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‎README.md‎

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# LSM6DSO32
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Arduino library to support the LSM6DSO32 3D accelerometer and 3D gyroscope
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## API
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This sensor uses I2C or SPI to communicate.
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For I2C it is then required to create a TwoWire interface before accessing to the sensors:
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TwoWire dev_i2c(I2C_SDA, I2C_SCL);
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dev_i2c.begin();
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For SPI it is then required to create a SPI interface before accessing to the sensors:
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SPIClass dev_spi(SPI_MOSI, SPI_MISO, SPI_SCK);
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dev_spi.begin();
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An instance can be created and enabled when the I2C bus is used following the procedure below:
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LSM6DSO32Sensor AccGyr(&dev_i2c);
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AccGyr.begin();
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AccGyr.Enable_X();
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AccGyr.Enable_G();
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An instance can be created and enabled when the SPI bus is used following the procedure below:
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LSM6DSO32Sensor AccGyr(&dev_spi, CS_PIN);
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AccGyr.begin();
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AccGyr.Enable_X();
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AccGyr.Enable_G();
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The access to the sensor values is done as explained below:
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Read accelerometer and gyroscope.
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int32_t accelerometer[3];
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int32_t gyroscope[3];
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AccGyr.Get_X_Axes(accelerometer);
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AccGyr.Get_G_Axes(gyroscope);
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# Examples
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There are several examples with the LSM6DSO32 library.
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* LSM6DSO32_HelloWorld: This application provides a simple example of usage of the LSM6DSO32
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IMU 6-axis. It shows how to display on a hyperterminal the values of the sensor.
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* LSM6DSO32_6DOrientation: This application shows how to use the LSM6DSO32 accelerometer
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to find out the 6D orientation and display data on a hyperterminal.
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* LSM6DSO32_FreeFallDetection: This application shows how to detect the free fall event using the
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LSM6DSO32 accelerometer.
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* LSM6DSO32_Pedometer: This application shows how to use the LSM6DSO32 accelerometer
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to count steps.
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* LSM6DSO32_SingleTap: This application shows how to detect the single tap event using the
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LSM6DSO32 accelerometer.
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* LSM6DSO32_DoubleTap: This application shows how to detect the double tap event using the
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LSM6DSO32 accelerometer.
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* LSM6DSO32_TiltDetection: This application shows how to detect the tilt event using the
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LSM6DSO32 accelerometer.
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* LSM6DSO32_WakeUpDetection: This application shows how to detect the wake-up event using the
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LSM6DSO32 accelerometer.
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## Documentation
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You can find the source files at
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https://github.com/stm32duino/LSM6DSO32
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The LSM6DSO32 datasheet is available at
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https://www.st.com/en/mems-and-sensors/lsm6dso32.html

