LSM6DSL MEMS interface module header. More...

#include "hal_accelerometer.h"
#include "hal_gyroscope.h"

Data Structures
struct	LSM6DSLConfig
	LSM6DSL configuration structure. More...

struct	LSM6DSLVMT
	`LSM6DSL` virtual methods table. More...

struct	LSM6DSLDriver
	LSM6DSL 6-axis accelerometer/gyroscope class. More...

Macros
#define	lsm6dslAccelerometerGetAxesNumber(devp) accelerometerGetAxesNumber(&((devp)->acc_if))
	Return the number of axes of the BaseAccelerometer. More...

#define	lsm6dslAccelerometerReadRaw(devp, axes) accelerometerReadRaw(&((devp)->acc_if), axes)
	Retrieves raw data from the BaseAccelerometer. More...

#define	lsm6dslAccelerometerReadCooked(devp, axes) accelerometerReadCooked(&((devp)->acc_if), axes)
	Retrieves cooked data from the BaseAccelerometer. More...

#define	lsm6dslAccelerometerSetBias(devp, bp) accelerometerSetBias(&((devp)->acc_if), bp)
	Set bias values for the BaseAccelerometer. More...

#define	lsm6dslAccelerometerResetBias(devp) accelerometerResetBias(&((devp)->acc_if))
	Reset bias values for the BaseAccelerometer. More...

#define	lsm6dslAccelerometerSetSensitivity(devp, sp) accelerometerSetSensitivity(&((devp)->acc_if), sp)
	Set sensitivity values for the BaseAccelerometer. More...

#define	lsm6dslAccelerometerResetSensitivity(devp) accelerometerResetSensitivity(&((devp)->acc_if))
	Reset sensitivity values for the BaseAccelerometer. More...

#define	lsm6dslAccelerometerSetFullScale(devp, fs) (devp)->vmt->acc_set_full_scale(devp, fs)
	Changes the LSM6DSLDriver accelerometer fullscale value. More...

#define	lsm6dslGyroscopeGetAxesNumber(devp) gyroscopeGetAxesNumber(&((devp)->gyro_if))
	Return the number of axes of the BaseGyroscope. More...

#define	lsm6dslGyroscopeReadRaw(devp, axes) gyroscopeReadRaw(&((devp)->gyro_if), axes)
	Retrieves raw data from the BaseGyroscope. More...

#define	lsm6dslGyroscopeReadCooked(devp, axes) gyroscopeReadCooked(&((devp)->gyro_if), axes)
	Retrieves cooked data from the BaseGyroscope. More...

#define	lsm6dslGyroscopeSampleBias(devp) gyroscopeSampleBias(&((devp)->gyro_if))
	Samples bias values for the BaseGyroscope. More...

#define	lsm6dslGyroscopeSetBias(devp, bp) gyroscopeSetBias(&((devp)->gyro_if), bp)
	Set bias values for the BaseGyroscope. More...

#define	lsm6dslGyroscopeResetBias(devp) gyroscopeResetBias(&((devp)->gyro_if))
	Reset bias values for the BaseGyroscope. More...

#define	lsm6dslGyroscopeSetSensitivity(devp, sp) gyroscopeSetSensitivity(&((devp)->gyro_if), sp)
	Set sensitivity values for the BaseGyroscope. More...

#define	lsm6dslGyroscopeResetSensitivity(devp) gyroscopeResetSensitivity(&((devp)->gyro_if))
	Reset sensitivity values for the BaseGyroscope. More...

#define	lsm6dslGyroscopeSetFullScale(devp, fs) (devp)->vmt->acc_set_full_scale(devp, fs)
	Changes the LSM6DSLDriver gyroscope fullscale value. More...

Version identification
#define	EX_LSM6DSL_VERSION "1.0.0"
	LSM6DSL driver version string. More...

#define	EX_LSM6DSL_MAJOR 1
	LSM6DSL driver version major number. More...

#define	EX_LSM6DSL_MINOR 0
	LSM6DSL driver version minor number. More...

#define	EX_LSM6DSL_PATCH 0
	LSM6DSL driver version patch number. More...


