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@2:4d14e9edf37e, 2019-06-03 (annotated)

Committer:: cparata
Date:: Mon Jun 03 09:16:08 2019 +0000
Revision:: 2:4d14e9edf37e
Parent:: 0:6d69e896ce38
Child:: 3:4274d9103f1d

Disable by default I3C

Who changed what in which revision?

User	Revision	Line number	New contents of line
cparata	0:6d69e896ce38	1	/**
cparata	0:6d69e896ce38	2	******************************************************************************
cparata	0:6d69e896ce38	3	* @file LSM6DSOSensor.cpp
cparata	0:6d69e896ce38	4	* @author SRA
cparata	0:6d69e896ce38	5	* @version V1.0.0
cparata	0:6d69e896ce38	6	* @date February 2019
cparata	0:6d69e896ce38	7	* @brief Implementation of an LSM6DSO Inertial Measurement Unit (IMU) 6 axes
cparata	0:6d69e896ce38	8	* sensor.
cparata	0:6d69e896ce38	9	******************************************************************************
cparata	0:6d69e896ce38	10	* @attention
cparata	0:6d69e896ce38	11	*
cparata	0:6d69e896ce38	12	* <h2><center>© COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
cparata	0:6d69e896ce38	13	*
cparata	0:6d69e896ce38	14	* Redistribution and use in source and binary forms, with or without modification,
cparata	0:6d69e896ce38	15	* are permitted provided that the following conditions are met:
cparata	0:6d69e896ce38	16	* 1. Redistributions of source code must retain the above copyright notice,
cparata	0:6d69e896ce38	17	* this list of conditions and the following disclaimer.
cparata	0:6d69e896ce38	18	* 2. Redistributions in binary form must reproduce the above copyright notice,
cparata	0:6d69e896ce38	19	* this list of conditions and the following disclaimer in the documentation
cparata	0:6d69e896ce38	20	* and/or other materials provided with the distribution.
cparata	0:6d69e896ce38	21	* 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata	0:6d69e896ce38	22	* may be used to endorse or promote products derived from this software
cparata	0:6d69e896ce38	23	* without specific prior written permission.
cparata	0:6d69e896ce38	24	*
cparata	0:6d69e896ce38	25	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata	0:6d69e896ce38	26	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata	0:6d69e896ce38	27	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata	0:6d69e896ce38	28	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata	0:6d69e896ce38	29	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata	0:6d69e896ce38	30	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata	0:6d69e896ce38	31	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata	0:6d69e896ce38	32	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata	0:6d69e896ce38	33	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata	0:6d69e896ce38	34	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata	0:6d69e896ce38	35	*
cparata	0:6d69e896ce38	36	******************************************************************************
cparata	0:6d69e896ce38	37	*/
cparata	0:6d69e896ce38	38
cparata	0:6d69e896ce38	39
cparata	0:6d69e896ce38	40	/* Includes ------------------------------------------------------------------*/
cparata	0:6d69e896ce38	41
cparata	0:6d69e896ce38	42	#include "LSM6DSOSensor.h"
cparata	0:6d69e896ce38	43
cparata	0:6d69e896ce38	44
cparata	0:6d69e896ce38	45	/* Class Implementation ------------------------------------------------------*/
cparata	0:6d69e896ce38	46
cparata	0:6d69e896ce38	47	/** Constructor
cparata	0:6d69e896ce38	48	* @param spi object of an helper class which handles the SPI peripheral
cparata	0:6d69e896ce38	49	* @param cs_pin the chip select pin
cparata	0:6d69e896ce38	50	* @param int1_pin the interrupt 1 pin
cparata	0:6d69e896ce38	51	* @param int2_pin the interrupt 2 pin
cparata	0:6d69e896ce38	52	* @param spi_type the SPI type
cparata	0:6d69e896ce38	53	*/
cparata	0:6d69e896ce38	54	LSM6DSOSensor::LSM6DSOSensor(SPI *spi, PinName cs_pin, PinName int1_pin, PinName int2_pin, SPI_type_t spi_type) : _dev_spi(spi), _cs_pin(cs_pin), _int1_irq(int1_pin), _int2_irq(int2_pin), _spi_type(spi_type)
cparata	0:6d69e896ce38	55	{
cparata	0:6d69e896ce38	56	assert (spi);
cparata	0:6d69e896ce38	57	if (cs_pin == NC)
cparata	0:6d69e896ce38	58	{
cparata	0:6d69e896ce38	59	printf ("ERROR LSM6DSO CS MUST NOT BE NC\n\r");
cparata	0:6d69e896ce38	60	_dev_spi = NULL;
cparata	0:6d69e896ce38	61	_dev_i2c = NULL;
cparata	0:6d69e896ce38	62	return;
cparata	0:6d69e896ce38	63	}
cparata	0:6d69e896ce38	64
cparata	0:6d69e896ce38	65	_reg_ctx.write_reg = LSM6DSO_io_write;
cparata	0:6d69e896ce38	66	_reg_ctx.read_reg = LSM6DSO_io_read;
cparata	0:6d69e896ce38	67	_reg_ctx.handle = (void *)this;
cparata	0:6d69e896ce38	68	_cs_pin = 1;
cparata	0:6d69e896ce38	69	_dev_i2c = NULL;
cparata	0:6d69e896ce38	70	_address = 0;
cparata	0:6d69e896ce38	71
cparata	0:6d69e896ce38	72	if (_spi_type == SPI3W)
cparata	0:6d69e896ce38	73	{
cparata	0:6d69e896ce38	74	/* Enable SPI 3-Wires on the component */
cparata	0:6d69e896ce38	75	uint8_t data = 0x0C;
cparata	0:6d69e896ce38	76	lsm6dso_write_reg(&_reg_ctx, LSM6DSO_CTRL3_C, &data, 1);
cparata	0:6d69e896ce38	77	}
cparata	0:6d69e896ce38	78	}
cparata	0:6d69e896ce38	79
cparata	0:6d69e896ce38	80
cparata	0:6d69e896ce38	81	/** Constructor
cparata	0:6d69e896ce38	82	* @param i2c object of an helper class which handles the I2C peripheral
cparata	0:6d69e896ce38	83	* @param address the address of the component's instance
cparata	0:6d69e896ce38	84	* @param int1_pin the interrupt 1 pin
cparata	0:6d69e896ce38	85	* @param int2_pin the interrupt 2 pin
cparata	0:6d69e896ce38	86	*/
cparata	0:6d69e896ce38	87	LSM6DSOSensor::LSM6DSOSensor(DevI2C *i2c, uint8_t address, PinName int1_pin, PinName int2_pin) : _dev_i2c(i2c), _address(address), _cs_pin(NC), _int1_irq(int1_pin), _int2_irq(int2_pin)
cparata	0:6d69e896ce38	88	{
cparata	0:6d69e896ce38	89	assert (i2c);
cparata	0:6d69e896ce38	90	_dev_spi = NULL;
cparata	0:6d69e896ce38	91	_reg_ctx.write_reg = LSM6DSO_io_write;
cparata	0:6d69e896ce38	92	_reg_ctx.read_reg = LSM6DSO_io_read;
cparata	0:6d69e896ce38	93	_reg_ctx.handle = (void *)this;
cparata	0:6d69e896ce38	94	}
cparata	0:6d69e896ce38	95
cparata	0:6d69e896ce38	96	/**
cparata	0:6d69e896ce38	97	* @brief Initializing the component
cparata	0:6d69e896ce38	98	* @param init pointer to device specific initalization structure
cparata	0:6d69e896ce38	99	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	100	*/
cparata	0:6d69e896ce38	101	int LSM6DSOSensor::init(void *init)
cparata	0:6d69e896ce38	102	{
cparata	2:4d14e9edf37e	103	/* Disable I3C */
cparata	2:4d14e9edf37e	104	if (lsm6dso_i3c_disable_set(&_reg_ctx, LSM6DSO_I3C_DISABLE) != 0)
cparata	2:4d14e9edf37e	105	{
cparata	2:4d14e9edf37e	106	return 1;
cparata	2:4d14e9edf37e	107	}
cparata	2:4d14e9edf37e	108
cparata	0:6d69e896ce38	109	/* Enable register address automatically incremented during a multiple byte
cparata	0:6d69e896ce38	110	access with a serial interface. */
cparata	0:6d69e896ce38	111	if (lsm6dso_auto_increment_set(&_reg_ctx, PROPERTY_ENABLE) != 0)
cparata	0:6d69e896ce38	112	{
cparata	0:6d69e896ce38	113	return 1;
cparata	0:6d69e896ce38	114	}
cparata	0:6d69e896ce38	115
cparata	0:6d69e896ce38	116	/* Enable BDU */
cparata	0:6d69e896ce38	117	if (lsm6dso_block_data_update_set(&_reg_ctx, PROPERTY_ENABLE) != 0)
cparata	0:6d69e896ce38	118	{
cparata	0:6d69e896ce38	119	return 1;
cparata	0:6d69e896ce38	120	}
cparata	0:6d69e896ce38	121
cparata	0:6d69e896ce38	122	/* FIFO mode selection */
cparata	0:6d69e896ce38	123	if (lsm6dso_fifo_mode_set(&_reg_ctx, LSM6DSO_BYPASS_MODE) != 0)
cparata	0:6d69e896ce38	124	{
cparata	0:6d69e896ce38	125	return 1;
cparata	0:6d69e896ce38	126	}
cparata	0:6d69e896ce38	127
cparata	0:6d69e896ce38	128	/* Output data rate selection - power down. */
cparata	0:6d69e896ce38	129	if (lsm6dso_xl_data_rate_set(&_reg_ctx, LSM6DSO_XL_ODR_OFF) != 0)
cparata	0:6d69e896ce38	130	{
cparata	0:6d69e896ce38	131	return 1;
cparata	0:6d69e896ce38	132	}
cparata	0:6d69e896ce38	133
cparata	0:6d69e896ce38	134	/* Full scale selection. */
cparata	0:6d69e896ce38	135	if (lsm6dso_xl_full_scale_set(&_reg_ctx, LSM6DSO_2g) != 0)
cparata	0:6d69e896ce38	136	{
cparata	0:6d69e896ce38	137	return 1;
cparata	0:6d69e896ce38	138	}
cparata	0:6d69e896ce38	139
cparata	0:6d69e896ce38	140	/* Output data rate selection - power down. */
cparata	0:6d69e896ce38	141	if (lsm6dso_gy_data_rate_set(&_reg_ctx, LSM6DSO_GY_ODR_OFF) != 0)
cparata	0:6d69e896ce38	142	{
cparata	0:6d69e896ce38	143	return 1;
cparata	0:6d69e896ce38	144	}
cparata	0:6d69e896ce38	145
cparata	0:6d69e896ce38	146	/* Full scale selection. */
cparata	0:6d69e896ce38	147	if (lsm6dso_gy_full_scale_set(&_reg_ctx, LSM6DSO_2000dps) != 0)
cparata	0:6d69e896ce38	148	{
cparata	0:6d69e896ce38	149	return 1;
cparata	0:6d69e896ce38	150	}
cparata	0:6d69e896ce38	151
cparata	0:6d69e896ce38	152	/* Select default output data rate. */
cparata	0:6d69e896ce38	153	_x_last_odr = LSM6DSO_XL_ODR_104Hz;
cparata	0:6d69e896ce38	154
cparata	0:6d69e896ce38	155	/* Select default output data rate. */
cparata	0:6d69e896ce38	156	_g_last_odr = LSM6DSO_GY_ODR_104Hz;
cparata	0:6d69e896ce38	157
cparata	0:6d69e896ce38	158	_x_is_enabled = 0;
cparata	0:6d69e896ce38	159
cparata	0:6d69e896ce38	160	_g_is_enabled = 0;
cparata	0:6d69e896ce38	161
cparata	0:6d69e896ce38	162	return 0;
cparata	0:6d69e896ce38	163	}
cparata	0:6d69e896ce38	164
cparata	0:6d69e896ce38	165	/**
cparata	0:6d69e896ce38	166	* @brief Read component ID
cparata	0:6d69e896ce38	167	* @param id the WHO_AM_I value
cparata	0:6d69e896ce38	168	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	169	*/
cparata	0:6d69e896ce38	170	int LSM6DSOSensor::read_id(uint8_t *id)
cparata	0:6d69e896ce38	171	{
cparata	0:6d69e896ce38	172	if (lsm6dso_device_id_get(&_reg_ctx, id) != 0)
cparata	0:6d69e896ce38	173	{
cparata	0:6d69e896ce38	174	return 1;
cparata	0:6d69e896ce38	175	}
cparata	0:6d69e896ce38	176
cparata	0:6d69e896ce38	177	return 0;
cparata	0:6d69e896ce38	178	}
cparata	0:6d69e896ce38	179
cparata	0:6d69e896ce38	180	/**
cparata	0:6d69e896ce38	181	* @brief Enable the LSM6DSO accelerometer sensor
cparata	0:6d69e896ce38	182	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	183	*/
cparata	0:6d69e896ce38	184	int LSM6DSOSensor::enable_x()
cparata	0:6d69e896ce38	185	{
cparata	0:6d69e896ce38	186	/* Check if the component is already enabled */
cparata	0:6d69e896ce38	187	if (_x_is_enabled == 1U)
cparata	0:6d69e896ce38	188	{
cparata	0:6d69e896ce38	189	return 0;
cparata	0:6d69e896ce38	190	}
cparata	0:6d69e896ce38	191
cparata	0:6d69e896ce38	192	/* Output data rate selection. */
cparata	0:6d69e896ce38	193	if (lsm6dso_xl_data_rate_set(&_reg_ctx, _x_last_odr) != 0)
cparata	0:6d69e896ce38	194	{
cparata	0:6d69e896ce38	195	return 1;
cparata	0:6d69e896ce38	196	}
cparata	0:6d69e896ce38	197
cparata	0:6d69e896ce38	198	_x_is_enabled = 1;
cparata	0:6d69e896ce38	199
cparata	0:6d69e896ce38	200	return 0;
cparata	0:6d69e896ce38	201	}
cparata	0:6d69e896ce38	202
cparata	0:6d69e896ce38	203	/**
cparata	0:6d69e896ce38	204	* @brief Disable the LSM6DSO accelerometer sensor
cparata	0:6d69e896ce38	205	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	206	*/
cparata	0:6d69e896ce38	207	int LSM6DSOSensor::disable_x()
cparata	0:6d69e896ce38	208	{
cparata	0:6d69e896ce38	209	/* Check if the component is already disabled */
cparata	0:6d69e896ce38	210	if (_x_is_enabled == 0U)
cparata	0:6d69e896ce38	211	{
cparata	0:6d69e896ce38	212	return 0;
cparata	0:6d69e896ce38	213	}
cparata	0:6d69e896ce38	214
cparata	0:6d69e896ce38	215	/* Get current output data rate. */
cparata	0:6d69e896ce38	216	if (lsm6dso_xl_data_rate_get(&_reg_ctx, &_x_last_odr) != 0)
cparata	0:6d69e896ce38	217	{
cparata	0:6d69e896ce38	218	return 1;
cparata	0:6d69e896ce38	219	}
cparata	0:6d69e896ce38	220
cparata	0:6d69e896ce38	221	/* Output data rate selection - power down. */
cparata	0:6d69e896ce38	222	if (lsm6dso_xl_data_rate_set(&_reg_ctx, LSM6DSO_XL_ODR_OFF) != 0)
cparata	0:6d69e896ce38	223	{
cparata	0:6d69e896ce38	224	return 1;
cparata	0:6d69e896ce38	225	}
cparata	0:6d69e896ce38	226
cparata	0:6d69e896ce38	227	_x_is_enabled = 0;
cparata	0:6d69e896ce38	228
cparata	0:6d69e896ce38	229	return 0;
cparata	0:6d69e896ce38	230	}
cparata	0:6d69e896ce38	231
cparata	0:6d69e896ce38	232	/**
cparata	0:6d69e896ce38	233	* @brief Get the LSM6DSO accelerometer sensor sensitivity
cparata	0:6d69e896ce38	234	* @param sensitivity pointer where the sensitivity is written
cparata	0:6d69e896ce38	235	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	236	*/
cparata	0:6d69e896ce38	237	int LSM6DSOSensor::get_x_sensitivity(float *sensitivity)
cparata	0:6d69e896ce38	238	{
cparata	0:6d69e896ce38	239	int ret = 0;
cparata	0:6d69e896ce38	240	lsm6dso_fs_xl_t full_scale;
cparata	0:6d69e896ce38	241
cparata	0:6d69e896ce38	242	/* Read actual full scale selection from sensor. */
cparata	0:6d69e896ce38	243	if (lsm6dso_xl_full_scale_get(&_reg_ctx, &full_scale) != 0)
cparata	0:6d69e896ce38	244	{
cparata	0:6d69e896ce38	245	return 1;
cparata	0:6d69e896ce38	246	}
cparata	0:6d69e896ce38	247
cparata	0:6d69e896ce38	248	/* Store the sensitivity based on actual full scale. */
cparata	0:6d69e896ce38	249	switch (full_scale)
cparata	0:6d69e896ce38	250	{
cparata	0:6d69e896ce38	251	case LSM6DSO_2g:
cparata	0:6d69e896ce38	252	*sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_2G;
cparata	0:6d69e896ce38	253	break;
cparata	0:6d69e896ce38	254
cparata	0:6d69e896ce38	255	case LSM6DSO_4g:
cparata	0:6d69e896ce38	256	*sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_4G;
cparata	0:6d69e896ce38	257	break;
cparata	0:6d69e896ce38	258
cparata	0:6d69e896ce38	259	case LSM6DSO_8g:
cparata	0:6d69e896ce38	260	*sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_8G;
cparata	0:6d69e896ce38	261	break;
cparata	0:6d69e896ce38	262
cparata	0:6d69e896ce38	263	case LSM6DSO_16g:
cparata	0:6d69e896ce38	264	*sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_16G;
cparata	0:6d69e896ce38	265	break;
cparata	0:6d69e896ce38	266
cparata	0:6d69e896ce38	267	default:
cparata	0:6d69e896ce38	268	ret = 1;
cparata	0:6d69e896ce38	269	break;
cparata	0:6d69e896ce38	270	}
cparata	0:6d69e896ce38	271
cparata	0:6d69e896ce38	272	return ret;
cparata	0:6d69e896ce38	273	}
cparata	0:6d69e896ce38	274
cparata	0:6d69e896ce38	275	/**
cparata	0:6d69e896ce38	276	* @brief Get the LSM6DSO accelerometer sensor output data rate
cparata	0:6d69e896ce38	277	* @param odr pointer where the output data rate is written
cparata	0:6d69e896ce38	278	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	279	*/
cparata	0:6d69e896ce38	280	int LSM6DSOSensor::get_x_odr(float *odr)
cparata	0:6d69e896ce38	281	{
cparata	0:6d69e896ce38	282	int ret = 0;
cparata	0:6d69e896ce38	283	lsm6dso_odr_xl_t odr_low_level;
cparata	0:6d69e896ce38	284
cparata	0:6d69e896ce38	285	/* Get current output data rate. */
cparata	0:6d69e896ce38	286	if (lsm6dso_xl_data_rate_get(&_reg_ctx, &odr_low_level) != 0)
cparata	0:6d69e896ce38	287	{
cparata	0:6d69e896ce38	288	return 1;
cparata	0:6d69e896ce38	289	}
cparata	0:6d69e896ce38	290
cparata	0:6d69e896ce38	291	switch (odr_low_level)
cparata	0:6d69e896ce38	292	{
cparata	0:6d69e896ce38	293	case LSM6DSO_XL_ODR_OFF:
cparata	0:6d69e896ce38	294	*odr = 0.0f;
cparata	0:6d69e896ce38	295	break;
cparata	0:6d69e896ce38	296
cparata	0:6d69e896ce38	297	case LSM6DSO_XL_ODR_6Hz5:
cparata	0:6d69e896ce38	298	*odr = 6.5f;
cparata	0:6d69e896ce38	299	break;
cparata	0:6d69e896ce38	300
cparata	0:6d69e896ce38	301	case LSM6DSO_XL_ODR_12Hz5:
cparata	0:6d69e896ce38	302	*odr = 12.5f;
