LSM6DSL library for STM32, PICs, AVR

This is a platform independent I2C library for LSM6DSL 6 axis imu. The LSM6DSL is a 3D digital accelerometer and 3D digital gyroscope system-in-package with a digital I2C/SPI serial interface standard output, performing at 0.65 mA in combo High-Performance mode. The device has a dynamic user-selectable full-scale acceleration range of ±2/±4/±8/±16 g and an angular rate range of ±125/±250/±500/±1000/±2000 dps.

Supported Features:

Checking for device presence.
Setting endianess for output registers.
Setting output data rate and full scale range for accelerometer and gyroscope.
Enabling accelerometer and gyroscope high performance mode.
Reading accelerometer, gyroscope and temperature data.
Performing gyroscope and accelerometer self test.
Configuring accelerometer's digital high pass and low pass filters.
Configuring interrupts for INT1 and INT2 pins.
Setting block updata mode.

Note:

Refer to lsm6dsl.h for all the implemented features.

Do I use it with my favourite microcontroller?

To use it with your favourite microcontroller, you simply need to define the 3 functions declared in lsm6dsl_port.h (for C) or lsm6dsl_port.hpp (for C++).

The functions for C are:

LSM6DSL_INTF_RET_TYPE LSM6DSL_PortI2CReadReg(void *hinterface, uint8_t chipAddr, uint8_t RegAddr, uint8_t *buf, uint16_t len) : function to read the device registers.
LSM6DSL_INTF_RET_TYPE LSM6DSL_PortI2CWriteReg(void *hinterface, uint8_t chipAddr, uint8_t RegAddr, uint8_t *buf, uint16_t len) : function to write to device registers.
void LSM6DSL_PortDelayMs(void *hinterface, uint32_t ms) : function to delay in milliseconds.

The functions for C++ are:

LSM6DSL_INTF_RET_TYPE LSM6DSL::read(uint8_t chipAddr, uint8_t RegAddr, uint8_t *buf, uint16_t len) : function to read the device registers.
LSM6DSL_INTF_RET_TYPE LSM6DSL::write(uint8_t chipAddr, uint8_t RegAddr, uint8_t *buf, uint16_t len) : function to write to device registers.
void LSM6DSL::delayMs(uint32_t ms) : function to delay in milliseconds.

Don't worry, I will show you an example.

Porting to Arduino Framework:

To use the library with the arduino framwork, inlude the cpp files from LSM6DSL_CPP into your project. Now, from the lsm6dsl_port.hpp copy these function into your main file and write their definition as shown below:

LSM6DSL_INTF_RET_TYPE LSM6DSL::read(uint8_t chipAddr, uint8_t RegAddr, uint8_t *buf, uint16_t len) {
  TwoWire *i2c = (TwoWire *)hInterface;
  uint8_t i = 0;
  i2c->beginTransmission(chipAddr);
  i2c->write(RegAddr);
  if (i2c->endTransmission() != 0) return LSM6DSL_INTF_RET_TYPE_FAILURE;

  i2c->requestFrom(chipAddr, len);
  while (i < len) {
    if (i2c->available()) {
      buf[i++] = i2c->read();
    }
  }
  return LSM6DSL_INTF_RET_TYPE_SUCCESS;
}

LSM6DSL_INTF_RET_TYPE LSM6DSL::write(uint8_t chipAddr, uint8_t RegAddr, uint8_t *buf, uint16_t len) {
  TwoWire *i2c = (TwoWire *)hInterface;
  uint8_t i = 0;
  i2c->beginTransmission(chipAddr);
  i2c->write(RegAddr);
  while (i < len) {
    i2c->write(buf[i++]);
  }
  if (i2c->endTransmission() != 0) return LSM6DSL_INTF_RET_TYPE_FAILURE;
  return LSM6DSL_INTF_RET_TYPE_SUCCESS;
}

void LSM6DSL::delayMs(uint32_t ms) {
  delay(ms);
}

Porting to STM32 using ST HAL framework:

To use use the library with ST HAL's framework, include the files from LSM6DSL_C into your project Now in the main file, create the definitions for the functions in lsm6dsl_port.h as shown below:

LSM6DSL_INTF_RET_TYPE LSM6DSL_PortI2CReadReg(void *hinterface, uint8_t chipAddr, uint8_t RegAddr, uint8_t *buf, uint16_t len)
{
	I2C_HandleTypeDef *hi2c = (I2C_HandleTypeDef*) hinterface;
	return HAL_I2C_Mem_Read(hi2c, chipAddr << 1, RegAddr, I2C_MEMADD_SIZE_8BIT, buf, len, 50);
}

LSM6DSL_INTF_RET_TYPE LSM6DSL_PortI2CWriteReg(void *hinterface, uint8_t chipAddr, uint8_t RegAddr, uint8_t *buf, uint16_t len)
{
	I2C_HandleTypeDef *hi2c = (I2C_HandleTypeDef*) hinterface;
	return HAL_I2C_Mem_Write(hi2c, chipAddr << 1, RegAddr, I2C_MEMADD_SIZE_8BIT, buf, len, 50);
}

void LSM6DSL_PortDelayMs(void *hinterface, uint32_t ms)
{
	(void) hinterface;
	HAL_Delay(ms);
}

Examples:

Not all the features of this library is discussed in the example, but enough to get you started.

1. Read acclerometer and gyroscope data

C

#include "lsm6dsl.h"

#define LSM6DSL_ADDR 0x6A
LSM6DSL imu; // create LSM6DSL object
LSM6DSL_AccelRawData accelRaw; 		// object to hold accelerometer's raw data
LSM6DSL_GyroRawData gyroRaw;	 	// object to hold gyroscope's raw data
	.
	.
	.
wait(20); 						// delay for 20 ms as the imu performs a 15ms boot up procedure
LSM6DSL_Init(&imu, (void *) &i2cHandle, LSM6DSL_ADDR);	// initialise the struct
LSM6DSL_setAccelFSRange(&imu, LSM6DSL_XL_FS_4G);	// set the accelerometer full scale range
LSM6DSL_setAccelODR(&imu, LSM6DSL_XL_ODR_416Hz);	// set the accelerometer output data rate
LSM6DSL_setGyroFSRange(&imu, LSM6DSL_G_FS_500DPS);	// set the gyroscope full scale range
LSM6DSL_setGyroODR(&imu, LSM6DSL_G_ODR_416Hz);		// set the gyroscope output data rate
	.
	.
	.
if (LSM6DSL_isAccelDataAvailabe(&imu) == LSM6DSL_INTF_RET_TYPE_SUCCESS)
{
	LSM6DSL_readAccelData(&imu, &accelRaw);
	printf("%d,%d,%d\n", accelRaw.x, accelRaw.y, accelRaw.z);
}

if (LSM6DSL_isGyroDataAvailabe(&imu) == LSM6DSL_INTF_RET_TYPE_SUCCESS)
{
	LSM6DSL_readGyroData(&imu, &gyroRaw);
	printf("%d,%d,%d\n", gyroRaw.x, gyroRaw.y, gyroRaw.z);
}

CPP

#include "lsm6dsl.hpp"

#define LSM6DSL_ADDR 0x6A
LSM6DSL imu(static_cast<void*>(&hI2Chandle), 0x6A);
LSM6DSL_AccelRawData xl;					// object to hold accelerometer's raw data
LSM6DSL_GyroRawData gy;						// object to hold gyroscope's raw data
	.
	.
	.
delay(20);									// delay for 20 ms as the imu performs a 15ms boot up procedure
imu.setAccelFSRange(LSM6DSL_XL_FS_4G);		// set the accelerometer full scale range
imu.setAccelODR(LSM6DSL_XL_ODR_416Hz);		// set the accelerometer output data rate
imu.setGyroFSRange(LSM6DSL_G_FS_1000DPS);	// set the gyroscope full scale range
imu.setGyroODR(LSM6DSL_G_ODR_416Hz);		// set the gyroscope output data rate
	.
	.
	.
if (imu.isAccelDataAvailabe() == LSM6DSL_INTF_RET_TYPE_SUCCESS)
{
	imu.readAccelData(&xl);
	printf("%d,%d,%d\n", accelRaw.x, accelRaw.y, accelRaw.z);
}

if (imu.isGyroDataAvailabe() == LSM6DSL_INTF_RET_TYPE_SUCCESS)
{
	imu.readGyroData(&gy);
	printf("%d,%d,%d\n", gyroRaw.x, gyroRaw.y, gyroRaw.z);
}

