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‎.github/workflows/Continuous-integration.yml

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name: LSM6DSV16BX Continuous Integration
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on:
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push:
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branches:
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- main
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paths-ignore:
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- '*'
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- '**.md'
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- '**.txt'
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pull_request:
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paths-ignore:
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- '*'
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- '**.md'
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- '**.txt'
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jobs:
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astyle_check:
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runs-on: ubuntu-latest
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name: AStyle check
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steps:
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# First of all, clone the repo using the checkout action.
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- name: Checkout
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uses: actions/checkout@main
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- name: Astyle check
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id: Astyle
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uses: stm32duino/actions/astyle-check@main
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# Use the output from the `Astyle` step
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- name: Astyle Errors
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if: failure()
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run: |
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cat ${{ steps.Astyle.outputs.astyle-result }}
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exit 1
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codespell:
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name: Check for spelling errors
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runs-on: ubuntu-latest
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steps:
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- name: Checkout
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uses: actions/checkout@main
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# See: https://github.com/codespell-project/actions-codespell/blob/master/README.md
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- name: Spell check
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uses: codespell-project/actions-codespell@master
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with:
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check_filenames: true
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check_hidden: true
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# In the event of a false positive, add the word in all lower case to this file:
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ignore_words_file: ./extras/codespell-ignore-words-list.txt
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lib_build:
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runs-on: ubuntu-latest
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name: Library compilation
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steps:
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# First of all, clone the repo using the checkout action.
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- name: Checkout
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uses: actions/checkout@main
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- name: Compilation
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id: compile
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uses: stm32duino/actions/compile-examples@main
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with:
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board-pattern: "NUCLEO_L476RG"
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# Use the output from the `Compilation` step
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- name: Compilation Errors
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if: failure()
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run: |
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cat ${{ steps.compile.outputs.compile-result }}
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exit 1

‎README.md

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# LSM6DSV16BX
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Arduino library to support the LSM6DSV16BX 3D accelerometer and 3D gyroscope
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## API
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This sensor uses I2C or SPI to communicate.
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For I2C it is then required to create a TwoWire interface before accessing to the sensors:
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TwoWire dev_i2c(I2C_SDA, I2C_SCL);
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dev_i2c.begin();
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For SPI it is then required to create a SPI interface before accessing to the sensors:
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SPIClass dev_spi(SPI_MOSI, SPI_MISO, SPI_SCK);
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dev_spi.begin();
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An instance can be created and enabled when the I2C bus is used following the procedure below:
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LSM6DSV16BXSensor AccGyr(&dev_i2c);
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AccGyr.begin();
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AccGyr.Enable_X();
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AccGyr.Enable_G();
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An instance can be created and enabled when the SPI bus is used following the procedure below:
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LSM6DSV16BXSensor AccGyr(&dev_spi, CS_PIN);
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AccGyr.begin();
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AccGyr.Enable_X();
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AccGyr.Enable_G();
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The access to the sensor values is done as explained below:
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Read accelerometer and gyroscope.
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int32_t accelerometer[3];
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int32_t gyroscope[3];
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AccGyr.Get_X_Axes(accelerometer);
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AccGyr.Get_G_Axes(gyroscope);
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## Examples
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* LSM6DSV16BX_DataLog_Terminal: This application shows how to get data from LSM6DSV16BX accelerometer and gyroscope and print them on terminal.
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* LSM6DSV16BX_6D_Orientation: This application shows how to use LSM6DSV16BX accelerometer to find out the 6D orientation and display data on a hyperterminal.
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* LSM6DSV16BX_Double_Tap_Detection: This application shows how to detect the double tap event using the LSM6DSV16BX accelerometer.
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* LSM6DSV16BX_Free_Fall_Detection: This application shows how to detect the free fall event using the LSM6DSV16BX accelerometer.
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* LSM6DSV16BX_MLC: This application shows how to detect the activity using the LSM6DSV16BX Machine Learning Core.
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* LSM6DSV16BX_Pedometer: This application shows how to use LSM6DSV16BX accelerometer to count steps.
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* LSM6DSV16BX_Qvar_Polling: This application shows how to use LSM6DSV16BX Qvar features in polling mode.
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* LSM6DSV16BX_Sensor_Fusion: This application shows how to use LSM6DSV16BX Sensor Fusion features for reading quaternions.
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* LSM6DSV16BX_Single_Tap_Detection: This application shows how to detect the single tap event using the LSM6DSV16BX accelerometer.
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* LSM6DSV16BX_Tilt_Detection: This application shows how to detect the tilt event using the LSM6DSV16BX accelerometer.
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* LSM6DSV16BX_Wake_Up_Detection: This application shows how to detect the wake-up event using the LSM6DSV16BX accelerometer.
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* LSM6DSV16BX_FIFO_Polling: This application shows how to get accelerometer and gyroscope data from FIFO in pooling mode and print them on terminal.
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* LSM6DSV16BX_FIFO_Interrupt: This application shows how to get accelerometer and gyroscope data from FIFO using interrupt and print them on terminal.
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* LSM6DSV16BX_Test_IMU: This application shows how to perform the accelerometer and gyroscope test.
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* LSM6DSV16BX_Temperature: This application shows how to get temperature data from LSM6DSV16BX sensor.
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## Documentation
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You can find the source files at
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https://github.com/stm32duino/LSM6DSV16BX
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The LSM6DSV16BX datasheet is available at
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https://www.st.com/content/st_com/en/products/mems-and-sensors/inemo-inertial-modules/lsm6dsv16bx.html

