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STM32-SchoolProjects/2P-ProjectPong/Drivers/BSP/Components/lsm6dsl/lsm6dsl_reg.c

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/*
******************************************************************************
* @file lsm6dsl_reg.c
* @author Sensors Software Solution 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
*
******************************************************************************
*/
#include "lsm6dsl_reg.h"
/**
* @defgroup LSM6DSL
* @brief This file provides a set of functions needed to drive the
* lsm6dsl enanced inertial module.
* @{
*
*/
/**
* @defgroup LSM6DSL_interfaces_functions
* @brief This section provide a set of functions used to read and
* write a generic register of the device.
* MANDATORY: return 0 -> no Error.
* @{
*
*/
/**
* @brief Read generic device register
*
* @param ctx read / write interface definitions(ptr)
* @param reg register to read
* @param data pointer to buffer that store the data read(ptr)
* @param len number of consecutive register to read
* @retval interface status (MANDATORY: return 0 -> no Error)
*
*/
int32_t lsm6dsl_read_reg(stmdev_ctx_t* ctx, uint8_t reg, uint8_t* data,
uint16_t len)
{
int32_t ret;
ret = ctx->read_reg(ctx->handle, reg, data, len);
return ret;
}
/**
* @brief Write generic device register
*
* @param ctx read / write interface definitions(ptr)
* @param reg register to write
* @param data pointer to data to write in register reg(ptr)
* @param len number of consecutive register to write
* @retval interface status (MANDATORY: return 0 -> no Error)
*
*/
int32_t lsm6dsl_write_reg(stmdev_ctx_t* ctx, uint8_t reg, uint8_t* data,
uint16_t len)
{
int32_t ret;
ret = ctx->write_reg(ctx->handle, reg, data, len);
return ret;
}
/**
* @}
*
*/
/**
* @defgroup LSM6DSL_Sensitivity
* @brief These functions convert raw-data into engineering units.
* @{
*
*/
float_t lsm6dsl_from_fs2g_to_mg(int16_t lsb)
{
return ((float_t)lsb * 0.061f);
}
float_t lsm6dsl_from_fs4g_to_mg(int16_t lsb)
{
return ((float_t)lsb * 0.122f);
}
float_t lsm6dsl_from_fs8g_to_mg(int16_t lsb)
{
return ((float_t)lsb * 0.244f);
}
float_t lsm6dsl_from_fs16g_to_mg(int16_t lsb)
{
return ((float_t)lsb * 0.488f);
}
float_t lsm6dsl_from_fs125dps_to_mdps(int16_t lsb)
{
return ((float_t)lsb * 4.375f);
}
float_t lsm6dsl_from_fs250dps_to_mdps(int16_t lsb)
{
return ((float_t)lsb * 8.750f);
}
float_t lsm6dsl_from_fs500dps_to_mdps(int16_t lsb)
{
return ((float_t)lsb * 17.50f);
}
float_t lsm6dsl_from_fs1000dps_to_mdps(int16_t lsb)
{
return ((float_t)lsb * 35.0f);
}
float_t lsm6dsl_from_fs2000dps_to_mdps(int16_t lsb)
{
return ((float_t)lsb * 70.0f);
}
float_t lsm6dsl_from_lsb_to_celsius(int16_t lsb)
{
return (((float_t)lsb / 256.0f) + 25.0f);
}
/**
* @}
*
*/
/**
* @defgroup LSM6DSL_data_generation
* @brief This section groups all the functions concerning data
* generation
* @{
*
*/
/**
* @brief Accelerometer full-scale selection.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of fs_xl in reg CTRL1_XL
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_xl_full_scale_set(stmdev_ctx_t *ctx, lsm6dsl_fs_xl_t val)
{
lsm6dsl_ctrl1_xl_t ctrl1_xl;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t*)&ctrl1_xl, 1);
if(ret == 0){
ctrl1_xl.fs_xl = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t*)&ctrl1_xl, 1);
}
return ret;
}
/**
* @brief Accelerometer full-scale selection.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of fs_xl in reg CTRL1_XL
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_xl_full_scale_get(stmdev_ctx_t *ctx, lsm6dsl_fs_xl_t *val)
{
lsm6dsl_ctrl1_xl_t ctrl1_xl;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t*)&ctrl1_xl, 1);
switch (ctrl1_xl.fs_xl) {
case LSM6DSL_2g:
*val = LSM6DSL_2g;
break;
case LSM6DSL_16g:
*val = LSM6DSL_16g;
break;
case LSM6DSL_4g:
*val = LSM6DSL_4g;
break;
case LSM6DSL_8g:
*val = LSM6DSL_8g;
break;
default:
*val = LSM6DSL_XL_FS_ND;
break;
}
return ret;
}
/**
* @brief Accelerometer data rate selection.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of odr_xl in reg CTRL1_XL
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_xl_data_rate_set(stmdev_ctx_t *ctx, lsm6dsl_odr_xl_t val)
{
lsm6dsl_ctrl1_xl_t ctrl1_xl;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t*)&ctrl1_xl, 1);
if(ret == 0){
ctrl1_xl.odr_xl = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t*)&ctrl1_xl, 1);
}
return ret;
}
/**
* @brief Accelerometer data rate selection.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of odr_xl in reg CTRL1_XL
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_xl_data_rate_get(stmdev_ctx_t *ctx, lsm6dsl_odr_xl_t *val)
{
lsm6dsl_ctrl1_xl_t ctrl1_xl;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t*)&ctrl1_xl, 1);
switch (ctrl1_xl.odr_xl) {
case LSM6DSL_XL_ODR_OFF:
*val = LSM6DSL_XL_ODR_OFF;
break;
case LSM6DSL_XL_ODR_12Hz5:
*val = LSM6DSL_XL_ODR_12Hz5;
break;
case LSM6DSL_XL_ODR_26Hz:
*val = LSM6DSL_XL_ODR_26Hz;
break;
case LSM6DSL_XL_ODR_52Hz:
*val = LSM6DSL_XL_ODR_52Hz;
break;
case LSM6DSL_XL_ODR_104Hz:
*val = LSM6DSL_XL_ODR_104Hz;
break;
case LSM6DSL_XL_ODR_208Hz:
*val = LSM6DSL_XL_ODR_208Hz;
break;
case LSM6DSL_XL_ODR_416Hz:
*val = LSM6DSL_XL_ODR_416Hz;
break;
case LSM6DSL_XL_ODR_833Hz:
*val = LSM6DSL_XL_ODR_833Hz;
break;
case LSM6DSL_XL_ODR_1k66Hz:
*val = LSM6DSL_XL_ODR_1k66Hz;
break;
case LSM6DSL_XL_ODR_3k33Hz:
*val = LSM6DSL_XL_ODR_3k33Hz;
break;
case LSM6DSL_XL_ODR_6k66Hz:
*val = LSM6DSL_XL_ODR_6k66Hz;
break;
case LSM6DSL_XL_ODR_1Hz6:
*val = LSM6DSL_XL_ODR_1Hz6;
break;
default:
*val = LSM6DSL_XL_ODR_ND;
break;
}
return ret;
}
/**
* @brief Gyroscope chain full-scale selection.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of fs_g in reg CTRL2_G
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_gy_full_scale_set(stmdev_ctx_t *ctx, lsm6dsl_fs_g_t val)
{
lsm6dsl_ctrl2_g_t ctrl2_g;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL2_G, (uint8_t*)&ctrl2_g, 1);
if(ret == 0){
ctrl2_g.fs_g = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL2_G, (uint8_t*)&ctrl2_g, 1);
}
return ret;
}
/**
* @brief Gyroscope chain full-scale selection.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of fs_g in reg CTRL2_G
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_gy_full_scale_get(stmdev_ctx_t *ctx, lsm6dsl_fs_g_t *val)
{
lsm6dsl_ctrl2_g_t ctrl2_g;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL2_G, (uint8_t*)&ctrl2_g, 1);
switch (ctrl2_g.fs_g) {
case LSM6DSL_250dps:
*val = LSM6DSL_250dps;
break;
case LSM6DSL_125dps:
*val = LSM6DSL_125dps;
break;
case LSM6DSL_500dps:
*val = LSM6DSL_500dps;
break;
case LSM6DSL_1000dps:
*val = LSM6DSL_1000dps;
break;
case LSM6DSL_2000dps:
*val = LSM6DSL_2000dps;
break;
default:
*val = LSM6DSL_GY_FS_ND;
break;
}
return ret;
}
/**
* @brief Gyroscope data rate selection.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of odr_g in reg CTRL2_G
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_gy_data_rate_set(stmdev_ctx_t *ctx, lsm6dsl_odr_g_t val)
{
lsm6dsl_ctrl2_g_t ctrl2_g;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL2_G, (uint8_t*)&ctrl2_g, 1);
if(ret == 0){
ctrl2_g.odr_g = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL2_G, (uint8_t*)&ctrl2_g, 1);
}
return ret;
}
/**
* @brief Gyroscope data rate selection.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of odr_g in reg CTRL2_G
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_gy_data_rate_get(stmdev_ctx_t *ctx, lsm6dsl_odr_g_t *val)
{
lsm6dsl_ctrl2_g_t ctrl2_g;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL2_G, (uint8_t*)&ctrl2_g, 1);
switch (ctrl2_g.odr_g) {
case LSM6DSL_GY_ODR_OFF:
*val = LSM6DSL_GY_ODR_OFF;
break;
case LSM6DSL_GY_ODR_12Hz5:
*val = LSM6DSL_GY_ODR_12Hz5;
break;
case LSM6DSL_GY_ODR_26Hz:
*val = LSM6DSL_GY_ODR_26Hz;
break;
case LSM6DSL_GY_ODR_52Hz:
*val = LSM6DSL_GY_ODR_52Hz;
break;
case LSM6DSL_GY_ODR_104Hz:
*val = LSM6DSL_GY_ODR_104Hz;
break;
case LSM6DSL_GY_ODR_208Hz:
*val = LSM6DSL_GY_ODR_208Hz;
break;
case LSM6DSL_GY_ODR_416Hz:
*val = LSM6DSL_GY_ODR_416Hz;
break;
case LSM6DSL_GY_ODR_833Hz:
*val = LSM6DSL_GY_ODR_833Hz;
break;
case LSM6DSL_GY_ODR_1k66Hz:
*val = LSM6DSL_GY_ODR_1k66Hz;
break;
case LSM6DSL_GY_ODR_3k33Hz:
*val = LSM6DSL_GY_ODR_3k33Hz;
break;
case LSM6DSL_GY_ODR_6k66Hz:
*val = LSM6DSL_GY_ODR_6k66Hz;
break;
default:
*val = LSM6DSL_GY_ODR_ND;
break;
}
return ret;
}
/**
* @brief Block data update.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of bdu in reg CTRL3_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_block_data_update_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_ctrl3_c_t ctrl3_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
if(ret == 0){
ctrl3_c.bdu = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
}
return ret;
}
/**
* @brief Block data update.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of bdu in reg CTRL3_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_block_data_update_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_ctrl3_c_t ctrl3_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
*val = ctrl3_c.bdu;
return ret;
}
/**
* @brief Weight of XL user offset bits of registers
* X_OFS_USR(73h), Y_OFS_USR(74h), Z_OFS_USR(75h).[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of usr_off_w in reg CTRL6_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_xl_offset_weight_set(stmdev_ctx_t *ctx,
lsm6dsl_usr_off_w_t val)
{
lsm6dsl_ctrl6_c_t ctrl6_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t*)&ctrl6_c, 1);
if(ret == 0){
ctrl6_c.usr_off_w = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t*)&ctrl6_c, 1);
}
return ret;
}
/**
* @brief Weight of XL user offset bits of registers
* X_OFS_USR(73h), Y_OFS_USR(74h), Z_OFS_USR(75h).[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of usr_off_w in reg CTRL6_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_xl_offset_weight_get(stmdev_ctx_t *ctx,
lsm6dsl_usr_off_w_t *val)
{
lsm6dsl_ctrl6_c_t ctrl6_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t*)&ctrl6_c, 1);
switch (ctrl6_c.usr_off_w) {
case LSM6DSL_LSb_1mg:
*val = LSM6DSL_LSb_1mg;
break;
case LSM6DSL_LSb_16mg:
*val = LSM6DSL_LSb_16mg;
break;
default:
*val = LSM6DSL_WEIGHT_ND;
break;
}
return ret;
}
/**
* @brief High-performance operating mode for accelerometer[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of xl_hm_mode in reg CTRL6_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_xl_power_mode_set(stmdev_ctx_t *ctx,
lsm6dsl_xl_hm_mode_t val)
{
lsm6dsl_ctrl6_c_t ctrl6_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t*)&ctrl6_c, 1);
if(ret == 0){
ctrl6_c.xl_hm_mode = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t*)&ctrl6_c, 1);
}
return ret;
}
/**
* @brief High-performance operating mode for accelerometer.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of xl_hm_mode in reg CTRL6_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_xl_power_mode_get(stmdev_ctx_t *ctx,
lsm6dsl_xl_hm_mode_t *val)
{
lsm6dsl_ctrl6_c_t ctrl6_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t*)&ctrl6_c, 1);
switch (ctrl6_c.xl_hm_mode) {
case LSM6DSL_XL_HIGH_PERFORMANCE:
*val = LSM6DSL_XL_HIGH_PERFORMANCE;
break;
case LSM6DSL_XL_NORMAL:
*val = LSM6DSL_XL_NORMAL;
break;
default:
*val = LSM6DSL_XL_PW_MODE_ND;
break;
}
return ret;
}
/**
* @brief Source register rounding function on WAKE_UP_SRC (1Bh),
* TAP_SRC (1Ch), D6D_SRC (1Dh), STATUS_REG (1Eh) and
* FUNC_SRC1 (53h) registers in the primary interface.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of rounding_status in reg CTRL7_G
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_rounding_on_status_set(stmdev_ctx_t *ctx,
lsm6dsl_rounding_status_t val)
{
lsm6dsl_ctrl7_g_t ctrl7_g;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t*)&ctrl7_g, 1);
if(ret == 0){
ctrl7_g.rounding_status = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t*)&ctrl7_g, 1);
}
return ret;
}
/**
* @brief Source register rounding function on WAKE_UP_SRC (1Bh),
* TAP_SRC (1Ch), D6D_SRC (1Dh), STATUS_REG (1Eh) and
* FUNC_SRC1 (53h) registers in the primary interface.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of rounding_status in reg CTRL7_G
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_rounding_on_status_get(stmdev_ctx_t *ctx,
lsm6dsl_rounding_status_t *val)
{
lsm6dsl_ctrl7_g_t ctrl7_g;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t*)&ctrl7_g, 1);
switch (ctrl7_g.rounding_status) {
case LSM6DSL_STAT_RND_DISABLE:
*val = LSM6DSL_STAT_RND_DISABLE;
break;
case LSM6DSL_STAT_RND_ENABLE:
*val = LSM6DSL_STAT_RND_ENABLE;
break;
default:
*val = LSM6DSL_STAT_RND_ND;
break;
}
return ret;
}
/**
* @brief High-performance operating mode disable for gyroscope.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of g_hm_mode in reg CTRL7_G
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_gy_power_mode_set(stmdev_ctx_t *ctx, lsm6dsl_g_hm_mode_t val)
{
lsm6dsl_ctrl7_g_t ctrl7_g;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t*)&ctrl7_g, 1);
if(ret == 0){
ctrl7_g.g_hm_mode = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t*)&ctrl7_g, 1);
}
return ret;
}
/**
* @brief High-performance operating mode disable for gyroscope.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of g_hm_mode in reg CTRL7_G
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_gy_power_mode_get(stmdev_ctx_t *ctx, lsm6dsl_g_hm_mode_t *val)
{
lsm6dsl_ctrl7_g_t ctrl7_g;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t*)&ctrl7_g, 1);
switch (ctrl7_g.g_hm_mode) {
case LSM6DSL_GY_HIGH_PERFORMANCE:
*val = LSM6DSL_GY_HIGH_PERFORMANCE;
break;
case LSM6DSL_GY_NORMAL:
*val = LSM6DSL_GY_NORMAL;
break;
default:
*val = LSM6DSL_GY_PW_MODE_ND;
break;
}
return ret;
}
/**
* @brief Read all the interrupt/status flag of the device.[get]
*
* @param ctx Read / write interface definitions
* @param val WAKE_UP_SRC, TAP_SRC, D6D_SRC, STATUS_REG,
* FUNC_SRC1, FUNC_SRC2, WRIST_TILT_IA, A_WRIST_TILT_Mask
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_all_sources_get(stmdev_ctx_t *ctx,
lsm6dsl_all_sources_t *val)
{
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_SRC,
(uint8_t*)&(val->wake_up_src), 1);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_SRC,
(uint8_t*)&(val->tap_src), 1);
}
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_D6D_SRC,
(uint8_t*)&(val->d6d_src), 1);
}
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_STATUS_REG,
(uint8_t*)&(val->status_reg), 1);
}
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FUNC_SRC1,
(uint8_t*)&(val->func_src1), 1);
}
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FUNC_SRC2,
(uint8_t*)&(val->func_src2), 1);
}
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_WRIST_TILT_IA,
(uint8_t*)&(val->wrist_tilt_ia), 1);
}
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_B);
}
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_A_WRIST_TILT_MASK,
(uint8_t*)&(val->a_wrist_tilt_mask), 1);
}
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
return ret;
}
/**
* @brief The STATUS_REG register is read by the primary interface[get]
*
* @param ctx Read / write interface definitions
* @param val Registers STATUS_REG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_status_reg_get(stmdev_ctx_t *ctx, lsm6dsl_status_reg_t *val)
{
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_STATUS_REG, (uint8_t*) val, 1);
return ret;
}
/**
* @brief Accelerometer new data available.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of xlda in reg STATUS_REG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_xl_flag_data_ready_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_status_reg_t status_reg;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_STATUS_REG, (uint8_t*)&status_reg, 1);
*val = status_reg.xlda;
return ret;
}
/**
* @brief Gyroscope new data available.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of gda in reg STATUS_REG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_gy_flag_data_ready_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_status_reg_t status_reg;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_STATUS_REG, (uint8_t*)&status_reg, 1);
*val = status_reg.gda;
return ret;
}
/**
* @brief Temperature new data available.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of tda in reg STATUS_REG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_temp_flag_data_ready_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_status_reg_t status_reg;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_STATUS_REG, (uint8_t*)&status_reg, 1);
*val = status_reg.tda;
return ret;
}
/**
* @brief Accelerometer axis user offset correction expressed in two’s
* complement, weight depends on USR_OFF_W in CTRL6_C.
* The value must be in the range [-127 127].[set]
*
* @param ctx Read / write interface definitions
* @param buff Buffer that contains data to write
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_xl_usr_offset_set(stmdev_ctx_t *ctx, uint8_t *buff)
{
int32_t ret;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_X_OFS_USR, buff, 3);
return ret;
}
/**
* @brief Accelerometer axis user offset correction xpressed in two’s
* complement, weight depends on USR_OFF_W in CTRL6_C.
