Grove 6 axis Accelerometer and Gyroscope with esp32

[nnayspy]

The error i have :
" Compilation error: 'I2C_MODE' was not declared in this scope" :
/*****************************************************************************/
// Pedometer.ino
// Hardware: Grove - 6-Axis Accelerometer&Gyroscope
// Arduino IDE: Arduino-1.65
// Author: Lambor
// Date: Nov,2015
// Version: v1.0
//
// Modified by:
// Data:
// Description:
//
// by www.seeedstudio.com
//
// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.
//
// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
//
/*******************************************************************************/

The code i use :

Code: [Select all] [Expand/Collapse]

1. #include "LSM6DS3.h"
2. #include "Wire.h"
3.  
4. #define CLEAR_STEP      true
5. #define NOT_CLEAR_STEP  false
6.  
7. //Create a instance of class LSM6DS3
8. LSM6DS3Class pedometer(1, 0x6A);    //I2C device address 0x6A
9.  
10. void setup() {
11.     Serial.begin(9600);
12.     while (!Serial);
13.     if (pedometer.begin() != 0) {
14.         Serial.println("Device error");
15.     } else {
16.         Serial.println("Device OK!");
17.     }
18.  
19.     //Configure LSM6DS3 as pedometer
20.     if (0 != config_pedometer(NOT_CLEAR_STEP)) {
21.         Serial.println("Configure pedometer fail!");
22.     }
23.     Serial.println("Success to Configure pedometer!");
24. }
25.  
26. void loop() {
27.     uint8_t dataByte = 0;
28.     uint16_t stepCount = 0;
29.  
30.     pedometer.readRegister(&dataByte, LSM6DS3_ACC_GYRO_STEP_COUNTER_H);
31.     stepCount = (dataByte << 8) & 0xFFFF;
32.  
33.     pedometer.readRegister(&dataByte, LSM6DS3_ACC_GYRO_STEP_COUNTER_L);
34.     stepCount |=  dataByte;
35.  
36.     Serial.print("Step: ");
37.     Serial.println(stepCount);
38.  
39.     delay(500);
40. }
41.  
42. //Setup pedometer mode
43. int config_pedometer(bool clearStep) {
44.     uint8_t errorAccumulator = 0;
45.     uint8_t dataToWrite = 0;  //Temporary variable
46.  
47.     //Setup the accelerometer******************************
48.     dataToWrite = 0;
49.  
50.     //  dataToWrite |= LSM6DS3_ACC_GYRO_BW_XL_200Hz;
51.     dataToWrite |= LSM6DS3_ACC_GYRO_FS_XL_2g;
52.     dataToWrite |= LSM6DS3_ACC_GYRO_ODR_XL_26Hz;
53.  
54.  
55.     // Step 1: Configure ODR-26Hz and FS-2g
56.     errorAccumulator += pedometer.writeRegister(LSM6DS3_ACC_GYRO_CTRL1_XL, dataToWrite);
57.  
58.     // Step 2: Set bit Zen_G, Yen_G, Xen_G, FUNC_EN, PEDO_RST_STEP(1 or 0)
59.     if (clearStep) {
60.         errorAccumulator += pedometer.writeRegister(LSM6DS3_ACC_GYRO_CTRL10_C, 0x3E);
61.     } else {
62.         errorAccumulator += pedometer.writeRegister(LSM6DS3_ACC_GYRO_CTRL10_C, 0x3C);
63.     }
64.  
65.     // Step 3:  Enable pedometer algorithm
66.     errorAccumulator += pedometer.writeRegister(LSM6DS3_ACC_GYRO_TAP_CFG1, 0x40);
67.  
68.     //Step 4:   Step Detector interrupt driven to INT1 pin, set bit INT1_FIFO_OVR
69.     errorAccumulator += pedometer.writeRegister(LSM6DS3_ACC_GYRO_INT1_CTRL, 0x10);
70.  
71.     return errorAccumulator;
72. }

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