diff options
Diffstat (limited to 'os/ex/ST/lsm6ds0.h')
| -rw-r--r-- | os/ex/ST/lsm6ds0.h | 21 |
1 files changed, 20 insertions, 1 deletions
diff --git a/os/ex/ST/lsm6ds0.h b/os/ex/ST/lsm6ds0.h index 6adf58a94..06f41419c 100644 --- a/os/ex/ST/lsm6ds0.h +++ b/os/ex/ST/lsm6ds0.h @@ -74,6 +74,23 @@ #if !defined(LSM6DS0_SHARED_I2C) || defined(__DOXYGEN__) #define LSM6DS0_SHARED_I2C FALSE #endif + +/** + * @brief Number of acquisitions for gyroscope bias removal + * @details This is the number of acquisitions performed to compute the + * bias. A repetition is required in order to remove noise. + */ +#if !defined(LSM6DS0_GYRO_BIAS_ACQ_TIMES) || defined(__DOXYGEN__) +#define LSM6DS0_GYRO_BIAS_ACQ_TIMES 50 +#endif + +/** + * @brief Settling time for gyroscope bias removal + * @details This is the time between each bias acquisition. + */ +#if !defined(LSM6DS0_GYRO_BIAS_SETTLING_uS) || defined(__DOXYGEN__) +#define LSM6DS0_GYRO_BIAS_SETTLING_uS 5000 +#endif /** @} */ /*===========================================================================*/ @@ -518,7 +535,9 @@ struct LSM6DS0GYROVMT { /* Current accelerometer sensitivity.*/ \ float accsens; \ /* Current gyroscope sensitivity.*/ \ - float gyrosens; + float gyrosens; \ + /* Bias data.*/ \ + int32_t gyrobias[LSM6DS0_GYRO_NUMBER_OF_AXES]; /** * @brief LSM6DS0 6-axis accelerometer/gyroscope class. |