LSM6DS3Sensor Class Reference

#include <LSM6DS3Sensor.h>

Inherited by Soldered_LSM6DS3.

Public Member Functions
	LSM6DS3Sensor (TwoWire *i2c, uint8_t address=LSM6DS3_ACC_GYRO_I2C_ADDRESS_HIGH)
LSM6DS3StatusTypeDef	begin (void)
	Configure the sensor in order to be used.
LSM6DS3StatusTypeDef	end (void)
	Disable the sensor and relative resources.
LSM6DS3StatusTypeDef	enableAccelerator (void)
	Enable LSM6DS3 Accelerator.
LSM6DS3StatusTypeDef	enableGyro (void)
	Enable LSM6DS3 Gyroscope.
LSM6DS3StatusTypeDef	disableAccelerator (void)
	Disable LSM6DS3 Accelerator.
LSM6DS3StatusTypeDef	disableGyro (void)
	Disable LSM6DS3 Gyroscope.
LSM6DS3StatusTypeDef	readId (uint8_t *p_id)
	Read ID of LSM6DS3 Accelerometer and Gyroscope.
LSM6DS3StatusTypeDef	getAcceleratorAxes (int32_t *pData)
	Read data from LSM6DS3 Accelerometer.
LSM6DS3StatusTypeDef	getGyroAxes (int32_t *pData)
	Read data from LSM6DS3 Gyroscope.
LSM6DS3StatusTypeDef	getAcceleratorSensitivity (float *pfData)
	Read Accelerometer Sensitivity.
LSM6DS3StatusTypeDef	getGyroSensitivity (float *pfData)
	Read Gyroscope Sensitivity.
LSM6DS3StatusTypeDef	getAcceleratorAxesRaw (int16_t *pData)
	Read raw data from LSM6DS3 Accelerometer.
LSM6DS3StatusTypeDef	getGyroAxesRaw (int16_t *pData)
	Read raw data from LSM6DS3 Gyroscope.
LSM6DS3StatusTypeDef	getAcceleratorOdr (float *odr)
	Read LSM6DS3 Accelerometer output data rate.
LSM6DS3StatusTypeDef	getGyroOdr (float *odr)
	Read LSM6DS3 Gyroscope output data rate.
LSM6DS3StatusTypeDef	setAcceleratorOdr (float odr)
	Set LSM6DS3 Accelerometer output data rate.
LSM6DS3StatusTypeDef	setGyroOdr (float odr)
	Set LSM6DS3 Gyroscope output data rate.
LSM6DS3StatusTypeDef	getAcceleratorFullScale (float *fullScale)
	Read LSM6DS3 Accelerometer full scale.
LSM6DS3StatusTypeDef	getGyroFullScale (float *fullScale)
	Read LSM6DS3 Gyroscope full scale.
LSM6DS3StatusTypeDef	setAcceleratorFullScale (float fullScale)
	Set LSM6DS3 Accelerometer full scale.
LSM6DS3StatusTypeDef	setGyroFullScale (float fullScale)
	Set LSM6DS3 Gyroscope full scale.
LSM6DS3StatusTypeDef	enableFreeFallDetection (void)
	Enable free fall detection.
LSM6DS3StatusTypeDef	enableFreeFallDetection (LSM6DS3_Interrupt_Pin_t int_pin)
	Enable free fall detection.
LSM6DS3StatusTypeDef	disableFreeFallDetection (void)
	Disable free fall detection.
LSM6DS3StatusTypeDef	setFreeFallThreshold (uint8_t thr)
	Set the free fall detection threshold for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	enablePedometer (void)
	Enable the pedometer feature for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	disablePedometer (void)
	Disable the pedometer feature for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	getStepCounter (uint16_t *step_count)
	Get the step counter for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	resetStepCounter (void)
	Reset of the step counter for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	setPedometerThreshold (uint8_t thr)
	Set the pedometer threshold for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	enableTiltDetection (void)
	Enable the tilt detection for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	enableTiltDetection (LSM6DS3_Interrupt_Pin_t int_pin)
	Enable the tilt detection for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	disableTiltDetection (void)
	Disable the tilt detection for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	enableWakeUpDetection (void)
