LSM6DSL - HAHA

Users » mr_wang » Code » LSM6DSL

Junjie Wang / LSM6DSL

HAHA

Dependencies: ST_INTERFACES X_NUCLEO_COMMON

Dependents: b_NYP_humanoid a_NYP_humanoid_copy

Fork of LSM6DSL by ST

LSM6DSLSensor.cpp@0:704c89673b57, 2017-09-04 (annotated)

Committer:: nikapov
Date:: Mon Sep 04 16:08:00 2017 +0000
Revision:: 0:704c89673b57
Child:: 1:c583f32fe272

First version.

Who changed what in which revision?

User	Revision	Line number	New contents of line
nikapov	0:704c89673b57	1	/**
nikapov	0:704c89673b57	2	******************************************************************************
nikapov	0:704c89673b57	3	* @file LSM6DSLSensor.cpp
nikapov	0:704c89673b57	4	* @author CLab
nikapov	0:704c89673b57	5	* @version V1.0.0
nikapov	0:704c89673b57	6	* @date 5 August 2016
nikapov	0:704c89673b57	7	* @brief Implementation of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
nikapov	0:704c89673b57	8	* sensor.
nikapov	0:704c89673b57	9	******************************************************************************
nikapov	0:704c89673b57	10	* @attention
nikapov	0:704c89673b57	11	*
nikapov	0:704c89673b57	12	* <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
nikapov	0:704c89673b57	13	*
nikapov	0:704c89673b57	14	* Redistribution and use in source and binary forms, with or without modification,
nikapov	0:704c89673b57	15	* are permitted provided that the following conditions are met:
nikapov	0:704c89673b57	16	* 1. Redistributions of source code must retain the above copyright notice,
nikapov	0:704c89673b57	17	* this list of conditions and the following disclaimer.
nikapov	0:704c89673b57	18	* 2. Redistributions in binary form must reproduce the above copyright notice,
nikapov	0:704c89673b57	19	* this list of conditions and the following disclaimer in the documentation
nikapov	0:704c89673b57	20	* and/or other materials provided with the distribution.
nikapov	0:704c89673b57	21	* 3. Neither the name of STMicroelectronics nor the names of its contributors
nikapov	0:704c89673b57	22	* may be used to endorse or promote products derived from this software
nikapov	0:704c89673b57	23	* without specific prior written permission.
nikapov	0:704c89673b57	24	*
nikapov	0:704c89673b57	25	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
nikapov	0:704c89673b57	26	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
nikapov	0:704c89673b57	27	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
nikapov	0:704c89673b57	28	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
nikapov	0:704c89673b57	29	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
nikapov	0:704c89673b57	30	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
nikapov	0:704c89673b57	31	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
nikapov	0:704c89673b57	32	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
nikapov	0:704c89673b57	33	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
nikapov	0:704c89673b57	34	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
nikapov	0:704c89673b57	35	*
nikapov	0:704c89673b57	36	******************************************************************************
nikapov	0:704c89673b57	37	*/
nikapov	0:704c89673b57	38
nikapov	0:704c89673b57	39
nikapov	0:704c89673b57	40	/* Includes ------------------------------------------------------------------*/
nikapov	0:704c89673b57	41
nikapov	0:704c89673b57	42	#include "LSM6DSLSensor.h"
nikapov	0:704c89673b57	43
nikapov	0:704c89673b57	44
nikapov	0:704c89673b57	45	/* Class Implementation ------------------------------------------------------*/
nikapov	0:704c89673b57	46
nikapov	0:704c89673b57	47	/** Constructor
nikapov	0:704c89673b57	48	* @param i2c object of an helper class which handles the I2C peripheral
nikapov	0:704c89673b57	49	* @param address the address of the component's instance
nikapov	0:704c89673b57	50	*/
nikapov	0:704c89673b57	51	LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, PinName int1_pin, PinName int2_pin) : _dev_i2c(i2c), _int1_irq(int1_pin), _int2_irq(int2_pin)
nikapov	0:704c89673b57	52	{
nikapov	0:704c89673b57	53	_address = LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH;
nikapov	0:704c89673b57	54	};
nikapov	0:704c89673b57	55
nikapov	0:704c89673b57	56	/** Constructor
nikapov	0:704c89673b57	57	* @param i2c object of an helper class which handles the I2C peripheral
nikapov	0:704c89673b57	58	* @param address the address of the component's instance
nikapov	0:704c89673b57	59	*/
nikapov	0:704c89673b57	60	LSM6DSLSensor::LSM6DSLSensor(DevI2C &i2c, PinName int1_pin, PinName int2_pin, uint8_t address) : _dev_i2c(i2c), _int1_irq(int1_pin), _int2_irq(int2_pin), _address(address)
nikapov	0:704c89673b57	61	{
nikapov	0:704c89673b57	62
nikapov	0:704c89673b57	63	};
nikapov	0:704c89673b57	64
nikapov	0:704c89673b57	65	/**
nikapov	0:704c89673b57	66	* @brief Initializing the component.
nikapov	0:704c89673b57	67	* @param[in] init pointer to device specific initalization structure.
nikapov	0:704c89673b57	68	* @retval "0" in case of success, an error code otherwise.
nikapov	0:704c89673b57	69	*/
nikapov	0:704c89673b57	70	int LSM6DSLSensor::init(void *init)
nikapov	0:704c89673b57	71	{
nikapov	0:704c89673b57	72	/* Enable register address automatically incremented during a multiple byte
nikapov	0:704c89673b57	73	access with a serial interface. */
nikapov	0:704c89673b57	74	if ( LSM6DSL_ACC_GYRO_W_IF_Addr_Incr( (void *)this, LSM6DSL_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	75	{
nikapov	0:704c89673b57	76	return 1;
nikapov	0:704c89673b57	77	}
nikapov	0:704c89673b57	78
nikapov	0:704c89673b57	79	/* Enable BDU */
nikapov	0:704c89673b57	80	if ( LSM6DSL_ACC_GYRO_W_BDU( (void *)this, LSM6DSL_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
nikapov	0:704c89673b57	81	{
nikapov	0:704c89673b57	82	return 1;
nikapov	0:704c89673b57	83	}
nikapov	0:704c89673b57	84
nikapov	0:704c89673b57	85	/* FIFO mode selection */
nikapov	0:704c89673b57	86	if ( LSM6DSL_ACC_GYRO_W_FIFO_MODE( (void *)this, LSM6DSL_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
nikapov	0:704c89673b57	87	{
nikapov	0:704c89673b57	88	return 1;
nikapov	0:704c89673b57	89	}
nikapov	0:704c89673b57	90
nikapov	0:704c89673b57	91	/* Output data rate selection - power down. */
nikapov	0:704c89673b57	92	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
nikapov	0:704c89673b57	93	{
nikapov	0:704c89673b57	94	return 1;
nikapov	0:704c89673b57	95	}
nikapov	0:704c89673b57	96
nikapov	0:704c89673b57	97	/* Full scale selection. */
nikapov	0:704c89673b57	98	if ( set_x_fs( 2.0f ) == 1 )
nikapov	0:704c89673b57	99	{
nikapov	0:704c89673b57	100	return 1;
nikapov	0:704c89673b57	101	}
nikapov	0:704c89673b57	102
nikapov	0:704c89673b57	103	/* Output data rate selection - power down */
nikapov	0:704c89673b57	104	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
nikapov	0:704c89673b57	105	{
nikapov	0:704c89673b57	106	return 1;
nikapov	0:704c89673b57	107	}
nikapov	0:704c89673b57	108
nikapov	0:704c89673b57	109	/* Full scale selection. */
nikapov	0:704c89673b57	110	if ( set_g_fs( 2000.0f ) == 1 )
nikapov	0:704c89673b57	111	{
nikapov	0:704c89673b57	112	return 1;
nikapov	0:704c89673b57	113	}
nikapov	0:704c89673b57	114
nikapov	0:704c89673b57	115	_x_last_odr = 104.0f;
nikapov	0:704c89673b57	116
nikapov	0:704c89673b57	117	_x_is_enabled = 0;
nikapov	0:704c89673b57	118
nikapov	0:704c89673b57	119	_g_last_odr = 104.0f;
nikapov	0:704c89673b57	120
nikapov	0:704c89673b57	121	_g_is_enabled = 0;
nikapov	0:704c89673b57	122
nikapov	0:704c89673b57	123	return 0;
nikapov	0:704c89673b57	124	}
nikapov	0:704c89673b57	125
nikapov	0:704c89673b57	126	/**
nikapov	0:704c89673b57	127	* @brief Enable LSM6DSL Accelerator
nikapov	0:704c89673b57	128	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	129	*/
nikapov	0:704c89673b57	130	int LSM6DSLSensor::enable_x(void)
nikapov	0:704c89673b57	131	{
nikapov	0:704c89673b57	132	/* Check if the component is already enabled */
nikapov	0:704c89673b57	133	if ( _x_is_enabled == 1 )
nikapov	0:704c89673b57	134	{
nikapov	0:704c89673b57	135	return 0;
nikapov	0:704c89673b57	136	}
nikapov	0:704c89673b57	137
nikapov	0:704c89673b57	138	/* Output data rate selection. */
nikapov	0:704c89673b57	139	if ( set_x_odr_when_enabled( _x_last_odr ) == 1 )
nikapov	0:704c89673b57	140	{
nikapov	0:704c89673b57	141	return 1;
nikapov	0:704c89673b57	142	}
nikapov	0:704c89673b57	143
nikapov	0:704c89673b57	144	_x_is_enabled = 1;
nikapov	0:704c89673b57	145
nikapov	0:704c89673b57	146	return 0;
nikapov	0:704c89673b57	147	}
nikapov	0:704c89673b57	148
nikapov	0:704c89673b57	149	/**
nikapov	0:704c89673b57	150	* @brief Enable LSM6DSL Gyroscope
nikapov	0:704c89673b57	151	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	152	*/
nikapov	0:704c89673b57	153	int LSM6DSLSensor::enable_g(void)
nikapov	0:704c89673b57	154	{
nikapov	0:704c89673b57	155	/* Check if the component is already enabled */
nikapov	0:704c89673b57	156	if ( _g_is_enabled == 1 )
nikapov	0:704c89673b57	157	{
nikapov	0:704c89673b57	158	return 0;
nikapov	0:704c89673b57	159	}
nikapov	0:704c89673b57	160
nikapov	0:704c89673b57	161	/* Output data rate selection. */
nikapov	0:704c89673b57	162	if ( set_g_odr_when_enabled( _g_last_odr ) == 1 )
nikapov	0:704c89673b57	163	{
nikapov	0:704c89673b57	164	return 1;
nikapov	0:704c89673b57	165	}
nikapov	0:704c89673b57	166
nikapov	0:704c89673b57	167	_g_is_enabled = 1;
nikapov	0:704c89673b57	168
nikapov	0:704c89673b57	169	return 0;
nikapov	0:704c89673b57	170	}
nikapov	0:704c89673b57	171
nikapov	0:704c89673b57	172	/**
nikapov	0:704c89673b57	173	* @brief Disable LSM6DSL Accelerator
nikapov	0:704c89673b57	174	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	175	*/
nikapov	0:704c89673b57	176	int LSM6DSLSensor::disable_x(void)
nikapov	0:704c89673b57	177	{
nikapov	0:704c89673b57	178	/* Check if the component is already disabled */
nikapov	0:704c89673b57	179	if ( _x_is_enabled == 0 )
nikapov	0:704c89673b57	180	{
nikapov	0:704c89673b57	181	return 0;
nikapov	0:704c89673b57	182	}
nikapov	0:704c89673b57	183
nikapov	0:704c89673b57	184	/* Store actual output data rate. */
nikapov	0:704c89673b57	185	if ( get_x_odr( &_x_last_odr ) == 1 )
nikapov	0:704c89673b57	186	{
nikapov	0:704c89673b57	187	return 1;
nikapov	0:704c89673b57	188	}
nikapov	0:704c89673b57	189
nikapov	0:704c89673b57	190	/* Output data rate selection - power down. */
nikapov	0:704c89673b57	191	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN ) == MEMS_ERROR )
nikapov	0:704c89673b57	192	{
nikapov	0:704c89673b57	193	return 1;
nikapov	0:704c89673b57	194	}
nikapov	0:704c89673b57	195
nikapov	0:704c89673b57	196	_x_is_enabled = 0;
nikapov	0:704c89673b57	197
nikapov	0:704c89673b57	198	return 0;
nikapov	0:704c89673b57	199	}
nikapov	0:704c89673b57	200
nikapov	0:704c89673b57	201	/**
nikapov	0:704c89673b57	202	* @brief Disable LSM6DSL Gyroscope
nikapov	0:704c89673b57	203	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	204	*/
nikapov	0:704c89673b57	205	int LSM6DSLSensor::disable_g(void)
nikapov	0:704c89673b57	206	{
nikapov	0:704c89673b57	207	/* Check if the component is already disabled */
nikapov	0:704c89673b57	208	if ( _g_is_enabled == 0 )
nikapov	0:704c89673b57	209	{
nikapov	0:704c89673b57	210	return 0;
nikapov	0:704c89673b57	211	}
nikapov	0:704c89673b57	212
nikapov	0:704c89673b57	213	/* Store actual output data rate. */
nikapov	0:704c89673b57	214	if ( get_g_odr( &_g_last_odr ) == 1 )
nikapov	0:704c89673b57	215	{
nikapov	0:704c89673b57	216	return 1;
nikapov	0:704c89673b57	217	}
nikapov	0:704c89673b57	218
nikapov	0:704c89673b57	219	/* Output data rate selection - power down */
nikapov	0:704c89673b57	220	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
nikapov	0:704c89673b57	221	{
nikapov	0:704c89673b57	222	return 1;
nikapov	0:704c89673b57	223	}
nikapov	0:704c89673b57	224
nikapov	0:704c89673b57	225	_g_is_enabled = 0;
nikapov	0:704c89673b57	226
nikapov	0:704c89673b57	227	return 0;
nikapov	0:704c89673b57	228	}
nikapov	0:704c89673b57	229
nikapov	0:704c89673b57	230	/**
nikapov	0:704c89673b57	231	* @brief Read ID of LSM6DSL Accelerometer and Gyroscope
nikapov	0:704c89673b57	232	* @param p_id the pointer where the ID of the device is stored
nikapov	0:704c89673b57	233	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	234	*/
nikapov	0:704c89673b57	235	int LSM6DSLSensor::read_id(uint8_t *id)
nikapov	0:704c89673b57	236	{
nikapov	0:704c89673b57	237	if(!id)
nikapov	0:704c89673b57	238	{
nikapov	0:704c89673b57	239	return 1;
nikapov	0:704c89673b57	240	}
nikapov	0:704c89673b57	241
nikapov	0:704c89673b57	242	/* Read WHO AM I register */
nikapov	0:704c89673b57	243	if ( LSM6DSL_ACC_GYRO_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
nikapov	0:704c89673b57	244	{
nikapov	0:704c89673b57	245	return 1;
nikapov	0:704c89673b57	246	}
