LSM6DSL - three-axis accelerometer and gyroscope
The LSM6DSL is a low-power six-axis inertial measurement unit combining a three-axis accelerometer and a three-axis gyroscope. It is included on boards such as the ST B-L475E-IOT01A Discovery kit.
Documentation
Usage
Important: make sure you properly setup the I2C pins especially for ESP32 before creating the I2cDevice, make sure you install the nanoFramework.Hardware.ESP32 nuget:
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// when connecting to an ESP32 device, need to configure the I2C GPIOs
// used for the bus
Configuration.SetPinFunction(21, DeviceFunction.I2C1_DATA);
Configuration.SetPinFunction(22, DeviceFunction.I2C1_CLOCK);
The on-board LSM6DSL on the B-L475E-IOT01A uses address 0x6A and the board's sensor I2C bus. The sample uses bus 2; adjust the bus number if your firmware maps that peripheral differently.
using Iot.Device.Lsm6Dsl;
using System.Device.I2c;
using System.Diagnostics;
using System.Threading;
I2cConnectionSettings settings = new(2, Lsm6Dsl.DefaultI2cAddress);
using Lsm6Dsl sensor = new(I2cDevice.Create(settings));
sensor.AccelerationScale = AccelerationScale.Scale02G;
sensor.AngularRateScale = AngularRateScale.Scale0250Dps;
while (true)
{
var acceleration = sensor.Acceleration;
var angularRate = sensor.AngularRate;
Debug.WriteLine($"Acceleration: X={acceleration.X:F3} g, Y={acceleration.Y:F3} g, Z={acceleration.Z:F3} g");
Debug.WriteLine($"Angular rate: X={angularRate.X:F2} dps, Y={angularRate.Y:F2} dps, Z={angularRate.Z:F2} dps");
Debug.WriteLine($"Temperature: {sensor.Temperature.DegreesCelsius:F1} C");
Thread.Sleep(1000);
}
The driver supports accelerometer ranges from plus or minus 2 g to plus or minus 16 g, gyroscope ranges from plus or minus 125 dps to plus or minus 2000 dps, independent output data rates, data-ready status, and internal temperature.