LSM6DSL IMU Sensor

Measure linear acceleration, angular rate, and temperature from LSM6DSL sensor

Since R2025a

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  • LSM6DSL sensor block

Libraries:
STM32 Microcontroller Blockset / (Legacy) STM32 MBED Based Boards / MBED Based Sensors
STM32 Microcontroller Blockset / (Legacy) STM32 MBED Based Boards / STM32L475VG-Discovery (B-L475E-IOT01A)
STM32 Microcontroller Blockset / Sensors / IMU Sensors
Simulink Support Package for Arduino Hardware / Sensors

Description

The LSM6DSL IMU Sensor block measures linear acceleration and angular rate along the X, Y, and Z axis using the LSM6DSL Inertial Measurement Unit (IMU) sensor interfaced with the STM32 Processors. This 6-Degree of Freedom (DoF) IMU sensor comprises of an accelerometer and gyroscope used to measure linear acceleration and angular rate, respectively. The block also measures the temperature from the embedded temperature sensor in LSM6DSL Sensor.

You can also use the composite filter option in the block for the accelerometer values, and use the high pass and low pass filter options for 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 1-by-3 vector. Each value represents the measurement of acceleration in m/s^2 along the X, Y, and Z axes.

Dependencies

This output port appears only if you select the Acceleration (m/s2) parameter.

Data Types: double

The block outputs angular velocity as a 1-by-3 vector. Each value represents the measurement of angular velocity in radians per second (rad/s) along the X, Y, and Z axes.

Dependencies

This output port appears only if you select the Angular Velocity (rad/s) parameter.

Data Types: double

Temperature (in ℃) measured by LSM6DSL sensor connected to STM32 processor.

Dependencies

This output port appears only if you select the Temperature (℃) parameter.

Data Types: double

Status of acceleration, angular velocity and temperature measurements, specified as a 1-by-3 vector. 0 indicates that the data read is new, 1 indicates that the data read is not new, and -1 indicates that the corresponding output is not selected.

Dependencies

This output port appears only if you select the Status parameter.

Data Types: int8

Parameters

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Main

Specify the I2C module on the board. The I2C bus frequency, serial clock (SCL) pin and serial data (SDA) pin are taken according to the corresponding I2C module entry in the configuration parameters.

Programmatic Use

Block Parameter: I2CModule

The Peripheral addresses to communicate with the accelerometer and gyroscope peripherals on the LSM6DSL sensor are decided by the state of the SDO/SA0 pin on the hardware board. This table provides the Peripheral addresses corresponding to the pin and their state.

Pin NamePin StatePeripheral Address
SDO/SA000x6A
10x6B

Programmatic Use

Block Parameter: I2CAddress

Select this parameter to set Acceleration as one of the output ports.

Programmatic Use

Block Parameter: IsActiveAcceleration

Select this parameter to set Angular Velocity as one of the output ports.

Programmatic Use

Block Parameter: IsActiveAngularVelocity

Select this parameter to set Temperature as one of the output ports.

Programmatic Use

Block Parameter: IsActiveTemperature

Select this parameter to set Status as one of the output ports.

Programmatic Use

Block Parameter: IsActiveStatus

Specify how often this block reads the data from the LSM6DSL sensor. When you set this parameter to -1, Simulink determines the best sample time for the block based on the block context within the model.

Programmatic Use

Block Parameter: SampleTime

Advanced

Accelerometer

Select the full scale for measuring linear acceleration (the range of acceleration that the sensor needs to measure).

Programmatic Use

Block Parameter: GyroscopeRange

Select the output data rate at which accelerometer data is sampled, which also determines the bandwidth.

Programmatic Use

Block Parameter: GyroscopeODR

Select the required bandwidth of the low-pass digital filter.

Programmatic Use

Block Parameter: AccelLPF1BW

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

Programmatic Use

Block Parameter: AccelSelectCompositeFilter

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

Dependencies

This parameter appears only if you select High pass filter in the Select composite filter parameter.

Programmatic Use

Block Parameter: GyroHPFBW

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

Dependencies

This parameter appears only if you select Low pass filter in the Select composite filter parameter.

Programmatic Use

Block Parameter: AccelLPF2BW

Gyroscope

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

Programmatic Use

Block Parameter: GyroscopeRange

Select the output data rate at which gyroscope data is sampled, which also determines the bandwidth.

Programmatic Use

Block Parameter: GyroscopeODR

Enable the high pass filter for reading gyroscope values.

Programmatic Use

Block Parameter: EnableGyroHPF

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

Dependencies

This parameter appears only if you select the Enable high pass filter parameter.

Programmatic Use

Block Parameter: GyroHPFBW

Enable the low pass filter for reading gyroscope values.

Programmatic Use

Block Parameter: EnableGyroLPF

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

Dependencies

This parameter appears only if you select the Enable low pass filter parameter.

Programmatic Use

Block Parameter: GyroLPFBWMode

Extended Capabilities

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

Version History

Introduced in R2025a