SingleDoubleTap_IKS01A2 - Example of single tap and double tap detection fo…

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ST / Mbed 2 deprecated SingleDoubleTap_IKS01A2

Example of single tap and double tap detection for LSM6DSL in X-NUCLEO-IKS01A2

Fork of SingleDoubleTap_IKS01A2 by ST Expansion SW Team

Single and Double Tap Demo Application based on sensor expansion board X-NUCLEO-IKS01A2

Main function is to show how to detect the single and double tap events using the sensor expansion board and send a notification using UART to a connected PC or Desktop and display it on terminal applications like TeraTerm.
After connection has been established:
- the user can try to tap the board and then view the notification using an hyper terminal. When the single tap is detected, the LED is switched on for a while.
- the user can press the user button to pass from the single tap detection to the double tap detection feature. The user can try to double tap the board and then view the notification using an hyper terminal. When the double tap is detected, the LED is switched on twice for a while.
- the user can press again the user button to disable the single and double tap detection feature.
- the user can press the user button to enable again the single tap detection feature and so on.

X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.cpp@7:4f512b172555, 2016-11-24 (annotated)

Committer:: cparata
Date:: Thu Nov 24 16:45:55 2016 +0000
Revision:: 7:4f512b172555
Parent:: 6:2380444e4c75

Add possibility to choose the interrupt line for HW events

Who changed what in which revision?

User	Revision	Line number	New contents of line
cparata	2:21a191bd1998	1	/**
cparata	2:21a191bd1998	2	******************************************************************************
cparata	2:21a191bd1998	3	* @file LSM6DSLSensor.cpp
cparata	2:21a191bd1998	4	* @author AST
cparata	2:21a191bd1998	5	* @version V1.0.0
cparata	2:21a191bd1998	6	* @date 5 August 2016
cparata	2:21a191bd1998	7	* @brief Implementation of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
cparata	2:21a191bd1998	8	* sensor.
cparata	2:21a191bd1998	9	******************************************************************************
cparata	2:21a191bd1998	10	* @attention
cparata	2:21a191bd1998	11	*
cparata	2:21a191bd1998	12	* <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata	2:21a191bd1998	13	*
cparata	2:21a191bd1998	14	* Redistribution and use in source and binary forms, with or without modification,
cparata	2:21a191bd1998	15	* are permitted provided that the following conditions are met:
cparata	2:21a191bd1998	16	* 1. Redistributions of source code must retain the above copyright notice,
cparata	2:21a191bd1998	17	* this list of conditions and the following disclaimer.
cparata	2:21a191bd1998	18	* 2. Redistributions in binary form must reproduce the above copyright notice,
cparata	2:21a191bd1998	19	* this list of conditions and the following disclaimer in the documentation
cparata	2:21a191bd1998	20	* and/or other materials provided with the distribution.
cparata	2:21a191bd1998	21	* 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata	2:21a191bd1998	22	* may be used to endorse or promote products derived from this software
cparata	2:21a191bd1998	23	* without specific prior written permission.
cparata	2:21a191bd1998	24	*
cparata	2:21a191bd1998	25	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata	2:21a191bd1998	26	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata	2:21a191bd1998	27	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata	2:21a191bd1998	28	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata	2:21a191bd1998	29	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata	2:21a191bd1998	30	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata	2:21a191bd1998	31	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata	2:21a191bd1998	32	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata	2:21a191bd1998	33	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata	2:21a191bd1998	34	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata	2:21a191bd1998	35	*
cparata	2:21a191bd1998	36	******************************************************************************
cparata	2:21a191bd1998	37	*/
cparata	2:21a191bd1998	38
cparata	2:21a191bd1998	39
cparata	2:21a191bd1998	40	/* Includes ------------------------------------------------------------------*/
cparata	2:21a191bd1998	41
cparata	2:21a191bd1998	42	#include "mbed.h"
cparata	2:21a191bd1998	43	#include "DevI2C.h"
cparata	2:21a191bd1998	44	#include "LSM6DSLSensor.h"
cparata	2:21a191bd1998	45	#include "LSM6DSL_ACC_GYRO_driver.h"
cparata	2:21a191bd1998	46
cparata	2:21a191bd1998	47
cparata	2:21a191bd1998	48	/* Class Implementation ------------------------------------------------------*/
cparata	2:21a191bd1998	49
cparata	2:21a191bd1998	50	/** Constructor
cparata	2:21a191bd1998	51	* @param i2c object of an helper class which handles the I2C peripheral
cparata	2:21a191bd1998	52	* @param address the address of the component's instance
cparata	2:21a191bd1998	53	*/
cparata	6:2380444e4c75	54	LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, PinName INT1_pin, PinName INT2_pin) : dev_i2c(i2c), INT1_irq(INT1_pin), INT2_irq(INT2_pin)
cparata	2:21a191bd1998	55	{
cparata	2:21a191bd1998	56	address = LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH;
cparata	2:21a191bd1998	57	};
cparata	2:21a191bd1998	58
cparata	2:21a191bd1998	59	/** Constructor
cparata	2:21a191bd1998	60	* @param i2c object of an helper class which handles the I2C peripheral
cparata	2:21a191bd1998	61	* @param address the address of the component's instance
cparata	2:21a191bd1998	62	*/
cparata	6:2380444e4c75	63	LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, PinName INT1_pin, PinName INT2_pin, uint8_t address) : dev_i2c(i2c), INT1_irq(INT1_pin), INT2_irq(INT2_pin), address(address)
cparata	2:21a191bd1998	64	{
cparata	2:21a191bd1998	65
cparata	2:21a191bd1998	66	};
cparata	2:21a191bd1998	67
cparata	2:21a191bd1998	68	/**
cparata	2:21a191bd1998	69	* @brief Initializing the component.
cparata	2:21a191bd1998	70	* @param[in] init pointer to device specific initalization structure.
cparata	2:21a191bd1998	71	* @retval "0" in case of success, an error code otherwise.
cparata	2:21a191bd1998	72	*/
cparata	2:21a191bd1998	73	int LSM6DSLSensor::Init(void *init)
cparata	2:21a191bd1998	74	{
cparata	2:21a191bd1998	75	/* Enable register address automatically incremented during a multiple byte
cparata	2:21a191bd1998	76	access with a serial interface. */
cparata	2:21a191bd1998	77	if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	78	{
cparata	2:21a191bd1998	79	return 1;
cparata	2:21a191bd1998	80	}
cparata	2:21a191bd1998	81
cparata	2:21a191bd1998	82	/* Enable BDU */
cparata	2:21a191bd1998	83	if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
cparata	2:21a191bd1998	84	{
cparata	2:21a191bd1998	85	return 1;
cparata	2:21a191bd1998	86	}
cparata	2:21a191bd1998	87
cparata	2:21a191bd1998	88	/* FIFO mode selection */
cparata	2:21a191bd1998	89	if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
cparata	2:21a191bd1998	90	{
cparata	2:21a191bd1998	91	return 1;
cparata	2:21a191bd1998	92	}
cparata	2:21a191bd1998	93
cparata	2:21a191bd1998	94	/* Output data rate selection - power down. */
cparata	2:21a191bd1998	95	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata	2:21a191bd1998	96	{
cparata	2:21a191bd1998	97	return 1;
cparata	2:21a191bd1998	98	}
cparata	2:21a191bd1998	99
cparata	2:21a191bd1998	100	/* Full scale selection. */
cparata	2:21a191bd1998	101	if ( Set_X_FS( 2.0f ) == 1 )
cparata	2:21a191bd1998	102	{
cparata	2:21a191bd1998	103	return 1;
cparata	2:21a191bd1998	104	}
cparata	2:21a191bd1998	105
cparata	2:21a191bd1998	106	/* Output data rate selection - power down */
cparata	2:21a191bd1998	107	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata	2:21a191bd1998	108	{
cparata	2:21a191bd1998	109	return 1;
cparata	2:21a191bd1998	110	}
cparata	2:21a191bd1998	111
cparata	2:21a191bd1998	112	/* Full scale selection. */
cparata	2:21a191bd1998	113	if ( Set_G_FS( 2000.0f ) == 1 )
cparata	2:21a191bd1998	114	{
cparata	2:21a191bd1998	115	return 1;
cparata	2:21a191bd1998	116	}
cparata	2:21a191bd1998	117
cparata	2:21a191bd1998	118	X_Last_ODR = 104.0f;
cparata	2:21a191bd1998	119
cparata	2:21a191bd1998	120	X_isEnabled = 0;
cparata	2:21a191bd1998	121
cparata	2:21a191bd1998	122	G_Last_ODR = 104.0f;
cparata	2:21a191bd1998	123
cparata	2:21a191bd1998	124	G_isEnabled = 0;
cparata	2:21a191bd1998	125
cparata	2:21a191bd1998	126	return 0;
cparata	2:21a191bd1998	127	}
cparata	2:21a191bd1998	128
cparata	2:21a191bd1998	129	/**
cparata	2:21a191bd1998	130	* @brief Enable LSM6DSL Accelerator
cparata	2:21a191bd1998	131	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	132	*/
cparata	2:21a191bd1998	133	int LSM6DSLSensor::Enable_X(void)
cparata	2:21a191bd1998	134	{
cparata	2:21a191bd1998	135	/* Check if the component is already enabled */
cparata	2:21a191bd1998	136	if ( X_isEnabled == 1 )
cparata	2:21a191bd1998	137	{
cparata	2:21a191bd1998	138	return 0;
cparata	2:21a191bd1998	139	}
cparata	2:21a191bd1998	140
cparata	2:21a191bd1998	141	/* Output data rate selection. */
cparata	2:21a191bd1998	142	if ( Set_X_ODR_When_Enabled( X_Last_ODR ) == 1 )
cparata	2:21a191bd1998	143	{
cparata	2:21a191bd1998	144	return 1;
cparata	2:21a191bd1998	145	}
cparata	2:21a191bd1998	146
cparata	2:21a191bd1998	147	X_isEnabled = 1;
cparata	2:21a191bd1998	148
cparata	2:21a191bd1998	149	return 0;
cparata	2:21a191bd1998	150	}
cparata	2:21a191bd1998	151
cparata	2:21a191bd1998	152	/**
cparata	2:21a191bd1998	153	* @brief Enable LSM6DSL Gyroscope
cparata	2:21a191bd1998	154	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	155	*/
cparata	2:21a191bd1998	156	int LSM6DSLSensor::Enable_G(void)
cparata	2:21a191bd1998	157	{
cparata	2:21a191bd1998	158	/* Check if the component is already enabled */
cparata	2:21a191bd1998	159	if ( G_isEnabled == 1 )
cparata	2:21a191bd1998	160	{
cparata	2:21a191bd1998	161	return 0;
cparata	2:21a191bd1998	162	}
cparata	2:21a191bd1998	163
cparata	2:21a191bd1998	164	/* Output data rate selection. */
cparata	2:21a191bd1998	165	if ( Set_G_ODR_When_Enabled( G_Last_ODR ) == 1 )
cparata	2:21a191bd1998	166	{
cparata	2:21a191bd1998	167	return 1;
cparata	2:21a191bd1998	168	}
cparata	2:21a191bd1998	169
cparata	2:21a191bd1998	170	G_isEnabled = 1;
cparata	2:21a191bd1998	171
cparata	2:21a191bd1998	172	return 0;
cparata	2:21a191bd1998	173	}
cparata	2:21a191bd1998	174
cparata	2:21a191bd1998	175	/**
cparata	2:21a191bd1998	176	* @brief Disable LSM6DSL Accelerator
cparata	2:21a191bd1998	177	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	178	*/
cparata	2:21a191bd1998	179	int LSM6DSLSensor::Disable_X(void)
cparata	2:21a191bd1998	180	{
cparata	2:21a191bd1998	181	/* Check if the component is already disabled */
cparata	2:21a191bd1998	182	if ( X_isEnabled == 0 )
cparata	2:21a191bd1998	183	{
cparata	2:21a191bd1998	184	return 0;
cparata	2:21a191bd1998	185	}
cparata	2:21a191bd1998	186
cparata	2:21a191bd1998	187	/* Store actual output data rate. */
cparata	2:21a191bd1998	188	if ( Get_X_ODR( &X_Last_ODR ) == 1 )
cparata	2:21a191bd1998	189	{
cparata	2:21a191bd1998	190	return 1;
cparata	2:21a191bd1998	191	}
cparata	2:21a191bd1998	192
cparata	2:21a191bd1998	193	/* Output data rate selection - power down. */
cparata	2:21a191bd1998	194	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata	2:21a191bd1998	195	{
cparata	2:21a191bd1998	196	return 1;
cparata	2:21a191bd1998	197	}
cparata	2:21a191bd1998	198
cparata	2:21a191bd1998	199	X_isEnabled = 0;
cparata	2:21a191bd1998	200
cparata	2:21a191bd1998	201	return 0;
cparata	2:21a191bd1998	202	}
cparata	2:21a191bd1998	203
cparata	2:21a191bd1998	204	/**
cparata	2:21a191bd1998	205	* @brief Disable LSM6DSL Gyroscope
cparata	2:21a191bd1998	206	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	207	*/
cparata	2:21a191bd1998	208	int LSM6DSLSensor::Disable_G(void)
cparata	2:21a191bd1998	209	{
cparata	2:21a191bd1998	210	/* Check if the component is already disabled */
cparata	2:21a191bd1998	211	if ( G_isEnabled == 0 )
cparata	2:21a191bd1998	212	{
cparata	2:21a191bd1998	213	return 0;
cparata	2:21a191bd1998	214	}
cparata	2:21a191bd1998	215
cparata	2:21a191bd1998	216	/* Store actual output data rate. */
cparata	2:21a191bd1998	217	if ( Get_G_ODR( &G_Last_ODR ) == 1 )
cparata	2:21a191bd1998	218	{
cparata	2:21a191bd1998	219	return 1;
cparata	2:21a191bd1998	220	}
cparata	2:21a191bd1998	221
cparata	2:21a191bd1998	222	/* Output data rate selection - power down */
cparata	2:21a191bd1998	223	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata	2:21a191bd1998	224	{
cparata	2:21a191bd1998	225	return 1;
cparata	2:21a191bd1998	226	}
cparata	2:21a191bd1998	227
cparata	2:21a191bd1998	228	G_isEnabled = 0;
cparata	2:21a191bd1998	229
cparata	2:21a191bd1998	230	return 0;
cparata	2:21a191bd1998	231	}
cparata	2:21a191bd1998	232
cparata	2:21a191bd1998	233	/**
cparata	2:21a191bd1998	234	* @brief Read ID of LSM6DSL Accelerometer and Gyroscope
cparata	2:21a191bd1998	235	* @param p_id the pointer where the ID of the device is stored
