Tilt_IKS01A2 - Example of tilt detection for LSM6DSL in X-NUCLEO…

ST » Code » Tilt_IKS01A2

Example of tilt detection for LSM6DSL in X-NUCLEO-IKS01A2

Fork of Tilt_IKS01A2 by ST Expansion SW Team

Tilt Detection Demo Application based on sensor expansion board X-NUCLEO-IKS01A2

Main function is to show how to detect the tilt event 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 tilt the board and then view the notification using an hyper terminal. When the tilt event is detected, the LED is switched on for a while.
- the user button can be used to enable/disable the tilt detection feature.

X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.cpp@7:369954b853d4, 2016-11-24 (annotated)

Committer:: cparata
Date:: Thu Nov 24 16:46:13 2016 +0000
Revision:: 7:369954b853d4
Parent:: 6:54b10a8fb90f

Add possibility to choose the interrupt line for HW events

Who changed what in which revision?

User	Revision	Line number	New contents of line
cparata	2:39ad2a393143	1	/**
cparata	2:39ad2a393143	2	******************************************************************************
cparata	2:39ad2a393143	3	* @file LSM6DSLSensor.cpp
cparata	2:39ad2a393143	4	* @author AST
cparata	2:39ad2a393143	5	* @version V1.0.0
cparata	2:39ad2a393143	6	* @date 5 August 2016
cparata	2:39ad2a393143	7	* @brief Implementation of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
cparata	2:39ad2a393143	8	* sensor.
cparata	2:39ad2a393143	9	******************************************************************************
cparata	2:39ad2a393143	10	* @attention
cparata	2:39ad2a393143	11	*
cparata	2:39ad2a393143	12	* <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata	2:39ad2a393143	13	*
cparata	2:39ad2a393143	14	* Redistribution and use in source and binary forms, with or without modification,
cparata	2:39ad2a393143	15	* are permitted provided that the following conditions are met:
cparata	2:39ad2a393143	16	* 1. Redistributions of source code must retain the above copyright notice,
cparata	2:39ad2a393143	17	* this list of conditions and the following disclaimer.
cparata	2:39ad2a393143	18	* 2. Redistributions in binary form must reproduce the above copyright notice,
cparata	2:39ad2a393143	19	* this list of conditions and the following disclaimer in the documentation
cparata	2:39ad2a393143	20	* and/or other materials provided with the distribution.
cparata	2:39ad2a393143	21	* 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata	2:39ad2a393143	22	* may be used to endorse or promote products derived from this software
cparata	2:39ad2a393143	23	* without specific prior written permission.
cparata	2:39ad2a393143	24	*
cparata	2:39ad2a393143	25	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata	2:39ad2a393143	26	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata	2:39ad2a393143	27	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata	2:39ad2a393143	28	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata	2:39ad2a393143	29	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata	2:39ad2a393143	30	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata	2:39ad2a393143	31	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata	2:39ad2a393143	32	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata	2:39ad2a393143	33	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata	2:39ad2a393143	34	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata	2:39ad2a393143	35	*
cparata	2:39ad2a393143	36	******************************************************************************
cparata	2:39ad2a393143	37	*/
cparata	2:39ad2a393143	38
cparata	2:39ad2a393143	39
cparata	2:39ad2a393143	40	/* Includes ------------------------------------------------------------------*/
cparata	2:39ad2a393143	41
cparata	2:39ad2a393143	42	#include "mbed.h"
cparata	2:39ad2a393143	43	#include "DevI2C.h"
cparata	2:39ad2a393143	44	#include "LSM6DSLSensor.h"
cparata	2:39ad2a393143	45	#include "LSM6DSL_ACC_GYRO_driver.h"
cparata	2:39ad2a393143	46
cparata	2:39ad2a393143	47
cparata	2:39ad2a393143	48	/* Class Implementation ------------------------------------------------------*/
cparata	2:39ad2a393143	49
cparata	2:39ad2a393143	50	/** Constructor
cparata	2:39ad2a393143	51	* @param i2c object of an helper class which handles the I2C peripheral
cparata	2:39ad2a393143	52	* @param address the address of the component's instance
cparata	2:39ad2a393143	53	*/
cparata	6:54b10a8fb90f	54	LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, PinName INT1_pin, PinName INT2_pin) : dev_i2c(i2c), INT1_irq(INT1_pin), INT2_irq(INT2_pin)
cparata	2:39ad2a393143	55	{
cparata	2:39ad2a393143	56	address = LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH;
cparata	2:39ad2a393143	57	};
cparata	2:39ad2a393143	58
cparata	2:39ad2a393143	59	/** Constructor
cparata	2:39ad2a393143	60	* @param i2c object of an helper class which handles the I2C peripheral
cparata	2:39ad2a393143	61	* @param address the address of the component's instance
cparata	2:39ad2a393143	62	*/
cparata	6:54b10a8fb90f	63	LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, PinName INT1_pin, PinName INT2_pin, uint8_t address) : dev_i2c(i2c), INT1_irq(INT1_pin), INT2_irq(INT2_pin), address(address)
cparata	2:39ad2a393143	64	{
cparata	2:39ad2a393143	65
cparata	2:39ad2a393143	66	};
cparata	2:39ad2a393143	67
cparata	2:39ad2a393143	68	/**
cparata	2:39ad2a393143	69	* @brief Initializing the component.
cparata	2:39ad2a393143	70	* @param[in] init pointer to device specific initalization structure.
cparata	2:39ad2a393143	71	* @retval "0" in case of success, an error code otherwise.
cparata	2:39ad2a393143	72	*/
cparata	2:39ad2a393143	73	int LSM6DSLSensor::Init(void *init)
cparata	2:39ad2a393143	74	{
cparata	2:39ad2a393143	75	/* Enable register address automatically incremented during a multiple byte
cparata	2:39ad2a393143	76	access with a serial interface. */
cparata	2:39ad2a393143	77	if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	78	{
cparata	2:39ad2a393143	79	return 1;
cparata	2:39ad2a393143	80	}
cparata	2:39ad2a393143	81
cparata	2:39ad2a393143	82	/* Enable BDU */
cparata	2:39ad2a393143	83	if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
cparata	2:39ad2a393143	84	{
cparata	2:39ad2a393143	85	return 1;
cparata	2:39ad2a393143	86	}
cparata	2:39ad2a393143	87
cparata	2:39ad2a393143	88	/* FIFO mode selection */
cparata	2:39ad2a393143	89	if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
cparata	2:39ad2a393143	90	{
cparata	2:39ad2a393143	91	return 1;
cparata	2:39ad2a393143	92	}
cparata	2:39ad2a393143	93
cparata	2:39ad2a393143	94	/* Output data rate selection - power down. */
cparata	2:39ad2a393143	95	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata	2:39ad2a393143	96	{
cparata	2:39ad2a393143	97	return 1;
cparata	2:39ad2a393143	98	}
cparata	2:39ad2a393143	99
cparata	2:39ad2a393143	100	/* Full scale selection. */
cparata	2:39ad2a393143	101	if ( Set_X_FS( 2.0f ) == 1 )
cparata	2:39ad2a393143	102	{
cparata	2:39ad2a393143	103	return 1;
cparata	2:39ad2a393143	104	}
cparata	2:39ad2a393143	105
cparata	2:39ad2a393143	106	/* Output data rate selection - power down */
cparata	2:39ad2a393143	107	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata	2:39ad2a393143	108	{
cparata	2:39ad2a393143	109	return 1;
cparata	2:39ad2a393143	110	}
cparata	2:39ad2a393143	111
cparata	2:39ad2a393143	112	/* Full scale selection. */
cparata	2:39ad2a393143	113	if ( Set_G_FS( 2000.0f ) == 1 )
cparata	2:39ad2a393143	114	{
cparata	2:39ad2a393143	115	return 1;
cparata	2:39ad2a393143	116	}
cparata	2:39ad2a393143	117
cparata	2:39ad2a393143	118	X_Last_ODR = 104.0f;
cparata	2:39ad2a393143	119
cparata	2:39ad2a393143	120	X_isEnabled = 0;
cparata	2:39ad2a393143	121
cparata	2:39ad2a393143	122	G_Last_ODR = 104.0f;
cparata	2:39ad2a393143	123
cparata	2:39ad2a393143	124	G_isEnabled = 0;
cparata	2:39ad2a393143	125
cparata	2:39ad2a393143	126	return 0;
cparata	2:39ad2a393143	127	}
cparata	2:39ad2a393143	128
cparata	2:39ad2a393143	129	/**
cparata	2:39ad2a393143	130	* @brief Enable LSM6DSL Accelerator
cparata	2:39ad2a393143	131	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	132	*/
cparata	2:39ad2a393143	133	int LSM6DSLSensor::Enable_X(void)
cparata	2:39ad2a393143	134	{
cparata	2:39ad2a393143	135	/* Check if the component is already enabled */
cparata	2:39ad2a393143	136	if ( X_isEnabled == 1 )
cparata	2:39ad2a393143	137	{
cparata	2:39ad2a393143	138	return 0;
cparata	2:39ad2a393143	139	}
cparata	2:39ad2a393143	140
cparata	2:39ad2a393143	141	/* Output data rate selection. */
cparata	2:39ad2a393143	142	if ( Set_X_ODR_When_Enabled( X_Last_ODR ) == 1 )
cparata	2:39ad2a393143	143	{
cparata	2:39ad2a393143	144	return 1;
cparata	2:39ad2a393143	145	}
cparata	2:39ad2a393143	146
cparata	2:39ad2a393143	147	X_isEnabled = 1;
cparata	2:39ad2a393143	148
cparata	2:39ad2a393143	149	return 0;
cparata	2:39ad2a393143	150	}
cparata	2:39ad2a393143	151
cparata	2:39ad2a393143	152	/**
cparata	2:39ad2a393143	153	* @brief Enable LSM6DSL Gyroscope
cparata	2:39ad2a393143	154	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	155	*/
cparata	2:39ad2a393143	156	int LSM6DSLSensor::Enable_G(void)
cparata	2:39ad2a393143	157	{
cparata	2:39ad2a393143	158	/* Check if the component is already enabled */
cparata	2:39ad2a393143	159	if ( G_isEnabled == 1 )
cparata	2:39ad2a393143	160	{
cparata	2:39ad2a393143	161	return 0;
cparata	2:39ad2a393143	162	}
cparata	2:39ad2a393143	163
cparata	2:39ad2a393143	164	/* Output data rate selection. */
cparata	2:39ad2a393143	165	if ( Set_G_ODR_When_Enabled( G_Last_ODR ) == 1 )
cparata	2:39ad2a393143	166	{
cparata	2:39ad2a393143	167	return 1;
cparata	2:39ad2a393143	168	}
cparata	2:39ad2a393143	169
cparata	2:39ad2a393143	170	G_isEnabled = 1;
cparata	2:39ad2a393143	171
cparata	2:39ad2a393143	172	return 0;
cparata	2:39ad2a393143	173	}
cparata	2:39ad2a393143	174
cparata	2:39ad2a393143	175	/**
cparata	2:39ad2a393143	176	* @brief Disable LSM6DSL Accelerator
cparata	2:39ad2a393143	177	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	178	*/
cparata	2:39ad2a393143	179	int LSM6DSLSensor::Disable_X(void)
cparata	2:39ad2a393143	180	{
cparata	2:39ad2a393143	181	/* Check if the component is already disabled */
cparata	2:39ad2a393143	182	if ( X_isEnabled == 0 )
cparata	2:39ad2a393143	183	{
cparata	2:39ad2a393143	184	return 0;
cparata	2:39ad2a393143	185	}
cparata	2:39ad2a393143	186
cparata	2:39ad2a393143	187	/* Store actual output data rate. */
cparata	2:39ad2a393143	188	if ( Get_X_ODR( &X_Last_ODR ) == 1 )
cparata	2:39ad2a393143	189	{
cparata	2:39ad2a393143	190	return 1;
cparata	2:39ad2a393143	191	}
cparata	2:39ad2a393143	192
cparata	2:39ad2a393143	193	/* Output data rate selection - power down. */
cparata	2:39ad2a393143	194	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata	2:39ad2a393143	195	{
cparata	2:39ad2a393143	196	return 1;
cparata	2:39ad2a393143	197	}
cparata	2:39ad2a393143	198
cparata	2:39ad2a393143	199	X_isEnabled = 0;
cparata	2:39ad2a393143	200
cparata	2:39ad2a393143	201	return 0;
cparata	2:39ad2a393143	202	}
cparata	2:39ad2a393143	203
cparata	2:39ad2a393143	204	/**
cparata	2:39ad2a393143	205	* @brief Disable LSM6DSL Gyroscope
cparata	2:39ad2a393143	206	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	207	*/
cparata	2:39ad2a393143	208	int LSM6DSLSensor::Disable_G(void)
cparata	2:39ad2a393143	209	{
cparata	2:39ad2a393143	210	/* Check if the component is already disabled */
cparata	2:39ad2a393143	211	if ( G_isEnabled == 0 )
cparata	2:39ad2a393143	212	{
cparata	2:39ad2a393143	213	return 0;
cparata	2:39ad2a393143	214	}
cparata	2:39ad2a393143	215
cparata	2:39ad2a393143	216	/* Store actual output data rate. */
cparata	2:39ad2a393143	217	if ( Get_G_ODR( &G_Last_ODR ) == 1 )
cparata	2:39ad2a393143	218	{
cparata	2:39ad2a393143	219	return 1;
cparata	2:39ad2a393143	220	}
cparata	2:39ad2a393143	221
cparata	2:39ad2a393143	222	/* Output data rate selection - power down */
cparata	2:39ad2a393143	223	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata	2:39ad2a393143	224	{
cparata	2:39ad2a393143	225	return 1;
cparata	2:39ad2a393143	226	}
cparata	2:39ad2a393143	227
cparata	2:39ad2a393143	228	G_isEnabled = 0;
cparata	2:39ad2a393143	229
cparata	2:39ad2a393143	230	return 0;
cparata	2:39ad2a393143	231	}
cparata	2:39ad2a393143	232
cparata	2:39ad2a393143	233	/**
cparata	2:39ad2a393143	234	* @brief Read ID of LSM6DSL Accelerometer and Gyroscope
cparata	2:39ad2a393143	235	* @param p_id the pointer where the ID of the device is stored
cparata	2:39ad2a393143	236	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	237	*/
cparata	2:39ad2a393143	238	int LSM6DSLSensor::ReadID(uint8_t *id)
cparata	2:39ad2a393143	239	{
cparata	2:39ad2a393143	240	if(!id)
cparata	2:39ad2a393143	241	{
cparata	2:39ad2a393143	242	return 1;
cparata	2:39ad2a393143	243	}
cparata	2:39ad2a393143	244
cparata	2:39ad2a393143	245	/* Read WHO AM I register */
cparata	2:39ad2a393143	246	if ( LSM6DSL_ACC_GYRO_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
cparata	2:39ad2a393143	247	{
cparata	2:39ad2a393143	248	return 1;
cparata	2:39ad2a393143	249	}
cparata	2:39ad2a393143	250
cparata	2:39ad2a393143	251	return 0;
