UPM

The UPM API is a high level sensor library for IoT devices using MRAA. See examples here. Back to index page.
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LSM6DS3H Class

Module: lsm6ds3h

The LSM6DS3H is a system-in-package featuring a 3D digital accelerometer and a 3D digital gyroscope performing at 1.1 mA (up to 1.6 kHz ODR) 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.

Methods

LSM6DS3H

(
  • bus
  • addr
  • cs
)
Number

LSM6DS3H 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 Number

    I2C or SPI bus to use

  • addr Number

    The address for this device. -1 for SPI

  • cs Number

    The gpio pin to use for the SPI Chip Select. -1 for I2C or for SPI with a hardware controlled pin.

Returns:

Number:

update

()

Update the internal stored values from sensor data

getChipID

() Number

Return the chip ID

Returns:

Number:

The chip ID

getAccelerometer

(
  • x
  • y
  • z
)

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

Parameters:

  • x Float *

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

  • y Float *

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

  • z Float *

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

getAccelerometer

() Std::vector float

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

Returns:

Std::vector float :

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

getGyroscope

(
  • x
  • y
  • z
)

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

Parameters:

  • x Float *

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

  • y Float *

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

  • z Float *

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

getGyroscope

() Std::vector float

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:

Std::vector float :

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

getTemperature

(
  • fahrenheit
)
Number

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

Parameters:

  • fahrenheit Boolean

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

Returns:

Number:

The temperature in degrees Celsius or Fahrenheit

init

(
  • acc_odr
  • acc_fs
  • gyr_odr
  • gyr_fs
)

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 LSM6DS3H_XL_ODR_T

    One of the LSM6DS3H_XL_ODR_T values

  • acc_fs LSM6DS3H_XL_FS_T

    One of the LSM6DS3H_XL_FS_T values

  • gyr_odr LSM6DS3H_G_ODR_T

    One of the LSM6DS3H_G_ODR_T values

  • gyr_fs LSM6DS3H_G_FS_T

    One of the LSM6DS3H_G_FS_T values

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.

setAccelerometerODR

(
  • odr
)

Set the output data rate (ODR) of the accelerometer

Parameters:

  • odr LSM6DS3H_XL_ODR_T

    One of the LSM6DS3H_XL_ODR_T values

setAccelerometerFullScale

(
  • fs
)

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

Parameters:

  • fs LSM6DS3H_XL_FS_T

    One of the LSM6DS3H_XL_FS_T values

setGyroscopeODR

(
  • odr
)

Set the output data rate (ODR) of the gyroscope

Parameters:

  • odr LSM6DS3H_G_ODR_T

    One of the LSM6DS3H_G_ODR_T values

setGyroscopeFullScale

(
  • fs
)

Set the full scale (FS) of the gyroscope

Parameters:

  • fs LSM6DS3H_G_FS_T

    One of the LSM6DS3H_G_FS_T values

setHighPerformance

(
  • 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 Boolean

    true to enable high performance mode, false otherwise

setInterruptActiveHigh

(
  • high
)

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

Parameters:

  • high Boolean

    true for active high, false for active low

setInterruptPushPull

(
  • pp
)

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

Parameters:

  • pp Boolean

    true for push-pull, false for open-drain

getStatus

() Number

Return the contents of the status register

Returns:

Number:

A bitmask of values from LSM6DS3H_STATUS_BITS_T

installISR

(
  • intr
  • gpio
  • level
  • isr
  • arg
)

install an interrupt handler

Parameters:

  • intr LSM6DS3H_INTERRUPT_PINS_T

    One of the LSM6DS3H_INTERRUPT_PINS_T values specifying which interrupt pin you are installing

  • gpio Number

    GPIO pin to use as interrupt pin

  • level Mraa::Edge

    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 Function

    The interrupt handler, accepting a void * argument

  • arg Void *

    The argument to pass the the interrupt handler

uninstallISR

(
  • intr
)

uninstall a previously installed interrupt handler

Parameters:

  • intr LSM6DS3H_INTERRUPT_PINS_T

    One of the LSM6DS3H_INTERRUPT_PINS_T values specifying which interrupt pin you are removing

readReg

(
  • reg
)
Number

Read a register

Parameters:

  • reg Number

    The register to read

Returns:

Number:

The value of the register

readRegs

(
  • reg
  • buffer
  • len
)
Number

Read contiguous registers into a buffer

Parameters:

  • reg Number

    undefined

  • buffer Uint8_t *

    The buffer to store the results

  • len Number

    The number of registers to read

Returns:

Number:

The number of bytes read

writeReg

(
  • reg
  • val
)

Write to a register

Parameters:

  • reg Number

    The register to write to

  • val Number

    The value to write