mitsuhito · August 1, 2018 00:42
diff --git a/LSM9DS0_test.csv b/LSM9DS0_test.csv
diff --git a/LSM9DS0_test.ino b/LSM9DS0_test.ino
 #include <SPI.h>
 #include <Wire.h>
 #include <Adafruit_Sensor.h>
 #include <Adafruit_LSM9DS0.h>

 /* This driver uses the Adafruit unified sensor library (Adafruit_Sensor),
   which provides a common 'type' for sensor data and some helper functions.
   
   To use this driver you will also need to download the Adafruit_Sensor
   library and include it in your libraries folder.

   You should also assign a unique ID to this sensor for use with
   the Adafruit Sensor API so that you can identify this particular
   sensor in any data logs, etc.  To assign a unique ID, simply
   provide an appropriate value in the constructor below (12345
   is used by default in this example).
   
   Connections (For default I2C)
   ===========
   Connect SCL to analog 5
   Connect SDA to analog 4
   Connect VDD to 5V DC
   Connect GROUND to common ground

   History
   =======
   2014/JULY/25  - First version (KTOWN)
 */
   
 /* Assign a unique base ID for this sensor */   
 //Adafruit_LSM9DS0 lsm = Adafruit_LSM9DS0(1000);  // Use I2C, ID #1000


 /* Or, use Hardware SPI:
  SCK -> SPI CLK
  SDA -> SPI MOSI
  G_SDO + XM_SDO -> tied together to SPI MISO
  then select any two pins for the two CS lines:
 */

 #define LSM9DS0_XM_CS 10
 #define LSM9DS0_GYRO_CS 9
 //Adafruit_LSM9DS0 lsm = Adafruit_LSM9DS0(LSM9DS0_XM_CS, LSM9DS0_GYRO_CS, 1000);

 /* Or, use Software SPI:
  G_SDO + XM_SDO -> tied together to the MISO pin!
  then select any pins for the SPI lines, and the two CS pins above
 */

 #define LSM9DS0_SCLK 13
 #define LSM9DS0_MISO 12
 #define LSM9DS0_MOSI 11

 //Adafruit_LSM9DS0 lsm = Adafruit_LSM9DS0(LSM9DS0_SCLK, LSM9DS0_MISO, LSM9DS0_MOSI, LSM9DS0_XM_CS, LSM9DS0_GYRO_CS, 1000);
 Adafruit_LSM9DS0 lsm = Adafruit_LSM9DS0(22, 21);


 /**************************************************************************/
 /*
    Displays some basic information on this sensor from the unified
    sensor API sensor_t type (see Adafruit_Sensor for more information)
 */
 /**************************************************************************/
 void displaySensorDetails(void)
 {
  sensor_t accel, mag, gyro, temp;
  
  lsm.getSensor(&accel, &mag, &gyro, &temp);
  
  Serial.println(F("------------------------------------"));
  Serial.print  (F("Sensor:       ")); Serial.println(accel.name);
  Serial.print  (F("Driver Ver:   ")); Serial.println(accel.version);
  Serial.print  (F("Unique ID:    ")); Serial.println(accel.sensor_id);
  Serial.print  (F("Max Value:    ")); Serial.print(accel.max_value); Serial.println(F(" m/s^2"));
  Serial.print  (F("Min Value:    ")); Serial.print(accel.min_value); Serial.println(F(" m/s^2"));
  Serial.print  (F("Resolution:   ")); Serial.print(accel.resolution); Serial.println(F(" m/s^2"));  
  Serial.println(F("------------------------------------"));
  Serial.println(F(""));

  Serial.println(F("------------------------------------"));
  Serial.print  (F("Sensor:       ")); Serial.println(mag.name);
  Serial.print  (F("Driver Ver:   ")); Serial.println(mag.version);
  Serial.print  (F("Unique ID:    ")); Serial.println(mag.sensor_id);
  Serial.print  (F("Max Value:    ")); Serial.print(mag.max_value); Serial.println(F(" uT"));
  Serial.print  (F("Min Value:    ")); Serial.print(mag.min_value); Serial.println(F(" uT"));
  Serial.print  (F("Resolution:   ")); Serial.print(mag.resolution); Serial.println(F(" uT"));  
  Serial.println(F("------------------------------------"));
  Serial.println(F(""));

  Serial.println(F("------------------------------------"));
  Serial.print  (F("Sensor:       ")); Serial.println(gyro.name);
  Serial.print  (F("Driver Ver:   ")); Serial.println(gyro.version);
  Serial.print  (F("Unique ID:    ")); Serial.println(gyro.sensor_id);
  Serial.print  (F("Max Value:    ")); Serial.print(gyro.max_value); Serial.println(F(" rad/s"));
  Serial.print  (F("Min Value:    ")); Serial.print(gyro.min_value); Serial.println(F(" rad/s"));
  Serial.print  (F("Resolution:   ")); Serial.print(gyro.resolution); Serial.println(F(" rad/s"));  
  Serial.println(F("------------------------------------"));
  Serial.println(F(""));

