“(SKU:RB-02S073)LSM9DS0- 9轴姿态传感器”的版本间的差异

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|align="center"|SDOG
 
|align="center"|SDOG
 
|align="center"|地址选择引脚
 
|align="center"|地址选择引脚
 +
|-
 +
|align="center"|SDOX
 +
|align="center"|SPI模式输出陀螺仪数据
 
|-
 
|-
 
|align="center"|SCL
 
|align="center"|SCL
第36行: 第39行:
 
|align="center"|SDA
 
|align="center"|SDA
 
|align="center"|数据引脚
 
|align="center"|数据引脚
|-
 
|align="center"|VDD
 
|align="center"|电源正极
 
|-
 
|align="center"|GND
 
|align="center"|电源地
 
|-
 
|align="center"|SDA
 
|align="center"|A4
 
|-
 
|align="center"|SCL
 
|align="center"|A5
 
 
|-
 
|-
 
|align="center"|VDD
 
|align="center"|VDD
第98行: 第89行:
 
|-
 
|-
 
|align="center"|INT1XM
 
|align="center"|INT1XM
|align="center"|D3
+
|align="center"|D2
 
|-
 
|-
 
|align="center"|INT2XM
 
|align="center"|INT2XM
|align="center"|D2
+
|align="center"|D3
 
|}
 
|}
 
<br>
 
<br>
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==应用例程==
 
==应用例程==
 
===示例代码===
 
===示例代码===
<pre style='color:blue'>LSM9DS0_Simple.ino
+
[https://github.com/sparkfun/SparkFun_LSM9DS0_Arduino_Library 库文件官方下载地址]<br/>
SFE_LSM9DS0 Library Simple Example Code
+
<pre style='color:blue'>
Jim Lindblom @ SparkFun Electronics
+
Original Creation Date: February 18, 2014
+
https://github.com/sparkfun/LSM9DS0_Breakout
+
 
+
The LSM9DS0 is a versatile 9DOF sensor. It has a built-in
+
accelerometer, gyroscope, and magnetometer. Very cool! Plus it
+
functions over either SPI or I2C.
+
 
+
This Arduino sketch is a demo of the simple side of the
+
SFE_LSM9DS0 library. It'll demo the following:
+
* How to create a LSM9DS0 object, using a constructor (global
+
  variables section).
+
* How to use the begin() function of the LSM9DS0 class.
+
* How to read the gyroscope, accelerometer, and magnetometer
+
  using the readGryo(), readAccel(), readMag() functions and the
+
  gx, gy, gz, ax, ay, az, mx, my, and mz variables.
+
* How to calculate actual acceleration, rotation speed, magnetic
+
  field strength using the calcAccel(), calcGyro() and calcMag()
+
  functions.
+
* How to use the data from the LSM9DS0 to calculate orientation
+
  and heading.
+
 
+
Hardware setup: This library supports communicating with the
+
LSM9DS0 over either I2C or SPI. If you're using I2C, these are
+
the only connections that need to be made:
+
    LSM9DS0 --------- Arduino
+
    SCL ---------- SCL (A5 on older 'Duinos')
+
    SDA ---------- SDA (A4 on older 'Duinos')
+
    VDD ------------- 3.3V
+
    GND ------------- GND
+
(CSG, CSXM, SDOG, and SDOXM should all be pulled high jumpers on
+
  the breakout board will do this for you.)
+
 
+
If you're using SPI, here is an example hardware setup:
+
    LSM9DS0 --------- Arduino
+
          CSG -------------- 9
+
          CSXM ------------- 10
+
          SDOG ------------- 12
+
          SDOXM ------------ 12 (tied to SDOG)
+
          SCL -------------- 13
+
          SDA -------------- 11
+
          VDD -------------- 3.3V
+
          GND -------------- GND
+
 
+
The LSM9DS0 has a maximum voltage of 3.6V. Make sure you power it
+
off the 3.3V rail! And either use level shifters between SCL
+
and SDA or just use a 3.3V Arduino Pro. 
+
 
+
Development environment specifics:
+
    IDE: Arduino 1.0.5
+
    Hardware Platform: Arduino Pro 3.3V/8MHz
+
    LSM9DS0 Breakout Version: 1.0
+
 
+
This code is beerware. If you see me (or any other SparkFun
+
employee) at the local, and you've found our code helpful, please
+
buy us a round!
+
 
+
Distributed as-is; no warranty is given.
+
*****************************************************************/
+
 
+
// The SFE_LSM9DS0 requires both the SPI and Wire libraries.
+
// Unfortunately, you'll need to include both in the Arduino
+
// sketch, before including the SFE_LSM9DS0 library.
+
 
#include <SPI.h> // Included for SFE_LSM9DS0 library
 
#include <SPI.h> // Included for SFE_LSM9DS0 library
 
#include <Wire.h>
 
#include <Wire.h>
 
#include <SFE_LSM9DS0.h>
 
#include <SFE_LSM9DS0.h>
 
///////////////////////
 
// Example I2C Setup //
 
///////////////////////
 
// Comment out this section if you're using SPI
 
// SDO_XM and SDO_G are both grounded, so our addresses are:
 
 
#define LSM9DS0_XM  0x1D // Would be 0x1E if SDO_XM is LOW
 
#define LSM9DS0_XM  0x1D // Would be 0x1E if SDO_XM is LOW
 
#define LSM9DS0_G  0x6B // Would be 0x6A if SDO_G is LOW
 
#define LSM9DS0_G  0x6B // Would be 0x6A if SDO_G is LOW
// Create an instance of the LSM9DS0 library called `dof` the
 
// parameters for this constructor are:
 
// [SPI or I2C Mode declaration],[gyro I2C address],[xm I2C add.]
 
 
LSM9DS0 dof(MODE_I2C, LSM9DS0_G, LSM9DS0_XM);
 
LSM9DS0 dof(MODE_I2C, LSM9DS0_G, LSM9DS0_XM);
 
+
const byte INT1XM = 2; // INT1XM tells us when accel data is ready
///////////////////////
+
const byte INT2XM = 3; // INT2XM tells us when mag data is ready
// Example SPI Setup //
+
const byte DRDYG = 4; // DRDYG tells us when gyro data is ready
///////////////////////
+
boolean printRaw = true;
/* // Uncomment this section if you're using SPI
+
#define LSM9DS0_CSG  9 // CSG connected to Arduino pin 9
+
#define LSM9DS0_CSXM 10 // CSXM connected to Arduino pin 10
+
LSM9DS0 dof(MODE_SPI, LSM9DS0_CSG, LSM9DS0_CSXM);
+
*/
+
 
+
// Do you want to print calculated values or raw ADC ticks read
+
// from the sensor? Comment out ONE of the two #defines below
+
// to pick:
+
#define PRINT_CALCULATED
+
//#define PRINT_RAW
+
 
+
#define PRINT_SPEED 500 // 500 ms between prints
+
 
+
 
void setup()
 
void setup()
 
{
 
{
 +
  // Set up interrupt pins as inputs:
 +
  pinMode(INT1XM, INPUT);
 +
  pinMode(INT2XM, INPUT);
 +
  pinMode(DRDYG, INPUT);
 +
 
 
   Serial.begin(115200); // Start serial at 115200 bps
 
   Serial.begin(115200); // Start serial at 115200 bps
  // Use the begin() function to initialize the LSM9DS0 library.
 
  // You can either call it with no parameters (the easy way):
 
 
   uint16_t status = dof.begin();
 
   uint16_t status = dof.begin();
  // Or call it with declarations for sensor scales and data rates: 
 
  //uint16_t status = dof.begin(dof.G_SCALE_2000DPS,
 
  //                            dof.A_SCALE_6G, dof.M_SCALE_2GS);
 
 
  // begin() returns a 16-bit value which includes both the gyro
 
  // and accelerometers WHO_AM_I response. You can check this to
 
  // make sure communication was successful.
 
  Serial.print("LSM9DS0 WHO_AM_I's returned: 0x");
 
 
   Serial.println(status, HEX);
 
   Serial.println(status, HEX);
  Serial.println("Should be 0x49D4");
 
  Serial.println();
 
 
}
 
}
  
 
void loop()
 
void loop()
 
{
 
{
   printGyro(); // Print "G: gx, gy, gz"
+
   printMenu();
   printAccel(); // Print "A: ax, ay, az"
+
   while (!Serial.available())
  printMag();  // Print "M: mx, my, mz"
+
   parseMenu(Serial.read());
 
+
  // Print the heading and orientation for fun!
+
  printHeading((float) dof.mx, (float) dof.my);
+
   printOrientation(dof.calcAccel(dof.ax), dof.calcAccel(dof.ay),
+
                  dof.calcAccel(dof.az));
+
  Serial.println();
+
 
+
  delay(PRINT_SPEED);
+
 
}
 
}
  
void printGyro()
+
void printAccel()
 
{
 
{
   // To read from the gyroscope, you must first call the
+
   if (digitalRead(INT1XM))
  // readGyro() function. When this exits, it'll update the
+
   {
   // gx, gy, and gz variables with the most current data.
+
    dof.readAccel();
  dof.readGyro();
+
 
+
    Serial.print("A: ");
  // Now we can use the gx, gy, and gz variables as we please.
+
    if (printRaw)
  // Either print them as raw ADC values, or calculated in DPS.
+
    {
  Serial.print("G: ");
+
      Serial.print(dof.ax);
#ifdef PRINT_CALCULATED
+
      Serial.print(", ");
  // If you want to print calculated values, you can use the
+
      Serial.print(dof.ay);
  // calcGyro helper function to convert a raw ADC value to
+
      Serial.print(", ");
  // DPS. Give the function the value that you want to convert.
+
      Serial.println(dof.az);
  Serial.print(dof.calcGyro(dof.gx), 2);
+
    }
  Serial.print(", ");
+
    else
  Serial.print(dof.calcGyro(dof.gy), 2);
+
    {
  Serial.print(", ");
+
      Serial.print(dof.calcAccel(dof.ax));
  Serial.println(dof.calcGyro(dof.gz), 2);
+
      Serial.print(", ");
#elif defined PRINT_RAW
+
      Serial.print(dof.calcAccel(dof.ay));
  Serial.print(dof.gx);
+
      Serial.print(", ");
  Serial.print(", ");
+
      Serial.println(dof.calcAccel(dof.az));
  Serial.print(dof.gy);
+
    }
  Serial.print(", ");
+
  }
  Serial.println(dof.gz);
+
#endif
+
 
}
 
}
  
void printAccel()
+
void printGyro()
 
{
 
{
   // To read from the accelerometer, you must first call the
+
   if (digitalRead(DRDYG))
  // readAccel() function. When this exits, it'll update the
+
   {
   // ax, ay, and az variables with the most current data.
+
    dof.readGyro();
  dof.readAccel();
+
 
+
    Serial.print("G: ");
  // Now we can use the ax, ay, and az variables as we please.
+
    if (printRaw)
  // Either print them as raw ADC values, or calculated in g's.
+
    {
  Serial.print("A: ");
+
      Serial.print(dof.gx);
#ifdef PRINT_CALCULATED
+
      Serial.print(", ");
  // If you want to print calculated values, you can use the
+
      Serial.print(dof.gy);
  // calcAccel helper function to convert a raw ADC value to
+
      Serial.print(", ");
  // g's. Give the function the value that you want to convert.
+
      Serial.println(dof.gz);
  Serial.print(dof.calcAccel(dof.ax), 2);
+
    }
  Serial.print(", ");
+
    else
  Serial.print(dof.calcAccel(dof.ay), 2);
+
    {
  Serial.print(", ");
+
      Serial.print(dof.calcGyro(dof.gx));
  Serial.println(dof.calcAccel(dof.az), 2);
+
      Serial.print(", ");
#elif defined PRINT_RAW
+
      Serial.print(dof.calcGyro(dof.gy));
  Serial.print(dof.ax);
+
      Serial.print(", ");
  Serial.print(", ");
+
      Serial.println(dof.calcGyro(dof.gz));
  Serial.print(dof.ay);
+
    }
  Serial.print(", ");
+
  }
  Serial.println(dof.az);
+
#endif
+
 
+
 
}
 
}
  
 
void printMag()
 
void printMag()
 
{
 
{
   // To read from the magnetometer, you must first call the
+
   if (digitalRead(INT2XM))
  // readMag() function. When this exits, it'll update the
+
   {
   // mx, my, and mz variables with the most current data.
+
    dof.readMag();
  dof.readMag();
+
 
+
    Serial.print("M: ");
  // Now we can use the mx, my, and mz variables as we please.
+
    if (printRaw)
  // Either print them as raw ADC values, or calculated in Gauss.
+
    {
  Serial.print("M: ");
+
      Serial.print(dof.mx);
#ifdef PRINT_CALCULATED
+
      Serial.print(", ");
  // If you want to print calculated values, you can use the
+
      Serial.print(dof.my);
  // calcMag helper function to convert a raw ADC value to
+
      Serial.print(", ");
  // Gauss. Give the function the value that you want to convert.
+
      Serial.print(dof.mz);
  Serial.print(dof.calcMag(dof.mx), 2);
+
      Serial.print(", ");
  Serial.print(", ");
+
      Serial.println(calcHeading(dof.mx, dof.my));
  Serial.print(dof.calcMag(dof.my), 2);
+
    }
  Serial.print(", ");
+
    else
  Serial.println(dof.calcMag(dof.mz), 2);
+
    {
#elif defined PRINT_RAW
+
      Serial.print(dof.calcMag(dof.mx), 4);
  Serial.print(dof.mx);
+
      Serial.print(", ");
  Serial.print(", ");
+
      Serial.print(dof.calcMag(dof.my), 4);
  Serial.print(dof.my);
+
      Serial.print(", ");
  Serial.print(", ");
+
      Serial.print(dof.calcMag(dof.mz), 4);
  Serial.println(dof.mz);
+
      Serial.print(", ");
#endif
+
      Serial.println(calcHeading(dof.mx, dof.my));
 +
    }
 +
  }
 
}
 
}
 
+
float calcHeading(float hx, float hy)
// Here's a fun function to calculate your heading, using Earth's
+
{
// magnetic field.
+
// It only works if the sensor is flat (z-axis normal to Earth).
+
// Additionally, you may need to add or subtract a declination
+
// angle to get the heading normalized to your location.
+
// See: http://www.ngdc.noaa.gov/geomag/declination.shtml
+
void printHeading(float hx, float hy)
+
{
+
  float heading;
+
 
+
 
   if (hy > 0)
 
   if (hy > 0)
 
   {
 
   {
     heading = 90 - (atan(hx / hy) * (180 / PI));
+
     return 90 - (atan(hx / hy) * 180 / PI);
 
   }
 
   }
 
   else if (hy < 0)
 
   else if (hy < 0)
 
   {
 
   {
     heading = - (atan(hx / hy) * (180 / PI));
+
     return 270 - (atan(hx / hy) * 180 / PI);
 
   }
 
   }
 
   else // hy = 0
 
   else // hy = 0
 
   {
 
   {
     if (hx < 0) heading = 180;
+
     if (hx < 0) return 180;
     else heading = 0;
+
     else return 0;
 