nikapov	0:704c89673b57	247
nikapov	0:704c89673b57	248	return 0;
nikapov	0:704c89673b57	249	}
nikapov	0:704c89673b57	250
nikapov	0:704c89673b57	251	/**
nikapov	0:704c89673b57	252	* @brief Read data from LSM6DSL Accelerometer
nikapov	0:704c89673b57	253	* @param pData the pointer where the accelerometer data are stored
nikapov	0:704c89673b57	254	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	255	*/
nikapov	0:704c89673b57	256	int LSM6DSLSensor::get_x_axes(int32_t *pData)
nikapov	0:704c89673b57	257	{
nikapov	0:704c89673b57	258	int16_t dataRaw[3];
nikapov	0:704c89673b57	259	float sensitivity = 0;
nikapov	0:704c89673b57	260
nikapov	0:704c89673b57	261	/* Read raw data from LSM6DSL output register. */
nikapov	0:704c89673b57	262	if ( get_x_axes_raw( dataRaw ) == 1 )
nikapov	0:704c89673b57	263	{
nikapov	0:704c89673b57	264	return 1;
nikapov	0:704c89673b57	265	}
nikapov	0:704c89673b57	266
nikapov	0:704c89673b57	267	/* Get LSM6DSL actual sensitivity. */
nikapov	0:704c89673b57	268	if ( get_x_sensitivity( &sensitivity ) == 1 )
nikapov	0:704c89673b57	269	{
nikapov	0:704c89673b57	270	return 1;
nikapov	0:704c89673b57	271	}
nikapov	0:704c89673b57	272
nikapov	0:704c89673b57	273	/* Calculate the data. */
nikapov	0:704c89673b57	274	pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
nikapov	0:704c89673b57	275	pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
nikapov	0:704c89673b57	276	pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
nikapov	0:704c89673b57	277
nikapov	0:704c89673b57	278	return 0;
nikapov	0:704c89673b57	279	}
nikapov	0:704c89673b57	280
nikapov	0:704c89673b57	281	/**
nikapov	0:704c89673b57	282	* @brief Read data from LSM6DSL Gyroscope
nikapov	0:704c89673b57	283	* @param pData the pointer where the gyroscope data are stored
nikapov	0:704c89673b57	284	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	285	*/
nikapov	0:704c89673b57	286	int LSM6DSLSensor::get_g_axes(int32_t *pData)
nikapov	0:704c89673b57	287	{
nikapov	0:704c89673b57	288	int16_t dataRaw[3];
nikapov	0:704c89673b57	289	float sensitivity = 0;
nikapov	0:704c89673b57	290
nikapov	0:704c89673b57	291	/* Read raw data from LSM6DSL output register. */
nikapov	0:704c89673b57	292	if ( get_g_axes_raw( dataRaw ) == 1 )
nikapov	0:704c89673b57	293	{
nikapov	0:704c89673b57	294	return 1;
nikapov	0:704c89673b57	295	}
nikapov	0:704c89673b57	296
nikapov	0:704c89673b57	297	/* Get LSM6DSL actual sensitivity. */
nikapov	0:704c89673b57	298	if ( get_g_sensitivity( &sensitivity ) == 1 )
nikapov	0:704c89673b57	299	{
nikapov	0:704c89673b57	300	return 1;
nikapov	0:704c89673b57	301	}
nikapov	0:704c89673b57	302
nikapov	0:704c89673b57	303	/* Calculate the data. */
nikapov	0:704c89673b57	304	pData[0] = ( int32_t )( dataRaw[0] * sensitivity );
nikapov	0:704c89673b57	305	pData[1] = ( int32_t )( dataRaw[1] * sensitivity );
nikapov	0:704c89673b57	306	pData[2] = ( int32_t )( dataRaw[2] * sensitivity );
nikapov	0:704c89673b57	307
nikapov	0:704c89673b57	308	return 0;
nikapov	0:704c89673b57	309	}
nikapov	0:704c89673b57	310
nikapov	0:704c89673b57	311	/**
nikapov	0:704c89673b57	312	* @brief Read Accelerometer Sensitivity
nikapov	0:704c89673b57	313	* @param pfData the pointer where the accelerometer sensitivity is stored
nikapov	0:704c89673b57	314	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	315	*/
nikapov	0:704c89673b57	316	int LSM6DSLSensor::get_x_sensitivity(float *pfData)
nikapov	0:704c89673b57	317	{
nikapov	0:704c89673b57	318	LSM6DSL_ACC_GYRO_FS_XL_t fullScale;
nikapov	0:704c89673b57	319
nikapov	0:704c89673b57	320	/* Read actual full scale selection from sensor. */
nikapov	0:704c89673b57	321	if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fullScale ) == MEMS_ERROR )
nikapov	0:704c89673b57	322	{
nikapov	0:704c89673b57	323	return 1;
nikapov	0:704c89673b57	324	}
nikapov	0:704c89673b57	325
nikapov	0:704c89673b57	326	/* Store the sensitivity based on actual full scale. */
nikapov	0:704c89673b57	327	switch( fullScale )
nikapov	0:704c89673b57	328	{
nikapov	0:704c89673b57	329	case LSM6DSL_ACC_GYRO_FS_XL_2g:
nikapov	0:704c89673b57	330	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G;
nikapov	0:704c89673b57	331	break;
nikapov	0:704c89673b57	332	case LSM6DSL_ACC_GYRO_FS_XL_4g:
nikapov	0:704c89673b57	333	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G;
nikapov	0:704c89673b57	334	break;
nikapov	0:704c89673b57	335	case LSM6DSL_ACC_GYRO_FS_XL_8g:
nikapov	0:704c89673b57	336	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G;
nikapov	0:704c89673b57	337	break;
nikapov	0:704c89673b57	338	case LSM6DSL_ACC_GYRO_FS_XL_16g:
nikapov	0:704c89673b57	339	*pfData = ( float )LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G;
nikapov	0:704c89673b57	340	break;
nikapov	0:704c89673b57	341	default:
nikapov	0:704c89673b57	342	*pfData = -1.0f;
nikapov	0:704c89673b57	343	return 1;
nikapov	0:704c89673b57	344	}
nikapov	0:704c89673b57	345
nikapov	0:704c89673b57	346	return 0;
nikapov	0:704c89673b57	347	}
nikapov	0:704c89673b57	348
nikapov	0:704c89673b57	349	/**
nikapov	0:704c89673b57	350	* @brief Read Gyroscope Sensitivity
nikapov	0:704c89673b57	351	* @param pfData the pointer where the gyroscope sensitivity is stored
nikapov	0:704c89673b57	352	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	353	*/
nikapov	0:704c89673b57	354	int LSM6DSLSensor::get_g_sensitivity(float *pfData)
nikapov	0:704c89673b57	355	{
nikapov	0:704c89673b57	356	LSM6DSL_ACC_GYRO_FS_125_t fullScale125;
nikapov	0:704c89673b57	357	LSM6DSL_ACC_GYRO_FS_G_t fullScale;
nikapov	0:704c89673b57	358
nikapov	0:704c89673b57	359	/* Read full scale 125 selection from sensor. */
nikapov	0:704c89673b57	360	if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fullScale125 ) == MEMS_ERROR )
nikapov	0:704c89673b57	361	{
nikapov	0:704c89673b57	362	return 1;
nikapov	0:704c89673b57	363	}
nikapov	0:704c89673b57	364
nikapov	0:704c89673b57	365	if ( fullScale125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
nikapov	0:704c89673b57	366	{
nikapov	0:704c89673b57	367	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS;
nikapov	0:704c89673b57	368	}
nikapov	0:704c89673b57	369
nikapov	0:704c89673b57	370	else
nikapov	0:704c89673b57	371	{
nikapov	0:704c89673b57	372
nikapov	0:704c89673b57	373	/* Read actual full scale selection from sensor. */
nikapov	0:704c89673b57	374	if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fullScale ) == MEMS_ERROR )
nikapov	0:704c89673b57	375	{
nikapov	0:704c89673b57	376	return 1;
nikapov	0:704c89673b57	377	}
nikapov	0:704c89673b57	378
nikapov	0:704c89673b57	379	/* Store the sensitivity based on actual full scale. */
nikapov	0:704c89673b57	380	switch( fullScale )
nikapov	0:704c89673b57	381	{
nikapov	0:704c89673b57	382	case LSM6DSL_ACC_GYRO_FS_G_245dps:
nikapov	0:704c89673b57	383	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS;
nikapov	0:704c89673b57	384	break;
nikapov	0:704c89673b57	385	case LSM6DSL_ACC_GYRO_FS_G_500dps:
nikapov	0:704c89673b57	386	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS;
nikapov	0:704c89673b57	387	break;
nikapov	0:704c89673b57	388	case LSM6DSL_ACC_GYRO_FS_G_1000dps:
nikapov	0:704c89673b57	389	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS;
nikapov	0:704c89673b57	390	break;
nikapov	0:704c89673b57	391	case LSM6DSL_ACC_GYRO_FS_G_2000dps:
nikapov	0:704c89673b57	392	*pfData = ( float )LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS;
nikapov	0:704c89673b57	393	break;
nikapov	0:704c89673b57	394	default:
nikapov	0:704c89673b57	395	*pfData = -1.0f;
nikapov	0:704c89673b57	396	return 1;
nikapov	0:704c89673b57	397	}
nikapov	0:704c89673b57	398	}
nikapov	0:704c89673b57	399
nikapov	0:704c89673b57	400	return 0;
nikapov	0:704c89673b57	401	}
nikapov	0:704c89673b57	402
nikapov	0:704c89673b57	403	/**
nikapov	0:704c89673b57	404	* @brief Read raw data from LSM6DSL Accelerometer
nikapov	0:704c89673b57	405	* @param pData the pointer where the accelerometer raw data are stored
nikapov	0:704c89673b57	406	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	407	*/
nikapov	0:704c89673b57	408	int LSM6DSLSensor::get_x_axes_raw(int16_t *pData)
nikapov	0:704c89673b57	409	{
nikapov	0:704c89673b57	410	uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
nikapov	0:704c89673b57	411
nikapov	0:704c89673b57	412	/* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_XL to LSM6DSL_ACC_GYRO_OUTZ_H_XL. */
nikapov	0:704c89673b57	413	if ( LSM6DSL_ACC_GYRO_GetRawAccData( (void *)this, regValue ) == MEMS_ERROR )
nikapov	0:704c89673b57	414	{
nikapov	0:704c89673b57	415	return 1;
nikapov	0:704c89673b57	416	}
nikapov	0:704c89673b57	417
nikapov	0:704c89673b57	418	/* Format the data. */
nikapov	0:704c89673b57	419	pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
nikapov	0:704c89673b57	420	pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
nikapov	0:704c89673b57	421	pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
nikapov	0:704c89673b57	422
nikapov	0:704c89673b57	423	return 0;
nikapov	0:704c89673b57	424	}
nikapov	0:704c89673b57	425
nikapov	0:704c89673b57	426	/**
nikapov	0:704c89673b57	427	* @brief Read raw data from LSM6DSL Gyroscope
nikapov	0:704c89673b57	428	* @param pData the pointer where the gyroscope raw data are stored
nikapov	0:704c89673b57	429	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	430	*/
nikapov	0:704c89673b57	431	int LSM6DSLSensor::get_g_axes_raw(int16_t *pData)
nikapov	0:704c89673b57	432	{
nikapov	0:704c89673b57	433	uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
nikapov	0:704c89673b57	434
nikapov	0:704c89673b57	435	/* Read output registers from LSM6DSL_ACC_GYRO_OUTX_L_G to LSM6DSL_ACC_GYRO_OUTZ_H_G. */
nikapov	0:704c89673b57	436	if ( LSM6DSL_ACC_GYRO_GetRawGyroData( (void *)this, regValue ) == MEMS_ERROR )
nikapov	0:704c89673b57	437	{
nikapov	0:704c89673b57	438	return 1;
nikapov	0:704c89673b57	439	}
nikapov	0:704c89673b57	440
nikapov	0:704c89673b57	441	/* Format the data. */
nikapov	0:704c89673b57	442	pData[0] = ( ( ( ( int16_t )regValue[1] ) << 8 ) + ( int16_t )regValue[0] );
nikapov	0:704c89673b57	443	pData[1] = ( ( ( ( int16_t )regValue[3] ) << 8 ) + ( int16_t )regValue[2] );
nikapov	0:704c89673b57	444	pData[2] = ( ( ( ( int16_t )regValue[5] ) << 8 ) + ( int16_t )regValue[4] );
nikapov	0:704c89673b57	445
nikapov	0:704c89673b57	446	return 0;
nikapov	0:704c89673b57	447	}
nikapov	0:704c89673b57	448
nikapov	0:704c89673b57	449	/**
nikapov	0:704c89673b57	450	* @brief Read LSM6DSL Accelerometer output data rate
nikapov	0:704c89673b57	451	* @param odr the pointer to the output data rate
nikapov	0:704c89673b57	452	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	453	*/
nikapov	0:704c89673b57	454	int LSM6DSLSensor::get_x_odr(float* odr)
nikapov	0:704c89673b57	455	{
nikapov	0:704c89673b57	456	LSM6DSL_ACC_GYRO_ODR_XL_t odr_low_level;
nikapov	0:704c89673b57	457
nikapov	0:704c89673b57	458	if ( LSM6DSL_ACC_GYRO_R_ODR_XL( (void *)this, &odr_low_level ) == MEMS_ERROR )
nikapov	0:704c89673b57	459	{
nikapov	0:704c89673b57	460	return 1;
nikapov	0:704c89673b57	461	}
nikapov	0:704c89673b57	462
nikapov	0:704c89673b57	463	switch( odr_low_level )
nikapov	0:704c89673b57	464	{
nikapov	0:704c89673b57	465	case LSM6DSL_ACC_GYRO_ODR_XL_POWER_DOWN:
nikapov	0:704c89673b57	466	*odr = 0.0f;
nikapov	0:704c89673b57	467	break;
nikapov	0:704c89673b57	468	case LSM6DSL_ACC_GYRO_ODR_XL_13Hz:
nikapov	0:704c89673b57	469	*odr = 13.0f;
nikapov	0:704c89673b57	470	break;
nikapov	0:704c89673b57	471	case LSM6DSL_ACC_GYRO_ODR_XL_26Hz:
nikapov	0:704c89673b57	472	*odr = 26.0f;
nikapov	0:704c89673b57	473	break;
nikapov	0:704c89673b57	474	case LSM6DSL_ACC_GYRO_ODR_XL_52Hz:
nikapov	0:704c89673b57	475	*odr = 52.0f;
nikapov	0:704c89673b57	476	break;
nikapov	0:704c89673b57	477	case LSM6DSL_ACC_GYRO_ODR_XL_104Hz:
nikapov	0:704c89673b57	478	*odr = 104.0f;
nikapov	0:704c89673b57	479	break;
nikapov	0:704c89673b57	480	case LSM6DSL_ACC_GYRO_ODR_XL_208Hz:
nikapov	0:704c89673b57	481	*odr = 208.0f;
nikapov	0:704c89673b57	482	break;
nikapov	0:704c89673b57	483	case LSM6DSL_ACC_GYRO_ODR_XL_416Hz:
nikapov	0:704c89673b57	484	*odr = 416.0f;
nikapov	0:704c89673b57	485	break;
nikapov	0:704c89673b57	486	case LSM6DSL_ACC_GYRO_ODR_XL_833Hz:
nikapov	0:704c89673b57	487	*odr = 833.0f;
nikapov	0:704c89673b57	488	break;
nikapov	0:704c89673b57	489	case LSM6DSL_ACC_GYRO_ODR_XL_1660Hz:
nikapov	0:704c89673b57	490	*odr = 1660.0f;
nikapov	0:704c89673b57	491	break;
nikapov	0:704c89673b57	492	case LSM6DSL_ACC_GYRO_ODR_XL_3330Hz:
nikapov	0:704c89673b57	493	*odr = 3330.0f;
nikapov	0:704c89673b57	494	break;
nikapov	0:704c89673b57	495	case LSM6DSL_ACC_GYRO_ODR_XL_6660Hz:
nikapov	0:704c89673b57	496	*odr = 6660.0f;
nikapov	0:704c89673b57	497	break;
nikapov	0:704c89673b57	498	default:
nikapov	0:704c89673b57	499	*odr = -1.0f;
nikapov	0:704c89673b57	500	return 1;
nikapov	0:704c89673b57	501	}
nikapov	0:704c89673b57	502
nikapov	0:704c89673b57	503	return 0;
nikapov	0:704c89673b57	504	}
nikapov	0:704c89673b57	505
nikapov	0:704c89673b57	506	/**
nikapov	0:704c89673b57	507	* @brief Read LSM6DSL Gyroscope output data rate
nikapov	0:704c89673b57	508	* @param odr the pointer to the output data rate
nikapov	0:704c89673b57	509	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	510	*/
nikapov	0:704c89673b57	511	int LSM6DSLSensor::get_g_odr(float* odr)
nikapov	0:704c89673b57	512	{
nikapov	0:704c89673b57	513	LSM6DSL_ACC_GYRO_ODR_G_t odr_low_level;
nikapov	0:704c89673b57	514
nikapov	0:704c89673b57	515	if ( LSM6DSL_ACC_GYRO_R_ODR_G( (void *)this, &odr_low_level ) == MEMS_ERROR )
nikapov	0:704c89673b57	516	{
nikapov	0:704c89673b57	517	return 1;
nikapov	0:704c89673b57	518	}
nikapov	0:704c89673b57	519
nikapov	0:704c89673b57	520	switch( odr_low_level )
nikapov	0:704c89673b57	521	{
nikapov	0:704c89673b57	522	case LSM6DSL_ACC_GYRO_ODR_G_POWER_DOWN:
nikapov	0:704c89673b57	523	*odr = 0.0f;
nikapov	0:704c89673b57	524	break;
nikapov	0:704c89673b57	525	case LSM6DSL_ACC_GYRO_ODR_G_13Hz:
nikapov	0:704c89673b57	526	*odr = 13.0f;
nikapov	0:704c89673b57	527	break;
nikapov	0:704c89673b57	528	case LSM6DSL_ACC_GYRO_ODR_G_26Hz:
nikapov	0:704c89673b57	529	*odr = 26.0f;
nikapov	0:704c89673b57	530	break;
nikapov	0:704c89673b57	531	case LSM6DSL_ACC_GYRO_ODR_G_52Hz:
nikapov	0:704c89673b57	532	*odr = 52.0f;
nikapov	0:704c89673b57	533	break;
nikapov	0:704c89673b57	534	case LSM6DSL_ACC_GYRO_ODR_G_104Hz:
nikapov	0:704c89673b57	535	*odr = 104.0f;
nikapov	0:704c89673b57	536	break;
nikapov	0:704c89673b57	537	case LSM6DSL_ACC_GYRO_ODR_G_208Hz:
nikapov	0:704c89673b57	538	*odr = 208.0f;
nikapov	0:704c89673b57	539	break;
nikapov	0:704c89673b57	540	case LSM6DSL_ACC_GYRO_ODR_G_416Hz:
nikapov	0:704c89673b57	541	*odr = 416.0f;
nikapov	0:704c89673b57	542	break;
nikapov	0:704c89673b57	543	case LSM6DSL_ACC_GYRO_ODR_G_833Hz:
nikapov	0:704c89673b57	544	*odr = 833.0f;
nikapov	0:704c89673b57	545	break;
nikapov	0:704c89673b57	546	case LSM6DSL_ACC_GYRO_ODR_G_1660Hz:
nikapov	0:704c89673b57	547	*odr = 1660.0f;
nikapov	0:704c89673b57	548	break;
nikapov	0:704c89673b57	549	case LSM6DSL_ACC_GYRO_ODR_G_3330Hz:
nikapov	0:704c89673b57	550	*odr = 3330.0f;
nikapov	0:704c89673b57	551	break;
nikapov	0:704c89673b57	552	case LSM6DSL_ACC_GYRO_ODR_G_6660Hz:
nikapov	0:704c89673b57	553	*odr = 6660.0f;
nikapov	0:704c89673b57	554	break;
nikapov	0:704c89673b57	555	default:
nikapov	0:704c89673b57	556	*odr = -1.0f;
nikapov	0:704c89673b57	557	return 1;
nikapov	0:704c89673b57	558	}
nikapov	0:704c89673b57	559
nikapov	0:704c89673b57	560	return 0;
nikapov	0:704c89673b57	561	}
nikapov	0:704c89673b57	562
nikapov	0:704c89673b57	563	/**
nikapov	0:704c89673b57	564	* @brief Set LSM6DSL Accelerometer output data rate
nikapov	0:704c89673b57	565	* @param odr the output data rate to be set
nikapov	0:704c89673b57	566	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	567	*/
nikapov	0:704c89673b57	568	int LSM6DSLSensor::set_x_odr(float odr)
nikapov	0:704c89673b57	569	{
nikapov	0:704c89673b57	570	if(_x_is_enabled == 1)
nikapov	0:704c89673b57	571	{
nikapov	0:704c89673b57	572	if(set_x_odr_when_enabled(odr) == 1)
nikapov	0:704c89673b57	573	{
nikapov	0:704c89673b57	574	return 1;
nikapov	0:704c89673b57	575	}
nikapov	0:704c89673b57	576	}
nikapov	0:704c89673b57	577	else
nikapov	0:704c89673b57	578	{
nikapov	0:704c89673b57	579	if(set_x_odr_when_disabled(odr) == 1)
nikapov	0:704c89673b57	580	{
nikapov	0:704c89673b57	581	return 1;
nikapov	0:704c89673b57	582	}
nikapov	0:704c89673b57	583	}
nikapov	0:704c89673b57	584
nikapov	0:704c89673b57	585	return 0;
nikapov	0:704c89673b57	586	}
nikapov	0:704c89673b57	587
nikapov	0:704c89673b57	588	/**
nikapov	0:704c89673b57	589	* @brief Set LSM6DSL Accelerometer output data rate when enabled
nikapov	0:704c89673b57	590	* @param odr the output data rate to be set
nikapov	0:704c89673b57	591	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	592	*/
nikapov	0:704c89673b57	593	int LSM6DSLSensor::set_x_odr_when_enabled(float odr)
nikapov	0:704c89673b57	594	{
nikapov	0:704c89673b57	595	LSM6DSL_ACC_GYRO_ODR_XL_t new_odr;
nikapov	0:704c89673b57	596
nikapov	0:704c89673b57	597	new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_13Hz
nikapov	0:704c89673b57	598	: ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_26Hz
nikapov	0:704c89673b57	599	: ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_52Hz
nikapov	0:704c89673b57	600	: ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_104Hz
nikapov	0:704c89673b57	601	: ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_208Hz
nikapov	0:704c89673b57	602	: ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_416Hz
nikapov	0:704c89673b57	603	: ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_833Hz
nikapov	0:704c89673b57	604	: ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_1660Hz
nikapov	0:704c89673b57	605	: ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_XL_3330Hz
nikapov	0:704c89673b57	606	: LSM6DSL_ACC_GYRO_ODR_XL_6660Hz;
nikapov	0:704c89673b57	607
nikapov	0:704c89673b57	608	if ( LSM6DSL_ACC_GYRO_W_ODR_XL( (void *)this, new_odr ) == MEMS_ERROR )
nikapov	0:704c89673b57	609	{
nikapov	0:704c89673b57	610	return 1;
nikapov	0:704c89673b57	611	}
nikapov	0:704c89673b57	612
nikapov	0:704c89673b57	613	return 0;
nikapov	0:704c89673b57	614	}
nikapov	0:704c89673b57	615
nikapov	0:704c89673b57	616	/**
nikapov	0:704c89673b57	617	* @brief Set LSM6DSL Accelerometer output data rate when disabled
nikapov	0:704c89673b57	618	* @param odr the output data rate to be set
nikapov	0:704c89673b57	619	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	620	*/
nikapov	0:704c89673b57	621	int LSM6DSLSensor::set_x_odr_when_disabled(float odr)
nikapov	0:704c89673b57	622	{
nikapov	0:704c89673b57	623	_x_last_odr = ( odr <= 13.0f ) ? 13.0f
nikapov	0:704c89673b57	624	: ( odr <= 26.0f ) ? 26.0f
nikapov	0:704c89673b57	625	: ( odr <= 52.0f ) ? 52.0f
nikapov	0:704c89673b57	626	: ( odr <= 104.0f ) ? 104.0f
nikapov	0:704c89673b57	627	: ( odr <= 208.0f ) ? 208.0f
nikapov	0:704c89673b57	628	: ( odr <= 416.0f ) ? 416.0f
nikapov	0:704c89673b57	629	: ( odr <= 833.0f ) ? 833.0f
nikapov	0:704c89673b57	630	: ( odr <= 1660.0f ) ? 1660.0f
nikapov	0:704c89673b57	631	: ( odr <= 3330.0f ) ? 3330.0f
nikapov	0:704c89673b57	632	: 6660.0f;
nikapov	0:704c89673b57	633
nikapov	0:704c89673b57	634	return 0;
nikapov	0:704c89673b57	635	}
nikapov	0:704c89673b57	636
nikapov	0:704c89673b57	637	/**
nikapov	0:704c89673b57	638	* @brief Set LSM6DSL Gyroscope output data rate
nikapov	0:704c89673b57	639	* @param odr the output data rate to be set
nikapov	0:704c89673b57	640	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	641	*/
nikapov	0:704c89673b57	642	int LSM6DSLSensor::set_g_odr(float odr)
nikapov	0:704c89673b57	643	{
nikapov	0:704c89673b57	644	if(_g_is_enabled == 1)
nikapov	0:704c89673b57	645	{
nikapov	0:704c89673b57	646	if(set_g_odr_when_enabled(odr) == 1)
nikapov	0:704c89673b57	647	{
nikapov	0:704c89673b57	648	return 1;
nikapov	0:704c89673b57	649	}
nikapov	0:704c89673b57	650	}
nikapov	0:704c89673b57	651	else
nikapov	0:704c89673b57	652	{
nikapov	0:704c89673b57	653	if(set_g_odr_when_disabled(odr) == 1)
nikapov	0:704c89673b57	654	{
nikapov	0:704c89673b57	655	return 1;
nikapov	0:704c89673b57	656	}
nikapov	0:704c89673b57	657	}
nikapov	0:704c89673b57	658
nikapov	0:704c89673b57	659	return 0;
nikapov	0:704c89673b57	660	}
nikapov	0:704c89673b57	661
nikapov	0:704c89673b57	662	/**
nikapov	0:704c89673b57	663	* @brief Set LSM6DSL Gyroscope output data rate when enabled
nikapov	0:704c89673b57	664	* @param odr the output data rate to be set
nikapov	0:704c89673b57	665	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	666	*/
nikapov	0:704c89673b57	667	int LSM6DSLSensor::set_g_odr_when_enabled(float odr)
nikapov	0:704c89673b57	668	{
nikapov	0:704c89673b57	669	LSM6DSL_ACC_GYRO_ODR_G_t new_odr;
nikapov	0:704c89673b57	670
nikapov	0:704c89673b57	671	new_odr = ( odr <= 13.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_13Hz
nikapov	0:704c89673b57	672	: ( odr <= 26.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_26Hz
nikapov	0:704c89673b57	673	: ( odr <= 52.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_52Hz
nikapov	0:704c89673b57	674	: ( odr <= 104.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_104Hz
nikapov	0:704c89673b57	675	: ( odr <= 208.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_208Hz
nikapov	0:704c89673b57	676	: ( odr <= 416.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_416Hz
nikapov	0:704c89673b57	677	: ( odr <= 833.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_833Hz
nikapov	0:704c89673b57	678	: ( odr <= 1660.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_1660Hz
nikapov	0:704c89673b57	679	: ( odr <= 3330.0f ) ? LSM6DSL_ACC_GYRO_ODR_G_3330Hz
nikapov	0:704c89673b57	680	: LSM6DSL_ACC_GYRO_ODR_G_6660Hz;
nikapov	0:704c89673b57	681
nikapov	0:704c89673b57	682	if ( LSM6DSL_ACC_GYRO_W_ODR_G( (void *)this, new_odr ) == MEMS_ERROR )
nikapov	0:704c89673b57	683	{
nikapov	0:704c89673b57	684	return 1;
nikapov	0:704c89673b57	685	}
nikapov	0:704c89673b57	686
nikapov	0:704c89673b57	687	return 0;
nikapov	0:704c89673b57	688	}
nikapov	0:704c89673b57	689
nikapov	0:704c89673b57	690	/**
nikapov	0:704c89673b57	691	* @brief Set LSM6DSL Gyroscope output data rate when disabled
nikapov	0:704c89673b57	692	* @param odr the output data rate to be set
nikapov	0:704c89673b57	693	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	694	*/
nikapov	0:704c89673b57	695	int LSM6DSLSensor::set_g_odr_when_disabled(float odr)
nikapov	0:704c89673b57	696	{
nikapov	0:704c89673b57	697	_g_last_odr = ( odr <= 13.0f ) ? 13.0f
nikapov	0:704c89673b57	698	: ( odr <= 26.0f ) ? 26.0f
nikapov	0:704c89673b57	699	: ( odr <= 52.0f ) ? 52.0f
nikapov	0:704c89673b57	700	: ( odr <= 104.0f ) ? 104.0f
nikapov	0:704c89673b57	701	: ( odr <= 208.0f ) ? 208.0f
nikapov	0:704c89673b57	702	: ( odr <= 416.0f ) ? 416.0f
nikapov	0:704c89673b57	703	: ( odr <= 833.0f ) ? 833.0f
nikapov	0:704c89673b57	704	: ( odr <= 1660.0f ) ? 1660.0f
nikapov	0:704c89673b57	705	: ( odr <= 3330.0f ) ? 3330.0f
nikapov	0:704c89673b57	706	: 6660.0f;
nikapov	0:704c89673b57	707
nikapov	0:704c89673b57	708	return 0;
nikapov	0:704c89673b57	709	}
nikapov	0:704c89673b57	710
nikapov	0:704c89673b57	711	/**
nikapov	0:704c89673b57	712	* @brief Read LSM6DSL Accelerometer full scale
nikapov	0:704c89673b57	713	* @param fullScale the pointer to the full scale
nikapov	0:704c89673b57	714	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	715	*/
nikapov	0:704c89673b57	716	int LSM6DSLSensor::get_x_fs(float* fullScale)
nikapov	0:704c89673b57	717	{
nikapov	0:704c89673b57	718	LSM6DSL_ACC_GYRO_FS_XL_t fs_low_level;
nikapov	0:704c89673b57	719
nikapov	0:704c89673b57	720	if ( LSM6DSL_ACC_GYRO_R_FS_XL( (void *)this, &fs_low_level ) == MEMS_ERROR )
nikapov	0:704c89673b57	721	{
nikapov	0:704c89673b57	722	return 1;
nikapov	0:704c89673b57	723	}
nikapov	0:704c89673b57	724
nikapov	0:704c89673b57	725	switch( fs_low_level )
nikapov	0:704c89673b57	726	{
nikapov	0:704c89673b57	727	case LSM6DSL_ACC_GYRO_FS_XL_2g:
nikapov	0:704c89673b57	728	*fullScale = 2.0f;
nikapov	0:704c89673b57	729	break;
nikapov	0:704c89673b57	730	case LSM6DSL_ACC_GYRO_FS_XL_4g:
nikapov	0:704c89673b57	731	*fullScale = 4.0f;
nikapov	0:704c89673b57	732	break;
nikapov	0:704c89673b57	733	case LSM6DSL_ACC_GYRO_FS_XL_8g:
nikapov	0:704c89673b57	734	*fullScale = 8.0f;
nikapov	0:704c89673b57	735	break;
nikapov	0:704c89673b57	736	case LSM6DSL_ACC_GYRO_FS_XL_16g:
nikapov	0:704c89673b57	737	*fullScale = 16.0f;
nikapov	0:704c89673b57	738	break;
nikapov	0:704c89673b57	739	default:
nikapov	0:704c89673b57	740	*fullScale = -1.0f;
nikapov	0:704c89673b57	741	return 1;
nikapov	0:704c89673b57	742	}
nikapov	0:704c89673b57	743
nikapov	0:704c89673b57	744	return 0;
nikapov	0:704c89673b57	745	}
nikapov	0:704c89673b57	746
nikapov	0:704c89673b57	747	/**
nikapov	0:704c89673b57	748	* @brief Read LSM6DSL Gyroscope full scale
nikapov	0:704c89673b57	749	* @param fullScale the pointer to the full scale
nikapov	0:704c89673b57	750	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	751	*/
nikapov	0:704c89673b57	752	int LSM6DSLSensor::get_g_fs(float* fullScale)
nikapov	0:704c89673b57	753	{
nikapov	0:704c89673b57	754	LSM6DSL_ACC_GYRO_FS_G_t fs_low_level;
nikapov	0:704c89673b57	755	LSM6DSL_ACC_GYRO_FS_125_t fs_125;
nikapov	0:704c89673b57	756
nikapov	0:704c89673b57	757	if ( LSM6DSL_ACC_GYRO_R_FS_125( (void *)this, &fs_125 ) == MEMS_ERROR )
nikapov	0:704c89673b57	758	{
nikapov	0:704c89673b57	759	return 1;
nikapov	0:704c89673b57	760	}
