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samples: sensor: Add sample for ST lsm6dsr driver
This sample demonstrates the usage for ST lsm6dsr inertial measurement unit (IMU) driver. Origin: Original Signed-off-by: Marco Schuler <[email protected]>
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‎samples/sensor/lsm6dsr/CMakeLists.txt‎

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# Copyright (c) 2025 Helbling Technik AG
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#
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# SPDX-License-Identifier: Apache-2.0
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cmake_minimum_required(VERSION 3.20.0)
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find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
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project(lsm6dsr)
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FILE(GLOB app_sources src/*.c)
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target_sources(app PRIVATE ${app_sources})

‎samples/sensor/lsm6dsr/README.rst‎

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.. zephyr:code-sample:: lsmd6dsr
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:name: LSM6DSR IMU sensor
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:relevant-api: sensor_interface
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Get accelerometer and gyroscope data from an LSM6DSR sensor (polling).
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Overview
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********
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This sample sets the LSM6DSR accelerometer and gyroscope to 104Hz and reads the
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values (polling) in a loop. It displays the values for accelerometer and
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gyroscope on the console.
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Requirements
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************
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This sample uses the LSM6DSR sensor controlled using the I2C or SPI interface.
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It has been tested on the nRF52840 DK board with an STEVAL-MKI194V1 attached.
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References
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**********
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- LSM6DSR https://www.st.com/en/mems-and-sensors/lsm6dsr.html
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- STEVAL-MKI194V1 https://www.st.com/en/evaluation-tools/steval-mki194v1.html
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- nRF52840 DK https://www.nordicsemi.com/Products/Development-hardware/nRF52840-DK
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Building and Running
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********************
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This project outputs sensor data to the console. It requires an LSM6DSR
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sensor attached to the nRF52840 DK.
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There are two devicetree overlays to either chose building for I2C or SPI
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- i2c.overlay
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- spi.overlay
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Use DEXTRA_DTC_OVERLAY_FILE to specify which one to use.
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Building on nRF52840 board
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==========================
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.. zephyr-app-commands::
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:zephyr-app: samples/sensor/lsm6dsr
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:host-os: unix
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:board: nRF52840
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:goals: build
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:compact:
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Sample Output
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=============
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.. code-block:: console
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LSM6DSR sensor samples:
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accel x:4.705485 ms/2 y:-8.873782 ms/2 z:0.023928 ms/2
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gyro x:0.006490 dps y:-0.007559 dps z:-0.002977 dps
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loop:4 trig_cnt:339
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<repeats endlessly every 1 seconds>

‎samples/sensor/lsm6dsr/i2c.overlay‎

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/*
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* Copyright (c) 2025 Helbling Technik AG
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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&i2c0 {
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lsm6dsr: lsm6dsr@6b {
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compatible = "st,lsm6dsr";
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reg = <0x6b>;
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irq-gpios = <&gpio1 7 GPIO_ACTIVE_HIGH>;
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};
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};

‎samples/sensor/lsm6dsr/prj.conf‎

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# Copyright (c) 2025 Helbling Technik AG
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#
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# SPDX-License-Identifier: Apache-2.0
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CONFIG_STDOUT_CONSOLE=y
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CONFIG_I2C=y
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CONFIG_SPI=y
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CONFIG_SENSOR=y
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CONFIG_CBPRINTF_FP_SUPPORT=y
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CONFIG_LSM6DSR_TRIGGER_OWN_THREAD=y

‎samples/sensor/lsm6dsr/sample.yaml‎

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sample:
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name: LSM6DSR accelerometer and gyrometer sensor
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tests:
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sample.sensor.lsm6dsr:
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harness: console
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tags: sensors
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depends_on: lsm6dsr
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timeout: 15
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harness_config:
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type: multi_line
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ordered: true
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regex:
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- "accel x:[-.0-9]* ms/2 y:[-.0-9]* ms/2 z:[-.0-9]* ms/2"
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- "gyro x:[-.0-9]* dps y:[-.0-9]* dps z:[-.0-9]* dps"
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- "loop:[0-9]* trig_cnt:[0-9]*"

‎samples/sensor/lsm6dsr/spi.overlay‎

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/*
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* Copyright (c) 2025 Helbling Technik AG
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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&spi1 {
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cs-gpios = <&gpio1 4 GPIO_ACTIVE_LOW>;
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lsm6dsr: lsm6dsr@0 {
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compatible = "st,lsm6dsr";
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reg = <0>;
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irq-gpios = <&gpio1 7 GPIO_ACTIVE_HIGH>;
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spi-max-frequency = <4000000>;
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};
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};