   }
 
   }
 +
}
 +
void streamAll()
 +
{
 +
  if ((digitalRead(INT2XM)) && (digitalRead(INT1XM)) &&
 +
      (digitalRead(DRDYG)))
 +
  {
 +
    printAccel();
 +
    printGyro();
 +
    printMag();
 +
  }
 +
}
 +
void setScale()
 +
{
 +
  char c;
 +
  Serial.println(F("Set accelerometer scale:"));
 +
  Serial.println(F("\t1) +/- 2G"));
 +
  Serial.println(F("\t2) +/- 4G"));
 +
  Serial.println(F("\t3) +/- 6G"));
 +
  Serial.println(F("\t4) +/- 8G"));
 +
  Serial.println(F("\t5) +/- 16G"));
 +
  while (Serial.available() < 1)
 +
    ;
 +
  c = Serial.read();
 +
  switch (c)
 +
  {
 +
    case '1':
 +
      dof.setAccelScale(dof.A_SCALE_2G);
 +
      break;
 +
    case '2':
 +
      dof.setAccelScale(dof.A_SCALE_4G);
 +
      break;
 +
    case '3':
 +
      dof.setAccelScale(dof.A_SCALE_6G);
 +
      break;
 +
    case '4':
 +
      dof.setAccelScale(dof.A_SCALE_8G);
 +
      break;
 +
    case '5':
 +
      dof.setAccelScale(dof.A_SCALE_16G);
 +
      break;
 +
  }
 +
  // Print the gyro scale ranges:
 +
  Serial.println(F("Set gyroscope scale:"));
 +
  Serial.println(F("\t1) +/- 245 DPS"));
 +
  Serial.println(F("\t2) +/- 500 DPS"));
 +
  Serial.println(F("\t3) +/- 2000 DPS"));
 +
  // Wait for a character to come in:
 +
  while (Serial.available() < 1);
 +
  c = Serial.read();
 +
  // Use the setGyroScale function to set the gyroscope
 +
  // full-scale range to any of the possible ranges. These ranges
 +
  // are all defined in SFE_LSM9DS0.h.
 +
  switch (c)
 +
  {
 +
    case '1':
 +
      dof.setGyroScale(dof.G_SCALE_245DPS);
 +
      break;
 +
    case '2':
 +
      dof.setGyroScale(dof.G_SCALE_500DPS);
 +
      break;
 +
    case '3':
 +
      dof.setGyroScale(dof.G_SCALE_2000DPS);
 +
      break;
 +
  }
 +
  Serial.println(F("Set magnetometer scale:"));
 +
  Serial.println(F("\t1) +/- 2GS"));
 +
  Serial.println(F("\t2) +/- 4GS"));
 +
  Serial.println(F("\t3) +/- 8GS"));
 +
  Serial.println(F("\t4) +/- 12GS"));
 +
  while (Serial.available() < 1)
 +
    ;
 +
  c = Serial.read();
 +
  switch (c)
 +
  {
 +
    case '1':
 +
      dof.setMagScale(dof.M_SCALE_2GS);
 +
      break;
 +
    case '2':
 +
      dof.setMagScale(dof.M_SCALE_4GS);
 +
      break;
 +
    case '3':
 +
      dof.setMagScale(dof.M_SCALE_8GS);
 +
      break;
 +
    case '4':
 +
      dof.setMagScale(dof.M_SCALE_12GS);
 +
      break;
 +
  }
 +
}
 +
void setRaw()
 +
{
 +
  if (printRaw)
 +
  {
 +
    printRaw = false;
 +
    Serial.println(F("Printing calculated readings"));
 +
  }
 +
  else
 +
  {
 +
    printRaw = true;
 +
    Serial.println(F("Printing raw readings"));
 +
  }
 +
}
 +
void setODR()
 +
{
 +
  char c;
 +
  Serial.println(F("Set Accelerometer ODR (Hz):"));
 +
  Serial.println(F("\t1) 3.125 \t 6) 100"));
 +
  Serial.println(F("\t2) 6.25  \t 7) 200"));
 +
  Serial.println(F("\t3) 12.5  \t 8) 400"));
 +
  Serial.println(F("\t4) 25    \t 9) 800"));
 +
  Serial.println(F("\t5) 50    \t A) 1600"));
 +
  while (Serial.available() < 1)
 +
    ;
 +
  c = Serial.read();
 +
  switch (c)
 +
  {
 +
    case '1':
 +
      dof.setAccelODR(dof.A_ODR_3125);
 +
      break;
 +
    case '2':
 +
      dof.setAccelODR(dof.A_ODR_625);
 +
      break;
 +
    case '3':
 +
      dof.setAccelODR(dof.A_ODR_125);
 +
      break;
 +
    case '4':
 +
      dof.setAccelODR(dof.A_ODR_25);
 +
      break;
 +
    case '5':
 +
      dof.setAccelODR(dof.A_ODR_50);
 +
      break;
 +
    case '6':
 +
      dof.setAccelODR(dof.A_ODR_100);
 +
      break;
 +
    case '7':
 +
      dof.setAccelODR(dof.A_ODR_200);
 +
      break;
 +
    case '8':
 +
      dof.setAccelODR(dof.A_ODR_400);
 +
      break;
 +
    case '9':
 +
      dof.setAccelODR(dof.A_ODR_800);
 +
      break;
 +
    case 'A':
 +
    case 'a':
 +
      dof.setAccelODR(dof.A_ODR_1600);
 +
      break;
 +
  }
 +
  Serial.println(F("Set Gyro ODR/Cutoff (Hz):"));
 +
  Serial.println(F("\t1) 95/12.5 \t 8) 380/25"));
 +
  Serial.println(F("\t2) 95/25  \t 9) 380/50"));
 +
  Serial.println(F("\t3) 190/125 \t A) 380/100"));
 +
  Serial.println(F("\t4) 190/25  \t B) 760/30"));
 +
  Serial.println(F("\t5) 190/50  \t C) 760/35"));
 +
  Serial.println(F("\t6) 190/70  \t D) 760/50"));
 +
  Serial.println(F("\t7) 380/20  \t E) 760/100"));
 +
  while (Serial.available() < 1);
 +
  c = Serial.read();
 +
  switch (c)
 +
  {
 +
    case '1':
 +
      dof.setGyroODR(dof.G_ODR_95_BW_125);
 +
      break;
 +
    case '2':
 +
      dof.setGyroODR(dof.G_ODR_95_BW_25);
 +
      break;
 +
    case '3':
 +
      dof.setGyroODR(dof.G_ODR_190_BW_125);
 +
      break;
 +
    case '4':
 +
      dof.setGyroODR(dof.G_ODR_190_BW_25);
 +
      break;
 +
    case '5':
 +
      dof.setGyroODR(dof.G_ODR_190_BW_50);
 +
      break;
 +
    case '6':
 +
      dof.setGyroODR(dof.G_ODR_190_BW_70);
 +
      break;
 +
    case '7':
 +
      dof.setGyroODR(dof.G_ODR_380_BW_20);
 +
      break;
 +
    case '8':
 +
      dof.setGyroODR(dof.G_ODR_380_BW_25);
 +
      break;
 +
    case '9':
 +
      dof.setGyroODR(dof.G_ODR_380_BW_50);
 +
      break;
 +
    case 'A':
 +
    case 'a':
 +
      dof.setGyroODR(dof.G_ODR_380_BW_100);
 +
      break;
 +
    case 'B':
 +
    case 'b':
 +
      dof.setGyroODR(dof.G_ODR_760_BW_30);
 +
      break;
 +
    case 'C':
 +
    case 'c':
 +
      dof.setGyroODR(dof.G_ODR_760_BW_35);
 +
      break;
 +
    case 'D':
 +
    case 'd':
 +
      dof.setGyroODR(dof.G_ODR_760_BW_50);
 +
      break;
 +
    case 'E':
 +
    case 'e':
 +
      dof.setGyroODR(dof.G_ODR_760_BW_100);
 +
      break;
 +
  }
 +
  Serial.println(F("Set Magnetometer ODR (Hz):"));
 +
  Serial.println(F("\t1) 3.125 \t 4) 25"));
 +
  Serial.println(F("\t2) 6.25  \t 5) 50"));
 +
  Serial.println(F("\t3) 12.5  \t 6) 100"));
 +
  while (Serial.available() < 1)
 +
    ;
 +
  c = Serial.read();
 +
  switch (c)
 +
  {
 +
    case '1':
 +
      dof.setMagODR(dof.M_ODR_3125);
 +
      break;
 +
    case '2':
 +
      dof.setMagODR(dof.M_ODR_625);
 +
      break;
 +
    case '3':
 +
      dof.setMagODR(dof.M_ODR_125);
 +
      break;
 +
    case '4':
 +
      dof.setMagODR(dof.M_ODR_25);
 +
      break;
 +
    case '5':
 +
      dof.setMagODR(dof.M_ODR_50);
 +
      break;
 +
    case '6':
 +
      dof.setMagODR(dof.M_ODR_100);
 +
      break;
 +
  }
 +
}
  
