#include <modm/driver/inertial/lsm6ds33.hpp>

Inheritance diagram for modm::lsm6ds33< I2cMaster >:

Public Typedefs
typedef modm::Configuration< Control1_t, AccDataRate, Bit7\|Bit6\|Bit5\|Bit4 >	AccDataRate_t

typedef modm::Configuration< Control1_t, AccScale, Bit3\|Bit2 >	AccScale_t

typedef modm::Configuration< Control1_t, AccAABandwith, Bit3\|Bit2 >	AccAABandwith_t

typedef modm::Configuration< Control2_t, GyroDataRate, Bit7\|Bit6\|Bit5\|Bit4 >	GyroDataRate_t

typedef modm::Configuration< Control2_t, GyroScale, Bit3\|Bit2\|Bit1 >	GyroScale_t

typedef modm::Configuration< Control7_t, GyroHPCutoff, Bit5\|Bit4 >	GyroHPCutoff_t

typedef modm::Configuration< Control8_t, AccHPCutoff, Bit5\|Bit4 >	AccHPCutoff_t

Public Types
enum	Register : uint8_t { Register::FIFO_CTRL1 = 0x06, Register::FIFO_CTRL2 = 0x07, Register::FIFO_CTRL3 = 0x08, Register::FIFO_CTRL4 = 0x09, Register::FIFO_CTRL5 = 0x0A, Register::ORIENT_CFG_G = 0x0B, Register::INT1_CTRL = 0x0D, Register::INT2_CTRL = 0x0E, Register::WHO_AM_I = 0x0F, Register::CTRL1 = 0x10, Register::CTRL2 = 0x11, Register::CTRL3 = 0x12, Register::CTRL4 = 0x13, Register::CTRL5 = 0x14, Register::CTRL6 = 0x15, Register::CTRL7 = 0x16, Register::CTRL8 = 0x17, Register::CTRL9 = 0x18, Register::CTRL10 = 0x19, Register::STATUS = 0x1E, Register::OUT_TEMP_L = 0x20, Register::OUT_TEMP_H = 0x21, Register::OUT_X_L_G = 0x22, Register::OUT_X_H_G = 0x23, Register::OUT_Y_L_G = 0x24, Register::OUT_Y_H_G = 0x25, Register::OUT_Z_L_G = 0x26, Register::OUT_Z_H_G = 0x27, Register::OUT_X_L_XL = 0x28, Register::OUT_X_H_XL = 0x29, Register::OUT_Y_L_XL = 0x2A, Register::OUT_Y_H_XL = 0x2B, Register::OUT_Z_L_XL = 0x2C, Register::OUT_Z_H_XL = 0x2D, Register::FIFO_STATUS1 = 0x3A, Register::FIFO_STATUS2 = 0x3B, Register::FIFO_STATUS3 = 0x3C, Register::FIFO_STATUS4 = 0x3D, Register::FIFO_DATA_OUT_L = 0x3E, Register::FIFO_DATA_OUT_H = 0x3F }

enum	Control1 : uint8_t { Control1::ODR3_XL = Bit7, Control1::ODR2_XL = Bit6, Control1::ODR1_XL = Bit5, Control1::ODR0_XL = Bit4, Control1::FS1_XL = Bit3, Control1::FS0_XL = Bit2, Control1::BW1_XL = Bit1, Control1::BW0_XL = Bit0 }
	Control register for the acceleration sensor. More...

enum	AccDataRate : uint8_t { AccDataRate::Off = 0x00, AccDataRate::Rate_13_Hz = 0x10, AccDataRate::Rate_26_Hz = 0x20, AccDataRate::Rate_52_Hz = 0x30, AccDataRate::Rate_104_Hz = 0x40, AccDataRate::Rate_208_Hz = 0x50, AccDataRate::Rate_416_Hz = 0x60, AccDataRate::Rate_833_Hz = 0x70, AccDataRate::Rate_1666_Hz = 0x80, AccDataRate::Rate_3332_Hz = 0x90, AccDataRate::Rate_6664_Hz = 0xA0 }
	Output Data Rates for the Acceleration sensor. More...

