ST / Mbed 2 deprecated Pedometer_IKS01A2

Example of pedometer for LSM6DSL in X-NUCLEO-IKS01A2

Dependencies:   X_NUCLEO_IKS01A2 mbed

Fork of Pedometer_IKS01A2 by ST Expansion SW Team

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

Main function is to show how to count steps using the sensor expansion board and send a notification using UART to a connected PC or Desktop and display it on terminal applications like TeraTerm.
After connection has been established:
- the user can try to shake the board to simulate the steps and then view the notification using an hyper terminal. When a new step is detected, the LED is switched on for a while.
- the user button can be used to reset the step counter.

X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.cpp@5:cce849c2e6e7, 2016-11-23 (annotated)

Committer:
cparata
Date:
Wed Nov 23 15:54:12 2016 +0000
Revision:
5:cce849c2e6e7
Parent:
4:b9467a8f2bcc
Child:
6:153ff83ae370
Improve Multi Event Management

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 2:67af0ad3ea2e 1 /**
cparata 2:67af0ad3ea2e 2 ******************************************************************************
cparata 2:67af0ad3ea2e 3 * @file LSM6DSLSensor.cpp
cparata 2:67af0ad3ea2e 4 * @author AST
cparata 2:67af0ad3ea2e 5 * @version V1.0.0
cparata 2:67af0ad3ea2e 6 * @date 5 August 2016
cparata 2:67af0ad3ea2e 7 * @brief Implementation of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
cparata 2:67af0ad3ea2e 8 * sensor.
cparata 2:67af0ad3ea2e 9 ******************************************************************************
cparata 2:67af0ad3ea2e 10 * @attention
cparata 2:67af0ad3ea2e 11 *
cparata 2:67af0ad3ea2e 12 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 2:67af0ad3ea2e 13 *
cparata 2:67af0ad3ea2e 14 * Redistribution and use in source and binary forms, with or without modification,
cparata 2:67af0ad3ea2e 15 * are permitted provided that the following conditions are met:
cparata 2:67af0ad3ea2e 16 * 1. Redistributions of source code must retain the above copyright notice,
cparata 2:67af0ad3ea2e 17 * this list of conditions and the following disclaimer.
cparata 2:67af0ad3ea2e 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 2:67af0ad3ea2e 19 * this list of conditions and the following disclaimer in the documentation
cparata 2:67af0ad3ea2e 20 * and/or other materials provided with the distribution.
cparata 2:67af0ad3ea2e 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 2:67af0ad3ea2e 22 * may be used to endorse or promote products derived from this software
cparata 2:67af0ad3ea2e 23 * without specific prior written permission.
cparata 2:67af0ad3ea2e 24 *
cparata 2:67af0ad3ea2e 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 2:67af0ad3ea2e 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 2:67af0ad3ea2e 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 2:67af0ad3ea2e 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 2:67af0ad3ea2e 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 2:67af0ad3ea2e 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 2:67af0ad3ea2e 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 2:67af0ad3ea2e 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 2:67af0ad3ea2e 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 2:67af0ad3ea2e 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 2:67af0ad3ea2e 35 *
cparata 2:67af0ad3ea2e 36 ******************************************************************************
cparata 2:67af0ad3ea2e 37 */
cparata 2:67af0ad3ea2e 38
cparata 2:67af0ad3ea2e 39
cparata 2:67af0ad3ea2e 40 /* Includes ------------------------------------------------------------------*/
cparata 2:67af0ad3ea2e 41
cparata 2:67af0ad3ea2e 42 #include "mbed.h"
cparata 2:67af0ad3ea2e 43 #include "DevI2C.h"
cparata 2:67af0ad3ea2e 44 #include "LSM6DSLSensor.h"
cparata 2:67af0ad3ea2e 45 #include "LSM6DSL_ACC_GYRO_driver.h"
cparata 2:67af0ad3ea2e 46
cparata 2:67af0ad3ea2e 47
cparata 2:67af0ad3ea2e 48 /* Class Implementation ------------------------------------------------------*/
cparata 2:67af0ad3ea2e 49
cparata 2:67af0ad3ea2e 50 /** Constructor
cparata 2:67af0ad3ea2e 51 * @param i2c object of an helper class which handles the I2C peripheral
cparata 2:67af0ad3ea2e 52 * @param address the address of the component's instance
cparata 2:67af0ad3ea2e 53 */
cparata 2:67af0ad3ea2e 54 LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c) : dev_i2c(i2c)
cparata 2:67af0ad3ea2e 55 {
cparata 2:67af0ad3ea2e 56 address = LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH;
cparata 2:67af0ad3ea2e 57 };
cparata 2:67af0ad3ea2e 58
cparata 2:67af0ad3ea2e 59 /** Constructor
cparata 2:67af0ad3ea2e 60 * @param i2c object of an helper class which handles the I2C peripheral
cparata 2:67af0ad3ea2e 61 * @param address the address of the component's instance
cparata 2:67af0ad3ea2e 62 */
cparata 2:67af0ad3ea2e 63 LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
cparata 2:67af0ad3ea2e 64 {
cparata 2:67af0ad3ea2e 65
cparata 2:67af0ad3ea2e 66 };
cparata 2:67af0ad3ea2e 67
cparata 2:67af0ad3ea2e 68 /**
cparata 2:67af0ad3ea2e 69 * @brief Initializing the component.
cparata 2:67af0ad3ea2e 70 * @param[in] init pointer to device specific initalization structure.
cparata 2:67af0ad3ea2e 71 * @retval "0" in case of success, an error code otherwise.
cparata 2:67af0ad3ea2e 72 */
cparata 2:67af0ad3ea2e 73 int LSM6DSLSensor::Init(void *init)
cparata 2:67af0ad3ea2e 74 {
cparata 2:67af0ad3ea2e 75 /* Enable register address automatically incremented during a multiple byte
cparata 2:67af0ad3ea2e 76 access with a serial interface. */
cparata 2:67af0ad3ea2e 77 if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 78 {
cparata 2:67af0ad3ea2e 79 return 1;
cparata 2:67af0ad3ea2e 80 }
cparata 2:67af0ad3ea2e 81
cparata 2:67af0ad3ea2e 82 /* Enable BDU */
cparata 2:67af0ad3ea2e 83 if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 84 {
cparata 2:67af0ad3ea2e 85 return 1;
cparata 2:67af0ad3ea2e 86 }
cparata 2:67af0ad3ea2e 87
cparata 2:67af0ad3ea2e 88 /* FIFO mode selection */
cparata 2:67af0ad3ea2e 89 if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 90 {
cparata 2:67af0ad3ea2e 91 return 1;
cparata 2:67af0ad3ea2e 92 }
cparata 2:67af0ad3ea2e 93
cparata 2:67af0ad3ea2e 94 /* Output data rate selection - power down. */
cparata 2:67af0ad3ea2e 95 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 96 {
cparata 2:67af0ad3ea2e 97 return 1;
cparata 2:67af0ad3ea2e 98 }
cparata 2:67af0ad3ea2e 99
cparata 2:67af0ad3ea2e 100 /* Full scale selection. */
cparata 2:67af0ad3ea2e 101 if ( Set_X_FS( 2.0f ) == 1 )
cparata 2:67af0ad3ea2e 102 {
cparata 2:67af0ad3ea2e 103 return 1;
cparata 2:67af0ad3ea2e 104 }
cparata 2:67af0ad3ea2e 105
cparata 2:67af0ad3ea2e 106 /* Output data rate selection - power down */
cparata 2:67af0ad3ea2e 107 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 108 {
cparata 2:67af0ad3ea2e 109 return 1;
cparata 2:67af0ad3ea2e 110 }
cparata 2:67af0ad3ea2e 111
cparata 2:67af0ad3ea2e 112 /* Full scale selection. */
cparata 2:67af0ad3ea2e 113 if ( Set_G_FS( 2000.0f ) == 1 )
cparata 2:67af0ad3ea2e 114 {
cparata 2:67af0ad3ea2e 115 return 1;
cparata 2:67af0ad3ea2e 116 }
cparata 2:67af0ad3ea2e 117
cparata 2:67af0ad3ea2e 118 X_Last_ODR = 104.0f;
cparata 2:67af0ad3ea2e 119
cparata 2:67af0ad3ea2e 120 X_isEnabled = 0;
cparata 2:67af0ad3ea2e 121
cparata 2:67af0ad3ea2e 122 G_Last_ODR = 104.0f;
cparata 2:67af0ad3ea2e 123
cparata 2:67af0ad3ea2e 124 G_isEnabled = 0;
cparata 2:67af0ad3ea2e 125
cparata 2:67af0ad3ea2e 126 return 0;
cparata 2:67af0ad3ea2e 127 }
cparata 2:67af0ad3ea2e 128
cparata 2:67af0ad3ea2e 129 /**
cparata 2:67af0ad3ea2e 130 * @brief Enable LSM6DSL Accelerator
cparata 2:67af0ad3ea2e 131 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 132 */
cparata 2:67af0ad3ea2e 133 int LSM6DSLSensor::Enable_X(void)
cparata 2:67af0ad3ea2e 134 {
cparata 2:67af0ad3ea2e 135 /* Check if the component is already enabled */
cparata 2:67af0ad3ea2e 136 if ( X_isEnabled == 1 )
cparata 2:67af0ad3ea2e 137 {
cparata 2:67af0ad3ea2e 138 return 0;
cparata 2:67af0ad3ea2e 139 }
cparata 2:67af0ad3ea2e 140
cparata 2:67af0ad3ea2e 141 /* Output data rate selection. */
cparata 2:67af0ad3ea2e 142 if ( Set_X_ODR_When_Enabled( X_Last_ODR ) == 1 )
cparata 2:67af0ad3ea2e 143 {
cparata 2:67af0ad3ea2e 144 return 1;
cparata 2:67af0ad3ea2e 145 }
cparata 2:67af0ad3ea2e 146
cparata 2:67af0ad3ea2e 147 X_isEnabled = 1;
cparata 2:67af0ad3ea2e 148
cparata 2:67af0ad3ea2e 149 return 0;
cparata 2:67af0ad3ea2e 150 }
cparata 2:67af0ad3ea2e 151
cparata 2:67af0ad3ea2e 152 /**
cparata 2:67af0ad3ea2e 153 * @brief Enable LSM6DSL Gyroscope
cparata 2:67af0ad3ea2e 154 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 155 */
cparata 2:67af0ad3ea2e 156 int LSM6DSLSensor::Enable_G(void)
cparata 2:67af0ad3ea2e 157 {
cparata 2:67af0ad3ea2e 158 /* Check if the component is already enabled */
cparata 2:67af0ad3ea2e 159 if ( G_isEnabled == 1 )
cparata 2:67af0ad3ea2e 160 {
cparata 2:67af0ad3ea2e 161 return 0;
cparata 2:67af0ad3ea2e 162 }
cparata 2:67af0ad3ea2e 163
cparata 2:67af0ad3ea2e 164 /* Output data rate selection. */
cparata 2:67af0ad3ea2e 165 if ( Set_G_ODR_When_Enabled( G_Last_ODR ) == 1 )
cparata 2:67af0ad3ea2e 166 {
cparata 2:67af0ad3ea2e 167 return 1;
cparata 2:67af0ad3ea2e 168 }
cparata 2:67af0ad3ea2e 169
cparata 2:67af0ad3ea2e 170 G_isEnabled = 1;
cparata 2:67af0ad3ea2e 171
cparata 2:67af0ad3ea2e 172 return 0;
cparata 2:67af0ad3ea2e 173 }
cparata 2:67af0ad3ea2e 174
cparata 2:67af0ad3ea2e 175 /**
cparata 2:67af0ad3ea2e 176 * @brief Disable LSM6DSL Accelerator
cparata 2:67af0ad3ea2e 177 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 178 */
cparata 2:67af0ad3ea2e 179 int LSM6DSLSensor::Disable_X(void)
cparata 2:67af0ad3ea2e 180 {
cparata 2:67af0ad3ea2e 181 /* Check if the component is already disabled */
cparata 2:67af0ad3ea2e 182 if ( X_isEnabled == 0 )
cparata 2:67af0ad3ea2e 183 {
cparata 2:67af0ad3ea2e 184 return 0;
cparata 2:67af0ad3ea2e 185 }
cparata 2:67af0ad3ea2e 186
cparata 2:67af0ad3ea2e 187 /* Store actual output data rate. */
cparata 2:67af0ad3ea2e 188 if ( Get_X_ODR( &X_Last_ODR ) == 1 )
cparata 2:67af0ad3ea2e 189 {
cparata 2:67af0ad3ea2e 190 return 1;
cparata 2:67af0ad3ea2e 191 }
cparata 2:67af0ad3ea2e 192
cparata 2:67af0ad3ea2e 193 /* Output data rate selection - power down. */
cparata 2:67af0ad3ea2e 194 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 195 {
cparata 2:67af0ad3ea2e 196 return 1;
cparata 2:67af0ad3ea2e 197 }
cparata 2:67af0ad3ea2e 198
cparata 2:67af0ad3ea2e 199 X_isEnabled = 0;
cparata 2:67af0ad3ea2e 200
cparata 2:67af0ad3ea2e 201 return 0;
cparata 2:67af0ad3ea2e 202 }
cparata 2:67af0ad3ea2e 203
cparata 2:67af0ad3ea2e 204 /**
cparata 2:67af0ad3ea2e 205 * @brief Disable LSM6DSL Gyroscope
cparata 2:67af0ad3ea2e 206 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 207 */
cparata 2:67af0ad3ea2e 208 int LSM6DSLSensor::Disable_G(void)
cparata 2:67af0ad3ea2e 209 {
cparata 2:67af0ad3ea2e 210 /* Check if the component is already disabled */
cparata 2:67af0ad3ea2e 211 if ( G_isEnabled == 0 )
cparata 2:67af0ad3ea2e 212 {
cparata 2:67af0ad3ea2e 213 return 0;
cparata 2:67af0ad3ea2e 214 }
cparata 2:67af0ad3ea2e 215
cparata 2:67af0ad3ea2e 216 /* Store actual output data rate. */
cparata 2:67af0ad3ea2e 217 if ( Get_G_ODR( &G_Last_ODR ) == 1 )
cparata 2:67af0ad3ea2e 218 {
cparata 2:67af0ad3ea2e 219 return 1;
cparata 2:67af0ad3ea2e 220 }
cparata 2:67af0ad3ea2e 221
cparata 2:67af0ad3ea2e 222 /* Output data rate selection - power down */
cparata 2:67af0ad3ea2e 223 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 224 {
