WakeUp_IKS01A2 - Example of wake up detection for LSM6DSL in X-NUC…

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Example of wake up detection for LSM6DSL in X-NUCLEO-IKS01A2

Fork of WakeUp_IKS01A2 by ST Expansion SW Team

Wake up Demo Application based on sensor expansion board X-NUCLEO-IKS01A2

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

X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.cpp@2:7ad7571557a5, 2016-08-19 (annotated)

Committer:: cparata
Date:: Fri Aug 19 12:35:45 2016 +0000
Revision:: 2:7ad7571557a5
Child:: 4:fbffbdc722a5

Add interfaces to all components

Who changed what in which revision?

User	Revision	Line number	New contents of line
cparata	2:7ad7571557a5	1	/**
cparata	2:7ad7571557a5	2	******************************************************************************
cparata	2:7ad7571557a5	3	* @file LSM6DSLSensor.cpp
cparata	2:7ad7571557a5	4	* @author AST
cparata	2:7ad7571557a5	5	* @version V1.0.0
cparata	2:7ad7571557a5	6	* @date 5 August 2016
cparata	2:7ad7571557a5	7	* @brief Implementation of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
cparata	2:7ad7571557a5	8	* sensor.
cparata	2:7ad7571557a5	9	******************************************************************************
cparata	2:7ad7571557a5	10	* @attention
cparata	2:7ad7571557a5	11	*
cparata	2:7ad7571557a5	12	* <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata	2:7ad7571557a5	13	*
cparata	2:7ad7571557a5	14	* Redistribution and use in source and binary forms, with or without modification,
cparata	2:7ad7571557a5	15	* are permitted provided that the following conditions are met:
cparata	2:7ad7571557a5	16	* 1. Redistributions of source code must retain the above copyright notice,
cparata	2:7ad7571557a5	17	* this list of conditions and the following disclaimer.
cparata	2:7ad7571557a5	18	* 2. Redistributions in binary form must reproduce the above copyright notice,
cparata	2:7ad7571557a5	19	* this list of conditions and the following disclaimer in the documentation
cparata	2:7ad7571557a5	20	* and/or other materials provided with the distribution.
cparata	2:7ad7571557a5	21	* 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata	2:7ad7571557a5	22	* may be used to endorse or promote products derived from this software
cparata	2:7ad7571557a5	23	* without specific prior written permission.
cparata	2:7ad7571557a5	24	*
cparata	2:7ad7571557a5	25	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata	2:7ad7571557a5	26	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata	2:7ad7571557a5	27	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata	2:7ad7571557a5	28	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata	2:7ad7571557a5	29	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata	2:7ad7571557a5	30	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata	2:7ad7571557a5	31	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata	2:7ad7571557a5	32	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata	2:7ad7571557a5	33	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata	2:7ad7571557a5	34	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata	2:7ad7571557a5	35	*
cparata	2:7ad7571557a5	36	******************************************************************************
cparata	2:7ad7571557a5	37	*/
cparata	2:7ad7571557a5	38
cparata	2:7ad7571557a5	39
cparata	2:7ad7571557a5	40	/* Includes ------------------------------------------------------------------*/
cparata	2:7ad7571557a5	41
cparata	2:7ad7571557a5	42	#include "mbed.h"
cparata	2:7ad7571557a5	43	#include "DevI2C.h"
cparata	2:7ad7571557a5	44	#include "LSM6DSLSensor.h"
cparata	2:7ad7571557a5	45	#include "LSM6DSL_ACC_GYRO_driver.h"
cparata	2:7ad7571557a5	46
cparata	2:7ad7571557a5	47
cparata	2:7ad7571557a5	48	/* Class Implementation ------------------------------------------------------*/
cparata	2:7ad7571557a5	49
cparata	2:7ad7571557a5	50	/** Constructor
cparata	2:7ad7571557a5	51	* @param i2c object of an helper class which handles the I2C peripheral
cparata	2:7ad7571557a5	52	* @param address the address of the component's instance
cparata	2:7ad7571557a5	53	*/
cparata	2:7ad7571557a5	54	LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c) : dev_i2c(i2c)
cparata	2:7ad7571557a5	55	{
cparata	2:7ad7571557a5	56	address = LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH;
cparata	2:7ad7571557a5	57	};
cparata	2:7ad7571557a5	58
cparata	2:7ad7571557a5	59	/** Constructor
cparata	2:7ad7571557a5	60	* @param i2c object of an helper class which handles the I2C peripheral
cparata	2:7ad7571557a5	61	* @param address the address of the component's instance
cparata	2:7ad7571557a5	62	*/
cparata	2:7ad7571557a5	63	LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
cparata	2:7ad7571557a5	64	{
cparata	2:7ad7571557a5	65
cparata	2:7ad7571557a5	66	};
cparata	2:7ad7571557a5	67
cparata	2:7ad7571557a5	68	/**
cparata	2:7ad7571557a5	69	* @brief Initializing the component.
cparata	2:7ad7571557a5	70	* @param[in] init pointer to device specific initalization structure.
cparata	2:7ad7571557a5	71	* @retval "0" in case of success, an error code otherwise.
cparata	2:7ad7571557a5	72	*/
cparata	2:7ad7571557a5	73	int LSM6DSLSensor::Init(void *init)
cparata	2:7ad7571557a5	74	{
cparata	2:7ad7571557a5	75	/* Enable register address automatically incremented during a multiple byte
cparata	2:7ad7571557a5	76	access with a serial interface. */
cparata	2:7ad7571557a5	77	if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	78	{
cparata	2:7ad7571557a5	79	return 1;
cparata	2:7ad7571557a5	80	}
cparata	2:7ad7571557a5	81
cparata	2:7ad7571557a5	82	/* Enable BDU */
cparata	2:7ad7571557a5	83	if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
cparata	2:7ad7571557a5	84	{
cparata	2:7ad7571557a5	85	return 1;
cparata	2:7ad7571557a5	86	}
cparata	2:7ad7571557a5	87
cparata	2:7ad7571557a5	88	/* FIFO mode selection */
cparata	2:7ad7571557a5	89	if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
cparata	2:7ad7571557a5	90	{
cparata	2:7ad7571557a5	91	return 1;
cparata	2:7ad7571557a5	92	}
cparata	2:7ad7571557a5	93
cparata	2:7ad7571557a5	94	/* Output data rate selection - power down. */
cparata	2:7ad7571557a5	95	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata	2:7ad7571557a5	96	{
cparata	2:7ad7571557a5	97	return 1;
cparata	2:7ad7571557a5	98	}
cparata	2:7ad7571557a5	99
cparata	2:7ad7571557a5	100	/* Full scale selection. */
cparata	2:7ad7571557a5	101	if ( Set_X_FS( 2.0f ) == 1 )
cparata	2:7ad7571557a5	102	{
cparata	2:7ad7571557a5	103	return 1;
cparata	2:7ad7571557a5	104	}
cparata	2:7ad7571557a5	105
cparata	2:7ad7571557a5	106	/* Output data rate selection - power down */
cparata	2:7ad7571557a5	107	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata	2:7ad7571557a5	108	{
cparata	2:7ad7571557a5	109	return 1;
cparata	2:7ad7571557a5	110	}
cparata	2:7ad7571557a5	111
cparata	2:7ad7571557a5	112	/* Full scale selection. */
cparata	2:7ad7571557a5	113	if ( Set_G_FS( 2000.0f ) == 1 )
cparata	2:7ad7571557a5	114	{
cparata	2:7ad7571557a5	115	return 1;
cparata	2:7ad7571557a5	116	}
cparata	2:7ad7571557a5	117
cparata	2:7ad7571557a5	118	X_Last_ODR = 104.0f;
cparata	2:7ad7571557a5	119
cparata	2:7ad7571557a5	120	X_isEnabled = 0;
cparata	2:7ad7571557a5	121
cparata	2:7ad7571557a5	122	G_Last_ODR = 104.0f;
cparata	2:7ad7571557a5	123
cparata	2:7ad7571557a5	124	G_isEnabled = 0;
cparata	2:7ad7571557a5	125
cparata	2:7ad7571557a5	126	return 0;
cparata	2:7ad7571557a5	127	}
cparata	2:7ad7571557a5	128
cparata	2:7ad7571557a5	129	/**
cparata	2:7ad7571557a5	130	* @brief Enable LSM6DSL Accelerator
cparata	2:7ad7571557a5	131	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	132	*/
cparata	2:7ad7571557a5	133	int LSM6DSLSensor::Enable_X(void)
cparata	2:7ad7571557a5	134	{
cparata	2:7ad7571557a5	135	/* Check if the component is already enabled */
cparata	2:7ad7571557a5	136	if ( X_isEnabled == 1 )
cparata	2:7ad7571557a5	137	{
cparata	2:7ad7571557a5	138	return 0;
cparata	2:7ad7571557a5	139	}
cparata	2:7ad7571557a5	140
cparata	2:7ad7571557a5	141	/* Output data rate selection. */
cparata	2:7ad7571557a5	142	if ( Set_X_ODR_When_Enabled( X_Last_ODR ) == 1 )
cparata	2:7ad7571557a5	143	{
cparata	2:7ad7571557a5	144	return 1;
cparata	2:7ad7571557a5	145	}
cparata	2:7ad7571557a5	146
cparata	2:7ad7571557a5	147	X_isEnabled = 1;
cparata	2:7ad7571557a5	148
cparata	2:7ad7571557a5	149	return 0;
cparata	2:7ad7571557a5	150	}
cparata	2:7ad7571557a5	151
cparata	2:7ad7571557a5	152	/**
cparata	2:7ad7571557a5	153	* @brief Enable LSM6DSL Gyroscope
cparata	2:7ad7571557a5	154	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	155	*/
cparata	2:7ad7571557a5	156	int LSM6DSLSensor::Enable_G(void)
cparata	2:7ad7571557a5	157	{
cparata	2:7ad7571557a5	158	/* Check if the component is already enabled */
cparata	2:7ad7571557a5	159	if ( G_isEnabled == 1 )
cparata	2:7ad7571557a5	160	{
cparata	2:7ad7571557a5	161	return 0;
cparata	2:7ad7571557a5	162	}
cparata	2:7ad7571557a5	163
cparata	2:7ad7571557a5	164	/* Output data rate selection. */
cparata	2:7ad7571557a5	165	if ( Set_G_ODR_When_Enabled( G_Last_ODR ) == 1 )
cparata	2:7ad7571557a5	166	{
cparata	2:7ad7571557a5	167	return 1;
cparata	2:7ad7571557a5	168	}
cparata	2:7ad7571557a5	169
cparata	2:7ad7571557a5	170	G_isEnabled = 1;
cparata	2:7ad7571557a5	171
cparata	2:7ad7571557a5	172	return 0;
cparata	2:7ad7571557a5	173	}
cparata	2:7ad7571557a5	174
cparata	2:7ad7571557a5	175	/**
cparata	2:7ad7571557a5	176	* @brief Disable LSM6DSL Accelerator
cparata	2:7ad7571557a5	177	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	178	*/
cparata	2:7ad7571557a5	179	int LSM6DSLSensor::Disable_X(void)
cparata	2:7ad7571557a5	180	{
cparata	2:7ad7571557a5	181	/* Check if the component is already disabled */
cparata	2:7ad7571557a5	182	if ( X_isEnabled == 0 )
cparata	2:7ad7571557a5	183	{
cparata	2:7ad7571557a5	184	return 0;
cparata	2:7ad7571557a5	185	}
cparata	2:7ad7571557a5	186
cparata	2:7ad7571557a5	187	/* Store actual output data rate. */
cparata	2:7ad7571557a5	188	if ( Get_X_ODR( &X_Last_ODR ) == 1 )
cparata	2:7ad7571557a5	189	{
cparata	2:7ad7571557a5	190	return 1;
cparata	2:7ad7571557a5	191	}
cparata	2:7ad7571557a5	192
cparata	2:7ad7571557a5	193	/* Output data rate selection - power down. */
cparata	2:7ad7571557a5	194	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata	2:7ad7571557a5	195	{
cparata	2:7ad7571557a5	196	return 1;
cparata	2:7ad7571557a5	197	}
cparata	2:7ad7571557a5	198
cparata	2:7ad7571557a5	199	X_isEnabled = 0;
cparata	2:7ad7571557a5	200
cparata	2:7ad7571557a5	201	return 0;
cparata	2:7ad7571557a5	202	}
cparata	2:7ad7571557a5	203
cparata	2:7ad7571557a5	204	/**
cparata	2:7ad7571557a5	205	* @brief Disable LSM6DSL Gyroscope
cparata	2:7ad7571557a5	206	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	207	*/
cparata	2:7ad7571557a5	208	int LSM6DSLSensor::Disable_G(void)
cparata	2:7ad7571557a5	209	{
cparata	2:7ad7571557a5	210	/* Check if the component is already disabled */
cparata	2:7ad7571557a5	211	if ( G_isEnabled == 0 )
cparata	2:7ad7571557a5	212	{
cparata	2:7ad7571557a5	213	return 0;
cparata	2:7ad7571557a5	214	}
cparata	2:7ad7571557a5	215
cparata	2:7ad7571557a5	216	/* Store actual output data rate. */
cparata	2:7ad7571557a5	217	if ( Get_G_ODR( &G_Last_ODR ) == 1 )
cparata	2:7ad7571557a5	218	{
cparata	2:7ad7571557a5	219	return 1;
cparata	2:7ad7571557a5	220	}
cparata	2:7ad7571557a5	221
cparata	2:7ad7571557a5	222	/* Output data rate selection - power down */
cparata	2:7ad7571557a5	223	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata	2:7ad7571557a5	224	{
cparata	2:7ad7571557a5	225	return 1;
cparata	2:7ad7571557a5	226	}
cparata	2:7ad7571557a5	227
cparata	2:7ad7571557a5	228	G_isEnabled = 0;
cparata	2:7ad7571557a5	229
cparata	2:7ad7571557a5	230	return 0;
cparata	2:7ad7571557a5	231	}
cparata	2:7ad7571557a5	232
cparata	2:7ad7571557a5	233	/**
cparata	2:7ad7571557a5	234	* @brief Read ID of LSM6DSL Accelerometer and Gyroscope
cparata	2:7ad7571557a5	235	* @param p_id the pointer where the ID of the device is stored
cparata	2:7ad7571557a5	236	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	237	*/
cparata	2:7ad7571557a5	238	int LSM6DSLSensor::ReadID(uint8_t *id)
cparata	2:7ad7571557a5	239	{
cparata	2:7ad7571557a5	240	if(!id)
cparata	2:7ad7571557a5	241	{
cparata	2:7ad7571557a5	242	return 1;
cparata	2:7ad7571557a5	243	}
cparata	2:7ad7571557a5	244
cparata	2:7ad7571557a5	245	/* Read WHO AM I register */