   Serial.print("Heading: ");
+
void printMenu()
   Serial.println(heading, 2);
+
{
 +
   Serial.println();
 +
  Serial.println(F("////////////////////////////////////////////"));
 +
   Serial.println(F("// LSM9DS0 Super Awesome Amazing Fun Time //"));
 +
  Serial.println(F("////////////////////////////////////////////"));
 +
  Serial.println();
 +
  Serial.println(F("1) Stream Accelerometer"));
 +
  Serial.println(F("2) Stream Gyroscope"));
 +
  Serial.println(F("3) Stream Magnetometer"));
 +
  Serial.println(F("4) Stream output from all sensors"));
 +
  Serial.println(F("5) Set Sensor Scales"));
 +
  Serial.println(F("6) Switch To/From Raw/Calculated Readings"));
 +
  Serial.println(F("7) Set Output Data Rates"));
 +
  Serial.println();  
 
}
 
}
  
// Another fun function that does calculations based on the
+
// parseMenu() takes a char parameter, which should map to one of
// acclerometer data. This function will print your LSM9DS0's
+
// the defined menu options. A switch statement will control what
// orientation -- it's roll and pitch angles.
+
// happens based on the given character input.
void printOrientation(float x, float y, float z)
+
void parseMenu(char c)
 
{
 
{
   float pitch, roll;
+
   switch (c)
 
+
  {
  pitch = atan2(x, sqrt(y * y) + (z * z));
+
    case '1':
  roll = atan2(y, sqrt(x * x) + (z * z));
+
      while(!Serial.available())
  pitch *= 180.0 / PI;
+
        printAccel(); // Print accelerometer values
  roll *= 180.0 / PI;
+
      break;
 +
    case '2':
 +
      while(!Serial.available())
 +
        printGyro(); // Print gyroscope values
 +
      break;
 +
    case '3':
 +
      while(!Serial.available())
 +
        printMag(); // Print magnetometer values
 +
      break;
 +
    case '4':
 +
      while(!Serial.available())
 +
        streamAll(); // Print all sensor readings
 +
      break;
 +
    case '5':
 +
      setScale(); // Set the ranges of each sensor
 +
      break;
 +
    case '6':
 +
      setRaw(); // Switch between calculated and raw output
 +
      break;
 +
    case '7':
 +
      setODR(); // Set the data rates of each sensor
 +
      break;
 +
  }
 +
}
 +
</pre>
  
  Serial.print("Pitch, Roll: ");
 
  Serial.print(pitch, 2);
 
  Serial.print(", ");
 
  Serial.println(roll, 2);
 
}</pre>
 
 
===程序效果===
 
===程序效果===
 
下载完程序,然后打开串口监视器,将波特率调到115200,然后按照显示的内容输入相应数字进行功能选择,可以观察到多种数据。
 
下载完程序,然后打开串口监视器,将波特率调到115200,然后按照显示的内容输入相应数字进行功能选择,可以观察到多种数据。
 
[[文件:RB-02S0731.jpg|700px|缩略图|居中]]
 
[[文件:RB-02S0731.jpg|700px|缩略图|居中]]
 
==产品相关推荐==
 
==产品相关推荐==
购买地址:[http://www.alsrobot.cn/goods-565.htm 9轴姿态传感器]<br />
+
[[文件:erweima.png|230px|无框|右]]
 
+
===产品购买地址===
相关资料1:[https://cdn.sparkfun.com/assets/8/c/c/4/9/lsm9ds0_breakout-v10-schematic-.pdf 示意图]<br />
+
[http://www.alsrobot.cn/goods-565.htm 9轴姿态传感器]<br/>
 