‎examples/LSM6DSO32_6DOrientation/LSM6DSO32_6DOrientation.ino‎

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/**
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******************************************************************************
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* @file LSM6DSO32_6DOrientation.ino
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* @author Nathan Garnier, based on LSM6DSO lib.
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* @version V1.0.0
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* @date March 2026
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* @brief Arduino test application for the STMicrolectronics
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* LSM6DSO32 MEMS IMU 6-axis sensor.
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* This application makes use of C++ classes obtained from the C
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* components' drivers.
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******************************************************************************
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*/
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#include <LSM6DSO32Sensor.h>
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#ifdef ARDUINO_SAM_DUE
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#define DEV_I2C Wire1
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#elif defined(ARDUINO_ARCH_STM32)
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#define DEV_I2C Wire
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#elif defined(ARDUINO_ARCH_AVR)
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#define DEV_I2C Wire
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#else
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#define DEV_I2C Wire
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#endif
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#define SerialPort Serial
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#define IMU_INT_1 4
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LSM6DSO32Sensor accGyr(&DEV_I2C);
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//Interrupts.
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volatile int mems_event = 0;
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char report[256];
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void INT1Event_cb();
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void sendOrientation();
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void setup() {
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// Led.
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pinMode(LED_BUILTIN, OUTPUT);
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// Initialize serial for output.
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SerialPort.begin(115200);
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// Initialize I2C bus.
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DEV_I2C.begin();
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//Int1 pin input
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pinMode(IMU_INT_1, INPUT);
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accGyr.begin();
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accGyr.Enable_X();
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accGyr.Enable_6D_Orientation(LSM6DSO32_INT1_PIN);
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}
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void loop() {
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int int_val = digitalRead(IMU_INT_1);
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if(int_val && !mems_event)
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{
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mems_event = 1;
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}
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if (mems_event)
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{
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mems_event=0;
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LSM6DSO32_Event_Status_t status;
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accGyr.Get_X_Event_Status(&status);
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if (status.D6DOrientationStatus)
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{
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sendOrientation();
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// Led blinking.
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digitalWrite(LED_BUILTIN, HIGH);
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delay(100);
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digitalWrite(LED_BUILTIN, LOW);
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}
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}
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}
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void sendOrientation()
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{
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uint8_t xl = 0;
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uint8_t xh = 0;
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uint8_t yl = 0;
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uint8_t yh = 0;
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uint8_t zl = 0;
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uint8_t zh = 0;
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accGyr.Get_6D_Orientation_XL(&xl);
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accGyr.Get_6D_Orientation_XH(&xh);
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accGyr.Get_6D_Orientation_YL(&yl);
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accGyr.Get_6D_Orientation_YH(&yh);
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accGyr.Get_6D_Orientation_ZL(&zl);
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accGyr.Get_6D_Orientation_ZH(&zh);
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if ( xl == 0 && yl == 0 && zl == 0 && xh == 0 && yh == 1 && zh == 0 )
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{
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sprintf( report, "\r\n ________________ " \
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"\r\n | | " \
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"\r\n | * | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n |________________| \r\n" );
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}
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else if ( xl == 1 && yl == 0 && zl == 0 && xh == 0 && yh == 0 && zh == 0 )
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{
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sprintf( report, "\r\n ________________ " \
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"\r\n | | " \
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"\r\n | * | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n |________________| \r\n" );
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}
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else if ( xl == 0 && yl == 0 && zl == 0 && xh == 1 && yh == 0 && zh == 0 )
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{
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sprintf( report, "\r\n ________________ " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | * | " \
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"\r\n |________________| \r\n" );
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}
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else if ( xl == 0 && yl == 1 && zl == 0 && xh == 0 && yh == 0 && zh == 0 )
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{
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sprintf( report, "\r\n ________________ " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | * | " \
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"\r\n |________________| \r\n" );
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}
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else if ( xl == 0 && yl == 0 && zl == 0 && xh == 0 && yh == 0 && zh == 1 )
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{
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sprintf( report, "\r\n __*_____________ " \
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"\r\n |________________| \r\n" );
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}
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else if ( xl == 0 && yl == 0 && zl == 1 && xh == 0 && yh == 0 && zh == 0 )
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{
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sprintf( report, "\r\n ________________ " \
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"\r\n |________________| " \
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"\r\n * \r\n" );
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}
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else
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{
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sprintf( report, "None of the 6D orientation axes is set in LSM6DSO - accelerometer.\r\n" );
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}
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SerialPort.print(report);
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}

‎examples/LSM6DSO32_DoubleTap/LSM6DSO32_DoubleTap.ino‎

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/**
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******************************************************************************
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* @file LSM6DSO32_DoubleTap.ino
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* @author Nathan Garnier, based on LSM6DSO lib.
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* @version V1.0.0
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* @date March 2026
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* @brief Arduino test application for the STMicrolectronics
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* LSM6DSO32 MEMS IMU 6-axis sensor.
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* This application makes use of C++ classes obtained from the C
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* components' drivers.
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******************************************************************************
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*/
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#include <LSM6DSO32Sensor.h>
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#ifdef ARDUINO_SAM_DUE
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#define DEV_I2C Wire1
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#elif defined(ARDUINO_ARCH_STM32)
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#define DEV_I2C Wire
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#elif defined(ARDUINO_ARCH_AVR)
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#define DEV_I2C Wire
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#else
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#define DEV_I2C Wire
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#endif
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#define SerialPort Serial
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#define IMU_INT_1 4
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LSM6DSO32Sensor accGyr(&DEV_I2C);
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//Interrupts.
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volatile int mems_event = 0;
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void setup() {
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// Led.
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pinMode(LED_BUILTIN, OUTPUT);
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// Initialize serial for output.
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SerialPort.begin(115200);
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// Initialize I2C bus.
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DEV_I2C.begin();
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//Int1 pin input
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pinMode(IMU_INT_1, INPUT);
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accGyr.begin();
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accGyr.Enable_X();
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accGyr.Enable_Double_Tap_Detection(LSM6DSO32_INT1_PIN);
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}
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void loop() {
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int int_val = digitalRead(IMU_INT_1);
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if(int_val && !mems_event)
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{
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mems_event = 1;
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}
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if (mems_event)
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{
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mems_event=0;
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LSM6DSO32_Event_Status_t status;
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accGyr.Get_X_Event_Status(&status);
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if (status.DoubleTapStatus)
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{
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// Output data.
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SerialPort.println("Double Tap Detected!");
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// Led blinking.
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digitalWrite(LED_BUILTIN, HIGH);
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delay(100);
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digitalWrite(LED_BUILTIN, LOW);
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}
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}
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}

‎examples/LSM6DSO32_FreeFallDetection/LSM6DSO32_FreeFallDetection.ino‎

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/**
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******************************************************************************
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* @file LSM6DSO32_FreeFallDetection.ino
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* @author Nathan Garnier, based on LSM6DSO lib.
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* @version V1.0.0
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* @date March 2026
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* @brief Arduino test application for the STMicrolectronics
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* LSM6DSO32 MEMS IMU 6-axis sensor.
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* This application makes use of C++ classes obtained from the C
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* components' drivers.
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******************************************************************************
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*/
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#include <LSM6DSO32Sensor.h>
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#ifdef ARDUINO_SAM_DUE
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#define DEV_I2C Wire1
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#elif defined(ARDUINO_ARCH_STM32)
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#define DEV_I2C Wire
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#elif defined(ARDUINO_ARCH_AVR)
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#define DEV_I2C Wire
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#else
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#define DEV_I2C Wire
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#endif
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#define SerialPort Serial
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#define IMU_INT_1 4
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LSM6DSO32Sensor accGyr(&DEV_I2C);
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//Interrupts.
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volatile int mems_event = 0;
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void setup() {
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// Led.
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pinMode(LED_BUILTIN, OUTPUT);
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// Initialize serial for output.
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SerialPort.begin(115200);
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// Initialize I2C bus.
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DEV_I2C.begin();
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//Int1 pin input
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pinMode(IMU_INT_1, INPUT);
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accGyr.begin();
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accGyr.Enable_X();
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accGyr.Enable_Free_Fall_Detection(LSM6DSO32_INT1_PIN);
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}
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void loop() {
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int int_val = digitalRead(IMU_INT_1);
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if(int_val && !mems_event)
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{
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mems_event = 1;
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}
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if (mems_event)
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{
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mems_event=0;
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LSM6DSO32_Event_Status_t status;
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accGyr.Get_X_Event_Status(&status);
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if (status.FreeFallStatus)
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{
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// Led blinking.
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digitalWrite(LED_BUILTIN, HIGH);
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delay(200);
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digitalWrite(LED_BUILTIN, LOW);
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// Output data.
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SerialPort.println("Free Fall Detected!");
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}
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}
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}

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