cparata	0:6d69e896ce38	303	break;
cparata	0:6d69e896ce38	304
cparata	0:6d69e896ce38	305	case LSM6DSO_XL_ODR_26Hz:
cparata	0:6d69e896ce38	306	*odr = 26.0f;
cparata	0:6d69e896ce38	307	break;
cparata	0:6d69e896ce38	308
cparata	0:6d69e896ce38	309	case LSM6DSO_XL_ODR_52Hz:
cparata	0:6d69e896ce38	310	*odr = 52.0f;
cparata	0:6d69e896ce38	311	break;
cparata	0:6d69e896ce38	312
cparata	0:6d69e896ce38	313	case LSM6DSO_XL_ODR_104Hz:
cparata	0:6d69e896ce38	314	*odr = 104.0f;
cparata	0:6d69e896ce38	315	break;
cparata	0:6d69e896ce38	316
cparata	0:6d69e896ce38	317	case LSM6DSO_XL_ODR_208Hz:
cparata	0:6d69e896ce38	318	*odr = 208.0f;
cparata	0:6d69e896ce38	319	break;
cparata	0:6d69e896ce38	320
cparata	0:6d69e896ce38	321	case LSM6DSO_XL_ODR_417Hz:
cparata	0:6d69e896ce38	322	*odr = 417.0f;
cparata	0:6d69e896ce38	323	break;
cparata	0:6d69e896ce38	324
cparata	0:6d69e896ce38	325	case LSM6DSO_XL_ODR_833Hz:
cparata	0:6d69e896ce38	326	*odr = 833.0f;
cparata	0:6d69e896ce38	327	break;
cparata	0:6d69e896ce38	328
cparata	0:6d69e896ce38	329	case LSM6DSO_XL_ODR_1667Hz:
cparata	0:6d69e896ce38	330	*odr = 1667.0f;
cparata	0:6d69e896ce38	331	break;
cparata	0:6d69e896ce38	332
cparata	0:6d69e896ce38	333	case LSM6DSO_XL_ODR_3333Hz:
cparata	0:6d69e896ce38	334	*odr = 3333.0f;
cparata	0:6d69e896ce38	335	break;
cparata	0:6d69e896ce38	336
cparata	0:6d69e896ce38	337	case LSM6DSO_XL_ODR_6667Hz:
cparata	0:6d69e896ce38	338	*odr = 6667.0f;
cparata	0:6d69e896ce38	339	break;
cparata	0:6d69e896ce38	340
cparata	0:6d69e896ce38	341	default:
cparata	0:6d69e896ce38	342	ret = 1;
cparata	0:6d69e896ce38	343	break;
cparata	0:6d69e896ce38	344	}
cparata	0:6d69e896ce38	345
cparata	0:6d69e896ce38	346	return ret;
cparata	0:6d69e896ce38	347	}
cparata	0:6d69e896ce38	348
cparata	0:6d69e896ce38	349	/**
cparata	0:6d69e896ce38	350	* @brief Set the LSM6DSO accelerometer sensor output data rate
cparata	0:6d69e896ce38	351	* @param odr the output data rate value to be set
cparata	0:6d69e896ce38	352	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	353	*/
cparata	0:6d69e896ce38	354	int LSM6DSOSensor::set_x_odr(float odr)
cparata	0:6d69e896ce38	355	{
cparata	0:6d69e896ce38	356	/* Check if the component is enabled */
cparata	0:6d69e896ce38	357	if (_x_is_enabled == 1U)
cparata	0:6d69e896ce38	358	{
cparata	0:6d69e896ce38	359	return set_x_odr_when_enabled(odr);
cparata	0:6d69e896ce38	360	}
cparata	0:6d69e896ce38	361	else
cparata	0:6d69e896ce38	362	{
cparata	0:6d69e896ce38	363	return set_x_odr_when_disabled(odr);
cparata	0:6d69e896ce38	364	}
cparata	0:6d69e896ce38	365	}
cparata	0:6d69e896ce38	366
cparata	0:6d69e896ce38	367	/**
cparata	0:6d69e896ce38	368	* @brief Set the LSM6DSO accelerometer sensor output data rate when enabled
cparata	0:6d69e896ce38	369	* @param odr the functional output data rate to be set
cparata	0:6d69e896ce38	370	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	371	*/
cparata	0:6d69e896ce38	372	int LSM6DSOSensor::set_x_odr_when_enabled(float odr)
cparata	0:6d69e896ce38	373	{
cparata	0:6d69e896ce38	374	lsm6dso_odr_xl_t new_odr;
cparata	0:6d69e896ce38	375
cparata	0:6d69e896ce38	376	new_odr = (odr <= 12.5f) ? LSM6DSO_XL_ODR_12Hz5
cparata	0:6d69e896ce38	377	: (odr <= 26.0f) ? LSM6DSO_XL_ODR_26Hz
cparata	0:6d69e896ce38	378	: (odr <= 52.0f) ? LSM6DSO_XL_ODR_52Hz
cparata	0:6d69e896ce38	379	: (odr <= 104.0f) ? LSM6DSO_XL_ODR_104Hz
cparata	0:6d69e896ce38	380	: (odr <= 208.0f) ? LSM6DSO_XL_ODR_208Hz
cparata	0:6d69e896ce38	381	: (odr <= 417.0f) ? LSM6DSO_XL_ODR_417Hz
cparata	0:6d69e896ce38	382	: (odr <= 833.0f) ? LSM6DSO_XL_ODR_833Hz
cparata	0:6d69e896ce38	383	: (odr <= 1667.0f) ? LSM6DSO_XL_ODR_1667Hz
cparata	0:6d69e896ce38	384	: (odr <= 3333.0f) ? LSM6DSO_XL_ODR_3333Hz
cparata	0:6d69e896ce38	385	: LSM6DSO_XL_ODR_6667Hz;
cparata	0:6d69e896ce38	386
cparata	0:6d69e896ce38	387	/* Output data rate selection. */
cparata	0:6d69e896ce38	388	if (lsm6dso_xl_data_rate_set(&_reg_ctx, new_odr) != 0)
cparata	0:6d69e896ce38	389	{
cparata	0:6d69e896ce38	390	return 1;
cparata	0:6d69e896ce38	391	}
cparata	0:6d69e896ce38	392
cparata	0:6d69e896ce38	393	return 0;
cparata	0:6d69e896ce38	394	}
cparata	0:6d69e896ce38	395
cparata	0:6d69e896ce38	396	/**
cparata	0:6d69e896ce38	397	* @brief Set the LSM6DSO accelerometer sensor output data rate when disabled
cparata	0:6d69e896ce38	398	* @param odr the functional output data rate to be set
cparata	0:6d69e896ce38	399	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	400	*/
cparata	0:6d69e896ce38	401	int LSM6DSOSensor::set_x_odr_when_disabled(float odr)
cparata	0:6d69e896ce38	402	{
cparata	0:6d69e896ce38	403	_x_last_odr = (odr <= 12.5f) ? LSM6DSO_XL_ODR_12Hz5
cparata	0:6d69e896ce38	404	: (odr <= 26.0f) ? LSM6DSO_XL_ODR_26Hz
cparata	0:6d69e896ce38	405	: (odr <= 52.0f) ? LSM6DSO_XL_ODR_52Hz
cparata	0:6d69e896ce38	406	: (odr <= 104.0f) ? LSM6DSO_XL_ODR_104Hz
cparata	0:6d69e896ce38	407	: (odr <= 208.0f) ? LSM6DSO_XL_ODR_208Hz
cparata	0:6d69e896ce38	408	: (odr <= 417.0f) ? LSM6DSO_XL_ODR_417Hz
cparata	0:6d69e896ce38	409	: (odr <= 833.0f) ? LSM6DSO_XL_ODR_833Hz
cparata	0:6d69e896ce38	410	: (odr <= 1667.0f) ? LSM6DSO_XL_ODR_1667Hz
cparata	0:6d69e896ce38	411	: (odr <= 3333.0f) ? LSM6DSO_XL_ODR_3333Hz
cparata	0:6d69e896ce38	412	: LSM6DSO_XL_ODR_6667Hz;
cparata	0:6d69e896ce38	413
cparata	0:6d69e896ce38	414	return 0;
cparata	0:6d69e896ce38	415	}
cparata	0:6d69e896ce38	416
cparata	0:6d69e896ce38	417
cparata	0:6d69e896ce38	418	/**
cparata	0:6d69e896ce38	419	* @brief Get the LSM6DSO accelerometer sensor full scale
cparata	0:6d69e896ce38	420	* @param full_scale pointer where the full scale is written
cparata	0:6d69e896ce38	421	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	422	*/
cparata	0:6d69e896ce38	423	int LSM6DSOSensor::get_x_fs(float *full_scale)
cparata	0:6d69e896ce38	424	{
cparata	0:6d69e896ce38	425	int ret = 0;
cparata	0:6d69e896ce38	426	lsm6dso_fs_xl_t fs_low_level;
cparata	0:6d69e896ce38	427
cparata	0:6d69e896ce38	428	/* Read actual full scale selection from sensor. */
cparata	0:6d69e896ce38	429	if (lsm6dso_xl_full_scale_get(&_reg_ctx, &fs_low_level) != 0)
cparata	0:6d69e896ce38	430	{
cparata	0:6d69e896ce38	431	return 1;
cparata	0:6d69e896ce38	432	}
cparata	0:6d69e896ce38	433
cparata	0:6d69e896ce38	434	switch (fs_low_level)
cparata	0:6d69e896ce38	435	{
cparata	0:6d69e896ce38	436	case LSM6DSO_2g:
cparata	0:6d69e896ce38	437	*full_scale = 2.0f;
cparata	0:6d69e896ce38	438	break;
cparata	0:6d69e896ce38	439
cparata	0:6d69e896ce38	440	case LSM6DSO_4g:
cparata	0:6d69e896ce38	441	*full_scale = 4.0f;
cparata	0:6d69e896ce38	442	break;
cparata	0:6d69e896ce38	443
cparata	0:6d69e896ce38	444	case LSM6DSO_8g:
cparata	0:6d69e896ce38	445	*full_scale = 8.0f;
cparata	0:6d69e896ce38	446	break;
cparata	0:6d69e896ce38	447
cparata	0:6d69e896ce38	448	case LSM6DSO_16g:
cparata	0:6d69e896ce38	449	*full_scale = 16.0f;
cparata	0:6d69e896ce38	450	break;
cparata	0:6d69e896ce38	451
cparata	0:6d69e896ce38	452	default:
cparata	0:6d69e896ce38	453	ret = 1;
cparata	0:6d69e896ce38	454	break;
cparata	0:6d69e896ce38	455	}
cparata	0:6d69e896ce38	456
cparata	0:6d69e896ce38	457	return ret;
cparata	0:6d69e896ce38	458	}
cparata	0:6d69e896ce38	459
cparata	0:6d69e896ce38	460	/**
cparata	0:6d69e896ce38	461	* @brief Set the LSM6DSO accelerometer sensor full scale
cparata	0:6d69e896ce38	462	* @param full_scale the functional full scale to be set
cparata	0:6d69e896ce38	463	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	464	*/
cparata	0:6d69e896ce38	465	int LSM6DSOSensor::set_x_fs(float full_scale)
cparata	0:6d69e896ce38	466	{
cparata	0:6d69e896ce38	467	lsm6dso_fs_xl_t new_fs;
cparata	0:6d69e896ce38	468
cparata	0:6d69e896ce38	469	/* Seems like MISRA C-2012 rule 14.3a violation but only from single file statical analysis point of view because
cparata	0:6d69e896ce38	470	the parameter passed to the function is not known at the moment of analysis */
cparata	0:6d69e896ce38	471	new_fs = (full_scale <= 2.0f) ? LSM6DSO_2g
cparata	0:6d69e896ce38	472	: (full_scale <= 4.0f) ? LSM6DSO_4g
cparata	0:6d69e896ce38	473	: (full_scale <= 8.0f) ? LSM6DSO_8g
cparata	0:6d69e896ce38	474	: LSM6DSO_16g;
cparata	0:6d69e896ce38	475
cparata	0:6d69e896ce38	476	if (lsm6dso_xl_full_scale_set(&_reg_ctx, new_fs) != 0)
cparata	0:6d69e896ce38	477	{
cparata	0:6d69e896ce38	478	return 1;
cparata	0:6d69e896ce38	479	}
cparata	0:6d69e896ce38	480
cparata	0:6d69e896ce38	481	return 0;
cparata	0:6d69e896ce38	482	}
cparata	0:6d69e896ce38	483
cparata	0:6d69e896ce38	484	/**
cparata	0:6d69e896ce38	485	* @brief Get the LSM6DSO accelerometer sensor raw axes
cparata	0:6d69e896ce38	486	* @param value pointer where the raw values of the axes are written
cparata	0:6d69e896ce38	487	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	488	*/
cparata	0:6d69e896ce38	489	int LSM6DSOSensor::get_x_axes_raw(int16_t *value)
cparata	0:6d69e896ce38	490	{
cparata	0:6d69e896ce38	491	axis3bit16_t data_raw;
cparata	0:6d69e896ce38	492
cparata	0:6d69e896ce38	493	/* Read raw data values. */
cparata	0:6d69e896ce38	494	if (lsm6dso_acceleration_raw_get(&_reg_ctx, data_raw.u8bit) != 0)
cparata	0:6d69e896ce38	495	{
cparata	0:6d69e896ce38	496	return 1;
cparata	0:6d69e896ce38	497	}
cparata	0:6d69e896ce38	498
cparata	0:6d69e896ce38	499	/* Format the data. */
cparata	0:6d69e896ce38	500	value[0] = data_raw.i16bit[0];
cparata	0:6d69e896ce38	501	value[1] = data_raw.i16bit[1];
cparata	0:6d69e896ce38	502	value[2] = data_raw.i16bit[2];
cparata	0:6d69e896ce38	503
cparata	0:6d69e896ce38	504	return 0;
cparata	0:6d69e896ce38	505	}
cparata	0:6d69e896ce38	506
cparata	0:6d69e896ce38	507
cparata	0:6d69e896ce38	508	/**
cparata	0:6d69e896ce38	509	* @brief Get the LSM6DSO accelerometer sensor axes
cparata	0:6d69e896ce38	510	* @param acceleration pointer where the values of the axes are written
cparata	0:6d69e896ce38	511	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	512	*/
cparata	0:6d69e896ce38	513	int LSM6DSOSensor::get_x_axes(int32_t *acceleration)
cparata	0:6d69e896ce38	514	{
cparata	0:6d69e896ce38	515	axis3bit16_t data_raw;
cparata	0:6d69e896ce38	516	float sensitivity = 0.0f;
cparata	0:6d69e896ce38	517
cparata	0:6d69e896ce38	518	/* Read raw data values. */
cparata	0:6d69e896ce38	519	if (lsm6dso_acceleration_raw_get(&_reg_ctx, data_raw.u8bit) != 0)
cparata	0:6d69e896ce38	520	{
cparata	0:6d69e896ce38	521	return 1;
cparata	0:6d69e896ce38	522	}
cparata	0:6d69e896ce38	523
cparata	0:6d69e896ce38	524	/* Get LSM6DSO actual sensitivity. */
cparata	0:6d69e896ce38	525	if (get_x_sensitivity(&sensitivity) != 0)
cparata	0:6d69e896ce38	526	{
cparata	0:6d69e896ce38	527	return 1;
cparata	0:6d69e896ce38	528	}
cparata	0:6d69e896ce38	529
cparata	0:6d69e896ce38	530	/* Calculate the data. */
cparata	0:6d69e896ce38	531	acceleration[0] = (int32_t)((float)((float)data_raw.i16bit[0] * sensitivity));
cparata	0:6d69e896ce38	532	acceleration[1] = (int32_t)((float)((float)data_raw.i16bit[1] * sensitivity));
cparata	0:6d69e896ce38	533	acceleration[2] = (int32_t)((float)((float)data_raw.i16bit[2] * sensitivity));
cparata	0:6d69e896ce38	534
cparata	0:6d69e896ce38	535	return 0;
cparata	0:6d69e896ce38	536	}
cparata	0:6d69e896ce38	537
cparata	0:6d69e896ce38	538
cparata	0:6d69e896ce38	539	/**
cparata	0:6d69e896ce38	540	* @brief Enable the LSM6DSO gyroscope sensor
cparata	0:6d69e896ce38	541	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	542	*/
cparata	0:6d69e896ce38	543	int LSM6DSOSensor::enable_g()
cparata	0:6d69e896ce38	544	{
cparata	0:6d69e896ce38	545	/* Check if the component is already enabled */
cparata	0:6d69e896ce38	546	if (_g_is_enabled == 1U)
cparata	0:6d69e896ce38	547	{
cparata	0:6d69e896ce38	548	return 0;
cparata	0:6d69e896ce38	549	}
cparata	0:6d69e896ce38	550
cparata	0:6d69e896ce38	551	/* Output data rate selection. */
cparata	0:6d69e896ce38	552	if (lsm6dso_gy_data_rate_set(&_reg_ctx, _g_last_odr) != 0)
cparata	0:6d69e896ce38	553	{
cparata	0:6d69e896ce38	554	return 1;
cparata	0:6d69e896ce38	555	}
cparata	0:6d69e896ce38	556
cparata	0:6d69e896ce38	557	_g_is_enabled = 1;
cparata	0:6d69e896ce38	558
cparata	0:6d69e896ce38	559	return 0;
cparata	0:6d69e896ce38	560	}
cparata	0:6d69e896ce38	561
cparata	0:6d69e896ce38	562
cparata	0:6d69e896ce38	563	/**
cparata	0:6d69e896ce38	564	* @brief Disable the LSM6DSO gyroscope sensor
cparata	0:6d69e896ce38	565	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	566	*/
cparata	0:6d69e896ce38	567	int LSM6DSOSensor::disable_g()
cparata	0:6d69e896ce38	568	{
cparata	0:6d69e896ce38	569	/* Check if the component is already disabled */
cparata	0:6d69e896ce38	570	if (_g_is_enabled == 0U)
cparata	0:6d69e896ce38	571	{
cparata	0:6d69e896ce38	572	return 0;
cparata	0:6d69e896ce38	573	}
cparata	0:6d69e896ce38	574
cparata	0:6d69e896ce38	575	/* Get current output data rate. */
cparata	0:6d69e896ce38	576	if (lsm6dso_gy_data_rate_get(&_reg_ctx, &_g_last_odr) != 0)
cparata	0:6d69e896ce38	577	{
cparata	0:6d69e896ce38	578	return 1;
cparata	0:6d69e896ce38	579	}
cparata	0:6d69e896ce38	580
cparata	0:6d69e896ce38	581	/* Output data rate selection - power down. */
cparata	0:6d69e896ce38	582	if (lsm6dso_gy_data_rate_set(&_reg_ctx, LSM6DSO_GY_ODR_OFF) != 0)
cparata	0:6d69e896ce38	583	{
cparata	0:6d69e896ce38	584	return 1;
cparata	0:6d69e896ce38	585	}
cparata	0:6d69e896ce38	586
cparata	0:6d69e896ce38	587	_g_is_enabled = 0;
cparata	0:6d69e896ce38	588
cparata	0:6d69e896ce38	589	return 0;
cparata	0:6d69e896ce38	590	}
cparata	0:6d69e896ce38	591
cparata	0:6d69e896ce38	592	/**
cparata	0:6d69e896ce38	593	* @brief Get the LSM6DSO gyroscope sensor sensitivity
cparata	0:6d69e896ce38	594	* @param sensitivity pointer where the sensitivity is written
cparata	0:6d69e896ce38	595	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	596	*/
cparata	0:6d69e896ce38	597	int LSM6DSOSensor::get_g_sensitivity(float *sensitivity)
cparata	0:6d69e896ce38	598	{
cparata	0:6d69e896ce38	599	int ret = 0;
cparata	0:6d69e896ce38	600	lsm6dso_fs_g_t full_scale;
cparata	0:6d69e896ce38	601
cparata	0:6d69e896ce38	602	/* Read actual full scale selection from sensor. */
cparata	0:6d69e896ce38	603	if (lsm6dso_gy_full_scale_get(&_reg_ctx, &full_scale) != 0)
cparata	0:6d69e896ce38	604	{
cparata	0:6d69e896ce38	605	return 1;
cparata	0:6d69e896ce38	606	}
cparata	0:6d69e896ce38	607
cparata	0:6d69e896ce38	608	/* Store the sensitivity based on actual full scale. */
cparata	0:6d69e896ce38	609	switch (full_scale)
cparata	0:6d69e896ce38	610	{
cparata	0:6d69e896ce38	611	case LSM6DSO_125dps:
cparata	0:6d69e896ce38	612	*sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_125DPS;
cparata	0:6d69e896ce38	613	break;
cparata	0:6d69e896ce38	614
cparata	0:6d69e896ce38	615	case LSM6DSO_250dps:
cparata	0:6d69e896ce38	616	*sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_250DPS;
cparata	0:6d69e896ce38	617	break;
cparata	0:6d69e896ce38	618
cparata	0:6d69e896ce38	619	case LSM6DSO_500dps:
cparata	0:6d69e896ce38	620	*sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_500DPS;
cparata	0:6d69e896ce38	621	break;
cparata	0:6d69e896ce38	622
cparata	0:6d69e896ce38	623	case LSM6DSO_1000dps:
cparata	0:6d69e896ce38	624	*sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_1000DPS;
cparata	0:6d69e896ce38	625	break;
cparata	0:6d69e896ce38	626
cparata	0:6d69e896ce38	627	case LSM6DSO_2000dps:
cparata	0:6d69e896ce38	628	*sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_2000DPS;
cparata	0:6d69e896ce38	629	break;
cparata	0:6d69e896ce38	630
cparata	0:6d69e896ce38	631	default:
cparata	0:6d69e896ce38	632	ret = 1;
cparata	0:6d69e896ce38	633	break;
cparata	0:6d69e896ce38	634	}
cparata	0:6d69e896ce38	635
cparata	0:6d69e896ce38	636	return ret;
cparata	0:6d69e896ce38	637	}
cparata	0:6d69e896ce38	638
cparata	0:6d69e896ce38	639	/**
cparata	0:6d69e896ce38	640	* @brief Get the LSM6DSO gyroscope sensor output data rate
cparata	0:6d69e896ce38	641	* @param odr pointer where the output data rate is written
cparata	0:6d69e896ce38	642	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	643	*/
cparata	0:6d69e896ce38	644	int LSM6DSOSensor::get_g_odr(float *odr)
cparata	0:6d69e896ce38	645	{
cparata	0:6d69e896ce38	646	int ret = 0;
cparata	0:6d69e896ce38	647	lsm6dso_odr_g_t odr_low_level;
cparata	0:6d69e896ce38	648
cparata	0:6d69e896ce38	649	/* Get current output data rate. */
cparata	0:6d69e896ce38	650	if (lsm6dso_gy_data_rate_get(&_reg_ctx, &odr_low_level) != 0)
cparata	0:6d69e896ce38	651	{
cparata	0:6d69e896ce38	652	return 1;
cparata	0:6d69e896ce38	653	}
cparata	0:6d69e896ce38	654
cparata	0:6d69e896ce38	655	switch (odr_low_level)
cparata	0:6d69e896ce38	656	{
cparata	0:6d69e896ce38	657	case LSM6DSO_GY_ODR_OFF:
cparata	0:6d69e896ce38	658	*odr = 0.0f;
cparata	0:6d69e896ce38	659	break;
cparata	0:6d69e896ce38	660
cparata	0:6d69e896ce38	661	case LSM6DSO_GY_ODR_12Hz5:
cparata	0:6d69e896ce38	662	*odr = 12.5f;
cparata	0:6d69e896ce38	663	break;
cparata	0:6d69e896ce38	664
cparata	0:6d69e896ce38	665	case LSM6DSO_GY_ODR_26Hz:
cparata	0:6d69e896ce38	666	*odr = 26.0f;
cparata	0:6d69e896ce38	667	break;
cparata	0:6d69e896ce38	668
cparata	0:6d69e896ce38	669	case LSM6DSO_GY_ODR_52Hz:
cparata	0:6d69e896ce38	670	*odr = 52.0f;
cparata	0:6d69e896ce38	671	break;
cparata	0:6d69e896ce38	672
cparata	0:6d69e896ce38	673	case LSM6DSO_GY_ODR_104Hz:
cparata	0:6d69e896ce38	674	*odr = 104.0f;
cparata	0:6d69e896ce38	675	break;
cparata	0:6d69e896ce38	676
cparata	0:6d69e896ce38	677	case LSM6DSO_GY_ODR_208Hz:
cparata	0:6d69e896ce38	678	*odr = 208.0f;
cparata	0:6d69e896ce38	679	break;
cparata	0:6d69e896ce38	680
cparata	0:6d69e896ce38	681	case LSM6DSO_GY_ODR_417Hz:
cparata	0:6d69e896ce38	682	*odr = 417.0f;
cparata	0:6d69e896ce38	683	break;
cparata	0:6d69e896ce38	684
cparata	0:6d69e896ce38	685	case LSM6DSO_GY_ODR_833Hz:
cparata	0:6d69e896ce38	686	*odr = 833.0f;
cparata	0:6d69e896ce38	687	break;
cparata	0:6d69e896ce38	688
cparata	0:6d69e896ce38	689	case LSM6DSO_GY_ODR_1667Hz:
cparata	0:6d69e896ce38	690	*odr = 1667.0f;
cparata	0:6d69e896ce38	691	break;
cparata	0:6d69e896ce38	692
cparata	0:6d69e896ce38	693	case LSM6DSO_GY_ODR_3333Hz:
cparata	0:6d69e896ce38	694	*odr = 3333.0f;
cparata	0:6d69e896ce38	695	break;
cparata	0:6d69e896ce38	696
cparata	0:6d69e896ce38	697	case LSM6DSO_GY_ODR_6667Hz:
cparata	0:6d69e896ce38	698	*odr = 6667.0f;
cparata	0:6d69e896ce38	699	break;
cparata	0:6d69e896ce38	700
cparata	0:6d69e896ce38	701	default:
cparata	0:6d69e896ce38	702	ret = 1;
cparata	0:6d69e896ce38	703	break;
cparata	0:6d69e896ce38	704	}
cparata	0:6d69e896ce38	705
cparata	0:6d69e896ce38	706	return ret;
cparata	0:6d69e896ce38	707	}
cparata	0:6d69e896ce38	708
cparata	0:6d69e896ce38	709	/**
cparata	0:6d69e896ce38	710	* @brief Set the LSM6DSO gyroscope sensor output data rate
cparata	0:6d69e896ce38	711	* @param odr the output data rate value to be set
cparata	0:6d69e896ce38	712	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	713	*/
cparata	0:6d69e896ce38	714	int LSM6DSOSensor::set_g_odr(float odr)
cparata	0:6d69e896ce38	715	{
cparata	0:6d69e896ce38	716	/* Check if the component is enabled */
cparata	0:6d69e896ce38	717	if (_g_is_enabled == 1U)
cparata	0:6d69e896ce38	718	{
cparata	0:6d69e896ce38	719	return set_g_odr_when_enabled(odr);
cparata	0:6d69e896ce38	720	}
cparata	0:6d69e896ce38	721	else
cparata	0:6d69e896ce38	722	{
cparata	0:6d69e896ce38	723	return set_g_odr_when_disabled(odr);
cparata	0:6d69e896ce38	724	}
cparata	0:6d69e896ce38	725	}
cparata	0:6d69e896ce38	726
cparata	0:6d69e896ce38	727	/**
cparata	0:6d69e896ce38	728	* @brief Set the LSM6DSO gyroscope sensor output data rate when enabled
cparata	0:6d69e896ce38	729	* @param odr the functional output data rate to be set
cparata	0:6d69e896ce38	730	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	731	*/
cparata	0:6d69e896ce38	732	int LSM6DSOSensor::set_g_odr_when_enabled(float odr)
cparata	0:6d69e896ce38	733	{
cparata	0:6d69e896ce38	734	lsm6dso_odr_g_t new_odr;
cparata	0:6d69e896ce38	735
cparata	0:6d69e896ce38	736	new_odr = (odr <= 12.5f) ? LSM6DSO_GY_ODR_12Hz5
cparata	0:6d69e896ce38	737	: (odr <= 26.0f) ? LSM6DSO_GY_ODR_26Hz
cparata	0:6d69e896ce38	738	: (odr <= 52.0f) ? LSM6DSO_GY_ODR_52Hz
cparata	0:6d69e896ce38	739	: (odr <= 104.0f) ? LSM6DSO_GY_ODR_104Hz
cparata	0:6d69e896ce38	740	: (odr <= 208.0f) ? LSM6DSO_GY_ODR_208Hz
cparata	0:6d69e896ce38	741	: (odr <= 417.0f) ? LSM6DSO_GY_ODR_417Hz
cparata	0:6d69e896ce38	742	: (odr <= 833.0f) ? LSM6DSO_GY_ODR_833Hz
cparata	0:6d69e896ce38	743	: (odr <= 1667.0f) ? LSM6DSO_GY_ODR_1667Hz
cparata	0:6d69e896ce38	744	: (odr <= 3333.0f) ? LSM6DSO_GY_ODR_3333Hz
cparata	0:6d69e896ce38	745	: LSM6DSO_GY_ODR_6667Hz;
cparata	0:6d69e896ce38	746
cparata	0:6d69e896ce38	747	/* Output data rate selection. */
cparata	0:6d69e896ce38	748	if (lsm6dso_gy_data_rate_set(&_reg_ctx, new_odr) != 0)
cparata	0:6d69e896ce38	749	{
cparata	0:6d69e896ce38	750	return 1;
cparata	0:6d69e896ce38	751	}
cparata	0:6d69e896ce38	752
cparata	0:6d69e896ce38	753	return 0;
cparata	0:6d69e896ce38	754	}
cparata	0:6d69e896ce38	755
cparata	0:6d69e896ce38	756	/**
cparata	0:6d69e896ce38	757	* @brief Set the LSM6DSO gyroscope sensor output data rate when disabled
cparata	0:6d69e896ce38	758	* @param odr the functional output data rate to be set
cparata	0:6d69e896ce38	759	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	760	*/
cparata	0:6d69e896ce38	761	int LSM6DSOSensor::set_g_odr_when_disabled(float odr)
cparata	0:6d69e896ce38	762	{
cparata	0:6d69e896ce38	763	_g_last_odr = (odr <= 12.5f) ? LSM6DSO_GY_ODR_12Hz5
cparata	0:6d69e896ce38	764	: (odr <= 26.0f) ? LSM6DSO_GY_ODR_26Hz
cparata	0:6d69e896ce38	765	: (odr <= 52.0f) ? LSM6DSO_GY_ODR_52Hz
cparata	0:6d69e896ce38	766	: (odr <= 104.0f) ? LSM6DSO_GY_ODR_104Hz
cparata	0:6d69e896ce38	767	: (odr <= 208.0f) ? LSM6DSO_GY_ODR_208Hz
cparata	0:6d69e896ce38	768	: (odr <= 417.0f) ? LSM6DSO_GY_ODR_417Hz
cparata	0:6d69e896ce38	769	: (odr <= 833.0f) ? LSM6DSO_GY_ODR_833Hz
cparata	0:6d69e896ce38	770	: (odr <= 1667.0f) ? LSM6DSO_GY_ODR_1667Hz
cparata	0:6d69e896ce38	771	: (odr <= 3333.0f) ? LSM6DSO_GY_ODR_3333Hz
cparata	0:6d69e896ce38	772	: LSM6DSO_GY_ODR_6667Hz;
cparata	0:6d69e896ce38	773
cparata	0:6d69e896ce38	774	return 0;
cparata	0:6d69e896ce38	775	}
cparata	0:6d69e896ce38	776
cparata	0:6d69e896ce38	777
cparata	0:6d69e896ce38	778	/**
cparata	0:6d69e896ce38	779	* @brief Get the LSM6DSO gyroscope sensor full scale
cparata	0:6d69e896ce38	780	* @param full_scale pointer where the full scale is written
cparata	0:6d69e896ce38	781	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	782	*/
cparata	0:6d69e896ce38	783	int LSM6DSOSensor::get_g_fs(float *full_scale)
cparata	0:6d69e896ce38	784	{
cparata	0:6d69e896ce38	785	int ret = 0;
cparata	0:6d69e896ce38	786	lsm6dso_fs_g_t fs_low_level;
cparata	0:6d69e896ce38	787
cparata	0:6d69e896ce38	788	/* Read actual full scale selection from sensor. */
cparata	0:6d69e896ce38	789	if (lsm6dso_gy_full_scale_get(&_reg_ctx, &fs_low_level) != 0)
cparata	0:6d69e896ce38	790	{
cparata	0:6d69e896ce38	791	return 1;
cparata	0:6d69e896ce38	792	}
cparata	0:6d69e896ce38	793
cparata	0:6d69e896ce38	794	switch (fs_low_level)
cparata	0:6d69e896ce38	795	{
cparata	0:6d69e896ce38	796	case LSM6DSO_125dps:
cparata	0:6d69e896ce38	797	*full_scale = 125.0f;
cparata	0:6d69e896ce38	798	break;
cparata	0:6d69e896ce38	799
cparata	0:6d69e896ce38	800	case LSM6DSO_250dps:
cparata	0:6d69e896ce38	801	*full_scale = 250.0f;
cparata	0:6d69e896ce38	802	break;
cparata	0:6d69e896ce38	803
cparata	0:6d69e896ce38	804	case LSM6DSO_500dps:
cparata	0:6d69e896ce38	805	*full_scale = 500.0f;
cparata	0:6d69e896ce38	806	break;
cparata	0:6d69e896ce38	807
cparata	0:6d69e896ce38	808	case LSM6DSO_1000dps:
cparata	0:6d69e896ce38	809	*full_scale = 1000.0f;
cparata	0:6d69e896ce38	810	break;
cparata	0:6d69e896ce38	811
cparata	0:6d69e896ce38	812	case LSM6DSO_2000dps:
cparata	0:6d69e896ce38	813	*full_scale = 2000.0f;
cparata	0:6d69e896ce38	814	break;
cparata	0:6d69e896ce38	815
cparata	0:6d69e896ce38	816	default:
cparata	0:6d69e896ce38	817	ret = 1;
cparata	0:6d69e896ce38	818	break;
cparata	0:6d69e896ce38	819	}
cparata	0:6d69e896ce38	820
cparata	0:6d69e896ce38	821	return ret;
cparata	0:6d69e896ce38	822	}
cparata	0:6d69e896ce38	823
cparata	0:6d69e896ce38	824	/**
cparata	0:6d69e896ce38	825	* @brief Set the LSM6DSO gyroscope sensor full scale
cparata	0:6d69e896ce38	826	* @param full_scale the functional full scale to be set
cparata	0:6d69e896ce38	827	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	828	*/
cparata	0:6d69e896ce38	829	int LSM6DSOSensor::set_g_fs(float full_scale)
cparata	0:6d69e896ce38	830	{
cparata	0:6d69e896ce38	831	lsm6dso_fs_g_t new_fs;
cparata	0:6d69e896ce38	832
cparata	0:6d69e896ce38	833	new_fs = (full_scale <= 125.0f) ? LSM6DSO_125dps
cparata	0:6d69e896ce38	834	: (full_scale <= 250.0f) ? LSM6DSO_250dps
cparata	0:6d69e896ce38	835	: (full_scale <= 500.0f) ? LSM6DSO_500dps
cparata	0:6d69e896ce38	836	: (full_scale <= 1000.0f) ? LSM6DSO_1000dps
cparata	0:6d69e896ce38	837	: LSM6DSO_2000dps;
cparata	0:6d69e896ce38	838
cparata	0:6d69e896ce38	839	if (lsm6dso_gy_full_scale_set(&_reg_ctx, new_fs) != 0)
cparata	0:6d69e896ce38	840	{
cparata	0:6d69e896ce38	841	return 1;
cparata	0:6d69e896ce38	842	}
cparata	0:6d69e896ce38	843
cparata	0:6d69e896ce38	844	return 0;
cparata	0:6d69e896ce38	845	}
cparata	0:6d69e896ce38	846
cparata	0:6d69e896ce38	847	/**
cparata	0:6d69e896ce38	848	* @brief Get the LSM6DSO gyroscope sensor raw axes
cparata	0:6d69e896ce38	849	* @param value pointer where the raw values of the axes are written
cparata	0:6d69e896ce38	850	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	851	*/
cparata	0:6d69e896ce38	852	int LSM6DSOSensor::get_g_axes_raw(int16_t *value)
cparata	0:6d69e896ce38	853	{
cparata	0:6d69e896ce38	854	axis3bit16_t data_raw;
cparata	0:6d69e896ce38	855
cparata	0:6d69e896ce38	856	/* Read raw data values. */
cparata	0:6d69e896ce38	857	if (lsm6dso_angular_rate_raw_get(&_reg_ctx, data_raw.u8bit) != 0)
cparata	0:6d69e896ce38	858	{
cparata	0:6d69e896ce38	859	return 1;
cparata	0:6d69e896ce38	860	}
cparata	0:6d69e896ce38	861
cparata	0:6d69e896ce38	862	/* Format the data. */
cparata	0:6d69e896ce38	863	value[0] = data_raw.i16bit[0];
cparata	0:6d69e896ce38	864	value[1] = data_raw.i16bit[1];
cparata	0:6d69e896ce38	865	value[2] = data_raw.i16bit[2];
cparata	0:6d69e896ce38	866
cparata	0:6d69e896ce38	867	return 0;
cparata	0:6d69e896ce38	868	}
cparata	0:6d69e896ce38	869
cparata	0:6d69e896ce38	870
cparata	0:6d69e896ce38	871	/**
cparata	0:6d69e896ce38	872	* @brief Get the LSM6DSO gyroscope sensor axes
cparata	0:6d69e896ce38	873	* @param angular_rate pointer where the values of the axes are written
cparata	0:6d69e896ce38	874	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	875	*/
cparata	0:6d69e896ce38	876	int LSM6DSOSensor::get_g_axes(int32_t *angular_rate)
cparata	0:6d69e896ce38	877	{
cparata	0:6d69e896ce38	878	axis3bit16_t data_raw;
cparata	0:6d69e896ce38	879	float sensitivity;
cparata	0:6d69e896ce38	880
cparata	0:6d69e896ce38	881	/* Read raw data values. */
cparata	0:6d69e896ce38	882	if (lsm6dso_angular_rate_raw_get(&_reg_ctx, data_raw.u8bit) != 0)
cparata	0:6d69e896ce38	883	{
cparata	0:6d69e896ce38	884	return 1;
cparata	0:6d69e896ce38	885	}
cparata	0:6d69e896ce38	886
cparata	0:6d69e896ce38	887	/* Get LSM6DSO actual sensitivity. */
cparata	0:6d69e896ce38	888	if (get_g_sensitivity(&sensitivity) != 0)
cparata	0:6d69e896ce38	889	{
cparata	0:6d69e896ce38	890	return 1;
cparata	0:6d69e896ce38	891	}
cparata	0:6d69e896ce38	892
cparata	0:6d69e896ce38	893	/* Calculate the data. */
cparata	0:6d69e896ce38	894	angular_rate[0] = (int32_t)((float)((float)data_raw.i16bit[0] * sensitivity));
cparata	0:6d69e896ce38	895	angular_rate[1] = (int32_t)((float)((float)data_raw.i16bit[1] * sensitivity));
cparata	0:6d69e896ce38	896	angular_rate[2] = (int32_t)((float)((float)data_raw.i16bit[2] * sensitivity));
cparata	0:6d69e896ce38	897
cparata	0:6d69e896ce38	898	return 0;
cparata	0:6d69e896ce38	899	}
cparata	0:6d69e896ce38	900
cparata	0:6d69e896ce38	901
cparata	0:6d69e896ce38	902	/**
cparata	0:6d69e896ce38	903	* @brief Get the LSM6DSO register value
cparata	0:6d69e896ce38	904	* @param reg address to be read
cparata	0:6d69e896ce38	905	* @param data pointer where the value is written
cparata	0:6d69e896ce38	906	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	907	*/
cparata	0:6d69e896ce38	908	int LSM6DSOSensor::read_reg(uint8_t reg, uint8_t *data)
cparata	0:6d69e896ce38	909	{
cparata	0:6d69e896ce38	910	if (lsm6dso_read_reg(&_reg_ctx, reg, data, 1) != 0)
cparata	0:6d69e896ce38	911	{
cparata	0:6d69e896ce38	912	return 1;
cparata	0:6d69e896ce38	913	}
cparata	0:6d69e896ce38	914
cparata	0:6d69e896ce38	915	return 0;
cparata	0:6d69e896ce38	916	}
cparata	0:6d69e896ce38	917
cparata	0:6d69e896ce38	918
cparata	0:6d69e896ce38	919	/**
cparata	0:6d69e896ce38	920	* @brief Set the LSM6DSO register value
cparata	0:6d69e896ce38	921	* @param reg address to be written
cparata	0:6d69e896ce38	922	* @param data value to be written
cparata	0:6d69e896ce38	923	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	924	*/
cparata	0:6d69e896ce38	925	int LSM6DSOSensor::write_reg(uint8_t reg, uint8_t data)
cparata	0:6d69e896ce38	926	{
cparata	0:6d69e896ce38	927	if (lsm6dso_write_reg(&_reg_ctx, reg, &data, 1) != 0)
cparata	0:6d69e896ce38	928	{
cparata	0:6d69e896ce38	929	return 1;
cparata	0:6d69e896ce38	930	}
cparata	0:6d69e896ce38	931
cparata	0:6d69e896ce38	932	return 0;
cparata	0:6d69e896ce38	933	}
cparata	0:6d69e896ce38	934
cparata	0:6d69e896ce38	935	/**
cparata	0:6d69e896ce38	936	* @brief Set the interrupt latch
cparata	0:6d69e896ce38	937	* @param status value to be written
cparata	0:6d69e896ce38	938	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	939	*/
cparata	0:6d69e896ce38	940	int LSM6DSOSensor::set_interrupt_latch(uint8_t status)
cparata	0:6d69e896ce38	941	{
cparata	0:6d69e896ce38	942	if (status > 1U)
cparata	0:6d69e896ce38	943	{
cparata	0:6d69e896ce38	944	return 1;
cparata	0:6d69e896ce38	945	}
cparata	0:6d69e896ce38	946
cparata	0:6d69e896ce38	947	if (lsm6dso_int_notification_set(&_reg_ctx, (lsm6dso_lir_t)status) != 0)
cparata	0:6d69e896ce38	948	{
cparata	0:6d69e896ce38	949	return 1;
cparata	0:6d69e896ce38	950	}
cparata	0:6d69e896ce38	951
cparata	0:6d69e896ce38	952	return 0;
cparata	0:6d69e896ce38	953	}
cparata	0:6d69e896ce38	954
cparata	0:6d69e896ce38	955	/**
cparata	0:6d69e896ce38	956	* @brief Enable free fall detection
cparata	0:6d69e896ce38	957	* @param int_pin interrupt pin line to be used
cparata	0:6d69e896ce38	958	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	959	*/
cparata	0:6d69e896ce38	960	int LSM6DSOSensor::enable_free_fall_detection(LSM6DSO_Interrupt_Pin_t int_pin)
cparata	0:6d69e896ce38	961	{
cparata	0:6d69e896ce38	962	int ret = 0;
cparata	0:6d69e896ce38	963	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	964	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	965
cparata	0:6d69e896ce38	966	/* Output Data Rate selection */
