├── .codespellrc ├── .github ├── dependabot.yml └── workflows │ ├── check-arduino.yml │ ├── compile-examples.yml │ ├── report-size-deltas.yml │ ├── spell-check.yml │ └── sync-labels.yml ├── CHANGELOG ├── LICENSE.txt ├── README.adoc ├── docs ├── api.md └── readme.md ├── examples ├── SimpleAccelerometer │ └── SimpleAccelerometer.ino ├── SimpleGyroscope │ └── SimpleGyroscope.ino └── SimpleTempSensor │ └── SimpleTempSensor.ino ├── keywords.txt ├── library.properties └── src ├── Arduino_LSM6DS3.h ├── LSM6DS3.cpp └── LSM6DS3.h /.codespellrc: -------------------------------------------------------------------------------- 1 | # See: https://github.com/codespell-project/codespell#using-a-config-file 2 | [codespell] 3 | # In the event of a false positive, add the problematic word, in all lowercase, to a comma-separated list here: 4 | ignore-words-list = , 5 | check-filenames = 6 | check-hidden = 7 | skip = ./.git 8 | -------------------------------------------------------------------------------- /.github/dependabot.yml: -------------------------------------------------------------------------------- 1 | # See: https://docs.github.com/en/github/administering-a-repository/configuration-options-for-dependency-updates#about-the-dependabotyml-file 2 | version: 2 3 | 4 | updates: 5 | # Configure check for outdated GitHub Actions actions in workflows. 6 | # See: https://docs.github.com/en/github/administering-a-repository/keeping-your-actions-up-to-date-with-dependabot 7 | - package-ecosystem: github-actions 8 | directory: / # Check the repository's workflows under /.github/workflows/ 9 | schedule: 10 | interval: daily 11 | labels: 12 | - "topic: infrastructure" 13 | -------------------------------------------------------------------------------- /.github/workflows/check-arduino.yml: -------------------------------------------------------------------------------- 1 | name: Check Arduino 2 | 3 | # See: https://docs.github.com/en/free-pro-team@latest/actions/reference/events-that-trigger-workflows 4 | on: 5 | push: 6 | pull_request: 7 | schedule: 8 | # Run every Tuesday at 8 AM UTC to catch breakage caused by new rules added to Arduino Lint. 9 | - cron: "0 8 * * TUE" 10 | workflow_dispatch: 11 | repository_dispatch: 12 | 13 | jobs: 14 | lint: 15 | runs-on: ubuntu-latest 16 | 17 | steps: 18 | - name: Checkout repository 19 | uses: actions/checkout@v4 20 | 21 | - name: Arduino Lint 22 | uses: arduino/arduino-lint-action@v2 23 | with: 24 | compliance: strict 25 | library-manager: update 26 | # Always use this setting for official repositories. Remove for 3rd party projects. 27 | official: true 28 | project-type: library 29 | -------------------------------------------------------------------------------- /.github/workflows/compile-examples.yml: -------------------------------------------------------------------------------- 1 | name: Compile Examples 2 | 3 | # See: https://docs.github.com/en/free-pro-team@latest/actions/reference/events-that-trigger-workflows 4 | on: 5 | push: 6 | paths: 7 | - ".github/workflows/compile-examples.yml" 8 | - "examples/**" 9 | - "src/**" 10 | pull_request: 11 | paths: 12 | - ".github/workflows/compile-examples.yml" 13 | - "examples/**" 14 | - "src/**" 15 | schedule: 16 | # Run every Tuesday at 8 AM UTC to catch breakage caused by changes to external resources (libraries, platforms). 17 | - cron: "0 8 * * TUE" 18 | workflow_dispatch: 19 | repository_dispatch: 20 | 21 | jobs: 22 | build: 23 | name: ${{ matrix.board.fqbn }} 24 | runs-on: ubuntu-latest 25 | 26 | env: 27 | SKETCHES_REPORTS_PATH: sketches-reports 28 | 29 | strategy: 30 | fail-fast: false 31 | 32 | matrix: 33 | board: 34 | - fqbn: arduino:megaavr:uno2018 35 | platforms: | 36 | - name: arduino:megaavr 37 | artifact-name-suffix: arduino-megaavr-uno2018 38 | - fqbn: arduino:samd:nano_33_iot 39 | platforms: | 40 | - name: arduino:samd 41 | artifact-name-suffix: arduino-samd-nano_33_iot 42 | 43 | steps: 44 | - name: Checkout repository 45 | uses: actions/checkout@v4 46 | 47 | - name: Compile examples 48 | uses: arduino/compile-sketches@v1 49 | with: 50 | github-token: ${{ secrets.GITHUB_TOKEN }} 51 | fqbn: ${{ matrix.board.fqbn }} 52 | platforms: ${{ matrix.board.platforms }} 53 | libraries: | 54 | # Install the library from the local path. 55 | - source-path: ./ 56 | # Additional library dependencies can be listed here. 57 | # See: https://github.com/arduino/compile-sketches#libraries 58 | sketch-paths: | 59 | - examples 60 | enable-deltas-report: true 61 | sketches-report-path: ${{ env.SKETCHES_REPORTS_PATH }} 62 | 63 | - name: Save sketches report as workflow artifact 64 | uses: actions/upload-artifact@v4 65 | with: 66 | if-no-files-found: error 67 | path: ${{ env.SKETCHES_REPORTS_PATH }} 68 | name: sketches-report-${{ matrix.board.artifact-name-suffix }} 69 | -------------------------------------------------------------------------------- /.github/workflows/report-size-deltas.yml: -------------------------------------------------------------------------------- 1 | name: Report Size Deltas 2 | 3 | # See: https://docs.github.com/en/free-pro-team@latest/actions/reference/events-that-trigger-workflows 4 | on: 5 | push: 6 | paths: 7 | - ".github/workflows/report-size-deltas.yml" 8 | schedule: 9 | # Run at the minimum interval allowed by GitHub Actions. 