lsm6dsox

Documentation

Overview

Package lsm6dsox implements a driver for the LSM6DSOX a 6 axis Inertial Measurement Unit (IMU)

Datasheet: https://www.st.com/resource/en/datasheet/lsm6dsox.pdf

Index

• Constants
• 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) ReadTemperature() (t int32, err error)
• type GyroRange
• type GyroSampleRate

Constants

const (
	INT1_CTRL  = 0x0D
	INT2_CTRL  = 0x0E
	WHO_AM_I   = 0x0F
	CTRL1_XL   = 0x10 // Accelerometer control register 1 (r/w)
	CTRL2_G    = 0x11 // Gyroscope control register 2 (r/w)
	CTRL3_C    = 0x12
	CTRL4_C    = 0x13
	CTRL5_C    = 0x14
	CTRL6_C    = 0x15
	CTRL7_G    = 0x16
	CTRL8_XL   = 0x17
	CTRL9_XL   = 0x18
	CTRL10_C   = 0x19
	STATUS_REG = 0x1E
	OUT_TEMP_L = 0x20
	OUT_TEMP_H = 0x21
	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_A   = 0x28
	OUTX_H_A   = 0x29
	OUTY_L_A   = 0x2A
	OUTY_H_A   = 0x2B
	OUTZ_L_A   = 0x2C
	OUTZ_H_A   = 0x2D

	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

	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
	GYRO_SR_3332 GyroSampleRate = 0x90
	GYRO_SR_6664 GyroSampleRate = 0xA0
)

const Address = 0x6A

The I2C address which this device listens to.

Types

type AccelRange

type AccelRange uint8

type AccelSampleRate

type AccelSampleRate uint8

type Configuration

type Configuration struct {
	AccelRange      AccelRange
	AccelSampleRate AccelSampleRate
	GyroRange       GyroRange
	GyroSampleRate  GyroSampleRate
}

Configuration for LSM6DSOX device.

type Device

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

Device wraps an I2C connection to a LSM6DSOX device.

func New

func New(bus drivers.I2C) *Device

New creates a new LSM6DSOX 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 LSM6DSOX 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) 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