	Enable the wake up detection for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	enableWakeUpDetection (LSM6DS3_Interrupt_Pin_t int_pin)
	Enable the wake up detection for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	disableWakeUpDetection (void)
	Disable the wake up detection for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	setWakeUpThreshold (uint8_t thr)
	Set the wake up threshold for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	enableSingleTapDetection (void)
	Enable the single tap detection for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	enableSingleTapDetection (LSM6DS3_Interrupt_Pin_t int_pin)
	Enable the single tap detection for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	disableSingleTapDetection (void)
	Disable the single tap detection for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	enableDoubleTapDetection (void)
	Enable the double tap detection for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	enableDoubleTapDetection (LSM6DS3_Interrupt_Pin_t int_pin)
	Enable the double tap detection for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	disableDoubleTapDetection (void)
	Disable the double tap detection for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	setTapThreshold (uint8_t thr)
	Set the tap threshold for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	setTapShockTime (uint8_t time)
	Set the tap shock time window for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	setTapQuietTime (uint8_t time)
	Set the tap quiet time window for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	setTapDurationTime (uint8_t time)
	Set the tap duration of the time window for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	enable6dOrientation (void)
	Enable the 6D orientation detection for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	enable6dOrientation (LSM6DS3_Interrupt_Pin_t int_pin)
	Enable the 6D orientation detection for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	disable6dOrientation (void)
	Disable the 6D orientation detection for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	get6dOrientationXl (uint8_t *xl)
	Get the 6D orientation XL axis for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	get6dOrientationXh (uint8_t *xh)
	Get the 6D orientation XH axis for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	get6dOrientationYl (uint8_t *yl)
	Get the 6D orientation YL axis for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	get6dOrientationYh (uint8_t *yh)
	Get the 6D orientation YH axis for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	get6dOrientationZl (uint8_t *zl)
	Get the 6D orientation ZL axis for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	get6dOrientationZh (uint8_t *zh)
	Get the 6D orientation ZH axis for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	getEventStatus (LSM6DS3_Event_Status_t *status)
	Get the status of all hardware events for LSM6DS3 accelerometer sensor.
LSM6DS3StatusTypeDef	readRegister (uint8_t reg, uint8_t *data)
	Read the data from register.
LSM6DS3StatusTypeDef	writeRegister (uint8_t reg, uint8_t data)
	Write the data to register.
uint8_t	ioRead (uint8_t *pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
	Utility function to read data.
uint8_t	ioWrite (uint8_t *pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
	Utility function to write data.

