ST / Mbed 2 deprecated WakeUp_IKS01A2

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

Dependencies:   X_NUCLEO_IKS01A2 mbed

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@0:e7e920b85676, 2016-08-12 (annotated)

Committer:
cparata
Date:
Fri Aug 12 13:43:40 2016 +0000
Revision:
0:e7e920b85676
First release of Wake-Up Detection for LSM6DSL in IKS01A2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 0:e7e920b85676 1 /**
cparata 0:e7e920b85676 2 ******************************************************************************
cparata 0:e7e920b85676 3 * @file LSM6DSLSensor.cpp
cparata 0:e7e920b85676 4 * @author AST
cparata 0:e7e920b85676 5 * @version V1.0.0
cparata 0:e7e920b85676 6 * @date 5 August 2016
cparata 0:e7e920b85676 7 * @brief Implementation of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
cparata 0:e7e920b85676 8 * sensor.
cparata 0:e7e920b85676 9 ******************************************************************************
cparata 0:e7e920b85676 10 * @attention
cparata 0:e7e920b85676 11 *
cparata 0:e7e920b85676 12 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 0:e7e920b85676 13 *
cparata 0:e7e920b85676 14 * Redistribution and use in source and binary forms, with or without modification,
cparata 0:e7e920b85676 15 * are permitted provided that the following conditions are met:
cparata 0:e7e920b85676 16 * 1. Redistributions of source code must retain the above copyright notice,
cparata 0:e7e920b85676 17 * this list of conditions and the following disclaimer.
cparata 0:e7e920b85676 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 0:e7e920b85676 19 * this list of conditions and the following disclaimer in the documentation
cparata 0:e7e920b85676 20 * and/or other materials provided with the distribution.
cparata 0:e7e920b85676 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 0:e7e920b85676 22 * may be used to endorse or promote products derived from this software
cparata 0:e7e920b85676 23 * without specific prior written permission.
cparata 0:e7e920b85676 24 *
cparata 0:e7e920b85676 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 0:e7e920b85676 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 0:e7e920b85676 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 0:e7e920b85676 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 0:e7e920b85676 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 0:e7e920b85676 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 0:e7e920b85676 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 0:e7e920b85676 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 0:e7e920b85676 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 0:e7e920b85676 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 0:e7e920b85676 35 *
cparata 0:e7e920b85676 36 ******************************************************************************
cparata 0:e7e920b85676 37 */
cparata 0:e7e920b85676 38
cparata 0:e7e920b85676 39
cparata 0:e7e920b85676 40 /* Includes ------------------------------------------------------------------*/
cparata 0:e7e920b85676 41
cparata 0:e7e920b85676 42 #include "mbed.h"
cparata 0:e7e920b85676 43 #include "DevI2C.h"
cparata 0:e7e920b85676 44 #include "LSM6DSLSensor.h"
cparata 0:e7e920b85676 45 #include "LSM6DSL_ACC_GYRO_driver.h"
cparata 0:e7e920b85676 46
cparata 0:e7e920b85676 47
cparata 0:e7e920b85676 48 /* Class Implementation ------------------------------------------------------*/
cparata 0:e7e920b85676 49
cparata 0:e7e920b85676 50 /** Constructor
cparata 0:e7e920b85676 51 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:e7e920b85676 52 * @param address the address of the component's instance
cparata 0:e7e920b85676 53 */
cparata 0:e7e920b85676 54 LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c) : dev_i2c(i2c)
cparata 0:e7e920b85676 55 {
cparata 0:e7e920b85676 56 address = LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH;
cparata 0:e7e920b85676 57
cparata 0:e7e920b85676 58 /* Enable register address automatically incremented during a multiple byte
cparata 0:e7e920b85676 59 access with a serial interface. */
cparata 0:e7e920b85676 60 if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 61 {
cparata 0:e7e920b85676 62 return;
cparata 0:e7e920b85676 63 }
cparata 0:e7e920b85676 64
cparata 0:e7e920b85676 65 /* Enable BDU */
cparata 0:e7e920b85676 66 if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
cparata 0:e7e920b85676 67 {
cparata 0:e7e920b85676 68 return;
cparata 0:e7e920b85676 69 }
cparata 0:e7e920b85676 70
cparata 0:e7e920b85676 71 /* FIFO mode selection */
cparata 0:e7e920b85676 72 if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
cparata 0:e7e920b85676 73 {
cparata 0:e7e920b85676 74 return;
cparata 0:e7e920b85676 75 }
cparata 0:e7e920b85676 76
cparata 0:e7e920b85676 77 /* Output data rate selection - power down. */
cparata 0:e7e920b85676 78 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata 0:e7e920b85676 79 {
cparata 0:e7e920b85676 80 return;
cparata 0:e7e920b85676 81 }
cparata 0:e7e920b85676 82
cparata 0:e7e920b85676 83 /* Full scale selection. */
cparata 0:e7e920b85676 84 if ( Set_X_FS( 2.0f ) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 85 {
cparata 0:e7e920b85676 86 return;
cparata 0:e7e920b85676 87 }
cparata 0:e7e920b85676 88
cparata 0:e7e920b85676 89 /* Output data rate selection - power down */
cparata 0:e7e920b85676 90 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata 0:e7e920b85676 91 {
cparata 0:e7e920b85676 92 return;
cparata 0:e7e920b85676 93 }
cparata 0:e7e920b85676 94
cparata 0:e7e920b85676 95 /* Full scale selection. */
cparata 0:e7e920b85676 96 if ( Set_G_FS( 2000.0f ) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 97 {
cparata 0:e7e920b85676 98 return;
cparata 0:e7e920b85676 99 }
cparata 0:e7e920b85676 100
cparata 0:e7e920b85676 101 X_Last_ODR = 104.0f;
cparata 0:e7e920b85676 102
cparata 0:e7e920b85676 103 X_isEnabled = 0;
cparata 0:e7e920b85676 104
cparata 0:e7e920b85676 105 G_Last_ODR = 104.0f;
cparata 0:e7e920b85676 106
cparata 0:e7e920b85676 107 G_isEnabled = 0;
cparata 0:e7e920b85676 108 };
cparata 0:e7e920b85676 109
cparata 0:e7e920b85676 110 /** Constructor
cparata 0:e7e920b85676 111 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:e7e920b85676 112 * @param address the address of the component's instance
cparata 0:e7e920b85676 113 */
cparata 0:e7e920b85676 114 LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
cparata 0:e7e920b85676 115 {
cparata 0:e7e920b85676 116 /* Enable register address automatically incremented during a multiple byte
cparata 0:e7e920b85676 117 access with a serial interface. */
cparata 0:e7e920b85676 118 if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 119 {
cparata 0:e7e920b85676 120 return;
cparata 0:e7e920b85676 121 }
cparata 0:e7e920b85676 122
cparata 0:e7e920b85676 123 /* Enable BDU */
cparata 0:e7e920b85676 124 if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
cparata 0:e7e920b85676 125 {
cparata 0:e7e920b85676 126 return;
cparata 0:e7e920b85676 127 }
cparata 0:e7e920b85676 128
cparata 0:e7e920b85676 129 /* FIFO mode selection */
cparata 0:e7e920b85676 130 if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
cparata 0:e7e920b85676 131 {
cparata 0:e7e920b85676 132 return;
cparata 0:e7e920b85676 133 }
cparata 0:e7e920b85676 134
cparata 0:e7e920b85676 135 /* Output data rate selection - power down. */
cparata 0:e7e920b85676 136 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata 0:e7e920b85676 137 {
cparata 0:e7e920b85676 138 return;
cparata 0:e7e920b85676 139 }
cparata 0:e7e920b85676 140
cparata 0:e7e920b85676 141 /* Full scale selection. */
cparata 0:e7e920b85676 142 if ( Set_X_FS( 2.0f ) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 143 {
cparata 0:e7e920b85676 144 return;
cparata 0:e7e920b85676 145 }
cparata 0:e7e920b85676 146
cparata 0:e7e920b85676 147 /* Output data rate selection - power down */
cparata 0:e7e920b85676 148 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata 0:e7e920b85676 149 {
cparata 0:e7e920b85676 150 return;
cparata 0:e7e920b85676 151 }
cparata 0:e7e920b85676 152
cparata 0:e7e920b85676 153 /* Full scale selection. */
cparata 0:e7e920b85676 154 if ( Set_G_FS( 2000.0f ) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 155 {
cparata 0:e7e920b85676 156 return;
cparata 0:e7e920b85676 157 }
cparata 0:e7e920b85676 158
cparata 0:e7e920b85676 159 X_Last_ODR = 104.0f;
cparata 0:e7e920b85676 160
cparata 0:e7e920b85676 161 X_isEnabled = 0;
cparata 0:e7e920b85676 162
cparata 0:e7e920b85676 163 G_Last_ODR = 104.0f;
cparata 0:e7e920b85676 164
cparata 0:e7e920b85676 165 G_isEnabled = 0;
cparata 0:e7e920b85676 166 };
cparata 0:e7e920b85676 167
cparata 0:e7e920b85676 168 /**
cparata 0:e7e920b85676 169 * @brief Enable LSM6DSL Accelerator
cparata 0:e7e920b85676 170 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 171 */
cparata 0:e7e920b85676 172 LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_X(void)
cparata 0:e7e920b85676 173 {
cparata 0:e7e920b85676 174 /* Check if the component is already enabled */
cparata 0:e7e920b85676 175 if ( X_isEnabled == 1 )
cparata 0:e7e920b85676 176 {
cparata 0:e7e920b85676 177 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 178 }
cparata 0:e7e920b85676 179
cparata 0:e7e920b85676 180 /* Output data rate selection. */
cparata 0:e7e920b85676 181 if ( Set_X_ODR_When_Enabled( X_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 182 {
cparata 0:e7e920b85676 183 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 184 }
cparata 0:e7e920b85676 185
cparata 0:e7e920b85676 186 X_isEnabled = 1;
cparata 0:e7e920b85676 187
cparata 0:e7e920b85676 188 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 189 }
cparata 0:e7e920b85676 190
cparata 0:e7e920b85676 191 /**
cparata 0:e7e920b85676 192 * @brief Enable LSM6DSL Gyroscope
cparata 0:e7e920b85676 193 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 194 */
cparata 0:e7e920b85676 195 LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_G(void)
cparata 0:e7e920b85676 196 {
cparata 0:e7e920b85676 197 /* Check if the component is already enabled */
cparata 0:e7e920b85676 198 if ( G_isEnabled == 1 )
cparata 0:e7e920b85676 199 {
cparata 0:e7e920b85676 200 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 201 }
cparata 0:e7e920b85676 202
cparata 0:e7e920b85676 203 /* Output data rate selection. */
cparata 0:e7e920b85676 204 if ( Set_G_ODR_When_Enabled( G_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 205 {
cparata 0:e7e920b85676 206 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 207 }
cparata 0:e7e920b85676 208
cparata 0:e7e920b85676 209 G_isEnabled = 1;
cparata 0:e7e920b85676 210
cparata 0:e7e920b85676 211 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 212 }
cparata 0:e7e920b85676 213
cparata 0:e7e920b85676 214 /**
cparata 0:e7e920b85676 215 * @brief Disable LSM6DSL Accelerator
cparata 0:e7e920b85676 216 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 217 */
cparata 0:e7e920b85676 218 LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_X(void)
cparata 0:e7e920b85676 219 {
cparata 0:e7e920b85676 220 /* Check if the component is already disabled */
cparata 0:e7e920b85676 221 if ( X_isEnabled == 0 )
cparata 0:e7e920b85676 222 {
cparata 0:e7e920b85676 223 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 224 }
cparata 0:e7e920b85676 225
cparata 0:e7e920b85676 226 /* Store actual output data rate. */
cparata 0:e7e920b85676 227 if ( Get_X_ODR( &X_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 228 {
cparata 0:e7e920b85676 229 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 230 }
cparata 0:e7e920b85676 231
cparata 0:e7e920b85676 232 /* Output data rate selection - power down. */
cparata 0:e7e920b85676 233 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
cparata 0:e7e920b85676 234 {
cparata 0:e7e920b85676 235 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 236 }
cparata 0:e7e920b85676 237
cparata 0:e7e920b85676 238 X_isEnabled = 0;
cparata 0:e7e920b85676 239
cparata 0:e7e920b85676 240 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 241 }
cparata 0:e7e920b85676 242
cparata 0:e7e920b85676 243 /**
cparata 0:e7e920b85676 244 * @brief Disable LSM6DSL Gyroscope
cparata 0:e7e920b85676 245 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 246 */
cparata 0:e7e920b85676 247 LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_G(void)
cparata 0:e7e920b85676 248 {
cparata 0:e7e920b85676 249 /* Check if the component is already disabled */
cparata 0:e7e920b85676 250 if ( G_isEnabled == 0 )
cparata 0:e7e920b85676 251 {
cparata 0:e7e920b85676 252 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 253 }
cparata 0:e7e920b85676 254
cparata 0:e7e920b85676 255 /* Store actual output data rate. */
cparata 0:e7e920b85676 256 if ( Get_G_ODR( &G_Last_ODR ) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 257 {
cparata 0:e7e920b85676 258 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 259 }
cparata 0:e7e920b85676 260
cparata 0:e7e920b85676 261 /* Output data rate selection - power down */
cparata 0:e7e920b85676 262 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
cparata 0:e7e920b85676 263 {
cparata 0:e7e920b85676 264 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 265 }
cparata 0:e7e920b85676 266
cparata 0:e7e920b85676 267 G_isEnabled = 0;
cparata 0:e7e920b85676 268
