このページの内容は最新ではありません。最新版の英語を参照するには、ここをクリックします。

LSM6DSL IMU Sensor

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

R2021b 以降

• 

ライブラリ:
Simulink Coder Support Package for STMicroelectronics Nucleo Boards / 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 Nucleo/STM32L475-Discovery board. 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.

端子

Output

You can select the active sensor(s) to measure angular velocity, acceleration, temperature, or a combination of these measurements.

Acceleration — Acceleration along each axis as measured by accelerometer

vector

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.

データ型: double

Angular Velocity — Angular velocity along each axis as measured by gyroscope

vector

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.

データ型: double

Temperature — Temperature measured by LSM6DSL sensor

scalar

Temperature (in ℃) measured by LSM6DSL sensor connected to Nucleo/STM32L475-Discovery board.

Dependencies

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

データ型: double

Status — Status of acceleration, angular velocity and temperature measurements

-1 | 0 | 1

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.

データ型: int8

Parameters

Main

I2C module — Specify I2C module

2 (既定値) | positive integer

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.

I2C address — Peripheral addresses to communicate with sensor peripherals

0x6A (既定値) | 0x6B

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 Name	Pin State	Peripheral Address
SDO/SA0	0	0x6A
	1	0x6B

Acceleration (m/s²) — Set output port for reading acceleration

on (既定値) | off

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

Angular Velocity (rad/s) — Set output port for reading angular velocity

on (既定値) | off

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

Temperature (℃) — Set output port for reading temperature

on (既定値) | off

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

Status — Set output port for obtaining status of selected outputs

off (既定値) | on

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

Sample time — Time interval to read data

-1 (既定値) | positive integer

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.

Advanced

Accelerometer

Full scale range — Full scale for measuring linear acceleration

±2g (既定値) | ±4g | ±8g | ±16g

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

Output data rate — Rate at which accelerometer data is sampled

12.5 Hz (既定値) | 26 Hz | 52 Hz | 104 Hz | 208 Hz | 416 Hz | 833 Hz | 1666 Hz | 3332 Hz | 6664 Hz

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

Digital low pass filter bandwidth — Bandwidth of low-pass digital filter

ODR/2 (既定値) | ODR/4

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

Select composite filter — Composite filter used in the filtering chain

No filter (既定値) | High pass filter | Low pass filter

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

High pass filter bandwidth — Bandwidth of high pass filter

ODR/100 (既定値) | ODR/9 | ODR/400

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.

Low pass filter bandwidth — Bandwidth of low pass filter

ODR/50 (既定値) | ODR/100 | ODR/9 | ODR/400

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.

Gyroscope

Full scale range — Full scale for measuring angular velocity

250 dps (既定値) | 125 dps | 500 dps | 1000 dps | 2000 dps

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

Output data rate — Rate at which gyroscope data is sampled

12.5 Hz (既定値) | 26 Hz | 52 Hz | 104 Hz | 208 Hz | 416 Hz | 833 Hz | 1666 Hz | 3332 Hz | 6664 Hz

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

Enable high pass filter — Enable high pass filter for gyroscope data

off (既定値) | on |

Enable the high pass filter for reading gyroscope values.

High pass filter bandwidth — Bandwidth of high pass filter

0.016 Hz (既定値) | 0.065 Hz | 0.260 Hz | 1.04 Hz

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.

Enable low pass filter — Enable low pass filter for gyroscope data

off (既定値) | on |

Enable the low pass filter for reading gyroscope values.

Low pass filter bandwidth mode — Bandwidth mode of low pass filter

0 (既定値) | 1 | 2 | 3

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.

拡張機能

C/C++ コード生成
Simulink® Coder™ を使用して C および C++ コードを生成します。

バージョン履歴

R2021b で導入