LSM6DSO IMU Sensor

Measure linear acceleration, angular rate, and temperature from LSM6DSO sensor

Since R2025a

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  • block icon for LSM6DSO IMU Sensor

Libraries:
STM32 Microcontroller Blockset / Sensors / IMU Sensors

Description

The LSM6DSO IMU Sensor block measures linear acceleration and angular rate along the X-, Y-, and Z- axis using the LSM6DSO inertial measurement unit (IMU) sensor interfaced with an STM32 processor. This six degree of freedom (DoF) and IMU sensor comprises of an accelerometer and gyroscope that you can use to measure linear acceleration and angular rate, respectively. The block also measures the temperature from the embedded temperature sensor in the LSM6DSO sensor.

You can also use the composite filter option in the block for the accelerometer values, and use the highpass and lowpass filter options for the gyroscope values.

Examples

Get Started with STMicroelectronics STM32 Processor Based Boards

Get Started with STMicroelectronics STM32 Processor Based Boards

Run a Simulink model on STM32 processor.

Ports

Output

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You can select the active sensor(s) to measure angular velocity, acceleration, temperature, or a combination of these measurements.

The block outputs acceleration as a n-by-3 vector, where n is the value for samples per frame. Each value represents the measurement of acceleration in m/s^2 along the X-, Y-, and Z- axes.

Dependencies

To enable this port, select the Acceleration (m/s2) parameter.

Data Types: double

The block outputs angular velocity as a n-by-3 vector, where n is the value for samples per frame. Each value represents the measurement of angular velocity in radians per second (rad/s) along the X-, Y-, and Z- axes.

Dependencies

To enable this port, select the Angular Velocity (rad/s) parameter.

Data Types: double

Temperature (in ℃) measured by LSM6DSO sensor connected to an STM32 processor.

Dependencies

To enable this port, select the Temperature (℃) parameter.

Data Types: double

Status of acceleration, angular velocity, and temperature measurements, returned as a 1-by-3 vector.

  • 0 - Data read is new

  • 1 - Data read is not new

  • -1 - Corresponding output is not selected

Dependencies

To enable this port, select the Status parameter.

Data Types: int8

Parameters

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Main

Specify the I2C module on the STM32 Processor to communicate with sensor peripherals.

Programmatic Use

Block Parameter: I2CModule

The peripheral addresses to communicate with the accelerometer and gyroscope peripherals on the LSM6DSO sensor are decided by the state of the SDO/SA0 pin on the STM32 processor. This table provides the peripheral addresses corresponding to the pin and its state.

Pin NamePin StatePeripheral Address
SDO/SA000x6A
10x6B

Programmatic Use

Block Parameter: I2CAddress

Select this parameter to enable Acceleration output port.

Programmatic Use

Block Parameter: IsActiveAcceleration

Select this parameter to enable Angular Velocity output port.

Programmatic Use

Block Parameter: IsActiveAngularRate

Select this parameter to enable Temperature output port.

Programmatic Use

Block Parameter: IsActiveTemperature

Select this parameter to enable Status output port.

Programmatic Use

Block Parameter: IsActiveStatus

Specify how often the block reads data from the LSM6DSO sensor. When you set this parameter to -1, Simulink® determines the best sample time for the block based on the block's context within the model. The output sample time is the product of Sample time that you specify.

Programmatic Use

Block Parameter: SampleTime

Advanced

Accelerometer

Select the range for measuring linear acceleration.

Programmatic Use

Block Parameter: AccelerometerRange

Select the rate at which the sensor samples and outputs accelerometer data. This rate also determines the bandwidth of the sensor.

Programmatic Use

Block Parameter: GyroscopeODR

Select the type of composite filter to use in the filtering chain for reading accelerometer values.

Programmatic Use

Block Parameter: AccelSelectCompositeFilter

Select the bandwidth of the highpass filter in the composite filter used in the filtering chain.

Dependencies

To enable this parameter, select High pass filter in the Select composite filter parameter.

Programmatic Use

Block Parameter: GyroHPFBW

Select the required bandwidth of the lowpass filter in the composite filter used in the filtering chain.

Dependencies

To enable this parameter, select Low pass filter in the Select composite filter parameter.

Programmatic Use

Block Parameter: AccelLPF2BW

Gyroscope

Select the range for measuring angular velocity (the range of angular velocity that the sensor needs to measure).

Programmatic Use

Block Parameter: AccelerometerRange

Select the rate at which the sensor samples and outputs gyroscope data. This rate also determines the bandwidth of the sensor.

Programmatic Use

Block Parameter: GyroscopeODR

Enable the highpass filter for reading gyroscope values.

Programmatic Use

Block Parameter: EnableGyroHPF

Select the required bandwidth of the highpass filter for reading gyroscope values.

Dependencies

To enable this parameter, select the Enable high pass filter parameter.

Programmatic Use

Block Parameter: GyroHPFBW

Enable the lowpass filter for reading gyroscope values.

Programmatic Use

Block Parameter: EnableGyroLPF

Select the required bandwidth mode of the low pass filter for reading gyroscope values.

For Gyroscope ODR > 1666 Hz, only these values are applicable for Low pass filter bandwidth mode: 0, 1, 2, 3.

Dependencies

To enable this parameter, select the Enable low pass filter parameter.

Programmatic Use

Block Parameter: GyroLPFBMode

Extended Capabilities

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C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2025a

See Also

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