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Initial support for LSM6DS3 IMU (#83)

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* Initial support for LSM6DS3 IMU
This commit is contained in:
Daniel Esteban
2019-08-26 08:56:48 +02:00
committed by Ron Evans
parent d80f619c9f
commit 3ae5895183
5 changed files with 298 additions and 0 deletions
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lsm6ds3/registers.go
+83
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@@ -0,0 +1,83 @@
package lsm6ds3
// Constants/addresses used for I2C.
// The I2C address which this device listens to.
const Address = 0x6A
const (
WHO_AM_I = 0x0F
STATUS = 0x1E
CTRL1_XL = 0x10
CTRL2_G = 0x11
CTRL3_C = 0x12
CTRL4_C = 0x13
CTRL5_C = 0x14
CTRL6_C = 0x15
CTRL7_G = 0x16
CTRL8_XL = 0x17
CTRL9_XL = 0x18
CTRL10_C = 0x19
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_XL = 0x28
OUTX_H_XL = 0x29
OUTY_L_XL = 0x2A
OUTY_H_XL = 0x2B
OUTZ_L_XL = 0x2C
OUTZ_H_XL = 0x2D
OUT_TEMP_L = 0x20
OUT_TEMP_H = 0x21
BW_SCAL_ODR_DISABLED = 0x00
BW_SCAL_ODR_ENABLED = 0x80
STEP_TIMESTAMP_L = 0x49
STEP_TIMESTAMP_H = 0x4A
STEP_COUNTER_L = 0x4B
STEP_COUNTER_H = 0x4C
STEP_COUNT_DELTA = 0x15
TAP_CFG = 0x58
INT1_CTRL = 0x0D
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
ACCEL_SR_13330 AccelSampleRate = 0xB0
ACCEL_BW_50 AccelBandwidth = 0x03
ACCEL_BW_100 AccelBandwidth = 0x02
ACCEL_BW_200 AccelBandwidth = 0x01
ACCEL_BW_400 AccelBandwidth = 0x00
//GYRO_125DPS GyroRange = 0x01
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
)