#define	LSM6DSL_ACC_NUMBER_OF_AXES 3U
	LSM6DSL accelerometer subsystem characteristics. More...


#define	LSM6DSL_GYRO_NUMBER_OF_AXES 3U
	L3GD20 gyroscope system characteristics. More...

LSM6DSL communication interfaces related bit masks
#define	LSM6DSL_DI_MASK 0xFF

#define	LSM6DSL_DI(n) (1 << n)

#define	LSM6DSL_AD_MASK 0x7F

#define	LSM6DSL_AD(n) (1 << n)

#define	LSM6DSL_MS (1 << 7)

LSM6DSL register addresses
#define	LSM6DSL_AD_FUNC_CFG_ACCESS 0x01

#define	LSM6DSL_AD_SENSOR_SYNC_TIME_FRAME 0x04

#define	LSM6DSL_AD_SENSOR_SYNC_RES_RATIO 0x05

#define	LSM6DSL_AD_FIFO_CTRL1 0x06

#define	LSM6DSL_AD_FIFO_CTRL2 0x07

#define	LSM6DSL_AD_FIFO_CTRL3 0x08

#define	LSM6DSL_AD_FIFO_CTRL4 0x09

#define	LSM6DSL_AD_FIFO_CTRL5 0x0A

#define	LSM6DSL_AD_DRDY_PULSE_CFG_G 0x0B

#define	LSM6DSL_AD_INT1_CTRL 0x0D

#define	LSM6DSL_AD_INT2_CTRL 0x0E

#define	LSM6DSL_AD_WHO_AM_I 0x0F

#define	LSM6DSL_AD_CTRL1_XL 0x10

#define	LSM6DSL_AD_CTRL2_G 0x11

#define	LSM6DSL_AD_CTRL3_C 0x12

#define	LSM6DSL_AD_CTRL4_C 0x13

#define	LSM6DSL_AD_CTRL5_C 0x14

#define	LSM6DSL_AD_CTRL6_C 0x15

#define	LSM6DSL_AD_CTRL7_G 0x16

#define	LSM6DSL_AD_CTRL8_XL 0x17

#define	LSM6DSL_AD_CTRL9_XL 0x18

#define	LSM6DSL_AD_CTRL10_C 0x19

#define	LSM6DSL_AD_MASTER_CONFIG 0x1A

#define	LSM6DSL_AD_WAKE_UP_SRC 0x1B

#define	LSM6DSL_AD_TAP_SRC 0x1C

#define	LSM6DSL_AD_D6D_SRC 0x1D

#define	LSM6DSL_AD_STATUS_REG 0x1E

#define	LSM6DSL_AD_OUT_TEMP_L 0x20

#define	LSM6DSL_AD_OUT_TEMP_H 0x21

#define	LSM6DSL_AD_OUTX_L_G 0x22

#define	LSM6DSL_AD_OUTX_H_G 0x23

#define	LSM6DSL_AD_OUTY_L_G 0x24

#define	LSM6DSL_AD_OUTY_H_G 0x25

#define	LSM6DSL_AD_OUTZ_L_G 0x26

#define	LSM6DSL_AD_OUTZ_H_G 0x27

#define	LSM6DSL_AD_OUTX_L_XL 0x28

#define	LSM6DSL_AD_OUTX_H_XL 0x29

#define	LSM6DSL_AD_OUTY_L_XL 0x2A

#define	LSM6DSL_AD_OUTY_H_XL 0x2B

#define	LSM6DSL_AD_OUTZ_L_XL 0x2C

#define	LSM6DSL_AD_OUTZ_H_XL 0x2D

#define	LSM6DSL_AD_SENSORHUB1_REG 0x2E

#define	LSM6DSL_AD_SENSORHUB2_REG 0x2F

#define	LSM6DSL_AD_SENSORHUB3_REG 0x30

#define	LSM6DSL_AD_SENSORHUB4_REG 0x31

#define	LSM6DSL_AD_SENSORHUB5_REG 0x32

#define	LSM6DSL_AD_SENSORHUB6_REG 0x33

