Hi @JBrio.1 , but are you not able to read the status register, or to properly configure and raise the 6D interrupt? I suggest you to check the C code online examples on github for the LSM6DS3 device, which in terms of embedded digital feature is same as the LSM6DSL. In particular, the lsm6ds3_orientation.c file. Here below the part of the code that should be of your interest.
Configuration part:
/* Restore default configuration */
lsm6ds3_reset_set(&dev_ctx, PROPERTY_ENABLE);
do {
lsm6ds3_reset_get(&dev_ctx, &rst);
} while (rst);
/* Set XL Output Data Rate */
lsm6ds3_xl_data_rate_set(&dev_ctx, LSM6DS3_XL_ODR_416Hz);
/* Set 2g full XL scale */
lsm6ds3_xl_full_scale_set(&dev_ctx, LSM6DS3_2g);
/* Set threshold to 60 degrees */
lsm6ds3_6d_threshold_set(&dev_ctx, LSM6DS3_DEG_60);
/* Use HP filter */
lsm6ds3_xl_hp_path_internal_set(&dev_ctx, LSM6DS3_USE_HPF);
/* LPF2 on 6D function selection */
lsm6ds3_6d_feed_data_set(&dev_ctx, LSM6DS3_LPF2_FEED);
/* Enable interrupt generation on 6D INT1 pin */
lsm6ds3_pin_int1_route_get(&dev_ctx, &int_1_reg);
int_1_reg.int1_6d = PROPERTY_ENABLE;
lsm6ds3_pin_int1_route_set(&dev_ctx, &int_1_reg);
Activity loop section:
/* Wait Events */
while(1)
{
lsm6ds3_all_src_t all_source;
/* Check if 6D Orientation events */
lsm6ds3_all_sources_get(&dev_ctx, &all_source);
if (all_source.d6d_src.d6d_ia)
{
sprintf((char*)tx_buffer, "6D Or. switched to ");
if (all_source.d6d_src.xh)
strcat((char*)tx_buffer, "XH");
if (all_source.d6d_src.xl)
strcat((char*)tx_buffer, "XL");
if (all_source.d6d_src.yh)
strcat((char*)tx_buffer, "YH");
if (all_source.d6d_src.yl)
strcat((char*)tx_buffer, "YL");
if (all_source.d6d_src.zh)
strcat((char*)tx_buffer, "ZH");
if (all_source.d6d_src.zl)
strcat((char*)tx_buffer, "ZL");
strcat((char*)tx_buffer, "\r\n");
tx_com(tx_buffer, strlen((char const*)tx_buffer));
}
}
}
Regards