cparata	2:21a191bd1998	236	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	237	*/
cparata	2:21a191bd1998	238	int LSM6DSLSensor::ReadID(uint8_t *id)
cparata	2:21a191bd1998	239	{
cparata	2:21a191bd1998	240	if(!id)
cparata	2:21a191bd1998	241	{
cparata	2:21a191bd1998	242	return 1;
cparata	2:21a191bd1998	243	}
cparata	2:21a191bd1998	244
cparata	2:21a191bd1998	245	/* Read WHO AM I register */
cparata	2:21a191bd1998	246	if ( LSM6DSL_ACC_GYRO_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
cparata	2:21a191bd1998	247	{
cparata	2:21a191bd1998	248	return 1;
cparata	2:21a191bd1998	249	}
cparata	2:21a191bd1998	250
cparata	2:21a191bd1998	251	return 0;
cparata	2:21a191bd1998	252	}
cparata	2:21a191bd1998	253
cparata	2:21a191bd1998	254	/**
cparata	2:21a191bd1998	255	* @brief Read data from LSM6DSL Accelerometer
cparata	2:21a191bd1998	256	* @param pData the pointer where the accelerometer data are stored
cparata	2:21a191bd1998	257	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	258	*/
cparata	2:21a191bd1998	259	int LSM6DSLSensor::Get_X_Axes(int32_t *pData)
cparata	2:21a191bd1998	260	{
cparata	2:21a191bd1998	261	int16_t dataRaw[3];
cparata	2:21a191bd1998	262	float sensitivity = 0;
cparata	2:21a191bd1998	263
cparata	2:21a191bd1998	264	/* Read raw data from LSM6DSL output register. */
cparata	2:21a191bd1998	265	if ( Get_X_AxesRaw( dataRaw ) == 1 )
cparata	2:21a191bd1998	266	{
cparata	2:21a191bd1998	267	return 1;
cparata	2:21a191bd1998	268	}
cparata	2:21a191bd1998	269
cparata	2:21a191bd1998	270	/* Get LSM6DSL actual sensitivity. */
cparata	2:21a191bd1998	271	if ( Get_X_Sensitivity( &sensitivity ) == 1 )
cparata	2:21a191bd1998	272	{
cparata	2:21a191bd1998	273	return 1;
cparata	2:21a191bd1998	274	}
cparata	2:21a191bd1998	275
cparata	2:21a191bd1998	276	/* Calculate the data. */
cparata	2:21a191bd1998	277	pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata	2:21a191bd1998	278	pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata	2:21a191bd1998	279	pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata	2:21a191bd1998	280
cparata	2:21a191bd1998	281	return 0;
cparata	2:21a191bd1998	282	}
cparata	2:21a191bd1998	283
cparata	2:21a191bd1998	284	/**
cparata	2:21a191bd1998	285	* @brief Read data from LSM6DSL Gyroscope
cparata	2:21a191bd1998	286	* @param pData the pointer where the gyroscope data are stored
cparata	2:21a191bd1998	287	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	288	*/
cparata	2:21a191bd1998	289	int LSM6DSLSensor::Get_G_Axes(int32_t *pData)
cparata	2:21a191bd1998	290	{
cparata	2:21a191bd1998	291	int16_t dataRaw[3];
cparata	2:21a191bd1998	292	float sensitivity = 0;
cparata	2:21a191bd1998	293
cparata	2:21a191bd1998	294	/* Read raw data from LSM6DSL output register. */
cparata	2:21a191bd1998	295	if ( Get_G_AxesRaw( dataRaw ) == 1 )
cparata	2:21a191bd1998	296	{
cparata	2:21a191bd1998	297	return 1;
cparata	2:21a191bd1998	298	}
cparata	2:21a191bd1998	299
cparata	2:21a191bd1998	300	/* Get LSM6DSL actual sensitivity. */
cparata	2:21a191bd1998	301	if ( Get_G_Sensitivity( &sensitivity ) == 1 )
cparata	2:21a191bd1998	302	{
cparata	2:21a191bd1998	303	return 1;
cparata	2:21a191bd1998	304	}
cparata	2:21a191bd1998	305
cparata	2:21a191bd1998	306	/* Calculate the data. */
cparata	2:21a191bd1998	307	pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata	2:21a191bd1998	308	pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata	2:21a191bd1998	309	pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata	2:21a191bd1998	310
cparata	2:21a191bd1998	311	return 0;
cparata	2:21a191bd1998	312	}
cparata	2:21a191bd1998	313
cparata	2:21a191bd1998	314	/**
cparata	2:21a191bd1998	315	* @brief Read Accelerometer Sensitivity
cparata	2:21a191bd1998	316	* @param pfData the pointer where the accelerometer sensitivity is stored
cparata	2:21a191bd1998	317	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	318	*/
cparata	2:21a191bd1998	319	int LSM6DSLSensor::Get_X_Sensitivity(float *pfData)
cparata	2:21a191bd1998	320	{
cparata	2:21a191bd1998	321	LSM6DSL_ACC_GYRO_FS_XL_t fullScale;
cparata	2:21a191bd1998	322
cparata	2:21a191bd1998	323	/* Read actual full scale selection from sensor. */
cparata	2:21a191bd1998	324	if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fullScale ) == MEMS_ERROR )
cparata	2:21a191bd1998	325	{
cparata	2:21a191bd1998	326	return 1;
cparata	2:21a191bd1998	327	}
cparata	2:21a191bd1998	328
cparata	2:21a191bd1998	329	/* Store the sensitivity based on actual full scale. */
cparata	2:21a191bd1998	330	switch( fullScale )
cparata	2:21a191bd1998	331	{
cparata	2:21a191bd1998	332	case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata	2:21a191bd1998	333	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G;
cparata	2:21a191bd1998	334	break;
cparata	2:21a191bd1998	335	case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata	2:21a191bd1998	336	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G;
cparata	2:21a191bd1998	337	break;
cparata	2:21a191bd1998	338	case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata	2:21a191bd1998	339	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G;
cparata	2:21a191bd1998	340	break;
cparata	2:21a191bd1998	341	case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata	2:21a191bd1998	342	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G;
cparata	2:21a191bd1998	343	break;
cparata	2:21a191bd1998	344	default:
cparata	2:21a191bd1998	345	*pfData = -1.0f;
cparata	2:21a191bd1998	346	return 1;
cparata	2:21a191bd1998	347	}
cparata	2:21a191bd1998	348
cparata	2:21a191bd1998	349	return 0;
cparata	2:21a191bd1998	350	}
cparata	2:21a191bd1998	351
cparata	2:21a191bd1998	352	/**
cparata	2:21a191bd1998	353	* @brief Read Gyroscope Sensitivity
cparata	2:21a191bd1998	354	* @param pfData the pointer where the gyroscope sensitivity is stored
cparata	2:21a191bd1998	355	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	356	*/
cparata	2:21a191bd1998	357	int LSM6DSLSensor::Get_G_Sensitivity(float *pfData)
cparata	2:21a191bd1998	358	{
cparata	2:21a191bd1998	359	LSM6DSL_ACC_GYRO_FS_125_t fullScale125;
cparata	2:21a191bd1998	360	LSM6DSL_ACC_GYRO_FS_G_t fullScale;
cparata	2:21a191bd1998	361
cparata	2:21a191bd1998	362	/* Read full scale 125 selection from sensor. */
cparata	2:21a191bd1998	363	if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fullScale125 ) == MEMS_ERROR )
cparata	2:21a191bd1998	364	{
cparata	2:21a191bd1998	365	return 1;
cparata	2:21a191bd1998	366	}
cparata	2:21a191bd1998	367
cparata	2:21a191bd1998	368	if ( fullScale125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata	2:21a191bd1998	369	{
cparata	2:21a191bd1998	370	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS;
cparata	2:21a191bd1998	371	}
cparata	2:21a191bd1998	372
cparata	2:21a191bd1998	373	else
cparata	2:21a191bd1998	374	{
cparata	2:21a191bd1998	375
cparata	2:21a191bd1998	376	/* Read actual full scale selection from sensor. */
cparata	2:21a191bd1998	377	if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fullScale ) == MEMS_ERROR )
cparata	2:21a191bd1998	378	{
cparata	2:21a191bd1998	379	return 1;
cparata	2:21a191bd1998	380	}
cparata	2:21a191bd1998	381
cparata	2:21a191bd1998	382	/* Store the sensitivity based on actual full scale. */
cparata	2:21a191bd1998	383	switch( fullScale )
cparata	2:21a191bd1998	384	{
cparata	2:21a191bd1998	385	case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata	2:21a191bd1998	386	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS;
cparata	2:21a191bd1998	387	break;
cparata	2:21a191bd1998	388	case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata	2:21a191bd1998	389	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS;
cparata	2:21a191bd1998	390	break;
cparata	2:21a191bd1998	391	case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata	2:21a191bd1998	392	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS;
cparata	2:21a191bd1998	393	break;
cparata	2:21a191bd1998	394	case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata	2:21a191bd1998	395	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS;
cparata	2:21a191bd1998	396	break;
cparata	2:21a191bd1998	397	default:
cparata	2:21a191bd1998	398	*pfData = -1.0f;
cparata	2:21a191bd1998	399	return 1;
cparata	2:21a191bd1998	400	}
cparata	2:21a191bd1998	401	}
cparata	2:21a191bd1998	402
cparata	2:21a191bd1998	403	return 0;
cparata	2:21a191bd1998	404	}
cparata	2:21a191bd1998	405
cparata	2:21a191bd1998	406	/**
cparata	2:21a191bd1998	407	* @brief Read raw data from LSM6DSL Accelerometer
cparata	2:21a191bd1998	408	* @param pData the pointer where the accelerometer raw data are stored
cparata	2:21a191bd1998	409	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	410	*/
cparata	2:21a191bd1998	411	int LSM6DSLSensor::Get_X_AxesRaw(int16_t *pData)
cparata	2:21a191bd1998	412	{
cparata	2:21a191bd1998	413	uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata	2:21a191bd1998	414
cparata	2:21a191bd1998	415	/* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_XL to LSM6DSL_ACC_GYRO_OUTZ_H_XL. */
cparata	2:21a191bd1998	416	if ( LSM6DSL_ACC_GYRO_GetRawAccData( (void *)this, regValue ) == MEMS_ERROR )
cparata	2:21a191bd1998	417	{
cparata	2:21a191bd1998	418	return 1;
cparata	2:21a191bd1998	419	}
cparata	2:21a191bd1998	420
cparata	2:21a191bd1998	421	/* Format the data. */
cparata	2:21a191bd1998	422	pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata	2:21a191bd1998	423	pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata	2:21a191bd1998	424	pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata	2:21a191bd1998	425
cparata	2:21a191bd1998	426	return 0;
cparata	2:21a191bd1998	427	}
cparata	2:21a191bd1998	428
cparata	2:21a191bd1998	429	/**
cparata	2:21a191bd1998	430	* @brief Read raw data from LSM6DSL Gyroscope
cparata	2:21a191bd1998	431	* @param pData the pointer where the gyroscope raw data are stored
cparata	2:21a191bd1998	432	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	433	*/
cparata	2:21a191bd1998	434	int LSM6DSLSensor::Get_G_AxesRaw(int16_t *pData)
cparata	2:21a191bd1998	435	{
cparata	2:21a191bd1998	436	uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata	2:21a191bd1998	437
cparata	2:21a191bd1998	438	/* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_G to LSM6DSL_ACC_GYRO_OUTZ_H_G. */
cparata	2:21a191bd1998	439	if ( LSM6DSL_ACC_GYRO_GetRawGyroData( (void *)this, regValue ) == MEMS_ERROR )
cparata	2:21a191bd1998	440	{
cparata	2:21a191bd1998	441	return 1;
cparata	2:21a191bd1998	442	}
cparata	2:21a191bd1998	443
cparata	2:21a191bd1998	444	/* Format the data. */
cparata	2:21a191bd1998	445	pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata	2:21a191bd1998	446	pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata	2:21a191bd1998	447	pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata	2:21a191bd1998	448
cparata	2:21a191bd1998	449	return 0;
cparata	2:21a191bd1998	450	}
cparata	2:21a191bd1998	451
cparata	2:21a191bd1998	452	/**
cparata	2:21a191bd1998	453	* @brief Read LSM6DSL Accelerometer output data rate
cparata	2:21a191bd1998	454	* @param odr the pointer to the output data rate
cparata	2:21a191bd1998	455	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	456	*/
cparata	2:21a191bd1998	457	int LSM6DSLSensor::Get_X_ODR(float* odr)
cparata	2:21a191bd1998	458	{
cparata	2:21a191bd1998	459	LSM6DSL_ACC_GYRO_ODR_XL_t odr_low_level;
cparata	2:21a191bd1998	460
cparata	2:21a191bd1998	461	if ( LSM6DSL_ACC_GYRO_R_ODR_XL( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata	2:21a191bd1998	462	{
cparata	2:21a191bd1998	463	return 1;
cparata	2:21a191bd1998	464	}
cparata	2:21a191bd1998	465
cparata	2:21a191bd1998	466	switch( odr_low_level )
cparata	2:21a191bd1998	467	{
cparata	2:21a191bd1998	468	case LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN:
cparata	2:21a191bd1998	469	*odr = 0.0f;
cparata	2:21a191bd1998	470	break;
cparata	2:21a191bd1998	471	case LSM6DSL_ACC_GYRO_ODR_XL_13Hz:
cparata	2:21a191bd1998	472	*odr = 13.0f;
cparata	2:21a191bd1998	473	break;
cparata	2:21a191bd1998	474	case LSM6DSL_ACC_GYRO_ODR_XL_26Hz:
cparata	2:21a191bd1998	475	*odr = 26.0f;
cparata	2:21a191bd1998	476	break;
cparata	2:21a191bd1998	477	case LSM6DSL_ACC_GYRO_ODR_XL_52Hz:
cparata	2:21a191bd1998	478	*odr = 52.0f;
cparata	2:21a191bd1998	479	break;
cparata	2:21a191bd1998	480	case LSM6DSL_ACC_GYRO_ODR_XL_104Hz:
cparata	2:21a191bd1998	481	*odr = 104.0f;
cparata	2:21a191bd1998	482	break;
cparata	2:21a191bd1998	483	case LSM6DSL_ACC_GYRO_ODR_XL_208Hz:
cparata	2:21a191bd1998	484	*odr = 208.0f;
cparata	2:21a191bd1998	485	break;
cparata	2:21a191bd1998	486	case LSM6DSL_ACC_GYRO_ODR_XL_416Hz:
cparata	2:21a191bd1998	487	*odr = 416.0f;
cparata	2:21a191bd1998	488	break;
cparata	2:21a191bd1998	489	case LSM6DSL_ACC_GYRO_ODR_XL_833Hz:
cparata	2:21a191bd1998	490	*odr = 833.0f;
cparata	2:21a191bd1998	491	break;
cparata	2:21a191bd1998	492	case LSM6DSL_ACC_GYRO_ODR_XL_1660Hz:
cparata	2:21a191bd1998	493	*odr = 1660.0f;
cparata	2:21a191bd1998	494	break;
cparata	2:21a191bd1998	495	case LSM6DSL_ACC_GYRO_ODR_XL_3330Hz:
cparata	2:21a191bd1998	496	*odr = 3330.0f;
cparata	2:21a191bd1998	497	break;
cparata	2:21a191bd1998	498	case LSM6DSL_ACC_GYRO_ODR_XL_6660Hz:
cparata	2:21a191bd1998	499	*odr = 6660.0f;
cparata	2:21a191bd1998	500	break;
