Arduino library to support the LSM6DSR 3D accelerometer and 3D gyroscope
This sensor uses I2C, I3C or SPI to communicate. For I2C it is then required to create a TwoWire interface before accessing to the sensors:
TwoWire dev_i2c(I2C_SDA, I2C_SCL);
dev_i2c.begin();
For SPI it is then required to create a SPI interface before accessing to the sensors:
SPIClass dev_spi(SPI_MOSI, SPI_MISO, SPI_SCK);
dev_spi.begin();
For I3C it is then required to create an I3C interface before accessing to the sensors:
I3C.begin(I3C_SDA, I3C_SCL, 1000000U);
An instance can be created and enabled when the I2C bus is used following the procedure below:
LSM6DSRSensor AccGyr(&dev_i2c);
AccGyr.begin();
AccGyr.Enable_X();
AccGyr.Enable_G();
An instance can be created and enabled when the SPI bus is used following the procedure below:
LSM6DSRSensor AccGyr(&dev_spi, CS_PIN);
AccGyr.begin();
AccGyr.Enable_X();
AccGyr.Enable_G();
An instance can be created and enabled when the I3C bus is used with SETDASA (static-to-dynamic address assignment):
LSM6DSRSensor AccGyr(&I3C, LSM6DSR_I3C_ADD_H);
I3C.resetDynamicAddresses();
I3C.assignDynamicAddress(AccGyr.getStaticAddress(), LSM6DSR_DYNAMIC_ADDRESS);
AccGyr.begin(LSM6DSR_DYNAMIC_ADDRESS);
I3C.setClock(12500000);
AccGyr.Enable_X();
AccGyr.Enable_G();
An instance can be created and enabled when the I3C bus is used with ENTDAA (dynamic address discovery):
LSM6DSRSensor AccGyr(&I3C);
I3C.begin(I3C_SDA, I3C_SCL, 1000000U);
I3C.discover(devices, 8, &found);
// find dynAddr by matching LSM6DSR_I3C_PID in discovered devices
AccGyr.begin(dynAddr);
I3C.setClock(12500000);
AccGyr.Enable_X();
AccGyr.Enable_G();
The access to the sensor values is done as explained below:
Read accelerometer and gyroscope.
int32_t accelerometer[3];
int32_t gyroscope[3];
AccGyr->Get_X_Axes(accelerometer);
AccGyr->Get_G_Axes(gyroscope);
There are several examples with the LSM6DSR library.
- LSM6DSR_HelloWorld_I2C: This application provides a simple example of usage of the LSM6DSR IMU 6-axis over I2C.
- LSM6DSR_HelloWorld_SPI: This application provides a simple example of usage of the LSM6DSR IMU 6-axis over SPI.
- LSM6DSR_Datalog_Terminal_I3C: This application shows how to use LSM6DSR accelerometer and gyroscope over I3C using SETDASA.
- LSM6DSR_Datalog_Terminal_I3C_ENTDAA: This application shows how to discover and use LSM6DSR dynamic address over I3C.
You can find the source files at
https://github.com/stm32duino/LSM6DSR
The LSM6DSR datasheet is available at
https://www.st.com/content/st_com/en/products/mems-and-sensors/inemo-inertial-modules/lsm6dsr.html