cparata	2:39ad2a393143	252	}
cparata	2:39ad2a393143	253
cparata	2:39ad2a393143	254	/**
cparata	2:39ad2a393143	255	* @brief Read data from LSM6DSL Accelerometer
cparata	2:39ad2a393143	256	* @param pData the pointer where the accelerometer data are stored
cparata	2:39ad2a393143	257	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	258	*/
cparata	2:39ad2a393143	259	int LSM6DSLSensor::Get_X_Axes(int32_t *pData)
cparata	2:39ad2a393143	260	{
cparata	2:39ad2a393143	261	int16_t dataRaw[3];
cparata	2:39ad2a393143	262	float sensitivity = 0;
cparata	2:39ad2a393143	263
cparata	2:39ad2a393143	264	/* Read raw data from LSM6DSL output register. */
cparata	2:39ad2a393143	265	if ( Get_X_AxesRaw( dataRaw ) == 1 )
cparata	2:39ad2a393143	266	{
cparata	2:39ad2a393143	267	return 1;
cparata	2:39ad2a393143	268	}
cparata	2:39ad2a393143	269
cparata	2:39ad2a393143	270	/* Get LSM6DSL actual sensitivity. */
cparata	2:39ad2a393143	271	if ( Get_X_Sensitivity( &sensitivity ) == 1 )
cparata	2:39ad2a393143	272	{
cparata	2:39ad2a393143	273	return 1;
cparata	2:39ad2a393143	274	}
cparata	2:39ad2a393143	275
cparata	2:39ad2a393143	276	/* Calculate the data. */
cparata	2:39ad2a393143	277	pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata	2:39ad2a393143	278	pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata	2:39ad2a393143	279	pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata	2:39ad2a393143	280
cparata	2:39ad2a393143	281	return 0;
cparata	2:39ad2a393143	282	}
cparata	2:39ad2a393143	283
cparata	2:39ad2a393143	284	/**
cparata	2:39ad2a393143	285	* @brief Read data from LSM6DSL Gyroscope
cparata	2:39ad2a393143	286	* @param pData the pointer where the gyroscope data are stored
cparata	2:39ad2a393143	287	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	288	*/
cparata	2:39ad2a393143	289	int LSM6DSLSensor::Get_G_Axes(int32_t *pData)
cparata	2:39ad2a393143	290	{
cparata	2:39ad2a393143	291	int16_t dataRaw[3];
cparata	2:39ad2a393143	292	float sensitivity = 0;
cparata	2:39ad2a393143	293
cparata	2:39ad2a393143	294	/* Read raw data from LSM6DSL output register. */
cparata	2:39ad2a393143	295	if ( Get_G_AxesRaw( dataRaw ) == 1 )
cparata	2:39ad2a393143	296	{
cparata	2:39ad2a393143	297	return 1;
cparata	2:39ad2a393143	298	}
cparata	2:39ad2a393143	299
cparata	2:39ad2a393143	300	/* Get LSM6DSL actual sensitivity. */
cparata	2:39ad2a393143	301	if ( Get_G_Sensitivity( &sensitivity ) == 1 )
cparata	2:39ad2a393143	302	{
cparata	2:39ad2a393143	303	return 1;
cparata	2:39ad2a393143	304	}
cparata	2:39ad2a393143	305
cparata	2:39ad2a393143	306	/* Calculate the data. */
cparata	2:39ad2a393143	307	pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata	2:39ad2a393143	308	pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata	2:39ad2a393143	309	pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata	2:39ad2a393143	310
cparata	2:39ad2a393143	311	return 0;
cparata	2:39ad2a393143	312	}
cparata	2:39ad2a393143	313
cparata	2:39ad2a393143	314	/**
cparata	2:39ad2a393143	315	* @brief Read Accelerometer Sensitivity
cparata	2:39ad2a393143	316	* @param pfData the pointer where the accelerometer sensitivity is stored
cparata	2:39ad2a393143	317	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	318	*/
cparata	2:39ad2a393143	319	int LSM6DSLSensor::Get_X_Sensitivity(float *pfData)
cparata	2:39ad2a393143	320	{
cparata	2:39ad2a393143	321	LSM6DSL_ACC_GYRO_FS_XL_t fullScale;
cparata	2:39ad2a393143	322
cparata	2:39ad2a393143	323	/* Read actual full scale selection from sensor. */
cparata	2:39ad2a393143	324	if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fullScale ) == MEMS_ERROR )
cparata	2:39ad2a393143	325	{
cparata	2:39ad2a393143	326	return 1;
cparata	2:39ad2a393143	327	}
cparata	2:39ad2a393143	328
cparata	2:39ad2a393143	329	/* Store the sensitivity based on actual full scale. */
cparata	2:39ad2a393143	330	switch( fullScale )
cparata	2:39ad2a393143	331	{
cparata	2:39ad2a393143	332	case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata	2:39ad2a393143	333	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G;
cparata	2:39ad2a393143	334	break;
cparata	2:39ad2a393143	335	case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata	2:39ad2a393143	336	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G;
cparata	2:39ad2a393143	337	break;
cparata	2:39ad2a393143	338	case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata	2:39ad2a393143	339	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G;
cparata	2:39ad2a393143	340	break;
cparata	2:39ad2a393143	341	case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata	2:39ad2a393143	342	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G;
cparata	2:39ad2a393143	343	break;
cparata	2:39ad2a393143	344	default:
cparata	2:39ad2a393143	345	*pfData = -1.0f;
cparata	2:39ad2a393143	346	return 1;
cparata	2:39ad2a393143	347	}
cparata	2:39ad2a393143	348
cparata	2:39ad2a393143	349	return 0;
cparata	2:39ad2a393143	350	}
cparata	2:39ad2a393143	351
cparata	2:39ad2a393143	352	/**
cparata	2:39ad2a393143	353	* @brief Read Gyroscope Sensitivity
cparata	2:39ad2a393143	354	* @param pfData the pointer where the gyroscope sensitivity is stored
cparata	2:39ad2a393143	355	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	356	*/
cparata	2:39ad2a393143	357	int LSM6DSLSensor::Get_G_Sensitivity(float *pfData)
cparata	2:39ad2a393143	358	{
cparata	2:39ad2a393143	359	LSM6DSL_ACC_GYRO_FS_125_t fullScale125;
cparata	2:39ad2a393143	360	LSM6DSL_ACC_GYRO_FS_G_t fullScale;
cparata	2:39ad2a393143	361
cparata	2:39ad2a393143	362	/* Read full scale 125 selection from sensor. */
cparata	2:39ad2a393143	363	if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fullScale125 ) == MEMS_ERROR )
cparata	2:39ad2a393143	364	{
cparata	2:39ad2a393143	365	return 1;
cparata	2:39ad2a393143	366	}
cparata	2:39ad2a393143	367
cparata	2:39ad2a393143	368	if ( fullScale125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata	2:39ad2a393143	369	{
cparata	2:39ad2a393143	370	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS;
cparata	2:39ad2a393143	371	}
cparata	2:39ad2a393143	372
cparata	2:39ad2a393143	373	else
cparata	2:39ad2a393143	374	{
cparata	2:39ad2a393143	375
cparata	2:39ad2a393143	376	/* Read actual full scale selection from sensor. */
cparata	2:39ad2a393143	377	if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fullScale ) == MEMS_ERROR )
cparata	2:39ad2a393143	378	{
cparata	2:39ad2a393143	379	return 1;
cparata	2:39ad2a393143	380	}
cparata	2:39ad2a393143	381
cparata	2:39ad2a393143	382	/* Store the sensitivity based on actual full scale. */
cparata	2:39ad2a393143	383	switch( fullScale )
cparata	2:39ad2a393143	384	{
cparata	2:39ad2a393143	385	case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata	2:39ad2a393143	386	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS;
cparata	2:39ad2a393143	387	break;
cparata	2:39ad2a393143	388	case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata	2:39ad2a393143	389	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS;
cparata	2:39ad2a393143	390	break;
cparata	2:39ad2a393143	391	case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata	2:39ad2a393143	392	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS;
cparata	2:39ad2a393143	393	break;
cparata	2:39ad2a393143	394	case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata	2:39ad2a393143	395	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS;
cparata	2:39ad2a393143	396	break;
cparata	2:39ad2a393143	397	default:
cparata	2:39ad2a393143	398	*pfData = -1.0f;
cparata	2:39ad2a393143	399	return 1;
cparata	2:39ad2a393143	400	}
cparata	2:39ad2a393143	401	}
cparata	2:39ad2a393143	402
cparata	2:39ad2a393143	403	return 0;
cparata	2:39ad2a393143	404	}
cparata	2:39ad2a393143	405
cparata	2:39ad2a393143	406	/**
cparata	2:39ad2a393143	407	* @brief Read raw data from LSM6DSL Accelerometer
cparata	2:39ad2a393143	408	* @param pData the pointer where the accelerometer raw data are stored
cparata	2:39ad2a393143	409	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	410	*/
cparata	2:39ad2a393143	411	int LSM6DSLSensor::Get_X_AxesRaw(int16_t *pData)
cparata	2:39ad2a393143	412	{
cparata	2:39ad2a393143	413	uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata	2:39ad2a393143	414
cparata	2:39ad2a393143	415	/* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_XL to LSM6DSL_ACC_GYRO_OUTZ_H_XL. */
cparata	2:39ad2a393143	416	if ( LSM6DSL_ACC_GYRO_GetRawAccData( (void *)this, regValue ) == MEMS_ERROR )
cparata	2:39ad2a393143	417	{
cparata	2:39ad2a393143	418	return 1;
cparata	2:39ad2a393143	419	}
cparata	2:39ad2a393143	420
cparata	2:39ad2a393143	421	/* Format the data. */
cparata	2:39ad2a393143	422	pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata	2:39ad2a393143	423	pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata	2:39ad2a393143	424	pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata	2:39ad2a393143	425
cparata	2:39ad2a393143	426	return 0;
cparata	2:39ad2a393143	427	}
cparata	2:39ad2a393143	428
cparata	2:39ad2a393143	429	/**
cparata	2:39ad2a393143	430	* @brief Read raw data from LSM6DSL Gyroscope
cparata	2:39ad2a393143	431	* @param pData the pointer where the gyroscope raw data are stored
cparata	2:39ad2a393143	432	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	433	*/
cparata	2:39ad2a393143	434	int LSM6DSLSensor::Get_G_AxesRaw(int16_t *pData)
cparata	2:39ad2a393143	435	{
cparata	2:39ad2a393143	436	uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata	2:39ad2a393143	437
cparata	2:39ad2a393143	438	/* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_G to LSM6DSL_ACC_GYRO_OUTZ_H_G. */
cparata	2:39ad2a393143	439	if ( LSM6DSL_ACC_GYRO_GetRawGyroData( (void *)this, regValue ) == MEMS_ERROR )
cparata	2:39ad2a393143	440	{
cparata	2:39ad2a393143	441	return 1;
cparata	2:39ad2a393143	442	}
cparata	2:39ad2a393143	443
cparata	2:39ad2a393143	444	/* Format the data. */
cparata	2:39ad2a393143	445	pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata	2:39ad2a393143	446	pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata	2:39ad2a393143	447	pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata	2:39ad2a393143	448
cparata	2:39ad2a393143	449	return 0;
cparata	2:39ad2a393143	450	}
cparata	2:39ad2a393143	451
cparata	2:39ad2a393143	452	/**
cparata	2:39ad2a393143	453	* @brief Read LSM6DSL Accelerometer output data rate
cparata	2:39ad2a393143	454	* @param odr the pointer to the output data rate
cparata	2:39ad2a393143	455	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	456	*/
cparata	2:39ad2a393143	457	int LSM6DSLSensor::Get_X_ODR(float* odr)
cparata	2:39ad2a393143	458	{
cparata	2:39ad2a393143	459	LSM6DSL_ACC_GYRO_ODR_XL_t odr_low_level;
cparata	2:39ad2a393143	460
cparata	2:39ad2a393143	461	if ( LSM6DSL_ACC_GYRO_R_ODR_XL( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata	2:39ad2a393143	462	{
cparata	2:39ad2a393143	463	return 1;
cparata	2:39ad2a393143	464	}
cparata	2:39ad2a393143	465
cparata	2:39ad2a393143	466	switch( odr_low_level )
cparata	2:39ad2a393143	467	{
cparata	2:39ad2a393143	468	case LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN:
cparata	2:39ad2a393143	469	*odr = 0.0f;
cparata	2:39ad2a393143	470	break;
cparata	2:39ad2a393143	471	case LSM6DSL_ACC_GYRO_ODR_XL_13Hz:
cparata	2:39ad2a393143	472	*odr = 13.0f;
cparata	2:39ad2a393143	473	break;
cparata	2:39ad2a393143	474	case LSM6DSL_ACC_GYRO_ODR_XL_26Hz:
cparata	2:39ad2a393143	475	*odr = 26.0f;
cparata	2:39ad2a393143	476	break;
cparata	2:39ad2a393143	477	case LSM6DSL_ACC_GYRO_ODR_XL_52Hz:
cparata	2:39ad2a393143	478	*odr = 52.0f;
cparata	2:39ad2a393143	479	break;
cparata	2:39ad2a393143	480	case LSM6DSL_ACC_GYRO_ODR_XL_104Hz:
cparata	2:39ad2a393143	481	*odr = 104.0f;
cparata	2:39ad2a393143	482	break;
cparata	2:39ad2a393143	483	case LSM6DSL_ACC_GYRO_ODR_XL_208Hz:
cparata	2:39ad2a393143	484	*odr = 208.0f;
cparata	2:39ad2a393143	485	break;
cparata	2:39ad2a393143	486	case LSM6DSL_ACC_GYRO_ODR_XL_416Hz:
cparata	2:39ad2a393143	487	*odr = 416.0f;
cparata	2:39ad2a393143	488	break;
cparata	2:39ad2a393143	489	case LSM6DSL_ACC_GYRO_ODR_XL_833Hz:
cparata	2:39ad2a393143	490	*odr = 833.0f;
cparata	2:39ad2a393143	491	break;
cparata	2:39ad2a393143	492	case LSM6DSL_ACC_GYRO_ODR_XL_1660Hz:
cparata	2:39ad2a393143	493	*odr = 1660.0f;
cparata	2:39ad2a393143	494	break;
cparata	2:39ad2a393143	495	case LSM6DSL_ACC_GYRO_ODR_XL_3330Hz:
cparata	2:39ad2a393143	496	*odr = 3330.0f;
cparata	2:39ad2a393143	497	break;
cparata	2:39ad2a393143	498	case LSM6DSL_ACC_GYRO_ODR_XL_6660Hz:
cparata	2:39ad2a393143	499	*odr = 6660.0f;
cparata	2:39ad2a393143	500	break;
cparata	2:39ad2a393143	501	default:
cparata	2:39ad2a393143	502	*odr = -1.0f;
cparata	2:39ad2a393143	503	return 1;
cparata	2:39ad2a393143	504	}
cparata	2:39ad2a393143	505
cparata	2:39ad2a393143	506	return 0;
cparata	2:39ad2a393143	507	}
cparata	2:39ad2a393143	508
cparata	2:39ad2a393143	509	/**
cparata	2:39ad2a393143	510	* @brief Read LSM6DSL Gyroscope output data rate
cparata	2:39ad2a393143	511	* @param odr the pointer to the output data rate
cparata	2:39ad2a393143	512	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	513	*/
