Collaboration diagram for LSM6DSL:

Detailed Description

Macros
#define	lsm6dslI2CWriteRegister(i2cp, sad, txbuf, n)
	Writes a value into a register using I2C. More...

#define	lsm6dslAccelerometerGetAxesNumber(devp) accelerometerGetAxesNumber(&((devp)->acc_if))
	Return the number of axes of the BaseAccelerometer. More...

#define	lsm6dslAccelerometerReadRaw(devp, axes) accelerometerReadRaw(&((devp)->acc_if), axes)
	Retrieves raw data from the BaseAccelerometer. More...

#define	lsm6dslAccelerometerReadCooked(devp, axes) accelerometerReadCooked(&((devp)->acc_if), axes)
	Retrieves cooked data from the BaseAccelerometer. More...

#define	lsm6dslAccelerometerSetBias(devp, bp) accelerometerSetBias(&((devp)->acc_if), bp)
	Set bias values for the BaseAccelerometer. More...

#define	lsm6dslAccelerometerResetBias(devp) accelerometerResetBias(&((devp)->acc_if))
	Reset bias values for the BaseAccelerometer. More...

#define	lsm6dslAccelerometerSetSensitivity(devp, sp) accelerometerSetSensitivity(&((devp)->acc_if), sp)
	Set sensitivity values for the BaseAccelerometer. More...

#define	lsm6dslAccelerometerResetSensitivity(devp) accelerometerResetSensitivity(&((devp)->acc_if))
	Reset sensitivity values for the BaseAccelerometer. More...

#define	lsm6dslAccelerometerSetFullScale(devp, fs) (devp)->vmt->acc_set_full_scale(devp, fs)
	Changes the LSM6DSLDriver accelerometer fullscale value. More...

#define	lsm6dslGyroscopeGetAxesNumber(devp) gyroscopeGetAxesNumber(&((devp)->gyro_if))
	Return the number of axes of the BaseGyroscope. More...

#define	lsm6dslGyroscopeReadRaw(devp, axes) gyroscopeReadRaw(&((devp)->gyro_if), axes)
	Retrieves raw data from the BaseGyroscope. More...

#define	lsm6dslGyroscopeReadCooked(devp, axes) gyroscopeReadCooked(&((devp)->gyro_if), axes)
	Retrieves cooked data from the BaseGyroscope. More...

#define	lsm6dslGyroscopeSampleBias(devp) gyroscopeSampleBias(&((devp)->gyro_if))
	Samples bias values for the BaseGyroscope. More...

#define	lsm6dslGyroscopeSetBias(devp, bp) gyroscopeSetBias(&((devp)->gyro_if), bp)
	Set bias values for the BaseGyroscope. More...

#define	lsm6dslGyroscopeResetBias(devp) gyroscopeResetBias(&((devp)->gyro_if))
	Reset bias values for the BaseGyroscope. More...

#define	lsm6dslGyroscopeSetSensitivity(devp, sp) gyroscopeSetSensitivity(&((devp)->gyro_if), sp)
	Set sensitivity values for the BaseGyroscope. More...

#define	lsm6dslGyroscopeResetSensitivity(devp) gyroscopeResetSensitivity(&((devp)->gyro_if))
	Reset sensitivity values for the BaseGyroscope. More...

#define	lsm6dslGyroscopeSetFullScale(devp, fs) (devp)->vmt->acc_set_full_scale(devp, fs)
	Changes the LSM6DSLDriver gyroscope fullscale value. More...

Version identification
#define	EX_LSM6DSL_VERSION "1.0.1"
	LSM6DSL driver version string. More...

#define	EX_LSM6DSL_MAJOR 1
	LSM6DSL driver version major number. More...

#define	EX_LSM6DSL_MINOR 0
	LSM6DSL driver version minor number. More...

#define	EX_LSM6DSL_PATCH 1
	LSM6DSL driver version patch number. More...

#define	LSM6DSL_ACC_NUMBER_OF_AXES 3U
	LSM6DSL accelerometer subsystem characteristics. More...

#define	LSM6DSL_GYRO_NUMBER_OF_AXES 3U
	L3GD20 gyroscope system characteristics. More...

LSM6DSL communication interfaces related bit masks
#define	LSM6DSL_DI_MASK 0xFF

#define	LSM6DSL_DI(n) (1 << n)

#define	LSM6DSL_AD_MASK 0x7F

#define	LSM6DSL_AD(n) (1 << 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. More...