* The value must be in the range [-127 127].[get]
*
* @param ctx Read / write interface definitions
* @param buff Buffer that stores data read
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_xl_usr_offset_get(stmdev_ctx_t *ctx, uint8_t *buff)
{
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_X_OFS_USR, buff, 3);
return ret;
}
/**
* @}
*
*/
/**
* @defgroup LSM6DSL_Timestamp
* @brief This section groups all the functions that manage the
* timestamp generation.
* @{
*
*/
/**
* @brief Enable timestamp count. The count is saved in TIMESTAMP0_REG (40h),
* TIMESTAMP1_REG (41h) and TIMESTAMP2_REG (42h).[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of timer_en in reg CTRL10_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_timestamp_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_ctrl10_c_t ctrl10_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
if(ret == 0){
ctrl10_c.timer_en = val;
if ( val != 0x00U) {
ctrl10_c.func_en = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
}
}
return ret;
}
/**
* @brief Enable timestamp count. The count is saved in TIMESTAMP0_REG (40h),
* TIMESTAMP1_REG (41h) and TIMESTAMP2_REG (42h).[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of timer_en in reg CTRL10_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_timestamp_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_ctrl10_c_t ctrl10_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
*val = ctrl10_c.timer_en;
return ret;
}
/**
* @brief Timestamp register resolution setting.
* Configuration of this bit affects
* TIMESTAMP0_REG(40h), TIMESTAMP1_REG(41h),
* TIMESTAMP2_REG(42h), STEP_TIMESTAMP_L(49h),
* STEP_TIMESTAMP_H(4Ah) and
* STEP_COUNT_DELTA(15h) registers.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of timer_hr in reg WAKE_UP_DUR
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_timestamp_res_set(stmdev_ctx_t *ctx, lsm6dsl_timer_hr_t val)
{
lsm6dsl_wake_up_dur_t wake_up_dur;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_DUR, (uint8_t*)&wake_up_dur, 1);
if(ret == 0){
wake_up_dur.timer_hr = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_WAKE_UP_DUR,
(uint8_t*)&wake_up_dur, 1);
}
return ret;
}
/**
* @brief Timestamp register resolution setting.
* Configuration of this bit affects
* TIMESTAMP0_REG(40h), TIMESTAMP1_REG(41h),
* TIMESTAMP2_REG(42h), STEP_TIMESTAMP_L(49h),
* STEP_TIMESTAMP_H(4Ah) and
* STEP_COUNT_DELTA(15h) registers.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of timer_hr in reg WAKE_UP_DUR
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_timestamp_res_get(stmdev_ctx_t *ctx, lsm6dsl_timer_hr_t *val)
{
lsm6dsl_wake_up_dur_t wake_up_dur;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_DUR, (uint8_t*)&wake_up_dur, 1);
switch (wake_up_dur.timer_hr) {
case LSM6DSL_LSB_6ms4:
*val = LSM6DSL_LSB_6ms4;
break;
case LSM6DSL_LSB_25us:
*val = LSM6DSL_LSB_25us;
break;
default:
*val = LSM6DSL_TS_RES_ND;
break;
}
return ret;
}
/**
* @}
*
*/
/**
* @defgroup LSM6DSL_Dataoutput
* @brief This section groups all the data output functions.
* @{
*
*/
/**
* @brief Circular burst-mode (rounding) read from output registers
* through the primary interface.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of rounding in reg CTRL5_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_rounding_mode_set(stmdev_ctx_t *ctx, lsm6dsl_rounding_t val)
{
lsm6dsl_ctrl5_c_t ctrl5_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t*)&ctrl5_c, 1);
if(ret == 0){
ctrl5_c.rounding = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t*)&ctrl5_c, 1);
}
return ret;
}
/**
* @brief Circular burst-mode (rounding) read from output registers
* through the primary interface.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of rounding in reg CTRL5_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_rounding_mode_get(stmdev_ctx_t *ctx, lsm6dsl_rounding_t *val)
{
lsm6dsl_ctrl5_c_t ctrl5_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t*)&ctrl5_c, 1);
switch (ctrl5_c.rounding) {
case LSM6DSL_ROUND_DISABLE:
*val = LSM6DSL_ROUND_DISABLE;
break;
case LSM6DSL_ROUND_XL:
*val = LSM6DSL_ROUND_XL;
break;
case LSM6DSL_ROUND_GY:
*val = LSM6DSL_ROUND_GY;
break;
case LSM6DSL_ROUND_GY_XL:
*val = LSM6DSL_ROUND_GY_XL;
break;
case LSM6DSL_ROUND_SH1_TO_SH6:
*val = LSM6DSL_ROUND_SH1_TO_SH6;
break;
case LSM6DSL_ROUND_XL_SH1_TO_SH6:
*val = LSM6DSL_ROUND_XL_SH1_TO_SH6;
break;
case LSM6DSL_ROUND_GY_XL_SH1_TO_SH12:
*val = LSM6DSL_ROUND_GY_XL_SH1_TO_SH12;
break;
case LSM6DSL_ROUND_GY_XL_SH1_TO_SH6:
*val = LSM6DSL_ROUND_GY_XL_SH1_TO_SH6;
break;
default:
*val = LSM6DSL_ROUND_OUT_ND;
break;
}
return ret;
}
/**
* @brief Temperature data output register (r). L and H registers together
* express a 16-bit word in two’s complement.[get]
*
* @param ctx Read / write interface definitions
* @param buff Buffer that stores data read
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_temperature_raw_get(stmdev_ctx_t *ctx, uint8_t *buff)
{
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_OUT_TEMP_L, buff, 2);
return ret;
}
/**
* @brief Angular rate sensor. The value is expressed as a 16-bit word in
* two’s complement.[get]
*
* @param ctx Read / write interface definitions
* @param buff Buffer that stores data read
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_angular_rate_raw_get(stmdev_ctx_t *ctx, uint8_t *buff)
{
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_OUTX_L_G, buff, 6);
return ret;
}
/**
* @brief Linear acceleration output register. The value is expressed
* as a 16-bit word in two’s complement.[get]
*
* @param ctx Read / write interface definitions
* @param buff Buffer that stores data read
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_acceleration_raw_get(stmdev_ctx_t *ctx, uint8_t *buff)
{
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_OUTX_L_XL, buff, 6);
return ret;
}
/**
* @brief External magnetometer raw data.[get]
*
* @param ctx Read / write interface definitions
* @param buff Buffer that stores data read
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_mag_calibrated_raw_get(stmdev_ctx_t *ctx, uint8_t *buff)
{
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_OUT_MAG_RAW_X_L, buff, 6);
return ret;
}
/**
* @brief Read data in FIFO.[get]
*
* @param ctx Read / write interface definitions
* @param buffer Data buffer to store FIFO data.
* @param len Number of data to read from FIFO.
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_raw_data_get(stmdev_ctx_t *ctx, uint8_t *buffer,
uint8_t len)
{
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_DATA_OUT_L, buffer, len);
return ret;
}
/**
* @}
*
*/
/**
* @defgroup LSM6DSL_common
* @brief This section groups common usefull functions.
* @{
*
*/
/**
* @brief Enable access to the embedded functions/sensor hub
* configuration registers[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of func_cfg_en in reg FUNC_CFG_ACCESS
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_mem_bank_set(stmdev_ctx_t *ctx, lsm6dsl_func_cfg_en_t val)
{
lsm6dsl_func_cfg_access_t func_cfg_access;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FUNC_CFG_ACCESS,
(uint8_t*)&func_cfg_access, 1);
if(ret == 0){
func_cfg_access.func_cfg_en = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_FUNC_CFG_ACCESS,
(uint8_t*)&func_cfg_access, 1);
}
return ret;
}
/**
* @brief Enable access to the embedded functions/sensor hub configuration
* registers[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of func_cfg_en in reg FUNC_CFG_ACCESS
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_mem_bank_get(stmdev_ctx_t *ctx, lsm6dsl_func_cfg_en_t *val)
{
lsm6dsl_func_cfg_access_t func_cfg_access;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FUNC_CFG_ACCESS,
(uint8_t*)&func_cfg_access, 1);
switch (func_cfg_access.func_cfg_en) {
case LSM6DSL_USER_BANK:
*val = LSM6DSL_USER_BANK;
break;
case LSM6DSL_BANK_B:
*val = LSM6DSL_BANK_B;
break;
default:
*val = LSM6DSL_BANK_ND;
break;
}
return ret;
}
/**
* @brief Data-ready pulsed / letched mode[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of drdy_pulsed in reg DRDY_PULSE_CFG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_data_ready_mode_set(stmdev_ctx_t *ctx,
lsm6dsl_drdy_pulsed_g_t val)
{
lsm6dsl_drdy_pulse_cfg_g_t drdy_pulse_cfg_g;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_DRDY_PULSE_CFG_G,
(uint8_t*)&drdy_pulse_cfg_g, 1);
if(ret == 0){
drdy_pulse_cfg_g.drdy_pulsed = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_DRDY_PULSE_CFG_G,
(uint8_t*)&drdy_pulse_cfg_g, 1);
}
return ret;
}
/**
* @brief Data-ready pulsed / letched mode[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of drdy_pulsed in reg DRDY_PULSE_CFG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_data_ready_mode_get(stmdev_ctx_t *ctx,
lsm6dsl_drdy_pulsed_g_t *val)
{
lsm6dsl_drdy_pulse_cfg_g_t drdy_pulse_cfg_g;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_DRDY_PULSE_CFG_G,
(uint8_t*)&drdy_pulse_cfg_g, 1);
switch (drdy_pulse_cfg_g.drdy_pulsed) {
case LSM6DSL_DRDY_LATCHED:
*val = LSM6DSL_DRDY_LATCHED;
break;
case LSM6DSL_DRDY_PULSED:
*val = LSM6DSL_DRDY_PULSED;
break;
default:
*val = LSM6DSL_DRDY_ND;
break;
}
return ret;
}
/**
* @brief DeviceWhoamI.[get]
*
* @param ctx Read / write interface definitions
* @param buff Buffer that stores data read
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_device_id_get(stmdev_ctx_t *ctx, uint8_t *buff)
{
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_WHO_AM_I, buff, 1);
return ret;
}
/**
* @brief Software reset. Restore the default values in user registers[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of sw_reset in reg CTRL3_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_reset_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_ctrl3_c_t ctrl3_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
if(ret == 0){
ctrl3_c.sw_reset = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
}
return ret;
}
/**
* @brief Software reset. Restore the default values in user registers[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of sw_reset in reg CTRL3_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_reset_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_ctrl3_c_t ctrl3_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
*val = ctrl3_c.sw_reset;
return ret;
}
/**
* @brief Big/Little Endian Data selection.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of ble in reg CTRL3_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_data_format_set(stmdev_ctx_t *ctx, lsm6dsl_ble_t val)
{
lsm6dsl_ctrl3_c_t ctrl3_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
if(ret == 0){
ctrl3_c.ble = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
}
return ret;
}
/**
* @brief Big/Little Endian Data selection.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of ble in reg CTRL3_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_data_format_get(stmdev_ctx_t *ctx, lsm6dsl_ble_t *val)
{
lsm6dsl_ctrl3_c_t ctrl3_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
switch (ctrl3_c.ble) {
case LSM6DSL_LSB_AT_LOW_ADD:
*val = LSM6DSL_LSB_AT_LOW_ADD;
break;
case LSM6DSL_MSB_AT_LOW_ADD:
*val = LSM6DSL_MSB_AT_LOW_ADD;
break;
default:
*val = LSM6DSL_DATA_FMT_ND;
break;
}
return ret;
}
/**
* @brief Register address automatically incremented during a multiple byte
* access with a serial interface.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of if_inc in reg CTRL3_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_auto_increment_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_ctrl3_c_t ctrl3_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
if(ret == 0){
ctrl3_c.if_inc = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
}
return ret;
}
/**
* @brief Register address automatically incremented during a multiple byte
* access with a serial interface.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of if_inc in reg CTRL3_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_auto_increment_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_ctrl3_c_t ctrl3_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
*val = ctrl3_c.if_inc;
return ret;
}
/**
* @brief Reboot memory content. Reload the calibration parameters.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of boot in reg CTRL3_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_boot_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_ctrl3_c_t ctrl3_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
if(ret == 0){
ctrl3_c.boot = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
}
return ret;
}
/**
* @brief Reboot memory content. Reload the calibration parameters.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of boot in reg CTRL3_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_boot_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_ctrl3_c_t ctrl3_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
*val = ctrl3_c.boot;
return ret;
}
/**
* @brief Linear acceleration sensor self-test enable.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of st_xl in reg CTRL5_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_xl_self_test_set(stmdev_ctx_t *ctx, lsm6dsl_st_xl_t val)
{
lsm6dsl_ctrl5_c_t ctrl5_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t*)&ctrl5_c, 1);
if(ret == 0){
ctrl5_c.st_xl = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t*)&ctrl5_c, 1);
}
return ret;
}
/**
* @brief Linear acceleration sensor self-test enable.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of st_xl in reg CTRL5_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_xl_self_test_get(stmdev_ctx_t *ctx, lsm6dsl_st_xl_t *val)
{
lsm6dsl_ctrl5_c_t ctrl5_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t*)&ctrl5_c, 1);
switch (ctrl5_c.st_xl) {
case LSM6DSL_XL_ST_DISABLE:
*val = LSM6DSL_XL_ST_DISABLE;
break;
case LSM6DSL_XL_ST_POSITIVE:
*val = LSM6DSL_XL_ST_POSITIVE;
break;
case LSM6DSL_XL_ST_NEGATIVE:
*val = LSM6DSL_XL_ST_NEGATIVE;
break;
default:
*val = LSM6DSL_XL_ST_ND;
break;
}
return ret;
}
/**
* @brief Angular rate sensor self-test enable.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of st_g in reg CTRL5_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_gy_self_test_set(stmdev_ctx_t *ctx, lsm6dsl_st_g_t val)
{
lsm6dsl_ctrl5_c_t ctrl5_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t*)&ctrl5_c, 1);
if(ret == 0){
ctrl5_c.st_g = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t*)&ctrl5_c, 1);
}
return ret;
}
/**
* @brief Angular rate sensor self-test enable.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of st_g in reg CTRL5_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_gy_self_test_get(stmdev_ctx_t *ctx, lsm6dsl_st_g_t *val)
{
lsm6dsl_ctrl5_c_t ctrl5_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t*)&ctrl5_c, 1);
switch (ctrl5_c.st_g) {
case LSM6DSL_GY_ST_DISABLE:
*val = LSM6DSL_GY_ST_DISABLE;
break;
case LSM6DSL_GY_ST_POSITIVE:
*val = LSM6DSL_GY_ST_POSITIVE;
break;
case LSM6DSL_GY_ST_NEGATIVE:
*val = LSM6DSL_GY_ST_NEGATIVE;
break;
default:
*val = LSM6DSL_GY_ST_ND;
break;
}
return ret;
}
/**
* @}
*
*/
/**
* @defgroup LSM6DSL_filters
* @brief This section group all the functions concerning the filters
* configuration that impact both accelerometer and gyro.
* @{
*
*/
/**
* @brief Mask DRDY on pin (both XL & Gyro) until filter settling ends
* (XL and Gyro independently masked).[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of drdy_mask in reg CTRL4_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_filter_settling_mask_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_ctrl4_c_t ctrl4_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
if(ret == 0){
ctrl4_c.drdy_mask = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
}
return ret;
}
/**
* @brief Mask DRDY on pin (both XL & Gyro) until filter settling ends
* (XL and Gyro independently masked).[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of drdy_mask in reg CTRL4_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_filter_settling_mask_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_ctrl4_c_t ctrl4_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
*val = ctrl4_c.drdy_mask;
return ret;
}
/**
* @brief HPF or SLOPE filter selection on wake-up and Activity/Inactivity
* functions.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of slope_fds in reg TAP_CFG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_xl_hp_path_internal_set(stmdev_ctx_t *ctx,
lsm6dsl_slope_fds_t val)
{
lsm6dsl_tap_cfg_t tap_cfg;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t*)&tap_cfg, 1);
if(ret == 0){
tap_cfg.slope_fds = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t*)&tap_cfg, 1);
}
return ret;
}
/**
* @brief HPF or SLOPE filter selection on wake-up and Activity/Inactivity
* functions.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of slope_fds in reg TAP_CFG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_xl_hp_path_internal_get(stmdev_ctx_t *ctx,
lsm6dsl_slope_fds_t *val)
{
lsm6dsl_tap_cfg_t tap_cfg;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t*)&tap_cfg, 1);
switch (tap_cfg.slope_fds) {
case LSM6DSL_USE_SLOPE:
*val = LSM6DSL_USE_SLOPE;
break;
case LSM6DSL_USE_HPF:
*val = LSM6DSL_USE_HPF;
break;
default:
*val = LSM6DSL_HP_PATH_ND;
break;
}
return ret;
}
/**
* @}
*
*/
/**
* @defgroup LSM6DSL_accelerometer_filters
* @brief This section group all the functions concerning the filters
* configuration that impact accelerometer in every mode.
* @{
*
*/
/**
* @brief Accelerometer analog chain bandwidth selection (only for
* accelerometer ODR ≥ 1.67 kHz).[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of bw0_xl in reg CTRL1_XL
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_xl_filter_analog_set(stmdev_ctx_t *ctx, lsm6dsl_bw0_xl_t val)
{
lsm6dsl_ctrl1_xl_t ctrl1_xl;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t*)&ctrl1_xl, 1);
if(ret == 0){
ctrl1_xl.bw0_xl = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t*)&ctrl1_xl, 1);
}
return ret;
}
/**
* @brief Accelerometer analog chain bandwidth selection (only for
* accelerometer ODR ≥ 1.67 kHz).[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of bw0_xl in reg CTRL1_XL
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_xl_filter_analog_get(stmdev_ctx_t *ctx,
lsm6dsl_bw0_xl_t *val)
{
lsm6dsl_ctrl1_xl_t ctrl1_xl;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t*)&ctrl1_xl, 1);
switch (ctrl1_xl.bw0_xl) {
case LSM6DSL_XL_ANA_BW_1k5Hz:
*val = LSM6DSL_XL_ANA_BW_1k5Hz;
break;
case LSM6DSL_XL_ANA_BW_400Hz:
*val = LSM6DSL_XL_ANA_BW_400Hz;
break;
default:
*val = LSM6DSL_XL_ANA_BW_ND;
break;
}
return ret;
}
/**
* @}
*
*/
/**
* @defgroup LSM6DSL_accelerometer_filters
* @brief This section group all the functions concerning the filters
* configuration that impact accelerometer.