nikapov	0:704c89673b57	761	if ( LSM6DSL_ACC_GYRO_R_FS_G( (void *)this, &fs_low_level ) == MEMS_ERROR )
nikapov	0:704c89673b57	762	{
nikapov	0:704c89673b57	763	return 1;
nikapov	0:704c89673b57	764	}
nikapov	0:704c89673b57	765
nikapov	0:704c89673b57	766	if ( fs_125 == LSM6DSL_ACC_GYRO_FS_125_ENABLED )
nikapov	0:704c89673b57	767	{
nikapov	0:704c89673b57	768	*fullScale = 125.0f;
nikapov	0:704c89673b57	769	}
nikapov	0:704c89673b57	770
nikapov	0:704c89673b57	771	else
nikapov	0:704c89673b57	772	{
nikapov	0:704c89673b57	773	switch( fs_low_level )
nikapov	0:704c89673b57	774	{
nikapov	0:704c89673b57	775	case LSM6DSL_ACC_GYRO_FS_G_245dps:
nikapov	0:704c89673b57	776	*fullScale = 245.0f;
nikapov	0:704c89673b57	777	break;
nikapov	0:704c89673b57	778	case LSM6DSL_ACC_GYRO_FS_G_500dps:
nikapov	0:704c89673b57	779	*fullScale = 500.0f;
nikapov	0:704c89673b57	780	break;
nikapov	0:704c89673b57	781	case LSM6DSL_ACC_GYRO_FS_G_1000dps:
nikapov	0:704c89673b57	782	*fullScale = 1000.0f;
nikapov	0:704c89673b57	783	break;
nikapov	0:704c89673b57	784	case LSM6DSL_ACC_GYRO_FS_G_2000dps:
nikapov	0:704c89673b57	785	*fullScale = 2000.0f;
nikapov	0:704c89673b57	786	break;
nikapov	0:704c89673b57	787	default:
nikapov	0:704c89673b57	788	*fullScale = -1.0f;
nikapov	0:704c89673b57	789	return 1;
nikapov	0:704c89673b57	790	}
nikapov	0:704c89673b57	791	}
nikapov	0:704c89673b57	792
nikapov	0:704c89673b57	793	return 0;
nikapov	0:704c89673b57	794	}
nikapov	0:704c89673b57	795
nikapov	0:704c89673b57	796	/**
nikapov	0:704c89673b57	797	* @brief Set LSM6DSL Accelerometer full scale
nikapov	0:704c89673b57	798	* @param fullScale the full scale to be set
nikapov	0:704c89673b57	799	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	800	*/
nikapov	0:704c89673b57	801	int LSM6DSLSensor::set_x_fs(float fullScale)
nikapov	0:704c89673b57	802	{
nikapov	0:704c89673b57	803	LSM6DSL_ACC_GYRO_FS_XL_t new_fs;
nikapov	0:704c89673b57	804
nikapov	0:704c89673b57	805	new_fs = ( fullScale <= 2.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_2g
nikapov	0:704c89673b57	806	: ( fullScale <= 4.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_4g
nikapov	0:704c89673b57	807	: ( fullScale <= 8.0f ) ? LSM6DSL_ACC_GYRO_FS_XL_8g
nikapov	0:704c89673b57	808	: LSM6DSL_ACC_GYRO_FS_XL_16g;
nikapov	0:704c89673b57	809
nikapov	0:704c89673b57	810	if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, new_fs ) == MEMS_ERROR )
nikapov	0:704c89673b57	811	{
nikapov	0:704c89673b57	812	return 1;
nikapov	0:704c89673b57	813	}
nikapov	0:704c89673b57	814
nikapov	0:704c89673b57	815	return 0;
nikapov	0:704c89673b57	816	}
nikapov	0:704c89673b57	817
nikapov	0:704c89673b57	818	/**
nikapov	0:704c89673b57	819	* @brief Set LSM6DSL Gyroscope full scale
nikapov	0:704c89673b57	820	* @param fullScale the full scale to be set
nikapov	0:704c89673b57	821	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	822	*/
nikapov	0:704c89673b57	823	int LSM6DSLSensor::set_g_fs(float fullScale)
nikapov	0:704c89673b57	824	{
nikapov	0:704c89673b57	825	LSM6DSL_ACC_GYRO_FS_G_t new_fs;
nikapov	0:704c89673b57	826
nikapov	0:704c89673b57	827	if ( fullScale <= 125.0f )
nikapov	0:704c89673b57	828	{
nikapov	0:704c89673b57	829	if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	830	{
nikapov	0:704c89673b57	831	return 1;
nikapov	0:704c89673b57	832	}
nikapov	0:704c89673b57	833	}
nikapov	0:704c89673b57	834	else
nikapov	0:704c89673b57	835	{
nikapov	0:704c89673b57	836	new_fs = ( fullScale <= 245.0f ) ? LSM6DSL_ACC_GYRO_FS_G_245dps
nikapov	0:704c89673b57	837	: ( fullScale <= 500.0f ) ? LSM6DSL_ACC_GYRO_FS_G_500dps
nikapov	0:704c89673b57	838	: ( fullScale <= 1000.0f ) ? LSM6DSL_ACC_GYRO_FS_G_1000dps
nikapov	0:704c89673b57	839	: LSM6DSL_ACC_GYRO_FS_G_2000dps;
nikapov	0:704c89673b57	840
nikapov	0:704c89673b57	841	if ( LSM6DSL_ACC_GYRO_W_FS_125( (void *)this, LSM6DSL_ACC_GYRO_FS_125_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	842	{
nikapov	0:704c89673b57	843	return 1;
nikapov	0:704c89673b57	844	}
nikapov	0:704c89673b57	845	if ( LSM6DSL_ACC_GYRO_W_FS_G( (void *)this, new_fs ) == MEMS_ERROR )
nikapov	0:704c89673b57	846	{
nikapov	0:704c89673b57	847	return 1;
nikapov	0:704c89673b57	848	}
nikapov	0:704c89673b57	849	}
nikapov	0:704c89673b57	850
nikapov	0:704c89673b57	851	return 0;
nikapov	0:704c89673b57	852	}
nikapov	0:704c89673b57	853
nikapov	0:704c89673b57	854	/**
nikapov	0:704c89673b57	855	* @brief Enable free fall detection
nikapov	0:704c89673b57	856	* @param pin the interrupt pin to be used
nikapov	0:704c89673b57	857	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
nikapov	0:704c89673b57	858	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	859	*/
nikapov	0:704c89673b57	860	int LSM6DSLSensor::enable_free_fall_detection(LSM6DSL_Interrupt_Pin_t pin)
nikapov	0:704c89673b57	861	{
nikapov	0:704c89673b57	862	/* Output Data Rate selection */
nikapov	0:704c89673b57	863	if(set_x_odr(416.0f) == 1)
nikapov	0:704c89673b57	864	{
nikapov	0:704c89673b57	865	return 1;
nikapov	0:704c89673b57	866	}
nikapov	0:704c89673b57	867
nikapov	0:704c89673b57	868	/* Full scale selection */
nikapov	0:704c89673b57	869	if ( LSM6DSL_ACC_GYRO_W_FS_XL( (void *)this, LSM6DSL_ACC_GYRO_FS_XL_2g ) == MEMS_ERROR )
nikapov	0:704c89673b57	870	{
nikapov	0:704c89673b57	871	return 1;
nikapov	0:704c89673b57	872	}
nikapov	0:704c89673b57	873
nikapov	0:704c89673b57	874	/* FF_DUR setting */
nikapov	0:704c89673b57	875	if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x06 ) == MEMS_ERROR )
nikapov	0:704c89673b57	876	{
nikapov	0:704c89673b57	877	return 1;
nikapov	0:704c89673b57	878	}
nikapov	0:704c89673b57	879
nikapov	0:704c89673b57	880	/* WAKE_DUR setting */
nikapov	0:704c89673b57	881	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
nikapov	0:704c89673b57	882	{
nikapov	0:704c89673b57	883	return 1;
nikapov	0:704c89673b57	884	}
nikapov	0:704c89673b57	885
nikapov	0:704c89673b57	886	/* TIMER_HR setting */
nikapov	0:704c89673b57	887	if ( LSM6DSL_ACC_GYRO_W_TIMER_HR( (void *)this, LSM6DSL_ACC_GYRO_TIMER_HR_6_4ms ) == MEMS_ERROR )
nikapov	0:704c89673b57	888	{
nikapov	0:704c89673b57	889	return 1;
nikapov	0:704c89673b57	890	}
nikapov	0:704c89673b57	891
nikapov	0:704c89673b57	892	/* SLEEP_DUR setting */
nikapov	0:704c89673b57	893	if ( LSM6DSL_ACC_GYRO_W_SLEEP_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
nikapov	0:704c89673b57	894	{
nikapov	0:704c89673b57	895	return 1;
nikapov	0:704c89673b57	896	}
nikapov	0:704c89673b57	897
nikapov	0:704c89673b57	898	/* FF_THS setting */
nikapov	0:704c89673b57	899	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_312mg ) == MEMS_ERROR )
nikapov	0:704c89673b57	900	{
nikapov	0:704c89673b57	901	return 1;
nikapov	0:704c89673b57	902	}
nikapov	0:704c89673b57	903
nikapov	0:704c89673b57	904	/* Enable basic Interrupts */
nikapov	0:704c89673b57	905	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	906	{
nikapov	0:704c89673b57	907	return 1;
nikapov	0:704c89673b57	908	}
nikapov	0:704c89673b57	909
nikapov	0:704c89673b57	910	/* Enable free fall event on either INT1 or INT2 pin */
nikapov	0:704c89673b57	911	switch (pin)
nikapov	0:704c89673b57	912	{
nikapov	0:704c89673b57	913	case LSM6DSL_INT1_PIN:
nikapov	0:704c89673b57	914	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	915	{
nikapov	0:704c89673b57	916	return 1;
nikapov	0:704c89673b57	917	}
nikapov	0:704c89673b57	918	break;
nikapov	0:704c89673b57	919
nikapov	0:704c89673b57	920	case LSM6DSL_INT2_PIN:
nikapov	0:704c89673b57	921	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_FF_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	922	{
nikapov	0:704c89673b57	923	return 1;
nikapov	0:704c89673b57	924	}
nikapov	0:704c89673b57	925	break;
nikapov	0:704c89673b57	926
nikapov	0:704c89673b57	927	default:
nikapov	0:704c89673b57	928	return 1;
nikapov	0:704c89673b57	929	}
nikapov	0:704c89673b57	930
nikapov	0:704c89673b57	931	return 0;
nikapov	0:704c89673b57	932	}
nikapov	0:704c89673b57	933
nikapov	0:704c89673b57	934	/**
nikapov	0:704c89673b57	935	* @brief Disable free fall detection
nikapov	0:704c89673b57	936	* @param None
nikapov	0:704c89673b57	937	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	938	*/
nikapov	0:704c89673b57	939	int LSM6DSLSensor::disable_free_fall_detection(void)
nikapov	0:704c89673b57	940	{
nikapov	0:704c89673b57	941	/* Disable free fall event on INT1 pin */
nikapov	0:704c89673b57	942	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	943	{
nikapov	0:704c89673b57	944	return 1;
nikapov	0:704c89673b57	945	}
nikapov	0:704c89673b57	946
nikapov	0:704c89673b57	947	/* Disable free fall event on INT2 pin */
nikapov	0:704c89673b57	948	if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_FF_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	949	{
nikapov	0:704c89673b57	950	return 1;
nikapov	0:704c89673b57	951	}
nikapov	0:704c89673b57	952
nikapov	0:704c89673b57	953	/* Disable basic Interrupts */
nikapov	0:704c89673b57	954	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	955	{
nikapov	0:704c89673b57	956	return 1;
nikapov	0:704c89673b57	957	}
nikapov	0:704c89673b57	958
nikapov	0:704c89673b57	959	/* FF_DUR setting */
nikapov	0:704c89673b57	960	if ( LSM6DSL_ACC_GYRO_W_FF_Duration( (void *)this, 0x00 ) == MEMS_ERROR )
nikapov	0:704c89673b57	961	{
nikapov	0:704c89673b57	962	return 1;
nikapov	0:704c89673b57	963	}
nikapov	0:704c89673b57	964
nikapov	0:704c89673b57	965	/* FF_THS setting */
nikapov	0:704c89673b57	966	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, LSM6DSL_ACC_GYRO_FF_THS_156mg ) == MEMS_ERROR )
nikapov	0:704c89673b57	967	{
nikapov	0:704c89673b57	968	return 1;
nikapov	0:704c89673b57	969	}
nikapov	0:704c89673b57	970
nikapov	0:704c89673b57	971	return 0;
nikapov	0:704c89673b57	972	}
nikapov	0:704c89673b57	973
nikapov	0:704c89673b57	974	/**
nikapov	0:704c89673b57	975	* @brief Set the free fall detection threshold for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	976	* @param thr the threshold to be set
nikapov	0:704c89673b57	977	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	978	*/
nikapov	0:704c89673b57	979	int LSM6DSLSensor::set_free_fall_threshold(uint8_t thr)
nikapov	0:704c89673b57	980	{
nikapov	0:704c89673b57	981
nikapov	0:704c89673b57	982	if ( LSM6DSL_ACC_GYRO_W_FF_THS( (void *)this, (LSM6DSL_ACC_GYRO_FF_THS_t)thr ) == MEMS_ERROR )
nikapov	0:704c89673b57	983	{
nikapov	0:704c89673b57	984	return 1;
nikapov	0:704c89673b57	985	}
nikapov	0:704c89673b57	986
nikapov	0:704c89673b57	987	return 0;
nikapov	0:704c89673b57	988	}
nikapov	0:704c89673b57	989
nikapov	0:704c89673b57	990	/**
nikapov	0:704c89673b57	991	* @brief Enable the pedometer feature for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	992	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
nikapov	0:704c89673b57	993	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	994	*/
nikapov	0:704c89673b57	995	int LSM6DSLSensor::enable_pedometer(void)
nikapov	0:704c89673b57	996	{
nikapov	0:704c89673b57	997	/* Output Data Rate selection */
nikapov	0:704c89673b57	998	if( set_x_odr(26.0f) == 1 )
nikapov	0:704c89673b57	999	{
nikapov	0:704c89673b57	1000	return 1;
nikapov	0:704c89673b57	1001	}
nikapov	0:704c89673b57	1002
nikapov	0:704c89673b57	1003	/* Full scale selection. */
nikapov	0:704c89673b57	1004	if( set_x_fs(2.0f) == 1 )
nikapov	0:704c89673b57	1005	{
nikapov	0:704c89673b57	1006	return 1;
nikapov	0:704c89673b57	1007	}
nikapov	0:704c89673b57	1008
nikapov	0:704c89673b57	1009	/* Set pedometer threshold. */
nikapov	0:704c89673b57	1010	if ( set_pedometer_threshold(LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH) == 1 )
nikapov	0:704c89673b57	1011	{
nikapov	0:704c89673b57	1012	return 1;
nikapov	0:704c89673b57	1013	}
nikapov	0:704c89673b57	1014
nikapov	0:704c89673b57	1015	/* Enable embedded functionalities. */
nikapov	0:704c89673b57	1016	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1017	{
nikapov	0:704c89673b57	1018	return 1;
nikapov	0:704c89673b57	1019	}
nikapov	0:704c89673b57	1020
nikapov	0:704c89673b57	1021	/* Enable pedometer algorithm. */
nikapov	0:704c89673b57	1022	if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1023	{
nikapov	0:704c89673b57	1024	return 1;
nikapov	0:704c89673b57	1025	}
nikapov	0:704c89673b57	1026
nikapov	0:704c89673b57	1027	/* Enable pedometer on INT1. */
nikapov	0:704c89673b57	1028	if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1029	{
nikapov	0:704c89673b57	1030	return 1;
nikapov	0:704c89673b57	1031	}
nikapov	0:704c89673b57	1032
nikapov	0:704c89673b57	1033	return 0;
nikapov	0:704c89673b57	1034	}
nikapov	0:704c89673b57	1035
nikapov	0:704c89673b57	1036	/**
nikapov	0:704c89673b57	1037	* @brief Disable the pedometer feature for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1038	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1039	*/
