Collaboration diagram for LSM6DS0:

Detailed Description

Macros
#define	lsm6ds0I2CWriteRegister(i2cp, sad, txbuf, n)
	Writes a value into a register using I2C. More...

#define	lsm6ds0AccelerometerGetAxesNumber(devp) accelerometerGetAxesNumber(&((devp)->acc_if))
	Return the number of axes of the BaseAccelerometer. More...

#define	lsm6ds0AccelerometerReadRaw(devp, axes) accelerometerReadRaw(&((devp)->acc_if), axes)
	Retrieves raw data from the BaseAccelerometer. More...

#define	lsm6ds0AccelerometerReadCooked(devp, axes) accelerometerReadCooked(&((devp)->acc_if), axes)
	Retrieves cooked data from the BaseAccelerometer. More...

#define	lsm6ds0AccelerometerSetBias(devp, bp) accelerometerSetBias(&((devp)->acc_if), bp)
	Set bias values for the BaseAccelerometer. More...

#define	lsm6ds0AccelerometerResetBias(devp) accelerometerResetBias(&((devp)->acc_if))
	Reset bias values for the BaseAccelerometer. More...

#define	lsm6ds0AccelerometerSetSensitivity(devp, sp) accelerometerSetSensitivity(&((devp)->acc_if), sp)
	Set sensitivity values for the BaseAccelerometer. More...

#define	lsm6ds0AccelerometerResetSensitivity(devp) accelerometerResetSensitivity(&((devp)->acc_if))
	Reset sensitivity values for the BaseAccelerometer. More...

#define	lsm6ds0AccelerometerSetFullScale(devp, fs) (devp)->vmt->acc_set_full_scale(devp, fs)
	Changes the LSM6DS0Driver accelerometer fullscale value. More...

#define	lsm6ds0GyroscopeGetAxesNumber(devp) gyroscopeGetAxesNumber(&((devp)->gyro_if))
	Return the number of axes of the BaseGyroscope. More...

#define	lsm6ds0GyroscopeReadRaw(devp, axes) gyroscopeReadRaw(&((devp)->gyro_if), axes)
	Retrieves raw data from the BaseGyroscope. More...

#define	lsm6ds0GyroscopeReadCooked(devp, axes) gyroscopeReadCooked(&((devp)->gyro_if), axes)
	Retrieves cooked data from the BaseGyroscope. More...

#define	lsm6ds0GyroscopeSampleBias(devp) gyroscopeSampleBias(&((devp)->gyro_if))
	Samples bias values for the BaseGyroscope. More...

#define	lsm6ds0GyroscopeSetBias(devp, bp) gyroscopeSetBias(&((devp)->gyro_if), bp)
	Set bias values for the BaseGyroscope. More...

#define	lsm6ds0GyroscopeResetBias(devp) gyroscopeResetBias(&((devp)->gyro_if))
	Reset bias values for the BaseGyroscope. More...

#define	lsm6ds0GyroscopeSetSensitivity(devp, sp) gyroscopeSetSensitivity(&((devp)->gyro_if), sp)
	Set sensitivity values for the BaseGyroscope. More...

#define	lsm6ds0GyroscopeResetSensitivity(devp) gyroscopeResetSensitivity(&((devp)->gyro_if))
	Reset sensitivity values for the BaseGyroscope. More...

#define	lsm6ds0GyroscopeSetFullScale(devp, fs) (devp)->vmt->acc_set_full_scale(devp, fs)
	Changes the LSM6DS0Driver gyroscope fullscale value. More...

Version identification
#define	EX_LSM6DS0_VERSION "1.1.2"
	LSM6DS0 driver version string. More...

#define	EX_LSM6DS0_MAJOR 1
	LSM6DS0 driver version major number. More...

#define	EX_LSM6DS0_MINOR 1
	LSM6DS0 driver version minor number. More...

#define	EX_LSM6DS0_PATCH 2
	LSM6DS0 driver version patch number. More...

#define	LSM6DS0_ACC_NUMBER_OF_AXES 3U
	LSM6DS0 accelerometer subsystem characteristics. More...

#define	LSM6DS0_GYRO_NUMBER_OF_AXES 3U
	L3GD20 gyroscope system characteristics. More...

LSM6DS0 communication interfaces related bit masks
#define	LSM6DS0_DI_MASK 0xFF

#define	LSM6DS0_DI(n) (1 << n)

#define	LSM6DS0_AD_MASK 0x7F

#define	LSM6DS0_AD(n) (1 << 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. More...

