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@2:67af0ad3ea2e, 2016-08-19 (annotated)

Committer:
cparata
Date:
Fri Aug 19 12:29:08 2016 +0000
Revision:
2:67af0ad3ea2e
Child:
4:b9467a8f2bcc
Add interfaces to all components

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 2:67af0ad3ea2e 54 LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c) : dev_i2c(i2c)
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 2:67af0ad3ea2e 63 LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), 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 2:67af0ad3ea2e 864 /* Output Data Rate selection */
cparata 2:67af0ad3ea2e 865 if(Set_X_ODR(416.0f) == 1)
cparata 2:67af0ad3ea2e 866 {
cparata 2:67af0ad3ea2e 867 return 1;
cparata 2:67af0ad3ea2e 868 }
cparata 2:67af0ad3ea2e 869
cparata 2:67af0ad3ea2e 870 /* Full scale selection */
cparata 2:67af0ad3ea2e 871 if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, LSM6DSL_ACC_GYRO_FS_XL_2g ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 872 {
cparata 2:67af0ad3ea2e 873 return 1;
cparata 2:67af0ad3ea2e 874 }
cparata 2:67af0ad3ea2e 875
cparata 2:67af0ad3ea2e 876 /* FF_DUR setting */
cparata 2:67af0ad3ea2e 877 if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x06 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 878 {
cparata 2:67af0ad3ea2e 879 return 1;
cparata 2:67af0ad3ea2e 880 }
cparata 2:67af0ad3ea2e 881
cparata 2:67af0ad3ea2e 882 /* WAKE_DUR setting */
cparata 2:67af0ad3ea2e 883 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 884 {
cparata 2:67af0ad3ea2e 885 return 1;
cparata 2:67af0ad3ea2e 886 }
cparata 2:67af0ad3ea2e 887
cparata 2:67af0ad3ea2e 888 /* TIMER_HR setting */
cparata 2:67af0ad3ea2e 889 if ( LSM6DSL_ACC_GYRO_W_TIMER_HR( (void *)this, LSM6DSL_ACC_GYRO_TIMER_HR_6_4ms ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 890 {
cparata 2:67af0ad3ea2e 891 return 1;
cparata 2:67af0ad3ea2e 892 }
cparata 2:67af0ad3ea2e 893
cparata 2:67af0ad3ea2e 894 /* SLEEP_DUR setting */
cparata 2:67af0ad3ea2e 895 if ( LSM6DSL_ACC_GYRO_W_SLEEP_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 896 {
cparata 2:67af0ad3ea2e 897 return 1;
cparata 2:67af0ad3ea2e 898 }
cparata 2:67af0ad3ea2e 899
cparata 2:67af0ad3ea2e 900 /* FF_THS setting */
cparata 2:67af0ad3ea2e 901 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_312mg ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 902 {
cparata 2:67af0ad3ea2e 903 return 1;
cparata 2:67af0ad3ea2e 904 }
cparata 2:67af0ad3ea2e 905
cparata 2:67af0ad3ea2e 906 /* Enable basic Interrupts */
cparata 2:67af0ad3ea2e 907 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 908 {
cparata 2:67af0ad3ea2e 909 return 1;
cparata 2:67af0ad3ea2e 910 }
cparata 2:67af0ad3ea2e 911
cparata 2:67af0ad3ea2e 912 /* INT1_FF setting */
cparata 2:67af0ad3ea2e 913 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 914 {
cparata 2:67af0ad3ea2e 915 return 1;
cparata 2:67af0ad3ea2e 916 }
cparata 2:67af0ad3ea2e 917
cparata 2:67af0ad3ea2e 918 return 0;
cparata 2:67af0ad3ea2e 919 }
cparata 2:67af0ad3ea2e 920
cparata 2:67af0ad3ea2e 921 /**
cparata 2:67af0ad3ea2e 922 * @brief Disable free fall detection
cparata 2:67af0ad3ea2e 923 * @param None
cparata 2:67af0ad3ea2e 924 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 925 */
cparata 2:67af0ad3ea2e 926 int LSM6DSLSensor::Disable_Free_Fall_Detection(void)
cparata 2:67af0ad3ea2e 927 {
cparata 2:67af0ad3ea2e 928 /* INT1_FF setting */
cparata 2:67af0ad3ea2e 929 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 930 {
cparata 2:67af0ad3ea2e 931 return 1;
cparata 2:67af0ad3ea2e 932 }
cparata 2:67af0ad3ea2e 933
cparata 2:67af0ad3ea2e 934 /* Disable basic Interrupts */
cparata 2:67af0ad3ea2e 935 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 936 {
cparata 2:67af0ad3ea2e 937 return 1;
cparata 2:67af0ad3ea2e 938 }
cparata 2:67af0ad3ea2e 939
cparata 2:67af0ad3ea2e 940 /* FF_DUR setting */
cparata 2:67af0ad3ea2e 941 if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 942 {
cparata 2:67af0ad3ea2e 943 return 1;
cparata 2:67af0ad3ea2e 944 }
cparata 2:67af0ad3ea2e 945
cparata 2:67af0ad3ea2e 946 /* FF_THS setting */
cparata 2:67af0ad3ea2e 947 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_156mg ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 948 {
cparata 2:67af0ad3ea2e 949 return 1;
cparata 2:67af0ad3ea2e 950 }
cparata 2:67af0ad3ea2e 951
cparata 2:67af0ad3ea2e 952 return 0;
cparata 2:67af0ad3ea2e 953 }
cparata 2:67af0ad3ea2e 954
cparata 2:67af0ad3ea2e 955 /**
cparata 2:67af0ad3ea2e 956 * @brief Get status of free fall detection
cparata 2:67af0ad3ea2e 957 * @param status the pointer where the status of free fall detection is stored; 0 means no detection, 1 means detection happened
cparata 2:67af0ad3ea2e 958 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 959 */
cparata 2:67af0ad3ea2e 960 int LSM6DSLSensor::Get_Status_Free_Fall_Detection(uint8_t *status)
cparata 2:67af0ad3ea2e 961 {
cparata 2:67af0ad3ea2e 962 LSM6DSL_ACC_GYRO_FF_EV_STATUS_t free_fall_status;
cparata 2:67af0ad3ea2e 963
cparata 2:67af0ad3ea2e 964 if ( LSM6DSL_ACC_GYRO_R_FF_EV_STATUS( (void *)this, &free_fall_status ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 965 {
cparata 2:67af0ad3ea2e 966 return 1;
cparata 2:67af0ad3ea2e 967 }
cparata 2:67af0ad3ea2e 968
cparata 2:67af0ad3ea2e 969 switch( free_fall_status )
cparata 2:67af0ad3ea2e 970 {
cparata 2:67af0ad3ea2e 971 case LSM6DSL_ACC_GYRO_FF_EV_STATUS_DETECTED:
cparata 2:67af0ad3ea2e 972 *status = 1;
cparata 2:67af0ad3ea2e 973 break;
cparata 2:67af0ad3ea2e 974 case LSM6DSL_ACC_GYRO_FF_EV_STATUS_NOT_DETECTED:
cparata 2:67af0ad3ea2e 975 *status = 0;
cparata 2:67af0ad3ea2e 976 break;
cparata 2:67af0ad3ea2e 977 default:
cparata 2:67af0ad3ea2e 978 return 1;
cparata 2:67af0ad3ea2e 979 }
cparata 2:67af0ad3ea2e 980
cparata 2:67af0ad3ea2e 981 return 0;
cparata 2:67af0ad3ea2e 982 }
cparata 2:67af0ad3ea2e 983
cparata 2:67af0ad3ea2e 984 /**
cparata 2:67af0ad3ea2e 985 * @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 986 * @param thr the threshold to be set
cparata 2:67af0ad3ea2e 987 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 988 */
cparata 2:67af0ad3ea2e 989 int LSM6DSLSensor::Set_Free_Fall_Threshold(uint8_t thr)
cparata 2:67af0ad3ea2e 990 {
cparata 2:67af0ad3ea2e 991
cparata 2:67af0ad3ea2e 992 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 993 {
cparata 2:67af0ad3ea2e 994 return 1;
cparata 2:67af0ad3ea2e 995 }
cparata 2:67af0ad3ea2e 996
cparata 2:67af0ad3ea2e 997 return 0;
cparata 2:67af0ad3ea2e 998 }
cparata 2:67af0ad3ea2e 999
cparata 2:67af0ad3ea2e 1000 /**
cparata 2:67af0ad3ea2e 1001 * @brief Enable the pedometer feature for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1002 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:67af0ad3ea2e 1003 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1004 */
cparata 2:67af0ad3ea2e 1005 int LSM6DSLSensor::Enable_Pedometer(void)