cparata 0:e7e920b85676 269 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 270 }
cparata 0:e7e920b85676 271
cparata 0:e7e920b85676 272 /**
cparata 0:e7e920b85676 273 * @brief Read ID of LSM6DSL Accelerometer and Gyroscope
cparata 0:e7e920b85676 274 * @param p_id the pointer where the ID of the device is stored
cparata 0:e7e920b85676 275 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 276 */
cparata 0:e7e920b85676 277 LSM6DSLStatusTypeDef LSM6DSLSensor::ReadID(uint8_t *p_id)
cparata 0:e7e920b85676 278 {
cparata 0:e7e920b85676 279 if(!p_id)
cparata 0:e7e920b85676 280 {
cparata 0:e7e920b85676 281 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 282 }
cparata 0:e7e920b85676 283
cparata 0:e7e920b85676 284 /* Read WHO AM I register */
cparata 0:e7e920b85676 285 if ( LSM6DSL_ACC_GYRO_R_WHO_AM_I( (void *)this, p_id ) == MEMS_ERROR )
cparata 0:e7e920b85676 286 {
cparata 0:e7e920b85676 287 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 288 }
cparata 0:e7e920b85676 289
cparata 0:e7e920b85676 290 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 291 }
cparata 0:e7e920b85676 292
cparata 0:e7e920b85676 293 /**
cparata 0:e7e920b85676 294 * @brief Read data from LSM6DSL Accelerometer
cparata 0:e7e920b85676 295 * @param pData the pointer where the accelerometer data are stored
cparata 0:e7e920b85676 296 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 297 */
cparata 0:e7e920b85676 298 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_Axes(int32_t *pData)
cparata 0:e7e920b85676 299 {
cparata 0:e7e920b85676 300 int16_t dataRaw[3];
cparata 0:e7e920b85676 301 float sensitivity = 0;
cparata 0:e7e920b85676 302
cparata 0:e7e920b85676 303 /* Read raw data from LSM6DSL output register. */
cparata 0:e7e920b85676 304 if ( Get_X_AxesRaw( dataRaw ) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 305 {
cparata 0:e7e920b85676 306 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 307 }
cparata 0:e7e920b85676 308
cparata 0:e7e920b85676 309 /* Get LSM6DSL actual sensitivity. */
cparata 0:e7e920b85676 310 if ( Get_X_Sensitivity( &sensitivity ) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 311 {
cparata 0:e7e920b85676 312 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 313 }
cparata 0:e7e920b85676 314
cparata 0:e7e920b85676 315 /* Calculate the data. */
cparata 0:e7e920b85676 316 pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata 0:e7e920b85676 317 pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata 0:e7e920b85676 318 pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata 0:e7e920b85676 319
cparata 0:e7e920b85676 320 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 321 }
cparata 0:e7e920b85676 322
cparata 0:e7e920b85676 323 /**
cparata 0:e7e920b85676 324 * @brief Read data from LSM6DSL Gyroscope
cparata 0:e7e920b85676 325 * @param pData the pointer where the gyroscope data are stored
cparata 0:e7e920b85676 326 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 327 */
cparata 0:e7e920b85676 328 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_Axes(int32_t *pData)
cparata 0:e7e920b85676 329 {
cparata 0:e7e920b85676 330 int16_t dataRaw[3];
cparata 0:e7e920b85676 331 float sensitivity = 0;
cparata 0:e7e920b85676 332
cparata 0:e7e920b85676 333 /* Read raw data from LSM6DSL output register. */
cparata 0:e7e920b85676 334 if ( Get_G_AxesRaw( dataRaw ) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 335 {
cparata 0:e7e920b85676 336 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 337 }
cparata 0:e7e920b85676 338
cparata 0:e7e920b85676 339 /* Get LSM6DSL actual sensitivity. */
cparata 0:e7e920b85676 340 if ( Get_G_Sensitivity( &sensitivity ) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 341 {
cparata 0:e7e920b85676 342 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 343 }
cparata 0:e7e920b85676 344
cparata 0:e7e920b85676 345 /* Calculate the data. */
cparata 0:e7e920b85676 346 pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
cparata 0:e7e920b85676 347 pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
cparata 0:e7e920b85676 348 pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
cparata 0:e7e920b85676 349
cparata 0:e7e920b85676 350 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 351 }
cparata 0:e7e920b85676 352
cparata 0:e7e920b85676 353 /**
cparata 0:e7e920b85676 354 * @brief Read Accelerometer Sensitivity
cparata 0:e7e920b85676 355 * @param pfData the pointer where the accelerometer sensitivity is stored
cparata 0:e7e920b85676 356 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 357 */
cparata 0:e7e920b85676 358 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_Sensitivity(float *pfData)
cparata 0:e7e920b85676 359 {
cparata 0:e7e920b85676 360 LSM6DSL_ACC_GYRO_FS_XL_t fullScale;
cparata 0:e7e920b85676 361
cparata 0:e7e920b85676 362 /* Read actual full scale selection from sensor. */
cparata 0:e7e920b85676 363 if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:e7e920b85676 364 {
cparata 0:e7e920b85676 365 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 366 }
cparata 0:e7e920b85676 367
cparata 0:e7e920b85676 368 /* Store the sensitivity based on actual full scale. */
cparata 0:e7e920b85676 369 switch( fullScale )
cparata 0:e7e920b85676 370 {
cparata 0:e7e920b85676 371 case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata 0:e7e920b85676 372 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G;
cparata 0:e7e920b85676 373 break;
cparata 0:e7e920b85676 374 case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata 0:e7e920b85676 375 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G;
cparata 0:e7e920b85676 376 break;
cparata 0:e7e920b85676 377 case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata 0:e7e920b85676 378 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G;
cparata 0:e7e920b85676 379 break;
cparata 0:e7e920b85676 380 case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata 0:e7e920b85676 381 *pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G;
cparata 0:e7e920b85676 382 break;
cparata 0:e7e920b85676 383 default:
cparata 0:e7e920b85676 384 *pfData = -1.0f;
cparata 0:e7e920b85676 385 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 386 }
cparata 0:e7e920b85676 387
cparata 0:e7e920b85676 388 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 389 }
cparata 0:e7e920b85676 390
cparata 0:e7e920b85676 391 /**
cparata 0:e7e920b85676 392 * @brief Read Gyroscope Sensitivity
cparata 0:e7e920b85676 393 * @param pfData the pointer where the gyroscope sensitivity is stored
cparata 0:e7e920b85676 394 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 395 */
cparata 0:e7e920b85676 396 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_Sensitivity(float *pfData)
cparata 0:e7e920b85676 397 {
cparata 0:e7e920b85676 398 LSM6DSL_ACC_GYRO_FS_125_t fullScale125;
cparata 0:e7e920b85676 399 LSM6DSL_ACC_GYRO_FS_G_t fullScale;
cparata 0:e7e920b85676 400
cparata 0:e7e920b85676 401 /* Read full scale 125 selection from sensor. */
cparata 0:e7e920b85676 402 if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fullScale125 ) == MEMS_ERROR )
cparata 0:e7e920b85676 403 {
cparata 0:e7e920b85676 404 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 405 }
cparata 0:e7e920b85676 406
cparata 0:e7e920b85676 407 if ( fullScale125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata 0:e7e920b85676 408 {
cparata 0:e7e920b85676 409 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS;
cparata 0:e7e920b85676 410 }
cparata 0:e7e920b85676 411
cparata 0:e7e920b85676 412 else
cparata 0:e7e920b85676 413 {
cparata 0:e7e920b85676 414
cparata 0:e7e920b85676 415 /* Read actual full scale selection from sensor. */
cparata 0:e7e920b85676 416 if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fullScale ) == MEMS_ERROR )
cparata 0:e7e920b85676 417 {
cparata 0:e7e920b85676 418 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 419 }
cparata 0:e7e920b85676 420
cparata 0:e7e920b85676 421 /* Store the sensitivity based on actual full scale. */
cparata 0:e7e920b85676 422 switch( fullScale )
cparata 0:e7e920b85676 423 {
cparata 0:e7e920b85676 424 case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata 0:e7e920b85676 425 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS;
cparata 0:e7e920b85676 426 break;
cparata 0:e7e920b85676 427 case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata 0:e7e920b85676 428 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS;
cparata 0:e7e920b85676 429 break;
cparata 0:e7e920b85676 430 case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata 0:e7e920b85676 431 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS;
cparata 0:e7e920b85676 432 break;
cparata 0:e7e920b85676 433 case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata 0:e7e920b85676 434 *pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS;
cparata 0:e7e920b85676 435 break;
cparata 0:e7e920b85676 436 default:
cparata 0:e7e920b85676 437 *pfData = -1.0f;
cparata 0:e7e920b85676 438 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 439 }
cparata 0:e7e920b85676 440 }
cparata 0:e7e920b85676 441
cparata 0:e7e920b85676 442 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 443 }
cparata 0:e7e920b85676 444
cparata 0:e7e920b85676 445 /**
cparata 0:e7e920b85676 446 * @brief Read raw data from LSM6DSL Accelerometer
cparata 0:e7e920b85676 447 * @param pData the pointer where the accelerometer raw data are stored
cparata 0:e7e920b85676 448 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 449 */
cparata 0:e7e920b85676 450 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_AxesRaw(int16_t *pData)
cparata 0:e7e920b85676 451 {
cparata 0:e7e920b85676 452 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 0:e7e920b85676 453
cparata 0:e7e920b85676 454 /* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_XL to LSM6DSL_ACC_GYRO_OUTZ_H_XL. */
cparata 0:e7e920b85676 455 if ( LSM6DSL_ACC_GYRO_GetRawAccData( (void *)this, regValue ) == MEMS_ERROR )
cparata 0:e7e920b85676 456 {
cparata 0:e7e920b85676 457 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 458 }
cparata 0:e7e920b85676 459
cparata 0:e7e920b85676 460 /* Format the data. */
cparata 0:e7e920b85676 461 pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata 0:e7e920b85676 462 pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata 0:e7e920b85676 463 pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata 0:e7e920b85676 464
cparata 0:e7e920b85676 465 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 466 }
cparata 0:e7e920b85676 467
cparata 0:e7e920b85676 468 /**
cparata 0:e7e920b85676 469 * @brief Read raw data from LSM6DSL Gyroscope
cparata 0:e7e920b85676 470 * @param pData the pointer where the gyroscope raw data are stored
cparata 0:e7e920b85676 471 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 472 */
cparata 0:e7e920b85676 473 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_AxesRaw(int16_t *pData)
cparata 0:e7e920b85676 474 {
cparata 0:e7e920b85676 475 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 0:e7e920b85676 476
cparata 0:e7e920b85676 477 /* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_G to LSM6DSL_ACC_GYRO_OUTZ_H_G. */
cparata 0:e7e920b85676 478 if ( LSM6DSL_ACC_GYRO_GetRawGyroData( (void *)this, regValue ) == MEMS_ERROR )
cparata 0:e7e920b85676 479 {
cparata 0:e7e920b85676 480 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 481 }
cparata 0:e7e920b85676 482
cparata 0:e7e920b85676 483 /* Format the data. */
cparata 0:e7e920b85676 484 pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
cparata 0:e7e920b85676 485 pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
cparata 0:e7e920b85676 486 pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
cparata 0:e7e920b85676 487
cparata 0:e7e920b85676 488 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 489 }
cparata 0:e7e920b85676 490
cparata 0:e7e920b85676 491 /**
cparata 0:e7e920b85676 492 * @brief Read LSM6DSL Accelerometer output data rate
cparata 0:e7e920b85676 493 * @param odr the pointer to the output data rate
cparata 0:e7e920b85676 494 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 495 */
cparata 0:e7e920b85676 496 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_ODR(float* odr)
cparata 0:e7e920b85676 497 {
cparata 0:e7e920b85676 498 LSM6DSL_ACC_GYRO_ODR_XL_t odr_low_level;
cparata 0:e7e920b85676 499
cparata 0:e7e920b85676 500 if ( LSM6DSL_ACC_GYRO_R_ODR_XL( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 0:e7e920b85676 501 {
cparata 0:e7e920b85676 502 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 503 }
cparata 0:e7e920b85676 504
cparata 0:e7e920b85676 505 switch( odr_low_level )
cparata 0:e7e920b85676 506 {
cparata 0:e7e920b85676 507 case LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN:
cparata 0:e7e920b85676 508 *odr = 0.0f;
cparata 0:e7e920b85676 509 break;
cparata 0:e7e920b85676 510 case LSM6DSL_ACC_GYRO_ODR_XL_13Hz:
cparata 0:e7e920b85676 511 *odr = 13.0f;
cparata 0:e7e920b85676 512 break;
cparata 0:e7e920b85676 513 case LSM6DSL_ACC_GYRO_ODR_XL_26Hz:
cparata 0:e7e920b85676 514 *odr = 26.0f;
cparata 0:e7e920b85676 515 break;
cparata 0:e7e920b85676 516 case LSM6DSL_ACC_GYRO_ODR_XL_52Hz:
cparata 0:e7e920b85676 517 *odr = 52.0f;
cparata 0:e7e920b85676 518 break;
cparata 0:e7e920b85676 519 case LSM6DSL_ACC_GYRO_ODR_XL_104Hz:
cparata 0:e7e920b85676 520 *odr = 104.0f;