cparata	2:21a191bd1998	501	default:
cparata	2:21a191bd1998	502	*odr = -1.0f;
cparata	2:21a191bd1998	503	return 1;
cparata	2:21a191bd1998	504	}
cparata	2:21a191bd1998	505
cparata	2:21a191bd1998	506	return 0;
cparata	2:21a191bd1998	507	}
cparata	2:21a191bd1998	508
cparata	2:21a191bd1998	509	/**
cparata	2:21a191bd1998	510	* @brief Read LSM6DSL Gyroscope output data rate
cparata	2:21a191bd1998	511	* @param odr the pointer to the output data rate
cparata	2:21a191bd1998	512	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	513	*/
cparata	2:21a191bd1998	514	int LSM6DSLSensor::Get_G_ODR(float* odr)
cparata	2:21a191bd1998	515	{
cparata	2:21a191bd1998	516	LSM6DSL_ACC_GYRO_ODR_G_t odr_low_level;
cparata	2:21a191bd1998	517
cparata	2:21a191bd1998	518	if ( LSM6DSL_ACC_GYRO_R_ODR_G( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata	2:21a191bd1998	519	{
cparata	2:21a191bd1998	520	return 1;
cparata	2:21a191bd1998	521	}
cparata	2:21a191bd1998	522
cparata	2:21a191bd1998	523	switch( odr_low_level )
cparata	2:21a191bd1998	524	{
cparata	2:21a191bd1998	525	case LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN:
cparata	2:21a191bd1998	526	*odr = 0.0f;
cparata	2:21a191bd1998	527	break;
cparata	2:21a191bd1998	528	case LSM6DSL_ACC_GYRO_ODR_G_13Hz:
cparata	2:21a191bd1998	529	*odr = 13.0f;
cparata	2:21a191bd1998	530	break;
cparata	2:21a191bd1998	531	case LSM6DSL_ACC_GYRO_ODR_G_26Hz:
cparata	2:21a191bd1998	532	*odr = 26.0f;
cparata	2:21a191bd1998	533	break;
cparata	2:21a191bd1998	534	case LSM6DSL_ACC_GYRO_ODR_G_52Hz:
cparata	2:21a191bd1998	535	*odr = 52.0f;
cparata	2:21a191bd1998	536	break;
cparata	2:21a191bd1998	537	case LSM6DSL_ACC_GYRO_ODR_G_104Hz:
cparata	2:21a191bd1998	538	*odr = 104.0f;
cparata	2:21a191bd1998	539	break;
cparata	2:21a191bd1998	540	case LSM6DSL_ACC_GYRO_ODR_G_208Hz:
cparata	2:21a191bd1998	541	*odr = 208.0f;
cparata	2:21a191bd1998	542	break;
cparata	2:21a191bd1998	543	case LSM6DSL_ACC_GYRO_ODR_G_416Hz:
cparata	2:21a191bd1998	544	*odr = 416.0f;
cparata	2:21a191bd1998	545	break;
cparata	2:21a191bd1998	546	case LSM6DSL_ACC_GYRO_ODR_G_833Hz:
cparata	2:21a191bd1998	547	*odr = 833.0f;
cparata	2:21a191bd1998	548	break;
cparata	2:21a191bd1998	549	case LSM6DSL_ACC_GYRO_ODR_G_1660Hz:
cparata	2:21a191bd1998	550	*odr = 1660.0f;
cparata	2:21a191bd1998	551	break;
cparata	2:21a191bd1998	552	case LSM6DSL_ACC_GYRO_ODR_G_3330Hz:
cparata	2:21a191bd1998	553	*odr = 3330.0f;
cparata	2:21a191bd1998	554	break;
cparata	2:21a191bd1998	555	case LSM6DSL_ACC_GYRO_ODR_G_6660Hz:
cparata	2:21a191bd1998	556	*odr = 6660.0f;
cparata	2:21a191bd1998	557	break;
cparata	2:21a191bd1998	558	default:
cparata	2:21a191bd1998	559	*odr = -1.0f;
cparata	2:21a191bd1998	560	return 1;
cparata	2:21a191bd1998	561	}
cparata	2:21a191bd1998	562
cparata	2:21a191bd1998	563	return 0;
cparata	2:21a191bd1998	564	}
cparata	2:21a191bd1998	565
cparata	2:21a191bd1998	566	/**
cparata	2:21a191bd1998	567	* @brief Set LSM6DSL Accelerometer output data rate
cparata	2:21a191bd1998	568	* @param odr the output data rate to be set
cparata	2:21a191bd1998	569	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	570	*/
cparata	2:21a191bd1998	571	int LSM6DSLSensor::Set_X_ODR(float odr)
cparata	2:21a191bd1998	572	{
cparata	2:21a191bd1998	573	if(X_isEnabled == 1)
cparata	2:21a191bd1998	574	{
cparata	2:21a191bd1998	575	if(Set_X_ODR_When_Enabled(odr) == 1)
cparata	2:21a191bd1998	576	{
cparata	2:21a191bd1998	577	return 1;
cparata	2:21a191bd1998	578	}
cparata	2:21a191bd1998	579	}
cparata	2:21a191bd1998	580	else
cparata	2:21a191bd1998	581	{
cparata	2:21a191bd1998	582	if(Set_X_ODR_When_Disabled(odr) == 1)
cparata	2:21a191bd1998	583	{
cparata	2:21a191bd1998	584	return 1;
cparata	2:21a191bd1998	585	}
cparata	2:21a191bd1998	586	}
cparata	2:21a191bd1998	587
cparata	2:21a191bd1998	588	return 0;
cparata	2:21a191bd1998	589	}
cparata	2:21a191bd1998	590
cparata	2:21a191bd1998	591	/**
cparata	2:21a191bd1998	592	* @brief Set LSM6DSL Accelerometer output data rate when enabled
cparata	2:21a191bd1998	593	* @param odr the output data rate to be set
cparata	2:21a191bd1998	594	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	595	*/
cparata	2:21a191bd1998	596	int LSM6DSLSensor::Set_X_ODR_When_Enabled(float odr)
cparata	2:21a191bd1998	597	{
cparata	2:21a191bd1998	598	LSM6DSL_ACC_GYRO_ODR_XL_t new_odr;
cparata	2:21a191bd1998	599
cparata	2:21a191bd1998	600	new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_13Hz
cparata	2:21a191bd1998	601	: ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_26Hz
cparata	2:21a191bd1998	602	: ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_52Hz
cparata	2:21a191bd1998	603	: ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_104Hz
cparata	2:21a191bd1998	604	: ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_208Hz
cparata	2:21a191bd1998	605	: ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_416Hz
cparata	2:21a191bd1998	606	: ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_833Hz
cparata	2:21a191bd1998	607	: ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_1660Hz
cparata	2:21a191bd1998	608	: ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_3330Hz
cparata	2:21a191bd1998	609	: LSM6DSL_ACC_GYRO_ODR_XL_6660Hz;
cparata	2:21a191bd1998	610
cparata	2:21a191bd1998	611	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, new_odr ) == MEMS_ERROR )
cparata	2:21a191bd1998	612	{
cparata	2:21a191bd1998	613	return 1;
cparata	2:21a191bd1998	614	}
cparata	2:21a191bd1998	615
cparata	2:21a191bd1998	616	return 0;
cparata	2:21a191bd1998	617	}
cparata	2:21a191bd1998	618
cparata	2:21a191bd1998	619	/**
cparata	2:21a191bd1998	620	* @brief Set LSM6DSL Accelerometer output data rate when disabled
cparata	2:21a191bd1998	621	* @param odr the output data rate to be set
cparata	2:21a191bd1998	622	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	623	*/
cparata	2:21a191bd1998	624	int LSM6DSLSensor::Set_X_ODR_When_Disabled(float odr)
cparata	2:21a191bd1998	625	{
cparata	2:21a191bd1998	626	X_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata	2:21a191bd1998	627	: ( odr <= 26.0f ) ? 26.0f
cparata	2:21a191bd1998	628	: ( odr <= 52.0f ) ? 52.0f
cparata	2:21a191bd1998	629	: ( odr <= 104.0f ) ? 104.0f
cparata	2:21a191bd1998	630	: ( odr <= 208.0f ) ? 208.0f
cparata	2:21a191bd1998	631	: ( odr <= 416.0f ) ? 416.0f
cparata	2:21a191bd1998	632	: ( odr <= 833.0f ) ? 833.0f
cparata	2:21a191bd1998	633	: ( odr <= 1660.0f ) ? 1660.0f
cparata	2:21a191bd1998	634	: ( odr <= 3330.0f ) ? 3330.0f
cparata	2:21a191bd1998	635	: 6660.0f;
cparata	2:21a191bd1998	636
cparata	2:21a191bd1998	637	return 0;
cparata	2:21a191bd1998	638	}
cparata	2:21a191bd1998	639
cparata	2:21a191bd1998	640	/**
cparata	2:21a191bd1998	641	* @brief Set LSM6DSL Gyroscope output data rate
cparata	2:21a191bd1998	642	* @param odr the output data rate to be set
cparata	2:21a191bd1998	643	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	644	*/
cparata	2:21a191bd1998	645	int LSM6DSLSensor::Set_G_ODR(float odr)
cparata	2:21a191bd1998	646	{
cparata	2:21a191bd1998	647	if(G_isEnabled == 1)
cparata	2:21a191bd1998	648	{
cparata	2:21a191bd1998	649	if(Set_G_ODR_When_Enabled(odr) == 1)
cparata	2:21a191bd1998	650	{
cparata	2:21a191bd1998	651	return 1;
cparata	2:21a191bd1998	652	}
cparata	2:21a191bd1998	653	}
cparata	2:21a191bd1998	654	else
cparata	2:21a191bd1998	655	{
cparata	2:21a191bd1998	656	if(Set_G_ODR_When_Disabled(odr) == 1)
cparata	2:21a191bd1998	657	{
cparata	2:21a191bd1998	658	return 1;
cparata	2:21a191bd1998	659	}
cparata	2:21a191bd1998	660	}
cparata	2:21a191bd1998	661
cparata	2:21a191bd1998	662	return 0;
cparata	2:21a191bd1998	663	}
cparata	2:21a191bd1998	664
cparata	2:21a191bd1998	665	/**
cparata	2:21a191bd1998	666	* @brief Set LSM6DSL Gyroscope output data rate when enabled
cparata	2:21a191bd1998	667	* @param odr the output data rate to be set
cparata	2:21a191bd1998	668	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	669	*/
cparata	2:21a191bd1998	670	int LSM6DSLSensor::Set_G_ODR_When_Enabled(float odr)
cparata	2:21a191bd1998	671	{
cparata	2:21a191bd1998	672	LSM6DSL_ACC_GYRO_ODR_G_t new_odr;
cparata	2:21a191bd1998	673
cparata	2:21a191bd1998	674	new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_13Hz
cparata	2:21a191bd1998	675	: ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_26Hz
cparata	2:21a191bd1998	676	: ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_52Hz
cparata	2:21a191bd1998	677	: ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_104Hz
cparata	2:21a191bd1998	678	: ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_208Hz
cparata	2:21a191bd1998	679	: ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_416Hz
cparata	2:21a191bd1998	680	: ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_833Hz
cparata	2:21a191bd1998	681	: ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_1660Hz
cparata	2:21a191bd1998	682	: ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_3330Hz
cparata	2:21a191bd1998	683	: LSM6DSL_ACC_GYRO_ODR_G_6660Hz;
cparata	2:21a191bd1998	684
cparata	2:21a191bd1998	685	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, new_odr ) == MEMS_ERROR )
cparata	2:21a191bd1998	686	{
cparata	2:21a191bd1998	687	return 1;
cparata	2:21a191bd1998	688	}
cparata	2:21a191bd1998	689
cparata	2:21a191bd1998	690	return 0;
cparata	2:21a191bd1998	691	}
cparata	2:21a191bd1998	692
cparata	2:21a191bd1998	693	/**
cparata	2:21a191bd1998	694	* @brief Set LSM6DSL Gyroscope output data rate when disabled
cparata	2:21a191bd1998	695	* @param odr the output data rate to be set
cparata	2:21a191bd1998	696	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	697	*/
cparata	2:21a191bd1998	698	int LSM6DSLSensor::Set_G_ODR_When_Disabled(float odr)
cparata	2:21a191bd1998	699	{
cparata	2:21a191bd1998	700	G_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata	2:21a191bd1998	701	: ( odr <= 26.0f ) ? 26.0f
cparata	2:21a191bd1998	702	: ( odr <= 52.0f ) ? 52.0f
cparata	2:21a191bd1998	703	: ( odr <= 104.0f ) ? 104.0f
cparata	2:21a191bd1998	704	: ( odr <= 208.0f ) ? 208.0f
cparata	2:21a191bd1998	705	: ( odr <= 416.0f ) ? 416.0f
cparata	2:21a191bd1998	706	: ( odr <= 833.0f ) ? 833.0f
cparata	2:21a191bd1998	707	: ( odr <= 1660.0f ) ? 1660.0f
cparata	2:21a191bd1998	708	: ( odr <= 3330.0f ) ? 3330.0f
cparata	2:21a191bd1998	709	: 6660.0f;
cparata	2:21a191bd1998	710
cparata	2:21a191bd1998	711	return 0;
cparata	2:21a191bd1998	712	}
cparata	2:21a191bd1998	713
cparata	2:21a191bd1998	714	/**
cparata	2:21a191bd1998	715	* @brief Read LSM6DSL Accelerometer full scale
cparata	2:21a191bd1998	716	* @param fullScale the pointer to the full scale
cparata	2:21a191bd1998	717	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	718	*/
cparata	2:21a191bd1998	719	int LSM6DSLSensor::Get_X_FS(float* fullScale)
cparata	2:21a191bd1998	720	{
cparata	2:21a191bd1998	721	LSM6DSL_ACC_GYRO_FS_XL_t fs_low_level;
cparata	2:21a191bd1998	722
cparata	2:21a191bd1998	723	if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata	2:21a191bd1998	724	{
cparata	2:21a191bd1998	725	return 1;
cparata	2:21a191bd1998	726	}
cparata	2:21a191bd1998	727
cparata	2:21a191bd1998	728	switch( fs_low_level )
cparata	2:21a191bd1998	729	{
cparata	2:21a191bd1998	730	case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata	2:21a191bd1998	731	*fullScale = 2.0f;
cparata	2:21a191bd1998	732	break;
cparata	2:21a191bd1998	733	case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata	2:21a191bd1998	734	*fullScale = 4.0f;
cparata	2:21a191bd1998	735	break;
cparata	2:21a191bd1998	736	case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata	2:21a191bd1998	737	*fullScale = 8.0f;
cparata	2:21a191bd1998	738	break;
cparata	2:21a191bd1998	739	case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata	2:21a191bd1998	740	*fullScale = 16.0f;
cparata	2:21a191bd1998	741	break;
cparata	2:21a191bd1998	742	default:
cparata	2:21a191bd1998	743	*fullScale = -1.0f;
cparata	2:21a191bd1998	744	return 1;
cparata	2:21a191bd1998	745	}
cparata	2:21a191bd1998	746
cparata	2:21a191bd1998	747	return 0;
cparata	2:21a191bd1998	748	}
cparata	2:21a191bd1998	749
cparata	2:21a191bd1998	750	/**
cparata	2:21a191bd1998	751	* @brief Read LSM6DSL Gyroscope full scale
cparata	2:21a191bd1998	752	* @param fullScale the pointer to the full scale
cparata	2:21a191bd1998	753	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	754	*/
cparata	2:21a191bd1998	755	int LSM6DSLSensor::Get_G_FS(float* fullScale)
cparata	2:21a191bd1998	756	{
cparata	2:21a191bd1998	757	LSM6DSL_ACC_GYRO_FS_G_t fs_low_level;
cparata	2:21a191bd1998	758	LSM6DSL_ACC_GYRO_FS_125_t fs_125;
cparata	2:21a191bd1998	759
cparata	2:21a191bd1998	760	if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fs_125 ) == MEMS_ERROR )
cparata	2:21a191bd1998	761	{
cparata	2:21a191bd1998	762	return 1;
cparata	2:21a191bd1998	763	}
cparata	2:21a191bd1998	764	if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata	2:21a191bd1998	765	{
cparata	2:21a191bd1998	766	return 1;
cparata	2:21a191bd1998	767	}
cparata	2:21a191bd1998	768
cparata	2:21a191bd1998	769	if ( fs_125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata	2:21a191bd1998	770	{
cparata	2:21a191bd1998	771	*fullScale = 125.0f;
cparata	2:21a191bd1998	772	}