‎examples/LSM6DSV16BX_6D_Orientation/LSM6DSV16BX_6D_Orientation.ino

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#include <LSM6DSV16BXSensor.h>
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#define INT_1 A5
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//I2C_ADD_L for compatibility with X-NUCLEO-IKS01A3
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LSM6DSV16BXSensor LSM6DSV16BX(&Wire, LSM6DSV16BX_I2C_ADD_L);
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//Interrupts.
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volatile int mems_event = 0;
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char report[256];
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void INT1Event_cb();
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void sendOrientation();
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void setup()
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{
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// Initlialize serial.
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Serial.begin(115200);
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delay(1000);
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// Initlialize Led.
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pinMode(LED_BUILTIN, OUTPUT);
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// Initlialize i2c.
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Wire.begin();
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// Enable INT1 pin.
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attachInterrupt(INT_1, INT1Event_cb, RISING);
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// Initlialize components.
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LSM6DSV16BX.begin();
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LSM6DSV16BX.Enable_X();
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// Enable 6D Orientation.
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LSM6DSV16BX.Enable_6D_Orientation(LSM6DSV16BX_INT1_PIN);
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}
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void loop()
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{
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if (mems_event) {
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mems_event = 0;
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LSM6DSV16BX_Event_Status_t status;
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LSM6DSV16BX.Get_X_Event_Status(&status);
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if (status.D6DOrientationStatus) {
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// Send 6D Orientation
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sendOrientation();
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// Led blinking.
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digitalWrite(LED_BUILTIN, HIGH);
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delay(100);
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digitalWrite(LED_BUILTIN, LOW);
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}
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}
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}
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void INT1Event_cb()
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{
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mems_event = 1;
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}
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void sendOrientation()
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{
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uint8_t xl = 0;
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uint8_t xh = 0;
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uint8_t yl = 0;
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uint8_t yh = 0;
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uint8_t zl = 0;
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uint8_t zh = 0;
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LSM6DSV16BX.Get_6D_Orientation_XL(&xl);
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LSM6DSV16BX.Get_6D_Orientation_XH(&xh);
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LSM6DSV16BX.Get_6D_Orientation_YL(&yl);
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LSM6DSV16BX.Get_6D_Orientation_YH(&yh);
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LSM6DSV16BX.Get_6D_Orientation_ZL(&zl);
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LSM6DSV16BX.Get_6D_Orientation_ZH(&zh);
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if (xl == 0 && yl == 0 && zl == 0 && xh == 0 && yh == 1 && zh == 0) {
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sprintf(report, "\r\n ________________ " \
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"\r\n | | " \
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"\r\n | * | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n |________________| \r\n");
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}
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else if (xl == 1 && yl == 0 && zl == 0 && xh == 0 && yh == 0 && zh == 0) {
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sprintf(report, "\r\n ________________ " \
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"\r\n | | " \
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"\r\n | * | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n |________________| \r\n");
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}
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else if (xl == 0 && yl == 0 && zl == 0 && xh == 1 && yh == 0 && zh == 0) {
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sprintf(report, "\r\n ________________ " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | * | " \
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"\r\n |________________| \r\n");
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}
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else if (xl == 0 && yl == 1 && zl == 0 && xh == 0 && yh == 0 && zh == 0) {
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sprintf(report, "\r\n ________________ " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | * | " \
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"\r\n |________________| \r\n");
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}
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else if (xl == 0 && yl == 0 && zl == 0 && xh == 0 && yh == 0 && zh == 1) {
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sprintf(report, "\r\n __*_____________ " \
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"\r\n |________________| \r\n");
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}
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else if (xl == 0 && yl == 0 && zl == 1 && xh == 0 && yh == 0 && zh == 0) {
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sprintf(report, "\r\n ________________ " \
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"\r\n |________________| " \
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"\r\n * \r\n");
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}
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else {
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sprintf(report, "None of the 6D orientation axes is set in accelerometer.\r\n");
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}
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Serial.print(report);
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}

‎examples/LSM6DSV16BX_DataLog_Terminal/LSM6DSV16BX_DataLog_Terminal.ino

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#include <LSM6DSV16BXSensor.h>
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#define INT_1 A5
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//I2C_ADD_L for compatibility with X-NUCLEO-IKS01A3
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LSM6DSV16BXSensor sensor(&Wire, LSM6DSV16BX_I2C_ADD_L);
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int32_t accGyro[3];
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void setup()
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{
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pinMode(LED_BUILTIN, OUTPUT);
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//PULL DOWN for compatibility with X-NUCLEO-IKS01A3
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pinMode(INT_1, OUTPUT);
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digitalWrite(INT_1, LOW);
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Serial.begin(115200);
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Wire.begin();
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sensor.begin();
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sensor.Enable_X();
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sensor.Enable_G();
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}
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void loop()
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{
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digitalWrite(LED_BUILTIN, HIGH);
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delay(250);
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digitalWrite(LED_BUILTIN, LOW);
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delay(250);
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sensor.Get_X_Axes(accGyro);
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Serial.print("Accel X[mg]:");
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Serial.print(accGyro[0]);
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Serial.print(" Y[mg]:");
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Serial.print(accGyro[1]);
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Serial.print(" Z[mg]:");
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Serial.println(accGyro[2]);
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sensor.Get_G_Axes(accGyro);
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Serial.print("AngRate X[mdps]:");
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Serial.print(accGyro[0]);
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Serial.print(" Y[mdps]:");
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Serial.print(accGyro[1]);
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Serial.print(" Z[mdps]:");
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Serial.println(accGyro[2]);
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Serial.println("");
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}

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