imu_lsm6dso_demo Directory Reference

Directory dependency graph for imu_lsm6dso_demo:

Directories
	src

Detailed Description

Bring-up demo for the ST LSM6DSO 6-DoF IMU (MikroE 6DOF IMU 12 Click, Digikey 1471-MIKROE-4073-ND). The app brings up IIC_B channel 0 at 100 kHz on the MikroBUS SDA/SCL pair, binds the ra8_lsm6dso driver, reads WHO_AM_I (expecting 0x6C), then configures the part to +-2 g, +-250 dps and 104 Hz ODR and loops printing raw accel, gyro and temperature counts. Temperature is reported in centi-degrees Celsius.

Hardware

The EK-RA8D2 has no native MikroBUS socket. In this project's physical bring-up, Pmod1 (J26) is free and Pmod2 (J25) is occupied by the Digilent PMOD MicroSD, so the Click sits in a MikroBUS slot on a Click-Shield-style breakout over the Arduino headers, which routes MikroBUS SDA/SCL to the Arduino D14/D15 pads.

LSM6DSO MikroBUS pin	J22/Arduino pad	EVM net	Notes
SDA	J22.6 / D14	P511	SDA1, UM Table 21 p 29 (SW4-5 = OFF).
SCL	J22.5 / D15	P512	SCL1, UM Table 21 p 29 (SW4-5 = OFF).
3V3	shield 3V3 rail	–	EVM supplies 3.3 V.
GND	shield GND	–	EVM ground.
SA0 / SDO	tied HIGH (3V3)	–	Picks I2C address 0x6B (MikroE default).

Pin assignments follow EK-RA8D2 v1 UM Table 20 p 28 and Table 21 p 29.

Required SW4 DIP positions

The on-board SW4 8-position DIP gates which connectors the chip's muxed peripherals route to (EK-RA8D2 v1 UM Rev 1.01 Table 3 p 16 and Section 5.3.5 p 29). The I2C-side MikroBUS path requires:

SW4	Position	Reason
3	ON	Octo-SPI Inactive (frees the Arduino/mikroBUS pins).
4	ON	Arduino + mikroBUS connectors Active.
5	OFF	I2C Active on mikroBUS (P511/P512 SDA1/SCL1).

The remaining channels are independent and can stay at the project defaults documented in the board header. Either flip the DIPs by hand or call ra8_board_io_expander_apply_project_sw4_defaults() early in main() to have the U15 expander drive the whole project layout in firmware – that overrides whatever the physical switches read.

Blocked on

The Click board is not on the bench. Without it the I2C bus is unpopulated, WHO_AM_I reads 0xFF with no ack, and the demo prints a NAK and latches LED2. The same is true if the SW4 layout above is wrong.