ST六轴传感器LSM6DSO使用记录

1、前言

LSM6DSO是ST公司的六轴传感器，集成三轴加速度和三轴陀螺仪。

2、传感器特性

加速度支持±2/±4/±8/±16 g 量程；
陀螺仪支持±125/±250/±500/±1000/±2000 dps 量程；
支持1.71V to 3.6 V供电；
支持SPI、I²C 、I3C接口；
支持跌落、唤醒、4D/6D方向，单击、双击等中断；集成温度传感器；
在高性能模式下功耗为0.55mA；
9kbyte FIFO ±2/±4/±8/±16 g 加速度量程；
封装：2.5 mm x 3 mm x 0.83 mm。

3、参考资料

ST官方参考代码：
https://github.com/STMicroelectronics/STMems_Standard_C_drivers/tree/master/lsm6dso_STdC，ST的传感器，基本都在这里能找到。
其他参考代码：
https://github.com/arduino-libraries/Arduino_LSM6DSOX
https://github.com/micropython-Chinese-Community/mpy-lib/tree/master/sensor/LSM6DSO。

4、硬件模式

最简单的是模式1，模式2、模式3、模式4比较复杂，可以外接传感器，摄像头等。

5、I2C读写地址

可以看出，与SA0有关，SA0置高，或者拉低，I2C的地址是不一样的。

6、寄存器

6.1、设备ID

只读，出厂已经固化在硬件里面了，可以通过读写这个寄存器，判断设备是否存在，通讯是否正常，设备的ID是0x6C。

6.2、加速度控制寄存器

这个寄存器可以设置加速度的量程、输出速率等；

6.3、陀螺仪控制寄存器

这个寄存器可以设置陀螺仪的量程、输出速率等；

6.4、状态寄存器

通过读取这个寄存器可以判断，传感器是否有新的数据。

6.5、温度传感器

2个寄存器，输出的是有符号数据。

6.6、陀螺仪数据传感器

总共6个寄存器，分x、y、z三轴的高位和低位，这里要注意，输出的是有符号数据。

6.7、加速度数据传感器

总共6个寄存器，分x、y、z三轴的高位和低位，这里要注意，输出的是有符号数据。

7、核心代码

7.1、传感器初始化

void LSM6DSOInit(void)
{   I2C_Init();if(LSM6DSO_ID==LSM6DSOReadReg(LSM6DSO_ADDRESS,LSM6DSO_WHO_AM_I))//设备ID{printf("device exist\r\n");}else{printf("device not exist\r\n");}LSM6DSOWriteByteReg(LSM6DSO_ADDRESS,LSM6DSO_CTRL1_XL,ODR_XL_104Hz|FS_XL_2g);LSM6DSOWriteByteReg(LSM6DSO_ADDRESS,LSM6DSO_CTRL2_G,ODR_G_104Hz|FS_G_250);
}

7.2、读数据

void LSM6DSOPolling(void)
{static uint32_t curtick=0;if(SystemGetTick()-curtick>=1000)//1s读取一次{uint8_t status=0;int16_t temp_raw;float temp_deg;int16_t acc_x_raw ,acc_y_raw, acc_z_raw, gyr_x_raw, gyr_y_raw, gyr_z_raw;float acc_x ,acc_y, acc_z, gyr_x, gyr_y, gyr_z;status=LSM6DSOReadReg(LSM6DSO_ADDRESS,LSM6DSO_STATUS_REG);//读状态if(status & TEM_DATA_AVAILABLE){temp_raw=LSM6DSOReadReg(LSM6DSO_ADDRESS,LSM6DSO_OUT_TEMP_L)|(LSM6DSOReadReg(LSM6DSO_ADDRESS,LSM6DSO_OUT_TEMP_H)<<8);temp_deg=temp_raw/TEMP_LSB_PER_DEG+TEMP_OFFSET_DEG;printf("temp=%f\r\n",temp_deg);}if(status & GYR_DATA_AVAILABLE){//原始数据gyr_x_raw = LSM6DSOReadReg(LSM6DSO_ADDRESS,LSM6DSO_OUTX_L_G)|(LSM6DSOReadReg(LSM6DSO_ADDRESS,LSM6DSO_OUTX_H_G)<<8);gyr_y_raw = LSM6DSOReadReg(LSM6DSO_ADDRESS,LSM6DSO_OUTY_L_G)|(LSM6DSOReadReg(LSM6DSO_ADDRESS,LSM6DSO_OUTY_H_G)<<8);gyr_z_raw = LSM6DSOReadReg(LSM6DSO_ADDRESS,LSM6DSO_OUTZ_L_G)|(LSM6DSOReadReg(LSM6DSO_ADDRESS,LSM6DSO_OUTZ_H_G)<<8);//原始数据乘以量程gyr_x = gyr_x_raw*GYR_LSB_250_PER;gyr_y = gyr_y_raw*GYR_LSB_250_PER;gyr_z = gyr_z_raw*GYR_LSB_250_PER;printf("gyr_x=%f mdps,gyr_y=%f mdps,gyr_z=%f mdps\r\n",gyr_x,gyr_y,gyr_z);}if(status & ACC_DATA_AVAILABLE){//原始数据acc_x_raw=LSM6DSOReadReg(LSM6DSO_ADDRESS,LSM6DSO_OUTX_L_A)|(LSM6DSOReadReg(LSM6DSO_ADDRESS,LSM6DSO_OUTX_H_A)<<8);acc_y_raw=LSM6DSOReadReg(LSM6DSO_ADDRESS,LSM6DSO_OUTY_L_A)|(LSM6DSOReadReg(LSM6DSO_ADDRESS,LSM6DSO_OUTY_H_A)<<8);acc_z_raw=LSM6DSOReadReg(LSM6DSO_ADDRESS,LSM6DSO_OUTZ_L_A)|(LSM6DSOReadReg(LSM6DSO_ADDRESS,LSM6DSO_OUTZ_H_A)<<8);//原始数据乘以量程acc_x=acc_x_raw*ACC_LSB_2G_PER;acc_y=acc_y_raw*ACC_LSB_2G_PER;acc_z=acc_z_raw*ACC_LSB_2G_PER;printf("acc_x=%f mg,acc_y=%f mg,,acc_z=%f mg\r\n",acc_x,acc_y,acc_z);}curtick=SystemGetTick();}
}

7.3、寄存器定义

#define LSM6DSO_ADDRESS       0xD4#define LSM6DSO_ID          0x6C#define LSM6DSO_SDO_CRTL          0x02
#define LSM6DSO_FIFO_CTRL1        0x07
#define LSM6DSO_FIFO_CTRL2        0x08
#define LSM6DSO_FIFO_CTRL3        0x09
#define LSM6DSO_FIFO_CTRL4        0x0A
#define LSM6DSO_COUNTER_BDR_REG1  0x0B
#define LSM6DSO_COUNTER_BDR_REG2  0x0C
#define LSM6DSO_INT1_CTRL         0x0D
#define LSM6DSO_INT2_CTRL         0x0E
#define LSM6DSO_WHO_AM_I          0x0F
#define LSM6DSO_CTRL1_XL          0x10//bit[7:4]typedef enum {ODR_XL_OFF                  = (0<<4),  ODR_XL_1Hz6_LOW_POWER_ONLY  = (11<<4),ODR_XL_12Hz5                = (1<<4),ODR_XL_26Hz                 = (2<<4),ODR_XL_52Hz                 = (3<<4),  ODR_XL_104Hz                = (4<<4),   ODR_XL_208Hz                = (5<<4),  ODR_XL_416Hz                = (6<<4),   ODR_XL_833Hz                = (7<<4), ODR_XL_1k66Hz               = (8<<4), ODR_XL_3k33Hz               = (9<<4), ODR_XL_6k66Hz               = (10<<4),  } lsm6dso_odr_xl_t;//bit[3:2]typedef enum {FS_XL_2g                    = (0<<2),FS_XL_4g                    = (2<<2),FS_XL_8g                    = (3<<2),FS_XL_16g_SPIT_OIS_IU_FS    = (1<<2), /* check  XL_FS_MODE = ‘0’ in CTRL8_XL (17h) */} lsm6dso_fs_xl_t;#define ACC_LSB_2G_PER       0.061#define ACC_LSB_4G_PER       0.122#define ACC_LSB_8G_PER       0.244#define ACC_LSB_16G_PER      0.488 #define LSM6DSO_CTRL2_G      0x11//bit[7:4]typedef enum {ODR_G_OFF                  = (0<<4),  ODR_G_12Hz5                = (1<<4),ODR_G_26Hz                 = (2<<4),ODR_G_52Hz                 = (3<<4),  ODR_G_104Hz                = (4<<4),   ODR_G_208Hz                = (5<<4),  ODR_G_416Hz                = (6<<4),   ODR_G_833Hz                = (7<<4), ODR_G_1k66Hz               = (8<<4), ODR_G_3k33Hz               = (9<<4), ODR_G_6k66Hz               = (10<<4), ODR_G_NOT_AVAILABLE        = (11<<4),} lsm6dso_odr_g_t;//bit[3:2]typedef enum {FS_G_250                   = (0<<2),FS_G_500                   = (1<<2),FS_G_1000                  = (2<<2),FS_G_2000                  = (3<<2),} lsm6dso_fs_g_t;#define GYR_LSB_250_PER        8.75#define GYR_LSB_500_PER        17.50#define GYR_LSB_1000_PER       35.0#define GYR_LSB_2000_PER       70.0 #define LSM6DSO_CTRL3_C          0x12
#define LSM6DSO_CTRL4_C          0x13
#define LSM6DSO_CTRL5_C          0x14
#define LSM6DSO_CTRL6_C          0x15
#define LSM6DSO_CTRL7_G          0x16
#define LSM6DSO_CTRL8_XL         0x17
#define LSM6DSO_CTRL9_XL         0x18
#define LSM6DSO_CTRL10_C         0x19
#define LSM6DSO_ALL_INT_SRC      0x1A
#define LSM6DSO_WAKE_UP_SRC      0x1B
#define LSM6DSO_TAP_SRC          0x1C
#define LSM6DSO_D6D_SRC          0x1D
#define LSM6DSO_STATUS_REG       0x1E#define TEM_DATA_AVAILABLE   (1<<2)#define GYR_DATA_AVAILABLE   (1<<1)#define ACC_DATA_AVAILABLE   (1<<0)#define LSM6DSO_OUT_TEMP_L       0x20
#define LSM6DSO_OUT_TEMP_H       0x21#define TEMP_LSB_PER_DEG     256.0#define TEMP_OFFSET_DEG      25#define LSM6DSO_OUTX_L_G     0x22
#define LSM6DSO_OUTX_H_G     0x23
#define LSM6DSO_OUTY_L_G     0x24
#define LSM6DSO_OUTY_H_G     0x25
#define LSM6DSO_OUTZ_L_G     0x26
#define LSM6DSO_OUTZ_H_G     0x27#define LSM6DSO_OUTX_L_A    0x28
#define LSM6DSO_OUTX_H_A     0x29
#define LSM6DSO_OUTY_L_A     0x2A
#define LSM6DSO_OUTY_H_A     0x2B
#define LSM6DSO_OUTZ_L_A     0x2C
#define LSM6DSO_OUTZ_H_A     0x2D

通过以上步骤就可以，读取LSM6DSO采样的数据了。

8、测试读取数据