IMUble — BLE IMU Streaming Firmware

Zephyr RTOS firmware for streaming 6-axis IMU data (accelerometer + gyroscope) over Bluetooth Low Energy. Built for the LSM6DSL inertial sensor, targeting nRF52 series board.

Overview

The firmware continuously samples the LSM6DSL at 104 Hz via a hardware data-ready interrupt, buffers samples in a kernel FIFO, and a periodic consumer task drains the FIFO every 50 ms to send batched BLE notifications to a connected client (e.g. a Flutter mobile app).

An LED blink indicator reflects the device state: blinking while advertising, steady-on when a BLE connection is established.

Project Structure

.
├── CMakeLists.txt      # Zephyr CMake build definition
├── prj.conf            # Kconfig: BLE, sensor, GPIO, buffer tuning
├── src/
│   └── main.c          # Application entry point (all logic)
└── README.md

Prerequisites

• nRF Connect SDK (v2.6+ recommended)
• VS Code with the nRF Connect for VS Code extension pack installed
• A board with an LSM6DSL connected via I2C/SPI and a BLE-capable SoC (e.g. Seeed XIAO nRF52840)

Build & Flash

1. Open this project folder in VS Code.
2. In the nRF Connect side panel, click Add Build Configuration.
3. Select your board (e.g. xiao_ble/nrf52840) and the nRF Connect SDK version, then click Build Configuration.
4. Click Build in the Actions bar to compile the firmware.
5. Connect your board via USB, then find zephyr.uf2 in the build/IMUble/zephyr and flush to the board.

Tip: If your board is not listed in the default set, add a custom board root via Board Roots in the build configuration dialog, or place a board overlay in the boards/ directory of this project