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STM32-SchoolProjects/2P-ProjectPong/Drivers/BSP/Components/lsm6dsl/lsm6dsl.c

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/**
******************************************************************************
* @file lsm6dsl.c
* @author MEMS Software Solutions Team
* @brief LSM6DSL driver file
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2019 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "lsm6dsl.h"
/** @addtogroup BSP BSP
* @{
*/
/** @addtogroup Component Component
* @{
*/
/** @defgroup LSM6DSL LSM6DSL
* @{
*/
/** @defgroup LSM6DSL_Exported_Variables LSM6DSL Exported Variables
* @{
*/
LSM6DSL_CommonDrv_t LSM6DSL_COMMON_Driver =
{
LSM6DSL_Init,
LSM6DSL_DeInit,
LSM6DSL_ReadID,
LSM6DSL_GetCapabilities,
};
LSM6DSL_ACC_Drv_t LSM6DSL_ACC_Driver =
{
LSM6DSL_ACC_Enable,
LSM6DSL_ACC_Disable,
LSM6DSL_ACC_GetSensitivity,
LSM6DSL_ACC_GetOutputDataRate,
LSM6DSL_ACC_SetOutputDataRate,
LSM6DSL_ACC_GetFullScale,
LSM6DSL_ACC_SetFullScale,
LSM6DSL_ACC_GetAxes,
LSM6DSL_ACC_GetAxesRaw,
};
LSM6DSL_GYRO_Drv_t LSM6DSL_GYRO_Driver =
{
LSM6DSL_GYRO_Enable,
LSM6DSL_GYRO_Disable,
LSM6DSL_GYRO_GetSensitivity,
LSM6DSL_GYRO_GetOutputDataRate,
LSM6DSL_GYRO_SetOutputDataRate,
LSM6DSL_GYRO_GetFullScale,
LSM6DSL_GYRO_SetFullScale,
LSM6DSL_GYRO_GetAxes,
LSM6DSL_GYRO_GetAxesRaw,
};
/**
* @}
*/
/** @defgroup LSM6DSL_Private_Function_Prototypes LSM6DSL Private Function Prototypes
* @{
*/
static int32_t ReadRegWrap(void *Handle, uint8_t Reg, uint8_t *pData, uint16_t Length);
static int32_t WriteRegWrap(void *Handle, uint8_t Reg, uint8_t *pData, uint16_t Length);
static int32_t LSM6DSL_ACC_SetOutputDataRate_When_Enabled(LSM6DSL_Object_t *pObj, float Odr);
static int32_t LSM6DSL_ACC_SetOutputDataRate_When_Disabled(LSM6DSL_Object_t *pObj, float Odr);
static int32_t LSM6DSL_GYRO_SetOutputDataRate_When_Enabled(LSM6DSL_Object_t *pObj, float Odr);
static int32_t LSM6DSL_GYRO_SetOutputDataRate_When_Disabled(LSM6DSL_Object_t *pObj, float Odr);
/**
* @}
*/
/** @defgroup LSM6DSL_Exported_Functions LSM6DSL Exported Functions
* @{
*/
/**
* @brief Register Component Bus IO operations
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_RegisterBusIO(LSM6DSL_Object_t *pObj, LSM6DSL_IO_t *pIO)
{
int32_t ret = LSM6DSL_OK;
if (pObj == NULL)
{
ret = LSM6DSL_ERROR;
}
else
{
pObj->IO.Init = pIO->Init;
pObj->IO.DeInit = pIO->DeInit;
pObj->IO.BusType = pIO->BusType;
pObj->IO.Address = pIO->Address;
pObj->IO.WriteReg = pIO->WriteReg;
pObj->IO.ReadReg = pIO->ReadReg;
pObj->IO.GetTick = pIO->GetTick;
pObj->Ctx.read_reg = ReadRegWrap;
pObj->Ctx.write_reg = WriteRegWrap;
pObj->Ctx.handle = pObj;
if (pObj->IO.Init == NULL)
{
ret = LSM6DSL_ERROR;
}
else if (pObj->IO.Init() != LSM6DSL_OK)
{
ret = LSM6DSL_ERROR;
}
else
{
if (pObj->IO.BusType == LSM6DSL_SPI_3WIRES_BUS) /* SPI 3-Wires */
{
/* Enable the SPI 3-Wires support only the first time */
if (pObj->is_initialized == 0U)
{
/* Enable SPI 3-Wires on the component */
uint8_t data = 0x0C;
if (LSM6DSL_Write_Reg(pObj, LSM6DSL_CTRL3_C, data) != LSM6DSL_OK)
{
ret = LSM6DSL_ERROR;
}
}
}
}
}
return ret;
}
/**
* @brief Initialize the LSM6DSL sensor
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_Init(LSM6DSL_Object_t *pObj)
{
/* Enable register address automatically incremented during a multiple byte
access with a serial interface. */
if (lsm6dsl_auto_increment_set(&(pObj->Ctx), PROPERTY_ENABLE) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Enable BDU */
if (lsm6dsl_block_data_update_set(&(pObj->Ctx), PROPERTY_ENABLE) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* FIFO mode selection */
if (lsm6dsl_fifo_mode_set(&(pObj->Ctx), LSM6DSL_BYPASS_MODE) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Select default output data rate. */
pObj->acc_odr = LSM6DSL_XL_ODR_104Hz;
/* Output data rate selection - power down. */
if (lsm6dsl_xl_data_rate_set(&(pObj->Ctx), LSM6DSL_XL_ODR_OFF) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Full scale selection. */
if (lsm6dsl_xl_full_scale_set(&(pObj->Ctx), LSM6DSL_2g) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Select default output data rate. */
pObj->gyro_odr = LSM6DSL_GY_ODR_104Hz;
/* Output data rate selection - power down. */
if (lsm6dsl_gy_data_rate_set(&(pObj->Ctx), LSM6DSL_GY_ODR_OFF) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Full scale selection. */
if (lsm6dsl_gy_full_scale_set(&(pObj->Ctx), LSM6DSL_2000dps) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
pObj->is_initialized = 1;
return LSM6DSL_OK;
}
/**
* @brief Deinitialize the LSM6DSL sensor
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_DeInit(LSM6DSL_Object_t *pObj)
{
/* Disable the component */
if (LSM6DSL_ACC_Disable(pObj) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
if (LSM6DSL_GYRO_Disable(pObj) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Reset output data rate. */
pObj->acc_odr = LSM6DSL_XL_ODR_OFF;
pObj->gyro_odr = LSM6DSL_GY_ODR_OFF;
pObj->is_initialized = 0;
return LSM6DSL_OK;
}
/**
* @brief Read component ID
* @param pObj the device pObj
* @param Id the WHO_AM_I value
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ReadID(LSM6DSL_Object_t *pObj, uint8_t *Id)
{
if (lsm6dsl_device_id_get(&(pObj->Ctx), Id) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Get LSM6DSL sensor capabilities
* @param pObj Component object pointer
* @param Capabilities pointer to LSM6DSL sensor capabilities
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_GetCapabilities(LSM6DSL_Object_t *pObj, LSM6DSL_Capabilities_t *Capabilities)
{
/* Prevent unused argument(s) compilation warning */
(void)(pObj);
Capabilities->Acc = 1;
Capabilities->Gyro = 1;
Capabilities->Magneto = 0;
Capabilities->LowPower = 0;
Capabilities->GyroMaxFS = 2000;
Capabilities->AccMaxFS = 16;
Capabilities->MagMaxFS = 0;
Capabilities->GyroMaxOdr = 6660.0f;
Capabilities->AccMaxOdr = 6660.0f;
Capabilities->MagMaxOdr = 0.0f;
return LSM6DSL_OK;
}
/**
* @brief Enable the LSM6DSL accelerometer sensor
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Enable(LSM6DSL_Object_t *pObj)
{
/* Check if the component is already enabled */
if (pObj->acc_is_enabled == 1U)
{
return LSM6DSL_OK;
}
/* Output data rate selection. */
if (lsm6dsl_xl_data_rate_set(&(pObj->Ctx), pObj->acc_odr) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
pObj->acc_is_enabled = 1;
return LSM6DSL_OK;
}
/**
* @brief Disable the LSM6DSL accelerometer sensor
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Disable(LSM6DSL_Object_t *pObj)
{
/* Check if the component is already disabled */
if (pObj->acc_is_enabled == 0U)
{
return LSM6DSL_OK;
}
/* Get current output data rate. */
if (lsm6dsl_xl_data_rate_get(&(pObj->Ctx), &pObj->acc_odr) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Output data rate selection - power down. */
if (lsm6dsl_xl_data_rate_set(&(pObj->Ctx), LSM6DSL_XL_ODR_OFF) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
pObj->acc_is_enabled = 0;
return LSM6DSL_OK;
}
/**
* @brief Get the LSM6DSL accelerometer sensor sensitivity
* @param pObj the device pObj
* @param Sensitivity pointer
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_GetSensitivity(LSM6DSL_Object_t *pObj, float *Sensitivity)
{
int32_t ret = LSM6DSL_OK;
lsm6dsl_fs_xl_t full_scale;
/* Read actual full scale selection from sensor. */
if (lsm6dsl_xl_full_scale_get(&(pObj->Ctx), &full_scale) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Store the Sensitivity based on actual full scale. */
switch (full_scale)
{
case LSM6DSL_2g:
*Sensitivity = LSM6DSL_ACC_SENSITIVITY_FS_2G;
break;
case LSM6DSL_4g:
*Sensitivity = LSM6DSL_ACC_SENSITIVITY_FS_4G;
break;
case LSM6DSL_8g:
*Sensitivity = LSM6DSL_ACC_SENSITIVITY_FS_8G;
break;
case LSM6DSL_16g:
*Sensitivity = LSM6DSL_ACC_SENSITIVITY_FS_16G;
break;
default:
ret = LSM6DSL_ERROR;
break;
}
return ret;
}
/**
* @brief Get the LSM6DSL accelerometer sensor output data rate
* @param pObj the device pObj
* @param Odr pointer where the output data rate is written
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_GetOutputDataRate(LSM6DSL_Object_t *pObj, float *Odr)
{
int32_t ret = LSM6DSL_OK;
lsm6dsl_odr_xl_t odr_low_level;
/* Get current output data rate. */
if (lsm6dsl_xl_data_rate_get(&(pObj->Ctx), &odr_low_level) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
switch (odr_low_level)
{
case LSM6DSL_XL_ODR_OFF:
*Odr = 0.0f;
break;
