Setup exploration

drivers/CoreIMU/source/CoreLSM6DSOX.cpp

@@ -147,9 +147,92 @@ void CoreLSM6DSOX::setGyrDataReadyInterrupt()
 	lsm6dsox_dataready_pulsed_t drdy_pulsed {LSM6DSOX_DRDY_PULSED};
 	lsm6dsox_data_ready_mode_set(&_register_io_function, drdy_pulsed);
 
-	lsm6dsox_pin_int1_route_t gyro_int1 {
-		.drdy_xl  = PROPERTY_ENABLE,
-		.den_flag = PROPERTY_ENABLE,
+	{
+		lsm6dsox_ff_dur_set(&_register_io_function, 0x06);
+
+		lsm6dsox_ff_threshold_set(&_register_io_function, LSM6DSOX_FF_TSH_312mg);
+
+	}	// free-fall settings
+
+	{
+		/* Enable Tap detection on X, Y, Z */
+		lsm6dsox_tap_detection_on_z_set(&_register_io_function, PROPERTY_ENABLE);
+		lsm6dsox_tap_detection_on_y_set(&_register_io_function, PROPERTY_ENABLE);
+		lsm6dsox_tap_detection_on_x_set(&_register_io_function, PROPERTY_ENABLE);
+
+		/* Set Tap threshold to 01000b, therefore the tap threshold
+		 * is 500 mg (= 12 * FS_XL / 32 )
+		 */
+		lsm6dsox_tap_threshold_x_set(&_register_io_function, 0x01);
+		lsm6dsox_tap_threshold_y_set(&_register_io_function, 0x01);
+		lsm6dsox_tap_threshold_z_set(&_register_io_function, 0x01);
+
+		lsm6dsox_tap_axis_priority_set(&_register_io_function, LSM6DSOX_YZX);
+
+		/* Configure Single and Double Tap parameter
+		 *
+		 * For the maximum time between two consecutive detected taps, the DUR
+		 * field of the INT_DUR2 register is set to 0111b, therefore the Duration
+		 * time is 538.5 ms (= 7 * 32 * ODR_XL)
+		 *
+		 * The SHOCK field of the INT_DUR2 register is set to 11b, therefore
+		 * the Shock time is 57.36 ms (= 3 * 8 * ODR_XL)
+		 *
+		 * The QUIET field of the INT_DUR2 register is set to 11b, therefore
+		 * the Quiet time is 28.68 ms (= 3 * 4 * ODR_XL)
+		 */
+		lsm6dsox_tap_dur_set(&_register_io_function, 0x07);
+		lsm6dsox_tap_quiet_set(&_register_io_function, 0x03);
+		lsm6dsox_tap_shock_set(&_register_io_function, 0x03);
+
+		/* Enable Single and Double Tap detection. */
+		lsm6dsox_tap_mode_set(&_register_io_function, LSM6DSOX_BOTH_SINGLE_DOUBLE);
+
+	}	// tap settings
+
+	{
+		/* Apply high-pass digital filter on Wake-Up function */
+		lsm6dsox_xl_hp_path_internal_set(&_register_io_function, LSM6DSOX_USE_SLOPE);
+
+		lsm6dsox_xl_usr_offset_on_wkup_set(&_register_io_function, 0);
+
+	}	// wakeup and activity settings
+
+	{
+		/* Set Wake-Up threshold: 1 LSb corresponds to FS_XL/2^6 */
+		lsm6dsox_wkup_threshold_set(&_register_io_function, 2);
+
+		lsm6dsox_wkup_ths_weight_set(&_register_io_function, LSM6DSOX_LSb_FS_DIV_64);
+
+		/* Set duration for Activity detection to 9.62 ms (= 2 * 1 / ODR_XL) */
+		lsm6dsox_wkup_dur_set(&_register_io_function, 0x02);
+
+	}	// wakeup settings
+
+	{
+		// /* Set duration for Activity detection to 9.62 ms (= 2 * 1 / ODR_XL) */
+		// lsm6dsox_wkup_dur_set(&_register_io_function, 0x02);
+		// /* Set Activity/Inactivity threshold to 62.5 mg */
+		// lsm6dsox_wkup_threshold_set(&_register_io_function, 0x02);
+
+		/* Set duration for Inactivity detection to 4.92 s (= 2 * 512 / ODR_XL) */
+		lsm6dsox_act_sleep_dur_set(&_register_io_function, 0x02);
+
+		/* Inactivity configuration: XL to 12.5 in LP, gyro to Power-Down */
+		lsm6dsox_act_mode_set(&_register_io_function, LSM6DSOX_XL_AND_GY_NOT_AFFECTED);
+
+	}	// activity settings
+
+	lsm6dsox_pin_int1_route_t gyro_int1;
+	lsm6dsox_pin_int1_route_get(&_register_io_function, &gyro_int1);
+	gyro_int1 = {
+		.drdy_xl	  = PROPERTY_ENABLE,
+		.den_flag	  = PROPERTY_ENABLE,
+		.double_tap	  = PROPERTY_ENABLE,
+		.free_fall	  = PROPERTY_ENABLE,
+		.wake_up	  = PROPERTY_ENABLE,
+		.single_tap	  = PROPERTY_ENABLE,
+		.sleep_change = PROPERTY_ENABLE,
 	};
 	lsm6dsox_pin_int1_route_set(&_register_io_function, gyro_int1);