10 | # Note: GitHub Actions periodically has outages which result in workflow failures. 11 | # In this event, the workflows will start passing again once the service recovers. 12 | - cron: "*/5 * * * *" 13 | workflow_dispatch: 14 | repository_dispatch: 15 | 16 | jobs: 17 | report: 18 | runs-on: ubuntu-latest 19 | steps: 20 | - name: Comment size deltas reports to PRs 21 | uses: arduino/report-size-deltas@v1 22 | with: 23 | # Regex matching the names of the workflow artifacts created by the "Compile Examples" workflow 24 | sketches-reports-source: ^sketches-report-.+ 25 | -------------------------------------------------------------------------------- /.github/workflows/spell-check.yml: -------------------------------------------------------------------------------- 1 | name: Spell Check 2 | 3 | # See: https://docs.github.com/en/free-pro-team@latest/actions/reference/events-that-trigger-workflows 4 | on: 5 | push: 6 | pull_request: 7 | schedule: 8 | # Run every Tuesday at 8 AM UTC to catch new misspelling detections resulting from dictionary updates. 9 | - cron: "0 8 * * TUE" 10 | workflow_dispatch: 11 | repository_dispatch: 12 | 13 | jobs: 14 | spellcheck: 15 | runs-on: ubuntu-latest 16 | 17 | steps: 18 | - name: Checkout repository 19 | uses: actions/checkout@v4 20 | 21 | - name: Spell check 22 | uses: codespell-project/actions-codespell@master 23 | -------------------------------------------------------------------------------- /.github/workflows/sync-labels.yml: -------------------------------------------------------------------------------- 1 | # Source: https://github.com/arduino/tooling-project-assets/blob/main/workflow-templates/sync-labels.md 2 | name: Sync Labels 3 | 4 | # See: https://docs.github.com/en/actions/reference/events-that-trigger-workflows 5 | on: 6 | push: 7 | paths: 8 | - ".github/workflows/sync-labels.ya?ml" 9 | - ".github/label-configuration-files/*.ya?ml" 10 | pull_request: 11 | paths: 12 | - ".github/workflows/sync-labels.ya?ml" 13 | - ".github/label-configuration-files/*.ya?ml" 14 | schedule: 15 | # Run daily at 8 AM UTC to sync with changes to shared label configurations. 16 | - cron: "0 8 * * *" 17 | workflow_dispatch: 18 | repository_dispatch: 19 | 20 | env: 21 | CONFIGURATIONS_FOLDER: .github/label-configuration-files 22 | CONFIGURATIONS_ARTIFACT: label-configuration-files 23 | 24 | jobs: 25 | check: 26 | runs-on: ubuntu-latest 27 | 28 | steps: 29 | - name: Checkout repository 30 | uses: actions/checkout@v4 31 | 32 | - name: Download JSON schema for labels configuration file 33 | id: download-schema 34 | uses: carlosperate/download-file-action@v2 35 | with: 36 | file-url: https://raw.githubusercontent.com/arduino/tooling-project-assets/main/workflow-templates/assets/sync-labels/arduino-tooling-gh-label-configuration-schema.json 37 | location: ${{ runner.temp }}/label-configuration-schema 38 | 39 | - name: Install JSON schema validator 40 | run: | 41 | sudo npm install \ 42 | --global \ 43 | ajv-cli \ 44 | ajv-formats 45 | 46 | - name: Validate local labels configuration 47 | run: | 48 | # See: https://github.com/ajv-validator/ajv-cli#readme 49 | ajv validate \ 50 | --all-errors \ 51 | -c ajv-formats \ 52 | -s "${{ steps.download-schema.outputs.file-path }}" \ 53 | -d "${{ env.CONFIGURATIONS_FOLDER }}/*.{yml,yaml}" 54 | 55 | download: 56 | needs: check 57 | runs-on: ubuntu-latest 58 | 59 | strategy: 60 | matrix: 61 | filename: 62 | # Filenames of the shared configurations to apply to the repository in addition to the local configuration. 63 | # https://github.com/arduino/tooling-project-assets/blob/main/workflow-templates/assets/sync-labels 64 | - universal.yml 65 | 66 | steps: 67 | - name: Download 68 | uses: carlosperate/download-file-action@v2 69 | with: 70 | file-url: https://raw.githubusercontent.com/arduino/tooling-project-assets/main/workflow-templates/assets/sync-labels/${{ matrix.filename }} 71 | 72 | - name: Pass configuration files to next job via workflow artifact 73 | uses: actions/upload-artifact@v4 74 | with: 75 | path: | 76 | *.yaml 77 | *.yml 78 | if-no-files-found: error 79 | name: ${{ env.CONFIGURATIONS_ARTIFACT }} 80 | 81 | sync: 82 | needs: download 83 | runs-on: ubuntu-latest 84 | 85 | steps: 86 | - name: Set environment variables 87 | run: | 88 | # See: https://docs.github.com/en/actions/reference/workflow-commands-for-github-actions#setting-an-environment-variable 89 | echo "MERGED_CONFIGURATION_PATH=${{ runner.temp }}/labels.yml" >> "$GITHUB_ENV" 90 | 91 | - name: Determine whether to dry run 92 | id: dry-run 93 | if: > 94 | github.event_name == 'pull_request' || 95 | ( 96 | ( 97 | github.event_name == 'push' || 98 | github.event_name == 'workflow_dispatch' 99 | ) && 100 | github.ref != format('refs/heads/{0}', github.event.repository.default_branch) 101 | ) 102 | run: | 103 | # Use of this flag in the github-label-sync command will cause it to only check the validity of the 104 | # configuration. 