/ X_NUCLEO_IKS01A1_Local

local changes to increase sample rate

Dependencies:   ST_INTERFACES X_NUCLEO_COMMON_Local

Fork of X_NUCLEO_IKS01A1 by ST

Components/lsm6ds3/lsm6ds3_class.h@54:2a676c734b30, 2015-06-10 (annotated)

Committer:
Wolfgang Betz
Date:
Wed Jun 10 18:03:42 2015 +0200
Revision:
54:2a676c734b30
Parent:
52:54553fd15b50
Child:
57:04563dd74269
Comment additional public methods of class LSM6DS3 & other doxygen improvements

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Wolfgang Betz 44:d757094f6229 1 /**
Wolfgang Betz 44:d757094f6229 2 ******************************************************************************
Wolfgang Betz 44:d757094f6229 3 * @file lsm6ds3_class.h
Wolfgang Betz 44:d757094f6229 4 * @author AST / EST
Wolfgang Betz 44:d757094f6229 5 * @version V0.0.1
Wolfgang Betz 44:d757094f6229 6 * @date 14-April-2015
Wolfgang Betz 44:d757094f6229 7 * @brief Header file for component LSM6DS3
Wolfgang Betz 44:d757094f6229 8 ******************************************************************************
Wolfgang Betz 44:d757094f6229 9 * @attention
Wolfgang Betz 44:d757094f6229 10 *
Wolfgang Betz 44:d757094f6229 11 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Wolfgang Betz 44:d757094f6229 12 *
Wolfgang Betz 44:d757094f6229 13 * Redistribution and use in source and binary forms, with or without modification,
Wolfgang Betz 44:d757094f6229 14 * are permitted provided that the following conditions are met:
Wolfgang Betz 44:d757094f6229 15 * 1. Redistributions of source code must retain the above copyright notice,
Wolfgang Betz 44:d757094f6229 16 * this list of conditions and the following disclaimer.
Wolfgang Betz 44:d757094f6229 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
Wolfgang Betz 44:d757094f6229 18 * this list of conditions and the following disclaimer in the documentation
Wolfgang Betz 44:d757094f6229 19 * and/or other materials provided with the distribution.
Wolfgang Betz 44:d757094f6229 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Wolfgang Betz 44:d757094f6229 21 * may be used to endorse or promote products derived from this software
Wolfgang Betz 44:d757094f6229 22 * without specific prior written permission.
Wolfgang Betz 44:d757094f6229 23 *
Wolfgang Betz 44:d757094f6229 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Wolfgang Betz 44:d757094f6229 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Wolfgang Betz 44:d757094f6229 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Wolfgang Betz 44:d757094f6229 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Wolfgang Betz 44:d757094f6229 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Wolfgang Betz 44:d757094f6229 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Wolfgang Betz 44:d757094f6229 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Wolfgang Betz 44:d757094f6229 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Wolfgang Betz 44:d757094f6229 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Wolfgang Betz 44:d757094f6229 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Wolfgang Betz 44:d757094f6229 34 *
