ST / Mbed 2 deprecated Pedometer_IKS01A2

Example of pedometer for LSM6DSL in X-NUCLEO-IKS01A2

Dependencies:   X_NUCLEO_IKS01A2 mbed

Fork of Pedometer_IKS01A2 by ST Expansion SW Team

Pedometer Demo Application based on sensor expansion board X-NUCLEO-IKS01A2

Main function is to show how to count steps 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 try to shake the board to simulate the steps and then view the notification using an hyper terminal. When a new step is detected, the LED is switched on for a while.
- the user button can be used to reset the step counter.

X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.cpp@7:3c8564ed9986, 2016-11-24 (annotated)

Committer:
cparata
Date:
Thu Nov 24 16:45:36 2016 +0000
Revision:
7:3c8564ed9986
Parent:
6:153ff83ae370 
Add possibility to choose the interrupt line for HW events

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 2:67af0ad3ea2e 1 /**
cparata 2:67af0ad3ea2e 2 ******************************************************************************
cparata 2:67af0ad3ea2e 3 * @file LSM6DSLSensor.cpp
cparata 2:67af0ad3ea2e 4 * @author AST
cparata 2:67af0ad3ea2e 5 * @version V1.0.0
cparata 2:67af0ad3ea2e 6 * @date 5 August 2016
cparata 2:67af0ad3ea2e 7 * @brief Implementation of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
cparata 2:67af0ad3ea2e 8 * sensor.
cparata 2:67af0ad3ea2e 9 ******************************************************************************
cparata 2:67af0ad3ea2e 10 * @attention
cparata 2:67af0ad3ea2e 11 *
cparata 2:67af0ad3ea2e 12 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 2:67af0ad3ea2e 13 *
cparata 2:67af0ad3ea2e 14 * Redistribution and use in source and binary forms, with or without modification,
cparata 2:67af0ad3ea2e 15 * are permitted provided that the following conditions are met:
cparata 2:67af0ad3ea2e 16 * 1. Redistributions of source code must retain the above copyright notice,
cparata 2:67af0ad3ea2e 17 * this list of conditions and the following disclaimer.
cparata 2:67af0ad3ea2e 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 2:67af0ad3ea2e 19 * this list of conditions and the following disclaimer in the documentation
cparata 2:67af0ad3ea2e 20 * and/or other materials provided with the distribution.
cparata 2:67af0ad3ea2e 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 2:67af0ad3ea2e 22 * may be used to endorse or promote products derived from this software
cparata 2:67af0ad3ea2e 23 * without specific prior written permission.
cparata 2:67af0ad3ea2e 24 *
cparata 2:67af0ad3ea2e 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 2:67af0ad3ea2e 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 2:67af0ad3ea2e 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 2:67af0ad3ea2e 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 2:67af0ad3ea2e 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 2:67af0ad3ea2e 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 2:67af0ad3ea2e 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 2:67af0ad3ea2e 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 2:67af0ad3ea2e 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 2:67af0ad3ea2e 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 2:67af0ad3ea2e 35 *
cparata 2:67af0ad3ea2e 36 ******************************************************************************
cparata 2:67af0ad3ea2e 37 */
cparata 2:67af0ad3ea2e 38
cparata 2:67af0ad3ea2e 39
cparata 2:67af0ad3ea2e 40 /* Includes ------------------------------------------------------------------*/
cparata 2:67af0ad3ea2e 41
cparata 2:67af0ad3ea2e 42 #include "mbed.h"
cparata 2:67af0ad3ea2e 43 #include "DevI2C.h"
cparata 2:67af0ad3ea2e 44 #include "LSM6DSLSensor.h"
cparata 2:67af0ad3ea2e 45 #include "LSM6DSL_ACC_GYRO_driver.h"
cparata 2:67af0ad3ea2e 46
cparata 2:67af0ad3ea2e 47
cparata 2:67af0ad3ea2e 48 /* Class Implementation ------------------------------------------------------*/
cparata 2:67af0ad3ea2e 49
cparata 2:67af0ad3ea2e 50 /** Constructor
cparata 2:67af0ad3ea2e 51 * @param i2c object of an helper class which handles the I2C peripheral
cparata 2:67af0ad3ea2e 52 * @param address the address of the component's instance
cparata 2:67af0ad3ea2e 53 */
cparata 6:153ff83ae370 54 LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, PinName INT1_pin, PinName INT2_pin) : dev_i2c(i2c), INT1_irq(INT1_pin), INT2_irq(INT2_pin)
cparata 2:67af0ad3ea2e 55 {
cparata 2:67af0ad3ea2e 56 address = LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH;
cparata 2:67af0ad3ea2e 57 };
cparata 2:67af0ad3ea2e 58
cparata 2:67af0ad3ea2e 59 /** Constructor
cparata 2:67af0ad3ea2e 60 * @param i2c object of an helper class which handles the I2C peripheral
cparata 2:67af0ad3ea2e 61 * @param address the address of the component's instance
cparata 2:67af0ad3ea2e 62 */
cparata 6:153ff83ae370 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 2:67af0ad3ea2e 64 {
cparata 2:67af0ad3ea2e 65
cparata 2:67af0ad3ea2e 66 };
cparata 2:67af0ad3ea2e 67
cparata 2:67af0ad3ea2e 68 /**
cparata 2:67af0ad3ea2e 69 * @brief Initializing the component.
cparata 2:67af0ad3ea2e 70 * @param[in] init pointer to device specific initalization structure.
cparata 2:67af0ad3ea2e 71 * @retval "0" in case of success, an error code otherwise.
cparata 2:67af0ad3ea2e 72 */
cparata 2:67af0ad3ea2e 73 int LSM6DSLSensor::Init(void *init)
cparata 2:67af0ad3ea2e 74 {
cparata 2:67af0ad3ea2e 75 /* Enable register address automatically incremented during a multiple byte
cparata 2:67af0ad3ea2e 76 access with a serial interface. */
cparata 2:67af0ad3ea2e 77 if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 78 {
cparata 2:67af0ad3ea2e 79 return 1;
cparata 2:67af0ad3ea2e 80 }
cparata 2:67af0ad3ea2e 81
cparata 2:67af0ad3ea2e 82 /* Enable BDU */
cparata 2:67af0ad3ea2e 83 if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 84 {
cparata 2:67af0ad3ea2e 85 return 1;
cparata 2:67af0ad3ea2e 86 }
cparata 2:67af0ad3ea2e 87
cparata 2:67af0ad3ea2e 88 /* FIFO mode selection */
cparata 2:67af0ad3ea2e 89 if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 90 {
cparata 2:67af0ad3ea2e 91 return 1;
cparata 2:67af0ad3ea2e 92 }
cparata 2:67af0ad3ea2e 93
cparata 2:67af0ad3ea2e 94 /* Output data rate selection - power down. */
cparata 2:67af0ad3ea2e 95 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 96 {
cparata 2:67af0ad3ea2e 97 return 1;
cparata 2:67af0ad3ea2e 98 }
cparata 2:67af0ad3ea2e 99
cparata 2:67af0ad3ea2e 100 /* Full scale selection. */
cparata 2:67af0ad3ea2e 101 if ( Set_X_FS( 2.0f ) == 1 )
cparata 2:67af0ad3ea2e 102 {
cparata 2:67af0ad3ea2e 103 return 1;
cparata 2:67af0ad3ea2e 104 }
cparata 2:67af0ad3ea2e 105
cparata 2:67af0ad3ea2e 106 /* Output data rate selection - power down */
cparata 2:67af0ad3ea2e 107 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 108 {
cparata 2:67af0ad3ea2e 109 return 1;
cparata 2:67af0ad3ea2e 110 }
cparata 2:67af0ad3ea2e 111
cparata 2:67af0ad3ea2e 112 /* Full scale selection. */
cparata 2:67af0ad3ea2e 113 if ( Set_G_FS( 2000.0f ) == 1 )
cparata 2:67af0ad3ea2e 114 {
cparata 2:67af0ad3ea2e 115 return 1;
cparata 2:67af0ad3ea2e 116 }
cparata 2:67af0ad3ea2e 117
cparata 2:67af0ad3ea2e 118 X_Last_ODR = 104.0f;
cparata 2:67af0ad3ea2e 119
cparata 2:67af0ad3ea2e 120 X_isEnabled = 0;
cparata 2:67af0ad3ea2e 121
cparata 2:67af0ad3ea2e 122 G_Last_ODR = 104.0f;
cparata 2:67af0ad3ea2e 123
cparata 2:67af0ad3ea2e 124 G_isEnabled = 0;
cparata 2:67af0ad3ea2e 125
cparata 2:67af0ad3ea2e 126 return 0;
cparata 2:67af0ad3ea2e 127 }
cparata 2:67af0ad3ea2e 128
cparata 2:67af0ad3ea2e 129 /**
cparata 2:67af0ad3ea2e 130 * @brief Enable LSM6DSL Accelerator
cparata 2:67af0ad3ea2e 131 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 132 */
cparata 2:67af0ad3ea2e 133 int LSM6DSLSensor::Enable_X(void)
cparata 2:67af0ad3ea2e 134 {
cparata 2:67af0ad3ea2e 135 /* Check if the component is already enabled */
cparata 2:67af0ad3ea2e 136 if ( X_isEnabled == 1 )
cparata 2:67af0ad3ea2e 137 {
cparata 2:67af0ad3ea2e 138 return 0;
cparata 2:67af0ad3ea2e 139 }
cparata 2:67af0ad3ea2e 140
cparata 2:67af0ad3ea2e 141 /* Output data rate selection. */
cparata 2:67af0ad3ea2e 142 if ( Set_X_ODR_When_Enabled( X_Last_ODR ) == 1 )
cparata 2:67af0ad3ea2e 143 {
cparata 2:67af0ad3ea2e 144 return 1;
cparata 2:67af0ad3ea2e 145 }
cparata 2:67af0ad3ea2e 146
cparata 2:67af0ad3ea2e 147 X_isEnabled = 1;
cparata 2:67af0ad3ea2e 148
cparata 2:67af0ad3ea2e 149 return 0;
cparata 2:67af0ad3ea2e 150 }
cparata 2:67af0ad3ea2e 151
cparata 2:67af0ad3ea2e 152 /**
cparata 2:67af0ad3ea2e 153 * @brief Enable LSM6DSL Gyroscope
cparata 2:67af0ad3ea2e 154 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 155 */
cparata 2:67af0ad3ea2e 156 int LSM6DSLSensor::Enable_G(void)
cparata 2:67af0ad3ea2e 157 {
cparata 2:67af0ad3ea2e 158 /* Check if the component is already enabled */
cparata 2:67af0ad3ea2e 159 if ( G_isEnabled == 1 )
cparata 2:67af0ad3ea2e 160 {
cparata 2:67af0ad3ea2e 161 return 0;
cparata 2:67af0ad3ea2e 162 }
cparata 2:67af0ad3ea2e 163
cparata 2:67af0ad3ea2e 164 /* Output data rate selection. */
cparata 2:67af0ad3ea2e 165 if ( Set_G_ODR_When_Enabled( G_Last_ODR ) == 1 )
cparata 2:67af0ad3ea2e 166 {
cparata 2:67af0ad3ea2e 167 return 1;
cparata 2:67af0ad3ea2e 168 }
cparata 2:67af0ad3ea2e 169
cparata 2:67af0ad3ea2e 170 G_isEnabled = 1;
cparata 2:67af0ad3ea2e 171
cparata 2:67af0ad3ea2e 172 return 0;
cparata 2:67af0ad3ea2e 173 }
cparata 2:67af0ad3ea2e 174
cparata 2:67af0ad3ea2e 175 /**
cparata 2:67af0ad3ea2e 176 * @brief Disable LSM6DSL Accelerator
cparata 2:67af0ad3ea2e 177 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 178 */
cparata 2:67af0ad3ea2e 179 int LSM6DSLSensor::Disable_X(void)
cparata 2:67af0ad3ea2e 180 {
cparata 2:67af0ad3ea2e 181 /* Check if the component is already disabled */
cparata 2:67af0ad3ea2e 182 if ( X_isEnabled == 0 )
cparata 2:67af0ad3ea2e 183 {
cparata 2:67af0ad3ea2e 184 return 0;
cparata 2:67af0ad3ea2e 185 }
cparata 2:67af0ad3ea2e 186
cparata 2:67af0ad3ea2e 187 /* Store actual output data rate. */
cparata 2:67af0ad3ea2e 188 if ( Get_X_ODR( &X_Last_ODR ) == 1 )
cparata 2:67af0ad3ea2e 189 {
cparata 2:67af0ad3ea2e 190 return 1;
cparata 2:67af0ad3ea2e 191 }
cparata 2:67af0ad3ea2e 192
cparata 2:67af0ad3ea2e 193 /* Output data rate selection - power down. */
cparata 2:67af0ad3ea2e 194 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 195 {
cparata 2:67af0ad3ea2e 196 return 1;
cparata 2:67af0ad3ea2e 197 }
cparata 2:67af0ad3ea2e 198
cparata 2:67af0ad3ea2e 199 X_isEnabled = 0;
cparata 2:67af0ad3ea2e 200
cparata 2:67af0ad3ea2e 201 return 0;
cparata 2:67af0ad3ea2e 202 }
cparata 2:67af0ad3ea2e 203
cparata 2:67af0ad3ea2e 204 /**
cparata 2:67af0ad3ea2e 205 * @brief Disable LSM6DSL Gyroscope
cparata 2:67af0ad3ea2e 206 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 207 */
cparata 2:67af0ad3ea2e 208 int LSM6DSLSensor::Disable_G(void)
cparata 2:67af0ad3ea2e 209 {
cparata 2:67af0ad3ea2e 210 /* Check if the component is already disabled */
cparata 2:67af0ad3ea2e 211 if ( G_isEnabled == 0 )
cparata 2:67af0ad3ea2e 212 {
cparata 2:67af0ad3ea2e 213 return 0;
cparata 2:67af0ad3ea2e 214 }
cparata 2:67af0ad3ea2e 215
cparata 2:67af0ad3ea2e 216 /* Store actual output data rate. */
cparata 2:67af0ad3ea2e 217 if ( Get_G_ODR( &G_Last_ODR ) == 1 )
cparata 2:67af0ad3ea2e 218 {
cparata 2:67af0ad3ea2e 219 return 1;
cparata 2:67af0ad3ea2e 220 }
cparata 2:67af0ad3ea2e 221
cparata 2:67af0ad3ea2e 222 /* Output data rate selection - power down */
cparata 2:67af0ad3ea2e 223 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 224 {
cparata 2:67af0ad3ea2e 225 return 1;
cparata 2:67af0ad3ea2e 226 }
cparata 2:67af0ad3ea2e 227
cparata 2:67af0ad3ea2e 228 G_isEnabled = 0;
cparata 2:67af0ad3ea2e 229
cparata 2:67af0ad3ea2e 230 return 0;
cparata 2:67af0ad3ea2e 231 }
cparata 2:67af0ad3ea2e 232
cparata 2:67af0ad3ea2e 233 /**
cparata 2:67af0ad3ea2e 234 * @brief Read ID of LSM6DSL Accelerometer and Gyroscope
cparata 2:67af0ad3ea2e 235 * @param p_id the pointer where the ID of the device is stored
cparata 2:67af0ad3ea2e 236 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 237 */
cparata 2:67af0ad3ea2e 238 int LSM6DSLSensor::ReadID(uint8_t *id)
cparata 2:67af0ad3ea2e 239 {
cparata 2:67af0ad3ea2e 240 if(!id)
cparata 2:67af0ad3ea2e 241 {
cparata 2:67af0ad3ea2e 242 return 1;
cparata 2:67af0ad3ea2e 243 }
cparata 2:67af0ad3ea2e 244
cparata 2:67af0ad3ea2e 245 /* Read WHO AM I register */
cparata 2:67af0ad3ea2e 246 if ( LSM6DSL_ACC_GYRO_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 247 {
cparata 2:67af0ad3ea2e 248 return 1;
cparata 2:67af0ad3ea2e 249 }
cparata 2:67af0ad3ea2e 250
cparata 2:67af0ad3ea2e 251 return 0;
cparata 2:67af0ad3ea2e 252 }
cparata 2:67af0ad3ea2e 253
cparata 2:67af0ad3ea2e 254 /**
cparata 2:67af0ad3ea2e 255 * @brief Read data from LSM6DSL Accelerometer