#define	LSM6DS0_SHARED_SPI FALSE
	LSM6DS0 shared SPI switch. More...

#define	LSM6DS0_USE_I2C TRUE
	LSM6DS0 I2C interface switch. More...

#define	LSM6DS0_SHARED_I2C FALSE
	LSM6DS0 shared I2C switch. More...

#define	LSM6DS0_USE_ADVANCED FALSE
	LSM6DS0 advanced configurations switch. More...

#define	LSM6DS0_GYRO_BIAS_ACQ_TIMES 50
	Number of acquisitions for gyroscope bias removal. More...

#define	LSM6DS0_GYRO_BIAS_SETTLING_US 5000
	Settling time for gyroscope bias removal. More...

LSM6DS0 data structures and types.
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 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 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. More...

#define	_lsm6ds0_methods_alone
	`LSM6DS0` specific methods. More...

#define	_lsm6ds0_methods
	`LSM6DS0` specific methods with inherited ones. More...

#define	_lsm6ds0_data
	`LSM6DS0Driver` specific data. More...

Data Structures
struct	LSM6DS0Config
	LSM6DS0 configuration structure. More...

struct	LSM6DS0VMT
	`LSM6DS0` virtual methods table. More...

struct	LSM6DS0Driver
	LSM6DS0 6-axis accelerometer/gyroscope class. More...

Functions
msg_t	lsm6ds0I2CReadRegister (I2CDriver i2cp, lsm6ds0_sad_t sad, uint8_t reg, uint8_t rxbuf, size_t n)
	Reads registers value using I2C. More...

static size_t	acc_get_axes_number (void *ip)
	Return the number of axes of the BaseAccelerometer. More...

static msg_t	acc_read_raw (void *ip, int32_t axes[])
	Retrieves raw data from the BaseAccelerometer. More...

static msg_t	acc_read_cooked (void *ip, float axes[])
	Retrieves cooked data from the BaseAccelerometer. More...

static msg_t	acc_set_bias (void ip, float bp)
	Set bias values for the BaseAccelerometer. More...

static msg_t	acc_reset_bias (void *ip)
	Reset bias values for the BaseAccelerometer. More...

static msg_t	acc_set_sensivity (void ip, float sp)
	Set sensitivity values for the BaseAccelerometer. More...

static msg_t	acc_reset_sensivity (void *ip)
	Reset sensitivity values for the BaseAccelerometer. More...

static msg_t	acc_set_full_scale (LSM6DS0Driver *devp, lsm6ds0_acc_fs_t fs)
	Changes the LSM6DS0Driver accelerometer fullscale value. More...

static size_t	gyro_get_axes_number (void *ip)
	Return the number of axes of the BaseGyroscope. More...

static msg_t	gyro_read_raw (void *ip, int32_t axes[LSM6DS0_GYRO_NUMBER_OF_AXES])
	Retrieves raw data from the BaseGyroscope. More...

static msg_t	gyro_read_cooked (void *ip, float axes[])
	Retrieves cooked data from the BaseGyroscope. More...

static msg_t	gyro_sample_bias (void *ip)
	Samples bias values for the BaseGyroscope. More...

static msg_t	gyro_set_bias (void ip, float bp)
	Set bias values for the BaseGyroscope. More...

static msg_t	gyro_reset_bias (void *ip)
	Reset bias values for the BaseGyroscope. More...

static msg_t	gyro_set_sensivity (void ip, float sp)
	Set sensitivity values for the BaseGyroscope. More...

static msg_t	gyro_reset_sensivity (void *ip)
	Reset sensitivity values for the BaseGyroscope. More...

static msg_t	gyro_set_full_scale (LSM6DS0Driver *devp, lsm6ds0_gyro_fs_t fs)
	Changes the LSM6DS0Driver gyroscope fullscale value. More...

void	lsm6ds0ObjectInit (LSM6DS0Driver *devp)
	Initializes an instance. More...

void	lsm6ds0Start (LSM6DS0Driver devp, const LSM6DS0Config config)
	Configures and activates LSM6DS0 Complex Driver peripheral. More...

void	lsm6ds0Stop (LSM6DS0Driver *devp)
	Deactivates the LSM6DS0 Complex Driver peripheral. More...

