LSM6DSR IMU Sensor
Measure linear acceleration, angular rate, and temperature from LSM6DSR sensor
Since R2021a
Add-On Required: This feature requires the Simulink Support Package for Arduino Hardware add-on.
Libraries:
Simulink Support Package for Arduino Hardware /
Sensors
Description
The LSM6DSR IMU Sensor block measures linear acceleration and angular rate along the X, Y, and Z axis using the LSM6DSR Inertial Measurement Unit (IMU) sensor interfaced with the Arduino® hardware. 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 LSM6DSR 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.
Ports
Output
Acceleration — Acceleration along each axis as measured by accelerometer
vector
The block outputs acceleration as a n
-by-3 vector,
where n
is the value specified as Samples per frame. 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
Angular Velocity — Angular velocity along each axis as measured by gyroscope
vector
The block outputs angular velocity as a n
-by-3 vector,
where n
is the value specified as Samples per frame. 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 — Temperature measured by LSM6DSR sensor
scalar
Temperature (in ℃) measured by LSM6DSR sensor connected to Arduino board.
Dependencies
This output port appears only if you select the Temperature (℃) parameter.
Data Types: 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.
Data Types: int8
Timestamp — Timestamp at which data is read
matrix | (n
)-by-1
Timestamp (in seconds) at which data is read from the sensor, returned as
n
-by-1 matrix, where n
is the
value specified as Samples per frame.
Dependencies
This output port appears only if you select the Timestamp parameter.
Data Types: double
Parameters
Main
I2C module — I2C communication module
0
(default) | scalar
Specify the I2C module on the Arduino hardware to communicate with sensor peripherals. For more information on the Arduino pin mapping and modules that hardware boards support, see Pin Mapping for Arduino Timer Independent Blocks.
I2C address — Peripheral addresses to communicate with sensors
0x6A
(default) | 0x6B
The peripheral addresses to communicate with the accelerometer and gyroscope peripherals on the LSM6DSR 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
(default) | 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
(default) | off
Select this parameter to set Angular Velocity as one of the output ports.
Temperature (℃) — Set output port for reading temperature
on
(default) | off
Select this parameter to set Temperature as one of the output ports.
Status — Set output port for obtaining status of selected outputs
off
(default) | on
Select this parameter to set Status as one of the output ports.
Timestamp — Set output port for obtaining timestamp
off
(default) | on
Select this parameter to set Timestamp as one of the output ports.
Samples per frame — Number of samples that the block outputs
1
(default) | positive integer
Specify the number of samples that the block outputs.
The value that you specify here is also used to compute the output sample time:
Output sample time = Samples per frame
*
Sample time
.
Sample time — Time interval to read data
-1
(default) | positive integer
Specify how often this block reads the data from the LSM6DSR 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. The output sample time is the product of
Samples per frame
and Sample
time
that you specify.
Advanced
AccelerometerFull scale range — Full scale for measuring linear acceleration
±2g
(default) | ±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
(default) | 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.
Select composite filter — Composite filter used in the filtering chain
No filter
(default) | 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/4
(default) | ODR/10
| ODR/20
| ODR/45
| ODR/100
| ODR/200
| ODR/400
| ODR/800
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/4
(default) | ODR/10
| ODR/20
| ODR/45
| ODR/100
| ODR/200
| ODR/400
| ODR/800
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.
Full scale range — Full scale for measuring angular velocity
250 dps
(default) | 125 dps
| 500 dps
| 1000 dps
| 2000 dps
| 4000 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
(default) | 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
(default) | on
Enable the high pass filter for reading gyroscope values.
High pass filter bandwidth — Bandwidth of high pass filter
0.016 Hz
(default) | 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
(default) | on
Enable the low pass filter for reading gyroscope values.
Low pass filter bandwidth mode — Bandwidth mode of low pass filter
0
(default) | 1
| 2
| 3
| 4
| 5
| 6
| 7
Select the required bandwidth mode of the low pass filter for reading gyroscope values.
For Gyroscope ODR > 1666 Hz, only these values are applicable for Low pass filter
bandwidth mode —0
, 1
, 2
,
3
.
Dependencies
This parameter appears only if you select the Enable low pass filter parameter.
Version History
Introduced in R2021a
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