API for the LSM6DSL 3-axis Accelerometer and Gyroscope. More...

Detailed Description

ID: lsm6dsl
Name: Digital 3-axis Accelerometer and Gyroscope
Category: accelerometer gyro
Manufacturer: stmicro
Connection: i2c spi gpio
Link: http://www.st.com/en/mems-and-sensors/lsm6dsl.html

The LSM6DSL is a system-in-package featuring a 3D digital accelerometer and a 3D digital gyroscope performing at 0.65 mA in high performance mode and enabling always-on low-power features for an optimal motion experience for the consumer.

Not all functionality of this chip has been implemented in this driver, however all the pieces are present to add any desired functionality. This driver supports both I2C (default) and SPI operation.

    // Instantiate an LSM6DSL using default I2C parameters
    upm::LSM6DSL sensor;
    // For SPI, bus 0, you would pass -1 as the address, and a valid pin
    // for CS: LSM6DSL(0, -1, 10);
    // now output data every 250 milliseconds
    while (shouldRun) {
        float x, y, z;
        sensor.update();
        sensor.getAccelerometer(&x, &y, &z);
        cout << "Accelerometer x: " << x << " y: " << y << " z: " << z << " g" << endl;
        sensor.getGyroscope(&x, &y, &z);
        cout << "Gyroscope x: " << x << " y: " << y << " z: " << z << " dps" << endl;
        // we show both C and F for temperature
        cout << "Compensation Temperature: " << sensor.getTemperature() << " C / "
             << sensor.getTemperature(true) << " F" << endl;
        cout << endl;
        upm_delay_us(250000);
    }

Public Member Functions
	LSM6DSL (int bus=LSM6DSL_DEFAULT_I2C_BUS, int addr=LSM6DSL_DEFAULT_I2C_ADDR, int cs=-1)

virtual	~LSM6DSL ()

void	update ()

uint8_t	getChipID ()

void	getAccelerometer (float x, float y, float *z)

std::vector< float >	getAccelerometer ()

void	getGyroscope (float x, float y, float *z)

std::vector< float >	getGyroscope ()

float	getTemperature (bool fahrenheit=false)

void	init (LSM6DSL_XL_ODR_T acc_odr=LSM6DSL_XL_ODR_104HZ, LSM6DSL_XL_FS_T acc_fs=LSM6DSL_XL_FS_2G, LSM6DSL_G_ODR_T gyr_odr=LSM6DSL_G_ODR_104HZ, LSM6DSL_G_FS_T gyr_fs=LSM6DSL_G_FS_245DPS)

void	reset ()

void	setAccelerometerODR (LSM6DSL_XL_ODR_T odr)

void	setAccelerometerFullScale (LSM6DSL_XL_FS_T fs)

void	setGyroscopeODR (LSM6DSL_G_ODR_T odr)

void	setGyroscopeFullScale (LSM6DSL_G_FS_T fs)

void	setHighPerformance (bool enable)

void	setInterruptActiveHigh (bool high)

void	setInterruptPushPull (bool pp)

uint8_t	getStatus ()

void	setAccelerometerOffsets (int x, int y, int z, bool weight)

void	installISR (LSM6DSL_INTERRUPT_PINS_T intr, int gpio, mraa::Edge level, void(isr)(void ), void *arg)

void	uninstallISR (LSM6DSL_INTERRUPT_PINS_T intr)

uint8_t	readReg (uint8_t reg)

int	readRegs (uint8_t reg, uint8_t *buffer, int len)

void	writeReg (uint8_t reg, uint8_t val)

Protected Attributes
lsm6dsl_context	m_lsm6dsl

Constructor & Destructor Documentation

LSM6DSL	(	int	bus = `LSM6DSL_DEFAULT_I2C_BUS`,
		int	addr = `LSM6DSL_DEFAULT_I2C_ADDR`,
		int	cs = `-1`
	)

LSM6DSL constructor.

This device can support both I2C and SPI. For SPI, set the addr to -1, and specify a positive integer representing the Chip Select (CS) pin for the cs argument. If you are using a hardware CS pin (like edison with arduino breakout), then you can connect the proper pin to the hardware CS pin on your MCU and supply -1 for cs. The default operating mode is I2C.

Parameters

bus	I2C or SPI bus to use
addr	The address for this device. -1 for SPI
cs	The gpio pin to use for the SPI Chip Select. -1 for I2C or for SPI with a hardware controlled pin.

Exceptions

std::runtime_error on initialization failure

~LSM6DSL ( )

virtual

LSM6DSL destructor

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Member Function Documentation

void update ( void )

Update the internal stored values from sensor data

Exceptions

std::runtime_error on failure

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uint8_t getChipID ( )

Return the chip ID

Returns: The chip ID

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void getAccelerometer	(	float *	x,
		float *	y,
		float *	z
	)

Return accelerometer data in gravities. update() must have been called prior to calling this method.

Parameters

x	Pointer to a floating point value that will have the current x component placed into it
y	Pointer to a floating point value that will have the current y component placed into it
z	Pointer to a floating point value that will have the current z component placed into it

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std::vector< float > getAccelerometer ( )

Return accelerometer data in gravities in the form of a floating point vector. update() must have been called prior to calling this method.

