lsm6dsl-spin

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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