MultiEvent_IKS01A2 - Example of multiple event detection for LSM6DSL i…

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ST / Mbed 2 deprecated MultiEvent_IKS01A2

Example of multiple event detection for LSM6DSL in X-NUCLEO-IKS01A2

Fork of MultiEvent_IKS01A2 by ST Expansion SW Team

Multi Event Demo Application based on sensor expansion board X-NUCLEO-IKS01A2

Main function is to show how to detect the free fall, tap, double tap, tilt, wake up, 6D Orientation and step events using the sensor expansion board and send a notification using UART to a connected PC or Desktop and display it on terminal applications like TeraTerm.
After connection has been established:
- the user can simulate all the events and then view the notification using an hyper terminal.
- the user button can be used to enable/disable all hardware features.

X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.cpp@0:763b80993db4, 2016-11-24 (annotated)

Committer:: cparata
Date:: Thu Nov 24 15:42:24 2016 +0000
Revision:: 0:763b80993db4
Child:: 1:4b4e6a89adce

Add multi event example

Who changed what in which revision?

User	Revision	Line number	New contents of line
cparata	0:763b80993db4	1	/**
cparata	0:763b80993db4	2	******************************************************************************
cparata	0:763b80993db4	3	* @file LSM6DSLSensor.cpp
cparata	0:763b80993db4	4	* @author AST
cparata	0:763b80993db4	5	* @version V1.0.0
cparata	0:763b80993db4	6	* @date 5 August 2016
cparata	0:763b80993db4	7	* @brief Implementation of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
cparata	0:763b80993db4	8	* sensor.
cparata	0:763b80993db4	9	******************************************************************************
cparata	0:763b80993db4	10	* @attention
cparata	0:763b80993db4	11	*
cparata	0:763b80993db4	12	* <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata	0:763b80993db4	13	*
cparata	0:763b80993db4	14	* Redistribution and use in source and binary forms, with or without modification,
cparata	0:763b80993db4	15	* are permitted provided that the following conditions are met:
cparata	0:763b80993db4	16	* 1. Redistributions of source code must retain the above copyright notice,
cparata	0:763b80993db4	17	* this list of conditions and the following disclaimer.
cparata	0:763b80993db4	18	* 2. Redistributions in binary form must reproduce the above copyright notice,
cparata	0:763b80993db4	19	* this list of conditions and the following disclaimer in the documentation
cparata	0:763b80993db4	20	* and/or other materials provided with the distribution.
cparata	0:763b80993db4	21	* 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata	0:763b80993db4	22	* may be used to endorse or promote products derived from this software
cparata	0:763b80993db4	23	* without specific prior written permission.
cparata	0:763b80993db4	24	*
cparata	0:763b80993db4	25	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata	0:763b80993db4	26	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata	0:763b80993db4	27	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata	0:763b80993db4	28	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata	0:763b80993db4	29	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata	0:763b80993db4	30	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata	0:763b80993db4	31	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata	0:763b80993db4	32	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata	0:763b80993db4	33	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata	0:763b80993db4	34	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata	0:763b80993db4	35	*
cparata	0:763b80993db4	36	******************************************************************************
cparata	0:763b80993db4	37	*/
cparata	0:763b80993db4	38
cparata	0:763b80993db4	39
cparata	0:763b80993db4	40	/* Includes ------------------------------------------------------------------*/
cparata	0:763b80993db4	41
cparata	0:763b80993db4	42	#include "mbed.h"
cparata	0:763b80993db4	43	#include "DevI2C.h"
cparata	0:763b80993db4	44	#include "LSM6DSLSensor.h"
cparata	0:763b80993db4	45	#include "LSM6DSL_ACC_GYRO_driver.h"
cparata	0:763b80993db4	46
cparata	0:763b80993db4	47
cparata	0:763b80993db4	48	/* Class Implementation ------------------------------------------------------*/
cparata	0:763b80993db4	49
cparata	0:763b80993db4	50	/** Constructor
cparata	0:763b80993db4	51	* @param i2c object of an helper class which handles the I2C peripheral
cparata	0:763b80993db4	52	* @param address the address of the component's instance
cparata	0:763b80993db4	53	*/
cparata	0:763b80993db4	54	LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, PinName INT1_pin, PinName INT2_pin) : dev_i2c(i2c), INT1_irq(INT1_pin), INT2_irq(INT2_pin)
cparata	0:763b80993db4	55	{
cparata	0:763b80993db4	56	address = LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH;
cparata	0:763b80993db4	57	};
cparata	0:763b80993db4	58
cparata	0:763b80993db4	59	/** Constructor
cparata	0:763b80993db4	60	* @param i2c object of an helper class which handles the I2C peripheral
cparata	0:763b80993db4	61	* @param address the address of the component's instance
cparata	0:763b80993db4	62	*/
cparata	0:763b80993db4	63	LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, PinName INT1_pin, PinName INT2_pin, uint8_t address) : dev_i2c(i2c), INT1_irq(INT1_pin), INT2_irq(INT2_pin), address(address)
cparata	0:763b80993db4	64	{
cparata	0:763b80993db4	65
cparata	0:763b80993db4	66	};
cparata	0:763b80993db4	67
cparata	0:763b80993db4	68	/**
cparata	0:763b80993db4	69	* @brief Initializing the component.
cparata	0:763b80993db4	70	* @param[in] init pointer to device specific initalization structure.
cparata	0:763b80993db4	71	* @retval "0" in case of success, an error code otherwise.
cparata	0:763b80993db4	72	*/
cparata	0:763b80993db4	73	int LSM6DSLSensor::Init(void *init)
cparata	0:763b80993db4	74	{
cparata	0:763b80993db4	75	/* Enable register address automatically incremented during a multiple byte
cparata	0:763b80993db4	76	access with a serial interface. */
cparata	0:763b80993db4	77	if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	78	{
cparata	0:763b80993db4	79	return 1;
cparata	0:763b80993db4	80	}
cparata	0:763b80993db4	81
cparata	0:763b80993db4	82	/* Enable BDU */
cparata	0:763b80993db4	83	if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
cparata	0:763b80993db4	84	{
cparata	0:763b80993db4	85	return 1;
cparata	0:763b80993db4	86	}
cparata	0:763b80993db4	87
cparata	0:763b80993db4	88	/* FIFO mode selection */
cparata	0:763b80993db4	89	if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
cparata	0:763b80993db4	90	{
cparata	0:763b80993db4	91	return 1;
cparata	0:763b80993db4	92	}
cparata	0:763b80993db4	93
cparata	0:763b80993db4	94	/* Output data rate selection - power down. */
cparata	0:763b80993db4	95	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata	0:763b80993db4	96	{
cparata	0:763b80993db4	97	return 1;
cparata	0:763b80993db4	98	}
cparata	0:763b80993db4	99
cparata	0:763b80993db4	100	/* Full scale selection. */
cparata	0:763b80993db4	101	if ( Set_X_FS( 2.0f ) == 1 )
cparata	0:763b80993db4	102	{
cparata	0:763b80993db4	103	return 1;
cparata	0:763b80993db4	104	}
cparata	0:763b80993db4	105
cparata	0:763b80993db4	106	/* Output data rate selection - power down */
cparata	0:763b80993db4	107	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata	0:763b80993db4	108	{
cparata	0:763b80993db4	109	return 1;
cparata	0:763b80993db4	110	}
cparata	0:763b80993db4	111
cparata	0:763b80993db4	112	/* Full scale selection. */
cparata	0:763b80993db4	113	if ( Set_G_FS( 2000.0f ) == 1 )
cparata	0:763b80993db4	114	{
cparata	0:763b80993db4	115	return 1;
cparata	0:763b80993db4	116	}
cparata	0:763b80993db4	117
cparata	0:763b80993db4	118	X_Last_ODR = 104.0f;
cparata	0:763b80993db4	119
cparata	0:763b80993db4	120	X_isEnabled = 0;
cparata	0:763b80993db4	121
cparata	0:763b80993db4	122	G_Last_ODR = 104.0f;
cparata	0:763b80993db4	123
cparata	0:763b80993db4	124	G_isEnabled = 0;
cparata	0:763b80993db4	125
cparata	0:763b80993db4	126	return 0;
cparata	0:763b80993db4	127	}
cparata	0:763b80993db4	128
cparata	0:763b80993db4	129	/**
cparata	0:763b80993db4	130	* @brief Enable LSM6DSL Accelerator
cparata	0:763b80993db4	131	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	132	*/
cparata	0:763b80993db4	133	int LSM6DSLSensor::Enable_X(void)
cparata	0:763b80993db4	134	{
cparata	0:763b80993db4	135	/* Check if the component is already enabled */
cparata	0:763b80993db4	136	if ( X_isEnabled == 1 )
cparata	0:763b80993db4	137	{
cparata	0:763b80993db4	138	return 0;
cparata	0:763b80993db4	139	}
cparata	0:763b80993db4	140
cparata	0:763b80993db4	141	/* Output data rate selection. */
cparata	0:763b80993db4	142	if ( Set_X_ODR_When_Enabled( X_Last_ODR ) == 1 )
cparata	0:763b80993db4	143	{
cparata	0:763b80993db4	144	return 1;
cparata	0:763b80993db4	145	}
cparata	0:763b80993db4	146
cparata	0:763b80993db4	147	X_isEnabled = 1;
cparata	0:763b80993db4	148
cparata	0:763b80993db4	149	return 0;
cparata	0:763b80993db4	150	}
cparata	0:763b80993db4	151
cparata	0:763b80993db4	152	/**
cparata	0:763b80993db4	153	* @brief Enable LSM6DSL Gyroscope
cparata	0:763b80993db4	154	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	155	*/
cparata	0:763b80993db4	156	int LSM6DSLSensor::Enable_G(void)
cparata	0:763b80993db4	157	{
cparata	0:763b80993db4	158	/* Check if the component is already enabled */
cparata	0:763b80993db4	159	if ( G_isEnabled == 1 )
cparata	0:763b80993db4	160	{
cparata	0:763b80993db4	161	return 0;
cparata	0:763b80993db4	162	}
cparata	0:763b80993db4	163
cparata	0:763b80993db4	164	/* Output data rate selection. */
cparata	0:763b80993db4	165	if ( Set_G_ODR_When_Enabled( G_Last_ODR ) == 1 )
cparata	0:763b80993db4	166	{
cparata	0:763b80993db4	167	return 1;
cparata	0:763b80993db4	168	}
cparata	0:763b80993db4	169
cparata	0:763b80993db4	170	G_isEnabled = 1;
cparata	0:763b80993db4	171
cparata	0:763b80993db4	172	return 0;
cparata	0:763b80993db4	173	}
cparata	0:763b80993db4	174
cparata	0:763b80993db4	175	/**
cparata	0:763b80993db4	176	* @brief Disable LSM6DSL Accelerator
cparata	0:763b80993db4	177	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	178	*/
cparata	0:763b80993db4	179	int LSM6DSLSensor::Disable_X(void)
cparata	0:763b80993db4	180	{
cparata	0:763b80993db4	181	/* Check if the component is already disabled */
cparata	0:763b80993db4	182	if ( X_isEnabled == 0 )
cparata	0:763b80993db4	183	{
cparata	0:763b80993db4	184	return 0;
cparata	0:763b80993db4	185	}
cparata	0:763b80993db4	186
cparata	0:763b80993db4	187	/* Store actual output data rate. */
cparata	0:763b80993db4	188	if ( Get_X_ODR( &X_Last_ODR ) == 1 )
cparata	0:763b80993db4	189	{
cparata	0:763b80993db4	190	return 1;
cparata	0:763b80993db4	191	}
cparata	0:763b80993db4	192
cparata	0:763b80993db4	193	/* Output data rate selection - power down. */
cparata	0:763b80993db4	194	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata	0:763b80993db4	195	{
cparata	0:763b80993db4	196	return 1;
cparata	0:763b80993db4	197	}
cparata	0:763b80993db4	198
cparata	0:763b80993db4	199	X_isEnabled = 0;
cparata	0:763b80993db4	200
cparata	0:763b80993db4	201	return 0;
cparata	0:763b80993db4	202	}
cparata	0:763b80993db4	203
cparata	0:763b80993db4	204	/**
cparata	0:763b80993db4	205	* @brief Disable LSM6DSL Gyroscope
cparata	0:763b80993db4	206	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	207	*/
cparata	0:763b80993db4	208	int LSM6DSLSensor::Disable_G(void)
cparata	0:763b80993db4	209	{
cparata	0:763b80993db4	210	/* Check if the component is already disabled */
cparata	0:763b80993db4	211	if ( G_isEnabled == 0 )
cparata	0:763b80993db4	212	{
cparata	0:763b80993db4	213	return 0;
cparata	0:763b80993db4	214	}
cparata	0:763b80993db4	215
cparata	0:763b80993db4	216	/* Store actual output data rate. */
