ST
Example of tilt detection for LSM6DSL in X-NUCLEO-IKS01A2
Dependencies: X_NUCLEO_IKS01A2 mbed
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@6:54b10a8fb90f, 2016-11-23 (annotated)
- Committer:
- cparata
- Date:
- Wed Nov 23 16:46:31 2016 +0000
- Revision:
- 6:54b10a8fb90f
- Parent:
- 5:a62aec1093d6
- Child:
- 7:369954b853d4
Move interrupt settings inside component drivers
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| cparata | 2:39ad2a393143 | 1 | /** |
| cparata | 2:39ad2a393143 | 2 | ****************************************************************************** |
| cparata | 2:39ad2a393143 | 3 | * @file LSM6DSLSensor.cpp |
| cparata | 2:39ad2a393143 | 4 | * @author AST |
| cparata | 2:39ad2a393143 | 5 | * @version V1.0.0 |
| cparata | 2:39ad2a393143 | 6 | * @date 5 August 2016 |
| cparata | 2:39ad2a393143 | 7 | * @brief Implementation of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes |
| cparata | 2:39ad2a393143 | 8 | * sensor. |
| cparata | 2:39ad2a393143 | 9 | ****************************************************************************** |
| cparata | 2:39ad2a393143 | 10 | * @attention |
| cparata | 2:39ad2a393143 | 11 | * |
| cparata | 2:39ad2a393143 | 12 | * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2> |
| cparata | 2:39ad2a393143 | 13 | * |
| cparata | 2:39ad2a393143 | 14 | * Redistribution and use in source and binary forms, with or without modification, |
| cparata | 2:39ad2a393143 | 15 | * are permitted provided that the following conditions are met: |
| cparata | 2:39ad2a393143 | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
| cparata | 2:39ad2a393143 | 17 | * this list of conditions and the following disclaimer. |
| cparata | 2:39ad2a393143 | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
| cparata | 2:39ad2a393143 | 19 | * this list of conditions and the following disclaimer in the documentation |
| cparata | 2:39ad2a393143 | 20 | * and/or other materials provided with the distribution. |
| cparata | 2:39ad2a393143 | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
| cparata | 2:39ad2a393143 | 22 | * may be used to endorse or promote products derived from this software |
| cparata | 2:39ad2a393143 | 23 | * without specific prior written permission. |
| cparata | 2:39ad2a393143 | 24 | * |
| cparata | 2:39ad2a393143 | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| cparata | 2:39ad2a393143 | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| cparata | 2:39ad2a393143 | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
| cparata | 2:39ad2a393143 | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
| cparata | 2:39ad2a393143 | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| cparata | 2:39ad2a393143 | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
| cparata | 2:39ad2a393143 | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| cparata | 2:39ad2a393143 | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
| cparata | 2:39ad2a393143 | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| cparata | 2:39ad2a393143 | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| cparata | 2:39ad2a393143 | 35 | * |
| cparata | 2:39ad2a393143 | 36 | ****************************************************************************** |
| cparata | 2:39ad2a393143 | 37 | */ |
| cparata | 2:39ad2a393143 | 38 | |
| cparata | 2:39ad2a393143 | 39 | |
| cparata | 2:39ad2a393143 | 40 | /* Includes ------------------------------------------------------------------*/ |
| cparata | 2:39ad2a393143 | 41 | |
| cparata | 2:39ad2a393143 | 42 | #include "mbed.h" |
| cparata | 2:39ad2a393143 | 43 | #include "DevI2C.h" |
| cparata | 2:39ad2a393143 | 44 | #include "LSM6DSLSensor.h" |
| cparata | 2:39ad2a393143 | 45 | #include "LSM6DSL_ACC_GYRO_driver.h" |
| cparata | 2:39ad2a393143 | 46 | |
| cparata | 2:39ad2a393143 | 47 | |
| cparata | 2:39ad2a393143 | 48 | /* Class Implementation ------------------------------------------------------*/ |
| cparata | 2:39ad2a393143 | 49 | |
| cparata | 2:39ad2a393143 | 50 | /** Constructor |
| cparata | 2:39ad2a393143 | 51 | * @param i2c object of an helper class which handles the I2C peripheral |
| cparata | 2:39ad2a393143 | 52 | * @param address the address of the component's instance |
| cparata | 2:39ad2a393143 | 53 | */ |
| cparata | 6:54b10a8fb90f | 54 | LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, PinName INT1_pin, PinName INT2_pin) : dev_i2c(i2c), INT1_irq(INT1_pin), INT2_irq(INT2_pin) |
| cparata | 2:39ad2a393143 | 55 | { |
| cparata | 2:39ad2a393143 | 56 | address = LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH; |
| cparata | 2:39ad2a393143 | 57 | }; |
| cparata | 2:39ad2a393143 | 58 | |
| cparata | 2:39ad2a393143 | 59 | /** Constructor |
| cparata | 2:39ad2a393143 | 60 | * @param i2c object of an helper class which handles the I2C peripheral |
| cparata | 2:39ad2a393143 | 61 | * @param address the address of the component's instance |
| cparata | 2:39ad2a393143 | 62 | */ |
| cparata | 6:54b10a8fb90f | 63 | LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, PinName INT1_pin, PinName INT2_pin, uint8_t address) : dev_i2c(i2c), INT1_irq(INT1_pin), INT2_irq(INT2_pin), address(address) |
| cparata | 2:39ad2a393143 | 64 | { |
| cparata | 2:39ad2a393143 | 65 | |
| cparata | 2:39ad2a393143 | 66 | }; |
| cparata | 2:39ad2a393143 | 67 | |
| cparata | 2:39ad2a393143 | 68 | /** |
| cparata | 2:39ad2a393143 | 69 | * @brief Initializing the component. |
| cparata | 2:39ad2a393143 | 70 | * @param[in] init pointer to device specific initalization structure. |
| cparata | 2:39ad2a393143 | 71 | * @retval "0" in case of success, an error code otherwise. |
| cparata | 2:39ad2a393143 | 72 | */ |
| cparata | 2:39ad2a393143 | 73 | int LSM6DSLSensor::Init(void *init) |
| cparata | 2:39ad2a393143 | 74 | { |
| cparata | 2:39ad2a393143 | 75 | /* Enable register address automatically incremented during a multiple byte |
| cparata | 2:39ad2a393143 | 76 | access with a serial interface. */ |
| cparata | 2:39ad2a393143 | 77 | if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 78 | { |
| cparata | 2:39ad2a393143 | 79 | return 1; |
| cparata | 2:39ad2a393143 | 80 | } |
| cparata | 2:39ad2a393143 | 81 | |
| cparata | 2:39ad2a393143 | 82 | /* Enable BDU */ |
| cparata | 2:39ad2a393143 | 83 | if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 84 | { |
| cparata | 2:39ad2a393143 | 85 | return 1; |
| cparata | 2:39ad2a393143 | 86 | } |
| cparata | 2:39ad2a393143 | 87 | |
| cparata | 2:39ad2a393143 | 88 | /* FIFO mode selection */ |
| cparata | 2:39ad2a393143 | 89 | if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 90 | { |
| cparata | 2:39ad2a393143 | 91 | return 1; |
| cparata | 2:39ad2a393143 | 92 | } |
| cparata | 2:39ad2a393143 | 93 | |
| cparata | 2:39ad2a393143 | 94 | /* Output data rate selection - power down. */ |
| cparata | 2:39ad2a393143 | 95 | if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 96 | { |
| cparata | 2:39ad2a393143 | 97 | return 1; |
| cparata | 2:39ad2a393143 | 98 | } |
| cparata | 2:39ad2a393143 | 99 | |
| cparata | 2:39ad2a393143 | 100 | /* Full scale selection. */ |
| cparata | 2:39ad2a393143 | 101 | if ( Set_X_FS( 2.0f ) == 1 ) |
| cparata | 2:39ad2a393143 | 102 | { |
| cparata | 2:39ad2a393143 | 103 | return 1; |
| cparata | 2:39ad2a393143 | 104 | } |
| cparata | 2:39ad2a393143 | 105 | |
| cparata | 2:39ad2a393143 | 106 | /* Output data rate selection - power down */ |
| cparata | 2:39ad2a393143 | 107 | if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 108 | { |
| cparata | 2:39ad2a393143 | 109 | return 1; |
| cparata | 2:39ad2a393143 | 110 | } |
| cparata | 2:39ad2a393143 | 111 | |
| cparata | 2:39ad2a393143 | 112 | /* Full scale selection. */ |
| cparata | 2:39ad2a393143 | 113 | if ( Set_G_FS( 2000.0f ) == 1 ) |
| cparata | 2:39ad2a393143 | 114 | { |
| cparata | 2:39ad2a393143 | 115 | return 1; |
| cparata | 2:39ad2a393143 | 116 | } |
| cparata | 2:39ad2a393143 | 117 | |
| cparata | 2:39ad2a393143 | 118 | X_Last_ODR = 104.0f; |
| cparata | 2:39ad2a393143 | 119 | |
| cparata | 2:39ad2a393143 | 120 | X_isEnabled = 0; |
| cparata | 2:39ad2a393143 | 121 | |
| cparata | 2:39ad2a393143 | 122 | G_Last_ODR = 104.0f; |
| cparata | 2:39ad2a393143 | 123 | |
| cparata | 2:39ad2a393143 | 124 | G_isEnabled = 0; |
| cparata | 2:39ad2a393143 | 125 | |
| cparata | 2:39ad2a393143 | 126 | return 0; |
| cparata | 2:39ad2a393143 | 127 | } |
| cparata | 2:39ad2a393143 | 128 | |
| cparata | 2:39ad2a393143 | 129 | /** |
| cparata | 2:39ad2a393143 | 130 | * @brief Enable LSM6DSL Accelerator |
| cparata | 2:39ad2a393143 | 131 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 132 | */ |
| cparata | 2:39ad2a393143 | 133 | int LSM6DSLSensor::Enable_X(void) |
| cparata | 2:39ad2a393143 | 134 | { |
| cparata | 2:39ad2a393143 | 135 | /* Check if the component is already enabled */ |
| cparata | 2:39ad2a393143 | 136 | if ( X_isEnabled == 1 ) |
| cparata | 2:39ad2a393143 | 137 | { |
| cparata | 2:39ad2a393143 | 138 | return 0; |
| cparata | 2:39ad2a393143 | 139 | } |
| cparata | 2:39ad2a393143 | 140 | |
| cparata | 2:39ad2a393143 | 141 | /* Output data rate selection. */ |
| cparata | 2:39ad2a393143 | 142 | if ( Set_X_ODR_When_Enabled( X_Last_ODR ) == 1 ) |
| cparata | 2:39ad2a393143 | 143 | { |
| cparata | 2:39ad2a393143 | 144 | return 1; |
| cparata | 2:39ad2a393143 | 145 | } |
| cparata | 2:39ad2a393143 | 146 | |
| cparata | 2:39ad2a393143 | 147 | X_isEnabled = 1; |
| cparata | 2:39ad2a393143 | 148 | |
| cparata | 2:39ad2a393143 | 149 | return 0; |
| cparata | 2:39ad2a393143 | 150 | } |
| cparata | 2:39ad2a393143 | 151 | |
| cparata | 2:39ad2a393143 | 152 | /** |
| cparata | 2:39ad2a393143 | 153 | * @brief Enable LSM6DSL Gyroscope |
| cparata | 2:39ad2a393143 | 154 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 155 | */ |
| cparata | 2:39ad2a393143 | 156 | int LSM6DSLSensor::Enable_G(void) |
| cparata | 2:39ad2a393143 | 157 | { |
| cparata | 2:39ad2a393143 | 158 | /* Check if the component is already enabled */ |
| cparata | 2:39ad2a393143 | 159 | if ( G_isEnabled == 1 ) |
| cparata | 2:39ad2a393143 | 160 | { |
| cparata | 2:39ad2a393143 | 161 | return 0; |
| cparata | 2:39ad2a393143 | 162 | } |
| cparata | 2:39ad2a393143 | 163 | |
| cparata | 2:39ad2a393143 | 164 | /* Output data rate selection. */ |
| cparata | 2:39ad2a393143 | 165 | if ( Set_G_ODR_When_Enabled( G_Last_ODR ) == 1 ) |
| cparata | 2:39ad2a393143 | 166 | { |
| cparata | 2:39ad2a393143 | 167 | return 1; |
| cparata | 2:39ad2a393143 | 168 | } |
| cparata | 2:39ad2a393143 | 169 | |
| cparata | 2:39ad2a393143 | 170 | G_isEnabled = 1; |
| cparata | 2:39ad2a393143 | 171 | |
| cparata | 2:39ad2a393143 | 172 | return 0; |
| cparata | 2:39ad2a393143 | 173 | } |
| cparata | 2:39ad2a393143 | 174 | |
| cparata | 2:39ad2a393143 | 175 | /** |
| cparata | 2:39ad2a393143 | 176 | * @brief Disable LSM6DSL Accelerator |
| cparata | 2:39ad2a393143 | 177 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 178 | */ |
| cparata | 2:39ad2a393143 | 179 | int LSM6DSLSensor::Disable_X(void) |
| cparata | 2:39ad2a393143 | 180 | { |
| cparata | 2:39ad2a393143 | 181 | /* Check if the component is already disabled */ |
| cparata | 2:39ad2a393143 | 182 | if ( X_isEnabled == 0 ) |
| cparata | 2:39ad2a393143 | 183 | { |
| cparata | 2:39ad2a393143 | 184 | return 0; |
| cparata | 2:39ad2a393143 | 185 | } |
| cparata | 2:39ad2a393143 | 186 | |
| cparata | 2:39ad2a393143 | 187 | /* Store actual output data rate. */ |
| cparata | 2:39ad2a393143 | 188 | if ( Get_X_ODR( &X_Last_ODR ) == 1 ) |
| cparata | 2:39ad2a393143 | 189 | { |
| cparata | 2:39ad2a393143 | 190 | return 1; |
| cparata | 2:39ad2a393143 | 191 | } |
| cparata | 2:39ad2a393143 | 192 | |
| cparata | 2:39ad2a393143 | 193 | /* Output data rate selection - power down. */ |
| cparata | 2:39ad2a393143 | 194 | if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 195 | { |
| cparata | 2:39ad2a393143 | 196 | return 1; |
| cparata | 2:39ad2a393143 | 197 | } |
| cparata | 2:39ad2a393143 | 198 | |
| cparata | 2:39ad2a393143 | 199 | X_isEnabled = 0; |
| cparata | 2:39ad2a393143 | 200 | |
| cparata | 2:39ad2a393143 | 201 | return 0; |
| cparata | 2:39ad2a393143 | 202 | } |
| cparata | 2:39ad2a393143 | 203 | |
| cparata | 2:39ad2a393143 | 204 | /** |
| cparata | 2:39ad2a393143 | 205 | * @brief Disable LSM6DSL Gyroscope |
| cparata | 2:39ad2a393143 | 206 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 207 | */ |
| cparata | 2:39ad2a393143 | 208 | int LSM6DSLSensor::Disable_G(void) |
| cparata | 2:39ad2a393143 | 209 | { |
| cparata | 2:39ad2a393143 | 210 | /* Check if the component is already disabled */ |
| cparata | 2:39ad2a393143 | 211 | if ( G_isEnabled == 0 ) |
| cparata | 2:39ad2a393143 | 212 | { |
| cparata | 2:39ad2a393143 | 213 | return 0; |
| cparata | 2:39ad2a393143 | 214 | } |
| cparata | 2:39ad2a393143 | 215 | |
| cparata | 2:39ad2a393143 | 216 | /* Store actual output data rate. */ |
| cparata | 2:39ad2a393143 | 217 | if ( Get_G_ODR( &G_Last_ODR ) == 1 ) |
| cparata | 2:39ad2a393143 | 218 | { |
| cparata | 2:39ad2a393143 | 219 | return 1; |
| cparata | 2:39ad2a393143 | 220 | } |
| cparata | 2:39ad2a393143 | 221 | |
| cparata | 2:39ad2a393143 | 222 | /* Output data rate selection - power down */ |
| cparata | 2:39ad2a393143 | 223 | if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 224 | { |
| cparata | 2:39ad2a393143 | 225 | return 1; |
| cparata | 2:39ad2a393143 | 226 | } |
| cparata | 2:39ad2a393143 | 227 | |
| cparata | 2:39ad2a393143 | 228 | G_isEnabled = 0; |
| cparata | 2:39ad2a393143 | 229 | |
| cparata | 2:39ad2a393143 | 230 | return 0; |
| cparata | 2:39ad2a393143 | 231 | } |
| cparata | 2:39ad2a393143 | 232 | |
| cparata | 2:39ad2a393143 | 233 | /** |
| cparata | 2:39ad2a393143 | 234 | * @brief Read ID of LSM6DSL Accelerometer and Gyroscope |
| cparata | 2:39ad2a393143 | 235 | * @param p_id the pointer where the ID of the device is stored |
