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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/* </span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * File: LSM6DS3.c</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> * Copyright (c) 2017, Electronut Labs All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Copyright (c) 2018 Appiko</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * Created on 26 February, 2019, 12:54 PM</span></div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> * Author: Tejas Vasekar (https://github.com/tejas-tj)</span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * All rights reserved.</span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> * </span></div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> * modification, are permitted provided that the following conditions are met:</span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> *</span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> * 1. Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> *</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * 2. Redistributions in binary form must reproduce the above copyright notice,</span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * this list of conditions and the following disclaimer in the documentation</span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> *</span></div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * 3. Neither the name of the copyright holder nor the names of its contributors</span></div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> * may be used to endorse or promote products derived from this software without</span></div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * specific prior written permission.</span></div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> *</span></div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"</span></div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE</span></div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE</span></div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE</span></div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR </span></div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF </span></div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS</span></div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN </span></div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) </span></div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE</span></div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> */</span></div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#include "stdlib.h"</span></div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#include "time.h"</span></div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="preprocessor">#include "LSM6DS3.h"</span></div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="preprocessor">#include "hal_twim.h"</span></div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="preprocessor">#include "common_util.h"</span></div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="preprocessor">#include "app_error.h"</span></div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="preprocessor">#include "log.h"</span></div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="preprocessor">#include "nrf_util.h"</span></div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="preprocessor">#include "hal_nop_delay.h"</span></div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span> uint8_t who_am_i = 0;</div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="keyword">static</span> <span class="keyword">struct </span>IMU_settings settings;</div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span> </div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span> uint8_t * p_lsm3d_ = (uint8_t *)LSM6DS3_ADDR;</div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span> </div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="keywordtype">void</span> twim_evt_handler (<a class="code" href="group__group__twim__driver.html#ga3fd95e05a0d5d82a9c9c249f3e93dc8b">twim_err_t</a> evt, <a class="code" href="group__group__twim__driver.html#ga785d6175219d5860c870a14fb42d8f3a">twim_transfer_t</a> transfer)</div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span> {</div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <span class="comment">// log_printf("%s : %d, %d\n", __func__, evt, transfer);</span></div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span> }</div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span> </div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <a class="code" href="structhal__twim__init__config__t.html">hal_twim_init_config_t</a> LSM6D_twi_config = </div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span> {</div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  .<a class="code" href="structhal__twim__init__config__t.html#ab97332832052ba9ef94e47d92a40205a">address</a> = LSM6DS3_ADDR,</div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  .irq_priority = APP_IRQ_PRIORITY_MID,</div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  .evt_handler = twim_evt_handler,</div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  .sda = SDA_PIN,</div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  .scl = SCL_PIN,</div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  .evt_mask = (TWIM_TX_RX_DONE_MSK|TWIM_RX_DONE_MSK|TWIM_TX_DONE_MSK),</div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  .frequency = <a class="code" href="group__group__twim__driver.html#gga8177600c556e270e6001165bcd8d22cda6fd2c877d48854a523c34c954c6c5f2c">HAL_TWI_FREQ_100K</a>,</div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span> };</div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span> </div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span> </div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span> </div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span> <span class="keywordtype">void</span> LSM6DS3_who_am_i(<span class="keywordtype">void</span>)</div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span> {</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <a class="code" href="group__group__twim__driver.html#ga2906152d9b6f5a340d72f97b79e77ab7">twim_ret_status</a> err_code;</div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  uint8_t p_wmi_reg = WHO_AM_I;</div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span> <span class="comment">// log_printf("Pointer : %x\n",*p_wmi_reg);</span></div><div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  err_code = <a class="code" href="group__group__twim__driver.html#ga94194672489a78d038dbb7ce0a04360e">hal_twim_tx_rx</a> (&p_wmi_reg, <span class="keyword">sizeof</span>(who_am_i), &who_am_i, <span class="keyword">sizeof</span>(who_am_i));</div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  </div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span> <span class="comment">// err_code = read_register(p_twi_sensors, LSM6DS3_ADDR, WHO_AM_I, &who_am_i, 1, false);</span></div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  </div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  log_printf(<span class="stringliteral">"Status : %d, %d\n"</span>, err_code, __LINE__);</div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  hal_nop_delay_ms(10);</div><div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  log_printf(<span class="stringliteral">"%s : %x\n"</span>,__func__, who_am_i);</div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span> }</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span> </div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span> </div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span> <span class="keywordtype">void</span> LSM6DS3_init(<span class="keywordtype">void</span>)</div><div class="line"><a name="l00099"></a><span class="lineno"> 99</span> {</div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <a class="code" href="group__group__twim__driver.html#ga52821c1c0284c71e6bcdf27558cadd80">hal_twim_init</a> (&LSM6D_twi_config);</div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span> </div><div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <a class="code" href="group__group__twim__driver.html#ga2906152d9b6f5a340d72f97b79e77ab7">twim_ret_status</a> err_code;</div><div class="line"><a name="l00103"></a><span class="lineno"> 103</span> </div><div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  settings.accel_enable = 1; <span class="comment">// 0 - Disable. 1 - Enable</span></div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  settings.accel_range = 2; <span class="comment">// Full Scale(FS) range (in g). Select from: 2, 4, 8, 16</span></div><div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  settings.accel_samplerate = 13; <span class="comment">// Hz. Select from: 13, 26, 52, 104, 208, 416, 833, 1666</span></div><div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  settings.accel_bandwidth = 100; <span class="comment">// Hz. Select from: 50, 100, 200, 400</span></div><div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  settings.accel_FIFO_enable = 0; <span class="comment">// Set to include accelerometer data in FIFO buffer</span></div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  settings.accel_FIFO_decimation = 0; <span class="comment">// Set to activate.</span></div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span> </div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  settings.gyro_enable = 0; <span class="comment">// 0 - Disable. 1 - Enable</span></div><div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  settings.gyro_range = 2000; <span class="comment">// Angular Rate range (in deg/s). Can be: 125, 245, 500, 1000, 2000</span></div><div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  settings.gyro_samplerate = 104; <span class="comment">// Hz. Select from: 13, 26, 52, 104, 208, 416, 833, 1666</span></div><div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  settings.gyro_bandwidth = 200; <span class="comment">// Hz. Select from: 50, 100, 200, 400;</span></div><div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  settings.gyro_FIFO_enable = 0; <span class="comment">// Set to include gyroscope data in FIFO buffer</span></div><div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  settings.gyro_FIFO_decimation = 0; <span class="comment">// Set to activate.