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LSM6DS3 Class Reference
LSM6DS3 Class - driver for the 9 DoF IMU. More...
#include <LSM6DS3.h>
Public Types | |
| enum | gyro_scale |
gyro_scale defines the possible full-scale ranges of the gyroscope: More... | |
| enum | gyro_odr |
gyro_odr defines all possible data rate/bandwidth combos of the gyro: More... | |
| enum | accel_scale |
accel_scale defines all possible FSR's of the accelerometer: More... | |
| enum | accel_odr |
accel_oder defines all possible output data rates of the accelerometer: More... | |
Public Member Functions | |
| LSM6DS3 (PinName sda, PinName scl, uint8_t xgAddr=LSM6DS3_AG_I2C_ADDR(1)) | |
| LSM6DS3 -- LSM6DS3 class constructor The constructor will set up a handful of private variables, and set the communication mode as well. | |
| uint16_t | begin (gyro_scale gScl=G_SCALE_245DPS, accel_scale aScl=A_SCALE_2G, gyro_odr gODR=G_ODR_104, accel_odr aODR=A_ODR_104) |
| begin() -- Initialize the gyro, and accelerometer. | |
| void | readGyro () |
| readGyro() -- Read the gyroscope output registers. | |
| void | readAccel () |
| readAccel() -- Read the accelerometer output registers. | |
| void | readTemp () |
| readTemp() -- Read the temperature output register. | |
| void | readIntr () |
| Read Interrupt. | |
| void | setGyroScale (gyro_scale gScl) |
| setGyroScale() -- Set the full-scale range of the gyroscope. | |
| void | setAccelScale (accel_scale aScl) |
| setAccelScale() -- Set the full-scale range of the accelerometer. | |
| void | setGyroODR (gyro_odr gRate) |
setGyroODR() -- Set the output data rate and bandwidth of the gyroscope Input:
| |
| void | setAccelODR (accel_odr aRate) |
setAccelODR() -- Set the output data rate of the accelerometer Input:
| |
Detailed Description
LSM6DS3 Class - driver for the 9 DoF IMU.
Definition at line 92 of file LSM6DS3.h.
Member Enumeration Documentation
| enum accel_odr |
| enum accel_scale |
| enum gyro_odr |
| enum gyro_scale |
Constructor & Destructor Documentation
| LSM6DS3 | ( | PinName | sda, |
| PinName | scl, | ||
| uint8_t | xgAddr = LSM6DS3_AG_I2C_ADDR(1) |
||
| ) |
LSM6DS3 -- LSM6DS3 class constructor The constructor will set up a handful of private variables, and set the communication mode as well.
Input:
- interface = Either MODE_SPI or MODE_I2C, whichever you're using to talk to the IC.
- xgAddr = If MODE_I2C, this is the I2C address of the accel/gyro. If MODE_SPI, this is the chip select pin of the accel/gyro (CS_A/G)
Definition at line 3 of file LSM6DS3.cpp.
Member Function Documentation
| uint16_t begin | ( | gyro_scale | gScl = G_SCALE_245DPS, |
| accel_scale | aScl = A_SCALE_2G, |
||
| gyro_odr | gODR = G_ODR_104, |
||
| accel_odr | aODR = A_ODR_104 |
||
| ) |
begin() -- Initialize the gyro, and accelerometer.
This will set up the scale and output rate of each sensor. It'll also "turn on" every sensor and every axis of every sensor. Input:
- gScl = The scale of the gyroscope. This should be a gyro_scale value.
- aScl = The scale of the accelerometer. Should be a accel_scale value.
- gODR = Output data rate of the gyroscope. gyro_odr value.
- aODR = Output data rate of the accelerometer. accel_odr value. Output: The function will return an unsigned 16-bit value. The most-sig bytes of the output are the WHO_AM_I reading of the accel/gyro. All parameters have a defaulted value, so you can call just "begin()". Default values are FSR's of: +/- 245DPS, 4g, 2Gs; ODRs of 119 Hz for gyro, 119 Hz for accelerometer. Use the return value of this function to verify communication.
Definition at line 10 of file LSM6DS3.cpp.
| void readAccel | ( | ) |
readAccel() -- Read the accelerometer output registers.
This function will read all six accelerometer output registers. The readings are stored in the class' ax_raw, ay_raw, and az_raw variables. Read those _after_ calling readAccel().
Definition at line 102 of file LSM6DS3.cpp.
| void readGyro | ( | ) |
readGyro() -- Read the gyroscope output registers.
This function will read all six gyroscope output registers. The readings are stored in the class' gx_raw, gy_raw, and gz_raw variables. Read those _after_ calling readGyro().
Definition at line 176 of file LSM6DS3.cpp.
| void readIntr | ( | ) |
Read Interrupt.
Definition at line 140 of file LSM6DS3.cpp.
| void readTemp | ( | ) |
readTemp() -- Read the temperature output register.
This function will read two temperature output registers. The combined readings are stored in the class' temperature variables. Read those _after_ calling readTemp().
Definition at line 151 of file LSM6DS3.cpp.
| void setAccelODR | ( | accel_odr | aRate ) |
setAccelODR() -- Set the output data rate of the accelerometer Input:
- aRate = The desired output rate of the accel.
Must be a value from the accel_odr enum (check above).
Definition at line 310 of file LSM6DS3.cpp.
| void setAccelScale | ( | accel_scale | aScl ) |
setAccelScale() -- Set the full-scale range of the accelerometer.
This function can be called to set the scale of the accelerometer to 2, 4, 8, or 16 g's. Input:
- aScl = The desired accelerometer scale. Must be one of five possible values from the accel_scale enum.
Definition at line 242 of file LSM6DS3.cpp.
| void setGyroODR | ( | gyro_odr | gRate ) |
setGyroODR() -- Set the output data rate and bandwidth of the gyroscope Input:
- gRate = The desired output rate and cutoff frequency of the gyro.
Must be a value from the gyro_odr enum (check above).
Definition at line 270 of file LSM6DS3.cpp.
| void setGyroScale | ( | gyro_scale | gScl ) |
setGyroScale() -- Set the full-scale range of the gyroscope.
This function can be called to set the scale of the gyroscope to 245, 500, or 2000 degrees per second. Input:
- gScl = The desired gyroscope scale. Must be one of three possible values from the gyro_scale enum.
Definition at line 214 of file LSM6DS3.cpp.
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