| cparata | 2:39ad2a393143 | 236 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 237 | */ |
| cparata | 2:39ad2a393143 | 238 | int LSM6DSLSensor::ReadID(uint8_t *id) |
| cparata | 2:39ad2a393143 | 239 | { |
| cparata | 2:39ad2a393143 | 240 | if(!id) |
| cparata | 2:39ad2a393143 | 241 | { |
| cparata | 2:39ad2a393143 | 242 | return 1; |
| cparata | 2:39ad2a393143 | 243 | } |
| cparata | 2:39ad2a393143 | 244 | |
| cparata | 2:39ad2a393143 | 245 | /* Read WHO AM I register */ |
| cparata | 2:39ad2a393143 | 246 | if ( LSM6DSL_ACC_GYRO_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 247 | { |
| cparata | 2:39ad2a393143 | 248 | return 1; |
| cparata | 2:39ad2a393143 | 249 | } |
| cparata | 2:39ad2a393143 | 250 | |
| cparata | 2:39ad2a393143 | 251 | return 0; |
| cparata | 2:39ad2a393143 | 252 | } |
| cparata | 2:39ad2a393143 | 253 | |
| cparata | 2:39ad2a393143 | 254 | /** |
| cparata | 2:39ad2a393143 | 255 | * @brief Read data from LSM6DSL Accelerometer |
| cparata | 2:39ad2a393143 | 256 | * @param pData the pointer where the accelerometer data are stored |
| cparata | 2:39ad2a393143 | 257 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 258 | */ |
| cparata | 2:39ad2a393143 | 259 | int LSM6DSLSensor::Get_X_Axes(int32_t *pData) |
| cparata | 2:39ad2a393143 | 260 | { |
| cparata | 2:39ad2a393143 | 261 | int16_t dataRaw[3]; |
| cparata | 2:39ad2a393143 | 262 | float sensitivity = 0; |
| cparata | 2:39ad2a393143 | 263 | |
| cparata | 2:39ad2a393143 | 264 | /* Read raw data from LSM6DSL output register. */ |
| cparata | 2:39ad2a393143 | 265 | if ( Get_X_AxesRaw( dataRaw ) == 1 ) |
| cparata | 2:39ad2a393143 | 266 | { |
| cparata | 2:39ad2a393143 | 267 | return 1; |
| cparata | 2:39ad2a393143 | 268 | } |
| cparata | 2:39ad2a393143 | 269 | |
| cparata | 2:39ad2a393143 | 270 | /* Get LSM6DSL actual sensitivity. */ |
| cparata | 2:39ad2a393143 | 271 | if ( Get_X_Sensitivity( &sensitivity ) == 1 ) |
| cparata | 2:39ad2a393143 | 272 | { |
| cparata | 2:39ad2a393143 | 273 | return 1; |
| cparata | 2:39ad2a393143 | 274 | } |
| cparata | 2:39ad2a393143 | 275 | |
| cparata | 2:39ad2a393143 | 276 | /* Calculate the data. */ |
| cparata | 2:39ad2a393143 | 277 | pData[0] = ( int32_t )( dataRaw[0] * sensitivity ); |
| cparata | 2:39ad2a393143 | 278 | pData[1] = ( int32_t )( dataRaw[1] * sensitivity ); |
| cparata | 2:39ad2a393143 | 279 | pData[2] = ( int32_t )( dataRaw[2] * sensitivity ); |
| cparata | 2:39ad2a393143 | 280 | |
| cparata | 2:39ad2a393143 | 281 | return 0; |
| cparata | 2:39ad2a393143 | 282 | } |
| cparata | 2:39ad2a393143 | 283 | |
| cparata | 2:39ad2a393143 | 284 | /** |
| cparata | 2:39ad2a393143 | 285 | * @brief Read data from LSM6DSL Gyroscope |
| cparata | 2:39ad2a393143 | 286 | * @param pData the pointer where the gyroscope data are stored |
| cparata | 2:39ad2a393143 | 287 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 288 | */ |
| cparata | 2:39ad2a393143 | 289 | int LSM6DSLSensor::Get_G_Axes(int32_t *pData) |
| cparata | 2:39ad2a393143 | 290 | { |
| cparata | 2:39ad2a393143 | 291 | int16_t dataRaw[3]; |
| cparata | 2:39ad2a393143 | 292 | float sensitivity = 0; |
| cparata | 2:39ad2a393143 | 293 | |
| cparata | 2:39ad2a393143 | 294 | /* Read raw data from LSM6DSL output register. */ |
| cparata | 2:39ad2a393143 | 295 | if ( Get_G_AxesRaw( dataRaw ) == 1 ) |
| cparata | 2:39ad2a393143 | 296 | { |
| cparata | 2:39ad2a393143 | 297 | return 1; |
| cparata | 2:39ad2a393143 | 298 | } |
| cparata | 2:39ad2a393143 | 299 | |
| cparata | 2:39ad2a393143 | 300 | /* Get LSM6DSL actual sensitivity. */ |
| cparata | 2:39ad2a393143 | 301 | if ( Get_G_Sensitivity( &sensitivity ) == 1 ) |
| cparata | 2:39ad2a393143 | 302 | { |
| cparata | 2:39ad2a393143 | 303 | return 1; |
| cparata | 2:39ad2a393143 | 304 | } |
| cparata | 2:39ad2a393143 | 305 | |
| cparata | 2:39ad2a393143 | 306 | /* Calculate the data. */ |
| cparata | 2:39ad2a393143 | 307 | pData[0] = ( int32_t )( dataRaw[0] * sensitivity ); |
| cparata | 2:39ad2a393143 | 308 | pData[1] = ( int32_t )( dataRaw[1] * sensitivity ); |
| cparata | 2:39ad2a393143 | 309 | pData[2] = ( int32_t )( dataRaw[2] * sensitivity ); |
| cparata | 2:39ad2a393143 | 310 | |
| cparata | 2:39ad2a393143 | 311 | return 0; |
| cparata | 2:39ad2a393143 | 312 | } |
| cparata | 2:39ad2a393143 | 313 | |
| cparata | 2:39ad2a393143 | 314 | /** |
| cparata | 2:39ad2a393143 | 315 | * @brief Read Accelerometer Sensitivity |
| cparata | 2:39ad2a393143 | 316 | * @param pfData the pointer where the accelerometer sensitivity is stored |
| cparata | 2:39ad2a393143 | 317 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 318 | */ |
| cparata | 2:39ad2a393143 | 319 | int LSM6DSLSensor::Get_X_Sensitivity(float *pfData) |
| cparata | 2:39ad2a393143 | 320 | { |
| cparata | 2:39ad2a393143 | 321 | LSM6DSL_ACC_GYRO_FS_XL_t fullScale; |
| cparata | 2:39ad2a393143 | 322 | |
| cparata | 2:39ad2a393143 | 323 | /* Read actual full scale selection from sensor. */ |
| cparata | 2:39ad2a393143 | 324 | if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fullScale ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 325 | { |
| cparata | 2:39ad2a393143 | 326 | return 1; |
| cparata | 2:39ad2a393143 | 327 | } |
| cparata | 2:39ad2a393143 | 328 | |
| cparata | 2:39ad2a393143 | 329 | /* Store the sensitivity based on actual full scale. */ |
| cparata | 2:39ad2a393143 | 330 | switch( fullScale ) |
| cparata | 2:39ad2a393143 | 331 | { |
| cparata | 2:39ad2a393143 | 332 | case LSM6DSL_ACC_GYRO_FS_XL_2g: |
| cparata | 2:39ad2a393143 | 333 | *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G; |
| cparata | 2:39ad2a393143 | 334 | break; |
| cparata | 2:39ad2a393143 | 335 | case LSM6DSL_ACC_GYRO_FS_XL_4g: |
| cparata | 2:39ad2a393143 | 336 | *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G; |
| cparata | 2:39ad2a393143 | 337 | break; |
| cparata | 2:39ad2a393143 | 338 | case LSM6DSL_ACC_GYRO_FS_XL_8g: |
| cparata | 2:39ad2a393143 | 339 | *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G; |
| cparata | 2:39ad2a393143 | 340 | break; |
| cparata | 2:39ad2a393143 | 341 | case LSM6DSL_ACC_GYRO_FS_XL_16g: |
| cparata | 2:39ad2a393143 | 342 | *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G; |
| cparata | 2:39ad2a393143 | 343 | break; |
| cparata | 2:39ad2a393143 | 344 | default: |
| cparata | 2:39ad2a393143 | 345 | *pfData = -1.0f; |
| cparata | 2:39ad2a393143 | 346 | return 1; |
| cparata | 2:39ad2a393143 | 347 | } |
| cparata | 2:39ad2a393143 | 348 | |
| cparata | 2:39ad2a393143 | 349 | return 0; |
| cparata | 2:39ad2a393143 | 350 | } |
| cparata | 2:39ad2a393143 | 351 | |
| cparata | 2:39ad2a393143 | 352 | /** |
| cparata | 2:39ad2a393143 | 353 | * @brief Read Gyroscope Sensitivity |
| cparata | 2:39ad2a393143 | 354 | * @param pfData the pointer where the gyroscope sensitivity is stored |
| cparata | 2:39ad2a393143 | 355 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 356 | */ |
| cparata | 2:39ad2a393143 | 357 | int LSM6DSLSensor::Get_G_Sensitivity(float *pfData) |
| cparata | 2:39ad2a393143 | 358 | { |
| cparata | 2:39ad2a393143 | 359 | LSM6DSL_ACC_GYRO_FS_125_t fullScale125; |
| cparata | 2:39ad2a393143 | 360 | LSM6DSL_ACC_GYRO_FS_G_t fullScale; |
| cparata | 2:39ad2a393143 | 361 | |
| cparata | 2:39ad2a393143 | 362 | /* Read full scale 125 selection from sensor. */ |
| cparata | 2:39ad2a393143 | 363 | if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fullScale125 ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 364 | { |
| cparata | 2:39ad2a393143 | 365 | return 1; |
| cparata | 2:39ad2a393143 | 366 | } |
| cparata | 2:39ad2a393143 | 367 | |
| cparata | 2:39ad2a393143 | 368 | if ( fullScale125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED ) |
| cparata | 2:39ad2a393143 | 369 | { |
| cparata | 2:39ad2a393143 | 370 | *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS; |
| cparata | 2:39ad2a393143 | 371 | } |
| cparata | 2:39ad2a393143 | 372 | |
| cparata | 2:39ad2a393143 | 373 | else |
| cparata | 2:39ad2a393143 | 374 | { |
| cparata | 2:39ad2a393143 | 375 | |
| cparata | 2:39ad2a393143 | 376 | /* Read actual full scale selection from sensor. */ |
| cparata | 2:39ad2a393143 | 377 | if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fullScale ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 378 | { |
| cparata | 2:39ad2a393143 | 379 | return 1; |
| cparata | 2:39ad2a393143 | 380 | } |
| cparata | 2:39ad2a393143 | 381 | |
| cparata | 2:39ad2a393143 | 382 | /* Store the sensitivity based on actual full scale. */ |
| cparata | 2:39ad2a393143 | 383 | switch( fullScale ) |
| cparata | 2:39ad2a393143 | 384 | { |
| cparata | 2:39ad2a393143 | 385 | case LSM6DSL_ACC_GYRO_FS_G_245dps: |
| cparata | 2:39ad2a393143 | 386 | *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS; |
| cparata | 2:39ad2a393143 | 387 | break; |
| cparata | 2:39ad2a393143 | 388 | case LSM6DSL_ACC_GYRO_FS_G_500dps: |
| cparata | 2:39ad2a393143 | 389 | *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS; |
| cparata | 2:39ad2a393143 | 390 | break; |
| cparata | 2:39ad2a393143 | 391 | case LSM6DSL_ACC_GYRO_FS_G_1000dps: |
| cparata | 2:39ad2a393143 | 392 | *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS; |
| cparata | 2:39ad2a393143 | 393 | break; |
| cparata | 2:39ad2a393143 | 394 | case LSM6DSL_ACC_GYRO_FS_G_2000dps: |
| cparata | 2:39ad2a393143 | 395 | *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS; |
| cparata | 2:39ad2a393143 | 396 | break; |
| cparata | 2:39ad2a393143 | 397 | default: |
| cparata | 2:39ad2a393143 | 398 | *pfData = -1.0f; |
| cparata | 2:39ad2a393143 | 399 | return 1; |
| cparata | 2:39ad2a393143 | 400 | } |
| cparata | 2:39ad2a393143 | 401 | } |
| cparata | 2:39ad2a393143 | 402 | |
| cparata | 2:39ad2a393143 | 403 | return 0; |
| cparata | 2:39ad2a393143 | 404 | } |
| cparata | 2:39ad2a393143 | 405 | |
| cparata | 2:39ad2a393143 | 406 | /** |
| cparata | 2:39ad2a393143 | 407 | * @brief Read raw data from LSM6DSL Accelerometer |
| cparata | 2:39ad2a393143 | 408 | * @param pData the pointer where the accelerometer raw data are stored |
| cparata | 2:39ad2a393143 | 409 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 410 | */ |
| cparata | 2:39ad2a393143 | 411 | int LSM6DSLSensor::Get_X_AxesRaw(int16_t *pData) |
| cparata | 2:39ad2a393143 | 412 | { |
| cparata | 2:39ad2a393143 | 413 | uint8_t regValue[6] = {0, 0, 0, 0, 0, 0}; |
| cparata | 2:39ad2a393143 | 414 | |
| cparata | 2:39ad2a393143 | 415 | /* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_XL to LSM6DSL_ACC_GYRO_OUTZ_H_XL. */ |
| cparata | 2:39ad2a393143 | 416 | if ( LSM6DSL_ACC_GYRO_GetRawAccData( (void *)this, regValue ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 417 | { |
| cparata | 2:39ad2a393143 | 418 | return 1; |
| cparata | 2:39ad2a393143 | 419 | } |
| cparata | 2:39ad2a393143 | 420 | |
| cparata | 2:39ad2a393143 | 421 | /* Format the data. */ |
| cparata | 2:39ad2a393143 | 422 | pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] ); |
| cparata | 2:39ad2a393143 | 423 | pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] ); |
| cparata | 2:39ad2a393143 | 424 | pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] ); |
| cparata | 2:39ad2a393143 | 425 | |
| cparata | 2:39ad2a393143 | 426 | return 0; |
| cparata | 2:39ad2a393143 | 427 | } |
| cparata | 2:39ad2a393143 | 428 | |
| cparata | 2:39ad2a393143 | 429 | /** |
| cparata | 2:39ad2a393143 | 430 | * @brief Read raw data from LSM6DSL Gyroscope |
| cparata | 2:39ad2a393143 | 431 | * @param pData the pointer where the gyroscope raw data are stored |
| cparata | 2:39ad2a393143 | 432 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 433 | */ |
| cparata | 2:39ad2a393143 | 434 | int LSM6DSLSensor::Get_G_AxesRaw(int16_t *pData) |
| cparata | 2:39ad2a393143 | 435 | { |
| cparata | 2:39ad2a393143 | 436 | uint8_t regValue[6] = {0, 0, 0, 0, 0, 0}; |
| cparata | 2:39ad2a393143 | 437 | |
| cparata | 2:39ad2a393143 | 438 | /* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_G to LSM6DSL_ACC_GYRO_OUTZ_H_G. */ |
| cparata | 2:39ad2a393143 | 439 | if ( LSM6DSL_ACC_GYRO_GetRawGyroData( (void *)this, regValue ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 440 | { |
| cparata | 2:39ad2a393143 | 441 | return 1; |
| cparata | 2:39ad2a393143 | 442 | } |
| cparata | 2:39ad2a393143 | 443 | |
| cparata | 2:39ad2a393143 | 444 | /* Format the data. */ |
| cparata | 2:39ad2a393143 | 445 | pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] ); |
| cparata | 2:39ad2a393143 | 446 | pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] ); |
| cparata | 2:39ad2a393143 | 447 | pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] ); |
| cparata | 2:39ad2a393143 | 448 | |
| cparata | 2:39ad2a393143 | 449 | return 0; |
| cparata | 2:39ad2a393143 | 450 | } |
| cparata | 2:39ad2a393143 | 451 | |
| cparata | 2:39ad2a393143 | 452 | /** |
| cparata | 2:39ad2a393143 | 453 | * @brief Read LSM6DSL Accelerometer output data rate |
| cparata | 2:39ad2a393143 | 454 | * @param odr the pointer to the output data rate |
| cparata | 2:39ad2a393143 | 455 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 456 | */ |
| cparata | 2:39ad2a393143 | 457 | int LSM6DSLSensor::Get_X_ODR(float* odr) |
| cparata | 2:39ad2a393143 | 458 | { |
| cparata | 2:39ad2a393143 | 459 | LSM6DSL_ACC_GYRO_ODR_XL_t odr_low_level; |
| cparata | 2:39ad2a393143 | 460 | |
| cparata | 2:39ad2a393143 | 461 | if ( LSM6DSL_ACC_GYRO_R_ODR_XL( (void *)this, &odr_low_level ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 462 | { |
| cparata | 2:39ad2a393143 | 463 | return 1; |
| cparata | 2:39ad2a393143 | 464 | } |
| cparata | 2:39ad2a393143 | 465 | |
| cparata | 2:39ad2a393143 | 466 | switch( odr_low_level ) |
| cparata | 2:39ad2a393143 | 467 | { |
| cparata | 2:39ad2a393143 | 468 | case LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN: |
| cparata | 2:39ad2a393143 | 469 | *odr = 0.0f; |
| cparata | 2:39ad2a393143 | 470 | break; |
| cparata | 2:39ad2a393143 | 471 | case LSM6DSL_ACC_GYRO_ODR_XL_13Hz: |
| cparata | 2:39ad2a393143 | 472 | *odr = 13.0f; |
| cparata | 2:39ad2a393143 | 473 | break; |
| cparata | 2:39ad2a393143 | 474 | case LSM6DSL_ACC_GYRO_ODR_XL_26Hz: |
| cparata | 2:39ad2a393143 | 475 | *odr = 26.0f; |
| cparata | 2:39ad2a393143 | 476 | break; |
| cparata | 2:39ad2a393143 | 477 | case LSM6DSL_ACC_GYRO_ODR_XL_52Hz: |
| cparata | 2:39ad2a393143 | 478 | *odr = 52.0f; |
| cparata | 2:39ad2a393143 | 479 | break; |
| cparata | 2:39ad2a393143 | 480 | case LSM6DSL_ACC_GYRO_ODR_XL_104Hz: |
| cparata | 2:39ad2a393143 | 481 | *odr = 104.0f; |
| cparata | 2:39ad2a393143 | 482 | break; |
| cparata | 2:39ad2a393143 | 483 | case LSM6DSL_ACC_GYRO_ODR_XL_208Hz: |
| cparata | 2:39ad2a393143 | 484 | *odr = 208.0f; |
| cparata | 2:39ad2a393143 | 485 | break; |
| cparata | 2:39ad2a393143 | 486 | case LSM6DSL_ACC_GYRO_ODR_XL_416Hz: |
| cparata | 2:39ad2a393143 | 487 | *odr = 416.0f; |
| cparata | 2:39ad2a393143 | 488 | break; |
| cparata | 2:39ad2a393143 | 489 | case LSM6DSL_ACC_GYRO_ODR_XL_833Hz: |
| cparata | 2:39ad2a393143 | 490 | *odr = 833.0f; |
| cparata | 2:39ad2a393143 | 491 | break; |
| cparata | 2:39ad2a393143 | 492 | case LSM6DSL_ACC_GYRO_ODR_XL_1660Hz: |
| cparata | 2:39ad2a393143 | 493 | *odr = 1660.0f; |
| cparata | 2:39ad2a393143 | 494 | break; |
| cparata | 2:39ad2a393143 | 495 | case LSM6DSL_ACC_GYRO_ODR_XL_3330Hz: |
| cparata | 2:39ad2a393143 | 496 | *odr = 3330.0f; |
| cparata | 2:39ad2a393143 | 497 | break; |
| cparata | 2:39ad2a393143 | 498 | case LSM6DSL_ACC_GYRO_ODR_XL_6660Hz: |
| cparata | 2:39ad2a393143 | 499 | *odr = 6660.0f; |
| cparata | 2:39ad2a393143 | 500 | break; |
| cparata | 2:39ad2a393143 | 501 | default: |
| cparata | 2:39ad2a393143 | 502 | *odr = -1.0f; |
| cparata | 2:39ad2a393143 | 503 | return 1; |
| cparata | 2:39ad2a393143 | 504 | } |
| cparata | 2:39ad2a393143 | 505 | |
| cparata | 2:39ad2a393143 | 506 | return 0; |
| cparata | 2:39ad2a393143 | 507 | } |
| cparata | 2:39ad2a393143 | 508 | |
| cparata | 2:39ad2a393143 | 509 | /** |
| cparata | 2:39ad2a393143 | 510 | * @brief Read LSM6DSL Gyroscope output data rate |
| cparata | 2:39ad2a393143 | 511 | * @param odr the pointer to the output data rate |
| cparata | 2:39ad2a393143 | 512 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 513 | */ |
| cparata | 2:39ad2a393143 | 514 | int LSM6DSLSensor::Get_G_ODR(float* odr) |
| cparata | 2:39ad2a393143 | 515 | { |
| cparata | 2:39ad2a393143 | 516 | LSM6DSL_ACC_GYRO_ODR_G_t odr_low_level; |
| cparata | 2:39ad2a393143 | 517 | |
| cparata | 2:39ad2a393143 | 518 | if ( LSM6DSL_ACC_GYRO_R_ODR_G( (void *)this, &odr_low_level ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 519 | { |
| cparata | 2:39ad2a393143 | 520 | return 1; |
| cparata | 2:39ad2a393143 | 521 | } |
| cparata | 2:39ad2a393143 | 522 | |
| cparata | 2:39ad2a393143 | 523 | switch( odr_low_level ) |
| cparata | 2:39ad2a393143 | 524 | { |
| cparata | 2:39ad2a393143 | 525 | case LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN: |
| cparata | 2:39ad2a393143 | 526 | *odr = 0.0f; |
| cparata | 2:39ad2a393143 | 527 | break; |
| cparata | 2:39ad2a393143 | 528 | case LSM6DSL_ACC_GYRO_ODR_G_13Hz: |
| cparata | 2:39ad2a393143 | 529 | *odr = 13.0f; |
| cparata | 2:39ad2a393143 | 530 | break; |
| cparata | 2:39ad2a393143 | 531 | case LSM6DSL_ACC_GYRO_ODR_G_26Hz: |
| cparata | 2:39ad2a393143 | 532 | *odr = 26.0f; |
| cparata | 2:39ad2a393143 | 533 | break; |
| cparata | 2:39ad2a393143 | 534 | case LSM6DSL_ACC_GYRO_ODR_G_52Hz: |
| cparata | 2:39ad2a393143 | 535 | *odr = 52.0f; |
| cparata | 2:39ad2a393143 | 536 | break; |
| cparata | 2:39ad2a393143 | 537 | case LSM6DSL_ACC_GYRO_ODR_G_104Hz: |
| cparata | 2:39ad2a393143 | 538 | *odr = 104.0f; |
| cparata | 2:39ad2a393143 | 539 | break; |
| cparata | 2:39ad2a393143 | 540 | case LSM6DSL_ACC_GYRO_ODR_G_208Hz: |
| cparata | 2:39ad2a393143 | 541 | *odr = 208.0f; |
| cparata | 2:39ad2a393143 | 542 | break; |
| cparata | 2:39ad2a393143 | 543 | case LSM6DSL_ACC_GYRO_ODR_G_416Hz: |
| cparata | 2:39ad2a393143 | 544 | *odr = 416.0f; |
| cparata | 2:39ad2a393143 | 545 | break; |
| cparata | 2:39ad2a393143 | 546 | case LSM6DSL_ACC_GYRO_ODR_G_833Hz: |
| cparata | 2:39ad2a393143 | 547 | *odr = 833.0f; |
| cparata | 2:39ad2a393143 | 548 | break; |
| cparata | 2:39ad2a393143 | 549 | case LSM6DSL_ACC_GYRO_ODR_G_1660Hz: |
| cparata | 2:39ad2a393143 | 550 | *odr = 1660.0f; |
| cparata | 2:39ad2a393143 | 551 | break; |
| cparata | 2:39ad2a393143 | 552 | case LSM6DSL_ACC_GYRO_ODR_G_3330Hz: |
| cparata | 2:39ad2a393143 | 553 | *odr = 3330.0f; |
| cparata | 2:39ad2a393143 | 554 | break; |
| cparata | 2:39ad2a393143 | 555 | case LSM6DSL_ACC_GYRO_ODR_G_6660Hz: |
| cparata | 2:39ad2a393143 | 556 | *odr = 6660.0f; |
| cparata | 2:39ad2a393143 | 557 | break; |
| cparata | 2:39ad2a393143 | 558 | default: |
| cparata | 2:39ad2a393143 | 559 | *odr = -1.0f; |
| cparata | 2:39ad2a393143 | 560 | return 1; |
| cparata | 2:39ad2a393143 | 561 | } |
| cparata | 2:39ad2a393143 | 562 | |
| cparata | 2:39ad2a393143 | 563 | return 0; |
| cparata | 2:39ad2a393143 | 564 | } |
| cparata | 2:39ad2a393143 | 565 | |
| cparata | 2:39ad2a393143 | 566 | /** |
| cparata | 2:39ad2a393143 | 567 | * @brief Set LSM6DSL Accelerometer output data rate |
| cparata | 2:39ad2a393143 | 568 | * @param odr the output data rate to be set |
| cparata | 2:39ad2a393143 | 569 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 570 | */ |
| cparata | 2:39ad2a393143 | 571 | int LSM6DSLSensor::Set_X_ODR(float odr) |
| cparata | 2:39ad2a393143 | 572 | { |
| cparata | 2:39ad2a393143 | 573 | if(X_isEnabled == 1) |
| cparata | 2:39ad2a393143 | 574 | { |
| cparata | 2:39ad2a393143 | 575 | if(Set_X_ODR_When_Enabled(odr) == 1) |
| cparata | 2:39ad2a393143 | 576 | { |
| cparata | 2:39ad2a393143 | 577 | return 1; |
| cparata | 2:39ad2a393143 | 578 | } |
| cparata | 2:39ad2a393143 | 579 | } |
| cparata | 2:39ad2a393143 | 580 | else |
| cparata | 2:39ad2a393143 | 581 | { |
| cparata | 2:39ad2a393143 | 582 | if(Set_X_ODR_When_Disabled(odr) == 1) |
| cparata | 2:39ad2a393143 | 583 | { |
| cparata | 2:39ad2a393143 | 584 | return 1; |
| cparata | 2:39ad2a393143 | 585 | } |
| cparata | 2:39ad2a393143 | 586 | } |
| cparata | 2:39ad2a393143 | 587 | |
| cparata | 2:39ad2a393143 | 588 | return 0; |
| cparata | 2:39ad2a393143 | 589 | } |
| cparata | 2:39ad2a393143 | 590 | |
| cparata | 2:39ad2a393143 | 591 | /** |
| cparata | 2:39ad2a393143 | 592 | * @brief Set LSM6DSL Accelerometer output data rate when enabled |
| cparata | 2:39ad2a393143 | 593 | * @param odr the output data rate to be set |
| cparata | 2:39ad2a393143 | 594 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 595 | */ |
| cparata | 2:39ad2a393143 | 596 | int LSM6DSLSensor::Set_X_ODR_When_Enabled(float odr) |
| cparata | 2:39ad2a393143 | 597 | { |
| cparata | 2:39ad2a393143 | 598 | LSM6DSL_ACC_GYRO_ODR_XL_t new_odr; |
| cparata | 2:39ad2a393143 | 599 | |
| cparata | 2:39ad2a393143 | 600 | new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_13Hz |
| cparata | 2:39ad2a393143 | 601 | : ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_26Hz |
| cparata | 2:39ad2a393143 | 602 | : ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_52Hz |
| cparata | 2:39ad2a393143 | 603 | : ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_104Hz |
| cparata | 2:39ad2a393143 | 604 | : ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_208Hz |
| cparata | 2:39ad2a393143 | 605 | : ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_416Hz |
| cparata | 2:39ad2a393143 | 606 | : ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_833Hz |
| cparata | 2:39ad2a393143 | 607 | : ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_1660Hz |
| cparata | 2:39ad2a393143 | 608 | : ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_3330Hz |
| cparata | 2:39ad2a393143 | 609 | : LSM6DSL_ACC_GYRO_ODR_XL_6660Hz; |
| cparata | 2:39ad2a393143 | 610 | |
| cparata | 2:39ad2a393143 | 611 | if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, new_odr ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 612 | { |
| cparata | 2:39ad2a393143 | 613 | return 1; |
| cparata | 2:39ad2a393143 | 614 | } |
| cparata | 2:39ad2a393143 | 615 | |
| cparata | 2:39ad2a393143 | 616 | return 0; |
| cparata | 2:39ad2a393143 | 617 | } |
| cparata | 2:39ad2a393143 | 618 | |
| cparata | 2:39ad2a393143 | 619 | /** |
| cparata | 2:39ad2a393143 | 620 | * @brief Set LSM6DSL Accelerometer output data rate when disabled |
| cparata | 2:39ad2a393143 | 621 | * @param odr the output data rate to be set |
| cparata | 2:39ad2a393143 | 622 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 623 | */ |
| cparata | 2:39ad2a393143 | 624 | int LSM6DSLSensor::Set_X_ODR_When_Disabled(float odr) |
| cparata | 2:39ad2a393143 | 625 | { |
| cparata | 2:39ad2a393143 | 626 | X_Last_ODR = ( odr <= 13.0f ) ? 13.0f |
| cparata | 2:39ad2a393143 | 627 | : ( odr <= 26.0f ) ? 26.0f |
| cparata | 2:39ad2a393143 | 628 | : ( odr <= 52.0f ) ? 52.0f |
| cparata | 2:39ad2a393143 | 629 | : ( odr <= 104.0f ) ? 104.0f |
| cparata | 2:39ad2a393143 | 630 | : ( odr <= 208.0f ) ? 208.0f |
| cparata | 2:39ad2a393143 | 631 | : ( odr <= 416.0f ) ? 416.0f |
| cparata | 2:39ad2a393143 | 632 | : ( odr <= 833.0f ) ? 833.0f |
| cparata | 2:39ad2a393143 | 633 | : ( odr <= 1660.0f ) ? 1660.0f |
| cparata | 2:39ad2a393143 | 634 | : ( odr <= 3330.0f ) ? 3330.0f |
| cparata | 2:39ad2a393143 | 635 | : 6660.0f; |
| cparata | 2:39ad2a393143 | 636 | |
| cparata | 2:39ad2a393143 | 637 | return 0; |
| cparata | 2:39ad2a393143 | 638 | } |
| cparata | 2:39ad2a393143 | 639 | |
| cparata | 2:39ad2a393143 | 640 | /** |
| cparata | 2:39ad2a393143 | 641 | * @brief Set LSM6DSL Gyroscope output data rate |
| cparata | 2:39ad2a393143 | 642 | * @param odr the output data rate to be set |
| cparata | 2:39ad2a393143 | 643 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 644 | */ |
| cparata | 2:39ad2a393143 | 645 | int LSM6DSLSensor::Set_G_ODR(float odr) |
| cparata | 2:39ad2a393143 | 646 | { |
| cparata | 2:39ad2a393143 | 647 | if(G_isEnabled == 1) |
| cparata | 2:39ad2a393143 | 648 | { |
| cparata | 2:39ad2a393143 | 649 | if(Set_G_ODR_When_Enabled(odr) == 1) |
| cparata | 2:39ad2a393143 | 650 | { |
| cparata | 2:39ad2a393143 | 651 | return 1; |
| cparata | 2:39ad2a393143 | 652 | } |
| cparata | 2:39ad2a393143 | 653 | } |
| cparata | 2:39ad2a393143 | 654 | else |
| cparata | 2:39ad2a393143 | 655 | { |
| cparata | 2:39ad2a393143 | 656 | if(Set_G_ODR_When_Disabled(odr) == 1) |
| cparata | 2:39ad2a393143 | 657 | { |
| cparata | 2:39ad2a393143 | 658 | return 1; |
| cparata | 2:39ad2a393143 | 659 | } |
| cparata | 2:39ad2a393143 | 660 | } |
| cparata | 2:39ad2a393143 | 661 | |
| cparata | 2:39ad2a393143 | 662 | return 0; |
| cparata | 2:39ad2a393143 | 663 | } |
| cparata | 2:39ad2a393143 | 664 | |
| cparata | 2:39ad2a393143 | 665 | /** |
| cparata | 2:39ad2a393143 | 666 | * @brief Set LSM6DSL Gyroscope output data rate when enabled |
| cparata | 2:39ad2a393143 | 667 | * @param odr the output data rate to be set |
| cparata | 2:39ad2a393143 | 668 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 669 | */ |
| cparata | 2:39ad2a393143 | 670 | int LSM6DSLSensor::Set_G_ODR_When_Enabled(float odr) |
| cparata | 2:39ad2a393143 | 671 | { |
| cparata | 2:39ad2a393143 | 672 | LSM6DSL_ACC_GYRO_ODR_G_t new_odr; |
| cparata | 2:39ad2a393143 | 673 | |
| cparata | 2:39ad2a393143 | 674 | new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_13Hz |
| cparata | 2:39ad2a393143 | 675 | : ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_26Hz |
| cparata | 2:39ad2a393143 | 676 | : ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_52Hz |
| cparata | 2:39ad2a393143 | 677 | : ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_104Hz |
| cparata | 2:39ad2a393143 | 678 | : ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_208Hz |
| cparata | 2:39ad2a393143 | 679 | : ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_416Hz |
| cparata | 2:39ad2a393143 | 680 | : ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_833Hz |
| cparata | 2:39ad2a393143 | 681 | : ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_1660Hz |
| cparata | 2:39ad2a393143 | 682 | : ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_3330Hz |
| cparata | 2:39ad2a393143 | 683 | : LSM6DSL_ACC_GYRO_ODR_G_6660Hz; |
| cparata | 2:39ad2a393143 | 684 | |
| cparata | 2:39ad2a393143 | 685 | if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, new_odr ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 686 | { |
| cparata | 2:39ad2a393143 | 687 | return 1; |
| cparata | 2:39ad2a393143 | 688 | } |
| cparata | 2:39ad2a393143 | 689 | |
| cparata | 2:39ad2a393143 | 690 | return 0; |
| cparata | 2:39ad2a393143 | 691 | } |
| cparata | 2:39ad2a393143 | 692 | |
| cparata | 2:39ad2a393143 | 693 | /** |
| cparata | 2:39ad2a393143 | 694 | * @brief Set LSM6DSL Gyroscope output data rate when disabled |
| cparata | 2:39ad2a393143 | 695 | * @param odr the output data rate to be set |
| cparata | 2:39ad2a393143 | 696 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 697 | */ |
| cparata | 2:39ad2a393143 | 698 | int LSM6DSLSensor::Set_G_ODR_When_Disabled(float odr) |
| cparata | 2:39ad2a393143 | 699 | { |
| cparata | 2:39ad2a393143 | 700 | G_Last_ODR = ( odr <= 13.0f ) ? 13.0f |
| cparata | 2:39ad2a393143 | 701 | : ( odr <= 26.0f ) ? 26.0f |
| cparata | 2:39ad2a393143 | 702 | : ( odr <= 52.0f ) ? 52.0f |
| cparata | 2:39ad2a393143 | 703 | : ( odr <= 104.0f ) ? 104.0f |
| cparata | 2:39ad2a393143 | 704 | : ( odr <= 208.0f ) ? 208.0f |
| cparata | 2:39ad2a393143 | 705 | : ( odr <= 416.0f ) ? 416.0f |
| cparata | 2:39ad2a393143 | 706 | : ( odr <= 833.0f ) ? 833.0f |
| cparata | 2:39ad2a393143 | 707 | : ( odr <= 1660.0f ) ? 1660.0f |
| cparata | 2:39ad2a393143 | 708 | : ( odr <= 3330.0f ) ? 3330.0f |
| cparata | 2:39ad2a393143 | 709 | : 6660.0f; |
| cparata | 2:39ad2a393143 | 710 | |
| cparata | 2:39ad2a393143 | 711 | return 0; |
| cparata | 2:39ad2a393143 | 712 | } |
| cparata | 2:39ad2a393143 | 713 | |
| cparata | 2:39ad2a393143 | 714 | /** |
| cparata | 2:39ad2a393143 | 715 | * @brief Read LSM6DSL Accelerometer full scale |
| cparata | 2:39ad2a393143 | 716 | * @param fullScale the pointer to the full scale |
| cparata | 2:39ad2a393143 | 717 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 718 | */ |
| cparata | 2:39ad2a393143 | 719 | int LSM6DSLSensor::Get_X_FS(float* fullScale) |
| cparata | 2:39ad2a393143 | 720 | { |
| cparata | 2:39ad2a393143 | 721 | LSM6DSL_ACC_GYRO_FS_XL_t fs_low_level; |
| cparata | 2:39ad2a393143 | 722 | |
| cparata | 2:39ad2a393143 | 723 | if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fs_low_level ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 724 | { |
| cparata | 2:39ad2a393143 | 725 | return 1; |
| cparata | 2:39ad2a393143 | 726 | } |
| cparata | 2:39ad2a393143 | 727 | |
| cparata | 2:39ad2a393143 | 728 | switch( fs_low_level ) |
| cparata | 2:39ad2a393143 | 729 | { |
| cparata | 2:39ad2a393143 | 730 | case LSM6DSL_ACC_GYRO_FS_XL_2g: |
| cparata | 2:39ad2a393143 | 731 | *fullScale = 2.0f; |
| cparata | 2:39ad2a393143 | 732 | break; |
| cparata | 2:39ad2a393143 | 733 | case LSM6DSL_ACC_GYRO_FS_XL_4g: |
| cparata | 2:39ad2a393143 | 734 | *fullScale = 4.0f; |
| cparata | 2:39ad2a393143 | 735 | break; |
| cparata | 2:39ad2a393143 | 736 | case LSM6DSL_ACC_GYRO_FS_XL_8g: |
| cparata | 2:39ad2a393143 | 737 | *fullScale = 8.0f; |
| cparata | 2:39ad2a393143 | 738 | break; |
| cparata | 2:39ad2a393143 | 739 | case LSM6DSL_ACC_GYRO_FS_XL_16g: |
| cparata | 2:39ad2a393143 | 740 | *fullScale = 16.0f; |
| cparata | 2:39ad2a393143 | 741 | break; |
| cparata | 2:39ad2a393143 | 742 | default: |
| cparata | 2:39ad2a393143 | 743 | *fullScale = -1.0f; |
| cparata | 2:39ad2a393143 | 744 | return 1; |
| cparata | 2:39ad2a393143 | 745 | } |
| cparata | 2:39ad2a393143 | 746 | |
| cparata | 2:39ad2a393143 | 747 | return 0; |
| cparata | 2:39ad2a393143 | 748 | } |
| cparata | 2:39ad2a393143 | 749 | |
| cparata | 2:39ad2a393143 | 750 | /** |
| cparata | 2:39ad2a393143 | 751 | * @brief Read LSM6DSL Gyroscope full scale |
| cparata | 2:39ad2a393143 | 752 | * @param fullScale the pointer to the full scale |
| cparata | 2:39ad2a393143 | 753 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 754 | */ |
| cparata | 2:39ad2a393143 | 755 | int LSM6DSLSensor::Get_G_FS(float* fullScale) |
| cparata | 2:39ad2a393143 | 756 | { |
| cparata | 2:39ad2a393143 | 757 | LSM6DSL_ACC_GYRO_FS_G_t fs_low_level; |
| cparata | 2:39ad2a393143 | 758 | LSM6DSL_ACC_GYRO_FS_125_t fs_125; |
| cparata | 2:39ad2a393143 | 759 | |
| cparata | 2:39ad2a393143 | 760 | if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fs_125 ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 761 | { |
| cparata | 2:39ad2a393143 | 762 | return 1; |
| cparata | 2:39ad2a393143 | 763 | } |
| cparata | 2:39ad2a393143 | 764 | if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fs_low_level ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 765 | { |
| cparata | 2:39ad2a393143 | 766 | return 1; |
| cparata | 2:39ad2a393143 | 767 | } |
| cparata | 2:39ad2a393143 | 768 | |
| cparata | 2:39ad2a393143 | 769 | if ( fs_125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED ) |
| cparata | 2:39ad2a393143 | 770 | { |
| cparata | 2:39ad2a393143 | 771 | *fullScale = 125.0f; |
| cparata | 2:39ad2a393143 | 772 | } |
| cparata | 2:39ad2a393143 | 773 | |
| cparata | 2:39ad2a393143 | 774 | else |
| cparata | 2:39ad2a393143 | 775 | { |
| cparata | 2:39ad2a393143 | 776 | switch( fs_low_level ) |
| cparata | 2:39ad2a393143 | 777 | { |
| cparata | 2:39ad2a393143 | 778 | case LSM6DSL_ACC_GYRO_FS_G_245dps: |
| cparata | 2:39ad2a393143 | 779 | *fullScale = 245.0f; |
| cparata | 2:39ad2a393143 | 780 | break; |
| cparata | 2:39ad2a393143 | 781 | case LSM6DSL_ACC_GYRO_FS_G_500dps: |
| cparata | 2:39ad2a393143 | 782 | *fullScale = 500.0f; |
| cparata | 2:39ad2a393143 | 783 | break; |
| cparata | 2:39ad2a393143 | 784 | case LSM6DSL_ACC_GYRO_FS_G_1000dps: |
| cparata | 2:39ad2a393143 | 785 | *fullScale = 1000.0f; |
| cparata | 2:39ad2a393143 | 786 | break; |
| cparata | 2:39ad2a393143 | 787 | case LSM6DSL_ACC_GYRO_FS_G_2000dps: |
| cparata | 2:39ad2a393143 | 788 | *fullScale = 2000.0f; |
| cparata | 2:39ad2a393143 | 789 | break; |
| cparata | 2:39ad2a393143 | 790 | default: |
| cparata | 2:39ad2a393143 | 791 | *fullScale = -1.0f; |
| cparata | 2:39ad2a393143 | 792 | return 1; |
| cparata | 2:39ad2a393143 | 793 | } |
| cparata | 2:39ad2a393143 | 794 | } |
| cparata | 2:39ad2a393143 | 795 | |
| cparata | 2:39ad2a393143 | 796 | return 0; |
| cparata | 2:39ad2a393143 | 797 | } |
| cparata | 2:39ad2a393143 | 798 | |
| cparata | 2:39ad2a393143 | 799 | /** |
| cparata | 2:39ad2a393143 | 800 | * @brief Set LSM6DSL Accelerometer full scale |
| cparata | 2:39ad2a393143 | 801 | * @param fullScale the full scale to be set |
| cparata | 2:39ad2a393143 | 802 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 803 | */ |
| cparata | 2:39ad2a393143 | 804 | int LSM6DSLSensor::Set_X_FS(float fullScale) |
| cparata | 2:39ad2a393143 | 805 | { |
| cparata | 2:39ad2a393143 | 806 | LSM6DSL_ACC_GYRO_FS_XL_t new_fs; |
| cparata | 2:39ad2a393143 | 807 | |
| cparata | 2:39ad2a393143 | 808 | new_fs = ( fullScale <= 2.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_2g |
| cparata | 2:39ad2a393143 | 809 | : ( fullScale <= 4.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_4g |
| cparata | 2:39ad2a393143 | 810 | : ( fullScale <= 8.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_8g |
| cparata | 2:39ad2a393143 | 811 | : LSM6DSL_ACC_GYRO_FS_XL_16g; |
| cparata | 2:39ad2a393143 | 812 | |
| cparata | 2:39ad2a393143 | 813 | if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, new_fs ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 814 | { |
| cparata | 2:39ad2a393143 | 815 | return 1; |
| cparata | 2:39ad2a393143 | 816 | } |
| cparata | 2:39ad2a393143 | 817 | |
| cparata | 2:39ad2a393143 | 818 | return 0; |
| cparata | 2:39ad2a393143 | 819 | } |
| cparata | 2:39ad2a393143 | 820 | |
| cparata | 2:39ad2a393143 | 821 | /** |
| cparata | 2:39ad2a393143 | 822 | * @brief Set LSM6DSL Gyroscope full scale |
| cparata | 2:39ad2a393143 | 823 | * @param fullScale the full scale to be set |
| cparata | 2:39ad2a393143 | 824 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 825 | */ |
| cparata | 2:39ad2a393143 | 826 | int LSM6DSLSensor::Set_G_FS(float fullScale) |
| cparata | 2:39ad2a393143 | 827 | { |
| cparata | 2:39ad2a393143 | 828 | LSM6DSL_ACC_GYRO_FS_G_t new_fs; |
| cparata | 2:39ad2a393143 | 829 | |
| cparata | 2:39ad2a393143 | 830 | if ( fullScale <= 125.0f ) |
| cparata | 2:39ad2a393143 | 831 | { |
| cparata | 2:39ad2a393143 | 832 | if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 833 | { |
| cparata | 2:39ad2a393143 | 834 | return 1; |
| cparata | 2:39ad2a393143 | 835 | } |
| cparata | 2:39ad2a393143 | 836 | } |
| cparata | 2:39ad2a393143 | 837 | else |
| cparata | 2:39ad2a393143 | 838 | { |
| cparata | 2:39ad2a393143 | 839 | new_fs = ( fullScale <= 245.0f ) ? LSM6DSL_ACC_GYRO_FS_G_245dps |
| cparata | 2:39ad2a393143 | 840 | : ( fullScale <= 500.0f ) ? LSM6DSL_ACC_GYRO_FS_G_500dps |
| cparata | 2:39ad2a393143 | 841 | : ( fullScale <= 1000.0f ) ? LSM6DSL_ACC_GYRO_FS_G_1000dps |
| cparata | 2:39ad2a393143 | 842 | : LSM6DSL_ACC_GYRO_FS_G_2000dps; |
| cparata | 2:39ad2a393143 | 843 | |
| cparata | 2:39ad2a393143 | 844 | if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_DISABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 845 | { |
| cparata | 2:39ad2a393143 | 846 | return 1; |
| cparata | 2:39ad2a393143 | 847 | } |
| cparata | 2:39ad2a393143 | 848 | if ( LSM6DSL_ACC_GYRO_W_FS_G( (void *)this, new_fs ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 849 | { |
| cparata | 2:39ad2a393143 | 850 | return 1; |
| cparata | 2:39ad2a393143 | 851 | } |
| cparata | 2:39ad2a393143 | 852 | } |
| cparata | 2:39ad2a393143 | 853 | |
| cparata | 2:39ad2a393143 | 854 | return 0; |
| cparata | 2:39ad2a393143 | 855 | } |
| cparata | 2:39ad2a393143 | 856 | |
| cparata | 2:39ad2a393143 | 857 | /** |
| cparata | 2:39ad2a393143 | 858 | * @brief Enable free fall detection |
| cparata | 2:39ad2a393143 | 859 | * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g |
| cparata | 2:39ad2a393143 | 860 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 861 | */ |
| cparata | 2:39ad2a393143 | 862 | int LSM6DSLSensor::Enable_Free_Fall_Detection(void) |
| cparata | 2:39ad2a393143 | 863 | { |
| cparata | 2:39ad2a393143 | 864 | /* Output Data Rate selection */ |
| cparata | 2:39ad2a393143 | 865 | if(Set_X_ODR(416.0f) == 1) |
| cparata | 2:39ad2a393143 | 866 | { |
| cparata | 2:39ad2a393143 | 867 | return 1; |
| cparata | 2:39ad2a393143 | 868 | } |
| cparata | 2:39ad2a393143 | 869 | |
| cparata | 2:39ad2a393143 | 870 | /* Full scale selection */ |
| cparata | 2:39ad2a393143 | 871 | if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, LSM6DSL_ACC_GYRO_FS_XL_2g ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 872 | { |
| cparata | 2:39ad2a393143 | 873 | return 1; |
| cparata | 2:39ad2a393143 | 874 | } |
| cparata | 2:39ad2a393143 | 875 | |
| cparata | 2:39ad2a393143 | 876 | /* FF_DUR setting */ |
| cparata | 2:39ad2a393143 | 877 | if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x06 ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 878 | { |
| cparata | 2:39ad2a393143 | 879 | return 1; |
| cparata | 2:39ad2a393143 | 880 | } |
| cparata | 2:39ad2a393143 | 881 | |
| cparata | 2:39ad2a393143 | 882 | /* WAKE_DUR setting */ |
| cparata | 2:39ad2a393143 | 883 | if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 884 | { |
| cparata | 2:39ad2a393143 | 885 | return 1; |
| cparata | 2:39ad2a393143 | 886 | } |
| cparata | 2:39ad2a393143 | 887 | |
| cparata | 2:39ad2a393143 | 888 | /* TIMER_HR setting */ |
| cparata | 2:39ad2a393143 | 889 | if ( LSM6DSL_ACC_GYRO_W_TIMER_HR( (void *)this, LSM6DSL_ACC_GYRO_TIMER_HR_6_4ms ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 890 | { |
| cparata | 2:39ad2a393143 | 891 | return 1; |
| cparata | 2:39ad2a393143 | 892 | } |
| cparata | 2:39ad2a393143 | 893 | |
| cparata | 2:39ad2a393143 | 894 | /* SLEEP_DUR setting */ |
| cparata | 2:39ad2a393143 | 895 | if ( LSM6DSL_ACC_GYRO_W_SLEEP_DUR( (void *)this, 0x00 ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 896 | { |
| cparata | 2:39ad2a393143 | 897 | return 1; |
| cparata | 2:39ad2a393143 | 898 | } |
| cparata | 2:39ad2a393143 | 899 | |
| cparata | 2:39ad2a393143 | 900 | /* FF_THS setting */ |
| cparata | 2:39ad2a393143 | 901 | if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_312mg ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 902 | { |
| cparata | 2:39ad2a393143 | 903 | return 1; |
| cparata | 2:39ad2a393143 | 904 | } |
| cparata | 2:39ad2a393143 | 905 | |
| cparata | 2:39ad2a393143 | 906 | /* Enable basic Interrupts */ |
| cparata | 2:39ad2a393143 | 907 | if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 908 | { |
| cparata | 2:39ad2a393143 | 909 | return 1; |
| cparata | 2:39ad2a393143 | 910 | } |
| cparata | 2:39ad2a393143 | 911 | |
| cparata | 2:39ad2a393143 | 912 | /* INT1_FF setting */ |
| cparata | 2:39ad2a393143 | 913 | if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 914 | { |
| cparata | 2:39ad2a393143 | 915 | return 1; |
| cparata | 2:39ad2a393143 | 916 | } |
| cparata | 2:39ad2a393143 | 917 | |
| cparata | 2:39ad2a393143 | 918 | return 0; |
| cparata | 2:39ad2a393143 | 919 | } |
| cparata | 2:39ad2a393143 | 920 | |
| cparata | 2:39ad2a393143 | 921 | /** |
| cparata | 2:39ad2a393143 | 922 | * @brief Disable free fall detection |
| cparata | 2:39ad2a393143 | 923 | * @param None |
| cparata | 2:39ad2a393143 | 924 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 925 | */ |
| cparata | 2:39ad2a393143 | 926 | int LSM6DSLSensor::Disable_Free_Fall_Detection(void) |
| cparata | 2:39ad2a393143 | 927 | { |
| cparata | 2:39ad2a393143 | 928 | /* INT1_FF setting */ |
| cparata | 2:39ad2a393143 | 929 | if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 930 | { |
| cparata | 2:39ad2a393143 | 931 | return 1; |
| cparata | 2:39ad2a393143 | 932 | } |
| cparata | 2:39ad2a393143 | 933 | |
| cparata | 2:39ad2a393143 | 934 | /* Disable basic Interrupts */ |
| cparata | 2:39ad2a393143 | 935 | if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 936 | { |
| cparata | 2:39ad2a393143 | 937 | return 1; |
| cparata | 2:39ad2a393143 | 938 | } |
| cparata | 2:39ad2a393143 | 939 | |
| cparata | 2:39ad2a393143 | 940 | /* FF_DUR setting */ |
| cparata | 2:39ad2a393143 | 941 | if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x00 ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 942 | { |
| cparata | 2:39ad2a393143 | 943 | return 1; |
| cparata | 2:39ad2a393143 | 944 | } |
| cparata | 2:39ad2a393143 | 945 | |
| cparata | 2:39ad2a393143 | 946 | /* FF_THS setting */ |
| cparata | 2:39ad2a393143 | 947 | if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_156mg ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 948 | { |
| cparata | 2:39ad2a393143 | 949 | return 1; |
| cparata | 2:39ad2a393143 | 950 | } |
| cparata | 2:39ad2a393143 | 951 | |
| cparata | 2:39ad2a393143 | 952 | return 0; |
| cparata | 2:39ad2a393143 | 953 | } |
| cparata | 2:39ad2a393143 | 954 | |
| cparata | 2:39ad2a393143 | 955 | /** |
| cparata | 2:39ad2a393143 | 956 | * @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor |
| cparata | 2:39ad2a393143 | 957 | * @param thr the threshold to be set |
| cparata | 2:39ad2a393143 | 958 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 959 | */ |
| cparata | 2:39ad2a393143 | 960 | int LSM6DSLSensor::Set_Free_Fall_Threshold(uint8_t thr) |
| cparata | 2:39ad2a393143 | 961 | { |
| cparata | 2:39ad2a393143 | 962 | |
| cparata | 2:39ad2a393143 | 963 | if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 964 | { |
