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‎Common/Components/peripherals/accel_gyro.cdf‎

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<CDFInfo>
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<Version>3</Version>
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<CreationDate>2023-04-18T13:32:37Z</CreationDate>
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<UpdatedDate>2025-03-17T13:48:17Z</UpdatedDate>
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<UpdatedDate>2026-03-22T00:00:00Z</UpdatedDate>
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</CDFInfo>
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<Description>
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<ShortDescription>Accelometer and Gyroscope</ShortDescription>
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<LongDescription>Accelometer and Gyroscope</LongDescription>
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<ShortDescription>Accelerometer and Gyroscope</ShortDescription>
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<LongDescription>Combined IMU function block providing accelerometer and gyroscope readings. Enable/disable control the hardware sensor. read_accel and read_gyro trigger independent reads; either may be used without the other. On platforms that do not provide a gyroscope (e.g. Sfera Labs Exo Sense Pi) read_gyro never fires its done event.</LongDescription>
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<UserName/>
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<Menu>
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Peripherals
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<Menu>Accelometer and Gyroscope</Menu>
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<Menu>Accelerometer and Gyroscope</Menu>
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</Menu>
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</Description>
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<Block>
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<Type>IO</Type>
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<Width>75</Width>
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<Height>145</Height>
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<Text>AccGyro</Text>
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<TextX>10</TextX>
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<TextY>5</TextY>
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<TextScale>1.25</TextScale>
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<TextVertical>0</TextVertical>
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<LocationX>0</LocationX>
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<LocationY>-15</LocationY>
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</Block>
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<FBID>
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<ERT1_ID>1</ERT1_ID>
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<Class>accel_gyro</Class>
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</FBID>
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<Hashes>
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<NameHash_CRC16>0xF2AA</NameHash_CRC16>
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<FbApiDescriptorHash_CRC32>bad9e7af</FbApiDescriptorHash_CRC32>
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<FbApiDescriptorHash_CRC32>00000000</FbApiDescriptorHash_CRC32>
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<FbApiDescriptorHash/>
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</Hashes>
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<Parameters/>
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<Functions>
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<Function>
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<name>EnableFunc</name>
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<name>enable</name>
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<ID>
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<ERT1_ID>1</ERT1_ID>
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</ID>
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</Function>
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<Function>
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<name>DisableFunc</name>
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<name>disable</name>
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<ID>
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<ERT1_ID>2</ERT1_ID>
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</ID>
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</Function>
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<Function>
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<name>ReadAccelFunc</name>
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<name>read_accel</name>
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<ID>
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<ERT1_ID>3</ERT1_ID>
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</ID>
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</Function>
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<Function>
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<name>ReadGyroFunc</name>
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<name>read_gyro</name>
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<ID>
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<ERT1_ID>4</ERT1_ID>
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</ID>
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</Function>
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</Port>
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<Port>
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<Description>disbale</Description>
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<Description>disable</Description>
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<PortType>StartPort</PortType>
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<XCoordinate>0</XCoordinate>
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<YCoordinate>22</YCoordinate>
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<CName>disbale</CName>
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<CName>disable</CName>
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<Function argument="0">
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<Function_ERT1_ID>2</Function_ERT1_ID>
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<AtomicFlag>0</AtomicFlag>
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<Port>
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<Description>--</Description>
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<PortType>FinishPort</PortType>
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<XCoordinate>75</XCoordinate>
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<XCoordinate>70</XCoordinate>
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<YCoordinate>12</YCoordinate>
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<Wcet>0</Wcet>
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<CName>enabled</CName>
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<Port>
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<Description>--</Description>
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<PortType>FinishPort</PortType>
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<XCoordinate>75</XCoordinate>
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<XCoordinate>70</XCoordinate>
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<YCoordinate>22</YCoordinate>
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<Wcet>0</Wcet>
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<CName>disabled</CName>
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<DataType>I</DataType>
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<Description>err id</Description>
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<PortType>OutputPort</PortType>
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<XCoordinate>75</XCoordinate>
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<XCoordinate>70</XCoordinate>
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<YCoordinate>32</YCoordinate>
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<CName>error_id</CName>
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<Function argument="1">
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<Port>
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<Description>--</Description>
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<PortType>FinishPort</PortType>