cparata	2:21a191bd1998	773
cparata	2:21a191bd1998	774	else
cparata	2:21a191bd1998	775	{
cparata	2:21a191bd1998	776	switch( fs_low_level )
cparata	2:21a191bd1998	777	{
cparata	2:21a191bd1998	778	case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata	2:21a191bd1998	779	*fullScale = 245.0f;
cparata	2:21a191bd1998	780	break;
cparata	2:21a191bd1998	781	case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata	2:21a191bd1998	782	*fullScale = 500.0f;
cparata	2:21a191bd1998	783	break;
cparata	2:21a191bd1998	784	case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata	2:21a191bd1998	785	*fullScale = 1000.0f;
cparata	2:21a191bd1998	786	break;
cparata	2:21a191bd1998	787	case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata	2:21a191bd1998	788	*fullScale = 2000.0f;
cparata	2:21a191bd1998	789	break;
cparata	2:21a191bd1998	790	default:
cparata	2:21a191bd1998	791	*fullScale = -1.0f;
cparata	2:21a191bd1998	792	return 1;
cparata	2:21a191bd1998	793	}
cparata	2:21a191bd1998	794	}
cparata	2:21a191bd1998	795
cparata	2:21a191bd1998	796	return 0;
cparata	2:21a191bd1998	797	}
cparata	2:21a191bd1998	798
cparata	2:21a191bd1998	799	/**
cparata	2:21a191bd1998	800	* @brief Set LSM6DSL Accelerometer full scale
cparata	2:21a191bd1998	801	* @param fullScale the full scale to be set
cparata	2:21a191bd1998	802	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	803	*/
cparata	2:21a191bd1998	804	int LSM6DSLSensor::Set_X_FS(float fullScale)
cparata	2:21a191bd1998	805	{
cparata	2:21a191bd1998	806	LSM6DSL_ACC_GYRO_FS_XL_t new_fs;
cparata	2:21a191bd1998	807
cparata	2:21a191bd1998	808	new_fs = ( fullScale <= 2.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_2g
cparata	2:21a191bd1998	809	: ( fullScale <= 4.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_4g
cparata	2:21a191bd1998	810	: ( fullScale <= 8.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_8g
cparata	2:21a191bd1998	811	: LSM6DSL_ACC_GYRO_FS_XL_16g;
cparata	2:21a191bd1998	812
cparata	2:21a191bd1998	813	if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, new_fs ) == MEMS_ERROR )
cparata	2:21a191bd1998	814	{
cparata	2:21a191bd1998	815	return 1;
cparata	2:21a191bd1998	816	}
cparata	2:21a191bd1998	817
cparata	2:21a191bd1998	818	return 0;
cparata	2:21a191bd1998	819	}
cparata	2:21a191bd1998	820
cparata	2:21a191bd1998	821	/**
cparata	2:21a191bd1998	822	* @brief Set LSM6DSL Gyroscope full scale
cparata	2:21a191bd1998	823	* @param fullScale the full scale to be set
cparata	2:21a191bd1998	824	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	825	*/
cparata	2:21a191bd1998	826	int LSM6DSLSensor::Set_G_FS(float fullScale)
cparata	2:21a191bd1998	827	{
cparata	2:21a191bd1998	828	LSM6DSL_ACC_GYRO_FS_G_t new_fs;
cparata	2:21a191bd1998	829
cparata	2:21a191bd1998	830	if ( fullScale <= 125.0f )
cparata	2:21a191bd1998	831	{
cparata	2:21a191bd1998	832	if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_ENABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	833	{
cparata	2:21a191bd1998	834	return 1;
cparata	2:21a191bd1998	835	}
cparata	2:21a191bd1998	836	}
cparata	2:21a191bd1998	837	else
cparata	2:21a191bd1998	838	{
cparata	2:21a191bd1998	839	new_fs = ( fullScale <= 245.0f ) ? LSM6DSL_ACC_GYRO_FS_G_245dps
cparata	2:21a191bd1998	840	: ( fullScale <= 500.0f ) ? LSM6DSL_ACC_GYRO_FS_G_500dps
cparata	2:21a191bd1998	841	: ( fullScale <= 1000.0f ) ? LSM6DSL_ACC_GYRO_FS_G_1000dps
cparata	2:21a191bd1998	842	: LSM6DSL_ACC_GYRO_FS_G_2000dps;
cparata	2:21a191bd1998	843
cparata	2:21a191bd1998	844	if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_DISABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	845	{
cparata	2:21a191bd1998	846	return 1;
cparata	2:21a191bd1998	847	}
cparata	2:21a191bd1998	848	if ( LSM6DSL_ACC_GYRO_W_FS_G( (void *)this, new_fs ) == MEMS_ERROR )
cparata	2:21a191bd1998	849	{
cparata	2:21a191bd1998	850	return 1;
cparata	2:21a191bd1998	851	}
cparata	2:21a191bd1998	852	}
cparata	2:21a191bd1998	853
cparata	2:21a191bd1998	854	return 0;
cparata	2:21a191bd1998	855	}
cparata	2:21a191bd1998	856
cparata	2:21a191bd1998	857	/**
cparata	2:21a191bd1998	858	* @brief Enable free fall detection
cparata	2:21a191bd1998	859	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:21a191bd1998	860	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	861	*/
cparata	2:21a191bd1998	862	int LSM6DSLSensor::Enable_Free_Fall_Detection(void)
cparata	2:21a191bd1998	863	{
cparata	7:4f512b172555	864	return Enable_Free_Fall_Detection(LSM6DSL_INT1_PIN);
cparata	7:4f512b172555	865	}
cparata	7:4f512b172555	866
cparata	7:4f512b172555	867	/**
cparata	7:4f512b172555	868	* @brief Enable free fall detection
cparata	7:4f512b172555	869	* @param pin the interrupt pin to be used
cparata	7:4f512b172555	870	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	7:4f512b172555	871	* @retval 0 in case of success, an error code otherwise
cparata	7:4f512b172555	872	*/
cparata	7:4f512b172555	873	int LSM6DSLSensor::Enable_Free_Fall_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata	7:4f512b172555	874	{
cparata	2:21a191bd1998	875	/* Output Data Rate selection */
cparata	2:21a191bd1998	876	if(Set_X_ODR(416.0f) == 1)
cparata	2:21a191bd1998	877	{
cparata	2:21a191bd1998	878	return 1;
cparata	2:21a191bd1998	879	}
cparata	2:21a191bd1998	880
cparata	2:21a191bd1998	881	/* Full scale selection */
cparata	2:21a191bd1998	882	if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, LSM6DSL_ACC_GYRO_FS_XL_2g ) == MEMS_ERROR )
cparata	2:21a191bd1998	883	{
cparata	2:21a191bd1998	884	return 1;
cparata	2:21a191bd1998	885	}
cparata	2:21a191bd1998	886
cparata	2:21a191bd1998	887	/* FF_DUR setting */
cparata	2:21a191bd1998	888	if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x06 ) == MEMS_ERROR )
cparata	2:21a191bd1998	889	{
cparata	2:21a191bd1998	890	return 1;
cparata	2:21a191bd1998	891	}
cparata	2:21a191bd1998	892
cparata	2:21a191bd1998	893	/* WAKE_DUR setting */
cparata	2:21a191bd1998	894	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:21a191bd1998	895	{
cparata	2:21a191bd1998	896	return 1;
cparata	2:21a191bd1998	897	}
cparata	2:21a191bd1998	898
cparata	2:21a191bd1998	899	/* TIMER_HR setting */
cparata	2:21a191bd1998	900	if ( LSM6DSL_ACC_GYRO_W_TIMER_HR( (void *)this, LSM6DSL_ACC_GYRO_TIMER_HR_6_4ms ) == MEMS_ERROR )
cparata	2:21a191bd1998	901	{
cparata	2:21a191bd1998	902	return 1;
cparata	2:21a191bd1998	903	}
cparata	2:21a191bd1998	904
cparata	2:21a191bd1998	905	/* SLEEP_DUR setting */
cparata	2:21a191bd1998	906	if ( LSM6DSL_ACC_GYRO_W_SLEEP_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:21a191bd1998	907	{
cparata	2:21a191bd1998	908	return 1;
cparata	2:21a191bd1998	909	}
cparata	2:21a191bd1998	910
cparata	2:21a191bd1998	911	/* FF_THS setting */
cparata	2:21a191bd1998	912	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_312mg ) == MEMS_ERROR )
cparata	2:21a191bd1998	913	{
cparata	2:21a191bd1998	914	return 1;
cparata	2:21a191bd1998	915	}
cparata	2:21a191bd1998	916
cparata	2:21a191bd1998	917	/* Enable basic Interrupts */
cparata	2:21a191bd1998	918	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	919	{
cparata	2:21a191bd1998	920	return 1;
cparata	2:21a191bd1998	921	}
cparata	2:21a191bd1998	922
cparata	7:4f512b172555	923	/* Enable free fall event on either INT1 or INT2 pin */
cparata	7:4f512b172555	924	switch (pin)
cparata	2:21a191bd1998	925	{
cparata	7:4f512b172555	926	case LSM6DSL_INT1_PIN:
cparata	7:4f512b172555	927	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
cparata	7:4f512b172555	928	{
cparata	7:4f512b172555	929	return 1;
cparata	7:4f512b172555	930	}
cparata	7:4f512b172555	931	break;
cparata	7:4f512b172555	932
cparata	7:4f512b172555	933	case LSM6DSL_INT2_PIN:
cparata	7:4f512b172555	934	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_FF_ENABLED ) == MEMS_ERROR )
cparata	7:4f512b172555	935	{
cparata	7:4f512b172555	936	return 1;
cparata	7:4f512b172555	937	}
cparata	7:4f512b172555	938	break;
cparata	7:4f512b172555	939
cparata	7:4f512b172555	940	default:
cparata	2:21a191bd1998	941	return 1;
cparata	2:21a191bd1998	942	}
cparata	2:21a191bd1998	943
cparata	2:21a191bd1998	944	return 0;
cparata	2:21a191bd1998	945	}
cparata	2:21a191bd1998	946
cparata	2:21a191bd1998	947	/**
cparata	2:21a191bd1998	948	* @brief Disable free fall detection
cparata	2:21a191bd1998	949	* @param None
cparata	2:21a191bd1998	950	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	951	*/
cparata	2:21a191bd1998	952	int LSM6DSLSensor::Disable_Free_Fall_Detection(void)
cparata	2:21a191bd1998	953	{
cparata	7:4f512b172555	954	/* Disable free fall event on INT1 pin */
cparata	2:21a191bd1998	955	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	956	{
cparata	2:21a191bd1998	957	return 1;
cparata	2:21a191bd1998	958	}
cparata	2:21a191bd1998	959
cparata	7:4f512b172555	960	/* Disable free fall event on INT2 pin */
cparata	7:4f512b172555	961	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_FF_DISABLED ) == MEMS_ERROR )
cparata	7:4f512b172555	962	{
cparata	7:4f512b172555	963	return 1;
cparata	7:4f512b172555	964	}
cparata	7:4f512b172555	965
cparata	2:21a191bd1998	966	/* Disable basic Interrupts */
cparata	2:21a191bd1998	967	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	968	{
cparata	2:21a191bd1998	969	return 1;
cparata	2:21a191bd1998	970	}
cparata	2:21a191bd1998	971
cparata	2:21a191bd1998	972	/* FF_DUR setting */
cparata	2:21a191bd1998	973	if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:21a191bd1998	974	{
cparata	2:21a191bd1998	975	return 1;
cparata	2:21a191bd1998	976	}
cparata	2:21a191bd1998	977
cparata	2:21a191bd1998	978	/* FF_THS setting */
cparata	2:21a191bd1998	979	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_156mg ) == MEMS_ERROR )
cparata	2:21a191bd1998	980	{
cparata	2:21a191bd1998	981	return 1;
cparata	2:21a191bd1998	982	}
cparata	2:21a191bd1998	983
cparata	2:21a191bd1998	984	return 0;
cparata	2:21a191bd1998	985	}
cparata	2:21a191bd1998	986
cparata	2:21a191bd1998	987	/**
cparata	2:21a191bd1998	988	* @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor
cparata	2:21a191bd1998	989	* @param thr the threshold to be set
cparata	2:21a191bd1998	990	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	991	*/
cparata	2:21a191bd1998	992	int LSM6DSLSensor::Set_Free_Fall_Threshold(uint8_t thr)
cparata	2:21a191bd1998	993	{
cparata	2:21a191bd1998	994
cparata	2:21a191bd1998	995	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR )
cparata	2:21a191bd1998	996	{
cparata	2:21a191bd1998	997	return 1;
cparata	2:21a191bd1998	998	}
cparata	2:21a191bd1998	999
cparata	2:21a191bd1998	1000	return 0;
cparata	2:21a191bd1998	1001	}
cparata	2:21a191bd1998	1002
cparata	2:21a191bd1998	1003	/**
cparata	2:21a191bd1998	1004	* @brief Enable the pedometer feature for LSM6DSL accelerometer sensor
cparata	2:21a191bd1998	1005	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:21a191bd1998	1006	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	1007	*/
cparata	2:21a191bd1998	1008	int LSM6DSLSensor::Enable_Pedometer(void)
cparata	2:21a191bd1998	1009	{
cparata	2:21a191bd1998	1010	/* Output Data Rate selection */
cparata	2:21a191bd1998	1011	if( Set_X_ODR(26.0f) == 1 )
cparata	2:21a191bd1998	1012	{
cparata	2:21a191bd1998	1013	return 1;
cparata	2:21a191bd1998	1014	}
cparata	2:21a191bd1998	1015
cparata	2:21a191bd1998	1016	/* Full scale selection. */
cparata	2:21a191bd1998	1017	if( Set_X_FS(2.0f) == 1 )
cparata	2:21a191bd1998	1018	{
cparata	2:21a191bd1998	1019	return 1;
cparata	2:21a191bd1998	1020	}
cparata	2:21a191bd1998	1021
cparata	2:21a191bd1998	1022	/* Set pedometer threshold. */
cparata	2:21a191bd1998	1023	if ( Set_Pedometer_Threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == 1 )
cparata	2:21a191bd1998	1024	{
cparata	2:21a191bd1998	1025	return 1;
cparata	2:21a191bd1998	1026	}
cparata	2:21a191bd1998	1027
cparata	2:21a191bd1998	1028	/* Enable embedded functionalities. */
cparata	2:21a191bd1998	1029	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1030	{
cparata	2:21a191bd1998	1031	return 1;
cparata	2:21a191bd1998	1032	}
cparata	2:21a191bd1998	1033
cparata	2:21a191bd1998	1034	/* Enable pedometer algorithm. */
cparata	2:21a191bd1998	1035	if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1036	{
cparata	2:21a191bd1998	1037	return 1;
cparata	2:21a191bd1998	1038	}
cparata	2:21a191bd1998	1039
cparata	2:21a191bd1998	1040	/* Enable pedometer on INT1. */
cparata	2:21a191bd1998	1041	if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1042	{
cparata	2:21a191bd1998	1043	return 1;
cparata	2:21a191bd1998	1044	}
cparata	2:21a191bd1998	1045
cparata	2:21a191bd1998	1046	return 0;
cparata	2:21a191bd1998	1047	}
cparata	2:21a191bd1998	1048
cparata	2:21a191bd1998	1049	/**
cparata	2:21a191bd1998	1050	* @brief Disable the pedometer feature for LSM6DSL accelerometer sensor
cparata	2:21a191bd1998	1051	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	1052	*/
cparata	2:21a191bd1998	1053	int LSM6DSLSensor::Disable_Pedometer(void)
cparata	2:21a191bd1998	1054	{
cparata	2:21a191bd1998	1055	/* Disable pedometer on INT1. */
cparata	2:21a191bd1998	1056	if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1057	{
cparata	2:21a191bd1998	1058	return 1;
cparata	2:21a191bd1998	1059	}
cparata	2:21a191bd1998	1060
cparata	2:21a191bd1998	1061	/* Disable pedometer algorithm. */
cparata	2:21a191bd1998	1062	if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1063	{
cparata	2:21a191bd1998	1064	return 1;
cparata	2:21a191bd1998	1065	}
cparata	2:21a191bd1998	1066
cparata	2:21a191bd1998	1067	/* Disable embedded functionalities. */
cparata	2:21a191bd1998	1068	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1069	{
cparata	2:21a191bd1998	1070	return 1;
cparata	2:21a191bd1998	1071	}
cparata	2:21a191bd1998	1072
cparata	2:21a191bd1998	1073	/* Reset pedometer threshold. */
cparata	2:21a191bd1998	1074	if ( Set_Pedometer_Threshold(0x0) == 1 )
cparata	2:21a191bd1998	1075	{
cparata	2:21a191bd1998	1076	return 1;
cparata	2:21a191bd1998	1077	}
cparata	2:21a191bd1998	1078
cparata	2:21a191bd1998	1079	return 0;
cparata	2:21a191bd1998	1080	}
cparata	2:21a191bd1998	1081
cparata	2:21a191bd1998	1082	/**
cparata	2:21a191bd1998	1083	* @brief Get the step counter for LSM6DSL accelerometer sensor
cparata	2:21a191bd1998	1084	* @param step_count the pointer to the step counter
cparata	2:21a191bd1998	1085	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	1086	*/
cparata	2:21a191bd1998	1087	int LSM6DSLSensor::Get_Step_Counter(uint16_t *step_count)
cparata	2:21a191bd1998	1088	{
cparata	2:21a191bd1998	1089	if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void )this, ( uint8_t )step_count ) == MEMS_ERROR )
cparata	2:21a191bd1998	1090	{
cparata	2:21a191bd1998	1091	return 1;
cparata	2:21a191bd1998	1092	}
cparata	2:21a191bd1998	1093
cparata	2:21a191bd1998	1094	return 0;
cparata	2:21a191bd1998	1095	}
cparata	2:21a191bd1998	1096
cparata	2:21a191bd1998	1097	/**
cparata	2:21a191bd1998	1098	* @brief Reset of the step counter for LSM6DSL accelerometer sensor
cparata	2:21a191bd1998	1099	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	1100	*/
cparata	2:21a191bd1998	1101	int LSM6DSLSensor::Reset_Step_Counter(void)
cparata	2:21a191bd1998	1102	{
cparata	2:21a191bd1998	1103	if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1104	{
cparata	2:21a191bd1998	1105	return 1;
cparata	2:21a191bd1998	1106	}
cparata	2:21a191bd1998	1107
cparata	2:21a191bd1998	1108	wait_ms(10);
cparata	2:21a191bd1998	1109
cparata	2:21a191bd1998	1110	if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1111	{
cparata	2:21a191bd1998	1112	return 1;
cparata	2:21a191bd1998	1113	}
cparata	2:21a191bd1998	1114
cparata	2:21a191bd1998	1115	return 0;
cparata	2:21a191bd1998	1116	}
cparata	2:21a191bd1998	1117
cparata	2:21a191bd1998	1118	/**
cparata	2:21a191bd1998	1119	* @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
cparata	2:21a191bd1998	1120	* @param thr the threshold to be set
cparata	2:21a191bd1998	1121	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	1122	*/
cparata	2:21a191bd1998	1123	int LSM6DSLSensor::Set_Pedometer_Threshold(uint8_t thr)
cparata	2:21a191bd1998	1124	{
cparata	2:21a191bd1998	1125	if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
cparata	2:21a191bd1998	1126	{
cparata	2:21a191bd1998	1127	return 1;
cparata	2:21a191bd1998	1128	}
cparata	2:21a191bd1998	1129
cparata	2:21a191bd1998	1130	return 0;
cparata	2:21a191bd1998	1131	}
cparata	2:21a191bd1998	1132
cparata	2:21a191bd1998	1133	/**
cparata	2:21a191bd1998	1134	* @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata	2:21a191bd1998	1135	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:21a191bd1998	1136	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	1137	*/
cparata	2:21a191bd1998	1138	int LSM6DSLSensor::Enable_Tilt_Detection(void)
cparata	7:4f512b172555	1139	{
cparata	7:4f512b172555	1140	return Enable_Tilt_Detection(LSM6DSL_INT1_PIN);
cparata	7:4f512b172555	1141	}
cparata	7:4f512b172555	1142
cparata	7:4f512b172555	1143	/**
cparata	7:4f512b172555	1144	* @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata	7:4f512b172555	1145	* @param pin the interrupt pin to be used
cparata	7:4f512b172555	1146	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata	7:4f512b172555	1147	* @retval 0 in case of success, an error code otherwise
cparata	7:4f512b172555	1148	*/
cparata	7:4f512b172555	1149	int LSM6DSLSensor::Enable_Tilt_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata	2:21a191bd1998	1150	{
cparata	2:21a191bd1998	1151	/* Output Data Rate selection */
cparata	2:21a191bd1998	1152	if( Set_X_ODR(26.0f) == 1 )
cparata	2:21a191bd1998	1153	{
cparata	2:21a191bd1998	1154	return 1;
cparata	2:21a191bd1998	1155	}
cparata	2:21a191bd1998	1156
cparata	2:21a191bd1998	1157	/* Full scale selection. */
cparata	2:21a191bd1998	1158	if( Set_X_FS(2.0f) == 1 )
cparata	2:21a191bd1998	1159	{
cparata	2:21a191bd1998	1160	return 1;
cparata	2:21a191bd1998	1161	}
cparata	2:21a191bd1998	1162
cparata	2:21a191bd1998	1163	/* Enable embedded functionalities */
cparata	2:21a191bd1998	1164	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1165	{
cparata	2:21a191bd1998	1166	return 1;
cparata	2:21a191bd1998	1167	}
cparata	2:21a191bd1998	1168
cparata	2:21a191bd1998	1169	/* Enable tilt calculation. */
cparata	2:21a191bd1998	1170	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1171	{
cparata	2:21a191bd1998	1172	return 1;
cparata	2:21a191bd1998	1173	}
cparata	7:4f512b172555	1174
cparata	7:4f512b172555	1175	/* Enable tilt detection on either INT1 or INT2 pin */
cparata	7:4f512b172555	1176	switch (pin)
cparata	2:21a191bd1998	1177	{
cparata	7:4f512b172555	1178	case LSM6DSL_INT1_PIN:
cparata	7:4f512b172555	1179	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
cparata	7:4f512b172555	1180	{
cparata	7:4f512b172555	1181	return 1;
cparata	7:4f512b172555	1182	}
cparata	7:4f512b172555	1183	break;
cparata	7:4f512b172555	1184
cparata	7:4f512b172555	1185	case LSM6DSL_INT2_PIN:
cparata	7:4f512b172555	1186	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TILT_ENABLED ) == MEMS_ERROR )
cparata	7:4f512b172555	1187	{
cparata	7:4f512b172555	1188	return 1;
cparata	7:4f512b172555	1189	}
cparata	7:4f512b172555	1190	break;
cparata	7:4f512b172555	1191
cparata	7:4f512b172555	1192	default:
cparata	2:21a191bd1998	1193	return 1;
cparata	2:21a191bd1998	1194	}
cparata	7:4f512b172555	1195
cparata	2:21a191bd1998	1196	return 0;
cparata	2:21a191bd1998	1197	}
cparata	2:21a191bd1998	1198
cparata	2:21a191bd1998	1199	/**
cparata	2:21a191bd1998	1200	* @brief Disable the tilt detection for LSM6DSL accelerometer sensor
cparata	2:21a191bd1998	1201	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	1202	*/
cparata	2:21a191bd1998	1203	int LSM6DSLSensor::Disable_Tilt_Detection(void)
cparata	2:21a191bd1998	1204	{
cparata	2:21a191bd1998	1205	/* Disable tilt event on INT1. */
cparata	2:21a191bd1998	1206	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_DISABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1207	{
cparata	2:21a191bd1998	1208	return 1;
cparata	2:21a191bd1998	1209	}
cparata	2:21a191bd1998	1210
cparata	7:4f512b172555	1211	/* Disable tilt event on INT2. */
cparata	7:4f512b172555	1212	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TILT_DISABLED ) == MEMS_ERROR )
cparata	7:4f512b172555	1213	{
cparata	7:4f512b172555	1214	return 1;
cparata	7:4f512b172555	1215	}
cparata	7:4f512b172555	1216
cparata	2:21a191bd1998	1217	/* Disable tilt calculation. */
cparata	2:21a191bd1998	1218	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1219	{
cparata	2:21a191bd1998	1220	return 1;
cparata	2:21a191bd1998	1221	}
cparata	2:21a191bd1998	1222
cparata	2:21a191bd1998	1223	/* Disable embedded functionalities */
cparata	2:21a191bd1998	1224	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1225	{
cparata	2:21a191bd1998	1226	return 1;
cparata	2:21a191bd1998	1227	}
cparata	2:21a191bd1998	1228
cparata	2:21a191bd1998	1229	return 0;
cparata	2:21a191bd1998	1230	}
cparata	2:21a191bd1998	1231
cparata	2:21a191bd1998	1232	/**
cparata	2:21a191bd1998	1233	* @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata	2:21a191bd1998	1234	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:21a191bd1998	1235	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	1236	*/
cparata	2:21a191bd1998	1237	int LSM6DSLSensor::Enable_Wake_Up_Detection(void)
cparata	2:21a191bd1998	1238	{
cparata	7:4f512b172555	1239	return Enable_Wake_Up_Detection(LSM6DSL_INT2_PIN);
cparata	7:4f512b172555	1240	}
cparata	7:4f512b172555	1241
cparata	7:4f512b172555	1242	/**
cparata	7:4f512b172555	1243	* @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata	7:4f512b172555	1244	* @param pin the interrupt pin to be used
cparata	7:4f512b172555	1245	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	7:4f512b172555	1246	* @retval 0 in case of success, an error code otherwise
cparata	7:4f512b172555	1247	*/
cparata	7:4f512b172555	1248	int LSM6DSLSensor::Enable_Wake_Up_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata	7:4f512b172555	1249	{
cparata	2:21a191bd1998	1250	/* Output Data Rate selection */
cparata	2:21a191bd1998	1251	if( Set_X_ODR(416.0f) == 1 )
cparata	2:21a191bd1998	1252	{
cparata	2:21a191bd1998	1253	return 1;
cparata	2:21a191bd1998	1254	}
cparata	2:21a191bd1998	1255
cparata	2:21a191bd1998	1256	/* Full scale selection. */
cparata	2:21a191bd1998	1257	if( Set_X_FS(2.0f) == 1 )
cparata	2:21a191bd1998	1258	{
cparata	2:21a191bd1998	1259	return 1;
cparata	2:21a191bd1998	1260	}
cparata	2:21a191bd1998	1261
cparata	2:21a191bd1998	1262	/* WAKE_DUR setting */
cparata	2:21a191bd1998	1263	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:21a191bd1998	1264	{
cparata	2:21a191bd1998	1265	return 1;
cparata	2:21a191bd1998	1266	}
cparata	2:21a191bd1998	1267
cparata	2:21a191bd1998	1268	/* Set wake up threshold. */
cparata	2:21a191bd1998	1269	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
cparata	2:21a191bd1998	1270	{
cparata	2:21a191bd1998	1271	return 1;
cparata	2:21a191bd1998	1272	}
cparata	2:21a191bd1998	1273
cparata	2:21a191bd1998	1274	/* Enable basic Interrupts */
cparata	2:21a191bd1998	1275	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1276	{
cparata	2:21a191bd1998	1277	return 1;
cparata	2:21a191bd1998	1278	}
cparata	7:4f512b172555	1279
cparata	7:4f512b172555	1280	/* Enable wake up detection on either INT1 or INT2 pin */
cparata	7:4f512b172555	1281	switch (pin)
cparata	2:21a191bd1998	1282	{
cparata	7:4f512b172555	1283	case LSM6DSL_INT1_PIN:
cparata	7:4f512b172555	1284	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_ENABLED ) == MEMS_ERROR )
cparata	7:4f512b172555	1285	{
cparata	7:4f512b172555	1286	return 1;
cparata	7:4f512b172555	1287	}
cparata	7:4f512b172555	1288	break;
cparata	7:4f512b172555	1289
cparata	7:4f512b172555	1290	case LSM6DSL_INT2_PIN:
cparata	7:4f512b172555	1291	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_ENABLED ) == MEMS_ERROR )
cparata	7:4f512b172555	1292	{
cparata	7:4f512b172555	1293	return 1;
cparata	7:4f512b172555	1294	}
cparata	7:4f512b172555	1295	break;
cparata	7:4f512b172555	1296
cparata	7:4f512b172555	1297	default:
cparata	2:21a191bd1998	1298	return 1;
cparata	2:21a191bd1998	1299	}
cparata	2:21a191bd1998	1300
cparata	2:21a191bd1998	1301	return 0;
cparata	2:21a191bd1998	1302	}
cparata	2:21a191bd1998	1303
cparata	2:21a191bd1998	1304	/**
cparata	2:21a191bd1998	1305	* @brief Disable the wake up detection for LSM6DSL accelerometer sensor
cparata	2:21a191bd1998	1306	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	1307	*/
cparata	2:21a191bd1998	1308	int LSM6DSLSensor::Disable_Wake_Up_Detection(void)
cparata	2:21a191bd1998	1309	{
cparata	7:4f512b172555	1310	/* Disable wake up event on INT1 */
cparata	7:4f512b172555	1311	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_DISABLED ) == MEMS_ERROR )
cparata	7:4f512b172555	1312	{
cparata	7:4f512b172555	1313	return 1;
cparata	7:4f512b172555	1314	}
cparata	7:4f512b172555	1315
cparata	7:4f512b172555	1316	/* Disable wake up event on INT2 */
cparata	5:7da0dc121ec6	1317	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_DISABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1318	{
cparata	2:21a191bd1998	1319	return 1;
cparata	2:21a191bd1998	1320	}
cparata	2:21a191bd1998	1321
cparata	2:21a191bd1998	1322	/* Disable basic Interrupts */
cparata	2:21a191bd1998	1323	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1324	{
cparata	2:21a191bd1998	1325	return 1;
cparata	2:21a191bd1998	1326	}
cparata	2:21a191bd1998	1327
cparata	2:21a191bd1998	1328	/* WU_DUR setting */
cparata	2:21a191bd1998	1329	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:21a191bd1998	1330	{
cparata	2:21a191bd1998	1331	return 1;
cparata	2:21a191bd1998	1332	}
cparata	2:21a191bd1998	1333
cparata	2:21a191bd1998	1334	/* WU_THS setting */
cparata	2:21a191bd1998	1335	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:21a191bd1998	1336	{
cparata	2:21a191bd1998	1337	return 1;
cparata	2:21a191bd1998	1338	}
cparata	2:21a191bd1998	1339
cparata	2:21a191bd1998	1340	return 0;
cparata	2:21a191bd1998	1341	}
cparata	2:21a191bd1998	1342
cparata	2:21a191bd1998	1343	/**
cparata	2:21a191bd1998	1344	* @brief Set the wake up threshold for LSM6DSL accelerometer sensor
cparata	2:21a191bd1998	1345	* @param thr the threshold to be set
cparata	2:21a191bd1998	1346	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	1347	*/
cparata	2:21a191bd1998	1348	int LSM6DSLSensor::Set_Wake_Up_Threshold(uint8_t thr)
cparata	2:21a191bd1998	1349	{
cparata	2:21a191bd1998	1350	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
cparata	2:21a191bd1998	1351	{
cparata	2:21a191bd1998	1352	return 1;
cparata	2:21a191bd1998	1353	}
cparata	2:21a191bd1998	1354
cparata	2:21a191bd1998	1355	return 0;
cparata	2:21a191bd1998	1356	}
cparata	2:21a191bd1998	1357
cparata	2:21a191bd1998	1358	/**
cparata	2:21a191bd1998	1359	* @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata	2:21a191bd1998	1360	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:21a191bd1998	1361	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	1362	*/
cparata	2:21a191bd1998	1363	int LSM6DSLSensor::Enable_Single_Tap_Detection(void)
cparata	2:21a191bd1998	1364	{
cparata	7:4f512b172555	1365	return Enable_Single_Tap_Detection(LSM6DSL_INT1_PIN);
cparata	7:4f512b172555	1366	}
cparata	7:4f512b172555	1367
cparata	7:4f512b172555	1368	/**
cparata	7:4f512b172555	1369	* @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata	7:4f512b172555	1370	* @param pin the interrupt pin to be used
cparata	7:4f512b172555	1371	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	7:4f512b172555	1372	* @retval 0 in case of success, an error code otherwise
cparata	7:4f512b172555	1373	*/
cparata	7:4f512b172555	1374	int LSM6DSLSensor::Enable_Single_Tap_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata	7:4f512b172555	1375	{
cparata	2:21a191bd1998	1376	/* Output Data Rate selection */
cparata	2:21a191bd1998	1377	if( Set_X_ODR(416.0f) == 1 )
cparata	2:21a191bd1998	1378	{
cparata	2:21a191bd1998	1379	return 1;
cparata	2:21a191bd1998	1380	}
cparata	2:21a191bd1998	1381
cparata	2:21a191bd1998	1382	/* Full scale selection. */
cparata	2:21a191bd1998	1383	if( Set_X_FS(2.0f) == 1 )
cparata	2:21a191bd1998	1384	{
cparata	2:21a191bd1998	1385	return 1;
cparata	2:21a191bd1998	1386	}
cparata	2:21a191bd1998	1387
cparata	2:21a191bd1998	1388	/* Enable X direction in tap recognition. */
cparata	2:21a191bd1998	1389	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1390	{
cparata	2:21a191bd1998	1391	return 1;
cparata	2:21a191bd1998	1392	}
cparata	2:21a191bd1998	1393
cparata	2:21a191bd1998	1394	/* Enable Y direction in tap recognition. */
cparata	2:21a191bd1998	1395	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1396	{
cparata	2:21a191bd1998	1397	return 1;
cparata	2:21a191bd1998	1398	}
cparata	2:21a191bd1998	1399
cparata	2:21a191bd1998	1400	/* Enable Z direction in tap recognition. */
cparata	2:21a191bd1998	1401	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1402	{
cparata	2:21a191bd1998	1403	return 1;
cparata	2:21a191bd1998	1404	}
cparata	2:21a191bd1998	1405
cparata	2:21a191bd1998	1406	/* Set tap threshold. */
cparata	2:21a191bd1998	1407	if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata	2:21a191bd1998	1408	{
cparata	2:21a191bd1998	1409	return 1;
cparata	2:21a191bd1998	1410	}
cparata	2:21a191bd1998	1411
cparata	2:21a191bd1998	1412	/* Set tap shock time window. */
cparata	2:21a191bd1998	1413	if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == 1 )
cparata	2:21a191bd1998	1414	{
cparata	2:21a191bd1998	1415	return 1;
cparata	2:21a191bd1998	1416	}
cparata	2:21a191bd1998	1417
cparata	2:21a191bd1998	1418	/* Set tap quiet time window. */
cparata	2:21a191bd1998	1419	if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == 1 )
cparata	2:21a191bd1998	1420	{
cparata	2:21a191bd1998	1421	return 1;
cparata	2:21a191bd1998	1422	}
cparata	2:21a191bd1998	1423
cparata	2:21a191bd1998	1424	/* _NOTE_: Tap duration time window - don't care for single tap. */
cparata	2:21a191bd1998	1425
cparata	2:21a191bd1998	1426	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata	2:21a191bd1998	1427
cparata	2:21a191bd1998	1428	/* Enable basic Interrupts */
cparata	2:21a191bd1998	1429	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1430	{
cparata	2:21a191bd1998	1431	return 1;
cparata	2:21a191bd1998	1432	}
cparata	2:21a191bd1998	1433
cparata	7:4f512b172555	1434	/* Enable single tap on either INT1 or INT2 pin */
cparata	7:4f512b172555	1435	switch (pin)
cparata	2:21a191bd1998	1436	{
cparata	7:4f512b172555	1437	case LSM6DSL_INT1_PIN:
cparata	7:4f512b172555	1438	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata	7:4f512b172555	1439	{
cparata	7:4f512b172555	1440	return 1;
cparata	7:4f512b172555	1441	}
cparata	7:4f512b172555	1442	break;
cparata	7:4f512b172555	1443
cparata	7:4f512b172555	1444	case LSM6DSL_INT2_PIN:
cparata	7:4f512b172555	1445	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata	7:4f512b172555	1446	{
cparata	7:4f512b172555	1447	return 1;
cparata	7:4f512b172555	1448	}
cparata	7:4f512b172555	1449	break;
cparata	7:4f512b172555	1450
cparata	7:4f512b172555	1451	default:
cparata	2:21a191bd1998	1452	return 1;
cparata	2:21a191bd1998	1453	}
cparata	2:21a191bd1998	1454
cparata	2:21a191bd1998	1455	return 0;
cparata	2:21a191bd1998	1456	}
cparata	2:21a191bd1998	1457
cparata	2:21a191bd1998	1458	/**
cparata	2:21a191bd1998	1459	* @brief Disable the single tap detection for LSM6DSL accelerometer sensor
cparata	2:21a191bd1998	1460	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	1461	*/
cparata	2:21a191bd1998	1462	int LSM6DSLSensor::Disable_Single_Tap_Detection(void)
cparata	2:21a191bd1998	1463	{
cparata	2:21a191bd1998	1464	/* Disable single tap interrupt on INT1 pin. */
cparata	2:21a191bd1998	1465	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1466	{
cparata	2:21a191bd1998	1467	return 1;
cparata	2:21a191bd1998	1468	}
cparata	2:21a191bd1998	1469
cparata	7:4f512b172555	1470	/* Disable single tap interrupt on INT2 pin. */
cparata	7:4f512b172555	1471	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata	7:4f512b172555	1472	{
cparata	7:4f512b172555	1473	return 1;
cparata	7:4f512b172555	1474	}
cparata	7:4f512b172555	1475
cparata	2:21a191bd1998	1476	/* Disable basic Interrupts */
cparata	2:21a191bd1998	1477	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1478	{
cparata	2:21a191bd1998	1479	return 1;
cparata	2:21a191bd1998	1480	}
cparata	2:21a191bd1998	1481
cparata	2:21a191bd1998	1482	/* Reset tap threshold. */
cparata	2:21a191bd1998	1483	if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata	2:21a191bd1998	1484	{
cparata	2:21a191bd1998	1485	return 1;
cparata	2:21a191bd1998	1486	}
cparata	2:21a191bd1998	1487
cparata	2:21a191bd1998	1488	/* Reset tap shock time window. */
cparata	2:21a191bd1998	1489	if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata	2:21a191bd1998	1490	{
cparata	2:21a191bd1998	1491	return 1;
cparata	2:21a191bd1998	1492	}
cparata	2:21a191bd1998	1493
cparata	2:21a191bd1998	1494	/* Reset tap quiet time window. */
cparata	2:21a191bd1998	1495	if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata	2:21a191bd1998	1496	{
cparata	2:21a191bd1998	1497	return 1;
cparata	2:21a191bd1998	1498	}
cparata	2:21a191bd1998	1499
cparata	2:21a191bd1998	1500	/* _NOTE_: Tap duration time window - don't care for single tap. */
cparata	2:21a191bd1998	1501
cparata	2:21a191bd1998	1502	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata	2:21a191bd1998	1503
cparata	2:21a191bd1998	1504	/* Disable Z direction in tap recognition. */
cparata	2:21a191bd1998	1505	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1506	{
cparata	2:21a191bd1998	1507	return 1;
cparata	2:21a191bd1998	1508	}
cparata	2:21a191bd1998	1509
cparata	2:21a191bd1998	1510	/* Disable Y direction in tap recognition. */
cparata	2:21a191bd1998	1511	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1512	{
cparata	2:21a191bd1998	1513	return 1;
cparata	2:21a191bd1998	1514	}
cparata	2:21a191bd1998	1515
cparata	2:21a191bd1998	1516	/* Disable X direction in tap recognition. */
cparata	2:21a191bd1998	1517	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1518	{
cparata	2:21a191bd1998	1519	return 1;
cparata	2:21a191bd1998	1520	}
cparata	2:21a191bd1998	1521
cparata	2:21a191bd1998	1522	return 0;
cparata	2:21a191bd1998	1523	}
cparata	2:21a191bd1998	1524
cparata	2:21a191bd1998	1525	/**
cparata	2:21a191bd1998	1526	* @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata	2:21a191bd1998	1527	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:21a191bd1998	1528	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	1529	*/
cparata	2:21a191bd1998	1530	int LSM6DSLSensor::Enable_Double_Tap_Detection(void)
cparata	2:21a191bd1998	1531	{
cparata	7:4f512b172555	1532	return Enable_Double_Tap_Detection(LSM6DSL_INT1_PIN);
cparata	7:4f512b172555	1533	}
cparata	7:4f512b172555	1534
cparata	7:4f512b172555	1535	/**
cparata	7:4f512b172555	1536	* @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata	7:4f512b172555	1537	* @param pin the interrupt pin to be used
cparata	7:4f512b172555	1538	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	7:4f512b172555	1539	* @retval 0 in case of success, an error code otherwise
cparata	7:4f512b172555	1540	*/
cparata	7:4f512b172555	1541	int LSM6DSLSensor::Enable_Double_Tap_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata	7:4f512b172555	1542	{
cparata	2:21a191bd1998	1543	/* Output Data Rate selection */
cparata	2:21a191bd1998	1544	if( Set_X_ODR(416.0f) == 1 )
cparata	2:21a191bd1998	1545	{
cparata	2:21a191bd1998	1546	return 1;
cparata	2:21a191bd1998	1547	}
cparata	2:21a191bd1998	1548
cparata	2:21a191bd1998	1549	/* Full scale selection. */
cparata	2:21a191bd1998	1550	if( Set_X_FS(2.0f) == 1 )
cparata	2:21a191bd1998	1551	{
cparata	2:21a191bd1998	1552	return 1;
cparata	2:21a191bd1998	1553	}
cparata	2:21a191bd1998	1554
cparata	2:21a191bd1998	1555	/* Enable X direction in tap recognition. */
cparata	2:21a191bd1998	1556	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1557	{
cparata	2:21a191bd1998	1558	return 1;
cparata	2:21a191bd1998	1559	}
cparata	2:21a191bd1998	1560
cparata	2:21a191bd1998	1561	/* Enable Y direction in tap recognition. */
cparata	2:21a191bd1998	1562	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1563	{
cparata	2:21a191bd1998	1564	return 1;
cparata	2:21a191bd1998	1565	}
cparata	2:21a191bd1998	1566
cparata	2:21a191bd1998	1567	/* Enable Z direction in tap recognition. */
cparata	2:21a191bd1998	1568	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1569	{
cparata	2:21a191bd1998	1570	return 1;
cparata	2:21a191bd1998	1571	}
cparata	2:21a191bd1998	1572
cparata	2:21a191bd1998	1573	/* Set tap threshold. */
cparata	2:21a191bd1998	1574	if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata	2:21a191bd1998	1575	{
cparata	2:21a191bd1998	1576	return 1;
cparata	2:21a191bd1998	1577	}
cparata	2:21a191bd1998	1578
cparata	2:21a191bd1998	1579	/* Set tap shock time window. */
cparata	2:21a191bd1998	1580	if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == 1 )
cparata	2:21a191bd1998	1581	{
cparata	2:21a191bd1998	1582	return 1;
cparata	2:21a191bd1998	1583	}
cparata	2:21a191bd1998	1584
cparata	2:21a191bd1998	1585	/* Set tap quiet time window. */
cparata	2:21a191bd1998	1586	if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == 1 )
cparata	2:21a191bd1998	1587	{
cparata	2:21a191bd1998	1588	return 1;
cparata	2:21a191bd1998	1589	}
cparata	2:21a191bd1998	1590
cparata	2:21a191bd1998	1591	/* Set tap duration time window. */
cparata	2:21a191bd1998	1592	if ( Set_Tap_Duration_Time( LSM6DSL_TAP_DURATION_TIME_MID ) == 1 )
cparata	2:21a191bd1998	1593	{
cparata	2:21a191bd1998	1594	return 1;
cparata	2:21a191bd1998	1595	}
cparata	2:21a191bd1998	1596
cparata	2:21a191bd1998	1597	/* Single and double tap enabled. */
cparata	2:21a191bd1998	1598	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
cparata	2:21a191bd1998	1599	{
cparata	2:21a191bd1998	1600	return 1;
cparata	2:21a191bd1998	1601	}
cparata	2:21a191bd1998	1602
cparata	2:21a191bd1998	1603	/* Enable basic Interrupts */
cparata	2:21a191bd1998	1604	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1605	{
cparata	2:21a191bd1998	1606	return 1;
cparata	2:21a191bd1998	1607	}
cparata	2:21a191bd1998	1608
cparata	7:4f512b172555	1609	/* Enable double tap on either INT1 or INT2 pin */
cparata	7:4f512b172555	1610	switch (pin)
cparata	2:21a191bd1998	1611	{
cparata	7:4f512b172555	1612	case LSM6DSL_INT1_PIN:
cparata	7:4f512b172555	1613	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
cparata	7:4f512b172555	1614	{
cparata	7:4f512b172555	1615	return 1;
cparata	7:4f512b172555	1616	}
cparata	7:4f512b172555	1617	break;
cparata	7:4f512b172555	1618
cparata	7:4f512b172555	1619	case LSM6DSL_INT2_PIN:
cparata	7:4f512b172555	1620	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TAP_ENABLED ) == MEMS_ERROR )
cparata	7:4f512b172555	1621	{
cparata	7:4f512b172555	1622	return 1;
cparata	7:4f512b172555	1623	}
cparata	7:4f512b172555	1624	break;
cparata	7:4f512b172555	1625
cparata	7:4f512b172555	1626	default:
cparata	2:21a191bd1998	1627	return 1;
cparata	2:21a191bd1998	1628	}
cparata	2:21a191bd1998	1629
cparata	2:21a191bd1998	1630	return 0;
cparata	2:21a191bd1998	1631	}
cparata	2:21a191bd1998	1632
cparata	2:21a191bd1998	1633	/**
cparata	2:21a191bd1998	1634	* @brief Disable the double tap detection for LSM6DSL accelerometer sensor
cparata	2:21a191bd1998	1635	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	1636	*/
cparata	2:21a191bd1998	1637	int LSM6DSLSensor::Disable_Double_Tap_Detection(void)
cparata	2:21a191bd1998	1638	{