enum	AccScale : uint8_t { AccScale::Scale_2_G = 0x00, AccScale::Scale_4_G = 0x08, AccScale::Scale_8_G = 0x0C, AccScale::Scale_16_G = 0x04 }
	Full scale of the acceleration sensor data output. More...

enum	AccAABandwith : uint8_t { AccAABandwith::Bw_400_Hz = 0x00, AccAABandwith::Bw_200_Hz = 0x01, AccAABandwith::BW_100_Hz = 0x02, AccAABandwith::Bw_50_Hz = 0x03 }
	Anti aliasing filter bandwith for the acceleration sensor (only used when Control Register 4, Bit 7 is 1) More...

enum	Control2 : uint8_t { Control2::ODR3_G = Bit7, Control2::ODR2_G = Bit6, Control2::ODR1_G = Bit5, Control2::ODR0_G = Bit4, Control2::FS2_G = Bit3, Control2::FS1_G = Bit2, Control2::FS0_G = Bit1 }
	Control Register 2 for the Gyroscope. More...

enum	GyroDataRate : uint8_t { GyroDataRate::Off = 0x00, GyroDataRate::Rate_13_Hz = 0x10, GyroDataRate::Rate_26_Hz = 0x20, GyroDataRate::Rate_52_Hz = 0x30, GyroDataRate::Rate_104_Hz = 0x40, GyroDataRate::Rate_208_Hz = 0x50, GyroDataRate::Rate_416_Hz = 0x60, GyroDataRate::Rate_833_Hz = 0x70, GyroDataRate::Rate_1666_Hz = 0x80 }
	Output Data Rates for the gyroscope. More...

enum	GyroScale : uint8_t { GyroScale::Scale_125_dps = 0x02, GyroScale::Scale_245_dps = 0x00, GyroScale::Scale_500_dps = 0x04, GyroScale::Scale_1000_dps = 0x08, GyroScale::Scale_2000_dps = 0x0C }
	Full scale of the gyroscope data output. More...

enum	Control3 : uint8_t { Control3::BOOT = Bit7, Control3::BDU = Bit6, Control3::H_LACTIVE = Bit5, Control3::PP_OD = Bit4, Control3::SIM = Bit3, Control3::IF_INC = Bit2, Control3::BLE = Bit1, Control3::SW_RESET = Bit0 }
	Control Register 3. More...

enum	Control4 : uint8_t { Control4::XL_BW_SCAL_ODR = Bit7, Control4::SLEEP_G = Bit6, Control4::INT2_on_INT1 = Bit5, Control4::FIFO_TEMP_EN = Bit4 }
	Control Register 4. More...

enum	Control6 : uint8_t { Control6::TRIG_EN = Bit7, Control6::LVL_EN = Bit6, Control6::LVL2_EN = Bit5, Control6::XL_HM_MODE = Bit4 }
	Control Register 6. More...

enum	Control7 : uint8_t { Control7::G_HM_MODE = Bit7, Control7::HP_G_EN = Bit6, Control7::HP_CF_G1 = Bit5, Control7::HP_CF_G0 = Bit4, Control7::HP_G_RST = Bit3 }
	Control Register 7. More...

enum	GyroHPCutoff : uint8_t { GyroHPCutoff::Cutoff_0_0081_Hz = 0x00, GyroHPCutoff::Cutoff_0_0324_Hz = 0x10, GyroHPCutoff::Cutoff_2_07_Hz = 0x20, GyroHPCutoff::Cutoff_16_32_Hz = 0x30 }
	High-pass cutoff frequency selection for the gyroscope. More...

enum	Control8 : uint8_t { Control8::LPF_XL_EN = Bit7, Control8::HP_CF_XL1 = Bit6, Control8::HP_CF_XL0 = Bit5, Control8::HP_SLOPE_XL_EN = Bit3 }
	Control Register 8. More...

