LSM6DS0

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   "1.1.1"
	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   1
	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_ACC_USE_ADVANCED   FALSE
	LSM6DS0 accelerometer subsystem advanced configurations switch. More...
#define	LSM6DS0_GYRO_USE_ADVANCED   FALSE
	LSM6DS0 gyroscope subsystem 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.
Todo: Add support for LSM6DS0 over SPI.
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

#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.

Referenced by acc_set_full_scale(), gyro_set_full_scale(), lsm6ds0Start(), and lsm6ds0Stop().

#define EX_LSM6DS0_VERSION   "1.1.1"

LSM6DS0 driver version string.

Definition at line 46 of file lsm6ds0.h.

#define EX_LSM6DS0_MAJOR   1

LSM6DS0 driver version major number.

Definition at line 51 of file lsm6ds0.h.

#define EX_LSM6DS0_MINOR   1

LSM6DS0 driver version minor number.

Definition at line 56 of file lsm6ds0.h.

#define EX_LSM6DS0_PATCH   1

LSM6DS0 driver version patch number.

Definition at line 61 of file lsm6ds0.h.

#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.

Referenced by acc_get_axes_number(), acc_read_cooked(), acc_read_raw(), acc_reset_bias(), acc_reset_sensivity(), acc_set_bias(), acc_set_full_scale(), acc_set_sensivity(), lsm6ds0ObjectInit(), and lsm6ds0Start().

#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.

Referenced by gyro_get_axes_number(), gyro_read_cooked(), gyro_read_raw(), gyro_reset_bias(), gyro_reset_sensivity(), gyro_sample_bias(), gyro_set_bias(), gyro_set_full_scale(), gyro_set_sensivity(), lsm6ds0ObjectInit(), and lsm6ds0Start().

#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.

#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.

#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.

#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.

#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.

#define LSM6DS0_ACC_USE_ADVANCED   FALSE

LSM6DS0 accelerometer subsystem advanced configurations switch.

If set to TRUE more configurations are available.

Note

The default is FALSE.

Definition at line 364 of file lsm6ds0.h.

#define LSM6DS0_GYRO_USE_ADVANCED   FALSE

LSM6DS0 gyroscope subsystem advanced configurations switch.

If set to TRUE more configurations are available.

Note

The default is FALSE.

Definition at line 374 of file lsm6ds0.h.

#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 383 of file lsm6ds0.h.

Referenced by gyro_sample_bias().

#define LSM6DS0_GYRO_BIAS_SETTLING_US   5000

Settling time for gyroscope bias removal.

This is the time between each bias acquisition.

Definition at line 391 of file lsm6ds0.h.

Referenced by gyro_sample_bias().

#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 680 of file lsm6ds0.h.

#define _lsm6ds0_methods

Value:

_base_object_methods                                                      \
  _lsm6ds0_methods_alone

LSM6DS0 specific methods with inherited ones.

Definition at line 689 of file lsm6ds0.h.

#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 705 of file lsm6ds0.h.

#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 755 of file lsm6ds0.h.

#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 776 of file lsm6ds0.h.

#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 798 of file lsm6ds0.h.

#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 815 of file lsm6ds0.h.

#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 830 of file lsm6ds0.h.

#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 847 of file lsm6ds0.h.

#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 862 of file lsm6ds0.h.

#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 880 of file lsm6ds0.h.

#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 892 of file lsm6ds0.h.

#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 913 of file lsm6ds0.h.

#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 935 of file lsm6ds0.h.

#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 955 of file lsm6ds0.h.

#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 972 of file lsm6ds0.h.

#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 987 of file lsm6ds0.h.

#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 1004 of file lsm6ds0.h.

#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 1019 of file lsm6ds0.h.

#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 1037 of file lsm6ds0.h.

Typedef Documentation

typedef struct LSM6DS0Driver LSM6DS0Driver

Structure representing a LSM6DS0 driver.

Definition at line 437 of file lsm6ds0.h.

Enumeration Type Documentation

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 442 of file lsm6ds0.h.

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 450 of file lsm6ds0.h.

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 460 of file lsm6ds0.h.

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 473 of file lsm6ds0.h.

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 483 of file lsm6ds0.h.

enum lsm6ds0_gyro_odr_t

LSM6DS0 gyroscope subsystem output data rate.

Definition at line 492 of file lsm6ds0.h.

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 516 of file lsm6ds0.h.

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 524 of file lsm6ds0.h.

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 533 of file lsm6ds0.h.

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 541 of file lsm6ds0.h.

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 557 of file lsm6ds0.h.

enum lsm6ds0_end_t

LSM6DS0 endianness.

Enumerator
LSM6DS0_END_LITTLE	Little endian.
LSM6DS0_END_BIG	Big endian.

Definition at line 565 of file lsm6ds0.h.

enum lsm6ds0_state_t

Driver state machine possible states.

Enumerator
LSM6DS0_UNINIT	Not initialized.
LSM6DS0_STOP	Stopped.
LSM6DS0_READY	Ready.

