imu_lsm6dsv16x.h File Reference

IMU library: LSM6DSV16X (gyro + acc) with the LIS2MDL and the barometer (LPS22DF on the X-NUCLEO-IKS4A1 in Mode 3, LPS22HB on the ACwing FC rev A) read by the internal sensor hub and placed in the same FIFO. More...

#include <stdint.h>
#include <stddef.h>
#include "sensor_bus.h"
#include "lsm6dsv16x_reg.h"

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Data Structures
struct	imu_config_t
struct	imu_event_t
struct	imu_parse_stats_t
struct	imu_t

Macros
#define	IMU_I2C_ADDR_7BIT   0x6Bu
	SA0 = 1 (default IKS4A1: 0xD6/0xD7)
#define	IMU_FIFO_REG   LSM6DSV16X_FIFO_DATA_OUT_TAG
	0x78
#define	IMU_FIFO_WORD_BYTES   7u
#define	IMU_FIFO_MAX_WORDS   48u
	burst buffer: 336 bytes
#define	IMU_SH_HZ(fast)   ((fast) ? 120.0f : 60.0f)

Enumerations
enum	imu_odr_t { IMU_ODR_960HZ = 0 , IMU_ODR_1920HZ = 1 }
enum	imu_baro_t { IMU_BARO_NONE = 0 , IMU_BARO_LPS22DF = 1 , IMU_BARO_LPS22HB = 2 }
enum	imu_status_t {   IMU_OK = 0 , IMU_ERR_BUS = -1 , IMU_ERR_ID = -2 , IMU_ERR_MAG_ID = -3 ,   IMU_ERR_SH_TIMEOUT = -4 , IMU_ERR_ARG = -5 }
enum	imu_ev_type_t { IMU_EV_GYRO = 1 , IMU_EV_ACC = 2 , IMU_EV_MAG = 3 , IMU_EV_BARO = 4 }

Functions
int32_t	imu_init (imu_t *imu, const sensor_bus_t *bus, const imu_config_t *cfg)
int32_t	imu_fifo_level (imu_t *imu, uint16_t *words)
	Number of 7-byte words in the FIFO.
int32_t	imu_fifo_read_burst (imu_t *imu, uint8_t *raw, uint16_t words)
	Blocking read via sensor_bus (for tests or when DMA is not used)
size_t	imu_fifo_parse (imu_t *imu, const uint8_t *raw, uint16_t words, imu_event_t *ev, size_t cap, imu_parse_stats_t *st)
	Decodes 'words' words read in a burst from IMU_FIFO_REG.

Detailed Description

IMU library: LSM6DSV16X (gyro + acc) with the LIS2MDL and the barometer (LPS22DF on the X-NUCLEO-IKS4A1 in Mode 3, LPS22HB on the ACwing FC rev A) read by the internal sensor hub and placed in the same FIFO.

Built on top of the official ST driver lsm6dsv16x-pid (third_party/), which provides register access; this library adds:

• the complete configuration for this use case (FIFO, filters, sensor hub);
• the LIS2MDL configuration THROUGH the sensor hub (in Mode 3 the magnetometer is not visible from the MCU);
• a parser for the FIFO read in a single burst (one I2C/DMA transaction) that returns the events in the temporal order they were written.

Dependencies: sensor_bus.h + lsm6dsv16x_reg.[ch]. No HAL, no RTOS.

Definition in file imu_lsm6dsv16x.h.

Macro Definition Documentation

IMU_I2C_ADDR_7BIT

#define IMU_I2C_ADDR_7BIT   0x6Bu

SA0 = 1 (default IKS4A1: 0xD6/0xD7)

Definition at line 25 of file imu_lsm6dsv16x.h.

IMU_FIFO_REG

#define IMU_FIFO_REG   LSM6DSV16X_FIFO_DATA_OUT_TAG

0x78

Definition at line 26 of file imu_lsm6dsv16x.h.

IMU_FIFO_WORD_BYTES

#define IMU_FIFO_WORD_BYTES   7u

Definition at line 27 of file imu_lsm6dsv16x.h.

IMU_FIFO_MAX_WORDS

#define IMU_FIFO_MAX_WORDS   48u

burst buffer: 336 bytes

Definition at line 28 of file imu_lsm6dsv16x.h.