enum	AccHPCutoff : uint8_t { AccHPCutoff::Cutoff_DIV_50 = 0x00, AccHPCutoff::Cutoff_DIV_100 = 0x10, AccHPCutoff::Cutoff_DIV_9 = 0x20, AccHPCutoff::Cutoff_DIV_400 = 0x30 }
	High-pass cutoff frequency selection for the gyroscope. More...

enum	Control9 : uint8_t { Control9::Z_EN_XL = Bit5, Control9::X_EN_XL = Bit4, Control9::Y_EN_XL = Bit3 }
	Control Register 9. More...

enum	Control10 : uint8_t { Control10::Z_EN_G = Bit5, Control10::X_EN_G = Bit4, Control10::Y_EN_G = Bit3 }
	Control Register 10. More...

enum	Status : uint8_t { Status::EV_BOOT = Bit3, Status::TDA = Bit2, Status::GDA = Bit1, Status::XLDA = Bit0 }
	STATUS is read-only. More...

Public Member Functions
	MODM_FLAGS8 (Control1)

	MODM_FLAGS8 (Control2)

	MODM_FLAGS8 (Control3)

	MODM_FLAGS8 (Control4)

	MODM_FLAGS8 (Control6)

	MODM_FLAGS8 (Control7)

	MODM_FLAGS8 (Control8)

	MODM_FLAGS8 (Control9)

	MODM_FLAGS8 (Control10)

	MODM_FLAGS8 (Status)

	Lsm6ds33 (uint8_t address=0x6A)
	Construct a driver object for the LSM6DS33 chip. More...

modm::ResumableResult< bool >	configureAccelerationSensor (AccDataRate accRate, AccScale accScale)
	Configures the acceleration sensor This method will setup the data rate and the scale with which the sensor will sample the acceleration data. A sample rate has to be set in order to turn on the sensor. More...

modm::ResumableResult< bool >	configureGyroscope (GyroDataRate gyroRate, GyroScale gyroScale)
	Configures the gyroscope This method will setup the data rate and the scale with which the sensor will sample the spin rates. A sample rate has to be set in order to turn on the sensor. More...

modm::ResumableResult< bool >	readAccelerationRaw (Vector3i &acceleration)
	Reads out the raw acceleration data into a given vector object. More...

modm::ResumableResult< bool >	readGyroscopeRaw (Vector3i &spinRates)
	Reads out the raw gyroscope data into a given vector object. More...

AccScale	getAccelerationScale ()
	Get the currently configured scale for the acceleration sensor. More...

GyroScale	getGyroscopeScale ()
	Get the currently configured scale for the gyroscope. More...

modm::ResumableResult< bool >	readAcceleration (Vector3f &acceleration)
	Reads out the scaled acceleration data in g. More...

modm::ResumableResult< bool >	readGyroscope (Vector3f &spinRates)
	Reads out the scaled spin rates from the gyroscope in degrees per second. More...

void	attachConfigurationHandler (I2c::ConfigurationHandler handler)

modm::ResumableResult< bool >	ping ()

void	setAddress (uint8_t address)

Protected Member Functions
modm::ResumableResult< ReturnType > resumable	function (...)

int8_t	getResumableDepth () const

bool	isResumableRunning () const

bool	isTransactionRunning ()

modm::ResumableResult< bool >	read (uint8_t reg, uint8_t &value)
	read a 8bit value

modm::ResumableResult< bool >	read (uint8_t reg, uint8_t *buffer, uint8_t length)
	read multiple 8bit values from a start register

modm::ResumableResult< bool >	runTransaction ()
	Starts our own transaction and waits until finished.

bool	startRead (uint8_t *buffer, std::size_t size)
	Configures the transaction with a read operation and starts it.

bool	startTransaction ()
	Starts the transaction with our own transaction object.

bool	startTransaction (modm::I2cTransaction *transaction)
	Starts the transaction with a seperate transaction object.

bool	startWrite (const uint8_t *buffer, std::size_t size)
	Configures the transaction with a write operation and starts it.