cparata 2:67af0ad3ea2e 256 * @param pData the pointer where the accelerometer data are stored
cparata 2:67af0ad3ea2e 257 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 258 */
cparata 2:67af0ad3ea2e 259 int LSM6DSLSensor::Get_X_Axes(int32_t *pData)
cparata 2:67af0ad3ea2e 260 {
cparata 2:67af0ad3ea2e 261 int16_t dataRaw[3];
cparata 2:67af0ad3ea2e 262 float sensitivity = 0;
cparata 2:67af0ad3ea2e 263
cparata 2:67af0ad3ea2e 264 /* Read raw data from LSM6DSL output register. */
cparata 2:67af0ad3ea2e 265 if ( Get_X_AxesRaw( dataRaw ) == 1 )
cparata 2:67af0ad3ea2e 266 {
cparata 2:67af0ad3ea2e 267 return 1;
cparata 2:67af0ad3ea2e 268 }
cparata 2:67af0ad3ea2e 269
cparata 2:67af0ad3ea2e 270 /* Get LSM6DSL actual sensitivity. */
cparata 2:67af0ad3ea2e 271 if ( Get_X_Sensitivity( &sensitivity ) == 1 )
cparata 2:67af0ad3ea2e 272 {
cparata 2:67af0ad3ea2e 273 return 1;
cparata 2:67af0ad3ea2e 274 }
cparata 2:67af0ad3ea2e 275
cparata 2:67af0ad3ea2e 276 /* Calculate the data. */
cparata 2:67af0ad3ea2e 277 pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata 2:67af0ad3ea2e 278 pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata 2:67af0ad3ea2e 279 pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata 2:67af0ad3ea2e 280
cparata 2:67af0ad3ea2e 281 return 0;
cparata 2:67af0ad3ea2e 282 }
cparata 2:67af0ad3ea2e 283
cparata 2:67af0ad3ea2e 284 /**
cparata 2:67af0ad3ea2e 285 * @brief Read data from LSM6DSL Gyroscope
cparata 2:67af0ad3ea2e 286 * @param pData the pointer where the gyroscope data are stored
cparata 2:67af0ad3ea2e 287 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 288 */
cparata 2:67af0ad3ea2e 289 int LSM6DSLSensor::Get_G_Axes(int32_t *pData)
cparata 2:67af0ad3ea2e 290 {
cparata 2:67af0ad3ea2e 291 int16_t dataRaw[3];
cparata 2:67af0ad3ea2e 292 float sensitivity = 0;
cparata 2:67af0ad3ea2e 293
cparata 2:67af0ad3ea2e 294 /* Read raw data from LSM6DSL output register. */
cparata 2:67af0ad3ea2e 295 if ( Get_G_AxesRaw( dataRaw ) == 1 )
cparata 2:67af0ad3ea2e 296 {
cparata 2:67af0ad3ea2e 297 return 1;
cparata 2:67af0ad3ea2e 298 }
cparata 2:67af0ad3ea2e 299
cparata 2:67af0ad3ea2e 300 /* Get LSM6DSL actual sensitivity. */
cparata 2:67af0ad3ea2e 301 if ( Get_G_Sensitivity( &sensitivity ) == 1 )
cparata 2:67af0ad3ea2e 302 {
cparata 2:67af0ad3ea2e 303 return 1;
cparata 2:67af0ad3ea2e 304 }
cparata 2:67af0ad3ea2e 305
cparata 2:67af0ad3ea2e 306 /* Calculate the data. */
cparata 2:67af0ad3ea2e 307 pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata 2:67af0ad3ea2e 308 pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata 2:67af0ad3ea2e 309 pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata 2:67af0ad3ea2e 310
cparata 2:67af0ad3ea2e 311 return 0;
cparata 2:67af0ad3ea2e 312 }
cparata 2:67af0ad3ea2e 313
cparata 2:67af0ad3ea2e 314 /**
cparata 2:67af0ad3ea2e 315 * @brief Read Accelerometer Sensitivity
cparata 2:67af0ad3ea2e 316 * @param pfData the pointer where the accelerometer sensitivity is stored
cparata 2:67af0ad3ea2e 317 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 318 */
cparata 2:67af0ad3ea2e 319 int LSM6DSLSensor::Get_X_Sensitivity(float *pfData)
cparata 2:67af0ad3ea2e 320 {
cparata 2:67af0ad3ea2e 321 LSM6DSL_ACC_GYRO_FS_XL_t fullScale;
cparata 2:67af0ad3ea2e 322
cparata 2:67af0ad3ea2e 323 /* Read actual full scale selection from sensor. */
cparata 2:67af0ad3ea2e 324 if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 325 {
cparata 2:67af0ad3ea2e 326 return 1;
cparata 2:67af0ad3ea2e 327 }
cparata 2:67af0ad3ea2e 328
cparata 2:67af0ad3ea2e 329 /* Store the sensitivity based on actual full scale. */
cparata 2:67af0ad3ea2e 330 switch( fullScale )
cparata 2:67af0ad3ea2e 331 {
cparata 2:67af0ad3ea2e 332 case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata 2:67af0ad3ea2e 333 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G;
cparata 2:67af0ad3ea2e 334 break;
cparata 2:67af0ad3ea2e 335 case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata 2:67af0ad3ea2e 336 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G;
cparata 2:67af0ad3ea2e 337 break;
cparata 2:67af0ad3ea2e 338 case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata 2:67af0ad3ea2e 339 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G;
cparata 2:67af0ad3ea2e 340 break;
cparata 2:67af0ad3ea2e 341 case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata 2:67af0ad3ea2e 342 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G;
cparata 2:67af0ad3ea2e 343 break;
cparata 2:67af0ad3ea2e 344 default:
cparata 2:67af0ad3ea2e 345 *pfData = -1.0f;
cparata 2:67af0ad3ea2e 346 return 1;
cparata 2:67af0ad3ea2e 347 }
cparata 2:67af0ad3ea2e 348
cparata 2:67af0ad3ea2e 349 return 0;
cparata 2:67af0ad3ea2e 350 }
cparata 2:67af0ad3ea2e 351
cparata 2:67af0ad3ea2e 352 /**
cparata 2:67af0ad3ea2e 353 * @brief Read Gyroscope Sensitivity
cparata 2:67af0ad3ea2e 354 * @param pfData the pointer where the gyroscope sensitivity is stored
cparata 2:67af0ad3ea2e 355 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 356 */
cparata 2:67af0ad3ea2e 357 int LSM6DSLSensor::Get_G_Sensitivity(float *pfData)
cparata 2:67af0ad3ea2e 358 {
cparata 2:67af0ad3ea2e 359 LSM6DSL_ACC_GYRO_FS_125_t fullScale125;
cparata 2:67af0ad3ea2e 360 LSM6DSL_ACC_GYRO_FS_G_t fullScale;
cparata 2:67af0ad3ea2e 361
cparata 2:67af0ad3ea2e 362 /* Read full scale 125 selection from sensor. */
cparata 2:67af0ad3ea2e 363 if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fullScale125 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 364 {
cparata 2:67af0ad3ea2e 365 return 1;
cparata 2:67af0ad3ea2e 366 }
cparata 2:67af0ad3ea2e 367
cparata 2:67af0ad3ea2e 368 if ( fullScale125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata 2:67af0ad3ea2e 369 {
cparata 2:67af0ad3ea2e 370 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS;
cparata 2:67af0ad3ea2e 371 }
cparata 2:67af0ad3ea2e 372
cparata 2:67af0ad3ea2e 373 else
cparata 2:67af0ad3ea2e 374 {
cparata 2:67af0ad3ea2e 375
cparata 2:67af0ad3ea2e 376 /* Read actual full scale selection from sensor. */
cparata 2:67af0ad3ea2e 377 if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 378 {
cparata 2:67af0ad3ea2e 379 return 1;
cparata 2:67af0ad3ea2e 380 }
cparata 2:67af0ad3ea2e 381
cparata 2:67af0ad3ea2e 382 /* Store the sensitivity based on actual full scale. */
cparata 2:67af0ad3ea2e 383 switch( fullScale )
cparata 2:67af0ad3ea2e 384 {
cparata 2:67af0ad3ea2e 385 case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata 2:67af0ad3ea2e 386 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS;
cparata 2:67af0ad3ea2e 387 break;
cparata 2:67af0ad3ea2e 388 case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata 2:67af0ad3ea2e 389 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS;
cparata 2:67af0ad3ea2e 390 break;
cparata 2:67af0ad3ea2e 391 case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata 2:67af0ad3ea2e 392 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS;
cparata 2:67af0ad3ea2e 393 break;
cparata 2:67af0ad3ea2e 394 case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata 2:67af0ad3ea2e 395 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS;
cparata 2:67af0ad3ea2e 396 break;
cparata 2:67af0ad3ea2e 397 default:
cparata 2:67af0ad3ea2e 398 *pfData = -1.0f;
cparata 2:67af0ad3ea2e 399 return 1;
cparata 2:67af0ad3ea2e 400 }
cparata 2:67af0ad3ea2e 401 }
cparata 2:67af0ad3ea2e 402
cparata 2:67af0ad3ea2e 403 return 0;
cparata 2:67af0ad3ea2e 404 }
cparata 2:67af0ad3ea2e 405
cparata 2:67af0ad3ea2e 406 /**
cparata 2:67af0ad3ea2e 407 * @brief Read raw data from LSM6DSL Accelerometer
cparata 2:67af0ad3ea2e 408 * @param pData the pointer where the accelerometer raw data are stored
cparata 2:67af0ad3ea2e 409 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 410 */
cparata 2:67af0ad3ea2e 411 int LSM6DSLSensor::Get_X_AxesRaw(int16_t *pData)
cparata 2:67af0ad3ea2e 412 {
cparata 2:67af0ad3ea2e 413 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 2:67af0ad3ea2e 414
cparata 2:67af0ad3ea2e 415 /* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_XL to LSM6DSL_ACC_GYRO_OUTZ_H_XL. */
cparata 2:67af0ad3ea2e 416 if ( LSM6DSL_ACC_GYRO_GetRawAccData( (void *)this, regValue ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 417 {
cparata 2:67af0ad3ea2e 418 return 1;
cparata 2:67af0ad3ea2e 419 }
cparata 2:67af0ad3ea2e 420
cparata 2:67af0ad3ea2e 421 /* Format the data. */
cparata 2:67af0ad3ea2e 422 pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata 2:67af0ad3ea2e 423 pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata 2:67af0ad3ea2e 424 pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata 2:67af0ad3ea2e 425
cparata 2:67af0ad3ea2e 426 return 0;
cparata 2:67af0ad3ea2e 427 }
cparata 2:67af0ad3ea2e 428
cparata 2:67af0ad3ea2e 429 /**
cparata 2:67af0ad3ea2e 430 * @brief Read raw data from LSM6DSL Gyroscope
cparata 2:67af0ad3ea2e 431 * @param pData the pointer where the gyroscope raw data are stored
cparata 2:67af0ad3ea2e 432 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 433 */
cparata 2:67af0ad3ea2e 434 int LSM6DSLSensor::Get_G_AxesRaw(int16_t *pData)
cparata 2:67af0ad3ea2e 435 {
cparata 2:67af0ad3ea2e 436 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 2:67af0ad3ea2e 437
cparata 2:67af0ad3ea2e 438 /* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_G to LSM6DSL_ACC_GYRO_OUTZ_H_G. */
cparata 2:67af0ad3ea2e 439 if ( LSM6DSL_ACC_GYRO_GetRawGyroData( (void *)this, regValue ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 440 {
cparata 2:67af0ad3ea2e 441 return 1;
cparata 2:67af0ad3ea2e 442 }
cparata 2:67af0ad3ea2e 443
cparata 2:67af0ad3ea2e 444 /* Format the data. */
cparata 2:67af0ad3ea2e 445 pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata 2:67af0ad3ea2e 446 pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata 2:67af0ad3ea2e 447 pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata 2:67af0ad3ea2e 448
cparata 2:67af0ad3ea2e 449 return 0;
cparata 2:67af0ad3ea2e 450 }
cparata 2:67af0ad3ea2e 451
cparata 2:67af0ad3ea2e 452 /**
cparata 2:67af0ad3ea2e 453 * @brief Read LSM6DSL Accelerometer output data rate
cparata 2:67af0ad3ea2e 454 * @param odr the pointer to the output data rate
cparata 2:67af0ad3ea2e 455 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 456 */
cparata 2:67af0ad3ea2e 457 int LSM6DSLSensor::Get_X_ODR(float* odr)
cparata 2:67af0ad3ea2e 458 {
cparata 2:67af0ad3ea2e 459 LSM6DSL_ACC_GYRO_ODR_XL_t odr_low_level;
cparata 2:67af0ad3ea2e 460
cparata 2:67af0ad3ea2e 461 if ( LSM6DSL_ACC_GYRO_R_ODR_XL( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 462 {
cparata 2:67af0ad3ea2e 463 return 1;
cparata 2:67af0ad3ea2e 464 }
cparata 2:67af0ad3ea2e 465
cparata 2:67af0ad3ea2e 466 switch( odr_low_level )
cparata 2:67af0ad3ea2e 467 {
cparata 2:67af0ad3ea2e 468 case LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN:
cparata 2:67af0ad3ea2e 469 *odr = 0.0f;
cparata 2:67af0ad3ea2e 470 break;
cparata 2:67af0ad3ea2e 471 case LSM6DSL_ACC_GYRO_ODR_XL_13Hz:
cparata 2:67af0ad3ea2e 472 *odr = 13.0f;
cparata 2:67af0ad3ea2e 473 break;
cparata 2:67af0ad3ea2e 474 case LSM6DSL_ACC_GYRO_ODR_XL_26Hz:
cparata 2:67af0ad3ea2e 475 *odr = 26.0f;
cparata 2:67af0ad3ea2e 476 break;
cparata 2:67af0ad3ea2e 477 case LSM6DSL_ACC_GYRO_ODR_XL_52Hz:
cparata 2:67af0ad3ea2e 478 *odr = 52.0f;
cparata 2:67af0ad3ea2e 479 break;
cparata 2:67af0ad3ea2e 480 case LSM6DSL_ACC_GYRO_ODR_XL_104Hz:
cparata 2:67af0ad3ea2e 481 *odr = 104.0f;
cparata 2:67af0ad3ea2e 482 break;
cparata 2:67af0ad3ea2e 483 case LSM6DSL_ACC_GYRO_ODR_XL_208Hz:
cparata 2:67af0ad3ea2e 484 *odr = 208.0f;
cparata 2:67af0ad3ea2e 485 break;
cparata 2:67af0ad3ea2e 486 case LSM6DSL_ACC_GYRO_ODR_XL_416Hz:
cparata 2:67af0ad3ea2e 487 *odr = 416.0f;
cparata 2:67af0ad3ea2e 488 break;
cparata 2:67af0ad3ea2e 489 case LSM6DSL_ACC_GYRO_ODR_XL_833Hz:
cparata 2:67af0ad3ea2e 490 *odr = 833.0f;
cparata 2:67af0ad3ea2e 491 break;
cparata 2:67af0ad3ea2e 492 case LSM6DSL_ACC_GYRO_ODR_XL_1660Hz:
cparata 2:67af0ad3ea2e 493 *odr = 1660.0f;
cparata 2:67af0ad3ea2e 494 break;
cparata 2:67af0ad3ea2e 495 case LSM6DSL_ACC_GYRO_ODR_XL_3330Hz:
cparata 2:67af0ad3ea2e 496 *odr = 3330.0f;
cparata 2:67af0ad3ea2e 497 break;
cparata 2:67af0ad3ea2e 498 case LSM6DSL_ACC_GYRO_ODR_XL_6660Hz:
cparata 2:67af0ad3ea2e 499 *odr = 6660.0f;
cparata 2:67af0ad3ea2e 500 break;
cparata 2:67af0ad3ea2e 501 default:
cparata 2:67af0ad3ea2e 502 *odr = -1.0f;
cparata 2:67af0ad3ea2e 503 return 1;
cparata 2:67af0ad3ea2e 504 }
cparata 2:67af0ad3ea2e 505
cparata 2:67af0ad3ea2e 506 return 0;
cparata 2:67af0ad3ea2e 507 }
cparata 2:67af0ad3ea2e 508
cparata 2:67af0ad3ea2e 509 /**
cparata 2:67af0ad3ea2e 510 * @brief Read LSM6DSL Gyroscope output data rate
cparata 2:67af0ad3ea2e 511 * @param odr the pointer to the output data rate
cparata 2:67af0ad3ea2e 512 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 513 */