Macro Definition Documentation

◆ lsm6ds0I2CWriteRegister

#define lsm6ds0I2CWriteRegister	(	i2cp,
		sad,
		txbuf,
		n
	)

Value:

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

TIME_INFINITE)

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 lsm6ds0.c.

◆ EX_LSM6DS0_VERSION

#define EX_LSM6DS0_VERSION "1.1.2"

LSM6DS0 driver version string.

Definition at line 46 of file lsm6ds0.h.

◆ EX_LSM6DS0_MAJOR

#define EX_LSM6DS0_MAJOR 1

LSM6DS0 driver version major number.

Definition at line 51 of file lsm6ds0.h.

◆ EX_LSM6DS0_MINOR

#define EX_LSM6DS0_MINOR 1

LSM6DS0 driver version minor number.

Definition at line 56 of file lsm6ds0.h.

◆ EX_LSM6DS0_PATCH

#define EX_LSM6DS0_PATCH 2

LSM6DS0 driver version patch number.

Definition at line 61 of file lsm6ds0.h.

◆ LSM6DS0_ACC_NUMBER_OF_AXES

#define LSM6DS0_ACC_NUMBER_OF_AXES 3U

LSM6DS0 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 lsm6ds0.h.

◆ LSM6DS0_GYRO_NUMBER_OF_AXES

#define LSM6DS0_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 lsm6ds0.h.

◆ LSM6DS0_USE_SPI

#define LSM6DS0_USE_SPI FALSE

LSM6DS0 SPI interface switch.

If set to TRUE the support for SPI is included.

Note: The default is FALSE.

Definition at line 316 of file lsm6ds0.h.

◆ LSM6DS0_SHARED_SPI

#define LSM6DS0_SHARED_SPI FALSE

LSM6DS0 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 326 of file lsm6ds0.h.

◆ LSM6DS0_USE_I2C

#define LSM6DS0_USE_I2C TRUE

LSM6DS0 I2C interface switch.

If set to TRUE the support for I2C is included.

Note: The default is TRUE.

Definition at line 335 of file lsm6ds0.h.

◆ LSM6DS0_SHARED_I2C

#define LSM6DS0_SHARED_I2C FALSE

LSM6DS0 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 345 of file lsm6ds0.h.

◆ LSM6DS0_USE_ADVANCED

#define LSM6DS0_USE_ADVANCED FALSE

LSM6DS0 advanced configurations switch.

If set to TRUE more configurations are available.

Note: The default is FALSE.

Definition at line 354 of file lsm6ds0.h.

◆ LSM6DS0_GYRO_BIAS_ACQ_TIMES

#define LSM6DS0_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 363 of file lsm6ds0.h.

◆ LSM6DS0_GYRO_BIAS_SETTLING_US

#define LSM6DS0_GYRO_BIAS_SETTLING_US 5000

Settling time for gyroscope bias removal.

This is the time between each bias acquisition.

Definition at line 371 of file lsm6ds0.h.

◆ _lsm6ds0_methods_alone

#define _lsm6ds0_methods_alone

Value:

  /* Change full scale value of LSM6DS0 accelerometer subsystem .*/         \
  msg_t (*acc_set_full_scale)(LSM6DS0Driver *devp, lsm6ds0_acc_fs_t fs);    \
  /* Change full scale value of LSM6DS0 gyroscope subsystem .*/             \
  msg_t (*gyro_set_full_scale)(LSM6DS0Driver *devp, lsm6ds0_gyro_fs_t fs);

LSM6DS0 specific methods.

Definition at line 658 of file lsm6ds0.h.

◆ _lsm6ds0_methods

#define _lsm6ds0_methods

Value:

_base_object_methods \

_lsm6ds0_methods_alone

LSM6DS0 specific methods with inherited ones.

Definition at line 667 of file lsm6ds0.h.

◆ _lsm6ds0_data

#define _lsm6ds0_data

Value:

  _base_sensor_data                                                         \
  /* Driver state.*/                                                        \
  lsm6ds0_state_t           state;                                          \
  /* Current configuration data.*/                                          \
  const LSM6DS0Config       *config;                                        \
  /* Accelerometer subsystem axes number.*/                                 \
  size_t                    accaxes;                                        \
  /* Accelerometer subsystem current sensitivity.*/                         \
  float                     accsensitivity[LSM6DS0_ACC_NUMBER_OF_AXES];     \
  /* Accelerometer subsystem current bias .*/                               \
  float                     accbias[LSM6DS0_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[LSM6DS0_GYRO_NUMBER_OF_AXES];   \
  /* Gyroscope subsystem current Bias.*/                                    \
  float                     gyrobias[LSM6DS0_GYRO_NUMBER_OF_AXES];          \
  /* Gyroscope subsystem current full scale value.*/                        \
  float                     gyrofullscale;

LSM6DS0Driver specific data.

Definition at line 683 of file lsm6ds0.h.

◆ lsm6ds0AccelerometerGetAxesNumber

#define lsm6ds0AccelerometerGetAxesNumber ( devp ) accelerometerGetAxesNumber(&((devp)->acc_if))

Return the number of axes of the BaseAccelerometer.

Parameters

[in] devp pointer to LSM6DS0Driver.

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 733 of file lsm6ds0.h.

◆ lsm6ds0AccelerometerReadRaw

#define lsm6ds0AccelerometerReadRaw	(	devp,
		axes
	)	accelerometerReadRaw(&((devp)->acc_if), axes)

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 `LSM6DS0Driver`.
[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 754 of file lsm6ds0.h.

◆ lsm6ds0AccelerometerReadCooked

#define lsm6ds0AccelerometerReadCooked	(	devp,
		axes
	)	accelerometerReadCooked(&((devp)->acc_if), axes)

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 `LSM6DS0Driver`.
[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 776 of file lsm6ds0.h.

◆ lsm6ds0AccelerometerSetBias

#define lsm6ds0AccelerometerSetBias	(	devp,
		bp
	)	accelerometerSetBias(&((devp)->acc_if), bp)

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 `LSM6DS0Driver`.
[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 793 of file lsm6ds0.h.

◆ lsm6ds0AccelerometerResetBias

#define lsm6ds0AccelerometerResetBias ( devp ) accelerometerResetBias(&((devp)->acc_if))

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 LSM6DS0Driver.

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 808 of file lsm6ds0.h.

◆ lsm6ds0AccelerometerSetSensitivity

#define lsm6ds0AccelerometerSetSensitivity	(	devp,
		sp
	)	accelerometerSetSensitivity(&((devp)->acc_if), sp)

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 `LSM6DS0Driver`.
[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 825 of file lsm6ds0.h.

◆ lsm6ds0AccelerometerResetSensitivity

#define lsm6ds0AccelerometerResetSensitivity ( devp ) accelerometerResetSensitivity(&((devp)->acc_if))

Reset sensitivity values for the BaseAccelerometer.

Note: Default sensitivities value are obtained from device datasheet.

Parameters

[in] devp pointer to LSM6DS0Driver.

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 840 of file lsm6ds0.h.

◆ lsm6ds0AccelerometerSetFullScale

#define lsm6ds0AccelerometerSetFullScale	(	devp,
		fs
	)	(devp)->vmt->acc_set_full_scale(devp, fs)

Changes the LSM6DS0Driver 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 `LSM6DS0Driver`.
[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 858 of file lsm6ds0.h.

◆ lsm6ds0GyroscopeGetAxesNumber

#define lsm6ds0GyroscopeGetAxesNumber ( devp ) gyroscopeGetAxesNumber(&((devp)->gyro_if))

Return the number of axes of the BaseGyroscope.

Parameters

[in] devp pointer to LSM6DS0Driver.

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 870 of file lsm6ds0.h.

◆ lsm6ds0GyroscopeReadRaw

#define lsm6ds0GyroscopeReadRaw	(	devp,
		axes
	)	gyroscopeReadRaw(&((devp)->gyro_if), axes)

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 `LSM6DS0Driver`.
[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 891 of file lsm6ds0.h.

◆ lsm6ds0GyroscopeReadCooked

#define lsm6ds0GyroscopeReadCooked	(	devp,
		axes
	)	gyroscopeReadCooked(&((devp)->gyro_if), axes)

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 `LSM6DS0Driver`.
[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 913 of file lsm6ds0.h.

◆ lsm6ds0GyroscopeSampleBias

#define lsm6ds0GyroscopeSampleBias ( devp ) gyroscopeSampleBias(&((devp)->gyro_if))

Samples bias values for the BaseGyroscope.

Note: The LSM6DS0 shall not be moved during the whole procedure.; After this function internal bias is automatically updated.; The behavior of this function depends on LSM6DS0_BIAS_ACQ_TIMES and LSM6DS0_BIAS_SETTLING_US.

