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@0:e4f89df7a7a5, 2016-08-12 (annotated)

Committer:: cparata
Date:: Fri Aug 12 13:42:02 2016 +0000
Revision:: 0:e4f89df7a7a5

First release of Single/Double Tap for LSM6DSL in IKS01A2

Who changed what in which revision?

User	Revision	Line number	New contents of line
cparata	0:e4f89df7a7a5	1	/**
cparata	0:e4f89df7a7a5	2	******************************************************************************
cparata	0:e4f89df7a7a5	3	* @file LSM6DSLSensor.cpp
cparata	0:e4f89df7a7a5	4	* @author AST
cparata	0:e4f89df7a7a5	5	* @version V1.0.0
cparata	0:e4f89df7a7a5	6	* @date 5 August 2016
cparata	0:e4f89df7a7a5	7	* @brief Implementation of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
cparata	0:e4f89df7a7a5	8	* sensor.
cparata	0:e4f89df7a7a5	9	******************************************************************************
cparata	0:e4f89df7a7a5	10	* @attention
cparata	0:e4f89df7a7a5	11	*
cparata	0:e4f89df7a7a5	12	* <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata	0:e4f89df7a7a5	13	*
cparata	0:e4f89df7a7a5	14	* Redistribution and use in source and binary forms, with or without modification,
cparata	0:e4f89df7a7a5	15	* are permitted provided that the following conditions are met:
cparata	0:e4f89df7a7a5	16	* 1. Redistributions of source code must retain the above copyright notice,
cparata	0:e4f89df7a7a5	17	* this list of conditions and the following disclaimer.
cparata	0:e4f89df7a7a5	18	* 2. Redistributions in binary form must reproduce the above copyright notice,
cparata	0:e4f89df7a7a5	19	* this list of conditions and the following disclaimer in the documentation
cparata	0:e4f89df7a7a5	20	* and/or other materials provided with the distribution.
cparata	0:e4f89df7a7a5	21	* 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata	0:e4f89df7a7a5	22	* may be used to endorse or promote products derived from this software
cparata	0:e4f89df7a7a5	23	* without specific prior written permission.
cparata	0:e4f89df7a7a5	24	*
cparata	0:e4f89df7a7a5	25	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata	0:e4f89df7a7a5	26	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata	0:e4f89df7a7a5	27	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata	0:e4f89df7a7a5	28	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata	0:e4f89df7a7a5	29	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata	0:e4f89df7a7a5	30	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata	0:e4f89df7a7a5	31	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata	0:e4f89df7a7a5	32	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata	0:e4f89df7a7a5	33	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata	0:e4f89df7a7a5	34	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata	0:e4f89df7a7a5	35	*
cparata	0:e4f89df7a7a5	36	******************************************************************************
cparata	0:e4f89df7a7a5	37	*/
cparata	0:e4f89df7a7a5	38
cparata	0:e4f89df7a7a5	39
cparata	0:e4f89df7a7a5	40	/* Includes ------------------------------------------------------------------*/
cparata	0:e4f89df7a7a5	41
cparata	0:e4f89df7a7a5	42	#include "mbed.h"
cparata	0:e4f89df7a7a5	43	#include "DevI2C.h"
cparata	0:e4f89df7a7a5	44	#include "LSM6DSLSensor.h"
cparata	0:e4f89df7a7a5	45	#include "LSM6DSL_ACC_GYRO_driver.h"
cparata	0:e4f89df7a7a5	46
cparata	0:e4f89df7a7a5	47
cparata	0:e4f89df7a7a5	48	/* Class Implementation ------------------------------------------------------*/
cparata	0:e4f89df7a7a5	49
cparata	0:e4f89df7a7a5	50	/** Constructor
cparata	0:e4f89df7a7a5	51	* @param i2c object of an helper class which handles the I2C peripheral
cparata	0:e4f89df7a7a5	52	* @param address the address of the component's instance
cparata	0:e4f89df7a7a5	53	*/
cparata	0:e4f89df7a7a5	54	LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c) : dev_i2c(i2c)
cparata	0:e4f89df7a7a5	55	{
cparata	0:e4f89df7a7a5	56	address = LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH;
cparata	0:e4f89df7a7a5	57
cparata	0:e4f89df7a7a5	58	/* Enable register address automatically incremented during a multiple byte
cparata	0:e4f89df7a7a5	59	access with a serial interface. */
cparata	0:e4f89df7a7a5	60	if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	61	{
cparata	0:e4f89df7a7a5	62	return;
cparata	0:e4f89df7a7a5	63	}
cparata	0:e4f89df7a7a5	64
cparata	0:e4f89df7a7a5	65	/* Enable BDU */
cparata	0:e4f89df7a7a5	66	if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	67	{
cparata	0:e4f89df7a7a5	68	return;
cparata	0:e4f89df7a7a5	69	}
cparata	0:e4f89df7a7a5	70
cparata	0:e4f89df7a7a5	71	/* FIFO mode selection */
cparata	0:e4f89df7a7a5	72	if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	73	{
cparata	0:e4f89df7a7a5	74	return;
cparata	0:e4f89df7a7a5	75	}
cparata	0:e4f89df7a7a5	76
cparata	0:e4f89df7a7a5	77	/* Output data rate selection - power down. */
cparata	0:e4f89df7a7a5	78	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	79	{
cparata	0:e4f89df7a7a5	80	return;
cparata	0:e4f89df7a7a5	81	}
cparata	0:e4f89df7a7a5	82
cparata	0:e4f89df7a7a5	83	/* Full scale selection. */
cparata	0:e4f89df7a7a5	84	if ( Set_X_FS( 2.0f ) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	85	{
cparata	0:e4f89df7a7a5	86	return;
cparata	0:e4f89df7a7a5	87	}
cparata	0:e4f89df7a7a5	88
cparata	0:e4f89df7a7a5	89	/* Output data rate selection - power down */
cparata	0:e4f89df7a7a5	90	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	91	{
cparata	0:e4f89df7a7a5	92	return;
cparata	0:e4f89df7a7a5	93	}
cparata	0:e4f89df7a7a5	94
cparata	0:e4f89df7a7a5	95	/* Full scale selection. */
cparata	0:e4f89df7a7a5	96	if ( Set_G_FS( 2000.0f ) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	97	{
cparata	0:e4f89df7a7a5	98	return;
cparata	0:e4f89df7a7a5	99	}
cparata	0:e4f89df7a7a5	100
cparata	0:e4f89df7a7a5	101	X_Last_ODR = 104.0f;
cparata	0:e4f89df7a7a5	102
cparata	0:e4f89df7a7a5	103	X_isEnabled = 0;
cparata	0:e4f89df7a7a5	104
cparata	0:e4f89df7a7a5	105	G_Last_ODR = 104.0f;
cparata	0:e4f89df7a7a5	106
cparata	0:e4f89df7a7a5	107	G_isEnabled = 0;
cparata	0:e4f89df7a7a5	108	};
cparata	0:e4f89df7a7a5	109
cparata	0:e4f89df7a7a5	110	/** Constructor
cparata	0:e4f89df7a7a5	111	* @param i2c object of an helper class which handles the I2C peripheral
cparata	0:e4f89df7a7a5	112	* @param address the address of the component's instance
cparata	0:e4f89df7a7a5	113	*/
cparata	0:e4f89df7a7a5	114	LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
cparata	0:e4f89df7a7a5	115	{
cparata	0:e4f89df7a7a5	116	/* Enable register address automatically incremented during a multiple byte
cparata	0:e4f89df7a7a5	117	access with a serial interface. */
cparata	0:e4f89df7a7a5	118	if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	119	{
cparata	0:e4f89df7a7a5	120	return;
cparata	0:e4f89df7a7a5	121	}
cparata	0:e4f89df7a7a5	122
cparata	0:e4f89df7a7a5	123	/* Enable BDU */
cparata	0:e4f89df7a7a5	124	if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	125	{
cparata	0:e4f89df7a7a5	126	return;
cparata	0:e4f89df7a7a5	127	}
cparata	0:e4f89df7a7a5	128
cparata	0:e4f89df7a7a5	129	/* FIFO mode selection */
cparata	0:e4f89df7a7a5	130	if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	131	{
cparata	0:e4f89df7a7a5	132	return;
cparata	0:e4f89df7a7a5	133	}
cparata	0:e4f89df7a7a5	134
cparata	0:e4f89df7a7a5	135	/* Output data rate selection - power down. */
cparata	0:e4f89df7a7a5	136	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	137	{
cparata	0:e4f89df7a7a5	138	return;
cparata	0:e4f89df7a7a5	139	}
cparata	0:e4f89df7a7a5	140
cparata	0:e4f89df7a7a5	141	/* Full scale selection. */
cparata	0:e4f89df7a7a5	142	if ( Set_X_FS( 2.0f ) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	143	{
cparata	0:e4f89df7a7a5	144	return;
cparata	0:e4f89df7a7a5	145	}
cparata	0:e4f89df7a7a5	146
cparata	0:e4f89df7a7a5	147	/* Output data rate selection - power down */
cparata	0:e4f89df7a7a5	148	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	149	{
cparata	0:e4f89df7a7a5	150	return;
cparata	0:e4f89df7a7a5	151	}
cparata	0:e4f89df7a7a5	152
cparata	0:e4f89df7a7a5	153	/* Full scale selection. */
cparata	0:e4f89df7a7a5	154	if ( Set_G_FS( 2000.0f ) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	155	{
cparata	0:e4f89df7a7a5	156	return;
cparata	0:e4f89df7a7a5	157	}
cparata	0:e4f89df7a7a5	158
cparata	0:e4f89df7a7a5	159	X_Last_ODR = 104.0f;
cparata	0:e4f89df7a7a5	160
cparata	0:e4f89df7a7a5	161	X_isEnabled = 0;
cparata	0:e4f89df7a7a5	162
cparata	0:e4f89df7a7a5	163	G_Last_ODR = 104.0f;
cparata	0:e4f89df7a7a5	164
cparata	0:e4f89df7a7a5	165	G_isEnabled = 0;
cparata	0:e4f89df7a7a5	166	};
cparata	0:e4f89df7a7a5	167
cparata	0:e4f89df7a7a5	168	/**
cparata	0:e4f89df7a7a5	169	* @brief Enable LSM6DSL Accelerator
cparata	0:e4f89df7a7a5	170	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	171	*/
cparata	0:e4f89df7a7a5	172	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_X(void)
cparata	0:e4f89df7a7a5	173	{
cparata	0:e4f89df7a7a5	174	/* Check if the component is already enabled */
cparata	0:e4f89df7a7a5	175	if ( X_isEnabled == 1 )
cparata	0:e4f89df7a7a5	176	{
cparata	0:e4f89df7a7a5	177	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	178	}
cparata	0:e4f89df7a7a5	179
cparata	0:e4f89df7a7a5	180	/* Output data rate selection. */
cparata	0:e4f89df7a7a5	181	if ( Set_X_ODR_When_Enabled( X_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	182	{
cparata	0:e4f89df7a7a5	183	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	184	}
cparata	0:e4f89df7a7a5	185
cparata	0:e4f89df7a7a5	186	X_isEnabled = 1;
cparata	0:e4f89df7a7a5	187
cparata	0:e4f89df7a7a5	188	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	189	}
cparata	0:e4f89df7a7a5	190
cparata	0:e4f89df7a7a5	191	/**
cparata	0:e4f89df7a7a5	192	* @brief Enable LSM6DSL Gyroscope
cparata	0:e4f89df7a7a5	193	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	194	*/
cparata	0:e4f89df7a7a5	195	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_G(void)
cparata	0:e4f89df7a7a5	196	{
cparata	0:e4f89df7a7a5	197	/* Check if the component is already enabled */
cparata	0:e4f89df7a7a5	198	if ( G_isEnabled == 1 )
cparata	0:e4f89df7a7a5	199	{
cparata	0:e4f89df7a7a5	200	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	201	}
cparata	0:e4f89df7a7a5	202
cparata	0:e4f89df7a7a5	203	/* Output data rate selection. */
cparata	0:e4f89df7a7a5	204	if ( Set_G_ODR_When_Enabled( G_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	205	{
cparata	0:e4f89df7a7a5	206	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	207	}
cparata	0:e4f89df7a7a5	208
cparata	0:e4f89df7a7a5	209	G_isEnabled = 1;
cparata	0:e4f89df7a7a5	210
cparata	0:e4f89df7a7a5	211	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	212	}
cparata	0:e4f89df7a7a5	213
cparata	0:e4f89df7a7a5	214	/**
cparata	0:e4f89df7a7a5	215	* @brief Disable LSM6DSL Accelerator
cparata	0:e4f89df7a7a5	216	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	217	*/
cparata	0:e4f89df7a7a5	218	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_X(void)
cparata	0:e4f89df7a7a5	219	{
cparata	0:e4f89df7a7a5	220	/* Check if the component is already disabled */
cparata	0:e4f89df7a7a5	221	if ( X_isEnabled == 0 )
cparata	0:e4f89df7a7a5	222	{
cparata	0:e4f89df7a7a5	223	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	224	}
cparata	0:e4f89df7a7a5	225
cparata	0:e4f89df7a7a5	226	/* Store actual output data rate. */
cparata	0:e4f89df7a7a5	227	if ( Get_X_ODR( &X_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	228	{
cparata	0:e4f89df7a7a5	229	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	230	}
cparata	0:e4f89df7a7a5	231
cparata	0:e4f89df7a7a5	232	/* Output data rate selection - power down. */
cparata	0:e4f89df7a7a5	233	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	234	{
cparata	0:e4f89df7a7a5	235	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	236	}
cparata	0:e4f89df7a7a5	237
cparata	0:e4f89df7a7a5	238	X_isEnabled = 0;
cparata	0:e4f89df7a7a5	239
cparata	0:e4f89df7a7a5	240	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	241	}
cparata	0:e4f89df7a7a5	242
cparata	0:e4f89df7a7a5	243	/**
cparata	0:e4f89df7a7a5	244	* @brief Disable LSM6DSL Gyroscope
cparata	0:e4f89df7a7a5	245	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	246	*/
cparata	0:e4f89df7a7a5	247	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_G(void)
cparata	0:e4f89df7a7a5	248	{
cparata	0:e4f89df7a7a5	249	/* Check if the component is already disabled */
cparata	0:e4f89df7a7a5	250	if ( G_isEnabled == 0 )
cparata	0:e4f89df7a7a5	251	{
cparata	0:e4f89df7a7a5	252	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	253	}
cparata	0:e4f89df7a7a5	254
cparata	0:e4f89df7a7a5	255	/* Store actual output data rate. */
cparata	0:e4f89df7a7a5	256	if ( Get_G_ODR( &G_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	257	{
cparata	0:e4f89df7a7a5	258	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	259	}
cparata	0:e4f89df7a7a5	260
cparata	0:e4f89df7a7a5	261	/* Output data rate selection - power down */
cparata	0:e4f89df7a7a5	262	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	263	{
cparata	0:e4f89df7a7a5	264	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	265	}
cparata	0:e4f89df7a7a5	266
cparata	0:e4f89df7a7a5	267	G_isEnabled = 0;
cparata	0:e4f89df7a7a5	268
cparata	0:e4f89df7a7a5	269	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	270	}
cparata	0:e4f89df7a7a5	271
cparata	0:e4f89df7a7a5	272	/**
cparata	0:e4f89df7a7a5	273	* @brief Read ID of LSM6DSL Accelerometer and Gyroscope
cparata	0:e4f89df7a7a5	274	* @param p_id the pointer where the ID of the device is stored
cparata	0:e4f89df7a7a5	275	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	276	*/
cparata	0:e4f89df7a7a5	277	LSM6DSLStatusTypeDef LSM6DSLSensor::ReadID(uint8_t *p_id)
cparata	0:e4f89df7a7a5	278	{
cparata	0:e4f89df7a7a5	279	if(!p_id)
cparata	0:e4f89df7a7a5	280	{
cparata	0:e4f89df7a7a5	281	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	282	}
cparata	0:e4f89df7a7a5	283
cparata	0:e4f89df7a7a5	284	/* Read WHO AM I register */
cparata	0:e4f89df7a7a5	285	if ( LSM6DSL_ACC_GYRO_R_WHO_AM_I( (void *)this, p_id ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	286	{
cparata	0:e4f89df7a7a5	287	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	288	}
cparata	0:e4f89df7a7a5	289
cparata	0:e4f89df7a7a5	290	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	291	}
cparata	0:e4f89df7a7a5	292
cparata	0:e4f89df7a7a5	293	/**
cparata	0:e4f89df7a7a5	294	* @brief Read data from LSM6DSL Accelerometer
cparata	0:e4f89df7a7a5	295	* @param pData the pointer where the accelerometer data are stored
cparata	0:e4f89df7a7a5	296	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	297	*/
cparata	0:e4f89df7a7a5	298	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_Axes(int32_t *pData)
cparata	0:e4f89df7a7a5	299	{
cparata	0:e4f89df7a7a5	300	int16_t dataRaw[3];
cparata	0:e4f89df7a7a5	301	float sensitivity = 0;
cparata	0:e4f89df7a7a5	302
cparata	0:e4f89df7a7a5	303	/* Read raw data from LSM6DSL output register. */
cparata	0:e4f89df7a7a5	304	if ( Get_X_AxesRaw( dataRaw ) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	305	{
cparata	0:e4f89df7a7a5	306	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	307	}
cparata	0:e4f89df7a7a5	308
cparata	0:e4f89df7a7a5	309	/* Get LSM6DSL actual sensitivity. */
cparata	0:e4f89df7a7a5	310	if ( Get_X_Sensitivity( &sensitivity ) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	311	{
cparata	0:e4f89df7a7a5	312	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	313	}
cparata	0:e4f89df7a7a5	314
cparata	0:e4f89df7a7a5	315	/* Calculate the data. */
cparata	0:e4f89df7a7a5	316	pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata	0:e4f89df7a7a5	317	pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata	0:e4f89df7a7a5	318	pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata	0:e4f89df7a7a5	319
cparata	0:e4f89df7a7a5	320	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	321	}
cparata	0:e4f89df7a7a5	322
cparata	0:e4f89df7a7a5	323	/**
cparata	0:e4f89df7a7a5	324	* @brief Read data from LSM6DSL Gyroscope
cparata	0:e4f89df7a7a5	325	* @param pData the pointer where the gyroscope data are stored
cparata	0:e4f89df7a7a5	326	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	327	*/
cparata	0:e4f89df7a7a5	328	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_Axes(int32_t *pData)
cparata	0:e4f89df7a7a5	329	{
cparata	0:e4f89df7a7a5	330	int16_t dataRaw[3];
cparata	0:e4f89df7a7a5	331	float sensitivity = 0;
cparata	0:e4f89df7a7a5	332
cparata	0:e4f89df7a7a5	333	/* Read raw data from LSM6DSL output register. */
cparata	0:e4f89df7a7a5	334	if ( Get_G_AxesRaw( dataRaw ) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	335	{
cparata	0:e4f89df7a7a5	336	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	337	}
cparata	0:e4f89df7a7a5	338
cparata	0:e4f89df7a7a5	339	/* Get LSM6DSL actual sensitivity. */
cparata	0:e4f89df7a7a5	340	if ( Get_G_Sensitivity( &sensitivity ) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	341	{
cparata	0:e4f89df7a7a5	342	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	343	}
cparata	0:e4f89df7a7a5	344
cparata	0:e4f89df7a7a5	345	/* Calculate the data. */
cparata	0:e4f89df7a7a5	346	pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata	0:e4f89df7a7a5	347	pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata	0:e4f89df7a7a5	348	pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata	0:e4f89df7a7a5	349
cparata	0:e4f89df7a7a5	350	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	351	}
cparata	0:e4f89df7a7a5	352
cparata	0:e4f89df7a7a5	353	/**
cparata	0:e4f89df7a7a5	354	* @brief Read Accelerometer Sensitivity
cparata	0:e4f89df7a7a5	355	* @param pfData the pointer where the accelerometer sensitivity is stored
cparata	0:e4f89df7a7a5	356	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	357	*/
cparata	0:e4f89df7a7a5	358	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_Sensitivity(float *pfData)
cparata	0:e4f89df7a7a5	359	{
cparata	0:e4f89df7a7a5	360	LSM6DSL_ACC_GYRO_FS_XL_t fullScale;
cparata	0:e4f89df7a7a5	361
cparata	0:e4f89df7a7a5	362	/* Read actual full scale selection from sensor. */
cparata	0:e4f89df7a7a5	363	if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fullScale ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	364	{
cparata	0:e4f89df7a7a5	365	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	366	}
cparata	0:e4f89df7a7a5	367
cparata	0:e4f89df7a7a5	368	/* Store the sensitivity based on actual full scale. */
cparata	0:e4f89df7a7a5	369	switch( fullScale )
cparata	0:e4f89df7a7a5	370	{
cparata	0:e4f89df7a7a5	371	case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata	0:e4f89df7a7a5	372	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G;
cparata	0:e4f89df7a7a5	373	break;
cparata	0:e4f89df7a7a5	374	case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata	0:e4f89df7a7a5	375	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G;
cparata	0:e4f89df7a7a5	376	break;
cparata	0:e4f89df7a7a5	377	case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata	0:e4f89df7a7a5	378	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G;
cparata	0:e4f89df7a7a5	379	break;
cparata	0:e4f89df7a7a5	380	case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata	0:e4f89df7a7a5	381	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G;
cparata	0:e4f89df7a7a5	382	break;
cparata	0:e4f89df7a7a5	383	default:
cparata	0:e4f89df7a7a5	384	*pfData = -1.0f;
cparata	0:e4f89df7a7a5	385	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	386	}
cparata	0:e4f89df7a7a5	387
cparata	0:e4f89df7a7a5	388	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	389	}
cparata	0:e4f89df7a7a5	390
cparata	0:e4f89df7a7a5	391	/**
cparata	0:e4f89df7a7a5	392	* @brief Read Gyroscope Sensitivity
cparata	0:e4f89df7a7a5	393	* @param pfData the pointer where the gyroscope sensitivity is stored
cparata	0:e4f89df7a7a5	394	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	395	*/
cparata	0:e4f89df7a7a5	396	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_Sensitivity(float *pfData)
cparata	0:e4f89df7a7a5	397	{
cparata	0:e4f89df7a7a5	398	LSM6DSL_ACC_GYRO_FS_125_t fullScale125;
cparata	0:e4f89df7a7a5	399	LSM6DSL_ACC_GYRO_FS_G_t fullScale;
cparata	0:e4f89df7a7a5	400
cparata	0:e4f89df7a7a5	401	/* Read full scale 125 selection from sensor. */
cparata	0:e4f89df7a7a5	402	if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fullScale125 ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	403	{
cparata	0:e4f89df7a7a5	404	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	405	}
cparata	0:e4f89df7a7a5	406
cparata	0:e4f89df7a7a5	407	if ( fullScale125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata	0:e4f89df7a7a5	408	{
cparata	0:e4f89df7a7a5	409	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS;
cparata	0:e4f89df7a7a5	410	}
cparata	0:e4f89df7a7a5	411
cparata	0:e4f89df7a7a5	412	else
cparata	0:e4f89df7a7a5	413	{
cparata	0:e4f89df7a7a5	414
cparata	0:e4f89df7a7a5	415	/* Read actual full scale selection from sensor. */
cparata	0:e4f89df7a7a5	416	if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fullScale ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	417	{
cparata	0:e4f89df7a7a5	418	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	419	}
cparata	0:e4f89df7a7a5	420
cparata	0:e4f89df7a7a5	421	/* Store the sensitivity based on actual full scale. */
cparata	0:e4f89df7a7a5	422	switch( fullScale )
cparata	0:e4f89df7a7a5	423	{
cparata	0:e4f89df7a7a5	424	case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata	0:e4f89df7a7a5	425	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS;
cparata	0:e4f89df7a7a5	426	break;
cparata	0:e4f89df7a7a5	427	case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata	0:e4f89df7a7a5	428	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS;
cparata	0:e4f89df7a7a5	429	break;
cparata	0:e4f89df7a7a5	430	case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata	0:e4f89df7a7a5	431	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS;
cparata	0:e4f89df7a7a5	432	break;
cparata	0:e4f89df7a7a5	433	case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata	0:e4f89df7a7a5	434	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS;
cparata	0:e4f89df7a7a5	435	break;
cparata	0:e4f89df7a7a5	436	default:
cparata	0:e4f89df7a7a5	437	*pfData = -1.0f;
cparata	0:e4f89df7a7a5	438	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	439	}
cparata	0:e4f89df7a7a5	440	}
cparata	0:e4f89df7a7a5	441
cparata	0:e4f89df7a7a5	442	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	443	}
cparata	0:e4f89df7a7a5	444
cparata	0:e4f89df7a7a5	445	/**
cparata	0:e4f89df7a7a5	446	* @brief Read raw data from LSM6DSL Accelerometer
cparata	0:e4f89df7a7a5	447	* @param pData the pointer where the accelerometer raw data are stored
cparata	0:e4f89df7a7a5	448	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	449	*/
cparata	0:e4f89df7a7a5	450	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_AxesRaw(int16_t *pData)
cparata	0:e4f89df7a7a5	451	{
cparata	0:e4f89df7a7a5	452	uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata	0:e4f89df7a7a5	453
cparata	0:e4f89df7a7a5	454	/* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_XL to LSM6DSL_ACC_GYRO_OUTZ_H_XL. */
cparata	0:e4f89df7a7a5	455	if ( LSM6DSL_ACC_GYRO_GetRawAccData( (void *)this, regValue ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	456	{
cparata	0:e4f89df7a7a5	457	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	458	}
cparata	0:e4f89df7a7a5	459
cparata	0:e4f89df7a7a5	460	/* Format the data. */
cparata	0:e4f89df7a7a5	461	pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata	0:e4f89df7a7a5	462	pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata	0:e4f89df7a7a5	463	pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata	0:e4f89df7a7a5	464
cparata	0:e4f89df7a7a5	465	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	466	}
cparata	0:e4f89df7a7a5	467
cparata	0:e4f89df7a7a5	468	/**
cparata	0:e4f89df7a7a5	469	* @brief Read raw data from LSM6DSL Gyroscope
cparata	0:e4f89df7a7a5	470	* @param pData the pointer where the gyroscope raw data are stored
cparata	0:e4f89df7a7a5	471	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	472	*/
cparata	0:e4f89df7a7a5	473	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_AxesRaw(int16_t *pData)
cparata	0:e4f89df7a7a5	474	{
cparata	0:e4f89df7a7a5	475	uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata	0:e4f89df7a7a5	476
cparata	0:e4f89df7a7a5	477	/* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_G to LSM6DSL_ACC_GYRO_OUTZ_H_G. */
cparata	0:e4f89df7a7a5	478	if ( LSM6DSL_ACC_GYRO_GetRawGyroData( (void *)this, regValue ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	479	{
cparata	0:e4f89df7a7a5	480	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	481	}
cparata	0:e4f89df7a7a5	482
cparata	0:e4f89df7a7a5	483	/* Format the data. */
cparata	0:e4f89df7a7a5	484	pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata	0:e4f89df7a7a5	485	pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata	0:e4f89df7a7a5	486	pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata	0:e4f89df7a7a5	487
cparata	0:e4f89df7a7a5	488	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	489	}
cparata	0:e4f89df7a7a5	490
cparata	0:e4f89df7a7a5	491	/**
cparata	0:e4f89df7a7a5	492	* @brief Read LSM6DSL Accelerometer output data rate
cparata	0:e4f89df7a7a5	493	* @param odr the pointer to the output data rate
cparata	0:e4f89df7a7a5	494	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	495	*/
cparata	0:e4f89df7a7a5	496	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_ODR(float* odr)
cparata	0:e4f89df7a7a5	497	{
cparata	0:e4f89df7a7a5	498	LSM6DSL_ACC_GYRO_ODR_XL_t odr_low_level;
cparata	0:e4f89df7a7a5	499
cparata	0:e4f89df7a7a5	500	if ( LSM6DSL_ACC_GYRO_R_ODR_XL( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	501	{
cparata	0:e4f89df7a7a5	502	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	503	}
cparata	0:e4f89df7a7a5	504
cparata	0:e4f89df7a7a5	505	switch( odr_low_level )
cparata	0:e4f89df7a7a5	506	{
cparata	0:e4f89df7a7a5	507	case LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN:
cparata	0:e4f89df7a7a5	508	*odr = 0.0f;
cparata	0:e4f89df7a7a5	509	break;
cparata	0:e4f89df7a7a5	510	case LSM6DSL_ACC_GYRO_ODR_XL_13Hz:
cparata	0:e4f89df7a7a5	511	*odr = 13.0f;
cparata	0:e4f89df7a7a5	512	break;
cparata	0:e4f89df7a7a5	513	case LSM6DSL_ACC_GYRO_ODR_XL_26Hz:
cparata	0:e4f89df7a7a5	514	*odr = 26.0f;
cparata	0:e4f89df7a7a5	515	break;
cparata	0:e4f89df7a7a5	516	case LSM6DSL_ACC_GYRO_ODR_XL_52Hz:
cparata	0:e4f89df7a7a5	517	*odr = 52.0f;
cparata	0:e4f89df7a7a5	518	break;
cparata	0:e4f89df7a7a5	519	case LSM6DSL_ACC_GYRO_ODR_XL_104Hz:
cparata	0:e4f89df7a7a5	520	*odr = 104.0f;
cparata	0:e4f89df7a7a5	521	break;
cparata	0:e4f89df7a7a5	522	case LSM6DSL_ACC_GYRO_ODR_XL_208Hz:
cparata	0:e4f89df7a7a5	523	*odr = 208.0f;
cparata	0:e4f89df7a7a5	524	break;
cparata	0:e4f89df7a7a5	525	case LSM6DSL_ACC_GYRO_ODR_XL_416Hz:
cparata	0:e4f89df7a7a5	526	*odr = 416.0f;
cparata	0:e4f89df7a7a5	527	break;
cparata	0:e4f89df7a7a5	528	case LSM6DSL_ACC_GYRO_ODR_XL_833Hz:
cparata	0:e4f89df7a7a5	529	*odr = 833.0f;
cparata	0:e4f89df7a7a5	530	break;
cparata	0:e4f89df7a7a5	531	case LSM6DSL_ACC_GYRO_ODR_XL_1660Hz:
cparata	0:e4f89df7a7a5	532	*odr = 1660.0f;
cparata	0:e4f89df7a7a5	533	break;
cparata	0:e4f89df7a7a5	534	case LSM6DSL_ACC_GYRO_ODR_XL_3330Hz:
cparata	0:e4f89df7a7a5	535	*odr = 3330.0f;
cparata	0:e4f89df7a7a5	536	break;
cparata	0:e4f89df7a7a5	537	case LSM6DSL_ACC_GYRO_ODR_XL_6660Hz:
cparata	0:e4f89df7a7a5	538	*odr = 6660.0f;
cparata	0:e4f89df7a7a5	539	break;
cparata	0:e4f89df7a7a5	540	default:
cparata	0:e4f89df7a7a5	541	*odr = -1.0f;
cparata	0:e4f89df7a7a5	542	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	543	}
cparata	0:e4f89df7a7a5	544
cparata	0:e4f89df7a7a5	545	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	546	}
cparata	0:e4f89df7a7a5	547
cparata	0:e4f89df7a7a5	548	/**
cparata	0:e4f89df7a7a5	549	* @brief Read LSM6DSL Gyroscope output data rate
cparata	0:e4f89df7a7a5	550	* @param odr the pointer to the output data rate
cparata	0:e4f89df7a7a5	551	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	552	*/
cparata	0:e4f89df7a7a5	553	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_ODR(float* odr)
cparata	0:e4f89df7a7a5	554	{
cparata	0:e4f89df7a7a5	555	LSM6DSL_ACC_GYRO_ODR_G_t odr_low_level;
cparata	0:e4f89df7a7a5	556
cparata	0:e4f89df7a7a5	557	if ( LSM6DSL_ACC_GYRO_R_ODR_G( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	558	{
cparata	0:e4f89df7a7a5	559	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	560	}
cparata	0:e4f89df7a7a5	561
cparata	0:e4f89df7a7a5	562	switch( odr_low_level )
cparata	0:e4f89df7a7a5	563	{
cparata	0:e4f89df7a7a5	564	case LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN:
cparata	0:e4f89df7a7a5	565	*odr = 0.0f;
cparata	0:e4f89df7a7a5	566	break;
cparata	0:e4f89df7a7a5	567	case LSM6DSL_ACC_GYRO_ODR_G_13Hz:
cparata	0:e4f89df7a7a5	568	*odr = 13.0f;
cparata	0:e4f89df7a7a5	569	break;
cparata	0:e4f89df7a7a5	570	case LSM6DSL_ACC_GYRO_ODR_G_26Hz:
cparata	0:e4f89df7a7a5	571	*odr = 26.0f;
cparata	0:e4f89df7a7a5	572	break;
cparata	0:e4f89df7a7a5	573	case LSM6DSL_ACC_GYRO_ODR_G_52Hz:
cparata	0:e4f89df7a7a5	574	*odr = 52.0f;
cparata	0:e4f89df7a7a5	575	break;
cparata	0:e4f89df7a7a5	576	case LSM6DSL_ACC_GYRO_ODR_G_104Hz:
cparata	0:e4f89df7a7a5	577	*odr = 104.0f;
cparata	0:e4f89df7a7a5	578	break;
cparata	0:e4f89df7a7a5	579	case LSM6DSL_ACC_GYRO_ODR_G_208Hz:
cparata	0:e4f89df7a7a5	580	*odr = 208.0f;
cparata	0:e4f89df7a7a5	581	break;
cparata	0:e4f89df7a7a5	582	case LSM6DSL_ACC_GYRO_ODR_G_416Hz:
cparata	0:e4f89df7a7a5	583	*odr = 416.0f;
cparata	0:e4f89df7a7a5	584	break;
cparata	0:e4f89df7a7a5	585	case LSM6DSL_ACC_GYRO_ODR_G_833Hz:
cparata	0:e4f89df7a7a5	586	*odr = 833.0f;
cparata	0:e4f89df7a7a5	587	break;
cparata	0:e4f89df7a7a5	588	case LSM6DSL_ACC_GYRO_ODR_G_1660Hz:
cparata	0:e4f89df7a7a5	589	*odr = 1660.0f;
cparata	0:e4f89df7a7a5	590	break;
cparata	0:e4f89df7a7a5	591	case LSM6DSL_ACC_GYRO_ODR_G_3330Hz:
cparata	0:e4f89df7a7a5	592	*odr = 3330.0f;
cparata	0:e4f89df7a7a5	593	break;
cparata	0:e4f89df7a7a5	594	case LSM6DSL_ACC_GYRO_ODR_G_6660Hz:
cparata	0:e4f89df7a7a5	595	*odr = 6660.0f;
cparata	0:e4f89df7a7a5	596	break;
cparata	0:e4f89df7a7a5	597	default:
cparata	0:e4f89df7a7a5	598	*odr = -1.0f;
cparata	0:e4f89df7a7a5	599	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	600	}
cparata	0:e4f89df7a7a5	601
cparata	0:e4f89df7a7a5	602	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	603	}
cparata	0:e4f89df7a7a5	604
cparata	0:e4f89df7a7a5	605	/**
cparata	0:e4f89df7a7a5	606	* @brief Set LSM6DSL Accelerometer output data rate
cparata	0:e4f89df7a7a5	607	* @param odr the output data rate to be set
cparata	0:e4f89df7a7a5	608	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	609	*/
cparata	0:e4f89df7a7a5	610	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_ODR(float odr)
cparata	0:e4f89df7a7a5	611	{
cparata	0:e4f89df7a7a5	612	if(X_isEnabled == 1)
cparata	0:e4f89df7a7a5	613	{
cparata	0:e4f89df7a7a5	614	if(Set_X_ODR_When_Enabled(odr) == LSM6DSL_STATUS_ERROR)
cparata	0:e4f89df7a7a5	615	{
cparata	0:e4f89df7a7a5	616	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	617	}
cparata	0:e4f89df7a7a5	618	}
cparata	0:e4f89df7a7a5	619	else
cparata	0:e4f89df7a7a5	620	{
cparata	0:e4f89df7a7a5	621	if(Set_X_ODR_When_Disabled(odr) == LSM6DSL_STATUS_ERROR)
cparata	0:e4f89df7a7a5	622	{
cparata	0:e4f89df7a7a5	623	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	624	}
cparata	0:e4f89df7a7a5	625	}
cparata	0:e4f89df7a7a5	626
cparata	0:e4f89df7a7a5	627	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	628	}
cparata	0:e4f89df7a7a5	629
cparata	0:e4f89df7a7a5	630	/**
cparata	0:e4f89df7a7a5	631	* @brief Set LSM6DSL Accelerometer output data rate when enabled
cparata	0:e4f89df7a7a5	632	* @param odr the output data rate to be set
cparata	0:e4f89df7a7a5	633	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	634	*/
cparata	0:e4f89df7a7a5	635	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_ODR_When_Enabled(float odr)
cparata	0:e4f89df7a7a5	636	{
cparata	0:e4f89df7a7a5	637	LSM6DSL_ACC_GYRO_ODR_XL_t new_odr;
cparata	0:e4f89df7a7a5	638
cparata	0:e4f89df7a7a5	639	new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_13Hz
cparata	0:e4f89df7a7a5	640	: ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_26Hz
cparata	0:e4f89df7a7a5	641	: ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_52Hz
cparata	0:e4f89df7a7a5	642	: ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_104Hz
cparata	0:e4f89df7a7a5	643	: ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_208Hz
cparata	0:e4f89df7a7a5	644	: ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_416Hz
cparata	0:e4f89df7a7a5	645	: ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_833Hz
cparata	0:e4f89df7a7a5	646	: ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_1660Hz
cparata	0:e4f89df7a7a5	647	: ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_3330Hz
cparata	0:e4f89df7a7a5	648	: LSM6DSL_ACC_GYRO_ODR_XL_6660Hz;
cparata	0:e4f89df7a7a5	649
cparata	0:e4f89df7a7a5	650	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, new_odr ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	651	{
cparata	0:e4f89df7a7a5	652	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	653	}
cparata	0:e4f89df7a7a5	654
cparata	0:e4f89df7a7a5	655	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	656	}
cparata	0:e4f89df7a7a5	657
cparata	0:e4f89df7a7a5	658	/**
cparata	0:e4f89df7a7a5	659	* @brief Set LSM6DSL Accelerometer output data rate when disabled
cparata	0:e4f89df7a7a5	660	* @param odr the output data rate to be set
cparata	0:e4f89df7a7a5	661	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	662	*/
cparata	0:e4f89df7a7a5	663	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_ODR_When_Disabled(float odr)
cparata	0:e4f89df7a7a5	664	{
cparata	0:e4f89df7a7a5	665	X_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata	0:e4f89df7a7a5	666	: ( odr <= 26.0f ) ? 26.0f
cparata	0:e4f89df7a7a5	667	: ( odr <= 52.0f ) ? 52.0f
cparata	0:e4f89df7a7a5	668	: ( odr <= 104.0f ) ? 104.0f
cparata	0:e4f89df7a7a5	669	: ( odr <= 208.0f ) ? 208.0f
cparata	0:e4f89df7a7a5	670	: ( odr <= 416.0f ) ? 416.0f
cparata	0:e4f89df7a7a5	671	: ( odr <= 833.0f ) ? 833.0f
cparata	0:e4f89df7a7a5	672	: ( odr <= 1660.0f ) ? 1660.0f
cparata	0:e4f89df7a7a5	673	: ( odr <= 3330.0f ) ? 3330.0f
cparata	0:e4f89df7a7a5	674	: 6660.0f;
cparata	0:e4f89df7a7a5	675
cparata	0:e4f89df7a7a5	676	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	677	}
cparata	0:e4f89df7a7a5	678
cparata	0:e4f89df7a7a5	679	/**
cparata	0:e4f89df7a7a5	680	* @brief Set LSM6DSL Gyroscope output data rate
cparata	0:e4f89df7a7a5	681	* @param odr the output data rate to be set
cparata	0:e4f89df7a7a5	682	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	683	*/
cparata	0:e4f89df7a7a5	684	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_ODR(float odr)
cparata	0:e4f89df7a7a5	685	{
cparata	0:e4f89df7a7a5	686	if(G_isEnabled == 1)
cparata	0:e4f89df7a7a5	687	{
cparata	0:e4f89df7a7a5	688	if(Set_G_ODR_When_Enabled(odr) == LSM6DSL_STATUS_ERROR)
cparata	0:e4f89df7a7a5	689	{
cparata	0:e4f89df7a7a5	690	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	691	}
cparata	0:e4f89df7a7a5	692	}
cparata	0:e4f89df7a7a5	693	else
cparata	0:e4f89df7a7a5	694	{
cparata	0:e4f89df7a7a5	695	if(Set_G_ODR_When_Disabled(odr) == LSM6DSL_STATUS_ERROR)
cparata	0:e4f89df7a7a5	696	{
cparata	0:e4f89df7a7a5	697	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	698	}
cparata	0:e4f89df7a7a5	699	}
cparata	0:e4f89df7a7a5	700
cparata	0:e4f89df7a7a5	701	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	702	}
cparata	0:e4f89df7a7a5	703
cparata	0:e4f89df7a7a5	704	/**
cparata	0:e4f89df7a7a5	705	* @brief Set LSM6DSL Gyroscope output data rate when enabled
cparata	0:e4f89df7a7a5	706	* @param odr the output data rate to be set
cparata	0:e4f89df7a7a5	707	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	708	*/
cparata	0:e4f89df7a7a5	709	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_ODR_When_Enabled(float odr)
cparata	0:e4f89df7a7a5	710	{
cparata	0:e4f89df7a7a5	711	LSM6DSL_ACC_GYRO_ODR_G_t new_odr;
cparata	0:e4f89df7a7a5	712
cparata	0:e4f89df7a7a5	713	new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_13Hz
cparata	0:e4f89df7a7a5	714	: ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_26Hz
cparata	0:e4f89df7a7a5	715	: ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_52Hz
cparata	0:e4f89df7a7a5	716	: ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_104Hz
cparata	0:e4f89df7a7a5	717	: ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_208Hz
cparata	0:e4f89df7a7a5	718	: ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_416Hz
cparata	0:e4f89df7a7a5	719	: ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_833Hz
cparata	0:e4f89df7a7a5	720	: ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_1660Hz
cparata	0:e4f89df7a7a5	721	: ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_3330Hz
cparata	0:e4f89df7a7a5	722	: LSM6DSL_ACC_GYRO_ODR_G_6660Hz;
cparata	0:e4f89df7a7a5	723
cparata	0:e4f89df7a7a5	724	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, new_odr ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	725	{
cparata	0:e4f89df7a7a5	726	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	727	}
cparata	0:e4f89df7a7a5	728
cparata	0:e4f89df7a7a5	729	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	730	}
cparata	0:e4f89df7a7a5	731
cparata	0:e4f89df7a7a5	732	/**
cparata	0:e4f89df7a7a5	733	* @brief Set LSM6DSL Gyroscope output data rate when disabled
cparata	0:e4f89df7a7a5	734	* @param odr the output data rate to be set
cparata	0:e4f89df7a7a5	735	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	736	*/
cparata	0:e4f89df7a7a5	737	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_ODR_When_Disabled(float odr)
cparata	0:e4f89df7a7a5	738	{
cparata	0:e4f89df7a7a5	739	G_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata	0:e4f89df7a7a5	740	: ( odr <= 26.0f ) ? 26.0f
cparata	0:e4f89df7a7a5	741	: ( odr <= 52.0f ) ? 52.0f
cparata	0:e4f89df7a7a5	742	: ( odr <= 104.0f ) ? 104.0f
cparata	0:e4f89df7a7a5	743	: ( odr <= 208.0f ) ? 208.0f
cparata	0:e4f89df7a7a5	744	: ( odr <= 416.0f ) ? 416.0f
cparata	0:e4f89df7a7a5	745	: ( odr <= 833.0f ) ? 833.0f
cparata	0:e4f89df7a7a5	746	: ( odr <= 1660.0f ) ? 1660.0f
cparata	0:e4f89df7a7a5	747	: ( odr <= 3330.0f ) ? 3330.0f
cparata	0:e4f89df7a7a5	748	: 6660.0f;
cparata	0:e4f89df7a7a5	749
cparata	0:e4f89df7a7a5	750	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	751	}
cparata	0:e4f89df7a7a5	752
cparata	0:e4f89df7a7a5	753	/**
cparata	0:e4f89df7a7a5	754	* @brief Read LSM6DSL Accelerometer full scale
cparata	0:e4f89df7a7a5	755	* @param fullScale the pointer to the full scale
cparata	0:e4f89df7a7a5	756	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	757	*/
cparata	0:e4f89df7a7a5	758	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_FS(float* fullScale)
cparata	0:e4f89df7a7a5	759	{
cparata	0:e4f89df7a7a5	760	LSM6DSL_ACC_GYRO_FS_XL_t fs_low_level;
cparata	0:e4f89df7a7a5	761
cparata	0:e4f89df7a7a5	762	if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	763	{
cparata	0:e4f89df7a7a5	764	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	765	}
cparata	0:e4f89df7a7a5	766
cparata	0:e4f89df7a7a5	767	switch( fs_low_level )
cparata	0:e4f89df7a7a5	768	{
cparata	0:e4f89df7a7a5	769	case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata	0:e4f89df7a7a5	770	*fullScale = 2.0f;
cparata	0:e4f89df7a7a5	771	break;
cparata	0:e4f89df7a7a5	772	case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata	0:e4f89df7a7a5	773	*fullScale = 4.0f;
cparata	0:e4f89df7a7a5	774	break;
cparata	0:e4f89df7a7a5	775	case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata	0:e4f89df7a7a5	776	*fullScale = 8.0f;
cparata	0:e4f89df7a7a5	777	break;
cparata	0:e4f89df7a7a5	778	case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata	0:e4f89df7a7a5	779	*fullScale = 16.0f;
cparata	0:e4f89df7a7a5	780	break;
cparata	0:e4f89df7a7a5	781	default:
cparata	0:e4f89df7a7a5	782	*fullScale = -1.0f;
cparata	0:e4f89df7a7a5	783	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	784	}
cparata	0:e4f89df7a7a5	785
cparata	0:e4f89df7a7a5	786	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	787	}
cparata	0:e4f89df7a7a5	788
cparata	0:e4f89df7a7a5	789	/**
cparata	0:e4f89df7a7a5	790	* @brief Read LSM6DSL Gyroscope full scale
cparata	0:e4f89df7a7a5	791	* @param fullScale the pointer to the full scale
cparata	0:e4f89df7a7a5	792	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	793	*/
cparata	0:e4f89df7a7a5	794	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_FS(float* fullScale)
cparata	0:e4f89df7a7a5	795	{
cparata	0:e4f89df7a7a5	796	LSM6DSL_ACC_GYRO_FS_G_t fs_low_level;
cparata	0:e4f89df7a7a5	797	LSM6DSL_ACC_GYRO_FS_125_t fs_125;
cparata	0:e4f89df7a7a5	798
cparata	0:e4f89df7a7a5	799	if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fs_125 ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	800	{
cparata	0:e4f89df7a7a5	801	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	802	}
cparata	0:e4f89df7a7a5	803	if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	804	{
cparata	0:e4f89df7a7a5	805	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	806	}
cparata	0:e4f89df7a7a5	807
cparata	0:e4f89df7a7a5	808	if ( fs_125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata	0:e4f89df7a7a5	809	{
cparata	0:e4f89df7a7a5	810	*fullScale = 125.0f;
cparata	0:e4f89df7a7a5	811	}
cparata	0:e4f89df7a7a5	812
cparata	0:e4f89df7a7a5	813	else
cparata	0:e4f89df7a7a5	814	{
cparata	0:e4f89df7a7a5	815	switch( fs_low_level )
cparata	0:e4f89df7a7a5	816	{
cparata	0:e4f89df7a7a5	817	case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata	0:e4f89df7a7a5	818	*fullScale = 245.0f;
cparata	0:e4f89df7a7a5	819	break;
cparata	0:e4f89df7a7a5	820	case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata	0:e4f89df7a7a5	821	*fullScale = 500.0f;
cparata	0:e4f89df7a7a5	822	break;
cparata	0:e4f89df7a7a5	823	case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata	0:e4f89df7a7a5	824	*fullScale = 1000.0f;
cparata	0:e4f89df7a7a5	825	break;
cparata	0:e4f89df7a7a5	826	case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata	0:e4f89df7a7a5	827	*fullScale = 2000.0f;
cparata	0:e4f89df7a7a5	828	break;
cparata	0:e4f89df7a7a5	829	default:
cparata	0:e4f89df7a7a5	830	*fullScale = -1.0f;
cparata	0:e4f89df7a7a5	831	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	832	}
cparata	0:e4f89df7a7a5	833	}
cparata	0:e4f89df7a7a5	834
cparata	0:e4f89df7a7a5	835	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	836	}
cparata	0:e4f89df7a7a5	837
cparata	0:e4f89df7a7a5	838	/**
cparata	0:e4f89df7a7a5	839	* @brief Set LSM6DSL Accelerometer full scale
cparata	0:e4f89df7a7a5	840	* @param fullScale the full scale to be set
cparata	0:e4f89df7a7a5	841	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	842	*/
cparata	0:e4f89df7a7a5	843	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_FS(float fullScale)
cparata	0:e4f89df7a7a5	844	{
cparata	0:e4f89df7a7a5	845	LSM6DSL_ACC_GYRO_FS_XL_t new_fs;
cparata	0:e4f89df7a7a5	846
cparata	0:e4f89df7a7a5	847	new_fs = ( fullScale <= 2.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_2g
cparata	0:e4f89df7a7a5	848	: ( fullScale <= 4.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_4g
cparata	0:e4f89df7a7a5	849	: ( fullScale <= 8.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_8g
cparata	0:e4f89df7a7a5	850	: LSM6DSL_ACC_GYRO_FS_XL_16g;
cparata	0:e4f89df7a7a5	851
cparata	0:e4f89df7a7a5	852	if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, new_fs ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	853	{
cparata	0:e4f89df7a7a5	854	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	855	}
cparata	0:e4f89df7a7a5	856
cparata	0:e4f89df7a7a5	857	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	858	}
cparata	0:e4f89df7a7a5	859
cparata	0:e4f89df7a7a5	860	/**
cparata	0:e4f89df7a7a5	861	* @brief Set LSM6DSL Gyroscope full scale
cparata	0:e4f89df7a7a5	862	* @param fullScale the full scale to be set
cparata	0:e4f89df7a7a5	863	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	864	*/
cparata	0:e4f89df7a7a5	865	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_FS(float fullScale)
cparata	0:e4f89df7a7a5	866	{
cparata	0:e4f89df7a7a5	867	LSM6DSL_ACC_GYRO_FS_G_t new_fs;
cparata	0:e4f89df7a7a5	868
cparata	0:e4f89df7a7a5	869	if ( fullScale <= 125.0f )
cparata	0:e4f89df7a7a5	870	{
cparata	0:e4f89df7a7a5	871	if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_ENABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	872	{
cparata	0:e4f89df7a7a5	873	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	874	}
cparata	0:e4f89df7a7a5	875	}
cparata	0:e4f89df7a7a5	876	else
cparata	0:e4f89df7a7a5	877	{
cparata	0:e4f89df7a7a5	878	new_fs = ( fullScale <= 245.0f ) ? LSM6DSL_ACC_GYRO_FS_G_245dps
cparata	0:e4f89df7a7a5	879	: ( fullScale <= 500.0f ) ? LSM6DSL_ACC_GYRO_FS_G_500dps
cparata	0:e4f89df7a7a5	880	: ( fullScale <= 1000.0f ) ? LSM6DSL_ACC_GYRO_FS_G_1000dps
cparata	0:e4f89df7a7a5	881	: LSM6DSL_ACC_GYRO_FS_G_2000dps;
cparata	0:e4f89df7a7a5	882
cparata	0:e4f89df7a7a5	883	if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_DISABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	884	{
cparata	0:e4f89df7a7a5	885	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	886	}
cparata	0:e4f89df7a7a5	887	if ( LSM6DSL_ACC_GYRO_W_FS_G( (void *)this, new_fs ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	888	{
cparata	0:e4f89df7a7a5	889	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	890	}
cparata	0:e4f89df7a7a5	891	}
cparata	0:e4f89df7a7a5	892
cparata	0:e4f89df7a7a5	893	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	894	}
cparata	0:e4f89df7a7a5	895
cparata	0:e4f89df7a7a5	896	/**
cparata	0:e4f89df7a7a5	897	* @brief Enable free fall detection
cparata	0:e4f89df7a7a5	898	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:e4f89df7a7a5	899	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	900	*/
cparata	0:e4f89df7a7a5	901	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Free_Fall_Detection(void)
cparata	0:e4f89df7a7a5	902	{
cparata	0:e4f89df7a7a5	903	/* Output Data Rate selection */
cparata	0:e4f89df7a7a5	904	if(Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR)
cparata	0:e4f89df7a7a5	905	{
cparata	0:e4f89df7a7a5	906	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	907	}
cparata	0:e4f89df7a7a5	908
cparata	0:e4f89df7a7a5	909	/* Full scale selection */
cparata	0:e4f89df7a7a5	910	if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, LSM6DSL_ACC_GYRO_FS_XL_2g ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	911	{
cparata	0:e4f89df7a7a5	912	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	913	}
cparata	0:e4f89df7a7a5	914
cparata	0:e4f89df7a7a5	915	/* FF_DUR setting */
cparata	0:e4f89df7a7a5	916	if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x06 ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	917	{
cparata	0:e4f89df7a7a5	918	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	919	}
cparata	0:e4f89df7a7a5	920
cparata	0:e4f89df7a7a5	921	/* WAKE_DUR setting */
cparata	0:e4f89df7a7a5	922	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	923	{
cparata	0:e4f89df7a7a5	924	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	925	}
cparata	0:e4f89df7a7a5	926
cparata	0:e4f89df7a7a5	927	/* TIMER_HR setting */
cparata	0:e4f89df7a7a5	928	if ( LSM6DSL_ACC_GYRO_W_TIMER_HR( (void *)this, LSM6DSL_ACC_GYRO_TIMER_HR_6_4ms ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	929	{
cparata	0:e4f89df7a7a5	930	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	931	}
cparata	0:e4f89df7a7a5	932
cparata	0:e4f89df7a7a5	933	/* SLEEP_DUR setting */
cparata	0:e4f89df7a7a5	934	if ( LSM6DSL_ACC_GYRO_W_SLEEP_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	935	{
cparata	0:e4f89df7a7a5	936	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	937	}
cparata	0:e4f89df7a7a5	938
cparata	0:e4f89df7a7a5	939	/* FF_THS setting */
cparata	0:e4f89df7a7a5	940	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_312mg ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	941	{
cparata	0:e4f89df7a7a5	942	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	943	}
cparata	0:e4f89df7a7a5	944
cparata	0:e4f89df7a7a5	945	/* Enable basic Interrupts */
cparata	0:e4f89df7a7a5	946	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	947	{
cparata	0:e4f89df7a7a5	948	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	949	}
cparata	0:e4f89df7a7a5	950
cparata	0:e4f89df7a7a5	951	/* INT1_FF setting */
cparata	0:e4f89df7a7a5	952	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	953	{
cparata	0:e4f89df7a7a5	954	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	955	}
cparata	0:e4f89df7a7a5	956
cparata	0:e4f89df7a7a5	957	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	958	}
cparata	0:e4f89df7a7a5	959
cparata	0:e4f89df7a7a5	960	/**
cparata	0:e4f89df7a7a5	961	* @brief Disable free fall detection
cparata	0:e4f89df7a7a5	962	* @param None
cparata	0:e4f89df7a7a5	963	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	964	*/
cparata	0:e4f89df7a7a5	965	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Free_Fall_Detection(void)
cparata	0:e4f89df7a7a5	966	{
cparata	0:e4f89df7a7a5	967	/* INT1_FF setting */
cparata	0:e4f89df7a7a5	968	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	969	{
cparata	0:e4f89df7a7a5	970	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	971	}
cparata	0:e4f89df7a7a5	972
cparata	0:e4f89df7a7a5	973	/* Disable basic Interrupts */
cparata	0:e4f89df7a7a5	974	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	975	{
cparata	0:e4f89df7a7a5	976	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	977	}
cparata	0:e4f89df7a7a5	978
cparata	0:e4f89df7a7a5	979	/* FF_DUR setting */
cparata	0:e4f89df7a7a5	980	if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	981	{
cparata	0:e4f89df7a7a5	982	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	983	}
cparata	0:e4f89df7a7a5	984
cparata	0:e4f89df7a7a5	985	/* FF_THS setting */
cparata	0:e4f89df7a7a5	986	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_156mg ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	987	{
cparata	0:e4f89df7a7a5	988	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	989	}
cparata	0:e4f89df7a7a5	990
cparata	0:e4f89df7a7a5	991	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	992	}
cparata	0:e4f89df7a7a5	993
cparata	0:e4f89df7a7a5	994	/**
cparata	0:e4f89df7a7a5	995	* @brief Get status of free fall detection
cparata	0:e4f89df7a7a5	996	* @param status the pointer where the status of free fall detection is stored; 0 means no detection, 1 means detection happened
cparata	0:e4f89df7a7a5	997	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	998	*/
cparata	0:e4f89df7a7a5	999	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Free_Fall_Detection(uint8_t *status)
cparata	0:e4f89df7a7a5	1000	{
cparata	0:e4f89df7a7a5	1001	LSM6DSL_ACC_GYRO_FF_EV_STATUS_t free_fall_status;
cparata	0:e4f89df7a7a5	1002
cparata	0:e4f89df7a7a5	1003	if ( LSM6DSL_ACC_GYRO_R_FF_EV_STATUS( (void *)this, &free_fall_status ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1004	{
cparata	0:e4f89df7a7a5	1005	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1006	}
cparata	0:e4f89df7a7a5	1007
cparata	0:e4f89df7a7a5	1008	switch( free_fall_status )
cparata	0:e4f89df7a7a5	1009	{
cparata	0:e4f89df7a7a5	1010	case LSM6DSL_ACC_GYRO_FF_EV_STATUS_DETECTED:
cparata	0:e4f89df7a7a5	1011	*status = 1;
cparata	0:e4f89df7a7a5	1012	break;
cparata	0:e4f89df7a7a5	1013	case LSM6DSL_ACC_GYRO_FF_EV_STATUS_NOT_DETECTED:
cparata	0:e4f89df7a7a5	1014	*status = 0;
cparata	0:e4f89df7a7a5	1015	break;
cparata	0:e4f89df7a7a5	1016	default:
cparata	0:e4f89df7a7a5	1017	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1018	}
cparata	0:e4f89df7a7a5	1019
cparata	0:e4f89df7a7a5	1020	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1021	}
cparata	0:e4f89df7a7a5	1022
cparata	0:e4f89df7a7a5	1023	/**
cparata	0:e4f89df7a7a5	1024	* @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1025	* @param thr the threshold to be set
cparata	0:e4f89df7a7a5	1026	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1027	*/
cparata	0:e4f89df7a7a5	1028	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Free_Fall_Threshold(uint8_t thr)
cparata	0:e4f89df7a7a5	1029	{
cparata	0:e4f89df7a7a5	1030
cparata	0:e4f89df7a7a5	1031	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1032	{
cparata	0:e4f89df7a7a5	1033	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1034	}
cparata	0:e4f89df7a7a5	1035
cparata	0:e4f89df7a7a5	1036	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1037	}
cparata	0:e4f89df7a7a5	1038
cparata	0:e4f89df7a7a5	1039	/**
cparata	0:e4f89df7a7a5	1040	* @brief Enable the pedometer feature for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1041	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:e4f89df7a7a5	1042	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1043	*/
cparata	0:e4f89df7a7a5	1044	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Pedometer(void)
cparata	0:e4f89df7a7a5	1045	{
cparata	0:e4f89df7a7a5	1046	/* Output Data Rate selection */
cparata	0:e4f89df7a7a5	1047	if( Set_X_ODR(26.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1048	{
cparata	0:e4f89df7a7a5	1049	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1050	}
cparata	0:e4f89df7a7a5	1051
cparata	0:e4f89df7a7a5	1052	/* Full scale selection. */
cparata	0:e4f89df7a7a5	1053	if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1054	{
cparata	0:e4f89df7a7a5	1055	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1056	}
cparata	0:e4f89df7a7a5	1057
cparata	0:e4f89df7a7a5	1058	/* Set pedometer threshold. */
cparata	0:e4f89df7a7a5	1059	if ( Set_Pedometer_Threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1060	{
cparata	0:e4f89df7a7a5	1061	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1062	}
cparata	0:e4f89df7a7a5	1063
cparata	0:e4f89df7a7a5	1064	/* Enable embedded functionalities. */
cparata	0:e4f89df7a7a5	1065	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1066	{
cparata	0:e4f89df7a7a5	1067	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1068	}
cparata	0:e4f89df7a7a5	1069
cparata	0:e4f89df7a7a5	1070	/* Enable pedometer algorithm. */
cparata	0:e4f89df7a7a5	1071	if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1072	{
cparata	0:e4f89df7a7a5	1073	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1074	}
cparata	0:e4f89df7a7a5	1075
cparata	0:e4f89df7a7a5	1076	/* Enable pedometer on INT1. */
cparata	0:e4f89df7a7a5	1077	if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1078	{
cparata	0:e4f89df7a7a5	1079	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1080	}
cparata	0:e4f89df7a7a5	1081
cparata	0:e4f89df7a7a5	1082	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1083	}
cparata	0:e4f89df7a7a5	1084
cparata	0:e4f89df7a7a5	1085	/**
cparata	0:e4f89df7a7a5	1086	* @brief Disable the pedometer feature for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1087	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1088	*/
cparata	0:e4f89df7a7a5	1089	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Pedometer(void)
cparata	0:e4f89df7a7a5	1090	{
cparata	0:e4f89df7a7a5	1091	/* Disable pedometer on INT1. */
cparata	0:e4f89df7a7a5	1092	if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1093	{
cparata	0:e4f89df7a7a5	1094	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1095	}
cparata	0:e4f89df7a7a5	1096
cparata	0:e4f89df7a7a5	1097	/* Disable pedometer algorithm. */
cparata	0:e4f89df7a7a5	1098	if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1099	{
cparata	0:e4f89df7a7a5	1100	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1101	}
cparata	0:e4f89df7a7a5	1102
cparata	0:e4f89df7a7a5	1103	/* Disable embedded functionalities. */
cparata	0:e4f89df7a7a5	1104	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1105	{
cparata	0:e4f89df7a7a5	1106	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1107	}
cparata	0:e4f89df7a7a5	1108
cparata	0:e4f89df7a7a5	1109	/* Reset pedometer threshold. */
cparata	0:e4f89df7a7a5	1110	if ( Set_Pedometer_Threshold(0x0) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1111	{
cparata	0:e4f89df7a7a5	1112	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1113	}
cparata	0:e4f89df7a7a5	1114
cparata	0:e4f89df7a7a5	1115	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1116	}
cparata	0:e4f89df7a7a5	1117
cparata	0:e4f89df7a7a5	1118	/**
cparata	0:e4f89df7a7a5	1119	* @brief Get the pedometer status for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1120	* @param status the pointer to the pedometer status: 0 means no step detected, 1 means step detected
cparata	0:e4f89df7a7a5	1121	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1122	*/
cparata	0:e4f89df7a7a5	1123	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Pedometer(uint8_t *status)
cparata	0:e4f89df7a7a5	1124	{
cparata	0:e4f89df7a7a5	1125	LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_t pedometer_status;
cparata	0:e4f89df7a7a5	1126
cparata	0:e4f89df7a7a5	1127	if ( LSM6DSL_ACC_GYRO_R_PEDO_EV_STATUS( (void *)this, &pedometer_status ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1128	{
cparata	0:e4f89df7a7a5	1129	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1130	}
cparata	0:e4f89df7a7a5	1131
cparata	0:e4f89df7a7a5	1132	switch( pedometer_status )
cparata	0:e4f89df7a7a5	1133	{
cparata	0:e4f89df7a7a5	1134	case LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_DETECTED:
cparata	0:e4f89df7a7a5	1135	*status = 1;
cparata	0:e4f89df7a7a5	1136	break;
cparata	0:e4f89df7a7a5	1137	case LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_NOT_DETECTED:
cparata	0:e4f89df7a7a5	1138	*status = 0;
cparata	0:e4f89df7a7a5	1139	break;
cparata	0:e4f89df7a7a5	1140	default:
cparata	0:e4f89df7a7a5	1141	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1142	}
cparata	0:e4f89df7a7a5	1143
cparata	0:e4f89df7a7a5	1144	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1145	}
cparata	0:e4f89df7a7a5	1146
cparata	0:e4f89df7a7a5	1147	/**
cparata	0:e4f89df7a7a5	1148	* @brief Get the step counter for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1149	* @param step_count the pointer to the step counter
cparata	0:e4f89df7a7a5	1150	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1151	*/
cparata	0:e4f89df7a7a5	1152	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Step_Counter(uint16_t *step_count)
cparata	0:e4f89df7a7a5	1153	{
cparata	0:e4f89df7a7a5	1154	if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void )this, ( uint8_t )step_count ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1155	{
cparata	0:e4f89df7a7a5	1156	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1157	}
cparata	0:e4f89df7a7a5	1158
cparata	0:e4f89df7a7a5	1159	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1160	}
cparata	0:e4f89df7a7a5	1161
cparata	0:e4f89df7a7a5	1162	/**
cparata	0:e4f89df7a7a5	1163	* @brief Reset of the step counter for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1164	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1165	*/
cparata	0:e4f89df7a7a5	1166	LSM6DSLStatusTypeDef LSM6DSLSensor::Reset_Step_Counter(void)
cparata	0:e4f89df7a7a5	1167	{
cparata	0:e4f89df7a7a5	1168	if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1169	{
cparata	0:e4f89df7a7a5	1170	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1171	}
cparata	0:e4f89df7a7a5	1172
cparata	0:e4f89df7a7a5	1173	wait_ms(10);
cparata	0:e4f89df7a7a5	1174
cparata	0:e4f89df7a7a5	1175	if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1176	{
cparata	0:e4f89df7a7a5	1177	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1178	}
cparata	0:e4f89df7a7a5	1179
cparata	0:e4f89df7a7a5	1180	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1181	}
cparata	0:e4f89df7a7a5	1182
cparata	0:e4f89df7a7a5	1183	/**
cparata	0:e4f89df7a7a5	1184	* @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1185	* @param thr the threshold to be set
cparata	0:e4f89df7a7a5	1186	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1187	*/
cparata	0:e4f89df7a7a5	1188	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Pedometer_Threshold(uint8_t thr)
cparata	0:e4f89df7a7a5	1189	{
cparata	0:e4f89df7a7a5	1190	if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1191	{
cparata	0:e4f89df7a7a5	1192	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1193	}
cparata	0:e4f89df7a7a5	1194
cparata	0:e4f89df7a7a5	1195	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1196	}
cparata	0:e4f89df7a7a5	1197
cparata	0:e4f89df7a7a5	1198	/**
cparata	0:e4f89df7a7a5	1199	* @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1200	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:e4f89df7a7a5	1201	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1202	*/
cparata	0:e4f89df7a7a5	1203	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Tilt_Detection(void)
cparata	0:e4f89df7a7a5	1204	{
cparata	0:e4f89df7a7a5	1205	/* Output Data Rate selection */
cparata	0:e4f89df7a7a5	1206	if( Set_X_ODR(26.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1207	{
cparata	0:e4f89df7a7a5	1208	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1209	}
cparata	0:e4f89df7a7a5	1210
cparata	0:e4f89df7a7a5	1211	/* Full scale selection. */
cparata	0:e4f89df7a7a5	1212	if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1213	{
cparata	0:e4f89df7a7a5	1214	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1215	}
cparata	0:e4f89df7a7a5	1216
cparata	0:e4f89df7a7a5	1217	/* Enable embedded functionalities */
cparata	0:e4f89df7a7a5	1218	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1219	{
cparata	0:e4f89df7a7a5	1220	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1221	}
cparata	0:e4f89df7a7a5	1222
cparata	0:e4f89df7a7a5	1223	/* Enable tilt calculation. */
cparata	0:e4f89df7a7a5	1224	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1225	{
cparata	0:e4f89df7a7a5	1226	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1227	}
cparata	0:e4f89df7a7a5	1228
cparata	0:e4f89df7a7a5	1229	/* Enable tilt event on INT1. */
cparata	0:e4f89df7a7a5	1230	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1231	{
cparata	0:e4f89df7a7a5	1232	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1233	}
cparata	0:e4f89df7a7a5	1234
cparata	0:e4f89df7a7a5	1235	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1236	}
cparata	0:e4f89df7a7a5	1237
cparata	0:e4f89df7a7a5	1238	/**
cparata	0:e4f89df7a7a5	1239	* @brief Disable the tilt detection for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1240	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1241	*/
cparata	0:e4f89df7a7a5	1242	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Tilt_Detection(void)
cparata	0:e4f89df7a7a5	1243	{
cparata	0:e4f89df7a7a5	1244	/* Disable tilt event on INT1. */
cparata	0:e4f89df7a7a5	1245	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_DISABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1246	{
cparata	0:e4f89df7a7a5	1247	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1248	}
cparata	0:e4f89df7a7a5	1249
cparata	0:e4f89df7a7a5	1250	/* Disable tilt calculation. */
cparata	0:e4f89df7a7a5	1251	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1252	{
cparata	0:e4f89df7a7a5	1253	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1254	}
cparata	0:e4f89df7a7a5	1255
cparata	0:e4f89df7a7a5	1256	/* Disable embedded functionalities */
cparata	0:e4f89df7a7a5	1257	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1258	{
cparata	0:e4f89df7a7a5	1259	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1260	}
cparata	0:e4f89df7a7a5	1261
cparata	0:e4f89df7a7a5	1262	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1263	}
cparata	0:e4f89df7a7a5	1264
cparata	0:e4f89df7a7a5	1265	/**
cparata	0:e4f89df7a7a5	1266	* @brief Get the tilt detection status for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1267	* @param status the pointer to the tilt detection status: 0 means no tilt detected, 1 means tilt detected
cparata	0:e4f89df7a7a5	1268	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1269	*/
cparata	0:e4f89df7a7a5	1270	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Tilt_Detection(uint8_t *status)
cparata	0:e4f89df7a7a5	1271	{
cparata	0:e4f89df7a7a5	1272	LSM6DSL_ACC_GYRO_TILT_EV_STATUS_t tilt_status;
cparata	0:e4f89df7a7a5	1273
cparata	0:e4f89df7a7a5	1274	if ( LSM6DSL_ACC_GYRO_R_TILT_EV_STATUS( (void *)this, &tilt_status ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1275	{
cparata	0:e4f89df7a7a5	1276	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1277	}
cparata	0:e4f89df7a7a5	1278
cparata	0:e4f89df7a7a5	1279	switch( tilt_status )
cparata	0:e4f89df7a7a5	1280	{
cparata	0:e4f89df7a7a5	1281	case LSM6DSL_ACC_GYRO_TILT_EV_STATUS_DETECTED:
cparata	0:e4f89df7a7a5	1282	*status = 1;
cparata	0:e4f89df7a7a5	1283	break;
cparata	0:e4f89df7a7a5	1284	case LSM6DSL_ACC_GYRO_TILT_EV_STATUS_NOT_DETECTED:
cparata	0:e4f89df7a7a5	1285	*status = 0;
cparata	0:e4f89df7a7a5	1286	break;
cparata	0:e4f89df7a7a5	1287	default:
cparata	0:e4f89df7a7a5	1288	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1289	}
cparata	0:e4f89df7a7a5	1290
cparata	0:e4f89df7a7a5	1291	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1292	}
cparata	0:e4f89df7a7a5	1293
cparata	0:e4f89df7a7a5	1294	/**
cparata	0:e4f89df7a7a5	1295	* @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1296	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:e4f89df7a7a5	1297	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1298	*/
cparata	0:e4f89df7a7a5	1299	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Wake_Up_Detection(void)
cparata	0:e4f89df7a7a5	1300	{
cparata	0:e4f89df7a7a5	1301	/* Output Data Rate selection */
cparata	0:e4f89df7a7a5	1302	if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1303	{
cparata	0:e4f89df7a7a5	1304	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1305	}
cparata	0:e4f89df7a7a5	1306
cparata	0:e4f89df7a7a5	1307	/* Full scale selection. */
cparata	0:e4f89df7a7a5	1308	if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1309	{
cparata	0:e4f89df7a7a5	1310	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1311	}
cparata	0:e4f89df7a7a5	1312
cparata	0:e4f89df7a7a5	1313	/* WAKE_DUR setting */
cparata	0:e4f89df7a7a5	1314	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1315	{
cparata	0:e4f89df7a7a5	1316	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1317	}
cparata	0:e4f89df7a7a5	1318
cparata	0:e4f89df7a7a5	1319	/* Set wake up threshold. */
cparata	0:e4f89df7a7a5	1320	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1321	{
cparata	0:e4f89df7a7a5	1322	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1323	}
cparata	0:e4f89df7a7a5	1324
cparata	0:e4f89df7a7a5	1325	/* Enable basic Interrupts */
cparata	0:e4f89df7a7a5	1326	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1327	{
cparata	0:e4f89df7a7a5	1328	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1329	}
cparata	0:e4f89df7a7a5	1330
cparata	0:e4f89df7a7a5	1331	/* INT1_WU setting */
cparata	0:e4f89df7a7a5	1332	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_ENABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1333	{
cparata	0:e4f89df7a7a5	1334	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1335	}
cparata	0:e4f89df7a7a5	1336
cparata	0:e4f89df7a7a5	1337	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1338	}
cparata	0:e4f89df7a7a5	1339
cparata	0:e4f89df7a7a5	1340	/**
cparata	0:e4f89df7a7a5	1341	* @brief Disable the wake up detection for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1342	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1343	*/
cparata	0:e4f89df7a7a5	1344	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Wake_Up_Detection(void)
cparata	0:e4f89df7a7a5	1345	{
cparata	0:e4f89df7a7a5	1346	/* INT1_WU setting */
cparata	0:e4f89df7a7a5	1347	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_DISABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1348	{
cparata	0:e4f89df7a7a5	1349	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1350	}
cparata	0:e4f89df7a7a5	1351
cparata	0:e4f89df7a7a5	1352	/* Disable basic Interrupts */
cparata	0:e4f89df7a7a5	1353	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1354	{
cparata	0:e4f89df7a7a5	1355	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1356	}
cparata	0:e4f89df7a7a5	1357
cparata	0:e4f89df7a7a5	1358	/* WU_DUR setting */
cparata	0:e4f89df7a7a5	1359	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1360	{
cparata	0:e4f89df7a7a5	1361	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1362	}
cparata	0:e4f89df7a7a5	1363
cparata	0:e4f89df7a7a5	1364	/* WU_THS setting */
cparata	0:e4f89df7a7a5	1365	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1366	{
cparata	0:e4f89df7a7a5	1367	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1368	}
cparata	0:e4f89df7a7a5	1369
cparata	0:e4f89df7a7a5	1370	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1371	}
cparata	0:e4f89df7a7a5	1372
cparata	0:e4f89df7a7a5	1373	/**
cparata	0:e4f89df7a7a5	1374	* @brief Get the status of the wake up detection for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1375	* @param status the pointer to the status of the wake up detection: 0 means no detection, 1 means detection happened
cparata	0:e4f89df7a7a5	1376	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1377	*/
cparata	0:e4f89df7a7a5	1378	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Wake_Up_Detection(uint8_t *status)
cparata	0:e4f89df7a7a5	1379	{
cparata	0:e4f89df7a7a5	1380	LSM6DSL_ACC_GYRO_WU_EV_STATUS_t wake_up_status;
cparata	0:e4f89df7a7a5	1381
cparata	0:e4f89df7a7a5	1382	if ( LSM6DSL_ACC_GYRO_R_WU_EV_STATUS( (void *)this, &wake_up_status ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1383	{
cparata	0:e4f89df7a7a5	1384	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1385	}
cparata	0:e4f89df7a7a5	1386
cparata	0:e4f89df7a7a5	1387	switch( wake_up_status )
cparata	0:e4f89df7a7a5	1388	{
cparata	0:e4f89df7a7a5	1389	case LSM6DSL_ACC_GYRO_WU_EV_STATUS_DETECTED:
cparata	0:e4f89df7a7a5	1390	*status = 1;
cparata	0:e4f89df7a7a5	1391	break;
cparata	0:e4f89df7a7a5	1392	case LSM6DSL_ACC_GYRO_WU_EV_STATUS_NOT_DETECTED:
cparata	0:e4f89df7a7a5	1393	*status = 0;
cparata	0:e4f89df7a7a5	1394	break;
cparata	0:e4f89df7a7a5	1395	default:
cparata	0:e4f89df7a7a5	1396	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1397	}
cparata	0:e4f89df7a7a5	1398
cparata	0:e4f89df7a7a5	1399	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1400	}
cparata	0:e4f89df7a7a5	1401
cparata	0:e4f89df7a7a5	1402	/**
cparata	0:e4f89df7a7a5	1403	* @brief Set the wake up threshold for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1404	* @param thr the threshold to be set
cparata	0:e4f89df7a7a5	1405	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1406	*/
cparata	0:e4f89df7a7a5	1407	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Wake_Up_Threshold(uint8_t thr)
cparata	0:e4f89df7a7a5	1408	{
cparata	0:e4f89df7a7a5	1409	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1410	{
cparata	0:e4f89df7a7a5	1411	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1412	}
cparata	0:e4f89df7a7a5	1413
cparata	0:e4f89df7a7a5	1414	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1415	}
cparata	0:e4f89df7a7a5	1416
cparata	0:e4f89df7a7a5	1417	/**
cparata	0:e4f89df7a7a5	1418	* @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1419	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:e4f89df7a7a5	1420	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1421	*/
cparata	0:e4f89df7a7a5	1422	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Single_Tap_Detection(void)
cparata	0:e4f89df7a7a5	1423	{
cparata	0:e4f89df7a7a5	1424	/* Output Data Rate selection */
cparata	0:e4f89df7a7a5	1425	if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1426	{
cparata	0:e4f89df7a7a5	1427	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1428	}
cparata	0:e4f89df7a7a5	1429
cparata	0:e4f89df7a7a5	1430	/* Full scale selection. */
cparata	0:e4f89df7a7a5	1431	if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1432	{
cparata	0:e4f89df7a7a5	1433	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1434	}
cparata	0:e4f89df7a7a5	1435
cparata	0:e4f89df7a7a5	1436	/* Enable X direction in tap recognition. */
cparata	0:e4f89df7a7a5	1437	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1438	{
cparata	0:e4f89df7a7a5	1439	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1440	}
cparata	0:e4f89df7a7a5	1441
cparata	0:e4f89df7a7a5	1442	/* Enable Y direction in tap recognition. */
cparata	0:e4f89df7a7a5	1443	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1444	{
cparata	0:e4f89df7a7a5	1445	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1446	}
cparata	0:e4f89df7a7a5	1447
cparata	0:e4f89df7a7a5	1448	/* Enable Z direction in tap recognition. */
cparata	0:e4f89df7a7a5	1449	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1450	{
cparata	0:e4f89df7a7a5	1451	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1452	}
cparata	0:e4f89df7a7a5	1453
cparata	0:e4f89df7a7a5	1454	/* Set tap threshold. */
cparata	0:e4f89df7a7a5	1455	if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1456	{
cparata	0:e4f89df7a7a5	1457	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1458	}
cparata	0:e4f89df7a7a5	1459
cparata	0:e4f89df7a7a5	1460	/* Set tap shock time window. */
cparata	0:e4f89df7a7a5	1461	if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1462	{
cparata	0:e4f89df7a7a5	1463	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1464	}
cparata	0:e4f89df7a7a5	1465
cparata	0:e4f89df7a7a5	1466	/* Set tap quiet time window. */
cparata	0:e4f89df7a7a5	1467	if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1468	{
cparata	0:e4f89df7a7a5	1469	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1470	}
cparata	0:e4f89df7a7a5	1471
cparata	0:e4f89df7a7a5	1472	/* _NOTE_: Tap duration time window - don't care for single tap. */
cparata	0:e4f89df7a7a5	1473
cparata	0:e4f89df7a7a5	1474	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata	0:e4f89df7a7a5	1475
cparata	0:e4f89df7a7a5	1476	/* Enable basic Interrupts */
cparata	0:e4f89df7a7a5	1477	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1478	{
cparata	0:e4f89df7a7a5	1479	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1480	}
cparata	0:e4f89df7a7a5	1481
cparata	0:e4f89df7a7a5	1482	/* Enable single tap interrupt on INT1 pin. */
cparata	0:e4f89df7a7a5	1483	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1484	{
cparata	0:e4f89df7a7a5	1485	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1486	}
cparata	0:e4f89df7a7a5	1487
cparata	0:e4f89df7a7a5	1488	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1489	}
cparata	0:e4f89df7a7a5	1490
cparata	0:e4f89df7a7a5	1491	/**
cparata	0:e4f89df7a7a5	1492	* @brief Disable the single tap detection for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1493	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1494	*/
cparata	0:e4f89df7a7a5	1495	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Single_Tap_Detection(void)
cparata	0:e4f89df7a7a5	1496	{
cparata	0:e4f89df7a7a5	1497	/* Disable single tap interrupt on INT1 pin. */
cparata	0:e4f89df7a7a5	1498	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1499	{
cparata	0:e4f89df7a7a5	1500	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1501	}
cparata	0:e4f89df7a7a5	1502
cparata	0:e4f89df7a7a5	1503	/* Disable basic Interrupts */
cparata	0:e4f89df7a7a5	1504	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1505	{
cparata	0:e4f89df7a7a5	1506	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1507	}
cparata	0:e4f89df7a7a5	1508
cparata	0:e4f89df7a7a5	1509	/* Reset tap threshold. */
cparata	0:e4f89df7a7a5	1510	if ( Set_Tap_Threshold( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1511	{
cparata	0:e4f89df7a7a5	1512	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1513	}
cparata	0:e4f89df7a7a5	1514
cparata	0:e4f89df7a7a5	1515	/* Reset tap shock time window. */
cparata	0:e4f89df7a7a5	1516	if ( Set_Tap_Shock_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1517	{
cparata	0:e4f89df7a7a5	1518	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1519	}
cparata	0:e4f89df7a7a5	1520
cparata	0:e4f89df7a7a5	1521	/* Reset tap quiet time window. */
cparata	0:e4f89df7a7a5	1522	if ( Set_Tap_Quiet_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1523	{
cparata	0:e4f89df7a7a5	1524	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1525	}
cparata	0:e4f89df7a7a5	1526
cparata	0:e4f89df7a7a5	1527	/* _NOTE_: Tap duration time window - don't care for single tap. */
cparata	0:e4f89df7a7a5	1528
cparata	0:e4f89df7a7a5	1529	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata	0:e4f89df7a7a5	1530
cparata	0:e4f89df7a7a5	1531	/* Disable Z direction in tap recognition. */
cparata	0:e4f89df7a7a5	1532	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1533	{
cparata	0:e4f89df7a7a5	1534	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1535	}
cparata	0:e4f89df7a7a5	1536
cparata	0:e4f89df7a7a5	1537	/* Disable Y direction in tap recognition. */
cparata	0:e4f89df7a7a5	1538	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1539	{
cparata	0:e4f89df7a7a5	1540	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1541	}
cparata	0:e4f89df7a7a5	1542
cparata	0:e4f89df7a7a5	1543	/* Disable X direction in tap recognition. */
cparata	0:e4f89df7a7a5	1544	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1545	{
cparata	0:e4f89df7a7a5	1546	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1547	}
cparata	0:e4f89df7a7a5	1548
cparata	0:e4f89df7a7a5	1549	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1550	}
cparata	0:e4f89df7a7a5	1551
cparata	0:e4f89df7a7a5	1552	/**
cparata	0:e4f89df7a7a5	1553	* @brief Get the single tap detection status for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1554	* @param status the pointer to the single tap detection status: 0 means no single tap detected, 1 means single tap detected
cparata	0:e4f89df7a7a5	1555	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1556	*/
cparata	0:e4f89df7a7a5	1557	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Single_Tap_Detection(uint8_t *status)
cparata	0:e4f89df7a7a5	1558	{
cparata	0:e4f89df7a7a5	1559	LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_t tap_status;
cparata	0:e4f89df7a7a5	1560
cparata	0:e4f89df7a7a5	1561	if ( LSM6DSL_ACC_GYRO_R_SINGLE_TAP_EV_STATUS( (void *)this, &tap_status ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1562	{
cparata	0:e4f89df7a7a5	1563	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1564	}
cparata	0:e4f89df7a7a5	1565
cparata	0:e4f89df7a7a5	1566	switch( tap_status )
cparata	0:e4f89df7a7a5	1567	{
cparata	0:e4f89df7a7a5	1568	case LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_DETECTED:
cparata	0:e4f89df7a7a5	1569	*status = 1;
cparata	0:e4f89df7a7a5	1570	break;
cparata	0:e4f89df7a7a5	1571
cparata	0:e4f89df7a7a5	1572	case LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_NOT_DETECTED:
cparata	0:e4f89df7a7a5	1573	*status = 0;
cparata	0:e4f89df7a7a5	1574	break;
cparata	0:e4f89df7a7a5	1575
cparata	0:e4f89df7a7a5	1576	default:
cparata	0:e4f89df7a7a5	1577	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1578	}
cparata	0:e4f89df7a7a5	1579
cparata	0:e4f89df7a7a5	1580	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1581	}
cparata	0:e4f89df7a7a5	1582
cparata	0:e4f89df7a7a5	1583	/**
cparata	0:e4f89df7a7a5	1584	* @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1585	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:e4f89df7a7a5	1586	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1587	*/
cparata	0:e4f89df7a7a5	1588	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Double_Tap_Detection(void)
cparata	0:e4f89df7a7a5	1589	{
cparata	0:e4f89df7a7a5	1590	/* Output Data Rate selection */
cparata	0:e4f89df7a7a5	1591	if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1592	{
cparata	0:e4f89df7a7a5	1593	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1594	}
cparata	0:e4f89df7a7a5	1595
cparata	0:e4f89df7a7a5	1596	/* Full scale selection. */
cparata	0:e4f89df7a7a5	1597	if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1598	{
cparata	0:e4f89df7a7a5	1599	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1600	}
cparata	0:e4f89df7a7a5	1601
cparata	0:e4f89df7a7a5	1602	/* Enable X direction in tap recognition. */
cparata	0:e4f89df7a7a5	1603	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1604	{
cparata	0:e4f89df7a7a5	1605	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1606	}
cparata	0:e4f89df7a7a5	1607
cparata	0:e4f89df7a7a5	1608	/* Enable Y direction in tap recognition. */
cparata	0:e4f89df7a7a5	1609	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1610	{
cparata	0:e4f89df7a7a5	1611	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1612	}
cparata	0:e4f89df7a7a5	1613
cparata	0:e4f89df7a7a5	1614	/* Enable Z direction in tap recognition. */
cparata	0:e4f89df7a7a5	1615	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1616	{
cparata	0:e4f89df7a7a5	1617	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1618	}
cparata	0:e4f89df7a7a5	1619
cparata	0:e4f89df7a7a5	1620	/* Set tap threshold. */
cparata	0:e4f89df7a7a5	1621	if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1622	{
cparata	0:e4f89df7a7a5	1623	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1624	}
cparata	0:e4f89df7a7a5	1625
cparata	0:e4f89df7a7a5	1626	/* Set tap shock time window. */
cparata	0:e4f89df7a7a5	1627	if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1628	{
cparata	0:e4f89df7a7a5	1629	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1630	}
cparata	0:e4f89df7a7a5	1631
cparata	0:e4f89df7a7a5	1632	/* Set tap quiet time window. */
cparata	0:e4f89df7a7a5	1633	if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1634	{
cparata	0:e4f89df7a7a5	1635	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1636	}
cparata	0:e4f89df7a7a5	1637
cparata	0:e4f89df7a7a5	1638	/* Set tap duration time window. */
cparata	0:e4f89df7a7a5	1639	if ( Set_Tap_Duration_Time( LSM6DSL_TAP_DURATION_TIME_MID ) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1640	{
cparata	0:e4f89df7a7a5	1641	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1642	}
cparata	0:e4f89df7a7a5	1643
cparata	0:e4f89df7a7a5	1644	/* Single and double tap enabled. */
cparata	0:e4f89df7a7a5	1645	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1646	{
cparata	0:e4f89df7a7a5	1647	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1648	}
cparata	0:e4f89df7a7a5	1649
cparata	0:e4f89df7a7a5	1650	/* Enable basic Interrupts */
cparata	0:e4f89df7a7a5	1651	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1652	{
cparata	0:e4f89df7a7a5	1653	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1654	}
cparata	0:e4f89df7a7a5	1655
cparata	0:e4f89df7a7a5	1656	/* Enable double tap interrupt on INT1 pin. */
cparata	0:e4f89df7a7a5	1657	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1658	{
cparata	0:e4f89df7a7a5	1659	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1660	}
cparata	0:e4f89df7a7a5	1661
cparata	0:e4f89df7a7a5	1662	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1663	}
cparata	0:e4f89df7a7a5	1664
cparata	0:e4f89df7a7a5	1665	/**
cparata	0:e4f89df7a7a5	1666	* @brief Disable the double tap detection for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1667	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1668	*/
cparata	0:e4f89df7a7a5	1669	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Double_Tap_Detection(void)
cparata	0:e4f89df7a7a5	1670	{
cparata	0:e4f89df7a7a5	1671	/* Disable double tap interrupt on INT1 pin. */
cparata	0:e4f89df7a7a5	1672	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1673	{
cparata	0:e4f89df7a7a5	1674	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1675	}
cparata	0:e4f89df7a7a5	1676
cparata	0:e4f89df7a7a5	1677	/* Disable basic Interrupts */
cparata	0:e4f89df7a7a5	1678	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1679	{
cparata	0:e4f89df7a7a5	1680	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1681	}
cparata	0:e4f89df7a7a5	1682
cparata	0:e4f89df7a7a5	1683	/* Reset tap threshold. */
cparata	0:e4f89df7a7a5	1684	if ( Set_Tap_Threshold( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1685	{
cparata	0:e4f89df7a7a5	1686	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1687	}
cparata	0:e4f89df7a7a5	1688
cparata	0:e4f89df7a7a5	1689	/* Reset tap shock time window. */
cparata	0:e4f89df7a7a5	1690	if ( Set_Tap_Shock_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1691	{
cparata	0:e4f89df7a7a5	1692	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1693	}
cparata	0:e4f89df7a7a5	1694
cparata	0:e4f89df7a7a5	1695	/* Reset tap quiet time window. */
cparata	0:e4f89df7a7a5	1696	if ( Set_Tap_Quiet_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1697	{
cparata	0:e4f89df7a7a5	1698	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1699	}
cparata	0:e4f89df7a7a5	1700
cparata	0:e4f89df7a7a5	1701	/* Reset tap duration time window. */
cparata	0:e4f89df7a7a5	1702	if ( Set_Tap_Duration_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1703	{
cparata	0:e4f89df7a7a5	1704	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1705	}
cparata	0:e4f89df7a7a5	1706
cparata	0:e4f89df7a7a5	1707	/* Only single tap enabled. */
cparata	0:e4f89df7a7a5	1708	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1709	{
cparata	0:e4f89df7a7a5	1710	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1711	}
cparata	0:e4f89df7a7a5	1712
cparata	0:e4f89df7a7a5	1713	/* Disable Z direction in tap recognition. */
cparata	0:e4f89df7a7a5	1714	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1715	{
cparata	0:e4f89df7a7a5	1716	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1717	}
cparata	0:e4f89df7a7a5	1718
cparata	0:e4f89df7a7a5	1719	/* Disable Y direction in tap recognition. */
cparata	0:e4f89df7a7a5	1720	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1721	{
cparata	0:e4f89df7a7a5	1722	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1723	}
cparata	0:e4f89df7a7a5	1724
cparata	0:e4f89df7a7a5	1725	/* Disable X direction in tap recognition. */
cparata	0:e4f89df7a7a5	1726	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1727	{
cparata	0:e4f89df7a7a5	1728	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1729	}
cparata	0:e4f89df7a7a5	1730
cparata	0:e4f89df7a7a5	1731	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1732	}
cparata	0:e4f89df7a7a5	1733
cparata	0:e4f89df7a7a5	1734	/**
cparata	0:e4f89df7a7a5	1735	* @brief Get the double tap detection status for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1736	* @param status the pointer to the double tap detection status: 0 means no double tap detected, 1 means double tap detected
cparata	0:e4f89df7a7a5	1737	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1738	*/
cparata	0:e4f89df7a7a5	1739	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Double_Tap_Detection(uint8_t *status)
cparata	0:e4f89df7a7a5	1740	{
cparata	0:e4f89df7a7a5	1741	LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_t tap_status;
cparata	0:e4f89df7a7a5	1742
cparata	0:e4f89df7a7a5	1743	if ( LSM6DSL_ACC_GYRO_R_DOUBLE_TAP_EV_STATUS( (void *)this, &tap_status ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1744	{
cparata	0:e4f89df7a7a5	1745	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1746	}
cparata	0:e4f89df7a7a5	1747
cparata	0:e4f89df7a7a5	1748	switch( tap_status )
cparata	0:e4f89df7a7a5	1749	{
cparata	0:e4f89df7a7a5	1750	case LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_DETECTED:
cparata	0:e4f89df7a7a5	1751	*status = 1;
cparata	0:e4f89df7a7a5	1752	break;
cparata	0:e4f89df7a7a5	1753
cparata	0:e4f89df7a7a5	1754	case LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_NOT_DETECTED:
cparata	0:e4f89df7a7a5	1755	*status = 0;
cparata	0:e4f89df7a7a5	1756	break;
cparata	0:e4f89df7a7a5	1757
cparata	0:e4f89df7a7a5	1758	default:
cparata	0:e4f89df7a7a5	1759	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1760	}
cparata	0:e4f89df7a7a5	1761
cparata	0:e4f89df7a7a5	1762	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1763	}
cparata	0:e4f89df7a7a5	1764
cparata	0:e4f89df7a7a5	1765	/**
cparata	0:e4f89df7a7a5	1766	* @brief Set the tap threshold for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1767	* @param thr the threshold to be set
cparata	0:e4f89df7a7a5	1768	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1769	*/
cparata	0:e4f89df7a7a5	1770	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Threshold(uint8_t thr)
cparata	0:e4f89df7a7a5	1771	{
cparata	0:e4f89df7a7a5	1772	if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1773	{
cparata	0:e4f89df7a7a5	1774	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1775	}
cparata	0:e4f89df7a7a5	1776
cparata	0:e4f89df7a7a5	1777	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1778	}
cparata	0:e4f89df7a7a5	1779
cparata	0:e4f89df7a7a5	1780	/**
cparata	0:e4f89df7a7a5	1781	* @brief Set the tap shock time window for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1782	* @param time the shock time window to be set
cparata	0:e4f89df7a7a5	1783	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1784	*/
cparata	0:e4f89df7a7a5	1785	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Shock_Time(uint8_t time)
cparata	0:e4f89df7a7a5	1786	{
cparata	0:e4f89df7a7a5	1787	if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1788	{
cparata	0:e4f89df7a7a5	1789	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1790	}
cparata	0:e4f89df7a7a5	1791
cparata	0:e4f89df7a7a5	1792	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1793	}
cparata	0:e4f89df7a7a5	1794
cparata	0:e4f89df7a7a5	1795	/**
cparata	0:e4f89df7a7a5	1796	* @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1797	* @param time the quiet time window to be set
cparata	0:e4f89df7a7a5	1798	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1799	*/
cparata	0:e4f89df7a7a5	1800	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Quiet_Time(uint8_t time)
cparata	0:e4f89df7a7a5	1801	{
cparata	0:e4f89df7a7a5	1802	if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1803	{
cparata	0:e4f89df7a7a5	1804	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1805	}
cparata	0:e4f89df7a7a5	1806
cparata	0:e4f89df7a7a5	1807	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1808	}
cparata	0:e4f89df7a7a5	1809
cparata	0:e4f89df7a7a5	1810	/**
cparata	0:e4f89df7a7a5	1811	* @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1812	* @param time the duration of the time window to be set
cparata	0:e4f89df7a7a5	1813	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1814	*/
cparata	0:e4f89df7a7a5	1815	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Duration_Time(uint8_t time)
cparata	0:e4f89df7a7a5	1816	{
cparata	0:e4f89df7a7a5	1817	if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1818	{
cparata	0:e4f89df7a7a5	1819	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1820	}
cparata	0:e4f89df7a7a5	1821
cparata	0:e4f89df7a7a5	1822	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1823	}
cparata	0:e4f89df7a7a5	1824
cparata	0:e4f89df7a7a5	1825	/**
cparata	0:e4f89df7a7a5	1826	* @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1827	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:e4f89df7a7a5	1828	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1829	*/
cparata	0:e4f89df7a7a5	1830	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_6D_Orientation(void)
cparata	0:e4f89df7a7a5	1831	{
cparata	0:e4f89df7a7a5	1832	/* Output Data Rate selection */
cparata	0:e4f89df7a7a5	1833	if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1834	{
cparata	0:e4f89df7a7a5	1835	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1836	}
cparata	0:e4f89df7a7a5	1837
cparata	0:e4f89df7a7a5	1838	/* Full scale selection. */
cparata	0:e4f89df7a7a5	1839	if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:e4f89df7a7a5	1840	{
cparata	0:e4f89df7a7a5	1841	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1842	}
cparata	0:e4f89df7a7a5	1843
cparata	0:e4f89df7a7a5	1844	/* Set 6D threshold. */
cparata	0:e4f89df7a7a5	1845	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1846	{
cparata	0:e4f89df7a7a5	1847	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1848	}
cparata	0:e4f89df7a7a5	1849
cparata	0:e4f89df7a7a5	1850	/* Enable basic Interrupts */
cparata	0:e4f89df7a7a5	1851	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1852	{
cparata	0:e4f89df7a7a5	1853	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1854	}
cparata	0:e4f89df7a7a5	1855
cparata	0:e4f89df7a7a5	1856	/* INT1_6D setting. */
cparata	0:e4f89df7a7a5	1857	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1858	{
cparata	0:e4f89df7a7a5	1859	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1860	}
cparata	0:e4f89df7a7a5	1861
cparata	0:e4f89df7a7a5	1862	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1863	}
cparata	0:e4f89df7a7a5	1864
cparata	0:e4f89df7a7a5	1865	/**
cparata	0:e4f89df7a7a5	1866	* @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1867	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1868	*/
cparata	0:e4f89df7a7a5	1869	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_6D_Orientation(void)
cparata	0:e4f89df7a7a5	1870	{
cparata	0:e4f89df7a7a5	1871	/* INT1_6D setting. */
cparata	0:e4f89df7a7a5	1872	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1873	{
cparata	0:e4f89df7a7a5	1874	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1875	}
cparata	0:e4f89df7a7a5	1876
cparata	0:e4f89df7a7a5	1877	/* Disable basic Interrupts */
cparata	0:e4f89df7a7a5	1878	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1879	{
cparata	0:e4f89df7a7a5	1880	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1881	}
cparata	0:e4f89df7a7a5	1882
cparata	0:e4f89df7a7a5	1883	/* Reset 6D threshold. */
cparata	0:e4f89df7a7a5	1884	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1885	{
cparata	0:e4f89df7a7a5	1886	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1887	}
cparata	0:e4f89df7a7a5	1888
cparata	0:e4f89df7a7a5	1889	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1890	}
cparata	0:e4f89df7a7a5	1891
cparata	0:e4f89df7a7a5	1892	/**
cparata	0:e4f89df7a7a5	1893	* @brief Get the status of the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1894	* @param status the pointer to the status of the 6D orientation detection: 0 means no detection, 1 means detection happened
cparata	0:e4f89df7a7a5	1895	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1896	*/
cparata	0:e4f89df7a7a5	1897	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_6D_Orientation(uint8_t *status)
cparata	0:e4f89df7a7a5	1898	{
cparata	0:e4f89df7a7a5	1899	LSM6DSL_ACC_GYRO_D6D_EV_STATUS_t status_raw;
cparata	0:e4f89df7a7a5	1900
cparata	0:e4f89df7a7a5	1901	if ( LSM6DSL_ACC_GYRO_R_D6D_EV_STATUS( (void *)this, &status_raw ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1902	{
cparata	0:e4f89df7a7a5	1903	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1904	}
cparata	0:e4f89df7a7a5	1905
cparata	0:e4f89df7a7a5	1906	switch( status_raw )
cparata	0:e4f89df7a7a5	1907	{
cparata	0:e4f89df7a7a5	1908	case LSM6DSL_ACC_GYRO_D6D_EV_STATUS_DETECTED:
cparata	0:e4f89df7a7a5	1909	*status = 1;
cparata	0:e4f89df7a7a5	1910	break;
cparata	0:e4f89df7a7a5	1911	case LSM6DSL_ACC_GYRO_D6D_EV_STATUS_NOT_DETECTED:
cparata	0:e4f89df7a7a5	1912	*status = 0;
cparata	0:e4f89df7a7a5	1913	break;
cparata	0:e4f89df7a7a5	1914	default:
cparata	0:e4f89df7a7a5	1915	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1916	}
cparata	0:e4f89df7a7a5	1917
cparata	0:e4f89df7a7a5	1918	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1919	}
cparata	0:e4f89df7a7a5	1920
cparata	0:e4f89df7a7a5	1921	/**
cparata	0:e4f89df7a7a5	1922	* @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1923	* @param xl the pointer to the 6D orientation XL axis
cparata	0:e4f89df7a7a5	1924	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1925	*/
cparata	0:e4f89df7a7a5	1926	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_XL(uint8_t *xl)
cparata	0:e4f89df7a7a5	1927	{
cparata	0:e4f89df7a7a5	1928	LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
cparata	0:e4f89df7a7a5	1929
cparata	0:e4f89df7a7a5	1930	if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1931	{
cparata	0:e4f89df7a7a5	1932	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1933	}
cparata	0:e4f89df7a7a5	1934
cparata	0:e4f89df7a7a5	1935	switch( xl_raw )
cparata	0:e4f89df7a7a5	1936	{
cparata	0:e4f89df7a7a5	1937	case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
cparata	0:e4f89df7a7a5	1938	*xl = 1;
cparata	0:e4f89df7a7a5	1939	break;
cparata	0:e4f89df7a7a5	1940	case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
cparata	0:e4f89df7a7a5	1941	*xl = 0;
cparata	0:e4f89df7a7a5	1942	break;
cparata	0:e4f89df7a7a5	1943	default:
cparata	0:e4f89df7a7a5	1944	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1945	}
cparata	0:e4f89df7a7a5	1946
cparata	0:e4f89df7a7a5	1947	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1948	}
cparata	0:e4f89df7a7a5	1949
cparata	0:e4f89df7a7a5	1950	/**
cparata	0:e4f89df7a7a5	1951	* @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1952	* @param xh the pointer to the 6D orientation XH axis
cparata	0:e4f89df7a7a5	1953	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1954	*/
cparata	0:e4f89df7a7a5	1955	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_XH(uint8_t *xh)
cparata	0:e4f89df7a7a5	1956	{
cparata	0:e4f89df7a7a5	1957	LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
cparata	0:e4f89df7a7a5	1958
cparata	0:e4f89df7a7a5	1959	if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1960	{
cparata	0:e4f89df7a7a5	1961	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1962	}
cparata	0:e4f89df7a7a5	1963
cparata	0:e4f89df7a7a5	1964	switch( xh_raw )
cparata	0:e4f89df7a7a5	1965	{
cparata	0:e4f89df7a7a5	1966	case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
cparata	0:e4f89df7a7a5	1967	*xh = 1;
cparata	0:e4f89df7a7a5	1968	break;
cparata	0:e4f89df7a7a5	1969	case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
cparata	0:e4f89df7a7a5	1970	*xh = 0;
cparata	0:e4f89df7a7a5	1971	break;
cparata	0:e4f89df7a7a5	1972	default:
cparata	0:e4f89df7a7a5	1973	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1974	}
cparata	0:e4f89df7a7a5	1975
cparata	0:e4f89df7a7a5	1976	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	1977	}
cparata	0:e4f89df7a7a5	1978
cparata	0:e4f89df7a7a5	1979	/**
cparata	0:e4f89df7a7a5	1980	* @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	1981	* @param yl the pointer to the 6D orientation YL axis
cparata	0:e4f89df7a7a5	1982	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	1983	*/
cparata	0:e4f89df7a7a5	1984	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_YL(uint8_t *yl)
cparata	0:e4f89df7a7a5	1985	{
cparata	0:e4f89df7a7a5	1986	LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
cparata	0:e4f89df7a7a5	1987
cparata	0:e4f89df7a7a5	1988	if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	1989	{
cparata	0:e4f89df7a7a5	1990	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	1991	}
cparata	0:e4f89df7a7a5	1992
cparata	0:e4f89df7a7a5	1993	switch( yl_raw )
cparata	0:e4f89df7a7a5	1994	{
cparata	0:e4f89df7a7a5	1995	case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
cparata	0:e4f89df7a7a5	1996	*yl = 1;
cparata	0:e4f89df7a7a5	1997	break;
cparata	0:e4f89df7a7a5	1998	case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
cparata	0:e4f89df7a7a5	1999	*yl = 0;
cparata	0:e4f89df7a7a5	2000	break;
cparata	0:e4f89df7a7a5	2001	default:
cparata	0:e4f89df7a7a5	2002	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	2003	}
cparata	0:e4f89df7a7a5	2004
cparata	0:e4f89df7a7a5	2005	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	2006	}
cparata	0:e4f89df7a7a5	2007
cparata	0:e4f89df7a7a5	2008	/**
cparata	0:e4f89df7a7a5	2009	* @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	2010	* @param yh the pointer to the 6D orientation YH axis
cparata	0:e4f89df7a7a5	2011	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	2012	*/
cparata	0:e4f89df7a7a5	2013	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_YH(uint8_t *yh)
cparata	0:e4f89df7a7a5	2014	{
cparata	0:e4f89df7a7a5	2015	LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
cparata	0:e4f89df7a7a5	2016
cparata	0:e4f89df7a7a5	2017	if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	2018	{
cparata	0:e4f89df7a7a5	2019	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	2020	}
cparata	0:e4f89df7a7a5	2021
cparata	0:e4f89df7a7a5	2022	switch( yh_raw )
cparata	0:e4f89df7a7a5	2023	{
cparata	0:e4f89df7a7a5	2024	case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
cparata	0:e4f89df7a7a5	2025	*yh = 1;
cparata	0:e4f89df7a7a5	2026	break;
cparata	0:e4f89df7a7a5	2027	case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
cparata	0:e4f89df7a7a5	2028	*yh = 0;
cparata	0:e4f89df7a7a5	2029	break;
cparata	0:e4f89df7a7a5	2030	default:
cparata	0:e4f89df7a7a5	2031	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	2032	}
cparata	0:e4f89df7a7a5	2033
cparata	0:e4f89df7a7a5	2034	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	2035	}
cparata	0:e4f89df7a7a5	2036
cparata	0:e4f89df7a7a5	2037	/**
cparata	0:e4f89df7a7a5	2038	* @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	2039	* @param zl the pointer to the 6D orientation ZL axis
cparata	0:e4f89df7a7a5	2040	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	2041	*/
cparata	0:e4f89df7a7a5	2042	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_ZL(uint8_t *zl)
cparata	0:e4f89df7a7a5	2043	{
cparata	0:e4f89df7a7a5	2044	LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
cparata	0:e4f89df7a7a5	2045
cparata	0:e4f89df7a7a5	2046	if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	2047	{
cparata	0:e4f89df7a7a5	2048	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	2049	}
cparata	0:e4f89df7a7a5	2050
cparata	0:e4f89df7a7a5	2051	switch( zl_raw )
cparata	0:e4f89df7a7a5	2052	{
cparata	0:e4f89df7a7a5	2053	case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
cparata	0:e4f89df7a7a5	2054	*zl = 1;
cparata	0:e4f89df7a7a5	2055	break;
cparata	0:e4f89df7a7a5	2056	case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
cparata	0:e4f89df7a7a5	2057	*zl = 0;
cparata	0:e4f89df7a7a5	2058	break;
cparata	0:e4f89df7a7a5	2059	default:
cparata	0:e4f89df7a7a5	2060	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	2061	}
cparata	0:e4f89df7a7a5	2062
cparata	0:e4f89df7a7a5	2063	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	2064	}
cparata	0:e4f89df7a7a5	2065
cparata	0:e4f89df7a7a5	2066	/**
cparata	0:e4f89df7a7a5	2067	* @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
cparata	0:e4f89df7a7a5	2068	* @param zh the pointer to the 6D orientation ZH axis
cparata	0:e4f89df7a7a5	2069	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:e4f89df7a7a5	2070	*/
cparata	0:e4f89df7a7a5	2071	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_ZH(uint8_t *zh)
cparata	0:e4f89df7a7a5	2072	{
cparata	0:e4f89df7a7a5	2073	LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
cparata	0:e4f89df7a7a5	2074
cparata	0:e4f89df7a7a5	2075	if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	2076	{
cparata	0:e4f89df7a7a5	2077	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	2078	}
cparata	0:e4f89df7a7a5	2079
cparata	0:e4f89df7a7a5	2080	switch( zh_raw )
cparata	0:e4f89df7a7a5	2081	{
cparata	0:e4f89df7a7a5	2082	case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
cparata	0:e4f89df7a7a5	2083	*zh = 1;
cparata	0:e4f89df7a7a5	2084	break;
cparata	0:e4f89df7a7a5	2085	case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
cparata	0:e4f89df7a7a5	2086	*zh = 0;
cparata	0:e4f89df7a7a5	2087	break;
cparata	0:e4f89df7a7a5	2088	default:
cparata	0:e4f89df7a7a5	2089	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	2090	}
cparata	0:e4f89df7a7a5	2091
cparata	0:e4f89df7a7a5	2092	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	2093	}
cparata	0:e4f89df7a7a5	2094
cparata	0:e4f89df7a7a5	2095	/**
cparata	0:e4f89df7a7a5	2096	* @brief Read the data from register
cparata	0:e4f89df7a7a5	2097	* @param reg register address
cparata	0:e4f89df7a7a5	2098	* @param data register data
cparata	0:e4f89df7a7a5	2099	* @retval LSM6DSL_STATUS_OK in case of success
cparata	0:e4f89df7a7a5	2100	* @retval LSM6DSL_STATUS_ERROR in case of failure
cparata	0:e4f89df7a7a5	2101	*/
cparata	0:e4f89df7a7a5	2102	LSM6DSLStatusTypeDef LSM6DSLSensor::ReadReg( uint8_t reg, uint8_t *data )
cparata	0:e4f89df7a7a5	2103	{
cparata	0:e4f89df7a7a5	2104
cparata	0:e4f89df7a7a5	2105	if ( LSM6DSL_ACC_GYRO_ReadReg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	2106	{
cparata	0:e4f89df7a7a5	2107	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	2108	}
cparata	0:e4f89df7a7a5	2109
cparata	0:e4f89df7a7a5	2110	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	2111	}
cparata	0:e4f89df7a7a5	2112
cparata	0:e4f89df7a7a5	2113	/**
cparata	0:e4f89df7a7a5	2114	* @brief Write the data to register
cparata	0:e4f89df7a7a5	2115	* @param reg register address
cparata	0:e4f89df7a7a5	2116	* @param data register data
cparata	0:e4f89df7a7a5	2117	* @retval LSM6DSL_STATUS_OK in case of success
cparata	0:e4f89df7a7a5	2118	* @retval LSM6DSL_STATUS_ERROR in case of failure
cparata	0:e4f89df7a7a5	2119	*/
cparata	0:e4f89df7a7a5	2120	LSM6DSLStatusTypeDef LSM6DSLSensor::WriteReg( uint8_t reg, uint8_t data )
cparata	0:e4f89df7a7a5	2121	{
cparata	0:e4f89df7a7a5	2122
cparata	0:e4f89df7a7a5	2123	if ( LSM6DSL_ACC_GYRO_WriteReg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
cparata	0:e4f89df7a7a5	2124	{
cparata	0:e4f89df7a7a5	2125	return LSM6DSL_STATUS_ERROR;
cparata	0:e4f89df7a7a5	2126	}
cparata	0:e4f89df7a7a5	2127
cparata	0:e4f89df7a7a5	2128	return LSM6DSL_STATUS_OK;
cparata	0:e4f89df7a7a5	2129	}
cparata	0:e4f89df7a7a5	2130
cparata	0:e4f89df7a7a5	2131
cparata	0:e4f89df7a7a5	2132	uint8_t LSM6DSL_IO_Write( void handle, uint8_t WriteAddr, uint8_t pBuffer, uint16_t nBytesToWrite )
cparata	0:e4f89df7a7a5	2133	{
cparata	0:e4f89df7a7a5	2134	return ((LSM6DSLSensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata	0:e4f89df7a7a5	2135	}
cparata	0:e4f89df7a7a5	2136
cparata	0:e4f89df7a7a5	2137	uint8_t LSM6DSL_IO_Read( void handle, uint8_t ReadAddr, uint8_t pBuffer, uint16_t nBytesToRead )
cparata	0:e4f89df7a7a5	2138	{
cparata	0:e4f89df7a7a5	2139	return ((LSM6DSLSensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata	0:e4f89df7a7a5	2140	}

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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@0:e4f89df7a7a5, 2016-08-12 (annotated)

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