case LSM6DSL_XL_ODR_1Hz6:
*Odr = 1.6f;
break;
case LSM6DSL_XL_ODR_12Hz5:
*Odr = 12.5f;
break;
case LSM6DSL_XL_ODR_26Hz:
*Odr = 26.0f;
break;
case LSM6DSL_XL_ODR_52Hz:
*Odr = 52.0f;
break;
case LSM6DSL_XL_ODR_104Hz:
*Odr = 104.0f;
break;
case LSM6DSL_XL_ODR_208Hz:
*Odr = 208.0f;
break;
case LSM6DSL_XL_ODR_416Hz:
*Odr = 416.0f;
break;
case LSM6DSL_XL_ODR_833Hz:
*Odr = 833.0f;
break;
case LSM6DSL_XL_ODR_1k66Hz:
*Odr = 1660.0f;
break;
case LSM6DSL_XL_ODR_3k33Hz:
*Odr = 3330.0f;
break;
case LSM6DSL_XL_ODR_6k66Hz:
*Odr = 6660.0f;
break;
default:
ret = LSM6DSL_ERROR;
break;
}
return ret;
}
/**
* @brief Set the LSM6DSL accelerometer sensor output data rate
* @param pObj the device pObj
* @param Odr the output data rate value to be set
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_SetOutputDataRate(LSM6DSL_Object_t *pObj, float Odr)
{
/* Check if the component is enabled */
if (pObj->acc_is_enabled == 1U)
{
return LSM6DSL_ACC_SetOutputDataRate_When_Enabled(pObj, Odr);
}
else
{
return LSM6DSL_ACC_SetOutputDataRate_When_Disabled(pObj, Odr);
}
}
/**
* @brief Get the LSM6DSL accelerometer sensor full scale
* @param pObj the device pObj
* @param FullScale pointer where the full scale is written
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_GetFullScale(LSM6DSL_Object_t *pObj, int32_t *FullScale)
{
int32_t ret = LSM6DSL_OK;
lsm6dsl_fs_xl_t fs_low_level;
/* Read actual full scale selection from sensor. */
if (lsm6dsl_xl_full_scale_get(&(pObj->Ctx), &fs_low_level) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
switch (fs_low_level)
{
case LSM6DSL_2g:
*FullScale = 2;
break;
case LSM6DSL_4g:
*FullScale = 4;
break;
case LSM6DSL_8g:
*FullScale = 8;
break;
case LSM6DSL_16g:
*FullScale = 16;
break;
default:
ret = LSM6DSL_ERROR;
break;
}
return ret;
}
/**
* @brief Set the LSM6DSL accelerometer sensor full scale
* @param pObj the device pObj
* @param FullScale the functional full scale to be set
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_SetFullScale(LSM6DSL_Object_t *pObj, int32_t FullScale)
{
lsm6dsl_fs_xl_t new_fs;
/* Seems like MISRA C-2012 rule 14.3a violation but only from single file statical analysis point of view because
the parameter passed to the function is not known at the moment of analysis */
new_fs = (FullScale <= 2) ? LSM6DSL_2g
: (FullScale <= 4) ? LSM6DSL_4g
: (FullScale <= 8) ? LSM6DSL_8g
: LSM6DSL_16g;
if (lsm6dsl_xl_full_scale_set(&(pObj->Ctx), new_fs) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Get the LSM6DSL accelerometer sensor raw axes
* @param pObj the device pObj
* @param Value pointer where the raw values of the axes are written
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_GetAxesRaw(LSM6DSL_Object_t *pObj, LSM6DSL_AxesRaw_t *Value)
{
lsm6dsl_axis3bit16_t data_raw;
/* Read raw data values. */
if (lsm6dsl_acceleration_raw_get(&(pObj->Ctx), data_raw.u8bit) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Format the data. */
Value->x = data_raw.i16bit[0];
Value->y = data_raw.i16bit[1];
Value->z = data_raw.i16bit[2];
return LSM6DSL_OK;
}
/**
* @brief Get the LSM6DSL accelerometer sensor axes
* @param pObj the device pObj
* @param Acceleration pointer where the values of the axes are written
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_GetAxes(LSM6DSL_Object_t *pObj, LSM6DSL_Axes_t *Acceleration)
{
lsm6dsl_axis3bit16_t data_raw;
float sensitivity = 0.0f;
/* Read raw data values. */
if (lsm6dsl_acceleration_raw_get(&(pObj->Ctx), data_raw.u8bit) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Get LSM6DSL actual sensitivity. */
if (LSM6DSL_ACC_GetSensitivity(pObj, &sensitivity) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Calculate the data. */
Acceleration->x = (int32_t)((float)((float)data_raw.i16bit[0] * sensitivity));
Acceleration->y = (int32_t)((float)((float)data_raw.i16bit[1] * sensitivity));
Acceleration->z = (int32_t)((float)((float)data_raw.i16bit[2] * sensitivity));
return LSM6DSL_OK;
}
/**
* @brief Enable the LSM6DSL gyroscope sensor
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_GYRO_Enable(LSM6DSL_Object_t *pObj)
{
/* Check if the component is already enabled */
if (pObj->gyro_is_enabled == 1U)
{
return LSM6DSL_OK;
}
/* Output data rate selection. */
if (lsm6dsl_gy_data_rate_set(&(pObj->Ctx), pObj->gyro_odr) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
pObj->gyro_is_enabled = 1;
return LSM6DSL_OK;
}
/**
* @brief Disable the LSM6DSL gyroscope sensor
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_GYRO_Disable(LSM6DSL_Object_t *pObj)
{
/* Check if the component is already disabled */
if (pObj->gyro_is_enabled == 0U)
{
return LSM6DSL_OK;
}
/* Get current output data rate. */
if (lsm6dsl_gy_data_rate_get(&(pObj->Ctx), &pObj->gyro_odr) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Output data rate selection - power down. */
if (lsm6dsl_gy_data_rate_set(&(pObj->Ctx), LSM6DSL_GY_ODR_OFF) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
pObj->gyro_is_enabled = 0;
return LSM6DSL_OK;
}
/**
* @brief Get the LSM6DSL gyroscope sensor sensitivity
* @param pObj the device pObj
* @param Sensitivity pointer
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_GYRO_GetSensitivity(LSM6DSL_Object_t *pObj, float *Sensitivity)
{
int32_t ret = LSM6DSL_OK;
lsm6dsl_fs_g_t full_scale;
/* Read actual full scale selection from sensor. */
if (lsm6dsl_gy_full_scale_get(&(pObj->Ctx), &full_scale) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Store the sensitivity based on actual full scale. */
switch (full_scale)
{
case LSM6DSL_125dps:
*Sensitivity = LSM6DSL_GYRO_SENSITIVITY_FS_125DPS;
break;
case LSM6DSL_250dps:
*Sensitivity = LSM6DSL_GYRO_SENSITIVITY_FS_250DPS;
break;
case LSM6DSL_500dps:
*Sensitivity = LSM6DSL_GYRO_SENSITIVITY_FS_500DPS;
break;
case LSM6DSL_1000dps:
*Sensitivity = LSM6DSL_GYRO_SENSITIVITY_FS_1000DPS;
break;
case LSM6DSL_2000dps:
*Sensitivity = LSM6DSL_GYRO_SENSITIVITY_FS_2000DPS;
break;
default:
ret = LSM6DSL_ERROR;
break;
}
return ret;
}
/**
* @brief Get the LSM6DSL gyroscope sensor output data rate
* @param pObj the device pObj
* @param Odr pointer where the output data rate is written
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_GYRO_GetOutputDataRate(LSM6DSL_Object_t *pObj, float *Odr)
{
int32_t ret = LSM6DSL_OK;
lsm6dsl_odr_g_t odr_low_level;
/* Get current output data rate. */
if (lsm6dsl_gy_data_rate_get(&(pObj->Ctx), &odr_low_level) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
switch (odr_low_level)
{
case LSM6DSL_GY_ODR_OFF:
*Odr = 0.0f;
break;
case LSM6DSL_GY_ODR_12Hz5:
*Odr = 12.5f;
break;
case LSM6DSL_GY_ODR_26Hz:
*Odr = 26.0f;
break;
case LSM6DSL_GY_ODR_52Hz:
*Odr = 52.0f;
break;
case LSM6DSL_GY_ODR_104Hz:
*Odr = 104.0f;
break;
case LSM6DSL_GY_ODR_208Hz:
*Odr = 208.0f;
break;
case LSM6DSL_GY_ODR_416Hz:
*Odr = 416.0f;
break;
case LSM6DSL_GY_ODR_833Hz:
*Odr = 833.0f;
break;
case LSM6DSL_GY_ODR_1k66Hz:
*Odr = 1660.0f;
break;
case LSM6DSL_GY_ODR_3k33Hz:
*Odr = 3330.0f;
break;
case LSM6DSL_GY_ODR_6k66Hz:
*Odr = 6660.0f;
break;
default:
ret = LSM6DSL_ERROR;
break;
}
return ret;
}
/**
* @brief Set the LSM6DSL gyroscope sensor output data rate
* @param pObj the device pObj
* @param Odr the output data rate value to be set
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_GYRO_SetOutputDataRate(LSM6DSL_Object_t *pObj, float Odr)
{
/* Check if the component is enabled */
if (pObj->gyro_is_enabled == 1U)
{
return LSM6DSL_GYRO_SetOutputDataRate_When_Enabled(pObj, Odr);
}
else
{
return LSM6DSL_GYRO_SetOutputDataRate_When_Disabled(pObj, Odr);
}
}
/**
* @brief Get the LSM6DSL gyroscope sensor full scale
* @param pObj the device pObj
* @param FullScale pointer where the full scale is written
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_GYRO_GetFullScale(LSM6DSL_Object_t *pObj, int32_t *FullScale)
{
int32_t ret = LSM6DSL_OK;
lsm6dsl_fs_g_t fs_low_level;
/* Read actual full scale selection from sensor. */
if (lsm6dsl_gy_full_scale_get(&(pObj->Ctx), &fs_low_level) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
switch (fs_low_level)
{
case LSM6DSL_125dps:
*FullScale = 125;
break;
case LSM6DSL_250dps:
*FullScale = 250;
break;
case LSM6DSL_500dps:
*FullScale = 500;
break;
case LSM6DSL_1000dps:
*FullScale = 1000;
break;
case LSM6DSL_2000dps:
*FullScale = 2000;
break;
default:
ret = LSM6DSL_ERROR;
break;
}
return ret;
}
/**
* @brief Set the LSM6DSL gyroscope sensor full scale
* @param pObj the device pObj