nikapov	0:704c89673b57	1040	int LSM6DSLSensor::disable_pedometer(void)
nikapov	0:704c89673b57	1041	{
nikapov	0:704c89673b57	1042	/* Disable pedometer on INT1. */
nikapov	0:704c89673b57	1043	if ( LSM6DSL_ACC_GYRO_W_STEP_DET_on_INT1( (void *)this, LSM6DSL_ACC_GYRO_INT1_PEDO_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1044	{
nikapov	0:704c89673b57	1045	return 1;
nikapov	0:704c89673b57	1046	}
nikapov	0:704c89673b57	1047
nikapov	0:704c89673b57	1048	/* Disable pedometer algorithm. */
nikapov	0:704c89673b57	1049	if ( LSM6DSL_ACC_GYRO_W_PEDO( (void *)this, LSM6DSL_ACC_GYRO_PEDO_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1050	{
nikapov	0:704c89673b57	1051	return 1;
nikapov	0:704c89673b57	1052	}
nikapov	0:704c89673b57	1053
nikapov	0:704c89673b57	1054	/* Disable embedded functionalities. */
nikapov	0:704c89673b57	1055	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1056	{
nikapov	0:704c89673b57	1057	return 1;
nikapov	0:704c89673b57	1058	}
nikapov	0:704c89673b57	1059
nikapov	0:704c89673b57	1060	/* Reset pedometer threshold. */
nikapov	0:704c89673b57	1061	if ( set_pedometer_threshold(0x0) == 1 )
nikapov	0:704c89673b57	1062	{
nikapov	0:704c89673b57	1063	return 1;
nikapov	0:704c89673b57	1064	}
nikapov	0:704c89673b57	1065
nikapov	0:704c89673b57	1066	return 0;
nikapov	0:704c89673b57	1067	}
nikapov	0:704c89673b57	1068
nikapov	0:704c89673b57	1069	/**
nikapov	0:704c89673b57	1070	* @brief Get the step counter for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1071	* @param step_count the pointer to the step counter
nikapov	0:704c89673b57	1072	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1073	*/
nikapov	0:704c89673b57	1074	int LSM6DSLSensor::get_step_counter(uint16_t *step_count)
nikapov	0:704c89673b57	1075	{
nikapov	0:704c89673b57	1076	if ( LSM6DSL_ACC_GYRO_Get_GetStepCounter( (void )this, ( uint8_t )step_count ) == MEMS_ERROR )
nikapov	0:704c89673b57	1077	{
nikapov	0:704c89673b57	1078	return 1;
nikapov	0:704c89673b57	1079	}
nikapov	0:704c89673b57	1080
nikapov	0:704c89673b57	1081	return 0;
nikapov	0:704c89673b57	1082	}
nikapov	0:704c89673b57	1083
nikapov	0:704c89673b57	1084	/**
nikapov	0:704c89673b57	1085	* @brief Reset of the step counter for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1086	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1087	*/
nikapov	0:704c89673b57	1088	int LSM6DSLSensor::reset_step_counter(void)
nikapov	0:704c89673b57	1089	{
nikapov	0:704c89673b57	1090	if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1091	{
nikapov	0:704c89673b57	1092	return 1;
nikapov	0:704c89673b57	1093	}
nikapov	0:704c89673b57	1094
nikapov	0:704c89673b57	1095	wait_ms(10);
nikapov	0:704c89673b57	1096
nikapov	0:704c89673b57	1097	if ( LSM6DSL_ACC_GYRO_W_PedoStepReset( (void *)this, LSM6DSL_ACC_GYRO_PEDO_RST_STEP_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1098	{
nikapov	0:704c89673b57	1099	return 1;
nikapov	0:704c89673b57	1100	}
nikapov	0:704c89673b57	1101
nikapov	0:704c89673b57	1102	return 0;
nikapov	0:704c89673b57	1103	}
nikapov	0:704c89673b57	1104
nikapov	0:704c89673b57	1105	/**
nikapov	0:704c89673b57	1106	* @brief Set the pedometer threshold for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1107	* @param thr the threshold to be set
nikapov	0:704c89673b57	1108	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1109	*/
nikapov	0:704c89673b57	1110	int LSM6DSLSensor::set_pedometer_threshold(uint8_t thr)
nikapov	0:704c89673b57	1111	{
nikapov	0:704c89673b57	1112	if ( LSM6DSL_ACC_GYRO_W_PedoThreshold( (void *)this, thr ) == MEMS_ERROR )
nikapov	0:704c89673b57	1113	{
nikapov	0:704c89673b57	1114	return 1;
nikapov	0:704c89673b57	1115	}
nikapov	0:704c89673b57	1116
nikapov	0:704c89673b57	1117	return 0;
nikapov	0:704c89673b57	1118	}
nikapov	0:704c89673b57	1119
nikapov	0:704c89673b57	1120	/**
nikapov	0:704c89673b57	1121	* @brief Enable the tilt detection for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1122	* @param pin the interrupt pin to be used
nikapov	0:704c89673b57	1123	* @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
nikapov	0:704c89673b57	1124	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1125	*/
nikapov	0:704c89673b57	1126	int LSM6DSLSensor::enable_tilt_detection(LSM6DSL_Interrupt_Pin_t pin)
nikapov	0:704c89673b57	1127	{
nikapov	0:704c89673b57	1128	/* Output Data Rate selection */
nikapov	0:704c89673b57	1129	if( set_x_odr(26.0f) == 1 )
nikapov	0:704c89673b57	1130	{
nikapov	0:704c89673b57	1131	return 1;
nikapov	0:704c89673b57	1132	}
nikapov	0:704c89673b57	1133
nikapov	0:704c89673b57	1134	/* Full scale selection. */
nikapov	0:704c89673b57	1135	if( set_x_fs(2.0f) == 1 )
nikapov	0:704c89673b57	1136	{
nikapov	0:704c89673b57	1137	return 1;
nikapov	0:704c89673b57	1138	}
nikapov	0:704c89673b57	1139
nikapov	0:704c89673b57	1140	/* Enable embedded functionalities */
nikapov	0:704c89673b57	1141	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1142	{
nikapov	0:704c89673b57	1143	return 1;
nikapov	0:704c89673b57	1144	}
nikapov	0:704c89673b57	1145
nikapov	0:704c89673b57	1146	/* Enable tilt calculation. */
nikapov	0:704c89673b57	1147	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1148	{
nikapov	0:704c89673b57	1149	return 1;
nikapov	0:704c89673b57	1150	}
nikapov	0:704c89673b57	1151
nikapov	0:704c89673b57	1152	/* Enable tilt detection on either INT1 or INT2 pin */
nikapov	0:704c89673b57	1153	switch (pin)
nikapov	0:704c89673b57	1154	{
nikapov	0:704c89673b57	1155	case LSM6DSL_INT1_PIN:
nikapov	0:704c89673b57	1156	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1157	{
nikapov	0:704c89673b57	1158	return 1;
nikapov	0:704c89673b57	1159	}
nikapov	0:704c89673b57	1160	break;
nikapov	0:704c89673b57	1161
nikapov	0:704c89673b57	1162	case LSM6DSL_INT2_PIN:
nikapov	0:704c89673b57	1163	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TILT_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1164	{
nikapov	0:704c89673b57	1165	return 1;
nikapov	0:704c89673b57	1166	}
nikapov	0:704c89673b57	1167	break;
nikapov	0:704c89673b57	1168
nikapov	0:704c89673b57	1169	default:
nikapov	0:704c89673b57	1170	return 1;
nikapov	0:704c89673b57	1171	}
nikapov	0:704c89673b57	1172
nikapov	0:704c89673b57	1173	return 0;
nikapov	0:704c89673b57	1174	}
nikapov	0:704c89673b57	1175
nikapov	0:704c89673b57	1176	/**
nikapov	0:704c89673b57	1177	* @brief Disable the tilt detection for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1178	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1179	*/
nikapov	0:704c89673b57	1180	int LSM6DSLSensor::disable_tilt_detection(void)
nikapov	0:704c89673b57	1181	{
nikapov	0:704c89673b57	1182	/* Disable tilt event on INT1. */
nikapov	0:704c89673b57	1183	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1184	{
nikapov	0:704c89673b57	1185	return 1;
nikapov	0:704c89673b57	1186	}
nikapov	0:704c89673b57	1187
nikapov	0:704c89673b57	1188	/* Disable tilt event on INT2. */
nikapov	0:704c89673b57	1189	if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TILT_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1190	{
nikapov	0:704c89673b57	1191	return 1;
nikapov	0:704c89673b57	1192	}
nikapov	0:704c89673b57	1193
nikapov	0:704c89673b57	1194	/* Disable tilt calculation. */
nikapov	0:704c89673b57	1195	if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1196	{
nikapov	0:704c89673b57	1197	return 1;
nikapov	0:704c89673b57	1198	}
nikapov	0:704c89673b57	1199
nikapov	0:704c89673b57	1200	/* Disable embedded functionalities */
nikapov	0:704c89673b57	1201	if ( LSM6DSL_ACC_GYRO_W_FUNC_EN( (void *)this, LSM6DSL_ACC_GYRO_FUNC_EN_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1202	{
nikapov	0:704c89673b57	1203	return 1;
nikapov	0:704c89673b57	1204	}
nikapov	0:704c89673b57	1205
nikapov	0:704c89673b57	1206	return 0;
nikapov	0:704c89673b57	1207	}
nikapov	0:704c89673b57	1208
nikapov	0:704c89673b57	1209	/**
nikapov	0:704c89673b57	1210	* @brief Enable the wake up detection for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1211	* @param pin the interrupt pin to be used
nikapov	0:704c89673b57	1212	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
nikapov	0:704c89673b57	1213	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1214	*/
nikapov	0:704c89673b57	1215	int LSM6DSLSensor::enable_wake_up_detection(LSM6DSL_Interrupt_Pin_t pin)
nikapov	0:704c89673b57	1216	{
nikapov	0:704c89673b57	1217	/* Output Data Rate selection */
nikapov	0:704c89673b57	1218	if( set_x_odr(416.0f) == 1 )
nikapov	0:704c89673b57	1219	{
nikapov	0:704c89673b57	1220	return 1;
nikapov	0:704c89673b57	1221	}
nikapov	0:704c89673b57	1222
nikapov	0:704c89673b57	1223	/* Full scale selection. */
nikapov	0:704c89673b57	1224	if( set_x_fs(2.0f) == 1 )
nikapov	0:704c89673b57	1225	{
nikapov	0:704c89673b57	1226	return 1;
nikapov	0:704c89673b57	1227	}
nikapov	0:704c89673b57	1228
nikapov	0:704c89673b57	1229	/* WAKE_DUR setting */
nikapov	0:704c89673b57	1230	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
nikapov	0:704c89673b57	1231	{
nikapov	0:704c89673b57	1232	return 1;
nikapov	0:704c89673b57	1233	}
nikapov	0:704c89673b57	1234
nikapov	0:704c89673b57	1235	/* Set wake up threshold. */
nikapov	0:704c89673b57	1236	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x02 ) == MEMS_ERROR )
nikapov	0:704c89673b57	1237	{
nikapov	0:704c89673b57	1238	return 1;
nikapov	0:704c89673b57	1239	}
nikapov	0:704c89673b57	1240
nikapov	0:704c89673b57	1241	/* Enable basic Interrupts */
nikapov	0:704c89673b57	1242	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1243	{
nikapov	0:704c89673b57	1244	return 1;
nikapov	0:704c89673b57	1245	}
nikapov	0:704c89673b57	1246
nikapov	0:704c89673b57	1247	/* Enable wake up detection on either INT1 or INT2 pin */
nikapov	0:704c89673b57	1248	switch (pin)
nikapov	0:704c89673b57	1249	{
nikapov	0:704c89673b57	1250	case LSM6DSL_INT1_PIN:
nikapov	0:704c89673b57	1251	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1252	{
nikapov	0:704c89673b57	1253	return 1;
nikapov	0:704c89673b57	1254	}
nikapov	0:704c89673b57	1255	break;
nikapov	0:704c89673b57	1256
nikapov	0:704c89673b57	1257	case LSM6DSL_INT2_PIN:
nikapov	0:704c89673b57	1258	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1259	{
nikapov	0:704c89673b57	1260	return 1;
nikapov	0:704c89673b57	1261	}
nikapov	0:704c89673b57	1262	break;
nikapov	0:704c89673b57	1263
nikapov	0:704c89673b57	1264	default:
nikapov	0:704c89673b57	1265	return 1;
nikapov	0:704c89673b57	1266	}
nikapov	0:704c89673b57	1267
nikapov	0:704c89673b57	1268	return 0;
nikapov	0:704c89673b57	1269	}
nikapov	0:704c89673b57	1270
nikapov	0:704c89673b57	1271	/**
nikapov	0:704c89673b57	1272	* @brief Disable the wake up detection for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1273	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1274	*/
nikapov	0:704c89673b57	1275	int LSM6DSLSensor::disable_wake_up_detection(void)
nikapov	0:704c89673b57	1276	{
nikapov	0:704c89673b57	1277	/* Disable wake up event on INT1 */
nikapov	0:704c89673b57	1278	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1279	{
nikapov	0:704c89673b57	1280	return 1;
nikapov	0:704c89673b57	1281	}
nikapov	0:704c89673b57	1282
nikapov	0:704c89673b57	1283	/* Disable wake up event on INT2 */
nikapov	0:704c89673b57	1284	if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1285	{
nikapov	0:704c89673b57	1286	return 1;
nikapov	0:704c89673b57	1287	}
nikapov	0:704c89673b57	1288
nikapov	0:704c89673b57	1289	/* Disable basic Interrupts */
nikapov	0:704c89673b57	1290	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1291	{
nikapov	0:704c89673b57	1292	return 1;
nikapov	0:704c89673b57	1293	}
nikapov	0:704c89673b57	1294
nikapov	0:704c89673b57	1295	/* WU_DUR setting */
nikapov	0:704c89673b57	1296	if ( LSM6DSL_ACC_GYRO_W_WAKE_DUR( (void *)this, 0x00 ) == MEMS_ERROR )
nikapov	0:704c89673b57	1297	{
nikapov	0:704c89673b57	1298	return 1;
nikapov	0:704c89673b57	1299	}
nikapov	0:704c89673b57	1300
nikapov	0:704c89673b57	1301	/* WU_THS setting */
nikapov	0:704c89673b57	1302	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, 0x00 ) == MEMS_ERROR )
nikapov	0:704c89673b57	1303	{
nikapov	0:704c89673b57	1304	return 1;
nikapov	0:704c89673b57	1305	}
nikapov	0:704c89673b57	1306
nikapov	0:704c89673b57	1307	return 0;
nikapov	0:704c89673b57	1308	}
nikapov	0:704c89673b57	1309
nikapov	0:704c89673b57	1310	/**
nikapov	0:704c89673b57	1311	* @brief Set the wake up threshold for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1312	* @param thr the threshold to be set
nikapov	0:704c89673b57	1313	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1314	*/
nikapov	0:704c89673b57	1315	int LSM6DSLSensor::set_wake_up_threshold(uint8_t thr)
nikapov	0:704c89673b57	1316	{
nikapov	0:704c89673b57	1317	if ( LSM6DSL_ACC_GYRO_W_WK_THS( (void *)this, thr ) == MEMS_ERROR )