bool	startWriteRead (const uint8_t writeBuffer, std::size_t writeSize, uint8_t readBuffer, std::size_t readSize)
	Configures the transaction with a write/read operation and starts it.

void	stopResumable ()
	Force all resumable functions to stop running at the current nesting level.

bool	wasTransactionSuccessful ()

modm::ResumableResult< bool >	write (uint8_t reg, uint8_t value)
	write a 8bit value

Protected Attributes
I2cWriteReadTransaction	transaction

Static Protected Attributes
static constexpr float	accConvTable [4]

static constexpr float	gyroConvTable [4]

Detailed Description

template<class I2cMaster>
class modm::lsm6ds33< I2cMaster >

Template Parameters

I2cMaster I2cMaster interface

Author: Benjamin Carrick

Member Enumeration Documentation

template<class I2cMaster >

enum modm::lsm6ds33::AccAABandwith : uint8_t

strong

Anti aliasing filter bandwith for the acceleration sensor (only used when Control Register 4, Bit 7 is 1)

Enum Values	Documentation
Bw_400_Hz	400 Hz
Bw_200_Hz	200 Hz
BW_100_Hz	100 Hz
Bw_50_Hz	50 Hz

template<class I2cMaster >

enum modm::lsm6ds33::AccDataRate : uint8_t

strong

Output Data Rates for the Acceleration sensor.

Enum Values	Documentation
Off	Turn off the acceleration sensor.
Rate_13_Hz	13 Hz
Rate_26_Hz	26 Hz
Rate_52_Hz	52 Hz
Rate_104_Hz	104 Hz
Rate_208_Hz	208 Hz
Rate_416_Hz	416 Hz
Rate_833_Hz	833 Hz
Rate_1666_Hz	1666 Hz
Rate_3332_Hz	3332 Hz
Rate_6664_Hz	6664 Hz

template<class I2cMaster >

enum modm::lsm6ds33::AccHPCutoff : uint8_t

strong

High-pass cutoff frequency selection for the gyroscope.

Enum Values	Documentation
Cutoff_DIV_50	Acceleration Data Rate / 50.
Cutoff_DIV_100	Acceleration Data Rate / 100.
Cutoff_DIV_9	Acceleration Data Rate / 9.
Cutoff_DIV_400	Acceleration Data Rate / 400.

template<class I2cMaster >

enum modm::lsm6ds33::AccScale : uint8_t

strong

Full scale of the acceleration sensor data output.

Enum Values	Documentation
Scale_2_G	+- 2g
Scale_4_G	+- 4g
Scale_8_G	+- 8g
Scale_16_G	+- 16g

template<class I2cMaster >

enum modm::lsm6ds33::Control1 : uint8_t

strong

Control register for the acceleration sensor.

Enum Values	Documentation
ODR3_XL	Output data rate bit 3.
ODR2_XL	Output data rate bit 2.
ODR1_XL	Output data rate bit 1.
ODR0_XL	Output data rate bit 0.
FS1_XL	Full scale selection bit 1.
FS0_XL	Full scale selection bit 0.
BW1_XL	Anti-aliasing bandwidth bit 1.
BW0_XL	Anti-aliasing bandwidth bit 0.

template<class I2cMaster >

enum modm::lsm6ds33::Control10 : uint8_t

strong

Control Register 10.

Enum Values	Documentation
Z_EN_G	Enable Z-Axis for the gyroscope (default 1)
X_EN_G	Enable X-Axis for the gyroscope (default 1)
Y_EN_G	Enable Y-Axis for the gyroscope (default 1)

template<class I2cMaster >

enum modm::lsm6ds33::Control2 : uint8_t

strong

Control Register 2 for the Gyroscope.

Enum Values	Documentation
ODR3_G	Output data rate bit 3.
ODR2_G	Output data rate bit 2.
ODR1_G	Output data rate bit 1.
ODR0_G	Output data rate bit 0.
FS2_G	Full scale selection bit 2.
FS1_G	Full scale selection bit 1.
FS0_G	Full scale selection bit 0.

template<class I2cMaster >

enum modm::lsm6ds33::Control3 : uint8_t

strong

Control Register 3.

