Merge pull request #9 from nuenen313/get_x_axes-output-as-float

Get x axes output as float

examples/LSM6DSR_I2C_HelloWorld/LSM6DSR_I2C_HelloWorld.ino

@@ -88,7 +88,7 @@ void loop() {
   delay(250);
 
   // Read accelerometer and gyroscope.
-  int32_t accelerometer[3];
+  int32_t accelerometer[3]; // Alternatively, use float accelerometer[3]
   int32_t gyroscope[3];
   AccGyr.Get_X_Axes(accelerometer);
   AccGyr.Get_G_Axes(gyroscope);

examples/LSM6DSR_SPI_HelloWorld/LSM6DSR_SPI_HelloWorld.ino

@@ -74,7 +74,7 @@ void loop() {
   delay(250);
 
   // Read accelerometer and gyroscope.
-  int32_t accelerometer[3];
+  int32_t accelerometer[3]; // Alternatively, use float accelerometer[3]
   int32_t gyroscope[3];
   AccGyr.Get_X_Axes(accelerometer);
   AccGyr.Get_G_Axes(gyroscope);

src/LSM6DSRSensor.cpp

@@ -630,6 +630,37 @@ LSM6DSRStatusTypeDef LSM6DSRSensor::Get_X_Axes(int32_t *Acceleration)
 }
 
 
+/**
+ * @brief  Get the LSM6DSR accelerometer sensor axes as floats
+ * @param  Acceleration pointer where the values of the axes are written
+ * @retval 0 in case of success, an error code otherwise
+ */
+LSM6DSRStatusTypeDef LSM6DSRSensor::Get_X_Axes(float *Acceleration)
+{
+  axis3bit16_t data_raw;
+  float sensitivity = 0.0f;
+
+  /* Read raw data values. */
+  if (lsm6dsr_acceleration_raw_get(&reg_ctx, data_raw.u8bit) != LSM6DSR_OK)
+  {
+    return LSM6DSR_ERROR;
+  }
+
+  /* Get LSM6DSR actual sensitivity. */
+  if (Get_X_Sensitivity(&sensitivity) != LSM6DSR_OK)
+  {
+    return LSM6DSR_ERROR;
+  }
+
+  /* Calculate the data. */
+  Acceleration[0] = ((float)((float)data_raw.i16bit[0] * sensitivity));
+  Acceleration[1] = ((float)((float)data_raw.i16bit[1] * sensitivity));
+  Acceleration[2] = ((float)((float)data_raw.i16bit[2] * sensitivity));
+
+  return LSM6DSR_OK;
+}
+
+
 /**
  * @brief  Get the LSM6DSR ACC data ready bit value
  * @param  Status the status of data ready bit

src/LSM6DSRSensor.h

@@ -108,6 +108,7 @@ class LSM6DSRSensor
     LSM6DSRStatusTypeDef Set_X_FS(int32_t FullScale);
     LSM6DSRStatusTypeDef Get_X_AxesRaw(int16_t *Value);
     LSM6DSRStatusTypeDef Get_X_Axes(int32_t *Acceleration);
+    LSM6DSRStatusTypeDef Get_X_Axes(float *Acceleration);
     LSM6DSRStatusTypeDef Get_X_DRDY_Status(uint8_t *Status);
 
     LSM6DSRStatusTypeDef Enable_G();