105 | echo "::set-output name=flag::--dry-run" 106 | 107 | - name: Checkout repository 108 | uses: actions/checkout@v4 109 | 110 | - name: Download configuration files artifact 111 | uses: actions/download-artifact@v4 112 | with: 113 | name: ${{ env.CONFIGURATIONS_ARTIFACT }} 114 | path: ${{ env.CONFIGURATIONS_FOLDER }} 115 | 116 | - name: Remove unneeded artifact 117 | uses: geekyeggo/delete-artifact@v5 118 | with: 119 | name: ${{ env.CONFIGURATIONS_ARTIFACT }} 120 | 121 | - name: Merge label configuration files 122 | run: | 123 | # Merge all configuration files 124 | shopt -s extglob 125 | cat "${{ env.CONFIGURATIONS_FOLDER }}"/*.@(yml|yaml) > "${{ env.MERGED_CONFIGURATION_PATH }}" 126 | 127 | - name: Install github-label-sync 128 | run: sudo npm install --global github-label-sync 129 | 130 | - name: Sync labels 131 | env: 132 | GITHUB_ACCESS_TOKEN: ${{ secrets.GITHUB_TOKEN }} 133 | run: | 134 | # See: https://github.com/Financial-Times/github-label-sync 135 | github-label-sync \ 136 | --labels "${{ env.MERGED_CONFIGURATION_PATH }}" \ 137 | ${{ steps.dry-run.outputs.flag }} \ 138 | ${{ github.repository }} 139 | -------------------------------------------------------------------------------- /CHANGELOG: -------------------------------------------------------------------------------- 1 | Arduino_LSM6DSM ?.?.? - ????.??.?? 2 | 3 | * Add functions to use temperature sensor. 4 | 5 | Arduino_LSM6DSM 1.0.0 - 2019.07.19 6 | 7 | * Initial release 8 | -------------------------------------------------------------------------------- /LICENSE.txt: -------------------------------------------------------------------------------- 1 | GNU LESSER GENERAL PUBLIC LICENSE 2 | Version 2.1, February 1999 3 | 4 | Copyright (C) 1991, 1999 Free Software Foundation, Inc. 5 | 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 6 | Everyone is permitted to copy and distribute verbatim copies 7 | of this license document, but changing it is not allowed. 8 | 9 | [This is the first released version of the Lesser GPL. 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See the GNU 484 | Lesser General Public License for more details. 485 | 486 | You should have received a copy of the GNU Lesser General Public 487 | License along with this library; if not, write to the Free Software 488 | Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 489 | USA 490 | 491 | Also add information on how to contact you by electronic and paper mail. 492 | 493 | You should also get your employer (if you work as a programmer) or your 494 | school, if any, to sign a "copyright disclaimer" for the library, if 495 | necessary. Here is a sample; alter the names: 496 | 497 | Yoyodyne, Inc., hereby disclaims all copyright interest in the 498 | library `Frob' (a library for tweaking knobs) written by James Random 499 | Hacker. 500 | 501 | , 1 April 1990 502 | Ty Coon, President of Vice 503 | 504 | That's all there is to it! 505 | -------------------------------------------------------------------------------- /README.adoc: -------------------------------------------------------------------------------- 1 | :repository-owner: arduino-libraries 2 | :repository-name: Arduino_LSM6DS3 3 | 4 | = {repository-name} Library for Arduino = 5 | 6 | image:https://github.com/{repository-owner}/{repository-name}/actions/workflows/check-arduino.yml/badge.svg["Check Arduino status", link="https://github.com/{repository-owner}/{repository-name}/actions/workflows/check-arduino.yml"] 7 | image:https://github.com/{repository-owner}/{repository-name}/actions/workflows/compile-examples.yml/badge.svg["Compile Examples status", link="https://github.com/{repository-owner}/{repository-name}/actions/workflows/compile-examples.yml"] 8 | image:https://github.com/{repository-owner}/{repository-name}/actions/workflows/spell-check.yml/badge.svg["Spell Check status", link="https://github.com/{repository-owner}/{repository-name}/actions/workflows/spell-check.yml"] 9 | 10 | Allows you to read the accelerometer and gyroscope values from the LSM6DS3 IMU on your Arduino Nano 33 IoT or Arduino Uno WiFi Rev2 boards. 11 | 12 | For more information about this library please visit us at https://www.arduino.cc/reference/en/libraries/arduino_lsm6ds3/ 13 | -------------------------------------------------------------------------------- /docs/api.md: -------------------------------------------------------------------------------- 1 | # ArduinoLSM6DS3 library 2 | 3 | ## Methods 4 | 5 | ### `begin()` 6 | 7 | Initialize the IMU. 8 | 9 | #### Syntax 10 | 11 | ``` 12 | IMU.begin() 13 | ``` 14 | 15 | #### Parameters 16 | 17 | None. 18 | 19 | #### Returns 20 | 21 | 1 on success, 0 on failure. 