cparata 0:e7e920b85676 521 break;
cparata 0:e7e920b85676 522 case LSM6DSL_ACC_GYRO_ODR_XL_208Hz:
cparata 0:e7e920b85676 523 *odr = 208.0f;
cparata 0:e7e920b85676 524 break;
cparata 0:e7e920b85676 525 case LSM6DSL_ACC_GYRO_ODR_XL_416Hz:
cparata 0:e7e920b85676 526 *odr = 416.0f;
cparata 0:e7e920b85676 527 break;
cparata 0:e7e920b85676 528 case LSM6DSL_ACC_GYRO_ODR_XL_833Hz:
cparata 0:e7e920b85676 529 *odr = 833.0f;
cparata 0:e7e920b85676 530 break;
cparata 0:e7e920b85676 531 case LSM6DSL_ACC_GYRO_ODR_XL_1660Hz:
cparata 0:e7e920b85676 532 *odr = 1660.0f;
cparata 0:e7e920b85676 533 break;
cparata 0:e7e920b85676 534 case LSM6DSL_ACC_GYRO_ODR_XL_3330Hz:
cparata 0:e7e920b85676 535 *odr = 3330.0f;
cparata 0:e7e920b85676 536 break;
cparata 0:e7e920b85676 537 case LSM6DSL_ACC_GYRO_ODR_XL_6660Hz:
cparata 0:e7e920b85676 538 *odr = 6660.0f;
cparata 0:e7e920b85676 539 break;
cparata 0:e7e920b85676 540 default:
cparata 0:e7e920b85676 541 *odr = -1.0f;
cparata 0:e7e920b85676 542 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 543 }
cparata 0:e7e920b85676 544
cparata 0:e7e920b85676 545 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 546 }
cparata 0:e7e920b85676 547
cparata 0:e7e920b85676 548 /**
cparata 0:e7e920b85676 549 * @brief Read LSM6DSL Gyroscope output data rate
cparata 0:e7e920b85676 550 * @param odr the pointer to the output data rate
cparata 0:e7e920b85676 551 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 552 */
cparata 0:e7e920b85676 553 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_ODR(float* odr)
cparata 0:e7e920b85676 554 {
cparata 0:e7e920b85676 555 LSM6DSL_ACC_GYRO_ODR_G_t odr_low_level;
cparata 0:e7e920b85676 556
cparata 0:e7e920b85676 557 if ( LSM6DSL_ACC_GYRO_R_ODR_G( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 0:e7e920b85676 558 {
cparata 0:e7e920b85676 559 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 560 }
cparata 0:e7e920b85676 561
cparata 0:e7e920b85676 562 switch( odr_low_level )
cparata 0:e7e920b85676 563 {
cparata 0:e7e920b85676 564 case LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN:
cparata 0:e7e920b85676 565 *odr = 0.0f;
cparata 0:e7e920b85676 566 break;
cparata 0:e7e920b85676 567 case LSM6DSL_ACC_GYRO_ODR_G_13Hz:
cparata 0:e7e920b85676 568 *odr = 13.0f;
cparata 0:e7e920b85676 569 break;
cparata 0:e7e920b85676 570 case LSM6DSL_ACC_GYRO_ODR_G_26Hz:
cparata 0:e7e920b85676 571 *odr = 26.0f;
cparata 0:e7e920b85676 572 break;
cparata 0:e7e920b85676 573 case LSM6DSL_ACC_GYRO_ODR_G_52Hz:
cparata 0:e7e920b85676 574 *odr = 52.0f;
cparata 0:e7e920b85676 575 break;
cparata 0:e7e920b85676 576 case LSM6DSL_ACC_GYRO_ODR_G_104Hz:
cparata 0:e7e920b85676 577 *odr = 104.0f;
cparata 0:e7e920b85676 578 break;
cparata 0:e7e920b85676 579 case LSM6DSL_ACC_GYRO_ODR_G_208Hz:
cparata 0:e7e920b85676 580 *odr = 208.0f;
cparata 0:e7e920b85676 581 break;
cparata 0:e7e920b85676 582 case LSM6DSL_ACC_GYRO_ODR_G_416Hz:
cparata 0:e7e920b85676 583 *odr = 416.0f;
cparata 0:e7e920b85676 584 break;
cparata 0:e7e920b85676 585 case LSM6DSL_ACC_GYRO_ODR_G_833Hz:
cparata 0:e7e920b85676 586 *odr = 833.0f;
cparata 0:e7e920b85676 587 break;
cparata 0:e7e920b85676 588 case LSM6DSL_ACC_GYRO_ODR_G_1660Hz:
cparata 0:e7e920b85676 589 *odr = 1660.0f;
cparata 0:e7e920b85676 590 break;
cparata 0:e7e920b85676 591 case LSM6DSL_ACC_GYRO_ODR_G_3330Hz:
cparata 0:e7e920b85676 592 *odr = 3330.0f;
cparata 0:e7e920b85676 593 break;
cparata 0:e7e920b85676 594 case LSM6DSL_ACC_GYRO_ODR_G_6660Hz:
cparata 0:e7e920b85676 595 *odr = 6660.0f;
cparata 0:e7e920b85676 596 break;
cparata 0:e7e920b85676 597 default:
cparata 0:e7e920b85676 598 *odr = -1.0f;
cparata 0:e7e920b85676 599 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 600 }
cparata 0:e7e920b85676 601
cparata 0:e7e920b85676 602 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 603 }
cparata 0:e7e920b85676 604
cparata 0:e7e920b85676 605 /**
cparata 0:e7e920b85676 606 * @brief Set LSM6DSL Accelerometer output data rate
cparata 0:e7e920b85676 607 * @param odr the output data rate to be set
cparata 0:e7e920b85676 608 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 609 */
cparata 0:e7e920b85676 610 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_ODR(float odr)
cparata 0:e7e920b85676 611 {
cparata 0:e7e920b85676 612 if(X_isEnabled == 1)
cparata 0:e7e920b85676 613 {
cparata 0:e7e920b85676 614 if(Set_X_ODR_When_Enabled(odr) == LSM6DSL_STATUS_ERROR)
cparata 0:e7e920b85676 615 {
cparata 0:e7e920b85676 616 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 617 }
cparata 0:e7e920b85676 618 }
cparata 0:e7e920b85676 619 else
cparata 0:e7e920b85676 620 {
cparata 0:e7e920b85676 621 if(Set_X_ODR_When_Disabled(odr) == LSM6DSL_STATUS_ERROR)
cparata 0:e7e920b85676 622 {
cparata 0:e7e920b85676 623 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 624 }
cparata 0:e7e920b85676 625 }
cparata 0:e7e920b85676 626
cparata 0:e7e920b85676 627 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 628 }
cparata 0:e7e920b85676 629
cparata 0:e7e920b85676 630 /**
cparata 0:e7e920b85676 631 * @brief Set LSM6DSL Accelerometer output data rate when enabled
cparata 0:e7e920b85676 632 * @param odr the output data rate to be set
cparata 0:e7e920b85676 633 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 634 */
cparata 0:e7e920b85676 635 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_ODR_When_Enabled(float odr)
cparata 0:e7e920b85676 636 {
cparata 0:e7e920b85676 637 LSM6DSL_ACC_GYRO_ODR_XL_t new_odr;
cparata 0:e7e920b85676 638
cparata 0:e7e920b85676 639 new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_13Hz
cparata 0:e7e920b85676 640 : ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_26Hz
cparata 0:e7e920b85676 641 : ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_52Hz
cparata 0:e7e920b85676 642 : ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_104Hz
cparata 0:e7e920b85676 643 : ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_208Hz
cparata 0:e7e920b85676 644 : ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_416Hz
cparata 0:e7e920b85676 645 : ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_833Hz
cparata 0:e7e920b85676 646 : ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_1660Hz
cparata 0:e7e920b85676 647 : ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_3330Hz
cparata 0:e7e920b85676 648 : LSM6DSL_ACC_GYRO_ODR_XL_6660Hz;
cparata 0:e7e920b85676 649
cparata 0:e7e920b85676 650 if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, new_odr ) == MEMS_ERROR )
cparata 0:e7e920b85676 651 {
cparata 0:e7e920b85676 652 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 653 }
cparata 0:e7e920b85676 654
cparata 0:e7e920b85676 655 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 656 }
cparata 0:e7e920b85676 657
cparata 0:e7e920b85676 658 /**
cparata 0:e7e920b85676 659 * @brief Set LSM6DSL Accelerometer output data rate when disabled
cparata 0:e7e920b85676 660 * @param odr the output data rate to be set
cparata 0:e7e920b85676 661 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 662 */
cparata 0:e7e920b85676 663 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_ODR_When_Disabled(float odr)
cparata 0:e7e920b85676 664 {
cparata 0:e7e920b85676 665 X_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata 0:e7e920b85676 666 : ( odr <= 26.0f ) ? 26.0f
cparata 0:e7e920b85676 667 : ( odr <= 52.0f ) ? 52.0f
cparata 0:e7e920b85676 668 : ( odr <= 104.0f ) ? 104.0f
cparata 0:e7e920b85676 669 : ( odr <= 208.0f ) ? 208.0f
cparata 0:e7e920b85676 670 : ( odr <= 416.0f ) ? 416.0f
cparata 0:e7e920b85676 671 : ( odr <= 833.0f ) ? 833.0f
cparata 0:e7e920b85676 672 : ( odr <= 1660.0f ) ? 1660.0f
cparata 0:e7e920b85676 673 : ( odr <= 3330.0f ) ? 3330.0f
cparata 0:e7e920b85676 674 : 6660.0f;
cparata 0:e7e920b85676 675
cparata 0:e7e920b85676 676 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 677 }
cparata 0:e7e920b85676 678
cparata 0:e7e920b85676 679 /**
cparata 0:e7e920b85676 680 * @brief Set LSM6DSL Gyroscope output data rate
cparata 0:e7e920b85676 681 * @param odr the output data rate to be set
cparata 0:e7e920b85676 682 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 683 */
cparata 0:e7e920b85676 684 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_ODR(float odr)
cparata 0:e7e920b85676 685 {
cparata 0:e7e920b85676 686 if(G_isEnabled == 1)
cparata 0:e7e920b85676 687 {
cparata 0:e7e920b85676 688 if(Set_G_ODR_When_Enabled(odr) == LSM6DSL_STATUS_ERROR)
cparata 0:e7e920b85676 689 {
cparata 0:e7e920b85676 690 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 691 }
cparata 0:e7e920b85676 692 }
cparata 0:e7e920b85676 693 else
cparata 0:e7e920b85676 694 {
cparata 0:e7e920b85676 695 if(Set_G_ODR_When_Disabled(odr) == LSM6DSL_STATUS_ERROR)
cparata 0:e7e920b85676 696 {
cparata 0:e7e920b85676 697 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 698 }
cparata 0:e7e920b85676 699 }
cparata 0:e7e920b85676 700
cparata 0:e7e920b85676 701 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 702 }
cparata 0:e7e920b85676 703
cparata 0:e7e920b85676 704 /**
cparata 0:e7e920b85676 705 * @brief Set LSM6DSL Gyroscope output data rate when enabled
cparata 0:e7e920b85676 706 * @param odr the output data rate to be set
cparata 0:e7e920b85676 707 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 708 */
cparata 0:e7e920b85676 709 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_ODR_When_Enabled(float odr)
cparata 0:e7e920b85676 710 {
cparata 0:e7e920b85676 711 LSM6DSL_ACC_GYRO_ODR_G_t new_odr;
cparata 0:e7e920b85676 712
cparata 0:e7e920b85676 713 new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_13Hz
cparata 0:e7e920b85676 714 : ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_26Hz
cparata 0:e7e920b85676 715 : ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_52Hz
cparata 0:e7e920b85676 716 : ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_104Hz
cparata 0:e7e920b85676 717 : ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_208Hz
cparata 0:e7e920b85676 718 : ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_416Hz
cparata 0:e7e920b85676 719 : ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_833Hz
cparata 0:e7e920b85676 720 : ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_1660Hz
cparata 0:e7e920b85676 721 : ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_3330Hz
cparata 0:e7e920b85676 722 : LSM6DSL_ACC_GYRO_ODR_G_6660Hz;
cparata 0:e7e920b85676 723
cparata 0:e7e920b85676 724 if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, new_odr ) == MEMS_ERROR )
cparata 0:e7e920b85676 725 {
cparata 0:e7e920b85676 726 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 727 }
cparata 0:e7e920b85676 728
cparata 0:e7e920b85676 729 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 730 }
cparata 0:e7e920b85676 731
cparata 0:e7e920b85676 732 /**
cparata 0:e7e920b85676 733 * @brief Set LSM6DSL Gyroscope output data rate when disabled
cparata 0:e7e920b85676 734 * @param odr the output data rate to be set
cparata 0:e7e920b85676 735 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 736 */
cparata 0:e7e920b85676 737 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_ODR_When_Disabled(float odr)
cparata 0:e7e920b85676 738 {
cparata 0:e7e920b85676 739 G_Last_ODR = ( odr <= 13.0f ) ? 13.0f
cparata 0:e7e920b85676 740 : ( odr <= 26.0f ) ? 26.0f
cparata 0:e7e920b85676 741 : ( odr <= 52.0f ) ? 52.0f
cparata 0:e7e920b85676 742 : ( odr <= 104.0f ) ? 104.0f
cparata 0:e7e920b85676 743 : ( odr <= 208.0f ) ? 208.0f
cparata 0:e7e920b85676 744 : ( odr <= 416.0f ) ? 416.0f
cparata 0:e7e920b85676 745 : ( odr <= 833.0f ) ? 833.0f
cparata 0:e7e920b85676 746 : ( odr <= 1660.0f ) ? 1660.0f
cparata 0:e7e920b85676 747 : ( odr <= 3330.0f ) ? 3330.0f
cparata 0:e7e920b85676 748 : 6660.0f;
cparata 0:e7e920b85676 749
cparata 0:e7e920b85676 750 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 751 }
cparata 0:e7e920b85676 752
cparata 0:e7e920b85676 753 /**
cparata 0:e7e920b85676 754 * @brief Read LSM6DSL Accelerometer full scale
cparata 0:e7e920b85676 755 * @param fullScale the pointer to the full scale
cparata 0:e7e920b85676 756 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 757 */
cparata 0:e7e920b85676 758 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_X_FS(float* fullScale)
cparata 0:e7e920b85676 759 {
cparata 0:e7e920b85676 760 LSM6DSL_ACC_GYRO_FS_XL_t fs_low_level;
cparata 0:e7e920b85676 761
cparata 0:e7e920b85676 762 if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata 0:e7e920b85676 763 {
cparata 0:e7e920b85676 764 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 765 }
cparata 0:e7e920b85676 766
cparata 0:e7e920b85676 767 switch( fs_low_level )
cparata 0:e7e920b85676 768 {
cparata 0:e7e920b85676 769 case LSM6DSL_ACC_GYRO_FS_XL_2g:
cparata 0:e7e920b85676 770 *fullScale = 2.0f;
cparata 0:e7e920b85676 771 break;
cparata 0:e7e920b85676 772 case LSM6DSL_ACC_GYRO_FS_XL_4g:
cparata 0:e7e920b85676 773 *fullScale = 4.0f;
cparata 0:e7e920b85676 774 break;
cparata 0:e7e920b85676 775 case LSM6DSL_ACC_GYRO_FS_XL_8g:
cparata 0:e7e920b85676 776 *fullScale = 8.0f;
cparata 0:e7e920b85676 777 break;
cparata 0:e7e920b85676 778 case LSM6DSL_ACC_GYRO_FS_XL_16g:
cparata 0:e7e920b85676 779 *fullScale = 16.0f;
cparata 0:e7e920b85676 780 break;
cparata 0:e7e920b85676 781 default:
cparata 0:e7e920b85676 782 *fullScale = -1.0f;
cparata 0:e7e920b85676 783 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 784 }