cparata 2:67af0ad3ea2e 1006 {
cparata 2:67af0ad3ea2e 1007 /* Output Data Rate selection */
cparata 2:67af0ad3ea2e 1008 if( Set_X_ODR(26.0f) == 1 )
cparata 2:67af0ad3ea2e 1009 {
cparata 2:67af0ad3ea2e 1010 return 1;
cparata 2:67af0ad3ea2e 1011 }
cparata 2:67af0ad3ea2e 1012
cparata 2:67af0ad3ea2e 1013 /* Full scale selection. */
cparata 2:67af0ad3ea2e 1014 if( Set_X_FS(2.0f) == 1 )
cparata 2:67af0ad3ea2e 1015 {
cparata 2:67af0ad3ea2e 1016 return 1;
cparata 2:67af0ad3ea2e 1017 }
cparata 2:67af0ad3ea2e 1018
cparata 2:67af0ad3ea2e 1019 /* Set pedometer threshold. */
cparata 2:67af0ad3ea2e 1020 if ( Set_Pedometer_Threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == 1 )
cparata 2:67af0ad3ea2e 1021 {
cparata 2:67af0ad3ea2e 1022 return 1;
cparata 2:67af0ad3ea2e 1023 }
cparata 2:67af0ad3ea2e 1024
cparata 2:67af0ad3ea2e 1025 /* Enable embedded functionalities. */
cparata 2:67af0ad3ea2e 1026 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1027 {
cparata 2:67af0ad3ea2e 1028 return 1;
cparata 2:67af0ad3ea2e 1029 }
cparata 2:67af0ad3ea2e 1030
cparata 2:67af0ad3ea2e 1031 /* Enable pedometer algorithm. */
cparata 2:67af0ad3ea2e 1032 if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1033 {
cparata 2:67af0ad3ea2e 1034 return 1;
cparata 2:67af0ad3ea2e 1035 }
cparata 2:67af0ad3ea2e 1036
cparata 2:67af0ad3ea2e 1037 /* Enable pedometer on INT1. */
cparata 2:67af0ad3ea2e 1038 if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1039 {
cparata 2:67af0ad3ea2e 1040 return 1;
cparata 2:67af0ad3ea2e 1041 }
cparata 2:67af0ad3ea2e 1042
cparata 2:67af0ad3ea2e 1043 return 0;
cparata 2:67af0ad3ea2e 1044 }
cparata 2:67af0ad3ea2e 1045
cparata 2:67af0ad3ea2e 1046 /**
cparata 2:67af0ad3ea2e 1047 * @brief Disable the pedometer feature for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1048 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1049 */
cparata 2:67af0ad3ea2e 1050 int LSM6DSLSensor::Disable_Pedometer(void)
cparata 2:67af0ad3ea2e 1051 {
cparata 2:67af0ad3ea2e 1052 /* Disable pedometer on INT1. */
cparata 2:67af0ad3ea2e 1053 if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1054 {
cparata 2:67af0ad3ea2e 1055 return 1;
cparata 2:67af0ad3ea2e 1056 }
cparata 2:67af0ad3ea2e 1057
cparata 2:67af0ad3ea2e 1058 /* Disable pedometer algorithm. */
cparata 2:67af0ad3ea2e 1059 if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1060 {
cparata 2:67af0ad3ea2e 1061 return 1;
cparata 2:67af0ad3ea2e 1062 }
cparata 2:67af0ad3ea2e 1063
cparata 2:67af0ad3ea2e 1064 /* Disable embedded functionalities. */
cparata 2:67af0ad3ea2e 1065 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1066 {
cparata 2:67af0ad3ea2e 1067 return 1;
cparata 2:67af0ad3ea2e 1068 }
cparata 2:67af0ad3ea2e 1069
cparata 2:67af0ad3ea2e 1070 /* Reset pedometer threshold. */
cparata 2:67af0ad3ea2e 1071 if ( Set_Pedometer_Threshold(0x0) == 1 )
cparata 2:67af0ad3ea2e 1072 {
cparata 2:67af0ad3ea2e 1073 return 1;
cparata 2:67af0ad3ea2e 1074 }
cparata 2:67af0ad3ea2e 1075
cparata 2:67af0ad3ea2e 1076 return 0;
cparata 2:67af0ad3ea2e 1077 }
cparata 2:67af0ad3ea2e 1078
cparata 2:67af0ad3ea2e 1079 /**
cparata 2:67af0ad3ea2e 1080 * @brief Get the pedometer status for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1081 * @param status the pointer to the pedometer status: 0 means no step detected, 1 means step detected
cparata 2:67af0ad3ea2e 1082 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1083 */
cparata 2:67af0ad3ea2e 1084 int LSM6DSLSensor::Get_Status_Pedometer(uint8_t *status)
cparata 2:67af0ad3ea2e 1085 {
cparata 2:67af0ad3ea2e 1086 LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_t pedometer_status;
cparata 2:67af0ad3ea2e 1087
cparata 2:67af0ad3ea2e 1088 if ( LSM6DSL_ACC_GYRO_R_PEDO_EV_STATUS( (void *)this, &pedometer_status ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1089 {
cparata 2:67af0ad3ea2e 1090 return 1;
cparata 2:67af0ad3ea2e 1091 }
cparata 2:67af0ad3ea2e 1092
cparata 2:67af0ad3ea2e 1093 switch( pedometer_status )
cparata 2:67af0ad3ea2e 1094 {
cparata 2:67af0ad3ea2e 1095 case LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_DETECTED:
cparata 2:67af0ad3ea2e 1096 *status = 1;
cparata 2:67af0ad3ea2e 1097 break;
cparata 2:67af0ad3ea2e 1098 case LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_NOT_DETECTED:
cparata 2:67af0ad3ea2e 1099 *status = 0;
cparata 2:67af0ad3ea2e 1100 break;
cparata 2:67af0ad3ea2e 1101 default:
cparata 2:67af0ad3ea2e 1102 return 1;
cparata 2:67af0ad3ea2e 1103 }
cparata 2:67af0ad3ea2e 1104
cparata 2:67af0ad3ea2e 1105 return 0;
cparata 2:67af0ad3ea2e 1106 }
cparata 2:67af0ad3ea2e 1107
cparata 2:67af0ad3ea2e 1108 /**
cparata 2:67af0ad3ea2e 1109 * @brief Get the step counter for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1110 * @param step_count the pointer to the step counter
cparata 2:67af0ad3ea2e 1111 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1112 */
cparata 2:67af0ad3ea2e 1113 int LSM6DSLSensor::Get_Step_Counter(uint16_t *step_count)
cparata 2:67af0ad3ea2e 1114 {
cparata 2:67af0ad3ea2e 1115 if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void *)this, ( uint8_t* )step_count ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1116 {
cparata 2:67af0ad3ea2e 1117 return 1;
cparata 2:67af0ad3ea2e 1118 }
cparata 2:67af0ad3ea2e 1119
cparata 2:67af0ad3ea2e 1120 return 0;
cparata 2:67af0ad3ea2e 1121 }
cparata 2:67af0ad3ea2e 1122
cparata 2:67af0ad3ea2e 1123 /**
cparata 2:67af0ad3ea2e 1124 * @brief Reset of the step counter for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1125 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1126 */
cparata 2:67af0ad3ea2e 1127 int LSM6DSLSensor::Reset_Step_Counter(void)
cparata 2:67af0ad3ea2e 1128 {
cparata 2:67af0ad3ea2e 1129 if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1130 {
cparata 2:67af0ad3ea2e 1131 return 1;
cparata 2:67af0ad3ea2e 1132 }
cparata 2:67af0ad3ea2e 1133
cparata 2:67af0ad3ea2e 1134 wait_ms(10);
cparata 2:67af0ad3ea2e 1135
cparata 2:67af0ad3ea2e 1136 if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1137 {
cparata 2:67af0ad3ea2e 1138 return 1;
cparata 2:67af0ad3ea2e 1139 }
cparata 2:67af0ad3ea2e 1140
cparata 2:67af0ad3ea2e 1141 return 0;
cparata 2:67af0ad3ea2e 1142 }
cparata 2:67af0ad3ea2e 1143
cparata 2:67af0ad3ea2e 1144 /**
cparata 2:67af0ad3ea2e 1145 * @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1146 * @param thr the threshold to be set
cparata 2:67af0ad3ea2e 1147 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1148 */
cparata 2:67af0ad3ea2e 1149 int LSM6DSLSensor::Set_Pedometer_Threshold(uint8_t thr)
cparata 2:67af0ad3ea2e 1150 {
cparata 2:67af0ad3ea2e 1151 if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1152 {
cparata 2:67af0ad3ea2e 1153 return 1;
cparata 2:67af0ad3ea2e 1154 }
cparata 2:67af0ad3ea2e 1155
cparata 2:67af0ad3ea2e 1156 return 0;
cparata 2:67af0ad3ea2e 1157 }
cparata 2:67af0ad3ea2e 1158
cparata 2:67af0ad3ea2e 1159 /**