22 | 23 | #### Example 24 | 25 | ``` 26 | if (!IMU.begin()) { 27 | Serial.println("Failed to initialize IMU!"); 28 | while (1); 29 | } 30 | ``` 31 | 32 | #### See also 33 | 34 | * [end()](#end) 35 | * [readAcceleration()](#readacceleration) 36 | * [readGyroscope()](#readgyroscope) 37 | * [accelerationAvailable()](#accelerationavailable) 38 | * [gyroscopeAvailable()](#gyroscopeavailable) 39 | * [accelerationSampleRate()](#accelerationsamplerate) 40 | * [gyroscopeSampleRate()](#gyroscopesamplerate) 41 | 42 | ### `end()` 43 | 44 | De-initialize the IMU. 45 | 46 | #### Syntax 47 | 48 | ``` 49 | IMU.end() 50 | ``` 51 | 52 | #### Parameters 53 | 54 | None. 55 | 56 | #### Returns 57 | 58 | None. 59 | 60 | #### Example 61 | 62 | ``` 63 | if (!IMU.begin()) { 64 | Serial.println("Failed to initialize IMU!"); 65 | while (1); 66 | } 67 | 68 | // Read IMU data... 69 | 70 | // Done with the IMU readings 71 | IMU.end(); 72 | ``` 73 | 74 | #### See also 75 | 76 | * [begin()](#begin) 77 | * [readAcceleration()](#readacceleration) 78 | * [readGyroscope()](#readgyroscope) 79 | * [accelerationAvailable()](#accelerationavailable) 80 | * [gyroscopeAvailable()](#gyroscopeavailable) 81 | * [accelerationSampleRate()](#accelerationsamplerate) 82 | * [gyroscopeSampleRate()](#gyroscopesamplerate) 83 | 84 | ### `readAcceleration()` 85 | 86 | Query the IMU's accelerometer and return the acceleration in g's. 87 | 88 | #### Syntax 89 | 90 | ``` 91 | IMU.readAcceleration(x,y,z) 92 | ``` 93 | 94 | #### Parameters 95 | 96 | * _x_: float variable where the acceleration value in the IMU's x-axis will be stored. 97 | * _y_: float variable where the acceleration value in the IMU's y-axis will be stored. 98 | * _z_: float variable where the acceleration value in the IMU's z-axis will be stored. 99 | 100 | #### Returns 101 | 102 | 1 on success, 0 on failure. 103 | 104 | #### Example 105 | 106 | ``` 107 | float x, y, z; 108 | 109 | if (IMU.accelerationAvailable()) { 110 | IMU.readAcceleration(x, y, z); 111 | 112 | Serial.print(x); 113 | Serial.print('\t'); 114 | Serial.print(y); 115 | Serial.print('\t'); 116 | Serial.println(z); 117 | } 118 | ``` 119 | 120 | #### See also 121 | 122 | * [begin()](#begin) 123 | * [end()](#end) 124 | * [readGyroscope()](#readgyroscope) 125 | * [accelerationAvailable()](#accelerationavailable) 126 | * [gyroscopeAvailable()](#gyroscopeavailable) 127 | * [accelerationSampleRate()](#accelerationsamplerate) 128 | * [gyroscopeSampleRate()](#gyroscopesamplerate) 129 | 130 | ### `readGyroscope()` 131 | 132 | Query the IMU's gyroscope and return the angular speed in dps (degrees per second). 133 | 134 | #### Syntax 135 | 136 | ``` 137 | IMU.readGyroscope(x,y,z) 138 | ``` 139 | 140 | #### Parameters 141 | 142 | * _x_: float variable where the gyroscope value in the IMU's x-axis will be stored. 143 | * _y_: float variable where the gyroscope value in the IMU's y-axis will be stored. 144 | * _z_: float variable where the gyroscope value in the IMU's z-axis will be stored. 145 | 146 | #### Returns 147 | 148 | 1 on success, 0 on failure. 149 | 150 | #### Example 151 | 152 | ``` 153 | float x, y, z; 154 | 155 | if (IMU.gyroscopeAvailable()) { 156 | IMU.readGyroscope(x, y, z); 157 | 158 | Serial.print(x); 159 | Serial.print('\t'); 160 | Serial.print(y); 161 | Serial.print('\t'); 162 | Serial.println(z); 163 | } 164 | ``` 165 | 166 | #### See also 167 | 168 | * [begin()](#begin) 169 | * [end()](#end) 170 | * [readAcceleration()](#readacceleration) 171 | * [accelerationAvailable()](#accelerationavailable) 172 | * [gyroscopeAvailable()](#gyroscopeavailable) 173 | * [accelerationSampleRate()](#accelerationsamplerate) 174 | * [gyroscopeSampleRate()](#gyroscopesamplerate) 175 | 176 | ### `accelerationAvailable()` 177 | 178 | Query if new acceleration data from the IMU is available. 179 | 180 | #### Syntax 181 | 182 | ``` 183 | IMU.accelerationAvailable() 184 | ``` 185 | 186 | #### Parameters 187 | 188 | None. 189 | 190 | #### Returns 191 | 192 | 0 if no new acceleration data is available, 1 if new acceleration data is available. 193 | 194 | #### Example 195 | 196 | ``` 197 | float x, y, z; 198 | 199 | if (IMU.accelerationAvailable()) { 200 | IMU.readAcceleration(x, y, z); 201 | 202 | Serial.print(x); 203 | Serial.print('\t'); 204 | Serial.print(y); 205 | Serial.print('\t'); 206 | Serial.println(z); 207 | } 208 | ``` 209 | 210 | #### See also 211 | 212 | * [begin()](#begin) 213 | * [end()](#end) 214 | * [readAcceleration()](#readacceleration) 215 | * [readGyroscope()](#readgyroscope) 216 | * [gyroscopeAvailable()](#gyroscopeavailable) 217 | * [accelerationSampleRate()](#accelerationsamplerate) 218 | * [gyroscopeSampleRate()](#gyroscopesamplerate) 219 | 220 | ### `gyroscopeAvailable()` 221 | 222 | Query if new gyroscope data from the IMU is available. 