LSM6DS0 MEMS interface module header. More...

#include "ex_accelerometer.h"
#include "ex_gyroscope.h"

Data Structures
struct	LSM6DS0Config
	LSM6DS0 configuration structure. More...
struct	LSM6DS0VMT
	`LSM6DS0` virtual methods table. More...
struct	LSM6DS0Driver
	LSM6DS0 6-axis accelerometer/gyroscope class. More...

Macros
#define	lsm6ds0AccelerometerGetAxesNumber(devp)
	Return the number of axes of the BaseAccelerometer.
#define	lsm6ds0AccelerometerReadRaw(devp, axes)
	Retrieves raw data from the BaseAccelerometer.
#define	lsm6ds0AccelerometerReadCooked(devp, axes)
	Retrieves cooked data from the BaseAccelerometer.
#define	lsm6ds0AccelerometerSetBias(devp, bp)
	Set bias values for the BaseAccelerometer.
#define	lsm6ds0AccelerometerResetBias(devp)
	Reset bias values for the BaseAccelerometer.
#define	lsm6ds0AccelerometerSetSensitivity(devp, sp)
	Set sensitivity values for the BaseAccelerometer.
#define	lsm6ds0AccelerometerResetSensitivity(devp)
	Reset sensitivity values for the BaseAccelerometer.
#define	lsm6ds0AccelerometerSetFullScale(devp, fs)
	Changes the LSM6DS0Driver accelerometer fullscale value.
#define	lsm6ds0GyroscopeGetAxesNumber(devp)
	Return the number of axes of the BaseGyroscope.
#define	lsm6ds0GyroscopeReadRaw(devp, axes)
	Retrieves raw data from the BaseGyroscope.
#define	lsm6ds0GyroscopeReadCooked(devp, axes)
	Retrieves cooked data from the BaseGyroscope.
#define	lsm6ds0GyroscopeSampleBias(devp)
	Samples bias values for the BaseGyroscope.
#define	lsm6ds0GyroscopeSetBias(devp, bp)
	Set bias values for the BaseGyroscope.
#define	lsm6ds0GyroscopeResetBias(devp)
	Reset bias values for the BaseGyroscope.
#define	lsm6ds0GyroscopeSetSensitivity(devp, sp)
	Set sensitivity values for the BaseGyroscope.
#define	lsm6ds0GyroscopeResetSensitivity(devp)
	Reset sensitivity values for the BaseGyroscope.
#define	lsm6ds0GyroscopeSetFullScale(devp, fs)
	Changes the LSM6DS0Driver gyroscope fullscale value.
Version identification
#define	EX_LSM6DS0_VERSION "1.1.3"
	LSM6DS0 driver version string.
#define	EX_LSM6DS0_MAJOR 1
	LSM6DS0 driver version major number.
#define	EX_LSM6DS0_MINOR 1
	LSM6DS0 driver version minor number.
#define	EX_LSM6DS0_PATCH 3
	LSM6DS0 driver version patch number.

#define	LSM6DS0_ACC_NUMBER_OF_AXES 3U
	LSM6DS0 accelerometer subsystem characteristics.
#define	LSM6DS0_ACC_2G 2.0f
#define	LSM6DS0_ACC_4G 4.0f
#define	LSM6DS0_ACC_8G 8.0f
#define	LSM6DS0_ACC_16G 16.0f
#define	LSM6DS0_ACC_SENS_2G 0.061f
#define	LSM6DS0_ACC_SENS_4G 0.122f
#define	LSM6DS0_ACC_SENS_8G 0.244f
#define	LSM6DS0_ACC_SENS_16G 0.732f
#define	LSM6DS0_ACC_BIAS 0.0f