Note:

To convert the gyroscope and accelerometer raw values into degrees per second (dps) and meters per second squared (m/s^2), use the following two functions:

float convertGyroRawDataToDPS(int16_t axisN, LSM6DSL_G_FS_Range r); : convert raw gyroscope value into dps
float convertAccelRawDataTomS2(int16_t axisN, LSM6DSL_XL_FS_Range r); : convert raw accelerometer value in m/s^2

float accelX, accelY, accelZ, gyroX, gyroY, gyroZ;

accelX = convertAccelRawDataTomS2(xl.x, LSM6DSL_XL_FS_4G);
accelY = convertAccelRawDataTomS2(xl.y, LSM6DSL_XL_FS_4G);
accelZ = convertAccelRawDataTomS2(xl.z, LSM6DSL_XL_FS_4G);

gyroX = convertGyroRawDataToDPS(gy.x, LSM6DSL_G_FS_1000DPS);
gyroY = convertGyroRawDataToDPS(gy.y, LSM6DSL_G_FS_1000DPS);
gyroZ = convertGyroRawDataToDPS(gy.z, LSM6DSL_G_FS_1000DPS);

2. Read temperature data

To activate the temperature, either the accelerometer, gyroscope, or both must be enabled. Refer to section 9 of the application note AN5040 for output data rate (max 52Hz).

C

#include "lsm6dsl.h"

#define LSM6DSL_ADDR 0x6A
LSM6DSL imu; // create LSM6DSL object
LSM6DSL_TempData t;	// object to hold temperature data
	.
	.
	.
wait(20); 						// delay for 20 ms as the imu performs a 15ms boot up procedure
LSM6DSL_Init(&imu, (void *) &i2cHandle, LSM6DSL_ADDR);	// initialise the struct
LSM6DSL_setAccelFSRange(&imu, LSM6DSL_XL_FS_4G);	// set the accelerometer full scale range
LSM6DSL_setAccelODR(&imu, LSM6DSL_XL_ODR_416Hz);	// set the accelerometer output data rate
	.
	.
	.
if (LSM6DSL_isTempDataAvailabe(&imu) == LSM6DSL_INTF_RET_TYPE_SUCCESS)
{
	LSM6DSL_readTemperature(&imu, &t);
	printf("Raw data: %d, Celsius: %f\n", t.regData, t.celsius);
}

CPP

#include "lsm6dsl.hpp"

#define LSM6DSL_ADDR 0x6A
LSM6DSL imu(static_cast<void*>(&hI2Chandle), 0x6A);
LSM6DSL_TempData t;	// object to hold temperature data
	.
	.
	.
delay(20);									// delay for 20 ms as the imu performs a 15ms boot up procedure
imu.setAccelFSRange(LSM6DSL_XL_FS_4G);		// set the accelerometer full scale range
imu.setAccelODR(LSM6DSL_XL_ODR_416Hz);		// set the accelerometer output data rate
	.
	.
	.
if (imu.isTempDataAvailabe() == LSM6DSL_INTF_RET_TYPE_SUCCESS)
{
	imu.readTemperature(&t);
	printf("Raw data: %d, Celsius: %f\n", t.regData, t.celsius);
}

3. Perform self test

The device must be kept steady during the self test procedure.

C

#include "lsm6dsl.h"

#define LSM6DSL_ADDR 0x6A
LSM6DSL imu; // create LSM6DSL object
LSM6DSL_AccelData accelRaw; // object to hold accelerometer's raw data
LSM6DSL_GyroData gyroRaw;	 // object to hold gyroscope's raw data
	.
	.
	.
wait(20); 						// delay for 20 ms as the imu performs a 15ms boot up procedure
LSM6DSL_Init(&imu, (void *) &i2cHandle, LSM6DSL_ADDR);	// initialise the struct