* @param FullScale the functional full scale to be set
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_GYRO_SetFullScale(LSM6DSL_Object_t *pObj, int32_t FullScale)
{
lsm6dsl_fs_g_t new_fs;
new_fs = (FullScale <= 125) ? LSM6DSL_125dps
: (FullScale <= 250) ? LSM6DSL_250dps
: (FullScale <= 500) ? LSM6DSL_500dps
: (FullScale <= 1000) ? LSM6DSL_1000dps
: LSM6DSL_2000dps;
if (lsm6dsl_gy_full_scale_set(&(pObj->Ctx), new_fs) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Get the LSM6DSL gyroscope sensor raw axes
* @param pObj the device pObj
* @param Value pointer where the raw values of the axes are written
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_GYRO_GetAxesRaw(LSM6DSL_Object_t *pObj, LSM6DSL_AxesRaw_t *Value)
{
lsm6dsl_axis3bit16_t data_raw;
/* Read raw data values. */
if (lsm6dsl_angular_rate_raw_get(&(pObj->Ctx), data_raw.u8bit) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Format the data. */
Value->x = data_raw.i16bit[0];
Value->y = data_raw.i16bit[1];
Value->z = data_raw.i16bit[2];
return LSM6DSL_OK;
}
/**
* @brief Get the LSM6DSL gyroscope sensor axes
* @param pObj the device pObj
* @param AngularRate pointer where the values of the axes are written
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_GYRO_GetAxes(LSM6DSL_Object_t *pObj, LSM6DSL_Axes_t *AngularRate)
{
lsm6dsl_axis3bit16_t data_raw;
float sensitivity;
/* Read raw data values. */
if (lsm6dsl_angular_rate_raw_get(&(pObj->Ctx), data_raw.u8bit) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Get LSM6DSL actual sensitivity. */
if (LSM6DSL_GYRO_GetSensitivity(pObj, &sensitivity) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Calculate the data. */
AngularRate->x = (int32_t)((float)((float)data_raw.i16bit[0] * sensitivity));
AngularRate->y = (int32_t)((float)((float)data_raw.i16bit[1] * sensitivity));
AngularRate->z = (int32_t)((float)((float)data_raw.i16bit[2] * sensitivity));
return LSM6DSL_OK;
}
/**
* @brief Get the LSM6DSL register value
* @param pObj the device pObj
* @param Reg address to be read
* @param Data pointer where the value is written
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_Read_Reg(LSM6DSL_Object_t *pObj, uint8_t Reg, uint8_t *Data)
{
if (lsm6dsl_read_reg(&(pObj->Ctx), Reg, Data, 1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Set the LSM6DSL register value
* @param pObj the device pObj
* @param Reg address to be written
* @param Data value to be written
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_Write_Reg(LSM6DSL_Object_t *pObj, uint8_t Reg, uint8_t Data)
{
if (lsm6dsl_write_reg(&(pObj->Ctx), Reg, &Data, 1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Set the interrupt latch
* @param pObj the device pObj
* @param Status value to be written
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_Set_Interrupt_Latch(LSM6DSL_Object_t *pObj, uint8_t Status)
{
if (Status > 1U)
{
return LSM6DSL_ERROR;
}
if (lsm6dsl_int_notification_set(&(pObj->Ctx), (lsm6dsl_lir_t)Status) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Enable free fall detection
* @param pObj the device pObj
* @param IntPin interrupt pin line to be used
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Enable_Free_Fall_Detection(LSM6DSL_Object_t *pObj, LSM6DSL_SensorIntPin_t IntPin)
{
int32_t ret = LSM6DSL_OK;
lsm6dsl_int1_route_t val1;
lsm6dsl_int2_route_t val2;
/* Output Data Rate selection */
if (LSM6DSL_ACC_SetOutputDataRate(pObj, 416.0f) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Full scale selection */
if (LSM6DSL_ACC_SetFullScale(pObj, 2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* FF_DUR setting */
if (lsm6dsl_ff_dur_set(&(pObj->Ctx), 0x06) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* WAKE_DUR setting */
if (lsm6dsl_wkup_dur_set(&(pObj->Ctx), 0x00) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* TIMER_HR setting */
if (lsm6dsl_timestamp_res_set(&(pObj->Ctx), LSM6DSL_LSB_6ms4) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* SLEEP_DUR setting */
if (lsm6dsl_act_sleep_dur_set(&(pObj->Ctx), 0x00) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* FF_THS setting */
if (lsm6dsl_ff_threshold_set(&(pObj->Ctx), LSM6DSL_FF_TSH_312mg) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Enable free fall event on either INT1 or INT2 pin */
switch (IntPin)
{
case LSM6DSL_INT1_PIN:
if (lsm6dsl_pin_int1_route_get(&(pObj->Ctx), &val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val1.int1_ff = PROPERTY_ENABLE;
if (lsm6dsl_pin_int1_route_set(&(pObj->Ctx), val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
break;
case LSM6DSL_INT2_PIN:
if (lsm6dsl_pin_int2_route_get(&(pObj->Ctx), &val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val2.int2_ff = PROPERTY_ENABLE;
if (lsm6dsl_pin_int2_route_set(&(pObj->Ctx), val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
break;
default:
ret = LSM6DSL_ERROR;
break;
}
return ret;
}
/**
* @brief Disable free fall detection
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Disable_Free_Fall_Detection(LSM6DSL_Object_t *pObj)
{
lsm6dsl_int1_route_t val1;
lsm6dsl_int2_route_t val2;
/* Disable free fall event on both INT1 and INT2 pins */
if (lsm6dsl_pin_int1_route_get(&(pObj->Ctx), &val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val1.int1_ff = PROPERTY_DISABLE;
if (lsm6dsl_pin_int1_route_set(&(pObj->Ctx), val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
if (lsm6dsl_pin_int2_route_get(&(pObj->Ctx), &val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val2.int2_ff = PROPERTY_DISABLE;
if (lsm6dsl_pin_int2_route_set(&(pObj->Ctx), val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* FF_DUR setting */
if (lsm6dsl_ff_dur_set(&(pObj->Ctx), 0x00) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* FF_THS setting */
if (lsm6dsl_ff_threshold_set(&(pObj->Ctx), LSM6DSL_FF_TSH_156mg) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Set free fall threshold
* @param pObj the device pObj
* @param Threshold free fall detection threshold
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Set_Free_Fall_Threshold(LSM6DSL_Object_t *pObj, uint8_t Threshold)
{
if (lsm6dsl_ff_threshold_set(&(pObj->Ctx), (lsm6dsl_ff_ths_t)Threshold) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Set free fall duration
* @param pObj the device pObj
* @param Duration free fall detection duration
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Set_Free_Fall_Duration(LSM6DSL_Object_t *pObj, uint8_t Duration)
{
if (lsm6dsl_ff_dur_set(&(pObj->Ctx), Duration) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Enable pedometer
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Enable_Pedometer(LSM6DSL_Object_t *pObj)
{
lsm6dsl_int1_route_t val;
/* Output Data Rate selection */
if (LSM6DSL_ACC_SetOutputDataRate(pObj, 26.0f) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Full scale selection */
if (LSM6DSL_ACC_SetFullScale(pObj, 2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Set pedometer threshold. */
if (lsm6dsl_pedo_threshold_set(&(pObj->Ctx), 0x17) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Enable pedometer algorithm. */
if (lsm6dsl_pedo_sens_set(&(pObj->Ctx), PROPERTY_ENABLE) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Enable step detector on INT1 pin */
if (lsm6dsl_pin_int1_route_get(&(pObj->Ctx), &val) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val.int1_step_detector = PROPERTY_ENABLE;
if (lsm6dsl_pin_int1_route_set(&(pObj->Ctx), val) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Disable pedometer
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Disable_Pedometer(LSM6DSL_Object_t *pObj)
{
lsm6dsl_int1_route_t val1;
/* Disable step detector on INT1 pin */
if (lsm6dsl_pin_int1_route_get(&(pObj->Ctx), &val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val1.int1_step_detector = PROPERTY_DISABLE;
if (lsm6dsl_pin_int1_route_set(&(pObj->Ctx), val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Disable pedometer algorithm. */
if (lsm6dsl_pedo_sens_set(&(pObj->Ctx), PROPERTY_DISABLE) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Reset pedometer threshold. */
if (lsm6dsl_pedo_threshold_set(&(pObj->Ctx), 0x0) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Get step count
* @param pObj the device pObj
* @param StepCount step counter
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Get_Step_Count(LSM6DSL_Object_t *pObj, uint16_t *StepCount)
{
