lsm6dsox — LSM6DSOX 6-axis IMU

Driver for the ST LSM6DSOX iNEMO 6-axis inertial measurement unit (3-axis accelerometer plus 3-axis gyroscope) over I2C or SPI. In addition to the basic IMU output, the driver exposes the on-chip embedded functions: a configurable pedometer (step counter) and the Machine Learning Core (MLC), which can be programmed via UCF files exported from ST’s Unico-GUI tool.

Example:

import time
from machine import Pin, SPI, I2C
from lsm6dsox import LSM6DSOX

# Init in I2C mode.
lsm = LSM6DSOX(I2C(0, scl=Pin(13), sda=Pin(12)))

# Or init in SPI mode.
# lsm = LSM6DSOX(SPI(5), cs=Pin(10))

while True:
    print("Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}".format(*lsm.accel()))
    print("Gyroscope:     x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}".format(*lsm.gyro()))
    time.sleep_ms(100)

Classes

class lsm6dsox.LSM6DSOX(bus: machine.I2C | machine.SPI, cs: machine.Pin | None = None, address: int = 0x6A, gyro_odr: float = 104, accel_odr: float = 104, gyro_scale: int = 2000, accel_scale: int = 4, ucf: str | None = None)

Construct an LSM6DSOX instance. The bus type is auto-detected: if bus exposes readfrom_mem it is treated as a machine.I2C, otherwise it is treated as a machine.SPI and cs must be supplied. The chip is soft-reset, the requested ODR and scale are programmed, and an MLC UCF file is loaded if provided.

bus

Either a configured machine.I2C or machine.SPI bus.

cs

Chip-select machine.Pin used in SPI mode. Required when bus is an SPI instance, ignored otherwise.

address

7-bit I2C address of the device. Defaults to 0x6A; some boards strap the SDO pin high which selects 0x6B.

gyro_odr

Gyroscope output data rate in Hz. Must be one of 0 (off), 1.6, 3.33, 6.66, 12.5, 26, 52, 104, 208, 416 or 888.

accel_odr

Accelerometer output data rate in Hz. Same set of values as gyro_odr.

gyro_scale

Gyroscope full-scale range in degrees-per-second. Must be one of 250, 500, 1000 or 2000.

accel_scale

Accelerometer full-scale range in g. Must be one of 2, 4, 8 or 16.

ucf

Optional path to an ST Unico-GUI .ucf register-dump file. If supplied the file is parsed and applied to the MLC during construction by way of load_mlc().

reset() → None

Issue a software reset via CTRL3_C and block until the reset bit clears. Raises OSError if the device fails to come back within ten retries.

set_mem_bank(bank: int) → None

Switch the FUNC_CFG register bank. Used internally to access the embedded function and sensor-hub register pages; rarely needed by application code.

set_embedded_functions(enable: bool, emb_ab: tuple[int, int] | None = None) → tuple[int, int]

Enable or disable the embedded-function block. When enable is True the two-byte emb_ab tuple is written to EMB_FUNC_EN_A/EMB_FUNC_EN_B. When False the current values are read, the MLC/pedometer enable bits are cleared, and the previous values are returned so they can be restored later.

load_mlc(ucf: str) → None

Apply an MLC UCF program from the file at path ucf. The driver walks the file line-by-line, applies each Ac <reg> <val> write, then enables BDU, routes MLC events to interrupt pin 1 and turns the embedded functions back on.

mlc_output() → bytes | None

If new MLC results are available (MLC_STATUS bit set), return the contents of the eight MLC0_SRC..MLC7_SRC registers as a bytes-like object. Otherwise return None.

pedometer_config(enable: bool = True, debounce: int = 10, int1_enable: bool = False, int2_enable: bool = False) → None

Configure the embedded pedometer.

enable

Enables or disables step detection on the embedded function block.

debounce

Step debounce value written into PEDO_DEB_STEPS_CONF.

int1_enable

If True, route pedometer events to the INT1 pin.

int2_enable

If True, route pedometer events to the INT2 pin.

pedometer_reset() → None

Reset the step counter back to zero.

steps() → int

Return the current value of the 16-bit step counter.

gyro() → tuple[float, float, float]

Return the gyroscope vector (x, y, z) in degrees per second.

accel() → tuple[float, float, float]

Return the acceleration vector (x, y, z) in units of standard gravity (1 g = 9.81 m/s²).