+
===周边产品推荐===
相关资料2:[https://cdn.sparkfun.com/assets/f/6/1/f/0/LSM9DS0.pdf 数据表(lmv324)]<br />
+
[https://item.taobao.com/item.htm?spm=a1z10.3-c.w4002-3667083713.20.QyL8Qd&id=522174307810 Arduino 9 Axes Motion Shield 9轴运动扩展板 ]<br/>
 
+
===相关问题解答===
相关资料3:[https://learn.sparkfun.com/tutorials/lsm9ds0-hookup-guide 安装指南]<br />
+
[http://www.makerspace.cn/forum.php?mod=viewthread&tid=5505&fromuid=10780 Arduino 9 Axes Motion Shield 9轴运动扩展板 三轴加速度计]<br/>
 
+
===相关学习资料===
相关资料4:[https://github.com/sparkfun/LSM9DS0_Breakout GitHub(设计文件)]<br />
+
[https://www.sparkfun.com/videos#all/E4L8bYt6lCs/153 LSM9DS0- 9轴姿态传感器应用视频]<br/>
 
+
[https://cdn.sparkfun.com/assets/8/c/c/4/9/lsm9ds0_breakout-v10-schematic-.pdf 电路原理图]<br/>
相关资料5:[https://www.sparkfun.com/videos#all/E4L8bYt6lCs/153 产品视频]
+
[https://cdn.sparkfun.com/assets/f/6/1/f/0/LSM9DS0.pdf 数据表(lmv324)]<br/>
 +
[https://learn.sparkfun.com/tutorials/lsm9ds0-hookup-guide/advanced-arduino-example  LSM9DS0- 9轴姿态传感器官方操作手册]<br/>
 +
[https://github.com/sparkfun/LSM9DS0_Breakout GitHub(设计文件)]<br/>
 +
[http://www.makerspace.cn/portal.php 奥松机器人技术论坛]<br/>

2015年10月9日 (五) 11:43的最后版本

9zzt.jpg

目录

产品概述

LSM9DS0-9轴姿态传感器选用的是LSM9DS0芯片,它是一种可实现动作感应的系统芯片,里面包括了一个3轴加速计,一个3轴陀螺仪和一个3轴磁力计。在LSM9DS0中,每种传感器都有良好的检测范围:LSM9DS0线性加速满量程为±2g/±4g/±6g/±8g/±16g;磁场满量程为±2 /±4 /±8 /±12高斯;陀螺仪满量程为±245 /±500 /±2000°/S。9轴姿态传感器还包含了I2C串行总线接口,支持标准和快速模式(100 kHz和400 kHz)及SPI串行接口标准。

规格参数

  1. 模拟电源电压范围:2.4V~3.6V
  2. 3轴加速度计:±2/±4/±6/±8/±16 g
  3. 3轴陀螺仪:±245/±500/±2000°/S
  4. 3轴磁力计:±2/±4/±8/±12高斯
  5. 16位的数据输出
  6. SPI/ I2C串行接口
  7. 嵌入式FIFO(先入先出的队列);
  8. 可编程中断发生
  9. 嵌入式自测试
  10. 嵌入式温度传感器
  11. 尺寸大小: 3.302cm x 1.524cm
  12. 重量大小:10g

使用方法

引脚定义

9轴姿态传感器 引脚定义
CSG 陀螺仪芯片操作方式选择引脚
CSXM 加速度芯片操作方式选择引脚
SDOG 地址选择引脚
SDOX SPI模式输出陀螺仪数据
SCL 信号时钟引脚
SDA 数据引脚
VDD 电源正极
GND 电源地
DEN 陀螺仪数据使能引脚
INTG 陀螺仪可编程中断
DRDYG 陀螺仪数据准备引脚
INT1XM 加速度中断1
INT2XM 加速度中断2


连接图示

首先需要安装一下LSM9DS0的Arduino库,然后图中右侧的小红色芯片为电平转换芯片。

9轴姿态传感器 Arduino
CSG、CSXM、SDOG、SDOXM、DEN、INTG 不接
SCL SCL
SDA SDA
VDD 3.3V
GND GND
DRDYG D4
INT1XM D2
INT2XM D3


9zzt1.jpg

应用例程

示例代码

库文件官方下载地址

#include <SPI.h> // Included for SFE_LSM9DS0 library
#include <Wire.h>
#include <SFE_LSM9DS0.h>
#define LSM9DS0_XM  0x1D // Would be 0x1E if SDO_XM is LOW
#define LSM9DS0_G   0x6B // Would be 0x6A if SDO_G is LOW
LSM9DS0 dof(MODE_I2C, LSM9DS0_G, LSM9DS0_XM);
const byte INT1XM = 2; // INT1XM tells us when accel data is ready
const byte INT2XM = 3; // INT2XM tells us when mag data is ready
const byte DRDYG = 4;  // DRDYG tells us when gyro data is ready
boolean printRaw = true;
void setup()
{
  // Set up interrupt pins as inputs:
  pinMode(INT1XM, INPUT);
  pinMode(INT2XM, INPUT);
  pinMode(DRDYG, INPUT);
  
  Serial.begin(115200); // Start serial at 115200 bps
  uint16_t status = dof.begin();
  Serial.println(status, HEX);
}

void loop()
{
  printMenu();
  while (!Serial.available())
  parseMenu(Serial.read());  
}

void printAccel()
{
  if (digitalRead(INT1XM))
  {
    dof.readAccel();
	
    Serial.print("A: ");
    if (printRaw)
    {
      Serial.print(dof.ax);
      Serial.print(", ");
      Serial.print(dof.ay);
      Serial.print(", ");
      Serial.println(dof.az);
    }
    else
    {
      Serial.print(dof.calcAccel(dof.ax));
      Serial.print(", ");
      Serial.print(dof.calcAccel(dof.ay));
      Serial.print(", ");
      Serial.println(dof.calcAccel(dof.az));
    }
  }
}

void printGyro()
{
  if (digitalRead(DRDYG))
  {
    dof.readGyro();
	
