Detailed Description

Collaboration diagram for LSM6DSL:

LSM6DSL data structures and types.
enum	lsm6dsl_sad_t { LSM6DSL_SAD_GND = 0x6A , LSM6DSL_SAD_VCC = 0x6B }
	Accelerometer and Gyroscope Slave Address. More...
enum	lsm6dsl_acc_fs_t { LSM6DSL_ACC_FS_2G = 0x00 , LSM6DSL_ACC_FS_4G = 0x40 , LSM6DSL_ACC_FS_8G = 0x80 , LSM6DSL_ACC_FS_16G = 0xC0 }
	LSM6DSL accelerometer subsystem full scale. More...
enum	lsm6dsl_acc_odr_t { LSM6DSL_ACC_ODR_PD = 0x00 , LSM6DSL_ACC_ODR_1P6HZ = 0xB0 , LSM6DSL_ACC_ODR_12P5HZ = 0x10 , LSM6DSL_ACC_ODR_26HZ = 0x20 , LSM6DSL_ACC_ODR_52HZ = 0x30 , LSM6DSL_ACC_ODR_104HZ = 0x40 , LSM6DSL_ACC_ODR_208HZ = 0x50 , LSM6DSL_ACC_ODR_416HZ = 0x60 , LSM6DSL_ACC_ODR_833HZ = 0x70 , LSM6DSL_ACC_ODR_1P66HZ = 0x80 , LSM6DSL_ACC_ODR_3P33HZ = 0x90 , LSM6DSL_ACC_ODR_6P66HZ = 0xA0 }
	LSM6DSL accelerometer subsystem output data rate. More...
enum	lsm6dsl_acc_lp_t { LSM6DSL_ACC_LP_DISABLED = 0x00 , LSM6DSL_ACC_LP_ENABLED = 0x10 }
	LSM6DSL accelerometer subsystem output data rate. More...
enum	lsm6dsl_gyro_fs_t { LSM6DSL_GYRO_FS_125DPS = 0x02 , LSM6DSL_GYRO_FS_250DPS = 0x00 , LSM6DSL_GYRO_FS_500DPS = 0x04 , LSM6DSL_GYRO_FS_1000DPS = 0x08 , LSM6DSL_GYRO_FS_2000DPS = 0x0C }
	LSM6DSL gyroscope subsystem full scale. More...
enum	lsm6dsl_gyro_odr_t { LSM6DSL_GYRO_ODR_PD = 0x00 , LSM6DSL_GYRO_ODR_12P5HZ = 0x10 , LSM6DSL_GYRO_ODR_26HZ = 0x20 , LSM6DSL_GYRO_ODR_52HZ = 0x30 , LSM6DSL_GYRO_ODR_104HZ = 0x40 , LSM6DSL_GYRO_ODR_208HZ = 0x50 , LSM6DSL_GYRO_ODR_416HZ = 0x60 , LSM6DSL_GYRO_ODR_833HZ = 0x70 , LSM6DSL_GYRO_ODR_1P66KHZ = 0x80 , LSM6DSL_GYRO_ODR_3P33KHZ = 0x90 , LSM6DSL_GYRO_ODR_6P66KHZ = 0xA0 }
	LSM6DSL gyroscope subsystem output data rate. More...
enum	lsm6dsl_gyro_lp_t { LSM6DSL_GYRO_LP_DISABLED = 0x00 , LSM6DSL_GYRO_LP_ENABLED = 0x80 }
	LSM6DSL gyroscope subsystem low mode configuration. More...
enum	lsm6dsl_gyro_lpf_t { LSM6DSL_GYRO_LPF_DISABLED = -1 , LSM6DSL_GYRO_LPF_FTYPE0 = 0x00 , LSM6DSL_GYRO_LPF_FTYPE1 = 0x01 , LSM6DSL_GYRO_LPF_FTYPE2 = 0x10 , LSM6DSL_GYRO_LPF_FTYPE3 = 0x11 }
	LSM6DSL gyroscope subsystem output selection. More...
enum	lsm6dsl_bdu_t { LSM6DSL_BDU_CONTINUOUS = 0x00 , LSM6DSL_BDU_BLOCKED = 0x40 }
	LSM6DSL block data update. More...
enum	lsm6dsl_end_t { LSM6DSL_END_LITTLE = 0x00 , LSM6DSL_END_BIG = 0x20 }
	LSM6DSL endianness. More...
enum	lsm6dsl_state_t { LSM6DSL_UNINIT = 0 , LSM6DSL_STOP = 1 , LSM6DSL_READY = 2 }
	Driver state machine possible states. More...
typedef struct LSM6DSLDriver	LSM6DSLDriver
	Structure representing a LSM6DSL driver.
#define	_lsm6dsl_methods_alone
	`LSM6DSL` specific methods.
#define	_lsm6dsl_methods
	`LSM6DSL` specific methods with inherited ones.
#define	_lsm6dsl_data
	`LSM6DSLDriver` specific data.

Version identification
#define	EX_LSM6DSL_VERSION "1.0.2"
	LSM6DSL driver version string.
#define	EX_LSM6DSL_MAJOR 1
	LSM6DSL driver version major number.
#define	EX_LSM6DSL_MINOR 0
	LSM6DSL driver version minor number.
#define	EX_LSM6DSL_PATCH 2
	LSM6DSL driver version patch number.
#define	LSM6DSL_ACC_NUMBER_OF_AXES 3U
	LSM6DSL accelerometer subsystem characteristics.
#define	LSM6DSL_ACC_2G 2.0f
#define	LSM6DSL_ACC_4G 4.0f
#define	LSM6DSL_ACC_8G 8.0f
#define	LSM6DSL_ACC_16G 16.0f
#define	LSM6DSL_ACC_SENS_2G 0.061f
#define	LSM6DSL_ACC_SENS_4G 0.122f
#define	LSM6DSL_ACC_SENS_8G 0.244f
#define	LSM6DSL_ACC_SENS_16G 0.488f
#define	LSM6DSL_ACC_BIAS 0.0f
#define	LSM6DSL_GYRO_NUMBER_OF_AXES 3U
	L3GD20 gyroscope system characteristics.
#define	LSM6DSL_GYRO_125DPS 125.0f
#define	LSM6DSL_GYRO_250DPS 250.0f
#define	LSM6DSL_GYRO_500DPS 500.0f
#define	LSM6DSL_GYRO_1000DPS 1000.0f
#define	LSM6DSL_GYRO_2000DPS 2000.0f
#define	LSM6DSL_GYRO_SENS_125DPS 0.004375f
#define	LSM6DSL_GYRO_SENS_250DPS 0.008750f
#define	LSM6DSL_GYRO_SENS_500DPS 0.017500f
#define	LSM6DSL_GYRO_SENS_1000DPS 0.035000f
#define	LSM6DSL_GYRO_SENS_2000DPS 0.070000f
#define	LSM6DSL_GYRO_BIAS 0.0f

LSM6DSL communication interfaces related bit masks
#define	LSM6DSL_DI_MASK 0xFF
#define	LSM6DSL_DI(n)
#define	LSM6DSL_AD_MASK 0x7F
#define	LSM6DSL_AD(n)
#define	LSM6DSL_MS (1 << 7)

LSM6DSL register addresses
#define	LSM6DSL_AD_FUNC_CFG_ACCESS 0x01
#define	LSM6DSL_AD_SENSOR_SYNC_TIME_FRAME 0x04
#define	LSM6DSL_AD_SENSOR_SYNC_RES_RATIO 0x05
#define	LSM6DSL_AD_FIFO_CTRL1 0x06
#define	LSM6DSL_AD_FIFO_CTRL2 0x07
#define	LSM6DSL_AD_FIFO_CTRL3 0x08
#define	LSM6DSL_AD_FIFO_CTRL4 0x09
#define	LSM6DSL_AD_FIFO_CTRL5 0x0A
#define	LSM6DSL_AD_DRDY_PULSE_CFG_G 0x0B
#define	LSM6DSL_AD_INT1_CTRL 0x0D
#define	LSM6DSL_AD_INT2_CTRL 0x0E
#define	LSM6DSL_AD_WHO_AM_I 0x0F
#define	LSM6DSL_AD_CTRL1_XL 0x10
#define	LSM6DSL_AD_CTRL2_G 0x11
#define	LSM6DSL_AD_CTRL3_C 0x12
#define	LSM6DSL_AD_CTRL4_C 0x13
#define	LSM6DSL_AD_CTRL5_C 0x14
#define	LSM6DSL_AD_CTRL6_C 0x15
#define	LSM6DSL_AD_CTRL7_G 0x16
#define	LSM6DSL_AD_CTRL8_XL 0x17
#define	LSM6DSL_AD_CTRL9_XL 0x18
#define	LSM6DSL_AD_CTRL10_C 0x19
#define	LSM6DSL_AD_MASTER_CONFIG 0x1A
#define	LSM6DSL_AD_WAKE_UP_SRC 0x1B
#define	LSM6DSL_AD_TAP_SRC 0x1C
#define	LSM6DSL_AD_D6D_SRC 0x1D
#define	LSM6DSL_AD_STATUS_REG 0x1E
#define	LSM6DSL_AD_OUT_TEMP_L 0x20
#define	LSM6DSL_AD_OUT_TEMP_H 0x21
#define	LSM6DSL_AD_OUTX_L_G 0x22
#define	LSM6DSL_AD_OUTX_H_G 0x23
#define	LSM6DSL_AD_OUTY_L_G 0x24
#define	LSM6DSL_AD_OUTY_H_G 0x25
#define	LSM6DSL_AD_OUTZ_L_G 0x26
#define	LSM6DSL_AD_OUTZ_H_G 0x27
#define	LSM6DSL_AD_OUTX_L_XL 0x28
#define	LSM6DSL_AD_OUTX_H_XL 0x29
#define	LSM6DSL_AD_OUTY_L_XL 0x2A
#define	LSM6DSL_AD_OUTY_H_XL 0x2B
#define	LSM6DSL_AD_OUTZ_L_XL 0x2C
#define	LSM6DSL_AD_OUTZ_H_XL 0x2D
#define	LSM6DSL_AD_SENSORHUB1_REG 0x2E
#define	LSM6DSL_AD_SENSORHUB2_REG 0x2F
#define	LSM6DSL_AD_SENSORHUB3_REG 0x30
#define	LSM6DSL_AD_SENSORHUB4_REG 0x31
#define	LSM6DSL_AD_SENSORHUB5_REG 0x32
#define	LSM6DSL_AD_SENSORHUB6_REG 0x33
#define	LSM6DSL_AD_SENSORHUB7_REG 0x34
#define	LSM6DSL_AD_SENSORHUB8_REG 0x35
#define	LSM6DSL_AD_SENSORHUB9_REG 0x36
#define	LSM6DSL_AD_SENSORHUB10_REG 0x37
#define	LSM6DSL_AD_SENSORHUB11_REG 0x38
#define	LSM6DSL_AD_SENSORHUB12_REG 0x39
#define	LSM6DSL_AD_FIFO_STATUS1 0x3A
#define	LSM6DSL_AD_FIFO_STATUS2 0x3B
#define	LSM6DSL_AD_FIFO_STATUS3 0x3C
#define	LSM6DSL_AD_FIFO_STATUS4 0x3D
#define	LSM6DSL_AD_FIFO_DATA_OUT_L 0x3E
#define	LSM6DSL_AD_FIFO_DATA_OUT_H 0x3F
#define	LSM6DSL_AD_TIMESTAMP0_REG 0x40
#define	LSM6DSL_AD_TIMESTAMP1_REG 0x41
#define	LSM6DSL_AD_TIMESTAMP2_REG 0x42
#define	LSM6DSL_AD_STEP_TIMESTAMP_L 0x49
#define	LSM6DSL_AD_STEP_TIMESTAMP_H 0x4A
#define	LSM6DSL_AD_STEP_COUNTER_L 0x4B
#define	LSM6DSL_AD_STEP_COUNTER_H 0x4C
#define	LSM6DSL_AD_SENSORHUB13_REG 0x4D
#define	LSM6DSL_AD_SENSORHUB14_REG 0x4E
#define	LSM6DSL_AD_SENSORHUB15_REG 0x4F
#define	LSM6DSL_AD_SENSORHUB16_REG 0x50
#define	LSM6DSL_AD_SENSORHUB17_REG 0x51
#define	LSM6DSL_AD_SENSORHUB18_REG 0x52
#define	LSM6DSL_AD_FUNC_SRC1 0x53
#define	LSM6DSL_AD_FUNC_SRC2 0x54
#define	LSM6DSL_AD_WRIST_TILT_IA 0x55
#define	LSM6DSL_AD_TAP_CFG 0x58
#define	LSM6DSL_AD_TAP_THS_6D 0x59
#define	LSM6DSL_AD_INT_DUR2 0x5A
#define	LSM6DSL_AD_WAKE_UP_THS 0x5B
#define	LSM6DSL_AD_WAKE_UP_DUR 0x5C
#define	LSM6DSL_AD_FREE_FALL 0x5D
#define	LSM6DSL_AD_MD1_CFG 0x5E
#define	LSM6DSL_AD_MD2_CFG 0x5F
#define	LSM6DSL_AD_MASTER_CMD_CODE 0x60
#define	LSM6DSL_AD_SENS_SYNC_SPI_ERROR_CODE 0x61
#define	LSM6DSL_AD_OUT_MAG_RAW_X_L 0x66
#define	LSM6DSL_AD_OUT_MAG_RAW_X_H 0x67
#define	LSM6DSL_AD_OUT_MAG_RAW_Y_L 0x68
#define	LSM6DSL_AD_OUT_MAG_RAW_Y_H 0x69
#define	LSM6DSL_AD_OUT_MAG_RAW_Z_L 0x6A
#define	LSM6DSL_AD_OUT_MAG_RAW_Z_H 0x6B
#define	LSM6DSL_AD_X_OFS_USR 0x73
#define	LSM6DSL_AD_Y_OFS_USR 0x74
#define	LSM6DSL_AD_Z_OFS_USR 0x75

LSM6DSL_AD_CTRL1_XL register bits definitions
#define	LSMDSL_CTRL1_XL_BW0_XL (1 << 0)
#define	LSMDSL_CTRL1_XL_LPF1_BW_SEL (1 << 1)
#define	LSMDSL_CTRL1_XL_FS_MASK 0x0C
#define	LSMDSL_CTRL1_XL_FS_XL0 (1 << 2)
#define	LSMDSL_CTRL1_XL_FS_XL1 (1 << 3)
#define	LSMDSL_CTRL1_XL_ODR_XL0 (1 << 4)
#define	LSMDSL_CTRL1_XL_ODR_XL1 (1 << 5)
#define	LSMDSL_CTRL1_XL_ODR_XL2 (1 << 6)
#define	LSMDSL_CTRL1_XL_ODR_XL3 (1 << 7)

LSM6DSL_AD_CTRL2_G register bits definitions
#define	LSMDSL_CTRL2_G_FS_MASK 0x0E
#define	LSMDSL_CTRL2_G_FS_125 (1 << 1)
#define	LSMDSL_CTRL2_G_FS_G0 (1 << 2)
#define	LSMDSL_CTRL2_G_FS_G1 (1 << 3)
#define	LSMDSL_CTRL2_G_ODR_G0 (1 << 4)
#define	LSMDSL_CTRL2_G_ODR_G1 (1 << 5)
#define	LSMDSL_CTRL2_G_ODR_G2 (1 << 6)
#define	LSMDSL_CTRL2_G_ODR_G3 (1 << 7)

LSM6DSL_AD_CTRL3_C register bits definitions
#define	LSMDSL_CTRL3_C_SW_RESET (1 << 0)
#define	LSMDSL_CTRL3_C_BLE (1 << 1)
#define	LSMDSL_CTRL3_C_IF_INC (1 << 2)
#define	LSMDSL_CTRL3_C_SIM (1 << 3)
#define	LSMDSL_CTRL3_C_PP_OD (1 << 4)
#define	LSMDSL_CTRL3_C_H_LACTIVE (1 << 5)
#define	LSMDSL_CTRL3_C_BDU (1 << 6)
#define	LSMDSL_CTRL3_C_BOOT (1 << 7)

LSM6DSL_AD_CTRL4_C register bits definitions
#define	LSMDSL_CTRL4_C_NOT_USED_01 (1 << 0)
#define	LSMDSL_CTRL4_C_LPF1_SEL_G (1 << 1)
#define	LSMDSL_CTRL4_C_I2C_DISABLE (1 << 2)
#define	LSMDSL_CTRL4_C_DRDY_MASK (1 << 3)
#define	LSMDSL_CTRL4_C_DEN_DRDY_IN (1 << 4)
#define	LSMDSL_CTRL4_C_INT2_ON_INT (1 << 5)
#define	LSMDSL_CTRL4_C_SLEEP (1 << 6)
#define	LSMDSL_CTRL4_C_DEN_XL_EN (1 << 7)

LSM6DSL_AD_CTRL5_C register bits definitions
#define	LSMDSL_CTRL5_C_ST0_XL (1 << 0)
#define	LSMDSL_CTRL5_C_ST1_XL (1 << 1)
#define	LSMDSL_CTRL5_C_ST0_G (1 << 2)
#define	LSMDSL_CTRL5_C_ST1_G (1 << 3)
#define	LSMDSL_CTRL5_C_DEN_LH (1 << 4)
#define	LSMDSL_CTRL5_C_ROUNDING0 (1 << 5)
#define	LSMDSL_CTRL5_C_ROUNDING1 (1 << 6)
#define	LSMDSL_CTRL5_C_ROUNDING2 (1 << 7)

LSM6DSL_AD_CTRL6_C register bits definitions
#define	LSMDSL_CTRL6_C_FTYPE_0 (1 << 0)
#define	LSMDSL_CTRL6_C_FTYPE_1 (1 << 1)
#define	LSMDSL_CTRL6_C_USR_OFF_W (1 << 3)
#define	LSMDSL_CTRL6_C_XL_HM_MODE (1 << 4)
#define	LSMDSL_CTRL6_C_LVL2_EN (1 << 5)
#define	LSMDSL_CTRL6_C_LVL_EN (1 << 6)
#define	LSMDSL_CTRL6_C_TRIG_EN (1 << 7)

LSM6DSL_AD_CTRL7_G register bits definitions
#define	LSMDSL_CTRL7_G_ROUNDING_ST (1 << 2)
#define	LSMDSL_CTRL7_G_HPM0_G (1 << 4)
#define	LSMDSL_CTRL7_G_HPM1_G (1 << 5)
#define	LSMDSL_CTRL7_G_HP_EN_G (1 << 6)
#define	LSMDSL_CTRL7_G_G_HM_MODE (1 << 7)

LSM6DSL_AD_CTRL8_XL register bits definitions
#define	LSMDSL_CTRL8_XL_LOW_PASS_ON (1 << 0)
#define	LSMDSL_CTRL8_XL_HP_SLOPE_XL (1 << 2)
#define	LSMDSL_CTRL8_XL_INPUT_COMPO (1 << 3)
#define	LSMDSL_CTRL8_XL_HP_REF_MODE (1 << 4)
#define	LSMDSL_CTRL8_XL_HPCF_XL0 (1 << 5)
#define	LSMDSL_CTRL8_XL_HPCF_XL1 (1 << 6)
#define	LSMDSL_CTRL8_XL_LPF2_XL_EN (1 << 7)

LSM6DSL_AD_CTRL9_XL register bits definitions
#define	LSMDSL_CTRL9_XL_SOFT_EN (1 << 2)
#define	LSMDSL_CTRL9_XL_DEN_XL_G (1 << 4)
#define	LSMDSL_CTRL9_XL_DEN_Z (1 << 5)
#define	LSMDSL_CTRL9_XL_DEN_Y (1 << 6)
#define	LSMDSL_CTRL9_XL_DEN_X (1 << 7)

LSM6DSL_AD_CTRL10_C register bits definitions
#define	LSMDSL_CTRL10_C_SIGN_MOTION (1 << 0)
#define	LSMDSL_CTRL10_C_PEDO_RST_ST (1 << 1)
#define	LSMDSL_CTRL10_C_FUNC_EN (1 << 2)
#define	LSMDSL_CTRL10_C_TILT_EN (1 << 3)
#define	LSMDSL_CTRL10_C_PEDO_EN (1 << 4)
#define	LSMDSL_CTRL10_C_TIMER_EN (1 << 5)
#define	LSMDSL_CTRL10_C_WRIST_TILT (1 << 7)

Configuration options
#define	LSM6DSL_USE_SPI FALSE
	LSM6DSL SPI interface switch.
#define	LSM6DSL_SHARED_SPI FALSE
	LSM6DSL shared SPI switch.
#define	LSM6DSL_USE_I2C TRUE
	LSM6DSL I2C interface switch.
#define	LSM6DSL_SHARED_I2C FALSE
	LSM6DSL shared I2C switch.
#define	LSM6DSL_USE_ADVANCED FALSE
	LSM6DSL advanced configurations switch.
#define	LSM6DSL_GYRO_BIAS_ACQ_TIMES 50
	Number of acquisitions for gyroscope bias removal.
#define	LSM6DSL_GYRO_BIAS_SETTLING_US 5000
	Settling time for gyroscope bias removal.

Data Structures
struct	LSM6DSLConfig
	LSM6DSL configuration structure. More...
struct	LSM6DSLVMT
	`LSM6DSL` virtual methods table. More...
struct	LSM6DSLDriver
	LSM6DSL 6-axis accelerometer/gyroscope class. More...

Macros
#define	lsm6dslI2CWriteRegister(i2cp, sad, txbuf, n)
	Writes a value into a register using I2C.
#define	lsm6dslAccelerometerGetAxesNumber(devp)
	Return the number of axes of the BaseAccelerometer.
#define	lsm6dslAccelerometerReadRaw(devp, axes)
	Retrieves raw data from the BaseAccelerometer.
#define	lsm6dslAccelerometerReadCooked(devp, axes)
	Retrieves cooked data from the BaseAccelerometer.
#define	lsm6dslAccelerometerSetBias(devp, bp)
	Set bias values for the BaseAccelerometer.
#define	lsm6dslAccelerometerResetBias(devp)
	Reset bias values for the BaseAccelerometer.
#define	lsm6dslAccelerometerSetSensitivity(devp, sp)
	Set sensitivity values for the BaseAccelerometer.
#define	lsm6dslAccelerometerResetSensitivity(devp)
	Reset sensitivity values for the BaseAccelerometer.
#define	lsm6dslAccelerometerSetFullScale(devp, fs)
	Changes the LSM6DSLDriver accelerometer fullscale value.
#define	lsm6dslGyroscopeGetAxesNumber(devp)
	Return the number of axes of the BaseGyroscope.
#define	lsm6dslGyroscopeReadRaw(devp, axes)
	Retrieves raw data from the BaseGyroscope.
#define	lsm6dslGyroscopeReadCooked(devp, axes)
	Retrieves cooked data from the BaseGyroscope.
#define	lsm6dslGyroscopeSampleBias(devp)
	Samples bias values for the BaseGyroscope.
#define	lsm6dslGyroscopeSetBias(devp, bp)
	Set bias values for the BaseGyroscope.
#define	lsm6dslGyroscopeResetBias(devp)
	Reset bias values for the BaseGyroscope.
#define	lsm6dslGyroscopeSetSensitivity(devp, sp)
	Set sensitivity values for the BaseGyroscope.
#define	lsm6dslGyroscopeResetSensitivity(devp)
	Reset sensitivity values for the BaseGyroscope.
#define	lsm6dslGyroscopeSetFullScale(devp, fs)
	Changes the LSM6DSLDriver gyroscope fullscale value.

Functions
msg_t	lsm6dslI2CReadRegister (I2CDriver i2cp, lsm6dsl_sad_t sad, uint8_t reg, uint8_t rxbuf, size_t n)
	Reads registers value using I2C.
static size_t	acc_get_axes_number (void *ip)
	Return the number of axes of the BaseAccelerometer.
static msg_t	acc_read_raw (void *ip, int32_t axes[])
	Retrieves raw data from the BaseAccelerometer.
static msg_t	acc_read_cooked (void *ip, float axes[])
	Retrieves cooked data from the BaseAccelerometer.
static msg_t	acc_set_bias (void ip, float bp)
	Set bias values for the BaseAccelerometer.
static msg_t	acc_reset_bias (void *ip)
	Reset bias values for the BaseAccelerometer.
static msg_t	acc_set_sensivity (void ip, float sp)
	Set sensitivity values for the BaseAccelerometer.
static msg_t	acc_reset_sensivity (void *ip)
	Reset sensitivity values for the BaseAccelerometer.
static msg_t	acc_set_full_scale (LSM6DSLDriver *devp, lsm6dsl_acc_fs_t fs)
	Changes the LSM6DSLDriver accelerometer fullscale value.
static size_t	gyro_get_axes_number (void *ip)
	Return the number of axes of the BaseGyroscope.
static msg_t	gyro_read_raw (void *ip, int32_t axes[LSM6DSL_GYRO_NUMBER_OF_AXES])
	Retrieves raw data from the BaseGyroscope.
static msg_t	gyro_read_cooked (void *ip, float axes[])
	Retrieves cooked data from the BaseGyroscope.
static msg_t	gyro_sample_bias (void *ip)
	Samples bias values for the BaseGyroscope.
static msg_t	gyro_set_bias (void ip, float bp)
	Set bias values for the BaseGyroscope.
static msg_t	gyro_reset_bias (void *ip)
	Reset bias values for the BaseGyroscope.
static msg_t	gyro_set_sensivity (void ip, float sp)
	Set sensitivity values for the BaseGyroscope.
static msg_t	gyro_reset_sensivity (void *ip)
	Reset sensitivity values for the BaseGyroscope.
static msg_t	gyro_set_full_scale (LSM6DSLDriver *devp, lsm6dsl_gyro_fs_t fs)
	Changes the LSM6DSLDriver gyroscope fullscale value.
void	lsm6dslObjectInit (LSM6DSLDriver *devp)
	Initializes an instance.
void	lsm6dslStart (LSM6DSLDriver devp, const LSM6DSLConfig config)
	Configures and activates LSM6DSL Complex Driver peripheral.
void	lsm6dslStop (LSM6DSLDriver *devp)
	Deactivates the LSM6DSL Complex Driver peripheral.

Variables
static const struct LSM6DSLVMT	vmt_device
static const struct BaseAccelerometerVMT	vmt_accelerometer
static const struct BaseGyroscopeVMT	vmt_gyroscope

Macro Definition Documentation

◆ lsm6dslI2CWriteRegister

#define lsm6dslI2CWriteRegister	(	i2cp,
		sad,
		txbuf,
		n )

Value:

i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0, \

TIME_INFINITE)

i2cMasterTransmitTimeout

msg_t i2cMasterTransmitTimeout(I2CDriver *i2cp, i2caddr_t addr, const uint8_t *txbuf, size_t txbytes, uint8_t *rxbuf, size_t rxbytes, sysinterval_t timeout)

Sends data via the I2C bus.

Definition hal_i2c.c:187

TIME_INFINITE

#define TIME_INFINITE

Infinite interval specification for all functions with a timeout specification.

Definition chtime.h:55

Writes a value into a register using I2C.

Precondition: The I2C interface must be initialized and the driver started.

Parameters

[in]	i2cp	pointer to the I2C interface
[in]	sad	slave address without R bit
[in]	txbuf	buffer containing sub-address value in first position and values to write
[in]	n	size of txbuf less one (not considering the first element)

Returns: the operation status.

Function Class:: Not an API, this function is for internal use only.

Definition at line 83 of file lsm6dsl.c.

Referenced by acc_set_full_scale(), gyro_set_full_scale(), lsm6dslStart(), and lsm6dslStop().

◆ EX_LSM6DSL_VERSION

#define EX_LSM6DSL_VERSION "1.0.2"

LSM6DSL driver version string.

Definition at line 46 of file lsm6dsl.h.

◆ EX_LSM6DSL_MAJOR

#define EX_LSM6DSL_MAJOR 1

LSM6DSL driver version major number.

Definition at line 51 of file lsm6dsl.h.

◆ EX_LSM6DSL_MINOR

#define EX_LSM6DSL_MINOR 0

LSM6DSL driver version minor number.

Definition at line 56 of file lsm6dsl.h.

◆ EX_LSM6DSL_PATCH

#define EX_LSM6DSL_PATCH 2

LSM6DSL driver version patch number.

Definition at line 61 of file lsm6dsl.h.

◆ LSM6DSL_ACC_NUMBER_OF_AXES

#define LSM6DSL_ACC_NUMBER_OF_AXES 3U

LSM6DSL accelerometer subsystem characteristics.

Note: Sensitivity is expressed as milli-G/LSB whereas 1 milli-G = 0.00980665 m/s^2.; Bias is expressed as milli-G.

Definition at line 72 of file lsm6dsl.h.

Referenced by acc_get_axes_number(), acc_read_cooked(), acc_read_raw(), acc_reset_bias(), acc_reset_sensivity(), acc_set_bias(), acc_set_full_scale(), acc_set_sensivity(), lsm6dslObjectInit(), and lsm6dslStart().

◆ LSM6DSL_ACC_2G

#define LSM6DSL_ACC_2G 2.0f

Definition at line 74 of file lsm6dsl.h.

Referenced by acc_set_full_scale(), and lsm6dslStart().

◆ LSM6DSL_ACC_4G

#define LSM6DSL_ACC_4G 4.0f

Definition at line 75 of file lsm6dsl.h.

Referenced by acc_set_full_scale(), and lsm6dslStart().

◆ LSM6DSL_ACC_8G

#define LSM6DSL_ACC_8G 8.0f

Definition at line 76 of file lsm6dsl.h.

Referenced by acc_set_full_scale(), and lsm6dslStart().

◆ LSM6DSL_ACC_16G

#define LSM6DSL_ACC_16G 16.0f

Definition at line 77 of file lsm6dsl.h.

Referenced by acc_set_full_scale(), and lsm6dslStart().

◆ LSM6DSL_ACC_SENS_2G

#define LSM6DSL_ACC_SENS_2G 0.061f

Definition at line 79 of file lsm6dsl.h.

Referenced by acc_reset_sensivity(), and lsm6dslStart().

◆ LSM6DSL_ACC_SENS_4G

#define LSM6DSL_ACC_SENS_4G 0.122f

Definition at line 80 of file lsm6dsl.h.

Referenced by acc_reset_sensivity(), and lsm6dslStart().

◆ LSM6DSL_ACC_SENS_8G

#define LSM6DSL_ACC_SENS_8G 0.244f

Definition at line 81 of file lsm6dsl.h.

Referenced by acc_reset_sensivity(), and lsm6dslStart().

◆ LSM6DSL_ACC_SENS_16G

#define LSM6DSL_ACC_SENS_16G 0.488f

Definition at line 82 of file lsm6dsl.h.

Referenced by acc_reset_sensivity(), and lsm6dslStart().

◆ LSM6DSL_ACC_BIAS

#define LSM6DSL_ACC_BIAS 0.0f

Definition at line 84 of file lsm6dsl.h.

Referenced by acc_reset_bias(), and lsm6dslStart().

◆ LSM6DSL_GYRO_NUMBER_OF_AXES

#define LSM6DSL_GYRO_NUMBER_OF_AXES 3U

L3GD20 gyroscope system characteristics.

Note: Sensitivity is expressed as DPS/LSB whereas DPS stand for Degree per second [�/s].; Bias is expressed as DPS.

Definition at line 95 of file lsm6dsl.h.

Referenced by gyro_get_axes_number(), gyro_read_cooked(), gyro_read_raw(), gyro_reset_bias(), gyro_reset_sensivity(), gyro_sample_bias(), gyro_set_bias(), gyro_set_full_scale(), gyro_set_sensivity(), lsm6dslObjectInit(), and lsm6dslStart().

◆ LSM6DSL_GYRO_125DPS

#define LSM6DSL_GYRO_125DPS 125.0f

Definition at line 97 of file lsm6dsl.h.

Referenced by gyro_set_full_scale(), and lsm6dslStart().

◆ LSM6DSL_GYRO_250DPS

#define LSM6DSL_GYRO_250DPS 250.0f

Definition at line 98 of file lsm6dsl.h.

Referenced by gyro_set_full_scale(), and lsm6dslStart().

◆ LSM6DSL_GYRO_500DPS

#define LSM6DSL_GYRO_500DPS 500.0f

Definition at line 99 of file lsm6dsl.h.

Referenced by gyro_set_full_scale(), and lsm6dslStart().

◆ LSM6DSL_GYRO_1000DPS

#define LSM6DSL_GYRO_1000DPS 1000.0f

Definition at line 100 of file lsm6dsl.h.

Referenced by gyro_set_full_scale(), and lsm6dslStart().

◆ LSM6DSL_GYRO_2000DPS

#define LSM6DSL_GYRO_2000DPS 2000.0f

Definition at line 101 of file lsm6dsl.h.

Referenced by gyro_set_full_scale(), and lsm6dslStart().

◆ LSM6DSL_GYRO_SENS_125DPS

#define LSM6DSL_GYRO_SENS_125DPS 0.004375f

Definition at line 103 of file lsm6dsl.h.

Referenced by gyro_reset_sensivity(), and lsm6dslStart().

◆ LSM6DSL_GYRO_SENS_250DPS

#define LSM6DSL_GYRO_SENS_250DPS 0.008750f

Definition at line 104 of file lsm6dsl.h.

Referenced by gyro_reset_sensivity(), and lsm6dslStart().

◆ LSM6DSL_GYRO_SENS_500DPS

#define LSM6DSL_GYRO_SENS_500DPS 0.017500f

Definition at line 105 of file lsm6dsl.h.

Referenced by gyro_reset_sensivity(), and lsm6dslStart().

◆ LSM6DSL_GYRO_SENS_1000DPS

#define LSM6DSL_GYRO_SENS_1000DPS 0.035000f

Definition at line 106 of file lsm6dsl.h.

Referenced by gyro_reset_sensivity(), and lsm6dslStart().

◆ LSM6DSL_GYRO_SENS_2000DPS

#define LSM6DSL_GYRO_SENS_2000DPS 0.070000f

Definition at line 107 of file lsm6dsl.h.

Referenced by gyro_reset_sensivity(), and lsm6dslStart().

◆ LSM6DSL_GYRO_BIAS

#define LSM6DSL_GYRO_BIAS 0.0f

Definition at line 109 of file lsm6dsl.h.

Referenced by gyro_reset_bias(), and lsm6dslStart().

◆ LSM6DSL_DI_MASK

#define LSM6DSL_DI_MASK 0xFF

Definition at line 116 of file lsm6dsl.h.

◆ LSM6DSL_DI

#define LSM6DSL_DI ( n )

Value:

(1 << n)

Definition at line 117 of file lsm6dsl.h.

◆ LSM6DSL_AD_MASK

#define LSM6DSL_AD_MASK 0x7F

Definition at line 118 of file lsm6dsl.h.

◆ LSM6DSL_AD

#define LSM6DSL_AD ( n )

Value:

(1 << n)

Definition at line 119 of file lsm6dsl.h.

◆ LSM6DSL_MS

#define LSM6DSL_MS (1 << 7)

Definition at line 120 of file lsm6dsl.h.

◆ LSM6DSL_AD_FUNC_CFG_ACCESS

#define LSM6DSL_AD_FUNC_CFG_ACCESS 0x01

Definition at line 127 of file lsm6dsl.h.

◆ LSM6DSL_AD_SENSOR_SYNC_TIME_FRAME

#define LSM6DSL_AD_SENSOR_SYNC_TIME_FRAME 0x04

Definition at line 128 of file lsm6dsl.h.

◆ LSM6DSL_AD_SENSOR_SYNC_RES_RATIO

#define LSM6DSL_AD_SENSOR_SYNC_RES_RATIO 0x05

Definition at line 129 of file lsm6dsl.h.

◆ LSM6DSL_AD_FIFO_CTRL1

#define LSM6DSL_AD_FIFO_CTRL1 0x06

Definition at line 130 of file lsm6dsl.h.

◆ LSM6DSL_AD_FIFO_CTRL2

#define LSM6DSL_AD_FIFO_CTRL2 0x07

Definition at line 131 of file lsm6dsl.h.

◆ LSM6DSL_AD_FIFO_CTRL3

#define LSM6DSL_AD_FIFO_CTRL3 0x08

Definition at line 132 of file lsm6dsl.h.

◆ LSM6DSL_AD_FIFO_CTRL4

#define LSM6DSL_AD_FIFO_CTRL4 0x09

Definition at line 133 of file lsm6dsl.h.

◆ LSM6DSL_AD_FIFO_CTRL5

#define LSM6DSL_AD_FIFO_CTRL5 0x0A

Definition at line 134 of file lsm6dsl.h.

◆ LSM6DSL_AD_DRDY_PULSE_CFG_G

#define LSM6DSL_AD_DRDY_PULSE_CFG_G 0x0B

Definition at line 135 of file lsm6dsl.h.

◆ LSM6DSL_AD_INT1_CTRL

#define LSM6DSL_AD_INT1_CTRL 0x0D

Definition at line 136 of file lsm6dsl.h.

◆ LSM6DSL_AD_INT2_CTRL

#define LSM6DSL_AD_INT2_CTRL 0x0E

Definition at line 137 of file lsm6dsl.h.

◆ LSM6DSL_AD_WHO_AM_I

#define LSM6DSL_AD_WHO_AM_I 0x0F

Definition at line 138 of file lsm6dsl.h.

◆ LSM6DSL_AD_CTRL1_XL

#define LSM6DSL_AD_CTRL1_XL 0x10

Definition at line 139 of file lsm6dsl.h.

Referenced by acc_set_full_scale(), lsm6dslStart(), and lsm6dslStop().

◆ LSM6DSL_AD_CTRL2_G

#define LSM6DSL_AD_CTRL2_G 0x11

Definition at line 140 of file lsm6dsl.h.

Referenced by gyro_set_full_scale().

◆ LSM6DSL_AD_CTRL3_C

#define LSM6DSL_AD_CTRL3_C 0x12

Definition at line 141 of file lsm6dsl.h.

Referenced by lsm6dslStart().

◆ LSM6DSL_AD_CTRL4_C

#define LSM6DSL_AD_CTRL4_C 0x13

Definition at line 142 of file lsm6dsl.h.

◆ LSM6DSL_AD_CTRL5_C

#define LSM6DSL_AD_CTRL5_C 0x14

Definition at line 143 of file lsm6dsl.h.

◆ LSM6DSL_AD_CTRL6_C

#define LSM6DSL_AD_CTRL6_C 0x15

Definition at line 144 of file lsm6dsl.h.

◆ LSM6DSL_AD_CTRL7_G

#define LSM6DSL_AD_CTRL7_G 0x16

Definition at line 145 of file lsm6dsl.h.

◆ LSM6DSL_AD_CTRL8_XL

#define LSM6DSL_AD_CTRL8_XL 0x17

Definition at line 146 of file lsm6dsl.h.

◆ LSM6DSL_AD_CTRL9_XL

#define LSM6DSL_AD_CTRL9_XL 0x18

Definition at line 147 of file lsm6dsl.h.

◆ LSM6DSL_AD_CTRL10_C

#define LSM6DSL_AD_CTRL10_C 0x19

Definition at line 148 of file lsm6dsl.h.

◆ LSM6DSL_AD_MASTER_CONFIG

#define LSM6DSL_AD_MASTER_CONFIG 0x1A

Definition at line 149 of file lsm6dsl.h.

◆ LSM6DSL_AD_WAKE_UP_SRC

#define LSM6DSL_AD_WAKE_UP_SRC 0x1B

Definition at line 150 of file lsm6dsl.h.

◆ LSM6DSL_AD_TAP_SRC

#define LSM6DSL_AD_TAP_SRC 0x1C

Definition at line 151 of file lsm6dsl.h.

◆ LSM6DSL_AD_D6D_SRC

#define LSM6DSL_AD_D6D_SRC 0x1D

Definition at line 152 of file lsm6dsl.h.

◆ LSM6DSL_AD_STATUS_REG

#define LSM6DSL_AD_STATUS_REG 0x1E

Definition at line 153 of file lsm6dsl.h.

◆ LSM6DSL_AD_OUT_TEMP_L

#define LSM6DSL_AD_OUT_TEMP_L 0x20

Definition at line 154 of file lsm6dsl.h.

◆ LSM6DSL_AD_OUT_TEMP_H

#define LSM6DSL_AD_OUT_TEMP_H 0x21

Definition at line 155 of file lsm6dsl.h.

◆ LSM6DSL_AD_OUTX_L_G

#define LSM6DSL_AD_OUTX_L_G 0x22

Definition at line 156 of file lsm6dsl.h.

Referenced by gyro_read_raw().

◆ LSM6DSL_AD_OUTX_H_G

#define LSM6DSL_AD_OUTX_H_G 0x23

Definition at line 157 of file lsm6dsl.h.

◆ LSM6DSL_AD_OUTY_L_G

#define LSM6DSL_AD_OUTY_L_G 0x24

Definition at line 158 of file lsm6dsl.h.

◆ LSM6DSL_AD_OUTY_H_G

#define LSM6DSL_AD_OUTY_H_G 0x25

Definition at line 159 of file lsm6dsl.h.

◆ LSM6DSL_AD_OUTZ_L_G

#define LSM6DSL_AD_OUTZ_L_G 0x26

Definition at line 160 of file lsm6dsl.h.

◆ LSM6DSL_AD_OUTZ_H_G

#define LSM6DSL_AD_OUTZ_H_G 0x27

Definition at line 161 of file lsm6dsl.h.

◆ LSM6DSL_AD_OUTX_L_XL

#define LSM6DSL_AD_OUTX_L_XL 0x28

Definition at line 162 of file lsm6dsl.h.

Referenced by acc_read_raw().

◆ LSM6DSL_AD_OUTX_H_XL

#define LSM6DSL_AD_OUTX_H_XL 0x29

Definition at line 163 of file lsm6dsl.h.

◆ LSM6DSL_AD_OUTY_L_XL

#define LSM6DSL_AD_OUTY_L_XL 0x2A

Definition at line 164 of file lsm6dsl.h.

◆ LSM6DSL_AD_OUTY_H_XL

#define LSM6DSL_AD_OUTY_H_XL 0x2B

Definition at line 165 of file lsm6dsl.h.

◆ LSM6DSL_AD_OUTZ_L_XL

#define LSM6DSL_AD_OUTZ_L_XL 0x2C

Definition at line 166 of file lsm6dsl.h.

◆ LSM6DSL_AD_OUTZ_H_XL

#define LSM6DSL_AD_OUTZ_H_XL 0x2D

Definition at line 167 of file lsm6dsl.h.

◆ LSM6DSL_AD_SENSORHUB1_REG

#define LSM6DSL_AD_SENSORHUB1_REG 0x2E

Definition at line 168 of file lsm6dsl.h.

◆ LSM6DSL_AD_SENSORHUB2_REG

#define LSM6DSL_AD_SENSORHUB2_REG 0x2F

Definition at line 169 of file lsm6dsl.h.

◆ LSM6DSL_AD_SENSORHUB3_REG

#define LSM6DSL_AD_SENSORHUB3_REG 0x30

Definition at line 170 of file lsm6dsl.h.

◆ LSM6DSL_AD_SENSORHUB4_REG

#define LSM6DSL_AD_SENSORHUB4_REG 0x31

Definition at line 171 of file lsm6dsl.h.

◆ LSM6DSL_AD_SENSORHUB5_REG

#define LSM6DSL_AD_SENSORHUB5_REG 0x32

Definition at line 172 of file lsm6dsl.h.

◆ LSM6DSL_AD_SENSORHUB6_REG

#define LSM6DSL_AD_SENSORHUB6_REG 0x33

Definition at line 173 of file lsm6dsl.h.

◆ LSM6DSL_AD_SENSORHUB7_REG

#define LSM6DSL_AD_SENSORHUB7_REG 0x34

Definition at line 174 of file lsm6dsl.h.

◆ LSM6DSL_AD_SENSORHUB8_REG

#define LSM6DSL_AD_SENSORHUB8_REG 0x35

Definition at line 175 of file lsm6dsl.h.

◆ LSM6DSL_AD_SENSORHUB9_REG

#define LSM6DSL_AD_SENSORHUB9_REG 0x36

Definition at line 176 of file lsm6dsl.h.

◆ LSM6DSL_AD_SENSORHUB10_REG

#define LSM6DSL_AD_SENSORHUB10_REG 0x37

Definition at line 177 of file lsm6dsl.h.

◆ LSM6DSL_AD_SENSORHUB11_REG

#define LSM6DSL_AD_SENSORHUB11_REG 0x38

Definition at line 178 of file lsm6dsl.h.

◆ LSM6DSL_AD_SENSORHUB12_REG

#define LSM6DSL_AD_SENSORHUB12_REG 0x39

Definition at line 179 of file lsm6dsl.h.

◆ LSM6DSL_AD_FIFO_STATUS1

#define LSM6DSL_AD_FIFO_STATUS1 0x3A

Definition at line 180 of file lsm6dsl.h.

◆ LSM6DSL_AD_FIFO_STATUS2

#define LSM6DSL_AD_FIFO_STATUS2 0x3B

Definition at line 181 of file lsm6dsl.h.

◆ LSM6DSL_AD_FIFO_STATUS3

#define LSM6DSL_AD_FIFO_STATUS3 0x3C

Definition at line 182 of file lsm6dsl.h.

◆ LSM6DSL_AD_FIFO_STATUS4

#define LSM6DSL_AD_FIFO_STATUS4 0x3D

Definition at line 183 of file lsm6dsl.h.

◆ LSM6DSL_AD_FIFO_DATA_OUT_L

#define LSM6DSL_AD_FIFO_DATA_OUT_L 0x3E

Definition at line 184 of file lsm6dsl.h.

◆ LSM6DSL_AD_FIFO_DATA_OUT_H

#define LSM6DSL_AD_FIFO_DATA_OUT_H 0x3F

Definition at line 185 of file lsm6dsl.h.

◆ LSM6DSL_AD_TIMESTAMP0_REG

#define LSM6DSL_AD_TIMESTAMP0_REG 0x40

Definition at line 186 of file lsm6dsl.h.

◆ LSM6DSL_AD_TIMESTAMP1_REG

#define LSM6DSL_AD_TIMESTAMP1_REG 0x41

Definition at line 187 of file lsm6dsl.h.

◆ LSM6DSL_AD_TIMESTAMP2_REG

#define LSM6DSL_AD_TIMESTAMP2_REG 0x42

Definition at line 188 of file lsm6dsl.h.

◆ LSM6DSL_AD_STEP_TIMESTAMP_L

#define LSM6DSL_AD_STEP_TIMESTAMP_L 0x49

Definition at line 189 of file lsm6dsl.h.

◆ LSM6DSL_AD_STEP_TIMESTAMP_H

#define LSM6DSL_AD_STEP_TIMESTAMP_H 0x4A

Definition at line 190 of file lsm6dsl.h.

◆ LSM6DSL_AD_STEP_COUNTER_L

#define LSM6DSL_AD_STEP_COUNTER_L 0x4B

Definition at line 191 of file lsm6dsl.h.

◆ LSM6DSL_AD_STEP_COUNTER_H

#define LSM6DSL_AD_STEP_COUNTER_H 0x4C

Definition at line 192 of file lsm6dsl.h.

◆ LSM6DSL_AD_SENSORHUB13_REG

#define LSM6DSL_AD_SENSORHUB13_REG 0x4D

Definition at line 193 of file lsm6dsl.h.

◆ LSM6DSL_AD_SENSORHUB14_REG

#define LSM6DSL_AD_SENSORHUB14_REG 0x4E

Definition at line 194 of file lsm6dsl.h.

◆ LSM6DSL_AD_SENSORHUB15_REG

#define LSM6DSL_AD_SENSORHUB15_REG 0x4F

Definition at line 195 of file lsm6dsl.h.

◆ LSM6DSL_AD_SENSORHUB16_REG

#define LSM6DSL_AD_SENSORHUB16_REG 0x50

Definition at line 196 of file lsm6dsl.h.

◆ LSM6DSL_AD_SENSORHUB17_REG

#define LSM6DSL_AD_SENSORHUB17_REG 0x51

Definition at line 197 of file lsm6dsl.h.

◆ LSM6DSL_AD_SENSORHUB18_REG

#define LSM6DSL_AD_SENSORHUB18_REG 0x52

Definition at line 198 of file lsm6dsl.h.

◆ LSM6DSL_AD_FUNC_SRC1

#define LSM6DSL_AD_FUNC_SRC1 0x53

Definition at line 199 of file lsm6dsl.h.

◆ LSM6DSL_AD_FUNC_SRC2

#define LSM6DSL_AD_FUNC_SRC2 0x54

Definition at line 200 of file lsm6dsl.h.

◆ LSM6DSL_AD_WRIST_TILT_IA

#define LSM6DSL_AD_WRIST_TILT_IA 0x55

Definition at line 201 of file lsm6dsl.h.

◆ LSM6DSL_AD_TAP_CFG

#define LSM6DSL_AD_TAP_CFG 0x58

Definition at line 202 of file lsm6dsl.h.

◆ LSM6DSL_AD_TAP_THS_6D

#define LSM6DSL_AD_TAP_THS_6D 0x59

Definition at line 203 of file lsm6dsl.h.

◆ LSM6DSL_AD_INT_DUR2

#define LSM6DSL_AD_INT_DUR2 0x5A

Definition at line 204 of file lsm6dsl.h.

◆ LSM6DSL_AD_WAKE_UP_THS

#define LSM6DSL_AD_WAKE_UP_THS 0x5B

Definition at line 205 of file lsm6dsl.h.

◆ LSM6DSL_AD_WAKE_UP_DUR

#define LSM6DSL_AD_WAKE_UP_DUR 0x5C

Definition at line 206 of file lsm6dsl.h.

◆ LSM6DSL_AD_FREE_FALL

#define LSM6DSL_AD_FREE_FALL 0x5D

Definition at line 207 of file lsm6dsl.h.

◆ LSM6DSL_AD_MD1_CFG

#define LSM6DSL_AD_MD1_CFG 0x5E

Definition at line 208 of file lsm6dsl.h.

◆ LSM6DSL_AD_MD2_CFG

#define LSM6DSL_AD_MD2_CFG 0x5F

Definition at line 209 of file lsm6dsl.h.

◆ LSM6DSL_AD_MASTER_CMD_CODE

#define LSM6DSL_AD_MASTER_CMD_CODE 0x60

Definition at line 210 of file lsm6dsl.h.

◆ LSM6DSL_AD_SENS_SYNC_SPI_ERROR_CODE

#define LSM6DSL_AD_SENS_SYNC_SPI_ERROR_CODE 0x61

Definition at line 211 of file lsm6dsl.h.

◆ LSM6DSL_AD_OUT_MAG_RAW_X_L

#define LSM6DSL_AD_OUT_MAG_RAW_X_L 0x66

Definition at line 212 of file lsm6dsl.h.

◆ LSM6DSL_AD_OUT_MAG_RAW_X_H

#define LSM6DSL_AD_OUT_MAG_RAW_X_H 0x67

Definition at line 213 of file lsm6dsl.h.

◆ LSM6DSL_AD_OUT_MAG_RAW_Y_L

#define LSM6DSL_AD_OUT_MAG_RAW_Y_L 0x68

Definition at line 214 of file lsm6dsl.h.

◆ LSM6DSL_AD_OUT_MAG_RAW_Y_H

#define LSM6DSL_AD_OUT_MAG_RAW_Y_H 0x69

Definition at line 215 of file lsm6dsl.h.

◆ LSM6DSL_AD_OUT_MAG_RAW_Z_L

#define LSM6DSL_AD_OUT_MAG_RAW_Z_L 0x6A

Definition at line 216 of file lsm6dsl.h.

◆ LSM6DSL_AD_OUT_MAG_RAW_Z_H

#define LSM6DSL_AD_OUT_MAG_RAW_Z_H 0x6B

Definition at line 217 of file lsm6dsl.h.

◆ LSM6DSL_AD_X_OFS_USR

#define LSM6DSL_AD_X_OFS_USR 0x73

Definition at line 218 of file lsm6dsl.h.

◆ LSM6DSL_AD_Y_OFS_USR

#define LSM6DSL_AD_Y_OFS_USR 0x74

Definition at line 219 of file lsm6dsl.h.

◆ LSM6DSL_AD_Z_OFS_USR

#define LSM6DSL_AD_Z_OFS_USR 0x75

Definition at line 220 of file lsm6dsl.h.

◆ LSMDSL_CTRL1_XL_BW0_XL

#define LSMDSL_CTRL1_XL_BW0_XL (1 << 0)

Definition at line 227 of file lsm6dsl.h.

◆ LSMDSL_CTRL1_XL_LPF1_BW_SEL

#define LSMDSL_CTRL1_XL_LPF1_BW_SEL (1 << 1)

Definition at line 228 of file lsm6dsl.h.

◆ LSMDSL_CTRL1_XL_FS_MASK

#define LSMDSL_CTRL1_XL_FS_MASK 0x0C

Definition at line 229 of file lsm6dsl.h.

Referenced by acc_set_full_scale().

◆ LSMDSL_CTRL1_XL_FS_XL0

#define LSMDSL_CTRL1_XL_FS_XL0 (1 << 2)

Definition at line 230 of file lsm6dsl.h.

◆ LSMDSL_CTRL1_XL_FS_XL1

#define LSMDSL_CTRL1_XL_FS_XL1 (1 << 3)

Definition at line 231 of file lsm6dsl.h.

◆ LSMDSL_CTRL1_XL_ODR_XL0

#define LSMDSL_CTRL1_XL_ODR_XL0 (1 << 4)

Definition at line 232 of file lsm6dsl.h.

◆ LSMDSL_CTRL1_XL_ODR_XL1

#define LSMDSL_CTRL1_XL_ODR_XL1 (1 << 5)

Definition at line 233 of file lsm6dsl.h.

◆ LSMDSL_CTRL1_XL_ODR_XL2

#define LSMDSL_CTRL1_XL_ODR_XL2 (1 << 6)

Definition at line 234 of file lsm6dsl.h.

◆ LSMDSL_CTRL1_XL_ODR_XL3

#define LSMDSL_CTRL1_XL_ODR_XL3 (1 << 7)

Definition at line 235 of file lsm6dsl.h.

◆ LSMDSL_CTRL2_G_FS_MASK

#define LSMDSL_CTRL2_G_FS_MASK 0x0E

Definition at line 242 of file lsm6dsl.h.

Referenced by gyro_set_full_scale().

◆ LSMDSL_CTRL2_G_FS_125

#define LSMDSL_CTRL2_G_FS_125 (1 << 1)

Definition at line 243 of file lsm6dsl.h.

◆ LSMDSL_CTRL2_G_FS_G0

#define LSMDSL_CTRL2_G_FS_G0 (1 << 2)

Definition at line 244 of file lsm6dsl.h.

◆ LSMDSL_CTRL2_G_FS_G1

#define LSMDSL_CTRL2_G_FS_G1 (1 << 3)

Definition at line 245 of file lsm6dsl.h.

◆ LSMDSL_CTRL2_G_ODR_G0

#define LSMDSL_CTRL2_G_ODR_G0 (1 << 4)

Definition at line 246 of file lsm6dsl.h.

◆ LSMDSL_CTRL2_G_ODR_G1

#define LSMDSL_CTRL2_G_ODR_G1 (1 << 5)

Definition at line 247 of file lsm6dsl.h.

◆ LSMDSL_CTRL2_G_ODR_G2

#define LSMDSL_CTRL2_G_ODR_G2 (1 << 6)

Definition at line 248 of file lsm6dsl.h.

◆ LSMDSL_CTRL2_G_ODR_G3

#define LSMDSL_CTRL2_G_ODR_G3 (1 << 7)

Definition at line 249 of file lsm6dsl.h.

◆ LSMDSL_CTRL3_C_SW_RESET

#define LSMDSL_CTRL3_C_SW_RESET (1 << 0)

Definition at line 256 of file lsm6dsl.h.

◆ LSMDSL_CTRL3_C_BLE

#define LSMDSL_CTRL3_C_BLE (1 << 1)

Definition at line 257 of file lsm6dsl.h.

◆ LSMDSL_CTRL3_C_IF_INC

#define LSMDSL_CTRL3_C_IF_INC (1 << 2)

Definition at line 258 of file lsm6dsl.h.

Referenced by lsm6dslStart().

◆ LSMDSL_CTRL3_C_SIM

#define LSMDSL_CTRL3_C_SIM (1 << 3)

Definition at line 259 of file lsm6dsl.h.

◆ LSMDSL_CTRL3_C_PP_OD

#define LSMDSL_CTRL3_C_PP_OD (1 << 4)

Definition at line 260 of file lsm6dsl.h.

◆ LSMDSL_CTRL3_C_H_LACTIVE

#define LSMDSL_CTRL3_C_H_LACTIVE (1 << 5)

Definition at line 261 of file lsm6dsl.h.

◆ LSMDSL_CTRL3_C_BDU

#define LSMDSL_CTRL3_C_BDU (1 << 6)

Definition at line 262 of file lsm6dsl.h.

◆ LSMDSL_CTRL3_C_BOOT

#define LSMDSL_CTRL3_C_BOOT (1 << 7)

Definition at line 263 of file lsm6dsl.h.

◆ LSMDSL_CTRL4_C_NOT_USED_01

#define LSMDSL_CTRL4_C_NOT_USED_01 (1 << 0)

Definition at line 270 of file lsm6dsl.h.

◆ LSMDSL_CTRL4_C_LPF1_SEL_G

#define LSMDSL_CTRL4_C_LPF1_SEL_G (1 << 1)

Definition at line 271 of file lsm6dsl.h.

Referenced by lsm6dslStart().

◆ LSMDSL_CTRL4_C_I2C_DISABLE

#define LSMDSL_CTRL4_C_I2C_DISABLE (1 << 2)

Definition at line 272 of file lsm6dsl.h.

◆ LSMDSL_CTRL4_C_DRDY_MASK

#define LSMDSL_CTRL4_C_DRDY_MASK (1 << 3)

Definition at line 273 of file lsm6dsl.h.

◆ LSMDSL_CTRL4_C_DEN_DRDY_IN

#define LSMDSL_CTRL4_C_DEN_DRDY_IN (1 << 4)

Definition at line 274 of file lsm6dsl.h.

◆ LSMDSL_CTRL4_C_INT2_ON_INT

#define LSMDSL_CTRL4_C_INT2_ON_INT (1 << 5)

Definition at line 275 of file lsm6dsl.h.

◆ LSMDSL_CTRL4_C_SLEEP

#define LSMDSL_CTRL4_C_SLEEP (1 << 6)

Definition at line 276 of file lsm6dsl.h.

◆ LSMDSL_CTRL4_C_DEN_XL_EN

#define LSMDSL_CTRL4_C_DEN_XL_EN (1 << 7)

Definition at line 277 of file lsm6dsl.h.

◆ LSMDSL_CTRL5_C_ST0_XL

#define LSMDSL_CTRL5_C_ST0_XL (1 << 0)

Definition at line 284 of file lsm6dsl.h.

◆ LSMDSL_CTRL5_C_ST1_XL

#define LSMDSL_CTRL5_C_ST1_XL (1 << 1)

Definition at line 285 of file lsm6dsl.h.

◆ LSMDSL_CTRL5_C_ST0_G

#define LSMDSL_CTRL5_C_ST0_G (1 << 2)

Definition at line 286 of file lsm6dsl.h.

◆ LSMDSL_CTRL5_C_ST1_G

#define LSMDSL_CTRL5_C_ST1_G (1 << 3)

Definition at line 287 of file lsm6dsl.h.

◆ LSMDSL_CTRL5_C_DEN_LH

#define LSMDSL_CTRL5_C_DEN_LH (1 << 4)

Definition at line 288 of file lsm6dsl.h.

◆ LSMDSL_CTRL5_C_ROUNDING0

#define LSMDSL_CTRL5_C_ROUNDING0 (1 << 5)

Definition at line 289 of file lsm6dsl.h.

◆ LSMDSL_CTRL5_C_ROUNDING1

#define LSMDSL_CTRL5_C_ROUNDING1 (1 << 6)

Definition at line 290 of file lsm6dsl.h.

◆ LSMDSL_CTRL5_C_ROUNDING2

#define LSMDSL_CTRL5_C_ROUNDING2 (1 << 7)

Definition at line 291 of file lsm6dsl.h.

◆ LSMDSL_CTRL6_C_FTYPE_0

#define LSMDSL_CTRL6_C_FTYPE_0 (1 << 0)

Definition at line 298 of file lsm6dsl.h.

◆ LSMDSL_CTRL6_C_FTYPE_1

#define LSMDSL_CTRL6_C_FTYPE_1 (1 << 1)

Definition at line 299 of file lsm6dsl.h.

◆ LSMDSL_CTRL6_C_USR_OFF_W

#define LSMDSL_CTRL6_C_USR_OFF_W (1 << 3)

Definition at line 300 of file lsm6dsl.h.

◆ LSMDSL_CTRL6_C_XL_HM_MODE

#define LSMDSL_CTRL6_C_XL_HM_MODE (1 << 4)

Definition at line 301 of file lsm6dsl.h.

◆ LSMDSL_CTRL6_C_LVL2_EN

#define LSMDSL_CTRL6_C_LVL2_EN (1 << 5)

Definition at line 302 of file lsm6dsl.h.

◆ LSMDSL_CTRL6_C_LVL_EN

#define LSMDSL_CTRL6_C_LVL_EN (1 << 6)

Definition at line 303 of file lsm6dsl.h.

◆ LSMDSL_CTRL6_C_TRIG_EN

#define LSMDSL_CTRL6_C_TRIG_EN (1 << 7)

Definition at line 304 of file lsm6dsl.h.

◆ LSMDSL_CTRL7_G_ROUNDING_ST

#define LSMDSL_CTRL7_G_ROUNDING_ST (1 << 2)

Definition at line 311 of file lsm6dsl.h.

◆ LSMDSL_CTRL7_G_HPM0_G

#define LSMDSL_CTRL7_G_HPM0_G (1 << 4)

Definition at line 312 of file lsm6dsl.h.

◆ LSMDSL_CTRL7_G_HPM1_G

#define LSMDSL_CTRL7_G_HPM1_G (1 << 5)

Definition at line 313 of file lsm6dsl.h.

◆ LSMDSL_CTRL7_G_HP_EN_G

#define LSMDSL_CTRL7_G_HP_EN_G (1 << 6)

Definition at line 314 of file lsm6dsl.h.

◆ LSMDSL_CTRL7_G_G_HM_MODE

#define LSMDSL_CTRL7_G_G_HM_MODE (1 << 7)

Definition at line 315 of file lsm6dsl.h.

◆ LSMDSL_CTRL8_XL_LOW_PASS_ON

#define LSMDSL_CTRL8_XL_LOW_PASS_ON (1 << 0)

Definition at line 322 of file lsm6dsl.h.

◆ LSMDSL_CTRL8_XL_HP_SLOPE_XL

#define LSMDSL_CTRL8_XL_HP_SLOPE_XL (1 << 2)

Definition at line 323 of file lsm6dsl.h.

◆ LSMDSL_CTRL8_XL_INPUT_COMPO

#define LSMDSL_CTRL8_XL_INPUT_COMPO (1 << 3)

Definition at line 324 of file lsm6dsl.h.

◆ LSMDSL_CTRL8_XL_HP_REF_MODE

#define LSMDSL_CTRL8_XL_HP_REF_MODE (1 << 4)

Definition at line 325 of file lsm6dsl.h.

◆ LSMDSL_CTRL8_XL_HPCF_XL0

#define LSMDSL_CTRL8_XL_HPCF_XL0 (1 << 5)

Definition at line 326 of file lsm6dsl.h.

◆ LSMDSL_CTRL8_XL_HPCF_XL1

#define LSMDSL_CTRL8_XL_HPCF_XL1 (1 << 6)

Definition at line 327 of file lsm6dsl.h.

◆ LSMDSL_CTRL8_XL_LPF2_XL_EN

#define LSMDSL_CTRL8_XL_LPF2_XL_EN (1 << 7)

Definition at line 328 of file lsm6dsl.h.

◆ LSMDSL_CTRL9_XL_SOFT_EN

#define LSMDSL_CTRL9_XL_SOFT_EN (1 << 2)

Definition at line 335 of file lsm6dsl.h.

◆ LSMDSL_CTRL9_XL_DEN_XL_G

#define LSMDSL_CTRL9_XL_DEN_XL_G (1 << 4)

Definition at line 336 of file lsm6dsl.h.

◆ LSMDSL_CTRL9_XL_DEN_Z

#define LSMDSL_CTRL9_XL_DEN_Z (1 << 5)

Definition at line 337 of file lsm6dsl.h.

◆ LSMDSL_CTRL9_XL_DEN_Y

#define LSMDSL_CTRL9_XL_DEN_Y (1 << 6)

Definition at line 338 of file lsm6dsl.h.

◆ LSMDSL_CTRL9_XL_DEN_X

#define LSMDSL_CTRL9_XL_DEN_X (1 << 7)

Definition at line 339 of file lsm6dsl.h.

◆ LSMDSL_CTRL10_C_SIGN_MOTION

#define LSMDSL_CTRL10_C_SIGN_MOTION (1 << 0)

Definition at line 346 of file lsm6dsl.h.

◆ LSMDSL_CTRL10_C_PEDO_RST_ST

#define LSMDSL_CTRL10_C_PEDO_RST_ST (1 << 1)

Definition at line 347 of file lsm6dsl.h.

◆ LSMDSL_CTRL10_C_FUNC_EN

#define LSMDSL_CTRL10_C_FUNC_EN (1 << 2)

Definition at line 348 of file lsm6dsl.h.

◆ LSMDSL_CTRL10_C_TILT_EN

#define LSMDSL_CTRL10_C_TILT_EN (1 << 3)

Definition at line 349 of file lsm6dsl.h.

◆ LSMDSL_CTRL10_C_PEDO_EN

#define LSMDSL_CTRL10_C_PEDO_EN (1 << 4)

Definition at line 350 of file lsm6dsl.h.

◆ LSMDSL_CTRL10_C_TIMER_EN

#define LSMDSL_CTRL10_C_TIMER_EN (1 << 5)

Definition at line 351 of file lsm6dsl.h.

◆ LSMDSL_CTRL10_C_WRIST_TILT

#define LSMDSL_CTRL10_C_WRIST_TILT (1 << 7)

Definition at line 352 of file lsm6dsl.h.

◆ LSM6DSL_USE_SPI

#define LSM6DSL_USE_SPI FALSE

LSM6DSL SPI interface switch.

If set to TRUE the support for SPI is included.

Note: The default is FALSE.

Definition at line 369 of file lsm6dsl.h.

◆ LSM6DSL_SHARED_SPI

#define LSM6DSL_SHARED_SPI FALSE

LSM6DSL shared SPI switch.

If set to TRUE the device acquires SPI bus ownership on each transaction.

Note: The default is FALSE. Requires SPI_USE_MUTUAL_EXCLUSION.

Definition at line 379 of file lsm6dsl.h.

◆ LSM6DSL_USE_I2C

#define LSM6DSL_USE_I2C TRUE

LSM6DSL I2C interface switch.

If set to TRUE the support for I2C is included.

Note: The default is TRUE.

Definition at line 388 of file lsm6dsl.h.

◆ LSM6DSL_SHARED_I2C

#define LSM6DSL_SHARED_I2C FALSE

LSM6DSL shared I2C switch.

If set to TRUE the device acquires I2C bus ownership on each transaction.

Note: The default is FALSE. Requires I2C_USE_MUTUAL_EXCLUSION.

Definition at line 398 of file lsm6dsl.h.

◆ LSM6DSL_USE_ADVANCED

#define LSM6DSL_USE_ADVANCED FALSE

LSM6DSL advanced configurations switch.

If set to TRUE more configurations are available.

Note: The default is FALSE.

Definition at line 407 of file lsm6dsl.h.

◆ LSM6DSL_GYRO_BIAS_ACQ_TIMES

#define LSM6DSL_GYRO_BIAS_ACQ_TIMES 50

Number of acquisitions for gyroscope bias removal.

This is the number of acquisitions performed to compute the bias. A repetition is required in order to remove noise.

Definition at line 416 of file lsm6dsl.h.

Referenced by gyro_sample_bias().

◆ LSM6DSL_GYRO_BIAS_SETTLING_US

#define LSM6DSL_GYRO_BIAS_SETTLING_US 5000

Settling time for gyroscope bias removal.

This is the time between each bias acquisition.

Definition at line 424 of file lsm6dsl.h.

Referenced by gyro_sample_bias().

◆ _lsm6dsl_methods_alone

#define _lsm6dsl_methods_alone

Value:

  /* Change full scale value of LSM6DSL accelerometer subsystem .*/         \
  msg_t (*acc_set_full_scale)(LSM6DSLDriver *devp, lsm6dsl_acc_fs_t fs);    \
  /* Change full scale value of LSM6DSL gyroscope subsystem .*/             \
  msg_t (*gyro_set_full_scale)(LSM6DSLDriver *devp, lsm6dsl_gyro_fs_t fs);

LSM6DSL specific methods.

Definition at line 679 of file lsm6dsl.h.

◆ _lsm6dsl_methods

#define _lsm6dsl_methods

Value:

_base_object_methods \

_lsm6dsl_methods_alone

LSM6DSL specific methods with inherited ones.

Definition at line 688 of file lsm6dsl.h.

◆ _lsm6dsl_data

#define _lsm6dsl_data

Value:

  _base_sensor_data                                                         \
  /* Driver state.*/                                                        \
  lsm6dsl_state_t           state;                                          \
  /* Current configuration data.*/                                          \
  const LSM6DSLConfig       *config;                                        \
  /* Accelerometer subsystem axes number.*/                                 \
  size_t                    accaxes;                                        \
  /* Accelerometer subsystem current sensitivity.*/                         \
  float                     accsensitivity[LSM6DSL_ACC_NUMBER_OF_AXES];     \
  /* Accelerometer subsystem current bias .*/                               \
  float                     accbias[LSM6DSL_ACC_NUMBER_OF_AXES];            \
  /* Accelerometer subsystem current full scale value.*/                    \
  float                     accfullscale;                                   \
  /* Gyroscope subsystem axes number.*/                                     \
  size_t                    gyroaxes;                                       \
  /* Gyroscope subsystem current sensitivity.*/                             \
  float                     gyrosensitivity[LSM6DSL_GYRO_NUMBER_OF_AXES];   \
  /* Gyroscope subsystem current Bias.*/                                    \
  float                     gyrobias[LSM6DSL_GYRO_NUMBER_OF_AXES];          \
  /* Gyroscope subsystem current full scale value.*/                        \
  float                     gyrofullscale;

LSM6DSLDriver specific data.

Definition at line 704 of file lsm6dsl.h.

◆ lsm6dslAccelerometerGetAxesNumber

#define lsm6dslAccelerometerGetAxesNumber ( devp )

Value:

accelerometerGetAxesNumber(&((devp)->acc_if))

accelerometerGetAxesNumber

#define accelerometerGetAxesNumber(ip)

Accelerometer get axes number.

Definition ex_accelerometer.h:107

Return the number of axes of the BaseAccelerometer.

Parameters

[in] devp pointer to LSM6DSLDriver.

Returns: the number of axes.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 754 of file lsm6dsl.h.

◆ lsm6dslAccelerometerReadRaw

#define lsm6dslAccelerometerReadRaw	(		devp,
			axes )

Value:

accelerometerReadRaw(&((devp)->acc_if), axes)

accelerometerReadRaw

#define accelerometerReadRaw(ip, dp)

Accelerometer read raw data.

Definition ex_accelerometer.h:122

Retrieves raw data from the BaseAccelerometer.

Note: This data is retrieved from MEMS register without any algebraical manipulation.; The axes array must be at least the same size of the BaseAccelerometer axes number.

Parameters

[in]	devp	pointer to `LSM6DSLDriver`.
[out]	axes	a buffer which would be filled with raw data.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	if one or more I2C errors occurred, the errors can be retrieved using `i2cGetErrors()`.
MSG_TIMEOUT	if a timeout occurred before operation end.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 775 of file lsm6dsl.h.

◆ lsm6dslAccelerometerReadCooked

#define lsm6dslAccelerometerReadCooked	(		devp,
			axes )

Value:

accelerometerReadCooked(&((devp)->acc_if), axes)

accelerometerReadCooked

#define accelerometerReadCooked(ip, dp)

Accelerometer read cooked data.

Definition ex_accelerometer.h:137

Retrieves cooked data from the BaseAccelerometer.

Note: This data is manipulated according to the formula cooked = (raw * sensitivity) - bias.; Final data is expressed as milli-G.; The axes array must be at least the same size of the BaseAccelerometer axes number.

Parameters

[in]	devp	pointer to `LSM6DSLDriver`.
[out]	axes	a buffer which would be filled with cooked data.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	if one or more I2C errors occurred, the errors can be retrieved using `i2cGetErrors()`.
MSG_TIMEOUT	if a timeout occurred before operation end.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 797 of file lsm6dsl.h.

◆ lsm6dslAccelerometerSetBias

#define lsm6dslAccelerometerSetBias	(		devp,
			bp )

Value:

accelerometerSetBias(&((devp)->acc_if), bp)

accelerometerSetBias

#define accelerometerSetBias(ip, bp)

Updates accelerometer bias data from received buffer.

Definition ex_accelerometer.h:155

Set bias values for the BaseAccelerometer.

Note: Bias must be expressed as milli-G.; The bias buffer must be at least the same size of the BaseAccelerometer axes number.

Parameters

[in]	devp	pointer to `LSM6DSLDriver`.
[in]	bp	a buffer which contains biases.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 814 of file lsm6dsl.h.

◆ lsm6dslAccelerometerResetBias

#define lsm6dslAccelerometerResetBias ( devp )

Value:

accelerometerResetBias(&((devp)->acc_if))

accelerometerResetBias

#define accelerometerResetBias(ip)

Reset accelerometer bias data restoring it to zero.

Definition ex_accelerometer.h:169

Reset bias values for the BaseAccelerometer.

Note: Default biases value are obtained from device datasheet when available otherwise they are considered zero.

Parameters

[in] devp pointer to LSM6DSLDriver.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 829 of file lsm6dsl.h.

◆ lsm6dslAccelerometerSetSensitivity

#define lsm6dslAccelerometerSetSensitivity	(		devp,
			sp )

Value:

accelerometerSetSensitivity(&((devp)->acc_if), sp)

accelerometerSetSensitivity

#define accelerometerSetSensitivity(ip, sp)

Updates accelerometer sensitivity data from received buffer.

Definition ex_accelerometer.h:186

Set sensitivity values for the BaseAccelerometer.

Note: Sensitivity must be expressed as milli-G/LSB.; The sensitivity buffer must be at least the same size of the BaseAccelerometer axes number.

Parameters

[in]	devp	pointer to `LSM6DSLDriver`.
[in]	sp	a buffer which contains sensitivities.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 846 of file lsm6dsl.h.

◆ lsm6dslAccelerometerResetSensitivity

#define lsm6dslAccelerometerResetSensitivity ( devp )

Value:

accelerometerResetSensitivity(&((devp)->acc_if))

accelerometerResetSensitivity

#define accelerometerResetSensitivity(ip)

Reset accelerometer sensitivity data restoring it to its typical value.

Definition ex_accelerometer.h:201

Reset sensitivity values for the BaseAccelerometer.

Note: Default sensitivities value are obtained from device datasheet.

Parameters

[in] devp pointer to LSM6DSLDriver.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	otherwise.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 861 of file lsm6dsl.h.

◆ lsm6dslAccelerometerSetFullScale

#define lsm6dslAccelerometerSetFullScale	(		devp,
			fs )

Value:

(devp)->vmt->acc_set_full_scale(devp, fs)

vmt

static const struct EFlashDriverVMT vmt

Definition hal_efl.c:71

Changes the LSM6DSLDriver accelerometer fullscale value.

Note: This function also rescale sensitivities and biases based on previous and next fullscale value.; A recalibration is highly suggested after calling this function.

Parameters

[in]	devp	pointer to `LSM6DSLDriver`.
[in]	fs	new fullscale value.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	otherwise.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 879 of file lsm6dsl.h.

◆ lsm6dslGyroscopeGetAxesNumber

#define lsm6dslGyroscopeGetAxesNumber ( devp )

Value:

gyroscopeGetAxesNumber(&((devp)->gyro_if))

gyroscopeGetAxesNumber

#define gyroscopeGetAxesNumber(ip)

Gyroscope get axes number.

Definition ex_gyroscope.h:110

Return the number of axes of the BaseGyroscope.

Parameters

[in] devp pointer to LSM6DSLDriver.

Returns: the number of axes.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 891 of file lsm6dsl.h.

◆ lsm6dslGyroscopeReadRaw

#define lsm6dslGyroscopeReadRaw	(		devp,
			axes )

Value:

gyroscopeReadRaw(&((devp)->gyro_if), axes)

gyroscopeReadRaw

#define gyroscopeReadRaw(ip, dp)

Gyroscope read raw data.

Definition ex_gyroscope.h:125

Retrieves raw data from the BaseGyroscope.

Note: This data is retrieved from MEMS register without any algebraical manipulation.; The axes array must be at least the same size of the BaseGyroscope axes number.

Parameters

[in]	devp	pointer to `LSM6DSLDriver`.
[out]	axes	a buffer which would be filled with raw data.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	if one or more I2C errors occurred, the errors can be retrieved using `i2cGetErrors()`.
MSG_TIMEOUT	if a timeout occurred before operation end.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 912 of file lsm6dsl.h.

◆ lsm6dslGyroscopeReadCooked

#define lsm6dslGyroscopeReadCooked	(		devp,
			axes )

Value:

gyroscopeReadCooked(&((devp)->gyro_if), axes)

gyroscopeReadCooked

#define gyroscopeReadCooked(ip, dp)

Gyroscope read cooked data.

Definition ex_gyroscope.h:140

Retrieves cooked data from the BaseGyroscope.

Note: This data is manipulated according to the formula cooked = (raw * sensitivity) - bias.; Final data is expressed as DPS.; The axes array must be at least the same size of the BaseGyroscope axes number.

Parameters

[in]	devp	pointer to `LSM6DSLDriver`.
[out]	axes	a buffer which would be filled with cooked data.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	if one or more I2C errors occurred, the errors can be retrieved using `i2cGetErrors()`.
MSG_TIMEOUT	if a timeout occurred before operation end.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 934 of file lsm6dsl.h.

◆ lsm6dslGyroscopeSampleBias

#define lsm6dslGyroscopeSampleBias ( devp )

Value:

gyroscopeSampleBias(&((devp)->gyro_if))

gyroscopeSampleBias

#define gyroscopeSampleBias(ip)

Gyroscope bias sampling procedure.

Definition ex_gyroscope.h:157

Samples bias values for the BaseGyroscope.

Note: The LSM6DSL shall not be moved during the whole procedure.; After this function internal bias is automatically updated.; The behavior of this function depends on LSM6DSL_BIAS_ACQ_TIMES and LSM6DSL_BIAS_SETTLING_US.

Parameters

[in] devp pointer to LSM6DSLDriver.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	if one or more I2C errors occurred, the errors can be retrieved using `i2cGetErrors()`.
MSG_TIMEOUT	if a timeout occurred before operation end.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 954 of file lsm6dsl.h.

◆ lsm6dslGyroscopeSetBias

#define lsm6dslGyroscopeSetBias	(		devp,
			bp )

Value:

gyroscopeSetBias(&((devp)->gyro_if), bp)

gyroscopeSetBias

#define gyroscopeSetBias(ip, bp)

Updates gyroscope bias data from received buffer.

Definition ex_gyroscope.h:174

Set bias values for the BaseGyroscope.

Note: Bias must be expressed as DPS.; The bias buffer must be at least the same size of the BaseGyroscope axes number.

Parameters

[in]	devp	pointer to `LSM6DSLDriver`.
[in]	bp	a buffer which contains biases.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 971 of file lsm6dsl.h.

◆ lsm6dslGyroscopeResetBias

#define lsm6dslGyroscopeResetBias ( devp )

Value:

gyroscopeResetBias(&((devp)->gyro_if))

gyroscopeResetBias

#define gyroscopeResetBias(ip)

Reset gyroscope bias data restoring it to zero.

Definition ex_gyroscope.h:188

Reset bias values for the BaseGyroscope.

Note: Default biases value are obtained from device datasheet when available otherwise they are considered zero.

Parameters

[in] devp pointer to LSM6DSLDriver.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 986 of file lsm6dsl.h.

◆ lsm6dslGyroscopeSetSensitivity

#define lsm6dslGyroscopeSetSensitivity	(		devp,
			sp )

Value:

gyroscopeSetSensitivity(&((devp)->gyro_if), sp)

gyroscopeSetSensitivity

#define gyroscopeSetSensitivity(ip, sp)

Updates gyroscope sensitivity data from received buffer.

Definition ex_gyroscope.h:205

Set sensitivity values for the BaseGyroscope.

Note: Sensitivity must be expressed as DPS/LSB.; The sensitivity buffer must be at least the same size of the BaseGyroscope axes number.

Parameters

[in]	devp	pointer to `LSM6DSLDriver`.
[in]	sp	a buffer which contains sensitivities.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 1003 of file lsm6dsl.h.

◆ lsm6dslGyroscopeResetSensitivity

#define lsm6dslGyroscopeResetSensitivity ( devp )

Value:

gyroscopeResetSensitivity(&((devp)->gyro_if))

gyroscopeResetSensitivity

#define gyroscopeResetSensitivity(ip)

Reset gyroscope sensitivity data restoring it to its typical value.

Definition ex_gyroscope.h:220

Reset sensitivity values for the BaseGyroscope.

Note: Default sensitivities value are obtained from device datasheet.

Parameters

[in] devp pointer to LSM6DSLDriver.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	otherwise.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 1018 of file lsm6dsl.h.

◆ lsm6dslGyroscopeSetFullScale

#define lsm6dslGyroscopeSetFullScale	(		devp,
			fs )

Value:

(devp)->vmt->acc_set_full_scale(devp, fs)

Changes the LSM6DSLDriver gyroscope fullscale value.

Note: This function also rescale sensitivities and biases based on previous and next fullscale value.; A recalibration is highly suggested after calling this function.

Parameters

[in]	devp	pointer to `LSM6DSLDriver`.
[in]	fs	new fullscale value.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	otherwise.

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 1036 of file lsm6dsl.h.

Typedef Documentation

◆ LSM6DSLDriver

typedef struct LSM6DSLDriver LSM6DSLDriver

Structure representing a LSM6DSL driver.

Definition at line 470 of file lsm6dsl.h.

Enumeration Type Documentation

◆ lsm6dsl_sad_t

enum lsm6dsl_sad_t

Accelerometer and Gyroscope Slave Address.

Enumerator
LSM6DSL_SAD_GND	SAD pin connected to GND.
LSM6DSL_SAD_VCC	SAD pin connected to VCC.

Definition at line 475 of file lsm6dsl.h.

◆ lsm6dsl_acc_fs_t

enum lsm6dsl_acc_fs_t

LSM6DSL accelerometer subsystem full scale.

Enumerator
LSM6DSL_ACC_FS_2G	Full scale �2g.
LSM6DSL_ACC_FS_4G	Full scale �4g.
LSM6DSL_ACC_FS_8G	Full scale �8g.
LSM6DSL_ACC_FS_16G	Full scale �16g.

Definition at line 483 of file lsm6dsl.h.

◆ lsm6dsl_acc_odr_t

enum lsm6dsl_acc_odr_t

LSM6DSL accelerometer subsystem output data rate.

Enumerator
LSM6DSL_ACC_ODR_PD	Power down
LSM6DSL_ACC_ODR_1P6HZ	ODR 1.6 Hz (Low Power only)
LSM6DSL_ACC_ODR_12P5HZ	ODR 12.5 Hz
LSM6DSL_ACC_ODR_26HZ	ODR 26 Hz
LSM6DSL_ACC_ODR_52HZ	ODR 52 Hz
LSM6DSL_ACC_ODR_104HZ	ODR 104 Hz
LSM6DSL_ACC_ODR_208HZ	ODR 208 Hz
LSM6DSL_ACC_ODR_416HZ	ODR 416 Hz
LSM6DSL_ACC_ODR_833HZ	ODR 833 Hz
LSM6DSL_ACC_ODR_1P66HZ	ODR 1.66 kHz
LSM6DSL_ACC_ODR_3P33HZ	ODR 3.33 kHz
LSM6DSL_ACC_ODR_6P66HZ	ODR 6.66 kHz

Definition at line 493 of file lsm6dsl.h.

◆ lsm6dsl_acc_lp_t

enum lsm6dsl_acc_lp_t

LSM6DSL accelerometer subsystem output data rate.

Enumerator
LSM6DSL_ACC_LP_DISABLED	Low power disabled
LSM6DSL_ACC_LP_ENABLED	Low power enabled

Definition at line 511 of file lsm6dsl.h.

◆ lsm6dsl_gyro_fs_t

enum lsm6dsl_gyro_fs_t

LSM6DSL gyroscope subsystem full scale.

Enumerator
LSM6DSL_GYRO_FS_125DPS	Full scale �125 degree per second
LSM6DSL_GYRO_FS_250DPS	Full scale �250 degree per second
LSM6DSL_GYRO_FS_500DPS	Full scale �500 degree per second
LSM6DSL_GYRO_FS_1000DPS	Full scale �1000 degree per second
LSM6DSL_GYRO_FS_2000DPS	Full scale �2000 degree per second

Definition at line 519 of file lsm6dsl.h.

◆ lsm6dsl_gyro_odr_t

enum lsm6dsl_gyro_odr_t

LSM6DSL gyroscope subsystem output data rate.

Enumerator
LSM6DSL_GYRO_ODR_PD	Power down
LSM6DSL_GYRO_ODR_12P5HZ	ODR 12.5 HZ
LSM6DSL_GYRO_ODR_26HZ	ODR 26 Hz
LSM6DSL_GYRO_ODR_52HZ	ODR 52 Hz
LSM6DSL_GYRO_ODR_104HZ	ODR 104 Hz
LSM6DSL_GYRO_ODR_208HZ	ODR 208 Hz
LSM6DSL_GYRO_ODR_416HZ	ODR 416 Hz
LSM6DSL_GYRO_ODR_833HZ	ODR 833 Hz
LSM6DSL_GYRO_ODR_1P66KHZ	ODR 1.66 kHz
LSM6DSL_GYRO_ODR_3P33KHZ	ODR 3.33 kHz
LSM6DSL_GYRO_ODR_6P66KHZ	ODR 6.66 kHz

Definition at line 530 of file lsm6dsl.h.

◆ lsm6dsl_gyro_lp_t

enum lsm6dsl_gyro_lp_t

LSM6DSL gyroscope subsystem low mode configuration.

Enumerator
LSM6DSL_GYRO_LP_DISABLED	Low power mode disabled.
LSM6DSL_GYRO_LP_ENABLED	Low power mode enabled.

Definition at line 547 of file lsm6dsl.h.

◆ lsm6dsl_gyro_lpf_t

enum lsm6dsl_gyro_lpf_t

LSM6DSL gyroscope subsystem output selection.

Enumerator
LSM6DSL_GYRO_LPF_DISABLED	Low pass filter disabled.
LSM6DSL_GYRO_LPF_FTYPE0	Refer to table 68 of Datasheet.
LSM6DSL_GYRO_LPF_FTYPE1	Refer to table 68 of Datasheet.
LSM6DSL_GYRO_LPF_FTYPE2	Refer to table 68 of Datasheet.
LSM6DSL_GYRO_LPF_FTYPE3	Refer to table 68 of Datasheet.

Definition at line 555 of file lsm6dsl.h.

◆ lsm6dsl_bdu_t

enum lsm6dsl_bdu_t

LSM6DSL block data update.

Enumerator
LSM6DSL_BDU_CONTINUOUS	Block data continuously updated.
LSM6DSL_BDU_BLOCKED	Block data updated after reading.

Definition at line 566 of file lsm6dsl.h.

◆ lsm6dsl_end_t

enum lsm6dsl_end_t

LSM6DSL endianness.

Enumerator
LSM6DSL_END_LITTLE	Little endian.
LSM6DSL_END_BIG	Big endian.

Definition at line 574 of file lsm6dsl.h.

◆ lsm6dsl_state_t

enum lsm6dsl_state_t

Driver state machine possible states.

Enumerator
LSM6DSL_UNINIT	Not initialized.
LSM6DSL_STOP	Stopped.
LSM6DSL_READY	Ready.

Definition at line 582 of file lsm6dsl.h.

Function Documentation

◆ lsm6dslI2CReadRegister()

msg_t lsm6dslI2CReadRegister	(	I2CDriver *	i2cp,
		lsm6dsl_sad_t	sad,
		uint8_t	reg,
		uint8_t *	rxbuf,
		size_t	n )

Reads registers value using I2C.

Precondition: The I2C interface must be initialized and the driver started.

Note: IF_ADD_INC bit must be 1 in CTRL_REG8

Parameters

[in]	i2cp	pointer to the I2C interface
[in]	sad	slave address without R bit
[in]	reg	first sub-register address
[out]	rxbuf	pointer to an output buffer
[in]	n	number of consecutive register to read

Returns: the operation status.

Function Class:: Not an API, this function is for internal use only.

Definition at line 63 of file lsm6dsl.c.

References i2cMasterTransmitTimeout(), and TIME_INFINITE.

Referenced by acc_read_raw(), acc_set_full_scale(), gyro_read_raw(), and gyro_set_full_scale().

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◆ acc_get_axes_number()

size_t acc_get_axes_number ( void * ip )

static

Return the number of axes of the BaseAccelerometer.

Parameters

[in] ip pointer to BaseAccelerometer interface.

Returns: the number of axes.

Definition at line 95 of file lsm6dsl.c.

References LSM6DSL_ACC_NUMBER_OF_AXES.

◆ acc_read_raw()

msg_t acc_read_raw	(	void *	ip,
		int32_t	axes[] )

static

Retrieves raw data from the BaseAccelerometer.

Note: This data is retrieved from MEMS register without any algebraical manipulation.; The axes array must be at least the same size of the BaseAccelerometer axes number.

Parameters

[in]	ip	pointer to `BaseAccelerometer` interface.
[out]	axes	a buffer which would be filled with raw data.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	if one or more I2C errors occurred, the errors can be retrieved using `i2cGetErrors()`.
MSG_TIMEOUT	if a timeout occurred before operation end.

Definition at line 117 of file lsm6dsl.c.

References I2C_READY, i2cAcquireBus(), i2cReleaseBus(), i2cStart(), LSM6DSL_ACC_NUMBER_OF_AXES, LSM6DSL_AD_OUTX_L_XL, LSM6DSL_READY, lsm6dslI2CReadRegister(), MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by acc_read_cooked().

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◆ acc_read_cooked()

msg_t acc_read_cooked	(	void *	ip,
		float	axes[] )

static

Retrieves cooked data from the BaseAccelerometer.

Note: This data is manipulated according to the formula cooked = (raw * sensitivity) - bias.; Final data is expressed as milli-G.; The axes array must be at least the same size of the BaseAccelerometer axes number.

Parameters

[in]	ip	pointer to `BaseAccelerometer` interface.
[out]	axes	a buffer which would be filled with cooked data.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	if one or more I2C errors occurred, the errors can be retrieved using `i2cGetErrors()`.
MSG_TIMEOUT	if a timeout occurred before operation end.

Definition at line 173 of file lsm6dsl.c.

References acc_read_raw(), LSM6DSL_ACC_NUMBER_OF_AXES, LSM6DSL_READY, objGetInstance, osalDbgAssert, and osalDbgCheck.

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◆ acc_set_bias()

msg_t acc_set_bias	(	void *	ip,
		float *	bp )

static

Set bias values for the BaseAccelerometer.

Note: Bias must be expressed as milli-G.; The bias buffer must be at least the same size of the BaseAccelerometer axes number.

Parameters

[in]	ip	pointer to `BaseAccelerometer` interface.
[in]	bp	a buffer which contains biases.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Definition at line 206 of file lsm6dsl.c.

References LSM6DSL_ACC_NUMBER_OF_AXES, LSM6DSL_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ acc_reset_bias()

msg_t acc_reset_bias ( void * ip )

static

Reset bias values for the BaseAccelerometer.

Note: Default biases value are obtained from device datasheet when available otherwise they are considered zero.

Parameters

[in] ip pointer to BaseAccelerometer interface.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Definition at line 235 of file lsm6dsl.c.

References LSM6DSL_ACC_BIAS, LSM6DSL_ACC_NUMBER_OF_AXES, LSM6DSL_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ acc_set_sensivity()

msg_t acc_set_sensivity	(	void *	ip,
		float *	sp )

static

Set sensitivity values for the BaseAccelerometer.

Note: Sensitivity must be expressed as milli-G/LSB.; The sensitivity buffer must be at least the same size of the BaseAccelerometer axes number.

Parameters

[in]	ip	pointer to `BaseAccelerometer` interface.
[in]	sp	a buffer which contains sensitivities.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Definition at line 265 of file lsm6dsl.c.

References LSM6DSL_ACC_NUMBER_OF_AXES, LSM6DSL_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ acc_reset_sensivity()

msg_t acc_reset_sensivity ( void * ip )

static

Reset sensitivity values for the BaseAccelerometer.

Note: Default sensitivities value are obtained from device datasheet.

Parameters

[in] ip pointer to BaseAccelerometer interface.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	otherwise.

Definition at line 294 of file lsm6dsl.c.

References FALSE, LSM6DSL_ACC_FS_16G, LSM6DSL_ACC_FS_2G, LSM6DSL_ACC_FS_4G, LSM6DSL_ACC_FS_8G, LSM6DSL_ACC_NUMBER_OF_AXES, LSM6DSL_ACC_SENS_16G, LSM6DSL_ACC_SENS_2G, LSM6DSL_ACC_SENS_4G, LSM6DSL_ACC_SENS_8G, LSM6DSL_READY, MSG_OK, MSG_RESET, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ acc_set_full_scale()

msg_t acc_set_full_scale	(	LSM6DSLDriver *	devp,
		lsm6dsl_acc_fs_t	fs )

static

Changes the LSM6DSLDriver accelerometer fullscale value.

Note: This function also rescale sensitivities and biases based on previous and next fullscale value.; A recalibration is highly suggested after calling this function.

Parameters

[in]	devp	pointer to `LSM6DSLDriver` interface.
[in]	fs	new fullscale value.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	otherwise.

Definition at line 339 of file lsm6dsl.c.

References I2C_READY, i2cAcquireBus(), i2cReleaseBus(), i2cStart(), LSM6DSL_ACC_16G, LSM6DSL_ACC_2G, LSM6DSL_ACC_4G, LSM6DSL_ACC_8G, LSM6DSL_ACC_FS_16G, LSM6DSL_ACC_FS_2G, LSM6DSL_ACC_FS_4G, LSM6DSL_ACC_FS_8G, LSM6DSL_ACC_NUMBER_OF_AXES, LSM6DSL_AD_CTRL1_XL, LSM6DSL_READY, lsm6dslI2CReadRegister(), lsm6dslI2CWriteRegister, LSMDSL_CTRL1_XL_FS_MASK, MSG_OK, MSG_RESET, osalDbgAssert, and osalDbgCheck.

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◆ gyro_get_axes_number()

size_t gyro_get_axes_number ( void * ip )

static

Return the number of axes of the BaseGyroscope.

Parameters

[in] ip pointer to BaseGyroscope interface.

Returns: the number of axes.

Definition at line 430 of file lsm6dsl.c.

References LSM6DSL_GYRO_NUMBER_OF_AXES.

◆ gyro_read_raw()

msg_t gyro_read_raw	(	void *	ip,
		int32_t	axes[LSM6DSL_GYRO_NUMBER_OF_AXES] )

static

Retrieves raw data from the BaseGyroscope.

Note: This data is retrieved from MEMS register without any algebraical manipulation.; The axes array must be at least the same size of the BaseGyroscope axes number.

Parameters

[in]	ip	pointer to `BaseGyroscope` interface.
[out]	axes	a buffer which would be filled with raw data.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	if one or more I2C errors occurred, the errors can be retrieved using `i2cGetErrors()`.
MSG_TIMEOUT	if a timeout occurred before operation end.

Definition at line 452 of file lsm6dsl.c.

References I2C_READY, i2cAcquireBus(), i2cReleaseBus(), i2cStart(), LSM6DSL_AD_OUTX_L_G, LSM6DSL_GYRO_NUMBER_OF_AXES, LSM6DSL_READY, lsm6dslI2CReadRegister(), MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by gyro_read_cooked(), and gyro_sample_bias().

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◆ gyro_read_cooked()

msg_t gyro_read_cooked	(	void *	ip,
		float	axes[] )

static

Retrieves cooked data from the BaseGyroscope.

Note: This data is manipulated according to the formula cooked = (raw * sensitivity) - bias.; Final data is expressed as DPS.; The axes array must be at least the same size of the BaseGyroscope axes number.

Parameters

[in]	ip	pointer to `BaseGyroscope` interface.
[out]	axes	a buffer which would be filled with cooked data.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	if one or more I2C errors occurred, the errors can be retrieved using `i2cGetErrors()`.
MSG_TIMEOUT	if a timeout occurred before operation end.

Definition at line 508 of file lsm6dsl.c.

References gyro_read_raw(), LSM6DSL_GYRO_NUMBER_OF_AXES, LSM6DSL_READY, objGetInstance, osalDbgAssert, and osalDbgCheck.

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◆ gyro_sample_bias()

msg_t gyro_sample_bias ( void * ip )

static

Samples bias values for the BaseGyroscope.

Note: The LSM6DSL shall not be moved during the whole procedure.; After this function internal bias is automatically updated.; The behavior of this function depends on LSM6DSL_BIAS_ACQ_TIMES and LSM6DSL_BIAS_SETTLING_US.

Parameters

[in] ip pointer to BaseGyroscope interface.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Definition at line 541 of file lsm6dsl.c.

References gyro_read_raw(), I2C_READY, LSM6DSL_GYRO_BIAS_ACQ_TIMES, LSM6DSL_GYRO_BIAS_SETTLING_US, LSM6DSL_GYRO_NUMBER_OF_AXES, LSM6DSL_READY, MSG_OK, objGetInstance, osalDbgAssert, osalDbgCheck, and osalThreadSleepMicroseconds.

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◆ gyro_set_bias()

msg_t gyro_set_bias	(	void *	ip,
		float *	bp )

static

Set bias values for the BaseGyroscope.

Note: Bias must be expressed as DPS.; The bias buffer must be at least the same size of the BaseGyroscope axes number.

Parameters

[in]	ip	pointer to `BaseGyroscope` interface.
[in]	bp	a buffer which contains biases.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Definition at line 589 of file lsm6dsl.c.

References LSM6DSL_GYRO_NUMBER_OF_AXES, LSM6DSL_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ gyro_reset_bias()

msg_t gyro_reset_bias ( void * ip )

static

Reset bias values for the BaseGyroscope.

Note: Default biases value are obtained from device datasheet when available otherwise they are considered zero.

Parameters

[in] ip pointer to BaseGyroscope interface.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Definition at line 618 of file lsm6dsl.c.

References LSM6DSL_GYRO_BIAS, LSM6DSL_GYRO_NUMBER_OF_AXES, LSM6DSL_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ gyro_set_sensivity()

msg_t gyro_set_sensivity	(	void *	ip,
		float *	sp )

static

Set sensitivity values for the BaseGyroscope.

Note: Sensitivity must be expressed as DPS/LSB.; The sensitivity buffer must be at least the same size of the BaseGyroscope axes number.

Parameters

[in]	ip	pointer to `BaseGyroscope` interface.
[in]	sp	a buffer which contains sensitivities.

Returns: The operation status.

Return values

MSG_OK if the function succeeded.

Definition at line 648 of file lsm6dsl.c.

References LSM6DSL_GYRO_NUMBER_OF_AXES, LSM6DSL_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ gyro_reset_sensivity()

msg_t gyro_reset_sensivity ( void * ip )

static

Reset sensitivity values for the BaseGyroscope.

Note: Default sensitivities value are obtained from device datasheet.

Parameters

[in] ip pointer to BaseGyroscope interface.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	otherwise.

Definition at line 677 of file lsm6dsl.c.

References FALSE, LSM6DSL_GYRO_FS_1000DPS, LSM6DSL_GYRO_FS_125DPS, LSM6DSL_GYRO_FS_2000DPS, LSM6DSL_GYRO_FS_250DPS, LSM6DSL_GYRO_FS_500DPS, LSM6DSL_GYRO_NUMBER_OF_AXES, LSM6DSL_GYRO_SENS_1000DPS, LSM6DSL_GYRO_SENS_125DPS, LSM6DSL_GYRO_SENS_2000DPS, LSM6DSL_GYRO_SENS_250DPS, LSM6DSL_GYRO_SENS_500DPS, LSM6DSL_READY, MSG_OK, MSG_RESET, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ gyro_set_full_scale()

msg_t gyro_set_full_scale	(	LSM6DSLDriver *	devp,
		lsm6dsl_gyro_fs_t	fs )

static

Changes the LSM6DSLDriver gyroscope fullscale value.

Note: This function also rescale sensitivities and biases based on previous and next fullscale value.; A recalibration is highly suggested after calling this function.

Parameters

[in]	devp	pointer to `BaseGyroscope` interface.
[in]	fs	new fullscale value.

Returns: The operation status.

Return values

MSG_OK	if the function succeeded.
MSG_RESET	otherwise.

Definition at line 724 of file lsm6dsl.c.

References I2C_READY, i2cAcquireBus(), i2cReleaseBus(), i2cStart(), LSM6DSL_AD_CTRL2_G, LSM6DSL_GYRO_1000DPS, LSM6DSL_GYRO_125DPS, LSM6DSL_GYRO_2000DPS, LSM6DSL_GYRO_250DPS, LSM6DSL_GYRO_500DPS, LSM6DSL_GYRO_FS_1000DPS, LSM6DSL_GYRO_FS_125DPS, LSM6DSL_GYRO_FS_2000DPS, LSM6DSL_GYRO_FS_250DPS, LSM6DSL_GYRO_FS_500DPS, LSM6DSL_GYRO_NUMBER_OF_AXES, LSM6DSL_READY, lsm6dslI2CReadRegister(), lsm6dslI2CWriteRegister, LSMDSL_CTRL2_G_FS_MASK, MSG_OK, MSG_RESET, osalDbgAssert, and osalDbgCheck.

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◆ lsm6dslObjectInit()

void lsm6dslObjectInit ( LSM6DSLDriver * devp )

Initializes an instance.

Parameters

[out] devp pointer to the LSM6DSLDriver object

Function Class:: Object or module nitializer function.

Definition at line 835 of file lsm6dsl.c.

References LSM6DSLDriver::acc_if, LSM6DSLDriver::gyro_if, LSM6DSL_ACC_NUMBER_OF_AXES, LSM6DSL_GYRO_NUMBER_OF_AXES, LSM6DSL_STOP, BaseAccelerometer::vmt, BaseGyroscope::vmt, LSM6DSLDriver::vmt, vmt_accelerometer, vmt_device, and vmt_gyroscope.

◆ lsm6dslStart()

void lsm6dslStart	(	LSM6DSLDriver *	devp,
		const LSM6DSLConfig *	config )

Configures and activates LSM6DSL Complex Driver peripheral.

Parameters

[in]	devp	pointer to the `LSM6DSLDriver` object
[in]	config	pointer to the `LSM6DSLConfig` object

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 856 of file lsm6dsl.c.

References FALSE, i2cAcquireBus(), i2cReleaseBus(), i2cStart(), LSM6DSL_ACC_16G, LSM6DSL_ACC_2G, LSM6DSL_ACC_4G, LSM6DSL_ACC_8G, LSM6DSL_ACC_BIAS, LSM6DSL_ACC_FS_16G, LSM6DSL_ACC_FS_2G, LSM6DSL_ACC_FS_4G, LSM6DSL_ACC_FS_8G, LSM6DSL_ACC_NUMBER_OF_AXES, LSM6DSL_ACC_SENS_16G, LSM6DSL_ACC_SENS_2G, LSM6DSL_ACC_SENS_4G, LSM6DSL_ACC_SENS_8G, LSM6DSL_AD_CTRL1_XL, LSM6DSL_AD_CTRL3_C, LSM6DSL_GYRO_1000DPS, LSM6DSL_GYRO_125DPS, LSM6DSL_GYRO_2000DPS, LSM6DSL_GYRO_250DPS, LSM6DSL_GYRO_500DPS, LSM6DSL_GYRO_BIAS, LSM6DSL_GYRO_FS_1000DPS, LSM6DSL_GYRO_FS_125DPS, LSM6DSL_GYRO_FS_2000DPS, LSM6DSL_GYRO_FS_250DPS, LSM6DSL_GYRO_FS_500DPS, LSM6DSL_GYRO_LPF_DISABLED, LSM6DSL_GYRO_NUMBER_OF_AXES, LSM6DSL_GYRO_SENS_1000DPS, LSM6DSL_GYRO_SENS_125DPS, LSM6DSL_GYRO_SENS_2000DPS, LSM6DSL_GYRO_SENS_250DPS, LSM6DSL_GYRO_SENS_500DPS, LSM6DSL_READY, LSM6DSL_STOP, lsm6dslI2CWriteRegister, LSMDSL_CTRL3_C_IF_INC, LSMDSL_CTRL4_C_LPF1_SEL_G, osalDbgAssert, osalDbgCheck, and osalThreadSleepMilliseconds.

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◆ lsm6dslStop()

void lsm6dslStop ( LSM6DSLDriver * devp )

Deactivates the LSM6DSL Complex Driver peripheral.

Parameters

[in] devp pointer to the LSM6DSLDriver object

Function Class:: Normal API, this function can be invoked by regular system threads but not from within a lock zone.

Definition at line 1090 of file lsm6dsl.c.

References i2cAcquireBus(), i2cReleaseBus(), i2cStart(), i2cStop(), LSM6DSL_ACC_ODR_PD, LSM6DSL_AD_CTRL1_XL, LSM6DSL_GYRO_ODR_PD, LSM6DSL_READY, LSM6DSL_STOP, lsm6dslI2CWriteRegister, osalDbgAssert, and osalDbgCheck.

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Variable Documentation

◆ vmt_device

const struct LSM6DSLVMT vmt_device

static

Initial value:

= {
  (size_t)0,
  acc_set_full_scale, gyro_set_full_scale
}

Definition at line 806 of file lsm6dsl.c.

◆ vmt_accelerometer

const struct BaseAccelerometerVMT vmt_accelerometer

static

Initial value:

= {
  sizeof(struct LSM6DSLVMT*),
  acc_get_axes_number, acc_read_raw, acc_read_cooked,
  acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity
}

Definition at line 811 of file lsm6dsl.c.

◆ vmt_gyroscope

const struct BaseGyroscopeVMT vmt_gyroscope

static

Initial value:

= {
  sizeof(struct LSM6DSLVMT*) + sizeof(BaseAccelerometer),
  gyro_get_axes_number, gyro_read_raw, gyro_read_cooked,
  gyro_sample_bias, gyro_set_bias, gyro_reset_bias,
  gyro_set_sensivity, gyro_reset_sensivity
}

Definition at line 817 of file lsm6dsl.c.

Detailed Description

LSM6DSL data structures and types.

Version identification

LSM6DSL communication interfaces related bit masks

LSM6DSL register addresses

LSM6DSL_AD_CTRL1_XL register bits definitions

LSM6DSL_AD_CTRL2_G register bits definitions

LSM6DSL_AD_CTRL3_C register bits definitions

LSM6DSL_AD_CTRL4_C register bits definitions

LSM6DSL_AD_CTRL5_C register bits definitions

LSM6DSL_AD_CTRL6_C register bits definitions

LSM6DSL_AD_CTRL7_G register bits definitions

LSM6DSL_AD_CTRL8_XL register bits definitions

LSM6DSL_AD_CTRL9_XL register bits definitions

LSM6DSL_AD_CTRL10_C register bits definitions

Configuration options

Data Structures

Macros

Functions

Variables

Macro Definition Documentation

◆ lsm6dslI2CWriteRegister

◆ EX_LSM6DSL_VERSION

◆ EX_LSM6DSL_MAJOR

◆ EX_LSM6DSL_MINOR

◆ EX_LSM6DSL_PATCH

◆ LSM6DSL_ACC_NUMBER_OF_AXES

◆ LSM6DSL_ACC_2G

◆ LSM6DSL_ACC_4G

◆ LSM6DSL_ACC_8G

◆ LSM6DSL_ACC_16G

◆ LSM6DSL_ACC_SENS_2G

◆ LSM6DSL_ACC_SENS_4G

◆ LSM6DSL_ACC_SENS_8G

◆ LSM6DSL_ACC_SENS_16G

◆ LSM6DSL_ACC_BIAS

◆ LSM6DSL_GYRO_NUMBER_OF_AXES

◆ LSM6DSL_GYRO_125DPS

◆ LSM6DSL_GYRO_250DPS

◆ LSM6DSL_GYRO_500DPS

◆ LSM6DSL_GYRO_1000DPS

◆ LSM6DSL_GYRO_2000DPS

◆ LSM6DSL_GYRO_SENS_125DPS

◆ LSM6DSL_GYRO_SENS_250DPS

◆ LSM6DSL_GYRO_SENS_500DPS

◆ LSM6DSL_GYRO_SENS_1000DPS

◆ LSM6DSL_GYRO_SENS_2000DPS

◆ LSM6DSL_GYRO_BIAS

◆ LSM6DSL_DI_MASK

◆ LSM6DSL_DI

◆ LSM6DSL_AD_MASK

◆ LSM6DSL_AD

◆ LSM6DSL_MS

◆ LSM6DSL_AD_FUNC_CFG_ACCESS

◆ LSM6DSL_AD_SENSOR_SYNC_TIME_FRAME

◆ LSM6DSL_AD_SENSOR_SYNC_RES_RATIO

◆ LSM6DSL_AD_FIFO_CTRL1

◆ LSM6DSL_AD_FIFO_CTRL2

◆ LSM6DSL_AD_FIFO_CTRL3

◆ LSM6DSL_AD_FIFO_CTRL4

◆ LSM6DSL_AD_FIFO_CTRL5

◆ LSM6DSL_AD_DRDY_PULSE_CFG_G

◆ LSM6DSL_AD_INT1_CTRL

◆ LSM6DSL_AD_INT2_CTRL

◆ LSM6DSL_AD_WHO_AM_I

◆ LSM6DSL_AD_CTRL1_XL

◆ LSM6DSL_AD_CTRL2_G

◆ LSM6DSL_AD_CTRL3_C

◆ LSM6DSL_AD_CTRL4_C

◆ LSM6DSL_AD_CTRL5_C

◆ LSM6DSL_AD_CTRL6_C

◆ LSM6DSL_AD_CTRL7_G

◆ LSM6DSL_AD_CTRL8_XL

◆ LSM6DSL_AD_CTRL9_XL

◆ LSM6DSL_AD_CTRL10_C

◆ LSM6DSL_AD_MASTER_CONFIG

◆ LSM6DSL_AD_WAKE_UP_SRC

◆ LSM6DSL_AD_TAP_SRC

◆ LSM6DSL_AD_D6D_SRC

◆ LSM6DSL_AD_STATUS_REG