nikapov	0:704c89673b57	1318	{
nikapov	0:704c89673b57	1319	return 1;
nikapov	0:704c89673b57	1320	}
nikapov	0:704c89673b57	1321
nikapov	0:704c89673b57	1322	return 0;
nikapov	0:704c89673b57	1323	}
nikapov	0:704c89673b57	1324
nikapov	0:704c89673b57	1325	/**
nikapov	0:704c89673b57	1326	* @brief Enable the single tap detection for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1327	* @param pin the interrupt pin to be used
nikapov	0:704c89673b57	1328	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
nikapov	0:704c89673b57	1329	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1330	*/
nikapov	0:704c89673b57	1331	int LSM6DSLSensor::enable_single_tap_detection(LSM6DSL_Interrupt_Pin_t pin)
nikapov	0:704c89673b57	1332	{
nikapov	0:704c89673b57	1333	/* Output Data Rate selection */
nikapov	0:704c89673b57	1334	if( set_x_odr(416.0f) == 1 )
nikapov	0:704c89673b57	1335	{
nikapov	0:704c89673b57	1336	return 1;
nikapov	0:704c89673b57	1337	}
nikapov	0:704c89673b57	1338
nikapov	0:704c89673b57	1339	/* Full scale selection. */
nikapov	0:704c89673b57	1340	if( set_x_fs(2.0f) == 1 )
nikapov	0:704c89673b57	1341	{
nikapov	0:704c89673b57	1342	return 1;
nikapov	0:704c89673b57	1343	}
nikapov	0:704c89673b57	1344
nikapov	0:704c89673b57	1345	/* Enable X direction in tap recognition. */
nikapov	0:704c89673b57	1346	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1347	{
nikapov	0:704c89673b57	1348	return 1;
nikapov	0:704c89673b57	1349	}
nikapov	0:704c89673b57	1350
nikapov	0:704c89673b57	1351	/* Enable Y direction in tap recognition. */
nikapov	0:704c89673b57	1352	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1353	{
nikapov	0:704c89673b57	1354	return 1;
nikapov	0:704c89673b57	1355	}
nikapov	0:704c89673b57	1356
nikapov	0:704c89673b57	1357	/* Enable Z direction in tap recognition. */
nikapov	0:704c89673b57	1358	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1359	{
nikapov	0:704c89673b57	1360	return 1;
nikapov	0:704c89673b57	1361	}
nikapov	0:704c89673b57	1362
nikapov	0:704c89673b57	1363	/* Set tap threshold. */
nikapov	0:704c89673b57	1364	if ( set_tap_threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
nikapov	0:704c89673b57	1365	{
nikapov	0:704c89673b57	1366	return 1;
nikapov	0:704c89673b57	1367	}
nikapov	0:704c89673b57	1368
nikapov	0:704c89673b57	1369	/* Set tap shock time window. */
nikapov	0:704c89673b57	1370	if ( set_tap_shock_time( LSM6DSL_TAP_SHOCK_TIME_MID_HIGH ) == 1 )
nikapov	0:704c89673b57	1371	{
nikapov	0:704c89673b57	1372	return 1;
nikapov	0:704c89673b57	1373	}
nikapov	0:704c89673b57	1374
nikapov	0:704c89673b57	1375	/* Set tap quiet time window. */
nikapov	0:704c89673b57	1376	if ( set_tap_quiet_time( LSM6DSL_TAP_QUIET_TIME_MID_LOW ) == 1 )
nikapov	0:704c89673b57	1377	{
nikapov	0:704c89673b57	1378	return 1;
nikapov	0:704c89673b57	1379	}
nikapov	0:704c89673b57	1380
nikapov	0:704c89673b57	1381	/* _NOTE_: Tap duration time window - don't care for single tap. */
nikapov	0:704c89673b57	1382
nikapov	0:704c89673b57	1383	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
nikapov	0:704c89673b57	1384
nikapov	0:704c89673b57	1385	/* Enable basic Interrupts */
nikapov	0:704c89673b57	1386	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1387	{
nikapov	0:704c89673b57	1388	return 1;
nikapov	0:704c89673b57	1389	}
nikapov	0:704c89673b57	1390
nikapov	0:704c89673b57	1391	/* Enable single tap on either INT1 or INT2 pin */
nikapov	0:704c89673b57	1392	switch (pin)
nikapov	0:704c89673b57	1393	{
nikapov	0:704c89673b57	1394	case LSM6DSL_INT1_PIN:
nikapov	0:704c89673b57	1395	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1396	{
nikapov	0:704c89673b57	1397	return 1;
nikapov	0:704c89673b57	1398	}
nikapov	0:704c89673b57	1399	break;
nikapov	0:704c89673b57	1400
nikapov	0:704c89673b57	1401	case LSM6DSL_INT2_PIN:
nikapov	0:704c89673b57	1402	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1403	{
nikapov	0:704c89673b57	1404	return 1;
nikapov	0:704c89673b57	1405	}
nikapov	0:704c89673b57	1406	break;
nikapov	0:704c89673b57	1407
nikapov	0:704c89673b57	1408	default:
nikapov	0:704c89673b57	1409	return 1;
nikapov	0:704c89673b57	1410	}
nikapov	0:704c89673b57	1411
nikapov	0:704c89673b57	1412	return 0;
nikapov	0:704c89673b57	1413	}
nikapov	0:704c89673b57	1414
nikapov	0:704c89673b57	1415	/**
nikapov	0:704c89673b57	1416	* @brief Disable the single tap detection for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1417	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1418	*/
nikapov	0:704c89673b57	1419	int LSM6DSLSensor::disable_single_tap_detection(void)
nikapov	0:704c89673b57	1420	{
nikapov	0:704c89673b57	1421	/* Disable single tap interrupt on INT1 pin. */
nikapov	0:704c89673b57	1422	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1423	{
nikapov	0:704c89673b57	1424	return 1;
nikapov	0:704c89673b57	1425	}
nikapov	0:704c89673b57	1426
nikapov	0:704c89673b57	1427	/* Disable single tap interrupt on INT2 pin. */
nikapov	0:704c89673b57	1428	if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1429	{
nikapov	0:704c89673b57	1430	return 1;
nikapov	0:704c89673b57	1431	}
nikapov	0:704c89673b57	1432
nikapov	0:704c89673b57	1433	/* Disable basic Interrupts */
nikapov	0:704c89673b57	1434	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1435	{
nikapov	0:704c89673b57	1436	return 1;
nikapov	0:704c89673b57	1437	}
nikapov	0:704c89673b57	1438
nikapov	0:704c89673b57	1439	/* Reset tap threshold. */
nikapov	0:704c89673b57	1440	if ( set_tap_threshold( 0x0 ) == 1 )
nikapov	0:704c89673b57	1441	{
nikapov	0:704c89673b57	1442	return 1;
nikapov	0:704c89673b57	1443	}
nikapov	0:704c89673b57	1444
nikapov	0:704c89673b57	1445	/* Reset tap shock time window. */
nikapov	0:704c89673b57	1446	if ( set_tap_shock_time( 0x0 ) == 1 )
nikapov	0:704c89673b57	1447	{
nikapov	0:704c89673b57	1448	return 1;
nikapov	0:704c89673b57	1449	}
nikapov	0:704c89673b57	1450
nikapov	0:704c89673b57	1451	/* Reset tap quiet time window. */
nikapov	0:704c89673b57	1452	if ( set_tap_quiet_time( 0x0 ) == 1 )
nikapov	0:704c89673b57	1453	{
nikapov	0:704c89673b57	1454	return 1;
nikapov	0:704c89673b57	1455	}
nikapov	0:704c89673b57	1456
nikapov	0:704c89673b57	1457	/* _NOTE_: Tap duration time window - don't care for single tap. */
nikapov	0:704c89673b57	1458
nikapov	0:704c89673b57	1459	/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
nikapov	0:704c89673b57	1460
nikapov	0:704c89673b57	1461	/* Disable Z direction in tap recognition. */
nikapov	0:704c89673b57	1462	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1463	{
nikapov	0:704c89673b57	1464	return 1;
nikapov	0:704c89673b57	1465	}
nikapov	0:704c89673b57	1466
nikapov	0:704c89673b57	1467	/* Disable Y direction in tap recognition. */
nikapov	0:704c89673b57	1468	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1469	{
nikapov	0:704c89673b57	1470	return 1;
nikapov	0:704c89673b57	1471	}
nikapov	0:704c89673b57	1472
nikapov	0:704c89673b57	1473	/* Disable X direction in tap recognition. */
nikapov	0:704c89673b57	1474	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1475	{
nikapov	0:704c89673b57	1476	return 1;
nikapov	0:704c89673b57	1477	}
nikapov	0:704c89673b57	1478
nikapov	0:704c89673b57	1479	return 0;
nikapov	0:704c89673b57	1480	}
nikapov	0:704c89673b57	1481
nikapov	0:704c89673b57	1482	/**
nikapov	0:704c89673b57	1483	* @brief Enable the double tap detection for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1484	* @param pin the interrupt pin to be used
nikapov	0:704c89673b57	1485	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
nikapov	0:704c89673b57	1486	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1487	*/
nikapov	0:704c89673b57	1488	int LSM6DSLSensor::enable_double_tap_detection(LSM6DSL_Interrupt_Pin_t pin)
nikapov	0:704c89673b57	1489	{
nikapov	0:704c89673b57	1490	/* Output Data Rate selection */
nikapov	0:704c89673b57	1491	if( set_x_odr(416.0f) == 1 )
nikapov	0:704c89673b57	1492	{
nikapov	0:704c89673b57	1493	return 1;
nikapov	0:704c89673b57	1494	}
nikapov	0:704c89673b57	1495
nikapov	0:704c89673b57	1496	/* Full scale selection. */
nikapov	0:704c89673b57	1497	if( set_x_fs(2.0f) == 1 )
nikapov	0:704c89673b57	1498	{
nikapov	0:704c89673b57	1499	return 1;
nikapov	0:704c89673b57	1500	}
nikapov	0:704c89673b57	1501
nikapov	0:704c89673b57	1502	/* Enable X direction in tap recognition. */
nikapov	0:704c89673b57	1503	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1504	{
nikapov	0:704c89673b57	1505	return 1;
nikapov	0:704c89673b57	1506	}
nikapov	0:704c89673b57	1507
nikapov	0:704c89673b57	1508	/* Enable Y direction in tap recognition. */
nikapov	0:704c89673b57	1509	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1510	{
nikapov	0:704c89673b57	1511	return 1;
nikapov	0:704c89673b57	1512	}
nikapov	0:704c89673b57	1513
nikapov	0:704c89673b57	1514	/* Enable Z direction in tap recognition. */
nikapov	0:704c89673b57	1515	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1516	{
nikapov	0:704c89673b57	1517	return 1;
nikapov	0:704c89673b57	1518	}
nikapov	0:704c89673b57	1519
nikapov	0:704c89673b57	1520	/* Set tap threshold. */
nikapov	0:704c89673b57	1521	if ( set_tap_threshold( LSM6DSL_TAP_THRESHOLD_MID_LOW ) == 1 )
nikapov	0:704c89673b57	1522	{
nikapov	0:704c89673b57	1523	return 1;
nikapov	0:704c89673b57	1524	}
nikapov	0:704c89673b57	1525
nikapov	0:704c89673b57	1526	/* Set tap shock time window. */
nikapov	0:704c89673b57	1527	if ( set_tap_shock_time( LSM6DSL_TAP_SHOCK_TIME_HIGH ) == 1 )
nikapov	0:704c89673b57	1528	{
nikapov	0:704c89673b57	1529	return 1;
nikapov	0:704c89673b57	1530	}
nikapov	0:704c89673b57	1531
nikapov	0:704c89673b57	1532	/* Set tap quiet time window. */
nikapov	0:704c89673b57	1533	if ( set_tap_quiet_time( LSM6DSL_TAP_QUIET_TIME_HIGH ) == 1 )
nikapov	0:704c89673b57	1534	{
nikapov	0:704c89673b57	1535	return 1;
nikapov	0:704c89673b57	1536	}
nikapov	0:704c89673b57	1537
nikapov	0:704c89673b57	1538	/* Set tap duration time window. */
nikapov	0:704c89673b57	1539	if ( set_tap_duration_time( LSM6DSL_TAP_DURATION_TIME_MID ) == 1 )
nikapov	0:704c89673b57	1540	{
nikapov	0:704c89673b57	1541	return 1;
nikapov	0:704c89673b57	1542	}
nikapov	0:704c89673b57	1543
nikapov	0:704c89673b57	1544	/* Single and double tap enabled. */
nikapov	0:704c89673b57	1545	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_DOUBLE_TAP ) == MEMS_ERROR )
nikapov	0:704c89673b57	1546	{
nikapov	0:704c89673b57	1547	return 1;
nikapov	0:704c89673b57	1548	}
nikapov	0:704c89673b57	1549
nikapov	0:704c89673b57	1550	/* Enable basic Interrupts */
nikapov	0:704c89673b57	1551	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1552	{
nikapov	0:704c89673b57	1553	return 1;
nikapov	0:704c89673b57	1554	}
nikapov	0:704c89673b57	1555
nikapov	0:704c89673b57	1556	/* Enable double tap on either INT1 or INT2 pin */
nikapov	0:704c89673b57	1557	switch (pin)
nikapov	0:704c89673b57	1558	{
nikapov	0:704c89673b57	1559	case LSM6DSL_INT1_PIN:
nikapov	0:704c89673b57	1560	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1561	{
nikapov	0:704c89673b57	1562	return 1;
nikapov	0:704c89673b57	1563	}
nikapov	0:704c89673b57	1564	break;
nikapov	0:704c89673b57	1565
nikapov	0:704c89673b57	1566	case LSM6DSL_INT2_PIN:
nikapov	0:704c89673b57	1567	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TAP_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1568	{
nikapov	0:704c89673b57	1569	return 1;
nikapov	0:704c89673b57	1570	}
nikapov	0:704c89673b57	1571	break;
nikapov	0:704c89673b57	1572
nikapov	0:704c89673b57	1573	default:
nikapov	0:704c89673b57	1574	return 1;
nikapov	0:704c89673b57	1575	}
nikapov	0:704c89673b57	1576
nikapov	0:704c89673b57	1577	return 0;
nikapov	0:704c89673b57	1578	}
nikapov	0:704c89673b57	1579
nikapov	0:704c89673b57	1580	/**
nikapov	0:704c89673b57	1581	* @brief Disable the double tap detection for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1582	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1583	*/
nikapov	0:704c89673b57	1584	int LSM6DSLSensor::disable_double_tap_detection(void)
nikapov	0:704c89673b57	1585	{
nikapov	0:704c89673b57	1586	/* Disable double tap interrupt on INT1 pin. */
nikapov	0:704c89673b57	1587	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1588	{
nikapov	0:704c89673b57	1589	return 1;
nikapov	0:704c89673b57	1590	}
nikapov	0:704c89673b57	1591
nikapov	0:704c89673b57	1592	/* Disable double tap interrupt on INT2 pin. */
nikapov	0:704c89673b57	1593	if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TAP_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1594	{
nikapov	0:704c89673b57	1595	return 1;
nikapov	0:704c89673b57	1596	}
nikapov	0:704c89673b57	1597
nikapov	0:704c89673b57	1598	/* Disable basic Interrupts */
nikapov	0:704c89673b57	1599	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1600	{
