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

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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@0:489965565a0d, 2016-08-12 (annotated)

Committer:: cparata
Date:: Fri Aug 12 13:42:49 2016 +0000
Revision:: 0:489965565a0d

First release of Tilt Detection for LSM6DSL in IKS01A2

Who changed what in which revision?

User	Revision	Line number	New contents of line
cparata	0:489965565a0d	1	/**
cparata	0:489965565a0d	2	******************************************************************************
cparata	0:489965565a0d	3	* @file LSM6DSLSensor.cpp
cparata	0:489965565a0d	4	* @author AST
cparata	0:489965565a0d	5	* @version V1.0.0
cparata	0:489965565a0d	6	* @date 5 August 2016
cparata	0:489965565a0d	7	* @brief Implementation of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
cparata	0:489965565a0d	8	* sensor.
cparata	0:489965565a0d	9	******************************************************************************
cparata	0:489965565a0d	10	* @attention
cparata	0:489965565a0d	11	*
cparata	0:489965565a0d	12	* <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata	0:489965565a0d	13	*
cparata	0:489965565a0d	14	* Redistribution and use in source and binary forms, with or without modification,
cparata	0:489965565a0d	15	* are permitted provided that the following conditions are met:
cparata	0:489965565a0d	16	* 1. Redistributions of source code must retain the above copyright notice,
cparata	0:489965565a0d	17	* this list of conditions and the following disclaimer.
cparata	0:489965565a0d	18	* 2. Redistributions in binary form must reproduce the above copyright notice,
cparata	0:489965565a0d	19	* this list of conditions and the following disclaimer in the documentation
cparata	0:489965565a0d	20	* and/or other materials provided with the distribution.
cparata	0:489965565a0d	21	* 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata	0:489965565a0d	22	* may be used to endorse or promote products derived from this software
cparata	0:489965565a0d	23	* without specific prior written permission.
cparata	0:489965565a0d	24	*
cparata	0:489965565a0d	25	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata	0:489965565a0d	26	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata	0:489965565a0d	27	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata	0:489965565a0d	28	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata	0:489965565a0d	29	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata	0:489965565a0d	30	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata	0:489965565a0d	31	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata	0:489965565a0d	32	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata	0:489965565a0d	33	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata	0:489965565a0d	34	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata	0:489965565a0d	35	*
cparata	0:489965565a0d	36	******************************************************************************
cparata	0:489965565a0d	37	*/
cparata	0:489965565a0d	38
cparata	0:489965565a0d	39
cparata	0:489965565a0d	40	/* Includes ------------------------------------------------------------------*/
cparata	0:489965565a0d	41
cparata	0:489965565a0d	42	#include "mbed.h"
cparata	0:489965565a0d	43	#include "DevI2C.h"
cparata	0:489965565a0d	44	#include "LSM6DSLSensor.h"
cparata	0:489965565a0d	45	#include "LSM6DSL_ACC_GYRO_driver.h"
cparata	0:489965565a0d	46
cparata	0:489965565a0d	47
cparata	0:489965565a0d	48	/* Class Implementation ------------------------------------------------------*/
cparata	0:489965565a0d	49
cparata	0:489965565a0d	50	/** Constructor
cparata	0:489965565a0d	51	* @param i2c object of an helper class which handles the I2C peripheral
cparata	0:489965565a0d	52	* @param address the address of the component's instance
cparata	0:489965565a0d	53	*/
cparata	0:489965565a0d	54	LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c) : dev_i2c(i2c)
cparata	0:489965565a0d	55	{
cparata	0:489965565a0d	56	address = LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH;
cparata	0:489965565a0d	57
cparata	0:489965565a0d	58	/* Enable register address automatically incremented during a multiple byte
cparata	0:489965565a0d	59	access with a serial interface. */
cparata	0:489965565a0d	60	if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	61	{
cparata	0:489965565a0d	62	return;
cparata	0:489965565a0d	63	}
cparata	0:489965565a0d	64
cparata	0:489965565a0d	65	/* Enable BDU */
cparata	0:489965565a0d	66	if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
cparata	0:489965565a0d	67	{
cparata	0:489965565a0d	68	return;
cparata	0:489965565a0d	69	}
cparata	0:489965565a0d	70
cparata	0:489965565a0d	71	/* FIFO mode selection */
cparata	0:489965565a0d	72	if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
cparata	0:489965565a0d	73	{
cparata	0:489965565a0d	74	return;
cparata	0:489965565a0d	75	}
cparata	0:489965565a0d	76
cparata	0:489965565a0d	77	/* Output data rate selection - power down. */
cparata	0:489965565a0d	78	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata	0:489965565a0d	79	{
cparata	0:489965565a0d	80	return;
cparata	0:489965565a0d	81	}
cparata	0:489965565a0d	82
cparata	0:489965565a0d	83	/* Full scale selection. */
cparata	0:489965565a0d	84	if ( Set_X_FS( 2.0f ) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	85	{
cparata	0:489965565a0d	86	return;
cparata	0:489965565a0d	87	}
cparata	0:489965565a0d	88
cparata	0:489965565a0d	89	/* Output data rate selection - power down */
cparata	0:489965565a0d	90	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata	0:489965565a0d	91	{
cparata	0:489965565a0d	92	return;
cparata	0:489965565a0d	93	}
cparata	0:489965565a0d	94
cparata	0:489965565a0d	95	/* Full scale selection. */
cparata	0:489965565a0d	96	if ( Set_G_FS( 2000.0f ) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	97	{
cparata	0:489965565a0d	98	return;
cparata	0:489965565a0d	99	}
cparata	0:489965565a0d	100
cparata	0:489965565a0d	101	X_Last_ODR = 104.0f;
cparata	0:489965565a0d	102
cparata	0:489965565a0d	103	X_isEnabled = 0;
cparata	0:489965565a0d	104
cparata	0:489965565a0d	105	G_Last_ODR = 104.0f;
cparata	0:489965565a0d	106
cparata	0:489965565a0d	107	G_isEnabled = 0;
cparata	0:489965565a0d	108	};
cparata	0:489965565a0d	109
cparata	0:489965565a0d	110	/** Constructor
cparata	0:489965565a0d	111	* @param i2c object of an helper class which handles the I2C peripheral
cparata	0:489965565a0d	112	* @param address the address of the component's instance
cparata	0:489965565a0d	113	*/
cparata	0:489965565a0d	114	LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
cparata	0:489965565a0d	115	{
cparata	0:489965565a0d	116	/* Enable register address automatically incremented during a multiple byte
cparata	0:489965565a0d	117	access with a serial interface. */
cparata	0:489965565a0d	118	if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	119	{
cparata	0:489965565a0d	120	return;
cparata	0:489965565a0d	121	}
cparata	0:489965565a0d	122
cparata	0:489965565a0d	123	/* Enable BDU */
cparata	0:489965565a0d	124	if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
cparata	0:489965565a0d	125	{
cparata	0:489965565a0d	126	return;
cparata	0:489965565a0d	127	}
cparata	0:489965565a0d	128
cparata	0:489965565a0d	129	/* FIFO mode selection */
cparata	0:489965565a0d	130	if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
cparata	0:489965565a0d	131	{
cparata	0:489965565a0d	132	return;
cparata	0:489965565a0d	133	}
cparata	0:489965565a0d	134
cparata	0:489965565a0d	135	/* Output data rate selection - power down. */
cparata	0:489965565a0d	136	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata	0:489965565a0d	137	{
cparata	0:489965565a0d	138	return;
cparata	0:489965565a0d	139	}
cparata	0:489965565a0d	140
cparata	0:489965565a0d	141	/* Full scale selection. */
cparata	0:489965565a0d	142	if ( Set_X_FS( 2.0f ) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	143	{
cparata	0:489965565a0d	144	return;
cparata	0:489965565a0d	145	}
cparata	0:489965565a0d	146
cparata	0:489965565a0d	147	/* Output data rate selection - power down */
cparata	0:489965565a0d	148	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata	0:489965565a0d	149	{
cparata	0:489965565a0d	150	return;
cparata	0:489965565a0d	151	}
cparata	0:489965565a0d	152
cparata	0:489965565a0d	153	/* Full scale selection. */
cparata	0:489965565a0d	154	if ( Set_G_FS( 2000.0f ) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	155	{
cparata	0:489965565a0d	156	return;
cparata	0:489965565a0d	157	}
cparata	0:489965565a0d	158
cparata	0:489965565a0d	159	X_Last_ODR = 104.0f;
cparata	0:489965565a0d	160
cparata	0:489965565a0d	161	X_isEnabled = 0;
cparata	0:489965565a0d	162
cparata	0:489965565a0d	163	G_Last_ODR = 104.0f;
cparata	0:489965565a0d	164
cparata	0:489965565a0d	165	G_isEnabled = 0;
cparata	0:489965565a0d	166	};
cparata	0:489965565a0d	167
cparata	0:489965565a0d	168	/**
cparata	0:489965565a0d	169	* @brief Enable LSM6DSL Accelerator
cparata	0:489965565a0d	170	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	171	*/
cparata	0:489965565a0d	172	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_X(void)
cparata	0:489965565a0d	173	{
cparata	0:489965565a0d	174	/* Check if the component is already enabled */
cparata	0:489965565a0d	175	if ( X_isEnabled == 1 )
cparata	0:489965565a0d	176	{
cparata	0:489965565a0d	177	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	178	}
cparata	0:489965565a0d	179
cparata	0:489965565a0d	180	/* Output data rate selection. */
cparata	0:489965565a0d	181	if ( Set_X_ODR_When_Enabled( X_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	182	{
cparata	0:489965565a0d	183	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	184	}
cparata	0:489965565a0d	185
cparata	0:489965565a0d	186	X_isEnabled = 1;
cparata	0:489965565a0d	187
cparata	0:489965565a0d	188	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	189	}
cparata	0:489965565a0d	190
cparata	0:489965565a0d	191	/**
cparata	0:489965565a0d	192	* @brief Enable LSM6DSL Gyroscope
cparata	0:489965565a0d	193	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	194	*/
cparata	0:489965565a0d	195	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_G(void)
cparata	0:489965565a0d	196	{
cparata	0:489965565a0d	197	/* Check if the component is already enabled */
cparata	0:489965565a0d	198	if ( G_isEnabled == 1 )
cparata	0:489965565a0d	199	{
cparata	0:489965565a0d	200	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	201	}
cparata	0:489965565a0d	202
cparata	0:489965565a0d	203	/* Output data rate selection. */
cparata	0:489965565a0d	204	if ( Set_G_ODR_When_Enabled( G_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	205	{
cparata	0:489965565a0d	206	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	207	}
cparata	0:489965565a0d	208
cparata	0:489965565a0d	209	G_isEnabled = 1;
cparata	0:489965565a0d	210
cparata	0:489965565a0d	211	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	212	}
cparata	0:489965565a0d	213
cparata	0:489965565a0d	214	/**
cparata	0:489965565a0d	215	* @brief Disable LSM6DSL Accelerator
cparata	0:489965565a0d	216	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	217	*/
cparata	0:489965565a0d	218	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_X(void)
cparata	0:489965565a0d	219	{
cparata	0:489965565a0d	220	/* Check if the component is already disabled */
cparata	0:489965565a0d	221	if ( X_isEnabled == 0 )
cparata	0:489965565a0d	222	{
cparata	0:489965565a0d	223	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	224	}
cparata	0:489965565a0d	225
cparata	0:489965565a0d	226	/* Store actual output data rate. */
cparata	0:489965565a0d	227	if ( Get_X_ODR( &X_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	228	{
cparata	0:489965565a0d	229	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	230	}
cparata	0:489965565a0d	231
cparata	0:489965565a0d	232	/* Output data rate selection - power down. */
cparata	0:489965565a0d	233	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata	0:489965565a0d	234	{
cparata	0:489965565a0d	235	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	236	}
cparata	0:489965565a0d	237
cparata	0:489965565a0d	238	X_isEnabled = 0;
cparata	0:489965565a0d	239
cparata	0:489965565a0d	240	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	241	}
cparata	0:489965565a0d	242
cparata	0:489965565a0d	243	/**
cparata	0:489965565a0d	244	* @brief Disable LSM6DSL Gyroscope
cparata	0:489965565a0d	245	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	246	*/
cparata	0:489965565a0d	247	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_G(void)
cparata	0:489965565a0d	248	{
cparata	0:489965565a0d	249	/* Check if the component is already disabled */
cparata	0:489965565a0d	250	if ( G_isEnabled == 0 )
cparata	0:489965565a0d	251	{
cparata	0:489965565a0d	252	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	253	}
cparata	0:489965565a0d	254
cparata	0:489965565a0d	255	/* Store actual output data rate. */
cparata	0:489965565a0d	256	if ( Get_G_ODR( &G_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	257	{
cparata	0:489965565a0d	258	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	259	}
cparata	0:489965565a0d	260
cparata	0:489965565a0d	261	/* Output data rate selection - power down */
cparata	0:489965565a0d	262	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata	0:489965565a0d	263	{
cparata	0:489965565a0d	264	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	265	}
cparata	0:489965565a0d	266
cparata	0:489965565a0d	267	G_isEnabled = 0;
cparata	0:489965565a0d	268
cparata	0:489965565a0d	269	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	270	}
cparata	0:489965565a0d	271
cparata	0:489965565a0d	272	/**
cparata	0:489965565a0d	273	* @brief Read ID of LSM6DSL Accelerometer and Gyroscope
cparata	0:489965565a0d	274	* @param p_id the pointer where the ID of the device is stored
cparata	0:489965565a0d	275	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	276	*/
cparata	0:489965565a0d	277	LSM6DSLStatusTypeDef LSM6DSLSensor::ReadID(uint8_t *p_id)
cparata	0:489965565a0d	278	{
cparata	0:489965565a0d	279	if(!p_id)
cparata	0:489965565a0d	280	{
cparata	0:489965565a0d	281	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	282	}
cparata	0:489965565a0d	283
cparata	0:489965565a0d	284	/* Read WHO AM I register */
cparata	0:489965565a0d	285	if ( LSM6DSL_ACC_GYRO_R_WHO_AM_I( (void *)this, p_id ) == MEMS_ERROR )
cparata	0:489965565a0d	286	{
cparata	0:489965565a0d	287	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	288	}
cparata	0:489965565a0d	289
cparata	0:489965565a0d	290	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	291	}
cparata	0:489965565a0d	292
cparata	0:489965565a0d	293	/**
cparata	0:489965565a0d	294	* @brief Read data from LSM6DSL Accelerometer
cparata	0:489965565a0d	295	* @param pData the pointer where the accelerometer data are stored
cparata	0:489965565a0d	296	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	297	*/
cparata	0:489965565a0d	298	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_Axes(int32_t *pData)
cparata	0:489965565a0d	299	{
cparata	0:489965565a0d	300	int16_t dataRaw[3];
cparata	0:489965565a0d	301	float sensitivity = 0;
cparata	0:489965565a0d	302
cparata	0:489965565a0d	303	/* Read raw data from LSM6DSL output register. */
cparata	0:489965565a0d	304	if ( Get_X_AxesRaw( dataRaw ) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	305	{
cparata	0:489965565a0d	306	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	307	}
cparata	0:489965565a0d	308
cparata	0:489965565a0d	309	/* Get LSM6DSL actual sensitivity. */
cparata	0:489965565a0d	310	if ( Get_X_Sensitivity( &sensitivity ) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	311	{
cparata	0:489965565a0d	312	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	313	}
cparata	0:489965565a0d	314
cparata	0:489965565a0d	315	/* Calculate the data. */
cparata	0:489965565a0d	316	pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata	0:489965565a0d	317	pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata	0:489965565a0d	318	pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata	0:489965565a0d	319
cparata	0:489965565a0d	320	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	321	}
cparata	0:489965565a0d	322
cparata	0:489965565a0d	323	/**
cparata	0:489965565a0d	324	* @brief Read data from LSM6DSL Gyroscope
cparata	0:489965565a0d	325	* @param pData the pointer where the gyroscope data are stored
cparata	0:489965565a0d	326	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	327	*/
cparata	0:489965565a0d	328	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_Axes(int32_t *pData)
cparata	0:489965565a0d	329	{
cparata	0:489965565a0d	330	int16_t dataRaw[3];
cparata	0:489965565a0d	331	float sensitivity = 0;
cparata	0:489965565a0d	332
cparata	0:489965565a0d	333	/* Read raw data from LSM6DSL output register. */
cparata	0:489965565a0d	334	if ( Get_G_AxesRaw( dataRaw ) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	335	{
cparata	0:489965565a0d	336	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	337	}
cparata	0:489965565a0d	338
cparata	0:489965565a0d	339	/* Get LSM6DSL actual sensitivity. */
cparata	0:489965565a0d	340	if ( Get_G_Sensitivity( &sensitivity ) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	341	{
cparata	0:489965565a0d	342	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	343	}
cparata	0:489965565a0d	344
cparata	0:489965565a0d	345	/* Calculate the data. */
cparata	0:489965565a0d	346	pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata	0:489965565a0d	347	pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata	0:489965565a0d	348	pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata	0:489965565a0d	349
cparata	0:489965565a0d	350	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	351	}
cparata	0:489965565a0d	352
cparata	0:489965565a0d	353	/**
cparata	0:489965565a0d	354	* @brief Read Accelerometer Sensitivity
cparata	0:489965565a0d	355	* @param pfData the pointer where the accelerometer sensitivity is stored
cparata	0:489965565a0d	356	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	357	*/
cparata	0:489965565a0d	358	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_Sensitivity(float *pfData)
cparata	0:489965565a0d	359	{
cparata	0:489965565a0d	360	LSM6DSL_ACC_GYRO_FS_XL_t fullScale;
cparata	0:489965565a0d	361
cparata	0:489965565a0d	362	/* Read actual full scale selection from sensor. */
cparata	0:489965565a0d	363	if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fullScale ) == MEMS_ERROR )
cparata	0:489965565a0d	364	{
cparata	0:489965565a0d	365	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	366	}
cparata	0:489965565a0d	367
cparata	0:489965565a0d	368	/* Store the sensitivity based on actual full scale. */
cparata	0:489965565a0d	369	switch( fullScale )
cparata	0:489965565a0d	370	{
cparata	0:489965565a0d	371	case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata	0:489965565a0d	372	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G;
cparata	0:489965565a0d	373	break;
cparata	0:489965565a0d	374	case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata	0:489965565a0d	375	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G;
cparata	0:489965565a0d	376	break;
cparata	0:489965565a0d	377	case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata	0:489965565a0d	378	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G;
cparata	0:489965565a0d	379	break;
cparata	0:489965565a0d	380	case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata	0:489965565a0d	381	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G;
cparata	0:489965565a0d	382	break;
cparata	0:489965565a0d	383	default:
cparata	0:489965565a0d	384	*pfData = -1.0f;
cparata	0:489965565a0d	385	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	386	}
cparata	0:489965565a0d	387
cparata	0:489965565a0d	388	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	389	}
cparata	0:489965565a0d	390
cparata	0:489965565a0d	391	/**
cparata	0:489965565a0d	392	* @brief Read Gyroscope Sensitivity
cparata	0:489965565a0d	393	* @param pfData the pointer where the gyroscope sensitivity is stored
cparata	0:489965565a0d	394	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	395	*/
cparata	0:489965565a0d	396	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_Sensitivity(float *pfData)
cparata	0:489965565a0d	397	{
cparata	0:489965565a0d	398	LSM6DSL_ACC_GYRO_FS_125_t fullScale125;
cparata	0:489965565a0d	399	LSM6DSL_ACC_GYRO_FS_G_t fullScale;
cparata	0:489965565a0d	400
cparata	0:489965565a0d	401	/* Read full scale 125 selection from sensor. */
cparata	0:489965565a0d	402	if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fullScale125 ) == MEMS_ERROR )
cparata	0:489965565a0d	403	{
cparata	0:489965565a0d	404	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	405	}
cparata	0:489965565a0d	406
cparata	0:489965565a0d	407	if ( fullScale125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata	0:489965565a0d	408	{
cparata	0:489965565a0d	409	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS;
cparata	0:489965565a0d	410	}
cparata	0:489965565a0d	411
cparata	0:489965565a0d	412	else
cparata	0:489965565a0d	413	{
cparata	0:489965565a0d	414
cparata	0:489965565a0d	415	/* Read actual full scale selection from sensor. */
cparata	0:489965565a0d	416	if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fullScale ) == MEMS_ERROR )
cparata	0:489965565a0d	417	{
cparata	0:489965565a0d	418	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	419	}
cparata	0:489965565a0d	420
cparata	0:489965565a0d	421	/* Store the sensitivity based on actual full scale. */
cparata	0:489965565a0d	422	switch( fullScale )
cparata	0:489965565a0d	423	{
cparata	0:489965565a0d	424	case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata	0:489965565a0d	425	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS;
cparata	0:489965565a0d	426	break;
cparata	0:489965565a0d	427	case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata	0:489965565a0d	428	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS;
cparata	0:489965565a0d	429	break;
cparata	0:489965565a0d	430	case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata	0:489965565a0d	431	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS;
cparata	0:489965565a0d	432	break;
cparata	0:489965565a0d	433	case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata	0:489965565a0d	434	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS;
cparata	0:489965565a0d	435	break;
cparata	0:489965565a0d	436	default:
cparata	0:489965565a0d	437	*pfData = -1.0f;
cparata	0:489965565a0d	438	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	439	}
cparata	0:489965565a0d	440	}
cparata	0:489965565a0d	441
cparata	0:489965565a0d	442	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	443	}
cparata	0:489965565a0d	444
cparata	0:489965565a0d	445	/**
cparata	0:489965565a0d	446	* @brief Read raw data from LSM6DSL Accelerometer
cparata	0:489965565a0d	447	* @param pData the pointer where the accelerometer raw data are stored
cparata	0:489965565a0d	448	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	449	*/
cparata	0:489965565a0d	450	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_AxesRaw(int16_t *pData)
cparata	0:489965565a0d	451	{
cparata	0:489965565a0d	452	uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata	0:489965565a0d	453
cparata	0:489965565a0d	454	/* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_XL to LSM6DSL_ACC_GYRO_OUTZ_H_XL. */
cparata	0:489965565a0d	455	if ( LSM6DSL_ACC_GYRO_GetRawAccData( (void *)this, regValue ) == MEMS_ERROR )
cparata	0:489965565a0d	456	{
cparata	0:489965565a0d	457	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	458	}
cparata	0:489965565a0d	459
cparata	0:489965565a0d	460	/* Format the data. */
cparata	0:489965565a0d	461	pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata	0:489965565a0d	462	pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata	0:489965565a0d	463	pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata	0:489965565a0d	464
cparata	0:489965565a0d	465	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	466	}
cparata	0:489965565a0d	467
cparata	0:489965565a0d	468	/**
cparata	0:489965565a0d	469	* @brief Read raw data from LSM6DSL Gyroscope
cparata	0:489965565a0d	470	* @param pData the pointer where the gyroscope raw data are stored
cparata	0:489965565a0d	471	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	472	*/
cparata	0:489965565a0d	473	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_AxesRaw(int16_t *pData)
cparata	0:489965565a0d	474	{
cparata	0:489965565a0d	475	uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata	0:489965565a0d	476
cparata	0:489965565a0d	477	/* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_G to LSM6DSL_ACC_GYRO_OUTZ_H_G. */
cparata	0:489965565a0d	478	if ( LSM6DSL_ACC_GYRO_GetRawGyroData( (void *)this, regValue ) == MEMS_ERROR )
cparata	0:489965565a0d	479	{
cparata	0:489965565a0d	480	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	481	}
cparata	0:489965565a0d	482
cparata	0:489965565a0d	483	/* Format the data. */
cparata	0:489965565a0d	484	pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata	0:489965565a0d	485	pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata	0:489965565a0d	486	pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata	0:489965565a0d	487
cparata	0:489965565a0d	488	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	489	}
cparata	0:489965565a0d	490
cparata	0:489965565a0d	491	/**
cparata	0:489965565a0d	492	* @brief Read LSM6DSL Accelerometer output data rate
cparata	0:489965565a0d	493	* @param odr the pointer to the output data rate
cparata	0:489965565a0d	494	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	495	*/
cparata	0:489965565a0d	496	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_ODR(float* odr)
cparata	0:489965565a0d	497	{
cparata	0:489965565a0d	498	LSM6DSL_ACC_GYRO_ODR_XL_t odr_low_level;
cparata	0:489965565a0d	499
cparata	0:489965565a0d	500	if ( LSM6DSL_ACC_GYRO_R_ODR_XL( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata	0:489965565a0d	501	{
cparata	0:489965565a0d	502	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	503	}
cparata	0:489965565a0d	504
cparata	0:489965565a0d	505	switch( odr_low_level )
cparata	0:489965565a0d	506	{
cparata	0:489965565a0d	507	case LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN:
cparata	0:489965565a0d	508	*odr = 0.0f;
cparata	0:489965565a0d	509	break;
cparata	0:489965565a0d	510	case LSM6DSL_ACC_GYRO_ODR_XL_13Hz:
cparata	0:489965565a0d	511	*odr = 13.0f;
cparata	0:489965565a0d	512	break;
cparata	0:489965565a0d	513	case LSM6DSL_ACC_GYRO_ODR_XL_26Hz:
cparata	0:489965565a0d	514	*odr = 26.0f;
cparata	0:489965565a0d	515	break;
cparata	0:489965565a0d	516	case LSM6DSL_ACC_GYRO_ODR_XL_52Hz:
cparata	0:489965565a0d	517	*odr = 52.0f;
cparata	0:489965565a0d	518	break;
cparata	0:489965565a0d	519	case LSM6DSL_ACC_GYRO_ODR_XL_104Hz:
cparata	0:489965565a0d	520	*odr = 104.0f;
cparata	0:489965565a0d	521	break;
cparata	0:489965565a0d	522	case LSM6DSL_ACC_GYRO_ODR_XL_208Hz:
cparata	0:489965565a0d	523	*odr = 208.0f;
cparata	0:489965565a0d	524	break;
cparata	0:489965565a0d	525	case LSM6DSL_ACC_GYRO_ODR_XL_416Hz:
cparata	0:489965565a0d	526	*odr = 416.0f;
cparata	0:489965565a0d	527	break;
cparata	0:489965565a0d	528	case LSM6DSL_ACC_GYRO_ODR_XL_833Hz:
cparata	0:489965565a0d	529	*odr = 833.0f;
cparata	0:489965565a0d	530	break;
cparata	0:489965565a0d	531	case LSM6DSL_ACC_GYRO_ODR_XL_1660Hz:
cparata	0:489965565a0d	532	*odr = 1660.0f;
cparata	0:489965565a0d	533	break;
cparata	0:489965565a0d	534	case LSM6DSL_ACC_GYRO_ODR_XL_3330Hz:
cparata	0:489965565a0d	535	*odr = 3330.0f;
cparata	0:489965565a0d	536	break;
cparata	0:489965565a0d	537	case LSM6DSL_ACC_GYRO_ODR_XL_6660Hz:
cparata	0:489965565a0d	538	*odr = 6660.0f;
cparata	0:489965565a0d	539	break;
cparata	0:489965565a0d	540	default:
cparata	0:489965565a0d	541	*odr = -1.0f;
cparata	0:489965565a0d	542	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	543	}
cparata	0:489965565a0d	544
cparata	0:489965565a0d	545	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	546	}
cparata	0:489965565a0d	547
cparata	0:489965565a0d	548	/**
cparata	0:489965565a0d	549	* @brief Read LSM6DSL Gyroscope output data rate
cparata	0:489965565a0d	550	* @param odr the pointer to the output data rate
cparata	0:489965565a0d	551	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	552	*/
cparata	0:489965565a0d	553	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_ODR(float* odr)
cparata	0:489965565a0d	554	{
cparata	0:489965565a0d	555	LSM6DSL_ACC_GYRO_ODR_G_t odr_low_level;
cparata	0:489965565a0d	556
cparata	0:489965565a0d	557	if ( LSM6DSL_ACC_GYRO_R_ODR_G( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata	0:489965565a0d	558	{
cparata	0:489965565a0d	559	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	560	}
cparata	0:489965565a0d	561
cparata	0:489965565a0d	562	switch( odr_low_level )
cparata	0:489965565a0d	563	{
cparata	0:489965565a0d	564	case LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN:
cparata	0:489965565a0d	565	*odr = 0.0f;
cparata	0:489965565a0d	566	break;
cparata	0:489965565a0d	567	case LSM6DSL_ACC_GYRO_ODR_G_13Hz:
cparata	0:489965565a0d	568	*odr = 13.0f;
cparata	0:489965565a0d	569	break;
cparata	0:489965565a0d	570	case LSM6DSL_ACC_GYRO_ODR_G_26Hz:
cparata	0:489965565a0d	571	*odr = 26.0f;
cparata	0:489965565a0d	572	break;
cparata	0:489965565a0d	573	case LSM6DSL_ACC_GYRO_ODR_G_52Hz:
cparata	0:489965565a0d	574	*odr = 52.0f;
cparata	0:489965565a0d	575	break;
cparata	0:489965565a0d	576	case LSM6DSL_ACC_GYRO_ODR_G_104Hz:
cparata	0:489965565a0d	577	*odr = 104.0f;
cparata	0:489965565a0d	578	break;
cparata	0:489965565a0d	579	case LSM6DSL_ACC_GYRO_ODR_G_208Hz:
cparata	0:489965565a0d	580	*odr = 208.0f;
cparata	0:489965565a0d	581	break;
cparata	0:489965565a0d	582	case LSM6DSL_ACC_GYRO_ODR_G_416Hz:
cparata	0:489965565a0d	583	*odr = 416.0f;
cparata	0:489965565a0d	584	break;
cparata	0:489965565a0d	585	case LSM6DSL_ACC_GYRO_ODR_G_833Hz:
cparata	0:489965565a0d	586	*odr = 833.0f;
cparata	0:489965565a0d	587	break;
cparata	0:489965565a0d	588	case LSM6DSL_ACC_GYRO_ODR_G_1660Hz:
cparata	0:489965565a0d	589	*odr = 1660.0f;
cparata	0:489965565a0d	590	break;
cparata	0:489965565a0d	591	case LSM6DSL_ACC_GYRO_ODR_G_3330Hz:
cparata	0:489965565a0d	592	*odr = 3330.0f;
cparata	0:489965565a0d	593	break;
cparata	0:489965565a0d	594	case LSM6DSL_ACC_GYRO_ODR_G_6660Hz:
cparata	0:489965565a0d	595	*odr = 6660.0f;
cparata	0:489965565a0d	596	break;
cparata	0:489965565a0d	597	default:
cparata	0:489965565a0d	598	*odr = -1.0f;
cparata	0:489965565a0d	599	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	600	}
cparata	0:489965565a0d	601
cparata	0:489965565a0d	602	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	603	}
cparata	0:489965565a0d	604
cparata	0:489965565a0d	605	/**
cparata	0:489965565a0d	606	* @brief Set LSM6DSL Accelerometer output data rate
cparata	0:489965565a0d	607	* @param odr the output data rate to be set
cparata	0:489965565a0d	608	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	609	*/
cparata	0:489965565a0d	610	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_ODR(float odr)
cparata	0:489965565a0d	611	{
cparata	0:489965565a0d	612	if(X_isEnabled == 1)
cparata	0:489965565a0d	613	{
cparata	0:489965565a0d	614	if(Set_X_ODR_When_Enabled(odr) == LSM6DSL_STATUS_ERROR)
cparata	0:489965565a0d	615	{
cparata	0:489965565a0d	616	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	617	}
cparata	0:489965565a0d	618	}
cparata	0:489965565a0d	619	else
cparata	0:489965565a0d	620	{
cparata	0:489965565a0d	621	if(Set_X_ODR_When_Disabled(odr) == LSM6DSL_STATUS_ERROR)
cparata	0:489965565a0d	622	{
cparata	0:489965565a0d	623	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	624	}
cparata	0:489965565a0d	625	}
cparata	0:489965565a0d	626
cparata	0:489965565a0d	627	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	628	}
cparata	0:489965565a0d	629
cparata	0:489965565a0d	630	/**
cparata	0:489965565a0d	631	* @brief Set LSM6DSL Accelerometer output data rate when enabled
cparata	0:489965565a0d	632	* @param odr the output data rate to be set
cparata	0:489965565a0d	633	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	634	*/
cparata	0:489965565a0d	635	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_ODR_When_Enabled(float odr)
cparata	0:489965565a0d	636	{
cparata	0:489965565a0d	637	LSM6DSL_ACC_GYRO_ODR_XL_t new_odr;
cparata	0:489965565a0d	638
cparata	0:489965565a0d	639	new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_13Hz
cparata	0:489965565a0d	640	: ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_26Hz
cparata	0:489965565a0d	641	: ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_52Hz
cparata	0:489965565a0d	642	: ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_104Hz
cparata	0:489965565a0d	643	: ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_208Hz
cparata	0:489965565a0d	644	: ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_416Hz
cparata	0:489965565a0d	645	: ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_833Hz
cparata	0:489965565a0d	646	: ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_1660Hz
cparata	0:489965565a0d	647	: ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_3330Hz
cparata	0:489965565a0d	648	: LSM6DSL_ACC_GYRO_ODR_XL_6660Hz;
cparata	0:489965565a0d	649
cparata	0:489965565a0d	650	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, new_odr ) == MEMS_ERROR )
cparata	0:489965565a0d	651	{
cparata	0:489965565a0d	652	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	653	}
cparata	0:489965565a0d	654
cparata	0:489965565a0d	655	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	656	}
cparata	0:489965565a0d	657
cparata	0:489965565a0d	658	/**
cparata	0:489965565a0d	659	* @brief Set LSM6DSL Accelerometer output data rate when disabled
cparata	0:489965565a0d	660	* @param odr the output data rate to be set
cparata	0:489965565a0d	661	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	662	*/
cparata	0:489965565a0d	663	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_ODR_When_Disabled(float odr)
cparata	0:489965565a0d	664	{
cparata	0:489965565a0d	665	X_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata	0:489965565a0d	666	: ( odr <= 26.0f ) ? 26.0f
cparata	0:489965565a0d	667	: ( odr <= 52.0f ) ? 52.0f
cparata	0:489965565a0d	668	: ( odr <= 104.0f ) ? 104.0f
cparata	0:489965565a0d	669	: ( odr <= 208.0f ) ? 208.0f
cparata	0:489965565a0d	670	: ( odr <= 416.0f ) ? 416.0f
cparata	0:489965565a0d	671	: ( odr <= 833.0f ) ? 833.0f
cparata	0:489965565a0d	672	: ( odr <= 1660.0f ) ? 1660.0f
cparata	0:489965565a0d	673	: ( odr <= 3330.0f ) ? 3330.0f
cparata	0:489965565a0d	674	: 6660.0f;
cparata	0:489965565a0d	675
cparata	0:489965565a0d	676	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	677	}
cparata	0:489965565a0d	678
cparata	0:489965565a0d	679	/**
cparata	0:489965565a0d	680	* @brief Set LSM6DSL Gyroscope output data rate
cparata	0:489965565a0d	681	* @param odr the output data rate to be set
cparata	0:489965565a0d	682	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	683	*/
cparata	0:489965565a0d	684	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_ODR(float odr)
cparata	0:489965565a0d	685	{
cparata	0:489965565a0d	686	if(G_isEnabled == 1)
cparata	0:489965565a0d	687	{
cparata	0:489965565a0d	688	if(Set_G_ODR_When_Enabled(odr) == LSM6DSL_STATUS_ERROR)
cparata	0:489965565a0d	689	{
cparata	0:489965565a0d	690	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	691	}
cparata	0:489965565a0d	692	}
cparata	0:489965565a0d	693	else
cparata	0:489965565a0d	694	{
cparata	0:489965565a0d	695	if(Set_G_ODR_When_Disabled(odr) == LSM6DSL_STATUS_ERROR)
cparata	0:489965565a0d	696	{
cparata	0:489965565a0d	697	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	698	}
cparata	0:489965565a0d	699	}
cparata	0:489965565a0d	700
cparata	0:489965565a0d	701	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	702	}
cparata	0:489965565a0d	703
cparata	0:489965565a0d	704	/**
cparata	0:489965565a0d	705	* @brief Set LSM6DSL Gyroscope output data rate when enabled
cparata	0:489965565a0d	706	* @param odr the output data rate to be set
cparata	0:489965565a0d	707	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	708	*/
cparata	0:489965565a0d	709	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_ODR_When_Enabled(float odr)
cparata	0:489965565a0d	710	{
cparata	0:489965565a0d	711	LSM6DSL_ACC_GYRO_ODR_G_t new_odr;
cparata	0:489965565a0d	712
cparata	0:489965565a0d	713	new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_13Hz
cparata	0:489965565a0d	714	: ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_26Hz
cparata	0:489965565a0d	715	: ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_52Hz
cparata	0:489965565a0d	716	: ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_104Hz
cparata	0:489965565a0d	717	: ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_208Hz
cparata	0:489965565a0d	718	: ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_416Hz
cparata	0:489965565a0d	719	: ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_833Hz
cparata	0:489965565a0d	720	: ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_1660Hz
cparata	0:489965565a0d	721	: ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_3330Hz
cparata	0:489965565a0d	722	: LSM6DSL_ACC_GYRO_ODR_G_6660Hz;
cparata	0:489965565a0d	723
cparata	0:489965565a0d	724	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, new_odr ) == MEMS_ERROR )
cparata	0:489965565a0d	725	{
cparata	0:489965565a0d	726	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	727	}
cparata	0:489965565a0d	728
cparata	0:489965565a0d	729	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	730	}
cparata	0:489965565a0d	731
cparata	0:489965565a0d	732	/**
cparata	0:489965565a0d	733	* @brief Set LSM6DSL Gyroscope output data rate when disabled
cparata	0:489965565a0d	734	* @param odr the output data rate to be set
cparata	0:489965565a0d	735	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	736	*/
cparata	0:489965565a0d	737	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_ODR_When_Disabled(float odr)
cparata	0:489965565a0d	738	{
cparata	0:489965565a0d	739	G_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata	0:489965565a0d	740	: ( odr <= 26.0f ) ? 26.0f
cparata	0:489965565a0d	741	: ( odr <= 52.0f ) ? 52.0f
cparata	0:489965565a0d	742	: ( odr <= 104.0f ) ? 104.0f
cparata	0:489965565a0d	743	: ( odr <= 208.0f ) ? 208.0f
cparata	0:489965565a0d	744	: ( odr <= 416.0f ) ? 416.0f
cparata	0:489965565a0d	745	: ( odr <= 833.0f ) ? 833.0f
cparata	0:489965565a0d	746	: ( odr <= 1660.0f ) ? 1660.0f
cparata	0:489965565a0d	747	: ( odr <= 3330.0f ) ? 3330.0f
cparata	0:489965565a0d	748	: 6660.0f;
cparata	0:489965565a0d	749
cparata	0:489965565a0d	750	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	751	}
cparata	0:489965565a0d	752
cparata	0:489965565a0d	753	/**
cparata	0:489965565a0d	754	* @brief Read LSM6DSL Accelerometer full scale
cparata	0:489965565a0d	755	* @param fullScale the pointer to the full scale
cparata	0:489965565a0d	756	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	757	*/
cparata	0:489965565a0d	758	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_FS(float* fullScale)
cparata	0:489965565a0d	759	{
cparata	0:489965565a0d	760	LSM6DSL_ACC_GYRO_FS_XL_t fs_low_level;
cparata	0:489965565a0d	761
cparata	0:489965565a0d	762	if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata	0:489965565a0d	763	{
cparata	0:489965565a0d	764	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	765	}
cparata	0:489965565a0d	766
cparata	0:489965565a0d	767	switch( fs_low_level )
cparata	0:489965565a0d	768	{
cparata	0:489965565a0d	769	case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata	0:489965565a0d	770	*fullScale = 2.0f;
cparata	0:489965565a0d	771	break;
cparata	0:489965565a0d	772	case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata	0:489965565a0d	773	*fullScale = 4.0f;
cparata	0:489965565a0d	774	break;
cparata	0:489965565a0d	775	case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata	0:489965565a0d	776	*fullScale = 8.0f;
cparata	0:489965565a0d	777	break;
cparata	0:489965565a0d	778	case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata	0:489965565a0d	779	*fullScale = 16.0f;
cparata	0:489965565a0d	780	break;
cparata	0:489965565a0d	781	default:
cparata	0:489965565a0d	782	*fullScale = -1.0f;
cparata	0:489965565a0d	783	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	784	}
cparata	0:489965565a0d	785
cparata	0:489965565a0d	786	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	787	}
cparata	0:489965565a0d	788
cparata	0:489965565a0d	789	/**
cparata	0:489965565a0d	790	* @brief Read LSM6DSL Gyroscope full scale
cparata	0:489965565a0d	791	* @param fullScale the pointer to the full scale
cparata	0:489965565a0d	792	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	793	*/
cparata	0:489965565a0d	794	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_FS(float* fullScale)
cparata	0:489965565a0d	795	{
cparata	0:489965565a0d	796	LSM6DSL_ACC_GYRO_FS_G_t fs_low_level;
cparata	0:489965565a0d	797	LSM6DSL_ACC_GYRO_FS_125_t fs_125;
cparata	0:489965565a0d	798
cparata	0:489965565a0d	799	if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fs_125 ) == MEMS_ERROR )
cparata	0:489965565a0d	800	{
cparata	0:489965565a0d	801	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	802	}
cparata	0:489965565a0d	803	if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata	0:489965565a0d	804	{
cparata	0:489965565a0d	805	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	806	}
cparata	0:489965565a0d	807
cparata	0:489965565a0d	808	if ( fs_125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata	0:489965565a0d	809	{
cparata	0:489965565a0d	810	*fullScale = 125.0f;
cparata	0:489965565a0d	811	}
cparata	0:489965565a0d	812
cparata	0:489965565a0d	813	else
cparata	0:489965565a0d	814	{
cparata	0:489965565a0d	815	switch( fs_low_level )
cparata	0:489965565a0d	816	{
cparata	0:489965565a0d	817	case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata	0:489965565a0d	818	*fullScale = 245.0f;
cparata	0:489965565a0d	819	break;
cparata	0:489965565a0d	820	case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata	0:489965565a0d	821	*fullScale = 500.0f;
cparata	0:489965565a0d	822	break;
cparata	0:489965565a0d	823	case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata	0:489965565a0d	824	*fullScale = 1000.0f;
cparata	0:489965565a0d	825	break;
cparata	0:489965565a0d	826	case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata	0:489965565a0d	827	*fullScale = 2000.0f;
cparata	0:489965565a0d	828	break;
cparata	0:489965565a0d	829	default:
cparata	0:489965565a0d	830	*fullScale = -1.0f;
cparata	0:489965565a0d	831	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	832	}
cparata	0:489965565a0d	833	}
cparata	0:489965565a0d	834
cparata	0:489965565a0d	835	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	836	}
cparata	0:489965565a0d	837
cparata	0:489965565a0d	838	/**
cparata	0:489965565a0d	839	* @brief Set LSM6DSL Accelerometer full scale
cparata	0:489965565a0d	840	* @param fullScale the full scale to be set
cparata	0:489965565a0d	841	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	842	*/
cparata	0:489965565a0d	843	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_FS(float fullScale)
cparata	0:489965565a0d	844	{
cparata	0:489965565a0d	845	LSM6DSL_ACC_GYRO_FS_XL_t new_fs;
cparata	0:489965565a0d	846
cparata	0:489965565a0d	847	new_fs = ( fullScale <= 2.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_2g
cparata	0:489965565a0d	848	: ( fullScale <= 4.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_4g
cparata	0:489965565a0d	849	: ( fullScale <= 8.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_8g
cparata	0:489965565a0d	850	: LSM6DSL_ACC_GYRO_FS_XL_16g;
cparata	0:489965565a0d	851
cparata	0:489965565a0d	852	if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, new_fs ) == MEMS_ERROR )
cparata	0:489965565a0d	853	{
cparata	0:489965565a0d	854	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	855	}
cparata	0:489965565a0d	856
cparata	0:489965565a0d	857	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	858	}
cparata	0:489965565a0d	859
cparata	0:489965565a0d	860	/**
cparata	0:489965565a0d	861	* @brief Set LSM6DSL Gyroscope full scale
cparata	0:489965565a0d	862	* @param fullScale the full scale to be set
cparata	0:489965565a0d	863	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	864	*/
cparata	0:489965565a0d	865	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_FS(float fullScale)
cparata	0:489965565a0d	866	{
cparata	0:489965565a0d	867	LSM6DSL_ACC_GYRO_FS_G_t new_fs;
cparata	0:489965565a0d	868
cparata	0:489965565a0d	869	if ( fullScale <= 125.0f )
cparata	0:489965565a0d	870	{
cparata	0:489965565a0d	871	if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_ENABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	872	{
cparata	0:489965565a0d	873	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	874	}
cparata	0:489965565a0d	875	}
cparata	0:489965565a0d	876	else
cparata	0:489965565a0d	877	{
cparata	0:489965565a0d	878	new_fs = ( fullScale <= 245.0f ) ? LSM6DSL_ACC_GYRO_FS_G_245dps
cparata	0:489965565a0d	879	: ( fullScale <= 500.0f ) ? LSM6DSL_ACC_GYRO_FS_G_500dps
cparata	0:489965565a0d	880	: ( fullScale <= 1000.0f ) ? LSM6DSL_ACC_GYRO_FS_G_1000dps
cparata	0:489965565a0d	881	: LSM6DSL_ACC_GYRO_FS_G_2000dps;
cparata	0:489965565a0d	882
cparata	0:489965565a0d	883	if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_DISABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	884	{
cparata	0:489965565a0d	885	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	886	}
cparata	0:489965565a0d	887	if ( LSM6DSL_ACC_GYRO_W_FS_G( (void *)this, new_fs ) == MEMS_ERROR )
cparata	0:489965565a0d	888	{
cparata	0:489965565a0d	889	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	890	}
cparata	0:489965565a0d	891	}
cparata	0:489965565a0d	892
cparata	0:489965565a0d	893	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	894	}
cparata	0:489965565a0d	895
cparata	0:489965565a0d	896	/**
cparata	0:489965565a0d	897	* @brief Enable free fall detection
cparata	0:489965565a0d	898	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:489965565a0d	899	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	900	*/
cparata	0:489965565a0d	901	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Free_Fall_Detection(void)
cparata	0:489965565a0d	902	{
cparata	0:489965565a0d	903	/* Output Data Rate selection */
cparata	0:489965565a0d	904	if(Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR)
cparata	0:489965565a0d	905	{
cparata	0:489965565a0d	906	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	907	}
cparata	0:489965565a0d	908
cparata	0:489965565a0d	909	/* Full scale selection */
cparata	0:489965565a0d	910	if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, LSM6DSL_ACC_GYRO_FS_XL_2g ) == MEMS_ERROR )
cparata	0:489965565a0d	911	{
cparata	0:489965565a0d	912	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	913	}
cparata	0:489965565a0d	914
cparata	0:489965565a0d	915	/* FF_DUR setting */
cparata	0:489965565a0d	916	if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x06 ) == MEMS_ERROR )
cparata	0:489965565a0d	917	{
cparata	0:489965565a0d	918	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	919	}
cparata	0:489965565a0d	920
cparata	0:489965565a0d	921	/* WAKE_DUR setting */
cparata	0:489965565a0d	922	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:489965565a0d	923	{
cparata	0:489965565a0d	924	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	925	}
cparata	0:489965565a0d	926
cparata	0:489965565a0d	927	/* TIMER_HR setting */
cparata	0:489965565a0d	928	if ( LSM6DSL_ACC_GYRO_W_TIMER_HR( (void *)this, LSM6DSL_ACC_GYRO_TIMER_HR_6_4ms ) == MEMS_ERROR )
cparata	0:489965565a0d	929	{
cparata	0:489965565a0d	930	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	931	}
cparata	0:489965565a0d	932
cparata	0:489965565a0d	933	/* SLEEP_DUR setting */
cparata	0:489965565a0d	934	if ( LSM6DSL_ACC_GYRO_W_SLEEP_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:489965565a0d	935	{
cparata	0:489965565a0d	936	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	937	}
cparata	0:489965565a0d	938
cparata	0:489965565a0d	939	/* FF_THS setting */
cparata	0:489965565a0d	940	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_312mg ) == MEMS_ERROR )
cparata	0:489965565a0d	941	{
cparata	0:489965565a0d	942	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	943	}
cparata	0:489965565a0d	944
cparata	0:489965565a0d	945	/* Enable basic Interrupts */
cparata	0:489965565a0d	946	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	947	{
cparata	0:489965565a0d	948	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	949	}
cparata	0:489965565a0d	950
cparata	0:489965565a0d	951	/* INT1_FF setting */
cparata	0:489965565a0d	952	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	953	{
cparata	0:489965565a0d	954	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	955	}
cparata	0:489965565a0d	956
cparata	0:489965565a0d	957	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	958	}
cparata	0:489965565a0d	959
cparata	0:489965565a0d	960	/**
cparata	0:489965565a0d	961	* @brief Disable free fall detection
cparata	0:489965565a0d	962	* @param None
cparata	0:489965565a0d	963	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	964	*/
cparata	0:489965565a0d	965	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Free_Fall_Detection(void)
cparata	0:489965565a0d	966	{
cparata	0:489965565a0d	967	/* INT1_FF setting */
cparata	0:489965565a0d	968	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	969	{
cparata	0:489965565a0d	970	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	971	}
cparata	0:489965565a0d	972
cparata	0:489965565a0d	973	/* Disable basic Interrupts */
cparata	0:489965565a0d	974	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	975	{
cparata	0:489965565a0d	976	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	977	}
cparata	0:489965565a0d	978
cparata	0:489965565a0d	979	/* FF_DUR setting */
cparata	0:489965565a0d	980	if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:489965565a0d	981	{
cparata	0:489965565a0d	982	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	983	}
cparata	0:489965565a0d	984
cparata	0:489965565a0d	985	/* FF_THS setting */
cparata	0:489965565a0d	986	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_156mg ) == MEMS_ERROR )
cparata	0:489965565a0d	987	{
cparata	0:489965565a0d	988	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	989	}
cparata	0:489965565a0d	990
cparata	0:489965565a0d	991	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	992	}
cparata	0:489965565a0d	993
cparata	0:489965565a0d	994	/**
cparata	0:489965565a0d	995	* @brief Get status of free fall detection
cparata	0:489965565a0d	996	* @param status the pointer where the status of free fall detection is stored; 0 means no detection, 1 means detection happened
cparata	0:489965565a0d	997	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	998	*/
cparata	0:489965565a0d	999	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Free_Fall_Detection(uint8_t *status)
cparata	0:489965565a0d	1000	{
cparata	0:489965565a0d	1001	LSM6DSL_ACC_GYRO_FF_EV_STATUS_t free_fall_status;
cparata	0:489965565a0d	1002
cparata	0:489965565a0d	1003	if ( LSM6DSL_ACC_GYRO_R_FF_EV_STATUS( (void *)this, &free_fall_status ) == MEMS_ERROR )
cparata	0:489965565a0d	1004	{
cparata	0:489965565a0d	1005	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1006	}
cparata	0:489965565a0d	1007
cparata	0:489965565a0d	1008	switch( free_fall_status )
cparata	0:489965565a0d	1009	{
cparata	0:489965565a0d	1010	case LSM6DSL_ACC_GYRO_FF_EV_STATUS_DETECTED:
cparata	0:489965565a0d	1011	*status = 1;
cparata	0:489965565a0d	1012	break;
cparata	0:489965565a0d	1013	case LSM6DSL_ACC_GYRO_FF_EV_STATUS_NOT_DETECTED:
cparata	0:489965565a0d	1014	*status = 0;
cparata	0:489965565a0d	1015	break;
cparata	0:489965565a0d	1016	default:
cparata	0:489965565a0d	1017	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1018	}
cparata	0:489965565a0d	1019
cparata	0:489965565a0d	1020	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1021	}
cparata	0:489965565a0d	1022
cparata	0:489965565a0d	1023	/**
cparata	0:489965565a0d	1024	* @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1025	* @param thr the threshold to be set
cparata	0:489965565a0d	1026	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1027	*/
cparata	0:489965565a0d	1028	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Free_Fall_Threshold(uint8_t thr)
cparata	0:489965565a0d	1029	{
cparata	0:489965565a0d	1030
cparata	0:489965565a0d	1031	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR )
cparata	0:489965565a0d	1032	{
cparata	0:489965565a0d	1033	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1034	}
cparata	0:489965565a0d	1035
cparata	0:489965565a0d	1036	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1037	}
cparata	0:489965565a0d	1038
cparata	0:489965565a0d	1039	/**
cparata	0:489965565a0d	1040	* @brief Enable the pedometer feature for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1041	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:489965565a0d	1042	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1043	*/
cparata	0:489965565a0d	1044	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Pedometer(void)
cparata	0:489965565a0d	1045	{
cparata	0:489965565a0d	1046	/* Output Data Rate selection */
cparata	0:489965565a0d	1047	if( Set_X_ODR(26.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1048	{
cparata	0:489965565a0d	1049	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1050	}
cparata	0:489965565a0d	1051
cparata	0:489965565a0d	1052	/* Full scale selection. */
cparata	0:489965565a0d	1053	if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1054	{
cparata	0:489965565a0d	1055	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1056	}
cparata	0:489965565a0d	1057
cparata	0:489965565a0d	1058	/* Set pedometer threshold. */
cparata	0:489965565a0d	1059	if ( Set_Pedometer_Threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1060	{
cparata	0:489965565a0d	1061	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1062	}
cparata	0:489965565a0d	1063
cparata	0:489965565a0d	1064	/* Enable embedded functionalities. */
cparata	0:489965565a0d	1065	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1066	{
cparata	0:489965565a0d	1067	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1068	}
cparata	0:489965565a0d	1069
cparata	0:489965565a0d	1070	/* Enable pedometer algorithm. */
cparata	0:489965565a0d	1071	if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1072	{
cparata	0:489965565a0d	1073	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1074	}
cparata	0:489965565a0d	1075
cparata	0:489965565a0d	1076	/* Enable pedometer on INT1. */
cparata	0:489965565a0d	1077	if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1078	{
cparata	0:489965565a0d	1079	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1080	}
cparata	0:489965565a0d	1081
cparata	0:489965565a0d	1082	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1083	}
cparata	0:489965565a0d	1084
cparata	0:489965565a0d	1085	/**
cparata	0:489965565a0d	1086	* @brief Disable the pedometer feature for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1087	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1088	*/
cparata	0:489965565a0d	1089	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Pedometer(void)
cparata	0:489965565a0d	1090	{
cparata	0:489965565a0d	1091	/* Disable pedometer on INT1. */
cparata	0:489965565a0d	1092	if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1093	{
cparata	0:489965565a0d	1094	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1095	}
cparata	0:489965565a0d	1096
cparata	0:489965565a0d	1097	/* Disable pedometer algorithm. */
cparata	0:489965565a0d	1098	if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1099	{
cparata	0:489965565a0d	1100	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1101	}
cparata	0:489965565a0d	1102
cparata	0:489965565a0d	1103	/* Disable embedded functionalities. */
cparata	0:489965565a0d	1104	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1105	{
cparata	0:489965565a0d	1106	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1107	}
cparata	0:489965565a0d	1108
cparata	0:489965565a0d	1109	/* Reset pedometer threshold. */
cparata	0:489965565a0d	1110	if ( Set_Pedometer_Threshold(0x0) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1111	{
cparata	0:489965565a0d	1112	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1113	}
cparata	0:489965565a0d	1114
cparata	0:489965565a0d	1115	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1116	}
cparata	0:489965565a0d	1117
cparata	0:489965565a0d	1118	/**
cparata	0:489965565a0d	1119	* @brief Get the pedometer status for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1120	* @param status the pointer to the pedometer status: 0 means no step detected, 1 means step detected
cparata	0:489965565a0d	1121	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1122	*/
cparata	0:489965565a0d	1123	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Pedometer(uint8_t *status)
cparata	0:489965565a0d	1124	{
cparata	0:489965565a0d	1125	LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_t pedometer_status;
cparata	0:489965565a0d	1126
cparata	0:489965565a0d	1127	if ( LSM6DSL_ACC_GYRO_R_PEDO_EV_STATUS( (void *)this, &pedometer_status ) == MEMS_ERROR )
cparata	0:489965565a0d	1128	{
cparata	0:489965565a0d	1129	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1130	}
cparata	0:489965565a0d	1131
cparata	0:489965565a0d	1132	switch( pedometer_status )
cparata	0:489965565a0d	1133	{
cparata	0:489965565a0d	1134	case LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_DETECTED:
cparata	0:489965565a0d	1135	*status = 1;
cparata	0:489965565a0d	1136	break;
cparata	0:489965565a0d	1137	case LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_NOT_DETECTED:
cparata	0:489965565a0d	1138	*status = 0;
cparata	0:489965565a0d	1139	break;
cparata	0:489965565a0d	1140	default:
cparata	0:489965565a0d	1141	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1142	}
cparata	0:489965565a0d	1143
cparata	0:489965565a0d	1144	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1145	}
cparata	0:489965565a0d	1146
cparata	0:489965565a0d	1147	/**
cparata	0:489965565a0d	1148	* @brief Get the step counter for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1149	* @param step_count the pointer to the step counter
cparata	0:489965565a0d	1150	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1151	*/
cparata	0:489965565a0d	1152	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Step_Counter(uint16_t *step_count)
cparata	0:489965565a0d	1153	{
cparata	0:489965565a0d	1154	if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void )this, ( uint8_t )step_count ) == MEMS_ERROR )
cparata	0:489965565a0d	1155	{
cparata	0:489965565a0d	1156	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1157	}
cparata	0:489965565a0d	1158
cparata	0:489965565a0d	1159	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1160	}
cparata	0:489965565a0d	1161
cparata	0:489965565a0d	1162	/**
cparata	0:489965565a0d	1163	* @brief Reset of the step counter for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1164	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1165	*/
cparata	0:489965565a0d	1166	LSM6DSLStatusTypeDef LSM6DSLSensor::Reset_Step_Counter(void)
cparata	0:489965565a0d	1167	{
cparata	0:489965565a0d	1168	if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1169	{
cparata	0:489965565a0d	1170	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1171	}
cparata	0:489965565a0d	1172
cparata	0:489965565a0d	1173	wait_ms(10);
cparata	0:489965565a0d	1174
cparata	0:489965565a0d	1175	if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1176	{
cparata	0:489965565a0d	1177	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1178	}
cparata	0:489965565a0d	1179
cparata	0:489965565a0d	1180	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1181	}
cparata	0:489965565a0d	1182
cparata	0:489965565a0d	1183	/**
cparata	0:489965565a0d	1184	* @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1185	* @param thr the threshold to be set
cparata	0:489965565a0d	1186	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1187	*/
cparata	0:489965565a0d	1188	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Pedometer_Threshold(uint8_t thr)
cparata	0:489965565a0d	1189	{
cparata	0:489965565a0d	1190	if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
cparata	0:489965565a0d	1191	{
cparata	0:489965565a0d	1192	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1193	}
cparata	0:489965565a0d	1194
cparata	0:489965565a0d	1195	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1196	}
cparata	0:489965565a0d	1197
cparata	0:489965565a0d	1198	/**
cparata	0:489965565a0d	1199	* @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1200	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:489965565a0d	1201	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1202	*/
cparata	0:489965565a0d	1203	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Tilt_Detection(void)
cparata	0:489965565a0d	1204	{
cparata	0:489965565a0d	1205	/* Output Data Rate selection */
cparata	0:489965565a0d	1206	if( Set_X_ODR(26.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1207	{
cparata	0:489965565a0d	1208	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1209	}
cparata	0:489965565a0d	1210
cparata	0:489965565a0d	1211	/* Full scale selection. */
cparata	0:489965565a0d	1212	if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1213	{
cparata	0:489965565a0d	1214	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1215	}
cparata	0:489965565a0d	1216
cparata	0:489965565a0d	1217	/* Enable embedded functionalities */
cparata	0:489965565a0d	1218	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1219	{
cparata	0:489965565a0d	1220	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1221	}
cparata	0:489965565a0d	1222
cparata	0:489965565a0d	1223	/* Enable tilt calculation. */
cparata	0:489965565a0d	1224	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1225	{
cparata	0:489965565a0d	1226	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1227	}
cparata	0:489965565a0d	1228
cparata	0:489965565a0d	1229	/* Enable tilt event on INT1. */
cparata	0:489965565a0d	1230	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1231	{
cparata	0:489965565a0d	1232	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1233	}
cparata	0:489965565a0d	1234
cparata	0:489965565a0d	1235	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1236	}
cparata	0:489965565a0d	1237
cparata	0:489965565a0d	1238	/**
cparata	0:489965565a0d	1239	* @brief Disable the tilt detection for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1240	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1241	*/
cparata	0:489965565a0d	1242	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Tilt_Detection(void)
cparata	0:489965565a0d	1243	{
cparata	0:489965565a0d	1244	/* Disable tilt event on INT1. */
cparata	0:489965565a0d	1245	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_DISABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1246	{
cparata	0:489965565a0d	1247	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1248	}
cparata	0:489965565a0d	1249
cparata	0:489965565a0d	1250	/* Disable tilt calculation. */
cparata	0:489965565a0d	1251	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1252	{
cparata	0:489965565a0d	1253	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1254	}
cparata	0:489965565a0d	1255
cparata	0:489965565a0d	1256	/* Disable embedded functionalities */
cparata	0:489965565a0d	1257	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1258	{
cparata	0:489965565a0d	1259	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1260	}
cparata	0:489965565a0d	1261
cparata	0:489965565a0d	1262	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1263	}
cparata	0:489965565a0d	1264
cparata	0:489965565a0d	1265	/**
cparata	0:489965565a0d	1266	* @brief Get the tilt detection status for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1267	* @param status the pointer to the tilt detection status: 0 means no tilt detected, 1 means tilt detected
cparata	0:489965565a0d	1268	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1269	*/
cparata	0:489965565a0d	1270	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Tilt_Detection(uint8_t *status)
cparata	0:489965565a0d	1271	{
cparata	0:489965565a0d	1272	LSM6DSL_ACC_GYRO_TILT_EV_STATUS_t tilt_status;
cparata	0:489965565a0d	1273
cparata	0:489965565a0d	1274	if ( LSM6DSL_ACC_GYRO_R_TILT_EV_STATUS( (void *)this, &tilt_status ) == MEMS_ERROR )
cparata	0:489965565a0d	1275	{
cparata	0:489965565a0d	1276	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1277	}
cparata	0:489965565a0d	1278
cparata	0:489965565a0d	1279	switch( tilt_status )
cparata	0:489965565a0d	1280	{
cparata	0:489965565a0d	1281	case LSM6DSL_ACC_GYRO_TILT_EV_STATUS_DETECTED:
cparata	0:489965565a0d	1282	*status = 1;
cparata	0:489965565a0d	1283	break;
cparata	0:489965565a0d	1284	case LSM6DSL_ACC_GYRO_TILT_EV_STATUS_NOT_DETECTED:
cparata	0:489965565a0d	1285	*status = 0;
cparata	0:489965565a0d	1286	break;
cparata	0:489965565a0d	1287	default:
cparata	0:489965565a0d	1288	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1289	}
cparata	0:489965565a0d	1290
cparata	0:489965565a0d	1291	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1292	}
cparata	0:489965565a0d	1293
cparata	0:489965565a0d	1294	/**
cparata	0:489965565a0d	1295	* @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1296	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:489965565a0d	1297	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1298	*/
cparata	0:489965565a0d	1299	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Wake_Up_Detection(void)
cparata	0:489965565a0d	1300	{
cparata	0:489965565a0d	1301	/* Output Data Rate selection */
cparata	0:489965565a0d	1302	if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1303	{
cparata	0:489965565a0d	1304	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1305	}
cparata	0:489965565a0d	1306
cparata	0:489965565a0d	1307	/* Full scale selection. */
cparata	0:489965565a0d	1308	if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1309	{
cparata	0:489965565a0d	1310	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1311	}
cparata	0:489965565a0d	1312
cparata	0:489965565a0d	1313	/* WAKE_DUR setting */
cparata	0:489965565a0d	1314	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:489965565a0d	1315	{
cparata	0:489965565a0d	1316	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1317	}
cparata	0:489965565a0d	1318
cparata	0:489965565a0d	1319	/* Set wake up threshold. */
cparata	0:489965565a0d	1320	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
cparata	0:489965565a0d	1321	{
cparata	0:489965565a0d	1322	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1323	}
cparata	0:489965565a0d	1324
cparata	0:489965565a0d	1325	/* Enable basic Interrupts */
cparata	0:489965565a0d	1326	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1327	{
cparata	0:489965565a0d	1328	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1329	}
cparata	0:489965565a0d	1330
cparata	0:489965565a0d	1331	/* INT1_WU setting */
cparata	0:489965565a0d	1332	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_ENABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1333	{
cparata	0:489965565a0d	1334	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1335	}
cparata	0:489965565a0d	1336
cparata	0:489965565a0d	1337	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1338	}
cparata	0:489965565a0d	1339
cparata	0:489965565a0d	1340	/**
cparata	0:489965565a0d	1341	* @brief Disable the wake up detection for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1342	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1343	*/
cparata	0:489965565a0d	1344	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Wake_Up_Detection(void)
cparata	0:489965565a0d	1345	{
cparata	0:489965565a0d	1346	/* INT1_WU setting */
cparata	0:489965565a0d	1347	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_DISABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1348	{
cparata	0:489965565a0d	1349	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1350	}
cparata	0:489965565a0d	1351
cparata	0:489965565a0d	1352	/* Disable basic Interrupts */
cparata	0:489965565a0d	1353	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1354	{
cparata	0:489965565a0d	1355	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1356	}
cparata	0:489965565a0d	1357
cparata	0:489965565a0d	1358	/* WU_DUR setting */
cparata	0:489965565a0d	1359	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:489965565a0d	1360	{
cparata	0:489965565a0d	1361	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1362	}
cparata	0:489965565a0d	1363
cparata	0:489965565a0d	1364	/* WU_THS setting */
cparata	0:489965565a0d	1365	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	0:489965565a0d	1366	{
cparata	0:489965565a0d	1367	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1368	}
cparata	0:489965565a0d	1369
cparata	0:489965565a0d	1370	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1371	}
cparata	0:489965565a0d	1372
cparata	0:489965565a0d	1373	/**
cparata	0:489965565a0d	1374	* @brief Get the status of the wake up detection for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1375	* @param status the pointer to the status of the wake up detection: 0 means no detection, 1 means detection happened
cparata	0:489965565a0d	1376	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1377	*/
cparata	0:489965565a0d	1378	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Wake_Up_Detection(uint8_t *status)
cparata	0:489965565a0d	1379	{
cparata	0:489965565a0d	1380	LSM6DSL_ACC_GYRO_WU_EV_STATUS_t wake_up_status;
cparata	0:489965565a0d	1381
cparata	0:489965565a0d	1382	if ( LSM6DSL_ACC_GYRO_R_WU_EV_STATUS( (void *)this, &wake_up_status ) == MEMS_ERROR )
cparata	0:489965565a0d	1383	{
cparata	0:489965565a0d	1384	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1385	}
cparata	0:489965565a0d	1386
cparata	0:489965565a0d	1387	switch( wake_up_status )
cparata	0:489965565a0d	1388	{
cparata	0:489965565a0d	1389	case LSM6DSL_ACC_GYRO_WU_EV_STATUS_DETECTED:
cparata	0:489965565a0d	1390	*status = 1;
cparata	0:489965565a0d	1391	break;
cparata	0:489965565a0d	1392	case LSM6DSL_ACC_GYRO_WU_EV_STATUS_NOT_DETECTED:
cparata	0:489965565a0d	1393	*status = 0;
cparata	0:489965565a0d	1394	break;
cparata	0:489965565a0d	1395	default:
cparata	0:489965565a0d	1396	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1397	}
cparata	0:489965565a0d	1398
cparata	0:489965565a0d	1399	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1400	}
cparata	0:489965565a0d	1401
cparata	0:489965565a0d	1402	/**
cparata	0:489965565a0d	1403	* @brief Set the wake up threshold for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1404	* @param thr the threshold to be set
cparata	0:489965565a0d	1405	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1406	*/
cparata	0:489965565a0d	1407	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Wake_Up_Threshold(uint8_t thr)
cparata	0:489965565a0d	1408	{
cparata	0:489965565a0d	1409	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
cparata	0:489965565a0d	1410	{
cparata	0:489965565a0d	1411	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1412	}
cparata	0:489965565a0d	1413
cparata	0:489965565a0d	1414	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1415	}
cparata	0:489965565a0d	1416
cparata	0:489965565a0d	1417	/**
cparata	0:489965565a0d	1418	* @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1419	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:489965565a0d	1420	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1421	*/
cparata	0:489965565a0d	1422	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Single_Tap_Detection(void)
cparata	0:489965565a0d	1423	{
cparata	0:489965565a0d	1424	/* Output Data Rate selection */
cparata	0:489965565a0d	1425	if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1426	{
cparata	0:489965565a0d	1427	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1428	}
cparata	0:489965565a0d	1429
cparata	0:489965565a0d	1430	/* Full scale selection. */
cparata	0:489965565a0d	1431	if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1432	{
cparata	0:489965565a0d	1433	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1434	}
cparata	0:489965565a0d	1435
cparata	0:489965565a0d	1436	/* Enable X direction in tap recognition. */
cparata	0:489965565a0d	1437	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1438	{
cparata	0:489965565a0d	1439	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1440	}
cparata	0:489965565a0d	1441
cparata	0:489965565a0d	1442	/* Enable Y direction in tap recognition. */
cparata	0:489965565a0d	1443	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1444	{
cparata	0:489965565a0d	1445	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1446	}
cparata	0:489965565a0d	1447
cparata	0:489965565a0d	1448	/* Enable Z direction in tap recognition. */
cparata	0:489965565a0d	1449	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1450	{
cparata	0:489965565a0d	1451	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1452	}
cparata	0:489965565a0d	1453
cparata	0:489965565a0d	1454	/* Set tap threshold. */
cparata	0:489965565a0d	1455	if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1456	{
cparata	0:489965565a0d	1457	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1458	}
cparata	0:489965565a0d	1459
cparata	0:489965565a0d	1460	/* Set tap shock time window. */
cparata	0:489965565a0d	1461	if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1462	{
cparata	0:489965565a0d	1463	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1464	}
cparata	0:489965565a0d	1465
cparata	0:489965565a0d	1466	/* Set tap quiet time window. */
cparata	0:489965565a0d	1467	if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1468	{
cparata	0:489965565a0d	1469	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1470	}
cparata	0:489965565a0d	1471
cparata	0:489965565a0d	1472	/* _NOTE_: Tap duration time window - don't care for single tap. */
cparata	0:489965565a0d	1473
cparata	0:489965565a0d	1474	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata	0:489965565a0d	1475
cparata	0:489965565a0d	1476	/* Enable basic Interrupts */
cparata	0:489965565a0d	1477	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1478	{
cparata	0:489965565a0d	1479	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1480	}
cparata	0:489965565a0d	1481
cparata	0:489965565a0d	1482	/* Enable single tap interrupt on INT1 pin. */
cparata	0:489965565a0d	1483	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1484	{
cparata	0:489965565a0d	1485	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1486	}
cparata	0:489965565a0d	1487
cparata	0:489965565a0d	1488	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1489	}
cparata	0:489965565a0d	1490
cparata	0:489965565a0d	1491	/**
cparata	0:489965565a0d	1492	* @brief Disable the single tap detection for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1493	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1494	*/
cparata	0:489965565a0d	1495	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Single_Tap_Detection(void)
cparata	0:489965565a0d	1496	{
cparata	0:489965565a0d	1497	/* Disable single tap interrupt on INT1 pin. */
cparata	0:489965565a0d	1498	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1499	{
cparata	0:489965565a0d	1500	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1501	}
cparata	0:489965565a0d	1502
cparata	0:489965565a0d	1503	/* Disable basic Interrupts */
cparata	0:489965565a0d	1504	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1505	{
cparata	0:489965565a0d	1506	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1507	}
cparata	0:489965565a0d	1508
cparata	0:489965565a0d	1509	/* Reset tap threshold. */
cparata	0:489965565a0d	1510	if ( Set_Tap_Threshold( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1511	{
cparata	0:489965565a0d	1512	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1513	}
cparata	0:489965565a0d	1514
cparata	0:489965565a0d	1515	/* Reset tap shock time window. */
cparata	0:489965565a0d	1516	if ( Set_Tap_Shock_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1517	{
cparata	0:489965565a0d	1518	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1519	}
cparata	0:489965565a0d	1520
cparata	0:489965565a0d	1521	/* Reset tap quiet time window. */
cparata	0:489965565a0d	1522	if ( Set_Tap_Quiet_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1523	{
cparata	0:489965565a0d	1524	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1525	}
cparata	0:489965565a0d	1526
cparata	0:489965565a0d	1527	/* _NOTE_: Tap duration time window - don't care for single tap. */
cparata	0:489965565a0d	1528
cparata	0:489965565a0d	1529	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata	0:489965565a0d	1530
cparata	0:489965565a0d	1531	/* Disable Z direction in tap recognition. */
cparata	0:489965565a0d	1532	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1533	{
cparata	0:489965565a0d	1534	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1535	}
cparata	0:489965565a0d	1536
cparata	0:489965565a0d	1537	/* Disable Y direction in tap recognition. */
cparata	0:489965565a0d	1538	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1539	{
cparata	0:489965565a0d	1540	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1541	}
cparata	0:489965565a0d	1542
cparata	0:489965565a0d	1543	/* Disable X direction in tap recognition. */
cparata	0:489965565a0d	1544	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1545	{
cparata	0:489965565a0d	1546	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1547	}
cparata	0:489965565a0d	1548
cparata	0:489965565a0d	1549	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1550	}
cparata	0:489965565a0d	1551
cparata	0:489965565a0d	1552	/**
cparata	0:489965565a0d	1553	* @brief Get the single tap detection status for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1554	* @param status the pointer to the single tap detection status: 0 means no single tap detected, 1 means single tap detected
cparata	0:489965565a0d	1555	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1556	*/
cparata	0:489965565a0d	1557	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Single_Tap_Detection(uint8_t *status)
cparata	0:489965565a0d	1558	{
cparata	0:489965565a0d	1559	LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_t tap_status;
cparata	0:489965565a0d	1560
cparata	0:489965565a0d	1561	if ( LSM6DSL_ACC_GYRO_R_SINGLE_TAP_EV_STATUS( (void *)this, &tap_status ) == MEMS_ERROR )
cparata	0:489965565a0d	1562	{
cparata	0:489965565a0d	1563	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1564	}
cparata	0:489965565a0d	1565
cparata	0:489965565a0d	1566	switch( tap_status )
cparata	0:489965565a0d	1567	{
cparata	0:489965565a0d	1568	case LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_DETECTED:
cparata	0:489965565a0d	1569	*status = 1;
cparata	0:489965565a0d	1570	break;
cparata	0:489965565a0d	1571
cparata	0:489965565a0d	1572	case LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_NOT_DETECTED:
cparata	0:489965565a0d	1573	*status = 0;
cparata	0:489965565a0d	1574	break;
cparata	0:489965565a0d	1575
cparata	0:489965565a0d	1576	default:
cparata	0:489965565a0d	1577	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1578	}
cparata	0:489965565a0d	1579
cparata	0:489965565a0d	1580	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1581	}
cparata	0:489965565a0d	1582
cparata	0:489965565a0d	1583	/**
cparata	0:489965565a0d	1584	* @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1585	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:489965565a0d	1586	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1587	*/
cparata	0:489965565a0d	1588	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Double_Tap_Detection(void)
cparata	0:489965565a0d	1589	{
cparata	0:489965565a0d	1590	/* Output Data Rate selection */
cparata	0:489965565a0d	1591	if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1592	{
cparata	0:489965565a0d	1593	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1594	}
cparata	0:489965565a0d	1595
cparata	0:489965565a0d	1596	/* Full scale selection. */
cparata	0:489965565a0d	1597	if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1598	{
cparata	0:489965565a0d	1599	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1600	}
cparata	0:489965565a0d	1601
cparata	0:489965565a0d	1602	/* Enable X direction in tap recognition. */
cparata	0:489965565a0d	1603	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1604	{
cparata	0:489965565a0d	1605	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1606	}
cparata	0:489965565a0d	1607
cparata	0:489965565a0d	1608	/* Enable Y direction in tap recognition. */
cparata	0:489965565a0d	1609	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1610	{
cparata	0:489965565a0d	1611	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1612	}
cparata	0:489965565a0d	1613
cparata	0:489965565a0d	1614	/* Enable Z direction in tap recognition. */
cparata	0:489965565a0d	1615	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1616	{
cparata	0:489965565a0d	1617	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1618	}
cparata	0:489965565a0d	1619
cparata	0:489965565a0d	1620	/* Set tap threshold. */
cparata	0:489965565a0d	1621	if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1622	{
cparata	0:489965565a0d	1623	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1624	}
cparata	0:489965565a0d	1625
cparata	0:489965565a0d	1626	/* Set tap shock time window. */
cparata	0:489965565a0d	1627	if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1628	{
cparata	0:489965565a0d	1629	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1630	}
cparata	0:489965565a0d	1631
cparata	0:489965565a0d	1632	/* Set tap quiet time window. */
cparata	0:489965565a0d	1633	if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1634	{
cparata	0:489965565a0d	1635	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1636	}
cparata	0:489965565a0d	1637
cparata	0:489965565a0d	1638	/* Set tap duration time window. */
cparata	0:489965565a0d	1639	if ( Set_Tap_Duration_Time( LSM6DSL_TAP_DURATION_TIME_MID ) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1640	{
cparata	0:489965565a0d	1641	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1642	}
cparata	0:489965565a0d	1643
cparata	0:489965565a0d	1644	/* Single and double tap enabled. */
cparata	0:489965565a0d	1645	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
cparata	0:489965565a0d	1646	{
cparata	0:489965565a0d	1647	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1648	}
cparata	0:489965565a0d	1649
cparata	0:489965565a0d	1650	/* Enable basic Interrupts */
cparata	0:489965565a0d	1651	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1652	{
cparata	0:489965565a0d	1653	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1654	}
cparata	0:489965565a0d	1655
cparata	0:489965565a0d	1656	/* Enable double tap interrupt on INT1 pin. */
cparata	0:489965565a0d	1657	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1658	{
cparata	0:489965565a0d	1659	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1660	}
cparata	0:489965565a0d	1661
cparata	0:489965565a0d	1662	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1663	}
cparata	0:489965565a0d	1664
cparata	0:489965565a0d	1665	/**
cparata	0:489965565a0d	1666	* @brief Disable the double tap detection for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1667	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1668	*/
cparata	0:489965565a0d	1669	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Double_Tap_Detection(void)
cparata	0:489965565a0d	1670	{
cparata	0:489965565a0d	1671	/* Disable double tap interrupt on INT1 pin. */
cparata	0:489965565a0d	1672	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1673	{
cparata	0:489965565a0d	1674	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1675	}
cparata	0:489965565a0d	1676
cparata	0:489965565a0d	1677	/* Disable basic Interrupts */
cparata	0:489965565a0d	1678	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1679	{
cparata	0:489965565a0d	1680	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1681	}
cparata	0:489965565a0d	1682
cparata	0:489965565a0d	1683	/* Reset tap threshold. */
cparata	0:489965565a0d	1684	if ( Set_Tap_Threshold( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1685	{
cparata	0:489965565a0d	1686	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1687	}
cparata	0:489965565a0d	1688
cparata	0:489965565a0d	1689	/* Reset tap shock time window. */
cparata	0:489965565a0d	1690	if ( Set_Tap_Shock_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1691	{
cparata	0:489965565a0d	1692	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1693	}
cparata	0:489965565a0d	1694
cparata	0:489965565a0d	1695	/* Reset tap quiet time window. */
cparata	0:489965565a0d	1696	if ( Set_Tap_Quiet_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1697	{
cparata	0:489965565a0d	1698	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1699	}
cparata	0:489965565a0d	1700
cparata	0:489965565a0d	1701	/* Reset tap duration time window. */
cparata	0:489965565a0d	1702	if ( Set_Tap_Duration_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1703	{
cparata	0:489965565a0d	1704	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1705	}
cparata	0:489965565a0d	1706
cparata	0:489965565a0d	1707	/* Only single tap enabled. */
cparata	0:489965565a0d	1708	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
cparata	0:489965565a0d	1709	{
cparata	0:489965565a0d	1710	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1711	}
cparata	0:489965565a0d	1712
cparata	0:489965565a0d	1713	/* Disable Z direction in tap recognition. */
cparata	0:489965565a0d	1714	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1715	{
cparata	0:489965565a0d	1716	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1717	}
cparata	0:489965565a0d	1718
cparata	0:489965565a0d	1719	/* Disable Y direction in tap recognition. */
cparata	0:489965565a0d	1720	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1721	{
cparata	0:489965565a0d	1722	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1723	}
cparata	0:489965565a0d	1724
cparata	0:489965565a0d	1725	/* Disable X direction in tap recognition. */
cparata	0:489965565a0d	1726	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1727	{
cparata	0:489965565a0d	1728	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1729	}
cparata	0:489965565a0d	1730
cparata	0:489965565a0d	1731	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1732	}
cparata	0:489965565a0d	1733
cparata	0:489965565a0d	1734	/**
cparata	0:489965565a0d	1735	* @brief Get the double tap detection status for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1736	* @param status the pointer to the double tap detection status: 0 means no double tap detected, 1 means double tap detected
cparata	0:489965565a0d	1737	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1738	*/
cparata	0:489965565a0d	1739	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Double_Tap_Detection(uint8_t *status)
cparata	0:489965565a0d	1740	{
cparata	0:489965565a0d	1741	LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_t tap_status;
cparata	0:489965565a0d	1742
cparata	0:489965565a0d	1743	if ( LSM6DSL_ACC_GYRO_R_DOUBLE_TAP_EV_STATUS( (void *)this, &tap_status ) == MEMS_ERROR )
cparata	0:489965565a0d	1744	{
cparata	0:489965565a0d	1745	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1746	}
cparata	0:489965565a0d	1747
cparata	0:489965565a0d	1748	switch( tap_status )
cparata	0:489965565a0d	1749	{
cparata	0:489965565a0d	1750	case LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_DETECTED:
cparata	0:489965565a0d	1751	*status = 1;
cparata	0:489965565a0d	1752	break;
cparata	0:489965565a0d	1753
cparata	0:489965565a0d	1754	case LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_NOT_DETECTED:
cparata	0:489965565a0d	1755	*status = 0;
cparata	0:489965565a0d	1756	break;
cparata	0:489965565a0d	1757
cparata	0:489965565a0d	1758	default:
cparata	0:489965565a0d	1759	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1760	}
cparata	0:489965565a0d	1761
cparata	0:489965565a0d	1762	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1763	}
cparata	0:489965565a0d	1764
cparata	0:489965565a0d	1765	/**
cparata	0:489965565a0d	1766	* @brief Set the tap threshold for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1767	* @param thr the threshold to be set
cparata	0:489965565a0d	1768	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1769	*/
cparata	0:489965565a0d	1770	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Threshold(uint8_t thr)
cparata	0:489965565a0d	1771	{
cparata	0:489965565a0d	1772	if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
cparata	0:489965565a0d	1773	{
cparata	0:489965565a0d	1774	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1775	}
cparata	0:489965565a0d	1776
cparata	0:489965565a0d	1777	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1778	}
cparata	0:489965565a0d	1779
cparata	0:489965565a0d	1780	/**
cparata	0:489965565a0d	1781	* @brief Set the tap shock time window for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1782	* @param time the shock time window to be set
cparata	0:489965565a0d	1783	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1784	*/
cparata	0:489965565a0d	1785	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Shock_Time(uint8_t time)
cparata	0:489965565a0d	1786	{
cparata	0:489965565a0d	1787	if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
cparata	0:489965565a0d	1788	{
cparata	0:489965565a0d	1789	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1790	}
cparata	0:489965565a0d	1791
cparata	0:489965565a0d	1792	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1793	}
cparata	0:489965565a0d	1794
cparata	0:489965565a0d	1795	/**
cparata	0:489965565a0d	1796	* @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1797	* @param time the quiet time window to be set
cparata	0:489965565a0d	1798	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1799	*/
cparata	0:489965565a0d	1800	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Quiet_Time(uint8_t time)
cparata	0:489965565a0d	1801	{
cparata	0:489965565a0d	1802	if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
cparata	0:489965565a0d	1803	{
cparata	0:489965565a0d	1804	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1805	}
cparata	0:489965565a0d	1806
cparata	0:489965565a0d	1807	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1808	}
cparata	0:489965565a0d	1809
cparata	0:489965565a0d	1810	/**
cparata	0:489965565a0d	1811	* @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1812	* @param time the duration of the time window to be set
cparata	0:489965565a0d	1813	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1814	*/
cparata	0:489965565a0d	1815	LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Duration_Time(uint8_t time)
cparata	0:489965565a0d	1816	{
cparata	0:489965565a0d	1817	if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
cparata	0:489965565a0d	1818	{
cparata	0:489965565a0d	1819	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1820	}
cparata	0:489965565a0d	1821
cparata	0:489965565a0d	1822	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1823	}
cparata	0:489965565a0d	1824
cparata	0:489965565a0d	1825	/**
cparata	0:489965565a0d	1826	* @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1827	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	0:489965565a0d	1828	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1829	*/
cparata	0:489965565a0d	1830	LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_6D_Orientation(void)
cparata	0:489965565a0d	1831	{
cparata	0:489965565a0d	1832	/* Output Data Rate selection */
cparata	0:489965565a0d	1833	if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1834	{
cparata	0:489965565a0d	1835	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1836	}
cparata	0:489965565a0d	1837
cparata	0:489965565a0d	1838	/* Full scale selection. */
cparata	0:489965565a0d	1839	if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata	0:489965565a0d	1840	{
cparata	0:489965565a0d	1841	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1842	}
cparata	0:489965565a0d	1843
cparata	0:489965565a0d	1844	/* Set 6D threshold. */
cparata	0:489965565a0d	1845	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
cparata	0:489965565a0d	1846	{
cparata	0:489965565a0d	1847	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1848	}
cparata	0:489965565a0d	1849
cparata	0:489965565a0d	1850	/* Enable basic Interrupts */
cparata	0:489965565a0d	1851	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1852	{
cparata	0:489965565a0d	1853	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1854	}
cparata	0:489965565a0d	1855
cparata	0:489965565a0d	1856	/* INT1_6D setting. */
cparata	0:489965565a0d	1857	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1858	{
cparata	0:489965565a0d	1859	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1860	}
cparata	0:489965565a0d	1861
cparata	0:489965565a0d	1862	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1863	}
cparata	0:489965565a0d	1864
cparata	0:489965565a0d	1865	/**
cparata	0:489965565a0d	1866	* @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1867	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1868	*/
cparata	0:489965565a0d	1869	LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_6D_Orientation(void)
cparata	0:489965565a0d	1870	{
cparata	0:489965565a0d	1871	/* INT1_6D setting. */
cparata	0:489965565a0d	1872	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1873	{
