lsm6dsl.h File Reference

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API Description

/*
 * Author: Jon Trulson <jtrulson@ics.com>
 * Copyright (c) 2017 Intel Corporation.
 *
 * The MIT License
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject to
 * the following conditions:
 *
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

#include <unistd.h>
#include <stdio.h>
#include <signal.h>

#include "upm_utilities.h"
#include "lsm6dsl.h"

bool shouldRun = true;

void sig_handler(int signo)
{
    if (signo == SIGINT)
        shouldRun = false;
}


int main(int argc, char **argv)
{
    signal(SIGINT, sig_handler);

#if defined(CONFIG_BOARD_ARDUINO_101_SSS)
    // ARDUINO_101_SSS (ARC core) must use I2C
    // Instantiate a LSM6DSL instance using default i2c bus and address
    lsm6dsl_context sensor = lsm6dsl_init(LSM6DSL_DEFAULT_I2C_BUS,
                                          LSM6DSL_DEFAULT_I2C_ADDR, -1);
#elif defined(CONFIG_BOARD_ARDUINO_101)
    // ARDUINO_101 (Quark core) must use SPI
    // Instantiate a LSM6DSL instance using default SPI bus and pin 10 as CS
    lsm6dsl_context sensor = lsm6dsl_init(LSM6DSL_DEFAULT_SPI_BUS,
                                          -1, 10);
#else
    // everything else use I2C by default
    // Instantiate a LSM6DSL instance using default i2c bus and address
    lsm6dsl_context sensor = lsm6dsl_init(LSM6DSL_DEFAULT_I2C_BUS,
                                          LSM6DSL_DEFAULT_I2C_ADDR, -1);
#endif

    if (!sensor)
    {
        printf("lsm6dsl_init() failed.\n");
        return 1;
    }

    // now output data every 250 milliseconds
    while (shouldRun)
    {
        float x, y, z;

        if (lsm6dsl_update(sensor))
        {
            printf("lsm6dsl_update() failed\n");
            lsm6dsl_close(sensor);
            return 1;
        }

        lsm6dsl_get_accelerometer(sensor, &x, &y, &z);
        printf("Acceleration x: %f y: %f z: %f g\n",
               x, y, z);

        lsm6dsl_get_gyroscope(sensor, &x, &y, &z);
        printf("Gyroscope x: %f y: %f z: %f dps\n",
               x, y, z);

        printf("Compensation Temperature: %f C\n\n",
               lsm6dsl_get_temperature(sensor));

        upm_delay_ms(250);
    }

    printf("Exiting...\n");

    lsm6dsl_close(sensor);


    return 0;
}

Go to the source code of this file.