nikapov	0:704c89673b57	1601	return 1;
nikapov	0:704c89673b57	1602	}
nikapov	0:704c89673b57	1603
nikapov	0:704c89673b57	1604	/* Reset tap threshold. */
nikapov	0:704c89673b57	1605	if ( set_tap_threshold( 0x0 ) == 1 )
nikapov	0:704c89673b57	1606	{
nikapov	0:704c89673b57	1607	return 1;
nikapov	0:704c89673b57	1608	}
nikapov	0:704c89673b57	1609
nikapov	0:704c89673b57	1610	/* Reset tap shock time window. */
nikapov	0:704c89673b57	1611	if ( set_tap_shock_time( 0x0 ) == 1 )
nikapov	0:704c89673b57	1612	{
nikapov	0:704c89673b57	1613	return 1;
nikapov	0:704c89673b57	1614	}
nikapov	0:704c89673b57	1615
nikapov	0:704c89673b57	1616	/* Reset tap quiet time window. */
nikapov	0:704c89673b57	1617	if ( set_tap_quiet_time( 0x0 ) == 1 )
nikapov	0:704c89673b57	1618	{
nikapov	0:704c89673b57	1619	return 1;
nikapov	0:704c89673b57	1620	}
nikapov	0:704c89673b57	1621
nikapov	0:704c89673b57	1622	/* Reset tap duration time window. */
nikapov	0:704c89673b57	1623	if ( set_tap_duration_time( 0x0 ) == 1 )
nikapov	0:704c89673b57	1624	{
nikapov	0:704c89673b57	1625	return 1;
nikapov	0:704c89673b57	1626	}
nikapov	0:704c89673b57	1627
nikapov	0:704c89673b57	1628	/* Only single tap enabled. */
nikapov	0:704c89673b57	1629	if ( LSM6DSL_ACC_GYRO_W_SINGLE_DOUBLE_TAP_EV( (void *)this, LSM6DSL_ACC_GYRO_SINGLE_DOUBLE_TAP_SINGLE_TAP ) == MEMS_ERROR )
nikapov	0:704c89673b57	1630	{
nikapov	0:704c89673b57	1631	return 1;
nikapov	0:704c89673b57	1632	}
nikapov	0:704c89673b57	1633
nikapov	0:704c89673b57	1634	/* Disable Z direction in tap recognition. */
nikapov	0:704c89673b57	1635	if ( LSM6DSL_ACC_GYRO_W_TAP_Z_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Z_EN_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1636	{
nikapov	0:704c89673b57	1637	return 1;
nikapov	0:704c89673b57	1638	}
nikapov	0:704c89673b57	1639
nikapov	0:704c89673b57	1640	/* Disable Y direction in tap recognition. */
nikapov	0:704c89673b57	1641	if ( LSM6DSL_ACC_GYRO_W_TAP_Y_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_Y_EN_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1642	{
nikapov	0:704c89673b57	1643	return 1;
nikapov	0:704c89673b57	1644	}
nikapov	0:704c89673b57	1645
nikapov	0:704c89673b57	1646	/* Disable X direction in tap recognition. */
nikapov	0:704c89673b57	1647	if ( LSM6DSL_ACC_GYRO_W_TAP_X_EN( (void *)this, LSM6DSL_ACC_GYRO_TAP_X_EN_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1648	{
nikapov	0:704c89673b57	1649	return 1;
nikapov	0:704c89673b57	1650	}
nikapov	0:704c89673b57	1651
nikapov	0:704c89673b57	1652	return 0;
nikapov	0:704c89673b57	1653	}
nikapov	0:704c89673b57	1654
nikapov	0:704c89673b57	1655	/**
nikapov	0:704c89673b57	1656	* @brief Set the tap threshold for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1657	* @param thr the threshold to be set
nikapov	0:704c89673b57	1658	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1659	*/
nikapov	0:704c89673b57	1660	int LSM6DSLSensor::set_tap_threshold(uint8_t thr)
nikapov	0:704c89673b57	1661	{
nikapov	0:704c89673b57	1662	if ( LSM6DSL_ACC_GYRO_W_TAP_THS( (void *)this, thr ) == MEMS_ERROR )
nikapov	0:704c89673b57	1663	{
nikapov	0:704c89673b57	1664	return 1;
nikapov	0:704c89673b57	1665	}
nikapov	0:704c89673b57	1666
nikapov	0:704c89673b57	1667	return 0;
nikapov	0:704c89673b57	1668	}
nikapov	0:704c89673b57	1669
nikapov	0:704c89673b57	1670	/**
nikapov	0:704c89673b57	1671	* @brief Set the tap shock time window for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1672	* @param time the shock time window to be set
nikapov	0:704c89673b57	1673	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1674	*/
nikapov	0:704c89673b57	1675	int LSM6DSLSensor::set_tap_shock_time(uint8_t time)
nikapov	0:704c89673b57	1676	{
nikapov	0:704c89673b57	1677	if ( LSM6DSL_ACC_GYRO_W_SHOCK_Duration( (void *)this, time ) == MEMS_ERROR )
nikapov	0:704c89673b57	1678	{
nikapov	0:704c89673b57	1679	return 1;
nikapov	0:704c89673b57	1680	}
nikapov	0:704c89673b57	1681
nikapov	0:704c89673b57	1682	return 0;
nikapov	0:704c89673b57	1683	}
nikapov	0:704c89673b57	1684
nikapov	0:704c89673b57	1685	/**
nikapov	0:704c89673b57	1686	* @brief Set the tap quiet time window for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1687	* @param time the quiet time window to be set
nikapov	0:704c89673b57	1688	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1689	*/
nikapov	0:704c89673b57	1690	int LSM6DSLSensor::set_tap_quiet_time(uint8_t time)
nikapov	0:704c89673b57	1691	{
nikapov	0:704c89673b57	1692	if ( LSM6DSL_ACC_GYRO_W_QUIET_Duration( (void *)this, time ) == MEMS_ERROR )
nikapov	0:704c89673b57	1693	{
nikapov	0:704c89673b57	1694	return 1;
nikapov	0:704c89673b57	1695	}
nikapov	0:704c89673b57	1696
nikapov	0:704c89673b57	1697	return 0;
nikapov	0:704c89673b57	1698	}
nikapov	0:704c89673b57	1699
nikapov	0:704c89673b57	1700	/**
nikapov	0:704c89673b57	1701	* @brief Set the tap duration of the time window for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1702	* @param time the duration of the time window to be set
nikapov	0:704c89673b57	1703	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1704	*/
nikapov	0:704c89673b57	1705	int LSM6DSLSensor::set_tap_duration_time(uint8_t time)
nikapov	0:704c89673b57	1706	{
nikapov	0:704c89673b57	1707	if ( LSM6DSL_ACC_GYRO_W_DUR( (void *)this, time ) == MEMS_ERROR )
nikapov	0:704c89673b57	1708	{
nikapov	0:704c89673b57	1709	return 1;
nikapov	0:704c89673b57	1710	}
nikapov	0:704c89673b57	1711
nikapov	0:704c89673b57	1712	return 0;
nikapov	0:704c89673b57	1713	}
nikapov	0:704c89673b57	1714
nikapov	0:704c89673b57	1715	/**
nikapov	0:704c89673b57	1716	* @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1717	* @param pin the interrupt pin to be used
nikapov	0:704c89673b57	1718	* @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
nikapov	0:704c89673b57	1719	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1720	*/
nikapov	0:704c89673b57	1721	int LSM6DSLSensor::enable_6d_orientation(LSM6DSL_Interrupt_Pin_t pin)
nikapov	0:704c89673b57	1722	{
nikapov	0:704c89673b57	1723	/* Output Data Rate selection */
nikapov	0:704c89673b57	1724	if( set_x_odr(416.0f) == 1 )
nikapov	0:704c89673b57	1725	{
nikapov	0:704c89673b57	1726	return 1;
nikapov	0:704c89673b57	1727	}
nikapov	0:704c89673b57	1728
nikapov	0:704c89673b57	1729	/* Full scale selection. */
nikapov	0:704c89673b57	1730	if( set_x_fs(2.0f) == 1 )
nikapov	0:704c89673b57	1731	{
nikapov	0:704c89673b57	1732	return 1;
nikapov	0:704c89673b57	1733	}
nikapov	0:704c89673b57	1734
nikapov	0:704c89673b57	1735	/* Set 6D threshold. */
nikapov	0:704c89673b57	1736	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_60_degree ) == MEMS_ERROR )
nikapov	0:704c89673b57	1737	{
nikapov	0:704c89673b57	1738	return 1;
nikapov	0:704c89673b57	1739	}
nikapov	0:704c89673b57	1740
nikapov	0:704c89673b57	1741	/* Enable basic Interrupts */
nikapov	0:704c89673b57	1742	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1743	{
nikapov	0:704c89673b57	1744	return 1;
nikapov	0:704c89673b57	1745	}
nikapov	0:704c89673b57	1746
nikapov	0:704c89673b57	1747	/* Enable 6D orientation on either INT1 or INT2 pin */
nikapov	0:704c89673b57	1748	switch (pin)
nikapov	0:704c89673b57	1749	{
nikapov	0:704c89673b57	1750	case LSM6DSL_INT1_PIN:
nikapov	0:704c89673b57	1751	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1752	{
nikapov	0:704c89673b57	1753	return 1;
nikapov	0:704c89673b57	1754	}
nikapov	0:704c89673b57	1755	break;
nikapov	0:704c89673b57	1756
nikapov	0:704c89673b57	1757	case LSM6DSL_INT2_PIN:
nikapov	0:704c89673b57	1758	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_6D_ENABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1759	{
nikapov	0:704c89673b57	1760	return 1;
nikapov	0:704c89673b57	1761	}
nikapov	0:704c89673b57	1762	break;
nikapov	0:704c89673b57	1763
nikapov	0:704c89673b57	1764	default:
nikapov	0:704c89673b57	1765	return 1;
nikapov	0:704c89673b57	1766	}
nikapov	0:704c89673b57	1767
nikapov	0:704c89673b57	1768	return 0;
nikapov	0:704c89673b57	1769	}
nikapov	0:704c89673b57	1770
nikapov	0:704c89673b57	1771	/**
nikapov	0:704c89673b57	1772	* @brief Disable the 6D orientation detection for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1773	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1774	*/
nikapov	0:704c89673b57	1775	int LSM6DSLSensor::disable_6d_orientation(void)
nikapov	0:704c89673b57	1776	{
nikapov	0:704c89673b57	1777	/* Disable 6D orientation interrupt on INT1 pin. */
nikapov	0:704c89673b57	1778	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1779	{
nikapov	0:704c89673b57	1780	return 1;
nikapov	0:704c89673b57	1781	}
nikapov	0:704c89673b57	1782
nikapov	0:704c89673b57	1783	/* Disable 6D orientation interrupt on INT2 pin. */
nikapov	0:704c89673b57	1784	if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_6D_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1785	{
nikapov	0:704c89673b57	1786	return 1;
nikapov	0:704c89673b57	1787	}
nikapov	0:704c89673b57	1788
nikapov	0:704c89673b57	1789	/* Disable basic Interrupts */
nikapov	0:704c89673b57	1790	if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
nikapov	0:704c89673b57	1791	{
nikapov	0:704c89673b57	1792	return 1;
nikapov	0:704c89673b57	1793	}
nikapov	0:704c89673b57	1794
nikapov	0:704c89673b57	1795	/* Reset 6D threshold. */
nikapov	0:704c89673b57	1796	if ( LSM6DSL_ACC_GYRO_W_SIXD_THS( (void *)this, LSM6DSL_ACC_GYRO_SIXD_THS_80_degree ) == MEMS_ERROR )
nikapov	0:704c89673b57	1797	{
nikapov	0:704c89673b57	1798	return 1;
nikapov	0:704c89673b57	1799	}
nikapov	0:704c89673b57	1800
nikapov	0:704c89673b57	1801	return 0;
nikapov	0:704c89673b57	1802	}
nikapov	0:704c89673b57	1803
nikapov	0:704c89673b57	1804	/**
nikapov	0:704c89673b57	1805	* @brief Get the 6D orientation XL axis for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1806	* @param xl the pointer to the 6D orientation XL axis
nikapov	0:704c89673b57	1807	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1808	*/
nikapov	0:704c89673b57	1809	int LSM6DSLSensor::get_6d_orientation_xl(uint8_t *xl)
nikapov	0:704c89673b57	1810	{
nikapov	0:704c89673b57	1811	LSM6DSL_ACC_GYRO_DSD_XL_t xl_raw;
nikapov	0:704c89673b57	1812
nikapov	0:704c89673b57	1813	if ( LSM6DSL_ACC_GYRO_R_DSD_XL( (void *)this, &xl_raw ) == MEMS_ERROR )
nikapov	0:704c89673b57	1814	{
nikapov	0:704c89673b57	1815	return 1;
nikapov	0:704c89673b57	1816	}
nikapov	0:704c89673b57	1817
nikapov	0:704c89673b57	1818	switch( xl_raw )
nikapov	0:704c89673b57	1819	{
nikapov	0:704c89673b57	1820	case LSM6DSL_ACC_GYRO_DSD_XL_DETECTED:
nikapov	0:704c89673b57	1821	*xl = 1;
nikapov	0:704c89673b57	1822	break;
nikapov	0:704c89673b57	1823	case LSM6DSL_ACC_GYRO_DSD_XL_NOT_DETECTED:
nikapov	0:704c89673b57	1824	*xl = 0;
nikapov	0:704c89673b57	1825	break;
nikapov	0:704c89673b57	1826	default:
nikapov	0:704c89673b57	1827	return 1;
nikapov	0:704c89673b57	1828	}
nikapov	0:704c89673b57	1829
nikapov	0:704c89673b57	1830	return 0;
nikapov	0:704c89673b57	1831	}
nikapov	0:704c89673b57	1832
nikapov	0:704c89673b57	1833	/**
nikapov	0:704c89673b57	1834	* @brief Get the 6D orientation XH axis for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1835	* @param xh the pointer to the 6D orientation XH axis
nikapov	0:704c89673b57	1836	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1837	*/
nikapov	0:704c89673b57	1838	int LSM6DSLSensor::get_6d_orientation_xh(uint8_t *xh)
nikapov	0:704c89673b57	1839	{
nikapov	0:704c89673b57	1840	LSM6DSL_ACC_GYRO_DSD_XH_t xh_raw;
nikapov	0:704c89673b57	1841
nikapov	0:704c89673b57	1842	if ( LSM6DSL_ACC_GYRO_R_DSD_XH( (void *)this, &xh_raw ) == MEMS_ERROR )
nikapov	0:704c89673b57	1843	{
nikapov	0:704c89673b57	1844	return 1;
nikapov	0:704c89673b57	1845	}
nikapov	0:704c89673b57	1846
nikapov	0:704c89673b57	1847	switch( xh_raw )
nikapov	0:704c89673b57	1848	{
nikapov	0:704c89673b57	1849	case LSM6DSL_ACC_GYRO_DSD_XH_DETECTED:
nikapov	0:704c89673b57	1850	*xh = 1;
nikapov	0:704c89673b57	1851	break;
nikapov	0:704c89673b57	1852	case LSM6DSL_ACC_GYRO_DSD_XH_NOT_DETECTED:
nikapov	0:704c89673b57	1853	*xh = 0;
nikapov	0:704c89673b57	1854	break;
nikapov	0:704c89673b57	1855	default:
nikapov	0:704c89673b57	1856	return 1;
nikapov	0:704c89673b57	1857	}
nikapov	0:704c89673b57	1858
nikapov	0:704c89673b57	1859	return 0;
nikapov	0:704c89673b57	1860	}
nikapov	0:704c89673b57	1861
nikapov	0:704c89673b57	1862	/**
nikapov	0:704c89673b57	1863	* @brief Get the 6D orientation YL axis for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1864	* @param yl the pointer to the 6D orientation YL axis
nikapov	0:704c89673b57	1865	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1866	*/
nikapov	0:704c89673b57	1867	int LSM6DSLSensor::get_6d_orientation_yl(uint8_t *yl)
nikapov	0:704c89673b57	1868	{
nikapov	0:704c89673b57	1869	LSM6DSL_ACC_GYRO_DSD_YL_t yl_raw;