if (lsm6dsl_read_reg(&(pObj->Ctx), LSM6DSL_STEP_COUNTER_L, (uint8_t *)StepCount, 2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Enable step counter reset
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Enable_Step_Counter_Reset(LSM6DSL_Object_t *pObj)
{
if (lsm6dsl_pedo_step_reset_set(&(pObj->Ctx), PROPERTY_ENABLE) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Disable step counter reset
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Disable_Step_Counter_Reset(LSM6DSL_Object_t *pObj)
{
if (lsm6dsl_pedo_step_reset_set(&(pObj->Ctx), PROPERTY_DISABLE) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Set pedometer threshold
* @param pObj the device pObj
* @param Threshold pedometer threshold
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Set_Pedometer_Threshold(LSM6DSL_Object_t *pObj, uint8_t Threshold)
{
if (lsm6dsl_pedo_threshold_set(&(pObj->Ctx), Threshold) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Enable tilt detection
* @param pObj the device pObj
* @param IntPin interrupt pin line to be used
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Enable_Tilt_Detection(LSM6DSL_Object_t *pObj, LSM6DSL_SensorIntPin_t IntPin)
{
int32_t ret = LSM6DSL_OK;
lsm6dsl_int1_route_t val1;
lsm6dsl_int2_route_t val2;
/* Output Data Rate selection */
if (LSM6DSL_ACC_SetOutputDataRate(pObj, 26.0f) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Full scale selection */
if (LSM6DSL_ACC_SetFullScale(pObj, 2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Enable tilt calculation. */
if (lsm6dsl_tilt_sens_set(&(pObj->Ctx), PROPERTY_ENABLE) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Enable tilt event on either INT1 or INT2 pin */
switch (IntPin)
{
case LSM6DSL_INT1_PIN:
if (lsm6dsl_pin_int1_route_get(&(pObj->Ctx), &val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val1.int1_tilt = PROPERTY_ENABLE;
if (lsm6dsl_pin_int1_route_set(&(pObj->Ctx), val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
break;
case LSM6DSL_INT2_PIN:
if (lsm6dsl_pin_int2_route_get(&(pObj->Ctx), &val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val2.int2_tilt = PROPERTY_ENABLE;
if (lsm6dsl_pin_int2_route_set(&(pObj->Ctx), val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
break;
default:
ret = LSM6DSL_ERROR;
break;
}
return ret;
}
/**
* @brief Disable tilt detection
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Disable_Tilt_Detection(LSM6DSL_Object_t *pObj)
{
lsm6dsl_int1_route_t val1;
lsm6dsl_int2_route_t val2;
/* Disable tilt event on both INT1 and INT2 pins */
if (lsm6dsl_pin_int1_route_get(&(pObj->Ctx), &val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val1.int1_tilt = PROPERTY_DISABLE;
if (lsm6dsl_pin_int1_route_set(&(pObj->Ctx), val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
if (lsm6dsl_pin_int2_route_get(&(pObj->Ctx), &val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val2.int2_tilt = PROPERTY_DISABLE;
if (lsm6dsl_pin_int2_route_set(&(pObj->Ctx), val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Disable tilt calculation. */
if (lsm6dsl_tilt_sens_set(&(pObj->Ctx), PROPERTY_DISABLE) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Enable wake up detection
* @param pObj the device pObj
* @param IntPin interrupt pin line to be used
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Enable_Wake_Up_Detection(LSM6DSL_Object_t *pObj, LSM6DSL_SensorIntPin_t IntPin)
{
int32_t ret = LSM6DSL_OK;
lsm6dsl_int1_route_t val1;
lsm6dsl_int2_route_t val2;
/* Output Data Rate selection */
if (LSM6DSL_ACC_SetOutputDataRate(pObj, 416.0f) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Full scale selection */
if (LSM6DSL_ACC_SetFullScale(pObj, 2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* WAKE_DUR setting */
if (lsm6dsl_wkup_dur_set(&(pObj->Ctx), 0x00) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Set wake up threshold. */
if (lsm6dsl_wkup_threshold_set(&(pObj->Ctx), 0x02) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Enable wake up event on either INT1 or INT2 pin */
switch (IntPin)
{
case LSM6DSL_INT1_PIN:
if (lsm6dsl_pin_int1_route_get(&(pObj->Ctx), &val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val1.int1_wu = PROPERTY_ENABLE;
if (lsm6dsl_pin_int1_route_set(&(pObj->Ctx), val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
break;
case LSM6DSL_INT2_PIN:
if (lsm6dsl_pin_int2_route_get(&(pObj->Ctx), &val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val2.int2_wu = PROPERTY_ENABLE;
if (lsm6dsl_pin_int2_route_set(&(pObj->Ctx), val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
break;
default:
ret = LSM6DSL_ERROR;
break;
}
return ret;
}
/**
* @brief Disable wake up detection
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Disable_Wake_Up_Detection(LSM6DSL_Object_t *pObj)
{
lsm6dsl_int1_route_t val1;
lsm6dsl_int2_route_t val2;
/* Disable wake up event on both INT1 and INT2 pins */
if (lsm6dsl_pin_int1_route_get(&(pObj->Ctx), &val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val1.int1_wu = PROPERTY_DISABLE;
if (lsm6dsl_pin_int1_route_set(&(pObj->Ctx), val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
if (lsm6dsl_pin_int2_route_get(&(pObj->Ctx), &val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val2.int2_wu = PROPERTY_DISABLE;
if (lsm6dsl_pin_int2_route_set(&(pObj->Ctx), val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Reset wake up threshold. */
if (lsm6dsl_wkup_threshold_set(&(pObj->Ctx), 0x00) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* WAKE_DUR setting */
if (lsm6dsl_wkup_dur_set(&(pObj->Ctx), 0x00) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Set wake up threshold
* @param pObj the device pObj
* @param Threshold wake up detection threshold
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Set_Wake_Up_Threshold(LSM6DSL_Object_t *pObj, uint8_t Threshold)
{
/* Set wake up threshold. */
if (lsm6dsl_wkup_threshold_set(&(pObj->Ctx), Threshold) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Set wake up duration
* @param pObj the device pObj
* @param Duration wake up detection duration
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Set_Wake_Up_Duration(LSM6DSL_Object_t *pObj, uint8_t Duration)
{
/* Set wake up duration. */
if (lsm6dsl_wkup_dur_set(&(pObj->Ctx), Duration) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Enable inactivity detection
* @param pObj the device pObj
* @param IntPin interrupt pin line to be used
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Enable_Inactivity_Detection(LSM6DSL_Object_t *pObj, LSM6DSL_SensorIntPin_t IntPin)
{
int32_t ret = LSM6DSL_OK;
lsm6dsl_int1_route_t val1;
lsm6dsl_int2_route_t val2;
/* Output Data Rate and Full scale must be selected externally */
/* SLEEP_DUR setting */
if (lsm6dsl_act_sleep_dur_set(&(pObj->Ctx), 0x01) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Set wake up threshold. */
if (lsm6dsl_wkup_threshold_set(&(pObj->Ctx), 0x02) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Enable inactivity detection. Gyroscope is left configured as it is */
if (lsm6dsl_act_mode_set(&(pObj->Ctx), LSM6DSL_XL_12Hz5_GY_NOT_AFFECTED) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Enable activity/inactivity event on either INT1 or INT2 pin */
switch (IntPin)
{
case LSM6DSL_INT1_PIN:
if (lsm6dsl_pin_int1_route_get(&(pObj->Ctx), &val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val1.int1_inact_state = PROPERTY_ENABLE;
if (lsm6dsl_pin_int1_route_set(&(pObj->Ctx), val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
break;
case LSM6DSL_INT2_PIN:
if (lsm6dsl_pin_int2_route_get(&(pObj->Ctx), &val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val2.int2_inact_state = PROPERTY_ENABLE;
if (lsm6dsl_pin_int2_route_set(&(pObj->Ctx), val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
break;
default:
ret = LSM6DSL_ERROR;
break;
}
return ret;
}
/**
* @brief Disable inactivity detection
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Disable_Inactivity_Detection(LSM6DSL_Object_t *pObj)
{
lsm6dsl_int1_route_t val1;
lsm6dsl_int2_route_t val2;
/* Disable activity/inactivity event on both INT1 and INT2 pins */
if (lsm6dsl_pin_int1_route_get(&(pObj->Ctx), &val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val1.int1_inact_state = PROPERTY_DISABLE;
if (lsm6dsl_pin_int1_route_set(&(pObj->Ctx), val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