cparata 2:67af0ad3ea2e 1160 * @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1161 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:67af0ad3ea2e 1162 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1163 */
cparata 2:67af0ad3ea2e 1164 int LSM6DSLSensor::Enable_Tilt_Detection(void)
cparata 2:67af0ad3ea2e 1165 {
cparata 2:67af0ad3ea2e 1166 /* Output Data Rate selection */
cparata 2:67af0ad3ea2e 1167 if( Set_X_ODR(26.0f) == 1 )
cparata 2:67af0ad3ea2e 1168 {
cparata 2:67af0ad3ea2e 1169 return 1;
cparata 2:67af0ad3ea2e 1170 }
cparata 2:67af0ad3ea2e 1171
cparata 2:67af0ad3ea2e 1172 /* Full scale selection. */
cparata 2:67af0ad3ea2e 1173 if( Set_X_FS(2.0f) == 1 )
cparata 2:67af0ad3ea2e 1174 {
cparata 2:67af0ad3ea2e 1175 return 1;
cparata 2:67af0ad3ea2e 1176 }
cparata 2:67af0ad3ea2e 1177
cparata 2:67af0ad3ea2e 1178 /* Enable embedded functionalities */
cparata 2:67af0ad3ea2e 1179 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1180 {
cparata 2:67af0ad3ea2e 1181 return 1;
cparata 2:67af0ad3ea2e 1182 }
cparata 2:67af0ad3ea2e 1183
cparata 2:67af0ad3ea2e 1184 /* Enable tilt calculation. */
cparata 2:67af0ad3ea2e 1185 if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1186 {
cparata 2:67af0ad3ea2e 1187 return 1;
cparata 2:67af0ad3ea2e 1188 }
cparata 2:67af0ad3ea2e 1189
cparata 2:67af0ad3ea2e 1190 /* Enable tilt event on INT1. */
cparata 2:67af0ad3ea2e 1191 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1192 {
cparata 2:67af0ad3ea2e 1193 return 1;
cparata 2:67af0ad3ea2e 1194 }
cparata 2:67af0ad3ea2e 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 2:67af0ad3ea2e 1211 /* Disable tilt calculation. */
cparata 2:67af0ad3ea2e 1212 if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1213 {
cparata 2:67af0ad3ea2e 1214 return 1;
cparata 2:67af0ad3ea2e 1215 }
cparata 2:67af0ad3ea2e 1216
cparata 2:67af0ad3ea2e 1217 /* Disable embedded functionalities */
cparata 2:67af0ad3ea2e 1218 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_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 return 0;
cparata 2:67af0ad3ea2e 1224 }
cparata 2:67af0ad3ea2e 1225
cparata 2:67af0ad3ea2e 1226 /**
cparata 2:67af0ad3ea2e 1227 * @brief Get the tilt detection status for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1228 * @param status the pointer to the tilt detection status: 0 means no tilt detected, 1 means tilt detected
cparata 2:67af0ad3ea2e 1229 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1230 */
cparata 2:67af0ad3ea2e 1231 int LSM6DSLSensor::Get_Status_Tilt_Detection(uint8_t *status)
cparata 2:67af0ad3ea2e 1232 {
cparata 2:67af0ad3ea2e 1233 LSM6DSL_ACC_GYRO_TILT_EV_STATUS_t tilt_status;
cparata 2:67af0ad3ea2e 1234
cparata 2:67af0ad3ea2e 1235 if ( LSM6DSL_ACC_GYRO_R_TILT_EV_STATUS( (void *)this, &tilt_status ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1236 {
cparata 2:67af0ad3ea2e 1237 return 1;
cparata 2:67af0ad3ea2e 1238 }
cparata 2:67af0ad3ea2e 1239
cparata 2:67af0ad3ea2e 1240 switch( tilt_status )
cparata 2:67af0ad3ea2e 1241 {
cparata 2:67af0ad3ea2e 1242 case LSM6DSL_ACC_GYRO_TILT_EV_STATUS_DETECTED:
cparata 2:67af0ad3ea2e 1243 *status = 1;
cparata 2:67af0ad3ea2e 1244 break;
cparata 2:67af0ad3ea2e 1245 case LSM6DSL_ACC_GYRO_TILT_EV_STATUS_NOT_DETECTED:
cparata 2:67af0ad3ea2e 1246 *status = 0;
cparata 2:67af0ad3ea2e 1247 break;
cparata 2:67af0ad3ea2e 1248 default:
cparata 2:67af0ad3ea2e 1249 return 1;
cparata 2:67af0ad3ea2e 1250 }
cparata 2:67af0ad3ea2e 1251
cparata 2:67af0ad3ea2e 1252 return 0;
cparata 2:67af0ad3ea2e 1253 }
cparata 2:67af0ad3ea2e 1254
cparata 2:67af0ad3ea2e 1255 /**
cparata 2:67af0ad3ea2e 1256 * @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1257 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:67af0ad3ea2e 1258 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1259 */
cparata 2:67af0ad3ea2e 1260 int LSM6DSLSensor::Enable_Wake_Up_Detection(void)
cparata 2:67af0ad3ea2e 1261 {
cparata 2:67af0ad3ea2e 1262 /* Output Data Rate selection */
cparata 2:67af0ad3ea2e 1263 if( Set_X_ODR(416.0f) == 1 )
cparata 2:67af0ad3ea2e 1264 {
cparata 2:67af0ad3ea2e 1265 return 1;
cparata 2:67af0ad3ea2e 1266 }
cparata 2:67af0ad3ea2e 1267
cparata 2:67af0ad3ea2e 1268 /* Full scale selection. */
cparata 2:67af0ad3ea2e 1269 if( Set_X_FS(2.0f) == 1 )
cparata 2:67af0ad3ea2e 1270 {
cparata 2:67af0ad3ea2e 1271 return 1;
cparata 2:67af0ad3ea2e 1272 }
cparata 2:67af0ad3ea2e 1273
cparata 2:67af0ad3ea2e 1274 /* WAKE_DUR setting */
cparata 2:67af0ad3ea2e 1275 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1276 {
cparata 2:67af0ad3ea2e 1277 return 1;
cparata 2:67af0ad3ea2e 1278 }
cparata 2:67af0ad3ea2e 1279
cparata 2:67af0ad3ea2e 1280 /* Set wake up threshold. */
cparata 2:67af0ad3ea2e 1281 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1282 {
cparata 2:67af0ad3ea2e 1283 return 1;
cparata 2:67af0ad3ea2e 1284 }
cparata 2:67af0ad3ea2e 1285
cparata 2:67af0ad3ea2e 1286 /* Enable basic Interrupts */
cparata 2:67af0ad3ea2e 1287 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1288 {
cparata 2:67af0ad3ea2e 1289 return 1;
cparata 2:67af0ad3ea2e 1290 }
cparata 2:67af0ad3ea2e 1291
cparata 2:67af0ad3ea2e 1292 /* INT1_WU setting */
cparata 2:67af0ad3ea2e 1293 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1294 {
cparata 2:67af0ad3ea2e 1295 return 1;
cparata 2:67af0ad3ea2e 1296 }
cparata 2:67af0ad3ea2e 1297
cparata 2:67af0ad3ea2e 1298 return 0;
cparata 2:67af0ad3ea2e 1299 }
cparata 2:67af0ad3ea2e 1300
cparata 2:67af0ad3ea2e 1301 /**
cparata 2:67af0ad3ea2e 1302 * @brief Disable the wake up detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1303 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1304 */
cparata 2:67af0ad3ea2e 1305 int LSM6DSLSensor::Disable_Wake_Up_Detection(void)
cparata 2:67af0ad3ea2e 1306 {
cparata 2:67af0ad3ea2e 1307 /* INT1_WU setting */
cparata 2:67af0ad3ea2e 1308 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1309 {
cparata 2:67af0ad3ea2e 1310 return 1;
cparata 2:67af0ad3ea2e 1311 }
cparata 2:67af0ad3ea2e 1312
cparata 2:67af0ad3ea2e 1313 /* Disable basic Interrupts */
cparata 2:67af0ad3ea2e 1314 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1315 {
cparata 2:67af0ad3ea2e 1316 return 1;
cparata 2:67af0ad3ea2e 1317 }
cparata 2:67af0ad3ea2e 1318
cparata 2:67af0ad3ea2e 1319 /* WU_DUR setting */
cparata 2:67af0ad3ea2e 1320 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1321 {
cparata 2:67af0ad3ea2e 1322 return 1;
cparata 2:67af0ad3ea2e 1323 }
cparata 2:67af0ad3ea2e 1324
cparata 2:67af0ad3ea2e 1325 /* WU_THS setting */
cparata 2:67af0ad3ea2e 1326 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1327 {
cparata 2:67af0ad3ea2e 1328 return 1;
cparata 2:67af0ad3ea2e 1329 }
cparata 2:67af0ad3ea2e 1330
cparata 2:67af0ad3ea2e 1331 return 0;
cparata 2:67af0ad3ea2e 1332 }
cparata 2:67af0ad3ea2e 1333
cparata 2:67af0ad3ea2e 1334 /**