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<XCoordinate>75</XCoordinate>
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<YCoordinate>45</YCoordinate>
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<XCoordinate>70</XCoordinate>
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<YCoordinate>47</YCoordinate>
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<Wcet>0</Wcet>
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<CName>accel_done</CName>
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<Function argument="1">
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<DataType>F</DataType>
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<Description>Ax</Description>
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<PortType>OutputPort</PortType>
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<XCoordinate>75</XCoordinate>
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<YCoordinate>55</YCoordinate>
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<XCoordinate>70</XCoordinate>
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<YCoordinate>57</YCoordinate>
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<CName>Ax</CName>
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<Function argument="1">
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<Function_ERT1_ID>3</Function_ERT1_ID>
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<DataType>F</DataType>
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<Description>Ay</Description>
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<PortType>OutputPort</PortType>
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<XCoordinate>75</XCoordinate>
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<YCoordinate>65</YCoordinate>
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<XCoordinate>70</XCoordinate>
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<YCoordinate>67</YCoordinate>
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<CName>Ay</CName>
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<Function argument="2">
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<Function_ERT1_ID>3</Function_ERT1_ID>
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<DataType>F</DataType>
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<Description>Az</Description>
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<PortType>OutputPort</PortType>
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<XCoordinate>75</XCoordinate>
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<YCoordinate>75</YCoordinate>
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<XCoordinate>70</XCoordinate>
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<YCoordinate>77</YCoordinate>
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<CName>Az</CName>
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<Function argument="3">
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<Function_ERT1_ID>3</Function_ERT1_ID>
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<Description>gyro</Description>
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<PortType>StartPort</PortType>
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<XCoordinate>0</XCoordinate>
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<YCoordinate>87</YCoordinate>
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<YCoordinate>92</YCoordinate>
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<CName>read_gyro</CName>
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<Function argument="0">
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<Function_ERT1_ID>4</Function_ERT1_ID>
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<Port>
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<Description>--</Description>
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<PortType>FinishPort</PortType>
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<XCoordinate>75</XCoordinate>
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<YCoordinate>87</YCoordinate>
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<XCoordinate>70</XCoordinate>
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<YCoordinate>92</YCoordinate>
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<Wcet>0</Wcet>
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<CName>gyro_done</CName>
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<Function argument="1">
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<DataType>F</DataType>
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<Description>Gx</Description>
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<PortType>OutputPort</PortType>
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<XCoordinate>75</XCoordinate>
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<YCoordinate>97</YCoordinate>
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<XCoordinate>70</XCoordinate>
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<YCoordinate>102</YCoordinate>
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<CName>Gx</CName>
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<Function argument="1">
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<Function_ERT1_ID>4</Function_ERT1_ID>
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<DataType>F</DataType>
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<Description>Gy</Description>
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<PortType>OutputPort</PortType>
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<XCoordinate>75</XCoordinate>
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<XCoordinate>70</XCoordinate>
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<YCoordinate>107</YCoordinate>
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<CName>Gy</CName>
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<Function argument="2">
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<DataType>F</DataType>
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<Description>Gz</Description>
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<PortType>OutputPort</PortType>
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<XCoordinate>75</XCoordinate>
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<XCoordinate>70</XCoordinate>
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<YCoordinate>117</YCoordinate>
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<CName>Gz</CName>
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<Function argument="3">

‎Common/Components/peripherals/accel_gyro/docs/help.html‎

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<!DOCTYPE html>
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<html lang="en">
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<head>
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<meta content="text/html; charset=utf-8" http-equiv="content-type"/>
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<link href="iabStyle.css" rel="StyleSheet" type="text/css"/>
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<link href="../iabStyle.css" rel="StyleSheet" type="text/css"/>
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<link href="../../iabStyle.css" rel="StyleSheet" type="text/css"/>
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<link href="../../../iabStyle.css" rel="StyleSheet" type="text/css"/>
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</head>
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<body>
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<div class="page_container">
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<div id="toc_container">
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<span class="toc_span">Accelerometer and Gyroscope</span>
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<span class="toc_span_items"><a href="#misc">Misc &#8595;</a></span>
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<span class="toc_span_items"><a href="#parameters">Params &#8595;</a></span>
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<span class="toc_span_items"><a href="#ports">Ports &#8595;</a></span>
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</div>
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<!--General Description-->
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<p class="component">
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<strong>AccGyro</strong> provides access to a combined IMU (Inertial Measurement Unit)
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with separate accelerometer and gyroscope channels. Both channels share a single
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<strong>enable</strong>/<strong>disable</strong> pair.
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</p>
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<p class="component">
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<strong>read_accel</strong> and <strong>read_gyro</strong> trigger independent reads;
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either may be used without the other. On platforms that provide only an accelerometer
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(e.g. Sfera Labs Exo Sense Pi), <strong>read_gyro</strong> never fires its
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<em>gyro_done</em> event.
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</p>
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<h3>Platform Support</h3>
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<table border="1" cellpadding="6">
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<thead><tr><th>Platform</th><th>Accel</th><th>Gyro</th><th>Notes</th></tr></thead>
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<tbody>
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<tr><td>Arduino Nano 33 IoT</td><td>Yes</td><td>Yes</td><td>LSM6DS3 via Arduino_LSM6DS3 library.</td></tr>
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<tr><td>Sfera Labs Exo Sense Pi</td><td>Yes</td><td>No</td><td>sysfs <code>/sys/class/exosensepi/accelerometer/</code>; gyro not available.</td></tr>
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<tr><td>All other Sfera Labs boards</td><td>No</td><td>No</td><td>Returns <code>EHS_PERIPH_ERR_NOT_SUPPORTED</code> on enable.</td></tr>
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<tr><td>Stubbed (development)</td><td>Yes (0,0,0)</td><td>Yes (0,0,0)</td><td>No hardware access; always succeeds.</td></tr>
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</tbody>
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</table>
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<!--Parameters-->
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<div class="section_heading">
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<span class="toc_span" id="parameters">Parameters</span>
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<div class="toc_span_items"><a href="#toc_container">Top &#8593;</a></div>
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<div class="toc_span_items"><a href="#misc">Misc &#8595;</a></div>
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<div class="toc_span_items"><a href="#ports">Ports &#8595;</a></div>
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</div>
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<p class="component">No parameters.</p>
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<!--Ports-->
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<div class="section_heading">
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<span class="toc_span" id="ports">Ports</span>
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<span class="toc_span_items"><a href="#toc_container">Top &#8593;</a></span>
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<span class="toc_span_items"><a href="#misc">Misc &#8595;</a></span>
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<span class="toc_span_items"><a href="#parameters">Params &#8593;</a></span>
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</div>
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<table class="table">
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<tr><th>In Ev.</th><th></th></tr>
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<tr><td class="portsEvent"><a name="[In]enable">enable</a></td><td>Enable the IMU hardware. Must be called before any <em>read_accel</em> or <em>read_gyro</em> calls. Sets <em>error_id</em> and fires <em>enabled</em> on success.</td></tr>
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<tr><td class="portsEvent"><a name="[In]disable">disable</a></td><td>Disable the IMU hardware. Sets <em>error_id</em> to 0 and fires <em>disabled</em>.</td></tr>
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<tr><td class="portsEvent"><a name="[In]read_accel">read_accel</a></td><td>Read one accelerometer sample. Fires <em>accel_done</em> with <em>Ax</em>, <em>Ay</em>, <em>Az</em> on success. Does nothing if data is not available.</td></tr>
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<tr><td class="portsEvent"><a name="[In]read_gyro">read_gyro</a></td><td>Read one gyroscope sample. Fires <em>gyro_done</em> with <em>Gx</em>, <em>Gy</em>, <em>Gz</em> on success. Never fires on platforms without a gyroscope.</td></tr>
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<tr><th>Data In</th><th></th></tr>
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<tr><th>Out Ev.</th><th></th></tr>
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<tr><td class="portsEvent"><a name="[Out]enabled">enabled</a></td><td>Fired when the IMU has been successfully enabled.</td></tr>
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<tr><td class="portsEvent"><a name="[Out]disabled">disabled</a></td><td>Fired when the IMU has been disabled.</td></tr>
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<tr><td class="portsEvent"><a name="[Out]accel_done">accel_done</a></td><td>Fired when an accelerometer sample has been read successfully.</td></tr>
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<tr><td class="portsEvent"><a name="[Out]gyro_done">gyro_done</a></td><td>Fired when a gyroscope sample has been read successfully.</td></tr>
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<tr><th>Data Out</th><th></th></tr>
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<tr><td class="portsInt"><a name="[Out]error_id">error_id</a></td><td>Error code from <em>enable</em> or <em>disable</em>. See error codes table below.</td></tr>
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<tr><td class="portsFloat"><a name="[Out]Ax">Ax</a></td><td>X-axis acceleration (g or mg — unit is platform-defined). Updated by <a href="#[In]read_accel">read_accel</a>.</td></tr>