Wolfgang Betz 44:d757094f6229 35 ******************************************************************************
Wolfgang Betz 44:d757094f6229 36 */
Wolfgang Betz 44:d757094f6229 37
Wolfgang Betz 44:d757094f6229 38 #ifndef __LSM6DS3_CLASS_H
Wolfgang Betz 44:d757094f6229 39 #define __LSM6DS3_CLASS_H
Wolfgang Betz 44:d757094f6229 40
Wolfgang Betz 44:d757094f6229 41 /* Includes ------------------------------------------------------------------*/
Wolfgang Betz 44:d757094f6229 42 #include "mbed.h"
Wolfgang Betz 44:d757094f6229 43 #include "DevI2C.h"
Wolfgang Betz 44:d757094f6229 44 #include "../Interfaces/GyroSensor.h"
Wolfgang Betz 44:d757094f6229 45 #include "../Interfaces/MotionSensor.h"
Wolfgang Betz 44:d757094f6229 46 #include "lsm6ds3.h"
Wolfgang Betz 44:d757094f6229 47
Wolfgang Betz 44:d757094f6229 48 /* Classes -------------------------------------------------------------------*/
Wolfgang Betz 44:d757094f6229 49 /** Class representing a LSM6DS3 sensor component
Wolfgang Betz 44:d757094f6229 50 */
Wolfgang Betz 44:d757094f6229 51 class LSM6DS3 : public GyroSensor, public MotionSensor {
Wolfgang Betz 44:d757094f6229 52 public:
Wolfgang Betz 44:d757094f6229 53 /** Constructor
Wolfgang Betz 54:2a676c734b30 54 * @param[in] i2c device I2C to be used for communication
Wolfgang Betz 54:2a676c734b30 55 * @param[in] irq_pin pin name for free fall detection interrupt
Wolfgang Betz 44:d757094f6229 56 */
Wolfgang Betz 52:54553fd15b50 57 LSM6DS3(DevI2C &i2c, PinName irq_pin) : GyroSensor(), MotionSensor(),
Wolfgang Betz 52:54553fd15b50 58 dev_i2c(i2c), free_fall(irq_pin) {
Wolfgang Betz 44:d757094f6229 59 }
Wolfgang Betz 44:d757094f6229 60
Wolfgang Betz 44:d757094f6229 61 /** Destructor
Wolfgang Betz 44:d757094f6229 62 */
Wolfgang Betz 44:d757094f6229 63 virtual ~LSM6DS3() {}
Wolfgang Betz 44:d757094f6229 64
Wolfgang Betz 44:d757094f6229 65 /*** Interface Methods ***/
Wolfgang Betz 44:d757094f6229 66 virtual int Init(void *init_struct) {
Wolfgang Betz 44:d757094f6229 67 return LSM6DS3_Init((IMU_6AXES_InitTypeDef*)init_struct);
Wolfgang Betz 44:d757094f6229 68 }
Wolfgang Betz 44:d757094f6229 69
Wolfgang Betz 44:d757094f6229 70 virtual int ReadID(uint8_t *xg_id) {
Wolfgang Betz 44:d757094f6229 71 return LSM6DS3_Read_XG_ID(xg_id);
Wolfgang Betz 44:d757094f6229 72 }
Wolfgang Betz 44:d757094f6229 73
Wolfgang Betz 44:d757094f6229 74 virtual int Get_X_Axes(int32_t *pData) {
Wolfgang Betz 44:d757094f6229 75 return LSM6DS3_X_GetAxes(pData);
Wolfgang Betz 44:d757094f6229 76 }
Wolfgang Betz 44:d757094f6229 77
Wolfgang Betz 44:d757094f6229 78 virtual int Get_X_AxesRaw(int16_t *pData) {
Wolfgang Betz 44:d757094f6229 79 return LSM6DS3_X_GetAxesRaw(pData);
Wolfgang Betz 44:d757094f6229 80 }
Wolfgang Betz 44:d757094f6229 81
Wolfgang Betz 44:d757094f6229 82 virtual int Get_G_Axes(int32_t *pData) {
Wolfgang Betz 44:d757094f6229 83 return LSM6DS3_G_GetAxes(pData);
