5970 lines
181 KiB
C
5970 lines
181 KiB
C
#include "app_config.h"
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#include "asm/clock.h"
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#include "asm/cpu.h"
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#include "generic/typedef.h"
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#include "generic/gpio.h"
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#include "typedef.h"
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#include "system/includes.h"
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#include "media/includes.h"
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#include "asm/iic_hw.h"
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#include "asm/iic_soft.h"
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#include "asm/timer.h"
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#include "imuSensor_manage.h"
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#include "lsm6dsl.h"
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// #include "spi1.h"
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// #include "port_wkup.h"
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#if TCFG_LSM6DSL_ENABLE
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/*************Betterlife ic debug***********/
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#undef LOG_TAG_CONST
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#define LOG_TAG "[LSM6DSL]"
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#define LOG_ERROR_ENABLE
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#define LOG_INFO_ENABLE
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#include "debug.h"
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void delay(volatile u32 t);
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void udelay(u32 us);
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#define MDELAY(n) mdelay(n)
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static lsm6dsl_param *lsm6dsl_info;
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#if (LSM6DSL_USER_INTERFACE==LSM6DSL_USE_I2C)
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#if TCFG_LSM6DSL_USER_IIC_TYPE
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#define iic_init(iic) hw_iic_init(iic)
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#define iic_uninit(iic) hw_iic_uninit(iic)
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#define iic_start(iic) hw_iic_start(iic)
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#define iic_stop(iic) hw_iic_stop(iic)
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#define iic_tx_byte(iic, byte) hw_iic_tx_byte(iic, byte)
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#define iic_rx_byte(iic, ack) hw_iic_rx_byte(iic, ack)
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#define iic_read_buf(iic, buf, len) hw_iic_read_buf(iic, buf, len)
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#define iic_write_buf(iic, buf, len) hw_iic_write_buf(iic, buf, len)
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#define iic_suspend(iic) hw_iic_suspend(iic)
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#define iic_resume(iic) hw_iic_resume(iic)
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#else
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#define iic_init(iic) soft_iic_init(iic)
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#define iic_uninit(iic) soft_iic_uninit(iic)
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#define iic_start(iic) soft_iic_start(iic)
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#define iic_stop(iic) soft_iic_stop(iic)
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#define iic_tx_byte(iic, byte) soft_iic_tx_byte(iic, byte)
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#define iic_rx_byte(iic, ack) soft_iic_rx_byte(iic, ack)
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#define iic_read_buf(iic, buf, len) soft_iic_read_buf(iic, buf, len)
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#define iic_write_buf(iic, buf, len) soft_iic_write_buf(iic, buf, len)
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#define iic_suspend(iic) soft_iic_suspend(iic)
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#define iic_resume(iic) soft_iic_resume(iic)
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#endif
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//起止信号间隔：standard mode(100khz):4.7us; fast mode(400khz):1.3us
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//return: readLen:ok, other:fail
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u16 lsm6dsl_I2C_Read_NBytes(unsigned char devAddr,
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unsigned char regAddr,
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unsigned char *readBuf,
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u16 readLen)
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{
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u16 i = 0;
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local_irq_disable();
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iic_start(lsm6dsl_info->iic_hdl);
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if (0 == iic_tx_byte(lsm6dsl_info->iic_hdl, devAddr)) {
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log_error("lsm6dsl iic read err1");
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goto __iic_exit_r;
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}
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delay(lsm6dsl_info->iic_delay);
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/* if (0 == iic_tx_byte(lsm6dsl_info->iic_hdl, regAddr |0x80)) {//|0x80地址自动递增 */
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if (0 == iic_tx_byte(lsm6dsl_info->iic_hdl, regAddr)) {//|0x80地址自动递增
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log_error("lsm6dsl iic read err2");
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goto __iic_exit_r;
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}
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delay(lsm6dsl_info->iic_delay);
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iic_start(lsm6dsl_info->iic_hdl);
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if (0 == iic_tx_byte(lsm6dsl_info->iic_hdl, devAddr + 1)) {
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log_error("lsm6dsl iic read err3");
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goto __iic_exit_r;
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}
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for (i = 0; i < readLen; i++) {
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delay(lsm6dsl_info->iic_delay);
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if (i == (readLen - 1)) {
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*readBuf++ = iic_rx_byte(lsm6dsl_info->iic_hdl, 0);
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} else {
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*readBuf++ = iic_rx_byte(lsm6dsl_info->iic_hdl, 1);
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}
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/* if(i%100==0)wdt_clear(); */
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}
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__iic_exit_r:
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iic_stop(lsm6dsl_info->iic_hdl);
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local_irq_enable();
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return i;
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}
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//起止信号间隔：standard mode(100khz):4.7us; fast mode(400khz):1.3us
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//return:writeLen:ok, other:fail
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u16 lsm6dsl_I2C_Write_NBytes(unsigned char devAddr,
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unsigned char regAddr,
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unsigned char *writeBuf,
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u16 writeLen)
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{
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u16 i = 0;
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local_irq_disable();
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iic_start(lsm6dsl_info->iic_hdl);
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if (0 == iic_tx_byte(lsm6dsl_info->iic_hdl, devAddr)) {
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log_error("lsm6dsl iic write err1");
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goto __iic_exit_w;
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}
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delay(lsm6dsl_info->iic_delay);
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if (0 == iic_tx_byte(lsm6dsl_info->iic_hdl, regAddr)) {
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log_error("lsm6dsl iic write err2");
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goto __iic_exit_w;
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}
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for (i = 0; i < writeLen; i++) {
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delay(lsm6dsl_info->iic_delay);
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if (0 == iic_tx_byte(lsm6dsl_info->iic_hdl, writeBuf[i])) {
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log_error("lsm6dsl iic write err3:%d", i);
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goto __iic_exit_w;
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}
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}
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__iic_exit_w:
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iic_stop(lsm6dsl_info->iic_hdl);
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local_irq_enable();
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return i;
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}
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//起止信号间隔：standard mode(100khz):4.7us; fast mode(400khz):1.3us
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//return:1:ok, 0:fail
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unsigned char lsm6dsl_I2C_Write_Byte(unsigned char devAddr, //芯片支持1byte写
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unsigned char regAddr,
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unsigned char byte)
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{
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u8 ret = 1;
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local_irq_disable();
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iic_start(lsm6dsl_info->iic_hdl);
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if (0 == iic_tx_byte(lsm6dsl_info->iic_hdl, devAddr)) {
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log_error("lsm6dsl iic write err1");
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ret = 0;
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goto __iic_exit_w;
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}
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delay(lsm6dsl_info->iic_delay);
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if (0 == iic_tx_byte(lsm6dsl_info->iic_hdl, regAddr)) {
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log_error("lsm6dsl iic write err2");
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ret = 0;
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goto __iic_exit_w;
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}
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delay(lsm6dsl_info->iic_delay);
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if (0 == iic_tx_byte(lsm6dsl_info->iic_hdl, byte)) {
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log_error("lsm6dsl iic write err3");
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ret = 0;
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goto __iic_exit_w;
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}
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__iic_exit_w:
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iic_stop(lsm6dsl_info->iic_hdl);
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local_irq_enable();
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return ret;
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}
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IMU_read lsm6dsl_read = lsm6dsl_I2C_Read_NBytes;
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IMU_write lsm6dsl_write = lsm6dsl_I2C_Write_Byte;
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#elif (LSM6DSL_USER_INTERFACE==LSM6DSL_USE_SPI)
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#define spi_cs_init() \
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do { \
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gpio_write(lsm6dsl_info->spi_cs_pin, 1); \
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gpio_set_direction(lsm6dsl_info->spi_cs_pin, 0); \
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gpio_set_die(lsm6dsl_info->spi_cs_pin, 1); \
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} while (0)
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#define spi_cs_uninit() \
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do { \
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gpio_set_die(lsm6dsl_info->spi_cs_pin, 0); \
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gpio_set_direction(lsm6dsl_info->spi_cs_pin, 1); \
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gpio_set_pull_up(lsm6dsl_info->spi_cs_pin, 0); \
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gpio_set_pull_down(lsm6dsl_info->spi_cs_pin, 0); \
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} while (0)
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#define spi_cs_h() gpio_write(lsm6dsl_info->spi_cs_pin, 1)
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#define spi_cs_l() gpio_write(lsm6dsl_info->spi_cs_pin, 0)
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#define spi_read_byte() spi_recv_byte(lsm6dsl_info->spi_hdl, NULL)
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#define spi_write_byte(x) spi_send_byte(lsm6dsl_info->spi_hdl, x)
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#define spi_dma_read(x, y) spi_dma_recv(lsm6dsl_info->spi_hdl, x, y)
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#define spi_dma_write(x, y) spi_dma_send(lsm6dsl_info->spi_hdl, x, y)
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#define spi_set_width(x) spi_set_bit_mode(lsm6dsl_info->spi_hdl, x)
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#define spi_init() spi_open(lsm6dsl_info->spi_hdl)
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#define spi_closed() spi_close(lsm6dsl_info->spi_hdl)
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#define spi_suspend() hw_spi_suspend(lsm6dsl_info->spi_hdl)
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#define spi_resume() hw_spi_resume(lsm6dsl_info->spi_hdl)
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u16 lsm6dsl_SPI_readNBytes(unsigned char devAddr,
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unsigned char regAddr,
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unsigned char *readBuf,
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u16 readLen)
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{
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spi_cs_l();
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spi_write_byte(regAddr | 0x80);//| 0x80:read mode
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spi_dma_read(readBuf, readLen);
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spi_cs_h();
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return (readLen);
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}
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unsigned char lsm6dsl_SPI_writeByte(unsigned char devAddr,
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unsigned char regAddr,
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unsigned char writebyte)
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{
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spi_cs_l();
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spi_write_byte(regAddr);
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spi_write_byte(writebyte);
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spi_cs_h();
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udelay(5);//delay5us
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return (1);
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}
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u16 lsm6dsl_SPI_writeNBytes(unsigned char devAddr,
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unsigned char regAddr,
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unsigned char *writeBuf,
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u16 writeLen)
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{
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#if 1 //多字节dma写
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spi_cs_l();
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spi_write_byte(regAddr);
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spi_dma_write(writeBuf, writeLen);
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spi_cs_h();
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#else
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u16 i = 0;
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for (; i < writeLen; i++) {
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lsm6dsl_SPI_writeByte(devAddr, regAddr + i, writeBuf[i]);
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}
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#endif
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//SPIWrite((regAddr & 0x7F), writeBuf, writeLen);
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return (i);
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}
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IMU_read lsm6dsl_read = lsm6dsl_SPI_readNBytes;
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IMU_write lsm6dsl_write = lsm6dsl_SPI_writeByte;
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#endif
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static int32_t platform_write(void *handle, uint8_t Reg, uint8_t *Bufp,
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uint16_t len)
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{
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/* if(handle==iic){} */
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#if (LSM6DSL_USER_INTERFACE==LSM6DSL_USE_I2C)
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return lsm6dsl_I2C_Write_NBytes(LSM6DSL_IIC_SLAVE_ADDRESS, Reg, Bufp, len);
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#elif (LSM6DSL_USER_INTERFACE==LSM6DSL_USE_SPI)
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return lsm6dsl_SPI_writeNBytes(0, Reg, Bufp, len);
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#endif
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}
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static int32_t platform_read(void *handle, uint8_t Reg, uint8_t *Bufp,
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uint16_t len)
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{
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/* if(handle==iic){} */
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#if (LSM6DSL_USER_INTERFACE==LSM6DSL_USE_I2C)
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return lsm6dsl_I2C_Read_NBytes(LSM6DSL_IIC_SLAVE_ADDRESS, Reg, Bufp, len);
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#elif (LSM6DSL_USER_INTERFACE==LSM6DSL_USE_SPI)
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return lsm6dsl_SPI_readNBytes(0, Reg, Bufp, len);
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#endif
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}
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lsm6dsl_ctx_t lsm6dsl_ctx = {
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.write_reg = platform_write,
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.read_reg = platform_read,
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.handle = NULL//spi or iic
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};
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/*
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******************************************************************************
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* @file lsm6dsl_reg.c
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* @author MEMS Software Solution Team
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* @date 30-August-2017
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* @brief driver file
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******************************************************************************
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* @attention
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*
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* <h2><center>© COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted provided that the following conditions are met:
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
|
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* and/or other materials provided with the distribution.
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* 3. Neither the name of STMicroelectronics nor the names of its contributors
|
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* may be used to endorse or promote products derived from this software
|
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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/**
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* @addtogroup lsm6dsl
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* @brief This file provides a set of functions needed to drive the
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* lsm6dsl enanced inertial module.
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* @{
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*/
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/**
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* @addtogroup interfaces_functions
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* @brief This section provide a set of functions used to read and write
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* a generic register of the device.
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* @{
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*/
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/**
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* @brief Read generic device register
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*
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* @param lsm6dsl_ctx_t* ctx: read / write interface definitions
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* @param uint8_t reg: register to read
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* @param uint8_t* data: pointer to buffer that store the data read
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* @param uint16_t len: number of consecutive register to read
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*
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*/
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int32_t lsm6dsl_read_reg(lsm6dsl_ctx_t *ctx, uint8_t reg, uint8_t *data,
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uint16_t len)
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{
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return ctx->read_reg(ctx->handle, reg, data, len);
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}
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/**
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* @brief Write generic device register
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*
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* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
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* @param uint8_t reg: register to write
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* @param uint8_t* data: pointer to data to write in register reg
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* @param uint16_t len: number of consecutive register to write
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*
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*/
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int32_t lsm6dsl_write_reg(lsm6dsl_ctx_t *ctx, uint8_t reg, uint8_t *data,
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uint16_t len)
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{
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return ctx->write_reg(ctx->handle, reg, data, len);
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}
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/**
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* @}
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*/
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/** @addtogroup common_functions
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* @brief This section provide a set of most common functions used
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* to drive the device.
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* @{
|
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*/
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/**
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* @brief drdy_mode: [set] Define DataReady mode, pulses are 75 μs long,
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* latched on outputs reads
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*
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* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
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* @param lsm6dsl_drdy_pulsed_t: change the values of drdy_pulsed
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* in reg DRDY_PULSE_CFG_G
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*
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*/
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int32_t lsm6dsl_drdy_mode_set(lsm6dsl_ctx_t *ctx, lsm6dsl_drdy_pulsed_t val)
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{
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lsm6dsl_drdy_pulse_cfg_g_t reg;
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int32_t mm_error;
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mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_DRDY_PULSE_CFG_G,
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(uint8_t *)®, 1);
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reg.drdy_pulsed = val;
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mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_DRDY_PULSE_CFG_G,
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(uint8_t *)®, 1);
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return mm_error;
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}
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/**
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* @brief drdy_mode: [get] Define DataReady mode, pulses are 75 μs long,
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* latched on outputs reads
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*
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* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
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* @param lsm6dsl_drdy_pulsed_t: Get the values of drdy_pulsed
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* in reg DRDY_PULSE_CFG_G
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*
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*/
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int32_t lsm6dsl_drdy_mode_get(lsm6dsl_ctx_t *ctx, lsm6dsl_drdy_pulsed_t *val)
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{
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lsm6dsl_drdy_pulse_cfg_g_t reg;
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int32_t mm_error;
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mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_DRDY_PULSE_CFG_G,
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(uint8_t *)®, 1);
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*val = (lsm6dsl_drdy_pulsed_t) reg.drdy_pulsed;
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return mm_error;
|
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}
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|
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/**
|
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* @brief xl_data_rate: [set] Accelerometer data rate selection.
|
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*
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* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
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* @param lsm6dsl_odr_xl_t: change the values of odr_xl in reg CTRL1_XL
|
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*
|
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*/
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int32_t lsm6dsl_xl_data_rate_set(lsm6dsl_ctx_t *ctx, lsm6dsl_odr_xl_t val)
|
||
{
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lsm6dsl_ctrl1_xl_t reg;
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int32_t mm_error;
|
||
|
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mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t *)®, 1);
|
||
reg.odr_xl = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_data_rate: [get] Accelerometer data rate selection.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_odr_xl_t: Get the values of odr_xl in reg CTRL1_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_data_rate_get(lsm6dsl_ctx_t *ctx, lsm6dsl_odr_xl_t *val)
|
||
{
|
||
lsm6dsl_ctrl1_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_odr_xl_t) reg.odr_xl;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_full_scale: [set] Accelerometer full-scale selection.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_fs_xl_t: change the values of fs_xl in reg CTRL1_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_full_scale_set(lsm6dsl_ctx_t *ctx, lsm6dsl_fs_xl_t val)
|
||
{
|
||
lsm6dsl_ctrl1_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t *)®, 1);
|
||
reg.fs_xl = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_full_scale: [get] Accelerometer full-scale selection.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_fs_xl_t: Get the values of fs_xl in reg CTRL1_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_full_scale_get(lsm6dsl_ctx_t *ctx, lsm6dsl_fs_xl_t *val)
|
||
{
|
||
lsm6dsl_ctrl1_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_fs_xl_t) reg.fs_xl;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief gyro_data_rate: [set] Gyroscope data rate selection.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_odr_g_t: change the values of odr_g in reg CTRL2_G
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_gyro_data_rate_set(lsm6dsl_ctx_t *ctx, lsm6dsl_odr_g_t val)
|
||
{
|
||
lsm6dsl_ctrl2_g_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL2_G, (uint8_t *)®, 1);
|
||
reg.odr_g = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL2_G, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief gyro_data_rate: [get] Gyroscope data rate selection.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_odr_g_t: Get the values of odr_g in reg CTRL2_G
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_gyro_data_rate_get(lsm6dsl_ctx_t *ctx, lsm6dsl_odr_g_t *val)
|
||
{
|
||
lsm6dsl_ctrl2_g_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL2_G, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_odr_g_t) reg.odr_g;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief gyro_full_scale: [set] Gyroscope full-scale selection.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_fs_g_t: change the values of fs_g in reg CTRL2_G
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_gyro_full_scale_set(lsm6dsl_ctx_t *ctx, lsm6dsl_fs_g_t val)
|
||
{
|
||
lsm6dsl_ctrl2_g_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL2_G, (uint8_t *)®, 1);
|
||
reg.fs_g = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL2_G, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief gyro_full_scale: [get] Gyroscope full-scale selection.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_fs_g_t: Get the values of fs_g in reg CTRL2_G
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_gyro_full_scale_get(lsm6dsl_ctx_t *ctx, lsm6dsl_fs_g_t *val)
|
||
{
|
||
lsm6dsl_ctrl2_g_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL2_G, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_fs_g_t) reg.fs_g;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief reset: [set] Software reset. This bit is automatically cleared.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of sw_reset in reg CTRL3_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_reset_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_ctrl3_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)®, 1);
|
||
reg.sw_reset = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief reset: [get] Software reset. This bit is automatically cleared.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of sw_reset in reg CTRL3_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_reset_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_ctrl3_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)®, 1);
|
||
*val = reg.sw_reset;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief block_data_update: [set] If enabled registers not updated
|
||
* until MSB and LSB have been read.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of bdu in reg CTRL3_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_block_data_update_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_ctrl3_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)®, 1);
|
||
reg.bdu = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief block_data_update: [get] If enabled registers not updated
|
||
* until MSB and LSB have been read.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of bdu in reg CTRL3_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_block_data_update_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_ctrl3_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)®, 1);
|
||
*val = reg.bdu;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief gyro_lpf1: [set] Enable gyroscope digital LPF1. The bandwidth
|
||
* can be selected through FTYPE
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of lpf1_sel_g in reg CTRL4_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_gyro_lpf1_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_ctrl4_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)®, 1);
|
||
reg.lpf1_sel_g = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief gyro_lpf1: [get] Enable gyroscope digital LPF1.