cparata 2:67af0ad3ea2e 1335 * @brief Get the status of the wake up detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1336 * @param status the pointer to the status of the wake up detection: 0 means no detection, 1 means detection happened
cparata 2:67af0ad3ea2e 1337 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1338 */
cparata 2:67af0ad3ea2e 1339 int LSM6DSLSensor::Get_Status_Wake_Up_Detection(uint8_t *status)
cparata 2:67af0ad3ea2e 1340 {
cparata 2:67af0ad3ea2e 1341 LSM6DSL_ACC_GYRO_WU_EV_STATUS_t wake_up_status;
cparata 2:67af0ad3ea2e 1342
cparata 2:67af0ad3ea2e 1343 if ( LSM6DSL_ACC_GYRO_R_WU_EV_STATUS( (void *)this, &wake_up_status ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1344 {
cparata 2:67af0ad3ea2e 1345 return 1;
cparata 2:67af0ad3ea2e 1346 }
cparata 2:67af0ad3ea2e 1347
cparata 2:67af0ad3ea2e 1348 switch( wake_up_status )
cparata 2:67af0ad3ea2e 1349 {
cparata 2:67af0ad3ea2e 1350 case LSM6DSL_ACC_GYRO_WU_EV_STATUS_DETECTED:
cparata 2:67af0ad3ea2e 1351 *status = 1;
cparata 2:67af0ad3ea2e 1352 break;
cparata 2:67af0ad3ea2e 1353 case LSM6DSL_ACC_GYRO_WU_EV_STATUS_NOT_DETECTED:
cparata 2:67af0ad3ea2e 1354 *status = 0;
cparata 2:67af0ad3ea2e 1355 break;
cparata 2:67af0ad3ea2e 1356 default:
cparata 2:67af0ad3ea2e 1357 return 1;
cparata 2:67af0ad3ea2e 1358 }
cparata 2:67af0ad3ea2e 1359
cparata 2:67af0ad3ea2e 1360 return 0;
cparata 2:67af0ad3ea2e 1361 }
cparata 2:67af0ad3ea2e 1362
cparata 2:67af0ad3ea2e 1363 /**
cparata 2:67af0ad3ea2e 1364 * @brief Set the wake up threshold for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1365 * @param thr the threshold to be set
cparata 2:67af0ad3ea2e 1366 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1367 */
cparata 2:67af0ad3ea2e 1368 int LSM6DSLSensor::Set_Wake_Up_Threshold(uint8_t thr)
cparata 2:67af0ad3ea2e 1369 {
cparata 2:67af0ad3ea2e 1370 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1371 {
cparata 2:67af0ad3ea2e 1372 return 1;
cparata 2:67af0ad3ea2e 1373 }
cparata 2:67af0ad3ea2e 1374
cparata 2:67af0ad3ea2e 1375 return 0;
cparata 2:67af0ad3ea2e 1376 }
cparata 2:67af0ad3ea2e 1377
cparata 2:67af0ad3ea2e 1378 /**
cparata 2:67af0ad3ea2e 1379 * @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1380 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:67af0ad3ea2e 1381 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1382 */
cparata 2:67af0ad3ea2e 1383 int LSM6DSLSensor::Enable_Single_Tap_Detection(void)
cparata 2:67af0ad3ea2e 1384 {
cparata 2:67af0ad3ea2e 1385 /* Output Data Rate selection */
cparata 2:67af0ad3ea2e 1386 if( Set_X_ODR(416.0f) == 1 )
cparata 2:67af0ad3ea2e 1387 {
cparata 2:67af0ad3ea2e 1388 return 1;
cparata 2:67af0ad3ea2e 1389 }
cparata 2:67af0ad3ea2e 1390
cparata 2:67af0ad3ea2e 1391 /* Full scale selection. */
cparata 2:67af0ad3ea2e 1392 if( Set_X_FS(2.0f) == 1 )
cparata 2:67af0ad3ea2e 1393 {
cparata 2:67af0ad3ea2e 1394 return 1;
cparata 2:67af0ad3ea2e 1395 }
cparata 2:67af0ad3ea2e 1396
cparata 2:67af0ad3ea2e 1397 /* Enable X direction in tap recognition. */
cparata 2:67af0ad3ea2e 1398 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1399 {
cparata 2:67af0ad3ea2e 1400 return 1;
cparata 2:67af0ad3ea2e 1401 }
cparata 2:67af0ad3ea2e 1402
cparata 2:67af0ad3ea2e 1403 /* Enable Y direction in tap recognition. */
cparata 2:67af0ad3ea2e 1404 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1405 {
cparata 2:67af0ad3ea2e 1406 return 1;
cparata 2:67af0ad3ea2e 1407 }
cparata 2:67af0ad3ea2e 1408
cparata 2:67af0ad3ea2e 1409 /* Enable Z direction in tap recognition. */
cparata 2:67af0ad3ea2e 1410 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1411 {
cparata 2:67af0ad3ea2e 1412 return 1;
cparata 2:67af0ad3ea2e 1413 }
cparata 2:67af0ad3ea2e 1414
cparata 2:67af0ad3ea2e 1415 /* Set tap threshold. */
cparata 2:67af0ad3ea2e 1416 if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata 2:67af0ad3ea2e 1417 {
cparata 2:67af0ad3ea2e 1418 return 1;
cparata 2:67af0ad3ea2e 1419 }
cparata 2:67af0ad3ea2e 1420
cparata 2:67af0ad3ea2e 1421 /* Set tap shock time window. */
cparata 2:67af0ad3ea2e 1422 if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == 1 )
cparata 2:67af0ad3ea2e 1423 {
cparata 2:67af0ad3ea2e 1424 return 1;
cparata 2:67af0ad3ea2e 1425 }
cparata 2:67af0ad3ea2e 1426
cparata 2:67af0ad3ea2e 1427 /* Set tap quiet time window. */
cparata 2:67af0ad3ea2e 1428 if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == 1 )
cparata 2:67af0ad3ea2e 1429 {
cparata 2:67af0ad3ea2e 1430 return 1;
cparata 2:67af0ad3ea2e 1431 }
cparata 2:67af0ad3ea2e 1432
cparata 2:67af0ad3ea2e 1433 /* _NOTE_: Tap duration time window - don't care for single tap. */
cparata 2:67af0ad3ea2e 1434
cparata 2:67af0ad3ea2e 1435 /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata 2:67af0ad3ea2e 1436
cparata 2:67af0ad3ea2e 1437 /* Enable basic Interrupts */
cparata 2:67af0ad3ea2e 1438 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1439 {
cparata 2:67af0ad3ea2e 1440 return 1;
cparata 2:67af0ad3ea2e 1441 }
cparata 2:67af0ad3ea2e 1442
cparata 2:67af0ad3ea2e 1443 /* Enable single tap interrupt on INT1 pin. */
cparata 2:67af0ad3ea2e 1444 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1445 {
cparata 2:67af0ad3ea2e 1446 return 1;
cparata 2:67af0ad3ea2e 1447 }
cparata 2:67af0ad3ea2e 1448
cparata 2:67af0ad3ea2e 1449 return 0;
cparata 2:67af0ad3ea2e 1450 }
cparata 2:67af0ad3ea2e 1451
cparata 2:67af0ad3ea2e 1452 /**
cparata 2:67af0ad3ea2e 1453 * @brief Disable the single tap detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1454 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1455 */
cparata 2:67af0ad3ea2e 1456 int LSM6DSLSensor::Disable_Single_Tap_Detection(void)
cparata 2:67af0ad3ea2e 1457 {
cparata 2:67af0ad3ea2e 1458 /* Disable single tap interrupt on INT1 pin. */
cparata 2:67af0ad3ea2e 1459 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1460 {
cparata 2:67af0ad3ea2e 1461 return 1;
cparata 2:67af0ad3ea2e 1462 }
cparata 2:67af0ad3ea2e 1463
cparata 2:67af0ad3ea2e 1464 /* Disable basic Interrupts */
cparata 2:67af0ad3ea2e 1465 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1466 {
cparata 2:67af0ad3ea2e 1467 return 1;
cparata 2:67af0ad3ea2e 1468 }
cparata 2:67af0ad3ea2e 1469
cparata 2:67af0ad3ea2e 1470 /* Reset tap threshold. */
cparata 2:67af0ad3ea2e 1471 if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata 2:67af0ad3ea2e 1472 {
cparata 2:67af0ad3ea2e 1473 return 1;
cparata 2:67af0ad3ea2e 1474 }
cparata 2:67af0ad3ea2e 1475
cparata 2:67af0ad3ea2e 1476 /* Reset tap shock time window. */
cparata 2:67af0ad3ea2e 1477 if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata 2:67af0ad3ea2e 1478 {
cparata 2:67af0ad3ea2e 1479 return 1;
cparata 2:67af0ad3ea2e 1480 }
cparata 2:67af0ad3ea2e 1481
cparata 2:67af0ad3ea2e 1482 /* Reset tap quiet time window. */
cparata 2:67af0ad3ea2e 1483 if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata 2:67af0ad3ea2e 1484 {
cparata 2:67af0ad3ea2e 1485 return 1;
cparata 2:67af0ad3ea2e 1486 }
cparata 2:67af0ad3ea2e 1487
