pelion-example-disco-iot01 - Mbed OS and Pelion Device Management example over…

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Mbed OS and Pelion Device Management example over WIFI for DISCO_L475VG_IOT01 board

Dependencies: X_NUCLEO_COMMON ST_INTERFACES

DEPRECATED

This example application is not maintained and not recommended. It uses an old version of Mbed OS, Pelion DM and Arm toolchain. It doesn't work with Mbed Studio.

Please use: https://os.mbed.com/teams/mbed-os-examples/code/mbed-os-example-pelion/

This example is known to work on the following platforms:

DISCO_L475E_IOT01A over WiFI and using onboard QSPI flash.

DISCO_L475E_IOT01A

Follow the Quick-Start instructions: https://cloud.mbed.com/quick-start

Example functionality

This example showcases the following device functionality:

Read onboard temperature and humidity sensors, and report them as Pelion LWM2M resources (see image below).
On user button click, increment Pelion LWM2M button resource.
Allow the user to change the state of the board LED from Pelion LWM2M led_state resource and PUT request.
Uses all onboard sensors and reports them as Pelion LWM2M resources.

/media/uploads/screamer/pelion_st_humidity_reading.png?v=2

Use this example with Mbed CLI

1. Import the application into your desktop:

mbed import https://os.mbed.com/teams/ST/code/pelion-example-disco-iot01

cd pelion-example-disco-iot01

2. Install the CLOUD_SDK_API_KEY

mbed config -G CLOUD_SDK_API_KEY <PELION_DM_API_KEY>

For instructions on how to generate your API key, please see the documentation.

3. Initialize firmware credentials (done once per repository). You can use the following command:

mbed dm init -d "<your company name in Pelion DM>" --model-name "<product model identifier>" -q --force

If above command do not work for your Mbed CLI, please consider upgrading Mbed CLI to version 1.8.x or above.

4. Compile and program:

mbed compile -t <toolchain> -m DISCO_L475VG_IOT01A

(supported toolchains : GCC_ARM / ARM / IAR)

5. You can connect on a virtual terminal/COM port to the platform using:

mbed sterm -b 115200

This should give you an output similar to:

[BOOT] Mbed Bootloader
[BOOT] ARM: 00000000000000000000
[BOOT] OEM: 00000000000000000000
[BOOT] Layout: 0 80096F4
[BOOT] Active firmware integrity check:
[BOOT] SHA256: 0660E360D432225D5251461998FD8617B017098C5F1F90D5FB607BF8C27ED530
[BOOT] Version: 1553615309
[BOOT] Slot 0 is empty
[BOOT] Active firmware up-to-date
[BOOT] Application's start address: 0x8010400
[BOOT] Application's jump address: 0x8011041
[BOOT] Application's stack address: 0x20018000
[BOOT] Forwarding to application...

Starting Simple Pelion Device Management Client example
You can hold the user button during boot to format the storage and change the device identity.

Sensors configuration:
Invalid new address!
HTS221  humidity & temperature    = 0xBC
LPS22HB pressure & temperature    = 0xB1
LIS3MDL magnetometer              = 0x3D
LSM6DSL accelerometer & gyroscope = 0x6A

Connecting to the network using Wifi...
Connected to the network successfully. IP address: 192.168.1.3
Initializing Pelion Device Management Client...
Initialized Pelion Client. Registering...
Registered to Pelion Device Management. Endpoint Name: 0169********************001002d5

ADC temp:     23.0037 C,  vref:      0.3661 V
HTS221 temp:   28.700 C,  humidity:   31.90 %
LPS22HB temp:  29.600 C,  pressure: 1032.01 mbar
LIS3MDL mag:    0.217 x,  -0.284 y,  -0.053 z [gauss]
LSM6DSL acc:    0.005 x,  -0.014 y,   1.029 z [g]
LSM6DSL gyro:   0.910 x,  -0.910 y,   1.120 z [dps]
VL53L0X dist:    1855 mm

sensors/LSM6DSL/LSM6DSLSensor.cpp@36:aaf44d2a6c33, 2020-03-13 (annotated)

Committer:: chris
Date:: Fri Mar 13 13:18:07 2020 +0000
Revision:: 36:aaf44d2a6c33
Parent:: 18:a15bfe7aaebd

First revision

Who changed what in which revision?

User	Revision	Line number	New contents of line
screamer	18:a15bfe7aaebd	1	/**
screamer	18:a15bfe7aaebd	2	******************************************************************************
screamer	18:a15bfe7aaebd	3	* @file LSM6DSLSensor.cpp
screamer	18:a15bfe7aaebd	4	* @author CLab
screamer	18:a15bfe7aaebd	5	* @version V1.0.0
screamer	18:a15bfe7aaebd	6	* @date 5 August 2016
screamer	18:a15bfe7aaebd	7	* @brief Implementation of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
screamer	18:a15bfe7aaebd	8	* sensor.
screamer	18:a15bfe7aaebd	9	******************************************************************************
screamer	18:a15bfe7aaebd	10	* @attention
screamer	18:a15bfe7aaebd	11	*
screamer	18:a15bfe7aaebd	12	* <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
screamer	18:a15bfe7aaebd	13	*
screamer	18:a15bfe7aaebd	14	* Redistribution and use in source and binary forms, with or without modification,
screamer	18:a15bfe7aaebd	15	* are permitted provided that the following conditions are met:
screamer	18:a15bfe7aaebd	16	* 1. Redistributions of source code must retain the above copyright notice,
screamer	18:a15bfe7aaebd	17	* this list of conditions and the following disclaimer.
screamer	18:a15bfe7aaebd	18	* 2. Redistributions in binary form must reproduce the above copyright notice,
screamer	18:a15bfe7aaebd	19	* this list of conditions and the following disclaimer in the documentation
screamer	18:a15bfe7aaebd	20	* and/or other materials provided with the distribution.
screamer	18:a15bfe7aaebd	21	* 3. Neither the name of STMicroelectronics nor the names of its contributors
screamer	18:a15bfe7aaebd	22	* may be used to endorse or promote products derived from this software
screamer	18:a15bfe7aaebd	23	* without specific prior written permission.
screamer	18:a15bfe7aaebd	24	*
screamer	18:a15bfe7aaebd	25	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
screamer	18:a15bfe7aaebd	26	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
screamer	18:a15bfe7aaebd	27	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
screamer	18:a15bfe7aaebd	28	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
screamer	18:a15bfe7aaebd	29	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
screamer	18:a15bfe7aaebd	30	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
screamer	18:a15bfe7aaebd	31	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
screamer	18:a15bfe7aaebd	32	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
screamer	18:a15bfe7aaebd	33	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
screamer	18:a15bfe7aaebd	34	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
screamer	18:a15bfe7aaebd	35	*
screamer	18:a15bfe7aaebd	36	******************************************************************************
screamer	18:a15bfe7aaebd	37	*/
screamer	18:a15bfe7aaebd	38
screamer	18:a15bfe7aaebd	39
screamer	18:a15bfe7aaebd	40	/* Includes ------------------------------------------------------------------*/
screamer	18:a15bfe7aaebd	41
screamer	18:a15bfe7aaebd	42	#include "LSM6DSLSensor.h"
screamer	18:a15bfe7aaebd	43
screamer	18:a15bfe7aaebd	44
screamer	18:a15bfe7aaebd	45	/* Class Implementation ------------------------------------------------------*/
screamer	18:a15bfe7aaebd	46
screamer	18:a15bfe7aaebd	47	LSM6DSLSensor::LSM6DSLSensor(SPI *spi, PinName cs_pin, PinName int1_pin, PinName int2_pin, SPI_type_t spi_type ) :
screamer	18:a15bfe7aaebd	48	_dev_spi(spi), _cs_pin(cs_pin), _int1_irq(int1_pin), _int2_irq(int2_pin), _spi_type(spi_type)
screamer	18:a15bfe7aaebd	49	{
screamer	18:a15bfe7aaebd	50	assert (spi);
screamer	18:a15bfe7aaebd	51	if (cs_pin == NC)
screamer	18:a15bfe7aaebd	52	{
screamer	18:a15bfe7aaebd	53	printf ("ERROR LPS22HBSensor CS MUST NOT BE NC\n\r");
screamer	18:a15bfe7aaebd	54	_dev_spi = NULL;
screamer	18:a15bfe7aaebd	55	_dev_i2c=NULL;
screamer	18:a15bfe7aaebd	56	return;
screamer	18:a15bfe7aaebd	57	}
screamer	18:a15bfe7aaebd	58	_cs_pin = 1;
screamer	18:a15bfe7aaebd	59	_dev_i2c=NULL;
screamer	18:a15bfe7aaebd	60
screamer	18:a15bfe7aaebd	61	if (_spi_type == SPI3W) LSM6DSL_ACC_GYRO_W_SPI_Mode((void *)this, LSM6DSL_ACC_GYRO_SIM_3_WIRE);
screamer	18:a15bfe7aaebd	62	else LSM6DSL_ACC_GYRO_W_SPI_Mode((void *)this, LSM6DSL_ACC_GYRO_SIM_4_WIRE);
screamer	18:a15bfe7aaebd	63
screamer	18:a15bfe7aaebd	64	LSM6DSL_ACC_GYRO_W_I2C_MASTER_Enable((void *)this, LSM6DSL_ACC_GYRO_MASTER_ON_DISABLED);
screamer	18:a15bfe7aaebd	65	}
screamer	18:a15bfe7aaebd	66
screamer	18:a15bfe7aaebd	67	/** Constructor
screamer	18:a15bfe7aaebd	68	* @param i2c object of an helper class which handles the I2C peripheral
screamer	18:a15bfe7aaebd	69	* @param address the address of the component's instance
screamer	18:a15bfe7aaebd	70	*/
screamer	18:a15bfe7aaebd	71	LSM6DSLSensor::LSM6DSLSensor(DevI2C *i2c, uint8_t address, PinName int1_pin, PinName int2_pin) :
screamer	18:a15bfe7aaebd	72	_dev_i2c(i2c), _address(address), _cs_pin(NC), _int1_irq(int1_pin), _int2_irq(int2_pin)
screamer	18:a15bfe7aaebd	73	{
screamer	18:a15bfe7aaebd	74	assert (i2c);
screamer	18:a15bfe7aaebd	75	_dev_spi = NULL;
screamer	18:a15bfe7aaebd	76	}
screamer	18:a15bfe7aaebd	77
screamer	18:a15bfe7aaebd	78	/**
screamer	18:a15bfe7aaebd	79	* @brief Initializing the component.
screamer	18:a15bfe7aaebd	80	* @param[in] init pointer to device specific initalization structure.
screamer	18:a15bfe7aaebd	81	* @retval "0" in case of success, an error code otherwise.
screamer	18:a15bfe7aaebd	82	*/
screamer	18:a15bfe7aaebd	83	int LSM6DSLSensor::init(void *init)
screamer	18:a15bfe7aaebd	84	{
screamer	18:a15bfe7aaebd	85	/* Enable register address automatically incremented during a multiple byte
screamer	18:a15bfe7aaebd	86	access with a serial interface. */
screamer	18:a15bfe7aaebd	87	if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	88	{
screamer	18:a15bfe7aaebd	89	return 1;
screamer	18:a15bfe7aaebd	90	}
screamer	18:a15bfe7aaebd	91
screamer	18:a15bfe7aaebd	92	/* Enable BDU */
screamer	18:a15bfe7aaebd	93	if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	94	{
screamer	18:a15bfe7aaebd	95	return 1;
screamer	18:a15bfe7aaebd	96	}
screamer	18:a15bfe7aaebd	97
screamer	18:a15bfe7aaebd	98	/* FIFO mode selection */
screamer	18:a15bfe7aaebd	99	if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	100	{
screamer	18:a15bfe7aaebd	101	return 1;
screamer	18:a15bfe7aaebd	102	}
screamer	18:a15bfe7aaebd	103
screamer	18:a15bfe7aaebd	104	/* Output data rate selection - power down. */
screamer	18:a15bfe7aaebd	105	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	106	{
screamer	18:a15bfe7aaebd	107	return 1;
screamer	18:a15bfe7aaebd	108	}
screamer	18:a15bfe7aaebd	109
screamer	18:a15bfe7aaebd	110	/* Full scale selection. */
screamer	18:a15bfe7aaebd	111	if ( set_x_fs( 2.0f ) == 1 )
screamer	18:a15bfe7aaebd	112	{
screamer	18:a15bfe7aaebd	113	return 1;
screamer	18:a15bfe7aaebd	114	}
screamer	18:a15bfe7aaebd	115
screamer	18:a15bfe7aaebd	116	/* Output data rate selection - power down */
screamer	18:a15bfe7aaebd	117	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	118	{
screamer	18:a15bfe7aaebd	119	return 1;
screamer	18:a15bfe7aaebd	120	}
screamer	18:a15bfe7aaebd	121
screamer	18:a15bfe7aaebd	122	/* Full scale selection. */
screamer	18:a15bfe7aaebd	123	if ( set_g_fs( 2000.0f ) == 1 )
screamer	18:a15bfe7aaebd	124	{
screamer	18:a15bfe7aaebd	125	return 1;
screamer	18:a15bfe7aaebd	126	}
screamer	18:a15bfe7aaebd	127
screamer	18:a15bfe7aaebd	128	_x_last_odr = 104.0f;
screamer	18:a15bfe7aaebd	129
screamer	18:a15bfe7aaebd	130	_x_is_enabled = 0;
screamer	18:a15bfe7aaebd	131
screamer	18:a15bfe7aaebd	132	_g_last_odr = 104.0f;
screamer	18:a15bfe7aaebd	133
screamer	18:a15bfe7aaebd	134	_g_is_enabled = 0;
screamer	18:a15bfe7aaebd	135
screamer	18:a15bfe7aaebd	136	return 0;
screamer	18:a15bfe7aaebd	137	}
screamer	18:a15bfe7aaebd	138
screamer	18:a15bfe7aaebd	139	/**
screamer	18:a15bfe7aaebd	140	* @brief Enable LSM6DSL Accelerator
screamer	18:a15bfe7aaebd	141	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	142	*/
screamer	18:a15bfe7aaebd	143	int LSM6DSLSensor::enable_x(void)
screamer	18:a15bfe7aaebd	144	{
screamer	18:a15bfe7aaebd	145	/* Check if the component is already enabled */
screamer	18:a15bfe7aaebd	146	if ( _x_is_enabled == 1 )
screamer	18:a15bfe7aaebd	147	{
screamer	18:a15bfe7aaebd	148	return 0;
screamer	18:a15bfe7aaebd	149	}
screamer	18:a15bfe7aaebd	150
screamer	18:a15bfe7aaebd	151	/* Output data rate selection. */
screamer	18:a15bfe7aaebd	152	if ( set_x_odr_when_enabled( _x_last_odr ) == 1 )
screamer	18:a15bfe7aaebd	153	{
screamer	18:a15bfe7aaebd	154	return 1;
screamer	18:a15bfe7aaebd	155	}
screamer	18:a15bfe7aaebd	156
screamer	18:a15bfe7aaebd	157	_x_is_enabled = 1;
screamer	18:a15bfe7aaebd	158
screamer	18:a15bfe7aaebd	159	return 0;
screamer	18:a15bfe7aaebd	160	}
screamer	18:a15bfe7aaebd	161
screamer	18:a15bfe7aaebd	162	/**
screamer	18:a15bfe7aaebd	163	* @brief Enable LSM6DSL Gyroscope
screamer	18:a15bfe7aaebd	164	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	165	*/
screamer	18:a15bfe7aaebd	166	int LSM6DSLSensor::enable_g(void)
screamer	18:a15bfe7aaebd	167	{
screamer	18:a15bfe7aaebd	168	/* Check if the component is already enabled */
screamer	18:a15bfe7aaebd	169	if ( _g_is_enabled == 1 )
screamer	18:a15bfe7aaebd	170	{
screamer	18:a15bfe7aaebd	171	return 0;
screamer	18:a15bfe7aaebd	172	}
screamer	18:a15bfe7aaebd	173
screamer	18:a15bfe7aaebd	174	/* Output data rate selection. */
screamer	18:a15bfe7aaebd	175	if ( set_g_odr_when_enabled( _g_last_odr ) == 1 )
screamer	18:a15bfe7aaebd	176	{
screamer	18:a15bfe7aaebd	177	return 1;
screamer	18:a15bfe7aaebd	178	}
screamer	18:a15bfe7aaebd	179
screamer	18:a15bfe7aaebd	180	_g_is_enabled = 1;
screamer	18:a15bfe7aaebd	181
screamer	18:a15bfe7aaebd	182	return 0;
screamer	18:a15bfe7aaebd	183	}
screamer	18:a15bfe7aaebd	184
screamer	18:a15bfe7aaebd	185	/**
screamer	18:a15bfe7aaebd	186	* @brief Disable LSM6DSL Accelerator
screamer	18:a15bfe7aaebd	187	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	188	*/
screamer	18:a15bfe7aaebd	189	int LSM6DSLSensor::disable_x(void)
screamer	18:a15bfe7aaebd	190	{
screamer	18:a15bfe7aaebd	191	/* Check if the component is already disabled */
screamer	18:a15bfe7aaebd	192	if ( _x_is_enabled == 0 )
screamer	18:a15bfe7aaebd	193	{
screamer	18:a15bfe7aaebd	194	return 0;
screamer	18:a15bfe7aaebd	195	}
screamer	18:a15bfe7aaebd	196
screamer	18:a15bfe7aaebd	197	/* Store actual output data rate. */
screamer	18:a15bfe7aaebd	198	if ( get_x_odr( &_x_last_odr ) == 1 )
screamer	18:a15bfe7aaebd	199	{
screamer	18:a15bfe7aaebd	200	return 1;
screamer	18:a15bfe7aaebd	201	}
screamer	18:a15bfe7aaebd	202
screamer	18:a15bfe7aaebd	203	/* Output data rate selection - power down. */
screamer	18:a15bfe7aaebd	204	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	205	{
screamer	18:a15bfe7aaebd	206	return 1;
screamer	18:a15bfe7aaebd	207	}
screamer	18:a15bfe7aaebd	208
screamer	18:a15bfe7aaebd	209	_x_is_enabled = 0;
screamer	18:a15bfe7aaebd	210
screamer	18:a15bfe7aaebd	211	return 0;
screamer	18:a15bfe7aaebd	212	}
screamer	18:a15bfe7aaebd	213
screamer	18:a15bfe7aaebd	214	/**
screamer	18:a15bfe7aaebd	215	* @brief Disable LSM6DSL Gyroscope
screamer	18:a15bfe7aaebd	216	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	217	*/
screamer	18:a15bfe7aaebd	218	int LSM6DSLSensor::disable_g(void)
screamer	18:a15bfe7aaebd	219	{
screamer	18:a15bfe7aaebd	220	/* Check if the component is already disabled */
screamer	18:a15bfe7aaebd	221	if ( _g_is_enabled == 0 )
screamer	18:a15bfe7aaebd	222	{
screamer	18:a15bfe7aaebd	223	return 0;
screamer	18:a15bfe7aaebd	224	}
screamer	18:a15bfe7aaebd	225
screamer	18:a15bfe7aaebd	226	/* Store actual output data rate. */
screamer	18:a15bfe7aaebd	227	if ( get_g_odr( &_g_last_odr ) == 1 )
screamer	18:a15bfe7aaebd	228	{
screamer	18:a15bfe7aaebd	229	return 1;
screamer	18:a15bfe7aaebd	230	}
screamer	18:a15bfe7aaebd	231
screamer	18:a15bfe7aaebd	232	/* Output data rate selection - power down */
screamer	18:a15bfe7aaebd	233	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	234	{
screamer	18:a15bfe7aaebd	235	return 1;
screamer	18:a15bfe7aaebd	236	}
screamer	18:a15bfe7aaebd	237
screamer	18:a15bfe7aaebd	238	_g_is_enabled = 0;
screamer	18:a15bfe7aaebd	239
screamer	18:a15bfe7aaebd	240	return 0;
screamer	18:a15bfe7aaebd	241	}
screamer	18:a15bfe7aaebd	242
screamer	18:a15bfe7aaebd	243	/**
screamer	18:a15bfe7aaebd	244	* @brief Read ID of LSM6DSL Accelerometer and Gyroscope
screamer	18:a15bfe7aaebd	245	* @param p_id the pointer where the ID of the device is stored
screamer	18:a15bfe7aaebd	246	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	247	*/
screamer	18:a15bfe7aaebd	248	int LSM6DSLSensor::read_id(uint8_t *id)
screamer	18:a15bfe7aaebd	249	{
screamer	18:a15bfe7aaebd	250	if(!id)
screamer	18:a15bfe7aaebd	251	{
screamer	18:a15bfe7aaebd	252	return 1;
screamer	18:a15bfe7aaebd	253	}
screamer	18:a15bfe7aaebd	254
screamer	18:a15bfe7aaebd	255	/* Read WHO AM I register */
screamer	18:a15bfe7aaebd	256	if ( LSM6DSL_ACC_GYRO_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	257	{
screamer	18:a15bfe7aaebd	258	return 1;
screamer	18:a15bfe7aaebd	259	}
screamer	18:a15bfe7aaebd	260
screamer	18:a15bfe7aaebd	261	return 0;
screamer	18:a15bfe7aaebd	262	}
screamer	18:a15bfe7aaebd	263
screamer	18:a15bfe7aaebd	264	/**
screamer	18:a15bfe7aaebd	265	* @brief Read data from LSM6DSL Accelerometer
screamer	18:a15bfe7aaebd	266	* @param pData the pointer where the accelerometer data are stored
screamer	18:a15bfe7aaebd	267	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	268	*/
screamer	18:a15bfe7aaebd	269	int LSM6DSLSensor::get_x_axes(int32_t *pData)
screamer	18:a15bfe7aaebd	270	{
screamer	18:a15bfe7aaebd	271	int16_t dataRaw[3];
screamer	18:a15bfe7aaebd	272	float sensitivity = 0;
screamer	18:a15bfe7aaebd	273
screamer	18:a15bfe7aaebd	274	/* Read raw data from LSM6DSL output register. */
screamer	18:a15bfe7aaebd	275	if ( get_x_axes_raw( dataRaw ) == 1 )
screamer	18:a15bfe7aaebd	276	{
screamer	18:a15bfe7aaebd	277	return 1;
screamer	18:a15bfe7aaebd	278	}
screamer	18:a15bfe7aaebd	279
screamer	18:a15bfe7aaebd	280	/* Get LSM6DSL actual sensitivity. */
screamer	18:a15bfe7aaebd	281	if ( get_x_sensitivity( &sensitivity ) == 1 )
screamer	18:a15bfe7aaebd	282	{
screamer	18:a15bfe7aaebd	283	return 1;
screamer	18:a15bfe7aaebd	284	}
screamer	18:a15bfe7aaebd	285
screamer	18:a15bfe7aaebd	286	/* Calculate the data. */
screamer	18:a15bfe7aaebd	287	pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
screamer	18:a15bfe7aaebd	288	pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
screamer	18:a15bfe7aaebd	289	pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
screamer	18:a15bfe7aaebd	290
screamer	18:a15bfe7aaebd	291	return 0;
screamer	18:a15bfe7aaebd	292	}
screamer	18:a15bfe7aaebd	293
screamer	18:a15bfe7aaebd	294	/**
screamer	18:a15bfe7aaebd	295	* @brief Read data from LSM6DSL Gyroscope
screamer	18:a15bfe7aaebd	296	* @param pData the pointer where the gyroscope data are stored
screamer	18:a15bfe7aaebd	297	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	298	*/
screamer	18:a15bfe7aaebd	299	int LSM6DSLSensor::get_g_axes(int32_t *pData)
screamer	18:a15bfe7aaebd	300	{
screamer	18:a15bfe7aaebd	301	int16_t dataRaw[3];
screamer	18:a15bfe7aaebd	302	float sensitivity = 0;
screamer	18:a15bfe7aaebd	303
screamer	18:a15bfe7aaebd	304	/* Read raw data from LSM6DSL output register. */
screamer	18:a15bfe7aaebd	305	if ( get_g_axes_raw( dataRaw ) == 1 )
screamer	18:a15bfe7aaebd	306	{
screamer	18:a15bfe7aaebd	307	return 1;
screamer	18:a15bfe7aaebd	308	}
screamer	18:a15bfe7aaebd	309
screamer	18:a15bfe7aaebd	310	/* Get LSM6DSL actual sensitivity. */
screamer	18:a15bfe7aaebd	311	if ( get_g_sensitivity( &sensitivity ) == 1 )
screamer	18:a15bfe7aaebd	312	{
screamer	18:a15bfe7aaebd	313	return 1;
screamer	18:a15bfe7aaebd	314	}
screamer	18:a15bfe7aaebd	315
screamer	18:a15bfe7aaebd	316	/* Calculate the data. */
screamer	18:a15bfe7aaebd	317	pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
screamer	18:a15bfe7aaebd	318	pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
screamer	18:a15bfe7aaebd	319	pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
screamer	18:a15bfe7aaebd	320
screamer	18:a15bfe7aaebd	321	return 0;
screamer	18:a15bfe7aaebd	322	}
screamer	18:a15bfe7aaebd	323
screamer	18:a15bfe7aaebd	324	/**
screamer	18:a15bfe7aaebd	325	* @brief Read Accelerometer Sensitivity
screamer	18:a15bfe7aaebd	326	* @param pfData the pointer where the accelerometer sensitivity is stored
screamer	18:a15bfe7aaebd	327	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	328	*/
screamer	18:a15bfe7aaebd	329	int LSM6DSLSensor::get_x_sensitivity(float *pfData)
screamer	18:a15bfe7aaebd	330	{
screamer	18:a15bfe7aaebd	331	LSM6DSL_ACC_GYRO_FS_XL_t fullScale;
screamer	18:a15bfe7aaebd	332
screamer	18:a15bfe7aaebd	333	/* Read actual full scale selection from sensor. */
screamer	18:a15bfe7aaebd	334	if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fullScale ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	335	{
screamer	18:a15bfe7aaebd	336	return 1;
screamer	18:a15bfe7aaebd	337	}
screamer	18:a15bfe7aaebd	338
screamer	18:a15bfe7aaebd	339	/* Store the sensitivity based on actual full scale. */
screamer	18:a15bfe7aaebd	340	switch( fullScale )
screamer	18:a15bfe7aaebd	341	{
screamer	18:a15bfe7aaebd	342	case LSM6DSL_ACC_GYRO_FS_XL_2g:
screamer	18:a15bfe7aaebd	343	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G;
screamer	18:a15bfe7aaebd	344	break;
screamer	18:a15bfe7aaebd	345	case LSM6DSL_ACC_GYRO_FS_XL_4g:
screamer	18:a15bfe7aaebd	346	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G;
screamer	18:a15bfe7aaebd	347	break;
screamer	18:a15bfe7aaebd	348	case LSM6DSL_ACC_GYRO_FS_XL_8g:
screamer	18:a15bfe7aaebd	349	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G;
screamer	18:a15bfe7aaebd	350	break;
screamer	18:a15bfe7aaebd	351	case LSM6DSL_ACC_GYRO_FS_XL_16g:
screamer	18:a15bfe7aaebd	352	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G;
screamer	18:a15bfe7aaebd	353	break;
screamer	18:a15bfe7aaebd	354	default:
screamer	18:a15bfe7aaebd	355	*pfData = -1.0f;
screamer	18:a15bfe7aaebd	356	return 1;
screamer	18:a15bfe7aaebd	357	}
screamer	18:a15bfe7aaebd	358
screamer	18:a15bfe7aaebd	359	return 0;
screamer	18:a15bfe7aaebd	360	}
screamer	18:a15bfe7aaebd	361
screamer	18:a15bfe7aaebd	362	/**
screamer	18:a15bfe7aaebd	363	* @brief Read Gyroscope Sensitivity
screamer	18:a15bfe7aaebd	364	* @param pfData the pointer where the gyroscope sensitivity is stored
screamer	18:a15bfe7aaebd	365	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	366	*/
screamer	18:a15bfe7aaebd	367	int LSM6DSLSensor::get_g_sensitivity(float *pfData)
screamer	18:a15bfe7aaebd	368	{
screamer	18:a15bfe7aaebd	369	LSM6DSL_ACC_GYRO_FS_125_t fullScale125;
screamer	18:a15bfe7aaebd	370	LSM6DSL_ACC_GYRO_FS_G_t fullScale;
screamer	18:a15bfe7aaebd	371
screamer	18:a15bfe7aaebd	372	/* Read full scale 125 selection from sensor. */
screamer	18:a15bfe7aaebd	373	if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fullScale125 ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	374	{
screamer	18:a15bfe7aaebd	375	return 1;
screamer	18:a15bfe7aaebd	376	}
screamer	18:a15bfe7aaebd	377
screamer	18:a15bfe7aaebd	378	if ( fullScale125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
screamer	18:a15bfe7aaebd	379	{
screamer	18:a15bfe7aaebd	380	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS;
screamer	18:a15bfe7aaebd	381	}
screamer	18:a15bfe7aaebd	382
screamer	18:a15bfe7aaebd	383	else
screamer	18:a15bfe7aaebd	384	{
screamer	18:a15bfe7aaebd	385
screamer	18:a15bfe7aaebd	386	/* Read actual full scale selection from sensor. */
screamer	18:a15bfe7aaebd	387	if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fullScale ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	388	{
screamer	18:a15bfe7aaebd	389	return 1;
screamer	18:a15bfe7aaebd	390	}
screamer	18:a15bfe7aaebd	391
screamer	18:a15bfe7aaebd	392	/* Store the sensitivity based on actual full scale. */
screamer	18:a15bfe7aaebd	393	switch( fullScale )
screamer	18:a15bfe7aaebd	394	{
screamer	18:a15bfe7aaebd	395	case LSM6DSL_ACC_GYRO_FS_G_245dps:
screamer	18:a15bfe7aaebd	396	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS;
screamer	18:a15bfe7aaebd	397	break;
screamer	18:a15bfe7aaebd	398	case LSM6DSL_ACC_GYRO_FS_G_500dps:
screamer	18:a15bfe7aaebd	399	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS;
screamer	18:a15bfe7aaebd	400	break;
screamer	18:a15bfe7aaebd	401	case LSM6DSL_ACC_GYRO_FS_G_1000dps:
screamer	18:a15bfe7aaebd	402	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS;
screamer	18:a15bfe7aaebd	403	break;
screamer	18:a15bfe7aaebd	404	case LSM6DSL_ACC_GYRO_FS_G_2000dps:
screamer	18:a15bfe7aaebd	405	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS;
screamer	18:a15bfe7aaebd	406	break;
screamer	18:a15bfe7aaebd	407	default:
screamer	18:a15bfe7aaebd	408	*pfData = -1.0f;
screamer	18:a15bfe7aaebd	409	return 1;
screamer	18:a15bfe7aaebd	410	}
screamer	18:a15bfe7aaebd	411	}
screamer	18:a15bfe7aaebd	412
screamer	18:a15bfe7aaebd	413	return 0;
screamer	18:a15bfe7aaebd	414	}
screamer	18:a15bfe7aaebd	415
screamer	18:a15bfe7aaebd	416	/**
screamer	18:a15bfe7aaebd	417	* @brief Read raw data from LSM6DSL Accelerometer
screamer	18:a15bfe7aaebd	418	* @param pData the pointer where the accelerometer raw data are stored
screamer	18:a15bfe7aaebd	419	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	420	*/
screamer	18:a15bfe7aaebd	421	int LSM6DSLSensor::get_x_axes_raw(int16_t *pData)
screamer	18:a15bfe7aaebd	422	{
screamer	18:a15bfe7aaebd	423	uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
screamer	18:a15bfe7aaebd	424
screamer	18:a15bfe7aaebd	425	/* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_XL to LSM6DSL_ACC_GYRO_OUTZ_H_XL. */
screamer	18:a15bfe7aaebd	426	if ( LSM6DSL_ACC_GYRO_GetRawAccData( (void *)this, regValue ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	427	{
screamer	18:a15bfe7aaebd	428	return 1;
screamer	18:a15bfe7aaebd	429	}
screamer	18:a15bfe7aaebd	430
screamer	18:a15bfe7aaebd	431	/* Format the data. */
screamer	18:a15bfe7aaebd	432	pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
screamer	18:a15bfe7aaebd	433	pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
screamer	18:a15bfe7aaebd	434	pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
screamer	18:a15bfe7aaebd	435
screamer	18:a15bfe7aaebd	436	return 0;
screamer	18:a15bfe7aaebd	437	}
screamer	18:a15bfe7aaebd	438
screamer	18:a15bfe7aaebd	439	/**
screamer	18:a15bfe7aaebd	440	* @brief Read raw data from LSM6DSL Gyroscope
screamer	18:a15bfe7aaebd	441	* @param pData the pointer where the gyroscope raw data are stored
screamer	18:a15bfe7aaebd	442	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	443	*/
screamer	18:a15bfe7aaebd	444	int LSM6DSLSensor::get_g_axes_raw(int16_t *pData)
screamer	18:a15bfe7aaebd	445	{
screamer	18:a15bfe7aaebd	446	uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
screamer	18:a15bfe7aaebd	447
screamer	18:a15bfe7aaebd	448	/* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_G to LSM6DSL_ACC_GYRO_OUTZ_H_G. */
screamer	18:a15bfe7aaebd	449	if ( LSM6DSL_ACC_GYRO_GetRawGyroData( (void *)this, regValue ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	450	{
screamer	18:a15bfe7aaebd	451	return 1;
screamer	18:a15bfe7aaebd	452	}
screamer	18:a15bfe7aaebd	453
screamer	18:a15bfe7aaebd	454	/* Format the data. */
screamer	18:a15bfe7aaebd	455	pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
screamer	18:a15bfe7aaebd	456	pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
screamer	18:a15bfe7aaebd	457	pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
screamer	18:a15bfe7aaebd	458
screamer	18:a15bfe7aaebd	459	return 0;
screamer	18:a15bfe7aaebd	460	}
screamer	18:a15bfe7aaebd	461
screamer	18:a15bfe7aaebd	462	/**
screamer	18:a15bfe7aaebd	463	* @brief Read LSM6DSL Accelerometer output data rate
screamer	18:a15bfe7aaebd	464	* @param odr the pointer to the output data rate
screamer	18:a15bfe7aaebd	465	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	466	*/
screamer	18:a15bfe7aaebd	467	int LSM6DSLSensor::get_x_odr(float* odr)
screamer	18:a15bfe7aaebd	468	{
screamer	18:a15bfe7aaebd	469	LSM6DSL_ACC_GYRO_ODR_XL_t odr_low_level;
screamer	18:a15bfe7aaebd	470
screamer	18:a15bfe7aaebd	471	if ( LSM6DSL_ACC_GYRO_R_ODR_XL( (void *)this, &odr_low_level ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	472	{
screamer	18:a15bfe7aaebd	473	return 1;
screamer	18:a15bfe7aaebd	474	}
screamer	18:a15bfe7aaebd	475
screamer	18:a15bfe7aaebd	476	switch( odr_low_level )
screamer	18:a15bfe7aaebd	477	{
screamer	18:a15bfe7aaebd	478	case LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN:
screamer	18:a15bfe7aaebd	479	*odr = 0.0f;
screamer	18:a15bfe7aaebd	480	break;
screamer	18:a15bfe7aaebd	481	case LSM6DSL_ACC_GYRO_ODR_XL_13Hz:
screamer	18:a15bfe7aaebd	482	*odr = 13.0f;
screamer	18:a15bfe7aaebd	483	break;
screamer	18:a15bfe7aaebd	484	case LSM6DSL_ACC_GYRO_ODR_XL_26Hz:
screamer	18:a15bfe7aaebd	485	*odr = 26.0f;
screamer	18:a15bfe7aaebd	486	break;
screamer	18:a15bfe7aaebd	487	case LSM6DSL_ACC_GYRO_ODR_XL_52Hz:
screamer	18:a15bfe7aaebd	488	*odr = 52.0f;
screamer	18:a15bfe7aaebd	489	break;
screamer	18:a15bfe7aaebd	490	case LSM6DSL_ACC_GYRO_ODR_XL_104Hz:
screamer	18:a15bfe7aaebd	491	*odr = 104.0f;
screamer	18:a15bfe7aaebd	492	break;
screamer	18:a15bfe7aaebd	493	case LSM6DSL_ACC_GYRO_ODR_XL_208Hz:
screamer	18:a15bfe7aaebd	494	*odr = 208.0f;
screamer	18:a15bfe7aaebd	495	break;
screamer	18:a15bfe7aaebd	496	case LSM6DSL_ACC_GYRO_ODR_XL_416Hz:
screamer	18:a15bfe7aaebd	497	*odr = 416.0f;
screamer	18:a15bfe7aaebd	498	break;
screamer	18:a15bfe7aaebd	499	case LSM6DSL_ACC_GYRO_ODR_XL_833Hz:
screamer	18:a15bfe7aaebd	500	*odr = 833.0f;
screamer	18:a15bfe7aaebd	501	break;
screamer	18:a15bfe7aaebd	502	case LSM6DSL_ACC_GYRO_ODR_XL_1660Hz:
screamer	18:a15bfe7aaebd	503	*odr = 1660.0f;
screamer	18:a15bfe7aaebd	504	break;
screamer	18:a15bfe7aaebd	505	case LSM6DSL_ACC_GYRO_ODR_XL_3330Hz:
screamer	18:a15bfe7aaebd	506	*odr = 3330.0f;
screamer	18:a15bfe7aaebd	507	break;
screamer	18:a15bfe7aaebd	508	case LSM6DSL_ACC_GYRO_ODR_XL_6660Hz:
screamer	18:a15bfe7aaebd	509	*odr = 6660.0f;
screamer	18:a15bfe7aaebd	510	break;
screamer	18:a15bfe7aaebd	511	default:
screamer	18:a15bfe7aaebd	512	*odr = -1.0f;
screamer	18:a15bfe7aaebd	513	return 1;
screamer	18:a15bfe7aaebd	514	}
screamer	18:a15bfe7aaebd	515
screamer	18:a15bfe7aaebd	516	return 0;
screamer	18:a15bfe7aaebd	517	}
screamer	18:a15bfe7aaebd	518
screamer	18:a15bfe7aaebd	519	/**
screamer	18:a15bfe7aaebd	520	* @brief Read LSM6DSL Gyroscope output data rate
screamer	18:a15bfe7aaebd	521	* @param odr the pointer to the output data rate
screamer	18:a15bfe7aaebd	522	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	523	*/
screamer	18:a15bfe7aaebd	524	int LSM6DSLSensor::get_g_odr(float* odr)
screamer	18:a15bfe7aaebd	525	{
screamer	18:a15bfe7aaebd	526	LSM6DSL_ACC_GYRO_ODR_G_t odr_low_level;
screamer	18:a15bfe7aaebd	527
screamer	18:a15bfe7aaebd	528	if ( LSM6DSL_ACC_GYRO_R_ODR_G( (void *)this, &odr_low_level ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	529	{
screamer	18:a15bfe7aaebd	530	return 1;
screamer	18:a15bfe7aaebd	531	}
screamer	18:a15bfe7aaebd	532
screamer	18:a15bfe7aaebd	533	switch( odr_low_level )
screamer	18:a15bfe7aaebd	534	{
screamer	18:a15bfe7aaebd	535	case LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN:
screamer	18:a15bfe7aaebd	536	*odr = 0.0f;
screamer	18:a15bfe7aaebd	537	break;
screamer	18:a15bfe7aaebd	538	case LSM6DSL_ACC_GYRO_ODR_G_13Hz:
screamer	18:a15bfe7aaebd	539	*odr = 13.0f;
screamer	18:a15bfe7aaebd	540	break;
screamer	18:a15bfe7aaebd	541	case LSM6DSL_ACC_GYRO_ODR_G_26Hz:
screamer	18:a15bfe7aaebd	542	*odr = 26.0f;
screamer	18:a15bfe7aaebd	543	break;
screamer	18:a15bfe7aaebd	544	case LSM6DSL_ACC_GYRO_ODR_G_52Hz:
screamer	18:a15bfe7aaebd	545	*odr = 52.0f;
screamer	18:a15bfe7aaebd	546	break;
screamer	18:a15bfe7aaebd	547	case LSM6DSL_ACC_GYRO_ODR_G_104Hz:
screamer	18:a15bfe7aaebd	548	*odr = 104.0f;
screamer	18:a15bfe7aaebd	549	break;
screamer	18:a15bfe7aaebd	550	case LSM6DSL_ACC_GYRO_ODR_G_208Hz:
screamer	18:a15bfe7aaebd	551	*odr = 208.0f;
screamer	18:a15bfe7aaebd	552	break;
screamer	18:a15bfe7aaebd	553	case LSM6DSL_ACC_GYRO_ODR_G_416Hz:
screamer	18:a15bfe7aaebd	554	*odr = 416.0f;
screamer	18:a15bfe7aaebd	555	break;
screamer	18:a15bfe7aaebd	556	case LSM6DSL_ACC_GYRO_ODR_G_833Hz:
screamer	18:a15bfe7aaebd	557	*odr = 833.0f;
screamer	18:a15bfe7aaebd	558	break;
screamer	18:a15bfe7aaebd	559	case LSM6DSL_ACC_GYRO_ODR_G_1660Hz:
screamer	18:a15bfe7aaebd	560	*odr = 1660.0f;
screamer	18:a15bfe7aaebd	561	break;
screamer	18:a15bfe7aaebd	562	case LSM6DSL_ACC_GYRO_ODR_G_3330Hz:
screamer	18:a15bfe7aaebd	563	*odr = 3330.0f;
screamer	18:a15bfe7aaebd	564	break;
screamer	18:a15bfe7aaebd	565	case LSM6DSL_ACC_GYRO_ODR_G_6660Hz:
screamer	18:a15bfe7aaebd	566	*odr = 6660.0f;
screamer	18:a15bfe7aaebd	567	break;
screamer	18:a15bfe7aaebd	568	default:
screamer	18:a15bfe7aaebd	569	*odr = -1.0f;
screamer	18:a15bfe7aaebd	570	return 1;
screamer	18:a15bfe7aaebd	571	}
screamer	18:a15bfe7aaebd	572
screamer	18:a15bfe7aaebd	573	return 0;
screamer	18:a15bfe7aaebd	574	}
screamer	18:a15bfe7aaebd	575
screamer	18:a15bfe7aaebd	576	/**
screamer	18:a15bfe7aaebd	577	* @brief Set LSM6DSL Accelerometer output data rate
screamer	18:a15bfe7aaebd	578	* @param odr the output data rate to be set
screamer	18:a15bfe7aaebd	579	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	580	*/
screamer	18:a15bfe7aaebd	581	int LSM6DSLSensor::set_x_odr(float odr)
screamer	18:a15bfe7aaebd	582	{
screamer	18:a15bfe7aaebd	583	if(_x_is_enabled == 1)
screamer	18:a15bfe7aaebd	584	{
screamer	18:a15bfe7aaebd	585	if(set_x_odr_when_enabled(odr) == 1)
screamer	18:a15bfe7aaebd	586	{
screamer	18:a15bfe7aaebd	587	return 1;
screamer	18:a15bfe7aaebd	588	}
screamer	18:a15bfe7aaebd	589	}
screamer	18:a15bfe7aaebd	590	else
screamer	18:a15bfe7aaebd	591	{
screamer	18:a15bfe7aaebd	592	if(set_x_odr_when_disabled(odr) == 1)
screamer	18:a15bfe7aaebd	593	{
screamer	18:a15bfe7aaebd	594	return 1;
screamer	18:a15bfe7aaebd	595	}
screamer	18:a15bfe7aaebd	596	}
screamer	18:a15bfe7aaebd	597
screamer	18:a15bfe7aaebd	598	return 0;
screamer	18:a15bfe7aaebd	599	}
screamer	18:a15bfe7aaebd	600
screamer	18:a15bfe7aaebd	601	/**
screamer	18:a15bfe7aaebd	602	* @brief Set LSM6DSL Accelerometer output data rate when enabled
screamer	18:a15bfe7aaebd	603	* @param odr the output data rate to be set
screamer	18:a15bfe7aaebd	604	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	605	*/
screamer	18:a15bfe7aaebd	606	int LSM6DSLSensor::set_x_odr_when_enabled(float odr)
screamer	18:a15bfe7aaebd	607	{
screamer	18:a15bfe7aaebd	608	LSM6DSL_ACC_GYRO_ODR_XL_t new_odr;
screamer	18:a15bfe7aaebd	609
screamer	18:a15bfe7aaebd	610	new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_13Hz
screamer	18:a15bfe7aaebd	611	: ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_26Hz
screamer	18:a15bfe7aaebd	612	: ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_52Hz
screamer	18:a15bfe7aaebd	613	: ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_104Hz
screamer	18:a15bfe7aaebd	614	: ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_208Hz
screamer	18:a15bfe7aaebd	615	: ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_416Hz
screamer	18:a15bfe7aaebd	616	: ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_833Hz
screamer	18:a15bfe7aaebd	617	: ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_1660Hz
screamer	18:a15bfe7aaebd	618	: ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_3330Hz
screamer	18:a15bfe7aaebd	619	: LSM6DSL_ACC_GYRO_ODR_XL_6660Hz;
screamer	18:a15bfe7aaebd	620
screamer	18:a15bfe7aaebd	621	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, new_odr ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	622	{
screamer	18:a15bfe7aaebd	623	return 1;
screamer	18:a15bfe7aaebd	624	}
screamer	18:a15bfe7aaebd	625
screamer	18:a15bfe7aaebd	626	return 0;
screamer	18:a15bfe7aaebd	627	}
screamer	18:a15bfe7aaebd	628
screamer	18:a15bfe7aaebd	629	/**
screamer	18:a15bfe7aaebd	630	* @brief Set LSM6DSL Accelerometer output data rate when disabled
screamer	18:a15bfe7aaebd	631	* @param odr the output data rate to be set
screamer	18:a15bfe7aaebd	632	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	633	*/
screamer	18:a15bfe7aaebd	634	int LSM6DSLSensor::set_x_odr_when_disabled(float odr)
screamer	18:a15bfe7aaebd	635	{
screamer	18:a15bfe7aaebd	636	_x_last_odr = ( odr <= 13.0f ) ? 13.0f
screamer	18:a15bfe7aaebd	637	: ( odr <= 26.0f ) ? 26.0f
screamer	18:a15bfe7aaebd	638	: ( odr <= 52.0f ) ? 52.0f
screamer	18:a15bfe7aaebd	639	: ( odr <= 104.0f ) ? 104.0f
screamer	18:a15bfe7aaebd	640	: ( odr <= 208.0f ) ? 208.0f
screamer	18:a15bfe7aaebd	641	: ( odr <= 416.0f ) ? 416.0f
screamer	18:a15bfe7aaebd	642	: ( odr <= 833.0f ) ? 833.0f
screamer	18:a15bfe7aaebd	643	: ( odr <= 1660.0f ) ? 1660.0f
screamer	18:a15bfe7aaebd	644	: ( odr <= 3330.0f ) ? 3330.0f
screamer	18:a15bfe7aaebd	645	: 6660.0f;
screamer	18:a15bfe7aaebd	646
screamer	18:a15bfe7aaebd	647	return 0;
screamer	18:a15bfe7aaebd	648	}
screamer	18:a15bfe7aaebd	649
screamer	18:a15bfe7aaebd	650	/**
screamer	18:a15bfe7aaebd	651	* @brief Set LSM6DSL Gyroscope output data rate
screamer	18:a15bfe7aaebd	652	* @param odr the output data rate to be set
screamer	18:a15bfe7aaebd	653	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	654	*/
screamer	18:a15bfe7aaebd	655	int LSM6DSLSensor::set_g_odr(float odr)
screamer	18:a15bfe7aaebd	656	{
screamer	18:a15bfe7aaebd	657	if(_g_is_enabled == 1)
screamer	18:a15bfe7aaebd	658	{
screamer	18:a15bfe7aaebd	659	if(set_g_odr_when_enabled(odr) == 1)
screamer	18:a15bfe7aaebd	660	{
screamer	18:a15bfe7aaebd	661	return 1;
screamer	18:a15bfe7aaebd	662	}
screamer	18:a15bfe7aaebd	663	}
screamer	18:a15bfe7aaebd	664	else
screamer	18:a15bfe7aaebd	665	{
screamer	18:a15bfe7aaebd	666	if(set_g_odr_when_disabled(odr) == 1)
screamer	18:a15bfe7aaebd	667	{
screamer	18:a15bfe7aaebd	668	return 1;
screamer	18:a15bfe7aaebd	669	}
screamer	18:a15bfe7aaebd	670	}
screamer	18:a15bfe7aaebd	671
screamer	18:a15bfe7aaebd	672	return 0;
screamer	18:a15bfe7aaebd	673	}
screamer	18:a15bfe7aaebd	674
screamer	18:a15bfe7aaebd	675	/**
screamer	18:a15bfe7aaebd	676	* @brief Set LSM6DSL Gyroscope output data rate when enabled
screamer	18:a15bfe7aaebd	677	* @param odr the output data rate to be set
screamer	18:a15bfe7aaebd	678	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	679	*/
screamer	18:a15bfe7aaebd	680	int LSM6DSLSensor::set_g_odr_when_enabled(float odr)
screamer	18:a15bfe7aaebd	681	{
screamer	18:a15bfe7aaebd	682	LSM6DSL_ACC_GYRO_ODR_G_t new_odr;
screamer	18:a15bfe7aaebd	683
screamer	18:a15bfe7aaebd	684	new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_13Hz
screamer	18:a15bfe7aaebd	685	: ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_26Hz
screamer	18:a15bfe7aaebd	686	: ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_52Hz
screamer	18:a15bfe7aaebd	687	: ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_104Hz
screamer	18:a15bfe7aaebd	688	: ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_208Hz
screamer	18:a15bfe7aaebd	689	: ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_416Hz
screamer	18:a15bfe7aaebd	690	: ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_833Hz
screamer	18:a15bfe7aaebd	691	: ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_1660Hz
screamer	18:a15bfe7aaebd	692	: ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_3330Hz
screamer	18:a15bfe7aaebd	693	: LSM6DSL_ACC_GYRO_ODR_G_6660Hz;
screamer	18:a15bfe7aaebd	694
screamer	18:a15bfe7aaebd	695	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, new_odr ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	696	{
screamer	18:a15bfe7aaebd	697	return 1;
screamer	18:a15bfe7aaebd	698	}
screamer	18:a15bfe7aaebd	699
screamer	18:a15bfe7aaebd	700	return 0;
screamer	18:a15bfe7aaebd	701	}
screamer	18:a15bfe7aaebd	702
screamer	18:a15bfe7aaebd	703	/**
screamer	18:a15bfe7aaebd	704	* @brief Set LSM6DSL Gyroscope output data rate when disabled
screamer	18:a15bfe7aaebd	705	* @param odr the output data rate to be set
screamer	18:a15bfe7aaebd	706	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	707	*/
screamer	18:a15bfe7aaebd	708	int LSM6DSLSensor::set_g_odr_when_disabled(float odr)
screamer	18:a15bfe7aaebd	709	{
screamer	18:a15bfe7aaebd	710	_g_last_odr = ( odr <= 13.0f ) ? 13.0f
screamer	18:a15bfe7aaebd	711	: ( odr <= 26.0f ) ? 26.0f
screamer	18:a15bfe7aaebd	712	: ( odr <= 52.0f ) ? 52.0f
screamer	18:a15bfe7aaebd	713	: ( odr <= 104.0f ) ? 104.0f
screamer	18:a15bfe7aaebd	714	: ( odr <= 208.0f ) ? 208.0f
screamer	18:a15bfe7aaebd	715	: ( odr <= 416.0f ) ? 416.0f
screamer	18:a15bfe7aaebd	716	: ( odr <= 833.0f ) ? 833.0f
screamer	18:a15bfe7aaebd	717	: ( odr <= 1660.0f ) ? 1660.0f
screamer	18:a15bfe7aaebd	718	: ( odr <= 3330.0f ) ? 3330.0f
screamer	18:a15bfe7aaebd	719	: 6660.0f;
screamer	18:a15bfe7aaebd	720
screamer	18:a15bfe7aaebd	721	return 0;
screamer	18:a15bfe7aaebd	722	}
screamer	18:a15bfe7aaebd	723
screamer	18:a15bfe7aaebd	724	/**
screamer	18:a15bfe7aaebd	725	* @brief Read LSM6DSL Accelerometer full scale
screamer	18:a15bfe7aaebd	726	* @param fullScale the pointer to the full scale
screamer	18:a15bfe7aaebd	727	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	728	*/
screamer	18:a15bfe7aaebd	729	int LSM6DSLSensor::get_x_fs(float* fullScale)
screamer	18:a15bfe7aaebd	730	{
screamer	18:a15bfe7aaebd	731	LSM6DSL_ACC_GYRO_FS_XL_t fs_low_level;
screamer	18:a15bfe7aaebd	732
screamer	18:a15bfe7aaebd	733	if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fs_low_level ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	734	{
screamer	18:a15bfe7aaebd	735	return 1;
screamer	18:a15bfe7aaebd	736	}
screamer	18:a15bfe7aaebd	737
screamer	18:a15bfe7aaebd	738	switch( fs_low_level )
screamer	18:a15bfe7aaebd	739	{
screamer	18:a15bfe7aaebd	740	case LSM6DSL_ACC_GYRO_FS_XL_2g:
screamer	18:a15bfe7aaebd	741	*fullScale = 2.0f;
screamer	18:a15bfe7aaebd	742	break;
screamer	18:a15bfe7aaebd	743	case LSM6DSL_ACC_GYRO_FS_XL_4g:
screamer	18:a15bfe7aaebd	744	*fullScale = 4.0f;
screamer	18:a15bfe7aaebd	745	break;
screamer	18:a15bfe7aaebd	746	case LSM6DSL_ACC_GYRO_FS_XL_8g:
screamer	18:a15bfe7aaebd	747	*fullScale = 8.0f;
screamer	18:a15bfe7aaebd	748	break;
screamer	18:a15bfe7aaebd	749	case LSM6DSL_ACC_GYRO_FS_XL_16g:
screamer	18:a15bfe7aaebd	750	*fullScale = 16.0f;
screamer	18:a15bfe7aaebd	751	break;
screamer	18:a15bfe7aaebd	752	default:
screamer	18:a15bfe7aaebd	753	*fullScale = -1.0f;
screamer	18:a15bfe7aaebd	754	return 1;
screamer	18:a15bfe7aaebd	755	}
screamer	18:a15bfe7aaebd	756
screamer	18:a15bfe7aaebd	757	return 0;
screamer	18:a15bfe7aaebd	758	}
screamer	18:a15bfe7aaebd	759
screamer	18:a15bfe7aaebd	760	/**
screamer	18:a15bfe7aaebd	761	* @brief Read LSM6DSL Gyroscope full scale
screamer	18:a15bfe7aaebd	762	* @param fullScale the pointer to the full scale
screamer	18:a15bfe7aaebd	763	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	764	*/
screamer	18:a15bfe7aaebd	765	int LSM6DSLSensor::get_g_fs(float* fullScale)
screamer	18:a15bfe7aaebd	766	{
screamer	18:a15bfe7aaebd	767	LSM6DSL_ACC_GYRO_FS_G_t fs_low_level;
screamer	18:a15bfe7aaebd	768	LSM6DSL_ACC_GYRO_FS_125_t fs_125;
screamer	18:a15bfe7aaebd	769
screamer	18:a15bfe7aaebd	770	if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fs_125 ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	771	{
screamer	18:a15bfe7aaebd	772	return 1;
screamer	18:a15bfe7aaebd	773	}
screamer	18:a15bfe7aaebd	774	if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fs_low_level ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	775	{
screamer	18:a15bfe7aaebd	776	return 1;
screamer	18:a15bfe7aaebd	777	}
screamer	18:a15bfe7aaebd	778
screamer	18:a15bfe7aaebd	779	if ( fs_125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
screamer	18:a15bfe7aaebd	780	{
screamer	18:a15bfe7aaebd	781	*fullScale = 125.0f;
screamer	18:a15bfe7aaebd	782	}
screamer	18:a15bfe7aaebd	783
screamer	18:a15bfe7aaebd	784	else
screamer	18:a15bfe7aaebd	785	{
screamer	18:a15bfe7aaebd	786	switch( fs_low_level )
screamer	18:a15bfe7aaebd	787	{
screamer	18:a15bfe7aaebd	788	case LSM6DSL_ACC_GYRO_FS_G_245dps:
screamer	18:a15bfe7aaebd	789	*fullScale = 245.0f;
screamer	18:a15bfe7aaebd	790	break;
screamer	18:a15bfe7aaebd	791	case LSM6DSL_ACC_GYRO_FS_G_500dps:
screamer	18:a15bfe7aaebd	792	*fullScale = 500.0f;
screamer	18:a15bfe7aaebd	793	break;
screamer	18:a15bfe7aaebd	794	case LSM6DSL_ACC_GYRO_FS_G_1000dps:
screamer	18:a15bfe7aaebd	795	*fullScale = 1000.0f;
screamer	18:a15bfe7aaebd	796	break;
screamer	18:a15bfe7aaebd	797	case LSM6DSL_ACC_GYRO_FS_G_2000dps:
screamer	18:a15bfe7aaebd	798	*fullScale = 2000.0f;
screamer	18:a15bfe7aaebd	799	break;
screamer	18:a15bfe7aaebd	800	default:
screamer	18:a15bfe7aaebd	801	*fullScale = -1.0f;
screamer	18:a15bfe7aaebd	802	return 1;
screamer	18:a15bfe7aaebd	803	}
screamer	18:a15bfe7aaebd	804	}
screamer	18:a15bfe7aaebd	805
screamer	18:a15bfe7aaebd	806	return 0;
screamer	18:a15bfe7aaebd	807	}
screamer	18:a15bfe7aaebd	808
screamer	18:a15bfe7aaebd	809	/**
screamer	18:a15bfe7aaebd	810	* @brief Set LSM6DSL Accelerometer full scale
screamer	18:a15bfe7aaebd	811	* @param fullScale the full scale to be set
screamer	18:a15bfe7aaebd	812	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	813	*/
screamer	18:a15bfe7aaebd	814	int LSM6DSLSensor::set_x_fs(float fullScale)
screamer	18:a15bfe7aaebd	815	{
screamer	18:a15bfe7aaebd	816	LSM6DSL_ACC_GYRO_FS_XL_t new_fs;
screamer	18:a15bfe7aaebd	817
screamer	18:a15bfe7aaebd	818	new_fs = ( fullScale <= 2.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_2g
screamer	18:a15bfe7aaebd	819	: ( fullScale <= 4.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_4g
screamer	18:a15bfe7aaebd	820	: ( fullScale <= 8.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_8g
screamer	18:a15bfe7aaebd	821	: LSM6DSL_ACC_GYRO_FS_XL_16g;
screamer	18:a15bfe7aaebd	822
screamer	18:a15bfe7aaebd	823	if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, new_fs ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	824	{
screamer	18:a15bfe7aaebd	825	return 1;
screamer	18:a15bfe7aaebd	826	}
screamer	18:a15bfe7aaebd	827
screamer	18:a15bfe7aaebd	828	return 0;
screamer	18:a15bfe7aaebd	829	}
screamer	18:a15bfe7aaebd	830
screamer	18:a15bfe7aaebd	831	/**
screamer	18:a15bfe7aaebd	832	* @brief Set LSM6DSL Gyroscope full scale
screamer	18:a15bfe7aaebd	833	* @param fullScale the full scale to be set
screamer	18:a15bfe7aaebd	834	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	835	*/
screamer	18:a15bfe7aaebd	836	int LSM6DSLSensor::set_g_fs(float fullScale)
screamer	18:a15bfe7aaebd	837	{
screamer	18:a15bfe7aaebd	838	LSM6DSL_ACC_GYRO_FS_G_t new_fs;
screamer	18:a15bfe7aaebd	839
screamer	18:a15bfe7aaebd	840	if ( fullScale <= 125.0f )
screamer	18:a15bfe7aaebd	841	{
screamer	18:a15bfe7aaebd	842	if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	843	{
screamer	18:a15bfe7aaebd	844	return 1;
screamer	18:a15bfe7aaebd	845	}
screamer	18:a15bfe7aaebd	846	}
screamer	18:a15bfe7aaebd	847	else
screamer	18:a15bfe7aaebd	848	{
screamer	18:a15bfe7aaebd	849	new_fs = ( fullScale <= 245.0f ) ? LSM6DSL_ACC_GYRO_FS_G_245dps
screamer	18:a15bfe7aaebd	850	: ( fullScale <= 500.0f ) ? LSM6DSL_ACC_GYRO_FS_G_500dps
screamer	18:a15bfe7aaebd	851	: ( fullScale <= 1000.0f ) ? LSM6DSL_ACC_GYRO_FS_G_1000dps
screamer	18:a15bfe7aaebd	852	: LSM6DSL_ACC_GYRO_FS_G_2000dps;
screamer	18:a15bfe7aaebd	853
screamer	18:a15bfe7aaebd	854	if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	855	{
screamer	18:a15bfe7aaebd	856	return 1;
screamer	18:a15bfe7aaebd	857	}
screamer	18:a15bfe7aaebd	858	if ( LSM6DSL_ACC_GYRO_W_FS_G( (void *)this, new_fs ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	859	{
screamer	18:a15bfe7aaebd	860	return 1;
screamer	18:a15bfe7aaebd	861	}
screamer	18:a15bfe7aaebd	862	}
screamer	18:a15bfe7aaebd	863
screamer	18:a15bfe7aaebd	864	return 0;
screamer	18:a15bfe7aaebd	865	}
screamer	18:a15bfe7aaebd	866
screamer	18:a15bfe7aaebd	867	/**
screamer	18:a15bfe7aaebd	868	* @brief Enable free fall detection
screamer	18:a15bfe7aaebd	869	* @param pin the interrupt pin to be used
screamer	18:a15bfe7aaebd	870	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
screamer	18:a15bfe7aaebd	871	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	872	*/
screamer	18:a15bfe7aaebd	873	int LSM6DSLSensor::enable_free_fall_detection(LSM6DSL_Interrupt_Pin_t pin)
screamer	18:a15bfe7aaebd	874	{
screamer	18:a15bfe7aaebd	875	/* Output Data Rate selection */
screamer	18:a15bfe7aaebd	876	if(set_x_odr(416.0f) == 1)
screamer	18:a15bfe7aaebd	877	{
screamer	18:a15bfe7aaebd	878	return 1;
screamer	18:a15bfe7aaebd	879	}
screamer	18:a15bfe7aaebd	880
screamer	18:a15bfe7aaebd	881	/* Full scale selection */
screamer	18:a15bfe7aaebd	882	if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, LSM6DSL_ACC_GYRO_FS_XL_2g ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	883	{
screamer	18:a15bfe7aaebd	884	return 1;
screamer	18:a15bfe7aaebd	885	}
screamer	18:a15bfe7aaebd	886
screamer	18:a15bfe7aaebd	887	/* FF_DUR setting */
screamer	18:a15bfe7aaebd	888	if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x06 ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	889	{
screamer	18:a15bfe7aaebd	890	return 1;
screamer	18:a15bfe7aaebd	891	}
screamer	18:a15bfe7aaebd	892
screamer	18:a15bfe7aaebd	893	/* WAKE_DUR setting */
screamer	18:a15bfe7aaebd	894	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	895	{
screamer	18:a15bfe7aaebd	896	return 1;
screamer	18:a15bfe7aaebd	897	}
screamer	18:a15bfe7aaebd	898
screamer	18:a15bfe7aaebd	899	/* TIMER_HR setting */
screamer	18:a15bfe7aaebd	900	if ( LSM6DSL_ACC_GYRO_W_TIMER_HR( (void *)this, LSM6DSL_ACC_GYRO_TIMER_HR_6_4ms ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	901	{
screamer	18:a15bfe7aaebd	902	return 1;
screamer	18:a15bfe7aaebd	903	}
screamer	18:a15bfe7aaebd	904
screamer	18:a15bfe7aaebd	905	/* SLEEP_DUR setting */
screamer	18:a15bfe7aaebd	906	if ( LSM6DSL_ACC_GYRO_W_SLEEP_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	907	{
screamer	18:a15bfe7aaebd	908	return 1;
screamer	18:a15bfe7aaebd	909	}
screamer	18:a15bfe7aaebd	910
screamer	18:a15bfe7aaebd	911	/* FF_THS setting */
screamer	18:a15bfe7aaebd	912	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_312mg ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	913	{
screamer	18:a15bfe7aaebd	914	return 1;
screamer	18:a15bfe7aaebd	915	}
screamer	18:a15bfe7aaebd	916
screamer	18:a15bfe7aaebd	917	/* Enable basic Interrupts */
screamer	18:a15bfe7aaebd	918	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	919	{
screamer	18:a15bfe7aaebd	920	return 1;
screamer	18:a15bfe7aaebd	921	}
screamer	18:a15bfe7aaebd	922
screamer	18:a15bfe7aaebd	923	/* Enable free fall event on either INT1 or INT2 pin */
screamer	18:a15bfe7aaebd	924	switch (pin)
screamer	18:a15bfe7aaebd	925	{
screamer	18:a15bfe7aaebd	926	case LSM6DSL_INT1_PIN:
screamer	18:a15bfe7aaebd	927	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	928	{
screamer	18:a15bfe7aaebd	929	return 1;
screamer	18:a15bfe7aaebd	930	}
screamer	18:a15bfe7aaebd	931	break;
screamer	18:a15bfe7aaebd	932
screamer	18:a15bfe7aaebd	933	case LSM6DSL_INT2_PIN:
screamer	18:a15bfe7aaebd	934	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_FF_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	935	{
screamer	18:a15bfe7aaebd	936	return 1;
screamer	18:a15bfe7aaebd	937	}
screamer	18:a15bfe7aaebd	938	break;
screamer	18:a15bfe7aaebd	939
screamer	18:a15bfe7aaebd	940	default:
screamer	18:a15bfe7aaebd	941	return 1;
screamer	18:a15bfe7aaebd	942	}
screamer	18:a15bfe7aaebd	943
screamer	18:a15bfe7aaebd	944	return 0;
screamer	18:a15bfe7aaebd	945	}
screamer	18:a15bfe7aaebd	946
screamer	18:a15bfe7aaebd	947	/**
screamer	18:a15bfe7aaebd	948	* @brief Disable free fall detection
screamer	18:a15bfe7aaebd	949	* @param None
screamer	18:a15bfe7aaebd	950	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	951	*/
screamer	18:a15bfe7aaebd	952	int LSM6DSLSensor::disable_free_fall_detection(void)
screamer	18:a15bfe7aaebd	953	{
screamer	18:a15bfe7aaebd	954	/* Disable free fall event on INT1 pin */
screamer	18:a15bfe7aaebd	955	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	956	{
screamer	18:a15bfe7aaebd	957	return 1;
screamer	18:a15bfe7aaebd	958	}
screamer	18:a15bfe7aaebd	959
screamer	18:a15bfe7aaebd	960	/* Disable free fall event on INT2 pin */
screamer	18:a15bfe7aaebd	961	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_FF_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	962	{
screamer	18:a15bfe7aaebd	963	return 1;
screamer	18:a15bfe7aaebd	964	}
screamer	18:a15bfe7aaebd	965
screamer	18:a15bfe7aaebd	966	/* Disable basic Interrupts */
screamer	18:a15bfe7aaebd	967	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	968	{
screamer	18:a15bfe7aaebd	969	return 1;
screamer	18:a15bfe7aaebd	970	}
screamer	18:a15bfe7aaebd	971
screamer	18:a15bfe7aaebd	972	/* FF_DUR setting */
screamer	18:a15bfe7aaebd	973	if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x00 ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	974	{
screamer	18:a15bfe7aaebd	975	return 1;
screamer	18:a15bfe7aaebd	976	}
screamer	18:a15bfe7aaebd	977
screamer	18:a15bfe7aaebd	978	/* FF_THS setting */
screamer	18:a15bfe7aaebd	979	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_156mg ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	980	{
screamer	18:a15bfe7aaebd	981	return 1;
screamer	18:a15bfe7aaebd	982	}
screamer	18:a15bfe7aaebd	983
screamer	18:a15bfe7aaebd	984	return 0;
screamer	18:a15bfe7aaebd	985	}
screamer	18:a15bfe7aaebd	986
screamer	18:a15bfe7aaebd	987	/**
screamer	18:a15bfe7aaebd	988	* @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	989	* @param thr the threshold to be set
screamer	18:a15bfe7aaebd	990	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	991	*/
screamer	18:a15bfe7aaebd	992	int LSM6DSLSensor::set_free_fall_threshold(uint8_t thr)
screamer	18:a15bfe7aaebd	993	{
screamer	18:a15bfe7aaebd	994
screamer	18:a15bfe7aaebd	995	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	996	{
screamer	18:a15bfe7aaebd	997	return 1;
screamer	18:a15bfe7aaebd	998	}
screamer	18:a15bfe7aaebd	999
screamer	18:a15bfe7aaebd	1000	return 0;
screamer	18:a15bfe7aaebd	1001	}
screamer	18:a15bfe7aaebd	1002
screamer	18:a15bfe7aaebd	1003	/**
screamer	18:a15bfe7aaebd	1004	* @brief Enable the pedometer feature for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	1005	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
screamer	18:a15bfe7aaebd	1006	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	1007	*/
screamer	18:a15bfe7aaebd	1008	int LSM6DSLSensor::enable_pedometer(void)
screamer	18:a15bfe7aaebd	1009	{
screamer	18:a15bfe7aaebd	1010	/* Output Data Rate selection */
screamer	18:a15bfe7aaebd	1011	if( set_x_odr(26.0f) == 1 )
screamer	18:a15bfe7aaebd	1012	{
screamer	18:a15bfe7aaebd	1013	return 1;
screamer	18:a15bfe7aaebd	1014	}
screamer	18:a15bfe7aaebd	1015
screamer	18:a15bfe7aaebd	1016	/* Full scale selection. */
screamer	18:a15bfe7aaebd	1017	if( set_x_fs(2.0f) == 1 )
screamer	18:a15bfe7aaebd	1018	{
screamer	18:a15bfe7aaebd	1019	return 1;
screamer	18:a15bfe7aaebd	1020	}
screamer	18:a15bfe7aaebd	1021
screamer	18:a15bfe7aaebd	1022	/* Set pedometer threshold. */
screamer	18:a15bfe7aaebd	1023	if ( set_pedometer_threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == 1 )
screamer	18:a15bfe7aaebd	1024	{
screamer	18:a15bfe7aaebd	1025	return 1;
screamer	18:a15bfe7aaebd	1026	}
screamer	18:a15bfe7aaebd	1027
screamer	18:a15bfe7aaebd	1028	/* Enable embedded functionalities. */
screamer	18:a15bfe7aaebd	1029	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1030	{
screamer	18:a15bfe7aaebd	1031	return 1;
screamer	18:a15bfe7aaebd	1032	}
screamer	18:a15bfe7aaebd	1033
screamer	18:a15bfe7aaebd	1034	/* Enable pedometer algorithm. */
screamer	18:a15bfe7aaebd	1035	if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1036	{
screamer	18:a15bfe7aaebd	1037	return 1;
screamer	18:a15bfe7aaebd	1038	}
screamer	18:a15bfe7aaebd	1039
screamer	18:a15bfe7aaebd	1040	/* Enable pedometer on INT1. */
screamer	18:a15bfe7aaebd	1041	if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1042	{
screamer	18:a15bfe7aaebd	1043	return 1;
screamer	18:a15bfe7aaebd	1044	}
screamer	18:a15bfe7aaebd	1045
screamer	18:a15bfe7aaebd	1046	return 0;
screamer	18:a15bfe7aaebd	1047	}
screamer	18:a15bfe7aaebd	1048
screamer	18:a15bfe7aaebd	1049	/**
screamer	18:a15bfe7aaebd	1050	* @brief Disable the pedometer feature for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	1051	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	1052	*/
screamer	18:a15bfe7aaebd	1053	int LSM6DSLSensor::disable_pedometer(void)
screamer	18:a15bfe7aaebd	1054	{
screamer	18:a15bfe7aaebd	1055	/* Disable pedometer on INT1. */
screamer	18:a15bfe7aaebd	1056	if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1057	{
screamer	18:a15bfe7aaebd	1058	return 1;
screamer	18:a15bfe7aaebd	1059	}
screamer	18:a15bfe7aaebd	1060
screamer	18:a15bfe7aaebd	1061	/* Disable pedometer algorithm. */
screamer	18:a15bfe7aaebd	1062	if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1063	{
screamer	18:a15bfe7aaebd	1064	return 1;
screamer	18:a15bfe7aaebd	1065	}
screamer	18:a15bfe7aaebd	1066
screamer	18:a15bfe7aaebd	1067	/* Disable embedded functionalities. */
screamer	18:a15bfe7aaebd	1068	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1069	{
screamer	18:a15bfe7aaebd	1070	return 1;
screamer	18:a15bfe7aaebd	1071	}
screamer	18:a15bfe7aaebd	1072
screamer	18:a15bfe7aaebd	1073	/* Reset pedometer threshold. */
screamer	18:a15bfe7aaebd	1074	if ( set_pedometer_threshold(0x0) == 1 )
screamer	18:a15bfe7aaebd	1075	{
screamer	18:a15bfe7aaebd	1076	return 1;
screamer	18:a15bfe7aaebd	1077	}
screamer	18:a15bfe7aaebd	1078
screamer	18:a15bfe7aaebd	1079	return 0;
screamer	18:a15bfe7aaebd	1080	}
screamer	18:a15bfe7aaebd	1081
screamer	18:a15bfe7aaebd	1082	/**
screamer	18:a15bfe7aaebd	1083	* @brief Get the step counter for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	1084	* @param step_count the pointer to the step counter
screamer	18:a15bfe7aaebd	1085	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	1086	*/
screamer	18:a15bfe7aaebd	1087	int LSM6DSLSensor::get_step_counter(uint16_t *step_count)
screamer	18:a15bfe7aaebd	1088	{
screamer	18:a15bfe7aaebd	1089	if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void )this, ( uint8_t )step_count ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1090	{
screamer	18:a15bfe7aaebd	1091	return 1;
screamer	18:a15bfe7aaebd	1092	}
screamer	18:a15bfe7aaebd	1093
screamer	18:a15bfe7aaebd	1094	return 0;
screamer	18:a15bfe7aaebd	1095	}
screamer	18:a15bfe7aaebd	1096
screamer	18:a15bfe7aaebd	1097	/**
screamer	18:a15bfe7aaebd	1098	* @brief Reset of the step counter for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	1099	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	1100	*/
screamer	18:a15bfe7aaebd	1101	int LSM6DSLSensor::reset_step_counter(void)
screamer	18:a15bfe7aaebd	1102	{
screamer	18:a15bfe7aaebd	1103	if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1104	{
screamer	18:a15bfe7aaebd	1105	return 1;
screamer	18:a15bfe7aaebd	1106	}
screamer	18:a15bfe7aaebd	1107
screamer	18:a15bfe7aaebd	1108	wait_ms(10);
screamer	18:a15bfe7aaebd	1109
screamer	18:a15bfe7aaebd	1110	if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1111	{
screamer	18:a15bfe7aaebd	1112	return 1;
screamer	18:a15bfe7aaebd	1113	}
screamer	18:a15bfe7aaebd	1114
screamer	18:a15bfe7aaebd	1115	return 0;
screamer	18:a15bfe7aaebd	1116	}
screamer	18:a15bfe7aaebd	1117
screamer	18:a15bfe7aaebd	1118	/**
screamer	18:a15bfe7aaebd	1119	* @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	1120	* @param thr the threshold to be set
screamer	18:a15bfe7aaebd	1121	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	1122	*/
screamer	18:a15bfe7aaebd	1123	int LSM6DSLSensor::set_pedometer_threshold(uint8_t thr)
screamer	18:a15bfe7aaebd	1124	{
screamer	18:a15bfe7aaebd	1125	if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1126	{
screamer	18:a15bfe7aaebd	1127	return 1;
screamer	18:a15bfe7aaebd	1128	}
screamer	18:a15bfe7aaebd	1129
screamer	18:a15bfe7aaebd	1130	return 0;
screamer	18:a15bfe7aaebd	1131	}
screamer	18:a15bfe7aaebd	1132
screamer	18:a15bfe7aaebd	1133	/**
screamer	18:a15bfe7aaebd	1134	* @brief Enable the tilt detection for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	1135	* @param pin the interrupt pin to be used
screamer	18:a15bfe7aaebd	1136	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
screamer	18:a15bfe7aaebd	1137	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	1138	*/
screamer	18:a15bfe7aaebd	1139	int LSM6DSLSensor::enable_tilt_detection(LSM6DSL_Interrupt_Pin_t pin)
screamer	18:a15bfe7aaebd	1140	{
screamer	18:a15bfe7aaebd	1141	/* Output Data Rate selection */
screamer	18:a15bfe7aaebd	1142	if( set_x_odr(26.0f) == 1 )
screamer	18:a15bfe7aaebd	1143	{
screamer	18:a15bfe7aaebd	1144	return 1;
screamer	18:a15bfe7aaebd	1145	}
screamer	18:a15bfe7aaebd	1146
screamer	18:a15bfe7aaebd	1147	/* Full scale selection. */
screamer	18:a15bfe7aaebd	1148	if( set_x_fs(2.0f) == 1 )
screamer	18:a15bfe7aaebd	1149	{
screamer	18:a15bfe7aaebd	1150	return 1;
screamer	18:a15bfe7aaebd	1151	}
screamer	18:a15bfe7aaebd	1152
screamer	18:a15bfe7aaebd	1153	/* Enable embedded functionalities */
screamer	18:a15bfe7aaebd	1154	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1155	{
screamer	18:a15bfe7aaebd	1156	return 1;
screamer	18:a15bfe7aaebd	1157	}
screamer	18:a15bfe7aaebd	1158
screamer	18:a15bfe7aaebd	1159	/* Enable tilt calculation. */
screamer	18:a15bfe7aaebd	1160	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1161	{
screamer	18:a15bfe7aaebd	1162	return 1;
screamer	18:a15bfe7aaebd	1163	}
screamer	18:a15bfe7aaebd	1164
screamer	18:a15bfe7aaebd	1165	/* Enable tilt detection on either INT1 or INT2 pin */
screamer	18:a15bfe7aaebd	1166	switch (pin)
screamer	18:a15bfe7aaebd	1167	{
screamer	18:a15bfe7aaebd	1168	case LSM6DSL_INT1_PIN:
screamer	18:a15bfe7aaebd	1169	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1170	{
screamer	18:a15bfe7aaebd	1171	return 1;
screamer	18:a15bfe7aaebd	1172	}
screamer	18:a15bfe7aaebd	1173	break;
screamer	18:a15bfe7aaebd	1174
screamer	18:a15bfe7aaebd	1175	case LSM6DSL_INT2_PIN:
screamer	18:a15bfe7aaebd	1176	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TILT_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1177	{
screamer	18:a15bfe7aaebd	1178	return 1;
screamer	18:a15bfe7aaebd	1179	}
screamer	18:a15bfe7aaebd	1180	break;
screamer	18:a15bfe7aaebd	1181
screamer	18:a15bfe7aaebd	1182	default:
screamer	18:a15bfe7aaebd	1183	return 1;
screamer	18:a15bfe7aaebd	1184	}
screamer	18:a15bfe7aaebd	1185
screamer	18:a15bfe7aaebd	1186	return 0;
screamer	18:a15bfe7aaebd	1187	}
screamer	18:a15bfe7aaebd	1188
screamer	18:a15bfe7aaebd	1189	/**
screamer	18:a15bfe7aaebd	1190	* @brief Disable the tilt detection for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	1191	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	1192	*/
screamer	18:a15bfe7aaebd	1193	int LSM6DSLSensor::disable_tilt_detection(void)
screamer	18:a15bfe7aaebd	1194	{
screamer	18:a15bfe7aaebd	1195	/* Disable tilt event on INT1. */
screamer	18:a15bfe7aaebd	1196	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1197	{
screamer	18:a15bfe7aaebd	1198	return 1;
screamer	18:a15bfe7aaebd	1199	}
screamer	18:a15bfe7aaebd	1200
screamer	18:a15bfe7aaebd	1201	/* Disable tilt event on INT2. */
screamer	18:a15bfe7aaebd	1202	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TILT_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1203	{
screamer	18:a15bfe7aaebd	1204	return 1;
screamer	18:a15bfe7aaebd	1205	}
screamer	18:a15bfe7aaebd	1206
screamer	18:a15bfe7aaebd	1207	/* Disable tilt calculation. */
screamer	18:a15bfe7aaebd	1208	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1209	{
screamer	18:a15bfe7aaebd	1210	return 1;
screamer	18:a15bfe7aaebd	1211	}
screamer	18:a15bfe7aaebd	1212
screamer	18:a15bfe7aaebd	1213	/* Disable embedded functionalities */
screamer	18:a15bfe7aaebd	1214	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1215	{
screamer	18:a15bfe7aaebd	1216	return 1;
screamer	18:a15bfe7aaebd	1217	}
screamer	18:a15bfe7aaebd	1218
screamer	18:a15bfe7aaebd	1219	return 0;
screamer	18:a15bfe7aaebd	1220	}
screamer	18:a15bfe7aaebd	1221
screamer	18:a15bfe7aaebd	1222	/**
screamer	18:a15bfe7aaebd	1223	* @brief Enable the wake up detection for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	1224	* @param pin the interrupt pin to be used
screamer	18:a15bfe7aaebd	1225	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
screamer	18:a15bfe7aaebd	1226	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	1227	*/
screamer	18:a15bfe7aaebd	1228	int LSM6DSLSensor::enable_wake_up_detection(LSM6DSL_Interrupt_Pin_t pin)
screamer	18:a15bfe7aaebd	1229	{
screamer	18:a15bfe7aaebd	1230	/* Output Data Rate selection */
screamer	18:a15bfe7aaebd	1231	if( set_x_odr(416.0f) == 1 )
screamer	18:a15bfe7aaebd	1232	{
screamer	18:a15bfe7aaebd	1233	return 1;
screamer	18:a15bfe7aaebd	1234	}
screamer	18:a15bfe7aaebd	1235
screamer	18:a15bfe7aaebd	1236	/* Full scale selection. */
screamer	18:a15bfe7aaebd	1237	if( set_x_fs(2.0f) == 1 )
screamer	18:a15bfe7aaebd	1238	{
screamer	18:a15bfe7aaebd	1239	return 1;
screamer	18:a15bfe7aaebd	1240	}
screamer	18:a15bfe7aaebd	1241
screamer	18:a15bfe7aaebd	1242	/* WAKE_DUR setting */
screamer	18:a15bfe7aaebd	1243	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1244	{
screamer	18:a15bfe7aaebd	1245	return 1;
screamer	18:a15bfe7aaebd	1246	}
screamer	18:a15bfe7aaebd	1247
screamer	18:a15bfe7aaebd	1248	/* Set wake up threshold. */
screamer	18:a15bfe7aaebd	1249	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1250	{
screamer	18:a15bfe7aaebd	1251	return 1;
screamer	18:a15bfe7aaebd	1252	}
screamer	18:a15bfe7aaebd	1253
screamer	18:a15bfe7aaebd	1254	/* Enable basic Interrupts */
screamer	18:a15bfe7aaebd	1255	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1256	{
screamer	18:a15bfe7aaebd	1257	return 1;
screamer	18:a15bfe7aaebd	1258	}
screamer	18:a15bfe7aaebd	1259
screamer	18:a15bfe7aaebd	1260	/* Enable wake up detection on either INT1 or INT2 pin */
screamer	18:a15bfe7aaebd	1261	switch (pin)
screamer	18:a15bfe7aaebd	1262	{
screamer	18:a15bfe7aaebd	1263	case LSM6DSL_INT1_PIN:
screamer	18:a15bfe7aaebd	1264	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1265	{
screamer	18:a15bfe7aaebd	1266	return 1;
screamer	18:a15bfe7aaebd	1267	}
screamer	18:a15bfe7aaebd	1268	break;
screamer	18:a15bfe7aaebd	1269
screamer	18:a15bfe7aaebd	1270	case LSM6DSL_INT2_PIN:
screamer	18:a15bfe7aaebd	1271	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1272	{
screamer	18:a15bfe7aaebd	1273	return 1;
screamer	18:a15bfe7aaebd	1274	}
screamer	18:a15bfe7aaebd	1275	break;
screamer	18:a15bfe7aaebd	1276
screamer	18:a15bfe7aaebd	1277	default:
screamer	18:a15bfe7aaebd	1278	return 1;
screamer	18:a15bfe7aaebd	1279	}
screamer	18:a15bfe7aaebd	1280
screamer	18:a15bfe7aaebd	1281	return 0;
screamer	18:a15bfe7aaebd	1282	}
screamer	18:a15bfe7aaebd	1283
screamer	18:a15bfe7aaebd	1284	/**
screamer	18:a15bfe7aaebd	1285	* @brief Disable the wake up detection for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	1286	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	1287	*/
screamer	18:a15bfe7aaebd	1288	int LSM6DSLSensor::disable_wake_up_detection(void)
screamer	18:a15bfe7aaebd	1289	{
screamer	18:a15bfe7aaebd	1290	/* Disable wake up event on INT1 */
screamer	18:a15bfe7aaebd	1291	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1292	{
screamer	18:a15bfe7aaebd	1293	return 1;
screamer	18:a15bfe7aaebd	1294	}
screamer	18:a15bfe7aaebd	1295
screamer	18:a15bfe7aaebd	1296	/* Disable wake up event on INT2 */
screamer	18:a15bfe7aaebd	1297	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1298	{
screamer	18:a15bfe7aaebd	1299	return 1;
screamer	18:a15bfe7aaebd	1300	}
screamer	18:a15bfe7aaebd	1301
screamer	18:a15bfe7aaebd	1302	/* Disable basic Interrupts */
screamer	18:a15bfe7aaebd	1303	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1304	{
screamer	18:a15bfe7aaebd	1305	return 1;
screamer	18:a15bfe7aaebd	1306	}
screamer	18:a15bfe7aaebd	1307
screamer	18:a15bfe7aaebd	1308	/* WU_DUR setting */
screamer	18:a15bfe7aaebd	1309	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1310	{
screamer	18:a15bfe7aaebd	1311	return 1;
screamer	18:a15bfe7aaebd	1312	}
screamer	18:a15bfe7aaebd	1313
screamer	18:a15bfe7aaebd	1314	/* WU_THS setting */
screamer	18:a15bfe7aaebd	1315	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1316	{
screamer	18:a15bfe7aaebd	1317	return 1;
screamer	18:a15bfe7aaebd	1318	}
screamer	18:a15bfe7aaebd	1319
screamer	18:a15bfe7aaebd	1320	return 0;
screamer	18:a15bfe7aaebd	1321	}
screamer	18:a15bfe7aaebd	1322
screamer	18:a15bfe7aaebd	1323	/**
screamer	18:a15bfe7aaebd	1324	* @brief Set the wake up threshold for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	1325	* @param thr the threshold to be set
screamer	18:a15bfe7aaebd	1326	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	1327	*/
screamer	18:a15bfe7aaebd	1328	int LSM6DSLSensor::set_wake_up_threshold(uint8_t thr)
screamer	18:a15bfe7aaebd	1329	{
screamer	18:a15bfe7aaebd	1330	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1331	{
screamer	18:a15bfe7aaebd	1332	return 1;
screamer	18:a15bfe7aaebd	1333	}
screamer	18:a15bfe7aaebd	1334
screamer	18:a15bfe7aaebd	1335	return 0;
screamer	18:a15bfe7aaebd	1336	}
screamer	18:a15bfe7aaebd	1337
screamer	18:a15bfe7aaebd	1338	/**
screamer	18:a15bfe7aaebd	1339	* @brief Enable the single tap detection for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	1340	* @param pin the interrupt pin to be used
screamer	18:a15bfe7aaebd	1341	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
screamer	18:a15bfe7aaebd	1342	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	1343	*/
screamer	18:a15bfe7aaebd	1344	int LSM6DSLSensor::enable_single_tap_detection(LSM6DSL_Interrupt_Pin_t pin)
screamer	18:a15bfe7aaebd	1345	{
screamer	18:a15bfe7aaebd	1346	/* Output Data Rate selection */
screamer	18:a15bfe7aaebd	1347	if( set_x_odr(416.0f) == 1 )
screamer	18:a15bfe7aaebd	1348	{
screamer	18:a15bfe7aaebd	1349	return 1;
screamer	18:a15bfe7aaebd	1350	}
screamer	18:a15bfe7aaebd	1351
screamer	18:a15bfe7aaebd	1352	/* Full scale selection. */
screamer	18:a15bfe7aaebd	1353	if( set_x_fs(2.0f) == 1 )
screamer	18:a15bfe7aaebd	1354	{
screamer	18:a15bfe7aaebd	1355	return 1;
screamer	18:a15bfe7aaebd	1356	}
screamer	18:a15bfe7aaebd	1357
screamer	18:a15bfe7aaebd	1358	/* Enable X direction in tap recognition. */
screamer	18:a15bfe7aaebd	1359	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1360	{
screamer	18:a15bfe7aaebd	1361	return 1;
screamer	18:a15bfe7aaebd	1362	}
screamer	18:a15bfe7aaebd	1363
screamer	18:a15bfe7aaebd	1364	/* Enable Y direction in tap recognition. */
screamer	18:a15bfe7aaebd	1365	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1366	{
screamer	18:a15bfe7aaebd	1367	return 1;
screamer	18:a15bfe7aaebd	1368	}
screamer	18:a15bfe7aaebd	1369
screamer	18:a15bfe7aaebd	1370	/* Enable Z direction in tap recognition. */
screamer	18:a15bfe7aaebd	1371	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1372	{
screamer	18:a15bfe7aaebd	1373	return 1;
screamer	18:a15bfe7aaebd	1374	}
screamer	18:a15bfe7aaebd	1375
screamer	18:a15bfe7aaebd	1376	/* Set tap threshold. */
screamer	18:a15bfe7aaebd	1377	if ( set_tap_threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
screamer	18:a15bfe7aaebd	1378	{
screamer	18:a15bfe7aaebd	1379	return 1;
screamer	18:a15bfe7aaebd	1380	}
screamer	18:a15bfe7aaebd	1381
screamer	18:a15bfe7aaebd	1382	/* Set tap shock time window. */
screamer	18:a15bfe7aaebd	1383	if ( set_tap_shock_time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == 1 )
screamer	18:a15bfe7aaebd	1384	{
screamer	18:a15bfe7aaebd	1385	return 1;
screamer	18:a15bfe7aaebd	1386	}
screamer	18:a15bfe7aaebd	1387
screamer	18:a15bfe7aaebd	1388	/* Set tap quiet time window. */
screamer	18:a15bfe7aaebd	1389	if ( set_tap_quiet_time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == 1 )
screamer	18:a15bfe7aaebd	1390	{
screamer	18:a15bfe7aaebd	1391	return 1;
screamer	18:a15bfe7aaebd	1392	}
screamer	18:a15bfe7aaebd	1393
screamer	18:a15bfe7aaebd	1394	/* _NOTE_: Tap duration time window - don't care for single tap. */
screamer	18:a15bfe7aaebd	1395
screamer	18:a15bfe7aaebd	1396	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
screamer	18:a15bfe7aaebd	1397
screamer	18:a15bfe7aaebd	1398	/* Enable basic Interrupts */
screamer	18:a15bfe7aaebd	1399	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1400	{
screamer	18:a15bfe7aaebd	1401	return 1;
screamer	18:a15bfe7aaebd	1402	}
screamer	18:a15bfe7aaebd	1403
screamer	18:a15bfe7aaebd	1404	/* Enable single tap on either INT1 or INT2 pin */
screamer	18:a15bfe7aaebd	1405	switch (pin)
screamer	18:a15bfe7aaebd	1406	{
screamer	18:a15bfe7aaebd	1407	case LSM6DSL_INT1_PIN:
screamer	18:a15bfe7aaebd	1408	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1409	{
screamer	18:a15bfe7aaebd	1410	return 1;
screamer	18:a15bfe7aaebd	1411	}
screamer	18:a15bfe7aaebd	1412	break;
screamer	18:a15bfe7aaebd	1413
screamer	18:a15bfe7aaebd	1414	case LSM6DSL_INT2_PIN:
screamer	18:a15bfe7aaebd	1415	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1416	{
screamer	18:a15bfe7aaebd	1417	return 1;
screamer	18:a15bfe7aaebd	1418	}
screamer	18:a15bfe7aaebd	1419	break;
screamer	18:a15bfe7aaebd	1420
screamer	18:a15bfe7aaebd	1421	default:
screamer	18:a15bfe7aaebd	1422	return 1;
screamer	18:a15bfe7aaebd	1423	}
screamer	18:a15bfe7aaebd	1424
screamer	18:a15bfe7aaebd	1425	return 0;
screamer	18:a15bfe7aaebd	1426	}
screamer	18:a15bfe7aaebd	1427
screamer	18:a15bfe7aaebd	1428	/**
screamer	18:a15bfe7aaebd	1429	* @brief Disable the single tap detection for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	1430	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	1431	*/
screamer	18:a15bfe7aaebd	1432	int LSM6DSLSensor::disable_single_tap_detection(void)
screamer	18:a15bfe7aaebd	1433	{
screamer	18:a15bfe7aaebd	1434	/* Disable single tap interrupt on INT1 pin. */
screamer	18:a15bfe7aaebd	1435	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1436	{
screamer	18:a15bfe7aaebd	1437	return 1;
screamer	18:a15bfe7aaebd	1438	}
screamer	18:a15bfe7aaebd	1439
screamer	18:a15bfe7aaebd	1440	/* Disable single tap interrupt on INT2 pin. */
screamer	18:a15bfe7aaebd	1441	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1442	{
screamer	18:a15bfe7aaebd	1443	return 1;
screamer	18:a15bfe7aaebd	1444	}
screamer	18:a15bfe7aaebd	1445
screamer	18:a15bfe7aaebd	1446	/* Disable basic Interrupts */
screamer	18:a15bfe7aaebd	1447	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1448	{
screamer	18:a15bfe7aaebd	1449	return 1;
screamer	18:a15bfe7aaebd	1450	}
screamer	18:a15bfe7aaebd	1451
screamer	18:a15bfe7aaebd	1452	/* Reset tap threshold. */
screamer	18:a15bfe7aaebd	1453	if ( set_tap_threshold( 0x0 ) == 1 )
screamer	18:a15bfe7aaebd	1454	{
screamer	18:a15bfe7aaebd	1455	return 1;
screamer	18:a15bfe7aaebd	1456	}
screamer	18:a15bfe7aaebd	1457
screamer	18:a15bfe7aaebd	1458	/* Reset tap shock time window. */
screamer	18:a15bfe7aaebd	1459	if ( set_tap_shock_time( 0x0 ) == 1 )
screamer	18:a15bfe7aaebd	1460	{
screamer	18:a15bfe7aaebd	1461	return 1;
screamer	18:a15bfe7aaebd	1462	}
screamer	18:a15bfe7aaebd	1463
screamer	18:a15bfe7aaebd	1464	/* Reset tap quiet time window. */
screamer	18:a15bfe7aaebd	1465	if ( set_tap_quiet_time( 0x0 ) == 1 )
screamer	18:a15bfe7aaebd	1466	{
screamer	18:a15bfe7aaebd	1467	return 1;
screamer	18:a15bfe7aaebd	1468	}
screamer	18:a15bfe7aaebd	1469
screamer	18:a15bfe7aaebd	1470	/* _NOTE_: Tap duration time window - don't care for single tap. */
screamer	18:a15bfe7aaebd	1471
screamer	18:a15bfe7aaebd	1472	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
screamer	18:a15bfe7aaebd	1473
screamer	18:a15bfe7aaebd	1474	/* Disable Z direction in tap recognition. */
screamer	18:a15bfe7aaebd	1475	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1476	{
screamer	18:a15bfe7aaebd	1477	return 1;
screamer	18:a15bfe7aaebd	1478	}
screamer	18:a15bfe7aaebd	1479
screamer	18:a15bfe7aaebd	1480	/* Disable Y direction in tap recognition. */
screamer	18:a15bfe7aaebd	1481	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1482	{
screamer	18:a15bfe7aaebd	1483	return 1;
screamer	18:a15bfe7aaebd	1484	}
screamer	18:a15bfe7aaebd	1485
screamer	18:a15bfe7aaebd	1486	/* Disable X direction in tap recognition. */
screamer	18:a15bfe7aaebd	1487	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1488	{
screamer	18:a15bfe7aaebd	1489	return 1;
screamer	18:a15bfe7aaebd	1490	}
screamer	18:a15bfe7aaebd	1491
screamer	18:a15bfe7aaebd	1492	return 0;
screamer	18:a15bfe7aaebd	1493	}
screamer	18:a15bfe7aaebd	1494
screamer	18:a15bfe7aaebd	1495	/**
screamer	18:a15bfe7aaebd	1496	* @brief Enable the double tap detection for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	1497	* @param pin the interrupt pin to be used
screamer	18:a15bfe7aaebd	1498	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
screamer	18:a15bfe7aaebd	1499	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	1500	*/
screamer	18:a15bfe7aaebd	1501	int LSM6DSLSensor::enable_double_tap_detection(LSM6DSL_Interrupt_Pin_t pin)
screamer	18:a15bfe7aaebd	1502	{
screamer	18:a15bfe7aaebd	1503	/* Output Data Rate selection */
screamer	18:a15bfe7aaebd	1504	if( set_x_odr(416.0f) == 1 )
screamer	18:a15bfe7aaebd	1505	{
screamer	18:a15bfe7aaebd	1506	return 1;
screamer	18:a15bfe7aaebd	1507	}
screamer	18:a15bfe7aaebd	1508
screamer	18:a15bfe7aaebd	1509	/* Full scale selection. */
screamer	18:a15bfe7aaebd	1510	if( set_x_fs(2.0f) == 1 )
screamer	18:a15bfe7aaebd	1511	{
screamer	18:a15bfe7aaebd	1512	return 1;
screamer	18:a15bfe7aaebd	1513	}
screamer	18:a15bfe7aaebd	1514
screamer	18:a15bfe7aaebd	1515	/* Enable X direction in tap recognition. */
screamer	18:a15bfe7aaebd	1516	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1517	{
screamer	18:a15bfe7aaebd	1518	return 1;
screamer	18:a15bfe7aaebd	1519	}
screamer	18:a15bfe7aaebd	1520
screamer	18:a15bfe7aaebd	1521	/* Enable Y direction in tap recognition. */
screamer	18:a15bfe7aaebd	1522	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1523	{
screamer	18:a15bfe7aaebd	1524	return 1;
screamer	18:a15bfe7aaebd	1525	}
screamer	18:a15bfe7aaebd	1526
screamer	18:a15bfe7aaebd	1527	/* Enable Z direction in tap recognition. */
screamer	18:a15bfe7aaebd	1528	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1529	{
screamer	18:a15bfe7aaebd	1530	return 1;
screamer	18:a15bfe7aaebd	1531	}
screamer	18:a15bfe7aaebd	1532
screamer	18:a15bfe7aaebd	1533	/* Set tap threshold. */
screamer	18:a15bfe7aaebd	1534	if ( set_tap_threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
screamer	18:a15bfe7aaebd	1535	{
screamer	18:a15bfe7aaebd	1536	return 1;
screamer	18:a15bfe7aaebd	1537	}
screamer	18:a15bfe7aaebd	1538
screamer	18:a15bfe7aaebd	1539	/* Set tap shock time window. */
screamer	18:a15bfe7aaebd	1540	if ( set_tap_shock_time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == 1 )
screamer	18:a15bfe7aaebd	1541	{
screamer	18:a15bfe7aaebd	1542	return 1;
screamer	18:a15bfe7aaebd	1543	}
screamer	18:a15bfe7aaebd	1544
screamer	18:a15bfe7aaebd	1545	/* Set tap quiet time window. */
screamer	18:a15bfe7aaebd	1546	if ( set_tap_quiet_time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == 1 )
screamer	18:a15bfe7aaebd	1547	{
screamer	18:a15bfe7aaebd	1548	return 1;
screamer	18:a15bfe7aaebd	1549	}
screamer	18:a15bfe7aaebd	1550
screamer	18:a15bfe7aaebd	1551	/* Set tap duration time window. */
screamer	18:a15bfe7aaebd	1552	if ( set_tap_duration_time( LSM6DSL_TAP_DURATION_TIME_MID ) == 1 )
screamer	18:a15bfe7aaebd	1553	{
screamer	18:a15bfe7aaebd	1554	return 1;
screamer	18:a15bfe7aaebd	1555	}
screamer	18:a15bfe7aaebd	1556
screamer	18:a15bfe7aaebd	1557	/* Single and double tap enabled. */
screamer	18:a15bfe7aaebd	1558	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1559	{
screamer	18:a15bfe7aaebd	1560	return 1;
screamer	18:a15bfe7aaebd	1561	}
screamer	18:a15bfe7aaebd	1562
screamer	18:a15bfe7aaebd	1563	/* Enable basic Interrupts */
screamer	18:a15bfe7aaebd	1564	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1565	{
screamer	18:a15bfe7aaebd	1566	return 1;
screamer	18:a15bfe7aaebd	1567	}
screamer	18:a15bfe7aaebd	1568
screamer	18:a15bfe7aaebd	1569	/* Enable double tap on either INT1 or INT2 pin */
screamer	18:a15bfe7aaebd	1570	switch (pin)
screamer	18:a15bfe7aaebd	1571	{
screamer	18:a15bfe7aaebd	1572	case LSM6DSL_INT1_PIN:
screamer	18:a15bfe7aaebd	1573	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1574	{
screamer	18:a15bfe7aaebd	1575	return 1;
screamer	18:a15bfe7aaebd	1576	}
screamer	18:a15bfe7aaebd	1577	break;
screamer	18:a15bfe7aaebd	1578
screamer	18:a15bfe7aaebd	1579	case LSM6DSL_INT2_PIN:
screamer	18:a15bfe7aaebd	1580	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TAP_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1581	{
screamer	18:a15bfe7aaebd	1582	return 1;
screamer	18:a15bfe7aaebd	1583	}
screamer	18:a15bfe7aaebd	1584	break;
screamer	18:a15bfe7aaebd	1585
screamer	18:a15bfe7aaebd	1586	default:
screamer	18:a15bfe7aaebd	1587	return 1;
screamer	18:a15bfe7aaebd	1588	}
screamer	18:a15bfe7aaebd	1589
screamer	18:a15bfe7aaebd	1590	return 0;
screamer	18:a15bfe7aaebd	1591	}
screamer	18:a15bfe7aaebd	1592
screamer	18:a15bfe7aaebd	1593	/**
screamer	18:a15bfe7aaebd	1594	* @brief Disable the double tap detection for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	1595	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	1596	*/
screamer	18:a15bfe7aaebd	1597	int LSM6DSLSensor::disable_double_tap_detection(void)
screamer	18:a15bfe7aaebd	1598	{
screamer	18:a15bfe7aaebd	1599	/* Disable double tap interrupt on INT1 pin. */
screamer	18:a15bfe7aaebd	1600	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1601	{
screamer	18:a15bfe7aaebd	1602	return 1;
screamer	18:a15bfe7aaebd	1603	}
screamer	18:a15bfe7aaebd	1604
screamer	18:a15bfe7aaebd	1605	/* Disable double tap interrupt on INT2 pin. */
screamer	18:a15bfe7aaebd	1606	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TAP_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1607	{
screamer	18:a15bfe7aaebd	1608	return 1;
screamer	18:a15bfe7aaebd	1609	}
screamer	18:a15bfe7aaebd	1610
screamer	18:a15bfe7aaebd	1611	/* Disable basic Interrupts */
screamer	18:a15bfe7aaebd	1612	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1613	{
screamer	18:a15bfe7aaebd	1614	return 1;
screamer	18:a15bfe7aaebd	1615	}
screamer	18:a15bfe7aaebd	1616
screamer	18:a15bfe7aaebd	1617	/* Reset tap threshold. */
screamer	18:a15bfe7aaebd	1618	if ( set_tap_threshold( 0x0 ) == 1 )
screamer	18:a15bfe7aaebd	1619	{
screamer	18:a15bfe7aaebd	1620	return 1;
screamer	18:a15bfe7aaebd	1621	}
screamer	18:a15bfe7aaebd	1622
screamer	18:a15bfe7aaebd	1623	/* Reset tap shock time window. */
screamer	18:a15bfe7aaebd	1624	if ( set_tap_shock_time( 0x0 ) == 1 )
screamer	18:a15bfe7aaebd	1625	{
screamer	18:a15bfe7aaebd	1626	return 1;
screamer	18:a15bfe7aaebd	1627	}
screamer	18:a15bfe7aaebd	1628
screamer	18:a15bfe7aaebd	1629	/* Reset tap quiet time window. */
screamer	18:a15bfe7aaebd	1630	if ( set_tap_quiet_time( 0x0 ) == 1 )
screamer	18:a15bfe7aaebd	1631	{
screamer	18:a15bfe7aaebd	1632	return 1;
screamer	18:a15bfe7aaebd	1633	}
screamer	18:a15bfe7aaebd	1634
screamer	18:a15bfe7aaebd	1635	/* Reset tap duration time window. */
screamer	18:a15bfe7aaebd	1636	if ( set_tap_duration_time( 0x0 ) == 1 )
screamer	18:a15bfe7aaebd	1637	{
screamer	18:a15bfe7aaebd	1638	return 1;
screamer	18:a15bfe7aaebd	1639	}
screamer	18:a15bfe7aaebd	1640
screamer	18:a15bfe7aaebd	1641	/* Only single tap enabled. */
screamer	18:a15bfe7aaebd	1642	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1643	{
screamer	18:a15bfe7aaebd	1644	return 1;
screamer	18:a15bfe7aaebd	1645	}
screamer	18:a15bfe7aaebd	1646
screamer	18:a15bfe7aaebd	1647	/* Disable Z direction in tap recognition. */
screamer	18:a15bfe7aaebd	1648	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1649	{
screamer	18:a15bfe7aaebd	1650	return 1;
screamer	18:a15bfe7aaebd	1651	}
screamer	18:a15bfe7aaebd	1652
screamer	18:a15bfe7aaebd	1653	/* Disable Y direction in tap recognition. */
screamer	18:a15bfe7aaebd	1654	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1655	{
screamer	18:a15bfe7aaebd	1656	return 1;
screamer	18:a15bfe7aaebd	1657	}
screamer	18:a15bfe7aaebd	1658
screamer	18:a15bfe7aaebd	1659	/* Disable X direction in tap recognition. */
screamer	18:a15bfe7aaebd	1660	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1661	{
screamer	18:a15bfe7aaebd	1662	return 1;
screamer	18:a15bfe7aaebd	1663	}
screamer	18:a15bfe7aaebd	1664
screamer	18:a15bfe7aaebd	1665	return 0;
screamer	18:a15bfe7aaebd	1666	}
screamer	18:a15bfe7aaebd	1667
screamer	18:a15bfe7aaebd	1668	/**
screamer	18:a15bfe7aaebd	1669	* @brief Set the tap threshold for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	1670	* @param thr the threshold to be set
screamer	18:a15bfe7aaebd	1671	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	1672	*/
screamer	18:a15bfe7aaebd	1673	int LSM6DSLSensor::set_tap_threshold(uint8_t thr)
screamer	18:a15bfe7aaebd	1674	{
screamer	18:a15bfe7aaebd	1675	if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1676	{
screamer	18:a15bfe7aaebd	1677	return 1;
screamer	18:a15bfe7aaebd	1678	}
screamer	18:a15bfe7aaebd	1679
screamer	18:a15bfe7aaebd	1680	return 0;
screamer	18:a15bfe7aaebd	1681	}
screamer	18:a15bfe7aaebd	1682
screamer	18:a15bfe7aaebd	1683	/**
screamer	18:a15bfe7aaebd	1684	* @brief Set the tap shock time window for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	1685	* @param time the shock time window to be set
screamer	18:a15bfe7aaebd	1686	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	1687	*/
screamer	18:a15bfe7aaebd	1688	int LSM6DSLSensor::set_tap_shock_time(uint8_t time)
screamer	18:a15bfe7aaebd	1689	{
screamer	18:a15bfe7aaebd	1690	if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1691	{
screamer	18:a15bfe7aaebd	1692	return 1;
screamer	18:a15bfe7aaebd	1693	}
screamer	18:a15bfe7aaebd	1694
screamer	18:a15bfe7aaebd	1695	return 0;
screamer	18:a15bfe7aaebd	1696	}
screamer	18:a15bfe7aaebd	1697
screamer	18:a15bfe7aaebd	1698	/**
screamer	18:a15bfe7aaebd	1699	* @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	1700	* @param time the quiet time window to be set
screamer	18:a15bfe7aaebd	1701	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	1702	*/
screamer	18:a15bfe7aaebd	1703	int LSM6DSLSensor::set_tap_quiet_time(uint8_t time)
screamer	18:a15bfe7aaebd	1704	{
screamer	18:a15bfe7aaebd	1705	if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1706	{
screamer	18:a15bfe7aaebd	1707	return 1;
screamer	18:a15bfe7aaebd	1708	}
screamer	18:a15bfe7aaebd	1709
screamer	18:a15bfe7aaebd	1710	return 0;
screamer	18:a15bfe7aaebd	1711	}
screamer	18:a15bfe7aaebd	1712
screamer	18:a15bfe7aaebd	1713	/**
screamer	18:a15bfe7aaebd	1714	* @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	1715	* @param time the duration of the time window to be set
screamer	18:a15bfe7aaebd	1716	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	1717	*/
screamer	18:a15bfe7aaebd	1718	int LSM6DSLSensor::set_tap_duration_time(uint8_t time)
screamer	18:a15bfe7aaebd	1719	{
screamer	18:a15bfe7aaebd	1720	if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1721	{
screamer	18:a15bfe7aaebd	1722	return 1;
screamer	18:a15bfe7aaebd	1723	}
screamer	18:a15bfe7aaebd	1724
screamer	18:a15bfe7aaebd	1725	return 0;
screamer	18:a15bfe7aaebd	1726	}
screamer	18:a15bfe7aaebd	1727
screamer	18:a15bfe7aaebd	1728	/**
screamer	18:a15bfe7aaebd	1729	* @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	1730	* @param pin the interrupt pin to be used
screamer	18:a15bfe7aaebd	1731	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
screamer	18:a15bfe7aaebd	1732	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	1733	*/
screamer	18:a15bfe7aaebd	1734	int LSM6DSLSensor::enable_6d_orientation(LSM6DSL_Interrupt_Pin_t pin)
screamer	18:a15bfe7aaebd	1735	{
screamer	18:a15bfe7aaebd	1736	/* Output Data Rate selection */
screamer	18:a15bfe7aaebd	1737	if( set_x_odr(416.0f) == 1 )
screamer	18:a15bfe7aaebd	1738	{
screamer	18:a15bfe7aaebd	1739	return 1;
screamer	18:a15bfe7aaebd	1740	}
screamer	18:a15bfe7aaebd	1741
screamer	18:a15bfe7aaebd	1742	/* Full scale selection. */
screamer	18:a15bfe7aaebd	1743	if( set_x_fs(2.0f) == 1 )
screamer	18:a15bfe7aaebd	1744	{
screamer	18:a15bfe7aaebd	1745	return 1;
screamer	18:a15bfe7aaebd	1746	}
screamer	18:a15bfe7aaebd	1747
screamer	18:a15bfe7aaebd	1748	/* Set 6D threshold. */
screamer	18:a15bfe7aaebd	1749	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1750	{
screamer	18:a15bfe7aaebd	1751	return 1;
screamer	18:a15bfe7aaebd	1752	}
screamer	18:a15bfe7aaebd	1753
screamer	18:a15bfe7aaebd	1754	/* Enable basic Interrupts */
screamer	18:a15bfe7aaebd	1755	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1756	{
screamer	18:a15bfe7aaebd	1757	return 1;
screamer	18:a15bfe7aaebd	1758	}
screamer	18:a15bfe7aaebd	1759
screamer	18:a15bfe7aaebd	1760	/* Enable 6D orientation on either INT1 or INT2 pin */
screamer	18:a15bfe7aaebd	1761	switch (pin)
screamer	18:a15bfe7aaebd	1762	{
screamer	18:a15bfe7aaebd	1763	case LSM6DSL_INT1_PIN:
screamer	18:a15bfe7aaebd	1764	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1765	{
screamer	18:a15bfe7aaebd	1766	return 1;
screamer	18:a15bfe7aaebd	1767	}
screamer	18:a15bfe7aaebd	1768	break;
screamer	18:a15bfe7aaebd	1769
screamer	18:a15bfe7aaebd	1770	case LSM6DSL_INT2_PIN:
screamer	18:a15bfe7aaebd	1771	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_6D_ENABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1772	{
screamer	18:a15bfe7aaebd	1773	return 1;
screamer	18:a15bfe7aaebd	1774	}
screamer	18:a15bfe7aaebd	1775	break;
screamer	18:a15bfe7aaebd	1776
screamer	18:a15bfe7aaebd	1777	default:
screamer	18:a15bfe7aaebd	1778	return 1;
screamer	18:a15bfe7aaebd	1779	}
screamer	18:a15bfe7aaebd	1780
screamer	18:a15bfe7aaebd	1781	return 0;
screamer	18:a15bfe7aaebd	1782	}
screamer	18:a15bfe7aaebd	1783
screamer	18:a15bfe7aaebd	1784	/**
screamer	18:a15bfe7aaebd	1785	* @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	1786	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	1787	*/
screamer	18:a15bfe7aaebd	1788	int LSM6DSLSensor::disable_6d_orientation(void)
screamer	18:a15bfe7aaebd	1789	{
screamer	18:a15bfe7aaebd	1790	/* Disable 6D orientation interrupt on INT1 pin. */
screamer	18:a15bfe7aaebd	1791	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1792	{
screamer	18:a15bfe7aaebd	1793	return 1;
screamer	18:a15bfe7aaebd	1794	}
screamer	18:a15bfe7aaebd	1795
screamer	18:a15bfe7aaebd	1796	/* Disable 6D orientation interrupt on INT2 pin. */
screamer	18:a15bfe7aaebd	1797	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_6D_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1798	{
screamer	18:a15bfe7aaebd	1799	return 1;
screamer	18:a15bfe7aaebd	1800	}
screamer	18:a15bfe7aaebd	1801
screamer	18:a15bfe7aaebd	1802	/* Disable basic Interrupts */
screamer	18:a15bfe7aaebd	1803	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1804	{
screamer	18:a15bfe7aaebd	1805	return 1;
screamer	18:a15bfe7aaebd	1806	}
screamer	18:a15bfe7aaebd	1807
screamer	18:a15bfe7aaebd	1808	/* Reset 6D threshold. */
screamer	18:a15bfe7aaebd	1809	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1810	{
screamer	18:a15bfe7aaebd	1811	return 1;
screamer	18:a15bfe7aaebd	1812	}
screamer	18:a15bfe7aaebd	1813
screamer	18:a15bfe7aaebd	1814	return 0;
screamer	18:a15bfe7aaebd	1815	}
screamer	18:a15bfe7aaebd	1816
screamer	18:a15bfe7aaebd	1817	/**
screamer	18:a15bfe7aaebd	1818	* @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	1819	* @param xl the pointer to the 6D orientation XL axis
screamer	18:a15bfe7aaebd	1820	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	1821	*/
screamer	18:a15bfe7aaebd	1822	int LSM6DSLSensor::get_6d_orientation_xl(uint8_t *xl)
screamer	18:a15bfe7aaebd	1823	{
screamer	18:a15bfe7aaebd	1824	LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
screamer	18:a15bfe7aaebd	1825
screamer	18:a15bfe7aaebd	1826	if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1827	{
screamer	18:a15bfe7aaebd	1828	return 1;
screamer	18:a15bfe7aaebd	1829	}
screamer	18:a15bfe7aaebd	1830
screamer	18:a15bfe7aaebd	1831	switch( xl_raw )
screamer	18:a15bfe7aaebd	1832	{
screamer	18:a15bfe7aaebd	1833	case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
screamer	18:a15bfe7aaebd	1834	*xl = 1;
screamer	18:a15bfe7aaebd	1835	break;
screamer	18:a15bfe7aaebd	1836	case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
screamer	18:a15bfe7aaebd	1837	*xl = 0;
screamer	18:a15bfe7aaebd	1838	break;
screamer	18:a15bfe7aaebd	1839	default:
screamer	18:a15bfe7aaebd	1840	return 1;
screamer	18:a15bfe7aaebd	1841	}
screamer	18:a15bfe7aaebd	1842
screamer	18:a15bfe7aaebd	1843	return 0;
screamer	18:a15bfe7aaebd	1844	}
screamer	18:a15bfe7aaebd	1845
screamer	18:a15bfe7aaebd	1846	/**
screamer	18:a15bfe7aaebd	1847	* @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	1848	* @param xh the pointer to the 6D orientation XH axis
screamer	18:a15bfe7aaebd	1849	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	1850	*/
screamer	18:a15bfe7aaebd	1851	int LSM6DSLSensor::get_6d_orientation_xh(uint8_t *xh)
screamer	18:a15bfe7aaebd	1852	{
screamer	18:a15bfe7aaebd	1853	LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
screamer	18:a15bfe7aaebd	1854
screamer	18:a15bfe7aaebd	1855	if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1856	{
screamer	18:a15bfe7aaebd	1857	return 1;
screamer	18:a15bfe7aaebd	1858	}
screamer	18:a15bfe7aaebd	1859
screamer	18:a15bfe7aaebd	1860	switch( xh_raw )
screamer	18:a15bfe7aaebd	1861	{
screamer	18:a15bfe7aaebd	1862	case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
screamer	18:a15bfe7aaebd	1863	*xh = 1;
screamer	18:a15bfe7aaebd	1864	break;
screamer	18:a15bfe7aaebd	1865	case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
screamer	18:a15bfe7aaebd	1866	*xh = 0;
screamer	18:a15bfe7aaebd	1867	break;
screamer	18:a15bfe7aaebd	1868	default:
screamer	18:a15bfe7aaebd	1869	return 1;
screamer	18:a15bfe7aaebd	1870	}
screamer	18:a15bfe7aaebd	1871
screamer	18:a15bfe7aaebd	1872	return 0;
screamer	18:a15bfe7aaebd	1873	}
screamer	18:a15bfe7aaebd	1874
screamer	18:a15bfe7aaebd	1875	/**
screamer	18:a15bfe7aaebd	1876	* @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	1877	* @param yl the pointer to the 6D orientation YL axis
screamer	18:a15bfe7aaebd	1878	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	1879	*/
screamer	18:a15bfe7aaebd	1880	int LSM6DSLSensor::get_6d_orientation_yl(uint8_t *yl)
screamer	18:a15bfe7aaebd	1881	{
screamer	18:a15bfe7aaebd	1882	LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
screamer	18:a15bfe7aaebd	1883
screamer	18:a15bfe7aaebd	1884	if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1885	{
screamer	18:a15bfe7aaebd	1886	return 1;
screamer	18:a15bfe7aaebd	1887	}
screamer	18:a15bfe7aaebd	1888
screamer	18:a15bfe7aaebd	1889	switch( yl_raw )
screamer	18:a15bfe7aaebd	1890	{
screamer	18:a15bfe7aaebd	1891	case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
screamer	18:a15bfe7aaebd	1892	*yl = 1;
screamer	18:a15bfe7aaebd	1893	break;
screamer	18:a15bfe7aaebd	1894	case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
screamer	18:a15bfe7aaebd	1895	*yl = 0;
screamer	18:a15bfe7aaebd	1896	break;
screamer	18:a15bfe7aaebd	1897	default:
screamer	18:a15bfe7aaebd	1898	return 1;
screamer	18:a15bfe7aaebd	1899	}
screamer	18:a15bfe7aaebd	1900
screamer	18:a15bfe7aaebd	1901	return 0;
screamer	18:a15bfe7aaebd	1902	}
screamer	18:a15bfe7aaebd	1903
screamer	18:a15bfe7aaebd	1904	/**
screamer	18:a15bfe7aaebd	1905	* @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	1906	* @param yh the pointer to the 6D orientation YH axis
screamer	18:a15bfe7aaebd	1907	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	1908	*/
screamer	18:a15bfe7aaebd	1909	int LSM6DSLSensor::get_6d_orientation_yh(uint8_t *yh)
screamer	18:a15bfe7aaebd	1910	{
screamer	18:a15bfe7aaebd	1911	LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
screamer	18:a15bfe7aaebd	1912
screamer	18:a15bfe7aaebd	1913	if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1914	{
screamer	18:a15bfe7aaebd	1915	return 1;
screamer	18:a15bfe7aaebd	1916	}
screamer	18:a15bfe7aaebd	1917
screamer	18:a15bfe7aaebd	1918	switch( yh_raw )
screamer	18:a15bfe7aaebd	1919	{
screamer	18:a15bfe7aaebd	1920	case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
screamer	18:a15bfe7aaebd	1921	*yh = 1;
screamer	18:a15bfe7aaebd	1922	break;
screamer	18:a15bfe7aaebd	1923	case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
screamer	18:a15bfe7aaebd	1924	*yh = 0;
screamer	18:a15bfe7aaebd	1925	break;
screamer	18:a15bfe7aaebd	1926	default:
screamer	18:a15bfe7aaebd	1927	return 1;
screamer	18:a15bfe7aaebd	1928	}
screamer	18:a15bfe7aaebd	1929
screamer	18:a15bfe7aaebd	1930	return 0;
screamer	18:a15bfe7aaebd	1931	}
screamer	18:a15bfe7aaebd	1932
screamer	18:a15bfe7aaebd	1933	/**
screamer	18:a15bfe7aaebd	1934	* @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	1935	* @param zl the pointer to the 6D orientation ZL axis
screamer	18:a15bfe7aaebd	1936	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	1937	*/
screamer	18:a15bfe7aaebd	1938	int LSM6DSLSensor::get_6d_orientation_zl(uint8_t *zl)
screamer	18:a15bfe7aaebd	1939	{
screamer	18:a15bfe7aaebd	1940	LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
screamer	18:a15bfe7aaebd	1941
screamer	18:a15bfe7aaebd	1942	if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1943	{
screamer	18:a15bfe7aaebd	1944	return 1;
screamer	18:a15bfe7aaebd	1945	}
screamer	18:a15bfe7aaebd	1946
screamer	18:a15bfe7aaebd	1947	switch( zl_raw )
screamer	18:a15bfe7aaebd	1948	{
screamer	18:a15bfe7aaebd	1949	case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
screamer	18:a15bfe7aaebd	1950	*zl = 1;
screamer	18:a15bfe7aaebd	1951	break;
screamer	18:a15bfe7aaebd	1952	case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
screamer	18:a15bfe7aaebd	1953	*zl = 0;
screamer	18:a15bfe7aaebd	1954	break;
screamer	18:a15bfe7aaebd	1955	default:
screamer	18:a15bfe7aaebd	1956	return 1;
screamer	18:a15bfe7aaebd	1957	}
screamer	18:a15bfe7aaebd	1958
screamer	18:a15bfe7aaebd	1959	return 0;
screamer	18:a15bfe7aaebd	1960	}
screamer	18:a15bfe7aaebd	1961
screamer	18:a15bfe7aaebd	1962	/**
screamer	18:a15bfe7aaebd	1963	* @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	1964	* @param zh the pointer to the 6D orientation ZH axis
screamer	18:a15bfe7aaebd	1965	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	1966	*/
screamer	18:a15bfe7aaebd	1967	int LSM6DSLSensor::get_6d_orientation_zh(uint8_t *zh)
screamer	18:a15bfe7aaebd	1968	{
screamer	18:a15bfe7aaebd	1969	LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
screamer	18:a15bfe7aaebd	1970
screamer	18:a15bfe7aaebd	1971	if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	1972	{
screamer	18:a15bfe7aaebd	1973	return 1;
screamer	18:a15bfe7aaebd	1974	}
screamer	18:a15bfe7aaebd	1975
screamer	18:a15bfe7aaebd	1976	switch( zh_raw )
screamer	18:a15bfe7aaebd	1977	{
screamer	18:a15bfe7aaebd	1978	case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
screamer	18:a15bfe7aaebd	1979	*zh = 1;
screamer	18:a15bfe7aaebd	1980	break;
screamer	18:a15bfe7aaebd	1981	case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
screamer	18:a15bfe7aaebd	1982	*zh = 0;
screamer	18:a15bfe7aaebd	1983	break;
screamer	18:a15bfe7aaebd	1984	default:
screamer	18:a15bfe7aaebd	1985	return 1;
screamer	18:a15bfe7aaebd	1986	}
screamer	18:a15bfe7aaebd	1987
screamer	18:a15bfe7aaebd	1988	return 0;
screamer	18:a15bfe7aaebd	1989	}
screamer	18:a15bfe7aaebd	1990
screamer	18:a15bfe7aaebd	1991	/**
screamer	18:a15bfe7aaebd	1992	* @brief Get the status of all hardware events for LSM6DSL accelerometer sensor
screamer	18:a15bfe7aaebd	1993	* @param status the pointer to the status of all hardware events
screamer	18:a15bfe7aaebd	1994	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	1995	*/
screamer	18:a15bfe7aaebd	1996	int LSM6DSLSensor::get_event_status(LSM6DSL_Event_Status_t *status)
screamer	18:a15bfe7aaebd	1997	{
screamer	18:a15bfe7aaebd	1998	uint8_t Wake_Up_Src = 0, Tap_Src = 0, D6D_Src = 0, Func_Src = 0, Md1_Cfg = 0, Md2_Cfg = 0, Int1_Ctrl = 0;
screamer	18:a15bfe7aaebd	1999
screamer	18:a15bfe7aaebd	2000	memset((void *)status, 0x0, sizeof(LSM6DSL_Event_Status_t));
screamer	18:a15bfe7aaebd	2001
screamer	18:a15bfe7aaebd	2002	if(read_reg(LSM6DSL_ACC_GYRO_WAKE_UP_SRC, &Wake_Up_Src) != 0)
screamer	18:a15bfe7aaebd	2003	{
screamer	18:a15bfe7aaebd	2004	return 1;
screamer	18:a15bfe7aaebd	2005	}
screamer	18:a15bfe7aaebd	2006
screamer	18:a15bfe7aaebd	2007	if(read_reg(LSM6DSL_ACC_GYRO_TAP_SRC, &Tap_Src) != 0)
screamer	18:a15bfe7aaebd	2008	{
screamer	18:a15bfe7aaebd	2009	return 1;
screamer	18:a15bfe7aaebd	2010	}
screamer	18:a15bfe7aaebd	2011
screamer	18:a15bfe7aaebd	2012	if(read_reg(LSM6DSL_ACC_GYRO_D6D_SRC, &D6D_Src) != 0)
screamer	18:a15bfe7aaebd	2013	{
screamer	18:a15bfe7aaebd	2014	return 1;
screamer	18:a15bfe7aaebd	2015	}
screamer	18:a15bfe7aaebd	2016
screamer	18:a15bfe7aaebd	2017	if(read_reg(LSM6DSL_ACC_GYRO_FUNC_SRC, &Func_Src) != 0)
screamer	18:a15bfe7aaebd	2018	{
screamer	18:a15bfe7aaebd	2019	return 1;
screamer	18:a15bfe7aaebd	2020	}
screamer	18:a15bfe7aaebd	2021
screamer	18:a15bfe7aaebd	2022	if(read_reg(LSM6DSL_ACC_GYRO_MD1_CFG, &Md1_Cfg ) != 0 )
screamer	18:a15bfe7aaebd	2023	{
screamer	18:a15bfe7aaebd	2024	return 1;
screamer	18:a15bfe7aaebd	2025	}
screamer	18:a15bfe7aaebd	2026
screamer	18:a15bfe7aaebd	2027	if(read_reg(LSM6DSL_ACC_GYRO_MD2_CFG, &Md2_Cfg ) != 0)
screamer	18:a15bfe7aaebd	2028	{
screamer	18:a15bfe7aaebd	2029	return 1;
screamer	18:a15bfe7aaebd	2030	}
screamer	18:a15bfe7aaebd	2031
screamer	18:a15bfe7aaebd	2032	if(read_reg(LSM6DSL_ACC_GYRO_INT1_CTRL, &Int1_Ctrl ) != 0)
screamer	18:a15bfe7aaebd	2033	{
screamer	18:a15bfe7aaebd	2034	return 1;
screamer	18:a15bfe7aaebd	2035	}
screamer	18:a15bfe7aaebd	2036
screamer	18:a15bfe7aaebd	2037	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_FF_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_FF_MASK))
screamer	18:a15bfe7aaebd	2038	{
screamer	18:a15bfe7aaebd	2039	if((Wake_Up_Src & LSM6DSL_ACC_GYRO_FF_EV_STATUS_MASK))
screamer	18:a15bfe7aaebd	2040	{
screamer	18:a15bfe7aaebd	2041	status->FreeFallStatus = 1;
screamer	18:a15bfe7aaebd	2042	}
screamer	18:a15bfe7aaebd	2043	}
screamer	18:a15bfe7aaebd	2044
screamer	18:a15bfe7aaebd	2045	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_WU_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_WU_MASK))
screamer	18:a15bfe7aaebd	2046	{
screamer	18:a15bfe7aaebd	2047	if((Wake_Up_Src & LSM6DSL_ACC_GYRO_WU_EV_STATUS_MASK))
screamer	18:a15bfe7aaebd	2048	{
screamer	18:a15bfe7aaebd	2049	status->WakeUpStatus = 1;
screamer	18:a15bfe7aaebd	2050	}
screamer	18:a15bfe7aaebd	2051	}
screamer	18:a15bfe7aaebd	2052
screamer	18:a15bfe7aaebd	2053	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_MASK))
screamer	18:a15bfe7aaebd	2054	{
screamer	18:a15bfe7aaebd	2055	if((Tap_Src & LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_MASK))
screamer	18:a15bfe7aaebd	2056	{
screamer	18:a15bfe7aaebd	2057	status->TapStatus = 1;
screamer	18:a15bfe7aaebd	2058	}
screamer	18:a15bfe7aaebd	2059	}
screamer	18:a15bfe7aaebd	2060
screamer	18:a15bfe7aaebd	2061	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TAP_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_TAP_MASK))
screamer	18:a15bfe7aaebd	2062	{
screamer	18:a15bfe7aaebd	2063	if((Tap_Src & LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_MASK))
screamer	18:a15bfe7aaebd	2064	{
screamer	18:a15bfe7aaebd	2065	status->DoubleTapStatus = 1;
screamer	18:a15bfe7aaebd	2066	}
screamer	18:a15bfe7aaebd	2067	}
screamer	18:a15bfe7aaebd	2068
screamer	18:a15bfe7aaebd	2069	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_6D_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_6D_MASK))
screamer	18:a15bfe7aaebd	2070	{
screamer	18:a15bfe7aaebd	2071	if((D6D_Src & LSM6DSL_ACC_GYRO_D6D_EV_STATUS_MASK))
screamer	18:a15bfe7aaebd	2072	{
screamer	18:a15bfe7aaebd	2073	status->D6DOrientationStatus = 1;
screamer	18:a15bfe7aaebd	2074	}
screamer	18:a15bfe7aaebd	2075	}
screamer	18:a15bfe7aaebd	2076
screamer	18:a15bfe7aaebd	2077	if((Int1_Ctrl & LSM6DSL_ACC_GYRO_INT1_PEDO_MASK))
screamer	18:a15bfe7aaebd	2078	{
screamer	18:a15bfe7aaebd	2079	if((Func_Src & LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_MASK))
screamer	18:a15bfe7aaebd	2080	{
screamer	18:a15bfe7aaebd	2081	status->StepStatus = 1;
screamer	18:a15bfe7aaebd	2082	}
screamer	18:a15bfe7aaebd	2083	}
screamer	18:a15bfe7aaebd	2084
screamer	18:a15bfe7aaebd	2085	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TILT_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_TILT_MASK))
screamer	18:a15bfe7aaebd	2086	{
screamer	18:a15bfe7aaebd	2087	if((Func_Src & LSM6DSL_ACC_GYRO_TILT_EV_STATUS_MASK))
screamer	18:a15bfe7aaebd	2088	{
screamer	18:a15bfe7aaebd	2089	status->TiltStatus = 1;
screamer	18:a15bfe7aaebd	2090	}
screamer	18:a15bfe7aaebd	2091	}
screamer	18:a15bfe7aaebd	2092
screamer	18:a15bfe7aaebd	2093	return 0;
screamer	18:a15bfe7aaebd	2094	}
screamer	18:a15bfe7aaebd	2095
screamer	18:a15bfe7aaebd	2096	/**
screamer	18:a15bfe7aaebd	2097	* @brief Read the data from register
screamer	18:a15bfe7aaebd	2098	* @param reg register address
screamer	18:a15bfe7aaebd	2099	* @param data register data
screamer	18:a15bfe7aaebd	2100	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	2101	*/
screamer	18:a15bfe7aaebd	2102	int LSM6DSLSensor::read_reg( uint8_t reg, uint8_t *data )
screamer	18:a15bfe7aaebd	2103	{
screamer	18:a15bfe7aaebd	2104
screamer	18:a15bfe7aaebd	2105	if ( LSM6DSL_ACC_GYRO_read_reg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	2106	{
screamer	18:a15bfe7aaebd	2107	return 1;
screamer	18:a15bfe7aaebd	2108	}
screamer	18:a15bfe7aaebd	2109
screamer	18:a15bfe7aaebd	2110	return 0;
screamer	18:a15bfe7aaebd	2111	}
screamer	18:a15bfe7aaebd	2112
screamer	18:a15bfe7aaebd	2113	/**
screamer	18:a15bfe7aaebd	2114	* @brief Write the data to register
screamer	18:a15bfe7aaebd	2115	* @param reg register address
screamer	18:a15bfe7aaebd	2116	* @param data register data
screamer	18:a15bfe7aaebd	2117	* @retval 0 in case of success, an error code otherwise
screamer	18:a15bfe7aaebd	2118	*/
screamer	18:a15bfe7aaebd	2119	int LSM6DSLSensor::write_reg( uint8_t reg, uint8_t data )
screamer	18:a15bfe7aaebd	2120	{
screamer	18:a15bfe7aaebd	2121
screamer	18:a15bfe7aaebd	2122	if ( LSM6DSL_ACC_GYRO_write_reg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
screamer	18:a15bfe7aaebd	2123	{
screamer	18:a15bfe7aaebd	2124	return 1;
screamer	18:a15bfe7aaebd	2125	}
screamer	18:a15bfe7aaebd	2126
screamer	18:a15bfe7aaebd	2127	return 0;
screamer	18:a15bfe7aaebd	2128	}
screamer	18:a15bfe7aaebd	2129
screamer	18:a15bfe7aaebd	2130
screamer	18:a15bfe7aaebd	2131	uint8_t LSM6DSL_io_write( void handle, uint8_t WriteAddr, uint8_t pBuffer, uint16_t nBytesToWrite )
screamer	18:a15bfe7aaebd	2132	{
screamer	18:a15bfe7aaebd	2133	return ((LSM6DSLSensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite);
screamer	18:a15bfe7aaebd	2134	}
screamer	18:a15bfe7aaebd	2135
screamer	18:a15bfe7aaebd	2136	uint8_t LSM6DSL_io_read( void handle, uint8_t ReadAddr, uint8_t pBuffer, uint16_t nBytesToRead )
screamer	18:a15bfe7aaebd	2137	{
screamer	18:a15bfe7aaebd	2138	return ((LSM6DSLSensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead);
screamer	18:a15bfe7aaebd	2139	}