cparata	2:7ad7571557a5	246	if ( LSM6DSL_ACC_GYRO_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
cparata	2:7ad7571557a5	247	{
cparata	2:7ad7571557a5	248	return 1;
cparata	2:7ad7571557a5	249	}
cparata	2:7ad7571557a5	250
cparata	2:7ad7571557a5	251	return 0;
cparata	2:7ad7571557a5	252	}
cparata	2:7ad7571557a5	253
cparata	2:7ad7571557a5	254	/**
cparata	2:7ad7571557a5	255	* @brief Read data from LSM6DSL Accelerometer
cparata	2:7ad7571557a5	256	* @param pData the pointer where the accelerometer data are stored
cparata	2:7ad7571557a5	257	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	258	*/
cparata	2:7ad7571557a5	259	int LSM6DSLSensor::Get_X_Axes(int32_t *pData)
cparata	2:7ad7571557a5	260	{
cparata	2:7ad7571557a5	261	int16_t dataRaw[3];
cparata	2:7ad7571557a5	262	float sensitivity = 0;
cparata	2:7ad7571557a5	263
cparata	2:7ad7571557a5	264	/* Read raw data from LSM6DSL output register. */
cparata	2:7ad7571557a5	265	if ( Get_X_AxesRaw( dataRaw ) == 1 )
cparata	2:7ad7571557a5	266	{
cparata	2:7ad7571557a5	267	return 1;
cparata	2:7ad7571557a5	268	}
cparata	2:7ad7571557a5	269
cparata	2:7ad7571557a5	270	/* Get LSM6DSL actual sensitivity. */
cparata	2:7ad7571557a5	271	if ( Get_X_Sensitivity( &sensitivity ) == 1 )
cparata	2:7ad7571557a5	272	{
cparata	2:7ad7571557a5	273	return 1;
cparata	2:7ad7571557a5	274	}
cparata	2:7ad7571557a5	275
cparata	2:7ad7571557a5	276	/* Calculate the data. */
cparata	2:7ad7571557a5	277	pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata	2:7ad7571557a5	278	pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata	2:7ad7571557a5	279	pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata	2:7ad7571557a5	280
cparata	2:7ad7571557a5	281	return 0;
cparata	2:7ad7571557a5	282	}
cparata	2:7ad7571557a5	283
cparata	2:7ad7571557a5	284	/**
cparata	2:7ad7571557a5	285	* @brief Read data from LSM6DSL Gyroscope
cparata	2:7ad7571557a5	286	* @param pData the pointer where the gyroscope data are stored
cparata	2:7ad7571557a5	287	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	288	*/
cparata	2:7ad7571557a5	289	int LSM6DSLSensor::Get_G_Axes(int32_t *pData)
cparata	2:7ad7571557a5	290	{
cparata	2:7ad7571557a5	291	int16_t dataRaw[3];
cparata	2:7ad7571557a5	292	float sensitivity = 0;
cparata	2:7ad7571557a5	293
cparata	2:7ad7571557a5	294	/* Read raw data from LSM6DSL output register. */
cparata	2:7ad7571557a5	295	if ( Get_G_AxesRaw( dataRaw ) == 1 )
cparata	2:7ad7571557a5	296	{
cparata	2:7ad7571557a5	297	return 1;
cparata	2:7ad7571557a5	298	}
cparata	2:7ad7571557a5	299
cparata	2:7ad7571557a5	300	/* Get LSM6DSL actual sensitivity. */
cparata	2:7ad7571557a5	301	if ( Get_G_Sensitivity( &sensitivity ) == 1 )
cparata	2:7ad7571557a5	302	{
cparata	2:7ad7571557a5	303	return 1;
cparata	2:7ad7571557a5	304	}
cparata	2:7ad7571557a5	305
cparata	2:7ad7571557a5	306	/* Calculate the data. */
cparata	2:7ad7571557a5	307	pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata	2:7ad7571557a5	308	pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata	2:7ad7571557a5	309	pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata	2:7ad7571557a5	310
cparata	2:7ad7571557a5	311	return 0;
cparata	2:7ad7571557a5	312	}
cparata	2:7ad7571557a5	313
cparata	2:7ad7571557a5	314	/**
cparata	2:7ad7571557a5	315	* @brief Read Accelerometer Sensitivity
cparata	2:7ad7571557a5	316	* @param pfData the pointer where the accelerometer sensitivity is stored
cparata	2:7ad7571557a5	317	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	318	*/
cparata	2:7ad7571557a5	319	int LSM6DSLSensor::Get_X_Sensitivity(float *pfData)
cparata	2:7ad7571557a5	320	{
cparata	2:7ad7571557a5	321	LSM6DSL_ACC_GYRO_FS_XL_t fullScale;
cparata	2:7ad7571557a5	322
cparata	2:7ad7571557a5	323	/* Read actual full scale selection from sensor. */
cparata	2:7ad7571557a5	324	if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fullScale ) == MEMS_ERROR )
cparata	2:7ad7571557a5	325	{
cparata	2:7ad7571557a5	326	return 1;
cparata	2:7ad7571557a5	327	}
cparata	2:7ad7571557a5	328
cparata	2:7ad7571557a5	329	/* Store the sensitivity based on actual full scale. */
cparata	2:7ad7571557a5	330	switch( fullScale )
cparata	2:7ad7571557a5	331	{
cparata	2:7ad7571557a5	332	case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata	2:7ad7571557a5	333	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G;
cparata	2:7ad7571557a5	334	break;
cparata	2:7ad7571557a5	335	case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata	2:7ad7571557a5	336	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G;
cparata	2:7ad7571557a5	337	break;
cparata	2:7ad7571557a5	338	case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata	2:7ad7571557a5	339	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G;
cparata	2:7ad7571557a5	340	break;
cparata	2:7ad7571557a5	341	case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata	2:7ad7571557a5	342	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G;
cparata	2:7ad7571557a5	343	break;
cparata	2:7ad7571557a5	344	default:
cparata	2:7ad7571557a5	345	*pfData = -1.0f;
cparata	2:7ad7571557a5	346	return 1;
cparata	2:7ad7571557a5	347	}
cparata	2:7ad7571557a5	348
cparata	2:7ad7571557a5	349	return 0;
cparata	2:7ad7571557a5	350	}
cparata	2:7ad7571557a5	351
cparata	2:7ad7571557a5	352	/**
cparata	2:7ad7571557a5	353	* @brief Read Gyroscope Sensitivity
cparata	2:7ad7571557a5	354	* @param pfData the pointer where the gyroscope sensitivity is stored
cparata	2:7ad7571557a5	355	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	356	*/
cparata	2:7ad7571557a5	357	int LSM6DSLSensor::Get_G_Sensitivity(float *pfData)
cparata	2:7ad7571557a5	358	{
cparata	2:7ad7571557a5	359	LSM6DSL_ACC_GYRO_FS_125_t fullScale125;
cparata	2:7ad7571557a5	360	LSM6DSL_ACC_GYRO_FS_G_t fullScale;
cparata	2:7ad7571557a5	361
cparata	2:7ad7571557a5	362	/* Read full scale 125 selection from sensor. */
cparata	2:7ad7571557a5	363	if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fullScale125 ) == MEMS_ERROR )
cparata	2:7ad7571557a5	364	{
cparata	2:7ad7571557a5	365	return 1;
cparata	2:7ad7571557a5	366	}
cparata	2:7ad7571557a5	367
cparata	2:7ad7571557a5	368	if ( fullScale125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata	2:7ad7571557a5	369	{
cparata	2:7ad7571557a5	370	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS;
cparata	2:7ad7571557a5	371	}
cparata	2:7ad7571557a5	372
cparata	2:7ad7571557a5	373	else
cparata	2:7ad7571557a5	374	{
cparata	2:7ad7571557a5	375
cparata	2:7ad7571557a5	376	/* Read actual full scale selection from sensor. */
cparata	2:7ad7571557a5	377	if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fullScale ) == MEMS_ERROR )
cparata	2:7ad7571557a5	378	{
cparata	2:7ad7571557a5	379	return 1;
cparata	2:7ad7571557a5	380	}
cparata	2:7ad7571557a5	381
cparata	2:7ad7571557a5	382	/* Store the sensitivity based on actual full scale. */
cparata	2:7ad7571557a5	383	switch( fullScale )
cparata	2:7ad7571557a5	384	{
cparata	2:7ad7571557a5	385	case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata	2:7ad7571557a5	386	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS;
cparata	2:7ad7571557a5	387	break;
cparata	2:7ad7571557a5	388	case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata	2:7ad7571557a5	389	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS;
cparata	2:7ad7571557a5	390	break;
cparata	2:7ad7571557a5	391	case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata	2:7ad7571557a5	392	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS;
cparata	2:7ad7571557a5	393	break;
cparata	2:7ad7571557a5	394	case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata	2:7ad7571557a5	395	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS;
cparata	2:7ad7571557a5	396	break;
cparata	2:7ad7571557a5	397	default:
cparata	2:7ad7571557a5	398	*pfData = -1.0f;
cparata	2:7ad7571557a5	399	return 1;
cparata	2:7ad7571557a5	400	}
cparata	2:7ad7571557a5	401	}
cparata	2:7ad7571557a5	402
cparata	2:7ad7571557a5	403	return 0;
cparata	2:7ad7571557a5	404	}
cparata	2:7ad7571557a5	405
cparata	2:7ad7571557a5	406	/**
cparata	2:7ad7571557a5	407	* @brief Read raw data from LSM6DSL Accelerometer
cparata	2:7ad7571557a5	408	* @param pData the pointer where the accelerometer raw data are stored
cparata	2:7ad7571557a5	409	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	410	*/
cparata	2:7ad7571557a5	411	int LSM6DSLSensor::Get_X_AxesRaw(int16_t *pData)
cparata	2:7ad7571557a5	412	{
cparata	2:7ad7571557a5	413	uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata	2:7ad7571557a5	414
cparata	2:7ad7571557a5	415	/* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_XL to LSM6DSL_ACC_GYRO_OUTZ_H_XL. */
cparata	2:7ad7571557a5	416	if ( LSM6DSL_ACC_GYRO_GetRawAccData( (void *)this, regValue ) == MEMS_ERROR )
cparata	2:7ad7571557a5	417	{
cparata	2:7ad7571557a5	418	return 1;
cparata	2:7ad7571557a5	419	}
cparata	2:7ad7571557a5	420
cparata	2:7ad7571557a5	421	/* Format the data. */
cparata	2:7ad7571557a5	422	pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata	2:7ad7571557a5	423	pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata	2:7ad7571557a5	424	pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata	2:7ad7571557a5	425
cparata	2:7ad7571557a5	426	return 0;
cparata	2:7ad7571557a5	427	}
cparata	2:7ad7571557a5	428
cparata	2:7ad7571557a5	429	/**
cparata	2:7ad7571557a5	430	* @brief Read raw data from LSM6DSL Gyroscope
cparata	2:7ad7571557a5	431	* @param pData the pointer where the gyroscope raw data are stored
cparata	2:7ad7571557a5	432	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	433	*/
cparata	2:7ad7571557a5	434	int LSM6DSLSensor::Get_G_AxesRaw(int16_t *pData)
cparata	2:7ad7571557a5	435	{
cparata	2:7ad7571557a5	436	uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata	2:7ad7571557a5	437
cparata	2:7ad7571557a5	438	/* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_G to LSM6DSL_ACC_GYRO_OUTZ_H_G. */
cparata	2:7ad7571557a5	439	if ( LSM6DSL_ACC_GYRO_GetRawGyroData( (void *)this, regValue ) == MEMS_ERROR )
cparata	2:7ad7571557a5	440	{
cparata	2:7ad7571557a5	441	return 1;
cparata	2:7ad7571557a5	442	}
cparata	2:7ad7571557a5	443
cparata	2:7ad7571557a5	444	/* Format the data. */
cparata	2:7ad7571557a5	445	pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata	2:7ad7571557a5	446	pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata	2:7ad7571557a5	447	pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata	2:7ad7571557a5	448
cparata	2:7ad7571557a5	449	return 0;
cparata	2:7ad7571557a5	450	}
cparata	2:7ad7571557a5	451
cparata	2:7ad7571557a5	452	/**
cparata	2:7ad7571557a5	453	* @brief Read LSM6DSL Accelerometer output data rate
cparata	2:7ad7571557a5	454	* @param odr the pointer to the output data rate
cparata	2:7ad7571557a5	455	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	456	*/
cparata	2:7ad7571557a5	457	int LSM6DSLSensor::Get_X_ODR(float* odr)
cparata	2:7ad7571557a5	458	{
cparata	2:7ad7571557a5	459	LSM6DSL_ACC_GYRO_ODR_XL_t odr_low_level;
cparata	2:7ad7571557a5	460
cparata	2:7ad7571557a5	461	if ( LSM6DSL_ACC_GYRO_R_ODR_XL( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata	2:7ad7571557a5	462	{
cparata	2:7ad7571557a5	463	return 1;
cparata	2:7ad7571557a5	464	}
cparata	2:7ad7571557a5	465
cparata	2:7ad7571557a5	466	switch( odr_low_level )
cparata	2:7ad7571557a5	467	{
cparata	2:7ad7571557a5	468	case LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN:
cparata	2:7ad7571557a5	469	*odr = 0.0f;
cparata	2:7ad7571557a5	470	break;
cparata	2:7ad7571557a5	471	case LSM6DSL_ACC_GYRO_ODR_XL_13Hz:
cparata	2:7ad7571557a5	472	*odr = 13.0f;
cparata	2:7ad7571557a5	473	break;
cparata	2:7ad7571557a5	474	case LSM6DSL_ACC_GYRO_ODR_XL_26Hz:
cparata	2:7ad7571557a5	475	*odr = 26.0f;
cparata	2:7ad7571557a5	476	break;
cparata	2:7ad7571557a5	477	case LSM6DSL_ACC_GYRO_ODR_XL_52Hz:
cparata	2:7ad7571557a5	478	*odr = 52.0f;
cparata	2:7ad7571557a5	479	break;
cparata	2:7ad7571557a5	480	case LSM6DSL_ACC_GYRO_ODR_XL_104Hz:
cparata	2:7ad7571557a5	481	*odr = 104.0f;
cparata	2:7ad7571557a5	482	break;
cparata	2:7ad7571557a5	483	case LSM6DSL_ACC_GYRO_ODR_XL_208Hz:
cparata	2:7ad7571557a5	484	*odr = 208.0f;
cparata	2:7ad7571557a5	485	break;
cparata	2:7ad7571557a5	486	case LSM6DSL_ACC_GYRO_ODR_XL_416Hz:
cparata	2:7ad7571557a5	487	*odr = 416.0f;
cparata	2:7ad7571557a5	488	break;
cparata	2:7ad7571557a5	489	case LSM6DSL_ACC_GYRO_ODR_XL_833Hz:
cparata	2:7ad7571557a5	490	*odr = 833.0f;
cparata	2:7ad7571557a5	491	break;
