Accelerometer and gyroscope
The LSM6DSO32 sensor on Inkplate 6 MOTION provides accelerometer and gyroscope data, allowing motion detection, tilt sensing, and rotation tracking.
Adafruit LSM6DS
The Adafruit LSM6DS 6-DoF Accelerometer and Gyroscope Sensor Library for Arduino, included in the Inkplate 6 MOTION library
Configuration
Before retrieving accelerometer and gyroscope data, the LSM6DSO32 sensor must be initialized.
peripheralState. See this page for more details: Peripheral basics
How to power peripherals on and off on Inkplate 6 MOTION
// Turn on the LSM6DSO32 peripheral
inkplate.peripheralState(INKPLATE_PERIPHERAL_LSM6DSO32, true);
delay(1000); // Allow time for sensor stabilization
// Initialize the sensor
if (!inkplate.lsm6dso32.begin_I2C())
{
inkplate.println("LSM6DSO32 initialization failed");
inkplate.display();
while (true); // Stop execution if initialization fails
}
inkplate.lsm6dso32.begin_I2C()
Initializes the LSM6DSO32 sensor over I2C. This is the only relevant 'begin' function for Inkplate 6 MOTION as the sensor is connected on the PCB via I2C and no other way. In real usage, this function is called without any parameters as all the defaults are set correctly for Inkplate 6 MOTION.
Returns: Returns true if initialization was successful, otherwise false.
Function parameters:
| Type | Name | Description |
|---|---|---|
uint8_t | i2c_address | Optional. The I2C address to use. |
TwoWire* | wire | Optional. The Wire object for I2C communication. |
int32_t | sensor_id | Optional. User-defined ID to differentiate different sensors. |
Accelerometer configuration
The accelerometer is configured with the range parameter:
inkplate.lsm6dso32.setAccelRange()
Sets the accelerometer measurement range.
Returns: none
Function parameters:
| Type | Name | Description |
|---|---|---|
lsm6dso32_accel_range_t | new_range | The desired accelerometer range. More information is in the table below: |
| Range | Enum Value |
|---|---|
| ±4G | LSM6DSO32_ACCEL_RANGE_4_G |
| ±8G | LSM6DSO32_ACCEL_RANGE_8_G |
| ±16G | LSM6DSO32_ACCEL_RANGE_16_G |
| ±32G | LSM6DSO32_ACCEL_RANGE_32_G |
inkplate.lsm6dso32.getAccelRange()Gyroscope configuration
The gyroscope's range can also be configured:
inkplate.lsm6dso32.setGyroRange()
Sets the gyroscope measurement range.
Returns: none
Function parameters:
| Type | Name | Description |
|---|---|---|
lsm6ds_gyro_range_t | new_range | The desired gyroscope range. More info in the table below. |
| Range | Enum Value |
|---|---|
| 125°/s | LSM6DS_GYRO_RANGE_125_DPS |
| 250°/s | LSM6DS_GYRO_RANGE_250_DPS |
| 500°/s | LSM6DS_GYRO_RANGE_500_DPS |
| 1000°/s | LSM6DS_GYRO_RANGE_1000_DPS |
| 2000°/s | LSM6DS_GYRO_RANGE_2000_DPS |
| 4000°/s | ISM330DHCX_GYRO_RANGE_4000_DPS |
inkplate.lsm6dso32.getGyroRange()Data rate configuration
As a general setting, you can set the data rate of the LSM6DSO32. This refers to how often the data in the sensor is refreshed and updated for reading:
inkplate.lsm6dso32.setAccelDataRate()
Sets the accelerometer data update rate.
Returns: none
Function parameters:
| Type | Name | Description |
|---|---|---|
lsm6ds_data_rate_t | data_rate | The desired accelerometer data rate. More info in the table below. |
| Data Rate | Enum Value |
|---|---|
| Shutdown (0 Hz) | LSM6DS_RATE_SHUTDOWN |
| 12.5 Hz | LSM6DS_RATE_12_5_HZ |
| 26 Hz | LSM6DS_RATE_26_HZ |
| 52 Hz | LSM6DS_RATE_52_HZ |
| 104 Hz | LSM6DS_RATE_104_HZ |
| 208 Hz | LSM6DS_RATE_208_HZ |
| 416 Hz | LSM6DS_RATE_416_HZ |
| 833 Hz | LSM6DS_RATE_833_HZ |
| 1.66 kHz | LSM6DS_RATE_1_66K_HZ |
| 3.33 kHz | LSM6DS_RATE_3_33K_HZ |
| 6.66 kHz | LSM6DS_RATE_6_66K_HZ |
inkplate.lsm6dso32.getAccelDataRate()Getting sensor data
inkplate.lsm6dso32.getEvent()
Retrieves the latest sensor readings, including acceleration, gyroscope, and temperature data.
Returns: Returns true if the data was successfully read.
Function parameters:
| Type | Name | Description |
|---|---|---|
sensors_event_t& | accel | Structure to store acceleration event data. |
sensors_event_t& | gyro | Structure to store gyroscope event data. |
sensors_event_t& | temp | Structure to store temperature event data. |
The sensors_event_t structure is part of the Adafruit Unified Sensor library and is used to store sensor readings in a standardized format. It allows multiple types of sensors (such as accelerometers, gyroscopes, temperature sensors, etc.) to report their data consistently.
For the LSM6DSO32 sensor, sensors_event_t is used to store acceleration data (m/s²), gyroscope data (°/s), and temperature data (°C). The structure includes timestamped values, making it easy to process and compare sensor readings over time.
When calling getEvent(), three sensors_event_t structures are filled:
- Acceleration values are stored in
accel.acceleration.x/y/z - Gyroscope values are stored in
gyro.gyro.x/y/z - Temperature readings (if applicable) are stored in
temp.temperature
// Make measurement
inkplate.lsm6dso32.getEvent();
// Read values from the accelerometer
float accelX = accel.acceleration.x;
float accelY = accel.acceleration.y;
float accelZ = accel.acceleration.z;
// Read values from the gyroscope
float gyroX = gyro.gyro.x;
float gyroY = gyro.gyro.y;
float gyroZ = gyro.gyro.z;
// Turn on the LSM6DSO32 peripheral
inkplate.peripheralState(INKPLATE_PERIPHERAL_LSM6DSO32, true);
delay(1000); // Allow time for sensor stabilization
// Initialize the sensor
if (!inkplate.lsm6dso32.begin_I2C())
{
inkplate.println("LSM6DSO32 initialization failed");
inkplate.display();
while (true); // Stop execution if initialization fails
}
// Read sensor data
sensors_event_t accel, gyro, temp;
inkplate.lsm6dso32.getEvent(&accel, &gyro, &temp);
// Print accelerometer readings
inkplate.printf("Accel X: %.2f m/s²\n", accel.acceleration.x);
inkplate.printf("Accel Y: %.2f m/s²\n", accel.acceleration.y);
inkplate.printf("Accel Z: %.2f m/s²\n", accel.acceleration.z);
// Print gyroscope readings
inkplate.printf("Gyro X: %.2f °/s\n", gyro.gyro.x);
inkplate.printf("Gyro Y: %.2f °/s\n", gyro.gyro.y);
inkplate.printf("Gyro Z: %.2f °/s\n", gyro.gyro.z);
Full example
For the best all-in-one overview of this peripheral, have a look at this Arduino example which projects a 3D cube from the accelerometer data and also prints the gyroscope data:
Inkplate_6_MOTION_Accelerometer_Cube.ino
Full LSM6DSO32 example in the Inkplate library