cparata	2:39ad2a393143	514	int LSM6DSLSensor::Get_G_ODR(float* odr)
cparata	2:39ad2a393143	515	{
cparata	2:39ad2a393143	516	LSM6DSL_ACC_GYRO_ODR_G_t odr_low_level;
cparata	2:39ad2a393143	517
cparata	2:39ad2a393143	518	if ( LSM6DSL_ACC_GYRO_R_ODR_G( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata	2:39ad2a393143	519	{
cparata	2:39ad2a393143	520	return 1;
cparata	2:39ad2a393143	521	}
cparata	2:39ad2a393143	522
cparata	2:39ad2a393143	523	switch( odr_low_level )
cparata	2:39ad2a393143	524	{
cparata	2:39ad2a393143	525	case LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN:
cparata	2:39ad2a393143	526	*odr = 0.0f;
cparata	2:39ad2a393143	527	break;
cparata	2:39ad2a393143	528	case LSM6DSL_ACC_GYRO_ODR_G_13Hz:
cparata	2:39ad2a393143	529	*odr = 13.0f;
cparata	2:39ad2a393143	530	break;
cparata	2:39ad2a393143	531	case LSM6DSL_ACC_GYRO_ODR_G_26Hz:
cparata	2:39ad2a393143	532	*odr = 26.0f;
cparata	2:39ad2a393143	533	break;
cparata	2:39ad2a393143	534	case LSM6DSL_ACC_GYRO_ODR_G_52Hz:
cparata	2:39ad2a393143	535	*odr = 52.0f;
cparata	2:39ad2a393143	536	break;
cparata	2:39ad2a393143	537	case LSM6DSL_ACC_GYRO_ODR_G_104Hz:
cparata	2:39ad2a393143	538	*odr = 104.0f;
cparata	2:39ad2a393143	539	break;
cparata	2:39ad2a393143	540	case LSM6DSL_ACC_GYRO_ODR_G_208Hz:
cparata	2:39ad2a393143	541	*odr = 208.0f;
cparata	2:39ad2a393143	542	break;
cparata	2:39ad2a393143	543	case LSM6DSL_ACC_GYRO_ODR_G_416Hz:
cparata	2:39ad2a393143	544	*odr = 416.0f;
cparata	2:39ad2a393143	545	break;
cparata	2:39ad2a393143	546	case LSM6DSL_ACC_GYRO_ODR_G_833Hz:
cparata	2:39ad2a393143	547	*odr = 833.0f;
cparata	2:39ad2a393143	548	break;
cparata	2:39ad2a393143	549	case LSM6DSL_ACC_GYRO_ODR_G_1660Hz:
cparata	2:39ad2a393143	550	*odr = 1660.0f;
cparata	2:39ad2a393143	551	break;
cparata	2:39ad2a393143	552	case LSM6DSL_ACC_GYRO_ODR_G_3330Hz:
cparata	2:39ad2a393143	553	*odr = 3330.0f;
cparata	2:39ad2a393143	554	break;
cparata	2:39ad2a393143	555	case LSM6DSL_ACC_GYRO_ODR_G_6660Hz:
cparata	2:39ad2a393143	556	*odr = 6660.0f;
cparata	2:39ad2a393143	557	break;
cparata	2:39ad2a393143	558	default:
cparata	2:39ad2a393143	559	*odr = -1.0f;
cparata	2:39ad2a393143	560	return 1;
cparata	2:39ad2a393143	561	}
cparata	2:39ad2a393143	562
cparata	2:39ad2a393143	563	return 0;
cparata	2:39ad2a393143	564	}
cparata	2:39ad2a393143	565
cparata	2:39ad2a393143	566	/**
cparata	2:39ad2a393143	567	* @brief Set LSM6DSL Accelerometer output data rate
cparata	2:39ad2a393143	568	* @param odr the output data rate to be set
cparata	2:39ad2a393143	569	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	570	*/
cparata	2:39ad2a393143	571	int LSM6DSLSensor::Set_X_ODR(float odr)
cparata	2:39ad2a393143	572	{
cparata	2:39ad2a393143	573	if(X_isEnabled == 1)
cparata	2:39ad2a393143	574	{
cparata	2:39ad2a393143	575	if(Set_X_ODR_When_Enabled(odr) == 1)
cparata	2:39ad2a393143	576	{
cparata	2:39ad2a393143	577	return 1;
cparata	2:39ad2a393143	578	}
cparata	2:39ad2a393143	579	}
cparata	2:39ad2a393143	580	else
cparata	2:39ad2a393143	581	{
cparata	2:39ad2a393143	582	if(Set_X_ODR_When_Disabled(odr) == 1)
cparata	2:39ad2a393143	583	{
cparata	2:39ad2a393143	584	return 1;
cparata	2:39ad2a393143	585	}
cparata	2:39ad2a393143	586	}
cparata	2:39ad2a393143	587
cparata	2:39ad2a393143	588	return 0;
cparata	2:39ad2a393143	589	}
cparata	2:39ad2a393143	590
cparata	2:39ad2a393143	591	/**
cparata	2:39ad2a393143	592	* @brief Set LSM6DSL Accelerometer output data rate when enabled
cparata	2:39ad2a393143	593	* @param odr the output data rate to be set
cparata	2:39ad2a393143	594	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	595	*/
cparata	2:39ad2a393143	596	int LSM6DSLSensor::Set_X_ODR_When_Enabled(float odr)
cparata	2:39ad2a393143	597	{
cparata	2:39ad2a393143	598	LSM6DSL_ACC_GYRO_ODR_XL_t new_odr;
cparata	2:39ad2a393143	599
cparata	2:39ad2a393143	600	new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_13Hz
cparata	2:39ad2a393143	601	: ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_26Hz
cparata	2:39ad2a393143	602	: ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_52Hz
cparata	2:39ad2a393143	603	: ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_104Hz
cparata	2:39ad2a393143	604	: ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_208Hz
cparata	2:39ad2a393143	605	: ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_416Hz
cparata	2:39ad2a393143	606	: ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_833Hz
cparata	2:39ad2a393143	607	: ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_1660Hz
cparata	2:39ad2a393143	608	: ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_3330Hz
cparata	2:39ad2a393143	609	: LSM6DSL_ACC_GYRO_ODR_XL_6660Hz;
cparata	2:39ad2a393143	610
cparata	2:39ad2a393143	611	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, new_odr ) == MEMS_ERROR )
cparata	2:39ad2a393143	612	{
cparata	2:39ad2a393143	613	return 1;
cparata	2:39ad2a393143	614	}
cparata	2:39ad2a393143	615
cparata	2:39ad2a393143	616	return 0;
cparata	2:39ad2a393143	617	}
cparata	2:39ad2a393143	618
cparata	2:39ad2a393143	619	/**
cparata	2:39ad2a393143	620	* @brief Set LSM6DSL Accelerometer output data rate when disabled
cparata	2:39ad2a393143	621	* @param odr the output data rate to be set
cparata	2:39ad2a393143	622	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	623	*/
cparata	2:39ad2a393143	624	int LSM6DSLSensor::Set_X_ODR_When_Disabled(float odr)
cparata	2:39ad2a393143	625	{
cparata	2:39ad2a393143	626	X_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata	2:39ad2a393143	627	: ( odr <= 26.0f ) ? 26.0f
cparata	2:39ad2a393143	628	: ( odr <= 52.0f ) ? 52.0f
cparata	2:39ad2a393143	629	: ( odr <= 104.0f ) ? 104.0f
cparata	2:39ad2a393143	630	: ( odr <= 208.0f ) ? 208.0f
cparata	2:39ad2a393143	631	: ( odr <= 416.0f ) ? 416.0f
cparata	2:39ad2a393143	632	: ( odr <= 833.0f ) ? 833.0f
cparata	2:39ad2a393143	633	: ( odr <= 1660.0f ) ? 1660.0f
cparata	2:39ad2a393143	634	: ( odr <= 3330.0f ) ? 3330.0f
cparata	2:39ad2a393143	635	: 6660.0f;
cparata	2:39ad2a393143	636
cparata	2:39ad2a393143	637	return 0;
cparata	2:39ad2a393143	638	}
cparata	2:39ad2a393143	639
cparata	2:39ad2a393143	640	/**
cparata	2:39ad2a393143	641	* @brief Set LSM6DSL Gyroscope output data rate
cparata	2:39ad2a393143	642	* @param odr the output data rate to be set
cparata	2:39ad2a393143	643	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	644	*/
cparata	2:39ad2a393143	645	int LSM6DSLSensor::Set_G_ODR(float odr)
cparata	2:39ad2a393143	646	{
cparata	2:39ad2a393143	647	if(G_isEnabled == 1)
cparata	2:39ad2a393143	648	{
cparata	2:39ad2a393143	649	if(Set_G_ODR_When_Enabled(odr) == 1)
cparata	2:39ad2a393143	650	{
cparata	2:39ad2a393143	651	return 1;
cparata	2:39ad2a393143	652	}
cparata	2:39ad2a393143	653	}
cparata	2:39ad2a393143	654	else
cparata	2:39ad2a393143	655	{
cparata	2:39ad2a393143	656	if(Set_G_ODR_When_Disabled(odr) == 1)
cparata	2:39ad2a393143	657	{
cparata	2:39ad2a393143	658	return 1;
cparata	2:39ad2a393143	659	}
cparata	2:39ad2a393143	660	}
cparata	2:39ad2a393143	661
cparata	2:39ad2a393143	662	return 0;
cparata	2:39ad2a393143	663	}
cparata	2:39ad2a393143	664
cparata	2:39ad2a393143	665	/**
cparata	2:39ad2a393143	666	* @brief Set LSM6DSL Gyroscope output data rate when enabled
cparata	2:39ad2a393143	667	* @param odr the output data rate to be set
cparata	2:39ad2a393143	668	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	669	*/
cparata	2:39ad2a393143	670	int LSM6DSLSensor::Set_G_ODR_When_Enabled(float odr)
cparata	2:39ad2a393143	671	{
cparata	2:39ad2a393143	672	LSM6DSL_ACC_GYRO_ODR_G_t new_odr;
cparata	2:39ad2a393143	673
cparata	2:39ad2a393143	674	new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_13Hz
cparata	2:39ad2a393143	675	: ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_26Hz
cparata	2:39ad2a393143	676	: ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_52Hz
cparata	2:39ad2a393143	677	: ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_104Hz
cparata	2:39ad2a393143	678	: ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_208Hz
cparata	2:39ad2a393143	679	: ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_416Hz
cparata	2:39ad2a393143	680	: ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_833Hz
cparata	2:39ad2a393143	681	: ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_1660Hz
cparata	2:39ad2a393143	682	: ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_3330Hz
cparata	2:39ad2a393143	683	: LSM6DSL_ACC_GYRO_ODR_G_6660Hz;
cparata	2:39ad2a393143	684
cparata	2:39ad2a393143	685	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, new_odr ) == MEMS_ERROR )
cparata	2:39ad2a393143	686	{
cparata	2:39ad2a393143	687	return 1;
cparata	2:39ad2a393143	688	}
cparata	2:39ad2a393143	689
cparata	2:39ad2a393143	690	return 0;
cparata	2:39ad2a393143	691	}
cparata	2:39ad2a393143	692
cparata	2:39ad2a393143	693	/**
cparata	2:39ad2a393143	694	* @brief Set LSM6DSL Gyroscope output data rate when disabled
cparata	2:39ad2a393143	695	* @param odr the output data rate to be set
cparata	2:39ad2a393143	696	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	697	*/
cparata	2:39ad2a393143	698	int LSM6DSLSensor::Set_G_ODR_When_Disabled(float odr)
cparata	2:39ad2a393143	699	{
cparata	2:39ad2a393143	700	G_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata	2:39ad2a393143	701	: ( odr <= 26.0f ) ? 26.0f
cparata	2:39ad2a393143	702	: ( odr <= 52.0f ) ? 52.0f
cparata	2:39ad2a393143	703	: ( odr <= 104.0f ) ? 104.0f
cparata	2:39ad2a393143	704	: ( odr <= 208.0f ) ? 208.0f
cparata	2:39ad2a393143	705	: ( odr <= 416.0f ) ? 416.0f
cparata	2:39ad2a393143	706	: ( odr <= 833.0f ) ? 833.0f
cparata	2:39ad2a393143	707	: ( odr <= 1660.0f ) ? 1660.0f
cparata	2:39ad2a393143	708	: ( odr <= 3330.0f ) ? 3330.0f
cparata	2:39ad2a393143	709	: 6660.0f;
cparata	2:39ad2a393143	710
cparata	2:39ad2a393143	711	return 0;
cparata	2:39ad2a393143	712	}
cparata	2:39ad2a393143	713
cparata	2:39ad2a393143	714	/**
cparata	2:39ad2a393143	715	* @brief Read LSM6DSL Accelerometer full scale
cparata	2:39ad2a393143	716	* @param fullScale the pointer to the full scale
cparata	2:39ad2a393143	717	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	718	*/
cparata	2:39ad2a393143	719	int LSM6DSLSensor::Get_X_FS(float* fullScale)
cparata	2:39ad2a393143	720	{
cparata	2:39ad2a393143	721	LSM6DSL_ACC_GYRO_FS_XL_t fs_low_level;
cparata	2:39ad2a393143	722
cparata	2:39ad2a393143	723	if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata	2:39ad2a393143	724	{
cparata	2:39ad2a393143	725	return 1;
cparata	2:39ad2a393143	726	}
cparata	2:39ad2a393143	727
cparata	2:39ad2a393143	728	switch( fs_low_level )
cparata	2:39ad2a393143	729	{
cparata	2:39ad2a393143	730	case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata	2:39ad2a393143	731	*fullScale = 2.0f;
cparata	2:39ad2a393143	732	break;
cparata	2:39ad2a393143	733	case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata	2:39ad2a393143	734	*fullScale = 4.0f;
cparata	2:39ad2a393143	735	break;
cparata	2:39ad2a393143	736	case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata	2:39ad2a393143	737	*fullScale = 8.0f;
cparata	2:39ad2a393143	738	break;
cparata	2:39ad2a393143	739	case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata	2:39ad2a393143	740	*fullScale = 16.0f;
cparata	2:39ad2a393143	741	break;
cparata	2:39ad2a393143	742	default:
cparata	2:39ad2a393143	743	*fullScale = -1.0f;
cparata	2:39ad2a393143	744	return 1;
cparata	2:39ad2a393143	745	}
cparata	2:39ad2a393143	746
cparata	2:39ad2a393143	747	return 0;
cparata	2:39ad2a393143	748	}
cparata	2:39ad2a393143	749
cparata	2:39ad2a393143	750	/**
cparata	2:39ad2a393143	751	* @brief Read LSM6DSL Gyroscope full scale
cparata	2:39ad2a393143	752	* @param fullScale the pointer to the full scale
cparata	2:39ad2a393143	753	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	754	*/
cparata	2:39ad2a393143	755	int LSM6DSLSensor::Get_G_FS(float* fullScale)
cparata	2:39ad2a393143	756	{
cparata	2:39ad2a393143	757	LSM6DSL_ACC_GYRO_FS_G_t fs_low_level;
cparata	2:39ad2a393143	758	LSM6DSL_ACC_GYRO_FS_125_t fs_125;
cparata	2:39ad2a393143	759
cparata	2:39ad2a393143	760	if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fs_125 ) == MEMS_ERROR )
cparata	2:39ad2a393143	761	{
cparata	2:39ad2a393143	762	return 1;
cparata	2:39ad2a393143	763	}
cparata	2:39ad2a393143	764	if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata	2:39ad2a393143	765	{
cparata	2:39ad2a393143	766	return 1;
cparata	2:39ad2a393143	767	}
cparata	2:39ad2a393143	768
cparata	2:39ad2a393143	769	if ( fs_125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata	2:39ad2a393143	770	{
cparata	2:39ad2a393143	771	*fullScale = 125.0f;
cparata	2:39ad2a393143	772	}
cparata	2:39ad2a393143	773
cparata	2:39ad2a393143	774	else
cparata	2:39ad2a393143	775	{
cparata	2:39ad2a393143	776	switch( fs_low_level )
cparata	2:39ad2a393143	777	{
cparata	2:39ad2a393143	778	case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata	2:39ad2a393143	779	*fullScale = 245.0f;
cparata	2:39ad2a393143	780	break;
cparata	2:39ad2a393143	781	case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata	2:39ad2a393143	782	*fullScale = 500.0f;
