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/** ****************************************************************************** * @file lsm6ds3.c * @author MEMS Applica
tion Team * @version V1.2.0 * @date 28-May-2015 * @brief This file provides a set of functions needed to manage the LSM6DS3 sensor ****************************************************************************** * @attention * *
© COPYRIGHT(c) 2015 STMicroelectronics
* * Redistribution and use in source and binary forms, with or without modification, * are permitted provided that the following conditions are met: * 1. Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * 3. Neither the name of STMicroelectronics nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************** *//* Includes ------------------------------------------------------------------*/#include "lsm6ds3.h"#include
/** @addtogroup BSP * @{ *//** @addtogroup Components * @{ *//** @addtogroup LSM6DS3 * @{ */static IMU_6AXES_StatusTypeDef LSM6DS3_Init( IMU_6AXES_InitTypeDef *LSM6DS3_Init );static IMU_6AXES_StatusTypeDef LSM6DS3_Read_XG_ID( uint8_t *xg_id);static IMU_6AXES_StatusTypeDef LSM6DS3_X_GetAxes( int32_t *pData );static IMU_6AXES_StatusTypeDef LSM6DS3_X_GetAxesRaw(int16_t *pData);static IMU_6AXES_StatusTypeDef LSM6DS3_G_GetAxes( int32_t *pData );static IMU_6AXES_StatusTypeDef LSM6DS3_G_GetAxesRaw(int16_t *pData);static IMU_6AXES_StatusTypeDef LSM6DS3_X_Get_ODR( float *odr );static IMU_6AXES_StatusTypeDef LSM6DS3_X_Set_ODR( float odr );static IMU_6AXES_StatusTypeDef LSM6DS3_X_GetSensitivity( float *pfData );static IMU_6AXES_StatusTypeDef LSM6DS3_X_Get_FS( float *fullScale );static IMU_6AXES_StatusTypeDef LSM6DS3_X_Set_FS( float fullScale );static IMU_6AXES_StatusTypeDef LSM6DS3_G_Get_ODR( float *odr );static IMU_6AXES_StatusTypeDef LSM6DS3_G_Set_ODR( float odr );static IMU_6AXES_StatusTypeDef LSM6DS3_G_GetSensitivity( float *pfData );static IMU_6AXES_StatusTypeDef LSM6DS3_G_Get_FS( float *fullScale );static IMU_6AXES_StatusTypeDef LSM6DS3_G_Set_FS( float fullScale );static IMU_6AXES_StatusTypeDef LSM6DS3_Enable_Free_Fall_Detection( void );static IMU_6AXES_StatusTypeDef LSM6DS3_Disable_Free_Fall_Detection( void );static IMU_6AXES_StatusTypeDef LSM6DS3_Get_Status_Free_Fall_Detection( uint8_t *status );/** @addtogroup LSM6DS3_Private_Variables LSM6DS3_Private_Variables * @{ */IMU_6AXES_DrvTypeDef LSM6DS3Drv ={ LSM6DS3_Init, LSM6DS3_Read_XG_ID, LSM6DS3_X_GetAxes, LSM6DS3_X_GetAxesRaw, LSM6DS3_G_GetAxes, LSM6DS3_G_GetAxesRaw, LSM6DS3_X_Get_ODR, LSM6DS3_X_Set_ODR, LSM6DS3_X_GetSensitivity, LSM6DS3_X_Get_FS, LSM6DS3_X_Set_FS, LSM6DS3_G_Get_ODR, LSM6DS3_G_Set_ODR, LSM6DS3_G_GetSensitivity, LSM6DS3_G_Get_FS, LSM6DS3_G_Set_FS, NULL};LSM6DS3_DrvExtTypeDef LSM6DS3Drv_ext_internal ={ LSM6DS3_Enable_Free_Fall_Detection, LSM6DS3_Disable_Free_Fall_Detection, LSM6DS3_Get_Status_Free_Fall_Detection};IMU_6AXES_DrvExtTypeDef LSM6DS3Drv_ext ={ IMU_6AXES_LSM6DS3_DIL24_COMPONENT, /* unique ID for LSM6DS3 in the IMU 6-axes driver class */ &LSM6DS3Drv_ext_internal /* pointer to internal struct of extended features of LSM6DS3 */};/** * @} */static IMU_6AXES_StatusTypeDef LSM6DS3_Common_Sensor_Enable(void);static IMU_6AXES_StatusTypeDef LSM6DS3_X_Set_Axes_Status(uint8_t enableX, uint8_t enableY, uint8_t enableZ);static IMU_6AXES_StatusTypeDef LSM6DS3_G_Set_Axes_Status(uint8_t enableX, uint8_t enableY, uint8_t enableZ);/** @addtogroup LSM6DS3_Private_Functions LSM6DS3_Private_Functions * @{ *//** * @brief Set LSM6DS3 Initialization * @param LSM6DS3_Init the configuration setting for the LSM6DS3 * @retval IMU_6AXES_OK in case of success, an error code otherwise */static IMU_6AXES_StatusTypeDef LSM6DS3_Init( IMU_6AXES_InitTypeDef *LSM6DS3_Init ){ /*Here we have to add the check if the parameters are valid*/ /* Configure the low level interface -------------------------------------*/ if(LSM6DS3_IO_Init() != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } /******** Common init *********/ if(LSM6DS3_Common_Sensor_Enable() != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } /******* Gyroscope init *******/ if(LSM6DS3_G_Set_ODR( LSM6DS3_Init->G_OutputDataRate ) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } if(LSM6DS3_G_Set_FS( LSM6DS3_Init->G_FullScale ) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } if(LSM6DS3_G_Set_Axes_Status(LSM6DS3_Init->G_X_Axis, LSM6DS3_Init->G_Y_Axis, LSM6DS3_Init->G_Z_Axis) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } /***** Accelerometer init *****/ if(LSM6DS3_X_Set_ODR( LSM6DS3_Init->X_OutputDataRate ) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } if(LSM6DS3_X_Set_FS( LSM6DS3_Init->X_FullScale ) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } if(LSM6DS3_X_Set_Axes_Status(LSM6DS3_Init->X_X_Axis, LSM6DS3_Init->X_Y_Axis, LSM6DS3_Init->X_Z_Axis) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } /* Configure interrupt lines */ LSM6DS3_IO_ITConfig(); return IMU_6AXES_OK;}/** * @brief Read ID of LSM6DS3 Accelerometer and Gyroscope * @param xg_id the pointer where the ID of the device is stored * @retval IMU_6AXES_OK in case of success, an error code otherwise */static IMU_6AXES_StatusTypeDef LSM6DS3_Read_XG_ID( uint8_t *xg_id){ if(!xg_id) { return IMU_6AXES_ERROR; } return LSM6DS3_IO_Read(xg_id, LSM6DS3_XG_MEMS_ADDRESS, LSM6DS3_XG_WHO_AM_I_ADDR, 1);}/** * @brief Set LSM6DS3 common initialization * @retval IMU_6AXES_OK in case of success, an error code otherwise */static IMU_6AXES_StatusTypeDef LSM6DS3_Common_Sensor_Enable(void){ uint8_t tmp1 = 0x00; if(LSM6DS3_IO_Read(&tmp1, LSM6DS3_XG_MEMS_ADDRESS, LSM6DS3_XG_CTRL3_C, 1) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } /* Enable register address automatically incremented during a multiple byte access with a serial interface (I2C or SPI) */ tmp1 &= ~(LSM6DS3_XG_IF_INC_MASK); tmp1 |= LSM6DS3_XG_IF_INC; if(LSM6DS3_IO_Write(&tmp1, LSM6DS3_XG_MEMS_ADDRESS, LSM6DS3_XG_CTRL3_C, 1) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } if(LSM6DS3_IO_Read(&tmp1, LSM6DS3_XG_MEMS_ADDRESS, LSM6DS3_XG_FIFO_CTRL5, 1) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } /* FIFO ODR selection */ tmp1 &= ~(LSM6DS3_XG_FIFO_ODR_MASK); tmp1 |= LSM6DS3_XG_FIFO_ODR_NA; /* FIFO mode selection */ tmp1 &= ~(LSM6DS3_XG_FIFO_MODE_MASK); tmp1 |= LSM6DS3_XG_FIFO_MODE_BYPASS; if(LSM6DS3_IO_Write(&tmp1, LSM6DS3_XG_MEMS_ADDRESS, LSM6DS3_XG_FIFO_CTRL5, 1) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } return IMU_6AXES_OK;}/** * @brief Read raw data from LSM6DS3 Accelerometer output register * @param pData the pointer where the accelerometer raw data are stored * @retval IMU_6AXES_OK in case of success, an error code otherwise */static IMU_6AXES_StatusTypeDef LSM6DS3_X_GetAxesRaw( int16_t *pData ){ /*Here we have to add the check if the parameters are valid*/ uint8_t tempReg[2] = {0, 0}; if(LSM6DS3_IO_Read(&tempReg[0], LSM6DS3_XG_MEMS_ADDRESS, LSM6DS3_XG_OUT_X_L_XL, 2) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } pData[0] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]); if(LSM6DS3_IO_Read(&tempReg[0], LSM6DS3_XG_MEMS_ADDRESS, LSM6DS3_XG_OUT_Y_L_XL, 2) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } pData[1] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]); if(LSM6DS3_IO_Read(&tempReg[0], LSM6DS3_XG_MEMS_ADDRESS, LSM6DS3_XG_OUT_Z_L_XL, 2) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } pData[2] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]); return IMU_6AXES_OK;}/** * @brief Read data from LSM6DS3 Accelerometer and calculate linear acceleration in mg * @param pData the pointer where the accelerometer data are stored * @retval IMU_6AXES_OK in case of success, an error code otherwise */static IMU_6AXES_StatusTypeDef LSM6DS3_X_GetAxes( int32_t *pData ){ /*Here we have to add the check if the parameters are valid*/ int16_t pDataRaw[3]; float sensitivity = 0.0f; if(LSM6DS3_X_GetAxesRaw(pDataRaw) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } if(LSM6DS3_X_GetSensitivity( &sensitivity ) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } pData[0] = (int32_t)(pDataRaw[0] * sensitivity); pData[1] = (int32_t)(pDataRaw[1] * sensitivity); pData[2] = (int32_t)(pDataRaw[2] * sensitivity); return IMU_6AXES_OK;}/** * @brief Read raw data from LSM6DS3 Gyroscope output register * @param pData the pointer where the gyroscope raw data are stored * @retval IMU_6AXES_OK in case of success, an error code otherwise */static IMU_6AXES_StatusTypeDef LSM6DS3_G_GetAxesRaw( int16_t *pData ){ /*Here we have to add the check if the parameters are valid*/ uint8_t tempReg[2] = {0, 0}; if(LSM6DS3_IO_Read(&tempReg[0], LSM6DS3_XG_MEMS_ADDRESS, LSM6DS3_XG_OUT_X_L_G, 2) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } pData[0] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]); if(LSM6DS3_IO_Read(&tempReg[0], LSM6DS3_XG_MEMS_ADDRESS, LSM6DS3_XG_OUT_Y_L_G, 2) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } pData[1] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]); if(LSM6DS3_IO_Read(&tempReg[0], LSM6DS3_XG_MEMS_ADDRESS, LSM6DS3_XG_OUT_Z_L_G, 2) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } pData[2] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]); return IMU_6AXES_OK;}/** * @brief Set the status of the axes for accelerometer * @param enableX the status of the x axis to be set * @param enableY the status of the y axis to be set * @param enableZ the status of the z axis to be set * @retval IMU_6AXES_OK in case of success, an error code otherwise */static IMU_6AXES_StatusTypeDef LSM6DS3_X_Set_Axes_Status(uint8_t enableX, uint8_t enableY, uint8_t enableZ){ uint8_t tmp1 = 0x00; uint8_t eX = 0x00; uint8_t eY = 0x00; uint8_t eZ = 0x00; eX = ( enableX == 0 ) ? LSM6DS3_XL_XEN_DISABLE : LSM6DS3_XL_XEN_ENABLE; eY = ( enableY == 0 ) ? LSM6DS3_XL_YEN_DISABLE : LSM6DS3_XL_YEN_ENABLE; eZ = ( enableZ == 0 ) ? LSM6DS3_XL_ZEN_DISABLE : LSM6DS3_XL_ZEN_ENABLE; if(LSM6DS3_IO_Read(&tmp1, LSM6DS3_XG_MEMS_ADDRESS, LSM6DS3_XG_CTRL9_XL, 1) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } /* Enable X axis selection */ tmp1 &= ~(LSM6DS3_XL_XEN_MASK); tmp1 |= eX; /* Enable Y axis selection */ tmp1 &= ~(LSM6DS3_XL_YEN_MASK); tmp1 |= eY; /* Enable Z axis selection */ tmp1 &= ~(LSM6DS3_XL_ZEN_MASK); tmp1 |= eZ; if(LSM6DS3_IO_Write(&tmp1, LSM6DS3_XG_MEMS_ADDRESS, LSM6DS3_XG_CTRL9_XL, 1) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } return IMU_6AXES_OK;}/** * @brief Set the status of the axes for gyroscope * @param enableX the status of the x axis to be set * @param enableY the status of the y axis to be set * @param enableZ the status of the z axis to be set * @retval IMU_6AXES_OK in case of success, an error code otherwise */static IMU_6AXES_StatusTypeDef LSM6DS3_G_Set_Axes_Status(uint8_t enableX, uint8_t enableY, uint8_t enableZ){ uint8_t tmp1 = 0x00; uint8_t eX = 0x00; uint8_t eY = 0x00; uint8_t eZ = 0x00; eX = ( enableX == 0 ) ? LSM6DS3_G_XEN_DISABLE : LSM6DS3_G_XEN_ENABLE; eY = ( enableY == 0 ) ? LSM6DS3_G_YEN_DISABLE : LSM6DS3_G_YEN_ENABLE; eZ = ( enableZ == 0 ) ? LSM6DS3_G_ZEN_DISABLE : LSM6DS3_G_ZEN_ENABLE; if(LSM6DS3_IO_Read(&tmp1, LSM6DS3_XG_MEMS_ADDRESS, LSM6DS3_XG_CTRL10_C, 1) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } /* Enable X axis selection */ tmp1 &= ~(LSM6DS3_G_XEN_MASK); tmp1 |= eX; /* Enable Y axis selection */ tmp1 &= ~(LSM6DS3_G_YEN_MASK); tmp1 |= eY; /* Enable Z axis selection */ tmp1 &= ~(LSM6DS3_G_ZEN_MASK); tmp1 |= eZ; if(LSM6DS3_IO_Write(&tmp1, LSM6DS3_XG_MEMS_ADDRESS, LSM6DS3_XG_CTRL10_C, 1) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } return IMU_6AXES_OK;}/** * @brief Read data from LSM6DS3 Gyroscope and calculate angular rate in mdps * @param pData the pointer where the gyroscope data are stored * @retval IMU_6AXES_OK in case of success, an error code otherwise */static IMU_6AXES_StatusTypeDef LSM6DS3_G_GetAxes( int32_t *pData ){ /*Here we have to add the check if the parameters are valid*/ int16_t pDataRaw[3]; float sensitivity = 0.0f; if(LSM6DS3_G_GetAxesRaw(pDataRaw) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } if(LSM6DS3_G_GetSensitivity( &sensitivity ) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } pData[0] = (int32_t)(pDataRaw[0] * sensitivity); pData[1] = (int32_t)(pDataRaw[1] * sensitivity); pData[2] = (int32_t)(pDataRaw[2] * sensitivity); return IMU_6AXES_OK;}/** * @brief Read Accelero Output Data Rate * @param odr the pointer where the accelerometer output data rate is stored * @retval IMU_6AXES_OK in case of success, an error code otherwise */static IMU_6AXES_StatusTypeDef LSM6DS3_X_Get_ODR( float *odr ){ /*Here we have to add the check if the parameters are valid*/ uint8_t tempReg = 0x00; if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_MEMS_ADDRESS, LSM6DS3_XG_CTRL1_XL, 1 ) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } tempReg &= LSM6DS3_XL_ODR_MASK; switch( tempReg ) { case LSM6DS3_XL_ODR_PD: *odr = 0.0f; break; case LSM6DS3_XL_ODR_13HZ: *odr = 13.0f; break; case LSM6DS3_XL_ODR_26HZ: *odr = 26.0f; break; case LSM6DS3_XL_ODR_52HZ: *odr = 52.0f; break; case LSM6DS3_XL_ODR_104HZ: *odr = 104.0f; break; case LSM6DS3_XL_ODR_208HZ: *odr = 208.0f; break; case LSM6DS3_XL_ODR_416HZ: *odr = 416.0f; break; case LSM6DS3_XL_ODR_833HZ: *odr = 833.0f; break; case LSM6DS3_XL_ODR_1660HZ: *odr = 1660.0f; break; case LSM6DS3_XL_ODR_3330HZ: *odr = 3330.0f; break; case LSM6DS3_XL_ODR_6660HZ: *odr = 6660.0f; break; default: break; } return IMU_6AXES_OK;}/** * @brief Write Accelero Output Data Rate * @param odr the accelerometer output data rate to be set * @retval IMU_6AXES_OK in case of success, an error code otherwise */static IMU_6AXES_StatusTypeDef LSM6DS3_X_Set_ODR( float odr ){ uint8_t new_odr = 0x00; uint8_t tempReg = 0x00; new_odr = ( odr <= 0.0f ) ? LSM6DS3_XL_ODR_PD /* Power Down */ : ( odr <= 13.0f ) ? LSM6DS3_XL_ODR_13HZ : ( odr <= 26.0f ) ? LSM6DS3_XL_ODR_26HZ : ( odr <= 52.0f ) ? LSM6DS3_XL_ODR_52HZ : ( odr <= 104.0f ) ? LSM6DS3_XL_ODR_104HZ : ( odr <= 208.0f ) ? LSM6DS3_XL_ODR_208HZ : ( odr <= 416.0f ) ? LSM6DS3_XL_ODR_416HZ : ( odr <= 833.0f ) ? LSM6DS3_XL_ODR_833HZ : ( odr <= 1660.0f ) ? LSM6DS3_XL_ODR_1660HZ : ( odr <= 3330.0f ) ? LSM6DS3_XL_ODR_3330HZ : LSM6DS3_XL_ODR_6660HZ; if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_MEMS_ADDRESS, LSM6DS3_XG_CTRL1_XL, 1 ) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } tempReg &= ~(LSM6DS3_XL_ODR_MASK); tempReg |= new_odr; if(LSM6DS3_IO_Write(&tempReg, LSM6DS3_XG_MEMS_ADDRESS, LSM6DS3_XG_CTRL1_XL, 1) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } return IMU_6AXES_OK;}/** * @brief Read Accelero Sensitivity * @param pfData the pointer where the accelerometer sensitivity is stored * @retval IMU_6AXES_OK in case of success, an error code otherwise */static IMU_6AXES_StatusTypeDef LSM6DS3_X_GetSensitivity( float *pfData ){ /*Here we have to add the check if the parameters are valid*/ uint8_t tempReg = 0x00; if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_MEMS_ADDRESS, LSM6DS3_XG_CTRL1_XL, 1 ) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } tempReg &= LSM6DS3_XL_FS_MASK; switch( tempReg ) { case LSM6DS3_XL_FS_2G: *pfData = 0.061f; break; case LSM6DS3_XL_FS_4G: *pfData = 0.122f; break; case LSM6DS3_XL_FS_8G: *pfData = 0.244f; break; case LSM6DS3_XL_FS_16G: *pfData = 0.488f; break; default: break; } return IMU_6AXES_OK;}/** * @brief Read Accelero Full Scale * @param fullScale the pointer where the accelerometer full scale is stored * @retval IMU_6AXES_OK in case of success, an error code otherwise */static IMU_6AXES_StatusTypeDef LSM6DS3_X_Get_FS( float *fullScale ){ /*Here we have to add the check if the parameters are valid*/ uint8_t tempReg = 0x00; if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_MEMS_ADDRESS, LSM6DS3_XG_CTRL1_XL, 1 ) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } tempReg &= LSM6DS3_XL_FS_MASK; switch( tempReg ) { case LSM6DS3_XL_FS_2G: *fullScale = 2.0f; break; case LSM6DS3_XL_FS_4G: *fullScale = 4.0f; break; case LSM6DS3_XL_FS_8G: *fullScale = 8.0f; break; case LSM6DS3_XL_FS_16G: *fullScale = 16.0f; break; default: break; } return IMU_6AXES_OK;}/** * @brief Write Accelero Full Scale * @param fullScale the accelerometer full scale to be set * @retval IMU_6AXES_OK in case of success, an error code otherwise */static IMU_6AXES_StatusTypeDef LSM6DS3_X_Set_FS( float fullScale ){ uint8_t new_fs = 0x00; uint8_t tempReg = 0x00; new_fs = ( fullScale <= 2.0f ) ? LSM6DS3_XL_FS_2G : ( fullScale <= 4.0f ) ? LSM6DS3_XL_FS_4G : ( fullScale <= 8.0f ) ? LSM6DS3_XL_FS_8G : LSM6DS3_XL_FS_16G; if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_MEMS_ADDRESS, LSM6DS3_XG_CTRL1_XL, 1 ) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } tempReg &= ~(LSM6DS3_XL_FS_MASK); tempReg |= new_fs; if(LSM6DS3_IO_Write(&tempReg, LSM6DS3_XG_MEMS_ADDRESS, LSM6DS3_XG_CTRL1_XL, 1) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } return IMU_6AXES_OK;}/** * @brief Read Gyro Output Data Rate * @param odr the pointer where the gyroscope output data rate is stored * @retval IMU_6AXES_OK in case of success, an error code otherwise */static IMU_6AXES_StatusTypeDef LSM6DS3_G_Get_ODR( float *odr ){ /*Here we have to add the check if the parameters are valid*/ uint8_t tempReg = 0x00; if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_MEMS_ADDRESS, LSM6DS3_XG_CTRL2_G, 1 ) != IMU_6AXES_OK) { return IMU_6AXES_ERROR; } tempReg &= LSM6DS3_G_ODR_MASK; switch( tempReg ) { case LSM6DS3_G_ODR_PD: *odr = 0.0f; break; case LSM6DS3_G_ODR_13HZ: *odr = 13.0f; break; case LSM6DS3_G_ODR_26HZ: *odr = 26.0f; break; case LSM6DS3_G_ODR_52HZ: *odr = 52.0f;
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