cparata	2:7ad7571557a5	492	case LSM6DSL_ACC_GYRO_ODR_XL_1660Hz:
cparata	2:7ad7571557a5	493	*odr = 1660.0f;
cparata	2:7ad7571557a5	494	break;
cparata	2:7ad7571557a5	495	case LSM6DSL_ACC_GYRO_ODR_XL_3330Hz:
cparata	2:7ad7571557a5	496	*odr = 3330.0f;
cparata	2:7ad7571557a5	497	break;
cparata	2:7ad7571557a5	498	case LSM6DSL_ACC_GYRO_ODR_XL_6660Hz:
cparata	2:7ad7571557a5	499	*odr = 6660.0f;
cparata	2:7ad7571557a5	500	break;
cparata	2:7ad7571557a5	501	default:
cparata	2:7ad7571557a5	502	*odr = -1.0f;
cparata	2:7ad7571557a5	503	return 1;
cparata	2:7ad7571557a5	504	}
cparata	2:7ad7571557a5	505
cparata	2:7ad7571557a5	506	return 0;
cparata	2:7ad7571557a5	507	}
cparata	2:7ad7571557a5	508
cparata	2:7ad7571557a5	509	/**
cparata	2:7ad7571557a5	510	* @brief Read LSM6DSL Gyroscope output data rate
cparata	2:7ad7571557a5	511	* @param odr the pointer to the output data rate
cparata	2:7ad7571557a5	512	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	513	*/
cparata	2:7ad7571557a5	514	int LSM6DSLSensor::Get_G_ODR(float* odr)
cparata	2:7ad7571557a5	515	{
cparata	2:7ad7571557a5	516	LSM6DSL_ACC_GYRO_ODR_G_t odr_low_level;
cparata	2:7ad7571557a5	517
cparata	2:7ad7571557a5	518	if ( LSM6DSL_ACC_GYRO_R_ODR_G( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata	2:7ad7571557a5	519	{
cparata	2:7ad7571557a5	520	return 1;
cparata	2:7ad7571557a5	521	}
cparata	2:7ad7571557a5	522
cparata	2:7ad7571557a5	523	switch( odr_low_level )
cparata	2:7ad7571557a5	524	{
cparata	2:7ad7571557a5	525	case LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN:
cparata	2:7ad7571557a5	526	*odr = 0.0f;
cparata	2:7ad7571557a5	527	break;
cparata	2:7ad7571557a5	528	case LSM6DSL_ACC_GYRO_ODR_G_13Hz:
cparata	2:7ad7571557a5	529	*odr = 13.0f;
cparata	2:7ad7571557a5	530	break;
cparata	2:7ad7571557a5	531	case LSM6DSL_ACC_GYRO_ODR_G_26Hz:
cparata	2:7ad7571557a5	532	*odr = 26.0f;
cparata	2:7ad7571557a5	533	break;
cparata	2:7ad7571557a5	534	case LSM6DSL_ACC_GYRO_ODR_G_52Hz:
cparata	2:7ad7571557a5	535	*odr = 52.0f;
cparata	2:7ad7571557a5	536	break;
cparata	2:7ad7571557a5	537	case LSM6DSL_ACC_GYRO_ODR_G_104Hz:
cparata	2:7ad7571557a5	538	*odr = 104.0f;
cparata	2:7ad7571557a5	539	break;
cparata	2:7ad7571557a5	540	case LSM6DSL_ACC_GYRO_ODR_G_208Hz:
cparata	2:7ad7571557a5	541	*odr = 208.0f;
cparata	2:7ad7571557a5	542	break;
cparata	2:7ad7571557a5	543	case LSM6DSL_ACC_GYRO_ODR_G_416Hz:
cparata	2:7ad7571557a5	544	*odr = 416.0f;
cparata	2:7ad7571557a5	545	break;
cparata	2:7ad7571557a5	546	case LSM6DSL_ACC_GYRO_ODR_G_833Hz:
cparata	2:7ad7571557a5	547	*odr = 833.0f;
cparata	2:7ad7571557a5	548	break;
cparata	2:7ad7571557a5	549	case LSM6DSL_ACC_GYRO_ODR_G_1660Hz:
cparata	2:7ad7571557a5	550	*odr = 1660.0f;
cparata	2:7ad7571557a5	551	break;
cparata	2:7ad7571557a5	552	case LSM6DSL_ACC_GYRO_ODR_G_3330Hz:
cparata	2:7ad7571557a5	553	*odr = 3330.0f;
cparata	2:7ad7571557a5	554	break;
cparata	2:7ad7571557a5	555	case LSM6DSL_ACC_GYRO_ODR_G_6660Hz:
cparata	2:7ad7571557a5	556	*odr = 6660.0f;
cparata	2:7ad7571557a5	557	break;
cparata	2:7ad7571557a5	558	default:
cparata	2:7ad7571557a5	559	*odr = -1.0f;
cparata	2:7ad7571557a5	560	return 1;
cparata	2:7ad7571557a5	561	}
cparata	2:7ad7571557a5	562
cparata	2:7ad7571557a5	563	return 0;
cparata	2:7ad7571557a5	564	}
cparata	2:7ad7571557a5	565
cparata	2:7ad7571557a5	566	/**
cparata	2:7ad7571557a5	567	* @brief Set LSM6DSL Accelerometer output data rate
cparata	2:7ad7571557a5	568	* @param odr the output data rate to be set
cparata	2:7ad7571557a5	569	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	570	*/
cparata	2:7ad7571557a5	571	int LSM6DSLSensor::Set_X_ODR(float odr)
cparata	2:7ad7571557a5	572	{
cparata	2:7ad7571557a5	573	if(X_isEnabled == 1)
cparata	2:7ad7571557a5	574	{
cparata	2:7ad7571557a5	575	if(Set_X_ODR_When_Enabled(odr) == 1)
cparata	2:7ad7571557a5	576	{
cparata	2:7ad7571557a5	577	return 1;
cparata	2:7ad7571557a5	578	}
cparata	2:7ad7571557a5	579	}
cparata	2:7ad7571557a5	580	else
cparata	2:7ad7571557a5	581	{
cparata	2:7ad7571557a5	582	if(Set_X_ODR_When_Disabled(odr) == 1)
cparata	2:7ad7571557a5	583	{
cparata	2:7ad7571557a5	584	return 1;
cparata	2:7ad7571557a5	585	}
cparata	2:7ad7571557a5	586	}
cparata	2:7ad7571557a5	587
cparata	2:7ad7571557a5	588	return 0;
cparata	2:7ad7571557a5	589	}
cparata	2:7ad7571557a5	590
cparata	2:7ad7571557a5	591	/**
cparata	2:7ad7571557a5	592	* @brief Set LSM6DSL Accelerometer output data rate when enabled
cparata	2:7ad7571557a5	593	* @param odr the output data rate to be set
cparata	2:7ad7571557a5	594	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	595	*/
cparata	2:7ad7571557a5	596	int LSM6DSLSensor::Set_X_ODR_When_Enabled(float odr)
cparata	2:7ad7571557a5	597	{
cparata	2:7ad7571557a5	598	LSM6DSL_ACC_GYRO_ODR_XL_t new_odr;
cparata	2:7ad7571557a5	599
cparata	2:7ad7571557a5	600	new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_13Hz
cparata	2:7ad7571557a5	601	: ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_26Hz
cparata	2:7ad7571557a5	602	: ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_52Hz
cparata	2:7ad7571557a5	603	: ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_104Hz
cparata	2:7ad7571557a5	604	: ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_208Hz
cparata	2:7ad7571557a5	605	: ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_416Hz
cparata	2:7ad7571557a5	606	: ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_833Hz
cparata	2:7ad7571557a5	607	: ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_1660Hz
cparata	2:7ad7571557a5	608	: ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_3330Hz
cparata	2:7ad7571557a5	609	: LSM6DSL_ACC_GYRO_ODR_XL_6660Hz;
cparata	2:7ad7571557a5	610
cparata	2:7ad7571557a5	611	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, new_odr ) == MEMS_ERROR )
cparata	2:7ad7571557a5	612	{
cparata	2:7ad7571557a5	613	return 1;
cparata	2:7ad7571557a5	614	}
cparata	2:7ad7571557a5	615
cparata	2:7ad7571557a5	616	return 0;
cparata	2:7ad7571557a5	617	}
cparata	2:7ad7571557a5	618
cparata	2:7ad7571557a5	619	/**
cparata	2:7ad7571557a5	620	* @brief Set LSM6DSL Accelerometer output data rate when disabled
cparata	2:7ad7571557a5	621	* @param odr the output data rate to be set
cparata	2:7ad7571557a5	622	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	623	*/
cparata	2:7ad7571557a5	624	int LSM6DSLSensor::Set_X_ODR_When_Disabled(float odr)
cparata	2:7ad7571557a5	625	{
cparata	2:7ad7571557a5	626	X_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata	2:7ad7571557a5	627	: ( odr <= 26.0f ) ? 26.0f
cparata	2:7ad7571557a5	628	: ( odr <= 52.0f ) ? 52.0f
cparata	2:7ad7571557a5	629	: ( odr <= 104.0f ) ? 104.0f
cparata	2:7ad7571557a5	630	: ( odr <= 208.0f ) ? 208.0f
cparata	2:7ad7571557a5	631	: ( odr <= 416.0f ) ? 416.0f
cparata	2:7ad7571557a5	632	: ( odr <= 833.0f ) ? 833.0f
cparata	2:7ad7571557a5	633	: ( odr <= 1660.0f ) ? 1660.0f
cparata	2:7ad7571557a5	634	: ( odr <= 3330.0f ) ? 3330.0f
cparata	2:7ad7571557a5	635	: 6660.0f;
cparata	2:7ad7571557a5	636
cparata	2:7ad7571557a5	637	return 0;
cparata	2:7ad7571557a5	638	}
cparata	2:7ad7571557a5	639
cparata	2:7ad7571557a5	640	/**
cparata	2:7ad7571557a5	641	* @brief Set LSM6DSL Gyroscope output data rate
cparata	2:7ad7571557a5	642	* @param odr the output data rate to be set
cparata	2:7ad7571557a5	643	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	644	*/
cparata	2:7ad7571557a5	645	int LSM6DSLSensor::Set_G_ODR(float odr)
cparata	2:7ad7571557a5	646	{
cparata	2:7ad7571557a5	647	if(G_isEnabled == 1)
cparata	2:7ad7571557a5	648	{
cparata	2:7ad7571557a5	649	if(Set_G_ODR_When_Enabled(odr) == 1)
cparata	2:7ad7571557a5	650	{
cparata	2:7ad7571557a5	651	return 1;
cparata	2:7ad7571557a5	652	}
cparata	2:7ad7571557a5	653	}
cparata	2:7ad7571557a5	654	else
cparata	2:7ad7571557a5	655	{
cparata	2:7ad7571557a5	656	if(Set_G_ODR_When_Disabled(odr) == 1)
cparata	2:7ad7571557a5	657	{
cparata	2:7ad7571557a5	658	return 1;
cparata	2:7ad7571557a5	659	}
cparata	2:7ad7571557a5	660	}
cparata	2:7ad7571557a5	661
cparata	2:7ad7571557a5	662	return 0;
cparata	2:7ad7571557a5	663	}
cparata	2:7ad7571557a5	664
cparata	2:7ad7571557a5	665	/**
cparata	2:7ad7571557a5	666	* @brief Set LSM6DSL Gyroscope output data rate when enabled
cparata	2:7ad7571557a5	667	* @param odr the output data rate to be set
cparata	2:7ad7571557a5	668	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	669	*/
cparata	2:7ad7571557a5	670	int LSM6DSLSensor::Set_G_ODR_When_Enabled(float odr)
cparata	2:7ad7571557a5	671	{
cparata	2:7ad7571557a5	672	LSM6DSL_ACC_GYRO_ODR_G_t new_odr;
cparata	2:7ad7571557a5	673
cparata	2:7ad7571557a5	674	new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_13Hz
cparata	2:7ad7571557a5	675	: ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_26Hz
cparata	2:7ad7571557a5	676	: ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_52Hz
cparata	2:7ad7571557a5	677	: ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_104Hz
cparata	2:7ad7571557a5	678	: ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_208Hz
cparata	2:7ad7571557a5	679	: ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_416Hz
cparata	2:7ad7571557a5	680	: ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_833Hz
cparata	2:7ad7571557a5	681	: ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_1660Hz
cparata	2:7ad7571557a5	682	: ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_3330Hz
cparata	2:7ad7571557a5	683	: LSM6DSL_ACC_GYRO_ODR_G_6660Hz;
cparata	2:7ad7571557a5	684
cparata	2:7ad7571557a5	685	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, new_odr ) == MEMS_ERROR )
cparata	2:7ad7571557a5	686	{
cparata	2:7ad7571557a5	687	return 1;
cparata	2:7ad7571557a5	688	}
cparata	2:7ad7571557a5	689
cparata	2:7ad7571557a5	690	return 0;
cparata	2:7ad7571557a5	691	}
cparata	2:7ad7571557a5	692
cparata	2:7ad7571557a5	693	/**
cparata	2:7ad7571557a5	694	* @brief Set LSM6DSL Gyroscope output data rate when disabled
cparata	2:7ad7571557a5	695	* @param odr the output data rate to be set
cparata	2:7ad7571557a5	696	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	697	*/
cparata	2:7ad7571557a5	698	int LSM6DSLSensor::Set_G_ODR_When_Disabled(float odr)
cparata	2:7ad7571557a5	699	{
cparata	2:7ad7571557a5	700	G_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata	2:7ad7571557a5	701	: ( odr <= 26.0f ) ? 26.0f
cparata	2:7ad7571557a5	702	: ( odr <= 52.0f ) ? 52.0f
cparata	2:7ad7571557a5	703	: ( odr <= 104.0f ) ? 104.0f
cparata	2:7ad7571557a5	704	: ( odr <= 208.0f ) ? 208.0f
cparata	2:7ad7571557a5	705	: ( odr <= 416.0f ) ? 416.0f
cparata	2:7ad7571557a5	706	: ( odr <= 833.0f ) ? 833.0f
cparata	2:7ad7571557a5	707	: ( odr <= 1660.0f ) ? 1660.0f
cparata	2:7ad7571557a5	708	: ( odr <= 3330.0f ) ? 3330.0f
cparata	2:7ad7571557a5	709	: 6660.0f;
cparata	2:7ad7571557a5	710
cparata	2:7ad7571557a5	711	return 0;
cparata	2:7ad7571557a5	712	}
cparata	2:7ad7571557a5	713
cparata	2:7ad7571557a5	714	/**
cparata	2:7ad7571557a5	715	* @brief Read LSM6DSL Accelerometer full scale
cparata	2:7ad7571557a5	716	* @param fullScale the pointer to the full scale
cparata	2:7ad7571557a5	717	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	718	*/
cparata	2:7ad7571557a5	719	int LSM6DSLSensor::Get_X_FS(float* fullScale)
cparata	2:7ad7571557a5	720	{
cparata	2:7ad7571557a5	721	LSM6DSL_ACC_GYRO_FS_XL_t fs_low_level;
cparata	2:7ad7571557a5	722
cparata	2:7ad7571557a5	723	if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata	2:7ad7571557a5	724	{
cparata	2:7ad7571557a5	725	return 1;
cparata	2:7ad7571557a5	726	}
cparata	2:7ad7571557a5	727
cparata	2:7ad7571557a5	728	switch( fs_low_level )
cparata	2:7ad7571557a5	729	{
cparata	2:7ad7571557a5	730	case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata	2:7ad7571557a5	731	*fullScale = 2.0f;
cparata	2:7ad7571557a5	732	break;
cparata	2:7ad7571557a5	733	case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata	2:7ad7571557a5	734	*fullScale = 4.0f;
cparata	2:7ad7571557a5	735	break;
cparata	2:7ad7571557a5	736	case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata	2:7ad7571557a5	737	*fullScale = 8.0f;
cparata	2:7ad7571557a5	738	break;
cparata	2:7ad7571557a5	739	case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata	2:7ad7571557a5	740	*fullScale = 16.0f;
cparata	2:7ad7571557a5	741	break;
cparata	2:7ad7571557a5	742	default:
cparata	2:7ad7571557a5	743	*fullScale = -1.0f;
cparata	2:7ad7571557a5	744	return 1;
cparata	2:7ad7571557a5	745	}
cparata	2:7ad7571557a5	746
cparata	2:7ad7571557a5	747	return 0;