Parameters

[in] devp pointer to LSM6DS0Driver.

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 933 of file lsm6ds0.h.

◆ lsm6ds0GyroscopeSetBias

#define lsm6ds0GyroscopeSetBias	(	devp,
		bp
	)	gyroscopeSetBias(&((devp)->gyro_if), bp)

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 `LSM6DS0Driver`.
[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 950 of file lsm6ds0.h.

◆ lsm6ds0GyroscopeResetBias

#define lsm6ds0GyroscopeResetBias ( devp ) gyroscopeResetBias(&((devp)->gyro_if))

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 LSM6DS0Driver.

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 965 of file lsm6ds0.h.

◆ lsm6ds0GyroscopeSetSensitivity

#define lsm6ds0GyroscopeSetSensitivity	(	devp,
		sp
	)	gyroscopeSetSensitivity(&((devp)->gyro_if), sp)

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 `LSM6DS0Driver`.
[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 982 of file lsm6ds0.h.

◆ lsm6ds0GyroscopeResetSensitivity

#define lsm6ds0GyroscopeResetSensitivity ( devp ) gyroscopeResetSensitivity(&((devp)->gyro_if))

Reset sensitivity values for the BaseGyroscope.

Note: Default sensitivities value are obtained from device datasheet.

Parameters

[in] devp pointer to LSM6DS0Driver.

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 997 of file lsm6ds0.h.

◆ lsm6ds0GyroscopeSetFullScale

#define lsm6ds0GyroscopeSetFullScale	(	devp,
		fs
	)	(devp)->vmt->acc_set_full_scale(devp, fs)

Changes the LSM6DS0Driver 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 `LSM6DS0Driver`.
[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 1015 of file lsm6ds0.h.

Typedef Documentation

◆ LSM6DS0Driver

typedef struct LSM6DS0Driver LSM6DS0Driver

Structure representing a LSM6DS0 driver.

Definition at line 417 of file lsm6ds0.h.

Enumeration Type Documentation

◆ lsm6ds0_sad_t

enum lsm6ds0_sad_t

Accelerometer and Gyroscope Slave Address.

Enumerator
LSM6DS0_SAD_GND	SAD pin connected to GND.
LSM6DS0_SAD_VCC	SAD pin connected to VCC.

Definition at line 422 of file lsm6ds0.h.

◆ lsm6ds0_acc_fs_t

enum lsm6ds0_acc_fs_t

LSM6DS0 accelerometer subsystem full scale.

Enumerator
LSM6DS0_ACC_FS_2G	Full scale �2g.
LSM6DS0_ACC_FS_4G	Full scale �4g.
LSM6DS0_ACC_FS_8G	Full scale �8g.
LSM6DS0_ACC_FS_16G	Full scale �16g.

Definition at line 430 of file lsm6ds0.h.

◆ lsm6ds0_acc_odr_t

enum lsm6ds0_acc_odr_t

LSM6DS0 accelerometer subsystem output data rate.

Enumerator
LSM6DS0_ACC_ODR_PD	Power down
LSM6DS0_ACC_ODR_10Hz	ODR 10 Hz
LSM6DS0_ACC_ODR_50Hz	ODR 50 Hz
LSM6DS0_ACC_ODR_119Hz	ODR 119 Hz
LSM6DS0_ACC_ODR_238Hz	ODR 238 Hz
LSM6DS0_ACC_ODR_476Hz	ODR 476 Hz
LSM6DS0_ACC_ODR_952Hz	ODR 952 Hz

Definition at line 440 of file lsm6ds0.h.

◆ lsm6ds0_acc_dec_t

enum lsm6ds0_acc_dec_t

LSM6DS0 accelerometer subsystem decimation mode.

Enumerator
LSM6DS0_ACC_DEC_DISABLED	Decimation disabled.
LSM6DS0_ACC_DEC_X2	Output updated every 2 samples.
LSM6DS0_ACC_DEC_X4	Output updated every 4 samples.
LSM6DS0_ACC_DEC_X8	Output updated every 8 samples.

Definition at line 453 of file lsm6ds0.h.

◆ lsm6ds0_gyro_fs_t

enum lsm6ds0_gyro_fs_t

LSM6DS0 gyroscope subsystem full scale.

