Pedometer_IKS01A2 - Example of pedometer for LSM6DSL in X-NUCLEO-IKS0…

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ST / Mbed 2 deprecated Pedometer_IKS01A2

Example of pedometer for LSM6DSL in X-NUCLEO-IKS01A2

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@0:b189540a70e2, 2016-08-12 (annotated)

Committer:: cparata
Date:: Fri Aug 12 13:41:14 2016 +0000
Revision:: 0:b189540a70e2

First release of Pedometer for LSM6DSL in IKS01A2

Who changed what in which revision?

User	Revision	Line number	New contents of line
cparata	0:b189540a70e2	1	/**
cparata	0:b189540a70e2	2	******************************************************************************
cparata	0:b189540a70e2	3	* @file LSM6DSLSensor.cpp
cparata	0:b189540a70e2	4	* @author AST
cparata	0:b189540a70e2	5	* @version V1.0.0
cparata	0:b189540a70e2	6	* @date 5 August 2016
cparata	0:b189540a70e2	7	* @brief Implementation of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
cparata	0:b189540a70e2	8	* sensor.
cparata	0:b189540a70e2	9	******************************************************************************
cparata	0:b189540a70e2	10	* @attention
cparata	0:b189540a70e2	11	*
cparata	0:b189540a70e2	12	* <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata	0:b189540a70e2	13	*
cparata	0:b189540a70e2	14	* Redistribution and use in source and binary forms, with or without modification,
cparata	0:b189540a70e2	15	* are permitted provided that the following conditions are met:
cparata	0:b189540a70e2	16	* 1. Redistributions of source code must retain the above copyright notice,
cparata	0:b189540a70e2	17	* this list of conditions and the following disclaimer.
cparata	0:b189540a70e2	18	* 2. Redistributions in binary form must reproduce the above copyright notice,
cparata	0:b189540a70e2	19	* this list of conditions and the following disclaimer in the documentation
cparata	0:b189540a70e2	20	* and/or other materials provided with the distribution.
cparata	0:b189540a70e2	21	* 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata	0:b189540a70e2	22	* may be used to endorse or promote products derived from this software
cparata	0:b189540a70e2	23	* without specific prior written permission.
cparata	0:b189540a70e2	24	*
cparata	0:b189540a70e2	25	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata	0:b189540a70e2	26	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata	0:b189540a70e2	27	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata	0:b189540a70e2	28	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata	0:b189540a70e2	29	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata	0:b189540a70e2	30	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata	0:b189540a70e2	31	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata	0:b189540a70e2	32	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata	0:b189540a70e2	33	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata	0:b189540a70e2	34	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata	0:b189540a70e2	35	*
cparata	0:b189540a70e2	36	******************************************************************************
cparata	0:b189540a70e2	37	*/
cparata	0:b189540a70e2	38
cparata	0:b189540a70e2	39
cparata	0:b189540a70e2	40	/* Includes ------------------------------------------------------------------*/
cparata	0:b189540a70e2	41
cparata	0:b189540a70e2	42	#include "mbed.h"
cparata	0:b189540a70e2	43	#include "DevI2C.h"
cparata	0:b189540a70e2	44	#include "LSM6DSLSensor.h"
cparata	0:b189540a70e2	45	#include "LSM6DSL_ACC_GYRO_driver.h"
cparata	0:b189540a70e2	46
cparata	0:b189540a70e2	47
cparata	0:b189540a70e2	48	/* Class Implementation ------------------------------------------------------*/
cparata	0:b189540a70e2	49
cparata	0:b189540a70e2	50	/** Constructor
cparata	0:b189540a70e2	51	* @param i2c object of an helper class which handles the I2C peripheral
cparata	0:b189540a70e2	52	* @param address the address of the component's instance
cparata	0:b189540a70e2	53	*/
cparata	0:b189540a70e2	54	LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c) : dev_i2c(i2c)
cparata	0:b189540a70e2	55	{
cparata	0:b189540a70e2	56	address = LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH;
cparata	0:b189540a70e2	57
cparata	0:b189540a70e2	58	/* Enable register address automatically incremented during a multiple byte
cparata	0:b189540a70e2	59	access with a serial interface. */
cparata	0:b189540a70e2	60	if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	61	{
cparata	0:b189540a70e2	62	return;
cparata	0:b189540a70e2	63	}
cparata	0:b189540a70e2	64
cparata	0:b189540a70e2	65	/* Enable BDU */
cparata	0:b189540a70e2	66	if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
cparata	0:b189540a70e2	67	{
cparata	0:b189540a70e2	68	return;
cparata	0:b189540a70e2	69	}
cparata	0:b189540a70e2	70
cparata	0:b189540a70e2	71	/* FIFO mode selection */
cparata	0:b189540a70e2	72	if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
cparata	0:b189540a70e2	73	{
cparata	0:b189540a70e2	74	return;
cparata	0:b189540a70e2	75	}
cparata	0:b189540a70e2	76
cparata	0:b189540a70e2	77	/* Output data rate selection - power down. */
cparata	0:b189540a70e2	78	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata	0:b189540a70e2	79	{
cparata	0:b189540a70e2	80	return;
cparata	0:b189540a70e2	81	}
cparata	0:b189540a70e2	82
cparata	0:b189540a70e2	83	/* Full scale selection. */
cparata	0:b189540a70e2	84	if ( Set_X_FS( 2.0f ) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	85	{
cparata	0:b189540a70e2	86	return;
cparata	0:b189540a70e2	87	}
cparata	0:b189540a70e2	88
cparata	0:b189540a70e2	89	/* Output data rate selection - power down */
cparata	0:b189540a70e2	90	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata	0:b189540a70e2	91	{
cparata	0:b189540a70e2	92	return;
cparata	0:b189540a70e2	93	}
cparata	0:b189540a70e2	94
cparata	0:b189540a70e2	95	/* Full scale selection. */
cparata	0:b189540a70e2	96	if ( Set_G_FS( 2000.0f ) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	97	{
cparata	0:b189540a70e2	98	return;
cparata	0:b189540a70e2	99	}
cparata	0:b189540a70e2	100
cparata	0:b189540a70e2	101	X_Last_ODR = 104.0f;
cparata	0:b189540a70e2	102
cparata	0:b189540a70e2	103	X_isEnabled = 0;
cparata	0:b189540a70e2	104
cparata	0:b189540a70e2	105	G_Last_ODR = 104.0f;
cparata	0:b189540a70e2	106
cparata	0:b189540a70e2	107	G_isEnabled = 0;
cparata	0:b189540a70e2	108	};
cparata	0:b189540a70e2	109
cparata	0:b189540a70e2	110	/** Constructor
cparata	0:b189540a70e2	111	* @param i2c object of an helper class which handles the I2C peripheral
cparata	0:b189540a70e2	112	* @param address the address of the component's instance
cparata	0:b189540a70e2	113	*/
cparata	0:b189540a70e2	114	LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
cparata	0:b189540a70e2	115	{
cparata	0:b189540a70e2	116	/* Enable register address automatically incremented during a multiple byte
cparata	0:b189540a70e2	117	access with a serial interface. */
cparata	0:b189540a70e2	118	if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	119	{
cparata	0:b189540a70e2	120	return;
cparata	0:b189540a70e2	121	}
cparata	0:b189540a70e2	122
cparata	0:b189540a70e2	123	/* Enable BDU */
cparata	0:b189540a70e2	124	if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
cparata	0:b189540a70e2	125	{
cparata	0:b189540a70e2	126	return;
cparata	0:b189540a70e2	127	}
cparata	0:b189540a70e2	128
cparata	0:b189540a70e2	129	/* FIFO mode selection */
cparata	0:b189540a70e2	130	if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
cparata	0:b189540a70e2	131	{
cparata	0:b189540a70e2	132	return;
cparata	0:b189540a70e2	133	}
cparata	0:b189540a70e2	134
cparata	0:b189540a70e2	135	/* Output data rate selection - power down. */
cparata	0:b189540a70e2	136	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata	0:b189540a70e2	137	{
cparata	0:b189540a70e2	138	return;
cparata	0:b189540a70e2	139	}
cparata	0:b189540a70e2	140
cparata	0:b189540a70e2	141	/* Full scale selection. */
cparata	0:b189540a70e2	142	if ( Set_X_FS( 2.0f ) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	143	{
cparata	0:b189540a70e2	144	return;
cparata	0:b189540a70e2	145	}
cparata	0:b189540a70e2	146
cparata	0:b189540a70e2	147	/* Output data rate selection - power down */
cparata	0:b189540a70e2	148	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata	0:b189540a70e2	149	{
cparata	0:b189540a70e2	150	return;
cparata	0:b189540a70e2	151	}
cparata	0:b189540a70e2	152
cparata	0:b189540a70e2	153	/* Full scale selection. */
cparata	0:b189540a70e2	154	if ( Set_G_FS( 2000.0f ) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	155	{
cparata	0:b189540a70e2	156	return;
cparata	0:b189540a70e2	157	}
cparata	0:b189540a70e2	158
cparata	0:b189540a70e2	159	X_Last_ODR = 104.0f;
cparata	0:b189540a70e2	160
cparata	0:b189540a70e2	161	X_isEnabled = 0;
cparata	0:b189540a70e2	162
cparata	0:b189540a70e2	163	G_Last_ODR = 104.0f;
cparata	0:b189540a70e2	164
cparata	0:b189540a70e2	165	G_isEnabled = 0;
cparata	0:b189540a70e2	166	};
cparata	0:b189540a70e2	167
cparata	0:b189540a70e2	168	/**
cparata	0:b189540a70e2	169	* @brief Enable LSM6DSL Accelerator
cparata	0:b189540a70e2	170	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	171	*/
cparata	0:b189540a70e2	172	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_X(void)
cparata	0:b189540a70e2	173	{
cparata	0:b189540a70e2	174	/* Check if the component is already enabled */
cparata	0:b189540a70e2	175	if ( X_isEnabled == 1 )
cparata	0:b189540a70e2	176	{
cparata	0:b189540a70e2	177	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	178	}
cparata	0:b189540a70e2	179
cparata	0:b189540a70e2	180	/* Output data rate selection. */
cparata	0:b189540a70e2	181	if ( Set_X_ODR_When_Enabled( X_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	182	{
cparata	0:b189540a70e2	183	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	184	}
cparata	0:b189540a70e2	185
cparata	0:b189540a70e2	186	X_isEnabled = 1;
cparata	0:b189540a70e2	187
cparata	0:b189540a70e2	188	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	189	}
cparata	0:b189540a70e2	190
cparata	0:b189540a70e2	191	/**
cparata	0:b189540a70e2	192	* @brief Enable LSM6DSL Gyroscope
cparata	0:b189540a70e2	193	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	194	*/
cparata	0:b189540a70e2	195	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_G(void)
cparata	0:b189540a70e2	196	{
cparata	0:b189540a70e2	197	/* Check if the component is already enabled */
cparata	0:b189540a70e2	198	if ( G_isEnabled == 1 )
cparata	0:b189540a70e2	199	{
cparata	0:b189540a70e2	200	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	201	}
cparata	0:b189540a70e2	202
cparata	0:b189540a70e2	203	/* Output data rate selection. */
cparata	0:b189540a70e2	204	if ( Set_G_ODR_When_Enabled( G_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	205	{
cparata	0:b189540a70e2	206	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	207	}
cparata	0:b189540a70e2	208
cparata	0:b189540a70e2	209	G_isEnabled = 1;
cparata	0:b189540a70e2	210
cparata	0:b189540a70e2	211	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	212	}
cparata	0:b189540a70e2	213
cparata	0:b189540a70e2	214	/**
cparata	0:b189540a70e2	215	* @brief Disable LSM6DSL Accelerator
cparata	0:b189540a70e2	216	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	217	*/
cparata	0:b189540a70e2	218	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_X(void)
cparata	0:b189540a70e2	219	{
cparata	0:b189540a70e2	220	/* Check if the component is already disabled */
cparata	0:b189540a70e2	221	if ( X_isEnabled == 0 )
cparata	0:b189540a70e2	222	{
cparata	0:b189540a70e2	223	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	224	}
cparata	0:b189540a70e2	225
cparata	0:b189540a70e2	226	/* Store actual output data rate. */
cparata	0:b189540a70e2	227	if ( Get_X_ODR( &X_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	228	{
cparata	0:b189540a70e2	229	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	230	}
cparata	0:b189540a70e2	231
cparata	0:b189540a70e2	232	/* Output data rate selection - power down. */
cparata	0:b189540a70e2	233	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata	0:b189540a70e2	234	{
cparata	0:b189540a70e2	235	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	236	}
cparata	0:b189540a70e2	237
cparata	0:b189540a70e2	238	X_isEnabled = 0;
cparata	0:b189540a70e2	239
cparata	0:b189540a70e2	240	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	241	}
cparata	0:b189540a70e2	242
cparata	0:b189540a70e2	243	/**
cparata	0:b189540a70e2	244	* @brief Disable LSM6DSL Gyroscope
cparata	0:b189540a70e2	245	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	246	*/
cparata	0:b189540a70e2	247	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_G(void)
cparata	0:b189540a70e2	248	{
cparata	0:b189540a70e2	249	/* Check if the component is already disabled */
cparata	0:b189540a70e2	250	if ( G_isEnabled == 0 )
cparata	0:b189540a70e2	251	{
cparata	0:b189540a70e2	252	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	253	}
cparata	0:b189540a70e2	254
cparata	0:b189540a70e2	255	/* Store actual output data rate. */
cparata	0:b189540a70e2	256	if ( Get_G_ODR( &G_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	257	{
cparata	0:b189540a70e2	258	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	259	}
cparata	0:b189540a70e2	260
cparata	0:b189540a70e2	261	/* Output data rate selection - power down */
cparata	0:b189540a70e2	262	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata	0:b189540a70e2	263	{