cparata	2:7ad7571557a5	748	}
cparata	2:7ad7571557a5	749
cparata	2:7ad7571557a5	750	/**
cparata	2:7ad7571557a5	751	* @brief Read LSM6DSL Gyroscope full scale
cparata	2:7ad7571557a5	752	* @param fullScale the pointer to the full scale
cparata	2:7ad7571557a5	753	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	754	*/
cparata	2:7ad7571557a5	755	int LSM6DSLSensor::Get_G_FS(float* fullScale)
cparata	2:7ad7571557a5	756	{
cparata	2:7ad7571557a5	757	LSM6DSL_ACC_GYRO_FS_G_t fs_low_level;
cparata	2:7ad7571557a5	758	LSM6DSL_ACC_GYRO_FS_125_t fs_125;
cparata	2:7ad7571557a5	759
cparata	2:7ad7571557a5	760	if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fs_125 ) == MEMS_ERROR )
cparata	2:7ad7571557a5	761	{
cparata	2:7ad7571557a5	762	return 1;
cparata	2:7ad7571557a5	763	}
cparata	2:7ad7571557a5	764	if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata	2:7ad7571557a5	765	{
cparata	2:7ad7571557a5	766	return 1;
cparata	2:7ad7571557a5	767	}
cparata	2:7ad7571557a5	768
cparata	2:7ad7571557a5	769	if ( fs_125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata	2:7ad7571557a5	770	{
cparata	2:7ad7571557a5	771	*fullScale = 125.0f;
cparata	2:7ad7571557a5	772	}
cparata	2:7ad7571557a5	773
cparata	2:7ad7571557a5	774	else
cparata	2:7ad7571557a5	775	{
cparata	2:7ad7571557a5	776	switch( fs_low_level )
cparata	2:7ad7571557a5	777	{
cparata	2:7ad7571557a5	778	case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata	2:7ad7571557a5	779	*fullScale = 245.0f;
cparata	2:7ad7571557a5	780	break;
cparata	2:7ad7571557a5	781	case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata	2:7ad7571557a5	782	*fullScale = 500.0f;
cparata	2:7ad7571557a5	783	break;
cparata	2:7ad7571557a5	784	case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata	2:7ad7571557a5	785	*fullScale = 1000.0f;
cparata	2:7ad7571557a5	786	break;
cparata	2:7ad7571557a5	787	case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata	2:7ad7571557a5	788	*fullScale = 2000.0f;
cparata	2:7ad7571557a5	789	break;
cparata	2:7ad7571557a5	790	default:
cparata	2:7ad7571557a5	791	*fullScale = -1.0f;
cparata	2:7ad7571557a5	792	return 1;
cparata	2:7ad7571557a5	793	}
cparata	2:7ad7571557a5	794	}
cparata	2:7ad7571557a5	795
cparata	2:7ad7571557a5	796	return 0;
cparata	2:7ad7571557a5	797	}
cparata	2:7ad7571557a5	798
cparata	2:7ad7571557a5	799	/**
cparata	2:7ad7571557a5	800	* @brief Set LSM6DSL Accelerometer full scale
cparata	2:7ad7571557a5	801	* @param fullScale the full scale to be set
cparata	2:7ad7571557a5	802	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	803	*/
cparata	2:7ad7571557a5	804	int LSM6DSLSensor::Set_X_FS(float fullScale)
cparata	2:7ad7571557a5	805	{
cparata	2:7ad7571557a5	806	LSM6DSL_ACC_GYRO_FS_XL_t new_fs;
cparata	2:7ad7571557a5	807
cparata	2:7ad7571557a5	808	new_fs = ( fullScale <= 2.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_2g
cparata	2:7ad7571557a5	809	: ( fullScale <= 4.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_4g
cparata	2:7ad7571557a5	810	: ( fullScale <= 8.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_8g
cparata	2:7ad7571557a5	811	: LSM6DSL_ACC_GYRO_FS_XL_16g;
cparata	2:7ad7571557a5	812
cparata	2:7ad7571557a5	813	if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, new_fs ) == MEMS_ERROR )
cparata	2:7ad7571557a5	814	{
cparata	2:7ad7571557a5	815	return 1;
cparata	2:7ad7571557a5	816	}
cparata	2:7ad7571557a5	817
cparata	2:7ad7571557a5	818	return 0;
cparata	2:7ad7571557a5	819	}
cparata	2:7ad7571557a5	820
cparata	2:7ad7571557a5	821	/**
cparata	2:7ad7571557a5	822	* @brief Set LSM6DSL Gyroscope full scale
cparata	2:7ad7571557a5	823	* @param fullScale the full scale to be set
cparata	2:7ad7571557a5	824	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	825	*/
cparata	2:7ad7571557a5	826	int LSM6DSLSensor::Set_G_FS(float fullScale)
cparata	2:7ad7571557a5	827	{
cparata	2:7ad7571557a5	828	LSM6DSL_ACC_GYRO_FS_G_t new_fs;
cparata	2:7ad7571557a5	829
cparata	2:7ad7571557a5	830	if ( fullScale <= 125.0f )
cparata	2:7ad7571557a5	831	{
cparata	2:7ad7571557a5	832	if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_ENABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	833	{
cparata	2:7ad7571557a5	834	return 1;
cparata	2:7ad7571557a5	835	}
cparata	2:7ad7571557a5	836	}
cparata	2:7ad7571557a5	837	else
cparata	2:7ad7571557a5	838	{
cparata	2:7ad7571557a5	839	new_fs = ( fullScale <= 245.0f ) ? LSM6DSL_ACC_GYRO_FS_G_245dps
cparata	2:7ad7571557a5	840	: ( fullScale <= 500.0f ) ? LSM6DSL_ACC_GYRO_FS_G_500dps
cparata	2:7ad7571557a5	841	: ( fullScale <= 1000.0f ) ? LSM6DSL_ACC_GYRO_FS_G_1000dps
cparata	2:7ad7571557a5	842	: LSM6DSL_ACC_GYRO_FS_G_2000dps;
cparata	2:7ad7571557a5	843
cparata	2:7ad7571557a5	844	if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_DISABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	845	{
cparata	2:7ad7571557a5	846	return 1;
cparata	2:7ad7571557a5	847	}
cparata	2:7ad7571557a5	848	if ( LSM6DSL_ACC_GYRO_W_FS_G( (void *)this, new_fs ) == MEMS_ERROR )
cparata	2:7ad7571557a5	849	{
cparata	2:7ad7571557a5	850	return 1;
cparata	2:7ad7571557a5	851	}
cparata	2:7ad7571557a5	852	}
cparata	2:7ad7571557a5	853
cparata	2:7ad7571557a5	854	return 0;
cparata	2:7ad7571557a5	855	}
cparata	2:7ad7571557a5	856
cparata	2:7ad7571557a5	857	/**
cparata	2:7ad7571557a5	858	* @brief Enable free fall detection
cparata	2:7ad7571557a5	859	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:7ad7571557a5	860	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	861	*/
cparata	2:7ad7571557a5	862	int LSM6DSLSensor::Enable_Free_Fall_Detection(void)
cparata	2:7ad7571557a5	863	{
cparata	2:7ad7571557a5	864	/* Output Data Rate selection */
cparata	2:7ad7571557a5	865	if(Set_X_ODR(416.0f) == 1)
cparata	2:7ad7571557a5	866	{
cparata	2:7ad7571557a5	867	return 1;
cparata	2:7ad7571557a5	868	}
cparata	2:7ad7571557a5	869
cparata	2:7ad7571557a5	870	/* Full scale selection */
cparata	2:7ad7571557a5	871	if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, LSM6DSL_ACC_GYRO_FS_XL_2g ) == MEMS_ERROR )
cparata	2:7ad7571557a5	872	{
cparata	2:7ad7571557a5	873	return 1;
cparata	2:7ad7571557a5	874	}
cparata	2:7ad7571557a5	875
cparata	2:7ad7571557a5	876	/* FF_DUR setting */
cparata	2:7ad7571557a5	877	if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x06 ) == MEMS_ERROR )
cparata	2:7ad7571557a5	878	{
cparata	2:7ad7571557a5	879	return 1;
cparata	2:7ad7571557a5	880	}
cparata	2:7ad7571557a5	881
cparata	2:7ad7571557a5	882	/* WAKE_DUR setting */
cparata	2:7ad7571557a5	883	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:7ad7571557a5	884	{
cparata	2:7ad7571557a5	885	return 1;
cparata	2:7ad7571557a5	886	}
cparata	2:7ad7571557a5	887
cparata	2:7ad7571557a5	888	/* TIMER_HR setting */
cparata	2:7ad7571557a5	889	if ( LSM6DSL_ACC_GYRO_W_TIMER_HR( (void *)this, LSM6DSL_ACC_GYRO_TIMER_HR_6_4ms ) == MEMS_ERROR )
cparata	2:7ad7571557a5	890	{
cparata	2:7ad7571557a5	891	return 1;
cparata	2:7ad7571557a5	892	}
cparata	2:7ad7571557a5	893
cparata	2:7ad7571557a5	894	/* SLEEP_DUR setting */
cparata	2:7ad7571557a5	895	if ( LSM6DSL_ACC_GYRO_W_SLEEP_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:7ad7571557a5	896	{
cparata	2:7ad7571557a5	897	return 1;
cparata	2:7ad7571557a5	898	}
cparata	2:7ad7571557a5	899
cparata	2:7ad7571557a5	900	/* FF_THS setting */
cparata	2:7ad7571557a5	901	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_312mg ) == MEMS_ERROR )
cparata	2:7ad7571557a5	902	{
cparata	2:7ad7571557a5	903	return 1;
cparata	2:7ad7571557a5	904	}
cparata	2:7ad7571557a5	905
cparata	2:7ad7571557a5	906	/* Enable basic Interrupts */
cparata	2:7ad7571557a5	907	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	908	{
cparata	2:7ad7571557a5	909	return 1;
cparata	2:7ad7571557a5	910	}
cparata	2:7ad7571557a5	911
cparata	2:7ad7571557a5	912	/* INT1_FF setting */
cparata	2:7ad7571557a5	913	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	914	{
cparata	2:7ad7571557a5	915	return 1;
cparata	2:7ad7571557a5	916	}
cparata	2:7ad7571557a5	917
cparata	2:7ad7571557a5	918	return 0;
cparata	2:7ad7571557a5	919	}
cparata	2:7ad7571557a5	920
cparata	2:7ad7571557a5	921	/**
cparata	2:7ad7571557a5	922	* @brief Disable free fall detection
cparata	2:7ad7571557a5	923	* @param None
cparata	2:7ad7571557a5	924	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	925	*/
cparata	2:7ad7571557a5	926	int LSM6DSLSensor::Disable_Free_Fall_Detection(void)
cparata	2:7ad7571557a5	927	{
cparata	2:7ad7571557a5	928	/* INT1_FF setting */
cparata	2:7ad7571557a5	929	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	930	{
cparata	2:7ad7571557a5	931	return 1;
cparata	2:7ad7571557a5	932	}
cparata	2:7ad7571557a5	933
cparata	2:7ad7571557a5	934	/* Disable basic Interrupts */
cparata	2:7ad7571557a5	935	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	936	{
cparata	2:7ad7571557a5	937	return 1;
cparata	2:7ad7571557a5	938	}
cparata	2:7ad7571557a5	939
cparata	2:7ad7571557a5	940	/* FF_DUR setting */
cparata	2:7ad7571557a5	941	if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:7ad7571557a5	942	{
cparata	2:7ad7571557a5	943	return 1;
cparata	2:7ad7571557a5	944	}
cparata	2:7ad7571557a5	945
cparata	2:7ad7571557a5	946	/* FF_THS setting */
cparata	2:7ad7571557a5	947	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_156mg ) == MEMS_ERROR )
cparata	2:7ad7571557a5	948	{
cparata	2:7ad7571557a5	949	return 1;
cparata	2:7ad7571557a5	950	}
cparata	2:7ad7571557a5	951
cparata	2:7ad7571557a5	952	return 0;
cparata	2:7ad7571557a5	953	}
cparata	2:7ad7571557a5	954
cparata	2:7ad7571557a5	955	/**
cparata	2:7ad7571557a5	956	* @brief Get status of free fall detection
cparata	2:7ad7571557a5	957	* @param status the pointer where the status of free fall detection is stored; 0 means no detection, 1 means detection happened
cparata	2:7ad7571557a5	958	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	959	*/
cparata	2:7ad7571557a5	960	int LSM6DSLSensor::Get_Status_Free_Fall_Detection(uint8_t *status)
cparata	2:7ad7571557a5	961	{
cparata	2:7ad7571557a5	962	LSM6DSL_ACC_GYRO_FF_EV_STATUS_t free_fall_status;
cparata	2:7ad7571557a5	963
cparata	2:7ad7571557a5	964	if ( LSM6DSL_ACC_GYRO_R_FF_EV_STATUS( (void *)this, &free_fall_status ) == MEMS_ERROR )
cparata	2:7ad7571557a5	965	{
cparata	2:7ad7571557a5	966	return 1;
cparata	2:7ad7571557a5	967	}
cparata	2:7ad7571557a5	968
cparata	2:7ad7571557a5	969	switch( free_fall_status )
cparata	2:7ad7571557a5	970	{
cparata	2:7ad7571557a5	971	case LSM6DSL_ACC_GYRO_FF_EV_STATUS_DETECTED:
cparata	2:7ad7571557a5	972	*status = 1;
cparata	2:7ad7571557a5	973	break;
cparata	2:7ad7571557a5	974	case LSM6DSL_ACC_GYRO_FF_EV_STATUS_NOT_DETECTED:
cparata	2:7ad7571557a5	975	*status = 0;
cparata	2:7ad7571557a5	976	break;
cparata	2:7ad7571557a5	977	default:
cparata	2:7ad7571557a5	978	return 1;
cparata	2:7ad7571557a5	979	}
cparata	2:7ad7571557a5	980
cparata	2:7ad7571557a5	981	return 0;
cparata	2:7ad7571557a5	982	}
cparata	2:7ad7571557a5	983
cparata	2:7ad7571557a5	984	/**
cparata	2:7ad7571557a5	985	* @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	986	* @param thr the threshold to be set
cparata	2:7ad7571557a5	987	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	988	*/
cparata	2:7ad7571557a5	989	int LSM6DSLSensor::Set_Free_Fall_Threshold(uint8_t thr)
cparata	2:7ad7571557a5	990	{
cparata	2:7ad7571557a5	991
cparata	2:7ad7571557a5	992	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR )
cparata	2:7ad7571557a5	993	{
cparata	2:7ad7571557a5	994	return 1;
cparata	2:7ad7571557a5	995	}
cparata	2:7ad7571557a5	996
cparata	2:7ad7571557a5	997	return 0;
cparata	2:7ad7571557a5	998	}
cparata	2:7ad7571557a5	999
cparata	2:7ad7571557a5	1000	/**
cparata	2:7ad7571557a5	1001	* @brief Enable the pedometer feature for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1002	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:7ad7571557a5	1003	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1004	*/
cparata	2:7ad7571557a5	1005	int LSM6DSLSensor::Enable_Pedometer(void)
cparata	2:7ad7571557a5	1006	{
cparata	2:7ad7571557a5	1007	/* Output Data Rate selection */
cparata	2:7ad7571557a5	1008	if( Set_X_ODR(26.0f) == 1 )
cparata	2:7ad7571557a5	1009	{
cparata	2:7ad7571557a5	1010	return 1;
cparata	2:7ad7571557a5	1011	}
cparata	2:7ad7571557a5	1012
cparata	2:7ad7571557a5	1013	/* Full scale selection. */
cparata	2:7ad7571557a5	1014	if( Set_X_FS(2.0f) == 1 )
cparata	2:7ad7571557a5	1015	{
cparata	2:7ad7571557a5	1016	return 1;
cparata	2:7ad7571557a5	1017	}