|
||
* The bandwidth can be selected through FTYPE
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of lpf1_sel_g in reg CTRL4_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_gyro_lpf1_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_ctrl4_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)®, 1);
|
||
*val = reg.lpf1_sel_g;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief device_id: [get] device_id value in DIGIT
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t : union that group together the device_id data
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_device_id(lsm6dsl_ctx_t *ctx, uint8_t *buff)
|
||
{
|
||
return lsm6dsl_read_reg(ctx, LSM6DSL_WHO_AM_I, (uint8_t *) buff,
|
||
sizeof(uint8_t));
|
||
}
|
||
|
||
/**
|
||
* @brief temperature: [get] temperature value in DIGIT
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param axis1byt16_t : union that group together the temperature data
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_temperature_raw(lsm6dsl_ctx_t *ctx, axis1bit16_t *buff)
|
||
{
|
||
return lsm6dsl_read_reg(ctx, LSM6DSL_OUT_TEMP_L, (uint8_t *) buff,
|
||
sizeof(axis1bit16_t));
|
||
}
|
||
|
||
float lsm6dsl_read_temperature(lsm6dsl_ctx_t *ctx)
|
||
{
|
||
axis1bit16_t buff;
|
||
lsm6dsl_read_reg(ctx, LSM6DSL_OUT_TEMP_L, (uint8_t *) &buff, sizeof(axis1bit16_t));
|
||
return (float)(buff.i16bit) / 256.0f + 25;
|
||
|
||
}
|
||
|
||
/**
|
||
* @brief angular_rate: [get] angular_rate value in DIGIT
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param axis3bit16_t : union that group together the angular_rate data
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_angular_rate_raw(lsm6dsl_ctx_t *ctx, axis3bit16_t *buff)
|
||
{
|
||
return lsm6dsl_read_reg(ctx, LSM6DSL_OUTX_L_G, (uint8_t *) buff,
|
||
sizeof(axis3bit16_t));
|
||
}
|
||
|
||
/**
|
||
* @brief acceleration: [get] acceleration value in DIGIT
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param axis3bit16_t : union that group together the acceleration data
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_acceleration_raw(lsm6dsl_ctx_t *ctx, axis3bit16_t *buff)
|
||
{
|
||
return lsm6dsl_read_reg(ctx, LSM6DSL_OUTX_L_XL, (uint8_t *) buff,
|
||
sizeof(axis3bit16_t));
|
||
}
|
||
|
||
void lsm6dsl_read_raw_acc_xyz(lsm6dsl_ctx_t *ctx, void *acc_data)
|
||
{
|
||
unsigned char buf_reg[8];
|
||
imu_axis_data_t *raw_acc_xyz = (imu_axis_data_t *)acc_data;
|
||
lsm6dsl_read_reg(ctx, LSM6DSL_OUTX_L_XL, buf_reg, 6);
|
||
raw_acc_xyz->x = (short)((unsigned short)(buf_reg[1] << 8) | (buf_reg[0]));
|
||
raw_acc_xyz->y = (short)((unsigned short)(buf_reg[3] << 8) | (buf_reg[2]));
|
||
raw_acc_xyz->z = (short)((unsigned short)(buf_reg[5] << 8) | (buf_reg[4]));
|
||
|
||
/* log_info("Qmi8658 acc: %d %d %d\n", raw_acc_xyz->x, raw_acc_xyz->y, raw_acc_xyz->z); */
|
||
}
|
||
void lsm6dsl_read_raw_gyro_xyz(lsm6dsl_ctx_t *ctx, void *gyro_data)
|
||
{
|
||
unsigned char buf_reg[6];
|
||
imu_axis_data_t *raw_gyro_xyz = (imu_axis_data_t *)gyro_data;
|
||
lsm6dsl_read_reg(ctx, LSM6DSL_OUTX_L_G, buf_reg, 6);
|
||
raw_gyro_xyz->x = (short)((unsigned short)(buf_reg[1] << 8) | (buf_reg[0]));
|
||
raw_gyro_xyz->y = (short)((unsigned short)(buf_reg[3] << 8) | (buf_reg[2]));
|
||
raw_gyro_xyz->z = (short)((unsigned short)(buf_reg[5] << 8) | (buf_reg[4]));
|
||
|
||
/* log_info("Qmi8658 gyro: %d %d %d\n", raw_gyro_xyz->x, raw_gyro_xyz->y, raw_gyro_xyz->z); */
|
||
}
|
||
void lsm6dsl_read_raw_acc_gyro_xyz(lsm6dsl_ctx_t *ctx, void *raw_data)
|
||
{
|
||
unsigned char buf_reg[14];
|
||
short temp = 0;
|
||
imu_sensor_data_t *raw_sensor_data = (imu_sensor_data_t *)raw_data;
|
||
/* lsm6dsl_read_reg(ctx, LSM6DSL_OUTX_L_G, (uint8_t*) buf_reg,12); */
|
||
lsm6dsl_read_reg(ctx, LSM6DSL_OUT_TEMP_L, (uint8_t *) buf_reg, 14);
|
||
temp = ((short)buf_reg[1] << 8) | buf_reg[0];
|
||
raw_sensor_data->temp_data = (float)temp / 256.0f + 25;
|
||
raw_sensor_data->gyro.x = (short)((unsigned short)(buf_reg[3] << 8) | (buf_reg[2]));
|
||
raw_sensor_data->gyro.y = (short)((unsigned short)(buf_reg[5] << 8) | (buf_reg[4]));
|
||
raw_sensor_data->gyro.z = (short)((unsigned short)(buf_reg[7] << 8) | (buf_reg[6]));
|
||
|
||
raw_sensor_data->acc.x = (short)((unsigned short)(buf_reg[9] << 8) | (buf_reg[8]));
|
||
raw_sensor_data->acc.y = (short)((unsigned short)(buf_reg[11] << 8) | (buf_reg[10]));
|
||
raw_sensor_data->acc.z = (short)((unsigned short)(buf_reg[13] << 8) | (buf_reg[12]));
|
||
/* log_info("lsm6dsl raw:acc_x:%d acc_y:%d acc_z:%d gyro_x:%d gyro_y:%d gyro_z:%d", raw_sensor_data->acc.x, raw_sensor_data->acc.y, raw_sensor_data->acc.z, raw_sensor_data->gyro.x, raw_sensor_data->gyro.y, raw_sensor_data->gyro.z); */
|
||
/* log_info("lsm6dsl temp:%d.%d\n", (u16)(raw_sensor_data->temp_data), (u16)(((u16)((raw_sensor_data->temp_data)* 100)) % 100)); */
|
||
}
|
||
|
||
/**
|
||
* @brief lsm6dsl_status: [get] read all the device status and
|
||
* source registers
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_multi_status_t: union of refisters
|
||
* from WAKE_UP_SRC to WRIST_TILT_IA
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_status_get(lsm6dsl_ctx_t *ctx, lsm6dsl_multi_status_t *val)
|
||
{
|
||
int32_t mm_error;
|
||
|
||
/* WAKE_UP_SRC + TAP_SRC + D6D_SRC + STATUS_REG */
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_SRC, (uint8_t *)val, 4);
|
||
val += 4;
|
||
/* FUNC_SRC1 + FUNC_SRC2 + WRIST_TILT_IA */
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FUNC_SRC1, (uint8_t *)val, 3);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @}
|
||
*/
|
||
|
||
/**
|
||
* @addtogroup Interrupt_functions
|
||
* @brief This section provide a set of functions used
|
||
* to manage the interrupts of the devices.
|
||
* @{
|
||
*/
|
||
|
||
/**
|
||
* @brief wrist_tilt_on_int2: [set] Wrist tilt interrupt on INT2 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of int2_wrist_tilt
|
||
* in reg DRDY_PULSE_CFG_G
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_wrist_tilt_on_int2_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_drdy_pulse_cfg_g_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_DRDY_PULSE_CFG_G,
|
||
(uint8_t *)®, 1);
|
||
reg.int2_wrist_tilt = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_DRDY_PULSE_CFG_G,
|
||
(uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief wrist_tilt_on_int2: [get] Wrist tilt interrupt on INT2 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of int2_wrist_tilt
|
||
* in reg DRDY_PULSE_CFG_G
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_wrist_tilt_on_int2_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_drdy_pulse_cfg_g_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_DRDY_PULSE_CFG_G,
|
||
(uint8_t *)®, 1);
|
||
*val = reg.int2_wrist_tilt;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_drdy_on_int1: [set] Accelerometer Data Ready on INT1 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of int1_drdy_xl in reg INT1_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_drdy_on_int1_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_int1_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t *)®, 1);
|
||
reg.int1_drdy_xl = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_drdy_on_int1: [get] Accelerometer Data Ready on INT1 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of int1_drdy_xl in reg INT1_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_drdy_on_int1_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_int1_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t *)®, 1);
|
||
*val = reg.int1_drdy_xl;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief gyro_drdy_on_int1: [set] Giroscope Data Ready on INT1 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of int1_drdy_g in reg INT1_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_gyro_drdy_on_int1_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_int1_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t *)®, 1);
|
||
reg.int1_drdy_g = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief gyro_drdy_on_int1: [get] Giroscope Data Ready on INT1 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of int1_drdy_g in reg INT1_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_gyro_drdy_on_int1_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_int1_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t *)®, 1);
|
||
*val = reg.int1_drdy_g;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief boot_on_int1: [set] Boot signal on INT1 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of int1_boot in reg INT1_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_boot_on_int1_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_int1_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t *)®, 1);
|
||
reg.int1_boot = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief boot_on_int1: [get] Boot signal on INT1 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of int1_boot in reg INT1_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_boot_on_int1_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_int1_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t *)®, 1);
|
||
*val = reg.int1_boot;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_threshold_on_int1: [set] FIFO threshold signal on INT1 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of int1_fth in reg INT1_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_threshold_on_int1_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_int1_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t *)®, 1);
|
||
reg.int1_fth = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_threshold_on_int1: [get] FIFO threshold signal on INT1 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of int1_fth in reg INT1_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_threshold_on_int1_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_int1_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t *)®, 1);
|
||
*val = reg.int1_fth;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_overrun_on_int1: [set] FIFO overrun signal on INT1 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of int1_fifo_ovr in reg INT1_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_overrun_on_int1_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_int1_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t *)®, 1);
|
||
reg.int1_fifo_ovr = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_overrun_on_int1: [get] FIFO overrun signal on INT1 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of int1_fifo_ovr in reg INT1_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_overrun_on_int1_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_int1_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t *)®, 1);
|
||
*val = reg.int1_fifo_ovr;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_full_on_int1: [set] FIFO full signal on INT1 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of int1_full_flag in reg INT1_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_full_on_int1_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_int1_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t *)®, 1);
|
||
reg.int1_full_flag = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_full_on_int1: [get] FIFO full signal on INT1 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of int1_full_flag in reg INT1_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_full_on_int1_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_int1_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t *)®, 1);
|
||
*val = reg.int1_full_flag;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief sign_motion_on_int1: [set] Significant motion interrupt
|
||
* enable on INT1 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of int1_sign_mot in reg INT1_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_sign_motion_on_int1_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_int1_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t *)®, 1);
|
||
reg.int1_sign_mot = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief sign_motion_on_int1: [get] Significant motion interrupt
|
||
* enable on INT1 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of int1_sign_mot in reg INT1_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_sign_motion_on_int1_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_int1_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t *)®, 1);
|
||
*val = reg.int1_sign_mot;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief step_detect_on_int1: [set] Pedometer step recognition
|
||
* interrupt enable on INT1 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of int1_step_detector
|
||
* in reg INT1_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_step_detect_on_int1_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_int1_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t *)®, 1);
|
||
reg.int1_step_detector = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief step_detect_on_int1: [get] Pedometer step recognition interrupt
|
||
* enable on INT1 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of int1_step_detector
|
||
* in reg INT1_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_step_detect_on_int1_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_int1_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT1_CTRL, (uint8_t *)®, 1);
|
||
*val = reg.int1_step_detector;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_drdy_on_int2: [set] Accelerometer Data Ready on INT2 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of int2_drdy_xl in reg INT2_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_drdy_on_int2_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_int2_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t *)®, 1);
|
||
reg.int2_drdy_xl = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_drdy_on_int2: [get] Accelerometer Data Ready on INT2 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of int2_drdy_xl in reg INT2_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_drdy_on_int2_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_int2_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t *)®, 1);
|
||
*val = reg.int2_drdy_xl;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief gyro_drdy_on_int2: [set] Giroscope Data Ready on INT2 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of int2_drdy_g in reg INT2_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_gyro_drdy_on_int2_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_int2_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t *)®, 1);
|
||
reg.int2_drdy_g = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief gyro_drdy_on_int2: [get] Giroscope Data Ready on INT2 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of int2_drdy_g in reg INT2_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_gyro_drdy_on_int2_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_int2_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t *)®, 1);
|
||
*val = reg.int2_drdy_g;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief temperature_drdy_on_int2: [set] Temperature Data Ready
|
||
* on INT2 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of int2_drdy_temp in reg INT2_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_temperature_drdy_on_int2_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_int2_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t *)®, 1);
|
||
reg.int2_drdy_temp = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief temperature_drdy_on_int2: [get] Temperature Data Ready
|
||
* on INT2 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of int2_drdy_temp in reg INT2_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_temperature_drdy_on_int2_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_int2_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t *)®, 1);
|
||
*val = reg.int2_drdy_temp;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_threshold_on_int2: [set] FIFO threshold signal on INT2 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of int2_fth in reg INT2_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_threshold_on_int2_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_int2_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t *)®, 1);
|
||
reg.int2_fth = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_threshold_on_int2: [get] FIFO threshold signal on INT2 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of int2_fth in reg INT2_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_threshold_on_int2_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_int2_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t *)®, 1);
|
||
*val = reg.int2_fth;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_overrun_on_int2: [set] FIFO overrun signal on INT2 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of int2_fifo_ovr in reg INT2_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_overrun_on_int2_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_int2_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t *)®, 1);
|
||
reg.int2_fifo_ovr = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_overrun_on_int2: [get] FIFO overrun signal on INT2 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of int2_fifo_ovr in reg INT2_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_overrun_on_int2_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_int2_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t *)®, 1);
|
||
*val = reg.int2_fifo_ovr;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_full_on_int2: [set] FIFO full signal on INT2 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of int2_full_flag in reg INT2_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_full_on_int2_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_int2_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t *)®, 1);
|
||
reg.int2_full_flag = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_full_on_int2: [get] FIFO full signal on INT2 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of int2_full_flag in reg INT2_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_full_on_int2_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_int2_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t *)®, 1);
|
||
*val = reg.int2_full_flag;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief step_overflow_on_int2: [set] Step counter overflow
|
||
* interrupt enable on INT2 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of int2_step_count_ov
|
||
* in reg INT2_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_step_overflow_on_int2_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_int2_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t *)®, 1);
|
||
reg.int2_step_count_ov = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief step_overflow_on_int2: [get] Step counter overflow
|
||
* interrupt enable on INT2 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of int2_step_count_ov in reg INT2_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_step_overflow_on_int2_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_int2_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t *)®, 1);
|
||
*val = reg.int2_step_count_ov;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief step_on_time_interval_on_int2: [set] Pedometer step
|
||
* recognition interrupt on
|
||
* delta time enable on INT2 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of int2_step_delta in reg INT2_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_step_on_time_interval_on_int2_set(lsm6dsl_ctx_t *ctx,
|
||
uint8_t val)
|
||
{
|
||
lsm6dsl_int2_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT2_CTRL,
|
||
(uint8_t *)®, 1);
|
||
reg.int2_step_delta = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_INT2_CTRL,
|
||
(uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief step_on_time_interval_on_int2: [get] Pedometer step recognition
|
||
* interrupt on delta time enable
|
||
* on INT2 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of int2_step_delta in reg INT2_CTRL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_step_on_time_interval_on_int2_get(lsm6dsl_ctx_t *ctx,
|
||
uint8_t *val)
|
||
{
|
||
lsm6dsl_int2_ctrl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT2_CTRL, (uint8_t *)®, 1);
|
||
*val = reg.int2_step_delta;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @}
|
||
*/
|
||
|
||
/** @addtogroup FIFO_functions
|
||
* @brief This section provide a set of functions used
|
||
* to manage the FIFO of the devices.