Wolfgang Betz 44:d757094f6229 84 }
Wolfgang Betz 44:d757094f6229 85
Wolfgang Betz 44:d757094f6229 86 virtual int Get_G_AxesRaw(int16_t *pData) {
Wolfgang Betz 44:d757094f6229 87 return LSM6DS3_G_GetAxesRaw(pData);
Wolfgang Betz 44:d757094f6229 88 }
Wolfgang Betz 44:d757094f6229 89
Wolfgang Betz 44:d757094f6229 90 virtual int Get_X_ODR(float *odr) {
Wolfgang Betz 44:d757094f6229 91 return LSM6DS3_X_Get_ODR(odr);
Wolfgang Betz 44:d757094f6229 92 }
Wolfgang Betz 44:d757094f6229 93
Wolfgang Betz 44:d757094f6229 94 virtual int Set_X_ODR(float odr) {
Wolfgang Betz 44:d757094f6229 95 return LSM6DS3_X_Set_ODR(odr);
Wolfgang Betz 44:d757094f6229 96 }
Wolfgang Betz 44:d757094f6229 97
Wolfgang Betz 44:d757094f6229 98 virtual int Get_X_Sensitivity(float *pfData) {
Wolfgang Betz 44:d757094f6229 99 return LSM6DS3_X_GetSensitivity(pfData);
Wolfgang Betz 44:d757094f6229 100 }
Wolfgang Betz 44:d757094f6229 101
Wolfgang Betz 44:d757094f6229 102 virtual int Get_X_FS(float *fullScale) {
Wolfgang Betz 44:d757094f6229 103 return LSM6DS3_X_Get_FS(fullScale);
Wolfgang Betz 44:d757094f6229 104 }
Wolfgang Betz 44:d757094f6229 105
Wolfgang Betz 44:d757094f6229 106 virtual int Set_X_FS(float fullScale) {
Wolfgang Betz 44:d757094f6229 107 return LSM6DS3_X_Set_FS(fullScale);
Wolfgang Betz 44:d757094f6229 108 }
Wolfgang Betz 44:d757094f6229 109
Wolfgang Betz 44:d757094f6229 110 virtual int Get_G_ODR(float *odr) {
Wolfgang Betz 44:d757094f6229 111 return LSM6DS3_G_Get_ODR(odr);
Wolfgang Betz 44:d757094f6229 112 }
Wolfgang Betz 44:d757094f6229 113
Wolfgang Betz 44:d757094f6229 114 virtual int Set_G_ODR(float odr) {
Wolfgang Betz 44:d757094f6229 115 return LSM6DS3_G_Set_ODR(odr);
Wolfgang Betz 44:d757094f6229 116 }
Wolfgang Betz 44:d757094f6229 117
Wolfgang Betz 44:d757094f6229 118 virtual int Get_G_Sensitivity(float *pfData) {
Wolfgang Betz 44:d757094f6229 119 return LSM6DS3_G_GetSensitivity(pfData);
Wolfgang Betz 44:d757094f6229 120 }
Wolfgang Betz 44:d757094f6229 121
Wolfgang Betz 44:d757094f6229 122 virtual int Get_G_FS(float *fullScale) {
Wolfgang Betz 44:d757094f6229 123 return LSM6DS3_G_Get_FS(fullScale);
Wolfgang Betz 44:d757094f6229 124 }
Wolfgang Betz 44:d757094f6229 125
Wolfgang Betz 44:d757094f6229 126 virtual int Set_G_FS(float fullScale) {
Wolfgang Betz 44:d757094f6229 127 return LSM6DS3_G_Set_FS(fullScale);
Wolfgang Betz 44:d757094f6229 128 }
Wolfgang Betz 44:d757094f6229 129
Wolfgang Betz 44:d757094f6229 130 /* Additional Public Methods */
Wolfgang Betz 54:2a676c734b30 131 /**
Wolfgang Betz 54:2a676c734b30 132 * @brief Enable free fall detection
Wolfgang Betz 54:2a676c734b30 133 * @return IMU_6AXES_OK in case of success, an error code otherwise
Wolfgang Betz 54:2a676c734b30 134 */
Wolfgang Betz 44:d757094f6229 135 IMU_6AXES_StatusTypeDef Enable_Free_Fall_Detection(void) {
Wolfgang Betz 44:d757094f6229 136 return LSM6DS3_Enable_Free_Fall_Detection();
Wolfgang Betz 44:d757094f6229 137 }
Wolfgang Betz 44:d757094f6229 138
Wolfgang Betz 54:2a676c734b30 139 /**
Wolfgang Betz 54:2a676c734b30 140 * @brief Disable free fall detection
Wolfgang Betz 54:2a676c734b30 141 * @return IMU_6AXES_OK in case of success, an error code otherwise
Wolfgang Betz 54:2a676c734b30 142 */
Wolfgang Betz 44:d757094f6229 143 IMU_6AXES_StatusTypeDef Disable_Free_Fall_Detection(void) {
Wolfgang Betz 44:d757094f6229 144 return LSM6DS3_Disable_Free_Fall_Detection();
Wolfgang Betz 44:d757094f6229 145 }
Wolfgang Betz 44:d757094f6229 146
Wolfgang Betz 54:2a676c734b30 147 /**
Wolfgang Betz 54:2a676c734b30 148 * @brief Get status of free fall detection
Wolfgang Betz 54:2a676c734b30 149 * @param[out] status the pointer where the status of free fall detection is stored;
Wolfgang Betz 54:2a676c734b30 150 * 0 means no detection, 1 means detection happened
Wolfgang Betz 54:2a676c734b30 151 * @return IMU_6AXES_OK in case of success, an error code otherwise
Wolfgang Betz 54:2a676c734b30 152 */
Wolfgang Betz 44:d757094f6229 153 IMU_6AXES_StatusTypeDef Get_Status_Free_Fall_Detection(uint8_t *status) {
Wolfgang Betz 44:d757094f6229 154 return LSM6DS3_Get_Status_Free_Fall_Detection(status);
Wolfgang Betz 44:d757094f6229 155 }
Wolfgang Betz 52:54553fd15b50 156
Wolfgang Betz 52:54553fd15b50 157 /** Attach a function to call when a free fall is detected
Wolfgang Betz 52:54553fd15b50 158 *
Wolfgang Betz 54:2a676c734b30 159 * @param[in] fptr A pointer to a void function, or 0 to set as none
Wolfgang Betz 52:54553fd15b50 160 */
Wolfgang Betz 52:54553fd15b50 161 void Attach_Free_Fall_Detection_IRQ(void (*fptr)(void)) {
Wolfgang Betz 52:54553fd15b50 162 free_fall.mode(PullNone); /* be precise about pin mode */
Wolfgang Betz 52:54553fd15b50 163 free_fall.rise(fptr);
Wolfgang Betz 52:54553fd15b50 164 }
Wolfgang Betz 52:54553fd15b50 165
Wolfgang Betz 52:54553fd15b50 166 /** Enable Free Fall IRQ
Wolfgang Betz 52:54553fd15b50 167 */
Wolfgang Betz 52:54553fd15b50 168 void Enable_Free_Fall_Detection_IRQ(void) {
Wolfgang Betz 52:54553fd15b50 169 free_fall.enable_irq();
Wolfgang Betz 52:54553fd15b50 170 }
Wolfgang Betz 52:54553fd15b50 171
Wolfgang Betz 52:54553fd15b50 172 /** Disable free Fall IRQ
Wolfgang Betz 52:54553fd15b50 173 */
Wolfgang Betz 52:54553fd15b50 174 void Disable_Free_Fall_Detection_IRQ(void) {
Wolfgang Betz 52:54553fd15b50 175 free_fall.disable_irq();
Wolfgang Betz 52:54553fd15b50 176 }
Wolfgang Betz 44:d757094f6229 177
Wolfgang Betz 44:d757094f6229 178 protected:
Wolfgang Betz 44:d757094f6229 179 /*** Methods ***/
Wolfgang Betz 44:d757094f6229 180 IMU_6AXES_StatusTypeDef LSM6DS3_Init(IMU_6AXES_InitTypeDef *LSM6DS3_Init);
Wolfgang Betz 44:d757094f6229 181 IMU_6AXES_StatusTypeDef LSM6DS3_Read_XG_ID(uint8_t *xg_id);
Wolfgang Betz 44:d757094f6229 182 IMU_6AXES_StatusTypeDef LSM6DS3_X_GetAxes(int32_t *pData);
Wolfgang Betz 44:d757094f6229 183 IMU_6AXES_StatusTypeDef LSM6DS3_X_GetAxesRaw(int16_t *pData);
Wolfgang Betz 44:d757094f6229 184 IMU_6AXES_StatusTypeDef LSM6DS3_G_GetAxes(int32_t *pData);
Wolfgang Betz 44:d757094f6229 185 IMU_6AXES_StatusTypeDef LSM6DS3_G_GetAxesRaw(int16_t *pData);