cparata	0:b189540a70e2	264	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	265	}
cparata	0:b189540a70e2	266
cparata	0:b189540a70e2	267	G_isEnabled = 0;
cparata	0:b189540a70e2	268
cparata	0:b189540a70e2	269	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	270	}
cparata	0:b189540a70e2	271
cparata	0:b189540a70e2	272	/**
cparata	0:b189540a70e2	273	* @brief Read ID of LSM6DSL Accelerometer and Gyroscope
cparata	0:b189540a70e2	274	* @param p_id the pointer where the ID of the device is stored
cparata	0:b189540a70e2	275	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	276	*/
cparata	0:b189540a70e2	277	LSM6DSLStatusTypeDef LSM6DSLSensor::ReadID(uint8_t *p_id)
cparata	0:b189540a70e2	278	{
cparata	0:b189540a70e2	279	if(!p_id)
cparata	0:b189540a70e2	280	{
cparata	0:b189540a70e2	281	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	282	}
cparata	0:b189540a70e2	283
cparata	0:b189540a70e2	284	/* Read WHO AM I register */
cparata	0:b189540a70e2	285	if ( LSM6DSL_ACC_GYRO_R_WHO_AM_I( (void *)this, p_id ) == MEMS_ERROR )
cparata	0:b189540a70e2	286	{
cparata	0:b189540a70e2	287	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	288	}
cparata	0:b189540a70e2	289
cparata	0:b189540a70e2	290	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	291	}
cparata	0:b189540a70e2	292
cparata	0:b189540a70e2	293	/**
cparata	0:b189540a70e2	294	* @brief Read data from LSM6DSL Accelerometer
cparata	0:b189540a70e2	295	* @param pData the pointer where the accelerometer data are stored
cparata	0:b189540a70e2	296	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	297	*/
cparata	0:b189540a70e2	298	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_Axes(int32_t *pData)
cparata	0:b189540a70e2	299	{
cparata	0:b189540a70e2	300	int16_t dataRaw[3];
cparata	0:b189540a70e2	301	float sensitivity = 0;
cparata	0:b189540a70e2	302
cparata	0:b189540a70e2	303	/* Read raw data from LSM6DSL output register. */
cparata	0:b189540a70e2	304	if ( Get_X_AxesRaw( dataRaw ) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	305	{
cparata	0:b189540a70e2	306	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	307	}
cparata	0:b189540a70e2	308
cparata	0:b189540a70e2	309	/* Get LSM6DSL actual sensitivity. */
cparata	0:b189540a70e2	310	if ( Get_X_Sensitivity( &sensitivity ) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	311	{
cparata	0:b189540a70e2	312	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	313	}
cparata	0:b189540a70e2	314
cparata	0:b189540a70e2	315	/* Calculate the data. */
cparata	0:b189540a70e2	316	pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata	0:b189540a70e2	317	pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata	0:b189540a70e2	318	pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata	0:b189540a70e2	319
cparata	0:b189540a70e2	320	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	321	}
cparata	0:b189540a70e2	322
cparata	0:b189540a70e2	323	/**
cparata	0:b189540a70e2	324	* @brief Read data from LSM6DSL Gyroscope
cparata	0:b189540a70e2	325	* @param pData the pointer where the gyroscope data are stored
cparata	0:b189540a70e2	326	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	327	*/
cparata	0:b189540a70e2	328	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_Axes(int32_t *pData)
cparata	0:b189540a70e2	329	{
cparata	0:b189540a70e2	330	int16_t dataRaw[3];
cparata	0:b189540a70e2	331	float sensitivity = 0;
cparata	0:b189540a70e2	332
cparata	0:b189540a70e2	333	/* Read raw data from LSM6DSL output register. */
cparata	0:b189540a70e2	334	if ( Get_G_AxesRaw( dataRaw ) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	335	{
cparata	0:b189540a70e2	336	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	337	}
cparata	0:b189540a70e2	338
cparata	0:b189540a70e2	339	/* Get LSM6DSL actual sensitivity. */
cparata	0:b189540a70e2	340	if ( Get_G_Sensitivity( &sensitivity ) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	341	{
cparata	0:b189540a70e2	342	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	343	}
cparata	0:b189540a70e2	344
cparata	0:b189540a70e2	345	/* Calculate the data. */
cparata	0:b189540a70e2	346	pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata	0:b189540a70e2	347	pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata	0:b189540a70e2	348	pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata	0:b189540a70e2	349
cparata	0:b189540a70e2	350	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	351	}
cparata	0:b189540a70e2	352
cparata	0:b189540a70e2	353	/**
cparata	0:b189540a70e2	354	* @brief Read Accelerometer Sensitivity
cparata	0:b189540a70e2	355	* @param pfData the pointer where the accelerometer sensitivity is stored
cparata	0:b189540a70e2	356	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	357	*/
cparata	0:b189540a70e2	358	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_Sensitivity(float *pfData)
cparata	0:b189540a70e2	359	{
cparata	0:b189540a70e2	360	LSM6DSL_ACC_GYRO_FS_XL_t fullScale;
cparata	0:b189540a70e2	361
cparata	0:b189540a70e2	362	/* Read actual full scale selection from sensor. */
cparata	0:b189540a70e2	363	if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fullScale ) == MEMS_ERROR )
cparata	0:b189540a70e2	364	{
cparata	0:b189540a70e2	365	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	366	}
cparata	0:b189540a70e2	367
cparata	0:b189540a70e2	368	/* Store the sensitivity based on actual full scale. */
cparata	0:b189540a70e2	369	switch( fullScale )
cparata	0:b189540a70e2	370	{
cparata	0:b189540a70e2	371	case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata	0:b189540a70e2	372	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G;
cparata	0:b189540a70e2	373	break;
cparata	0:b189540a70e2	374	case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata	0:b189540a70e2	375	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G;
cparata	0:b189540a70e2	376	break;
cparata	0:b189540a70e2	377	case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata	0:b189540a70e2	378	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G;
cparata	0:b189540a70e2	379	break;
cparata	0:b189540a70e2	380	case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata	0:b189540a70e2	381	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G;
cparata	0:b189540a70e2	382	break;
cparata	0:b189540a70e2	383	default:
cparata	0:b189540a70e2	384	*pfData = -1.0f;
cparata	0:b189540a70e2	385	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	386	}
cparata	0:b189540a70e2	387
cparata	0:b189540a70e2	388	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	389	}
cparata	0:b189540a70e2	390
cparata	0:b189540a70e2	391	/**
cparata	0:b189540a70e2	392	* @brief Read Gyroscope Sensitivity
cparata	0:b189540a70e2	393	* @param pfData the pointer where the gyroscope sensitivity is stored
cparata	0:b189540a70e2	394	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	395	*/
cparata	0:b189540a70e2	396	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_Sensitivity(float *pfData)
cparata	0:b189540a70e2	397	{
cparata	0:b189540a70e2	398	LSM6DSL_ACC_GYRO_FS_125_t fullScale125;
cparata	0:b189540a70e2	399	LSM6DSL_ACC_GYRO_FS_G_t fullScale;
cparata	0:b189540a70e2	400
cparata	0:b189540a70e2	401	/* Read full scale 125 selection from sensor. */
cparata	0:b189540a70e2	402	if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fullScale125 ) == MEMS_ERROR )
cparata	0:b189540a70e2	403	{
cparata	0:b189540a70e2	404	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	405	}
cparata	0:b189540a70e2	406
cparata	0:b189540a70e2	407	if ( fullScale125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata	0:b189540a70e2	408	{
cparata	0:b189540a70e2	409	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS;
cparata	0:b189540a70e2	410	}
cparata	0:b189540a70e2	411
cparata	0:b189540a70e2	412	else
cparata	0:b189540a70e2	413	{
cparata	0:b189540a70e2	414
cparata	0:b189540a70e2	415	/* Read actual full scale selection from sensor. */
cparata	0:b189540a70e2	416	if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fullScale ) == MEMS_ERROR )
cparata	0:b189540a70e2	417	{
cparata	0:b189540a70e2	418	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	419	}
cparata	0:b189540a70e2	420
cparata	0:b189540a70e2	421	/* Store the sensitivity based on actual full scale. */
cparata	0:b189540a70e2	422	switch( fullScale )
cparata	0:b189540a70e2	423	{
cparata	0:b189540a70e2	424	case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata	0:b189540a70e2	425	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS;
cparata	0:b189540a70e2	426	break;
cparata	0:b189540a70e2	427	case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata	0:b189540a70e2	428	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS;
cparata	0:b189540a70e2	429	break;
cparata	0:b189540a70e2	430	case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata	0:b189540a70e2	431	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS;
cparata	0:b189540a70e2	432	break;
cparata	0:b189540a70e2	433	case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata	0:b189540a70e2	434	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS;
cparata	0:b189540a70e2	435	break;
cparata	0:b189540a70e2	436	default:
cparata	0:b189540a70e2	437	*pfData = -1.0f;
cparata	0:b189540a70e2	438	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	439	}
cparata	0:b189540a70e2	440	}
cparata	0:b189540a70e2	441
cparata	0:b189540a70e2	442	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	443	}
cparata	0:b189540a70e2	444
cparata	0:b189540a70e2	445	/**
cparata	0:b189540a70e2	446	* @brief Read raw data from LSM6DSL Accelerometer
cparata	0:b189540a70e2	447	* @param pData the pointer where the accelerometer raw data are stored
cparata	0:b189540a70e2	448	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	449	*/
cparata	0:b189540a70e2	450	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_AxesRaw(int16_t *pData)
cparata	0:b189540a70e2	451	{
cparata	0:b189540a70e2	452	uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata	0:b189540a70e2	453
cparata	0:b189540a70e2	454	/* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_XL to LSM6DSL_ACC_GYRO_OUTZ_H_XL. */
cparata	0:b189540a70e2	455	if ( LSM6DSL_ACC_GYRO_GetRawAccData( (void *)this, regValue ) == MEMS_ERROR )
cparata	0:b189540a70e2	456	{
cparata	0:b189540a70e2	457	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	458	}
cparata	0:b189540a70e2	459
cparata	0:b189540a70e2	460	/* Format the data. */
cparata	0:b189540a70e2	461	pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata	0:b189540a70e2	462	pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata	0:b189540a70e2	463	pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata	0:b189540a70e2	464
cparata	0:b189540a70e2	465	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	466	}
cparata	0:b189540a70e2	467
cparata	0:b189540a70e2	468	/**
cparata	0:b189540a70e2	469	* @brief Read raw data from LSM6DSL Gyroscope
cparata	0:b189540a70e2	470	* @param pData the pointer where the gyroscope raw data are stored
cparata	0:b189540a70e2	471	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	472	*/
cparata	0:b189540a70e2	473	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_AxesRaw(int16_t *pData)
cparata	0:b189540a70e2	474	{
cparata	0:b189540a70e2	475	uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata	0:b189540a70e2	476
cparata	0:b189540a70e2	477	/* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_G to LSM6DSL_ACC_GYRO_OUTZ_H_G. */
cparata	0:b189540a70e2	478	if ( LSM6DSL_ACC_GYRO_GetRawGyroData( (void *)this, regValue ) == MEMS_ERROR )
cparata	0:b189540a70e2	479	{
cparata	0:b189540a70e2	480	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	481	}
cparata	0:b189540a70e2	482
cparata	0:b189540a70e2	483	/* Format the data. */
cparata	0:b189540a70e2	484	pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata	0:b189540a70e2	485	pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata	0:b189540a70e2	486	pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata	0:b189540a70e2	487
cparata	0:b189540a70e2	488	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	489	}
cparata	0:b189540a70e2	490
cparata	0:b189540a70e2	491	/**
cparata	0:b189540a70e2	492	* @brief Read LSM6DSL Accelerometer output data rate
cparata	0:b189540a70e2	493	* @param odr the pointer to the output data rate
cparata	0:b189540a70e2	494	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	495	*/
cparata	0:b189540a70e2	496	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_ODR(float* odr)
cparata	0:b189540a70e2	497	{
cparata	0:b189540a70e2	498	LSM6DSL_ACC_GYRO_ODR_XL_t odr_low_level;
cparata	0:b189540a70e2	499
cparata	0:b189540a70e2	500	if ( LSM6DSL_ACC_GYRO_R_ODR_XL( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata	0:b189540a70e2	501	{
cparata	0:b189540a70e2	502	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	503	}
cparata	0:b189540a70e2	504
cparata	0:b189540a70e2	505	switch( odr_low_level )
cparata	0:b189540a70e2	506	{
cparata	0:b189540a70e2	507	case LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN:
cparata	0:b189540a70e2	508	*odr = 0.0f;
cparata	0:b189540a70e2	509	break;
cparata	0:b189540a70e2	510	case LSM6DSL_ACC_GYRO_ODR_XL_13Hz:
cparata	0:b189540a70e2	511	*odr = 13.0f;
cparata	0:b189540a70e2	512	break;
cparata	0:b189540a70e2	513	case LSM6DSL_ACC_GYRO_ODR_XL_26Hz:
cparata	0:b189540a70e2	514	*odr = 26.0f;
cparata	0:b189540a70e2	515	break;
cparata	0:b189540a70e2	516	case LSM6DSL_ACC_GYRO_ODR_XL_52Hz:
cparata	0:b189540a70e2	517	*odr = 52.0f;