cparata	2:7ad7571557a5	1018
cparata	2:7ad7571557a5	1019	/* Set pedometer threshold. */
cparata	2:7ad7571557a5	1020	if ( Set_Pedometer_Threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == 1 )
cparata	2:7ad7571557a5	1021	{
cparata	2:7ad7571557a5	1022	return 1;
cparata	2:7ad7571557a5	1023	}
cparata	2:7ad7571557a5	1024
cparata	2:7ad7571557a5	1025	/* Enable embedded functionalities. */
cparata	2:7ad7571557a5	1026	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1027	{
cparata	2:7ad7571557a5	1028	return 1;
cparata	2:7ad7571557a5	1029	}
cparata	2:7ad7571557a5	1030
cparata	2:7ad7571557a5	1031	/* Enable pedometer algorithm. */
cparata	2:7ad7571557a5	1032	if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1033	{
cparata	2:7ad7571557a5	1034	return 1;
cparata	2:7ad7571557a5	1035	}
cparata	2:7ad7571557a5	1036
cparata	2:7ad7571557a5	1037	/* Enable pedometer on INT1. */
cparata	2:7ad7571557a5	1038	if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1039	{
cparata	2:7ad7571557a5	1040	return 1;
cparata	2:7ad7571557a5	1041	}
cparata	2:7ad7571557a5	1042
cparata	2:7ad7571557a5	1043	return 0;
cparata	2:7ad7571557a5	1044	}
cparata	2:7ad7571557a5	1045
cparata	2:7ad7571557a5	1046	/**
cparata	2:7ad7571557a5	1047	* @brief Disable the pedometer feature for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1048	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1049	*/
cparata	2:7ad7571557a5	1050	int LSM6DSLSensor::Disable_Pedometer(void)
cparata	2:7ad7571557a5	1051	{
cparata	2:7ad7571557a5	1052	/* Disable pedometer on INT1. */
cparata	2:7ad7571557a5	1053	if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1054	{
cparata	2:7ad7571557a5	1055	return 1;
cparata	2:7ad7571557a5	1056	}
cparata	2:7ad7571557a5	1057
cparata	2:7ad7571557a5	1058	/* Disable pedometer algorithm. */
cparata	2:7ad7571557a5	1059	if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1060	{
cparata	2:7ad7571557a5	1061	return 1;
cparata	2:7ad7571557a5	1062	}
cparata	2:7ad7571557a5	1063
cparata	2:7ad7571557a5	1064	/* Disable embedded functionalities. */
cparata	2:7ad7571557a5	1065	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1066	{
cparata	2:7ad7571557a5	1067	return 1;
cparata	2:7ad7571557a5	1068	}
cparata	2:7ad7571557a5	1069
cparata	2:7ad7571557a5	1070	/* Reset pedometer threshold. */
cparata	2:7ad7571557a5	1071	if ( Set_Pedometer_Threshold(0x0) == 1 )
cparata	2:7ad7571557a5	1072	{
cparata	2:7ad7571557a5	1073	return 1;
cparata	2:7ad7571557a5	1074	}
cparata	2:7ad7571557a5	1075
cparata	2:7ad7571557a5	1076	return 0;
cparata	2:7ad7571557a5	1077	}
cparata	2:7ad7571557a5	1078
cparata	2:7ad7571557a5	1079	/**
cparata	2:7ad7571557a5	1080	* @brief Get the pedometer status for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1081	* @param status the pointer to the pedometer status: 0 means no step detected, 1 means step detected
cparata	2:7ad7571557a5	1082	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1083	*/
cparata	2:7ad7571557a5	1084	int LSM6DSLSensor::Get_Status_Pedometer(uint8_t *status)
cparata	2:7ad7571557a5	1085	{
cparata	2:7ad7571557a5	1086	LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_t pedometer_status;
cparata	2:7ad7571557a5	1087
cparata	2:7ad7571557a5	1088	if ( LSM6DSL_ACC_GYRO_R_PEDO_EV_STATUS( (void *)this, &pedometer_status ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1089	{
cparata	2:7ad7571557a5	1090	return 1;
cparata	2:7ad7571557a5	1091	}
cparata	2:7ad7571557a5	1092
cparata	2:7ad7571557a5	1093	switch( pedometer_status )
cparata	2:7ad7571557a5	1094	{
cparata	2:7ad7571557a5	1095	case LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_DETECTED:
cparata	2:7ad7571557a5	1096	*status = 1;
cparata	2:7ad7571557a5	1097	break;
cparata	2:7ad7571557a5	1098	case LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_NOT_DETECTED:
cparata	2:7ad7571557a5	1099	*status = 0;
cparata	2:7ad7571557a5	1100	break;
cparata	2:7ad7571557a5	1101	default:
cparata	2:7ad7571557a5	1102	return 1;
cparata	2:7ad7571557a5	1103	}
cparata	2:7ad7571557a5	1104
cparata	2:7ad7571557a5	1105	return 0;
cparata	2:7ad7571557a5	1106	}
cparata	2:7ad7571557a5	1107
cparata	2:7ad7571557a5	1108	/**
cparata	2:7ad7571557a5	1109	* @brief Get the step counter for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1110	* @param step_count the pointer to the step counter
cparata	2:7ad7571557a5	1111	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1112	*/
cparata	2:7ad7571557a5	1113	int LSM6DSLSensor::Get_Step_Counter(uint16_t *step_count)
cparata	2:7ad7571557a5	1114	{
cparata	2:7ad7571557a5	1115	if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void )this, ( uint8_t )step_count ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1116	{
cparata	2:7ad7571557a5	1117	return 1;
cparata	2:7ad7571557a5	1118	}
cparata	2:7ad7571557a5	1119
cparata	2:7ad7571557a5	1120	return 0;
cparata	2:7ad7571557a5	1121	}
cparata	2:7ad7571557a5	1122
cparata	2:7ad7571557a5	1123	/**
cparata	2:7ad7571557a5	1124	* @brief Reset of the step counter for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1125	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1126	*/
cparata	2:7ad7571557a5	1127	int LSM6DSLSensor::Reset_Step_Counter(void)
cparata	2:7ad7571557a5	1128	{
cparata	2:7ad7571557a5	1129	if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1130	{
cparata	2:7ad7571557a5	1131	return 1;
cparata	2:7ad7571557a5	1132	}
cparata	2:7ad7571557a5	1133
cparata	2:7ad7571557a5	1134	wait_ms(10);
cparata	2:7ad7571557a5	1135
cparata	2:7ad7571557a5	1136	if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1137	{
cparata	2:7ad7571557a5	1138	return 1;
cparata	2:7ad7571557a5	1139	}
cparata	2:7ad7571557a5	1140
cparata	2:7ad7571557a5	1141	return 0;
cparata	2:7ad7571557a5	1142	}
cparata	2:7ad7571557a5	1143
cparata	2:7ad7571557a5	1144	/**
cparata	2:7ad7571557a5	1145	* @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1146	* @param thr the threshold to be set
cparata	2:7ad7571557a5	1147	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1148	*/
cparata	2:7ad7571557a5	1149	int LSM6DSLSensor::Set_Pedometer_Threshold(uint8_t thr)
cparata	2:7ad7571557a5	1150	{
cparata	2:7ad7571557a5	1151	if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1152	{
cparata	2:7ad7571557a5	1153	return 1;
cparata	2:7ad7571557a5	1154	}
cparata	2:7ad7571557a5	1155
cparata	2:7ad7571557a5	1156	return 0;
cparata	2:7ad7571557a5	1157	}
cparata	2:7ad7571557a5	1158
cparata	2:7ad7571557a5	1159	/**
cparata	2:7ad7571557a5	1160	* @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1161	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:7ad7571557a5	1162	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1163	*/
cparata	2:7ad7571557a5	1164	int LSM6DSLSensor::Enable_Tilt_Detection(void)
cparata	2:7ad7571557a5	1165	{
cparata	2:7ad7571557a5	1166	/* Output Data Rate selection */
cparata	2:7ad7571557a5	1167	if( Set_X_ODR(26.0f) == 1 )
cparata	2:7ad7571557a5	1168	{
cparata	2:7ad7571557a5	1169	return 1;
cparata	2:7ad7571557a5	1170	}
cparata	2:7ad7571557a5	1171
cparata	2:7ad7571557a5	1172	/* Full scale selection. */
cparata	2:7ad7571557a5	1173	if( Set_X_FS(2.0f) == 1 )
cparata	2:7ad7571557a5	1174	{
cparata	2:7ad7571557a5	1175	return 1;
cparata	2:7ad7571557a5	1176	}
cparata	2:7ad7571557a5	1177
cparata	2:7ad7571557a5	1178	/* Enable embedded functionalities */
cparata	2:7ad7571557a5	1179	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1180	{
cparata	2:7ad7571557a5	1181	return 1;
cparata	2:7ad7571557a5	1182	}
cparata	2:7ad7571557a5	1183
cparata	2:7ad7571557a5	1184	/* Enable tilt calculation. */
cparata	2:7ad7571557a5	1185	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1186	{
cparata	2:7ad7571557a5	1187	return 1;
cparata	2:7ad7571557a5	1188	}
cparata	2:7ad7571557a5	1189
cparata	2:7ad7571557a5	1190	/* Enable tilt event on INT1. */
cparata	2:7ad7571557a5	1191	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1192	{
cparata	2:7ad7571557a5	1193	return 1;
cparata	2:7ad7571557a5	1194	}
cparata	2:7ad7571557a5	1195
cparata	2:7ad7571557a5	1196	return 0;
cparata	2:7ad7571557a5	1197	}
cparata	2:7ad7571557a5	1198
cparata	2:7ad7571557a5	1199	/**
cparata	2:7ad7571557a5	1200	* @brief Disable the tilt detection for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1201	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1202	*/
cparata	2:7ad7571557a5	1203	int LSM6DSLSensor::Disable_Tilt_Detection(void)
cparata	2:7ad7571557a5	1204	{
cparata	2:7ad7571557a5	1205	/* Disable tilt event on INT1. */
cparata	2:7ad7571557a5	1206	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_DISABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1207	{
cparata	2:7ad7571557a5	1208	return 1;
cparata	2:7ad7571557a5	1209	}
cparata	2:7ad7571557a5	1210
cparata	2:7ad7571557a5	1211	/* Disable tilt calculation. */
cparata	2:7ad7571557a5	1212	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1213	{
cparata	2:7ad7571557a5	1214	return 1;
cparata	2:7ad7571557a5	1215	}
cparata	2:7ad7571557a5	1216
cparata	2:7ad7571557a5	1217	/* Disable embedded functionalities */
cparata	2:7ad7571557a5	1218	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1219	{
cparata	2:7ad7571557a5	1220	return 1;
cparata	2:7ad7571557a5	1221	}
cparata	2:7ad7571557a5	1222
cparata	2:7ad7571557a5	1223	return 0;
cparata	2:7ad7571557a5	1224	}
cparata	2:7ad7571557a5	1225
cparata	2:7ad7571557a5	1226	/**
cparata	2:7ad7571557a5	1227	* @brief Get the tilt detection status for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1228	* @param status the pointer to the tilt detection status: 0 means no tilt detected, 1 means tilt detected
cparata	2:7ad7571557a5	1229	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1230	*/
cparata	2:7ad7571557a5	1231	int LSM6DSLSensor::Get_Status_Tilt_Detection(uint8_t *status)
cparata	2:7ad7571557a5	1232	{
cparata	2:7ad7571557a5	1233	LSM6DSL_ACC_GYRO_TILT_EV_STATUS_t tilt_status;
cparata	2:7ad7571557a5	1234
cparata	2:7ad7571557a5	1235	if ( LSM6DSL_ACC_GYRO_R_TILT_EV_STATUS( (void *)this, &tilt_status ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1236	{
cparata	2:7ad7571557a5	1237	return 1;
cparata	2:7ad7571557a5	1238	}
cparata	2:7ad7571557a5	1239
cparata	2:7ad7571557a5	1240	switch( tilt_status )
cparata	2:7ad7571557a5	1241	{
cparata	2:7ad7571557a5	1242	case LSM6DSL_ACC_GYRO_TILT_EV_STATUS_DETECTED:
cparata	2:7ad7571557a5	1243	*status = 1;
cparata	2:7ad7571557a5	1244	break;
cparata	2:7ad7571557a5	1245	case LSM6DSL_ACC_GYRO_TILT_EV_STATUS_NOT_DETECTED:
cparata	2:7ad7571557a5	1246	*status = 0;
cparata	2:7ad7571557a5	1247	break;
cparata	2:7ad7571557a5	1248	default:
cparata	2:7ad7571557a5	1249	return 1;
cparata	2:7ad7571557a5	1250	}
cparata	2:7ad7571557a5	1251
cparata	2:7ad7571557a5	1252	return 0;
cparata	2:7ad7571557a5	1253	}
cparata	2:7ad7571557a5	1254
cparata	2:7ad7571557a5	1255	/**
cparata	2:7ad7571557a5	1256	* @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1257	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:7ad7571557a5	1258	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1259	*/
cparata	2:7ad7571557a5	1260	int LSM6DSLSensor::Enable_Wake_Up_Detection(void)
cparata	2:7ad7571557a5	1261	{
cparata	2:7ad7571557a5	1262	/* Output Data Rate selection */
cparata	2:7ad7571557a5	1263	if( Set_X_ODR(416.0f) == 1 )
cparata	2:7ad7571557a5	1264	{
cparata	2:7ad7571557a5	1265	return 1;
cparata	2:7ad7571557a5	1266	}
cparata	2:7ad7571557a5	1267
cparata	2:7ad7571557a5	1268	/* Full scale selection. */
cparata	2:7ad7571557a5	1269	if( Set_X_FS(2.0f) == 1 )
cparata	2:7ad7571557a5	1270	{
cparata	2:7ad7571557a5	1271	return 1;
cparata	2:7ad7571557a5	1272	}
cparata	2:7ad7571557a5	1273
cparata	2:7ad7571557a5	1274	/* WAKE_DUR setting */
cparata	2:7ad7571557a5	1275	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1276	{
cparata	2:7ad7571557a5	1277	return 1;
cparata	2:7ad7571557a5	1278	}
cparata	2:7ad7571557a5	1279
cparata	2:7ad7571557a5	1280	/* Set wake up threshold. */
cparata	2:7ad7571557a5	1281	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1282	{
cparata	2:7ad7571557a5	1283	return 1;
cparata	2:7ad7571557a5	1284	}
cparata	2:7ad7571557a5	1285
cparata	2:7ad7571557a5	1286	/* Enable basic Interrupts */
cparata	2:7ad7571557a5	1287	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1288	{
cparata	2:7ad7571557a5	1289	return 1;
cparata	2:7ad7571557a5	1290	}
cparata	2:7ad7571557a5	1291
cparata	2:7ad7571557a5	1292	/* INT1_WU setting */
