lsm6ds3

Documentation

Overview

Package lsm6ds3 implements a driver for the LSM6DS3 a 6 axis Inertial Measurement Unit (IMU)

Datasheet: https://www.st.com/resource/en/datasheet/lsm6ds3.pdf

Index

• Constants
• type AccelBandwidth
• type AccelRange
• type AccelSampleRate
• type Configuration
• type Device
  • func New(bus drivers.I2C) *Device
  • func (d *Device) Configure(cfg Configuration) (err error)
  • func (d *Device) Connected() bool
  • func (d *Device) ReadAcceleration() (x, y, z int32, err error)
  • func (d *Device) ReadRotation() (x, y, z int32, err error)
  • func (d *Device) ReadSteps() (s int32, err error)
  • func (d *Device) ReadTemperature() (t int32, err error)
• type GyroRange
• type GyroSampleRate

Constants

const (
	WHO_AM_I             = 0x0F
	STATUS               = 0x1E
	CTRL1_XL             = 0x10
	CTRL2_G              = 0x11
	CTRL3_C              = 0x12
	CTRL4_C              = 0x13
	CTRL5_C              = 0x14
	CTRL6_C              = 0x15
	CTRL7_G              = 0x16
	CTRL8_XL             = 0x17
	CTRL9_XL             = 0x18
	CTRL10_C             = 0x19
	OUTX_L_G             = 0x22
	OUTX_H_G             = 0x23
	OUTY_L_G             = 0x24
	OUTY_H_G             = 0x25
	OUTZ_L_G             = 0x26
	OUTZ_H_G             = 0x27
	OUTX_L_XL            = 0x28
	OUTX_H_XL            = 0x29
	OUTY_L_XL            = 0x2A
	OUTY_H_XL            = 0x2B
	OUTZ_L_XL            = 0x2C
	OUTZ_H_XL            = 0x2D
	OUT_TEMP_L           = 0x20
	OUT_TEMP_H           = 0x21
	BW_SCAL_ODR_DISABLED = 0x00
	BW_SCAL_ODR_ENABLED  = 0x80
	STEP_TIMESTAMP_L     = 0x49
	STEP_TIMESTAMP_H     = 0x4A
	STEP_COUNTER_L       = 0x4B
	STEP_COUNTER_H       = 0x4C
	STEP_COUNT_DELTA     = 0x15
	TAP_CFG              = 0x58
	INT1_CTRL            = 0x0D

	ACCEL_2G  AccelRange = 0x00
	ACCEL_4G  AccelRange = 0x08
	ACCEL_8G  AccelRange = 0x0C
	ACCEL_16G AccelRange = 0x04

	ACCEL_SR_OFF   AccelSampleRate = 0x00
	ACCEL_SR_13    AccelSampleRate = 0x10
	ACCEL_SR_26    AccelSampleRate = 0x20
	ACCEL_SR_52    AccelSampleRate = 0x30
	ACCEL_SR_104   AccelSampleRate = 0x40
	ACCEL_SR_208   AccelSampleRate = 0x50
	ACCEL_SR_416   AccelSampleRate = 0x60
	ACCEL_SR_833   AccelSampleRate = 0x70
	ACCEL_SR_1666  AccelSampleRate = 0x80
	ACCEL_SR_3332  AccelSampleRate = 0x90
	ACCEL_SR_6664  AccelSampleRate = 0xA0
	ACCEL_SR_13330 AccelSampleRate = 0xB0

	ACCEL_BW_50  AccelBandwidth = 0x03
	ACCEL_BW_100 AccelBandwidth = 0x02
	ACCEL_BW_200 AccelBandwidth = 0x01
	ACCEL_BW_400 AccelBandwidth = 0x00

	//GYRO_125DPS  GyroRange = 0x01
	GYRO_250DPS  GyroRange = 0x00
	GYRO_500DPS  GyroRange = 0x04
	GYRO_1000DPS GyroRange = 0x08
	GYRO_2000DPS GyroRange = 0x0C

	GYRO_SR_OFF  GyroSampleRate = 0x00
	GYRO_SR_13   GyroSampleRate = 0x10
	GYRO_SR_26   GyroSampleRate = 0x20
	GYRO_SR_52   GyroSampleRate = 0x30
	GYRO_SR_104  GyroSampleRate = 0x40
	GYRO_SR_208  GyroSampleRate = 0x50
	GYRO_SR_416  GyroSampleRate = 0x60
	GYRO_SR_833  GyroSampleRate = 0x70
	GYRO_SR_1666 GyroSampleRate = 0x80
)

const Address = 0x6A

The I2C address which this device listens to.

Types

type AccelBandwidth

type AccelBandwidth uint8

type AccelRange

type AccelRange uint8

type AccelSampleRate

type AccelSampleRate uint8

type Configuration

type Configuration struct {
	AccelRange       AccelRange
	AccelSampleRate  AccelSampleRate
	AccelBandWidth   AccelBandwidth
	GyroRange        GyroRange
	GyroSampleRate   GyroSampleRate
	IsPedometer      bool
	ResetStepCounter bool
}

Configuration for LSM6DS3 device.

type Device

type Device struct {
	Address uint16
	// contains filtered or unexported fields
}

Device wraps an I2C connection to a LSM6DS3 device.

func New

func New(bus drivers.I2C) *Device

New creates a new LSM6DS3 connection. The I2C bus must already be configured.

This function only creates the Device object, it does not touch the device.

func (*Device) Configure

func (d *Device) Configure(cfg Configuration) (err error)

Configure sets up the device for communication.

func (*Device) Connected

func (d *Device) Connected() bool

Connected returns whether a LSM6DS3 has been found. It does a "who am I" request and checks the response.

func (*Device) ReadAcceleration

func (d *Device) ReadAcceleration() (x, y, z int32, err error)

ReadAcceleration reads the current acceleration from the device and returns it in µg (micro-gravity). When one of the axes is pointing straight to Earth and the sensor is not moving the returned value will be around 1000000 or -1000000.

func (*Device) ReadRotation

func (d *Device) ReadRotation() (x, y, z int32, err error)

ReadRotation reads the current rotation from the device and returns it in µ°/s (micro-degrees/sec). This means that if you were to do a complete rotation along one axis and while doing so integrate all values over time, you would get a value close to 360000000.

func (*Device) ReadSteps

func (d *Device) ReadSteps() (s int32, err error)

ReadSteps returns the steps of the pedometer

func (*Device) ReadTemperature

func (d *Device) ReadTemperature() (t int32, err error)

ReadTemperature returns the temperature in celsius milli degrees (°C/1000)

type GyroRange

type GyroRange uint8

type GyroSampleRate

type GyroSampleRate uint8