cparata	0:763b80993db4	217	if ( Get_G_ODR( &G_Last_ODR ) == 1 )
cparata	0:763b80993db4	218	{
cparata	0:763b80993db4	219	return 1;
cparata	0:763b80993db4	220	}
cparata	0:763b80993db4	221
cparata	0:763b80993db4	222	/* Output data rate selection - power down */
cparata	0:763b80993db4	223	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata	0:763b80993db4	224	{
cparata	0:763b80993db4	225	return 1;
cparata	0:763b80993db4	226	}
cparata	0:763b80993db4	227
cparata	0:763b80993db4	228	G_isEnabled = 0;
cparata	0:763b80993db4	229
cparata	0:763b80993db4	230	return 0;
cparata	0:763b80993db4	231	}
cparata	0:763b80993db4	232
cparata	0:763b80993db4	233	/**
cparata	0:763b80993db4	234	* @brief Read ID of LSM6DSL Accelerometer and Gyroscope
cparata	0:763b80993db4	235	* @param p_id the pointer where the ID of the device is stored
cparata	0:763b80993db4	236	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	237	*/
cparata	0:763b80993db4	238	int LSM6DSLSensor::ReadID(uint8_t *id)
cparata	0:763b80993db4	239	{
cparata	0:763b80993db4	240	if(!id)
cparata	0:763b80993db4	241	{
cparata	0:763b80993db4	242	return 1;
cparata	0:763b80993db4	243	}
cparata	0:763b80993db4	244
cparata	0:763b80993db4	245	/* Read WHO AM I register */
cparata	0:763b80993db4	246	if ( LSM6DSL_ACC_GYRO_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
cparata	0:763b80993db4	247	{
cparata	0:763b80993db4	248	return 1;
cparata	0:763b80993db4	249	}
cparata	0:763b80993db4	250
cparata	0:763b80993db4	251	return 0;
cparata	0:763b80993db4	252	}
cparata	0:763b80993db4	253
cparata	0:763b80993db4	254	/**
cparata	0:763b80993db4	255	* @brief Read data from LSM6DSL Accelerometer
cparata	0:763b80993db4	256	* @param pData the pointer where the accelerometer data are stored
cparata	0:763b80993db4	257	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	258	*/
cparata	0:763b80993db4	259	int LSM6DSLSensor::Get_X_Axes(int32_t *pData)
cparata	0:763b80993db4	260	{
cparata	0:763b80993db4	261	int16_t dataRaw[3];
cparata	0:763b80993db4	262	float sensitivity = 0;
cparata	0:763b80993db4	263
cparata	0:763b80993db4	264	/* Read raw data from LSM6DSL output register. */
cparata	0:763b80993db4	265	if ( Get_X_AxesRaw( dataRaw ) == 1 )
cparata	0:763b80993db4	266	{
cparata	0:763b80993db4	267	return 1;
cparata	0:763b80993db4	268	}
cparata	0:763b80993db4	269
cparata	0:763b80993db4	270	/* Get LSM6DSL actual sensitivity. */
cparata	0:763b80993db4	271	if ( Get_X_Sensitivity( &sensitivity ) == 1 )
cparata	0:763b80993db4	272	{
cparata	0:763b80993db4	273	return 1;
cparata	0:763b80993db4	274	}
cparata	0:763b80993db4	275
cparata	0:763b80993db4	276	/* Calculate the data. */
cparata	0:763b80993db4	277	pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata	0:763b80993db4	278	pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata	0:763b80993db4	279	pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata	0:763b80993db4	280
cparata	0:763b80993db4	281	return 0;
cparata	0:763b80993db4	282	}
cparata	0:763b80993db4	283
cparata	0:763b80993db4	284	/**
cparata	0:763b80993db4	285	* @brief Read data from LSM6DSL Gyroscope
cparata	0:763b80993db4	286	* @param pData the pointer where the gyroscope data are stored
cparata	0:763b80993db4	287	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	288	*/
cparata	0:763b80993db4	289	int LSM6DSLSensor::Get_G_Axes(int32_t *pData)
cparata	0:763b80993db4	290	{
cparata	0:763b80993db4	291	int16_t dataRaw[3];
cparata	0:763b80993db4	292	float sensitivity = 0;
cparata	0:763b80993db4	293
cparata	0:763b80993db4	294	/* Read raw data from LSM6DSL output register. */
cparata	0:763b80993db4	295	if ( Get_G_AxesRaw( dataRaw ) == 1 )
cparata	0:763b80993db4	296	{
cparata	0:763b80993db4	297	return 1;
cparata	0:763b80993db4	298	}
cparata	0:763b80993db4	299
cparata	0:763b80993db4	300	/* Get LSM6DSL actual sensitivity. */
cparata	0:763b80993db4	301	if ( Get_G_Sensitivity( &sensitivity ) == 1 )
cparata	0:763b80993db4	302	{
cparata	0:763b80993db4	303	return 1;
cparata	0:763b80993db4	304	}
cparata	0:763b80993db4	305
cparata	0:763b80993db4	306	/* Calculate the data. */
cparata	0:763b80993db4	307	pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata	0:763b80993db4	308	pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata	0:763b80993db4	309	pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata	0:763b80993db4	310
cparata	0:763b80993db4	311	return 0;
cparata	0:763b80993db4	312	}
cparata	0:763b80993db4	313
cparata	0:763b80993db4	314	/**
cparata	0:763b80993db4	315	* @brief Read Accelerometer Sensitivity
cparata	0:763b80993db4	316	* @param pfData the pointer where the accelerometer sensitivity is stored
cparata	0:763b80993db4	317	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	318	*/
cparata	0:763b80993db4	319	int LSM6DSLSensor::Get_X_Sensitivity(float *pfData)
cparata	0:763b80993db4	320	{
cparata	0:763b80993db4	321	LSM6DSL_ACC_GYRO_FS_XL_t fullScale;
cparata	0:763b80993db4	322
cparata	0:763b80993db4	323	/* Read actual full scale selection from sensor. */
cparata	0:763b80993db4	324	if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fullScale ) == MEMS_ERROR )
cparata	0:763b80993db4	325	{
cparata	0:763b80993db4	326	return 1;
cparata	0:763b80993db4	327	}
cparata	0:763b80993db4	328
cparata	0:763b80993db4	329	/* Store the sensitivity based on actual full scale. */
cparata	0:763b80993db4	330	switch( fullScale )
cparata	0:763b80993db4	331	{
cparata	0:763b80993db4	332	case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata	0:763b80993db4	333	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G;
cparata	0:763b80993db4	334	break;
cparata	0:763b80993db4	335	case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata	0:763b80993db4	336	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G;
cparata	0:763b80993db4	337	break;
cparata	0:763b80993db4	338	case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata	0:763b80993db4	339	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G;
cparata	0:763b80993db4	340	break;
cparata	0:763b80993db4	341	case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata	0:763b80993db4	342	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G;
cparata	0:763b80993db4	343	break;
cparata	0:763b80993db4	344	default:
cparata	0:763b80993db4	345	*pfData = -1.0f;
cparata	0:763b80993db4	346	return 1;
cparata	0:763b80993db4	347	}
cparata	0:763b80993db4	348
cparata	0:763b80993db4	349	return 0;
cparata	0:763b80993db4	350	}
cparata	0:763b80993db4	351
cparata	0:763b80993db4	352	/**
cparata	0:763b80993db4	353	* @brief Read Gyroscope Sensitivity
cparata	0:763b80993db4	354	* @param pfData the pointer where the gyroscope sensitivity is stored
cparata	0:763b80993db4	355	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	356	*/
cparata	0:763b80993db4	357	int LSM6DSLSensor::Get_G_Sensitivity(float *pfData)
cparata	0:763b80993db4	358	{
cparata	0:763b80993db4	359	LSM6DSL_ACC_GYRO_FS_125_t fullScale125;
cparata	0:763b80993db4	360	LSM6DSL_ACC_GYRO_FS_G_t fullScale;
cparata	0:763b80993db4	361
cparata	0:763b80993db4	362	/* Read full scale 125 selection from sensor. */
cparata	0:763b80993db4	363	if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fullScale125 ) == MEMS_ERROR )
cparata	0:763b80993db4	364	{
cparata	0:763b80993db4	365	return 1;
cparata	0:763b80993db4	366	}
cparata	0:763b80993db4	367
cparata	0:763b80993db4	368	if ( fullScale125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata	0:763b80993db4	369	{
cparata	0:763b80993db4	370	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS;
cparata	0:763b80993db4	371	}
cparata	0:763b80993db4	372
cparata	0:763b80993db4	373	else
cparata	0:763b80993db4	374	{
cparata	0:763b80993db4	375
cparata	0:763b80993db4	376	/* Read actual full scale selection from sensor. */
cparata	0:763b80993db4	377	if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fullScale ) == MEMS_ERROR )
cparata	0:763b80993db4	378	{
cparata	0:763b80993db4	379	return 1;
cparata	0:763b80993db4	380	}
cparata	0:763b80993db4	381
cparata	0:763b80993db4	382	/* Store the sensitivity based on actual full scale. */
cparata	0:763b80993db4	383	switch( fullScale )
cparata	0:763b80993db4	384	{
cparata	0:763b80993db4	385	case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata	0:763b80993db4	386	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS;
cparata	0:763b80993db4	387	break;
cparata	0:763b80993db4	388	case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata	0:763b80993db4	389	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS;
cparata	0:763b80993db4	390	break;
cparata	0:763b80993db4	391	case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata	0:763b80993db4	392	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS;
cparata	0:763b80993db4	393	break;
cparata	0:763b80993db4	394	case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata	0:763b80993db4	395	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS;
cparata	0:763b80993db4	396	break;
cparata	0:763b80993db4	397	default:
cparata	0:763b80993db4	398	*pfData = -1.0f;
cparata	0:763b80993db4	399	return 1;
cparata	0:763b80993db4	400	}
cparata	0:763b80993db4	401	}
cparata	0:763b80993db4	402
cparata	0:763b80993db4	403	return 0;
cparata	0:763b80993db4	404	}
cparata	0:763b80993db4	405
cparata	0:763b80993db4	406	/**
cparata	0:763b80993db4	407	* @brief Read raw data from LSM6DSL Accelerometer
cparata	0:763b80993db4	408	* @param pData the pointer where the accelerometer raw data are stored
cparata	0:763b80993db4	409	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	410	*/
cparata	0:763b80993db4	411	int LSM6DSLSensor::Get_X_AxesRaw(int16_t *pData)
cparata	0:763b80993db4	412	{
cparata	0:763b80993db4	413	uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata	0:763b80993db4	414
cparata	0:763b80993db4	415	/* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_XL to LSM6DSL_ACC_GYRO_OUTZ_H_XL. */
cparata	0:763b80993db4	416	if ( LSM6DSL_ACC_GYRO_GetRawAccData( (void *)this, regValue ) == MEMS_ERROR )
cparata	0:763b80993db4	417	{
cparata	0:763b80993db4	418	return 1;
cparata	0:763b80993db4	419	}
cparata	0:763b80993db4	420
cparata	0:763b80993db4	421	/* Format the data. */
cparata	0:763b80993db4	422	pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata	0:763b80993db4	423	pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata	0:763b80993db4	424	pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata	0:763b80993db4	425
cparata	0:763b80993db4	426	return 0;
cparata	0:763b80993db4	427	}
cparata	0:763b80993db4	428
cparata	0:763b80993db4	429	/**
cparata	0:763b80993db4	430	* @brief Read raw data from LSM6DSL Gyroscope
cparata	0:763b80993db4	431	* @param pData the pointer where the gyroscope raw data are stored
cparata	0:763b80993db4	432	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	433	*/
cparata	0:763b80993db4	434	int LSM6DSLSensor::Get_G_AxesRaw(int16_t *pData)
cparata	0:763b80993db4	435	{
cparata	0:763b80993db4	436	uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata	0:763b80993db4	437
cparata	0:763b80993db4	438	/* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_G to LSM6DSL_ACC_GYRO_OUTZ_H_G. */
cparata	0:763b80993db4	439	if ( LSM6DSL_ACC_GYRO_GetRawGyroData( (void *)this, regValue ) == MEMS_ERROR )
cparata	0:763b80993db4	440	{
cparata	0:763b80993db4	441	return 1;
cparata	0:763b80993db4	442	}
cparata	0:763b80993db4	443
cparata	0:763b80993db4	444	/* Format the data. */
cparata	0:763b80993db4	445	pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata	0:763b80993db4	446	pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata	0:763b80993db4	447	pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata	0:763b80993db4	448
cparata	0:763b80993db4	449	return 0;
cparata	0:763b80993db4	450	}
cparata	0:763b80993db4	451
cparata	0:763b80993db4	452	/**
cparata	0:763b80993db4	453	* @brief Read LSM6DSL Accelerometer output data rate