cparata 2:67af0ad3ea2e 514 int LSM6DSLSensor::Get_G_ODR(float* odr)
cparata 2:67af0ad3ea2e 515 {
cparata 2:67af0ad3ea2e 516 LSM6DSL_ACC_GYRO_ODR_G_t odr_low_level;
cparata 2:67af0ad3ea2e 517
cparata 2:67af0ad3ea2e 518 if ( LSM6DSL_ACC_GYRO_R_ODR_G( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 519 {
cparata 2:67af0ad3ea2e 520 return 1;
cparata 2:67af0ad3ea2e 521 }
cparata 2:67af0ad3ea2e 522
cparata 2:67af0ad3ea2e 523 switch( odr_low_level )
cparata 2:67af0ad3ea2e 524 {
cparata 2:67af0ad3ea2e 525 case LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN:
cparata 2:67af0ad3ea2e 526 *odr = 0.0f;
cparata 2:67af0ad3ea2e 527 break;
cparata 2:67af0ad3ea2e 528 case LSM6DSL_ACC_GYRO_ODR_G_13Hz:
cparata 2:67af0ad3ea2e 529 *odr = 13.0f;
cparata 2:67af0ad3ea2e 530 break;
cparata 2:67af0ad3ea2e 531 case LSM6DSL_ACC_GYRO_ODR_G_26Hz:
cparata 2:67af0ad3ea2e 532 *odr = 26.0f;
cparata 2:67af0ad3ea2e 533 break;
cparata 2:67af0ad3ea2e 534 case LSM6DSL_ACC_GYRO_ODR_G_52Hz:
cparata 2:67af0ad3ea2e 535 *odr = 52.0f;
cparata 2:67af0ad3ea2e 536 break;
cparata 2:67af0ad3ea2e 537 case LSM6DSL_ACC_GYRO_ODR_G_104Hz:
cparata 2:67af0ad3ea2e 538 *odr = 104.0f;
cparata 2:67af0ad3ea2e 539 break;
cparata 2:67af0ad3ea2e 540 case LSM6DSL_ACC_GYRO_ODR_G_208Hz:
cparata 2:67af0ad3ea2e 541 *odr = 208.0f;
cparata 2:67af0ad3ea2e 542 break;
cparata 2:67af0ad3ea2e 543 case LSM6DSL_ACC_GYRO_ODR_G_416Hz:
cparata 2:67af0ad3ea2e 544 *odr = 416.0f;
cparata 2:67af0ad3ea2e 545 break;
cparata 2:67af0ad3ea2e 546 case LSM6DSL_ACC_GYRO_ODR_G_833Hz:
cparata 2:67af0ad3ea2e 547 *odr = 833.0f;
cparata 2:67af0ad3ea2e 548 break;
cparata 2:67af0ad3ea2e 549 case LSM6DSL_ACC_GYRO_ODR_G_1660Hz:
cparata 2:67af0ad3ea2e 550 *odr = 1660.0f;
cparata 2:67af0ad3ea2e 551 break;
cparata 2:67af0ad3ea2e 552 case LSM6DSL_ACC_GYRO_ODR_G_3330Hz:
cparata 2:67af0ad3ea2e 553 *odr = 3330.0f;
cparata 2:67af0ad3ea2e 554 break;
cparata 2:67af0ad3ea2e 555 case LSM6DSL_ACC_GYRO_ODR_G_6660Hz:
cparata 2:67af0ad3ea2e 556 *odr = 6660.0f;
cparata 2:67af0ad3ea2e 557 break;
cparata 2:67af0ad3ea2e 558 default:
cparata 2:67af0ad3ea2e 559 *odr = -1.0f;
cparata 2:67af0ad3ea2e 560 return 1;
cparata 2:67af0ad3ea2e 561 }
cparata 2:67af0ad3ea2e 562
cparata 2:67af0ad3ea2e 563 return 0;
cparata 2:67af0ad3ea2e 564 }
cparata 2:67af0ad3ea2e 565
cparata 2:67af0ad3ea2e 566 /**
cparata 2:67af0ad3ea2e 567 * @brief Set LSM6DSL Accelerometer output data rate
cparata 2:67af0ad3ea2e 568 * @param odr the output data rate to be set
cparata 2:67af0ad3ea2e 569 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 570 */
cparata 2:67af0ad3ea2e 571 int LSM6DSLSensor::Set_X_ODR(float odr)
cparata 2:67af0ad3ea2e 572 {
cparata 2:67af0ad3ea2e 573 if(X_isEnabled == 1)
cparata 2:67af0ad3ea2e 574 {
cparata 2:67af0ad3ea2e 575 if(Set_X_ODR_When_Enabled(odr) == 1)
cparata 2:67af0ad3ea2e 576 {
cparata 2:67af0ad3ea2e 577 return 1;
cparata 2:67af0ad3ea2e 578 }
cparata 2:67af0ad3ea2e 579 }
cparata 2:67af0ad3ea2e 580 else
cparata 2:67af0ad3ea2e 581 {
cparata 2:67af0ad3ea2e 582 if(Set_X_ODR_When_Disabled(odr) == 1)
cparata 2:67af0ad3ea2e 583 {
cparata 2:67af0ad3ea2e 584 return 1;
cparata 2:67af0ad3ea2e 585 }
cparata 2:67af0ad3ea2e 586 }
cparata 2:67af0ad3ea2e 587
cparata 2:67af0ad3ea2e 588 return 0;
cparata 2:67af0ad3ea2e 589 }
cparata 2:67af0ad3ea2e 590
cparata 2:67af0ad3ea2e 591 /**
cparata 2:67af0ad3ea2e 592 * @brief Set LSM6DSL Accelerometer output data rate when enabled
cparata 2:67af0ad3ea2e 593 * @param odr the output data rate to be set
cparata 2:67af0ad3ea2e 594 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 595 */
cparata 2:67af0ad3ea2e 596 int LSM6DSLSensor::Set_X_ODR_When_Enabled(float odr)
cparata 2:67af0ad3ea2e 597 {
cparata 2:67af0ad3ea2e 598 LSM6DSL_ACC_GYRO_ODR_XL_t new_odr;
cparata 2:67af0ad3ea2e 599
cparata 2:67af0ad3ea2e 600 new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_13Hz
cparata 2:67af0ad3ea2e 601 : ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_26Hz
cparata 2:67af0ad3ea2e 602 : ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_52Hz
cparata 2:67af0ad3ea2e 603 : ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_104Hz
cparata 2:67af0ad3ea2e 604 : ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_208Hz
cparata 2:67af0ad3ea2e 605 : ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_416Hz
cparata 2:67af0ad3ea2e 606 : ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_833Hz
cparata 2:67af0ad3ea2e 607 : ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_1660Hz
cparata 2:67af0ad3ea2e 608 : ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_3330Hz
cparata 2:67af0ad3ea2e 609 : LSM6DSL_ACC_GYRO_ODR_XL_6660Hz;
cparata 2:67af0ad3ea2e 610
cparata 2:67af0ad3ea2e 611 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, new_odr ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 612 {
cparata 2:67af0ad3ea2e 613 return 1;
cparata 2:67af0ad3ea2e 614 }
cparata 2:67af0ad3ea2e 615
cparata 2:67af0ad3ea2e 616 return 0;
cparata 2:67af0ad3ea2e 617 }
cparata 2:67af0ad3ea2e 618
cparata 2:67af0ad3ea2e 619 /**
cparata 2:67af0ad3ea2e 620 * @brief Set LSM6DSL Accelerometer output data rate when disabled
cparata 2:67af0ad3ea2e 621 * @param odr the output data rate to be set
cparata 2:67af0ad3ea2e 622 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 623 */
cparata 2:67af0ad3ea2e 624 int LSM6DSLSensor::Set_X_ODR_When_Disabled(float odr)
cparata 2:67af0ad3ea2e 625 {
cparata 2:67af0ad3ea2e 626 X_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata 2:67af0ad3ea2e 627 : ( odr <= 26.0f ) ? 26.0f
cparata 2:67af0ad3ea2e 628 : ( odr <= 52.0f ) ? 52.0f
cparata 2:67af0ad3ea2e 629 : ( odr <= 104.0f ) ? 104.0f
cparata 2:67af0ad3ea2e 630 : ( odr <= 208.0f ) ? 208.0f
cparata 2:67af0ad3ea2e 631 : ( odr <= 416.0f ) ? 416.0f
cparata 2:67af0ad3ea2e 632 : ( odr <= 833.0f ) ? 833.0f
cparata 2:67af0ad3ea2e 633 : ( odr <= 1660.0f ) ? 1660.0f
cparata 2:67af0ad3ea2e 634 : ( odr <= 3330.0f ) ? 3330.0f
cparata 2:67af0ad3ea2e 635 : 6660.0f;
cparata 2:67af0ad3ea2e 636
cparata 2:67af0ad3ea2e 637 return 0;
cparata 2:67af0ad3ea2e 638 }
cparata 2:67af0ad3ea2e 639
cparata 2:67af0ad3ea2e 640 /**
cparata 2:67af0ad3ea2e 641 * @brief Set LSM6DSL Gyroscope output data rate
cparata 2:67af0ad3ea2e 642 * @param odr the output data rate to be set
cparata 2:67af0ad3ea2e 643 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 644 */
cparata 2:67af0ad3ea2e 645 int LSM6DSLSensor::Set_G_ODR(float odr)
cparata 2:67af0ad3ea2e 646 {
cparata 2:67af0ad3ea2e 647 if(G_isEnabled == 1)
cparata 2:67af0ad3ea2e 648 {
cparata 2:67af0ad3ea2e 649 if(Set_G_ODR_When_Enabled(odr) == 1)
cparata 2:67af0ad3ea2e 650 {
cparata 2:67af0ad3ea2e 651 return 1;
cparata 2:67af0ad3ea2e 652 }
cparata 2:67af0ad3ea2e 653 }
cparata 2:67af0ad3ea2e 654 else
cparata 2:67af0ad3ea2e 655 {
cparata 2:67af0ad3ea2e 656 if(Set_G_ODR_When_Disabled(odr) == 1)
cparata 2:67af0ad3ea2e 657 {
cparata 2:67af0ad3ea2e 658 return 1;
cparata 2:67af0ad3ea2e 659 }
cparata 2:67af0ad3ea2e 660 }
cparata 2:67af0ad3ea2e 661
cparata 2:67af0ad3ea2e 662 return 0;
cparata 2:67af0ad3ea2e 663 }
cparata 2:67af0ad3ea2e 664
cparata 2:67af0ad3ea2e 665 /**
cparata 2:67af0ad3ea2e 666 * @brief Set LSM6DSL Gyroscope output data rate when enabled
cparata 2:67af0ad3ea2e 667 * @param odr the output data rate to be set
cparata 2:67af0ad3ea2e 668 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 669 */
cparata 2:67af0ad3ea2e 670 int LSM6DSLSensor::Set_G_ODR_When_Enabled(float odr)
cparata 2:67af0ad3ea2e 671 {
cparata 2:67af0ad3ea2e 672 LSM6DSL_ACC_GYRO_ODR_G_t new_odr;
cparata 2:67af0ad3ea2e 673
cparata 2:67af0ad3ea2e 674 new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_13Hz
cparata 2:67af0ad3ea2e 675 : ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_26Hz
cparata 2:67af0ad3ea2e 676 : ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_52Hz
cparata 2:67af0ad3ea2e 677 : ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_104Hz
cparata 2:67af0ad3ea2e 678 : ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_208Hz
cparata 2:67af0ad3ea2e 679 : ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_416Hz
cparata 2:67af0ad3ea2e 680 : ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_833Hz
cparata 2:67af0ad3ea2e 681 : ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_1660Hz
cparata 2:67af0ad3ea2e 682 : ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_3330Hz
cparata 2:67af0ad3ea2e 683 : LSM6DSL_ACC_GYRO_ODR_G_6660Hz;
cparata 2:67af0ad3ea2e 684
cparata 2:67af0ad3ea2e 685 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, new_odr ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 686 {
cparata 2:67af0ad3ea2e 687 return 1;
cparata 2:67af0ad3ea2e 688 }
cparata 2:67af0ad3ea2e 689
cparata 2:67af0ad3ea2e 690 return 0;
cparata 2:67af0ad3ea2e 691 }
cparata 2:67af0ad3ea2e 692
cparata 2:67af0ad3ea2e 693 /**
cparata 2:67af0ad3ea2e 694 * @brief Set LSM6DSL Gyroscope output data rate when disabled
cparata 2:67af0ad3ea2e 695 * @param odr the output data rate to be set
cparata 2:67af0ad3ea2e 696 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 697 */
cparata 2:67af0ad3ea2e 698 int LSM6DSLSensor::Set_G_ODR_When_Disabled(float odr)
cparata 2:67af0ad3ea2e 699 {
cparata 2:67af0ad3ea2e 700 G_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata 2:67af0ad3ea2e 701 : ( odr <= 26.0f ) ? 26.0f
cparata 2:67af0ad3ea2e 702 : ( odr <= 52.0f ) ? 52.0f
cparata 2:67af0ad3ea2e 703 : ( odr <= 104.0f ) ? 104.0f
cparata 2:67af0ad3ea2e 704 : ( odr <= 208.0f ) ? 208.0f
cparata 2:67af0ad3ea2e 705 : ( odr <= 416.0f ) ? 416.0f
cparata 2:67af0ad3ea2e 706 : ( odr <= 833.0f ) ? 833.0f
cparata 2:67af0ad3ea2e 707 : ( odr <= 1660.0f ) ? 1660.0f
cparata 2:67af0ad3ea2e 708 : ( odr <= 3330.0f ) ? 3330.0f
cparata 2:67af0ad3ea2e 709 : 6660.0f;
cparata 2:67af0ad3ea2e 710
cparata 2:67af0ad3ea2e 711 return 0;
cparata 2:67af0ad3ea2e 712 }
cparata 2:67af0ad3ea2e 713
cparata 2:67af0ad3ea2e 714 /**
cparata 2:67af0ad3ea2e 715 * @brief Read LSM6DSL Accelerometer full scale
cparata 2:67af0ad3ea2e 716 * @param fullScale the pointer to the full scale
cparata 2:67af0ad3ea2e 717 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 718 */
cparata 2:67af0ad3ea2e 719 int LSM6DSLSensor::Get_X_FS(float* fullScale)
cparata 2:67af0ad3ea2e 720 {
cparata 2:67af0ad3ea2e 721 LSM6DSL_ACC_GYRO_FS_XL_t fs_low_level;
cparata 2:67af0ad3ea2e 722
cparata 2:67af0ad3ea2e 723 if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 724 {
cparata 2:67af0ad3ea2e 725 return 1;
cparata 2:67af0ad3ea2e 726 }
cparata 2:67af0ad3ea2e 727
cparata 2:67af0ad3ea2e 728 switch( fs_low_level )
cparata 2:67af0ad3ea2e 729 {
cparata 2:67af0ad3ea2e 730 case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata 2:67af0ad3ea2e 731 *fullScale = 2.0f;
cparata 2:67af0ad3ea2e 732 break;
cparata 2:67af0ad3ea2e 733 case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata 2:67af0ad3ea2e 734 *fullScale = 4.0f;
cparata 2:67af0ad3ea2e 735 break;
cparata 2:67af0ad3ea2e 736 case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata 2:67af0ad3ea2e 737 *fullScale = 8.0f;
cparata 2:67af0ad3ea2e 738 break;
cparata 2:67af0ad3ea2e 739 case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata 2:67af0ad3ea2e 740 *fullScale = 16.0f;
cparata 2:67af0ad3ea2e 741 break;
cparata 2:67af0ad3ea2e 742 default:
cparata 2:67af0ad3ea2e 743 *fullScale = -1.0f;
cparata 2:67af0ad3ea2e 744 return 1;
cparata 2:67af0ad3ea2e 745 }
cparata 2:67af0ad3ea2e 746
cparata 2:67af0ad3ea2e 747 return 0;
cparata 2:67af0ad3ea2e 748 }
cparata 2:67af0ad3ea2e 749
cparata 2:67af0ad3ea2e 750 /**
cparata 2:67af0ad3ea2e 751 * @brief Read LSM6DSL Gyroscope full scale
cparata 2:67af0ad3ea2e 752 * @param fullScale the pointer to the full scale
cparata 2:67af0ad3ea2e 753 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 754 */
cparata 2:67af0ad3ea2e 755 int LSM6DSLSensor::Get_G_FS(float* fullScale)
cparata 2:67af0ad3ea2e 756 {
cparata 2:67af0ad3ea2e 757 LSM6DSL_ACC_GYRO_FS_G_t fs_low_level;
cparata 2:67af0ad3ea2e 758 LSM6DSL_ACC_GYRO_FS_125_t fs_125;
cparata 2:67af0ad3ea2e 759
cparata 2:67af0ad3ea2e 760 if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fs_125 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 761 {
cparata 2:67af0ad3ea2e 762 return 1;
cparata 2:67af0ad3ea2e 763 }
cparata 2:67af0ad3ea2e 764 if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 765 {
cparata 2:67af0ad3ea2e 766 return 1;
cparata 2:67af0ad3ea2e 767 }
cparata 2:67af0ad3ea2e 768
cparata 2:67af0ad3ea2e 769 if ( fs_125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata 2:67af0ad3ea2e 770 {
cparata 2:67af0ad3ea2e 771 *fullScale = 125.0f;
cparata 2:67af0ad3ea2e 772 }
cparata 2:67af0ad3ea2e 773
cparata 2:67af0ad3ea2e 774 else
cparata 2:67af0ad3ea2e 775 {
cparata 2:67af0ad3ea2e 776 switch( fs_low_level )