|
||
* @{
|
||
*/
|
||
|
||
/**
|
||
* @brief fifo_temperature: [set] Enable the temperature data
|
||
* storage in FIFO.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of fifo_temp_en in reg FIFO_CTRL2
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_temperature_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_fifo_ctrl2_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL2, (uint8_t *)®, 1);
|
||
reg.fifo_temp_en = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL2, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_temperature: [get] Enable the temperature
|
||
* data storage in FIFO.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of fifo_temp_en in reg FIFO_CTRL2
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_temperature_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_fifo_ctrl2_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL2, (uint8_t *)®, 1);
|
||
*val = reg.fifo_temp_en;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_write_mode: [set] Enable write in FIFO on XL/Gyro
|
||
* data-ready or at every step detected by
|
||
* step counter
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_timer_pedo_fifo_drdy_t: change the values of
|
||
* timer_pedo_fifo_drdy in
|
||
* reg FIFO_CTRL2
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_write_mode_set(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_timer_pedo_fifo_drdy_t val)
|
||
{
|
||
lsm6dsl_fifo_ctrl2_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL2, (uint8_t *)®, 1);
|
||
reg.timer_pedo_fifo_drdy = val;
|
||
reg.not_used_01 = 0;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL2, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_write_mode: [get] Enable write in FIFO on XL/Gyro
|
||
* data-ready or at every step detected by step counter
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_timer_pedo_fifo_drdy_t: Get the values of
|
||
* timer_pedo_fifo_drdy in
|
||
* reg FIFO_CTRL2
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_write_mode_get(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_timer_pedo_fifo_drdy_t *val)
|
||
{
|
||
lsm6dsl_fifo_ctrl2_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL2, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_timer_pedo_fifo_drdy_t) reg.timer_pedo_fifo_drdy;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_step_timestamp: [set] Enable pedometer step
|
||
* counter and timestamp as 4th FIFO data set.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of timer_pedo_fifo_en
|
||
* in reg FIFO_CTRL2
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_step_timestamp_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_fifo_ctrl2_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL2, (uint8_t *)®, 1);
|
||
reg.timer_pedo_fifo_en = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL2, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_step_timestamp: [get] Enable pedometer step counter
|
||
* and timestamp as 4th FIFO data set.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of timer_pedo_fifo_en in reg FIFO_CTRL2
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_step_timestamp_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_fifo_ctrl2_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL2, (uint8_t *)®, 1);
|
||
*val = reg.timer_pedo_fifo_en;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_decimation: [set] Accelerometer FIFO (second data set)
|
||
* decimation setting.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_dec_fifo_xl_t: change the values of
|
||
* dec_fifo_xl in reg FIFO_CTRL3
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_decimation_set(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_dec_fifo_xl_t val)
|
||
{
|
||
lsm6dsl_fifo_ctrl3_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL3, (uint8_t *)®, 1);
|
||
reg.dec_fifo_xl = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL3, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_decimation: [get] Accelerometer FIFO (second data set)
|
||
* decimation setting.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_dec_fifo_xl_t: Get the values of dec_fifo_xl
|
||
* in reg FIFO_CTRL3
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_decimation_get(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_dec_fifo_xl_t *val)
|
||
{
|
||
lsm6dsl_fifo_ctrl3_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL3, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_dec_fifo_xl_t) reg.dec_fifo_xl;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief gyro_decimation: [set] Gyro FIFO (first data set)
|
||
* decimation setting.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_dec_fifo_gyro_t: change the values of
|
||
* dec_fifo_gyro in reg FIFO_CTRL3
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_gyro_decimation_set(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_dec_fifo_gyro_t val)
|
||
{
|
||
lsm6dsl_fifo_ctrl3_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL3, (uint8_t *)®, 1);
|
||
reg.dec_fifo_gyro = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL3, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief gyro_decimation: [get] Gyro FIFO (first data set)
|
||
* decimation setting.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_dec_fifo_gyro_t: Get the values of dec_fifo_gyro
|
||
* in reg FIFO_CTRL3
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_gyro_decimation_get(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_dec_fifo_gyro_t *val)
|
||
{
|
||
lsm6dsl_fifo_ctrl3_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL3, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_dec_fifo_gyro_t) reg.dec_fifo_gyro;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief dataset3_decimation: [set] Third FIFO data set
|
||
* decimation setting.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_dec_ds3_fifo_t: change the values of dec_ds3_fifo
|
||
* in reg FIFO_CTRL4
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_dataset3_decimation_set(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_dec_ds3_fifo_t val)
|
||
{
|
||
lsm6dsl_fifo_ctrl4_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL4, (uint8_t *)®, 1);
|
||
reg.dec_ds3_fifo = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL4, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief dataset3_decimation: [get] Third FIFO data set
|
||
* decimation setting.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_dec_ds3_fifo_t: Get the values of dec_ds3_fifo
|
||
* in reg FIFO_CTRL4
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_dataset3_decimation_get(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_dec_ds3_fifo_t *val)
|
||
{
|
||
lsm6dsl_fifo_ctrl4_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL4, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_dec_ds3_fifo_t) reg.dec_ds3_fifo;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief dataset4_decimation: [set] Fourth FIFO data set
|
||
* decimation setting.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_dec_ds4_fifo_t: change the values of dec_ds4_fifo
|
||
* in reg FIFO_CTRL4
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_dataset4_decimation_set(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_dec_ds4_fifo_t val)
|
||
{
|
||
lsm6dsl_fifo_ctrl4_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL4, (uint8_t *)®, 1);
|
||
reg.dec_ds4_fifo = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL4, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief dataset4_decimation: [get] Fourth FIFO data set decimation
|
||
* setting.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_dec_ds4_fifo_t: Get the values of dec_ds4_fifo
|
||
* in reg FIFO_CTRL4
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_dataset4_decimation_get(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_dec_ds4_fifo_t *val)
|
||
{
|
||
lsm6dsl_fifo_ctrl4_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL4, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_dec_ds4_fifo_t) reg.dec_ds4_fifo;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_xl_gy_8bit_data: [set] MSByte only memorization in FIFO
|
||
* for XL and Gyro in FIFO.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of only_high_data in reg FIFO_CTRL4
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_xl_gy_8bit_data_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_fifo_ctrl4_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL4, (uint8_t *)®, 1);
|
||
reg.only_high_data = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL4, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_xl_gy_8bit_data: [get] MSByte only memorization
|
||
* in FIFO for XL and Gyro in FIFO.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of only_high_data in reg FIFO_CTRL4
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_xl_gy_8bit_data_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_fifo_ctrl4_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL4, (uint8_t *)®, 1);
|
||
*val = reg.only_high_data;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_threshold: [set] Enable FIFO threshold level use.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of stop_on_fth in reg FIFO_CTRL4
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_stop_on_thr_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_fifo_ctrl4_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL4, (uint8_t *)®, 1);
|
||
reg.stop_on_fth = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL4, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_threshold: [get] Enable FIFO threshold level use.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of stop_on_fth in reg FIFO_CTRL4
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_stop_on_thr_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_fifo_ctrl4_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL4, (uint8_t *)®, 1);
|
||
*val = reg.stop_on_fth;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_mode: [set] Define FIFO working mode.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_fifo_mode_t: change the values of fifo_mode
|
||
* in reg FIFO_CTRL5
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_mode_set(lsm6dsl_ctx_t *ctx, lsm6dsl_fifo_mode_t val)
|
||
{
|
||
lsm6dsl_fifo_ctrl5_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL5, (uint8_t *)®, 1);
|
||
reg.fifo_mode = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL5, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_mode: [get] Define FIFO working mode.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_fifo_mode_t: Get the values of fifo_mode in reg FIFO_CTRL5
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_mode_get(lsm6dsl_ctx_t *ctx, lsm6dsl_fifo_mode_t *val)
|
||
{
|
||
lsm6dsl_fifo_ctrl5_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL5, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_fifo_mode_t) reg.fifo_mode;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_data_rate: [set] Define FIFO working data rate.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_odr_fifo_t: change the values of odr_fifo
|
||
* in reg FIFO_CTRL5
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_data_rate_set(lsm6dsl_ctx_t *ctx, lsm6dsl_odr_fifo_t val)
|
||
{
|
||
lsm6dsl_fifo_ctrl5_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL5, (uint8_t *)®, 1);
|
||
reg.odr_fifo = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL5, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_data_rate: [get] Define FIFO working data rate.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_odr_fifo_t: Get the values of odr_fifo in reg FIFO_CTRL5
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_data_rate_get(lsm6dsl_ctx_t *ctx, lsm6dsl_odr_fifo_t *val)
|
||
{
|
||
lsm6dsl_fifo_ctrl5_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL5, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_odr_fifo_t) reg.odr_fifo;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_data_valid: [set] Selection of FIFO data-valid signal.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_data_valid_sel_fifo_t: change the values of
|
||
* data_valid_sel_fifo in
|
||
* reg MASTER_CONFIG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_data_valid_set(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_data_valid_sel_fifo_t val)
|
||
{
|
||
lsm6dsl_master_config_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG, (uint8_t *)®, 1);
|
||
reg.data_valid_sel_fifo = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_MASTER_CONFIG, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_data_valid: [get] Selection of FIFO data-valid signal.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_data_valid_sel_fifo_t: Get the values of
|
||
* data_valid_sel_fifo in
|
||
* reg MASTER_CONFIG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_data_valid_get(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_data_valid_sel_fifo_t *val)
|
||
{
|
||
lsm6dsl_master_config_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_data_valid_sel_fifo_t) reg.data_valid_sel_fifo;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_empty: [get] FIFOemptybit.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of fifo_empty in reg FIFO_STATUS2
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_empty_get(lsm6dsl_ctx_t *ctx)
|
||
{
|
||
lsm6dsl_fifo_status2_t reg;
|
||
|
||
lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_STATUS2, (uint8_t *)®, 1);
|
||
|
||
return reg.fifo_empty;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_full_next_cycle: [get] FSmart FIFO full status.
|
||
* FIFO will be full at the next ODR.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of fifo_full_smart in reg FIFO_STATUS2
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_full_next_cycle_get(lsm6dsl_ctx_t *ctx)
|
||
{
|
||
lsm6dsl_fifo_status2_t reg;
|
||
|
||
lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_STATUS2, (uint8_t *)®, 1);
|
||
|
||
return reg.fifo_full_smart;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_over_run: [get] FIFO overrun status.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of over_run in reg FIFO_STATUS2
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_over_run_get(lsm6dsl_ctx_t *ctx)
|
||
{
|
||
lsm6dsl_fifo_status2_t reg;
|
||
|
||
lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_STATUS2, (uint8_t *)®, 1);
|
||
|
||
return reg.over_run;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_watermark_level: [get] FIFO watermark status. FIFO
|
||
* filling is equal to or higher than
|
||
* the watermark level.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of waterm in reg FIFO_STATUS2
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_watermark_level_get(lsm6dsl_ctx_t *ctx)
|
||
{
|
||
lsm6dsl_fifo_status2_t reg;
|
||
|
||
lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_STATUS2, (uint8_t *)®, 1);
|
||
|
||
return reg.waterm;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_threshold: [set] Watermark flag rises when the number
|
||
* of bytes written to FIFO after the next write
|
||
* is greater than or equal to the threshold level.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint16_t: change the values of fth
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_threshold_set(lsm6dsl_ctx_t *ctx, uint16_t val)
|
||
{
|
||
int32_t mm_error;
|
||
uint16_t reg;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL1, (uint8_t *) ®,
|
||
sizeof(uint16_t));
|
||
reg &= 0xF800;
|
||
reg |= (val & 0x07FF);
|
||
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_FIFO_CTRL1, (uint8_t *) ®,
|
||
sizeof(uint16_t));
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_threshold: [get] Watermark flag rises when the number
|
||
* of bytes written to FIFO after the next write
|
||
* is greater than or equal to the threshold level.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint16_t: get the values of fth
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_threshold_get(lsm6dsl_ctx_t *ctx, uint16_t *val)
|
||
{
|
||
int32_t mm_error;
|
||
uint16_t reg;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_CTRL1, (uint8_t *) ®,
|
||
sizeof(uint16_t));
|
||
reg &= 0x07FF;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_unread_words: [get] Number of unread words (16-bit axes)
|
||
* stored in FIFO.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint16_t: get the values of diff_fifo
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_unread_words_get(lsm6dsl_ctx_t *ctx, uint16_t *val)
|
||
{
|
||
int32_t mm_error;
|
||
uint16_t reg;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_STATUS1, (uint8_t *) ®,
|
||
sizeof(uint16_t));
|
||
reg &= 0x07FF;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_recursive_pattern: [get] Word of recursive pattern
|
||
* read at the next reading.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint16_t: Word of recursive pattern read at the next reading.
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_recursive_pattern_get(lsm6dsl_ctx_t *ctx, uint16_t *val)
|
||
{
|
||
int32_t mm_error;
|
||
uint16_t reg;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_STATUS3, (uint8_t *) ®,
|
||
sizeof(uint16_t));
|
||
reg &= 0x03FF;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief fifo_output: [get] fifo_output value in DIGIT
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param axis1bit16_t : union that group together the fifo_output data
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_fifo_output_raw(lsm6dsl_ctx_t *ctx, axis1bit16_t *buff)
|
||
{
|
||
return lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_DATA_OUT_L, (uint8_t *) buff,
|
||
sizeof(axis1bit16_t));
|
||
}
|
||
|
||
lsm6dsl_fifo_mode_t fifo_mode_old = STOP_WHEN_FULL;
|
||
void lsm6dsl_fifo_mode_start()
|
||
{
|
||
lsm6dsl_fifo_mode_set(&lsm6dsl_ctx, BYPASS);
|
||
lsm6dsl_fifo_mode_set(&lsm6dsl_ctx, STOP_WHEN_FULL);
|
||
}
|
||
//data:gyro(6bytes)+acc(6bytes)+step(6bytes)+temperature(6bytes头尾补0)
|
||
int32_t lsm6dsl_read_fifo(lsm6dsl_ctx_t *ctx, u8 *buff)
|
||
{
|
||
uint16_t reg = 0;
|
||
uint16_t ret = 0;
|
||
lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_STATUS1, (uint8_t *)®, 2);
|
||
/* log_info("fifo status[15~12]:0x%x!",reg); */
|
||
if (reg & 0x1000) {
|
||
/* log_info("fifo empty!"); */
|
||
putchar('.');
|
||
/* } else if (reg & 0xe000) { */
|
||
} else {
|
||
/* } else if (reg & 0x8000) { */
|
||
reg &= 0x07FF;
|
||
/* log_info("fifo level:%d!",reg); */
|
||
if (reg > 0) {
|
||
#if 0
|
||
for (i = 1; i < reg; i++) {
|
||
}
|
||
#else
|
||
ret = lsm6dsl_read_reg(ctx, LSM6DSL_FIFO_DATA_OUT_L, (uint8_t *) buff, reg * 2);
|
||
if (fifo_mode_old == STOP_WHEN_FULL) {
|
||
lsm6dsl_fifo_mode_start();
|
||
}
|
||
return ret;
|
||
#endif
|
||
}
|
||
|
||
}
|
||
return 0;
|
||
}
|
||
|
||
/**
|
||
* @}
|
||
*/
|
||
|
||
/**
|
||
* @addtogroup advanced_function_functions
|
||
* @brief This section provide a set of functions used
|
||
* to manage the advanced feature of the device.
|
||
* @{
|
||
*/
|
||
|
||
/**
|
||
* @brief xl_analog_bandwidth: [set] Accelerometer analog chain bandwidth
|
||
* selection (only for accelerometer
|
||
* ODR ≥ 1.67 kHz).
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_bw0_xl_t: change the values of bw0_xl in reg CTRL1_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_analog_bandwidth_set(lsm6dsl_ctx_t *ctx, lsm6dsl_bw0_xl_t val)
|
||
{
|
||
lsm6dsl_ctrl1_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t *)®, 1);
|
||
reg.bw0_xl = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_analog_bandwidth: [get] Accelerometer analog chain
|
||
* bandwidth selection (only for accelerometer
|
||
* ODR ≥ 1.67 kHz).
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_bw0_xl_t: Get the values of bw0_xl in reg CTRL1_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_analog_bandwidth_get(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_bw0_xl_t *val)
|
||
{
|
||
lsm6dsl_ctrl1_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_bw0_xl_t) reg.bw0_xl;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_lpf1_bandwidth: [set] Accelerometer digital LPF (LPF1)
|
||
* bandwidth selection.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_lpf1_bw_sel_t: change the values of lpf1_bw_sel
|
||
* in reg CTRL1_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_lpf1_bandwidth_set(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_lpf1_bw_sel_t val)
|
||
{
|
||
lsm6dsl_ctrl1_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t *)®, 1);
|
||
reg.lpf1_bw_sel = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_lpf1_bandwidth: [get] Accelerometer digital LPF (LPF1)
|
||
* bandwidth selection.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_lpf1_bw_sel_t: Get the values of lpf1_bw_sel
|
||
* in reg CTRL1_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_lpf1_bandwidth_get(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_lpf1_bw_sel_t *val)
|
||
{
|
||
lsm6dsl_ctrl1_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL1_XL, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_lpf1_bw_sel_t) reg.lpf1_bw_sel;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief data_format: [set] Big/Little Endian Data selection.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_ble_t: change the values of ble in reg CTRL3_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_data_format_set(lsm6dsl_ctx_t *ctx, lsm6dsl_ble_t val)
|
||
{
|
||
lsm6dsl_ctrl3_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)®, 1);
|
||
reg.ble = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief data_format: [get] Big/Little Endian Data selection.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_ble_t: Get the values of ble in reg CTRL3_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_data_format_get(lsm6dsl_ctx_t *ctx, lsm6dsl_ble_t *val)
|
||
{
|
||
lsm6dsl_ctrl3_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_ble_t) reg.ble;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/** default: 1:auto_increment
|
||
* @brief auto_increment: [set] Register address automatically
|
||
* incremented during a multiple byte access with
|
||
* a serial interface (I2C or SPI).