uint8_t xlStState, gyStState;
xlStState = LSM6DSL_selfTestAccel(&imu);
gyStState = LSM6DSL_selfTestGyro(&imu);
	.
	.
LSM6DSL_setAccelFSRange(&imu, LSM6DSL_XL_FS_4G);	// set the accelerometer full scale range
LSM6DSL_setAccelODR(&imu, LSM6DSL_XL_ODR_416Hz);	// set the accelerometer output data rate
LSM6DSL_setGyroFSRange(&imu, LSM6DSL_G_FS_500DPS);	// set the gyroscope full scale range
LSM6DSL_setGyroODR(&imu, LSM6DSL_G_ODR_416Hz);		// set the gyroscope output data rate
	.
	.
	.
if (xlStState == LSM6DSL_INTF_RET_TYPE_SUCCESS && LSM6DSL_isAccelDataAvailabe(&imu) == LSM6DSL_INTF_RET_TYPE_SUCCESS)
{
	LSM6DSL_readAccelData(&imu, &accelRaw);
	printf("%d,%d,%d\n", accelRaw.x, accelRaw.y, accelRaw.z);
}

if (gyStState == LSM6DSL_INTF_RET_TYPE_SUCCESS && LSM6DSL_isGyroDataAvailabe(&imu) == LSM6DSL_INTF_RET_TYPE_SUCCESS)
{
	LSM6DSL_readGyroData(&imu, &gyro);
	printf("%d,%d,%d\n", gyroRaw.x, gyroRaw.y, gyroRaw.z);
}

CPP

#include "lsm6dsl.hpp"

#define LSM6DSL_ADDR 0x6A
LSM6DSL imu(static_cast<void*>(&hI2Chandle), 0x6A);
LSM6DSL_AccelRawData xl;					// object to hold accelerometer's raw data
LSM6DSL_GyroRawData gy;						// object to hold gyroscope's raw data
	.
	.
	.
delay(20);									// delay for 20 ms as the imu performs a 15ms boot up procedure
uint8_t xlStState, gyStState;
xlStState = imu.selfTestAccel();
gyStState = imu.selfTestGyro();
	.
	.
	.
imu.setAccelFSRange(LSM6DSL_XL_FS_4G);		// set the accelerometer full scale range
imu.setAccelODR(LSM6DSL_XL_ODR_416Hz);		// set the accelerometer output data rate
imu.setGyroFSRange(LSM6DSL_G_FS_1000DPS);	// set the gyroscope full scale range
imu.setGyroODR(LSM6DSL_G_ODR_416Hz);		// set the gyroscope output data rate
	.
	.
	.
if (xlStState == LSM6DSL_INTF_RET_TYPE_SUCCESS && imu.isAccelDataAvailabe() == LSM6DSL_INTF_RET_TYPE_SUCCESS)
{
	imu.readAccelData(&xl);
	printf("%d,%d,%d\n", accelRaw.x, accelRaw.y, accelRaw.z);
}

if (gyStState == LSM6DSL_INTF_RET_TYPE_SUCCESS && imu.isGyroDataAvailabe() == LSM6DSL_INTF_RET_TYPE_SUCCESS)
{
	imu.readGyroData(&gy);
	printf("%d,%d,%d\n", gyroRaw.x, gyroRaw.y, gyroRaw.z);
}

Name		Name	Last commit message	Last commit date
Latest commit History 59 Commits
Datasheet		Datasheet
LSM6DSL_C		LSM6DSL_C
LSM6DSL_CPP		LSM6DSL_CPP
LICENSE		LICENSE
README.md		README.md

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Uh oh!

Repository files navigation

LSM6DSL library for STM32, PICs, AVR

Supported Features:

Note:

Do I use it with my favourite microcontroller?

Porting to Arduino Framework:

Porting to STM32 using ST HAL framework:

Examples:

1. Read acclerometer and gyroscope data

C

CPP

Note:

2. Read temperature data

C

CPP

3. Perform self test

C

CPP

About

Uh oh!

Releases

Packages

Languages

License

Ozonised/LSM6DSL-Platform-Independent-Library

Folders and files

Latest commit

History

Repository files navigation

LSM6DSL library for STM32, PICs, AVR

Supported Features:

Note:

Do I use it with my favourite microcontroller?

Porting to Arduino Framework:

Porting to STM32 using ST HAL framework:

Examples:

1. Read acclerometer and gyroscope data

C

CPP

Note:

2. Read temperature data

C

CPP

3. Perform self test

C

CPP

About

Resources

License

Uh oh!

Stars

Watchers

Forks

Releases

Packages 0

Languages

Packages