cparata	0:489965565a0d	1874	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1875	}
cparata	0:489965565a0d	1876
cparata	0:489965565a0d	1877	/* Disable basic Interrupts */
cparata	0:489965565a0d	1878	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	0:489965565a0d	1879	{
cparata	0:489965565a0d	1880	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1881	}
cparata	0:489965565a0d	1882
cparata	0:489965565a0d	1883	/* Reset 6D threshold. */
cparata	0:489965565a0d	1884	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
cparata	0:489965565a0d	1885	{
cparata	0:489965565a0d	1886	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1887	}
cparata	0:489965565a0d	1888
cparata	0:489965565a0d	1889	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1890	}
cparata	0:489965565a0d	1891
cparata	0:489965565a0d	1892	/**
cparata	0:489965565a0d	1893	* @brief Get the status of the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1894	* @param status the pointer to the status of the 6D orientation detection: 0 means no detection, 1 means detection happened
cparata	0:489965565a0d	1895	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1896	*/
cparata	0:489965565a0d	1897	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_6D_Orientation(uint8_t *status)
cparata	0:489965565a0d	1898	{
cparata	0:489965565a0d	1899	LSM6DSL_ACC_GYRO_D6D_EV_STATUS_t status_raw;
cparata	0:489965565a0d	1900
cparata	0:489965565a0d	1901	if ( LSM6DSL_ACC_GYRO_R_D6D_EV_STATUS( (void *)this, &status_raw ) == MEMS_ERROR )
cparata	0:489965565a0d	1902	{
cparata	0:489965565a0d	1903	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1904	}
cparata	0:489965565a0d	1905
cparata	0:489965565a0d	1906	switch( status_raw )
cparata	0:489965565a0d	1907	{
cparata	0:489965565a0d	1908	case LSM6DSL_ACC_GYRO_D6D_EV_STATUS_DETECTED:
cparata	0:489965565a0d	1909	*status = 1;
cparata	0:489965565a0d	1910	break;
cparata	0:489965565a0d	1911	case LSM6DSL_ACC_GYRO_D6D_EV_STATUS_NOT_DETECTED:
cparata	0:489965565a0d	1912	*status = 0;
cparata	0:489965565a0d	1913	break;
cparata	0:489965565a0d	1914	default:
cparata	0:489965565a0d	1915	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1916	}
cparata	0:489965565a0d	1917
cparata	0:489965565a0d	1918	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1919	}
cparata	0:489965565a0d	1920
cparata	0:489965565a0d	1921	/**
cparata	0:489965565a0d	1922	* @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1923	* @param xl the pointer to the 6D orientation XL axis
cparata	0:489965565a0d	1924	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1925	*/
cparata	0:489965565a0d	1926	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_XL(uint8_t *xl)
cparata	0:489965565a0d	1927	{
cparata	0:489965565a0d	1928	LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
cparata	0:489965565a0d	1929
cparata	0:489965565a0d	1930	if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
cparata	0:489965565a0d	1931	{
cparata	0:489965565a0d	1932	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1933	}
cparata	0:489965565a0d	1934
cparata	0:489965565a0d	1935	switch( xl_raw )
cparata	0:489965565a0d	1936	{
cparata	0:489965565a0d	1937	case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
cparata	0:489965565a0d	1938	*xl = 1;
cparata	0:489965565a0d	1939	break;
cparata	0:489965565a0d	1940	case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
cparata	0:489965565a0d	1941	*xl = 0;
cparata	0:489965565a0d	1942	break;
cparata	0:489965565a0d	1943	default:
cparata	0:489965565a0d	1944	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1945	}
cparata	0:489965565a0d	1946
cparata	0:489965565a0d	1947	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1948	}
cparata	0:489965565a0d	1949
cparata	0:489965565a0d	1950	/**
cparata	0:489965565a0d	1951	* @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1952	* @param xh the pointer to the 6D orientation XH axis
cparata	0:489965565a0d	1953	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1954	*/
cparata	0:489965565a0d	1955	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_XH(uint8_t *xh)
cparata	0:489965565a0d	1956	{
cparata	0:489965565a0d	1957	LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
cparata	0:489965565a0d	1958
cparata	0:489965565a0d	1959	if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
cparata	0:489965565a0d	1960	{
cparata	0:489965565a0d	1961	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1962	}
cparata	0:489965565a0d	1963
cparata	0:489965565a0d	1964	switch( xh_raw )
cparata	0:489965565a0d	1965	{
cparata	0:489965565a0d	1966	case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
cparata	0:489965565a0d	1967	*xh = 1;
cparata	0:489965565a0d	1968	break;
cparata	0:489965565a0d	1969	case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
cparata	0:489965565a0d	1970	*xh = 0;
cparata	0:489965565a0d	1971	break;
cparata	0:489965565a0d	1972	default:
cparata	0:489965565a0d	1973	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1974	}
cparata	0:489965565a0d	1975
cparata	0:489965565a0d	1976	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	1977	}
cparata	0:489965565a0d	1978
cparata	0:489965565a0d	1979	/**
cparata	0:489965565a0d	1980	* @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	1981	* @param yl the pointer to the 6D orientation YL axis
cparata	0:489965565a0d	1982	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	1983	*/
cparata	0:489965565a0d	1984	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_YL(uint8_t *yl)
cparata	0:489965565a0d	1985	{
cparata	0:489965565a0d	1986	LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
cparata	0:489965565a0d	1987
cparata	0:489965565a0d	1988	if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
cparata	0:489965565a0d	1989	{
cparata	0:489965565a0d	1990	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	1991	}
cparata	0:489965565a0d	1992
cparata	0:489965565a0d	1993	switch( yl_raw )
cparata	0:489965565a0d	1994	{
cparata	0:489965565a0d	1995	case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
cparata	0:489965565a0d	1996	*yl = 1;
cparata	0:489965565a0d	1997	break;
cparata	0:489965565a0d	1998	case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
cparata	0:489965565a0d	1999	*yl = 0;
cparata	0:489965565a0d	2000	break;
cparata	0:489965565a0d	2001	default:
cparata	0:489965565a0d	2002	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	2003	}
cparata	0:489965565a0d	2004
cparata	0:489965565a0d	2005	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	2006	}
cparata	0:489965565a0d	2007
cparata	0:489965565a0d	2008	/**
cparata	0:489965565a0d	2009	* @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	2010	* @param yh the pointer to the 6D orientation YH axis
cparata	0:489965565a0d	2011	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	2012	*/
cparata	0:489965565a0d	2013	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_YH(uint8_t *yh)
cparata	0:489965565a0d	2014	{
cparata	0:489965565a0d	2015	LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
cparata	0:489965565a0d	2016
cparata	0:489965565a0d	2017	if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
cparata	0:489965565a0d	2018	{
cparata	0:489965565a0d	2019	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	2020	}
cparata	0:489965565a0d	2021
cparata	0:489965565a0d	2022	switch( yh_raw )
cparata	0:489965565a0d	2023	{
cparata	0:489965565a0d	2024	case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
cparata	0:489965565a0d	2025	*yh = 1;
cparata	0:489965565a0d	2026	break;
cparata	0:489965565a0d	2027	case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
cparata	0:489965565a0d	2028	*yh = 0;
cparata	0:489965565a0d	2029	break;
cparata	0:489965565a0d	2030	default:
cparata	0:489965565a0d	2031	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	2032	}
cparata	0:489965565a0d	2033
cparata	0:489965565a0d	2034	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	2035	}
cparata	0:489965565a0d	2036
cparata	0:489965565a0d	2037	/**
cparata	0:489965565a0d	2038	* @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	2039	* @param zl the pointer to the 6D orientation ZL axis
cparata	0:489965565a0d	2040	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	2041	*/
cparata	0:489965565a0d	2042	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_ZL(uint8_t *zl)
cparata	0:489965565a0d	2043	{
cparata	0:489965565a0d	2044	LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
cparata	0:489965565a0d	2045
cparata	0:489965565a0d	2046	if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
cparata	0:489965565a0d	2047	{
cparata	0:489965565a0d	2048	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	2049	}
cparata	0:489965565a0d	2050
cparata	0:489965565a0d	2051	switch( zl_raw )
cparata	0:489965565a0d	2052	{
cparata	0:489965565a0d	2053	case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
cparata	0:489965565a0d	2054	*zl = 1;
cparata	0:489965565a0d	2055	break;
cparata	0:489965565a0d	2056	case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
cparata	0:489965565a0d	2057	*zl = 0;
cparata	0:489965565a0d	2058	break;
cparata	0:489965565a0d	2059	default:
cparata	0:489965565a0d	2060	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	2061	}
cparata	0:489965565a0d	2062
cparata	0:489965565a0d	2063	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	2064	}
cparata	0:489965565a0d	2065
cparata	0:489965565a0d	2066	/**
cparata	0:489965565a0d	2067	* @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
cparata	0:489965565a0d	2068	* @param zh the pointer to the 6D orientation ZH axis
cparata	0:489965565a0d	2069	* @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata	0:489965565a0d	2070	*/
cparata	0:489965565a0d	2071	LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_ZH(uint8_t *zh)
cparata	0:489965565a0d	2072	{
cparata	0:489965565a0d	2073	LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
cparata	0:489965565a0d	2074
cparata	0:489965565a0d	2075	if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
cparata	0:489965565a0d	2076	{
cparata	0:489965565a0d	2077	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	2078	}
cparata	0:489965565a0d	2079
cparata	0:489965565a0d	2080	switch( zh_raw )
cparata	0:489965565a0d	2081	{
cparata	0:489965565a0d	2082	case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
cparata	0:489965565a0d	2083	*zh = 1;
cparata	0:489965565a0d	2084	break;
cparata	0:489965565a0d	2085	case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
cparata	0:489965565a0d	2086	*zh = 0;
cparata	0:489965565a0d	2087	break;
cparata	0:489965565a0d	2088	default:
cparata	0:489965565a0d	2089	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	2090	}
cparata	0:489965565a0d	2091
cparata	0:489965565a0d	2092	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	2093	}
cparata	0:489965565a0d	2094
cparata	0:489965565a0d	2095	/**
cparata	0:489965565a0d	2096	* @brief Read the data from register
cparata	0:489965565a0d	2097	* @param reg register address
cparata	0:489965565a0d	2098	* @param data register data
cparata	0:489965565a0d	2099	* @retval LSM6DSL_STATUS_OK in case of success
cparata	0:489965565a0d	2100	* @retval LSM6DSL_STATUS_ERROR in case of failure
cparata	0:489965565a0d	2101	*/
cparata	0:489965565a0d	2102	LSM6DSLStatusTypeDef LSM6DSLSensor::ReadReg( uint8_t reg, uint8_t *data )
cparata	0:489965565a0d	2103	{
cparata	0:489965565a0d	2104
cparata	0:489965565a0d	2105	if ( LSM6DSL_ACC_GYRO_ReadReg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
cparata	0:489965565a0d	2106	{
cparata	0:489965565a0d	2107	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	2108	}
cparata	0:489965565a0d	2109
cparata	0:489965565a0d	2110	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	2111	}
cparata	0:489965565a0d	2112
cparata	0:489965565a0d	2113	/**
cparata	0:489965565a0d	2114	* @brief Write the data to register
cparata	0:489965565a0d	2115	* @param reg register address
cparata	0:489965565a0d	2116	* @param data register data
cparata	0:489965565a0d	2117	* @retval LSM6DSL_STATUS_OK in case of success
cparata	0:489965565a0d	2118	* @retval LSM6DSL_STATUS_ERROR in case of failure
cparata	0:489965565a0d	2119	*/
cparata	0:489965565a0d	2120	LSM6DSLStatusTypeDef LSM6DSLSensor::WriteReg( uint8_t reg, uint8_t data )
cparata	0:489965565a0d	2121	{
cparata	0:489965565a0d	2122
cparata	0:489965565a0d	2123	if ( LSM6DSL_ACC_GYRO_WriteReg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
cparata	0:489965565a0d	2124	{
cparata	0:489965565a0d	2125	return LSM6DSL_STATUS_ERROR;
cparata	0:489965565a0d	2126	}
cparata	0:489965565a0d	2127
cparata	0:489965565a0d	2128	return LSM6DSL_STATUS_OK;
cparata	0:489965565a0d	2129	}
cparata	0:489965565a0d	2130
cparata	0:489965565a0d	2131
cparata	0:489965565a0d	2132	uint8_t LSM6DSL_IO_Write( void handle, uint8_t WriteAddr, uint8_t pBuffer, uint16_t nBytesToWrite )
cparata	0:489965565a0d	2133	{
cparata	0:489965565a0d	2134	return ((LSM6DSLSensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata	0:489965565a0d	2135	}
cparata	0:489965565a0d	2136
cparata	0:489965565a0d	2137	uint8_t LSM6DSL_IO_Read( void handle, uint8_t ReadAddr, uint8_t pBuffer, uint16_t nBytesToRead )
cparata	0:489965565a0d	2138	{
cparata	0:489965565a0d	2139	return ((LSM6DSLSensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata	0:489965565a0d	2140	}

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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@0:489965565a0d, 2016-08-12 (annotated)

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