cparata	2:21a191bd1998	1639	/* Disable double tap interrupt on INT1 pin. */
cparata	2:21a191bd1998	1640	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1641	{
cparata	2:21a191bd1998	1642	return 1;
cparata	2:21a191bd1998	1643	}
cparata	2:21a191bd1998	1644
cparata	7:4f512b172555	1645	/* Disable double tap interrupt on INT2 pin. */
cparata	7:4f512b172555	1646	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TAP_DISABLED ) == MEMS_ERROR )
cparata	7:4f512b172555	1647	{
cparata	7:4f512b172555	1648	return 1;
cparata	7:4f512b172555	1649	}
cparata	7:4f512b172555	1650
cparata	2:21a191bd1998	1651	/* Disable basic Interrupts */
cparata	2:21a191bd1998	1652	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1653	{
cparata	2:21a191bd1998	1654	return 1;
cparata	2:21a191bd1998	1655	}
cparata	2:21a191bd1998	1656
cparata	2:21a191bd1998	1657	/* Reset tap threshold. */
cparata	2:21a191bd1998	1658	if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata	2:21a191bd1998	1659	{
cparata	2:21a191bd1998	1660	return 1;
cparata	2:21a191bd1998	1661	}
cparata	2:21a191bd1998	1662
cparata	2:21a191bd1998	1663	/* Reset tap shock time window. */
cparata	2:21a191bd1998	1664	if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata	2:21a191bd1998	1665	{
cparata	2:21a191bd1998	1666	return 1;
cparata	2:21a191bd1998	1667	}
cparata	2:21a191bd1998	1668
cparata	2:21a191bd1998	1669	/* Reset tap quiet time window. */
cparata	2:21a191bd1998	1670	if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata	2:21a191bd1998	1671	{
cparata	2:21a191bd1998	1672	return 1;
cparata	2:21a191bd1998	1673	}
cparata	2:21a191bd1998	1674
cparata	2:21a191bd1998	1675	/* Reset tap duration time window. */
cparata	2:21a191bd1998	1676	if ( Set_Tap_Duration_Time( 0x0 ) == 1 )
cparata	2:21a191bd1998	1677	{
cparata	2:21a191bd1998	1678	return 1;
cparata	2:21a191bd1998	1679	}
cparata	2:21a191bd1998	1680
cparata	2:21a191bd1998	1681	/* Only single tap enabled. */
cparata	2:21a191bd1998	1682	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
cparata	2:21a191bd1998	1683	{
cparata	2:21a191bd1998	1684	return 1;
cparata	2:21a191bd1998	1685	}
cparata	2:21a191bd1998	1686
cparata	2:21a191bd1998	1687	/* Disable Z direction in tap recognition. */
cparata	2:21a191bd1998	1688	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1689	{
cparata	2:21a191bd1998	1690	return 1;
cparata	2:21a191bd1998	1691	}
cparata	2:21a191bd1998	1692
cparata	2:21a191bd1998	1693	/* Disable Y direction in tap recognition. */
cparata	2:21a191bd1998	1694	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1695	{
cparata	2:21a191bd1998	1696	return 1;
cparata	2:21a191bd1998	1697	}
cparata	2:21a191bd1998	1698
cparata	2:21a191bd1998	1699	/* Disable X direction in tap recognition. */
cparata	2:21a191bd1998	1700	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1701	{
cparata	2:21a191bd1998	1702	return 1;
cparata	2:21a191bd1998	1703	}
cparata	2:21a191bd1998	1704
cparata	2:21a191bd1998	1705	return 0;
cparata	2:21a191bd1998	1706	}
cparata	2:21a191bd1998	1707
cparata	2:21a191bd1998	1708	/**
cparata	2:21a191bd1998	1709	* @brief Set the tap threshold for LSM6DSL accelerometer sensor
cparata	2:21a191bd1998	1710	* @param thr the threshold to be set
cparata	2:21a191bd1998	1711	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	1712	*/
cparata	2:21a191bd1998	1713	int LSM6DSLSensor::Set_Tap_Threshold(uint8_t thr)
cparata	2:21a191bd1998	1714	{
cparata	2:21a191bd1998	1715	if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
cparata	2:21a191bd1998	1716	{
cparata	2:21a191bd1998	1717	return 1;
cparata	2:21a191bd1998	1718	}
cparata	2:21a191bd1998	1719
cparata	2:21a191bd1998	1720	return 0;
cparata	2:21a191bd1998	1721	}
cparata	2:21a191bd1998	1722
cparata	2:21a191bd1998	1723	/**
cparata	2:21a191bd1998	1724	* @brief Set the tap shock time window for LSM6DSL accelerometer sensor
cparata	2:21a191bd1998	1725	* @param time the shock time window to be set
cparata	2:21a191bd1998	1726	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	1727	*/
cparata	2:21a191bd1998	1728	int LSM6DSLSensor::Set_Tap_Shock_Time(uint8_t time)
cparata	2:21a191bd1998	1729	{
cparata	2:21a191bd1998	1730	if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
cparata	2:21a191bd1998	1731	{
cparata	2:21a191bd1998	1732	return 1;
cparata	2:21a191bd1998	1733	}
cparata	2:21a191bd1998	1734
cparata	2:21a191bd1998	1735	return 0;
cparata	2:21a191bd1998	1736	}
cparata	2:21a191bd1998	1737
cparata	2:21a191bd1998	1738	/**
cparata	2:21a191bd1998	1739	* @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
cparata	2:21a191bd1998	1740	* @param time the quiet time window to be set
cparata	2:21a191bd1998	1741	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	1742	*/
cparata	2:21a191bd1998	1743	int LSM6DSLSensor::Set_Tap_Quiet_Time(uint8_t time)
cparata	2:21a191bd1998	1744	{
cparata	2:21a191bd1998	1745	if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
cparata	2:21a191bd1998	1746	{
cparata	2:21a191bd1998	1747	return 1;
cparata	2:21a191bd1998	1748	}
cparata	2:21a191bd1998	1749
cparata	2:21a191bd1998	1750	return 0;
cparata	2:21a191bd1998	1751	}
cparata	2:21a191bd1998	1752
cparata	2:21a191bd1998	1753	/**
cparata	2:21a191bd1998	1754	* @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
cparata	2:21a191bd1998	1755	* @param time the duration of the time window to be set
cparata	2:21a191bd1998	1756	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	1757	*/
cparata	2:21a191bd1998	1758	int LSM6DSLSensor::Set_Tap_Duration_Time(uint8_t time)
cparata	2:21a191bd1998	1759	{
cparata	2:21a191bd1998	1760	if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
cparata	2:21a191bd1998	1761	{
cparata	2:21a191bd1998	1762	return 1;
cparata	2:21a191bd1998	1763	}
cparata	2:21a191bd1998	1764
cparata	2:21a191bd1998	1765	return 0;
cparata	2:21a191bd1998	1766	}
cparata	2:21a191bd1998	1767
cparata	2:21a191bd1998	1768	/**
cparata	2:21a191bd1998	1769	* @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	2:21a191bd1998	1770	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:21a191bd1998	1771	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	1772	*/
cparata	2:21a191bd1998	1773	int LSM6DSLSensor::Enable_6D_Orientation(void)
cparata	2:21a191bd1998	1774	{
cparata	7:4f512b172555	1775	return Enable_6D_Orientation(LSM6DSL_INT1_PIN);
cparata	7:4f512b172555	1776	}
cparata	7:4f512b172555	1777
cparata	7:4f512b172555	1778	/**
cparata	7:4f512b172555	1779	* @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	7:4f512b172555	1780	* @param pin the interrupt pin to be used
cparata	7:4f512b172555	1781	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	7:4f512b172555	1782	* @retval 0 in case of success, an error code otherwise
cparata	7:4f512b172555	1783	*/
cparata	7:4f512b172555	1784	int LSM6DSLSensor::Enable_6D_Orientation(LSM6DSL_Interrupt_Pin_t pin)
cparata	7:4f512b172555	1785	{
cparata	2:21a191bd1998	1786	/* Output Data Rate selection */
cparata	2:21a191bd1998	1787	if( Set_X_ODR(416.0f) == 1 )
cparata	2:21a191bd1998	1788	{
cparata	2:21a191bd1998	1789	return 1;
cparata	2:21a191bd1998	1790	}
cparata	2:21a191bd1998	1791
cparata	2:21a191bd1998	1792	/* Full scale selection. */
cparata	2:21a191bd1998	1793	if( Set_X_FS(2.0f) == 1 )
cparata	2:21a191bd1998	1794	{
cparata	2:21a191bd1998	1795	return 1;
cparata	2:21a191bd1998	1796	}
cparata	2:21a191bd1998	1797
cparata	2:21a191bd1998	1798	/* Set 6D threshold. */
cparata	2:21a191bd1998	1799	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
cparata	2:21a191bd1998	1800	{
cparata	2:21a191bd1998	1801	return 1;
cparata	2:21a191bd1998	1802	}
cparata	2:21a191bd1998	1803
cparata	2:21a191bd1998	1804	/* Enable basic Interrupts */
cparata	2:21a191bd1998	1805	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1806	{
cparata	2:21a191bd1998	1807	return 1;
cparata	2:21a191bd1998	1808	}
cparata	2:21a191bd1998	1809
cparata	7:4f512b172555	1810	/* Enable 6D orientation on either INT1 or INT2 pin */
cparata	7:4f512b172555	1811	switch (pin)
cparata	2:21a191bd1998	1812	{
cparata	7:4f512b172555	1813	case LSM6DSL_INT1_PIN:
cparata	7:4f512b172555	1814	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
cparata	7:4f512b172555	1815	{
cparata	7:4f512b172555	1816	return 1;
cparata	7:4f512b172555	1817	}
cparata	7:4f512b172555	1818	break;
cparata	7:4f512b172555	1819
cparata	7:4f512b172555	1820	case LSM6DSL_INT2_PIN:
cparata	7:4f512b172555	1821	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_6D_ENABLED ) == MEMS_ERROR )
cparata	7:4f512b172555	1822	{
cparata	7:4f512b172555	1823	return 1;
cparata	7:4f512b172555	1824	}
cparata	7:4f512b172555	1825	break;
cparata	7:4f512b172555	1826
cparata	7:4f512b172555	1827	default:
cparata	2:21a191bd1998	1828	return 1;
cparata	2:21a191bd1998	1829	}
cparata	2:21a191bd1998	1830
cparata	2:21a191bd1998	1831	return 0;
cparata	2:21a191bd1998	1832	}
cparata	2:21a191bd1998	1833
cparata	2:21a191bd1998	1834	/**
cparata	2:21a191bd1998	1835	* @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	2:21a191bd1998	1836	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	1837	*/
cparata	2:21a191bd1998	1838	int LSM6DSLSensor::Disable_6D_Orientation(void)
cparata	2:21a191bd1998	1839	{
cparata	7:4f512b172555	1840	/* Disable 6D orientation interrupt on INT1 pin. */
cparata	2:21a191bd1998	1841	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1842	{
cparata	2:21a191bd1998	1843	return 1;
cparata	2:21a191bd1998	1844	}
cparata	2:21a191bd1998	1845
cparata	7:4f512b172555	1846	/* Disable 6D orientation interrupt on INT2 pin. */
cparata	7:4f512b172555	1847	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_6D_DISABLED ) == MEMS_ERROR )
cparata	7:4f512b172555	1848	{
cparata	7:4f512b172555	1849	return 1;
cparata	7:4f512b172555	1850	}
cparata	7:4f512b172555	1851
cparata	2:21a191bd1998	1852	/* Disable basic Interrupts */
cparata	2:21a191bd1998	1853	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:21a191bd1998	1854	{
cparata	2:21a191bd1998	1855	return 1;
cparata	2:21a191bd1998	1856	}
cparata	2:21a191bd1998	1857
cparata	2:21a191bd1998	1858	/* Reset 6D threshold. */
cparata	2:21a191bd1998	1859	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
cparata	2:21a191bd1998	1860	{
cparata	2:21a191bd1998	1861	return 1;
cparata	2:21a191bd1998	1862	}
cparata	2:21a191bd1998	1863
cparata	2:21a191bd1998	1864	return 0;
cparata	2:21a191bd1998	1865	}
cparata	2:21a191bd1998	1866
cparata	2:21a191bd1998	1867	/**
cparata	2:21a191bd1998	1868	* @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
cparata	2:21a191bd1998	1869	* @param xl the pointer to the 6D orientation XL axis
cparata	2:21a191bd1998	1870	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	1871	*/
cparata	2:21a191bd1998	1872	int LSM6DSLSensor::Get_6D_Orientation_XL(uint8_t *xl)
cparata	2:21a191bd1998	1873	{
cparata	2:21a191bd1998	1874	LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
cparata	2:21a191bd1998	1875
cparata	2:21a191bd1998	1876	if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
cparata	2:21a191bd1998	1877	{
cparata	2:21a191bd1998	1878	return 1;
cparata	2:21a191bd1998	1879	}
cparata	2:21a191bd1998	1880
cparata	2:21a191bd1998	1881	switch( xl_raw )
cparata	2:21a191bd1998	1882	{
cparata	2:21a191bd1998	1883	case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
cparata	2:21a191bd1998	1884	*xl = 1;
cparata	2:21a191bd1998	1885	break;
cparata	2:21a191bd1998	1886	case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
cparata	2:21a191bd1998	1887	*xl = 0;
cparata	2:21a191bd1998	1888	break;
cparata	2:21a191bd1998	1889	default:
cparata	2:21a191bd1998	1890	return 1;
cparata	2:21a191bd1998	1891	}
cparata	2:21a191bd1998	1892
cparata	2:21a191bd1998	1893	return 0;
cparata	2:21a191bd1998	1894	}
cparata	2:21a191bd1998	1895
cparata	2:21a191bd1998	1896	/**
cparata	2:21a191bd1998	1897	* @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
cparata	2:21a191bd1998	1898	* @param xh the pointer to the 6D orientation XH axis
cparata	2:21a191bd1998	1899	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	1900	*/
cparata	2:21a191bd1998	1901	int LSM6DSLSensor::Get_6D_Orientation_XH(uint8_t *xh)
cparata	2:21a191bd1998	1902	{
cparata	2:21a191bd1998	1903	LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
cparata	2:21a191bd1998	1904
cparata	2:21a191bd1998	1905	if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
cparata	2:21a191bd1998	1906	{
cparata	2:21a191bd1998	1907	return 1;
cparata	2:21a191bd1998	1908	}
cparata	2:21a191bd1998	1909
cparata	2:21a191bd1998	1910	switch( xh_raw )
cparata	2:21a191bd1998	1911	{
cparata	2:21a191bd1998	1912	case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
cparata	2:21a191bd1998	1913	*xh = 1;
cparata	2:21a191bd1998	1914	break;
cparata	2:21a191bd1998	1915	case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
cparata	2:21a191bd1998	1916	*xh = 0;
cparata	2:21a191bd1998	1917	break;
cparata	2:21a191bd1998	1918	default:
cparata	2:21a191bd1998	1919	return 1;
cparata	2:21a191bd1998	1920	}
cparata	2:21a191bd1998	1921
cparata	2:21a191bd1998	1922	return 0;
cparata	2:21a191bd1998	1923	}
cparata	2:21a191bd1998	1924
cparata	2:21a191bd1998	1925	/**
cparata	2:21a191bd1998	1926	* @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
cparata	2:21a191bd1998	1927	* @param yl the pointer to the 6D orientation YL axis