cparata	2:7ad7571557a5	1293	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_ENABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1294	{
cparata	2:7ad7571557a5	1295	return 1;
cparata	2:7ad7571557a5	1296	}
cparata	2:7ad7571557a5	1297
cparata	2:7ad7571557a5	1298	return 0;
cparata	2:7ad7571557a5	1299	}
cparata	2:7ad7571557a5	1300
cparata	2:7ad7571557a5	1301	/**
cparata	2:7ad7571557a5	1302	* @brief Disable the wake up detection for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1303	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1304	*/
cparata	2:7ad7571557a5	1305	int LSM6DSLSensor::Disable_Wake_Up_Detection(void)
cparata	2:7ad7571557a5	1306	{
cparata	2:7ad7571557a5	1307	/* INT1_WU setting */
cparata	2:7ad7571557a5	1308	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_DISABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1309	{
cparata	2:7ad7571557a5	1310	return 1;
cparata	2:7ad7571557a5	1311	}
cparata	2:7ad7571557a5	1312
cparata	2:7ad7571557a5	1313	/* Disable basic Interrupts */
cparata	2:7ad7571557a5	1314	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1315	{
cparata	2:7ad7571557a5	1316	return 1;
cparata	2:7ad7571557a5	1317	}
cparata	2:7ad7571557a5	1318
cparata	2:7ad7571557a5	1319	/* WU_DUR setting */
cparata	2:7ad7571557a5	1320	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1321	{
cparata	2:7ad7571557a5	1322	return 1;
cparata	2:7ad7571557a5	1323	}
cparata	2:7ad7571557a5	1324
cparata	2:7ad7571557a5	1325	/* WU_THS setting */
cparata	2:7ad7571557a5	1326	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1327	{
cparata	2:7ad7571557a5	1328	return 1;
cparata	2:7ad7571557a5	1329	}
cparata	2:7ad7571557a5	1330
cparata	2:7ad7571557a5	1331	return 0;
cparata	2:7ad7571557a5	1332	}
cparata	2:7ad7571557a5	1333
cparata	2:7ad7571557a5	1334	/**
cparata	2:7ad7571557a5	1335	* @brief Get the status of the wake up detection for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1336	* @param status the pointer to the status of the wake up detection: 0 means no detection, 1 means detection happened
cparata	2:7ad7571557a5	1337	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1338	*/
cparata	2:7ad7571557a5	1339	int LSM6DSLSensor::Get_Status_Wake_Up_Detection(uint8_t *status)
cparata	2:7ad7571557a5	1340	{
cparata	2:7ad7571557a5	1341	LSM6DSL_ACC_GYRO_WU_EV_STATUS_t wake_up_status;
cparata	2:7ad7571557a5	1342
cparata	2:7ad7571557a5	1343	if ( LSM6DSL_ACC_GYRO_R_WU_EV_STATUS( (void *)this, &wake_up_status ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1344	{
cparata	2:7ad7571557a5	1345	return 1;
cparata	2:7ad7571557a5	1346	}
cparata	2:7ad7571557a5	1347
cparata	2:7ad7571557a5	1348	switch( wake_up_status )
cparata	2:7ad7571557a5	1349	{
cparata	2:7ad7571557a5	1350	case LSM6DSL_ACC_GYRO_WU_EV_STATUS_DETECTED:
cparata	2:7ad7571557a5	1351	*status = 1;
cparata	2:7ad7571557a5	1352	break;
cparata	2:7ad7571557a5	1353	case LSM6DSL_ACC_GYRO_WU_EV_STATUS_NOT_DETECTED:
cparata	2:7ad7571557a5	1354	*status = 0;
cparata	2:7ad7571557a5	1355	break;
cparata	2:7ad7571557a5	1356	default:
cparata	2:7ad7571557a5	1357	return 1;
cparata	2:7ad7571557a5	1358	}
cparata	2:7ad7571557a5	1359
cparata	2:7ad7571557a5	1360	return 0;
cparata	2:7ad7571557a5	1361	}
cparata	2:7ad7571557a5	1362
cparata	2:7ad7571557a5	1363	/**
cparata	2:7ad7571557a5	1364	* @brief Set the wake up threshold for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1365	* @param thr the threshold to be set
cparata	2:7ad7571557a5	1366	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1367	*/
cparata	2:7ad7571557a5	1368	int LSM6DSLSensor::Set_Wake_Up_Threshold(uint8_t thr)
cparata	2:7ad7571557a5	1369	{
cparata	2:7ad7571557a5	1370	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1371	{
cparata	2:7ad7571557a5	1372	return 1;
cparata	2:7ad7571557a5	1373	}
cparata	2:7ad7571557a5	1374
cparata	2:7ad7571557a5	1375	return 0;
cparata	2:7ad7571557a5	1376	}
cparata	2:7ad7571557a5	1377
cparata	2:7ad7571557a5	1378	/**
cparata	2:7ad7571557a5	1379	* @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1380	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:7ad7571557a5	1381	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1382	*/
cparata	2:7ad7571557a5	1383	int LSM6DSLSensor::Enable_Single_Tap_Detection(void)
cparata	2:7ad7571557a5	1384	{
cparata	2:7ad7571557a5	1385	/* Output Data Rate selection */
cparata	2:7ad7571557a5	1386	if( Set_X_ODR(416.0f) == 1 )
cparata	2:7ad7571557a5	1387	{
cparata	2:7ad7571557a5	1388	return 1;
cparata	2:7ad7571557a5	1389	}
cparata	2:7ad7571557a5	1390
cparata	2:7ad7571557a5	1391	/* Full scale selection. */
cparata	2:7ad7571557a5	1392	if( Set_X_FS(2.0f) == 1 )
cparata	2:7ad7571557a5	1393	{
cparata	2:7ad7571557a5	1394	return 1;
cparata	2:7ad7571557a5	1395	}
cparata	2:7ad7571557a5	1396
cparata	2:7ad7571557a5	1397	/* Enable X direction in tap recognition. */
cparata	2:7ad7571557a5	1398	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1399	{
cparata	2:7ad7571557a5	1400	return 1;
cparata	2:7ad7571557a5	1401	}
cparata	2:7ad7571557a5	1402
cparata	2:7ad7571557a5	1403	/* Enable Y direction in tap recognition. */
cparata	2:7ad7571557a5	1404	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1405	{
cparata	2:7ad7571557a5	1406	return 1;
cparata	2:7ad7571557a5	1407	}
cparata	2:7ad7571557a5	1408
cparata	2:7ad7571557a5	1409	/* Enable Z direction in tap recognition. */
cparata	2:7ad7571557a5	1410	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1411	{
cparata	2:7ad7571557a5	1412	return 1;
cparata	2:7ad7571557a5	1413	}
cparata	2:7ad7571557a5	1414
cparata	2:7ad7571557a5	1415	/* Set tap threshold. */
cparata	2:7ad7571557a5	1416	if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata	2:7ad7571557a5	1417	{
cparata	2:7ad7571557a5	1418	return 1;
cparata	2:7ad7571557a5	1419	}
cparata	2:7ad7571557a5	1420
cparata	2:7ad7571557a5	1421	/* Set tap shock time window. */
cparata	2:7ad7571557a5	1422	if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == 1 )
cparata	2:7ad7571557a5	1423	{
cparata	2:7ad7571557a5	1424	return 1;
cparata	2:7ad7571557a5	1425	}
cparata	2:7ad7571557a5	1426
cparata	2:7ad7571557a5	1427	/* Set tap quiet time window. */
cparata	2:7ad7571557a5	1428	if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == 1 )
cparata	2:7ad7571557a5	1429	{
cparata	2:7ad7571557a5	1430	return 1;
cparata	2:7ad7571557a5	1431	}
cparata	2:7ad7571557a5	1432
cparata	2:7ad7571557a5	1433	/* _NOTE_: Tap duration time window - don't care for single tap. */
cparata	2:7ad7571557a5	1434
cparata	2:7ad7571557a5	1435	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata	2:7ad7571557a5	1436
cparata	2:7ad7571557a5	1437	/* Enable basic Interrupts */
cparata	2:7ad7571557a5	1438	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1439	{
cparata	2:7ad7571557a5	1440	return 1;
cparata	2:7ad7571557a5	1441	}
cparata	2:7ad7571557a5	1442
cparata	2:7ad7571557a5	1443	/* Enable single tap interrupt on INT1 pin. */
cparata	2:7ad7571557a5	1444	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1445	{
cparata	2:7ad7571557a5	1446	return 1;
cparata	2:7ad7571557a5	1447	}
cparata	2:7ad7571557a5	1448
cparata	2:7ad7571557a5	1449	return 0;
cparata	2:7ad7571557a5	1450	}
cparata	2:7ad7571557a5	1451
cparata	2:7ad7571557a5	1452	/**
cparata	2:7ad7571557a5	1453	* @brief Disable the single tap detection for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1454	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1455	*/
cparata	2:7ad7571557a5	1456	int LSM6DSLSensor::Disable_Single_Tap_Detection(void)
cparata	2:7ad7571557a5	1457	{
cparata	2:7ad7571557a5	1458	/* Disable single tap interrupt on INT1 pin. */
cparata	2:7ad7571557a5	1459	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1460	{
cparata	2:7ad7571557a5	1461	return 1;
cparata	2:7ad7571557a5	1462	}
cparata	2:7ad7571557a5	1463
cparata	2:7ad7571557a5	1464	/* Disable basic Interrupts */
cparata	2:7ad7571557a5	1465	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1466	{
cparata	2:7ad7571557a5	1467	return 1;
cparata	2:7ad7571557a5	1468	}
cparata	2:7ad7571557a5	1469
cparata	2:7ad7571557a5	1470	/* Reset tap threshold. */
cparata	2:7ad7571557a5	1471	if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata	2:7ad7571557a5	1472	{
cparata	2:7ad7571557a5	1473	return 1;
cparata	2:7ad7571557a5	1474	}
cparata	2:7ad7571557a5	1475
cparata	2:7ad7571557a5	1476	/* Reset tap shock time window. */
cparata	2:7ad7571557a5	1477	if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata	2:7ad7571557a5	1478	{
cparata	2:7ad7571557a5	1479	return 1;
cparata	2:7ad7571557a5	1480	}
cparata	2:7ad7571557a5	1481
cparata	2:7ad7571557a5	1482	/* Reset tap quiet time window. */
cparata	2:7ad7571557a5	1483	if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata	2:7ad7571557a5	1484	{
cparata	2:7ad7571557a5	1485	return 1;
cparata	2:7ad7571557a5	1486	}
cparata	2:7ad7571557a5	1487
cparata	2:7ad7571557a5	1488	/* _NOTE_: Tap duration time window - don't care for single tap. */
cparata	2:7ad7571557a5	1489
cparata	2:7ad7571557a5	1490	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata	2:7ad7571557a5	1491
cparata	2:7ad7571557a5	1492	/* Disable Z direction in tap recognition. */
cparata	2:7ad7571557a5	1493	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1494	{
cparata	2:7ad7571557a5	1495	return 1;
cparata	2:7ad7571557a5	1496	}
cparata	2:7ad7571557a5	1497
cparata	2:7ad7571557a5	1498	/* Disable Y direction in tap recognition. */
cparata	2:7ad7571557a5	1499	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1500	{
cparata	2:7ad7571557a5	1501	return 1;
cparata	2:7ad7571557a5	1502	}
cparata	2:7ad7571557a5	1503
cparata	2:7ad7571557a5	1504	/* Disable X direction in tap recognition. */
cparata	2:7ad7571557a5	1505	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1506	{
cparata	2:7ad7571557a5	1507	return 1;
cparata	2:7ad7571557a5	1508	}
cparata	2:7ad7571557a5	1509
cparata	2:7ad7571557a5	1510	return 0;
cparata	2:7ad7571557a5	1511	}
cparata	2:7ad7571557a5	1512
cparata	2:7ad7571557a5	1513	/**
cparata	2:7ad7571557a5	1514	* @brief Get the single tap detection status for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1515	* @param status the pointer to the single tap detection status: 0 means no single tap detected, 1 means single tap detected
cparata	2:7ad7571557a5	1516	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1517	*/
cparata	2:7ad7571557a5	1518	int LSM6DSLSensor::Get_Status_Single_Tap_Detection(uint8_t *status)
cparata	2:7ad7571557a5	1519	{
cparata	2:7ad7571557a5	1520	LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_t tap_status;
cparata	2:7ad7571557a5	1521
cparata	2:7ad7571557a5	1522	if ( LSM6DSL_ACC_GYRO_R_SINGLE_TAP_EV_STATUS( (void *)this, &tap_status ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1523	{
cparata	2:7ad7571557a5	1524	return 1;
cparata	2:7ad7571557a5	1525	}
cparata	2:7ad7571557a5	1526
cparata	2:7ad7571557a5	1527	switch( tap_status )
cparata	2:7ad7571557a5	1528	{
cparata	2:7ad7571557a5	1529	case LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_DETECTED:
cparata	2:7ad7571557a5	1530	*status = 1;
cparata	2:7ad7571557a5	1531	break;
cparata	2:7ad7571557a5	1532
cparata	2:7ad7571557a5	1533	case LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_NOT_DETECTED:
cparata	2:7ad7571557a5	1534	*status = 0;
cparata	2:7ad7571557a5	1535	break;
cparata	2:7ad7571557a5	1536
cparata	2:7ad7571557a5	1537	default:
cparata	2:7ad7571557a5	1538	return 1;
cparata	2:7ad7571557a5	1539	}
cparata	2:7ad7571557a5	1540
cparata	2:7ad7571557a5	1541	return 0;
cparata	2:7ad7571557a5	1542	}
cparata	2:7ad7571557a5	1543
cparata	2:7ad7571557a5	1544	/**
cparata	2:7ad7571557a5	1545	* @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1546	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:7ad7571557a5	1547	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1548	*/
cparata	2:7ad7571557a5	1549	int LSM6DSLSensor::Enable_Double_Tap_Detection(void)
cparata	2:7ad7571557a5	1550	{
cparata	2:7ad7571557a5	1551	/* Output Data Rate selection */
cparata	2:7ad7571557a5	1552	if( Set_X_ODR(416.0f) == 1 )
cparata	2:7ad7571557a5	1553	{
cparata	2:7ad7571557a5	1554	return 1;
cparata	2:7ad7571557a5	1555	}
cparata	2:7ad7571557a5	1556
cparata	2:7ad7571557a5	1557	/* Full scale selection. */
cparata	2:7ad7571557a5	1558	if( Set_X_FS(2.0f) == 1 )
cparata	2:7ad7571557a5	1559	{
cparata	2:7ad7571557a5	1560	return 1;
cparata	2:7ad7571557a5	1561	}
cparata	2:7ad7571557a5	1562
cparata	2:7ad7571557a5	1563	/* Enable X direction in tap recognition. */
cparata	2:7ad7571557a5	1564	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1565	{
cparata	2:7ad7571557a5	1566	return 1;
cparata	2:7ad7571557a5	1567	}
cparata	2:7ad7571557a5	1568
cparata	2:7ad7571557a5	1569	/* Enable Y direction in tap recognition. */
cparata	2:7ad7571557a5	1570	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1571	{
cparata	2:7ad7571557a5	1572	return 1;
cparata	2:7ad7571557a5	1573	}
cparata	2:7ad7571557a5	1574
cparata	2:7ad7571557a5	1575	/* Enable Z direction in tap recognition. */
cparata	2:7ad7571557a5	1576	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1577	{
cparata	2:7ad7571557a5	1578	return 1;
cparata	2:7ad7571557a5	1579	}
cparata	2:7ad7571557a5	1580
cparata	2:7ad7571557a5	1581	/* Set tap threshold. */
cparata	2:7ad7571557a5	1582	if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
cparata	2:7ad7571557a5	1583	{
cparata	2:7ad7571557a5	1584	return 1;
cparata	2:7ad7571557a5	1585	}
cparata	2:7ad7571557a5	1586
cparata	2:7ad7571557a5	1587	/* Set tap shock time window. */
cparata	2:7ad7571557a5	1588	if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == 1 )
cparata	2:7ad7571557a5	1589	{
cparata	2:7ad7571557a5	1590	return 1;
cparata	2:7ad7571557a5	1591	}
cparata	2:7ad7571557a5	1592
cparata	2:7ad7571557a5	1593	/* Set tap quiet time window. */
cparata	2:7ad7571557a5	1594	if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == 1 )
cparata	2:7ad7571557a5	1595	{
cparata	2:7ad7571557a5	1596	return 1;
cparata	2:7ad7571557a5	1597	}
cparata	2:7ad7571557a5	1598
cparata	2:7ad7571557a5	1599	/* Set tap duration time window. */
cparata	2:7ad7571557a5	1600	if ( Set_Tap_Duration_Time( LSM6DSL_TAP_DURATION_TIME_MID ) == 1 )
cparata	2:7ad7571557a5	1601	{
cparata	2:7ad7571557a5	1602	return 1;
cparata	2:7ad7571557a5	1603	}
cparata	2:7ad7571557a5	1604
cparata	2:7ad7571557a5	1605	/* Single and double tap enabled. */
cparata	2:7ad7571557a5	1606	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1607	{
cparata	2:7ad7571557a5	1608	return 1;
cparata	2:7ad7571557a5	1609	}
cparata	2:7ad7571557a5	1610
cparata	2:7ad7571557a5	1611	/* Enable basic Interrupts */
cparata	2:7ad7571557a5	1612	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1613	{
cparata	2:7ad7571557a5	1614	return 1;
cparata	2:7ad7571557a5	1615	}
cparata	2:7ad7571557a5	1616
cparata	2:7ad7571557a5	1617	/* Enable double tap interrupt on INT1 pin. */
cparata	2:7ad7571557a5	1618	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1619	{
cparata	2:7ad7571557a5	1620	return 1;
cparata	2:7ad7571557a5	1621	}
cparata	2:7ad7571557a5	1622
cparata	2:7ad7571557a5	1623	return 0;
cparata	2:7ad7571557a5	1624	}
cparata	2:7ad7571557a5	1625
cparata	2:7ad7571557a5	1626	/**
cparata	2:7ad7571557a5	1627	* @brief Disable the double tap detection for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1628	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1629	*/
cparata	2:7ad7571557a5	1630	int LSM6DSLSensor::Disable_Double_Tap_Detection(void)
cparata	2:7ad7571557a5	1631	{
cparata	2:7ad7571557a5	1632	/* Disable double tap interrupt on INT1 pin. */
cparata	2:7ad7571557a5	1633	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1634	{
cparata	2:7ad7571557a5	1635	return 1;
cparata	2:7ad7571557a5	1636	}
cparata	2:7ad7571557a5	1637
cparata	2:7ad7571557a5	1638	/* Disable basic Interrupts */
cparata	2:7ad7571557a5	1639	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1640	{
cparata	2:7ad7571557a5	1641	return 1;
cparata	2:7ad7571557a5	1642	}
cparata	2:7ad7571557a5	1643
cparata	2:7ad7571557a5	1644	/* Reset tap threshold. */
cparata	2:7ad7571557a5	1645	if ( Set_Tap_Threshold( 0x0 ) == 1 )
cparata	2:7ad7571557a5	1646	{
cparata	2:7ad7571557a5	1647	return 1;
cparata	2:7ad7571557a5	1648	}
cparata	2:7ad7571557a5	1649
cparata	2:7ad7571557a5	1650	/* Reset tap shock time window. */
cparata	2:7ad7571557a5	1651	if ( Set_Tap_Shock_Time( 0x0 ) == 1 )
cparata	2:7ad7571557a5	1652	{
cparata	2:7ad7571557a5	1653	return 1;
cparata	2:7ad7571557a5	1654	}
cparata	2:7ad7571557a5	1655
cparata	2:7ad7571557a5	1656	/* Reset tap quiet time window. */
cparata	2:7ad7571557a5	1657	if ( Set_Tap_Quiet_Time( 0x0 ) == 1 )
cparata	2:7ad7571557a5	1658	{
cparata	2:7ad7571557a5	1659	return 1;
cparata	2:7ad7571557a5	1660	}
cparata	2:7ad7571557a5	1661
cparata	2:7ad7571557a5	1662	/* Reset tap duration time window. */
cparata	2:7ad7571557a5	1663	if ( Set_Tap_Duration_Time( 0x0 ) == 1 )
cparata	2:7ad7571557a5	1664	{
cparata	2:7ad7571557a5	1665	return 1;
cparata	2:7ad7571557a5	1666	}
cparata	2:7ad7571557a5	1667
cparata	2:7ad7571557a5	1668	/* Only single tap enabled. */
cparata	2:7ad7571557a5	1669	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1670	{
cparata	2:7ad7571557a5	1671	return 1;
cparata	2:7ad7571557a5	1672	}
cparata	2:7ad7571557a5	1673
cparata	2:7ad7571557a5	1674	/* Disable Z direction in tap recognition. */
cparata	2:7ad7571557a5	1675	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1676	{
cparata	2:7ad7571557a5	1677	return 1;
cparata	2:7ad7571557a5	1678	}
cparata	2:7ad7571557a5	1679
cparata	2:7ad7571557a5	1680	/* Disable Y direction in tap recognition. */
cparata	2:7ad7571557a5	1681	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1682	{
cparata	2:7ad7571557a5	1683	return 1;
cparata	2:7ad7571557a5	1684	}
cparata	2:7ad7571557a5	1685
cparata	2:7ad7571557a5	1686	/* Disable X direction in tap recognition. */
cparata	2:7ad7571557a5	1687	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1688	{
cparata	2:7ad7571557a5	1689	return 1;
cparata	2:7ad7571557a5	1690	}
cparata	2:7ad7571557a5	1691
cparata	2:7ad7571557a5	1692	return 0;
cparata	2:7ad7571557a5	1693	}
cparata	2:7ad7571557a5	1694
cparata	2:7ad7571557a5	1695	/**
cparata	2:7ad7571557a5	1696	* @brief Get the double tap detection status for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1697	* @param status the pointer to the double tap detection status: 0 means no double tap detected, 1 means double tap detected
cparata	2:7ad7571557a5	1698	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1699	*/
cparata	2:7ad7571557a5	1700	int LSM6DSLSensor::Get_Status_Double_Tap_Detection(uint8_t *status)
cparata	2:7ad7571557a5	1701	{
cparata	2:7ad7571557a5	1702	LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_t tap_status;
cparata	2:7ad7571557a5	1703
cparata	2:7ad7571557a5	1704	if ( LSM6DSL_ACC_GYRO_R_DOUBLE_TAP_EV_STATUS( (void *)this, &tap_status ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1705	{
cparata	2:7ad7571557a5	1706	return 1;
cparata	2:7ad7571557a5	1707	}
cparata	2:7ad7571557a5	1708
cparata	2:7ad7571557a5	1709	switch( tap_status )
cparata	2:7ad7571557a5	1710	{
cparata	2:7ad7571557a5	1711	case LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_DETECTED:
cparata	2:7ad7571557a5	1712	*status = 1;
cparata	2:7ad7571557a5	1713	break;
cparata	2:7ad7571557a5	1714
cparata	2:7ad7571557a5	1715	case LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_NOT_DETECTED:
cparata	2:7ad7571557a5	1716	*status = 0;
cparata	2:7ad7571557a5	1717	break;
cparata	2:7ad7571557a5	1718
cparata	2:7ad7571557a5	1719	default:
cparata	2:7ad7571557a5	1720	return 1;
cparata	2:7ad7571557a5	1721	}
cparata	2:7ad7571557a5	1722
cparata	2:7ad7571557a5	1723	return 0;
cparata	2:7ad7571557a5	1724	}
cparata	2:7ad7571557a5	1725
cparata	2:7ad7571557a5	1726	/**
cparata	2:7ad7571557a5	1727	* @brief Set the tap threshold for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1728	* @param thr the threshold to be set
cparata	2:7ad7571557a5	1729	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1730	*/
cparata	2:7ad7571557a5	1731	int LSM6DSLSensor::Set_Tap_Threshold(uint8_t thr)
cparata	2:7ad7571557a5	1732	{
cparata	2:7ad7571557a5	1733	if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1734	{
cparata	2:7ad7571557a5	1735	return 1;
cparata	2:7ad7571557a5	1736	}
cparata	2:7ad7571557a5	1737
cparata	2:7ad7571557a5	1738	return 0;
cparata	2:7ad7571557a5	1739	}
cparata	2:7ad7571557a5	1740
cparata	2:7ad7571557a5	1741	/**
cparata	2:7ad7571557a5	1742	* @brief Set the tap shock time window for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1743	* @param time the shock time window to be set
cparata	2:7ad7571557a5	1744	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1745	*/
cparata	2:7ad7571557a5	1746	int LSM6DSLSensor::Set_Tap_Shock_Time(uint8_t time)
cparata	2:7ad7571557a5	1747	{
cparata	2:7ad7571557a5	1748	if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1749	{
cparata	2:7ad7571557a5	1750	return 1;
cparata	2:7ad7571557a5	1751	}
cparata	2:7ad7571557a5	1752
cparata	2:7ad7571557a5	1753	return 0;
cparata	2:7ad7571557a5	1754	}
cparata	2:7ad7571557a5	1755
cparata	2:7ad7571557a5	1756	/**
cparata	2:7ad7571557a5	1757	* @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1758	* @param time the quiet time window to be set
cparata	2:7ad7571557a5	1759	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1760	*/
cparata	2:7ad7571557a5	1761	int LSM6DSLSensor::Set_Tap_Quiet_Time(uint8_t time)
cparata	2:7ad7571557a5	1762	{
cparata	2:7ad7571557a5	1763	if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1764	{
cparata	2:7ad7571557a5	1765	return 1;
cparata	2:7ad7571557a5	1766	}
cparata	2:7ad7571557a5	1767
cparata	2:7ad7571557a5	1768	return 0;
cparata	2:7ad7571557a5	1769	}
cparata	2:7ad7571557a5	1770
cparata	2:7ad7571557a5	1771	/**
cparata	2:7ad7571557a5	1772	* @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1773	* @param time the duration of the time window to be set
cparata	2:7ad7571557a5	1774	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1775	*/
cparata	2:7ad7571557a5	1776	int LSM6DSLSensor::Set_Tap_Duration_Time(uint8_t time)
cparata	2:7ad7571557a5	1777	{
cparata	2:7ad7571557a5	1778	if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1779	{
cparata	2:7ad7571557a5	1780	return 1;
cparata	2:7ad7571557a5	1781	}
cparata	2:7ad7571557a5	1782
cparata	2:7ad7571557a5	1783	return 0;
cparata	2:7ad7571557a5	1784	}
cparata	2:7ad7571557a5	1785
cparata	2:7ad7571557a5	1786	/**
cparata	2:7ad7571557a5	1787	* @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1788	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata	2:7ad7571557a5	1789	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1790	*/
cparata	2:7ad7571557a5	1791	int LSM6DSLSensor::Enable_6D_Orientation(void)
cparata	2:7ad7571557a5	1792	{
cparata	2:7ad7571557a5	1793	/* Output Data Rate selection */
cparata	2:7ad7571557a5	1794	if( Set_X_ODR(416.0f) == 1 )
cparata	2:7ad7571557a5	1795	{
cparata	2:7ad7571557a5	1796	return 1;
cparata	2:7ad7571557a5	1797	}
cparata	2:7ad7571557a5	1798
cparata	2:7ad7571557a5	1799	/* Full scale selection. */
cparata	2:7ad7571557a5	1800	if( Set_X_FS(2.0f) == 1 )
cparata	2:7ad7571557a5	1801	{
cparata	2:7ad7571557a5	1802	return 1;
cparata	2:7ad7571557a5	1803	}
cparata	2:7ad7571557a5	1804
cparata	2:7ad7571557a5	1805	/* Set 6D threshold. */
cparata	2:7ad7571557a5	1806	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1807	{
cparata	2:7ad7571557a5	1808	return 1;
cparata	2:7ad7571557a5	1809	}
cparata	2:7ad7571557a5	1810
cparata	2:7ad7571557a5	1811	/* Enable basic Interrupts */
cparata	2:7ad7571557a5	1812	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1813	{
cparata	2:7ad7571557a5	1814	return 1;
cparata	2:7ad7571557a5	1815	}
cparata	2:7ad7571557a5	1816
cparata	2:7ad7571557a5	1817	/* INT1_6D setting. */
cparata	2:7ad7571557a5	1818	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1819	{
cparata	2:7ad7571557a5	1820	return 1;
cparata	2:7ad7571557a5	1821	}
cparata	2:7ad7571557a5	1822
cparata	2:7ad7571557a5	1823	return 0;
cparata	2:7ad7571557a5	1824	}
cparata	2:7ad7571557a5	1825
cparata	2:7ad7571557a5	1826	/**
cparata	2:7ad7571557a5	1827	* @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1828	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1829	*/
cparata	2:7ad7571557a5	1830	int LSM6DSLSensor::Disable_6D_Orientation(void)
cparata	2:7ad7571557a5	1831	{
cparata	2:7ad7571557a5	1832	/* INT1_6D setting. */
cparata	2:7ad7571557a5	1833	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1834	{
cparata	2:7ad7571557a5	1835	return 1;
cparata	2:7ad7571557a5	1836	}
cparata	2:7ad7571557a5	1837
cparata	2:7ad7571557a5	1838	/* Disable basic Interrupts */
cparata	2:7ad7571557a5	1839	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1840	{
cparata	2:7ad7571557a5	1841	return 1;
cparata	2:7ad7571557a5	1842	}
cparata	2:7ad7571557a5	1843
cparata	2:7ad7571557a5	1844	/* Reset 6D threshold. */