| cparata | 2:39ad2a393143 | 965 | return 1; |
| cparata | 2:39ad2a393143 | 966 | } |
| cparata | 2:39ad2a393143 | 967 | |
| cparata | 2:39ad2a393143 | 968 | return 0; |
| cparata | 2:39ad2a393143 | 969 | } |
| cparata | 2:39ad2a393143 | 970 | |
| cparata | 2:39ad2a393143 | 971 | /** |
| cparata | 2:39ad2a393143 | 972 | * @brief Enable the pedometer feature for LSM6DSL accelerometer sensor |
| cparata | 2:39ad2a393143 | 973 | * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g |
| cparata | 2:39ad2a393143 | 974 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 975 | */ |
| cparata | 2:39ad2a393143 | 976 | int LSM6DSLSensor::Enable_Pedometer(void) |
| cparata | 2:39ad2a393143 | 977 | { |
| cparata | 2:39ad2a393143 | 978 | /* Output Data Rate selection */ |
| cparata | 2:39ad2a393143 | 979 | if( Set_X_ODR(26.0f) == 1 ) |
| cparata | 2:39ad2a393143 | 980 | { |
| cparata | 2:39ad2a393143 | 981 | return 1; |
| cparata | 2:39ad2a393143 | 982 | } |
| cparata | 2:39ad2a393143 | 983 | |
| cparata | 2:39ad2a393143 | 984 | /* Full scale selection. */ |
| cparata | 2:39ad2a393143 | 985 | if( Set_X_FS(2.0f) == 1 ) |
| cparata | 2:39ad2a393143 | 986 | { |
| cparata | 2:39ad2a393143 | 987 | return 1; |
| cparata | 2:39ad2a393143 | 988 | } |
| cparata | 2:39ad2a393143 | 989 | |
| cparata | 2:39ad2a393143 | 990 | /* Set pedometer threshold. */ |
| cparata | 2:39ad2a393143 | 991 | if ( Set_Pedometer_Threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == 1 ) |
| cparata | 2:39ad2a393143 | 992 | { |
| cparata | 2:39ad2a393143 | 993 | return 1; |
| cparata | 2:39ad2a393143 | 994 | } |
| cparata | 2:39ad2a393143 | 995 | |
| cparata | 2:39ad2a393143 | 996 | /* Enable embedded functionalities. */ |
| cparata | 2:39ad2a393143 | 997 | if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 998 | { |
| cparata | 2:39ad2a393143 | 999 | return 1; |
| cparata | 2:39ad2a393143 | 1000 | } |
| cparata | 2:39ad2a393143 | 1001 | |
| cparata | 2:39ad2a393143 | 1002 | /* Enable pedometer algorithm. */ |
| cparata | 2:39ad2a393143 | 1003 | if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1004 | { |
| cparata | 2:39ad2a393143 | 1005 | return 1; |
| cparata | 2:39ad2a393143 | 1006 | } |
| cparata | 2:39ad2a393143 | 1007 | |
| cparata | 2:39ad2a393143 | 1008 | /* Enable pedometer on INT1. */ |
| cparata | 2:39ad2a393143 | 1009 | if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1010 | { |
| cparata | 2:39ad2a393143 | 1011 | return 1; |
| cparata | 2:39ad2a393143 | 1012 | } |
| cparata | 2:39ad2a393143 | 1013 | |
| cparata | 2:39ad2a393143 | 1014 | return 0; |
| cparata | 2:39ad2a393143 | 1015 | } |
| cparata | 2:39ad2a393143 | 1016 | |
| cparata | 2:39ad2a393143 | 1017 | /** |
| cparata | 2:39ad2a393143 | 1018 | * @brief Disable the pedometer feature for LSM6DSL accelerometer sensor |
| cparata | 2:39ad2a393143 | 1019 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 1020 | */ |
| cparata | 2:39ad2a393143 | 1021 | int LSM6DSLSensor::Disable_Pedometer(void) |
| cparata | 2:39ad2a393143 | 1022 | { |
| cparata | 2:39ad2a393143 | 1023 | /* Disable pedometer on INT1. */ |
| cparata | 2:39ad2a393143 | 1024 | if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1025 | { |
| cparata | 2:39ad2a393143 | 1026 | return 1; |
| cparata | 2:39ad2a393143 | 1027 | } |
| cparata | 2:39ad2a393143 | 1028 | |
| cparata | 2:39ad2a393143 | 1029 | /* Disable pedometer algorithm. */ |
| cparata | 2:39ad2a393143 | 1030 | if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1031 | { |
| cparata | 2:39ad2a393143 | 1032 | return 1; |
| cparata | 2:39ad2a393143 | 1033 | } |
| cparata | 2:39ad2a393143 | 1034 | |
| cparata | 2:39ad2a393143 | 1035 | /* Disable embedded functionalities. */ |
| cparata | 2:39ad2a393143 | 1036 | if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1037 | { |
| cparata | 2:39ad2a393143 | 1038 | return 1; |
| cparata | 2:39ad2a393143 | 1039 | } |
| cparata | 2:39ad2a393143 | 1040 | |
| cparata | 2:39ad2a393143 | 1041 | /* Reset pedometer threshold. */ |
| cparata | 2:39ad2a393143 | 1042 | if ( Set_Pedometer_Threshold(0x0) == 1 ) |
| cparata | 2:39ad2a393143 | 1043 | { |
| cparata | 2:39ad2a393143 | 1044 | return 1; |
| cparata | 2:39ad2a393143 | 1045 | } |
| cparata | 2:39ad2a393143 | 1046 | |
| cparata | 2:39ad2a393143 | 1047 | return 0; |
| cparata | 2:39ad2a393143 | 1048 | } |
| cparata | 2:39ad2a393143 | 1049 | |
| cparata | 2:39ad2a393143 | 1050 | /** |
| cparata | 2:39ad2a393143 | 1051 | * @brief Get the step counter for LSM6DSL accelerometer sensor |
| cparata | 2:39ad2a393143 | 1052 | * @param step_count the pointer to the step counter |
| cparata | 2:39ad2a393143 | 1053 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 1054 | */ |
| cparata | 2:39ad2a393143 | 1055 | int LSM6DSLSensor::Get_Step_Counter(uint16_t *step_count) |
| cparata | 2:39ad2a393143 | 1056 | { |
| cparata | 2:39ad2a393143 | 1057 | if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void *)this, ( uint8_t* )step_count ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1058 | { |
| cparata | 2:39ad2a393143 | 1059 | return 1; |
| cparata | 2:39ad2a393143 | 1060 | } |
| cparata | 2:39ad2a393143 | 1061 | |
| cparata | 2:39ad2a393143 | 1062 | return 0; |
| cparata | 2:39ad2a393143 | 1063 | } |
| cparata | 2:39ad2a393143 | 1064 | |
| cparata | 2:39ad2a393143 | 1065 | /** |
| cparata | 2:39ad2a393143 | 1066 | * @brief Reset of the step counter for LSM6DSL accelerometer sensor |
| cparata | 2:39ad2a393143 | 1067 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 1068 | */ |
| cparata | 2:39ad2a393143 | 1069 | int LSM6DSLSensor::Reset_Step_Counter(void) |
| cparata | 2:39ad2a393143 | 1070 | { |
| cparata | 2:39ad2a393143 | 1071 | if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1072 | { |
| cparata | 2:39ad2a393143 | 1073 | return 1; |
| cparata | 2:39ad2a393143 | 1074 | } |
| cparata | 2:39ad2a393143 | 1075 | |
| cparata | 2:39ad2a393143 | 1076 | wait_ms(10); |
| cparata | 2:39ad2a393143 | 1077 | |
| cparata | 2:39ad2a393143 | 1078 | if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1079 | { |
| cparata | 2:39ad2a393143 | 1080 | return 1; |
| cparata | 2:39ad2a393143 | 1081 | } |
| cparata | 2:39ad2a393143 | 1082 | |
| cparata | 2:39ad2a393143 | 1083 | return 0; |
| cparata | 2:39ad2a393143 | 1084 | } |
| cparata | 2:39ad2a393143 | 1085 | |
| cparata | 2:39ad2a393143 | 1086 | /** |
| cparata | 2:39ad2a393143 | 1087 | * @brief Set the pedometer threshold for LSM6DSL accelerometer sensor |
| cparata | 2:39ad2a393143 | 1088 | * @param thr the threshold to be set |
| cparata | 2:39ad2a393143 | 1089 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 1090 | */ |
| cparata | 2:39ad2a393143 | 1091 | int LSM6DSLSensor::Set_Pedometer_Threshold(uint8_t thr) |
| cparata | 2:39ad2a393143 | 1092 | { |
| cparata | 2:39ad2a393143 | 1093 | if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1094 | { |
| cparata | 2:39ad2a393143 | 1095 | return 1; |
| cparata | 2:39ad2a393143 | 1096 | } |
| cparata | 2:39ad2a393143 | 1097 | |
| cparata | 2:39ad2a393143 | 1098 | return 0; |
| cparata | 2:39ad2a393143 | 1099 | } |
| cparata | 2:39ad2a393143 | 1100 | |
| cparata | 2:39ad2a393143 | 1101 | /** |
| cparata | 2:39ad2a393143 | 1102 | * @brief Enable the tilt detection for LSM6DSL accelerometer sensor |
| cparata | 2:39ad2a393143 | 1103 | * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g |
| cparata | 2:39ad2a393143 | 1104 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 1105 | */ |
| cparata | 2:39ad2a393143 | 1106 | int LSM6DSLSensor::Enable_Tilt_Detection(void) |
| cparata | 2:39ad2a393143 | 1107 | { |
| cparata | 2:39ad2a393143 | 1108 | /* Output Data Rate selection */ |
| cparata | 2:39ad2a393143 | 1109 | if( Set_X_ODR(26.0f) == 1 ) |
| cparata | 2:39ad2a393143 | 1110 | { |
| cparata | 2:39ad2a393143 | 1111 | return 1; |
| cparata | 2:39ad2a393143 | 1112 | } |
| cparata | 2:39ad2a393143 | 1113 | |
| cparata | 2:39ad2a393143 | 1114 | /* Full scale selection. */ |
| cparata | 2:39ad2a393143 | 1115 | if( Set_X_FS(2.0f) == 1 ) |
| cparata | 2:39ad2a393143 | 1116 | { |
| cparata | 2:39ad2a393143 | 1117 | return 1; |
| cparata | 2:39ad2a393143 | 1118 | } |
| cparata | 2:39ad2a393143 | 1119 | |
| cparata | 2:39ad2a393143 | 1120 | /* Enable embedded functionalities */ |
| cparata | 2:39ad2a393143 | 1121 | if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1122 | { |
| cparata | 2:39ad2a393143 | 1123 | return 1; |
| cparata | 2:39ad2a393143 | 1124 | } |
| cparata | 2:39ad2a393143 | 1125 | |
| cparata | 2:39ad2a393143 | 1126 | /* Enable tilt calculation. */ |
| cparata | 2:39ad2a393143 | 1127 | if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1128 | { |
| cparata | 2:39ad2a393143 | 1129 | return 1; |
| cparata | 2:39ad2a393143 | 1130 | } |
| cparata | 2:39ad2a393143 | 1131 | |
| cparata | 2:39ad2a393143 | 1132 | /* Enable tilt event on INT1. */ |
| cparata | 2:39ad2a393143 | 1133 | if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1134 | { |
| cparata | 2:39ad2a393143 | 1135 | return 1; |
| cparata | 2:39ad2a393143 | 1136 | } |
| cparata | 2:39ad2a393143 | 1137 | |
| cparata | 2:39ad2a393143 | 1138 | return 0; |
| cparata | 2:39ad2a393143 | 1139 | } |
| cparata | 2:39ad2a393143 | 1140 | |
| cparata | 2:39ad2a393143 | 1141 | /** |
| cparata | 2:39ad2a393143 | 1142 | * @brief Disable the tilt detection for LSM6DSL accelerometer sensor |
| cparata | 2:39ad2a393143 | 1143 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 1144 | */ |
| cparata | 2:39ad2a393143 | 1145 | int LSM6DSLSensor::Disable_Tilt_Detection(void) |
| cparata | 2:39ad2a393143 | 1146 | { |
| cparata | 2:39ad2a393143 | 1147 | /* Disable tilt event on INT1. */ |
| cparata | 2:39ad2a393143 | 1148 | if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_DISABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1149 | { |
| cparata | 2:39ad2a393143 | 1150 | return 1; |
| cparata | 2:39ad2a393143 | 1151 | } |
| cparata | 2:39ad2a393143 | 1152 | |
| cparata | 2:39ad2a393143 | 1153 | /* Disable tilt calculation. */ |
| cparata | 2:39ad2a393143 | 1154 | if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1155 | { |
| cparata | 2:39ad2a393143 | 1156 | return 1; |
| cparata | 2:39ad2a393143 | 1157 | } |
| cparata | 2:39ad2a393143 | 1158 | |
| cparata | 2:39ad2a393143 | 1159 | /* Disable embedded functionalities */ |
| cparata | 2:39ad2a393143 | 1160 | if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1161 | { |
| cparata | 2:39ad2a393143 | 1162 | return 1; |
| cparata | 2:39ad2a393143 | 1163 | } |
| cparata | 2:39ad2a393143 | 1164 | |
| cparata | 2:39ad2a393143 | 1165 | return 0; |
| cparata | 2:39ad2a393143 | 1166 | } |
| cparata | 2:39ad2a393143 | 1167 | |
| cparata | 2:39ad2a393143 | 1168 | /** |
| cparata | 2:39ad2a393143 | 1169 | * @brief Enable the wake up detection for LSM6DSL accelerometer sensor |
| cparata | 2:39ad2a393143 | 1170 | * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g |
| cparata | 2:39ad2a393143 | 1171 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 1172 | */ |
| cparata | 2:39ad2a393143 | 1173 | int LSM6DSLSensor::Enable_Wake_Up_Detection(void) |
| cparata | 2:39ad2a393143 | 1174 | { |
| cparata | 2:39ad2a393143 | 1175 | /* Output Data Rate selection */ |
| cparata | 2:39ad2a393143 | 1176 | if( Set_X_ODR(416.0f) == 1 ) |
| cparata | 2:39ad2a393143 | 1177 | { |
| cparata | 2:39ad2a393143 | 1178 | return 1; |
| cparata | 2:39ad2a393143 | 1179 | } |
| cparata | 2:39ad2a393143 | 1180 | |
| cparata | 2:39ad2a393143 | 1181 | /* Full scale selection. */ |
| cparata | 2:39ad2a393143 | 1182 | if( Set_X_FS(2.0f) == 1 ) |
| cparata | 2:39ad2a393143 | 1183 | { |
| cparata | 2:39ad2a393143 | 1184 | return 1; |
| cparata | 2:39ad2a393143 | 1185 | } |
| cparata | 2:39ad2a393143 | 1186 | |
| cparata | 2:39ad2a393143 | 1187 | /* WAKE_DUR setting */ |
| cparata | 2:39ad2a393143 | 1188 | if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1189 | { |
| cparata | 2:39ad2a393143 | 1190 | return 1; |
| cparata | 2:39ad2a393143 | 1191 | } |
| cparata | 2:39ad2a393143 | 1192 | |
| cparata | 2:39ad2a393143 | 1193 | /* Set wake up threshold. */ |
| cparata | 2:39ad2a393143 | 1194 | if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1195 | { |
| cparata | 2:39ad2a393143 | 1196 | return 1; |
| cparata | 2:39ad2a393143 | 1197 | } |
| cparata | 2:39ad2a393143 | 1198 | |
| cparata | 2:39ad2a393143 | 1199 | /* Enable basic Interrupts */ |
| cparata | 2:39ad2a393143 | 1200 | if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1201 | { |
| cparata | 2:39ad2a393143 | 1202 | return 1; |
| cparata | 2:39ad2a393143 | 1203 | } |
| cparata | 2:39ad2a393143 | 1204 | |
| cparata | 5:a62aec1093d6 | 1205 | /* INT2_WU setting */ |
| cparata | 5:a62aec1093d6 | 1206 | if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1207 | { |
| cparata | 2:39ad2a393143 | 1208 | return 1; |
| cparata | 2:39ad2a393143 | 1209 | } |
| cparata | 2:39ad2a393143 | 1210 | |
| cparata | 2:39ad2a393143 | 1211 | return 0; |
| cparata | 2:39ad2a393143 | 1212 | } |
| cparata | 2:39ad2a393143 | 1213 | |
| cparata | 2:39ad2a393143 | 1214 | /** |
| cparata | 2:39ad2a393143 | 1215 | * @brief Disable the wake up detection for LSM6DSL accelerometer sensor |
| cparata | 2:39ad2a393143 | 1216 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 1217 | */ |
| cparata | 2:39ad2a393143 | 1218 | int LSM6DSLSensor::Disable_Wake_Up_Detection(void) |
| cparata | 2:39ad2a393143 | 1219 | { |
| cparata | 5:a62aec1093d6 | 1220 | /* INT2_WU setting */ |
| cparata | 5:a62aec1093d6 | 1221 | if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_DISABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1222 | { |
| cparata | 2:39ad2a393143 | 1223 | return 1; |
| cparata | 2:39ad2a393143 | 1224 | } |
| cparata | 2:39ad2a393143 | 1225 | |
| cparata | 2:39ad2a393143 | 1226 | /* Disable basic Interrupts */ |
| cparata | 2:39ad2a393143 | 1227 | if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1228 | { |