Returns: A floating point vector containing x, y, and z in that order

void getGyroscope	(	float *	x,
		float *	y,
		float *	z
	)

Return gyroscope data in degrees per second (DPS). update() must have been called prior to calling this method.

Parameters

x	Pointer to a floating point value that will have the current x component placed into it
y	Pointer to a floating point value that will have the current y component placed into it
z	Pointer to a floating point value that will have the current z component placed into it

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std::vector< float > getGyroscope ( )

Return gyroscope data in degrees per second in the form of a floating point vector. update() must have been called prior to calling this method.

Returns: A floating point vector containing x, y, and z in that order

float getTemperature ( bool fahrenheit = false )

Return the current measured temperature. Note, this is not ambient temperature. update() must have been called prior to calling this method.

Parameters

fahrenheit true to return data in Fahrenheit, false for Celicus. Celsius is the default.

Returns: The temperature in degrees Celsius or Fahrenheit

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void init	(	LSM6DSL_XL_ODR_T	acc_odr = `LSM6DSL_XL_ODR_104HZ`,
		LSM6DSL_XL_FS_T	acc_fs = `LSM6DSL_XL_FS_2G`,
		LSM6DSL_G_ODR_T	gyr_odr = `LSM6DSL_G_ODR_104HZ`,
		LSM6DSL_G_FS_T	gyr_fs = `LSM6DSL_G_FS_245DPS`
	)

Initialize the device and start operation. This function is called from the constructor, so it will not need to be called by a user unless the device is reset. It sets the accelerometer and gyroscope ODR and FS modes, and enables BDU, register auto-increment, and high performance mode.

Parameters

acc_odr	One of the LSM6DSL_XL_ODR_T values
acc_fs	One of the LSM6DSL_XL_FS_T values
gyr_odr	One of the LSM6DSL_G_ODR_T values
gyr_fs	One of the LSM6DSL_G_FS_T values

Exceptions

std::runtime_error on failure

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void reset ( )

Reset the device as if during a power on reset. All configured values are lost when this happens. You should call init() afterwards, or at least perform the same initialization init() does before continuing.

Exceptions

std::runtime_error on failure

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void setAccelerometerODR ( LSM6DSL_XL_ODR_T odr )

Set the output data rate (ODR) of the accelerometer

Parameters

odr	One of the LSM6DSL_XL_ODR_T values

Exceptions

std::runtime_error on failure

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void setAccelerometerFullScale ( LSM6DSL_XL_FS_T fs )

Set the full scale (FS) of the accelerometer. This device supports a full scale of 2, 4, 8, and 16G.

Parameters

fs	One of the LSM6DSL_XL_FS_T values

Exceptions

std::runtime_error on failure

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void setGyroscopeODR ( LSM6DSL_G_ODR_T odr )

Set the output data rate (ODR) of the gyroscope

Parameters

odr	One of the LSM6DSL_G_ODR_T values

Exceptions

std::runtime_error on failure

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void setGyroscopeFullScale ( LSM6DSL_G_FS_T fs )

Set the full scale (FS) of the gyroscope

Parameters

fs	One of the LSM6DSL_G_FS_T values

Exceptions

std::runtime_error on failure

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void setHighPerformance ( bool enable )

Enable accelerometer and gyroscope high performance modes. These are further defined by the respective ODR settings to allow low power, and normal/high-performance modes. This is enabled by default in init().

Parameters

enable true to enable high performance mode, false otherwise

Exceptions

std::runtime_error on failure

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void setInterruptActiveHigh ( bool high )

Indicate whether the interrupt should be active high (default) or active low. See the datasheet for details.

Parameters

high	true for active high, false for active low

Exceptions

std::runtime_error on failure

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void setInterruptPushPull ( bool pp )

Indicate whether interrupts are push-pull (default) or open drain. See the datasheet for details.

Parameters

pp	true for push-pull, false for open-drain

Exceptions

std::runtime_error on failure

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uint8_t getStatus ( )

Return the contents of the status register

Returns: A bitmask of values from LSM6DSL_STATUS_BITS_T

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void setAccelerometerOffsets	(	int	x,
		int	y,
		int	z,
		bool	weight
	)

Set accelerometer offsets for each axis. In the case of X and Y, the offsets will be internally added before being placed into the output registers. For the Z offset, the value will be subtracted before being placed into the output registers. The weight is used to determine the weighing of the offset bits. All offsets must be in the range of -127 to 127.

Parameters

x	X axis offset in the range -127 to 127
y	Y axis offset in the range -127 to 127
z	Z axis offset in the range -127 to 127
weight	When true, the the offset will be weighted at 2^-6 g/LSB, when false the weighting will be 2^-10 g/LSB

Exceptions

std::runtime_error on failure

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void installISR	(	LSM6DSL_INTERRUPT_PINS_T	intr,
		int	gpio,
		mraa::Edge	level,
		void()(void )	isr,
		void *	arg
	)

install an interrupt handler

Parameters

intr	One of the LSM6DSL_INTERRUPT_PINS_T values specifying which interrupt pin you are installing
gpio	GPIO pin to use as interrupt pin
level	The interrupt trigger level (one of mraa::Edge values). Make sure that you have configured the interrupt pin properly for whatever level you choose.
isr	The interrupt handler, accepting a void * argument
arg	The argument to pass the the interrupt handler