#define	LSM6DS0_GYRO_NUMBER_OF_AXES 3U
	L3GD20 gyroscope system characteristics.
#define	LSM6DS0_GYRO_245DPS 245.0f
#define	LSM6DS0_GYRO_500DPS 500.0f
#define	LSM6DS0_GYRO_2000DPS 2000.0f
#define	LSM6DS0_GYRO_SENS_245DPS 0.00875f
#define	LSM6DS0_GYRO_SENS_500DPS 0.01750f
#define	LSM6DS0_GYRO_SENS_2000DPS 0.07000f
#define	LSM6DS0_GYRO_BIAS 0.0f
LSM6DS0 communication interfaces related bit masks
#define	LSM6DS0_DI_MASK 0xFF
#define	LSM6DS0_DI(n)
#define	LSM6DS0_AD_MASK 0x7F
#define	LSM6DS0_AD(n)
#define	LSM6DS0_MS (1 << 7)
LSM6DS0 register addresses
#define	LSM6DS0_AD_ACT_THS 0x04
#define	LSM6DS0_AD_ACT_DUR 0x05
#define	LSM6DS0_AD_INT_GEN_CFG_XL 0x06
#define	LSM6DS0_AD_INT_GEN_THS_X_XL 0x07
#define	LSM6DS0_AD_INT_GEN_THS_Y_XL 0x08
#define	LSM6DS0_AD_INT_GEN_THS_Z_XL 0x09
#define	LSM6DS0_AD_INT_GEN_DUR_XL 0x0A
#define	LSM6DS0_AD_REFERENCE_G 0x0B
#define	LSM6DS0_AD_INT_CTRL 0x0C
#define	LSM6DS0_AD_WHO_AM_I 0x0F
#define	LSM6DS0_AD_CTRL_REG1_G 0x10
#define	LSM6DS0_AD_CTRL_REG2_G 0x11
#define	LSM6DS0_AD_CTRL_REG3_G 0x12
#define	LSM6DS0_AD_ORIENT_CFG_G 0x13
#define	LSM6DS0_AD_INT_GEN_SRC_G 0x14
#define	LSM6DS0_AD_OUT_TEMP_L 0x15
#define	LSM6DS0_AD_OUT_TEMP_H 0x16
#define	LSM6DS0_AD_STATUS_REG1 0x17
#define	LSM6DS0_AD_OUT_X_L_G 0x18
#define	LSM6DS0_AD_OUT_X_H_G 0x19
#define	LSM6DS0_AD_OUT_Y_L_G 0x1A
#define	LSM6DS0_AD_OUT_Y_H_G 0x1B
#define	LSM6DS0_AD_OUT_Z_L_G 0x1C
#define	LSM6DS0_AD_OUT_Z_H_G 0x1D
#define	LSM6DS0_AD_CTRL_REG4 0x1E
#define	LSM6DS0_AD_CTRL_REG5_XL 0x1F
#define	LSM6DS0_AD_CTRL_REG6_XL 0x20
#define	LSM6DS0_AD_CTRL_REG7_XL 0x21
#define	LSM6DS0_AD_CTRL_REG8 0x22
#define	LSM6DS0_AD_CTRL_REG9 0x23
#define	LSM6DS0_AD_CTRL_REG10 0x24
#define	LSM6DS0_AD_INT_GEN_SRC_XL 0x26
#define	LSM6DS0_AD_STATUS_REG2 0x27
#define	LSM6DS0_AD_OUT_X_L_XL 0x28
#define	LSM6DS0_AD_OUT_X_H_XL 0x29
#define	LSM6DS0_AD_OUT_Y_L_XL 0x2A
#define	LSM6DS0_AD_OUT_Y_H_XL 0x2B
#define	LSM6DS0_AD_OUT_Z_L_XL 0x2C
#define	LSM6DS0_AD_OUT_Z_H_XL 0x2D
#define	LSM6DS0_AD_FIFO_CTRL 0x2E
#define	LSM6DS0_AD_FIFO_SRC 0x2F
#define	LSM6DS0_AD_INT_GEN_CFG_G 0x30
#define	LSM6DS0_AD_INT_GEN_THS_XH_G 0x31
#define	LSM6DS0_AD_INT_GEN_THS_XL_G 0x32
#define	LSM6DS0_AD_INT_GEN_THS_YH_G 0x33
#define	LSM6DS0_AD_INT_GEN_THS_YL_G 0x34
#define	LSM6DS0_AD_INT_GEN_THS_ZH_G 0x35
#define	LSM6DS0_AD_INT_GEN_THS_ZL_G 0x36
#define	LSM6DS0_AD_INT_GEN_DUR_G 0x37
LSM6DS0_AD_CTRL_REG1_G register bits definitions
#define	LSM6DS0_CTRL_REG1_G 0xFA
#define	LSM6DS0_CTRL_REG1_G_BW_G0 (1 << 0)
#define	LSM6DS0_CTRL_REG1_G_BW_G1 (1 << 1)
#define	LSM6DS0_CTRL_REG1_G_FS_MASK 0x1F
#define	LSM6DS0_CTRL_REG1_G_FS_G0 (1 << 3)
#define	LSM6DS0_CTRL_REG1_G_FS_G1 (1 << 4)
#define	LSM6DS0_CTRL_REG1_G_ODR_G0 (1 << 5)
#define	LSM6DS0_CTRL_REG1_G_ODR_G1 (1 << 6)
#define	LSM6DS0_CTRL_REG1_G_ODR_G2 (1 << 7)
LSM6DS0_AD_CTRL_REG2_G register bits definitions
#define	LSM6DS0_CTRL_REG2_G 0x0F
#define	LSM6DS0_CTRL_REG2_G_OUT_SEL0 (1 << 0)
#define	LSM6DS0_CTRL_REG2_G_OUT_SEL1 (1 << 1)
#define	LSM6DS0_CTRL_REG2_G_INT_SEL0 (1 << 2)
#define	LSM6DS0_CTRL_REG2_G_INT_SEL1 (1 << 3)
LSM6DS0_AD_CTRL_REG3_G register bits definitions
#define	LSM6DS0_CTRL_REG3_G 0x64
#define	LSM6DS0_CTRL_REG3_G_HP_CF0_G (1 << 0)
#define	LSM6DS0_CTRL_REG3_G_HP_CF1_G (1 << 1)
#define	LSM6DS0_CTRL_REG3_G_HP_CF2_G (1 << 2)
#define	LSM6DS0_CTRL_REG3_G_HP_CF3_G (1 << 3)
#define	LSM6DS0_CTRL_REG3_G_HP_EN (1 << 6)
#define	LSM6DS0_CTRL_REG3_G_LP_MODE (1 << 7)
LSM6DS0_AD_CTRL_REG4 register bits definitions
#define	LSM6DS0_CTRL_REG4 0x3A
#define	LSM6DS0_CTRL_REG4_4D_XL1 (1 << 0)
#define	LSM6DS0_CTRL_REG4_LIR_XL1 (1 << 1)
#define	LSM6DS0_CTRL_REG4_XEN_G (1 << 3)
#define	LSM6DS0_CTRL_REG4_YEN_G (1 << 4)
#define	LSM6DS0_CTRL_REG4_ZEN_G (1 << 5)
LSM6DS0_AD_CTRL_REG5_XL register bits definitions
#define	LSM6DS0_CTRL_REG5_XL 0xF8
#define	LSM6DS0_CTRL_REG5_XL_XEN_XL (1 << 3)
#define	LSM6DS0_CTRL_REG5_XL_YEN_XL (1 << 4)
#define	LSM6DS0_CTRL_REG5_XL_ZEN_XL (1 << 5)
#define	LSM6DS0_CTRL_REG5_XL_DEC0 (1 << 6)
#define	LSM6DS0_CTRL_REG5_XL_DEC1 (1 << 7)
LSM6DS0_AD_CTRL_REG6_XL register bits definitions
#define	LSM6DS0_CTRL_REG6_XL 0xFF
#define	LSM6DS0_CTRL_REG6_XL_BW_XL0 (1 << 0)
#define	LSM6DS0_CTRL_REG6_XL_BW_XL1 (1 << 1)
#define	LSM6DS0_CTRL_REG6_XL_BW_SCAL_ODR (1 << 2)
#define	LSM6DS0_CTRL_REG6_XL_FS_MASK 0x1F
#define	LSM6DS0_CTRL_REG6_XL_FS0_XL (1 << 3)
#define	LSM6DS0_CTRL_REG6_XL_FS1_XL (1 << 4)
#define	LSM6DS0_CTRL_REG6_XL_ODR_XL0 (1 << 5)
#define	LSM6DS0_CTRL_REG6_XL_ODR_XL1 (1 << 6)
#define	LSM6DS0_CTRL_REG6_XL_ODR_XL2 (1 << 7)
LSM6DS0_AD_CTRL_REG7_XL register bits definitions
#define	LSM6DS0_CTRL_REG7_XL 0xE5
#define	LSM6DS0_CTRL_REG7_XL_HPIS1 (1 << 0)
#define	LSM6DS0_CTRL_REG7_XL_FDS (1 << 2)
#define	LSM6DS0_CTRL_REG7_XL_DCF0 (1 << 5)
#define	LSM6DS0_CTRL_REG7_XL_DCF1 (1 << 6)
#define	LSM6DS0_CTRL_REG7_XL_HR (1 << 7)
LSM6DS0_AD_CTRL_REG8 register bits definitions
#define	LSM6DS0_CTRL_REG8 0xFF
#define	LSM6DS0_CTRL_REG8_SW_RESET (1 << 0)
#define	LSM6DS0_CTRL_REG8_BLE (1 << 1)
#define	LSM6DS0_CTRL_REG8_IF_ADD_INC (1 << 2)
#define	LSM6DS0_CTRL_REG8_SIM (1 << 3)
#define	LSM6DS0_CTRL_REG8_PP_OD (1 << 4)
#define	LSM6DS0_CTRL_REG8_H_LACTIVE (1 << 5)
#define	LSM6DS0_CTRL_REG8_BDU (1 << 6)
#define	LSM6DS0_CTRL_REG8_BOOT (1 << 7)
LSM6DS0_AD_CTRL_REG9 register bits definitions
#define	LSM6DS0_CTRL_REG9 0x5F
#define	LSM6DS0_CTRL_REG9_STOP_ON_FTH (1 << 0)
#define	LSM6DS0_CTRL_REG9_FIFO_EN (1 << 1)
#define	LSM6DS0_CTRL_REG9_I2C_DISABLE (1 << 2)
#define	LSM6DS0_CTRL_REG9_DRDY_MASK_BIT (1 << 3)
#define	LSM6DS0_CTRL_REG9_FIFO_TEMP_EN (1 << 4)
#define	LSM6DS0_CTRL_REG9_SLEEP_G (1 << 6)
LSM6DS0_AD_CTRL_REG10 register bits definitions
#define	LSM6DS0_CTRL_REG10 0x05
#define	LSM6DS0_CTRL_REG10_ST_XL (1 << 0)
#define	LSM6DS0_CTRL_REG10_ST_G (1 << 2)
Configuration options
#define	LSM6DS0_USE_SPI FALSE
	LSM6DS0 SPI interface switch.
#define	LSM6DS0_SHARED_SPI FALSE
	LSM6DS0 shared SPI switch.
#define	LSM6DS0_USE_I2C TRUE
	LSM6DS0 I2C interface switch.
#define	LSM6DS0_SHARED_I2C FALSE
	LSM6DS0 shared I2C switch.
#define	LSM6DS0_USE_ADVANCED FALSE
	LSM6DS0 advanced configurations switch.
#define	LSM6DS0_GYRO_BIAS_ACQ_TIMES 50
	Number of acquisitions for gyroscope bias removal.
#define	LSM6DS0_GYRO_BIAS_SETTLING_US 5000
	Settling time for gyroscope bias removal.