cparata	0:763b80993db4	454	* @param odr the pointer to the output data rate
cparata	0:763b80993db4	455	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	456	*/
cparata	0:763b80993db4	457	int LSM6DSLSensor::Get_X_ODR(float* odr)
cparata	0:763b80993db4	458	{
cparata	0:763b80993db4	459	LSM6DSL_ACC_GYRO_ODR_XL_t odr_low_level;
cparata	0:763b80993db4	460
cparata	0:763b80993db4	461	if ( LSM6DSL_ACC_GYRO_R_ODR_XL( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata	0:763b80993db4	462	{
cparata	0:763b80993db4	463	return 1;
cparata	0:763b80993db4	464	}
cparata	0:763b80993db4	465
cparata	0:763b80993db4	466	switch( odr_low_level )
cparata	0:763b80993db4	467	{
cparata	0:763b80993db4	468	case LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN:
cparata	0:763b80993db4	469	*odr = 0.0f;
cparata	0:763b80993db4	470	break;
cparata	0:763b80993db4	471	case LSM6DSL_ACC_GYRO_ODR_XL_13Hz:
cparata	0:763b80993db4	472	*odr = 13.0f;
cparata	0:763b80993db4	473	break;
cparata	0:763b80993db4	474	case LSM6DSL_ACC_GYRO_ODR_XL_26Hz:
cparata	0:763b80993db4	475	*odr = 26.0f;
cparata	0:763b80993db4	476	break;
cparata	0:763b80993db4	477	case LSM6DSL_ACC_GYRO_ODR_XL_52Hz:
cparata	0:763b80993db4	478	*odr = 52.0f;
cparata	0:763b80993db4	479	break;
cparata	0:763b80993db4	480	case LSM6DSL_ACC_GYRO_ODR_XL_104Hz:
cparata	0:763b80993db4	481	*odr = 104.0f;
cparata	0:763b80993db4	482	break;
cparata	0:763b80993db4	483	case LSM6DSL_ACC_GYRO_ODR_XL_208Hz:
cparata	0:763b80993db4	484	*odr = 208.0f;
cparata	0:763b80993db4	485	break;
cparata	0:763b80993db4	486	case LSM6DSL_ACC_GYRO_ODR_XL_416Hz:
cparata	0:763b80993db4	487	*odr = 416.0f;
cparata	0:763b80993db4	488	break;
cparata	0:763b80993db4	489	case LSM6DSL_ACC_GYRO_ODR_XL_833Hz:
cparata	0:763b80993db4	490	*odr = 833.0f;
cparata	0:763b80993db4	491	break;
cparata	0:763b80993db4	492	case LSM6DSL_ACC_GYRO_ODR_XL_1660Hz:
cparata	0:763b80993db4	493	*odr = 1660.0f;
cparata	0:763b80993db4	494	break;
cparata	0:763b80993db4	495	case LSM6DSL_ACC_GYRO_ODR_XL_3330Hz:
cparata	0:763b80993db4	496	*odr = 3330.0f;
cparata	0:763b80993db4	497	break;
cparata	0:763b80993db4	498	case LSM6DSL_ACC_GYRO_ODR_XL_6660Hz:
cparata	0:763b80993db4	499	*odr = 6660.0f;
cparata	0:763b80993db4	500	break;
cparata	0:763b80993db4	501	default:
cparata	0:763b80993db4	502	*odr = -1.0f;
cparata	0:763b80993db4	503	return 1;
cparata	0:763b80993db4	504	}
cparata	0:763b80993db4	505
cparata	0:763b80993db4	506	return 0;
cparata	0:763b80993db4	507	}
cparata	0:763b80993db4	508
cparata	0:763b80993db4	509	/**
cparata	0:763b80993db4	510	* @brief Read LSM6DSL Gyroscope output data rate
cparata	0:763b80993db4	511	* @param odr the pointer to the output data rate
cparata	0:763b80993db4	512	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	513	*/
cparata	0:763b80993db4	514	int LSM6DSLSensor::Get_G_ODR(float* odr)
cparata	0:763b80993db4	515	{
cparata	0:763b80993db4	516	LSM6DSL_ACC_GYRO_ODR_G_t odr_low_level;
cparata	0:763b80993db4	517
cparata	0:763b80993db4	518	if ( LSM6DSL_ACC_GYRO_R_ODR_G( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata	0:763b80993db4	519	{
cparata	0:763b80993db4	520	return 1;
cparata	0:763b80993db4	521	}
cparata	0:763b80993db4	522
cparata	0:763b80993db4	523	switch( odr_low_level )
cparata	0:763b80993db4	524	{
cparata	0:763b80993db4	525	case LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN:
cparata	0:763b80993db4	526	*odr = 0.0f;
cparata	0:763b80993db4	527	break;
cparata	0:763b80993db4	528	case LSM6DSL_ACC_GYRO_ODR_G_13Hz:
cparata	0:763b80993db4	529	*odr = 13.0f;
cparata	0:763b80993db4	530	break;
cparata	0:763b80993db4	531	case LSM6DSL_ACC_GYRO_ODR_G_26Hz:
cparata	0:763b80993db4	532	*odr = 26.0f;
cparata	0:763b80993db4	533	break;
cparata	0:763b80993db4	534	case LSM6DSL_ACC_GYRO_ODR_G_52Hz:
cparata	0:763b80993db4	535	*odr = 52.0f;
cparata	0:763b80993db4	536	break;
cparata	0:763b80993db4	537	case LSM6DSL_ACC_GYRO_ODR_G_104Hz:
cparata	0:763b80993db4	538	*odr = 104.0f;
cparata	0:763b80993db4	539	break;
cparata	0:763b80993db4	540	case LSM6DSL_ACC_GYRO_ODR_G_208Hz:
cparata	0:763b80993db4	541	*odr = 208.0f;
cparata	0:763b80993db4	542	break;
cparata	0:763b80993db4	543	case LSM6DSL_ACC_GYRO_ODR_G_416Hz:
cparata	0:763b80993db4	544	*odr = 416.0f;
cparata	0:763b80993db4	545	break;
cparata	0:763b80993db4	546	case LSM6DSL_ACC_GYRO_ODR_G_833Hz:
cparata	0:763b80993db4	547	*odr = 833.0f;
cparata	0:763b80993db4	548	break;
cparata	0:763b80993db4	549	case LSM6DSL_ACC_GYRO_ODR_G_1660Hz:
cparata	0:763b80993db4	550	*odr = 1660.0f;
cparata	0:763b80993db4	551	break;
cparata	0:763b80993db4	552	case LSM6DSL_ACC_GYRO_ODR_G_3330Hz:
cparata	0:763b80993db4	553	*odr = 3330.0f;
cparata	0:763b80993db4	554	break;
cparata	0:763b80993db4	555	case LSM6DSL_ACC_GYRO_ODR_G_6660Hz:
cparata	0:763b80993db4	556	*odr = 6660.0f;
cparata	0:763b80993db4	557	break;
cparata	0:763b80993db4	558	default:
cparata	0:763b80993db4	559	*odr = -1.0f;
cparata	0:763b80993db4	560	return 1;
cparata	0:763b80993db4	561	}
cparata	0:763b80993db4	562
cparata	0:763b80993db4	563	return 0;
cparata	0:763b80993db4	564	}
cparata	0:763b80993db4	565
cparata	0:763b80993db4	566	/**
cparata	0:763b80993db4	567	* @brief Set LSM6DSL Accelerometer output data rate
cparata	0:763b80993db4	568	* @param odr the output data rate to be set
cparata	0:763b80993db4	569	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	570	*/
cparata	0:763b80993db4	571	int LSM6DSLSensor::Set_X_ODR(float odr)
cparata	0:763b80993db4	572	{
cparata	0:763b80993db4	573	if(X_isEnabled == 1)
cparata	0:763b80993db4	574	{
cparata	0:763b80993db4	575	if(Set_X_ODR_When_Enabled(odr) == 1)
cparata	0:763b80993db4	576	{
cparata	0:763b80993db4	577	return 1;
cparata	0:763b80993db4	578	}
cparata	0:763b80993db4	579	}
cparata	0:763b80993db4	580	else
cparata	0:763b80993db4	581	{
cparata	0:763b80993db4	582	if(Set_X_ODR_When_Disabled(odr) == 1)
cparata	0:763b80993db4	583	{
cparata	0:763b80993db4	584	return 1;
cparata	0:763b80993db4	585	}
cparata	0:763b80993db4	586	}
cparata	0:763b80993db4	587
cparata	0:763b80993db4	588	return 0;
cparata	0:763b80993db4	589	}
cparata	0:763b80993db4	590
cparata	0:763b80993db4	591	/**
cparata	0:763b80993db4	592	* @brief Set LSM6DSL Accelerometer output data rate when enabled
cparata	0:763b80993db4	593	* @param odr the output data rate to be set
cparata	0:763b80993db4	594	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	595	*/
cparata	0:763b80993db4	596	int LSM6DSLSensor::Set_X_ODR_When_Enabled(float odr)
cparata	0:763b80993db4	597	{
cparata	0:763b80993db4	598	LSM6DSL_ACC_GYRO_ODR_XL_t new_odr;
cparata	0:763b80993db4	599
cparata	0:763b80993db4	600	new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_13Hz
cparata	0:763b80993db4	601	: ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_26Hz
cparata	0:763b80993db4	602	: ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_52Hz
cparata	0:763b80993db4	603	: ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_104Hz
cparata	0:763b80993db4	604	: ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_208Hz
cparata	0:763b80993db4	605	: ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_416Hz
cparata	0:763b80993db4	606	: ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_833Hz
cparata	0:763b80993db4	607	: ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_1660Hz
cparata	0:763b80993db4	608	: ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_3330Hz
cparata	0:763b80993db4	609	: LSM6DSL_ACC_GYRO_ODR_XL_6660Hz;
cparata	0:763b80993db4	610
cparata	0:763b80993db4	611	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, new_odr ) == MEMS_ERROR )
cparata	0:763b80993db4	612	{
cparata	0:763b80993db4	613	return 1;
cparata	0:763b80993db4	614	}
cparata	0:763b80993db4	615
cparata	0:763b80993db4	616	return 0;
cparata	0:763b80993db4	617	}
cparata	0:763b80993db4	618
cparata	0:763b80993db4	619	/**
cparata	0:763b80993db4	620	* @brief Set LSM6DSL Accelerometer output data rate when disabled
cparata	0:763b80993db4	621	* @param odr the output data rate to be set
cparata	0:763b80993db4	622	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	623	*/
cparata	0:763b80993db4	624	int LSM6DSLSensor::Set_X_ODR_When_Disabled(float odr)
cparata	0:763b80993db4	625	{
cparata	0:763b80993db4	626	X_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata	0:763b80993db4	627	: ( odr <= 26.0f ) ? 26.0f
cparata	0:763b80993db4	628	: ( odr <= 52.0f ) ? 52.0f
cparata	0:763b80993db4	629	: ( odr <= 104.0f ) ? 104.0f
cparata	0:763b80993db4	630	: ( odr <= 208.0f ) ? 208.0f
cparata	0:763b80993db4	631	: ( odr <= 416.0f ) ? 416.0f
cparata	0:763b80993db4	632	: ( odr <= 833.0f ) ? 833.0f
cparata	0:763b80993db4	633	: ( odr <= 1660.0f ) ? 1660.0f
cparata	0:763b80993db4	634	: ( odr <= 3330.0f ) ? 3330.0f
cparata	0:763b80993db4	635	: 6660.0f;
cparata	0:763b80993db4	636
cparata	0:763b80993db4	637	return 0;
cparata	0:763b80993db4	638	}
cparata	0:763b80993db4	639
cparata	0:763b80993db4	640	/**
cparata	0:763b80993db4	641	* @brief Set LSM6DSL Gyroscope output data rate
cparata	0:763b80993db4	642	* @param odr the output data rate to be set
cparata	0:763b80993db4	643	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	644	*/
cparata	0:763b80993db4	645	int LSM6DSLSensor::Set_G_ODR(float odr)
cparata	0:763b80993db4	646	{
cparata	0:763b80993db4	647	if(G_isEnabled == 1)
cparata	0:763b80993db4	648	{
cparata	0:763b80993db4	649	if(Set_G_ODR_When_Enabled(odr) == 1)
cparata	0:763b80993db4	650	{
cparata	0:763b80993db4	651	return 1;
cparata	0:763b80993db4	652	}
cparata	0:763b80993db4	653	}
cparata	0:763b80993db4	654	else
cparata	0:763b80993db4	655	{
cparata	0:763b80993db4	656	if(Set_G_ODR_When_Disabled(odr) == 1)
cparata	0:763b80993db4	657	{
cparata	0:763b80993db4	658	return 1;
cparata	0:763b80993db4	659	}
cparata	0:763b80993db4	660	}
cparata	0:763b80993db4	661
cparata	0:763b80993db4	662	return 0;
cparata	0:763b80993db4	663	}
cparata	0:763b80993db4	664
cparata	0:763b80993db4	665	/**
cparata	0:763b80993db4	666	* @brief Set LSM6DSL Gyroscope output data rate when enabled
cparata	0:763b80993db4	667	* @param odr the output data rate to be set
cparata	0:763b80993db4	668	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	669	*/
cparata	0:763b80993db4	670	int LSM6DSLSensor::Set_G_ODR_When_Enabled(float odr)
cparata	0:763b80993db4	671	{
cparata	0:763b80993db4	672	LSM6DSL_ACC_GYRO_ODR_G_t new_odr;
cparata	0:763b80993db4	673
cparata	0:763b80993db4	674	new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_13Hz
cparata	0:763b80993db4	675	: ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_26Hz
cparata	0:763b80993db4	676	: ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_52Hz
cparata	0:763b80993db4	677	: ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_104Hz
cparata	0:763b80993db4	678	: ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_208Hz
cparata	0:763b80993db4	679	: ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_416Hz
cparata	0:763b80993db4	680	: ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_833Hz
cparata	0:763b80993db4	681	: ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_1660Hz
cparata	0:763b80993db4	682	: ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_3330Hz
cparata	0:763b80993db4	683	: LSM6DSL_ACC_GYRO_ODR_G_6660Hz;
cparata	0:763b80993db4	684
cparata	0:763b80993db4	685	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, new_odr ) == MEMS_ERROR )
cparata	0:763b80993db4	686	{
cparata	0:763b80993db4	687	return 1;
cparata	0:763b80993db4	688	}
cparata	0:763b80993db4	689
cparata	0:763b80993db4	690	return 0;
cparata	0:763b80993db4	691	}
cparata	0:763b80993db4	692
cparata	0:763b80993db4	693	/**
cparata	0:763b80993db4	694	* @brief Set LSM6DSL Gyroscope output data rate when disabled
cparata	0:763b80993db4	695	* @param odr the output data rate to be set
cparata	0:763b80993db4	696	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	697	*/