cparata 2:67af0ad3ea2e 225 return 1;
cparata 2:67af0ad3ea2e 226 }
cparata 2:67af0ad3ea2e 227
cparata 2:67af0ad3ea2e 228 G_isEnabled = 0;
cparata 2:67af0ad3ea2e 229
cparata 2:67af0ad3ea2e 230 return 0;
cparata 2:67af0ad3ea2e 231 }
cparata 2:67af0ad3ea2e 232
cparata 2:67af0ad3ea2e 233 /**
cparata 2:67af0ad3ea2e 234 * @brief Read ID of LSM6DSL Accelerometer and Gyroscope
cparata 2:67af0ad3ea2e 235 * @param p_id the pointer where the ID of the device is stored
cparata 2:67af0ad3ea2e 236 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 237 */
cparata 2:67af0ad3ea2e 238 int LSM6DSLSensor::ReadID(uint8_t *id)
cparata 2:67af0ad3ea2e 239 {
cparata 2:67af0ad3ea2e 240 if(!id)
cparata 2:67af0ad3ea2e 241 {
cparata 2:67af0ad3ea2e 242 return 1;
cparata 2:67af0ad3ea2e 243 }
cparata 2:67af0ad3ea2e 244
cparata 2:67af0ad3ea2e 245 /* Read WHO AM I register */
cparata 2:67af0ad3ea2e 246 if ( LSM6DSL_ACC_GYRO_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 247 {
cparata 2:67af0ad3ea2e 248 return 1;
cparata 2:67af0ad3ea2e 249 }
cparata 2:67af0ad3ea2e 250
cparata 2:67af0ad3ea2e 251 return 0;
cparata 2:67af0ad3ea2e 252 }
cparata 2:67af0ad3ea2e 253
cparata 2:67af0ad3ea2e 254 /**
cparata 2:67af0ad3ea2e 255 * @brief Read data from LSM6DSL Accelerometer
cparata 2:67af0ad3ea2e 256 * @param pData the pointer where the accelerometer data are stored
cparata 2:67af0ad3ea2e 257 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 258 */
cparata 2:67af0ad3ea2e 259 int LSM6DSLSensor::Get_X_Axes(int32_t *pData)
cparata 2:67af0ad3ea2e 260 {
cparata 2:67af0ad3ea2e 261 int16_t dataRaw[3];
cparata 2:67af0ad3ea2e 262 float sensitivity = 0;
cparata 2:67af0ad3ea2e 263
cparata 2:67af0ad3ea2e 264 /* Read raw data from LSM6DSL output register. */
cparata 2:67af0ad3ea2e 265 if ( Get_X_AxesRaw( dataRaw ) == 1 )
cparata 2:67af0ad3ea2e 266 {
cparata 2:67af0ad3ea2e 267 return 1;
cparata 2:67af0ad3ea2e 268 }
cparata 2:67af0ad3ea2e 269
cparata 2:67af0ad3ea2e 270 /* Get LSM6DSL actual sensitivity. */
cparata 2:67af0ad3ea2e 271 if ( Get_X_Sensitivity( &sensitivity ) == 1 )
cparata 2:67af0ad3ea2e 272 {
cparata 2:67af0ad3ea2e 273 return 1;
cparata 2:67af0ad3ea2e 274 }
cparata 2:67af0ad3ea2e 275
cparata 2:67af0ad3ea2e 276 /* Calculate the data. */
cparata 2:67af0ad3ea2e 277 pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata 2:67af0ad3ea2e 278 pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata 2:67af0ad3ea2e 279 pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata 2:67af0ad3ea2e 280
cparata 2:67af0ad3ea2e 281 return 0;
cparata 2:67af0ad3ea2e 282 }
cparata 2:67af0ad3ea2e 283
cparata 2:67af0ad3ea2e 284 /**
cparata 2:67af0ad3ea2e 285 * @brief Read data from LSM6DSL Gyroscope
cparata 2:67af0ad3ea2e 286 * @param pData the pointer where the gyroscope data are stored
cparata 2:67af0ad3ea2e 287 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 288 */
cparata 2:67af0ad3ea2e 289 int LSM6DSLSensor::Get_G_Axes(int32_t *pData)
cparata 2:67af0ad3ea2e 290 {
cparata 2:67af0ad3ea2e 291 int16_t dataRaw[3];
cparata 2:67af0ad3ea2e 292 float sensitivity = 0;
cparata 2:67af0ad3ea2e 293
cparata 2:67af0ad3ea2e 294 /* Read raw data from LSM6DSL output register. */
cparata 2:67af0ad3ea2e 295 if ( Get_G_AxesRaw( dataRaw ) == 1 )
cparata 2:67af0ad3ea2e 296 {
cparata 2:67af0ad3ea2e 297 return 1;
cparata 2:67af0ad3ea2e 298 }
cparata 2:67af0ad3ea2e 299
cparata 2:67af0ad3ea2e 300 /* Get LSM6DSL actual sensitivity. */
cparata 2:67af0ad3ea2e 301 if ( Get_G_Sensitivity( &sensitivity ) == 1 )
cparata 2:67af0ad3ea2e 302 {
cparata 2:67af0ad3ea2e 303 return 1;
cparata 2:67af0ad3ea2e 304 }
cparata 2:67af0ad3ea2e 305
cparata 2:67af0ad3ea2e 306 /* Calculate the data. */
cparata 2:67af0ad3ea2e 307 pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata 2:67af0ad3ea2e 308 pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata 2:67af0ad3ea2e 309 pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata 2:67af0ad3ea2e 310
cparata 2:67af0ad3ea2e 311 return 0;
cparata 2:67af0ad3ea2e 312 }
cparata 2:67af0ad3ea2e 313
cparata 2:67af0ad3ea2e 314 /**
cparata 2:67af0ad3ea2e 315 * @brief Read Accelerometer Sensitivity
cparata 2:67af0ad3ea2e 316 * @param pfData the pointer where the accelerometer sensitivity is stored
cparata 2:67af0ad3ea2e 317 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 318 */
cparata 2:67af0ad3ea2e 319 int LSM6DSLSensor::Get_X_Sensitivity(float *pfData)
cparata 2:67af0ad3ea2e 320 {
cparata 2:67af0ad3ea2e 321 LSM6DSL_ACC_GYRO_FS_XL_t fullScale;
cparata 2:67af0ad3ea2e 322
cparata 2:67af0ad3ea2e 323 /* Read actual full scale selection from sensor. */
cparata 2:67af0ad3ea2e 324 if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 325 {
cparata 2:67af0ad3ea2e 326 return 1;
cparata 2:67af0ad3ea2e 327 }
cparata 2:67af0ad3ea2e 328
cparata 2:67af0ad3ea2e 329 /* Store the sensitivity based on actual full scale. */
cparata 2:67af0ad3ea2e 330 switch( fullScale )
cparata 2:67af0ad3ea2e 331 {
cparata 2:67af0ad3ea2e 332 case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata 2:67af0ad3ea2e 333 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G;
cparata 2:67af0ad3ea2e 334 break;
cparata 2:67af0ad3ea2e 335 case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata 2:67af0ad3ea2e 336 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G;
cparata 2:67af0ad3ea2e 337 break;
cparata 2:67af0ad3ea2e 338 case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata 2:67af0ad3ea2e 339 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G;
cparata 2:67af0ad3ea2e 340 break;
cparata 2:67af0ad3ea2e 341 case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata 2:67af0ad3ea2e 342 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G;
cparata 2:67af0ad3ea2e 343 break;
cparata 2:67af0ad3ea2e 344 default:
cparata 2:67af0ad3ea2e 345 *pfData = -1.0f;
cparata 2:67af0ad3ea2e 346 return 1;
cparata 2:67af0ad3ea2e 347 }
cparata 2:67af0ad3ea2e 348
cparata 2:67af0ad3ea2e 349 return 0;
cparata 2:67af0ad3ea2e 350 }
cparata 2:67af0ad3ea2e 351
cparata 2:67af0ad3ea2e 352 /**
cparata 2:67af0ad3ea2e 353 * @brief Read Gyroscope Sensitivity
cparata 2:67af0ad3ea2e 354 * @param pfData the pointer where the gyroscope sensitivity is stored
cparata 2:67af0ad3ea2e 355 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 356 */
cparata 2:67af0ad3ea2e 357 int LSM6DSLSensor::Get_G_Sensitivity(float *pfData)
cparata 2:67af0ad3ea2e 358 {
cparata 2:67af0ad3ea2e 359 LSM6DSL_ACC_GYRO_FS_125_t fullScale125;
cparata 2:67af0ad3ea2e 360 LSM6DSL_ACC_GYRO_FS_G_t fullScale;
cparata 2:67af0ad3ea2e 361
cparata 2:67af0ad3ea2e 362 /* Read full scale 125 selection from sensor. */
cparata 2:67af0ad3ea2e 363 if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fullScale125 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 364 {
cparata 2:67af0ad3ea2e 365 return 1;
cparata 2:67af0ad3ea2e 366 }
cparata 2:67af0ad3ea2e 367
cparata 2:67af0ad3ea2e 368 if ( fullScale125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata 2:67af0ad3ea2e 369 {
cparata 2:67af0ad3ea2e 370 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS;
cparata 2:67af0ad3ea2e 371 }
cparata 2:67af0ad3ea2e 372
cparata 2:67af0ad3ea2e 373 else
cparata 2:67af0ad3ea2e 374 {
cparata 2:67af0ad3ea2e 375
cparata 2:67af0ad3ea2e 376 /* Read actual full scale selection from sensor. */
cparata 2:67af0ad3ea2e 377 if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 378 {
cparata 2:67af0ad3ea2e 379 return 1;
cparata 2:67af0ad3ea2e 380 }
cparata 2:67af0ad3ea2e 381
cparata 2:67af0ad3ea2e 382 /* Store the sensitivity based on actual full scale. */
cparata 2:67af0ad3ea2e 383 switch( fullScale )
cparata 2:67af0ad3ea2e 384 {
cparata 2:67af0ad3ea2e 385 case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata 2:67af0ad3ea2e 386 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS;
cparata 2:67af0ad3ea2e 387 break;
cparata 2:67af0ad3ea2e 388 case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata 2:67af0ad3ea2e 389 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS;
cparata 2:67af0ad3ea2e 390 break;
cparata 2:67af0ad3ea2e 391 case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata 2:67af0ad3ea2e 392 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS;
cparata 2:67af0ad3ea2e 393 break;
cparata 2:67af0ad3ea2e 394 case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata 2:67af0ad3ea2e 395 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS;
cparata 2:67af0ad3ea2e 396 break;
cparata 2:67af0ad3ea2e 397 default:
cparata 2:67af0ad3ea2e 398 *pfData = -1.0f;
cparata 2:67af0ad3ea2e 399 return 1;
cparata 2:67af0ad3ea2e 400 }
cparata 2:67af0ad3ea2e 401 }
cparata 2:67af0ad3ea2e 402
cparata 2:67af0ad3ea2e 403 return 0;
cparata 2:67af0ad3ea2e 404 }
cparata 2:67af0ad3ea2e 405
cparata 2:67af0ad3ea2e 406 /**
cparata 2:67af0ad3ea2e 407 * @brief Read raw data from LSM6DSL Accelerometer
cparata 2:67af0ad3ea2e 408 * @param pData the pointer where the accelerometer raw data are stored
cparata 2:67af0ad3ea2e 409 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 410 */
cparata 2:67af0ad3ea2e 411 int LSM6DSLSensor::Get_X_AxesRaw(int16_t *pData)
cparata 2:67af0ad3ea2e 412 {
cparata 2:67af0ad3ea2e 413 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 2:67af0ad3ea2e 414
cparata 2:67af0ad3ea2e 415 /* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_XL to LSM6DSL_ACC_GYRO_OUTZ_H_XL. */
cparata 2:67af0ad3ea2e 416 if ( LSM6DSL_ACC_GYRO_GetRawAccData( (void *)this, regValue ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 417 {
cparata 2:67af0ad3ea2e 418 return 1;
cparata 2:67af0ad3ea2e 419 }
cparata 2:67af0ad3ea2e 420
cparata 2:67af0ad3ea2e 421 /* Format the data. */
cparata 2:67af0ad3ea2e 422 pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata 2:67af0ad3ea2e 423 pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata 2:67af0ad3ea2e 424 pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata 2:67af0ad3ea2e 425
cparata 2:67af0ad3ea2e 426 return 0;
cparata 2:67af0ad3ea2e 427 }
cparata 2:67af0ad3ea2e 428
cparata 2:67af0ad3ea2e 429 /**
cparata 2:67af0ad3ea2e 430 * @brief Read raw data from LSM6DSL Gyroscope
cparata 2:67af0ad3ea2e 431 * @param pData the pointer where the gyroscope raw data are stored
cparata 2:67af0ad3ea2e 432 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 433 */
cparata 2:67af0ad3ea2e 434 int LSM6DSLSensor::Get_G_AxesRaw(int16_t *pData)
cparata 2:67af0ad3ea2e 435 {
cparata 2:67af0ad3ea2e 436 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 2:67af0ad3ea2e 437
cparata 2:67af0ad3ea2e 438 /* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_G to LSM6DSL_ACC_GYRO_OUTZ_H_G. */
cparata 2:67af0ad3ea2e 439 if ( LSM6DSL_ACC_GYRO_GetRawGyroData( (void *)this, regValue ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 440 {
cparata 2:67af0ad3ea2e 441 return 1;
cparata 2:67af0ad3ea2e 442 }
cparata 2:67af0ad3ea2e 443
cparata 2:67af0ad3ea2e 444 /* Format the data. */
cparata 2:67af0ad3ea2e 445 pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata 2:67af0ad3ea2e 446 pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata 2:67af0ad3ea2e 447 pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata 2:67af0ad3ea2e 448
cparata 2:67af0ad3ea2e 449 return 0;
cparata 2:67af0ad3ea2e 450 }
cparata 2:67af0ad3ea2e 451
cparata 2:67af0ad3ea2e 452 /**
cparata 2:67af0ad3ea2e 453 * @brief Read LSM6DSL Accelerometer output data rate
cparata 2:67af0ad3ea2e 454 * @param odr the pointer to the output data rate
cparata 2:67af0ad3ea2e 455 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 456 */