if (lsm6dsl_pin_int2_route_get(&(pObj->Ctx), &val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val2.int2_inact_state = PROPERTY_DISABLE;
if (lsm6dsl_pin_int2_route_set(&(pObj->Ctx), val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Disable inactivity detection. */
if (lsm6dsl_act_mode_set(&(pObj->Ctx), LSM6DSL_PROPERTY_DISABLE) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Reset wake up threshold. */
if (lsm6dsl_wkup_threshold_set(&(pObj->Ctx), 0x00) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* SLEEP_DUR setting */
if (lsm6dsl_act_sleep_dur_set(&(pObj->Ctx), 0x00) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Set sleep duration
* @param pObj the device pObj
* @param Duration wake up detection duration
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Set_Sleep_Duration(LSM6DSL_Object_t *pObj, uint8_t Duration)
{
/* Set sleep duration. */
if (lsm6dsl_act_sleep_dur_set(&(pObj->Ctx), Duration) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Enable single tap detection
* @param pObj the device pObj
* @param IntPin interrupt pin line to be used
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Enable_Single_Tap_Detection(LSM6DSL_Object_t *pObj, LSM6DSL_SensorIntPin_t IntPin)
{
int32_t ret = LSM6DSL_OK;
lsm6dsl_int1_route_t val1;
lsm6dsl_int2_route_t val2;
/* Output Data Rate selection */
if (LSM6DSL_ACC_SetOutputDataRate(pObj, 416.0f) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Full scale selection */
if (LSM6DSL_ACC_SetFullScale(pObj, 2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Enable X direction in tap recognition. */
if (lsm6dsl_tap_detection_on_x_set(&(pObj->Ctx), PROPERTY_ENABLE) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Enable Y direction in tap recognition. */
if (lsm6dsl_tap_detection_on_y_set(&(pObj->Ctx), PROPERTY_ENABLE) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Enable Z direction in tap recognition. */
if (lsm6dsl_tap_detection_on_z_set(&(pObj->Ctx), PROPERTY_ENABLE) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Set tap threshold. */
if (lsm6dsl_tap_threshold_x_set(&(pObj->Ctx), 0x08) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Set tap shock time window. */
if (lsm6dsl_tap_shock_set(&(pObj->Ctx), 0x02) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Set tap quiet time window. */
if (lsm6dsl_tap_quiet_set(&(pObj->Ctx), 0x01) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* _NOTE_: Tap duration time window - don't care for single tap. */
/* _NOTE_: Single/Double Tap event - don't care of this flag for single tap. */
/* Enable single tap event on either INT1 or INT2 pin */
switch (IntPin)
{
case LSM6DSL_INT1_PIN:
if (lsm6dsl_pin_int1_route_get(&(pObj->Ctx), &val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val1.int1_single_tap = PROPERTY_ENABLE;
if (lsm6dsl_pin_int1_route_set(&(pObj->Ctx), val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
break;
case LSM6DSL_INT2_PIN:
if (lsm6dsl_pin_int2_route_get(&(pObj->Ctx), &val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val2.int2_single_tap = PROPERTY_ENABLE;
if (lsm6dsl_pin_int2_route_set(&(pObj->Ctx), val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
break;
default:
ret = LSM6DSL_ERROR;
break;
}
return ret;
}
/**
* @brief Disable single tap detection
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Disable_Single_Tap_Detection(LSM6DSL_Object_t *pObj)
{
lsm6dsl_int1_route_t val1;
lsm6dsl_int2_route_t val2;
/* Disable single tap event on both INT1 and INT2 pins */
if (lsm6dsl_pin_int1_route_get(&(pObj->Ctx), &val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val1.int1_single_tap = PROPERTY_DISABLE;
if (lsm6dsl_pin_int1_route_set(&(pObj->Ctx), val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
if (lsm6dsl_pin_int2_route_get(&(pObj->Ctx), &val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val2.int2_single_tap = PROPERTY_DISABLE;
if (lsm6dsl_pin_int2_route_set(&(pObj->Ctx), val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Reset tap quiet time window. */
if (lsm6dsl_tap_quiet_set(&(pObj->Ctx), 0x00) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Reset tap shock time window. */
if (lsm6dsl_tap_shock_set(&(pObj->Ctx), 0x00) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Reset tap threshold. */
if (lsm6dsl_tap_threshold_x_set(&(pObj->Ctx), 0x00) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Disable Z direction in tap recognition. */
if (lsm6dsl_tap_detection_on_z_set(&(pObj->Ctx), PROPERTY_DISABLE) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Disable Y direction in tap recognition. */
if (lsm6dsl_tap_detection_on_y_set(&(pObj->Ctx), PROPERTY_DISABLE) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Disable X direction in tap recognition. */
if (lsm6dsl_tap_detection_on_x_set(&(pObj->Ctx), PROPERTY_DISABLE) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Enable double tap detection
* @param pObj the device pObj
* @param IntPin interrupt pin line to be used
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Enable_Double_Tap_Detection(LSM6DSL_Object_t *pObj, LSM6DSL_SensorIntPin_t IntPin)
{
int32_t ret = LSM6DSL_OK;
lsm6dsl_int1_route_t val1;
lsm6dsl_int2_route_t val2;
/* Output Data Rate selection */
if (LSM6DSL_ACC_SetOutputDataRate(pObj, 416.0f) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Full scale selection */
if (LSM6DSL_ACC_SetFullScale(pObj, 2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Enable X direction in tap recognition. */
if (lsm6dsl_tap_detection_on_x_set(&(pObj->Ctx), PROPERTY_ENABLE) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Enable Y direction in tap recognition. */
if (lsm6dsl_tap_detection_on_y_set(&(pObj->Ctx), PROPERTY_ENABLE) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Enable Z direction in tap recognition. */
if (lsm6dsl_tap_detection_on_z_set(&(pObj->Ctx), PROPERTY_ENABLE) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Set tap threshold. */
if (lsm6dsl_tap_threshold_x_set(&(pObj->Ctx), 0x08) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Set tap shock time window. */
if (lsm6dsl_tap_shock_set(&(pObj->Ctx), 0x03) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Set tap quiet time window. */
if (lsm6dsl_tap_quiet_set(&(pObj->Ctx), 0x03) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Set tap duration time window. */
if (lsm6dsl_tap_dur_set(&(pObj->Ctx), 0x08) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Single and double tap enabled. */
if (lsm6dsl_tap_mode_set(&(pObj->Ctx), LSM6DSL_BOTH_SINGLE_DOUBLE) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Enable double tap event on either INT1 or INT2 pin */
switch (IntPin)
{
case LSM6DSL_INT1_PIN:
if (lsm6dsl_pin_int1_route_get(&(pObj->Ctx), &val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val1.int1_double_tap = PROPERTY_ENABLE;
if (lsm6dsl_pin_int1_route_set(&(pObj->Ctx), val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
break;
case LSM6DSL_INT2_PIN:
if (lsm6dsl_pin_int2_route_get(&(pObj->Ctx), &val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val2.int2_double_tap = PROPERTY_ENABLE;
if (lsm6dsl_pin_int2_route_set(&(pObj->Ctx), val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
break;
default:
ret = LSM6DSL_ERROR;
break;
}
return ret;
}
/**
* @brief Disable double tap detection
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Disable_Double_Tap_Detection(LSM6DSL_Object_t *pObj)
{
lsm6dsl_int1_route_t val1;
lsm6dsl_int2_route_t val2;
/* Disable double tap event on both INT1 and INT2 pins */
if (lsm6dsl_pin_int1_route_get(&(pObj->Ctx), &val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val1.int1_double_tap = PROPERTY_DISABLE;
if (lsm6dsl_pin_int1_route_set(&(pObj->Ctx), val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
if (lsm6dsl_pin_int2_route_get(&(pObj->Ctx), &val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val2.int2_double_tap = PROPERTY_DISABLE;
if (lsm6dsl_pin_int2_route_set(&(pObj->Ctx), val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Only single tap enabled. */
if (lsm6dsl_tap_mode_set(&(pObj->Ctx), LSM6DSL_ONLY_SINGLE) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Reset tap duration time window. */
if (lsm6dsl_tap_dur_set(&(pObj->Ctx), 0x00) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Reset tap quiet time window. */
if (lsm6dsl_tap_quiet_set(&(pObj->Ctx), 0x00) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Reset tap shock time window. */