cparata	2:39ad2a393143	783	break;
cparata	2:39ad2a393143	784	case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata	2:39ad2a393143	785	*fullScale = 1000.0f;
cparata	2:39ad2a393143	786	break;
cparata	2:39ad2a393143	787	case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata	2:39ad2a393143	788	*fullScale = 2000.0f;
cparata	2:39ad2a393143	789	break;
cparata	2:39ad2a393143	790	default:
cparata	2:39ad2a393143	791	*fullScale = -1.0f;
cparata	2:39ad2a393143	792	return 1;
cparata	2:39ad2a393143	793	}
cparata	2:39ad2a393143	794	}
cparata	2:39ad2a393143	795
cparata	2:39ad2a393143	796	return 0;
cparata	2:39ad2a393143	797	}
cparata	2:39ad2a393143	798
cparata	2:39ad2a393143	799	/**
cparata	2:39ad2a393143	800	* @brief Set LSM6DSL Accelerometer full scale
cparata	2:39ad2a393143	801	* @param fullScale the full scale to be set
cparata	2:39ad2a393143	802	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	803	*/
cparata	2:39ad2a393143	804	int LSM6DSLSensor::Set_X_FS(float fullScale)
cparata	2:39ad2a393143	805	{
cparata	2:39ad2a393143	806	LSM6DSL_ACC_GYRO_FS_XL_t new_fs;
cparata	2:39ad2a393143	807
cparata	2:39ad2a393143	808	new_fs = ( fullScale <= 2.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_2g
cparata	2:39ad2a393143	809	: ( fullScale <= 4.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_4g
cparata	2:39ad2a393143	810	: ( fullScale <= 8.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_8g
cparata	2:39ad2a393143	811	: LSM6DSL_ACC_GYRO_FS_XL_16g;
cparata	2:39ad2a393143	812
cparata	2:39ad2a393143	813	if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, new_fs ) == MEMS_ERROR )
cparata	2:39ad2a393143	814	{
cparata	2:39ad2a393143	815	return 1;
cparata	2:39ad2a393143	816	}
cparata	2:39ad2a393143	817
cparata	2:39ad2a393143	818	return 0;
cparata	2:39ad2a393143	819	}
cparata	2:39ad2a393143	820
cparata	2:39ad2a393143	821	/**
cparata	2:39ad2a393143	822	* @brief Set LSM6DSL Gyroscope full scale
cparata	2:39ad2a393143	823	* @param fullScale the full scale to be set
cparata	2:39ad2a393143	824	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	825	*/
cparata	2:39ad2a393143	826	int LSM6DSLSensor::Set_G_FS(float fullScale)
cparata	2:39ad2a393143	827	{
cparata	2:39ad2a393143	828	LSM6DSL_ACC_GYRO_FS_G_t new_fs;
cparata	2:39ad2a393143	829
cparata	2:39ad2a393143	830	if ( fullScale <= 125.0f )
cparata	2:39ad2a393143	831	{
cparata	2:39ad2a393143	832	if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_ENABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	833	{
cparata	2:39ad2a393143	834	return 1;
cparata	2:39ad2a393143	835	}
cparata	2:39ad2a393143	836	}
cparata	2:39ad2a393143	837	else
cparata	2:39ad2a393143	838	{
cparata	2:39ad2a393143	839	new_fs = ( fullScale <= 245.0f ) ? LSM6DSL_ACC_GYRO_FS_G_245dps
cparata	2:39ad2a393143	840	: ( fullScale <= 500.0f ) ? LSM6DSL_ACC_GYRO_FS_G_500dps
cparata	2:39ad2a393143	841	: ( fullScale <= 1000.0f ) ? LSM6DSL_ACC_GYRO_FS_G_1000dps
cparata	2:39ad2a393143	842	: LSM6DSL_ACC_GYRO_FS_G_2000dps;
cparata	2:39ad2a393143	843
cparata	2:39ad2a393143	844	if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_DISABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	845	{
cparata	2:39ad2a393143	846	return 1;
cparata	2:39ad2a393143	847	}
cparata	2:39ad2a393143	848	if ( LSM6DSL_ACC_GYRO_W_FS_G( (void *)this, new_fs ) == MEMS_ERROR )
cparata	2:39ad2a393143	849	{
cparata	2:39ad2a393143	850	return 1;
cparata	2:39ad2a393143	851	}
cparata	2:39ad2a393143	852	}
cparata	2:39ad2a393143	853
cparata	2:39ad2a393143	854	return 0;
cparata	2:39ad2a393143	855	}
cparata	2:39ad2a393143	856
cparata	2:39ad2a393143	857	/**
cparata	2:39ad2a393143	858	* @brief Enable free fall detection
cparata	2:39ad2a393143	859	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:39ad2a393143	860	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	861	*/
cparata	2:39ad2a393143	862	int LSM6DSLSensor::Enable_Free_Fall_Detection(void)
cparata	2:39ad2a393143	863	{
cparata	7:369954b853d4	864	return Enable_Free_Fall_Detection(LSM6DSL_INT1_PIN);
cparata	7:369954b853d4	865	}
cparata	7:369954b853d4	866
cparata	7:369954b853d4	867	/**
cparata	7:369954b853d4	868	* @brief Enable free fall detection
cparata	7:369954b853d4	869	* @param pin the interrupt pin to be used
cparata	7:369954b853d4	870	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	7:369954b853d4	871	* @retval 0 in case of success, an error code otherwise
cparata	7:369954b853d4	872	*/
cparata	7:369954b853d4	873	int LSM6DSLSensor::Enable_Free_Fall_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata	7:369954b853d4	874	{
cparata	2:39ad2a393143	875	/* Output Data Rate selection */
cparata	2:39ad2a393143	876	if(Set_X_ODR(416.0f) == 1)
cparata	2:39ad2a393143	877	{
cparata	2:39ad2a393143	878	return 1;
cparata	2:39ad2a393143	879	}
cparata	2:39ad2a393143	880
cparata	2:39ad2a393143	881	/* Full scale selection */
cparata	2:39ad2a393143	882	if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, LSM6DSL_ACC_GYRO_FS_XL_2g ) == MEMS_ERROR )
cparata	2:39ad2a393143	883	{
cparata	2:39ad2a393143	884	return 1;
cparata	2:39ad2a393143	885	}
cparata	2:39ad2a393143	886
cparata	2:39ad2a393143	887	/* FF_DUR setting */
cparata	2:39ad2a393143	888	if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x06 ) == MEMS_ERROR )
cparata	2:39ad2a393143	889	{
cparata	2:39ad2a393143	890	return 1;
cparata	2:39ad2a393143	891	}
cparata	2:39ad2a393143	892
cparata	2:39ad2a393143	893	/* WAKE_DUR setting */
cparata	2:39ad2a393143	894	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:39ad2a393143	895	{
cparata	2:39ad2a393143	896	return 1;
cparata	2:39ad2a393143	897	}
cparata	2:39ad2a393143	898
cparata	2:39ad2a393143	899	/* TIMER_HR setting */
cparata	2:39ad2a393143	900	if ( LSM6DSL_ACC_GYRO_W_TIMER_HR( (void *)this, LSM6DSL_ACC_GYRO_TIMER_HR_6_4ms ) == MEMS_ERROR )
cparata	2:39ad2a393143	901	{
cparata	2:39ad2a393143	902	return 1;
cparata	2:39ad2a393143	903	}
cparata	2:39ad2a393143	904
cparata	2:39ad2a393143	905	/* SLEEP_DUR setting */
cparata	2:39ad2a393143	906	if ( LSM6DSL_ACC_GYRO_W_SLEEP_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:39ad2a393143	907	{
cparata	2:39ad2a393143	908	return 1;
cparata	2:39ad2a393143	909	}
cparata	2:39ad2a393143	910
cparata	2:39ad2a393143	911	/* FF_THS setting */
cparata	2:39ad2a393143	912	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_312mg ) == MEMS_ERROR )
cparata	2:39ad2a393143	913	{
cparata	2:39ad2a393143	914	return 1;
cparata	2:39ad2a393143	915	}
cparata	2:39ad2a393143	916
cparata	2:39ad2a393143	917	/* Enable basic Interrupts */
cparata	2:39ad2a393143	918	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	919	{
cparata	2:39ad2a393143	920	return 1;
cparata	2:39ad2a393143	921	}
cparata	2:39ad2a393143	922
cparata	7:369954b853d4	923	/* Enable free fall event on either INT1 or INT2 pin */
cparata	7:369954b853d4	924	switch (pin)
cparata	2:39ad2a393143	925	{
cparata	7:369954b853d4	926	case LSM6DSL_INT1_PIN:
cparata	7:369954b853d4	927	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
cparata	7:369954b853d4	928	{
cparata	7:369954b853d4	929	return 1;
cparata	7:369954b853d4	930	}
cparata	7:369954b853d4	931	break;
cparata	7:369954b853d4	932
cparata	7:369954b853d4	933	case LSM6DSL_INT2_PIN:
cparata	7:369954b853d4	934	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_FF_ENABLED ) == MEMS_ERROR )
cparata	7:369954b853d4	935	{
cparata	7:369954b853d4	936	return 1;
cparata	7:369954b853d4	937	}
cparata	7:369954b853d4	938	break;
cparata	7:369954b853d4	939
cparata	7:369954b853d4	940	default:
cparata	2:39ad2a393143	941	return 1;
cparata	2:39ad2a393143	942	}
cparata	2:39ad2a393143	943
cparata	2:39ad2a393143	944	return 0;
cparata	2:39ad2a393143	945	}
cparata	2:39ad2a393143	946
cparata	2:39ad2a393143	947	/**
cparata	2:39ad2a393143	948	* @brief Disable free fall detection
cparata	2:39ad2a393143	949	* @param None
cparata	2:39ad2a393143	950	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	951	*/
cparata	2:39ad2a393143	952	int LSM6DSLSensor::Disable_Free_Fall_Detection(void)
cparata	2:39ad2a393143	953	{
cparata	7:369954b853d4	954	/* Disable free fall event on INT1 pin */
cparata	2:39ad2a393143	955	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	956	{
cparata	2:39ad2a393143	957	return 1;
cparata	2:39ad2a393143	958	}
cparata	2:39ad2a393143	959
cparata	7:369954b853d4	960	/* Disable free fall event on INT2 pin */
cparata	7:369954b853d4	961	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_FF_DISABLED ) == MEMS_ERROR )
cparata	7:369954b853d4	962	{
cparata	7:369954b853d4	963	return 1;
cparata	7:369954b853d4	964	}
cparata	7:369954b853d4	965
cparata	2:39ad2a393143	966	/* Disable basic Interrupts */
cparata	2:39ad2a393143	967	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	968	{
cparata	2:39ad2a393143	969	return 1;
cparata	2:39ad2a393143	970	}
cparata	2:39ad2a393143	971
cparata	2:39ad2a393143	972	/* FF_DUR setting */
cparata	2:39ad2a393143	973	if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:39ad2a393143	974	{
cparata	2:39ad2a393143	975	return 1;
cparata	2:39ad2a393143	976	}
cparata	2:39ad2a393143	977
cparata	2:39ad2a393143	978	/* FF_THS setting */
cparata	2:39ad2a393143	979	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_156mg ) == MEMS_ERROR )
cparata	2:39ad2a393143	980	{
cparata	2:39ad2a393143	981	return 1;
cparata	2:39ad2a393143	982	}
cparata	2:39ad2a393143	983
cparata	2:39ad2a393143	984	return 0;
cparata	2:39ad2a393143	985	}
cparata	2:39ad2a393143	986
cparata	2:39ad2a393143	987	/**
cparata	2:39ad2a393143	988	* @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor
cparata	2:39ad2a393143	989	* @param thr the threshold to be set
cparata	2:39ad2a393143	990	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	991	*/
cparata	2:39ad2a393143	992	int LSM6DSLSensor::Set_Free_Fall_Threshold(uint8_t thr)
cparata	2:39ad2a393143	993	{
cparata	2:39ad2a393143	994
cparata	2:39ad2a393143	995	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR )
cparata	2:39ad2a393143	996	{
cparata	2:39ad2a393143	997	return 1;
cparata	2:39ad2a393143	998	}
cparata	2:39ad2a393143	999
cparata	2:39ad2a393143	1000	return 0;
cparata	2:39ad2a393143	1001	}
cparata	2:39ad2a393143	1002
cparata	2:39ad2a393143	1003	/**
cparata	2:39ad2a393143	1004	* @brief Enable the pedometer feature for LSM6DSL accelerometer sensor
cparata	2:39ad2a393143	1005	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:39ad2a393143	1006	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	1007	*/
cparata	2:39ad2a393143	1008	int LSM6DSLSensor::Enable_Pedometer(void)
cparata	2:39ad2a393143	1009	{
cparata	2:39ad2a393143	1010	/* Output Data Rate selection */
cparata	2:39ad2a393143	1011	if( Set_X_ODR(26.0f) == 1 )
cparata	2:39ad2a393143	1012	{
cparata	2:39ad2a393143	1013	return 1;
cparata	2:39ad2a393143	1014	}
cparata	2:39ad2a393143	1015
cparata	2:39ad2a393143	1016	/* Full scale selection. */
cparata	2:39ad2a393143	1017	if( Set_X_FS(2.0f) == 1 )
cparata	2:39ad2a393143	1018	{
cparata	2:39ad2a393143	1019	return 1;
cparata	2:39ad2a393143	1020	}
cparata	2:39ad2a393143	1021
cparata	2:39ad2a393143	1022	/* Set pedometer threshold. */
cparata	2:39ad2a393143	1023	if ( Set_Pedometer_Threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == 1 )
cparata	2:39ad2a393143	1024	{
cparata	2:39ad2a393143	1025	return 1;
cparata	2:39ad2a393143	1026	}
cparata	2:39ad2a393143	1027
cparata	2:39ad2a393143	1028	/* Enable embedded functionalities. */
cparata	2:39ad2a393143	1029	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1030	{
cparata	2:39ad2a393143	1031	return 1;
cparata	2:39ad2a393143	1032	}
cparata	2:39ad2a393143	1033
cparata	2:39ad2a393143	1034	/* Enable pedometer algorithm. */
cparata	2:39ad2a393143	1035	if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1036	{
cparata	2:39ad2a393143	1037	return 1;
cparata	2:39ad2a393143	1038	}
cparata	2:39ad2a393143	1039
cparata	2:39ad2a393143	1040	/* Enable pedometer on INT1. */
cparata	2:39ad2a393143	1041	if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1042	{
cparata	2:39ad2a393143	1043	return 1;
cparata	2:39ad2a393143	1044	}
cparata	2:39ad2a393143	1045
cparata	2:39ad2a393143	1046	return 0;
cparata	2:39ad2a393143	1047	}
cparata	2:39ad2a393143	1048
cparata	2:39ad2a393143	1049	/**
cparata	2:39ad2a393143	1050	* @brief Disable the pedometer feature for LSM6DSL accelerometer sensor
cparata	2:39ad2a393143	1051	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	1052	*/
cparata	2:39ad2a393143	1053	int LSM6DSLSensor::Disable_Pedometer(void)
cparata	2:39ad2a393143	1054	{
cparata	2:39ad2a393143	1055	/* Disable pedometer on INT1. */
cparata	2:39ad2a393143	1056	if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1057	{
cparata	2:39ad2a393143	1058	return 1;
cparata	2:39ad2a393143	1059	}
cparata	2:39ad2a393143	1060
cparata	2:39ad2a393143	1061	/* Disable pedometer algorithm. */
cparata	2:39ad2a393143	1062	if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1063	{
cparata	2:39ad2a393143	1064	return 1;
cparata	2:39ad2a393143	1065	}
cparata	2:39ad2a393143	1066
cparata	2:39ad2a393143	1067	/* Disable embedded functionalities. */
cparata	2:39ad2a393143	1068	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1069	{