cparata 2:67af0ad3ea2e 1488 /* _NOTE_: Tap duration time window - don't care for single tap. */
cparata 2:67af0ad3ea2e 1489
cparata 2:67af0ad3ea2e 1490 /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata 2:67af0ad3ea2e 1491
cparata 2:67af0ad3ea2e 1492 /* Disable Z direction in tap recognition. */
cparata 2:67af0ad3ea2e 1493 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1494 {
cparata 2:67af0ad3ea2e 1495 return 1;
cparata 2:67af0ad3ea2e 1496 }
cparata 2:67af0ad3ea2e 1497
cparata 2:67af0ad3ea2e 1498 /* Disable Y direction in tap recognition. */
cparata 2:67af0ad3ea2e 1499 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1500 {
cparata 2:67af0ad3ea2e 1501 return 1;
cparata 2:67af0ad3ea2e 1502 }
cparata 2:67af0ad3ea2e 1503
cparata 2:67af0ad3ea2e 1504 /* Disable X direction in tap recognition. */
cparata 2:67af0ad3ea2e 1505 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_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 return 0;
cparata 2:67af0ad3ea2e 1511 }
cparata 2:67af0ad3ea2e 1512
cparata 2:67af0ad3ea2e 1513 /**
cparata 2:67af0ad3ea2e 1514 * @brief Get the single tap detection status for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1515 * @param status the pointer to the single tap detection status: 0 means no single tap detected, 1 means single tap detected
cparata 2:67af0ad3ea2e 1516 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1517 */
cparata 2:67af0ad3ea2e 1518 int LSM6DSLSensor::Get_Status_Single_Tap_Detection(uint8_t *status)
cparata 2:67af0ad3ea2e 1519 {
cparata 2:67af0ad3ea2e 1520 LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_t tap_status;
cparata 2:67af0ad3ea2e 1521
cparata 2:67af0ad3ea2e 1522 if ( LSM6DSL_ACC_GYRO_R_SINGLE_TAP_EV_STATUS( (void *)this, &tap_status ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1523 {
cparata 2:67af0ad3ea2e 1524 return 1;
cparata 2:67af0ad3ea2e 1525 }
cparata 2:67af0ad3ea2e 1526
cparata 2:67af0ad3ea2e 1527 switch( tap_status )
cparata 2:67af0ad3ea2e 1528 {
cparata 2:67af0ad3ea2e 1529 case LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_DETECTED:
cparata 2:67af0ad3ea2e 1530 *status = 1;
cparata 2:67af0ad3ea2e 1531 break;
cparata 2:67af0ad3ea2e 1532
cparata 2:67af0ad3ea2e 1533 case LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_NOT_DETECTED:
cparata 2:67af0ad3ea2e 1534 *status = 0;
cparata 2:67af0ad3ea2e 1535 break;
cparata 2:67af0ad3ea2e 1536
cparata 2:67af0ad3ea2e 1537 default:
cparata 2:67af0ad3ea2e 1538 return 1;
cparata 2:67af0ad3ea2e 1539 }
cparata 2:67af0ad3ea2e 1540
cparata 2:67af0ad3ea2e 1541 return 0;
cparata 2:67af0ad3ea2e 1542 }
cparata 2:67af0ad3ea2e 1543
cparata 2:67af0ad3ea2e 1544 /**
cparata 2:67af0ad3ea2e 1545 * @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1546 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:67af0ad3ea2e 1547 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1548 */
cparata 2:67af0ad3ea2e 1549 int LSM6DSLSensor::Enable_Double_Tap_Detection(void)
cparata 2:67af0ad3ea2e 1550 {
cparata 2:67af0ad3ea2e 1551 /* Output Data Rate selection */
cparata 2:67af0ad3ea2e 1552 if( Set_X_ODR(416.0f) == 1 )
cparata 2:67af0ad3ea2e 1553 {
cparata 2:67af0ad3ea2e 1554 return 1;
cparata 2:67af0ad3ea2e 1555 }
cparata 2:67af0ad3ea2e 1556
cparata 2:67af0ad3ea2e 1557 /* Full scale selection. */
cparata 2:67af0ad3ea2e 1558 if( Set_X_FS(2.0f) == 1 )
cparata 2:67af0ad3ea2e 1559 {
cparata 2:67af0ad3ea2e 1560 return 1;
cparata 2:67af0ad3ea2e 1561 }
cparata 2:67af0ad3ea2e 1562
cparata 2:67af0ad3ea2e 1563 /* Enable X direction in tap recognition. */
cparata 2:67af0ad3ea2e 1564 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1565 {
cparata 2:67af0ad3ea2e 1566 return 1;
cparata 2:67af0ad3ea2e 1567 }
cparata 2:67af0ad3ea2e 1568
cparata 2:67af0ad3ea2e 1569 /* Enable Y direction in tap recognition. */
cparata 2:67af0ad3ea2e 1570 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1571 {
cparata 2:67af0ad3ea2e 1572 return 1;
cparata 2:67af0ad3ea2e 1573 }
cparata 2:67af0ad3ea2e 1574
cparata 2:67af0ad3ea2e 1575 /* Enable Z direction in tap recognition. */
cparata 2:67af0ad3ea2e 1576 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1577 {
cparata 2:67af0ad3ea2e 1578 return 1;
cparata 2:67af0ad3ea2e 1579 }
cparata 2:67af0ad3ea2e 1580
cparata 2:67af0ad3ea2e 1581 /* Set tap threshold. */
cparata 2:67af0ad3ea2e 1582 if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata 2:67af0ad3ea2e 1583 {
cparata 2:67af0ad3ea2e 1584 return 1;
cparata 2:67af0ad3ea2e 1585 }
cparata 2:67af0ad3ea2e 1586
cparata 2:67af0ad3ea2e 1587 /* Set tap shock time window. */
cparata 2:67af0ad3ea2e 1588 if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == 1 )
cparata 2:67af0ad3ea2e 1589 {
cparata 2:67af0ad3ea2e 1590 return 1;
cparata 2:67af0ad3ea2e 1591 }
cparata 2:67af0ad3ea2e 1592
cparata 2:67af0ad3ea2e 1593 /* Set tap quiet time window. */
cparata 2:67af0ad3ea2e 1594 if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == 1 )
cparata 2:67af0ad3ea2e 1595 {
cparata 2:67af0ad3ea2e 1596 return 1;
cparata 2:67af0ad3ea2e 1597 }
cparata 2:67af0ad3ea2e 1598
cparata 2:67af0ad3ea2e 1599 /* Set tap duration time window. */
cparata 2:67af0ad3ea2e 1600 if ( Set_Tap_Duration_Time( LSM6DSL_TAP_DURATION_TIME_MID ) == 1 )
cparata 2:67af0ad3ea2e 1601 {
cparata 2:67af0ad3ea2e 1602 return 1;
cparata 2:67af0ad3ea2e 1603 }
cparata 2:67af0ad3ea2e 1604
cparata 2:67af0ad3ea2e 1605 /* Single and double tap enabled. */
cparata 2:67af0ad3ea2e 1606 if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1607 {
cparata 2:67af0ad3ea2e 1608 return 1;
cparata 2:67af0ad3ea2e 1609 }
cparata 2:67af0ad3ea2e 1610
cparata 2:67af0ad3ea2e 1611 /* Enable basic Interrupts */
cparata 2:67af0ad3ea2e 1612 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1613 {
cparata 2:67af0ad3ea2e 1614 return 1;
cparata 2:67af0ad3ea2e 1615 }
cparata 2:67af0ad3ea2e 1616
cparata 2:67af0ad3ea2e 1617 /* Enable double tap interrupt on INT1 pin. */
cparata 2:67af0ad3ea2e 1618 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1619 {
cparata 2:67af0ad3ea2e 1620 return 1;
cparata 2:67af0ad3ea2e 1621 }
cparata 2:67af0ad3ea2e 1622
cparata 2:67af0ad3ea2e 1623 return 0;
cparata 2:67af0ad3ea2e 1624 }
cparata 2:67af0ad3ea2e 1625
cparata 2:67af0ad3ea2e 1626 /**
cparata 2:67af0ad3ea2e 1627 * @brief Disable the double tap detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1628 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1629 */
cparata 2:67af0ad3ea2e 1630 int LSM6DSLSensor::Disable_Double_Tap_Detection(void)
cparata 2:67af0ad3ea2e 1631 {
cparata 2:67af0ad3ea2e 1632 /* Disable double tap interrupt on INT1 pin. */
cparata 2:67af0ad3ea2e 1633 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1634 {
cparata 2:67af0ad3ea2e 1635 return 1;
cparata 2:67af0ad3ea2e 1636 }
cparata 2:67af0ad3ea2e 1637
cparata 2:67af0ad3ea2e 1638 /* Disable basic Interrupts */
cparata 2:67af0ad3ea2e 1639 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1640 {