cparata 2:67af0ad3ea2e 777 {
cparata 2:67af0ad3ea2e 778 case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata 2:67af0ad3ea2e 779 *fullScale = 245.0f;
cparata 2:67af0ad3ea2e 780 break;
cparata 2:67af0ad3ea2e 781 case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata 2:67af0ad3ea2e 782 *fullScale = 500.0f;
cparata 2:67af0ad3ea2e 783 break;
cparata 2:67af0ad3ea2e 784 case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata 2:67af0ad3ea2e 785 *fullScale = 1000.0f;
cparata 2:67af0ad3ea2e 786 break;
cparata 2:67af0ad3ea2e 787 case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata 2:67af0ad3ea2e 788 *fullScale = 2000.0f;
cparata 2:67af0ad3ea2e 789 break;
cparata 2:67af0ad3ea2e 790 default:
cparata 2:67af0ad3ea2e 791 *fullScale = -1.0f;
cparata 2:67af0ad3ea2e 792 return 1;
cparata 2:67af0ad3ea2e 793 }
cparata 2:67af0ad3ea2e 794 }
cparata 2:67af0ad3ea2e 795
cparata 2:67af0ad3ea2e 796 return 0;
cparata 2:67af0ad3ea2e 797 }
cparata 2:67af0ad3ea2e 798
cparata 2:67af0ad3ea2e 799 /**
cparata 2:67af0ad3ea2e 800 * @brief Set LSM6DSL Accelerometer full scale
cparata 2:67af0ad3ea2e 801 * @param fullScale the full scale to be set
cparata 2:67af0ad3ea2e 802 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 803 */
cparata 2:67af0ad3ea2e 804 int LSM6DSLSensor::Set_X_FS(float fullScale)
cparata 2:67af0ad3ea2e 805 {
cparata 2:67af0ad3ea2e 806 LSM6DSL_ACC_GYRO_FS_XL_t new_fs;
cparata 2:67af0ad3ea2e 807
cparata 2:67af0ad3ea2e 808 new_fs = ( fullScale <= 2.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_2g
cparata 2:67af0ad3ea2e 809 : ( fullScale <= 4.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_4g
cparata 2:67af0ad3ea2e 810 : ( fullScale <= 8.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_8g
cparata 2:67af0ad3ea2e 811 : LSM6DSL_ACC_GYRO_FS_XL_16g;
cparata 2:67af0ad3ea2e 812
cparata 2:67af0ad3ea2e 813 if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, new_fs ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 814 {
cparata 2:67af0ad3ea2e 815 return 1;
cparata 2:67af0ad3ea2e 816 }
cparata 2:67af0ad3ea2e 817
cparata 2:67af0ad3ea2e 818 return 0;
cparata 2:67af0ad3ea2e 819 }
cparata 2:67af0ad3ea2e 820
cparata 2:67af0ad3ea2e 821 /**
cparata 2:67af0ad3ea2e 822 * @brief Set LSM6DSL Gyroscope full scale
cparata 2:67af0ad3ea2e 823 * @param fullScale the full scale to be set
cparata 2:67af0ad3ea2e 824 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 825 */
cparata 2:67af0ad3ea2e 826 int LSM6DSLSensor::Set_G_FS(float fullScale)
cparata 2:67af0ad3ea2e 827 {
cparata 2:67af0ad3ea2e 828 LSM6DSL_ACC_GYRO_FS_G_t new_fs;
cparata 2:67af0ad3ea2e 829
cparata 2:67af0ad3ea2e 830 if ( fullScale <= 125.0f )
cparata 2:67af0ad3ea2e 831 {
cparata 2:67af0ad3ea2e 832 if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 833 {
cparata 2:67af0ad3ea2e 834 return 1;
cparata 2:67af0ad3ea2e 835 }
cparata 2:67af0ad3ea2e 836 }
cparata 2:67af0ad3ea2e 837 else
cparata 2:67af0ad3ea2e 838 {
cparata 2:67af0ad3ea2e 839 new_fs = ( fullScale <= 245.0f ) ? LSM6DSL_ACC_GYRO_FS_G_245dps
cparata 2:67af0ad3ea2e 840 : ( fullScale <= 500.0f ) ? LSM6DSL_ACC_GYRO_FS_G_500dps
cparata 2:67af0ad3ea2e 841 : ( fullScale <= 1000.0f ) ? LSM6DSL_ACC_GYRO_FS_G_1000dps
cparata 2:67af0ad3ea2e 842 : LSM6DSL_ACC_GYRO_FS_G_2000dps;
cparata 2:67af0ad3ea2e 843
cparata 2:67af0ad3ea2e 844 if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 845 {
cparata 2:67af0ad3ea2e 846 return 1;
cparata 2:67af0ad3ea2e 847 }
cparata 2:67af0ad3ea2e 848 if ( LSM6DSL_ACC_GYRO_W_FS_G( (void *)this, new_fs ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 849 {
cparata 2:67af0ad3ea2e 850 return 1;
cparata 2:67af0ad3ea2e 851 }
cparata 2:67af0ad3ea2e 852 }
cparata 2:67af0ad3ea2e 853
cparata 2:67af0ad3ea2e 854 return 0;
cparata 2:67af0ad3ea2e 855 }
cparata 2:67af0ad3ea2e 856
cparata 2:67af0ad3ea2e 857 /**
cparata 2:67af0ad3ea2e 858 * @brief Enable free fall detection
cparata 2:67af0ad3ea2e 859 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:67af0ad3ea2e 860 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 861 */
cparata 2:67af0ad3ea2e 862 int LSM6DSLSensor::Enable_Free_Fall_Detection(void)
cparata 2:67af0ad3ea2e 863 {
cparata 7:3c8564ed9986 864 return Enable_Free_Fall_Detection(LSM6DSL_INT1_PIN);
cparata 7:3c8564ed9986 865 }
cparata 7:3c8564ed9986 866
cparata 7:3c8564ed9986 867 /**
cparata 7:3c8564ed9986 868 * @brief Enable free fall detection
cparata 7:3c8564ed9986 869 * @param pin the interrupt pin to be used
cparata 7:3c8564ed9986 870 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 7:3c8564ed9986 871 * @retval 0 in case of success, an error code otherwise
cparata 7:3c8564ed9986 872 */
cparata 7:3c8564ed9986 873 int LSM6DSLSensor::Enable_Free_Fall_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata 7:3c8564ed9986 874 {
cparata 2:67af0ad3ea2e 875 /* Output Data Rate selection */
cparata 2:67af0ad3ea2e 876 if(Set_X_ODR(416.0f) == 1)
cparata 2:67af0ad3ea2e 877 {
cparata 2:67af0ad3ea2e 878 return 1;
cparata 2:67af0ad3ea2e 879 }
cparata 2:67af0ad3ea2e 880
cparata 2:67af0ad3ea2e 881 /* Full scale selection */
cparata 2:67af0ad3ea2e 882 if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, LSM6DSL_ACC_GYRO_FS_XL_2g ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 883 {
cparata 2:67af0ad3ea2e 884 return 1;
cparata 2:67af0ad3ea2e 885 }
cparata 2:67af0ad3ea2e 886
cparata 2:67af0ad3ea2e 887 /* FF_DUR setting */
cparata 2:67af0ad3ea2e 888 if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x06 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 889 {
cparata 2:67af0ad3ea2e 890 return 1;
cparata 2:67af0ad3ea2e 891 }
cparata 2:67af0ad3ea2e 892
cparata 2:67af0ad3ea2e 893 /* WAKE_DUR setting */
cparata 2:67af0ad3ea2e 894 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 895 {
cparata 2:67af0ad3ea2e 896 return 1;
cparata 2:67af0ad3ea2e 897 }
cparata 2:67af0ad3ea2e 898
cparata 2:67af0ad3ea2e 899 /* TIMER_HR setting */
cparata 2:67af0ad3ea2e 900 if ( LSM6DSL_ACC_GYRO_W_TIMER_HR( (void *)this, LSM6DSL_ACC_GYRO_TIMER_HR_6_4ms ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 901 {
cparata 2:67af0ad3ea2e 902 return 1;
cparata 2:67af0ad3ea2e 903 }
cparata 2:67af0ad3ea2e 904
cparata 2:67af0ad3ea2e 905 /* SLEEP_DUR setting */
cparata 2:67af0ad3ea2e 906 if ( LSM6DSL_ACC_GYRO_W_SLEEP_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 907 {
cparata 2:67af0ad3ea2e 908 return 1;
cparata 2:67af0ad3ea2e 909 }
cparata 2:67af0ad3ea2e 910
cparata 2:67af0ad3ea2e 911 /* FF_THS setting */
cparata 2:67af0ad3ea2e 912 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_312mg ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 913 {
cparata 2:67af0ad3ea2e 914 return 1;
cparata 2:67af0ad3ea2e 915 }
cparata 2:67af0ad3ea2e 916
cparata 2:67af0ad3ea2e 917 /* Enable basic Interrupts */
cparata 2:67af0ad3ea2e 918 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 919 {
cparata 2:67af0ad3ea2e 920 return 1;
cparata 2:67af0ad3ea2e 921 }
cparata 2:67af0ad3ea2e 922
cparata 7:3c8564ed9986 923 /* Enable free fall event on either INT1 or INT2 pin */
cparata 7:3c8564ed9986 924 switch (pin)
cparata 2:67af0ad3ea2e 925 {
cparata 7:3c8564ed9986 926 case LSM6DSL_INT1_PIN:
cparata 7:3c8564ed9986 927 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
cparata 7:3c8564ed9986 928 {
cparata 7:3c8564ed9986 929 return 1;
cparata 7:3c8564ed9986 930 }
cparata 7:3c8564ed9986 931 break;
cparata 7:3c8564ed9986 932
cparata 7:3c8564ed9986 933 case LSM6DSL_INT2_PIN:
cparata 7:3c8564ed9986 934 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_FF_ENABLED ) == MEMS_ERROR )
cparata 7:3c8564ed9986 935 {
cparata 7:3c8564ed9986 936 return 1;
cparata 7:3c8564ed9986 937 }
cparata 7:3c8564ed9986 938 break;
cparata 7:3c8564ed9986 939
cparata 7:3c8564ed9986 940 default:
cparata 2:67af0ad3ea2e 941 return 1;
cparata 2:67af0ad3ea2e 942 }
cparata 2:67af0ad3ea2e 943
cparata 2:67af0ad3ea2e 944 return 0;
cparata 2:67af0ad3ea2e 945 }
cparata 2:67af0ad3ea2e 946
cparata 2:67af0ad3ea2e 947 /**
cparata 2:67af0ad3ea2e 948 * @brief Disable free fall detection
cparata 2:67af0ad3ea2e 949 * @param None
cparata 2:67af0ad3ea2e 950 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 951 */
cparata 2:67af0ad3ea2e 952 int LSM6DSLSensor::Disable_Free_Fall_Detection(void)
cparata 2:67af0ad3ea2e 953 {
cparata 7:3c8564ed9986 954 /* Disable free fall event on INT1 pin */
cparata 2:67af0ad3ea2e 955 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 956 {
cparata 2:67af0ad3ea2e 957 return 1;
cparata 2:67af0ad3ea2e 958 }
cparata 2:67af0ad3ea2e 959
cparata 7:3c8564ed9986 960 /* Disable free fall event on INT2 pin */
cparata 7:3c8564ed9986 961 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_FF_DISABLED ) == MEMS_ERROR )
cparata 7:3c8564ed9986 962 {
cparata 7:3c8564ed9986 963 return 1;
cparata 7:3c8564ed9986 964 }
cparata 7:3c8564ed9986 965
cparata 2:67af0ad3ea2e 966 /* Disable basic Interrupts */
cparata 2:67af0ad3ea2e 967 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 968 {
cparata 2:67af0ad3ea2e 969 return 1;
cparata 2:67af0ad3ea2e 970 }
cparata 2:67af0ad3ea2e 971
cparata 2:67af0ad3ea2e 972 /* FF_DUR setting */
cparata 2:67af0ad3ea2e 973 if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 974 {
cparata 2:67af0ad3ea2e 975 return 1;
cparata 2:67af0ad3ea2e 976 }
cparata 2:67af0ad3ea2e 977
cparata 2:67af0ad3ea2e 978 /* FF_THS setting */
cparata 2:67af0ad3ea2e 979 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_156mg ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 980 {
cparata 2:67af0ad3ea2e 981 return 1;
cparata 2:67af0ad3ea2e 982 }
cparata 2:67af0ad3ea2e 983
cparata 2:67af0ad3ea2e 984 return 0;
cparata 2:67af0ad3ea2e 985 }
cparata 2:67af0ad3ea2e 986
cparata 2:67af0ad3ea2e 987 /**
cparata 2:67af0ad3ea2e 988 * @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 989 * @param thr the threshold to be set
cparata 2:67af0ad3ea2e 990 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 991 */
cparata 2:67af0ad3ea2e 992 int LSM6DSLSensor::Set_Free_Fall_Threshold(uint8_t thr)
cparata 2:67af0ad3ea2e 993 {
cparata 2:67af0ad3ea2e 994
cparata 2:67af0ad3ea2e 995 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 996 {
cparata 2:67af0ad3ea2e 997 return 1;
cparata 2:67af0ad3ea2e 998 }
cparata 2:67af0ad3ea2e 999
cparata 2:67af0ad3ea2e 1000 return 0;
cparata 2:67af0ad3ea2e 1001 }
cparata 2:67af0ad3ea2e 1002
cparata 2:67af0ad3ea2e 1003 /**
cparata 2:67af0ad3ea2e 1004 * @brief Enable the pedometer feature for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1005 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:67af0ad3ea2e 1006 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1007 */
cparata 2:67af0ad3ea2e 1008 int LSM6DSLSensor::Enable_Pedometer(void)
cparata 2:67af0ad3ea2e 1009 {
cparata 2:67af0ad3ea2e 1010 /* Output Data Rate selection */
cparata 2:67af0ad3ea2e 1011 if( Set_X_ODR(26.0f) == 1 )
cparata 2:67af0ad3ea2e 1012 {
cparata 2:67af0ad3ea2e 1013 return 1;
cparata 2:67af0ad3ea2e 1014 }
cparata 2:67af0ad3ea2e 1015
cparata 2:67af0ad3ea2e 1016 /* Full scale selection. */
cparata 2:67af0ad3ea2e 1017 if( Set_X_FS(2.0f) == 1 )
cparata 2:67af0ad3ea2e 1018 {
cparata 2:67af0ad3ea2e 1019 return 1;
cparata 2:67af0ad3ea2e 1020 }
cparata 2:67af0ad3ea2e 1021
cparata 2:67af0ad3ea2e 1022 /* Set pedometer threshold. */
cparata 2:67af0ad3ea2e 1023 if ( Set_Pedometer_Threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == 1 )
cparata 2:67af0ad3ea2e 1024 {
cparata 2:67af0ad3ea2e 1025 return 1;
cparata 2:67af0ad3ea2e 1026 }
cparata 2:67af0ad3ea2e 1027
cparata 2:67af0ad3ea2e 1028 /* Enable embedded functionalities. */
cparata 2:67af0ad3ea2e 1029 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1030 {
cparata 2:67af0ad3ea2e 1031 return 1;
cparata 2:67af0ad3ea2e 1032 }
cparata 2:67af0ad3ea2e 1033
cparata 2:67af0ad3ea2e 1034 /* Enable pedometer algorithm. */
cparata 2:67af0ad3ea2e 1035 if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1036 {
cparata 2:67af0ad3ea2e 1037 return 1;
cparata 2:67af0ad3ea2e 1038 }
cparata 2:67af0ad3ea2e 1039
cparata 2:67af0ad3ea2e 1040 /* Enable pedometer on INT1. */
cparata 2:67af0ad3ea2e 1041 if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1042 {
cparata 2:67af0ad3ea2e 1043 return 1;
cparata 2:67af0ad3ea2e 1044 }
cparata 2:67af0ad3ea2e 1045
cparata 2:67af0ad3ea2e 1046 return 0;
cparata 2:67af0ad3ea2e 1047 }
cparata 2:67af0ad3ea2e 1048
cparata 2:67af0ad3ea2e 1049 /**
cparata 2:67af0ad3ea2e 1050 * @brief Disable the pedometer feature for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1051 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1052 */
cparata 2:67af0ad3ea2e 1053 int LSM6DSLSensor::Disable_Pedometer(void)
cparata 2:67af0ad3ea2e 1054 {
cparata 2:67af0ad3ea2e 1055 /* Disable pedometer on INT1. */
cparata 2:67af0ad3ea2e 1056 if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1057 {