cparata 2:67af0ad3ea2e 457 int LSM6DSLSensor::Get_X_ODR(float* odr)
cparata 2:67af0ad3ea2e 458 {
cparata 2:67af0ad3ea2e 459 LSM6DSL_ACC_GYRO_ODR_XL_t odr_low_level;
cparata 2:67af0ad3ea2e 460
cparata 2:67af0ad3ea2e 461 if ( LSM6DSL_ACC_GYRO_R_ODR_XL( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 462 {
cparata 2:67af0ad3ea2e 463 return 1;
cparata 2:67af0ad3ea2e 464 }
cparata 2:67af0ad3ea2e 465
cparata 2:67af0ad3ea2e 466 switch( odr_low_level )
cparata 2:67af0ad3ea2e 467 {
cparata 2:67af0ad3ea2e 468 case LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN:
cparata 2:67af0ad3ea2e 469 *odr = 0.0f;
cparata 2:67af0ad3ea2e 470 break;
cparata 2:67af0ad3ea2e 471 case LSM6DSL_ACC_GYRO_ODR_XL_13Hz:
cparata 2:67af0ad3ea2e 472 *odr = 13.0f;
cparata 2:67af0ad3ea2e 473 break;
cparata 2:67af0ad3ea2e 474 case LSM6DSL_ACC_GYRO_ODR_XL_26Hz:
cparata 2:67af0ad3ea2e 475 *odr = 26.0f;
cparata 2:67af0ad3ea2e 476 break;
cparata 2:67af0ad3ea2e 477 case LSM6DSL_ACC_GYRO_ODR_XL_52Hz:
cparata 2:67af0ad3ea2e 478 *odr = 52.0f;
cparata 2:67af0ad3ea2e 479 break;
cparata 2:67af0ad3ea2e 480 case LSM6DSL_ACC_GYRO_ODR_XL_104Hz:
cparata 2:67af0ad3ea2e 481 *odr = 104.0f;
cparata 2:67af0ad3ea2e 482 break;
cparata 2:67af0ad3ea2e 483 case LSM6DSL_ACC_GYRO_ODR_XL_208Hz:
cparata 2:67af0ad3ea2e 484 *odr = 208.0f;
cparata 2:67af0ad3ea2e 485 break;
cparata 2:67af0ad3ea2e 486 case LSM6DSL_ACC_GYRO_ODR_XL_416Hz:
cparata 2:67af0ad3ea2e 487 *odr = 416.0f;
cparata 2:67af0ad3ea2e 488 break;
cparata 2:67af0ad3ea2e 489 case LSM6DSL_ACC_GYRO_ODR_XL_833Hz:
cparata 2:67af0ad3ea2e 490 *odr = 833.0f;
cparata 2:67af0ad3ea2e 491 break;
cparata 2:67af0ad3ea2e 492 case LSM6DSL_ACC_GYRO_ODR_XL_1660Hz:
cparata 2:67af0ad3ea2e 493 *odr = 1660.0f;
cparata 2:67af0ad3ea2e 494 break;
cparata 2:67af0ad3ea2e 495 case LSM6DSL_ACC_GYRO_ODR_XL_3330Hz:
cparata 2:67af0ad3ea2e 496 *odr = 3330.0f;
cparata 2:67af0ad3ea2e 497 break;
cparata 2:67af0ad3ea2e 498 case LSM6DSL_ACC_GYRO_ODR_XL_6660Hz:
cparata 2:67af0ad3ea2e 499 *odr = 6660.0f;
cparata 2:67af0ad3ea2e 500 break;
cparata 2:67af0ad3ea2e 501 default:
cparata 2:67af0ad3ea2e 502 *odr = -1.0f;
cparata 2:67af0ad3ea2e 503 return 1;
cparata 2:67af0ad3ea2e 504 }
cparata 2:67af0ad3ea2e 505
cparata 2:67af0ad3ea2e 506 return 0;
cparata 2:67af0ad3ea2e 507 }
cparata 2:67af0ad3ea2e 508
cparata 2:67af0ad3ea2e 509 /**
cparata 2:67af0ad3ea2e 510 * @brief Read LSM6DSL Gyroscope output data rate
cparata 2:67af0ad3ea2e 511 * @param odr the pointer to the output data rate
cparata 2:67af0ad3ea2e 512 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 513 */
cparata 2:67af0ad3ea2e 514 int LSM6DSLSensor::Get_G_ODR(float* odr)
cparata 2:67af0ad3ea2e 515 {
cparata 2:67af0ad3ea2e 516 LSM6DSL_ACC_GYRO_ODR_G_t odr_low_level;
cparata 2:67af0ad3ea2e 517
cparata 2:67af0ad3ea2e 518 if ( LSM6DSL_ACC_GYRO_R_ODR_G( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 519 {
cparata 2:67af0ad3ea2e 520 return 1;
cparata 2:67af0ad3ea2e 521 }
cparata 2:67af0ad3ea2e 522
cparata 2:67af0ad3ea2e 523 switch( odr_low_level )
cparata 2:67af0ad3ea2e 524 {
cparata 2:67af0ad3ea2e 525 case LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN:
cparata 2:67af0ad3ea2e 526 *odr = 0.0f;
cparata 2:67af0ad3ea2e 527 break;
cparata 2:67af0ad3ea2e 528 case LSM6DSL_ACC_GYRO_ODR_G_13Hz:
cparata 2:67af0ad3ea2e 529 *odr = 13.0f;
cparata 2:67af0ad3ea2e 530 break;
cparata 2:67af0ad3ea2e 531 case LSM6DSL_ACC_GYRO_ODR_G_26Hz:
cparata 2:67af0ad3ea2e 532 *odr = 26.0f;
cparata 2:67af0ad3ea2e 533 break;
cparata 2:67af0ad3ea2e 534 case LSM6DSL_ACC_GYRO_ODR_G_52Hz:
cparata 2:67af0ad3ea2e 535 *odr = 52.0f;
cparata 2:67af0ad3ea2e 536 break;
cparata 2:67af0ad3ea2e 537 case LSM6DSL_ACC_GYRO_ODR_G_104Hz:
cparata 2:67af0ad3ea2e 538 *odr = 104.0f;
cparata 2:67af0ad3ea2e 539 break;
cparata 2:67af0ad3ea2e 540 case LSM6DSL_ACC_GYRO_ODR_G_208Hz:
cparata 2:67af0ad3ea2e 541 *odr = 208.0f;
cparata 2:67af0ad3ea2e 542 break;
cparata 2:67af0ad3ea2e 543 case LSM6DSL_ACC_GYRO_ODR_G_416Hz:
cparata 2:67af0ad3ea2e 544 *odr = 416.0f;
cparata 2:67af0ad3ea2e 545 break;
cparata 2:67af0ad3ea2e 546 case LSM6DSL_ACC_GYRO_ODR_G_833Hz:
cparata 2:67af0ad3ea2e 547 *odr = 833.0f;
cparata 2:67af0ad3ea2e 548 break;
cparata 2:67af0ad3ea2e 549 case LSM6DSL_ACC_GYRO_ODR_G_1660Hz:
cparata 2:67af0ad3ea2e 550 *odr = 1660.0f;
cparata 2:67af0ad3ea2e 551 break;
cparata 2:67af0ad3ea2e 552 case LSM6DSL_ACC_GYRO_ODR_G_3330Hz:
cparata 2:67af0ad3ea2e 553 *odr = 3330.0f;
cparata 2:67af0ad3ea2e 554 break;
cparata 2:67af0ad3ea2e 555 case LSM6DSL_ACC_GYRO_ODR_G_6660Hz:
cparata 2:67af0ad3ea2e 556 *odr = 6660.0f;
cparata 2:67af0ad3ea2e 557 break;
cparata 2:67af0ad3ea2e 558 default:
cparata 2:67af0ad3ea2e 559 *odr = -1.0f;
cparata 2:67af0ad3ea2e 560 return 1;
cparata 2:67af0ad3ea2e 561 }
cparata 2:67af0ad3ea2e 562
cparata 2:67af0ad3ea2e 563 return 0;
cparata 2:67af0ad3ea2e 564 }
cparata 2:67af0ad3ea2e 565
cparata 2:67af0ad3ea2e 566 /**
cparata 2:67af0ad3ea2e 567 * @brief Set LSM6DSL Accelerometer output data rate
cparata 2:67af0ad3ea2e 568 * @param odr the output data rate to be set
cparata 2:67af0ad3ea2e 569 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 570 */
cparata 2:67af0ad3ea2e 571 int LSM6DSLSensor::Set_X_ODR(float odr)
cparata 2:67af0ad3ea2e 572 {
cparata 2:67af0ad3ea2e 573 if(X_isEnabled == 1)
cparata 2:67af0ad3ea2e 574 {
cparata 2:67af0ad3ea2e 575 if(Set_X_ODR_When_Enabled(odr) == 1)
cparata 2:67af0ad3ea2e 576 {
cparata 2:67af0ad3ea2e 577 return 1;
cparata 2:67af0ad3ea2e 578 }
cparata 2:67af0ad3ea2e 579 }
cparata 2:67af0ad3ea2e 580 else
cparata 2:67af0ad3ea2e 581 {
cparata 2:67af0ad3ea2e 582 if(Set_X_ODR_When_Disabled(odr) == 1)
cparata 2:67af0ad3ea2e 583 {
cparata 2:67af0ad3ea2e 584 return 1;
cparata 2:67af0ad3ea2e 585 }
cparata 2:67af0ad3ea2e 586 }
cparata 2:67af0ad3ea2e 587
cparata 2:67af0ad3ea2e 588 return 0;
cparata 2:67af0ad3ea2e 589 }
cparata 2:67af0ad3ea2e 590
cparata 2:67af0ad3ea2e 591 /**
cparata 2:67af0ad3ea2e 592 * @brief Set LSM6DSL Accelerometer output data rate when enabled
cparata 2:67af0ad3ea2e 593 * @param odr the output data rate to be set
cparata 2:67af0ad3ea2e 594 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 595 */
cparata 2:67af0ad3ea2e 596 int LSM6DSLSensor::Set_X_ODR_When_Enabled(float odr)
cparata 2:67af0ad3ea2e 597 {
cparata 2:67af0ad3ea2e 598 LSM6DSL_ACC_GYRO_ODR_XL_t new_odr;
cparata 2:67af0ad3ea2e 599
cparata 2:67af0ad3ea2e 600 new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_13Hz
cparata 2:67af0ad3ea2e 601 : ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_26Hz
cparata 2:67af0ad3ea2e 602 : ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_52Hz
cparata 2:67af0ad3ea2e 603 : ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_104Hz
cparata 2:67af0ad3ea2e 604 : ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_208Hz
cparata 2:67af0ad3ea2e 605 : ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_416Hz
cparata 2:67af0ad3ea2e 606 : ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_833Hz
cparata 2:67af0ad3ea2e 607 : ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_1660Hz
cparata 2:67af0ad3ea2e 608 : ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_3330Hz
cparata 2:67af0ad3ea2e 609 : LSM6DSL_ACC_GYRO_ODR_XL_6660Hz;
cparata 2:67af0ad3ea2e 610
cparata 2:67af0ad3ea2e 611 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, new_odr ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 612 {
cparata 2:67af0ad3ea2e 613 return 1;
cparata 2:67af0ad3ea2e 614 }
cparata 2:67af0ad3ea2e 615
cparata 2:67af0ad3ea2e 616 return 0;
cparata 2:67af0ad3ea2e 617 }
cparata 2:67af0ad3ea2e 618
cparata 2:67af0ad3ea2e 619 /**
cparata 2:67af0ad3ea2e 620 * @brief Set LSM6DSL Accelerometer output data rate when disabled
cparata 2:67af0ad3ea2e 621 * @param odr the output data rate to be set
cparata 2:67af0ad3ea2e 622 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 623 */
cparata 2:67af0ad3ea2e 624 int LSM6DSLSensor::Set_X_ODR_When_Disabled(float odr)
cparata 2:67af0ad3ea2e 625 {
cparata 2:67af0ad3ea2e 626 X_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata 2:67af0ad3ea2e 627 : ( odr <= 26.0f ) ? 26.0f
cparata 2:67af0ad3ea2e 628 : ( odr <= 52.0f ) ? 52.0f
cparata 2:67af0ad3ea2e 629 : ( odr <= 104.0f ) ? 104.0f
cparata 2:67af0ad3ea2e 630 : ( odr <= 208.0f ) ? 208.0f
cparata 2:67af0ad3ea2e 631 : ( odr <= 416.0f ) ? 416.0f
cparata 2:67af0ad3ea2e 632 : ( odr <= 833.0f ) ? 833.0f
cparata 2:67af0ad3ea2e 633 : ( odr <= 1660.0f ) ? 1660.0f
cparata 2:67af0ad3ea2e 634 : ( odr <= 3330.0f ) ? 3330.0f
cparata 2:67af0ad3ea2e 635 : 6660.0f;
cparata 2:67af0ad3ea2e 636
cparata 2:67af0ad3ea2e 637 return 0;
cparata 2:67af0ad3ea2e 638 }
cparata 2:67af0ad3ea2e 639
cparata 2:67af0ad3ea2e 640 /**
cparata 2:67af0ad3ea2e 641 * @brief Set LSM6DSL Gyroscope output data rate
cparata 2:67af0ad3ea2e 642 * @param odr the output data rate to be set
cparata 2:67af0ad3ea2e 643 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 644 */
cparata 2:67af0ad3ea2e 645 int LSM6DSLSensor::Set_G_ODR(float odr)
cparata 2:67af0ad3ea2e 646 {
cparata 2:67af0ad3ea2e 647 if(G_isEnabled == 1)
cparata 2:67af0ad3ea2e 648 {
cparata 2:67af0ad3ea2e 649 if(Set_G_ODR_When_Enabled(odr) == 1)
cparata 2:67af0ad3ea2e 650 {
cparata 2:67af0ad3ea2e 651 return 1;
cparata 2:67af0ad3ea2e 652 }
cparata 2:67af0ad3ea2e 653 }
cparata 2:67af0ad3ea2e 654 else
cparata 2:67af0ad3ea2e 655 {
cparata 2:67af0ad3ea2e 656 if(Set_G_ODR_When_Disabled(odr) == 1)
cparata 2:67af0ad3ea2e 657 {
cparata 2:67af0ad3ea2e 658 return 1;
cparata 2:67af0ad3ea2e 659 }
cparata 2:67af0ad3ea2e 660 }
cparata 2:67af0ad3ea2e 661
cparata 2:67af0ad3ea2e 662 return 0;
cparata 2:67af0ad3ea2e 663 }
cparata 2:67af0ad3ea2e 664
cparata 2:67af0ad3ea2e 665 /**
cparata 2:67af0ad3ea2e 666 * @brief Set LSM6DSL Gyroscope output data rate when enabled
cparata 2:67af0ad3ea2e 667 * @param odr the output data rate to be set
cparata 2:67af0ad3ea2e 668 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 669 */
cparata 2:67af0ad3ea2e 670 int LSM6DSLSensor::Set_G_ODR_When_Enabled(float odr)
cparata 2:67af0ad3ea2e 671 {
cparata 2:67af0ad3ea2e 672 LSM6DSL_ACC_GYRO_ODR_G_t new_odr;
cparata 2:67af0ad3ea2e 673
cparata 2:67af0ad3ea2e 674 new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_13Hz
cparata 2:67af0ad3ea2e 675 : ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_26Hz
cparata 2:67af0ad3ea2e 676 : ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_52Hz
cparata 2:67af0ad3ea2e 677 : ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_104Hz
cparata 2:67af0ad3ea2e 678 : ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_208Hz
cparata 2:67af0ad3ea2e 679 : ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_416Hz
cparata 2:67af0ad3ea2e 680 : ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_833Hz
cparata 2:67af0ad3ea2e 681 : ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_1660Hz
cparata 2:67af0ad3ea2e 682 : ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_3330Hz
cparata 2:67af0ad3ea2e 683 : LSM6DSL_ACC_GYRO_ODR_G_6660Hz;
cparata 2:67af0ad3ea2e 684
cparata 2:67af0ad3ea2e 685 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, new_odr ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 686 {
cparata 2:67af0ad3ea2e 687 return 1;
cparata 2:67af0ad3ea2e 688 }
cparata 2:67af0ad3ea2e 689
cparata 2:67af0ad3ea2e 690 return 0;
cparata 2:67af0ad3ea2e 691 }
cparata 2:67af0ad3ea2e 692
cparata 2:67af0ad3ea2e 693 /**
cparata 2:67af0ad3ea2e 694 * @brief Set LSM6DSL Gyroscope output data rate when disabled
cparata 2:67af0ad3ea2e 695 * @param odr the output data rate to be set
cparata 2:67af0ad3ea2e 696 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 697 */