cparata	2:39ad2a393143	1070	return 1;
cparata	2:39ad2a393143	1071	}
cparata	2:39ad2a393143	1072
cparata	2:39ad2a393143	1073	/* Reset pedometer threshold. */
cparata	2:39ad2a393143	1074	if ( Set_Pedometer_Threshold(0x0) == 1 )
cparata	2:39ad2a393143	1075	{
cparata	2:39ad2a393143	1076	return 1;
cparata	2:39ad2a393143	1077	}
cparata	2:39ad2a393143	1078
cparata	2:39ad2a393143	1079	return 0;
cparata	2:39ad2a393143	1080	}
cparata	2:39ad2a393143	1081
cparata	2:39ad2a393143	1082	/**
cparata	2:39ad2a393143	1083	* @brief Get the step counter for LSM6DSL accelerometer sensor
cparata	2:39ad2a393143	1084	* @param step_count the pointer to the step counter
cparata	2:39ad2a393143	1085	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	1086	*/
cparata	2:39ad2a393143	1087	int LSM6DSLSensor::Get_Step_Counter(uint16_t *step_count)
cparata	2:39ad2a393143	1088	{
cparata	2:39ad2a393143	1089	if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void )this, ( uint8_t )step_count ) == MEMS_ERROR )
cparata	2:39ad2a393143	1090	{
cparata	2:39ad2a393143	1091	return 1;
cparata	2:39ad2a393143	1092	}
cparata	2:39ad2a393143	1093
cparata	2:39ad2a393143	1094	return 0;
cparata	2:39ad2a393143	1095	}
cparata	2:39ad2a393143	1096
cparata	2:39ad2a393143	1097	/**
cparata	2:39ad2a393143	1098	* @brief Reset of the step counter for LSM6DSL accelerometer sensor
cparata	2:39ad2a393143	1099	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	1100	*/
cparata	2:39ad2a393143	1101	int LSM6DSLSensor::Reset_Step_Counter(void)
cparata	2:39ad2a393143	1102	{
cparata	2:39ad2a393143	1103	if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1104	{
cparata	2:39ad2a393143	1105	return 1;
cparata	2:39ad2a393143	1106	}
cparata	2:39ad2a393143	1107
cparata	2:39ad2a393143	1108	wait_ms(10);
cparata	2:39ad2a393143	1109
cparata	2:39ad2a393143	1110	if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1111	{
cparata	2:39ad2a393143	1112	return 1;
cparata	2:39ad2a393143	1113	}
cparata	2:39ad2a393143	1114
cparata	2:39ad2a393143	1115	return 0;
cparata	2:39ad2a393143	1116	}
cparata	2:39ad2a393143	1117
cparata	2:39ad2a393143	1118	/**
cparata	2:39ad2a393143	1119	* @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
cparata	2:39ad2a393143	1120	* @param thr the threshold to be set
cparata	2:39ad2a393143	1121	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	1122	*/
cparata	2:39ad2a393143	1123	int LSM6DSLSensor::Set_Pedometer_Threshold(uint8_t thr)
cparata	2:39ad2a393143	1124	{
cparata	2:39ad2a393143	1125	if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
cparata	2:39ad2a393143	1126	{
cparata	2:39ad2a393143	1127	return 1;
cparata	2:39ad2a393143	1128	}
cparata	2:39ad2a393143	1129
cparata	2:39ad2a393143	1130	return 0;
cparata	2:39ad2a393143	1131	}
cparata	2:39ad2a393143	1132
cparata	2:39ad2a393143	1133	/**
cparata	2:39ad2a393143	1134	* @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata	2:39ad2a393143	1135	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:39ad2a393143	1136	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	1137	*/
cparata	2:39ad2a393143	1138	int LSM6DSLSensor::Enable_Tilt_Detection(void)
cparata	7:369954b853d4	1139	{
cparata	7:369954b853d4	1140	return Enable_Tilt_Detection(LSM6DSL_INT1_PIN);
cparata	7:369954b853d4	1141	}
cparata	7:369954b853d4	1142
cparata	7:369954b853d4	1143	/**
cparata	7:369954b853d4	1144	* @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata	7:369954b853d4	1145	* @param pin the interrupt pin to be used
cparata	7:369954b853d4	1146	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata	7:369954b853d4	1147	* @retval 0 in case of success, an error code otherwise
cparata	7:369954b853d4	1148	*/
cparata	7:369954b853d4	1149	int LSM6DSLSensor::Enable_Tilt_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata	2:39ad2a393143	1150	{
cparata	2:39ad2a393143	1151	/* Output Data Rate selection */
cparata	2:39ad2a393143	1152	if( Set_X_ODR(26.0f) == 1 )
cparata	2:39ad2a393143	1153	{
cparata	2:39ad2a393143	1154	return 1;
cparata	2:39ad2a393143	1155	}
cparata	2:39ad2a393143	1156
cparata	2:39ad2a393143	1157	/* Full scale selection. */
cparata	2:39ad2a393143	1158	if( Set_X_FS(2.0f) == 1 )
cparata	2:39ad2a393143	1159	{
cparata	2:39ad2a393143	1160	return 1;
cparata	2:39ad2a393143	1161	}
cparata	2:39ad2a393143	1162
cparata	2:39ad2a393143	1163	/* Enable embedded functionalities */
cparata	2:39ad2a393143	1164	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1165	{
cparata	2:39ad2a393143	1166	return 1;
cparata	2:39ad2a393143	1167	}
cparata	2:39ad2a393143	1168
cparata	2:39ad2a393143	1169	/* Enable tilt calculation. */
cparata	2:39ad2a393143	1170	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1171	{
cparata	2:39ad2a393143	1172	return 1;
cparata	2:39ad2a393143	1173	}
cparata	7:369954b853d4	1174
cparata	7:369954b853d4	1175	/* Enable tilt detection on either INT1 or INT2 pin */
cparata	7:369954b853d4	1176	switch (pin)
cparata	2:39ad2a393143	1177	{
cparata	7:369954b853d4	1178	case LSM6DSL_INT1_PIN:
cparata	7:369954b853d4	1179	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
cparata	7:369954b853d4	1180	{
cparata	7:369954b853d4	1181	return 1;
cparata	7:369954b853d4	1182	}
cparata	7:369954b853d4	1183	break;
cparata	7:369954b853d4	1184
cparata	7:369954b853d4	1185	case LSM6DSL_INT2_PIN:
cparata	7:369954b853d4	1186	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TILT_ENABLED ) == MEMS_ERROR )
cparata	7:369954b853d4	1187	{
cparata	7:369954b853d4	1188	return 1;
cparata	7:369954b853d4	1189	}
cparata	7:369954b853d4	1190	break;
cparata	7:369954b853d4	1191
cparata	7:369954b853d4	1192	default:
cparata	2:39ad2a393143	1193	return 1;
cparata	2:39ad2a393143	1194	}
cparata	7:369954b853d4	1195
cparata	2:39ad2a393143	1196	return 0;
cparata	2:39ad2a393143	1197	}
cparata	2:39ad2a393143	1198
cparata	2:39ad2a393143	1199	/**
cparata	2:39ad2a393143	1200	* @brief Disable the tilt detection for LSM6DSL accelerometer sensor
cparata	2:39ad2a393143	1201	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	1202	*/
cparata	2:39ad2a393143	1203	int LSM6DSLSensor::Disable_Tilt_Detection(void)
cparata	2:39ad2a393143	1204	{
cparata	2:39ad2a393143	1205	/* Disable tilt event on INT1. */
cparata	2:39ad2a393143	1206	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_DISABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1207	{
cparata	2:39ad2a393143	1208	return 1;
cparata	2:39ad2a393143	1209	}
cparata	2:39ad2a393143	1210
cparata	7:369954b853d4	1211	/* Disable tilt event on INT2. */
cparata	7:369954b853d4	1212	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TILT_DISABLED ) == MEMS_ERROR )
cparata	7:369954b853d4	1213	{
cparata	7:369954b853d4	1214	return 1;
cparata	7:369954b853d4	1215	}
cparata	7:369954b853d4	1216
cparata	2:39ad2a393143	1217	/* Disable tilt calculation. */
cparata	2:39ad2a393143	1218	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1219	{
cparata	2:39ad2a393143	1220	return 1;
cparata	2:39ad2a393143	1221	}
cparata	2:39ad2a393143	1222
cparata	2:39ad2a393143	1223	/* Disable embedded functionalities */
cparata	2:39ad2a393143	1224	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1225	{
cparata	2:39ad2a393143	1226	return 1;
cparata	2:39ad2a393143	1227	}
cparata	2:39ad2a393143	1228
cparata	2:39ad2a393143	1229	return 0;
cparata	2:39ad2a393143	1230	}
cparata	2:39ad2a393143	1231
cparata	2:39ad2a393143	1232	/**
cparata	2:39ad2a393143	1233	* @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata	2:39ad2a393143	1234	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:39ad2a393143	1235	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	1236	*/
cparata	2:39ad2a393143	1237	int LSM6DSLSensor::Enable_Wake_Up_Detection(void)
cparata	2:39ad2a393143	1238	{
cparata	7:369954b853d4	1239	return Enable_Wake_Up_Detection(LSM6DSL_INT2_PIN);
cparata	7:369954b853d4	1240	}
cparata	7:369954b853d4	1241
cparata	7:369954b853d4	1242	/**
cparata	7:369954b853d4	1243	* @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata	7:369954b853d4	1244	* @param pin the interrupt pin to be used
cparata	7:369954b853d4	1245	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	7:369954b853d4	1246	* @retval 0 in case of success, an error code otherwise
cparata	7:369954b853d4	1247	*/
cparata	7:369954b853d4	1248	int LSM6DSLSensor::Enable_Wake_Up_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata	7:369954b853d4	1249	{
cparata	2:39ad2a393143	1250	/* Output Data Rate selection */
cparata	2:39ad2a393143	1251	if( Set_X_ODR(416.0f) == 1 )
cparata	2:39ad2a393143	1252	{
cparata	2:39ad2a393143	1253	return 1;
cparata	2:39ad2a393143	1254	}
cparata	2:39ad2a393143	1255
cparata	2:39ad2a393143	1256	/* Full scale selection. */
cparata	2:39ad2a393143	1257	if( Set_X_FS(2.0f) == 1 )
cparata	2:39ad2a393143	1258	{
cparata	2:39ad2a393143	1259	return 1;
cparata	2:39ad2a393143	1260	}
cparata	2:39ad2a393143	1261
cparata	2:39ad2a393143	1262	/* WAKE_DUR setting */
cparata	2:39ad2a393143	1263	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:39ad2a393143	1264	{
cparata	2:39ad2a393143	1265	return 1;
cparata	2:39ad2a393143	1266	}
cparata	2:39ad2a393143	1267
cparata	2:39ad2a393143	1268	/* Set wake up threshold. */
cparata	2:39ad2a393143	1269	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
cparata	2:39ad2a393143	1270	{
cparata	2:39ad2a393143	1271	return 1;
cparata	2:39ad2a393143	1272	}
cparata	2:39ad2a393143	1273
cparata	2:39ad2a393143	1274	/* Enable basic Interrupts */
cparata	2:39ad2a393143	1275	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1276	{
cparata	2:39ad2a393143	1277	return 1;
cparata	2:39ad2a393143	1278	}
cparata	7:369954b853d4	1279
cparata	7:369954b853d4	1280	/* Enable wake up detection on either INT1 or INT2 pin */
cparata	7:369954b853d4	1281	switch (pin)
cparata	2:39ad2a393143	1282	{
cparata	7:369954b853d4	1283	case LSM6DSL_INT1_PIN:
cparata	7:369954b853d4	1284	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_ENABLED ) == MEMS_ERROR )
cparata	7:369954b853d4	1285	{
cparata	7:369954b853d4	1286	return 1;
cparata	7:369954b853d4	1287	}
cparata	7:369954b853d4	1288	break;
cparata	7:369954b853d4	1289
cparata	7:369954b853d4	1290	case LSM6DSL_INT2_PIN:
cparata	7:369954b853d4	1291	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_ENABLED ) == MEMS_ERROR )
cparata	7:369954b853d4	1292	{
cparata	7:369954b853d4	1293	return 1;
cparata	7:369954b853d4	1294	}
cparata	7:369954b853d4	1295	break;
cparata	7:369954b853d4	1296
cparata	7:369954b853d4	1297	default:
cparata	2:39ad2a393143	1298	return 1;
cparata	2:39ad2a393143	1299	}
cparata	2:39ad2a393143	1300
cparata	2:39ad2a393143	1301	return 0;
cparata	2:39ad2a393143	1302	}
cparata	2:39ad2a393143	1303
cparata	2:39ad2a393143	1304	/**
cparata	2:39ad2a393143	1305	* @brief Disable the wake up detection for LSM6DSL accelerometer sensor
cparata	2:39ad2a393143	1306	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	1307	*/
cparata	2:39ad2a393143	1308	int LSM6DSLSensor::Disable_Wake_Up_Detection(void)
cparata	2:39ad2a393143	1309	{
cparata	7:369954b853d4	1310	/* Disable wake up event on INT1 */
cparata	7:369954b853d4	1311	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_DISABLED ) == MEMS_ERROR )
cparata	7:369954b853d4	1312	{
cparata	7:369954b853d4	1313	return 1;
cparata	7:369954b853d4	1314	}
cparata	7:369954b853d4	1315
cparata	7:369954b853d4	1316	/* Disable wake up event on INT2 */
cparata	5:a62aec1093d6	1317	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_DISABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1318	{
cparata	2:39ad2a393143	1319	return 1;
cparata	2:39ad2a393143	1320	}
cparata	2:39ad2a393143	1321
cparata	2:39ad2a393143	1322	/* Disable basic Interrupts */
cparata	2:39ad2a393143	1323	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1324	{
cparata	2:39ad2a393143	1325	return 1;
cparata	2:39ad2a393143	1326	}
cparata	2:39ad2a393143	1327
cparata	2:39ad2a393143	1328	/* WU_DUR setting */
cparata	2:39ad2a393143	1329	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:39ad2a393143	1330	{
cparata	2:39ad2a393143	1331	return 1;
cparata	2:39ad2a393143	1332	}
cparata	2:39ad2a393143	1333
cparata	2:39ad2a393143	1334	/* WU_THS setting */
cparata	2:39ad2a393143	1335	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:39ad2a393143	1336	{
cparata	2:39ad2a393143	1337	return 1;
cparata	2:39ad2a393143	1338	}
cparata	2:39ad2a393143	1339
cparata	2:39ad2a393143	1340	return 0;
cparata	2:39ad2a393143	1341	}
cparata	2:39ad2a393143	1342
cparata	2:39ad2a393143	1343	/**
cparata	2:39ad2a393143	1344	* @brief Set the wake up threshold for LSM6DSL accelerometer sensor
cparata	2:39ad2a393143	1345	* @param thr the threshold to be set
cparata	2:39ad2a393143	1346	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	1347	*/
cparata	2:39ad2a393143	1348	int LSM6DSLSensor::Set_Wake_Up_Threshold(uint8_t thr)
cparata	2:39ad2a393143	1349	{
cparata	2:39ad2a393143	1350	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
cparata	2:39ad2a393143	1351	{
cparata	2:39ad2a393143	1352	return 1;
cparata	2:39ad2a393143	1353	}
cparata	2:39ad2a393143	1354
cparata	2:39ad2a393143	1355	return 0;
cparata	2:39ad2a393143	1356	}
cparata	2:39ad2a393143	1357