cparata 0:e7e920b85676 785
cparata 0:e7e920b85676 786 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 787 }
cparata 0:e7e920b85676 788
cparata 0:e7e920b85676 789 /**
cparata 0:e7e920b85676 790 * @brief Read LSM6DSL Gyroscope full scale
cparata 0:e7e920b85676 791 * @param fullScale the pointer to the full scale
cparata 0:e7e920b85676 792 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 793 */
cparata 0:e7e920b85676 794 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_G_FS(float* fullScale)
cparata 0:e7e920b85676 795 {
cparata 0:e7e920b85676 796 LSM6DSL_ACC_GYRO_FS_G_t fs_low_level;
cparata 0:e7e920b85676 797 LSM6DSL_ACC_GYRO_FS_125_t fs_125;
cparata 0:e7e920b85676 798
cparata 0:e7e920b85676 799 if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fs_125 ) == MEMS_ERROR )
cparata 0:e7e920b85676 800 {
cparata 0:e7e920b85676 801 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 802 }
cparata 0:e7e920b85676 803 if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fs_low_level ) == MEMS_ERROR )
cparata 0:e7e920b85676 804 {
cparata 0:e7e920b85676 805 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 806 }
cparata 0:e7e920b85676 807
cparata 0:e7e920b85676 808 if ( fs_125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
cparata 0:e7e920b85676 809 {
cparata 0:e7e920b85676 810 *fullScale = 125.0f;
cparata 0:e7e920b85676 811 }
cparata 0:e7e920b85676 812
cparata 0:e7e920b85676 813 else
cparata 0:e7e920b85676 814 {
cparata 0:e7e920b85676 815 switch( fs_low_level )
cparata 0:e7e920b85676 816 {
cparata 0:e7e920b85676 817 case LSM6DSL_ACC_GYRO_FS_G_245dps:
cparata 0:e7e920b85676 818 *fullScale = 245.0f;
cparata 0:e7e920b85676 819 break;
cparata 0:e7e920b85676 820 case LSM6DSL_ACC_GYRO_FS_G_500dps:
cparata 0:e7e920b85676 821 *fullScale = 500.0f;
cparata 0:e7e920b85676 822 break;
cparata 0:e7e920b85676 823 case LSM6DSL_ACC_GYRO_FS_G_1000dps:
cparata 0:e7e920b85676 824 *fullScale = 1000.0f;
cparata 0:e7e920b85676 825 break;
cparata 0:e7e920b85676 826 case LSM6DSL_ACC_GYRO_FS_G_2000dps:
cparata 0:e7e920b85676 827 *fullScale = 2000.0f;
cparata 0:e7e920b85676 828 break;
cparata 0:e7e920b85676 829 default:
cparata 0:e7e920b85676 830 *fullScale = -1.0f;
cparata 0:e7e920b85676 831 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 832 }
cparata 0:e7e920b85676 833 }
cparata 0:e7e920b85676 834
cparata 0:e7e920b85676 835 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 836 }
cparata 0:e7e920b85676 837
cparata 0:e7e920b85676 838 /**
cparata 0:e7e920b85676 839 * @brief Set LSM6DSL Accelerometer full scale
cparata 0:e7e920b85676 840 * @param fullScale the full scale to be set
cparata 0:e7e920b85676 841 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 842 */
cparata 0:e7e920b85676 843 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_X_FS(float fullScale)
cparata 0:e7e920b85676 844 {
cparata 0:e7e920b85676 845 LSM6DSL_ACC_GYRO_FS_XL_t new_fs;
cparata 0:e7e920b85676 846
cparata 0:e7e920b85676 847 new_fs = ( fullScale <= 2.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_2g
cparata 0:e7e920b85676 848 : ( fullScale <= 4.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_4g
cparata 0:e7e920b85676 849 : ( fullScale <= 8.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_8g
cparata 0:e7e920b85676 850 : LSM6DSL_ACC_GYRO_FS_XL_16g;
cparata 0:e7e920b85676 851
cparata 0:e7e920b85676 852 if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, new_fs ) == MEMS_ERROR )
cparata 0:e7e920b85676 853 {
cparata 0:e7e920b85676 854 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 855 }
cparata 0:e7e920b85676 856
cparata 0:e7e920b85676 857 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 858 }
cparata 0:e7e920b85676 859
cparata 0:e7e920b85676 860 /**
cparata 0:e7e920b85676 861 * @brief Set LSM6DSL Gyroscope full scale
cparata 0:e7e920b85676 862 * @param fullScale the full scale to be set
cparata 0:e7e920b85676 863 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 864 */
cparata 0:e7e920b85676 865 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_G_FS(float fullScale)
cparata 0:e7e920b85676 866 {
cparata 0:e7e920b85676 867 LSM6DSL_ACC_GYRO_FS_G_t new_fs;
cparata 0:e7e920b85676 868
cparata 0:e7e920b85676 869 if ( fullScale <= 125.0f )
cparata 0:e7e920b85676 870 {
cparata 0:e7e920b85676 871 if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_ENABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 872 {
cparata 0:e7e920b85676 873 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 874 }
cparata 0:e7e920b85676 875 }
cparata 0:e7e920b85676 876 else
cparata 0:e7e920b85676 877 {
cparata 0:e7e920b85676 878 new_fs = ( fullScale <= 245.0f ) ? LSM6DSL_ACC_GYRO_FS_G_245dps
cparata 0:e7e920b85676 879 : ( fullScale <= 500.0f ) ? LSM6DSL_ACC_GYRO_FS_G_500dps
cparata 0:e7e920b85676 880 : ( fullScale <= 1000.0f ) ? LSM6DSL_ACC_GYRO_FS_G_1000dps
cparata 0:e7e920b85676 881 : LSM6DSL_ACC_GYRO_FS_G_2000dps;
cparata 0:e7e920b85676 882
cparata 0:e7e920b85676 883 if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_DISABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 884 {
cparata 0:e7e920b85676 885 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 886 }
cparata 0:e7e920b85676 887 if ( LSM6DSL_ACC_GYRO_W_FS_G( (void *)this, new_fs ) == MEMS_ERROR )
cparata 0:e7e920b85676 888 {
cparata 0:e7e920b85676 889 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 890 }
cparata 0:e7e920b85676 891 }
cparata 0:e7e920b85676 892
cparata 0:e7e920b85676 893 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 894 }
cparata 0:e7e920b85676 895
cparata 0:e7e920b85676 896 /**
cparata 0:e7e920b85676 897 * @brief Enable free fall detection
cparata 0:e7e920b85676 898 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 0:e7e920b85676 899 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 900 */
cparata 0:e7e920b85676 901 LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Free_Fall_Detection(void)
cparata 0:e7e920b85676 902 {
cparata 0:e7e920b85676 903 /* Output Data Rate selection */
cparata 0:e7e920b85676 904 if(Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR)
cparata 0:e7e920b85676 905 {
cparata 0:e7e920b85676 906 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 907 }
cparata 0:e7e920b85676 908
cparata 0:e7e920b85676 909 /* Full scale selection */
cparata 0:e7e920b85676 910 if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, LSM6DSL_ACC_GYRO_FS_XL_2g ) == MEMS_ERROR )
cparata 0:e7e920b85676 911 {
cparata 0:e7e920b85676 912 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 913 }
cparata 0:e7e920b85676 914
cparata 0:e7e920b85676 915 /* FF_DUR setting */
cparata 0:e7e920b85676 916 if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x06 ) == MEMS_ERROR )
cparata 0:e7e920b85676 917 {
cparata 0:e7e920b85676 918 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 919 }
cparata 0:e7e920b85676 920
cparata 0:e7e920b85676 921 /* WAKE_DUR setting */
cparata 0:e7e920b85676 922 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:e7e920b85676 923 {
cparata 0:e7e920b85676 924 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 925 }
cparata 0:e7e920b85676 926
cparata 0:e7e920b85676 927 /* TIMER_HR setting */
cparata 0:e7e920b85676 928 if ( LSM6DSL_ACC_GYRO_W_TIMER_HR( (void *)this, LSM6DSL_ACC_GYRO_TIMER_HR_6_4ms ) == MEMS_ERROR )
cparata 0:e7e920b85676 929 {
cparata 0:e7e920b85676 930 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 931 }
cparata 0:e7e920b85676 932
cparata 0:e7e920b85676 933 /* SLEEP_DUR setting */
cparata 0:e7e920b85676 934 if ( LSM6DSL_ACC_GYRO_W_SLEEP_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:e7e920b85676 935 {
cparata 0:e7e920b85676 936 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 937 }
cparata 0:e7e920b85676 938
cparata 0:e7e920b85676 939 /* FF_THS setting */
cparata 0:e7e920b85676 940 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_312mg ) == MEMS_ERROR )
cparata 0:e7e920b85676 941 {
cparata 0:e7e920b85676 942 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 943 }
cparata 0:e7e920b85676 944
cparata 0:e7e920b85676 945 /* Enable basic Interrupts */
cparata 0:e7e920b85676 946 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 947 {
cparata 0:e7e920b85676 948 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 949 }
cparata 0:e7e920b85676 950
cparata 0:e7e920b85676 951 /* INT1_FF setting */
cparata 0:e7e920b85676 952 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 953 {
cparata 0:e7e920b85676 954 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 955 }
cparata 0:e7e920b85676 956
cparata 0:e7e920b85676 957 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 958 }
cparata 0:e7e920b85676 959
cparata 0:e7e920b85676 960 /**
cparata 0:e7e920b85676 961 * @brief Disable free fall detection
cparata 0:e7e920b85676 962 * @param None
cparata 0:e7e920b85676 963 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 964 */
cparata 0:e7e920b85676 965 LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Free_Fall_Detection(void)
cparata 0:e7e920b85676 966 {
cparata 0:e7e920b85676 967 /* INT1_FF setting */
cparata 0:e7e920b85676 968 if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 969 {
cparata 0:e7e920b85676 970 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 971 }
cparata 0:e7e920b85676 972
cparata 0:e7e920b85676 973 /* Disable basic Interrupts */
cparata 0:e7e920b85676 974 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 975 {
cparata 0:e7e920b85676 976 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 977 }
cparata 0:e7e920b85676 978
cparata 0:e7e920b85676 979 /* FF_DUR setting */
cparata 0:e7e920b85676 980 if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:e7e920b85676 981 {
cparata 0:e7e920b85676 982 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 983 }
cparata 0:e7e920b85676 984
cparata 0:e7e920b85676 985 /* FF_THS setting */
cparata 0:e7e920b85676 986 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_156mg ) == MEMS_ERROR )
cparata 0:e7e920b85676 987 {
cparata 0:e7e920b85676 988 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 989 }
cparata 0:e7e920b85676 990
cparata 0:e7e920b85676 991 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 992 }
cparata 0:e7e920b85676 993
cparata 0:e7e920b85676 994 /**
cparata 0:e7e920b85676 995 * @brief Get status of free fall detection
cparata 0:e7e920b85676 996 * @param status the pointer where the status of free fall detection is stored; 0 means no detection, 1 means detection happened
cparata 0:e7e920b85676 997 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 998 */
cparata 0:e7e920b85676 999 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Free_Fall_Detection(uint8_t *status)
cparata 0:e7e920b85676 1000 {
cparata 0:e7e920b85676 1001 LSM6DSL_ACC_GYRO_FF_EV_STATUS_t free_fall_status;
cparata 0:e7e920b85676 1002
cparata 0:e7e920b85676 1003 if ( LSM6DSL_ACC_GYRO_R_FF_EV_STATUS( (void *)this, &free_fall_status ) == MEMS_ERROR )
cparata 0:e7e920b85676 1004 {
cparata 0:e7e920b85676 1005 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1006 }
cparata 0:e7e920b85676 1007
cparata 0:e7e920b85676 1008 switch( free_fall_status )
cparata 0:e7e920b85676 1009 {
cparata 0:e7e920b85676 1010 case LSM6DSL_ACC_GYRO_FF_EV_STATUS_DETECTED:
cparata 0:e7e920b85676 1011 *status = 1;
cparata 0:e7e920b85676 1012 break;
cparata 0:e7e920b85676 1013 case LSM6DSL_ACC_GYRO_FF_EV_STATUS_NOT_DETECTED:
cparata 0:e7e920b85676 1014 *status = 0;
cparata 0:e7e920b85676 1015 break;
cparata 0:e7e920b85676 1016 default:
cparata 0:e7e920b85676 1017 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1018 }
cparata 0:e7e920b85676 1019
cparata 0:e7e920b85676 1020 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1021 }
cparata 0:e7e920b85676 1022
cparata 0:e7e920b85676 1023 /**
cparata 0:e7e920b85676 1024 * @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1025 * @param thr the threshold to be set
cparata 0:e7e920b85676 1026 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1027 */
cparata 0:e7e920b85676 1028 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Free_Fall_Threshold(uint8_t thr)
cparata 0:e7e920b85676 1029 {
cparata 0:e7e920b85676 1030
cparata 0:e7e920b85676 1031 if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR )
cparata 0:e7e920b85676 1032 {
cparata 0:e7e920b85676 1033 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1034 }
cparata 0:e7e920b85676 1035
cparata 0:e7e920b85676 1036 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1037 }
cparata 0:e7e920b85676 1038
cparata 0:e7e920b85676 1039 /**
cparata 0:e7e920b85676 1040 * @brief Enable the pedometer feature for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1041 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata 0:e7e920b85676 1042 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1043 */
cparata 0:e7e920b85676 1044 LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Pedometer(void)
cparata 0:e7e920b85676 1045 {
cparata 0:e7e920b85676 1046 /* Output Data Rate selection */
cparata 0:e7e920b85676 1047 if( Set_X_ODR(26.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1048 {
cparata 0:e7e920b85676 1049 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1050 }
cparata 0:e7e920b85676 1051
cparata 0:e7e920b85676 1052 /* Full scale selection. */
cparata 0:e7e920b85676 1053 if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1054 {
cparata 0:e7e920b85676 1055 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1056 }
cparata 0:e7e920b85676 1057
cparata 0:e7e920b85676 1058 /* Set pedometer threshold. */
cparata 0:e7e920b85676 1059 if ( Set_Pedometer_Threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1060 {
cparata 0:e7e920b85676 1061 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1062 }
cparata 0:e7e920b85676 1063
cparata 0:e7e920b85676 1064 /* Enable embedded functionalities. */
cparata 0:e7e920b85676 1065 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1066 {
cparata 0:e7e920b85676 1067 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1068 }
cparata 0:e7e920b85676 1069
cparata 0:e7e920b85676 1070 /* Enable pedometer algorithm. */
cparata 0:e7e920b85676 1071 if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1072 {
cparata 0:e7e920b85676 1073 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1074 }
cparata 0:e7e920b85676 1075
cparata 0:e7e920b85676 1076 /* Enable pedometer on INT1. */
cparata 0:e7e920b85676 1077 if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1078 {
cparata 0:e7e920b85676 1079 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1080 }
cparata 0:e7e920b85676 1081
cparata 0:e7e920b85676 1082 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1083 }
cparata 0:e7e920b85676 1084
cparata 0:e7e920b85676 1085 /**
cparata 0:e7e920b85676 1086 * @brief Disable the pedometer feature for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1087 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1088 */
cparata 0:e7e920b85676 1089 LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Pedometer(void)
cparata 0:e7e920b85676 1090 {
cparata 0:e7e920b85676 1091 /* Disable pedometer on INT1. */
cparata 0:e7e920b85676 1092 if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1093 {
cparata 0:e7e920b85676 1094 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1095 }
cparata 0:e7e920b85676 1096
cparata 0:e7e920b85676 1097 /* Disable pedometer algorithm. */
cparata 0:e7e920b85676 1098 if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1099 {
cparata 0:e7e920b85676 1100 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1101 }
cparata 0:e7e920b85676 1102
cparata 0:e7e920b85676 1103 /* Disable embedded functionalities. */
cparata 0:e7e920b85676 1104 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1105 {
cparata 0:e7e920b85676 1106 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1107 }
cparata 0:e7e920b85676 1108
cparata 0:e7e920b85676 1109 /* Reset pedometer threshold. */
cparata 0:e7e920b85676 1110 if ( Set_Pedometer_Threshold(0x0) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1111 {
cparata 0:e7e920b85676 1112 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1113 }
cparata 0:e7e920b85676 1114
cparata 0:e7e920b85676 1115 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1116 }
cparata 0:e7e920b85676 1117
cparata 0:e7e920b85676 1118 /**
cparata 0:e7e920b85676 1119 * @brief Get the pedometer status for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1120 * @param status the pointer to the pedometer status: 0 means no step detected, 1 means step detected
cparata 0:e7e920b85676 1121 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1122 */
cparata 0:e7e920b85676 1123 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Pedometer(uint8_t *status)
cparata 0:e7e920b85676 1124 {
cparata 0:e7e920b85676 1125 LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_t pedometer_status;
cparata 0:e7e920b85676 1126
cparata 0:e7e920b85676 1127 if ( LSM6DSL_ACC_GYRO_R_PEDO_EV_STATUS( (void *)this, &pedometer_status ) == MEMS_ERROR )
cparata 0:e7e920b85676 1128 {
cparata 0:e7e920b85676 1129 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1130 }
cparata 0:e7e920b85676 1131
cparata 0:e7e920b85676 1132 switch( pedometer_status )
cparata 0:e7e920b85676 1133 {
cparata 0:e7e920b85676 1134 case LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_DETECTED:
cparata 0:e7e920b85676 1135 *status = 1;
cparata 0:e7e920b85676 1136 break;
cparata 0:e7e920b85676 1137 case LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_NOT_DETECTED:
cparata 0:e7e920b85676 1138 *status = 0;
cparata 0:e7e920b85676 1139 break;
cparata 0:e7e920b85676 1140 default:
cparata 0:e7e920b85676 1141 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1142 }
cparata 0:e7e920b85676 1143
cparata 0:e7e920b85676 1144 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1145 }
cparata 0:e7e920b85676 1146
cparata 0:e7e920b85676 1147 /**
cparata 0:e7e920b85676 1148 * @brief Get the step counter for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1149 * @param step_count the pointer to the step counter
cparata 0:e7e920b85676 1150 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1151 */
cparata 0:e7e920b85676 1152 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Step_Counter(uint16_t *step_count)
cparata 0:e7e920b85676 1153 {
cparata 0:e7e920b85676 1154 if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void *)this, ( uint8_t* )step_count ) == MEMS_ERROR )
cparata 0:e7e920b85676 1155 {
cparata 0:e7e920b85676 1156 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1157 }
cparata 0:e7e920b85676 1158
cparata 0:e7e920b85676 1159 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1160 }
cparata 0:e7e920b85676 1161
cparata 0:e7e920b85676 1162 /**
cparata 0:e7e920b85676 1163 * @brief Reset of the step counter for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1164 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1165 */
cparata 0:e7e920b85676 1166 LSM6DSLStatusTypeDef LSM6DSLSensor::Reset_Step_Counter(void)
cparata 0:e7e920b85676 1167 {
cparata 0:e7e920b85676 1168 if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1169 {
cparata 0:e7e920b85676 1170 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1171 }
cparata 0:e7e920b85676 1172
cparata 0:e7e920b85676 1173 wait_ms(10);
cparata 0:e7e920b85676 1174
cparata 0:e7e920b85676 1175 if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1176 {
cparata 0:e7e920b85676 1177 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1178 }
cparata 0:e7e920b85676 1179
cparata 0:e7e920b85676 1180 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1181 }
cparata 0:e7e920b85676 1182
cparata 0:e7e920b85676 1183 /**
cparata 0:e7e920b85676 1184 * @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1185 * @param thr the threshold to be set
cparata 0:e7e920b85676 1186 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1187 */
cparata 0:e7e920b85676 1188 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Pedometer_Threshold(uint8_t thr)
cparata 0:e7e920b85676 1189 {
cparata 0:e7e920b85676 1190 if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
cparata 0:e7e920b85676 1191 {
cparata 0:e7e920b85676 1192 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1193 }
cparata 0:e7e920b85676 1194
cparata 0:e7e920b85676 1195 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1196 }
cparata 0:e7e920b85676 1197
cparata 0:e7e920b85676 1198 /**
cparata 0:e7e920b85676 1199 * @brief Enable the tilt detection for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1200 * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
cparata 0:e7e920b85676 1201 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1202 */
cparata 0:e7e920b85676 1203 LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Tilt_Detection(void)
cparata 0:e7e920b85676 1204 {
cparata 0:e7e920b85676 1205 /* Output Data Rate selection */
cparata 0:e7e920b85676 1206 if( Set_X_ODR(26.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1207 {
cparata 0:e7e920b85676 1208 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1209 }
cparata 0:e7e920b85676 1210
cparata 0:e7e920b85676 1211 /* Full scale selection. */
cparata 0:e7e920b85676 1212 if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1213 {
cparata 0:e7e920b85676 1214 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1215 }
cparata 0:e7e920b85676 1216
cparata 0:e7e920b85676 1217 /* Enable embedded functionalities */
cparata 0:e7e920b85676 1218 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1219 {
cparata 0:e7e920b85676 1220 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1221 }
cparata 0:e7e920b85676 1222
cparata 0:e7e920b85676 1223 /* Enable tilt calculation. */
cparata 0:e7e920b85676 1224 if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1225 {
cparata 0:e7e920b85676 1226 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1227 }
cparata 0:e7e920b85676 1228
cparata 0:e7e920b85676 1229 /* Enable tilt event on INT1. */
cparata 0:e7e920b85676 1230 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1231 {
cparata 0:e7e920b85676 1232 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1233 }
cparata 0:e7e920b85676 1234
cparata 0:e7e920b85676 1235 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1236 }
cparata 0:e7e920b85676 1237
cparata 0:e7e920b85676 1238 /**
cparata 0:e7e920b85676 1239 * @brief Disable the tilt detection for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1240 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1241 */
cparata 0:e7e920b85676 1242 LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Tilt_Detection(void)
cparata 0:e7e920b85676 1243 {
cparata 0:e7e920b85676 1244 /* Disable tilt event on INT1. */
cparata 0:e7e920b85676 1245 if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_DISABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1246 {
cparata 0:e7e920b85676 1247 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1248 }
cparata 0:e7e920b85676 1249
cparata 0:e7e920b85676 1250 /* Disable tilt calculation. */
cparata 0:e7e920b85676 1251 if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1252 {
cparata 0:e7e920b85676 1253 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1254 }
cparata 0:e7e920b85676 1255
cparata 0:e7e920b85676 1256 /* Disable embedded functionalities */
cparata 0:e7e920b85676 1257 if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1258 {
cparata 0:e7e920b85676 1259 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1260 }
cparata 0:e7e920b85676 1261
cparata 0:e7e920b85676 1262 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1263 }
cparata 0:e7e920b85676 1264
cparata 0:e7e920b85676 1265 /**
cparata 0:e7e920b85676 1266 * @brief Get the tilt detection status for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1267 * @param status the pointer to the tilt detection status: 0 means no tilt detected, 1 means tilt detected
cparata 0:e7e920b85676 1268 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1269 */
cparata 0:e7e920b85676 1270 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Tilt_Detection(uint8_t *status)
cparata 0:e7e920b85676 1271 {
cparata 0:e7e920b85676 1272 LSM6DSL_ACC_GYRO_TILT_EV_STATUS_t tilt_status;
cparata 0:e7e920b85676 1273
cparata 0:e7e920b85676 1274 if ( LSM6DSL_ACC_GYRO_R_TILT_EV_STATUS( (void *)this, &tilt_status ) == MEMS_ERROR )
cparata 0:e7e920b85676 1275 {
cparata 0:e7e920b85676 1276 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1277 }
cparata 0:e7e920b85676 1278
cparata 0:e7e920b85676 1279 switch( tilt_status )
cparata 0:e7e920b85676 1280 {
cparata 0:e7e920b85676 1281 case LSM6DSL_ACC_GYRO_TILT_EV_STATUS_DETECTED:
cparata 0:e7e920b85676 1282 *status = 1;
cparata 0:e7e920b85676 1283 break;
cparata 0:e7e920b85676 1284 case LSM6DSL_ACC_GYRO_TILT_EV_STATUS_NOT_DETECTED:
cparata 0:e7e920b85676 1285 *status = 0;
cparata 0:e7e920b85676 1286 break;
cparata 0:e7e920b85676 1287 default:
cparata 0:e7e920b85676 1288 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1289 }
cparata 0:e7e920b85676 1290
cparata 0:e7e920b85676 1291 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1292 }
cparata 0:e7e920b85676 1293
cparata 0:e7e920b85676 1294 /**
cparata 0:e7e920b85676 1295 * @brief Enable the wake up detection for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1296 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 0:e7e920b85676 1297 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1298 */
cparata 0:e7e920b85676 1299 LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Wake_Up_Detection(void)
cparata 0:e7e920b85676 1300 {
cparata 0:e7e920b85676 1301 /* Output Data Rate selection */
cparata 0:e7e920b85676 1302 if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1303 {
cparata 0:e7e920b85676 1304 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1305 }
cparata 0:e7e920b85676 1306
cparata 0:e7e920b85676 1307 /* Full scale selection. */
cparata 0:e7e920b85676 1308 if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1309 {
cparata 0:e7e920b85676 1310 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1311 }
cparata 0:e7e920b85676 1312
cparata 0:e7e920b85676 1313 /* WAKE_DUR setting */
cparata 0:e7e920b85676 1314 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:e7e920b85676 1315 {
cparata 0:e7e920b85676 1316 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1317 }
cparata 0:e7e920b85676 1318
cparata 0:e7e920b85676 1319 /* Set wake up threshold. */
cparata 0:e7e920b85676 1320 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
cparata 0:e7e920b85676 1321 {
cparata 0:e7e920b85676 1322 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1323 }
cparata 0:e7e920b85676 1324
cparata 0:e7e920b85676 1325 /* Enable basic Interrupts */
cparata 0:e7e920b85676 1326 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1327 {
cparata 0:e7e920b85676 1328 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1329 }
cparata 0:e7e920b85676 1330
cparata 0:e7e920b85676 1331 /* INT1_WU setting */
cparata 0:e7e920b85676 1332 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_ENABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1333 {
cparata 0:e7e920b85676 1334 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1335 }
cparata 0:e7e920b85676 1336
cparata 0:e7e920b85676 1337 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1338 }
cparata 0:e7e920b85676 1339
cparata 0:e7e920b85676 1340 /**
cparata 0:e7e920b85676 1341 * @brief Disable the wake up detection for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1342 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1343 */
cparata 0:e7e920b85676 1344 LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Wake_Up_Detection(void)
cparata 0:e7e920b85676 1345 {
cparata 0:e7e920b85676 1346 /* INT1_WU setting */
cparata 0:e7e920b85676 1347 if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_DISABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1348 {
cparata 0:e7e920b85676 1349 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1350 }
cparata 0:e7e920b85676 1351
cparata 0:e7e920b85676 1352 /* Disable basic Interrupts */
cparata 0:e7e920b85676 1353 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1354 {
cparata 0:e7e920b85676 1355 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1356 }
cparata 0:e7e920b85676 1357
cparata 0:e7e920b85676 1358 /* WU_DUR setting */
cparata 0:e7e920b85676 1359 if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:e7e920b85676 1360 {
cparata 0:e7e920b85676 1361 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1362 }
cparata 0:e7e920b85676 1363
cparata 0:e7e920b85676 1364 /* WU_THS setting */
cparata 0:e7e920b85676 1365 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
cparata 0:e7e920b85676 1366 {
cparata 0:e7e920b85676 1367 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1368 }
cparata 0:e7e920b85676 1369
cparata 0:e7e920b85676 1370 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1371 }
cparata 0:e7e920b85676 1372
cparata 0:e7e920b85676 1373 /**
cparata 0:e7e920b85676 1374 * @brief Get the status of the wake up detection for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1375 * @param status the pointer to the status of the wake up detection: 0 means no detection, 1 means detection happened
cparata 0:e7e920b85676 1376 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1377 */
cparata 0:e7e920b85676 1378 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Wake_Up_Detection(uint8_t *status)
cparata 0:e7e920b85676 1379 {
cparata 0:e7e920b85676 1380 LSM6DSL_ACC_GYRO_WU_EV_STATUS_t wake_up_status;
cparata 0:e7e920b85676 1381
cparata 0:e7e920b85676 1382 if ( LSM6DSL_ACC_GYRO_R_WU_EV_STATUS( (void *)this, &wake_up_status ) == MEMS_ERROR )
cparata 0:e7e920b85676 1383 {
cparata 0:e7e920b85676 1384 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1385 }
cparata 0:e7e920b85676 1386
cparata 0:e7e920b85676 1387 switch( wake_up_status )
cparata 0:e7e920b85676 1388 {
cparata 0:e7e920b85676 1389 case LSM6DSL_ACC_GYRO_WU_EV_STATUS_DETECTED:
cparata 0:e7e920b85676 1390 *status = 1;
cparata 0:e7e920b85676 1391 break;
cparata 0:e7e920b85676 1392 case LSM6DSL_ACC_GYRO_WU_EV_STATUS_NOT_DETECTED:
cparata 0:e7e920b85676 1393 *status = 0;
cparata 0:e7e920b85676 1394 break;
cparata 0:e7e920b85676 1395 default:
cparata 0:e7e920b85676 1396 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1397 }
cparata 0:e7e920b85676 1398
cparata 0:e7e920b85676 1399 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1400 }
cparata 0:e7e920b85676 1401
cparata 0:e7e920b85676 1402 /**
cparata 0:e7e920b85676 1403 * @brief Set the wake up threshold for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1404 * @param thr the threshold to be set
cparata 0:e7e920b85676 1405 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1406 */
cparata 0:e7e920b85676 1407 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Wake_Up_Threshold(uint8_t thr)
cparata 0:e7e920b85676 1408 {
cparata 0:e7e920b85676 1409 if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
cparata 0:e7e920b85676 1410 {
cparata 0:e7e920b85676 1411 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1412 }
cparata 0:e7e920b85676 1413
cparata 0:e7e920b85676 1414 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1415 }
cparata 0:e7e920b85676 1416
cparata 0:e7e920b85676 1417 /**
cparata 0:e7e920b85676 1418 * @brief Enable the single tap detection for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1419 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 0:e7e920b85676 1420 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1421 */
cparata 0:e7e920b85676 1422 LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Single_Tap_Detection(void)
cparata 0:e7e920b85676 1423 {
cparata 0:e7e920b85676 1424 /* Output Data Rate selection */
cparata 0:e7e920b85676 1425 if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1426 {
cparata 0:e7e920b85676 1427 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1428 }
cparata 0:e7e920b85676 1429
cparata 0:e7e920b85676 1430 /* Full scale selection. */
cparata 0:e7e920b85676 1431 if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1432 {
cparata 0:e7e920b85676 1433 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1434 }
cparata 0:e7e920b85676 1435
cparata 0:e7e920b85676 1436 /* Enable X direction in tap recognition. */
cparata 0:e7e920b85676 1437 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1438 {
cparata 0:e7e920b85676 1439 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1440 }
cparata 0:e7e920b85676 1441
cparata 0:e7e920b85676 1442 /* Enable Y direction in tap recognition. */
cparata 0:e7e920b85676 1443 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1444 {
cparata 0:e7e920b85676 1445 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1446 }
cparata 0:e7e920b85676 1447
cparata 0:e7e920b85676 1448 /* Enable Z direction in tap recognition. */
cparata 0:e7e920b85676 1449 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1450 {
cparata 0:e7e920b85676 1451 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1452 }
cparata 0:e7e920b85676 1453
cparata 0:e7e920b85676 1454 /* Set tap threshold. */
cparata 0:e7e920b85676 1455 if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1456 {
cparata 0:e7e920b85676 1457 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1458 }
cparata 0:e7e920b85676 1459
cparata 0:e7e920b85676 1460 /* Set tap shock time window. */
cparata 0:e7e920b85676 1461 if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1462 {
cparata 0:e7e920b85676 1463 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1464 }
cparata 0:e7e920b85676 1465
cparata 0:e7e920b85676 1466 /* Set tap quiet time window. */
cparata 0:e7e920b85676 1467 if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1468 {
cparata 0:e7e920b85676 1469 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1470 }
cparata 0:e7e920b85676 1471
cparata 0:e7e920b85676 1472 /* _NOTE_: Tap duration time window - don't care for single tap. */
cparata 0:e7e920b85676 1473
cparata 0:e7e920b85676 1474 /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata 0:e7e920b85676 1475
cparata 0:e7e920b85676 1476 /* Enable basic Interrupts */
cparata 0:e7e920b85676 1477 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1478 {
cparata 0:e7e920b85676 1479 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1480 }
cparata 0:e7e920b85676 1481
cparata 0:e7e920b85676 1482 /* Enable single tap interrupt on INT1 pin. */
cparata 0:e7e920b85676 1483 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1484 {
cparata 0:e7e920b85676 1485 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1486 }
cparata 0:e7e920b85676 1487
cparata 0:e7e920b85676 1488 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1489 }
cparata 0:e7e920b85676 1490
cparata 0:e7e920b85676 1491 /**
cparata 0:e7e920b85676 1492 * @brief Disable the single tap detection for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1493 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1494 */
cparata 0:e7e920b85676 1495 LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Single_Tap_Detection(void)
cparata 0:e7e920b85676 1496 {
cparata 0:e7e920b85676 1497 /* Disable single tap interrupt on INT1 pin. */
cparata 0:e7e920b85676 1498 if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1499 {
cparata 0:e7e920b85676 1500 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1501 }
cparata 0:e7e920b85676 1502
cparata 0:e7e920b85676 1503 /* Disable basic Interrupts */
cparata 0:e7e920b85676 1504 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1505 {
cparata 0:e7e920b85676 1506 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1507 }
cparata 0:e7e920b85676 1508
cparata 0:e7e920b85676 1509 /* Reset tap threshold. */
cparata 0:e7e920b85676 1510 if ( Set_Tap_Threshold( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1511 {
cparata 0:e7e920b85676 1512 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1513 }
cparata 0:e7e920b85676 1514
cparata 0:e7e920b85676 1515 /* Reset tap shock time window. */
cparata 0:e7e920b85676 1516 if ( Set_Tap_Shock_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1517 {
cparata 0:e7e920b85676 1518 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1519 }
cparata 0:e7e920b85676 1520
cparata 0:e7e920b85676 1521 /* Reset tap quiet time window. */
cparata 0:e7e920b85676 1522 if ( Set_Tap_Quiet_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1523 {
cparata 0:e7e920b85676 1524 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1525 }
cparata 0:e7e920b85676 1526
cparata 0:e7e920b85676 1527 /* _NOTE_: Tap duration time window - don't care for single tap. */
cparata 0:e7e920b85676 1528
cparata 0:e7e920b85676 1529 /* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
cparata 0:e7e920b85676 1530
cparata 0:e7e920b85676 1531 /* Disable Z direction in tap recognition. */
cparata 0:e7e920b85676 1532 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1533 {
cparata 0:e7e920b85676 1534 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1535 }
cparata 0:e7e920b85676 1536
cparata 0:e7e920b85676 1537 /* Disable Y direction in tap recognition. */
cparata 0:e7e920b85676 1538 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1539 {
cparata 0:e7e920b85676 1540 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1541 }
cparata 0:e7e920b85676 1542
cparata 0:e7e920b85676 1543 /* Disable X direction in tap recognition. */
cparata 0:e7e920b85676 1544 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1545 {
cparata 0:e7e920b85676 1546 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1547 }
cparata 0:e7e920b85676 1548
cparata 0:e7e920b85676 1549 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1550 }
cparata 0:e7e920b85676 1551
cparata 0:e7e920b85676 1552 /**
cparata 0:e7e920b85676 1553 * @brief Get the single tap detection status for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1554 * @param status the pointer to the single tap detection status: 0 means no single tap detected, 1 means single tap detected
cparata 0:e7e920b85676 1555 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1556 */
cparata 0:e7e920b85676 1557 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Single_Tap_Detection(uint8_t *status)
cparata 0:e7e920b85676 1558 {
cparata 0:e7e920b85676 1559 LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_t tap_status;
cparata 0:e7e920b85676 1560
cparata 0:e7e920b85676 1561 if ( LSM6DSL_ACC_GYRO_R_SINGLE_TAP_EV_STATUS( (void *)this, &tap_status ) == MEMS_ERROR )
cparata 0:e7e920b85676 1562 {
cparata 0:e7e920b85676 1563 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1564 }
cparata 0:e7e920b85676 1565
cparata 0:e7e920b85676 1566 switch( tap_status )
cparata 0:e7e920b85676 1567 {
cparata 0:e7e920b85676 1568 case LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_DETECTED:
cparata 0:e7e920b85676 1569 *status = 1;
cparata 0:e7e920b85676 1570 break;
cparata 0:e7e920b85676 1571
cparata 0:e7e920b85676 1572 case LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_NOT_DETECTED:
cparata 0:e7e920b85676 1573 *status = 0;
cparata 0:e7e920b85676 1574 break;
cparata 0:e7e920b85676 1575
cparata 0:e7e920b85676 1576 default:
cparata 0:e7e920b85676 1577 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1578 }
cparata 0:e7e920b85676 1579
cparata 0:e7e920b85676 1580 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1581 }
cparata 0:e7e920b85676 1582
cparata 0:e7e920b85676 1583 /**
cparata 0:e7e920b85676 1584 * @brief Enable the double tap detection for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1585 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 0:e7e920b85676 1586 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1587 */
cparata 0:e7e920b85676 1588 LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_Double_Tap_Detection(void)
cparata 0:e7e920b85676 1589 {
cparata 0:e7e920b85676 1590 /* Output Data Rate selection */
cparata 0:e7e920b85676 1591 if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1592 {
cparata 0:e7e920b85676 1593 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1594 }
cparata 0:e7e920b85676 1595
cparata 0:e7e920b85676 1596 /* Full scale selection. */