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of if_inc in reg CTRL3_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_auto_increment_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_ctrl3_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)®, 1);
|
||
reg.if_inc = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief auto_increment: [get] Register address automatically
|
||
* incremented during a multiple byte access with
|
||
* a serial interface (I2C or SPI).
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of if_inc in reg CTRL3_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_auto_increment_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_ctrl3_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)®, 1);
|
||
*val = reg.if_inc;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/** default: 0:4wire
|
||
* @brief spi_mode: [set] SPI Serial Interface Mode selection.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_sim_t: change the values of sim in reg CTRL3_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_spi_mode_set(lsm6dsl_ctx_t *ctx, lsm6dsl_sim_t val)
|
||
{
|
||
lsm6dsl_ctrl3_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)®, 1);
|
||
reg.sim = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief spi_mode: [get] SPI Serial Interface Mode selection.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_sim_t: Get the values of sim in reg CTRL3_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_spi_mode_get(lsm6dsl_ctx_t *ctx, lsm6dsl_sim_t *val)
|
||
{
|
||
lsm6dsl_ctrl3_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_sim_t) reg.sim;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief pads_mode: [set] Push-pull/open-drain selection on
|
||
* INT1 and INT2 pads.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_pp_od_t: change the values of pp_od in reg CTRL3_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_pads_mode_set(lsm6dsl_ctx_t *ctx, lsm6dsl_pp_od_t val)
|
||
{
|
||
lsm6dsl_ctrl3_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)®, 1);
|
||
reg.pp_od = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief pads_mode: [get] Push-pull/open-drain selection
|
||
* on INT1 and INT2 pads.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_pp_od_t: Get the values of pp_od in reg CTRL3_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_pads_mode_get(lsm6dsl_ctx_t *ctx, lsm6dsl_pp_od_t *val)
|
||
{
|
||
lsm6dsl_ctrl3_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_pp_od_t) reg.pp_od;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief pads_polatity: [set] Interrupt activation level.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_h_lactive_t: change the values of h_lactive
|
||
* in reg CTRL3_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_pads_polatity_set(lsm6dsl_ctx_t *ctx, lsm6dsl_h_lactive_t val)
|
||
{
|
||
lsm6dsl_ctrl3_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)®, 1);
|
||
reg.h_lactive = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief pads_polatity: [get] Interrupt activation level.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_h_lactive_t: Get the values of h_lactive in reg CTRL3_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_pads_polatity_get(lsm6dsl_ctx_t *ctx, lsm6dsl_h_lactive_t *val)
|
||
{
|
||
lsm6dsl_ctrl3_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL3_C, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_h_lactive_t) reg.h_lactive;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief i2c_interface: [set] Enable / Disable I2C interface.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of i2c_disable in reg CTRL4_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_i2c_interface_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_ctrl4_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)®, 1);
|
||
reg.i2c_disable = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief i2c_interface: [get] Enable / Disable I2C interface.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of i2c_disable in reg CTRL4_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_i2c_interface_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_ctrl4_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)®, 1);
|
||
*val = reg.i2c_disable;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief mask_drdy_on_settling_data: [set] Acts only on the
|
||
* accelerometer LPF1 and the gyroscope
|
||
* LPF2 digital filters settling time.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of drdy_mask in reg CTRL4_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_mask_drdy_on_settling_data_set(lsm6dsl_ctx_t *ctx,
|
||
uint8_t val)
|
||
{
|
||
lsm6dsl_ctrl4_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)®, 1);
|
||
reg.drdy_mask = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief mask_drdy_on_settling_data: [get] Acts only on the accelerometer
|
||
* LPF1 and the gyroscope LPF2 digital
|
||
* filters settling time.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of drdy_mask in reg CTRL4_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_mask_drdy_on_settling_data_get(lsm6dsl_ctx_t *ctx,
|
||
uint8_t *val)
|
||
{
|
||
lsm6dsl_ctrl4_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)®, 1);
|
||
*val = reg.drdy_mask;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief all_on_int1_pad: [set] All interrupt signals available
|
||
* on INT1 pad enable.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of int2_on_int1 in reg CTRL4_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_all_on_int1_pad_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_ctrl4_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)®, 1);
|
||
reg.int2_on_int1 = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief all_on_int1_pad: [get] All interrupt signals available
|
||
* on INT1 pad enable.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of int2_on_int1 in reg CTRL4_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_all_on_int1_pad_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_ctrl4_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)®, 1);
|
||
*val = reg.int2_on_int1;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief gyro_sleep_mode: [set] Gyroscope sleep mode enable.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of sleep in reg CTRL4_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_gyro_sleep_mode_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_ctrl4_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)®, 1);
|
||
reg.sleep = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief gyro_sleep_mode: [get] Gyroscope sleep mode enable.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of sleep in reg CTRL4_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_gyro_sleep_mode_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_ctrl4_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)®, 1);
|
||
*val = reg.sleep;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief den_func_on_xl: [set] Extend DEN functionality to
|
||
* accelerometer sensor.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of den_xl_en in reg CTRL4_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_den_func_on_xl_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_ctrl4_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)®, 1);
|
||
reg.den_xl_en = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief den_func_on_xl: [get] Extend DEN functionality
|
||
* to accelerometer sensor.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of den_xl_en in reg CTRL4_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_den_func_on_xl_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_ctrl4_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL4_C, (uint8_t *)®, 1);
|
||
*val = reg.den_xl_en;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_self_test: [set] Linear acceleration sensor self-test.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_st_xl_t: change the values of st_xl in reg CTRL5_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_self_test_set(lsm6dsl_ctx_t *ctx, lsm6dsl_st_xl_t val)
|
||
{
|
||
lsm6dsl_ctrl5_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t *)®, 1);
|
||
reg.st_xl = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_self_test: [get] Linear acceleration sensor self-test.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_st_xl_t: Get the values of st_xl in reg CTRL5_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_self_test_get(lsm6dsl_ctx_t *ctx, lsm6dsl_st_xl_t *val)
|
||
{
|
||
lsm6dsl_ctrl5_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_st_xl_t) reg.st_xl;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief gyro_self_test: [set] Linear gyro sensor self-test.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_st_g_t: change the values of st_g in reg CTRL5_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_gyro_self_test_set(lsm6dsl_ctx_t *ctx, lsm6dsl_st_g_t val)
|
||
{
|
||
lsm6dsl_ctrl5_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t *)®, 1);
|
||
reg.st_g = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief gyro_self_test: [get] Linear gyro sensor self-test.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_st_g_t: Get the values of st_g in reg CTRL5_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_gyro_self_test_get(lsm6dsl_ctx_t *ctx, lsm6dsl_st_g_t *val)
|
||
{
|
||
lsm6dsl_ctrl5_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_st_g_t) reg.st_g;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief den_func_polarity: [set] DEN active level configuration.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_den_lh_t: change the values of den_lh in reg CTRL5_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_den_func_polarity_set(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_den_lh_t val)
|
||
{
|
||
lsm6dsl_ctrl5_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t *)®, 1);
|
||
reg.den_lh = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief den_func_polarity: [get] DEN active level configuration.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_den_lh_t: Get the values of den_lh in reg CTRL5_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_den_func_polarity_get(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_den_lh_t *val)
|
||
{
|
||
lsm6dsl_ctrl5_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_den_lh_t) reg.den_lh;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief rounding_mode: [set] Circular burst-mode (rounding) read
|
||
* from the output registers.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_rounding_t: change the values of rounding in reg CTRL5_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_rounding_mode_set(lsm6dsl_ctx_t *ctx, lsm6dsl_rounding_t val)
|
||
{
|
||
lsm6dsl_ctrl5_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t *)®, 1);
|
||
reg.rounding = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief rounding_mode: [get] Circular burst-mode (rounding) read
|
||
* from the output registers.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_rounding_t: Get the values of rounding in reg CTRL5_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_rounding_mode_get(lsm6dsl_ctx_t *ctx, lsm6dsl_rounding_t *val)
|
||
{
|
||
lsm6dsl_ctrl5_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL5_C, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_rounding_t) reg.rounding;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief gyro_lpf1_bandwidth: [set] Gyroscope's low-pass filter
|
||
* (LPF1) bandwidth selection.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_ftype_t: change the values of ftype in reg CTRL6_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_gyro_lpf1_bandwidth_set(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_ftype_t val)
|
||
{
|
||
lsm6dsl_ctrl6_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t *)®, 1);
|
||
reg.ftype = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief gyro_lpf1_bandwidth: [get] Gyroscope's low-pass filter
|
||
* (LPF1) bandwidth selection.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_ftype_t: Get the values of ftype in reg CTRL6_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_gyro_lpf1_bandwidth_get(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_ftype_t *val)
|
||
{
|
||
lsm6dsl_ctrl6_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_ftype_t) reg.ftype;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_offset_weight: [set] Weight of XL user offset bits of
|
||
* registers X_OFS_USR (73h), Y_OFS_USR (74h),
|
||
* Z_OFS_USR (75h)
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_usr_off_w_t: change the values of usr_off_w in reg CTRL6_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_offset_weight_set(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_usr_off_w_t val)
|
||
{
|
||
lsm6dsl_ctrl6_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t *)®, 1);
|
||
reg.usr_off_w = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_offset_weight: [get] Weight of XL user offset bits of
|
||
* registers X_OFS_USR (73h), Y_OFS_USR (74h),
|
||
* Z_OFS_USR (75h)
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_usr_off_w_t: Get the values of usr_off_w in reg CTRL6_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_offset_weight_get(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_usr_off_w_t *val)
|
||
{
|
||
lsm6dsl_ctrl6_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_usr_off_w_t) reg.usr_off_w;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_high_performance: [set] High-performance operating
|
||
* mode disable for accelerometer.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_xl_hm_mode_t: change the values of xl_hm_mode
|
||
* in reg CTRL6_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_high_performance_set(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_xl_hm_mode_t val)
|
||
{
|
||
lsm6dsl_ctrl6_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t *)®, 1);
|
||
reg.xl_hm_mode = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_high_performance: [get] High-performance operating mode
|
||
* disable for accelerometer.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_xl_hm_mode_t: Get the values of xl_hm_mode in reg CTRL6_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_high_performance_get(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_xl_hm_mode_t *val)
|
||
{
|
||
lsm6dsl_ctrl6_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_xl_hm_mode_t) reg.xl_hm_mode;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief den_func_mode: [set] DEN functionality trigger mode selection.
|
||
* (TRIG_EN & LVL_EN & LVL2_EN)
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_den_mode_t: change the values of den_mode in reg CTRL6_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_den_func_mode_set(lsm6dsl_ctx_t *ctx, lsm6dsl_den_mode_t val)
|
||
{
|
||
lsm6dsl_ctrl6_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t *)®, 1);
|
||
reg.den_mode = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief den_func_mode: [get] DEN functionality trigger mode selection.
|
||
* (TRIG_EN & LVL_EN & LVL2_EN)
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_den_mode_t: Get the values of den_mode in reg CTRL6_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_den_func_mode_get(lsm6dsl_ctx_t *ctx, lsm6dsl_den_mode_t *val)
|
||
{
|
||
lsm6dsl_ctrl6_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL6_C, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_den_mode_t) reg.den_mode;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief rounding_on_status: [set] Source register rounding function
|
||
* on WAKE_UP_SRC (1Bh), TAP_SRC (1Ch),
|
||
* D6D_SRC (1Dh), STATUS_REG (1Eh)
|
||
* and FUNC_SRC (53h).
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_den_mode_t: change the values of rounding_status
|
||
* in reg CTRL7_G
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_rounding_on_status_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_ctrl7_g_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t *)®, 1);
|
||
reg.rounding_status = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief rounding_on_status: [get] Source register rounding function
|
||
* on WAKE_UP_SRC (1Bh), TAP_SRC (1Ch),
|
||
* D6D_SRC (1Dh), STATUS_REG (1Eh)
|
||
* and FUNC_SRC (53h).
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of rounding_status in reg CTRL7_G
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_rounding_on_status_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_ctrl7_g_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t *)®, 1);
|
||
*val = reg.rounding_status;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief gyro_hp_cutoff: [set] Gyroscope digital HP filter
|
||
* cutoff selection.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_hpm_g_t: change the values of hpm_g in reg CTRL7_G
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_gyro_hp_cutoff_set(lsm6dsl_ctx_t *ctx, lsm6dsl_hpm_g_t val)
|
||
{
|
||
lsm6dsl_ctrl7_g_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t *)®, 1);
|
||
reg.hpm_g = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief gyro_hp_cutoff: [get] Gyroscope digital HP filter
|
||
* cutoff selection.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_hpm_g_t: Get the values of hpm_g in reg CTRL7_G
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_gyro_hp_cutoff_get(lsm6dsl_ctx_t *ctx, lsm6dsl_hpm_g_t *val)
|
||
{
|
||
lsm6dsl_ctrl7_g_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_hpm_g_t) reg.hpm_g;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief gyro_hp_filter: [set] Gyroscope digital high-pass filter enable.