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<tr><td class="portsFloat"><a name="[Out]Ay">Ay</a></td><td>Y-axis acceleration. Updated by <a href="#[In]read_accel">read_accel</a>.</td></tr>
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<tr><td class="portsFloat"><a name="[Out]Az">Az</a></td><td>Z-axis acceleration. Updated by <a href="#[In]read_accel">read_accel</a>.</td></tr>
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<tr><td class="portsFloat"><a name="[Out]Gx">Gx</a></td><td>X-axis angular rate (deg/s). Updated by <a href="#[In]read_gyro">read_gyro</a>.</td></tr>
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<tr><td class="portsFloat"><a name="[Out]Gy">Gy</a></td><td>Y-axis angular rate (deg/s). Updated by <a href="#[In]read_gyro">read_gyro</a>.</td></tr>
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<tr><td class="portsFloat"><a name="[Out]Gz">Gz</a></td><td>Z-axis angular rate (deg/s). Updated by <a href="#[In]read_gyro">read_gyro</a>.</td></tr>
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</table>
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<!--Error Codes-->
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<h3>Error Codes (<code>error_id</code>)</h3>
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<table border="1" cellpadding="6">
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<thead><tr><th>Code</th><th>Constant</th><th>Description</th></tr></thead>
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<tbody>
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<tr><td>0</td><td><code>EHS_PERIPH_OK</code></td><td>Success.</td></tr>
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<tr><td>-1</td><td><code>EHS_PERIPH_ERR_GENERAL</code></td><td>Unspecified failure (e.g. Arduino IMU.begin() returned false).</td></tr>
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<tr><td>-2</td><td><code>EHS_PERIPH_ERR_SYSFS</code></td><td>sysfs I/O error — the accelerometer enable node could not be written (Sfera Labs Exo Sense Pi).</td></tr>
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<tr><td>-3</td><td><code>EHS_PERIPH_ERR_NOT_SUPPORTED</code></td><td>IMU not available on this board. The <em>enabled</em> event will not fire.</td></tr>
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</tbody>
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</table>
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<!--Misc-->
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<div class="section_heading">
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<span class="toc_span" id="misc">Misc</span>
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<span class="toc_span_items"><a href="#toc_container">Top &#8593;</a></span>
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<span class="toc_span_items"><a href="#ports">Ports &#8593;</a></span>
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<span class="toc_span_items"><a href="#parameters">Params &#8593;</a></span>
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</div>
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<table>
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<tr class="fsm_row">
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<td style="width:90px;"><b>State Machine</b></td>
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<td colspan="5">Stateless</td>
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</tr>
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<tr>
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<td class="heading-cell"><b>Toolbox</b></td><td>Peripherals / Accelerometer and Gyroscope</td>
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<td class="heading-cell"><b>Version</b></td><td>v1.0</td>
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</tr>
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<tr>
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<td class="heading-cell"><b>Licence Type</b></td><td>LGPLv3</td>
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<td class="heading-cell"><b>Component Supplier</b></td>
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<td><a href="http://www.inx-systems.net" target="_blank">inx ltd.</a></td>
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</tr>
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<tr>
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<td class="heading-cell"><b>Minimum DCC</b></td><td>A0000</td>
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<td class="heading-cell"><b>Profiles</b></td><td>Arduino Nano 33 IoT; Sfera Labs Exo Sense Pi (accel only).</td>
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</tr>
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</table>
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</div>
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</body>
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</html>

‎Common/Components/peripherals/accelerometer.cdf‎

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</CDFInfo>
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<Description>
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<ShortDescription>Accelerometer</ShortDescription>
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<LongDescription>3-axis accelerometer. Returns X, Y, Z acceleration values in milli-g.</LongDescription>
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<LongDescription>DEPRECATED — use the accel_gyro block instead. The accel_gyro block is a superset of this block and supports both accelerometer and gyroscope via the same HAL switching mechanism. This block remains available for backward compatibility only.</LongDescription>
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<UserName/>
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<Menu>
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Peripherals

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