| cparata | 2:39ad2a393143 | 1229 | return 1; |
| cparata | 2:39ad2a393143 | 1230 | } |
| cparata | 2:39ad2a393143 | 1231 | |
| cparata | 2:39ad2a393143 | 1232 | /* WU_DUR setting */ |
| cparata | 2:39ad2a393143 | 1233 | if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1234 | { |
| cparata | 2:39ad2a393143 | 1235 | return 1; |
| cparata | 2:39ad2a393143 | 1236 | } |
| cparata | 2:39ad2a393143 | 1237 | |
| cparata | 2:39ad2a393143 | 1238 | /* WU_THS setting */ |
| cparata | 2:39ad2a393143 | 1239 | if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1240 | { |
| cparata | 2:39ad2a393143 | 1241 | return 1; |
| cparata | 2:39ad2a393143 | 1242 | } |
| cparata | 2:39ad2a393143 | 1243 | |
| cparata | 2:39ad2a393143 | 1244 | return 0; |
| cparata | 2:39ad2a393143 | 1245 | } |
| cparata | 2:39ad2a393143 | 1246 | |
| cparata | 2:39ad2a393143 | 1247 | /** |
| cparata | 2:39ad2a393143 | 1248 | * @brief Set the wake up threshold for LSM6DSL accelerometer sensor |
| cparata | 2:39ad2a393143 | 1249 | * @param thr the threshold to be set |
| cparata | 2:39ad2a393143 | 1250 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 1251 | */ |
| cparata | 2:39ad2a393143 | 1252 | int LSM6DSLSensor::Set_Wake_Up_Threshold(uint8_t thr) |
| cparata | 2:39ad2a393143 | 1253 | { |
| cparata | 2:39ad2a393143 | 1254 | if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1255 | { |
| cparata | 2:39ad2a393143 | 1256 | return 1; |
| cparata | 2:39ad2a393143 | 1257 | } |
| cparata | 2:39ad2a393143 | 1258 | |
| cparata | 2:39ad2a393143 | 1259 | return 0; |
| cparata | 2:39ad2a393143 | 1260 | } |
| cparata | 2:39ad2a393143 | 1261 | |
| cparata | 2:39ad2a393143 | 1262 | /** |
| cparata | 2:39ad2a393143 | 1263 | * @brief Enable the single tap detection for LSM6DSL accelerometer sensor |
| cparata | 2:39ad2a393143 | 1264 | * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g |
| cparata | 2:39ad2a393143 | 1265 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 1266 | */ |
| cparata | 2:39ad2a393143 | 1267 | int LSM6DSLSensor::Enable_Single_Tap_Detection(void) |
| cparata | 2:39ad2a393143 | 1268 | { |
| cparata | 2:39ad2a393143 | 1269 | /* Output Data Rate selection */ |
| cparata | 2:39ad2a393143 | 1270 | if( Set_X_ODR(416.0f) == 1 ) |
| cparata | 2:39ad2a393143 | 1271 | { |
| cparata | 2:39ad2a393143 | 1272 | return 1; |
| cparata | 2:39ad2a393143 | 1273 | } |
| cparata | 2:39ad2a393143 | 1274 | |
| cparata | 2:39ad2a393143 | 1275 | /* Full scale selection. */ |
| cparata | 2:39ad2a393143 | 1276 | if( Set_X_FS(2.0f) == 1 ) |
| cparata | 2:39ad2a393143 | 1277 | { |
| cparata | 2:39ad2a393143 | 1278 | return 1; |
| cparata | 2:39ad2a393143 | 1279 | } |
| cparata | 2:39ad2a393143 | 1280 | |
| cparata | 2:39ad2a393143 | 1281 | /* Enable X direction in tap recognition. */ |
| cparata | 2:39ad2a393143 | 1282 | if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1283 | { |
| cparata | 2:39ad2a393143 | 1284 | return 1; |
| cparata | 2:39ad2a393143 | 1285 | } |
| cparata | 2:39ad2a393143 | 1286 | |
| cparata | 2:39ad2a393143 | 1287 | /* Enable Y direction in tap recognition. */ |
| cparata | 2:39ad2a393143 | 1288 | if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1289 | { |
| cparata | 2:39ad2a393143 | 1290 | return 1; |
| cparata | 2:39ad2a393143 | 1291 | } |
| cparata | 2:39ad2a393143 | 1292 | |
| cparata | 2:39ad2a393143 | 1293 | /* Enable Z direction in tap recognition. */ |
| cparata | 2:39ad2a393143 | 1294 | if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1295 | { |
| cparata | 2:39ad2a393143 | 1296 | return 1; |
| cparata | 2:39ad2a393143 | 1297 | } |
| cparata | 2:39ad2a393143 | 1298 | |
| cparata | 2:39ad2a393143 | 1299 | /* Set tap threshold. */ |
| cparata | 2:39ad2a393143 | 1300 | if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 ) |
| cparata | 2:39ad2a393143 | 1301 | { |
| cparata | 2:39ad2a393143 | 1302 | return 1; |
| cparata | 2:39ad2a393143 | 1303 | } |
| cparata | 2:39ad2a393143 | 1304 | |
| cparata | 2:39ad2a393143 | 1305 | /* Set tap shock time window. */ |
| cparata | 2:39ad2a393143 | 1306 | if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == 1 ) |
| cparata | 2:39ad2a393143 | 1307 | { |
| cparata | 2:39ad2a393143 | 1308 | return 1; |
| cparata | 2:39ad2a393143 | 1309 | } |
| cparata | 2:39ad2a393143 | 1310 | |
| cparata | 2:39ad2a393143 | 1311 | /* Set tap quiet time window. */ |
| cparata | 2:39ad2a393143 | 1312 | if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == 1 ) |
| cparata | 2:39ad2a393143 | 1313 | { |
| cparata | 2:39ad2a393143 | 1314 | return 1; |
| cparata | 2:39ad2a393143 | 1315 | } |
| cparata | 2:39ad2a393143 | 1316 | |
| cparata | 2:39ad2a393143 | 1317 | /* _NOTE_: Tap duration time window - don't care for single tap. */ |
| cparata | 2:39ad2a393143 | 1318 | |
| cparata | 2:39ad2a393143 | 1319 | /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */ |
| cparata | 2:39ad2a393143 | 1320 | |
| cparata | 2:39ad2a393143 | 1321 | /* Enable basic Interrupts */ |
| cparata | 2:39ad2a393143 | 1322 | if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1323 | { |
| cparata | 2:39ad2a393143 | 1324 | return 1; |
| cparata | 2:39ad2a393143 | 1325 | } |
| cparata | 2:39ad2a393143 | 1326 | |
| cparata | 2:39ad2a393143 | 1327 | /* Enable single tap interrupt on INT1 pin. */ |
| cparata | 2:39ad2a393143 | 1328 | if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1329 | { |
| cparata | 2:39ad2a393143 | 1330 | return 1; |
| cparata | 2:39ad2a393143 | 1331 | } |
| cparata | 2:39ad2a393143 | 1332 | |
| cparata | 2:39ad2a393143 | 1333 | return 0; |
| cparata | 2:39ad2a393143 | 1334 | } |
| cparata | 2:39ad2a393143 | 1335 | |
| cparata | 2:39ad2a393143 | 1336 | /** |
| cparata | 2:39ad2a393143 | 1337 | * @brief Disable the single tap detection for LSM6DSL accelerometer sensor |
| cparata | 2:39ad2a393143 | 1338 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 1339 | */ |
| cparata | 2:39ad2a393143 | 1340 | int LSM6DSLSensor::Disable_Single_Tap_Detection(void) |
| cparata | 2:39ad2a393143 | 1341 | { |
| cparata | 2:39ad2a393143 | 1342 | /* Disable single tap interrupt on INT1 pin. */ |
| cparata | 2:39ad2a393143 | 1343 | if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1344 | { |
| cparata | 2:39ad2a393143 | 1345 | return 1; |
| cparata | 2:39ad2a393143 | 1346 | } |
| cparata | 2:39ad2a393143 | 1347 | |
| cparata | 2:39ad2a393143 | 1348 | /* Disable basic Interrupts */ |
| cparata | 2:39ad2a393143 | 1349 | if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1350 | { |
| cparata | 2:39ad2a393143 | 1351 | return 1; |
| cparata | 2:39ad2a393143 | 1352 | } |
| cparata | 2:39ad2a393143 | 1353 | |
| cparata | 2:39ad2a393143 | 1354 | /* Reset tap threshold. */ |
| cparata | 2:39ad2a393143 | 1355 | if ( Set_Tap_Threshold( 0x0 ) == 1 ) |
| cparata | 2:39ad2a393143 | 1356 | { |
| cparata | 2:39ad2a393143 | 1357 | return 1; |
| cparata | 2:39ad2a393143 | 1358 | } |
| cparata | 2:39ad2a393143 | 1359 | |
| cparata | 2:39ad2a393143 | 1360 | /* Reset tap shock time window. */ |
| cparata | 2:39ad2a393143 | 1361 | if ( Set_Tap_Shock_Time( 0x0 ) == 1 ) |
| cparata | 2:39ad2a393143 | 1362 | { |
| cparata | 2:39ad2a393143 | 1363 | return 1; |
| cparata | 2:39ad2a393143 | 1364 | } |
| cparata | 2:39ad2a393143 | 1365 | |
| cparata | 2:39ad2a393143 | 1366 | /* Reset tap quiet time window. */ |
| cparata | 2:39ad2a393143 | 1367 | if ( Set_Tap_Quiet_Time( 0x0 ) == 1 ) |
| cparata | 2:39ad2a393143 | 1368 | { |
| cparata | 2:39ad2a393143 | 1369 | return 1; |
| cparata | 2:39ad2a393143 | 1370 | } |
| cparata | 2:39ad2a393143 | 1371 | |
| cparata | 2:39ad2a393143 | 1372 | /* _NOTE_: Tap duration time window - don't care for single tap. */ |
| cparata | 2:39ad2a393143 | 1373 | |
| cparata | 2:39ad2a393143 | 1374 | /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */ |
| cparata | 2:39ad2a393143 | 1375 | |
| cparata | 2:39ad2a393143 | 1376 | /* Disable Z direction in tap recognition. */ |
| cparata | 2:39ad2a393143 | 1377 | if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1378 | { |
| cparata | 2:39ad2a393143 | 1379 | return 1; |
| cparata | 2:39ad2a393143 | 1380 | } |
| cparata | 2:39ad2a393143 | 1381 | |
| cparata | 2:39ad2a393143 | 1382 | /* Disable Y direction in tap recognition. */ |
| cparata | 2:39ad2a393143 | 1383 | if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1384 | { |
| cparata | 2:39ad2a393143 | 1385 | return 1; |
| cparata | 2:39ad2a393143 | 1386 | } |
| cparata | 2:39ad2a393143 | 1387 | |
| cparata | 2:39ad2a393143 | 1388 | /* Disable X direction in tap recognition. */ |
| cparata | 2:39ad2a393143 | 1389 | if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1390 | { |
| cparata | 2:39ad2a393143 | 1391 | return 1; |
| cparata | 2:39ad2a393143 | 1392 | } |
| cparata | 2:39ad2a393143 | 1393 | |
| cparata | 2:39ad2a393143 | 1394 | return 0; |
| cparata | 2:39ad2a393143 | 1395 | } |
| cparata | 2:39ad2a393143 | 1396 | |
| cparata | 2:39ad2a393143 | 1397 | /** |
| cparata | 2:39ad2a393143 | 1398 | * @brief Enable the double tap detection for LSM6DSL accelerometer sensor |
| cparata | 2:39ad2a393143 | 1399 | * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g |
| cparata | 2:39ad2a393143 | 1400 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 1401 | */ |
| cparata | 2:39ad2a393143 | 1402 | int LSM6DSLSensor::Enable_Double_Tap_Detection(void) |
| cparata | 2:39ad2a393143 | 1403 | { |
| cparata | 2:39ad2a393143 | 1404 | /* Output Data Rate selection */ |
| cparata | 2:39ad2a393143 | 1405 | if( Set_X_ODR(416.0f) == 1 ) |
| cparata | 2:39ad2a393143 | 1406 | { |
| cparata | 2:39ad2a393143 | 1407 | return 1; |
| cparata | 2:39ad2a393143 | 1408 | } |
| cparata | 2:39ad2a393143 | 1409 | |
| cparata | 2:39ad2a393143 | 1410 | /* Full scale selection. */ |
| cparata | 2:39ad2a393143 | 1411 | if( Set_X_FS(2.0f) == 1 ) |
| cparata | 2:39ad2a393143 | 1412 | { |
| cparata | 2:39ad2a393143 | 1413 | return 1; |
| cparata | 2:39ad2a393143 | 1414 | } |
| cparata | 2:39ad2a393143 | 1415 | |
| cparata | 2:39ad2a393143 | 1416 | /* Enable X direction in tap recognition. */ |
| cparata | 2:39ad2a393143 | 1417 | if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1418 | { |
| cparata | 2:39ad2a393143 | 1419 | return 1; |
| cparata | 2:39ad2a393143 | 1420 | } |
| cparata | 2:39ad2a393143 | 1421 | |
| cparata | 2:39ad2a393143 | 1422 | /* Enable Y direction in tap recognition. */ |
| cparata | 2:39ad2a393143 | 1423 | if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1424 | { |
| cparata | 2:39ad2a393143 | 1425 | return 1; |
| cparata | 2:39ad2a393143 | 1426 | } |
| cparata | 2:39ad2a393143 | 1427 | |
| cparata | 2:39ad2a393143 | 1428 | /* Enable Z direction in tap recognition. */ |
| cparata | 2:39ad2a393143 | 1429 | if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1430 | { |
| cparata | 2:39ad2a393143 | 1431 | return 1; |
| cparata | 2:39ad2a393143 | 1432 | } |
| cparata | 2:39ad2a393143 | 1433 | |
| cparata | 2:39ad2a393143 | 1434 | /* Set tap threshold. */ |
| cparata | 2:39ad2a393143 | 1435 | if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 ) |
| cparata | 2:39ad2a393143 | 1436 | { |
| cparata | 2:39ad2a393143 | 1437 | return 1; |
| cparata | 2:39ad2a393143 | 1438 | } |
| cparata | 2:39ad2a393143 | 1439 | |
| cparata | 2:39ad2a393143 | 1440 | /* Set tap shock time window. */ |
| cparata | 2:39ad2a393143 | 1441 | if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == 1 ) |
| cparata | 2:39ad2a393143 | 1442 | { |
| cparata | 2:39ad2a393143 | 1443 | return 1; |
| cparata | 2:39ad2a393143 | 1444 | } |
| cparata | 2:39ad2a393143 | 1445 | |
| cparata | 2:39ad2a393143 | 1446 | /* Set tap quiet time window. */ |
| cparata | 2:39ad2a393143 | 1447 | if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == 1 ) |
| cparata | 2:39ad2a393143 | 1448 | { |
| cparata | 2:39ad2a393143 | 1449 | return 1; |
| cparata | 2:39ad2a393143 | 1450 | } |
| cparata | 2:39ad2a393143 | 1451 | |
| cparata | 2:39ad2a393143 | 1452 | /* Set tap duration time window. */ |
| cparata | 2:39ad2a393143 | 1453 | if ( Set_Tap_Duration_Time( LSM6DSL_TAP_DURATION_TIME_MID ) == 1 ) |
| cparata | 2:39ad2a393143 | 1454 | { |
| cparata | 2:39ad2a393143 | 1455 | return 1; |
| cparata | 2:39ad2a393143 | 1456 | } |
| cparata | 2:39ad2a393143 | 1457 | |
| cparata | 2:39ad2a393143 | 1458 | /* Single and double tap enabled. */ |
| cparata | 2:39ad2a393143 | 1459 | if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1460 | { |
| cparata | 2:39ad2a393143 | 1461 | return 1; |
| cparata | 2:39ad2a393143 | 1462 | } |
| cparata | 2:39ad2a393143 | 1463 | |
| cparata | 2:39ad2a393143 | 1464 | /* Enable basic Interrupts */ |
| cparata | 2:39ad2a393143 | 1465 | if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1466 | { |
| cparata | 2:39ad2a393143 | 1467 | return 1; |
| cparata | 2:39ad2a393143 | 1468 | } |
| cparata | 2:39ad2a393143 | 1469 | |
| cparata | 2:39ad2a393143 | 1470 | /* Enable double tap interrupt on INT1 pin. */ |
| cparata | 2:39ad2a393143 | 1471 | if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1472 | { |
| cparata | 2:39ad2a393143 | 1473 | return 1; |
| cparata | 2:39ad2a393143 | 1474 | } |
| cparata | 2:39ad2a393143 | 1475 | |
| cparata | 2:39ad2a393143 | 1476 | return 0; |
| cparata | 2:39ad2a393143 | 1477 | } |
| cparata | 2:39ad2a393143 | 1478 | |
| cparata | 2:39ad2a393143 | 1479 | /** |
| cparata | 2:39ad2a393143 | 1480 | * @brief Disable the double tap detection for LSM6DSL accelerometer sensor |
| cparata | 2:39ad2a393143 | 1481 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 1482 | */ |
| cparata | 2:39ad2a393143 | 1483 | int LSM6DSLSensor::Disable_Double_Tap_Detection(void) |
| cparata | 2:39ad2a393143 | 1484 | { |
| cparata | 2:39ad2a393143 | 1485 | /* Disable double tap interrupt on INT1 pin. */ |
| cparata | 2:39ad2a393143 | 1486 | if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1487 | { |
| cparata | 2:39ad2a393143 | 1488 | return 1; |