  Serial.println(F("------------------------------------"));
  Serial.print  (F("Sensor:       ")); Serial.println(temp.name);
  Serial.print  (F("Driver Ver:   ")); Serial.println(temp.version);
  Serial.print  (F("Unique ID:    ")); Serial.println(temp.sensor_id);
  Serial.print  (F("Max Value:    ")); Serial.print(temp.max_value); Serial.println(F(" C"));
  Serial.print  (F("Min Value:    ")); Serial.print(temp.min_value); Serial.println(F(" C"));
  Serial.print  (F("Resolution:   ")); Serial.print(temp.resolution); Serial.println(F(" C"));  
  Serial.println(F("------------------------------------"));
  Serial.println(F(""));
  
  delay(500);
 }

 /**************************************************************************/
 /*
    Configures the gain and integration time for the TSL2561
 */
 /**************************************************************************/
 void configureSensor(void)
 {
  // 1.) Set the accelerometer range
  //lsm.setupAccel(lsm.LSM9DS0_ACCELRANGE_2G);
  //lsm.setupAccel(lsm.LSM9DS0_ACCELRANGE_4G);
  //lsm.setupAccel(lsm.LSM9DS0_ACCELRANGE_6G);
  //lsm.setupAccel(lsm.LSM9DS0_ACCELRANGE_8G);
  lsm.setupAccel(lsm.LSM9DS0_ACCELRANGE_16G);
  
  // 2.) Set the magnetometer sensitivity
  //lsm.setupMag(lsm.LSM9DS0_MAGGAIN_2GAUSS);
  //lsm.setupMag(lsm.LSM9DS0_MAGGAIN_4GAUSS);
  //lsm.setupMag(lsm.LSM9DS0_MAGGAIN_8GAUSS);
  lsm.setupMag(lsm.LSM9DS0_MAGGAIN_12GAUSS);

  // 3.) Setup the gyroscope
  //lsm.setupGyro(lsm.LSM9DS0_GYROSCALE_245DPS);
  lsm.setupGyro(lsm.LSM9DS0_GYROSCALE_500DPS);
  //lsm.setupGyro(lsm.LSM9DS0_GYROSCALE_2000DPS);
 }

 /**************************************************************************/
 /*
    Arduino setup function (automatically called at startup)
 */
 /**************************************************************************/
 void setup(void) 
 {
 #ifndef ESP8266
  while (!Serial);     // will pause Zero, Leonardo, etc until serial console opens
 #endif
  Serial.begin(230400);
  //Serial.println(F("LSM9DS0 9DOF Sensor Test")); Serial.println("");
  
  /* Initialise the sensor */
  if(!lsm.begin())
  {
    /* There was a problem detecting the LSM9DS0 ... check your connections */
    Serial.print(F("Ooops, no LSM9DS0 detected ... Check your wiring or I2C ADDR!"));
    while(1);
  }
  //Serial.println(F("Found LSM9DS0 9DOF"));
  
  /* Display some basic information on this sensor */
  //displaySensorDetails();
  
  /* Setup the sensor gain and integration time */
  //configureSensor();
  
  /* We're ready to go! */
  //Serial.println("");
 }

 /**************************************************************************/
 /*
    Arduino loop function, called once 'setup' is complete (your own code
    should go here)
 */
 /**************************************************************************/
 void loop(void) 
 {  
  /* Get a new sensor event */ 
  sensors_event_t accel, mag, gyro, temp;

  lsm.getEvent(&accel, &mag, &gyro, &temp); 
  
  Serial.print(accel.acceleration.x);
  Serial.print(", ");
  Serial.print(accel.acceleration.y);
  Serial.print(", ");
  Serial.print(accel.acceleration.z);
  Serial.print(", ");

  Serial.print(gyro.gyro.x);
  Serial.print(", ");
  Serial.print(gyro.gyro.y);
  Serial.print(", ");
  Serial.print(gyro.gyro.z);
  Serial.print(", ");

  Serial.print(mag.magnetic.x);
  Serial.print(", ");
  Serial.print(mag.magnetic.y);
  Serial.print(", ");
  Serial.print(mag.magnetic.z);
  Serial.print(", ");
  
  Serial.print(temp.temperature);

  Serial.println("");

  delay(1000.0 / 30.0);
  return;

  // print out accelleration data
  Serial.print("Accel X: "); Serial.print(accel.acceleration.x); Serial.print(" ");
  Serial.print("  \tY: "); Serial.print(accel.acceleration.y);       Serial.print(" ");
  Serial.print("  \tZ: "); Serial.print(accel.acceleration.z);     Serial.println("  \tm/s^2");

  // print out magnetometer data
  Serial.print("Magn. X: "); Serial.print(mag.magnetic.x); Serial.print(" ");
  Serial.print("  \tY: "); Serial.print(mag.magnetic.y);       Serial.print(" ");
  Serial.print("  \tZ: "); Serial.print(mag.magnetic.z);     Serial.println("  \tgauss");
  
  // print out gyroscopic data
  Serial.print("Gyro  X: "); Serial.print(gyro. gyro.x); Serial.print(" ");
  Serial.print("  \tY: "); Serial.print(gyro.gyro.y);       Serial.print(" ");
  Serial.print("  \tZ: "); Serial.print(gyro.gyro.z);     Serial.println("  \tdps");

  // print out temperature data
  Serial.print("Temp: "); Serial.print(temp.temperature); Serial.println(" *C");

  Serial.println("**********************\n");

  delay(250);
 }
	#include <SPI.h>
	#include <Wire.h>
	#include <Adafruit_Sensor.h>
	#include <Adafruit_LSM9DS0.h>

	/* This driver uses the Adafruit unified sensor library (Adafruit_Sensor),
	which provides a common 'type' for sensor data and some helper functions.