cparata 2:67af0ad3ea2e 1641 return 1;
cparata 2:67af0ad3ea2e 1642 }
cparata 2:67af0ad3ea2e 1643
cparata 2:67af0ad3ea2e 1644 /* Reset tap threshold. */
cparata 2:67af0ad3ea2e 1645 if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata 2:67af0ad3ea2e 1646 {
cparata 2:67af0ad3ea2e 1647 return 1;
cparata 2:67af0ad3ea2e 1648 }
cparata 2:67af0ad3ea2e 1649
cparata 2:67af0ad3ea2e 1650 /* Reset tap shock time window. */
cparata 2:67af0ad3ea2e 1651 if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata 2:67af0ad3ea2e 1652 {
cparata 2:67af0ad3ea2e 1653 return 1;
cparata 2:67af0ad3ea2e 1654 }
cparata 2:67af0ad3ea2e 1655
cparata 2:67af0ad3ea2e 1656 /* Reset tap quiet time window. */
cparata 2:67af0ad3ea2e 1657 if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata 2:67af0ad3ea2e 1658 {
cparata 2:67af0ad3ea2e 1659 return 1;
cparata 2:67af0ad3ea2e 1660 }
cparata 2:67af0ad3ea2e 1661
cparata 2:67af0ad3ea2e 1662 /* Reset tap duration time window. */
cparata 2:67af0ad3ea2e 1663 if ( Set_Tap_Duration_Time( 0x0 ) == 1 )
cparata 2:67af0ad3ea2e 1664 {
cparata 2:67af0ad3ea2e 1665 return 1;
cparata 2:67af0ad3ea2e 1666 }
cparata 2:67af0ad3ea2e 1667
cparata 2:67af0ad3ea2e 1668 /* Only single tap enabled. */
cparata 2:67af0ad3ea2e 1669 if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1670 {
cparata 2:67af0ad3ea2e 1671 return 1;
cparata 2:67af0ad3ea2e 1672 }
cparata 2:67af0ad3ea2e 1673
cparata 2:67af0ad3ea2e 1674 /* Disable Z direction in tap recognition. */
cparata 2:67af0ad3ea2e 1675 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1676 {
cparata 2:67af0ad3ea2e 1677 return 1;
cparata 2:67af0ad3ea2e 1678 }
cparata 2:67af0ad3ea2e 1679
cparata 2:67af0ad3ea2e 1680 /* Disable Y direction in tap recognition. */
cparata 2:67af0ad3ea2e 1681 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1682 {
cparata 2:67af0ad3ea2e 1683 return 1;
cparata 2:67af0ad3ea2e 1684 }
cparata 2:67af0ad3ea2e 1685
cparata 2:67af0ad3ea2e 1686 /* Disable X direction in tap recognition. */
cparata 2:67af0ad3ea2e 1687 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1688 {
cparata 2:67af0ad3ea2e 1689 return 1;
cparata 2:67af0ad3ea2e 1690 }
cparata 2:67af0ad3ea2e 1691
cparata 2:67af0ad3ea2e 1692 return 0;
cparata 2:67af0ad3ea2e 1693 }
cparata 2:67af0ad3ea2e 1694
cparata 2:67af0ad3ea2e 1695 /**
cparata 2:67af0ad3ea2e 1696 * @brief Get the double tap detection status for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1697 * @param status the pointer to the double tap detection status: 0 means no double tap detected, 1 means double tap detected
cparata 2:67af0ad3ea2e 1698 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1699 */
cparata 2:67af0ad3ea2e 1700 int LSM6DSLSensor::Get_Status_Double_Tap_Detection(uint8_t *status)
cparata 2:67af0ad3ea2e 1701 {
cparata 2:67af0ad3ea2e 1702 LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_t tap_status;
cparata 2:67af0ad3ea2e 1703
cparata 2:67af0ad3ea2e 1704 if ( LSM6DSL_ACC_GYRO_R_DOUBLE_TAP_EV_STATUS( (void *)this, &tap_status ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1705 {
cparata 2:67af0ad3ea2e 1706 return 1;
cparata 2:67af0ad3ea2e 1707 }
cparata 2:67af0ad3ea2e 1708
cparata 2:67af0ad3ea2e 1709 switch( tap_status )
cparata 2:67af0ad3ea2e 1710 {
cparata 2:67af0ad3ea2e 1711 case LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_DETECTED:
cparata 2:67af0ad3ea2e 1712 *status = 1;
cparata 2:67af0ad3ea2e 1713 break;
cparata 2:67af0ad3ea2e 1714
cparata 2:67af0ad3ea2e 1715 case LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_NOT_DETECTED:
cparata 2:67af0ad3ea2e 1716 *status = 0;
cparata 2:67af0ad3ea2e 1717 break;
cparata 2:67af0ad3ea2e 1718
cparata 2:67af0ad3ea2e 1719 default:
cparata 2:67af0ad3ea2e 1720 return 1;
cparata 2:67af0ad3ea2e 1721 }
cparata 2:67af0ad3ea2e 1722
cparata 2:67af0ad3ea2e 1723 return 0;
cparata 2:67af0ad3ea2e 1724 }
cparata 2:67af0ad3ea2e 1725
cparata 2:67af0ad3ea2e 1726 /**
cparata 2:67af0ad3ea2e 1727 * @brief Set the tap threshold for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1728 * @param thr the threshold to be set
cparata 2:67af0ad3ea2e 1729 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1730 */
cparata 2:67af0ad3ea2e 1731 int LSM6DSLSensor::Set_Tap_Threshold(uint8_t thr)
cparata 2:67af0ad3ea2e 1732 {
cparata 2:67af0ad3ea2e 1733 if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1734 {
cparata 2:67af0ad3ea2e 1735 return 1;
cparata 2:67af0ad3ea2e 1736 }
cparata 2:67af0ad3ea2e 1737
cparata 2:67af0ad3ea2e 1738 return 0;
cparata 2:67af0ad3ea2e 1739 }
cparata 2:67af0ad3ea2e 1740
cparata 2:67af0ad3ea2e 1741 /**
cparata 2:67af0ad3ea2e 1742 * @brief Set the tap shock time window for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1743 * @param time the shock time window to be set
cparata 2:67af0ad3ea2e 1744 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1745 */
cparata 2:67af0ad3ea2e 1746 int LSM6DSLSensor::Set_Tap_Shock_Time(uint8_t time)
cparata 2:67af0ad3ea2e 1747 {
cparata 2:67af0ad3ea2e 1748 if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1749 {
cparata 2:67af0ad3ea2e 1750 return 1;
cparata 2:67af0ad3ea2e 1751 }
cparata 2:67af0ad3ea2e 1752
cparata 2:67af0ad3ea2e 1753 return 0;
cparata 2:67af0ad3ea2e 1754 }
cparata 2:67af0ad3ea2e 1755
cparata 2:67af0ad3ea2e 1756 /**
cparata 2:67af0ad3ea2e 1757 * @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1758 * @param time the quiet time window to be set
cparata 2:67af0ad3ea2e 1759 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1760 */
cparata 2:67af0ad3ea2e 1761 int LSM6DSLSensor::Set_Tap_Quiet_Time(uint8_t time)
cparata 2:67af0ad3ea2e 1762 {
cparata 2:67af0ad3ea2e 1763 if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1764 {
cparata 2:67af0ad3ea2e 1765 return 1;
cparata 2:67af0ad3ea2e 1766 }
cparata 2:67af0ad3ea2e 1767
cparata 2:67af0ad3ea2e 1768 return 0;
cparata 2:67af0ad3ea2e 1769 }
cparata 2:67af0ad3ea2e 1770
cparata 2:67af0ad3ea2e 1771 /**
cparata 2:67af0ad3ea2e 1772 * @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1773 * @param time the duration of the time window to be set
cparata 2:67af0ad3ea2e 1774 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1775 */
cparata 2:67af0ad3ea2e 1776 int LSM6DSLSensor::Set_Tap_Duration_Time(uint8_t time)
cparata 2:67af0ad3ea2e 1777 {
cparata 2:67af0ad3ea2e 1778 if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1779 {
cparata 2:67af0ad3ea2e 1780 return 1;
cparata 2:67af0ad3ea2e 1781 }
cparata 2:67af0ad3ea2e 1782
cparata 2:67af0ad3ea2e 1783 return 0;
cparata 2:67af0ad3ea2e 1784 }
cparata 2:67af0ad3ea2e 1785
cparata 2:67af0ad3ea2e 1786 /**
cparata 2:67af0ad3ea2e 1787 * @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1788 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:67af0ad3ea2e 1789 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1790 */
cparata 2:67af0ad3ea2e 1791 int LSM6DSLSensor::Enable_6D_Orientation(void)
cparata 2:67af0ad3ea2e 1792 {