cparata	2:39ad2a393143	1358	/**
cparata	2:39ad2a393143	1359	* @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata	2:39ad2a393143	1360	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:39ad2a393143	1361	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	1362	*/
cparata	2:39ad2a393143	1363	int LSM6DSLSensor::Enable_Single_Tap_Detection(void)
cparata	2:39ad2a393143	1364	{
cparata	7:369954b853d4	1365	return Enable_Single_Tap_Detection(LSM6DSL_INT1_PIN);
cparata	7:369954b853d4	1366	}
cparata	7:369954b853d4	1367
cparata	7:369954b853d4	1368	/**
cparata	7:369954b853d4	1369	* @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata	7:369954b853d4	1370	* @param pin the interrupt pin to be used
cparata	7:369954b853d4	1371	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	7:369954b853d4	1372	* @retval 0 in case of success, an error code otherwise
cparata	7:369954b853d4	1373	*/
cparata	7:369954b853d4	1374	int LSM6DSLSensor::Enable_Single_Tap_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata	7:369954b853d4	1375	{
cparata	2:39ad2a393143	1376	/* Output Data Rate selection */
cparata	2:39ad2a393143	1377	if( Set_X_ODR(416.0f) == 1 )
cparata	2:39ad2a393143	1378	{
cparata	2:39ad2a393143	1379	return 1;
cparata	2:39ad2a393143	1380	}
cparata	2:39ad2a393143	1381
cparata	2:39ad2a393143	1382	/* Full scale selection. */
cparata	2:39ad2a393143	1383	if( Set_X_FS(2.0f) == 1 )
cparata	2:39ad2a393143	1384	{
cparata	2:39ad2a393143	1385	return 1;
cparata	2:39ad2a393143	1386	}
cparata	2:39ad2a393143	1387
cparata	2:39ad2a393143	1388	/* Enable X direction in tap recognition. */
cparata	2:39ad2a393143	1389	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1390	{
cparata	2:39ad2a393143	1391	return 1;
cparata	2:39ad2a393143	1392	}
cparata	2:39ad2a393143	1393
cparata	2:39ad2a393143	1394	/* Enable Y direction in tap recognition. */
cparata	2:39ad2a393143	1395	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1396	{
cparata	2:39ad2a393143	1397	return 1;
cparata	2:39ad2a393143	1398	}
cparata	2:39ad2a393143	1399
cparata	2:39ad2a393143	1400	/* Enable Z direction in tap recognition. */
cparata	2:39ad2a393143	1401	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1402	{
cparata	2:39ad2a393143	1403	return 1;
cparata	2:39ad2a393143	1404	}
cparata	2:39ad2a393143	1405
cparata	2:39ad2a393143	1406	/* Set tap threshold. */
cparata	2:39ad2a393143	1407	if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata	2:39ad2a393143	1408	{
cparata	2:39ad2a393143	1409	return 1;
cparata	2:39ad2a393143	1410	}
cparata	2:39ad2a393143	1411
cparata	2:39ad2a393143	1412	/* Set tap shock time window. */
cparata	2:39ad2a393143	1413	if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == 1 )
cparata	2:39ad2a393143	1414	{
cparata	2:39ad2a393143	1415	return 1;
cparata	2:39ad2a393143	1416	}
cparata	2:39ad2a393143	1417
cparata	2:39ad2a393143	1418	/* Set tap quiet time window. */
cparata	2:39ad2a393143	1419	if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == 1 )
cparata	2:39ad2a393143	1420	{
cparata	2:39ad2a393143	1421	return 1;
cparata	2:39ad2a393143	1422	}
cparata	2:39ad2a393143	1423
cparata	2:39ad2a393143	1424	/* _NOTE_: Tap duration time window - don't care for single tap. */
cparata	2:39ad2a393143	1425
cparata	2:39ad2a393143	1426	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata	2:39ad2a393143	1427
cparata	2:39ad2a393143	1428	/* Enable basic Interrupts */
cparata	2:39ad2a393143	1429	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1430	{
cparata	2:39ad2a393143	1431	return 1;
cparata	2:39ad2a393143	1432	}
cparata	2:39ad2a393143	1433
cparata	7:369954b853d4	1434	/* Enable single tap on either INT1 or INT2 pin */
cparata	7:369954b853d4	1435	switch (pin)
cparata	2:39ad2a393143	1436	{
cparata	7:369954b853d4	1437	case LSM6DSL_INT1_PIN:
cparata	7:369954b853d4	1438	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata	7:369954b853d4	1439	{
cparata	7:369954b853d4	1440	return 1;
cparata	7:369954b853d4	1441	}
cparata	7:369954b853d4	1442	break;
cparata	7:369954b853d4	1443
cparata	7:369954b853d4	1444	case LSM6DSL_INT2_PIN:
cparata	7:369954b853d4	1445	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata	7:369954b853d4	1446	{
cparata	7:369954b853d4	1447	return 1;
cparata	7:369954b853d4	1448	}
cparata	7:369954b853d4	1449	break;
cparata	7:369954b853d4	1450
cparata	7:369954b853d4	1451	default:
cparata	2:39ad2a393143	1452	return 1;
cparata	2:39ad2a393143	1453	}
cparata	2:39ad2a393143	1454
cparata	2:39ad2a393143	1455	return 0;
cparata	2:39ad2a393143	1456	}
cparata	2:39ad2a393143	1457
cparata	2:39ad2a393143	1458	/**
cparata	2:39ad2a393143	1459	* @brief Disable the single tap detection for LSM6DSL accelerometer sensor
cparata	2:39ad2a393143	1460	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	1461	*/
cparata	2:39ad2a393143	1462	int LSM6DSLSensor::Disable_Single_Tap_Detection(void)
cparata	2:39ad2a393143	1463	{
cparata	2:39ad2a393143	1464	/* Disable single tap interrupt on INT1 pin. */
cparata	2:39ad2a393143	1465	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1466	{
cparata	2:39ad2a393143	1467	return 1;
cparata	2:39ad2a393143	1468	}
cparata	2:39ad2a393143	1469
cparata	7:369954b853d4	1470	/* Disable single tap interrupt on INT2 pin. */
cparata	7:369954b853d4	1471	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata	7:369954b853d4	1472	{
cparata	7:369954b853d4	1473	return 1;
cparata	7:369954b853d4	1474	}
cparata	7:369954b853d4	1475
cparata	2:39ad2a393143	1476	/* Disable basic Interrupts */
cparata	2:39ad2a393143	1477	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1478	{
cparata	2:39ad2a393143	1479	return 1;
cparata	2:39ad2a393143	1480	}
cparata	2:39ad2a393143	1481
cparata	2:39ad2a393143	1482	/* Reset tap threshold. */
cparata	2:39ad2a393143	1483	if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata	2:39ad2a393143	1484	{
cparata	2:39ad2a393143	1485	return 1;
cparata	2:39ad2a393143	1486	}
cparata	2:39ad2a393143	1487
cparata	2:39ad2a393143	1488	/* Reset tap shock time window. */
cparata	2:39ad2a393143	1489	if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata	2:39ad2a393143	1490	{
cparata	2:39ad2a393143	1491	return 1;
cparata	2:39ad2a393143	1492	}
cparata	2:39ad2a393143	1493
cparata	2:39ad2a393143	1494	/* Reset tap quiet time window. */
cparata	2:39ad2a393143	1495	if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata	2:39ad2a393143	1496	{
cparata	2:39ad2a393143	1497	return 1;
cparata	2:39ad2a393143	1498	}
cparata	2:39ad2a393143	1499
cparata	2:39ad2a393143	1500	/* _NOTE_: Tap duration time window - don't care for single tap. */
cparata	2:39ad2a393143	1501
cparata	2:39ad2a393143	1502	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata	2:39ad2a393143	1503
cparata	2:39ad2a393143	1504	/* Disable Z direction in tap recognition. */
cparata	2:39ad2a393143	1505	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1506	{
cparata	2:39ad2a393143	1507	return 1;
cparata	2:39ad2a393143	1508	}
cparata	2:39ad2a393143	1509
cparata	2:39ad2a393143	1510	/* Disable Y direction in tap recognition. */
cparata	2:39ad2a393143	1511	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1512	{
cparata	2:39ad2a393143	1513	return 1;
cparata	2:39ad2a393143	1514	}
cparata	2:39ad2a393143	1515
cparata	2:39ad2a393143	1516	/* Disable X direction in tap recognition. */
cparata	2:39ad2a393143	1517	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1518	{
cparata	2:39ad2a393143	1519	return 1;
cparata	2:39ad2a393143	1520	}
cparata	2:39ad2a393143	1521
cparata	2:39ad2a393143	1522	return 0;
cparata	2:39ad2a393143	1523	}
cparata	2:39ad2a393143	1524
cparata	2:39ad2a393143	1525	/**
cparata	2:39ad2a393143	1526	* @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata	2:39ad2a393143	1527	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:39ad2a393143	1528	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	1529	*/
cparata	2:39ad2a393143	1530	int LSM6DSLSensor::Enable_Double_Tap_Detection(void)
cparata	2:39ad2a393143	1531	{
cparata	7:369954b853d4	1532	return Enable_Double_Tap_Detection(LSM6DSL_INT1_PIN);
cparata	7:369954b853d4	1533	}
cparata	7:369954b853d4	1534
cparata	7:369954b853d4	1535	/**
cparata	7:369954b853d4	1536	* @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata	7:369954b853d4	1537	* @param pin the interrupt pin to be used
cparata	7:369954b853d4	1538	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	7:369954b853d4	1539	* @retval 0 in case of success, an error code otherwise
cparata	7:369954b853d4	1540	*/
cparata	7:369954b853d4	1541	int LSM6DSLSensor::Enable_Double_Tap_Detection(LSM6DSL_Interrupt_Pin_t pin)
cparata	7:369954b853d4	1542	{
cparata	2:39ad2a393143	1543	/* Output Data Rate selection */
cparata	2:39ad2a393143	1544	if( Set_X_ODR(416.0f) == 1 )
cparata	2:39ad2a393143	1545	{
cparata	2:39ad2a393143	1546	return 1;
cparata	2:39ad2a393143	1547	}
cparata	2:39ad2a393143	1548
cparata	2:39ad2a393143	1549	/* Full scale selection. */
cparata	2:39ad2a393143	1550	if( Set_X_FS(2.0f) == 1 )
cparata	2:39ad2a393143	1551	{
cparata	2:39ad2a393143	1552	return 1;
cparata	2:39ad2a393143	1553	}
cparata	2:39ad2a393143	1554
cparata	2:39ad2a393143	1555	/* Enable X direction in tap recognition. */
cparata	2:39ad2a393143	1556	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1557	{
cparata	2:39ad2a393143	1558	return 1;
cparata	2:39ad2a393143	1559	}
cparata	2:39ad2a393143	1560
cparata	2:39ad2a393143	1561	/* Enable Y direction in tap recognition. */
cparata	2:39ad2a393143	1562	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1563	{
cparata	2:39ad2a393143	1564	return 1;
cparata	2:39ad2a393143	1565	}
cparata	2:39ad2a393143	1566
cparata	2:39ad2a393143	1567	/* Enable Z direction in tap recognition. */
cparata	2:39ad2a393143	1568	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1569	{
cparata	2:39ad2a393143	1570	return 1;
cparata	2:39ad2a393143	1571	}
cparata	2:39ad2a393143	1572
cparata	2:39ad2a393143	1573	/* Set tap threshold. */
cparata	2:39ad2a393143	1574	if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata	2:39ad2a393143	1575	{
cparata	2:39ad2a393143	1576	return 1;
cparata	2:39ad2a393143	1577	}
cparata	2:39ad2a393143	1578
cparata	2:39ad2a393143	1579	/* Set tap shock time window. */
cparata	2:39ad2a393143	1580	if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == 1 )
cparata	2:39ad2a393143	1581	{
cparata	2:39ad2a393143	1582	return 1;
cparata	2:39ad2a393143	1583	}
cparata	2:39ad2a393143	1584
cparata	2:39ad2a393143	1585	/* Set tap quiet time window. */
cparata	2:39ad2a393143	1586	if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == 1 )
cparata	2:39ad2a393143	1587	{
cparata	2:39ad2a393143	1588	return 1;
cparata	2:39ad2a393143	1589	}
cparata	2:39ad2a393143	1590
cparata	2:39ad2a393143	1591	/* Set tap duration time window. */
cparata	2:39ad2a393143	1592	if ( Set_Tap_Duration_Time( LSM6DSL_TAP_DURATION_TIME_MID ) == 1 )
cparata	2:39ad2a393143	1593	{
cparata	2:39ad2a393143	1594	return 1;
cparata	2:39ad2a393143	1595	}
cparata	2:39ad2a393143	1596
cparata	2:39ad2a393143	1597	/* Single and double tap enabled. */
cparata	2:39ad2a393143	1598	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
cparata	2:39ad2a393143	1599	{
cparata	2:39ad2a393143	1600	return 1;
cparata	2:39ad2a393143	1601	}
cparata	2:39ad2a393143	1602
cparata	2:39ad2a393143	1603	/* Enable basic Interrupts */
cparata	2:39ad2a393143	1604	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1605	{
cparata	2:39ad2a393143	1606	return 1;
cparata	2:39ad2a393143	1607	}
cparata	2:39ad2a393143	1608
cparata	7:369954b853d4	1609	/* Enable double tap on either INT1 or INT2 pin */
cparata	7:369954b853d4	1610	switch (pin)
cparata	2:39ad2a393143	1611	{
cparata	7:369954b853d4	1612	case LSM6DSL_INT1_PIN:
cparata	7:369954b853d4	1613	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
cparata	7:369954b853d4	1614	{
cparata	7:369954b853d4	1615	return 1;
cparata	7:369954b853d4	1616	}
cparata	7:369954b853d4	1617	break;
cparata	7:369954b853d4	1618
cparata	7:369954b853d4	1619	case LSM6DSL_INT2_PIN:
cparata	7:369954b853d4	1620	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TAP_ENABLED ) == MEMS_ERROR )
cparata	7:369954b853d4	1621	{
cparata	7:369954b853d4	1622	return 1;
cparata	7:369954b853d4	1623	}
cparata	7:369954b853d4	1624	break;
cparata	7:369954b853d4	1625
cparata	7:369954b853d4	1626	default:
cparata	2:39ad2a393143	1627	return 1;
cparata	2:39ad2a393143	1628	}
cparata	2:39ad2a393143	1629
cparata	2:39ad2a393143	1630	return 0;
cparata	2:39ad2a393143	1631	}
cparata	2:39ad2a393143	1632
cparata	2:39ad2a393143	1633	/**
cparata	2:39ad2a393143	1634	* @brief Disable the double tap detection for LSM6DSL accelerometer sensor
cparata	2:39ad2a393143	1635	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	1636	*/
cparata	2:39ad2a393143	1637	int LSM6DSLSensor::Disable_Double_Tap_Detection(void)
cparata	2:39ad2a393143	1638	{
cparata	2:39ad2a393143	1639	/* Disable double tap interrupt on INT1 pin. */
cparata	2:39ad2a393143	1640	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1641	{
cparata	2:39ad2a393143	1642	return 1;
cparata	2:39ad2a393143	1643	}
cparata	2:39ad2a393143	1644