    Serial.print("G: ");
    if (printRaw)
    {
      Serial.print(dof.gx);
      Serial.print(", ");
      Serial.print(dof.gy);
      Serial.print(", ");
      Serial.println(dof.gz);
    }
    else
    {
      Serial.print(dof.calcGyro(dof.gx));
      Serial.print(", ");
      Serial.print(dof.calcGyro(dof.gy));
      Serial.print(", ");
      Serial.println(dof.calcGyro(dof.gz));
    }
  }
}

void printMag()
{
  if (digitalRead(INT2XM))
  {
    dof.readMag();
	
    Serial.print("M: ");
    if (printRaw)
    {
      Serial.print(dof.mx);
      Serial.print(", ");
      Serial.print(dof.my);
      Serial.print(", ");
      Serial.print(dof.mz);
      Serial.print(", ");
      Serial.println(calcHeading(dof.mx, dof.my));
    }
    else
    {
      Serial.print(dof.calcMag(dof.mx), 4);
      Serial.print(", ");
      Serial.print(dof.calcMag(dof.my), 4);
      Serial.print(", ");
      Serial.print(dof.calcMag(dof.mz), 4);
      Serial.print(", ");
      Serial.println(calcHeading(dof.mx, dof.my));
    }
  }
}
float calcHeading(float hx, float hy)
{  
  if (hy > 0)
  {
    return 90 - (atan(hx / hy) * 180 / PI);
  }
  else if (hy < 0)
  {
    return 270 - (atan(hx / hy) * 180 / PI);
  }
  else // hy = 0
  {
    if (hx < 0) return 180;
    else return 0;
  }
}
void streamAll()
{
  if ((digitalRead(INT2XM)) && (digitalRead(INT1XM)) &&
      (digitalRead(DRDYG)))
  {
    printAccel();
    printGyro();
    printMag();
  }
}
void setScale()
{
  char c;
  Serial.println(F("Set accelerometer scale:"));
  Serial.println(F("\t1) +/- 2G"));
  Serial.println(F("\t2) +/- 4G"));
  Serial.println(F("\t3) +/- 6G"));
  Serial.println(F("\t4) +/- 8G"));
  Serial.println(F("\t5) +/- 16G"));
  while (Serial.available() < 1)
    ;
  c = Serial.read();
  switch (c)
  {
    case '1':
      dof.setAccelScale(dof.A_SCALE_2G);
      break;
    case '2':
      dof.setAccelScale(dof.A_SCALE_4G);
      break;
    case '3':
      dof.setAccelScale(dof.A_SCALE_6G);
      break;
    case '4':
      dof.setAccelScale(dof.A_SCALE_8G);
      break;
    case '5':
      dof.setAccelScale(dof.A_SCALE_16G);
      break;
  }
  // Print the gyro scale ranges:
  Serial.println(F("Set gyroscope scale:"));
  Serial.println(F("\t1) +/- 245 DPS"));
  Serial.println(F("\t2) +/- 500 DPS"));
  Serial.println(F("\t3) +/- 2000 DPS"));
  // Wait for a character to come in:
  while (Serial.available() < 1);
  c = Serial.read();
  // Use the setGyroScale function to set the gyroscope
  // full-scale range to any of the possible ranges. These ranges
  // are all defined in SFE_LSM9DS0.h.
  switch (c)
  {
    case '1':
      dof.setGyroScale(dof.G_SCALE_245DPS);
      break;
    case '2':
      dof.setGyroScale(dof.G_SCALE_500DPS);
      break;
    case '3':
      dof.setGyroScale(dof.G_SCALE_2000DPS);
      break;
  }
  Serial.println(F("Set magnetometer scale:"));
  Serial.println(F("\t1) +/- 2GS"));
  Serial.println(F("\t2) +/- 4GS"));
  Serial.println(F("\t3) +/- 8GS"));
  Serial.println(F("\t4) +/- 12GS"));
  while (Serial.available() < 1)
    ;
  c = Serial.read();
  switch (c)
  {
    case '1':
      dof.setMagScale(dof.M_SCALE_2GS);
      break;
    case '2':
      dof.setMagScale(dof.M_SCALE_4GS);
      break;
    case '3':
      dof.setMagScale(dof.M_SCALE_8GS);
      break;
    case '4':
      dof.setMagScale(dof.M_SCALE_12GS);
      break;
  }
}
void setRaw()
{
  if (printRaw)
  {
    printRaw = false;
    Serial.println(F("Printing calculated readings"));
  }
  else
  {
    printRaw = true;
    Serial.println(F("Printing raw readings"));
  }
}
void setODR()
{
  char c;
  Serial.println(F("Set Accelerometer ODR (Hz):"));
  Serial.println(F("\t1) 3.125 \t 6) 100"));
  Serial.println(F("\t2) 6.25  \t 7) 200"));
  Serial.println(F("\t3) 12.5  \t 8) 400"));
  Serial.println(F("\t4) 25    \t 9) 800"));
  Serial.println(F("\t5) 50    \t A) 1600"));
  while (Serial.available() < 1)
    ;
  c = Serial.read();
  switch (c)
  {
    case '1':
      dof.setAccelODR(dof.A_ODR_3125);
      break;
    case '2':
      dof.setAccelODR(dof.A_ODR_625);
      break;
    case '3':
      dof.setAccelODR(dof.A_ODR_125);
      break;
    case '4':
      dof.setAccelODR(dof.A_ODR_25);
      break;
    case '5':
      dof.setAccelODR(dof.A_ODR_50);
      break;
    case '6':
      dof.setAccelODR(dof.A_ODR_100);
      break;
    case '7':
      dof.setAccelODR(dof.A_ODR_200);
      break;
    case '8':
      dof.setAccelODR(dof.A_ODR_400);
      break;
    case '9':
      dof.setAccelODR(dof.A_ODR_800);
      break;
    case 'A':
    case 'a':
      dof.setAccelODR(dof.A_ODR_1600);
      break;
  }
  Serial.println(F("Set Gyro ODR/Cutoff (Hz):"));
  Serial.println(F("\t1) 95/12.5 \t 8) 380/25"));
  Serial.println(F("\t2) 95/25   \t 9) 380/50"));
  Serial.println(F("\t3) 190/125 \t A) 380/100"));
  Serial.println(F("\t4) 190/25  \t B) 760/30"));
  Serial.println(F("\t5) 190/50  \t C) 760/35"));
  Serial.println(F("\t6) 190/70  \t D) 760/50"));
  Serial.println(F("\t7) 380/20  \t E) 760/100"));
  while (Serial.available() < 1);
  c = Serial.read();
  switch (c)
  {
    case '1':
      dof.setGyroODR(dof.G_ODR_95_BW_125);
      break;
    case '2':
      dof.setGyroODR(dof.G_ODR_95_BW_25);
      break;
    case '3':
      dof.setGyroODR(dof.G_ODR_190_BW_125);
      break;
    case '4':
      dof.setGyroODR(dof.G_ODR_190_BW_25);
      break;
    case '5':
      dof.setGyroODR(dof.G_ODR_190_BW_50);
      break;
    case '6':
      dof.setGyroODR(dof.G_ODR_190_BW_70);
      break;
    case '7':
      dof.setGyroODR(dof.G_ODR_380_BW_20);
      break;
    case '8':
      dof.setGyroODR(dof.G_ODR_380_BW_25);
      break;
    case '9':
      dof.setGyroODR(dof.G_ODR_380_BW_50);
      break;
    case 'A':
    case 'a':
      dof.setGyroODR(dof.G_ODR_380_BW_100);
      break;
    case 'B':
    case 'b':
      dof.setGyroODR(dof.G_ODR_760_BW_30);
      break;
    case 'C':
    case 'c':
      dof.setGyroODR(dof.G_ODR_760_BW_35);
      break;
    case 'D':
    case 'd':
      dof.setGyroODR(dof.G_ODR_760_BW_50);
      break;
    case 'E':
    case 'e':
      dof.setGyroODR(dof.G_ODR_760_BW_100);
      break;
  }
  Serial.println(F("Set Magnetometer ODR (Hz):"));
  Serial.println(F("\t1) 3.125 \t 4) 25"));
  Serial.println(F("\t2) 6.25  \t 5) 50"));
  Serial.println(F("\t3) 12.5  \t 6) 100"));
  while (Serial.available() < 1)
    ;
  c = Serial.read();
  switch (c)
  {
    case '1':
      dof.setMagODR(dof.M_ODR_3125);
      break;
    case '2':
      dof.setMagODR(dof.M_ODR_625);
      break;
    case '3':
      dof.setMagODR(dof.M_ODR_125);
      break;
    case '4':
      dof.setMagODR(dof.M_ODR_25);
      break;
    case '5':
      dof.setMagODR(dof.M_ODR_50);
      break;
    case '6':
      dof.setMagODR(dof.M_ODR_100);
      break;
  }
}

void printMenu()
{
  Serial.println();
  Serial.println(F("////////////////////////////////////////////"));
  Serial.println(F("// LSM9DS0 Super Awesome Amazing Fun Time //"));
  Serial.println(F("////////////////////////////////////////////"));
  Serial.println();
  Serial.println(F("1) Stream Accelerometer"));
  Serial.println(F("2) Stream Gyroscope"));
  Serial.println(F("3) Stream Magnetometer"));
  Serial.println(F("4) Stream output from all sensors"));
  Serial.println(F("5) Set Sensor Scales"));
  Serial.println(F("6) Switch To/From Raw/Calculated Readings"));
  Serial.println(F("7) Set Output Data Rates")); 
  Serial.println(); 
}

// parseMenu() takes a char parameter, which should map to one of
// the defined menu options. A switch statement will control what
// happens based on the given character input.
void parseMenu(char c)
{
  switch (c)
  {
    case '1':
      while(!Serial.available())
        printAccel(); // Print accelerometer values
      break;
    case '2':
      while(!Serial.available())
        printGyro(); // Print gyroscope values
      break;
    case '3':
      while(!Serial.available())
        printMag(); // Print magnetometer values
      break;
    case '4':
      while(!Serial.available())
        streamAll(); // Print all sensor readings
      break;
    case '5':
      setScale(); // Set the ranges of each sensor
      break;
    case '6':
      setRaw(); // Switch between calculated and raw output
      break;
    case '7':
      setODR(); // Set the data rates of each sensor
      break;
  }
}

程序效果

下载完程序,然后打开串口监视器,将波特率调到115200,然后按照显示的内容输入相应数字进行功能选择,可以观察到多种数据。

RB-02S0731.jpg

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产品购买地址

9轴姿态传感器

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相关问题解答

Arduino 9 Axes Motion Shield 9轴运动扩展板 三轴加速度计

相关学习资料

LSM9DS0- 9轴姿态传感器应用视频
电路原理图
数据表(lmv324)
LSM9DS0- 9轴姿态传感器官方操作手册
GitHub(设计文件)
奥松机器人技术论坛