Base class for use with LSM6DS series acclerometer gyro sensors from STMicroelectronics. DO NOT USE DIRECTLY. Specific sensor variants should be subclassed as needed. More...

#include <Adafruit_LSM6DS.h>

Inheritance diagram for Adafruit_LSM6DS:

Public Member Functions
	Adafruit_LSM6DS ()
	Instantiates a new LSM6DS class.

virtual	~Adafruit_LSM6DS ()
	Cleans up the LSM6DS.

bool	begin_I2C (uint8_t i2c_addr=LSM6DS_I2CADDR_DEFAULT, TwoWire *wire=&Wire, int32_t sensorID=0)
	Sets up the hardware and initializes I2C. More...

bool	begin_SPI (uint8_t cs_pin, SPIClass *theSPI=&SPI, int32_t sensorID=0, uint32_t frequency=1000000)
	Sets up the hardware and initializes hardware SPI. More...

bool	begin_SPI (int8_t cs_pin, int8_t sck_pin, int8_t miso_pin, int8_t mosi_pin, int32_t sensorID=0, uint32_t frequency=1000000)
	Sets up the hardware and initializes software SPI. More...

bool	getEvent (sensors_event_t accel, sensors_event_t gyro, sensors_event_t *temp)
	Gets the most recent sensor event, Adafruit Unified Sensor format. More...

lsm6ds_data_rate_t	getAccelDataRate (void)
	Gets the accelerometer data rate. More...

void	setAccelDataRate (lsm6ds_data_rate_t data_rate)
	Sets the accelerometer data rate. More...

lsm6ds_accel_range_t	getAccelRange (void)
	Gets the accelerometer measurement range. More...

void	setAccelRange (lsm6ds_accel_range_t new_range)
	Sets the accelerometer measurement range. More...

lsm6ds_data_rate_t	getGyroDataRate (void)
	Gets the gyro data rate. More...

void	setGyroDataRate (lsm6ds_data_rate_t data_rate)
	Sets the gyro data rate. More...

lsm6ds_gyro_range_t	getGyroRange (void)
	Gets the gyro range. More...

void	setGyroRange (lsm6ds_gyro_range_t new_range)
	Sets the gyro range. More...

void	reset (void)
	Resets the sensor to its power-on state, clearing all registers and memory.

void	configIntOutputs (bool active_low, bool open_drain)
	Sets the INT1 and INT2 pin activation mode. More...

void	configInt1 (bool drdy_temp, bool drdy_g, bool drdy_xl, bool step_detect=false, bool wakeup=false)
	Enables and disables the data ready interrupt on INT 1. More...

void	configInt2 (bool drdy_temp, bool drdy_g, bool drdy_xl)
	Enables and disables the data ready interrupt on INT 2. More...

void	highPassFilter (bool enabled, lsm6ds_hp_filter_t filter)
	Enables the high pass filter and/or slope filter. More...

void	enableWakeup (bool enable, uint8_t duration=0, uint8_t thresh=20)
	Enables and disables the wakeup function. More...

bool	awake (void)
	Checks interrupt register to see if we have a wake signal. More...

bool	shake (void)
	Simple shake detection. Must call enableWakeup() first. More...

void	enablePedometer (bool enable)
	Enables and disables the pedometer function. More...

void	resetPedometer (void)
	Reset the pedometer count.

uint16_t	readPedometer (void)
	Read the 16-bit pedometer count. More...

int	readAcceleration (float &x, float &y, float &z)
	Read accelerometer data. More...

float	accelerationSampleRate (void)
	Gets the accelerometer data rate. More...

int	accelerationAvailable (void)
	Check for available data from accelerometer. More...

int	readGyroscope (float &x, float &y, float &z)
	Read gyroscope data. More...

float	gyroscopeSampleRate (void)
	Get the gyroscope data rate. More...

int	gyroscopeAvailable (void)
	Check for available data from gyroscope. More...

Adafruit_Sensor *	getTemperatureSensor (void)
	Gets an Adafruit Unified Sensor object for the temp sensor component. More...

Adafruit_Sensor *	getAccelerometerSensor (void)
	Gets an Adafruit Unified Sensor object for the accelerometer sensor component. More...

Adafruit_Sensor *	getGyroSensor (void)
	Gets an Adafruit Unified Sensor object for the gyro sensor component. More...

