Class representing a LSM6DS0 sensor component. More...

#include <lsm6ds0_class.h>

Public Member Functions
	LSM6DS0 (DevI2C &i2c)
	Constructor.
virtual	~LSM6DS0 ()
	Destructor.
virtual int	Init (void *init_struct)
	Initialization of sensor.
virtual int	ReadID (uint8_t *xg_id)
	Get ID of sensor.
virtual int	Get_X_Axes (int32_t *pData)
	Get current accelerometer linear acceleration X/Y/Z-axes values in standard data units [mg].
virtual int	Get_X_AxesRaw (int16_t *pData)
	Get current accelerometer raw data X/Y/Z-axes values in device sepcific LSB units.
virtual int	Get_G_Axes (int32_t *pData)
	Get current gyroscope angular rate X/Y/Z-axes values in standard data units [mdps].
virtual int	Get_G_AxesRaw (int16_t *pData)
	Get current gyroscope raw data X/Y/Z-axes values in device sepcific LSB units.
virtual int	Get_X_ODR (float *odr)
	Get accelerometer's current output data rate [Hz].
virtual int	Set_X_ODR (float odr)
	Set accelerometer's output data rate.
virtual int	Get_X_Sensitivity (float *pfData)
	Get accelerometer's current sensitivity [mg/LSB].
virtual int	Get_X_FS (float *fullScale)
	Get accelerometer's full scale value i.e. min/max measurable value [g].
virtual int	Set_X_FS (float fullScale)
	Set accelerometer's full scale value i.e. min/max measurable value.
virtual int	Get_G_ODR (float *odr)
	Get gyroscope's current output data rate [Hz].
virtual int	Set_G_ODR (float odr)
	Set gyroscope's output data rate.
virtual int	Get_G_Sensitivity (float *pfData)
	Get gyroscope's current sensitivity [mdps/LSB].
virtual int	Get_G_FS (float *fullScale)
	Get gyroscope's full scale value i.e. min/max measurable value [dps].
virtual int	Set_G_FS (float fullScale)
	Set gyroscope's full scale value i.e. min/max measurable value.
Protected Member Functions
IMU_6AXES_StatusTypeDef	LSM6DS0_Init (IMU_6AXES_InitTypeDef *LSM6DS0_Init)
	Set LSM6DS0 Initialization.
IMU_6AXES_StatusTypeDef	LSM6DS0_Read_XG_ID (uint8_t *xg_id)
	Read ID of LSM6DS0 Accelerometer and Gyroscope.
IMU_6AXES_StatusTypeDef	LSM6DS0_X_GetAxes (int32_t *pData)
	Read data from LSM6DS0 Accelerometer and calculate linear acceleration in mg.
IMU_6AXES_StatusTypeDef	LSM6DS0_X_GetAxesRaw (int16_t *pData)
	Read raw data from LSM6DS0 Accelerometer output register.
IMU_6AXES_StatusTypeDef	LSM6DS0_G_GetAxes (int32_t *pData)
	Read data from LSM6DS0 Gyroscope and calculate angular rate in mdps.
IMU_6AXES_StatusTypeDef	LSM6DS0_G_GetAxesRaw (int16_t *pData)
	Read raw data from LSM6DS0 Gyroscope output register.
IMU_6AXES_StatusTypeDef	LSM6DS0_X_Get_ODR (float *odr)
	Read Accelero Output Data Rate.
IMU_6AXES_StatusTypeDef	LSM6DS0_X_Set_ODR (float odr)
	Write Accelero Output Data Rate.
IMU_6AXES_StatusTypeDef	LSM6DS0_X_GetSensitivity (float *pfData)
	Read Accelero Sensitivity.
IMU_6AXES_StatusTypeDef	LSM6DS0_X_Get_FS (float *fullScale)
	Read Accelero Full Scale.
IMU_6AXES_StatusTypeDef	LSM6DS0_X_Set_FS (float fullScale)
	Write Accelero Full Scale.
IMU_6AXES_StatusTypeDef	LSM6DS0_G_Get_ODR (float *odr)
	Read Gyro Output Data Rate.
IMU_6AXES_StatusTypeDef	LSM6DS0_G_Set_ODR (float odr)
	Write Gyro Output Data Rate.
IMU_6AXES_StatusTypeDef	LSM6DS0_G_GetSensitivity (float *pfData)
	Read Gyro Sensitivity.
IMU_6AXES_StatusTypeDef	LSM6DS0_G_Get_FS (float *fullScale)
	Read Gyro Full Scale.
IMU_6AXES_StatusTypeDef	LSM6DS0_G_Set_FS (float fullScale)
	Write Gyro Full Scale.
IMU_6AXES_StatusTypeDef	LSM6DS0_X_Set_Axes_Status (uint8_t enableX, uint8_t enableY, uint8_t enableZ)
	Set the status of the axes for accelerometer.
IMU_6AXES_StatusTypeDef	LSM6DS0_G_Set_Axes_Status (uint8_t enableX, uint8_t enableY, uint8_t enableZ)
	Set the status of the axes for gyroscope.
void	LSM6DS0_IO_ITConfig (void)
	Configures LSM6DS0 interrupt lines for NUCLEO boards.
IMU_6AXES_StatusTypeDef	LSM6DS0_IO_Init (void)
	Configures LSM6DS0 I2C interface.
IMU_6AXES_StatusTypeDef	LSM6DS0_IO_Read (uint8_t *pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
	Utility function to read data from LSM6DS0.
IMU_6AXES_StatusTypeDef	LSM6DS0_IO_Write (uint8_t *pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
	Utility function to write data to LSM6DS0.