cparata	0:6d69e896ce38	967	if (set_x_odr(416.0f) != 0)
cparata	0:6d69e896ce38	968	{
cparata	0:6d69e896ce38	969	return 1;
cparata	0:6d69e896ce38	970	}
cparata	0:6d69e896ce38	971
cparata	0:6d69e896ce38	972	/* Full scale selection */
cparata	0:6d69e896ce38	973	if (set_x_fs(2.0f) != 0)
cparata	0:6d69e896ce38	974	{
cparata	0:6d69e896ce38	975	return 1;
cparata	0:6d69e896ce38	976	}
cparata	0:6d69e896ce38	977
cparata	0:6d69e896ce38	978	/* FF_DUR setting */
cparata	0:6d69e896ce38	979	if (lsm6dso_ff_dur_set(&_reg_ctx, 0x06) != 0)
cparata	0:6d69e896ce38	980	{
cparata	0:6d69e896ce38	981	return 1;
cparata	0:6d69e896ce38	982	}
cparata	0:6d69e896ce38	983
cparata	0:6d69e896ce38	984	/* WAKE_DUR setting */
cparata	0:6d69e896ce38	985	if (lsm6dso_wkup_dur_set(&_reg_ctx, 0x00) != 0)
cparata	0:6d69e896ce38	986	{
cparata	0:6d69e896ce38	987	return 1;
cparata	0:6d69e896ce38	988	}
cparata	0:6d69e896ce38	989
cparata	0:6d69e896ce38	990	/* SLEEP_DUR setting */
cparata	0:6d69e896ce38	991	if (lsm6dso_act_sleep_dur_set(&_reg_ctx, 0x00) != 0)
cparata	0:6d69e896ce38	992	{
cparata	0:6d69e896ce38	993	return 1;
cparata	0:6d69e896ce38	994	}
cparata	0:6d69e896ce38	995
cparata	0:6d69e896ce38	996	/* FF_THS setting */
cparata	0:6d69e896ce38	997	if (lsm6dso_ff_threshold_set(&_reg_ctx, LSM6DSO_FF_TSH_312mg) != 0)
cparata	0:6d69e896ce38	998	{
cparata	0:6d69e896ce38	999	return 1;
cparata	0:6d69e896ce38	1000	}
cparata	0:6d69e896ce38	1001
cparata	0:6d69e896ce38	1002	/* Enable free fall event on either INT1 or INT2 pin */
cparata	0:6d69e896ce38	1003	switch (int_pin)
cparata	0:6d69e896ce38	1004	{
cparata	0:6d69e896ce38	1005	case LSM6DSO_INT1_PIN:
cparata	0:6d69e896ce38	1006	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1007	{
cparata	0:6d69e896ce38	1008	return 1;
cparata	0:6d69e896ce38	1009	}
cparata	0:6d69e896ce38	1010
cparata	0:6d69e896ce38	1011	val1.md1_cfg.int1_ff = PROPERTY_ENABLE;
cparata	0:6d69e896ce38	1012
cparata	0:6d69e896ce38	1013	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1014	{
cparata	0:6d69e896ce38	1015	return 1;
cparata	0:6d69e896ce38	1016	}
cparata	0:6d69e896ce38	1017	break;
cparata	0:6d69e896ce38	1018
cparata	0:6d69e896ce38	1019	case LSM6DSO_INT2_PIN:
cparata	0:6d69e896ce38	1020	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1021	{
cparata	0:6d69e896ce38	1022	return 1;
cparata	0:6d69e896ce38	1023	}
cparata	0:6d69e896ce38	1024
cparata	0:6d69e896ce38	1025	val2.md2_cfg.int2_ff = PROPERTY_ENABLE;
cparata	0:6d69e896ce38	1026
cparata	0:6d69e896ce38	1027	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1028	{
cparata	0:6d69e896ce38	1029	return 1;
cparata	0:6d69e896ce38	1030	}
cparata	0:6d69e896ce38	1031	break;
cparata	0:6d69e896ce38	1032
cparata	0:6d69e896ce38	1033	default:
cparata	0:6d69e896ce38	1034	ret = 1;
cparata	0:6d69e896ce38	1035	break;
cparata	0:6d69e896ce38	1036	}
cparata	0:6d69e896ce38	1037
cparata	0:6d69e896ce38	1038	return ret;
cparata	0:6d69e896ce38	1039	}
cparata	0:6d69e896ce38	1040
cparata	0:6d69e896ce38	1041	/**
cparata	0:6d69e896ce38	1042	* @brief Disable free fall detection
cparata	0:6d69e896ce38	1043	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1044	*/
cparata	0:6d69e896ce38	1045	int LSM6DSOSensor::disable_free_fall_detection()
cparata	0:6d69e896ce38	1046	{
cparata	0:6d69e896ce38	1047	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1048	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	1049
cparata	0:6d69e896ce38	1050	/* Disable free fall event on both INT1 and INT2 pins */
cparata	0:6d69e896ce38	1051	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1052	{
cparata	0:6d69e896ce38	1053	return 1;
cparata	0:6d69e896ce38	1054	}
cparata	0:6d69e896ce38	1055
cparata	0:6d69e896ce38	1056	val1.md1_cfg.int1_ff = PROPERTY_DISABLE;
cparata	0:6d69e896ce38	1057
cparata	0:6d69e896ce38	1058	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1059	{
cparata	0:6d69e896ce38	1060	return 1;
cparata	0:6d69e896ce38	1061	}
cparata	0:6d69e896ce38	1062
cparata	0:6d69e896ce38	1063	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1064	{
cparata	0:6d69e896ce38	1065	return 1;
cparata	0:6d69e896ce38	1066	}
cparata	0:6d69e896ce38	1067
cparata	0:6d69e896ce38	1068	val2.md2_cfg.int2_ff = PROPERTY_DISABLE;
cparata	0:6d69e896ce38	1069
cparata	0:6d69e896ce38	1070	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1071	{
cparata	0:6d69e896ce38	1072	return 1;
cparata	0:6d69e896ce38	1073	}
cparata	0:6d69e896ce38	1074
cparata	0:6d69e896ce38	1075	/* FF_DUR setting */
cparata	0:6d69e896ce38	1076	if (lsm6dso_ff_dur_set(&_reg_ctx, 0x00) != 0)
cparata	0:6d69e896ce38	1077	{
cparata	0:6d69e896ce38	1078	return 1;
cparata	0:6d69e896ce38	1079	}
cparata	0:6d69e896ce38	1080
cparata	0:6d69e896ce38	1081	/* FF_THS setting */
cparata	0:6d69e896ce38	1082	if (lsm6dso_ff_threshold_set(&_reg_ctx, LSM6DSO_FF_TSH_156mg) != 0)
cparata	0:6d69e896ce38	1083	{
cparata	0:6d69e896ce38	1084	return 1;
cparata	0:6d69e896ce38	1085	}
cparata	0:6d69e896ce38	1086
cparata	0:6d69e896ce38	1087	return 0;
cparata	0:6d69e896ce38	1088	}
cparata	0:6d69e896ce38	1089
cparata	0:6d69e896ce38	1090	/**
cparata	0:6d69e896ce38	1091	* @brief Set free fall threshold
cparata	0:6d69e896ce38	1092	* @param thr free fall detection threshold
cparata	0:6d69e896ce38	1093	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1094	*/
cparata	0:6d69e896ce38	1095	int LSM6DSOSensor::set_free_fall_threshold(uint8_t thr)
cparata	0:6d69e896ce38	1096	{
cparata	0:6d69e896ce38	1097	if (lsm6dso_ff_threshold_set(&_reg_ctx, (lsm6dso_ff_ths_t)thr) != 0)
cparata	0:6d69e896ce38	1098	{
cparata	0:6d69e896ce38	1099	return 1;
cparata	0:6d69e896ce38	1100	}
cparata	0:6d69e896ce38	1101
cparata	0:6d69e896ce38	1102	return 0;
cparata	0:6d69e896ce38	1103	}
cparata	0:6d69e896ce38	1104
cparata	0:6d69e896ce38	1105
cparata	0:6d69e896ce38	1106	/**
cparata	0:6d69e896ce38	1107	* @brief Set free fall duration
cparata	0:6d69e896ce38	1108	* @param dur free fall detection duration
cparata	0:6d69e896ce38	1109	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1110	*/
cparata	0:6d69e896ce38	1111	int LSM6DSOSensor::set_free_fall_duration(uint8_t dur)
cparata	0:6d69e896ce38	1112	{
cparata	0:6d69e896ce38	1113	if (lsm6dso_ff_dur_set(&_reg_ctx, dur) != 0)
cparata	0:6d69e896ce38	1114	{
cparata	0:6d69e896ce38	1115	return 1;
cparata	0:6d69e896ce38	1116	}
cparata	0:6d69e896ce38	1117
cparata	0:6d69e896ce38	1118	return 0;
cparata	0:6d69e896ce38	1119	}
cparata	0:6d69e896ce38	1120
cparata	0:6d69e896ce38	1121
cparata	0:6d69e896ce38	1122	/**
cparata	0:6d69e896ce38	1123	* @brief Enable pedometer
cparata	0:6d69e896ce38	1124	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1125	*/
cparata	0:6d69e896ce38	1126	int LSM6DSOSensor::enable_pedometer()
cparata	0:6d69e896ce38	1127	{
cparata	0:6d69e896ce38	1128	lsm6dso_pin_int1_route_t val;
cparata	0:6d69e896ce38	1129
cparata	0:6d69e896ce38	1130	/* Output Data Rate selection */
cparata	0:6d69e896ce38	1131	if (set_x_odr(26.0f) != 0)
cparata	0:6d69e896ce38	1132	{
cparata	0:6d69e896ce38	1133	return 1;
cparata	0:6d69e896ce38	1134	}
cparata	0:6d69e896ce38	1135
cparata	0:6d69e896ce38	1136	/* Full scale selection */
cparata	0:6d69e896ce38	1137	if (set_x_fs(2.0f) != 0)
cparata	0:6d69e896ce38	1138	{
cparata	0:6d69e896ce38	1139	return 1;
cparata	0:6d69e896ce38	1140	}
cparata	0:6d69e896ce38	1141
cparata	0:6d69e896ce38	1142	/* Enable pedometer algorithm. */
cparata	0:6d69e896ce38	1143	if (lsm6dso_pedo_sens_set(&_reg_ctx, LSM6DSO_PEDO_BASE_MODE) != 0)
cparata	0:6d69e896ce38	1144	{
cparata	0:6d69e896ce38	1145	return 1;
cparata	0:6d69e896ce38	1146	}
cparata	0:6d69e896ce38	1147
cparata	0:6d69e896ce38	1148	/* Enable step detector on INT1 pin */
cparata	0:6d69e896ce38	1149	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val) != 0)
cparata	0:6d69e896ce38	1150	{
cparata	0:6d69e896ce38	1151	return 1;
cparata	0:6d69e896ce38	1152	}
cparata	0:6d69e896ce38	1153
cparata	0:6d69e896ce38	1154	val.emb_func_int1.int1_step_detector = PROPERTY_ENABLE;
cparata	0:6d69e896ce38	1155
cparata	0:6d69e896ce38	1156	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val) != 0)
cparata	0:6d69e896ce38	1157	{
cparata	0:6d69e896ce38	1158	return 1;
cparata	0:6d69e896ce38	1159	}
cparata	0:6d69e896ce38	1160
cparata	0:6d69e896ce38	1161	return 0;
cparata	0:6d69e896ce38	1162	}
cparata	0:6d69e896ce38	1163
cparata	0:6d69e896ce38	1164	/**
cparata	0:6d69e896ce38	1165	* @brief Disable pedometer
cparata	0:6d69e896ce38	1166	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1167	*/
cparata	0:6d69e896ce38	1168	int LSM6DSOSensor::disable_pedometer()
cparata	0:6d69e896ce38	1169	{
cparata	0:6d69e896ce38	1170	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1171
cparata	0:6d69e896ce38	1172	/* Disable step detector on INT1 pin */
cparata	0:6d69e896ce38	1173	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1174	{
cparata	0:6d69e896ce38	1175	return 1;
cparata	0:6d69e896ce38	1176	}
cparata	0:6d69e896ce38	1177
cparata	0:6d69e896ce38	1178	val1.emb_func_int1.int1_step_detector = PROPERTY_DISABLE;
cparata	0:6d69e896ce38	1179
cparata	0:6d69e896ce38	1180	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1181	{
cparata	0:6d69e896ce38	1182	return 1;
cparata	0:6d69e896ce38	1183	}
cparata	0:6d69e896ce38	1184
cparata	0:6d69e896ce38	1185	/* Disable pedometer algorithm. */
cparata	0:6d69e896ce38	1186	if (lsm6dso_pedo_sens_set(&_reg_ctx, LSM6DSO_PEDO_DISABLE) != 0)
cparata	0:6d69e896ce38	1187	{
cparata	0:6d69e896ce38	1188	return 1;
cparata	0:6d69e896ce38	1189	}
cparata	0:6d69e896ce38	1190
cparata	0:6d69e896ce38	1191	return 0;
cparata	0:6d69e896ce38	1192	}
cparata	0:6d69e896ce38	1193
cparata	0:6d69e896ce38	1194	/**
cparata	0:6d69e896ce38	1195	* @brief Get step count
cparata	0:6d69e896ce38	1196	* @param step_count step counter
cparata	0:6d69e896ce38	1197	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1198	*/
cparata	0:6d69e896ce38	1199	int LSM6DSOSensor::get_step_counter(uint16_t *step_count)
cparata	0:6d69e896ce38	1200	{
cparata	0:6d69e896ce38	1201	if (lsm6dso_number_of_steps_get(&_reg_ctx, (uint8_t *)step_count) != 0)
cparata	0:6d69e896ce38	1202	{
cparata	0:6d69e896ce38	1203	return 1;
cparata	0:6d69e896ce38	1204	}
cparata	0:6d69e896ce38	1205
cparata	0:6d69e896ce38	1206	return 0;
cparata	0:6d69e896ce38	1207	}
cparata	0:6d69e896ce38	1208
cparata	0:6d69e896ce38	1209	/**
cparata	0:6d69e896ce38	1210	* @brief Enable step counter reset
cparata	0:6d69e896ce38	1211	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1212	*/
cparata	0:6d69e896ce38	1213	int LSM6DSOSensor::reset_step_counter()
cparata	0:6d69e896ce38	1214	{
cparata	0:6d69e896ce38	1215	if (lsm6dso_steps_reset(&_reg_ctx) != 0)
cparata	0:6d69e896ce38	1216	{
cparata	0:6d69e896ce38	1217	return 1;
cparata	0:6d69e896ce38	1218	}
cparata	0:6d69e896ce38	1219
cparata	0:6d69e896ce38	1220	return 0;
cparata	0:6d69e896ce38	1221	}
cparata	0:6d69e896ce38	1222
cparata	0:6d69e896ce38	1223	/**
cparata	0:6d69e896ce38	1224	* @brief Enable tilt detection
cparata	0:6d69e896ce38	1225	* @param int_pin interrupt pin line to be used
cparata	0:6d69e896ce38	1226	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1227	*/
cparata	0:6d69e896ce38	1228	int LSM6DSOSensor::enable_tilt_detection(LSM6DSO_Interrupt_Pin_t int_pin)
cparata	0:6d69e896ce38	1229	{
cparata	0:6d69e896ce38	1230	int ret = 0;
cparata	0:6d69e896ce38	1231	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1232	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	1233
cparata	0:6d69e896ce38	1234	/* Output Data Rate selection */
cparata	0:6d69e896ce38	1235	if (set_x_odr(26.0f) != 0)
cparata	0:6d69e896ce38	1236	{
cparata	0:6d69e896ce38	1237	return 1;
cparata	0:6d69e896ce38	1238	}
cparata	0:6d69e896ce38	1239
cparata	0:6d69e896ce38	1240	/* Full scale selection */
cparata	0:6d69e896ce38	1241	if (set_x_fs(2.0f) != 0)
cparata	0:6d69e896ce38	1242	{
cparata	0:6d69e896ce38	1243	return 1;
cparata	0:6d69e896ce38	1244	}
cparata	0:6d69e896ce38	1245
cparata	0:6d69e896ce38	1246	/* Enable tilt calculation. */
cparata	0:6d69e896ce38	1247	if (lsm6dso_tilt_sens_set(&_reg_ctx, PROPERTY_ENABLE) != 0)
cparata	0:6d69e896ce38	1248	{
cparata	0:6d69e896ce38	1249	return 1;
cparata	0:6d69e896ce38	1250	}
cparata	0:6d69e896ce38	1251
cparata	0:6d69e896ce38	1252	/* Enable tilt event on either INT1 or INT2 pin */
cparata	0:6d69e896ce38	1253	switch (int_pin)
cparata	0:6d69e896ce38	1254	{
cparata	0:6d69e896ce38	1255	case LSM6DSO_INT1_PIN:
cparata	0:6d69e896ce38	1256	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1257	{
cparata	0:6d69e896ce38	1258	return 1;
cparata	0:6d69e896ce38	1259	}
cparata	0:6d69e896ce38	1260
cparata	0:6d69e896ce38	1261	val1.emb_func_int1.int1_tilt = PROPERTY_ENABLE;
cparata	0:6d69e896ce38	1262
cparata	0:6d69e896ce38	1263	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1264	{
cparata	0:6d69e896ce38	1265	return 1;
cparata	0:6d69e896ce38	1266	}
cparata	0:6d69e896ce38	1267	break;
cparata	0:6d69e896ce38	1268
cparata	0:6d69e896ce38	1269	case LSM6DSO_INT2_PIN:
cparata	0:6d69e896ce38	1270	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1271	{
cparata	0:6d69e896ce38	1272	return 1;
cparata	0:6d69e896ce38	1273	}
cparata	0:6d69e896ce38	1274
cparata	0:6d69e896ce38	1275	val2.emb_func_int2.int2_tilt = PROPERTY_ENABLE;
cparata	0:6d69e896ce38	1276
cparata	0:6d69e896ce38	1277	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1278	{
cparata	0:6d69e896ce38	1279	return 1;
cparata	0:6d69e896ce38	1280	}
cparata	0:6d69e896ce38	1281	break;
cparata	0:6d69e896ce38	1282
cparata	0:6d69e896ce38	1283	default:
cparata	0:6d69e896ce38	1284	ret = 1;
cparata	0:6d69e896ce38	1285	break;
cparata	0:6d69e896ce38	1286	}
cparata	0:6d69e896ce38	1287
cparata	0:6d69e896ce38	1288	return ret;
cparata	0:6d69e896ce38	1289	}
cparata	0:6d69e896ce38	1290
cparata	0:6d69e896ce38	1291	/**
cparata	0:6d69e896ce38	1292	* @brief Disable tilt detection
cparata	0:6d69e896ce38	1293	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1294	*/
cparata	0:6d69e896ce38	1295	int LSM6DSOSensor::disable_tilt_detection()
cparata	0:6d69e896ce38	1296	{
cparata	0:6d69e896ce38	1297	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1298	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	1299
cparata	0:6d69e896ce38	1300	/* Disable tilt event on both INT1 and INT2 pins */
cparata	0:6d69e896ce38	1301	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1302	{
cparata	0:6d69e896ce38	1303	return 1;
cparata	0:6d69e896ce38	1304	}
cparata	0:6d69e896ce38	1305
cparata	0:6d69e896ce38	1306	val1.emb_func_int1.int1_tilt = PROPERTY_DISABLE;
cparata	0:6d69e896ce38	1307
cparata	0:6d69e896ce38	1308	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1309	{
cparata	0:6d69e896ce38	1310	return 1;
cparata	0:6d69e896ce38	1311	}
cparata	0:6d69e896ce38	1312
cparata	0:6d69e896ce38	1313	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1314	{
cparata	0:6d69e896ce38	1315	return 1;
cparata	0:6d69e896ce38	1316	}
cparata	0:6d69e896ce38	1317
cparata	0:6d69e896ce38	1318	val2.emb_func_int2.int2_tilt = PROPERTY_DISABLE;
cparata	0:6d69e896ce38	1319
cparata	0:6d69e896ce38	1320	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1321	{
cparata	0:6d69e896ce38	1322	return 1;
cparata	0:6d69e896ce38	1323	}
cparata	0:6d69e896ce38	1324
cparata	0:6d69e896ce38	1325	/* Disable tilt calculation. */
cparata	0:6d69e896ce38	1326	if (lsm6dso_tilt_sens_set(&_reg_ctx, PROPERTY_DISABLE) != 0)
cparata	0:6d69e896ce38	1327	{
cparata	0:6d69e896ce38	1328	return 1;
cparata	0:6d69e896ce38	1329	}
cparata	0:6d69e896ce38	1330