nikapov	0:704c89673b57	1870
nikapov	0:704c89673b57	1871	if ( LSM6DSL_ACC_GYRO_R_DSD_YL( (void *)this, &yl_raw ) == MEMS_ERROR )
nikapov	0:704c89673b57	1872	{
nikapov	0:704c89673b57	1873	return 1;
nikapov	0:704c89673b57	1874	}
nikapov	0:704c89673b57	1875
nikapov	0:704c89673b57	1876	switch( yl_raw )
nikapov	0:704c89673b57	1877	{
nikapov	0:704c89673b57	1878	case LSM6DSL_ACC_GYRO_DSD_YL_DETECTED:
nikapov	0:704c89673b57	1879	*yl = 1;
nikapov	0:704c89673b57	1880	break;
nikapov	0:704c89673b57	1881	case LSM6DSL_ACC_GYRO_DSD_YL_NOT_DETECTED:
nikapov	0:704c89673b57	1882	*yl = 0;
nikapov	0:704c89673b57	1883	break;
nikapov	0:704c89673b57	1884	default:
nikapov	0:704c89673b57	1885	return 1;
nikapov	0:704c89673b57	1886	}
nikapov	0:704c89673b57	1887
nikapov	0:704c89673b57	1888	return 0;
nikapov	0:704c89673b57	1889	}
nikapov	0:704c89673b57	1890
nikapov	0:704c89673b57	1891	/**
nikapov	0:704c89673b57	1892	* @brief Get the 6D orientation YH axis for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1893	* @param yh the pointer to the 6D orientation YH axis
nikapov	0:704c89673b57	1894	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1895	*/
nikapov	0:704c89673b57	1896	int LSM6DSLSensor::get_6d_orientation_yh(uint8_t *yh)
nikapov	0:704c89673b57	1897	{
nikapov	0:704c89673b57	1898	LSM6DSL_ACC_GYRO_DSD_YH_t yh_raw;
nikapov	0:704c89673b57	1899
nikapov	0:704c89673b57	1900	if ( LSM6DSL_ACC_GYRO_R_DSD_YH( (void *)this, &yh_raw ) == MEMS_ERROR )
nikapov	0:704c89673b57	1901	{
nikapov	0:704c89673b57	1902	return 1;
nikapov	0:704c89673b57	1903	}
nikapov	0:704c89673b57	1904
nikapov	0:704c89673b57	1905	switch( yh_raw )
nikapov	0:704c89673b57	1906	{
nikapov	0:704c89673b57	1907	case LSM6DSL_ACC_GYRO_DSD_YH_DETECTED:
nikapov	0:704c89673b57	1908	*yh = 1;
nikapov	0:704c89673b57	1909	break;
nikapov	0:704c89673b57	1910	case LSM6DSL_ACC_GYRO_DSD_YH_NOT_DETECTED:
nikapov	0:704c89673b57	1911	*yh = 0;
nikapov	0:704c89673b57	1912	break;
nikapov	0:704c89673b57	1913	default:
nikapov	0:704c89673b57	1914	return 1;
nikapov	0:704c89673b57	1915	}
nikapov	0:704c89673b57	1916
nikapov	0:704c89673b57	1917	return 0;
nikapov	0:704c89673b57	1918	}
nikapov	0:704c89673b57	1919
nikapov	0:704c89673b57	1920	/**
nikapov	0:704c89673b57	1921	* @brief Get the 6D orientation ZL axis for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1922	* @param zl the pointer to the 6D orientation ZL axis
nikapov	0:704c89673b57	1923	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1924	*/
nikapov	0:704c89673b57	1925	int LSM6DSLSensor::get_6d_orientation_zl(uint8_t *zl)
nikapov	0:704c89673b57	1926	{
nikapov	0:704c89673b57	1927	LSM6DSL_ACC_GYRO_DSD_ZL_t zl_raw;
nikapov	0:704c89673b57	1928
nikapov	0:704c89673b57	1929	if ( LSM6DSL_ACC_GYRO_R_DSD_ZL( (void *)this, &zl_raw ) == MEMS_ERROR )
nikapov	0:704c89673b57	1930	{
nikapov	0:704c89673b57	1931	return 1;
nikapov	0:704c89673b57	1932	}
nikapov	0:704c89673b57	1933
nikapov	0:704c89673b57	1934	switch( zl_raw )
nikapov	0:704c89673b57	1935	{
nikapov	0:704c89673b57	1936	case LSM6DSL_ACC_GYRO_DSD_ZL_DETECTED:
nikapov	0:704c89673b57	1937	*zl = 1;
nikapov	0:704c89673b57	1938	break;
nikapov	0:704c89673b57	1939	case LSM6DSL_ACC_GYRO_DSD_ZL_NOT_DETECTED:
nikapov	0:704c89673b57	1940	*zl = 0;
nikapov	0:704c89673b57	1941	break;
nikapov	0:704c89673b57	1942	default:
nikapov	0:704c89673b57	1943	return 1;
nikapov	0:704c89673b57	1944	}
nikapov	0:704c89673b57	1945
nikapov	0:704c89673b57	1946	return 0;
nikapov	0:704c89673b57	1947	}
nikapov	0:704c89673b57	1948
nikapov	0:704c89673b57	1949	/**
nikapov	0:704c89673b57	1950	* @brief Get the 6D orientation ZH axis for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1951	* @param zh the pointer to the 6D orientation ZH axis
nikapov	0:704c89673b57	1952	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1953	*/
nikapov	0:704c89673b57	1954	int LSM6DSLSensor::get_6d_orientation_zh(uint8_t *zh)
nikapov	0:704c89673b57	1955	{
nikapov	0:704c89673b57	1956	LSM6DSL_ACC_GYRO_DSD_ZH_t zh_raw;
nikapov	0:704c89673b57	1957
nikapov	0:704c89673b57	1958	if ( LSM6DSL_ACC_GYRO_R_DSD_ZH( (void *)this, &zh_raw ) == MEMS_ERROR )
nikapov	0:704c89673b57	1959	{
nikapov	0:704c89673b57	1960	return 1;
nikapov	0:704c89673b57	1961	}
nikapov	0:704c89673b57	1962
nikapov	0:704c89673b57	1963	switch( zh_raw )
nikapov	0:704c89673b57	1964	{
nikapov	0:704c89673b57	1965	case LSM6DSL_ACC_GYRO_DSD_ZH_DETECTED:
nikapov	0:704c89673b57	1966	*zh = 1;
nikapov	0:704c89673b57	1967	break;
nikapov	0:704c89673b57	1968	case LSM6DSL_ACC_GYRO_DSD_ZH_NOT_DETECTED:
nikapov	0:704c89673b57	1969	*zh = 0;
nikapov	0:704c89673b57	1970	break;
nikapov	0:704c89673b57	1971	default:
nikapov	0:704c89673b57	1972	return 1;
nikapov	0:704c89673b57	1973	}
nikapov	0:704c89673b57	1974
nikapov	0:704c89673b57	1975	return 0;
nikapov	0:704c89673b57	1976	}
nikapov	0:704c89673b57	1977
nikapov	0:704c89673b57	1978	/**
nikapov	0:704c89673b57	1979	* @brief Get the status of all hardware events for LSM6DSL accelerometer sensor
nikapov	0:704c89673b57	1980	* @param status the pointer to the status of all hardware events
nikapov	0:704c89673b57	1981	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	1982	*/
nikapov	0:704c89673b57	1983	int LSM6DSLSensor::get_event_status(LSM6DSL_Event_Status_t *status)
nikapov	0:704c89673b57	1984	{
nikapov	0:704c89673b57	1985	uint8_t Wake_Up_Src = 0, Tap_Src = 0, D6D_Src = 0, Func_Src = 0, Md1_Cfg = 0, Md2_Cfg = 0, Int1_Ctrl = 0;
nikapov	0:704c89673b57	1986
nikapov	0:704c89673b57	1987	memset((void *)status, 0x0, sizeof(LSM6DSL_Event_Status_t));
nikapov	0:704c89673b57	1988
nikapov	0:704c89673b57	1989	if(read_reg(LSM6DSL_ACC_GYRO_WAKE_UP_SRC, &Wake_Up_Src) != 0)
nikapov	0:704c89673b57	1990	{
nikapov	0:704c89673b57	1991	return 1;
nikapov	0:704c89673b57	1992	}
nikapov	0:704c89673b57	1993
nikapov	0:704c89673b57	1994	if(read_reg(LSM6DSL_ACC_GYRO_TAP_SRC, &Tap_Src) != 0)
nikapov	0:704c89673b57	1995	{
nikapov	0:704c89673b57	1996	return 1;
nikapov	0:704c89673b57	1997	}
nikapov	0:704c89673b57	1998
nikapov	0:704c89673b57	1999	if(read_reg(LSM6DSL_ACC_GYRO_D6D_SRC, &D6D_Src) != 0)
nikapov	0:704c89673b57	2000	{
nikapov	0:704c89673b57	2001	return 1;
nikapov	0:704c89673b57	2002	}
nikapov	0:704c89673b57	2003
nikapov	0:704c89673b57	2004	if(read_reg(LSM6DSL_ACC_GYRO_FUNC_SRC, &Func_Src) != 0)
nikapov	0:704c89673b57	2005	{
nikapov	0:704c89673b57	2006	return 1;
nikapov	0:704c89673b57	2007	}
nikapov	0:704c89673b57	2008
nikapov	0:704c89673b57	2009	if(read_reg(LSM6DSL_ACC_GYRO_MD1_CFG, &Md1_Cfg ) != 0 )
nikapov	0:704c89673b57	2010	{
nikapov	0:704c89673b57	2011	return 1;
nikapov	0:704c89673b57	2012	}
nikapov	0:704c89673b57	2013
nikapov	0:704c89673b57	2014	if(read_reg(LSM6DSL_ACC_GYRO_MD2_CFG, &Md2_Cfg ) != 0)
nikapov	0:704c89673b57	2015	{
nikapov	0:704c89673b57	2016	return 1;
nikapov	0:704c89673b57	2017	}
nikapov	0:704c89673b57	2018
nikapov	0:704c89673b57	2019	if(read_reg(LSM6DSL_ACC_GYRO_INT1_CTRL, &Int1_Ctrl ) != 0)
nikapov	0:704c89673b57	2020	{
nikapov	0:704c89673b57	2021	return 1;
nikapov	0:704c89673b57	2022	}
nikapov	0:704c89673b57	2023
nikapov	0:704c89673b57	2024	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_FF_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_FF_MASK))
nikapov	0:704c89673b57	2025	{
nikapov	0:704c89673b57	2026	if((Wake_Up_Src & LSM6DSL_ACC_GYRO_FF_EV_STATUS_MASK))
nikapov	0:704c89673b57	2027	{
nikapov	0:704c89673b57	2028	status->FreeFallStatus = 1;
nikapov	0:704c89673b57	2029	}
nikapov	0:704c89673b57	2030	}
nikapov	0:704c89673b57	2031
nikapov	0:704c89673b57	2032	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_WU_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_WU_MASK))
nikapov	0:704c89673b57	2033	{
nikapov	0:704c89673b57	2034	if((Wake_Up_Src & LSM6DSL_ACC_GYRO_WU_EV_STATUS_MASK))
nikapov	0:704c89673b57	2035	{
nikapov	0:704c89673b57	2036	status->WakeUpStatus = 1;
nikapov	0:704c89673b57	2037	}
nikapov	0:704c89673b57	2038	}
nikapov	0:704c89673b57	2039
nikapov	0:704c89673b57	2040	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_MASK))
nikapov	0:704c89673b57	2041	{
nikapov	0:704c89673b57	2042	if((Tap_Src & LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_MASK))
nikapov	0:704c89673b57	2043	{
nikapov	0:704c89673b57	2044	status->TapStatus = 1;
nikapov	0:704c89673b57	2045	}
nikapov	0:704c89673b57	2046	}
nikapov	0:704c89673b57	2047
nikapov	0:704c89673b57	2048	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TAP_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_TAP_MASK))
nikapov	0:704c89673b57	2049	{
nikapov	0:704c89673b57	2050	if((Tap_Src & LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_MASK))
nikapov	0:704c89673b57	2051	{
nikapov	0:704c89673b57	2052	status->DoubleTapStatus = 1;
nikapov	0:704c89673b57	2053	}
nikapov	0:704c89673b57	2054	}
nikapov	0:704c89673b57	2055
nikapov	0:704c89673b57	2056	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_6D_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_6D_MASK))
nikapov	0:704c89673b57	2057	{
nikapov	0:704c89673b57	2058	if((D6D_Src & LSM6DSL_ACC_GYRO_D6D_EV_STATUS_MASK))
nikapov	0:704c89673b57	2059	{
nikapov	0:704c89673b57	2060	status->D6DOrientationStatus = 1;
nikapov	0:704c89673b57	2061	}
nikapov	0:704c89673b57	2062	}
nikapov	0:704c89673b57	2063
nikapov	0:704c89673b57	2064	if((Int1_Ctrl & LSM6DSL_ACC_GYRO_INT1_PEDO_MASK))
nikapov	0:704c89673b57	2065	{
nikapov	0:704c89673b57	2066	if((Func_Src & LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_MASK))
nikapov	0:704c89673b57	2067	{
nikapov	0:704c89673b57	2068	status->StepStatus = 1;
nikapov	0:704c89673b57	2069	}
nikapov	0:704c89673b57	2070	}
nikapov	0:704c89673b57	2071
nikapov	0:704c89673b57	2072	if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TILT_MASK) \|\| (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_TILT_MASK))
nikapov	0:704c89673b57	2073	{
nikapov	0:704c89673b57	2074	if((Func_Src & LSM6DSL_ACC_GYRO_TILT_EV_STATUS_MASK))
nikapov	0:704c89673b57	2075	{
nikapov	0:704c89673b57	2076	status->TiltStatus = 1;
nikapov	0:704c89673b57	2077	}
nikapov	0:704c89673b57	2078	}
nikapov	0:704c89673b57	2079
nikapov	0:704c89673b57	2080	return 0;
nikapov	0:704c89673b57	2081	}
nikapov	0:704c89673b57	2082
nikapov	0:704c89673b57	2083	/**
nikapov	0:704c89673b57	2084	* @brief Read the data from register
nikapov	0:704c89673b57	2085	* @param reg register address
nikapov	0:704c89673b57	2086	* @param data register data
nikapov	0:704c89673b57	2087	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	2088	*/
nikapov	0:704c89673b57	2089	int LSM6DSLSensor::read_reg( uint8_t reg, uint8_t *data )
nikapov	0:704c89673b57	2090	{
nikapov	0:704c89673b57	2091
nikapov	0:704c89673b57	2092	if ( LSM6DSL_ACC_GYRO_read_reg( (void *)this, reg, data, 1 ) == MEMS_ERROR )
nikapov	0:704c89673b57	2093	{
nikapov	0:704c89673b57	2094	return 1;
nikapov	0:704c89673b57	2095	}
nikapov	0:704c89673b57	2096
nikapov	0:704c89673b57	2097	return 0;
nikapov	0:704c89673b57	2098	}
nikapov	0:704c89673b57	2099
nikapov	0:704c89673b57	2100	/**
nikapov	0:704c89673b57	2101	* @brief Write the data to register
nikapov	0:704c89673b57	2102	* @param reg register address
nikapov	0:704c89673b57	2103	* @param data register data
nikapov	0:704c89673b57	2104	* @retval 0 in case of success, an error code otherwise
nikapov	0:704c89673b57	2105	*/
nikapov	0:704c89673b57	2106	int LSM6DSLSensor::write_reg( uint8_t reg, uint8_t data )
nikapov	0:704c89673b57	2107	{
nikapov	0:704c89673b57	2108
nikapov	0:704c89673b57	2109	if ( LSM6DSL_ACC_GYRO_write_reg( (void *)this, reg, &data, 1 ) == MEMS_ERROR )
nikapov	0:704c89673b57	2110	{
nikapov	0:704c89673b57	2111	return 1;
nikapov	0:704c89673b57	2112	}
nikapov	0:704c89673b57	2113
nikapov	0:704c89673b57	2114	return 0;
nikapov	0:704c89673b57	2115	}
nikapov	0:704c89673b57	2116
nikapov	0:704c89673b57	2117
nikapov	0:704c89673b57	2118	uint8_t LSM6DSL_io_write( void handle, uint8_t WriteAddr, uint8_t pBuffer, uint16_t nBytesToWrite )
nikapov	0:704c89673b57	2119	{
nikapov	0:704c89673b57	2120	return ((LSM6DSLSensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite);
nikapov	0:704c89673b57	2121	}
nikapov	0:704c89673b57	2122
nikapov	0:704c89673b57	2123	uint8_t LSM6DSL_io_read( void handle, uint8_t ReadAddr, uint8_t pBuffer, uint16_t nBytesToRead )
nikapov	0:704c89673b57	2124	{
nikapov	0:704c89673b57	2125	return ((LSM6DSLSensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead);
nikapov	0:704c89673b57	2126	}

Repository toolbox

Export to desktop IDE

Repository details

Type:	Library
Created:	25 May 2018
Imports:	2
Forks:	0
Commits:	5
Dependents:	2
Dependencies:	2
Followers:	1

LSM6DSLSensor.cpp@0:704c89673b57, 2017-09-04 (annotated)

Who changed what in which revision?

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning