LSM6DSL MEMS interface module header. More...

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

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	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.
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.

Functions
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.

LSM6DSL data structures and types.
#define	_lsm6dsl_methods_alone
	`LSM6DSL` specific methods.
#define	_lsm6dsl_methods
	`LSM6DSL` specific methods with inherited ones.
#define	_lsm6dsl_data
	`LSM6DSLDriver` specific data.
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.

Detailed Description

LSM6DSL MEMS interface module header.

Definition in file lsm6dsl.h.

Data Structures

Macros

Functions

LSM6DSL data structures and types.

Detailed Description