223 | 224 | #### Syntax 225 | 226 | ``` 227 | IMU.gyroscopeAvailable() 228 | ``` 229 | 230 | #### Parameters 231 | 232 | None. 233 | 234 | #### Returns 235 | 236 | 0 if no new gyroscope data is available, 1 if new gyroscope data is available. 237 | 238 | #### Example 239 | 240 | ``` 241 | float x, y, z; 242 | 243 | if (IMU.gyroscopeAvailable()) { 244 | IMU.readGyroscope(x, y, z); 245 | 246 | Serial.print(x); 247 | Serial.print('\t'); 248 | Serial.print(y); 249 | Serial.print('\t'); 250 | Serial.println(z); 251 | } 252 | ``` 253 | 254 | #### See also 255 | 256 | * [begin()](#begin) 257 | * [end()](#end) 258 | * [readAcceleration()](#readacceleration) 259 | * [readGyroscope()](#readgyroscope) 260 | * [accelerationAvailable()](#accelerationavailable) 261 | * [accelerationSampleRate()](#accelerationsamplerate) 262 | * [gyroscopeSampleRate()](#gyroscopesamplerate) 263 | 264 | ### `accelerationSampleRate()` 265 | 266 | Return the IMU's accelerometer sample rate. 267 | 268 | #### Syntax 269 | 270 | ``` 271 | IMU.accelerationSampleRate() 272 | ``` 273 | 274 | #### Parameters 275 | 276 | None. 277 | 278 | #### Returns 279 | 280 | The IMU's accelerometer sample rate in Hz. 281 | 282 | #### Example 283 | 284 | ``` 285 | Serial.print("Accelerometer sample rate = "); 286 | Serial.print(IMU.accelerationSampleRate()); 287 | Serial.println(" Hz"); 288 | Serial.println(); 289 | Serial.println("Acceleration in g's"); 290 | Serial.println("X\tY\tZ"); 291 | ``` 292 | 293 | #### See also 294 | 295 | * [begin()](#begin) 296 | * [end()](#end) 297 | * [readAcceleration()](#readacceleration) 298 | * [readGyroscope()](#readgyroscope) 299 | * [accelerationAvailable()](#accelerationavailable) 300 | * [gyroscopeAvailable()](#gyroscopeavailable) 301 | * [gyroscopeSampleRate()](#gyroscopesamplerate) 302 | 303 | ### `gyroscopeSampleRate()` 304 | 305 | Return the IMU's gyroscope sample rate. 306 | 307 | #### Syntax 308 | 309 | ``` 310 | IMU.gyroscopeSampleRate() 311 | ``` 312 | 313 | #### Parameters 314 | 315 | None. 316 | 317 | #### Returns 318 | 319 | The IMU's gyroscope sample rate in Hz. 320 | 321 | #### Example 322 | 323 | ``` 324 | Serial.print("Gyroscope sample rate = "); 325 | Serial.print(IMU.gyroscopeSampleRate()); 326 | Serial.println(" Hz"); 327 | Serial.println(); 328 | Serial.println("Angular speed in degrees/second"); 329 | Serial.println("X\tY\tZ"); 330 | ``` 331 | 332 | #### See also 333 | 334 | * [begin()](#begin) 335 | * [end()](#end) 336 | * [readAcceleration()](#readacceleration) 337 | * [readGyroscope()](#readgyroscope) 338 | * [accelerationAvailable()](#accelerationavailable) 339 | * [gyroscopeAvailable()](#gyroscopeavailable) 340 | * [accelerationSampleRate()](#accelerationsamplerate) -------------------------------------------------------------------------------- /docs/readme.md: -------------------------------------------------------------------------------- 1 | # ArduinoLSM6DS3 library 2 | 3 | 4 | The ArduinoLSM6DS3 library allows you to use the inertial measurement unit (IMU) available on the Arduino® Nano 33 IoT board and the Arduino® UNO WiFi Rev 2 board. The IMU is a [LSM6DS3](https://www.st.com/resource/en/datasheet/lsm6ds3.pdf), it has a 3-axis accelerometer and a 3-axis gyroscope. The IMU is connected through I2C on the Nano 33 IoT board's microcontroller and through SPI on the UNO WiFi Rev. 2 board's microcontroller. The values returned are signed floats. 5 | 6 | To use this library: 7 | 8 | ``` 9 | #include 10 | ``` 11 | 12 | The ArduinoLSM6DS3 library takes care of the sensor initialization and sets its values as follows: 13 | 14 | - Accelerometer range is set at ±4 g with a resolution of 0.122 mg. 15 | - Gyroscope range is set at ±2000 dps with a resolution of 70 mdps. 16 | - Output data rate is fixed at 104 Hz. 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /examples/SimpleAccelerometer/SimpleAccelerometer.ino: -------------------------------------------------------------------------------- 1 | /* 2 | Arduino LSM6DS3 - Simple Accelerometer 3 | 4 | This example reads the acceleration values from the LSM6DS3 5 | sensor and continuously prints them to the Serial Monitor 6 | or Serial Plotter. 7 | 8 | The circuit: 9 | - Arduino Uno WiFi Rev 2 or Arduino Nano 33 IoT 10 | 11 | created 10 Jul 2019 12 | by Riccardo Rizzo 13 | 14 | This example code is in the public domain. 15 | */ 16 | 17 | #include 18 | 19 | void setup() { 20 | Serial.begin(9600); 21 | while (!Serial); 22 | 23 | if (!IMU.begin()) { 24 | Serial.println("Failed to initialize IMU!"); 25 | 26 | while (1); 27 | } 28 | 29 | Serial.print("Accelerometer sample rate = "); 30 | Serial.print(IMU.accelerationSampleRate()); 31 | Serial.println(" Hz"); 32 | Serial.println(); 33 | Serial.println("Acceleration in g's"); 34 | Serial.println("X\tY\tZ"); 35 | } 36 | 37 | void loop() { 38 | float x, y, z; 39 | 40 | if (IMU.accelerationAvailable()) { 41 | IMU.readAcceleration(x, y, z); 42 | 43 | Serial.print(x); 44 | Serial.print('\t'); 45 | Serial.print(y); 46 | Serial.print('\t'); 47 | Serial.println(z); 48 | } 49 | } 50 | -------------------------------------------------------------------------------- /examples/SimpleGyroscope/SimpleGyroscope.ino: -------------------------------------------------------------------------------- 1 | /* 2 | Arduino LSM6DS3 - Simple Gyroscope 3 | 4 | This example reads the gyroscope values from the LSM6DS3 5 | sensor and continuously prints them to the Serial Monitor 6 | or Serial Plotter. 7 | 8 | The circuit: 9 | - Arduino Uno WiFi Rev 2 or Arduino Nano 33 IoT 10 | 11 | created 10 Jul 2019 12 | by Riccardo Rizzo 13 | 14 | This example code is in the public domain. 15 | */ 16 | 17 | #include 18 | 19 | void setup() { 20 | Serial.begin(9600); 21 | while (!Serial); 22 | 23 | if (!IMU.begin()) { 24 | Serial.println("Failed to initialize IMU!"); 25 | 26 | while (1); 27 | } 28 | 29 | Serial.print("Gyroscope sample rate = "); 30 | Serial.print(IMU.gyroscopeSampleRate()); 31 | Serial.println(" Hz"); 32 | Serial.println(); 33 | Serial.println("Gyroscope in degrees/second"); 34 | Serial.println("X\tY\tZ"); 35 | } 36 | 37 | void loop() { 38 | float x, y, z; 39 | 40 | if (IMU.gyroscopeAvailable()) { 41 | IMU.readGyroscope(x, y, z); 42 | 43 | Serial.print(x); 44 | Serial.print('\t'); 45 | Serial.print(y); 46 | Serial.print('\t'); 47 | Serial.println(z); 48 | } 49 | } 50 | -------------------------------------------------------------------------------- /examples/SimpleTempSensor/SimpleTempSensor.ino: -------------------------------------------------------------------------------- 1 | /* 2 | Arduino LSM6DS3 - Simple Gyroscope 3 | 4 | This example reads the temperature values from the LSM6DS3 5 | sensor and continuously prints them to the Serial Monitor 6 | or Serial Plotter. 7 | 8 | The circuit: 9 | - Arduino Uno WiFi Rev 2 or Arduino Nano 33 IoT 10 | 11 | created 15 Mar 2020 12 | by Alex Hoppe 13 | 14 | This example code is in the public domain. 15 | */ 16 | 17 | #include 18 | 19 | void setup() { 20 | Serial.begin(9600); 21 | while (!Serial); 22 | 23 | if (!IMU.begin()) { 24 | Serial.println("Failed to initialize IMU!"); 25 | 26 | while (1); 27 | } 28 | 29 | Serial.print("Temperature sensor sample rate = "); 30 | Serial.print(IMU.temperatureSampleRate()); 31 | Serial.println(" Hz"); 32 | Serial.println(); 33 | Serial.println("Temperature reading in degrees C"); 34 | Serial.println("T"); 35 | } 36 | 37 | void loop() { 38 | float t; 39 | 40 | if (IMU.temperatureAvailable()) { 41 | // after IMU.readTemperature() returns, t will contain the temperature reading 42 | IMU.readTemperature(t); 43 | 44 | Serial.println(t); 45 | } 46 | } 47 | -------------------------------------------------------------------------------- /keywords.txt: -------------------------------------------------------------------------------- 1 | ####################################### 2 | # Syntax Coloring Map For Arduino_LSM6DS3 3 | ####################################### 4 | # Class 5 | ####################################### 6 | 7 | Arduino_LSM6DS3 KEYWORD1 8 | LSM6DS3 KEYWORD1 9 | IMU KEYWORD1 10 | 11 | ####################################### 12 | # Methods and Functions 13 | ####################################### 14 | 15 | begin KEYWORD2 16 | end KEYWORD2 17 | 18 | readAcceleration KEYWORD2 19 | readGyroscope KEYWORD2 20 | readTemperature KEYWORD2 21 | gyroscopeAvailable KEYWORD2 22 | accelerationAvailable KEYWORD2 23 | temperatureAvailable KEYWORD2 24 | accelerationSampleRate KEYWORD2 25 | gyroscopeSampleRate KEYWORD2 26 | temperatureSampleRate KEYWORD2 27 | 28 | ####################################### 29 | # Constants 30 | ####################################### 31 | -------------------------------------------------------------------------------- /library.properties: -------------------------------------------------------------------------------- 1 | name=Arduino_LSM6DS3 2 | version=1.0.3 3 | author=Arduino 4 | maintainer=Arduino 5 | sentence=Allows you to read the accelerometer, gyroscope, and temperature values from the LSM6DS3 IMU on your Arduino Nano 33 IoT or Arduino Uno WiFi Rev2 boards. 6 | paragraph= 7 | category=Sensors 8 | url=https://www.arduino.cc/reference/en/libraries/arduino_lsm6ds3/ 9 | architectures=* 10 | includes=Arduino_LSM6DS3.h 11 | -------------------------------------------------------------------------------- /src/Arduino_LSM6DS3.h: -------------------------------------------------------------------------------- 1 | /* 2 | This file is part of the Arduino_LSM6DS3 library. 3 | Copyright (c) 2019 Arduino SA. All rights reserved. 4 | 5 | This library is free software; you can redistribute it and/or 6 | modify it under the terms of the GNU Lesser General Public 7 | License as published by the Free Software Foundation; either 8 | version 2.1 of the License, or (at your option) any later version. 9 | 10 | This library is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 13 | Lesser General Public License for more details. 14 | 15 | You should have received a copy of the GNU Lesser General Public 16 | License along with this library; if not, write to the Free Software 17 | Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 18 | */ 19 | 20 | #ifndef _ARDUINO_LSM6DS3_H_ 21 | #define _ARDUINO_LSM6DS3_H_ 22 | 23 | #include "LSM6DS3.h" 24 | 25 | #endif 26 | -------------------------------------------------------------------------------- /src/LSM6DS3.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | This file is part of the Arduino_LSM6DS3 library. 3 | Copyright (c) 2019 Arduino SA. All rights reserved. 4 | 5 | This library is free software; you can redistribute it and/or 6 | modify it under the terms of the GNU Lesser General Public 7 | License as published by the Free Software Foundation; either 8 | version 2.1 of the License, or (at your option) any later version. 9 | 10 | This library is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 13 | Lesser General Public License for more details. 14 | 15 | You should have received a copy of the GNU Lesser General Public 16 | License along with this library; if not, write to the Free Software 17 | Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 18 | */ 19 | 20 | #include "LSM6DS3.h" 21 | 22 | LSM6DS3Class::LSM6DS3Class(TwoWire& wire, uint8_t slaveAddress) : 23 | _wire(&wire), 24 | _spi(NULL), 25 | _slaveAddress(slaveAddress) 26 | { 27 | } 28 | 29 | LSM6DS3Class::LSM6DS3Class(SPIClass& spi, int csPin, int irqPin) : 30 | _wire(NULL), 31 | _spi(&spi), 32 | _csPin(csPin), 33 | _irqPin(irqPin), 34 | _spiSettings(10E6, MSBFIRST, SPI_MODE0) 35 | { 36 | } 37 | 38 | LSM6DS3Class::~LSM6DS3Class() 39 | { 40 | } 41 | 42 | int LSM6DS3Class::begin() 43 | { 44 | if (_spi != NULL) { 45 | pinMode(_csPin, OUTPUT); 46 | digitalWrite(_csPin, HIGH); 47 | _spi->begin(); 48 | } else { 49 | _wire->begin(); 50 | } 51 | 52 | if (!(readRegister(LSM6DS3_WHO_AM_I_REG) == 0x6C || readRegister(LSM6DS3_WHO_AM_I_REG) == 0x69)) { 53 | end(); 54 | return 0; 55 | } 56 | 57 | //set the gyroscope control register to work at 104 Hz, 2000 dps and in bypass mode 58 | writeRegister(LSM6DS3_CTRL2_G, 0x4C); 59 | 60 | // Set the Accelerometer control register to work at 104 Hz, 4 g,and in bypass mode and enable ODR/4 61 | // low pass filter (check figure9 of LSM6DS3's datasheet) 62 | writeRegister(LSM6DS3_CTRL1_XL, 0x4A); 63 | 64 | // set gyroscope power mode to high performance and bandwidth to 16 MHz 65 | writeRegister(LSM6DS3_CTRL7_G, 0x00); 66 | 67 | // Set the ODR config register to ODR/4 68 | writeRegister(LSM6DS3_CTRL8_XL, 0x09); 69 | 70 | return 1; 71 | } 72 | 73 | void LSM6DS3Class::end() 74 | { 75 | if (_spi != NULL) { 76 | _spi->end(); 77 | digitalWrite(_csPin, LOW); 78 | pinMode(_csPin, INPUT); 79 | } else { 80 | writeRegister(LSM6DS3_CTRL2_G, 0x00); 81 | writeRegister(LSM6DS3_CTRL1_XL, 0x00); 82 | _wire->end(); 83 | } 84 | } 85 | 86 | int LSM6DS3Class::readAcceleration(float& x, float& y, float& z) 87 | { 88 | int16_t data[3]; 89 | 90 | if (!readRegisters(LSM6DS3_OUTX_L_XL, (uint8_t*)data, sizeof(data))) { 91 | x = NAN; 92 | y = NAN; 93 | z = NAN; 94 | 95 | return 0; 96 | } 97 | 98 | x = data[0] * 4.0 / 32768.0; 99 | y = data[1] * 4.0 / 32768.0; 100 | z = data[2] * 4.0 / 32768.0; 101 | 102 | return 1; 103 | } 104 | 105 | int LSM6DS3Class::accelerationAvailable() 106 | { 107 | if (readRegister(LSM6DS3_STATUS_REG) & 0x01) { 108 | return 1; 109 | } 110 | 111 | return 0; 112 | } 113 | 114 | float LSM6DS3Class::accelerationSampleRate() 115 | { 116 | return 104.0F; 117 | } 118 | 119 | int LSM6DS3Class::readGyroscope(float& x, float& y, float& z) 120 | { 121 | int16_t data[3]; 122 | 123 | if (!readRegisters(LSM6DS3_OUTX_L_G, (uint8_t*)data, sizeof(data))) { 124 | x = NAN; 125 | y = NAN; 126 | z = NAN; 127 | 128 | return 0; 129 | } 130 | 131 | x = data[0] * 2000.0 / 32768.0; 132 | y = data[1] * 2000.0 / 32768.0; 133 | z = data[2] * 2000.0 / 32768.0; 134 | 135 | return 1; 136 | } 137 | 138 | int LSM6DS3Class::gyroscopeAvailable() 139 | { 140 | if (readRegister(LSM6DS3_STATUS_REG) & 0x02) { 141 | return 1; 142 | } 143 | 144 | return 0; 145 | } 146 | 147 | float LSM6DS3Class::gyroscopeSampleRate() 148 | { 149 | return 104.0F; 150 | } 151 | 152 | int LSM6DS3Class::readTemperature(float& t) 153 | { 154 | int16_t data[1]; 155 | 156 | if (!readRegisters(LSM6DS3_OUT_TEMP_L, (uint8_t*)data, sizeof(data))) { 157 | t = NAN; 158 | 159 | return 0; 160 | } 161 | 162 | t = data[0] / 16.0 + 25; 163 | 164 | return 1; 165 | } 166 | 167 | int LSM6DS3Class::temperatureAvailable() 168 | { 169 | if (readRegister(LSM6DS3_STATUS_REG) & 0x04) { 170 | return 1; 171 | } 172 | 173 | return 0; 174 | } 175 | 176 | float LSM6DS3Class::temperatureSampleRate() 177 | { 178 | return 52.0F; 179 | } 180 | 181 | int LSM6DS3Class::readRegister(uint8_t address) 182 | { 183 | uint8_t value; 184 | 185 | if (readRegisters(address, &value, sizeof(value)) != 1) { 186 | return -1; 187 | } 188 | 189 | return value; 190 | } 191 | 192 | int LSM6DS3Class::readRegisters(uint8_t address, uint8_t* data, size_t length) 193 | { 194 | if (_spi != NULL) { 195 | _spi->beginTransaction(_spiSettings); 196 | digitalWrite(_csPin, LOW); 197 | _spi->transfer(0x80 | address); 198 | _spi->transfer(data, length); 199 | digitalWrite(_csPin, HIGH); 200 | _spi->endTransaction(); 201 | } else { 202 | _wire->beginTransmission(_slaveAddress); 203 | _wire->write(address); 204 | 205 | if (_wire->endTransmission(false) != 0) { 206 | return -1; 207 | } 208 | 209 | if (_wire->requestFrom(_slaveAddress, length) != length) { 210 | return 0; 211 | } 212 | 213 | for (size_t i = 0; i < length; i++) { 214 | *data++ = _wire->read(); 215 | } 216 | } 217 | return 1; 218 | } 219 | 220 | int LSM6DS3Class::writeRegister(uint8_t address, uint8_t value) 221 | { 222 | if (_spi != NULL) { 223 | _spi->beginTransaction(_spiSettings); 224 | digitalWrite(_csPin, LOW); 225 | _spi->transfer(address); 226 | _spi->transfer(value); 227 | digitalWrite(_csPin, HIGH); 228 | _spi->endTransaction(); 229 | } else { 230 | _wire->beginTransmission(_slaveAddress); 231 | _wire->write(address); 232 | _wire->write(value); 233 | if (_wire->endTransmission() != 0) { 234 | return 0; 235 | } 236 | } 237 | return 1; 238 | } 239 | 240 | #ifdef ARDUINO_AVR_UNO_WIFI_REV2 241 | LSM6DS3Class IMU(SPI, SPIIMU_SS, SPIIMU_INT); 242 | #else 243 | LSM6DS3Class IMU_LSM6DS3(Wire, LSM6DS3_ADDRESS); 244 | #endif -------------------------------------------------------------------------------- /src/LSM6DS3.h: -------------------------------------------------------------------------------- 1 | /* 2 | This file is part of the Arduino_LSM6DS3 library. 3 | Copyright (c) 2019 Arduino SA. All rights reserved. 4 | 5 | This library is free software; you can redistribute it and/or 6 | modify it under the terms of the GNU Lesser General Public 7 | License as published by the Free Software Foundation; either 8 | version 2.1 of the License, or (at your option) any later version. 9 | 10 | This library is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 13 | Lesser General Public License for more details. 14 | 15 | You should have received a copy of the GNU Lesser General Public 16 | License along with this library; if not, write to the Free Software 17 | Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 18 | */ 19 | 20 | #include 21 | #include 22 | #include 23 | 24 | #define LSM6DS3_ADDRESS 0x6A 25 | 26 | #define LSM6DS3_WHO_AM_I_REG 0X0F 27 | #define LSM6DS3_CTRL1_XL 0X10 28 | #define LSM6DS3_CTRL2_G 0X11 29 | 30 | #define LSM6DS3_STATUS_REG 0X1E 31 | 32 | #define LSM6DS3_CTRL6_C 0X15 33 | #define LSM6DS3_CTRL7_G 0X16 34 | #define LSM6DS3_CTRL8_XL 0X17 35 | 36 | #define LSM6DS3_OUT_TEMP_L 0X20 37 | 38 | #define LSM6DS3_OUTX_L_G 0X22 39 | #define LSM6DS3_OUTX_H_G 0X23 40 | #define LSM6DS3_OUTY_L_G 0X24 41 | #define LSM6DS3_OUTY_H_G 0X25 42 | #define LSM6DS3_OUTZ_L_G 0X26 43 | #define LSM6DS3_OUTZ_H_G 0X27 44 | 45 | #define LSM6DS3_OUTX_L_XL 0X28 46 | #define LSM6DS3_OUTX_H_XL 0X29 47 | #define LSM6DS3_OUTY_L_XL 0X2A 48 | #define LSM6DS3_OUTY_H_XL 0X2B 49 | #define LSM6DS3_OUTZ_L_XL 0X2C 50 | #define LSM6DS3_OUTZ_H_XL 0X2D 51 | 52 | 53 | 54 | class LSM6DS3Class { 55 | public: 56 | LSM6DS3Class(TwoWire& wire, uint8_t slaveAddress); 57 | LSM6DS3Class(SPIClass& spi, int csPin, int irqPin); 58 | virtual ~LSM6DS3Class(); 59 | 60 | int begin(); 61 | void end(); 62 | 63 | // Accelerometer 64 | virtual int readAcceleration(float& x, float& y, float& z); // Results are in g (earth gravity). 65 | virtual float accelerationSampleRate(); // Sampling rate of the sensor. 66 | virtual int accelerationAvailable(); // Check for available data from accelerometer 67 | 68 | // Gyroscope 69 | virtual int readGyroscope(float& x, float& y, float& z); // Results are in degrees/second. 70 | virtual float gyroscopeSampleRate(); // Sampling rate of the sensor. 71 | virtual int gyroscopeAvailable(); // Check for available data from gyroscope 72 | 73 | // Temperature Sensor 74 | virtual int readTemperature(float& t); // Results are in deg. C 75 | virtual float temperatureSampleRate(); // Sampling rate of the sensor. 76 | virtual int temperatureAvailable(); // Check for available data from temperature sensor 77 | 78 | 79 | protected: 80 | int readRegister(uint8_t address); 81 | int readRegisters(uint8_t address, uint8_t* data, size_t length); 82 | int writeRegister(uint8_t address, uint8_t value); 83 | 84 | 85 | private: 86 | TwoWire* _wire; 87 | SPIClass* _spi; 88 | uint8_t _slaveAddress; 89 | int _csPin; 90 | int _irqPin; 91 | 92 | SPISettings _spiSettings; 93 | }; 94 | 95 | extern LSM6DS3Class IMU_LSM6DS3; 96 | #undef IMU 97 | #define IMU IMU_LSM6DS3 --------------------------------------------------------------------------------