Enum Values	Documentation
BOOT	Reboot memory content.
BDU	Block data update (0 = continous (default), 1 = wait until registers read)
H_LACTIVE	Interrupt activation level (0 = high active(default), 1= low active)
PP_OD	Interrupt pin mode (0 = Push-Pull(default), 1 = Open-Drain)
SIM	SPI Interface Mode (0 = 4 Wire(default), 1 = 3 Wire)
IF_INC	I2C increment register on access (0 = disabled, 1= enabled(default))
BLE	Endianess selection (0 = Little endian(default), 1 = Big endian.
SW_RESET	Software Reset.

template<class I2cMaster >

enum modm::lsm6ds33::Control4 : uint8_t

strong

Control Register 4.

Enum Values	Documentation
XL_BW_SCAL_ODR	Manual selection of bandwidth for the acceleration sensor (0 = automatic, 1 = manual)
SLEEP_G	Gyroscope sleep mode enable (default = 0)
INT2_on_INT1	Interrupt 2 output on Interrupt 1 pad (default = 0)
FIFO_TEMP_EN	Enable Temperature output as 4th fifo set.

template<class I2cMaster >

enum modm::lsm6ds33::Control6 : uint8_t

strong

Control Register 6.

Enum Values	Documentation
TRIG_EN	Gyroscope data edge-sensitive trigger enable (default = 0)
LVL_EN	Gyroscope data level-sensitive trigger enable (default = 0)
LVL2_EN	Gyroscope level-sensitive latched enable.
XL_HM_MODE	Disable high performance mode for acceleration sensor (default = 0)

template<class I2cMaster >

enum modm::lsm6ds33::Control7 : uint8_t

strong

Control Register 7.

Enum Values	Documentation
G_HM_MODE	Disable high performance mode for gyroscope (default = 0)s.
HP_G_EN	Enable high-pass filter for gyroscope (default = 0)
HP_CF_G1	Gyroscope high-pass filter cutoff frequency bit 1.
HP_CF_G0	Gyroscope high-pass filter cutoff frequuency bit 0.
HP_G_RST	Reset high-pass filter for gyroscope.

template<class I2cMaster >

enum modm::lsm6ds33::Control8 : uint8_t

strong

Control Register 8.

Enum Values	Documentation
LPF_XL_EN	Enable the low-pass filter for the acceleration sensor.
HP_CF_XL1	Acceleration sensor high-pass filter cutoff frequency bit 1.
HP_CF_XL0	Acceleration sensor high-pass filter cutoff frequency bit 0.
HP_SLOPE_XL_EN	High-pass or slope filter selection.

template<class I2cMaster >

enum modm::lsm6ds33::Control9 : uint8_t

strong

Control Register 9.

Enum Values	Documentation
Z_EN_XL	Enable Z-Axis for the acceleration sensor (default 1)
X_EN_XL	Enable X-Axis for the acceleration sensor (default 1)
Y_EN_XL	Enable Y-Axis for the acceleration sensor (default 1)

template<class I2cMaster >

enum modm::lsm6ds33::GyroDataRate : uint8_t

strong

Output Data Rates for the gyroscope.

Enum Values	Documentation
Off	Turn off the gyroscope.
Rate_13_Hz	13 Hz
Rate_26_Hz	26 Hz
Rate_52_Hz	52 Hz
Rate_104_Hz	104 Hz
Rate_208_Hz	208 Hz
Rate_416_Hz	416 Hz
Rate_833_Hz	833 Hz
Rate_1666_Hz	1666 Hz

template<class I2cMaster >

enum modm::lsm6ds33::GyroHPCutoff : uint8_t

strong

High-pass cutoff frequency selection for the gyroscope.

Enum Values	Documentation
Cutoff_0_0081_Hz	0.0081 Hz
Cutoff_0_0324_Hz	0.0324 Hz
Cutoff_2_07_Hz	2.07 Hz
Cutoff_16_32_Hz	16.32 Hz

template<class I2cMaster >

enum modm::lsm6ds33::GyroScale : uint8_t

strong

Full scale of the gyroscope data output.

