Lsm330dlc Class Reference

Driver for sensor LSM330DLC. More...

#include <lsm330dlc.hpp>

Inheritance diagram for Lsm330dlc:

Collaboration diagram for Lsm330dlc:

List of all members.

Public Member Functions
	Lsm330dlc (I2c &i2c)
	Constructor.
bool	init (void)
	Initialise the sensor.
bool	update_acc (void)
	Main update function.
bool	update_gyr (void)
const float &	last_update_us (void) const
	Get last update time in microseconds.
const std::array< float, 3 > &	gyro (void) const
	Get X, Y and Z components of angular velocity.
const float &	gyro_X (void) const
	Get X component of angular velocity.
const float &	gyro_Y (void) const
	Get Y component of angular velocity.
const float &	gyro_Z (void) const
	Get Z component of angular velocity.
const std::array< float, 3 > &	acc (void) const
	Get X, Y and Z components of acceleration.
const float &	acc_X (void) const
	Get X component of acceleration.
const float &	acc_Y (void) const
	Get Y component of acceleration.
const float &	acc_Z (void) const
	Get Z component of acceleration.
const float &	temperature (void) const
	Get sensor temperature.

---

Detailed Description

Driver for sensor LSM330DLC.

This sensor is at the same time a accelerometer and a gyroscope The inherited method Accelerometer::update is implemented as Lsm330dlc::update_acc The inherited method Gyroscope::update is implemented as Lsm330dlc::update_gyr

---

Constructor & Destructor Documentation

Lsm330dlc::Lsm330dlc

(

I2c &

i2c

)

Constructor.

Parameters:

i2c	Reference to I2C device

---

Member Function Documentation

const std::array< float, 3 > & Lsm330dlc::acc

(

void

)

const [virtual]

Get X, Y and Z components of acceleration.

This is raw data, so X, Y and Z components are biased, not scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal, scaling and axis rotations

Returns:

Value

Implements Accelerometer.

const float & Lsm330dlc::acc_X

(

void

)

const [virtual]

Get X component of acceleration.

This is raw data, so X, Y and Z components are biased, not scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal, scaling and axis rotations

Returns:

Value

Implements Accelerometer.

const float & Lsm330dlc::acc_Y

(

void

)

const [virtual]

Get Y component of acceleration.

This is raw data, so X, Y and Z components are biased, not scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal, scaling and axis rotations

Returns:

Value

Implements Accelerometer.

const float & Lsm330dlc::acc_Z

(

void

)

const [virtual]

Get Z component of acceleration.

This is raw data, so X, Y and Z components are biased, not scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal, scaling and axis rotations

Returns:

Value

Implements Accelerometer.

const std::array< float, 3 > & Lsm330dlc::gyro

(

void

)

const [virtual]

Get X, Y and Z components of angular velocity.

This is raw data, so X, Y and Z components are biased, not scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal, scaling and axis rotations

Returns:

Value

Implements Gyroscope.

const float & Lsm330dlc::gyro_X

(

void

)

const [virtual]

Get X component of angular velocity.

This is raw data, so X, Y and Z components are biased, not scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal, scaling and axis rotations

Returns:

Value

Implements Gyroscope.

const float & Lsm330dlc::gyro_Y

(

void

)

const [virtual]

Get Y component of angular velocity.

This is raw data, so X, Y and Z components are biased, not scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal, scaling and axis rotations

Returns:

Value

Implements Gyroscope.

const float & Lsm330dlc::gyro_Z

(

void

)

const [virtual]

Get Z component of angular velocity.

This is raw data, so X, Y and Z components are biased, not scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal, scaling and axis rotations

Returns:

Value

Implements Gyroscope.

bool Lsm330dlc::init

(

void

)

[virtual]

Initialise the sensor.

Sends configuration via I2C, the I2C peripheral must be activated before this method is called

Returns:

true Success

false Failed

< CTRL_REG_G_1

< CTRL_REG_G_2

< CTRL_REG_G_3

< CTRL_REG_G_4

< CTRL_REG_G_5

< CTRL_REG_A_1

< CTRL_REG_A_2

< CTRL_REG_A_3

< CTRL_REG_A_4

Implements Accelerometer.

Here is the call graph for this function:

Here is the caller graph for this function:

const float & Lsm330dlc::last_update_us

(

void

)

const [virtual]

Get last update time in microseconds.

Returns:

Update time

Implements Accelerometer.

const float & Lsm330dlc::temperature

(

void

)

const [virtual]

Get sensor temperature.

Returns:

Value

Implements Accelerometer.

bool Lsm330dlc::update_acc

(

void

)

[virtual]

Main update function.

Get new data from the sensor

Returns:

true Success

false Failed

Implements Lsm330dlc_acc.

Here is the call graph for this function:

---

The documentation for this class was generated from the following files:

• /home/travis/build/lis-epfl/MAVRIC_Library/drivers/lsm330dlc.hpp
• /home/travis/build/lis-epfl/MAVRIC_Library/drivers/lsm330dlc.cpp