#include
#include
LSM9DS0 lsm;
void setup(void)
{
Serial.begin(9600);
// The address can be changed making the option of connecting multiple devices
lsm.getAddrG_LSM9DS0(LSM9DS0_DEFAULT_ADDRESS_GYRO); // 0x6A
// lsm.getAddrG_LSM9DS0(LSM9DS0_ADDRESS_GYRO_UPDATED); // 0x6B
lsm.getAddrXM_LSM9DS0(LSM9DS0_DEFAULT_ADDRESS_ACCELMAG); // 0x1E
// lsm.getAddrXM_LSM9DS0(LSM9DS0_ADDRESS_ACCELMAG_UPDATED); // 0x1D
// The Gyroscope's Output Data Rate and Bandwidth Selection and Full-Scale Selection,
// Acceleration Data Rate Selection and Acceleration Full-Scale Selection,
// Magnetic Data Rate Selection and Magnetic Full-Scale Selection
// can be changed via the following functions
/*
// Also some more parameters can be changed using the following functions
// Gyroscope:
// Power-Down Mode Enable, Gyroscope X, Y, Z Axes Enable,
// Block Data Update, Big/Little Endian Data Selection, Full-Scale Selection,
// Self-Test Enable and SPI Serial Interface Mode Selection
// Accelerometer and Magmetometer:
// Block Data Update for Acceleration and Magnetic Data
// Acceleration X, Y, Z Axes Enable
// Acceleration Anti-Alias Filter Bandwidth
// Self-Test Mode Configuration, SPI Serial Interface Mode Selection
// Temperature Sensor Enable, Magnetic Resolution Selection
// Latch Interrupt Request on INT2_SRC Register, Latch Interrupt Request on INT1_SRC Register
// Magnetic Sensor Mode Selection
// These functions can be modified and added here so that the parameters can be altered as per requirement
*/
lsm.setGyroDataRate(GYRO_DATARATE_95_12_5); // ODR (Hz): 95, Cutoff: 12.5
// lsm.setGyroDataRate(GYRO_DATARATE_95_25); // ODR (Hz): 95, Cutoff: 25
// lsm.setGyroDataRate(GYRO_DATARATE_190_12_5); // ODR (Hz): 190, Cutoff: 12.5
// lsm.setGyroDataRate(GYRO_DATARATE_190_25); // ODR (Hz): 190, Cutoff: 25
// lsm.setGyroDataRate(GYRO_DATARATE_190_50); // ODR (Hz): 190, Cutoff: 50
// lsm.setGyroDataRate(GYRO_DATARATE_190_70); // ODR (Hz): 190, Cutoff: 70
// lsm.setGyroDataRate(GYRO_DATARATE_380_20); // ODR (Hz): 380, Cutoff: 20
// lsm.setGyroDataRate(GYRO_DATARATE_380_25); // ODR (Hz): 380, Cutoff: 25
// lsm.setGyroDataRate(GYRO_DATARATE_380_50); // ODR (Hz): 380, Cutoff: 50
// lsm.setGyroDataRate(GYRO_DATARATE_380_100); // ODR (Hz): 380, Cutoff: 100
// lsm.setGyroDataRate(GYRO_DATARATE_760_30); // ODR (Hz): 760, Cutoff: 30
// lsm.setGyroDataRate(GYRO_DATARATE_760_35); // ODR (Hz): 760, Cutoff: 35
// lsm.setGyroDataRate(GYRO_DATARATE_760_50); // ODR (Hz): 760, Cutoff: 50
// lsm.setGyroDataRate(GYRO_DATARATE_760_100); // ODR (Hz): 760, Cutoff: 100
lsm.setGyroScale(GYRO_SCALE_2000DPS); // 2000 dps
// lsm.setGyroScale(GYRO_SCALE_245DPS); // 245 dps
// lsm.setGyroScale(GYRO_SCALE_500DPS); // 500 dps
lsm.setAccelDataRate(ACCEL_DATARATE_3_125HZ); // AODR (Hz): 3.125
// lsm.setAccelDataRate(ACCEL_DATARATE_POWERDOWN); // Power Down Mode
// lsm.setAccelDataRate(ACCEL_DATARATE_6_25HZ); // AODR (Hz): 6.25
// lsm.setAccelDataRate(ACCEL_DATARATE_12_5HZ); // AODR (Hz): 12.5
// lsm.setAccelDataRate(ACCEL_DATARATE_25HZ); // AODR (Hz): 25
// lsm.setAccelDataRate(ACCEL_DATARATE_50HZ); // AODR (Hz): 50
// lsm.setAccelDataRate(ACCEL_DATARATE_100HZ); // AODR (Hz): 100
// lsm.setAccelDataRate(ACCEL_DATARATE_200HZ); // AODR (Hz): 200
// lsm.setAccelDataRate(ACCEL_DATARATE_400HZ); // AODR (Hz): 400
// lsm.setAccelDataRate(ACCEL_DATARATE_800HZ); // AODR (Hz): 800
