6 轴 IMU（加速度计 + 陀螺仪），带硬件计步器。通过 I²C 连接 LSM6DS3。

仓库：github.com/dekiengine/deki-imu · 最新版本：0.19.0 · 需要引擎 0.19.0 或更高版本 · 依赖：deki-i2c

使用 DekiEditor --packages-add deki-imu <project> 或通过包管理器安装。引擎自身的组件和 C++ API 见 Deki 文档。

在编辑器中显示为 **IMU (Accelerometer + Gyroscope)**。

组件

组件	类别	说明
LSM6DS3IMUComponent	传感器	通过 I2C 读取 LSM6DS3 运动传感器，包括计步器。

功能开关

可以从构建中去掉的部分。带有 define 的功能通过该 define 开关，其余的随其组件一起被剥离。

功能	define	默认值
LSM6DS3 (I²C, 6-axis + hardware pedometer)	DEKI_FEATURE_IMU_LSM6DS3	开

通过 I2C 读取 LSM6DS3 运动传感器，包括计步器。

检视器中的名称：LSM6DS3 IMU · 类别：传感器 · 类型：DekiImu::LSM6DS3IMUComponent

属性	类型	默认值	约束	说明
i2cPort	int32	0	0 到 3	传感器所在的 I2C 总线。必须与设置该端口的 I2C 总线组件一致。
i2cAddress	int32	106	0 到 127	传感器在总线上的地址，由 SDO/SA0 引脚决定：该引脚为低电平时为 0x6A，高电平时为 0x6B。将该引脚接成不同电平，两块这种芯片就能共用一条总线。
enablePedometer	bool	true		运行芯片内置的计步器。由硬件计数，无需唤醒 CPU 就能持续累计步数，只会略微增加电流消耗。

更新日志为英文。

minEngine 0.19.0: built against engine 0.19.0, whose component metadata records the package each class is in. A build of this package from before does not load and is rebuilt.

Japanese, Simplified Chinese and Korean: editor/lang/ja.json, zh.json and ko.json translate the names, tooltips and enum values this package's components show in the Inspector.

minEngine 0.18.0. Reflection ABI 21: the package must be rebuilt.
Names follow the code style (deki-engine/docs/codestyle): types, functions and enum values are PascalCase, constants kPascalCase, members m_PascalCase, locals and parameters camelCase. The code is formatted with clang-format 22.
The functions the editor finds by name are PascalCase: DekiIMURegisterComponents, DekiIMUGetAutoComponentCount, DekiIMUEnsureRegistered and the rest. Built against engine ABI 21; a build of this package from before does not load and is rebuilt.

LSM6DS3: resetting the step count works. It set a bit in the wrong register, so the count never cleared.
LSM6DS3: with the pedometer on, the gyroscope's X and Z axes stay on. Turning the pedometer on switched them off on the original LSM6DS3. The pedometer bits now follow the chip: the LSM6DS3 and the LSM6DS3TR-C keep them in different places.

The former names from before 0.16.0 (bare class names, and deki-gpio's DekiEsp32::ESP32PinSetup). A scene that old is upgraded with 0.17 first.

更早的版本：CHANGELOG.md

由包的反射数据生成（引擎 0.19.0）。属性名就是场景文件中使用的键。重命名后会保留别名（兼容性）。