Data Structures
struct	_lsm6dsl_context

Functions
lsm6dsl_context	lsm6dsl_init (int bus, int addr, int cs)
void	lsm6dsl_close (lsm6dsl_context dev)
upm_result_t	lsm6dsl_update (const lsm6dsl_context dev)
uint8_t	lsm6dsl_get_chip_id (const lsm6dsl_context dev)
upm_result_t	lsm6dsl_devinit (const lsm6dsl_context dev, LSM6DSL_XL_ODR_T acc_odr, LSM6DSL_XL_FS_T acc_fs, LSM6DSL_G_ODR_T gyr_odr, LSM6DSL_G_FS_T gyr_fs)
upm_result_t	lsm6dsl_set_acc_odr (const lsm6dsl_context dev, LSM6DSL_XL_ODR_T odr)
upm_result_t	lsm6dsl_set_gyr_odr (const lsm6dsl_context dev, LSM6DSL_G_ODR_T odr)
upm_result_t	lsm6dsl_set_acc_full_scale (const lsm6dsl_context dev, LSM6DSL_XL_FS_T fs)
upm_result_t	lsm6dsl_set_gyr_full_scale (const lsm6dsl_context dev, LSM6DSL_G_FS_T fs)
void	lsm6dsl_get_accelerometer (const lsm6dsl_context dev, float *x, float *y, float *z)
void	lsm6dsl_get_gyroscope (const lsm6dsl_context dev, float *x, float *y, float *z)
float	lsm6dsl_get_temperature (const lsm6dsl_context dev)
upm_result_t	lsm6dsl_high_performance (const lsm6dsl_context dev, bool enable)
upm_result_t	lsm6dsl_reset (const lsm6dsl_context dev)
upm_result_t	lsm6dsl_set_interrupt_active_high (const lsm6dsl_context dev, bool high)
upm_result_t	lsm6dsl_set_interrupt_push_pull (const lsm6dsl_context dev, bool pp)
uint8_t	lsm6dsl_get_status (const lsm6dsl_context dev)
upm_result_t	lsm6dsl_set_acc_offsets (const lsm6dsl_context dev, int x, int y, int z, bool weight)
upm_result_t	lsm6dsl_install_isr (const lsm6dsl_context dev, LSM6DSL_INTERRUPT_PINS_T intr, int gpio, mraa_gpio_edge_t level, void(*isr)(void *), void *arg)
void	lsm6dsl_uninstall_isr (const lsm6dsl_context dev, LSM6DSL_INTERRUPT_PINS_T intr)
uint8_t	lsm6dsl_read_reg (const lsm6dsl_context dev, uint8_t reg)
int	lsm6dsl_read_regs (const lsm6dsl_context dev, uint8_t reg, uint8_t *buffer, int len)
upm_result_t	lsm6dsl_write_reg (const lsm6dsl_context dev, uint8_t reg, uint8_t val)

Typedefs
typedef struct _lsm6dsl_context *	lsm6dsl_context

Function Documentation

lsm6dsl_context lsm6dsl_init	(	int	bus,
		int	addr,
		int	cs
	)

LSM6DSL initialization.

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 Intel Edison with Arduino breakout), then you can connect the proper pin to the hardware CS pin on your MCU and supply -1 for cs.

Parameters

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

Returns

The device context, or NULL on error

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void lsm6dsl_close

(

lsm6dsl_context

dev

)

LSM6DSL Destructor

Parameters

dev	The device context

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upm_result_t lsm6dsl_update

(

const lsm6dsl_context

dev

)

Update the internal stored values from sensor data

Parameters

dev	The device context

Returns

UPM result

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uint8_t lsm6dsl_get_chip_id

(

const lsm6dsl_context

dev

)

Return the chip ID

Parameters

dev	The device context

Returns

The chip ID (LSM6DSL_CHIPID)

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upm_result_t lsm6dsl_devinit	(	const lsm6dsl_context	dev,
		LSM6DSL_XL_ODR_T	acc_odr,
		LSM6DSL_XL_FS_T	acc_fs,
		LSM6DSL_G_ODR_T	gyr_odr,
		LSM6DSL_G_FS_T	gyr_fs
	)

Initialize the device and start operation. This function is called from lsm6dsl_init(), 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

dev	The device context
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

Returns

UPM result

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upm_result_t lsm6dsl_set_acc_odr	(	const lsm6dsl_context	dev,
		LSM6DSL_XL_ODR_T	odr
	)

Set the output data rate (ODR) of the accelerometer

Parameters

dev	The device context
odr	One of the LSM6DSL_XL_ODR_T values

Returns

UPM result

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upm_result_t lsm6dsl_set_gyr_odr	(	const lsm6dsl_context	dev,
		LSM6DSL_G_ODR_T	odr
	)

Set the output data rate (ODR) of the gyroscope

Parameters

dev	The device context
odr	One of the LSM6DSL_G_ODR_T values

Returns

UPM result

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upm_result_t lsm6dsl_set_acc_full_scale	(	const lsm6dsl_context	dev,
		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

dev	The device context
fs	One of the LSM6DSL_XL_FS_T values

Returns

UPM result

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upm_result_t lsm6dsl_set_gyr_full_scale	(	const lsm6dsl_context	dev,
		LSM6DSL_G_FS_T	fs
	)

Set the full scale (FS) of the gyroscope. This device supports a full scale of 125, 245, 500, 1000, and 2000 degrees per second (DPS)

Parameters

dev	The device context
fs	One of the LSM6DSL_G_FS_T values

Returns

UPM result

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void lsm6dsl_get_accelerometer	(	const lsm6dsl_context	dev,
		float *	x,
		float *	y,
		float *	z
	)

Return accelerometer data in gravities (g). lsm6dsl_update() must have been called prior to calling this function.

