LSM6DSL

namespace LSM6DSL

STMicroelectronics LSM6DSL sensor.

The STMicroelectronics LSM6DSL ia an iNEMO 6DoF inertial measurement unit (IMU).

For technical documents and a complete description of the sensor features please refer to the official documentation at: https://www.st.com/en/mems-and-sensors/lsm6dsl.html

To create a STMicroelectronics LSM6DSL sensor use the HUX_DECLARE_SENSOR construct:

HUX_DECLARE_SENSOR(sensor_name, hux::sensors::STMicroelectronics::LSM6DSL);

Simulation data

To define simulation data for a STMicroelectronics LSM6DSL sensor use the HUX_DECLARE_SIMULATION_DATA construct, making sure that the simulation data match the following data type:

typedef hux::tuple<std::vector<float>, std::vector<float>, std::vector<float>, std::vector<float>, std::vector<float>, std::vector<float>, std::vector<hux::uint64_t>> hux::sensors::STMicroelectronics::LSM6DSL::simulation_data_t

The type of data required for simulation purposes.

A hux::tuple of std::vector of the following types:

float: Acceleration on the X axis in g units
float: Acceleration on the Y axis in g units
float: Acceleration on the Z axis in g units
float: Angular velocity on the X axis in radiants/second
float: Angular velocity on the Y axis in radiants/second
float: Angular velocity on the Z axis in radiants/second
hux::uint64_t: Unix timestamp in milliseconds of the data generated by the sensor

This example shows how to load simulation data for a STMicroelectronics LSM6DSL sensor from a CSV file whose columns are separated by semicolon (“;”):

HUX_DECLARE_SIMULATION_DATA(sim_data,
    hux::simulation::load_csv<float, float, float, float, float, float, hux::uint64_t>("dataset.csv", ";"))
);

HUX_DECLARE_SENSOR(sensor_name, hux::sensors::STMicroelectronics::LSM6DSL, sim_data);

Sources

The STMicroelectronics LSM6DSL sensor offers the following sources:

inline constexpr const auto get_accX()

Acceleration on the X axis in g units.

Returns: The accX axis Source

inline constexpr const auto get_accY()

Acceleration on the Y axis in g units.

Returns: The accY axis Source

inline constexpr const auto get_accZ()

Acceleration on the Z axis in g units.

Returns: The accZ axis Source

inline constexpr const auto get_gyrX()

Angular velocity on the X axis in radiants/second.

Returns: The gyrX axis Source

inline constexpr const auto get_gyrY()

Angular velocity on the Y axis in radiants/second.

Returns: The gyrY axis Source

inline constexpr const auto get_gyrZ()

Angular velocity on the Z axis in radiants/second.

Returns: The gyrZ axis Source

inline constexpr const auto get_timestamp()

Unix timestamp in milliseconds of the data generated by the sensor.

Returns: The Unix timestamp in milliseconds of the data generated by the sensor

Configurations

Initial configuration

To define an initial configuration for a STMicroelectronics LSM6DSL sensor use the HUX_DECLARE_SENSOR_CONFIGURATION construct:

HUX_DECLARE_SENSOR_CONFIGURATION(conf_name, hux::sensors::STMicroelectronics::LSM6DSL,
    .PARAM_1 = VALUE_1,
    .PARAM_2 = VALUE_2,
    ...
);

HUX_DECLARE_SENSOR(sensor_name, hux::sensors::STMicroelectronics::LSM6DSL, {}, conf_name);

where PARAM_1, PARAM_2, … can be any of the following:

float acc_odr = configs::acc_odr_12_5 : The sampling frequency for the accelerometer. The actual output data rate of the sensor sources is the maximum between acc_odr and gyr_odr. If acc_odr is lower than gyr_odr, the accelerometer sources will produce repeated data.

float acc_fs = configs::acc_fs_16 : Full scale range for the accelerometer

float gyr_odr = configs::gyr_odr_12_5 : The sampling frequency for the gyroscope. The actual output data rate of the sensor sources is the maximum between acc_odr and gyr_odr. If gyr_odr is lower than acc_odr, the gyroscope sources will produce repeated data.

float gyr_fs = configs::gyr_fs_2000 : Full scale range for the gyroscope

Note

If a parameter is not specified within the sensor configuration its default value is used.

Valid configuration values

Each sensor model has its own configuration values that are permitted by the manufacturer and supported by Huxon. The valid configuration values for the configuration parameters of the STMicroelectronics LSM6DSL are listed below:

struct configs

Available configuration values for STMicroelectronics LSM6DSL.

Public Static Attributes

static constexpr float acc_odr_12_5 = 12.5

static constexpr float acc_odr_26 = 26.0

static constexpr float acc_odr_52 = 52.0

static constexpr float acc_odr_104 = 104.0

static constexpr float acc_fs_2 = 2

static constexpr float acc_fs_4 = 4

static constexpr float acc_fs_8 = 8

static constexpr float acc_fs_16 = 16

static constexpr float gyr_odr_12_5 = 12.5

static constexpr float gyr_odr_26 = 26.0

static constexpr float gyr_odr_52 = 52.0

static constexpr float gyr_odr_104 = 104.0

static constexpr float gyr_fs_125 = 125

static constexpr float gyr_fs_250 = 250

static constexpr float gyr_fs_500 = 500

static constexpr float gyr_fs_1000 = 1000

static constexpr float gyr_fs_2000 = 2000

Dynamic configuration

The Huxon language provides the capability to reconfigure sensor parameters dynamically while the application is running. This allow to change the behavior of a sensor in response to specific events.

To dynamically reconfigure a STMicroelectronics LSM6DSL sensor, it is necessary to create a configurator through the HUX_SENSOR_CONFIGURATOR_BUILDER and register it to the sensor using HUX_REGISTER_SENSOR_CONFIGURATOR:

HUX_DECLARE_SENSOR(sensor_name, hux::sensors::STMicroelectronics::LSM6DSL);

...

auto configurator = HUX_SENSOR_CONFIGURATOR_BUILDER(hux::sensors::STMicroelectronics::LSM6DSL)
    .add_PARAM1_cfg_chan(param1_channel)
    .add_PARAM2_cfg_chan(param2_channel)
    ...
    .finalize();

HUX_REGISTER_SENSOR_CONFIGURATOR(sensor_name, configurator);

where param1_channel, param2_channel, … are channels that generate configuration values, while the configurator builder methods: add_PARAM1_cfg_chan, add_PARAM2_cfg_chan, … bind such channels to the parameters they will configure. The configurator builder methods can be any of the following:

template<hux::channels::IsChannelOf<float> channel_t> inline constexpr const auto add_ACC_ODR_cfg_chan(channel_t channel) const

Configures a channel for the ODR (Output Data Rate) parameter of the accelerometer.

Please refer to the official sensor documentation (https://www.st.com/en/mems-and-sensors/lsm6dsl.html) for details on this parameter

Template Parameters: channel_t – The type of input channel supplying the configuration values for the parameter
Parameters: channel – The input channel supplying the configuration values for the parameter
Returns: The updated builder instance (for further method invocation chaining)

template<hux::channels::IsChannelOf<float> channel_t> inline constexpr const auto add_ACC_FS_cfg_chan(channel_t channel) const

Configures a channel for the FS (Full Scale) parameter of the accelerometer.

Please refer to the official sensor documentation (https://www.st.com/en/mems-and-sensors/lsm6dsl.html) for details on this parameter

Template Parameters: channel_t – The type of input channel supplying the configuration values for the parameter
Parameters: channel – The input channel supplying the configuration values for the parameter
Returns: The updated builder instance (for further method invocation chaining)

template<hux::channels::IsChannelOf<float> channel_t> inline constexpr const auto add_GYR_ODR_cfg_chan(channel_t channel) const

Configures a channel for the ODR (Output Data Rate) parameter of the gyroscope.

Please refer to the official sensor documentation (https://www.st.com/en/mems-and-sensors/lsm6dsl.html) for details on this parameter

Template Parameters: channel_t – The type of input channel supplying the configuration values for the parameter
Parameters: channel – The input channel supplying the configuration values for the parameter
Returns: The updated builder instance (for further method invocation chaining)

template<hux::channels::IsChannelOf<float> channel_t> inline constexpr const auto add_GYR_FS_cfg_chan(channel_t channel) const

Configures a channel for the FS (Full Scale) parameter of the gyroscope.

Please refer to the official sensor documentation (https://www.st.com/en/mems-and-sensors/lsm6dsl.html) for details on this parameter

Template Parameters: channel_t – The type of input channel supplying the configuration values for the parameter
Parameters: channel – The input channel supplying the configuration values for the parameter
Returns: The updated builder instance (for further method invocation chaining)