LSM6DSO: IMU Sensor Monitor (I2C on I3C bus)


This sample sets the date rate of LSM6DSO accelerometer and gyroscope to 12.5Hz and enables a trigger on data ready. It displays on the console the values for accelerometer and gyroscope.


This sample uses the LSM6DSO sensor controlled using the I2C interface exposed by the I3C controller. It has been tested using the LSM6DSO on the evaluation board STEVAL-MKI196V1 connected to the I3C header on NXP MIMXRT685-EVK.


Building and Running

This project outputs sensor data to the console. It requires an LSM6DSO sensor (for example, the one on evaluation board STEVAL-MKI196V1).

Building on mimxrt685_evk_cm33 board

west build -b mimxrt685_evk_cm33 samples/sensor/lsm6dso_i2c_on_i3c

Board Preparations


On the board NXP MIMXRT685-EVK, the I3C pins are exposed on the J18 header, where:

  • SCL is on pin 1

  • SDA is on pin 2

  • Internal pull-up is on pin 3 (which is connected to pin 2 already)

  • Ground is on pin4


A LSM6DSO sensor needs to be connected to this header. For example, the evaluation board STEVAL-MKI196V1 can be used. This needs to be prepared so that the LSM6DSO sensor has address 0x6B (i.e. 0xD6, left-shifed).

Sample Output

Testing LSM6DSO sensor in trigger mode.

accel x:-0.650847 ms/2 y:-5.300102 ms/2 z:-8.163114 ms/2
gyro x:-0.167835 dps y:-0.063377 dps z:0.002367 dps

accel x:0.341575 ms/2 y:5.209773 ms/2 z:-7.938787 ms/2
gyro x:-0.034284 dps y:-0.004428 dps z:-0.003512 dps

<repeats endlessly>