IMU_SH_HZ

#define IMU_SH_HZ

(

fast

)

((fast) ? 120.0f : 60.0f)

Definition at line 46 of file imu_lsm6dsv16x.h.

Enumeration Type Documentation

imu_odr_t

enum imu_odr_t

Enumerator
IMU_ODR_960HZ
IMU_ODR_1920HZ

Definition at line 29 of file imu_lsm6dsv16x.h.

imu_baro_t

enum imu_baro_t

Enumerator
IMU_BARO_NONE
IMU_BARO_LPS22DF
IMU_BARO_LPS22HB

Definition at line 43 of file imu_lsm6dsv16x.h.

imu_status_t

enum imu_status_t

Enumerator
IMU_OK
IMU_ERR_BUS
IMU_ERR_ID
IMU_ERR_MAG_ID
IMU_ERR_SH_TIMEOUT
IMU_ERR_ARG

Definition at line 48 of file imu_lsm6dsv16x.h.

imu_ev_type_t

enum imu_ev_type_t

Enumerator
IMU_EV_GYRO
IMU_EV_ACC
IMU_EV_MAG
IMU_EV_BARO

Definition at line 53 of file imu_lsm6dsv16x.h.

Function Documentation

imu_init()

int32_t imu_init	(	imu_t *	imu,
		const sensor_bus_t *	bus,
		const imu_config_t *	cfg
	)

Definition at line 128 of file imu_lsm6dsv16x.c.

References imu_t::baro_addr8, imu_config_t::baro_enable, imu_t::baro_enabled, baro_setup(), imu_t::baro_slot, imu_t::bus, imu_t::ctx, sensor_bus_t::delay_ms, dly(), imu_config_t::gy_lpf1_bw, sensor_bus_t::handle, IMU_ERR_ARG, IMU_ERR_BUS, IMU_ERR_ID, IMU_ODR_1920HZ, IMU_OK, LIS2MDL_ADDR_8BIT, LIS2MDL_OUTX_L, LPS22_PRESS_OUT_XL, imu_config_t::mag_enable, imu_t::mag_enabled, imu_config_t::mag_fast, mag_setup(), imu_config_t::odr, imu_t::odr_hz, sensor_bus_t::read, st(), imu_config_t::watermark_words, sensor_bus_t::write, imu_config_t::xl_lpf2_bw, and imu_config_t::xl_lpf2_enable.

Referenced by ImuTask().

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imu_fifo_level()

int32_t imu_fifo_level	(	imu_t *	imu,
		uint16_t *	words
	)

Number of 7-byte words in the FIFO.

Definition at line 216 of file imu_lsm6dsv16x.c.

References imu_t::ctx, IMU_ERR_BUS, IMU_OK, and s.

Referenced by ImuTask().

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imu_fifo_read_burst()

int32_t imu_fifo_read_burst	(	imu_t *	imu,
		uint8_t *	raw,
		uint16_t	words
	)

Blocking read via sensor_bus (for tests or when DMA is not used)

Definition at line 224 of file imu_lsm6dsv16x.c.

References imu_t::bus, sensor_bus_t::handle, IMU_ERR_BUS, IMU_FIFO_MAX_WORDS, IMU_FIFO_REG, IMU_FIFO_WORD_BYTES, IMU_OK, and sensor_bus_t::read.

imu_fifo_parse()

size_t imu_fifo_parse	(	imu_t *	imu,
		const uint8_t *	raw,
		uint16_t	words,
		imu_event_t *	ev,
		size_t	cap,
		imu_parse_stats_t *	st
	)

Decodes 'words' words read in a burst from IMU_FIFO_REG.

Returns the number of events written to ev (<= cap). Pure function of the data; the only state is the magnetometer duplicate filter.

Definition at line 233 of file imu_lsm6dsv16x.c.

References imu_t::baro_enabled, imu_t::baro_slot, cap, DEG2RAD_F, imu_t::have_baro, imu_t::have_mag, IMU_EV_ACC, IMU_EV_BARO, IMU_EV_GYRO, IMU_EV_MAG, IMU_FIFO_WORD_BYTES, imu_t::last_baro_raw, imu_t::last_mag_raw, le16(), LIS2MDL_UT_PER_LSB, imu_t::mag_enabled, n, slot(), st(), imu_event_t::type, and imu_event_t::v.

Referenced by ImuTask().

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