‎samples/sensor/lsm6dsr/src/main.c‎

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/*
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* Copyright (c) 2025 Helbling Technik AG
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/kernel.h>
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#include <zephyr/device.h>
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#include <zephyr/drivers/sensor.h>
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#include <stdio.h>
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#include <zephyr/sys/util.h>
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static int print_samples;
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static int lsm6dsr_trig_cnt;
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static struct sensor_value accel_x_out, accel_y_out, accel_z_out;
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static struct sensor_value gyro_x_out, gyro_y_out, gyro_z_out;
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#ifdef CONFIG_LSM6DSR_TRIGGER
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static void lsm6dsr_trigger_handler(const struct device *dev, const struct sensor_trigger *trig)
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{
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static struct sensor_value accel_x, accel_y, accel_z;
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static struct sensor_value gyro_x, gyro_y, gyro_z;
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lsm6dsr_trig_cnt++;
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sensor_sample_fetch_chan(dev, SENSOR_CHAN_ACCEL_XYZ);
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sensor_channel_get(dev, SENSOR_CHAN_ACCEL_X, &accel_x);
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sensor_channel_get(dev, SENSOR_CHAN_ACCEL_Y, &accel_y);
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sensor_channel_get(dev, SENSOR_CHAN_ACCEL_Z, &accel_z);
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/* lsm6dsr gyro */
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sensor_sample_fetch_chan(dev, SENSOR_CHAN_GYRO_XYZ);
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sensor_channel_get(dev, SENSOR_CHAN_GYRO_X, &gyro_x);
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sensor_channel_get(dev, SENSOR_CHAN_GYRO_Y, &gyro_y);
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sensor_channel_get(dev, SENSOR_CHAN_GYRO_Z, &gyro_z);
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if (print_samples) {
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print_samples = 0;
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accel_x_out = accel_x;
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accel_y_out = accel_y;
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accel_z_out = accel_z;
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gyro_x_out = gyro_x;
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gyro_y_out = gyro_y;
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gyro_z_out = gyro_z;
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}
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}
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#endif
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int main(void)
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{
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int cnt = 0;
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char out_str[64];
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struct sensor_value odr_attr;
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const struct device *const lsm6dsr_dev = DEVICE_DT_GET_ONE(st_lsm6dsr);
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if (!device_is_ready(lsm6dsr_dev)) {
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printk("sensor: device not ready.\n");
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return 0;
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}
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/* set accel/gyro sampling frequency to 104 Hz */
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odr_attr.val1 = 104;
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odr_attr.val2 = 0;
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if (sensor_attr_set(lsm6dsr_dev, SENSOR_CHAN_ACCEL_XYZ, SENSOR_ATTR_SAMPLING_FREQUENCY,
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&odr_attr) < 0) {
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printk("Cannot set sampling frequency for accelerometer.\n");
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return 0;
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}
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if (sensor_attr_set(lsm6dsr_dev, SENSOR_CHAN_GYRO_XYZ, SENSOR_ATTR_SAMPLING_FREQUENCY,
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&odr_attr) < 0) {
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printk("Cannot set sampling frequency for gyro.\n");
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return 0;
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}
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#ifdef CONFIG_LSM6DSR_TRIGGER
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struct sensor_trigger trig;
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trig.type = SENSOR_TRIG_DATA_READY;
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trig.chan = SENSOR_CHAN_ACCEL_XYZ;
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if (sensor_trigger_set(lsm6dsr_dev, &trig, lsm6dsr_trigger_handler) != 0) {
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printk("Could not set sensor type and channel\n");
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return 0;
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}
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#endif
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if (sensor_sample_fetch(lsm6dsr_dev) < 0) {
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printk("Sensor sample update error\n");
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return 0;
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}
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while (1) {
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/* Erase previous */
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printk("\0033\014");
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printf("LSM6DSR sensor samples:\n\n");
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/* lsm6dsr accel */
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sprintf(out_str, "accel x:%f ms/2 y:%f ms/2 z:%f ms/2",
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sensor_value_to_double(&accel_x_out), sensor_value_to_double(&accel_y_out),
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sensor_value_to_double(&accel_z_out));
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printk("%s\n", out_str);
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/* lsm6dsr gyro */
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sprintf(out_str, "gyro x:%f dps y:%f dps z:%f dps",
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sensor_value_to_double(&gyro_x_out), sensor_value_to_double(&gyro_y_out),
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sensor_value_to_double(&gyro_z_out));
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printk("%s\n", out_str);
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printk("loop:%d trig_cnt:%d\n\n", ++cnt, lsm6dsr_trig_cnt);
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print_samples = 1;
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k_sleep(K_MSEC(1000));
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}
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}

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