static msg_t sens_read_raw(void *ip, int32_t axes[]) {
int32_t* bp = axes;
msg_t msg;
if (((LSM6DS0Driver *)ip)->config->acccfg != NULL) {
msg = acc_read_raw(ip, bp);
if(msg != MSG_OK)
return msg;
bp += LSM6DS0_ACC_NUMBER_OF_AXES;
}
if (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL) {
msg = gyro_read_raw(ip, bp);
}
return msg;
}
static msg_t acc_read_cooked(void *ip, float axes[]) {
uint32_t i;
int32_t raw[LSM6DS0_ACC_NUMBER_OF_AXES];
msg_t msg;
osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
(((LSM6DS0Driver *)ip)->config->acccfg != NULL));
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
"acc_read_cooked(), invalid state");
msg = acc_read_raw(ip, raw);
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES ; i++){
axes[i] = raw[i] * ((LSM6DS0Driver *)ip)->accsensitivity[i];
axes[i] -= ((LSM6DS0Driver *)ip)->accbias[i];
}
return msg;
}
/**
* @brief Retrieves cooked data from the BaseAccelerometer.
* @note This data is manipulated according to the formula
* cooked = (raw * sensitivity) - bias.
* @note Final data is expressed as milli-G.
* @note The axes array must be at least the same size of the
* BaseAccelerometer axes number.
*
* @param[in] ip pointer to @p BaseAccelerometer interface.
* @param[out] axes a buffer which would be filled with cooked data.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET if one or more I2C errors occurred, the errors can
* be retrieved using @p i2cGetErrors().
* @retval MSG_TIMEOUT if a timeout occurred before operation end.
*/
static msg_t acc_read_cooked(void *ip, float axes[]) {
LSM6DS0Driver* devp;
uint32_t i;
int32_t raw[LSM6DS0_ACC_NUMBER_OF_AXES];
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM6DS0Driver*, (BaseAccelerometer*)ip);
osalDbgAssert((devp->state == LSM6DS0_READY),
"acc_read_cooked(), invalid state");
msg = acc_read_raw(ip, raw);
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
axes[i] = (raw[i] * devp->accsensitivity[i]) - devp->accbias[i];
}
return msg;
}