Private Member Functions
LSM6DS3StatusTypeDef	setAcceleratorOdrWhenEnabled (float odr)
	Set LSM6DS3 Accelerometer output data rate when enabled.
LSM6DS3StatusTypeDef	setGyroOdrWhenEnabled (float odr)
	Set LSM6DS3 Gyroscope output data rate when enabled.
LSM6DS3StatusTypeDef	setAcceleratorOdrWhenDisabled (float odr)
	Set LSM6DS3 Accelerometer output data rate when disabled.
LSM6DS3StatusTypeDef	setGyroOdrWhenDisabled (float odr)
	Set LSM6DS3 Gyroscope output data rate when disabled.

Private Attributes
TwoWire *	dev_i2c
uint8_t	address
uint8_t	X_isEnabled
float	X_Last_ODR
uint8_t	G_isEnabled
float	G_Last_ODR

Detailed Description

Abstract class of an LSM6DS3 Inertial Measurement Unit (IMU) 6 axes sensor.

Constructor & Destructor Documentation

LSM6DS3Sensor()

LSM6DS3Sensor::LSM6DS3Sensor	(	TwoWire *	i2c,
		uint8_t	address = LSM6DS3_ACC_GYRO_I2C_ADDRESS_HIGH )

Constructor

Parameters

i2c	object of an helper class which handles the I2C peripheral
address	the address of the component's instance

Member Function Documentation

begin()

LSM6DS3StatusTypeDef LSM6DS3Sensor::begin

(

void

)

Configure the sensor in order to be used.

Return values

0	in case of success, an error code otherwise

disable6dOrientation()

LSM6DS3StatusTypeDef LSM6DS3Sensor::disable6dOrientation

(

void

)

Disable the 6D orientation detection for LSM6DS3 accelerometer sensor.

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

disableAccelerator()

LSM6DS3StatusTypeDef LSM6DS3Sensor::disableAccelerator

(

void

)

Disable LSM6DS3 Accelerator.

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

disableDoubleTapDetection()

LSM6DS3StatusTypeDef LSM6DS3Sensor::disableDoubleTapDetection

(

void

)

Disable the double tap detection for LSM6DS3 accelerometer sensor.

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

disableFreeFallDetection()

LSM6DS3StatusTypeDef LSM6DS3Sensor::disableFreeFallDetection

(

void

)

Disable free fall detection.

Parameters

None

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

disableGyro()

LSM6DS3StatusTypeDef LSM6DS3Sensor::disableGyro

(

void

)

Disable LSM6DS3 Gyroscope.

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

disablePedometer()

LSM6DS3StatusTypeDef LSM6DS3Sensor::disablePedometer

(

void

)

Disable the pedometer feature for LSM6DS3 accelerometer sensor.

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

disableSingleTapDetection()

LSM6DS3StatusTypeDef LSM6DS3Sensor::disableSingleTapDetection

(

void

)

Disable the single tap detection for LSM6DS3 accelerometer sensor.

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

disableTiltDetection()

LSM6DS3StatusTypeDef LSM6DS3Sensor::disableTiltDetection

(

void

)

Disable the tilt detection for LSM6DS3 accelerometer sensor.

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

disableWakeUpDetection()

LSM6DS3StatusTypeDef LSM6DS3Sensor::disableWakeUpDetection

(

void

)

Disable the wake up detection for LSM6DS3 accelerometer sensor.

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

enable6dOrientation() [1/2]

LSM6DS3StatusTypeDef LSM6DS3Sensor::enable6dOrientation

(

LSM6DS3_Interrupt_Pin_t

int_pin

)

Enable the 6D orientation detection for LSM6DS3 accelerometer sensor.

Parameters

int_pin

the interrupt pin to be used

Note

This function sets the LSM6DS3 accelerometer ODR to 416Hz and the LSM6DS3 accelerometer full scale to 2g

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

enable6dOrientation() [2/2]

LSM6DS3StatusTypeDef LSM6DS3Sensor::enable6dOrientation

(

void

)

Enable the 6D orientation detection for LSM6DS3 accelerometer sensor.

Note

This function sets the LSM6DS3 accelerometer ODR to 416Hz and the LSM6DS3 accelerometer full scale to 2g

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

enableAccelerator()

LSM6DS3StatusTypeDef LSM6DS3Sensor::enableAccelerator

(

void

)

Enable LSM6DS3 Accelerator.

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

enableDoubleTapDetection() [1/2]

LSM6DS3StatusTypeDef LSM6DS3Sensor::enableDoubleTapDetection

(

LSM6DS3_Interrupt_Pin_t

int_pin

)

Enable the double tap detection for LSM6DS3 accelerometer sensor.

Parameters

int_pin

the interrupt pin to be used

Note

This function sets the LSM6DS3 accelerometer ODR to 416Hz and the LSM6DS3 accelerometer full scale to 2g

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

enableDoubleTapDetection() [2/2]

LSM6DS3StatusTypeDef LSM6DS3Sensor::enableDoubleTapDetection

(

void

)

Enable the double tap detection for LSM6DS3 accelerometer sensor.