|
||
* The filter is enabled only if the gyro
|
||
* is in HP mode.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of hp_en_g in reg CTRL7_G
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_gyro_hp_filter_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_ctrl7_g_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t *)®, 1);
|
||
reg.hp_en_g = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief gyro_hp_filter: [get] Gyroscope digital high-pass filter
|
||
* enable. The filter is enabled only if the
|
||
* gyro is in HP mode.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of hp_en_g in reg CTRL7_G
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_gyro_hp_filter_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_ctrl7_g_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t *)®, 1);
|
||
*val = reg.hp_en_g;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief gyro_high_performance: [set] High-performance operating
|
||
* mode disable for gyroscope.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_g_hm_mode_t: change the values of g_hm_mode
|
||
* in reg CTRL7_G
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_gyro_high_performance_set(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_g_hm_mode_t val)
|
||
{
|
||
lsm6dsl_ctrl7_g_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t *)®, 1);
|
||
reg.g_hm_mode = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief gyro_high_performance: [get] High-performance operating
|
||
* mode disable for gyroscope.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_g_hm_mode_t: Get the values of g_hm_mode in reg CTRL7_G
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_gyro_high_performance_get(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_g_hm_mode_t *val)
|
||
{
|
||
lsm6dsl_ctrl7_g_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL7_G, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_g_hm_mode_t) reg.g_hm_mode;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief data_on_6d: [set] Select data for 6d function.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_low_pass_on_6d_t: change the values of low_pass_on_6d
|
||
* in reg CTRL8_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_data_on_6d_set(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_low_pass_on_6d_t val)
|
||
{
|
||
lsm6dsl_ctrl8_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)®, 1);
|
||
reg.low_pass_on_6d = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief data_on_6d: [get] Select data for 6d function.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_low_pass_on_6d_t: Get the values of low_pass_on_6d
|
||
* in reg CTRL8_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_data_on_6d_get(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_low_pass_on_6d_t *val)
|
||
{
|
||
lsm6dsl_ctrl8_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_low_pass_on_6d_t) reg.low_pass_on_6d;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_out_data: [set] Accelerometer slope filter / high-pass
|
||
* filter selection on outputs.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_hp_slope_xl_en_t: change the values of
|
||
* hp_slope_xl_en in reg CTRL8_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_out_data_set(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_hp_slope_xl_en_t val)
|
||
{
|
||
lsm6dsl_ctrl8_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)®, 1);
|
||
reg.hp_slope_xl_en = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_out_data: [get] Accelerometer slope filter / high-pass
|
||
* filter selection on outputs.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_hp_slope_xl_en_t: Get the values of hp_slope_xl_en
|
||
* in reg CTRL8_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_out_data_get(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_hp_slope_xl_en_t *val)
|
||
{
|
||
lsm6dsl_ctrl8_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_hp_slope_xl_en_t) reg.hp_slope_xl_en;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_composite_filter_input: [set] Accelerometer composite
|
||
* filter input selection.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_input_composite_t: change the values of input_composite
|
||
* in reg CTRL8_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_composite_filter_input_set(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_input_composite_t val)
|
||
{
|
||
lsm6dsl_ctrl8_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)®, 1);
|
||
reg.input_composite = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_composite_filter_input: [get] Accelerometer composite
|
||
* filter input selection.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_input_composite_t: Get the values of input_composite
|
||
* in reg CTRL8_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_composite_filter_input_get(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_input_composite_t *val)
|
||
{
|
||
lsm6dsl_ctrl8_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_input_composite_t) reg.input_composite;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_hp_ref_mode: [set] Enable accelerometer HP filter
|
||
* reference mode.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of hp_ref_mode in reg CTRL8_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_hp_ref_mode_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_ctrl8_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)®, 1);
|
||
reg.hp_ref_mode = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_hp_ref_mode: [get] Enable accelerometer HP filter
|
||
* reference mode.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of hp_ref_mode in reg CTRL8_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_hp_ref_mode_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_ctrl8_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)®, 1);
|
||
*val = reg.hp_ref_mode;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_cutoff: [set] Accelerometer LPF2 and high-pass filter
|
||
* configuration and cutoff setting.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_hpcf_xl_t: change the values of hpcf_xl in reg CTRL8_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_cutoff_set(lsm6dsl_ctx_t *ctx, lsm6dsl_hpcf_xl_t val)
|
||
{
|
||
lsm6dsl_ctrl8_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)®, 1);
|
||
reg.hpcf_xl = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_cutoff: [get] Accelerometer LPF2 and high-pass filter
|
||
* configuration and cutoff setting.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_hpcf_xl_t: Get the values of hpcf_xl in reg CTRL8_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_cutoff_get(lsm6dsl_ctx_t *ctx, lsm6dsl_hpcf_xl_t *val)
|
||
{
|
||
lsm6dsl_ctrl8_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_hpcf_xl_t) reg.hpcf_xl;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_lpf2: [set] Accelerometer low-pass filter LPF2 selection.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of lpf2_xl_en in reg CTRL8_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_lpf2_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_ctrl8_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)®, 1);
|
||
reg.lpf2_xl_en = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_lpf2: [get] Accelerometer low-pass filter LPF2 selection.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of lpf2_xl_en in reg CTRL8_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_lpf2_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_ctrl8_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL8_XL, (uint8_t *)®, 1);
|
||
*val = reg.lpf2_xl_en;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief soft_iron_correction: [set] Accelerometer composite
|
||
* filter input selection.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of soft_en in reg CTRL9_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_soft_iron_correction_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_ctrl9_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)®, 1);
|
||
reg.soft_en = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief soft_iron_correction: [get] Accelerometer composite
|
||
* filter input selection.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of soft_en in reg CTRL9_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_soft_iron_correction_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_ctrl9_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)®, 1);
|
||
*val = reg.soft_en;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief den_stamping_selection: [set] DEN stamping sensor selection.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_den_xl_g_t: change the values of den_xl_g in reg CTRL9_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_den_stamping_selection_set(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_den_xl_g_t val)
|
||
{
|
||
lsm6dsl_ctrl9_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)®, 1);
|
||
reg.den_xl_g = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief den_stamping_selection: [get] DEN stamping sensor selection.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_den_xl_g_t: Get the values of den_xl_g in reg CTRL9_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_den_stamping_selection_get(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_den_xl_g_t *val)
|
||
{
|
||
lsm6dsl_ctrl9_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_den_xl_g_t) reg.den_xl_g;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief den_store_on_x_axis: [set] DEN value stored in LSB of X-axis.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of den_x in reg CTRL9_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_den_store_on_x_axis_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_ctrl9_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)®, 1);
|
||
reg.den_x = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief den_store_on_x_axis: [get] DEN value stored in LSB of X-axis.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of den_x in reg CTRL9_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_den_store_on_x_axis_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_ctrl9_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)®, 1);
|
||
*val = reg.den_x;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief den_store_on_y_axis: [set] DEN value stored in LSB of Y-axis.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of den_y in reg CTRL9_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_den_store_on_y_axis_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_ctrl9_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)®, 1);
|
||
reg.den_y = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief den_store_on_y_axis: [get] DEN value stored in LSB of Y-axis.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of den_y in reg CTRL9_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_den_store_on_y_axis_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_ctrl9_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)®, 1);
|
||
*val = reg.den_y;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief den_store_on_z_axis: [set] DEN value stored in LSB of Z-axis.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of den_z in reg CTRL9_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_den_store_on_z_axis_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_ctrl9_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)®, 1);
|
||
reg.den_z = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief den_store_on_z_axis: [get] DEN value stored in LSB of Z-axis.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of den_z in reg CTRL9_XL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_den_store_on_z_axis_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_ctrl9_xl_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL9_XL, (uint8_t *)®, 1);
|
||
*val = reg.den_z;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief significant_motion: [set] Enable significant motion detection
|
||
* function.This is effective if the FUNC_EN
|
||
* bit is set to '1'.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of sign_motion_en in reg CTRL10_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_significant_motion_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_ctrl10_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)®, 1);
|
||
reg.sign_motion_en = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief significant_motion: [get] Enable significant motion detection
|
||
* function.This is effective if the FUNC_EN bit
|
||
* is set to '1'.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of sign_motion_en in reg CTRL10_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_significant_motion_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_ctrl10_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)®, 1);
|
||
*val = reg.sign_motion_en;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief rst_step_counter: [set] Reset pedometer step counter.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of pedo_rst_step in
|
||
* reg CTRL10_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_rst_step_counter_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_ctrl10_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)®, 1);
|
||
reg.pedo_rst_step = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief rst_step_counter: [get] Reset pedometer step counter.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of pedo_rst_step in reg CTRL10_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_rst_step_counter_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_ctrl10_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)®, 1);
|
||
*val = reg.pedo_rst_step;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief embedded_functions: [set] Enable embedded functionalities
|
||
* (pedometer, tilt, significant motion
|
||
* detection, sensor hub and ironing).
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of func_en in reg CTRL10_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_embedded_functions_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_ctrl10_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)®, 1);
|
||
reg.func_en = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief embedded_functions: [get] Enable embedded functionalities
|
||
* (pedometer, tilt, significant motion
|
||
* detection, sensor hub and ironing).
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of func_en in reg CTRL10_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_embedded_functions_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_ctrl10_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)®, 1);
|
||
*val = reg.func_en;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief tilt_calculation: [set] Enable tilt calculation.This is
|
||
* effective if the FUNC_EN bit is set to '1'.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of tilt_en in reg CTRL10_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_tilt_calculation_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_ctrl10_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)®, 1);
|
||
reg.tilt_en = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief tilt_calculation: [get] Enable tilt calculation.This is
|
||
* effective if the FUNC_EN bit is set to '1'.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of tilt_en in reg CTRL10_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_tilt_calculation_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_ctrl10_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)®, 1);
|
||
*val = reg.tilt_en;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief pedometer: [set] Enable pedometer algorithm.This is effective
|
||
* if the FUNC_EN bit is set to '1'.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of pedo_en in reg CTRL10_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_pedometer_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_ctrl10_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)®, 1);
|
||
reg.pedo_en = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief pedometer: [get] Enable pedometer algorithm.This is effective
|
||
* if the FUNC_EN bit is set to '1'.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of pedo_en in reg CTRL10_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_pedometer_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_ctrl10_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)®, 1);
|
||
*val = reg.pedo_en;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief timestamp_count: [set] Enable timestamp count. The count is
|
||
* saved in TIMESTAMP0_REG (40h),
|
||
* TIMESTAMP1_REG (41h) and TIMESTAMP2_REG (42h).
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of timer_en in reg CTRL10_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_timestamp_count_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_ctrl10_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)®, 1);
|
||
reg.timer_en = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief timestamp_count: [get] Enable timestamp count. The count is
|
||
* saved in TIMESTAMP0_REG (40h),
|
||
* TIMESTAMP1_REG (41h) and TIMESTAMP2_REG (42h).
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of timer_en in reg CTRL10_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_timestamp_count_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_ctrl10_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)®, 1);
|
||
*val = reg.timer_en;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief wrist_tilt: [set] Enable wrist tilt algorithm. This is
|
||
* effective if the FUNC_EN bit is set to '1'.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of wrist_tilt_en in reg CTRL10_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_wrist_tilt_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_ctrl10_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)®, 1);
|
||
reg.wrist_tilt_en = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief wrist_tilt: [get] Enable wrist tilt algorithm. This is effective
|
||
* if the FUNC_EN bit is set to '1'.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of wrist_tilt_en in reg CTRL10_C
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_wrist_tilt_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_ctrl10_c_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_CTRL10_C, (uint8_t *)®, 1);
|
||
*val = reg.wrist_tilt_en;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief hard_iron: [set] Enable hard-iron correction algorithm
|
||
* for magnetometer.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of iron_en in reg MASTER_CONFIG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_hard_iron_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_master_config_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG, (uint8_t *)®, 1);
|
||
reg.iron_en = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_MASTER_CONFIG, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief hard_iron: [get] Enable hard-iron correction algorithm
|
||
* for magnetometer.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of iron_en in reg MASTER_CONFIG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_hard_iron_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_master_config_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG, (uint8_t *)®, 1);
|
||
*val = reg.iron_en;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief letched_interrupts: [set] Latched/pulsed interrupt.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of lir in reg TAP_CFG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_letched_interrupts_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_tap_cfg_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)®, 1);
|
||
reg.lir = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief letched_interrupts: [get] Latched/pulsed interrupt.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of lir in reg TAP_CFG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_letched_interrupts_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_tap_cfg_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)®, 1);
|
||
*val = reg.lir;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief tap_on_z_axis: [set] Enable Z direction in tap recognition.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of tap_z_en in reg TAP_CFG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_tap_on_z_axis_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_tap_cfg_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)®, 1);
|
||
reg.tap_z_en = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief tap_on_z_axis: [get] Enable Z direction in tap recognition.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of tap_z_en in reg TAP_CFG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_tap_on_z_axis_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_tap_cfg_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)®, 1);
|
||
*val = reg.tap_z_en;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief tap_on_y_axis: [set] Enable Y direction in tap recognition.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of tap_y_en in reg TAP_CFG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_tap_on_y_axis_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_tap_cfg_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)®, 1);
|
||
reg.tap_y_en = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief tap_on_y_axis: [get] Enable Y direction in tap recognition.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of tap_y_en in reg TAP_CFG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_tap_on_y_axis_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_tap_cfg_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)®, 1);
|
||
*val = reg.tap_y_en;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief tap_on_x_axis: [set] Enable X direction in tap recognition.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of tap_x_en in reg TAP_CFG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_tap_on_x_axis_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_tap_cfg_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)®, 1);
|
||
reg.tap_x_en = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief tap_on_x_axis: [get] Enable X direction in tap recognition.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of tap_x_en in reg TAP_CFG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_tap_on_x_axis_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_tap_cfg_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)®, 1);
|
||
*val = reg.tap_x_en;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief inactivity_mode: [set] Enable inactivity function.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_inact_en_t: change the values of inact_en in reg TAP_CFG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_inactivity_mode_set(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_inact_en_t val)
|
||
{
|
||
lsm6dsl_tap_cfg_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)®, 1);
|
||
reg.inact_en = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief inactivity_mode: [get] Enable inactivity function.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_inact_en_t: Get the values of inact_en in reg TAP_CFG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_inactivity_mode_get(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_inact_en_t *val)
|
||
{
|
||
lsm6dsl_tap_cfg_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_inact_en_t) reg.inact_en;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief enable_basic_interrupts: [set] Enable basic interrupts
|
||
* (6D/4D, free-fall, wake-up, tap,
|
||
* inactivity).
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of interrupts_enable in reg TAP_CFG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_enable_basic_interrupts_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_tap_cfg_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)®, 1);
|
||
reg.interrupts_enable = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief enable_basic_interrupts: [get] Enable basic interrupts (6D/4D,
|
||
* free-fall, wake-up, tap, inactivity).
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of interrupts_enable in reg TAP_CFG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_enable_basic_interrupts_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_tap_cfg_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)®, 1);
|
||
*val = reg.interrupts_enable;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief threshold_6d_3d: [set] Threshold for 4D/6D function.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_sixd_ths_t: change the values of sixd_ths in
|
||
* reg TAP_THS_6D
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_threshold_6d_3d_set(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_sixd_ths_t val)
|
||
{
|
||
lsm6dsl_tap_ths_6d_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_THS_6D, (uint8_t *)®, 1);
|
||
reg.sixd_ths = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_THS_6D, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief threshold_6d_3d: [get] Threshold for 4D/6D function.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_sixd_ths_t: Get the values of sixd_ths in reg TAP_THS_6D
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_threshold_6d_3d_get(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_sixd_ths_t *val)
|
||
{
|
||
lsm6dsl_tap_ths_6d_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_THS_6D, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_sixd_ths_t) reg.sixd_ths;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief reduce_6d_to_4d: [set] 4D orientation detection enable.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of d4d_en in reg TAP_THS_6D
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_reduce_6d_to_4d_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_tap_ths_6d_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_THS_6D, (uint8_t *)®, 1);
|
||
reg.d4d_en = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_THS_6D, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief reduce_6d_to_4d: [get] 4D orientation detection enable.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of d4d_en in reg TAP_THS_6D
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_reduce_6d_to_4d_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_tap_ths_6d_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_THS_6D, (uint8_t *)®, 1);
|
||
*val = reg.d4d_en;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief tap_mode: [set] Single/double-tap event enable.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_single_double_tap_t: change the values of
|
||
* single_double_tap in
|
||
* reg WAKE_UP_THS
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_tap_mode_set(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_single_double_tap_t val)
|
||
{
|
||
lsm6dsl_wake_up_ths_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_THS, (uint8_t *)®, 1);
|
||
reg.single_double_tap = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_WAKE_UP_THS, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief tap_mode: [get] Single/double-tap event enable.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_single_double_tap_t: Get the values of single_double_tap
|
||
* in reg WAKE_UP_THS
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_tap_mode_get(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_single_double_tap_t *val)
|
||
{
|
||
lsm6dsl_wake_up_ths_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_THS, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_single_double_tap_t) reg.single_double_tap;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief timestamp_resolution: [set] Timestamp register resolution
|
||
* setting.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_timer_hr_t: change the values of timer_hr
|
||
* in reg WAKE_UP_DUR
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_timestamp_resolution_set(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_timer_hr_t val)
|
||
{
|
||
lsm6dsl_wake_up_dur_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_DUR, (uint8_t *)®, 1);
|
||
reg.timer_hr = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_WAKE_UP_DUR, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief timestamp_resolution: [get] Timestamp register
|
||
* resolution setting.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_timer_hr_t: Get the values of timer_hr in
|
||
* reg WAKE_UP_DUR
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_timestamp_resolution_get(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_timer_hr_t *val)
|
||
{
|
||
lsm6dsl_wake_up_dur_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_DUR, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_timer_hr_t) reg.timer_hr;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief free_fall_threshold: [set] Free fall threshold setting.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_ff_ths_t: change the values of ff_ths in reg FREE_FALL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_free_fall_threshold_set(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_ff_ths_t val)
|
||
{
|
||
lsm6dsl_free_fall_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FREE_FALL, (uint8_t *)®, 1);
|
||
reg.ff_ths = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_FREE_FALL, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief free_fall_threshold: [get] Free fall threshold setting.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_ff_ths_t: Get the values of ff_ths in reg FREE_FALL
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_free_fall_threshold_get(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_ff_ths_t *val)
|
||
{
|
||
lsm6dsl_free_fall_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FREE_FALL, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_ff_ths_t) reg.ff_ths;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief int1_routing: [set] Functions routing on INT1 pad
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_md1_cfg_t: change the values of reg MD1_CFG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_int1_routing_set(lsm6dsl_ctx_t *ctx, lsm6dsl_md1_cfg_t val)
|
||
{
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_MD1_CFG, (uint8_t *)&val, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief int1_routing: [get] Functions routing on INT1 pad
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_md1_cfg_t: change the values of reg MD1_CFG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_int1_routing_get(lsm6dsl_ctx_t *ctx, lsm6dsl_md1_cfg_t *val)
|
||
{
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_MD1_CFG, (uint8_t *)val, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief int2_routing: [set] Functions routing on INT2 pad
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_md2_cfg_t: change the values of reg MD2_CFG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_int2_routing_set(lsm6dsl_ctx_t *ctx, lsm6dsl_md2_cfg_t val)
|
||
{
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_MD2_CFG, (uint8_t *)&val, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief int2_routing: [get] Functions routing on INT2 pad
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_md2_cfg_t: change the values of reg MD2_CFG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_int2_routing_get(lsm6dsl_ctx_t *ctx, lsm6dsl_md2_cfg_t *val)
|
||
{
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_MD2_CFG, (uint8_t *)val, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief sincro_time_frame: [set] sensor_synchronization time frame
|
||
* with the step of 500 ms and full range of 5 s.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of tph
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_sincro_time_frame_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
int32_t mm_error;
|
||
uint8_t reg;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_SENSOR_SYNC_TIME_FRAME,
|
||
(uint8_t *)®, sizeof(uint8_t));
|
||
reg &= 0xF0;
|
||
reg |= (val & 0x0F);
|
||
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_SENSOR_SYNC_TIME_FRAME,
|
||
(uint8_t *)®, sizeof(uint8_t));
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief sincro_time_frame: [get] sensor_synchronization time frame
|
||
* with the step of 500 ms and full range of 5 s.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: get the values of tph
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_sincro_time_frame_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_SENSOR_SYNC_TIME_FRAME, val,
|
||
sizeof(uint8_t));
|
||
*val &= 0x0F;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief timestamp: [get] timestamp value in DIGIT
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param axis1bit32_t : union that group together the timestamp data
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_timestamp_raw(lsm6dsl_ctx_t *ctx, axis1bit32_t *buff)
|
||
{
|
||
return lsm6dsl_read_reg(ctx, LSM6DSL_TIMESTAMP0_REG, (uint8_t *) buff,
|
||
sizeof(axis1bit32_t));
|
||
}
|
||
|
||
/**
|
||
* @brief step_timestamp: [get] step_timestamp value in DIGIT
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param axis1bit16_t : union that group together the step_timestamp data
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_step_timestamp_raw(lsm6dsl_ctx_t *ctx, axis1bit16_t *buff)
|
||
{
|
||
return lsm6dsl_read_reg(ctx, LSM6DSL_STEP_TIMESTAMP_L, (uint8_t *) buff,
|
||
sizeof(axis1bit16_t));
|
||
}
|
||
|
||
/**
|
||
* @brief step_counter: [get] step_counter value in DIGIT
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param axis1bit16_t : union that group together the step_counter data
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_step_counter_raw(lsm6dsl_ctx_t *ctx, axis1bit16_t *buff)
|
||
{
|
||
return lsm6dsl_read_reg(ctx, LSM6DSL_STEP_COUNTER_L, (uint8_t *) buff,
|
||
sizeof(axis1bit16_t));
|
||
}
|
||
|
||
/**
|
||
* @brief tap_treshold: [set] Threshold for tap recognition. 1 LSb
|
||
* corresponds to FS_XL/32.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of tap_ths
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_tap_treshold_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
int32_t mm_error;
|
||
uint8_t reg;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_THS_6D, (uint8_t *)®,
|
||
sizeof(uint8_t));
|
||
reg &= 0xE0;
|
||
reg |= (val & 0x1F);
|
||
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_THS_6D, (uint8_t *)®,
|
||
sizeof(uint8_t));
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief tap_treshold: [get] Threshold for tap recognition.