cparata 2:67af0ad3ea2e 1058 return 1;
cparata 2:67af0ad3ea2e 1059 }
cparata 2:67af0ad3ea2e 1060
cparata 2:67af0ad3ea2e 1061 /* Disable pedometer algorithm. */
cparata 2:67af0ad3ea2e 1062 if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1063 {
cparata 2:67af0ad3ea2e 1064 return 1;
cparata 2:67af0ad3ea2e 1065 }
cparata 2:67af0ad3ea2e 1066
cparata 2:67af0ad3ea2e 1067 /* Disable embedded functionalities. */
cparata 2:67af0ad3ea2e 1068 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1069 {
cparata 2:67af0ad3ea2e 1070 return 1;
cparata 2:67af0ad3ea2e 1071 }
cparata 2:67af0ad3ea2e 1072
cparata 2:67af0ad3ea2e 1073 /* Reset pedometer threshold. */
cparata 2:67af0ad3ea2e 1074 if ( Set_Pedometer_Threshold(0x0) == 1 )
cparata 2:67af0ad3ea2e 1075 {
cparata 2:67af0ad3ea2e 1076 return 1;
cparata 2:67af0ad3ea2e 1077 }
cparata 2:67af0ad3ea2e 1078
cparata 2:67af0ad3ea2e 1079 return 0;
cparata 2:67af0ad3ea2e 1080 }
cparata 2:67af0ad3ea2e 1081
cparata 2:67af0ad3ea2e 1082 /**
cparata 2:67af0ad3ea2e 1083 * @brief Get the step counter for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1084 * @param step_count the pointer to the step counter
cparata 2:67af0ad3ea2e 1085 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1086 */
cparata 2:67af0ad3ea2e 1087 int LSM6DSLSensor::Get_Step_Counter(uint16_t *step_count)
cparata 2:67af0ad3ea2e 1088 {
cparata 2:67af0ad3ea2e 1089 if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void *)this, ( uint8_t* )step_count ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1090 {
cparata 2:67af0ad3ea2e 1091 return 1;
cparata 2:67af0ad3ea2e 1092 }
cparata 2:67af0ad3ea2e 1093
cparata 2:67af0ad3ea2e 1094 return 0;
cparata 2:67af0ad3ea2e 1095 }
cparata 2:67af0ad3ea2e 1096
cparata 2:67af0ad3ea2e 1097 /**
cparata 2:67af0ad3ea2e 1098 * @brief Reset of the step counter for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1099 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1100 */
cparata 2:67af0ad3ea2e 1101 int LSM6DSLSensor::Reset_Step_Counter(void)
cparata 2:67af0ad3ea2e 1102 {
cparata 2:67af0ad3ea2e 1103 if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1104 {
cparata 2:67af0ad3ea2e 1105 return 1;
cparata 2:67af0ad3ea2e 1106 }
cparata 2:67af0ad3ea2e 1107
cparata 2:67af0ad3ea2e 1108 wait_ms(10);
cparata 2:67af0ad3ea2e 1109
cparata 2:67af0ad3ea2e 1110 if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1111 {
cparata 2:67af0ad3ea2e 1112 return 1;
cparata 2:67af0ad3ea2e 1113 }
cparata 2:67af0ad3ea2e 1114
cparata 2:67af0ad3ea2e 1115 return 0;
cparata 2:67af0ad3ea2e 1116 }
cparata 2:67af0ad3ea2e 1117
cparata 2:67af0ad3ea2e 1118 /**
cparata 2:67af0ad3ea2e 1119 * @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1120 * @param thr the threshold to be set
cparata 2:67af0ad3ea2e 1121 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1122 */
cparata 2:67af0ad3ea2e 1123 int LSM6DSLSensor::Set_Pedometer_Threshold(uint8_t thr)
cparata 2:67af0ad3ea2e 1124 {
cparata 2:67af0ad3ea2e 1125 if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1126 {
cparata 2:67af0ad3ea2e 1127 return 1;
cparata 2:67af0ad3ea2e 1128 }
cparata 2:67af0ad3ea2e 1129
cparata 2:67af0ad3ea2e 1130 return 0;
cparata 2:67af0ad3ea2e 1131 }
cparata 2:67af0ad3ea2e 1132
cparata 2:67af0ad3ea2e 1133 /**
cparata 2:67af0ad3ea2e 1134 * @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1135 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:67af0ad3ea2e 1136 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1137 */
cparata 2:67af0ad3ea2e 1138 int LSM6DSLSensor::Enable_Tilt_Detection(void)
cparata 7:3c8564ed9986 1139 {
cparata 7:3c8564ed9986 1140 return Enable_Tilt_Detection(LSM6DSL_INT1_PIN);
cparata 7:3c8564ed9986 1141 }
cparata 7:3c8564ed9986 1142
cparata 7:3c8564ed9986 1143 /**
cparata 7:3c8564ed9986 1144 * @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata 7:3c8564ed9986 1145 * @param pin the interrupt pin to be used
cparata 7:3c8564ed9986 1146 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata 7:3c8564ed9986 1147 * @retval 0 in case of success, an error code otherwise
cparata 7:3c8564ed9986 1148 */
cparata 7:3c8564ed9986 1149 int LSM6DSLSensor::Enable_Tilt_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata 2:67af0ad3ea2e 1150 {
cparata 2:67af0ad3ea2e 1151 /* Output Data Rate selection */
cparata 2:67af0ad3ea2e 1152 if( Set_X_ODR(26.0f) == 1 )
cparata 2:67af0ad3ea2e 1153 {
cparata 2:67af0ad3ea2e 1154 return 1;
cparata 2:67af0ad3ea2e 1155 }
cparata 2:67af0ad3ea2e 1156
cparata 2:67af0ad3ea2e 1157 /* Full scale selection. */
cparata 2:67af0ad3ea2e 1158 if( Set_X_FS(2.0f) == 1 )
cparata 2:67af0ad3ea2e 1159 {
cparata 2:67af0ad3ea2e 1160 return 1;
cparata 2:67af0ad3ea2e 1161 }
cparata 2:67af0ad3ea2e 1162
cparata 2:67af0ad3ea2e 1163 /* Enable embedded functionalities */
cparata 2:67af0ad3ea2e 1164 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1165 {
cparata 2:67af0ad3ea2e 1166 return 1;
cparata 2:67af0ad3ea2e 1167 }
cparata 2:67af0ad3ea2e 1168
cparata 2:67af0ad3ea2e 1169 /* Enable tilt calculation. */
cparata 2:67af0ad3ea2e 1170 if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1171 {
cparata 2:67af0ad3ea2e 1172 return 1;
cparata 2:67af0ad3ea2e 1173 }
cparata 7:3c8564ed9986 1174
cparata 7:3c8564ed9986 1175 /* Enable tilt detection on either INT1 or INT2 pin */
cparata 7:3c8564ed9986 1176 switch (pin)
cparata 2:67af0ad3ea2e 1177 {
cparata 7:3c8564ed9986 1178 case LSM6DSL_INT1_PIN:
cparata 7:3c8564ed9986 1179 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
cparata 7:3c8564ed9986 1180 {
cparata 7:3c8564ed9986 1181 return 1;
cparata 7:3c8564ed9986 1182 }
cparata 7:3c8564ed9986 1183 break;
cparata 7:3c8564ed9986 1184
cparata 7:3c8564ed9986 1185 case LSM6DSL_INT2_PIN:
cparata 7:3c8564ed9986 1186 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TILT_ENABLED ) == MEMS_ERROR )
cparata 7:3c8564ed9986 1187 {
cparata 7:3c8564ed9986 1188 return 1;
cparata 7:3c8564ed9986 1189 }
cparata 7:3c8564ed9986 1190 break;
cparata 7:3c8564ed9986 1191
cparata 7:3c8564ed9986 1192 default:
cparata 2:67af0ad3ea2e 1193 return 1;
cparata 2:67af0ad3ea2e 1194 }
cparata 7:3c8564ed9986 1195
cparata 2:67af0ad3ea2e 1196 return 0;
cparata 2:67af0ad3ea2e 1197 }
cparata 2:67af0ad3ea2e 1198
cparata 2:67af0ad3ea2e 1199 /**
cparata 2:67af0ad3ea2e 1200 * @brief Disable the tilt detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1201 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1202 */
cparata 2:67af0ad3ea2e 1203 int LSM6DSLSensor::Disable_Tilt_Detection(void)
cparata 2:67af0ad3ea2e 1204 {
cparata 2:67af0ad3ea2e 1205 /* Disable tilt event on INT1. */
cparata 2:67af0ad3ea2e 1206 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1207 {
cparata 2:67af0ad3ea2e 1208 return 1;
cparata 2:67af0ad3ea2e 1209 }
cparata 2:67af0ad3ea2e 1210
cparata 7:3c8564ed9986 1211 /* Disable tilt event on INT2. */
cparata 7:3c8564ed9986 1212 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TILT_DISABLED ) == MEMS_ERROR )
cparata 7:3c8564ed9986 1213 {
cparata 7:3c8564ed9986 1214 return 1;
cparata 7:3c8564ed9986 1215 }
cparata 7:3c8564ed9986 1216
cparata 2:67af0ad3ea2e 1217 /* Disable tilt calculation. */
cparata 2:67af0ad3ea2e 1218 if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1219 {
cparata 2:67af0ad3ea2e 1220 return 1;
cparata 2:67af0ad3ea2e 1221 }
cparata 2:67af0ad3ea2e 1222
cparata 2:67af0ad3ea2e 1223 /* Disable embedded functionalities */
cparata 2:67af0ad3ea2e 1224 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1225 {
cparata 2:67af0ad3ea2e 1226 return 1;
cparata 2:67af0ad3ea2e 1227 }
cparata 2:67af0ad3ea2e 1228
cparata 2:67af0ad3ea2e 1229 return 0;
cparata 2:67af0ad3ea2e 1230 }
cparata 2:67af0ad3ea2e 1231
cparata 2:67af0ad3ea2e 1232 /**
cparata 2:67af0ad3ea2e 1233 * @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1234 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:67af0ad3ea2e 1235 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1236 */
cparata 2:67af0ad3ea2e 1237 int LSM6DSLSensor::Enable_Wake_Up_Detection(void)
cparata 2:67af0ad3ea2e 1238 {
cparata 7:3c8564ed9986 1239 return Enable_Wake_Up_Detection(LSM6DSL_INT2_PIN);
cparata 7:3c8564ed9986 1240 }
cparata 7:3c8564ed9986 1241
cparata 7:3c8564ed9986 1242 /**
cparata 7:3c8564ed9986 1243 * @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata 7:3c8564ed9986 1244 * @param pin the interrupt pin to be used
cparata 7:3c8564ed9986 1245 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 7:3c8564ed9986 1246 * @retval 0 in case of success, an error code otherwise
cparata 7:3c8564ed9986 1247 */
cparata 7:3c8564ed9986 1248 int LSM6DSLSensor::Enable_Wake_Up_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata 7:3c8564ed9986 1249 {
cparata 2:67af0ad3ea2e 1250 /* Output Data Rate selection */
cparata 2:67af0ad3ea2e 1251 if( Set_X_ODR(416.0f) == 1 )
cparata 2:67af0ad3ea2e 1252 {
cparata 2:67af0ad3ea2e 1253 return 1;
cparata 2:67af0ad3ea2e 1254 }
cparata 2:67af0ad3ea2e 1255
cparata 2:67af0ad3ea2e 1256 /* Full scale selection. */
cparata 2:67af0ad3ea2e 1257 if( Set_X_FS(2.0f) == 1 )
cparata 2:67af0ad3ea2e 1258 {
cparata 2:67af0ad3ea2e 1259 return 1;
cparata 2:67af0ad3ea2e 1260 }
cparata 2:67af0ad3ea2e 1261
cparata 2:67af0ad3ea2e 1262 /* WAKE_DUR setting */
cparata 2:67af0ad3ea2e 1263 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1264 {
cparata 2:67af0ad3ea2e 1265 return 1;
cparata 2:67af0ad3ea2e 1266 }
cparata 2:67af0ad3ea2e 1267
cparata 2:67af0ad3ea2e 1268 /* Set wake up threshold. */
cparata 2:67af0ad3ea2e 1269 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1270 {
cparata 2:67af0ad3ea2e 1271 return 1;
cparata 2:67af0ad3ea2e 1272 }
cparata 2:67af0ad3ea2e 1273
cparata 2:67af0ad3ea2e 1274 /* Enable basic Interrupts */
cparata 2:67af0ad3ea2e 1275 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1276 {
cparata 2:67af0ad3ea2e 1277 return 1;
cparata 2:67af0ad3ea2e 1278 }
cparata 7:3c8564ed9986 1279
cparata 7:3c8564ed9986 1280 /* Enable wake up detection on either INT1 or INT2 pin */
cparata 7:3c8564ed9986 1281 switch (pin)
cparata 2:67af0ad3ea2e 1282 {
cparata 7:3c8564ed9986 1283 case LSM6DSL_INT1_PIN:
cparata 7:3c8564ed9986 1284 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_ENABLED ) == MEMS_ERROR )
cparata 7:3c8564ed9986 1285 {
cparata 7:3c8564ed9986 1286 return 1;
cparata 7:3c8564ed9986 1287 }
cparata 7:3c8564ed9986 1288 break;
cparata 7:3c8564ed9986 1289
cparata 7:3c8564ed9986 1290 case LSM6DSL_INT2_PIN:
cparata 7:3c8564ed9986 1291 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_ENABLED ) == MEMS_ERROR )
cparata 7:3c8564ed9986 1292 {
cparata 7:3c8564ed9986 1293 return 1;
cparata 7:3c8564ed9986 1294 }
cparata 7:3c8564ed9986 1295 break;
cparata 7:3c8564ed9986 1296
cparata 7:3c8564ed9986 1297 default:
cparata 2:67af0ad3ea2e 1298 return 1;
cparata 2:67af0ad3ea2e 1299 }
cparata 2:67af0ad3ea2e 1300
cparata 2:67af0ad3ea2e 1301 return 0;
cparata 2:67af0ad3ea2e 1302 }
cparata 2:67af0ad3ea2e 1303
cparata 2:67af0ad3ea2e 1304 /**
cparata 2:67af0ad3ea2e 1305 * @brief Disable the wake up detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1306 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1307 */
cparata 2:67af0ad3ea2e 1308 int LSM6DSLSensor::Disable_Wake_Up_Detection(void)
cparata 2:67af0ad3ea2e 1309 {
cparata 7:3c8564ed9986 1310 /* Disable wake up event on INT1 */
cparata 7:3c8564ed9986 1311 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_DISABLED ) == MEMS_ERROR )
cparata 7:3c8564ed9986 1312 {
cparata 7:3c8564ed9986 1313 return 1;
cparata 7:3c8564ed9986 1314 }
cparata 7:3c8564ed9986 1315
cparata 7:3c8564ed9986 1316 /* Disable wake up event on INT2 */
cparata 5:cce849c2e6e7 1317 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1318 {
cparata 2:67af0ad3ea2e 1319 return 1;
cparata 2:67af0ad3ea2e 1320 }
cparata 2:67af0ad3ea2e 1321
cparata 2:67af0ad3ea2e 1322 /* Disable basic Interrupts */
cparata 2:67af0ad3ea2e 1323 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1324 {
cparata 2:67af0ad3ea2e 1325 return 1;
cparata 2:67af0ad3ea2e 1326 }
cparata 2:67af0ad3ea2e 1327
cparata 2:67af0ad3ea2e 1328 /* WU_DUR setting */
cparata 2:67af0ad3ea2e 1329 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1330 {
cparata 2:67af0ad3ea2e 1331 return 1;
cparata 2:67af0ad3ea2e 1332 }
cparata 2:67af0ad3ea2e 1333
cparata 2:67af0ad3ea2e 1334 /* WU_THS setting */
cparata 2:67af0ad3ea2e 1335 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1336 {
cparata 2:67af0ad3ea2e 1337 return 1;
cparata 2:67af0ad3ea2e 1338 }
cparata 2:67af0ad3ea2e 1339
cparata 2:67af0ad3ea2e 1340 return 0;
cparata 2:67af0ad3ea2e 1341 }
cparata 2:67af0ad3ea2e 1342
cparata 2:67af0ad3ea2e 1343 /**
cparata 2:67af0ad3ea2e 1344 * @brief Set the wake up threshold for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1345 * @param thr the threshold to be set