if (lsm6dsl_tap_shock_set(&(pObj->Ctx), 0x00) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Reset tap threshold. */
if (lsm6dsl_tap_threshold_x_set(&(pObj->Ctx), 0x00) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Disable Z direction in tap recognition. */
if (lsm6dsl_tap_detection_on_z_set(&(pObj->Ctx), PROPERTY_DISABLE) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Disable Y direction in tap recognition. */
if (lsm6dsl_tap_detection_on_y_set(&(pObj->Ctx), PROPERTY_DISABLE) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Disable X direction in tap recognition. */
if (lsm6dsl_tap_detection_on_x_set(&(pObj->Ctx), PROPERTY_DISABLE) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Set tap threshold
* @param pObj the device pObj
* @param Threshold tap threshold
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Set_Tap_Threshold(LSM6DSL_Object_t *pObj, uint8_t Threshold)
{
/* Set tap threshold. */
if (lsm6dsl_tap_threshold_x_set(&(pObj->Ctx), Threshold) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Set tap shock time
* @param pObj the device pObj
* @param Time tap shock time
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Set_Tap_Shock_Time(LSM6DSL_Object_t *pObj, uint8_t Time)
{
/* Set tap shock time window. */
if (lsm6dsl_tap_shock_set(&(pObj->Ctx), Time) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Set tap quiet time
* @param pObj the device pObj
* @param Time tap quiet time
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Set_Tap_Quiet_Time(LSM6DSL_Object_t *pObj, uint8_t Time)
{
/* Set tap quiet time window. */
if (lsm6dsl_tap_quiet_set(&(pObj->Ctx), Time) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Set tap duration time
* @param pObj the device pObj
* @param Time tap duration time
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Set_Tap_Duration_Time(LSM6DSL_Object_t *pObj, uint8_t Time)
{
/* Set tap duration time window. */
if (lsm6dsl_tap_dur_set(&(pObj->Ctx), Time) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Enable 6D orientation detection
* @param pObj the device pObj
* @param IntPin interrupt pin line to be used
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Enable_6D_Orientation(LSM6DSL_Object_t *pObj, LSM6DSL_SensorIntPin_t IntPin)
{
int32_t ret = LSM6DSL_OK;
lsm6dsl_int1_route_t val1;
lsm6dsl_int2_route_t val2;
/* Output Data Rate selection */
if (LSM6DSL_ACC_SetOutputDataRate(pObj, 416.0f) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Full scale selection */
if (LSM6DSL_ACC_SetFullScale(pObj, 2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* 6D orientation enabled. */
if (lsm6dsl_6d_threshold_set(&(pObj->Ctx), LSM6DSL_DEG_60) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Enable 6D orientation event on either INT1 or INT2 pin */
switch (IntPin)
{
case LSM6DSL_INT1_PIN:
if (lsm6dsl_pin_int1_route_get(&(pObj->Ctx), &val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val1.int1_6d = PROPERTY_ENABLE;
if (lsm6dsl_pin_int1_route_set(&(pObj->Ctx), val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
break;
case LSM6DSL_INT2_PIN:
if (lsm6dsl_pin_int2_route_get(&(pObj->Ctx), &val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val2.int2_6d = PROPERTY_ENABLE;
if (lsm6dsl_pin_int2_route_set(&(pObj->Ctx), val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
break;
default:
ret = LSM6DSL_ERROR;
break;
}
return ret;
}
/**
* @brief Disable 6D orientation detection
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Disable_6D_Orientation(LSM6DSL_Object_t *pObj)
{
lsm6dsl_int1_route_t val1;
lsm6dsl_int2_route_t val2;
/* Disable 6D orientation event on both INT1 and INT2 pins */
if (lsm6dsl_pin_int1_route_get(&(pObj->Ctx), &val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val1.int1_6d = PROPERTY_DISABLE;
if (lsm6dsl_pin_int1_route_set(&(pObj->Ctx), val1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
if (lsm6dsl_pin_int2_route_get(&(pObj->Ctx), &val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
val2.int2_6d = PROPERTY_DISABLE;
if (lsm6dsl_pin_int2_route_set(&(pObj->Ctx), val2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
/* Reset 6D orientation. */
if (lsm6dsl_6d_threshold_set(&(pObj->Ctx), LSM6DSL_DEG_80) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Set 6D orientation threshold
* @param pObj the device pObj
* @param Threshold 6D Orientation detection threshold
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Set_6D_Orientation_Threshold(LSM6DSL_Object_t *pObj, uint8_t Threshold)
{
if (lsm6dsl_6d_threshold_set(&(pObj->Ctx), (lsm6dsl_sixd_ths_t)Threshold) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Get the status of XLow orientation
* @param pObj the device pObj
* @param XLow the status of XLow orientation
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Get_6D_Orientation_XL(LSM6DSL_Object_t *pObj, uint8_t *XLow)
{
lsm6dsl_d6d_src_t data;
if (lsm6dsl_read_reg(&(pObj->Ctx), LSM6DSL_D6D_SRC, (uint8_t *)&data, 1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
*XLow = data.xl;
return LSM6DSL_OK;
}
/**
* @brief Get the status of XHigh orientation
* @param pObj the device pObj
* @param XHigh the status of XHigh orientation
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Get_6D_Orientation_XH(LSM6DSL_Object_t *pObj, uint8_t *XHigh)
{
lsm6dsl_d6d_src_t data;
if (lsm6dsl_read_reg(&(pObj->Ctx), LSM6DSL_D6D_SRC, (uint8_t *)&data, 1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
*XHigh = data.xh;
return LSM6DSL_OK;
}
/**
* @brief Get the status of YLow orientation
* @param pObj the device pObj
* @param YLow the status of YLow orientation
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Get_6D_Orientation_YL(LSM6DSL_Object_t *pObj, uint8_t *YLow)
{
lsm6dsl_d6d_src_t data;
if (lsm6dsl_read_reg(&(pObj->Ctx), LSM6DSL_D6D_SRC, (uint8_t *)&data, 1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
*YLow = data.yl;
return LSM6DSL_OK;
}
/**
* @brief Get the status of YHigh orientation
* @param pObj the device pObj
* @param YHigh the status of YHigh orientation
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Get_6D_Orientation_YH(LSM6DSL_Object_t *pObj, uint8_t *YHigh)
{
lsm6dsl_d6d_src_t data;
if (lsm6dsl_read_reg(&(pObj->Ctx), LSM6DSL_D6D_SRC, (uint8_t *)&data, 1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
*YHigh = data.yh;
return LSM6DSL_OK;
}
/**
* @brief Get the status of ZLow orientation
* @param pObj the device pObj
* @param ZLow the status of ZLow orientation
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Get_6D_Orientation_ZL(LSM6DSL_Object_t *pObj, uint8_t *ZLow)
{
lsm6dsl_d6d_src_t data;
if (lsm6dsl_read_reg(&(pObj->Ctx), LSM6DSL_D6D_SRC, (uint8_t *)&data, 1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
*ZLow = data.zl;
return LSM6DSL_OK;
}
/**
* @brief Get the status of ZHigh orientation
* @param pObj the device pObj
* @param ZHigh the status of ZHigh orientation
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Get_6D_Orientation_ZH(LSM6DSL_Object_t *pObj, uint8_t *ZHigh)
{
lsm6dsl_d6d_src_t data;
if (lsm6dsl_read_reg(&(pObj->Ctx), LSM6DSL_D6D_SRC, (uint8_t *)&data, 1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
*ZHigh = data.zh;
return LSM6DSL_OK;
}
/**
* @brief Get the status of all hardware events
* @param pObj the device pObj
* @param Status the status of all hardware events
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Get_Event_Status(LSM6DSL_Object_t *pObj, LSM6DSL_Event_Status_t *Status)
{
lsm6dsl_wake_up_src_t wake_up_src;
lsm6dsl_tap_src_t tap_src;
lsm6dsl_d6d_src_t d6d_src;
lsm6dsl_func_src1_t func_src;
lsm6dsl_md1_cfg_t md1_cfg;
lsm6dsl_md2_cfg_t md2_cfg;
lsm6dsl_int1_ctrl_t int1_ctrl;
(void)memset((void *)Status, 0x0, sizeof(LSM6DSL_Event_Status_t));
if (lsm6dsl_read_reg(&(pObj->Ctx), LSM6DSL_WAKE_UP_SRC, (uint8_t *)&wake_up_src, 1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
if (lsm6dsl_read_reg(&(pObj->Ctx), LSM6DSL_TAP_SRC, (uint8_t *)&tap_src, 1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
if (lsm6dsl_read_reg(&(pObj->Ctx), LSM6DSL_D6D_SRC, (uint8_t *)&d6d_src, 1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
if (lsm6dsl_read_reg(&(pObj->Ctx), LSM6DSL_FUNC_SRC1, (uint8_t *)&func_src, 1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
if (lsm6dsl_read_reg(&(pObj->Ctx), LSM6DSL_MD1_CFG, (uint8_t *)&md1_cfg, 1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