cparata 0:e7e920b85676 1597 if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1598 {
cparata 0:e7e920b85676 1599 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1600 }
cparata 0:e7e920b85676 1601
cparata 0:e7e920b85676 1602 /* Enable X direction in tap recognition. */
cparata 0:e7e920b85676 1603 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1604 {
cparata 0:e7e920b85676 1605 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1606 }
cparata 0:e7e920b85676 1607
cparata 0:e7e920b85676 1608 /* Enable Y direction in tap recognition. */
cparata 0:e7e920b85676 1609 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1610 {
cparata 0:e7e920b85676 1611 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1612 }
cparata 0:e7e920b85676 1613
cparata 0:e7e920b85676 1614 /* Enable Z direction in tap recognition. */
cparata 0:e7e920b85676 1615 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1616 {
cparata 0:e7e920b85676 1617 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1618 }
cparata 0:e7e920b85676 1619
cparata 0:e7e920b85676 1620 /* Set tap threshold. */
cparata 0:e7e920b85676 1621 if ( Set_Tap_Threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1622 {
cparata 0:e7e920b85676 1623 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1624 }
cparata 0:e7e920b85676 1625
cparata 0:e7e920b85676 1626 /* Set tap shock time window. */
cparata 0:e7e920b85676 1627 if ( Set_Tap_Shock_Time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1628 {
cparata 0:e7e920b85676 1629 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1630 }
cparata 0:e7e920b85676 1631
cparata 0:e7e920b85676 1632 /* Set tap quiet time window. */
cparata 0:e7e920b85676 1633 if ( Set_Tap_Quiet_Time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1634 {
cparata 0:e7e920b85676 1635 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1636 }
cparata 0:e7e920b85676 1637
cparata 0:e7e920b85676 1638 /* Set tap duration time window. */
cparata 0:e7e920b85676 1639 if ( Set_Tap_Duration_Time( LSM6DSL_TAP_DURATION_TIME_MID ) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1640 {
cparata 0:e7e920b85676 1641 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1642 }
cparata 0:e7e920b85676 1643
cparata 0:e7e920b85676 1644 /* Single and double tap enabled. */
cparata 0:e7e920b85676 1645 if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
cparata 0:e7e920b85676 1646 {
cparata 0:e7e920b85676 1647 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1648 }
cparata 0:e7e920b85676 1649
cparata 0:e7e920b85676 1650 /* Enable basic Interrupts */
cparata 0:e7e920b85676 1651 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1652 {
cparata 0:e7e920b85676 1653 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1654 }
cparata 0:e7e920b85676 1655
cparata 0:e7e920b85676 1656 /* Enable double tap interrupt on INT1 pin. */
cparata 0:e7e920b85676 1657 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1658 {
cparata 0:e7e920b85676 1659 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1660 }
cparata 0:e7e920b85676 1661
cparata 0:e7e920b85676 1662 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1663 }
cparata 0:e7e920b85676 1664
cparata 0:e7e920b85676 1665 /**
cparata 0:e7e920b85676 1666 * @brief Disable the double tap detection for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1667 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1668 */
cparata 0:e7e920b85676 1669 LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_Double_Tap_Detection(void)
cparata 0:e7e920b85676 1670 {
cparata 0:e7e920b85676 1671 /* Disable double tap interrupt on INT1 pin. */
cparata 0:e7e920b85676 1672 if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1673 {
cparata 0:e7e920b85676 1674 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1675 }
cparata 0:e7e920b85676 1676
cparata 0:e7e920b85676 1677 /* Disable basic Interrupts */
cparata 0:e7e920b85676 1678 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1679 {
cparata 0:e7e920b85676 1680 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1681 }
cparata 0:e7e920b85676 1682
cparata 0:e7e920b85676 1683 /* Reset tap threshold. */
cparata 0:e7e920b85676 1684 if ( Set_Tap_Threshold( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1685 {
cparata 0:e7e920b85676 1686 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1687 }
cparata 0:e7e920b85676 1688
cparata 0:e7e920b85676 1689 /* Reset tap shock time window. */
cparata 0:e7e920b85676 1690 if ( Set_Tap_Shock_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1691 {
cparata 0:e7e920b85676 1692 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1693 }
cparata 0:e7e920b85676 1694
cparata 0:e7e920b85676 1695 /* Reset tap quiet time window. */
cparata 0:e7e920b85676 1696 if ( Set_Tap_Quiet_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1697 {
cparata 0:e7e920b85676 1698 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1699 }
cparata 0:e7e920b85676 1700
cparata 0:e7e920b85676 1701 /* Reset tap duration time window. */
cparata 0:e7e920b85676 1702 if ( Set_Tap_Duration_Time( 0x0 ) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1703 {
cparata 0:e7e920b85676 1704 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1705 }
cparata 0:e7e920b85676 1706
cparata 0:e7e920b85676 1707 /* Only single tap enabled. */
cparata 0:e7e920b85676 1708 if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
cparata 0:e7e920b85676 1709 {
cparata 0:e7e920b85676 1710 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1711 }
cparata 0:e7e920b85676 1712
cparata 0:e7e920b85676 1713 /* Disable Z direction in tap recognition. */
cparata 0:e7e920b85676 1714 if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1715 {
cparata 0:e7e920b85676 1716 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1717 }
cparata 0:e7e920b85676 1718
cparata 0:e7e920b85676 1719 /* Disable Y direction in tap recognition. */
cparata 0:e7e920b85676 1720 if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1721 {
cparata 0:e7e920b85676 1722 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1723 }
cparata 0:e7e920b85676 1724
cparata 0:e7e920b85676 1725 /* Disable X direction in tap recognition. */
cparata 0:e7e920b85676 1726 if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1727 {
cparata 0:e7e920b85676 1728 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1729 }
cparata 0:e7e920b85676 1730
cparata 0:e7e920b85676 1731 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1732 }
cparata 0:e7e920b85676 1733
cparata 0:e7e920b85676 1734 /**
cparata 0:e7e920b85676 1735 * @brief Get the double tap detection status for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1736 * @param status the pointer to the double tap detection status: 0 means no double tap detected, 1 means double tap detected
cparata 0:e7e920b85676 1737 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1738 */
cparata 0:e7e920b85676 1739 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_Double_Tap_Detection(uint8_t *status)
cparata 0:e7e920b85676 1740 {
cparata 0:e7e920b85676 1741 LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_t tap_status;
cparata 0:e7e920b85676 1742
cparata 0:e7e920b85676 1743 if ( LSM6DSL_ACC_GYRO_R_DOUBLE_TAP_EV_STATUS( (void *)this, &tap_status ) == MEMS_ERROR )
cparata 0:e7e920b85676 1744 {
cparata 0:e7e920b85676 1745 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1746 }
cparata 0:e7e920b85676 1747
cparata 0:e7e920b85676 1748 switch( tap_status )
cparata 0:e7e920b85676 1749 {
cparata 0:e7e920b85676 1750 case LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_DETECTED:
cparata 0:e7e920b85676 1751 *status = 1;
cparata 0:e7e920b85676 1752 break;
cparata 0:e7e920b85676 1753
cparata 0:e7e920b85676 1754 case LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_NOT_DETECTED:
cparata 0:e7e920b85676 1755 *status = 0;
cparata 0:e7e920b85676 1756 break;
cparata 0:e7e920b85676 1757
cparata 0:e7e920b85676 1758 default:
cparata 0:e7e920b85676 1759 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1760 }
cparata 0:e7e920b85676 1761
cparata 0:e7e920b85676 1762 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1763 }
cparata 0:e7e920b85676 1764
cparata 0:e7e920b85676 1765 /**
cparata 0:e7e920b85676 1766 * @brief Set the tap threshold for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1767 * @param thr the threshold to be set
cparata 0:e7e920b85676 1768 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1769 */
cparata 0:e7e920b85676 1770 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Threshold(uint8_t thr)
cparata 0:e7e920b85676 1771 {
cparata 0:e7e920b85676 1772 if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
cparata 0:e7e920b85676 1773 {
cparata 0:e7e920b85676 1774 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1775 }
cparata 0:e7e920b85676 1776
cparata 0:e7e920b85676 1777 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1778 }
cparata 0:e7e920b85676 1779
cparata 0:e7e920b85676 1780 /**
cparata 0:e7e920b85676 1781 * @brief Set the tap shock time window for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1782 * @param time the shock time window to be set
cparata 0:e7e920b85676 1783 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1784 */
cparata 0:e7e920b85676 1785 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Shock_Time(uint8_t time)
cparata 0:e7e920b85676 1786 {
cparata 0:e7e920b85676 1787 if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
cparata 0:e7e920b85676 1788 {
cparata 0:e7e920b85676 1789 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1790 }
cparata 0:e7e920b85676 1791
cparata 0:e7e920b85676 1792 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1793 }
cparata 0:e7e920b85676 1794
cparata 0:e7e920b85676 1795 /**
cparata 0:e7e920b85676 1796 * @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1797 * @param time the quiet time window to be set
cparata 0:e7e920b85676 1798 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1799 */
cparata 0:e7e920b85676 1800 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Quiet_Time(uint8_t time)
cparata 0:e7e920b85676 1801 {
cparata 0:e7e920b85676 1802 if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
cparata 0:e7e920b85676 1803 {
cparata 0:e7e920b85676 1804 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1805 }
cparata 0:e7e920b85676 1806
cparata 0:e7e920b85676 1807 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1808 }
cparata 0:e7e920b85676 1809
cparata 0:e7e920b85676 1810 /**
cparata 0:e7e920b85676 1811 * @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1812 * @param time the duration of the time window to be set
cparata 0:e7e920b85676 1813 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1814 */
cparata 0:e7e920b85676 1815 LSM6DSLStatusTypeDef LSM6DSLSensor::Set_Tap_Duration_Time(uint8_t time)
cparata 0:e7e920b85676 1816 {
cparata 0:e7e920b85676 1817 if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
cparata 0:e7e920b85676 1818 {
cparata 0:e7e920b85676 1819 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1820 }
cparata 0:e7e920b85676 1821
cparata 0:e7e920b85676 1822 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1823 }
cparata 0:e7e920b85676 1824
cparata 0:e7e920b85676 1825 /**
cparata 0:e7e920b85676 1826 * @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1827 * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
cparata 0:e7e920b85676 1828 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1829 */
cparata 0:e7e920b85676 1830 LSM6DSLStatusTypeDef LSM6DSLSensor::Enable_6D_Orientation(void)
cparata 0:e7e920b85676 1831 {
cparata 0:e7e920b85676 1832 /* Output Data Rate selection */
cparata 0:e7e920b85676 1833 if( Set_X_ODR(416.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1834 {
cparata 0:e7e920b85676 1835 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1836 }
cparata 0:e7e920b85676 1837
cparata 0:e7e920b85676 1838 /* Full scale selection. */
cparata 0:e7e920b85676 1839 if( Set_X_FS(2.0f) == LSM6DSL_STATUS_ERROR )
cparata 0:e7e920b85676 1840 {
cparata 0:e7e920b85676 1841 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1842 }
cparata 0:e7e920b85676 1843
cparata 0:e7e920b85676 1844 /* Set 6D threshold. */
cparata 0:e7e920b85676 1845 if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
cparata 0:e7e920b85676 1846 {
cparata 0:e7e920b85676 1847 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1848 }
cparata 0:e7e920b85676 1849
cparata 0:e7e920b85676 1850 /* Enable basic Interrupts */
cparata 0:e7e920b85676 1851 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1852 {
cparata 0:e7e920b85676 1853 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1854 }
cparata 0:e7e920b85676 1855
cparata 0:e7e920b85676 1856 /* INT1_6D setting. */
cparata 0:e7e920b85676 1857 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1858 {
cparata 0:e7e920b85676 1859 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1860 }
cparata 0:e7e920b85676 1861
cparata 0:e7e920b85676 1862 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1863 }
cparata 0:e7e920b85676 1864
cparata 0:e7e920b85676 1865 /**
cparata 0:e7e920b85676 1866 * @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1867 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1868 */
cparata 0:e7e920b85676 1869 LSM6DSLStatusTypeDef LSM6DSLSensor::Disable_6D_Orientation(void)
cparata 0:e7e920b85676 1870 {
cparata 0:e7e920b85676 1871 /* INT1_6D setting. */
cparata 0:e7e920b85676 1872 if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1873 {
cparata 0:e7e920b85676 1874 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1875 }
cparata 0:e7e920b85676 1876
cparata 0:e7e920b85676 1877 /* Disable basic Interrupts */
cparata 0:e7e920b85676 1878 if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
cparata 0:e7e920b85676 1879 {
cparata 0:e7e920b85676 1880 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1881 }
cparata 0:e7e920b85676 1882
cparata 0:e7e920b85676 1883 /* Reset 6D threshold. */
cparata 0:e7e920b85676 1884 if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
cparata 0:e7e920b85676 1885 {
cparata 0:e7e920b85676 1886 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1887 }
cparata 0:e7e920b85676 1888
cparata 0:e7e920b85676 1889 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1890 }
cparata 0:e7e920b85676 1891
cparata 0:e7e920b85676 1892 /**
cparata 0:e7e920b85676 1893 * @brief Get the status of the 6D orientation detection for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1894 * @param status the pointer to the status of the 6D orientation detection: 0 means no detection, 1 means detection happened
cparata 0:e7e920b85676 1895 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1896 */
cparata 0:e7e920b85676 1897 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_Status_6D_Orientation(uint8_t *status)
cparata 0:e7e920b85676 1898 {
cparata 0:e7e920b85676 1899 LSM6DSL_ACC_GYRO_D6D_EV_STATUS_t status_raw;
cparata 0:e7e920b85676 1900
cparata 0:e7e920b85676 1901 if ( LSM6DSL_ACC_GYRO_R_D6D_EV_STATUS( (void *)this, &status_raw ) == MEMS_ERROR )
cparata 0:e7e920b85676 1902 {
cparata 0:e7e920b85676 1903 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1904 }
cparata 0:e7e920b85676 1905
cparata 0:e7e920b85676 1906 switch( status_raw )
cparata 0:e7e920b85676 1907 {
cparata 0:e7e920b85676 1908 case LSM6DSL_ACC_GYRO_D6D_EV_STATUS_DETECTED:
cparata 0:e7e920b85676 1909 *status = 1;
cparata 0:e7e920b85676 1910 break;
cparata 0:e7e920b85676 1911 case LSM6DSL_ACC_GYRO_D6D_EV_STATUS_NOT_DETECTED:
cparata 0:e7e920b85676 1912 *status = 0;
cparata 0:e7e920b85676 1913 break;
cparata 0:e7e920b85676 1914 default:
cparata 0:e7e920b85676 1915 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1916 }
cparata 0:e7e920b85676 1917
cparata 0:e7e920b85676 1918 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1919 }
cparata 0:e7e920b85676 1920
cparata 0:e7e920b85676 1921 /**
cparata 0:e7e920b85676 1922 * @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1923 * @param xl the pointer to the 6D orientation XL axis
cparata 0:e7e920b85676 1924 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1925 */
cparata 0:e7e920b85676 1926 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_XL(uint8_t *xl)
cparata 0:e7e920b85676 1927 {
cparata 0:e7e920b85676 1928 LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
cparata 0:e7e920b85676 1929
cparata 0:e7e920b85676 1930 if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
cparata 0:e7e920b85676 1931 {
cparata 0:e7e920b85676 1932 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1933 }
cparata 0:e7e920b85676 1934
cparata 0:e7e920b85676 1935 switch( xl_raw )
cparata 0:e7e920b85676 1936 {
cparata 0:e7e920b85676 1937 case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
cparata 0:e7e920b85676 1938 *xl = 1;
cparata 0:e7e920b85676 1939 break;
cparata 0:e7e920b85676 1940 case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
cparata 0:e7e920b85676 1941 *xl = 0;
cparata 0:e7e920b85676 1942 break;
cparata 0:e7e920b85676 1943 default:
cparata 0:e7e920b85676 1944 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1945 }
cparata 0:e7e920b85676 1946
cparata 0:e7e920b85676 1947 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1948 }
cparata 0:e7e920b85676 1949
cparata 0:e7e920b85676 1950 /**
cparata 0:e7e920b85676 1951 * @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1952 * @param xh the pointer to the 6D orientation XH axis
cparata 0:e7e920b85676 1953 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1954 */
cparata 0:e7e920b85676 1955 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_XH(uint8_t *xh)
cparata 0:e7e920b85676 1956 {
cparata 0:e7e920b85676 1957 LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
cparata 0:e7e920b85676 1958
cparata 0:e7e920b85676 1959 if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
cparata 0:e7e920b85676 1960 {
cparata 0:e7e920b85676 1961 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1962 }
cparata 0:e7e920b85676 1963
cparata 0:e7e920b85676 1964 switch( xh_raw )
cparata 0:e7e920b85676 1965 {
cparata 0:e7e920b85676 1966 case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
cparata 0:e7e920b85676 1967 *xh = 1;
cparata 0:e7e920b85676 1968 break;
cparata 0:e7e920b85676 1969 case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
cparata 0:e7e920b85676 1970 *xh = 0;
cparata 0:e7e920b85676 1971 break;
cparata 0:e7e920b85676 1972 default:
cparata 0:e7e920b85676 1973 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1974 }
cparata 0:e7e920b85676 1975
cparata 0:e7e920b85676 1976 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 1977 }
cparata 0:e7e920b85676 1978
cparata 0:e7e920b85676 1979 /**
cparata 0:e7e920b85676 1980 * @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 1981 * @param yl the pointer to the 6D orientation YL axis
cparata 0:e7e920b85676 1982 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 1983 */
cparata 0:e7e920b85676 1984 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_YL(uint8_t *yl)
cparata 0:e7e920b85676 1985 {
cparata 0:e7e920b85676 1986 LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
cparata 0:e7e920b85676 1987
cparata 0:e7e920b85676 1988 if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
cparata 0:e7e920b85676 1989 {
cparata 0:e7e920b85676 1990 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 1991 }
cparata 0:e7e920b85676 1992
cparata 0:e7e920b85676 1993 switch( yl_raw )
cparata 0:e7e920b85676 1994 {
cparata 0:e7e920b85676 1995 case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
cparata 0:e7e920b85676 1996 *yl = 1;
cparata 0:e7e920b85676 1997 break;
cparata 0:e7e920b85676 1998 case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
cparata 0:e7e920b85676 1999 *yl = 0;
cparata 0:e7e920b85676 2000 break;
cparata 0:e7e920b85676 2001 default:
cparata 0:e7e920b85676 2002 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 2003 }
cparata 0:e7e920b85676 2004
cparata 0:e7e920b85676 2005 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 2006 }
cparata 0:e7e920b85676 2007
cparata 0:e7e920b85676 2008 /**
cparata 0:e7e920b85676 2009 * @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 2010 * @param yh the pointer to the 6D orientation YH axis
cparata 0:e7e920b85676 2011 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 2012 */
cparata 0:e7e920b85676 2013 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_YH(uint8_t *yh)
cparata 0:e7e920b85676 2014 {
cparata 0:e7e920b85676 2015 LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
cparata 0:e7e920b85676 2016
cparata 0:e7e920b85676 2017 if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
cparata 0:e7e920b85676 2018 {
cparata 0:e7e920b85676 2019 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 2020 }
cparata 0:e7e920b85676 2021
cparata 0:e7e920b85676 2022 switch( yh_raw )
cparata 0:e7e920b85676 2023 {
cparata 0:e7e920b85676 2024 case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
cparata 0:e7e920b85676 2025 *yh = 1;
cparata 0:e7e920b85676 2026 break;
cparata 0:e7e920b85676 2027 case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
cparata 0:e7e920b85676 2028 *yh = 0;
cparata 0:e7e920b85676 2029 break;
cparata 0:e7e920b85676 2030 default:
cparata 0:e7e920b85676 2031 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 2032 }
cparata 0:e7e920b85676 2033
cparata 0:e7e920b85676 2034 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 2035 }
cparata 0:e7e920b85676 2036
cparata 0:e7e920b85676 2037 /**
cparata 0:e7e920b85676 2038 * @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 2039 * @param zl the pointer to the 6D orientation ZL axis
cparata 0:e7e920b85676 2040 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 2041 */
cparata 0:e7e920b85676 2042 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_ZL(uint8_t *zl)
cparata 0:e7e920b85676 2043 {
cparata 0:e7e920b85676 2044 LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
cparata 0:e7e920b85676 2045
cparata 0:e7e920b85676 2046 if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
cparata 0:e7e920b85676 2047 {
cparata 0:e7e920b85676 2048 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 2049 }
cparata 0:e7e920b85676 2050
cparata 0:e7e920b85676 2051 switch( zl_raw )
cparata 0:e7e920b85676 2052 {
cparata 0:e7e920b85676 2053 case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
cparata 0:e7e920b85676 2054 *zl = 1;
cparata 0:e7e920b85676 2055 break;
cparata 0:e7e920b85676 2056 case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
cparata 0:e7e920b85676 2057 *zl = 0;
cparata 0:e7e920b85676 2058 break;
cparata 0:e7e920b85676 2059 default:
cparata 0:e7e920b85676 2060 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 2061 }
cparata 0:e7e920b85676 2062
cparata 0:e7e920b85676 2063 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 2064 }
cparata 0:e7e920b85676 2065
cparata 0:e7e920b85676 2066 /**
cparata 0:e7e920b85676 2067 * @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
cparata 0:e7e920b85676 2068 * @param zh the pointer to the 6D orientation ZH axis
cparata 0:e7e920b85676 2069 * @retval LSM6DSL_STATUS_OK in case of success, an error code otherwise
cparata 0:e7e920b85676 2070 */
cparata 0:e7e920b85676 2071 LSM6DSLStatusTypeDef LSM6DSLSensor::Get_6D_Orientation_ZH(uint8_t *zh)
cparata 0:e7e920b85676 2072 {
cparata 0:e7e920b85676 2073 LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
cparata 0:e7e920b85676 2074
cparata 0:e7e920b85676 2075 if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
cparata 0:e7e920b85676 2076 {
cparata 0:e7e920b85676 2077 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 2078 }
cparata 0:e7e920b85676 2079
cparata 0:e7e920b85676 2080 switch( zh_raw )
cparata 0:e7e920b85676 2081 {
cparata 0:e7e920b85676 2082 case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
cparata 0:e7e920b85676 2083 *zh = 1;
cparata 0:e7e920b85676 2084 break;
cparata 0:e7e920b85676 2085 case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
cparata 0:e7e920b85676 2086 *zh = 0;
cparata 0:e7e920b85676 2087 break;
cparata 0:e7e920b85676 2088 default:
cparata 0:e7e920b85676 2089 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 2090 }
cparata 0:e7e920b85676 2091
cparata 0:e7e920b85676 2092 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 2093 }
cparata 0:e7e920b85676 2094
cparata 0:e7e920b85676 2095 /**
cparata 0:e7e920b85676 2096 * @brief Read the data from register
cparata 0:e7e920b85676 2097 * @param reg register address
cparata 0:e7e920b85676 2098 * @param data register data
cparata 0:e7e920b85676 2099 * @retval LSM6DSL_STATUS_OK in case of success
cparata 0:e7e920b85676 2100 * @retval LSM6DSL_STATUS_ERROR in case of failure
cparata 0:e7e920b85676 2101 */
cparata 0:e7e920b85676 2102 LSM6DSLStatusTypeDef LSM6DSLSensor::ReadReg( uint8_t reg, uint8_t *data )
cparata 0:e7e920b85676 2103 {
cparata 0:e7e920b85676 2104
cparata 0:e7e920b85676 2105 if ( LSM6DSL_ACC_GYRO_ReadReg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
cparata 0:e7e920b85676 2106 {
cparata 0:e7e920b85676 2107 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 2108 }
cparata 0:e7e920b85676 2109
cparata 0:e7e920b85676 2110 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 2111 }
cparata 0:e7e920b85676 2112
cparata 0:e7e920b85676 2113 /**
cparata 0:e7e920b85676 2114 * @brief Write the data to register
cparata 0:e7e920b85676 2115 * @param reg register address
cparata 0:e7e920b85676 2116 * @param data register data
cparata 0:e7e920b85676 2117 * @retval LSM6DSL_STATUS_OK in case of success
cparata 0:e7e920b85676 2118 * @retval LSM6DSL_STATUS_ERROR in case of failure
cparata 0:e7e920b85676 2119 */
cparata 0:e7e920b85676 2120 LSM6DSLStatusTypeDef LSM6DSLSensor::WriteReg( uint8_t reg, uint8_t data )
cparata 0:e7e920b85676 2121 {
cparata 0:e7e920b85676 2122
cparata 0:e7e920b85676 2123 if ( LSM6DSL_ACC_GYRO_WriteReg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
cparata 0:e7e920b85676 2124 {
cparata 0:e7e920b85676 2125 return LSM6DSL_STATUS_ERROR;
cparata 0:e7e920b85676 2126 }
cparata 0:e7e920b85676 2127
cparata 0:e7e920b85676 2128 return LSM6DSL_STATUS_OK;
cparata 0:e7e920b85676 2129 }
cparata 0:e7e920b85676 2130
cparata 0:e7e920b85676 2131
cparata 0:e7e920b85676 2132 uint8_t LSM6DSL_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
cparata 0:e7e920b85676 2133 {
cparata 0:e7e920b85676 2134 return ((LSM6DSLSensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata 0:e7e920b85676 2135 }
cparata 0:e7e920b85676 2136
cparata 0:e7e920b85676 2137 uint8_t LSM6DSL_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
cparata 0:e7e920b85676 2138 {
cparata 0:e7e920b85676 2139 return ((LSM6DSLSensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata 0:e7e920b85676 2140 }