cparata	0:b189540a70e2	518	break;
cparata	0:b189540a70e2	519	case LSM6DSL_ACC_GYRO_ODR_XL_104Hz:
cparata	0:b189540a70e2	520	*odr = 104.0f;
cparata	0:b189540a70e2	521	break;
cparata	0:b189540a70e2	522	case LSM6DSL_ACC_GYRO_ODR_XL_208Hz:
cparata	0:b189540a70e2	523	*odr = 208.0f;
cparata	0:b189540a70e2	524	break;
cparata	0:b189540a70e2	525	case LSM6DSL_ACC_GYRO_ODR_XL_416Hz:
cparata	0:b189540a70e2	526	*odr = 416.0f;
cparata	0:b189540a70e2	527	break;
cparata	0:b189540a70e2	528	case LSM6DSL_ACC_GYRO_ODR_XL_833Hz:
cparata	0:b189540a70e2	529	*odr = 833.0f;
cparata	0:b189540a70e2	530	break;
cparata	0:b189540a70e2	531	case LSM6DSL_ACC_GYRO_ODR_XL_1660Hz:
cparata	0:b189540a70e2	532	*odr = 1660.0f;
cparata	0:b189540a70e2	533	break;
cparata	0:b189540a70e2	534	case LSM6DSL_ACC_GYRO_ODR_XL_3330Hz:
cparata	0:b189540a70e2	535	*odr = 3330.0f;
cparata	0:b189540a70e2	536	break;
cparata	0:b189540a70e2	537	case LSM6DSL_ACC_GYRO_ODR_XL_6660Hz:
cparata	0:b189540a70e2	538	*odr = 6660.0f;
cparata	0:b189540a70e2	539	break;
cparata	0:b189540a70e2	540	default:
cparata	0:b189540a70e2	541	*odr = -1.0f;
cparata	0:b189540a70e2	542	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	543	}
cparata	0:b189540a70e2	544
cparata	0:b189540a70e2	545	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	546	}
cparata	0:b189540a70e2	547
cparata	0:b189540a70e2	548	/**
cparata	0:b189540a70e2	549	* @brief Read LSM6DSL Gyroscope output data rate
cparata	0:b189540a70e2	550	* @param odr the pointer to the output data rate
cparata	0:b189540a70e2	551	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	552	*/
cparata	0:b189540a70e2	553	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_ODR(float* odr)
cparata	0:b189540a70e2	554	{
cparata	0:b189540a70e2	555	LSM6DSL_ACC_GYRO_ODR_G_t odr_low_level;
cparata	0:b189540a70e2	556
cparata	0:b189540a70e2	557	if ( LSM6DSL_ACC_GYRO_R_ODR_G( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata	0:b189540a70e2	558	{
cparata	0:b189540a70e2	559	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	560	}
cparata	0:b189540a70e2	561
cparata	0:b189540a70e2	562	switch( odr_low_level )
cparata	0:b189540a70e2	563	{
cparata	0:b189540a70e2	564	case LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN:
cparata	0:b189540a70e2	565	*odr = 0.0f;
cparata	0:b189540a70e2	566	break;
cparata	0:b189540a70e2	567	case LSM6DSL_ACC_GYRO_ODR_G_13Hz:
cparata	0:b189540a70e2	568	*odr = 13.0f;
cparata	0:b189540a70e2	569	break;
cparata	0:b189540a70e2	570	case LSM6DSL_ACC_GYRO_ODR_G_26Hz:
cparata	0:b189540a70e2	571	*odr = 26.0f;
cparata	0:b189540a70e2	572	break;
cparata	0:b189540a70e2	573	case LSM6DSL_ACC_GYRO_ODR_G_52Hz:
cparata	0:b189540a70e2	574	*odr = 52.0f;
cparata	0:b189540a70e2	575	break;
cparata	0:b189540a70e2	576	case LSM6DSL_ACC_GYRO_ODR_G_104Hz:
cparata	0:b189540a70e2	577	*odr = 104.0f;
cparata	0:b189540a70e2	578	break;
cparata	0:b189540a70e2	579	case LSM6DSL_ACC_GYRO_ODR_G_208Hz:
cparata	0:b189540a70e2	580	*odr = 208.0f;
cparata	0:b189540a70e2	581	break;
cparata	0:b189540a70e2	582	case LSM6DSL_ACC_GYRO_ODR_G_416Hz:
cparata	0:b189540a70e2	583	*odr = 416.0f;
cparata	0:b189540a70e2	584	break;
cparata	0:b189540a70e2	585	case LSM6DSL_ACC_GYRO_ODR_G_833Hz:
cparata	0:b189540a70e2	586	*odr = 833.0f;
cparata	0:b189540a70e2	587	break;
cparata	0:b189540a70e2	588	case LSM6DSL_ACC_GYRO_ODR_G_1660Hz:
cparata	0:b189540a70e2	589	*odr = 1660.0f;
cparata	0:b189540a70e2	590	break;
cparata	0:b189540a70e2	591	case LSM6DSL_ACC_GYRO_ODR_G_3330Hz:
cparata	0:b189540a70e2	592	*odr = 3330.0f;
cparata	0:b189540a70e2	593	break;
cparata	0:b189540a70e2	594	case LSM6DSL_ACC_GYRO_ODR_G_6660Hz:
cparata	0:b189540a70e2	595	*odr = 6660.0f;
cparata	0:b189540a70e2	596	break;
cparata	0:b189540a70e2	597	default:
cparata	0:b189540a70e2	598	*odr = -1.0f;
cparata	0:b189540a70e2	599	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	600	}
cparata	0:b189540a70e2	601
cparata	0:b189540a70e2	602	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	603	}
cparata	0:b189540a70e2	604
cparata	0:b189540a70e2	605	/**
cparata	0:b189540a70e2	606	* @brief Set LSM6DSL Accelerometer output data rate
cparata	0:b189540a70e2	607	* @param odr the output data rate to be set
cparata	0:b189540a70e2	608	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	609	*/
cparata	0:b189540a70e2	610	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_ODR(float odr)
cparata	0:b189540a70e2	611	{
cparata	0:b189540a70e2	612	if(X_isEnabled == 1)
cparata	0:b189540a70e2	613	{
cparata	0:b189540a70e2	614	if(Set_X_ODR_When_Enabled(odr) == LSM6DSL_STATUS_ERROR)
cparata	0:b189540a70e2	615	{
cparata	0:b189540a70e2	616	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	617	}
cparata	0:b189540a70e2	618	}
cparata	0:b189540a70e2	619	else
cparata	0:b189540a70e2	620	{
cparata	0:b189540a70e2	621	if(Set_X_ODR_When_Disabled(odr) == LSM6DSL_STATUS_ERROR)
cparata	0:b189540a70e2	622	{
cparata	0:b189540a70e2	623	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	624	}
cparata	0:b189540a70e2	625	}
cparata	0:b189540a70e2	626
cparata	0:b189540a70e2	627	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	628	}
cparata	0:b189540a70e2	629
cparata	0:b189540a70e2	630	/**
cparata	0:b189540a70e2	631	* @brief Set LSM6DSL Accelerometer output data rate when enabled
cparata	0:b189540a70e2	632	* @param odr the output data rate to be set
cparata	0:b189540a70e2	633	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	634	*/
cparata	0:b189540a70e2	635	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_ODR_When_Enabled(float odr)
cparata	0:b189540a70e2	636	{
cparata	0:b189540a70e2	637	LSM6DSL_ACC_GYRO_ODR_XL_t new_odr;
cparata	0:b189540a70e2	638
cparata	0:b189540a70e2	639	new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_13Hz
cparata	0:b189540a70e2	640	: ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_26Hz
cparata	0:b189540a70e2	641	: ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_52Hz
cparata	0:b189540a70e2	642	: ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_104Hz
cparata	0:b189540a70e2	643	: ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_208Hz
cparata	0:b189540a70e2	644	: ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_416Hz
cparata	0:b189540a70e2	645	: ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_833Hz
cparata	0:b189540a70e2	646	: ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_1660Hz
cparata	0:b189540a70e2	647	: ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_3330Hz
cparata	0:b189540a70e2	648	: LSM6DSL_ACC_GYRO_ODR_XL_6660Hz;
cparata	0:b189540a70e2	649
cparata	0:b189540a70e2	650	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, new_odr ) == MEMS_ERROR )
cparata	0:b189540a70e2	651	{
cparata	0:b189540a70e2	652	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	653	}
cparata	0:b189540a70e2	654
cparata	0:b189540a70e2	655	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	656	}
cparata	0:b189540a70e2	657
cparata	0:b189540a70e2	658	/**
cparata	0:b189540a70e2	659	* @brief Set LSM6DSL Accelerometer output data rate when disabled
cparata	0:b189540a70e2	660	* @param odr the output data rate to be set
cparata	0:b189540a70e2	661	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	662	*/
cparata	0:b189540a70e2	663	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_ODR_When_Disabled(float odr)
cparata	0:b189540a70e2	664	{
cparata	0:b189540a70e2	665	X_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata	0:b189540a70e2	666	: ( odr <= 26.0f ) ? 26.0f
cparata	0:b189540a70e2	667	: ( odr <= 52.0f ) ? 52.0f
cparata	0:b189540a70e2	668	: ( odr <= 104.0f ) ? 104.0f
cparata	0:b189540a70e2	669	: ( odr <= 208.0f ) ? 208.0f
cparata	0:b189540a70e2	670	: ( odr <= 416.0f ) ? 416.0f
cparata	0:b189540a70e2	671	: ( odr <= 833.0f ) ? 833.0f
cparata	0:b189540a70e2	672	: ( odr <= 1660.0f ) ? 1660.0f
cparata	0:b189540a70e2	673	: ( odr <= 3330.0f ) ? 3330.0f
cparata	0:b189540a70e2	674	: 6660.0f;
cparata	0:b189540a70e2	675
cparata	0:b189540a70e2	676	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	677	}
cparata	0:b189540a70e2	678
cparata	0:b189540a70e2	679	/**
cparata	0:b189540a70e2	680	* @brief Set LSM6DSL Gyroscope output data rate
cparata	0:b189540a70e2	681	* @param odr the output data rate to be set
cparata	0:b189540a70e2	682	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	683	*/
cparata	0:b189540a70e2	684	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_ODR(float odr)
cparata	0:b189540a70e2	685	{
cparata	0:b189540a70e2	686	if(G_isEnabled == 1)
cparata	0:b189540a70e2	687	{
cparata	0:b189540a70e2	688	if(Set_G_ODR_When_Enabled(odr) == LSM6DSL_STATUS_ERROR)
cparata	0:b189540a70e2	689	{
cparata	0:b189540a70e2	690	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	691	}
cparata	0:b189540a70e2	692	}
cparata	0:b189540a70e2	693	else
cparata	0:b189540a70e2	694	{
cparata	0:b189540a70e2	695	if(Set_G_ODR_When_Disabled(odr) == LSM6DSL_STATUS_ERROR)
cparata	0:b189540a70e2	696	{
cparata	0:b189540a70e2	697	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	698	}
cparata	0:b189540a70e2	699	}
cparata	0:b189540a70e2	700
cparata	0:b189540a70e2	701	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	702	}
cparata	0:b189540a70e2	703
cparata	0:b189540a70e2	704	/**
cparata	0:b189540a70e2	705	* @brief Set LSM6DSL Gyroscope output data rate when enabled
cparata	0:b189540a70e2	706	* @param odr the output data rate to be set
cparata	0:b189540a70e2	707	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	708	*/
cparata	0:b189540a70e2	709	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_ODR_When_Enabled(float odr)
cparata	0:b189540a70e2	710	{
cparata	0:b189540a70e2	711	LSM6DSL_ACC_GYRO_ODR_G_t new_odr;
cparata	0:b189540a70e2	712
cparata	0:b189540a70e2	713	new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_13Hz
cparata	0:b189540a70e2	714	: ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_26Hz
cparata	0:b189540a70e2	715	: ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_52Hz
cparata	0:b189540a70e2	716	: ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_104Hz
cparata	0:b189540a70e2	717	: ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_208Hz
cparata	0:b189540a70e2	718	: ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_416Hz
cparata	0:b189540a70e2	719	: ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_833Hz
cparata	0:b189540a70e2	720	: ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_1660Hz
cparata	0:b189540a70e2	721	: ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_3330Hz
cparata	0:b189540a70e2	722	: LSM6DSL_ACC_GYRO_ODR_G_6660Hz;
cparata	0:b189540a70e2	723
cparata	0:b189540a70e2	724	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, new_odr ) == MEMS_ERROR )
cparata	0:b189540a70e2	725	{
cparata	0:b189540a70e2	726	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	727	}
cparata	0:b189540a70e2	728
cparata	0:b189540a70e2	729	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	730	}
cparata	0:b189540a70e2	731
cparata	0:b189540a70e2	732	/**
cparata	0:b189540a70e2	733	* @brief Set LSM6DSL Gyroscope output data rate when disabled
cparata	0:b189540a70e2	734	* @param odr the output data rate to be set
cparata	0:b189540a70e2	735	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	736	*/
cparata	0:b189540a70e2	737	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_ODR_When_Disabled(float odr)
cparata	0:b189540a70e2	738	{
cparata	0:b189540a70e2	739	G_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata	0:b189540a70e2	740	: ( odr <= 26.0f ) ? 26.0f
cparata	0:b189540a70e2	741	: ( odr <= 52.0f ) ? 52.0f
cparata	0:b189540a70e2	742	: ( odr <= 104.0f ) ? 104.0f
cparata	0:b189540a70e2	743	: ( odr <= 208.0f ) ? 208.0f
cparata	0:b189540a70e2	744	: ( odr <= 416.0f ) ? 416.0f
cparata	0:b189540a70e2	745	: ( odr <= 833.0f ) ? 833.0f
cparata	0:b189540a70e2	746	: ( odr <= 1660.0f ) ? 1660.0f
cparata	0:b189540a70e2	747	: ( odr <= 3330.0f ) ? 3330.0f
cparata	0:b189540a70e2	748	: 6660.0f;
cparata	0:b189540a70e2	749
cparata	0:b189540a70e2	750	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	751	}
cparata	0:b189540a70e2	752
cparata	0:b189540a70e2	753	/**
cparata	0:b189540a70e2	754	* @brief Read LSM6DSL Accelerometer full scale
cparata	0:b189540a70e2	755	* @param fullScale the pointer to the full scale
cparata	0:b189540a70e2	756	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	757	*/
cparata	0:b189540a70e2	758	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_FS(float* fullScale)
cparata	0:b189540a70e2	759	{
cparata	0:b189540a70e2	760	LSM6DSL_ACC_GYRO_FS_XL_t fs_low_level;
cparata	0:b189540a70e2	761
cparata	0:b189540a70e2	762	if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata	0:b189540a70e2	763	{
cparata	0:b189540a70e2	764	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	765	}
cparata	0:b189540a70e2	766
cparata	0:b189540a70e2	767	switch( fs_low_level )
cparata	0:b189540a70e2	768	{
cparata	0:b189540a70e2	769	case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata	0:b189540a70e2	770	*fullScale = 2.0f;
cparata	0:b189540a70e2	771	break;
cparata	0:b189540a70e2	772	case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata	0:b189540a70e2	773	*fullScale = 4.0f;
cparata	0:b189540a70e2	774	break;
cparata	0:b189540a70e2	775	case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata	0:b189540a70e2	776	*fullScale = 8.0f;
cparata	0:b189540a70e2	777	break;
cparata	0:b189540a70e2	778	case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata	0:b189540a70e2	779	*fullScale = 16.0f;