#define	LSM6DSL_AD_SENSORHUB7_REG 0x34

#define	LSM6DSL_AD_SENSORHUB8_REG 0x35

#define	LSM6DSL_AD_SENSORHUB9_REG 0x36

#define	LSM6DSL_AD_SENSORHUB10_REG 0x37

#define	LSM6DSL_AD_SENSORHUB11_REG 0x38

#define	LSM6DSL_AD_SENSORHUB12_REG 0x39

#define	LSM6DSL_AD_FIFO_STATUS1 0x3A

#define	LSM6DSL_AD_FIFO_STATUS2 0x3B

#define	LSM6DSL_AD_FIFO_STATUS3 0x3C

#define	LSM6DSL_AD_FIFO_STATUS4 0x3D

#define	LSM6DSL_AD_FIFO_DATA_OUT_L 0x3E

#define	LSM6DSL_AD_FIFO_DATA_OUT_H 0x3F

#define	LSM6DSL_AD_TIMESTAMP0_REG 0x40

#define	LSM6DSL_AD_TIMESTAMP1_REG 0x41

#define	LSM6DSL_AD_TIMESTAMP2_REG 0x42

#define	LSM6DSL_AD_STEP_TIMESTAMP_L 0x49

#define	LSM6DSL_AD_STEP_TIMESTAMP_H 0x4A

#define	LSM6DSL_AD_STEP_COUNTER_L 0x4B

#define	LSM6DSL_AD_STEP_COUNTER_H 0x4C

#define	LSM6DSL_AD_SENSORHUB13_REG 0x4D

#define	LSM6DSL_AD_SENSORHUB14_REG 0x4E

#define	LSM6DSL_AD_SENSORHUB15_REG 0x4F

#define	LSM6DSL_AD_SENSORHUB16_REG 0x50

#define	LSM6DSL_AD_SENSORHUB17_REG 0x51

#define	LSM6DSL_AD_SENSORHUB18_REG 0x52

#define	LSM6DSL_AD_FUNC_SRC1 0x53

#define	LSM6DSL_AD_FUNC_SRC2 0x54

#define	LSM6DSL_AD_WRIST_TILT_IA 0x55

#define	LSM6DSL_AD_TAP_CFG 0x58

#define	LSM6DSL_AD_TAP_THS_6D 0x59

#define	LSM6DSL_AD_INT_DUR2 0x5A

#define	LSM6DSL_AD_WAKE_UP_THS 0x5B

#define	LSM6DSL_AD_WAKE_UP_DUR 0x5C

#define	LSM6DSL_AD_FREE_FALL 0x5D

#define	LSM6DSL_AD_MD1_CFG 0x5E

#define	LSM6DSL_AD_MD2_CFG 0x5F

#define	LSM6DSL_AD_MASTER_CMD_CODE 0x60

#define	LSM6DSL_AD_SENS_SYNC_SPI_ERROR_CODE 0x61

#define	LSM6DSL_AD_OUT_MAG_RAW_X_L 0x66

#define	LSM6DSL_AD_OUT_MAG_RAW_X_H 0x67

#define	LSM6DSL_AD_OUT_MAG_RAW_Y_L 0x68

#define	LSM6DSL_AD_OUT_MAG_RAW_Y_H 0x69

#define	LSM6DSL_AD_OUT_MAG_RAW_Z_L 0x6A

#define	LSM6DSL_AD_OUT_MAG_RAW_Z_H 0x6B

#define	LSM6DSL_AD_X_OFS_USR 0x73

#define	LSM6DSL_AD_Y_OFS_USR 0x74

#define	LSM6DSL_AD_Z_OFS_USR 0x75

LSM6DSL_AD_CTRL1_XL register bits definitions
#define	LSMDSL_CTRL1_XL_BW0_XL (1 << 0)

#define	LSMDSL_CTRL1_XL_LPF1_BW_SEL (1 << 1)

#define	LSMDSL_CTRL1_XL_FS_MASK 0x0C

#define	LSMDSL_CTRL1_XL_FS_XL0 (1 << 2)

#define	LSMDSL_CTRL1_XL_FS_XL1 (1 << 3)

#define	LSMDSL_CTRL1_XL_ODR_XL0 (1 << 4)

#define	LSMDSL_CTRL1_XL_ODR_XL1 (1 << 5)

#define	LSMDSL_CTRL1_XL_ODR_XL2 (1 << 6)

#define	LSMDSL_CTRL1_XL_ODR_XL3 (1 << 7)

LSM6DSL_AD_CTRL2_G register bits definitions
#define	LSMDSL_CTRL2_G_FS_MASK 0x0E

#define	LSMDSL_CTRL2_G_FS_125 (1 << 1)

#define	LSMDSL_CTRL2_G_FS_G0 (1 << 2)

#define	LSMDSL_CTRL2_G_FS_G1 (1 << 3)

#define	LSMDSL_CTRL2_G_ODR_G0 (1 << 4)

#define	LSMDSL_CTRL2_G_ODR_G1 (1 << 5)

#define	LSMDSL_CTRL2_G_ODR_G2 (1 << 6)

#define	LSMDSL_CTRL2_G_ODR_G3 (1 << 7)

LSM6DSL_AD_CTRL3_C register bits definitions
#define	LSMDSL_CTRL3_C_SW_RESET (1 << 0)

#define	LSMDSL_CTRL3_C_BLE (1 << 1)

#define	LSMDSL_CTRL3_C_IF_INC (1 << 2)

#define	LSMDSL_CTRL3_C_SIM (1 << 3)

#define	LSMDSL_CTRL3_C_PP_OD (1 << 4)

#define	LSMDSL_CTRL3_C_H_LACTIVE (1 << 5)

#define	LSMDSL_CTRL3_C_BDU (1 << 6)

#define	LSMDSL_CTRL3_C_BOOT (1 << 7)

LSM6DSL_AD_CTRL4_C register bits definitions
#define	LSMDSL_CTRL4_C_NOT_USED_01 (1 << 0)

#define	LSMDSL_CTRL4_C_LPF1_SEL_G (1 << 1)

#define	LSMDSL_CTRL4_C_I2C_DISABLE (1 << 2)

#define	LSMDSL_CTRL4_C_DRDY_MASK (1 << 3)

#define	LSMDSL_CTRL4_C_DEN_DRDY_IN (1 << 4)

#define	LSMDSL_CTRL4_C_INT2_ON_INT (1 << 5)

#define	LSMDSL_CTRL4_C_SLEEP (1 << 6)

#define	LSMDSL_CTRL4_C_DEN_XL_EN (1 << 7)

LSM6DSL_AD_CTRL5_C register bits definitions
#define	LSMDSL_CTRL5_C_ST0_XL (1 << 0)

#define	LSMDSL_CTRL5_C_ST1_XL (1 << 1)

#define	LSMDSL_CTRL5_C_ST0_G (1 << 2)

#define	LSMDSL_CTRL5_C_ST1_G (1 << 3)

#define	LSMDSL_CTRL5_C_DEN_LH (1 << 4)

#define	LSMDSL_CTRL5_C_ROUNDING0 (1 << 5)

#define	LSMDSL_CTRL5_C_ROUNDING1 (1 << 6)

#define	LSMDSL_CTRL5_C_ROUNDING2 (1 << 7)

LSM6DSL_AD_CTRL6_C register bits definitions
#define	LSMDSL_CTRL6_C_FTYPE_0 (1 << 0)

#define	LSMDSL_CTRL6_C_FTYPE_1 (1 << 1)

#define	LSMDSL_CTRL6_C_USR_OFF_W (1 << 3)

#define	LSMDSL_CTRL6_C_XL_HM_MODE (1 << 4)

#define	LSMDSL_CTRL6_C_LVL2_EN (1 << 5)

#define	LSMDSL_CTRL6_C_LVL_EN (1 << 6)

#define	LSMDSL_CTRL6_C_TRIG_EN (1 << 7)

LSM6DSL_AD_CTRL7_G register bits definitions
#define	LSMDSL_CTRL7_G_ROUNDING_ST (1 << 2)

#define	LSMDSL_CTRL7_G_HPM0_G (1 << 4)

#define	LSMDSL_CTRL7_G_HPM1_G (1 << 5)

#define	LSMDSL_CTRL7_G_HP_EN_G (1 << 6)