cparata 2:67af0ad3ea2e 698 int LSM6DSLSensor::Set_G_ODR_When_Disabled(float odr)
cparata 2:67af0ad3ea2e 699 {
cparata 2:67af0ad3ea2e 700 G_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata 2:67af0ad3ea2e 701 : ( odr <= 26.0f ) ? 26.0f
cparata 2:67af0ad3ea2e 702 : ( odr <= 52.0f ) ? 52.0f
cparata 2:67af0ad3ea2e 703 : ( odr <= 104.0f ) ? 104.0f
cparata 2:67af0ad3ea2e 704 : ( odr <= 208.0f ) ? 208.0f
cparata 2:67af0ad3ea2e 705 : ( odr <= 416.0f ) ? 416.0f
cparata 2:67af0ad3ea2e 706 : ( odr <= 833.0f ) ? 833.0f
cparata 2:67af0ad3ea2e 707 : ( odr <= 1660.0f ) ? 1660.0f
cparata 2:67af0ad3ea2e 708 : ( odr <= 3330.0f ) ? 3330.0f
cparata 2:67af0ad3ea2e 709 : 6660.0f;
cparata 2:67af0ad3ea2e 710
cparata 2:67af0ad3ea2e 711 return 0;
cparata 2:67af0ad3ea2e 712 }
cparata 2:67af0ad3ea2e 713
cparata 2:67af0ad3ea2e 714 /**
cparata 2:67af0ad3ea2e 715 * @brief Read LSM6DSL Accelerometer full scale
cparata 2:67af0ad3ea2e 716 * @param fullScale the pointer to the full scale
cparata 2:67af0ad3ea2e 717 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 718 */
cparata 2:67af0ad3ea2e 719 int LSM6DSLSensor::Get_X_FS(float* fullScale)
cparata 2:67af0ad3ea2e 720 {
cparata 2:67af0ad3ea2e 721 LSM6DSL_ACC_GYRO_FS_XL_t fs_low_level;
cparata 2:67af0ad3ea2e 722
cparata 2:67af0ad3ea2e 723 if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 724 {
cparata 2:67af0ad3ea2e 725 return 1;
cparata 2:67af0ad3ea2e 726 }
cparata 2:67af0ad3ea2e 727
cparata 2:67af0ad3ea2e 728 switch( fs_low_level )
cparata 2:67af0ad3ea2e 729 {
cparata 2:67af0ad3ea2e 730 case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata 2:67af0ad3ea2e 731 *fullScale = 2.0f;
cparata 2:67af0ad3ea2e 732 break;
cparata 2:67af0ad3ea2e 733 case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata 2:67af0ad3ea2e 734 *fullScale = 4.0f;
cparata 2:67af0ad3ea2e 735 break;
cparata 2:67af0ad3ea2e 736 case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata 2:67af0ad3ea2e 737 *fullScale = 8.0f;
cparata 2:67af0ad3ea2e 738 break;
cparata 2:67af0ad3ea2e 739 case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata 2:67af0ad3ea2e 740 *fullScale = 16.0f;
cparata 2:67af0ad3ea2e 741 break;
cparata 2:67af0ad3ea2e 742 default:
cparata 2:67af0ad3ea2e 743 *fullScale = -1.0f;
cparata 2:67af0ad3ea2e 744 return 1;
cparata 2:67af0ad3ea2e 745 }
cparata 2:67af0ad3ea2e 746
cparata 2:67af0ad3ea2e 747 return 0;
cparata 2:67af0ad3ea2e 748 }
cparata 2:67af0ad3ea2e 749
cparata 2:67af0ad3ea2e 750 /**
cparata 2:67af0ad3ea2e 751 * @brief Read LSM6DSL Gyroscope full scale
cparata 2:67af0ad3ea2e 752 * @param fullScale the pointer to the full scale
cparata 2:67af0ad3ea2e 753 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 754 */
cparata 2:67af0ad3ea2e 755 int LSM6DSLSensor::Get_G_FS(float* fullScale)
cparata 2:67af0ad3ea2e 756 {
cparata 2:67af0ad3ea2e 757 LSM6DSL_ACC_GYRO_FS_G_t fs_low_level;
cparata 2:67af0ad3ea2e 758 LSM6DSL_ACC_GYRO_FS_125_t fs_125;
cparata 2:67af0ad3ea2e 759
cparata 2:67af0ad3ea2e 760 if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fs_125 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 761 {
cparata 2:67af0ad3ea2e 762 return 1;
cparata 2:67af0ad3ea2e 763 }
cparata 2:67af0ad3ea2e 764 if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 765 {
cparata 2:67af0ad3ea2e 766 return 1;
cparata 2:67af0ad3ea2e 767 }
cparata 2:67af0ad3ea2e 768
cparata 2:67af0ad3ea2e 769 if ( fs_125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata 2:67af0ad3ea2e 770 {
cparata 2:67af0ad3ea2e 771 *fullScale = 125.0f;
cparata 2:67af0ad3ea2e 772 }
cparata 2:67af0ad3ea2e 773
cparata 2:67af0ad3ea2e 774 else
cparata 2:67af0ad3ea2e 775 {
cparata 2:67af0ad3ea2e 776 switch( fs_low_level )
cparata 2:67af0ad3ea2e 777 {
cparata 2:67af0ad3ea2e 778 case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata 2:67af0ad3ea2e 779 *fullScale = 245.0f;
cparata 2:67af0ad3ea2e 780 break;
cparata 2:67af0ad3ea2e 781 case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata 2:67af0ad3ea2e 782 *fullScale = 500.0f;
cparata 2:67af0ad3ea2e 783 break;
cparata 2:67af0ad3ea2e 784 case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata 2:67af0ad3ea2e 785 *fullScale = 1000.0f;
cparata 2:67af0ad3ea2e 786 break;
cparata 2:67af0ad3ea2e 787 case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata 2:67af0ad3ea2e 788 *fullScale = 2000.0f;
cparata 2:67af0ad3ea2e 789 break;
cparata 2:67af0ad3ea2e 790 default:
cparata 2:67af0ad3ea2e 791 *fullScale = -1.0f;
cparata 2:67af0ad3ea2e 792 return 1;
cparata 2:67af0ad3ea2e 793 }
cparata 2:67af0ad3ea2e 794 }
cparata 2:67af0ad3ea2e 795
cparata 2:67af0ad3ea2e 796 return 0;
cparata 2:67af0ad3ea2e 797 }
cparata 2:67af0ad3ea2e 798
cparata 2:67af0ad3ea2e 799 /**
cparata 2:67af0ad3ea2e 800 * @brief Set LSM6DSL Accelerometer full scale
cparata 2:67af0ad3ea2e 801 * @param fullScale the full scale to be set
cparata 2:67af0ad3ea2e 802 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 803 */
cparata 2:67af0ad3ea2e 804 int LSM6DSLSensor::Set_X_FS(float fullScale)
cparata 2:67af0ad3ea2e 805 {
cparata 2:67af0ad3ea2e 806 LSM6DSL_ACC_GYRO_FS_XL_t new_fs;
cparata 2:67af0ad3ea2e 807
cparata 2:67af0ad3ea2e 808 new_fs = ( fullScale <= 2.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_2g
cparata 2:67af0ad3ea2e 809 : ( fullScale <= 4.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_4g
cparata 2:67af0ad3ea2e 810 : ( fullScale <= 8.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_8g
cparata 2:67af0ad3ea2e 811 : LSM6DSL_ACC_GYRO_FS_XL_16g;
cparata 2:67af0ad3ea2e 812
cparata 2:67af0ad3ea2e 813 if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, new_fs ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 814 {
cparata 2:67af0ad3ea2e 815 return 1;
cparata 2:67af0ad3ea2e 816 }
cparata 2:67af0ad3ea2e 817
cparata 2:67af0ad3ea2e 818 return 0;
cparata 2:67af0ad3ea2e 819 }
cparata 2:67af0ad3ea2e 820
cparata 2:67af0ad3ea2e 821 /**
cparata 2:67af0ad3ea2e 822 * @brief Set LSM6DSL Gyroscope full scale
cparata 2:67af0ad3ea2e 823 * @param fullScale the full scale to be set
cparata 2:67af0ad3ea2e 824 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 825 */
cparata 2:67af0ad3ea2e 826 int LSM6DSLSensor::Set_G_FS(float fullScale)
cparata 2:67af0ad3ea2e 827 {
cparata 2:67af0ad3ea2e 828 LSM6DSL_ACC_GYRO_FS_G_t new_fs;
cparata 2:67af0ad3ea2e 829
cparata 2:67af0ad3ea2e 830 if ( fullScale <= 125.0f )
cparata 2:67af0ad3ea2e 831 {
cparata 2:67af0ad3ea2e 832 if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 833 {
cparata 2:67af0ad3ea2e 834 return 1;
cparata 2:67af0ad3ea2e 835 }
cparata 2:67af0ad3ea2e 836 }
cparata 2:67af0ad3ea2e 837 else
cparata 2:67af0ad3ea2e 838 {
cparata 2:67af0ad3ea2e 839 new_fs = ( fullScale <= 245.0f ) ? LSM6DSL_ACC_GYRO_FS_G_245dps
cparata 2:67af0ad3ea2e 840 : ( fullScale <= 500.0f ) ? LSM6DSL_ACC_GYRO_FS_G_500dps
cparata 2:67af0ad3ea2e 841 : ( fullScale <= 1000.0f ) ? LSM6DSL_ACC_GYRO_FS_G_1000dps
cparata 2:67af0ad3ea2e 842 : LSM6DSL_ACC_GYRO_FS_G_2000dps;
cparata 2:67af0ad3ea2e 843
cparata 2:67af0ad3ea2e 844 if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 845 {
cparata 2:67af0ad3ea2e 846 return 1;
cparata 2:67af0ad3ea2e 847 }
cparata 2:67af0ad3ea2e 848 if ( LSM6DSL_ACC_GYRO_W_FS_G( (void *)this, new_fs ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 849 {
cparata 2:67af0ad3ea2e 850 return 1;
cparata 2:67af0ad3ea2e 851 }
cparata 2:67af0ad3ea2e 852 }
cparata 2:67af0ad3ea2e 853
cparata 2:67af0ad3ea2e 854 return 0;
cparata 2:67af0ad3ea2e 855 }
cparata 2:67af0ad3ea2e 856
cparata 2:67af0ad3ea2e 857 /**
cparata 2:67af0ad3ea2e 858 * @brief Enable free fall detection
cparata 2:67af0ad3ea2e 859 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:67af0ad3ea2e 860 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 861 */
cparata 2:67af0ad3ea2e 862 int LSM6DSLSensor::Enable_Free_Fall_Detection(void)
cparata 2:67af0ad3ea2e 863 {
cparata 2:67af0ad3ea2e 864 /* Output Data Rate selection */
cparata 2:67af0ad3ea2e 865 if(Set_X_ODR(416.0f) == 1)
cparata 2:67af0ad3ea2e 866 {
cparata 2:67af0ad3ea2e 867 return 1;
cparata 2:67af0ad3ea2e 868 }
cparata 2:67af0ad3ea2e 869
cparata 2:67af0ad3ea2e 870 /* Full scale selection */
cparata 2:67af0ad3ea2e 871 if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, LSM6DSL_ACC_GYRO_FS_XL_2g ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 872 {
cparata 2:67af0ad3ea2e 873 return 1;
cparata 2:67af0ad3ea2e 874 }
cparata 2:67af0ad3ea2e 875
cparata 2:67af0ad3ea2e 876 /* FF_DUR setting */
cparata 2:67af0ad3ea2e 877 if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x06 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 878 {
cparata 2:67af0ad3ea2e 879 return 1;
cparata 2:67af0ad3ea2e 880 }
cparata 2:67af0ad3ea2e 881
cparata 2:67af0ad3ea2e 882 /* WAKE_DUR setting */
cparata 2:67af0ad3ea2e 883 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 884 {
cparata 2:67af0ad3ea2e 885 return 1;
cparata 2:67af0ad3ea2e 886 }
cparata 2:67af0ad3ea2e 887
cparata 2:67af0ad3ea2e 888 /* TIMER_HR setting */
cparata 2:67af0ad3ea2e 889 if ( LSM6DSL_ACC_GYRO_W_TIMER_HR( (void *)this, LSM6DSL_ACC_GYRO_TIMER_HR_6_4ms ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 890 {
cparata 2:67af0ad3ea2e 891 return 1;
cparata 2:67af0ad3ea2e 892 }
cparata 2:67af0ad3ea2e 893
cparata 2:67af0ad3ea2e 894 /* SLEEP_DUR setting */
cparata 2:67af0ad3ea2e 895 if ( LSM6DSL_ACC_GYRO_W_SLEEP_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 896 {
cparata 2:67af0ad3ea2e 897 return 1;
cparata 2:67af0ad3ea2e 898 }
cparata 2:67af0ad3ea2e 899
cparata 2:67af0ad3ea2e 900 /* FF_THS setting */
cparata 2:67af0ad3ea2e 901 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_312mg ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 902 {
cparata 2:67af0ad3ea2e 903 return 1;
cparata 2:67af0ad3ea2e 904 }
cparata 2:67af0ad3ea2e 905
cparata 2:67af0ad3ea2e 906 /* Enable basic Interrupts */
cparata 2:67af0ad3ea2e 907 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 908 {
cparata 2:67af0ad3ea2e 909 return 1;
cparata 2:67af0ad3ea2e 910 }
cparata 2:67af0ad3ea2e 911
cparata 2:67af0ad3ea2e 912 /* INT1_FF setting */
cparata 2:67af0ad3ea2e 913 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 914 {
cparata 2:67af0ad3ea2e 915 return 1;
cparata 2:67af0ad3ea2e 916 }
cparata 2:67af0ad3ea2e 917
cparata 2:67af0ad3ea2e 918 return 0;
cparata 2:67af0ad3ea2e 919 }
cparata 2:67af0ad3ea2e 920
cparata 2:67af0ad3ea2e 921 /**
cparata 2:67af0ad3ea2e 922 * @brief Disable free fall detection
cparata 2:67af0ad3ea2e 923 * @param None
cparata 2:67af0ad3ea2e 924 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 925 */
cparata 2:67af0ad3ea2e 926 int LSM6DSLSensor::Disable_Free_Fall_Detection(void)
cparata 2:67af0ad3ea2e 927 {
cparata 2:67af0ad3ea2e 928 /* INT1_FF setting */
cparata 2:67af0ad3ea2e 929 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 930 {
cparata 2:67af0ad3ea2e 931 return 1;
cparata 2:67af0ad3ea2e 932 }
cparata 2:67af0ad3ea2e 933
cparata 2:67af0ad3ea2e 934 /* Disable basic Interrupts */
cparata 2:67af0ad3ea2e 935 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 936 {
cparata 2:67af0ad3ea2e 937 return 1;
cparata 2:67af0ad3ea2e 938 }
cparata 2:67af0ad3ea2e 939
cparata 2:67af0ad3ea2e 940 /* FF_DUR setting */
cparata 2:67af0ad3ea2e 941 if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 942 {
cparata 2:67af0ad3ea2e 943 return 1;
cparata 2:67af0ad3ea2e 944 }
cparata 2:67af0ad3ea2e 945
cparata 2:67af0ad3ea2e 946 /* FF_THS setting */
cparata 2:67af0ad3ea2e 947 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_156mg ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 948 {