Public Attributes
int16_t	rawAccX
	Last reading's raw accelerometer X axis.

int16_t	rawAccY
	Last reading's raw accelerometer Y axis.

int16_t	rawAccZ
	Last reading's raw accelerometer Z axis.

int16_t	rawTemp
	Last reading's raw temperature reading.

int16_t	rawGyroX
	Last reading's raw gyro X axis.

int16_t	rawGyroY
	Last reading's raw gyro Y axis.

int16_t	rawGyroZ
	Last reading's raw gyro Z axis.

float	temperature
	Last reading's temperature (C)

float	accX
	Last reading's accelerometer X axis m/s^2.

float	accY
	Last reading's accelerometer Y axis m/s^2.

float	accZ
	Last reading's accelerometer Z axis m/s^2.

float	gyroX
	Last reading's gyro X axis in rad/s.

float	gyroY
	Last reading's gyro Y axis in rad/s.

float	gyroZ
	Last reading's gyro Z axis in rad/s.

Protected Member Functions
uint8_t	chipID (void)
	Read chip identification register. More...

uint8_t	status (void)
	Read Status register. More...

virtual void	_read (void)
	Updates the measurement data for all sensors simultaneously.

virtual bool	_init (int32_t sensor_id)
	Unique subclass initializer post i2c/spi init. More...

Protected Attributes
uint16_t	_sensorid_accel
	ID number for accelerometer.

uint16_t	_sensorid_gyro
	ID number for gyro.

uint16_t	_sensorid_temp
	ID number for temperature.

Adafruit_I2CDevice *	i2c_dev = NULL
	Pointer to I2C bus interface.

Adafruit_SPIDevice *	spi_dev = NULL
	Pointer to SPI bus interface.

float	temperature_sensitivity
	Temp sensor sensitivity in LSB/degC. More...

Adafruit_LSM6DS_Temp *	temp_sensor = NULL
	Temp sensor data object.

Adafruit_LSM6DS_Accelerometer *	accel_sensor
	Accelerometer data object. More...

Adafruit_LSM6DS_Gyro *	gyro_sensor = NULL
	Gyro data object.

lsm6ds_accel_range_t	accelRangeBuffered = LSM6DS_ACCEL_RANGE_2_G
	buffer for the accelerometer range

lsm6ds_gyro_range_t	gyroRangeBuffered = LSM6DS_GYRO_RANGE_250_DPS
	buffer for the gyroscope range

Friends
class	Adafruit_LSM6DS_Temp

class	Adafruit_LSM6DS_Accelerometer

class	Adafruit_LSM6DS_Gyro

Detailed Description

Base class for use with LSM6DS series acclerometer gyro sensors from STMicroelectronics. DO NOT USE DIRECTLY. Specific sensor variants should be subclassed as needed.

Member Function Documentation

◆ begin_I2C()

boolean Adafruit_LSM6DS::begin_I2C	(	uint8_t	i2c_address = `LSM6DS_I2CADDR_DEFAULT`,
		TwoWire *	wire = `&Wire`,
		int32_t	sensor_id = `0`
	)

Sets up the hardware and initializes I2C.

Parameters

i2c_address	The I2C address to be used.
wire	The Wire object to be used for I2C connections.
sensor_id	The user-defined ID to differentiate different sensors

Returns: True if initialization was successful, otherwise false.

◆ begin_SPI() [1/2]

bool Adafruit_LSM6DS::begin_SPI	(	uint8_t	cs_pin,
		SPIClass *	theSPI = `&SPI`,
		int32_t	sensor_id = `0`,
		uint32_t	frequency = `1000000`
	)

Sets up the hardware and initializes hardware SPI.

Parameters

cs_pin	The arduino pin # connected to chip select
theSPI	The SPI object to be used for SPI connections.
frequency	The SPI bus frequency
sensor_id	The user-defined ID to differentiate different sensors

Returns: True if initialization was successful, otherwise false.

◆ begin_SPI() [2/2]

bool Adafruit_LSM6DS::begin_SPI	(	int8_t	cs_pin,
		int8_t	sck_pin,
		int8_t	miso_pin,
		int8_t	mosi_pin,
		int32_t	sensor_id = `0`,
		uint32_t	frequency = `1000000`
	)

Sets up the hardware and initializes software SPI.

Parameters

cs_pin	The arduino pin # connected to chip select
sck_pin	The arduino pin # connected to SPI clock
miso_pin	The arduino pin # connected to SPI MISO
mosi_pin	The arduino pin # connected to SPI MOSI
frequency	The SPI bus frequency
sensor_id	The user-defined ID to differentiate different sensors

Returns: True if initialization was successful, otherwise false.

◆ getEvent()

bool Adafruit_LSM6DS::getEvent	(	sensors_event_t *	accel,
		sensors_event_t *	gyro,
		sensors_event_t *	temp
	)

Gets the most recent sensor event, Adafruit Unified Sensor format.

Parameters

accel	Pointer to an Adafruit Unified sensor_event_t object to be filled with acceleration event data.
gyro	Pointer to an Adafruit Unified sensor_event_t object to be filled with gyro event data.
temp	Pointer to an Adafruit Unified sensor_event_t object to be filled with temperature event data.

