====== lamaPLC: GY-511 6DOF sensor module ======
{{ :sensor:gy_511.png?140|GY-511 6DOF sensor module}}
The GY-511 is a 6-degree-of-freedom (6DOF) sensor module that combines a 3-axis digital accelerometer and a 3-axis digital magnetometer into a single breakout board. It is primarily based on the **STMicroelectronics LSM303DLHC** chip and is widely used for creating electronic compasses and motion-tracking systems.

**Key Specifications**

  * Sensor Chip: STMicroelectronics LSM303DLHC.
  * Operating Voltage: **3V to 5V DC** (includes an integrated low-drop voltage regulator).
  * Communication Interface: standard [[com:basic_i2c|I²C]] protocol.
  * Accelerometer Range: user-selectable at ±2g, ±4g, ±8g, and ±16g.
  * Magnetometer Range: seven selectable ranges from ±1.3 to ±8.1 gauss.
  * Resolution: built-in 12-bit ADC providing a 16-bit digital data output.

==== Pinout Configuration ====
The module typically features 8 pins, though only 4 are essential for basic operation with controllers like Arduino Uno: 

^Pin^Function^Description|
^VIN|Power Supply|3.3V to 5V input.|
^3V|Output|3.3V regulated output (up to 100mA).|
^GND|Ground|System ground.|
^SCL|I²C Clock|Clock signal for serial communication.|
^SDA|I²C Data|Data signal for serial communication.|
^INT1/2|Interrupts|Programmable for motion or free-fall detection.|
^DRDY|Data Ready|Indicator for new measured values.|

**Common Applications**

  * **Tilt-Compensated Compasses:** Determining heading even when the device isn't perfectly level.
  * **Motion Tracking:** Used in wearables and fitness trackers to monitor activity levels.  
  * **Free-Fall Detection:** Identifying sudden drops to trigger safety mechanisms.  
  * **Drones & Robots:** Improving flight stability or navigational accuracy.

==== Arduino example code ====
To connect the GY-511 (LSM303DLHC) to an Arduino, the most reliable method is to use the **Pololu LSM303** Library.

^GY-511 Pin^Arduino Uno / Nano^Arduino Mega|
^VIN|5V|5V|
^GND|GND|GND|
^SCL|A5|Pin 21|
^SDA|A4|Pin 20|

First, install the LSM303 library from the Arduino Library Manager. This basic code reads raw accelerometer and magnetometer data and prints it to the Serial Monitor.

<code c>
#include <Wire.h>
#include <LSM303.h>

LSM303 compass;

void setup() {
  Serial.begin(9600);
  Wire.begin();

  // Initialize the sensor
  if (!compass.init()) {
    Serial.println("Failed to detect GY-511!");
    while (1);
  }
  
  compass.enableDefault();
  Serial.println("GY-511 Initialized.");
}

void loop() {
  // Read all sensor data
  compass.read();

  // Accelerometer data (X, Y, Z)
  Serial.print("Accel X: "); Serial.print(compass.a.x);
  Serial.print(" Y: ");      Serial.print(compass.a.y);
  Serial.print(" Z: ");      Serial.print(compass.a.z);

  // Magnetometer data (X, Y, Z)
  Serial.print(" | Mag X: "); Serial.print(compass.m.x);
  Serial.print(" Y: ");       Serial.print(compass.m.y);
  Serial.print(" Z: ");       Serial.println(compass.m.z);

  delay(500); // Wait half a second
}
</code>

**Key Functions in the Library**

  * **compass.init():** Detects if the sensor is connected via I²C.
  * **compass.enableDefault():** Configures basic settings like 100Hz update rate and ±2g scale.
  * **compass.read():** Fetches the latest 6-axis data from the sensor's registers.
  * **compass.heading():** Calculates the compass heading in degrees (0-360) after calibration.

**Calibration Note**

For accurate compass readings, you must calibrate the magnetometer. Use the Calibrate example included with the library to find your sensor's specific //m_min// and //m_max// values and update them in your //setup()//. 

===== I2C topics on lamaPLC =====
{{topic>i2c}}

{{tag>STMicroelectronics LSM303DLHC I2C LSM303 sensor GY-511 6DOF Pololu module Arduino}}

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