Enumerator
LSM6DS0_GYRO_FS_245DPS	Full scale �245 degree per second
LSM6DS0_GYRO_FS_500DPS	Full scale �500 degree per second
LSM6DS0_GYRO_FS_2000DPS	Full scale �2000 degree per second

Definition at line 463 of file lsm6ds0.h.

◆ lsm6ds0_gyro_odr_t

enum lsm6ds0_gyro_odr_t

LSM6DS0 gyroscope subsystem output data rate.

Definition at line 472 of file lsm6ds0.h.

◆ lsm6ds0_gyro_lp_t

enum lsm6ds0_gyro_lp_t

LSM6DS0 gyroscope subsystem low mode configuration.

Enumerator
LSM6DS0_GYRO_LP_DISABLED	Low power mode disabled.
LSM6DS0_GYRO_LP_ENABLED	Low power mode enabled.

Definition at line 496 of file lsm6ds0.h.

◆ lsm6ds0_gyro_out_sel_t

enum lsm6ds0_gyro_out_sel_t

LSM6DS0 gyroscope subsystem output selection.

Enumerator
LSM6DS0_GYRO_OUT_SEL_0	Low pass filter 1.
LSM6DS0_GYRO_OUT_SEL_1	High pass filter 1 if enabled.
LSM6DS0_GYRO_OUT_SEL_2	Low pass filter 2.

Definition at line 504 of file lsm6ds0.h.

◆ lsm6ds0_gyro_hp_t

enum lsm6ds0_gyro_hp_t

LSM6DS0 gyroscope subsystem high pass filter.

Enumerator
LSM6DS0_GYRO_HP_DISABLED	High pass filter disabled.
LSM6DS0_GYRO_HP_ENABLED	High pass filter enabled.

Definition at line 513 of file lsm6ds0.h.

◆ lsm6ds0_gyro_hpcf_t

enum lsm6ds0_gyro_hpcf_t

LSM6DS0 gyroscope subsystem high pass filter configuration.

Enumerator
LSM6DS0_GYRO_HPCF_0	Refer to table 48 of RM

Definition at line 521 of file lsm6ds0.h.

◆ lsm6ds0_bdu_t

enum lsm6ds0_bdu_t

LSM6DS0 block data update.

Enumerator
LSM6DS0_BDU_CONTINUOUS	Block data continuously updated.
LSM6DS0_BDU_BLOCKED	Block data updated after reading.

Definition at line 537 of file lsm6ds0.h.

◆ lsm6ds0_end_t

enum lsm6ds0_end_t

LSM6DS0 endianness.

Enumerator
LSM6DS0_END_LITTLE	Little endian.
LSM6DS0_END_BIG	Big endian.

Definition at line 545 of file lsm6ds0.h.

◆ lsm6ds0_state_t

enum lsm6ds0_state_t

Driver state machine possible states.

Enumerator
LSM6DS0_UNINIT	Not initialized.
LSM6DS0_STOP	Stopped.
LSM6DS0_READY	Ready.

Definition at line 553 of file lsm6ds0.h.

Function Documentation

◆ lsm6ds0I2CReadRegister()

msg_t lsm6ds0I2CReadRegister	(	I2CDriver *	i2cp,
		lsm6ds0_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 lsm6ds0.c.

References i2cMasterTransmitTimeout(), and TIME_INFINITE.

Referenced by acc_read_raw(), and gyro_read_raw().

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◆ acc_get_axes_number()

static 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 lsm6ds0.c.

References LSM6DS0_ACC_NUMBER_OF_AXES.

◆ acc_read_raw()

static 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 lsm6ds0.c.

References I2C_READY, i2cAcquireBus(), i2cStart(), LSM6DS0_ACC_NUMBER_OF_AXES, LSM6DS0_READY, lsm6ds0I2CReadRegister(), objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by acc_read_cooked().

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◆ acc_read_cooked()

static 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 lsm6ds0.c.

References acc_read_raw(), LSM6DS0_ACC_NUMBER_OF_AXES, LSM6DS0_READY, objGetInstance, osalDbgAssert, and osalDbgCheck.

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◆ acc_set_bias()

static 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 lsm6ds0.c.

References LSM6DS0_ACC_NUMBER_OF_AXES, LSM6DS0_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ acc_reset_bias()

static 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 lsm6ds0.c.

References LSM6DS0_ACC_NUMBER_OF_AXES, LSM6DS0_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ acc_set_sensivity()

static 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 lsm6ds0.c.

