce38	2251	* @brief Get the status of YHigh orientation
cparata	0:6d69e896ce38	2252	* @param yh the status of YHigh orientation
cparata	0:6d69e896ce38	2253	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2254	*/
cparata	0:6d69e896ce38	2255	int LSM6DSOSensor::get_6d_orientation_yh(uint8_t *yh)
cparata	0:6d69e896ce38	2256	{
cparata	3:4274d9103f1d	2257	lsm6dso_d6d_src_t data;
cparata	3:4274d9103f1d	2258
cparata	3:4274d9103f1d	2259	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0) {
cparata	3:4274d9103f1d	2260	return 1;
cparata	3:4274d9103f1d	2261	}
cparata	3:4274d9103f1d	2262
cparata	3:4274d9103f1d	2263	*yh = data.yh;
cparata	3:4274d9103f1d	2264
cparata	3:4274d9103f1d	2265	return 0;
cparata	0:6d69e896ce38	2266	}
cparata	0:6d69e896ce38	2267
cparata	0:6d69e896ce38	2268	/**
cparata	0:6d69e896ce38	2269	* @brief Get the status of ZLow orientation
cparata	0:6d69e896ce38	2270	* @param zl the status of ZLow orientation
cparata	0:6d69e896ce38	2271	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2272	*/
cparata	0:6d69e896ce38	2273	int LSM6DSOSensor::get_6d_orientation_zl(uint8_t *zl)
cparata	0:6d69e896ce38	2274	{
cparata	3:4274d9103f1d	2275	lsm6dso_d6d_src_t data;
cparata	3:4274d9103f1d	2276
cparata	3:4274d9103f1d	2277	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0) {
cparata	3:4274d9103f1d	2278	return 1;
cparata	3:4274d9103f1d	2279	}
cparata	3:4274d9103f1d	2280
cparata	3:4274d9103f1d	2281	*zl = data.zl;
cparata	3:4274d9103f1d	2282
cparata	3:4274d9103f1d	2283	return 0;
cparata	0:6d69e896ce38	2284	}
cparata	0:6d69e896ce38	2285
cparata	0:6d69e896ce38	2286	/**
cparata	0:6d69e896ce38	2287	* @brief Get the status of ZHigh orientation
cparata	0:6d69e896ce38	2288	* @param zh the status of ZHigh orientation
cparata	0:6d69e896ce38	2289	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2290	*/
cparata	0:6d69e896ce38	2291	int LSM6DSOSensor::get_6d_orientation_zh(uint8_t *zh)
cparata	0:6d69e896ce38	2292	{
cparata	3:4274d9103f1d	2293	lsm6dso_d6d_src_t data;
cparata	3:4274d9103f1d	2294
cparata	3:4274d9103f1d	2295	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0) {
cparata	3:4274d9103f1d	2296	return 1;
cparata	3:4274d9103f1d	2297	}
cparata	3:4274d9103f1d	2298
cparata	3:4274d9103f1d	2299	*zh = data.zh;
cparata	3:4274d9103f1d	2300
cparata	3:4274d9103f1d	2301	return 0;
cparata	0:6d69e896ce38	2302	}
cparata	0:6d69e896ce38	2303
cparata	0:6d69e896ce38	2304	/**
cparata	0:6d69e896ce38	2305	* @brief Get the LSM6DSO ACC data ready bit value
cparata	0:6d69e896ce38	2306	* @param status the status of data ready bit
cparata	0:6d69e896ce38	2307	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2308	*/
cparata	0:6d69e896ce38	2309	int LSM6DSOSensor::get_x_drdy_status(uint8_t *status)
cparata	0:6d69e896ce38	2310	{
cparata	3:4274d9103f1d	2311	if (lsm6dso_xl_flag_data_ready_get(&_reg_ctx, status) != 0) {
cparata	3:4274d9103f1d	2312	return 1;
cparata	3:4274d9103f1d	2313	}
cparata	3:4274d9103f1d	2314
cparata	3:4274d9103f1d	2315	return 0;
cparata	0:6d69e896ce38	2316	}
cparata	0:6d69e896ce38	2317
cparata	0:6d69e896ce38	2318	/**
cparata	0:6d69e896ce38	2319	* @brief Get the status of all hardware events
cparata	0:6d69e896ce38	2320	* @param status the status of all hardware events