Functions
void	lsm6ds0ObjectInit (LSM6DS0Driver *devp)
	Initializes an instance.
void	lsm6ds0Start (LSM6DS0Driver devp, const LSM6DS0Config config)
	Configures and activates LSM6DS0 Complex Driver peripheral.
void	lsm6ds0Stop (LSM6DS0Driver *devp)
	Deactivates the LSM6DS0 Complex Driver peripheral.

LSM6DS0 data structures and types.
#define	_lsm6ds0_methods_alone
	`LSM6DS0` specific methods.
#define	_lsm6ds0_methods
	`LSM6DS0` specific methods with inherited ones.
#define	_lsm6ds0_data
	`LSM6DS0Driver` specific data.
enum	lsm6ds0_sad_t { LSM6DS0_SAD_GND = 0x6A , LSM6DS0_SAD_VCC = 0x6B }
	Accelerometer and Gyroscope Slave Address. More...
enum	lsm6ds0_acc_fs_t { LSM6DS0_ACC_FS_2G = 0x00 , LSM6DS0_ACC_FS_4G = 0x10 , LSM6DS0_ACC_FS_8G = 0x18 , LSM6DS0_ACC_FS_16G = 0x08 }
	LSM6DS0 accelerometer subsystem full scale. More...
enum	lsm6ds0_acc_odr_t { LSM6DS0_ACC_ODR_PD = 0x00 , LSM6DS0_ACC_ODR_10Hz = 0x20 , LSM6DS0_ACC_ODR_50Hz = 0x40 , LSM6DS0_ACC_ODR_119Hz = 0x60 , LSM6DS0_ACC_ODR_238Hz = 0x80 , LSM6DS0_ACC_ODR_476Hz = 0xA0 , LSM6DS0_ACC_ODR_952Hz = 0xC0 }
	LSM6DS0 accelerometer subsystem output data rate. More...
enum	lsm6ds0_acc_dec_t { LSM6DS0_ACC_DEC_DISABLED = 0x00 , LSM6DS0_ACC_DEC_X2 = 0x40 , LSM6DS0_ACC_DEC_X4 = 0x80 , LSM6DS0_ACC_DEC_X8 = 0xC0 }
	LSM6DS0 accelerometer subsystem decimation mode. More...
enum	lsm6ds0_gyro_fs_t { LSM6DS0_GYRO_FS_245DPS = 0x00 , LSM6DS0_GYRO_FS_500DPS = 0x08 , LSM6DS0_GYRO_FS_2000DPS = 0x18 }
	LSM6DS0 gyroscope subsystem full scale. More...
enum	lsm6ds0_gyro_odr_t { LSM6DS0_GYRO_ODR_PD = 0x00 , LSM6DS0_GYRO_ODR_95HZ_FC_25 = 0x10 , LSM6DS0_GYRO_ODR_14_9HZ_FC_5 = 0X20 , LSM6DS0_GYRO_ODR_59_5HZ_FC_16 = 0X40 , LSM6DS0_GYRO_ODR_119HZ_FC_14 = 0X60 , LSM6DS0_GYRO_ODR_119HZ_FC_31 = 0X61 , LSM6DS0_GYRO_ODR_238HZ_FC_14 = 0X80 , LSM6DS0_GYRO_ODR_238HZ_FC_29 = 0X81 , LSM6DS0_GYRO_ODR_238HZ_FC_63 = 0X82 , LSM6DS0_GYRO_ODR_238HZ_FC_78 = 0X83 , LSM6DS0_GYRO_ODR_476HZ_FC_21 = 0XA0 , LSM6DS0_GYRO_ODR_476HZ_FC_28 = 0XA1 , LSM6DS0_GYRO_ODR_476HZ_FC_57 = 0XA2 , LSM6DS0_GYRO_ODR_476HZ_FC_100 = 0XA3 , LSM6DS0_GYRO_ODR_952HZ_FC_33 = 0XC0 , LSM6DS0_GYRO_ODR_952HZ_FC_40 = 0XC1 , LSM6DS0_GYRO_ODR_952HZ_FC_58 = 0XC2 , LSM6DS0_GYRO_ODR_952HZ_FC_100 = 0XC3 }
	LSM6DS0 gyroscope subsystem output data rate. More...
enum	lsm6ds0_gyro_lp_t { LSM6DS0_GYRO_LP_DISABLED = 0x00 , LSM6DS0_GYRO_LP_ENABLED = 0x80 }
	LSM6DS0 gyroscope subsystem low mode configuration. More...
enum	lsm6ds0_gyro_out_sel_t { LSM6DS0_GYRO_OUT_SEL_0 = 0x00 , LSM6DS0_GYRO_OUT_SEL_1 = 0x01 , LSM6DS0_GYRO_OUT_SEL_2 = 0x02 }
	LSM6DS0 gyroscope subsystem output selection. More...
enum	lsm6ds0_gyro_hp_t { LSM6DS0_GYRO_HP_DISABLED = 0x00 , LSM6DS0_GYRO_HP_ENABLED = 0x40 }
	LSM6DS0 gyroscope subsystem high pass filter. More...
enum	lsm6ds0_gyro_hpcf_t { LSM6DS0_GYRO_HPCF_0 = 0x00 , LSM6DS0_GYRO_HPCF_1 = 0x01 , LSM6DS0_GYRO_HPCF_2 = 0x02 , LSM6DS0_GYRO_HPCF_3 = 0x03 , LSM6DS0_GYRO_HPCF_4 = 0x04 , LSM6DS0_GYRO_HPCF_5 = 0x05 , LSM6DS0_GYRO_HPCF_6 = 0x06 , LSM6DS0_GYRO_HPCF_7 = 0x07 , LSM6DS0_GYRO_HPCF_8 = 0x08 , LSM6DS0_GYRO_HPCF_9 = 0x09 }
	LSM6DS0 gyroscope subsystem high pass filter configuration. More...
enum	lsm6ds0_bdu_t { LSM6DS0_BDU_CONTINUOUS = 0x00 , LSM6DS0_BDU_BLOCKED = 0x40 }
	LSM6DS0 block data update. More...
enum	lsm6ds0_end_t { LSM6DS0_END_LITTLE = 0x00 , LSM6DS0_END_BIG = 0x20 }
	LSM6DS0 endianness. More...
enum	lsm6ds0_state_t { LSM6DS0_UNINIT = 0 , LSM6DS0_STOP = 1 , LSM6DS0_READY = 2 }
	Driver state machine possible states. More...
typedef struct LSM6DS0Driver	LSM6DS0Driver
	Structure representing a LSM6DS0 driver.

Detailed Description

LSM6DS0 MEMS interface module header.

Definition in file lsm6ds0.h.

Data Structures

Macros

Functions

LSM6DS0 data structures and types.

Detailed Description