|
||
* 1 LSb corresponds to FS_XL/32.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: get the values of tap_ths
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_tap_treshold_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_THS_6D, val,
|
||
sizeof(uint8_t));
|
||
*val &= 0x1F;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief gap_double_tap: [set] Duration of maximum time gap for double
|
||
* tap recognition. 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.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of dur
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_gap_double_tap_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
int32_t mm_error;
|
||
uint8_t reg;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT_DUR2, (uint8_t *)®,
|
||
sizeof(uint8_t));
|
||
reg &= 0x0F;
|
||
reg |= ((val << 4) & 0xF0);
|
||
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_INT_DUR2, (uint8_t *)®,
|
||
sizeof(uint8_t));
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief gap_double_tap: [get] Duration of maximum time gap for double
|
||
* tap recognition. 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.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: get the values of dur
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_gap_double_tap_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT_DUR2, val,
|
||
sizeof(uint8_t));
|
||
*val &= 0xF0 >> 4;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief quiet_after_tap: [set] 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.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of quiet
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_quiet_after_tap_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
int32_t mm_error;
|
||
uint8_t reg;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT_DUR2, (uint8_t *)®,
|
||
sizeof(uint8_t));
|
||
reg &= ~0x0C;
|
||
reg |= ((val << 2) & 0x0C);
|
||
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_INT_DUR2, (uint8_t *)®,
|
||
sizeof(uint8_t));
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief quiet_after_tap: [get] 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.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: get the values of quiet
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_quiet_after_tap_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT_DUR2, val,
|
||
sizeof(uint8_t));
|
||
*val &= 0x0C >> 2;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief duration_tap_overthreshold: [set] 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.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of shock
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_duration_tap_overthreshold_set(lsm6dsl_ctx_t *ctx,
|
||
uint8_t val)
|
||
{
|
||
int32_t mm_error;
|
||
uint8_t reg;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT_DUR2, (uint8_t *)®,
|
||
sizeof(uint8_t));
|
||
reg &= ~0x03;
|
||
reg |= (val & 0x03);
|
||
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_INT_DUR2, (uint8_t *)®,
|
||
sizeof(uint8_t));
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief duration_tap_overthreshold: [get] 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 correspondsto
|
||
* 4*ODR_XL time. If the SHOCK[1:0] bits
|
||
* are set to a different value,
|
||
* 1LSB corresponds to 8*ODR_XL time.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: get the values of shock
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_duration_tap_overthreshold_get(lsm6dsl_ctx_t *ctx,
|
||
uint8_t *val)
|
||
{
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_INT_DUR2, val,
|
||
sizeof(uint8_t));
|
||
*val &= 0x03 >> 2;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief threshold_wakeup: [set] Threshold for wake-up. 1 LSb corresponds
|
||
* to FS_XL/64
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of wk_ths
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_threshold_wakeup_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
int32_t mm_error;
|
||
uint8_t reg;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_THS, (uint8_t *)®,
|
||
sizeof(uint8_t));
|
||
reg &= ~0x3F;
|
||
reg |= (val & 0x3F);
|
||
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_WAKE_UP_THS, (uint8_t *)®,
|
||
sizeof(uint8_t));
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief threshold_wakeup: [get] Threshold for wake-up. 1 LSb corresponds
|
||
* to FS_XL/64
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: get the values of wk_ths
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_threshold_wakeup_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_THS, val,
|
||
sizeof(uint8_t));
|
||
*val &= 0x3F >> 2;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief wait_before_sleep: [set] Duration to go in sleep mode. Default
|
||
* value: 0000 (this corresponds to 16 ODR)
|
||
* 1 LSB = 512 ODR
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of sleep_dur
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_wait_before_sleep_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
int32_t mm_error;
|
||
lsm6dsl_wake_up_dur_t reg;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_DUR, (uint8_t *)®,
|
||
sizeof(uint8_t));
|
||
reg.sleep_dur = val;
|
||
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_WAKE_UP_DUR, (uint8_t *)®,
|
||
sizeof(uint8_t));
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief wait_before_sleep: [get] Duration to go in sleep mode.
|
||
* Default value: 0000 (this corresponds
|
||
* to 16 ODR) 1 LSB = 512 ODR
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: get the values of sleep_dur
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_wait_before_sleep_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_DUR, val,
|
||
sizeof(uint8_t));
|
||
*val &= 0x0F >> 2;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief lsm6dsl_wakeup_dur: [set] Wake-up duration event.
|
||
* 1LSB = 1 ODR_time
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of wake_dur
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_wakeup_dur_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
int32_t mm_error;
|
||
lsm6dsl_wake_up_dur_t reg;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_DUR, (uint8_t *)®,
|
||
sizeof(uint8_t));
|
||
reg.wake_dur = val;
|
||
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_WAKE_UP_DUR, (uint8_t *)®,
|
||
sizeof(uint8_t));
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief lsm6dsl_wakeup_dur: [get] Wake-up duration event.
|
||
* 1LSB = 1 ODR_time
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: get the values of wake_dur
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_wakeup_dur_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_DUR, val,
|
||
sizeof(uint8_t));
|
||
*val &= 0x60 >> 5;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief free_fall_duration: [set] For the complete configuration of
|
||
* the free fall duration, refer to FF_DUR5 in
|
||
* WAKE_UP_DUR (5Ch) configuration.
|
||
* Value is expressed in number of samples
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of ff_dur
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_free_fall_duration_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
int32_t mm_error;
|
||
uint8_t reg;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FREE_FALL, (uint8_t *)®,
|
||
sizeof(uint8_t));
|
||
reg &= ~0xF8;
|
||
reg |= ((val << 3) & 0xF8);
|
||
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_FREE_FALL, (uint8_t *)®,
|
||
sizeof(uint8_t));
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_DUR, (uint8_t *)®,
|
||
sizeof(uint8_t));
|
||
reg &= ~0x80;
|
||
reg |= ((val << 7) & 0x80);
|
||
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_WAKE_UP_DUR, (uint8_t *)®,
|
||
sizeof(uint8_t));
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief free_fall_duration: [get] For the complete configuration of
|
||
* the free fall duration, refer to FF_DUR5
|
||
* in WAKE_UP_DUR (5Ch) configuration.
|
||
* Value is expressed in number of samples
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: get the values of ff_dur
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_free_fall_duration_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
int32_t mm_error;
|
||
uint8_t reg;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FREE_FALL, ®,
|
||
sizeof(uint8_t));
|
||
*val = (reg & 0xF8) >> 3;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_WAKE_UP_DUR, ®,
|
||
sizeof(uint8_t));
|
||
*val |= (reg & 0x80) >> 2;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief master_error_code: [get] master_error_code value in DIGIT
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t : union that group together the master_error_code data
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_master_error_code_raw(lsm6dsl_ctx_t *ctx, uint8_t *buff)
|
||
{
|
||
return lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CMD_CODE, (uint8_t *) buff,
|
||
sizeof(uint8_t));
|
||
}
|
||
|
||
/**
|
||
* @brief synchro_error_code: [get] synchro_error_code value in DIGIT
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t : union that group together the synchro_error_code data
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_synchro_error_code_raw(lsm6dsl_ctx_t *ctx, uint8_t *buff)
|
||
{
|
||
return lsm6dsl_read_reg(ctx, LSM6DSL_SENS_SYNC_SPI_ERROR_CODE,
|
||
(uint8_t *) buff, sizeof(uint8_t));
|
||
}
|
||
|
||
/**
|
||
* @brief ext_magnetometer: [get] ext_magnetometer value in DIGIT
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param axis3bit16_t : union that group together the ext_magnetometer data
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_ext_magnetometer_raw(lsm6dsl_ctx_t *ctx, axis3bit16_t *buff)
|
||
{
|
||
return lsm6dsl_read_reg(ctx, LSM6DSL_OUT_MAG_RAW_X_L,
|
||
(uint8_t *) buff, sizeof(axis3bit16_t));
|
||
}
|
||
|
||
/**
|
||
* @brief xl_x_axis_offset: [set] Accelerometer X-axis user offset
|
||
* correction expressed in two’s complement,
|
||
* weight depends on CTRL6_C(4) bit.
|
||
* The value must be in the range [-127 127].
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of x_ofs_usr
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_x_axis_offset_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_X_OFS_USR, &val, sizeof(uint8_t));
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_x_axis_offset: [get] Accelerometer X-axis user offset
|
||
* correction expressed in two’s complement,
|
||
* weight depends on CTRL6_C(4) bit.
|
||
* The value must be in the range [-127 127].
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: get the values of x_ofs_usr
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_x_axis_offset_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_X_OFS_USR, val, sizeof(uint8_t));
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_y_axis_offset: [set] Accelerometer Y-axis user offset
|
||
* correction expressed in two’s complement,
|
||
* weight depends on CTRL6_C(4) bit.
|
||
* The value must be in the range [-127 127].
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of y_ofs_usr
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_y_axis_offset_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_Y_OFS_USR, &val, sizeof(uint8_t));
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_y_axis_offset: [get] Accelerometer Y-axis user offset
|
||
* correction expressed in two’s complement,
|
||
* weight depends on CTRL6_C(4) bit.
|
||
* The value must be in the range [-127 127].
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: get the values of y_ofs_usr
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_y_axis_offset_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_Y_OFS_USR, val,
|
||
sizeof(uint8_t));
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_z_axis_offset: [set] Accelerometer Z-axis user offset
|
||
* correction expressed in two’s complement,
|
||
* weight depends on CTRL6_C(4) bit.
|
||
* The value must be in the range [-127 127].
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of y_ofs_usr
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_z_axis_offset_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_Z_OFS_USR, &val,
|
||
sizeof(uint8_t));
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief xl_z_axis_offset: [get] Accelerometer Z-axis user offset
|
||
* correction expressed in two’s complement,
|
||
* weight depends on CTRL6_C(4) bit.
|
||
* The value must be in the range [-127 127].
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: get the values of y_ofs_usr
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_xl_z_axis_offset_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_Z_OFS_USR, val, sizeof(uint8_t));
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief sensor_hub_i2c: [set] Sensor hub I2C master enable.
|
||
* This is effective if the FUNC_EN bit
|
||
* is set to '1'.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of master_on in reg MASTER_CONFIG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_sensor_hub_i2c_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_master_config_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
|
||
(uint8_t *)®, 1);
|
||
reg.master_on = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_MASTER_CONFIG,
|
||
(uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief sensor_hub_i2c: [get] Sensor hub I2C master enable. This
|
||
* is effective if the FUNC_EN bit is set to '1'.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of master_on in reg MASTER_CONFIG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_sensor_hub_i2c_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_master_config_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
|
||
(uint8_t *)®, 1);
|
||
*val = reg.master_on;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief sensor_hub_pass_through: [set] Sensor hub I2C interface act
|
||
* as pass-through.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of pass_through_mode
|
||
* in reg MASTER_CONFIG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_sensor_hub_pass_through_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_master_config_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
|
||
(uint8_t *)®, 1);
|
||
reg.pass_through_mode = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_MASTER_CONFIG,
|
||
(uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief sensor_hub_pass_through: [get] Sensor hub I2C interface act
|
||
* as pass-through.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of pass_through_mode
|
||
* in reg MASTER_CONFIG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_sensor_hub_pass_through_get(lsm6dsl_ctx_t *ctx, uint8_t *val)
|
||
{
|
||
lsm6dsl_master_config_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
|
||
(uint8_t *)®, 1);
|
||
*val = reg.pass_through_mode;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief sensor_hub_pull_up: [set] Auxiliary I2C pull-up.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_pull_up_en_t: change the values of pull_up_en
|
||
* in reg MASTER_CONFIG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_sensor_hub_pull_up_set(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_pull_up_en_t val)
|
||
{
|
||
lsm6dsl_master_config_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
|
||
(uint8_t *)®, 1);
|
||
reg.pull_up_en = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_MASTER_CONFIG,
|
||
(uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief sensor_hub_pull_up: [get] Auxiliary I2C pull-up.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_pull_up_en_t: Get the values of pull_up_en
|
||
* in reg MASTER_CONFIG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_sensor_hub_pull_up_get(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_pull_up_en_t *val)
|
||
{
|
||
lsm6dsl_master_config_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_pull_up_en_t) reg.pull_up_en;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief sensor_hub_op_trigger: [set] Sensor Hub trigger signal selection.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_start_config_t: change the values of start_config
|
||
* in reg MASTER_CONFIG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_sensor_hub_op_trigger_set(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_start_config_t val)
|
||
{
|
||
lsm6dsl_master_config_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
|
||
(uint8_t *)®, 1);
|
||
reg.start_config = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_MASTER_CONFIG,
|
||
(uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief sensor_hub_op_trigger: [get] Sensor Hub trigger signal selection.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_start_config_t: Get the values of start_config
|
||
* in reg MASTER_CONFIG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_sensor_hub_op_trigger_get(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_start_config_t *val)
|
||
{
|
||
lsm6dsl_master_config_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_start_config_t) reg.start_config;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief sensor_hub_drdy_on_int1: [set] Manage the Master DRDY
|
||
* signal on INT1 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t val: change the values of drdy_on_int1
|
||
* in reg MASTER_CONFIG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_sensor_hub_drdy_on_int1_set(lsm6dsl_ctx_t *ctx, uint8_t val)
|
||
{
|
||
lsm6dsl_master_config_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
|
||
(uint8_t *)®, 1);
|
||
reg.drdy_on_int1 = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_MASTER_CONFIG,
|
||
(uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief sensor_hub_drdy_on_int1: [get] Manage the Master DRDY
|
||
* signal on INT1 pad.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t: change the values of drdy_on_int1 in
|
||
* reg MASTER_CONFIG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_sensor_hub_drdy_on_int1_get(lsm6dsl_ctx_t *ctx,
|
||
uint8_t *val)
|
||
{
|
||
lsm6dsl_master_config_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_MASTER_CONFIG,
|
||
(uint8_t *)®, 1);
|
||
*val = reg.drdy_on_int1;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief res_ratio: [set] Resolution ratio of error code for
|
||
* sensor_synchronization
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_rr_t: change the values of rr in
|
||
* reg SENSOR_SYNC_RES_RATIO
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_res_ratio_set(lsm6dsl_ctx_t *ctx, lsm6dsl_rr_t val)
|
||
{
|
||
lsm6dsl_sensor_sync_res_ratio_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_SENSOR_SYNC_RES_RATIO,
|
||
(uint8_t *)®, 1);
|
||
reg.rr = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_SENSOR_SYNC_RES_RATIO,
|
||
(uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief res_ratio: [get] Resolution ratio of error code for
|
||
* sensor_synchronization
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_rr_t: Get the values of rr in
|
||
* reg SENSOR_SYNC_RES_RATIO
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_res_ratio_get(lsm6dsl_ctx_t *ctx, lsm6dsl_rr_t *val)
|
||
{
|
||
lsm6dsl_sensor_sync_res_ratio_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_SENSOR_SYNC_RES_RATIO,
|
||
(uint8_t *)®, 1);
|
||
*val = (lsm6dsl_rr_t) reg.rr;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief sensorhub_set1_out: [get] sensorhub_set1_out value in DIGIT
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t : union that group together the sensorhub_set1_out data
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_sensorhub_set1_out_raw(lsm6dsl_ctx_t *ctx, uint8_t *buff)
|
||
{
|
||
return lsm6dsl_read_reg(ctx, LSM6DSL_SENSORHUB1_REG, (uint8_t *) buff,
|
||
sizeof(uint8_t));
|
||
}
|
||
|
||
/**
|
||
* @brief sensorhub_set2_out: [get] sensorhub_set2_out value in DIGIT
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param uint8_t : union that group together the sensorhub_set2_out data
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_sensorhub_set2_out_raw(lsm6dsl_ctx_t *ctx, uint8_t *buff)
|
||
{
|
||
return lsm6dsl_read_reg(ctx, LSM6DSL_SENSORHUB13_REG, (uint8_t *) buff,
|
||
sizeof(uint8_t));
|
||
}
|
||
|
||
/**
|
||
* @brief change_bank: [set] Enable access to the embedded_functions
|
||
* configuration registers bank A and B
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_func_cfg_en_t: change the values of func_cfg_en
|
||
* in reg FUNC_CFG_EN
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_change_bank_set(lsm6dsl_ctx_t *ctx, lsm6dsl_func_cfg_en_t val)
|
||
{
|
||
lsm6dsl_func_cfg_access_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FUNC_CFG_ACCESS,
|
||
(uint8_t *)®, 1);
|
||
reg.func_cfg_en = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_FUNC_CFG_ACCESS,
|
||
(uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief change_bank: [get] Enable access to the embedded_functions
|
||
* configuration registers bank A and B
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_func_cfg_en_t: Get the values of func_cfg_en
|
||
* in reg FUNC_CFG_EN
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_change_bank_get(lsm6dsl_ctx_t *ctx, lsm6dsl_func_cfg_en_t *val)
|
||
{
|
||
lsm6dsl_func_cfg_access_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_FUNC_CFG_ACCESS,
|
||
(uint8_t *)®, 1);
|
||
*val = (lsm6dsl_func_cfg_en_t) reg.func_cfg_en;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief data_for_wake_up: [set] HPF or SLOPE filter selection on
|
||
* wake-up and Activity/Inactivity functions.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_slope_fds_t: change the values of slope_fds in reg TAP_CFG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_data_for_wake_up_set(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_slope_fds_t val)
|
||
{
|
||
lsm6dsl_tap_cfg_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)®, 1);
|
||
reg.slope_fds = val;
|
||
mm_error = lsm6dsl_write_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)®, 1);
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @brief data_for_wake_up: [get] HPF or SLOPE filter selection
|
||
* on wake-up and Activity/Inactivity functions.