#define	LSM6DSL_SHARED_SPI FALSE
	LSM6DSL shared SPI switch. More...

#define	LSM6DSL_USE_I2C TRUE
	LSM6DSL I2C interface switch. More...

#define	LSM6DSL_SHARED_I2C FALSE
	LSM6DSL shared I2C switch. More...

#define	LSM6DSL_USE_ADVANCED FALSE
	LSM6DSL advanced configurations switch. More...

#define	LSM6DSL_GYRO_BIAS_ACQ_TIMES 50
	Number of acquisitions for gyroscope bias removal. More...

#define	LSM6DSL_GYRO_BIAS_SETTLING_US 5000
	Settling time for gyroscope bias removal. More...

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_1P66Hz = 0x80, LSM6DSL_GYRO_ODR_3P33Hz = 0x90, LSM6DSL_GYRO_ODR_6P66Hz = 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. More...

#define	_lsm6dsl_methods_alone
	`LSM6DSL` specific methods. More...

#define	_lsm6dsl_methods
	`LSM6DSL` specific methods with inherited ones. More...

#define	_lsm6dsl_data
	`LSM6DSLDriver` specific data. More...

Data Structures
struct	LSM6DSLConfig
	LSM6DSL configuration structure. More...

struct	LSM6DSLVMT
	`LSM6DSL` virtual methods table. More...

struct	LSM6DSLDriver
	LSM6DSL 6-axis accelerometer/gyroscope class. More...

Functions
msg_t	lsm6dslI2CReadRegister (I2CDriver i2cp, lsm6dsl_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 (LSM6DSLDriver *devp, lsm6dsl_acc_fs_t fs)
	Changes the LSM6DSLDriver 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[LSM6DSL_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 (LSM6DSLDriver *devp, lsm6dsl_gyro_fs_t fs)
	Changes the LSM6DSLDriver gyroscope fullscale value. More...

void	lsm6dslObjectInit (LSM6DSLDriver *devp)
	Initializes an instance. More...

void	lsm6dslStart (LSM6DSLDriver devp, const LSM6DSLConfig config)
	Configures and activates LSM6DSL Complex Driver peripheral. More...

void	lsm6dslStop (LSM6DSLDriver *devp)
	Deactivates the LSM6DSL Complex Driver peripheral. More...

Macro Definition Documentation

◆ lsm6dslI2CWriteRegister

#define lsm6dslI2CWriteRegister	(	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 lsm6dsl.c.

◆ EX_LSM6DSL_VERSION

#define EX_LSM6DSL_VERSION "1.0.1"

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 1

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.

◆ 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.

◆ 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.

◆ 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.

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

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

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

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

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

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

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
	)	(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_1P66Hz	ODR 1.66 kHz
LSM6DSL_GYRO_ODR_3P33Hz	ODR 3.33 kHz
LSM6DSL_GYRO_ODR_6P66Hz	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(), 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 lsm6dsl.c.

References LSM6DSL_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 lsm6dsl.c.

References I2C_READY, i2cAcquireBus(), i2cStart(), LSM6DSL_ACC_NUMBER_OF_AXES, LSM6DSL_READY, lsm6dslI2CReadRegister(), 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 lsm6dsl.c.

References acc_read_raw(), LSM6DSL_ACC_NUMBER_OF_AXES, LSM6DSL_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 lsm6dsl.c.

References LSM6DSL_ACC_NUMBER_OF_AXES, LSM6DSL_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 lsm6dsl.c.

References LSM6DSL_ACC_NUMBER_OF_AXES, LSM6DSL_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 lsm6dsl.c.

References LSM6DSL_ACC_NUMBER_OF_AXES, LSM6DSL_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 lsm6dsl.c.

References LSM6DSL_ACC_FS_2G, LSM6DSL_ACC_NUMBER_OF_AXES, LSM6DSL_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ acc_set_full_scale()

static 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, LSM6DSL_ACC_FS_2G, LSM6DSL_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 lsm6dsl.c.

References LSM6DSL_GYRO_NUMBER_OF_AXES.

◆ gyro_read_raw()

static 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 449 of file lsm6dsl.c.

References I2C_READY, i2cAcquireBus(), i2cStart(), 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()

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 lsm6dsl.c.