cparata	0:b189540a70e2	780	break;
cparata	0:b189540a70e2	781	default:
cparata	0:b189540a70e2	782	*fullScale = -1.0f;
cparata	0:b189540a70e2	783	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	784	}
cparata	0:b189540a70e2	785
cparata	0:b189540a70e2	786	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	787	}
cparata	0:b189540a70e2	788
cparata	0:b189540a70e2	789	/**
cparata	0:b189540a70e2	790	* @brief Read LSM6DSL Gyroscope full scale
cparata	0:b189540a70e2	791	* @param fullScale the pointer to the full scale
cparata	0:b189540a70e2	792	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	793	*/
cparata	0:b189540a70e2	794	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_FS(float* fullScale)
cparata	0:b189540a70e2	795	{
cparata	0:b189540a70e2	796	LSM6DSL_ACC_GYRO_FS_G_t fs_low_level;
cparata	0:b189540a70e2	797	LSM6DSL_ACC_GYRO_FS_125_t fs_125;
cparata	0:b189540a70e2	798
cparata	0:b189540a70e2	799	if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fs_125 ) == MEMS_ERROR )
cparata	0:b189540a70e2	800	{
cparata	0:b189540a70e2	801	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	802	}
cparata	0:b189540a70e2	803	if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata	0:b189540a70e2	804	{
cparata	0:b189540a70e2	805	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	806	}
cparata	0:b189540a70e2	807
cparata	0:b189540a70e2	808	if ( fs_125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata	0:b189540a70e2	809	{
cparata	0:b189540a70e2	810	*fullScale = 125.0f;
cparata	0:b189540a70e2	811	}
cparata	0:b189540a70e2	812
cparata	0:b189540a70e2	813	else
cparata	0:b189540a70e2	814	{
cparata	0:b189540a70e2	815	switch( fs_low_level )
cparata	0:b189540a70e2	816	{
cparata	0:b189540a70e2	817	case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata	0:b189540a70e2	818	*fullScale = 245.0f;
cparata	0:b189540a70e2	819	break;
cparata	0:b189540a70e2	820	case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata	0:b189540a70e2	821	*fullScale = 500.0f;
cparata	0:b189540a70e2	822	break;
cparata	0:b189540a70e2	823	case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata	0:b189540a70e2	824	*fullScale = 1000.0f;
cparata	0:b189540a70e2	825	break;
cparata	0:b189540a70e2	826	case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata	0:b189540a70e2	827	*fullScale = 2000.0f;
cparata	0:b189540a70e2	828	break;
cparata	0:b189540a70e2	829	default:
cparata	0:b189540a70e2	830	*fullScale = -1.0f;
cparata	0:b189540a70e2	831	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	832	}
cparata	0:b189540a70e2	833	}
cparata	0:b189540a70e2	834
cparata	0:b189540a70e2	835	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	836	}
cparata	0:b189540a70e2	837
cparata	0:b189540a70e2	838	/**
cparata	0:b189540a70e2	839	* @brief Set LSM6DSL Accelerometer full scale
cparata	0:b189540a70e2	840	* @param fullScale the full scale to be set
cparata	0:b189540a70e2	841	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	842	*/
cparata	0:b189540a70e2	843	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_FS(float fullScale)
cparata	0:b189540a70e2	844	{
cparata	0:b189540a70e2	845	LSM6DSL_ACC_GYRO_FS_XL_t new_fs;
cparata	0:b189540a70e2	846
cparata	0:b189540a70e2	847	new_fs = ( fullScale <= 2.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_2g
cparata	0:b189540a70e2	848	: ( fullScale <= 4.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_4g
cparata	0:b189540a70e2	849	: ( fullScale <= 8.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_8g
cparata	0:b189540a70e2	850	: LSM6DSL_ACC_GYRO_FS_XL_16g;
cparata	0:b189540a70e2	851
cparata	0:b189540a70e2	852	if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, new_fs ) == MEMS_ERROR )
cparata	0:b189540a70e2	853	{
cparata	0:b189540a70e2	854	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	855	}
cparata	0:b189540a70e2	856
cparata	0:b189540a70e2	857	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	858	}
cparata	0:b189540a70e2	859
cparata	0:b189540a70e2	860	/**
cparata	0:b189540a70e2	861	* @brief Set LSM6DSL Gyroscope full scale
cparata	0:b189540a70e2	862	* @param fullScale the full scale to be set
cparata	0:b189540a70e2	863	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	864	*/
cparata	0:b189540a70e2	865	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_FS(float fullScale)
cparata	0:b189540a70e2	866	{
cparata	0:b189540a70e2	867	LSM6DSL_ACC_GYRO_FS_G_t new_fs;
cparata	0:b189540a70e2	868
cparata	0:b189540a70e2	869	if ( fullScale <= 125.0f )
cparata	0:b189540a70e2	870	{
cparata	0:b189540a70e2	871	if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_ENABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	872	{
cparata	0:b189540a70e2	873	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	874	}
cparata	0:b189540a70e2	875	}
cparata	0:b189540a70e2	876	else
cparata	0:b189540a70e2	877	{
cparata	0:b189540a70e2	878	new_fs = ( fullScale <= 245.0f ) ? LSM6DSL_ACC_GYRO_FS_G_245dps
cparata	0:b189540a70e2	879	: ( fullScale <= 500.0f ) ? LSM6DSL_ACC_GYRO_FS_G_500dps
cparata	0:b189540a70e2	880	: ( fullScale <= 1000.0f ) ? LSM6DSL_ACC_GYRO_FS_G_1000dps
cparata	0:b189540a70e2	881	: LSM6DSL_ACC_GYRO_FS_G_2000dps;
cparata	0:b189540a70e2	882
cparata	0:b189540a70e2	883	if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_DISABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	884	{
cparata	0:b189540a70e2	885	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	886	}
cparata	0:b189540a70e2	887	if ( LSM6DSL_ACC_GYRO_W_FS_G( (void *)this, new_fs ) == MEMS_ERROR )
cparata	0:b189540a70e2	888	{
cparata	0:b189540a70e2	889	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	890	}
cparata	0:b189540a70e2	891	}
cparata	0:b189540a70e2	892
cparata	0:b189540a70e2	893	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	894	}
cparata	0:b189540a70e2	895
cparata	0:b189540a70e2	896	/**
cparata	0:b189540a70e2	897	* @brief Enable free fall detection
cparata	0:b189540a70e2	898	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:b189540a70e2	899	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	900	*/
cparata	0:b189540a70e2	901	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Free_Fall_Detection(void)
cparata	0:b189540a70e2	902	{
cparata	0:b189540a70e2	903	/* Output Data Rate selection */
cparata	0:b189540a70e2	904	if(Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR)
cparata	0:b189540a70e2	905	{
cparata	0:b189540a70e2	906	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	907	}
cparata	0:b189540a70e2	908
cparata	0:b189540a70e2	909	/* Full scale selection */
cparata	0:b189540a70e2	910	if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, LSM6DSL_ACC_GYRO_FS_XL_2g ) == MEMS_ERROR )
cparata	0:b189540a70e2	911	{
cparata	0:b189540a70e2	912	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	913	}
cparata	0:b189540a70e2	914
cparata	0:b189540a70e2	915	/* FF_DUR setting */
cparata	0:b189540a70e2	916	if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x06 ) == MEMS_ERROR )
cparata	0:b189540a70e2	917	{
cparata	0:b189540a70e2	918	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	919	}
cparata	0:b189540a70e2	920
cparata	0:b189540a70e2	921	/* WAKE_DUR setting */
cparata	0:b189540a70e2	922	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:b189540a70e2	923	{
cparata	0:b189540a70e2	924	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	925	}
cparata	0:b189540a70e2	926
cparata	0:b189540a70e2	927	/* TIMER_HR setting */
cparata	0:b189540a70e2	928	if ( LSM6DSL_ACC_GYRO_W_TIMER_HR( (void *)this, LSM6DSL_ACC_GYRO_TIMER_HR_6_4ms ) == MEMS_ERROR )
cparata	0:b189540a70e2	929	{
cparata	0:b189540a70e2	930	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	931	}
cparata	0:b189540a70e2	932
cparata	0:b189540a70e2	933	/* SLEEP_DUR setting */
cparata	0:b189540a70e2	934	if ( LSM6DSL_ACC_GYRO_W_SLEEP_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:b189540a70e2	935	{
cparata	0:b189540a70e2	936	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	937	}
cparata	0:b189540a70e2	938
cparata	0:b189540a70e2	939	/* FF_THS setting */
cparata	0:b189540a70e2	940	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_312mg ) == MEMS_ERROR )
cparata	0:b189540a70e2	941	{
cparata	0:b189540a70e2	942	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	943	}
cparata	0:b189540a70e2	944
cparata	0:b189540a70e2	945	/* Enable basic Interrupts */
cparata	0:b189540a70e2	946	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	947	{
cparata	0:b189540a70e2	948	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	949	}
cparata	0:b189540a70e2	950
cparata	0:b189540a70e2	951	/* INT1_FF setting */
cparata	0:b189540a70e2	952	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	953	{
cparata	0:b189540a70e2	954	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	955	}
cparata	0:b189540a70e2	956
cparata	0:b189540a70e2	957	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	958	}
cparata	0:b189540a70e2	959
cparata	0:b189540a70e2	960	/**
cparata	0:b189540a70e2	961	* @brief Disable free fall detection
cparata	0:b189540a70e2	962	* @param None
cparata	0:b189540a70e2	963	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	964	*/
cparata	0:b189540a70e2	965	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Free_Fall_Detection(void)
cparata	0:b189540a70e2	966	{
cparata	0:b189540a70e2	967	/* INT1_FF setting */
cparata	0:b189540a70e2	968	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	969	{
cparata	0:b189540a70e2	970	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	971	}
cparata	0:b189540a70e2	972
cparata	0:b189540a70e2	973	/* Disable basic Interrupts */
cparata	0:b189540a70e2	974	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	975	{
cparata	0:b189540a70e2	976	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	977	}
cparata	0:b189540a70e2	978
cparata	0:b189540a70e2	979	/* FF_DUR setting */
cparata	0:b189540a70e2	980	if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:b189540a70e2	981	{
cparata	0:b189540a70e2	982	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	983	}
cparata	0:b189540a70e2	984
cparata	0:b189540a70e2	985	/* FF_THS setting */
cparata	0:b189540a70e2	986	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_156mg ) == MEMS_ERROR )
cparata	0:b189540a70e2	987	{
cparata	0:b189540a70e2	988	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	989	}
cparata	0:b189540a70e2	990
cparata	0:b189540a70e2	991	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	992	}
cparata	0:b189540a70e2	993
cparata	0:b189540a70e2	994	/**
cparata	0:b189540a70e2	995	* @brief Get status of free fall detection
cparata	0:b189540a70e2	996	* @param status the pointer where the status of free fall detection is stored; 0 means no detection, 1 means detection happened
cparata	0:b189540a70e2	997	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	998	*/
cparata	0:b189540a70e2	999	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Free_Fall_Detection(uint8_t *status)
cparata	0:b189540a70e2	1000	{
cparata	0:b189540a70e2	1001	LSM6DSL_ACC_GYRO_FF_EV_STATUS_t free_fall_status;
cparata	0:b189540a70e2	1002
cparata	0:b189540a70e2	1003	if ( LSM6DSL_ACC_GYRO_R_FF_EV_STATUS( (void *)this, &free_fall_status ) == MEMS_ERROR )
cparata	0:b189540a70e2	1004	{
cparata	0:b189540a70e2	1005	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1006	}
cparata	0:b189540a70e2	1007
cparata	0:b189540a70e2	1008	switch( free_fall_status )
cparata	0:b189540a70e2	1009	{
cparata	0:b189540a70e2	1010	case LSM6DSL_ACC_GYRO_FF_EV_STATUS_DETECTED:
cparata	0:b189540a70e2	1011	*status = 1;
cparata	0:b189540a70e2	1012	break;
cparata	0:b189540a70e2	1013	case LSM6DSL_ACC_GYRO_FF_EV_STATUS_NOT_DETECTED:
cparata	0:b189540a70e2	1014	*status = 0;
cparata	0:b189540a70e2	1015	break;
cparata	0:b189540a70e2	1016	default:
cparata	0:b189540a70e2	1017	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1018	}
cparata	0:b189540a70e2	1019
cparata	0:b189540a70e2	1020	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1021	}
cparata	0:b189540a70e2	1022
cparata	0:b189540a70e2	1023	/**
cparata	0:b189540a70e2	1024	* @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1025	* @param thr the threshold to be set
cparata	0:b189540a70e2	1026	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1027	*/
cparata	0:b189540a70e2	1028	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Free_Fall_Threshold(uint8_t thr)
cparata	0:b189540a70e2	1029	{
cparata	0:b189540a70e2	1030
cparata	0:b189540a70e2	1031	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR )
cparata	0:b189540a70e2	1032	{
cparata	0:b189540a70e2	1033	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1034	}
cparata	0:b189540a70e2	1035
cparata	0:b189540a70e2	1036	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1037	}
cparata	0:b189540a70e2	1038
cparata	0:b189540a70e2	1039	/**
cparata	0:b189540a70e2	1040	* @brief Enable the pedometer feature for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1041	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:b189540a70e2	1042	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1043	*/
cparata	0:b189540a70e2	1044	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Pedometer(void)
cparata	0:b189540a70e2	1045	{
cparata	0:b189540a70e2	1046	/* Output Data Rate selection */
cparata	0:b189540a70e2	1047	if( Set_X_ODR(26.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1048	{
cparata	0:b189540a70e2	1049	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1050	}