* @{
*
*/
/**
* @brief Accelerometer digital LPF (LPF1) bandwidth selection LPF2 is
* not used.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of lpf1_bw_sel in reg CTRL1_XL
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_xl_lp1_bandwidth_set(stmdev_ctx_t *ctx,
lsm6dsl_lpf1_bw_sel_t val)
{
lsm6dsl_ctrl1_xl_t ctrl1_xl;
lsm6dsl_ctrl8_xl_t ctrl8_xl;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t*)&ctrl1_xl, 1);
if(ret == 0){
ctrl1_xl.lpf1_bw_sel = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t*)&ctrl1_xl, 1);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
if(ret == 0){
ctrl8_xl.lpf2_xl_en = 0;
ctrl8_xl.hp_slope_xl_en = 0;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
}
}
}
return ret;
}
/**
* @brief Accelerometer digital LPF (LPF1) bandwidth selection LPF2
* is not used.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of lpf1_bw_sel in reg CTRL1_XL
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_xl_lp1_bandwidth_get(stmdev_ctx_t *ctx,
lsm6dsl_lpf1_bw_sel_t *val)
{
lsm6dsl_ctrl1_xl_t ctrl1_xl;
lsm6dsl_ctrl8_xl_t ctrl8_xl;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
if(ret == 0){
if ((ctrl8_xl.lpf2_xl_en != 0x00U) ||
(ctrl8_xl.hp_slope_xl_en != 0x00U)){
*val = LSM6DSL_XL_LP1_NA;
}
else{
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t*)&ctrl1_xl, 1);
switch ( ctrl1_xl.lpf1_bw_sel) {
case LSM6DSL_XL_LP1_ODR_DIV_2:
*val = LSM6DSL_XL_LP1_ODR_DIV_2;
break;
case LSM6DSL_XL_LP1_ODR_DIV_4:
*val = LSM6DSL_XL_LP1_ODR_DIV_4;
break;
default:
*val = LSM6DSL_XL_LP1_NA;
break;
}
}
}
return ret;
}
/**
* @brief LPF2 on outputs[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of input_composite in reg CTRL8_XL
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_xl_lp2_bandwidth_set(stmdev_ctx_t *ctx,
lsm6dsl_input_composite_t val)
{
lsm6dsl_ctrl8_xl_t ctrl8_xl;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
if(ret == 0){
ctrl8_xl.input_composite = ( (uint8_t) val & 0x10U ) >> 4;
ctrl8_xl.hpcf_xl = (uint8_t) val & 0x03U;
ctrl8_xl.lpf2_xl_en = 1;
ctrl8_xl.hp_slope_xl_en = 0;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
}
return ret;
}
/**
* @brief LPF2 on outputs[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of input_composite in reg CTRL8_XL
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_xl_lp2_bandwidth_get(stmdev_ctx_t *ctx,
lsm6dsl_input_composite_t *val)
{
lsm6dsl_ctrl8_xl_t ctrl8_xl;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
if(ret == 0){
if ((ctrl8_xl.lpf2_xl_en == 0x00U) ||
(ctrl8_xl.hp_slope_xl_en != 0x00U)){
*val = LSM6DSL_XL_LP_NA;
}
else{
switch ((ctrl8_xl.input_composite << 4) + ctrl8_xl.hpcf_xl) {
case LSM6DSL_XL_LOW_LAT_LP_ODR_DIV_50:
*val = LSM6DSL_XL_LOW_LAT_LP_ODR_DIV_50;
break;
case LSM6DSL_XL_LOW_LAT_LP_ODR_DIV_100:
*val = LSM6DSL_XL_LOW_LAT_LP_ODR_DIV_100;
break;
case LSM6DSL_XL_LOW_LAT_LP_ODR_DIV_9:
*val = LSM6DSL_XL_LOW_LAT_LP_ODR_DIV_9;
break;
case LSM6DSL_XL_LOW_LAT_LP_ODR_DIV_400:
*val = LSM6DSL_XL_LOW_LAT_LP_ODR_DIV_400;
break;
case LSM6DSL_XL_LOW_NOISE_LP_ODR_DIV_50:
*val = LSM6DSL_XL_LOW_NOISE_LP_ODR_DIV_50;
break;
case LSM6DSL_XL_LOW_NOISE_LP_ODR_DIV_100:
*val = LSM6DSL_XL_LOW_NOISE_LP_ODR_DIV_100;
break;
case LSM6DSL_XL_LOW_NOISE_LP_ODR_DIV_9:
*val = LSM6DSL_XL_LOW_NOISE_LP_ODR_DIV_9;
break;
case LSM6DSL_XL_LOW_NOISE_LP_ODR_DIV_400:
*val = LSM6DSL_XL_LOW_NOISE_LP_ODR_DIV_400;
break;
default:
*val = LSM6DSL_XL_LP_NA;
break;
}
}
}
return ret;
}
/**
* @brief Enable HP filter reference mode.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of hp_ref_mode in reg CTRL8_XL
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_xl_reference_mode_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_ctrl8_xl_t ctrl8_xl;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
if(ret == 0){
ctrl8_xl.hp_ref_mode = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
}
return ret;
}
/**
* @brief Enable HP filter reference mode.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of hp_ref_mode in reg CTRL8_XL
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_xl_reference_mode_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_ctrl8_xl_t ctrl8_xl;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
*val = ctrl8_xl.hp_ref_mode;
return ret;
}
/**
* @brief High pass/Slope on outputs.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of hpcf_xl in reg CTRL8_XL
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_xl_hp_bandwidth_set(stmdev_ctx_t *ctx, lsm6dsl_hpcf_xl_t val)
{
lsm6dsl_ctrl8_xl_t ctrl8_xl;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
if(ret == 0){
ctrl8_xl.input_composite = 0;
ctrl8_xl.hpcf_xl = (uint8_t)val & 0x03U;
ctrl8_xl.hp_slope_xl_en = 1;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
}
return ret;
}
/**
* @brief High pass/Slope on outputs.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of hpcf_xl in reg CTRL8_XL
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_xl_hp_bandwidth_get(stmdev_ctx_t *ctx, lsm6dsl_hpcf_xl_t *val)
{
lsm6dsl_ctrl8_xl_t ctrl8_xl;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
if (ctrl8_xl.hp_slope_xl_en == 0x00U){
*val = LSM6DSL_XL_HP_NA;
}
switch (ctrl8_xl.hpcf_xl) {
case LSM6DSL_XL_HP_ODR_DIV_4:
*val = LSM6DSL_XL_HP_ODR_DIV_4;
break;
case LSM6DSL_XL_HP_ODR_DIV_100:
*val = LSM6DSL_XL_HP_ODR_DIV_100;
break;
case LSM6DSL_XL_HP_ODR_DIV_9:
*val = LSM6DSL_XL_HP_ODR_DIV_9;
break;
case LSM6DSL_XL_HP_ODR_DIV_400:
*val = LSM6DSL_XL_HP_ODR_DIV_400;
break;
default:
*val = LSM6DSL_XL_HP_NA;
break;
}
return ret;
}
/**
* @}
*
*/
/**
* @defgroup LSM6DSL_gyroscope_filters
* @brief This section group all the functions concerning the filters
* configuration that impact gyroscope.
* @{
*
*/
/**
* @brief Gyroscope low pass path bandwidth.[set]
*
* @param ctx Read / write interface definitions
* @param val gyroscope filtering chain configuration.
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_gy_band_pass_set(stmdev_ctx_t *ctx, lsm6dsl_lpf1_sel_g_t val)
{
lsm6dsl_ctrl4_c_t ctrl4_c;
lsm6dsl_ctrl6_c_t ctrl6_c;
lsm6dsl_ctrl7_g_t ctrl7_g;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t*)&ctrl7_g, 1);
if(ret == 0){
ctrl7_g.hpm_g = ( (uint8_t)val & 0x30U ) >> 4;
ctrl7_g.hp_en_g = ( (uint8_t)val & 0x80U ) >> 7;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t*)&ctrl7_g, 1);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t*)&ctrl6_c, 1);
if(ret == 0){
ctrl6_c.ftype = (uint8_t)val & 0x03U;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t*)&ctrl6_c, 1);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C,
(uint8_t*)&ctrl4_c, 1);
if(ret == 0){
ctrl4_c.lpf1_sel_g = ( (uint8_t)val & 0x08U ) >> 3;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL4_C,
(uint8_t*)&ctrl4_c, 1);
}
}
}
}
}
return ret;
}
/**
* @brief Gyroscope low pass path bandwidth.[get]
*
* @param ctx Read / write interface definitions
* @param val gyroscope filtering chain
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_gy_band_pass_get(stmdev_ctx_t *ctx, lsm6dsl_lpf1_sel_g_t *val)
{
lsm6dsl_ctrl4_c_t ctrl4_c;
lsm6dsl_ctrl6_c_t ctrl6_c;
lsm6dsl_ctrl7_g_t ctrl7_g;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t*)&ctrl6_c, 1);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t*)&ctrl7_g, 1);
switch ( ( ctrl7_g.hp_en_g << 7 ) + ( ctrl7_g.hpm_g << 4 ) +
( ctrl4_c.lpf1_sel_g << 3) + ctrl6_c.ftype ) {
case LSM6DSL_HP_16mHz_LP2:
*val = LSM6DSL_HP_16mHz_LP2;
break;
case LSM6DSL_HP_65mHz_LP2:
*val = LSM6DSL_HP_65mHz_LP2;
break;
case LSM6DSL_HP_260mHz_LP2:
*val = LSM6DSL_HP_260mHz_LP2;
break;
case LSM6DSL_HP_1Hz04_LP2:
*val = LSM6DSL_HP_1Hz04_LP2;
break;
case LSM6DSL_HP_DISABLE_LP1_LIGHT:
*val = LSM6DSL_HP_DISABLE_LP1_LIGHT;
break;
case LSM6DSL_HP_DISABLE_LP1_NORMAL:
*val = LSM6DSL_HP_DISABLE_LP1_NORMAL;
break;
case LSM6DSL_HP_DISABLE_LP_STRONG:
*val = LSM6DSL_HP_DISABLE_LP_STRONG;
break;
case LSM6DSL_HP_DISABLE_LP1_AGGRESSIVE:
*val = LSM6DSL_HP_DISABLE_LP1_AGGRESSIVE;
break;
case LSM6DSL_HP_16mHz_LP1_LIGHT:
*val = LSM6DSL_HP_16mHz_LP1_LIGHT;
break;
case LSM6DSL_HP_65mHz_LP1_NORMAL:
*val = LSM6DSL_HP_65mHz_LP1_NORMAL;
break;
case LSM6DSL_HP_260mHz_LP1_STRONG:
*val = LSM6DSL_HP_260mHz_LP1_STRONG;
break;
case LSM6DSL_HP_1Hz04_LP1_AGGRESSIVE:
*val = LSM6DSL_HP_1Hz04_LP1_AGGRESSIVE;
break;
default:
*val = LSM6DSL_HP_GY_BAND_NA;
break;
}
}
}
return ret;
}
/**
* @}
*
*/
/**
* @defgroup LSM6DSL_serial_interface
* @brief This section groups all the functions concerning serial
* interface management
* @{
*
*/
/**
* @brief SPI Serial Interface Mode selection.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of sim in reg CTRL3_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_spi_mode_set(stmdev_ctx_t *ctx, lsm6dsl_sim_t val)
{
lsm6dsl_ctrl3_c_t ctrl3_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
if(ret == 0){
ctrl3_c.sim = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
}
return ret;
}
/**
* @brief SPI Serial Interface Mode selection.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of sim in reg CTRL3_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_spi_mode_get(stmdev_ctx_t *ctx, lsm6dsl_sim_t *val)
{
lsm6dsl_ctrl3_c_t ctrl3_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
switch (ctrl3_c.sim) {
case LSM6DSL_SPI_4_WIRE:
*val = LSM6DSL_SPI_4_WIRE;
break;
case LSM6DSL_SPI_3_WIRE:
*val = LSM6DSL_SPI_3_WIRE;
break;
default:
*val = LSM6DSL_SPI_MODE_ND;
break;
}
return ret;
}
/**
* @brief Disable / Enable I2C interface.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of i2c_disable in reg CTRL4_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_i2c_interface_set(stmdev_ctx_t *ctx,
lsm6dsl_i2c_disable_t val)
{
lsm6dsl_ctrl4_c_t ctrl4_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
if(ret == 0){
ctrl4_c.i2c_disable = (uint8_t)val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
}
return ret;
}
/**
* @brief Disable / Enable I2C interface.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of i2c_disable in reg CTRL4_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_i2c_interface_get(stmdev_ctx_t *ctx,
lsm6dsl_i2c_disable_t *val)
{
lsm6dsl_ctrl4_c_t ctrl4_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
switch (ctrl4_c.i2c_disable) {
case LSM6DSL_I2C_ENABLE:
*val = LSM6DSL_I2C_ENABLE;
break;
case LSM6DSL_I2C_DISABLE:
*val = LSM6DSL_I2C_DISABLE;
break;
default:
*val = LSM6DSL_I2C_MODE_ND;
break;
}
return ret;
}
/**
* @}
*
*/
/**
* @defgroup LSM6DSL_interrupt_pins
* @brief This section groups all the functions that manage
* interrup pins
* @{
*
*/
/**
* @brief Select the signal that need to route on int1 pad[set]
*
* @param ctx Read / write interface definitions
* @param val configure INT1_CTRL, MD1_CFG, CTRL4_C(den_drdy_int1),
* MASTER_CONFIG(drdy_on_int1)
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_pin_int1_route_set(stmdev_ctx_t *ctx,
lsm6dsl_int1_route_t val)
{
lsm6dsl_master_config_t master_config;
lsm6dsl_int1_ctrl_t int1_ctrl;
lsm6dsl_md1_cfg_t md1_cfg;
lsm6dsl_md2_cfg_t md2_cfg;
lsm6dsl_ctrl4_c_t ctrl4_c;
lsm6dsl_tap_cfg_t tap_cfg;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t*)&int1_ctrl, 1);
if(ret == 0){
int1_ctrl.int1_drdy_xl = val.int1_drdy_xl;
int1_ctrl.int1_drdy_g = val.int1_drdy_g;
int1_ctrl.int1_boot = val.int1_boot;
int1_ctrl.int1_fth = val.int1_fth;
int1_ctrl.int1_fifo_ovr = val.int1_fifo_ovr;
int1_ctrl.int1_full_flag = val.int1_full_flag;
int1_ctrl.int1_sign_mot = val.int1_sign_mot;
int1_ctrl.int1_step_detector = val.int1_step_detector;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t*)&int1_ctrl, 1);
}
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_MD1_CFG, (uint8_t*)&md1_cfg, 1);
}
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_MD2_CFG, (uint8_t*)&md2_cfg, 1);
}
if(ret == 0){
md1_cfg.int1_timer = val.int1_timer;
md1_cfg.int1_tilt = val.int1_tilt;
md1_cfg.int1_6d = val.int1_6d;
md1_cfg.int1_double_tap = val.int1_double_tap;
md1_cfg.int1_ff = val.int1_ff;
md1_cfg.int1_wu = val.int1_wu;
md1_cfg.int1_single_tap = val.int1_single_tap;
md1_cfg.int1_inact_state = val.int1_inact_state;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_MD1_CFG, (uint8_t*)&md1_cfg, 1);
}
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
}
if(ret == 0){
ctrl4_c.den_drdy_int1 = val.den_drdy_int1;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
}
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
(uint8_t*)&master_config, 1);
}
if(ret == 0){
master_config.drdy_on_int1 = val.den_drdy_int1;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_MASTER_CONFIG,
(uint8_t*)&master_config, 1);
}
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t*)&tap_cfg, 1);
if ((val.int1_6d != 0x00U) ||
(val.int1_ff != 0x00U) ||
(val.int1_wu != 0x00U) ||
(val.int1_single_tap != 0x00U) ||
(val.int1_double_tap != 0x00U) ||
(val.int1_inact_state != 0x00U)||
(md2_cfg.int2_6d != 0x00U) ||
(md2_cfg.int2_ff != 0x00U) ||
(md2_cfg.int2_wu != 0x00U) ||
(md2_cfg.int2_single_tap != 0x00U) ||
(md2_cfg.int2_double_tap != 0x00U) ||
(md2_cfg.int2_inact_state!= 0x00U) ){
tap_cfg.interrupts_enable = PROPERTY_ENABLE;
}
else{
tap_cfg.interrupts_enable = PROPERTY_DISABLE;
}
}
if(ret == 0){
ret = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t*)&tap_cfg, 1);
}
return ret;
}
/**
* @brief Select the signal that need to route on int1 pad[get]
*
* @param ctx Read / write interface definitions
* @param val read INT1_CTRL, MD1_CFG, CTRL4_C(den_drdy_int1),
* MASTER_CONFIG(drdy_on_int1)
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_pin_int1_route_get(stmdev_ctx_t *ctx,
lsm6dsl_int1_route_t *val)
{
lsm6dsl_master_config_t master_config;
lsm6dsl_int1_ctrl_t int1_ctrl;
lsm6dsl_md1_cfg_t md1_cfg;
lsm6dsl_ctrl4_c_t ctrl4_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t*)&int1_ctrl, 1);
if(ret == 0){
val->int1_drdy_xl = int1_ctrl.int1_drdy_xl;
val->int1_drdy_g = int1_ctrl.int1_drdy_g;
val->int1_boot = int1_ctrl.int1_boot;
val->int1_fth = int1_ctrl.int1_fth;
val->int1_fifo_ovr = int1_ctrl.int1_fifo_ovr;
val->int1_full_flag = int1_ctrl.int1_full_flag;
val->int1_sign_mot = int1_ctrl.int1_sign_mot;
val->int1_step_detector = int1_ctrl.int1_step_detector ;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_MD1_CFG, (uint8_t*)&md1_cfg, 1);
if(ret == 0){
val->int1_timer = md1_cfg.int1_timer;
val->int1_tilt = md1_cfg.int1_tilt;
val->int1_6d = md1_cfg.int1_6d;
val->int1_double_tap = md1_cfg.int1_double_tap;
val->int1_ff = md1_cfg.int1_ff;
val->int1_wu = md1_cfg.int1_wu;
val->int1_single_tap = md1_cfg.int1_single_tap;
val->int1_inact_state = md1_cfg.int1_inact_state;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
if(ret == 0){
val->den_drdy_int1 = ctrl4_c.den_drdy_int1;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
(uint8_t*)&master_config, 1);
val->den_drdy_int1 = master_config.drdy_on_int1;
}
}
}
return ret;
}
/**
* @brief Select the signal that need to route on int2 pad[set]
*
* @param ctx Read / write interface definitions
* @param val INT2_CTRL, DRDY_PULSE_CFG(int2_wrist_tilt), MD2_CFG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_pin_int2_route_set(stmdev_ctx_t *ctx,
lsm6dsl_int2_route_t val)
{
lsm6dsl_int2_ctrl_t int2_ctrl;
lsm6dsl_md1_cfg_t md1_cfg;
lsm6dsl_md2_cfg_t md2_cfg;
lsm6dsl_drdy_pulse_cfg_g_t drdy_pulse_cfg_g;
lsm6dsl_tap_cfg_t tap_cfg;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t*)&int2_ctrl, 1);
if(ret == 0){
int2_ctrl.int2_drdy_xl = val.int2_drdy_xl;
int2_ctrl.int2_drdy_g = val.int2_drdy_g;
int2_ctrl.int2_drdy_temp = val.int2_drdy_temp;
int2_ctrl.int2_fth = val.int2_fth;
int2_ctrl.int2_fifo_ovr = val.int2_fifo_ovr;
int2_ctrl.int2_full_flag = val.int2_full_flag;
int2_ctrl.int2_step_count_ov = val.int2_step_count_ov;
int2_ctrl.int2_step_delta = val.int2_step_delta;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t*)&int2_ctrl, 1);
}
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_MD1_CFG, (uint8_t*)&md1_cfg, 1);
}
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_MD2_CFG, (uint8_t*)&md2_cfg, 1);
}
if(ret == 0){
md2_cfg.int2_iron = val.int2_iron;
md2_cfg.int2_tilt = val.int2_tilt;
md2_cfg.int2_6d = val.int2_6d;
md2_cfg.int2_double_tap = val.int2_double_tap;
md2_cfg.int2_ff = val.int2_ff;
md2_cfg.int2_wu = val.int2_wu;
md2_cfg.int2_single_tap = val.int2_single_tap;
md2_cfg.int2_inact_state = val.int2_inact_state;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_MD2_CFG, (uint8_t*)&md2_cfg, 1);
}
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_DRDY_PULSE_CFG_G,
(uint8_t*)&drdy_pulse_cfg_g, 1);
}
if(ret == 0){
drdy_pulse_cfg_g.int2_wrist_tilt = val.int2_wrist_tilt;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_DRDY_PULSE_CFG_G,
(uint8_t*)&drdy_pulse_cfg_g, 1);
}
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t*)&tap_cfg, 1);
if ((md1_cfg.int1_6d != 0x00U) ||
(md1_cfg.int1_ff != 0x00U) ||
(md1_cfg.int1_wu != 0x00U) ||
(md1_cfg.int1_single_tap != 0x00U) ||
(md1_cfg.int1_double_tap != 0x00U) ||
(md1_cfg.int1_inact_state != 0x00U) ||
(val.int2_6d != 0x00U) ||
(val.int2_ff != 0x00U) ||
(val.int2_wu != 0x00U) ||
(val.int2_single_tap != 0x00U) ||
(val.int2_double_tap != 0x00U) ||
(val.int2_inact_state!= 0x00U) ){
tap_cfg.interrupts_enable = PROPERTY_ENABLE;
}
else{
tap_cfg.interrupts_enable = PROPERTY_DISABLE;
}
}
if(ret == 0){
ret = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t*)&tap_cfg, 1);
}
return ret;
}
/**
* @brief Select the signal that need to route on int2 pad[get]
*
* @param ctx Read / write interface definitions
* @param val INT2_CTRL, DRDY_PULSE_CFG(int2_wrist_tilt), MD2_CFG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_pin_int2_route_get(stmdev_ctx_t *ctx,
lsm6dsl_int2_route_t *val)
{
lsm6dsl_int2_ctrl_t int2_ctrl;
