/******************** (C) COPYRIGHT 2012 STMicroelectronics ********************
* File Name          : LIS3DH_driver.c
* Author             : MSH Application Team
* Author             : Fabio Tota
* Version            : $Revision:$
* Date               : $Date:$
* Description        : LIS3DH driver file
*
* HISTORY:
* Date               |	Modification                    |	Author
* 24/06/2011         |	Initial Revision                |	Fabio Tota
* 11/06/2012         |	Support for multiple drivers in the same program |	Abhishek Anand

********************************************************************************
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*
* THIS SOFTWARE IS SPECIFICALLY DESIGNED FOR EXCLUSIVE USE WITH ST PARTS.
*
*******************************************************************************/

/* Includes ------------------------------------------------------------------*/

#include "lis3dh_driver.h"
#include "stdlib.h"
#include "math.h"
#include "stdint.h"
#include "mk_io.h"
#include "mk_gpio.h"
#include "global_param.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private function prototypes -----------------------------------------------*/

//int main(void)
//{
//	delay_init();	    	 //ÑÓʱº¯Êý³õʼ»¯
//	uart_init(115200);	 	//´®¿Ú³õʼ»¯Îª115200
//	IIC2_Init();
//	delay_ms(100);
//	while(1)
//	{
//		LIS3DH_Data_Init();
//		delay_ms(1000);
//	}
//
//}




#define ARM_BIT_8               0

#if ARM_BIT_8
//ÈçÏÂÊý¾ÝÀàÐÍÊÇÔÚ8λ»úÉ϶¨ÒåµÄ£¬ÔÚÆäËüƽ̨£¨±ÈÈç32룩¿ÉÄÜ´æÔÚ²î±ð£¬ÐèÒª¸ù¾Ýʵ¼ÊÇé¿öÐÞ¸Ä ¡£
typedef unsigned char    u8_m;                   /* ÎÞ·ûºÅ8λÕûÐͱäÁ¿*/
typedef signed   char    s8_m;                   /* ÓзûºÅ8λÕûÐͱäÁ¿*/
typedef unsigned int     u16_m;                  /* ÎÞ·ûºÅ16λÕûÐͱäÁ¿*/
typedef signed   int     s16_m;                  /* ÓзûºÅ16λÕûÐͱäÁ¿*/
typedef unsigned long    u32_m;                  /* ÎÞ·ûºÅ32λÕûÐͱäÁ¿*/
typedef signed   long    s32_m;                  /* ÓзûºÅ32λÕûÐͱäÁ¿*/
typedef float            fp32_m;                 /* µ¥¾«¶È¸¡µãÊý£¨32볤¶È£©*/
typedef double           fp64_m;                 /* Ë«¾«¶È¸¡µãÊý£¨64볤¶È£©*/
#else
//ÈçÏÂÊý¾ÝÀàÐÍÊÇÔÚ32λ»úÉ϶¨ÒåµÄ£¬ÔÚÆäËüƽ̨£¨±ÈÈç8룩¿ÉÄÜ´æÔÚ²î±ð£¬ÐèÒª¸ù¾Ýʵ¼ÊÇé¿öÐÞ¸Ä ¡£
typedef unsigned char    u8_m;                   /* ÎÞ·ûºÅ8λÕûÐͱäÁ¿*/
typedef signed   char    s8_m;                   /* ÓзûºÅ8λÕûÐͱäÁ¿*/
typedef unsigned short   u16_m;                  /* ÎÞ·ûºÅ16λÕûÐͱäÁ¿*/
typedef signed   short   s16_m;                  /* ÓзûºÅ16λÕûÐͱäÁ¿*/
typedef unsigned int     u32_m;                  /* ÎÞ·ûºÅ32λÕûÐͱäÁ¿*/
typedef signed   int     s32_m;                  /* ÓзûºÅ32λÕûÐͱäÁ¿*/
typedef float            fp32_m;                 /* µ¥¾«¶È¸¡µãÊý£¨32볤¶È£©*/
typedef double           fp64_m;                 /* Ë«¾«¶È¸¡µãÊý£¨64볤¶È£©*/
#endif

/*******************************************************************************
Macro definitions - Register define for Gsensor
********************************************************************************/
#define REG_SPI_CONFIG              0x00
#define REG_CHIP_ID                 0x01
#define REG_ACC_X_LSB               0x02
#define REG_ACC_X_MSB               0x03
#define REG_ACC_Y_LSB               0x04
#define REG_ACC_Y_MSB               0x05
#define REG_ACC_Z_LSB               0x06
#define REG_ACC_Z_MSB               0x07
#define REG_FIFO_STATUS             0x08
#define REG_MOTION_FLAG             0x09
#define REG_NEWDATA_FLAG            0x0A
#define REG_TAP_ACTIVE_STATUS       0x0B
#define REG_ORIENT_STATUS	        0x0C
#define REG_STEPS_MSB               0x0D
#define REG_STEPS_LSB               0x0E
#define REG_RESOLUTION_RANGE        0x0F
#define REG_ODR_AXIS                0x10
#define REG_MODE_BW                 0x11
#define REG_SWAP_POLARITY           0x12
#define REG_FIFO_CTRL               0x14
#define REG_INT_SET0                0x15
#define REG_INT_SET1                0x16
#define REG_INT_SET2                0x17
#define REG_INT_MAP1                0x19
#define REG_INT_MAP2                0x1a
#define REG_INT_MAP3                0x1b
#define REG_INT_CONFIG              0x20
#define REG_INT_LATCH               0x21
#define REG_FREEFALL_DUR            0x22
#define REG_FREEFALL_THS            0x23
#define REG_FREEFALL_HYST           0x24
#define REG_ACTIVE_DUR              0x27
#define REG_ACTIVE_THS              0x28
#define REG_TAP_DUR                 0x2A
#define REG_TAP_THS                 0x2B
#define REG_ORIENT_HYST             0x2C
#define REG_Z_BLOCK                 0x2D
#define REG_RESET_STEP				0x2E
#define REG_STEP_CONGIF1			0x2F
#define REG_STEP_CONGIF2			0x30
#define REG_STEP_CONGIF3			0x31
#define REG_STEP_CONGIF4			0x32
#define REG_STEP_FILTER             0x33
#define	REG_SM_THRESHOLD            0x34

#define DIFF_CALIBRATION 1


u8_m i2c_addr = 0x27;

s16_m offset_x=0, offset_y=0, offset_z=0;

u16_m f_step=0;


s8_m mir3da_register_read(u8_m ReadAddr, u8_m *data_m, u8_m Len)
{

    mir3da_ReadOneByte(ReadAddr);

}

s8_m mir3da_register_write(u8_m ReadAddr, u8_m data_m)
{

    mir3da_WriteOneByte(ReadAddr,data_m);

}

s8_m mir3da_register_mask_write(u8_m ReadAddr, u8_m mask, u8_m data)
{
    int res=0;
    unsigned char tmp_data=0;

    res = mir3da_register_read(ReadAddr, &tmp_data, 1);
    tmp_data &= ~mask;
    tmp_data |= data & mask;
    res |= mir3da_register_write(ReadAddr, tmp_data);

    return 0;
}


static void delay_us(uint32_t nTimer)
{
    uint32_t i=0;
    for(i=0;i<nTimer;i++){
        __NOP();
        __NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();
		__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();
		__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();
        __NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();
		__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();
		__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();__NOP();


    }
}
AxesRaw_t lis2dhdata;

//OLED³õʼ»¯IIC
uint8_t t11;
void IIC2_Init(void)
{
//	GPIO_InitTypeDef GPIO_InitStructure= {0};
// __HAL_RCC_GPIOA_CLK_ENABLE();
//
//	GPIO_InitStructure.Pin = GPIO_PIN_2|GPIO_PIN_3;
//	GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_OD ;   //¿ªÂ©Êä³ö
//	GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_HIGH;
//	HAL_GPIO_Init(GPIOA, &GPIO_InitStructure);
//	HAL_GPIO_WritePin(GPIOA,GPIO_PIN_2|GPIO_PIN_3,GPIO_PIN_SET); 	//PB6,PB7 Êä³ö¸ß

    //IICÒý½ÅMKÅäÖÃPIN10 SDA ,PIN11 SCL
    io_pin_mux_set(SDA_PIN, IO_FUNC0);
    io_pin_mux_set(SCL_PIN, IO_FUNC0);

    gpio_pin_set_dir(SDA_PIN , GPIO_DIR_OUT, 1);
		//io_open_drain_set(SDA_PIN, 1);
    io_pull_set(SDA_PIN , IO_PULL_UP, IO_PULL_UP_LEVEL2);//Êä³ö¸ß×è̬

    gpio_pin_set_dir(SCL_PIN , GPIO_DIR_OUT, 1);
    //io_open_drain_set(SCL_PIN, 1);//ÉèÖÿªÂ©Êä³ö
    io_pull_set(SCL_PIN , IO_HIGH_Z, IO_PULL_UP_NONE);
}

uint8_t lisid;
uint8_t lisidtemp;

void Accelerometer_Init()
{

//    LIS3DH_GetWHO_AM_I(&lisidtemp);
//    lisid=(uint16_t)lisidtemp;

//    if(lisid == 0x33)
//    {
//        LIS3DH_Data_Init();
//    }
//    else
//    {
//        g_com_map[IMU_ENABLE]=0;
//    }
                lisid = mir3da_ReadOneByte(REG_CHIP_ID); 
                SL_SC7A22H_Check();
                if(lisid == 0x13)
                {
                        mir3da_init();
                }
                else
                {
                        LIS3DH_GetWHO_AM_I(&lisidtemp);  
                        lisid=(uint16_t)lisidtemp;
                        
                        if(lisid == 0x33)
                        {
                                LIS3DH_Data_Init();
                        }
                        else
                        {
                                g_com_map[IMU_ENABLE]=0;
                        }
                }
}

void mir3da_init()
{
    u8_m data_m = 0;
    int i;
    int threshold = 0;