Definition at line 573 of file lsm6ds0.h.

Function Documentation

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(), acc_set_full_scale(), gyro_read_raw(), and gyro_set_full_scale().

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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.

Referenced by gyro_set_full_scale().

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(), i2cReleaseBus(), i2cStart(), LSM6DS0_ACC_NUMBER_OF_AXES, LSM6DS0_READY, lsm6ds0I2CReadRegister(), MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by acc_read_cooked(), and gyro_set_full_scale().

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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.

Referenced by gyro_set_full_scale().

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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.

Referenced by gyro_set_full_scale().

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.

Referenced by gyro_set_full_scale().

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.

Referenced by gyro_set_full_scale().

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 FALSE, LSM6DS0_ACC_FS_16G, LSM6DS0_ACC_FS_2G, LSM6DS0_ACC_FS_4G, LSM6DS0_ACC_FS_8G, LSM6DS0_ACC_NUMBER_OF_AXES, LSM6DS0_READY, MSG_OK, MSG_RESET, objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by gyro_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, i2cAcquireBus(), i2cReleaseBus(), i2cStart(), LSM6DS0_ACC_FS_16G, LSM6DS0_ACC_FS_2G, LSM6DS0_ACC_FS_4G, LSM6DS0_ACC_FS_8G, LSM6DS0_ACC_NUMBER_OF_AXES, LSM6DS0_READY, lsm6ds0I2CReadRegister(), lsm6ds0I2CWriteRegister, MSG_OK, MSG_RESET, osalDbgAssert, and osalDbgCheck.

Referenced by gyro_set_full_scale().

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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.

Referenced by gyro_set_full_scale().

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(), i2cReleaseBus(), i2cStart(), LSM6DS0_GYRO_NUMBER_OF_AXES, LSM6DS0_READY, lsm6ds0I2CReadRegister(), MSG_OK, objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by gyro_read_cooked(), gyro_sample_bias(), and gyro_set_full_scale().

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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.

Referenced by gyro_set_full_scale().

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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.

Referenced by gyro_set_full_scale().

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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.

Referenced by gyro_set_full_scale().

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.

Referenced by gyro_set_full_scale().

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.

Referenced by gyro_set_full_scale().

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 FALSE, LSM6DS0_GYRO_FS_2000DPS, LSM6DS0_GYRO_FS_245DPS, LSM6DS0_GYRO_FS_500DPS, LSM6DS0_GYRO_NUMBER_OF_AXES, LSM6DS0_READY, MSG_OK, MSG_RESET, objGetInstance, osalDbgAssert, and osalDbgCheck.

Referenced by 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 acc_get_axes_number(), acc_read_cooked(), acc_read_raw(), acc_reset_bias(), acc_reset_sensivity(), acc_set_bias(), acc_set_full_scale(), acc_set_sensivity(), gyro_get_axes_number(), gyro_read_cooked(), gyro_read_raw(), gyro_reset_bias(), gyro_reset_sensivity(), gyro_sample_bias(), gyro_set_bias(), gyro_set_sensivity(), I2C_READY, i2cAcquireBus(), i2cReleaseBus(), i2cStart(), LSM6DS0_GYRO_FS_2000DPS, LSM6DS0_GYRO_FS_245DPS, LSM6DS0_GYRO_FS_500DPS, LSM6DS0_GYRO_NUMBER_OF_AXES, LSM6DS0_READY, lsm6ds0I2CReadRegister(), lsm6ds0I2CWriteRegister, MSG_OK, MSG_RESET, osalDbgAssert, and osalDbgCheck.

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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::acc_if, LSM6DS0Driver::gyro_if, LSM6DS0_ACC_NUMBER_OF_AXES, LSM6DS0_GYRO_NUMBER_OF_AXES, LSM6DS0_STOP, BaseAccelerometer::vmt, BaseGyroscope::vmt, and LSM6DS0Driver::vmt.

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 FALSE, i2cAcquireBus(), i2cReleaseBus(), i2cStart(), LSM6DS0_ACC_FS_16G, LSM6DS0_ACC_FS_2G, LSM6DS0_ACC_FS_4G, LSM6DS0_ACC_FS_8G, LSM6DS0_ACC_NUMBER_OF_AXES, LSM6DS0_GYRO_FS_2000DPS, LSM6DS0_GYRO_FS_245DPS, LSM6DS0_GYRO_FS_500DPS, LSM6DS0_GYRO_NUMBER_OF_AXES, LSM6DS0_READY, LSM6DS0_STOP, lsm6ds0I2CWriteRegister, osalDbgAssert, osalDbgCheck, and osalThreadSleepMilliseconds.

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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(), i2cReleaseBus(), i2cStart(), i2cStop(), LSM6DS0_READY, LSM6DS0_STOP, lsm6ds0I2CWriteRegister, osalDbgAssert, and osalDbgCheck.

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