// lsm.setAccelDataRate(ACCEL_DATARATE_1600HZ); // AODR (Hz): 1600
lsm.setAccelRange(ACCEL_RANGE_16G); // ±16 g
// lsm.setAccelRange(ACCEL_RANGE_2G); // ±2 g
// lsm.setAccelRange(ACCEL_RANGE_4G); // ±4 g
// lsm.setAccelRange(ACCEL_RANGE_6G); // ±6 g
// lsm.setAccelRange(ACCEL_RANGE_8G); // ±8 g
lsm.setMagDataRate(MAG_DATARATE_3_125HZ); // MODR (Hz): 3.125
// lsm.setMagDataRate(MAG_DATARATE_6_25HZ); // MODR (Hz): 6.25
// lsm.setMagDataRate(MAG_DATARATE_12_5HZ); // MODR (Hz): 12.5
// lsm.setMagDataRate(MAG_DATARATE_25HZ); // MODR (Hz): 25
// lsm.setMagDataRate(MAG_DATARATE_50HZ); // MODR (Hz): 50
// lsm.setMagDataRate(MAG_DATARATE_100HZ); // MODR (Hz): 100
lsm.setMagGain(MAG_GAIN_12GAUSS); // ±12 guass
// lsm.setMagGain(MAG_GAIN_2GAUSS); // ±2 guass
// lsm.setMagGain(MAG_GAIN_4GAUSS); // ±4 guass
// lsm.setMagGain(MAG_GAIN_8GAUSS); // ±8 guass
lsm.begin();
delay(1000);
}
void loop(void)
{
byte errorG, errorXM;
int8_t addressG, addressXM;
// LSM9DS0 Gyroscope Address
addressG = lsm.lsm_i2cAddressG;
// LSM9DS0 Accelerometer/Magnetometer Address
addressXM = lsm.lsm_i2cAddressXM;
// The i2c_scanner uses the return value of
// the Write.endTransmisstion to see if
// a device did acknowledge to the address.
Wire.beginTransmission(addressG);
errorG = Wire.endTransmission();
Wire.beginTransmission(addressXM);
errorXM = Wire.endTransmission();
if ((errorG == 0) && (errorXM == 0))
{
Serial.println("Getting Angular Rate, Linear Acceleration, and Magnetic Field Data Readings from LSM9DS0");
Serial.println(" ");
// Set up the sensor for Gyroscope, Accelerometer, and Magnetometer
lsm.setUpGyroscope();
lsm.setUpAccelerometer();
lsm.setUpMagnetometer();
delay(500);
// Display the results for Angular Rate, Acceleration, and Magnetic Field Values
lsm.Measure_Sensor();
lsm.Measure_Gyroscope();
lsm.Measure_Accelerometer();
lsm.Measure_Magnetometer();
// Output Data to Screen
Serial.print("Rotation in X-Axis: ");
Serial.println(lsm.lsm_gyroData.X);
Serial.print("Rotation in Y-Axis: ");
Serial.println(lsm.lsm_gyroData.Y);
Serial.print("Rotation in Z-Axis: ");
Serial.println(lsm.lsm_gyroData.Z);
Serial.println(" ");
Serial.println(" *********** ");
Serial.println(" ");
delay(500);
Serial.print("Linear Acceleration in X-Axis: ");
Serial.println(lsm.lsm_accelData.X);
Serial.print("Linear Acceleration in Y-Axis: ");
Serial.println(lsm.lsm_accelData.Y);
Serial.print("Linear Acceleration in Z-Axis: ");
Serial.println(lsm.lsm_accelData.Z);
Serial.println(" ");
Serial.println(" *********** ");
Serial.println(" ");
delay(500);
Serial.print("Magnetic Field in X-Axis: ");
Serial.println(lsm.lsm_magData.X);
Serial.print("Magnetic Field in Y-Axis: ");
Serial.println(lsm.lsm_magData.Y);
Serial.print("Magnetic Field in Z-Axis: ");
Serial.println(lsm.lsm_magData.Z);
Serial.println(" ");
Serial.println(" *********** ");
Serial.println(" ");
Serial.println("LSM9DS0 Temperature Readings");
Serial.println(" ");
Serial.print("Temperature Reading in Celsius: ");
Serial.print(lsm.lsm_tempData.T);
Serial.println(" °C");
Serial.print("Temperature Reading in Fahrenheit: ");
Serial.print(((lsm.lsm_tempData.T * 1.8) + 32));
Serial.println(" °F");
Serial.println(" ");
Serial.println(" *************************** ");
Serial.println(" ");
delay(1000);
}
else
{
Serial.println("LSM9DS0 Disconnected!");
Serial.println(" ");
Serial.println(" ************ ");
Serial.println(" ");
}
delay(1000);
}