| cparata | 2:39ad2a393143 | 1489 | } |
| cparata | 2:39ad2a393143 | 1490 | |
| cparata | 2:39ad2a393143 | 1491 | /* Disable basic Interrupts */ |
| cparata | 2:39ad2a393143 | 1492 | if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1493 | { |
| cparata | 2:39ad2a393143 | 1494 | return 1; |
| cparata | 2:39ad2a393143 | 1495 | } |
| cparata | 2:39ad2a393143 | 1496 | |
| cparata | 2:39ad2a393143 | 1497 | /* Reset tap threshold. */ |
| cparata | 2:39ad2a393143 | 1498 | if ( Set_Tap_Threshold( 0x0 ) == 1 ) |
| cparata | 2:39ad2a393143 | 1499 | { |
| cparata | 2:39ad2a393143 | 1500 | return 1; |
| cparata | 2:39ad2a393143 | 1501 | } |
| cparata | 2:39ad2a393143 | 1502 | |
| cparata | 2:39ad2a393143 | 1503 | /* Reset tap shock time window. */ |
| cparata | 2:39ad2a393143 | 1504 | if ( Set_Tap_Shock_Time( 0x0 ) == 1 ) |
| cparata | 2:39ad2a393143 | 1505 | { |
| cparata | 2:39ad2a393143 | 1506 | return 1; |
| cparata | 2:39ad2a393143 | 1507 | } |
| cparata | 2:39ad2a393143 | 1508 | |
| cparata | 2:39ad2a393143 | 1509 | /* Reset tap quiet time window. */ |
| cparata | 2:39ad2a393143 | 1510 | if ( Set_Tap_Quiet_Time( 0x0 ) == 1 ) |
| cparata | 2:39ad2a393143 | 1511 | { |
| cparata | 2:39ad2a393143 | 1512 | return 1; |
| cparata | 2:39ad2a393143 | 1513 | } |
| cparata | 2:39ad2a393143 | 1514 | |
| cparata | 2:39ad2a393143 | 1515 | /* Reset tap duration time window. */ |
| cparata | 2:39ad2a393143 | 1516 | if ( Set_Tap_Duration_Time( 0x0 ) == 1 ) |
| cparata | 2:39ad2a393143 | 1517 | { |
| cparata | 2:39ad2a393143 | 1518 | return 1; |
| cparata | 2:39ad2a393143 | 1519 | } |
| cparata | 2:39ad2a393143 | 1520 | |
| cparata | 2:39ad2a393143 | 1521 | /* Only single tap enabled. */ |
| cparata | 2:39ad2a393143 | 1522 | if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1523 | { |
| cparata | 2:39ad2a393143 | 1524 | return 1; |
| cparata | 2:39ad2a393143 | 1525 | } |
| cparata | 2:39ad2a393143 | 1526 | |
| cparata | 2:39ad2a393143 | 1527 | /* Disable Z direction in tap recognition. */ |
| cparata | 2:39ad2a393143 | 1528 | if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1529 | { |
| cparata | 2:39ad2a393143 | 1530 | return 1; |
| cparata | 2:39ad2a393143 | 1531 | } |
| cparata | 2:39ad2a393143 | 1532 | |
| cparata | 2:39ad2a393143 | 1533 | /* Disable Y direction in tap recognition. */ |
| cparata | 2:39ad2a393143 | 1534 | if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1535 | { |
| cparata | 2:39ad2a393143 | 1536 | return 1; |
| cparata | 2:39ad2a393143 | 1537 | } |
| cparata | 2:39ad2a393143 | 1538 | |
| cparata | 2:39ad2a393143 | 1539 | /* Disable X direction in tap recognition. */ |
| cparata | 2:39ad2a393143 | 1540 | if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1541 | { |
| cparata | 2:39ad2a393143 | 1542 | return 1; |
| cparata | 2:39ad2a393143 | 1543 | } |
| cparata | 2:39ad2a393143 | 1544 | |
| cparata | 2:39ad2a393143 | 1545 | return 0; |
| cparata | 2:39ad2a393143 | 1546 | } |
| cparata | 2:39ad2a393143 | 1547 | |
| cparata | 2:39ad2a393143 | 1548 | /** |
| cparata | 2:39ad2a393143 | 1549 | * @brief Set the tap threshold for LSM6DSL accelerometer sensor |
| cparata | 2:39ad2a393143 | 1550 | * @param thr the threshold to be set |
| cparata | 2:39ad2a393143 | 1551 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 1552 | */ |
| cparata | 2:39ad2a393143 | 1553 | int LSM6DSLSensor::Set_Tap_Threshold(uint8_t thr) |
| cparata | 2:39ad2a393143 | 1554 | { |
| cparata | 2:39ad2a393143 | 1555 | if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1556 | { |
| cparata | 2:39ad2a393143 | 1557 | return 1; |
| cparata | 2:39ad2a393143 | 1558 | } |
| cparata | 2:39ad2a393143 | 1559 | |
| cparata | 2:39ad2a393143 | 1560 | return 0; |
| cparata | 2:39ad2a393143 | 1561 | } |
| cparata | 2:39ad2a393143 | 1562 | |
| cparata | 2:39ad2a393143 | 1563 | /** |
| cparata | 2:39ad2a393143 | 1564 | * @brief Set the tap shock time window for LSM6DSL accelerometer sensor |
| cparata | 2:39ad2a393143 | 1565 | * @param time the shock time window to be set |
| cparata | 2:39ad2a393143 | 1566 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 1567 | */ |
| cparata | 2:39ad2a393143 | 1568 | int LSM6DSLSensor::Set_Tap_Shock_Time(uint8_t time) |
| cparata | 2:39ad2a393143 | 1569 | { |
| cparata | 2:39ad2a393143 | 1570 | if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1571 | { |
| cparata | 2:39ad2a393143 | 1572 | return 1; |
| cparata | 2:39ad2a393143 | 1573 | } |
| cparata | 2:39ad2a393143 | 1574 | |
| cparata | 2:39ad2a393143 | 1575 | return 0; |
| cparata | 2:39ad2a393143 | 1576 | } |
| cparata | 2:39ad2a393143 | 1577 | |
| cparata | 2:39ad2a393143 | 1578 | /** |
| cparata | 2:39ad2a393143 | 1579 | * @brief Set the tap quiet time window for LSM6DSL accelerometer sensor |
| cparata | 2:39ad2a393143 | 1580 | * @param time the quiet time window to be set |
| cparata | 2:39ad2a393143 | 1581 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 1582 | */ |
| cparata | 2:39ad2a393143 | 1583 | int LSM6DSLSensor::Set_Tap_Quiet_Time(uint8_t time) |
| cparata | 2:39ad2a393143 | 1584 | { |
| cparata | 2:39ad2a393143 | 1585 | if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1586 | { |
| cparata | 2:39ad2a393143 | 1587 | return 1; |
| cparata | 2:39ad2a393143 | 1588 | } |
| cparata | 2:39ad2a393143 | 1589 | |
| cparata | 2:39ad2a393143 | 1590 | return 0; |
| cparata | 2:39ad2a393143 | 1591 | } |
| cparata | 2:39ad2a393143 | 1592 | |
| cparata | 2:39ad2a393143 | 1593 | /** |
| cparata | 2:39ad2a393143 | 1594 | * @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor |
| cparata | 2:39ad2a393143 | 1595 | * @param time the duration of the time window to be set |
| cparata | 2:39ad2a393143 | 1596 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 1597 | */ |
| cparata | 2:39ad2a393143 | 1598 | int LSM6DSLSensor::Set_Tap_Duration_Time(uint8_t time) |
| cparata | 2:39ad2a393143 | 1599 | { |
| cparata | 2:39ad2a393143 | 1600 | if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1601 | { |
| cparata | 2:39ad2a393143 | 1602 | return 1; |
| cparata | 2:39ad2a393143 | 1603 | } |
| cparata | 2:39ad2a393143 | 1604 | |
| cparata | 2:39ad2a393143 | 1605 | return 0; |
| cparata | 2:39ad2a393143 | 1606 | } |
| cparata | 2:39ad2a393143 | 1607 | |
| cparata | 2:39ad2a393143 | 1608 | /** |
| cparata | 2:39ad2a393143 | 1609 | * @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor |
| cparata | 2:39ad2a393143 | 1610 | * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g |
| cparata | 2:39ad2a393143 | 1611 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 1612 | */ |
| cparata | 2:39ad2a393143 | 1613 | int LSM6DSLSensor::Enable_6D_Orientation(void) |
| cparata | 2:39ad2a393143 | 1614 | { |
| cparata | 2:39ad2a393143 | 1615 | /* Output Data Rate selection */ |
| cparata | 2:39ad2a393143 | 1616 | if( Set_X_ODR(416.0f) == 1 ) |
| cparata | 2:39ad2a393143 | 1617 | { |
| cparata | 2:39ad2a393143 | 1618 | return 1; |
| cparata | 2:39ad2a393143 | 1619 | } |
| cparata | 2:39ad2a393143 | 1620 | |
| cparata | 2:39ad2a393143 | 1621 | /* Full scale selection. */ |
| cparata | 2:39ad2a393143 | 1622 | if( Set_X_FS(2.0f) == 1 ) |
| cparata | 2:39ad2a393143 | 1623 | { |
| cparata | 2:39ad2a393143 | 1624 | return 1; |
| cparata | 2:39ad2a393143 | 1625 | } |
| cparata | 2:39ad2a393143 | 1626 | |
| cparata | 2:39ad2a393143 | 1627 | /* Set 6D threshold. */ |
| cparata | 2:39ad2a393143 | 1628 | if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1629 | { |
| cparata | 2:39ad2a393143 | 1630 | return 1; |
| cparata | 2:39ad2a393143 | 1631 | } |
| cparata | 2:39ad2a393143 | 1632 | |
| cparata | 2:39ad2a393143 | 1633 | /* Enable basic Interrupts */ |
| cparata | 2:39ad2a393143 | 1634 | if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1635 | { |
| cparata | 2:39ad2a393143 | 1636 | return 1; |
| cparata | 2:39ad2a393143 | 1637 | } |
| cparata | 2:39ad2a393143 | 1638 | |
| cparata | 2:39ad2a393143 | 1639 | /* INT1_6D setting. */ |
| cparata | 2:39ad2a393143 | 1640 | if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1641 | { |
| cparata | 2:39ad2a393143 | 1642 | return 1; |
| cparata | 2:39ad2a393143 | 1643 | } |
| cparata | 2:39ad2a393143 | 1644 | |
| cparata | 2:39ad2a393143 | 1645 | return 0; |
| cparata | 2:39ad2a393143 | 1646 | } |
| cparata | 2:39ad2a393143 | 1647 | |
| cparata | 2:39ad2a393143 | 1648 | /** |
| cparata | 2:39ad2a393143 | 1649 | * @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor |
| cparata | 2:39ad2a393143 | 1650 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 1651 | */ |
| cparata | 2:39ad2a393143 | 1652 | int LSM6DSLSensor::Disable_6D_Orientation(void) |
| cparata | 2:39ad2a393143 | 1653 | { |
| cparata | 2:39ad2a393143 | 1654 | /* INT1_6D setting. */ |
| cparata | 2:39ad2a393143 | 1655 | if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1656 | { |
| cparata | 2:39ad2a393143 | 1657 | return 1; |
| cparata | 2:39ad2a393143 | 1658 | } |
| cparata | 2:39ad2a393143 | 1659 | |
| cparata | 2:39ad2a393143 | 1660 | /* Disable basic Interrupts */ |
| cparata | 2:39ad2a393143 | 1661 | if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1662 | { |
| cparata | 2:39ad2a393143 | 1663 | return 1; |
| cparata | 2:39ad2a393143 | 1664 | } |
| cparata | 2:39ad2a393143 | 1665 | |
| cparata | 2:39ad2a393143 | 1666 | /* Reset 6D threshold. */ |
| cparata | 2:39ad2a393143 | 1667 | if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1668 | { |
| cparata | 2:39ad2a393143 | 1669 | return 1; |
| cparata | 2:39ad2a393143 | 1670 | } |
| cparata | 2:39ad2a393143 | 1671 | |
| cparata | 2:39ad2a393143 | 1672 | return 0; |
| cparata | 2:39ad2a393143 | 1673 | } |
| cparata | 2:39ad2a393143 | 1674 | |
| cparata | 2:39ad2a393143 | 1675 | /** |
| cparata | 2:39ad2a393143 | 1676 | * @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor |
| cparata | 2:39ad2a393143 | 1677 | * @param xl the pointer to the 6D orientation XL axis |
| cparata | 2:39ad2a393143 | 1678 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 1679 | */ |
| cparata | 2:39ad2a393143 | 1680 | int LSM6DSLSensor::Get_6D_Orientation_XL(uint8_t *xl) |
| cparata | 2:39ad2a393143 | 1681 | { |
| cparata | 2:39ad2a393143 | 1682 | LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw; |
| cparata | 2:39ad2a393143 | 1683 | |
| cparata | 2:39ad2a393143 | 1684 | if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1685 | { |
| cparata | 2:39ad2a393143 | 1686 | return 1; |
| cparata | 2:39ad2a393143 | 1687 | } |
| cparata | 2:39ad2a393143 | 1688 | |
| cparata | 2:39ad2a393143 | 1689 | switch( xl_raw ) |
| cparata | 2:39ad2a393143 | 1690 | { |
| cparata | 2:39ad2a393143 | 1691 | case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED: |
| cparata | 2:39ad2a393143 | 1692 | *xl = 1; |
| cparata | 2:39ad2a393143 | 1693 | break; |
| cparata | 2:39ad2a393143 | 1694 | case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED: |
| cparata | 2:39ad2a393143 | 1695 | *xl = 0; |
| cparata | 2:39ad2a393143 | 1696 | break; |
| cparata | 2:39ad2a393143 | 1697 | default: |
| cparata | 2:39ad2a393143 | 1698 | return 1; |
| cparata | 2:39ad2a393143 | 1699 | } |
| cparata | 2:39ad2a393143 | 1700 | |
| cparata | 2:39ad2a393143 | 1701 | return 0; |
| cparata | 2:39ad2a393143 | 1702 | } |
| cparata | 2:39ad2a393143 | 1703 | |
| cparata | 2:39ad2a393143 | 1704 | /** |
| cparata | 2:39ad2a393143 | 1705 | * @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor |
| cparata | 2:39ad2a393143 | 1706 | * @param xh the pointer to the 6D orientation XH axis |
| cparata | 2:39ad2a393143 | 1707 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 1708 | */ |
| cparata | 2:39ad2a393143 | 1709 | int LSM6DSLSensor::Get_6D_Orientation_XH(uint8_t *xh) |
| cparata | 2:39ad2a393143 | 1710 | { |
| cparata | 2:39ad2a393143 | 1711 | LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw; |
| cparata | 2:39ad2a393143 | 1712 | |
| cparata | 2:39ad2a393143 | 1713 | if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1714 | { |
| cparata | 2:39ad2a393143 | 1715 | return 1; |
| cparata | 2:39ad2a393143 | 1716 | } |
| cparata | 2:39ad2a393143 | 1717 | |
| cparata | 2:39ad2a393143 | 1718 | switch( xh_raw ) |
| cparata | 2:39ad2a393143 | 1719 | { |
| cparata | 2:39ad2a393143 | 1720 | case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED: |
| cparata | 2:39ad2a393143 | 1721 | *xh = 1; |
| cparata | 2:39ad2a393143 | 1722 | break; |
| cparata | 2:39ad2a393143 | 1723 | case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED: |
| cparata | 2:39ad2a393143 | 1724 | *xh = 0; |
| cparata | 2:39ad2a393143 | 1725 | break; |
| cparata | 2:39ad2a393143 | 1726 | default: |
| cparata | 2:39ad2a393143 | 1727 | return 1; |
| cparata | 2:39ad2a393143 | 1728 | } |
| cparata | 2:39ad2a393143 | 1729 | |
| cparata | 2:39ad2a393143 | 1730 | return 0; |
| cparata | 2:39ad2a393143 | 1731 | } |
| cparata | 2:39ad2a393143 | 1732 | |
| cparata | 2:39ad2a393143 | 1733 | /** |
| cparata | 2:39ad2a393143 | 1734 | * @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor |
| cparata | 2:39ad2a393143 | 1735 | * @param yl the pointer to the 6D orientation YL axis |
| cparata | 2:39ad2a393143 | 1736 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 1737 | */ |
| cparata | 2:39ad2a393143 | 1738 | int LSM6DSLSensor::Get_6D_Orientation_YL(uint8_t *yl) |
| cparata | 2:39ad2a393143 | 1739 | { |
| cparata | 2:39ad2a393143 | 1740 | LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw; |
| cparata | 2:39ad2a393143 | 1741 | |
| cparata | 2:39ad2a393143 | 1742 | if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1743 | { |
| cparata | 2:39ad2a393143 | 1744 | return 1; |
| cparata | 2:39ad2a393143 | 1745 | } |
| cparata | 2:39ad2a393143 | 1746 | |
| cparata | 2:39ad2a393143 | 1747 | switch( yl_raw ) |
| cparata | 2:39ad2a393143 | 1748 | { |
| cparata | 2:39ad2a393143 | 1749 | case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED: |
| cparata | 2:39ad2a393143 | 1750 | *yl = 1; |
| cparata | 2:39ad2a393143 | 1751 | break; |
