JoyIT_LSM6DS3TR-C

Library to read data from LSM6DS3TR-C with an Arduino

Objects to read data

Acceleration

// object to safe read data from acceleration
struct Acceleration {
  float x, y, z;
};

The purpose of this object is to save the read data from x-, y- and z-axis when reading acceleration.

Gyroscope

// object to safe read data from gyroscope
struct Gyroscope {
  float x, y, z;
};

The purpose of this object is to save the read data from x-, y- and z-axis when reading gyroscope.

Objects to adjust resolution

The following objects are used to adjust the resolution of the sensor.

Acceleration

AccelRange	Resolution
± 2 g	0.061 mg/LSB
± 4 g	0.122 mg/LSB
± 8 g	0.244 mg/LSB
± 16 g	0.488 mg/LSB

// object to select linear acceleration sensitivity 
enum class AccelRange { G2,   // 0.061 mg/LSB
                        G4,   // 0.122 mg/LSB
                        G8,   // 0.244 mg/LSB
                        G16   // 0.488 mg/LSB
};

Gyroscope

GyroRange (degrees per second)	Resolution
± 125 dps	4.375 mdps/LSB
± 250 dps	8.75 mdps/LSB
± 500 dps	17.50 mdps/LSB
± 1000 dps	35 mdps/LSB
± 2000 dps	70 mdps/LSB

// object to select angular rate sensitivity
enum class GyroRange { DPS125,  // 4.375 mdps/LSB
                       DPS250,  // 8.75 mdps/LSB
                       DPS500,  // 17.50 mdps/LSB
                       DPS1000, // 35 mdps/LSB
                       DPS2000  // 70 mdps/LSB
};

Output data range

ODR	Resolution
Off	0 Hz
Hz12_5	12.5 Hz
Hz26	26 Hz
Hz52	52 Hz
Hz104	104 Hz
Hz208	208 Hz
Hz416	416 Hz
Hz833	833 Hz
Hz1660	1660 Hz
Hz3330	3330 Hz
Hz6660	6660 Hz

// object to select output data range in Hz   
enum class ODR { Off = 0,
                 Hz12_5,
                 Hz26,
                 Hz52,
                 Hz104,
                 Hz208,
                 Hz416,
                 Hz833,
                 Hz1660,
                 Hz3330,
                 Hz6660 };

Methods

begin(uint8_t address = 0x6B, AccelRange accel_sensitivity = AccelRange::G2, GyroRange gyro_sensitivity = GyroRange::DPS250, ODR data_rate = ODR::Hz104)

The method begin has to be executed before any other method can be executed. In this method everything is set up so the sensor can be read. The default values can be adjusted.

---

whoAmI()

The method whoAmI returns value from the WHO_AM_I register. It should be 0x6A.

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setAcceleration(AccelRange range)

With the method setAcceleration you can select / reselect the resolution for the acceleration.

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setGyroscope(GyroRange range)

With the method setGyroscope you can select / reselect the resolution for the gyroscope.

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setOutputDataRange(ODR range)

With the method setOutputDataRange you can select / reselect the resolution for output data range. This method also adjusts gyroscope and acceleration to the newly selected output data range.

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getAcceleration(Acceleration &acc)

The method getAcceleration receives a reference of an Acceleration object and fills it with read data.

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getGyroscope(Gyroscope &gyro)

The method getGyroscope receives a reference of a Gyroscope object and fills it with read data.

---

getTemperature(float &temp)

The method getTemperature receives a reference of a float object and fills it with read data.

---

readAll(Acceleration &acc, Gyroscope &gyro, float &temp)

The method readAllreceives references of an Acceleration object, Gyroscope object and float object. It executes getAcceleration, getGyroscope and getTemperature and fills the data into the given references.