cparata	0:6d69e896ce38	2321	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2322	*/
cparata	0:6d69e896ce38	2323	int LSM6DSOSensor::get_event_status(LSM6DSO_Event_Status_t *status)
cparata	0:6d69e896ce38	2324	{
cparata	3:4274d9103f1d	2325	uint8_t tilt_ia = 0U;
cparata	3:4274d9103f1d	2326	lsm6dso_wake_up_src_t wake_up_src;
cparata	3:4274d9103f1d	2327	lsm6dso_tap_src_t tap_src;
cparata	3:4274d9103f1d	2328	lsm6dso_d6d_src_t d6d_src;
cparata	3:4274d9103f1d	2329	lsm6dso_emb_func_src_t func_src;
cparata	3:4274d9103f1d	2330	lsm6dso_md1_cfg_t md1_cfg;
cparata	3:4274d9103f1d	2331	lsm6dso_md2_cfg_t md2_cfg;
cparata	3:4274d9103f1d	2332	lsm6dso_emb_func_int1_t int1_ctrl;
cparata	3:4274d9103f1d	2333	lsm6dso_emb_func_int2_t int2_ctrl;
cparata	3:4274d9103f1d	2334
cparata	3:4274d9103f1d	2335	(void)memset((void *)status, 0x0, sizeof(LSM6DSO_Event_Status_t));
cparata	3:4274d9103f1d	2336
cparata	3:4274d9103f1d	2337	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_WAKE_UP_SRC, (uint8_t *)&wake_up_src, 1) != 0) {
cparata	3:4274d9103f1d	2338	return 1;
cparata	3:4274d9103f1d	2339	}
cparata	3:4274d9103f1d	2340
cparata	3:4274d9103f1d	2341	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_TAP_SRC, (uint8_t *)&tap_src, 1) != 0) {
cparata	3:4274d9103f1d	2342	return 1;
cparata	3:4274d9103f1d	2343	}
cparata	3:4274d9103f1d	2344
cparata	3:4274d9103f1d	2345	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&d6d_src, 1) != 0) {
cparata	3:4274d9103f1d	2346	return 1;
cparata	3:4274d9103f1d	2347	}
cparata	3:4274d9103f1d	2348
cparata	3:4274d9103f1d	2349	if (lsm6dso_mem_bank_set(&_reg_ctx, LSM6DSO_EMBEDDED_FUNC_BANK) != 0) {
cparata	3:4274d9103f1d	2350	return 1;
cparata	3:4274d9103f1d	2351	}
cparata	3:4274d9103f1d	2352
cparata	3:4274d9103f1d	2353	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_EMB_FUNC_SRC, (uint8_t *)&func_src, 1) != 0) {
cparata	3:4274d9103f1d	2354	return 1;
cparata	3:4274d9103f1d	2355	}
cparata	3:4274d9103f1d	2356
cparata	3:4274d9103f1d	2357	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_EMB_FUNC_INT1, (uint8_t *)&int1_ctrl, 1) != 0) {
cparata	3:4274d9103f1d	2358	return 1;
cparata	3:4274d9103f1d	2359	}
cparata	3:4274d9103f1d	2360
cparata	3:4274d9103f1d	2361	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_EMB_FUNC_INT2, (uint8_t *)&int2_ctrl, 1) != 0) {
cparata	3:4274d9103f1d	2362	return 1;
cparata	3:4274d9103f1d	2363	}
cparata	3:4274d9103f1d	2364
cparata	3:4274d9103f1d	2365	if (lsm6dso_mem_bank_set(&_reg_ctx, LSM6DSO_USER_BANK) != 0) {
cparata	3:4274d9103f1d	2366	return 1;
cparata	3:4274d9103f1d	2367	}
cparata	3:4274d9103f1d	2368
cparata	3:4274d9103f1d	2369	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_MD1_CFG, (uint8_t *)&md1_cfg, 1) != 0) {
cparata	3:4274d9103f1d	2370	return 1;
cparata	0:6d69e896ce38	2371	}
cparata	3:4274d9103f1d	2372
cparata	3:4274d9103f1d	2373	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_MD2_CFG, (uint8_t *)&md2_cfg, 1) != 0) {
cparata	3:4274d9103f1d	2374	return 1;
cparata	3:4274d9103f1d	2375	}
cparata	3:4274d9103f1d	2376
cparata	3:4274d9103f1d	2377	if (lsm6dso_tilt_flag_data_ready_get(&_reg_ctx, &tilt_ia) != 0) {
cparata	3:4274d9103f1d	2378	return 1;
cparata	0:6d69e896ce38	2379	}
cparata	3:4274d9103f1d	2380
cparata	3:4274d9103f1d	2381	if ((md1_cfg.int1_ff == 1U) \|\| (md2_cfg.int2_ff == 1U)) {
cparata	3:4274d9103f1d	2382	if (wake_up_src.ff_ia == 1U) {
cparata	3:4274d9103f1d	2383	status->FreeFallStatus = 1;
cparata	3:4274d9103f1d	2384	}
cparata	0:6d69e896ce38	2385	}
cparata	3:4274d9103f1d	2386
cparata	3:4274d9103f1d	2387	if ((md1_cfg.int1_wu == 1U) \|\| (md2_cfg.int2_wu == 1U)) {
cparata	3:4274d9103f1d	2388	if (wake_up_src.wu_ia == 1U) {
cparata	3:4274d9103f1d	2389	status->WakeUpStatus = 1;
cparata	3:4274d9103f1d	2390	}
cparata	3:4274d9103f1d	2391	}
cparata	3:4274d9103f1d	2392
cparata	3:4274d9103f1d	2393	if ((md1_cfg.int1_single_tap == 1U) \|\| (md2_cfg.int2_single_tap == 1U)) {
cparata	3:4274d9103f1d	2394	if (tap_src.single_tap == 1U) {
cparata	3:4274d9103f1d	2395	status->TapStatus = 1;
cparata	3:4274d9103f1d	2396	}
cparata	0:6d69e896ce38	2397	}
cparata	3:4274d9103f1d	2398
cparata	3:4274d9103f1d	2399	if ((md1_cfg.int1_double_tap == 1U) \|\| (md2_cfg.int2_double_tap == 1U)) {
cparata	3:4274d9103f1d	2400	if (tap_src.double_tap == 1U) {
cparata	3:4274d9103f1d	2401	status->DoubleTapStatus = 1;
cparata	3:4274d9103f1d	2402	}
cparata	3:4274d9103f1d	2403	}
cparata	3:4274d9103f1d	2404
cparata	3:4274d9103f1d	2405	if ((md1_cfg.int1_6d == 1U) \|\| (md2_cfg.int2_6d == 1U)) {
cparata	3:4274d9103f1d	2406	if (d6d_src.d6d_ia == 1U) {
cparata	3:4274d9103f1d	2407	status->D6DOrientationStatus = 1;
cparata	3:4274d9103f1d	2408	}
cparata	0:6d69e896ce38	2409	}
cparata	3:4274d9103f1d	2410
cparata	3:4274d9103f1d	2411	if (int1_ctrl.int1_step_detector == 1U) {
cparata	3:4274d9103f1d	2412	if (func_src.step_detected == 1U) {
cparata	3:4274d9103f1d	2413	status->StepStatus = 1;
cparata	3:4274d9103f1d	2414	}
cparata	0:6d69e896ce38	2415	}
cparata	3:4274d9103f1d	2416
cparata	3:4274d9103f1d	2417	if ((int1_ctrl.int1_tilt == 1U) \|\| (int2_ctrl.int2_tilt == 1U)) {
cparata	3:4274d9103f1d	2418	if (tilt_ia == 1U) {
cparata	3:4274d9103f1d	2419	status->TiltStatus = 1;
cparata	3:4274d9103f1d	2420	}
cparata	0:6d69e896ce38	2421	}
cparata	3:4274d9103f1d	2422
cparata	3:4274d9103f1d	2423	return 0;
cparata	0:6d69e896ce38	2424	}
cparata	0:6d69e896ce38	2425
cparata	0:6d69e896ce38	2426	/**
cparata	0:6d69e896ce38	2427	* @brief Set self test
cparata	0:6d69e896ce38	2428	* @param val the value of st_xl in reg CTRL5_C
cparata	0:6d69e896ce38	2429	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2430	*/
cparata	0:6d69e896ce38	2431	int LSM6DSOSensor::set_x_self_test(uint8_t val)
cparata	0:6d69e896ce38	2432	{
cparata	3:4274d9103f1d	2433	lsm6dso_st_xl_t reg;
cparata	3:4274d9103f1d	2434
cparata	3:4274d9103f1d	2435	reg = (val == 0U) ? LSM6DSO_XL_ST_DISABLE
cparata	3:4274d9103f1d	2436	: (val == 1U) ? LSM6DSO_XL_ST_POSITIVE
cparata	3:4274d9103f1d	2437	: (val == 2U) ? LSM6DSO_XL_ST_NEGATIVE
cparata	3:4274d9103f1d	2438	: LSM6DSO_XL_ST_DISABLE;
cparata	3:4274d9103f1d	2439
cparata	3:4274d9103f1d	2440	if (lsm6dso_xl_self_test_set(&_reg_ctx, reg) != 0) {
cparata	3:4274d9103f1d	2441	return 1;
cparata	3:4274d9103f1d	2442	}
cparata	3:4274d9103f1d	2443
cparata	3:4274d9103f1d	2444	return 0;
cparata	0:6d69e896ce38	2445	}
cparata	0:6d69e896ce38	2446
cparata	0:6d69e896ce38	2447	/**
cparata	0:6d69e896ce38	2448	* @brief Get the LSM6DSO GYRO data ready bit value
cparata	0:6d69e896ce38	2449	* @param status the status of data ready bit
cparata	0:6d69e896ce38	2450	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2451	*/
cparata	0:6d69e896ce38	2452	int LSM6DSOSensor::get_g_drdy_status(uint8_t *status)
cparata	0:6d69e896ce38	2453	{
cparata	3:4274d9103f1d	2454	if (lsm6dso_gy_flag_data_ready_get(&_reg_ctx, status) != 0) {
cparata	3:4274d9103f1d	2455	return 1;
cparata	3:4274d9103f1d	2456	}
cparata	3:4274d9103f1d	2457
cparata	3:4274d9103f1d	2458	return 0;
cparata	0:6d69e896ce38	2459	}
cparata	0:6d69e896ce38	2460
cparata	0:6d69e896ce38	2461	/**
cparata	0:6d69e896ce38	2462	* @brief Set self test
cparata	0:6d69e896ce38	2463	* @param val the value of st_xl in reg CTRL5_C
cparata	0:6d69e896ce38	2464	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2465	*/
cparata	0:6d69e896ce38	2466	int LSM6DSOSensor::set_g_self_test(uint8_t val)
cparata	0:6d69e896ce38	2467	{
cparata	3:4274d9103f1d	2468	lsm6dso_st_g_t reg;
cparata	3:4274d9103f1d	2469
cparata	3:4274d9103f1d	2470	reg = (val == 0U) ? LSM6DSO_GY_ST_DISABLE
cparata	3:4274d9103f1d	2471	: (val == 1U) ? LSM6DSO_GY_ST_POSITIVE
cparata	3:4274d9103f1d	2472	: (val == 2U) ? LSM6DSO_GY_ST_NEGATIVE
cparata	3:4274d9103f1d	2473	: LSM6DSO_GY_ST_DISABLE;
cparata	3:4274d9103f1d	2474
cparata	3:4274d9103f1d	2475
cparata	3:4274d9103f1d	2476	if (lsm6dso_gy_self_test_set(&_reg_ctx, reg) != 0) {
cparata	3:4274d9103f1d	2477	return 1;
cparata	3:4274d9103f1d	2478	}
cparata	3:4274d9103f1d	2479
cparata	3:4274d9103f1d	2480	return 0;
cparata	0:6d69e896ce38	2481	}
cparata	0:6d69e896ce38	2482
cparata	0:6d69e896ce38	2483	/**
cparata	0:6d69e896ce38	2484	* @brief Get the LSM6DSO FIFO number of samples
cparata	0:6d69e896ce38	2485	* @param num_samples number of samples
cparata	0:6d69e896ce38	2486	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2487	*/
cparata	0:6d69e896ce38	2488	int LSM6DSOSensor::get_fifo_num_samples(uint16_t *num_samples)
cparata	0:6d69e896ce38	2489	{
cparata	3:4274d9103f1d	2490	if (lsm6dso_fifo_data_level_get(&_reg_ctx, num_samples) != 0) {
cparata	3:4274d9103f1d	2491	return 1;
cparata	3:4274d9103f1d	2492	}
cparata	3:4274d9103f1d	2493
cparata	3:4274d9103f1d	2494	return 0;
cparata	0:6d69e896ce38	2495	}
cparata	0:6d69e896ce38	2496
cparata	0:6d69e896ce38	2497	/**
cparata	0:6d69e896ce38	2498	* @brief Get the LSM6DSO FIFO full status
cparata	0:6d69e896ce38	2499	* @param status FIFO full status
cparata	0:6d69e896ce38	2500	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2501	*/
cparata	0:6d69e896ce38	2502	int LSM6DSOSensor::get_fifo_full_status(uint8_t *status)
cparata	0:6d69e896ce38	2503	{
cparata	3:4274d9103f1d	2504	lsm6dso_reg_t reg;
cparata	3:4274d9103f1d	2505
cparata	3:4274d9103f1d	2506	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_FIFO_STATUS2, &reg.byte, 1) != 0) {
cparata	3:4274d9103f1d	2507	return 1;
cparata	3:4274d9103f1d	2508	}
cparata	3:4274d9103f1d	2509
cparata	3:4274d9103f1d	2510	*status = reg.fifo_status2.fifo_full_ia;
cparata	3:4274d9103f1d	2511
cparata	3:4274d9103f1d	2512	return 0;
cparata	0:6d69e896ce38	2513	}
cparata	0:6d69e896ce38	2514
cparata	0:6d69e896ce38	2515	/**
cparata	0:6d69e896ce38	2516	* @brief Set the LSM6DSO FIFO full interrupt on INT1 pin
cparata	0:6d69e896ce38	2517	* @param status FIFO full interrupt on INT1 pin status
cparata	0:6d69e896ce38	2518	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2519	*/
cparata	0:6d69e896ce38	2520	int LSM6DSOSensor::set_fifo_int1_fifo_full(uint8_t status)
cparata	0:6d69e896ce38	2521	{
cparata	3:4274d9103f1d	2522	lsm6dso_reg_t reg;
cparata	3:4274d9103f1d	2523
cparata	3:4274d9103f1d	2524	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_INT1_CTRL, &reg.byte, 1) != 0) {
cparata	3:4274d9103f1d	2525	return 1;
cparata	3:4274d9103f1d	2526	}
cparata	3:4274d9103f1d	2527
cparata	3:4274d9103f1d	2528	reg.int1_ctrl.int1_fifo_full = status;
cparata	3:4274d9103f1d	2529
cparata	3:4274d9103f1d	2530	if (lsm6dso_write_reg(&_reg_ctx, LSM6DSO_INT1_CTRL, &reg.byte, 1) != 0) {
cparata	3:4274d9103f1d	2531	return 1;
cparata	3:4274d9103f1d	2532	}
cparata	3:4274d9103f1d	2533
cparata	3:4274d9103f1d	2534	return 0;
cparata	0:6d69e896ce38	2535	}
cparata	0:6d69e896ce38	2536
cparata	0:6d69e896ce38	2537	/**
cparata	0:6d69e896ce38	2538	* @brief Set the LSM6DSO FIFO watermark level
cparata	0:6d69e896ce38	2539	* @param watermark FIFO watermark level
cparata	0:6d69e896ce38	2540	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2541	*/
cparata	0:6d69e896ce38	2542	int LSM6DSOSensor::set_fifo_watermark_level(uint16_t watermark)
cparata	0:6d69e896ce38	2543	{
cparata	3:4274d9103f1d	2544	if (lsm6dso_fifo_watermark_set(&_reg_ctx, watermark) != 0) {
cparata	3:4274d9103f1d	2545	return 1;
cparata	3:4274d9103f1d	2546	}
cparata	3:4274d9103f1d	2547
cparata	3:4274d9103f1d	2548	return 0;
cparata	0:6d69e896ce38	2549	}
cparata	0:6d69e896ce38	2550
cparata	0:6d69e896ce38	2551	/**
cparata	0:6d69e896ce38	2552	* @brief Set the LSM6DSO FIFO stop on watermark
cparata	0:6d69e896ce38	2553	* @param status FIFO stop on watermark status
cparata	0:6d69e896ce38	2554	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2555	*/
cparata	0:6d69e896ce38	2556	int LSM6DSOSensor::set_fifo_stop_on_fth(uint8_t status)
cparata	0:6d69e896ce38	2557	{
cparata	3:4274d9103f1d	2558	if (lsm6dso_fifo_stop_on_wtm_set(&_reg_ctx, status) != 0) {
cparata	3:4274d9103f1d	2559	return 1;
cparata	3:4274d9103f1d	2560	}
cparata	3:4274d9103f1d	2561
cparata	3:4274d9103f1d	2562	return 0;
cparata	0:6d69e896ce38	2563	}
cparata	0:6d69e896ce38	2564
cparata	0:6d69e896ce38	2565	/**
cparata	0:6d69e896ce38	2566	* @brief Set the LSM6DSO FIFO mode
cparata	0:6d69e896ce38	2567	* @param mode FIFO mode
cparata	0:6d69e896ce38	2568	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2569	*/
cparata	0:6d69e896ce38	2570	int LSM6DSOSensor::set_fifo_mode(uint8_t mode)
cparata	0:6d69e896ce38	2571	{
cparata	3:4274d9103f1d	2572	int ret = 0;
cparata	3:4274d9103f1d	2573
cparata	3:4274d9103f1d	2574	/* Verify that the passed parameter contains one of the valid values. */
cparata	3:4274d9103f1d	2575	switch ((lsm6dso_fifo_mode_t)mode) {
cparata	3:4274d9103f1d	2576	case LSM6DSO_BYPASS_MODE:
cparata	3:4274d9103f1d	2577	case LSM6DSO_FIFO_MODE:
cparata	3:4274d9103f1d	2578	case LSM6DSO_STREAM_TO_FIFO_MODE:
cparata	3:4274d9103f1d	2579	case LSM6DSO_BYPASS_TO_STREAM_MODE:
cparata	3:4274d9103f1d	2580	case LSM6DSO_STREAM_MODE:
cparata	3:4274d9103f1d	2581	break;
cparata	3:4274d9103f1d	2582
cparata	3:4274d9103f1d	2583	default:
cparata	3:4274d9103f1d	2584	ret = 1;
cparata	3:4274d9103f1d	2585	break;
cparata	3:4274d9103f1d	2586	}
cparata	3:4274d9103f1d	2587
cparata	3:4274d9103f1d	2588	if (ret == 1) {
cparata	3:4274d9103f1d	2589	return ret;
cparata	3:4274d9103f1d	2590	}
cparata	3:4274d9103f1d	2591
cparata	3:4274d9103f1d	2592	if (lsm6dso_fifo_mode_set(&_reg_ctx, (lsm6dso_fifo_mode_t)mode) != 0) {
cparata	3:4274d9103f1d	2593	return 1;
cparata	3:4274d9103f1d	2594	}
cparata	3:4274d9103f1d	2595
cparata	0:6d69e896ce38	2596	return ret;
cparata	0:6d69e896ce38	2597	}
cparata	0:6d69e896ce38	2598
cparata	0:6d69e896ce38	2599	/**
cparata	0:6d69e896ce38	2600	* @brief Get the LSM6DSO FIFO tag
cparata	0:6d69e896ce38	2601	* @param tag FIFO tag
cparata	0:6d69e896ce38	2602	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2603	*/
cparata	0:6d69e896ce38	2604	int LSM6DSOSensor::get_fifo_tag(uint8_t *tag)
cparata	0:6d69e896ce38	2605	{
cparata	3:4274d9103f1d	2606	lsm6dso_fifo_tag_t tag_local;
cparata	3:4274d9103f1d	2607
cparata	3:4274d9103f1d	2608	if (lsm6dso_fifo_sensor_tag_get(&_reg_ctx, &tag_local) != 0) {
cparata	3:4274d9103f1d	2609	return 1;
cparata	3:4274d9103f1d	2610	}
cparata	3:4274d9103f1d	2611
cparata	3:4274d9103f1d	2612	*tag = (uint8_t)tag_local;
cparata	3:4274d9103f1d	2613
cparata	3:4274d9103f1d	2614	return 0;
cparata	0:6d69e896ce38	2615	}
cparata	0:6d69e896ce38	2616
cparata	0:6d69e896ce38	2617	/**
cparata	0:6d69e896ce38	2618	* @brief Get the LSM6DSO FIFO raw data
cparata	0:6d69e896ce38	2619	* @param data FIFO raw data array [6]
cparata	0:6d69e896ce38	2620	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2621	*/
cparata	0:6d69e896ce38	2622	int LSM6DSOSensor::get_fifo_data(uint8_t *data)
cparata	0:6d69e896ce38	2623	{
cparata	3:4274d9103f1d	2624	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_FIFO_DATA_OUT_X_L, data, 6) != 0) {
cparata	3:4274d9103f1d	2625	return 1;
cparata	3:4274d9103f1d	2626	}
cparata	3:4274d9103f1d	2627
cparata	3:4274d9103f1d	2628	return 0;
cparata	0:6d69e896ce38	2629	}
cparata	0:6d69e896ce38	2630
cparata	0:6d69e896ce38	2631	/**
cparata	0:6d69e896ce38	2632	* @brief Get the LSM6DSO FIFO accelero single sample (16-bit data per 3 axes) and calculate acceleration [mg]
cparata	0:6d69e896ce38	2633	* @param acceleration FIFO accelero axes [mg]
cparata	0:6d69e896ce38	2634	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2635	*/
cparata	0:6d69e896ce38	2636	int LSM6DSOSensor::get_fifo_x_axes(int32_t *acceleration)
cparata	0:6d69e896ce38	2637	{
cparata	3:4274d9103f1d	2638	uint8_t data[6];
cparata	3:4274d9103f1d	2639	int16_t data_raw[3];
cparata	3:4274d9103f1d	2640	float sensitivity = 0.0f;
cparata	3:4274d9103f1d	2641	float acceleration_float[3];
cparata	3:4274d9103f1d	2642
cparata	3:4274d9103f1d	2643	if (get_fifo_data(data) != 0) {
cparata	3:4274d9103f1d	2644	return 1;
cparata	3:4274d9103f1d	2645	}
cparata	3:4274d9103f1d	2646
cparata	3:4274d9103f1d	2647	data_raw[0] = ((int16_t)data[1] << 8) \| data[0];
cparata	3:4274d9103f1d	2648	data_raw[1] = ((int16_t)data[3] << 8) \| data[2];
cparata	3:4274d9103f1d	2649	data_raw[2] = ((int16_t)data[5] << 8) \| data[4];
cparata	3:4274d9103f1d	2650
cparata	3:4274d9103f1d	2651	if (get_x_sensitivity(&sensitivity) != 0) {
cparata	3:4274d9103f1d	2652	return 1;
cparata	3:4274d9103f1d	2653	}
cparata	3:4274d9103f1d	2654
cparata	3:4274d9103f1d	2655	acceleration_float[0] = (float)data_raw[0] * sensitivity;
cparata	3:4274d9103f1d	2656	acceleration_float[1] = (float)data_raw[1] * sensitivity;
cparata	3:4274d9103f1d	2657	acceleration_float[2] = (float)data_raw[2] * sensitivity;
cparata	3:4274d9103f1d	2658
cparata	3:4274d9103f1d	2659	acceleration[0] = (int32_t)acceleration_float[0];
cparata	3:4274d9103f1d	2660	acceleration[1] = (int32_t)acceleration_float[1];
cparata	3:4274d9103f1d	2661	acceleration[2] = (int32_t)acceleration_float[2];
cparata	3:4274d9103f1d	2662
cparata	3:4274d9103f1d	2663	return 0;
cparata	0:6d69e896ce38	2664	}
cparata	0:6d69e896ce38	2665
cparata	0:6d69e896ce38	2666	/**
cparata	0:6d69e896ce38	2667	* @brief Set the LSM6DSO FIFO accelero BDR value
cparata	0:6d69e896ce38	2668	* @param bdr FIFO accelero BDR value
cparata	0:6d69e896ce38	2669	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2670	*/
cparata	0:6d69e896ce38	2671	int LSM6DSOSensor::set_fifo_x_bdr(float bdr)
cparata	0:6d69e896ce38	2672	{
cparata	3:4274d9103f1d	2673	lsm6dso_bdr_xl_t new_bdr;
cparata	3:4274d9103f1d	2674
cparata	3:4274d9103f1d	2675	new_bdr = (bdr <= 0.0f) ? LSM6DSO_XL_NOT_BATCHED
cparata	3:4274d9103f1d	2676	: (bdr <= 12.5f) ? LSM6DSO_XL_BATCHED_AT_12Hz5
cparata	3:4274d9103f1d	2677	: (bdr <= 26.0f) ? LSM6DSO_XL_BATCHED_AT_26Hz
cparata	3:4274d9103f1d	2678	: (bdr <= 52.0f) ? LSM6DSO_XL_BATCHED_AT_52Hz
cparata	3:4274d9103f1d	2679	: (bdr <= 104.0f) ? LSM6DSO_XL_BATCHED_AT_104Hz
cparata	3:4274d9103f1d	2680	: (bdr <= 208.0f) ? LSM6DSO_XL_BATCHED_AT_208Hz
cparata	3:4274d9103f1d	2681	: (bdr <= 416.0f) ? LSM6DSO_XL_BATCHED_AT_417Hz
cparata	3:4274d9103f1d	2682	: (bdr <= 833.0f) ? LSM6DSO_XL_BATCHED_AT_833Hz
cparata	3:4274d9103f1d	2683	: (bdr <= 1660.0f) ? LSM6DSO_XL_BATCHED_AT_1667Hz
cparata	3:4274d9103f1d	2684	: (bdr <= 3330.0f) ? LSM6DSO_XL_BATCHED_AT_3333Hz
cparata	3:4274d9103f1d	2685	: LSM6DSO_XL_BATCHED_AT_6667Hz;
cparata	3:4274d9103f1d	2686
cparata	3:4274d9103f1d	2687	if (lsm6dso_fifo_xl_batch_set(&_reg_ctx, new_bdr) != 0) {
cparata	3:4274d9103f1d	2688	return 1;
cparata	3:4274d9103f1d	2689	}
cparata	3:4274d9103f1d	2690
cparata	3:4274d9103f1d	2691	return 0;
cparata	0:6d69e896ce38	2692	}
cparata	0:6d69e896ce38	2693
cparata	0:6d69e896ce38	2694	/**
cparata	0:6d69e896ce38	2695	* @brief Get the LSM6DSO FIFO gyro single sample (16-bit data per 3 axes) and calculate angular velocity [mDPS]
cparata	0:6d69e896ce38	2696	* @param angular_velocity FIFO gyro axes [mDPS]
cparata	0:6d69e896ce38	2697	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2698	*/
cparata	0:6d69e896ce38	2699	int LSM6DSOSensor::get_fifo_g_axes(int32_t *angular_velocity)
cparata	0:6d69e896ce38	2700	{
cparata	3:4274d9103f1d	2701	uint8_t data[6];
cparata	3:4274d9103f1d	2702	int16_t data_raw[3];
cparata	3:4274d9103f1d	2703	float sensitivity = 0.0f;
cparata	3:4274d9103f1d	2704	float angular_velocity_float[3];
cparata	3:4274d9103f1d	2705
cparata	3:4274d9103f1d	2706	if (get_fifo_data(data) != 0) {
cparata	3:4274d9103f1d	2707	return 1;
cparata	3:4274d9103f1d	2708	}
cparata	3:4274d9103f1d	2709
cparata	3:4274d9103f1d	2710	data_raw[0] = ((int16_t)data[1] << 8) \| data[0];
cparata	3:4274d9103f1d	2711	data_raw[1] = ((int16_t)data[3] << 8) \| data[2];
cparata	3:4274d9103f1d	2712	data_raw[2] = ((int16_t)data[5] << 8) \| data[4];
cparata	3:4274d9103f1d	2713
cparata	3:4274d9103f1d	2714	if (get_g_sensitivity(&sensitivity) != 0) {
cparata	3:4274d9103f1d	2715	return 1;
cparata	3:4274d9103f1d	2716	}
cparata	3:4274d9103f1d	2717
cparata	3:4274d9103f1d	2718	angular_velocity_float[0] = (float)data_raw[0] * sensitivity;
cparata	3:4274d9103f1d	2719	angular_velocity_float[1] = (float)data_raw[1] * sensitivity;
cparata	3:4274d9103f1d	2720	angular_velocity_float[2] = (float)data_raw[2] * sensitivity;
cparata	3:4274d9103f1d	2721
cparata	3:4274d9103f1d	2722	angular_velocity[0] = (int32_t)angular_velocity_float[0];
cparata	3:4274d9103f1d	2723	angular_velocity[1] = (int32_t)angular_velocity_float[1];
cparata	3:4274d9103f1d	2724	angular_velocity[2] = (int32_t)angular_velocity_float[2];
cparata	3:4274d9103f1d	2725
cparata	3:4274d9103f1d	2726	return 0;
cparata	0:6d69e896ce38	2727	}
cparata	0:6d69e896ce38	2728
cparata	0:6d69e896ce38	2729	/**
cparata	0:6d69e896ce38	2730	* @brief Set the LSM6DSO FIFO gyro BDR value
cparata	0:6d69e896ce38	2731	* @param bdr FIFO gyro BDR value
cparata	0:6d69e896ce38	2732	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2733	*/
cparata	0:6d69e896ce38	2734	int LSM6DSOSensor::set_fifo_g_bdr(float bdr)
cparata	0:6d69e896ce38	2735	{
cparata	3:4274d9103f1d	2736	lsm6dso_bdr_gy_t new_bdr;
cparata	3:4274d9103f1d	2737
cparata	3:4274d9103f1d	2738	new_bdr = (bdr <= 0.0f) ? LSM6DSO_GY_NOT_BATCHED
cparata	3:4274d9103f1d	2739	: (bdr <= 12.5f) ? LSM6DSO_GY_BATCHED_AT_12Hz5
cparata	3:4274d9103f1d	2740	: (bdr <= 26.0f) ? LSM6DSO_GY_BATCHED_AT_26Hz
cparata	3:4274d9103f1d	2741	: (bdr <= 52.0f) ? LSM6DSO_GY_BATCHED_AT_52Hz
cparata	3:4274d9103f1d	2742	: (bdr <= 104.0f) ? LSM6DSO_GY_BATCHED_AT_104Hz
cparata	3:4274d9103f1d	2743	: (bdr <= 208.0f) ? LSM6DSO_GY_BATCHED_AT_208Hz
cparata	3:4274d9103f1d	2744	: (bdr <= 416.0f) ? LSM6DSO_GY_BATCHED_AT_417Hz
cparata	3:4274d9103f1d	2745	: (bdr <= 833.0f) ? LSM6DSO_GY_BATCHED_AT_833Hz
cparata	3:4274d9103f1d	2746	: (bdr <= 1660.0f) ? LSM6DSO_GY_BATCHED_AT_1667Hz
cparata	3:4274d9103f1d	2747	: (bdr <= 3330.0f) ? LSM6DSO_GY_BATCHED_AT_3333Hz
cparata	3:4274d9103f1d	2748	: LSM6DSO_GY_BATCHED_AT_6667Hz;
cparata	3:4274d9103f1d	2749
cparata	3:4274d9103f1d	2750	if (lsm6dso_fifo_gy_batch_set(&_reg_ctx, new_bdr) != 0) {
cparata	3:4274d9103f1d	2751	return 1;
cparata	3:4274d9103f1d	2752	}
cparata	3:4274d9103f1d	2753
cparata	3:4274d9103f1d	2754	return 0;
cparata	0:6d69e896ce38	2755	}
cparata	0:6d69e896ce38	2756
cparata	0:6d69e896ce38	2757
cparata	0:6d69e896ce38	2758
cparata	0:6d69e896ce38	2759	int32_t LSM6DSO_io_write(void handle, uint8_t WriteAddr, uint8_t pBuffer, uint16_t nBytesToWrite)
cparata	0:6d69e896ce38	2760	{
cparata	3:4274d9103f1d	2761	return ((LSM6DSOSensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite);
cparata	0:6d69e896ce38	2762	}
cparata	0:6d69e896ce38	2763
cparata	0:6d69e896ce38	2764	int32_t LSM6DSO_io_read(void handle, uint8_t ReadAddr, uint8_t pBuffer, uint16_t nBytesToRead)
cparata	0:6d69e896ce38	2765	{
cparata	3:4274d9103f1d	2766	return ((LSM6DSOSensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead);
cparata	0:6d69e896ce38	2767	}

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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@4:77faf76e3cd8, 2020-10-29 (annotated)

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