LSM6DSM IMU Sensor

Measure linear acceleration, angular rate, and temperature from LSM6DSM sensor

Since R2025a

• 

Libraries:
STM32 Microcontroller Blockset / Sensors / IMU Sensors

Description

The LSM6DSM IMU Sensor block measures linear acceleration and angular rate along the X, Y, and Z axis using the LSM6DSM Inertial Measurement Unit (IMU) sensor interfaced with the STM32 Processors. This 6-Degree of Freedom (DoF) IMU sensor comprises of an accelerometer and gyroscope used to measure linear acceleration and angular rate, respectively. The block also measures the temperature from the embedded temperature sensor in LSM6DSM Sensor.

You can also use the composite filter option in the block for the accelerometer values, and use the high pass and low pass filter options for 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

This output port appears only if you 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

This output port appears only if you select the Angular Velocity (rad/s) parameter.

Data Types: double

Temperature — Temperature measured by LSM6DSM sensor

scalar

Temperature (in ℃) measured by LSM6DSM sensor connected to STM32 Processors.

Dependencies

This output port appears only if you 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, specified as a 1-by-3 vector. 0 indicates that the data read is new, 1 indicates that the data read is not new, and -1 indicates that the corresponding output is not selected.

Dependencies

This output port appears only if you select the Status parameter.

Data Types: int8

Timestamp — Timestamp at which data is read

matrix | (n)-by-1

Timestamp (in seconds) at which data is read from the sensor, returned as n-by-1 matrix, where n is the value specified as Samples per frame.

Dependencies

This output port appears only if you select the Timestamp parameter.

Data Types: double

Parameters

Main

I2C module — I2C communication module

I2C1 (default) | scalar

Specify the I2C module on the STM32 Processors 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 LSM6DSM sensor are decided by the state of the SDO/SA0 pin on the hardware board. This table provides the peripheral addresses corresponding to the pin and their state.

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

Programmatic Use

Block Parameter: I2CAddress

Acceleration (m/s²) — Set output port for reading acceleration

on (default) | off

Select this parameter to set Acceleration as one of the output ports.

Programmatic Use

Block Parameter: IsActiveAcceleration

Angular Velocity (rad/s) — Set output port for reading angular velocity

on (default) | off

Select this parameter to set Angular Velocity as one of the output ports.

Programmatic Use

Block Parameter: IsActiveAngularVelocity

Temperature (℃) — Set output port for reading temperature

on (default) | off

Select this parameter to set Temperature as one of the output ports.

Programmatic Use

Block Parameter: IsActiveTemperature

Status — Set output port for obtaining status of selected outputs

off (default) | on

Select this parameter to set Status as one of the output ports.

Programmatic Use

Block Parameter: IsActiveStatus

Timestamp — Set output port for obtaining timestamp

off (default) | on

Select this parameter to set Timestamp as one of the output ports.

Programmatic Use

Block Parameter: IsActiveTimeStamp

Sample time — Time interval to read data

-1 (default) | positive integer

Specify how often this block reads the data from the LSM6DSM sensor. When you set this parameter to -1, Simulink^® determines the best sample time for the block based on the block 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 — Full scale for measuring linear acceleration

±2g (default) | ±4g | ±8g | ±16g

Select the full scale for measuring linear acceleration (the range of acceleration that the sensor needs to measure).

Programmatic Use

Block Parameter: GyroscopeRange

Output data rate — Rate at which accelerometer data is sampled

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

Select the output data rate at which accelerometer data is sampled, which also determines the bandwidth.

Programmatic Use

Block Parameter: GyroscopeODR

Digital low pass filter bandwidth — Bandwidth of low-pass digital filter

ODR/2 (default) | ODR/4

Select the required bandwidth of the low-pass digital filter.

Programmatic Use

Block Parameter: AccelLPF1BW

Select composite filter — Composite filter used in the filtering chain

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

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

Programmatic Use

Block Parameter: AccelSelectCompositeFilter

High pass filter bandwidth — Bandwidth of high pass filter

ODR/100 (default) | ODR/9 | ODR/400

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

Dependencies

This parameter appears only if you select High pass filter in the Select composite filter parameter.

Programmatic Use

Block Parameter: GyroHPFBW

Low pass filter bandwidth — Bandwidth of low pass filter

ODR/50 (default) | ODR/100 | ODR/9 | ODR/400

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

Dependencies

This parameter appears only if you select Low pass filter in the Select composite filter parameter.

Programmatic Use

Block Parameter: AccelLPF2BW

Gyroscope

Full scale range — Full scale for measuring angular velocity

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

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

Programmatic Use

Block Parameter: GyroscopeRange

Output data rate — Rate at which gyroscope data is sampled

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

Select the output data rate at which gyroscope data is sampled, which also determines the bandwidth.

Programmatic Use

Block Parameter: GyroscopeODR

Enable high pass filter — Enable high pass filter for gyroscope data

off (default) | on

Enable the high pass filter for reading gyroscope values.

Programmatic Use

Block Parameter: EnableGyroHPF

High pass filter bandwidth — Bandwidth of high pass filter

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

Select the required bandwidth of the high pass filter for reading gyroscope values.

Dependencies

This parameter appears only if you select the Enable high pass filter parameter.

Programmatic Use

Block Parameter: GyroHPFBW

Enable low pass filter — Enable low pass filter for gyroscope data

off (default) | on

Enable the low pass 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

Select the required bandwidth mode of the low pass filter for reading gyroscope values.

Dependencies

This parameter appears only if you select the Enable low pass filter parameter.

Programmatic Use

Block Parameter: GyroLPFBWMode

Extended Capabilities

C/C++ Code Generation
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Version History

Introduced in R2025a