lsm6dsl_md2_cfg_t md2_cfg;
lsm6dsl_drdy_pulse_cfg_g_t drdy_pulse_cfg_g;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t*)&int2_ctrl, 1);
if(ret == 0){
val->int2_drdy_xl = int2_ctrl.int2_drdy_xl;
val->int2_drdy_g = int2_ctrl.int2_drdy_g;
val->int2_drdy_temp = int2_ctrl.int2_drdy_temp;
val->int2_fth = int2_ctrl.int2_fth;
val->int2_fifo_ovr = int2_ctrl.int2_fifo_ovr;
val->int2_full_flag = int2_ctrl.int2_full_flag;
val->int2_step_count_ov = int2_ctrl.int2_step_count_ov;
val->int2_step_delta = int2_ctrl.int2_step_delta;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_MD2_CFG, (uint8_t*)&md2_cfg, 1);
if(ret == 0){
val->int2_iron = md2_cfg.int2_iron;
val->int2_tilt = md2_cfg.int2_tilt;
val->int2_6d = md2_cfg.int2_6d;
val->int2_double_tap = md2_cfg.int2_double_tap;
val->int2_ff = md2_cfg.int2_ff;
val->int2_wu = md2_cfg.int2_wu;
val->int2_single_tap = md2_cfg.int2_single_tap;
val->int2_inact_state = md2_cfg.int2_inact_state;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_DRDY_PULSE_CFG_G,
(uint8_t*)&drdy_pulse_cfg_g, 1);
val->int2_wrist_tilt = drdy_pulse_cfg_g.int2_wrist_tilt;
}
}
return ret;
}
/**
* @brief Push-pull/open drain selection on interrupt pads.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of pp_od in reg CTRL3_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_pin_mode_set(stmdev_ctx_t *ctx, lsm6dsl_pp_od_t val)
{
lsm6dsl_ctrl3_c_t ctrl3_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
if(ret == 0){
ctrl3_c.pp_od = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
}
return ret;
}
/**
* @brief Push-pull/open drain selection on interrupt pads.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of pp_od in reg CTRL3_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_pin_mode_get(stmdev_ctx_t *ctx, lsm6dsl_pp_od_t *val)
{
lsm6dsl_ctrl3_c_t ctrl3_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
switch (ctrl3_c.pp_od) {
case LSM6DSL_PUSH_PULL:
*val = LSM6DSL_PUSH_PULL;
break;
case LSM6DSL_OPEN_DRAIN:
*val = LSM6DSL_OPEN_DRAIN;
break;
default:
*val = LSM6DSL_PIN_MODE_ND;
break;
}
return ret;
}
/**
* @brief Interrupt active-high/low.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of h_lactive in reg CTRL3_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_pin_polarity_set(stmdev_ctx_t *ctx, lsm6dsl_h_lactive_t val)
{
lsm6dsl_ctrl3_c_t ctrl3_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
if(ret == 0){
ctrl3_c.h_lactive = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
}
return ret;
}
/**
* @brief Interrupt active-high/low.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of h_lactive in reg CTRL3_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_pin_polarity_get(stmdev_ctx_t *ctx, lsm6dsl_h_lactive_t *val)
{
lsm6dsl_ctrl3_c_t ctrl3_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t*)&ctrl3_c, 1);
switch (ctrl3_c.h_lactive) {
case LSM6DSL_ACTIVE_HIGH:
*val = LSM6DSL_ACTIVE_HIGH;
break;
case LSM6DSL_ACTIVE_LOW:
*val = LSM6DSL_ACTIVE_LOW;
break;
default:
*val = LSM6DSL_POLARITY_ND;
break;
}
return ret;
}
/**
* @brief All interrupt signals become available on INT1 pin.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of int2_on_int1 in reg CTRL4_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_all_on_int1_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_ctrl4_c_t ctrl4_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
if(ret == 0){
ctrl4_c.int2_on_int1 = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
}
return ret;
}
/**
* @brief All interrupt signals become available on INT1 pin.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of int2_on_int1 in reg CTRL4_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_all_on_int1_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_ctrl4_c_t ctrl4_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
*val = ctrl4_c.int2_on_int1;
return ret;
}
/**
* @brief Latched/pulsed interrupt.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of lir in reg TAP_CFG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_int_notification_set(stmdev_ctx_t *ctx, lsm6dsl_lir_t val)
{
lsm6dsl_tap_cfg_t tap_cfg;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t*)&tap_cfg, 1);
if(ret == 0){
tap_cfg.lir = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t*)&tap_cfg, 1);
}
return ret;
}
/**
* @brief Latched/pulsed interrupt.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of lir in reg TAP_CFG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_int_notification_get(stmdev_ctx_t *ctx, lsm6dsl_lir_t *val)
{
lsm6dsl_tap_cfg_t tap_cfg;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t*)&tap_cfg, 1);
switch (tap_cfg.lir) {
case LSM6DSL_INT_PULSED:
*val = LSM6DSL_INT_PULSED;
break;
case LSM6DSL_INT_LATCHED:
*val = LSM6DSL_INT_LATCHED;
break;
default:
*val = LSM6DSL_INT_MODE;
break;
}
return ret;
}
/**
* @}
*
*/
/**
* @defgroup LSM6DSL_Wake_Up_event
* @brief This section groups all the functions that manage the
* Wake Up event generation.
* @{
*
*/
/**
* @brief Threshold for wakeup.1 LSB = FS_XL / 64.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of wk_ths in reg WAKE_UP_THS
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_wkup_threshold_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_wake_up_ths_t wake_up_ths;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_THS, (uint8_t*)&wake_up_ths, 1);
if(ret == 0){
wake_up_ths.wk_ths = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_WAKE_UP_THS,
(uint8_t*)&wake_up_ths, 1);
}
return ret;
}
/**
* @brief Threshold for wakeup.1 LSB = FS_XL / 64.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of wk_ths in reg WAKE_UP_THS
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_wkup_threshold_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_wake_up_ths_t wake_up_ths;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_THS, (uint8_t*)&wake_up_ths, 1);
*val = wake_up_ths.wk_ths;
return ret;
}
/**
* @brief Wake up duration event.1LSb = 1 / ODR[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of wake_dur in reg WAKE_UP_DUR
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_wkup_dur_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_wake_up_dur_t wake_up_dur;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_DUR, (uint8_t*)&wake_up_dur, 1);
if(ret == 0){
wake_up_dur.wake_dur = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_WAKE_UP_DUR,
(uint8_t*)&wake_up_dur, 1);
}
return ret;
}
/**
* @brief Wake up duration event.1LSb = 1 / ODR[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of wake_dur in reg WAKE_UP_DUR
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_wkup_dur_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_wake_up_dur_t wake_up_dur;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_DUR, (uint8_t*)&wake_up_dur, 1);
*val = wake_up_dur.wake_dur;
return ret;
}
/**
* @}
*
*/
/**
* @defgroup LSM6DSL_Activity/Inactivity_detection
* @brief This section groups all the functions concerning
* activity/inactivity detection.
* @{
*
*/
/**
* @brief Enables gyroscope Sleep mode.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of sleep in reg CTRL4_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_gy_sleep_mode_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_ctrl4_c_t ctrl4_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
if(ret == 0){
ctrl4_c.sleep = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
}
return ret;
}
/**
* @brief Enables gyroscope Sleep mode.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of sleep in reg CTRL4_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_gy_sleep_mode_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_ctrl4_c_t ctrl4_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
*val = ctrl4_c.sleep;
return ret;
}
/**
* @brief Enable inactivity function.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of inact_en in reg TAP_CFG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_act_mode_set(stmdev_ctx_t *ctx, lsm6dsl_inact_en_t val)
{
lsm6dsl_tap_cfg_t tap_cfg;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t*)&tap_cfg, 1);
if(ret == 0){
tap_cfg.inact_en = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t*)&tap_cfg, 1);
}
return ret;
}
/**
* @brief Enable inactivity function.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of inact_en in reg TAP_CFG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_act_mode_get(stmdev_ctx_t *ctx, lsm6dsl_inact_en_t *val)
{
lsm6dsl_tap_cfg_t tap_cfg;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t*)&tap_cfg, 1);
switch (tap_cfg.inact_en) {
case LSM6DSL_PROPERTY_DISABLE:
*val = LSM6DSL_PROPERTY_DISABLE;
break;
case LSM6DSL_XL_12Hz5_GY_NOT_AFFECTED:
*val = LSM6DSL_XL_12Hz5_GY_NOT_AFFECTED;
break;
case LSM6DSL_XL_12Hz5_GY_SLEEP:
*val = LSM6DSL_XL_12Hz5_GY_SLEEP;
break;
case LSM6DSL_XL_12Hz5_GY_PD:
*val = LSM6DSL_XL_12Hz5_GY_PD;
break;
default:
*val = LSM6DSL_ACT_MODE_ND;
break;
}
return ret;
}
/**
* @brief Duration to go in sleep mode.1 LSb = 512 / ODR[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of sleep_dur in reg WAKE_UP_DUR
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_act_sleep_dur_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_wake_up_dur_t wake_up_dur;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_DUR, (uint8_t*)&wake_up_dur, 1);
if(ret == 0){
wake_up_dur.sleep_dur = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_WAKE_UP_DUR,
(uint8_t*)&wake_up_dur, 1);
}
return ret;
}
/**
* @brief Duration to go in sleep mode. 1 LSb = 512 / ODR[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of sleep_dur in reg WAKE_UP_DUR
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_act_sleep_dur_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_wake_up_dur_t wake_up_dur;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_DUR, (uint8_t*)&wake_up_dur, 1);
*val = wake_up_dur.sleep_dur;
return ret;
}
/**
* @}
*
*/
/**
* @defgroup LSM6DSL_tap_generator
* @brief This section groups all the functions that manage the
* tap and double tap event generation.
* @{
*
*/
/**
* @brief Read the tap / double tap source register.[get]
*
* @param ctx Read / write interface definitions
* @param val Structure of registers from TAP_SRC
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_tap_src_get(stmdev_ctx_t *ctx, lsm6dsl_tap_src_t *val)
{
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_SRC, (uint8_t*) val, 1);
return ret;
}
/**
* @brief Enable Z direction in tap recognition.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of tap_z_en in reg TAP_CFG
*
*/
int32_t lsm6dsl_tap_detection_on_z_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_tap_cfg_t tap_cfg;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t*)&tap_cfg, 1);
if(ret == 0){
tap_cfg.tap_z_en = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t*)&tap_cfg, 1);
}
return ret;
}
/**
* @brief Enable Z direction in tap recognition.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of tap_z_en in reg TAP_CFG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_tap_detection_on_z_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_tap_cfg_t tap_cfg;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t*)&tap_cfg, 1);
*val = tap_cfg.tap_z_en;
return ret;
}
/**
* @brief Enable Y direction in tap recognition.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of tap_y_en in reg TAP_CFG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_tap_detection_on_y_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_tap_cfg_t tap_cfg;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t*)&tap_cfg, 1);
if(ret == 0){
tap_cfg.tap_y_en = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t*)&tap_cfg, 1);
}
return ret;
}
/**
* @brief Enable Y direction in tap recognition.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of tap_y_en in reg TAP_CFG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_tap_detection_on_y_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_tap_cfg_t tap_cfg;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t*)&tap_cfg, 1);
*val = tap_cfg.tap_y_en;
return ret;
}
/**
* @brief Enable X direction in tap recognition.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of tap_x_en in reg TAP_CFG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_tap_detection_on_x_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_tap_cfg_t tap_cfg;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t*)&tap_cfg, 1);
if(ret == 0){
tap_cfg.tap_x_en = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t*)&tap_cfg, 1);
}
return ret;
}
/**
* @brief Enable X direction in tap recognition.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of tap_x_en in reg TAP_CFG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_tap_detection_on_x_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_tap_cfg_t tap_cfg;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t*)&tap_cfg, 1);
*val = tap_cfg.tap_x_en;
return ret;
}
/**
* @brief Threshold for tap recognition.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of tap_ths in reg TAP_THS_6D
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_tap_threshold_x_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_tap_ths_6d_t tap_ths_6d;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_THS_6D, (uint8_t*)&tap_ths_6d, 1);
if(ret == 0){
tap_ths_6d.tap_ths = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_THS_6D,
(uint8_t*)&tap_ths_6d, 1);
}
return ret;
}
/**
* @brief Threshold for tap recognition.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of tap_ths in reg TAP_THS_6D
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_tap_threshold_x_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_tap_ths_6d_t tap_ths_6d;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_THS_6D, (uint8_t*)&tap_ths_6d, 1);
*val = tap_ths_6d.tap_ths;
return ret;
}
/**
* @brief Maximum duration is the maximum time of an overthreshold signal
* detection to be recognized as a tap event.
* The default value of these bits is 00b which corresponds to
* 4*ODR_XL time.
* If the SHOCK[1:0] bits are set to a different
* value, 1LSB corresponds to 8*ODR_XL time.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of shock in reg INT_DUR2
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_tap_shock_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_int_dur2_t int_dur2;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_INT_DUR2, (uint8_t*)&int_dur2, 1);
if(ret == 0){
int_dur2.shock = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_INT_DUR2, (uint8_t*)&int_dur2, 1);
}
return ret;
}
/**
* @brief Maximum duration is the maximum time of an overthreshold signal
* detection to be recognized as a tap event.
* The default value of these bits is 00b which corresponds to
* 4*ODR_XL time.
* If the SHOCK[1:0] bits are set to a different value, 1LSB
* corresponds to 8*ODR_XL time.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of shock in reg INT_DUR2
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_tap_shock_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_int_dur2_t int_dur2;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_INT_DUR2, (uint8_t*)&int_dur2, 1);
*val = int_dur2.shock;
return ret;
}
/**
* @brief Quiet time is the time after the first detected tap in which there
* must not be any overthreshold event.
* The default value of these bits is 00b which corresponds to
* 2*ODR_XL time.
* If the QUIET[1:0] bits are set to a different value, 1LSB
* corresponds to 4*ODR_XL time.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of quiet in reg INT_DUR2
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_tap_quiet_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_int_dur2_t int_dur2;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_INT_DUR2, (uint8_t*)&int_dur2, 1);
if(ret == 0){
int_dur2.quiet = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_INT_DUR2, (uint8_t*)&int_dur2, 1);
}
return ret;
}
/**
* @brief Quiet time is the time after the first detected tap in which there
* must not be any overthreshold event.
* The default value of these bits is 00b which corresponds to
* 2*ODR_XL time.
* If the QUIET[1:0] bits are set to a different value, 1LSB
* corresponds to 4*ODR_XL time.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of quiet in reg INT_DUR2
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_tap_quiet_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_int_dur2_t int_dur2;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_INT_DUR2, (uint8_t*)&int_dur2, 1);
*val = int_dur2.quiet;
return ret;
}
/**
* @brief When double tap recognition is enabled, this register expresses the
* maximum time between two consecutive detected taps to determine a
* double tap event.
* The default value of these bits is 0000b which corresponds to
* 16*ODR_XL time.
* If the DUR[3:0] bits are set to a different value,1LSB corresponds
* to 32*ODR_XL time.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of dur in reg INT_DUR2
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_tap_dur_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_int_dur2_t int_dur2;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_INT_DUR2, (uint8_t*)&int_dur2, 1);
if(ret == 0){
int_dur2.dur = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_INT_DUR2, (uint8_t*)&int_dur2, 1);
}
return ret;
}
/**
* @brief When double tap recognition is enabled, this register expresses the
* maximum time between two consecutive detected taps to determine a
* double tap event.
* The default value of these bits is 0000b which corresponds to
* 16*ODR_XL time.