cparata	2:7ad7571557a5	1845	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1846	{
cparata	2:7ad7571557a5	1847	return 1;
cparata	2:7ad7571557a5	1848	}
cparata	2:7ad7571557a5	1849
cparata	2:7ad7571557a5	1850	return 0;
cparata	2:7ad7571557a5	1851	}
cparata	2:7ad7571557a5	1852
cparata	2:7ad7571557a5	1853	/**
cparata	2:7ad7571557a5	1854	* @brief Get the status of the 6D orientation detection for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1855	* @param status the pointer to the status of the 6D orientation detection: 0 means no detection, 1 means detection happened
cparata	2:7ad7571557a5	1856	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1857	*/
cparata	2:7ad7571557a5	1858	int LSM6DSLSensor::Get_Status_6D_Orientation(uint8_t *status)
cparata	2:7ad7571557a5	1859	{
cparata	2:7ad7571557a5	1860	LSM6DSL_ACC_GYRO_D6D_EV_STATUS_t status_raw;
cparata	2:7ad7571557a5	1861
cparata	2:7ad7571557a5	1862	if ( LSM6DSL_ACC_GYRO_R_D6D_EV_STATUS( (void *)this, &status_raw ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1863	{
cparata	2:7ad7571557a5	1864	return 1;
cparata	2:7ad7571557a5	1865	}
cparata	2:7ad7571557a5	1866
cparata	2:7ad7571557a5	1867	switch( status_raw )
cparata	2:7ad7571557a5	1868	{
cparata	2:7ad7571557a5	1869	case LSM6DSL_ACC_GYRO_D6D_EV_STATUS_DETECTED:
cparata	2:7ad7571557a5	1870	*status = 1;
cparata	2:7ad7571557a5	1871	break;
cparata	2:7ad7571557a5	1872	case LSM6DSL_ACC_GYRO_D6D_EV_STATUS_NOT_DETECTED:
cparata	2:7ad7571557a5	1873	*status = 0;
cparata	2:7ad7571557a5	1874	break;
cparata	2:7ad7571557a5	1875	default:
cparata	2:7ad7571557a5	1876	return 1;
cparata	2:7ad7571557a5	1877	}
cparata	2:7ad7571557a5	1878
cparata	2:7ad7571557a5	1879	return 0;
cparata	2:7ad7571557a5	1880	}
cparata	2:7ad7571557a5	1881
cparata	2:7ad7571557a5	1882	/**
cparata	2:7ad7571557a5	1883	* @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1884	* @param xl the pointer to the 6D orientation XL axis
cparata	2:7ad7571557a5	1885	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1886	*/
cparata	2:7ad7571557a5	1887	int LSM6DSLSensor::Get_6D_Orientation_XL(uint8_t *xl)
cparata	2:7ad7571557a5	1888	{
cparata	2:7ad7571557a5	1889	LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
cparata	2:7ad7571557a5	1890
cparata	2:7ad7571557a5	1891	if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1892	{
cparata	2:7ad7571557a5	1893	return 1;
cparata	2:7ad7571557a5	1894	}
cparata	2:7ad7571557a5	1895
cparata	2:7ad7571557a5	1896	switch( xl_raw )
cparata	2:7ad7571557a5	1897	{
cparata	2:7ad7571557a5	1898	case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
cparata	2:7ad7571557a5	1899	*xl = 1;
cparata	2:7ad7571557a5	1900	break;
cparata	2:7ad7571557a5	1901	case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
cparata	2:7ad7571557a5	1902	*xl = 0;
cparata	2:7ad7571557a5	1903	break;
cparata	2:7ad7571557a5	1904	default:
cparata	2:7ad7571557a5	1905	return 1;
cparata	2:7ad7571557a5	1906	}
cparata	2:7ad7571557a5	1907
cparata	2:7ad7571557a5	1908	return 0;
cparata	2:7ad7571557a5	1909	}
cparata	2:7ad7571557a5	1910
cparata	2:7ad7571557a5	1911	/**
cparata	2:7ad7571557a5	1912	* @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1913	* @param xh the pointer to the 6D orientation XH axis
cparata	2:7ad7571557a5	1914	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1915	*/
cparata	2:7ad7571557a5	1916	int LSM6DSLSensor::Get_6D_Orientation_XH(uint8_t *xh)
cparata	2:7ad7571557a5	1917	{
cparata	2:7ad7571557a5	1918	LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
cparata	2:7ad7571557a5	1919
cparata	2:7ad7571557a5	1920	if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1921	{
cparata	2:7ad7571557a5	1922	return 1;
cparata	2:7ad7571557a5	1923	}
cparata	2:7ad7571557a5	1924
cparata	2:7ad7571557a5	1925	switch( xh_raw )
cparata	2:7ad7571557a5	1926	{
cparata	2:7ad7571557a5	1927	case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
cparata	2:7ad7571557a5	1928	*xh = 1;
cparata	2:7ad7571557a5	1929	break;
cparata	2:7ad7571557a5	1930	case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
cparata	2:7ad7571557a5	1931	*xh = 0;
cparata	2:7ad7571557a5	1932	break;
cparata	2:7ad7571557a5	1933	default:
cparata	2:7ad7571557a5	1934	return 1;
cparata	2:7ad7571557a5	1935	}
cparata	2:7ad7571557a5	1936
cparata	2:7ad7571557a5	1937	return 0;
cparata	2:7ad7571557a5	1938	}
cparata	2:7ad7571557a5	1939
cparata	2:7ad7571557a5	1940	/**
cparata	2:7ad7571557a5	1941	* @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1942	* @param yl the pointer to the 6D orientation YL axis
cparata	2:7ad7571557a5	1943	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1944	*/
cparata	2:7ad7571557a5	1945	int LSM6DSLSensor::Get_6D_Orientation_YL(uint8_t *yl)
cparata	2:7ad7571557a5	1946	{
cparata	2:7ad7571557a5	1947	LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
cparata	2:7ad7571557a5	1948
cparata	2:7ad7571557a5	1949	if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1950	{
cparata	2:7ad7571557a5	1951	return 1;
cparata	2:7ad7571557a5	1952	}
cparata	2:7ad7571557a5	1953
cparata	2:7ad7571557a5	1954	switch( yl_raw )
cparata	2:7ad7571557a5	1955	{
cparata	2:7ad7571557a5	1956	case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
cparata	2:7ad7571557a5	1957	*yl = 1;
cparata	2:7ad7571557a5	1958	break;
cparata	2:7ad7571557a5	1959	case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
cparata	2:7ad7571557a5	1960	*yl = 0;
cparata	2:7ad7571557a5	1961	break;
cparata	2:7ad7571557a5	1962	default:
cparata	2:7ad7571557a5	1963	return 1;
cparata	2:7ad7571557a5	1964	}
cparata	2:7ad7571557a5	1965
cparata	2:7ad7571557a5	1966	return 0;
cparata	2:7ad7571557a5	1967	}
cparata	2:7ad7571557a5	1968
cparata	2:7ad7571557a5	1969	/**
cparata	2:7ad7571557a5	1970	* @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	1971	* @param yh the pointer to the 6D orientation YH axis
cparata	2:7ad7571557a5	1972	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	1973	*/
cparata	2:7ad7571557a5	1974	int LSM6DSLSensor::Get_6D_Orientation_YH(uint8_t *yh)
cparata	2:7ad7571557a5	1975	{
cparata	2:7ad7571557a5	1976	LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
cparata	2:7ad7571557a5	1977
cparata	2:7ad7571557a5	1978	if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
cparata	2:7ad7571557a5	1979	{
cparata	2:7ad7571557a5	1980	return 1;
cparata	2:7ad7571557a5	1981	}
cparata	2:7ad7571557a5	1982
cparata	2:7ad7571557a5	1983	switch( yh_raw )
cparata	2:7ad7571557a5	1984	{
cparata	2:7ad7571557a5	1985	case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
cparata	2:7ad7571557a5	1986	*yh = 1;
cparata	2:7ad7571557a5	1987	break;
cparata	2:7ad7571557a5	1988	case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
cparata	2:7ad7571557a5	1989	*yh = 0;
cparata	2:7ad7571557a5	1990	break;
cparata	2:7ad7571557a5	1991	default:
cparata	2:7ad7571557a5	1992	return 1;
cparata	2:7ad7571557a5	1993	}
cparata	2:7ad7571557a5	1994
cparata	2:7ad7571557a5	1995	return 0;
cparata	2:7ad7571557a5	1996	}
cparata	2:7ad7571557a5	1997
cparata	2:7ad7571557a5	1998	/**
cparata	2:7ad7571557a5	1999	* @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	2000	* @param zl the pointer to the 6D orientation ZL axis
cparata	2:7ad7571557a5	2001	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	2002	*/
cparata	2:7ad7571557a5	2003	int LSM6DSLSensor::Get_6D_Orientation_ZL(uint8_t *zl)
cparata	2:7ad7571557a5	2004	{
cparata	2:7ad7571557a5	2005	LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
cparata	2:7ad7571557a5	2006
cparata	2:7ad7571557a5	2007	if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
cparata	2:7ad7571557a5	2008	{
cparata	2:7ad7571557a5	2009	return 1;
cparata	2:7ad7571557a5	2010	}
cparata	2:7ad7571557a5	2011
cparata	2:7ad7571557a5	2012	switch( zl_raw )
cparata	2:7ad7571557a5	2013	{
cparata	2:7ad7571557a5	2014	case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
cparata	2:7ad7571557a5	2015	*zl = 1;
cparata	2:7ad7571557a5	2016	break;
cparata	2:7ad7571557a5	2017	case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
cparata	2:7ad7571557a5	2018	*zl = 0;
cparata	2:7ad7571557a5	2019	break;
cparata	2:7ad7571557a5	2020	default:
cparata	2:7ad7571557a5	2021	return 1;
cparata	2:7ad7571557a5	2022	}
cparata	2:7ad7571557a5	2023
cparata	2:7ad7571557a5	2024	return 0;
cparata	2:7ad7571557a5	2025	}
cparata	2:7ad7571557a5	2026
cparata	2:7ad7571557a5	2027	/**
cparata	2:7ad7571557a5	2028	* @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
cparata	2:7ad7571557a5	2029	* @param zh the pointer to the 6D orientation ZH axis
cparata	2:7ad7571557a5	2030	* @retval 0 in case of success, an error code otherwise
cparata	2:7ad7571557a5	2031	*/
cparata	2:7ad7571557a5	2032	int LSM6DSLSensor::Get_6D_Orientation_ZH(uint8_t *zh)
cparata	2:7ad7571557a5	2033	{
cparata	2:7ad7571557a5	2034	LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
cparata	2:7ad7571557a5	2035
cparata	2:7ad7571557a5	2036	if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
cparata	2:7ad7571557a5	2037	{
cparata	2:7ad7571557a5	2038	return 1;
cparata	2:7ad7571557a5	2039	}
cparata	2:7ad7571557a5	2040
cparata	2:7ad7571557a5	2041	switch( zh_raw )
cparata	2:7ad7571557a5	2042	{
cparata	2:7ad7571557a5	2043	case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
cparata	2:7ad7571557a5	2044	*zh = 1;
cparata	2:7ad7571557a5	2045	break;
cparata	2:7ad7571557a5	2046	case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
cparata	2:7ad7571557a5	2047	*zh = 0;
cparata	2:7ad7571557a5	2048	break;
cparata	2:7ad7571557a5	2049	default:
cparata	2:7ad7571557a5	2050	return 1;
cparata	2:7ad7571557a5	2051	}
cparata	2:7ad7571557a5	2052
cparata	2:7ad7571557a5	2053	return 0;
cparata	2:7ad7571557a5	2054	}
cparata	2:7ad7571557a5	2055
cparata	2:7ad7571557a5	2056	/**
cparata	2:7ad7571557a5	2057	* @brief Read the data from register
cparata	2:7ad7571557a5	2058	* @param reg register address
cparata	2:7ad7571557a5	2059	* @param data register data
cparata	2:7ad7571557a5	2060	* @retval 0 in case of success
cparata	2:7ad7571557a5	2061	* @retval 1 in case of failure
cparata	2:7ad7571557a5	2062	*/
cparata	2:7ad7571557a5	2063	int LSM6DSLSensor::ReadReg( uint8_t reg, uint8_t *data )
cparata	2:7ad7571557a5	2064	{
cparata	2:7ad7571557a5	2065
cparata	2:7ad7571557a5	2066	if ( LSM6DSL_ACC_GYRO_ReadReg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
cparata	2:7ad7571557a5	2067	{
cparata	2:7ad7571557a5	2068	return 1;
cparata	2:7ad7571557a5	2069	}
cparata	2:7ad7571557a5	2070
cparata	2:7ad7571557a5	2071	return 0;
cparata	2:7ad7571557a5	2072	}
cparata	2:7ad7571557a5	2073
cparata	2:7ad7571557a5	2074	/**
cparata	2:7ad7571557a5	2075	* @brief Write the data to register
cparata	2:7ad7571557a5	2076	* @param reg register address
cparata	2:7ad7571557a5	2077	* @param data register data
cparata	2:7ad7571557a5	2078	* @retval 0 in case of success
cparata	2:7ad7571557a5	2079	* @retval 1 in case of failure
cparata	2:7ad7571557a5	2080	*/
cparata	2:7ad7571557a5	2081	int LSM6DSLSensor::WriteReg( uint8_t reg, uint8_t data )
cparata	2:7ad7571557a5	2082	{
cparata	2:7ad7571557a5	2083
cparata	2:7ad7571557a5	2084	if ( LSM6DSL_ACC_GYRO_WriteReg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
cparata	2:7ad7571557a5	2085	{
cparata	2:7ad7571557a5	2086	return 1;
cparata	2:7ad7571557a5	2087	}
cparata	2:7ad7571557a5	2088
cparata	2:7ad7571557a5	2089	return 0;
cparata	2:7ad7571557a5	2090	}
cparata	2:7ad7571557a5	2091
cparata	2:7ad7571557a5	2092
cparata	2:7ad7571557a5	2093	uint8_t LSM6DSL_IO_Write( void handle, uint8_t WriteAddr, uint8_t pBuffer, uint16_t nBytesToWrite )
cparata	2:7ad7571557a5	2094	{
cparata	2:7ad7571557a5	2095	return ((LSM6DSLSensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata	2:7ad7571557a5	2096	}
cparata	2:7ad7571557a5	2097
cparata	2:7ad7571557a5	2098	uint8_t LSM6DSL_IO_Read( void handle, uint8_t ReadAddr, uint8_t pBuffer, uint16_t nBytesToRead )
cparata	2:7ad7571557a5	2099	{
cparata	2:7ad7571557a5	2100	return ((LSM6DSLSensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata	2:7ad7571557a5	2101	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	16 Dec 2016
Imports:	97
Forks:	0
Commits:	17
Dependents:	0
Dependencies:	2
Followers:	402

The code in this repository is Apache licensed.

Wake up Demo Application based on sensor expansion board X-NUCLEO-IKS01A2

X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.cpp@2:7ad7571557a5, 2016-08-19 (annotated)

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