cparata 2:67af0ad3ea2e 1793 /* Output Data Rate selection */
cparata 2:67af0ad3ea2e 1794 if( Set_X_ODR(416.0f) == 1 )
cparata 2:67af0ad3ea2e 1795 {
cparata 2:67af0ad3ea2e 1796 return 1;
cparata 2:67af0ad3ea2e 1797 }
cparata 2:67af0ad3ea2e 1798
cparata 2:67af0ad3ea2e 1799 /* Full scale selection. */
cparata 2:67af0ad3ea2e 1800 if( Set_X_FS(2.0f) == 1 )
cparata 2:67af0ad3ea2e 1801 {
cparata 2:67af0ad3ea2e 1802 return 1;
cparata 2:67af0ad3ea2e 1803 }
cparata 2:67af0ad3ea2e 1804
cparata 2:67af0ad3ea2e 1805 /* Set 6D threshold. */
cparata 2:67af0ad3ea2e 1806 if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1807 {
cparata 2:67af0ad3ea2e 1808 return 1;
cparata 2:67af0ad3ea2e 1809 }
cparata 2:67af0ad3ea2e 1810
cparata 2:67af0ad3ea2e 1811 /* Enable basic Interrupts */
cparata 2:67af0ad3ea2e 1812 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1813 {
cparata 2:67af0ad3ea2e 1814 return 1;
cparata 2:67af0ad3ea2e 1815 }
cparata 2:67af0ad3ea2e 1816
cparata 2:67af0ad3ea2e 1817 /* INT1_6D setting. */
cparata 2:67af0ad3ea2e 1818 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1819 {
cparata 2:67af0ad3ea2e 1820 return 1;
cparata 2:67af0ad3ea2e 1821 }
cparata 2:67af0ad3ea2e 1822
cparata 2:67af0ad3ea2e 1823 return 0;
cparata 2:67af0ad3ea2e 1824 }
cparata 2:67af0ad3ea2e 1825
cparata 2:67af0ad3ea2e 1826 /**
cparata 2:67af0ad3ea2e 1827 * @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1828 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1829 */
cparata 2:67af0ad3ea2e 1830 int LSM6DSLSensor::Disable_6D_Orientation(void)
cparata 2:67af0ad3ea2e 1831 {
cparata 2:67af0ad3ea2e 1832 /* INT1_6D setting. */
cparata 2:67af0ad3ea2e 1833 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1834 {
cparata 2:67af0ad3ea2e 1835 return 1;
cparata 2:67af0ad3ea2e 1836 }
cparata 2:67af0ad3ea2e 1837
cparata 2:67af0ad3ea2e 1838 /* Disable basic Interrupts */
cparata 2:67af0ad3ea2e 1839 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1840 {
cparata 2:67af0ad3ea2e 1841 return 1;
cparata 2:67af0ad3ea2e 1842 }
cparata 2:67af0ad3ea2e 1843
cparata 2:67af0ad3ea2e 1844 /* Reset 6D threshold. */
cparata 2:67af0ad3ea2e 1845 if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1846 {
cparata 2:67af0ad3ea2e 1847 return 1;
cparata 2:67af0ad3ea2e 1848 }
cparata 2:67af0ad3ea2e 1849
cparata 2:67af0ad3ea2e 1850 return 0;
cparata 2:67af0ad3ea2e 1851 }
cparata 2:67af0ad3ea2e 1852
cparata 2:67af0ad3ea2e 1853 /**
cparata 2:67af0ad3ea2e 1854 * @brief Get the status of the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1855 * @param status the pointer to the status of the 6D orientation detection: 0 means no detection, 1 means detection happened
cparata 2:67af0ad3ea2e 1856 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1857 */
cparata 2:67af0ad3ea2e 1858 int LSM6DSLSensor::Get_Status_6D_Orientation(uint8_t *status)
cparata 2:67af0ad3ea2e 1859 {
cparata 2:67af0ad3ea2e 1860 LSM6DSL_ACC_GYRO_D6D_EV_STATUS_t status_raw;
cparata 2:67af0ad3ea2e 1861
cparata 2:67af0ad3ea2e 1862 if ( LSM6DSL_ACC_GYRO_R_D6D_EV_STATUS( (void *)this, &status_raw ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1863 {
cparata 2:67af0ad3ea2e 1864 return 1;
cparata 2:67af0ad3ea2e 1865 }
cparata 2:67af0ad3ea2e 1866
cparata 2:67af0ad3ea2e 1867 switch( status_raw )
cparata 2:67af0ad3ea2e 1868 {
cparata 2:67af0ad3ea2e 1869 case LSM6DSL_ACC_GYRO_D6D_EV_STATUS_DETECTED:
cparata 2:67af0ad3ea2e 1870 *status = 1;
cparata 2:67af0ad3ea2e 1871 break;
cparata 2:67af0ad3ea2e 1872 case LSM6DSL_ACC_GYRO_D6D_EV_STATUS_NOT_DETECTED:
cparata 2:67af0ad3ea2e 1873 *status = 0;
cparata 2:67af0ad3ea2e 1874 break;
cparata 2:67af0ad3ea2e 1875 default:
cparata 2:67af0ad3ea2e 1876 return 1;
cparata 2:67af0ad3ea2e 1877 }
cparata 2:67af0ad3ea2e 1878
cparata 2:67af0ad3ea2e 1879 return 0;
cparata 2:67af0ad3ea2e 1880 }
cparata 2:67af0ad3ea2e 1881
cparata 2:67af0ad3ea2e 1882 /**
cparata 2:67af0ad3ea2e 1883 * @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1884 * @param xl the pointer to the 6D orientation XL axis
cparata 2:67af0ad3ea2e 1885 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1886 */
cparata 2:67af0ad3ea2e 1887 int LSM6DSLSensor::Get_6D_Orientation_XL(uint8_t *xl)
cparata 2:67af0ad3ea2e 1888 {
cparata 2:67af0ad3ea2e 1889 LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
cparata 2:67af0ad3ea2e 1890
cparata 2:67af0ad3ea2e 1891 if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1892 {
cparata 2:67af0ad3ea2e 1893 return 1;
cparata 2:67af0ad3ea2e 1894 }
cparata 2:67af0ad3ea2e 1895
cparata 2:67af0ad3ea2e 1896 switch( xl_raw )
cparata 2:67af0ad3ea2e 1897 {
cparata 2:67af0ad3ea2e 1898 case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
cparata 2:67af0ad3ea2e 1899 *xl = 1;
cparata 2:67af0ad3ea2e 1900 break;
cparata 2:67af0ad3ea2e 1901 case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
cparata 2:67af0ad3ea2e 1902 *xl = 0;
cparata 2:67af0ad3ea2e 1903 break;
cparata 2:67af0ad3ea2e 1904 default:
cparata 2:67af0ad3ea2e 1905 return 1;
cparata 2:67af0ad3ea2e 1906 }
cparata 2:67af0ad3ea2e 1907
cparata 2:67af0ad3ea2e 1908 return 0;
cparata 2:67af0ad3ea2e 1909 }
cparata 2:67af0ad3ea2e 1910
cparata 2:67af0ad3ea2e 1911 /**
cparata 2:67af0ad3ea2e 1912 * @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1913 * @param xh the pointer to the 6D orientation XH axis
cparata 2:67af0ad3ea2e 1914 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1915 */
cparata 2:67af0ad3ea2e 1916 int LSM6DSLSensor::Get_6D_Orientation_XH(uint8_t *xh)
cparata 2:67af0ad3ea2e 1917 {
cparata 2:67af0ad3ea2e 1918 LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
cparata 2:67af0ad3ea2e 1919
cparata 2:67af0ad3ea2e 1920 if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1921 {
cparata 2:67af0ad3ea2e 1922 return 1;
cparata 2:67af0ad3ea2e 1923 }
cparata 2:67af0ad3ea2e 1924
cparata 2:67af0ad3ea2e 1925 switch( xh_raw )
cparata 2:67af0ad3ea2e 1926 {
cparata 2:67af0ad3ea2e 1927 case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
cparata 2:67af0ad3ea2e 1928 *xh = 1;
cparata 2:67af0ad3ea2e 1929 break;
cparata 2:67af0ad3ea2e 1930 case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
cparata 2:67af0ad3ea2e 1931 *xh = 0;
cparata 2:67af0ad3ea2e 1932 break;
cparata 2:67af0ad3ea2e 1933 default:
cparata 2:67af0ad3ea2e 1934 return 1;
cparata 2:67af0ad3ea2e 1935 }
cparata 2:67af0ad3ea2e 1936
cparata 2:67af0ad3ea2e 1937 return 0;
cparata 2:67af0ad3ea2e 1938 }
cparata 2:67af0ad3ea2e 1939
cparata 2:67af0ad3ea2e 1940 /**
cparata 2:67af0ad3ea2e 1941 * @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1942 * @param yl the pointer to the 6D orientation YL axis
cparata 2:67af0ad3ea2e 1943 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1944 */
cparata 2:67af0ad3ea2e 1945 int LSM6DSLSensor::Get_6D_Orientation_YL(uint8_t *yl)
cparata 2:67af0ad3ea2e 1946 {
cparata 2:67af0ad3ea2e 1947 LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