cparata 2:67af0ad3ea2e 1346 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1347 */
cparata 2:67af0ad3ea2e 1348 int LSM6DSLSensor::Set_Wake_Up_Threshold(uint8_t thr)
cparata 2:67af0ad3ea2e 1349 {
cparata 2:67af0ad3ea2e 1350 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1351 {
cparata 2:67af0ad3ea2e 1352 return 1;
cparata 2:67af0ad3ea2e 1353 }
cparata 2:67af0ad3ea2e 1354
cparata 2:67af0ad3ea2e 1355 return 0;
cparata 2:67af0ad3ea2e 1356 }
cparata 2:67af0ad3ea2e 1357
cparata 2:67af0ad3ea2e 1358 /**
cparata 2:67af0ad3ea2e 1359 * @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1360 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:67af0ad3ea2e 1361 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1362 */
cparata 2:67af0ad3ea2e 1363 int LSM6DSLSensor::Enable_Single_Tap_Detection(void)
cparata 2:67af0ad3ea2e 1364 {
cparata 7:3c8564ed9986 1365 return Enable_Single_Tap_Detection(LSM6DSL_INT1_PIN);
cparata 7:3c8564ed9986 1366 }
cparata 7:3c8564ed9986 1367
cparata 7:3c8564ed9986 1368 /**
cparata 7:3c8564ed9986 1369 * @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata 7:3c8564ed9986 1370 * @param pin the interrupt pin to be used
cparata 7:3c8564ed9986 1371 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 7:3c8564ed9986 1372 * @retval 0 in case of success, an error code otherwise
cparata 7:3c8564ed9986 1373 */
cparata 7:3c8564ed9986 1374 int LSM6DSLSensor::Enable_Single_Tap_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata 7:3c8564ed9986 1375 {
cparata 2:67af0ad3ea2e 1376 /* Output Data Rate selection */
cparata 2:67af0ad3ea2e 1377 if( Set_X_ODR(416.0f) == 1 )
cparata 2:67af0ad3ea2e 1378 {
cparata 2:67af0ad3ea2e 1379 return 1;
cparata 2:67af0ad3ea2e 1380 }
cparata 2:67af0ad3ea2e 1381
cparata 2:67af0ad3ea2e 1382 /* Full scale selection. */
cparata 2:67af0ad3ea2e 1383 if( Set_X_FS(2.0f) == 1 )
cparata 2:67af0ad3ea2e 1384 {
cparata 2:67af0ad3ea2e 1385 return 1;
cparata 2:67af0ad3ea2e 1386 }
cparata 2:67af0ad3ea2e 1387
cparata 2:67af0ad3ea2e 1388 /* Enable X direction in tap recognition. */
cparata 2:67af0ad3ea2e 1389 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1390 {
cparata 2:67af0ad3ea2e 1391 return 1;
cparata 2:67af0ad3ea2e 1392 }
cparata 2:67af0ad3ea2e 1393
cparata 2:67af0ad3ea2e 1394 /* Enable Y direction in tap recognition. */
cparata 2:67af0ad3ea2e 1395 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1396 {
cparata 2:67af0ad3ea2e 1397 return 1;
cparata 2:67af0ad3ea2e 1398 }
cparata 2:67af0ad3ea2e 1399
cparata 2:67af0ad3ea2e 1400 /* Enable Z direction in tap recognition. */
cparata 2:67af0ad3ea2e 1401 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1402 {
cparata 2:67af0ad3ea2e 1403 return 1;
cparata 2:67af0ad3ea2e 1404 }
cparata 2:67af0ad3ea2e 1405
cparata 2:67af0ad3ea2e 1406 /* Set tap threshold. */
cparata 2:67af0ad3ea2e 1407 if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata 2:67af0ad3ea2e 1408 {
cparata 2:67af0ad3ea2e 1409 return 1;
cparata 2:67af0ad3ea2e 1410 }
cparata 2:67af0ad3ea2e 1411
cparata 2:67af0ad3ea2e 1412 /* Set tap shock time window. */
cparata 2:67af0ad3ea2e 1413 if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == 1 )
cparata 2:67af0ad3ea2e 1414 {
cparata 2:67af0ad3ea2e 1415 return 1;
cparata 2:67af0ad3ea2e 1416 }
cparata 2:67af0ad3ea2e 1417
cparata 2:67af0ad3ea2e 1418 /* Set tap quiet time window. */
cparata 2:67af0ad3ea2e 1419 if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == 1 )
cparata 2:67af0ad3ea2e 1420 {
cparata 2:67af0ad3ea2e 1421 return 1;
cparata 2:67af0ad3ea2e 1422 }
cparata 2:67af0ad3ea2e 1423
cparata 2:67af0ad3ea2e 1424 /* _NOTE_: Tap duration time window - don't care for single tap. */
cparata 2:67af0ad3ea2e 1425
cparata 2:67af0ad3ea2e 1426 /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata 2:67af0ad3ea2e 1427
cparata 2:67af0ad3ea2e 1428 /* Enable basic Interrupts */
cparata 2:67af0ad3ea2e 1429 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1430 {
cparata 2:67af0ad3ea2e 1431 return 1;
cparata 2:67af0ad3ea2e 1432 }
cparata 2:67af0ad3ea2e 1433
cparata 7:3c8564ed9986 1434 /* Enable single tap on either INT1 or INT2 pin */
cparata 7:3c8564ed9986 1435 switch (pin)
cparata 2:67af0ad3ea2e 1436 {
cparata 7:3c8564ed9986 1437 case LSM6DSL_INT1_PIN:
cparata 7:3c8564ed9986 1438 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata 7:3c8564ed9986 1439 {
cparata 7:3c8564ed9986 1440 return 1;
cparata 7:3c8564ed9986 1441 }
cparata 7:3c8564ed9986 1442 break;
cparata 7:3c8564ed9986 1443
cparata 7:3c8564ed9986 1444 case LSM6DSL_INT2_PIN:
cparata 7:3c8564ed9986 1445 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata 7:3c8564ed9986 1446 {
cparata 7:3c8564ed9986 1447 return 1;
cparata 7:3c8564ed9986 1448 }
cparata 7:3c8564ed9986 1449 break;
cparata 7:3c8564ed9986 1450
cparata 7:3c8564ed9986 1451 default:
cparata 2:67af0ad3ea2e 1452 return 1;
cparata 2:67af0ad3ea2e 1453 }
cparata 2:67af0ad3ea2e 1454
cparata 2:67af0ad3ea2e 1455 return 0;
cparata 2:67af0ad3ea2e 1456 }
cparata 2:67af0ad3ea2e 1457
cparata 2:67af0ad3ea2e 1458 /**
cparata 2:67af0ad3ea2e 1459 * @brief Disable the single tap detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1460 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1461 */
cparata 2:67af0ad3ea2e 1462 int LSM6DSLSensor::Disable_Single_Tap_Detection(void)
cparata 2:67af0ad3ea2e 1463 {
cparata 2:67af0ad3ea2e 1464 /* Disable single tap interrupt on INT1 pin. */
cparata 2:67af0ad3ea2e 1465 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1466 {
cparata 2:67af0ad3ea2e 1467 return 1;
cparata 2:67af0ad3ea2e 1468 }
cparata 2:67af0ad3ea2e 1469
cparata 7:3c8564ed9986 1470 /* Disable single tap interrupt on INT2 pin. */
cparata 7:3c8564ed9986 1471 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata 7:3c8564ed9986 1472 {
cparata 7:3c8564ed9986 1473 return 1;
cparata 7:3c8564ed9986 1474 }
cparata 7:3c8564ed9986 1475
cparata 2:67af0ad3ea2e 1476 /* Disable basic Interrupts */
cparata 2:67af0ad3ea2e 1477 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1478 {
cparata 2:67af0ad3ea2e 1479 return 1;
cparata 2:67af0ad3ea2e 1480 }
cparata 2:67af0ad3ea2e 1481
cparata 2:67af0ad3ea2e 1482 /* Reset tap threshold. */
cparata 2:67af0ad3ea2e 1483 if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata 2:67af0ad3ea2e 1484 {
cparata 2:67af0ad3ea2e 1485 return 1;
cparata 2:67af0ad3ea2e 1486 }
cparata 2:67af0ad3ea2e 1487
cparata 2:67af0ad3ea2e 1488 /* Reset tap shock time window. */
cparata 2:67af0ad3ea2e 1489 if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata 2:67af0ad3ea2e 1490 {
cparata 2:67af0ad3ea2e 1491 return 1;
cparata 2:67af0ad3ea2e 1492 }
cparata 2:67af0ad3ea2e 1493
cparata 2:67af0ad3ea2e 1494 /* Reset tap quiet time window. */
cparata 2:67af0ad3ea2e 1495 if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata 2:67af0ad3ea2e 1496 {
cparata 2:67af0ad3ea2e 1497 return 1;
cparata 2:67af0ad3ea2e 1498 }
cparata 2:67af0ad3ea2e 1499
cparata 2:67af0ad3ea2e 1500 /* _NOTE_: Tap duration time window - don't care for single tap. */
cparata 2:67af0ad3ea2e 1501
cparata 2:67af0ad3ea2e 1502 /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata 2:67af0ad3ea2e 1503
cparata 2:67af0ad3ea2e 1504 /* Disable Z direction in tap recognition. */
cparata 2:67af0ad3ea2e 1505 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1506 {
cparata 2:67af0ad3ea2e 1507 return 1;
cparata 2:67af0ad3ea2e 1508 }
cparata 2:67af0ad3ea2e 1509
cparata 2:67af0ad3ea2e 1510 /* Disable Y direction in tap recognition. */
cparata 2:67af0ad3ea2e 1511 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1512 {
cparata 2:67af0ad3ea2e 1513 return 1;
cparata 2:67af0ad3ea2e 1514 }
cparata 2:67af0ad3ea2e 1515
cparata 2:67af0ad3ea2e 1516 /* Disable X direction in tap recognition. */
cparata 2:67af0ad3ea2e 1517 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1518 {
cparata 2:67af0ad3ea2e 1519 return 1;
cparata 2:67af0ad3ea2e 1520 }
cparata 2:67af0ad3ea2e 1521
cparata 2:67af0ad3ea2e 1522 return 0;
cparata 2:67af0ad3ea2e 1523 }
cparata 2:67af0ad3ea2e 1524
cparata 2:67af0ad3ea2e 1525 /**
cparata 2:67af0ad3ea2e 1526 * @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1527 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:67af0ad3ea2e 1528 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1529 */
cparata 2:67af0ad3ea2e 1530 int LSM6DSLSensor::Enable_Double_Tap_Detection(void)
cparata 2:67af0ad3ea2e 1531 {
cparata 7:3c8564ed9986 1532 return Enable_Double_Tap_Detection(LSM6DSL_INT1_PIN);
cparata 7:3c8564ed9986 1533 }
cparata 7:3c8564ed9986 1534
cparata 7:3c8564ed9986 1535 /**
cparata 7:3c8564ed9986 1536 * @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata 7:3c8564ed9986 1537 * @param pin the interrupt pin to be used
cparata 7:3c8564ed9986 1538 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 7:3c8564ed9986 1539 * @retval 0 in case of success, an error code otherwise
cparata 7:3c8564ed9986 1540 */
cparata 7:3c8564ed9986 1541 int LSM6DSLSensor::Enable_Double_Tap_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata 7:3c8564ed9986 1542 {
cparata 2:67af0ad3ea2e 1543 /* Output Data Rate selection */
cparata 2:67af0ad3ea2e 1544 if( Set_X_ODR(416.0f) == 1 )
cparata 2:67af0ad3ea2e 1545 {
cparata 2:67af0ad3ea2e 1546 return 1;
cparata 2:67af0ad3ea2e 1547 }
cparata 2:67af0ad3ea2e 1548
cparata 2:67af0ad3ea2e 1549 /* Full scale selection. */
cparata 2:67af0ad3ea2e 1550 if( Set_X_FS(2.0f) == 1 )
cparata 2:67af0ad3ea2e 1551 {
cparata 2:67af0ad3ea2e 1552 return 1;
cparata 2:67af0ad3ea2e 1553 }
cparata 2:67af0ad3ea2e 1554
cparata 2:67af0ad3ea2e 1555 /* Enable X direction in tap recognition. */
cparata 2:67af0ad3ea2e 1556 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1557 {
cparata 2:67af0ad3ea2e 1558 return 1;
cparata 2:67af0ad3ea2e 1559 }
cparata 2:67af0ad3ea2e 1560
cparata 2:67af0ad3ea2e 1561 /* Enable Y direction in tap recognition. */
cparata 2:67af0ad3ea2e 1562 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1563 {
cparata 2:67af0ad3ea2e 1564 return 1;
cparata 2:67af0ad3ea2e 1565 }
cparata 2:67af0ad3ea2e 1566
cparata 2:67af0ad3ea2e 1567 /* Enable Z direction in tap recognition. */
cparata 2:67af0ad3ea2e 1568 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1569 {
cparata 2:67af0ad3ea2e 1570 return 1;
cparata 2:67af0ad3ea2e 1571 }
cparata 2:67af0ad3ea2e 1572
cparata 2:67af0ad3ea2e 1573 /* Set tap threshold. */
cparata 2:67af0ad3ea2e 1574 if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata 2:67af0ad3ea2e 1575 {
cparata 2:67af0ad3ea2e 1576 return 1;
cparata 2:67af0ad3ea2e 1577 }
cparata 2:67af0ad3ea2e 1578
cparata 2:67af0ad3ea2e 1579 /* Set tap shock time window. */
cparata 2:67af0ad3ea2e 1580 if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == 1 )
cparata 2:67af0ad3ea2e 1581 {
cparata 2:67af0ad3ea2e 1582 return 1;
cparata 2:67af0ad3ea2e 1583 }
cparata 2:67af0ad3ea2e 1584
cparata 2:67af0ad3ea2e 1585 /* Set tap quiet time window. */
cparata 2:67af0ad3ea2e 1586 if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == 1 )
cparata 2:67af0ad3ea2e 1587 {
cparata 2:67af0ad3ea2e 1588 return 1;
cparata 2:67af0ad3ea2e 1589 }
cparata 2:67af0ad3ea2e 1590
cparata 2:67af0ad3ea2e 1591 /* Set tap duration time window. */
cparata 2:67af0ad3ea2e 1592 if ( Set_Tap_Duration_Time( LSM6DSL_TAP_DURATION_TIME_MID ) == 1 )
cparata 2:67af0ad3ea2e 1593 {
cparata 2:67af0ad3ea2e 1594 return 1;
cparata 2:67af0ad3ea2e 1595 }
cparata 2:67af0ad3ea2e 1596
cparata 2:67af0ad3ea2e 1597 /* Single and double tap enabled. */
cparata 2:67af0ad3ea2e 1598 if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1599 {
cparata 2:67af0ad3ea2e 1600 return 1;
cparata 2:67af0ad3ea2e 1601 }
cparata 2:67af0ad3ea2e 1602
cparata 2:67af0ad3ea2e 1603 /* Enable basic Interrupts */
cparata 2:67af0ad3ea2e 1604 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1605 {
cparata 2:67af0ad3ea2e 1606 return 1;
cparata 2:67af0ad3ea2e 1607 }
cparata 2:67af0ad3ea2e 1608
cparata 7:3c8564ed9986 1609 /* Enable double tap on either INT1 or INT2 pin */
cparata 7:3c8564ed9986 1610 switch (pin)
cparata 2:67af0ad3ea2e 1611 {
cparata 7:3c8564ed9986 1612 case LSM6DSL_INT1_PIN:
cparata 7:3c8564ed9986 1613 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
cparata 7:3c8564ed9986 1614 {
cparata 7:3c8564ed9986 1615 return 1;
cparata 7:3c8564ed9986 1616 }
cparata 7:3c8564ed9986 1617 break;
cparata 7:3c8564ed9986 1618
cparata 7:3c8564ed9986 1619 case LSM6DSL_INT2_PIN:
cparata 7:3c8564ed9986 1620 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TAP_ENABLED ) == MEMS_ERROR )
cparata 7:3c8564ed9986 1621 {
cparata 7:3c8564ed9986 1622 return 1;
cparata 7:3c8564ed9986 1623 }
cparata 7:3c8564ed9986 1624 break;
cparata 7:3c8564ed9986 1625
cparata 7:3c8564ed9986 1626 default:
cparata 2:67af0ad3ea2e 1627 return 1;
cparata 2:67af0ad3ea2e 1628 }
cparata 2:67af0ad3ea2e 1629