References LSM6DS0_ACC_NUMBER_OF_AXES, LSM6DS0_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ acc_reset_sensivity()

static 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 lsm6ds0.c.

References LSM6DS0_ACC_FS_2G, LSM6DS0_ACC_NUMBER_OF_AXES, LSM6DS0_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ acc_set_full_scale()

static msg_t acc_set_full_scale	(	LSM6DS0Driver *	devp,
		lsm6ds0_acc_fs_t	fs
	)

static

Changes the LSM6DS0Driver 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 `LSM6DS0Driver` 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 lsm6ds0.c.

References I2C_READY, LSM6DS0_ACC_FS_2G, LSM6DS0_READY, osalDbgAssert, and osalDbgCheck.

◆ gyro_get_axes_number()

static 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 427 of file lsm6ds0.c.

References LSM6DS0_GYRO_NUMBER_OF_AXES.

◆ gyro_read_raw()

static msg_t gyro_read_raw	(	void *	ip,
		int32_t	axes[LSM6DS0_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 449 of file lsm6ds0.c.

References I2C_READY, i2cAcquireBus(), i2cStart(), LSM6DS0_GYRO_NUMBER_OF_AXES, LSM6DS0_READY, lsm6ds0I2CReadRegister(), MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by gyro_read_cooked(), and gyro_sample_bias().

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◆ gyro_read_cooked()

static 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 505 of file lsm6ds0.c.

References gyro_read_raw(), LSM6DS0_GYRO_NUMBER_OF_AXES, LSM6DS0_READY, objGetInstance, osalDbgAssert, and osalDbgCheck.

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◆ gyro_sample_bias()

static msg_t gyro_sample_bias ( void * ip )

static

Samples bias values for the BaseGyroscope.

Note: The LSM6DS0 shall not be moved during the whole procedure.; After this function internal bias is automatically updated.; The behavior of this function depends on LSM6DS0_BIAS_ACQ_TIMES and LSM6DS0_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 538 of file lsm6ds0.c.

References gyro_read_raw(), I2C_READY, LSM6DS0_GYRO_BIAS_ACQ_TIMES, LSM6DS0_GYRO_BIAS_SETTLING_US, LSM6DS0_GYRO_NUMBER_OF_AXES, LSM6DS0_READY, MSG_OK, objGetInstance, osalDbgAssert, osalDbgCheck, and osalThreadSleepMicroseconds.

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◆ gyro_set_bias()

static 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 586 of file lsm6ds0.c.

References LSM6DS0_GYRO_NUMBER_OF_AXES, LSM6DS0_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ gyro_reset_bias()

static 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 615 of file lsm6ds0.c.

References LSM6DS0_GYRO_NUMBER_OF_AXES, LSM6DS0_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ gyro_set_sensivity()

static 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 645 of file lsm6ds0.c.

References LSM6DS0_GYRO_NUMBER_OF_AXES, LSM6DS0_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ gyro_reset_sensivity()

static 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 674 of file lsm6ds0.c.

References LSM6DS0_GYRO_FS_245DPS, LSM6DS0_GYRO_NUMBER_OF_AXES, LSM6DS0_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ gyro_set_full_scale()

static msg_t gyro_set_full_scale	(	LSM6DS0Driver *	devp,
		lsm6ds0_gyro_fs_t	fs
	)

static

Changes the LSM6DS0Driver 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 716 of file lsm6ds0.c.

References I2C_READY, LSM6DS0_GYRO_FS_245DPS, LSM6DS0_READY, MSG_OK, osalDbgAssert, and osalDbgCheck.

◆ lsm6ds0ObjectInit()

void lsm6ds0ObjectInit ( LSM6DS0Driver * devp )

Initializes an instance.

Parameters

[out] devp pointer to the LSM6DS0Driver object

Function Class:: Initializer, this function just initializes an object and can be invoked before the kernel is initialized.

Definition at line 821 of file lsm6ds0.c.

References LSM6DS0Driver::vmt.

◆ lsm6ds0Start()

void lsm6ds0Start	(	LSM6DS0Driver *	devp,
		const LSM6DS0Config *	config
	)

Configures and activates LSM6DS0 Complex Driver peripheral.

Parameters

[in]	devp	pointer to the `LSM6DS0Driver` object
[in]	config	pointer to the `LSM6DS0Config` object

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

Definition at line 842 of file lsm6ds0.c.

References LSM6DS0_READY, LSM6DS0_STOP, osalDbgAssert, and osalDbgCheck.

◆ lsm6ds0Stop()

void lsm6ds0Stop ( LSM6DS0Driver * devp )

Deactivates the LSM6DS0 Complex Driver peripheral.

Parameters

[in] devp pointer to the LSM6DS0Driver object

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

Definition at line 1074 of file lsm6ds0.c.

References i2cAcquireBus(), i2cStart(), LSM6DS0_READY, LSM6DS0_STOP, osalDbgAssert, and osalDbgCheck.

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Detailed Description

Macros

Version identification

LSM6DS0 communication interfaces related bit masks

LSM6DS0 register addresses

LSM6DS0_AD_CTRL_REG1_G register bits definitions

LSM6DS0_AD_CTRL_REG2_G register bits definitions

LSM6DS0_AD_CTRL_REG3_G register bits definitions

LSM6DS0_AD_CTRL_REG4 register bits definitions

LSM6DS0_AD_CTRL_REG5_XL register bits definitions

LSM6DS0_AD_CTRL_REG6_XL register bits definitions

LSM6DS0_AD_CTRL_REG7_XL register bits definitions

LSM6DS0_AD_CTRL_REG8 register bits definitions

LSM6DS0_AD_CTRL_REG9 register bits definitions

LSM6DS0_AD_CTRL_REG10 register bits definitions

Configuration options

LSM6DS0 data structures and types.

Data Structures

Functions

Macro Definition Documentation

◆ lsm6ds0I2CWriteRegister

◆ EX_LSM6DS0_VERSION

◆ EX_LSM6DS0_MAJOR

◆ EX_LSM6DS0_MINOR

◆ EX_LSM6DS0_PATCH

◆ LSM6DS0_ACC_NUMBER_OF_AXES

◆ LSM6DS0_GYRO_NUMBER_OF_AXES

◆ LSM6DS0_USE_SPI

◆ LSM6DS0_SHARED_SPI

◆ LSM6DS0_USE_I2C

◆ LSM6DS0_SHARED_I2C

◆ LSM6DS0_USE_ADVANCED

◆ LSM6DS0_GYRO_BIAS_ACQ_TIMES

◆ LSM6DS0_GYRO_BIAS_SETTLING_US

◆ _lsm6ds0_methods_alone

◆ _lsm6ds0_methods

◆ _lsm6ds0_data

◆ lsm6ds0AccelerometerGetAxesNumber

◆ lsm6ds0AccelerometerReadRaw

◆ lsm6ds0AccelerometerReadCooked

◆ lsm6ds0AccelerometerSetBias

◆ lsm6ds0AccelerometerResetBias

◆ lsm6ds0AccelerometerSetSensitivity

◆ lsm6ds0AccelerometerResetSensitivity

◆ lsm6ds0AccelerometerSetFullScale

◆ lsm6ds0GyroscopeGetAxesNumber

◆ lsm6ds0GyroscopeReadRaw

◆ lsm6ds0GyroscopeReadCooked

◆ lsm6ds0GyroscopeSampleBias

◆ lsm6ds0GyroscopeSetBias

◆ lsm6ds0GyroscopeResetBias

◆ lsm6ds0GyroscopeSetSensitivity

◆ lsm6ds0GyroscopeResetSensitivity

◆ lsm6ds0GyroscopeSetFullScale

Typedef Documentation

◆ LSM6DS0Driver

Enumeration Type Documentation

◆ lsm6ds0_sad_t

◆ lsm6ds0_acc_fs_t

◆ lsm6ds0_acc_odr_t

◆ lsm6ds0_acc_dec_t

◆ lsm6ds0_gyro_fs_t

◆ lsm6ds0_gyro_odr_t

◆ lsm6ds0_gyro_lp_t

◆ lsm6ds0_gyro_out_sel_t

◆ lsm6ds0_gyro_hp_t

◆ lsm6ds0_gyro_hpcf_t

◆ lsm6ds0_bdu_t

◆ lsm6ds0_end_t

◆ lsm6ds0_state_t

Function Documentation

◆ lsm6ds0I2CReadRegister()

◆ acc_get_axes_number()

◆ acc_read_raw()

◆ acc_read_cooked()

◆ acc_set_bias()

◆ acc_reset_bias()

◆ acc_set_sensivity()

◆ acc_reset_sensivity()

◆ acc_set_full_scale()