References gyro_read_raw(), LSM6DSL_GYRO_NUMBER_OF_AXES, LSM6DSL_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 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 538 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()

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 lsm6dsl.c.

References LSM6DSL_GYRO_NUMBER_OF_AXES, LSM6DSL_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 lsm6dsl.c.

References LSM6DSL_GYRO_NUMBER_OF_AXES, LSM6DSL_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 lsm6dsl.c.

References LSM6DSL_GYRO_NUMBER_OF_AXES, LSM6DSL_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 lsm6dsl.c.

References LSM6DSL_GYRO_FS_125DPS, LSM6DSL_GYRO_NUMBER_OF_AXES, LSM6DSL_READY, MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

◆ gyro_set_full_scale()

static 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 721 of file lsm6dsl.c.

References I2C_READY, LSM6DSL_GYRO_FS_125DPS, LSM6DSL_READY, MSG_OK, osalDbgAssert, and osalDbgCheck.

◆ lsm6dslObjectInit()

void lsm6dslObjectInit ( LSM6DSLDriver * devp )

Initializes an instance.

Parameters

[out] devp pointer to the LSM6DSLDriver object

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

Definition at line 832 of file lsm6dsl.c.

References LSM6DSLDriver::vmt.

◆ 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 853 of file lsm6dsl.c.

References LSM6DSL_READY, LSM6DSL_STOP, osalDbgAssert, and osalDbgCheck.

◆ 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 1087 of file lsm6dsl.c.

References i2cAcquireBus(), i2cStart(), LSM6DSL_READY, LSM6DSL_STOP, osalDbgAssert, and osalDbgCheck.

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Detailed Description

Macros

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

LSM6DSL data structures and types.

Data Structures

Functions

Macro Definition Documentation

◆ lsm6dslI2CWriteRegister

◆ EX_LSM6DSL_VERSION

◆ EX_LSM6DSL_MAJOR

◆ EX_LSM6DSL_MINOR

◆ EX_LSM6DSL_PATCH

◆ LSM6DSL_ACC_NUMBER_OF_AXES

◆ LSM6DSL_GYRO_NUMBER_OF_AXES

◆ LSM6DSL_USE_SPI

◆ LSM6DSL_SHARED_SPI

◆ LSM6DSL_USE_I2C

◆ LSM6DSL_SHARED_I2C

◆ LSM6DSL_USE_ADVANCED

◆ LSM6DSL_GYRO_BIAS_ACQ_TIMES

◆ LSM6DSL_GYRO_BIAS_SETTLING_US

◆ _lsm6dsl_methods_alone

◆ _lsm6dsl_methods

◆ _lsm6dsl_data

◆ lsm6dslAccelerometerGetAxesNumber

◆ lsm6dslAccelerometerReadRaw

◆ lsm6dslAccelerometerReadCooked

◆ lsm6dslAccelerometerSetBias

◆ lsm6dslAccelerometerResetBias

◆ lsm6dslAccelerometerSetSensitivity

◆ lsm6dslAccelerometerResetSensitivity

◆ lsm6dslAccelerometerSetFullScale

◆ lsm6dslGyroscopeGetAxesNumber

◆ lsm6dslGyroscopeReadRaw

◆ lsm6dslGyroscopeReadCooked

◆ lsm6dslGyroscopeSampleBias

◆ lsm6dslGyroscopeSetBias

◆ lsm6dslGyroscopeResetBias

◆ lsm6dslGyroscopeSetSensitivity

◆ lsm6dslGyroscopeResetSensitivity

◆ lsm6dslGyroscopeSetFullScale

Typedef Documentation

◆ LSM6DSLDriver

Enumeration Type Documentation

◆ lsm6dsl_sad_t

◆ lsm6dsl_acc_fs_t

◆ lsm6dsl_acc_odr_t

◆ lsm6dsl_acc_lp_t

◆ lsm6dsl_gyro_fs_t

◆ lsm6dsl_gyro_odr_t

◆ lsm6dsl_gyro_lp_t

◆ lsm6dsl_gyro_lpf_t

◆ lsm6dsl_bdu_t

◆ lsm6dsl_end_t

◆ lsm6dsl_state_t

Function Documentation

◆ lsm6dslI2CReadRegister()

◆ 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()

◆ gyro_get_axes_number()

◆ gyro_read_raw()