| cparata | 2:39ad2a393143 | 1752 | case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED: |
| cparata | 2:39ad2a393143 | 1753 | *yl = 0; |
| cparata | 2:39ad2a393143 | 1754 | break; |
| cparata | 2:39ad2a393143 | 1755 | default: |
| cparata | 2:39ad2a393143 | 1756 | return 1; |
| cparata | 2:39ad2a393143 | 1757 | } |
| cparata | 2:39ad2a393143 | 1758 | |
| cparata | 2:39ad2a393143 | 1759 | return 0; |
| cparata | 2:39ad2a393143 | 1760 | } |
| cparata | 2:39ad2a393143 | 1761 | |
| cparata | 2:39ad2a393143 | 1762 | /** |
| cparata | 2:39ad2a393143 | 1763 | * @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor |
| cparata | 2:39ad2a393143 | 1764 | * @param yh the pointer to the 6D orientation YH axis |
| cparata | 2:39ad2a393143 | 1765 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 1766 | */ |
| cparata | 2:39ad2a393143 | 1767 | int LSM6DSLSensor::Get_6D_Orientation_YH(uint8_t *yh) |
| cparata | 2:39ad2a393143 | 1768 | { |
| cparata | 2:39ad2a393143 | 1769 | LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw; |
| cparata | 2:39ad2a393143 | 1770 | |
| cparata | 2:39ad2a393143 | 1771 | if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1772 | { |
| cparata | 2:39ad2a393143 | 1773 | return 1; |
| cparata | 2:39ad2a393143 | 1774 | } |
| cparata | 2:39ad2a393143 | 1775 | |
| cparata | 2:39ad2a393143 | 1776 | switch( yh_raw ) |
| cparata | 2:39ad2a393143 | 1777 | { |
| cparata | 2:39ad2a393143 | 1778 | case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED: |
| cparata | 2:39ad2a393143 | 1779 | *yh = 1; |
| cparata | 2:39ad2a393143 | 1780 | break; |
| cparata | 2:39ad2a393143 | 1781 | case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED: |
| cparata | 2:39ad2a393143 | 1782 | *yh = 0; |
| cparata | 2:39ad2a393143 | 1783 | break; |
| cparata | 2:39ad2a393143 | 1784 | default: |
| cparata | 2:39ad2a393143 | 1785 | return 1; |
| cparata | 2:39ad2a393143 | 1786 | } |
| cparata | 2:39ad2a393143 | 1787 | |
| cparata | 2:39ad2a393143 | 1788 | return 0; |
| cparata | 2:39ad2a393143 | 1789 | } |
| cparata | 2:39ad2a393143 | 1790 | |
| cparata | 2:39ad2a393143 | 1791 | /** |
| cparata | 2:39ad2a393143 | 1792 | * @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor |
| cparata | 2:39ad2a393143 | 1793 | * @param zl the pointer to the 6D orientation ZL axis |
| cparata | 2:39ad2a393143 | 1794 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 1795 | */ |
| cparata | 2:39ad2a393143 | 1796 | int LSM6DSLSensor::Get_6D_Orientation_ZL(uint8_t *zl) |
| cparata | 2:39ad2a393143 | 1797 | { |
| cparata | 2:39ad2a393143 | 1798 | LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw; |
| cparata | 2:39ad2a393143 | 1799 | |
| cparata | 2:39ad2a393143 | 1800 | if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1801 | { |
| cparata | 2:39ad2a393143 | 1802 | return 1; |
| cparata | 2:39ad2a393143 | 1803 | } |
| cparata | 2:39ad2a393143 | 1804 | |
| cparata | 2:39ad2a393143 | 1805 | switch( zl_raw ) |
| cparata | 2:39ad2a393143 | 1806 | { |
| cparata | 2:39ad2a393143 | 1807 | case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED: |
| cparata | 2:39ad2a393143 | 1808 | *zl = 1; |
| cparata | 2:39ad2a393143 | 1809 | break; |
| cparata | 2:39ad2a393143 | 1810 | case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED: |
| cparata | 2:39ad2a393143 | 1811 | *zl = 0; |
| cparata | 2:39ad2a393143 | 1812 | break; |
| cparata | 2:39ad2a393143 | 1813 | default: |
| cparata | 2:39ad2a393143 | 1814 | return 1; |
| cparata | 2:39ad2a393143 | 1815 | } |
| cparata | 2:39ad2a393143 | 1816 | |
| cparata | 2:39ad2a393143 | 1817 | return 0; |
| cparata | 2:39ad2a393143 | 1818 | } |
| cparata | 2:39ad2a393143 | 1819 | |
| cparata | 2:39ad2a393143 | 1820 | /** |
| cparata | 2:39ad2a393143 | 1821 | * @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor |
| cparata | 2:39ad2a393143 | 1822 | * @param zh the pointer to the 6D orientation ZH axis |
| cparata | 2:39ad2a393143 | 1823 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 1824 | */ |
| cparata | 2:39ad2a393143 | 1825 | int LSM6DSLSensor::Get_6D_Orientation_ZH(uint8_t *zh) |
| cparata | 2:39ad2a393143 | 1826 | { |
| cparata | 2:39ad2a393143 | 1827 | LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw; |
| cparata | 2:39ad2a393143 | 1828 | |
| cparata | 2:39ad2a393143 | 1829 | if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1830 | { |
| cparata | 2:39ad2a393143 | 1831 | return 1; |
| cparata | 2:39ad2a393143 | 1832 | } |
| cparata | 2:39ad2a393143 | 1833 | |
| cparata | 2:39ad2a393143 | 1834 | switch( zh_raw ) |
| cparata | 2:39ad2a393143 | 1835 | { |
| cparata | 2:39ad2a393143 | 1836 | case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED: |
| cparata | 2:39ad2a393143 | 1837 | *zh = 1; |
| cparata | 2:39ad2a393143 | 1838 | break; |
| cparata | 2:39ad2a393143 | 1839 | case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED: |
| cparata | 2:39ad2a393143 | 1840 | *zh = 0; |
| cparata | 2:39ad2a393143 | 1841 | break; |
| cparata | 2:39ad2a393143 | 1842 | default: |
| cparata | 2:39ad2a393143 | 1843 | return 1; |
| cparata | 2:39ad2a393143 | 1844 | } |
| cparata | 2:39ad2a393143 | 1845 | |
| cparata | 2:39ad2a393143 | 1846 | return 0; |
| cparata | 2:39ad2a393143 | 1847 | } |
| cparata | 2:39ad2a393143 | 1848 | |
| cparata | 2:39ad2a393143 | 1849 | /** |
| cparata | 4:49b63c3f26ae | 1850 | * @brief Get the status of all hardware events for LSM6DSL accelerometer sensor |
| cparata | 4:49b63c3f26ae | 1851 | * @param status the pointer to the status of all hardware events |
| cparata | 4:49b63c3f26ae | 1852 | * @retval 0 in case of success, an error code otherwise |
| cparata | 4:49b63c3f26ae | 1853 | */ |
| cparata | 4:49b63c3f26ae | 1854 | int LSM6DSLSensor::Get_Event_Status(LSM6DSL_Event_Status_t *status) |
| cparata | 4:49b63c3f26ae | 1855 | { |
| cparata | 5:a62aec1093d6 | 1856 | uint8_t Wake_Up_Src = 0, Tap_Src = 0, D6D_Src = 0, Func_Src = 0, Md1_Cfg = 0, Md2_Cfg = 0, Int1_Ctrl = 0; |
| cparata | 4:49b63c3f26ae | 1857 | |
| cparata | 4:49b63c3f26ae | 1858 | memset((void *)status, 0x0, sizeof(LSM6DSL_Event_Status_t)); |
| cparata | 4:49b63c3f26ae | 1859 | |
| cparata | 4:49b63c3f26ae | 1860 | if(ReadReg(LSM6DSL_ACC_GYRO_WAKE_UP_SRC, &Wake_Up_Src) != 0) |
| cparata | 4:49b63c3f26ae | 1861 | { |
| cparata | 4:49b63c3f26ae | 1862 | return 1; |
| cparata | 4:49b63c3f26ae | 1863 | } |
| cparata | 4:49b63c3f26ae | 1864 | |
| cparata | 4:49b63c3f26ae | 1865 | if(ReadReg(LSM6DSL_ACC_GYRO_TAP_SRC, &Tap_Src) != 0) |
| cparata | 4:49b63c3f26ae | 1866 | { |
| cparata | 4:49b63c3f26ae | 1867 | return 1; |
| cparata | 4:49b63c3f26ae | 1868 | } |
| cparata | 4:49b63c3f26ae | 1869 | |
| cparata | 4:49b63c3f26ae | 1870 | if(ReadReg(LSM6DSL_ACC_GYRO_D6D_SRC, &D6D_Src) != 0) |
| cparata | 4:49b63c3f26ae | 1871 | { |
| cparata | 4:49b63c3f26ae | 1872 | return 1; |
| cparata | 4:49b63c3f26ae | 1873 | } |
| cparata | 4:49b63c3f26ae | 1874 | |
| cparata | 4:49b63c3f26ae | 1875 | if(ReadReg(LSM6DSL_ACC_GYRO_FUNC_SRC, &Func_Src) != 0) |
| cparata | 4:49b63c3f26ae | 1876 | { |
| cparata | 4:49b63c3f26ae | 1877 | return 1; |
| cparata | 4:49b63c3f26ae | 1878 | } |
| cparata | 4:49b63c3f26ae | 1879 | |
| cparata | 5:a62aec1093d6 | 1880 | if(ReadReg(LSM6DSL_ACC_GYRO_MD1_CFG, &Md1_Cfg ) != 0 ) |
| cparata | 5:a62aec1093d6 | 1881 | { |
| cparata | 5:a62aec1093d6 | 1882 | return 1; |
| cparata | 5:a62aec1093d6 | 1883 | } |
| cparata | 5:a62aec1093d6 | 1884 | |
| cparata | 5:a62aec1093d6 | 1885 | if(ReadReg(LSM6DSL_ACC_GYRO_MD2_CFG, &Md2_Cfg ) != 0) |
| cparata | 4:49b63c3f26ae | 1886 | { |
| cparata | 5:a62aec1093d6 | 1887 | return 1; |
| cparata | 5:a62aec1093d6 | 1888 | } |
| cparata | 5:a62aec1093d6 | 1889 | |
| cparata | 5:a62aec1093d6 | 1890 | if(ReadReg(LSM6DSL_ACC_GYRO_INT1_CTRL, &Int1_Ctrl ) != 0) |
| cparata | 5:a62aec1093d6 | 1891 | { |
| cparata | 5:a62aec1093d6 | 1892 | return 1; |
| cparata | 4:49b63c3f26ae | 1893 | } |
| cparata | 4:49b63c3f26ae | 1894 | |
| cparata | 5:a62aec1093d6 | 1895 | if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_FF_MASK) |
| cparata | 4:49b63c3f26ae | 1896 | { |
| cparata | 5:a62aec1093d6 | 1897 | if((Wake_Up_Src & LSM6DSL_ACC_GYRO_FF_EV_STATUS_MASK)) |
| cparata | 5:a62aec1093d6 | 1898 | { |
| cparata | 5:a62aec1093d6 | 1899 | status->FreeFallStatus = 1; |
| cparata | 5:a62aec1093d6 | 1900 | } |
| cparata | 4:49b63c3f26ae | 1901 | } |
| cparata | 4:49b63c3f26ae | 1902 | |
| cparata | 5:a62aec1093d6 | 1903 | if(Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_WU_MASK) |
| cparata | 4:49b63c3f26ae | 1904 | { |
| cparata | 5:a62aec1093d6 | 1905 | if((Wake_Up_Src & LSM6DSL_ACC_GYRO_WU_EV_STATUS_MASK)) |
| cparata | 5:a62aec1093d6 | 1906 | { |
| cparata | 5:a62aec1093d6 | 1907 | status->WakeUpStatus = 1; |
| cparata | 5:a62aec1093d6 | 1908 | } |
| cparata | 4:49b63c3f26ae | 1909 | } |
| cparata | 4:49b63c3f26ae | 1910 | |
| cparata | 5:a62aec1093d6 | 1911 | if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_MASK) |
| cparata | 4:49b63c3f26ae | 1912 | { |
| cparata | 5:a62aec1093d6 | 1913 | if((Tap_Src & LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_MASK)) |
| cparata | 5:a62aec1093d6 | 1914 | { |
| cparata | 5:a62aec1093d6 | 1915 | status->TapStatus = 1; |
| cparata | 5:a62aec1093d6 | 1916 | } |
| cparata | 5:a62aec1093d6 | 1917 | } |
| cparata | 5:a62aec1093d6 | 1918 | |
| cparata | 5:a62aec1093d6 | 1919 | if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TAP_MASK) |
| cparata | 5:a62aec1093d6 | 1920 | { |
| cparata | 5:a62aec1093d6 | 1921 | if((Tap_Src & LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_MASK)) |
| cparata | 5:a62aec1093d6 | 1922 | { |
| cparata | 5:a62aec1093d6 | 1923 | status->DoubleTapStatus = 1; |
| cparata | 5:a62aec1093d6 | 1924 | } |
| cparata | 4:49b63c3f26ae | 1925 | } |
| cparata | 4:49b63c3f26ae | 1926 | |
| cparata | 5:a62aec1093d6 | 1927 | if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_6D_MASK) |
| cparata | 4:49b63c3f26ae | 1928 | { |
| cparata | 5:a62aec1093d6 | 1929 | if((D6D_Src & LSM6DSL_ACC_GYRO_D6D_EV_STATUS_MASK)) |
| cparata | 5:a62aec1093d6 | 1930 | { |
| cparata | 5:a62aec1093d6 | 1931 | status->D6DOrientationStatus = 1; |
| cparata | 5:a62aec1093d6 | 1932 | } |
| cparata | 4:49b63c3f26ae | 1933 | } |
| cparata | 4:49b63c3f26ae | 1934 | |
| cparata | 5:a62aec1093d6 | 1935 | if(Int1_Ctrl & LSM6DSL_ACC_GYRO_INT1_PEDO_MASK) |
| cparata | 4:49b63c3f26ae | 1936 | { |
| cparata | 5:a62aec1093d6 | 1937 | if((Func_Src & LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_MASK)) |
| cparata | 5:a62aec1093d6 | 1938 | { |
| cparata | 5:a62aec1093d6 | 1939 | status->StepStatus = 1; |
| cparata | 5:a62aec1093d6 | 1940 | } |
| cparata | 4:49b63c3f26ae | 1941 | } |
| cparata | 4:49b63c3f26ae | 1942 | |
| cparata | 5:a62aec1093d6 | 1943 | if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TILT_MASK) |
| cparata | 4:49b63c3f26ae | 1944 | { |
| cparata | 5:a62aec1093d6 | 1945 | if((Func_Src & LSM6DSL_ACC_GYRO_TILT_EV_STATUS_MASK)) |
| cparata | 5:a62aec1093d6 | 1946 | { |
| cparata | 5:a62aec1093d6 | 1947 | status->TiltStatus = 1; |
| cparata | 5:a62aec1093d6 | 1948 | } |
| cparata | 4:49b63c3f26ae | 1949 | } |
| cparata | 4:49b63c3f26ae | 1950 | |
| cparata | 4:49b63c3f26ae | 1951 | return 0; |
| cparata | 4:49b63c3f26ae | 1952 | } |
| cparata | 4:49b63c3f26ae | 1953 | |
| cparata | 4:49b63c3f26ae | 1954 | /** |
| cparata | 2:39ad2a393143 | 1955 | * @brief Read the data from register |
| cparata | 2:39ad2a393143 | 1956 | * @param reg register address |
| cparata | 2:39ad2a393143 | 1957 | * @param data register data |
| cparata | 4:49b63c3f26ae | 1958 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 1959 | */ |
| cparata | 2:39ad2a393143 | 1960 | int LSM6DSLSensor::ReadReg( uint8_t reg, uint8_t *data ) |
| cparata | 2:39ad2a393143 | 1961 | { |
| cparata | 2:39ad2a393143 | 1962 | |
| cparata | 2:39ad2a393143 | 1963 | if ( LSM6DSL_ACC_GYRO_ReadReg( (void *)this, reg, data, 1 ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1964 | { |
| cparata | 2:39ad2a393143 | 1965 | return 1; |
| cparata | 2:39ad2a393143 | 1966 | } |
| cparata | 2:39ad2a393143 | 1967 | |
| cparata | 2:39ad2a393143 | 1968 | return 0; |
| cparata | 2:39ad2a393143 | 1969 | } |
| cparata | 2:39ad2a393143 | 1970 | |
| cparata | 2:39ad2a393143 | 1971 | /** |
| cparata | 2:39ad2a393143 | 1972 | * @brief Write the data to register |
| cparata | 2:39ad2a393143 | 1973 | * @param reg register address |
| cparata | 2:39ad2a393143 | 1974 | * @param data register data |
| cparata | 4:49b63c3f26ae | 1975 | * @retval 0 in case of success, an error code otherwise |
| cparata | 2:39ad2a393143 | 1976 | */ |
| cparata | 2:39ad2a393143 | 1977 | int LSM6DSLSensor::WriteReg( uint8_t reg, uint8_t data ) |
| cparata | 2:39ad2a393143 | 1978 | { |
| cparata | 2:39ad2a393143 | 1979 | |
| cparata | 2:39ad2a393143 | 1980 | if ( LSM6DSL_ACC_GYRO_WriteReg( (void *)this, reg, &data, 1 ) == MEMS_ERROR ) |
| cparata | 2:39ad2a393143 | 1981 | { |
| cparata | 2:39ad2a393143 | 1982 | return 1; |
| cparata | 2:39ad2a393143 | 1983 | } |
| cparata | 2:39ad2a393143 | 1984 | |
| cparata | 2:39ad2a393143 | 1985 | return 0; |
| cparata | 2:39ad2a393143 | 1986 | } |
| cparata | 2:39ad2a393143 | 1987 | |
| cparata | 2:39ad2a393143 | 1988 | |
| cparata | 2:39ad2a393143 | 1989 | uint8_t LSM6DSL_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite ) |
| cparata | 2:39ad2a393143 | 1990 | { |
| cparata | 2:39ad2a393143 | 1991 | return ((LSM6DSLSensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite); |
| cparata | 2:39ad2a393143 | 1992 | } |
| cparata | 2:39ad2a393143 | 1993 | |
| cparata | 2:39ad2a393143 | 1994 | uint8_t LSM6DSL_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead ) |
| cparata | 2:39ad2a393143 | 1995 | { |
| cparata | 2:39ad2a393143 | 1996 | return ((LSM6DSLSensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead); |
| cparata | 2:39ad2a393143 | 1997 | } |