cparata	7:369954b853d4	1645	/* Disable double tap interrupt on INT2 pin. */
cparata	7:369954b853d4	1646	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TAP_DISABLED ) == MEMS_ERROR )
cparata	7:369954b853d4	1647	{
cparata	7:369954b853d4	1648	return 1;
cparata	7:369954b853d4	1649	}
cparata	7:369954b853d4	1650
cparata	2:39ad2a393143	1651	/* Disable basic Interrupts */
cparata	2:39ad2a393143	1652	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1653	{
cparata	2:39ad2a393143	1654	return 1;
cparata	2:39ad2a393143	1655	}
cparata	2:39ad2a393143	1656
cparata	2:39ad2a393143	1657	/* Reset tap threshold. */
cparata	2:39ad2a393143	1658	if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata	2:39ad2a393143	1659	{
cparata	2:39ad2a393143	1660	return 1;
cparata	2:39ad2a393143	1661	}
cparata	2:39ad2a393143	1662
cparata	2:39ad2a393143	1663	/* Reset tap shock time window. */
cparata	2:39ad2a393143	1664	if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata	2:39ad2a393143	1665	{
cparata	2:39ad2a393143	1666	return 1;
cparata	2:39ad2a393143	1667	}
cparata	2:39ad2a393143	1668
cparata	2:39ad2a393143	1669	/* Reset tap quiet time window. */
cparata	2:39ad2a393143	1670	if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata	2:39ad2a393143	1671	{
cparata	2:39ad2a393143	1672	return 1;
cparata	2:39ad2a393143	1673	}
cparata	2:39ad2a393143	1674
cparata	2:39ad2a393143	1675	/* Reset tap duration time window. */
cparata	2:39ad2a393143	1676	if ( Set_Tap_Duration_Time( 0x0 ) == 1 )
cparata	2:39ad2a393143	1677	{
cparata	2:39ad2a393143	1678	return 1;
cparata	2:39ad2a393143	1679	}
cparata	2:39ad2a393143	1680
cparata	2:39ad2a393143	1681	/* Only single tap enabled. */
cparata	2:39ad2a393143	1682	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
cparata	2:39ad2a393143	1683	{
cparata	2:39ad2a393143	1684	return 1;
cparata	2:39ad2a393143	1685	}
cparata	2:39ad2a393143	1686
cparata	2:39ad2a393143	1687	/* Disable Z direction in tap recognition. */
cparata	2:39ad2a393143	1688	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1689	{
cparata	2:39ad2a393143	1690	return 1;
cparata	2:39ad2a393143	1691	}
cparata	2:39ad2a393143	1692
cparata	2:39ad2a393143	1693	/* Disable Y direction in tap recognition. */
cparata	2:39ad2a393143	1694	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1695	{
cparata	2:39ad2a393143	1696	return 1;
cparata	2:39ad2a393143	1697	}
cparata	2:39ad2a393143	1698
cparata	2:39ad2a393143	1699	/* Disable X direction in tap recognition. */
cparata	2:39ad2a393143	1700	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1701	{
cparata	2:39ad2a393143	1702	return 1;
cparata	2:39ad2a393143	1703	}
cparata	2:39ad2a393143	1704
cparata	2:39ad2a393143	1705	return 0;
cparata	2:39ad2a393143	1706	}
cparata	2:39ad2a393143	1707
cparata	2:39ad2a393143	1708	/**
cparata	2:39ad2a393143	1709	* @brief Set the tap threshold for LSM6DSL accelerometer sensor
cparata	2:39ad2a393143	1710	* @param thr the threshold to be set
cparata	2:39ad2a393143	1711	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	1712	*/
cparata	2:39ad2a393143	1713	int LSM6DSLSensor::Set_Tap_Threshold(uint8_t thr)
cparata	2:39ad2a393143	1714	{
cparata	2:39ad2a393143	1715	if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
cparata	2:39ad2a393143	1716	{
cparata	2:39ad2a393143	1717	return 1;
cparata	2:39ad2a393143	1718	}
cparata	2:39ad2a393143	1719
cparata	2:39ad2a393143	1720	return 0;
cparata	2:39ad2a393143	1721	}
cparata	2:39ad2a393143	1722
cparata	2:39ad2a393143	1723	/**
cparata	2:39ad2a393143	1724	* @brief Set the tap shock time window for LSM6DSL accelerometer sensor
cparata	2:39ad2a393143	1725	* @param time the shock time window to be set
cparata	2:39ad2a393143	1726	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	1727	*/
cparata	2:39ad2a393143	1728	int LSM6DSLSensor::Set_Tap_Shock_Time(uint8_t time)
cparata	2:39ad2a393143	1729	{
cparata	2:39ad2a393143	1730	if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
cparata	2:39ad2a393143	1731	{
cparata	2:39ad2a393143	1732	return 1;
cparata	2:39ad2a393143	1733	}
cparata	2:39ad2a393143	1734
cparata	2:39ad2a393143	1735	return 0;
cparata	2:39ad2a393143	1736	}
cparata	2:39ad2a393143	1737
cparata	2:39ad2a393143	1738	/**
cparata	2:39ad2a393143	1739	* @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
cparata	2:39ad2a393143	1740	* @param time the quiet time window to be set
cparata	2:39ad2a393143	1741	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	1742	*/
cparata	2:39ad2a393143	1743	int LSM6DSLSensor::Set_Tap_Quiet_Time(uint8_t time)
cparata	2:39ad2a393143	1744	{
cparata	2:39ad2a393143	1745	if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
cparata	2:39ad2a393143	1746	{
cparata	2:39ad2a393143	1747	return 1;
cparata	2:39ad2a393143	1748	}
cparata	2:39ad2a393143	1749
cparata	2:39ad2a393143	1750	return 0;
cparata	2:39ad2a393143	1751	}
cparata	2:39ad2a393143	1752
cparata	2:39ad2a393143	1753	/**
cparata	2:39ad2a393143	1754	* @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
cparata	2:39ad2a393143	1755	* @param time the duration of the time window to be set
cparata	2:39ad2a393143	1756	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	1757	*/
cparata	2:39ad2a393143	1758	int LSM6DSLSensor::Set_Tap_Duration_Time(uint8_t time)
cparata	2:39ad2a393143	1759	{
cparata	2:39ad2a393143	1760	if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
cparata	2:39ad2a393143	1761	{
cparata	2:39ad2a393143	1762	return 1;
cparata	2:39ad2a393143	1763	}
cparata	2:39ad2a393143	1764
cparata	2:39ad2a393143	1765	return 0;
cparata	2:39ad2a393143	1766	}
cparata	2:39ad2a393143	1767
cparata	2:39ad2a393143	1768	/**
cparata	2:39ad2a393143	1769	* @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	2:39ad2a393143	1770	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:39ad2a393143	1771	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	1772	*/
cparata	2:39ad2a393143	1773	int LSM6DSLSensor::Enable_6D_Orientation(void)
cparata	2:39ad2a393143	1774	{
cparata	7:369954b853d4	1775	return Enable_6D_Orientation(LSM6DSL_INT1_PIN);
cparata	7:369954b853d4	1776	}
cparata	7:369954b853d4	1777
cparata	7:369954b853d4	1778	/**
cparata	7:369954b853d4	1779	* @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	7:369954b853d4	1780	* @param pin the interrupt pin to be used
cparata	7:369954b853d4	1781	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	7:369954b853d4	1782	* @retval 0 in case of success, an error code otherwise
cparata	7:369954b853d4	1783	*/
cparata	7:369954b853d4	1784	int LSM6DSLSensor::Enable_6D_Orientation(LSM6DSL_Interrupt_Pin_t pin)
cparata	7:369954b853d4	1785	{
cparata	2:39ad2a393143	1786	/* Output Data Rate selection */
cparata	2:39ad2a393143	1787	if( Set_X_ODR(416.0f) == 1 )
cparata	2:39ad2a393143	1788	{
cparata	2:39ad2a393143	1789	return 1;
cparata	2:39ad2a393143	1790	}
cparata	2:39ad2a393143	1791
cparata	2:39ad2a393143	1792	/* Full scale selection. */
cparata	2:39ad2a393143	1793	if( Set_X_FS(2.0f) == 1 )
cparata	2:39ad2a393143	1794	{
cparata	2:39ad2a393143	1795	return 1;
cparata	2:39ad2a393143	1796	}
cparata	2:39ad2a393143	1797
cparata	2:39ad2a393143	1798	/* Set 6D threshold. */
cparata	2:39ad2a393143	1799	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
cparata	2:39ad2a393143	1800	{
cparata	2:39ad2a393143	1801	return 1;
cparata	2:39ad2a393143	1802	}
cparata	2:39ad2a393143	1803
cparata	2:39ad2a393143	1804	/* Enable basic Interrupts */
cparata	2:39ad2a393143	1805	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1806	{
cparata	2:39ad2a393143	1807	return 1;
cparata	2:39ad2a393143	1808	}
cparata	2:39ad2a393143	1809
cparata	7:369954b853d4	1810	/* Enable 6D orientation on either INT1 or INT2 pin */
cparata	7:369954b853d4	1811	switch (pin)
cparata	2:39ad2a393143	1812	{
cparata	7:369954b853d4	1813	case LSM6DSL_INT1_PIN:
cparata	7:369954b853d4	1814	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
cparata	7:369954b853d4	1815	{
cparata	7:369954b853d4	1816	return 1;
cparata	7:369954b853d4	1817	}
cparata	7:369954b853d4	1818	break;
cparata	7:369954b853d4	1819
cparata	7:369954b853d4	1820	case LSM6DSL_INT2_PIN:
cparata	7:369954b853d4	1821	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_6D_ENABLED ) == MEMS_ERROR )
cparata	7:369954b853d4	1822	{
cparata	7:369954b853d4	1823	return 1;
cparata	7:369954b853d4	1824	}
cparata	7:369954b853d4	1825	break;
cparata	7:369954b853d4	1826
cparata	7:369954b853d4	1827	default:
cparata	2:39ad2a393143	1828	return 1;
cparata	2:39ad2a393143	1829	}
cparata	2:39ad2a393143	1830
cparata	2:39ad2a393143	1831	return 0;
cparata	2:39ad2a393143	1832	}
cparata	2:39ad2a393143	1833
cparata	2:39ad2a393143	1834	/**
cparata	2:39ad2a393143	1835	* @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	2:39ad2a393143	1836	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	1837	*/
cparata	2:39ad2a393143	1838	int LSM6DSLSensor::Disable_6D_Orientation(void)
cparata	2:39ad2a393143	1839	{
cparata	7:369954b853d4	1840	/* Disable 6D orientation interrupt on INT1 pin. */
cparata	2:39ad2a393143	1841	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1842	{
cparata	2:39ad2a393143	1843	return 1;
cparata	2:39ad2a393143	1844	}
cparata	2:39ad2a393143	1845
cparata	7:369954b853d4	1846	/* Disable 6D orientation interrupt on INT2 pin. */
cparata	7:369954b853d4	1847	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_6D_DISABLED ) == MEMS_ERROR )
cparata	7:369954b853d4	1848	{
cparata	7:369954b853d4	1849	return 1;
cparata	7:369954b853d4	1850	}
cparata	7:369954b853d4	1851
cparata	2:39ad2a393143	1852	/* Disable basic Interrupts */
cparata	2:39ad2a393143	1853	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:39ad2a393143	1854	{
cparata	2:39ad2a393143	1855	return 1;
cparata	2:39ad2a393143	1856	}
cparata	2:39ad2a393143	1857
cparata	2:39ad2a393143	1858	/* Reset 6D threshold. */
cparata	2:39ad2a393143	1859	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
cparata	2:39ad2a393143	1860	{
cparata	2:39ad2a393143	1861	return 1;
cparata	2:39ad2a393143	1862	}
cparata	2:39ad2a393143	1863
cparata	2:39ad2a393143	1864	return 0;
cparata	2:39ad2a393143	1865	}
cparata	2:39ad2a393143	1866
cparata	2:39ad2a393143	1867	/**
cparata	2:39ad2a393143	1868	* @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
cparata	2:39ad2a393143	1869	* @param xl the pointer to the 6D orientation XL axis
cparata	2:39ad2a393143	1870	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	1871	*/
cparata	2:39ad2a393143	1872	int LSM6DSLSensor::Get_6D_Orientation_XL(uint8_t *xl)
cparata	2:39ad2a393143	1873	{
cparata	2:39ad2a393143	1874	LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
cparata	2:39ad2a393143	1875
cparata	2:39ad2a393143	1876	if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
cparata	2:39ad2a393143	1877	{
cparata	2:39ad2a393143	1878	return 1;
cparata	2:39ad2a393143	1879	}
cparata	2:39ad2a393143	1880
cparata	2:39ad2a393143	1881	switch( xl_raw )
cparata	2:39ad2a393143	1882	{
cparata	2:39ad2a393143	1883	case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
cparata	2:39ad2a393143	1884	*xl = 1;
cparata	2:39ad2a393143	1885	break;
cparata	2:39ad2a393143	1886	case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
cparata	2:39ad2a393143	1887	*xl = 0;
cparata	2:39ad2a393143	1888	break;
cparata	2:39ad2a393143	1889	default:
cparata	2:39ad2a393143	1890	return 1;
cparata	2:39ad2a393143	1891	}
cparata	2:39ad2a393143	1892
cparata	2:39ad2a393143	1893	return 0;
cparata	2:39ad2a393143	1894	}
cparata	2:39ad2a393143	1895
cparata	2:39ad2a393143	1896	/**
cparata	2:39ad2a393143	1897	* @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
cparata	2:39ad2a393143	1898	* @param xh the pointer to the 6D orientation XH axis
cparata	2:39ad2a393143	1899	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	1900	*/
cparata	2:39ad2a393143	1901	int LSM6DSLSensor::Get_6D_Orientation_XH(uint8_t *xh)
cparata	2:39ad2a393143	1902	{
cparata	2:39ad2a393143	1903	LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
cparata	2:39ad2a393143	1904
cparata	2:39ad2a393143	1905	if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
cparata	2:39ad2a393143	1906	{
cparata	2:39ad2a393143	1907	return 1;
cparata	2:39ad2a393143	1908	}
cparata	2:39ad2a393143	1909
cparata	2:39ad2a393143	1910	switch( xh_raw )
cparata	2:39ad2a393143	1911	{
cparata	2:39ad2a393143	1912	case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
cparata	2:39ad2a393143	1913	*xh = 1;
cparata	2:39ad2a393143	1914	break;
cparata	2:39ad2a393143	1915	case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
cparata	2:39ad2a393143	1916	*xh = 0;
cparata	2:39ad2a393143	1917	break;
cparata	2:39ad2a393143	1918	default:
cparata	2:39ad2a393143	1919	return 1;
cparata	2:39ad2a393143	1920	}
cparata	2:39ad2a393143	1921
cparata	2:39ad2a393143	1922	return 0;
cparata	2:39ad2a393143	1923	}
cparata	2:39ad2a393143	1924
cparata	2:39ad2a393143	1925	/**
cparata	2:39ad2a393143	1926	* @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
cparata	2:39ad2a393143	1927	* @param yl the pointer to the 6D orientation YL axis
cparata	2:39ad2a393143	1928	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	1929	*/
cparata	2:39ad2a393143	1930	int LSM6DSLSensor::Get_6D_Orientation_YL(uint8_t *yl)
