Arduino library to support the LSM6DSR 3D accelerometer and 3D gyroscope
This sensor uses I2C or SPI to communicate. For I2C it is then required to create a TwoWire interface before accessing to the sensors:
TwoWire dev_i2c(I2C_SDA, I2C_SCL);
dev_i2c.begin();
For SPI it is then required to create a SPI interface before accessing to the sensors:
SPIClass dev_spi(SPI_MOSI, SPI_MISO, SPI_SCK);
dev_spi.begin();
An instance can be created and enabled when the I2C bus is used following the procedure below:
LSM6DSRSensor AccGyr(&dev_i2c);
AccGyr.begin();
AccGyr.Enable_X();
AccGyr.Enable_G();
An instance can be created and enabled when the SPI bus is used following the procedure below:
LSM6DSRSensor AccGyr(&dev_spi, CS_PIN);
AccGyr.begin();
AccGyr.Enable_X();
AccGyr.Enable_G();
The access to the sensor values is done as explained below:
Read accelerometer and gyroscope.
int32_t accelerometer[3];
int32_t gyroscope[3];
AccGyr->Get_X_Axes(accelerometer);
AccGyr->Get_G_Axes(gyroscope);
You can find the source files at
https://github.com/stm32duino/LSM6DSR
The LSM6DSR datasheet is available at
https://www.st.com/content/st_com/en/products/mems-and-sensors/inemo-inertial-modules/lsm6dsr.html