Detailed Description

Class representing a LSM6DS0 sensor component.

Definition at line 51 of file lsm6ds0_class.h.

Constructor & Destructor Documentation

LSM6DS0 ( DevI2C & i2c )

Constructor.

Parameters:

[in] i2c device I2C to be used for communication

Definition at line 56 of file lsm6ds0_class.h.

virtual ~LSM6DS0 ( ) [virtual]

Destructor.

Definition at line 61 of file lsm6ds0_class.h.

Member Function Documentation

virtual int Get_G_Axes ( int32_t * pData ) [virtual]

Get current gyroscope angular rate X/Y/Z-axes values in standard data units [mdps].

Parameters:

[out] pData Pointer to where to store angular rates to. pData must point to an array of (at least) three elements, where: pData[0] corresponds to X-axis, pData[1] corresponds to Y-axis, and pData[2] corresponds to Z-axis.

Returns:: 0 in case of success, an error code otherwise

Implements GyroSensor.

Definition at line 80 of file lsm6ds0_class.h.

virtual int Get_G_AxesRaw ( int16_t * pData ) [virtual]

Get current gyroscope raw data X/Y/Z-axes values in device sepcific LSB units.

Parameters:

[out] pData Pointer to where to store gyroscope raw data to. pData must point to an array of (at least) three elements, where: pData[0] corresponds to X-axis, pData[1] corresponds to Y-axis, and pData[2] corresponds to Z-axis.

Returns:: 0 in case of success, an error code otherwise

Implements GyroSensor.

Definition at line 84 of file lsm6ds0_class.h.

virtual int Get_G_FS ( float * pfData ) [virtual]

Get gyroscope's full scale value i.e. min/max measurable value [dps].

Parameters:

[out] pfData Pointer to where the gyroscope full scale value is stored to

Returns:: 0 in case of success, an error code otherwise

Implements GyroSensor.

Definition at line 120 of file lsm6ds0_class.h.

virtual int Get_G_ODR ( float * pfData ) [virtual]

Get gyroscope's current output data rate [Hz].

Parameters:

[out] pfData Pointer to where the gyroscope output data rate is stored to

Returns:: 0 in case of success, an error code otherwise

Implements GyroSensor.

Definition at line 108 of file lsm6ds0_class.h.

virtual int Get_G_Sensitivity ( float * pfData ) [virtual]

Get gyroscope's current sensitivity [mdps/LSB].

Parameters:

[out] pfData Pointer to where the gyroscope's sensitivity is stored to

Returns:: 0 in case of success, an error code otherwise

Implements GyroSensor.

Definition at line 116 of file lsm6ds0_class.h.

virtual int Get_X_Axes ( int32_t * pData ) [virtual]

Get current accelerometer linear acceleration X/Y/Z-axes values in standard data units [mg].