Enum Values	Documentation
Scale_125_dps	125 degrees per second
Scale_245_dps	245 degrees per second
Scale_500_dps	500 degrees per second
Scale_1000_dps	1000 degrees per second
Scale_2000_dps	2000 degrees per secons

template<class I2cMaster >

enum modm::lsm6ds33::Register : uint8_t

strong

Enum Values	Documentation
FIFO_CTRL1	FIFO control register 1.
FIFO_CTRL2	FIFO control register 2.
FIFO_CTRL3	FIFO control register 3.
FIFO_CTRL4	FIFO control register 4.
FIFO_CTRL5	FIFO control register 5.
ORIENT_CFG_G	Orientation config register.
INT1_CTRL	Interrrupt 1 Control register.
INT2_CTRL	Interrrupt 1 Control register.
WHO_AM_I	Contains 0x69.
CTRL1	Control register 1: rw.
CTRL2	Control register 2: rw.
CTRL3	Control register 3: rw.
CTRL4	Control register 4: rw.
CTRL5	Control register 5: rw.
CTRL6	Control register 6: rw.
CTRL7	Control register 7: rw.
CTRL8	Control register 8: rw.
CTRL9	Control register 9: rw.
CTRL10	Control register 10: rw.
STATUS	Status Data Register.
OUT_TEMP_L	Temperature output register low.
OUT_TEMP_H	Temperature output register high.
OUT_X_L_G	Angular rates output x-axis register low.
OUT_X_H_G	Angular rates output x-axis register high.
OUT_Y_L_G	Angular rates output y-axis register low.
OUT_Y_H_G	Angular rates output y-axis register high.
OUT_Z_L_G	Angular rates output z-axis register low.
OUT_Z_H_G	Angular rates output z-axis register high.
OUT_X_L_XL	Acceleration output x-axis register low.
OUT_X_H_XL	Acceleration output x-axis register high.
OUT_Y_L_XL	Acceleration output y-axis register low.
OUT_Y_H_XL	Acceleration output y-axis register high.
OUT_Z_L_XL	Acceleration output z-axis register low.
OUT_Z_H_XL	Acceleration output z-axis register high.
FIFO_STATUS1	Fifo status register 1.
FIFO_STATUS2	Fifo status register 2.
FIFO_STATUS3	Fifo status register 3.
FIFO_STATUS4	Fifo status register 4.
FIFO_DATA_OUT_L	Fifo data output register low.
FIFO_DATA_OUT_H	Fifo data output register high.

template<class I2cMaster >

enum modm::lsm6ds33::Status : uint8_t

strong

STATUS is read-only.

Enum Values	Documentation
EV_BOOT	Bootup is running.
TDA	New temperature data available.
GDA	New gyroscope data available.
XLDA	New acceleration sensor data available.

Member Function Documentation

void modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::attachConfigurationHandler ( I2c::ConfigurationHandler handler )

inheritedinline

Attaches a configuration handler, which is called before a transaction, whenever the configuration has to be changed.

template<class I2cMaster >

modm::ResumableResult<bool> modm::lsm6ds33< I2cMaster >::configureAccelerationSensor	(	AccDataRate	accRate,
		AccScale	accScale
	)

Configures the acceleration sensor This method will setup the data rate and the scale with which the sensor will sample the acceleration data. A sample rate has to be set in order to turn on the sensor.

Parameters

accRate	The sample rate for the acceleration sensor
accScale	The full scale of the acceleration data

Returns: Whether the configuration was successful

template<class I2cMaster >

modm::ResumableResult<bool> modm::lsm6ds33< I2cMaster >::configureGyroscope	(	GyroDataRate	gyroRate,
		GyroScale	gyroScale
	)

Configures the gyroscope This method will setup the data rate and the scale with which the sensor will sample the spin rates. A sample rate has to be set in order to turn on the sensor.