cparata 2:67af0ad3ea2e 949 return 1;
cparata 2:67af0ad3ea2e 950 }
cparata 2:67af0ad3ea2e 951
cparata 2:67af0ad3ea2e 952 return 0;
cparata 2:67af0ad3ea2e 953 }
cparata 2:67af0ad3ea2e 954
cparata 2:67af0ad3ea2e 955 /**
cparata 2:67af0ad3ea2e 956 * @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 957 * @param thr the threshold to be set
cparata 2:67af0ad3ea2e 958 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 959 */
cparata 2:67af0ad3ea2e 960 int LSM6DSLSensor::Set_Free_Fall_Threshold(uint8_t thr)
cparata 2:67af0ad3ea2e 961 {
cparata 2:67af0ad3ea2e 962
cparata 2:67af0ad3ea2e 963 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 964 {
cparata 2:67af0ad3ea2e 965 return 1;
cparata 2:67af0ad3ea2e 966 }
cparata 2:67af0ad3ea2e 967
cparata 2:67af0ad3ea2e 968 return 0;
cparata 2:67af0ad3ea2e 969 }
cparata 2:67af0ad3ea2e 970
cparata 2:67af0ad3ea2e 971 /**
cparata 2:67af0ad3ea2e 972 * @brief Enable the pedometer feature for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 973 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:67af0ad3ea2e 974 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 975 */
cparata 2:67af0ad3ea2e 976 int LSM6DSLSensor::Enable_Pedometer(void)
cparata 2:67af0ad3ea2e 977 {
cparata 2:67af0ad3ea2e 978 /* Output Data Rate selection */
cparata 2:67af0ad3ea2e 979 if( Set_X_ODR(26.0f) == 1 )
cparata 2:67af0ad3ea2e 980 {
cparata 2:67af0ad3ea2e 981 return 1;
cparata 2:67af0ad3ea2e 982 }
cparata 2:67af0ad3ea2e 983
cparata 2:67af0ad3ea2e 984 /* Full scale selection. */
cparata 2:67af0ad3ea2e 985 if( Set_X_FS(2.0f) == 1 )
cparata 2:67af0ad3ea2e 986 {
cparata 2:67af0ad3ea2e 987 return 1;
cparata 2:67af0ad3ea2e 988 }
cparata 2:67af0ad3ea2e 989
cparata 2:67af0ad3ea2e 990 /* Set pedometer threshold. */
cparata 2:67af0ad3ea2e 991 if ( Set_Pedometer_Threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == 1 )
cparata 2:67af0ad3ea2e 992 {
cparata 2:67af0ad3ea2e 993 return 1;
cparata 2:67af0ad3ea2e 994 }
cparata 2:67af0ad3ea2e 995
cparata 2:67af0ad3ea2e 996 /* Enable embedded functionalities. */
cparata 2:67af0ad3ea2e 997 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 998 {
cparata 2:67af0ad3ea2e 999 return 1;
cparata 2:67af0ad3ea2e 1000 }
cparata 2:67af0ad3ea2e 1001
cparata 2:67af0ad3ea2e 1002 /* Enable pedometer algorithm. */
cparata 2:67af0ad3ea2e 1003 if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1004 {
cparata 2:67af0ad3ea2e 1005 return 1;
cparata 2:67af0ad3ea2e 1006 }
cparata 2:67af0ad3ea2e 1007
cparata 2:67af0ad3ea2e 1008 /* Enable pedometer on INT1. */
cparata 2:67af0ad3ea2e 1009 if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1010 {
cparata 2:67af0ad3ea2e 1011 return 1;
cparata 2:67af0ad3ea2e 1012 }
cparata 2:67af0ad3ea2e 1013
cparata 2:67af0ad3ea2e 1014 return 0;
cparata 2:67af0ad3ea2e 1015 }
cparata 2:67af0ad3ea2e 1016
cparata 2:67af0ad3ea2e 1017 /**
cparata 2:67af0ad3ea2e 1018 * @brief Disable the pedometer feature for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1019 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1020 */
cparata 2:67af0ad3ea2e 1021 int LSM6DSLSensor::Disable_Pedometer(void)
cparata 2:67af0ad3ea2e 1022 {
cparata 2:67af0ad3ea2e 1023 /* Disable pedometer on INT1. */
cparata 2:67af0ad3ea2e 1024 if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1025 {
cparata 2:67af0ad3ea2e 1026 return 1;
cparata 2:67af0ad3ea2e 1027 }
cparata 2:67af0ad3ea2e 1028
cparata 2:67af0ad3ea2e 1029 /* Disable pedometer algorithm. */
cparata 2:67af0ad3ea2e 1030 if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1031 {
cparata 2:67af0ad3ea2e 1032 return 1;
cparata 2:67af0ad3ea2e 1033 }
cparata 2:67af0ad3ea2e 1034
cparata 2:67af0ad3ea2e 1035 /* Disable embedded functionalities. */
cparata 2:67af0ad3ea2e 1036 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1037 {
cparata 2:67af0ad3ea2e 1038 return 1;
cparata 2:67af0ad3ea2e 1039 }
cparata 2:67af0ad3ea2e 1040
cparata 2:67af0ad3ea2e 1041 /* Reset pedometer threshold. */
cparata 2:67af0ad3ea2e 1042 if ( Set_Pedometer_Threshold(0x0) == 1 )
cparata 2:67af0ad3ea2e 1043 {
cparata 2:67af0ad3ea2e 1044 return 1;
cparata 2:67af0ad3ea2e 1045 }
cparata 2:67af0ad3ea2e 1046
cparata 2:67af0ad3ea2e 1047 return 0;
cparata 2:67af0ad3ea2e 1048 }
cparata 2:67af0ad3ea2e 1049
cparata 2:67af0ad3ea2e 1050 /**
cparata 2:67af0ad3ea2e 1051 * @brief Get the step counter for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1052 * @param step_count the pointer to the step counter
cparata 2:67af0ad3ea2e 1053 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1054 */
cparata 2:67af0ad3ea2e 1055 int LSM6DSLSensor::Get_Step_Counter(uint16_t *step_count)
cparata 2:67af0ad3ea2e 1056 {
cparata 2:67af0ad3ea2e 1057 if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void *)this, ( uint8_t* )step_count ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1058 {
cparata 2:67af0ad3ea2e 1059 return 1;
cparata 2:67af0ad3ea2e 1060 }
cparata 2:67af0ad3ea2e 1061
cparata 2:67af0ad3ea2e 1062 return 0;
cparata 2:67af0ad3ea2e 1063 }
cparata 2:67af0ad3ea2e 1064
cparata 2:67af0ad3ea2e 1065 /**
cparata 2:67af0ad3ea2e 1066 * @brief Reset of the step counter for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1067 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1068 */
cparata 2:67af0ad3ea2e 1069 int LSM6DSLSensor::Reset_Step_Counter(void)
cparata 2:67af0ad3ea2e 1070 {
cparata 2:67af0ad3ea2e 1071 if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1072 {
cparata 2:67af0ad3ea2e 1073 return 1;
cparata 2:67af0ad3ea2e 1074 }
cparata 2:67af0ad3ea2e 1075
cparata 2:67af0ad3ea2e 1076 wait_ms(10);
cparata 2:67af0ad3ea2e 1077
cparata 2:67af0ad3ea2e 1078 if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1079 {
cparata 2:67af0ad3ea2e 1080 return 1;
cparata 2:67af0ad3ea2e 1081 }
cparata 2:67af0ad3ea2e 1082
cparata 2:67af0ad3ea2e 1083 return 0;
cparata 2:67af0ad3ea2e 1084 }
cparata 2:67af0ad3ea2e 1085
cparata 2:67af0ad3ea2e 1086 /**
cparata 2:67af0ad3ea2e 1087 * @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1088 * @param thr the threshold to be set
cparata 2:67af0ad3ea2e 1089 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1090 */
cparata 2:67af0ad3ea2e 1091 int LSM6DSLSensor::Set_Pedometer_Threshold(uint8_t thr)
cparata 2:67af0ad3ea2e 1092 {
cparata 2:67af0ad3ea2e 1093 if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1094 {
cparata 2:67af0ad3ea2e 1095 return 1;
cparata 2:67af0ad3ea2e 1096 }
cparata 2:67af0ad3ea2e 1097
cparata 2:67af0ad3ea2e 1098 return 0;
cparata 2:67af0ad3ea2e 1099 }
cparata 2:67af0ad3ea2e 1100
cparata 2:67af0ad3ea2e 1101 /**
cparata 2:67af0ad3ea2e 1102 * @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1103 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:67af0ad3ea2e 1104 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1105 */
cparata 2:67af0ad3ea2e 1106 int LSM6DSLSensor::Enable_Tilt_Detection(void)
cparata 2:67af0ad3ea2e 1107 {
cparata 2:67af0ad3ea2e 1108 /* Output Data Rate selection */
cparata 2:67af0ad3ea2e 1109 if( Set_X_ODR(26.0f) == 1 )
cparata 2:67af0ad3ea2e 1110 {
cparata 2:67af0ad3ea2e 1111 return 1;
cparata 2:67af0ad3ea2e 1112 }
cparata 2:67af0ad3ea2e 1113
cparata 2:67af0ad3ea2e 1114 /* Full scale selection. */
cparata 2:67af0ad3ea2e 1115 if( Set_X_FS(2.0f) == 1 )
cparata 2:67af0ad3ea2e 1116 {
cparata 2:67af0ad3ea2e 1117 return 1;
cparata 2:67af0ad3ea2e 1118 }
cparata 2:67af0ad3ea2e 1119
cparata 2:67af0ad3ea2e 1120 /* Enable embedded functionalities */
cparata 2:67af0ad3ea2e 1121 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1122 {
cparata 2:67af0ad3ea2e 1123 return 1;
cparata 2:67af0ad3ea2e 1124 }
cparata 2:67af0ad3ea2e 1125
cparata 2:67af0ad3ea2e 1126 /* Enable tilt calculation. */
cparata 2:67af0ad3ea2e 1127 if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1128 {
cparata 2:67af0ad3ea2e 1129 return 1;
cparata 2:67af0ad3ea2e 1130 }
cparata 2:67af0ad3ea2e 1131
cparata 2:67af0ad3ea2e 1132 /* Enable tilt event on INT1. */
cparata 2:67af0ad3ea2e 1133 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1134 {
cparata 2:67af0ad3ea2e 1135 return 1;
cparata 2:67af0ad3ea2e 1136 }
cparata 2:67af0ad3ea2e 1137
cparata 2:67af0ad3ea2e 1138 return 0;
cparata 2:67af0ad3ea2e 1139 }
cparata 2:67af0ad3ea2e 1140
cparata 2:67af0ad3ea2e 1141 /**
cparata 2:67af0ad3ea2e 1142 * @brief Disable the tilt detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1143 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1144 */
cparata 2:67af0ad3ea2e 1145 int LSM6DSLSensor::Disable_Tilt_Detection(void)
cparata 2:67af0ad3ea2e 1146 {
cparata 2:67af0ad3ea2e 1147 /* Disable tilt event on INT1. */
cparata 2:67af0ad3ea2e 1148 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1149 {
cparata 2:67af0ad3ea2e 1150 return 1;
cparata 2:67af0ad3ea2e 1151 }
cparata 2:67af0ad3ea2e 1152
cparata 2:67af0ad3ea2e 1153 /* Disable tilt calculation. */
cparata 2:67af0ad3ea2e 1154 if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1155 {
cparata 2:67af0ad3ea2e 1156 return 1;
cparata 2:67af0ad3ea2e 1157 }
cparata 2:67af0ad3ea2e 1158
cparata 2:67af0ad3ea2e 1159 /* Disable embedded functionalities */
cparata 2:67af0ad3ea2e 1160 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1161 {
cparata 2:67af0ad3ea2e 1162 return 1;
cparata 2:67af0ad3ea2e 1163 }
cparata 2:67af0ad3ea2e 1164
cparata 2:67af0ad3ea2e 1165 return 0;
cparata 2:67af0ad3ea2e 1166 }
cparata 2:67af0ad3ea2e 1167
cparata 2:67af0ad3ea2e 1168 /**
cparata 2:67af0ad3ea2e 1169 * @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1170 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:67af0ad3ea2e 1171 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1172 */
cparata 2:67af0ad3ea2e 1173 int LSM6DSLSensor::Enable_Wake_Up_Detection(void)
cparata 2:67af0ad3ea2e 1174 {
cparata 2:67af0ad3ea2e 1175 /* Output Data Rate selection */
cparata 2:67af0ad3ea2e 1176 if( Set_X_ODR(416.0f) == 1 )
cparata 2:67af0ad3ea2e 1177 {
cparata 2:67af0ad3ea2e 1178 return 1;
cparata 2:67af0ad3ea2e 1179 }
cparata 2:67af0ad3ea2e 1180
cparata 2:67af0ad3ea2e 1181 /* Full scale selection. */
cparata 2:67af0ad3ea2e 1182 if( Set_X_FS(2.0f) == 1 )
cparata 2:67af0ad3ea2e 1183 {
cparata 2:67af0ad3ea2e 1184 return 1;
cparata 2:67af0ad3ea2e 1185 }
cparata 2:67af0ad3ea2e 1186
cparata 2:67af0ad3ea2e 1187 /* WAKE_DUR setting */
cparata 2:67af0ad3ea2e 1188 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1189 {
cparata 2:67af0ad3ea2e 1190 return 1;
cparata 2:67af0ad3ea2e 1191 }
cparata 2:67af0ad3ea2e 1192
cparata 2:67af0ad3ea2e 1193 /* Set wake up threshold. */
cparata 2:67af0ad3ea2e 1194 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1195 {
cparata 2:67af0ad3ea2e 1196 return 1;
cparata 2:67af0ad3ea2e 1197 }
cparata 2:67af0ad3ea2e 1198
cparata 2:67af0ad3ea2e 1199 /* Enable basic Interrupts */
cparata 2:67af0ad3ea2e 1200 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1201 {
cparata 2:67af0ad3ea2e 1202 return 1;
cparata 2:67af0ad3ea2e 1203 }
cparata 2:67af0ad3ea2e 1204
cparata 5:cce849c2e6e7 1205 /* INT2_WU setting */
cparata 5:cce849c2e6e7 1206 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1207 {
cparata 2:67af0ad3ea2e 1208 return 1;
cparata 2:67af0ad3ea2e 1209 }
cparata 2:67af0ad3ea2e 1210
cparata 2:67af0ad3ea2e 1211 return 0;
cparata 2:67af0ad3ea2e 1212 }
cparata 2:67af0ad3ea2e 1213
cparata 2:67af0ad3ea2e 1214 /**
cparata 2:67af0ad3ea2e 1215 * @brief Disable the wake up detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1216 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1217 */
cparata 2:67af0ad3ea2e 1218 int LSM6DSLSensor::Disable_Wake_Up_Detection(void)
