LSM6DSO Example

This example demonstrates how to use the espp LSM6DSO 6-axis IMU driver with the ESP-IDF. The example is modeled after the ICM42607 example and shows how to configure the IMU, read accelerometer and gyroscope data, and use orientation filtering (e.g., Madgwick filter).

Features

• I2C communication with the LSM6DSO

• Configurable accelerometer and gyroscope range and output data rate

• Periodic reading of accelerometer, gyroscope, and temperature data

• Orientation filtering using Madgwick filter

Usage

• Configure the I2C pins and address in sdkconfig or via Kconfig options

• Build and flash the example to your ESP32/ESP-IDF target

• The example will print IMU data and orientation to the serial console

Build and Flash

Build the project and flash it to the board, then run monitor tool to view serial output:

idf.py -p PORT flash monitor

(Replace PORT with the name of the serial port to use.)

(To exit the serial monitor, type Ctrl-].)

See the Getting Started Guide for full steps to configure and use ESP-IDF to build projects.

Example Output

Example Code

See main/lsm6dso_example.cpp for the full example source code.

Configuration

• Default I2C address: 0x6A (can be changed in Kconfig or via config struct)

• Example I2C pins: SDA = 21, SCL = 22

Documentation

See the documentation for full API details.