cparata	0:763b80993db4	698	int LSM6DSLSensor::Set_G_ODR_When_Disabled(float odr)
cparata	0:763b80993db4	699	{
cparata	0:763b80993db4	700	G_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata	0:763b80993db4	701	: ( odr <= 26.0f ) ? 26.0f
cparata	0:763b80993db4	702	: ( odr <= 52.0f ) ? 52.0f
cparata	0:763b80993db4	703	: ( odr <= 104.0f ) ? 104.0f
cparata	0:763b80993db4	704	: ( odr <= 208.0f ) ? 208.0f
cparata	0:763b80993db4	705	: ( odr <= 416.0f ) ? 416.0f
cparata	0:763b80993db4	706	: ( odr <= 833.0f ) ? 833.0f
cparata	0:763b80993db4	707	: ( odr <= 1660.0f ) ? 1660.0f
cparata	0:763b80993db4	708	: ( odr <= 3330.0f ) ? 3330.0f
cparata	0:763b80993db4	709	: 6660.0f;
cparata	0:763b80993db4	710
cparata	0:763b80993db4	711	return 0;
cparata	0:763b80993db4	712	}
cparata	0:763b80993db4	713
cparata	0:763b80993db4	714	/**
cparata	0:763b80993db4	715	* @brief Read LSM6DSL Accelerometer full scale
cparata	0:763b80993db4	716	* @param fullScale the pointer to the full scale
cparata	0:763b80993db4	717	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	718	*/
cparata	0:763b80993db4	719	int LSM6DSLSensor::Get_X_FS(float* fullScale)
cparata	0:763b80993db4	720	{
cparata	0:763b80993db4	721	LSM6DSL_ACC_GYRO_FS_XL_t fs_low_level;
cparata	0:763b80993db4	722
cparata	0:763b80993db4	723	if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata	0:763b80993db4	724	{
cparata	0:763b80993db4	725	return 1;
cparata	0:763b80993db4	726	}
cparata	0:763b80993db4	727
cparata	0:763b80993db4	728	switch( fs_low_level )
cparata	0:763b80993db4	729	{
cparata	0:763b80993db4	730	case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata	0:763b80993db4	731	*fullScale = 2.0f;
cparata	0:763b80993db4	732	break;
cparata	0:763b80993db4	733	case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata	0:763b80993db4	734	*fullScale = 4.0f;
cparata	0:763b80993db4	735	break;
cparata	0:763b80993db4	736	case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata	0:763b80993db4	737	*fullScale = 8.0f;
cparata	0:763b80993db4	738	break;
cparata	0:763b80993db4	739	case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata	0:763b80993db4	740	*fullScale = 16.0f;
cparata	0:763b80993db4	741	break;
cparata	0:763b80993db4	742	default:
cparata	0:763b80993db4	743	*fullScale = -1.0f;
cparata	0:763b80993db4	744	return 1;
cparata	0:763b80993db4	745	}
cparata	0:763b80993db4	746
cparata	0:763b80993db4	747	return 0;
cparata	0:763b80993db4	748	}
cparata	0:763b80993db4	749
cparata	0:763b80993db4	750	/**
cparata	0:763b80993db4	751	* @brief Read LSM6DSL Gyroscope full scale
cparata	0:763b80993db4	752	* @param fullScale the pointer to the full scale
cparata	0:763b80993db4	753	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	754	*/
cparata	0:763b80993db4	755	int LSM6DSLSensor::Get_G_FS(float* fullScale)
cparata	0:763b80993db4	756	{
cparata	0:763b80993db4	757	LSM6DSL_ACC_GYRO_FS_G_t fs_low_level;
cparata	0:763b80993db4	758	LSM6DSL_ACC_GYRO_FS_125_t fs_125;
cparata	0:763b80993db4	759
cparata	0:763b80993db4	760	if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fs_125 ) == MEMS_ERROR )
cparata	0:763b80993db4	761	{
cparata	0:763b80993db4	762	return 1;
cparata	0:763b80993db4	763	}
cparata	0:763b80993db4	764	if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata	0:763b80993db4	765	{
cparata	0:763b80993db4	766	return 1;
cparata	0:763b80993db4	767	}
cparata	0:763b80993db4	768
cparata	0:763b80993db4	769	if ( fs_125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata	0:763b80993db4	770	{
cparata	0:763b80993db4	771	*fullScale = 125.0f;
cparata	0:763b80993db4	772	}
cparata	0:763b80993db4	773
cparata	0:763b80993db4	774	else
cparata	0:763b80993db4	775	{
cparata	0:763b80993db4	776	switch( fs_low_level )
cparata	0:763b80993db4	777	{
cparata	0:763b80993db4	778	case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata	0:763b80993db4	779	*fullScale = 245.0f;
cparata	0:763b80993db4	780	break;
cparata	0:763b80993db4	781	case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata	0:763b80993db4	782	*fullScale = 500.0f;
cparata	0:763b80993db4	783	break;
cparata	0:763b80993db4	784	case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata	0:763b80993db4	785	*fullScale = 1000.0f;
cparata	0:763b80993db4	786	break;
cparata	0:763b80993db4	787	case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata	0:763b80993db4	788	*fullScale = 2000.0f;
cparata	0:763b80993db4	789	break;
cparata	0:763b80993db4	790	default:
cparata	0:763b80993db4	791	*fullScale = -1.0f;
cparata	0:763b80993db4	792	return 1;
cparata	0:763b80993db4	793	}
cparata	0:763b80993db4	794	}
cparata	0:763b80993db4	795
cparata	0:763b80993db4	796	return 0;
cparata	0:763b80993db4	797	}
cparata	0:763b80993db4	798
cparata	0:763b80993db4	799	/**
cparata	0:763b80993db4	800	* @brief Set LSM6DSL Accelerometer full scale
cparata	0:763b80993db4	801	* @param fullScale the full scale to be set
cparata	0:763b80993db4	802	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	803	*/
cparata	0:763b80993db4	804	int LSM6DSLSensor::Set_X_FS(float fullScale)
cparata	0:763b80993db4	805	{
cparata	0:763b80993db4	806	LSM6DSL_ACC_GYRO_FS_XL_t new_fs;
cparata	0:763b80993db4	807
cparata	0:763b80993db4	808	new_fs = ( fullScale <= 2.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_2g
cparata	0:763b80993db4	809	: ( fullScale <= 4.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_4g
cparata	0:763b80993db4	810	: ( fullScale <= 8.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_8g
cparata	0:763b80993db4	811	: LSM6DSL_ACC_GYRO_FS_XL_16g;
cparata	0:763b80993db4	812
cparata	0:763b80993db4	813	if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, new_fs ) == MEMS_ERROR )
cparata	0:763b80993db4	814	{
cparata	0:763b80993db4	815	return 1;
cparata	0:763b80993db4	816	}
cparata	0:763b80993db4	817
cparata	0:763b80993db4	818	return 0;
cparata	0:763b80993db4	819	}
cparata	0:763b80993db4	820
cparata	0:763b80993db4	821	/**
cparata	0:763b80993db4	822	* @brief Set LSM6DSL Gyroscope full scale
cparata	0:763b80993db4	823	* @param fullScale the full scale to be set
cparata	0:763b80993db4	824	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	825	*/
cparata	0:763b80993db4	826	int LSM6DSLSensor::Set_G_FS(float fullScale)
cparata	0:763b80993db4	827	{
cparata	0:763b80993db4	828	LSM6DSL_ACC_GYRO_FS_G_t new_fs;
cparata	0:763b80993db4	829
cparata	0:763b80993db4	830	if ( fullScale <= 125.0f )
cparata	0:763b80993db4	831	{
cparata	0:763b80993db4	832	if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_ENABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	833	{
cparata	0:763b80993db4	834	return 1;
cparata	0:763b80993db4	835	}
cparata	0:763b80993db4	836	}
cparata	0:763b80993db4	837	else
cparata	0:763b80993db4	838	{
cparata	0:763b80993db4	839	new_fs = ( fullScale <= 245.0f ) ? LSM6DSL_ACC_GYRO_FS_G_245dps
cparata	0:763b80993db4	840	: ( fullScale <= 500.0f ) ? LSM6DSL_ACC_GYRO_FS_G_500dps
cparata	0:763b80993db4	841	: ( fullScale <= 1000.0f ) ? LSM6DSL_ACC_GYRO_FS_G_1000dps
cparata	0:763b80993db4	842	: LSM6DSL_ACC_GYRO_FS_G_2000dps;
cparata	0:763b80993db4	843
cparata	0:763b80993db4	844	if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_DISABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	845	{
cparata	0:763b80993db4	846	return 1;
cparata	0:763b80993db4	847	}
cparata	0:763b80993db4	848	if ( LSM6DSL_ACC_GYRO_W_FS_G( (void *)this, new_fs ) == MEMS_ERROR )
cparata	0:763b80993db4	849	{
cparata	0:763b80993db4	850	return 1;
cparata	0:763b80993db4	851	}
cparata	0:763b80993db4	852	}
cparata	0:763b80993db4	853
cparata	0:763b80993db4	854	return 0;
cparata	0:763b80993db4	855	}
cparata	0:763b80993db4	856
cparata	0:763b80993db4	857	/**
cparata	0:763b80993db4	858	* @brief Enable free fall detection
cparata	0:763b80993db4	859	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:763b80993db4	860	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	861	*/
cparata	0:763b80993db4	862	int LSM6DSLSensor::Enable_Free_Fall_Detection(void)
cparata	0:763b80993db4	863	{
cparata	0:763b80993db4	864	/* Output Data Rate selection */
cparata	0:763b80993db4	865	if(Set_X_ODR(416.0f) == 1)
cparata	0:763b80993db4	866	{
cparata	0:763b80993db4	867	return 1;
cparata	0:763b80993db4	868	}
cparata	0:763b80993db4	869
cparata	0:763b80993db4	870	/* Full scale selection */
cparata	0:763b80993db4	871	if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, LSM6DSL_ACC_GYRO_FS_XL_2g ) == MEMS_ERROR )
cparata	0:763b80993db4	872	{
cparata	0:763b80993db4	873	return 1;
cparata	0:763b80993db4	874	}
cparata	0:763b80993db4	875
cparata	0:763b80993db4	876	/* FF_DUR setting */
cparata	0:763b80993db4	877	if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x06 ) == MEMS_ERROR )
cparata	0:763b80993db4	878	{
cparata	0:763b80993db4	879	return 1;
cparata	0:763b80993db4	880	}
cparata	0:763b80993db4	881
cparata	0:763b80993db4	882	/* WAKE_DUR setting */
cparata	0:763b80993db4	883	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:763b80993db4	884	{
cparata	0:763b80993db4	885	return 1;
cparata	0:763b80993db4	886	}
cparata	0:763b80993db4	887
cparata	0:763b80993db4	888	/* TIMER_HR setting */
cparata	0:763b80993db4	889	if ( LSM6DSL_ACC_GYRO_W_TIMER_HR( (void *)this, LSM6DSL_ACC_GYRO_TIMER_HR_6_4ms ) == MEMS_ERROR )
cparata	0:763b80993db4	890	{
cparata	0:763b80993db4	891	return 1;
cparata	0:763b80993db4	892	}
cparata	0:763b80993db4	893
cparata	0:763b80993db4	894	/* SLEEP_DUR setting */
cparata	0:763b80993db4	895	if ( LSM6DSL_ACC_GYRO_W_SLEEP_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:763b80993db4	896	{
cparata	0:763b80993db4	897	return 1;
cparata	0:763b80993db4	898	}
cparata	0:763b80993db4	899
cparata	0:763b80993db4	900	/* FF_THS setting */
cparata	0:763b80993db4	901	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_312mg ) == MEMS_ERROR )
cparata	0:763b80993db4	902	{
cparata	0:763b80993db4	903	return 1;
cparata	0:763b80993db4	904	}
cparata	0:763b80993db4	905
cparata	0:763b80993db4	906	/* Enable basic Interrupts */
cparata	0:763b80993db4	907	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	908	{
cparata	0:763b80993db4	909	return 1;
cparata	0:763b80993db4	910	}
cparata	0:763b80993db4	911
cparata	0:763b80993db4	912	/* INT1_FF setting */
cparata	0:763b80993db4	913	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	914	{
cparata	0:763b80993db4	915	return 1;
cparata	0:763b80993db4	916	}
cparata	0:763b80993db4	917
cparata	0:763b80993db4	918	return 0;
cparata	0:763b80993db4	919	}
cparata	0:763b80993db4	920
cparata	0:763b80993db4	921	/**
cparata	0:763b80993db4	922	* @brief Disable free fall detection
cparata	0:763b80993db4	923	* @param None
cparata	0:763b80993db4	924	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	925	*/
cparata	0:763b80993db4	926	int LSM6DSLSensor::Disable_Free_Fall_Detection(void)
cparata	0:763b80993db4	927	{
cparata	0:763b80993db4	928	/* INT1_FF setting */
cparata	0:763b80993db4	929	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	930	{
cparata	0:763b80993db4	931	return 1;
cparata	0:763b80993db4	932	}
cparata	0:763b80993db4	933
cparata	0:763b80993db4	934	/* Disable basic Interrupts */
cparata	0:763b80993db4	935	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	936	{
cparata	0:763b80993db4	937	return 1;
cparata	0:763b80993db4	938	}
cparata	0:763b80993db4	939
cparata	0:763b80993db4	940	/* FF_DUR setting */
cparata	0:763b80993db4	941	if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:763b80993db4	942	{
cparata	0:763b80993db4	943	return 1;
cparata	0:763b80993db4	944	}
cparata	0:763b80993db4	945
cparata	0:763b80993db4	946	/* FF_THS setting */
cparata	0:763b80993db4	947	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_156mg ) == MEMS_ERROR )
cparata	0:763b80993db4	948	{
cparata	0:763b80993db4	949	return 1;
cparata	0:763b80993db4	950	}
cparata	0:763b80993db4	951
cparata	0:763b80993db4	952	return 0;
cparata	0:763b80993db4	953	}
cparata	0:763b80993db4	954
cparata	0:763b80993db4	955	/**
cparata	0:763b80993db4	956	* @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	957	* @param thr the threshold to be set
cparata	0:763b80993db4	958	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	959	*/
cparata	0:763b80993db4	960	int LSM6DSLSensor::Set_Free_Fall_Threshold(uint8_t thr)
cparata	0:763b80993db4	961	{
cparata	0:763b80993db4	962
cparata	0:763b80993db4	963	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR )
cparata	0:763b80993db4	964	{
cparata	0:763b80993db4	965	return 1;
cparata	0:763b80993db4	966	}
cparata	0:763b80993db4	967
cparata	0:763b80993db4	968	return 0;
cparata	0:763b80993db4	969	}
cparata	0:763b80993db4	970
cparata	0:763b80993db4	971	/**
cparata	0:763b80993db4	972	* @brief Enable the pedometer feature for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	973	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:763b80993db4	974	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	975	*/
cparata	0:763b80993db4	976	int LSM6DSLSensor::Enable_Pedometer(void)
cparata	0:763b80993db4	977	{
cparata	0:763b80993db4	978	/* Output Data Rate selection */
cparata	0:763b80993db4	979	if( Set_X_ODR(26.0f) == 1 )
cparata	0:763b80993db4	980	{
cparata	0:763b80993db4	981	return 1;
cparata	0:763b80993db4	982	}
cparata	0:763b80993db4	983
cparata	0:763b80993db4	984	/* Full scale selection. */
cparata	0:763b80993db4	985	if( Set_X_FS(2.0f) == 1 )
cparata	0:763b80993db4	986	{
cparata	0:763b80993db4	987	return 1;
cparata	0:763b80993db4	988	}
cparata	0:763b80993db4	989
cparata	0:763b80993db4	990	/* Set pedometer threshold. */
cparata	0:763b80993db4	991	if ( Set_Pedometer_Threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == 1 )
cparata	0:763b80993db4	992	{
cparata	0:763b80993db4	993	return 1;
cparata	0:763b80993db4	994	}
cparata	0:763b80993db4	995
cparata	0:763b80993db4	996	/* Enable embedded functionalities. */
cparata	0:763b80993db4	997	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	998	{
cparata	0:763b80993db4	999	return 1;
cparata	0:763b80993db4	1000	}
cparata	0:763b80993db4	1001
cparata	0:763b80993db4	1002	/* Enable pedometer algorithm. */
cparata	0:763b80993db4	1003	if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1004	{
cparata	0:763b80993db4	1005	return 1;
cparata	0:763b80993db4	1006	}
cparata	0:763b80993db4	1007
cparata	0:763b80993db4	1008	/* Enable pedometer on INT1. */
cparata	0:763b80993db4	1009	if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1010	{
cparata	0:763b80993db4	1011	return 1;
cparata	0:763b80993db4	1012	}
cparata	0:763b80993db4	1013
cparata	0:763b80993db4	1014	return 0;
cparata	0:763b80993db4	1015	}
cparata	0:763b80993db4	1016
cparata	0:763b80993db4	1017	/**
cparata	0:763b80993db4	1018	* @brief Disable the pedometer feature for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	1019	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1020	*/
cparata	0:763b80993db4	1021	int LSM6DSLSensor::Disable_Pedometer(void)
cparata	0:763b80993db4	1022	{
cparata	0:763b80993db4	1023	/* Disable pedometer on INT1. */
cparata	0:763b80993db4	1024	if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1025	{
cparata	0:763b80993db4	1026	return 1;
cparata	0:763b80993db4	1027	}
cparata	0:763b80993db4	1028
cparata	0:763b80993db4	1029	/* Disable pedometer algorithm. */
cparata	0:763b80993db4	1030	if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1031	{
cparata	0:763b80993db4	1032	return 1;
cparata	0:763b80993db4	1033	}
cparata	0:763b80993db4	1034
cparata	0:763b80993db4	1035	/* Disable embedded functionalities. */
cparata	0:763b80993db4	1036	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1037	{
cparata	0:763b80993db4	1038	return 1;
cparata	0:763b80993db4	1039	}
cparata	0:763b80993db4	1040
cparata	0:763b80993db4	1041	/* Reset pedometer threshold. */
cparata	0:763b80993db4	1042	if ( Set_Pedometer_Threshold(0x0) == 1 )
cparata	0:763b80993db4	1043	{
cparata	0:763b80993db4	1044	return 1;
cparata	0:763b80993db4	1045	}
cparata	0:763b80993db4	1046
cparata	0:763b80993db4	1047	return 0;
cparata	0:763b80993db4	1048	}
cparata	0:763b80993db4	1049
cparata	0:763b80993db4	1050	/**
cparata	0:763b80993db4	1051	* @brief Get the step counter for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	1052	* @param step_count the pointer to the step counter
cparata	0:763b80993db4	1053	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1054	*/
cparata	0:763b80993db4	1055	int LSM6DSLSensor::Get_Step_Counter(uint16_t *step_count)
cparata	0:763b80993db4	1056	{
cparata	0:763b80993db4	1057	if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void )this, ( uint8_t )step_count ) == MEMS_ERROR )
cparata	0:763b80993db4	1058	{
cparata	0:763b80993db4	1059	return 1;
cparata	0:763b80993db4	1060	}
cparata	0:763b80993db4	1061
cparata	0:763b80993db4	1062	return 0;
cparata	0:763b80993db4	1063	}
cparata	0:763b80993db4	1064
cparata	0:763b80993db4	1065	/**
cparata	0:763b80993db4	1066	* @brief Reset of the step counter for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	1067	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1068	*/
cparata	0:763b80993db4	1069	int LSM6DSLSensor::Reset_Step_Counter(void)
cparata	0:763b80993db4	1070	{
cparata	0:763b80993db4	1071	if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1072	{
cparata	0:763b80993db4	1073	return 1;
cparata	0:763b80993db4	1074	}
cparata	0:763b80993db4	1075
cparata	0:763b80993db4	1076	wait_ms(10);
cparata	0:763b80993db4	1077
cparata	0:763b80993db4	1078	if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1079	{
cparata	0:763b80993db4	1080	return 1;
cparata	0:763b80993db4	1081	}
cparata	0:763b80993db4	1082
cparata	0:763b80993db4	1083	return 0;
cparata	0:763b80993db4	1084	}
cparata	0:763b80993db4	1085
cparata	0:763b80993db4	1086	/**
cparata	0:763b80993db4	1087	* @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	1088	* @param thr the threshold to be set
cparata	0:763b80993db4	1089	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1090	*/
cparata	0:763b80993db4	1091	int LSM6DSLSensor::Set_Pedometer_Threshold(uint8_t thr)
cparata	0:763b80993db4	1092	{
cparata	0:763b80993db4	1093	if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
cparata	0:763b80993db4	1094	{
cparata	0:763b80993db4	1095	return 1;
cparata	0:763b80993db4	1096	}
cparata	0:763b80993db4	1097
cparata	0:763b80993db4	1098	return 0;
cparata	0:763b80993db4	1099	}
cparata	0:763b80993db4	1100
cparata	0:763b80993db4	1101	/**
cparata	0:763b80993db4	1102	* @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	1103	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:763b80993db4	1104	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1105	*/
cparata	0:763b80993db4	1106	int LSM6DSLSensor::Enable_Tilt_Detection(void)
cparata	0:763b80993db4	1107	{
cparata	0:763b80993db4	1108	/* Output Data Rate selection */
cparata	0:763b80993db4	1109	if( Set_X_ODR(26.0f) == 1 )
cparata	0:763b80993db4	1110	{
cparata	0:763b80993db4	1111	return 1;
cparata	0:763b80993db4	1112	}
cparata	0:763b80993db4	1113
cparata	0:763b80993db4	1114	/* Full scale selection. */
cparata	0:763b80993db4	1115	if( Set_X_FS(2.0f) == 1 )
cparata	0:763b80993db4	1116	{
cparata	0:763b80993db4	1117	return 1;
cparata	0:763b80993db4	1118	}
cparata	0:763b80993db4	1119
cparata	0:763b80993db4	1120	/* Enable embedded functionalities */
cparata	0:763b80993db4	1121	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1122	{
cparata	0:763b80993db4	1123	return 1;
cparata	0:763b80993db4	1124	}
cparata	0:763b80993db4	1125
cparata	0:763b80993db4	1126	/* Enable tilt calculation. */
cparata	0:763b80993db4	1127	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1128	{
cparata	0:763b80993db4	1129	return 1;
cparata	0:763b80993db4	1130	}
cparata	0:763b80993db4	1131
cparata	0:763b80993db4	1132	/* Enable tilt event on INT1. */
cparata	0:763b80993db4	1133	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1134	{
cparata	0:763b80993db4	1135	return 1;
cparata	0:763b80993db4	1136	}
cparata	0:763b80993db4	1137
cparata	0:763b80993db4	1138	return 0;
cparata	0:763b80993db4	1139	}
cparata	0:763b80993db4	1140
cparata	0:763b80993db4	1141	/**
cparata	0:763b80993db4	1142	* @brief Disable the tilt detection for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	1143	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1144	*/
cparata	0:763b80993db4	1145	int LSM6DSLSensor::Disable_Tilt_Detection(void)
cparata	0:763b80993db4	1146	{
cparata	0:763b80993db4	1147	/* Disable tilt event on INT1. */
cparata	0:763b80993db4	1148	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_DISABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1149	{
cparata	0:763b80993db4	1150	return 1;
cparata	0:763b80993db4	1151	}
cparata	0:763b80993db4	1152
cparata	0:763b80993db4	1153	/* Disable tilt calculation. */
cparata	0:763b80993db4	1154	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1155	{
cparata	0:763b80993db4	1156	return 1;
cparata	0:763b80993db4	1157	}
cparata	0:763b80993db4	1158
cparata	0:763b80993db4	1159	/* Disable embedded functionalities */
cparata	0:763b80993db4	1160	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1161	{
cparata	0:763b80993db4	1162	return 1;
cparata	0:763b80993db4	1163	}
cparata	0:763b80993db4	1164
cparata	0:763b80993db4	1165	return 0;
cparata	0:763b80993db4	1166	}
cparata	0:763b80993db4	1167
cparata	0:763b80993db4	1168	/**
cparata	0:763b80993db4	1169	* @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	1170	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:763b80993db4	1171	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1172	*/
cparata	0:763b80993db4	1173	int LSM6DSLSensor::Enable_Wake_Up_Detection(void)
cparata	0:763b80993db4	1174	{
cparata	0:763b80993db4	1175	/* Output Data Rate selection */
cparata	0:763b80993db4	1176	if( Set_X_ODR(416.0f) == 1 )
cparata	0:763b80993db4	1177	{
cparata	0:763b80993db4	1178	return 1;
cparata	0:763b80993db4	1179	}
cparata	0:763b80993db4	1180
cparata	0:763b80993db4	1181	/* Full scale selection. */
cparata	0:763b80993db4	1182	if( Set_X_FS(2.0f) == 1 )
cparata	0:763b80993db4	1183	{
cparata	0:763b80993db4	1184	return 1;
cparata	0:763b80993db4	1185	}
cparata	0:763b80993db4	1186
cparata	0:763b80993db4	1187	/* WAKE_DUR setting */
cparata	0:763b80993db4	1188	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:763b80993db4	1189	{
cparata	0:763b80993db4	1190	return 1;
cparata	0:763b80993db4	1191	}
cparata	0:763b80993db4	1192
cparata	0:763b80993db4	1193	/* Set wake up threshold. */
cparata	0:763b80993db4	1194	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
cparata	0:763b80993db4	1195	{
cparata	0:763b80993db4	1196	return 1;
cparata	0:763b80993db4	1197	}
cparata	0:763b80993db4	1198
cparata	0:763b80993db4	1199	/* Enable basic Interrupts */
cparata	0:763b80993db4	1200	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1201	{
cparata	0:763b80993db4	1202	return 1;
cparata	0:763b80993db4	1203	}
cparata	0:763b80993db4	1204
cparata	0:763b80993db4	1205	/* INT2_WU setting */
cparata	0:763b80993db4	1206	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_ENABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1207	{
cparata	0:763b80993db4	1208	return 1;
cparata	0:763b80993db4	1209	}
cparata	0:763b80993db4	1210
cparata	0:763b80993db4	1211	return 0;
cparata	0:763b80993db4	1212	}
cparata	0:763b80993db4	1213
cparata	0:763b80993db4	1214	/**
cparata	0:763b80993db4	1215	* @brief Disable the wake up detection for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	1216	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1217	*/
cparata	0:763b80993db4	1218	int LSM6DSLSensor::Disable_Wake_Up_Detection(void)
cparata	0:763b80993db4	1219	{
cparata	0:763b80993db4	1220	/* INT2_WU setting */
cparata	0:763b80993db4	1221	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_DISABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1222	{