cparata 2:67af0ad3ea2e 1219 {
cparata 5:cce849c2e6e7 1220 /* INT2_WU setting */
cparata 5:cce849c2e6e7 1221 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1222 {
cparata 2:67af0ad3ea2e 1223 return 1;
cparata 2:67af0ad3ea2e 1224 }
cparata 2:67af0ad3ea2e 1225
cparata 2:67af0ad3ea2e 1226 /* Disable basic Interrupts */
cparata 2:67af0ad3ea2e 1227 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1228 {
cparata 2:67af0ad3ea2e 1229 return 1;
cparata 2:67af0ad3ea2e 1230 }
cparata 2:67af0ad3ea2e 1231
cparata 2:67af0ad3ea2e 1232 /* WU_DUR setting */
cparata 2:67af0ad3ea2e 1233 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1234 {
cparata 2:67af0ad3ea2e 1235 return 1;
cparata 2:67af0ad3ea2e 1236 }
cparata 2:67af0ad3ea2e 1237
cparata 2:67af0ad3ea2e 1238 /* WU_THS setting */
cparata 2:67af0ad3ea2e 1239 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1240 {
cparata 2:67af0ad3ea2e 1241 return 1;
cparata 2:67af0ad3ea2e 1242 }
cparata 2:67af0ad3ea2e 1243
cparata 2:67af0ad3ea2e 1244 return 0;
cparata 2:67af0ad3ea2e 1245 }
cparata 2:67af0ad3ea2e 1246
cparata 2:67af0ad3ea2e 1247 /**
cparata 2:67af0ad3ea2e 1248 * @brief Set the wake up threshold for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1249 * @param thr the threshold to be set
cparata 2:67af0ad3ea2e 1250 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1251 */
cparata 2:67af0ad3ea2e 1252 int LSM6DSLSensor::Set_Wake_Up_Threshold(uint8_t thr)
cparata 2:67af0ad3ea2e 1253 {
cparata 2:67af0ad3ea2e 1254 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1255 {
cparata 2:67af0ad3ea2e 1256 return 1;
cparata 2:67af0ad3ea2e 1257 }
cparata 2:67af0ad3ea2e 1258
cparata 2:67af0ad3ea2e 1259 return 0;
cparata 2:67af0ad3ea2e 1260 }
cparata 2:67af0ad3ea2e 1261
cparata 2:67af0ad3ea2e 1262 /**
cparata 2:67af0ad3ea2e 1263 * @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1264 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:67af0ad3ea2e 1265 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1266 */
cparata 2:67af0ad3ea2e 1267 int LSM6DSLSensor::Enable_Single_Tap_Detection(void)
cparata 2:67af0ad3ea2e 1268 {
cparata 2:67af0ad3ea2e 1269 /* Output Data Rate selection */
cparata 2:67af0ad3ea2e 1270 if( Set_X_ODR(416.0f) == 1 )
cparata 2:67af0ad3ea2e 1271 {
cparata 2:67af0ad3ea2e 1272 return 1;
cparata 2:67af0ad3ea2e 1273 }
cparata 2:67af0ad3ea2e 1274
cparata 2:67af0ad3ea2e 1275 /* Full scale selection. */
cparata 2:67af0ad3ea2e 1276 if( Set_X_FS(2.0f) == 1 )
cparata 2:67af0ad3ea2e 1277 {
cparata 2:67af0ad3ea2e 1278 return 1;
cparata 2:67af0ad3ea2e 1279 }
cparata 2:67af0ad3ea2e 1280
cparata 2:67af0ad3ea2e 1281 /* Enable X direction in tap recognition. */
cparata 2:67af0ad3ea2e 1282 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1283 {
cparata 2:67af0ad3ea2e 1284 return 1;
cparata 2:67af0ad3ea2e 1285 }
cparata 2:67af0ad3ea2e 1286
cparata 2:67af0ad3ea2e 1287 /* Enable Y direction in tap recognition. */
cparata 2:67af0ad3ea2e 1288 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1289 {
cparata 2:67af0ad3ea2e 1290 return 1;
cparata 2:67af0ad3ea2e 1291 }
cparata 2:67af0ad3ea2e 1292
cparata 2:67af0ad3ea2e 1293 /* Enable Z direction in tap recognition. */
cparata 2:67af0ad3ea2e 1294 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1295 {
cparata 2:67af0ad3ea2e 1296 return 1;
cparata 2:67af0ad3ea2e 1297 }
cparata 2:67af0ad3ea2e 1298
cparata 2:67af0ad3ea2e 1299 /* Set tap threshold. */
cparata 2:67af0ad3ea2e 1300 if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata 2:67af0ad3ea2e 1301 {
cparata 2:67af0ad3ea2e 1302 return 1;
cparata 2:67af0ad3ea2e 1303 }
cparata 2:67af0ad3ea2e 1304
cparata 2:67af0ad3ea2e 1305 /* Set tap shock time window. */
cparata 2:67af0ad3ea2e 1306 if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == 1 )
cparata 2:67af0ad3ea2e 1307 {
cparata 2:67af0ad3ea2e 1308 return 1;
cparata 2:67af0ad3ea2e 1309 }
cparata 2:67af0ad3ea2e 1310
cparata 2:67af0ad3ea2e 1311 /* Set tap quiet time window. */
cparata 2:67af0ad3ea2e 1312 if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == 1 )
cparata 2:67af0ad3ea2e 1313 {
cparata 2:67af0ad3ea2e 1314 return 1;
cparata 2:67af0ad3ea2e 1315 }
cparata 2:67af0ad3ea2e 1316
cparata 2:67af0ad3ea2e 1317 /* _NOTE_: Tap duration time window - don't care for single tap. */
cparata 2:67af0ad3ea2e 1318
cparata 2:67af0ad3ea2e 1319 /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata 2:67af0ad3ea2e 1320
cparata 2:67af0ad3ea2e 1321 /* Enable basic Interrupts */
cparata 2:67af0ad3ea2e 1322 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1323 {
cparata 2:67af0ad3ea2e 1324 return 1;
cparata 2:67af0ad3ea2e 1325 }
cparata 2:67af0ad3ea2e 1326
cparata 2:67af0ad3ea2e 1327 /* Enable single tap interrupt on INT1 pin. */
cparata 2:67af0ad3ea2e 1328 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1329 {
cparata 2:67af0ad3ea2e 1330 return 1;
cparata 2:67af0ad3ea2e 1331 }
cparata 2:67af0ad3ea2e 1332
cparata 2:67af0ad3ea2e 1333 return 0;
cparata 2:67af0ad3ea2e 1334 }
cparata 2:67af0ad3ea2e 1335
cparata 2:67af0ad3ea2e 1336 /**
cparata 2:67af0ad3ea2e 1337 * @brief Disable the single tap detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1338 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1339 */
cparata 2:67af0ad3ea2e 1340 int LSM6DSLSensor::Disable_Single_Tap_Detection(void)
cparata 2:67af0ad3ea2e 1341 {
cparata 2:67af0ad3ea2e 1342 /* Disable single tap interrupt on INT1 pin. */
cparata 2:67af0ad3ea2e 1343 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1344 {
cparata 2:67af0ad3ea2e 1345 return 1;
cparata 2:67af0ad3ea2e 1346 }
cparata 2:67af0ad3ea2e 1347
cparata 2:67af0ad3ea2e 1348 /* Disable basic Interrupts */
cparata 2:67af0ad3ea2e 1349 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1350 {
cparata 2:67af0ad3ea2e 1351 return 1;
cparata 2:67af0ad3ea2e 1352 }
cparata 2:67af0ad3ea2e 1353
cparata 2:67af0ad3ea2e 1354 /* Reset tap threshold. */
cparata 2:67af0ad3ea2e 1355 if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata 2:67af0ad3ea2e 1356 {
cparata 2:67af0ad3ea2e 1357 return 1;
cparata 2:67af0ad3ea2e 1358 }
cparata 2:67af0ad3ea2e 1359
cparata 2:67af0ad3ea2e 1360 /* Reset tap shock time window. */
cparata 2:67af0ad3ea2e 1361 if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata 2:67af0ad3ea2e 1362 {
cparata 2:67af0ad3ea2e 1363 return 1;
cparata 2:67af0ad3ea2e 1364 }
cparata 2:67af0ad3ea2e 1365
cparata 2:67af0ad3ea2e 1366 /* Reset tap quiet time window. */
cparata 2:67af0ad3ea2e 1367 if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata 2:67af0ad3ea2e 1368 {
cparata 2:67af0ad3ea2e 1369 return 1;
cparata 2:67af0ad3ea2e 1370 }
cparata 2:67af0ad3ea2e 1371
cparata 2:67af0ad3ea2e 1372 /* _NOTE_: Tap duration time window - don't care for single tap. */
cparata 2:67af0ad3ea2e 1373
cparata 2:67af0ad3ea2e 1374 /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata 2:67af0ad3ea2e 1375
cparata 2:67af0ad3ea2e 1376 /* Disable Z direction in tap recognition. */
cparata 2:67af0ad3ea2e 1377 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1378 {
cparata 2:67af0ad3ea2e 1379 return 1;
cparata 2:67af0ad3ea2e 1380 }
cparata 2:67af0ad3ea2e 1381
cparata 2:67af0ad3ea2e 1382 /* Disable Y direction in tap recognition. */
cparata 2:67af0ad3ea2e 1383 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1384 {
cparata 2:67af0ad3ea2e 1385 return 1;
cparata 2:67af0ad3ea2e 1386 }
cparata 2:67af0ad3ea2e 1387
cparata 2:67af0ad3ea2e 1388 /* Disable X direction in tap recognition. */
cparata 2:67af0ad3ea2e 1389 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1390 {
cparata 2:67af0ad3ea2e 1391 return 1;
cparata 2:67af0ad3ea2e 1392 }
cparata 2:67af0ad3ea2e 1393
cparata 2:67af0ad3ea2e 1394 return 0;
cparata 2:67af0ad3ea2e 1395 }
cparata 2:67af0ad3ea2e 1396
cparata 2:67af0ad3ea2e 1397 /**
cparata 2:67af0ad3ea2e 1398 * @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1399 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:67af0ad3ea2e 1400 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1401 */
cparata 2:67af0ad3ea2e 1402 int LSM6DSLSensor::Enable_Double_Tap_Detection(void)
cparata 2:67af0ad3ea2e 1403 {
cparata 2:67af0ad3ea2e 1404 /* Output Data Rate selection */
cparata 2:67af0ad3ea2e 1405 if( Set_X_ODR(416.0f) == 1 )
cparata 2:67af0ad3ea2e 1406 {
cparata 2:67af0ad3ea2e 1407 return 1;
cparata 2:67af0ad3ea2e 1408 }
cparata 2:67af0ad3ea2e 1409
cparata 2:67af0ad3ea2e 1410 /* Full scale selection. */
cparata 2:67af0ad3ea2e 1411 if( Set_X_FS(2.0f) == 1 )
cparata 2:67af0ad3ea2e 1412 {
cparata 2:67af0ad3ea2e 1413 return 1;
cparata 2:67af0ad3ea2e 1414 }
cparata 2:67af0ad3ea2e 1415
cparata 2:67af0ad3ea2e 1416 /* Enable X direction in tap recognition. */
cparata 2:67af0ad3ea2e 1417 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1418 {
cparata 2:67af0ad3ea2e 1419 return 1;
cparata 2:67af0ad3ea2e 1420 }
cparata 2:67af0ad3ea2e 1421
cparata 2:67af0ad3ea2e 1422 /* Enable Y direction in tap recognition. */
cparata 2:67af0ad3ea2e 1423 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1424 {
cparata 2:67af0ad3ea2e 1425 return 1;
cparata 2:67af0ad3ea2e 1426 }
cparata 2:67af0ad3ea2e 1427
cparata 2:67af0ad3ea2e 1428 /* Enable Z direction in tap recognition. */
cparata 2:67af0ad3ea2e 1429 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1430 {
cparata 2:67af0ad3ea2e 1431 return 1;
cparata 2:67af0ad3ea2e 1432 }
cparata 2:67af0ad3ea2e 1433
cparata 2:67af0ad3ea2e 1434 /* Set tap threshold. */
cparata 2:67af0ad3ea2e 1435 if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata 2:67af0ad3ea2e 1436 {
cparata 2:67af0ad3ea2e 1437 return 1;
cparata 2:67af0ad3ea2e 1438 }
cparata 2:67af0ad3ea2e 1439
cparata 2:67af0ad3ea2e 1440 /* Set tap shock time window. */
cparata 2:67af0ad3ea2e 1441 if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == 1 )
cparata 2:67af0ad3ea2e 1442 {
cparata 2:67af0ad3ea2e 1443 return 1;
cparata 2:67af0ad3ea2e 1444 }
cparata 2:67af0ad3ea2e 1445
cparata 2:67af0ad3ea2e 1446 /* Set tap quiet time window. */
cparata 2:67af0ad3ea2e 1447 if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == 1 )
cparata 2:67af0ad3ea2e 1448 {
cparata 2:67af0ad3ea2e 1449 return 1;
cparata 2:67af0ad3ea2e 1450 }
cparata 2:67af0ad3ea2e 1451
cparata 2:67af0ad3ea2e 1452 /* Set tap duration time window. */
cparata 2:67af0ad3ea2e 1453 if ( Set_Tap_Duration_Time( LSM6DSL_TAP_DURATION_TIME_MID ) == 1 )
cparata 2:67af0ad3ea2e 1454 {
cparata 2:67af0ad3ea2e 1455 return 1;
cparata 2:67af0ad3ea2e 1456 }
cparata 2:67af0ad3ea2e 1457
cparata 2:67af0ad3ea2e 1458 /* Single and double tap enabled. */
cparata 2:67af0ad3ea2e 1459 if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1460 {
cparata 2:67af0ad3ea2e 1461 return 1;
cparata 2:67af0ad3ea2e 1462 }
cparata 2:67af0ad3ea2e 1463
cparata 2:67af0ad3ea2e 1464 /* Enable basic Interrupts */
cparata 2:67af0ad3ea2e 1465 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1466 {
cparata 2:67af0ad3ea2e 1467 return 1;
cparata 2:67af0ad3ea2e 1468 }
cparata 2:67af0ad3ea2e 1469
cparata 2:67af0ad3ea2e 1470 /* Enable double tap interrupt on INT1 pin. */
cparata 2:67af0ad3ea2e 1471 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1472 {
cparata 2:67af0ad3ea2e 1473 return 1;
cparata 2:67af0ad3ea2e 1474 }
cparata 2:67af0ad3ea2e 1475
cparata 2:67af0ad3ea2e 1476 return 0;
cparata 2:67af0ad3ea2e 1477 }
cparata 2:67af0ad3ea2e 1478
cparata 2:67af0ad3ea2e 1479 /**
cparata 2:67af0ad3ea2e 1480 * @brief Disable the double tap detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1481 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1482 */