cparata	0:b189540a70e2	1051
cparata	0:b189540a70e2	1052	/* Full scale selection. */
cparata	0:b189540a70e2	1053	if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1054	{
cparata	0:b189540a70e2	1055	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1056	}
cparata	0:b189540a70e2	1057
cparata	0:b189540a70e2	1058	/* Set pedometer threshold. */
cparata	0:b189540a70e2	1059	if ( Set_Pedometer_Threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1060	{
cparata	0:b189540a70e2	1061	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1062	}
cparata	0:b189540a70e2	1063
cparata	0:b189540a70e2	1064	/* Enable embedded functionalities. */
cparata	0:b189540a70e2	1065	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1066	{
cparata	0:b189540a70e2	1067	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1068	}
cparata	0:b189540a70e2	1069
cparata	0:b189540a70e2	1070	/* Enable pedometer algorithm. */
cparata	0:b189540a70e2	1071	if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1072	{
cparata	0:b189540a70e2	1073	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1074	}
cparata	0:b189540a70e2	1075
cparata	0:b189540a70e2	1076	/* Enable pedometer on INT1. */
cparata	0:b189540a70e2	1077	if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1078	{
cparata	0:b189540a70e2	1079	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1080	}
cparata	0:b189540a70e2	1081
cparata	0:b189540a70e2	1082	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1083	}
cparata	0:b189540a70e2	1084
cparata	0:b189540a70e2	1085	/**
cparata	0:b189540a70e2	1086	* @brief Disable the pedometer feature for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1087	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1088	*/
cparata	0:b189540a70e2	1089	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Pedometer(void)
cparata	0:b189540a70e2	1090	{
cparata	0:b189540a70e2	1091	/* Disable pedometer on INT1. */
cparata	0:b189540a70e2	1092	if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1093	{
cparata	0:b189540a70e2	1094	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1095	}
cparata	0:b189540a70e2	1096
cparata	0:b189540a70e2	1097	/* Disable pedometer algorithm. */
cparata	0:b189540a70e2	1098	if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1099	{
cparata	0:b189540a70e2	1100	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1101	}
cparata	0:b189540a70e2	1102
cparata	0:b189540a70e2	1103	/* Disable embedded functionalities. */
cparata	0:b189540a70e2	1104	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1105	{
cparata	0:b189540a70e2	1106	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1107	}
cparata	0:b189540a70e2	1108
cparata	0:b189540a70e2	1109	/* Reset pedometer threshold. */
cparata	0:b189540a70e2	1110	if ( Set_Pedometer_Threshold(0x0) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1111	{
cparata	0:b189540a70e2	1112	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1113	}
cparata	0:b189540a70e2	1114
cparata	0:b189540a70e2	1115	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1116	}
cparata	0:b189540a70e2	1117
cparata	0:b189540a70e2	1118	/**
cparata	0:b189540a70e2	1119	* @brief Get the pedometer status for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1120	* @param status the pointer to the pedometer status: 0 means no step detected, 1 means step detected
cparata	0:b189540a70e2	1121	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1122	*/
cparata	0:b189540a70e2	1123	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Pedometer(uint8_t *status)
cparata	0:b189540a70e2	1124	{
cparata	0:b189540a70e2	1125	LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_t pedometer_status;
cparata	0:b189540a70e2	1126
cparata	0:b189540a70e2	1127	if ( LSM6DSL_ACC_GYRO_R_PEDO_EV_STATUS( (void *)this, &pedometer_status ) == MEMS_ERROR )
cparata	0:b189540a70e2	1128	{
cparata	0:b189540a70e2	1129	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1130	}
cparata	0:b189540a70e2	1131
cparata	0:b189540a70e2	1132	switch( pedometer_status )
cparata	0:b189540a70e2	1133	{
cparata	0:b189540a70e2	1134	case LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_DETECTED:
cparata	0:b189540a70e2	1135	*status = 1;
cparata	0:b189540a70e2	1136	break;
cparata	0:b189540a70e2	1137	case LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_NOT_DETECTED:
cparata	0:b189540a70e2	1138	*status = 0;
cparata	0:b189540a70e2	1139	break;
cparata	0:b189540a70e2	1140	default:
cparata	0:b189540a70e2	1141	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1142	}
cparata	0:b189540a70e2	1143
cparata	0:b189540a70e2	1144	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1145	}
cparata	0:b189540a70e2	1146
cparata	0:b189540a70e2	1147	/**
cparata	0:b189540a70e2	1148	* @brief Get the step counter for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1149	* @param step_count the pointer to the step counter
cparata	0:b189540a70e2	1150	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1151	*/
cparata	0:b189540a70e2	1152	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Step_Counter(uint16_t *step_count)
cparata	0:b189540a70e2	1153	{
cparata	0:b189540a70e2	1154	if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void )this, ( uint8_t )step_count ) == MEMS_ERROR )
cparata	0:b189540a70e2	1155	{
cparata	0:b189540a70e2	1156	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1157	}
cparata	0:b189540a70e2	1158
cparata	0:b189540a70e2	1159	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1160	}
cparata	0:b189540a70e2	1161
cparata	0:b189540a70e2	1162	/**
cparata	0:b189540a70e2	1163	* @brief Reset of the step counter for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1164	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1165	*/
cparata	0:b189540a70e2	1166	LSM6DSLStatusTypeDef LSM6DSLSensor::Reset_Step_Counter(void)
cparata	0:b189540a70e2	1167	{
cparata	0:b189540a70e2	1168	if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1169	{
cparata	0:b189540a70e2	1170	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1171	}
cparata	0:b189540a70e2	1172
cparata	0:b189540a70e2	1173	wait_ms(10);
cparata	0:b189540a70e2	1174
cparata	0:b189540a70e2	1175	if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1176	{
cparata	0:b189540a70e2	1177	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1178	}
cparata	0:b189540a70e2	1179
cparata	0:b189540a70e2	1180	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1181	}
cparata	0:b189540a70e2	1182
cparata	0:b189540a70e2	1183	/**
cparata	0:b189540a70e2	1184	* @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1185	* @param thr the threshold to be set
cparata	0:b189540a70e2	1186	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1187	*/
cparata	0:b189540a70e2	1188	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Pedometer_Threshold(uint8_t thr)
cparata	0:b189540a70e2	1189	{
cparata	0:b189540a70e2	1190	if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
cparata	0:b189540a70e2	1191	{
cparata	0:b189540a70e2	1192	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1193	}
cparata	0:b189540a70e2	1194
cparata	0:b189540a70e2	1195	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1196	}
cparata	0:b189540a70e2	1197
cparata	0:b189540a70e2	1198	/**
cparata	0:b189540a70e2	1199	* @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1200	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:b189540a70e2	1201	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1202	*/
cparata	0:b189540a70e2	1203	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Tilt_Detection(void)
cparata	0:b189540a70e2	1204	{
cparata	0:b189540a70e2	1205	/* Output Data Rate selection */
cparata	0:b189540a70e2	1206	if( Set_X_ODR(26.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1207	{
cparata	0:b189540a70e2	1208	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1209	}
cparata	0:b189540a70e2	1210
cparata	0:b189540a70e2	1211	/* Full scale selection. */
cparata	0:b189540a70e2	1212	if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1213	{
cparata	0:b189540a70e2	1214	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1215	}
cparata	0:b189540a70e2	1216
cparata	0:b189540a70e2	1217	/* Enable embedded functionalities */
cparata	0:b189540a70e2	1218	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1219	{
cparata	0:b189540a70e2	1220	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1221	}
cparata	0:b189540a70e2	1222
cparata	0:b189540a70e2	1223	/* Enable tilt calculation. */
cparata	0:b189540a70e2	1224	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1225	{
cparata	0:b189540a70e2	1226	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1227	}
cparata	0:b189540a70e2	1228
cparata	0:b189540a70e2	1229	/* Enable tilt event on INT1. */
cparata	0:b189540a70e2	1230	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1231	{
cparata	0:b189540a70e2	1232	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1233	}
cparata	0:b189540a70e2	1234
cparata	0:b189540a70e2	1235	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1236	}
cparata	0:b189540a70e2	1237
cparata	0:b189540a70e2	1238	/**
cparata	0:b189540a70e2	1239	* @brief Disable the tilt detection for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1240	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1241	*/
cparata	0:b189540a70e2	1242	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Tilt_Detection(void)
cparata	0:b189540a70e2	1243	{
cparata	0:b189540a70e2	1244	/* Disable tilt event on INT1. */
cparata	0:b189540a70e2	1245	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_DISABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1246	{
cparata	0:b189540a70e2	1247	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1248	}
cparata	0:b189540a70e2	1249
cparata	0:b189540a70e2	1250	/* Disable tilt calculation. */
cparata	0:b189540a70e2	1251	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1252	{
cparata	0:b189540a70e2	1253	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1254	}
cparata	0:b189540a70e2	1255
cparata	0:b189540a70e2	1256	/* Disable embedded functionalities */
cparata	0:b189540a70e2	1257	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1258	{
cparata	0:b189540a70e2	1259	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1260	}
cparata	0:b189540a70e2	1261
cparata	0:b189540a70e2	1262	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1263	}
cparata	0:b189540a70e2	1264
cparata	0:b189540a70e2	1265	/**
cparata	0:b189540a70e2	1266	* @brief Get the tilt detection status for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1267	* @param status the pointer to the tilt detection status: 0 means no tilt detected, 1 means tilt detected
cparata	0:b189540a70e2	1268	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1269	*/
cparata	0:b189540a70e2	1270	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Tilt_Detection(uint8_t *status)
cparata	0:b189540a70e2	1271	{
cparata	0:b189540a70e2	1272	LSM6DSL_ACC_GYRO_TILT_EV_STATUS_t tilt_status;
cparata	0:b189540a70e2	1273
cparata	0:b189540a70e2	1274	if ( LSM6DSL_ACC_GYRO_R_TILT_EV_STATUS( (void *)this, &tilt_status ) == MEMS_ERROR )
cparata	0:b189540a70e2	1275	{
cparata	0:b189540a70e2	1276	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1277	}
cparata	0:b189540a70e2	1278
cparata	0:b189540a70e2	1279	switch( tilt_status )
cparata	0:b189540a70e2	1280	{
cparata	0:b189540a70e2	1281	case LSM6DSL_ACC_GYRO_TILT_EV_STATUS_DETECTED:
cparata	0:b189540a70e2	1282	*status = 1;
cparata	0:b189540a70e2	1283	break;
cparata	0:b189540a70e2	1284	case LSM6DSL_ACC_GYRO_TILT_EV_STATUS_NOT_DETECTED:
cparata	0:b189540a70e2	1285	*status = 0;
cparata	0:b189540a70e2	1286	break;
cparata	0:b189540a70e2	1287	default:
cparata	0:b189540a70e2	1288	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1289	}
cparata	0:b189540a70e2	1290
cparata	0:b189540a70e2	1291	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1292	}
cparata	0:b189540a70e2	1293
cparata	0:b189540a70e2	1294	/**
cparata	0:b189540a70e2	1295	* @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1296	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:b189540a70e2	1297	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1298	*/
cparata	0:b189540a70e2	1299	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Wake_Up_Detection(void)
cparata	0:b189540a70e2	1300	{
cparata	0:b189540a70e2	1301	/* Output Data Rate selection */
cparata	0:b189540a70e2	1302	if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1303	{
cparata	0:b189540a70e2	1304	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1305	}
cparata	0:b189540a70e2	1306
cparata	0:b189540a70e2	1307	/* Full scale selection. */
cparata	0:b189540a70e2	1308	if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1309	{
cparata	0:b189540a70e2	1310	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1311	}
cparata	0:b189540a70e2	1312
cparata	0:b189540a70e2	1313	/* WAKE_DUR setting */
cparata	0:b189540a70e2	1314	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:b189540a70e2	1315	{
cparata	0:b189540a70e2	1316	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1317	}
cparata	0:b189540a70e2	1318
cparata	0:b189540a70e2	1319	/* Set wake up threshold. */
cparata	0:b189540a70e2	1320	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
cparata	0:b189540a70e2	1321	{
cparata	0:b189540a70e2	1322	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1323	}
cparata	0:b189540a70e2	1324
cparata	0:b189540a70e2	1325	/* Enable basic Interrupts */
cparata	0:b189540a70e2	1326	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1327	{
cparata	0:b189540a70e2	1328	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1329	}
cparata	0:b189540a70e2	1330
cparata	0:b189540a70e2	1331	/* INT1_WU setting */
cparata	0:b189540a70e2	1332	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_ENABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1333	{
cparata	0:b189540a70e2	1334	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1335	}
cparata	0:b189540a70e2	1336
cparata	0:b189540a70e2	1337	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1338	}
cparata	0:b189540a70e2	1339
cparata	0:b189540a70e2	1340	/**
cparata	0:b189540a70e2	1341	* @brief Disable the wake up detection for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1342	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1343	*/
cparata	0:b189540a70e2	1344	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Wake_Up_Detection(void)
cparata	0:b189540a70e2	1345	{
cparata	0:b189540a70e2	1346	/* INT1_WU setting */
cparata	0:b189540a70e2	1347	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_DISABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1348	{
cparata	0:b189540a70e2	1349	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1350	}
cparata	0:b189540a70e2	1351
cparata	0:b189540a70e2	1352	/* Disable basic Interrupts */
cparata	0:b189540a70e2	1353	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1354	{
cparata	0:b189540a70e2	1355	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1356	}
cparata	0:b189540a70e2	1357
cparata	0:b189540a70e2	1358	/* WU_DUR setting */
cparata	0:b189540a70e2	1359	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:b189540a70e2	1360	{
cparata	0:b189540a70e2	1361	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1362	}
cparata	0:b189540a70e2	1363
cparata	0:b189540a70e2	1364	/* WU_THS setting */
cparata	0:b189540a70e2	1365	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:b189540a70e2	1366	{
cparata	0:b189540a70e2	1367	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1368	}
cparata	0:b189540a70e2	1369
cparata	0:b189540a70e2	1370	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1371	}
cparata	0:b189540a70e2	1372
cparata	0:b189540a70e2	1373	/**
cparata	0:b189540a70e2	1374	* @brief Get the status of the wake up detection for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1375	* @param status the pointer to the status of the wake up detection: 0 means no detection, 1 means detection happened
cparata	0:b189540a70e2	1376	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1377	*/
cparata	0:b189540a70e2	1378	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Wake_Up_Detection(uint8_t *status)
cparata	0:b189540a70e2	1379	{
cparata	0:b189540a70e2	1380	LSM6DSL_ACC_GYRO_WU_EV_STATUS_t wake_up_status;
cparata	0:b189540a70e2	1381
cparata	0:b189540a70e2	1382	if ( LSM6DSL_ACC_GYRO_R_WU_EV_STATUS( (void *)this, &wake_up_status ) == MEMS_ERROR )
cparata	0:b189540a70e2	1383	{
cparata	0:b189540a70e2	1384	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1385	}
cparata	0:b189540a70e2	1386
cparata	0:b189540a70e2	1387	switch( wake_up_status )
cparata	0:b189540a70e2	1388	{
cparata	0:b189540a70e2	1389	case LSM6DSL_ACC_GYRO_WU_EV_STATUS_DETECTED:
cparata	0:b189540a70e2	1390	*status = 1;
cparata	0:b189540a70e2	1391	break;
cparata	0:b189540a70e2	1392	case LSM6DSL_ACC_GYRO_WU_EV_STATUS_NOT_DETECTED:
cparata	0:b189540a70e2	1393	*status = 0;
cparata	0:b189540a70e2	1394	break;
cparata	0:b189540a70e2	1395	default:
cparata	0:b189540a70e2	1396	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1397	}
cparata	0:b189540a70e2	1398
cparata	0:b189540a70e2	1399	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1400	}
cparata	0:b189540a70e2	1401
cparata	0:b189540a70e2	1402	/**
cparata	0:b189540a70e2	1403	* @brief Set the wake up threshold for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1404	* @param thr the threshold to be set
cparata	0:b189540a70e2	1405	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1406	*/
cparata	0:b189540a70e2	1407	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Wake_Up_Threshold(uint8_t thr)
cparata	0:b189540a70e2	1408	{
cparata	0:b189540a70e2	1409	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
cparata	0:b189540a70e2	1410	{
cparata	0:b189540a70e2	1411	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1412	}
cparata	0:b189540a70e2	1413
cparata	0:b189540a70e2	1414	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1415	}
cparata	0:b189540a70e2	1416
cparata	0:b189540a70e2	1417	/**
cparata	0:b189540a70e2	1418	* @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1419	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:b189540a70e2	1420	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1421	*/
cparata	0:b189540a70e2	1422	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Single_Tap_Detection(void)
cparata	0:b189540a70e2	1423	{
cparata	0:b189540a70e2	1424	/* Output Data Rate selection */
cparata	0:b189540a70e2	1425	if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1426	{
cparata	0:b189540a70e2	1427	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1428	}
cparata	0:b189540a70e2	1429
cparata	0:b189540a70e2	1430	/* Full scale selection. */
cparata	0:b189540a70e2	1431	if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1432	{
cparata	0:b189540a70e2	1433	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1434	}
cparata	0:b189540a70e2	1435
cparata	0:b189540a70e2	1436	/* Enable X direction in tap recognition. */
cparata	0:b189540a70e2	1437	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1438	{
cparata	0:b189540a70e2	1439	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1440	}
cparata	0:b189540a70e2	1441
cparata	0:b189540a70e2	1442	/* Enable Y direction in tap recognition. */
cparata	0:b189540a70e2	1443	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1444	{
cparata	0:b189540a70e2	1445	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1446	}
cparata	0:b189540a70e2	1447
cparata	0:b189540a70e2	1448	/* Enable Z direction in tap recognition. */
cparata	0:b189540a70e2	1449	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1450	{
cparata	0:b189540a70e2	1451	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1452	}
cparata	0:b189540a70e2	1453
cparata	0:b189540a70e2	1454	/* Set tap threshold. */
cparata	0:b189540a70e2	1455	if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1456	{
cparata	0:b189540a70e2	1457	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1458	}
cparata	0:b189540a70e2	1459
cparata	0:b189540a70e2	1460	/* Set tap shock time window. */
cparata	0:b189540a70e2	1461	if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1462	{
cparata	0:b189540a70e2	1463	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1464	}
cparata	0:b189540a70e2	1465
cparata	0:b189540a70e2	1466	/* Set tap quiet time window. */
cparata	0:b189540a70e2	1467	if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1468	{
cparata	0:b189540a70e2	1469	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1470	}
cparata	0:b189540a70e2	1471
cparata	0:b189540a70e2	1472	/* _NOTE_: Tap duration time window - don't care for single tap. */
cparata	0:b189540a70e2	1473
cparata	0:b189540a70e2	1474	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata	0:b189540a70e2	1475
cparata	0:b189540a70e2	1476	/* Enable basic Interrupts */
cparata	0:b189540a70e2	1477	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1478	{
cparata	0:b189540a70e2	1479	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1480	}
cparata	0:b189540a70e2	1481
cparata	0:b189540a70e2	1482	/* Enable single tap interrupt on INT1 pin. */
cparata	0:b189540a70e2	1483	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1484	{
cparata	0:b189540a70e2	1485	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1486	}
cparata	0:b189540a70e2	1487
cparata	0:b189540a70e2	1488	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1489	}
cparata	0:b189540a70e2	1490
cparata	0:b189540a70e2	1491	/**
cparata	0:b189540a70e2	1492	* @brief Disable the single tap detection for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1493	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1494	*/
cparata	0:b189540a70e2	1495	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Single_Tap_Detection(void)
cparata	0:b189540a70e2	1496	{
cparata	0:b189540a70e2	1497	/* Disable single tap interrupt on INT1 pin. */
cparata	0:b189540a70e2	1498	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1499	{
cparata	0:b189540a70e2	1500	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1501	}
cparata	0:b189540a70e2	1502
cparata	0:b189540a70e2	1503	/* Disable basic Interrupts */
cparata	0:b189540a70e2	1504	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1505	{
cparata	0:b189540a70e2	1506	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1507	}
cparata	0:b189540a70e2	1508
cparata	0:b189540a70e2	1509	/* Reset tap threshold. */
cparata	0:b189540a70e2	1510	if ( Set_Tap_Threshold( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1511	{
cparata	0:b189540a70e2	1512	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1513	}
cparata	0:b189540a70e2	1514
cparata	0:b189540a70e2	1515	/* Reset tap shock time window. */
cparata	0:b189540a70e2	1516	if ( Set_Tap_Shock_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1517	{
cparata	0:b189540a70e2	1518	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1519	}
cparata	0:b189540a70e2	1520
cparata	0:b189540a70e2	1521	/* Reset tap quiet time window. */
cparata	0:b189540a70e2	1522	if ( Set_Tap_Quiet_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1523	{
cparata	0:b189540a70e2	1524	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1525	}
cparata	0:b189540a70e2	1526
cparata	0:b189540a70e2	1527	/* _NOTE_: Tap duration time window - don't care for single tap. */
cparata	0:b189540a70e2	1528
cparata	0:b189540a70e2	1529	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata	0:b189540a70e2	1530
cparata	0:b189540a70e2	1531	/* Disable Z direction in tap recognition. */
cparata	0:b189540a70e2	1532	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1533	{
cparata	0:b189540a70e2	1534	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1535	}
cparata	0:b189540a70e2	1536
cparata	0:b189540a70e2	1537	/* Disable Y direction in tap recognition. */
cparata	0:b189540a70e2	1538	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1539	{
cparata	0:b189540a70e2	1540	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1541	}
cparata	0:b189540a70e2	1542
cparata	0:b189540a70e2	1543	/* Disable X direction in tap recognition. */
cparata	0:b189540a70e2	1544	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1545	{
cparata	0:b189540a70e2	1546	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1547	}
cparata	0:b189540a70e2	1548
cparata	0:b189540a70e2	1549	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1550	}
cparata	0:b189540a70e2	1551
cparata	0:b189540a70e2	1552	/**
cparata	0:b189540a70e2	1553	* @brief Get the single tap detection status for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1554	* @param status the pointer to the single tap detection status: 0 means no single tap detected, 1 means single tap detected
cparata	0:b189540a70e2	1555	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1556	*/
cparata	0:b189540a70e2	1557	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Single_Tap_Detection(uint8_t *status)
cparata	0:b189540a70e2	1558	{
cparata	0:b189540a70e2	1559	LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_t tap_status;
cparata	0:b189540a70e2	1560
cparata	0:b189540a70e2	1561	if ( LSM6DSL_ACC_GYRO_R_SINGLE_TAP_EV_STATUS( (void *)this, &tap_status ) == MEMS_ERROR )
cparata	0:b189540a70e2	1562	{
cparata	0:b189540a70e2	1563	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1564	}
cparata	0:b189540a70e2	1565
cparata	0:b189540a70e2	1566	switch( tap_status )
cparata	0:b189540a70e2	1567	{
cparata	0:b189540a70e2	1568	case LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_DETECTED:
cparata	0:b189540a70e2	1569	*status = 1;
cparata	0:b189540a70e2	1570	break;
cparata	0:b189540a70e2	1571
cparata	0:b189540a70e2	1572	case LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_NOT_DETECTED:
cparata	0:b189540a70e2	1573	*status = 0;
cparata	0:b189540a70e2	1574	break;
cparata	0:b189540a70e2	1575
cparata	0:b189540a70e2	1576	default:
cparata	0:b189540a70e2	1577	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1578	}
cparata	0:b189540a70e2	1579
cparata	0:b189540a70e2	1580	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1581	}
cparata	0:b189540a70e2	1582
cparata	0:b189540a70e2	1583	/**
cparata	0:b189540a70e2	1584	* @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1585	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:b189540a70e2	1586	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1587	*/
cparata	0:b189540a70e2	1588	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Double_Tap_Detection(void)
cparata	0:b189540a70e2	1589	{
cparata	0:b189540a70e2	1590	/* Output Data Rate selection */
cparata	0:b189540a70e2	1591	if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1592	{
cparata	0:b189540a70e2	1593	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1594	}
cparata	0:b189540a70e2	1595
cparata	0:b189540a70e2	1596	/* Full scale selection. */
cparata	0:b189540a70e2	1597	if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1598	{
cparata	0:b189540a70e2	1599	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1600	}
cparata	0:b189540a70e2	1601
cparata	0:b189540a70e2	1602	/* Enable X direction in tap recognition. */
cparata	0:b189540a70e2	1603	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1604	{
cparata	0:b189540a70e2	1605	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1606	}
cparata	0:b189540a70e2	1607
cparata	0:b189540a70e2	1608	/* Enable Y direction in tap recognition. */
cparata	0:b189540a70e2	1609	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1610	{
cparata	0:b189540a70e2	1611	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1612	}
cparata	0:b189540a70e2	1613
cparata	0:b189540a70e2	1614	/* Enable Z direction in tap recognition. */
cparata	0:b189540a70e2	1615	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1616	{
cparata	0:b189540a70e2	1617	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1618	}
cparata	0:b189540a70e2	1619
cparata	0:b189540a70e2	1620	/* Set tap threshold. */
cparata	0:b189540a70e2	1621	if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1622	{
cparata	0:b189540a70e2	1623	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1624	}
cparata	0:b189540a70e2	1625
cparata	0:b189540a70e2	1626	/* Set tap shock time window. */
cparata	0:b189540a70e2	1627	if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1628	{
cparata	0:b189540a70e2	1629	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1630	}
cparata	0:b189540a70e2	1631
cparata	0:b189540a70e2	1632	/* Set tap quiet time window. */
cparata	0:b189540a70e2	1633	if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1634	{
cparata	0:b189540a70e2	1635	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1636	}
cparata	0:b189540a70e2	1637
cparata	0:b189540a70e2	1638	/* Set tap duration time window. */
cparata	0:b189540a70e2	1639	if ( Set_Tap_Duration_Time( LSM6DSL_TAP_DURATION_TIME_MID ) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1640	{
cparata	0:b189540a70e2	1641	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1642	}
cparata	0:b189540a70e2	1643
cparata	0:b189540a70e2	1644	/* Single and double tap enabled. */
cparata	0:b189540a70e2	1645	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
cparata	0:b189540a70e2	1646	{
cparata	0:b189540a70e2	1647	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1648	}
cparata	0:b189540a70e2	1649
cparata	0:b189540a70e2	1650	/* Enable basic Interrupts */
cparata	0:b189540a70e2	1651	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1652	{
cparata	0:b189540a70e2	1653	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1654	}
cparata	0:b189540a70e2	1655
cparata	0:b189540a70e2	1656	/* Enable double tap interrupt on INT1 pin. */
cparata	0:b189540a70e2	1657	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1658	{
cparata	0:b189540a70e2	1659	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1660	}
cparata	0:b189540a70e2	1661
cparata	0:b189540a70e2	1662	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1663	}
cparata	0:b189540a70e2	1664
cparata	0:b189540a70e2	1665	/**
cparata	0:b189540a70e2	1666	* @brief Disable the double tap detection for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1667	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1668	*/
cparata	0:b189540a70e2	1669	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Double_Tap_Detection(void)
cparata	0:b189540a70e2	1670	{
cparata	0:b189540a70e2	1671	/* Disable double tap interrupt on INT1 pin. */
cparata	0:b189540a70e2	1672	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1673	{
cparata	0:b189540a70e2	1674	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1675	}
cparata	0:b189540a70e2	1676
cparata	0:b189540a70e2	1677	/* Disable basic Interrupts */
cparata	0:b189540a70e2	1678	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1679	{
cparata	0:b189540a70e2	1680	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1681	}
cparata	0:b189540a70e2	1682
cparata	0:b189540a70e2	1683	/* Reset tap threshold. */
cparata	0:b189540a70e2	1684	if ( Set_Tap_Threshold( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1685	{
cparata	0:b189540a70e2	1686	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1687	}
cparata	0:b189540a70e2	1688
cparata	0:b189540a70e2	1689	/* Reset tap shock time window. */
cparata	0:b189540a70e2	1690	if ( Set_Tap_Shock_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1691	{
cparata	0:b189540a70e2	1692	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1693	}
cparata	0:b189540a70e2	1694
cparata	0:b189540a70e2	1695	/* Reset tap quiet time window. */
cparata	0:b189540a70e2	1696	if ( Set_Tap_Quiet_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1697	{
cparata	0:b189540a70e2	1698	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1699	}
cparata	0:b189540a70e2	1700
cparata	0:b189540a70e2	1701	/* Reset tap duration time window. */
cparata	0:b189540a70e2	1702	if ( Set_Tap_Duration_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1703	{
cparata	0:b189540a70e2	1704	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1705	}
cparata	0:b189540a70e2	1706
cparata	0:b189540a70e2	1707	/* Only single tap enabled. */
cparata	0:b189540a70e2	1708	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
cparata	0:b189540a70e2	1709	{
cparata	0:b189540a70e2	1710	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1711	}
cparata	0:b189540a70e2	1712
cparata	0:b189540a70e2	1713	/* Disable Z direction in tap recognition. */
cparata	0:b189540a70e2	1714	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1715	{
cparata	0:b189540a70e2	1716	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1717	}
cparata	0:b189540a70e2	1718
cparata	0:b189540a70e2	1719	/* Disable Y direction in tap recognition. */
cparata	0:b189540a70e2	1720	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1721	{
cparata	0:b189540a70e2	1722	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1723	}
cparata	0:b189540a70e2	1724
cparata	0:b189540a70e2	1725	/* Disable X direction in tap recognition. */
cparata	0:b189540a70e2	1726	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1727	{
cparata	0:b189540a70e2	1728	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1729	}
cparata	0:b189540a70e2	1730
cparata	0:b189540a70e2	1731	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1732	}
cparata	0:b189540a70e2	1733
cparata	0:b189540a70e2	1734	/**
cparata	0:b189540a70e2	1735	* @brief Get the double tap detection status for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1736	* @param status the pointer to the double tap detection status: 0 means no double tap detected, 1 means double tap detected
cparata	0:b189540a70e2	1737	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1738	*/
cparata	0:b189540a70e2	1739	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Double_Tap_Detection(uint8_t *status)
cparata	0:b189540a70e2	1740	{
cparata	0:b189540a70e2	1741	LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_t tap_status;
cparata	0:b189540a70e2	1742
cparata	0:b189540a70e2	1743	if ( LSM6DSL_ACC_GYRO_R_DOUBLE_TAP_EV_STATUS( (void *)this, &tap_status ) == MEMS_ERROR )
cparata	0:b189540a70e2	1744	{
cparata	0:b189540a70e2	1745	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1746	}
cparata	0:b189540a70e2	1747
cparata	0:b189540a70e2	1748	switch( tap_status )
cparata	0:b189540a70e2	1749	{
cparata	0:b189540a70e2	1750	case LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_DETECTED:
cparata	0:b189540a70e2	1751	*status = 1;
cparata	0:b189540a70e2	1752	break;
cparata	0:b189540a70e2	1753
cparata	0:b189540a70e2	1754	case LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_NOT_DETECTED:
cparata	0:b189540a70e2	1755	*status = 0;
cparata	0:b189540a70e2	1756	break;
cparata	0:b189540a70e2	1757
cparata	0:b189540a70e2	1758	default:
cparata	0:b189540a70e2	1759	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1760	}
cparata	0:b189540a70e2	1761
cparata	0:b189540a70e2	1762	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1763	}
cparata	0:b189540a70e2	1764
cparata	0:b189540a70e2	1765	/**
cparata	0:b189540a70e2	1766	* @brief Set the tap threshold for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1767	* @param thr the threshold to be set
cparata	0:b189540a70e2	1768	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1769	*/
cparata	0:b189540a70e2	1770	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Threshold(uint8_t thr)
cparata	0:b189540a70e2	1771	{
cparata	0:b189540a70e2	1772	if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
cparata	0:b189540a70e2	1773	{
cparata	0:b189540a70e2	1774	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1775	}
cparata	0:b189540a70e2	1776
cparata	0:b189540a70e2	1777	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1778	}
cparata	0:b189540a70e2	1779
cparata	0:b189540a70e2	1780	/**
cparata	0:b189540a70e2	1781	* @brief Set the tap shock time window for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1782	* @param time the shock time window to be set
cparata	0:b189540a70e2	1783	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1784	*/
cparata	0:b189540a70e2	1785	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Shock_Time(uint8_t time)
cparata	0:b189540a70e2	1786	{
cparata	0:b189540a70e2	1787	if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
cparata	0:b189540a70e2	1788	{
cparata	0:b189540a70e2	1789	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1790	}
cparata	0:b189540a70e2	1791
cparata	0:b189540a70e2	1792	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1793	}
cparata	0:b189540a70e2	1794
cparata	0:b189540a70e2	1795	/**
cparata	0:b189540a70e2	1796	* @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1797	* @param time the quiet time window to be set
cparata	0:b189540a70e2	1798	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1799	*/
cparata	0:b189540a70e2	1800	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Quiet_Time(uint8_t time)
cparata	0:b189540a70e2	1801	{
cparata	0:b189540a70e2	1802	if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
cparata	0:b189540a70e2	1803	{
cparata	0:b189540a70e2	1804	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1805	}
cparata	0:b189540a70e2	1806
cparata	0:b189540a70e2	1807	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1808	}
cparata	0:b189540a70e2	1809
cparata	0:b189540a70e2	1810	/**
cparata	0:b189540a70e2	1811	* @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1812	* @param time the duration of the time window to be set
cparata	0:b189540a70e2	1813	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1814	*/
cparata	0:b189540a70e2	1815	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Duration_Time(uint8_t time)
cparata	0:b189540a70e2	1816	{
cparata	0:b189540a70e2	1817	if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
cparata	0:b189540a70e2	1818	{
cparata	0:b189540a70e2	1819	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1820	}
cparata	0:b189540a70e2	1821
cparata	0:b189540a70e2	1822	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1823	}
cparata	0:b189540a70e2	1824
cparata	0:b189540a70e2	1825	/**
cparata	0:b189540a70e2	1826	* @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1827	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:b189540a70e2	1828	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1829	*/
cparata	0:b189540a70e2	1830	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_6D_Orientation(void)
cparata	0:b189540a70e2	1831	{
cparata	0:b189540a70e2	1832	/* Output Data Rate selection */
cparata	0:b189540a70e2	1833	if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1834	{
cparata	0:b189540a70e2	1835	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1836	}
cparata	0:b189540a70e2	1837
cparata	0:b189540a70e2	1838	/* Full scale selection. */
cparata	0:b189540a70e2	1839	if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:b189540a70e2	1840	{
cparata	0:b189540a70e2	1841	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1842	}
cparata	0:b189540a70e2	1843
cparata	0:b189540a70e2	1844	/* Set 6D threshold. */
cparata	0:b189540a70e2	1845	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
cparata	0:b189540a70e2	1846	{
cparata	0:b189540a70e2	1847	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1848	}
cparata	0:b189540a70e2	1849
cparata	0:b189540a70e2	1850	/* Enable basic Interrupts */
cparata	0:b189540a70e2	1851	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1852	{
cparata	0:b189540a70e2	1853	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1854	}
cparata	0:b189540a70e2	1855
cparata	0:b189540a70e2	1856	/* INT1_6D setting. */
cparata	0:b189540a70e2	1857	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1858	{
cparata	0:b189540a70e2	1859	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1860	}
cparata	0:b189540a70e2	1861
cparata	0:b189540a70e2	1862	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1863	}
cparata	0:b189540a70e2	1864
cparata	0:b189540a70e2	1865	/**
cparata	0:b189540a70e2	1866	* @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1867	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1868	*/
cparata	0:b189540a70e2	1869	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_6D_Orientation(void)
cparata	0:b189540a70e2	1870	{
cparata	0:b189540a70e2	1871	/* INT1_6D setting. */
cparata	0:b189540a70e2	1872	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1873	{
cparata	0:b189540a70e2	1874	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1875	}
cparata	0:b189540a70e2	1876
cparata	0:b189540a70e2	1877	/* Disable basic Interrupts */
cparata	0:b189540a70e2	1878	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	0:b189540a70e2	1879	{
cparata	0:b189540a70e2	1880	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1881	}
cparata	0:b189540a70e2	1882
cparata	0:b189540a70e2	1883	/* Reset 6D threshold. */
cparata	0:b189540a70e2	1884	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
cparata	0:b189540a70e2	1885	{
cparata	0:b189540a70e2	1886	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1887	}
cparata	0:b189540a70e2	1888
cparata	0:b189540a70e2	1889	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1890	}
cparata	0:b189540a70e2	1891
cparata	0:b189540a70e2	1892	/**
cparata	0:b189540a70e2	1893	* @brief Get the status of the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1894	* @param status the pointer to the status of the 6D orientation detection: 0 means no detection, 1 means detection happened
cparata	0:b189540a70e2	1895	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1896	*/
cparata	0:b189540a70e2	1897	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_6D_Orientation(uint8_t *status)
cparata	0:b189540a70e2	1898	{
cparata	0:b189540a70e2	1899	LSM6DSL_ACC_GYRO_D6D_EV_STATUS_t status_raw;
cparata	0:b189540a70e2	1900
cparata	0:b189540a70e2	1901	if ( LSM6DSL_ACC_GYRO_R_D6D_EV_STATUS( (void *)this, &status_raw ) == MEMS_ERROR )
cparata	0:b189540a70e2	1902	{
cparata	0:b189540a70e2	1903	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1904	}
cparata	0:b189540a70e2	1905
cparata	0:b189540a70e2	1906	switch( status_raw )
cparata	0:b189540a70e2	1907	{
cparata	0:b189540a70e2	1908	case LSM6DSL_ACC_GYRO_D6D_EV_STATUS_DETECTED:
cparata	0:b189540a70e2	1909	*status = 1;
cparata	0:b189540a70e2	1910	break;
cparata	0:b189540a70e2	1911	case LSM6DSL_ACC_GYRO_D6D_EV_STATUS_NOT_DETECTED:
cparata	0:b189540a70e2	1912	*status = 0;
cparata	0:b189540a70e2	1913	break;
cparata	0:b189540a70e2	1914	default:
cparata	0:b189540a70e2	1915	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1916	}
cparata	0:b189540a70e2	1917
cparata	0:b189540a70e2	1918	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1919	}
cparata	0:b189540a70e2	1920
cparata	0:b189540a70e2	1921	/**
cparata	0:b189540a70e2	1922	* @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1923	* @param xl the pointer to the 6D orientation XL axis
cparata	0:b189540a70e2	1924	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1925	*/
cparata	0:b189540a70e2	1926	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_XL(uint8_t *xl)
cparata	0:b189540a70e2	1927	{
cparata	0:b189540a70e2	1928	LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
cparata	0:b189540a70e2	1929
cparata	0:b189540a70e2	1930	if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
cparata	0:b189540a70e2	1931	{
cparata	0:b189540a70e2	1932	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1933	}
cparata	0:b189540a70e2	1934
cparata	0:b189540a70e2	1935	switch( xl_raw )
cparata	0:b189540a70e2	1936	{
cparata	0:b189540a70e2	1937	case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
cparata	0:b189540a70e2	1938	*xl = 1;
cparata	0:b189540a70e2	1939	break;
cparata	0:b189540a70e2	1940	case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
cparata	0:b189540a70e2	1941	*xl = 0;
cparata	0:b189540a70e2	1942	break;
cparata	0:b189540a70e2	1943	default:
cparata	0:b189540a70e2	1944	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1945	}
cparata	0:b189540a70e2	1946
cparata	0:b189540a70e2	1947	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1948	}
cparata	0:b189540a70e2	1949
cparata	0:b189540a70e2	1950	/**
cparata	0:b189540a70e2	1951	* @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1952	* @param xh the pointer to the 6D orientation XH axis
cparata	0:b189540a70e2	1953	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1954	*/
cparata	0:b189540a70e2	1955	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_XH(uint8_t *xh)
cparata	0:b189540a70e2	1956	{
cparata	0:b189540a70e2	1957	LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
cparata	0:b189540a70e2	1958
cparata	0:b189540a70e2	1959	if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
cparata	0:b189540a70e2	1960	{
cparata	0:b189540a70e2	1961	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1962	}
cparata	0:b189540a70e2	1963
cparata	0:b189540a70e2	1964	switch( xh_raw )
cparata	0:b189540a70e2	1965	{
cparata	0:b189540a70e2	1966	case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
cparata	0:b189540a70e2	1967	*xh = 1;
cparata	0:b189540a70e2	1968	break;
cparata	0:b189540a70e2	1969	case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
cparata	0:b189540a70e2	1970	*xh = 0;
cparata	0:b189540a70e2	1971	break;
cparata	0:b189540a70e2	1972	default:
cparata	0:b189540a70e2	1973	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1974	}
cparata	0:b189540a70e2	1975
cparata	0:b189540a70e2	1976	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	1977	}
cparata	0:b189540a70e2	1978
cparata	0:b189540a70e2	1979	/**
cparata	0:b189540a70e2	1980	* @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	1981	* @param yl the pointer to the 6D orientation YL axis
cparata	0:b189540a70e2	1982	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	1983	*/
cparata	0:b189540a70e2	1984	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_YL(uint8_t *yl)
cparata	0:b189540a70e2	1985	{
cparata	0:b189540a70e2	1986	LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
cparata	0:b189540a70e2	1987
cparata	0:b189540a70e2	1988	if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
cparata	0:b189540a70e2	1989	{
cparata	0:b189540a70e2	1990	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	1991	}
cparata	0:b189540a70e2	1992
cparata	0:b189540a70e2	1993	switch( yl_raw )
cparata	0:b189540a70e2	1994	{
cparata	0:b189540a70e2	1995	case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
cparata	0:b189540a70e2	1996	*yl = 1;
cparata	0:b189540a70e2	1997	break;
cparata	0:b189540a70e2	1998	case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
cparata	0:b189540a70e2	1999	*yl = 0;
cparata	0:b189540a70e2	2000	break;
cparata	0:b189540a70e2	2001	default:
cparata	0:b189540a70e2	2002	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	2003	}
cparata	0:b189540a70e2	2004
cparata	0:b189540a70e2	2005	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	2006	}
cparata	0:b189540a70e2	2007
cparata	0:b189540a70e2	2008	/**
cparata	0:b189540a70e2	2009	* @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	2010	* @param yh the pointer to the 6D orientation YH axis
cparata	0:b189540a70e2	2011	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	2012	*/
cparata	0:b189540a70e2	2013	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_YH(uint8_t *yh)
cparata	0:b189540a70e2	2014	{
cparata	0:b189540a70e2	2015	LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
cparata	0:b189540a70e2	2016
cparata	0:b189540a70e2	2017	if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
cparata	0:b189540a70e2	2018	{
cparata	0:b189540a70e2	2019	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	2020	}
cparata	0:b189540a70e2	2021
cparata	0:b189540a70e2	2022	switch( yh_raw )
cparata	0:b189540a70e2	2023	{
cparata	0:b189540a70e2	2024	case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
cparata	0:b189540a70e2	2025	*yh = 1;
cparata	0:b189540a70e2	2026	break;
cparata	0:b189540a70e2	2027	case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
cparata	0:b189540a70e2	2028	*yh = 0;
cparata	0:b189540a70e2	2029	break;
cparata	0:b189540a70e2	2030	default:
cparata	0:b189540a70e2	2031	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	2032	}
cparata	0:b189540a70e2	2033
cparata	0:b189540a70e2	2034	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	2035	}
cparata	0:b189540a70e2	2036
cparata	0:b189540a70e2	2037	/**
cparata	0:b189540a70e2	2038	* @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	2039	* @param zl the pointer to the 6D orientation ZL axis
cparata	0:b189540a70e2	2040	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	2041	*/
cparata	0:b189540a70e2	2042	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_ZL(uint8_t *zl)
cparata	0:b189540a70e2	2043	{
cparata	0:b189540a70e2	2044	LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
cparata	0:b189540a70e2	2045
cparata	0:b189540a70e2	2046	if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
cparata	0:b189540a70e2	2047	{
cparata	0:b189540a70e2	2048	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	2049	}
cparata	0:b189540a70e2	2050
cparata	0:b189540a70e2	2051	switch( zl_raw )
cparata	0:b189540a70e2	2052	{
cparata	0:b189540a70e2	2053	case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
cparata	0:b189540a70e2	2054	*zl = 1;
cparata	0:b189540a70e2	2055	break;
cparata	0:b189540a70e2	2056	case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
cparata	0:b189540a70e2	2057	*zl = 0;
cparata	0:b189540a70e2	2058	break;
cparata	0:b189540a70e2	2059	default:
cparata	0:b189540a70e2	2060	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	2061	}
cparata	0:b189540a70e2	2062
cparata	0:b189540a70e2	2063	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	2064	}
cparata	0:b189540a70e2	2065
cparata	0:b189540a70e2	2066	/**
cparata	0:b189540a70e2	2067	* @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
cparata	0:b189540a70e2	2068	* @param zh the pointer to the 6D orientation ZH axis
cparata	0:b189540a70e2	2069	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:b189540a70e2	2070	*/
cparata	0:b189540a70e2	2071	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_ZH(uint8_t *zh)
cparata	0:b189540a70e2	2072	{
cparata	0:b189540a70e2	2073	LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
cparata	0:b189540a70e2	2074
cparata	0:b189540a70e2	2075	if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
cparata	0:b189540a70e2	2076	{
cparata	0:b189540a70e2	2077	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	2078	}
cparata	0:b189540a70e2	2079
cparata	0:b189540a70e2	2080	switch( zh_raw )
cparata	0:b189540a70e2	2081	{
cparata	0:b189540a70e2	2082	case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
cparata	0:b189540a70e2	2083	*zh = 1;
cparata	0:b189540a70e2	2084	break;
cparata	0:b189540a70e2	2085	case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
cparata	0:b189540a70e2	2086	*zh = 0;
cparata	0:b189540a70e2	2087	break;
cparata	0:b189540a70e2	2088	default:
cparata	0:b189540a70e2	2089	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	2090	}
cparata	0:b189540a70e2	2091
cparata	0:b189540a70e2	2092	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	2093	}
cparata	0:b189540a70e2	2094
cparata	0:b189540a70e2	2095	/**
cparata	0:b189540a70e2	2096	* @brief Read the data from register
cparata	0:b189540a70e2	2097	* @param reg register address
cparata	0:b189540a70e2	2098	* @param data register data
cparata	0:b189540a70e2	2099	* @retval LSM6DSL_STATUS_OK in case of success
cparata	0:b189540a70e2	2100	* @retval LSM6DSL_STATUS_ERROR in case of failure
cparata	0:b189540a70e2	2101	*/
cparata	0:b189540a70e2	2102	LSM6DSLStatusTypeDef LSM6DSLSensor::ReadReg( uint8_t reg, uint8_t *data )
cparata	0:b189540a70e2	2103	{
cparata	0:b189540a70e2	2104
cparata	0:b189540a70e2	2105	if ( LSM6DSL_ACC_GYRO_ReadReg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
cparata	0:b189540a70e2	2106	{
cparata	0:b189540a70e2	2107	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	2108	}
cparata	0:b189540a70e2	2109
cparata	0:b189540a70e2	2110	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	2111	}
cparata	0:b189540a70e2	2112
cparata	0:b189540a70e2	2113	/**
cparata	0:b189540a70e2	2114	* @brief Write the data to register
cparata	0:b189540a70e2	2115	* @param reg register address
cparata	0:b189540a70e2	2116	* @param data register data
cparata	0:b189540a70e2	2117	* @retval LSM6DSL_STATUS_OK in case of success
cparata	0:b189540a70e2	2118	* @retval LSM6DSL_STATUS_ERROR in case of failure
cparata	0:b189540a70e2	2119	*/
cparata	0:b189540a70e2	2120	LSM6DSLStatusTypeDef LSM6DSLSensor::WriteReg( uint8_t reg, uint8_t data )
cparata	0:b189540a70e2	2121	{
cparata	0:b189540a70e2	2122
cparata	0:b189540a70e2	2123	if ( LSM6DSL_ACC_GYRO_WriteReg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
cparata	0:b189540a70e2	2124	{
cparata	0:b189540a70e2	2125	return LSM6DSL_STATUS_ERROR;
cparata	0:b189540a70e2	2126	}
cparata	0:b189540a70e2	2127
cparata	0:b189540a70e2	2128	return LSM6DSL_STATUS_OK;
cparata	0:b189540a70e2	2129	}
cparata	0:b189540a70e2	2130
cparata	0:b189540a70e2	2131
cparata	0:b189540a70e2	2132	uint8_t LSM6DSL_IO_Write( void handle, uint8_t WriteAddr, uint8_t pBuffer, uint16_t nBytesToWrite )
cparata	0:b189540a70e2	2133	{
cparata	0:b189540a70e2	2134	return ((LSM6DSLSensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata	0:b189540a70e2	2135	}
cparata	0:b189540a70e2	2136
cparata	0:b189540a70e2	2137	uint8_t LSM6DSL_IO_Read( void handle, uint8_t ReadAddr, uint8_t pBuffer, uint16_t nBytesToRead )
cparata	0:b189540a70e2	2138	{
cparata	0:b189540a70e2	2139	return ((LSM6DSLSensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata	0:b189540a70e2	2140	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	16 Dec 2016
Imports:	98
Forks:	0
Commits:	17
Dependents:	0
Dependencies:	2
Followers:	401

The code in this repository is Apache licensed.

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

X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.cpp@0:b189540a70e2, 2016-08-12 (annotated)

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