An Arduino / PlatformIO library for the LSM6DSO32 inertial module.
Image credit: Adafruit
Developed by Sam Scott
The class and it's registers are scoped within the LSM6DSO32 namespace.
E.g LSM6DSO32::REGISTER::FIFO_CTRL1, LSM6DSO32::BATCHING_DATA_RATES::BDR_6667Hz
Use the appropriate constructor for your configuration: (see protocol)
- SPI constructor: (recommended)
#define CS_pin 10 // e.g.
LSM6DSO32::LSM6DSO32 LSM(CS_pin, SPI, 4000000);- I2C constructor:
LSM6DSO32::LSM6DSO32 LSM(&Wire, 1000000);Wiring guide:
graph TD;
mcu[MCU] -- SCK ---LSM6DSO32[LSM6DSO32];
mcu-- MOSI ---LSM6DSO32[LSM6DSO32]
mcu-- MISO ---LSM6DSO32[LSM6DSO32]
mcu-- CS ---LSM6DSO32[LSM6DSO32]
mcu2[MCU] -- SCL ---LSM6DSO32_2[LSM6DSO32];
mcu2 -- SDA ---LSM6DSO32_2[LSM6DSO32]
With the correct configuration (see default_configuration()) calling fifo_pop will pop from the LSM FIFO into the acceleration and gyroscope FIFOs.
Note that ACC FIFO and GYRO FIFO are FIFOs of type Vector<double, 4>, so they are FIFOs of Vectors.
graph TD;
rawData[Raw Sensor Data]-- Continuously Streaming ---lsmFifo[LSM FIFO];
lsmFifo--> accFifo[ACC Fifo] & gyroFifo[GYRO Fifo]
This library correctly implements the built-in compression algorithm in the LSM6DSO32 FIFO.
The compression algorithm onboard the LSM6DSO32 analyses the data and when possible, batches the data in the FIFO in a more compact data format, allowing for the 3 kbyte FIFO to have an effective capacity of over 9 kbyte. See the datasheet and application note for more details
The output when using compression is identical to the uncompressed data stream, which means the library correctly decompresses the data:
The LSM6DSO32 has a number of built-in digital and analogue filters that can be very useful when attempting to eliminate noise.
The default_configuration() has a fairly good filter setup, but for specific applications/ other configurations, refer to these diagrams and
the datasheet or application note:
The examples folder contains some examples of how the LSM6DSO32 can be used.
- Using the BDR counter: bdr_counter.cpp
- Using the BDR counter with interrupts: bdr_counter_interrupt.cpp
- Using the data ready (DRDY) signal: data_ready_signal.cpp
- Using the data ready (DRDY) signal routed to an interrupt: data_ready_interrupt.cpp
- Directly reading from the registers: direct_read.cpp
- Using the Fifo, which also demonstrates the compression capabilities: fifo_with_compression
- Reading the watermark threshold flag: watermark.cpp
- Using the watermark interrupt: watermark_interrupt.cpp
To run an example in platformio, run (in library root):
pio ci ".\examples\direct_read.cpp" -l "." -l "lib/Protocol" -l "lib/Vector" -l "lib/Fifo" -c "platformio.ini"
In the tests folder, there are some tests that run with unity and platformio
Run the unit tests using pio test:
