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‎README.md

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SparkFun <PRODUCT NAME> Arduino Library
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SparkFun LSM6DS3 Arduino Library
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========================================
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![SparkFun Part Name](URL for picture of part)
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![LSM6DS3 Breakout](URL for picture of part)
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[*SparkFun Part Name (SKU)*](URL for product on Sparkfun.com)
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[*SparkFun Part Name (SKU)*](https://cdn.sparkfun.com/assets/learn_tutorials/4/1/6/perspective.jpg)
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<Basic description of the library.>
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This is an arduino IDE library to control the LSM6DS3. It can be configured to use I2C or SPI with 2 instances per I2C channel or any number of SPI instances. The top-level driver, class LSM6DS3, contains an inner driver LSM6DS3Core, a settings struct, and float-based math functions for conversion from raw to meaningful numbers.
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This has been tested with Arduino Uno and Teensy 3.1 architectures.
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Repository Contents
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-------------------
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* **keywords.txt** - Keywords from this library that will be highlighted in the Arduino IDE.
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* **library.properties** - General library properties for the Arduino package manager.
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Example Briefs
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--------------
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* FifoExample - Demonstrates using the built-in buffer to burst-collect data - **Good demonstration of settings**
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* InterruptFreeFall - Embedded function demonstrating free-fall detection
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* InterruptHWTapConfig - Embedded function demonstrating tap and double-tap detection
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* LowLevelExample - Demonstrates using only the core driver without math and settings overhead
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* MinimalistExample - The **easiest** configuration
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* MultiI2C - Using two LSM6DS3s over I2C
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* MultiSPI - Using two LSM6DS3s over SPI
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* Pedometer - Embedded function demonstrating step-counting feature
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Documentation
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--------------
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* **[Installing an Arduino Library Guide](https://learn.sparkfun.com/tutorials/installing-an-arduino-library)** - Basic information on how to install an Arduino library.
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* **[Product Repository](GitHub Product URL)** - Main repository (including hardware files) for the <PRODUCT NAME>.
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* **[Hookup Guide](Learn.SparkFun URL)** - Basic hookup guide for the <PRODUCT NAME>.
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* **[Product Repository](https://github.com/sparkfun/LSM6DS3_Breakout/)** - Main repository (including hardware files) for the LSM5DS3 Breakout.
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* **[Hookup Guide](https://learn.sparkfun.com/tutorials/lsm6ds3-breakout-hookup-guide)** - Basic hookup guide for the LSM5DS3 Breakout.
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Products that use this Library
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---------------------------------
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* [Part SKU](SparkFun part URL)- Basic part and short description here
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* [Part SKU](SparkFun part URL)- Basic part and short description here
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* [BOB-13339](https://www.sparkfun.com/products/13339)- LSM6DS3 Breakout board
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Version History
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---------------
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* [vExxFxxZxxHxxLxxSxx](URL for tag specific to this version) - Description
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* [vEyyFyyZyyHyyLyySyy](URL for tag specific to this version) - Description
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* [v1.0.0](URL for tag specific to this version) - Description
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License Information
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-------------------
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- Your friends at SparkFun.
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_<COLLABORATION CREDIT>_

‎examples/README.md

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SparkFun Arduino Examples
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==========================
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Example Briefs
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--------------
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* FifoExample - Demonstrates using the built-in buffer to burst-collect data - **Good demonstration of settings**
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* InterruptFreeFall - Embedded function demonstrating free-fall detection
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* InterruptHWTapConfig - Embedded function demonstrating tap and double-tap detection
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* LowLevelExample - Demonstrates using only the core driver without math and settings overhead
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* MinimalistExample - The **easiest** configuration
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* MultiI2C - Using two LSM6DS3s over I2C
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* MultiSPI - Using two LSM6DS3s over SPI
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* Pedometer - Embedded function demonstrating step-counting feature

‎extras/LICENSE.md

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License Information
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-------------------
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The hardware is released under [Creative Commons Share-alike 3.0](http://creativecommons.org/licenses/by-sa/3.0/).
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All other code is open source so please feel free to do anything you want with it; you buy me a beer if you use this and we meet someday ([Beerware license](http://en.wikipedia.org/wiki/Beerware)).
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->Additional Licenses and attributions to original authors as needed.<-
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‎extras/README.md

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Any extra documentation that should accompany the library.
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This directory is ignored by the Arduino Package manager, so do not place vital files in here!

‎extras/README22.md

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SparkFun <PRODUCT NAME> Arduino Library
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========================================
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![SparkFun Part Name](URL for picture of part)
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[*SparkFun Part Name (SKU)*](URL for product on Sparkfun.com)
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<Basic description of the library.>
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Repository Contents
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-------------------
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* **/examples** - Example sketches for the library (.ino). Run these from the Arduino IDE.
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* **/extras** - Additional documentation for the user. These files are ignored by the IDE.
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* **/src** - Source files for the library (.cpp, .h).
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* **keywords.txt** - Keywords from this library that will be highlighted in the Arduino IDE.
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* **library.properties** - General library properties for the Arduino package manager.
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Documentation
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--------------
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* **[Installing an Arduino Library Guide](https://learn.sparkfun.com/tutorials/installing-an-arduino-library)** - Basic information on how to install an Arduino library.
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* **[Product Repository](GitHub Product URL)** - Main repository (including hardware files) for the <PRODUCT NAME>.
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* **[Hookup Guide](Learn.SparkFun URL)** - Basic hookup guide for the <PRODUCT NAME>.
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Products that use this Library
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---------------------------------
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* [Part SKU](SparkFun part URL)- Basic part and short description here
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* [Part SKU](SparkFun part URL)- Basic part and short description here
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Version History
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---------------
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* [vExxFxxZxxHxxLxxSxx](URL for tag specific to this version) - Description
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* [vEyyFyyZyyHyyLyySyy](URL for tag specific to this version) - Description
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License Information
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-------------------
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This product is _**open source**_!
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The **code** is beerware; if you see me (or any other SparkFun employee) at the local, and you've found our code helpful, please buy us a round!
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Please use, reuse, and modify these files as you see fit. Please maintain attribution to SparkFun Electronics and release anything derivative under the same license.
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Distributed as-is; no warranty is given.
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- Your friends at SparkFun.
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_<COLLABORATION CREDIT>_

‎extras/class diagrams.odg

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‎extras/class diagrams.odt

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‎extras/examples/FifoExample/FifoExample.ino

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/******************************************************************************
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Marshall Taylor @ SparkFun Electronics
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May 20, 2015
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https://github.com/sparkfun/LSM6DS3_Breakout
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FifoExample.ino
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Example using the FIFO over SPI.
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The FIFO is configured to take readings at 50Hz. When 100 samples have
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accumulated (when the "watermark" is reached), the sketch dumps the float values to the serial terminal.
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The FIFO can sample much faster but the serial port isn't fast enough to get
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that data out before another 100 samples get queued up. There is a 10ms delay
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placed after each line ("1.40,-4.41,-3.22,-0.01,0.01,0.99") so that the
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internal serial buffer is guaranteed to empty and not overflow.
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Cranking the sample rate up to 800Hz will result in the FIFO dumping routine
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never getting the FIFO back down to zero.
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Removing the 10ms delay allows the FIFO to be emptied, but then too much data
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gets placed in the serial write buffer and stability suffers.
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Resources:
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Uses Wire.h for I2C operation
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Uses SPI.h for SPI operation
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Either can be omitted if not used
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Development environment specifics:
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Arduino IDE 1.6.4
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Teensy loader 1.23
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Hardware connections
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***CAUTION -- SPI pins can not be connected directly to 5V IO***
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Connect SDA/SDI line to pin 11 through a level shifter (MOSI)
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Connect SCL pin line to pin 13 through a level shifter (SCLK)
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Connect SDO/SA0 line to pin 12 through a level shifter (MISO)
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Connect CS to a free pin through a level shifter. This example uses pin 10.
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Connect GND and ***3.3v*** power to the IMU. The sensors are not 5v tolerant.
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This code is beerware; if you see me (or any other SparkFun employee) at the
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local, and you've found our code helpful, please buy us a round!
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Distributed as-is; no warranty is given.
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******************************************************************************/
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#include "SparkFunLSM6DS3.h"
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#include "Wire.h"
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#include "SPI.h"
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LSM6DS3 myIMU( SPI_MODE, 10 );
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void setup( void ) {
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//Over-ride default settings if desired
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myIMU.settings.gyroEnabled = 1; //Can be 0 or 1
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myIMU.settings.gyroRange = 2000; //Max deg/s. Can be: 125, 245, 500, 1000, 2000
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myIMU.settings.gyroSampleRate = 833; //Hz. Can be: 13, 26, 52, 104, 208, 416, 833, 1666
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myIMU.settings.gyroBandWidth = 200; //Hz. Can be: 50, 100, 200, 400;
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myIMU.settings.gyroFifoEnabled = 1; //Set to include gyro in FIFO
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myIMU.settings.gyroFifoDecimation = 1; //set 1 for on /1
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myIMU.settings.accelEnabled = 1;
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myIMU.settings.accelRange = 16; //Max G force readable. Can be: 2, 4, 8, 16
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myIMU.settings.accelSampleRate = 833; //Hz. Can be: 13, 26, 52, 104, 208, 416, 833, 1666, 3332, 6664, 13330
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myIMU.settings.accelBandWidth = 200; //Hz. Can be: 50, 100, 200, 400;
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myIMU.settings.accelFifoEnabled = 1; //Set to include accelerometer in the FIFO
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myIMU.settings.accelFifoDecimation = 1; //set 1 for on /1
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myIMU.settings.tempEnabled = 1;
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//Non-basic mode settings
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myIMU.settings.commMode = 1;
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//FIFO control settings
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myIMU.settings.fifoThreshold = 100; //Can be 0 to 4096 (16 bit bytes)
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myIMU.settings.fifoSampleRate = 50; //Hz. Can be: 10, 25, 50, 100, 200, 400, 800, 1600, 3300, 6600
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myIMU.settings.fifoModeWord = 6; //FIFO mode.
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//FIFO mode. Can be:
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// 0 (Bypass mode, FIFO off)
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// 1 (Stop when full)
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// 3 (Continuous during trigger)
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// 4 (Bypass until trigger)
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// 6 (Continous mode)
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Serial.begin(57600); // start serial for output
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delay(1000); //relax...
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Serial.println("Processor came out of reset.\n");
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//Call .begin() to configure the IMUs
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if( myIMU.begin() != 0 )
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{
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Serial.println("Problem starting the sensor with CS @ Pin 10.");
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}
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else
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{
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Serial.println("Sensor with CS @ Pin 10 started.");
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}
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Serial.print("Configuring FIFO with no error checking...");
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myIMU.fifoBegin();
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Serial.print("Done!\n");
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Serial.print("Clearing out the FIFO...");
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myIMU.fifoClear();
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Serial.print("Done!\n");
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}
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void loop()
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{
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float temp; //This is to hold read data
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uint16_t tempUnsigned;
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while( ( myIMU.fifoGetStatus() & 0x8000 ) == 0 ) {}; //Wait for watermark
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//Now loop until FIFO is empty. NOTE: As the FIFO is only 8 bits wide,
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//the channels must be synchronized to a known position for the data to align
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//properly. Emptying the fifo is one way of doing this (this example)
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while( ( myIMU.fifoGetStatus() & 0x1000 ) == 0 ) {
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temp = myIMU.calcGyro(myIMU.fifoRead());
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Serial.print(temp);
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Serial.print(",");
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temp = myIMU.calcGyro(myIMU.fifoRead());
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Serial.print(temp);
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Serial.print(",");
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temp = myIMU.calcGyro(myIMU.fifoRead());
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Serial.print(temp);
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Serial.print(",");
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temp = myIMU.calcAccel(myIMU.fifoRead());
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Serial.print(temp);
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Serial.print(",");
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temp = myIMU.calcAccel(myIMU.fifoRead());
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Serial.print(temp);
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Serial.print(",");
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temp = myIMU.calcAccel(myIMU.fifoRead());
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Serial.print(temp);
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Serial.print("\n");
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delay(10); //Wait for the serial buffer to clear (~50 bytes worth of time @ 57600baud)
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}
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tempUnsigned = myIMU.fifoGetStatus();
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Serial.print("\nFifo Status 1 and 2 (16 bits): 0x");
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Serial.println(tempUnsigned, HEX);
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Serial.print("\n");
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}

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