Note

This function sets the LSM6DS3 accelerometer ODR to 416Hz and the LSM6DS3 accelerometer full scale to 2g

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

enableFreeFallDetection() [1/2]

LSM6DS3StatusTypeDef LSM6DS3Sensor::enableFreeFallDetection

(

LSM6DS3_Interrupt_Pin_t

int_pin

)

Enable free fall detection.

Parameters

int_pin

the interrupt pin to be used

Note

This function sets the LSM6DS3 accelerometer ODR to 416Hz and the LSM6DS3 accelerometer full scale to 2g

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

enableFreeFallDetection() [2/2]

LSM6DS3StatusTypeDef LSM6DS3Sensor::enableFreeFallDetection

(

void

)

Enable free fall detection.

Note

This function sets the LSM6DS3 accelerometer ODR to 416Hz and the LSM6DS3 accelerometer full scale to 2g

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

enableGyro()

LSM6DS3StatusTypeDef LSM6DS3Sensor::enableGyro

(

void

)

Enable LSM6DS3 Gyroscope.

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

enablePedometer()

LSM6DS3StatusTypeDef LSM6DS3Sensor::enablePedometer

(

void

)

Enable the pedometer feature for LSM6DS3 accelerometer sensor.

Note

This function sets the LSM6DS3 accelerometer ODR to 26Hz and the LSM6DS3 accelerometer full scale to 2g

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

enableSingleTapDetection() [1/2]

LSM6DS3StatusTypeDef LSM6DS3Sensor::enableSingleTapDetection

(

LSM6DS3_Interrupt_Pin_t

int_pin

)

Enable the single tap detection for LSM6DS3 accelerometer sensor.

Parameters

int_pin

the interrupt pin to be used

Note

This function sets the LSM6DS3 accelerometer ODR to 416Hz and the LSM6DS3 accelerometer full scale to 2g

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

enableSingleTapDetection() [2/2]

LSM6DS3StatusTypeDef LSM6DS3Sensor::enableSingleTapDetection

(

void

)

Enable the single tap detection for LSM6DS3 accelerometer sensor.

Note

This function sets the LSM6DS3 accelerometer ODR to 416Hz and the LSM6DS3 accelerometer full scale to 2g

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

enableTiltDetection() [1/2]

LSM6DS3StatusTypeDef LSM6DS3Sensor::enableTiltDetection

(

LSM6DS3_Interrupt_Pin_t

int_pin

)

Enable the tilt detection for LSM6DS3 accelerometer sensor.

Parameters

int_pin

the interrupt pin to be used

Note

This function sets the LSM6DS3 accelerometer ODR to 26Hz and the LSM6DS3 accelerometer full scale to 2g

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

enableTiltDetection() [2/2]

LSM6DS3StatusTypeDef LSM6DS3Sensor::enableTiltDetection

(

void

)

Enable the tilt detection for LSM6DS3 accelerometer sensor.

Note

This function sets the LSM6DS3 accelerometer ODR to 26Hz and the LSM6DS3 accelerometer full scale to 2g

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

enableWakeUpDetection() [1/2]

LSM6DS3StatusTypeDef LSM6DS3Sensor::enableWakeUpDetection

(

LSM6DS3_Interrupt_Pin_t

int_pin

)

Enable the wake up detection for LSM6DS3 accelerometer sensor.

Parameters

int_pin

the interrupt pin to be used

Note

This function sets the LSM6DS3 accelerometer ODR to 416Hz and the LSM6DS3 accelerometer full scale to 2g

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

enableWakeUpDetection() [2/2]

LSM6DS3StatusTypeDef LSM6DS3Sensor::enableWakeUpDetection

(

void

)

Enable the wake up detection for LSM6DS3 accelerometer sensor.