cparata	2:39ad2a393143	1931	{
cparata	2:39ad2a393143	1932	LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
cparata	2:39ad2a393143	1933
cparata	2:39ad2a393143	1934	if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
cparata	2:39ad2a393143	1935	{
cparata	2:39ad2a393143	1936	return 1;
cparata	2:39ad2a393143	1937	}
cparata	2:39ad2a393143	1938
cparata	2:39ad2a393143	1939	switch( yl_raw )
cparata	2:39ad2a393143	1940	{
cparata	2:39ad2a393143	1941	case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
cparata	2:39ad2a393143	1942	*yl = 1;
cparata	2:39ad2a393143	1943	break;
cparata	2:39ad2a393143	1944	case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
cparata	2:39ad2a393143	1945	*yl = 0;
cparata	2:39ad2a393143	1946	break;
cparata	2:39ad2a393143	1947	default:
cparata	2:39ad2a393143	1948	return 1;
cparata	2:39ad2a393143	1949	}
cparata	2:39ad2a393143	1950
cparata	2:39ad2a393143	1951	return 0;
cparata	2:39ad2a393143	1952	}
cparata	2:39ad2a393143	1953
cparata	2:39ad2a393143	1954	/**
cparata	2:39ad2a393143	1955	* @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
cparata	2:39ad2a393143	1956	* @param yh the pointer to the 6D orientation YH axis
cparata	2:39ad2a393143	1957	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	1958	*/
cparata	2:39ad2a393143	1959	int LSM6DSLSensor::Get_6D_Orientation_YH(uint8_t *yh)
cparata	2:39ad2a393143	1960	{
cparata	2:39ad2a393143	1961	LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
cparata	2:39ad2a393143	1962
cparata	2:39ad2a393143	1963	if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
cparata	2:39ad2a393143	1964	{
cparata	2:39ad2a393143	1965	return 1;
cparata	2:39ad2a393143	1966	}
cparata	2:39ad2a393143	1967
cparata	2:39ad2a393143	1968	switch( yh_raw )
cparata	2:39ad2a393143	1969	{
cparata	2:39ad2a393143	1970	case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
cparata	2:39ad2a393143	1971	*yh = 1;
cparata	2:39ad2a393143	1972	break;
cparata	2:39ad2a393143	1973	case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
cparata	2:39ad2a393143	1974	*yh = 0;
cparata	2:39ad2a393143	1975	break;
cparata	2:39ad2a393143	1976	default:
cparata	2:39ad2a393143	1977	return 1;
cparata	2:39ad2a393143	1978	}
cparata	2:39ad2a393143	1979
cparata	2:39ad2a393143	1980	return 0;
cparata	2:39ad2a393143	1981	}
cparata	2:39ad2a393143	1982
cparata	2:39ad2a393143	1983	/**
cparata	2:39ad2a393143	1984	* @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
cparata	2:39ad2a393143	1985	* @param zl the pointer to the 6D orientation ZL axis
cparata	2:39ad2a393143	1986	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	1987	*/
cparata	2:39ad2a393143	1988	int LSM6DSLSensor::Get_6D_Orientation_ZL(uint8_t *zl)
cparata	2:39ad2a393143	1989	{
cparata	2:39ad2a393143	1990	LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
cparata	2:39ad2a393143	1991
cparata	2:39ad2a393143	1992	if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
cparata	2:39ad2a393143	1993	{
cparata	2:39ad2a393143	1994	return 1;
cparata	2:39ad2a393143	1995	}
cparata	2:39ad2a393143	1996
cparata	2:39ad2a393143	1997	switch( zl_raw )
cparata	2:39ad2a393143	1998	{
cparata	2:39ad2a393143	1999	case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
cparata	2:39ad2a393143	2000	*zl = 1;
cparata	2:39ad2a393143	2001	break;
cparata	2:39ad2a393143	2002	case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
cparata	2:39ad2a393143	2003	*zl = 0;
cparata	2:39ad2a393143	2004	break;
cparata	2:39ad2a393143	2005	default:
cparata	2:39ad2a393143	2006	return 1;
cparata	2:39ad2a393143	2007	}
cparata	2:39ad2a393143	2008
cparata	2:39ad2a393143	2009	return 0;
cparata	2:39ad2a393143	2010	}
cparata	2:39ad2a393143	2011
cparata	2:39ad2a393143	2012	/**
cparata	2:39ad2a393143	2013	* @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
cparata	2:39ad2a393143	2014	* @param zh the pointer to the 6D orientation ZH axis
cparata	2:39ad2a393143	2015	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	2016	*/
cparata	2:39ad2a393143	2017	int LSM6DSLSensor::Get_6D_Orientation_ZH(uint8_t *zh)
cparata	2:39ad2a393143	2018	{
cparata	2:39ad2a393143	2019	LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
cparata	2:39ad2a393143	2020
cparata	2:39ad2a393143	2021	if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
cparata	2:39ad2a393143	2022	{
cparata	2:39ad2a393143	2023	return 1;
cparata	2:39ad2a393143	2024	}
cparata	2:39ad2a393143	2025
cparata	2:39ad2a393143	2026	switch( zh_raw )
cparata	2:39ad2a393143	2027	{
cparata	2:39ad2a393143	2028	case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
cparata	2:39ad2a393143	2029	*zh = 1;
cparata	2:39ad2a393143	2030	break;
cparata	2:39ad2a393143	2031	case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
cparata	2:39ad2a393143	2032	*zh = 0;
cparata	2:39ad2a393143	2033	break;
cparata	2:39ad2a393143	2034	default:
cparata	2:39ad2a393143	2035	return 1;
cparata	2:39ad2a393143	2036	}
cparata	2:39ad2a393143	2037
cparata	2:39ad2a393143	2038	return 0;
cparata	2:39ad2a393143	2039	}
cparata	2:39ad2a393143	2040
cparata	2:39ad2a393143	2041	/**
cparata	4:49b63c3f26ae	2042	* @brief Get the status of all hardware events for LSM6DSL accelerometer sensor
cparata	4:49b63c3f26ae	2043	* @param status the pointer to the status of all hardware events
cparata	4:49b63c3f26ae	2044	* @retval 0 in case of success, an error code otherwise
cparata	4:49b63c3f26ae	2045	*/
cparata	4:49b63c3f26ae	2046	int LSM6DSLSensor::Get_Event_Status(LSM6DSL_Event_Status_t *status)
cparata	4:49b63c3f26ae	2047	{
cparata	5:a62aec1093d6	2048	uint8_t Wake_Up_Src = 0, Tap_Src = 0, D6D_Src = 0, Func_Src = 0, Md1_Cfg = 0, Md2_Cfg = 0, Int1_Ctrl = 0;
cparata	4:49b63c3f26ae	2049
cparata	4:49b63c3f26ae	2050	memset((void *)status, 0x0, sizeof(LSM6DSL_Event_Status_t));
cparata	4:49b63c3f26ae	2051
cparata	4:49b63c3f26ae	2052	if(ReadReg(LSM6DSL_ACC_GYRO_WAKE_UP_SRC, &Wake_Up_Src) != 0)
cparata	4:49b63c3f26ae	2053	{
cparata	4:49b63c3f26ae	2054	return 1;
cparata	4:49b63c3f26ae	2055	}
cparata	4:49b63c3f26ae	2056
cparata	4:49b63c3f26ae	2057	if(ReadReg(LSM6DSL_ACC_GYRO_TAP_SRC, &Tap_Src) != 0)
cparata	4:49b63c3f26ae	2058	{
cparata	4:49b63c3f26ae	2059	return 1;
cparata	4:49b63c3f26ae	2060	}
cparata	4:49b63c3f26ae	2061
cparata	4:49b63c3f26ae	2062	if(ReadReg(LSM6DSL_ACC_GYRO_D6D_SRC, &D6D_Src) != 0)
cparata	4:49b63c3f26ae	2063	{
cparata	4:49b63c3f26ae	2064	return 1;
cparata	4:49b63c3f26ae	2065	}
cparata	4:49b63c3f26ae	2066
cparata	4:49b63c3f26ae	2067	if(ReadReg(LSM6DSL_ACC_GYRO_FUNC_SRC, &Func_Src) != 0)
cparata	4:49b63c3f26ae	2068	{
cparata	4:49b63c3f26ae	2069	return 1;
cparata	4:49b63c3f26ae	2070	}
cparata	4:49b63c3f26ae	2071
cparata	5:a62aec1093d6	2072	if(ReadReg(LSM6DSL_ACC_GYRO_MD1_CFG, &Md1_Cfg ) != 0 )
cparata	5:a62aec1093d6	2073	{
cparata	5:a62aec1093d6	2074	return 1;
cparata	5:a62aec1093d6	2075	}
cparata	5:a62aec1093d6	2076
cparata	5:a62aec1093d6	2077	if(ReadReg(LSM6DSL_ACC_GYRO_MD2_CFG, &Md2_Cfg ) != 0)
cparata	4:49b63c3f26ae	2078	{
cparata	5:a62aec1093d6	2079	return 1;
cparata	5:a62aec1093d6	2080	}
cparata	5:a62aec1093d6	2081
cparata	5:a62aec1093d6	2082	if(ReadReg(LSM6DSL_ACC_GYRO_INT1_CTRL, &Int1_Ctrl ) != 0)
cparata	5:a62aec1093d6	2083	{
cparata	5:a62aec1093d6	2084	return 1;
cparata	4:49b63c3f26ae	2085	}
cparata	4:49b63c3f26ae	2086
cparata	7:369954b853d4	2087	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_FF_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_FF_MASK))
cparata	4:49b63c3f26ae	2088	{
cparata	5:a62aec1093d6	2089	if((Wake_Up_Src & LSM6DSL_ACC_GYRO_FF_EV_STATUS_MASK))
cparata	5:a62aec1093d6	2090	{
cparata	5:a62aec1093d6	2091	status->FreeFallStatus = 1;
cparata	5:a62aec1093d6	2092	}
cparata	4:49b63c3f26ae	2093	}
cparata	4:49b63c3f26ae	2094
cparata	7:369954b853d4	2095	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_WU_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_WU_MASK))
cparata	4:49b63c3f26ae	2096	{
cparata	5:a62aec1093d6	2097	if((Wake_Up_Src & LSM6DSL_ACC_GYRO_WU_EV_STATUS_MASK))
cparata	5:a62aec1093d6	2098	{
cparata	5:a62aec1093d6	2099	status->WakeUpStatus = 1;
cparata	5:a62aec1093d6	2100	}
cparata	4:49b63c3f26ae	2101	}
cparata	4:49b63c3f26ae	2102
cparata	7:369954b853d4	2103	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_MASK))
cparata	4:49b63c3f26ae	2104	{
cparata	5:a62aec1093d6	2105	if((Tap_Src & LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_MASK))
cparata	5:a62aec1093d6	2106	{
cparata	5:a62aec1093d6	2107	status->TapStatus = 1;
cparata	5:a62aec1093d6	2108	}
cparata	5:a62aec1093d6	2109	}
cparata	5:a62aec1093d6	2110
cparata	7:369954b853d4	2111	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TAP_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_TAP_MASK))
cparata	5:a62aec1093d6	2112	{
cparata	5:a62aec1093d6	2113	if((Tap_Src & LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_MASK))
cparata	5:a62aec1093d6	2114	{
cparata	5:a62aec1093d6	2115	status->DoubleTapStatus = 1;
cparata	5:a62aec1093d6	2116	}
cparata	4:49b63c3f26ae	2117	}
cparata	4:49b63c3f26ae	2118
cparata	7:369954b853d4	2119	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_6D_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_6D_MASK))
cparata	4:49b63c3f26ae	2120	{
cparata	5:a62aec1093d6	2121	if((D6D_Src & LSM6DSL_ACC_GYRO_D6D_EV_STATUS_MASK))
cparata	5:a62aec1093d6	2122	{
cparata	5:a62aec1093d6	2123	status->D6DOrientationStatus = 1;
cparata	5:a62aec1093d6	2124	}
cparata	4:49b63c3f26ae	2125	}
cparata	4:49b63c3f26ae	2126
cparata	7:369954b853d4	2127	if((Int1_Ctrl & LSM6DSL_ACC_GYRO_INT1_PEDO_MASK))
cparata	4:49b63c3f26ae	2128	{
cparata	5:a62aec1093d6	2129	if((Func_Src & LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_MASK))
cparata	5:a62aec1093d6	2130	{
cparata	5:a62aec1093d6	2131	status->StepStatus = 1;
cparata	5:a62aec1093d6	2132	}
cparata	4:49b63c3f26ae	2133	}
cparata	4:49b63c3f26ae	2134
cparata	7:369954b853d4	2135	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TILT_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_TILT_MASK))
cparata	4:49b63c3f26ae	2136	{
cparata	5:a62aec1093d6	2137	if((Func_Src & LSM6DSL_ACC_GYRO_TILT_EV_STATUS_MASK))
cparata	5:a62aec1093d6	2138	{
cparata	5:a62aec1093d6	2139	status->TiltStatus = 1;
cparata	5:a62aec1093d6	2140	}
cparata	4:49b63c3f26ae	2141	}
cparata	4:49b63c3f26ae	2142
cparata	4:49b63c3f26ae	2143	return 0;
cparata	4:49b63c3f26ae	2144	}
cparata	4:49b63c3f26ae	2145
cparata	4:49b63c3f26ae	2146	/**
cparata	2:39ad2a393143	2147	* @brief Read the data from register
cparata	2:39ad2a393143	2148	* @param reg register address
cparata	2:39ad2a393143	2149	* @param data register data
cparata	4:49b63c3f26ae	2150	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	2151	*/
cparata	2:39ad2a393143	2152	int LSM6DSLSensor::ReadReg( uint8_t reg, uint8_t *data )
cparata	2:39ad2a393143	2153	{
cparata	2:39ad2a393143	2154
cparata	2:39ad2a393143	2155	if ( LSM6DSL_ACC_GYRO_ReadReg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
cparata	2:39ad2a393143	2156	{
cparata	2:39ad2a393143	2157	return 1;
cparata	2:39ad2a393143	2158	}
cparata	2:39ad2a393143	2159
cparata	2:39ad2a393143	2160	return 0;
cparata	2:39ad2a393143	2161	}
cparata	2:39ad2a393143	2162
cparata	2:39ad2a393143	2163	/**
cparata	2:39ad2a393143	2164	* @brief Write the data to register
cparata	2:39ad2a393143	2165	* @param reg register address
cparata	2:39ad2a393143	2166	* @param data register data
cparata	4:49b63c3f26ae	2167	* @retval 0 in case of success, an error code otherwise
cparata	2:39ad2a393143	2168	*/
cparata	2:39ad2a393143	2169	int LSM6DSLSensor::WriteReg( uint8_t reg, uint8_t data )
cparata	2:39ad2a393143	2170	{
cparata	2:39ad2a393143	2171
cparata	2:39ad2a393143	2172	if ( LSM6DSL_ACC_GYRO_WriteReg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
cparata	2:39ad2a393143	2173	{
cparata	2:39ad2a393143	2174	return 1;
cparata	2:39ad2a393143	2175	}
cparata	2:39ad2a393143	2176
cparata	2:39ad2a393143	2177	return 0;
cparata	2:39ad2a393143	2178	}
cparata	2:39ad2a393143	2179
cparata	2:39ad2a393143	2180
cparata	2:39ad2a393143	2181	uint8_t LSM6DSL_IO_Write( void handle, uint8_t WriteAddr, uint8_t pBuffer, uint16_t nBytesToWrite )
cparata	2:39ad2a393143	2182	{
cparata	2:39ad2a393143	2183	return ((LSM6DSLSensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata	2:39ad2a393143	2184	}
cparata	2:39ad2a393143	2185
cparata	2:39ad2a393143	2186	uint8_t LSM6DSL_IO_Read( void handle, uint8_t ReadAddr, uint8_t pBuffer, uint16_t nBytesToRead )
cparata	2:39ad2a393143	2187	{
cparata	2:39ad2a393143	2188	return ((LSM6DSLSensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata	2:39ad2a393143	2189	}

Repository toolbox

Export to desktop IDE

Build repository

Repository details

Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	16 Dec 2016
Imports:	126
Forks:	0
Commits:	17
Dependents:	0
Dependencies:	2
Followers:	401

The code in this repository is Apache licensed.

Tilt Detection Demo Application based on sensor expansion board X-NUCLEO-IKS01A2

X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.cpp@7:369954b853d4, 2016-11-24 (annotated)

Who changed what in which revision?

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning