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.. zephyr:code-sample:: lsmd6dsl
   :name: LSM6DSL IMU sensor
   :relevant-api: sensor_interface

   Get accelerometer and gyroscope data from an LSM6DSL sensor (polling & trigger
   mode).

IMPORTANT

This is a modified sample from Zephyr aimed to unify data from LSM6DSL and LIS3MDL sensors. I have further repurposed it to showcase an issue in the LIS3MDL driver, when both CONFIG_LIS3MDL_TRIGGER and CONFIG_ASSERT are set.

Overview

This sample sets the LSM6DSL accelerometer and gyroscope to 104Hz and enable a trigger on data ready. It displays on the console the values for accelerometer and gyroscope, plus optionally the values of any magnetometer or pressure sensor attached to it (sensorhub function).

Requirements

This sample uses the LSM6DSL sensor controlled using the I2C or SPI interface. It has been tested on both :ref:`96b_argonkey` and disco_l475_iot1 board.

References

Building and Running

This project outputs sensor data to the console. It requires an LSM6DSL sensor, which is present on both the :ref:`96b_argonkey` and disco_l475_iot1 board.

Building on ArgonKey board

.. zephyr-app-commands::
   :zephyr-app: samples/sensor/lsm6dsl
   :host-os: unix
   :board: 96b_argonkey
   :goals: build
   :compact:

Building on disco_l475_iot1 board

.. zephyr-app-commands::
   :zephyr-app: samples/sensor/lsm6dsl
   :host-os: unix
   :board: disco_l475_iot1
   :goals: build
   :compact:

Building on nrf52840dk/nrf52840 board with x-nucleo-iks01a2 shield

.. zephyr-app-commands::
   :zephyr-app: samples/sensor/lsm6dsl
   :host-os: unix
   :board: nrf52840dk/nrf52840
   :shield: x_nucleo_iks01a2
   :goals: build
   :compact:

Sample Output

LSM6DSL sensor samples:

accel (-3.184000 -0.697000 9.207000) m/s2
gyro (0.065000 -0.029000 0.002000) dps
magn (-0.042000 0.294000 -0.408000) gauss
- (0) (trig_cnt: 190474)

<repeats endlessly every 2 seconds>

Note

The magn row is displayed only when running sample onto 96b_argonkey board, where a magnetometer is connected to LSM6DSL.

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LIS3MDL driver test for Zephyr RTOS

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