Parameters

accRate	The sample rate for the gyroscope
accScale	The full scale of the spin rate data

Returns: Whether the configuration was successful

modm::ResumableResult< ReturnType > resumable modm::NestedResumable< 1 >::function ( ... )

inherited

Run the resumable function.

You need to implement this method in you subclass yourself.

Returns: >NestingError if still running, <=NestingError if it has finished.

template<class I2cMaster >

AccScale modm::lsm6ds33< I2cMaster >::getAccelerationScale ( )

Get the currently configured scale for the acceleration sensor.

Returns: AccScale The currently config acceleration data scale

template<class I2cMaster >

GyroScale modm::lsm6ds33< I2cMaster >::getGyroscopeScale ( )

Get the currently configured scale for the gyroscope.

Returns: AccScale The currently config gyroscope data scale

int8_t modm::NestedResumable< 1 >::getResumableDepth ( ) const

inheritedinline

Returns: the nesting depth in the current resumable function, or -1 if called outside any resumable function

bool modm::NestedResumable< 1 >::isResumableRunning ( ) const

inheritedinline

Returns: true if a resumable function is running at the current nesting level, else false

bool modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::isTransactionRunning ( )

inheritedinlineprotected

Returns: true when transaction is busy.

template<class I2cMaster >

modm::lsm6ds33< I2cMaster >::Lsm6ds33 ( uint8_t address = 0x6A )

Construct a driver object for the LSM6DS33 chip.

Parameters

address The I2C device address of the sensor

modm::ResumableResult<bool> modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::ping ( )

inheritedinline

Return Values

true	device responds to address
false	no device with address found

template<class I2cMaster >

modm::ResumableResult<bool> modm::lsm6ds33< I2cMaster >::readAcceleration ( Vector3f & acceleration )

Reads out the scaled acceleration data in g.

Parameters

acceleration A reference to a Vector3f object the data will be written to

Returns: Whether the sensor data have been read

template<class I2cMaster >

modm::ResumableResult<bool> modm::lsm6ds33< I2cMaster >::readAccelerationRaw ( Vector3i & acceleration )

Reads out the raw acceleration data into a given vector object.

Parameters

acceleration A reference to a Vector3i object the data will be written to

Returns: Whether the sensor data have been read

template<class I2cMaster >

modm::ResumableResult<bool> modm::lsm6ds33< I2cMaster >::readGyroscope ( Vector3f & spinRates )

Reads out the scaled spin rates from the gyroscope in degrees per second.

Parameters

spinRates A reference to a Vector3f object the data will be written to

Returns: Whether the sensor data have been read

template<class I2cMaster >

modm::ResumableResult<bool> modm::lsm6ds33< I2cMaster >::readGyroscopeRaw ( Vector3i & spinRates )

Reads out the raw gyroscope data into a given vector object.

Parameters

spinRates A reference to a Vector3i object the data will be written to

Returns: Whether the sensor data have been read

void modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::setAddress ( uint8_t address )

inheritedinline

Sets a new address of the slave device.

Parameters

address the slave address not yet shifted left (address < 128).

bool modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::wasTransactionSuccessful ( )

inheritedinlineprotected

Returns: true when transaction did not return an error.

Member Data Documentation

template<class I2cMaster >

constexpr float modm::lsm6ds33< I2cMaster >::accConvTable[4]

staticprotectedconstexpr

Initial value:

{
                                                0.000061035f, 
                                                0.000488281f, 
                                                0.00012207f,  
                                                0.000244141f  
                                                }

template<class I2cMaster >

constexpr float modm::lsm6ds33< I2cMaster >::gyroConvTable[4]

staticprotectedconstexpr

Initial value:

{
                                                0.007476807f, 
                                                0.015258789f, 
                                                0.030517578f,  
                                                0.061035156f  
                                                }

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

lsm6ds33.hpp

Public Typedefs

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

template<class I2cMaster> class modm::lsm6ds33< I2cMaster >

Member Enumeration Documentation

Member Function Documentation

Member Data Documentation

template<class I2cMaster>
class modm::lsm6ds33< I2cMaster >