</span></div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span> </div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  settings.temp_enable = 0; <span class="comment">// Set to activate temperature measure</span></div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span> </div><div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="comment">//FIFO control data</span></div><div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  settings.FIFO_threshold = 3000; <span class="comment">//Can be 0 to 4096 (16 bit bytes)</span></div><div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  settings.FIFO_samplerate = 13; <span class="comment">//default 13Hz</span></div><div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  settings.FIFO_mode = 6; <span class="comment">//Default off</span></div><div class="line"><a name="l00124"></a><span class="lineno"> 124</span> </div><div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  uint8_t tx_data[2] = {MASTER_CONFIG, 0x01};</div><div class="line"><a name="l00126"></a><span class="lineno"> 126</span> <span class="comment">// err_code = nrf_drv_twi_tx(&p_twi_sensors, LSM6DS3_ADDR, tx_data, sizeof(tx_data), false);</span></div><div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  err_code = <a class="code" href="group__group__twim__driver.html#gaa0473e1b8a7964993fd34944acf44367">hal_twim_tx</a> (tx_data, <span class="keyword">sizeof</span>(tx_data));</div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  log_printf(<span class="stringliteral">"Status : %d, %d\n"</span>, err_code, __LINE__);</div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  hal_nop_delay_ms (10);</div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span> </div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="comment">// set IF_INC in CTRL3_C register.</span></div><div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  tx_data[0] = CTRL3_C;</div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  tx_data[1] = 0x04;</div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  err_code = <a class="code" href="group__group__twim__driver.html#gaa0473e1b8a7964993fd34944acf44367">hal_twim_tx</a> (tx_data, <span class="keyword">sizeof</span>(tx_data));</div><div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  log_printf(<span class="stringliteral">"Status : %d, %d\n"</span>, err_code, __LINE__);</div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  hal_nop_delay_ms (10);</div><div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  LSM6DS3_config();</div><div class="line"><a name="l00138"></a><span class="lineno"> 138</span> }</div><div class="line"><a name="l00139"></a><span class="lineno"> 139</span> </div><div class="line"><a name="l00153"></a><span class="lineno"> 153</span> <span class="keywordtype">void</span> LSM6DS3_config(<span class="keywordtype">void</span>)</div><div class="line"><a name="l00154"></a><span class="lineno"> 154</span> {</div><div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <a class="code" href="group__group__twim__driver.html#ga2906152d9b6f5a340d72f97b79e77ab7">twim_ret_status</a> err_code;</div><div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  uint8_t tx_data[2];</div><div class="line"><a name="l00157"></a><span class="lineno"> 157</span> </div><div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <span class="comment">// configure accelerometer</span></div><div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  tx_data[0] = CTRL1_XL;</div><div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  tx_data[1] = 0;</div><div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="keywordflow">if</span>(settings.accel_enable == 1) {</div><div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <span class="comment">// Bandwidth</span></div><div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="keywordflow">switch</span>(settings.accel_bandwidth) {</div><div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="keywordflow">case</span> 50:</div><div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  tx_data[1] |= LSM6DS3_IMU_BW_XL_50Hz;</div><div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00167"></a><span class="lineno"> 167</span> </div><div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <span class="keywordflow">case</span> 100:</div><div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  tx_data[1] |= LSM6DS3_IMU_BW_XL_100Hz;</div><div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00171"></a><span class="lineno"> 171</span> </div><div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <span class="keywordflow">case</span> 200:</div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  tx_data[1] |= LSM6DS3_IMU_BW_XL_200Hz;</div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00175"></a><span class="lineno"> 175</span> </div><div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="keywordflow">default</span>:</div><div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <span class="keywordflow">case</span> 400:</div><div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  tx_data[1] |= LSM6DS3_IMU_BW_XL_400Hz;</div><div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  }</div><div class="line"><a name="l00181"></a><span class="lineno"> 181</span> </div><div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  <span class="comment">// Full scale range</span></div><div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <span class="keywordflow">switch</span>(settings.accel_range) {</div><div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="keywordflow">case</span> 2:</div><div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  tx_data[1] |= LSM6DS3_IMU_FS_XL_2g;</div><div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00187"></a><span class="lineno"> 187</span> </div><div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <span class="keywordflow">case</span> 4:</div><div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  tx_data[1] |= LSM6DS3_IMU_FS_XL_4g;</div><div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00191"></a><span class="lineno"> 191</span> </div><div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  <span class="keywordflow">case</span> 8:</div><div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  tx_data[1] |= LSM6DS3_IMU_FS_XL_8g;</div><div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00195"></a><span class="lineno"> 195</span> </div><div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <span class="keywordflow">default</span>:</div><div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <span class="keywordflow">case</span> 16:</div><div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  tx_data[1] |= LSM6DS3_IMU_FS_XL_16g;</div><div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  }</div><div class="line"><a name="l00201"></a><span class="lineno"> 201</span> </div><div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <span class="comment">// ODR</span></div><div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keywordflow">switch</span>(settings.accel_samplerate) {</div><div class="line"><a name="l00204"></a><span class="lineno"> 204</span> </div><div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <span class="keywordflow">case</span> 0:</div><div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  tx_data[1] |= LSM6DS3_IMU_ODR_XL_POWER_DOWN;</div><div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00208"></a><span class="lineno"> 208</span> </div><div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <span class="keywordflow">case</span> 13:</div><div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  tx_data[1] |= LSM6DS3_IMU_ODR_XL_13Hz;</div><div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00212"></a><span class="lineno"> 212</span> </div><div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <span class="keywordflow">case</span> 26:</div><div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  tx_data[1] |= LSM6DS3_IMU_ODR_XL_26Hz;</div><div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00216"></a><span class="lineno"> 216</span> </div><div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <span class="keywordflow">case</span> 52:</div><div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  tx_data[1] |= LSM6DS3_IMU_ODR_XL_52Hz;</div><div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00220"></a><span class="lineno"> 220</span> </div><div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <span class="keywordflow">default</span>:</div><div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  <span class="keywordflow">case</span> 104:</div><div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  tx_data[1] |= LSM6DS3_IMU_ODR_XL_104Hz;</div><div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00225"></a><span class="lineno"> 225</span> </div><div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <span class="keywordflow">case</span> 208:</div><div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  tx_data[1] |= LSM6DS3_IMU_ODR_XL_208Hz;</div><div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00229"></a><span class="lineno"> 229</span> </div><div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="keywordflow">case</span> 416:</div><div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  tx_data[1] |= LSM6DS3_IMU_ODR_XL_416Hz;</div><div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00233"></a><span class="lineno"> 233</span> </div><div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  <span class="keywordflow">case</span> 833:</div><div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  tx_data[1] |= LSM6DS3_IMU_ODR_XL_833Hz;</div><div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00237"></a><span class="lineno"> 237</span> </div><div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  <span class="keywordflow">case</span> 1660:</div><div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  tx_data[1] |= LSM6DS3_IMU_ODR_XL_1660Hz;</div><div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00241"></a><span class="lineno"> 241</span> </div><div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <span class="keywordflow">case</span> 3330:</div><div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  tx_data[1] |= LSM6DS3_IMU_ODR_XL_3330Hz;</div><div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00245"></a><span class="lineno"> 245</span> </div><div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  <span class="keywordflow">case</span> 6660:</div><div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  tx_data[1] |= LSM6DS3_IMU_ODR_XL_6660Hz;</div><div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  }</div><div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  }</div><div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  <span class="keywordflow">else</span> {</div><div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  tx_data[1] = 0;</div><div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  }</div><div class="line"><a name="l00254"></a><span class="lineno"> 254</span> </div><div class="line"><a name="l00255"></a><span class="lineno"> 255</span> <span class="comment">// err_code = nrf_drv_twi_tx(&p_twi_sensors, LSM6DS3_ADDR, tx_data, sizeof(tx_data), false);</span></div><div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  err_code = <a class="code" href="group__group__twim__driver.html#gaa0473e1b8a7964993fd34944acf44367">hal_twim_tx</a> (tx_data, <span class="keyword">sizeof</span>(tx_data));</div><div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  log_printf(<span class="stringliteral">"Status : %d, %d\n"</span>, err_code, __LINE__);</div><div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  hal_nop_delay_ms(10);</div><div class="line"><a name="l00259"></a><span class="lineno"> 259</span> </div><div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <span class="comment">// configure gyroscope</span></div><div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  tx_data[0] = CTRL2_G;</div><div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  tx_data[1] = 0;</div><div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  <span class="keywordflow">if</span>(settings.gyro_enable == 1) {</div><div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  <span class="comment">// range</span></div><div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  <span class="keywordflow">switch</span>(settings.gyro_range) {</div><div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  <span class="keywordflow">case</span> 125:</div><div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  tx_data[1] |= LSM6DS3_IMU_FS_125_ENABLED;</div><div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00269"></a><span class="lineno"> 269</span> </div><div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  <span class="keywordflow">case</span> 245:</div><div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  tx_data[1] |= LSM6DS3_IMU_FS_G_245dps;</div><div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00273"></a><span class="lineno"> 273</span> </div><div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  <span class="keywordflow">case</span> 500:</div><div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  tx_data[1] |= LSM6DS3_IMU_FS_G_500dps;</div><div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00277"></a><span class="lineno"> 277</span> </div><div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  <span class="keywordflow">case</span> 1000:</div><div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  tx_data[1] |= LSM6DS3_IMU_FS_G_1000dps;</div><div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00281"></a><span class="lineno"> 281</span> </div><div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  <span class="keywordflow">default</span>:</div><div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  <span class="keywordflow">case</span> 2000:</div><div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  tx_data[1] |= LSM6DS3_IMU_FS_G_2000dps;</div><div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  }</div><div class="line"><a name="l00287"></a><span class="lineno"> 287</span> </div><div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  <span class="comment">// ODR</span></div><div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  <span class="keywordflow">switch</span>(settings.gyro_samplerate) {</div><div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  <span class="keywordflow">case</span> 13:</div><div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  tx_data[1] |= LSM6DS3_IMU_ODR_G_13Hz;</div><div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00293"></a><span class="lineno"> 293</span> </div><div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  <span class="keywordflow">case</span> 26:</div><div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  tx_data[1] |= LSM6DS3_IMU_ODR_G_26Hz;</div><div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00297"></a><span class="lineno"> 297</span> </div><div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  <span class="keywordflow">case</span> 52:</div><div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  tx_data[1] |= LSM6DS3_IMU_ODR_G_52Hz;</div><div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00301"></a><span class="lineno"> 301</span> </div><div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  <span class="keywordflow">default</span>:</div><div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  <span class="keywordflow">case</span> 104:</div><div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  tx_data[1] |= LSM6DS3_IMU_ODR_G_104Hz;</div><div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00306"></a><span class="lineno"> 306</span> </div><div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  <span class="keywordflow">case</span> 208:</div><div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  tx_data[1] |= LSM6DS3_IMU_ODR_G_208Hz;</div><div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00310"></a><span class="lineno"> 310</span> </div><div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  <span class="keywordflow">case</span> 416:</div><div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  tx_data[1] |= LSM6DS3_IMU_ODR_G_416Hz;</div><div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00314"></a><span class="lineno"> 314</span> </div><div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  <span class="keywordflow">case</span> 833:</div><div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  tx_data[1] |= LSM6DS3_IMU_ODR_G_833Hz;</div><div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00318"></a><span class="lineno"> 318</span> </div><div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  <span class="keywordflow">case</span> 1660:</div><div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  tx_data[1] |= LSM6DS3_IMU_ODR_G_1660Hz;</div><div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  }</div><div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  }</div><div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  <span class="keywordflow">else</span> {</div><div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  tx_data[1] = 0;</div><div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  }</div><div class="line"><a name="l00327"></a><span class="lineno"> 327</span> </div><div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  err_code = <a class="code" href="group__group__twim__driver.html#gaa0473e1b8a7964993fd34944acf44367">hal_twim_tx</a> (tx_data, <span class="keyword">sizeof</span>(tx_data));</div><div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  log_printf(<span class="stringliteral">"Status : %d, %d\n"</span>, err_code, __LINE__);</div><div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  hal_nop_delay_ms(10);</div><div class="line"><a name="l00331"></a><span class="lineno"> 331</span> }</div><div class="line"><a name="l00332"></a><span class="lineno"> 332</span> </div><div class="line"><a name="l00338"></a><span class="lineno"> 338</span> <span class="keywordtype">void</span> LSM6DS3_set_accel_power_down_mode()</div><div class="line"><a name="l00339"></a><span class="lineno"> 339</span> {</div><div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  <a class="code" href="group__group__twim__driver.html#ga2906152d9b6f5a340d72f97b79e77ab7">twim_ret_status</a> err_code;</div><div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  uint8_t rx_data;</div><div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  uint8_t tx_data[2] = {CTRL1_XL, 0};</div><div class="line"><a name="l00343"></a><span class="lineno"> 343</span> </div><div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  <span class="comment">// read CTRL1_XL register to obtain current parameters.</span></div><div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  err_code = <a class="code" href="group__group__twim__driver.html#ga94194672489a78d038dbb7ce0a04360e">hal_twim_tx_rx</a> ((uint8_t *)CTRL1_XL, 1, &rx_data, <span class="keyword">sizeof</span>(rx_data));</div><div class="line"><a name="l00346"></a><span class="lineno"> 346</span> <span class="comment">// err_code = read_register(p_twi_sensors, LSM6DS3_ADDR, CTRL1_XL, &rx_data, sizeof(rx_data), false);</span></div><div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  log_printf(<span class="stringliteral">"Status : %d, %d\n"</span>, err_code, __LINE__);</div><div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  hal_nop_delay_ms(10);</div><div class="line"><a name="l00349"></a><span class="lineno"> 349</span> </div><div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  <span class="comment">// bit mask CTRL1_XL to avoid losing previously set parameters. Only change ODR_XL bits.</span></div><div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  tx_data[1] |= (0x00 << 4) | (rx_data & 0x0F);</div><div class="line"><a name="l00352"></a><span class="lineno"> 352</span> </div><div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  err_code = <a class="code" href="group__group__twim__driver.html#gaa0473e1b8a7964993fd34944acf44367">hal_twim_tx</a> (tx_data, <span class="keyword">sizeof</span>(tx_data));</div><div class="line"><a name="l00354"></a><span class="lineno"> 354</span> <span class="comment">// err_code = nrf_drv_twi_tx(&p_twi_sensors, LSM6DS3_ADDR, tx_data, sizeof(tx_data), false);</span></div><div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  log_printf(<span class="stringliteral">"Status : %d, %d\n"</span>, err_code, __LINE__);</div><div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  hal_nop_delay_ms(10);</div><div class="line"><a name="l00357"></a><span class="lineno"> 357</span> }</div><div class="line"><a name="l00358"></a><span class="lineno"> 358</span> </div><div class="line"><a name="l00364"></a><span class="lineno"> 364</span> <span class="keywordtype">void</span> LSM6DS3_set_accel_low_power_mode(uint16_t value)</div><div class="line"><a name="l00365"></a><span class="lineno"> 365</span> {</div><div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  <a class="code" href="group__group__twim__driver.html#ga2906152d9b6f5a340d72f97b79e77ab7">twim_ret_status</a> err_code;</div><div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  uint8_t rx_data;</div><div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  <span class="comment">// uint8_t tx_data[2] = {CTRL1_XL, 0};</span></div><div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  uint8_t tx_data[2];</div><div class="line"><a name="l00370"></a><span class="lineno"> 370</span> </div><div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  <span class="comment">// set XL_HM_MODE bit to 1 in CTRL6_C to enable high performance mode.</span></div><div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  tx_data[0] = CTRL6_C;</div><div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  tx_data[1] = 0x10;</div><div class="line"><a name="l00374"></a><span class="lineno"> 374</span> </div><div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  err_code = <a class="code" href="group__group__twim__driver.html#gaa0473e1b8a7964993fd34944acf44367">hal_twim_tx</a> (tx_data, <span class="keyword">sizeof</span>(tx_data));</div><div class="line"><a name="l00376"></a><span class="lineno"> 376</span> <span class="comment">// err_code = nrf_drv_twi_tx(&p_twi_sensors, LSM6DS3_ADDR, tx_data, sizeof(tx_data), false);</span></div><div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  log_printf(<span class="stringliteral">"Status : %d, %d\n"</span>, err_code, __LINE__);</div><div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  hal_nop_delay_ms(10);</div><div class="line"><a name="l00379"></a><span class="lineno"> 379</span> </div><div class="line"><a name="l00380"></a><span class="lineno"> 380</span> </div><div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  <span class="comment">// read CTRL1_XL register to obtain current parameters.</span></div><div class="line"><a name="l00382"></a><span class="lineno"> 382</span> <span class="comment">// err_code = read_register(p_twi_sensors, LSM6DS3_ADDR, CTRL1_XL, &rx_data, sizeof(rx_data), false);</span></div><div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  err_code = <a class="code" href="group__group__twim__driver.html#ga94194672489a78d038dbb7ce0a04360e">hal_twim_tx_rx</a> ((uint8_t *)CTRL1_XL, 1, &rx_data, <span class="keyword">sizeof</span>(rx_data));</div><div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  log_printf(<span class="stringliteral">"Status : %d, %d\n"</span>, err_code, __LINE__);</div><div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  hal_nop_delay_ms(10);</div><div class="line"><a name="l00386"></a><span class="lineno"> 386</span> </div><div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  tx_data[0] = CTRL1_XL;</div><div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  <span class="comment">// bit mask CTRL1_XL to avoid losing previously set parameters. Only change ODR_XL bits.</span></div><div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  <span class="keywordflow">switch</span>(value) {</div><div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  <span class="keywordflow">case</span> 13:</div><div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  tx_data[1] |= (0x01 << 4) | (rx_data & 0x0F);</div><div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00393"></a><span class="lineno"> 393</span> </div><div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  <span class="keywordflow">case</span> 26:</div><div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  tx_data[1] |= (0x02 << 4) | (rx_data & 0x0F);</div><div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00397"></a><span class="lineno"> 397</span> </div><div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  <span class="keywordflow">default</span>:</div><div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  <span class="keywordflow">case</span> 52:</div><div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  tx_data[1] |= (0x03 << 4) | (rx_data & 0x0F);</div><div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  }</div><div class="line"><a name="l00403"></a><span class="lineno"> 403</span> </div><div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  err_code = <a class="code" href="group__group__twim__driver.html#gaa0473e1b8a7964993fd34944acf44367">hal_twim_tx</a> (tx_data, <span class="keyword">sizeof</span>(tx_data));</div><div class="line"><a name="l00405"></a><span class="lineno"> 405</span> <span class="comment">// err_code = nrf_drv_twi_tx(&p_twi_sensors, LSM6DS3_ADDR, tx_data, sizeof(tx_data), false);</span></div><div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  log_printf(<span class="stringliteral">"Status : %d, %d\n"</span>, err_code, __LINE__);</div><div class="line"><a name="l00407"></a><span class="lineno"> 407</span>  hal_nop_delay_ms(10);</div><div class="line"><a name="l00408"></a><span class="lineno"> 408</span> }</div><div class="line"><a name="l00409"></a><span class="lineno"> 409</span> </div><div class="line"><a name="l00415"></a><span class="lineno"> 415</span> <span class="keywordtype">void</span> LSM6DS3_set_accel_normal_mode(uint16_t value)</div><div class="line"><a name="l00416"></a><span class="lineno"> 416</span> {</div><div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  <a class="code" href="group__group__twim__driver.html#ga2906152d9b6f5a340d72f97b79e77ab7">twim_ret_status</a> err_code;</div><div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  uint8_t rx_data;</div><div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  <span class="comment">// uint8_t tx_data[2] = {CTRL1_XL, 0};</span></div><div class="line"><a name="l00420"></a><span class="lineno"> 420</span>  uint8_t tx_data[2];</div><div class="line"><a name="l00421"></a><span class="lineno"> 421</span> </div><div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  <span class="comment">// set XL_HM_MODE bit to 1 in CTRL6_C to enable high performance mode.</span></div><div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  tx_data[0] = CTRL6_C;</div><div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  tx_data[1] = 0x10;</div><div class="line"><a name="l00425"></a><span class="lineno"> 425</span> </div><div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  err_code = <a class="code" href="group__group__twim__driver.html#gaa0473e1b8a7964993fd34944acf44367">hal_twim_tx</a> (tx_data, <span class="keyword">sizeof</span>(tx_data));</div><div class="line"><a name="l00427"></a><span class="lineno"> 427</span> <span class="comment">// err_code = nrf_drv_twi_tx(&p_twi_sensors, LSM6DS3_ADDR, tx_data, sizeof(tx_data), false);</span></div><div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  log_printf(<span class="stringliteral">"Status : %d, %d\n"</span>, err_code, __LINE__);</div><div class="line"><a name="l00429"></a><span class="lineno"> 429</span>  hal_nop_delay_ms(10);</div><div class="line"><a name="l00430"></a><span class="lineno"> 430</span> </div><div class="line"><a name="l00431"></a><span class="lineno"> 431</span>  <span class="comment">// read CTRL1_XL register to obtain current parameters.</span></div><div class="line"><a name="l00432"></a><span class="lineno"> 432</span> <span class="comment">// err_code = read_register(p_twi_sensors, LSM6DS3_ADDR, CTRL1_XL, &rx_data, sizeof(rx_data), false);</span></div><div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  err_code = <a class="code" href="group__group__twim__driver.html#ga94194672489a78d038dbb7ce0a04360e">hal_twim_tx_rx</a> ((uint8_t *)CTRL1_XL, 1, &rx_data, <span class="keyword">sizeof</span>(rx_data));</div><div class="line"><a name="l00434"></a><span class="lineno"> 434</span>  log_printf(<span class="stringliteral">"Status : %d, %d\n"</span>, err_code, __LINE__);</div><div class="line"><a name="l00435"></a><span class="lineno"> 435</span>  hal_nop_delay_ms(10);</div><div class="line"><a name="l00436"></a><span class="lineno"> 436</span> </div><div class="line"><a name="l00437"></a><span class="lineno"> 437</span>  tx_data[0] = CTRL1_XL;</div><div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  <span class="comment">// bit mask CTRL1_XL to avoid losing previously set parameters. Only change ODR_XL bits.</span></div><div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  <span class="keywordflow">switch</span>(value) {</div><div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  <span class="keywordflow">default</span>:</div><div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  <span class="keywordflow">case</span> 104:</div><div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  tx_data[1] |= (0x04 << 4) | (rx_data & 0x0F);</div><div class="line"><a name="l00443"></a><span class="lineno"> 443</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00444"></a><span class="lineno"> 444</span> </div><div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  <span class="keywordflow">case</span> 208:</div><div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  tx_data[1] |= (0x05 << 4) | (rx_data & 0x0F);</div><div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  }</div><div class="line"><a name="l00449"></a><span class="lineno"> 449</span> </div><div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  err_code = <a class="code" href="group__group__twim__driver.html#gaa0473e1b8a7964993fd34944acf44367">hal_twim_tx</a> (tx_data, <span class="keyword">sizeof</span>(tx_data));</div><div class="line"><a name="l00451"></a><span class="lineno"> 451</span> <span class="comment">// err_code = nrf_drv_twi_tx(&p_twi_sensors, LSM6DS3_ADDR, tx_data, sizeof(tx_data), false);</span></div><div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  log_printf(<span class="stringliteral">"Status : %d, %d\n"</span>, err_code, __LINE__);</div><div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  hal_nop_delay_ms(10);</div><div class="line"><a name="l00454"></a><span class="lineno"> 454</span> }</div><div class="line"><a name="l00455"></a><span class="lineno"> 455</span> </div><div class="line"><a name="l00461"></a><span class="lineno"> 461</span> <span class="keywordtype">void</span> LSM6DS3_set_accel_high_performance_mode(uint16_t value)</div><div class="line"><a name="l00462"></a><span class="lineno"> 462</span> {</div><div class="line"><a name="l00463"></a><span class="lineno"> 463</span>  <a class="code" href="group__group__twim__driver.html#ga2906152d9b6f5a340d72f97b79e77ab7">twim_ret_status</a> err_code;</div><div class="line"><a name="l00464"></a><span class="lineno"> 464</span>  uint8_t rx_data;</div><div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  <span class="comment">// uint8_t tx_data[2] = {CTRL1_XL, 0};</span></div><div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  uint8_t tx_data[2];</div><div class="line"><a name="l00467"></a><span class="lineno"> 467</span> </div><div class="line"><a name="l00468"></a><span class="lineno"> 468</span>  <span class="comment">// set XL_HM_MODE bit to 1 in CTRL6_C to enable high performance mode.</span></div><div class="line"><a name="l00469"></a><span class="lineno"> 469</span>  tx_data[0] = CTRL6_C;</div><div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  tx_data[1] = 0x00;</div><div class="line"><a name="l00471"></a><span class="lineno"> 471</span> </div><div class="line"><a name="l00472"></a><span class="lineno"> 472</span> <span class="comment">// err_code = nrf_drv_twi_tx(&p_twi_sensors, LSM6DS3_ADDR, tx_data, sizeof(tx_data), false);</span></div><div class="line"><a name="l00473"></a><span class="lineno"> 473</span>  err_code = <a class="code" href="group__group__twim__driver.html#gaa0473e1b8a7964993fd34944acf44367">hal_twim_tx</a> (tx_data, <span class="keyword">sizeof</span>(tx_data));</div><div class="line"><a name="l00474"></a><span class="lineno"> 474</span>  log_printf(<span class="stringliteral">"Status : %d, %d\n"</span>, err_code, __LINE__);</div><div class="line"><a name="l00475"></a><span class="lineno"> 475</span>  uint8_t ctrl1_xl = CTRL1_XL; </div><div class="line"><a name="l00476"></a><span class="lineno"> 476</span>  hal_nop_delay_ms(10);</div><div class="line"><a name="l00477"></a><span class="lineno"> 477</span> </div><div class="line"><a name="l00478"></a><span class="lineno"> 478</span>  <span class="comment">// read CTRL1_XL register to obtain current parameters.</span></div><div class="line"><a name="l00479"></a><span class="lineno"> 479</span>  err_code = <a class="code" href="group__group__twim__driver.html#ga94194672489a78d038dbb7ce0a04360e">hal_twim_tx_rx</a> (&ctrl1_xl, 1, &rx_data, <span class="keyword">sizeof</span>(rx_data));</div><div class="line"><a name="l00480"></a><span class="lineno"> 480</span>  log_printf(<span class="stringliteral">"Status : %d, %d\n"</span>, err_code, __LINE__);</div><div class="line"><a name="l00481"></a><span class="lineno"> 481</span>  hal_nop_delay_ms(10);</div><div class="line"><a name="l00482"></a><span class="lineno"> 482</span> </div><div class="line"><a name="l00483"></a><span class="lineno"> 483</span>  tx_data[0] = CTRL1_XL;</div><div class="line"><a name="l00484"></a><span class="lineno"> 484</span>  <span class="comment">// bit mask CTRL1_XL to avoid losing previously set parameters. Only change ODR_XL bits.</span></div><div class="line"><a name="l00485"></a><span class="lineno"> 485</span>  <span class="keywordflow">switch</span>(value) {</div><div class="line"><a name="l00486"></a><span class="lineno"> 486</span>  <span class="keywordflow">case</span> 416:</div><div class="line"><a name="l00487"></a><span class="lineno"> 487</span>  tx_data[1] |= (0x06 << 4) | (rx_data & 0x0F);</div><div class="line"><a name="l00488"></a><span class="lineno"> 488</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00489"></a><span class="lineno"> 489</span> </div><div class="line"><a name="l00490"></a><span class="lineno"> 490</span>  <span class="keywordflow">case</span> 833:</div><div class="line"><a name="l00491"></a><span class="lineno"> 491</span>  tx_data[1] |= (0x07 << 4) | (rx_data & 0x0F);</div><div class="line"><a name="l00492"></a><span class="lineno"> 492</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00493"></a><span class="lineno"> 493</span> </div><div class="line"><a name="l00494"></a><span class="lineno"> 494</span>  <span class="keywordflow">default</span>:</div><div class="line"><a name="l00495"></a><span class="lineno"> 495</span>  <span class="keywordflow">case</span> 1660:</div><div class="line"><a name="l00496"></a><span class="lineno"> 496</span>  tx_data[1] |= (0x08 << 4) | (rx_data & 0x0F);</div><div class="line"><a name="l00497"></a><span class="lineno"> 497</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00498"></a><span class="lineno"> 498</span> </div><div class="line"><a name="l00499"></a><span class="lineno"> 499</span>  <span class="keywordflow">case</span> 3330:</div><div class="line"><a name="l00500"></a><span class="lineno"> 500</span>  tx_data[1] |= (0x09 << 4) | (rx_data & 0x0F);</div><div class="line"><a name="l00501"></a><span class="lineno"> 501</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00502"></a><span class="lineno"> 502</span> </div><div class="line"><a name="l00503"></a><span class="lineno"> 503</span>  <span class="keywordflow">case</span> 6660:</div><div class="line"><a name="l00504"></a><span class="lineno"> 504</span>  tx_data[1] |= (0x0A << 4) | (rx_data & 0x0F);</div><div class="line"><a name="l00505"></a><span class="lineno"> 505</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00506"></a><span class="lineno"> 506</span>  }</div><div class="line"><a name="l00507"></a><span class="lineno"> 507</span> </div><div class="line"><a name="l00508"></a><span class="lineno"> 508</span>  err_code = <a class="code" href="group__group__twim__driver.html#gaa0473e1b8a7964993fd34944acf44367">hal_twim_tx</a> (tx_data, <span class="keyword">sizeof</span>(tx_data));</div><div class="line"><a name="l00509"></a><span class="lineno"> 509</span> <span class="comment">// err_code = nrf_drv_twi_tx(&p_twi_sensors, LSM6DS3_ADDR, tx_data, sizeof(tx_data), false);</span></div><div class="line"><a name="l00510"></a><span class="lineno"> 510</span>  log_printf(<span class="stringliteral">"Status : %d, %d\n"</span>, err_code, __LINE__);</div><div class="line"><a name="l00511"></a><span class="lineno"> 511</span>  hal_nop_delay_ms(10);</div><div class="line"><a name="l00512"></a><span class="lineno"> 512</span> }</div><div class="line"><a name="l00513"></a><span class="lineno"> 513</span> </div><div class="line"><a name="l00514"></a><span class="lineno"> 514</span> </div><div class="line"><a name="l00518"></a><span class="lineno"> 518</span> <span class="keywordtype">void</span> LSM6DS3_read_accl_data(int16_t *x_axis, int16_t *y_axis, int16_t *z_axis)</div><div class="line"><a name="l00519"></a><span class="lineno"> 519</span> {</div><div class="line"><a name="l00520"></a><span class="lineno"> 520</span>  <a class="code" href="group__group__twim__driver.html#ga2906152d9b6f5a340d72f97b79e77ab7">twim_ret_status</a> err_code;</div><div class="line"><a name="l00521"></a><span class="lineno"> 521</span> <span class="comment">// uint8_t status = 0;</span></div><div class="line"><a name="l00522"></a><span class="lineno"> 522</span>  uint8_t data[6];</div><div class="line"><a name="l00523"></a><span class="lineno"> 523</span> </div><div class="line"><a name="l00524"></a><span class="lineno"> 524</span> <span class="comment">// LSM6DS3_set_accel_high_performance_mode(settings.accel_samplerate);</span></div><div class="line"><a name="l00525"></a><span class="lineno"> 525</span> </div><div class="line"><a name="l00526"></a><span class="lineno"> 526</span> <span class="comment">// do {</span></div><div class="line"><a name="l00527"></a><span class="lineno"> 527</span> <span class="comment">// err_code = read_register(p_twi_sensors, LSM6DS3_ADDR, STATUS_REG, &status, sizeof(status), false);</span></div><div class="line"><a name="l00528"></a><span class="lineno"> 528</span> <span class="comment">// uint8_t status_reg = STATUS_REG;</span></div><div class="line"><a name="l00529"></a><span class="lineno"> 529</span> <span class="comment">// err_code = hal_twim_tx_rx (&status_reg, 1, &status, sizeof(status));</span></div><div class="line"><a name="l00530"></a><span class="lineno"> 530</span> <span class="comment">// log_printf("Status : %d, %d\n", err_code, __LINE__);</span></div><div class="line"><a name="l00531"></a><span class="lineno"> 531</span> <span class="comment">// hal_nop_delay_ms(10);</span></div><div class="line"><a name="l00532"></a><span class="lineno"> 532</span> <span class="comment">// } while(!(status & 0x01));</span></div><div class="line"><a name="l00533"></a><span class="lineno"> 533</span>  </div><div class="line"><a name="l00534"></a><span class="lineno"> 534</span>  uint8_t outxl = OUTX_L_XL;</div><div class="line"><a name="l00535"></a><span class="lineno"> 535</span> </div><div class="line"><a name="l00536"></a><span class="lineno"> 536</span>  err_code = <a class="code" href="group__group__twim__driver.html#ga94194672489a78d038dbb7ce0a04360e">hal_twim_tx_rx</a> (&outxl, 1, data, <span class="keyword">sizeof</span>(data));</div><div class="line"><a name="l00537"></a><span class="lineno"> 537</span> <span class="comment">// err_code = read_register(p_twi_sensors, LSM6DS3_ADDR, OUTX_L_XL, data, sizeof(data), true);</span></div><div class="line"><a name="l00538"></a><span class="lineno"> 538</span> <span class="comment">// log_printf("Status : %d, %d\n", err_code, __LINE__);</span></div><div class="line"><a name="l00539"></a><span class="lineno"> 539</span>  hal_nop_delay_ms(100);</div><div class="line"><a name="l00540"></a><span class="lineno"> 540</span>  <span class="keywordflow">if</span>(err_code == 0)</div><div class="line"><a name="l00541"></a><span class="lineno"> 541</span>  {</div><div class="line"><a name="l00542"></a><span class="lineno"> 542</span>  </div><div class="line"><a name="l00543"></a><span class="lineno"> 543</span>  }</div><div class="line"><a name="l00544"></a><span class="lineno"> 544</span> </div><div class="line"><a name="l00545"></a><span class="lineno"> 545</span> <span class="comment">// LSM6DS3_set_accel_power_down_mode();</span></div><div class="line"><a name="l00546"></a><span class="lineno"> 546</span> </div><div class="line"><a name="l00547"></a><span class="lineno"> 547</span>  *x_axis = (data[1] << 8) | data[0];</div><div class="line"><a name="l00548"></a><span class="lineno"> 548</span>  *y_axis = (data[3] << 8) | data[2];</div><div class="line"><a name="l00549"></a><span class="lineno"> 549</span>  *z_axis = (data[5] << 8) | data[4];</div><div class="line"><a name="l00550"></a><span class="lineno"> 550</span> }</div><div class="line"><a name="l00551"></a><span class="lineno"> 551</span> </div><div class="line"><a name="l00558"></a><span class="lineno"> 558</span> int16_t LSM6DS3_accelData_in_g(int16_t raw_data)</div><div class="line"><a name="l00559"></a><span class="lineno"> 559</span> {</div><div class="line"><a name="l00560"></a><span class="lineno"> 560</span>  <span class="keywordflow">return</span> (int16_t)((float)((raw_data * 0.061 * (settings.accel_range >> 1)) / 10 ));</div><div class="line"><a name="l00561"></a><span class="lineno"> 561</span> }</div><div class="line"><a name="l00562"></a><span class="lineno"> 562</span> </div><div class="line"><a name="l00563"></a><span class="lineno"> 563</span> </div><div class="line"><a name="l00567"></a><span class="lineno"> 567</span> <span class="comment">//void LSM6DS3_set_gyro_sleep_mode()</span></div><div class="line"><a name="l00568"></a><span class="lineno"> 568</span> <span class="comment">//{</span></div><div class="line"><a name="l00569"></a><span class="lineno"> 569</span> <span class="comment">// twim_ret_status err_code;</span></div><div class="line"><a name="l00570"></a><span class="lineno"> 570</span> <span class="comment">//</span></div><div class="line"><a name="l00571"></a><span class="lineno"> 571</span> <span class="comment">// // set SLEEP_G bit in CTRL4_C register to enable sleep mode</span></div><div class="line"><a name="l00572"></a><span class="lineno"> 572</span> <span class="comment">// uint8_t tx_data[2] = {CTRL4_C, LSM6DS3_IMU_SLEEP_G_ENABLED};</span></div><div class="line"><a name="l00573"></a><span class="lineno"> 573</span> <span class="comment">//</span></div><div class="line"><a name="l00574"></a><span class="lineno"> 574</span> <span class="comment">// err_code = nrf_drv_twi_tx(&p_twi_sensors, LSM6DS3_ADDR, tx_data, sizeof(tx_data), false);</span></div><div class="line"><a name="l00575"></a><span class="lineno"> 575</span> <span class="comment">// log_printf("Status : %d, %d\n", err_code, __LINE__);</span></div><div class="line"><a name="l00576"></a><span class="lineno"> 576</span> <span class="comment">//}</span></div><div class="line"><a name="l00577"></a><span class="lineno"> 577</span> <span class="comment">//</span></div><div class="line"><a name="l00581"></a><span class="lineno"> 581</span> <span class="comment"></span><span class="comment">//void LSM6DS3_set_gyro_active_mode()</span></div><div class="line"><a name="l00582"></a><span class="lineno"> 582</span> <span class="comment">//{</span></div><div class="line"><a name="l00583"></a><span class="lineno"> 583</span> <span class="comment">// twim_ret_status err_code;</span></div><div class="line"><a name="l00584"></a><span class="lineno"> 584</span> <span class="comment">//</span></div><div class="line"><a name="l00585"></a><span class="lineno"> 585</span> <span class="comment">// // reset SLEEP_G bit in CTRL4_C register to disable sleep mode</span></div><div class="line"><a name="l00586"></a><span class="lineno"> 586</span> <span class="comment">// uint8_t tx_data[2] = {CTRL4_C, LSM6DS3_IMU_SLEEP_G_DISABLED};</span></div><div class="line"><a name="l00587"></a><span class="lineno"> 587</span> <span class="comment">//</span></div><div class="line"><a name="l00588"></a><span class="lineno"> 588</span> <span class="comment">// err_code = nrf_drv_twi_tx(&p_twi_sensors, LSM6DS3_ADDR, tx_data, sizeof(tx_data), false);</span></div><div class="line"><a name="l00589"></a><span class="lineno"> 589</span> <span class="comment">// log_printf("Status : %d, %d\n", err_code, __LINE__);</span></div><div class="line"><a name="l00590"></a><span class="lineno"> 590</span> <span class="comment">//}</span></div><div class="line"><a name="l00591"></a><span class="lineno"> 591</span> <span class="comment">//</span></div><div class="line"><a name="l00595"></a><span class="lineno"> 595</span> <span class="comment"></span><span class="comment">//void LSM6DS3_read_gyro_data(int16_t *gyro_x, int16_t *gyro_y, int16_t *gyro_z)</span></div><div class="line"><a name="l00596"></a><span class="lineno"> 596</span> <span class="comment">//{</span></div><div class="line"><a name="l00597"></a><span class="lineno"> 597</span> <span class="comment">// twim_ret_status err_code;</span></div><div class="line"><a name="l00598"></a><span class="lineno"> 598</span> <span class="comment">// uint8_t status = 0;</span></div><div class="line"><a name="l00599"></a><span class="lineno"> 599</span> <span class="comment">// uint8_t data[6];</span></div><div class="line"><a name="l00600"></a><span class="lineno"> 600</span> <span class="comment">//</span></div><div class="line"><a name="l00601"></a><span class="lineno"> 601</span> <span class="comment">// LSM6DS3_set_gyro_active_mode();</span></div><div class="line"><a name="l00602"></a><span class="lineno"> 602</span> <span class="comment">//</span></div><div class="line"><a name="l00603"></a><span class="lineno"> 603</span> <span class="comment">// do {</span></div><div class="line"><a name="l00605"></a><span class="lineno"> 605</span> <span class="comment"></span><span class="comment">// } while(!(status & 0x02));</span></div><div class="line"><a name="l00606"></a><span class="lineno"> 606</span> <span class="comment">//</span></div><div class="line"><a name="l00607"></a><span class="lineno"> 607</span> <span class="comment">// err_code = read_register(p_twi_sensors, LSM6DS3_ADDR, OUTX_L_G, data, sizeof(data), true);</span></div><div class="line"><a name="l00608"></a><span class="lineno"> 608</span> <span class="comment">// log_printf("Status : %d, %d\n", err_code, __LINE__);</span></div><div class="line"><a name="l00609"></a><span class="lineno"> 609</span> <span class="comment">//</span></div><div class="line"><a name="l00610"></a><span class="lineno"> 610</span> <span class="comment">// LSM6DS3_set_gyro_sleep_mode();</span></div><div class="line"><a name="l00611"></a><span class="lineno"> 611</span> <span class="comment">//</span></div><div class="line"><a name="l00612"></a><span class="lineno"> 612</span> <span class="comment">// *gyro_x = (data[1] << 8) | data[0];</span></div><div class="line"><a name="l00613"></a><span class="lineno"> 613</span> <span class="comment">// *gyro_y = (data[3] << 8) | data[2];</span></div><div class="line"><a name="l00614"></a><span class="lineno"> 614</span> <span class="comment">// *gyro_z = (data[5] << 8) | data[4];</span></div><div class="line"><a name="l00615"></a><span class="lineno"> 615</span> <span class="comment">//}</span></div><div class="line"><a name="l00616"></a><span class="lineno"> 616</span> <span class="comment">//</span></div><div class="line"><a name="l00623"></a><span class="lineno"> 623</span> <span class="comment"></span><span class="comment">//float LSM6DS3_gyroData_in_dps(int16_t raw_data)</span></div><div class="line"><a name="l00624"></a><span class="lineno"> 624</span> <span class="comment">//{</span></div><div class="line"><a name="l00625"></a><span class="lineno"> 625</span> <span class="comment">// uint8_t gyro_range_divisor;</span></div><div class="line"><a name="l00626"></a><span class="lineno"> 626</span> <span class="comment">//</span></div><div class="line"><a name="l00627"></a><span class="lineno"> 627</span> <span class="comment">// if (settings.gyro_range == 245) {</span></div><div class="line"><a name="l00628"></a><span class="lineno"> 628</span> <span class="comment">// gyro_range_divisor = 2;</span></div><div class="line"><a name="l00629"></a><span class="lineno"> 629</span> <span class="comment">// }</span></div><div class="line"><a name="l00630"></a><span class="lineno"> 630</span> <span class="comment">// else {</span></div><div class="line"><a name="l00631"></a><span class="lineno"> 631</span> <span class="comment">// gyro_range_divisor = settings.gyro_range / 125;</span></div><div class="line"><a name="l00632"></a><span class="lineno"> 632</span> <span class="comment">// }</span></div><div class="line"><a name="l00633"></a><span class="lineno"> 633</span> <span class="comment">//</span></div><div class="line"><a name="l00634"></a><span class="lineno"> 634</span> <span class="comment">// return ((float) ((raw_data * 4.375 * gyro_range_divisor) / 1000 ));</span></div><div class="line"><a name="l00635"></a><span class="lineno"> 635</span> <span class="comment">//}</span></div><div class="line"><a name="l00636"></a><span class="lineno"> 636</span> <span class="comment">//</span></div><div class="line"><a name="l00640"></a><span class="lineno"> 640</span> <span class="comment"></span><span class="comment">//void LSM6DS3_FIFO_config(void)</span></div><div class="line"><a name="l00641"></a><span class="lineno"> 641</span> <span class="comment">//{</span></div><div class="line"><a name="l00642"></a><span class="lineno"> 642</span> <span class="comment">// twim_ret_status err_code;</span></div><div class="line"><a name="l00643"></a><span class="lineno"> 643</span> <span class="comment">// uint8_t tx_data[2];</span></div><div class="line"><a name="l00644"></a><span class="lineno"> 644</span> <span class="comment">//</span></div><div class="line"><a name="l00645"></a><span class="lineno"> 645</span> <span class="comment">// // masking the threshold value in FIFO_CTRL1 register.</span></div><div class="line"><a name="l00646"></a><span class="lineno"> 646</span> <span class="comment">// tx_data[0] = FIFO_CTRL1;</span></div><div class="line"><a name="l00647"></a><span class="lineno"> 647</span> <span class="comment">// tx_data[1] = settings.FIFO_threshold & 0x00FF;</span></div><div class="line"><a name="l00648"></a><span class="lineno"> 648</span> <span class="comment">// err_code = nrf_drv_twi_tx(&p_twi_sensors, LSM6DS3_ADDR, tx_data, sizeof(tx_data), false);</span></div><div class="line"><a name="l00649"></a><span class="lineno"> 649</span> <span class="comment">// log_printf("Status : %d, %d\n", err_code, __LINE__);</span></div><div class="line"><a name="l00650"></a><span class="lineno"> 650</span> <span class="comment">//</span></div><div class="line"><a name="l00651"></a><span class="lineno"> 651</span> <span class="comment">// // masking the threshold value in FIFO_CTRL2 register.</span></div><div class="line"><a name="l00652"></a><span class="lineno"> 652</span> <span class="comment">// tx_data[0] = FIFO_CTRL2;</span></div><div class="line"><a name="l00653"></a><span class="lineno"> 653</span> <span class="comment">// tx_data[1] = (settings.FIFO_threshold & 0x0F00) >> 8;</span></div><div class="line"><a name="l00654"></a><span class="lineno"> 654</span> <span class="comment">// err_code = nrf_drv_twi_tx(&p_twi_sensors, LSM6DS3_ADDR, tx_data, sizeof(tx_data), false);</span></div><div class="line"><a name="l00655"></a><span class="lineno"> 655</span> <span class="comment">// log_printf("Status : %d, %d\n", err_code, __LINE__);</span></div><div class="line"><a name="l00656"></a><span class="lineno"> 656</span> <span class="comment">//</span></div><div class="line"><a name="l00657"></a><span class="lineno"> 657</span> <span class="comment">// // set up decimation factor for accelerometer and gyroscope</span></div><div class="line"><a name="l00658"></a><span class="lineno"> 658</span> <span class="comment">// tx_data[0] = FIFO_CTRL3;</span></div><div class="line"><a name="l00659"></a><span class="lineno"> 659</span> <span class="comment">// tx_data[1] = 0;</span></div><div class="line"><a name="l00660"></a><span class="lineno"> 660</span> <span class="comment">// if(settings.accel_FIFO_enable == 1) {</span></div><div class="line"><a name="l00661"></a><span class="lineno"> 661</span> <span class="comment">// tx_data[1] |= (settings.accel_FIFO_decimation & 0x07);</span></div><div class="line"><a name="l00662"></a><span class="lineno"> 662</span> <span class="comment">// }</span></div><div class="line"><a name="l00663"></a><span class="lineno"> 663</span> <span class="comment">//</span></div><div class="line"><a name="l00664"></a><span class="lineno"> 664</span> <span class="comment">// if (settings.gyro_FIFO_enable == 1) {</span></div><div class="line"><a name="l00665"></a><span class="lineno"> 665</span> <span class="comment">// tx_data[1] |= ((settings.gyro_FIFO_decimation & 0x07) << 3);</span></div><div class="line"><a name="l00666"></a><span class="lineno"> 666</span> <span class="comment">// }</span></div><div class="line"><a name="l00667"></a><span class="lineno"> 667</span> <span class="comment">// err_code = nrf_drv_twi_tx(&p_twi_sensors, LSM6DS3_ADDR, tx_data, sizeof(tx_data), false);</span></div><div class="line"><a name="l00668"></a><span class="lineno"> 668</span> <span class="comment">// log_printf("Status : %d, %d\n", err_code, __LINE__);</span></div><div class="line"><a name="l00669"></a><span class="lineno"> 669</span> <span class="comment">//</span></div><div class="line"><a name="l00670"></a><span class="lineno"> 670</span> <span class="comment">// // configure sensor hub (if any)</span></div><div class="line"><a name="l00671"></a><span class="lineno"> 671</span> <span class="comment">// // set decimation and ONLY_HIGH_DATA bit here</span></div><div class="line"><a name="l00672"></a><span class="lineno"> 672</span> <span class="comment">// // tx_data[0] = FIFO_CTRL4;</span></div><div class="line"><a name="l00673"></a><span class="lineno"> 673</span> <span class="comment">//</span></div><div class="line"><a name="l00674"></a><span class="lineno"> 674</span> <span class="comment">// // configure FIFO_CTRL5 register</span></div><div class="line"><a name="l00675"></a><span class="lineno"> 675</span> <span class="comment">// tx_data[0] = FIFO_CTRL5;</span></div><div class="line"><a name="l00676"></a><span class="lineno"> 676</span> <span class="comment">// // set FIFO ODR</span></div><div class="line"><a name="l00677"></a><span class="lineno"> 677</span> <span class="comment">// tx_data[1] = 0;</span></div><div class="line"><a name="l00678"></a><span class="lineno"> 678</span> <span class="comment">// switch(settings.FIFO_samplerate) {</span></div><div class="line"><a name="l00679"></a><span class="lineno"> 679</span> <span class="comment">// default:</span></div><div class="line"><a name="l00680"></a><span class="lineno"> 680</span> <span class="comment">// case 13:</span></div><div class="line"><a name="l00681"></a><span class="lineno"> 681</span> <span class="comment">// tx_data[1] |= LSM6DS3_IMU_ODR_FIFO_13Hz;</span></div><div class="line"><a name="l00682"></a><span class="lineno"> 682</span> <span class="comment">// break;</span></div><div class="line"><a name="l00683"></a><span class="lineno"> 683</span> <span class="comment">//</span></div><div class="line"><a name="l00684"></a><span class="lineno"> 684</span> <span class="comment">// case 26:</span></div><div class="line"><a name="l00685"></a><span class="lineno"> 685</span> <span class="comment">// tx_data[1] |= LSM6DS3_IMU_ODR_FIFO_26Hz;</span></div><div class="line"><a name="l00686"></a><span class="lineno"> 686</span> <span class="comment">// break;</span></div><div class="line"><a name="l00687"></a><span class="lineno"> 687</span> <span class="comment">//</span></div><div class="line"><a name="l00688"></a><span class="lineno"> 688</span> <span class="comment">// case 52:</span></div><div class="line"><a name="l00689"></a><span class="lineno"> 689</span> <span class="comment">// tx_data[1] |= LSM6DS3_IMU_ODR_FIFO_52Hz;</span></div><div class="line"><a name="l00690"></a><span class="lineno"> 690</span> <span class="comment">// break;</span></div><div class="line"><a name="l00691"></a><span class="lineno"> 691</span> <span class="comment">//</span></div><div class="line"><a name="l00692"></a><span class="lineno"> 692</span> <span class="comment">// case 104:</span></div><div class="line"><a name="l00693"></a><span class="lineno"> 693</span> <span class="comment">// tx_data[1] |= LSM6DS3_IMU_ODR_FIFO_104Hz;</span></div><div class="line"><a name="l00694"></a><span class="lineno"> 694</span> <span class="comment">// break;</span></div><div class="line"><a name="l00695"></a><span class="lineno"> 695</span> <span class="comment">//</span></div><div class="line"><a name="l00696"></a><span class="lineno"> 696</span> <span class="comment">// case 208:</span></div><div class="line"><a name="l00697"></a><span class="lineno"> 697</span> <span class="comment">// tx_data[1] |= LSM6DS3_IMU_ODR_FIFO_208Hz;</span></div><div class="line"><a name="l00698"></a><span class="lineno"> 698</span> <span class="comment">// break;</span></div><div class="line"><a name="l00699"></a><span class="lineno"> 699</span> <span class="comment">//</span></div><div class="line"><a name="l00700"></a><span class="lineno"> 700</span> <span class="comment">// case 416:</span></div><div class="line"><a name="l00701"></a><span class="lineno"> 701</span> <span class="comment">// tx_data[1] |= LSM6DS3_IMU_ODR_FIFO_416Hz;</span></div><div class="line"><a name="l00702"></a><span class="lineno"> 702</span> <span class="comment">// break;</span></div><div class="line"><a name="l00703"></a><span class="lineno"> 703</span> <span class="comment">//</span></div><div class="line"><a name="l00704"></a><span class="lineno"> 704</span> <span class="comment">// case 833:</span></div><div class="line"><a name="l00705"></a><span class="lineno"> 705</span> <span class="comment">// tx_data[1] |= LSM6DS3_IMU_ODR_FIFO_833Hz;</span></div><div class="line"><a name="l00706"></a><span class="lineno"> 706</span> <span class="comment">// break;</span></div><div class="line"><a name="l00707"></a><span class="lineno"> 707</span> <span class="comment">//</span></div><div class="line"><a name="l00708"></a><span class="lineno"> 708</span> <span class="comment">// case 1660:</span></div><div class="line"><a name="l00709"></a><span class="lineno"> 709</span> <span class="comment">// tx_data[1] |= LSM6DS3_IMU_ODR_FIFO_1660Hz;</span></div><div class="line"><a name="l00710"></a><span class="lineno"> 710</span> <span class="comment">// break;</span></div><div class="line"><a name="l00711"></a><span class="lineno"> 711</span> <span class="comment">//</span></div><div class="line"><a name="l00712"></a><span class="lineno"> 712</span> <span class="comment">// case 3330:</span></div><div class="line"><a name="l00713"></a><span class="lineno"> 713</span> <span class="comment">// tx_data[1] |= LSM6DS3_IMU_ODR_FIFO_3330Hz;</span></div><div class="line"><a name="l00714"></a><span class="lineno"> 714</span> <span class="comment">// break;</span></div><div class="line"><a name="l00715"></a><span class="lineno"> 715</span> <span class="comment">//</span></div><div class="line"><a name="l00716"></a><span class="lineno"> 716</span> <span class="comment">// case 6660:</span></div><div class="line"><a name="l00717"></a><span class="lineno"> 717</span> <span class="comment">// tx_data[1] |= LSM6DS3_IMU_ODR_FIFO_6660Hz;</span></div><div class="line"><a name="l00718"></a><span class="lineno"> 718</span> <span class="comment">// break;</span></div><div class="line"><a name="l00719"></a><span class="lineno"> 719</span> <span class="comment">// }</span></div><div class="line"><a name="l00720"></a><span class="lineno"> 720</span> <span class="comment">//</span></div><div class="line"><a name="l00721"></a><span class="lineno"> 721</span> <span class="comment">// // set FIFO mode</span></div><div class="line"><a name="l00722"></a><span class="lineno"> 722</span> <span class="comment">// switch(settings.FIFO_mode) {</span></div><div class="line"><a name="l00723"></a><span class="lineno"> 723</span> <span class="comment">// default:</span></div><div class="line"><a name="l00724"></a><span class="lineno"> 724</span> <span class="comment">// case 0:</span></div><div class="line"><a name="l00725"></a><span class="lineno"> 725</span> <span class="comment">// tx_data[1] |= LSM6DS3_IMU_FIFO_MODE_BYPASS;</span></div><div class="line"><a name="l00726"></a><span class="lineno"> 726</span> <span class="comment">// break;</span></div><div class="line"><a name="l00727"></a><span class="lineno"> 727</span> <span class="comment">//</span></div><div class="line"><a name="l00728"></a><span class="lineno"> 728</span> <span class="comment">// case 1:</span></div><div class="line"><a name="l00729"></a><span class="lineno"> 729</span> <span class="comment">// tx_data[1] |= LSM6DS3_IMU_FIFO_MODE_FIFO;</span></div><div class="line"><a name="l00730"></a><span class="lineno"> 730</span> <span class="comment">// break;</span></div><div class="line"><a name="l00731"></a><span class="lineno"> 731</span> <span class="comment">//</span></div><div class="line"><a name="l00732"></a><span class="lineno"> 732</span> <span class="comment">// case 3:</span></div><div class="line"><a name="l00733"></a><span class="lineno"> 733</span> <span class="comment">// tx_data[1] |= LSM6DS3_IMU_FIFO_MODE_STF;</span></div><div class="line"><a name="l00734"></a><span class="lineno"> 734</span> <span class="comment">// break;</span></div><div class="line"><a name="l00735"></a><span class="lineno"> 735</span> <span class="comment">//</span></div><div class="line"><a name="l00736"></a><span class="lineno"> 736</span> <span class="comment">// case 4:</span></div><div class="line"><a name="l00737"></a><span class="lineno"> 737</span> <span class="comment">// tx_data[1] |= LSM6DS3_IMU_FIFO_MODE_BTS;</span></div><div class="line"><a name="l00738"></a><span class="lineno"> 738</span> <span class="comment">// break;</span></div><div class="line"><a name="l00739"></a><span class="lineno"> 739</span> <span class="comment">//</span></div><div class="line"><a name="l00740"></a><span class="lineno"> 740</span> <span class="comment">// case 6:</span></div><div class="line"><a name="l00741"></a><span class="lineno"> 741</span> <span class="comment">// tx_data[1] |= LSM6DS3_IMU_FIFO_MODE_STREAM;</span></div><div class="line"><a name="l00742"></a><span class="lineno"> 742</span> <span class="comment">// break;</span></div><div class="line"><a name="l00743"></a><span class="lineno"> 743</span> <span class="comment">// }</span></div><div class="line"><a name="l00744"></a><span class="lineno"> 744</span> <span class="comment">// err_code = nrf_drv_twi_tx(&p_twi_sensors, LSM6DS3_ADDR, tx_data, sizeof(tx_data), false);</span></div><div class="line"><a name="l00745"></a><span class="lineno"> 745</span> <span class="comment">// log_printf("Status : %d, %d\n", err_code, __LINE__);</span></div><div class="line"><a name="l00746"></a><span class="lineno"> 746</span> <span class="comment">//}</span></div><div class="line"><a name="l00747"></a><span class="lineno"> 747</span> </div><div class="line"><a name="l00751"></a><span class="lineno"> 751</span> <span class="comment">//uint16_t LSM6DS3_read_FIFO_status(void)</span></div><div class="line"><a name="l00752"></a><span class="lineno"> 752</span> <span class="comment">//{</span></div><div class="line"><a name="l00753"></a><span class="lineno"> 753</span> <span class="comment">// twim_ret_status err_code;</span></div><div class="line"><a name="l00754"></a><span class="lineno"> 754</span> <span class="comment">// uint8_t data[2];</span></div><div class="line"><a name="l00755"></a><span class="lineno"> 755</span> <span class="comment">// //uint8_t tx_data[2];</span></div><div class="line"><a name="l00756"></a><span class="lineno"> 756</span> <span class="comment">// uint16_t status = 0;</span></div><div class="line"><a name="l00757"></a><span class="lineno"> 757</span> <span class="comment">//</span></div><div class="line"><a name="l00758"></a><span class="lineno"> 758</span> <span class="comment">// /*// set BDU bit in CTRL3_C registers</span></div><div class="line"><a name="l00759"></a><span class="lineno"> 759</span> <span class="comment">// tx_data[0] = CTRL3_C;</span></div><div class="line"><a name="l00760"></a><span class="lineno"> 760</span> <span class="comment">// tx_data[1] = 0x40;</span></div><div class="line"><a name="l00761"></a><span class="lineno"> 761</span> <span class="comment">// err_code = nrf_drv_twi_tx(&p_twi_sensors, LSM6DS3_ADDR, tx_data, sizeof(tx_data), false);</span></div><div class="line"><a name="l00762"></a><span class="lineno"> 762</span> <span class="comment">// log_printf("Status : %d, %d\n", err_code, __LINE__);*/</span></div><div class="line"><a name="l00763"></a><span class="lineno"> 763</span> <span class="comment">//</span></div><div class="line"><a name="l00764"></a><span class="lineno"> 764</span> <span class="comment">// // read FIFO_STATUS1 and FIFO_STATUS2 registers</span></div><div class="line"><a name="l00765"></a><span class="lineno"> 765</span> <span class="comment">// err_code = read_register(p_twi_sensors, LSM6DS3_ADDR, FIFO_STATUS1, data, sizeof(data), true);</span></div><div class="line"><a name="l00766"></a><span class="lineno"> 766</span> <span class="comment">// log_printf("Status : %d, %d\n", err_code, __LINE__);</span></div><div class="line"><a name="l00767"></a><span class="lineno"> 767</span> <span class="comment">// status = (data[1] << 8) | data[0];</span></div><div class="line"><a name="l00768"></a><span class="lineno"> 768</span> <span class="comment">//</span></div><div class="line"><a name="l00769"></a><span class="lineno"> 769</span> <span class="comment">// return status;</span></div><div class="line"><a name="l00770"></a><span class="lineno"> 770</span> <span class="comment">//}</span></div><div class="line"><a name="l00771"></a><span class="lineno"> 771</span> </div><div class="line"><a name="l00775"></a><span class="lineno"> 775</span> <span class="comment">//int16_t LSM6DS3_read_FIFO_buffer()</span></div><div class="line"><a name="l00776"></a><span class="lineno"> 776</span> <span class="comment">//{</span></div><div class="line"><a name="l00777"></a><span class="lineno"> 777</span> <span class="comment">// twim_ret_status err_code;</span></div><div class="line"><a name="l00778"></a><span class="lineno"> 778</span> <span class="comment">// uint8_t read_data[2];</span></div><div class="line"><a name="l00779"></a><span class="lineno"> 779</span> <span class="comment">// int16_t data = 0;</span></div><div class="line"><a name="l00780"></a><span class="lineno"> 780</span> <span class="comment">//</span></div><div class="line"><a name="l00781"></a><span class="lineno"> 781</span> <span class="comment">// // read FIFO_DATA_OUT_L and FIFO_DATA_OUT_H registers</span></div><div class="line"><a name="l00782"></a><span class="lineno"> 782</span> <span class="comment">// err_code = read_register(p_twi_sensors, LSM6DS3_ADDR, FIFO_DATA_OUT_L, read_data, sizeof(read_data), true);</span></div><div class="line"><a name="l00783"></a><span class="lineno"> 783</span> <span class="comment">// log_printf("Status : %d, %d\n", err_code, __LINE__);</span></div><div class="line"><a name="l00784"></a><span class="lineno"> 784</span> <span class="comment">// data = (read_data[1] << 8) | read_data[0];</span></div><div class="line"><a name="l00785"></a><span class="lineno"> 785</span> <span class="comment">//</span></div><div class="line"><a name="l00786"></a><span class="lineno"> 786</span> <span class="comment">// return data;</span></div><div class="line"><a name="l00787"></a><span class="lineno"> 787</span> <span class="comment">//}</span></div><div class="line"><a name="l00788"></a><span class="lineno"> 788</span> </div><div class="line"><a name="l00792"></a><span class="lineno"> 792</span> <span class="comment">//void LSM6DS3_clear_FIFO_buffer(void)</span></div><div class="line"><a name="l00793"></a><span class="lineno"> 793</span> <span class="comment">//{</span></div><div class="line"><a name="l00794"></a><span class="lineno"> 794</span> <span class="comment">// // Read FIFO data and dump it.</span></div><div class="line"><a name="l00795"></a><span class="lineno"> 795</span> <span class="comment">// while((LSM6DS3_read_FIFO_status() & 0x1000) == 0) {</span></div><div class="line"><a name="l00796"></a><span class="lineno"> 796</span> <span class="comment">// LSM6DS3_read_FIFO_buffer();</span></div><div class="line"><a name="l00797"></a><span class="lineno"> 797</span> <span class="comment">// }</span></div><div class="line"><a name="l00798"></a><span class="lineno"> 798</span> <span class="comment">//}</span></div><div class="line"><a name="l00799"></a><span class="lineno"> 799</span> </div><div class="line"><a name="l00803"></a><span class="lineno"> 803</span> <span class="comment">//void LSM6DS3_tap_detect_config()</span></div><div class="line"><a name="l00804"></a><span class="lineno"> 804</span> <span class="comment">//{</span></div><div class="line"><a name="l00805"></a><span class="lineno"> 805</span> <span class="comment">// twim_ret_status err_code;</span></div><div class="line"><a name="l00806"></a><span class="lineno"> 806</span> <span class="comment">// uint8_t tx_data[2];</span></div><div class="line"><a name="l00807"></a><span class="lineno"> 807</span> <span class="comment">//</span></div><div class="line"><a name="l00808"></a><span class="lineno"> 808</span> <span class="comment">// // Enable tap detection on X, Y, Z axis, but do not latch output</span></div><div class="line"><a name="l00809"></a><span class="lineno"> 809</span> <span class="comment">// tx_data[0] = TAP_CFG;</span></div><div class="line"><a name="l00810"></a><span class="lineno"> 810</span> <span class="comment">// tx_data[1] = 0x0E;</span></div><div class="line"><a name="l00811"></a><span class="lineno"> 811</span> <span class="comment">// err_code = nrf_drv_twi_tx(&p_twi_sensors, LSM6DS3_ADDR, tx_data, sizeof(tx_data), false);</span></div><div class="line"><a name="l00812"></a><span class="lineno"> 812</span> <span class="comment">// log_printf("Status : %d, %d\n", err_code, __LINE__);</span></div><div class="line"><a name="l00813"></a><span class="lineno"> 813</span> <span class="comment">//</span></div><div class="line"><a name="l00814"></a><span class="lineno"> 814</span> <span class="comment">// // Set tap threshold</span></div><div class="line"><a name="l00815"></a><span class="lineno"> 815</span> <span class="comment">// tx_data[0] = TAP_THRS_6D;</span></div><div class="line"><a name="l00816"></a><span class="lineno"> 816</span> <span class="comment">// tx_data[1] = 0x03;</span></div><div class="line"><a name="l00817"></a><span class="lineno"> 817</span> <span class="comment">// err_code = nrf_drv_twi_tx(&p_twi_sensors, LSM6DS3_ADDR, tx_data, sizeof(tx_data), false);</span></div><div class="line"><a name="l00818"></a><span class="lineno"> 818</span> <span class="comment">// log_printf("Status : %d, %d\n", err_code, __LINE__);</span></div><div class="line"><a name="l00819"></a><span class="lineno"> 819</span> <span class="comment">//</span></div><div class="line"><a name="l00820"></a><span class="lineno"> 820</span> <span class="comment">// // Set Duration, Quiet and Shock time windows</span></div><div class="line"><a name="l00821"></a><span class="lineno"> 821</span> <span class="comment">// tx_data[0] = INT_DUR2;</span></div><div class="line"><a name="l00822"></a><span class="lineno"> 822</span> <span class="comment">// tx_data[1] = 0x7F;</span></div><div class="line"><a name="l00823"></a><span class="lineno"> 823</span> <span class="comment">// err_code = nrf_drv_twi_tx(&p_twi_sensors, LSM6DS3_ADDR, tx_data, sizeof(tx_data), false);</span></div><div class="line"><a name="l00824"></a><span class="lineno"> 824</span> <span class="comment">// log_printf("Status : %d, %d\n", err_code, __LINE__);</span></div><div class="line"><a name="l00825"></a><span class="lineno"> 825</span> <span class="comment">//</span></div><div class="line"><a name="l00826"></a><span class="lineno"> 826</span> <span class="comment">// // Single & Double tap enabled (SINGLE_DOUBLE_TAP = 1)</span></div><div class="line"><a name="l00827"></a><span class="lineno"> 827</span> <span class="comment">// tx_data[0] = WAKE_UP_THRS;</span></div><div class="line"><a name="l00828"></a><span class="lineno"> 828</span> <span class="comment">// tx_data[1] = 0x80;</span></div><div class="line"><a name="l00829"></a><span class="lineno"> 829</span> <span class="comment">// err_code = nrf_drv_twi_tx(&p_twi_sensors, LSM6DS3_ADDR, tx_data, sizeof(tx_data), false);</span></div><div class="line"><a name="l00830"></a><span class="lineno"> 830</span> <span class="comment">// log_printf("Status : %d, %d\n", err_code, __LINE__);</span></div><div class="line"><a name="l00831"></a><span class="lineno"> 831</span> <span class="comment">//</span></div><div class="line"><a name="l00832"></a><span class="lineno"> 832</span> <span class="comment">// // Single tap interrupt driven to INT1 pin -- enable latch</span></div><div class="line"><a name="l00833"></a><span class="lineno"> 833</span> <span class="comment">// tx_data[0] = MD2_CFG;</span></div><div class="line"><a name="l00834"></a><span class="lineno"> 834</span> <span class="comment">// tx_data[1] = 0x48;</span></div><div class="line"><a name="l00835"></a><span class="lineno"> 835</span> <span class="comment">// err_code = nrf_drv_twi_tx(&p_twi_sensors, LSM6DS3_ADDR, tx_data, sizeof(tx_data), false);</span></div><div class="line"><a name="l00836"></a><span class="lineno"> 836</span> <span class="comment">// log_printf("Status : %d, %d\n", err_code, __LINE__);</span></div><div class="line"><a name="l00837"></a><span class="lineno"> 837</span> <span class="comment">//}</span></div><div class="ttc" id="group__group__twim__driver_html_ga785d6175219d5860c870a14fb42d8f3a"><div class="ttname"><a href="group__group__twim__driver.html#ga785d6175219d5860c870a14fb42d8f3a">twim_transfer_t</a></div><div class="ttdeci">twim_transfer_t</div><div class="ttdoc">Defines for the types of transfers possible.</div><div class="ttdef"><b>Definition:</b> <a href="hal__twim_8h_source.html#l00061">hal_twim.h:61</a></div></div>
<div class="ttc" id="group__group__twim__driver_html_gga8177600c556e270e6001165bcd8d22cda6fd2c877d48854a523c34c954c6c5f2c"><div class="ttname"><a href="group__group__twim__driver.html#gga8177600c556e270e6001165bcd8d22cda6fd2c877d48854a523c34c954c6c5f2c">HAL_TWI_FREQ_100K</a></div><div class="ttdoc">100 kbps</div><div class="ttdef"><b>Definition:</b> <a href="hal__twim_8h_source.html#l00054">hal_twim.h:54</a></div></div>
<div class="ttc" id="group__group__twim__driver_html_ga3fd95e05a0d5d82a9c9c249f3e93dc8b"><div class="ttname"><a href="group__group__twim__driver.html#ga3fd95e05a0d5d82a9c9c249f3e93dc8b">twim_err_t</a></div><div class="ttdeci">twim_err_t</div><div class="ttdoc">Defines for the types of errors possible during TWI transactions.</div><div class="ttdef"><b>Definition:</b> <a href="hal__twim_8h_source.html#l00069">hal_twim.h:69</a></div></div>
<div class="ttc" id="group__group__twim__driver_html_ga2906152d9b6f5a340d72f97b79e77ab7"><div class="ttname"><a href="group__group__twim__driver.html#ga2906152d9b6f5a340d72f97b79e77ab7">twim_ret_status</a></div><div class="ttdeci">twim_ret_status</div><div class="ttdoc">Defines for the return values for the transfer calls.</div><div class="ttdef"><b>Definition:</b> <a href="hal__twim_8h_source.html#l00077">hal_twim.h:77</a></div></div>
<div class="ttc" id="group__group__twim__driver_html_ga94194672489a78d038dbb7ce0a04360e"><div class="ttname"><a href="group__group__twim__driver.html#ga94194672489a78d038dbb7ce0a04360e">hal_twim_tx_rx</a></div><div class="ttdeci">twim_ret_status hal_twim_tx_rx(uint8_t *tx_ptr, uint32_t tx_len, uint8_t *rx_ptr, uint32_t rx_len)</div><div class="ttdoc">Start a Tx TWI transfer followed by a Rx by repeated start.</div><div class="ttdef"><b>Definition:</b> <a href="hal__twim_8c_source.html#l00236">hal_twim.c:236</a></div></div>
<div class="ttc" id="structhal__twim__init__config__t_html"><div class="ttname"><a href="structhal__twim__init__config__t.html">hal_twim_init_config_t</a></div><div class="ttdoc">Structure for the TWI master driver initialization.</div><div class="ttdef"><b>Definition:</b> <a href="hal__twim_8h_source.html#l00094">hal_twim.h:94</a></div></div>
<div class="ttc" id="structhal__twim__init__config__t_html_ab97332832052ba9ef94e47d92a40205a"><div class="ttname"><a href="structhal__twim__init__config__t.html#ab97332832052ba9ef94e47d92a40205a">hal_twim_init_config_t::address</a></div><div class="ttdeci">uint32_t address</div><div class="ttdef"><b>Definition:</b> <a href="hal__twim_8h_source.html#l00100">hal_twim.h:100</a></div></div>
<div class="ttc" id="group__group__twim__driver_html_ga52821c1c0284c71e6bcdf27558cadd80"><div class="ttname"><a href="group__group__twim__driver.html#ga52821c1c0284c71e6bcdf27558cadd80">hal_twim_init</a></div><div class="ttdeci">void hal_twim_init(hal_twim_init_config_t *config)</div><div class="ttdoc">Function for initializing and enabling one of the TWIM peripheral.</div><div class="ttdef"><b>Definition:</b> <a href="hal__twim_8c_source.html#l00100">hal_twim.c:100</a></div></div>
<div class="ttc" id="group__group__twim__driver_html_gaa0473e1b8a7964993fd34944acf44367"><div class="ttname"><a href="group__group__twim__driver.html#gaa0473e1b8a7964993fd34944acf44367">hal_twim_tx</a></div><div class="ttdeci">twim_ret_status hal_twim_tx(uint8_t *tx_ptr, uint32_t tx_len)</div><div class="ttdoc">Start a Tx only TWI transfer.</div><div class="ttdef"><b>Definition:</b> <a href="hal__twim_8c_source.html#l00184">hal_twim.c:184</a></div></div>
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