if (lsm6dsl_read_reg(&(pObj->Ctx), LSM6DSL_MD2_CFG, (uint8_t *)&md2_cfg, 1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
if (lsm6dsl_read_reg(&(pObj->Ctx), LSM6DSL_INT1_CTRL, (uint8_t *)&int1_ctrl, 1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
if ((md1_cfg.int1_ff == 1U) || (md2_cfg.int2_ff == 1U))
{
if (wake_up_src.ff_ia == 1U)
{
Status->FreeFallStatus = 1;
}
}
if ((md1_cfg.int1_wu == 1U) || (md2_cfg.int2_wu == 1U))
{
if (wake_up_src.wu_ia == 1U)
{
Status->WakeUpStatus = 1;
}
}
if ((md1_cfg.int1_inact_state == 1U) || (md2_cfg.int2_inact_state == 1U))
{
if (wake_up_src.sleep_state_ia == 1U)
{
Status->SleepStatus = 1;
}
}
if ((md1_cfg.int1_single_tap == 1U) || (md2_cfg.int2_single_tap == 1U))
{
if (tap_src.single_tap == 1U)
{
Status->TapStatus = 1;
}
}
if ((md1_cfg.int1_double_tap == 1U) || (md2_cfg.int2_double_tap == 1U))
{
if (tap_src.double_tap == 1U)
{
Status->DoubleTapStatus = 1;
}
}
if ((md1_cfg.int1_6d == 1U) || (md2_cfg.int2_6d == 1U))
{
if (d6d_src.d6d_ia == 1U)
{
Status->D6DOrientationStatus = 1;
}
}
if (int1_ctrl.int1_step_detector == 1U)
{
if (func_src.step_detected == 1U)
{
Status->StepStatus = 1;
}
}
if ((md1_cfg.int1_tilt == 1U) || (md2_cfg.int2_tilt == 1U))
{
if (func_src.tilt_ia == 1U)
{
Status->TiltStatus = 1;
}
}
return LSM6DSL_OK;
}
/**
* @brief Set self test
* @param pObj the device pObj
* @param Val the value of st_xl in reg CTRL5_C
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Set_SelfTest(LSM6DSL_Object_t *pObj, uint8_t Val)
{
lsm6dsl_st_xl_t reg;
reg = (Val == 0U) ? LSM6DSL_XL_ST_DISABLE
: (Val == 1U) ? LSM6DSL_XL_ST_POSITIVE
: (Val == 2U) ? LSM6DSL_XL_ST_NEGATIVE
: LSM6DSL_XL_ST_ND;
if (lsm6dsl_xl_self_test_set(&(pObj->Ctx), reg) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Get the LSM6DSL ACC data ready bit value
* @param pObj the device pObj
* @param Status the status of data ready bit
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Get_DRDY_Status(LSM6DSL_Object_t *pObj, uint8_t *Status)
{
if (lsm6dsl_xl_flag_data_ready_get(&(pObj->Ctx), Status) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Get the LSM6DSL ACC initialization status
* @param pObj the device pObj
* @param Status 1 if initialized, 0 otherwise
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Get_Init_Status(LSM6DSL_Object_t *pObj, uint8_t *Status)
{
if (pObj == NULL)
{
return LSM6DSL_ERROR;
}
*Status = pObj->is_initialized;
return LSM6DSL_OK;
}
/**
* @brief Set DRDY on INT1
* @param pObj the device pObj
* @param Val the value of int1_drdy_xl in reg INT1_CTRL
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_ACC_Set_INT1_DRDY(LSM6DSL_Object_t *pObj, uint8_t Val)
{
lsm6dsl_int1_route_t reg;
if (lsm6dsl_pin_int1_route_get(&(pObj->Ctx), &reg) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
if (Val <= 1)
{
reg.int1_drdy_xl = Val;
}
else
{
return LSM6DSL_ERROR;
}
if (lsm6dsl_pin_int1_route_set(&(pObj->Ctx), reg) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Set self test
* @param pObj the device pObj
* @param Val the value of st_xl in reg CTRL5_C
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_GYRO_Set_SelfTest(LSM6DSL_Object_t *pObj, uint8_t Val)
{
lsm6dsl_st_g_t reg;
reg = (Val == 0U) ? LSM6DSL_GY_ST_DISABLE
: (Val == 1U) ? LSM6DSL_GY_ST_POSITIVE
: (Val == 2U) ? LSM6DSL_GY_ST_NEGATIVE
: LSM6DSL_GY_ST_ND;
if (lsm6dsl_gy_self_test_set(&(pObj->Ctx), reg) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Get the LSM6DSL GYRO data ready bit value
* @param pObj the device pObj
* @param Status the status of data ready bit
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_GYRO_Get_DRDY_Status(LSM6DSL_Object_t *pObj, uint8_t *Status)
{
if (lsm6dsl_gy_flag_data_ready_get(&(pObj->Ctx), Status) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Get the LSM6DSL GYRO initialization status
* @param pObj the device pObj
* @param Status 1 if initialized, 0 otherwise
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_GYRO_Get_Init_Status(LSM6DSL_Object_t *pObj, uint8_t *Status)
{
if (pObj == NULL)
{
return LSM6DSL_ERROR;
}
*Status = pObj->is_initialized;
return LSM6DSL_OK;
}
/**
* @brief Set DRDY on INT1
* @param pObj the device pObj
* @param Val the value of int1_drdy_g in reg INT1_CTRL
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_GYRO_Set_INT1_DRDY(LSM6DSL_Object_t *pObj, uint8_t Val)
{
lsm6dsl_int1_route_t reg;
if (lsm6dsl_pin_int1_route_get(&(pObj->Ctx), &reg) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
if (Val <= 1)
{
reg.int1_drdy_g = Val;
}
else
{
return LSM6DSL_ERROR;
}
if (lsm6dsl_pin_int1_route_set(&(pObj->Ctx), reg) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Set DRDY mode
* @param pObj the device pObj
* @param Val the value of drdy_pulsed in reg LSM6DSL_DRDY_PULSE_CFG_G
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_Set_DRDY_Mode(LSM6DSL_Object_t *pObj, uint8_t Val)
{
lsm6dsl_drdy_pulsed_g_t reg;
reg = (Val == 0U) ? LSM6DSL_DRDY_LATCHED
: (Val == 1U) ? LSM6DSL_DRDY_PULSED
: LSM6DSL_DRDY_ND;
if (lsm6dsl_data_ready_mode_set(&(pObj->Ctx), reg) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Get the LSM6DSL FIFO number of samples
* @param pObj the device pObj
* @param NumSamples number of samples
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_FIFO_Get_Num_Samples(LSM6DSL_Object_t *pObj, uint16_t *NumSamples)
{
if (lsm6dsl_fifo_data_level_get(&(pObj->Ctx), NumSamples) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Get the LSM6DSL FIFO full status
* @param pObj the device pObj
* @param Status FIFO full status
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_FIFO_Get_Full_Status(LSM6DSL_Object_t *pObj, uint8_t *Status)
{
lsm6dsl_reg_t reg;
if (lsm6dsl_read_reg(&(pObj->Ctx), LSM6DSL_FIFO_STATUS2, &reg.byte, 1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
*Status = reg.fifo_status2.fifo_full_smart;
return LSM6DSL_OK;
}
/**
* @brief Set the LSM6DSL FIFO ODR value
* @param pObj the device pObj
* @param Odr FIFO ODR value
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_FIFO_Set_ODR_Value(LSM6DSL_Object_t *pObj, float Odr)
{
lsm6dsl_odr_fifo_t new_odr;
new_odr = (Odr <= 12.5f) ? LSM6DSL_FIFO_12Hz5
: (Odr <= 26.0f) ? LSM6DSL_FIFO_26Hz
: (Odr <= 52.0f) ? LSM6DSL_FIFO_52Hz
: (Odr <= 104.0f) ? LSM6DSL_FIFO_104Hz
: (Odr <= 208.0f) ? LSM6DSL_FIFO_208Hz
: (Odr <= 416.0f) ? LSM6DSL_FIFO_416Hz
: (Odr <= 833.0f) ? LSM6DSL_FIFO_833Hz
: (Odr <= 1660.0f) ? LSM6DSL_FIFO_1k66Hz
: (Odr <= 3330.0f) ? LSM6DSL_FIFO_3k33Hz
: LSM6DSL_FIFO_6k66Hz;
if (lsm6dsl_fifo_data_rate_set(&(pObj->Ctx), new_odr) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Set the LSM6DSL FIFO full interrupt on INT1 pin
* @param pObj the device pObj
* @param Status FIFO full interrupt on INT1 pin status
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_FIFO_Set_INT1_FIFO_Full(LSM6DSL_Object_t *pObj, uint8_t Status)
{
lsm6dsl_reg_t reg;
if (lsm6dsl_read_reg(&(pObj->Ctx), LSM6DSL_INT1_CTRL, &reg.byte, 1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
reg.int1_ctrl.int1_full_flag = Status;
if (lsm6dsl_write_reg(&(pObj->Ctx), LSM6DSL_INT1_CTRL, &reg.byte, 1) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Set the LSM6DSL FIFO watermark level
* @param pObj the device pObj
* @param Watermark FIFO watermark level
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_FIFO_Set_Watermark_Level(LSM6DSL_Object_t *pObj, uint16_t Watermark)
{
if (lsm6dsl_fifo_watermark_set(&(pObj->Ctx), Watermark) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Set the LSM6DSL FIFO stop on watermark
* @param pObj the device pObj
* @param Status FIFO stop on watermark status
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_FIFO_Set_Stop_On_Fth(LSM6DSL_Object_t *pObj, uint8_t Status)
{
if (lsm6dsl_fifo_stop_on_wtm_set(&(pObj->Ctx), Status) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Set the LSM6DSL FIFO mode
* @param pObj the device pObj
* @param Mode FIFO mode
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_FIFO_Set_Mode(LSM6DSL_Object_t *pObj, uint8_t Mode)
{
int32_t ret = LSM6DSL_OK;
/* Verify that the passed parameter contains one of the valid values. */
switch ((lsm6dsl_fifo_mode_t)Mode)
{
case LSM6DSL_BYPASS_MODE:
case LSM6DSL_FIFO_MODE:
case LSM6DSL_STREAM_TO_FIFO_MODE:
case LSM6DSL_BYPASS_TO_STREAM_MODE:
case LSM6DSL_STREAM_MODE:
break;
default:
ret = LSM6DSL_ERROR;
break;
}
if (ret == LSM6DSL_ERROR)
{
return ret;
}