cparata 2:67af0ad3ea2e 1483 int LSM6DSLSensor::Disable_Double_Tap_Detection(void)
cparata 2:67af0ad3ea2e 1484 {
cparata 2:67af0ad3ea2e 1485 /* Disable double tap interrupt on INT1 pin. */
cparata 2:67af0ad3ea2e 1486 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1487 {
cparata 2:67af0ad3ea2e 1488 return 1;
cparata 2:67af0ad3ea2e 1489 }
cparata 2:67af0ad3ea2e 1490
cparata 2:67af0ad3ea2e 1491 /* Disable basic Interrupts */
cparata 2:67af0ad3ea2e 1492 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1493 {
cparata 2:67af0ad3ea2e 1494 return 1;
cparata 2:67af0ad3ea2e 1495 }
cparata 2:67af0ad3ea2e 1496
cparata 2:67af0ad3ea2e 1497 /* Reset tap threshold. */
cparata 2:67af0ad3ea2e 1498 if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata 2:67af0ad3ea2e 1499 {
cparata 2:67af0ad3ea2e 1500 return 1;
cparata 2:67af0ad3ea2e 1501 }
cparata 2:67af0ad3ea2e 1502
cparata 2:67af0ad3ea2e 1503 /* Reset tap shock time window. */
cparata 2:67af0ad3ea2e 1504 if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata 2:67af0ad3ea2e 1505 {
cparata 2:67af0ad3ea2e 1506 return 1;
cparata 2:67af0ad3ea2e 1507 }
cparata 2:67af0ad3ea2e 1508
cparata 2:67af0ad3ea2e 1509 /* Reset tap quiet time window. */
cparata 2:67af0ad3ea2e 1510 if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata 2:67af0ad3ea2e 1511 {
cparata 2:67af0ad3ea2e 1512 return 1;
cparata 2:67af0ad3ea2e 1513 }
cparata 2:67af0ad3ea2e 1514
cparata 2:67af0ad3ea2e 1515 /* Reset tap duration time window. */
cparata 2:67af0ad3ea2e 1516 if ( Set_Tap_Duration_Time( 0x0 ) == 1 )
cparata 2:67af0ad3ea2e 1517 {
cparata 2:67af0ad3ea2e 1518 return 1;
cparata 2:67af0ad3ea2e 1519 }
cparata 2:67af0ad3ea2e 1520
cparata 2:67af0ad3ea2e 1521 /* Only single tap enabled. */
cparata 2:67af0ad3ea2e 1522 if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1523 {
cparata 2:67af0ad3ea2e 1524 return 1;
cparata 2:67af0ad3ea2e 1525 }
cparata 2:67af0ad3ea2e 1526
cparata 2:67af0ad3ea2e 1527 /* Disable Z direction in tap recognition. */
cparata 2:67af0ad3ea2e 1528 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1529 {
cparata 2:67af0ad3ea2e 1530 return 1;
cparata 2:67af0ad3ea2e 1531 }
cparata 2:67af0ad3ea2e 1532
cparata 2:67af0ad3ea2e 1533 /* Disable Y direction in tap recognition. */
cparata 2:67af0ad3ea2e 1534 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1535 {
cparata 2:67af0ad3ea2e 1536 return 1;
cparata 2:67af0ad3ea2e 1537 }
cparata 2:67af0ad3ea2e 1538
cparata 2:67af0ad3ea2e 1539 /* Disable X direction in tap recognition. */
cparata 2:67af0ad3ea2e 1540 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1541 {
cparata 2:67af0ad3ea2e 1542 return 1;
cparata 2:67af0ad3ea2e 1543 }
cparata 2:67af0ad3ea2e 1544
cparata 2:67af0ad3ea2e 1545 return 0;
cparata 2:67af0ad3ea2e 1546 }
cparata 2:67af0ad3ea2e 1547
cparata 2:67af0ad3ea2e 1548 /**
cparata 2:67af0ad3ea2e 1549 * @brief Set the tap threshold for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1550 * @param thr the threshold to be set
cparata 2:67af0ad3ea2e 1551 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1552 */
cparata 2:67af0ad3ea2e 1553 int LSM6DSLSensor::Set_Tap_Threshold(uint8_t thr)
cparata 2:67af0ad3ea2e 1554 {
cparata 2:67af0ad3ea2e 1555 if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1556 {
cparata 2:67af0ad3ea2e 1557 return 1;
cparata 2:67af0ad3ea2e 1558 }
cparata 2:67af0ad3ea2e 1559
cparata 2:67af0ad3ea2e 1560 return 0;
cparata 2:67af0ad3ea2e 1561 }
cparata 2:67af0ad3ea2e 1562
cparata 2:67af0ad3ea2e 1563 /**
cparata 2:67af0ad3ea2e 1564 * @brief Set the tap shock time window for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1565 * @param time the shock time window to be set
cparata 2:67af0ad3ea2e 1566 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1567 */
cparata 2:67af0ad3ea2e 1568 int LSM6DSLSensor::Set_Tap_Shock_Time(uint8_t time)
cparata 2:67af0ad3ea2e 1569 {
cparata 2:67af0ad3ea2e 1570 if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1571 {
cparata 2:67af0ad3ea2e 1572 return 1;
cparata 2:67af0ad3ea2e 1573 }
cparata 2:67af0ad3ea2e 1574
cparata 2:67af0ad3ea2e 1575 return 0;
cparata 2:67af0ad3ea2e 1576 }
cparata 2:67af0ad3ea2e 1577
cparata 2:67af0ad3ea2e 1578 /**
cparata 2:67af0ad3ea2e 1579 * @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1580 * @param time the quiet time window to be set
cparata 2:67af0ad3ea2e 1581 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1582 */
cparata 2:67af0ad3ea2e 1583 int LSM6DSLSensor::Set_Tap_Quiet_Time(uint8_t time)
cparata 2:67af0ad3ea2e 1584 {
cparata 2:67af0ad3ea2e 1585 if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1586 {
cparata 2:67af0ad3ea2e 1587 return 1;
cparata 2:67af0ad3ea2e 1588 }
cparata 2:67af0ad3ea2e 1589
cparata 2:67af0ad3ea2e 1590 return 0;
cparata 2:67af0ad3ea2e 1591 }
cparata 2:67af0ad3ea2e 1592
cparata 2:67af0ad3ea2e 1593 /**
cparata 2:67af0ad3ea2e 1594 * @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1595 * @param time the duration of the time window to be set
cparata 2:67af0ad3ea2e 1596 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1597 */
cparata 2:67af0ad3ea2e 1598 int LSM6DSLSensor::Set_Tap_Duration_Time(uint8_t time)
cparata 2:67af0ad3ea2e 1599 {
cparata 2:67af0ad3ea2e 1600 if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1601 {
cparata 2:67af0ad3ea2e 1602 return 1;
cparata 2:67af0ad3ea2e 1603 }
cparata 2:67af0ad3ea2e 1604
cparata 2:67af0ad3ea2e 1605 return 0;
cparata 2:67af0ad3ea2e 1606 }
cparata 2:67af0ad3ea2e 1607
cparata 2:67af0ad3ea2e 1608 /**
cparata 2:67af0ad3ea2e 1609 * @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1610 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 2:67af0ad3ea2e 1611 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1612 */
cparata 2:67af0ad3ea2e 1613 int LSM6DSLSensor::Enable_6D_Orientation(void)
cparata 2:67af0ad3ea2e 1614 {
cparata 2:67af0ad3ea2e 1615 /* Output Data Rate selection */
cparata 2:67af0ad3ea2e 1616 if( Set_X_ODR(416.0f) == 1 )
cparata 2:67af0ad3ea2e 1617 {
cparata 2:67af0ad3ea2e 1618 return 1;
cparata 2:67af0ad3ea2e 1619 }
cparata 2:67af0ad3ea2e 1620
cparata 2:67af0ad3ea2e 1621 /* Full scale selection. */
cparata 2:67af0ad3ea2e 1622 if( Set_X_FS(2.0f) == 1 )
cparata 2:67af0ad3ea2e 1623 {
cparata 2:67af0ad3ea2e 1624 return 1;
cparata 2:67af0ad3ea2e 1625 }
cparata 2:67af0ad3ea2e 1626
cparata 2:67af0ad3ea2e 1627 /* Set 6D threshold. */
cparata 2:67af0ad3ea2e 1628 if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1629 {
cparata 2:67af0ad3ea2e 1630 return 1;
cparata 2:67af0ad3ea2e 1631 }
cparata 2:67af0ad3ea2e 1632
cparata 2:67af0ad3ea2e 1633 /* Enable basic Interrupts */
cparata 2:67af0ad3ea2e 1634 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1635 {
cparata 2:67af0ad3ea2e 1636 return 1;
cparata 2:67af0ad3ea2e 1637 }
cparata 2:67af0ad3ea2e 1638
cparata 2:67af0ad3ea2e 1639 /* INT1_6D setting. */
cparata 2:67af0ad3ea2e 1640 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1641 {
cparata 2:67af0ad3ea2e 1642 return 1;
cparata 2:67af0ad3ea2e 1643 }
cparata 2:67af0ad3ea2e 1644
cparata 2:67af0ad3ea2e 1645 return 0;
cparata 2:67af0ad3ea2e 1646 }
cparata 2:67af0ad3ea2e 1647
cparata 2:67af0ad3ea2e 1648 /**
cparata 2:67af0ad3ea2e 1649 * @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1650 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1651 */
cparata 2:67af0ad3ea2e 1652 int LSM6DSLSensor::Disable_6D_Orientation(void)
cparata 2:67af0ad3ea2e 1653 {
cparata 2:67af0ad3ea2e 1654 /* INT1_6D setting. */
cparata 2:67af0ad3ea2e 1655 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1656 {
cparata 2:67af0ad3ea2e 1657 return 1;
cparata 2:67af0ad3ea2e 1658 }
cparata 2:67af0ad3ea2e 1659
cparata 2:67af0ad3ea2e 1660 /* Disable basic Interrupts */
cparata 2:67af0ad3ea2e 1661 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1662 {
cparata 2:67af0ad3ea2e 1663 return 1;
cparata 2:67af0ad3ea2e 1664 }
cparata 2:67af0ad3ea2e 1665
cparata 2:67af0ad3ea2e 1666 /* Reset 6D threshold. */
cparata 2:67af0ad3ea2e 1667 if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1668 {
cparata 2:67af0ad3ea2e 1669 return 1;
cparata 2:67af0ad3ea2e 1670 }
cparata 2:67af0ad3ea2e 1671
cparata 2:67af0ad3ea2e 1672 return 0;
cparata 2:67af0ad3ea2e 1673 }
cparata 2:67af0ad3ea2e 1674
cparata 2:67af0ad3ea2e 1675 /**
cparata 2:67af0ad3ea2e 1676 * @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1677 * @param xl the pointer to the 6D orientation XL axis
cparata 2:67af0ad3ea2e 1678 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1679 */
cparata 2:67af0ad3ea2e 1680 int LSM6DSLSensor::Get_6D_Orientation_XL(uint8_t *xl)
cparata 2:67af0ad3ea2e 1681 {
cparata 2:67af0ad3ea2e 1682 LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
cparata 2:67af0ad3ea2e 1683
cparata 2:67af0ad3ea2e 1684 if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1685 {
cparata 2:67af0ad3ea2e 1686 return 1;
cparata 2:67af0ad3ea2e 1687 }
cparata 2:67af0ad3ea2e 1688
cparata 2:67af0ad3ea2e 1689 switch( xl_raw )
cparata 2:67af0ad3ea2e 1690 {
cparata 2:67af0ad3ea2e 1691 case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
cparata 2:67af0ad3ea2e 1692 *xl = 1;
cparata 2:67af0ad3ea2e 1693 break;
cparata 2:67af0ad3ea2e 1694 case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
cparata 2:67af0ad3ea2e 1695 *xl = 0;
cparata 2:67af0ad3ea2e 1696 break;
cparata 2:67af0ad3ea2e 1697 default:
cparata 2:67af0ad3ea2e 1698 return 1;
cparata 2:67af0ad3ea2e 1699 }
cparata 2:67af0ad3ea2e 1700
cparata 2:67af0ad3ea2e 1701 return 0;
cparata 2:67af0ad3ea2e 1702 }
cparata 2:67af0ad3ea2e 1703
cparata 2:67af0ad3ea2e 1704 /**
cparata 2:67af0ad3ea2e 1705 * @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1706 * @param xh the pointer to the 6D orientation XH axis
cparata 2:67af0ad3ea2e 1707 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1708 */
cparata 2:67af0ad3ea2e 1709 int LSM6DSLSensor::Get_6D_Orientation_XH(uint8_t *xh)
cparata 2:67af0ad3ea2e 1710 {
cparata 2:67af0ad3ea2e 1711 LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
cparata 2:67af0ad3ea2e 1712
cparata 2:67af0ad3ea2e 1713 if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1714 {
cparata 2:67af0ad3ea2e 1715 return 1;
cparata 2:67af0ad3ea2e 1716 }
cparata 2:67af0ad3ea2e 1717
cparata 2:67af0ad3ea2e 1718 switch( xh_raw )
cparata 2:67af0ad3ea2e 1719 {
cparata 2:67af0ad3ea2e 1720 case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
cparata 2:67af0ad3ea2e 1721 *xh = 1;
cparata 2:67af0ad3ea2e 1722 break;
cparata 2:67af0ad3ea2e 1723 case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
cparata 2:67af0ad3ea2e 1724 *xh = 0;
cparata 2:67af0ad3ea2e 1725 break;
cparata 2:67af0ad3ea2e 1726 default:
cparata 2:67af0ad3ea2e 1727 return 1;
cparata 2:67af0ad3ea2e 1728 }
cparata 2:67af0ad3ea2e 1729
cparata 2:67af0ad3ea2e 1730 return 0;
cparata 2:67af0ad3ea2e 1731 }
cparata 2:67af0ad3ea2e 1732
cparata 2:67af0ad3ea2e 1733 /**
cparata 2:67af0ad3ea2e 1734 * @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1735 * @param yl the pointer to the 6D orientation YL axis
cparata 2:67af0ad3ea2e 1736 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1737 */
cparata 2:67af0ad3ea2e 1738 int LSM6DSLSensor::Get_6D_Orientation_YL(uint8_t *yl)
cparata 2:67af0ad3ea2e 1739 {
cparata 2:67af0ad3ea2e 1740 LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
cparata 2:67af0ad3ea2e 1741
cparata 2:67af0ad3ea2e 1742 if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1743 {
cparata 2:67af0ad3ea2e 1744 return 1;
cparata 2:67af0ad3ea2e 1745 }
cparata 2:67af0ad3ea2e 1746
cparata 2:67af0ad3ea2e 1747 switch( yl_raw )
cparata 2:67af0ad3ea2e 1748 {
cparata 2:67af0ad3ea2e 1749 case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
cparata 2:67af0ad3ea2e 1750 *yl = 1;
cparata 2:67af0ad3ea2e 1751 break;
cparata 2:67af0ad3ea2e 1752 case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
cparata 2:67af0ad3ea2e 1753 *yl = 0;
cparata 2:67af0ad3ea2e 1754 break;
cparata 2:67af0ad3ea2e 1755 default:
cparata 2:67af0ad3ea2e 1756 return 1;
cparata 2:67af0ad3ea2e 1757 }
cparata 2:67af0ad3ea2e 1758
cparata 2:67af0ad3ea2e 1759 return 0;
cparata 2:67af0ad3ea2e 1760 }
cparata 2:67af0ad3ea2e 1761
cparata 2:67af0ad3ea2e 1762 /**
cparata 2:67af0ad3ea2e 1763 * @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1764 * @param yh the pointer to the 6D orientation YH axis
cparata 2:67af0ad3ea2e 1765 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1766 */
cparata 2:67af0ad3ea2e 1767 int LSM6DSLSensor::Get_6D_Orientation_YH(uint8_t *yh)
cparata 2:67af0ad3ea2e 1768 {
cparata 2:67af0ad3ea2e 1769 LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
cparata 2:67af0ad3ea2e 1770
cparata 2:67af0ad3ea2e 1771 if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1772 {
cparata 2:67af0ad3ea2e 1773 return 1;
cparata 2:67af0ad3ea2e 1774 }
cparata 2:67af0ad3ea2e 1775
cparata 2:67af0ad3ea2e 1776 switch( yh_raw )
cparata 2:67af0ad3ea2e 1777 {
cparata 2:67af0ad3ea2e 1778 case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
cparata 2:67af0ad3ea2e 1779 *yh = 1;
cparata 2:67af0ad3ea2e 1780 break;
cparata 2:67af0ad3ea2e 1781 case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
cparata 2:67af0ad3ea2e 1782 *yh = 0;
cparata 2:67af0ad3ea2e 1783 break;
cparata 2:67af0ad3ea2e 1784 default:
cparata 2:67af0ad3ea2e 1785 return 1;
cparata 2:67af0ad3ea2e 1786 }
cparata 2:67af0ad3ea2e 1787
cparata 2:67af0ad3ea2e 1788 return 0;
cparata 2:67af0ad3ea2e 1789 }
cparata 2:67af0ad3ea2e 1790
cparata 2:67af0ad3ea2e 1791 /**
cparata 2:67af0ad3ea2e 1792 * @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1793 * @param zl the pointer to the 6D orientation ZL axis
cparata 2:67af0ad3ea2e 1794 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1795 */
cparata 2:67af0ad3ea2e 1796 int LSM6DSLSensor::Get_6D_Orientation_ZL(uint8_t *zl)
cparata 2:67af0ad3ea2e 1797 {
cparata 2:67af0ad3ea2e 1798 LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
cparata 2:67af0ad3ea2e 1799
cparata 2:67af0ad3ea2e 1800 if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1801 {
cparata 2:67af0ad3ea2e 1802 return 1;
cparata 2:67af0ad3ea2e 1803 }
cparata 2:67af0ad3ea2e 1804
cparata 2:67af0ad3ea2e 1805 switch( zl_raw )
cparata 2:67af0ad3ea2e 1806 {
cparata 2:67af0ad3ea2e 1807 case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
cparata 2:67af0ad3ea2e 1808 *zl = 1;
cparata 2:67af0ad3ea2e 1809 break;
cparata 2:67af0ad3ea2e 1810 case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
cparata 2:67af0ad3ea2e 1811 *zl = 0;
cparata 2:67af0ad3ea2e 1812 break;
cparata 2:67af0ad3ea2e 1813 default:
cparata 2:67af0ad3ea2e 1814 return 1;
cparata 2:67af0ad3ea2e 1815 }
cparata 2:67af0ad3ea2e 1816
cparata 2:67af0ad3ea2e 1817 return 0;
cparata 2:67af0ad3ea2e 1818 }
cparata 2:67af0ad3ea2e 1819
cparata 2:67af0ad3ea2e 1820 /**
cparata 2:67af0ad3ea2e 1821 * @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
cparata 2:67af0ad3ea2e 1822 * @param zh the pointer to the 6D orientation ZH axis
cparata 2:67af0ad3ea2e 1823 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1824 */
cparata 2:67af0ad3ea2e 1825 int LSM6DSLSensor::Get_6D_Orientation_ZH(uint8_t *zh)
cparata 2:67af0ad3ea2e 1826 {
cparata 2:67af0ad3ea2e 1827 LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
cparata 2:67af0ad3ea2e 1828
cparata 2:67af0ad3ea2e 1829 if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1830 {
cparata 2:67af0ad3ea2e 1831 return 1;
cparata 2:67af0ad3ea2e 1832 }
cparata 2:67af0ad3ea2e 1833
cparata 2:67af0ad3ea2e 1834 switch( zh_raw )
cparata 2:67af0ad3ea2e 1835 {
cparata 2:67af0ad3ea2e 1836 case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
cparata 2:67af0ad3ea2e 1837 *zh = 1;
cparata 2:67af0ad3ea2e 1838 break;
cparata 2:67af0ad3ea2e 1839 case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
cparata 2:67af0ad3ea2e 1840 *zh = 0;
cparata 2:67af0ad3ea2e 1841 break;
cparata 2:67af0ad3ea2e 1842 default:
cparata 2:67af0ad3ea2e 1843 return 1;
cparata 2:67af0ad3ea2e 1844 }
cparata 2:67af0ad3ea2e 1845
cparata 2:67af0ad3ea2e 1846 return 0;
cparata 2:67af0ad3ea2e 1847 }
cparata 2:67af0ad3ea2e 1848
cparata 2:67af0ad3ea2e 1849 /**
cparata 4:b9467a8f2bcc 1850 * @brief Get the status of all hardware events for LSM6DSL accelerometer sensor
cparata 4:b9467a8f2bcc 1851 * @param status the pointer to the status of all hardware events
cparata 4:b9467a8f2bcc 1852 * @retval 0 in case of success, an error code otherwise
cparata 4:b9467a8f2bcc 1853 */
cparata 4:b9467a8f2bcc 1854 int LSM6DSLSensor::Get_Event_Status(LSM6DSL_Event_Status_t *status)
cparata 4:b9467a8f2bcc 1855 {
cparata 5:cce849c2e6e7 1856 uint8_t Wake_Up_Src = 0, Tap_Src = 0, D6D_Src = 0, Func_Src = 0, Md1_Cfg = 0, Md2_Cfg = 0, Int1_Ctrl = 0;
cparata 4:b9467a8f2bcc 1857
cparata 4:b9467a8f2bcc 1858 memset((void *)status, 0x0, sizeof(LSM6DSL_Event_Status_t));
cparata 4:b9467a8f2bcc 1859
cparata 4:b9467a8f2bcc 1860 if(ReadReg(LSM6DSL_ACC_GYRO_WAKE_UP_SRC, &Wake_Up_Src) != 0)
cparata 4:b9467a8f2bcc 1861 {
cparata 4:b9467a8f2bcc 1862 return 1;
cparata 4:b9467a8f2bcc 1863 }
cparata 4:b9467a8f2bcc 1864
cparata 4:b9467a8f2bcc 1865 if(ReadReg(LSM6DSL_ACC_GYRO_TAP_SRC, &Tap_Src) != 0)
cparata 4:b9467a8f2bcc 1866 {
cparata 4:b9467a8f2bcc 1867 return 1;
cparata 4:b9467a8f2bcc 1868 }
cparata 4:b9467a8f2bcc 1869
cparata 4:b9467a8f2bcc 1870 if(ReadReg(LSM6DSL_ACC_GYRO_D6D_SRC, &D6D_Src) != 0)
cparata 4:b9467a8f2bcc 1871 {
cparata 4:b9467a8f2bcc 1872 return 1;
cparata 4:b9467a8f2bcc 1873 }
cparata 4:b9467a8f2bcc 1874
cparata 4:b9467a8f2bcc 1875 if(ReadReg(LSM6DSL_ACC_GYRO_FUNC_SRC, &Func_Src) != 0)
cparata 4:b9467a8f2bcc 1876 {
cparata 4:b9467a8f2bcc 1877 return 1;
cparata 4:b9467a8f2bcc 1878 }
cparata 4:b9467a8f2bcc 1879
cparata 5:cce849c2e6e7 1880 if(ReadReg(LSM6DSL_ACC_GYRO_MD1_CFG, &Md1_Cfg ) != 0 )
cparata 5:cce849c2e6e7 1881 {
cparata 5:cce849c2e6e7 1882 return 1;
cparata 5:cce849c2e6e7 1883 }
cparata 5:cce849c2e6e7 1884
cparata 5:cce849c2e6e7 1885 if(ReadReg(LSM6DSL_ACC_GYRO_MD2_CFG, &Md2_Cfg ) != 0)
cparata 4:b9467a8f2bcc 1886 {
cparata 5:cce849c2e6e7 1887 return 1;
cparata 5:cce849c2e6e7 1888 }
cparata 5:cce849c2e6e7 1889
cparata 5:cce849c2e6e7 1890 if(ReadReg(LSM6DSL_ACC_GYRO_INT1_CTRL, &Int1_Ctrl ) != 0)
cparata 5:cce849c2e6e7 1891 {
cparata 5:cce849c2e6e7 1892 return 1;
cparata 4:b9467a8f2bcc 1893 }
cparata 4:b9467a8f2bcc 1894
cparata 5:cce849c2e6e7 1895 if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_FF_MASK)
cparata 4:b9467a8f2bcc 1896 {
cparata 5:cce849c2e6e7 1897 if((Wake_Up_Src & LSM6DSL_ACC_GYRO_FF_EV_STATUS_MASK))
cparata 5:cce849c2e6e7 1898 {
cparata 5:cce849c2e6e7 1899 status->FreeFallStatus = 1;
cparata 5:cce849c2e6e7 1900 }
cparata 4:b9467a8f2bcc 1901 }
cparata 4:b9467a8f2bcc 1902
cparata 5:cce849c2e6e7 1903 if(Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_WU_MASK)
cparata 4:b9467a8f2bcc 1904 {
cparata 5:cce849c2e6e7 1905 if((Wake_Up_Src & LSM6DSL_ACC_GYRO_WU_EV_STATUS_MASK))
cparata 5:cce849c2e6e7 1906 {
cparata 5:cce849c2e6e7 1907 status->WakeUpStatus = 1;
cparata 5:cce849c2e6e7 1908 }
cparata 4:b9467a8f2bcc 1909 }
cparata 4:b9467a8f2bcc 1910
cparata 5:cce849c2e6e7 1911 if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_MASK)
cparata 4:b9467a8f2bcc 1912 {
cparata 5:cce849c2e6e7 1913 if((Tap_Src & LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_MASK))
cparata 5:cce849c2e6e7 1914 {
cparata 5:cce849c2e6e7 1915 status->TapStatus = 1;
cparata 5:cce849c2e6e7 1916 }
cparata 5:cce849c2e6e7 1917 }
cparata 5:cce849c2e6e7 1918
cparata 5:cce849c2e6e7 1919 if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TAP_MASK)
cparata 5:cce849c2e6e7 1920 {
cparata 5:cce849c2e6e7 1921 if((Tap_Src & LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_MASK))
cparata 5:cce849c2e6e7 1922 {
cparata 5:cce849c2e6e7 1923 status->DoubleTapStatus = 1;
cparata 5:cce849c2e6e7 1924 }
cparata 4:b9467a8f2bcc 1925 }
cparata 4:b9467a8f2bcc 1926
cparata 5:cce849c2e6e7 1927 if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_6D_MASK)
cparata 4:b9467a8f2bcc 1928 {
cparata 5:cce849c2e6e7 1929 if((D6D_Src & LSM6DSL_ACC_GYRO_D6D_EV_STATUS_MASK))
cparata 5:cce849c2e6e7 1930 {
cparata 5:cce849c2e6e7 1931 status->D6DOrientationStatus = 1;
cparata 5:cce849c2e6e7 1932 }
cparata 4:b9467a8f2bcc 1933 }
cparata 4:b9467a8f2bcc 1934
cparata 5:cce849c2e6e7 1935 if(Int1_Ctrl & LSM6DSL_ACC_GYRO_INT1_PEDO_MASK)
cparata 4:b9467a8f2bcc 1936 {
cparata 5:cce849c2e6e7 1937 if((Func_Src & LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_MASK))
cparata 5:cce849c2e6e7 1938 {
cparata 5:cce849c2e6e7 1939 status->StepStatus = 1;
cparata 5:cce849c2e6e7 1940 }
cparata 4:b9467a8f2bcc 1941 }
cparata 4:b9467a8f2bcc 1942
cparata 5:cce849c2e6e7 1943 if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TILT_MASK)
cparata 4:b9467a8f2bcc 1944 {
cparata 5:cce849c2e6e7 1945 if((Func_Src & LSM6DSL_ACC_GYRO_TILT_EV_STATUS_MASK))
cparata 5:cce849c2e6e7 1946 {
cparata 5:cce849c2e6e7 1947 status->TiltStatus = 1;
cparata 5:cce849c2e6e7 1948 }
cparata 4:b9467a8f2bcc 1949 }
cparata 4:b9467a8f2bcc 1950
cparata 4:b9467a8f2bcc 1951 return 0;
cparata 4:b9467a8f2bcc 1952 }
cparata 4:b9467a8f2bcc 1953
cparata 4:b9467a8f2bcc 1954 /**
cparata 2:67af0ad3ea2e 1955 * @brief Read the data from register
cparata 2:67af0ad3ea2e 1956 * @param reg register address
cparata 2:67af0ad3ea2e 1957 * @param data register data
cparata 4:b9467a8f2bcc 1958 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1959 */
cparata 2:67af0ad3ea2e 1960 int LSM6DSLSensor::ReadReg( uint8_t reg, uint8_t *data )
cparata 2:67af0ad3ea2e 1961 {
cparata 2:67af0ad3ea2e 1962
cparata 2:67af0ad3ea2e 1963 if ( LSM6DSL_ACC_GYRO_ReadReg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1964 {
cparata 2:67af0ad3ea2e 1965 return 1;
cparata 2:67af0ad3ea2e 1966 }
cparata 2:67af0ad3ea2e 1967
cparata 2:67af0ad3ea2e 1968 return 0;
cparata 2:67af0ad3ea2e 1969 }
cparata 2:67af0ad3ea2e 1970
cparata 2:67af0ad3ea2e 1971 /**
cparata 2:67af0ad3ea2e 1972 * @brief Write the data to register
cparata 2:67af0ad3ea2e 1973 * @param reg register address
cparata 2:67af0ad3ea2e 1974 * @param data register data
cparata 4:b9467a8f2bcc 1975 * @retval 0 in case of success, an error code otherwise
cparata 2:67af0ad3ea2e 1976 */
cparata 2:67af0ad3ea2e 1977 int LSM6DSLSensor::WriteReg( uint8_t reg, uint8_t data )
cparata 2:67af0ad3ea2e 1978 {
cparata 2:67af0ad3ea2e 1979
cparata 2:67af0ad3ea2e 1980 if ( LSM6DSL_ACC_GYRO_WriteReg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
cparata 2:67af0ad3ea2e 1981 {
cparata 2:67af0ad3ea2e 1982 return 1;
cparata 2:67af0ad3ea2e 1983 }
cparata 2:67af0ad3ea2e 1984
cparata 2:67af0ad3ea2e 1985 return 0;
cparata 2:67af0ad3ea2e 1986 }
cparata 2:67af0ad3ea2e 1987
cparata 2:67af0ad3ea2e 1988
cparata 2:67af0ad3ea2e 1989 uint8_t LSM6DSL_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
cparata 2:67af0ad3ea2e 1990 {
cparata 2:67af0ad3ea2e 1991 return ((LSM6DSLSensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata 2:67af0ad3ea2e 1992 }
cparata 2:67af0ad3ea2e 1993
cparata 2:67af0ad3ea2e 1994 uint8_t LSM6DSL_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
cparata 2:67af0ad3ea2e 1995 {
cparata 2:67af0ad3ea2e 1996 return ((LSM6DSLSensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata 2:67af0ad3ea2e 1997 }