Parameters:

[out] pData Pointer to where to store linear accelerations to. pData must point to an array of (at least) three elements, where: pData[0] corresponds to X-axis, pData[1] corresponds to Y-axis, and pData[2] corresponds to Z-axis.

Returns:: 0 in case of success, an error code otherwise

Implements MotionSensor.

Definition at line 72 of file lsm6ds0_class.h.

virtual int Get_X_AxesRaw ( int16_t * pData ) [virtual]

Get current accelerometer raw data X/Y/Z-axes values in device sepcific LSB units.

Parameters:

[out] pData Pointer to where to store accelerometer raw data to. pData must point to an array of (at least) three elements, where: pData[0] corresponds to X-axis, pData[1] corresponds to Y-axis, and pData[2] corresponds to Z-axis.

Returns:: 0 in case of success, an error code otherwise

Implements MotionSensor.

Definition at line 76 of file lsm6ds0_class.h.

virtual int Get_X_FS ( float * pfData ) [virtual]

Get accelerometer's full scale value i.e. min/max measurable value [g].

Parameters:

[out] pfData Pointer to where the accelerometer full scale value is stored to

Returns:: 0 in case of success, an error code otherwise

Implements MotionSensor.

Definition at line 100 of file lsm6ds0_class.h.

virtual int Get_X_ODR ( float * pfData ) [virtual]

Get accelerometer's current output data rate [Hz].

Parameters:

[out] pfData Pointer to where the accelerometer output data rate is stored to

Returns:: 0 in case of success, an error code otherwise

Implements MotionSensor.

Definition at line 88 of file lsm6ds0_class.h.

virtual int Get_X_Sensitivity ( float * pfData ) [virtual]

Get accelerometer's current sensitivity [mg/LSB].

Parameters:

[out] pfData Pointer to where the accelerometer's sensitivity is stored to

Returns:: 0 in case of success, an error code otherwise

Implements MotionSensor.

Definition at line 96 of file lsm6ds0_class.h.

virtual int Init ( void * ptr ) [virtual]

Initialization of sensor.

Parameters:

[out] ptr Pointer to device specific initalization structure

Returns:: 0 in case of success, an error code otherwise

Implements GenericSensor.

Definition at line 64 of file lsm6ds0_class.h.

IMU_6AXES_StatusTypeDef LSM6DS0_G_Get_FS ( float * fullScale ) [protected]

Read Gyro Full Scale.

Parameters:

fullScale the pointer where the gyroscope full scale is stored

Return values:

IMU_6AXES_OK in case of success, an error code otherwise

Definition at line 646 of file lsm6ds0_class.cpp.

IMU_6AXES_StatusTypeDef LSM6DS0_G_Get_ODR ( float * odr ) [protected]

Read Gyro Output Data Rate.

Parameters:

odr	the pointer where the gyroscope output data rate is stored

Return values:

IMU_6AXES_OK in case of success, an error code otherwise

Definition at line 530 of file lsm6ds0_class.cpp.

IMU_6AXES_StatusTypeDef LSM6DS0_G_GetAxes ( int32_t * pData ) [protected]

Read data from LSM6DS0 Gyroscope and calculate angular rate in mdps.

Parameters:

pData the pointer where the gyroscope data are stored

Return values:

IMU_6AXES_OK in case of success, an error code otherwise

Definition at line 315 of file lsm6ds0_class.cpp.

IMU_6AXES_StatusTypeDef LSM6DS0_G_GetAxesRaw ( int16_t * pData ) [protected]

Read raw data from LSM6DS0 Gyroscope output register.

Parameters:

pData the pointer where the gyroscope raw data are stored

Return values:

IMU_6AXES_OK in case of success, an error code otherwise

Definition at line 192 of file lsm6ds0_class.cpp.

IMU_6AXES_StatusTypeDef LSM6DS0_G_GetSensitivity ( float * pfData ) [protected]

Read Gyro Sensitivity.

Parameters:

pfData the pointer where the gyroscope sensitivity is stored

Return values:

IMU_6AXES_OK in case of success, an error code otherwise

Definition at line 611 of file lsm6ds0_class.cpp.

IMU_6AXES_StatusTypeDef LSM6DS0_G_Set_Axes_Status	(	uint8_t	enableX,
		uint8_t	enableY,
		uint8_t	enableZ
	)		`[protected]`

Set the status of the axes for gyroscope.

Parameters:

enableX	the status of the x axis to be set
enableY	the status of the y axis to be set
enableZ	the status of the z axis to be set

Return values:

IMU_6AXES_OK in case of success, an error code otherwise

Definition at line 273 of file lsm6ds0_class.cpp.

IMU_6AXES_StatusTypeDef LSM6DS0_G_Set_FS ( float fullScale ) [protected]

Write Gyro Full Scale.

Parameters:

fullScale the gyroscope full scale to be set

Return values:

IMU_6AXES_OK in case of success, an error code otherwise

Definition at line 681 of file lsm6ds0_class.cpp.

IMU_6AXES_StatusTypeDef LSM6DS0_G_Set_ODR ( float odr ) [protected]

Write Gyro Output Data Rate.

Parameters:

odr	the gyroscope output data rate to be set

Return values:

IMU_6AXES_OK in case of success, an error code otherwise

Definition at line 577 of file lsm6ds0_class.cpp.

IMU_6AXES_StatusTypeDef LSM6DS0_Init ( IMU_6AXES_InitTypeDef * LSM6DS0_Init ) [protected]

Set LSM6DS0 Initialization.

Parameters:

LSM6DS0_Init the configuration setting for the LSM6DS0

Return values:

IMU_6AXES_OK in case of success, an error code otherwise

Definition at line 53 of file lsm6ds0_class.cpp.

IMU_6AXES_StatusTypeDef LSM6DS0_IO_Init ( void ) [protected]

Configures LSM6DS0 I2C interface.

Returns:: IMU_6AXES_OK in case of success, an error code otherwise

Definition at line 162 of file lsm6ds0_class.h.

void LSM6DS0_IO_ITConfig ( void ) [protected]

Configures LSM6DS0 interrupt lines for NUCLEO boards.

Definition at line 153 of file lsm6ds0_class.h.

IMU_6AXES_StatusTypeDef LSM6DS0_IO_Read	(	uint8_t *	pBuffer,
		uint8_t	RegisterAddr,
		uint16_t	NumByteToRead
	)		`[protected]`

Utility function to read data from LSM6DS0.

Parameters:

[out]	pBuffer	pointer to the byte-array to read data in to
[in]	RegisterAddr	specifies internal address register to read from.
[in]	NumByteToRead	number of bytes to be read.

Return values:

IMU_6AXES_OK	if ok,
IMU_6AXES_ERROR	if an I2C error has occured

Definition at line 175 of file lsm6ds0_class.h.

IMU_6AXES_StatusTypeDef LSM6DS0_IO_Write	(	uint8_t *	pBuffer,
		uint8_t	RegisterAddr,
		uint16_t	NumByteToWrite
	)		`[protected]`

Utility function to write data to LSM6DS0.

Parameters:

[in]	pBuffer	pointer to the byte-array data to send
[in]	RegisterAddr	specifies internal address register to read from.
[in]	NumByteToWrite	number of bytes to write.

Return values:

IMU_6AXES_OK	if ok,
IMU_6AXES_ERROR	if an I2C error has occured

Definition at line 196 of file lsm6ds0_class.h.

IMU_6AXES_StatusTypeDef LSM6DS0_Read_XG_ID ( uint8_t * xg_id ) [protected]

Read ID of LSM6DS0 Accelerometer and Gyroscope.

Parameters:

xg_id the pointer where the ID of the device is stored

Return values:

IMU_6AXES_OK in case of success, an error code otherwise

Definition at line 111 of file lsm6ds0_class.cpp.

IMU_6AXES_StatusTypeDef LSM6DS0_X_Get_FS ( float * fullScale ) [protected]

Read Accelero Full Scale.

Parameters:

fullScale the pointer where the accelerometer full scale is stored

Return values:

IMU_6AXES_OK in case of success, an error code otherwise

Definition at line 461 of file lsm6ds0_class.cpp.

IMU_6AXES_StatusTypeDef LSM6DS0_X_Get_ODR ( float * odr ) [protected]

Read Accelero Output Data Rate.

Parameters:

odr	the pointer where the accelerometer output data rate is stored

Return values:

IMU_6AXES_OK in case of success, an error code otherwise

Definition at line 342 of file lsm6ds0_class.cpp.