Parameters

dev	The device context
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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void lsm6dsl_get_gyroscope	(	const lsm6dsl_context	dev,
		float *	x,
		float *	y,
		float *	z
	)

Return gyroscope data in degrees per second (DPS). lsm6dsl_update() must have been called prior to calling this function.

Parameters

dev	The device context
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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float lsm6dsl_get_temperature

(

const lsm6dsl_context

dev

)

Return the current measured temperature. Note, this is not ambient temperature. lsm6dsl_update() must have been called prior to calling this function.

Parameters

dev	The device context

Returns

The temperature in degrees Celsius

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upm_result_t lsm6dsl_high_performance	(	const lsm6dsl_context	dev,
		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.

Parameters

dev	The device context
enable	true to enable high performance mode, false otherwise

Returns

UPM result

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upm_result_t lsm6dsl_reset

(

const lsm6dsl_context

dev

)

Reset the device as if during a power on reset. All configured values are lost when this happens. You should call lsm6dsl_devinit() afterwards, or at least perform the same initialization lsm6dsl_devinit() does before continuing.

Parameters

dev	The device context

Returns

UPM result

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upm_result_t lsm6dsl_set_interrupt_active_high	(	const lsm6dsl_context	dev,
		bool	high
	)

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

Parameters

dev	The device context
high	true for active high, false for active low

Returns

UPM result

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upm_result_t lsm6dsl_set_interrupt_push_pull	(	const lsm6dsl_context	dev,
		bool	pp
	)

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

Parameters

dev	The device context
pp	true for push-pull, false for open-drain

Returns

UPM result

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uint8_t lsm6dsl_get_status

(

const lsm6dsl_context

dev

)

Return the contents of the status register

Parameters

dev	The device context

Returns

A bitmask of values from LSM6DSL_STATUS_BITS_T

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upm_result_t lsm6dsl_set_acc_offsets	(	const lsm6dsl_context	dev,
		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

dev	The device context
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

Returns

UPM result

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upm_result_t lsm6dsl_install_isr	(	const lsm6dsl_context	dev,
		LSM6DSL_INTERRUPT_PINS_T	intr,
		int	gpio,
		mraa_gpio_edge_t	level,
		void(*)(void *)	isr,
		void *	arg
	)

Install an interrupt handler

Parameters

dev	The device context
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_gpio_edge_t 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

Returns

UPM result

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void lsm6dsl_uninstall_isr	(	const lsm6dsl_context	dev,
		LSM6DSL_INTERRUPT_PINS_T	intr
	)

Uninstall a previously installed interrupt handler

Parameters

dev	The device context
intr	One of the LSM6DSL_INTERRUPT_PINS_T values specifying which interrupt pin you are removing

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uint8_t lsm6dsl_read_reg	(	const lsm6dsl_context	dev,
		uint8_t	reg
	)

Read a register

Parameters

dev	The device context
reg	The register to read

Returns

The value of the register

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int lsm6dsl_read_regs	(	const lsm6dsl_context	dev,
		uint8_t	reg,
		uint8_t *	buffer,
		int	len
	)

Read contiguous registers into a buffer

Parameters

dev	The device context
buffer	The buffer to store the results
len	The number of registers to read

Returns

The number of bytes read, or -1 on error

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upm_result_t lsm6dsl_write_reg	(	const lsm6dsl_context	dev,
		uint8_t	reg,
		uint8_t	val
	)

Write to a register

Parameters

dev	The device context
reg	The register to write to
val	The value to write

Returns

UPM result

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Typedef Documentation

typedef struct _lsm6dsl_context * lsm6dsl_context

Device context