Returns: True on successful read

◆ getAccelDataRate()

lsm6ds_data_rate_t Adafruit_LSM6DS::getAccelDataRate ( void )

Gets the accelerometer data rate.

Returns: The the accelerometer data rate.

◆ setAccelDataRate()

void Adafruit_LSM6DS::setAccelDataRate ( lsm6ds_data_rate_t data_rate )

Sets the accelerometer data rate.

Parameters

data_rate The the accelerometer data rate. Must be a lsm6ds_data_rate_t.

◆ getAccelRange()

lsm6ds_accel_range_t Adafruit_LSM6DS::getAccelRange ( void )

Gets the accelerometer measurement range.

Returns: The the accelerometer measurement range.

◆ setAccelRange()

void Adafruit_LSM6DS::setAccelRange ( lsm6ds_accel_range_t new_range )

Sets the accelerometer measurement range.

Parameters

new_range The lsm6ds_accel_range_t range to set.

◆ getGyroDataRate()

lsm6ds_data_rate_t Adafruit_LSM6DS::getGyroDataRate ( void )

Gets the gyro data rate.

Returns: The the gyro data rate.

◆ setGyroDataRate()

void Adafruit_LSM6DS::setGyroDataRate ( lsm6ds_data_rate_t data_rate )

Sets the gyro data rate.

Parameters

data_rate The the gyro data rate. Must be a lsm6ds_data_rate_t.

◆ getGyroRange()

lsm6ds_gyro_range_t Adafruit_LSM6DS::getGyroRange ( void )

Gets the gyro range.

Returns: The the gyro range.

◆ setGyroRange()

void Adafruit_LSM6DS::setGyroRange ( lsm6ds_gyro_range_t new_range )

Sets the gyro range.

Parameters

new_range The lsm6ds_gyro_range_t to set.

◆ configIntOutputs()

void Adafruit_LSM6DS::configIntOutputs	(	bool	active_low,
		bool	open_drain
	)

Sets the INT1 and INT2 pin activation mode.

Parameters

active_low	true to set the pins as active high, false to set the mode to active low
open_drain	true to set the pin mode as open-drain, false to set the mode to push-pull

◆ configInt1()

void Adafruit_LSM6DS::configInt1	(	bool	drdy_temp,
		bool	drdy_g,
		bool	drdy_xl,
		bool	step_detect = `false`,
		bool	wakeup = `false`
	)

Enables and disables the data ready interrupt on INT 1.

Parameters

drdy_temp	true to output the data ready temperature interrupt
drdy_g	true to output the data ready gyro interrupt
drdy_xl	true to output the data ready accelerometer interrupt
step_detect	true to output the step detection interrupt (default off)
wakeup	true to output the wake up interrupt (default off)

◆ configInt2()

void Adafruit_LSM6DS::configInt2	(	bool	drdy_temp,
		bool	drdy_g,
		bool	drdy_xl
	)

Enables and disables the data ready interrupt on INT 2.

Parameters

drdy_temp	true to output the data ready temperature interrupt
drdy_g	true to output the data ready gyro interrupt
drdy_xl	true to output the data ready accelerometer interrupt

◆ highPassFilter()

void Adafruit_LSM6DS::highPassFilter	(	bool	filter_enabled,
		lsm6ds_hp_filter_t	filter
	)

Enables the high pass filter and/or slope filter.

Parameters

filter_enabled	Whether to enable the slope filter (see datasheet)
filter	The lsm6ds_hp_filter_t that sets the data rate divisor

◆ enableWakeup()

void Adafruit_LSM6DS::enableWakeup	(	bool	enable,
		uint8_t	duration = `0`,
		uint8_t	thresh = `20`
	)

Enables and disables the wakeup function.

Parameters

enable	True to turn on the wakeup function, false to turn off
duration	How many > threshold readings to generate a wakeup
thresh	The threshold (sensitivity)

◆ awake()

bool Adafruit_LSM6DS::awake ( void )

Checks interrupt register to see if we have a wake signal.

Returns: True if wake event bit is set in WAKEUP_SRC (cleared on read)

◆ shake()

bool Adafruit_LSM6DS::shake ( void )

Simple shake detection. Must call enableWakeup() first.

Returns: True if shake (wake) detected, otherwise false.

◆ enablePedometer()

void Adafruit_LSM6DS::enablePedometer ( bool enable )

Enables and disables the pedometer function.

Parameters

enable True to turn on the pedometer function, false to turn off

◆ readPedometer()

uint16_t Adafruit_LSM6DS::readPedometer ( void )

Read the 16-bit pedometer count.

Returns: The value from the step counter

◆ readAcceleration()

int Adafruit_LSM6DS::readAcceleration	(	float &	x,
		float &	y,
		float &	z
	)

Read accelerometer data.

Parameters

x	reference to x axis
y	reference to y axis
z	reference to z axis

Returns: 1 if success, 0 if not

◆ accelerationSampleRate()

float Adafruit_LSM6DS::accelerationSampleRate ( void )

Gets the accelerometer data rate.

Returns: The data rate in float

◆ accelerationAvailable()

int Adafruit_LSM6DS::accelerationAvailable ( void )

Check for available data from accelerometer.

Returns: 1 if available, 0 if not

◆ readGyroscope()

int Adafruit_LSM6DS::readGyroscope	(	float &	x,
		float &	y,
		float &	z
	)

Read gyroscope data.

Parameters

x	reference to x axis
y	reference to y axis
z	reference to z axis

Returns: 1 if success, 0 if not

◆ gyroscopeSampleRate()

float Adafruit_LSM6DS::gyroscopeSampleRate ( void )

Get the gyroscope data rate.

Returns: The data rate in float

◆ gyroscopeAvailable()

int Adafruit_LSM6DS::gyroscopeAvailable ( void )

Check for available data from gyroscope.

Returns: 1 if available, 0 if not

◆ getTemperatureSensor()

Adafruit_Sensor * Adafruit_LSM6DS::getTemperatureSensor ( void )

Gets an Adafruit Unified Sensor object for the temp sensor component.

Returns: Adafruit_Sensor pointer to temperature sensor

◆ getAccelerometerSensor()

Adafruit_Sensor * Adafruit_LSM6DS::getAccelerometerSensor ( void )

Gets an Adafruit Unified Sensor object for the accelerometer sensor component.

Returns: Adafruit_Sensor pointer to accelerometer sensor

◆ getGyroSensor()

Adafruit_Sensor * Adafruit_LSM6DS::getGyroSensor ( void )

Gets an Adafruit Unified Sensor object for the gyro sensor component.

Returns: Adafruit_Sensor pointer to gyro sensor

◆ chipID()

uint8_t Adafruit_LSM6DS::chipID ( void )

protected

Read chip identification register.

Returns: 8 Bit value from WHOAMI register

◆ status()

uint8_t Adafruit_LSM6DS::status ( void )

protected

Read Status register.

Returns: 8 Bit value from Status register

◆ _init()

bool Adafruit_LSM6DS::_init ( int32_t sensor_id )

protectedvirtual

Unique subclass initializer post i2c/spi init.

Parameters

sensor_id Optional unique ID for the sensor set

Returns: True if chip identified and initialized

Friends And Related Function Documentation

◆ Adafruit_LSM6DS_Temp

friend class Adafruit_LSM6DS_Temp

friend

Gives access to private members to Temp data object

◆ Adafruit_LSM6DS_Accelerometer

friend class Adafruit_LSM6DS_Accelerometer

friend

Gives access to private members to Accelerometer data object

◆ Adafruit_LSM6DS_Gyro

friend class Adafruit_LSM6DS_Gyro

friend

Gives access to private members to Gyro data object

Member Data Documentation

◆ temperature_sensitivity

float Adafruit_LSM6DS::temperature_sensitivity

protected

Initial value:

=

256.0

Temp sensor sensitivity in LSB/degC.

◆ accel_sensor

Adafruit_LSM6DS_Accelerometer* Adafruit_LSM6DS::accel_sensor

protected

Initial value:

=

NULL

Accelerometer data object.

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

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Function Documentation

◆ begin_I2C()

◆ begin_SPI() [1/2]

◆ begin_SPI() [2/2]

◆ getEvent()

◆ getAccelDataRate()

◆ setAccelDataRate()

◆ getAccelRange()

◆ setAccelRange()

◆ getGyroDataRate()

◆ setGyroDataRate()

◆ getGyroRange()

◆ setGyroRange()

◆ configIntOutputs()

◆ configInt1()

◆ configInt2()

◆ highPassFilter()

◆ enableWakeup()

◆ awake()

◆ shake()

◆ enablePedometer()

◆ readPedometer()

◆ readAcceleration()

◆ accelerationSampleRate()

◆ accelerationAvailable()

◆ readGyroscope()

◆ gyroscopeSampleRate()

◆ gyroscopeAvailable()

◆ getTemperatureSensor()

◆ getAccelerometerSensor()

◆ getGyroSensor()

◆ chipID()

◆ status()

◆ _init()

Friends And Related Function Documentation

◆ Adafruit_LSM6DS_Temp

◆ Adafruit_LSM6DS_Accelerometer

◆ Adafruit_LSM6DS_Gyro

Member Data Documentation

◆ temperature_sensitivity

◆ accel_sensor