IMU_6AXES_StatusTypeDef LSM6DS0_X_GetAxes ( int32_t * pData ) [protected]

Read data from LSM6DS0 Accelerometer and calculate linear acceleration in mg.

Parameters:

pData the pointer where the accelerometer data are stored

Return values:

IMU_6AXES_OK in case of success, an error code otherwise

Definition at line 164 of file lsm6ds0_class.cpp.

IMU_6AXES_StatusTypeDef LSM6DS0_X_GetAxesRaw ( int16_t * pData ) [protected]

Read raw data from LSM6DS0 Accelerometer output register.

Parameters:

pData the pointer where the accelerometer raw data are stored

Return values:

IMU_6AXES_OK in case of success, an error code otherwise

Definition at line 127 of file lsm6ds0_class.cpp.

IMU_6AXES_StatusTypeDef LSM6DS0_X_GetSensitivity ( float * pfData ) [protected]

Read Accelero Sensitivity.

Parameters:

pfData the pointer where the accelerometer sensitivity is stored

Return values:

IMU_6AXES_OK in case of success, an error code otherwise

Definition at line 423 of file lsm6ds0_class.cpp.

IMU_6AXES_StatusTypeDef LSM6DS0_X_Set_Axes_Status	(	uint8_t	enableX,
		uint8_t	enableY,
		uint8_t	enableZ
	)		`[protected]`

Set the status of the axes for accelerometer.

Parameters:

enableX	the status of the x axis to be set
enableY	the status of the y axis to be set
enableZ	the status of the z axis to be set

Return values:

IMU_6AXES_OK in case of success, an error code otherwise

Definition at line 230 of file lsm6ds0_class.cpp.

IMU_6AXES_StatusTypeDef LSM6DS0_X_Set_FS ( float fullScale ) [protected]

Write Accelero Full Scale.

Parameters:

fullScale the accelerometer full scale to be set

Return values:

IMU_6AXES_OK in case of success, an error code otherwise

Definition at line 499 of file lsm6ds0_class.cpp.

IMU_6AXES_StatusTypeDef LSM6DS0_X_Set_ODR ( float odr ) [protected]

Write Accelero Output Data Rate.

Parameters:

odr	the accelerometer output data rate to be set

Return values:

IMU_6AXES_OK in case of success, an error code otherwise

Definition at line 389 of file lsm6ds0_class.cpp.

virtual int ReadID ( uint8_t * id ) [virtual]

Get ID of sensor.

Parameters:

[out] id Pointer to where to store the ID to

Returns:: 0 in case of success, an error code otherwise

Implements GenericSensor.

Definition at line 68 of file lsm6ds0_class.h.

virtual int Set_G_FS ( float fs ) [virtual]

Set gyroscope's full scale value i.e. min/max measurable value.

Parameters:

[in] fs New full scale value for gyroscope in [dps]

Returns:: 0 in case of success, an error code otherwise

Implements GyroSensor.

Definition at line 124 of file lsm6ds0_class.h.

virtual int Set_G_ODR ( float odr ) [virtual]

Set gyroscope's output data rate.

Parameters:

[in] odr New value for gyroscope's output data rate in [Hz]

Returns:: 0 in case of success, an error code otherwise

Implements GyroSensor.

Definition at line 112 of file lsm6ds0_class.h.

virtual int Set_X_FS ( float fs ) [virtual]

Set accelerometer's full scale value i.e. min/max measurable value.

Parameters:

[in] fs New full scale value for accelerometer in [g]

Returns:: 0 in case of success, an error code otherwise

Implements MotionSensor.

Definition at line 104 of file lsm6ds0_class.h.

virtual int Set_X_ODR ( float odr ) [virtual]

Set accelerometer's output data rate.

Parameters:

[in] odr New value for accelerometer's output data rate in [Hz]

Returns:: 0 in case of success, an error code otherwise

Implements MotionSensor.

Definition at line 92 of file lsm6ds0_class.h.

Type:	Program
Mbed OS support:	Mbed OS
Created:	17 Aug 2017
Imports:	4
Forks:	0
Commits:	92
Dependents:	0
Dependencies:	1
Followers:	1

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LSM6DS0 Class Reference

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Protected Member Functions

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Member Function Documentation

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