|
||
*
|
||
* @param lsm6dsl_ctx_t *ctx: read / write interface definitions
|
||
* @param lsm6dsl_slope_fds_t: Get the values of slope_fds in reg TAP_CFG
|
||
*
|
||
*/
|
||
int32_t lsm6dsl_data_for_wake_up_get(lsm6dsl_ctx_t *ctx,
|
||
lsm6dsl_slope_fds_t *val)
|
||
{
|
||
lsm6dsl_tap_cfg_t reg;
|
||
int32_t mm_error;
|
||
|
||
mm_error = lsm6dsl_read_reg(ctx, LSM6DSL_TAP_CFG, (uint8_t *)®, 1);
|
||
*val = (lsm6dsl_slope_fds_t) reg.slope_fds;
|
||
|
||
return mm_error;
|
||
}
|
||
|
||
/**
|
||
* @}
|
||
*/
|
||
|
||
/**
|
||
* @}
|
||
*/
|
||
|
||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
||
|
||
lsm6dsl_odr_xl_t xl_odr_temp = XL_104Hz;
|
||
u8 lsm6dsl_xl_power_down()
|
||
{
|
||
int32_t mm_error;
|
||
mm_error = lsm6dsl_xl_data_rate_get(&lsm6dsl_ctx, &xl_odr_temp);
|
||
if (mm_error != 1) {
|
||
xl_odr_temp = XL_OFF;
|
||
log_error("lsm6dsl acc power down fail!");
|
||
return 0;
|
||
}
|
||
log_info("xl_odr:%d", xl_odr_temp);
|
||
|
||
mm_error = lsm6dsl_xl_data_rate_set(&lsm6dsl_ctx, XL_OFF);
|
||
if (mm_error == 1) {
|
||
log_info("lsm6dsl acc power down ok!");
|
||
return 1;
|
||
} else {
|
||
log_error("lsm6dsl acc power down fail!");
|
||
return 0;
|
||
}
|
||
}
|
||
u8 lsm6dsl_xl_wake_up()
|
||
{
|
||
int32_t mm_error;
|
||
if (xl_odr_temp == XL_OFF) {
|
||
log_error("lsm6dsl acc wake up fail!");
|
||
return 0;
|
||
}
|
||
mm_error = lsm6dsl_xl_data_rate_set(&lsm6dsl_ctx, xl_odr_temp);
|
||
if (mm_error == 1) {
|
||
log_info("lsm6dsl acc wake up ok!");
|
||
return 1;
|
||
} else {
|
||
log_error("lsm6dsl acc wake up fail!");
|
||
return 0;
|
||
}
|
||
}
|
||
|
||
|
||
|
||
lsm6dsl_odr_g_t g_odr_temp = GY_104Hz;
|
||
u8 lsm6dsl_g_power_down()
|
||
{
|
||
int32_t mm_error;
|
||
mm_error = lsm6dsl_gyro_data_rate_get(&lsm6dsl_ctx, &g_odr_temp);
|
||
if (mm_error != 1) {
|
||
g_odr_temp = GY_OFF;
|
||
log_error("lsm6dsl gyro power down fail!");
|
||
return 0;
|
||
}
|
||
log_info("g_odr:%d", g_odr_temp);
|
||
|
||
mm_error = lsm6dsl_gyro_data_rate_set(&lsm6dsl_ctx, GY_OFF);
|
||
if (mm_error == 1) {
|
||
log_info("lsm6dsl gyro power down ok!");
|
||
return 1;
|
||
} else {
|
||
log_error("lsm6dsl gyro power down fail!");
|
||
return 0;
|
||
}
|
||
}
|
||
u8 lsm6dsl_g_wake_up()
|
||
{
|
||
int32_t mm_error;
|
||
if (g_odr_temp == GY_OFF) {
|
||
log_error("lsm6dsl gyro wake up fail!");
|
||
return 0;
|
||
}
|
||
mm_error = lsm6dsl_gyro_data_rate_set(&lsm6dsl_ctx, g_odr_temp);
|
||
if (mm_error == 1) {
|
||
log_info("lsm6dsl gyro wake up ok!");
|
||
return 1;
|
||
} else {
|
||
log_error("lsm6dsl gyro wake up fail!");
|
||
return 0;
|
||
}
|
||
}
|
||
unsigned char lsm6dsl_init()
|
||
{
|
||
unsigned char lsm6dsl_chip_id = 0x00, rst;
|
||
unsigned char lsm6dsl_revision_id = 0x00;
|
||
unsigned char iCount = 0;
|
||
|
||
unsigned char fw_version[3] = {0};
|
||
unsigned char usid_version[6] = {0};
|
||
#if (LSM6DSL_USER_INTERFACE==LSM6DSL_USE_SPI)
|
||
if (lsm6dsl_info->spi_work_mode) {
|
||
lsm6dsl_spi_mode_set(&lsm6dsl_ctx, 1);//使能spi_3_wire
|
||
} else {
|
||
lsm6dsl_spi_mode_set(&lsm6dsl_ctx, 0);//使能spi_4_wire
|
||
}
|
||
#endif
|
||
/* Check device ID */
|
||
while ((lsm6dsl_chip_id != LSM6DSL_ID) && (iCount < 10)) {
|
||
lsm6dsl_device_id(&lsm6dsl_ctx, &lsm6dsl_chip_id);
|
||
if (lsm6dsl_chip_id == LSM6DSL_ID) {
|
||
break;
|
||
}
|
||
iCount++;
|
||
mdelay(1);
|
||
}
|
||
|
||
if (lsm6dsl_chip_id == LSM6DSL_ID) {
|
||
/* Restore default configuration */
|
||
lsm6dsl_reset_set(&lsm6dsl_ctx, PROPERTY_ENABLE);
|
||
do {
|
||
lsm6dsl_reset_get(&lsm6dsl_ctx, &rst);
|
||
} while (rst);
|
||
|
||
log_info("lsm6dsl_init slave=0x%x lsm6dslRegister_WhoAmI=0x%x\n", LSM6DSL_IIC_SLAVE_ADDRESS, lsm6dsl_chip_id);
|
||
|
||
#if (LSM6DSL_USE_TAP_EN)
|
||
/* tap_enable(); */
|
||
#endif
|
||
#if (LSM6DSL_USE_ANYMOTION_EN)
|
||
/* anymotion_lowpwr_config(); */
|
||
#endif
|
||
#if (LSM6DSL_USE_FIFO_EN)
|
||
lsm6dsl_fifo_write_mode_set(&lsm6dsl_ctx, ON_DRDY);
|
||
|
||
lsm6dsl_fifo_temperature_set(&lsm6dsl_ctx, 0);//0: temperature not included in FIFO; 1: temperature included in FIFO //1:DS4_NO_DEC
|
||
lsm6dsl_fifo_step_timestamp_set(&lsm6dsl_ctx, 0);//0: disable step counter and timestamp data as 3rd FIFO data set; 1:enable //1:DS3_NO_DEC
|
||
lsm6dsl_xl_decimation_set(&lsm6dsl_ctx, XL_NO_DEC);//抽样XL_DEC_4
|
||
lsm6dsl_gyro_decimation_set(&lsm6dsl_ctx, GY_NO_DEC);//抽样GY_DEC_4
|
||
lsm6dsl_dataset3_decimation_set(&lsm6dsl_ctx, DS3_NO_FILL);//DS3_NO_DEC:step=1
|
||
lsm6dsl_dataset4_decimation_set(&lsm6dsl_ctx, DS4_NO_FILL);//DS4_NO_DEC:tmeperature=1
|
||
|
||
lsm6dsl_fifo_xl_gy_8bit_data_set(&lsm6dsl_ctx, 0);//
|
||
|
||
lsm6dsl_fifo_stop_on_thr_set(&lsm6dsl_ctx, 1);//0: FIFO depth is not limited; 1: FIFO depth is limited to threshold level
|
||
lsm6dsl_fifo_threshold_set(&lsm6dsl_ctx, 504);//0~2047(word).stop_on_thr=1
|
||
|
||
|
||
lsm6dsl_fifo_data_rate_set(&lsm6dsl_ctx, FIFO_104Hz);//be effective only fifo write mode=ON_DRDY. fifo_rate<=acc&gyro rate
|
||
/* lsm6dsl_fifo_mode_set(&lsm6dsl_ctx, CONTINUOS);fifo_mode_old = CONTINUOS; */
|
||
lsm6dsl_fifo_mode_set(&lsm6dsl_ctx, STOP_WHEN_FULL);
|
||
fifo_mode_old = STOP_WHEN_FULL;
|
||
|
||
//fifo int:
|
||
#if LSM6DSL_FIFO_INT_OMAP_INT1
|
||
/* lsm6dsl_fifo_threshold_on_int1_set(&lsm6dsl_ctx, 1); */
|
||
/* lsm6dsl_fifo_overrun_on_int1_set(&lsm6dsl_ctx, 1);// */
|
||
lsm6dsl_fifo_full_on_int1_set(&lsm6dsl_ctx, 1);
|
||
#else
|
||
/* lsm6dsl_fifo_threshold_on_int2_set(&lsm6dsl_ctx, 1); */
|
||
/* lsm6dsl_fifo_overrun_on_int2_set(&lsm6dsl_ctx, 1);// */
|
||
lsm6dsl_fifo_full_on_int2_set(&lsm6dsl_ctx, 1);
|
||
#endif
|
||
|
||
#endif
|
||
#if (LSM6DSL_USE_STEP_EN)
|
||
/* qmi8658_config.inputSelection = QMI8658_CONFIG_ACC_ENABLE; */
|
||
/* qmi8658_config.accRange = Qmi8658AccRange_8g; */
|
||
/* qmi8658_config.accOdr = Qmi8658AccOdr_LowPower_21Hz;//Qmi8658AccOdr_62_5Hz;//Qmi8658AccOdr_LowPower_21Hz; */
|
||
/* qmi8658_config.gyrRange = Qmi8658GyrRange_1024dps; //Qmi8658GyrRange_2048dps Qmi8658GyrRange_1024dps */
|
||
/* qmi8658_config.gyrOdr = Qmi8658GyrOdr_500Hz; */
|
||
/* */
|
||
/* Qmi8658_write(QMI8658_SLAVE_ADDRESS, Qmi8658Register_Ctrl7, 0x00); // */
|
||
/* Qmi8658_write(QMI8658_SLAVE_ADDRESS, Qmi8658Register_Ctrl8, 0xD0); */
|
||
/* stepConfig(21); //ODR = 21hz */
|
||
#endif
|
||
/* Set xl Full Scale */
|
||
lsm6dsl_xl_full_scale_set(&lsm6dsl_ctx, FS_16g);
|
||
/* Set gyro Full Scale */
|
||
lsm6dsl_gyro_full_scale_set(&lsm6dsl_ctx, FS_2000dps);
|
||
/* Enable Acc Block Data Update */
|
||
lsm6dsl_block_data_update_set(&lsm6dsl_ctx, PROPERTY_ENABLE);//fifo mode:updata=1
|
||
|
||
/* Set AXL bandwith: ODR/100 */
|
||
lsm6dsl_xl_lpf2_set(&lsm6dsl_ctx, 1);
|
||
lsm6dsl_xl_cutoff_set(&lsm6dsl_ctx, XL_ODR_DIV_100);
|
||
//lsm6dsl_xl_cutoff_set(&lsm6dsl_ctx, XL_ODR_DIV_400);
|
||
/* Set GYR bandwith:121HZ */
|
||
lsm6dsl_gyro_lpf1_set(&lsm6dsl_ctx, 1);
|
||
lsm6dsl_gyro_lpf1_bandwidth_set(&lsm6dsl_ctx, GY_LPF1_VERY_AGGRESSIVE);
|
||
|
||
/* Set xl Output Data Rate */
|
||
lsm6dsl_xl_data_rate_set(&lsm6dsl_ctx, XL_104Hz);
|
||
/* Set gyro Output Data Rate */
|
||
lsm6dsl_gyro_data_rate_set(&lsm6dsl_ctx, GY_104Hz);
|
||
//int:
|
||
#if LSM6DSL_USE_INT_EN
|
||
/* lsm6dsl_xl_drdy_on_int2_set(&lsm6dsl_ctx, 1); */
|
||
lsm6dsl_gyro_drdy_on_int2_set(&lsm6dsl_ctx, 1);
|
||
/* lsm6dsl_temperature_drdy_on_int2_set(&lsm6dsl_ctx, 1); */
|
||
#endif
|
||
|
||
/* Read samples in polling mode (no int) */
|
||
#if 0
|
||
unsigned char read_data[10];
|
||
lsm6dsl_read_reg(&lsm6dsl_ctx, LSM6DSL_CTRL1_XL, (uint8_t *)&read_data, 10);
|
||
log_info("LSM6DSL_CTRL1_XL, CTRL2_G,CTRL3_C,CTRL4_C,CTRL5_C,CTRL6_C,CTRL7_G,CTRL8_XL,CTRL9_XL,CTRL10_C\n");
|
||
log_info_hexdump(read_data, 10);
|
||
lsm6dsl_read_reg(&lsm6dsl_ctx, LSM6DSL_FIFO_CTRL1, (uint8_t *)&read_data, 5);
|
||
log_info("LSM6DSL_fifo_CTRL1~5\n");
|
||
log_info_hexdump(read_data, 5);
|
||
lsm6dsl_read_reg(&lsm6dsl_ctx, LSM6DSL_INT1_CTRL, (uint8_t *)&read_data, 2);
|
||
log_info("LSM6DSL_int_CTRL1~2\n");
|
||
log_info_hexdump(read_data, 2);
|
||
|
||
#endif
|
||
return 1;
|
||
} else {
|
||
log_error("lsm6dsl_init fail(id:0x%x)\n", lsm6dsl_chip_id);
|
||
lsm6dsl_chip_id = 0;
|
||
return 0;
|
||
}
|
||
}
|
||
|
||
static u8 lsm6dsl_int_pin1 = IO_PORTB_04;
|
||
static u8 lsm6dsl_int_pin2 = IO_PORTB_03;
|
||
//return:0:fail, 1:ok
|
||
u8 lsm6dsl_sensor_init(void *priv)
|
||
{
|
||
if (priv == NULL) {
|
||
log_error("lsm6dsl init fail(no param)\n");
|
||
return 0;
|
||
}
|
||
lsm6dsl_info = (lsm6dsl_param *)priv;
|
||
|
||
#if (LSM6DSL_USER_INTERFACE==LSM6DSL_USE_I2C) //iic interface
|
||
iic_init(lsm6dsl_info->iic_hdl);
|
||
#elif (LSM6DSL_USER_INTERFACE==LSM6DSL_USE_SPI)//spi interface
|
||
spi_cs_init();
|
||
spi_init();
|
||
#else
|
||
#endif
|
||
gpio_set_die(lsm6dsl_int_pin1, 1);
|
||
gpio_set_direction(lsm6dsl_int_pin1, 1);
|
||
// gpio_set_pull_up(lsm6dsl_int_pin1,1);
|
||
gpio_set_die(lsm6dsl_int_pin2, 1);
|
||
gpio_set_direction(lsm6dsl_int_pin2, 1);
|
||
// gpio_set_pull_up(lsm6dsl_int_pin2,1);
|
||
return lsm6dsl_init();
|
||
}
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
static volatile u32 lsm6dsl_init_flag ;
|
||
static u8 imu_busy = 0;
|
||
static lsm6dsl_param lsm6dsl_info_data;
|
||
/* #define SENSORS_MPU_BUFF_LEN 14 */
|
||
/* u8 read_lsm6dsl_buf[SENSORS_MPU_BUFF_LEN]; */
|
||
#if (LSM6DSL_USE_FIFO_EN)
|
||
static u8 lsm6dsl_fifo_data[1024 * 4]; //size:n*6 * Number_of_enabled_sensors<4kbytes
|
||
#endif
|
||
void lsm6dsl_int_callback()
|
||
{
|
||
if (lsm6dsl_init_flag == 0) {
|
||
log_error("lsm6dsl init fail!");
|
||
return ;
|
||
}
|
||
if (imu_busy) {
|
||
log_error("lsm6dsl busy!");
|
||
return ;
|
||
}
|
||
imu_busy = 1;
|
||
|
||
imu_sensor_data_t raw_sensor_datas;
|
||
float TempData = 0.0;
|
||
#if (LSM6DSL_USE_FIFO_EN)
|
||
u16 fifo_level = 0;//fifo cnt(bytes)
|
||
fifo_level = lsm6dsl_read_fifo(&lsm6dsl_ctx, lsm6dsl_fifo_data);
|
||
TempData = lsm6dsl_read_temperature(&lsm6dsl_ctx);
|
||
/* log_info("lsm6dsl raw:gyro_x:%d gyro_y:%d gyro_z:%d, acc_x:%d acc_y:%d acc_z:%d tim_count:%d", (s16)(lsm6dsl_fifo_data[1]<<8|lsm6dsl_fifo_data[0]), (s16)(lsm6dsl_fifo_data[3]<<8|lsm6dsl_fifo_data[2]), (s16)(lsm6dsl_fifo_data[5]<<8|lsm6dsl_fifo_data[4]), (s16)(lsm6dsl_fifo_data[7]<<8|lsm6dsl_fifo_data[6]), (s16)(lsm6dsl_fifo_data[9]<<8|lsm6dsl_fifo_data[8]), (s16)(lsm6dsl_fifo_data[11]<<8|lsm6dsl_fifo_data[10]),fifo_level);//共fifo_level组数据, 只打印第一组数据 */
|
||
#else
|
||
/* lsm6dsl_status_reg_t status_reg; */
|
||
u8 status_reg;
|
||
lsm6dsl_read_reg(&lsm6dsl_ctx, LSM6DSL_STATUS_REG, (uint8_t *)&status_reg, 1);
|
||
/* log_info("status:0x%x", status_reg); */
|
||
if (status_reg & 0x03) {
|
||
lsm6dsl_read_raw_acc_gyro_xyz(&lsm6dsl_ctx, &raw_sensor_datas);//获取原始值
|
||