* If the DUR[3:0] bits are set to a different value,1LSB corresponds
* to 32*ODR_XL time.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of dur in reg INT_DUR2
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_tap_dur_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_int_dur2_t int_dur2;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_INT_DUR2, (uint8_t*)&int_dur2, 1);
*val = int_dur2.dur;
return ret;
}
/**
* @brief Single/double-tap event enable/disable.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of
* single_double_tap in reg WAKE_UP_THS
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_tap_mode_set(stmdev_ctx_t *ctx,
lsm6dsl_single_double_tap_t val)
{
lsm6dsl_wake_up_ths_t wake_up_ths;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_THS, (uint8_t*)&wake_up_ths, 1);
if(ret == 0){
wake_up_ths.single_double_tap = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_WAKE_UP_THS,
(uint8_t*)&wake_up_ths, 1);
}
return ret;
}
/**
* @brief Single/double-tap event enable/disable.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of single_double_tap
* in reg WAKE_UP_THS
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_tap_mode_get(stmdev_ctx_t *ctx,
lsm6dsl_single_double_tap_t *val)
{
lsm6dsl_wake_up_ths_t wake_up_ths;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_THS, (uint8_t*)&wake_up_ths, 1);
switch (wake_up_ths.single_double_tap) {
case LSM6DSL_ONLY_SINGLE:
*val = LSM6DSL_ONLY_SINGLE;
break;
case LSM6DSL_BOTH_SINGLE_DOUBLE:
*val = LSM6DSL_BOTH_SINGLE_DOUBLE;
break;
default:
*val = LSM6DSL_TAP_MODE_ND;
break;
}
return ret;
}
/**
* @}
*
*/
/**
* @defgroup LSM6DSL_ Six_position_detection(6D/4D)
* @brief This section groups all the functions concerning six
* position detection (6D).
* @{
*
*/
/**
* @brief LPF2 feed 6D function selection.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of low_pass_on_6d in
* reg CTRL8_XL
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_6d_feed_data_set(stmdev_ctx_t *ctx,
lsm6dsl_low_pass_on_6d_t val)
{
lsm6dsl_ctrl8_xl_t ctrl8_xl;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
if(ret == 0){
ctrl8_xl.low_pass_on_6d = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
}
return ret;
}
/**
* @brief LPF2 feed 6D function selection.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of low_pass_on_6d in reg CTRL8_XL
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_6d_feed_data_get(stmdev_ctx_t *ctx,
lsm6dsl_low_pass_on_6d_t *val)
{
lsm6dsl_ctrl8_xl_t ctrl8_xl;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t*)&ctrl8_xl, 1);
switch (ctrl8_xl.low_pass_on_6d) {
case LSM6DSL_ODR_DIV_2_FEED:
*val = LSM6DSL_ODR_DIV_2_FEED;
break;
case LSM6DSL_LPF2_FEED:
*val = LSM6DSL_LPF2_FEED;
break;
default:
*val = LSM6DSL_6D_FEED_ND;
break;
}
return ret;
}
/**
* @brief Threshold for 4D/6D function.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of sixd_ths in reg TAP_THS_6D
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_6d_threshold_set(stmdev_ctx_t *ctx, lsm6dsl_sixd_ths_t val)
{
lsm6dsl_tap_ths_6d_t tap_ths_6d;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_THS_6D, (uint8_t*)&tap_ths_6d, 1);
if(ret == 0){
tap_ths_6d.sixd_ths = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_THS_6D, (uint8_t*)&tap_ths_6d, 1);
}
return ret;
}
/**
* @brief Threshold for 4D/6D function.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of sixd_ths in reg TAP_THS_6D
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_6d_threshold_get(stmdev_ctx_t *ctx, lsm6dsl_sixd_ths_t *val)
{
lsm6dsl_tap_ths_6d_t tap_ths_6d;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_THS_6D, (uint8_t*)&tap_ths_6d, 1);
switch (tap_ths_6d.sixd_ths) {
case LSM6DSL_DEG_80:
*val = LSM6DSL_DEG_80;
break;
case LSM6DSL_DEG_70:
*val = LSM6DSL_DEG_70;
break;
case LSM6DSL_DEG_60:
*val = LSM6DSL_DEG_60;
break;
case LSM6DSL_DEG_50:
*val = LSM6DSL_DEG_50;
break;
default:
*val = LSM6DSL_6D_TH_ND;
break;
}
return ret;
}
/**
* @brief 4D orientation detection enable.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of d4d_en in reg TAP_THS_6D
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_4d_mode_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_tap_ths_6d_t tap_ths_6d;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_THS_6D, (uint8_t*)&tap_ths_6d, 1);
if(ret == 0){
tap_ths_6d.d4d_en = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_THS_6D,
(uint8_t*)&tap_ths_6d, 1);
}
return ret;
}
/**
* @brief 4D orientation detection enable.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of d4d_en in reg TAP_THS_6D
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_4d_mode_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_tap_ths_6d_t tap_ths_6d;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_THS_6D, (uint8_t*)&tap_ths_6d, 1);
*val = tap_ths_6d.d4d_en;
return ret;
}
/**
* @}
*
*/
/**
* @defgroup LSM6DSL_free_fall
* @brief This section group all the functions concerning the free
* fall detection.
* @{
*
*/
/**
* @brief Free-fall duration event. 1LSb = 1 / ODR[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of ff_dur in reg WAKE_UP_DUR
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_ff_dur_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_wake_up_dur_t wake_up_dur;
lsm6dsl_free_fall_t free_fall;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FREE_FALL, (uint8_t*)&free_fall, 1);
if(ret == 0){
free_fall.ff_dur = (val & 0x1FU);
ret = lsm6dsl_write_reg(ctx, LSM6DSL_FREE_FALL, (uint8_t*)&free_fall, 1);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_DUR,
(uint8_t*)&wake_up_dur, 1);
if(ret == 0){
wake_up_dur.ff_dur = (val & 0x20U) >> 5;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_WAKE_UP_DUR,
(uint8_t*)&wake_up_dur, 1);
}
}
}
return ret;
}
/**
* @brief Free-fall duration event. 1LSb = 1 / ODR[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of ff_dur in reg WAKE_UP_DUR
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_ff_dur_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_wake_up_dur_t wake_up_dur;
lsm6dsl_free_fall_t free_fall;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_DUR, (uint8_t*)&wake_up_dur, 1);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FREE_FALL, (uint8_t*)&free_fall, 1);
}
*val = (wake_up_dur.ff_dur << 5) + free_fall.ff_dur;
return ret;
}
/**
* @brief Free fall threshold setting.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of ff_ths in reg FREE_FALL
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_ff_threshold_set(stmdev_ctx_t *ctx, lsm6dsl_ff_ths_t val)
{
lsm6dsl_free_fall_t free_fall;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FREE_FALL, (uint8_t*)&free_fall, 1);
if(ret == 0){
free_fall.ff_ths = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_FREE_FALL, (uint8_t*)&free_fall, 1);
}
return ret;
}
/**
* @brief Free fall threshold setting.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of ff_ths in reg FREE_FALL
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_ff_threshold_get(stmdev_ctx_t *ctx, lsm6dsl_ff_ths_t *val)
{
lsm6dsl_free_fall_t free_fall;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FREE_FALL, (uint8_t*)&free_fall, 1);
switch (free_fall.ff_ths) {
case LSM6DSL_FF_TSH_156mg:
*val = LSM6DSL_FF_TSH_156mg;
break;
case LSM6DSL_FF_TSH_219mg:
*val = LSM6DSL_FF_TSH_219mg;
break;
case LSM6DSL_FF_TSH_250mg:
*val = LSM6DSL_FF_TSH_250mg;
break;
case LSM6DSL_FF_TSH_312mg:
*val = LSM6DSL_FF_TSH_312mg;
break;
case LSM6DSL_FF_TSH_344mg:
*val = LSM6DSL_FF_TSH_344mg;
break;
case LSM6DSL_FF_TSH_406mg:
*val = LSM6DSL_FF_TSH_406mg;
break;
case LSM6DSL_FF_TSH_469mg:
*val = LSM6DSL_FF_TSH_469mg;
break;
case LSM6DSL_FF_TSH_500mg:
*val = LSM6DSL_FF_TSH_500mg;
break;
default:
*val = LSM6DSL_FF_TSH_ND;
break;
}
return ret;
}
/**
* @}
*
*/
/**
* @defgroup LSM6DSL_fifo
* @brief This section group all the functions concerning the
* fifo usage
* @{
*
*/
/**
* @brief FIFO watermark level selection.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of fth in reg FIFO_CTRL1
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_watermark_set(stmdev_ctx_t *ctx, uint16_t val)
{
lsm6dsl_fifo_ctrl1_t fifo_ctrl1;
lsm6dsl_fifo_ctrl2_t fifo_ctrl2;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL2, (uint8_t*)&fifo_ctrl2, 1);
if(ret == 0){
fifo_ctrl1.fth = (uint8_t) (0x00FFU & val);
fifo_ctrl2.fth = (uint8_t) (( 0x0700U & val ) >> 8);
ret = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL1, (uint8_t*)&fifo_ctrl1, 1);
if(ret == 0){
ret = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL2,
(uint8_t*)&fifo_ctrl2, 1);
}
}
return ret;
}
/**
* @brief FIFO watermark level selection.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of fth in reg FIFO_CTRL1
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_watermark_get(stmdev_ctx_t *ctx, uint16_t *val)
{
lsm6dsl_fifo_ctrl1_t fifo_ctrl1;
lsm6dsl_fifo_ctrl2_t fifo_ctrl2;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL1, (uint8_t*)&fifo_ctrl1, 1);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL2, (uint8_t*)&fifo_ctrl2, 1);
}
*val = ((uint16_t)fifo_ctrl2.fth << 8) + (uint16_t)fifo_ctrl1.fth;
return ret;
}
/**
* @brief FIFO data level.[get]
*
* @param ctx Read / write interface definitions
* @param val get the values of diff_fifo in reg FIFO_STATUS1 and
* FIFO_STATUS2(diff_fifo), it is recommended to set the
* BDU bit.
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_data_level_get(stmdev_ctx_t *ctx, uint16_t *val)
{
lsm6dsl_fifo_status1_t fifo_status1;
lsm6dsl_fifo_status2_t fifo_status2;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_STATUS1,
(uint8_t*)&fifo_status1, 1);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_STATUS2,
(uint8_t*)&fifo_status2, 1);
*val = ( (uint16_t) fifo_status2.diff_fifo << 8) +
(uint16_t) fifo_status1.diff_fifo;
}
return ret;
}
/**
* @brief FIFO watermark.[get]
*
* @param ctx Read / write interface definitions
* @param val get the values of watermark in reg FIFO_STATUS2 and
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_wtm_flag_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_fifo_status2_t fifo_status2;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_STATUS2, (uint8_t*)&fifo_status2, 1);
*val = fifo_status2.waterm;
return ret;
}
/**
* @brief FIFO pattern.[get]
*
* @param ctx Read / write interface definitions
* @param val get the values of fifo_pattern in reg FIFO_STATUS3 and
* FIFO_STATUS4, it is recommended to set the BDU bit
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_pattern_get(stmdev_ctx_t *ctx, uint16_t *val)
{
lsm6dsl_fifo_status3_t fifo_status3;
lsm6dsl_fifo_status4_t fifo_status4;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_STATUS3,
(uint8_t*)&fifo_status3, 1);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_STATUS4,
(uint8_t*)&fifo_status4, 1);
*val = ( (uint16_t)fifo_status4.fifo_pattern << 8) +
fifo_status3.fifo_pattern;
}
return ret;
}
/**
* @brief Batching of temperature data[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of fifo_temp_en in reg FIFO_CTRL2
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_temp_batch_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_fifo_ctrl2_t fifo_ctrl2;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL2, (uint8_t*)&fifo_ctrl2, 1);
if(ret == 0){
fifo_ctrl2.fifo_temp_en = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL2,
(uint8_t*)&fifo_ctrl2, 1);
}
return ret;
}
/**
* @brief Batching of temperature data[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of fifo_temp_en in reg FIFO_CTRL2
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_temp_batch_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_fifo_ctrl2_t fifo_ctrl2;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL2, (uint8_t*)&fifo_ctrl2, 1);
*val = fifo_ctrl2.fifo_temp_en;
return ret;
}
/**
* @brief Trigger signal for FIFO write operation.[set]
*
* @param ctx Read / write interface definitions
* @param val act on FIFO_CTRL2(timer_pedo_fifo_drdy)
* and MASTER_CONFIG(data_valid_sel_fifo)
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_write_trigger_set(stmdev_ctx_t *ctx,
lsm6dsl_trigger_fifo_t val)
{
lsm6dsl_fifo_ctrl2_t fifo_ctrl2;
lsm6dsl_master_config_t master_config;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL2, (uint8_t*)&fifo_ctrl2, 1);
if(ret == 0){
fifo_ctrl2.timer_pedo_fifo_drdy = (uint8_t)val & 0x01U;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL2,
(uint8_t*)&fifo_ctrl2, 1);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
(uint8_t*)&master_config, 1);
if(ret == 0){
master_config.data_valid_sel_fifo = (((uint8_t)val & 0x02U) >> 1);
ret = lsm6dsl_write_reg(ctx, LSM6DSL_MASTER_CONFIG,
(uint8_t*)&master_config, 1);
}
}
}
return ret;
}
/**
* @brief Trigger signal for FIFO write operation.[get]
*
* @param ctx Read / write interface definitions
* @param val act on FIFO_CTRL2(timer_pedo_fifo_drdy)
* and MASTER_CONFIG(data_valid_sel_fifo)
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_write_trigger_get(stmdev_ctx_t *ctx,
lsm6dsl_trigger_fifo_t *val)
{
lsm6dsl_fifo_ctrl2_t fifo_ctrl2;
lsm6dsl_master_config_t master_config;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL2, (uint8_t*)&fifo_ctrl2, 1);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
(uint8_t*)&master_config, 1);
switch ( ( fifo_ctrl2.timer_pedo_fifo_drdy << 1 ) +
fifo_ctrl2. timer_pedo_fifo_drdy ) {
case LSM6DSL_TRG_XL_GY_DRDY:
*val = LSM6DSL_TRG_XL_GY_DRDY;
break;
case LSM6DSL_TRG_STEP_DETECT:
*val = LSM6DSL_TRG_STEP_DETECT;
break;
case LSM6DSL_TRG_SH_DRDY:
*val = LSM6DSL_TRG_SH_DRDY;
break;
default:
*val = LSM6DSL_TRG_SH_ND;
break;
}
}
return ret;
}
/**
* @brief Enable pedometer step counter and timestamp as 4th
* FIFO data set.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of timer_pedo_fifo_en in reg FIFO_CTRL2
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_pedo_and_timestamp_batch_set(stmdev_ctx_t *ctx,
uint8_t val)
{
lsm6dsl_fifo_ctrl2_t fifo_ctrl2;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL2, (uint8_t*)&fifo_ctrl2, 1);
if(ret == 0){
fifo_ctrl2.timer_pedo_fifo_en = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL2,
(uint8_t*)&fifo_ctrl2, 1);
}
return ret;
}
/**
* @brief Enable pedometer step counter and timestamp as 4th
* FIFO data set.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of timer_pedo_fifo_en in reg FIFO_CTRL2
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_pedo_and_timestamp_batch_get(stmdev_ctx_t *ctx,
uint8_t *val)
{
lsm6dsl_fifo_ctrl2_t fifo_ctrl2;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL2, (uint8_t*)&fifo_ctrl2, 1);
*val = fifo_ctrl2.timer_pedo_fifo_en;
return ret;
}
/**
* @brief Selects Batching Data Rate (writing frequency in FIFO) for
* accelerometer data.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of dec_fifo_xl in reg FIFO_CTRL3
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_xl_batch_set(stmdev_ctx_t *ctx,
lsm6dsl_dec_fifo_xl_t val)
{
lsm6dsl_fifo_ctrl3_t fifo_ctrl3;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL3, (uint8_t*)&fifo_ctrl3, 1);
if(ret == 0){
fifo_ctrl3.dec_fifo_xl = (uint8_t)val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL3,
(uint8_t*)&fifo_ctrl3, 1);
}
return ret;
}
/**
* @brief Selects Batching Data Rate (writing frequency in FIFO) for
* accelerometer data.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of dec_fifo_xl in reg FIFO_CTRL3
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_xl_batch_get(stmdev_ctx_t *ctx,
lsm6dsl_dec_fifo_xl_t *val)
{
lsm6dsl_fifo_ctrl3_t fifo_ctrl3;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL3, (uint8_t*)&fifo_ctrl3, 1);
switch (fifo_ctrl3.dec_fifo_xl) {
case LSM6DSL_FIFO_XL_DISABLE:
*val = LSM6DSL_FIFO_XL_DISABLE;
break;
case LSM6DSL_FIFO_XL_NO_DEC:
*val = LSM6DSL_FIFO_XL_NO_DEC;
break;
case LSM6DSL_FIFO_XL_DEC_2:
*val = LSM6DSL_FIFO_XL_DEC_2;
break;
case LSM6DSL_FIFO_XL_DEC_3:
*val = LSM6DSL_FIFO_XL_DEC_3;
break;
case LSM6DSL_FIFO_XL_DEC_4:
*val = LSM6DSL_FIFO_XL_DEC_4;
break;
case LSM6DSL_FIFO_XL_DEC_8:
*val = LSM6DSL_FIFO_XL_DEC_8;
break;
case LSM6DSL_FIFO_XL_DEC_16:
*val = LSM6DSL_FIFO_XL_DEC_16;
break;
case LSM6DSL_FIFO_XL_DEC_32:
*val = LSM6DSL_FIFO_XL_DEC_32;
break;
default:
*val = LSM6DSL_FIFO_XL_DEC_ND;
break;
}
return ret;
}
/**
* @brief Selects Batching Data Rate (writing frequency in FIFO)
* for gyroscope data.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of dec_fifo_gyro in reg FIFO_CTRL3
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_gy_batch_set(stmdev_ctx_t *ctx,
lsm6dsl_dec_fifo_gyro_t val)
{
lsm6dsl_fifo_ctrl3_t fifo_ctrl3;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL3, (uint8_t*)&fifo_ctrl3, 1);
if(ret == 0){
fifo_ctrl3.dec_fifo_gyro = (uint8_t)val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL3, (uint8_t*)&fifo_ctrl3, 1);
}
return ret;
}
/**
* @brief Selects Batching Data Rate (writing frequency in FIFO)
* for gyroscope data.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of dec_fifo_gyro in reg FIFO_CTRL3
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_gy_batch_get(stmdev_ctx_t *ctx,
lsm6dsl_dec_fifo_gyro_t *val)
{
lsm6dsl_fifo_ctrl3_t fifo_ctrl3;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL3, (uint8_t*)&fifo_ctrl3, 1);
switch (fifo_ctrl3.dec_fifo_gyro) {
case LSM6DSL_FIFO_GY_DISABLE:
*val = LSM6DSL_FIFO_GY_DISABLE;
break;
case LSM6DSL_FIFO_GY_NO_DEC:
*val = LSM6DSL_FIFO_GY_NO_DEC;
break;
case LSM6DSL_FIFO_GY_DEC_2:
*val = LSM6DSL_FIFO_GY_DEC_2;
break;
case LSM6DSL_FIFO_GY_DEC_3:
*val = LSM6DSL_FIFO_GY_DEC_3;
break;
case LSM6DSL_FIFO_GY_DEC_4:
*val = LSM6DSL_FIFO_GY_DEC_4;
break;
case LSM6DSL_FIFO_GY_DEC_8:
*val = LSM6DSL_FIFO_GY_DEC_8;
break;
case LSM6DSL_FIFO_GY_DEC_16:
*val = LSM6DSL_FIFO_GY_DEC_16;
break;
case LSM6DSL_FIFO_GY_DEC_32:
*val = LSM6DSL_FIFO_GY_DEC_32;
break;
default:
*val = LSM6DSL_FIFO_GY_DEC_ND;
break;
}
return ret;
}
/**
* @brief Selects Batching Data Rate (writing frequency in FIFO)
* for third data set.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of dec_ds3_fifo in reg FIFO_CTRL4
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_dataset_3_batch_set(stmdev_ctx_t *ctx,
lsm6dsl_dec_ds3_fifo_t val)
{
lsm6dsl_fifo_ctrl4_t fifo_ctrl4;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL4, (uint8_t*)&fifo_ctrl4, 1);
if(ret == 0){
fifo_ctrl4.dec_ds3_fifo = (uint8_t)val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL4,
(uint8_t*)&fifo_ctrl4, 1);
}
return ret;
}
/**
* @brief Selects Batching Data Rate (writing frequency in FIFO)
* for third data set.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of dec_ds3_fifo in reg FIFO_CTRL4
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_dataset_3_batch_get(stmdev_ctx_t *ctx,
lsm6dsl_dec_ds3_fifo_t *val)
{
lsm6dsl_fifo_ctrl4_t fifo_ctrl4;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL4, (uint8_t*)&fifo_ctrl4, 1);
switch (fifo_ctrl4.dec_ds3_fifo) {
case LSM6DSL_FIFO_DS3_DISABLE:
*val = LSM6DSL_FIFO_DS3_DISABLE;
break;
case LSM6DSL_FIFO_DS3_NO_DEC:
*val = LSM6DSL_FIFO_DS3_NO_DEC;
break;
case LSM6DSL_FIFO_DS3_DEC_2:
*val = LSM6DSL_FIFO_DS3_DEC_2;
break;
case LSM6DSL_FIFO_DS3_DEC_3:
*val = LSM6DSL_FIFO_DS3_DEC_3;
break;
case LSM6DSL_FIFO_DS3_DEC_4:
*val = LSM6DSL_FIFO_DS3_DEC_4;
break;
case LSM6DSL_FIFO_DS3_DEC_8:
*val = LSM6DSL_FIFO_DS3_DEC_8;
break;
case LSM6DSL_FIFO_DS3_DEC_16:
*val = LSM6DSL_FIFO_DS3_DEC_16;
break;
case LSM6DSL_FIFO_DS3_DEC_32:
*val = LSM6DSL_FIFO_DS3_DEC_32;
break;
default:
*val = LSM6DSL_FIFO_DS3_DEC_ND;
break;
}
return ret;
}
/**
* @brief Selects Batching Data Rate (writing frequency in FIFO)
* for fourth data set.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of dec_ds4_fifo in reg FIFO_CTRL4
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_dataset_4_batch_set(stmdev_ctx_t *ctx,
lsm6dsl_dec_ds4_fifo_t val)
{
lsm6dsl_fifo_ctrl4_t fifo_ctrl4;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL4, (uint8_t*)&fifo_ctrl4, 1);
if(ret == 0){
fifo_ctrl4.dec_ds4_fifo = (uint8_t)val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL4,
(uint8_t*)&fifo_ctrl4, 1);
}
return ret;
}
/**
* @brief Selects Batching Data Rate (writing frequency in FIFO) for
* fourth data set.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of dec_ds4_fifo in reg FIFO_CTRL4
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_dataset_4_batch_get(stmdev_ctx_t *ctx,
lsm6dsl_dec_ds4_fifo_t *val)
{
lsm6dsl_fifo_ctrl4_t fifo_ctrl4;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL4, (uint8_t*)&fifo_ctrl4, 1);
switch (fifo_ctrl4.dec_ds4_fifo) {
case LSM6DSL_FIFO_DS4_DISABLE:
*val = LSM6DSL_FIFO_DS4_DISABLE;
break;
case LSM6DSL_FIFO_DS4_NO_DEC:
*val = LSM6DSL_FIFO_DS4_NO_DEC;
break;
case LSM6DSL_FIFO_DS4_DEC_2:
*val = LSM6DSL_FIFO_DS4_DEC_2;
break;
case LSM6DSL_FIFO_DS4_DEC_3:
*val = LSM6DSL_FIFO_DS4_DEC_3;
break;
case LSM6DSL_FIFO_DS4_DEC_4:
*val = LSM6DSL_FIFO_DS4_DEC_4;
break;
case LSM6DSL_FIFO_DS4_DEC_8:
*val = LSM6DSL_FIFO_DS4_DEC_8;
break;
case LSM6DSL_FIFO_DS4_DEC_16:
*val = LSM6DSL_FIFO_DS4_DEC_16;
break;
case LSM6DSL_FIFO_DS4_DEC_32:
*val = LSM6DSL_FIFO_DS4_DEC_32;
break;
default:
*val = LSM6DSL_FIFO_DS4_DEC_ND;
break;
}
return ret;
}
/**
* @brief 8-bit data storage in FIFO.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of only_high_data in reg FIFO_CTRL4
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_xl_gy_8bit_format_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_fifo_ctrl4_t fifo_ctrl4;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL4, (uint8_t*)&fifo_ctrl4, 1);
if(ret == 0){
fifo_ctrl4.only_high_data = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL4, (uint8_t*)&fifo_ctrl4, 1);
}
return ret;
}
/**
* @brief 8-bit data storage in FIFO.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of only_high_data in reg FIFO_CTRL4
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_xl_gy_8bit_format_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_fifo_ctrl4_t fifo_ctrl4;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL4, (uint8_t*)&fifo_ctrl4, 1);
*val = fifo_ctrl4.only_high_data;
return ret;
}
/**
* @brief Sensing chain FIFO stop values memorization at threshold
* level.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of stop_on_fth in reg FIFO_CTRL4
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_stop_on_wtm_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_fifo_ctrl4_t fifo_ctrl4;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL4, (uint8_t*)&fifo_ctrl4, 1);
if(ret == 0){
fifo_ctrl4.stop_on_fth = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL4, (uint8_t*)&fifo_ctrl4, 1);
}
return ret;
}
/**
* @brief Sensing chain FIFO stop values memorization at threshold
* level.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of stop_on_fth in reg FIFO_CTRL4
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_stop_on_wtm_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_fifo_ctrl4_t fifo_ctrl4;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL4, (uint8_t*)&fifo_ctrl4, 1);
*val = fifo_ctrl4.stop_on_fth;
return ret;
}
/**
* @brief FIFO mode selection.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of fifo_mode in reg FIFO_CTRL5
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_mode_set(stmdev_ctx_t *ctx, lsm6dsl_fifo_mode_t val)
{
lsm6dsl_fifo_ctrl5_t fifo_ctrl5;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL5, (uint8_t*)&fifo_ctrl5, 1);
if(ret == 0){
fifo_ctrl5.fifo_mode = (uint8_t)val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL5, (uint8_t*)&fifo_ctrl5, 1);
}
return ret;
}
/**
* @brief FIFO mode selection.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of fifo_mode in reg FIFO_CTRL5
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_mode_get(stmdev_ctx_t *ctx, lsm6dsl_fifo_mode_t *val)
{
lsm6dsl_fifo_ctrl5_t fifo_ctrl5;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL5, (uint8_t*)&fifo_ctrl5, 1);
switch (fifo_ctrl5.fifo_mode) {
case LSM6DSL_BYPASS_MODE:
*val = LSM6DSL_BYPASS_MODE;
break;
case LSM6DSL_FIFO_MODE:
*val = LSM6DSL_FIFO_MODE;
break;
case LSM6DSL_STREAM_TO_FIFO_MODE:
*val = LSM6DSL_STREAM_TO_FIFO_MODE;
break;
case LSM6DSL_BYPASS_TO_STREAM_MODE:
*val = LSM6DSL_BYPASS_TO_STREAM_MODE;
break;
case LSM6DSL_STREAM_MODE:
*val = LSM6DSL_STREAM_MODE;
break;
default:
*val = LSM6DSL_FIFO_MODE_ND;
break;
}
return ret;
}
/**
* @brief FIFO ODR selection, setting FIFO_MODE also.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of odr_fifo in reg FIFO_CTRL5
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_data_rate_set(stmdev_ctx_t *ctx, lsm6dsl_odr_fifo_t val)
{
lsm6dsl_fifo_ctrl5_t fifo_ctrl5;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL5, (uint8_t*)&fifo_ctrl5, 1);
if(ret == 0){
fifo_ctrl5.odr_fifo = (uint8_t)val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL5, (uint8_t*)&fifo_ctrl5, 1);
}
return ret;
}
/**
* @brief FIFO ODR selection, setting FIFO_MODE also.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of odr_fifo in reg FIFO_CTRL5
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_fifo_data_rate_get(stmdev_ctx_t *ctx, lsm6dsl_odr_fifo_t *val)
{
lsm6dsl_fifo_ctrl5_t fifo_ctrl5;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL5, (uint8_t*)&fifo_ctrl5, 1);
switch (fifo_ctrl5.odr_fifo) {
case LSM6DSL_FIFO_DISABLE:
*val = LSM6DSL_FIFO_DISABLE;
break;
case LSM6DSL_FIFO_12Hz5:
*val = LSM6DSL_FIFO_12Hz5;
break;
case LSM6DSL_FIFO_26Hz:
*val = LSM6DSL_FIFO_26Hz;
break;
case LSM6DSL_FIFO_52Hz:
*val = LSM6DSL_FIFO_52Hz;
break;
case LSM6DSL_FIFO_104Hz:
*val = LSM6DSL_FIFO_104Hz;
break;
case LSM6DSL_FIFO_208Hz:
*val = LSM6DSL_FIFO_208Hz;
break;
case LSM6DSL_FIFO_416Hz:
*val = LSM6DSL_FIFO_416Hz;
break;
case LSM6DSL_FIFO_833Hz:
*val = LSM6DSL_FIFO_833Hz;
break;
case LSM6DSL_FIFO_1k66Hz:
*val = LSM6DSL_FIFO_1k66Hz;
break;
case LSM6DSL_FIFO_3k33Hz:
*val = LSM6DSL_FIFO_3k33Hz;
break;
case LSM6DSL_FIFO_6k66Hz:
*val = LSM6DSL_FIFO_6k66Hz;
break;
default:
*val = LSM6DSL_FIFO_RATE_ND;
break;
}
return ret;
}
/**
* @}
*
*/
/**
* @defgroup LSM6DSL_DEN_functionality
* @brief This section groups all the functions concerning DEN
* functionality.
* @{
*
*/
/**
* @brief DEN active level configuration.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of den_lh in reg CTRL5_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_den_polarity_set(stmdev_ctx_t *ctx, lsm6dsl_den_lh_t val)
{
lsm6dsl_ctrl5_c_t ctrl5_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t*)&ctrl5_c, 1);
if(ret == 0){
ctrl5_c.den_lh = (uint8_t)val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t*)&ctrl5_c, 1);
}
return ret;
}
/**
* @brief DEN active level configuration.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of den_lh in reg CTRL5_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_den_polarity_get(stmdev_ctx_t *ctx, lsm6dsl_den_lh_t *val)
{
lsm6dsl_ctrl5_c_t ctrl5_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t*)&ctrl5_c, 1);
switch (ctrl5_c.den_lh) {
case LSM6DSL_DEN_ACT_LOW:
*val = LSM6DSL_DEN_ACT_LOW;
break;
case LSM6DSL_DEN_ACT_HIGH:
*val = LSM6DSL_DEN_ACT_HIGH;
break;
default:
*val = LSM6DSL_DEN_POL_ND;
break;
}
return ret;
}
/**
* @brief DEN functionality marking mode[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of den_mode in reg CTRL6_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_den_mode_set(stmdev_ctx_t *ctx, lsm6dsl_den_mode_t val)
{
lsm6dsl_ctrl6_c_t ctrl6_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t*)&ctrl6_c, 1);
if(ret == 0){
ctrl6_c.den_mode = (uint8_t)val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t*)&ctrl6_c, 1);
}
return ret;
}
/**
* @brief DEN functionality marking mode[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of den_mode in reg CTRL6_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_den_mode_get(stmdev_ctx_t *ctx, lsm6dsl_den_mode_t *val)
{
lsm6dsl_ctrl6_c_t ctrl6_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t*)&ctrl6_c, 1);
switch (ctrl6_c.den_mode) {
case LSM6DSL_DEN_DISABLE:
*val = LSM6DSL_DEN_DISABLE;
break;
case LSM6DSL_LEVEL_LETCHED:
*val = LSM6DSL_LEVEL_LETCHED;
break;
case LSM6DSL_LEVEL_TRIGGER:
*val = LSM6DSL_LEVEL_TRIGGER;
break;
case LSM6DSL_EDGE_TRIGGER:
*val = LSM6DSL_EDGE_TRIGGER;
break;
default:
*val = LSM6DSL_DEN_MODE_ND;
break;
}
return ret;
}
/**
* @brief Extend DEN functionality to accelerometer sensor.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of den_xl_g in reg CTRL9_XL
* and den_xl_en in CTRL4_C.
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_den_enable_set(stmdev_ctx_t *ctx, lsm6dsl_den_xl_en_t val)
{
lsm6dsl_ctrl4_c_t ctrl4_c;
lsm6dsl_ctrl9_xl_t ctrl9_xl;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
if(ret == 0){
ctrl9_xl.den_xl_g = (uint8_t)val & 0x01U;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
if(ret == 0){
ctrl4_c.den_xl_en = (uint8_t)val & 0x02U;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
}
}
}
return ret;
}
/**
* @brief Extend DEN functionality to accelerometer sensor. [get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of den_xl_g in reg CTRL9_XL
* and den_xl_en in CTRL4_C.
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_den_enable_get(stmdev_ctx_t *ctx, lsm6dsl_den_xl_en_t *val)
{
lsm6dsl_ctrl4_c_t ctrl4_c;
lsm6dsl_ctrl9_xl_t ctrl9_xl;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t*)&ctrl4_c, 1);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
switch ( ( ctrl4_c.den_xl_en << 1) + ctrl9_xl.den_xl_g ) {
case LSM6DSL_STAMP_IN_GY_DATA:
*val = LSM6DSL_STAMP_IN_GY_DATA;
break;
case LSM6DSL_STAMP_IN_XL_DATA:
*val = LSM6DSL_STAMP_IN_XL_DATA;
break;
case LSM6DSL_STAMP_IN_GY_XL_DATA:
*val = LSM6DSL_STAMP_IN_GY_XL_DATA;
break;
default:
*val = LSM6DSL_DEN_STAMP_ND;
break;
}
}
return ret;
}
/**
* @brief DEN value stored in LSB of Z-axis.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of den_z in reg CTRL9_XL
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_den_mark_axis_z_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_ctrl9_xl_t ctrl9_xl;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
if(ret == 0){
ctrl9_xl.den_z = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
}
return ret;
}
/**
* @brief DEN value stored in LSB of Z-axis.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of den_z in reg CTRL9_XL
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_den_mark_axis_z_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_ctrl9_xl_t ctrl9_xl;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
*val = ctrl9_xl.den_z;
return ret;
}
/**
* @brief DEN value stored in LSB of Y-axis.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of den_y in reg CTRL9_XL
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_den_mark_axis_y_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_ctrl9_xl_t ctrl9_xl;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
if(ret == 0){
ctrl9_xl.den_y = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
}
return ret;
}
/**
* @brief DEN value stored in LSB of Y-axis.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of den_y in reg CTRL9_XL
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_den_mark_axis_y_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_ctrl9_xl_t ctrl9_xl;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
*val = ctrl9_xl.den_y;
return ret;
}
/**
* @brief DEN value stored in LSB of X-axis.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of den_x in reg CTRL9_XL
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_den_mark_axis_x_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_ctrl9_xl_t ctrl9_xl;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
if(ret == 0){
ctrl9_xl.den_x = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
}
return ret;
}
/**
* @brief DEN value stored in LSB of X-axis.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of den_x in reg CTRL9_XL
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_den_mark_axis_x_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_ctrl9_xl_t ctrl9_xl;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
*val = ctrl9_xl.den_x;
return ret;
}
/**
* @}
*
*/
/**
* @defgroup LSM6DSL_Pedometer
* @brief This section groups all the functions that manage pedometer.
* @{
*
*/
/**
* @brief Reset pedometer step counter.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of pedo_rst_step in reg CTRL10_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_pedo_step_reset_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_ctrl10_c_t ctrl10_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
if(ret == 0){
ctrl10_c.pedo_rst_step = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
}
return ret;
}
/**
* @brief Reset pedometer step counter.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of pedo_rst_step in reg CTRL10_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_pedo_step_reset_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_ctrl10_c_t ctrl10_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
*val = ctrl10_c.pedo_rst_step;
return ret;
}
/**
* @brief Enable pedometer algorithm.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of pedo_en in reg CTRL10_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_pedo_sens_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_ctrl10_c_t ctrl10_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
if(ret == 0){
ctrl10_c.pedo_en = val;
if (val != 0x00U) {
ctrl10_c.func_en = val;
}
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
}
return ret;
}
/**
* @brief pedo_sens: Enable pedometer algorithm.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of pedo_en in reg CTRL10_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_pedo_sens_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_ctrl10_c_t ctrl10_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
*val = ctrl10_c.pedo_en;
return ret;
}
/**
* @brief Minimum threshold to detect a peak. Default is 10h.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of ths_min in reg
* CONFIG_PEDO_THS_MIN
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_pedo_threshold_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_config_pedo_ths_min_t config_pedo_ths_min;
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CONFIG_PEDO_THS_MIN,
(uint8_t*)&config_pedo_ths_min, 1);
if(ret == 0){
config_pedo_ths_min.ths_min = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CONFIG_PEDO_THS_MIN,
(uint8_t*)&config_pedo_ths_min, 1);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
}
return ret;
}
/**
* @brief Minimum threshold to detect a peak. Default is 10h.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of ths_min in reg CONFIG_PEDO_THS_MIN
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_pedo_threshold_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_config_pedo_ths_min_t config_pedo_ths_min;
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CONFIG_PEDO_THS_MIN,
(uint8_t*)&config_pedo_ths_min, 1);
if(ret == 0){
*val = config_pedo_ths_min.ths_min;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
return ret;
}
/**
* @brief pedo_full_scale: Pedometer data range.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of pedo_fs in
* reg CONFIG_PEDO_THS_MIN
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_pedo_full_scale_set(stmdev_ctx_t *ctx, lsm6dsl_pedo_fs_t val)
{
lsm6dsl_config_pedo_ths_min_t config_pedo_ths_min;
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CONFIG_PEDO_THS_MIN,
(uint8_t*)&config_pedo_ths_min, 1);
if(ret == 0){
config_pedo_ths_min.pedo_fs = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CONFIG_PEDO_THS_MIN,
(uint8_t*)&config_pedo_ths_min, 1);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
}
return ret;
}
/**
* @brief Pedometer data range.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of pedo_fs in
* reg CONFIG_PEDO_THS_MIN
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_pedo_full_scale_get(stmdev_ctx_t *ctx, lsm6dsl_pedo_fs_t *val)
{
lsm6dsl_config_pedo_ths_min_t config_pedo_ths_min;
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CONFIG_PEDO_THS_MIN,
(uint8_t*)&config_pedo_ths_min, 1);
if(ret == 0){
switch (config_pedo_ths_min.pedo_fs) {
case LSM6DSL_PEDO_AT_2g:
*val = LSM6DSL_PEDO_AT_2g;
break;
case LSM6DSL_PEDO_AT_4g:
*val = LSM6DSL_PEDO_AT_4g;
break;
default:
*val = LSM6DSL_PEDO_FS_ND;
break;
}
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
return ret;
}
/**
* @brief Pedometer debounce configuration register (r/w).[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of deb_step in reg PEDO_DEB_REG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_pedo_debounce_steps_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_pedo_deb_reg_t pedo_deb_reg;
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_PEDO_DEB_REG,
(uint8_t*)&pedo_deb_reg, 1);
if(ret == 0){
pedo_deb_reg.deb_step = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_PEDO_DEB_REG,
(uint8_t*)&pedo_deb_reg, 1);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
}
return ret;
}
/**
* @brief Pedometer debounce configuration register (r/w).[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of deb_step in reg PEDO_DEB_REG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_pedo_debounce_steps_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_pedo_deb_reg_t pedo_deb_reg;
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_PEDO_DEB_REG,
(uint8_t*)&pedo_deb_reg, 1);
if(ret == 0){
*val = pedo_deb_reg.deb_step;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
return ret;
}
/**
* @brief Debounce time. If the time between two consecutive steps is
* greater than DEB_TIME*80ms, the debouncer is reactivated.
* Default value: 01101[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of deb_time in reg PEDO_DEB_REG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_pedo_timeout_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_pedo_deb_reg_t pedo_deb_reg;
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_PEDO_DEB_REG,
(uint8_t*)&pedo_deb_reg, 1);
if(ret == 0){
pedo_deb_reg.deb_time = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_PEDO_DEB_REG,
(uint8_t*)&pedo_deb_reg, 1);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
}
return ret;
}
/**
* @brief Debounce time. If the time between two consecutive steps is
* greater than DEB_TIME*80ms, the debouncer is reactivated.
* Default value: 01101[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of deb_time in reg PEDO_DEB_REG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_pedo_timeout_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_pedo_deb_reg_t pedo_deb_reg;
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_PEDO_DEB_REG,
(uint8_t*)&pedo_deb_reg, 1);
if(ret == 0){
*val = pedo_deb_reg.deb_time;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
return ret;
}
/**
* @brief Time period register for step detection on delta time (r/w).[set]
*
* @param ctx Read / write interface definitions
* @param buff Buffer that contains data to write
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_pedo_steps_period_set(stmdev_ctx_t *ctx, uint8_t *buff)
{
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_write_reg(ctx, LSM6DSL_STEP_COUNT_DELTA, buff, 1);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
return ret;
}
/**
* @brief Time period register for step detection on delta time (r/w).[get]
*
* @param ctx Read / write interface definitions
* @param buff Buffer that stores data read
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_pedo_steps_period_get(stmdev_ctx_t *ctx, uint8_t *buff)
{
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_STEP_COUNT_DELTA, buff, 1);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
return ret;
}
/**
* @}
*
*/
/**
* @defgroup LSM6DSL_significant_motion
* @brief This section groups all the functions that manage the
* significant motion detection.
* @{
*
*/
/**
* @brief Enable significant motion detection function.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of sign_motion_en in reg CTRL10_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_motion_sens_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_ctrl10_c_t ctrl10_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
if(ret == 0){
ctrl10_c.sign_motion_en = val;
if (val != 0x00U) {
ctrl10_c.func_en = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
}
}
return ret;
}
/**
* @brief Enable significant motion detection function.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of sign_motion_en in reg CTRL10_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_motion_sens_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_ctrl10_c_t ctrl10_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
*val = ctrl10_c.sign_motion_en;
return ret;
}
/**
* @brief Significant motion threshold.[set]
*
* @param ctx Read / write interface definitions
* @param buff Buffer that store significant motion threshold.
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_motion_threshold_set(stmdev_ctx_t *ctx, uint8_t *buff)
{
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_write_reg(ctx, LSM6DSL_SM_THS, buff, 1);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
return ret;
}
/**
* @brief Significant motion threshold.[get]
*
* @param ctx Read / write interface definitions
* @param buff Buffer that store significant motion threshold.
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_motion_threshold_get(stmdev_ctx_t *ctx, uint8_t *buff)
{
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_SM_THS, buff, 1);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
return ret;
}
/**
* @}
*
*/
/**
* @defgroup LSM6DSL_tilt_detection
* @brief This section groups all the functions that manage the tilt
* event detection.
* @{
*
*/
/**
* @brief Enable tilt calculation.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of tilt_en in reg CTRL10_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_tilt_sens_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_ctrl10_c_t ctrl10_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
if(ret == 0){
ctrl10_c.tilt_en = val;
if (val != 0x00U) {
ctrl10_c.func_en = val;
}
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
}
return ret;
}
/**
* @brief Enable tilt calculation.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of tilt_en in reg CTRL10_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_tilt_sens_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_ctrl10_c_t ctrl10_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
*val = ctrl10_c.tilt_en;
return ret;
}
/**
* @brief Enable tilt calculation.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of tilt_en in reg CTRL10_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_wrist_tilt_sens_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_ctrl10_c_t ctrl10_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
if(ret == 0){
ctrl10_c.wrist_tilt_en = val;
if (val != 0x00U) {
ctrl10_c.func_en = val;
}
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
}
return ret;
}
/**
* @brief Enable tilt calculation.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of tilt_en in reg CTRL10_C
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_wrist_tilt_sens_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_ctrl10_c_t ctrl10_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
*val = ctrl10_c.wrist_tilt_en;
return ret;
}
/**
* @brief Absolute Wrist Tilt latency register (r/w).
* Absolute wrist tilt latency parameters.
* 1 LSB = 40 ms. Default value: 0Fh (600 ms).[set]
*
* @param ctx Read / write interface definitions
* @param buff Buffer that contains data to write
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_tilt_latency_set(stmdev_ctx_t *ctx, uint8_t *buff)
{
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_B);
if(ret == 0){
ret = lsm6dsl_write_reg(ctx, LSM6DSL_A_WRIST_TILT_LAT, buff, 1);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
return ret;
}
/**
* @brief Absolute Wrist Tilt latency register (r/w).
* Absolute wrist tilt latency parameters.
* 1 LSB = 40 ms. Default value: 0Fh (600 ms).[get]
*
* @param ctx Read / write interface definitions
* @param buff Buffer that stores data read
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_tilt_latency_get(stmdev_ctx_t *ctx, uint8_t *buff)
{
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_B);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_A_WRIST_TILT_LAT, buff, 1);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
return ret;
}
/**
* @brief Absolute Wrist Tilt threshold register(r/w).
* Absolute wrist tilt threshold parameters.
* 1 LSB = 15.625 mg.Default value: 20h (500 mg).[set]
*
* @param ctx Read / write interface definitions
* @param buff Buffer that contains data to write
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_tilt_threshold_set(stmdev_ctx_t *ctx, uint8_t *buff)
{
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_B);
if(ret == 0){
ret = lsm6dsl_write_reg(ctx, LSM6DSL_A_WRIST_TILT_THS, buff, 1);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
return ret;
}
/**
* @brief Absolute Wrist Tilt threshold register(r/w).
* Absolute wrist tilt threshold parameters.
* 1 LSB = 15.625 mg.Default value: 20h (500 mg).[get]
*
* @param ctx Read / write interface definitions
* @param buff Buffer that stores data read
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_tilt_threshold_get(stmdev_ctx_t *ctx, uint8_t *buff)
{
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_B);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_A_WRIST_TILT_THS, buff, 1);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
return ret;
}
/**
* @brief Absolute Wrist Tilt mask register (r/w).[set]
*
* @param ctx Read / write interface definitions
* @param val Registers A_WRIST_TILT_MASK
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_tilt_src_set(stmdev_ctx_t *ctx,
lsm6dsl_a_wrist_tilt_mask_t *val)
{
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_B);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_A_WRIST_TILT_MASK,
(uint8_t*) val, 1);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
return ret;
}
/**
* @brief Absolute Wrist Tilt mask register (r/w).[get]
*
* @param ctx Read / write interface definitions
* @param val Registers A_WRIST_TILT_MASK
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_tilt_src_get(stmdev_ctx_t *ctx,
lsm6dsl_a_wrist_tilt_mask_t *val)
{
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_B);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_A_WRIST_TILT_MASK,
(uint8_t*) val, 1);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
return ret;
}
/**
* @}
*
*/
/**
* @defgroup LSM6DSL_ magnetometer_sensor
* @brief This section groups all the functions that manage additional
* magnetometer sensor.
* @{
*
*/
/**
* @brief Enable soft-iron correction algorithm for magnetometer.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of soft_en in reg CTRL9_XL
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_mag_soft_iron_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_ctrl9_xl_t ctrl9_xl;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
if(ret == 0){
ctrl9_xl.soft_en = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
}
return ret;
}
/**
* @brief Enable soft-iron correction algorithm for magnetometer.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of soft_en in reg CTRL9_XL
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_mag_soft_iron_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_ctrl9_xl_t ctrl9_xl;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t*)&ctrl9_xl, 1);
*val = ctrl9_xl.soft_en;
return ret;
}
/**
* @brief Enable hard-iron correction algorithm for magnetometer.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of iron_en in reg MASTER_CONFIG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_mag_hard_iron_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_master_config_t master_config;
lsm6dsl_ctrl10_c_t ctrl10_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
(uint8_t*)&master_config, 1);
if(ret == 0){
master_config.iron_en = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_MASTER_CONFIG,
(uint8_t*)&master_config, 1);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
if(ret == 0){
if (val != 0x00U) {
ctrl10_c.func_en = val;
}
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL10_C,
(uint8_t*)&ctrl10_c, 1);
}
}
}
return ret;
}
/**
* @brief Enable hard-iron correction algorithm for magnetometer.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of iron_en in reg MASTER_CONFIG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_mag_hard_iron_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_master_config_t master_config;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
(uint8_t*)&master_config, 1);
*val = master_config.iron_en;
return ret;
}
/**
* @brief Soft iron 3x3 matrix. Value are expressed in sign-module format.
* (Es. SVVVVVVVb where S is the sign 0/+1/- and V is the value).[set]
*
* @param ctx Read / write interface definitions
* @param buff Buffer that contains data to write
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_mag_soft_iron_mat_set(stmdev_ctx_t *ctx, uint8_t *buff)
{
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_write_reg(ctx, LSM6DSL_MAG_SI_XX, buff, 9);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
return ret;
}
/**
* @brief Soft iron 3x3 matrix. Value are expressed in sign-module format.
* (Es. SVVVVVVVb where S is the sign 0/+1/- and V is the value).[get]
*
* @param ctx Read / write interface definitions
* @param buff Buffer that stores data read
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_mag_soft_iron_mat_get(stmdev_ctx_t *ctx, uint8_t *buff)
{
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_MAG_SI_XX, buff, 9);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
return ret;
}
/**
* @brief Offset for hard-iron compensation register (r/w). The value is
* expressed as a 16-bit word in two’s complement.[set]
*
* @param ctx Read / write interface definitions
* @param buff Buffer that contains data to write
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_mag_offset_set(stmdev_ctx_t *ctx, uint8_t *buff)
{
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_write_reg(ctx, LSM6DSL_MAG_OFFX_L, buff, 6);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
return ret;
}
/**
* @brief Offset for hard-iron compensation register(r/w).
* The value is expressed as a 16-bit word in two’s complement.[get]
*
* @param ctx Read / write interface definitions
* @param buff Buffer that stores data read
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_mag_offset_get(stmdev_ctx_t *ctx, uint8_t *buff)
{
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_MAG_OFFX_L, buff, 6);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
return ret;
}
/**
* @}
*
*/
/**
* @defgroup LSM6DSL_Sensor_hub
* @brief This section groups all the functions that manage the sensor
* hub functionality.
* @{
*
*/
/**
* @brief Enable function.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values func_en
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_func_en_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_ctrl10_c_t ctrl10_c;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
if(ret == 0){
ctrl10_c.func_en = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t*)&ctrl10_c, 1);
}
return ret;
}
/**
* @brief Sensor synchronization time frame with the step of 500 ms and
* full range of 5s. Unsigned 8-bit.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of tph in reg SENSOR_SYNC_TIME_FRAME
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_sync_sens_frame_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_sensor_sync_time_frame_t sensor_sync_time_frame;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_SENSOR_SYNC_TIME_FRAME,
(uint8_t*)&sensor_sync_time_frame, 1);
if(ret == 0){
sensor_sync_time_frame.tph = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_SENSOR_SYNC_TIME_FRAME,
(uint8_t*)&sensor_sync_time_frame, 1);
}
return ret;
}
/**
* @brief Sensor synchronization time frame with the step of 500 ms and
* full range of 5s. Unsigned 8-bit.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of tph in reg SENSOR_SYNC_TIME_FRAME
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_sync_sens_frame_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_sensor_sync_time_frame_t sensor_sync_time_frame;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_SENSOR_SYNC_TIME_FRAME,
(uint8_t*)&sensor_sync_time_frame, 1);
*val = sensor_sync_time_frame.tph;
return ret;
}
/**
* @brief Resolution ratio of error code for sensor synchronization.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of rr in reg SENSOR_SYNC_RES_RATIO
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_sync_sens_ratio_set(stmdev_ctx_t *ctx, lsm6dsl_rr_t val)
{
lsm6dsl_sensor_sync_res_ratio_t sensor_sync_res_ratio;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_SENSOR_SYNC_RES_RATIO,
(uint8_t*)&sensor_sync_res_ratio, 1);
if(ret == 0){
sensor_sync_res_ratio.rr = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_SENSOR_SYNC_RES_RATIO,
(uint8_t*)&sensor_sync_res_ratio, 1);
}
return ret;
}
/**
* @brief Resolution ratio of error code for sensor synchronization.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of rr in reg SENSOR_SYNC_RES_RATIO
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_sync_sens_ratio_get(stmdev_ctx_t *ctx, lsm6dsl_rr_t *val)
{
lsm6dsl_sensor_sync_res_ratio_t sensor_sync_res_ratio;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_SENSOR_SYNC_RES_RATIO,
(uint8_t*)&sensor_sync_res_ratio, 1);
switch ( sensor_sync_res_ratio.rr) {
case LSM6DSL_RES_RATIO_2_11:
*val = LSM6DSL_RES_RATIO_2_11;
break;
case LSM6DSL_RES_RATIO_2_12:
*val = LSM6DSL_RES_RATIO_2_12;
break;
case LSM6DSL_RES_RATIO_2_13:
*val = LSM6DSL_RES_RATIO_2_13;
break;
case LSM6DSL_RES_RATIO_2_14:
*val = LSM6DSL_RES_RATIO_2_14;
break;
default:
*val = LSM6DSL_RES_RATIO_ND;
break;
}
return ret;
}
/**
* @brief Sensor hub I2C master enable.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of master_on in reg MASTER_CONFIG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_master_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_master_config_t master_config;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
(uint8_t*)&master_config, 1);
if(ret == 0){
master_config.master_on = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_MASTER_CONFIG,
(uint8_t*)&master_config, 1);
}
return ret;
}
/**
* @brief Sensor hub I2C master enable.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of master_on in reg MASTER_CONFIG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_master_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_master_config_t master_config;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
(uint8_t*)&master_config, 1);
*val = master_config.master_on;
return ret;
}
/**
* @brief I2C interface pass-through.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of pass_through_mode in reg MASTER_CONFIG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_pass_through_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_master_config_t master_config;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
(uint8_t*)&master_config, 1);
if(ret == 0){
master_config.pass_through_mode = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_MASTER_CONFIG,
(uint8_t*)&master_config, 1);
}
return ret;
}
/**
* @brief I2C interface pass-through.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of pass_through_mode in reg MASTER_CONFIG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_pass_through_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_master_config_t master_config;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
(uint8_t*)&master_config, 1);
*val = master_config.pass_through_mode;
return ret;
}
/**
* @brief Master I2C pull-up enable/disable.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of pull_up_en in reg MASTER_CONFIG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_pin_mode_set(stmdev_ctx_t *ctx, lsm6dsl_pull_up_en_t val)
{
lsm6dsl_master_config_t master_config;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
(uint8_t*)&master_config, 1);
if(ret == 0){
master_config.pull_up_en = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_MASTER_CONFIG,
(uint8_t*)&master_config, 1);
}
return ret;
}
/**
* @brief Master I2C pull-up enable/disable.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of pull_up_en in reg MASTER_CONFIG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_pin_mode_get(stmdev_ctx_t *ctx, lsm6dsl_pull_up_en_t *val)
{
lsm6dsl_master_config_t master_config;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
(uint8_t*)&master_config, 1);
switch (master_config.pull_up_en) {
case LSM6DSL_EXT_PULL_UP:
*val = LSM6DSL_EXT_PULL_UP;
break;
case LSM6DSL_INTERNAL_PULL_UP:
*val = LSM6DSL_INTERNAL_PULL_UP;
break;
default:
*val = LSM6DSL_SH_PIN_MODE;
break;
}
return ret;
}
/**
* @brief Sensor hub trigger signal selection.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of start_config in reg MASTER_CONFIG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_syncro_mode_set(stmdev_ctx_t *ctx,
lsm6dsl_start_config_t val)
{
lsm6dsl_master_config_t master_config;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
(uint8_t*)&master_config, 1);
if(ret == 0){
master_config.start_config = (uint8_t)val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_MASTER_CONFIG,
(uint8_t*)&master_config, 1);
}
return ret;
}
/**
* @brief Sensor hub trigger signal selection.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of start_config in reg MASTER_CONFIG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_syncro_mode_get(stmdev_ctx_t *ctx,
lsm6dsl_start_config_t *val)
{
lsm6dsl_master_config_t master_config;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
(uint8_t*)&master_config, 1);
switch (master_config.start_config) {
case LSM6DSL_XL_GY_DRDY:
*val = LSM6DSL_XL_GY_DRDY;
break;
case LSM6DSL_EXT_ON_INT2_PIN:
*val = LSM6DSL_EXT_ON_INT2_PIN;
break;
default:
*val = LSM6DSL_SH_SYNCRO_ND;
break;
}
return ret;
}
/**
* @brief Manage the Master DRDY signal on INT1 pad.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of drdy_on_int1 in reg MASTER_CONFIG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_drdy_on_int1_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_master_config_t master_config;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
(uint8_t*)&master_config, 1);
if(ret == 0){
master_config.drdy_on_int1 = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_MASTER_CONFIG,
(uint8_t*)&master_config, 1);
}
return ret;
}
/**
* @brief Manage the Master DRDY signal on INT1 pad.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of drdy_on_int1 in reg MASTER_CONFIG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_drdy_on_int1_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_master_config_t master_config;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
(uint8_t*)&master_config, 1);
*val = master_config.drdy_on_int1;
return ret;
}
/**
* @brief Sensor hub output registers.[get]
*
* @param ctx Read / write interface definitions
* @param val Structure of registers from SENSORHUB1_REG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_read_data_raw_get(stmdev_ctx_t *ctx,
lsm6dsl_emb_sh_read_t *val)
{
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_SENSORHUB1_REG,
(uint8_t*)&(val->sh_byte_1), 12);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_SENSORHUB13_REG,
(uint8_t*)&(val->sh_byte_13), 6);
}
return ret;
}
/**
* @brief Master command code used for stamping for sensor sync.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of master_cmd_code in
* reg MASTER_CMD_CODE
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_cmd_sens_sync_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_master_cmd_code_t master_cmd_code;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CMD_CODE,
(uint8_t*)&master_cmd_code, 1);
if(ret == 0){
master_cmd_code.master_cmd_code = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_MASTER_CMD_CODE,
(uint8_t*)&master_cmd_code, 1);
}
return ret;
}
/**
* @brief Master command code used for stamping for sensor sync.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of master_cmd_code in
* reg MASTER_CMD_CODE
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_cmd_sens_sync_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_master_cmd_code_t master_cmd_code;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CMD_CODE,
(uint8_t*)&master_cmd_code, 1);
*val = master_cmd_code.master_cmd_code;
return ret;
}
/**
* @brief Error code used for sensor synchronization.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of error_code in
* reg SENS_SYNC_SPI_ERROR_CODE.
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_spi_sync_error_set(stmdev_ctx_t *ctx, uint8_t val)
{
lsm6dsl_sens_sync_spi_error_code_t sens_sync_spi_error_code;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_SENS_SYNC_SPI_ERROR_CODE,
(uint8_t*)&sens_sync_spi_error_code, 1);
if(ret == 0){
sens_sync_spi_error_code.error_code = val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_SENS_SYNC_SPI_ERROR_CODE,
(uint8_t*)&sens_sync_spi_error_code, 1);
}
return ret;
}
/**
* @brief Error code used for sensor synchronization.[get]
*
* @param ctx Read / write interface definitions
* @param val Change the values of error_code in
* reg SENS_SYNC_SPI_ERROR_CODE.
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_spi_sync_error_get(stmdev_ctx_t *ctx, uint8_t *val)
{
lsm6dsl_sens_sync_spi_error_code_t sens_sync_spi_error_code;
int32_t ret;
ret = lsm6dsl_read_reg(ctx, LSM6DSL_SENS_SYNC_SPI_ERROR_CODE,
(uint8_t*)&sens_sync_spi_error_code, 1);
*val = sens_sync_spi_error_code.error_code;
return ret;
}
/**
* @brief Number of external sensors to be read by the sensor hub.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of aux_sens_on in reg SLAVE0_CONFIG.
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_num_of_dev_connected_set(stmdev_ctx_t *ctx,
lsm6dsl_aux_sens_on_t val)
{
lsm6dsl_slave0_config_t slave0_config;
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE0_CONFIG,
(uint8_t*)&slave0_config, 1);
if(ret == 0){
slave0_config.aux_sens_on = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLAVE0_CONFIG,
(uint8_t*)&slave0_config, 1);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
}
return ret;
}
/**
* @brief Number of external sensors to be read by the sensor hub.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of aux_sens_on in reg SLAVE0_CONFIG.
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_num_of_dev_connected_get(stmdev_ctx_t *ctx,
lsm6dsl_aux_sens_on_t *val)
{
lsm6dsl_slave0_config_t slave0_config;
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE0_CONFIG,
(uint8_t*)&slave0_config, 1);
if(ret == 0){
switch (slave0_config.aux_sens_on) {
case LSM6DSL_SLV_0:
*val = LSM6DSL_SLV_0;
break;
case LSM6DSL_SLV_0_1:
*val = LSM6DSL_SLV_0_1;
break;
case LSM6DSL_SLV_0_1_2:
*val = LSM6DSL_SLV_0_1_2;
break;
case LSM6DSL_SLV_0_1_2_3:
*val = LSM6DSL_SLV_0_1_2_3;
break;
default:
*val = LSM6DSL_SLV_EN_ND;
break;
}
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
return ret;
}
/**
* @brief Configure slave 0 for perform a write.[set]
*
* @param ctx Read / write interface definitions
* @param val Structure that contain:
* - uint8_t slv_add; 8 bit i2c device address
* - uint8_t slv_subadd; 8 bit register device address
* - uint8_t slv_data; 8 bit data to write
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_cfg_write(stmdev_ctx_t *ctx, lsm6dsl_sh_cfg_write_t *val)
{
lsm6dsl_slv0_add_t slv0_add;
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
slv0_add.slave0_add = val->slv0_add;
slv0_add.rw_0 = 0;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLV0_ADD, (uint8_t*)&slv0_add, 1);
if(ret == 0){
ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLV0_SUBADD,
&(val->slv0_subadd), 1);
if(ret == 0){
ret = lsm6dsl_write_reg(ctx, LSM6DSL_DATAWRITE_SRC_MODE_SUB_SLV0,
&(val->slv0_data), 1);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
}
}
return ret;
}
/**
* @brief Configure slave 0 for perform a read.[get]
*
* @param ctx Read / write interface definitions
* @param val Structure that contain:
* - uint8_t slv_add; 8 bit i2c device address
* - uint8_t slv_subadd; 8 bit register device address
* - uint8_t slv_len; num of bit to read
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_slv0_cfg_read(stmdev_ctx_t *ctx,
lsm6dsl_sh_cfg_read_t *val)
{
lsm6dsl_slave0_config_t slave0_config;
lsm6dsl_slv0_add_t slv0_add;
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
slv0_add.slave0_add = val->slv_add;
slv0_add.rw_0 = 1;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLV0_ADD, (uint8_t*)&slv0_add, 1);
if(ret == 0){
ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLV0_SUBADD,
&(val->slv_subadd), 1);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE0_CONFIG,
(uint8_t*)&slave0_config, 1);
slave0_config.slave0_numop = val->slv_len;
if(ret == 0){
ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLAVE0_CONFIG,
(uint8_t*)&slave0_config, 1);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
}
}
}
return ret;
}
/**
* @brief Configure slave 1 for perform a read.[get]
*
* @param ctx Read / write interface definitions
* @param val Structure that contain:
* - uint8_t slv_add; 8 bit i2c device address
* - uint8_t slv_subadd; 8 bit register device address
* - uint8_t slv_len; num of bit to read
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_slv1_cfg_read(stmdev_ctx_t *ctx,
lsm6dsl_sh_cfg_read_t *val)
{
lsm6dsl_slave1_config_t slave1_config;
lsm6dsl_slv1_add_t slv1_add;
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
slv1_add.slave1_add = val->slv_add;
slv1_add.r_1 = 1;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLV1_ADD, (uint8_t*)&slv1_add, 1);
if(ret == 0){
ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLV1_SUBADD,
&(val->slv_subadd), 1);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE1_CONFIG,
(uint8_t*)&slave1_config, 1);
slave1_config.slave1_numop = val->slv_len;
if(ret == 0){
ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLAVE1_CONFIG,
(uint8_t*)&slave1_config, 1);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
}
}
}
return ret;
}
/**
* @brief Configure slave 2 for perform a read.[get]
*
* @param ctx Read / write interface definitions
* @param val Structure that contain:
* - uint8_t slv_add; 8 bit i2c device address
* - uint8_t slv_subadd; 8 bit register device address
* - uint8_t slv_len; num of bit to read
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_slv2_cfg_read(stmdev_ctx_t *ctx,
lsm6dsl_sh_cfg_read_t *val)
{
lsm6dsl_slv2_add_t slv2_add;
lsm6dsl_slave2_config_t slave2_config;
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
slv2_add.slave2_add = val->slv_add;
slv2_add.r_2 = 1;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLV2_ADD, (uint8_t*)&slv2_add, 1);
if(ret == 0){
ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLV2_SUBADD,
&(val->slv_subadd), 1);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE2_CONFIG,
(uint8_t*)&slave2_config, 1);
if(ret == 0){
slave2_config.slave2_numop = val->slv_len;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLAVE2_CONFIG,
(uint8_t*)&slave2_config, 1);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
}
}
}
return ret;
}
/**
* @brief Configure slave 3 for perform a read.[get]
*
* @param ctx Read / write interface definitions
* @param val Structure that contain:
* - uint8_t slv_add; 8 bit i2c device address
* - uint8_t slv_subadd; 8 bit register device address
* - uint8_t slv_len; num of bit to read
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_slv3_cfg_read(stmdev_ctx_t *ctx,
lsm6dsl_sh_cfg_read_t *val)
{
lsm6dsl_slave3_config_t slave3_config;
lsm6dsl_slv3_add_t slv3_add;
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
slv3_add.slave3_add = val->slv_add;
slv3_add.r_3 = 1;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLV3_ADD, (uint8_t*)&slv3_add, 1);
if(ret == 0){
ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLV3_SUBADD,
(uint8_t*)&(val->slv_subadd), 1);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE3_CONFIG,
(uint8_t*)&slave3_config, 1);
if(ret == 0){
slave3_config.slave3_numop = val->slv_len;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLAVE3_CONFIG,
(uint8_t*)&slave3_config, 1);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
}
}
}
return ret;
}
/**
* @brief Decimation of read operation on Slave 0 starting from the
* sensor hub trigger.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of slave0_rate in reg SLAVE0_CONFIG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_slave_0_dec_set(stmdev_ctx_t *ctx,
lsm6dsl_slave0_rate_t val)
{
lsm6dsl_slave0_config_t slave0_config;
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE0_CONFIG,
(uint8_t*)&slave0_config, 1);
if(ret == 0){
slave0_config.slave0_rate = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLAVE0_CONFIG,
(uint8_t*)&slave0_config, 1);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
}
return ret;
}
/**
* @brief Decimation of read operation on Slave 0 starting from the
* sensor hub trigger.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of slave0_rate in reg SLAVE0_CONFIG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_slave_0_dec_get(stmdev_ctx_t *ctx,
lsm6dsl_slave0_rate_t *val)
{
lsm6dsl_slave0_config_t slave0_config;
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE0_CONFIG,
(uint8_t*)&slave0_config, 1);
if(ret == 0){
switch (slave0_config.slave0_rate) {
case LSM6DSL_SL0_NO_DEC:
*val = LSM6DSL_SL0_NO_DEC;
break;
case LSM6DSL_SL0_DEC_2:
*val = LSM6DSL_SL0_DEC_2;
break;
case LSM6DSL_SL0_DEC_4:
*val = LSM6DSL_SL0_DEC_4;
break;
case LSM6DSL_SL0_DEC_8:
*val = LSM6DSL_SL0_DEC_8;
break;
default:
*val = LSM6DSL_SL0_DEC_ND;
break;
}
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
return ret;
}
/**
* @brief Slave 0 write operation is performed only at the first sensor
* hub cycle.
* This is effective if the Aux_sens_on[1:0] field in
* SLAVE0_CONFIG(04h) is set to a value other than 00.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of write_once in reg SLAVE1_CONFIG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_write_mode_set(stmdev_ctx_t *ctx, lsm6dsl_write_once_t val)
{
lsm6dsl_slave1_config_t slave1_config;
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE1_CONFIG,
(uint8_t*)&slave1_config, 1);
slave1_config.write_once = (uint8_t) val;
if(ret == 0){
ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLAVE1_CONFIG,
(uint8_t*)&slave1_config, 1);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
}
return ret;
}
/**
* @brief Slave 0 write operation is performed only at the first sensor
* hub cycle.
* This is effective if the Aux_sens_on[1:0] field in
* SLAVE0_CONFIG(04h) is set to a value other than 00.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of write_once in reg SLAVE1_CONFIG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_write_mode_get(stmdev_ctx_t *ctx,
lsm6dsl_write_once_t *val)
{
lsm6dsl_slave1_config_t slave1_config;
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE1_CONFIG,
(uint8_t*)&slave1_config, 1);
if(ret == 0){
switch (slave1_config.write_once) {
case LSM6DSL_EACH_SH_CYCLE:
*val = LSM6DSL_EACH_SH_CYCLE;
break;
case LSM6DSL_ONLY_FIRST_CYCLE:
*val = LSM6DSL_ONLY_FIRST_CYCLE;
break;
default:
*val = LSM6DSL_SH_WR_MODE_ND;
break;
}
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
return ret;
}
/**
* @brief Decimation of read operation on Slave 1 starting from the
* sensor hub trigger.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of slave1_rate in reg SLAVE1_CONFIG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_slave_1_dec_set(stmdev_ctx_t *ctx,
lsm6dsl_slave1_rate_t val)
{
lsm6dsl_slave1_config_t slave1_config;
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE1_CONFIG,
(uint8_t*)&slave1_config, 1);
if(ret == 0){
slave1_config.slave1_rate = (uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLAVE1_CONFIG,
(uint8_t*)&slave1_config, 1);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
}
return ret;
}
/**
* @brief Decimation of read operation on Slave 1 starting from the
* sensor hub trigger.[get]
*
* @param ctx Read / write interface definitions reg SLAVE1_CONFIG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_slave_1_dec_get(stmdev_ctx_t *ctx,
lsm6dsl_slave1_rate_t *val)
{
lsm6dsl_slave1_config_t slave1_config;
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE1_CONFIG,
(uint8_t*)&slave1_config, 1);
if(ret == 0){
switch (slave1_config.slave1_rate) {
case LSM6DSL_SL1_NO_DEC:
*val = LSM6DSL_SL1_NO_DEC;
break;
case LSM6DSL_SL1_DEC_2:
*val = LSM6DSL_SL1_DEC_2;
break;
case LSM6DSL_SL1_DEC_4:
*val = LSM6DSL_SL1_DEC_4;
break;
case LSM6DSL_SL1_DEC_8:
*val = LSM6DSL_SL1_DEC_8;
break;
default:
*val = LSM6DSL_SL1_DEC_ND;
break;
}
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
return ret;
}
/**
* @brief Decimation of read operation on Slave 2 starting from the
* sensor hub trigger.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of slave2_rate in reg SLAVE2_CONFIG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_slave_2_dec_set(stmdev_ctx_t *ctx,
lsm6dsl_slave2_rate_t val)
{
lsm6dsl_slave2_config_t slave2_config;
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE2_CONFIG,
(uint8_t*)&slave2_config, 1);
if(ret == 0){
slave2_config.slave2_rate =(uint8_t) val;
ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLAVE2_CONFIG,
(uint8_t*)&slave2_config, 1);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
}
return ret;
}
/**
* @brief Decimation of read operation on Slave 2 starting from the
* sensor hub trigger.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of slave2_rate in reg SLAVE2_CONFIG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_slave_2_dec_get(stmdev_ctx_t *ctx,
lsm6dsl_slave2_rate_t *val)
{
lsm6dsl_slave2_config_t slave2_config;
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE2_CONFIG,
(uint8_t*)&slave2_config, 1);
if(ret == 0){
switch (slave2_config.slave2_rate) {
case LSM6DSL_SL2_NO_DEC:
*val = LSM6DSL_SL2_NO_DEC;
break;
case LSM6DSL_SL2_DEC_2:
*val = LSM6DSL_SL2_DEC_2;
break;
case LSM6DSL_SL2_DEC_4:
*val = LSM6DSL_SL2_DEC_4;
break;
case LSM6DSL_SL2_DEC_8:
*val = LSM6DSL_SL2_DEC_8;
break;
default:
*val = LSM6DSL_SL2_DEC_ND;
break;
}
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
return ret;
}
/**
* @brief Decimation of read operation on Slave 3 starting from the
* sensor hub trigger.[set]
*
* @param ctx Read / write interface definitions
* @param val Change the values of slave3_rate in reg SLAVE3_CONFIG
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_slave_3_dec_set(stmdev_ctx_t *ctx,
lsm6dsl_slave3_rate_t val)
{
lsm6dsl_slave3_config_t slave3_config;
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE3_CONFIG,
(uint8_t*)&slave3_config, 1);
slave3_config.slave3_rate = (uint8_t)val;
if(ret == 0){
ret = lsm6dsl_write_reg(ctx, LSM6DSL_SLAVE3_CONFIG,
(uint8_t*)&slave3_config, 1);
if(ret == 0){
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
}
return ret;
}
/**
* @brief Decimation of read operation on Slave 3 starting from the
* sensor hub trigger.[get]
*
* @param ctx Read / write interface definitions
* @param val Get the values of slave3_rate in reg SLAVE3_CONFIG.
* @retval Interface status (MANDATORY: return 0 -> no Error).
*
*/
int32_t lsm6dsl_sh_slave_3_dec_get(stmdev_ctx_t *ctx,
lsm6dsl_slave3_rate_t *val)
{
lsm6dsl_slave3_config_t slave3_config;
int32_t ret;
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_BANK_A);
if(ret == 0){
ret = lsm6dsl_read_reg(ctx, LSM6DSL_SLAVE3_CONFIG,
(uint8_t*)&slave3_config, 1);
if(ret == 0){
switch (slave3_config.slave3_rate) {
case LSM6DSL_SL3_NO_DEC:
*val = LSM6DSL_SL3_NO_DEC;
break;
case LSM6DSL_SL3_DEC_2:
*val = LSM6DSL_SL3_DEC_2;
break;
case LSM6DSL_SL3_DEC_4:
*val = LSM6DSL_SL3_DEC_4;
break;
case LSM6DSL_SL3_DEC_8:
*val = LSM6DSL_SL3_DEC_8;
break;
default:
*val = LSM6DSL_SL3_DEC_ND;
break;
}
ret = lsm6dsl_mem_bank_set(ctx, LSM6DSL_USER_BANK);
}
}
return ret;
}
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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