cparata 2:67af0ad3ea2e 1630 return 0;
cparata 2:67af0ad3ea2e 1631 }
cparata 2:67af0ad3ea2e 1632
cparata 2:67af0ad3ea2e 1633 /**
cparata 2:67af0ad3ea2e 1634 * @brief Disable the double tap detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1635 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1636 */
cparata 2:67af0ad3ea2e 1637 int LSM6DSLSensor::Disable_Double_Tap_Detection(void)
cparata 2:67af0ad3ea2e 1638 {
cparata 2:67af0ad3ea2e 1639 /* Disable double tap interrupt on INT1 pin. */
cparata 2:67af0ad3ea2e 1640 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1641 {
cparata 2:67af0ad3ea2e 1642 return 1;
cparata 2:67af0ad3ea2e 1643 }
cparata 2:67af0ad3ea2e 1644
cparata 7:3c8564ed9986 1645 /* Disable double tap interrupt on INT2 pin. */
cparata 7:3c8564ed9986 1646 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TAP_DISABLED ) == MEMS_ERROR )
cparata 7:3c8564ed9986 1647 {
cparata 7:3c8564ed9986 1648 return 1;
cparata 7:3c8564ed9986 1649 }
cparata 7:3c8564ed9986 1650
cparata 2:67af0ad3ea2e 1651 /* Disable basic Interrupts */
cparata 2:67af0ad3ea2e 1652 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1653 {
cparata 2:67af0ad3ea2e 1654 return 1;
cparata 2:67af0ad3ea2e 1655 }
cparata 2:67af0ad3ea2e 1656
cparata 2:67af0ad3ea2e 1657 /* Reset tap threshold. */
cparata 2:67af0ad3ea2e 1658 if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata 2:67af0ad3ea2e 1659 {
cparata 2:67af0ad3ea2e 1660 return 1;
cparata 2:67af0ad3ea2e 1661 }
cparata 2:67af0ad3ea2e 1662
cparata 2:67af0ad3ea2e 1663 /* Reset tap shock time window. */
cparata 2:67af0ad3ea2e 1664 if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata 2:67af0ad3ea2e 1665 {
cparata 2:67af0ad3ea2e 1666 return 1;
cparata 2:67af0ad3ea2e 1667 }
cparata 2:67af0ad3ea2e 1668
cparata 2:67af0ad3ea2e 1669 /* Reset tap quiet time window. */
cparata 2:67af0ad3ea2e 1670 if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata 2:67af0ad3ea2e 1671 {
cparata 2:67af0ad3ea2e 1672 return 1;
cparata 2:67af0ad3ea2e 1673 }
cparata 2:67af0ad3ea2e 1674
cparata 2:67af0ad3ea2e 1675 /* Reset tap duration time window. */
cparata 2:67af0ad3ea2e 1676 if ( Set_Tap_Duration_Time( 0x0 ) == 1 )
cparata 2:67af0ad3ea2e 1677 {
cparata 2:67af0ad3ea2e 1678 return 1;
cparata 2:67af0ad3ea2e 1679 }
cparata 2:67af0ad3ea2e 1680
cparata 2:67af0ad3ea2e 1681 /* Only single tap enabled. */
cparata 2:67af0ad3ea2e 1682 if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1683 {
cparata 2:67af0ad3ea2e 1684 return 1;
cparata 2:67af0ad3ea2e 1685 }
cparata 2:67af0ad3ea2e 1686
cparata 2:67af0ad3ea2e 1687 /* Disable Z direction in tap recognition. */
cparata 2:67af0ad3ea2e 1688 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1689 {
cparata 2:67af0ad3ea2e 1690 return 1;
cparata 2:67af0ad3ea2e 1691 }
cparata 2:67af0ad3ea2e 1692
cparata 2:67af0ad3ea2e 1693 /* Disable Y direction in tap recognition. */
cparata 2:67af0ad3ea2e 1694 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1695 {
cparata 2:67af0ad3ea2e 1696 return 1;
cparata 2:67af0ad3ea2e 1697 }
cparata 2:67af0ad3ea2e 1698
cparata 2:67af0ad3ea2e 1699 /* Disable X direction in tap recognition. */
cparata 2:67af0ad3ea2e 1700 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1701 {
cparata 2:67af0ad3ea2e 1702 return 1;
cparata 2:67af0ad3ea2e 1703 }
cparata 2:67af0ad3ea2e 1704
cparata 2:67af0ad3ea2e 1705 return 0;
cparata 2:67af0ad3ea2e 1706 }
cparata 2:67af0ad3ea2e 1707
cparata 2:67af0ad3ea2e 1708 /**
cparata 2:67af0ad3ea2e 1709 * @brief Set the tap threshold for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1710 * @param thr the threshold to be set
cparata 2:67af0ad3ea2e 1711 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1712 */
cparata 2:67af0ad3ea2e 1713 int LSM6DSLSensor::Set_Tap_Threshold(uint8_t thr)
cparata 2:67af0ad3ea2e 1714 {
cparata 2:67af0ad3ea2e 1715 if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1716 {
cparata 2:67af0ad3ea2e 1717 return 1;
cparata 2:67af0ad3ea2e 1718 }
cparata 2:67af0ad3ea2e 1719
cparata 2:67af0ad3ea2e 1720 return 0;
cparata 2:67af0ad3ea2e 1721 }
cparata 2:67af0ad3ea2e 1722
cparata 2:67af0ad3ea2e 1723 /**
cparata 2:67af0ad3ea2e 1724 * @brief Set the tap shock time window for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1725 * @param time the shock time window to be set
cparata 2:67af0ad3ea2e 1726 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1727 */
cparata 2:67af0ad3ea2e 1728 int LSM6DSLSensor::Set_Tap_Shock_Time(uint8_t time)
cparata 2:67af0ad3ea2e 1729 {
cparata 2:67af0ad3ea2e 1730 if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1731 {
cparata 2:67af0ad3ea2e 1732 return 1;
cparata 2:67af0ad3ea2e 1733 }
cparata 2:67af0ad3ea2e 1734
cparata 2:67af0ad3ea2e 1735 return 0;
cparata 2:67af0ad3ea2e 1736 }
cparata 2:67af0ad3ea2e 1737
cparata 2:67af0ad3ea2e 1738 /**
cparata 2:67af0ad3ea2e 1739 * @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1740 * @param time the quiet time window to be set
cparata 2:67af0ad3ea2e 1741 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1742 */
cparata 2:67af0ad3ea2e 1743 int LSM6DSLSensor::Set_Tap_Quiet_Time(uint8_t time)
cparata 2:67af0ad3ea2e 1744 {
cparata 2:67af0ad3ea2e 1745 if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1746 {
cparata 2:67af0ad3ea2e 1747 return 1;
cparata 2:67af0ad3ea2e 1748 }
cparata 2:67af0ad3ea2e 1749
cparata 2:67af0ad3ea2e 1750 return 0;
cparata 2:67af0ad3ea2e 1751 }
cparata 2:67af0ad3ea2e 1752
cparata 2:67af0ad3ea2e 1753 /**
cparata 2:67af0ad3ea2e 1754 * @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1755 * @param time the duration of the time window to be set
cparata 2:67af0ad3ea2e 1756 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1757 */
cparata 2:67af0ad3ea2e 1758 int LSM6DSLSensor::Set_Tap_Duration_Time(uint8_t time)
cparata 2:67af0ad3ea2e 1759 {
cparata 2:67af0ad3ea2e 1760 if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1761 {
cparata 2:67af0ad3ea2e 1762 return 1;
cparata 2:67af0ad3ea2e 1763 }
cparata 2:67af0ad3ea2e 1764
cparata 2:67af0ad3ea2e 1765 return 0;
cparata 2:67af0ad3ea2e 1766 }
cparata 2:67af0ad3ea2e 1767
cparata 2:67af0ad3ea2e 1768 /**
cparata 2:67af0ad3ea2e 1769 * @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1770 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:67af0ad3ea2e 1771 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1772 */
cparata 2:67af0ad3ea2e 1773 int LSM6DSLSensor::Enable_6D_Orientation(void)
cparata 2:67af0ad3ea2e 1774 {
cparata 7:3c8564ed9986 1775 return Enable_6D_Orientation(LSM6DSL_INT1_PIN);
cparata 7:3c8564ed9986 1776 }
cparata 7:3c8564ed9986 1777
cparata 7:3c8564ed9986 1778 /**
cparata 7:3c8564ed9986 1779 * @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 7:3c8564ed9986 1780 * @param pin the interrupt pin to be used
cparata 7:3c8564ed9986 1781 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 7:3c8564ed9986 1782 * @retval 0 in case of success, an error code otherwise
cparata 7:3c8564ed9986 1783 */
cparata 7:3c8564ed9986 1784 int LSM6DSLSensor::Enable_6D_Orientation(LSM6DSL_Interrupt_Pin_t pin)
cparata 7:3c8564ed9986 1785 {
cparata 2:67af0ad3ea2e 1786 /* Output Data Rate selection */
cparata 2:67af0ad3ea2e 1787 if( Set_X_ODR(416.0f) == 1 )
cparata 2:67af0ad3ea2e 1788 {
cparata 2:67af0ad3ea2e 1789 return 1;
cparata 2:67af0ad3ea2e 1790 }
cparata 2:67af0ad3ea2e 1791
cparata 2:67af0ad3ea2e 1792 /* Full scale selection. */
cparata 2:67af0ad3ea2e 1793 if( Set_X_FS(2.0f) == 1 )
cparata 2:67af0ad3ea2e 1794 {
cparata 2:67af0ad3ea2e 1795 return 1;
cparata 2:67af0ad3ea2e 1796 }
cparata 2:67af0ad3ea2e 1797
cparata 2:67af0ad3ea2e 1798 /* Set 6D threshold. */
cparata 2:67af0ad3ea2e 1799 if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1800 {
cparata 2:67af0ad3ea2e 1801 return 1;
cparata 2:67af0ad3ea2e 1802 }
cparata 2:67af0ad3ea2e 1803
cparata 2:67af0ad3ea2e 1804 /* Enable basic Interrupts */
cparata 2:67af0ad3ea2e 1805 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1806 {
cparata 2:67af0ad3ea2e 1807 return 1;
cparata 2:67af0ad3ea2e 1808 }
cparata 2:67af0ad3ea2e 1809
cparata 7:3c8564ed9986 1810 /* Enable 6D orientation on either INT1 or INT2 pin */
cparata 7:3c8564ed9986 1811 switch (pin)
cparata 2:67af0ad3ea2e 1812 {
cparata 7:3c8564ed9986 1813 case LSM6DSL_INT1_PIN:
cparata 7:3c8564ed9986 1814 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
cparata 7:3c8564ed9986 1815 {
cparata 7:3c8564ed9986 1816 return 1;
cparata 7:3c8564ed9986 1817 }
cparata 7:3c8564ed9986 1818 break;
cparata 7:3c8564ed9986 1819
cparata 7:3c8564ed9986 1820 case LSM6DSL_INT2_PIN:
cparata 7:3c8564ed9986 1821 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_6D_ENABLED ) == MEMS_ERROR )
cparata 7:3c8564ed9986 1822 {
cparata 7:3c8564ed9986 1823 return 1;
cparata 7:3c8564ed9986 1824 }
cparata 7:3c8564ed9986 1825 break;
cparata 7:3c8564ed9986 1826
cparata 7:3c8564ed9986 1827 default:
cparata 2:67af0ad3ea2e 1828 return 1;
cparata 2:67af0ad3ea2e 1829 }
cparata 2:67af0ad3ea2e 1830
cparata 2:67af0ad3ea2e 1831 return 0;
cparata 2:67af0ad3ea2e 1832 }
cparata 2:67af0ad3ea2e 1833
cparata 2:67af0ad3ea2e 1834 /**
cparata 2:67af0ad3ea2e 1835 * @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1836 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1837 */
cparata 2:67af0ad3ea2e 1838 int LSM6DSLSensor::Disable_6D_Orientation(void)
cparata 2:67af0ad3ea2e 1839 {
cparata 7:3c8564ed9986 1840 /* Disable 6D orientation interrupt on INT1 pin. */
cparata 2:67af0ad3ea2e 1841 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1842 {
cparata 2:67af0ad3ea2e 1843 return 1;
cparata 2:67af0ad3ea2e 1844 }
cparata 2:67af0ad3ea2e 1845
cparata 7:3c8564ed9986 1846 /* Disable 6D orientation interrupt on INT2 pin. */
cparata 7:3c8564ed9986 1847 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_6D_DISABLED ) == MEMS_ERROR )
cparata 7:3c8564ed9986 1848 {
cparata 7:3c8564ed9986 1849 return 1;
cparata 7:3c8564ed9986 1850 }
cparata 7:3c8564ed9986 1851
cparata 2:67af0ad3ea2e 1852 /* Disable basic Interrupts */
cparata 2:67af0ad3ea2e 1853 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1854 {
cparata 2:67af0ad3ea2e 1855 return 1;
cparata 2:67af0ad3ea2e 1856 }
cparata 2:67af0ad3ea2e 1857
cparata 2:67af0ad3ea2e 1858 /* Reset 6D threshold. */
cparata 2:67af0ad3ea2e 1859 if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1860 {
cparata 2:67af0ad3ea2e 1861 return 1;
cparata 2:67af0ad3ea2e 1862 }
cparata 2:67af0ad3ea2e 1863
cparata 2:67af0ad3ea2e 1864 return 0;
cparata 2:67af0ad3ea2e 1865 }
cparata 2:67af0ad3ea2e 1866
cparata 2:67af0ad3ea2e 1867 /**
cparata 2:67af0ad3ea2e 1868 * @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1869 * @param xl the pointer to the 6D orientation XL axis
cparata 2:67af0ad3ea2e 1870 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1871 */
cparata 2:67af0ad3ea2e 1872 int LSM6DSLSensor::Get_6D_Orientation_XL(uint8_t *xl)
cparata 2:67af0ad3ea2e 1873 {
cparata 2:67af0ad3ea2e 1874 LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
cparata 2:67af0ad3ea2e 1875
cparata 2:67af0ad3ea2e 1876 if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1877 {
cparata 2:67af0ad3ea2e 1878 return 1;
cparata 2:67af0ad3ea2e 1879 }
cparata 2:67af0ad3ea2e 1880
cparata 2:67af0ad3ea2e 1881 switch( xl_raw )
cparata 2:67af0ad3ea2e 1882 {
cparata 2:67af0ad3ea2e 1883 case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
cparata 2:67af0ad3ea2e 1884 *xl = 1;
cparata 2:67af0ad3ea2e 1885 break;
cparata 2:67af0ad3ea2e 1886 case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
cparata 2:67af0ad3ea2e 1887 *xl = 0;
cparata 2:67af0ad3ea2e 1888 break;
cparata 2:67af0ad3ea2e 1889 default:
cparata 2:67af0ad3ea2e 1890 return 1;
cparata 2:67af0ad3ea2e 1891 }
cparata 2:67af0ad3ea2e 1892
cparata 2:67af0ad3ea2e 1893 return 0;
cparata 2:67af0ad3ea2e 1894 }
cparata 2:67af0ad3ea2e 1895
cparata 2:67af0ad3ea2e 1896 /**
cparata 2:67af0ad3ea2e 1897 * @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1898 * @param xh the pointer to the 6D orientation XH axis
cparata 2:67af0ad3ea2e 1899 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1900 */
cparata 2:67af0ad3ea2e 1901 int LSM6DSLSensor::Get_6D_Orientation_XH(uint8_t *xh)
cparata 2:67af0ad3ea2e 1902 {
cparata 2:67af0ad3ea2e 1903 LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
cparata 2:67af0ad3ea2e 1904
cparata 2:67af0ad3ea2e 1905 if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1906 {
cparata 2:67af0ad3ea2e 1907 return 1;
cparata 2:67af0ad3ea2e 1908 }
cparata 2:67af0ad3ea2e 1909
cparata 2:67af0ad3ea2e 1910 switch( xh_raw )
cparata 2:67af0ad3ea2e 1911 {
cparata 2:67af0ad3ea2e 1912 case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
cparata 2:67af0ad3ea2e 1913 *xh = 1;
cparata 2:67af0ad3ea2e 1914 break;
cparata 2:67af0ad3ea2e 1915 case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