#define	LSMDSL_CTRL7_G_G_HM_MODE (1 << 7)

LSM6DSL_AD_CTRL8_XL register bits definitions
#define	LSMDSL_CTRL8_XL_LOW_PASS_ON (1 << 0)

#define	LSMDSL_CTRL8_XL_HP_SLOPE_XL (1 << 2)

#define	LSMDSL_CTRL8_XL_INPUT_COMPO (1 << 3)

#define	LSMDSL_CTRL8_XL_HP_REF_MODE (1 << 4)

#define	LSMDSL_CTRL8_XL_HPCF_XL0 (1 << 5)

#define	LSMDSL_CTRL8_XL_HPCF_XL1 (1 << 6)

#define	LSMDSL_CTRL8_XL_LPF2_XL_EN (1 << 7)

LSM6DSL_AD_CTRL9_XL register bits definitions
#define	LSMDSL_CTRL9_XL_SOFT_EN (1 << 2)

#define	LSMDSL_CTRL9_XL_DEN_XL_G (1 << 4)

#define	LSMDSL_CTRL9_XL_DEN_Z (1 << 5)

#define	LSMDSL_CTRL9_XL_DEN_Y (1 << 6)

#define	LSMDSL_CTRL9_XL_DEN_X (1 << 7)

LSM6DSL_AD_CTRL10_C register bits definitions
#define	LSMDSL_CTRL10_C_SIGN_MOTION (1 << 0)

#define	LSMDSL_CTRL10_C_PEDO_RST_ST (1 << 1)

#define	LSMDSL_CTRL10_C_FUNC_EN (1 << 2)

#define	LSMDSL_CTRL10_C_TILT_EN (1 << 3)

#define	LSMDSL_CTRL10_C_PEDO_EN (1 << 4)

#define	LSMDSL_CTRL10_C_TIMER_EN (1 << 5)

#define	LSMDSL_CTRL10_C_WRIST_TILT (1 << 7)

Configuration options
#define	LSM6DSL_USE_SPI FALSE
	LSM6DSL SPI interface switch. More...

#define	LSM6DSL_SHARED_SPI FALSE
	LSM6DSL shared SPI switch. More...

#define	LSM6DSL_USE_I2C TRUE
	LSM6DSL I2C interface switch. More...

#define	LSM6DSL_SHARED_I2C FALSE
	LSM6DSL shared I2C switch. More...

#define	LSM6DSL_USE_ADVANCED FALSE
	LSM6DSL advanced configurations switch. More...

#define	LSM6DSL_ACC_USE_ADVANCED FALSE
	LSM6DSL accelerometer subsystem advanced configurations switch. More...

#define	LSM6DSL_GYRO_USE_ADVANCED FALSE
	LSM6DSL gyroscope subsystem advanced configurations switch. More...

#define	LSM6DSL_GYRO_BIAS_ACQ_TIMES 50
	Number of acquisitions for gyroscope bias removal. More...

#define	LSM6DSL_GYRO_BIAS_SETTLING_US 5000
	Settling time for gyroscope bias removal. More...

Functions
void	lsm6dslObjectInit (LSM6DSLDriver *devp)
	Initializes an instance. More...

void	lsm6dslStart (LSM6DSLDriver devp, const LSM6DSLConfig config)
	Configures and activates LSM6DSL Complex Driver peripheral. More...

void	lsm6dslStop (LSM6DSLDriver *devp)
	Deactivates the LSM6DSL Complex Driver peripheral. More...

LSM6DSL data structures and types.
Todo: Add support for LSM6DSL over SPI.
#define	_lsm6dsl_methods_alone
	`LSM6DSL` specific methods. More...

#define	_lsm6dsl_methods
	`LSM6DSL` specific methods with inherited ones. More...

#define	_lsm6dsl_data
	`LSM6DSLDriver` specific data. More...

typedef struct LSM6DSLDriver	LSM6DSLDriver
	Structure representing a LSM6DSL driver. More...

Detailed Description

LSM6DSL MEMS interface module header.

Definition in file lsm6dsl.h.

Data Structures

Macros

Functions

LSM6DSL data structures and types.

Detailed Description