cparata	0:763b80993db4	1223	return 1;
cparata	0:763b80993db4	1224	}
cparata	0:763b80993db4	1225
cparata	0:763b80993db4	1226	/* Disable basic Interrupts */
cparata	0:763b80993db4	1227	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1228	{
cparata	0:763b80993db4	1229	return 1;
cparata	0:763b80993db4	1230	}
cparata	0:763b80993db4	1231
cparata	0:763b80993db4	1232	/* WU_DUR setting */
cparata	0:763b80993db4	1233	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:763b80993db4	1234	{
cparata	0:763b80993db4	1235	return 1;
cparata	0:763b80993db4	1236	}
cparata	0:763b80993db4	1237
cparata	0:763b80993db4	1238	/* WU_THS setting */
cparata	0:763b80993db4	1239	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:763b80993db4	1240	{
cparata	0:763b80993db4	1241	return 1;
cparata	0:763b80993db4	1242	}
cparata	0:763b80993db4	1243
cparata	0:763b80993db4	1244	return 0;
cparata	0:763b80993db4	1245	}
cparata	0:763b80993db4	1246
cparata	0:763b80993db4	1247	/**
cparata	0:763b80993db4	1248	* @brief Set the wake up threshold for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	1249	* @param thr the threshold to be set
cparata	0:763b80993db4	1250	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1251	*/
cparata	0:763b80993db4	1252	int LSM6DSLSensor::Set_Wake_Up_Threshold(uint8_t thr)
cparata	0:763b80993db4	1253	{
cparata	0:763b80993db4	1254	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
cparata	0:763b80993db4	1255	{
cparata	0:763b80993db4	1256	return 1;
cparata	0:763b80993db4	1257	}
cparata	0:763b80993db4	1258
cparata	0:763b80993db4	1259	return 0;
cparata	0:763b80993db4	1260	}
cparata	0:763b80993db4	1261
cparata	0:763b80993db4	1262	/**
cparata	0:763b80993db4	1263	* @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	1264	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:763b80993db4	1265	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1266	*/
cparata	0:763b80993db4	1267	int LSM6DSLSensor::Enable_Single_Tap_Detection(void)
cparata	0:763b80993db4	1268	{
cparata	0:763b80993db4	1269	/* Output Data Rate selection */
cparata	0:763b80993db4	1270	if( Set_X_ODR(416.0f) == 1 )
cparata	0:763b80993db4	1271	{
cparata	0:763b80993db4	1272	return 1;
cparata	0:763b80993db4	1273	}
cparata	0:763b80993db4	1274
cparata	0:763b80993db4	1275	/* Full scale selection. */
cparata	0:763b80993db4	1276	if( Set_X_FS(2.0f) == 1 )
cparata	0:763b80993db4	1277	{
cparata	0:763b80993db4	1278	return 1;
cparata	0:763b80993db4	1279	}
cparata	0:763b80993db4	1280
cparata	0:763b80993db4	1281	/* Enable X direction in tap recognition. */
cparata	0:763b80993db4	1282	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1283	{
cparata	0:763b80993db4	1284	return 1;
cparata	0:763b80993db4	1285	}
cparata	0:763b80993db4	1286
cparata	0:763b80993db4	1287	/* Enable Y direction in tap recognition. */
cparata	0:763b80993db4	1288	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1289	{
cparata	0:763b80993db4	1290	return 1;
cparata	0:763b80993db4	1291	}
cparata	0:763b80993db4	1292
cparata	0:763b80993db4	1293	/* Enable Z direction in tap recognition. */
cparata	0:763b80993db4	1294	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1295	{
cparata	0:763b80993db4	1296	return 1;
cparata	0:763b80993db4	1297	}
cparata	0:763b80993db4	1298
cparata	0:763b80993db4	1299	/* Set tap threshold. */
cparata	0:763b80993db4	1300	if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata	0:763b80993db4	1301	{
cparata	0:763b80993db4	1302	return 1;
cparata	0:763b80993db4	1303	}
cparata	0:763b80993db4	1304
cparata	0:763b80993db4	1305	/* Set tap shock time window. */
cparata	0:763b80993db4	1306	if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == 1 )
cparata	0:763b80993db4	1307	{
cparata	0:763b80993db4	1308	return 1;
cparata	0:763b80993db4	1309	}
cparata	0:763b80993db4	1310
cparata	0:763b80993db4	1311	/* Set tap quiet time window. */
cparata	0:763b80993db4	1312	if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == 1 )
cparata	0:763b80993db4	1313	{
cparata	0:763b80993db4	1314	return 1;
cparata	0:763b80993db4	1315	}
cparata	0:763b80993db4	1316
cparata	0:763b80993db4	1317	/* _NOTE_: Tap duration time window - don't care for single tap. */
cparata	0:763b80993db4	1318
cparata	0:763b80993db4	1319	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata	0:763b80993db4	1320
cparata	0:763b80993db4	1321	/* Enable basic Interrupts */
cparata	0:763b80993db4	1322	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1323	{
cparata	0:763b80993db4	1324	return 1;
cparata	0:763b80993db4	1325	}
cparata	0:763b80993db4	1326
cparata	0:763b80993db4	1327	/* Enable single tap interrupt on INT1 pin. */
cparata	0:763b80993db4	1328	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1329	{
cparata	0:763b80993db4	1330	return 1;
cparata	0:763b80993db4	1331	}
cparata	0:763b80993db4	1332
cparata	0:763b80993db4	1333	return 0;
cparata	0:763b80993db4	1334	}
cparata	0:763b80993db4	1335
cparata	0:763b80993db4	1336	/**
cparata	0:763b80993db4	1337	* @brief Disable the single tap detection for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	1338	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1339	*/
cparata	0:763b80993db4	1340	int LSM6DSLSensor::Disable_Single_Tap_Detection(void)
cparata	0:763b80993db4	1341	{
cparata	0:763b80993db4	1342	/* Disable single tap interrupt on INT1 pin. */
cparata	0:763b80993db4	1343	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1344	{
cparata	0:763b80993db4	1345	return 1;
cparata	0:763b80993db4	1346	}
cparata	0:763b80993db4	1347
cparata	0:763b80993db4	1348	/* Disable basic Interrupts */
cparata	0:763b80993db4	1349	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1350	{
cparata	0:763b80993db4	1351	return 1;
cparata	0:763b80993db4	1352	}
cparata	0:763b80993db4	1353
cparata	0:763b80993db4	1354	/* Reset tap threshold. */
cparata	0:763b80993db4	1355	if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata	0:763b80993db4	1356	{
cparata	0:763b80993db4	1357	return 1;
cparata	0:763b80993db4	1358	}
cparata	0:763b80993db4	1359
cparata	0:763b80993db4	1360	/* Reset tap shock time window. */
cparata	0:763b80993db4	1361	if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata	0:763b80993db4	1362	{
cparata	0:763b80993db4	1363	return 1;
cparata	0:763b80993db4	1364	}
cparata	0:763b80993db4	1365
cparata	0:763b80993db4	1366	/* Reset tap quiet time window. */
cparata	0:763b80993db4	1367	if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata	0:763b80993db4	1368	{
cparata	0:763b80993db4	1369	return 1;
cparata	0:763b80993db4	1370	}
cparata	0:763b80993db4	1371
cparata	0:763b80993db4	1372	/* _NOTE_: Tap duration time window - don't care for single tap. */
cparata	0:763b80993db4	1373
cparata	0:763b80993db4	1374	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata	0:763b80993db4	1375
cparata	0:763b80993db4	1376	/* Disable Z direction in tap recognition. */
cparata	0:763b80993db4	1377	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1378	{
cparata	0:763b80993db4	1379	return 1;
cparata	0:763b80993db4	1380	}
cparata	0:763b80993db4	1381
cparata	0:763b80993db4	1382	/* Disable Y direction in tap recognition. */
cparata	0:763b80993db4	1383	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1384	{
cparata	0:763b80993db4	1385	return 1;
cparata	0:763b80993db4	1386	}
cparata	0:763b80993db4	1387
cparata	0:763b80993db4	1388	/* Disable X direction in tap recognition. */
cparata	0:763b80993db4	1389	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1390	{
cparata	0:763b80993db4	1391	return 1;
cparata	0:763b80993db4	1392	}
cparata	0:763b80993db4	1393
cparata	0:763b80993db4	1394	return 0;
cparata	0:763b80993db4	1395	}
cparata	0:763b80993db4	1396
cparata	0:763b80993db4	1397	/**
cparata	0:763b80993db4	1398	* @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	1399	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:763b80993db4	1400	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1401	*/
cparata	0:763b80993db4	1402	int LSM6DSLSensor::Enable_Double_Tap_Detection(void)
cparata	0:763b80993db4	1403	{
cparata	0:763b80993db4	1404	/* Output Data Rate selection */
cparata	0:763b80993db4	1405	if( Set_X_ODR(416.0f) == 1 )
cparata	0:763b80993db4	1406	{
cparata	0:763b80993db4	1407	return 1;
cparata	0:763b80993db4	1408	}
cparata	0:763b80993db4	1409
cparata	0:763b80993db4	1410	/* Full scale selection. */
cparata	0:763b80993db4	1411	if( Set_X_FS(2.0f) == 1 )
cparata	0:763b80993db4	1412	{
cparata	0:763b80993db4	1413	return 1;
cparata	0:763b80993db4	1414	}
cparata	0:763b80993db4	1415
cparata	0:763b80993db4	1416	/* Enable X direction in tap recognition. */
cparata	0:763b80993db4	1417	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1418	{
cparata	0:763b80993db4	1419	return 1;
cparata	0:763b80993db4	1420	}
cparata	0:763b80993db4	1421
cparata	0:763b80993db4	1422	/* Enable Y direction in tap recognition. */
cparata	0:763b80993db4	1423	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1424	{
cparata	0:763b80993db4	1425	return 1;
cparata	0:763b80993db4	1426	}
cparata	0:763b80993db4	1427
cparata	0:763b80993db4	1428	/* Enable Z direction in tap recognition. */
cparata	0:763b80993db4	1429	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1430	{
cparata	0:763b80993db4	1431	return 1;
cparata	0:763b80993db4	1432	}
cparata	0:763b80993db4	1433
cparata	0:763b80993db4	1434	/* Set tap threshold. */
cparata	0:763b80993db4	1435	if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata	0:763b80993db4	1436	{
cparata	0:763b80993db4	1437	return 1;
cparata	0:763b80993db4	1438	}
cparata	0:763b80993db4	1439
cparata	0:763b80993db4	1440	/* Set tap shock time window. */
cparata	0:763b80993db4	1441	if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == 1 )
cparata	0:763b80993db4	1442	{
cparata	0:763b80993db4	1443	return 1;
cparata	0:763b80993db4	1444	}
cparata	0:763b80993db4	1445
cparata	0:763b80993db4	1446	/* Set tap quiet time window. */
cparata	0:763b80993db4	1447	if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == 1 )
cparata	0:763b80993db4	1448	{
cparata	0:763b80993db4	1449	return 1;
cparata	0:763b80993db4	1450	}
cparata	0:763b80993db4	1451
cparata	0:763b80993db4	1452	/* Set tap duration time window. */
cparata	0:763b80993db4	1453	if ( Set_Tap_Duration_Time( LSM6DSL_TAP_DURATION_TIME_MID ) == 1 )
cparata	0:763b80993db4	1454	{
cparata	0:763b80993db4	1455	return 1;
cparata	0:763b80993db4	1456	}
cparata	0:763b80993db4	1457
cparata	0:763b80993db4	1458	/* Single and double tap enabled. */
cparata	0:763b80993db4	1459	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
cparata	0:763b80993db4	1460	{
cparata	0:763b80993db4	1461	return 1;
cparata	0:763b80993db4	1462	}
cparata	0:763b80993db4	1463
cparata	0:763b80993db4	1464	/* Enable basic Interrupts */
cparata	0:763b80993db4	1465	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1466	{
cparata	0:763b80993db4	1467	return 1;
cparata	0:763b80993db4	1468	}
cparata	0:763b80993db4	1469
cparata	0:763b80993db4	1470	/* Enable double tap interrupt on INT1 pin. */
cparata	0:763b80993db4	1471	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1472	{
cparata	0:763b80993db4	1473	return 1;
cparata	0:763b80993db4	1474	}
cparata	0:763b80993db4	1475
cparata	0:763b80993db4	1476	return 0;
cparata	0:763b80993db4	1477	}
cparata	0:763b80993db4	1478
cparata	0:763b80993db4	1479	/**
cparata	0:763b80993db4	1480	* @brief Disable the double tap detection for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	1481	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1482	*/
cparata	0:763b80993db4	1483	int LSM6DSLSensor::Disable_Double_Tap_Detection(void)
cparata	0:763b80993db4	1484	{
cparata	0:763b80993db4	1485	/* Disable double tap interrupt on INT1 pin. */
cparata	0:763b80993db4	1486	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1487	{
cparata	0:763b80993db4	1488	return 1;
cparata	0:763b80993db4	1489	}