/* TempData = lsm6dsl_read_temperature(&lsm6dsl_ctx); */
|
||
TempData = raw_sensor_datas.temp_data;
|
||
/* log_info("lsm6dsl raw:acc_x:%d acc_y:%d acc_z:%d gyro_x:%d gyro_y:%d gyro_z:%d", raw_sensor_datas.acc.x, raw_sensor_datas.acc.y, raw_sensor_datas.acc.z, raw_sensor_datas.gyro.x, raw_sensor_datas.gyro.y, raw_sensor_datas.gyro.z); */
|
||
}
|
||
#endif
|
||
/* log_info("lsm6dsl temp:%d.%d\n", (u16)TempData, (u16)(((u16)(TempData * 100)) % 100)); */
|
||
imu_busy = 0;
|
||
}
|
||
|
||
s8 lsm6dsl_dev_init(void *arg)
|
||
{
|
||
if (arg == NULL) {
|
||
log_error("lsm6dsl init fail(no arg)\n");
|
||
return -1;
|
||
}
|
||
#if (LSM6DSL_USER_INTERFACE==LSM6DSL_USE_I2C)
|
||
lsm6dsl_info_data.iic_hdl = ((struct imusensor_platform_data *)arg)->peripheral_hdl;
|
||
lsm6dsl_info_data.iic_delay = ((struct imusensor_platform_data *)arg)->peripheral_param0; //这个延时并非影响iic的时钟频率，而是2Byte数据之间的延时
|
||
// u8 iic_clk; //iic_clk: <=400kHz
|
||
#elif (LSM6DSL_USER_INTERFACE==LSM6DSL_USE_SPI)
|
||
lsm6dsl_info_data.spi_hdl = ((struct imusensor_platform_data *)arg)->peripheral_hdl, //SPIx (role:master)
|
||
lsm6dsl_info_data.spi_cs_pin = ((struct imusensor_platform_data *)arg)->peripheral_param0; //IO_PORTA_05
|
||
lsm6dsl_info_data.spi_work_mode = ((struct imusensor_platform_data *)arg)->peripheral_param1; //1:3wire(SPI_MODE_UNIDIR_1BIT) or 0:4wire(SPI_MODE_BIDIR_1BIT) (与spi结构体一样)
|
||
// u8 port; //SPIx group:A,B,C,D (spi结构体)
|
||
// U8 spi_clk; //spi_clk: <=15MHz (spi结构体)
|
||
#else
|
||
#endif
|
||
lsm6dsl_int_pin2 = ((struct imusensor_platform_data *)arg)->imu_sensor_int_io;
|
||
lsm6dsl_int_pin1 = lsm6dsl_int_pin2;
|
||
if (imu_busy) {
|
||
log_error("lsm6dsl busy!");
|
||
return -1;
|
||
}
|
||
imu_busy = 1;
|
||
if (lsm6dsl_sensor_init(&lsm6dsl_info_data)) {
|
||
#if (LSM6DSL_USE_INT_EN) //中断模式,暂不支持
|
||
log_info("int mode en!");
|
||
/* port_wkup_enable(lsm6dsl_int_pin2, 1, lsm6dsl_int_callback); //PA08-IO中断，1:下降沿触发，回调函数lsm6dsl_int_callback*/
|
||
#ifdef CONFIG_CPU_BR23
|
||
io_ext_interrupt_init(lsm6dsl_int_pin2, 1, lsm6dsl_int_callback);
|
||
#elif defined(CONFIG_CPU_BR28)
|
||
// br28外部中断回调函数，按照现在的外部中断注册方式
|
||
// io配置在板级，定义在板级头文件，这里只是注册回调函数
|
||
/* port_edge_wkup_set_callback_by_index(3, lsm6dsl_int_callback); // 序号需要和板级配置中的wk_param对应上 */
|
||
port_edge_wkup_set_callback(lsm6dsl_int_callback);
|
||
#elif defined(CONFIG_CPU_BR27)
|
||
port_edge_wkup_set_callback(lsm6dsl_int_callback);
|
||
#endif
|
||
#else //定时
|
||
|
||
#endif
|
||
lsm6dsl_init_flag = 1;
|
||
imu_busy = 0;
|
||
log_info("lsm6dsl Device init success!%d\n", lsm6dsl_init_flag);
|
||
return 0;
|
||
} else {
|
||
log_info("lsm6dsl Device init fail!\n");
|
||
imu_busy = 0;
|
||
return -1;
|
||
}
|
||
}
|
||
|
||
|
||
int lsm6dsl_dev_ctl(u8 cmd, void *arg);
|
||
REGISTER_IMU_SENSOR(lsm6dsl_sensor) = {
|
||
.logo = "lsm6dsl",
|
||
.imu_sensor_init = lsm6dsl_dev_init,
|
||
.imu_sensor_check = NULL,
|
||
.imu_sensor_ctl = lsm6dsl_dev_ctl,
|
||
};
|
||
|
||
int lsm6dsl_dev_ctl(u8 cmd, void *arg)
|
||
{
|
||
int ret = -1;
|
||
u8 status_temp = 0;
|
||
/* lsm6dsl_status_reg_t status_temp; */
|
||
if (lsm6dsl_init_flag == 0) {
|
||
log_error("lsm6dsl init fail!");
|
||
return ret;//0:ok,,<0:err
|
||
}
|
||
if (imu_busy) {
|
||
log_error("lsm6dsl busy!");
|
||
return ret;//0:ok,,<0:err
|
||
}
|
||
imu_busy = 1;
|
||
switch (cmd) {
|
||
case IMU_GET_SENSOR_NAME:
|
||
memcpy((u8 *)arg, &(lsm6dsl_sensor.logo), 20);
|
||
ret = 0;
|
||
break;
|
||
case IMU_SENSOR_ENABLE: //enable demand cali
|
||
/* cbuf_init(&hrsensor_cbuf, hrsensorcbuf, 24 * sizeof(int)); */
|
||
lsm6dsl_init();
|
||
ret = 0;
|
||
break;
|
||
case IMU_SENSOR_DISABLE:
|
||
/* cbuf_clear(&hrsensor_cbuf); */
|
||
//close power
|
||
lsm6dsl_xl_power_down();
|
||
lsm6dsl_g_power_down();
|
||
ret = 0;
|
||
break;
|
||
case IMU_SENSOR_RESET://reset后必须enable
|
||
/* Restore default configuration */
|
||
u8 rst;
|
||
lsm6dsl_reset_set(&lsm6dsl_ctx, PROPERTY_ENABLE);
|
||
do {
|
||
lsm6dsl_reset_get(&lsm6dsl_ctx, &rst);
|
||
} while (rst);
|
||
ret = 0;
|
||
break;
|
||
case IMU_SENSOR_SLEEP:
|
||
if ((lsm6dsl_xl_power_down()) && (lsm6dsl_g_power_down())) {
|
||
log_info("lsm6dsl enter sleep ok!");
|
||
ret = 0;
|
||
} else {
|
||
log_error("lsm6dsl enter sleep fail!");
|
||
}
|
||
break;
|
||
case IMU_SENSOR_WAKEUP: //disable demand cali
|
||
if ((lsm6dsl_xl_wake_up()) && (lsm6dsl_g_wake_up())) {
|
||
log_info("lsm6dsl wakeup ok!");
|
||
ret = 0;
|
||
} else {
|
||
log_error("lsm6dsl wakeup fail!");
|
||
}
|
||
break;
|
||
case IMU_SENSOR_INT_DET://传感器中断状态检查
|
||
break;
|
||
case IMU_SENSOR_DATA_READY://传感器数据准备就绪待读
|
||
break;
|
||
case IMU_SENSOR_CHECK_DATA://检查传感器缓存buf是否存满
|
||
break;
|
||
case IMU_SENSOR_READ_DATA://默认读传感器所有数据
|
||
lsm6dsl_read_reg(&lsm6dsl_ctx, LSM6DSL_STATUS_REG, (uint8_t *)&status_temp, 1);
|
||
/* log_info("status:0x%x", status_temp); */
|
||
if (status_temp & 0x03) {
|
||
lsm6dsl_read_raw_acc_gyro_xyz(&lsm6dsl_ctx, arg);//获取原始值
|
||
ret = 0;
|
||
}
|
||
break;
|
||
case IMU_GET_ACCEL_DATA://加速度数据
|
||
/* float TempData = 0.0; */
|
||
lsm6dsl_read_reg(&lsm6dsl_ctx, LSM6DSL_STATUS_REG, (uint8_t *)&status_temp, 1);
|
||
/* log_info("status:0x%x", status_temp); */
|
||
if (status_temp & 0x01) {
|
||
lsm6dsl_read_raw_acc_xyz(&lsm6dsl_ctx, arg);//获取原始值
|
||
ret = 0;
|
||
/* TempData = lsm6dsl_read_temperature(&lsm6dsl_ctx); */
|
||
}
|
||
break;
|
||
case IMU_GET_GYRO_DATA://陀螺仪数据
|
||
lsm6dsl_read_reg(&lsm6dsl_ctx, LSM6DSL_STATUS_REG, (uint8_t *)&status_temp, 1);
|
||
/* log_info("status:0x%x", status_temp); */
|
||
if (status_temp & 0x02) {
|
||
lsm6dsl_read_raw_gyro_xyz(&lsm6dsl_ctx, arg);//获取原始值
|
||
ret = 0;
|
||
}
|
||
break;
|
||
case IMU_GET_MAG_DATA://磁力计数据
|
||
log_error("lsm6dsl have no mag!\n");
|
||
break;
|
||
case IMU_SENSOR_SEARCH://检查传感器id
|
||
lsm6dsl_device_id(&lsm6dsl_ctx, (u8 *)arg);
|
||
if (*(u8 *)arg == LSM6DSL_ID) {
|
||
ret = 0;
|
||
log_info("lsm6dsl online!\n");
|
||
} else {
|
||
log_error("lsm6dsl offline!\n");
|
||
}
|
||
break;
|
||
case IMU_GET_SENSOR_STATUS://获取传感器状态
|
||
lsm6dsl_read_reg(&lsm6dsl_ctx, LSM6DSL_STATUS_REG, (uint8_t *)&status_temp, 1);
|
||
*(u8 *)arg = status_temp;
|
||
ret = 0;
|
||
break;
|
||
case IMU_SET_SENSOR_FIFO_CONFIG://配置传感器FIFO
|
||
#if (LSM6DSL_USE_FIFO_EN)
|
||
/* u8 *tmp = (u8 *)arg; */
|
||
/* u8 wm_th = tmp[0]; */
|
||
/* u8 fifo_size = tmp[1];//Qmi8658_Fifo_64 */
|
||
/* u8 fifo_mode = tmp[2];//Qmi8658_Fifo_Stream */
|
||
/* u8 fifo_format = tmp[3];//QMI8658_FORMAT_12_BYTES */
|
||
/* Qmi8658_config_fifo(wm_th, fifo_size, fifo_mode, fifo_format); */
|
||
ret = 0;
|
||
#endif
|
||
break;
|
||
case IMU_GET_SENSOR_READ_FIFO://读取传感器FIFO数据
|
||
#if (LSM6DSL_USE_FIFO_EN)
|
||
ret = lsm6dsl_read_fifo(&lsm6dsl_ctx, (u8 *)arg);
|
||
#endif
|
||
break;
|
||
case IMU_SET_SENSOR_TEMP_DISABLE://温度传感器无法控制
|
||
u8 temp = *(u8 *)arg;
|
||
ret = 0;
|
||
break;
|
||
default:
|
||
log_error("--cmd err!\n");
|
||
break;
|
||
}
|
||
imu_busy = 0;
|
||
return ret;//0:ok,,<0:err
|
||
|
||
}
|
||
|
||
|
||
|
||
|
||
|
||
|
||
/***************************lsm6dsl test*******************************/
|
||
#if 0 //测试
|
||
static lsm6dsl_param lsm6dsl_info_test = {
|
||
#if (LSM6DSL_USER_INTERFACE==LSM6DSL_USE_I2C)
|
||
.iic_hdl = 0,
|
||
.iic_delay = 0, //这个延时并非影响iic的时钟频率，而是2Byte数据之间的延时
|
||
#elif (LSM6DSL_USER_INTERFACE==LSM6DSL_USE_SPI)
|
||
.spi_hdl = 1, //SPIx (role:master)
|
||
.spi_cs_pin = IO_PORTA_05, //
|
||
.spi_work_mode = 0; //4wire
|
||
#endif
|
||
};
|
||
|
||
|
||
|
||
/* Main Example --------------------------------------------------------------*/
|
||
/* Private variables ---------------------------------------------------------*/
|
||
static axis3bit16_t data_raw;
|
||
static axis3bit32_t acceleration_mg;
|
||
static axis3bit32_t angular_rate_mdps;
|
||
static axis1bit16_t temperature_deg_c;
|
||
static uint8_t USBbuffer[5000];
|
||
int example_main(void)
|
||
{
|
||
if (lsm6dsl_sensor_init(&lsm6dsl_info_test)) {
|
||
//ok
|
||
}
|
||
/*
|
||
* Read samples in polling mode (no int)
|
||
*/
|
||
u16 fifo_cnt = 0;
|
||
static axis3bit16_t data_raw_acc;
|
||
local_irq_disable();
|
||
while (1) {
|
||
#if (LSM6DSL_USE_FIFO_EN)
|
||
fifo_cnt = lsm6dsl_read_fifo(&lsm6dsl_ctx, USBbuffer);
|
||
if (fifo_cnt > 0) {
|
||
for (u16 i = 0; i < 84; i++) {
|
||
memcpy((u8 *)&data_raw, USBbuffer + i * 12, 6);
|
||
memcpy((u8 *)&data_raw_acc, USBbuffer + i * 12 + 6, 6);
|
||
printf("gy:%6d\t%6d\t%6d\t\txl:%6d\t%6d\t%6d, %d", data_raw.i16bit[0], data_raw.i16bit[1], data_raw.i16bit[2], data_raw_acc.i16bit[0], data_raw_acc.i16bit[1], data_raw_acc.i16bit[2], i);
|
||
}
|
||
memset(USBbuffer, 0, 1024);
|
||
}
|
||
#else
|
||
/*
|
||
* Read output only if new value is available
|
||
*/
|
||
lsm6dsl_status_reg_t status_reg;
|
||
lsm6dsl_read_reg(&lsm6dsl_ctx, LSM6DSL_STATUS_REG, (uint8_t *)&status_reg, 1);
|
||
log_info("status reg:0x%x", *((u8 *)&status_reg));
|
||
lsm6dsl_read_reg(&lsm6dsl_ctx, LSM6DSL_STATUS_REG, (uint8_t *)&status_reg, 1);
|
||
log_info("status reg:0x%x", *((u8 *)&status_reg));
|
||
|
||
if (status_reg.gda) {
|
||
lsm6dsl_angular_rate_raw(&lsm6dsl_ctx, &data_raw);
|
||
angular_rate_mdps.i32bit[0] = FROM_FS_1000dps_TO_mdps(data_raw.i16bit[0]);
|
||
angular_rate_mdps.i32bit[1] = FROM_FS_1000dps_TO_mdps(data_raw.i16bit[1]);
|
||
angular_rate_mdps.i32bit[2] = FROM_FS_1000dps_TO_mdps(data_raw.i16bit[2]);
|
||
|
||
printf("gy:%6d\t%6d\t%6d\t\t", data_raw.i16bit[0], data_raw.i16bit[1], data_raw.i16bit[2]);
|
||
printf("gy:%6d\t%6d\t%6d\r\n", angular_rate_mdps.i32bit[0], angular_rate_mdps.i32bit[1], angular_rate_mdps.i32bit[2]);
|
||
}
|
||
|
||
if (status_reg.xlda) {
|
||
lsm6dsl_acceleration_raw(&lsm6dsl_ctx, &data_raw);
|
||
acceleration_mg.i32bit[0] = FROM_FS_4g_TO_mg(data_raw.i16bit[0]);
|
||
acceleration_mg.i32bit[1] = FROM_FS_4g_TO_mg(data_raw.i16bit[1]);
|
||
acceleration_mg.i32bit[2] = FROM_FS_4g_TO_mg(data_raw.i16bit[2]);
|
||
|
||
printf("xl:%6d\t%6d\t%6d\t\t", data_raw.i16bit[0], data_raw.i16bit[1], data_raw.i16bit[2]);
|
||
printf("xl:%6d\t%6d\t%6d\r\n", acceleration_mg.i32bit[0],
|
||
acceleration_mg.i32bit[1], acceleration_mg.i32bit[2]);
|
||
}
|
||
/*
|
||
* If the gyroscope is not in Power-Down mode, the temperature data rate
|
||
* is equal to 52Hz, regardless of the accelerometer and gyroscope
|
||
* configuration. (Ref AN5040)
|
||
*/
|
||
if (status_reg.tda) {
|
||
lsm6dsl_temperature_raw(&lsm6dsl_ctx, &temperature_deg_c);
|
||
printf("temp:%3d\t\t", temperature_deg_c.i16bit);
|
||
temperature_deg_c.i16bit = FROM_LSB_TO_degC(temperature_deg_c.i16bit);
|
||
|
||
printf("temp:%3d\r\n", temperature_deg_c.i16bit);
|
||
}
|
||
#endif
|
||
mdelay(100);
|
||
wdt_clear();
|
||
}
|
||
return 0;
|
||
}
|
||
|
||
#endif
|
||
|
||
|
||
|
||
#endif
|