Wolfgang Betz 44:d757094f6229 186 IMU_6AXES_StatusTypeDef LSM6DS3_X_Get_ODR( float *odr );
Wolfgang Betz 44:d757094f6229 187 IMU_6AXES_StatusTypeDef LSM6DS3_X_Set_ODR( float odr );
Wolfgang Betz 44:d757094f6229 188 IMU_6AXES_StatusTypeDef LSM6DS3_X_GetSensitivity( float *pfData );
Wolfgang Betz 44:d757094f6229 189 IMU_6AXES_StatusTypeDef LSM6DS3_X_Get_FS( float *fullScale );
Wolfgang Betz 44:d757094f6229 190 IMU_6AXES_StatusTypeDef LSM6DS3_X_Set_FS( float fullScale );
Wolfgang Betz 44:d757094f6229 191 IMU_6AXES_StatusTypeDef LSM6DS3_G_Get_ODR( float *odr );
Wolfgang Betz 44:d757094f6229 192 IMU_6AXES_StatusTypeDef LSM6DS3_G_Set_ODR( float odr );
Wolfgang Betz 44:d757094f6229 193 IMU_6AXES_StatusTypeDef LSM6DS3_G_GetSensitivity( float *pfData );
Wolfgang Betz 44:d757094f6229 194 IMU_6AXES_StatusTypeDef LSM6DS3_G_Get_FS( float *fullScale );
Wolfgang Betz 44:d757094f6229 195 IMU_6AXES_StatusTypeDef LSM6DS3_G_Set_FS( float fullScale );
Wolfgang Betz 44:d757094f6229 196 IMU_6AXES_StatusTypeDef LSM6DS3_Enable_Free_Fall_Detection( void );
Wolfgang Betz 44:d757094f6229 197 IMU_6AXES_StatusTypeDef LSM6DS3_Disable_Free_Fall_Detection( void );
Wolfgang Betz 44:d757094f6229 198 IMU_6AXES_StatusTypeDef LSM6DS3_Get_Status_Free_Fall_Detection( uint8_t *status );
Wolfgang Betz 44:d757094f6229 199
Wolfgang Betz 44:d757094f6229 200 IMU_6AXES_StatusTypeDef LSM6DS3_Common_Sensor_Enable(void);
Wolfgang Betz 44:d757094f6229 201 IMU_6AXES_StatusTypeDef LSM6DS3_X_Set_Axes_Status(uint8_t enableX, uint8_t enableY, uint8_t enableZ);
Wolfgang Betz 44:d757094f6229 202 IMU_6AXES_StatusTypeDef LSM6DS3_G_Set_Axes_Status(uint8_t enableX, uint8_t enableY, uint8_t enableZ);
Wolfgang Betz 44:d757094f6229 203
Wolfgang Betz 44:d757094f6229 204 /**
Wolfgang Betz 44:d757094f6229 205 * @brief Configures LSM6DS3 interrupt lines for NUCLEO boards
Wolfgang Betz 44:d757094f6229 206 */
Wolfgang Betz 44:d757094f6229 207 void LSM6DS3_IO_ITConfig(void)
Wolfgang Betz 44:d757094f6229 208 {
Wolfgang Betz 52:54553fd15b50 209 /* done in constructor */
Wolfgang Betz 44:d757094f6229 210 }
Wolfgang Betz 44:d757094f6229 211
Wolfgang Betz 44:d757094f6229 212 /**
Wolfgang Betz 44:d757094f6229 213 * @brief Configures LSM6DS3 I2C interface
Wolfgang Betz 44:d757094f6229 214 * @retval IMU_6AXES_OK in case of success, an error code otherwise
Wolfgang Betz 44:d757094f6229 215 */
Wolfgang Betz 44:d757094f6229 216 IMU_6AXES_StatusTypeDef LSM6DS3_IO_Init(void)
Wolfgang Betz 44:d757094f6229 217 {
Wolfgang Betz 44:d757094f6229 218 return IMU_6AXES_OK; /* done in constructor */
Wolfgang Betz 44:d757094f6229 219 }
Wolfgang Betz 44:d757094f6229 220
Wolfgang Betz 44:d757094f6229 221 /**
Wolfgang Betz 54:2a676c734b30 222 * @brief Utility function to read data from LSM6DS3
Wolfgang Betz 54:2a676c734b30 223 * @param pBuffer pointer to the byte-array to read data in to
Wolfgang Betz 54:2a676c734b30 224 * @param RegisterAddr specifies internal address register to read from.
Wolfgang Betz 54:2a676c734b30 225 * @param NumByteToRead number of bytes to be read.
Wolfgang Betz 54:2a676c734b30 226 * @retval IMU_6AXES_OK if ok,
Wolfgang Betz 54:2a676c734b30 227 * @retval IMU_6AXES_ERROR if an I2C error has occured
Wolfgang Betz 44:d757094f6229 228 */
Wolfgang Betz 44:d757094f6229 229 IMU_6AXES_StatusTypeDef LSM6DS3_IO_Read(uint8_t* pBuffer,
Wolfgang Betz 44:d757094f6229 230 uint8_t RegisterAddr, uint16_t NumByteToRead)
Wolfgang Betz 44:d757094f6229 231 {
Wolfgang Betz 44:d757094f6229 232 int ret = dev_i2c.i2c_read(pBuffer,
Wolfgang Betz 44:d757094f6229 233 LSM6DS3_XG_MEMS_ADDRESS,
Wolfgang Betz 44:d757094f6229 234 RegisterAddr,
Wolfgang Betz 44:d757094f6229 235 NumByteToRead);
Wolfgang Betz 44:d757094f6229 236 if(ret != 0) {
Wolfgang Betz 44:d757094f6229 237 return IMU_6AXES_ERROR;
Wolfgang Betz 44:d757094f6229 238 }
Wolfgang Betz 44:d757094f6229 239 return IMU_6AXES_OK;
Wolfgang Betz 44:d757094f6229 240 }
Wolfgang Betz 44:d757094f6229 241
Wolfgang Betz 44:d757094f6229 242 /**
Wolfgang Betz 54:2a676c734b30 243 * @brief Utility function to write data to LSM6DS3
Wolfgang Betz 54:2a676c734b30 244 * @param pBuffer pointer to the byte-array data to send
Wolfgang Betz 54:2a676c734b30 245 * @param RegisterAddr specifies internal address register to read from.
Wolfgang Betz 54:2a676c734b30 246 * @param NumByteToWrite number of bytes to write.
Wolfgang Betz 54:2a676c734b30 247 * @retval IMU_6AXES_OK if ok,
Wolfgang Betz 54:2a676c734b30 248 * @retval IMU_6AXES_ERROR if an I2C error has occured
Wolfgang Betz 44:d757094f6229 249 */
Wolfgang Betz 44:d757094f6229 250 IMU_6AXES_StatusTypeDef LSM6DS3_IO_Write(uint8_t* pBuffer,
Wolfgang Betz 44:d757094f6229 251 uint8_t RegisterAddr, uint16_t NumByteToWrite)
Wolfgang Betz 44:d757094f6229 252 {
Wolfgang Betz 44:d757094f6229 253 int ret = dev_i2c.i2c_write(pBuffer,
Wolfgang Betz 44:d757094f6229 254 LSM6DS3_XG_MEMS_ADDRESS,
Wolfgang Betz 44:d757094f6229 255 RegisterAddr,
Wolfgang Betz 44:d757094f6229 256 NumByteToWrite);
Wolfgang Betz 44:d757094f6229 257 if(ret != 0) {
Wolfgang Betz 44:d757094f6229 258 return IMU_6AXES_ERROR;
Wolfgang Betz 44:d757094f6229 259 }
Wolfgang Betz 44:d757094f6229 260 return IMU_6AXES_OK;
Wolfgang Betz 44:d757094f6229 261 }
Wolfgang Betz 44:d757094f6229 262
Wolfgang Betz 44:d757094f6229 263 /*** Instance Variables ***/
Wolfgang Betz 44:d757094f6229 264 /* IO Device */
Wolfgang Betz 44:d757094f6229 265 DevI2C &dev_i2c;
Wolfgang Betz 52:54553fd15b50 266
Wolfgang Betz 52:54553fd15b50 267 /* Free Fall Detection IRQ */
Wolfgang Betz 52:54553fd15b50 268 InterruptIn free_fall;
Wolfgang Betz 44:d757094f6229 269 };
Wolfgang Betz 44:d757094f6229 270
Wolfgang Betz 44:d757094f6229 271 #endif // __LSM6DS3_CLASS_H