if (lsm6dsl_fifo_mode_set(&(pObj->Ctx), (lsm6dsl_fifo_mode_t)Mode) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return ret;
}
/**
* @brief Get the LSM6DSL FIFO pattern
* @param pObj the device pObj
* @param Pattern FIFO pattern
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_FIFO_Get_Pattern(LSM6DSL_Object_t *pObj, uint16_t *Pattern)
{
if (lsm6dsl_fifo_pattern_get(&(pObj->Ctx), Pattern) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Get the LSM6DSL FIFO raw data
* @param pObj the device pObj
* @param Data FIFO raw data array [2]
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_FIFO_Get_Data(LSM6DSL_Object_t *pObj, uint8_t *Data)
{
if (lsm6dsl_read_reg(&(pObj->Ctx), LSM6DSL_FIFO_DATA_OUT_L, Data, 2) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Set the LSM6DSL FIFO accelero decimation
* @param pObj the device pObj
* @param Decimation FIFO accelero decimation
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_FIFO_ACC_Set_Decimation(LSM6DSL_Object_t *pObj, uint8_t Decimation)
{
int32_t ret = LSM6DSL_OK;
/* Verify that the passed parameter contains one of the valid values. */
switch ((lsm6dsl_dec_fifo_xl_t)Decimation)
{
case LSM6DSL_FIFO_XL_DISABLE:
case LSM6DSL_FIFO_XL_NO_DEC:
case LSM6DSL_FIFO_XL_DEC_2:
case LSM6DSL_FIFO_XL_DEC_3:
case LSM6DSL_FIFO_XL_DEC_4:
case LSM6DSL_FIFO_XL_DEC_8:
case LSM6DSL_FIFO_XL_DEC_16:
case LSM6DSL_FIFO_XL_DEC_32:
break;
default:
ret = LSM6DSL_ERROR;
break;
}
if (ret == LSM6DSL_ERROR)
{
return ret;
}
if (lsm6dsl_fifo_xl_batch_set(&(pObj->Ctx), (lsm6dsl_dec_fifo_xl_t)Decimation) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return ret;
}
/**
* @brief Get the LSM6DSL FIFO accelero single sample (16-bit data) and calculate acceleration [mg]
* @param pObj the device pObj
* @param Acceleration FIFO single accelero axis [mg]
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_FIFO_ACC_Get_Axis(LSM6DSL_Object_t *pObj, int32_t *Acceleration)
{
uint8_t data[2];
int16_t data_raw;
float sensitivity = 0.0f;
float acceleration_float;
if (LSM6DSL_FIFO_Get_Data(pObj, data) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
data_raw = ((int16_t)data[1] << 8) | data[0];
if (LSM6DSL_ACC_GetSensitivity(pObj, &sensitivity) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
acceleration_float = (float)data_raw * sensitivity;
*Acceleration = (int32_t)acceleration_float;
return LSM6DSL_OK;
}
/**
* @brief Set the LSM6DSL FIFO gyro decimation
* @param pObj the device pObj
* @param Decimation FIFO gyro decimation
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_FIFO_GYRO_Set_Decimation(LSM6DSL_Object_t *pObj, uint8_t Decimation)
{
int32_t ret = LSM6DSL_OK;
/* Verify that the passed parameter contains one of the valid values. */
switch ((lsm6dsl_dec_fifo_gyro_t)Decimation)
{
case LSM6DSL_FIFO_GY_DISABLE:
case LSM6DSL_FIFO_GY_NO_DEC:
case LSM6DSL_FIFO_GY_DEC_2:
case LSM6DSL_FIFO_GY_DEC_3:
case LSM6DSL_FIFO_GY_DEC_4:
case LSM6DSL_FIFO_GY_DEC_8:
case LSM6DSL_FIFO_GY_DEC_16:
case LSM6DSL_FIFO_GY_DEC_32:
break;
default:
ret = LSM6DSL_ERROR;
break;
}
if (ret == LSM6DSL_ERROR)
{
return ret;
}
if (lsm6dsl_fifo_gy_batch_set(&(pObj->Ctx), (lsm6dsl_dec_fifo_gyro_t)Decimation) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return ret;
}
/**
* @brief Get the LSM6DSL FIFO gyro single sample (16-bit data) and calculate angular velocity [mDPS]
* @param pObj the device pObj
* @param AngularVelocity FIFO single gyro axis [mDPS]
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSL_FIFO_GYRO_Get_Axis(LSM6DSL_Object_t *pObj, int32_t *AngularVelocity)
{
uint8_t data[2];
int16_t data_raw;
float sensitivity = 0.0f;
float angular_velocity_float;
if (LSM6DSL_FIFO_Get_Data(pObj, data) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
data_raw = ((int16_t)data[1] << 8) | data[0];
if (LSM6DSL_GYRO_GetSensitivity(pObj, &sensitivity) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
angular_velocity_float = (float)data_raw * sensitivity;
*AngularVelocity = (int32_t)angular_velocity_float;
return LSM6DSL_OK;
}
/**
* @}
*/
/** @defgroup LSM6DSL_Private_Functions LSM6DSL Private Functions
* @{
*/
/**
* @brief Set the LSM6DSL accelerometer sensor output data rate when enabled
* @param pObj the device pObj
* @param Odr the functional output data rate to be set
* @retval 0 in case of success, an error code otherwise
*/
static int32_t LSM6DSL_ACC_SetOutputDataRate_When_Enabled(LSM6DSL_Object_t *pObj, float Odr)
{
lsm6dsl_odr_xl_t new_odr;
new_odr = (Odr <= 12.5f) ? LSM6DSL_XL_ODR_12Hz5
: (Odr <= 26.0f) ? LSM6DSL_XL_ODR_26Hz
: (Odr <= 52.0f) ? LSM6DSL_XL_ODR_52Hz
: (Odr <= 104.0f) ? LSM6DSL_XL_ODR_104Hz
: (Odr <= 208.0f) ? LSM6DSL_XL_ODR_208Hz
: (Odr <= 416.0f) ? LSM6DSL_XL_ODR_416Hz
: (Odr <= 833.0f) ? LSM6DSL_XL_ODR_833Hz
: (Odr <= 1660.0f) ? LSM6DSL_XL_ODR_1k66Hz
: (Odr <= 3330.0f) ? LSM6DSL_XL_ODR_3k33Hz
: LSM6DSL_XL_ODR_6k66Hz;
/* Output data rate selection. */
if (lsm6dsl_xl_data_rate_set(&(pObj->Ctx), new_odr) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Set the LSM6DSL accelerometer sensor output data rate when disabled
* @param pObj the device pObj
* @param Odr the functional output data rate to be set
* @retval 0 in case of success, an error code otherwise
*/
static int32_t LSM6DSL_ACC_SetOutputDataRate_When_Disabled(LSM6DSL_Object_t *pObj, float Odr)
{
pObj->acc_odr = (Odr <= 12.5f) ? LSM6DSL_XL_ODR_12Hz5
: (Odr <= 26.0f) ? LSM6DSL_XL_ODR_26Hz
: (Odr <= 52.0f) ? LSM6DSL_XL_ODR_52Hz
: (Odr <= 104.0f) ? LSM6DSL_XL_ODR_104Hz
: (Odr <= 208.0f) ? LSM6DSL_XL_ODR_208Hz
: (Odr <= 416.0f) ? LSM6DSL_XL_ODR_416Hz
: (Odr <= 833.0f) ? LSM6DSL_XL_ODR_833Hz
: (Odr <= 1660.0f) ? LSM6DSL_XL_ODR_1k66Hz
: (Odr <= 3330.0f) ? LSM6DSL_XL_ODR_3k33Hz
: LSM6DSL_XL_ODR_6k66Hz;
return LSM6DSL_OK;
}
/**
* @brief Set the LSM6DSL gyroscope sensor output data rate when enabled
* @param pObj the device pObj
* @param Odr the functional output data rate to be set
* @retval 0 in case of success, an error code otherwise
*/
static int32_t LSM6DSL_GYRO_SetOutputDataRate_When_Enabled(LSM6DSL_Object_t *pObj, float Odr)
{
lsm6dsl_odr_g_t new_odr;
new_odr = (Odr <= 12.5f) ? LSM6DSL_GY_ODR_12Hz5
: (Odr <= 26.0f) ? LSM6DSL_GY_ODR_26Hz
: (Odr <= 52.0f) ? LSM6DSL_GY_ODR_52Hz
: (Odr <= 104.0f) ? LSM6DSL_GY_ODR_104Hz
: (Odr <= 208.0f) ? LSM6DSL_GY_ODR_208Hz
: (Odr <= 416.0f) ? LSM6DSL_GY_ODR_416Hz
: (Odr <= 833.0f) ? LSM6DSL_GY_ODR_833Hz
: (Odr <= 1660.0f) ? LSM6DSL_GY_ODR_1k66Hz
: (Odr <= 3330.0f) ? LSM6DSL_GY_ODR_3k33Hz
: LSM6DSL_GY_ODR_6k66Hz;
/* Output data rate selection. */
if (lsm6dsl_gy_data_rate_set(&(pObj->Ctx), new_odr) != LSM6DSL_OK)
{
return LSM6DSL_ERROR;
}
return LSM6DSL_OK;
}
/**
* @brief Set the LSM6DSL gyroscope sensor output data rate when disabled
* @param pObj the device pObj
* @param Odr the functional output data rate to be set
* @retval 0 in case of success, an error code otherwise
*/
static int32_t LSM6DSL_GYRO_SetOutputDataRate_When_Disabled(LSM6DSL_Object_t *pObj, float Odr)
{
pObj->gyro_odr = (Odr <= 12.5f) ? LSM6DSL_GY_ODR_12Hz5
: (Odr <= 26.0f) ? LSM6DSL_GY_ODR_26Hz
: (Odr <= 52.0f) ? LSM6DSL_GY_ODR_52Hz
: (Odr <= 104.0f) ? LSM6DSL_GY_ODR_104Hz
: (Odr <= 208.0f) ? LSM6DSL_GY_ODR_208Hz
: (Odr <= 416.0f) ? LSM6DSL_GY_ODR_416Hz
: (Odr <= 833.0f) ? LSM6DSL_GY_ODR_833Hz
: (Odr <= 1660.0f) ? LSM6DSL_GY_ODR_1k66Hz
: (Odr <= 3330.0f) ? LSM6DSL_GY_ODR_3k33Hz
: LSM6DSL_GY_ODR_6k66Hz;
return LSM6DSL_OK;
}
/**
* @brief Wrap Read register component function to Bus IO function
* @param Handle the device handler
* @param Reg the register address
* @param pData the stored data pointer
* @param Length the length
* @retval 0 in case of success, an error code otherwise
*/
static int32_t ReadRegWrap(void *Handle, uint8_t Reg, uint8_t *pData, uint16_t Length)
{
LSM6DSL_Object_t *pObj = (LSM6DSL_Object_t *)Handle;
return pObj->IO.ReadReg(pObj->IO.Address, Reg, pData, Length);
}
/**
* @brief Wrap Write register component function to Bus IO function
* @param Handle the device handler
* @param Reg the register address
* @param pData the stored data pointer
* @param Length the length
* @retval 0 in case of success, an error code otherwise
*/
static int32_t WriteRegWrap(void *Handle, uint8_t Reg, uint8_t *pData, uint16_t Length)
{
LSM6DSL_Object_t *pObj = (LSM6DSL_Object_t *)Handle;
return pObj->IO.WriteReg(pObj->IO.Address, Reg, pData, Length);
}
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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