iNEMO inertial module: 3D accelerometer and 3D gyroscope.
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
LSM6DSOXSensor.cpp@0:f27ce43dee4f, 2019-07-10 (annotated)
- Committer:
- cparata
- Date:
- Wed Jul 10 12:08:49 2019 +0000
- Revision:
- 0:f27ce43dee4f
- Child:
- 1:fe40aec6e97a
First release of LSM6DSOX mbed library
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
cparata | 0:f27ce43dee4f | 1 | /** |
cparata | 0:f27ce43dee4f | 2 | ****************************************************************************** |
cparata | 0:f27ce43dee4f | 3 | * @file LSM6DSOXSensor.cpp |
cparata | 0:f27ce43dee4f | 4 | * @author SRA |
cparata | 0:f27ce43dee4f | 5 | * @version V1.0.0 |
cparata | 0:f27ce43dee4f | 6 | * @date February 2019 |
cparata | 0:f27ce43dee4f | 7 | * @brief Implementation of an LSM6DSOX Inertial Measurement Unit (IMU) 6 axes |
cparata | 0:f27ce43dee4f | 8 | * sensor. |
cparata | 0:f27ce43dee4f | 9 | ****************************************************************************** |
cparata | 0:f27ce43dee4f | 10 | * @attention |
cparata | 0:f27ce43dee4f | 11 | * |
cparata | 0:f27ce43dee4f | 12 | * <h2><center>© COPYRIGHT(c) 2019 STMicroelectronics</center></h2> |
cparata | 0:f27ce43dee4f | 13 | * |
cparata | 0:f27ce43dee4f | 14 | * Redistribution and use in source and binary forms, with or without modification, |
cparata | 0:f27ce43dee4f | 15 | * are permitted provided that the following conditions are met: |
cparata | 0:f27ce43dee4f | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
cparata | 0:f27ce43dee4f | 17 | * this list of conditions and the following disclaimer. |
cparata | 0:f27ce43dee4f | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
cparata | 0:f27ce43dee4f | 19 | * this list of conditions and the following disclaimer in the documentation |
cparata | 0:f27ce43dee4f | 20 | * and/or other materials provided with the distribution. |
cparata | 0:f27ce43dee4f | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
cparata | 0:f27ce43dee4f | 22 | * may be used to endorse or promote products derived from this software |
cparata | 0:f27ce43dee4f | 23 | * without specific prior written permission. |
cparata | 0:f27ce43dee4f | 24 | * |
cparata | 0:f27ce43dee4f | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
cparata | 0:f27ce43dee4f | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
cparata | 0:f27ce43dee4f | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
cparata | 0:f27ce43dee4f | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
cparata | 0:f27ce43dee4f | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
cparata | 0:f27ce43dee4f | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
cparata | 0:f27ce43dee4f | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
cparata | 0:f27ce43dee4f | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
cparata | 0:f27ce43dee4f | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
cparata | 0:f27ce43dee4f | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
cparata | 0:f27ce43dee4f | 35 | * |
cparata | 0:f27ce43dee4f | 36 | ****************************************************************************** |
cparata | 0:f27ce43dee4f | 37 | */ |
cparata | 0:f27ce43dee4f | 38 | |
cparata | 0:f27ce43dee4f | 39 | |
cparata | 0:f27ce43dee4f | 40 | /* Includes ------------------------------------------------------------------*/ |
cparata | 0:f27ce43dee4f | 41 | |
cparata | 0:f27ce43dee4f | 42 | #include "LSM6DSOXSensor.h" |
cparata | 0:f27ce43dee4f | 43 | |
cparata | 0:f27ce43dee4f | 44 | |
cparata | 0:f27ce43dee4f | 45 | /* Class Implementation ------------------------------------------------------*/ |
cparata | 0:f27ce43dee4f | 46 | |
cparata | 0:f27ce43dee4f | 47 | /** Constructor |
cparata | 0:f27ce43dee4f | 48 | * @param spi object of an helper class which handles the SPI peripheral |
cparata | 0:f27ce43dee4f | 49 | * @param cs_pin the chip select pin |
cparata | 0:f27ce43dee4f | 50 | * @param int1_pin the interrupt 1 pin |
cparata | 0:f27ce43dee4f | 51 | * @param int2_pin the interrupt 2 pin |
cparata | 0:f27ce43dee4f | 52 | * @param spi_type the SPI type |
cparata | 0:f27ce43dee4f | 53 | */ |
cparata | 0:f27ce43dee4f | 54 | LSM6DSOXSensor::LSM6DSOXSensor(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:f27ce43dee4f | 55 | { |
cparata | 0:f27ce43dee4f | 56 | assert (spi); |
cparata | 0:f27ce43dee4f | 57 | if (cs_pin == NC) |
cparata | 0:f27ce43dee4f | 58 | { |
cparata | 0:f27ce43dee4f | 59 | printf ("ERROR LSM6DSOX CS MUST NOT BE NC\n\r"); |
cparata | 0:f27ce43dee4f | 60 | _dev_spi = NULL; |
cparata | 0:f27ce43dee4f | 61 | _dev_i2c = NULL; |
cparata | 0:f27ce43dee4f | 62 | return; |
cparata | 0:f27ce43dee4f | 63 | } |
cparata | 0:f27ce43dee4f | 64 | |
cparata | 0:f27ce43dee4f | 65 | _reg_ctx.write_reg = LSM6DSOX_io_write; |
cparata | 0:f27ce43dee4f | 66 | _reg_ctx.read_reg = LSM6DSOX_io_read; |
cparata | 0:f27ce43dee4f | 67 | _reg_ctx.handle = (void *)this; |
cparata | 0:f27ce43dee4f | 68 | _cs_pin = 1; |
cparata | 0:f27ce43dee4f | 69 | _dev_i2c = NULL; |
cparata | 0:f27ce43dee4f | 70 | _address = 0; |
cparata | 0:f27ce43dee4f | 71 | |
cparata | 0:f27ce43dee4f | 72 | if (_spi_type == SPI3W) |
cparata | 0:f27ce43dee4f | 73 | { |
cparata | 0:f27ce43dee4f | 74 | /* Enable SPI 3-Wires on the component */ |
cparata | 0:f27ce43dee4f | 75 | uint8_t data = 0x0C; |
cparata | 0:f27ce43dee4f | 76 | lsm6dsox_write_reg(&_reg_ctx, LSM6DSOX_CTRL3_C, &data, 1); |
cparata | 0:f27ce43dee4f | 77 | } |
cparata | 0:f27ce43dee4f | 78 | } |
cparata | 0:f27ce43dee4f | 79 | |
cparata | 0:f27ce43dee4f | 80 | |
cparata | 0:f27ce43dee4f | 81 | /** Constructor |
cparata | 0:f27ce43dee4f | 82 | * @param i2c object of an helper class which handles the I2C peripheral |
cparata | 0:f27ce43dee4f | 83 | * @param address the address of the component's instance |
cparata | 0:f27ce43dee4f | 84 | * @param int1_pin the interrupt 1 pin |
cparata | 0:f27ce43dee4f | 85 | * @param int2_pin the interrupt 2 pin |
cparata | 0:f27ce43dee4f | 86 | */ |
cparata | 0:f27ce43dee4f | 87 | LSM6DSOXSensor::LSM6DSOXSensor(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:f27ce43dee4f | 88 | { |
cparata | 0:f27ce43dee4f | 89 | assert (i2c); |
cparata | 0:f27ce43dee4f | 90 | _dev_spi = NULL; |
cparata | 0:f27ce43dee4f | 91 | _reg_ctx.write_reg = LSM6DSOX_io_write; |
cparata | 0:f27ce43dee4f | 92 | _reg_ctx.read_reg = LSM6DSOX_io_read; |
cparata | 0:f27ce43dee4f | 93 | _reg_ctx.handle = (void *)this; |
cparata | 0:f27ce43dee4f | 94 | } |
cparata | 0:f27ce43dee4f | 95 | |
cparata | 0:f27ce43dee4f | 96 | /** |
cparata | 0:f27ce43dee4f | 97 | * @brief Initializing the component |
cparata | 0:f27ce43dee4f | 98 | * @param init pointer to device specific initalization structure |
cparata | 0:f27ce43dee4f | 99 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 100 | */ |
cparata | 0:f27ce43dee4f | 101 | int LSM6DSOXSensor::init(void *init) |
cparata | 0:f27ce43dee4f | 102 | { |
cparata | 0:f27ce43dee4f | 103 | /* Enable register address automatically incremented during a multiple byte |
cparata | 0:f27ce43dee4f | 104 | access with a serial interface. */ |
cparata | 0:f27ce43dee4f | 105 | if (lsm6dsox_auto_increment_set(&_reg_ctx, PROPERTY_ENABLE) != 0) |
cparata | 0:f27ce43dee4f | 106 | { |
cparata | 0:f27ce43dee4f | 107 | return 1; |
cparata | 0:f27ce43dee4f | 108 | } |
cparata | 0:f27ce43dee4f | 109 | |
cparata | 0:f27ce43dee4f | 110 | /* Enable BDU */ |
cparata | 0:f27ce43dee4f | 111 | if (lsm6dsox_block_data_update_set(&_reg_ctx, PROPERTY_ENABLE) != 0) |
cparata | 0:f27ce43dee4f | 112 | { |
cparata | 0:f27ce43dee4f | 113 | return 1; |
cparata | 0:f27ce43dee4f | 114 | } |
cparata | 0:f27ce43dee4f | 115 | |
cparata | 0:f27ce43dee4f | 116 | /* FIFO mode selection */ |
cparata | 0:f27ce43dee4f | 117 | if (lsm6dsox_fifo_mode_set(&_reg_ctx, LSM6DSOX_BYPASS_MODE) != 0) |
cparata | 0:f27ce43dee4f | 118 | { |
cparata | 0:f27ce43dee4f | 119 | return 1; |
cparata | 0:f27ce43dee4f | 120 | } |
cparata | 0:f27ce43dee4f | 121 | |
cparata | 0:f27ce43dee4f | 122 | /* Output data rate selection - power down. */ |
cparata | 0:f27ce43dee4f | 123 | if (lsm6dsox_xl_data_rate_set(&_reg_ctx, LSM6DSOX_XL_ODR_OFF) != 0) |
cparata | 0:f27ce43dee4f | 124 | { |
cparata | 0:f27ce43dee4f | 125 | return 1; |
cparata | 0:f27ce43dee4f | 126 | } |
cparata | 0:f27ce43dee4f | 127 | |
cparata | 0:f27ce43dee4f | 128 | /* Full scale selection. */ |
cparata | 0:f27ce43dee4f | 129 | if (lsm6dsox_xl_full_scale_set(&_reg_ctx, LSM6DSOX_2g) != 0) |
cparata | 0:f27ce43dee4f | 130 | { |
cparata | 0:f27ce43dee4f | 131 | return 1; |
cparata | 0:f27ce43dee4f | 132 | } |
cparata | 0:f27ce43dee4f | 133 | |
cparata | 0:f27ce43dee4f | 134 | /* Output data rate selection - power down. */ |
cparata | 0:f27ce43dee4f | 135 | if (lsm6dsox_gy_data_rate_set(&_reg_ctx, LSM6DSOX_GY_ODR_OFF) != 0) |
cparata | 0:f27ce43dee4f | 136 | { |
cparata | 0:f27ce43dee4f | 137 | return 1; |
cparata | 0:f27ce43dee4f | 138 | } |
cparata | 0:f27ce43dee4f | 139 | |
cparata | 0:f27ce43dee4f | 140 | /* Full scale selection. */ |
cparata | 0:f27ce43dee4f | 141 | if (lsm6dsox_gy_full_scale_set(&_reg_ctx, LSM6DSOX_2000dps) != 0) |
cparata | 0:f27ce43dee4f | 142 | { |
cparata | 0:f27ce43dee4f | 143 | return 1; |
cparata | 0:f27ce43dee4f | 144 | } |
cparata | 0:f27ce43dee4f | 145 | |
cparata | 0:f27ce43dee4f | 146 | /* Select default output data rate. */ |
cparata | 0:f27ce43dee4f | 147 | _x_last_odr = LSM6DSOX_XL_ODR_104Hz; |
cparata | 0:f27ce43dee4f | 148 | |
cparata | 0:f27ce43dee4f | 149 | /* Select default output data rate. */ |
cparata | 0:f27ce43dee4f | 150 | _g_last_odr = LSM6DSOX_GY_ODR_104Hz; |
cparata | 0:f27ce43dee4f | 151 | |
cparata | 0:f27ce43dee4f | 152 | _x_is_enabled = 0; |
cparata | 0:f27ce43dee4f | 153 | |
cparata | 0:f27ce43dee4f | 154 | _g_is_enabled = 0; |
cparata | 0:f27ce43dee4f | 155 | |
cparata | 0:f27ce43dee4f | 156 | return 0; |
cparata | 0:f27ce43dee4f | 157 | } |
cparata | 0:f27ce43dee4f | 158 | |
cparata | 0:f27ce43dee4f | 159 | /** |
cparata | 0:f27ce43dee4f | 160 | * @brief Read component ID |
cparata | 0:f27ce43dee4f | 161 | * @param id the WHO_AM_I value |
cparata | 0:f27ce43dee4f | 162 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 163 | */ |
cparata | 0:f27ce43dee4f | 164 | int LSM6DSOXSensor::read_id(uint8_t *id) |
cparata | 0:f27ce43dee4f | 165 | { |
cparata | 0:f27ce43dee4f | 166 | if (lsm6dsox_device_id_get(&_reg_ctx, id) != 0) |
cparata | 0:f27ce43dee4f | 167 | { |
cparata | 0:f27ce43dee4f | 168 | return 1; |
cparata | 0:f27ce43dee4f | 169 | } |
cparata | 0:f27ce43dee4f | 170 | |
cparata | 0:f27ce43dee4f | 171 | return 0; |
cparata | 0:f27ce43dee4f | 172 | } |
cparata | 0:f27ce43dee4f | 173 | |
cparata | 0:f27ce43dee4f | 174 | /** |
cparata | 0:f27ce43dee4f | 175 | * @brief Enable the LSM6DSOX accelerometer sensor |
cparata | 0:f27ce43dee4f | 176 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 177 | */ |
cparata | 0:f27ce43dee4f | 178 | int LSM6DSOXSensor::enable_x() |
cparata | 0:f27ce43dee4f | 179 | { |
cparata | 0:f27ce43dee4f | 180 | /* Check if the component is already enabled */ |
cparata | 0:f27ce43dee4f | 181 | if (_x_is_enabled == 1U) |
cparata | 0:f27ce43dee4f | 182 | { |
cparata | 0:f27ce43dee4f | 183 | return 0; |
cparata | 0:f27ce43dee4f | 184 | } |
cparata | 0:f27ce43dee4f | 185 | |
cparata | 0:f27ce43dee4f | 186 | /* Output data rate selection. */ |
cparata | 0:f27ce43dee4f | 187 | if (lsm6dsox_xl_data_rate_set(&_reg_ctx, _x_last_odr) != 0) |
cparata | 0:f27ce43dee4f | 188 | { |
cparata | 0:f27ce43dee4f | 189 | return 1; |
cparata | 0:f27ce43dee4f | 190 | } |
cparata | 0:f27ce43dee4f | 191 | |
cparata | 0:f27ce43dee4f | 192 | _x_is_enabled = 1; |
cparata | 0:f27ce43dee4f | 193 | |
cparata | 0:f27ce43dee4f | 194 | return 0; |
cparata | 0:f27ce43dee4f | 195 | } |
cparata | 0:f27ce43dee4f | 196 | |
cparata | 0:f27ce43dee4f | 197 | /** |
cparata | 0:f27ce43dee4f | 198 | * @brief Disable the LSM6DSOX accelerometer sensor |
cparata | 0:f27ce43dee4f | 199 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 200 | */ |
cparata | 0:f27ce43dee4f | 201 | int LSM6DSOXSensor::disable_x() |
cparata | 0:f27ce43dee4f | 202 | { |
cparata | 0:f27ce43dee4f | 203 | /* Check if the component is already disabled */ |
cparata | 0:f27ce43dee4f | 204 | if (_x_is_enabled == 0U) |
cparata | 0:f27ce43dee4f | 205 | { |
cparata | 0:f27ce43dee4f | 206 | return 0; |
cparata | 0:f27ce43dee4f | 207 | } |
cparata | 0:f27ce43dee4f | 208 | |
cparata | 0:f27ce43dee4f | 209 | /* Get current output data rate. */ |
cparata | 0:f27ce43dee4f | 210 | if (lsm6dsox_xl_data_rate_get(&_reg_ctx, &_x_last_odr) != 0) |
cparata | 0:f27ce43dee4f | 211 | { |
cparata | 0:f27ce43dee4f | 212 | return 1; |
cparata | 0:f27ce43dee4f | 213 | } |
cparata | 0:f27ce43dee4f | 214 | |
cparata | 0:f27ce43dee4f | 215 | /* Output data rate selection - power down. */ |
cparata | 0:f27ce43dee4f | 216 | if (lsm6dsox_xl_data_rate_set(&_reg_ctx, LSM6DSOX_XL_ODR_OFF) != 0) |
cparata | 0:f27ce43dee4f | 217 | { |
cparata | 0:f27ce43dee4f | 218 | return 1; |
cparata | 0:f27ce43dee4f | 219 | } |
cparata | 0:f27ce43dee4f | 220 | |
cparata | 0:f27ce43dee4f | 221 | _x_is_enabled = 0; |
cparata | 0:f27ce43dee4f | 222 | |
cparata | 0:f27ce43dee4f | 223 | return 0; |
cparata | 0:f27ce43dee4f | 224 | } |
cparata | 0:f27ce43dee4f | 225 | |
cparata | 0:f27ce43dee4f | 226 | /** |
cparata | 0:f27ce43dee4f | 227 | * @brief Get the LSM6DSOX accelerometer sensor sensitivity |
cparata | 0:f27ce43dee4f | 228 | * @param sensitivity pointer where the sensitivity is written |
cparata | 0:f27ce43dee4f | 229 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 230 | */ |
cparata | 0:f27ce43dee4f | 231 | int LSM6DSOXSensor::get_x_sensitivity(float *sensitivity) |
cparata | 0:f27ce43dee4f | 232 | { |
cparata | 0:f27ce43dee4f | 233 | int ret = 0; |
cparata | 0:f27ce43dee4f | 234 | lsm6dsox_fs_xl_t full_scale; |
cparata | 0:f27ce43dee4f | 235 | |
cparata | 0:f27ce43dee4f | 236 | /* Read actual full scale selection from sensor. */ |
cparata | 0:f27ce43dee4f | 237 | if (lsm6dsox_xl_full_scale_get(&_reg_ctx, &full_scale) != 0) |
cparata | 0:f27ce43dee4f | 238 | { |
cparata | 0:f27ce43dee4f | 239 | return 1; |
cparata | 0:f27ce43dee4f | 240 | } |
cparata | 0:f27ce43dee4f | 241 | |
cparata | 0:f27ce43dee4f | 242 | /* Store the sensitivity based on actual full scale. */ |
cparata | 0:f27ce43dee4f | 243 | switch (full_scale) |
cparata | 0:f27ce43dee4f | 244 | { |
cparata | 0:f27ce43dee4f | 245 | case LSM6DSOX_2g: |
cparata | 0:f27ce43dee4f | 246 | *sensitivity = LSM6DSOX_ACC_SENSITIVITY_FS_2G; |
cparata | 0:f27ce43dee4f | 247 | break; |
cparata | 0:f27ce43dee4f | 248 | |
cparata | 0:f27ce43dee4f | 249 | case LSM6DSOX_4g: |
cparata | 0:f27ce43dee4f | 250 | *sensitivity = LSM6DSOX_ACC_SENSITIVITY_FS_4G; |
cparata | 0:f27ce43dee4f | 251 | break; |
cparata | 0:f27ce43dee4f | 252 | |
cparata | 0:f27ce43dee4f | 253 | case LSM6DSOX_8g: |
cparata | 0:f27ce43dee4f | 254 | *sensitivity = LSM6DSOX_ACC_SENSITIVITY_FS_8G; |
cparata | 0:f27ce43dee4f | 255 | break; |
cparata | 0:f27ce43dee4f | 256 | |
cparata | 0:f27ce43dee4f | 257 | case LSM6DSOX_16g: |
cparata | 0:f27ce43dee4f | 258 | *sensitivity = LSM6DSOX_ACC_SENSITIVITY_FS_16G; |
cparata | 0:f27ce43dee4f | 259 | break; |
cparata | 0:f27ce43dee4f | 260 | |
cparata | 0:f27ce43dee4f | 261 | default: |
cparata | 0:f27ce43dee4f | 262 | ret = 1; |
cparata | 0:f27ce43dee4f | 263 | break; |
cparata | 0:f27ce43dee4f | 264 | } |
cparata | 0:f27ce43dee4f | 265 | |
cparata | 0:f27ce43dee4f | 266 | return ret; |
cparata | 0:f27ce43dee4f | 267 | } |
cparata | 0:f27ce43dee4f | 268 | |
cparata | 0:f27ce43dee4f | 269 | /** |
cparata | 0:f27ce43dee4f | 270 | * @brief Get the LSM6DSOX accelerometer sensor output data rate |
cparata | 0:f27ce43dee4f | 271 | * @param odr pointer where the output data rate is written |
cparata | 0:f27ce43dee4f | 272 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 273 | */ |
cparata | 0:f27ce43dee4f | 274 | int LSM6DSOXSensor::get_x_odr(float *odr) |
cparata | 0:f27ce43dee4f | 275 | { |
cparata | 0:f27ce43dee4f | 276 | int ret = 0; |
cparata | 0:f27ce43dee4f | 277 | lsm6dsox_odr_xl_t odr_low_level; |
cparata | 0:f27ce43dee4f | 278 | |
cparata | 0:f27ce43dee4f | 279 | /* Get current output data rate. */ |
cparata | 0:f27ce43dee4f | 280 | if (lsm6dsox_xl_data_rate_get(&_reg_ctx, &odr_low_level) != 0) |
cparata | 0:f27ce43dee4f | 281 | { |
cparata | 0:f27ce43dee4f | 282 | return 1; |
cparata | 0:f27ce43dee4f | 283 | } |
cparata | 0:f27ce43dee4f | 284 | |
cparata | 0:f27ce43dee4f | 285 | switch (odr_low_level) |
cparata | 0:f27ce43dee4f | 286 | { |
cparata | 0:f27ce43dee4f | 287 | case LSM6DSOX_XL_ODR_OFF: |
cparata | 0:f27ce43dee4f | 288 | *odr = 0.0f; |
cparata | 0:f27ce43dee4f | 289 | break; |
cparata | 0:f27ce43dee4f | 290 | |
cparata | 0:f27ce43dee4f | 291 | case LSM6DSOX_XL_ODR_6Hz5: |
cparata | 0:f27ce43dee4f | 292 | *odr = 6.5f; |
cparata | 0:f27ce43dee4f | 293 | break; |
cparata | 0:f27ce43dee4f | 294 | |
cparata | 0:f27ce43dee4f | 295 | case LSM6DSOX_XL_ODR_12Hz5: |
cparata | 0:f27ce43dee4f | 296 | *odr = 12.5f; |
cparata | 0:f27ce43dee4f | 297 | break; |
cparata | 0:f27ce43dee4f | 298 | |
cparata | 0:f27ce43dee4f | 299 | case LSM6DSOX_XL_ODR_26Hz: |
cparata | 0:f27ce43dee4f | 300 | *odr = 26.0f; |
cparata | 0:f27ce43dee4f | 301 | break; |
cparata | 0:f27ce43dee4f | 302 | |
cparata | 0:f27ce43dee4f | 303 | case LSM6DSOX_XL_ODR_52Hz: |
cparata | 0:f27ce43dee4f | 304 | *odr = 52.0f; |
cparata | 0:f27ce43dee4f | 305 | break; |
cparata | 0:f27ce43dee4f | 306 | |
cparata | 0:f27ce43dee4f | 307 | case LSM6DSOX_XL_ODR_104Hz: |
cparata | 0:f27ce43dee4f | 308 | *odr = 104.0f; |
cparata | 0:f27ce43dee4f | 309 | break; |
cparata | 0:f27ce43dee4f | 310 | |
cparata | 0:f27ce43dee4f | 311 | case LSM6DSOX_XL_ODR_208Hz: |
cparata | 0:f27ce43dee4f | 312 | *odr = 208.0f; |
cparata | 0:f27ce43dee4f | 313 | break; |
cparata | 0:f27ce43dee4f | 314 | |
cparata | 0:f27ce43dee4f | 315 | case LSM6DSOX_XL_ODR_417Hz: |
cparata | 0:f27ce43dee4f | 316 | *odr = 417.0f; |
cparata | 0:f27ce43dee4f | 317 | break; |
cparata | 0:f27ce43dee4f | 318 | |
cparata | 0:f27ce43dee4f | 319 | case LSM6DSOX_XL_ODR_833Hz: |
cparata | 0:f27ce43dee4f | 320 | *odr = 833.0f; |
cparata | 0:f27ce43dee4f | 321 | break; |
cparata | 0:f27ce43dee4f | 322 | |
cparata | 0:f27ce43dee4f | 323 | case LSM6DSOX_XL_ODR_1667Hz: |
cparata | 0:f27ce43dee4f | 324 | *odr = 1667.0f; |
cparata | 0:f27ce43dee4f | 325 | break; |
cparata | 0:f27ce43dee4f | 326 | |
cparata | 0:f27ce43dee4f | 327 | case LSM6DSOX_XL_ODR_3333Hz: |
cparata | 0:f27ce43dee4f | 328 | *odr = 3333.0f; |
cparata | 0:f27ce43dee4f | 329 | break; |
cparata | 0:f27ce43dee4f | 330 | |
cparata | 0:f27ce43dee4f | 331 | case LSM6DSOX_XL_ODR_6667Hz: |
cparata | 0:f27ce43dee4f | 332 | *odr = 6667.0f; |
cparata | 0:f27ce43dee4f | 333 | break; |
cparata | 0:f27ce43dee4f | 334 | |
cparata | 0:f27ce43dee4f | 335 | default: |
cparata | 0:f27ce43dee4f | 336 | ret = 1; |
cparata | 0:f27ce43dee4f | 337 | break; |
cparata | 0:f27ce43dee4f | 338 | } |
cparata | 0:f27ce43dee4f | 339 | |
cparata | 0:f27ce43dee4f | 340 | return ret; |
cparata | 0:f27ce43dee4f | 341 | } |
cparata | 0:f27ce43dee4f | 342 | |
cparata | 0:f27ce43dee4f | 343 | /** |
cparata | 0:f27ce43dee4f | 344 | * @brief Set the LSM6DSOX accelerometer sensor output data rate |
cparata | 0:f27ce43dee4f | 345 | * @param odr the output data rate value to be set |
cparata | 0:f27ce43dee4f | 346 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 347 | */ |
cparata | 0:f27ce43dee4f | 348 | int LSM6DSOXSensor::set_x_odr(float odr) |
cparata | 0:f27ce43dee4f | 349 | { |
cparata | 0:f27ce43dee4f | 350 | /* Check if the component is enabled */ |
cparata | 0:f27ce43dee4f | 351 | if (_x_is_enabled == 1U) |
cparata | 0:f27ce43dee4f | 352 | { |
cparata | 0:f27ce43dee4f | 353 | return set_x_odr_when_enabled(odr); |
cparata | 0:f27ce43dee4f | 354 | } |
cparata | 0:f27ce43dee4f | 355 | else |
cparata | 0:f27ce43dee4f | 356 | { |
cparata | 0:f27ce43dee4f | 357 | return set_x_odr_when_disabled(odr); |
cparata | 0:f27ce43dee4f | 358 | } |
cparata | 0:f27ce43dee4f | 359 | } |
cparata | 0:f27ce43dee4f | 360 | |
cparata | 0:f27ce43dee4f | 361 | /** |
cparata | 0:f27ce43dee4f | 362 | * @brief Set the LSM6DSOX accelerometer sensor output data rate when enabled |
cparata | 0:f27ce43dee4f | 363 | * @param odr the functional output data rate to be set |
cparata | 0:f27ce43dee4f | 364 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 365 | */ |
cparata | 0:f27ce43dee4f | 366 | int LSM6DSOXSensor::set_x_odr_when_enabled(float odr) |
cparata | 0:f27ce43dee4f | 367 | { |
cparata | 0:f27ce43dee4f | 368 | lsm6dsox_odr_xl_t new_odr; |
cparata | 0:f27ce43dee4f | 369 | |
cparata | 0:f27ce43dee4f | 370 | new_odr = (odr <= 12.5f) ? LSM6DSOX_XL_ODR_12Hz5 |
cparata | 0:f27ce43dee4f | 371 | : (odr <= 26.0f) ? LSM6DSOX_XL_ODR_26Hz |
cparata | 0:f27ce43dee4f | 372 | : (odr <= 52.0f) ? LSM6DSOX_XL_ODR_52Hz |
cparata | 0:f27ce43dee4f | 373 | : (odr <= 104.0f) ? LSM6DSOX_XL_ODR_104Hz |
cparata | 0:f27ce43dee4f | 374 | : (odr <= 208.0f) ? LSM6DSOX_XL_ODR_208Hz |
cparata | 0:f27ce43dee4f | 375 | : (odr <= 417.0f) ? LSM6DSOX_XL_ODR_417Hz |
cparata | 0:f27ce43dee4f | 376 | : (odr <= 833.0f) ? LSM6DSOX_XL_ODR_833Hz |
cparata | 0:f27ce43dee4f | 377 | : (odr <= 1667.0f) ? LSM6DSOX_XL_ODR_1667Hz |
cparata | 0:f27ce43dee4f | 378 | : (odr <= 3333.0f) ? LSM6DSOX_XL_ODR_3333Hz |
cparata | 0:f27ce43dee4f | 379 | : LSM6DSOX_XL_ODR_6667Hz; |
cparata | 0:f27ce43dee4f | 380 | |
cparata | 0:f27ce43dee4f | 381 | /* Output data rate selection. */ |
cparata | 0:f27ce43dee4f | 382 | if (lsm6dsox_xl_data_rate_set(&_reg_ctx, new_odr) != 0) |
cparata | 0:f27ce43dee4f | 383 | { |
cparata | 0:f27ce43dee4f | 384 | return 1; |
cparata | 0:f27ce43dee4f | 385 | } |
cparata | 0:f27ce43dee4f | 386 | |
cparata | 0:f27ce43dee4f | 387 | return 0; |
cparata | 0:f27ce43dee4f | 388 | } |
cparata | 0:f27ce43dee4f | 389 | |
cparata | 0:f27ce43dee4f | 390 | /** |
cparata | 0:f27ce43dee4f | 391 | * @brief Set the LSM6DSOX accelerometer sensor output data rate when disabled |
cparata | 0:f27ce43dee4f | 392 | * @param odr the functional output data rate to be set |
cparata | 0:f27ce43dee4f | 393 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 394 | */ |
cparata | 0:f27ce43dee4f | 395 | int LSM6DSOXSensor::set_x_odr_when_disabled(float odr) |
cparata | 0:f27ce43dee4f | 396 | { |
cparata | 0:f27ce43dee4f | 397 | _x_last_odr = (odr <= 12.5f) ? LSM6DSOX_XL_ODR_12Hz5 |
cparata | 0:f27ce43dee4f | 398 | : (odr <= 26.0f) ? LSM6DSOX_XL_ODR_26Hz |
cparata | 0:f27ce43dee4f | 399 | : (odr <= 52.0f) ? LSM6DSOX_XL_ODR_52Hz |
cparata | 0:f27ce43dee4f | 400 | : (odr <= 104.0f) ? LSM6DSOX_XL_ODR_104Hz |
cparata | 0:f27ce43dee4f | 401 | : (odr <= 208.0f) ? LSM6DSOX_XL_ODR_208Hz |
cparata | 0:f27ce43dee4f | 402 | : (odr <= 417.0f) ? LSM6DSOX_XL_ODR_417Hz |
cparata | 0:f27ce43dee4f | 403 | : (odr <= 833.0f) ? LSM6DSOX_XL_ODR_833Hz |
cparata | 0:f27ce43dee4f | 404 | : (odr <= 1667.0f) ? LSM6DSOX_XL_ODR_1667Hz |
cparata | 0:f27ce43dee4f | 405 | : (odr <= 3333.0f) ? LSM6DSOX_XL_ODR_3333Hz |
cparata | 0:f27ce43dee4f | 406 | : LSM6DSOX_XL_ODR_6667Hz; |
cparata | 0:f27ce43dee4f | 407 | |
cparata | 0:f27ce43dee4f | 408 | return 0; |
cparata | 0:f27ce43dee4f | 409 | } |
cparata | 0:f27ce43dee4f | 410 | |
cparata | 0:f27ce43dee4f | 411 | |
cparata | 0:f27ce43dee4f | 412 | /** |
cparata | 0:f27ce43dee4f | 413 | * @brief Get the LSM6DSOX accelerometer sensor full scale |
cparata | 0:f27ce43dee4f | 414 | * @param full_scale pointer where the full scale is written |
cparata | 0:f27ce43dee4f | 415 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 416 | */ |
cparata | 0:f27ce43dee4f | 417 | int LSM6DSOXSensor::get_x_fs(float *full_scale) |
cparata | 0:f27ce43dee4f | 418 | { |
cparata | 0:f27ce43dee4f | 419 | int ret = 0; |
cparata | 0:f27ce43dee4f | 420 | lsm6dsox_fs_xl_t fs_low_level; |
cparata | 0:f27ce43dee4f | 421 | |
cparata | 0:f27ce43dee4f | 422 | /* Read actual full scale selection from sensor. */ |
cparata | 0:f27ce43dee4f | 423 | if (lsm6dsox_xl_full_scale_get(&_reg_ctx, &fs_low_level) != 0) |
cparata | 0:f27ce43dee4f | 424 | { |
cparata | 0:f27ce43dee4f | 425 | return 1; |
cparata | 0:f27ce43dee4f | 426 | } |
cparata | 0:f27ce43dee4f | 427 | |
cparata | 0:f27ce43dee4f | 428 | switch (fs_low_level) |
cparata | 0:f27ce43dee4f | 429 | { |
cparata | 0:f27ce43dee4f | 430 | case LSM6DSOX_2g: |
cparata | 0:f27ce43dee4f | 431 | *full_scale = 2.0f; |
cparata | 0:f27ce43dee4f | 432 | break; |
cparata | 0:f27ce43dee4f | 433 | |
cparata | 0:f27ce43dee4f | 434 | case LSM6DSOX_4g: |
cparata | 0:f27ce43dee4f | 435 | *full_scale = 4.0f; |
cparata | 0:f27ce43dee4f | 436 | break; |
cparata | 0:f27ce43dee4f | 437 | |
cparata | 0:f27ce43dee4f | 438 | case LSM6DSOX_8g: |
cparata | 0:f27ce43dee4f | 439 | *full_scale = 8.0f; |
cparata | 0:f27ce43dee4f | 440 | break; |
cparata | 0:f27ce43dee4f | 441 | |
cparata | 0:f27ce43dee4f | 442 | case LSM6DSOX_16g: |
cparata | 0:f27ce43dee4f | 443 | *full_scale = 16.0f; |
cparata | 0:f27ce43dee4f | 444 | break; |
cparata | 0:f27ce43dee4f | 445 | |
cparata | 0:f27ce43dee4f | 446 | default: |
cparata | 0:f27ce43dee4f | 447 | ret = 1; |
cparata | 0:f27ce43dee4f | 448 | break; |
cparata | 0:f27ce43dee4f | 449 | } |
cparata | 0:f27ce43dee4f | 450 | |
cparata | 0:f27ce43dee4f | 451 | return ret; |
cparata | 0:f27ce43dee4f | 452 | } |
cparata | 0:f27ce43dee4f | 453 | |
cparata | 0:f27ce43dee4f | 454 | /** |
cparata | 0:f27ce43dee4f | 455 | * @brief Set the LSM6DSOX accelerometer sensor full scale |
cparata | 0:f27ce43dee4f | 456 | * @param full_scale the functional full scale to be set |
cparata | 0:f27ce43dee4f | 457 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 458 | */ |
cparata | 0:f27ce43dee4f | 459 | int LSM6DSOXSensor::set_x_fs(float full_scale) |
cparata | 0:f27ce43dee4f | 460 | { |
cparata | 0:f27ce43dee4f | 461 | lsm6dsox_fs_xl_t new_fs; |
cparata | 0:f27ce43dee4f | 462 | |
cparata | 0:f27ce43dee4f | 463 | /* Seems like MISRA C-2012 rule 14.3a violation but only from single file statical analysis point of view because |
cparata | 0:f27ce43dee4f | 464 | the parameter passed to the function is not known at the moment of analysis */ |
cparata | 0:f27ce43dee4f | 465 | new_fs = (full_scale <= 2.0f) ? LSM6DSOX_2g |
cparata | 0:f27ce43dee4f | 466 | : (full_scale <= 4.0f) ? LSM6DSOX_4g |
cparata | 0:f27ce43dee4f | 467 | : (full_scale <= 8.0f) ? LSM6DSOX_8g |
cparata | 0:f27ce43dee4f | 468 | : LSM6DSOX_16g; |
cparata | 0:f27ce43dee4f | 469 | |
cparata | 0:f27ce43dee4f | 470 | if (lsm6dsox_xl_full_scale_set(&_reg_ctx, new_fs) != 0) |
cparata | 0:f27ce43dee4f | 471 | { |
cparata | 0:f27ce43dee4f | 472 | return 1; |
cparata | 0:f27ce43dee4f | 473 | } |
cparata | 0:f27ce43dee4f | 474 | |
cparata | 0:f27ce43dee4f | 475 | return 0; |
cparata | 0:f27ce43dee4f | 476 | } |
cparata | 0:f27ce43dee4f | 477 | |
cparata | 0:f27ce43dee4f | 478 | /** |
cparata | 0:f27ce43dee4f | 479 | * @brief Get the LSM6DSOX accelerometer sensor raw axes |
cparata | 0:f27ce43dee4f | 480 | * @param value pointer where the raw values of the axes are written |
cparata | 0:f27ce43dee4f | 481 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 482 | */ |
cparata | 0:f27ce43dee4f | 483 | int LSM6DSOXSensor::get_x_axes_raw(int16_t *value) |
cparata | 0:f27ce43dee4f | 484 | { |
cparata | 0:f27ce43dee4f | 485 | axis3bit16_t data_raw; |
cparata | 0:f27ce43dee4f | 486 | |
cparata | 0:f27ce43dee4f | 487 | /* Read raw data values. */ |
cparata | 0:f27ce43dee4f | 488 | if (lsm6dsox_acceleration_raw_get(&_reg_ctx, data_raw.u8bit) != 0) |
cparata | 0:f27ce43dee4f | 489 | { |
cparata | 0:f27ce43dee4f | 490 | return 1; |
cparata | 0:f27ce43dee4f | 491 | } |
cparata | 0:f27ce43dee4f | 492 | |
cparata | 0:f27ce43dee4f | 493 | /* Format the data. */ |
cparata | 0:f27ce43dee4f | 494 | value[0] = data_raw.i16bit[0]; |
cparata | 0:f27ce43dee4f | 495 | value[1] = data_raw.i16bit[1]; |
cparata | 0:f27ce43dee4f | 496 | value[2] = data_raw.i16bit[2]; |
cparata | 0:f27ce43dee4f | 497 | |
cparata | 0:f27ce43dee4f | 498 | return 0; |
cparata | 0:f27ce43dee4f | 499 | } |
cparata | 0:f27ce43dee4f | 500 | |
cparata | 0:f27ce43dee4f | 501 | |
cparata | 0:f27ce43dee4f | 502 | /** |
cparata | 0:f27ce43dee4f | 503 | * @brief Get the LSM6DSOX accelerometer sensor axes |
cparata | 0:f27ce43dee4f | 504 | * @param acceleration pointer where the values of the axes are written |
cparata | 0:f27ce43dee4f | 505 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 506 | */ |
cparata | 0:f27ce43dee4f | 507 | int LSM6DSOXSensor::get_x_axes(int32_t *acceleration) |
cparata | 0:f27ce43dee4f | 508 | { |
cparata | 0:f27ce43dee4f | 509 | axis3bit16_t data_raw; |
cparata | 0:f27ce43dee4f | 510 | float sensitivity = 0.0f; |
cparata | 0:f27ce43dee4f | 511 | |
cparata | 0:f27ce43dee4f | 512 | /* Read raw data values. */ |
cparata | 0:f27ce43dee4f | 513 | if (lsm6dsox_acceleration_raw_get(&_reg_ctx, data_raw.u8bit) != 0) |
cparata | 0:f27ce43dee4f | 514 | { |
cparata | 0:f27ce43dee4f | 515 | return 1; |
cparata | 0:f27ce43dee4f | 516 | } |
cparata | 0:f27ce43dee4f | 517 | |
cparata | 0:f27ce43dee4f | 518 | /* Get LSM6DSOX actual sensitivity. */ |
cparata | 0:f27ce43dee4f | 519 | if (get_x_sensitivity(&sensitivity) != 0) |
cparata | 0:f27ce43dee4f | 520 | { |
cparata | 0:f27ce43dee4f | 521 | return 1; |
cparata | 0:f27ce43dee4f | 522 | } |
cparata | 0:f27ce43dee4f | 523 | |
cparata | 0:f27ce43dee4f | 524 | /* Calculate the data. */ |
cparata | 0:f27ce43dee4f | 525 | acceleration[0] = (int32_t)((float)((float)data_raw.i16bit[0] * sensitivity)); |
cparata | 0:f27ce43dee4f | 526 | acceleration[1] = (int32_t)((float)((float)data_raw.i16bit[1] * sensitivity)); |
cparata | 0:f27ce43dee4f | 527 | acceleration[2] = (int32_t)((float)((float)data_raw.i16bit[2] * sensitivity)); |
cparata | 0:f27ce43dee4f | 528 | |
cparata | 0:f27ce43dee4f | 529 | return 0; |
cparata | 0:f27ce43dee4f | 530 | } |
cparata | 0:f27ce43dee4f | 531 | |
cparata | 0:f27ce43dee4f | 532 | |
cparata | 0:f27ce43dee4f | 533 | /** |
cparata | 0:f27ce43dee4f | 534 | * @brief Enable the LSM6DSOX gyroscope sensor |
cparata | 0:f27ce43dee4f | 535 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 536 | */ |
cparata | 0:f27ce43dee4f | 537 | int LSM6DSOXSensor::enable_g() |
cparata | 0:f27ce43dee4f | 538 | { |
cparata | 0:f27ce43dee4f | 539 | /* Check if the component is already enabled */ |
cparata | 0:f27ce43dee4f | 540 | if (_g_is_enabled == 1U) |
cparata | 0:f27ce43dee4f | 541 | { |
cparata | 0:f27ce43dee4f | 542 | return 0; |
cparata | 0:f27ce43dee4f | 543 | } |
cparata | 0:f27ce43dee4f | 544 | |
cparata | 0:f27ce43dee4f | 545 | /* Output data rate selection. */ |
cparata | 0:f27ce43dee4f | 546 | if (lsm6dsox_gy_data_rate_set(&_reg_ctx, _g_last_odr) != 0) |
cparata | 0:f27ce43dee4f | 547 | { |
cparata | 0:f27ce43dee4f | 548 | return 1; |
cparata | 0:f27ce43dee4f | 549 | } |
cparata | 0:f27ce43dee4f | 550 | |
cparata | 0:f27ce43dee4f | 551 | _g_is_enabled = 1; |
cparata | 0:f27ce43dee4f | 552 | |
cparata | 0:f27ce43dee4f | 553 | return 0; |
cparata | 0:f27ce43dee4f | 554 | } |
cparata | 0:f27ce43dee4f | 555 | |
cparata | 0:f27ce43dee4f | 556 | |
cparata | 0:f27ce43dee4f | 557 | /** |
cparata | 0:f27ce43dee4f | 558 | * @brief Disable the LSM6DSOX gyroscope sensor |
cparata | 0:f27ce43dee4f | 559 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 560 | */ |
cparata | 0:f27ce43dee4f | 561 | int LSM6DSOXSensor::disable_g() |
cparata | 0:f27ce43dee4f | 562 | { |
cparata | 0:f27ce43dee4f | 563 | /* Check if the component is already disabled */ |
cparata | 0:f27ce43dee4f | 564 | if (_g_is_enabled == 0U) |
cparata | 0:f27ce43dee4f | 565 | { |
cparata | 0:f27ce43dee4f | 566 | return 0; |
cparata | 0:f27ce43dee4f | 567 | } |
cparata | 0:f27ce43dee4f | 568 | |
cparata | 0:f27ce43dee4f | 569 | /* Get current output data rate. */ |
cparata | 0:f27ce43dee4f | 570 | if (lsm6dsox_gy_data_rate_get(&_reg_ctx, &_g_last_odr) != 0) |
cparata | 0:f27ce43dee4f | 571 | { |
cparata | 0:f27ce43dee4f | 572 | return 1; |
cparata | 0:f27ce43dee4f | 573 | } |
cparata | 0:f27ce43dee4f | 574 | |
cparata | 0:f27ce43dee4f | 575 | /* Output data rate selection - power down. */ |
cparata | 0:f27ce43dee4f | 576 | if (lsm6dsox_gy_data_rate_set(&_reg_ctx, LSM6DSOX_GY_ODR_OFF) != 0) |
cparata | 0:f27ce43dee4f | 577 | { |
cparata | 0:f27ce43dee4f | 578 | return 1; |
cparata | 0:f27ce43dee4f | 579 | } |
cparata | 0:f27ce43dee4f | 580 | |
cparata | 0:f27ce43dee4f | 581 | _g_is_enabled = 0; |
cparata | 0:f27ce43dee4f | 582 | |
cparata | 0:f27ce43dee4f | 583 | return 0; |
cparata | 0:f27ce43dee4f | 584 | } |
cparata | 0:f27ce43dee4f | 585 | |
cparata | 0:f27ce43dee4f | 586 | /** |
cparata | 0:f27ce43dee4f | 587 | * @brief Get the LSM6DSOX gyroscope sensor sensitivity |
cparata | 0:f27ce43dee4f | 588 | * @param sensitivity pointer where the sensitivity is written |
cparata | 0:f27ce43dee4f | 589 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 590 | */ |
cparata | 0:f27ce43dee4f | 591 | int LSM6DSOXSensor::get_g_sensitivity(float *sensitivity) |
cparata | 0:f27ce43dee4f | 592 | { |
cparata | 0:f27ce43dee4f | 593 | int ret = 0; |
cparata | 0:f27ce43dee4f | 594 | lsm6dsox_fs_g_t full_scale; |
cparata | 0:f27ce43dee4f | 595 | |
cparata | 0:f27ce43dee4f | 596 | /* Read actual full scale selection from sensor. */ |
cparata | 0:f27ce43dee4f | 597 | if (lsm6dsox_gy_full_scale_get(&_reg_ctx, &full_scale) != 0) |
cparata | 0:f27ce43dee4f | 598 | { |
cparata | 0:f27ce43dee4f | 599 | return 1; |
cparata | 0:f27ce43dee4f | 600 | } |
cparata | 0:f27ce43dee4f | 601 | |
cparata | 0:f27ce43dee4f | 602 | /* Store the sensitivity based on actual full scale. */ |
cparata | 0:f27ce43dee4f | 603 | switch (full_scale) |
cparata | 0:f27ce43dee4f | 604 | { |
cparata | 0:f27ce43dee4f | 605 | case LSM6DSOX_125dps: |
cparata | 0:f27ce43dee4f | 606 | *sensitivity = LSM6DSOX_GYRO_SENSITIVITY_FS_125DPS; |
cparata | 0:f27ce43dee4f | 607 | break; |
cparata | 0:f27ce43dee4f | 608 | |
cparata | 0:f27ce43dee4f | 609 | case LSM6DSOX_250dps: |
cparata | 0:f27ce43dee4f | 610 | *sensitivity = LSM6DSOX_GYRO_SENSITIVITY_FS_250DPS; |
cparata | 0:f27ce43dee4f | 611 | break; |
cparata | 0:f27ce43dee4f | 612 | |
cparata | 0:f27ce43dee4f | 613 | case LSM6DSOX_500dps: |
cparata | 0:f27ce43dee4f | 614 | *sensitivity = LSM6DSOX_GYRO_SENSITIVITY_FS_500DPS; |
cparata | 0:f27ce43dee4f | 615 | break; |
cparata | 0:f27ce43dee4f | 616 | |
cparata | 0:f27ce43dee4f | 617 | case LSM6DSOX_1000dps: |
cparata | 0:f27ce43dee4f | 618 | *sensitivity = LSM6DSOX_GYRO_SENSITIVITY_FS_1000DPS; |
cparata | 0:f27ce43dee4f | 619 | break; |
cparata | 0:f27ce43dee4f | 620 | |
cparata | 0:f27ce43dee4f | 621 | case LSM6DSOX_2000dps: |
cparata | 0:f27ce43dee4f | 622 | *sensitivity = LSM6DSOX_GYRO_SENSITIVITY_FS_2000DPS; |
cparata | 0:f27ce43dee4f | 623 | break; |
cparata | 0:f27ce43dee4f | 624 | |
cparata | 0:f27ce43dee4f | 625 | default: |
cparata | 0:f27ce43dee4f | 626 | ret = 1; |
cparata | 0:f27ce43dee4f | 627 | break; |
cparata | 0:f27ce43dee4f | 628 | } |
cparata | 0:f27ce43dee4f | 629 | |
cparata | 0:f27ce43dee4f | 630 | return ret; |
cparata | 0:f27ce43dee4f | 631 | } |
cparata | 0:f27ce43dee4f | 632 | |
cparata | 0:f27ce43dee4f | 633 | /** |
cparata | 0:f27ce43dee4f | 634 | * @brief Get the LSM6DSOX gyroscope sensor output data rate |
cparata | 0:f27ce43dee4f | 635 | * @param odr pointer where the output data rate is written |
cparata | 0:f27ce43dee4f | 636 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 637 | */ |
cparata | 0:f27ce43dee4f | 638 | int LSM6DSOXSensor::get_g_odr(float *odr) |
cparata | 0:f27ce43dee4f | 639 | { |
cparata | 0:f27ce43dee4f | 640 | int ret = 0; |
cparata | 0:f27ce43dee4f | 641 | lsm6dsox_odr_g_t odr_low_level; |
cparata | 0:f27ce43dee4f | 642 | |
cparata | 0:f27ce43dee4f | 643 | /* Get current output data rate. */ |
cparata | 0:f27ce43dee4f | 644 | if (lsm6dsox_gy_data_rate_get(&_reg_ctx, &odr_low_level) != 0) |
cparata | 0:f27ce43dee4f | 645 | { |
cparata | 0:f27ce43dee4f | 646 | return 1; |
cparata | 0:f27ce43dee4f | 647 | } |
cparata | 0:f27ce43dee4f | 648 | |
cparata | 0:f27ce43dee4f | 649 | switch (odr_low_level) |
cparata | 0:f27ce43dee4f | 650 | { |
cparata | 0:f27ce43dee4f | 651 | case LSM6DSOX_GY_ODR_OFF: |
cparata | 0:f27ce43dee4f | 652 | *odr = 0.0f; |
cparata | 0:f27ce43dee4f | 653 | break; |
cparata | 0:f27ce43dee4f | 654 | |
cparata | 0:f27ce43dee4f | 655 | case LSM6DSOX_GY_ODR_12Hz5: |
cparata | 0:f27ce43dee4f | 656 | *odr = 12.5f; |
cparata | 0:f27ce43dee4f | 657 | break; |
cparata | 0:f27ce43dee4f | 658 | |
cparata | 0:f27ce43dee4f | 659 | case LSM6DSOX_GY_ODR_26Hz: |
cparata | 0:f27ce43dee4f | 660 | *odr = 26.0f; |
cparata | 0:f27ce43dee4f | 661 | break; |
cparata | 0:f27ce43dee4f | 662 | |
cparata | 0:f27ce43dee4f | 663 | case LSM6DSOX_GY_ODR_52Hz: |
cparata | 0:f27ce43dee4f | 664 | *odr = 52.0f; |
cparata | 0:f27ce43dee4f | 665 | break; |
cparata | 0:f27ce43dee4f | 666 | |
cparata | 0:f27ce43dee4f | 667 | case LSM6DSOX_GY_ODR_104Hz: |
cparata | 0:f27ce43dee4f | 668 | *odr = 104.0f; |
cparata | 0:f27ce43dee4f | 669 | break; |
cparata | 0:f27ce43dee4f | 670 | |
cparata | 0:f27ce43dee4f | 671 | case LSM6DSOX_GY_ODR_208Hz: |
cparata | 0:f27ce43dee4f | 672 | *odr = 208.0f; |
cparata | 0:f27ce43dee4f | 673 | break; |
cparata | 0:f27ce43dee4f | 674 | |
cparata | 0:f27ce43dee4f | 675 | case LSM6DSOX_GY_ODR_417Hz: |
cparata | 0:f27ce43dee4f | 676 | *odr = 417.0f; |
cparata | 0:f27ce43dee4f | 677 | break; |
cparata | 0:f27ce43dee4f | 678 | |
cparata | 0:f27ce43dee4f | 679 | case LSM6DSOX_GY_ODR_833Hz: |
cparata | 0:f27ce43dee4f | 680 | *odr = 833.0f; |
cparata | 0:f27ce43dee4f | 681 | break; |
cparata | 0:f27ce43dee4f | 682 | |
cparata | 0:f27ce43dee4f | 683 | case LSM6DSOX_GY_ODR_1667Hz: |
cparata | 0:f27ce43dee4f | 684 | *odr = 1667.0f; |
cparata | 0:f27ce43dee4f | 685 | break; |
cparata | 0:f27ce43dee4f | 686 | |
cparata | 0:f27ce43dee4f | 687 | case LSM6DSOX_GY_ODR_3333Hz: |
cparata | 0:f27ce43dee4f | 688 | *odr = 3333.0f; |
cparata | 0:f27ce43dee4f | 689 | break; |
cparata | 0:f27ce43dee4f | 690 | |
cparata | 0:f27ce43dee4f | 691 | case LSM6DSOX_GY_ODR_6667Hz: |
cparata | 0:f27ce43dee4f | 692 | *odr = 6667.0f; |
cparata | 0:f27ce43dee4f | 693 | break; |
cparata | 0:f27ce43dee4f | 694 | |
cparata | 0:f27ce43dee4f | 695 | default: |
cparata | 0:f27ce43dee4f | 696 | ret = 1; |
cparata | 0:f27ce43dee4f | 697 | break; |
cparata | 0:f27ce43dee4f | 698 | } |
cparata | 0:f27ce43dee4f | 699 | |
cparata | 0:f27ce43dee4f | 700 | return ret; |
cparata | 0:f27ce43dee4f | 701 | } |
cparata | 0:f27ce43dee4f | 702 | |
cparata | 0:f27ce43dee4f | 703 | /** |
cparata | 0:f27ce43dee4f | 704 | * @brief Set the LSM6DSOX gyroscope sensor output data rate |
cparata | 0:f27ce43dee4f | 705 | * @param odr the output data rate value to be set |
cparata | 0:f27ce43dee4f | 706 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 707 | */ |
cparata | 0:f27ce43dee4f | 708 | int LSM6DSOXSensor::set_g_odr(float odr) |
cparata | 0:f27ce43dee4f | 709 | { |
cparata | 0:f27ce43dee4f | 710 | /* Check if the component is enabled */ |
cparata | 0:f27ce43dee4f | 711 | if (_g_is_enabled == 1U) |
cparata | 0:f27ce43dee4f | 712 | { |
cparata | 0:f27ce43dee4f | 713 | return set_g_odr_when_enabled(odr); |
cparata | 0:f27ce43dee4f | 714 | } |
cparata | 0:f27ce43dee4f | 715 | else |
cparata | 0:f27ce43dee4f | 716 | { |
cparata | 0:f27ce43dee4f | 717 | return set_g_odr_when_disabled(odr); |
cparata | 0:f27ce43dee4f | 718 | } |
cparata | 0:f27ce43dee4f | 719 | } |
cparata | 0:f27ce43dee4f | 720 | |
cparata | 0:f27ce43dee4f | 721 | /** |
cparata | 0:f27ce43dee4f | 722 | * @brief Set the LSM6DSOX gyroscope sensor output data rate when enabled |
cparata | 0:f27ce43dee4f | 723 | * @param odr the functional output data rate to be set |
cparata | 0:f27ce43dee4f | 724 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 725 | */ |
cparata | 0:f27ce43dee4f | 726 | int LSM6DSOXSensor::set_g_odr_when_enabled(float odr) |
cparata | 0:f27ce43dee4f | 727 | { |
cparata | 0:f27ce43dee4f | 728 | lsm6dsox_odr_g_t new_odr; |
cparata | 0:f27ce43dee4f | 729 | |
cparata | 0:f27ce43dee4f | 730 | new_odr = (odr <= 12.5f) ? LSM6DSOX_GY_ODR_12Hz5 |
cparata | 0:f27ce43dee4f | 731 | : (odr <= 26.0f) ? LSM6DSOX_GY_ODR_26Hz |
cparata | 0:f27ce43dee4f | 732 | : (odr <= 52.0f) ? LSM6DSOX_GY_ODR_52Hz |
cparata | 0:f27ce43dee4f | 733 | : (odr <= 104.0f) ? LSM6DSOX_GY_ODR_104Hz |
cparata | 0:f27ce43dee4f | 734 | : (odr <= 208.0f) ? LSM6DSOX_GY_ODR_208Hz |
cparata | 0:f27ce43dee4f | 735 | : (odr <= 417.0f) ? LSM6DSOX_GY_ODR_417Hz |
cparata | 0:f27ce43dee4f | 736 | : (odr <= 833.0f) ? LSM6DSOX_GY_ODR_833Hz |
cparata | 0:f27ce43dee4f | 737 | : (odr <= 1667.0f) ? LSM6DSOX_GY_ODR_1667Hz |
cparata | 0:f27ce43dee4f | 738 | : (odr <= 3333.0f) ? LSM6DSOX_GY_ODR_3333Hz |
cparata | 0:f27ce43dee4f | 739 | : LSM6DSOX_GY_ODR_6667Hz; |
cparata | 0:f27ce43dee4f | 740 | |
cparata | 0:f27ce43dee4f | 741 | /* Output data rate selection. */ |
cparata | 0:f27ce43dee4f | 742 | if (lsm6dsox_gy_data_rate_set(&_reg_ctx, new_odr) != 0) |
cparata | 0:f27ce43dee4f | 743 | { |
cparata | 0:f27ce43dee4f | 744 | return 1; |
cparata | 0:f27ce43dee4f | 745 | } |
cparata | 0:f27ce43dee4f | 746 | |
cparata | 0:f27ce43dee4f | 747 | return 0; |
cparata | 0:f27ce43dee4f | 748 | } |
cparata | 0:f27ce43dee4f | 749 | |
cparata | 0:f27ce43dee4f | 750 | /** |
cparata | 0:f27ce43dee4f | 751 | * @brief Set the LSM6DSOX gyroscope sensor output data rate when disabled |
cparata | 0:f27ce43dee4f | 752 | * @param odr the functional output data rate to be set |
cparata | 0:f27ce43dee4f | 753 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 754 | */ |
cparata | 0:f27ce43dee4f | 755 | int LSM6DSOXSensor::set_g_odr_when_disabled(float odr) |
cparata | 0:f27ce43dee4f | 756 | { |
cparata | 0:f27ce43dee4f | 757 | _g_last_odr = (odr <= 12.5f) ? LSM6DSOX_GY_ODR_12Hz5 |
cparata | 0:f27ce43dee4f | 758 | : (odr <= 26.0f) ? LSM6DSOX_GY_ODR_26Hz |
cparata | 0:f27ce43dee4f | 759 | : (odr <= 52.0f) ? LSM6DSOX_GY_ODR_52Hz |
cparata | 0:f27ce43dee4f | 760 | : (odr <= 104.0f) ? LSM6DSOX_GY_ODR_104Hz |
cparata | 0:f27ce43dee4f | 761 | : (odr <= 208.0f) ? LSM6DSOX_GY_ODR_208Hz |
cparata | 0:f27ce43dee4f | 762 | : (odr <= 417.0f) ? LSM6DSOX_GY_ODR_417Hz |
cparata | 0:f27ce43dee4f | 763 | : (odr <= 833.0f) ? LSM6DSOX_GY_ODR_833Hz |
cparata | 0:f27ce43dee4f | 764 | : (odr <= 1667.0f) ? LSM6DSOX_GY_ODR_1667Hz |
cparata | 0:f27ce43dee4f | 765 | : (odr <= 3333.0f) ? LSM6DSOX_GY_ODR_3333Hz |
cparata | 0:f27ce43dee4f | 766 | : LSM6DSOX_GY_ODR_6667Hz; |
cparata | 0:f27ce43dee4f | 767 | |
cparata | 0:f27ce43dee4f | 768 | return 0; |
cparata | 0:f27ce43dee4f | 769 | } |
cparata | 0:f27ce43dee4f | 770 | |
cparata | 0:f27ce43dee4f | 771 | |
cparata | 0:f27ce43dee4f | 772 | /** |
cparata | 0:f27ce43dee4f | 773 | * @brief Get the LSM6DSOX gyroscope sensor full scale |
cparata | 0:f27ce43dee4f | 774 | * @param full_scale pointer where the full scale is written |
cparata | 0:f27ce43dee4f | 775 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 776 | */ |
cparata | 0:f27ce43dee4f | 777 | int LSM6DSOXSensor::get_g_fs(float *full_scale) |
cparata | 0:f27ce43dee4f | 778 | { |
cparata | 0:f27ce43dee4f | 779 | int ret = 0; |
cparata | 0:f27ce43dee4f | 780 | lsm6dsox_fs_g_t fs_low_level; |
cparata | 0:f27ce43dee4f | 781 | |
cparata | 0:f27ce43dee4f | 782 | /* Read actual full scale selection from sensor. */ |
cparata | 0:f27ce43dee4f | 783 | if (lsm6dsox_gy_full_scale_get(&_reg_ctx, &fs_low_level) != 0) |
cparata | 0:f27ce43dee4f | 784 | { |
cparata | 0:f27ce43dee4f | 785 | return 1; |
cparata | 0:f27ce43dee4f | 786 | } |
cparata | 0:f27ce43dee4f | 787 | |
cparata | 0:f27ce43dee4f | 788 | switch (fs_low_level) |
cparata | 0:f27ce43dee4f | 789 | { |
cparata | 0:f27ce43dee4f | 790 | case LSM6DSOX_125dps: |
cparata | 0:f27ce43dee4f | 791 | *full_scale = 125.0f; |
cparata | 0:f27ce43dee4f | 792 | break; |
cparata | 0:f27ce43dee4f | 793 | |
cparata | 0:f27ce43dee4f | 794 | case LSM6DSOX_250dps: |
cparata | 0:f27ce43dee4f | 795 | *full_scale = 250.0f; |
cparata | 0:f27ce43dee4f | 796 | break; |
cparata | 0:f27ce43dee4f | 797 | |
cparata | 0:f27ce43dee4f | 798 | case LSM6DSOX_500dps: |
cparata | 0:f27ce43dee4f | 799 | *full_scale = 500.0f; |
cparata | 0:f27ce43dee4f | 800 | break; |
cparata | 0:f27ce43dee4f | 801 | |
cparata | 0:f27ce43dee4f | 802 | case LSM6DSOX_1000dps: |
cparata | 0:f27ce43dee4f | 803 | *full_scale = 1000.0f; |
cparata | 0:f27ce43dee4f | 804 | break; |
cparata | 0:f27ce43dee4f | 805 | |
cparata | 0:f27ce43dee4f | 806 | case LSM6DSOX_2000dps: |
cparata | 0:f27ce43dee4f | 807 | *full_scale = 2000.0f; |
cparata | 0:f27ce43dee4f | 808 | break; |
cparata | 0:f27ce43dee4f | 809 | |
cparata | 0:f27ce43dee4f | 810 | default: |
cparata | 0:f27ce43dee4f | 811 | ret = 1; |
cparata | 0:f27ce43dee4f | 812 | break; |
cparata | 0:f27ce43dee4f | 813 | } |
cparata | 0:f27ce43dee4f | 814 | |
cparata | 0:f27ce43dee4f | 815 | return ret; |
cparata | 0:f27ce43dee4f | 816 | } |
cparata | 0:f27ce43dee4f | 817 | |
cparata | 0:f27ce43dee4f | 818 | /** |
cparata | 0:f27ce43dee4f | 819 | * @brief Set the LSM6DSOX gyroscope sensor full scale |
cparata | 0:f27ce43dee4f | 820 | * @param full_scale the functional full scale to be set |
cparata | 0:f27ce43dee4f | 821 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 822 | */ |
cparata | 0:f27ce43dee4f | 823 | int LSM6DSOXSensor::set_g_fs(float full_scale) |
cparata | 0:f27ce43dee4f | 824 | { |
cparata | 0:f27ce43dee4f | 825 | lsm6dsox_fs_g_t new_fs; |
cparata | 0:f27ce43dee4f | 826 | |
cparata | 0:f27ce43dee4f | 827 | new_fs = (full_scale <= 125.0f) ? LSM6DSOX_125dps |
cparata | 0:f27ce43dee4f | 828 | : (full_scale <= 250.0f) ? LSM6DSOX_250dps |
cparata | 0:f27ce43dee4f | 829 | : (full_scale <= 500.0f) ? LSM6DSOX_500dps |
cparata | 0:f27ce43dee4f | 830 | : (full_scale <= 1000.0f) ? LSM6DSOX_1000dps |
cparata | 0:f27ce43dee4f | 831 | : LSM6DSOX_2000dps; |
cparata | 0:f27ce43dee4f | 832 | |
cparata | 0:f27ce43dee4f | 833 | if (lsm6dsox_gy_full_scale_set(&_reg_ctx, new_fs) != 0) |
cparata | 0:f27ce43dee4f | 834 | { |
cparata | 0:f27ce43dee4f | 835 | return 1; |
cparata | 0:f27ce43dee4f | 836 | } |
cparata | 0:f27ce43dee4f | 837 | |
cparata | 0:f27ce43dee4f | 838 | return 0; |
cparata | 0:f27ce43dee4f | 839 | } |
cparata | 0:f27ce43dee4f | 840 | |
cparata | 0:f27ce43dee4f | 841 | /** |
cparata | 0:f27ce43dee4f | 842 | * @brief Get the LSM6DSOX gyroscope sensor raw axes |
cparata | 0:f27ce43dee4f | 843 | * @param value pointer where the raw values of the axes are written |
cparata | 0:f27ce43dee4f | 844 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 845 | */ |
cparata | 0:f27ce43dee4f | 846 | int LSM6DSOXSensor::get_g_axes_raw(int16_t *value) |
cparata | 0:f27ce43dee4f | 847 | { |
cparata | 0:f27ce43dee4f | 848 | axis3bit16_t data_raw; |
cparata | 0:f27ce43dee4f | 849 | |
cparata | 0:f27ce43dee4f | 850 | /* Read raw data values. */ |
cparata | 0:f27ce43dee4f | 851 | if (lsm6dsox_angular_rate_raw_get(&_reg_ctx, data_raw.u8bit) != 0) |
cparata | 0:f27ce43dee4f | 852 | { |
cparata | 0:f27ce43dee4f | 853 | return 1; |
cparata | 0:f27ce43dee4f | 854 | } |
cparata | 0:f27ce43dee4f | 855 | |
cparata | 0:f27ce43dee4f | 856 | /* Format the data. */ |
cparata | 0:f27ce43dee4f | 857 | value[0] = data_raw.i16bit[0]; |
cparata | 0:f27ce43dee4f | 858 | value[1] = data_raw.i16bit[1]; |
cparata | 0:f27ce43dee4f | 859 | value[2] = data_raw.i16bit[2]; |
cparata | 0:f27ce43dee4f | 860 | |
cparata | 0:f27ce43dee4f | 861 | return 0; |
cparata | 0:f27ce43dee4f | 862 | } |
cparata | 0:f27ce43dee4f | 863 | |
cparata | 0:f27ce43dee4f | 864 | |
cparata | 0:f27ce43dee4f | 865 | /** |
cparata | 0:f27ce43dee4f | 866 | * @brief Get the LSM6DSOX gyroscope sensor axes |
cparata | 0:f27ce43dee4f | 867 | * @param angular_rate pointer where the values of the axes are written |
cparata | 0:f27ce43dee4f | 868 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 869 | */ |
cparata | 0:f27ce43dee4f | 870 | int LSM6DSOXSensor::get_g_axes(int32_t *angular_rate) |
cparata | 0:f27ce43dee4f | 871 | { |
cparata | 0:f27ce43dee4f | 872 | axis3bit16_t data_raw; |
cparata | 0:f27ce43dee4f | 873 | float sensitivity; |
cparata | 0:f27ce43dee4f | 874 | |
cparata | 0:f27ce43dee4f | 875 | /* Read raw data values. */ |
cparata | 0:f27ce43dee4f | 876 | if (lsm6dsox_angular_rate_raw_get(&_reg_ctx, data_raw.u8bit) != 0) |
cparata | 0:f27ce43dee4f | 877 | { |
cparata | 0:f27ce43dee4f | 878 | return 1; |
cparata | 0:f27ce43dee4f | 879 | } |
cparata | 0:f27ce43dee4f | 880 | |
cparata | 0:f27ce43dee4f | 881 | /* Get LSM6DSOX actual sensitivity. */ |
cparata | 0:f27ce43dee4f | 882 | if (get_g_sensitivity(&sensitivity) != 0) |
cparata | 0:f27ce43dee4f | 883 | { |
cparata | 0:f27ce43dee4f | 884 | return 1; |
cparata | 0:f27ce43dee4f | 885 | } |
cparata | 0:f27ce43dee4f | 886 | |
cparata | 0:f27ce43dee4f | 887 | /* Calculate the data. */ |
cparata | 0:f27ce43dee4f | 888 | angular_rate[0] = (int32_t)((float)((float)data_raw.i16bit[0] * sensitivity)); |
cparata | 0:f27ce43dee4f | 889 | angular_rate[1] = (int32_t)((float)((float)data_raw.i16bit[1] * sensitivity)); |
cparata | 0:f27ce43dee4f | 890 | angular_rate[2] = (int32_t)((float)((float)data_raw.i16bit[2] * sensitivity)); |
cparata | 0:f27ce43dee4f | 891 | |
cparata | 0:f27ce43dee4f | 892 | return 0; |
cparata | 0:f27ce43dee4f | 893 | } |
cparata | 0:f27ce43dee4f | 894 | |
cparata | 0:f27ce43dee4f | 895 | |
cparata | 0:f27ce43dee4f | 896 | /** |
cparata | 0:f27ce43dee4f | 897 | * @brief Get the LSM6DSOX register value |
cparata | 0:f27ce43dee4f | 898 | * @param reg address to be read |
cparata | 0:f27ce43dee4f | 899 | * @param data pointer where the value is written |
cparata | 0:f27ce43dee4f | 900 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 901 | */ |
cparata | 0:f27ce43dee4f | 902 | int LSM6DSOXSensor::read_reg(uint8_t reg, uint8_t *data) |
cparata | 0:f27ce43dee4f | 903 | { |
cparata | 0:f27ce43dee4f | 904 | if (lsm6dsox_read_reg(&_reg_ctx, reg, data, 1) != 0) |
cparata | 0:f27ce43dee4f | 905 | { |
cparata | 0:f27ce43dee4f | 906 | return 1; |
cparata | 0:f27ce43dee4f | 907 | } |
cparata | 0:f27ce43dee4f | 908 | |
cparata | 0:f27ce43dee4f | 909 | return 0; |
cparata | 0:f27ce43dee4f | 910 | } |
cparata | 0:f27ce43dee4f | 911 | |
cparata | 0:f27ce43dee4f | 912 | |
cparata | 0:f27ce43dee4f | 913 | /** |
cparata | 0:f27ce43dee4f | 914 | * @brief Set the LSM6DSOX register value |
cparata | 0:f27ce43dee4f | 915 | * @param reg address to be written |
cparata | 0:f27ce43dee4f | 916 | * @param data value to be written |
cparata | 0:f27ce43dee4f | 917 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 918 | */ |
cparata | 0:f27ce43dee4f | 919 | int LSM6DSOXSensor::write_reg(uint8_t reg, uint8_t data) |
cparata | 0:f27ce43dee4f | 920 | { |
cparata | 0:f27ce43dee4f | 921 | if (lsm6dsox_write_reg(&_reg_ctx, reg, &data, 1) != 0) |
cparata | 0:f27ce43dee4f | 922 | { |
cparata | 0:f27ce43dee4f | 923 | return 1; |
cparata | 0:f27ce43dee4f | 924 | } |
cparata | 0:f27ce43dee4f | 925 | |
cparata | 0:f27ce43dee4f | 926 | return 0; |
cparata | 0:f27ce43dee4f | 927 | } |
cparata | 0:f27ce43dee4f | 928 | |
cparata | 0:f27ce43dee4f | 929 | /** |
cparata | 0:f27ce43dee4f | 930 | * @brief Set the interrupt latch |
cparata | 0:f27ce43dee4f | 931 | * @param status value to be written |
cparata | 0:f27ce43dee4f | 932 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 933 | */ |
cparata | 0:f27ce43dee4f | 934 | int LSM6DSOXSensor::set_interrupt_latch(uint8_t status) |
cparata | 0:f27ce43dee4f | 935 | { |
cparata | 0:f27ce43dee4f | 936 | if (status > 1U) |
cparata | 0:f27ce43dee4f | 937 | { |
cparata | 0:f27ce43dee4f | 938 | return 1; |
cparata | 0:f27ce43dee4f | 939 | } |
cparata | 0:f27ce43dee4f | 940 | |
cparata | 0:f27ce43dee4f | 941 | if (lsm6dsox_int_notification_set(&_reg_ctx, (lsm6dsox_lir_t)status) != 0) |
cparata | 0:f27ce43dee4f | 942 | { |
cparata | 0:f27ce43dee4f | 943 | return 1; |
cparata | 0:f27ce43dee4f | 944 | } |
cparata | 0:f27ce43dee4f | 945 | |
cparata | 0:f27ce43dee4f | 946 | return 0; |
cparata | 0:f27ce43dee4f | 947 | } |
cparata | 0:f27ce43dee4f | 948 | |
cparata | 0:f27ce43dee4f | 949 | /** |
cparata | 0:f27ce43dee4f | 950 | * @brief Enable free fall detection |
cparata | 0:f27ce43dee4f | 951 | * @param int_pin interrupt pin line to be used |
cparata | 0:f27ce43dee4f | 952 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 953 | */ |
cparata | 0:f27ce43dee4f | 954 | int LSM6DSOXSensor::enable_free_fall_detection(LSM6DSOX_Interrupt_Pin_t int_pin) |
cparata | 0:f27ce43dee4f | 955 | { |
cparata | 0:f27ce43dee4f | 956 | int ret = 0; |
cparata | 0:f27ce43dee4f | 957 | lsm6dsox_pin_int1_route_t val1; |
cparata | 0:f27ce43dee4f | 958 | lsm6dsox_pin_int2_route_t val2; |
cparata | 0:f27ce43dee4f | 959 | |
cparata | 0:f27ce43dee4f | 960 | /* Output Data Rate selection */ |
cparata | 0:f27ce43dee4f | 961 | if (set_x_odr(416.0f) != 0) |
cparata | 0:f27ce43dee4f | 962 | { |
cparata | 0:f27ce43dee4f | 963 | return 1; |
cparata | 0:f27ce43dee4f | 964 | } |
cparata | 0:f27ce43dee4f | 965 | |
cparata | 0:f27ce43dee4f | 966 | /* Full scale selection */ |
cparata | 0:f27ce43dee4f | 967 | if (set_x_fs(2.0f) != 0) |
cparata | 0:f27ce43dee4f | 968 | { |
cparata | 0:f27ce43dee4f | 969 | return 1; |
cparata | 0:f27ce43dee4f | 970 | } |
cparata | 0:f27ce43dee4f | 971 | |
cparata | 0:f27ce43dee4f | 972 | /* FF_DUR setting */ |
cparata | 0:f27ce43dee4f | 973 | if (lsm6dsox_ff_dur_set(&_reg_ctx, 0x06) != 0) |
cparata | 0:f27ce43dee4f | 974 | { |
cparata | 0:f27ce43dee4f | 975 | return 1; |
cparata | 0:f27ce43dee4f | 976 | } |
cparata | 0:f27ce43dee4f | 977 | |
cparata | 0:f27ce43dee4f | 978 | /* WAKE_DUR setting */ |
cparata | 0:f27ce43dee4f | 979 | if (lsm6dsox_wkup_dur_set(&_reg_ctx, 0x00) != 0) |
cparata | 0:f27ce43dee4f | 980 | { |
cparata | 0:f27ce43dee4f | 981 | return 1; |
cparata | 0:f27ce43dee4f | 982 | } |
cparata | 0:f27ce43dee4f | 983 | |
cparata | 0:f27ce43dee4f | 984 | /* SLEEP_DUR setting */ |
cparata | 0:f27ce43dee4f | 985 | if (lsm6dsox_act_sleep_dur_set(&_reg_ctx, 0x00) != 0) |
cparata | 0:f27ce43dee4f | 986 | { |
cparata | 0:f27ce43dee4f | 987 | return 1; |
cparata | 0:f27ce43dee4f | 988 | } |
cparata | 0:f27ce43dee4f | 989 | |
cparata | 0:f27ce43dee4f | 990 | /* FF_THS setting */ |
cparata | 0:f27ce43dee4f | 991 | if (lsm6dsox_ff_threshold_set(&_reg_ctx, LSM6DSOX_FF_TSH_312mg) != 0) |
cparata | 0:f27ce43dee4f | 992 | { |
cparata | 0:f27ce43dee4f | 993 | return 1; |
cparata | 0:f27ce43dee4f | 994 | } |
cparata | 0:f27ce43dee4f | 995 | |
cparata | 0:f27ce43dee4f | 996 | /* Enable free fall event on either INT1 or INT2 pin */ |
cparata | 0:f27ce43dee4f | 997 | switch (int_pin) |
cparata | 0:f27ce43dee4f | 998 | { |
cparata | 0:f27ce43dee4f | 999 | case LSM6DSOX_INT1_PIN: |
cparata | 0:f27ce43dee4f | 1000 | if (lsm6dsox_pin_int1_route_get(&_reg_ctx, &val1) != 0) |
cparata | 0:f27ce43dee4f | 1001 | { |
cparata | 0:f27ce43dee4f | 1002 | return 1; |
cparata | 0:f27ce43dee4f | 1003 | } |
cparata | 0:f27ce43dee4f | 1004 | |
cparata | 0:f27ce43dee4f | 1005 | val1.md1_cfg.int1_ff = PROPERTY_ENABLE; |
cparata | 0:f27ce43dee4f | 1006 | |
cparata | 0:f27ce43dee4f | 1007 | if (lsm6dsox_pin_int1_route_set(&_reg_ctx, &val1) != 0) |
cparata | 0:f27ce43dee4f | 1008 | { |
cparata | 0:f27ce43dee4f | 1009 | return 1; |
cparata | 0:f27ce43dee4f | 1010 | } |
cparata | 0:f27ce43dee4f | 1011 | break; |
cparata | 0:f27ce43dee4f | 1012 | |
cparata | 0:f27ce43dee4f | 1013 | case LSM6DSOX_INT2_PIN: |
cparata | 0:f27ce43dee4f | 1014 | if (lsm6dsox_pin_int2_route_get(&_reg_ctx, &val2) != 0) |
cparata | 0:f27ce43dee4f | 1015 | { |
cparata | 0:f27ce43dee4f | 1016 | return 1; |
cparata | 0:f27ce43dee4f | 1017 | } |
cparata | 0:f27ce43dee4f | 1018 | |
cparata | 0:f27ce43dee4f | 1019 | val2.md2_cfg.int2_ff = PROPERTY_ENABLE; |
cparata | 0:f27ce43dee4f | 1020 | |
cparata | 0:f27ce43dee4f | 1021 | if (lsm6dsox_pin_int2_route_set(&_reg_ctx, &val2) != 0) |
cparata | 0:f27ce43dee4f | 1022 | { |
cparata | 0:f27ce43dee4f | 1023 | return 1; |
cparata | 0:f27ce43dee4f | 1024 | } |
cparata | 0:f27ce43dee4f | 1025 | break; |
cparata | 0:f27ce43dee4f | 1026 | |
cparata | 0:f27ce43dee4f | 1027 | default: |
cparata | 0:f27ce43dee4f | 1028 | ret = 1; |
cparata | 0:f27ce43dee4f | 1029 | break; |
cparata | 0:f27ce43dee4f | 1030 | } |
cparata | 0:f27ce43dee4f | 1031 | |
cparata | 0:f27ce43dee4f | 1032 | return ret; |
cparata | 0:f27ce43dee4f | 1033 | } |
cparata | 0:f27ce43dee4f | 1034 | |
cparata | 0:f27ce43dee4f | 1035 | /** |
cparata | 0:f27ce43dee4f | 1036 | * @brief Disable free fall detection |
cparata | 0:f27ce43dee4f | 1037 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 1038 | */ |
cparata | 0:f27ce43dee4f | 1039 | int LSM6DSOXSensor::disable_free_fall_detection() |
cparata | 0:f27ce43dee4f | 1040 | { |
cparata | 0:f27ce43dee4f | 1041 | lsm6dsox_pin_int1_route_t val1; |
cparata | 0:f27ce43dee4f | 1042 | lsm6dsox_pin_int2_route_t val2; |
cparata | 0:f27ce43dee4f | 1043 | |
cparata | 0:f27ce43dee4f | 1044 | /* Disable free fall event on both INT1 and INT2 pins */ |
cparata | 0:f27ce43dee4f | 1045 | if (lsm6dsox_pin_int1_route_get(&_reg_ctx, &val1) != 0) |
cparata | 0:f27ce43dee4f | 1046 | { |
cparata | 0:f27ce43dee4f | 1047 | return 1; |
cparata | 0:f27ce43dee4f | 1048 | } |
cparata | 0:f27ce43dee4f | 1049 | |
cparata | 0:f27ce43dee4f | 1050 | val1.md1_cfg.int1_ff = PROPERTY_DISABLE; |
cparata | 0:f27ce43dee4f | 1051 | |
cparata | 0:f27ce43dee4f | 1052 | if (lsm6dsox_pin_int1_route_set(&_reg_ctx, &val1) != 0) |
cparata | 0:f27ce43dee4f | 1053 | { |
cparata | 0:f27ce43dee4f | 1054 | return 1; |
cparata | 0:f27ce43dee4f | 1055 | } |
cparata | 0:f27ce43dee4f | 1056 | |
cparata | 0:f27ce43dee4f | 1057 | if (lsm6dsox_pin_int2_route_get(&_reg_ctx, &val2) != 0) |
cparata | 0:f27ce43dee4f | 1058 | { |
cparata | 0:f27ce43dee4f | 1059 | return 1; |
cparata | 0:f27ce43dee4f | 1060 | } |
cparata | 0:f27ce43dee4f | 1061 | |
cparata | 0:f27ce43dee4f | 1062 | val2.md2_cfg.int2_ff = PROPERTY_DISABLE; |
cparata | 0:f27ce43dee4f | 1063 | |
cparata | 0:f27ce43dee4f | 1064 | if (lsm6dsox_pin_int2_route_set(&_reg_ctx, &val2) != 0) |
cparata | 0:f27ce43dee4f | 1065 | { |
cparata | 0:f27ce43dee4f | 1066 | return 1; |
cparata | 0:f27ce43dee4f | 1067 | } |
cparata | 0:f27ce43dee4f | 1068 | |
cparata | 0:f27ce43dee4f | 1069 | /* FF_DUR setting */ |
cparata | 0:f27ce43dee4f | 1070 | if (lsm6dsox_ff_dur_set(&_reg_ctx, 0x00) != 0) |
cparata | 0:f27ce43dee4f | 1071 | { |
cparata | 0:f27ce43dee4f | 1072 | return 1; |
cparata | 0:f27ce43dee4f | 1073 | } |
cparata | 0:f27ce43dee4f | 1074 | |
cparata | 0:f27ce43dee4f | 1075 | /* FF_THS setting */ |
cparata | 0:f27ce43dee4f | 1076 | if (lsm6dsox_ff_threshold_set(&_reg_ctx, LSM6DSOX_FF_TSH_156mg) != 0) |
cparata | 0:f27ce43dee4f | 1077 | { |
cparata | 0:f27ce43dee4f | 1078 | return 1; |
cparata | 0:f27ce43dee4f | 1079 | } |
cparata | 0:f27ce43dee4f | 1080 | |
cparata | 0:f27ce43dee4f | 1081 | return 0; |
cparata | 0:f27ce43dee4f | 1082 | } |
cparata | 0:f27ce43dee4f | 1083 | |
cparata | 0:f27ce43dee4f | 1084 | /** |
cparata | 0:f27ce43dee4f | 1085 | * @brief Set free fall threshold |
cparata | 0:f27ce43dee4f | 1086 | * @param thr free fall detection threshold |
cparata | 0:f27ce43dee4f | 1087 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 1088 | */ |
cparata | 0:f27ce43dee4f | 1089 | int LSM6DSOXSensor::set_free_fall_threshold(uint8_t thr) |
cparata | 0:f27ce43dee4f | 1090 | { |
cparata | 0:f27ce43dee4f | 1091 | if (lsm6dsox_ff_threshold_set(&_reg_ctx, (lsm6dsox_ff_ths_t)thr) != 0) |
cparata | 0:f27ce43dee4f | 1092 | { |
cparata | 0:f27ce43dee4f | 1093 | return 1; |
cparata | 0:f27ce43dee4f | 1094 | } |
cparata | 0:f27ce43dee4f | 1095 | |
cparata | 0:f27ce43dee4f | 1096 | return 0; |
cparata | 0:f27ce43dee4f | 1097 | } |
cparata | 0:f27ce43dee4f | 1098 | |
cparata | 0:f27ce43dee4f | 1099 | |
cparata | 0:f27ce43dee4f | 1100 | /** |
cparata | 0:f27ce43dee4f | 1101 | * @brief Set free fall duration |
cparata | 0:f27ce43dee4f | 1102 | * @param dur free fall detection duration |
cparata | 0:f27ce43dee4f | 1103 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 1104 | */ |
cparata | 0:f27ce43dee4f | 1105 | int LSM6DSOXSensor::set_free_fall_duration(uint8_t dur) |
cparata | 0:f27ce43dee4f | 1106 | { |
cparata | 0:f27ce43dee4f | 1107 | if (lsm6dsox_ff_dur_set(&_reg_ctx, dur) != 0) |
cparata | 0:f27ce43dee4f | 1108 | { |
cparata | 0:f27ce43dee4f | 1109 | return 1; |
cparata | 0:f27ce43dee4f | 1110 | } |
cparata | 0:f27ce43dee4f | 1111 | |
cparata | 0:f27ce43dee4f | 1112 | return 0; |
cparata | 0:f27ce43dee4f | 1113 | } |
cparata | 0:f27ce43dee4f | 1114 | |
cparata | 0:f27ce43dee4f | 1115 | |
cparata | 0:f27ce43dee4f | 1116 | /** |
cparata | 0:f27ce43dee4f | 1117 | * @brief Enable pedometer |
cparata | 0:f27ce43dee4f | 1118 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 1119 | */ |
cparata | 0:f27ce43dee4f | 1120 | int LSM6DSOXSensor::enable_pedometer() |
cparata | 0:f27ce43dee4f | 1121 | { |
cparata | 0:f27ce43dee4f | 1122 | lsm6dsox_pin_int1_route_t val; |
cparata | 0:f27ce43dee4f | 1123 | |
cparata | 0:f27ce43dee4f | 1124 | /* Output Data Rate selection */ |
cparata | 0:f27ce43dee4f | 1125 | if (set_x_odr(26.0f) != 0) |
cparata | 0:f27ce43dee4f | 1126 | { |
cparata | 0:f27ce43dee4f | 1127 | return 1; |
cparata | 0:f27ce43dee4f | 1128 | } |
cparata | 0:f27ce43dee4f | 1129 | |
cparata | 0:f27ce43dee4f | 1130 | /* Full scale selection */ |
cparata | 0:f27ce43dee4f | 1131 | if (set_x_fs(2.0f) != 0) |
cparata | 0:f27ce43dee4f | 1132 | { |
cparata | 0:f27ce43dee4f | 1133 | return 1; |
cparata | 0:f27ce43dee4f | 1134 | } |
cparata | 0:f27ce43dee4f | 1135 | |
cparata | 0:f27ce43dee4f | 1136 | /* Enable pedometer algorithm. */ |
cparata | 0:f27ce43dee4f | 1137 | if (lsm6dsox_pedo_sens_set(&_reg_ctx, LSM6DSOX_PEDO_BASE_MODE) != 0) |
cparata | 0:f27ce43dee4f | 1138 | { |
cparata | 0:f27ce43dee4f | 1139 | return 1; |
cparata | 0:f27ce43dee4f | 1140 | } |
cparata | 0:f27ce43dee4f | 1141 | |
cparata | 0:f27ce43dee4f | 1142 | /* Enable step detector on INT1 pin */ |
cparata | 0:f27ce43dee4f | 1143 | if (lsm6dsox_pin_int1_route_get(&_reg_ctx, &val) != 0) |
cparata | 0:f27ce43dee4f | 1144 | { |
cparata | 0:f27ce43dee4f | 1145 | return 1; |
cparata | 0:f27ce43dee4f | 1146 | } |
cparata | 0:f27ce43dee4f | 1147 | |
cparata | 0:f27ce43dee4f | 1148 | val.emb_func_int1.int1_step_detector = PROPERTY_ENABLE; |
cparata | 0:f27ce43dee4f | 1149 | |
cparata | 0:f27ce43dee4f | 1150 | if (lsm6dsox_pin_int1_route_set(&_reg_ctx, &val) != 0) |
cparata | 0:f27ce43dee4f | 1151 | { |
cparata | 0:f27ce43dee4f | 1152 | return 1; |
cparata | 0:f27ce43dee4f | 1153 | } |
cparata | 0:f27ce43dee4f | 1154 | |
cparata | 0:f27ce43dee4f | 1155 | return 0; |
cparata | 0:f27ce43dee4f | 1156 | } |
cparata | 0:f27ce43dee4f | 1157 | |
cparata | 0:f27ce43dee4f | 1158 | /** |
cparata | 0:f27ce43dee4f | 1159 | * @brief Disable pedometer |
cparata | 0:f27ce43dee4f | 1160 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 1161 | */ |
cparata | 0:f27ce43dee4f | 1162 | int LSM6DSOXSensor::disable_pedometer() |
cparata | 0:f27ce43dee4f | 1163 | { |
cparata | 0:f27ce43dee4f | 1164 | lsm6dsox_pin_int1_route_t val1; |
cparata | 0:f27ce43dee4f | 1165 | |
cparata | 0:f27ce43dee4f | 1166 | /* Disable step detector on INT1 pin */ |
cparata | 0:f27ce43dee4f | 1167 | if (lsm6dsox_pin_int1_route_get(&_reg_ctx, &val1) != 0) |
cparata | 0:f27ce43dee4f | 1168 | { |
cparata | 0:f27ce43dee4f | 1169 | return 1; |
cparata | 0:f27ce43dee4f | 1170 | } |
cparata | 0:f27ce43dee4f | 1171 | |
cparata | 0:f27ce43dee4f | 1172 | val1.emb_func_int1.int1_step_detector = PROPERTY_DISABLE; |
cparata | 0:f27ce43dee4f | 1173 | |
cparata | 0:f27ce43dee4f | 1174 | if (lsm6dsox_pin_int1_route_set(&_reg_ctx, &val1) != 0) |
cparata | 0:f27ce43dee4f | 1175 | { |
cparata | 0:f27ce43dee4f | 1176 | return 1; |
cparata | 0:f27ce43dee4f | 1177 | } |
cparata | 0:f27ce43dee4f | 1178 | |
cparata | 0:f27ce43dee4f | 1179 | /* Disable pedometer algorithm. */ |
cparata | 0:f27ce43dee4f | 1180 | if (lsm6dsox_pedo_sens_set(&_reg_ctx, LSM6DSOX_PEDO_DISABLE) != 0) |
cparata | 0:f27ce43dee4f | 1181 | { |
cparata | 0:f27ce43dee4f | 1182 | return 1; |
cparata | 0:f27ce43dee4f | 1183 | } |
cparata | 0:f27ce43dee4f | 1184 | |
cparata | 0:f27ce43dee4f | 1185 | return 0; |
cparata | 0:f27ce43dee4f | 1186 | } |
cparata | 0:f27ce43dee4f | 1187 | |
cparata | 0:f27ce43dee4f | 1188 | /** |
cparata | 0:f27ce43dee4f | 1189 | * @brief Get step count |
cparata | 0:f27ce43dee4f | 1190 | * @param step_count step counter |
cparata | 0:f27ce43dee4f | 1191 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 1192 | */ |
cparata | 0:f27ce43dee4f | 1193 | int LSM6DSOXSensor::get_step_counter(uint16_t *step_count) |
cparata | 0:f27ce43dee4f | 1194 | { |
cparata | 0:f27ce43dee4f | 1195 | if (lsm6dsox_number_of_steps_get(&_reg_ctx, (uint8_t *)step_count) != 0) |
cparata | 0:f27ce43dee4f | 1196 | { |
cparata | 0:f27ce43dee4f | 1197 | return 1; |
cparata | 0:f27ce43dee4f | 1198 | } |
cparata | 0:f27ce43dee4f | 1199 | |
cparata | 0:f27ce43dee4f | 1200 | return 0; |
cparata | 0:f27ce43dee4f | 1201 | } |
cparata | 0:f27ce43dee4f | 1202 | |
cparata | 0:f27ce43dee4f | 1203 | /** |
cparata | 0:f27ce43dee4f | 1204 | * @brief Enable step counter reset |
cparata | 0:f27ce43dee4f | 1205 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 1206 | */ |
cparata | 0:f27ce43dee4f | 1207 | int LSM6DSOXSensor::reset_step_counter() |
cparata | 0:f27ce43dee4f | 1208 | { |
cparata | 0:f27ce43dee4f | 1209 | if (lsm6dsox_steps_reset(&_reg_ctx) != 0) |
cparata | 0:f27ce43dee4f | 1210 | { |
cparata | 0:f27ce43dee4f | 1211 | return 1; |
cparata | 0:f27ce43dee4f | 1212 | } |
cparata | 0:f27ce43dee4f | 1213 | |
cparata | 0:f27ce43dee4f | 1214 | return 0; |
cparata | 0:f27ce43dee4f | 1215 | } |
cparata | 0:f27ce43dee4f | 1216 | |
cparata | 0:f27ce43dee4f | 1217 | /** |
cparata | 0:f27ce43dee4f | 1218 | * @brief Enable tilt detection |
cparata | 0:f27ce43dee4f | 1219 | * @param int_pin interrupt pin line to be used |
cparata | 0:f27ce43dee4f | 1220 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 1221 | */ |
cparata | 0:f27ce43dee4f | 1222 | int LSM6DSOXSensor::enable_tilt_detection(LSM6DSOX_Interrupt_Pin_t int_pin) |
cparata | 0:f27ce43dee4f | 1223 | { |
cparata | 0:f27ce43dee4f | 1224 | int ret = 0; |
cparata | 0:f27ce43dee4f | 1225 | lsm6dsox_pin_int1_route_t val1; |
cparata | 0:f27ce43dee4f | 1226 | lsm6dsox_pin_int2_route_t val2; |
cparata | 0:f27ce43dee4f | 1227 | |
cparata | 0:f27ce43dee4f | 1228 | /* Output Data Rate selection */ |
cparata | 0:f27ce43dee4f | 1229 | if (set_x_odr(26.0f) != 0) |
cparata | 0:f27ce43dee4f | 1230 | { |
cparata | 0:f27ce43dee4f | 1231 | return 1; |
cparata | 0:f27ce43dee4f | 1232 | } |
cparata | 0:f27ce43dee4f | 1233 | |
cparata | 0:f27ce43dee4f | 1234 | /* Full scale selection */ |
cparata | 0:f27ce43dee4f | 1235 | if (set_x_fs(2.0f) != 0) |
cparata | 0:f27ce43dee4f | 1236 | { |
cparata | 0:f27ce43dee4f | 1237 | return 1; |
cparata | 0:f27ce43dee4f | 1238 | } |
cparata | 0:f27ce43dee4f | 1239 | |
cparata | 0:f27ce43dee4f | 1240 | /* Enable tilt calculation. */ |
cparata | 0:f27ce43dee4f | 1241 | if (lsm6dsox_tilt_sens_set(&_reg_ctx, PROPERTY_ENABLE) != 0) |
cparata | 0:f27ce43dee4f | 1242 | { |
cparata | 0:f27ce43dee4f | 1243 | return 1; |
cparata | 0:f27ce43dee4f | 1244 | } |
cparata | 0:f27ce43dee4f | 1245 | |
cparata | 0:f27ce43dee4f | 1246 | /* Enable tilt event on either INT1 or INT2 pin */ |
cparata | 0:f27ce43dee4f | 1247 | switch (int_pin) |
cparata | 0:f27ce43dee4f | 1248 | { |
cparata | 0:f27ce43dee4f | 1249 | case LSM6DSOX_INT1_PIN: |
cparata | 0:f27ce43dee4f | 1250 | if (lsm6dsox_pin_int1_route_get(&_reg_ctx, &val1) != 0) |
cparata | 0:f27ce43dee4f | 1251 | { |
cparata | 0:f27ce43dee4f | 1252 | return 1; |
cparata | 0:f27ce43dee4f | 1253 | } |
cparata | 0:f27ce43dee4f | 1254 | |
cparata | 0:f27ce43dee4f | 1255 | val1.emb_func_int1.int1_tilt = PROPERTY_ENABLE; |
cparata | 0:f27ce43dee4f | 1256 | |
cparata | 0:f27ce43dee4f | 1257 | if (lsm6dsox_pin_int1_route_set(&_reg_ctx, &val1) != 0) |
cparata | 0:f27ce43dee4f | 1258 | { |
cparata | 0:f27ce43dee4f | 1259 | return 1; |
cparata | 0:f27ce43dee4f | 1260 | } |
cparata | 0:f27ce43dee4f | 1261 | break; |
cparata | 0:f27ce43dee4f | 1262 | |
cparata | 0:f27ce43dee4f | 1263 | case LSM6DSOX_INT2_PIN: |
cparata | 0:f27ce43dee4f | 1264 | if (lsm6dsox_pin_int2_route_get(&_reg_ctx, &val2) != 0) |
cparata | 0:f27ce43dee4f | 1265 | { |
cparata | 0:f27ce43dee4f | 1266 | return 1; |
cparata | 0:f27ce43dee4f | 1267 | } |
cparata | 0:f27ce43dee4f | 1268 | |
cparata | 0:f27ce43dee4f | 1269 | val2.emb_func_int2.int2_tilt = PROPERTY_ENABLE; |
cparata | 0:f27ce43dee4f | 1270 | |
cparata | 0:f27ce43dee4f | 1271 | if (lsm6dsox_pin_int2_route_set(&_reg_ctx, &val2) != 0) |
cparata | 0:f27ce43dee4f | 1272 | { |
cparata | 0:f27ce43dee4f | 1273 | return 1; |
cparata | 0:f27ce43dee4f | 1274 | } |
cparata | 0:f27ce43dee4f | 1275 | break; |
cparata | 0:f27ce43dee4f | 1276 | |
cparata | 0:f27ce43dee4f | 1277 | default: |
cparata | 0:f27ce43dee4f | 1278 | ret = 1; |
cparata | 0:f27ce43dee4f | 1279 | break; |
cparata | 0:f27ce43dee4f | 1280 | } |
cparata | 0:f27ce43dee4f | 1281 | |
cparata | 0:f27ce43dee4f | 1282 | return ret; |
cparata | 0:f27ce43dee4f | 1283 | } |
cparata | 0:f27ce43dee4f | 1284 | |
cparata | 0:f27ce43dee4f | 1285 | /** |
cparata | 0:f27ce43dee4f | 1286 | * @brief Disable tilt detection |
cparata | 0:f27ce43dee4f | 1287 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 1288 | */ |
cparata | 0:f27ce43dee4f | 1289 | int LSM6DSOXSensor::disable_tilt_detection() |
cparata | 0:f27ce43dee4f | 1290 | { |
cparata | 0:f27ce43dee4f | 1291 | lsm6dsox_pin_int1_route_t val1; |
cparata | 0:f27ce43dee4f | 1292 | lsm6dsox_pin_int2_route_t val2; |
cparata | 0:f27ce43dee4f | 1293 | |
cparata | 0:f27ce43dee4f | 1294 | /* Disable tilt event on both INT1 and INT2 pins */ |
cparata | 0:f27ce43dee4f | 1295 | if (lsm6dsox_pin_int1_route_get(&_reg_ctx, &val1) != 0) |
cparata | 0:f27ce43dee4f | 1296 | { |
cparata | 0:f27ce43dee4f | 1297 | return 1; |
cparata | 0:f27ce43dee4f | 1298 | } |
cparata | 0:f27ce43dee4f | 1299 | |
cparata | 0:f27ce43dee4f | 1300 | val1.emb_func_int1.int1_tilt = PROPERTY_DISABLE; |
cparata | 0:f27ce43dee4f | 1301 | |
cparata | 0:f27ce43dee4f | 1302 | if (lsm6dsox_pin_int1_route_set(&_reg_ctx, &val1) != 0) |
cparata | 0:f27ce43dee4f | 1303 | { |
cparata | 0:f27ce43dee4f | 1304 | return 1; |
cparata | 0:f27ce43dee4f | 1305 | } |
cparata | 0:f27ce43dee4f | 1306 | |
cparata | 0:f27ce43dee4f | 1307 | if (lsm6dsox_pin_int2_route_get(&_reg_ctx, &val2) != 0) |
cparata | 0:f27ce43dee4f | 1308 | { |
cparata | 0:f27ce43dee4f | 1309 | return 1; |
cparata | 0:f27ce43dee4f | 1310 | } |
cparata | 0:f27ce43dee4f | 1311 | |
cparata | 0:f27ce43dee4f | 1312 | val2.emb_func_int2.int2_tilt = PROPERTY_DISABLE; |
cparata | 0:f27ce43dee4f | 1313 | |
cparata | 0:f27ce43dee4f | 1314 | if (lsm6dsox_pin_int2_route_set(&_reg_ctx, &val2) != 0) |
cparata | 0:f27ce43dee4f | 1315 | { |
cparata | 0:f27ce43dee4f | 1316 | return 1; |
cparata | 0:f27ce43dee4f | 1317 | } |
cparata | 0:f27ce43dee4f | 1318 | |
cparata | 0:f27ce43dee4f | 1319 | /* Disable tilt calculation. */ |
cparata | 0:f27ce43dee4f | 1320 | if (lsm6dsox_tilt_sens_set(&_reg_ctx, PROPERTY_DISABLE) != 0) |
cparata | 0:f27ce43dee4f | 1321 | { |
cparata | 0:f27ce43dee4f | 1322 | return 1; |
cparata | 0:f27ce43dee4f | 1323 | } |
cparata | 0:f27ce43dee4f | 1324 | |
cparata | 0:f27ce43dee4f | 1325 | return 0; |
cparata | 0:f27ce43dee4f | 1326 | } |
cparata | 0:f27ce43dee4f | 1327 | |
cparata | 0:f27ce43dee4f | 1328 | /** |
cparata | 0:f27ce43dee4f | 1329 | * @brief Enable wake up detection |
cparata | 0:f27ce43dee4f | 1330 | * @param int_pin interrupt pin line to be used |
cparata | 0:f27ce43dee4f | 1331 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 1332 | */ |
cparata | 0:f27ce43dee4f | 1333 | int LSM6DSOXSensor::enable_wake_up_detection(LSM6DSOX_Interrupt_Pin_t int_pin) |
cparata | 0:f27ce43dee4f | 1334 | { |
cparata | 0:f27ce43dee4f | 1335 | int ret = 0; |
cparata | 0:f27ce43dee4f | 1336 | lsm6dsox_pin_int1_route_t val1; |
cparata | 0:f27ce43dee4f | 1337 | lsm6dsox_pin_int2_route_t val2; |
cparata | 0:f27ce43dee4f | 1338 | |
cparata | 0:f27ce43dee4f | 1339 | /* Output Data Rate selection */ |
cparata | 0:f27ce43dee4f | 1340 | if (set_x_odr(416.0f) != 0) |
cparata | 0:f27ce43dee4f | 1341 | { |
cparata | 0:f27ce43dee4f | 1342 | return 1; |
cparata | 0:f27ce43dee4f | 1343 | } |
cparata | 0:f27ce43dee4f | 1344 | |
cparata | 0:f27ce43dee4f | 1345 | /* Full scale selection */ |
cparata | 0:f27ce43dee4f | 1346 | if (set_x_fs(2.0f) != 0) |
cparata | 0:f27ce43dee4f | 1347 | { |
cparata | 0:f27ce43dee4f | 1348 | return 1; |
cparata | 0:f27ce43dee4f | 1349 | } |
cparata | 0:f27ce43dee4f | 1350 | |
cparata | 0:f27ce43dee4f | 1351 | /* WAKE_DUR setting */ |
cparata | 0:f27ce43dee4f | 1352 | if (lsm6dsox_wkup_dur_set(&_reg_ctx, 0x00) != 0) |
cparata | 0:f27ce43dee4f | 1353 | { |
cparata | 0:f27ce43dee4f | 1354 | return 1; |
cparata | 0:f27ce43dee4f | 1355 | } |
cparata | 0:f27ce43dee4f | 1356 | |
cparata | 0:f27ce43dee4f | 1357 | /* Set wake up threshold. */ |
cparata | 0:f27ce43dee4f | 1358 | if (lsm6dsox_wkup_threshold_set(&_reg_ctx, 0x02) != 0) |
cparata | 0:f27ce43dee4f | 1359 | { |
cparata | 0:f27ce43dee4f | 1360 | return 1; |
cparata | 0:f27ce43dee4f | 1361 | } |
cparata | 0:f27ce43dee4f | 1362 | |
cparata | 0:f27ce43dee4f | 1363 | /* Enable wake up event on either INT1 or INT2 pin */ |
cparata | 0:f27ce43dee4f | 1364 | switch (int_pin) |
cparata | 0:f27ce43dee4f | 1365 | { |
cparata | 0:f27ce43dee4f | 1366 | case LSM6DSOX_INT1_PIN: |
cparata | 0:f27ce43dee4f | 1367 | if (lsm6dsox_pin_int1_route_get(&_reg_ctx, &val1) != 0) |
cparata | 0:f27ce43dee4f | 1368 | { |
cparata | 0:f27ce43dee4f | 1369 | return 1; |
cparata | 0:f27ce43dee4f | 1370 | } |
cparata | 0:f27ce43dee4f | 1371 | |
cparata | 0:f27ce43dee4f | 1372 | val1.md1_cfg.int1_wu = PROPERTY_ENABLE; |
cparata | 0:f27ce43dee4f | 1373 | |
cparata | 0:f27ce43dee4f | 1374 | if (lsm6dsox_pin_int1_route_set(&_reg_ctx, &val1) != 0) |
cparata | 0:f27ce43dee4f | 1375 | { |
cparata | 0:f27ce43dee4f | 1376 | return 1; |
cparata | 0:f27ce43dee4f | 1377 | } |
cparata | 0:f27ce43dee4f | 1378 | break; |
cparata | 0:f27ce43dee4f | 1379 | |
cparata | 0:f27ce43dee4f | 1380 | case LSM6DSOX_INT2_PIN: |
cparata | 0:f27ce43dee4f | 1381 | if (lsm6dsox_pin_int2_route_get(&_reg_ctx, &val2) != 0) |
cparata | 0:f27ce43dee4f | 1382 | { |
cparata | 0:f27ce43dee4f | 1383 | return 1; |
cparata | 0:f27ce43dee4f | 1384 | } |
cparata | 0:f27ce43dee4f | 1385 | |
cparata | 0:f27ce43dee4f | 1386 | val2.md2_cfg.int2_wu = PROPERTY_ENABLE; |
cparata | 0:f27ce43dee4f | 1387 | |
cparata | 0:f27ce43dee4f | 1388 | if (lsm6dsox_pin_int2_route_set(&_reg_ctx, &val2) != 0) |
cparata | 0:f27ce43dee4f | 1389 | { |
cparata | 0:f27ce43dee4f | 1390 | return 1; |
cparata | 0:f27ce43dee4f | 1391 | } |
cparata | 0:f27ce43dee4f | 1392 | break; |
cparata | 0:f27ce43dee4f | 1393 | |
cparata | 0:f27ce43dee4f | 1394 | default: |
cparata | 0:f27ce43dee4f | 1395 | ret = 1; |
cparata | 0:f27ce43dee4f | 1396 | break; |
cparata | 0:f27ce43dee4f | 1397 | } |
cparata | 0:f27ce43dee4f | 1398 | |
cparata | 0:f27ce43dee4f | 1399 | return ret; |
cparata | 0:f27ce43dee4f | 1400 | } |
cparata | 0:f27ce43dee4f | 1401 | |
cparata | 0:f27ce43dee4f | 1402 | |
cparata | 0:f27ce43dee4f | 1403 | /** |
cparata | 0:f27ce43dee4f | 1404 | * @brief Disable wake up detection |
cparata | 0:f27ce43dee4f | 1405 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 1406 | */ |
cparata | 0:f27ce43dee4f | 1407 | int LSM6DSOXSensor::disable_wake_up_detection() |
cparata | 0:f27ce43dee4f | 1408 | { |
cparata | 0:f27ce43dee4f | 1409 | lsm6dsox_pin_int1_route_t val1; |
cparata | 0:f27ce43dee4f | 1410 | lsm6dsox_pin_int2_route_t val2; |
cparata | 0:f27ce43dee4f | 1411 | |
cparata | 0:f27ce43dee4f | 1412 | /* Disable wake up event on both INT1 and INT2 pins */ |
cparata | 0:f27ce43dee4f | 1413 | if (lsm6dsox_pin_int1_route_get(&_reg_ctx, &val1) != 0) |
cparata | 0:f27ce43dee4f | 1414 | { |
cparata | 0:f27ce43dee4f | 1415 | return 1; |
cparata | 0:f27ce43dee4f | 1416 | } |
cparata | 0:f27ce43dee4f | 1417 | |
cparata | 0:f27ce43dee4f | 1418 | val1.md1_cfg.int1_wu = PROPERTY_DISABLE; |
cparata | 0:f27ce43dee4f | 1419 | |
cparata | 0:f27ce43dee4f | 1420 | if (lsm6dsox_pin_int1_route_set(&_reg_ctx, &val1) != 0) |
cparata | 0:f27ce43dee4f | 1421 | { |
cparata | 0:f27ce43dee4f | 1422 | return 1; |
cparata | 0:f27ce43dee4f | 1423 | } |
cparata | 0:f27ce43dee4f | 1424 | |
cparata | 0:f27ce43dee4f | 1425 | if (lsm6dsox_pin_int2_route_get(&_reg_ctx, &val2) != 0) |
cparata | 0:f27ce43dee4f | 1426 | { |
cparata | 0:f27ce43dee4f | 1427 | return 1; |
cparata | 0:f27ce43dee4f | 1428 | } |
cparata | 0:f27ce43dee4f | 1429 | |
cparata | 0:f27ce43dee4f | 1430 | val2.md2_cfg.int2_wu = PROPERTY_DISABLE; |
cparata | 0:f27ce43dee4f | 1431 | |
cparata | 0:f27ce43dee4f | 1432 | if (lsm6dsox_pin_int2_route_set(&_reg_ctx, &val2) != 0) |
cparata | 0:f27ce43dee4f | 1433 | { |
cparata | 0:f27ce43dee4f | 1434 | return 1; |
cparata | 0:f27ce43dee4f | 1435 | } |
cparata | 0:f27ce43dee4f | 1436 | |
cparata | 0:f27ce43dee4f | 1437 | /* Reset wake up threshold. */ |
cparata | 0:f27ce43dee4f | 1438 | if (lsm6dsox_wkup_threshold_set(&_reg_ctx, 0x00) != 0) |
cparata | 0:f27ce43dee4f | 1439 | { |
cparata | 0:f27ce43dee4f | 1440 | return 1; |
cparata | 0:f27ce43dee4f | 1441 | } |
cparata | 0:f27ce43dee4f | 1442 | |
cparata | 0:f27ce43dee4f | 1443 | /* WAKE_DUR setting */ |
cparata | 0:f27ce43dee4f | 1444 | if (lsm6dsox_wkup_dur_set(&_reg_ctx, 0x00) != 0) |
cparata | 0:f27ce43dee4f | 1445 | { |
cparata | 0:f27ce43dee4f | 1446 | return 1; |
cparata | 0:f27ce43dee4f | 1447 | } |
cparata | 0:f27ce43dee4f | 1448 | |
cparata | 0:f27ce43dee4f | 1449 | return 0; |
cparata | 0:f27ce43dee4f | 1450 | } |
cparata | 0:f27ce43dee4f | 1451 | |
cparata | 0:f27ce43dee4f | 1452 | /** |
cparata | 0:f27ce43dee4f | 1453 | * @brief Set wake up threshold |
cparata | 0:f27ce43dee4f | 1454 | * @param thr wake up detection threshold |
cparata | 0:f27ce43dee4f | 1455 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 1456 | */ |
cparata | 0:f27ce43dee4f | 1457 | int LSM6DSOXSensor::set_wake_up_threshold(uint8_t thr) |
cparata | 0:f27ce43dee4f | 1458 | { |
cparata | 0:f27ce43dee4f | 1459 | /* Set wake up threshold. */ |
cparata | 0:f27ce43dee4f | 1460 | if (lsm6dsox_wkup_threshold_set(&_reg_ctx, thr) != 0) |
cparata | 0:f27ce43dee4f | 1461 | { |
cparata | 0:f27ce43dee4f | 1462 | return 1; |
cparata | 0:f27ce43dee4f | 1463 | } |
cparata | 0:f27ce43dee4f | 1464 | |
cparata | 0:f27ce43dee4f | 1465 | return 0; |
cparata | 0:f27ce43dee4f | 1466 | } |
cparata | 0:f27ce43dee4f | 1467 | |
cparata | 0:f27ce43dee4f | 1468 | /** |
cparata | 0:f27ce43dee4f | 1469 | * @brief Set wake up duration |
cparata | 0:f27ce43dee4f | 1470 | * @param dur wake up detection duration |
cparata | 0:f27ce43dee4f | 1471 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 1472 | */ |
cparata | 0:f27ce43dee4f | 1473 | int LSM6DSOXSensor::set_wake_up_duration(uint8_t dur) |
cparata | 0:f27ce43dee4f | 1474 | { |
cparata | 0:f27ce43dee4f | 1475 | /* Set wake up duration. */ |
cparata | 0:f27ce43dee4f | 1476 | if (lsm6dsox_wkup_dur_set(&_reg_ctx, dur) != 0) |
cparata | 0:f27ce43dee4f | 1477 | { |
cparata | 0:f27ce43dee4f | 1478 | return 1; |
cparata | 0:f27ce43dee4f | 1479 | } |
cparata | 0:f27ce43dee4f | 1480 | |
cparata | 0:f27ce43dee4f | 1481 | return 0; |
cparata | 0:f27ce43dee4f | 1482 | } |
cparata | 0:f27ce43dee4f | 1483 | |
cparata | 0:f27ce43dee4f | 1484 | /** |
cparata | 0:f27ce43dee4f | 1485 | * @brief Enable single tap detection |
cparata | 0:f27ce43dee4f | 1486 | * @param int_pin interrupt pin line to be used |
cparata | 0:f27ce43dee4f | 1487 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 1488 | */ |
cparata | 0:f27ce43dee4f | 1489 | int LSM6DSOXSensor::enable_single_tap_detection(LSM6DSOX_Interrupt_Pin_t int_pin) |
cparata | 0:f27ce43dee4f | 1490 | { |
cparata | 0:f27ce43dee4f | 1491 | int ret = 0; |
cparata | 0:f27ce43dee4f | 1492 | lsm6dsox_pin_int1_route_t val1; |
cparata | 0:f27ce43dee4f | 1493 | lsm6dsox_pin_int2_route_t val2; |
cparata | 0:f27ce43dee4f | 1494 | |
cparata | 0:f27ce43dee4f | 1495 | /* Output Data Rate selection */ |
cparata | 0:f27ce43dee4f | 1496 | if (set_x_odr(416.0f) != 0) |
cparata | 0:f27ce43dee4f | 1497 | { |
cparata | 0:f27ce43dee4f | 1498 | return 1; |
cparata | 0:f27ce43dee4f | 1499 | } |
cparata | 0:f27ce43dee4f | 1500 | |
cparata | 0:f27ce43dee4f | 1501 | /* Full scale selection */ |
cparata | 0:f27ce43dee4f | 1502 | if (set_x_fs(2.0f) != 0) |
cparata | 0:f27ce43dee4f | 1503 | { |
cparata | 0:f27ce43dee4f | 1504 | return 1; |
cparata | 0:f27ce43dee4f | 1505 | } |
cparata | 0:f27ce43dee4f | 1506 | |
cparata | 0:f27ce43dee4f | 1507 | /* Enable X direction in tap recognition. */ |
cparata | 0:f27ce43dee4f | 1508 | if (lsm6dsox_tap_detection_on_x_set(&_reg_ctx, PROPERTY_ENABLE) != 0) |
cparata | 0:f27ce43dee4f | 1509 | { |
cparata | 0:f27ce43dee4f | 1510 | return 1; |
cparata | 0:f27ce43dee4f | 1511 | } |
cparata | 0:f27ce43dee4f | 1512 | |
cparata | 0:f27ce43dee4f | 1513 | /* Enable Y direction in tap recognition. */ |
cparata | 0:f27ce43dee4f | 1514 | if (lsm6dsox_tap_detection_on_y_set(&_reg_ctx, PROPERTY_ENABLE) != 0) |
cparata | 0:f27ce43dee4f | 1515 | { |
cparata | 0:f27ce43dee4f | 1516 | return 1; |
cparata | 0:f27ce43dee4f | 1517 | } |
cparata | 0:f27ce43dee4f | 1518 | |
cparata | 0:f27ce43dee4f | 1519 | /* Enable Z direction in tap recognition. */ |
cparata | 0:f27ce43dee4f | 1520 | if (lsm6dsox_tap_detection_on_z_set(&_reg_ctx, PROPERTY_ENABLE) != 0) |
cparata | 0:f27ce43dee4f | 1521 | { |
cparata | 0:f27ce43dee4f | 1522 | return 1; |
cparata | 0:f27ce43dee4f | 1523 | } |
cparata | 0:f27ce43dee4f | 1524 | |
cparata | 0:f27ce43dee4f | 1525 | /* Set tap threshold. */ |
cparata | 0:f27ce43dee4f | 1526 | if (lsm6dsox_tap_threshold_x_set(&_reg_ctx, 0x08) != 0) |
cparata | 0:f27ce43dee4f | 1527 | { |
cparata | 0:f27ce43dee4f | 1528 | return 1; |
cparata | 0:f27ce43dee4f | 1529 | } |
cparata | 0:f27ce43dee4f | 1530 | |
cparata | 0:f27ce43dee4f | 1531 | /* Set tap shock time window. */ |
cparata | 0:f27ce43dee4f | 1532 | if (lsm6dsox_tap_shock_set(&_reg_ctx, 0x02) != 0) |
cparata | 0:f27ce43dee4f | 1533 | { |
cparata | 0:f27ce43dee4f | 1534 | return 1; |
cparata | 0:f27ce43dee4f | 1535 | } |
cparata | 0:f27ce43dee4f | 1536 | |
cparata | 0:f27ce43dee4f | 1537 | /* Set tap quiet time window. */ |
cparata | 0:f27ce43dee4f | 1538 | if (lsm6dsox_tap_quiet_set(&_reg_ctx, 0x01) != 0) |
cparata | 0:f27ce43dee4f | 1539 | { |
cparata | 0:f27ce43dee4f | 1540 | return 1; |
cparata | 0:f27ce43dee4f | 1541 | } |
cparata | 0:f27ce43dee4f | 1542 | |
cparata | 0:f27ce43dee4f | 1543 | /* _NOTE_: Tap duration time window - don't care for single tap. */ |
cparata | 0:f27ce43dee4f | 1544 | |
cparata | 0:f27ce43dee4f | 1545 | /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */ |
cparata | 0:f27ce43dee4f | 1546 | |
cparata | 0:f27ce43dee4f | 1547 | /* Enable single tap event on either INT1 or INT2 pin */ |
cparata | 0:f27ce43dee4f | 1548 | switch (int_pin) |
cparata | 0:f27ce43dee4f | 1549 | { |
cparata | 0:f27ce43dee4f | 1550 | case LSM6DSOX_INT1_PIN: |
cparata | 0:f27ce43dee4f | 1551 | if (lsm6dsox_pin_int1_route_get(&_reg_ctx, &val1) != 0) |
cparata | 0:f27ce43dee4f | 1552 | { |
cparata | 0:f27ce43dee4f | 1553 | return 1; |
cparata | 0:f27ce43dee4f | 1554 | } |
cparata | 0:f27ce43dee4f | 1555 | |
cparata | 0:f27ce43dee4f | 1556 | val1.md1_cfg.int1_single_tap = PROPERTY_ENABLE; |
cparata | 0:f27ce43dee4f | 1557 | |
cparata | 0:f27ce43dee4f | 1558 | if (lsm6dsox_pin_int1_route_set(&_reg_ctx, &val1) != 0) |
cparata | 0:f27ce43dee4f | 1559 | { |
cparata | 0:f27ce43dee4f | 1560 | return 1; |
cparata | 0:f27ce43dee4f | 1561 | } |
cparata | 0:f27ce43dee4f | 1562 | break; |
cparata | 0:f27ce43dee4f | 1563 | |
cparata | 0:f27ce43dee4f | 1564 | case LSM6DSOX_INT2_PIN: |
cparata | 0:f27ce43dee4f | 1565 | if (lsm6dsox_pin_int2_route_get(&_reg_ctx, &val2) != 0) |
cparata | 0:f27ce43dee4f | 1566 | { |
cparata | 0:f27ce43dee4f | 1567 | return 1; |
cparata | 0:f27ce43dee4f | 1568 | } |
cparata | 0:f27ce43dee4f | 1569 | |
cparata | 0:f27ce43dee4f | 1570 | val2.md2_cfg.int2_single_tap = PROPERTY_ENABLE; |
cparata | 0:f27ce43dee4f | 1571 | |
cparata | 0:f27ce43dee4f | 1572 | if (lsm6dsox_pin_int2_route_set(&_reg_ctx, &val2) != 0) |
cparata | 0:f27ce43dee4f | 1573 | { |
cparata | 0:f27ce43dee4f | 1574 | return 1; |
cparata | 0:f27ce43dee4f | 1575 | } |
cparata | 0:f27ce43dee4f | 1576 | break; |
cparata | 0:f27ce43dee4f | 1577 | |
cparata | 0:f27ce43dee4f | 1578 | default: |
cparata | 0:f27ce43dee4f | 1579 | ret = 1; |
cparata | 0:f27ce43dee4f | 1580 | break; |
cparata | 0:f27ce43dee4f | 1581 | } |
cparata | 0:f27ce43dee4f | 1582 | |
cparata | 0:f27ce43dee4f | 1583 | return ret; |
cparata | 0:f27ce43dee4f | 1584 | } |
cparata | 0:f27ce43dee4f | 1585 | |
cparata | 0:f27ce43dee4f | 1586 | /** |
cparata | 0:f27ce43dee4f | 1587 | * @brief Disable single tap detection |
cparata | 0:f27ce43dee4f | 1588 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 1589 | */ |
cparata | 0:f27ce43dee4f | 1590 | int LSM6DSOXSensor::disable_single_tap_detection() |
cparata | 0:f27ce43dee4f | 1591 | { |
cparata | 0:f27ce43dee4f | 1592 | lsm6dsox_pin_int1_route_t val1; |
cparata | 0:f27ce43dee4f | 1593 | lsm6dsox_pin_int2_route_t val2; |
cparata | 0:f27ce43dee4f | 1594 | |
cparata | 0:f27ce43dee4f | 1595 | /* Disable single tap event on both INT1 and INT2 pins */ |
cparata | 0:f27ce43dee4f | 1596 | if (lsm6dsox_pin_int1_route_get(&_reg_ctx, &val1) != 0) |
cparata | 0:f27ce43dee4f | 1597 | { |
cparata | 0:f27ce43dee4f | 1598 | return 1; |
cparata | 0:f27ce43dee4f | 1599 | } |
cparata | 0:f27ce43dee4f | 1600 | |
cparata | 0:f27ce43dee4f | 1601 | val1.md1_cfg.int1_single_tap = PROPERTY_DISABLE; |
cparata | 0:f27ce43dee4f | 1602 | |
cparata | 0:f27ce43dee4f | 1603 | if (lsm6dsox_pin_int1_route_set(&_reg_ctx, &val1) != 0) |
cparata | 0:f27ce43dee4f | 1604 | { |
cparata | 0:f27ce43dee4f | 1605 | return 1; |
cparata | 0:f27ce43dee4f | 1606 | } |
cparata | 0:f27ce43dee4f | 1607 | |
cparata | 0:f27ce43dee4f | 1608 | if (lsm6dsox_pin_int2_route_get(&_reg_ctx, &val2) != 0) |
cparata | 0:f27ce43dee4f | 1609 | { |
cparata | 0:f27ce43dee4f | 1610 | return 1; |
cparata | 0:f27ce43dee4f | 1611 | } |
cparata | 0:f27ce43dee4f | 1612 | |
cparata | 0:f27ce43dee4f | 1613 | val2.md2_cfg.int2_single_tap = PROPERTY_DISABLE; |
cparata | 0:f27ce43dee4f | 1614 | |
cparata | 0:f27ce43dee4f | 1615 | if (lsm6dsox_pin_int2_route_set(&_reg_ctx, &val2) != 0) |
cparata | 0:f27ce43dee4f | 1616 | { |
cparata | 0:f27ce43dee4f | 1617 | return 1; |
cparata | 0:f27ce43dee4f | 1618 | } |
cparata | 0:f27ce43dee4f | 1619 | |
cparata | 0:f27ce43dee4f | 1620 | /* Reset tap quiet time window. */ |
cparata | 0:f27ce43dee4f | 1621 | if (lsm6dsox_tap_quiet_set(&_reg_ctx, 0x00) != 0) |
cparata | 0:f27ce43dee4f | 1622 | { |
cparata | 0:f27ce43dee4f | 1623 | return 1; |
cparata | 0:f27ce43dee4f | 1624 | } |
cparata | 0:f27ce43dee4f | 1625 | |
cparata | 0:f27ce43dee4f | 1626 | /* Reset tap shock time window. */ |
cparata | 0:f27ce43dee4f | 1627 | if (lsm6dsox_tap_shock_set(&_reg_ctx, 0x00) != 0) |
cparata | 0:f27ce43dee4f | 1628 | { |
cparata | 0:f27ce43dee4f | 1629 | return 1; |
cparata | 0:f27ce43dee4f | 1630 | } |
cparata | 0:f27ce43dee4f | 1631 | |
cparata | 0:f27ce43dee4f | 1632 | /* Reset tap threshold. */ |
cparata | 0:f27ce43dee4f | 1633 | if (lsm6dsox_tap_threshold_x_set(&_reg_ctx, 0x00) != 0) |
cparata | 0:f27ce43dee4f | 1634 | { |
cparata | 0:f27ce43dee4f | 1635 | return 1; |
cparata | 0:f27ce43dee4f | 1636 | } |
cparata | 0:f27ce43dee4f | 1637 | |
cparata | 0:f27ce43dee4f | 1638 | /* Disable Z direction in tap recognition. */ |
cparata | 0:f27ce43dee4f | 1639 | if (lsm6dsox_tap_detection_on_z_set(&_reg_ctx, PROPERTY_DISABLE) != 0) |
cparata | 0:f27ce43dee4f | 1640 | { |
cparata | 0:f27ce43dee4f | 1641 | return 1; |
cparata | 0:f27ce43dee4f | 1642 | } |
cparata | 0:f27ce43dee4f | 1643 | |
cparata | 0:f27ce43dee4f | 1644 | /* Disable Y direction in tap recognition. */ |
cparata | 0:f27ce43dee4f | 1645 | if (lsm6dsox_tap_detection_on_y_set(&_reg_ctx, PROPERTY_DISABLE) != 0) |
cparata | 0:f27ce43dee4f | 1646 | { |
cparata | 0:f27ce43dee4f | 1647 | return 1; |
cparata | 0:f27ce43dee4f | 1648 | } |
cparata | 0:f27ce43dee4f | 1649 | |
cparata | 0:f27ce43dee4f | 1650 | /* Disable X direction in tap recognition. */ |
cparata | 0:f27ce43dee4f | 1651 | if (lsm6dsox_tap_detection_on_x_set(&_reg_ctx, PROPERTY_DISABLE) != 0) |
cparata | 0:f27ce43dee4f | 1652 | { |
cparata | 0:f27ce43dee4f | 1653 | return 1; |
cparata | 0:f27ce43dee4f | 1654 | } |
cparata | 0:f27ce43dee4f | 1655 | |
cparata | 0:f27ce43dee4f | 1656 | return 0; |
cparata | 0:f27ce43dee4f | 1657 | } |
cparata | 0:f27ce43dee4f | 1658 | |
cparata | 0:f27ce43dee4f | 1659 | /** |
cparata | 0:f27ce43dee4f | 1660 | * @brief Enable double tap detection |
cparata | 0:f27ce43dee4f | 1661 | * @param int_pin interrupt pin line to be used |
cparata | 0:f27ce43dee4f | 1662 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 1663 | */ |
cparata | 0:f27ce43dee4f | 1664 | int LSM6DSOXSensor::enable_double_tap_detection(LSM6DSOX_Interrupt_Pin_t int_pin) |
cparata | 0:f27ce43dee4f | 1665 | { |
cparata | 0:f27ce43dee4f | 1666 | int ret = 0; |
cparata | 0:f27ce43dee4f | 1667 | lsm6dsox_pin_int1_route_t val1; |
cparata | 0:f27ce43dee4f | 1668 | lsm6dsox_pin_int2_route_t val2; |
cparata | 0:f27ce43dee4f | 1669 | |
cparata | 0:f27ce43dee4f | 1670 | /* Output Data Rate selection */ |
cparata | 0:f27ce43dee4f | 1671 | if (set_x_odr(416.0f) != 0) |
cparata | 0:f27ce43dee4f | 1672 | { |
cparata | 0:f27ce43dee4f | 1673 | return 1; |
cparata | 0:f27ce43dee4f | 1674 | } |
cparata | 0:f27ce43dee4f | 1675 | |
cparata | 0:f27ce43dee4f | 1676 | /* Full scale selection */ |
cparata | 0:f27ce43dee4f | 1677 | if (set_x_fs(2.0f) != 0) |
cparata | 0:f27ce43dee4f | 1678 | { |
cparata | 0:f27ce43dee4f | 1679 | return 1; |
cparata | 0:f27ce43dee4f | 1680 | } |
cparata | 0:f27ce43dee4f | 1681 | |
cparata | 0:f27ce43dee4f | 1682 | /* Enable X direction in tap recognition. */ |
cparata | 0:f27ce43dee4f | 1683 | if (lsm6dsox_tap_detection_on_x_set(&_reg_ctx, PROPERTY_ENABLE) != 0) |
cparata | 0:f27ce43dee4f | 1684 | { |
cparata | 0:f27ce43dee4f | 1685 | return 1; |
cparata | 0:f27ce43dee4f | 1686 | } |
cparata | 0:f27ce43dee4f | 1687 | |
cparata | 0:f27ce43dee4f | 1688 | /* Enable Y direction in tap recognition. */ |
cparata | 0:f27ce43dee4f | 1689 | if (lsm6dsox_tap_detection_on_y_set(&_reg_ctx, PROPERTY_ENABLE) != 0) |
cparata | 0:f27ce43dee4f | 1690 | { |
cparata | 0:f27ce43dee4f | 1691 | return 1; |
cparata | 0:f27ce43dee4f | 1692 | } |
cparata | 0:f27ce43dee4f | 1693 | |
cparata | 0:f27ce43dee4f | 1694 | /* Enable Z direction in tap recognition. */ |
cparata | 0:f27ce43dee4f | 1695 | if (lsm6dsox_tap_detection_on_z_set(&_reg_ctx, PROPERTY_ENABLE) != 0) |
cparata | 0:f27ce43dee4f | 1696 | { |
cparata | 0:f27ce43dee4f | 1697 | return 1; |
cparata | 0:f27ce43dee4f | 1698 | } |
cparata | 0:f27ce43dee4f | 1699 | |
cparata | 0:f27ce43dee4f | 1700 | /* Set tap threshold. */ |
cparata | 0:f27ce43dee4f | 1701 | if (lsm6dsox_tap_threshold_x_set(&_reg_ctx, 0x08) != 0) |
cparata | 0:f27ce43dee4f | 1702 | { |
cparata | 0:f27ce43dee4f | 1703 | return 1; |
cparata | 0:f27ce43dee4f | 1704 | } |
cparata | 0:f27ce43dee4f | 1705 | |
cparata | 0:f27ce43dee4f | 1706 | /* Set tap shock time window. */ |
cparata | 0:f27ce43dee4f | 1707 | if (lsm6dsox_tap_shock_set(&_reg_ctx, 0x03) != 0) |
cparata | 0:f27ce43dee4f | 1708 | { |
cparata | 0:f27ce43dee4f | 1709 | return 1; |
cparata | 0:f27ce43dee4f | 1710 | } |
cparata | 0:f27ce43dee4f | 1711 | |
cparata | 0:f27ce43dee4f | 1712 | /* Set tap quiet time window. */ |
cparata | 0:f27ce43dee4f | 1713 | if (lsm6dsox_tap_quiet_set(&_reg_ctx, 0x03) != 0) |
cparata | 0:f27ce43dee4f | 1714 | { |
cparata | 0:f27ce43dee4f | 1715 | return 1; |
cparata | 0:f27ce43dee4f | 1716 | } |
cparata | 0:f27ce43dee4f | 1717 | |
cparata | 0:f27ce43dee4f | 1718 | /* Set tap duration time window. */ |
cparata | 0:f27ce43dee4f | 1719 | if (lsm6dsox_tap_dur_set(&_reg_ctx, 0x08) != 0) |
cparata | 0:f27ce43dee4f | 1720 | { |
cparata | 0:f27ce43dee4f | 1721 | return 1; |
cparata | 0:f27ce43dee4f | 1722 | } |
cparata | 0:f27ce43dee4f | 1723 | |
cparata | 0:f27ce43dee4f | 1724 | /* Single and double tap enabled. */ |
cparata | 0:f27ce43dee4f | 1725 | if (lsm6dsox_tap_mode_set(&_reg_ctx, LSM6DSOX_BOTH_SINGLE_DOUBLE) != 0) |
cparata | 0:f27ce43dee4f | 1726 | { |
cparata | 0:f27ce43dee4f | 1727 | return 1; |
cparata | 0:f27ce43dee4f | 1728 | } |
cparata | 0:f27ce43dee4f | 1729 | |
cparata | 0:f27ce43dee4f | 1730 | /* Enable double tap event on either INT1 or INT2 pin */ |
cparata | 0:f27ce43dee4f | 1731 | switch (int_pin) |
cparata | 0:f27ce43dee4f | 1732 | { |
cparata | 0:f27ce43dee4f | 1733 | case LSM6DSOX_INT1_PIN: |
cparata | 0:f27ce43dee4f | 1734 | if (lsm6dsox_pin_int1_route_get(&_reg_ctx, &val1) != 0) |
cparata | 0:f27ce43dee4f | 1735 | { |
cparata | 0:f27ce43dee4f | 1736 | return 1; |
cparata | 0:f27ce43dee4f | 1737 | } |
cparata | 0:f27ce43dee4f | 1738 | |
cparata | 0:f27ce43dee4f | 1739 | val1.md1_cfg.int1_double_tap = PROPERTY_ENABLE; |
cparata | 0:f27ce43dee4f | 1740 | |
cparata | 0:f27ce43dee4f | 1741 | if (lsm6dsox_pin_int1_route_set(&_reg_ctx, &val1) != 0) |
cparata | 0:f27ce43dee4f | 1742 | { |
cparata | 0:f27ce43dee4f | 1743 | return 1; |
cparata | 0:f27ce43dee4f | 1744 | } |
cparata | 0:f27ce43dee4f | 1745 | break; |
cparata | 0:f27ce43dee4f | 1746 | |
cparata | 0:f27ce43dee4f | 1747 | case LSM6DSOX_INT2_PIN: |
cparata | 0:f27ce43dee4f | 1748 | if (lsm6dsox_pin_int2_route_get(&_reg_ctx, &val2) != 0) |
cparata | 0:f27ce43dee4f | 1749 | { |
cparata | 0:f27ce43dee4f | 1750 | return 1; |
cparata | 0:f27ce43dee4f | 1751 | } |
cparata | 0:f27ce43dee4f | 1752 | |
cparata | 0:f27ce43dee4f | 1753 | val2.md2_cfg.int2_double_tap = PROPERTY_ENABLE; |
cparata | 0:f27ce43dee4f | 1754 | |
cparata | 0:f27ce43dee4f | 1755 | if (lsm6dsox_pin_int2_route_set(&_reg_ctx, &val2) != 0) |
cparata | 0:f27ce43dee4f | 1756 | { |
cparata | 0:f27ce43dee4f | 1757 | return 1; |
cparata | 0:f27ce43dee4f | 1758 | } |
cparata | 0:f27ce43dee4f | 1759 | break; |
cparata | 0:f27ce43dee4f | 1760 | |
cparata | 0:f27ce43dee4f | 1761 | default: |
cparata | 0:f27ce43dee4f | 1762 | ret = 1; |
cparata | 0:f27ce43dee4f | 1763 | break; |
cparata | 0:f27ce43dee4f | 1764 | } |
cparata | 0:f27ce43dee4f | 1765 | |
cparata | 0:f27ce43dee4f | 1766 | return ret; |
cparata | 0:f27ce43dee4f | 1767 | } |
cparata | 0:f27ce43dee4f | 1768 | |
cparata | 0:f27ce43dee4f | 1769 | /** |
cparata | 0:f27ce43dee4f | 1770 | * @brief Disable double tap detection |
cparata | 0:f27ce43dee4f | 1771 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 1772 | */ |
cparata | 0:f27ce43dee4f | 1773 | int LSM6DSOXSensor::disable_double_tap_detection() |
cparata | 0:f27ce43dee4f | 1774 | { |
cparata | 0:f27ce43dee4f | 1775 | lsm6dsox_pin_int1_route_t val1; |
cparata | 0:f27ce43dee4f | 1776 | lsm6dsox_pin_int2_route_t val2; |
cparata | 0:f27ce43dee4f | 1777 | |
cparata | 0:f27ce43dee4f | 1778 | /* Disable double tap event on both INT1 and INT2 pins */ |
cparata | 0:f27ce43dee4f | 1779 | if (lsm6dsox_pin_int1_route_get(&_reg_ctx, &val1) != 0) |
cparata | 0:f27ce43dee4f | 1780 | { |
cparata | 0:f27ce43dee4f | 1781 | return 1; |
cparata | 0:f27ce43dee4f | 1782 | } |
cparata | 0:f27ce43dee4f | 1783 | |
cparata | 0:f27ce43dee4f | 1784 | val1.md1_cfg.int1_double_tap = PROPERTY_DISABLE; |
cparata | 0:f27ce43dee4f | 1785 | |
cparata | 0:f27ce43dee4f | 1786 | if (lsm6dsox_pin_int1_route_set(&_reg_ctx, &val1) != 0) |
cparata | 0:f27ce43dee4f | 1787 | { |
cparata | 0:f27ce43dee4f | 1788 | return 1; |
cparata | 0:f27ce43dee4f | 1789 | } |
cparata | 0:f27ce43dee4f | 1790 | |
cparata | 0:f27ce43dee4f | 1791 | if (lsm6dsox_pin_int2_route_get(&_reg_ctx, &val2) != 0) |
cparata | 0:f27ce43dee4f | 1792 | { |
cparata | 0:f27ce43dee4f | 1793 | return 1; |
cparata | 0:f27ce43dee4f | 1794 | } |
cparata | 0:f27ce43dee4f | 1795 | |
cparata | 0:f27ce43dee4f | 1796 | val2.md2_cfg.int2_double_tap = PROPERTY_DISABLE; |
cparata | 0:f27ce43dee4f | 1797 | |
cparata | 0:f27ce43dee4f | 1798 | if (lsm6dsox_pin_int2_route_set(&_reg_ctx, &val2) != 0) |
cparata | 0:f27ce43dee4f | 1799 | { |
cparata | 0:f27ce43dee4f | 1800 | return 1; |
cparata | 0:f27ce43dee4f | 1801 | } |
cparata | 0:f27ce43dee4f | 1802 | |
cparata | 0:f27ce43dee4f | 1803 | /* Only single tap enabled. */ |
cparata | 0:f27ce43dee4f | 1804 | if (lsm6dsox_tap_mode_set(&_reg_ctx, LSM6DSOX_ONLY_SINGLE) != 0) |
cparata | 0:f27ce43dee4f | 1805 | { |
cparata | 0:f27ce43dee4f | 1806 | return 1; |
cparata | 0:f27ce43dee4f | 1807 | } |
cparata | 0:f27ce43dee4f | 1808 | |
cparata | 0:f27ce43dee4f | 1809 | /* Reset tap duration time window. */ |
cparata | 0:f27ce43dee4f | 1810 | if (lsm6dsox_tap_dur_set(&_reg_ctx, 0x00) != 0) |
cparata | 0:f27ce43dee4f | 1811 | { |
cparata | 0:f27ce43dee4f | 1812 | return 1; |
cparata | 0:f27ce43dee4f | 1813 | } |
cparata | 0:f27ce43dee4f | 1814 | |
cparata | 0:f27ce43dee4f | 1815 | /* Reset tap quiet time window. */ |
cparata | 0:f27ce43dee4f | 1816 | if (lsm6dsox_tap_quiet_set(&_reg_ctx, 0x00) != 0) |
cparata | 0:f27ce43dee4f | 1817 | { |
cparata | 0:f27ce43dee4f | 1818 | return 1; |
cparata | 0:f27ce43dee4f | 1819 | } |
cparata | 0:f27ce43dee4f | 1820 | |
cparata | 0:f27ce43dee4f | 1821 | /* Reset tap shock time window. */ |
cparata | 0:f27ce43dee4f | 1822 | if (lsm6dsox_tap_shock_set(&_reg_ctx, 0x00) != 0) |
cparata | 0:f27ce43dee4f | 1823 | { |
cparata | 0:f27ce43dee4f | 1824 | return 1; |
cparata | 0:f27ce43dee4f | 1825 | } |
cparata | 0:f27ce43dee4f | 1826 | |
cparata | 0:f27ce43dee4f | 1827 | /* Reset tap threshold. */ |
cparata | 0:f27ce43dee4f | 1828 | if (lsm6dsox_tap_threshold_x_set(&_reg_ctx, 0x00) != 0) |
cparata | 0:f27ce43dee4f | 1829 | { |
cparata | 0:f27ce43dee4f | 1830 | return 1; |
cparata | 0:f27ce43dee4f | 1831 | } |
cparata | 0:f27ce43dee4f | 1832 | |
cparata | 0:f27ce43dee4f | 1833 | /* Disable Z direction in tap recognition. */ |
cparata | 0:f27ce43dee4f | 1834 | if (lsm6dsox_tap_detection_on_z_set(&_reg_ctx, PROPERTY_DISABLE) != 0) |
cparata | 0:f27ce43dee4f | 1835 | { |
cparata | 0:f27ce43dee4f | 1836 | return 1; |
cparata | 0:f27ce43dee4f | 1837 | } |
cparata | 0:f27ce43dee4f | 1838 | |
cparata | 0:f27ce43dee4f | 1839 | /* Disable Y direction in tap recognition. */ |
cparata | 0:f27ce43dee4f | 1840 | if (lsm6dsox_tap_detection_on_y_set(&_reg_ctx, PROPERTY_DISABLE) != 0) |
cparata | 0:f27ce43dee4f | 1841 | { |
cparata | 0:f27ce43dee4f | 1842 | return 1; |
cparata | 0:f27ce43dee4f | 1843 | } |
cparata | 0:f27ce43dee4f | 1844 | |
cparata | 0:f27ce43dee4f | 1845 | /* Disable X direction in tap recognition. */ |
cparata | 0:f27ce43dee4f | 1846 | if (lsm6dsox_tap_detection_on_x_set(&_reg_ctx, PROPERTY_DISABLE) != 0) |
cparata | 0:f27ce43dee4f | 1847 | { |
cparata | 0:f27ce43dee4f | 1848 | return 1; |
cparata | 0:f27ce43dee4f | 1849 | } |
cparata | 0:f27ce43dee4f | 1850 | |
cparata | 0:f27ce43dee4f | 1851 | return 0; |
cparata | 0:f27ce43dee4f | 1852 | } |
cparata | 0:f27ce43dee4f | 1853 | |
cparata | 0:f27ce43dee4f | 1854 | /** |
cparata | 0:f27ce43dee4f | 1855 | * @brief Set tap threshold |
cparata | 0:f27ce43dee4f | 1856 | * @param thr tap threshold |
cparata | 0:f27ce43dee4f | 1857 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 1858 | */ |
cparata | 0:f27ce43dee4f | 1859 | int LSM6DSOXSensor::set_tap_threshold(uint8_t thr) |
cparata | 0:f27ce43dee4f | 1860 | { |
cparata | 0:f27ce43dee4f | 1861 | /* Set tap threshold. */ |
cparata | 0:f27ce43dee4f | 1862 | if (lsm6dsox_tap_threshold_x_set(&_reg_ctx, thr) != 0) |
cparata | 0:f27ce43dee4f | 1863 | { |
cparata | 0:f27ce43dee4f | 1864 | return 1; |
cparata | 0:f27ce43dee4f | 1865 | } |
cparata | 0:f27ce43dee4f | 1866 | |
cparata | 0:f27ce43dee4f | 1867 | return 0; |
cparata | 0:f27ce43dee4f | 1868 | } |
cparata | 0:f27ce43dee4f | 1869 | |
cparata | 0:f27ce43dee4f | 1870 | /** |
cparata | 0:f27ce43dee4f | 1871 | * @brief Set tap shock time |
cparata | 0:f27ce43dee4f | 1872 | * @param time tap shock time |
cparata | 0:f27ce43dee4f | 1873 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 1874 | */ |
cparata | 0:f27ce43dee4f | 1875 | int LSM6DSOXSensor::set_tap_shock_time(uint8_t time) |
cparata | 0:f27ce43dee4f | 1876 | { |
cparata | 0:f27ce43dee4f | 1877 | /* Set tap shock time window. */ |
cparata | 0:f27ce43dee4f | 1878 | if (lsm6dsox_tap_shock_set(&_reg_ctx, time) != 0) |
cparata | 0:f27ce43dee4f | 1879 | { |
cparata | 0:f27ce43dee4f | 1880 | return 1; |
cparata | 0:f27ce43dee4f | 1881 | } |
cparata | 0:f27ce43dee4f | 1882 | |
cparata | 0:f27ce43dee4f | 1883 | return 0; |
cparata | 0:f27ce43dee4f | 1884 | } |
cparata | 0:f27ce43dee4f | 1885 | |
cparata | 0:f27ce43dee4f | 1886 | /** |
cparata | 0:f27ce43dee4f | 1887 | * @brief Set tap quiet time |
cparata | 0:f27ce43dee4f | 1888 | * @param time tap quiet time |
cparata | 0:f27ce43dee4f | 1889 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 1890 | */ |
cparata | 0:f27ce43dee4f | 1891 | int LSM6DSOXSensor::set_tap_quiet_time(uint8_t time) |
cparata | 0:f27ce43dee4f | 1892 | { |
cparata | 0:f27ce43dee4f | 1893 | /* Set tap quiet time window. */ |
cparata | 0:f27ce43dee4f | 1894 | if (lsm6dsox_tap_quiet_set(&_reg_ctx, time) != 0) |
cparata | 0:f27ce43dee4f | 1895 | { |
cparata | 0:f27ce43dee4f | 1896 | return 1; |
cparata | 0:f27ce43dee4f | 1897 | } |
cparata | 0:f27ce43dee4f | 1898 | |
cparata | 0:f27ce43dee4f | 1899 | return 0; |
cparata | 0:f27ce43dee4f | 1900 | } |
cparata | 0:f27ce43dee4f | 1901 | |
cparata | 0:f27ce43dee4f | 1902 | /** |
cparata | 0:f27ce43dee4f | 1903 | * @brief Set tap duration time |
cparata | 0:f27ce43dee4f | 1904 | * @param time tap duration time |
cparata | 0:f27ce43dee4f | 1905 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 1906 | */ |
cparata | 0:f27ce43dee4f | 1907 | int LSM6DSOXSensor::set_tap_duration_time(uint8_t time) |
cparata | 0:f27ce43dee4f | 1908 | { |
cparata | 0:f27ce43dee4f | 1909 | /* Set tap duration time window. */ |
cparata | 0:f27ce43dee4f | 1910 | if (lsm6dsox_tap_dur_set(&_reg_ctx, time) != 0) |
cparata | 0:f27ce43dee4f | 1911 | { |
cparata | 0:f27ce43dee4f | 1912 | return 1; |
cparata | 0:f27ce43dee4f | 1913 | } |
cparata | 0:f27ce43dee4f | 1914 | |
cparata | 0:f27ce43dee4f | 1915 | return 0; |
cparata | 0:f27ce43dee4f | 1916 | } |
cparata | 0:f27ce43dee4f | 1917 | |
cparata | 0:f27ce43dee4f | 1918 | /** |
cparata | 0:f27ce43dee4f | 1919 | * @brief Enable 6D orientation detection |
cparata | 0:f27ce43dee4f | 1920 | * @param int_pin interrupt pin line to be used |
cparata | 0:f27ce43dee4f | 1921 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 1922 | */ |
cparata | 0:f27ce43dee4f | 1923 | int LSM6DSOXSensor::enable_6d_orientation(LSM6DSOX_Interrupt_Pin_t int_pin) |
cparata | 0:f27ce43dee4f | 1924 | { |
cparata | 0:f27ce43dee4f | 1925 | int ret = 0; |
cparata | 0:f27ce43dee4f | 1926 | lsm6dsox_pin_int1_route_t val1; |
cparata | 0:f27ce43dee4f | 1927 | lsm6dsox_pin_int2_route_t val2; |
cparata | 0:f27ce43dee4f | 1928 | |
cparata | 0:f27ce43dee4f | 1929 | /* Output Data Rate selection */ |
cparata | 0:f27ce43dee4f | 1930 | if (set_x_odr(416.0f) != 0) |
cparata | 0:f27ce43dee4f | 1931 | { |
cparata | 0:f27ce43dee4f | 1932 | return 1; |
cparata | 0:f27ce43dee4f | 1933 | } |
cparata | 0:f27ce43dee4f | 1934 | |
cparata | 0:f27ce43dee4f | 1935 | /* Full scale selection */ |
cparata | 0:f27ce43dee4f | 1936 | if (set_x_fs(2.0f) != 0) |
cparata | 0:f27ce43dee4f | 1937 | { |
cparata | 0:f27ce43dee4f | 1938 | return 1; |
cparata | 0:f27ce43dee4f | 1939 | } |
cparata | 0:f27ce43dee4f | 1940 | |
cparata | 0:f27ce43dee4f | 1941 | /* 6D orientation enabled. */ |
cparata | 0:f27ce43dee4f | 1942 | if (lsm6dsox_6d_threshold_set(&_reg_ctx, LSM6DSOX_DEG_60) != 0) |
cparata | 0:f27ce43dee4f | 1943 | { |
cparata | 0:f27ce43dee4f | 1944 | return 1; |
cparata | 0:f27ce43dee4f | 1945 | } |
cparata | 0:f27ce43dee4f | 1946 | |
cparata | 0:f27ce43dee4f | 1947 | /* Enable 6D orientation event on either INT1 or INT2 pin */ |
cparata | 0:f27ce43dee4f | 1948 | switch (int_pin) |
cparata | 0:f27ce43dee4f | 1949 | { |
cparata | 0:f27ce43dee4f | 1950 | case LSM6DSOX_INT1_PIN: |
cparata | 0:f27ce43dee4f | 1951 | if (lsm6dsox_pin_int1_route_get(&_reg_ctx, &val1) != 0) |
cparata | 0:f27ce43dee4f | 1952 | { |
cparata | 0:f27ce43dee4f | 1953 | return 1; |
cparata | 0:f27ce43dee4f | 1954 | } |
cparata | 0:f27ce43dee4f | 1955 | |
cparata | 0:f27ce43dee4f | 1956 | val1.md1_cfg.int1_6d = PROPERTY_ENABLE; |
cparata | 0:f27ce43dee4f | 1957 | |
cparata | 0:f27ce43dee4f | 1958 | if (lsm6dsox_pin_int1_route_set(&_reg_ctx, &val1) != 0) |
cparata | 0:f27ce43dee4f | 1959 | { |
cparata | 0:f27ce43dee4f | 1960 | return 1; |
cparata | 0:f27ce43dee4f | 1961 | } |
cparata | 0:f27ce43dee4f | 1962 | break; |
cparata | 0:f27ce43dee4f | 1963 | |
cparata | 0:f27ce43dee4f | 1964 | case LSM6DSOX_INT2_PIN: |
cparata | 0:f27ce43dee4f | 1965 | if (lsm6dsox_pin_int2_route_get(&_reg_ctx, &val2) != 0) |
cparata | 0:f27ce43dee4f | 1966 | { |
cparata | 0:f27ce43dee4f | 1967 | return 1; |
cparata | 0:f27ce43dee4f | 1968 | } |
cparata | 0:f27ce43dee4f | 1969 | |
cparata | 0:f27ce43dee4f | 1970 | val2.md2_cfg.int2_6d = PROPERTY_ENABLE; |
cparata | 0:f27ce43dee4f | 1971 | |
cparata | 0:f27ce43dee4f | 1972 | if (lsm6dsox_pin_int2_route_set(&_reg_ctx, &val2) != 0) |
cparata | 0:f27ce43dee4f | 1973 | { |
cparata | 0:f27ce43dee4f | 1974 | return 1; |
cparata | 0:f27ce43dee4f | 1975 | } |
cparata | 0:f27ce43dee4f | 1976 | break; |
cparata | 0:f27ce43dee4f | 1977 | |
cparata | 0:f27ce43dee4f | 1978 | default: |
cparata | 0:f27ce43dee4f | 1979 | ret = 1; |
cparata | 0:f27ce43dee4f | 1980 | break; |
cparata | 0:f27ce43dee4f | 1981 | } |
cparata | 0:f27ce43dee4f | 1982 | |
cparata | 0:f27ce43dee4f | 1983 | return ret; |
cparata | 0:f27ce43dee4f | 1984 | } |
cparata | 0:f27ce43dee4f | 1985 | |
cparata | 0:f27ce43dee4f | 1986 | /** |
cparata | 0:f27ce43dee4f | 1987 | * @brief Disable 6D orientation detection |
cparata | 0:f27ce43dee4f | 1988 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 1989 | */ |
cparata | 0:f27ce43dee4f | 1990 | int LSM6DSOXSensor::disable_6d_orientation() |
cparata | 0:f27ce43dee4f | 1991 | { |
cparata | 0:f27ce43dee4f | 1992 | lsm6dsox_pin_int1_route_t val1; |
cparata | 0:f27ce43dee4f | 1993 | lsm6dsox_pin_int2_route_t val2; |
cparata | 0:f27ce43dee4f | 1994 | |
cparata | 0:f27ce43dee4f | 1995 | /* Disable 6D orientation event on both INT1 and INT2 pins */ |
cparata | 0:f27ce43dee4f | 1996 | if (lsm6dsox_pin_int1_route_get(&_reg_ctx, &val1) != 0) |
cparata | 0:f27ce43dee4f | 1997 | { |
cparata | 0:f27ce43dee4f | 1998 | return 1; |
cparata | 0:f27ce43dee4f | 1999 | } |
cparata | 0:f27ce43dee4f | 2000 | |
cparata | 0:f27ce43dee4f | 2001 | val1.md1_cfg.int1_6d = PROPERTY_DISABLE; |
cparata | 0:f27ce43dee4f | 2002 | |
cparata | 0:f27ce43dee4f | 2003 | if (lsm6dsox_pin_int1_route_set(&_reg_ctx, &val1) != 0) |
cparata | 0:f27ce43dee4f | 2004 | { |
cparata | 0:f27ce43dee4f | 2005 | return 1; |
cparata | 0:f27ce43dee4f | 2006 | } |
cparata | 0:f27ce43dee4f | 2007 | |
cparata | 0:f27ce43dee4f | 2008 | if (lsm6dsox_pin_int2_route_get(&_reg_ctx, &val2) != 0) |
cparata | 0:f27ce43dee4f | 2009 | { |
cparata | 0:f27ce43dee4f | 2010 | return 1; |
cparata | 0:f27ce43dee4f | 2011 | } |
cparata | 0:f27ce43dee4f | 2012 | |
cparata | 0:f27ce43dee4f | 2013 | val2.md2_cfg.int2_6d = PROPERTY_DISABLE; |
cparata | 0:f27ce43dee4f | 2014 | |
cparata | 0:f27ce43dee4f | 2015 | if (lsm6dsox_pin_int2_route_set(&_reg_ctx, &val2) != 0) |
cparata | 0:f27ce43dee4f | 2016 | { |
cparata | 0:f27ce43dee4f | 2017 | return 1; |
cparata | 0:f27ce43dee4f | 2018 | } |
cparata | 0:f27ce43dee4f | 2019 | |
cparata | 0:f27ce43dee4f | 2020 | /* Reset 6D orientation. */ |
cparata | 0:f27ce43dee4f | 2021 | if (lsm6dsox_6d_threshold_set(&_reg_ctx, LSM6DSOX_DEG_80) != 0) |
cparata | 0:f27ce43dee4f | 2022 | { |
cparata | 0:f27ce43dee4f | 2023 | return 1; |
cparata | 0:f27ce43dee4f | 2024 | } |
cparata | 0:f27ce43dee4f | 2025 | |
cparata | 0:f27ce43dee4f | 2026 | return 0; |
cparata | 0:f27ce43dee4f | 2027 | } |
cparata | 0:f27ce43dee4f | 2028 | |
cparata | 0:f27ce43dee4f | 2029 | /** |
cparata | 0:f27ce43dee4f | 2030 | * @brief Set 6D orientation threshold |
cparata | 0:f27ce43dee4f | 2031 | * @param thr 6D Orientation detection threshold |
cparata | 0:f27ce43dee4f | 2032 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 2033 | */ |
cparata | 0:f27ce43dee4f | 2034 | int LSM6DSOXSensor::set_6d_orientation_threshold(uint8_t thr) |
cparata | 0:f27ce43dee4f | 2035 | { |
cparata | 0:f27ce43dee4f | 2036 | if (lsm6dsox_6d_threshold_set(&_reg_ctx, (lsm6dsox_sixd_ths_t)thr) != 0) |
cparata | 0:f27ce43dee4f | 2037 | { |
cparata | 0:f27ce43dee4f | 2038 | return 1; |
cparata | 0:f27ce43dee4f | 2039 | } |
cparata | 0:f27ce43dee4f | 2040 | |
cparata | 0:f27ce43dee4f | 2041 | return 0; |
cparata | 0:f27ce43dee4f | 2042 | } |
cparata | 0:f27ce43dee4f | 2043 | |
cparata | 0:f27ce43dee4f | 2044 | /** |
cparata | 0:f27ce43dee4f | 2045 | * @brief Get the status of XLow orientation |
cparata | 0:f27ce43dee4f | 2046 | * @param xl the status of XLow orientation |
cparata | 0:f27ce43dee4f | 2047 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 2048 | */ |
cparata | 0:f27ce43dee4f | 2049 | int LSM6DSOXSensor::get_6d_orientation_xl(uint8_t *xl) |
cparata | 0:f27ce43dee4f | 2050 | { |
cparata | 0:f27ce43dee4f | 2051 | lsm6dsox_d6d_src_t data; |
cparata | 0:f27ce43dee4f | 2052 | |
cparata | 0:f27ce43dee4f | 2053 | if (lsm6dsox_read_reg(&_reg_ctx, LSM6DSOX_D6D_SRC, (uint8_t *)&data, 1) != 0) |
cparata | 0:f27ce43dee4f | 2054 | { |
cparata | 0:f27ce43dee4f | 2055 | return 1; |
cparata | 0:f27ce43dee4f | 2056 | } |
cparata | 0:f27ce43dee4f | 2057 | |
cparata | 0:f27ce43dee4f | 2058 | *xl = data.xl; |
cparata | 0:f27ce43dee4f | 2059 | |
cparata | 0:f27ce43dee4f | 2060 | return 0; |
cparata | 0:f27ce43dee4f | 2061 | } |
cparata | 0:f27ce43dee4f | 2062 | |
cparata | 0:f27ce43dee4f | 2063 | /** |
cparata | 0:f27ce43dee4f | 2064 | * @brief Get the status of XHigh orientation |
cparata | 0:f27ce43dee4f | 2065 | * @param xh the status of XHigh orientation |
cparata | 0:f27ce43dee4f | 2066 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 2067 | */ |
cparata | 0:f27ce43dee4f | 2068 | int LSM6DSOXSensor::get_6d_orientation_xh(uint8_t *xh) |
cparata | 0:f27ce43dee4f | 2069 | { |
cparata | 0:f27ce43dee4f | 2070 | lsm6dsox_d6d_src_t data; |
cparata | 0:f27ce43dee4f | 2071 | |
cparata | 0:f27ce43dee4f | 2072 | if (lsm6dsox_read_reg(&_reg_ctx, LSM6DSOX_D6D_SRC, (uint8_t *)&data, 1) != 0) |
cparata | 0:f27ce43dee4f | 2073 | { |
cparata | 0:f27ce43dee4f | 2074 | return 1; |
cparata | 0:f27ce43dee4f | 2075 | } |
cparata | 0:f27ce43dee4f | 2076 | |
cparata | 0:f27ce43dee4f | 2077 | *xh = data.xh; |
cparata | 0:f27ce43dee4f | 2078 | |
cparata | 0:f27ce43dee4f | 2079 | return 0; |
cparata | 0:f27ce43dee4f | 2080 | } |
cparata | 0:f27ce43dee4f | 2081 | |
cparata | 0:f27ce43dee4f | 2082 | /** |
cparata | 0:f27ce43dee4f | 2083 | * @brief Get the status of YLow orientation |
cparata | 0:f27ce43dee4f | 2084 | * @param yl the status of YLow orientation |
cparata | 0:f27ce43dee4f | 2085 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 2086 | */ |
cparata | 0:f27ce43dee4f | 2087 | int LSM6DSOXSensor::get_6d_orientation_yl(uint8_t *yl) |
cparata | 0:f27ce43dee4f | 2088 | { |
cparata | 0:f27ce43dee4f | 2089 | lsm6dsox_d6d_src_t data; |
cparata | 0:f27ce43dee4f | 2090 | |
cparata | 0:f27ce43dee4f | 2091 | if (lsm6dsox_read_reg(&_reg_ctx, LSM6DSOX_D6D_SRC, (uint8_t *)&data, 1) != 0) |
cparata | 0:f27ce43dee4f | 2092 | { |
cparata | 0:f27ce43dee4f | 2093 | return 1; |
cparata | 0:f27ce43dee4f | 2094 | } |
cparata | 0:f27ce43dee4f | 2095 | |
cparata | 0:f27ce43dee4f | 2096 | *yl = data.yl; |
cparata | 0:f27ce43dee4f | 2097 | |
cparata | 0:f27ce43dee4f | 2098 | return 0; |
cparata | 0:f27ce43dee4f | 2099 | } |
cparata | 0:f27ce43dee4f | 2100 | |
cparata | 0:f27ce43dee4f | 2101 | /** |
cparata | 0:f27ce43dee4f | 2102 | * @brief Get the status of YHigh orientation |
cparata | 0:f27ce43dee4f | 2103 | * @param yh the status of YHigh orientation |
cparata | 0:f27ce43dee4f | 2104 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 2105 | */ |
cparata | 0:f27ce43dee4f | 2106 | int LSM6DSOXSensor::get_6d_orientation_yh(uint8_t *yh) |
cparata | 0:f27ce43dee4f | 2107 | { |
cparata | 0:f27ce43dee4f | 2108 | lsm6dsox_d6d_src_t data; |
cparata | 0:f27ce43dee4f | 2109 | |
cparata | 0:f27ce43dee4f | 2110 | if (lsm6dsox_read_reg(&_reg_ctx, LSM6DSOX_D6D_SRC, (uint8_t *)&data, 1) != 0) |
cparata | 0:f27ce43dee4f | 2111 | { |
cparata | 0:f27ce43dee4f | 2112 | return 1; |
cparata | 0:f27ce43dee4f | 2113 | } |
cparata | 0:f27ce43dee4f | 2114 | |
cparata | 0:f27ce43dee4f | 2115 | *yh = data.yh; |
cparata | 0:f27ce43dee4f | 2116 | |
cparata | 0:f27ce43dee4f | 2117 | return 0; |
cparata | 0:f27ce43dee4f | 2118 | } |
cparata | 0:f27ce43dee4f | 2119 | |
cparata | 0:f27ce43dee4f | 2120 | /** |
cparata | 0:f27ce43dee4f | 2121 | * @brief Get the status of ZLow orientation |
cparata | 0:f27ce43dee4f | 2122 | * @param zl the status of ZLow orientation |
cparata | 0:f27ce43dee4f | 2123 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 2124 | */ |
cparata | 0:f27ce43dee4f | 2125 | int LSM6DSOXSensor::get_6d_orientation_zl(uint8_t *zl) |
cparata | 0:f27ce43dee4f | 2126 | { |
cparata | 0:f27ce43dee4f | 2127 | lsm6dsox_d6d_src_t data; |
cparata | 0:f27ce43dee4f | 2128 | |
cparata | 0:f27ce43dee4f | 2129 | if (lsm6dsox_read_reg(&_reg_ctx, LSM6DSOX_D6D_SRC, (uint8_t *)&data, 1) != 0) |
cparata | 0:f27ce43dee4f | 2130 | { |
cparata | 0:f27ce43dee4f | 2131 | return 1; |
cparata | 0:f27ce43dee4f | 2132 | } |
cparata | 0:f27ce43dee4f | 2133 | |
cparata | 0:f27ce43dee4f | 2134 | *zl = data.zl; |
cparata | 0:f27ce43dee4f | 2135 | |
cparata | 0:f27ce43dee4f | 2136 | return 0; |
cparata | 0:f27ce43dee4f | 2137 | } |
cparata | 0:f27ce43dee4f | 2138 | |
cparata | 0:f27ce43dee4f | 2139 | /** |
cparata | 0:f27ce43dee4f | 2140 | * @brief Get the status of ZHigh orientation |
cparata | 0:f27ce43dee4f | 2141 | * @param zh the status of ZHigh orientation |
cparata | 0:f27ce43dee4f | 2142 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 2143 | */ |
cparata | 0:f27ce43dee4f | 2144 | int LSM6DSOXSensor::get_6d_orientation_zh(uint8_t *zh) |
cparata | 0:f27ce43dee4f | 2145 | { |
cparata | 0:f27ce43dee4f | 2146 | lsm6dsox_d6d_src_t data; |
cparata | 0:f27ce43dee4f | 2147 | |
cparata | 0:f27ce43dee4f | 2148 | if (lsm6dsox_read_reg(&_reg_ctx, LSM6DSOX_D6D_SRC, (uint8_t *)&data, 1) != 0) |
cparata | 0:f27ce43dee4f | 2149 | { |
cparata | 0:f27ce43dee4f | 2150 | return 1; |
cparata | 0:f27ce43dee4f | 2151 | } |
cparata | 0:f27ce43dee4f | 2152 | |
cparata | 0:f27ce43dee4f | 2153 | *zh = data.zh; |
cparata | 0:f27ce43dee4f | 2154 | |
cparata | 0:f27ce43dee4f | 2155 | return 0; |
cparata | 0:f27ce43dee4f | 2156 | } |
cparata | 0:f27ce43dee4f | 2157 | |
cparata | 0:f27ce43dee4f | 2158 | /** |
cparata | 0:f27ce43dee4f | 2159 | * @brief Get the LSM6DSOX ACC data ready bit value |
cparata | 0:f27ce43dee4f | 2160 | * @param status the status of data ready bit |
cparata | 0:f27ce43dee4f | 2161 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 2162 | */ |
cparata | 0:f27ce43dee4f | 2163 | int LSM6DSOXSensor::get_x_drdy_status(uint8_t *status) |
cparata | 0:f27ce43dee4f | 2164 | { |
cparata | 0:f27ce43dee4f | 2165 | if (lsm6dsox_xl_flag_data_ready_get(&_reg_ctx, status) != 0) |
cparata | 0:f27ce43dee4f | 2166 | { |
cparata | 0:f27ce43dee4f | 2167 | return 1; |
cparata | 0:f27ce43dee4f | 2168 | } |
cparata | 0:f27ce43dee4f | 2169 | |
cparata | 0:f27ce43dee4f | 2170 | return 0; |
cparata | 0:f27ce43dee4f | 2171 | } |
cparata | 0:f27ce43dee4f | 2172 | |
cparata | 0:f27ce43dee4f | 2173 | /** |
cparata | 0:f27ce43dee4f | 2174 | * @brief Get the status of all hardware events |
cparata | 0:f27ce43dee4f | 2175 | * @param status the status of all hardware events |
cparata | 0:f27ce43dee4f | 2176 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 2177 | */ |
cparata | 0:f27ce43dee4f | 2178 | int LSM6DSOXSensor::get_event_status(LSM6DSOX_Event_Status_t *status) |
cparata | 0:f27ce43dee4f | 2179 | { |
cparata | 0:f27ce43dee4f | 2180 | uint8_t tilt_ia = 0U; |
cparata | 0:f27ce43dee4f | 2181 | lsm6dsox_wake_up_src_t wake_up_src; |
cparata | 0:f27ce43dee4f | 2182 | lsm6dsox_tap_src_t tap_src; |
cparata | 0:f27ce43dee4f | 2183 | lsm6dsox_d6d_src_t d6d_src; |
cparata | 0:f27ce43dee4f | 2184 | lsm6dsox_emb_func_src_t func_src; |
cparata | 0:f27ce43dee4f | 2185 | lsm6dsox_md1_cfg_t md1_cfg; |
cparata | 0:f27ce43dee4f | 2186 | lsm6dsox_md2_cfg_t md2_cfg; |
cparata | 0:f27ce43dee4f | 2187 | lsm6dsox_emb_func_int1_t int1_ctrl; |
cparata | 0:f27ce43dee4f | 2188 | lsm6dsox_emb_func_int2_t int2_ctrl; |
cparata | 0:f27ce43dee4f | 2189 | |
cparata | 0:f27ce43dee4f | 2190 | (void)memset((void *)status, 0x0, sizeof(LSM6DSOX_Event_Status_t)); |
cparata | 0:f27ce43dee4f | 2191 | |
cparata | 0:f27ce43dee4f | 2192 | if (lsm6dsox_read_reg(&_reg_ctx, LSM6DSOX_WAKE_UP_SRC, (uint8_t *)&wake_up_src, 1) != 0) |
cparata | 0:f27ce43dee4f | 2193 | { |
cparata | 0:f27ce43dee4f | 2194 | return 1; |
cparata | 0:f27ce43dee4f | 2195 | } |
cparata | 0:f27ce43dee4f | 2196 | |
cparata | 0:f27ce43dee4f | 2197 | if (lsm6dsox_read_reg(&_reg_ctx, LSM6DSOX_TAP_SRC, (uint8_t *)&tap_src, 1) != 0) |
cparata | 0:f27ce43dee4f | 2198 | { |
cparata | 0:f27ce43dee4f | 2199 | return 1; |
cparata | 0:f27ce43dee4f | 2200 | } |
cparata | 0:f27ce43dee4f | 2201 | |
cparata | 0:f27ce43dee4f | 2202 | if (lsm6dsox_read_reg(&_reg_ctx, LSM6DSOX_D6D_SRC, (uint8_t *)&d6d_src, 1) != 0) |
cparata | 0:f27ce43dee4f | 2203 | { |
cparata | 0:f27ce43dee4f | 2204 | return 1; |
cparata | 0:f27ce43dee4f | 2205 | } |
cparata | 0:f27ce43dee4f | 2206 | |
cparata | 0:f27ce43dee4f | 2207 | if (lsm6dsox_mem_bank_set(&_reg_ctx, LSM6DSOX_EMBEDDED_FUNC_BANK) != 0) |
cparata | 0:f27ce43dee4f | 2208 | { |
cparata | 0:f27ce43dee4f | 2209 | return 1; |
cparata | 0:f27ce43dee4f | 2210 | } |
cparata | 0:f27ce43dee4f | 2211 | |
cparata | 0:f27ce43dee4f | 2212 | if (lsm6dsox_read_reg(&_reg_ctx, LSM6DSOX_EMB_FUNC_SRC, (uint8_t *)&func_src, 1) != 0) |
cparata | 0:f27ce43dee4f | 2213 | { |
cparata | 0:f27ce43dee4f | 2214 | return 1; |
cparata | 0:f27ce43dee4f | 2215 | } |
cparata | 0:f27ce43dee4f | 2216 | |
cparata | 0:f27ce43dee4f | 2217 | if (lsm6dsox_read_reg(&_reg_ctx, LSM6DSOX_EMB_FUNC_INT1, (uint8_t *)&int1_ctrl, 1) != 0) |
cparata | 0:f27ce43dee4f | 2218 | { |
cparata | 0:f27ce43dee4f | 2219 | return 1; |
cparata | 0:f27ce43dee4f | 2220 | } |
cparata | 0:f27ce43dee4f | 2221 | |
cparata | 0:f27ce43dee4f | 2222 | if (lsm6dsox_read_reg(&_reg_ctx, LSM6DSOX_EMB_FUNC_INT2, (uint8_t *)&int2_ctrl, 1) != 0) |
cparata | 0:f27ce43dee4f | 2223 | { |
cparata | 0:f27ce43dee4f | 2224 | return 1; |
cparata | 0:f27ce43dee4f | 2225 | } |
cparata | 0:f27ce43dee4f | 2226 | |
cparata | 0:f27ce43dee4f | 2227 | if (lsm6dsox_mem_bank_set(&_reg_ctx, LSM6DSOX_USER_BANK) != 0) |
cparata | 0:f27ce43dee4f | 2228 | { |
cparata | 0:f27ce43dee4f | 2229 | return 1; |
cparata | 0:f27ce43dee4f | 2230 | } |
cparata | 0:f27ce43dee4f | 2231 | |
cparata | 0:f27ce43dee4f | 2232 | if (lsm6dsox_read_reg(&_reg_ctx, LSM6DSOX_MD1_CFG, (uint8_t *)&md1_cfg, 1) != 0) |
cparata | 0:f27ce43dee4f | 2233 | { |
cparata | 0:f27ce43dee4f | 2234 | return 1; |
cparata | 0:f27ce43dee4f | 2235 | } |
cparata | 0:f27ce43dee4f | 2236 | |
cparata | 0:f27ce43dee4f | 2237 | if (lsm6dsox_read_reg(&_reg_ctx, LSM6DSOX_MD2_CFG, (uint8_t *)&md2_cfg, 1) != 0) |
cparata | 0:f27ce43dee4f | 2238 | { |
cparata | 0:f27ce43dee4f | 2239 | return 1; |
cparata | 0:f27ce43dee4f | 2240 | } |
cparata | 0:f27ce43dee4f | 2241 | |
cparata | 0:f27ce43dee4f | 2242 | if (lsm6dsox_tilt_flag_data_ready_get(&_reg_ctx, &tilt_ia) != 0) |
cparata | 0:f27ce43dee4f | 2243 | { |
cparata | 0:f27ce43dee4f | 2244 | return 1; |
cparata | 0:f27ce43dee4f | 2245 | } |
cparata | 0:f27ce43dee4f | 2246 | |
cparata | 0:f27ce43dee4f | 2247 | if ((md1_cfg.int1_ff == 1U) || (md2_cfg.int2_ff == 1U)) |
cparata | 0:f27ce43dee4f | 2248 | { |
cparata | 0:f27ce43dee4f | 2249 | if (wake_up_src.ff_ia == 1U) |
cparata | 0:f27ce43dee4f | 2250 | { |
cparata | 0:f27ce43dee4f | 2251 | status->FreeFallStatus = 1; |
cparata | 0:f27ce43dee4f | 2252 | } |
cparata | 0:f27ce43dee4f | 2253 | } |
cparata | 0:f27ce43dee4f | 2254 | |
cparata | 0:f27ce43dee4f | 2255 | if ((md1_cfg.int1_wu == 1U) || (md2_cfg.int2_wu == 1U)) |
cparata | 0:f27ce43dee4f | 2256 | { |
cparata | 0:f27ce43dee4f | 2257 | if (wake_up_src.wu_ia == 1U) |
cparata | 0:f27ce43dee4f | 2258 | { |
cparata | 0:f27ce43dee4f | 2259 | status->WakeUpStatus = 1; |
cparata | 0:f27ce43dee4f | 2260 | } |
cparata | 0:f27ce43dee4f | 2261 | } |
cparata | 0:f27ce43dee4f | 2262 | |
cparata | 0:f27ce43dee4f | 2263 | if ((md1_cfg.int1_single_tap == 1U) || (md2_cfg.int2_single_tap == 1U)) |
cparata | 0:f27ce43dee4f | 2264 | { |
cparata | 0:f27ce43dee4f | 2265 | if (tap_src.single_tap == 1U) |
cparata | 0:f27ce43dee4f | 2266 | { |
cparata | 0:f27ce43dee4f | 2267 | status->TapStatus = 1; |
cparata | 0:f27ce43dee4f | 2268 | } |
cparata | 0:f27ce43dee4f | 2269 | } |
cparata | 0:f27ce43dee4f | 2270 | |
cparata | 0:f27ce43dee4f | 2271 | if ((md1_cfg.int1_double_tap == 1U) || (md2_cfg.int2_double_tap == 1U)) |
cparata | 0:f27ce43dee4f | 2272 | { |
cparata | 0:f27ce43dee4f | 2273 | if (tap_src.double_tap == 1U) |
cparata | 0:f27ce43dee4f | 2274 | { |
cparata | 0:f27ce43dee4f | 2275 | status->DoubleTapStatus = 1; |
cparata | 0:f27ce43dee4f | 2276 | } |
cparata | 0:f27ce43dee4f | 2277 | } |
cparata | 0:f27ce43dee4f | 2278 | |
cparata | 0:f27ce43dee4f | 2279 | if ((md1_cfg.int1_6d == 1U) || (md2_cfg.int2_6d == 1U)) |
cparata | 0:f27ce43dee4f | 2280 | { |
cparata | 0:f27ce43dee4f | 2281 | if (d6d_src.d6d_ia == 1U) |
cparata | 0:f27ce43dee4f | 2282 | { |
cparata | 0:f27ce43dee4f | 2283 | status->D6DOrientationStatus = 1; |
cparata | 0:f27ce43dee4f | 2284 | } |
cparata | 0:f27ce43dee4f | 2285 | } |
cparata | 0:f27ce43dee4f | 2286 | |
cparata | 0:f27ce43dee4f | 2287 | if (int1_ctrl.int1_step_detector == 1U) |
cparata | 0:f27ce43dee4f | 2288 | { |
cparata | 0:f27ce43dee4f | 2289 | if (func_src.step_detected == 1U) |
cparata | 0:f27ce43dee4f | 2290 | { |
cparata | 0:f27ce43dee4f | 2291 | status->StepStatus = 1; |
cparata | 0:f27ce43dee4f | 2292 | } |
cparata | 0:f27ce43dee4f | 2293 | } |
cparata | 0:f27ce43dee4f | 2294 | |
cparata | 0:f27ce43dee4f | 2295 | if ((int1_ctrl.int1_tilt == 1U) || (int2_ctrl.int2_tilt == 1U)) |
cparata | 0:f27ce43dee4f | 2296 | { |
cparata | 0:f27ce43dee4f | 2297 | if (tilt_ia == 1U) |
cparata | 0:f27ce43dee4f | 2298 | { |
cparata | 0:f27ce43dee4f | 2299 | status->TiltStatus = 1; |
cparata | 0:f27ce43dee4f | 2300 | } |
cparata | 0:f27ce43dee4f | 2301 | } |
cparata | 0:f27ce43dee4f | 2302 | |
cparata | 0:f27ce43dee4f | 2303 | return 0; |
cparata | 0:f27ce43dee4f | 2304 | } |
cparata | 0:f27ce43dee4f | 2305 | |
cparata | 0:f27ce43dee4f | 2306 | /** |
cparata | 0:f27ce43dee4f | 2307 | * @brief Set self test |
cparata | 0:f27ce43dee4f | 2308 | * @param val the value of st_xl in reg CTRL5_C |
cparata | 0:f27ce43dee4f | 2309 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 2310 | */ |
cparata | 0:f27ce43dee4f | 2311 | int LSM6DSOXSensor::set_x_self_test(uint8_t val) |
cparata | 0:f27ce43dee4f | 2312 | { |
cparata | 0:f27ce43dee4f | 2313 | lsm6dsox_st_xl_t reg; |
cparata | 0:f27ce43dee4f | 2314 | |
cparata | 0:f27ce43dee4f | 2315 | reg = (val == 0U) ? LSM6DSOX_XL_ST_DISABLE |
cparata | 0:f27ce43dee4f | 2316 | : (val == 1U) ? LSM6DSOX_XL_ST_POSITIVE |
cparata | 0:f27ce43dee4f | 2317 | : (val == 2U) ? LSM6DSOX_XL_ST_NEGATIVE |
cparata | 0:f27ce43dee4f | 2318 | : LSM6DSOX_XL_ST_DISABLE; |
cparata | 0:f27ce43dee4f | 2319 | |
cparata | 0:f27ce43dee4f | 2320 | if (lsm6dsox_xl_self_test_set(&_reg_ctx, reg) != 0) |
cparata | 0:f27ce43dee4f | 2321 | { |
cparata | 0:f27ce43dee4f | 2322 | return 1; |
cparata | 0:f27ce43dee4f | 2323 | } |
cparata | 0:f27ce43dee4f | 2324 | |
cparata | 0:f27ce43dee4f | 2325 | return 0; |
cparata | 0:f27ce43dee4f | 2326 | } |
cparata | 0:f27ce43dee4f | 2327 | |
cparata | 0:f27ce43dee4f | 2328 | /** |
cparata | 0:f27ce43dee4f | 2329 | * @brief Get the LSM6DSOX GYRO data ready bit value |
cparata | 0:f27ce43dee4f | 2330 | * @param status the status of data ready bit |
cparata | 0:f27ce43dee4f | 2331 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 2332 | */ |
cparata | 0:f27ce43dee4f | 2333 | int LSM6DSOXSensor::get_g_drdy_status(uint8_t *status) |
cparata | 0:f27ce43dee4f | 2334 | { |
cparata | 0:f27ce43dee4f | 2335 | if (lsm6dsox_gy_flag_data_ready_get(&_reg_ctx, status) != 0) |
cparata | 0:f27ce43dee4f | 2336 | { |
cparata | 0:f27ce43dee4f | 2337 | return 1; |
cparata | 0:f27ce43dee4f | 2338 | } |
cparata | 0:f27ce43dee4f | 2339 | |
cparata | 0:f27ce43dee4f | 2340 | return 0; |
cparata | 0:f27ce43dee4f | 2341 | } |
cparata | 0:f27ce43dee4f | 2342 | |
cparata | 0:f27ce43dee4f | 2343 | /** |
cparata | 0:f27ce43dee4f | 2344 | * @brief Set self test |
cparata | 0:f27ce43dee4f | 2345 | * @param val the value of st_xl in reg CTRL5_C |
cparata | 0:f27ce43dee4f | 2346 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 2347 | */ |
cparata | 0:f27ce43dee4f | 2348 | int LSM6DSOXSensor::set_g_self_test(uint8_t val) |
cparata | 0:f27ce43dee4f | 2349 | { |
cparata | 0:f27ce43dee4f | 2350 | lsm6dsox_st_g_t reg; |
cparata | 0:f27ce43dee4f | 2351 | |
cparata | 0:f27ce43dee4f | 2352 | reg = (val == 0U) ? LSM6DSOX_GY_ST_DISABLE |
cparata | 0:f27ce43dee4f | 2353 | : (val == 1U) ? LSM6DSOX_GY_ST_POSITIVE |
cparata | 0:f27ce43dee4f | 2354 | : (val == 2U) ? LSM6DSOX_GY_ST_NEGATIVE |
cparata | 0:f27ce43dee4f | 2355 | : LSM6DSOX_GY_ST_DISABLE; |
cparata | 0:f27ce43dee4f | 2356 | |
cparata | 0:f27ce43dee4f | 2357 | |
cparata | 0:f27ce43dee4f | 2358 | if (lsm6dsox_gy_self_test_set(&_reg_ctx, reg) != 0) |
cparata | 0:f27ce43dee4f | 2359 | { |
cparata | 0:f27ce43dee4f | 2360 | return 1; |
cparata | 0:f27ce43dee4f | 2361 | } |
cparata | 0:f27ce43dee4f | 2362 | |
cparata | 0:f27ce43dee4f | 2363 | return 0; |
cparata | 0:f27ce43dee4f | 2364 | } |
cparata | 0:f27ce43dee4f | 2365 | |
cparata | 0:f27ce43dee4f | 2366 | /** |
cparata | 0:f27ce43dee4f | 2367 | * @brief Get the LSM6DSOX FIFO number of samples |
cparata | 0:f27ce43dee4f | 2368 | * @param num_samples number of samples |
cparata | 0:f27ce43dee4f | 2369 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 2370 | */ |
cparata | 0:f27ce43dee4f | 2371 | int LSM6DSOXSensor::get_fifo_num_samples(uint16_t *num_samples) |
cparata | 0:f27ce43dee4f | 2372 | { |
cparata | 0:f27ce43dee4f | 2373 | if (lsm6dsox_fifo_data_level_get(&_reg_ctx, num_samples) != 0) |
cparata | 0:f27ce43dee4f | 2374 | { |
cparata | 0:f27ce43dee4f | 2375 | return 1; |
cparata | 0:f27ce43dee4f | 2376 | } |
cparata | 0:f27ce43dee4f | 2377 | |
cparata | 0:f27ce43dee4f | 2378 | return 0; |
cparata | 0:f27ce43dee4f | 2379 | } |
cparata | 0:f27ce43dee4f | 2380 | |
cparata | 0:f27ce43dee4f | 2381 | /** |
cparata | 0:f27ce43dee4f | 2382 | * @brief Get the LSM6DSOX FIFO full status |
cparata | 0:f27ce43dee4f | 2383 | * @param status FIFO full status |
cparata | 0:f27ce43dee4f | 2384 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 2385 | */ |
cparata | 0:f27ce43dee4f | 2386 | int LSM6DSOXSensor::get_fifo_full_status(uint8_t *status) |
cparata | 0:f27ce43dee4f | 2387 | { |
cparata | 0:f27ce43dee4f | 2388 | lsm6dsox_reg_t reg; |
cparata | 0:f27ce43dee4f | 2389 | |
cparata | 0:f27ce43dee4f | 2390 | if (lsm6dsox_read_reg(&_reg_ctx, LSM6DSOX_FIFO_STATUS2, ®.byte, 1) != 0) |
cparata | 0:f27ce43dee4f | 2391 | { |
cparata | 0:f27ce43dee4f | 2392 | return 1; |
cparata | 0:f27ce43dee4f | 2393 | } |
cparata | 0:f27ce43dee4f | 2394 | |
cparata | 0:f27ce43dee4f | 2395 | *status = reg.fifo_status2.fifo_full_ia; |
cparata | 0:f27ce43dee4f | 2396 | |
cparata | 0:f27ce43dee4f | 2397 | return 0; |
cparata | 0:f27ce43dee4f | 2398 | } |
cparata | 0:f27ce43dee4f | 2399 | |
cparata | 0:f27ce43dee4f | 2400 | /** |
cparata | 0:f27ce43dee4f | 2401 | * @brief Set the LSM6DSOX FIFO full interrupt on INT1 pin |
cparata | 0:f27ce43dee4f | 2402 | * @param status FIFO full interrupt on INT1 pin status |
cparata | 0:f27ce43dee4f | 2403 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 2404 | */ |
cparata | 0:f27ce43dee4f | 2405 | int LSM6DSOXSensor::set_fifo_int1_fifo_full(uint8_t status) |
cparata | 0:f27ce43dee4f | 2406 | { |
cparata | 0:f27ce43dee4f | 2407 | lsm6dsox_reg_t reg; |
cparata | 0:f27ce43dee4f | 2408 | |
cparata | 0:f27ce43dee4f | 2409 | if (lsm6dsox_read_reg(&_reg_ctx, LSM6DSOX_INT1_CTRL, ®.byte, 1) != 0) |
cparata | 0:f27ce43dee4f | 2410 | { |
cparata | 0:f27ce43dee4f | 2411 | return 1; |
cparata | 0:f27ce43dee4f | 2412 | } |
cparata | 0:f27ce43dee4f | 2413 | |
cparata | 0:f27ce43dee4f | 2414 | reg.int1_ctrl.int1_fifo_full = status; |
cparata | 0:f27ce43dee4f | 2415 | |
cparata | 0:f27ce43dee4f | 2416 | if (lsm6dsox_write_reg(&_reg_ctx, LSM6DSOX_INT1_CTRL, ®.byte, 1) != 0) |
cparata | 0:f27ce43dee4f | 2417 | { |
cparata | 0:f27ce43dee4f | 2418 | return 1; |
cparata | 0:f27ce43dee4f | 2419 | } |
cparata | 0:f27ce43dee4f | 2420 | |
cparata | 0:f27ce43dee4f | 2421 | return 0; |
cparata | 0:f27ce43dee4f | 2422 | } |
cparata | 0:f27ce43dee4f | 2423 | |
cparata | 0:f27ce43dee4f | 2424 | /** |
cparata | 0:f27ce43dee4f | 2425 | * @brief Set the LSM6DSOX FIFO watermark level |
cparata | 0:f27ce43dee4f | 2426 | * @param watermark FIFO watermark level |
cparata | 0:f27ce43dee4f | 2427 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 2428 | */ |
cparata | 0:f27ce43dee4f | 2429 | int LSM6DSOXSensor::set_fifo_watermark_level(uint16_t watermark) |
cparata | 0:f27ce43dee4f | 2430 | { |
cparata | 0:f27ce43dee4f | 2431 | if (lsm6dsox_fifo_watermark_set(&_reg_ctx, watermark) != 0) |
cparata | 0:f27ce43dee4f | 2432 | { |
cparata | 0:f27ce43dee4f | 2433 | return 1; |
cparata | 0:f27ce43dee4f | 2434 | } |
cparata | 0:f27ce43dee4f | 2435 | |
cparata | 0:f27ce43dee4f | 2436 | return 0; |
cparata | 0:f27ce43dee4f | 2437 | } |
cparata | 0:f27ce43dee4f | 2438 | |
cparata | 0:f27ce43dee4f | 2439 | /** |
cparata | 0:f27ce43dee4f | 2440 | * @brief Set the LSM6DSOX FIFO stop on watermark |
cparata | 0:f27ce43dee4f | 2441 | * @param status FIFO stop on watermark status |
cparata | 0:f27ce43dee4f | 2442 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 2443 | */ |
cparata | 0:f27ce43dee4f | 2444 | int LSM6DSOXSensor::set_fifo_stop_on_fth(uint8_t status) |
cparata | 0:f27ce43dee4f | 2445 | { |
cparata | 0:f27ce43dee4f | 2446 | if (lsm6dsox_fifo_stop_on_wtm_set(&_reg_ctx, status) != 0) |
cparata | 0:f27ce43dee4f | 2447 | { |
cparata | 0:f27ce43dee4f | 2448 | return 1; |
cparata | 0:f27ce43dee4f | 2449 | } |
cparata | 0:f27ce43dee4f | 2450 | |
cparata | 0:f27ce43dee4f | 2451 | return 0; |
cparata | 0:f27ce43dee4f | 2452 | } |
cparata | 0:f27ce43dee4f | 2453 | |
cparata | 0:f27ce43dee4f | 2454 | /** |
cparata | 0:f27ce43dee4f | 2455 | * @brief Set the LSM6DSOX FIFO mode |
cparata | 0:f27ce43dee4f | 2456 | * @param mode FIFO mode |
cparata | 0:f27ce43dee4f | 2457 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 2458 | */ |
cparata | 0:f27ce43dee4f | 2459 | int LSM6DSOXSensor::set_fifo_mode(uint8_t mode) |
cparata | 0:f27ce43dee4f | 2460 | { |
cparata | 0:f27ce43dee4f | 2461 | int ret = 0; |
cparata | 0:f27ce43dee4f | 2462 | |
cparata | 0:f27ce43dee4f | 2463 | /* Verify that the passed parameter contains one of the valid values. */ |
cparata | 0:f27ce43dee4f | 2464 | switch ((lsm6dsox_fifo_mode_t)mode) |
cparata | 0:f27ce43dee4f | 2465 | { |
cparata | 0:f27ce43dee4f | 2466 | case LSM6DSOX_BYPASS_MODE: |
cparata | 0:f27ce43dee4f | 2467 | case LSM6DSOX_FIFO_MODE: |
cparata | 0:f27ce43dee4f | 2468 | case LSM6DSOX_STREAM_TO_FIFO_MODE: |
cparata | 0:f27ce43dee4f | 2469 | case LSM6DSOX_BYPASS_TO_STREAM_MODE: |
cparata | 0:f27ce43dee4f | 2470 | case LSM6DSOX_STREAM_MODE: |
cparata | 0:f27ce43dee4f | 2471 | break; |
cparata | 0:f27ce43dee4f | 2472 | |
cparata | 0:f27ce43dee4f | 2473 | default: |
cparata | 0:f27ce43dee4f | 2474 | ret = 1; |
cparata | 0:f27ce43dee4f | 2475 | break; |
cparata | 0:f27ce43dee4f | 2476 | } |
cparata | 0:f27ce43dee4f | 2477 | |
cparata | 0:f27ce43dee4f | 2478 | if (ret == 1) |
cparata | 0:f27ce43dee4f | 2479 | { |
cparata | 0:f27ce43dee4f | 2480 | return ret; |
cparata | 0:f27ce43dee4f | 2481 | } |
cparata | 0:f27ce43dee4f | 2482 | |
cparata | 0:f27ce43dee4f | 2483 | if (lsm6dsox_fifo_mode_set(&_reg_ctx, (lsm6dsox_fifo_mode_t)mode) != 0) |
cparata | 0:f27ce43dee4f | 2484 | { |
cparata | 0:f27ce43dee4f | 2485 | return 1; |
cparata | 0:f27ce43dee4f | 2486 | } |
cparata | 0:f27ce43dee4f | 2487 | |
cparata | 0:f27ce43dee4f | 2488 | return ret; |
cparata | 0:f27ce43dee4f | 2489 | } |
cparata | 0:f27ce43dee4f | 2490 | |
cparata | 0:f27ce43dee4f | 2491 | /** |
cparata | 0:f27ce43dee4f | 2492 | * @brief Get the LSM6DSOX FIFO tag |
cparata | 0:f27ce43dee4f | 2493 | * @param tag FIFO tag |
cparata | 0:f27ce43dee4f | 2494 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 2495 | */ |
cparata | 0:f27ce43dee4f | 2496 | int LSM6DSOXSensor::get_fifo_tag(uint8_t *tag) |
cparata | 0:f27ce43dee4f | 2497 | { |
cparata | 0:f27ce43dee4f | 2498 | lsm6dsox_fifo_tag_t tag_local; |
cparata | 0:f27ce43dee4f | 2499 | |
cparata | 0:f27ce43dee4f | 2500 | if (lsm6dsox_fifo_sensor_tag_get(&_reg_ctx, &tag_local) != 0) |
cparata | 0:f27ce43dee4f | 2501 | { |
cparata | 0:f27ce43dee4f | 2502 | return 1; |
cparata | 0:f27ce43dee4f | 2503 | } |
cparata | 0:f27ce43dee4f | 2504 | |
cparata | 0:f27ce43dee4f | 2505 | *tag = (uint8_t)tag_local; |
cparata | 0:f27ce43dee4f | 2506 | |
cparata | 0:f27ce43dee4f | 2507 | return 0; |
cparata | 0:f27ce43dee4f | 2508 | } |
cparata | 0:f27ce43dee4f | 2509 | |
cparata | 0:f27ce43dee4f | 2510 | /** |
cparata | 0:f27ce43dee4f | 2511 | * @brief Get the LSM6DSOX FIFO raw data |
cparata | 0:f27ce43dee4f | 2512 | * @param data FIFO raw data array [6] |
cparata | 0:f27ce43dee4f | 2513 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 2514 | */ |
cparata | 0:f27ce43dee4f | 2515 | int LSM6DSOXSensor::get_fifo_data(uint8_t *data) |
cparata | 0:f27ce43dee4f | 2516 | { |
cparata | 0:f27ce43dee4f | 2517 | if (lsm6dsox_read_reg(&_reg_ctx, LSM6DSOX_FIFO_DATA_OUT_X_L, data, 6) != 0) |
cparata | 0:f27ce43dee4f | 2518 | { |
cparata | 0:f27ce43dee4f | 2519 | return 1; |
cparata | 0:f27ce43dee4f | 2520 | } |
cparata | 0:f27ce43dee4f | 2521 | |
cparata | 0:f27ce43dee4f | 2522 | return 0; |
cparata | 0:f27ce43dee4f | 2523 | } |
cparata | 0:f27ce43dee4f | 2524 | |
cparata | 0:f27ce43dee4f | 2525 | /** |
cparata | 0:f27ce43dee4f | 2526 | * @brief Get the LSM6DSOX FIFO accelero single sample (16-bit data per 3 axes) and calculate acceleration [mg] |
cparata | 0:f27ce43dee4f | 2527 | * @param acceleration FIFO accelero axes [mg] |
cparata | 0:f27ce43dee4f | 2528 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 2529 | */ |
cparata | 0:f27ce43dee4f | 2530 | int LSM6DSOXSensor::get_fifo_x_axes(int32_t *acceleration) |
cparata | 0:f27ce43dee4f | 2531 | { |
cparata | 0:f27ce43dee4f | 2532 | uint8_t data[6]; |
cparata | 0:f27ce43dee4f | 2533 | int16_t data_raw[3]; |
cparata | 0:f27ce43dee4f | 2534 | float sensitivity = 0.0f; |
cparata | 0:f27ce43dee4f | 2535 | float acceleration_float[3]; |
cparata | 0:f27ce43dee4f | 2536 | |
cparata | 0:f27ce43dee4f | 2537 | if (get_fifo_data(data) != 0) |
cparata | 0:f27ce43dee4f | 2538 | { |
cparata | 0:f27ce43dee4f | 2539 | return 1; |
cparata | 0:f27ce43dee4f | 2540 | } |
cparata | 0:f27ce43dee4f | 2541 | |
cparata | 0:f27ce43dee4f | 2542 | data_raw[0] = ((int16_t)data[1] << 8) | data[0]; |
cparata | 0:f27ce43dee4f | 2543 | data_raw[1] = ((int16_t)data[3] << 8) | data[2]; |
cparata | 0:f27ce43dee4f | 2544 | data_raw[2] = ((int16_t)data[5] << 8) | data[4]; |
cparata | 0:f27ce43dee4f | 2545 | |
cparata | 0:f27ce43dee4f | 2546 | if (get_x_sensitivity(&sensitivity) != 0) |
cparata | 0:f27ce43dee4f | 2547 | { |
cparata | 0:f27ce43dee4f | 2548 | return 1; |
cparata | 0:f27ce43dee4f | 2549 | } |
cparata | 0:f27ce43dee4f | 2550 | |
cparata | 0:f27ce43dee4f | 2551 | acceleration_float[0] = (float)data_raw[0] * sensitivity; |
cparata | 0:f27ce43dee4f | 2552 | acceleration_float[1] = (float)data_raw[1] * sensitivity; |
cparata | 0:f27ce43dee4f | 2553 | acceleration_float[2] = (float)data_raw[2] * sensitivity; |
cparata | 0:f27ce43dee4f | 2554 | |
cparata | 0:f27ce43dee4f | 2555 | acceleration[0] = (int32_t)acceleration_float[0]; |
cparata | 0:f27ce43dee4f | 2556 | acceleration[1] = (int32_t)acceleration_float[1]; |
cparata | 0:f27ce43dee4f | 2557 | acceleration[2] = (int32_t)acceleration_float[2]; |
cparata | 0:f27ce43dee4f | 2558 | |
cparata | 0:f27ce43dee4f | 2559 | return 0; |
cparata | 0:f27ce43dee4f | 2560 | } |
cparata | 0:f27ce43dee4f | 2561 | |
cparata | 0:f27ce43dee4f | 2562 | /** |
cparata | 0:f27ce43dee4f | 2563 | * @brief Set the LSM6DSOX FIFO accelero BDR value |
cparata | 0:f27ce43dee4f | 2564 | * @param bdr FIFO accelero BDR value |
cparata | 0:f27ce43dee4f | 2565 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 2566 | */ |
cparata | 0:f27ce43dee4f | 2567 | int LSM6DSOXSensor::set_fifo_x_bdr(float bdr) |
cparata | 0:f27ce43dee4f | 2568 | { |
cparata | 0:f27ce43dee4f | 2569 | lsm6dsox_bdr_xl_t new_bdr; |
cparata | 0:f27ce43dee4f | 2570 | |
cparata | 0:f27ce43dee4f | 2571 | new_bdr = (bdr <= 0.0f) ? LSM6DSOX_XL_NOT_BATCHED |
cparata | 0:f27ce43dee4f | 2572 | : (bdr <= 12.5f) ? LSM6DSOX_XL_BATCHED_AT_12Hz5 |
cparata | 0:f27ce43dee4f | 2573 | : (bdr <= 26.0f) ? LSM6DSOX_XL_BATCHED_AT_26Hz |
cparata | 0:f27ce43dee4f | 2574 | : (bdr <= 52.0f) ? LSM6DSOX_XL_BATCHED_AT_52Hz |
cparata | 0:f27ce43dee4f | 2575 | : (bdr <= 104.0f) ? LSM6DSOX_XL_BATCHED_AT_104Hz |
cparata | 0:f27ce43dee4f | 2576 | : (bdr <= 208.0f) ? LSM6DSOX_XL_BATCHED_AT_208Hz |
cparata | 0:f27ce43dee4f | 2577 | : (bdr <= 416.0f) ? LSM6DSOX_XL_BATCHED_AT_417Hz |
cparata | 0:f27ce43dee4f | 2578 | : (bdr <= 833.0f) ? LSM6DSOX_XL_BATCHED_AT_833Hz |
cparata | 0:f27ce43dee4f | 2579 | : (bdr <= 1660.0f) ? LSM6DSOX_XL_BATCHED_AT_1667Hz |
cparata | 0:f27ce43dee4f | 2580 | : (bdr <= 3330.0f) ? LSM6DSOX_XL_BATCHED_AT_3333Hz |
cparata | 0:f27ce43dee4f | 2581 | : LSM6DSOX_XL_BATCHED_AT_6667Hz; |
cparata | 0:f27ce43dee4f | 2582 | |
cparata | 0:f27ce43dee4f | 2583 | if (lsm6dsox_fifo_xl_batch_set(&_reg_ctx, new_bdr) != 0) |
cparata | 0:f27ce43dee4f | 2584 | { |
cparata | 0:f27ce43dee4f | 2585 | return 1; |
cparata | 0:f27ce43dee4f | 2586 | } |
cparata | 0:f27ce43dee4f | 2587 | |
cparata | 0:f27ce43dee4f | 2588 | return 0; |
cparata | 0:f27ce43dee4f | 2589 | } |
cparata | 0:f27ce43dee4f | 2590 | |
cparata | 0:f27ce43dee4f | 2591 | /** |
cparata | 0:f27ce43dee4f | 2592 | * @brief Get the LSM6DSOX FIFO gyro single sample (16-bit data per 3 axes) and calculate angular velocity [mDPS] |
cparata | 0:f27ce43dee4f | 2593 | * @param angular_velocity FIFO gyro axes [mDPS] |
cparata | 0:f27ce43dee4f | 2594 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 2595 | */ |
cparata | 0:f27ce43dee4f | 2596 | int LSM6DSOXSensor::get_fifo_g_axes(int32_t *angular_velocity) |
cparata | 0:f27ce43dee4f | 2597 | { |
cparata | 0:f27ce43dee4f | 2598 | uint8_t data[6]; |
cparata | 0:f27ce43dee4f | 2599 | int16_t data_raw[3]; |
cparata | 0:f27ce43dee4f | 2600 | float sensitivity = 0.0f; |
cparata | 0:f27ce43dee4f | 2601 | float angular_velocity_float[3]; |
cparata | 0:f27ce43dee4f | 2602 | |
cparata | 0:f27ce43dee4f | 2603 | if (get_fifo_data(data) != 0) |
cparata | 0:f27ce43dee4f | 2604 | { |
cparata | 0:f27ce43dee4f | 2605 | return 1; |
cparata | 0:f27ce43dee4f | 2606 | } |
cparata | 0:f27ce43dee4f | 2607 | |
cparata | 0:f27ce43dee4f | 2608 | data_raw[0] = ((int16_t)data[1] << 8) | data[0]; |
cparata | 0:f27ce43dee4f | 2609 | data_raw[1] = ((int16_t)data[3] << 8) | data[2]; |
cparata | 0:f27ce43dee4f | 2610 | data_raw[2] = ((int16_t)data[5] << 8) | data[4]; |
cparata | 0:f27ce43dee4f | 2611 | |
cparata | 0:f27ce43dee4f | 2612 | if (get_g_sensitivity(&sensitivity) != 0) |
cparata | 0:f27ce43dee4f | 2613 | { |
cparata | 0:f27ce43dee4f | 2614 | return 1; |
cparata | 0:f27ce43dee4f | 2615 | } |
cparata | 0:f27ce43dee4f | 2616 | |
cparata | 0:f27ce43dee4f | 2617 | angular_velocity_float[0] = (float)data_raw[0] * sensitivity; |
cparata | 0:f27ce43dee4f | 2618 | angular_velocity_float[1] = (float)data_raw[1] * sensitivity; |
cparata | 0:f27ce43dee4f | 2619 | angular_velocity_float[2] = (float)data_raw[2] * sensitivity; |
cparata | 0:f27ce43dee4f | 2620 | |
cparata | 0:f27ce43dee4f | 2621 | angular_velocity[0] = (int32_t)angular_velocity_float[0]; |
cparata | 0:f27ce43dee4f | 2622 | angular_velocity[1] = (int32_t)angular_velocity_float[1]; |
cparata | 0:f27ce43dee4f | 2623 | angular_velocity[2] = (int32_t)angular_velocity_float[2]; |
cparata | 0:f27ce43dee4f | 2624 | |
cparata | 0:f27ce43dee4f | 2625 | return 0; |
cparata | 0:f27ce43dee4f | 2626 | } |
cparata | 0:f27ce43dee4f | 2627 | |
cparata | 0:f27ce43dee4f | 2628 | /** |
cparata | 0:f27ce43dee4f | 2629 | * @brief Set the LSM6DSOX FIFO gyro BDR value |
cparata | 0:f27ce43dee4f | 2630 | * @param bdr FIFO gyro BDR value |
cparata | 0:f27ce43dee4f | 2631 | * @retval 0 in case of success, an error code otherwise |
cparata | 0:f27ce43dee4f | 2632 | */ |
cparata | 0:f27ce43dee4f | 2633 | int LSM6DSOXSensor::set_fifo_g_bdr(float bdr) |
cparata | 0:f27ce43dee4f | 2634 | { |
cparata | 0:f27ce43dee4f | 2635 | lsm6dsox_bdr_gy_t new_bdr; |
cparata | 0:f27ce43dee4f | 2636 | |
cparata | 0:f27ce43dee4f | 2637 | new_bdr = (bdr <= 0.0f) ? LSM6DSOX_GY_NOT_BATCHED |
cparata | 0:f27ce43dee4f | 2638 | : (bdr <= 12.5f) ? LSM6DSOX_GY_BATCHED_AT_12Hz5 |
cparata | 0:f27ce43dee4f | 2639 | : (bdr <= 26.0f) ? LSM6DSOX_GY_BATCHED_AT_26Hz |
cparata | 0:f27ce43dee4f | 2640 | : (bdr <= 52.0f) ? LSM6DSOX_GY_BATCHED_AT_52Hz |
cparata | 0:f27ce43dee4f | 2641 | : (bdr <= 104.0f) ? LSM6DSOX_GY_BATCHED_AT_104Hz |
cparata | 0:f27ce43dee4f | 2642 | : (bdr <= 208.0f) ? LSM6DSOX_GY_BATCHED_AT_208Hz |
cparata | 0:f27ce43dee4f | 2643 | : (bdr <= 416.0f) ? LSM6DSOX_GY_BATCHED_AT_417Hz |
cparata | 0:f27ce43dee4f | 2644 | : (bdr <= 833.0f) ? LSM6DSOX_GY_BATCHED_AT_833Hz |
cparata | 0:f27ce43dee4f | 2645 | : (bdr <= 1660.0f) ? LSM6DSOX_GY_BATCHED_AT_1667Hz |
cparata | 0:f27ce43dee4f | 2646 | : (bdr <= 3330.0f) ? LSM6DSOX_GY_BATCHED_AT_3333Hz |
cparata | 0:f27ce43dee4f | 2647 | : LSM6DSOX_GY_BATCHED_AT_6667Hz; |
cparata | 0:f27ce43dee4f | 2648 | |
cparata | 0:f27ce43dee4f | 2649 | if (lsm6dsox_fifo_gy_batch_set(&_reg_ctx, new_bdr) != 0) |
cparata | 0:f27ce43dee4f | 2650 | { |
cparata | 0:f27ce43dee4f | 2651 | return 1; |
cparata | 0:f27ce43dee4f | 2652 | } |
cparata | 0:f27ce43dee4f | 2653 | |
cparata | 0:f27ce43dee4f | 2654 | return 0; |
cparata | 0:f27ce43dee4f | 2655 | } |
cparata | 0:f27ce43dee4f | 2656 | |
cparata | 0:f27ce43dee4f | 2657 | |
cparata | 0:f27ce43dee4f | 2658 | |
cparata | 0:f27ce43dee4f | 2659 | int32_t LSM6DSOX_io_write(void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite) |
cparata | 0:f27ce43dee4f | 2660 | { |
cparata | 0:f27ce43dee4f | 2661 | return ((LSM6DSOXSensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite); |
cparata | 0:f27ce43dee4f | 2662 | } |
cparata | 0:f27ce43dee4f | 2663 | |
cparata | 0:f27ce43dee4f | 2664 | int32_t LSM6DSOX_io_read(void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead) |
cparata | 0:f27ce43dee4f | 2665 | { |
cparata | 0:f27ce43dee4f | 2666 | return ((LSM6DSOXSensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead); |
cparata | 0:f27ce43dee4f | 2667 | } |