cparata	0:763b80993db4	1490
cparata	0:763b80993db4	1491	/* Disable basic Interrupts */
cparata	0:763b80993db4	1492	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1493	{
cparata	0:763b80993db4	1494	return 1;
cparata	0:763b80993db4	1495	}
cparata	0:763b80993db4	1496
cparata	0:763b80993db4	1497	/* Reset tap threshold. */
cparata	0:763b80993db4	1498	if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata	0:763b80993db4	1499	{
cparata	0:763b80993db4	1500	return 1;
cparata	0:763b80993db4	1501	}
cparata	0:763b80993db4	1502
cparata	0:763b80993db4	1503	/* Reset tap shock time window. */
cparata	0:763b80993db4	1504	if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata	0:763b80993db4	1505	{
cparata	0:763b80993db4	1506	return 1;
cparata	0:763b80993db4	1507	}
cparata	0:763b80993db4	1508
cparata	0:763b80993db4	1509	/* Reset tap quiet time window. */
cparata	0:763b80993db4	1510	if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata	0:763b80993db4	1511	{
cparata	0:763b80993db4	1512	return 1;
cparata	0:763b80993db4	1513	}
cparata	0:763b80993db4	1514
cparata	0:763b80993db4	1515	/* Reset tap duration time window. */
cparata	0:763b80993db4	1516	if ( Set_Tap_Duration_Time( 0x0 ) == 1 )
cparata	0:763b80993db4	1517	{
cparata	0:763b80993db4	1518	return 1;
cparata	0:763b80993db4	1519	}
cparata	0:763b80993db4	1520
cparata	0:763b80993db4	1521	/* Only single tap enabled. */
cparata	0:763b80993db4	1522	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
cparata	0:763b80993db4	1523	{
cparata	0:763b80993db4	1524	return 1;
cparata	0:763b80993db4	1525	}
cparata	0:763b80993db4	1526
cparata	0:763b80993db4	1527	/* Disable Z direction in tap recognition. */
cparata	0:763b80993db4	1528	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1529	{
cparata	0:763b80993db4	1530	return 1;
cparata	0:763b80993db4	1531	}
cparata	0:763b80993db4	1532
cparata	0:763b80993db4	1533	/* Disable Y direction in tap recognition. */
cparata	0:763b80993db4	1534	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1535	{
cparata	0:763b80993db4	1536	return 1;
cparata	0:763b80993db4	1537	}
cparata	0:763b80993db4	1538
cparata	0:763b80993db4	1539	/* Disable X direction in tap recognition. */
cparata	0:763b80993db4	1540	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1541	{
cparata	0:763b80993db4	1542	return 1;
cparata	0:763b80993db4	1543	}
cparata	0:763b80993db4	1544
cparata	0:763b80993db4	1545	return 0;
cparata	0:763b80993db4	1546	}
cparata	0:763b80993db4	1547
cparata	0:763b80993db4	1548	/**
cparata	0:763b80993db4	1549	* @brief Set the tap threshold for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	1550	* @param thr the threshold to be set
cparata	0:763b80993db4	1551	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1552	*/
cparata	0:763b80993db4	1553	int LSM6DSLSensor::Set_Tap_Threshold(uint8_t thr)
cparata	0:763b80993db4	1554	{
cparata	0:763b80993db4	1555	if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
cparata	0:763b80993db4	1556	{
cparata	0:763b80993db4	1557	return 1;
cparata	0:763b80993db4	1558	}
cparata	0:763b80993db4	1559
cparata	0:763b80993db4	1560	return 0;
cparata	0:763b80993db4	1561	}
cparata	0:763b80993db4	1562
cparata	0:763b80993db4	1563	/**
cparata	0:763b80993db4	1564	* @brief Set the tap shock time window for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	1565	* @param time the shock time window to be set
cparata	0:763b80993db4	1566	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1567	*/
cparata	0:763b80993db4	1568	int LSM6DSLSensor::Set_Tap_Shock_Time(uint8_t time)
cparata	0:763b80993db4	1569	{
cparata	0:763b80993db4	1570	if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
cparata	0:763b80993db4	1571	{
cparata	0:763b80993db4	1572	return 1;
cparata	0:763b80993db4	1573	}
cparata	0:763b80993db4	1574
cparata	0:763b80993db4	1575	return 0;
cparata	0:763b80993db4	1576	}
cparata	0:763b80993db4	1577
cparata	0:763b80993db4	1578	/**
cparata	0:763b80993db4	1579	* @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	1580	* @param time the quiet time window to be set
cparata	0:763b80993db4	1581	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1582	*/
cparata	0:763b80993db4	1583	int LSM6DSLSensor::Set_Tap_Quiet_Time(uint8_t time)
cparata	0:763b80993db4	1584	{
cparata	0:763b80993db4	1585	if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
cparata	0:763b80993db4	1586	{
cparata	0:763b80993db4	1587	return 1;
cparata	0:763b80993db4	1588	}
cparata	0:763b80993db4	1589
cparata	0:763b80993db4	1590	return 0;
cparata	0:763b80993db4	1591	}
cparata	0:763b80993db4	1592
cparata	0:763b80993db4	1593	/**
cparata	0:763b80993db4	1594	* @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	1595	* @param time the duration of the time window to be set
cparata	0:763b80993db4	1596	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1597	*/
cparata	0:763b80993db4	1598	int LSM6DSLSensor::Set_Tap_Duration_Time(uint8_t time)
cparata	0:763b80993db4	1599	{
cparata	0:763b80993db4	1600	if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
cparata	0:763b80993db4	1601	{
cparata	0:763b80993db4	1602	return 1;
cparata	0:763b80993db4	1603	}
cparata	0:763b80993db4	1604
cparata	0:763b80993db4	1605	return 0;
cparata	0:763b80993db4	1606	}
cparata	0:763b80993db4	1607
cparata	0:763b80993db4	1608	/**
cparata	0:763b80993db4	1609	* @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	1610	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:763b80993db4	1611	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1612	*/
cparata	0:763b80993db4	1613	int LSM6DSLSensor::Enable_6D_Orientation(void)
cparata	0:763b80993db4	1614	{
cparata	0:763b80993db4	1615	/* Output Data Rate selection */
cparata	0:763b80993db4	1616	if( Set_X_ODR(416.0f) == 1 )
cparata	0:763b80993db4	1617	{
cparata	0:763b80993db4	1618	return 1;
cparata	0:763b80993db4	1619	}
cparata	0:763b80993db4	1620
cparata	0:763b80993db4	1621	/* Full scale selection. */
cparata	0:763b80993db4	1622	if( Set_X_FS(2.0f) == 1 )
cparata	0:763b80993db4	1623	{
cparata	0:763b80993db4	1624	return 1;
cparata	0:763b80993db4	1625	}
cparata	0:763b80993db4	1626
cparata	0:763b80993db4	1627	/* Set 6D threshold. */
cparata	0:763b80993db4	1628	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
cparata	0:763b80993db4	1629	{
cparata	0:763b80993db4	1630	return 1;
cparata	0:763b80993db4	1631	}
cparata	0:763b80993db4	1632
cparata	0:763b80993db4	1633	/* Enable basic Interrupts */
cparata	0:763b80993db4	1634	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1635	{
cparata	0:763b80993db4	1636	return 1;
cparata	0:763b80993db4	1637	}
cparata	0:763b80993db4	1638
cparata	0:763b80993db4	1639	/* INT1_6D setting. */
cparata	0:763b80993db4	1640	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1641	{
cparata	0:763b80993db4	1642	return 1;
cparata	0:763b80993db4	1643	}
cparata	0:763b80993db4	1644
cparata	0:763b80993db4	1645	return 0;
cparata	0:763b80993db4	1646	}
cparata	0:763b80993db4	1647
cparata	0:763b80993db4	1648	/**
cparata	0:763b80993db4	1649	* @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	1650	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1651	*/
cparata	0:763b80993db4	1652	int LSM6DSLSensor::Disable_6D_Orientation(void)
cparata	0:763b80993db4	1653	{
cparata	0:763b80993db4	1654	/* INT1_6D setting. */
cparata	0:763b80993db4	1655	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1656	{
cparata	0:763b80993db4	1657	return 1;
cparata	0:763b80993db4	1658	}
cparata	0:763b80993db4	1659
cparata	0:763b80993db4	1660	/* Disable basic Interrupts */
cparata	0:763b80993db4	1661	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	0:763b80993db4	1662	{
cparata	0:763b80993db4	1663	return 1;
cparata	0:763b80993db4	1664	}
cparata	0:763b80993db4	1665
cparata	0:763b80993db4	1666	/* Reset 6D threshold. */
cparata	0:763b80993db4	1667	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
cparata	0:763b80993db4	1668	{
cparata	0:763b80993db4	1669	return 1;
cparata	0:763b80993db4	1670	}
cparata	0:763b80993db4	1671
cparata	0:763b80993db4	1672	return 0;
cparata	0:763b80993db4	1673	}
cparata	0:763b80993db4	1674
cparata	0:763b80993db4	1675	/**
cparata	0:763b80993db4	1676	* @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	1677	* @param xl the pointer to the 6D orientation XL axis
cparata	0:763b80993db4	1678	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1679	*/
cparata	0:763b80993db4	1680	int LSM6DSLSensor::Get_6D_Orientation_XL(uint8_t *xl)
cparata	0:763b80993db4	1681	{
cparata	0:763b80993db4	1682	LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
cparata	0:763b80993db4	1683
cparata	0:763b80993db4	1684	if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
cparata	0:763b80993db4	1685	{
cparata	0:763b80993db4	1686	return 1;
cparata	0:763b80993db4	1687	}
cparata	0:763b80993db4	1688
cparata	0:763b80993db4	1689	switch( xl_raw )
cparata	0:763b80993db4	1690	{
cparata	0:763b80993db4	1691	case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
cparata	0:763b80993db4	1692	*xl = 1;
cparata	0:763b80993db4	1693	break;
cparata	0:763b80993db4	1694	case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
cparata	0:763b80993db4	1695	*xl = 0;
cparata	0:763b80993db4	1696	break;
cparata	0:763b80993db4	1697	default:
cparata	0:763b80993db4	1698	return 1;
cparata	0:763b80993db4	1699	}
cparata	0:763b80993db4	1700
cparata	0:763b80993db4	1701	return 0;
cparata	0:763b80993db4	1702	}
cparata	0:763b80993db4	1703
cparata	0:763b80993db4	1704	/**
cparata	0:763b80993db4	1705	* @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	1706	* @param xh the pointer to the 6D orientation XH axis
cparata	0:763b80993db4	1707	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1708	*/
cparata	0:763b80993db4	1709	int LSM6DSLSensor::Get_6D_Orientation_XH(uint8_t *xh)
cparata	0:763b80993db4	1710	{
cparata	0:763b80993db4	1711	LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
cparata	0:763b80993db4	1712
cparata	0:763b80993db4	1713	if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
cparata	0:763b80993db4	1714	{
cparata	0:763b80993db4	1715	return 1;
cparata	0:763b80993db4	1716	}
cparata	0:763b80993db4	1717
cparata	0:763b80993db4	1718	switch( xh_raw )
cparata	0:763b80993db4	1719	{
cparata	0:763b80993db4	1720	case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
cparata	0:763b80993db4	1721	*xh = 1;
cparata	0:763b80993db4	1722	break;
cparata	0:763b80993db4	1723	case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
cparata	0:763b80993db4	1724	*xh = 0;
cparata	0:763b80993db4	1725	break;
cparata	0:763b80993db4	1726	default:
cparata	0:763b80993db4	1727	return 1;
cparata	0:763b80993db4	1728	}
cparata	0:763b80993db4	1729
cparata	0:763b80993db4	1730	return 0;
cparata	0:763b80993db4	1731	}
cparata	0:763b80993db4	1732
cparata	0:763b80993db4	1733	/**
cparata	0:763b80993db4	1734	* @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	1735	* @param yl the pointer to the 6D orientation YL axis
cparata	0:763b80993db4	1736	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1737	*/
cparata	0:763b80993db4	1738	int LSM6DSLSensor::Get_6D_Orientation_YL(uint8_t *yl)
cparata	0:763b80993db4	1739	{
cparata	0:763b80993db4	1740	LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
cparata	0:763b80993db4	1741
cparata	0:763b80993db4	1742	if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
cparata	0:763b80993db4	1743	{
cparata	0:763b80993db4	1744	return 1;
cparata	0:763b80993db4	1745	}
cparata	0:763b80993db4	1746
cparata	0:763b80993db4	1747	switch( yl_raw )
cparata	0:763b80993db4	1748	{
cparata	0:763b80993db4	1749	case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
cparata	0:763b80993db4	1750	*yl = 1;
cparata	0:763b80993db4	1751	break;
cparata	0:763b80993db4	1752	case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
cparata	0:763b80993db4	1753	*yl = 0;
cparata	0:763b80993db4	1754	break;
cparata	0:763b80993db4	1755	default:
cparata	0:763b80993db4	1756	return 1;
cparata	0:763b80993db4	1757	}
cparata	0:763b80993db4	1758
cparata	0:763b80993db4	1759	return 0;
cparata	0:763b80993db4	1760	}
cparata	0:763b80993db4	1761
cparata	0:763b80993db4	1762	/**
cparata	0:763b80993db4	1763	* @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	1764	* @param yh the pointer to the 6D orientation YH axis
cparata	0:763b80993db4	1765	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1766	*/
cparata	0:763b80993db4	1767	int LSM6DSLSensor::Get_6D_Orientation_YH(uint8_t *yh)
cparata	0:763b80993db4	1768	{
cparata	0:763b80993db4	1769	LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
cparata	0:763b80993db4	1770
cparata	0:763b80993db4	1771	if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
cparata	0:763b80993db4	1772	{
cparata	0:763b80993db4	1773	return 1;
cparata	0:763b80993db4	1774	}
cparata	0:763b80993db4	1775
cparata	0:763b80993db4	1776	switch( yh_raw )
cparata	0:763b80993db4	1777	{
cparata	0:763b80993db4	1778	case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
cparata	0:763b80993db4	1779	*yh = 1;
cparata	0:763b80993db4	1780	break;
cparata	0:763b80993db4	1781	case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
cparata	0:763b80993db4	1782	*yh = 0;
cparata	0:763b80993db4	1783	break;
cparata	0:763b80993db4	1784	default:
cparata	0:763b80993db4	1785	return 1;
cparata	0:763b80993db4	1786	}
cparata	0:763b80993db4	1787
cparata	0:763b80993db4	1788	return 0;
cparata	0:763b80993db4	1789	}
cparata	0:763b80993db4	1790
cparata	0:763b80993db4	1791	/**
cparata	0:763b80993db4	1792	* @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	1793	* @param zl the pointer to the 6D orientation ZL axis
cparata	0:763b80993db4	1794	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1795	*/
cparata	0:763b80993db4	1796	int LSM6DSLSensor::Get_6D_Orientation_ZL(uint8_t *zl)
cparata	0:763b80993db4	1797	{
cparata	0:763b80993db4	1798	LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
cparata	0:763b80993db4	1799
cparata	0:763b80993db4	1800	if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
cparata	0:763b80993db4	1801	{
cparata	0:763b80993db4	1802	return 1;
cparata	0:763b80993db4	1803	}
cparata	0:763b80993db4	1804
cparata	0:763b80993db4	1805	switch( zl_raw )
cparata	0:763b80993db4	1806	{
cparata	0:763b80993db4	1807	case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
cparata	0:763b80993db4	1808	*zl = 1;
cparata	0:763b80993db4	1809	break;
cparata	0:763b80993db4	1810	case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
cparata	0:763b80993db4	1811	*zl = 0;
cparata	0:763b80993db4	1812	break;
cparata	0:763b80993db4	1813	default:
cparata	0:763b80993db4	1814	return 1;
cparata	0:763b80993db4	1815	}
cparata	0:763b80993db4	1816
cparata	0:763b80993db4	1817	return 0;
cparata	0:763b80993db4	1818	}
cparata	0:763b80993db4	1819
cparata	0:763b80993db4	1820	/**
cparata	0:763b80993db4	1821	* @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	1822	* @param zh the pointer to the 6D orientation ZH axis
cparata	0:763b80993db4	1823	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1824	*/
cparata	0:763b80993db4	1825	int LSM6DSLSensor::Get_6D_Orientation_ZH(uint8_t *zh)
cparata	0:763b80993db4	1826	{
cparata	0:763b80993db4	1827	LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
cparata	0:763b80993db4	1828
cparata	0:763b80993db4	1829	if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
cparata	0:763b80993db4	1830	{
cparata	0:763b80993db4	1831	return 1;
cparata	0:763b80993db4	1832	}
cparata	0:763b80993db4	1833
cparata	0:763b80993db4	1834	switch( zh_raw )
cparata	0:763b80993db4	1835	{
cparata	0:763b80993db4	1836	case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
cparata	0:763b80993db4	1837	*zh = 1;
cparata	0:763b80993db4	1838	break;
cparata	0:763b80993db4	1839	case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
cparata	0:763b80993db4	1840	*zh = 0;
cparata	0:763b80993db4	1841	break;
cparata	0:763b80993db4	1842	default:
cparata	0:763b80993db4	1843	return 1;
cparata	0:763b80993db4	1844	}
cparata	0:763b80993db4	1845
cparata	0:763b80993db4	1846	return 0;
cparata	0:763b80993db4	1847	}
cparata	0:763b80993db4	1848
cparata	0:763b80993db4	1849	/**
cparata	0:763b80993db4	1850	* @brief Get the status of all hardware events for LSM6DSL accelerometer sensor
cparata	0:763b80993db4	1851	* @param status the pointer to the status of all hardware events
cparata	0:763b80993db4	1852	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1853	*/
cparata	0:763b80993db4	1854	int LSM6DSLSensor::Get_Event_Status(LSM6DSL_Event_Status_t *status)
cparata	0:763b80993db4	1855	{
cparata	0:763b80993db4	1856	uint8_t Wake_Up_Src = 0, Tap_Src = 0, D6D_Src = 0, Func_Src = 0, Md1_Cfg = 0, Md2_Cfg = 0, Int1_Ctrl = 0;
cparata	0:763b80993db4	1857
cparata	0:763b80993db4	1858	memset((void *)status, 0x0, sizeof(LSM6DSL_Event_Status_t));
cparata	0:763b80993db4	1859
cparata	0:763b80993db4	1860	if(ReadReg(LSM6DSL_ACC_GYRO_WAKE_UP_SRC, &Wake_Up_Src) != 0)
cparata	0:763b80993db4	1861	{
cparata	0:763b80993db4	1862	return 1;
cparata	0:763b80993db4	1863	}
cparata	0:763b80993db4	1864
cparata	0:763b80993db4	1865	if(ReadReg(LSM6DSL_ACC_GYRO_TAP_SRC, &Tap_Src) != 0)
cparata	0:763b80993db4	1866	{
cparata	0:763b80993db4	1867	return 1;
cparata	0:763b80993db4	1868	}
cparata	0:763b80993db4	1869
cparata	0:763b80993db4	1870	if(ReadReg(LSM6DSL_ACC_GYRO_D6D_SRC, &D6D_Src) != 0)
cparata	0:763b80993db4	1871	{
cparata	0:763b80993db4	1872	return 1;
cparata	0:763b80993db4	1873	}
cparata	0:763b80993db4	1874
cparata	0:763b80993db4	1875	if(ReadReg(LSM6DSL_ACC_GYRO_FUNC_SRC, &Func_Src) != 0)
cparata	0:763b80993db4	1876	{
cparata	0:763b80993db4	1877	return 1;
cparata	0:763b80993db4	1878	}
cparata	0:763b80993db4	1879
cparata	0:763b80993db4	1880	if(ReadReg(LSM6DSL_ACC_GYRO_MD1_CFG, &Md1_Cfg ) != 0 )
cparata	0:763b80993db4	1881	{
cparata	0:763b80993db4	1882	return 1;
cparata	0:763b80993db4	1883	}
cparata	0:763b80993db4	1884
cparata	0:763b80993db4	1885	if(ReadReg(LSM6DSL_ACC_GYRO_MD2_CFG, &Md2_Cfg ) != 0)
cparata	0:763b80993db4	1886	{
cparata	0:763b80993db4	1887	return 1;
cparata	0:763b80993db4	1888	}
cparata	0:763b80993db4	1889
cparata	0:763b80993db4	1890	if(ReadReg(LSM6DSL_ACC_GYRO_INT1_CTRL, &Int1_Ctrl ) != 0)
cparata	0:763b80993db4	1891	{
cparata	0:763b80993db4	1892	return 1;
cparata	0:763b80993db4	1893	}
cparata	0:763b80993db4	1894
cparata	0:763b80993db4	1895	if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_FF_MASK)
cparata	0:763b80993db4	1896	{
cparata	0:763b80993db4	1897	if((Wake_Up_Src & LSM6DSL_ACC_GYRO_FF_EV_STATUS_MASK))
cparata	0:763b80993db4	1898	{
cparata	0:763b80993db4	1899	status->FreeFallStatus = 1;
cparata	0:763b80993db4	1900	}
cparata	0:763b80993db4	1901	}
cparata	0:763b80993db4	1902
cparata	0:763b80993db4	1903	if(Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_WU_MASK)
cparata	0:763b80993db4	1904	{
cparata	0:763b80993db4	1905	if((Wake_Up_Src & LSM6DSL_ACC_GYRO_WU_EV_STATUS_MASK))
cparata	0:763b80993db4	1906	{
cparata	0:763b80993db4	1907	status->WakeUpStatus = 1;
cparata	0:763b80993db4	1908	}
cparata	0:763b80993db4	1909	}
cparata	0:763b80993db4	1910
cparata	0:763b80993db4	1911	if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_MASK)
cparata	0:763b80993db4	1912	{
cparata	0:763b80993db4	1913	if((Tap_Src & LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_MASK))
cparata	0:763b80993db4	1914	{
cparata	0:763b80993db4	1915	status->TapStatus = 1;
cparata	0:763b80993db4	1916	}
cparata	0:763b80993db4	1917	}
cparata	0:763b80993db4	1918
cparata	0:763b80993db4	1919	if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TAP_MASK)
cparata	0:763b80993db4	1920	{
cparata	0:763b80993db4	1921	if((Tap_Src & LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_MASK))
cparata	0:763b80993db4	1922	{
cparata	0:763b80993db4	1923	status->DoubleTapStatus = 1;
cparata	0:763b80993db4	1924	}
cparata	0:763b80993db4	1925	}
cparata	0:763b80993db4	1926
cparata	0:763b80993db4	1927	if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_6D_MASK)
cparata	0:763b80993db4	1928	{
cparata	0:763b80993db4	1929	if((D6D_Src & LSM6DSL_ACC_GYRO_D6D_EV_STATUS_MASK))
cparata	0:763b80993db4	1930	{
cparata	0:763b80993db4	1931	status->D6DOrientationStatus = 1;
cparata	0:763b80993db4	1932	}
cparata	0:763b80993db4	1933	}
cparata	0:763b80993db4	1934
cparata	0:763b80993db4	1935	if(Int1_Ctrl & LSM6DSL_ACC_GYRO_INT1_PEDO_MASK)
cparata	0:763b80993db4	1936	{
cparata	0:763b80993db4	1937	if((Func_Src & LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_MASK))
cparata	0:763b80993db4	1938	{
cparata	0:763b80993db4	1939	status->StepStatus = 1;
cparata	0:763b80993db4	1940	}
cparata	0:763b80993db4	1941	}
cparata	0:763b80993db4	1942
cparata	0:763b80993db4	1943	if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TILT_MASK)
cparata	0:763b80993db4	1944	{
cparata	0:763b80993db4	1945	if((Func_Src & LSM6DSL_ACC_GYRO_TILT_EV_STATUS_MASK))
cparata	0:763b80993db4	1946	{
cparata	0:763b80993db4	1947	status->TiltStatus = 1;
cparata	0:763b80993db4	1948	}
cparata	0:763b80993db4	1949	}
cparata	0:763b80993db4	1950
cparata	0:763b80993db4	1951	return 0;
cparata	0:763b80993db4	1952	}
cparata	0:763b80993db4	1953
cparata	0:763b80993db4	1954	/**
cparata	0:763b80993db4	1955	* @brief Read the data from register
cparata	0:763b80993db4	1956	* @param reg register address
cparata	0:763b80993db4	1957	* @param data register data
cparata	0:763b80993db4	1958	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1959	*/
cparata	0:763b80993db4	1960	int LSM6DSLSensor::ReadReg( uint8_t reg, uint8_t *data )
cparata	0:763b80993db4	1961	{
cparata	0:763b80993db4	1962
cparata	0:763b80993db4	1963	if ( LSM6DSL_ACC_GYRO_ReadReg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
cparata	0:763b80993db4	1964	{
cparata	0:763b80993db4	1965	return 1;
cparata	0:763b80993db4	1966	}
cparata	0:763b80993db4	1967
cparata	0:763b80993db4	1968	return 0;
cparata	0:763b80993db4	1969	}
cparata	0:763b80993db4	1970
cparata	0:763b80993db4	1971	/**
cparata	0:763b80993db4	1972	* @brief Write the data to register
cparata	0:763b80993db4	1973	* @param reg register address
cparata	0:763b80993db4	1974	* @param data register data
cparata	0:763b80993db4	1975	* @retval 0 in case of success, an error code otherwise
cparata	0:763b80993db4	1976	*/
cparata	0:763b80993db4	1977	int LSM6DSLSensor::WriteReg( uint8_t reg, uint8_t data )
cparata	0:763b80993db4	1978	{
cparata	0:763b80993db4	1979
cparata	0:763b80993db4	1980	if ( LSM6DSL_ACC_GYRO_WriteReg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
cparata	0:763b80993db4	1981	{
cparata	0:763b80993db4	1982	return 1;
cparata	0:763b80993db4	1983	}
cparata	0:763b80993db4	1984
cparata	0:763b80993db4	1985	return 0;
cparata	0:763b80993db4	1986	}
cparata	0:763b80993db4	1987
cparata	0:763b80993db4	1988
cparata	0:763b80993db4	1989	uint8_t LSM6DSL_IO_Write( void handle, uint8_t WriteAddr, uint8_t pBuffer, uint16_t nBytesToWrite )
cparata	0:763b80993db4	1990	{
cparata	0:763b80993db4	1991	return ((LSM6DSLSensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata	0:763b80993db4	1992	}
cparata	0:763b80993db4	1993
cparata	0:763b80993db4	1994	uint8_t LSM6DSL_IO_Read( void handle, uint8_t ReadAddr, uint8_t pBuffer, uint16_t nBytesToRead )
cparata	0:763b80993db4	1995	{
cparata	0:763b80993db4	1996	return ((LSM6DSLSensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata	0:763b80993db4	1997	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	16 Dec 2016
Imports:	170
Forks:	0
Commits:	10
Dependents:	0
Dependencies:	2
Followers:	400

The code in this repository is Apache licensed.

Multi Event Demo Application based on sensor expansion board X-NUCLEO-IKS01A2

X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.cpp@0:763b80993db4, 2016-11-24 (annotated)

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