LSM6DSO IMU Sensor

R2026b

Measure linear acceleration, angular rate, and temperature from LSM6DSO sensor

Since R2025a

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LSM6DSO IMU Sensor block

To add a block to a model, double-click the canvas and start typing the block name. Then, select the block from the list.

Libraries:
STM32 Microcontroller Blockset / Sensors / IMU Sensors

Description

The LSM6DSO IMU Sensor block measures linear acceleration and angular rate along the X-, Y-, and Z- axis using the LSM6DSO inertial measurement unit (IMU) sensor interfaced with an STM32 processor. This six degree of freedom (DoF) and IMU sensor comprises of an accelerometer and gyroscope that you can use to measure linear acceleration and angular rate, respectively. The block also measures the temperature from the embedded temperature sensor in the LSM6DSO sensor.

You can also use the composite filter option in the block for the accelerometer values, and use the highpass and lowpass filter options for the gyroscope values.

Examples

Get Started with STMicroelectronics STM32 Processor Based Boards

Run a Simulink model on STM32 processor.

• Open Model

Ports

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 n-by-3 vector, where n is the value for samples per frame. Each value represents the measurement of acceleration in m/s^2 along the X-, Y-, and Z- axes.

Dependencies

To enable this port, 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 for 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

To enable this port, select the Angular Velocity (rad/s) parameter.

Data Types: double

Temperature — Temperature measured by LSM6DSO sensor

scalar

Temperature (in ℃) measured by LSM6DSO sensor connected to an STM32 processor.

Dependencies

To enable this port, 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, returned as a 1-by-3 vector.

• 0 - Data read is new

• 1 - Data read is not new

• -1 - Corresponding output is not selected

Dependencies

To enable this port, select the Status parameter.

Data Types: int8

Parameters

Main

I2C module — I2C communication module

I2C1 (default) | scalar

Specify the I2C module on the STM32 Processor to communicate with sensor peripherals.

Programmatic Use

Block Parameter: I2CModule

I2C address — Peripheral addresses to communicate with sensors

0x6A (default) | 0x6B

The peripheral addresses to communicate with the accelerometer and gyroscope peripherals on the LSM6DSO sensor are decided by the state of the SDO/SA0 pin on the STM32 processor. This table provides the peripheral addresses corresponding to the pin and its state.

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

Programmatic Use

Block Parameter: I2CAddress

Acceleration (m/s²) — Enable port to output acceleration

on (default) | off

Select this parameter to enable Acceleration output port.

Programmatic Use

Block Parameter: IsActiveAcceleration

Angular Velocity (rad/s) — Enable port to output angular velocity

on (default) | off

Select this parameter to enable Angular Velocity output port.

Programmatic Use

Block Parameter: IsActiveAngularRate

Temperature (℃) — Enable port to output temperature

on (default) | off

Select this parameter to enable Temperature output port.

Programmatic Use

Block Parameter: IsActiveTemperature

Status — Enable port to output status of selected outputs

on (default) | off

Select this parameter to enable Status output port.

Programmatic Use

Block Parameter: IsActiveStatus

Sample time — Time interval to read data

-1 (default) | positive integer

Specify how often the block reads data from the LSM6DSO sensor. When you set this parameter to -1, Simulink^® determines the best sample time for the block based on the block's context within the model. The output sample time is the product of Sample time that you specify.

Programmatic Use

Block Parameter: SampleTime

Advanced

Accelerometer

Full scale range — Range for measuring linear acceleration

±2g (default) | ±4g | ±8g | ±16g

Select the range for measuring linear acceleration.

Programmatic Use

Block Parameter: AccelerometerRange

Output data rate — Rate at which sensor outputs accelerometer data

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

Select the rate at which the sensor samples and outputs accelerometer data. This rate also determines the bandwidth of the sensor.

Programmatic Use

Block Parameter: GyroscopeODR

Select composite filter — Composite filter to use in the filtering chain

No filter (default) | High pass filter | Low pass filter

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

Programmatic Use

Block Parameter: AccelSelectCompositeFilter

High pass filter bandwidth — Bandwidth of highpass filter

ODR/4 (default) | ODR/10 | ODR/20 | ODR/45 | ODR/100 | ODR/200 | ODR/400 | ODR/800

Select the bandwidth of the highpass filter in the composite filter used in the filtering chain.

Dependencies

To enable this parameter, select High pass filter in the Select composite filter parameter.

Programmatic Use

Block Parameter: GyroHPFBW

Low pass filter bandwidth — Bandwidth of lowpass filter

ODR/4 (default) | ODR/10 | ODR/20 | ODR/45 | ODR/100 | ODR/200 | ODR/400 | ODR/800

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

Dependencies

To enable this parameter, select Low pass filter in the Select composite filter parameter.

Programmatic Use

Block Parameter: AccelLPF2BW

Gyroscope

Full scale range — Range for measuring angular velocity

125 dps (default) | 250 dps | 500 dps | 1000 dps | 2000 dps

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

Programmatic Use

Block Parameter: AccelerometerRange

Output data rate — Rate at which sensor outputs gyroscope data

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

Select the rate at which the sensor samples and outputs gyroscope data. This rate also determines the bandwidth of the sensor.

Programmatic Use

Block Parameter: GyroscopeODR

Enable high pass filter — Enable highpass filter for gyroscope data

off (default) | on

Enable the highpass filter for reading gyroscope values.

Programmatic Use

Block Parameter: EnableGyroHPF

High pass filter bandwidth — Bandwidth of highpass filter

0.016 Hz (default) | 0.065 Hz | 0.260 Hz | 1.04 Hz

Select the required bandwidth of the highpass filter for reading gyroscope values.

Dependencies

To enable this parameter, select the Enable high pass filter parameter.

Programmatic Use

Block Parameter: GyroHPFBW

Enable low pass filter — Enable lowpass filter for gyroscope data

off (default) | on

Enable the lowpass filter for reading gyroscope values.

Programmatic Use

Block Parameter: EnableGyroLPF

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

To enable this parameter, select the Enable low pass filter parameter.

Programmatic Use

Block Parameter: GyroLPFBMode

Programmatic Use: Add Block

To add the block programmatically, use the add_block function with one of these library block paths as the source.

"stm32IMUsensorslib/LSM6DSO IMU Sensor"

Example: add_block("stm32IMUsensorslib/LSM6DSO IMU Sensor","myModel/myBlock",MakeNameUnique="on")

Extended Capabilities

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

Version History

Introduced in R2025a