Skip to content

Latest commit

 

History

History
62 lines (42 loc) · 2.68 KB

README.md

File metadata and controls

62 lines (42 loc) · 2.68 KB
Raw

lsm6dsl-spin

This is a P8X32A/Propeller, P2X8C4M64P/Propeller 2 driver object for the ST LSM6DSL 6DoF IMU.

IMPORTANT: This software is meant to be used with the spin-standard-library (P8X32A) or p2-spin-standard-library (P2X8C4M64P). Please install the applicable library first before attempting to use this code, otherwise you will be missing several files required to build the project.

Salient Features

  • SPI connection at 4MHz (P1), up to 10MHz (P2)
  • Set accelerometer and gyroscope full-scale, data rate
  • Read accelerometer raw data, or scaled to micro-G's (live or from FIFO)
  • Read gyroscope raw data, or scaled to micro-dps (live or from FIFO)
  • Data ready flags
  • Manually or automatically set accel/gyro bias offsets (accel: on-chip, gyro: in MCU RAM)
  • Soft-reset
  • Gyroscope sleep mode
  • Set gyroscope low-pass filter
  • Set INT1 interrupt mask
  • Click/tap-detection (single): set threshold, time, latency, per-axis detection
  • Free-fall detection: set threshold, time
  • Auto-sleep/wake/(in)activity detection
  • FIFO functionality: empty, full, overrun, watermark flags, unread sample count, set decimation of data entries to FIFO, set mode, set data rate, set watermark level
  • Pedometer (step counter) embedded functionality support

Requirements

P1/SPIN1:

  • spin-standard-library
  • 1 extra core/cog for the PASM I2C engine
  • sensor.accel.common.spinh (provided by spin-standard-library)
  • sensor.gyroscope.common.spinh (provided by spin-standard-library)

P2/SPIN2:

  • p2-spin-standard-library
  • sensor.accel.common.spinh (provided by spin-standard-library)
  • sensor.gyroscope.common.spinh (provided by spin-standard-library)

Compiler Compatibility

Processor Language Compiler Backend Status
P1 SPIN1 FlexSpin (6.8.0) Bytecode OK
P1 SPIN1 FlexSpin (6.8.0) Native/PASM OK
P2 SPIN2 FlexSpin (6.8.0) NuCode Runtime issues
P2 SPIN2 FlexSpin (6.8.0) Native/PASM2 OK

(other versions or toolchains not listed are not supported, and may or may not work)

Limitations

  • Click detection currently only supports single-click

Known issues

  • When gyro_scale() is set to 2000dps, it is technically possible (though unlikely in practice) for the measurements returned by gyro_dps() to overflow 32-bit signed integer max - this isn't protected against