Note

This function sets the LSM6DS3 accelerometer ODR to 416Hz and the LSM6DS3 accelerometer full scale to 2g

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

end()

LSM6DS3StatusTypeDef LSM6DS3Sensor::end

(

void

)

Disable the sensor and relative resources.

Return values

0	in case of success, an error code otherwise

get6dOrientationXh()

LSM6DS3StatusTypeDef LSM6DS3Sensor::get6dOrientationXh

(

uint8_t *

xh

)

Get the 6D orientation XH axis for LSM6DS3 accelerometer sensor.

Parameters

xh	the pointer to the 6D orientation XH axis

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

get6dOrientationXl()

LSM6DS3StatusTypeDef LSM6DS3Sensor::get6dOrientationXl

(

uint8_t *

xl

)

Get the 6D orientation XL axis for LSM6DS3 accelerometer sensor.

Parameters

xl	the pointer to the 6D orientation XL axis

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

get6dOrientationYh()

LSM6DS3StatusTypeDef LSM6DS3Sensor::get6dOrientationYh

(

uint8_t *

yh

)

Get the 6D orientation YH axis for LSM6DS3 accelerometer sensor.

Parameters

yh	the pointer to the 6D orientation YH axis

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

get6dOrientationYl()

LSM6DS3StatusTypeDef LSM6DS3Sensor::get6dOrientationYl

(

uint8_t *

yl

)

Get the 6D orientation YL axis for LSM6DS3 accelerometer sensor.

Parameters

yl	the pointer to the 6D orientation YL axis

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

get6dOrientationZh()

LSM6DS3StatusTypeDef LSM6DS3Sensor::get6dOrientationZh

(

uint8_t *

zh

)

Get the 6D orientation ZH axis for LSM6DS3 accelerometer sensor.

Parameters

zh	the pointer to the 6D orientation ZH axis

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

get6dOrientationZl()

LSM6DS3StatusTypeDef LSM6DS3Sensor::get6dOrientationZl

(

uint8_t *

zl

)

Get the 6D orientation ZL axis for LSM6DS3 accelerometer sensor.

Parameters

zl	the pointer to the 6D orientation ZL axis

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

getAcceleratorAxes()

LSM6DS3StatusTypeDef LSM6DS3Sensor::getAcceleratorAxes

(

int32_t *

pData

)

Read data from LSM6DS3 Accelerometer.

Parameters

pData

the pointer where the accelerometer data are stored

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

getAcceleratorAxesRaw()

LSM6DS3StatusTypeDef LSM6DS3Sensor::getAcceleratorAxesRaw

(

int16_t *

pData

)

Read raw data from LSM6DS3 Accelerometer.

Parameters

pData

the pointer where the accelerometer raw data are stored

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

getAcceleratorFullScale()

LSM6DS3StatusTypeDef LSM6DS3Sensor::getAcceleratorFullScale

(

float *

fullScale

)

Read LSM6DS3 Accelerometer full scale.

Parameters

fullScale

the pointer to the full scale

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

getAcceleratorOdr()

LSM6DS3StatusTypeDef LSM6DS3Sensor::getAcceleratorOdr

(

float *

odr

)

Read LSM6DS3 Accelerometer output data rate.

Parameters

odr	the pointer to the output data rate

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

getAcceleratorSensitivity()

LSM6DS3StatusTypeDef LSM6DS3Sensor::getAcceleratorSensitivity

(

float *

pfData

)

Read Accelerometer Sensitivity.

Parameters

pfData

the pointer where the accelerometer sensitivity is stored

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

getEventStatus()

LSM6DS3StatusTypeDef LSM6DS3Sensor::getEventStatus

(

LSM6DS3_Event_Status_t *

status

)

Get the status of all hardware events for LSM6DS3 accelerometer sensor.

Parameters

status

the pointer to the status of all hardware events

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

getGyroAxes()

LSM6DS3StatusTypeDef LSM6DS3Sensor::getGyroAxes

(

int32_t *

pData

)

Read data from LSM6DS3 Gyroscope.

Parameters

pData

the pointer where the gyroscope data are stored

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

getGyroAxesRaw()

LSM6DS3StatusTypeDef LSM6DS3Sensor::getGyroAxesRaw

(

int16_t *

pData

)

Read raw data from LSM6DS3 Gyroscope.

Parameters

pData

the pointer where the gyroscope raw data are stored

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

getGyroFullScale()

LSM6DS3StatusTypeDef LSM6DS3Sensor::getGyroFullScale

(

float *

fullScale

)

Read LSM6DS3 Gyroscope full scale.

Parameters

fullScale

the pointer to the full scale

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

getGyroOdr()

LSM6DS3StatusTypeDef LSM6DS3Sensor::getGyroOdr

(

float *

odr

)

Read LSM6DS3 Gyroscope output data rate.

Parameters

odr	the pointer to the output data rate

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

getGyroSensitivity()

LSM6DS3StatusTypeDef LSM6DS3Sensor::getGyroSensitivity

(

float *

pfData

)

Read Gyroscope Sensitivity.

Parameters

pfData

the pointer where the gyroscope sensitivity is stored

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

getStepCounter()

LSM6DS3StatusTypeDef LSM6DS3Sensor::getStepCounter

(

uint16_t *

step_count

)

Get the step counter for LSM6DS3 accelerometer sensor.

Parameters

step_count

the pointer to the step counter

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

ioRead()

uint8_t LSM6DS3Sensor::ioRead ( uint8_t * pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead )

inline

Utility function to read data.

Parameters

pBuffer	pointer to data to be read.
RegisterAddr	specifies internal address register to be read.
NumByteToRead	number of bytes to be read.

Return values

0	if ok, an error code otherwise.

ioWrite()

uint8_t LSM6DS3Sensor::ioWrite ( uint8_t * pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite )

inline

Utility function to write data.

Parameters

pBuffer	pointer to data to be written.
RegisterAddr	specifies internal address register to be written.
NumByteToWrite	number of bytes to write.

Return values

0	if ok, an error code otherwise.

readId()

LSM6DS3StatusTypeDef LSM6DS3Sensor::readId

(

uint8_t *

p_id

)

Read ID of LSM6DS3 Accelerometer and Gyroscope.

Parameters

p_id	the pointer where the ID of the device is stored

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

readRegister()

LSM6DS3StatusTypeDef LSM6DS3Sensor::readRegister	(	uint8_t	reg,
		uint8_t *	data )

Read the data from register.

Parameters

reg	register address
data	register data

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

resetStepCounter()

LSM6DS3StatusTypeDef LSM6DS3Sensor::resetStepCounter

(

void

)

Reset of the step counter for LSM6DS3 accelerometer sensor.

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

setAcceleratorFullScale()

LSM6DS3StatusTypeDef LSM6DS3Sensor::setAcceleratorFullScale

(

float

fullScale

)

Set LSM6DS3 Accelerometer full scale.

Parameters

fullScale

the full scale to be set

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

setAcceleratorOdr()

LSM6DS3StatusTypeDef LSM6DS3Sensor::setAcceleratorOdr

(

float

odr

)

Set LSM6DS3 Accelerometer output data rate.

Parameters

odr	the output data rate to be set

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

setAcceleratorOdrWhenDisabled()

LSM6DS3StatusTypeDef LSM6DS3Sensor::setAcceleratorOdrWhenDisabled ( float odr )

private

Set LSM6DS3 Accelerometer output data rate when disabled.

Parameters

odr	the output data rate to be set

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

setAcceleratorOdrWhenEnabled()

LSM6DS3StatusTypeDef LSM6DS3Sensor::setAcceleratorOdrWhenEnabled ( float odr )

private

Set LSM6DS3 Accelerometer output data rate when enabled.

