pelion-workshop - Workshop example

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Workshop example

Dependencies: X_NUCLEO_COMMON ST_INTERFACES

sensors/LSM6DSL/LSM6DSLSensor.cpp@35:42b3fba640b1, 2019-05-21 (annotated)

Committer:: JimCarver
Date:: Tue May 21 21:16:24 2019 +0000
Revision:: 35:42b3fba640b1
Parent:: 18:a15bfe7aaebd

Simple version for workshop

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	}

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Type:	Program
Mbed OS support:	Mbed OS
Created:	21 May 2019
Imports:	7
Forks:	0
Commits:	36
Dependents:	0
Dependencies:	2
Followers:	1

The code in this repository is Apache licensed.

sensors/LSM6DSL/LSM6DSLSensor.cpp@35:42b3fba640b1, 2019-05-21 (annotated)

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