cparata 2:67af0ad3ea2e 1916 *xh = 0;
cparata 2:67af0ad3ea2e 1917 break;
cparata 2:67af0ad3ea2e 1918 default:
cparata 2:67af0ad3ea2e 1919 return 1;
cparata 2:67af0ad3ea2e 1920 }
cparata 2:67af0ad3ea2e 1921
cparata 2:67af0ad3ea2e 1922 return 0;
cparata 2:67af0ad3ea2e 1923 }
cparata 2:67af0ad3ea2e 1924
cparata 2:67af0ad3ea2e 1925 /**
cparata 2:67af0ad3ea2e 1926 * @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1927 * @param yl the pointer to the 6D orientation YL axis
cparata 2:67af0ad3ea2e 1928 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1929 */
cparata 2:67af0ad3ea2e 1930 int LSM6DSLSensor::Get_6D_Orientation_YL(uint8_t *yl)
cparata 2:67af0ad3ea2e 1931 {
cparata 2:67af0ad3ea2e 1932 LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
cparata 2:67af0ad3ea2e 1933
cparata 2:67af0ad3ea2e 1934 if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1935 {
cparata 2:67af0ad3ea2e 1936 return 1;
cparata 2:67af0ad3ea2e 1937 }
cparata 2:67af0ad3ea2e 1938
cparata 2:67af0ad3ea2e 1939 switch( yl_raw )
cparata 2:67af0ad3ea2e 1940 {
cparata 2:67af0ad3ea2e 1941 case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
cparata 2:67af0ad3ea2e 1942 *yl = 1;
cparata 2:67af0ad3ea2e 1943 break;
cparata 2:67af0ad3ea2e 1944 case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
cparata 2:67af0ad3ea2e 1945 *yl = 0;
cparata 2:67af0ad3ea2e 1946 break;
cparata 2:67af0ad3ea2e 1947 default:
cparata 2:67af0ad3ea2e 1948 return 1;
cparata 2:67af0ad3ea2e 1949 }
cparata 2:67af0ad3ea2e 1950
cparata 2:67af0ad3ea2e 1951 return 0;
cparata 2:67af0ad3ea2e 1952 }
cparata 2:67af0ad3ea2e 1953
cparata 2:67af0ad3ea2e 1954 /**
cparata 2:67af0ad3ea2e 1955 * @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1956 * @param yh the pointer to the 6D orientation YH axis
cparata 2:67af0ad3ea2e 1957 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1958 */
cparata 2:67af0ad3ea2e 1959 int LSM6DSLSensor::Get_6D_Orientation_YH(uint8_t *yh)
cparata 2:67af0ad3ea2e 1960 {
cparata 2:67af0ad3ea2e 1961 LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
cparata 2:67af0ad3ea2e 1962
cparata 2:67af0ad3ea2e 1963 if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1964 {
cparata 2:67af0ad3ea2e 1965 return 1;
cparata 2:67af0ad3ea2e 1966 }
cparata 2:67af0ad3ea2e 1967
cparata 2:67af0ad3ea2e 1968 switch( yh_raw )
cparata 2:67af0ad3ea2e 1969 {
cparata 2:67af0ad3ea2e 1970 case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
cparata 2:67af0ad3ea2e 1971 *yh = 1;
cparata 2:67af0ad3ea2e 1972 break;
cparata 2:67af0ad3ea2e 1973 case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
cparata 2:67af0ad3ea2e 1974 *yh = 0;
cparata 2:67af0ad3ea2e 1975 break;
cparata 2:67af0ad3ea2e 1976 default:
cparata 2:67af0ad3ea2e 1977 return 1;
cparata 2:67af0ad3ea2e 1978 }
cparata 2:67af0ad3ea2e 1979
cparata 2:67af0ad3ea2e 1980 return 0;
cparata 2:67af0ad3ea2e 1981 }
cparata 2:67af0ad3ea2e 1982
cparata 2:67af0ad3ea2e 1983 /**
cparata 2:67af0ad3ea2e 1984 * @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1985 * @param zl the pointer to the 6D orientation ZL axis
cparata 2:67af0ad3ea2e 1986 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1987 */
cparata 2:67af0ad3ea2e 1988 int LSM6DSLSensor::Get_6D_Orientation_ZL(uint8_t *zl)
cparata 2:67af0ad3ea2e 1989 {
cparata 2:67af0ad3ea2e 1990 LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
cparata 2:67af0ad3ea2e 1991
cparata 2:67af0ad3ea2e 1992 if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1993 {
cparata 2:67af0ad3ea2e 1994 return 1;
cparata 2:67af0ad3ea2e 1995 }
cparata 2:67af0ad3ea2e 1996
cparata 2:67af0ad3ea2e 1997 switch( zl_raw )
cparata 2:67af0ad3ea2e 1998 {
cparata 2:67af0ad3ea2e 1999 case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
cparata 2:67af0ad3ea2e 2000 *zl = 1;
cparata 2:67af0ad3ea2e 2001 break;
cparata 2:67af0ad3ea2e 2002 case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
cparata 2:67af0ad3ea2e 2003 *zl = 0;
cparata 2:67af0ad3ea2e 2004 break;
cparata 2:67af0ad3ea2e 2005 default:
cparata 2:67af0ad3ea2e 2006 return 1;
cparata 2:67af0ad3ea2e 2007 }
cparata 2:67af0ad3ea2e 2008
cparata 2:67af0ad3ea2e 2009 return 0;
cparata 2:67af0ad3ea2e 2010 }
cparata 2:67af0ad3ea2e 2011
cparata 2:67af0ad3ea2e 2012 /**
cparata 2:67af0ad3ea2e 2013 * @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 2014 * @param zh the pointer to the 6D orientation ZH axis
cparata 2:67af0ad3ea2e 2015 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 2016 */
cparata 2:67af0ad3ea2e 2017 int LSM6DSLSensor::Get_6D_Orientation_ZH(uint8_t *zh)
cparata 2:67af0ad3ea2e 2018 {
cparata 2:67af0ad3ea2e 2019 LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
cparata 2:67af0ad3ea2e 2020
cparata 2:67af0ad3ea2e 2021 if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 2022 {
cparata 2:67af0ad3ea2e 2023 return 1;
cparata 2:67af0ad3ea2e 2024 }
cparata 2:67af0ad3ea2e 2025
cparata 2:67af0ad3ea2e 2026 switch( zh_raw )
cparata 2:67af0ad3ea2e 2027 {
cparata 2:67af0ad3ea2e 2028 case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
cparata 2:67af0ad3ea2e 2029 *zh = 1;
cparata 2:67af0ad3ea2e 2030 break;
cparata 2:67af0ad3ea2e 2031 case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
cparata 2:67af0ad3ea2e 2032 *zh = 0;
cparata 2:67af0ad3ea2e 2033 break;
cparata 2:67af0ad3ea2e 2034 default:
cparata 2:67af0ad3ea2e 2035 return 1;
cparata 2:67af0ad3ea2e 2036 }
cparata 2:67af0ad3ea2e 2037
cparata 2:67af0ad3ea2e 2038 return 0;
cparata 2:67af0ad3ea2e 2039 }
cparata 2:67af0ad3ea2e 2040
cparata 2:67af0ad3ea2e 2041 /**
cparata 4:b9467a8f2bcc 2042 * @brief Get the status of all hardware events for LSM6DSL accelerometer sensor
cparata 4:b9467a8f2bcc 2043 * @param status the pointer to the status of all hardware events
cparata 4:b9467a8f2bcc 2044 * @retval 0 in case of success, an error code otherwise
cparata 4:b9467a8f2bcc 2045 */
cparata 4:b9467a8f2bcc 2046 int LSM6DSLSensor::Get_Event_Status(LSM6DSL_Event_Status_t *status)
cparata 4:b9467a8f2bcc 2047 {
cparata 5:cce849c2e6e7 2048 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 4:b9467a8f2bcc 2049
cparata 4:b9467a8f2bcc 2050 memset((void *)status, 0x0, sizeof(LSM6DSL_Event_Status_t));
cparata 4:b9467a8f2bcc 2051
cparata 4:b9467a8f2bcc 2052 if(ReadReg(LSM6DSL_ACC_GYRO_WAKE_UP_SRC, &Wake_Up_Src) != 0)
cparata 4:b9467a8f2bcc 2053 {
cparata 4:b9467a8f2bcc 2054 return 1;
cparata 4:b9467a8f2bcc 2055 }
cparata 4:b9467a8f2bcc 2056
cparata 4:b9467a8f2bcc 2057 if(ReadReg(LSM6DSL_ACC_GYRO_TAP_SRC, &Tap_Src) != 0)
cparata 4:b9467a8f2bcc 2058 {
cparata 4:b9467a8f2bcc 2059 return 1;
cparata 4:b9467a8f2bcc 2060 }
cparata 4:b9467a8f2bcc 2061
cparata 4:b9467a8f2bcc 2062 if(ReadReg(LSM6DSL_ACC_GYRO_D6D_SRC, &D6D_Src) != 0)
cparata 4:b9467a8f2bcc 2063 {
cparata 4:b9467a8f2bcc 2064 return 1;
cparata 4:b9467a8f2bcc 2065 }
cparata 4:b9467a8f2bcc 2066
cparata 4:b9467a8f2bcc 2067 if(ReadReg(LSM6DSL_ACC_GYRO_FUNC_SRC, &Func_Src) != 0)
cparata 4:b9467a8f2bcc 2068 {
cparata 4:b9467a8f2bcc 2069 return 1;
cparata 4:b9467a8f2bcc 2070 }
cparata 4:b9467a8f2bcc 2071
cparata 5:cce849c2e6e7 2072 if(ReadReg(LSM6DSL_ACC_GYRO_MD1_CFG, &Md1_Cfg ) != 0 )
cparata 5:cce849c2e6e7 2073 {
cparata 5:cce849c2e6e7 2074 return 1;
cparata 5:cce849c2e6e7 2075 }
cparata 5:cce849c2e6e7 2076
cparata 5:cce849c2e6e7 2077 if(ReadReg(LSM6DSL_ACC_GYRO_MD2_CFG, &Md2_Cfg ) != 0)
cparata 4:b9467a8f2bcc 2078 {
cparata 5:cce849c2e6e7 2079 return 1;
cparata 5:cce849c2e6e7 2080 }
cparata 5:cce849c2e6e7 2081
cparata 5:cce849c2e6e7 2082 if(ReadReg(LSM6DSL_ACC_GYRO_INT1_CTRL, &Int1_Ctrl ) != 0)
cparata 5:cce849c2e6e7 2083 {
cparata 5:cce849c2e6e7 2084 return 1;
cparata 4:b9467a8f2bcc 2085 }
cparata 4:b9467a8f2bcc 2086
cparata 7:3c8564ed9986 2087 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_FF_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_FF_MASK))
cparata 4:b9467a8f2bcc 2088 {
cparata 5:cce849c2e6e7 2089 if((Wake_Up_Src & LSM6DSL_ACC_GYRO_FF_EV_STATUS_MASK))
cparata 5:cce849c2e6e7 2090 {
cparata 5:cce849c2e6e7 2091 status->FreeFallStatus = 1;
cparata 5:cce849c2e6e7 2092 }
cparata 4:b9467a8f2bcc 2093 }
cparata 4:b9467a8f2bcc 2094
cparata 7:3c8564ed9986 2095 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_WU_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_WU_MASK))
cparata 4:b9467a8f2bcc 2096 {
cparata 5:cce849c2e6e7 2097 if((Wake_Up_Src & LSM6DSL_ACC_GYRO_WU_EV_STATUS_MASK))
cparata 5:cce849c2e6e7 2098 {
cparata 5:cce849c2e6e7 2099 status->WakeUpStatus = 1;
cparata 5:cce849c2e6e7 2100 }
cparata 4:b9467a8f2bcc 2101 }
cparata 4:b9467a8f2bcc 2102
cparata 7:3c8564ed9986 2103 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_MASK))
cparata 4:b9467a8f2bcc 2104 {
cparata 5:cce849c2e6e7 2105 if((Tap_Src & LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_MASK))
cparata 5:cce849c2e6e7 2106 {
cparata 5:cce849c2e6e7 2107 status->TapStatus = 1;
cparata 5:cce849c2e6e7 2108 }
cparata 5:cce849c2e6e7 2109 }
cparata 5:cce849c2e6e7 2110
cparata 7:3c8564ed9986 2111 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TAP_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_TAP_MASK))
cparata 5:cce849c2e6e7 2112 {
cparata 5:cce849c2e6e7 2113 if((Tap_Src & LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_MASK))
cparata 5:cce849c2e6e7 2114 {
cparata 5:cce849c2e6e7 2115 status->DoubleTapStatus = 1;
cparata 5:cce849c2e6e7 2116 }
cparata 4:b9467a8f2bcc 2117 }
cparata 4:b9467a8f2bcc 2118
cparata 7:3c8564ed9986 2119 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_6D_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_6D_MASK))
cparata 4:b9467a8f2bcc 2120 {
cparata 5:cce849c2e6e7 2121 if((D6D_Src & LSM6DSL_ACC_GYRO_D6D_EV_STATUS_MASK))
cparata 5:cce849c2e6e7 2122 {
cparata 5:cce849c2e6e7 2123 status->D6DOrientationStatus = 1;
cparata 5:cce849c2e6e7 2124 }
cparata 4:b9467a8f2bcc 2125 }
cparata 4:b9467a8f2bcc 2126
cparata 7:3c8564ed9986 2127 if((Int1_Ctrl & LSM6DSL_ACC_GYRO_INT1_PEDO_MASK))
cparata 4:b9467a8f2bcc 2128 {
cparata 5:cce849c2e6e7 2129 if((Func_Src & LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_MASK))
cparata 5:cce849c2e6e7 2130 {
cparata 5:cce849c2e6e7 2131 status->StepStatus = 1;
cparata 5:cce849c2e6e7 2132 }
cparata 4:b9467a8f2bcc 2133 }
cparata 4:b9467a8f2bcc 2134
cparata 7:3c8564ed9986 2135 if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TILT_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_TILT_MASK))
cparata 4:b9467a8f2bcc 2136 {
cparata 5:cce849c2e6e7 2137 if((Func_Src & LSM6DSL_ACC_GYRO_TILT_EV_STATUS_MASK))
cparata 5:cce849c2e6e7 2138 {
cparata 5:cce849c2e6e7 2139 status->TiltStatus = 1;
cparata 5:cce849c2e6e7 2140 }
cparata 4:b9467a8f2bcc 2141 }
cparata 4:b9467a8f2bcc 2142
cparata 4:b9467a8f2bcc 2143 return 0;
cparata 4:b9467a8f2bcc 2144 }
cparata 4:b9467a8f2bcc 2145
cparata 4:b9467a8f2bcc 2146 /**
cparata 2:67af0ad3ea2e 2147 * @brief Read the data from register
cparata 2:67af0ad3ea2e 2148 * @param reg register address
cparata 2:67af0ad3ea2e 2149 * @param data register data
cparata 4:b9467a8f2bcc 2150 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 2151 */
cparata 2:67af0ad3ea2e 2152 int LSM6DSLSensor::ReadReg( uint8_t reg, uint8_t *data )
cparata 2:67af0ad3ea2e 2153 {
cparata 2:67af0ad3ea2e 2154
cparata 2:67af0ad3ea2e 2155 if ( LSM6DSL_ACC_GYRO_ReadReg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 2156 {
cparata 2:67af0ad3ea2e 2157 return 1;
cparata 2:67af0ad3ea2e 2158 }
cparata 2:67af0ad3ea2e 2159
cparata 2:67af0ad3ea2e 2160 return 0;
cparata 2:67af0ad3ea2e 2161 }
cparata 2:67af0ad3ea2e 2162
cparata 2:67af0ad3ea2e 2163 /**
cparata 2:67af0ad3ea2e 2164 * @brief Write the data to register
cparata 2:67af0ad3ea2e 2165 * @param reg register address
cparata 2:67af0ad3ea2e 2166 * @param data register data
cparata 4:b9467a8f2bcc 2167 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 2168 */
cparata 2:67af0ad3ea2e 2169 int LSM6DSLSensor::WriteReg( uint8_t reg, uint8_t data )
cparata 2:67af0ad3ea2e 2170 {
cparata 2:67af0ad3ea2e 2171
cparata 2:67af0ad3ea2e 2172 if ( LSM6DSL_ACC_GYRO_WriteReg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 2173 {
cparata 2:67af0ad3ea2e 2174 return 1;
cparata 2:67af0ad3ea2e 2175 }
cparata 2:67af0ad3ea2e 2176
cparata 2:67af0ad3ea2e 2177 return 0;
cparata 2:67af0ad3ea2e 2178 }
cparata 2:67af0ad3ea2e 2179
cparata 2:67af0ad3ea2e 2180
cparata 2:67af0ad3ea2e 2181 uint8_t LSM6DSL_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
cparata 2:67af0ad3ea2e 2182 {
cparata 2:67af0ad3ea2e 2183 return ((LSM6DSLSensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata 2:67af0ad3ea2e 2184 }
cparata 2:67af0ad3ea2e 2185
cparata 2:67af0ad3ea2e 2186 uint8_t LSM6DSL_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
cparata 2:67af0ad3ea2e 2187 {
cparata 2:67af0ad3ea2e 2188 return ((LSM6DSLSensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata 2:67af0ad3ea2e 2189 }