cparata	2:21a191bd1998	1928	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	1929	*/
cparata	2:21a191bd1998	1930	int LSM6DSLSensor::Get_6D_Orientation_YL(uint8_t *yl)
cparata	2:21a191bd1998	1931	{
cparata	2:21a191bd1998	1932	LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
cparata	2:21a191bd1998	1933
cparata	2:21a191bd1998	1934	if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
cparata	2:21a191bd1998	1935	{
cparata	2:21a191bd1998	1936	return 1;
cparata	2:21a191bd1998	1937	}
cparata	2:21a191bd1998	1938
cparata	2:21a191bd1998	1939	switch( yl_raw )
cparata	2:21a191bd1998	1940	{
cparata	2:21a191bd1998	1941	case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
cparata	2:21a191bd1998	1942	*yl = 1;
cparata	2:21a191bd1998	1943	break;
cparata	2:21a191bd1998	1944	case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
cparata	2:21a191bd1998	1945	*yl = 0;
cparata	2:21a191bd1998	1946	break;
cparata	2:21a191bd1998	1947	default:
cparata	2:21a191bd1998	1948	return 1;
cparata	2:21a191bd1998	1949	}
cparata	2:21a191bd1998	1950
cparata	2:21a191bd1998	1951	return 0;
cparata	2:21a191bd1998	1952	}
cparata	2:21a191bd1998	1953
cparata	2:21a191bd1998	1954	/**
cparata	2:21a191bd1998	1955	* @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
cparata	2:21a191bd1998	1956	* @param yh the pointer to the 6D orientation YH axis
cparata	2:21a191bd1998	1957	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	1958	*/
cparata	2:21a191bd1998	1959	int LSM6DSLSensor::Get_6D_Orientation_YH(uint8_t *yh)
cparata	2:21a191bd1998	1960	{
cparata	2:21a191bd1998	1961	LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
cparata	2:21a191bd1998	1962
cparata	2:21a191bd1998	1963	if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
cparata	2:21a191bd1998	1964	{
cparata	2:21a191bd1998	1965	return 1;
cparata	2:21a191bd1998	1966	}
cparata	2:21a191bd1998	1967
cparata	2:21a191bd1998	1968	switch( yh_raw )
cparata	2:21a191bd1998	1969	{
cparata	2:21a191bd1998	1970	case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
cparata	2:21a191bd1998	1971	*yh = 1;
cparata	2:21a191bd1998	1972	break;
cparata	2:21a191bd1998	1973	case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
cparata	2:21a191bd1998	1974	*yh = 0;
cparata	2:21a191bd1998	1975	break;
cparata	2:21a191bd1998	1976	default:
cparata	2:21a191bd1998	1977	return 1;
cparata	2:21a191bd1998	1978	}
cparata	2:21a191bd1998	1979
cparata	2:21a191bd1998	1980	return 0;
cparata	2:21a191bd1998	1981	}
cparata	2:21a191bd1998	1982
cparata	2:21a191bd1998	1983	/**
cparata	2:21a191bd1998	1984	* @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
cparata	2:21a191bd1998	1985	* @param zl the pointer to the 6D orientation ZL axis
cparata	2:21a191bd1998	1986	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	1987	*/
cparata	2:21a191bd1998	1988	int LSM6DSLSensor::Get_6D_Orientation_ZL(uint8_t *zl)
cparata	2:21a191bd1998	1989	{
cparata	2:21a191bd1998	1990	LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
cparata	2:21a191bd1998	1991
cparata	2:21a191bd1998	1992	if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
cparata	2:21a191bd1998	1993	{
cparata	2:21a191bd1998	1994	return 1;
cparata	2:21a191bd1998	1995	}
cparata	2:21a191bd1998	1996
cparata	2:21a191bd1998	1997	switch( zl_raw )
cparata	2:21a191bd1998	1998	{
cparata	2:21a191bd1998	1999	case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
cparata	2:21a191bd1998	2000	*zl = 1;
cparata	2:21a191bd1998	2001	break;
cparata	2:21a191bd1998	2002	case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
cparata	2:21a191bd1998	2003	*zl = 0;
cparata	2:21a191bd1998	2004	break;
cparata	2:21a191bd1998	2005	default:
cparata	2:21a191bd1998	2006	return 1;
cparata	2:21a191bd1998	2007	}
cparata	2:21a191bd1998	2008
cparata	2:21a191bd1998	2009	return 0;
cparata	2:21a191bd1998	2010	}
cparata	2:21a191bd1998	2011
cparata	2:21a191bd1998	2012	/**
cparata	2:21a191bd1998	2013	* @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
cparata	2:21a191bd1998	2014	* @param zh the pointer to the 6D orientation ZH axis
cparata	2:21a191bd1998	2015	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	2016	*/
cparata	2:21a191bd1998	2017	int LSM6DSLSensor::Get_6D_Orientation_ZH(uint8_t *zh)
cparata	2:21a191bd1998	2018	{
cparata	2:21a191bd1998	2019	LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
cparata	2:21a191bd1998	2020
cparata	2:21a191bd1998	2021	if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
cparata	2:21a191bd1998	2022	{
cparata	2:21a191bd1998	2023	return 1;
cparata	2:21a191bd1998	2024	}
cparata	2:21a191bd1998	2025
cparata	2:21a191bd1998	2026	switch( zh_raw )
cparata	2:21a191bd1998	2027	{
cparata	2:21a191bd1998	2028	case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
cparata	2:21a191bd1998	2029	*zh = 1;
cparata	2:21a191bd1998	2030	break;
cparata	2:21a191bd1998	2031	case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
cparata	2:21a191bd1998	2032	*zh = 0;
cparata	2:21a191bd1998	2033	break;
cparata	2:21a191bd1998	2034	default:
cparata	2:21a191bd1998	2035	return 1;
cparata	2:21a191bd1998	2036	}
cparata	2:21a191bd1998	2037
cparata	2:21a191bd1998	2038	return 0;
cparata	2:21a191bd1998	2039	}
cparata	2:21a191bd1998	2040
cparata	2:21a191bd1998	2041	/**
cparata	4:05f28412d61b	2042	* @brief Get the status of all hardware events for LSM6DSL accelerometer sensor
cparata	4:05f28412d61b	2043	* @param status the pointer to the status of all hardware events
cparata	4:05f28412d61b	2044	* @retval 0 in case of success, an error code otherwise
cparata	4:05f28412d61b	2045	*/
cparata	4:05f28412d61b	2046	int LSM6DSLSensor::Get_Event_Status(LSM6DSL_Event_Status_t *status)
cparata	4:05f28412d61b	2047	{
cparata	5:7da0dc121ec6	2048	uint8_t Wake_Up_Src = 0, Tap_Src = 0, D6D_Src = 0, Func_Src = 0, Md1_Cfg = 0, Md2_Cfg = 0, Int1_Ctrl = 0;
cparata	4:05f28412d61b	2049
cparata	4:05f28412d61b	2050	memset((void *)status, 0x0, sizeof(LSM6DSL_Event_Status_t));
cparata	4:05f28412d61b	2051
cparata	4:05f28412d61b	2052	if(ReadReg(LSM6DSL_ACC_GYRO_WAKE_UP_SRC, &Wake_Up_Src) != 0)
cparata	4:05f28412d61b	2053	{
cparata	4:05f28412d61b	2054	return 1;
cparata	4:05f28412d61b	2055	}
cparata	4:05f28412d61b	2056
cparata	4:05f28412d61b	2057	if(ReadReg(LSM6DSL_ACC_GYRO_TAP_SRC, &Tap_Src) != 0)
cparata	4:05f28412d61b	2058	{
cparata	4:05f28412d61b	2059	return 1;
cparata	4:05f28412d61b	2060	}
cparata	4:05f28412d61b	2061
cparata	4:05f28412d61b	2062	if(ReadReg(LSM6DSL_ACC_GYRO_D6D_SRC, &D6D_Src) != 0)
cparata	4:05f28412d61b	2063	{
cparata	4:05f28412d61b	2064	return 1;
cparata	4:05f28412d61b	2065	}
cparata	4:05f28412d61b	2066
cparata	4:05f28412d61b	2067	if(ReadReg(LSM6DSL_ACC_GYRO_FUNC_SRC, &Func_Src) != 0)
cparata	4:05f28412d61b	2068	{
cparata	4:05f28412d61b	2069	return 1;
cparata	4:05f28412d61b	2070	}
cparata	4:05f28412d61b	2071
cparata	5:7da0dc121ec6	2072	if(ReadReg(LSM6DSL_ACC_GYRO_MD1_CFG, &Md1_Cfg ) != 0 )
cparata	5:7da0dc121ec6	2073	{
cparata	5:7da0dc121ec6	2074	return 1;
cparata	5:7da0dc121ec6	2075	}
cparata	5:7da0dc121ec6	2076
cparata	5:7da0dc121ec6	2077	if(ReadReg(LSM6DSL_ACC_GYRO_MD2_CFG, &Md2_Cfg ) != 0)
cparata	4:05f28412d61b	2078	{
cparata	5:7da0dc121ec6	2079	return 1;
cparata	5:7da0dc121ec6	2080	}
cparata	5:7da0dc121ec6	2081
cparata	5:7da0dc121ec6	2082	if(ReadReg(LSM6DSL_ACC_GYRO_INT1_CTRL, &Int1_Ctrl ) != 0)
cparata	5:7da0dc121ec6	2083	{
cparata	5:7da0dc121ec6	2084	return 1;
cparata	4:05f28412d61b	2085	}
cparata	4:05f28412d61b	2086
cparata	7:4f512b172555	2087	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_FF_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_FF_MASK))
cparata	4:05f28412d61b	2088	{
cparata	5:7da0dc121ec6	2089	if((Wake_Up_Src & LSM6DSL_ACC_GYRO_FF_EV_STATUS_MASK))
cparata	5:7da0dc121ec6	2090	{
cparata	5:7da0dc121ec6	2091	status->FreeFallStatus = 1;
cparata	5:7da0dc121ec6	2092	}
cparata	4:05f28412d61b	2093	}
cparata	4:05f28412d61b	2094
cparata	7:4f512b172555	2095	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_WU_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_WU_MASK))
cparata	4:05f28412d61b	2096	{
cparata	5:7da0dc121ec6	2097	if((Wake_Up_Src & LSM6DSL_ACC_GYRO_WU_EV_STATUS_MASK))
cparata	5:7da0dc121ec6	2098	{
cparata	5:7da0dc121ec6	2099	status->WakeUpStatus = 1;
cparata	5:7da0dc121ec6	2100	}
cparata	4:05f28412d61b	2101	}
cparata	4:05f28412d61b	2102
cparata	7:4f512b172555	2103	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_MASK))
cparata	4:05f28412d61b	2104	{
cparata	5:7da0dc121ec6	2105	if((Tap_Src & LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_MASK))
cparata	5:7da0dc121ec6	2106	{
cparata	5:7da0dc121ec6	2107	status->TapStatus = 1;
cparata	5:7da0dc121ec6	2108	}
cparata	5:7da0dc121ec6	2109	}
cparata	5:7da0dc121ec6	2110
cparata	7:4f512b172555	2111	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TAP_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_TAP_MASK))
cparata	5:7da0dc121ec6	2112	{
cparata	5:7da0dc121ec6	2113	if((Tap_Src & LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_MASK))
cparata	5:7da0dc121ec6	2114	{
cparata	5:7da0dc121ec6	2115	status->DoubleTapStatus = 1;
cparata	5:7da0dc121ec6	2116	}
cparata	4:05f28412d61b	2117	}
cparata	4:05f28412d61b	2118
cparata	7:4f512b172555	2119	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_6D_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_6D_MASK))
cparata	4:05f28412d61b	2120	{
cparata	5:7da0dc121ec6	2121	if((D6D_Src & LSM6DSL_ACC_GYRO_D6D_EV_STATUS_MASK))
cparata	5:7da0dc121ec6	2122	{
cparata	5:7da0dc121ec6	2123	status->D6DOrientationStatus = 1;
cparata	5:7da0dc121ec6	2124	}
cparata	4:05f28412d61b	2125	}
cparata	4:05f28412d61b	2126
cparata	7:4f512b172555	2127	if((Int1_Ctrl & LSM6DSL_ACC_GYRO_INT1_PEDO_MASK))
cparata	4:05f28412d61b	2128	{
cparata	5:7da0dc121ec6	2129	if((Func_Src & LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_MASK))
cparata	5:7da0dc121ec6	2130	{
cparata	5:7da0dc121ec6	2131	status->StepStatus = 1;
cparata	5:7da0dc121ec6	2132	}
cparata	4:05f28412d61b	2133	}
cparata	4:05f28412d61b	2134
cparata	7:4f512b172555	2135	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TILT_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_TILT_MASK))
cparata	4:05f28412d61b	2136	{
cparata	5:7da0dc121ec6	2137	if((Func_Src & LSM6DSL_ACC_GYRO_TILT_EV_STATUS_MASK))
cparata	5:7da0dc121ec6	2138	{
cparata	5:7da0dc121ec6	2139	status->TiltStatus = 1;
cparata	5:7da0dc121ec6	2140	}
cparata	4:05f28412d61b	2141	}
cparata	4:05f28412d61b	2142
cparata	4:05f28412d61b	2143	return 0;
cparata	4:05f28412d61b	2144	}
cparata	4:05f28412d61b	2145
cparata	4:05f28412d61b	2146	/**
cparata	2:21a191bd1998	2147	* @brief Read the data from register
cparata	2:21a191bd1998	2148	* @param reg register address
cparata	2:21a191bd1998	2149	* @param data register data
cparata	4:05f28412d61b	2150	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	2151	*/
cparata	2:21a191bd1998	2152	int LSM6DSLSensor::ReadReg( uint8_t reg, uint8_t *data )
cparata	2:21a191bd1998	2153	{
cparata	2:21a191bd1998	2154
cparata	2:21a191bd1998	2155	if ( LSM6DSL_ACC_GYRO_ReadReg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
cparata	2:21a191bd1998	2156	{
cparata	2:21a191bd1998	2157	return 1;
cparata	2:21a191bd1998	2158	}
cparata	2:21a191bd1998	2159
cparata	2:21a191bd1998	2160	return 0;
cparata	2:21a191bd1998	2161	}
cparata	2:21a191bd1998	2162
cparata	2:21a191bd1998	2163	/**
cparata	2:21a191bd1998	2164	* @brief Write the data to register
cparata	2:21a191bd1998	2165	* @param reg register address
cparata	2:21a191bd1998	2166	* @param data register data
cparata	4:05f28412d61b	2167	* @retval 0 in case of success, an error code otherwise
cparata	2:21a191bd1998	2168	*/
cparata	2:21a191bd1998	2169	int LSM6DSLSensor::WriteReg( uint8_t reg, uint8_t data )
cparata	2:21a191bd1998	2170	{
cparata	2:21a191bd1998	2171
cparata	2:21a191bd1998	2172	if ( LSM6DSL_ACC_GYRO_WriteReg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
cparata	2:21a191bd1998	2173	{
cparata	2:21a191bd1998	2174	return 1;
cparata	2:21a191bd1998	2175	}
cparata	2:21a191bd1998	2176
cparata	2:21a191bd1998	2177	return 0;
cparata	2:21a191bd1998	2178	}
cparata	2:21a191bd1998	2179
cparata	2:21a191bd1998	2180
cparata	2:21a191bd1998	2181	uint8_t LSM6DSL_IO_Write( void handle, uint8_t WriteAddr, uint8_t pBuffer, uint16_t nBytesToWrite )
cparata	2:21a191bd1998	2182	{
cparata	2:21a191bd1998	2183	return ((LSM6DSLSensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata	2:21a191bd1998	2184	}
cparata	2:21a191bd1998	2185
cparata	2:21a191bd1998	2186	uint8_t LSM6DSL_IO_Read( void handle, uint8_t ReadAddr, uint8_t pBuffer, uint16_t nBytesToRead )
cparata	2:21a191bd1998	2187	{
cparata	2:21a191bd1998	2188	return ((LSM6DSLSensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata	2:21a191bd1998	2189	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	16 Dec 2016
Imports:	111
Forks:	0
Commits:	23
Dependents:	0
Dependencies:	2
Followers:	401

The code in this repository is Apache licensed.

Single and Double Tap Demo Application based on sensor expansion board X-NUCLEO-IKS01A2

X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.cpp@7:4f512b172555, 2016-11-24 (annotated)

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