cparata	0:6d69e896ce38	1331	return 0;
cparata	0:6d69e896ce38	1332	}
cparata	0:6d69e896ce38	1333
cparata	0:6d69e896ce38	1334	/**
cparata	0:6d69e896ce38	1335	* @brief Enable wake up detection
cparata	0:6d69e896ce38	1336	* @param int_pin interrupt pin line to be used
cparata	0:6d69e896ce38	1337	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1338	*/
cparata	0:6d69e896ce38	1339	int LSM6DSOSensor::enable_wake_up_detection(LSM6DSO_Interrupt_Pin_t int_pin)
cparata	0:6d69e896ce38	1340	{
cparata	0:6d69e896ce38	1341	int ret = 0;
cparata	0:6d69e896ce38	1342	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1343	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	1344
cparata	0:6d69e896ce38	1345	/* Output Data Rate selection */
cparata	0:6d69e896ce38	1346	if (set_x_odr(416.0f) != 0)
cparata	0:6d69e896ce38	1347	{
cparata	0:6d69e896ce38	1348	return 1;
cparata	0:6d69e896ce38	1349	}
cparata	0:6d69e896ce38	1350
cparata	0:6d69e896ce38	1351	/* Full scale selection */
cparata	0:6d69e896ce38	1352	if (set_x_fs(2.0f) != 0)
cparata	0:6d69e896ce38	1353	{
cparata	0:6d69e896ce38	1354	return 1;
cparata	0:6d69e896ce38	1355	}
cparata	0:6d69e896ce38	1356
cparata	0:6d69e896ce38	1357	/* WAKE_DUR setting */
cparata	0:6d69e896ce38	1358	if (lsm6dso_wkup_dur_set(&_reg_ctx, 0x00) != 0)
cparata	0:6d69e896ce38	1359	{
cparata	0:6d69e896ce38	1360	return 1;
cparata	0:6d69e896ce38	1361	}
cparata	0:6d69e896ce38	1362
cparata	0:6d69e896ce38	1363	/* Set wake up threshold. */
cparata	0:6d69e896ce38	1364	if (lsm6dso_wkup_threshold_set(&_reg_ctx, 0x02) != 0)
cparata	0:6d69e896ce38	1365	{
cparata	0:6d69e896ce38	1366	return 1;
cparata	0:6d69e896ce38	1367	}
cparata	0:6d69e896ce38	1368
cparata	0:6d69e896ce38	1369	/* Enable wake up event on either INT1 or INT2 pin */
cparata	0:6d69e896ce38	1370	switch (int_pin)
cparata	0:6d69e896ce38	1371	{
cparata	0:6d69e896ce38	1372	case LSM6DSO_INT1_PIN:
cparata	0:6d69e896ce38	1373	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1374	{
cparata	0:6d69e896ce38	1375	return 1;
cparata	0:6d69e896ce38	1376	}
cparata	0:6d69e896ce38	1377
cparata	0:6d69e896ce38	1378	val1.md1_cfg.int1_wu = PROPERTY_ENABLE;
cparata	0:6d69e896ce38	1379
cparata	0:6d69e896ce38	1380	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1381	{
cparata	0:6d69e896ce38	1382	return 1;
cparata	0:6d69e896ce38	1383	}
cparata	0:6d69e896ce38	1384	break;
cparata	0:6d69e896ce38	1385
cparata	0:6d69e896ce38	1386	case LSM6DSO_INT2_PIN:
cparata	0:6d69e896ce38	1387	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1388	{
cparata	0:6d69e896ce38	1389	return 1;
cparata	0:6d69e896ce38	1390	}
cparata	0:6d69e896ce38	1391
cparata	0:6d69e896ce38	1392	val2.md2_cfg.int2_wu = PROPERTY_ENABLE;
cparata	0:6d69e896ce38	1393
cparata	0:6d69e896ce38	1394	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1395	{
cparata	0:6d69e896ce38	1396	return 1;
cparata	0:6d69e896ce38	1397	}
cparata	0:6d69e896ce38	1398	break;
cparata	0:6d69e896ce38	1399
cparata	0:6d69e896ce38	1400	default:
cparata	0:6d69e896ce38	1401	ret = 1;
cparata	0:6d69e896ce38	1402	break;
cparata	0:6d69e896ce38	1403	}
cparata	0:6d69e896ce38	1404
cparata	0:6d69e896ce38	1405	return ret;
cparata	0:6d69e896ce38	1406	}
cparata	0:6d69e896ce38	1407
cparata	0:6d69e896ce38	1408
cparata	0:6d69e896ce38	1409	/**
cparata	0:6d69e896ce38	1410	* @brief Disable wake up detection
cparata	0:6d69e896ce38	1411	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1412	*/
cparata	0:6d69e896ce38	1413	int LSM6DSOSensor::disable_wake_up_detection()
cparata	0:6d69e896ce38	1414	{
cparata	0:6d69e896ce38	1415	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1416	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	1417
cparata	0:6d69e896ce38	1418	/* Disable wake up event on both INT1 and INT2 pins */
cparata	0:6d69e896ce38	1419	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1420	{
cparata	0:6d69e896ce38	1421	return 1;
cparata	0:6d69e896ce38	1422	}
cparata	0:6d69e896ce38	1423
cparata	0:6d69e896ce38	1424	val1.md1_cfg.int1_wu = PROPERTY_DISABLE;
cparata	0:6d69e896ce38	1425
cparata	0:6d69e896ce38	1426	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1427	{
cparata	0:6d69e896ce38	1428	return 1;
cparata	0:6d69e896ce38	1429	}
cparata	0:6d69e896ce38	1430
cparata	0:6d69e896ce38	1431	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1432	{
cparata	0:6d69e896ce38	1433	return 1;
cparata	0:6d69e896ce38	1434	}
cparata	0:6d69e896ce38	1435
cparata	0:6d69e896ce38	1436	val2.md2_cfg.int2_wu = PROPERTY_DISABLE;
cparata	0:6d69e896ce38	1437
cparata	0:6d69e896ce38	1438	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1439	{
cparata	0:6d69e896ce38	1440	return 1;
cparata	0:6d69e896ce38	1441	}
cparata	0:6d69e896ce38	1442
cparata	0:6d69e896ce38	1443	/* Reset wake up threshold. */
cparata	0:6d69e896ce38	1444	if (lsm6dso_wkup_threshold_set(&_reg_ctx, 0x00) != 0)
cparata	0:6d69e896ce38	1445	{
cparata	0:6d69e896ce38	1446	return 1;
cparata	0:6d69e896ce38	1447	}
cparata	0:6d69e896ce38	1448
cparata	0:6d69e896ce38	1449	/* WAKE_DUR setting */
cparata	0:6d69e896ce38	1450	if (lsm6dso_wkup_dur_set(&_reg_ctx, 0x00) != 0)
cparata	0:6d69e896ce38	1451	{
cparata	0:6d69e896ce38	1452	return 1;
cparata	0:6d69e896ce38	1453	}
cparata	0:6d69e896ce38	1454
cparata	0:6d69e896ce38	1455	return 0;
cparata	0:6d69e896ce38	1456	}
cparata	0:6d69e896ce38	1457
cparata	0:6d69e896ce38	1458	/**
cparata	0:6d69e896ce38	1459	* @brief Set wake up threshold
cparata	0:6d69e896ce38	1460	* @param thr wake up detection threshold
cparata	0:6d69e896ce38	1461	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1462	*/
cparata	0:6d69e896ce38	1463	int LSM6DSOSensor::set_wake_up_threshold(uint8_t thr)
cparata	0:6d69e896ce38	1464	{
cparata	0:6d69e896ce38	1465	/* Set wake up threshold. */
cparata	0:6d69e896ce38	1466	if (lsm6dso_wkup_threshold_set(&_reg_ctx, thr) != 0)
cparata	0:6d69e896ce38	1467	{
cparata	0:6d69e896ce38	1468	return 1;
cparata	0:6d69e896ce38	1469	}
cparata	0:6d69e896ce38	1470
cparata	0:6d69e896ce38	1471	return 0;
cparata	0:6d69e896ce38	1472	}
cparata	0:6d69e896ce38	1473
cparata	0:6d69e896ce38	1474	/**
cparata	0:6d69e896ce38	1475	* @brief Set wake up duration
cparata	0:6d69e896ce38	1476	* @param dur wake up detection duration
cparata	0:6d69e896ce38	1477	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1478	*/
cparata	0:6d69e896ce38	1479	int LSM6DSOSensor::set_wake_up_duration(uint8_t dur)
cparata	0:6d69e896ce38	1480	{
cparata	0:6d69e896ce38	1481	/* Set wake up duration. */
cparata	0:6d69e896ce38	1482	if (lsm6dso_wkup_dur_set(&_reg_ctx, dur) != 0)
cparata	0:6d69e896ce38	1483	{
cparata	0:6d69e896ce38	1484	return 1;
cparata	0:6d69e896ce38	1485	}
cparata	0:6d69e896ce38	1486
cparata	0:6d69e896ce38	1487	return 0;
cparata	0:6d69e896ce38	1488	}
cparata	0:6d69e896ce38	1489
cparata	0:6d69e896ce38	1490	/**
cparata	0:6d69e896ce38	1491	* @brief Enable single tap detection
cparata	0:6d69e896ce38	1492	* @param int_pin interrupt pin line to be used
cparata	0:6d69e896ce38	1493	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1494	*/
cparata	0:6d69e896ce38	1495	int LSM6DSOSensor::enable_single_tap_detection(LSM6DSO_Interrupt_Pin_t int_pin)
cparata	0:6d69e896ce38	1496	{
cparata	0:6d69e896ce38	1497	int ret = 0;
cparata	0:6d69e896ce38	1498	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1499	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	1500
cparata	0:6d69e896ce38	1501	/* Output Data Rate selection */
cparata	0:6d69e896ce38	1502	if (set_x_odr(416.0f) != 0)
cparata	0:6d69e896ce38	1503	{
cparata	0:6d69e896ce38	1504	return 1;
cparata	0:6d69e896ce38	1505	}
cparata	0:6d69e896ce38	1506
cparata	0:6d69e896ce38	1507	/* Full scale selection */
cparata	0:6d69e896ce38	1508	if (set_x_fs(2.0f) != 0)
cparata	0:6d69e896ce38	1509	{
cparata	0:6d69e896ce38	1510	return 1;
cparata	0:6d69e896ce38	1511	}
cparata	0:6d69e896ce38	1512
cparata	0:6d69e896ce38	1513	/* Enable X direction in tap recognition. */
cparata	0:6d69e896ce38	1514	if (lsm6dso_tap_detection_on_x_set(&_reg_ctx, PROPERTY_ENABLE) != 0)
cparata	0:6d69e896ce38	1515	{
cparata	0:6d69e896ce38	1516	return 1;
cparata	0:6d69e896ce38	1517	}
cparata	0:6d69e896ce38	1518
cparata	0:6d69e896ce38	1519	/* Enable Y direction in tap recognition. */
cparata	0:6d69e896ce38	1520	if (lsm6dso_tap_detection_on_y_set(&_reg_ctx, PROPERTY_ENABLE) != 0)
cparata	0:6d69e896ce38	1521	{
cparata	0:6d69e896ce38	1522	return 1;
cparata	0:6d69e896ce38	1523	}
cparata	0:6d69e896ce38	1524
cparata	0:6d69e896ce38	1525	/* Enable Z direction in tap recognition. */
cparata	0:6d69e896ce38	1526	if (lsm6dso_tap_detection_on_z_set(&_reg_ctx, PROPERTY_ENABLE) != 0)
cparata	0:6d69e896ce38	1527	{
cparata	0:6d69e896ce38	1528	return 1;
cparata	0:6d69e896ce38	1529	}
cparata	0:6d69e896ce38	1530
cparata	0:6d69e896ce38	1531	/* Set tap threshold. */
cparata	0:6d69e896ce38	1532	if (lsm6dso_tap_threshold_x_set(&_reg_ctx, 0x08) != 0)
cparata	0:6d69e896ce38	1533	{
cparata	0:6d69e896ce38	1534	return 1;
cparata	0:6d69e896ce38	1535	}
cparata	0:6d69e896ce38	1536
cparata	0:6d69e896ce38	1537	/* Set tap shock time window. */
cparata	0:6d69e896ce38	1538	if (lsm6dso_tap_shock_set(&_reg_ctx, 0x02) != 0)
cparata	0:6d69e896ce38	1539	{
cparata	0:6d69e896ce38	1540	return 1;
cparata	0:6d69e896ce38	1541	}
cparata	0:6d69e896ce38	1542
cparata	0:6d69e896ce38	1543	/* Set tap quiet time window. */
cparata	0:6d69e896ce38	1544	if (lsm6dso_tap_quiet_set(&_reg_ctx, 0x01) != 0)
cparata	0:6d69e896ce38	1545	{
cparata	0:6d69e896ce38	1546	return 1;
cparata	0:6d69e896ce38	1547	}
cparata	0:6d69e896ce38	1548
cparata	0:6d69e896ce38	1549	/* _NOTE_: Tap duration time window - don't care for single tap. */
cparata	0:6d69e896ce38	1550
cparata	0:6d69e896ce38	1551	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata	0:6d69e896ce38	1552
cparata	0:6d69e896ce38	1553	/* Enable single tap event on either INT1 or INT2 pin */
cparata	0:6d69e896ce38	1554	switch (int_pin)
cparata	0:6d69e896ce38	1555	{
cparata	0:6d69e896ce38	1556	case LSM6DSO_INT1_PIN:
cparata	0:6d69e896ce38	1557	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1558	{
cparata	0:6d69e896ce38	1559	return 1;
cparata	0:6d69e896ce38	1560	}
cparata	0:6d69e896ce38	1561
cparata	0:6d69e896ce38	1562	val1.md1_cfg.int1_single_tap = PROPERTY_ENABLE;
cparata	0:6d69e896ce38	1563
cparata	0:6d69e896ce38	1564	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1565	{
cparata	0:6d69e896ce38	1566	return 1;
cparata	0:6d69e896ce38	1567	}
cparata	0:6d69e896ce38	1568	break;
cparata	0:6d69e896ce38	1569
cparata	0:6d69e896ce38	1570	case LSM6DSO_INT2_PIN:
cparata	0:6d69e896ce38	1571	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1572	{
cparata	0:6d69e896ce38	1573	return 1;
cparata	0:6d69e896ce38	1574	}
cparata	0:6d69e896ce38	1575
cparata	0:6d69e896ce38	1576	val2.md2_cfg.int2_single_tap = PROPERTY_ENABLE;
cparata	0:6d69e896ce38	1577
cparata	0:6d69e896ce38	1578	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1579	{
cparata	0:6d69e896ce38	1580	return 1;
cparata	0:6d69e896ce38	1581	}
cparata	0:6d69e896ce38	1582	break;
cparata	0:6d69e896ce38	1583
cparata	0:6d69e896ce38	1584	default:
cparata	0:6d69e896ce38	1585	ret = 1;
cparata	0:6d69e896ce38	1586	break;
cparata	0:6d69e896ce38	1587	}
cparata	0:6d69e896ce38	1588
cparata	0:6d69e896ce38	1589	return ret;
cparata	0:6d69e896ce38	1590	}
cparata	0:6d69e896ce38	1591
cparata	0:6d69e896ce38	1592	/**
cparata	0:6d69e896ce38	1593	* @brief Disable single tap detection
cparata	0:6d69e896ce38	1594	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1595	*/
cparata	0:6d69e896ce38	1596	int LSM6DSOSensor::disable_single_tap_detection()
cparata	0:6d69e896ce38	1597	{
cparata	0:6d69e896ce38	1598	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1599	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	1600
cparata	0:6d69e896ce38	1601	/* Disable single tap event on both INT1 and INT2 pins */
cparata	0:6d69e896ce38	1602	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1603	{
cparata	0:6d69e896ce38	1604	return 1;
cparata	0:6d69e896ce38	1605	}
cparata	0:6d69e896ce38	1606
cparata	0:6d69e896ce38	1607	val1.md1_cfg.int1_single_tap = PROPERTY_DISABLE;
cparata	0:6d69e896ce38	1608
cparata	0:6d69e896ce38	1609	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1610	{
cparata	0:6d69e896ce38	1611	return 1;
cparata	0:6d69e896ce38	1612	}
cparata	0:6d69e896ce38	1613
cparata	0:6d69e896ce38	1614	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1615	{
cparata	0:6d69e896ce38	1616	return 1;
cparata	0:6d69e896ce38	1617	}
cparata	0:6d69e896ce38	1618
cparata	0:6d69e896ce38	1619	val2.md2_cfg.int2_single_tap = PROPERTY_DISABLE;
cparata	0:6d69e896ce38	1620
cparata	0:6d69e896ce38	1621	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1622	{
cparata	0:6d69e896ce38	1623	return 1;
cparata	0:6d69e896ce38	1624	}
cparata	0:6d69e896ce38	1625
cparata	0:6d69e896ce38	1626	/* Reset tap quiet time window. */
cparata	0:6d69e896ce38	1627	if (lsm6dso_tap_quiet_set(&_reg_ctx, 0x00) != 0)
cparata	0:6d69e896ce38	1628	{
cparata	0:6d69e896ce38	1629	return 1;
cparata	0:6d69e896ce38	1630	}
cparata	0:6d69e896ce38	1631
cparata	0:6d69e896ce38	1632	/* Reset tap shock time window. */
cparata	0:6d69e896ce38	1633	if (lsm6dso_tap_shock_set(&_reg_ctx, 0x00) != 0)
cparata	0:6d69e896ce38	1634	{
cparata	0:6d69e896ce38	1635	return 1;
cparata	0:6d69e896ce38	1636	}
cparata	0:6d69e896ce38	1637
cparata	0:6d69e896ce38	1638	/* Reset tap threshold. */
cparata	0:6d69e896ce38	1639	if (lsm6dso_tap_threshold_x_set(&_reg_ctx, 0x00) != 0)
cparata	0:6d69e896ce38	1640	{
cparata	0:6d69e896ce38	1641	return 1;
cparata	0:6d69e896ce38	1642	}
cparata	0:6d69e896ce38	1643
cparata	0:6d69e896ce38	1644	/* Disable Z direction in tap recognition. */
cparata	0:6d69e896ce38	1645	if (lsm6dso_tap_detection_on_z_set(&_reg_ctx, PROPERTY_DISABLE) != 0)
cparata	0:6d69e896ce38	1646	{
cparata	0:6d69e896ce38	1647	return 1;
cparata	0:6d69e896ce38	1648	}
cparata	0:6d69e896ce38	1649
cparata	0:6d69e896ce38	1650	/* Disable Y direction in tap recognition. */
cparata	0:6d69e896ce38	1651	if (lsm6dso_tap_detection_on_y_set(&_reg_ctx, PROPERTY_DISABLE) != 0)
cparata	0:6d69e896ce38	1652	{
cparata	0:6d69e896ce38	1653	return 1;
cparata	0:6d69e896ce38	1654	}
cparata	0:6d69e896ce38	1655
cparata	0:6d69e896ce38	1656	/* Disable X direction in tap recognition. */
cparata	0:6d69e896ce38	1657	if (lsm6dso_tap_detection_on_x_set(&_reg_ctx, PROPERTY_DISABLE) != 0)
cparata	0:6d69e896ce38	1658	{
cparata	0:6d69e896ce38	1659	return 1;
cparata	0:6d69e896ce38	1660	}
cparata	0:6d69e896ce38	1661
cparata	0:6d69e896ce38	1662	return 0;
cparata	0:6d69e896ce38	1663	}
cparata	0:6d69e896ce38	1664
cparata	0:6d69e896ce38	1665	/**
cparata	0:6d69e896ce38	1666	* @brief Enable double tap detection
cparata	0:6d69e896ce38	1667	* @param int_pin interrupt pin line to be used
cparata	0:6d69e896ce38	1668	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1669	*/
cparata	0:6d69e896ce38	1670	int LSM6DSOSensor::enable_double_tap_detection(LSM6DSO_Interrupt_Pin_t int_pin)
cparata	0:6d69e896ce38	1671	{
cparata	0:6d69e896ce38	1672	int ret = 0;
cparata	0:6d69e896ce38	1673	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1674	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	1675
cparata	0:6d69e896ce38	1676	/* Output Data Rate selection */
cparata	0:6d69e896ce38	1677	if (set_x_odr(416.0f) != 0)
cparata	0:6d69e896ce38	1678	{
cparata	0:6d69e896ce38	1679	return 1;
cparata	0:6d69e896ce38	1680	}
cparata	0:6d69e896ce38	1681
cparata	0:6d69e896ce38	1682	/* Full scale selection */
cparata	0:6d69e896ce38	1683	if (set_x_fs(2.0f) != 0)
cparata	0:6d69e896ce38	1684	{
cparata	0:6d69e896ce38	1685	return 1;
cparata	0:6d69e896ce38	1686	}
cparata	0:6d69e896ce38	1687
cparata	0:6d69e896ce38	1688	/* Enable X direction in tap recognition. */
cparata	0:6d69e896ce38	1689	if (lsm6dso_tap_detection_on_x_set(&_reg_ctx, PROPERTY_ENABLE) != 0)
cparata	0:6d69e896ce38	1690	{
cparata	0:6d69e896ce38	1691	return 1;
cparata	0:6d69e896ce38	1692	}
cparata	0:6d69e896ce38	1693
cparata	0:6d69e896ce38	1694	/* Enable Y direction in tap recognition. */
cparata	0:6d69e896ce38	1695	if (lsm6dso_tap_detection_on_y_set(&_reg_ctx, PROPERTY_ENABLE) != 0)
cparata	0:6d69e896ce38	1696	{
cparata	0:6d69e896ce38	1697	return 1;
cparata	0:6d69e896ce38	1698	}
cparata	0:6d69e896ce38	1699
cparata	0:6d69e896ce38	1700	/* Enable Z direction in tap recognition. */
cparata	0:6d69e896ce38	1701	if (lsm6dso_tap_detection_on_z_set(&_reg_ctx, PROPERTY_ENABLE) != 0)
cparata	0:6d69e896ce38	1702	{
cparata	0:6d69e896ce38	1703	return 1;
cparata	0:6d69e896ce38	1704	}
cparata	0:6d69e896ce38	1705
cparata	0:6d69e896ce38	1706	/* Set tap threshold. */
cparata	0:6d69e896ce38	1707	if (lsm6dso_tap_threshold_x_set(&_reg_ctx, 0x08) != 0)
cparata	0:6d69e896ce38	1708	{
cparata	0:6d69e896ce38	1709	return 1;
cparata	0:6d69e896ce38	1710	}
cparata	0:6d69e896ce38	1711
cparata	0:6d69e896ce38	1712	/* Set tap shock time window. */
cparata	0:6d69e896ce38	1713	if (lsm6dso_tap_shock_set(&_reg_ctx, 0x03) != 0)
cparata	0:6d69e896ce38	1714	{
cparata	0:6d69e896ce38	1715	return 1;
cparata	0:6d69e896ce38	1716	}
cparata	0:6d69e896ce38	1717
cparata	0:6d69e896ce38	1718	/* Set tap quiet time window. */
cparata	0:6d69e896ce38	1719	if (lsm6dso_tap_quiet_set(&_reg_ctx, 0x03) != 0)
cparata	0:6d69e896ce38	1720	{
cparata	0:6d69e896ce38	1721	return 1;
cparata	0:6d69e896ce38	1722	}
cparata	0:6d69e896ce38	1723
cparata	0:6d69e896ce38	1724	/* Set tap duration time window. */
cparata	0:6d69e896ce38	1725	if (lsm6dso_tap_dur_set(&_reg_ctx, 0x08) != 0)
cparata	0:6d69e896ce38	1726	{
cparata	0:6d69e896ce38	1727	return 1;
cparata	0:6d69e896ce38	1728	}
cparata	0:6d69e896ce38	1729
cparata	0:6d69e896ce38	1730	/* Single and double tap enabled. */
cparata	0:6d69e896ce38	1731	if (lsm6dso_tap_mode_set(&_reg_ctx, LSM6DSO_BOTH_SINGLE_DOUBLE) != 0)
cparata	0:6d69e896ce38	1732	{
cparata	0:6d69e896ce38	1733	return 1;
cparata	0:6d69e896ce38	1734	}
cparata	0:6d69e896ce38	1735
cparata	0:6d69e896ce38	1736	/* Enable double tap event on either INT1 or INT2 pin */
cparata	0:6d69e896ce38	1737	switch (int_pin)
cparata	0:6d69e896ce38	1738	{
cparata	0:6d69e896ce38	1739	case LSM6DSO_INT1_PIN:
cparata	0:6d69e896ce38	1740	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1741	{
cparata	0:6d69e896ce38	1742	return 1;
cparata	0:6d69e896ce38	1743	}
cparata	0:6d69e896ce38	1744
cparata	0:6d69e896ce38	1745	val1.md1_cfg.int1_double_tap = PROPERTY_ENABLE;
cparata	0:6d69e896ce38	1746
cparata	0:6d69e896ce38	1747	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1748	{
cparata	0:6d69e896ce38	1749	return 1;
cparata	0:6d69e896ce38	1750	}
cparata	0:6d69e896ce38	1751	break;
cparata	0:6d69e896ce38	1752
cparata	0:6d69e896ce38	1753	case LSM6DSO_INT2_PIN:
cparata	0:6d69e896ce38	1754	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1755	{
cparata	0:6d69e896ce38	1756	return 1;
cparata	0:6d69e896ce38	1757	}
cparata	0:6d69e896ce38	1758
cparata	0:6d69e896ce38	1759	val2.md2_cfg.int2_double_tap = PROPERTY_ENABLE;
cparata	0:6d69e896ce38	1760
cparata	0:6d69e896ce38	1761	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1762	{
cparata	0:6d69e896ce38	1763	return 1;
cparata	0:6d69e896ce38	1764	}
cparata	0:6d69e896ce38	1765	break;
cparata	0:6d69e896ce38	1766
cparata	0:6d69e896ce38	1767	default:
cparata	0:6d69e896ce38	1768	ret = 1;
cparata	0:6d69e896ce38	1769	break;
cparata	0:6d69e896ce38	1770	}
cparata	0:6d69e896ce38	1771
cparata	0:6d69e896ce38	1772	return ret;
cparata	0:6d69e896ce38	1773	}
cparata	0:6d69e896ce38	1774
cparata	0:6d69e896ce38	1775	/**
cparata	0:6d69e896ce38	1776	* @brief Disable double tap detection
cparata	0:6d69e896ce38	1777	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1778	*/
cparata	0:6d69e896ce38	1779	int LSM6DSOSensor::disable_double_tap_detection()
cparata	0:6d69e896ce38	1780	{
cparata	0:6d69e896ce38	1781	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1782	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	1783
cparata	0:6d69e896ce38	1784	/* Disable double tap event on both INT1 and INT2 pins */
cparata	0:6d69e896ce38	1785	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1786	{
cparata	0:6d69e896ce38	1787	return 1;
cparata	0:6d69e896ce38	1788	}
cparata	0:6d69e896ce38	1789
cparata	0:6d69e896ce38	1790	val1.md1_cfg.int1_double_tap = PROPERTY_DISABLE;
cparata	0:6d69e896ce38	1791
cparata	0:6d69e896ce38	1792	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1793	{
cparata	0:6d69e896ce38	1794	return 1;
cparata	0:6d69e896ce38	1795	}
cparata	0:6d69e896ce38	1796
cparata	0:6d69e896ce38	1797	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1798	{
cparata	0:6d69e896ce38	1799	return 1;
cparata	0:6d69e896ce38	1800	}
cparata	0:6d69e896ce38	1801
cparata	0:6d69e896ce38	1802	val2.md2_cfg.int2_double_tap = PROPERTY_DISABLE;
cparata	0:6d69e896ce38	1803
cparata	0:6d69e896ce38	1804	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1805	{
cparata	0:6d69e896ce38	1806	return 1;
cparata	0:6d69e896ce38	1807	}
cparata	0:6d69e896ce38	1808
cparata	0:6d69e896ce38	1809	/* Only single tap enabled. */
cparata	0:6d69e896ce38	1810	if (lsm6dso_tap_mode_set(&_reg_ctx, LSM6DSO_ONLY_SINGLE) != 0)
cparata	0:6d69e896ce38	1811	{
cparata	0:6d69e896ce38	1812	return 1;
cparata	0:6d69e896ce38	1813	}
cparata	0:6d69e896ce38	1814
cparata	0:6d69e896ce38	1815	/* Reset tap duration time window. */
cparata	0:6d69e896ce38	1816	if (lsm6dso_tap_dur_set(&_reg_ctx, 0x00) != 0)
cparata	0:6d69e896ce38	1817	{
cparata	0:6d69e896ce38	1818	return 1;
cparata	0:6d69e896ce38	1819	}
cparata	0:6d69e896ce38	1820
cparata	0:6d69e896ce38	1821	/* Reset tap quiet time window. */
cparata	0:6d69e896ce38	1822	if (lsm6dso_tap_quiet_set(&_reg_ctx, 0x00) != 0)
cparata	0:6d69e896ce38	1823	{
cparata	0:6d69e896ce38	1824	return 1;
cparata	0:6d69e896ce38	1825	}
cparata	0:6d69e896ce38	1826
cparata	0:6d69e896ce38	1827	/* Reset tap shock time window. */
cparata	0:6d69e896ce38	1828	if (lsm6dso_tap_shock_set(&_reg_ctx, 0x00) != 0)
cparata	0:6d69e896ce38	1829	{
cparata	0:6d69e896ce38	1830	return 1;
cparata	0:6d69e896ce38	1831	}
cparata	0:6d69e896ce38	1832
cparata	0:6d69e896ce38	1833	/* Reset tap threshold. */
cparata	0:6d69e896ce38	1834	if (lsm6dso_tap_threshold_x_set(&_reg_ctx, 0x00) != 0)
cparata	0:6d69e896ce38	1835	{
cparata	0:6d69e896ce38	1836	return 1;
cparata	0:6d69e896ce38	1837	}
cparata	0:6d69e896ce38	1838
cparata	0:6d69e896ce38	1839	/* Disable Z direction in tap recognition. */
cparata	0:6d69e896ce38	1840	if (lsm6dso_tap_detection_on_z_set(&_reg_ctx, PROPERTY_DISABLE) != 0)
cparata	0:6d69e896ce38	1841	{
cparata	0:6d69e896ce38	1842	return 1;
cparata	0:6d69e896ce38	1843	}
cparata	0:6d69e896ce38	1844
cparata	0:6d69e896ce38	1845	/* Disable Y direction in tap recognition. */
cparata	0:6d69e896ce38	1846	if (lsm6dso_tap_detection_on_y_set(&_reg_ctx, PROPERTY_DISABLE) != 0)
cparata	0:6d69e896ce38	1847	{
cparata	0:6d69e896ce38	1848	return 1;
cparata	0:6d69e896ce38	1849	}
cparata	0:6d69e896ce38	1850
cparata	0:6d69e896ce38	1851	/* Disable X direction in tap recognition. */
cparata	0:6d69e896ce38	1852	if (lsm6dso_tap_detection_on_x_set(&_reg_ctx, PROPERTY_DISABLE) != 0)
cparata	0:6d69e896ce38	1853	{
cparata	0:6d69e896ce38	1854	return 1;
cparata	0:6d69e896ce38	1855	}
cparata	0:6d69e896ce38	1856
cparata	0:6d69e896ce38	1857	return 0;
cparata	0:6d69e896ce38	1858	}
cparata	0:6d69e896ce38	1859
cparata	0:6d69e896ce38	1860	/**
cparata	0:6d69e896ce38	1861	* @brief Set tap threshold
cparata	0:6d69e896ce38	1862	* @param thr tap threshold
cparata	0:6d69e896ce38	1863	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1864	*/
cparata	0:6d69e896ce38	1865	int LSM6DSOSensor::set_tap_threshold(uint8_t thr)
cparata	0:6d69e896ce38	1866	{
cparata	0:6d69e896ce38	1867	/* Set tap threshold. */
cparata	0:6d69e896ce38	1868	if (lsm6dso_tap_threshold_x_set(&_reg_ctx, thr) != 0)
cparata	0:6d69e896ce38	1869	{
cparata	0:6d69e896ce38	1870	return 1;
cparata	0:6d69e896ce38	1871	}
cparata	0:6d69e896ce38	1872
cparata	0:6d69e896ce38	1873	return 0;
cparata	0:6d69e896ce38	1874	}
cparata	0:6d69e896ce38	1875
cparata	0:6d69e896ce38	1876	/**
cparata	0:6d69e896ce38	1877	* @brief Set tap shock time
cparata	0:6d69e896ce38	1878	* @param time tap shock time
cparata	0:6d69e896ce38	1879	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1880	*/
cparata	0:6d69e896ce38	1881	int LSM6DSOSensor::set_tap_shock_time(uint8_t time)
cparata	0:6d69e896ce38	1882	{
cparata	0:6d69e896ce38	1883	/* Set tap shock time window. */
cparata	0:6d69e896ce38	1884	if (lsm6dso_tap_shock_set(&_reg_ctx, time) != 0)
cparata	0:6d69e896ce38	1885	{
cparata	0:6d69e896ce38	1886	return 1;
cparata	0:6d69e896ce38	1887	}
cparata	0:6d69e896ce38	1888
cparata	0:6d69e896ce38	1889	return 0;
cparata	0:6d69e896ce38	1890	}
cparata	0:6d69e896ce38	1891
cparata	0:6d69e896ce38	1892	/**
cparata	0:6d69e896ce38	1893	* @brief Set tap quiet time
cparata	0:6d69e896ce38	1894	* @param time tap quiet time
cparata	0:6d69e896ce38	1895	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1896	*/
cparata	0:6d69e896ce38	1897	int LSM6DSOSensor::set_tap_quiet_time(uint8_t time)
cparata	0:6d69e896ce38	1898	{
cparata	0:6d69e896ce38	1899	/* Set tap quiet time window. */
cparata	0:6d69e896ce38	1900	if (lsm6dso_tap_quiet_set(&_reg_ctx, time) != 0)
cparata	0:6d69e896ce38	1901	{
cparata	0:6d69e896ce38	1902	return 1;
cparata	0:6d69e896ce38	1903	}
cparata	0:6d69e896ce38	1904
cparata	0:6d69e896ce38	1905	return 0;
cparata	0:6d69e896ce38	1906	}
cparata	0:6d69e896ce38	1907
cparata	0:6d69e896ce38	1908	/**
cparata	0:6d69e896ce38	1909	* @brief Set tap duration time
cparata	0:6d69e896ce38	1910	* @param time tap duration time
cparata	0:6d69e896ce38	1911	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1912	*/
cparata	0:6d69e896ce38	1913	int LSM6DSOSensor::set_tap_duration_time(uint8_t time)
cparata	0:6d69e896ce38	1914	{
cparata	0:6d69e896ce38	1915	/* Set tap duration time window. */
cparata	0:6d69e896ce38	1916	if (lsm6dso_tap_dur_set(&_reg_ctx, time) != 0)
cparata	0:6d69e896ce38	1917	{
cparata	0:6d69e896ce38	1918	return 1;
cparata	0:6d69e896ce38	1919	}
cparata	0:6d69e896ce38	1920
cparata	0:6d69e896ce38	1921	return 0;
cparata	0:6d69e896ce38	1922	}
cparata	0:6d69e896ce38	1923
cparata	0:6d69e896ce38	1924	/**
cparata	0:6d69e896ce38	1925	* @brief Enable 6D orientation detection
cparata	0:6d69e896ce38	1926	* @param int_pin interrupt pin line to be used
cparata	0:6d69e896ce38	1927	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1928	*/
cparata	0:6d69e896ce38	1929	int LSM6DSOSensor::enable_6d_orientation(LSM6DSO_Interrupt_Pin_t int_pin)
cparata	0:6d69e896ce38	1930	{
cparata	0:6d69e896ce38	1931	int ret = 0;
cparata	0:6d69e896ce38	1932	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1933	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	1934
cparata	0:6d69e896ce38	1935	/* Output Data Rate selection */
cparata	0:6d69e896ce38	1936	if (set_x_odr(416.0f) != 0)
cparata	0:6d69e896ce38	1937	{
cparata	0:6d69e896ce38	1938	return 1;
cparata	0:6d69e896ce38	1939	}
cparata	0:6d69e896ce38	1940
cparata	0:6d69e896ce38	1941	/* Full scale selection */
cparata	0:6d69e896ce38	1942	if (set_x_fs(2.0f) != 0)
cparata	0:6d69e896ce38	1943	{
cparata	0:6d69e896ce38	1944	return 1;
cparata	0:6d69e896ce38	1945	}
cparata	0:6d69e896ce38	1946
cparata	0:6d69e896ce38	1947	/* 6D orientation enabled. */
cparata	0:6d69e896ce38	1948	if (lsm6dso_6d_threshold_set(&_reg_ctx, LSM6DSO_DEG_60) != 0)
cparata	0:6d69e896ce38	1949	{
cparata	0:6d69e896ce38	1950	return 1;
cparata	0:6d69e896ce38	1951	}
cparata	0:6d69e896ce38	1952
cparata	0:6d69e896ce38	1953	/* Enable 6D orientation event on either INT1 or INT2 pin */
cparata	0:6d69e896ce38	1954	switch (int_pin)
cparata	0:6d69e896ce38	1955	{
cparata	0:6d69e896ce38	1956	case LSM6DSO_INT1_PIN:
cparata	0:6d69e896ce38	1957	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1958	{
cparata	0:6d69e896ce38	1959	return 1;
cparata	0:6d69e896ce38	1960	}
cparata	0:6d69e896ce38	1961
cparata	0:6d69e896ce38	1962	val1.md1_cfg.int1_6d = PROPERTY_ENABLE;
cparata	0:6d69e896ce38	1963
cparata	0:6d69e896ce38	1964	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	1965	{
cparata	0:6d69e896ce38	1966	return 1;
cparata	0:6d69e896ce38	1967	}
cparata	0:6d69e896ce38	1968	break;
cparata	0:6d69e896ce38	1969
cparata	0:6d69e896ce38	1970	case LSM6DSO_INT2_PIN:
cparata	0:6d69e896ce38	1971	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1972	{
cparata	0:6d69e896ce38	1973	return 1;
cparata	0:6d69e896ce38	1974	}
cparata	0:6d69e896ce38	1975
cparata	0:6d69e896ce38	1976	val2.md2_cfg.int2_6d = PROPERTY_ENABLE;
cparata	0:6d69e896ce38	1977
cparata	0:6d69e896ce38	1978	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	1979	{
cparata	0:6d69e896ce38	1980	return 1;
cparata	0:6d69e896ce38	1981	}
cparata	0:6d69e896ce38	1982	break;
cparata	0:6d69e896ce38	1983
cparata	0:6d69e896ce38	1984	default:
cparata	0:6d69e896ce38	1985	ret = 1;
cparata	0:6d69e896ce38	1986	break;
cparata	0:6d69e896ce38	1987	}
cparata	0:6d69e896ce38	1988
cparata	0:6d69e896ce38	1989	return ret;
cparata	0:6d69e896ce38	1990	}
cparata	0:6d69e896ce38	1991
cparata	0:6d69e896ce38	1992	/**
cparata	0:6d69e896ce38	1993	* @brief Disable 6D orientation detection
cparata	0:6d69e896ce38	1994	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	1995	*/
cparata	0:6d69e896ce38	1996	int LSM6DSOSensor::disable_6d_orientation()
cparata	0:6d69e896ce38	1997	{
cparata	0:6d69e896ce38	1998	lsm6dso_pin_int1_route_t val1;
cparata	0:6d69e896ce38	1999	lsm6dso_pin_int2_route_t val2;
cparata	0:6d69e896ce38	2000
cparata	0:6d69e896ce38	2001	/* Disable 6D orientation event on both INT1 and INT2 pins */
cparata	0:6d69e896ce38	2002	if (lsm6dso_pin_int1_route_get(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	2003	{
cparata	0:6d69e896ce38	2004	return 1;
cparata	0:6d69e896ce38	2005	}
cparata	0:6d69e896ce38	2006
cparata	0:6d69e896ce38	2007	val1.md1_cfg.int1_6d = PROPERTY_DISABLE;
cparata	0:6d69e896ce38	2008
cparata	0:6d69e896ce38	2009	if (lsm6dso_pin_int1_route_set(&_reg_ctx, &val1) != 0)
cparata	0:6d69e896ce38	2010	{
cparata	0:6d69e896ce38	2011	return 1;
cparata	0:6d69e896ce38	2012	}
cparata	0:6d69e896ce38	2013
cparata	0:6d69e896ce38	2014	if (lsm6dso_pin_int2_route_get(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	2015	{
cparata	0:6d69e896ce38	2016	return 1;
cparata	0:6d69e896ce38	2017	}
cparata	0:6d69e896ce38	2018
cparata	0:6d69e896ce38	2019	val2.md2_cfg.int2_6d = PROPERTY_DISABLE;
cparata	0:6d69e896ce38	2020
cparata	0:6d69e896ce38	2021	if (lsm6dso_pin_int2_route_set(&_reg_ctx, &val2) != 0)
cparata	0:6d69e896ce38	2022	{
cparata	0:6d69e896ce38	2023	return 1;
cparata	0:6d69e896ce38	2024	}
cparata	0:6d69e896ce38	2025
cparata	0:6d69e896ce38	2026	/* Reset 6D orientation. */
cparata	0:6d69e896ce38	2027	if (lsm6dso_6d_threshold_set(&_reg_ctx, LSM6DSO_DEG_80) != 0)
cparata	0:6d69e896ce38	2028	{
cparata	0:6d69e896ce38	2029	return 1;
cparata	0:6d69e896ce38	2030	}
cparata	0:6d69e896ce38	2031
cparata	0:6d69e896ce38	2032	return 0;
cparata	0:6d69e896ce38	2033	}
cparata	0:6d69e896ce38	2034
cparata	0:6d69e896ce38	2035	/**
cparata	0:6d69e896ce38	2036	* @brief Set 6D orientation threshold
cparata	0:6d69e896ce38	2037	* @param thr 6D Orientation detection threshold
cparata	0:6d69e896ce38	2038	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2039	*/
cparata	0:6d69e896ce38	2040	int LSM6DSOSensor::set_6d_orientation_threshold(uint8_t thr)
cparata	0:6d69e896ce38	2041	{
cparata	0:6d69e896ce38	2042	if (lsm6dso_6d_threshold_set(&_reg_ctx, (lsm6dso_sixd_ths_t)thr) != 0)
cparata	0:6d69e896ce38	2043	{
cparata	0:6d69e896ce38	2044	return 1;
cparata	0:6d69e896ce38	2045	}
cparata	0:6d69e896ce38	2046
cparata	0:6d69e896ce38	2047	return 0;
cparata	0:6d69e896ce38	2048	}
cparata	0:6d69e896ce38	2049
cparata	0:6d69e896ce38	2050	/**
cparata	0:6d69e896ce38	2051	* @brief Get the status of XLow orientation
cparata	0:6d69e896ce38	2052	* @param xl the status of XLow orientation
cparata	0:6d69e896ce38	2053	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2054	*/
cparata	0:6d69e896ce38	2055	int LSM6DSOSensor::get_6d_orientation_xl(uint8_t *xl)
cparata	0:6d69e896ce38	2056	{
cparata	0:6d69e896ce38	2057	lsm6dso_d6d_src_t data;
cparata	0:6d69e896ce38	2058
cparata	0:6d69e896ce38	2059	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0)
cparata	0:6d69e896ce38	2060	{
cparata	0:6d69e896ce38	2061	return 1;
cparata	0:6d69e896ce38	2062	}
cparata	0:6d69e896ce38	2063
cparata	0:6d69e896ce38	2064	*xl = data.xl;
cparata	0:6d69e896ce38	2065
cparata	0:6d69e896ce38	2066	return 0;
cparata	0:6d69e896ce38	2067	}
cparata	0:6d69e896ce38	2068
cparata	0:6d69e896ce38	2069	/**
cparata	0:6d69e896ce38	2070	* @brief Get the status of XHigh orientation
cparata	0:6d69e896ce38	2071	* @param xh the status of XHigh orientation
cparata	0:6d69e896ce38	2072	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2073	*/
cparata	0:6d69e896ce38	2074	int LSM6DSOSensor::get_6d_orientation_xh(uint8_t *xh)
cparata	0:6d69e896ce38	2075	{
cparata	0:6d69e896ce38	2076	lsm6dso_d6d_src_t data;
cparata	0:6d69e896ce38	2077
cparata	0:6d69e896ce38	2078	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0)
cparata	0:6d69e896ce38	2079	{
cparata	0:6d69e896ce38	2080	return 1;
cparata	0:6d69e896ce38	2081	}
cparata	0:6d69e896ce38	2082
cparata	0:6d69e896ce38	2083	*xh = data.xh;
cparata	0:6d69e896ce38	2084
cparata	0:6d69e896ce38	2085	return 0;
cparata	0:6d69e896ce38	2086	}
cparata	0:6d69e896ce38	2087
cparata	0:6d69e896ce38	2088	/**
cparata	0:6d69e896ce38	2089	* @brief Get the status of YLow orientation
cparata	0:6d69e896ce38	2090	* @param yl the status of YLow orientation
cparata	0:6d69e896ce38	2091	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2092	*/
cparata	0:6d69e896ce38	2093	int LSM6DSOSensor::get_6d_orientation_yl(uint8_t *yl)
cparata	0:6d69e896ce38	2094	{
cparata	0:6d69e896ce38	2095	lsm6dso_d6d_src_t data;
cparata	0:6d69e896ce38	2096
cparata	0:6d69e896ce38	2097	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0)
cparata	0:6d69e896ce38	2098	{
cparata	0:6d69e896ce38	2099	return 1;
cparata	0:6d69e896ce38	2100	}
cparata	0:6d69e896ce38	2101
cparata	0:6d69e896ce38	2102	*yl = data.yl;
cparata	0:6d69e896ce38	2103
cparata	0:6d69e896ce38	2104	return 0;
cparata	0:6d69e896ce38	2105	}
cparata	0:6d69e896ce38	2106
cparata	0:6d69e896ce38	2107	/**
cparata	0:6d69e896ce38	2108	* @brief Get the status of YHigh orientation
cparata	0:6d69e896ce38	2109	* @param yh the status of YHigh orientation
cparata	0:6d69e896ce38	2110	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2111	*/
cparata	0:6d69e896ce38	2112	int LSM6DSOSensor::get_6d_orientation_yh(uint8_t *yh)
cparata	0:6d69e896ce38	2113	{
cparata	0:6d69e896ce38	2114	lsm6dso_d6d_src_t data;
cparata	0:6d69e896ce38	2115
cparata	0:6d69e896ce38	2116	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0)
cparata	0:6d69e896ce38	2117	{
cparata	0:6d69e896ce38	2118	return 1;
cparata	0:6d69e896ce38	2119	}
cparata	0:6d69e896ce38	2120
cparata	0:6d69e896ce38	2121	*yh = data.yh;
cparata	0:6d69e896ce38	2122
cparata	0:6d69e896ce38	2123	return 0;
cparata	0:6d69e896ce38	2124	}
cparata	0:6d69e896ce38	2125
cparata	0:6d69e896ce38	2126	/**
cparata	0:6d69e896ce38	2127	* @brief Get the status of ZLow orientation
cparata	0:6d69e896ce38	2128	* @param zl the status of ZLow orientation
cparata	0:6d69e896ce38	2129	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2130	*/
cparata	0:6d69e896ce38	2131	int LSM6DSOSensor::get_6d_orientation_zl(uint8_t *zl)
cparata	0:6d69e896ce38	2132	{
cparata	0:6d69e896ce38	2133	lsm6dso_d6d_src_t data;
cparata	0:6d69e896ce38	2134
cparata	0:6d69e896ce38	2135	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0)
cparata	0:6d69e896ce38	2136	{
cparata	0:6d69e896ce38	2137	return 1;
cparata	0:6d69e896ce38	2138	}
cparata	0:6d69e896ce38	2139
cparata	0:6d69e896ce38	2140	*zl = data.zl;
cparata	0:6d69e896ce38	2141
cparata	0:6d69e896ce38	2142	return 0;
cparata	0:6d69e896ce38	2143	}
cparata	0:6d69e896ce38	2144
cparata	0:6d69e896ce38	2145	/**
cparata	0:6d69e896ce38	2146	* @brief Get the status of ZHigh orientation
cparata	0:6d69e896ce38	2147	* @param zh the status of ZHigh orientation
cparata	0:6d69e896ce38	2148	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2149	*/
cparata	0:6d69e896ce38	2150	int LSM6DSOSensor::get_6d_orientation_zh(uint8_t *zh)
cparata	0:6d69e896ce38	2151	{
cparata	0:6d69e896ce38	2152	lsm6dso_d6d_src_t data;
cparata	0:6d69e896ce38	2153
cparata	0:6d69e896ce38	2154	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&data, 1) != 0)
cparata	0:6d69e896ce38	2155	{
cparata	0:6d69e896ce38	2156	return 1;
cparata	0:6d69e896ce38	2157	}
cparata	0:6d69e896ce38	2158
cparata	0:6d69e896ce38	2159	*zh = data.zh;
cparata	0:6d69e896ce38	2160
cparata	0:6d69e896ce38	2161	return 0;
cparata	0:6d69e896ce38	2162	}
cparata	0:6d69e896ce38	2163
cparata	0:6d69e896ce38	2164	/**
cparata	0:6d69e896ce38	2165	* @brief Get the LSM6DSO ACC data ready bit value
cparata	0:6d69e896ce38	2166	* @param status the status of data ready bit
cparata	0:6d69e896ce38	2167	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2168	*/
cparata	0:6d69e896ce38	2169	int LSM6DSOSensor::get_x_drdy_status(uint8_t *status)
cparata	0:6d69e896ce38	2170	{
cparata	0:6d69e896ce38	2171	if (lsm6dso_xl_flag_data_ready_get(&_reg_ctx, status) != 0)
cparata	0:6d69e896ce38	2172	{
cparata	0:6d69e896ce38	2173	return 1;
cparata	0:6d69e896ce38	2174	}
cparata	0:6d69e896ce38	2175
cparata	0:6d69e896ce38	2176	return 0;
cparata	0:6d69e896ce38	2177	}
cparata	0:6d69e896ce38	2178
cparata	0:6d69e896ce38	2179	/**
cparata	0:6d69e896ce38	2180	* @brief Get the status of all hardware events
cparata	0:6d69e896ce38	2181	* @param status the status of all hardware events
cparata	0:6d69e896ce38	2182	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2183	*/
cparata	0:6d69e896ce38	2184	int LSM6DSOSensor::get_event_status(LSM6DSO_Event_Status_t *status)
cparata	0:6d69e896ce38	2185	{
cparata	0:6d69e896ce38	2186	uint8_t tilt_ia = 0U;
cparata	0:6d69e896ce38	2187	lsm6dso_wake_up_src_t wake_up_src;
cparata	0:6d69e896ce38	2188	lsm6dso_tap_src_t tap_src;
cparata	0:6d69e896ce38	2189	lsm6dso_d6d_src_t d6d_src;
cparata	0:6d69e896ce38	2190	lsm6dso_emb_func_src_t func_src;
cparata	0:6d69e896ce38	2191	lsm6dso_md1_cfg_t md1_cfg;
cparata	0:6d69e896ce38	2192	lsm6dso_md2_cfg_t md2_cfg;
cparata	0:6d69e896ce38	2193	lsm6dso_emb_func_int1_t int1_ctrl;
cparata	0:6d69e896ce38	2194	lsm6dso_emb_func_int2_t int2_ctrl;
cparata	0:6d69e896ce38	2195
cparata	0:6d69e896ce38	2196	(void)memset((void *)status, 0x0, sizeof(LSM6DSO_Event_Status_t));
cparata	0:6d69e896ce38	2197
cparata	0:6d69e896ce38	2198	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_WAKE_UP_SRC, (uint8_t *)&wake_up_src, 1) != 0)
cparata	0:6d69e896ce38	2199	{
cparata	0:6d69e896ce38	2200	return 1;
cparata	0:6d69e896ce38	2201	}
cparata	0:6d69e896ce38	2202
cparata	0:6d69e896ce38	2203	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_TAP_SRC, (uint8_t *)&tap_src, 1) != 0)
cparata	0:6d69e896ce38	2204	{
cparata	0:6d69e896ce38	2205	return 1;
cparata	0:6d69e896ce38	2206	}
cparata	0:6d69e896ce38	2207
cparata	0:6d69e896ce38	2208	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_D6D_SRC, (uint8_t *)&d6d_src, 1) != 0)
cparata	0:6d69e896ce38	2209	{
cparata	0:6d69e896ce38	2210	return 1;
cparata	0:6d69e896ce38	2211	}
cparata	0:6d69e896ce38	2212
cparata	0:6d69e896ce38	2213	if (lsm6dso_mem_bank_set(&_reg_ctx, LSM6DSO_EMBEDDED_FUNC_BANK) != 0)
cparata	0:6d69e896ce38	2214	{
cparata	0:6d69e896ce38	2215	return 1;
cparata	0:6d69e896ce38	2216	}
cparata	0:6d69e896ce38	2217
cparata	0:6d69e896ce38	2218	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_EMB_FUNC_SRC, (uint8_t *)&func_src, 1) != 0)
cparata	0:6d69e896ce38	2219	{
cparata	0:6d69e896ce38	2220	return 1;
cparata	0:6d69e896ce38	2221	}
cparata	0:6d69e896ce38	2222
cparata	0:6d69e896ce38	2223	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_EMB_FUNC_INT1, (uint8_t *)&int1_ctrl, 1) != 0)
cparata	0:6d69e896ce38	2224	{
cparata	0:6d69e896ce38	2225	return 1;
cparata	0:6d69e896ce38	2226	}
cparata	0:6d69e896ce38	2227
cparata	0:6d69e896ce38	2228	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_EMB_FUNC_INT2, (uint8_t *)&int2_ctrl, 1) != 0)
cparata	0:6d69e896ce38	2229	{
cparata	0:6d69e896ce38	2230	return 1;
cparata	0:6d69e896ce38	2231	}
cparata	0:6d69e896ce38	2232
cparata	0:6d69e896ce38	2233	if (lsm6dso_mem_bank_set(&_reg_ctx, LSM6DSO_USER_BANK) != 0)
cparata	0:6d69e896ce38	2234	{
cparata	0:6d69e896ce38	2235	return 1;
cparata	0:6d69e896ce38	2236	}
cparata	0:6d69e896ce38	2237
cparata	0:6d69e896ce38	2238	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_MD1_CFG, (uint8_t *)&md1_cfg, 1) != 0)
cparata	0:6d69e896ce38	2239	{
cparata	0:6d69e896ce38	2240	return 1;
cparata	0:6d69e896ce38	2241	}
cparata	0:6d69e896ce38	2242
cparata	0:6d69e896ce38	2243	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_MD2_CFG, (uint8_t *)&md2_cfg, 1) != 0)
cparata	0:6d69e896ce38	2244	{
cparata	0:6d69e896ce38	2245	return 1;
cparata	0:6d69e896ce38	2246	}
cparata	0:6d69e896ce38	2247
cparata	0:6d69e896ce38	2248	if (lsm6dso_tilt_flag_data_ready_get(&_reg_ctx, &tilt_ia) != 0)
cparata	0:6d69e896ce38	2249	{
cparata	0:6d69e896ce38	2250	return 1;
cparata	0:6d69e896ce38	2251	}
cparata	0:6d69e896ce38	2252
cparata	0:6d69e896ce38	2253	if ((md1_cfg.int1_ff == 1U) \|\| (md2_cfg.int2_ff == 1U))
cparata	0:6d69e896ce38	2254	{
cparata	0:6d69e896ce38	2255	if (wake_up_src.ff_ia == 1U)
cparata	0:6d69e896ce38	2256	{
cparata	0:6d69e896ce38	2257	status->FreeFallStatus = 1;
cparata	0:6d69e896ce38	2258	}
cparata	0:6d69e896ce38	2259	}
cparata	0:6d69e896ce38	2260
cparata	0:6d69e896ce38	2261	if ((md1_cfg.int1_wu == 1U) \|\| (md2_cfg.int2_wu == 1U))
cparata	0:6d69e896ce38	2262	{
cparata	0:6d69e896ce38	2263	if (wake_up_src.wu_ia == 1U)
cparata	0:6d69e896ce38	2264	{
cparata	0:6d69e896ce38	2265	status->WakeUpStatus = 1;
cparata	0:6d69e896ce38	2266	}
cparata	0:6d69e896ce38	2267	}
cparata	0:6d69e896ce38	2268
cparata	0:6d69e896ce38	2269	if ((md1_cfg.int1_single_tap == 1U) \|\| (md2_cfg.int2_single_tap == 1U))
cparata	0:6d69e896ce38	2270	{
cparata	0:6d69e896ce38	2271	if (tap_src.single_tap == 1U)
cparata	0:6d69e896ce38	2272	{
cparata	0:6d69e896ce38	2273	status->TapStatus = 1;
cparata	0:6d69e896ce38	2274	}
cparata	0:6d69e896ce38	2275	}
cparata	0:6d69e896ce38	2276
cparata	0:6d69e896ce38	2277	if ((md1_cfg.int1_double_tap == 1U) \|\| (md2_cfg.int2_double_tap == 1U))
cparata	0:6d69e896ce38	2278	{
cparata	0:6d69e896ce38	2279	if (tap_src.double_tap == 1U)
cparata	0:6d69e896ce38	2280	{
cparata	0:6d69e896ce38	2281	status->DoubleTapStatus = 1;
cparata	0:6d69e896ce38	2282	}
cparata	0:6d69e896ce38	2283	}
cparata	0:6d69e896ce38	2284
cparata	0:6d69e896ce38	2285	if ((md1_cfg.int1_6d == 1U) \|\| (md2_cfg.int2_6d == 1U))
cparata	0:6d69e896ce38	2286	{
cparata	0:6d69e896ce38	2287	if (d6d_src.d6d_ia == 1U)
cparata	0:6d69e896ce38	2288	{
cparata	0:6d69e896ce38	2289	status->D6DOrientationStatus = 1;
cparata	0:6d69e896ce38	2290	}
cparata	0:6d69e896ce38	2291	}
cparata	0:6d69e896ce38	2292
cparata	0:6d69e896ce38	2293	if (int1_ctrl.int1_step_detector == 1U)
cparata	0:6d69e896ce38	2294	{
cparata	0:6d69e896ce38	2295	if (func_src.step_detected == 1U)
cparata	0:6d69e896ce38	2296	{
cparata	0:6d69e896ce38	2297	status->StepStatus = 1;
cparata	0:6d69e896ce38	2298	}
cparata	0:6d69e896ce38	2299	}
cparata	0:6d69e896ce38	2300
cparata	0:6d69e896ce38	2301	if ((int1_ctrl.int1_tilt == 1U) \|\| (int2_ctrl.int2_tilt == 1U))
cparata	0:6d69e896ce38	2302	{
cparata	0:6d69e896ce38	2303	if (tilt_ia == 1U)
cparata	0:6d69e896ce38	2304	{
cparata	0:6d69e896ce38	2305	status->TiltStatus = 1;
cparata	0:6d69e896ce38	2306	}
cparata	0:6d69e896ce38	2307	}
cparata	0:6d69e896ce38	2308
cparata	0:6d69e896ce38	2309	return 0;
cparata	0:6d69e896ce38	2310	}
cparata	0:6d69e896ce38	2311
cparata	0:6d69e896ce38	2312	/**
cparata	0:6d69e896ce38	2313	* @brief Set self test
cparata	0:6d69e896ce38	2314	* @param val the value of st_xl in reg CTRL5_C
cparata	0:6d69e896ce38	2315	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2316	*/
cparata	0:6d69e896ce38	2317	int LSM6DSOSensor::set_x_self_test(uint8_t val)
cparata	0:6d69e896ce38	2318	{
cparata	0:6d69e896ce38	2319	lsm6dso_st_xl_t reg;
cparata	0:6d69e896ce38	2320
cparata	0:6d69e896ce38	2321	reg = (val == 0U) ? LSM6DSO_XL_ST_DISABLE
cparata	0:6d69e896ce38	2322	: (val == 1U) ? LSM6DSO_XL_ST_POSITIVE
cparata	0:6d69e896ce38	2323	: (val == 2U) ? LSM6DSO_XL_ST_NEGATIVE
cparata	0:6d69e896ce38	2324	: LSM6DSO_XL_ST_DISABLE;
cparata	0:6d69e896ce38	2325
cparata	0:6d69e896ce38	2326	if (lsm6dso_xl_self_test_set(&_reg_ctx, reg) != 0)
cparata	0:6d69e896ce38	2327	{
cparata	0:6d69e896ce38	2328	return 1;
cparata	0:6d69e896ce38	2329	}
cparata	0:6d69e896ce38	2330
cparata	0:6d69e896ce38	2331	return 0;
cparata	0:6d69e896ce38	2332	}
cparata	0:6d69e896ce38	2333
cparata	0:6d69e896ce38	2334	/**
cparata	0:6d69e896ce38	2335	* @brief Get the LSM6DSO GYRO data ready bit value
cparata	0:6d69e896ce38	2336	* @param status the status of data ready bit
cparata	0:6d69e896ce38	2337	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2338	*/
cparata	0:6d69e896ce38	2339	int LSM6DSOSensor::get_g_drdy_status(uint8_t *status)
cparata	0:6d69e896ce38	2340	{
cparata	0:6d69e896ce38	2341	if (lsm6dso_gy_flag_data_ready_get(&_reg_ctx, status) != 0)
cparata	0:6d69e896ce38	2342	{
cparata	0:6d69e896ce38	2343	return 1;
cparata	0:6d69e896ce38	2344	}
cparata	0:6d69e896ce38	2345
cparata	0:6d69e896ce38	2346	return 0;
cparata	0:6d69e896ce38	2347	}
cparata	0:6d69e896ce38	2348
cparata	0:6d69e896ce38	2349	/**
cparata	0:6d69e896ce38	2350	* @brief Set self test
cparata	0:6d69e896ce38	2351	* @param val the value of st_xl in reg CTRL5_C
cparata	0:6d69e896ce38	2352	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2353	*/
cparata	0:6d69e896ce38	2354	int LSM6DSOSensor::set_g_self_test(uint8_t val)
cparata	0:6d69e896ce38	2355	{
cparata	0:6d69e896ce38	2356	lsm6dso_st_g_t reg;
cparata	0:6d69e896ce38	2357
cparata	0:6d69e896ce38	2358	reg = (val == 0U) ? LSM6DSO_GY_ST_DISABLE
cparata	0:6d69e896ce38	2359	: (val == 1U) ? LSM6DSO_GY_ST_POSITIVE
cparata	0:6d69e896ce38	2360	: (val == 2U) ? LSM6DSO_GY_ST_NEGATIVE
cparata	0:6d69e896ce38	2361	: LSM6DSO_GY_ST_DISABLE;
cparata	0:6d69e896ce38	2362
cparata	0:6d69e896ce38	2363
cparata	0:6d69e896ce38	2364	if (lsm6dso_gy_self_test_set(&_reg_ctx, reg) != 0)
cparata	0:6d69e896ce38	2365	{
cparata	0:6d69e896ce38	2366	return 1;
cparata	0:6d69e896ce38	2367	}
cparata	0:6d69e896ce38	2368
cparata	0:6d69e896ce38	2369	return 0;
cparata	0:6d69e896ce38	2370	}
cparata	0:6d69e896ce38	2371
cparata	0:6d69e896ce38	2372	/**
cparata	0:6d69e896ce38	2373	* @brief Get the LSM6DSO FIFO number of samples
cparata	0:6d69e896ce38	2374	* @param num_samples number of samples
cparata	0:6d69e896ce38	2375	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2376	*/
cparata	0:6d69e896ce38	2377	int LSM6DSOSensor::get_fifo_num_samples(uint16_t *num_samples)
cparata	0:6d69e896ce38	2378	{
cparata	0:6d69e896ce38	2379	if (lsm6dso_fifo_data_level_get(&_reg_ctx, num_samples) != 0)
cparata	0:6d69e896ce38	2380	{
cparata	0:6d69e896ce38	2381	return 1;
cparata	0:6d69e896ce38	2382	}
cparata	0:6d69e896ce38	2383
cparata	0:6d69e896ce38	2384	return 0;
cparata	0:6d69e896ce38	2385	}
cparata	0:6d69e896ce38	2386
cparata	0:6d69e896ce38	2387	/**
cparata	0:6d69e896ce38	2388	* @brief Get the LSM6DSO FIFO full status
cparata	0:6d69e896ce38	2389	* @param status FIFO full status
cparata	0:6d69e896ce38	2390	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2391	*/
cparata	0:6d69e896ce38	2392	int LSM6DSOSensor::get_fifo_full_status(uint8_t *status)
cparata	0:6d69e896ce38	2393	{
cparata	0:6d69e896ce38	2394	lsm6dso_reg_t reg;
cparata	0:6d69e896ce38	2395
cparata	0:6d69e896ce38	2396	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_FIFO_STATUS2, &reg.byte, 1) != 0)
cparata	0:6d69e896ce38	2397	{
cparata	0:6d69e896ce38	2398	return 1;
cparata	0:6d69e896ce38	2399	}
cparata	0:6d69e896ce38	2400
cparata	0:6d69e896ce38	2401	*status = reg.fifo_status2.fifo_full_ia;
cparata	0:6d69e896ce38	2402
cparata	0:6d69e896ce38	2403	return 0;
cparata	0:6d69e896ce38	2404	}
cparata	0:6d69e896ce38	2405
cparata	0:6d69e896ce38	2406	/**
cparata	0:6d69e896ce38	2407	* @brief Set the LSM6DSO FIFO full interrupt on INT1 pin
cparata	0:6d69e896ce38	2408	* @param status FIFO full interrupt on INT1 pin status
cparata	0:6d69e896ce38	2409	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2410	*/
cparata	0:6d69e896ce38	2411	int LSM6DSOSensor::set_fifo_int1_fifo_full(uint8_t status)
cparata	0:6d69e896ce38	2412	{
cparata	0:6d69e896ce38	2413	lsm6dso_reg_t reg;
cparata	0:6d69e896ce38	2414
cparata	0:6d69e896ce38	2415	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_INT1_CTRL, &reg.byte, 1) != 0)
cparata	0:6d69e896ce38	2416	{
cparata	0:6d69e896ce38	2417	return 1;
cparata	0:6d69e896ce38	2418	}
cparata	0:6d69e896ce38	2419
cparata	0:6d69e896ce38	2420	reg.int1_ctrl.int1_fifo_full = status;
cparata	0:6d69e896ce38	2421
cparata	0:6d69e896ce38	2422	if (lsm6dso_write_reg(&_reg_ctx, LSM6DSO_INT1_CTRL, &reg.byte, 1) != 0)
cparata	0:6d69e896ce38	2423	{
cparata	0:6d69e896ce38	2424	return 1;
cparata	0:6d69e896ce38	2425	}
cparata	0:6d69e896ce38	2426
cparata	0:6d69e896ce38	2427	return 0;
cparata	0:6d69e896ce38	2428	}
cparata	0:6d69e896ce38	2429
cparata	0:6d69e896ce38	2430	/**
cparata	0:6d69e896ce38	2431	* @brief Set the LSM6DSO FIFO watermark level
cparata	0:6d69e896ce38	2432	* @param watermark FIFO watermark level
cparata	0:6d69e896ce38	2433	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2434	*/
cparata	0:6d69e896ce38	2435	int LSM6DSOSensor::set_fifo_watermark_level(uint16_t watermark)
cparata	0:6d69e896ce38	2436	{
cparata	0:6d69e896ce38	2437	if (lsm6dso_fifo_watermark_set(&_reg_ctx, watermark) != 0)
cparata	0:6d69e896ce38	2438	{
cparata	0:6d69e896ce38	2439	return 1;
cparata	0:6d69e896ce38	2440	}
cparata	0:6d69e896ce38	2441
cparata	0:6d69e896ce38	2442	return 0;
cparata	0:6d69e896ce38	2443	}
cparata	0:6d69e896ce38	2444
cparata	0:6d69e896ce38	2445	/**
cparata	0:6d69e896ce38	2446	* @brief Set the LSM6DSO FIFO stop on watermark
cparata	0:6d69e896ce38	2447	* @param status FIFO stop on watermark status
cparata	0:6d69e896ce38	2448	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2449	*/
cparata	0:6d69e896ce38	2450	int LSM6DSOSensor::set_fifo_stop_on_fth(uint8_t status)
cparata	0:6d69e896ce38	2451	{
cparata	0:6d69e896ce38	2452	if (lsm6dso_fifo_stop_on_wtm_set(&_reg_ctx, status) != 0)
cparata	0:6d69e896ce38	2453	{
cparata	0:6d69e896ce38	2454	return 1;
cparata	0:6d69e896ce38	2455	}
cparata	0:6d69e896ce38	2456
cparata	0:6d69e896ce38	2457	return 0;
cparata	0:6d69e896ce38	2458	}
cparata	0:6d69e896ce38	2459
cparata	0:6d69e896ce38	2460	/**
cparata	0:6d69e896ce38	2461	* @brief Set the LSM6DSO FIFO mode
cparata	0:6d69e896ce38	2462	* @param mode FIFO mode
cparata	0:6d69e896ce38	2463	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2464	*/
cparata	0:6d69e896ce38	2465	int LSM6DSOSensor::set_fifo_mode(uint8_t mode)
cparata	0:6d69e896ce38	2466	{
cparata	0:6d69e896ce38	2467	int ret = 0;
cparata	0:6d69e896ce38	2468
cparata	0:6d69e896ce38	2469	/* Verify that the passed parameter contains one of the valid values. */
cparata	0:6d69e896ce38	2470	switch ((lsm6dso_fifo_mode_t)mode)
cparata	0:6d69e896ce38	2471	{
cparata	0:6d69e896ce38	2472	case LSM6DSO_BYPASS_MODE:
cparata	0:6d69e896ce38	2473	case LSM6DSO_FIFO_MODE:
cparata	0:6d69e896ce38	2474	case LSM6DSO_STREAM_TO_FIFO_MODE:
cparata	0:6d69e896ce38	2475	case LSM6DSO_BYPASS_TO_STREAM_MODE:
cparata	0:6d69e896ce38	2476	case LSM6DSO_STREAM_MODE:
cparata	0:6d69e896ce38	2477	break;
cparata	0:6d69e896ce38	2478
cparata	0:6d69e896ce38	2479	default:
cparata	0:6d69e896ce38	2480	ret = 1;
cparata	0:6d69e896ce38	2481	break;
cparata	0:6d69e896ce38	2482	}
cparata	0:6d69e896ce38	2483
cparata	0:6d69e896ce38	2484	if (ret == 1)
cparata	0:6d69e896ce38	2485	{
cparata	0:6d69e896ce38	2486	return ret;
cparata	0:6d69e896ce38	2487	}
cparata	0:6d69e896ce38	2488
cparata	0:6d69e896ce38	2489	if (lsm6dso_fifo_mode_set(&_reg_ctx, (lsm6dso_fifo_mode_t)mode) != 0)
cparata	0:6d69e896ce38	2490	{
cparata	0:6d69e896ce38	2491	return 1;
cparata	0:6d69e896ce38	2492	}
cparata	0:6d69e896ce38	2493
cparata	0:6d69e896ce38	2494	return ret;
cparata	0:6d69e896ce38	2495	}
cparata	0:6d69e896ce38	2496
cparata	0:6d69e896ce38	2497	/**
cparata	0:6d69e896ce38	2498	* @brief Get the LSM6DSO FIFO tag
cparata	0:6d69e896ce38	2499	* @param tag FIFO tag
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_tag(uint8_t *tag)
cparata	0:6d69e896ce38	2503	{
cparata	0:6d69e896ce38	2504	lsm6dso_fifo_tag_t tag_local;
cparata	0:6d69e896ce38	2505
cparata	0:6d69e896ce38	2506	if (lsm6dso_fifo_sensor_tag_get(&_reg_ctx, &tag_local) != 0)
cparata	0:6d69e896ce38	2507	{
cparata	0:6d69e896ce38	2508	return 1;
cparata	0:6d69e896ce38	2509	}
cparata	0:6d69e896ce38	2510
cparata	0:6d69e896ce38	2511	*tag = (uint8_t)tag_local;
cparata	0:6d69e896ce38	2512
cparata	0:6d69e896ce38	2513	return 0;
cparata	0:6d69e896ce38	2514	}
cparata	0:6d69e896ce38	2515
cparata	0:6d69e896ce38	2516	/**
cparata	0:6d69e896ce38	2517	* @brief Get the LSM6DSO FIFO raw data
cparata	0:6d69e896ce38	2518	* @param data FIFO raw data array [6]
cparata	0:6d69e896ce38	2519	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2520	*/
cparata	0:6d69e896ce38	2521	int LSM6DSOSensor::get_fifo_data(uint8_t *data)
cparata	0:6d69e896ce38	2522	{
cparata	0:6d69e896ce38	2523	if (lsm6dso_read_reg(&_reg_ctx, LSM6DSO_FIFO_DATA_OUT_X_L, data, 6) != 0)
cparata	0:6d69e896ce38	2524	{
cparata	0:6d69e896ce38	2525	return 1;
cparata	0:6d69e896ce38	2526	}
cparata	0:6d69e896ce38	2527
cparata	0:6d69e896ce38	2528	return 0;
cparata	0:6d69e896ce38	2529	}
cparata	0:6d69e896ce38	2530
cparata	0:6d69e896ce38	2531	/**
cparata	0:6d69e896ce38	2532	* @brief Get the LSM6DSO FIFO accelero single sample (16-bit data per 3 axes) and calculate acceleration [mg]
cparata	0:6d69e896ce38	2533	* @param acceleration FIFO accelero axes [mg]
cparata	0:6d69e896ce38	2534	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2535	*/
cparata	0:6d69e896ce38	2536	int LSM6DSOSensor::get_fifo_x_axes(int32_t *acceleration)
cparata	0:6d69e896ce38	2537	{
cparata	0:6d69e896ce38	2538	uint8_t data[6];
cparata	0:6d69e896ce38	2539	int16_t data_raw[3];
cparata	0:6d69e896ce38	2540	float sensitivity = 0.0f;
cparata	0:6d69e896ce38	2541	float acceleration_float[3];
cparata	0:6d69e896ce38	2542
cparata	0:6d69e896ce38	2543	if (get_fifo_data(data) != 0)
cparata	0:6d69e896ce38	2544	{
cparata	0:6d69e896ce38	2545	return 1;
cparata	0:6d69e896ce38	2546	}
cparata	0:6d69e896ce38	2547
cparata	0:6d69e896ce38	2548	data_raw[0] = ((int16_t)data[1] << 8) \| data[0];
cparata	0:6d69e896ce38	2549	data_raw[1] = ((int16_t)data[3] << 8) \| data[2];
cparata	0:6d69e896ce38	2550	data_raw[2] = ((int16_t)data[5] << 8) \| data[4];
cparata	0:6d69e896ce38	2551
cparata	0:6d69e896ce38	2552	if (get_x_sensitivity(&sensitivity) != 0)
cparata	0:6d69e896ce38	2553	{
cparata	0:6d69e896ce38	2554	return 1;
cparata	0:6d69e896ce38	2555	}
cparata	0:6d69e896ce38	2556
cparata	0:6d69e896ce38	2557	acceleration_float[0] = (float)data_raw[0] * sensitivity;
cparata	0:6d69e896ce38	2558	acceleration_float[1] = (float)data_raw[1] * sensitivity;
cparata	0:6d69e896ce38	2559	acceleration_float[2] = (float)data_raw[2] * sensitivity;
cparata	0:6d69e896ce38	2560
cparata	0:6d69e896ce38	2561	acceleration[0] = (int32_t)acceleration_float[0];
cparata	0:6d69e896ce38	2562	acceleration[1] = (int32_t)acceleration_float[1];
cparata	0:6d69e896ce38	2563	acceleration[2] = (int32_t)acceleration_float[2];
cparata	0:6d69e896ce38	2564
cparata	0:6d69e896ce38	2565	return 0;
cparata	0:6d69e896ce38	2566	}
cparata	0:6d69e896ce38	2567
cparata	0:6d69e896ce38	2568	/**
cparata	0:6d69e896ce38	2569	* @brief Set the LSM6DSO FIFO accelero BDR value
cparata	0:6d69e896ce38	2570	* @param bdr FIFO accelero BDR value
cparata	0:6d69e896ce38	2571	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2572	*/
cparata	0:6d69e896ce38	2573	int LSM6DSOSensor::set_fifo_x_bdr(float bdr)
cparata	0:6d69e896ce38	2574	{
cparata	0:6d69e896ce38	2575	lsm6dso_bdr_xl_t new_bdr;
cparata	0:6d69e896ce38	2576
cparata	0:6d69e896ce38	2577	new_bdr = (bdr <= 0.0f) ? LSM6DSO_XL_NOT_BATCHED
cparata	0:6d69e896ce38	2578	: (bdr <= 12.5f) ? LSM6DSO_XL_BATCHED_AT_12Hz5
cparata	0:6d69e896ce38	2579	: (bdr <= 26.0f) ? LSM6DSO_XL_BATCHED_AT_26Hz
cparata	0:6d69e896ce38	2580	: (bdr <= 52.0f) ? LSM6DSO_XL_BATCHED_AT_52Hz
cparata	0:6d69e896ce38	2581	: (bdr <= 104.0f) ? LSM6DSO_XL_BATCHED_AT_104Hz
cparata	0:6d69e896ce38	2582	: (bdr <= 208.0f) ? LSM6DSO_XL_BATCHED_AT_208Hz
cparata	0:6d69e896ce38	2583	: (bdr <= 416.0f) ? LSM6DSO_XL_BATCHED_AT_417Hz
cparata	0:6d69e896ce38	2584	: (bdr <= 833.0f) ? LSM6DSO_XL_BATCHED_AT_833Hz
cparata	0:6d69e896ce38	2585	: (bdr <= 1660.0f) ? LSM6DSO_XL_BATCHED_AT_1667Hz
cparata	0:6d69e896ce38	2586	: (bdr <= 3330.0f) ? LSM6DSO_XL_BATCHED_AT_3333Hz
cparata	0:6d69e896ce38	2587	: LSM6DSO_XL_BATCHED_AT_6667Hz;
cparata	0:6d69e896ce38	2588
cparata	0:6d69e896ce38	2589	if (lsm6dso_fifo_xl_batch_set(&_reg_ctx, new_bdr) != 0)
cparata	0:6d69e896ce38	2590	{
cparata	0:6d69e896ce38	2591	return 1;
cparata	0:6d69e896ce38	2592	}
cparata	0:6d69e896ce38	2593
cparata	0:6d69e896ce38	2594	return 0;
cparata	0:6d69e896ce38	2595	}
cparata	0:6d69e896ce38	2596
cparata	0:6d69e896ce38	2597	/**
cparata	0:6d69e896ce38	2598	* @brief Get the LSM6DSO FIFO gyro single sample (16-bit data per 3 axes) and calculate angular velocity [mDPS]
cparata	0:6d69e896ce38	2599	* @param angular_velocity FIFO gyro axes [mDPS]
cparata	0:6d69e896ce38	2600	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2601	*/
cparata	0:6d69e896ce38	2602	int LSM6DSOSensor::get_fifo_g_axes(int32_t *angular_velocity)
cparata	0:6d69e896ce38	2603	{
cparata	0:6d69e896ce38	2604	uint8_t data[6];
cparata	0:6d69e896ce38	2605	int16_t data_raw[3];
cparata	0:6d69e896ce38	2606	float sensitivity = 0.0f;
cparata	0:6d69e896ce38	2607	float angular_velocity_float[3];
cparata	0:6d69e896ce38	2608
cparata	0:6d69e896ce38	2609	if (get_fifo_data(data) != 0)
cparata	0:6d69e896ce38	2610	{
cparata	0:6d69e896ce38	2611	return 1;
cparata	0:6d69e896ce38	2612	}
cparata	0:6d69e896ce38	2613
cparata	0:6d69e896ce38	2614	data_raw[0] = ((int16_t)data[1] << 8) \| data[0];
cparata	0:6d69e896ce38	2615	data_raw[1] = ((int16_t)data[3] << 8) \| data[2];
cparata	0:6d69e896ce38	2616	data_raw[2] = ((int16_t)data[5] << 8) \| data[4];
cparata	0:6d69e896ce38	2617
cparata	0:6d69e896ce38	2618	if (get_g_sensitivity(&sensitivity) != 0)
cparata	0:6d69e896ce38	2619	{
cparata	0:6d69e896ce38	2620	return 1;
cparata	0:6d69e896ce38	2621	}
cparata	0:6d69e896ce38	2622
cparata	0:6d69e896ce38	2623	angular_velocity_float[0] = (float)data_raw[0] * sensitivity;
cparata	0:6d69e896ce38	2624	angular_velocity_float[1] = (float)data_raw[1] * sensitivity;
cparata	0:6d69e896ce38	2625	angular_velocity_float[2] = (float)data_raw[2] * sensitivity;
cparata	0:6d69e896ce38	2626
cparata	0:6d69e896ce38	2627	angular_velocity[0] = (int32_t)angular_velocity_float[0];
cparata	0:6d69e896ce38	2628	angular_velocity[1] = (int32_t)angular_velocity_float[1];
cparata	0:6d69e896ce38	2629	angular_velocity[2] = (int32_t)angular_velocity_float[2];
cparata	0:6d69e896ce38	2630
cparata	0:6d69e896ce38	2631	return 0;
cparata	0:6d69e896ce38	2632	}
cparata	0:6d69e896ce38	2633
cparata	0:6d69e896ce38	2634	/**
cparata	0:6d69e896ce38	2635	* @brief Set the LSM6DSO FIFO gyro BDR value
cparata	0:6d69e896ce38	2636	* @param bdr FIFO gyro BDR value
cparata	0:6d69e896ce38	2637	* @retval 0 in case of success, an error code otherwise
cparata	0:6d69e896ce38	2638	*/
cparata	0:6d69e896ce38	2639	int LSM6DSOSensor::set_fifo_g_bdr(float bdr)
cparata	0:6d69e896ce38	2640	{
cparata	0:6d69e896ce38	2641	lsm6dso_bdr_gy_t new_bdr;
cparata	0:6d69e896ce38	2642
cparata	0:6d69e896ce38	2643	new_bdr = (bdr <= 0.0f) ? LSM6DSO_GY_NOT_BATCHED
cparata	0:6d69e896ce38	2644	: (bdr <= 12.5f) ? LSM6DSO_GY_BATCHED_AT_12Hz5
cparata	0:6d69e896ce38	2645	: (bdr <= 26.0f) ? LSM6DSO_GY_BATCHED_AT_26Hz
cparata	0:6d69e896ce38	2646	: (bdr <= 52.0f) ? LSM6DSO_GY_BATCHED_AT_52Hz
cparata	0:6d69e896ce38	2647	: (bdr <= 104.0f) ? LSM6DSO_GY_BATCHED_AT_104Hz
cparata	0:6d69e896ce38	2648	: (bdr <= 208.0f) ? LSM6DSO_GY_BATCHED_AT_208Hz
cparata	0:6d69e896ce38	2649	: (bdr <= 416.0f) ? LSM6DSO_GY_BATCHED_AT_417Hz
cparata	0:6d69e896ce38	2650	: (bdr <= 833.0f) ? LSM6DSO_GY_BATCHED_AT_833Hz
cparata	0:6d69e896ce38	2651	: (bdr <= 1660.0f) ? LSM6DSO_GY_BATCHED_AT_1667Hz
cparata	0:6d69e896ce38	2652	: (bdr <= 3330.0f) ? LSM6DSO_GY_BATCHED_AT_3333Hz
cparata	0:6d69e896ce38	2653	: LSM6DSO_GY_BATCHED_AT_6667Hz;
cparata	0:6d69e896ce38	2654
cparata	0:6d69e896ce38	2655	if (lsm6dso_fifo_gy_batch_set(&_reg_ctx, new_bdr) != 0)
cparata	0:6d69e896ce38	2656	{
cparata	0:6d69e896ce38	2657	return 1;
cparata	0:6d69e896ce38	2658	}
cparata	0:6d69e896ce38	2659
cparata	0:6d69e896ce38	2660	return 0;
cparata	0:6d69e896ce38	2661	}
cparata	0:6d69e896ce38	2662
cparata	0:6d69e896ce38	2663
cparata	0:6d69e896ce38	2664
cparata	0:6d69e896ce38	2665	int32_t LSM6DSO_io_write(void handle, uint8_t WriteAddr, uint8_t pBuffer, uint16_t nBytesToWrite)
cparata	0:6d69e896ce38	2666	{
cparata	0:6d69e896ce38	2667	return ((LSM6DSOSensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite);
cparata	0:6d69e896ce38	2668	}
cparata	0:6d69e896ce38	2669
cparata	0:6d69e896ce38	2670	int32_t LSM6DSO_io_read(void handle, uint8_t ReadAddr, uint8_t pBuffer, uint16_t nBytesToRead)
cparata	0:6d69e896ce38	2671	{
cparata	0:6d69e896ce38	2672	return ((LSM6DSOSensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead);
cparata	0:6d69e896ce38	2673	}

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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@2:4d14e9edf37e, 2019-06-03 (annotated)

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