cparata 2:67af0ad3ea2e 1948
cparata 2:67af0ad3ea2e 1949 if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1950 {
cparata 2:67af0ad3ea2e 1951 return 1;
cparata 2:67af0ad3ea2e 1952 }
cparata 2:67af0ad3ea2e 1953
cparata 2:67af0ad3ea2e 1954 switch( yl_raw )
cparata 2:67af0ad3ea2e 1955 {
cparata 2:67af0ad3ea2e 1956 case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
cparata 2:67af0ad3ea2e 1957 *yl = 1;
cparata 2:67af0ad3ea2e 1958 break;
cparata 2:67af0ad3ea2e 1959 case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
cparata 2:67af0ad3ea2e 1960 *yl = 0;
cparata 2:67af0ad3ea2e 1961 break;
cparata 2:67af0ad3ea2e 1962 default:
cparata 2:67af0ad3ea2e 1963 return 1;
cparata 2:67af0ad3ea2e 1964 }
cparata 2:67af0ad3ea2e 1965
cparata 2:67af0ad3ea2e 1966 return 0;
cparata 2:67af0ad3ea2e 1967 }
cparata 2:67af0ad3ea2e 1968
cparata 2:67af0ad3ea2e 1969 /**
cparata 2:67af0ad3ea2e 1970 * @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1971 * @param yh the pointer to the 6D orientation YH axis
cparata 2:67af0ad3ea2e 1972 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1973 */
cparata 2:67af0ad3ea2e 1974 int LSM6DSLSensor::Get_6D_Orientation_YH(uint8_t *yh)
cparata 2:67af0ad3ea2e 1975 {
cparata 2:67af0ad3ea2e 1976 LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
cparata 2:67af0ad3ea2e 1977
cparata 2:67af0ad3ea2e 1978 if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1979 {
cparata 2:67af0ad3ea2e 1980 return 1;
cparata 2:67af0ad3ea2e 1981 }
cparata 2:67af0ad3ea2e 1982
cparata 2:67af0ad3ea2e 1983 switch( yh_raw )
cparata 2:67af0ad3ea2e 1984 {
cparata 2:67af0ad3ea2e 1985 case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
cparata 2:67af0ad3ea2e 1986 *yh = 1;
cparata 2:67af0ad3ea2e 1987 break;
cparata 2:67af0ad3ea2e 1988 case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
cparata 2:67af0ad3ea2e 1989 *yh = 0;
cparata 2:67af0ad3ea2e 1990 break;
cparata 2:67af0ad3ea2e 1991 default:
cparata 2:67af0ad3ea2e 1992 return 1;
cparata 2:67af0ad3ea2e 1993 }
cparata 2:67af0ad3ea2e 1994
cparata 2:67af0ad3ea2e 1995 return 0;
cparata 2:67af0ad3ea2e 1996 }
cparata 2:67af0ad3ea2e 1997
cparata 2:67af0ad3ea2e 1998 /**
cparata 2:67af0ad3ea2e 1999 * @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 2000 * @param zl the pointer to the 6D orientation ZL axis
cparata 2:67af0ad3ea2e 2001 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 2002 */
cparata 2:67af0ad3ea2e 2003 int LSM6DSLSensor::Get_6D_Orientation_ZL(uint8_t *zl)
cparata 2:67af0ad3ea2e 2004 {
cparata 2:67af0ad3ea2e 2005 LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
cparata 2:67af0ad3ea2e 2006
cparata 2:67af0ad3ea2e 2007 if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 2008 {
cparata 2:67af0ad3ea2e 2009 return 1;
cparata 2:67af0ad3ea2e 2010 }
cparata 2:67af0ad3ea2e 2011
cparata 2:67af0ad3ea2e 2012 switch( zl_raw )
cparata 2:67af0ad3ea2e 2013 {
cparata 2:67af0ad3ea2e 2014 case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
cparata 2:67af0ad3ea2e 2015 *zl = 1;
cparata 2:67af0ad3ea2e 2016 break;
cparata 2:67af0ad3ea2e 2017 case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
cparata 2:67af0ad3ea2e 2018 *zl = 0;
cparata 2:67af0ad3ea2e 2019 break;
cparata 2:67af0ad3ea2e 2020 default:
cparata 2:67af0ad3ea2e 2021 return 1;
cparata 2:67af0ad3ea2e 2022 }
cparata 2:67af0ad3ea2e 2023
cparata 2:67af0ad3ea2e 2024 return 0;
cparata 2:67af0ad3ea2e 2025 }
cparata 2:67af0ad3ea2e 2026
cparata 2:67af0ad3ea2e 2027 /**
cparata 2:67af0ad3ea2e 2028 * @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 2029 * @param zh the pointer to the 6D orientation ZH axis
cparata 2:67af0ad3ea2e 2030 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 2031 */
cparata 2:67af0ad3ea2e 2032 int LSM6DSLSensor::Get_6D_Orientation_ZH(uint8_t *zh)
cparata 2:67af0ad3ea2e 2033 {
cparata 2:67af0ad3ea2e 2034 LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
cparata 2:67af0ad3ea2e 2035
cparata 2:67af0ad3ea2e 2036 if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 2037 {
cparata 2:67af0ad3ea2e 2038 return 1;
cparata 2:67af0ad3ea2e 2039 }
cparata 2:67af0ad3ea2e 2040
cparata 2:67af0ad3ea2e 2041 switch( zh_raw )
cparata 2:67af0ad3ea2e 2042 {
cparata 2:67af0ad3ea2e 2043 case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
cparata 2:67af0ad3ea2e 2044 *zh = 1;
cparata 2:67af0ad3ea2e 2045 break;
cparata 2:67af0ad3ea2e 2046 case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
cparata 2:67af0ad3ea2e 2047 *zh = 0;
cparata 2:67af0ad3ea2e 2048 break;
cparata 2:67af0ad3ea2e 2049 default:
cparata 2:67af0ad3ea2e 2050 return 1;
cparata 2:67af0ad3ea2e 2051 }
cparata 2:67af0ad3ea2e 2052
cparata 2:67af0ad3ea2e 2053 return 0;
cparata 2:67af0ad3ea2e 2054 }
cparata 2:67af0ad3ea2e 2055
cparata 2:67af0ad3ea2e 2056 /**
cparata 2:67af0ad3ea2e 2057 * @brief Read the data from register
cparata 2:67af0ad3ea2e 2058 * @param reg register address
cparata 2:67af0ad3ea2e 2059 * @param data register data
cparata 2:67af0ad3ea2e 2060 * @retval 0 in case of success
cparata 2:67af0ad3ea2e 2061 * @retval 1 in case of failure
cparata 2:67af0ad3ea2e 2062 */
cparata 2:67af0ad3ea2e 2063 int LSM6DSLSensor::ReadReg( uint8_t reg, uint8_t *data )
cparata 2:67af0ad3ea2e 2064 {
cparata 2:67af0ad3ea2e 2065
cparata 2:67af0ad3ea2e 2066 if ( LSM6DSL_ACC_GYRO_ReadReg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 2067 {
cparata 2:67af0ad3ea2e 2068 return 1;
cparata 2:67af0ad3ea2e 2069 }
cparata 2:67af0ad3ea2e 2070
cparata 2:67af0ad3ea2e 2071 return 0;
cparata 2:67af0ad3ea2e 2072 }
cparata 2:67af0ad3ea2e 2073
cparata 2:67af0ad3ea2e 2074 /**
cparata 2:67af0ad3ea2e 2075 * @brief Write the data to register
cparata 2:67af0ad3ea2e 2076 * @param reg register address
cparata 2:67af0ad3ea2e 2077 * @param data register data
cparata 2:67af0ad3ea2e 2078 * @retval 0 in case of success
cparata 2:67af0ad3ea2e 2079 * @retval 1 in case of failure
cparata 2:67af0ad3ea2e 2080 */
cparata 2:67af0ad3ea2e 2081 int LSM6DSLSensor::WriteReg( uint8_t reg, uint8_t data )
cparata 2:67af0ad3ea2e 2082 {
cparata 2:67af0ad3ea2e 2083
cparata 2:67af0ad3ea2e 2084 if ( LSM6DSL_ACC_GYRO_WriteReg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 2085 {
cparata 2:67af0ad3ea2e 2086 return 1;
cparata 2:67af0ad3ea2e 2087 }
cparata 2:67af0ad3ea2e 2088
cparata 2:67af0ad3ea2e 2089 return 0;
cparata 2:67af0ad3ea2e 2090 }
cparata 2:67af0ad3ea2e 2091
cparata 2:67af0ad3ea2e 2092
cparata 2:67af0ad3ea2e 2093 uint8_t LSM6DSL_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
cparata 2:67af0ad3ea2e 2094 {
cparata 2:67af0ad3ea2e 2095 return ((LSM6DSLSensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata 2:67af0ad3ea2e 2096 }
cparata 2:67af0ad3ea2e 2097
cparata 2:67af0ad3ea2e 2098 uint8_t LSM6DSL_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
cparata 2:67af0ad3ea2e 2099 {
cparata 2:67af0ad3ea2e 2100 return ((LSM6DSLSensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata 2:67af0ad3ea2e 2101 }