    //softreset
    mir3da_register_write(REG_SPI_CONFIG, 0x24);
    delay_us(20000);

    mir3da_register_write(REG_RESOLUTION_RANGE, 0x00);	//0x0F; +/-2G,14bit
    mir3da_register_write(REG_ODR_AXIS, 0x05);			//0x10; ODR=31.25hz(step counter minimum ODR)
    mir3da_register_write(REG_MODE_BW, 0x04);			//0x11; suspend mode, osr=1x, bw=1/10odr, autosleep disable

    //load_offset_from_filesystem(offset_x, offset_y, offset_z);	//pseudo-code

    //private register, just do it.
    mir3da_register_write(0x7F, 0x83);
    mir3da_register_write(0x7F, 0x69);
    mir3da_register_write(0x7F, 0xBD);

    //don't pull up sd0 pin
    if(i2c_addr == 0x26) {
        mir3da_register_mask_write(0x8C, 0x40, 0x00);
    }

    mir3da_set_active_interrupt_enable(1);

    g_com_map[IMU_THRES]=0x14;
//	LIS3DH_WriteReg(LIS3DH_INT1_THS, (uint8_t)g_com_map[IMU_THRES]);  	/* INT1_THS(32h): ?????? 0x10: 16*2(FS)  0x20: 32*16(FS) */
    mir3da_register_write(REG_ACTIVE_THS,(uint8_t)g_com_map[IMU_THRES]);

    delay_us(10);

    mir3da_set_enable(1);

    mir3da_set_step_counter_open(1);

}


void LIS3DH_Data_Init()
{
    //uint8_t buffer[26];

    uint8_t response;
//  uint8_t lisidtemp;

    LIS3DH_WriteReg(LIS3DH_CTRL_REG1, 0x37);	/* CTRL_REG1(20h): ??sensor,???????? ODR 25HZ */
    LIS3DH_WriteReg(LIS3DH_CTRL_REG2, 0x03);	/* CTRL_REG2(21h): IA1?IA2 ?????? bc */

    LIS3DH_WriteReg(LIS3DH_CTRL_REG3, 0x40);	/* CTRL_REG3(22h): 0x80 ???????INT_1 INT_2 */
    LIS3DH_WriteReg(LIS3DH_CTRL_REG4, 0x08);  /* CTRL_REG4(23h): ???,????,???+/-2G,?????? */
    LIS3DH_WriteReg(LIS3DH_INT1_CFG, 0xaa);  /* INT1_CFG(30h): ??,6D X/Y/Z???????? */
    g_com_map[IMU_THRES]=2;
    LIS3DH_WriteReg(LIS3DH_INT1_THS, (uint8_t)g_com_map[IMU_THRES]);  	/* INT1_THS(32h): ?????? 0x10: 16*2(FS)  0x20: 32*16(FS) */
    LIS3DH_WriteReg(LIS3DH_INT1_DURATION, 0x01);  	/* INT1_DURATION(33h): 1LSB=1/ODR  ??ODR=100HZ  ??1LSB=10ms ???? 1s,??100->0x64 */
    /* Start sensor */
    LIS3DH_WriteReg(0x20, 0x5f);  /* CTRL_REG1(20h): Start sensor at ODR 100Hz Low-power mode */


    // Read ID
    LIS3DH_GetWHO_AM_I(&lisidtemp);
//	lisid=(uint16_t)lisidtemp;



    //get Acceleration Raw data
//	response=LIS3DH_GetAccAxesRaw(&data);
    //print data values
    delay_us(10);
//	if(response==1)
//	{
//
//		printf("´«¸ÐÆ÷ԭʼֵ:x=%d, y=%d, z=%d\r\n", lis2dhdata.AXIS_X, lis2dhdata.AXIS_Y, lis2dhdata.AXIS_Z);
//		printf( "´¦ÀíºóµÄ¼ÓËÙ¶ÈÖµAccel:[x]%dmg,[y]%dmg,[z]%dmg\r\n",
//																(int16_t)((float)lis2dhdata.AXIS_X*4/65536*1000),
//																(int16_t)((float)lis2dhdata.AXIS_Y*4/65536*1000),
//																(int16_t)((float)lis2dhdata.AXIS_Z*4/65536*1000));
//
//	}

}
void LIS3DH_ENTER_STY_Init()
{
    //uint8_t buffer[26];

    uint8_t response;
    uint8_t lisidtemp;
    //set ODR (turn ON device)
    LIS3DH_SetODR(LIS3DH_ODR_10Hz);
    //set PowerMode
    LIS3DH_SetMode(LIS3DH_POWER_DOWN);
    //set Fullscale
    LIS3DH_SetFullScale(LIS3DH_FULLSCALE_2);
    LIS3DH_SetInt2Pin(LIS3DH_I1_INT2_ON_PIN_INT1_ENABLE);
//LIS3DH_SetTriggerInt(LIS3DH_TRIG_INT2);
//	LIS3DH_WriteReg(0x34,0xff);
//	LIS3DH_WriteReg(0x35,0x7f);
//	LIS3DH_WriteReg(0x36,0x20);
    //set axis Enable
    LIS3DH_SetAxis(LIS3DH_X_DISABLE | LIS3DH_Y_DISABLE | LIS3DH_Y_DISABLE);
    // Read ID
    //LIS3DH_GetWHO_AM_I(&lisidtemp);
//	lisid=(uint16_t)lisidtemp;
//	printf("LIS3DH ID: %x \r\n",lisid);
    //get Acceleration Raw data
//	response=LIS3DH_GetAccAxesRaw(&data);
    //print data values
    //HAL_Delay(100);yuan
    delay_us(100000);
//	if(response==1)
//	{
//
//		printf("´«¸ÐÆ÷ԭʼֵ:x=%d, y=%d, z=%d\r\n", lis2dhdata.AXIS_X, lis2dhdata.AXIS_Y, lis2dhdata.AXIS_Z);
//		printf( "´¦ÀíºóµÄ¼ÓËÙ¶ÈÖµAccel:[x]%dmg,[y]%dmg,[z]%dmg\r\n",
//																(int16_t)((float)lis2dhdata.AXIS_X*4/65536*1000),
//																(int16_t)((float)lis2dhdata.AXIS_Y*4/65536*1000),
//																(int16_t)((float)lis2dhdata.AXIS_Z*4/65536*1000));
//
//	}

}


//enable/disable the chip
void mir3da_set_enable(int enable)     //¿ªÆôʹÄÜ
{
    if(enable)
        mir3da_register_mask_write(REG_MODE_BW, 0x80, 0x00);	//power on
    else
        mir3da_register_mask_write(REG_MODE_BW, 0x80, 0x80);

    delay_us(100000);
}

//Read three axis data, 2g range, counting 12bit, 1G=1000mg=1024lsb
void mir3da_read_raw_data(short *x, short *y, short *z)
{
    u8_m tmp_data[6] = {0};

    mir3da_register_read(REG_ACC_X_LSB, tmp_data, 6);

    *x = ((short)(tmp_data[1] << 8 | tmp_data[0]))>> 4;
    *y = ((short)(tmp_data[3] << 8 | tmp_data[2]))>> 4;
    *z = ((short)(tmp_data[5] << 8 | tmp_data[4]))>> 4;
}

void mir3da_read_data(short *x, short *y, short *z)
{
    u8_m tmp_data[6] = {0};

    mir3da_register_read(REG_ACC_X_LSB, tmp_data, 6);

    *x = ((short)(tmp_data[1] << 8 | tmp_data[0])) >> 4 - offset_x;
    *y = ((short)(tmp_data[3] << 8 | tmp_data[2])) >> 4 - offset_y;
    *z = ((short)(tmp_data[5] << 8 | tmp_data[4])) >> 4 - offset_z;
}

//open active interrupt
void mir3da_set_active_interrupt_enable(int enable)
{
    if(enable) {
        mir3da_register_write(REG_ACTIVE_DUR, 0x00);    //³ÖÐøʱ¼ä
//		mir3da_register_write(REG_ACTIVE_THS, 0x3);   //ãÐÖµ
        mir3da_register_write(REG_INT_MAP1, 0x04 );
        mir3da_register_write(REG_INT_SET1, 0x87);
    }
    else {
        mir3da_register_write(REG_INT_SET1,0x00 );
        mir3da_register_write(REG_INT_MAP1,0x00 );
    }
}

void mir3da_set_step_counter_open(int enable)       //¿ªÆô²½Êý¼ÆÊý
{
    if(enable) {
        mir3da_register_write(REG_STEP_CONGIF1, 0x01);
        mir3da_register_write(REG_STEP_CONGIF2, 0x62);
        mir3da_register_write(REG_STEP_CONGIF3, 0x46);
        mir3da_register_write(REG_STEP_CONGIF4, 0x32);
        mir3da_register_write(REG_STEP_FILTER,  0xa2);
    }
    else {
        mir3da_register_write(REG_STEP_FILTER,  0x22);
    }
}

void mir3da_reset_step_counter(void)
{
    mir3da_register_mask_write(REG_RESET_STEP, 0x80, 0x80);
}


u16_m mir3da_get_step()    //»ñµÃÔ˶¯²½Êý
{
    u8_m tmp_data[2] = {0};

    f_step = mir3da_ReadLenByte(REG_STEPS_MSB, 2);

    return f_step;

}

//»ñÈ¡Êý¾Ý

float  acc_g;

float drv_lis2dh12_get_angle(void)
{
    float acc_x, acc_y, acc_z,acc_g;
    float angle_x, angle_y, angle_z, angle_xyz;
    int8_t data[6];
    uint8_t i;
    uint8_t response;
    uint8_t lisidtemp;
    //set ODR (turn ON device)
    LIS3DH_SetODR(LIS3DH_ODR_100Hz);
    //set PowerMode
    LIS3DH_SetMode(LIS3DH_NORMAL);
    //set Fullscale
    LIS3DH_SetFullScale(LIS3DH_FULLSCALE_2);
    //set axis Enable
    LIS3DH_SetAxis(LIS3DH_X_ENABLE | LIS3DH_Y_ENABLE | LIS3DH_Z_ENABLE);
    // Read ID
    LIS3DH_GetWHO_AM_I(&lisidtemp);
//	lisid=(uint16_t)lisidtemp;
//	printf("LIS3DH ID: %x \r\n",lisid);
    //get Acceleration Raw data
    response=LIS3DH_GetAccAxesRaw(&lis2dhdata);
    //print data values
    delay_us(10);
//    LIS3DH_GetAccAxesRaw(&lis2dhdata);
//	for (i=0; i<6; i++)
//		drv_lis2dh12_iic_read_byte(0x28 + i, data+i);
    if(response==1)
    {
        /* x, y, z ???? */
        acc_x = abs(lis2dhdata.AXIS_X);
        acc_y = abs(lis2dhdata.AXIS_Y);
        acc_z = abs(lis2dhdata.AXIS_Z);

        /* ????? */
        acc_g = sqrt(pow(acc_x, 2) + pow(acc_y, 2) + pow(acc_z, 2));

        if (acc_z > acc_g)
            acc_z = acc_g;

        /* angle_z/90 = asin(acc_z/acc_g)/p/2 */
        angle_z = asin(acc_z/acc_g) * 2 / 3.14 * 90;
        angle_z = 90 - angle_z;
        if(angle_z < 0)
            angle_z = 0;
    }
    return acc_g;
}

void  IIC2_SDA_OUT()
{
gpio_pin_set_dir(SDA_PIN , GPIO_DIR_OUT, 1);
}
void  IIC2_SDA_IN()
{
gpio_pin_set_dir(SDA_PIN,GPIO_DIR_IN,1); //SDAÉèÖÃΪÊäÈëµÈ´ý½ÓÊն˵ÄÓ¦´ðÐźÅ
}
//²úÉúIICÆðʼÐźÅ
void IIC2_Start(void)
{
		IIC2_SDA_OUT();     //sdaÏßÊä³ö
		SDA_1;
//		delay_us(10);	
		SCL_1;
//		delay_us(10);
		SDA_0;//START:when CLK is high,DATA change form high to low
		delay_us(10);
		SCL_0;//ǯסI2C×ÜÏߣ¬×¼±¸·¢ËÍ»ò½ÓÊÕÊý¾Ý 
}	  
//²úÉúIICÍ£Ö¹ÐźÅ
void IIC2_Stop(void)
{
		IIC2_SDA_OUT();//sdaÏßÊä³ö
		SCL_0;
//		delay_us(10);
		SDA_0;//STOP:when CLK is high DATA change form low to high
	 	delay_us(10);
		SCL_1; 
//		delay_us(10);
		SDA_1;//·¢ËÍI2C×ÜÏß½áÊøÐźÅ
		delay_us(10);	

}

//µÈ´ýÓ¦´ðÐźŵ½À´
//·µ»ØÖµ£º1£¬½ÓÊÕÓ¦´ðʧ°Ü
//        0£¬½ÓÊÕÓ¦´ð³É¹¦
uint8_t IIC2_Wait_Ack(void)
{
	uint8_t ucErrTime=0;
IIC2_SDA_IN();
 	SDA_1;
	delay_us(15);	   
	SCL_1;
	delay_us(15);	

	while(IIC2_READ_SDA)
	{
		ucErrTime++;
		if(ucErrTime>250)
		{
			IIC2_Stop();
			return 1;
		}
	}
	SCL_0;//ʱÖÓÊä³ö0
	return 0;  
} 
//²úÉúACKÓ¦´ð
void IIC2_Ack(void)
{
	SCL_0;
	IIC2_SDA_OUT();
	SDA_0;
	delay_us(10);
	SCL_1;
	delay_us(10);
	SCL_0;
}
//²»²úÉúACKÓ¦´ð		    
void IIC2_NAck(void)
{
	SCL_0;
	IIC2_SDA_OUT();
	SDA_1;
	delay_us(10);
	SCL_1;
	delay_us(10);
	SCL_0;
}


//IIC·¢ËÍÒ»¸ö×Ö½Ú,WRITE
//·µ»Ø´Ó»úÓÐÎÞÓ¦´ð
//1£¬ÓÐÓ¦´ð
//0£¬ÎÞÓ¦´ð			  
void IIC2_Send_Byte(uint8_t txd)
{                        
    uint8_t t;   
		IIC2_SDA_OUT();
		SCL_0;//À­µÍʱÖÓ¿ªÊ¼Êý¾Ý´«Êä
    for(t=0;t<8;t++)
    {              
			if((txd&0x80)>>7)
			{
				SDA_1;
			}
			else
			{
				SDA_0;
			}
		txd <<= 1;
		delay_us(10);
		SCL_1;
		delay_us(10);
		SCL_0;
		delay_us(10);
    } 	 
} 

//¶Á1¸ö×Ö½Ú£¬ack=1ʱ£¬·¢ËÍACK£¬ack=0£¬·¢ËÍnACK   
uint8_t IIC2_Read_Byte(unsigned char ack)
{
	unsigned char i,receive=0;
	IIC2_SDA_IN();//SDAÉèÖÃΪÊäÈë
    for(i=0;i<8;i++ )
	{
    SCL_0; 
    delay_us(10);
		SCL_1;
    receive<<=1;
    if(IIC2_READ_SDA)receive++;   
		delay_us(5); 
    }					 
    if (!ack)
        IIC2_NAck();//·¢ËÍnACK
    else
        IIC2_Ack(); //·¢ËÍACK   
    return receive;
}

//ÔÚLIS3DHÀïÃæµÄÖ¸¶¨µØÖ·¿ªÊ¼¶ÁÒ»×Ö½ÚÊý¾Ý
//ReadAddr   :¶Á³öµÄµØÖ·
//·µ»ØÖµ     :¶Á³öµÄÊý¾Ý
uint8_t LIS3DH_ReadOneByte(uint16_t ReadAddr)
{
    uint8_t temp=0;
    IIC2_Start();
    IIC2_Send_Byte(0X32);	     //·¢ËÍдÃüÁî
    IIC2_Wait_Ack();
    IIC2_Send_Byte(ReadAddr);   //·¢ËͶÁµØÖ·
    IIC2_Wait_Ack();
    IIC2_Start();
    IIC2_Send_Byte(0X33);       //·¢ËͶÁÃüÁ½øÈë½ÓÊÕģʽ
    IIC2_Wait_Ack();
    temp=IIC2_Read_Byte(0);
    IIC2_Stop();								//²úÉúÒ»¸öÍ£Ö¹Ìõ¼þ
    return temp;
}
//ÔÚLIS3DHÖ¸¶¨µØַдÈëÒ»¸öÊý¾Ý
//WriteAddr  :дÈëÊý¾ÝµÄÄ¿µÄµØÖ·
//DataToWrite:ҪдÈëµÄÊý¾Ý
void LIS3DH_WriteOneByte(uint16_t WriteAddr,uint8_t DataToWrite)
{
    IIC2_Start();
    IIC2_Send_Byte(0X32);	    //·¢ËÍдÃüÁî
    IIC2_Wait_Ack();
    IIC2_Send_Byte(WriteAddr);					//·¢Ë͵ØÖ·
    IIC2_Wait_Ack();
    IIC2_Send_Byte(DataToWrite);     //·¢ËÍ×Ö½Ú
    IIC2_Wait_Ack();
    IIC2_Stop();//²úÉúÒ»¸öÍ£Ö¹Ìõ¼þ
    delay_us(10);

}
//ÔÚAT24CXXÀïÃæµÄÖ¸¶¨µØÖ·¿ªÊ¼Ð´È볤¶ÈΪLenµÄÊý¾Ý
//¸Ãº¯ÊýÓÃÓÚдÈë16bit»òÕß32bitµÄÊý¾Ý.
//WriteAddr  :¿ªÊ¼Ð´ÈëµÄµØÖ·
//DataToWrite:Êý¾ÝÊý×éÊ×µØÖ·
//Len        :ҪдÈëÊý¾ÝµÄ³¤¶È2,4
void LIS3DH_WriteLenByte(uint16_t WriteAddr,uint32_t DataToWrite,uint8_t Len)
{
    uint8_t t;
    for(t=0; t<Len; t++)
    {
        LIS3DH_WriteOneByte(WriteAddr+t,(DataToWrite>>(8*t))&0xff);
    }
}

//ÔÚAT24CXXÀïÃæµÄÖ¸¶¨µØÖ·¿ªÊ¼¶Á³ö³¤¶ÈΪLenµÄÊý¾Ý
//¸Ãº¯ÊýÓÃÓÚ¶Á³ö16bit»òÕß32bitµÄÊý¾Ý.
//ReadAddr   :¿ªÊ¼¶Á³öµÄµØÖ·
//·µ»ØÖµ     :Êý¾Ý
//Len        :Òª¶Á³öÊý¾ÝµÄ³¤¶È2,4
uint32_t LIS3DH_ReadLenByte(uint16_t ReadAddr,uint8_t Len)
{
    uint8_t t;
    uint32_t temp=0;
    for(t=0; t<Len; t++)
    {
        temp<<=8;
        temp+=LIS3DH_ReadOneByte(ReadAddr+Len-t-1);
    }
    return temp;
}
void SC7A22H_ReadLenByte(uint16_t ReadAddr, uint8_t Len, uint8_t *buf)
{
    for(uint8_t t = 0; t < Len; t++)
    {
        buf[t] = LIS3DH_ReadOneByte(ReadAddr + t);
    }
}
//ÔÚmir3daÀïÃæµÄÖ¸¶¨µØÖ·¿ªÊ¼¶ÁÒ»×Ö½ÚÊý¾Ý
//ReadAddr   :¶Á³öµÄµØÖ·
//·µ»ØÖµ     :¶Á³öµÄÊý¾Ý
uint8_t mir3da_ReadOneByte(uint16_t ReadAddr)
{
    uint8_t temp=0;
    IIC2_Start();
    IIC2_Send_Byte(0X4e);	     //·¢ËÍдÃüÁî
    IIC2_Wait_Ack();
    IIC2_Send_Byte(ReadAddr);   //·¢ËͶÁµØÖ·
    IIC2_Wait_Ack();
    IIC2_Start();
    IIC2_Send_Byte(0X4f);       //·¢ËͶÁÃüÁ½øÈë½ÓÊÕģʽ
    IIC2_Wait_Ack();
    temp=IIC2_Read_Byte(0);
    IIC2_Stop();								//²úÉúÒ»¸öÍ£Ö¹Ìõ¼þ
    return temp;
}
//ÔÚmir3daÖ¸¶¨µØַдÈëÒ»¸öÊý¾Ý
//WriteAddr  :дÈëÊý¾ÝµÄÄ¿µÄµØÖ·
//DataToWrite:ҪдÈëµÄÊý¾Ý
void mir3da_WriteOneByte(uint16_t WriteAddr,uint8_t DataToWrite)
{
    IIC2_Start();
    IIC2_Send_Byte(0X4e);	    //·¢ËÍдÃüÁî
    IIC2_Wait_Ack();
    IIC2_Send_Byte(WriteAddr);					//·¢Ë͵ØÖ·
    IIC2_Wait_Ack();
    IIC2_Send_Byte(DataToWrite);     //·¢ËÍ×Ö½Ú
    IIC2_Wait_Ack();
    IIC2_Stop();//²úÉúÒ»¸öÍ£Ö¹Ìõ¼þ
    delay_us(10);

}
//ÔÚAT24CXXÀïÃæµÄÖ¸¶¨µØÖ·¿ªÊ¼Ð´È볤¶ÈΪLenµÄÊý¾Ý
//¸Ãº¯ÊýÓÃÓÚдÈë16bit»òÕß32bitµÄÊý¾Ý.
//WriteAddr  :¿ªÊ¼Ð´ÈëµÄµØÖ·
//DataToWrite:Êý¾ÝÊý×éÊ×µØÖ·
//Len        :ҪдÈëÊý¾ÝµÄ³¤¶È2,4
void mir3da_WriteLenByte(uint16_t WriteAddr,uint32_t DataToWrite,uint8_t Len)
{
    uint8_t t;
    for(t=0; t<Len; t++)
    {
        mir3da_WriteOneByte(WriteAddr+t,(DataToWrite>>(8*t))&0xff);
    }
}

//ÔÚAT24CXXÀïÃæµÄÖ¸¶¨µØÖ·¿ªÊ¼¶Á³ö³¤¶ÈΪLenµÄÊý¾Ý
//¸Ãº¯ÊýÓÃÓÚ¶Á³ö16bit»òÕß32bitµÄÊý¾Ý.
//ReadAddr   :¿ªÊ¼¶Á³öµÄµØÖ·
//·µ»ØÖµ     :Êý¾Ý
//Len        :Òª¶Á³öÊý¾ÝµÄ³¤¶È2,4
uint32_t bu=0;
uint32_t mir3da_ReadLenByte(uint16_t ReadAddr,int Len)
{
    uint8_t t;
    u8_m data[Len];
    memset(data, 0, Len);
    for(t=0; t<Len; t++)
    {
        data[t] = mir3da_ReadOneByte(ReadAddr+t);
    }
    bu = (data[0] << 8 | data[1])/2;

    return bu;
}


/*******************************************************************************
* Function Name		: LIS3DH_ReadReg
* Description		: Generic Reading function. It must be fullfilled with either
*			: I2C or SPI reading functions
* Input			: Register Address
* Output		: Data REad
* Return		: None
*******************************************************************************/
uint8_t LIS3DH_ReadReg(uint8_t Reg, uint8_t* Data) {

    //To be completed with either I2c or SPI reading function
    //i.e. *Data = SPI_Mems_Read_Reg( Reg );
    *Data = LIS3DH_ReadOneByte(Reg);
    return 1;
}


/*******************************************************************************
* Function Name		: LIS3DH_WriteReg
* Description		: Generic Writing function. It must be fullfilled with either
*			: I2C or SPI writing function
* Input			: Register Address, Data to be written
* Output		: None
* Return		: None
*******************************************************************************/
uint8_t LIS3DH_WriteReg(uint8_t WriteAddr, uint8_t Data) {

    //To be completed with either I2c or SPI writing function
    //i.e. SPI_Mems_Write_Reg(WriteAddr, Data);
    LIS3DH_WriteOneByte(WriteAddr,Data);

    return 1;
}

/* Private functions ---------------------------------------------------------*/

/*******************************************************************************
* Function Name  : LIS3DH_GetWHO_AM_I
* Description    : Read identification code by WHO_AM_I register
* Input          : Char to empty by Device identification Value
* Output         : None
* Return         : Status [value of FSS]
*******************************************************************************/
status_t LIS3DH_GetWHO_AM_I(uint8_t* val) {

    if( !LIS3DH_ReadReg(LIS3DH_WHO_AM_I, val) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}

/*******************************************************************************
* Function Name  : LIS3DH_GetStatusAUX
* Description    : Read the AUX status register
* Input          : Char to empty by status register buffer
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_GetStatusAUX(uint8_t* val) {

    if( !LIS3DH_ReadReg(LIS3DH_STATUS_AUX, val) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}



/*******************************************************************************
* Function Name  : LIS3DH_GetStatusAUXBIT
* Description    : Read the AUX status register BIT
* Input          : LIS3DH_STATUS_AUX_321OR, LIS3DH_STATUS_AUX_3OR, LIS3DH_STATUS_AUX_2OR, LIS3DH_STATUS_AUX_1OR,
                   LIS3DH_STATUS_AUX_321DA, LIS3DH_STATUS_AUX_3DA, LIS3DH_STATUS_AUX_2DA, LIS3DH_STATUS_AUX_1DA
* Output         : None
* Return         : Status of BIT [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_GetStatusAUXBit(uint8_t statusBIT, uint8_t* val) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_STATUS_AUX, &value) )
        return MEMS_ERROR;

    if(statusBIT == LIS3DH_STATUS_AUX_321OR) {
        if(value &= LIS3DH_STATUS_AUX_321OR) {
            *val = MEMS_SET;
            return MEMS_SUCCESS;
        }
        else {
            *val = MEMS_RESET;
            return MEMS_SUCCESS;
        }
    }

    if(statusBIT == LIS3DH_STATUS_AUX_3OR) {
        if(value &= LIS3DH_STATUS_AUX_3OR) {
            *val = MEMS_SET;
            return MEMS_SUCCESS;
        }
        else {
            *val = MEMS_RESET;
            return MEMS_SUCCESS;
        }
    }

    if(statusBIT == LIS3DH_STATUS_AUX_2OR) {
        if(value &= LIS3DH_STATUS_AUX_2OR) {
            *val = MEMS_SET;
            return MEMS_SUCCESS;
        }
        else {
            *val = MEMS_RESET;
            return MEMS_SUCCESS;
        }
    }

    if(statusBIT == LIS3DH_STATUS_AUX_1OR) {
        if(value &= LIS3DH_STATUS_AUX_1OR) {
            *val = MEMS_SET;
            return MEMS_SUCCESS;
        }
        else {
            *val = MEMS_RESET;
            return MEMS_SUCCESS;
        }
    }

    if(statusBIT == LIS3DH_STATUS_AUX_321DA) {
        if(value &= LIS3DH_STATUS_AUX_321DA) {
            *val = MEMS_SET;
            return MEMS_SUCCESS;
        }
        else {
            *val = MEMS_RESET;
            return MEMS_SUCCESS;
        }
    }

    if(statusBIT == LIS3DH_STATUS_AUX_3DA) {
        if(value &= LIS3DH_STATUS_AUX_3DA) {
            *val = MEMS_SET;
            return MEMS_SUCCESS;
        }
        else {
            *val = MEMS_RESET;
            return MEMS_SUCCESS;
        }
    }

    if(statusBIT == LIS3DH_STATUS_AUX_2DA) {
        if(value &= LIS3DH_STATUS_AUX_2DA) {
            *val = MEMS_SET;
            return MEMS_SUCCESS;
        }
        else {
            *val = MEMS_RESET;
            return MEMS_SUCCESS;
        }
    }

    if(statusBIT == LIS3DH_STATUS_AUX_1DA) {
        if(value &= LIS3DH_STATUS_AUX_1DA) {
            *val = MEMS_SET;
            return MEMS_SUCCESS;
        }
        else {
            *val = MEMS_RESET;
            return MEMS_SUCCESS;
        }
    }
    return MEMS_ERROR;
}


/*******************************************************************************
* Function Name  : LIS3DH_SetODR
* Description    : Sets LIS3DH Output Data Rate
* Input          : Output Data Rate
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_SetODR(LIS3DH_ODR_t ov) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_CTRL_REG1, &value) )
        return MEMS_ERROR;

    value &= 0x0f;
    value |= ov<<LIS3DH_ODR_BIT;

    if( !LIS3DH_WriteReg(LIS3DH_CTRL_REG1, value) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_SetTemperature
* Description    : Sets LIS3DH Output Temperature
* Input          : MEMS_ENABLE, MEMS_DISABLE
* Output         : None
* Note           : For Read Temperature by LIS3DH_OUT_AUX_3, LIS3DH_SetADCAux and LIS3DH_SetBDU
				   functions must be ENABLE
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_SetTemperature(State_t state) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_TEMP_CFG_REG, &value) )
        return MEMS_ERROR;

    value &= 0xBF;
    value |= state<<LIS3DH_TEMP_EN;

    if( !LIS3DH_WriteReg(LIS3DH_TEMP_CFG_REG, value) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_SetADCAux
* Description    : Sets LIS3DH Output ADC
* Input          : MEMS_ENABLE, MEMS_DISABLE
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_SetADCAux(State_t state) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_TEMP_CFG_REG, &value) )
        return MEMS_ERROR;

    value &= 0x7F;
    value |= state<<LIS3DH_ADC_PD;

    if( !LIS3DH_WriteReg(LIS3DH_TEMP_CFG_REG, value) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_GetAuxRaw
* Description    : Read the Aux Values Output Registers
* Input          : Buffer to empty
* Output         : Aux Values Registers buffer
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_GetAuxRaw(LIS3DH_Aux123Raw_t* buff) {
    uint8_t valueL;
    uint8_t valueH;

    if( !LIS3DH_ReadReg(LIS3DH_OUT_1_L, &valueL) )
        return MEMS_ERROR;

    if( !LIS3DH_ReadReg(LIS3DH_OUT_1_H, &valueH) )
        return MEMS_ERROR;

    buff->AUX_1 = (uint16_t)( (valueH << 8) | valueL )/16;

    if( !LIS3DH_ReadReg(LIS3DH_OUT_2_L, &valueL) )
        return MEMS_ERROR;

    if( !LIS3DH_ReadReg(LIS3DH_OUT_2_H, &valueH) )
        return MEMS_ERROR;

    buff->AUX_2 = (uint16_t)( (valueH << 8) | valueL )/16;

    if( !LIS3DH_ReadReg(LIS3DH_OUT_3_L, &valueL) )
        return MEMS_ERROR;

    if( !LIS3DH_ReadReg(LIS3DH_OUT_3_H, &valueH) )
        return MEMS_ERROR;

    buff->AUX_3 = (uint16_t)( (valueH << 8) | valueL )/16;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_GetTempRaw
* Description    : Read the Temperature Values by AUX Output Registers OUT_3_H
* Input          : Buffer to empty
* Output         : Temperature Values Registers buffer
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_GetTempRaw(int8_t* buff) {
    uint8_t valueL;
    uint8_t valueH;

    if( !LIS3DH_ReadReg(LIS3DH_OUT_3_L, &valueL) )
        return MEMS_ERROR;

    if( !LIS3DH_ReadReg(LIS3DH_OUT_3_H, &valueH) )
        return MEMS_ERROR;

    *buff = (int8_t)( valueH );

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_SetMode
* Description    : Sets LIS3DH Operating Mode
* Input          : Modality (LIS3DH_NORMAL, LIS3DH_LOW_POWER, LIS3DH_POWER_DOWN)
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_SetMode(LIS3DH_Mode_t md) {
    uint8_t value;
    uint8_t value2;
    static   uint8_t ODR_old_value;

    if( !LIS3DH_ReadReg(LIS3DH_CTRL_REG1, &value) )
        return MEMS_ERROR;

    if( !LIS3DH_ReadReg(LIS3DH_CTRL_REG4, &value2) )
        return MEMS_ERROR;

    if((value & 0xF0)==0)
        value = value | (ODR_old_value & 0xF0); //if it comes from POWERDOWN

    switch(md) {

    case LIS3DH_POWER_DOWN:
        ODR_old_value = value;
        value &= 0x0F;
        break;

    case LIS3DH_NORMAL:
        value &= 0xF7;
        value |= (MEMS_RESET<<LIS3DH_LPEN);
        value2 &= 0xF7;
        value2 |= (MEMS_SET<<LIS3DH_HR);   //set HighResolution_BIT
        break;

    case LIS3DH_LOW_POWER:
        value &= 0xF7;
        value |=  (MEMS_SET<<LIS3DH_LPEN);
        value2 &= 0xF7;
        value2 |= (MEMS_RESET<<LIS3DH_HR); //reset HighResolution_BIT
        break;

    default:
        return MEMS_ERROR;
    }

    if( !LIS3DH_WriteReg(LIS3DH_CTRL_REG1, value) )
        return MEMS_ERROR;

    if( !LIS3DH_WriteReg(LIS3DH_CTRL_REG4, value2) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_SetAxis
* Description    : Enable/Disable LIS3DH Axis
* Input          : LIS3DH_X_ENABLE/DISABLE | LIS3DH_Y_ENABLE/DISABLE | LIS3DH_Z_ENABLE/DISABLE
* Output         : None
* Note           : You MUST use all input variable in the argument, as example
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_SetAxis(LIS3DH_Axis_t axis) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_CTRL_REG1, &value) )
        return MEMS_ERROR;
    value &= 0xF8;
    value |= (0x07 & axis);

    if( !LIS3DH_WriteReg(LIS3DH_CTRL_REG1, value) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_SetFullScale
* Description    : Sets the LIS3DH FullScale
* Input          : LIS3DH_FULLSCALE_2/LIS3DH_FULLSCALE_4/LIS3DH_FULLSCALE_8/LIS3DH_FULLSCALE_16
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_SetFullScale(LIS3DH_Fullscale_t fs) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_CTRL_REG4, &value) )
        return MEMS_ERROR;

    value &= 0xCF;
    value |= (fs<<LIS3DH_FS);

    if( !LIS3DH_WriteReg(LIS3DH_CTRL_REG4, value) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_SetBDU
* Description    : Enable/Disable Block Data Update Functionality
* Input          : ENABLE/DISABLE
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_SetBDU(State_t bdu) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_CTRL_REG4, &value) )
        return MEMS_ERROR;

    value &= 0x7F;
    value |= (bdu<<LIS3DH_BDU);

    if( !LIS3DH_WriteReg(LIS3DH_CTRL_REG4, value) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_SetBLE
* Description    : Set Endianess (MSB/LSB)
* Input          : BLE_LSB / BLE_MSB
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_SetBLE(LIS3DH_Endianess_t ble) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_CTRL_REG4, &value) )
        return MEMS_ERROR;

    value &= 0xBF;
    value |= (ble<<LIS3DH_BLE);

    if( !LIS3DH_WriteReg(LIS3DH_CTRL_REG4, value) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_SetSelfTest
* Description    : Set Self Test Modality
* Input          : LIS3DH_SELF_TEST_DISABLE/ST_0/ST_1
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_SetSelfTest(LIS3DH_SelfTest_t st) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_CTRL_REG4, &value) )
        return MEMS_ERROR;

    value &= 0xF9;
    value |= (st<<LIS3DH_ST);

    if( !LIS3DH_WriteReg(LIS3DH_CTRL_REG4, value) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_HPFClick
* Description    : Enable/Disable High Pass Filter for click
* Input          : MEMS_ENABLE/MEMS_DISABLE
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_HPFClickEnable(State_t hpfe) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_CTRL_REG2, &value) )
        return MEMS_ERROR;

    value &= 0xFB;
    value |= (hpfe<<LIS3DH_HPCLICK);

    if( !LIS3DH_WriteReg(LIS3DH_CTRL_REG2, value) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_HPFAOI1
* Description    : Enable/Disable High Pass Filter for AOI on INT_1
* Input          : MEMS_ENABLE/MEMS_DISABLE
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_HPFAOI1Enable(State_t hpfe) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_CTRL_REG2, &value) )
        return MEMS_ERROR;

    value &= 0xFE;
    value |= (hpfe<<LIS3DH_HPIS1);

    if( !LIS3DH_WriteReg(LIS3DH_CTRL_REG2, value) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_HPFAOI2
* Description    : Enable/Disable High Pass Filter for AOI on INT_2
* Input          : MEMS_ENABLE/MEMS_DISABLE
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_HPFAOI2Enable(State_t hpfe) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_CTRL_REG2, &value) )
        return MEMS_ERROR;

    value &= 0xFD;
    value |= (hpfe<<LIS3DH_HPIS2);

    if( !LIS3DH_WriteReg(LIS3DH_CTRL_REG2, value) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_SetHPFMode
* Description    : Set High Pass Filter Modality
* Input          : LIS3DH_HPM_NORMAL_MODE_RES/LIS3DH_HPM_REF_SIGNAL/
				   LIS3DH_HPM_NORMAL_MODE/LIS3DH_HPM_AUTORESET_INT
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_SetHPFMode(LIS3DH_HPFMode_t hpm) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_CTRL_REG2, &value) )
        return MEMS_ERROR;

    value &= 0x3F;
    value |= (hpm<<LIS3DH_HPM);

    if( !LIS3DH_WriteReg(LIS3DH_CTRL_REG2, value) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_SetHPFCutOFF
* Description    : Set High Pass CUT OFF Freq
* Input          : HPFCF [0,3]
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_SetHPFCutOFF(LIS3DH_HPFCutOffFreq_t hpf) {
    uint8_t value;

    if (hpf > 3)
        return MEMS_ERROR;

    if( !LIS3DH_ReadReg(LIS3DH_CTRL_REG2, &value) )
        return MEMS_ERROR;

    value &= 0xCF;
    value |= (hpf<<LIS3DH_HPCF);

    if( !LIS3DH_WriteReg(LIS3DH_CTRL_REG2, value) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;

}


/*******************************************************************************
* Function Name  : LIS3DH_SetFilterDataSel
* Description    : Set Filter Data Selection bypassed or sent to FIFO OUT register
* Input          : MEMS_SET, MEMS_RESET
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_SetFilterDataSel(State_t state) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_CTRL_REG2, &value) )
        return MEMS_ERROR;

    value &= 0xF7;
    value |= (state<<LIS3DH_FDS);

    if( !LIS3DH_WriteReg(LIS3DH_CTRL_REG2, value) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;

}


/*******************************************************************************
* Function Name  : LIS3DH_SetInt1Pin
* Description    : Set Interrupt1 pin Function
* Input          :  LIS3DH_CLICK_ON_PIN_INT1_ENABLE/DISABLE    | LIS3DH_I1_INT1_ON_PIN_INT1_ENABLE/DISABLE |
                    LIS3DH_I1_INT2_ON_PIN_INT1_ENABLE/DISABLE  | LIS3DH_I1_DRDY1_ON_INT1_ENABLE/DISABLE    |
                    LIS3DH_I1_DRDY2_ON_INT1_ENABLE/DISABLE     | LIS3DH_WTM_ON_INT1_ENABLE/DISABLE         |
                    LIS3DH_INT1_OVERRUN_ENABLE/DISABLE
* example        : SetInt1Pin(LIS3DH_CLICK_ON_PIN_INT1_ENABLE | LIS3DH_I1_INT1_ON_PIN_INT1_ENABLE |
                    LIS3DH_I1_INT2_ON_PIN_INT1_DISABLE | LIS3DH_I1_DRDY1_ON_INT1_ENABLE | LIS3DH_I1_DRDY2_ON_INT1_ENABLE |
                    LIS3DH_WTM_ON_INT1_DISABLE | LIS3DH_INT1_OVERRUN_DISABLE   )
* Note           : To enable Interrupt signals on INT1 Pad (You MUST use all input variable in the argument, as example)
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_SetInt1Pin(LIS3DH_IntPinConf_t pinConf) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_CTRL_REG3, &value) )
        return MEMS_ERROR;

    value &= 0x00;
    value |= pinConf;

    if( !LIS3DH_WriteReg(LIS3DH_CTRL_REG3, value) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_SetInt2Pin
* Description    : Set Interrupt2 pin Function
* Input          : LIS3DH_CLICK_ON_PIN_INT2_ENABLE/DISABLE   | LIS3DH_I2_INT1_ON_PIN_INT2_ENABLE/DISABLE |
                   LIS3DH_I2_INT2_ON_PIN_INT2_ENABLE/DISABLE | LIS3DH_I2_BOOT_ON_INT2_ENABLE/DISABLE |
                   LIS3DH_INT_ACTIVE_HIGH/LOW
* example        : LIS3DH_SetInt2Pin(LIS3DH_CLICK_ON_PIN_INT2_ENABLE/DISABLE | LIS3DH_I2_INT1_ON_PIN_INT2_ENABLE/DISABLE |
                   LIS3DH_I2_INT2_ON_PIN_INT2_ENABLE/DISABLE | LIS3DH_I2_BOOT_ON_INT2_ENABLE/DISABLE |
                   LIS3DH_INT_ACTIVE_HIGH/LOW)
* Note           : To enable Interrupt signals on INT2 Pad (You MUST use all input variable in the argument, as example)
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_SetInt2Pin(LIS3DH_IntPinConf_t pinConf) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_CTRL_REG6, &value) )
        return MEMS_ERROR;

    value &= 0x00;
    value |= pinConf;

    if( !LIS3DH_WriteReg(LIS3DH_CTRL_REG6, value) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_SetClickCFG
* Description    : Set Click Interrupt config Function
* Input          : LIS3DH_ZD_ENABLE/DISABLE | LIS3DH_ZS_ENABLE/DISABLE  | LIS3DH_YD_ENABLE/DISABLE  |
                   LIS3DH_YS_ENABLE/DISABLE | LIS3DH_XD_ENABLE/DISABLE  | LIS3DH_XS_ENABLE/DISABLE
* example        : LIS3DH_SetClickCFG( LIS3DH_ZD_ENABLE | LIS3DH_ZS_DISABLE | LIS3DH_YD_ENABLE |
                               LIS3DH_YS_DISABLE | LIS3DH_XD_ENABLE | LIS3DH_XS_ENABLE)
* Note           : You MUST use all input variable in the argument, as example
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_SetClickCFG(uint8_t status) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_CLICK_CFG, &value) )
        return MEMS_ERROR;

    value &= 0xC0;
    value |= status;

    if( !LIS3DH_WriteReg(LIS3DH_CLICK_CFG, value) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_SetClickTHS
* Description    : Set Click Interrupt threshold
* Input          : Click-click Threshold value [0-127]
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_SetClickTHS(uint8_t ths) {

    if(ths>127)
        return MEMS_ERROR;

    if( !LIS3DH_WriteReg(LIS3DH_CLICK_THS, ths) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_SetClickLIMIT
* Description    : Set Click Interrupt Time Limit
* Input          : Click-click Time Limit value [0-127]
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_SetClickLIMIT(uint8_t t_limit) {

    if(t_limit>127)
        return MEMS_ERROR;

    if( !LIS3DH_WriteReg(LIS3DH_TIME_LIMIT, t_limit) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_SetClickLATENCY
* Description    : Set Click Interrupt Time Latency
* Input          : Click-click Time Latency value [0-255]
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_SetClickLATENCY(uint8_t t_latency) {

    if( !LIS3DH_WriteReg(LIS3DH_TIME_LATENCY, t_latency) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_SetClickWINDOW
* Description    : Set Click Interrupt Time Window
* Input          : Click-click Time Window value [0-255]
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_SetClickWINDOW(uint8_t t_window) {

    if( !LIS3DH_WriteReg(LIS3DH_TIME_WINDOW, t_window) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_GetClickResponse
* Description    : Get Click Interrupt Response by CLICK_SRC REGISTER
* Input          : char to empty by Click Response Typedef
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_GetClickResponse(uint8_t* res) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_CLICK_SRC, &value) )
        return MEMS_ERROR;

    value &= 0x7F;

    if((value & LIS3DH_IA)==0) {
        *res = LIS3DH_NO_CLICK;
        return MEMS_SUCCESS;
    }
    else {
        if (value & LIS3DH_DCLICK) {
            if (value & LIS3DH_CLICK_SIGN) {
                if (value & LIS3DH_CLICK_Z) {
                    *res = LIS3DH_DCLICK_Z_N;
                    return MEMS_SUCCESS;
                }
                if (value & LIS3DH_CLICK_Y) {
                    *res = LIS3DH_DCLICK_Y_N;
                    return MEMS_SUCCESS;
                }
                if (value & LIS3DH_CLICK_X) {
                    *res = LIS3DH_DCLICK_X_N;
                    return MEMS_SUCCESS;
                }
            }
            else {
                if (value & LIS3DH_CLICK_Z) {
                    *res = LIS3DH_DCLICK_Z_P;
                    return MEMS_SUCCESS;
                }
                if (value & LIS3DH_CLICK_Y) {
                    *res = LIS3DH_DCLICK_Y_P;
                    return MEMS_SUCCESS;
                }
                if (value & LIS3DH_CLICK_X) {
                    *res = LIS3DH_DCLICK_X_P;
                    return MEMS_SUCCESS;
                }
            }
        }
        else {
            if (value & LIS3DH_CLICK_SIGN) {
                if (value & LIS3DH_CLICK_Z) {
                    *res = LIS3DH_SCLICK_Z_N;
                    return MEMS_SUCCESS;
                }
                if (value & LIS3DH_CLICK_Y) {
                    *res = LIS3DH_SCLICK_Y_N;
                    return MEMS_SUCCESS;
                }
                if (value & LIS3DH_CLICK_X) {
                    *res = LIS3DH_SCLICK_X_N;
                    return MEMS_SUCCESS;
                }
            }
            else {
                if (value & LIS3DH_CLICK_Z) {
                    *res = LIS3DH_SCLICK_Z_P;
                    return MEMS_SUCCESS;
                }
                if (value & LIS3DH_CLICK_Y) {
                    *res = LIS3DH_SCLICK_Y_P;
                    return MEMS_SUCCESS;
                }
                if (value & LIS3DH_CLICK_X) {
                    *res = LIS3DH_SCLICK_X_P;
                    return MEMS_SUCCESS;
                }
            }
        }
    }
    return MEMS_ERROR;
}


/*******************************************************************************
* Function Name  : LIS3DH_Int1LatchEnable
* Description    : Enable Interrupt 1 Latching function
* Input          : ENABLE/DISABLE
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_Int1LatchEnable(State_t latch) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_CTRL_REG5, &value) )
        return MEMS_ERROR;

    value &= 0xF7;
    value |= latch<<LIS3DH_LIR_INT1;

    if( !LIS3DH_WriteReg(LIS3DH_CTRL_REG5, value) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_ResetInt1Latch
* Description    : Reset Interrupt 1 Latching function
* Input          : None
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_ResetInt1Latch(void) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_INT1_SRC, &value) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_SetIntConfiguration
* Description    : Interrupt 1 Configuration (without LIS3DH_6D_INT)
* Input          : LIS3DH_INT1_AND/OR | LIS3DH_INT1_ZHIE_ENABLE/DISABLE | LIS3DH_INT1_ZLIE_ENABLE/DISABLE...
* Output         : None
* Note           : You MUST use all input variable in the argument, as example
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_SetIntConfiguration(LIS3DH_Int1Conf_t ic) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_INT1_CFG, &value) )
        return MEMS_ERROR;

    value &= 0x40;
    value |= ic;

    if( !LIS3DH_WriteReg(LIS3DH_INT1_CFG, value) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_SetIntMode
* Description    : Interrupt 1 Configuration mode (OR, 6D Movement, AND, 6D Position)
* Input          : LIS3DH_INT_MODE_OR, LIS3DH_INT_MODE_6D_MOVEMENT, LIS3DH_INT_MODE_AND,
				   LIS3DH_INT_MODE_6D_POSITION
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_SetIntMode(LIS3DH_Int1Mode_t int_mode) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_INT1_CFG, &value) )
        return MEMS_ERROR;

    value &= 0x3F;
    value |= (int_mode<<LIS3DH_INT_6D);

    if( !LIS3DH_WriteReg(LIS3DH_INT1_CFG, value) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_SetInt6D4DConfiguration
* Description    : 6D, 4D Interrupt Configuration
* Input          : LIS3DH_INT1_6D_ENABLE, LIS3DH_INT1_4D_ENABLE, LIS3DH_INT1_6D_4D_DISABLE
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_SetInt6D4DConfiguration(LIS3DH_INT_6D_4D_t ic) {
    uint8_t value;
    uint8_t value2;

    if( !LIS3DH_ReadReg(LIS3DH_INT1_CFG, &value) )
        return MEMS_ERROR;
    if( !LIS3DH_ReadReg(LIS3DH_CTRL_REG5, &value2) )
        return MEMS_ERROR;

    if(ic == LIS3DH_INT1_6D_ENABLE) {
        value &= 0xBF;
        value |= (MEMS_ENABLE<<LIS3DH_INT_6D);
        value2 &= 0xFB;
        value2 |= (MEMS_DISABLE<<LIS3DH_D4D_INT1);
    }

    if(ic == LIS3DH_INT1_4D_ENABLE) {
        value &= 0xBF;
        value |= (MEMS_ENABLE<<LIS3DH_INT_6D);
        value2 &= 0xFB;
        value2 |= (MEMS_ENABLE<<LIS3DH_D4D_INT1);
    }

    if(ic == LIS3DH_INT1_6D_4D_DISABLE) {
        value &= 0xBF;
        value |= (MEMS_DISABLE<<LIS3DH_INT_6D);
        value2 &= 0xFB;
        value2 |= (MEMS_DISABLE<<LIS3DH_D4D_INT1);
    }

    if( !LIS3DH_WriteReg(LIS3DH_INT1_CFG, value) )
        return MEMS_ERROR;
    if( !LIS3DH_WriteReg(LIS3DH_CTRL_REG5, value2) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_Get6DPosition
* Description    : 6D, 4D Interrupt Position Detect
* Input          : Byte to empty by POSITION_6D_t Typedef
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_Get6DPosition(uint8_t* val) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_INT1_SRC, &value) )
        return MEMS_ERROR;

    value &= 0x7F;

    switch (value) {
    case LIS3DH_UP_SX:
        *val = LIS3DH_UP_SX;
        break;
    case LIS3DH_UP_DX:
        *val = LIS3DH_UP_DX;
        break;
    case LIS3DH_DW_SX:
        *val = LIS3DH_DW_SX;
        break;
    case LIS3DH_DW_DX:
        *val = LIS3DH_DW_DX;
        break;
    case LIS3DH_TOP:
        *val = LIS3DH_TOP;
        break;
    case LIS3DH_BOTTOM:
        *val = LIS3DH_BOTTOM;
        break;
    }

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_SetInt1Threshold
* Description    : Sets Interrupt 1 Threshold
* Input          : Threshold = [0,31]
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_SetInt1Threshold(uint8_t ths) {
    if (ths > 127)
        return MEMS_ERROR;

    if( !LIS3DH_WriteReg(LIS3DH_INT1_THS, ths) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_SetInt1Duration
* Description    : Sets Interrupt 1 Duration
* Input          : Duration value
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_SetInt1Duration(LIS3DH_Int1Conf_t id) {

    if (id > 127)
        return MEMS_ERROR;

    if( !LIS3DH_WriteReg(LIS3DH_INT1_DURATION, id) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_FIFOModeEnable
* Description    : Sets Fifo Modality
* Input          : LIS3DH_FIFO_DISABLE, LIS3DH_FIFO_BYPASS_MODE, LIS3DH_FIFO_MODE,
				   LIS3DH_FIFO_STREAM_MODE, LIS3DH_FIFO_TRIGGER_MODE
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_FIFOModeEnable(LIS3DH_FifoMode_t fm) {
    uint8_t value;

    if(fm == LIS3DH_FIFO_DISABLE) {
        if( !LIS3DH_ReadReg(LIS3DH_FIFO_CTRL_REG, &value) )
            return MEMS_ERROR;

        value &= 0x1F;
        value |= (LIS3DH_FIFO_BYPASS_MODE<<LIS3DH_FM);

        if( !LIS3DH_WriteReg(LIS3DH_FIFO_CTRL_REG, value) )           //fifo mode bypass
            return MEMS_ERROR;
        if( !LIS3DH_ReadReg(LIS3DH_CTRL_REG5, &value) )
            return MEMS_ERROR;

        value &= 0xBF;

        if( !LIS3DH_WriteReg(LIS3DH_CTRL_REG5, value) )               //fifo disable
            return MEMS_ERROR;
    }

    if(fm == LIS3DH_FIFO_BYPASS_MODE)   {
        if( !LIS3DH_ReadReg(LIS3DH_CTRL_REG5, &value) )
            return MEMS_ERROR;

        value &= 0xBF;
        value |= MEMS_SET<<LIS3DH_FIFO_EN;

        if( !LIS3DH_WriteReg(LIS3DH_CTRL_REG5, value) )               //fifo enable
            return MEMS_ERROR;
        if( !LIS3DH_ReadReg(LIS3DH_FIFO_CTRL_REG, &value) )
            return MEMS_ERROR;

        value &= 0x1f;
        value |= (fm<<LIS3DH_FM);                     //fifo mode configuration

        if( !LIS3DH_WriteReg(LIS3DH_FIFO_CTRL_REG, value) )
            return MEMS_ERROR;
    }

    if(fm == LIS3DH_FIFO_MODE)   {
        if( !LIS3DH_ReadReg(LIS3DH_CTRL_REG5, &value) )
            return MEMS_ERROR;

        value &= 0xBF;
        value |= MEMS_SET<<LIS3DH_FIFO_EN;

        if( !LIS3DH_WriteReg(LIS3DH_CTRL_REG5, value) )               //fifo enable
            return MEMS_ERROR;
        if( !LIS3DH_ReadReg(LIS3DH_FIFO_CTRL_REG, &value) )
            return MEMS_ERROR;

        value &= 0x1f;
        value |= (fm<<LIS3DH_FM);                      //fifo mode configuration

        if( !LIS3DH_WriteReg(LIS3DH_FIFO_CTRL_REG, value) )
            return MEMS_ERROR;
    }

    if(fm == LIS3DH_FIFO_STREAM_MODE)   {
        if( !LIS3DH_ReadReg(LIS3DH_CTRL_REG5, &value) )
            return MEMS_ERROR;

        value &= 0xBF;
        value |= MEMS_SET<<LIS3DH_FIFO_EN;

        if( !LIS3DH_WriteReg(LIS3DH_CTRL_REG5, value) )               //fifo enable
            return MEMS_ERROR;
        if( !LIS3DH_ReadReg(LIS3DH_FIFO_CTRL_REG, &value) )
            return MEMS_ERROR;

        value &= 0x1f;
        value |= (fm<<LIS3DH_FM);                      //fifo mode configuration

        if( !LIS3DH_WriteReg(LIS3DH_FIFO_CTRL_REG, value) )
            return MEMS_ERROR;
    }

    if(fm == LIS3DH_FIFO_TRIGGER_MODE)   {
        if( !LIS3DH_ReadReg(LIS3DH_CTRL_REG5, &value) )
            return MEMS_ERROR;

        value &= 0xBF;
        value |= MEMS_SET<<LIS3DH_FIFO_EN;

        if( !LIS3DH_WriteReg(LIS3DH_CTRL_REG5, value) )               //fifo enable
            return MEMS_ERROR;
        if( !LIS3DH_ReadReg(LIS3DH_FIFO_CTRL_REG, &value) )
            return MEMS_ERROR;

        value &= 0x1f;
        value |= (fm<<LIS3DH_FM);                      //fifo mode configuration

        if( !LIS3DH_WriteReg(LIS3DH_FIFO_CTRL_REG, value) )
            return MEMS_ERROR;
    }

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_SetTriggerInt
* Description    : Trigger event liked to trigger signal INT1/INT2
* Input          : LIS3DH_TRIG_INT1/LIS3DH_TRIG_INT2
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_SetTriggerInt(LIS3DH_TrigInt_t tr) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_FIFO_CTRL_REG, &value) )
        return MEMS_ERROR;

    value &= 0xDF;
    value |= (tr<<LIS3DH_TR);

    if( !LIS3DH_WriteReg(LIS3DH_FIFO_CTRL_REG, value) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_SetWaterMark
* Description    : Sets Watermark Value
* Input          : Watermark = [0,31]
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_SetWaterMark(uint8_t wtm) {
    uint8_t value;

    if(wtm > 31)
        return MEMS_ERROR;

    if( !LIS3DH_ReadReg(LIS3DH_FIFO_CTRL_REG, &value) )
        return MEMS_ERROR;

    value &= 0xE0;
    value |= wtm;

    if( !LIS3DH_WriteReg(LIS3DH_FIFO_CTRL_REG, value) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_GetStatusReg
* Description    : Read the status register
* Input          : char to empty by Status Reg Value
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_GetStatusReg(uint8_t* val) {
    if( !LIS3DH_ReadReg(LIS3DH_STATUS_REG, val) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_GetStatusBIT
* Description    : Read the status register BIT
* Input          : LIS3DH_STATUS_REG_ZYXOR, LIS3DH_STATUS_REG_ZOR, LIS3DH_STATUS_REG_YOR, LIS3DH_STATUS_REG_XOR,
                   LIS3DH_STATUS_REG_ZYXDA, LIS3DH_STATUS_REG_ZDA, LIS3DH_STATUS_REG_YDA, LIS3DH_STATUS_REG_XDA,
				   LIS3DH_DATAREADY_BIT
				   val: Byte to be filled with the status bit
* Output         : status register BIT
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_GetStatusBit(uint8_t statusBIT, uint8_t* val) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_STATUS_REG, &value) )
        return MEMS_ERROR;

    switch (statusBIT) {
    case LIS3DH_STATUS_REG_ZYXOR:
        if(value &= LIS3DH_STATUS_REG_ZYXOR) {
            *val = MEMS_SET;
            return MEMS_SUCCESS;
        }
        else {
            *val = MEMS_RESET;
            return MEMS_SUCCESS;
        }
    case LIS3DH_STATUS_REG_ZOR:
        if(value &= LIS3DH_STATUS_REG_ZOR) {
            *val = MEMS_SET;
            return MEMS_SUCCESS;
        }
        else {
            *val = MEMS_RESET;
            return MEMS_SUCCESS;
        }
    case LIS3DH_STATUS_REG_YOR:
        if(value &= LIS3DH_STATUS_REG_YOR) {
            *val = MEMS_SET;
            return MEMS_SUCCESS;
        }
        else {
            *val = MEMS_RESET;
            return MEMS_SUCCESS;
        }
    case LIS3DH_STATUS_REG_XOR:
        if(value &= LIS3DH_STATUS_REG_XOR) {
            *val = MEMS_SET;
            return MEMS_SUCCESS;
        }
        else {
            *val = MEMS_RESET;
            return MEMS_SUCCESS;
        }
    case LIS3DH_STATUS_REG_ZYXDA:
        if(value &= LIS3DH_STATUS_REG_ZYXDA) {
            *val = MEMS_SET;
            return MEMS_SUCCESS;
        }
        else {
            *val = MEMS_RESET;
            return MEMS_SUCCESS;
        }
    case LIS3DH_STATUS_REG_ZDA:
        if(value &= LIS3DH_STATUS_REG_ZDA) {
            *val = MEMS_SET;
            return MEMS_SUCCESS;
        }
        else {
            *val = MEMS_RESET;
            return MEMS_SUCCESS;
        }
    case LIS3DH_STATUS_REG_YDA:
        if(value &= LIS3DH_STATUS_REG_YDA) {
            *val = MEMS_SET;
            return MEMS_SUCCESS;
        }
        else {
            *val = MEMS_RESET;
            return MEMS_SUCCESS;
        }
    case LIS3DH_STATUS_REG_XDA:
        if(value &= LIS3DH_STATUS_REG_XDA) {
            *val = MEMS_SET;
            return MEMS_SUCCESS;
        }
        else {
            *val = MEMS_RESET;
            return MEMS_SUCCESS;
        }

    }
    return MEMS_ERROR;
}


/*******************************************************************************
* Function Name  : LIS3DH_GetAccAxesRaw
* Description    : Read the Acceleration Values Output Registers
* Input          : buffer to empity by AxesRaw_t Typedef
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_GetAccAxesRaw(AxesRaw_t* buff) {
    int16_t value;
    uint8_t *valueL = (uint8_t *)(&value);
    uint8_t *valueH = ((uint8_t *)(&value)+1);

    if( !LIS3DH_ReadReg(LIS3DH_OUT_X_L, valueL) )
        return MEMS_ERROR;

    if( !LIS3DH_ReadReg(LIS3DH_OUT_X_H, valueH) )
        return MEMS_ERROR;

    buff->AXIS_X = value;

    if( !LIS3DH_ReadReg(LIS3DH_OUT_Y_L, valueL) )
        return MEMS_ERROR;

    if( !LIS3DH_ReadReg(LIS3DH_OUT_Y_H, valueH) )
        return MEMS_ERROR;

    buff->AXIS_Y = value;

    if( !LIS3DH_ReadReg(LIS3DH_OUT_Z_L, valueL) )
        return MEMS_ERROR;

    if( !LIS3DH_ReadReg(LIS3DH_OUT_Z_H, valueH) )
        return MEMS_ERROR;

    buff->AXIS_Z = value;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_GetInt1Src
* Description    : Reset Interrupt 1 Latching function
* Input          : Char to empty by Int1 source value
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_GetInt1Src(uint8_t* val) {

    if( !LIS3DH_ReadReg(LIS3DH_INT1_SRC, val) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_GetInt1SrcBit
* Description    : Reset Interrupt 1 Latching function
* Input          : statusBIT: LIS3DH_INT_SRC_IA, LIS3DH_INT_SRC_ZH, LIS3DH_INT_SRC_ZL.....
*                  val: Byte to be filled with the status bit
* Output         : None
* Return         : Status of BIT [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_GetInt1SrcBit(uint8_t statusBIT, uint8_t* val) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_INT1_SRC, &value) )
        return MEMS_ERROR;

    if(statusBIT == LIS3DH_INT1_SRC_IA) {
        if(value &= LIS3DH_INT1_SRC_IA) {
            *val = MEMS_SET;
            return MEMS_SUCCESS;
        }
        else {
            *val = MEMS_RESET;
            return MEMS_SUCCESS;
        }
    }

    if(statusBIT == LIS3DH_INT1_SRC_ZH) {
        if(value &= LIS3DH_INT1_SRC_ZH) {
            *val = MEMS_SET;
            return MEMS_SUCCESS;
        }
        else {
            *val = MEMS_RESET;
            return MEMS_SUCCESS;
        }
    }

    if(statusBIT == LIS3DH_INT1_SRC_ZL) {
        if(value &= LIS3DH_INT1_SRC_ZL) {
            *val = MEMS_SET;
            return MEMS_SUCCESS;
        }
        else {
            *val = MEMS_RESET;
            return MEMS_SUCCESS;
        }
    }

    if(statusBIT == LIS3DH_INT1_SRC_YH) {
        if(value &= LIS3DH_INT1_SRC_YH) {
            *val = MEMS_SET;
            return MEMS_SUCCESS;
        }
        else {
            *val = MEMS_RESET;
            return MEMS_SUCCESS;
        }
    }

    if(statusBIT == LIS3DH_INT1_SRC_YL) {
        if(value &= LIS3DH_INT1_SRC_YL) {
            *val = MEMS_SET;
            return MEMS_SUCCESS;
        }
        else {
            *val = MEMS_RESET;
            return MEMS_SUCCESS;
        }
    }
    if(statusBIT == LIS3DH_INT1_SRC_XH) {
        if(value &= LIS3DH_INT1_SRC_XH) {
            *val = MEMS_SET;
            return MEMS_SUCCESS;
        }
        else {
            *val = MEMS_RESET;
            return MEMS_SUCCESS;
        }
    }

    if(statusBIT == LIS3DH_INT1_SRC_XL) {
        if(value &= LIS3DH_INT1_SRC_XL) {
            *val = MEMS_SET;
            return MEMS_SUCCESS;
        }
        else {
            *val = MEMS_RESET;
            return MEMS_SUCCESS;
        }
    }
    return MEMS_ERROR;
}


/*******************************************************************************
* Function Name  : LIS3DH_GetFifoSourceReg
* Description    : Read Fifo source Register
* Input          : Byte to empty by FIFO source register value
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_GetFifoSourceReg(uint8_t* val) {

    if( !LIS3DH_ReadReg(LIS3DH_FIFO_SRC_REG, val) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_GetFifoSourceBit
* Description    : Read Fifo WaterMark source bit
* Input          : statusBIT: LIS3DH_FIFO_SRC_WTM, LIS3DH_FIFO_SRC_OVRUN, LIS3DH_FIFO_SRC_EMPTY
*				   val: Byte to fill  with the bit value
* Output         : None
* Return         : Status of BIT [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_GetFifoSourceBit(uint8_t statusBIT,  uint8_t* val) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_FIFO_SRC_REG, &value) )
        return MEMS_ERROR;


    if(statusBIT == LIS3DH_FIFO_SRC_WTM) {
        if(value &= LIS3DH_FIFO_SRC_WTM) {
            *val = MEMS_SET;
            return MEMS_SUCCESS;
        }
        else {
            *val = MEMS_RESET;
            return MEMS_SUCCESS;
        }
    }

    if(statusBIT == LIS3DH_FIFO_SRC_OVRUN) {
        if(value &= LIS3DH_FIFO_SRC_OVRUN) {
            *val = MEMS_SET;
            return MEMS_SUCCESS;
        }
        else {
            *val = MEMS_RESET;
            return MEMS_SUCCESS;
        }
    }
    if(statusBIT == LIS3DH_FIFO_SRC_EMPTY) {
        if(value &= statusBIT == LIS3DH_FIFO_SRC_EMPTY) {
            *val = MEMS_SET;
            return MEMS_SUCCESS;
        }
        else {
            *val = MEMS_RESET;
            return MEMS_SUCCESS;
        }
    }
    return MEMS_ERROR;
}


/*******************************************************************************
* Function Name  : LIS3DH_GetFifoSourceFSS
* Description    : Read current number of unread samples stored in FIFO
* Input          : Byte to empty by FIFO unread sample value
* Output         : None
* Return         : Status [value of FSS]
*******************************************************************************/
status_t LIS3DH_GetFifoSourceFSS(uint8_t* val) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_FIFO_SRC_REG, &value) )
        return MEMS_ERROR;

    value &= 0x1F;

    *val = value;

    return MEMS_SUCCESS;
}


/*******************************************************************************
* Function Name  : LIS3DH_SetSPIInterface
* Description    : Set SPI mode: 3 Wire Interface OR 4 Wire Interface
* Input          : LIS3DH_SPI_3_WIRE, LIS3DH_SPI_4_WIRE
* Output         : None
* Return         : Status [MEMS_ERROR, MEMS_SUCCESS]
*******************************************************************************/
status_t LIS3DH_SetSPIInterface(LIS3DH_SPIMode_t spi) {
    uint8_t value;

    if( !LIS3DH_ReadReg(LIS3DH_CTRL_REG4, &value) )
        return MEMS_ERROR;

    value &= 0xFE;
    value |= spi<<LIS3DH_SIM;

    if( !LIS3DH_WriteReg(LIS3DH_CTRL_REG4, value) )
        return MEMS_ERROR;

    return MEMS_SUCCESS;
}
/******************* (C) COPYRIGHT 2012 STMicroelectronics *****END OF FILE****/