Parameters

odr	the output data rate to be set

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

setFreeFallThreshold()

LSM6DS3StatusTypeDef LSM6DS3Sensor::setFreeFallThreshold

(

uint8_t

thr

)

Set the free fall detection threshold for LSM6DS3 accelerometer sensor.

Parameters

thr	the threshold to be set

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

setGyroFullScale()

LSM6DS3StatusTypeDef LSM6DS3Sensor::setGyroFullScale

(

float

fullScale

)

Set LSM6DS3 Gyroscope full scale.

Parameters

fullScale

the full scale to be set

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

setGyroOdr()

LSM6DS3StatusTypeDef LSM6DS3Sensor::setGyroOdr

(

float

odr

)

Set LSM6DS3 Gyroscope output data rate.

Parameters

odr	the output data rate to be set

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

setGyroOdrWhenDisabled()

LSM6DS3StatusTypeDef LSM6DS3Sensor::setGyroOdrWhenDisabled ( float odr )

private

Set LSM6DS3 Gyroscope output data rate when disabled.

Parameters

odr	the output data rate to be set

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

setGyroOdrWhenEnabled()

LSM6DS3StatusTypeDef LSM6DS3Sensor::setGyroOdrWhenEnabled ( float odr )

private

Set LSM6DS3 Gyroscope output data rate when enabled.

Parameters

odr	the output data rate to be set

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

setPedometerThreshold()

LSM6DS3StatusTypeDef LSM6DS3Sensor::setPedometerThreshold

(

uint8_t

thr

)

Set the pedometer threshold for LSM6DS3 accelerometer sensor.

Parameters

thr	the threshold to be set

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

setTapDurationTime()

LSM6DS3StatusTypeDef LSM6DS3Sensor::setTapDurationTime

(

uint8_t

time

)

Set the tap duration of the time window for LSM6DS3 accelerometer sensor.

Parameters

time	the duration of the time window to be set

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

setTapQuietTime()

LSM6DS3StatusTypeDef LSM6DS3Sensor::setTapQuietTime

(

uint8_t

time

)

Set the tap quiet time window for LSM6DS3 accelerometer sensor.

Parameters

time	the quiet time window to be set

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

setTapShockTime()

LSM6DS3StatusTypeDef LSM6DS3Sensor::setTapShockTime

(

uint8_t

time

)

Set the tap shock time window for LSM6DS3 accelerometer sensor.

Parameters

time	the shock time window to be set

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

setTapThreshold()

LSM6DS3StatusTypeDef LSM6DS3Sensor::setTapThreshold

(

uint8_t

thr

)

Set the tap threshold for LSM6DS3 accelerometer sensor.

Parameters

thr	the threshold to be set

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

setWakeUpThreshold()

LSM6DS3StatusTypeDef LSM6DS3Sensor::setWakeUpThreshold

(

uint8_t

thr

)

Set the wake up threshold for LSM6DS3 accelerometer sensor.

Parameters

thr	the threshold to be set

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

writeRegister()

LSM6DS3StatusTypeDef LSM6DS3Sensor::writeRegister	(	uint8_t	reg,
		uint8_t	data )

Write the data to register.

Parameters

reg	register address
data	register data

Return values

LSM6DS3_STATUS_OK

in case of success, an error code otherwise

Member Data Documentation

address

uint8_t LSM6DS3Sensor::address

private

dev_i2c

TwoWire* LSM6DS3Sensor::dev_i2c

private

G_isEnabled

uint8_t LSM6DS3Sensor::G_isEnabled

private

G_Last_ODR

float LSM6DS3Sensor::G_Last_ODR

private

X_isEnabled

uint8_t LSM6DS3Sensor::X_isEnabled

private

X_Last_ODR

float LSM6DS3Sensor::X_Last_ODR

private

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The documentation for this class was generated from the following files:

• LSM6DS3Sensor.h
• LSM6DS3Sensor.cpp