	To use this driver you will also need to download the Adafruit_Sensor
	library and include it in your libraries folder.

	You should also assign a unique ID to this sensor for use with
	the Adafruit Sensor API so that you can identify this particular
	sensor in any data logs, etc. To assign a unique ID, simply
	provide an appropriate value in the constructor below (12345
	is used by default in this example).

	Connections (For default I2C)
	===========
	Connect SCL to analog 5
	Connect SDA to analog 4
	Connect VDD to 5V DC
	Connect GROUND to common ground

	History
	=======
	2014/JULY/25 - First version (KTOWN)
	*/

	/* Assign a unique base ID for this sensor */
	//Adafruit_LSM9DS0 lsm = Adafruit_LSM9DS0(1000); // Use I2C, ID #1000


	/* Or, use Hardware SPI:
	SCK -> SPI CLK
	SDA -> SPI MOSI
	G_SDO + XM_SDO -> tied together to SPI MISO
	then select any two pins for the two CS lines:
	*/

	#define LSM9DS0_XM_CS 10
	#define LSM9DS0_GYRO_CS 9
	//Adafruit_LSM9DS0 lsm = Adafruit_LSM9DS0(LSM9DS0_XM_CS, LSM9DS0_GYRO_CS, 1000);

	/* Or, use Software SPI:
	G_SDO + XM_SDO -> tied together to the MISO pin!
	then select any pins for the SPI lines, and the two CS pins above
	*/

	#define LSM9DS0_SCLK 13
	#define LSM9DS0_MISO 12
	#define LSM9DS0_MOSI 11

	//Adafruit_LSM9DS0 lsm = Adafruit_LSM9DS0(LSM9DS0_SCLK, LSM9DS0_MISO, LSM9DS0_MOSI, LSM9DS0_XM_CS, LSM9DS0_GYRO_CS, 1000);
	Adafruit_LSM9DS0 lsm = Adafruit_LSM9DS0(22, 21);


	/**************************************************************************/
	/*
	Displays some basic information on this sensor from the unified
	sensor API sensor_t type (see Adafruit_Sensor for more information)
	*/
	/**************************************************************************/
	void displaySensorDetails(void)
	{
	sensor_t accel, mag, gyro, temp;

	lsm.getSensor(&accel, &mag, &gyro, &temp);

	Serial.println(F("------------------------------------"));
	Serial.print (F("Sensor: ")); Serial.println(accel.name);
	Serial.print (F("Driver Ver: ")); Serial.println(accel.version);
	Serial.print (F("Unique ID: ")); Serial.println(accel.sensor_id);
	Serial.print (F("Max Value: ")); Serial.print(accel.max_value); Serial.println(F(" m/s^2"));
	Serial.print (F("Min Value: ")); Serial.print(accel.min_value); Serial.println(F(" m/s^2"));
	Serial.print (F("Resolution: ")); Serial.print(accel.resolution); Serial.println(F(" m/s^2"));
	Serial.println(F("------------------------------------"));
	Serial.println(F(""));

	Serial.println(F("------------------------------------"));
	Serial.print (F("Sensor: ")); Serial.println(mag.name);
	Serial.print (F("Driver Ver: ")); Serial.println(mag.version);
	Serial.print (F("Unique ID: ")); Serial.println(mag.sensor_id);
	Serial.print (F("Max Value: ")); Serial.print(mag.max_value); Serial.println(F(" uT"));
	Serial.print (F("Min Value: ")); Serial.print(mag.min_value); Serial.println(F(" uT"));
	Serial.print (F("Resolution: ")); Serial.print(mag.resolution); Serial.println(F(" uT"));
	Serial.println(F("------------------------------------"));
	Serial.println(F(""));

	Serial.println(F("------------------------------------"));
	Serial.print (F("Sensor: ")); Serial.println(gyro.name);
	Serial.print (F("Driver Ver: ")); Serial.println(gyro.version);
	Serial.print (F("Unique ID: ")); Serial.println(gyro.sensor_id);
	Serial.print (F("Max Value: ")); Serial.print(gyro.max_value); Serial.println(F(" rad/s"));
	Serial.print (F("Min Value: ")); Serial.print(gyro.min_value); Serial.println(F(" rad/s"));
	Serial.print (F("Resolution: ")); Serial.print(gyro.resolution); Serial.println(F(" rad/s"));
	Serial.println(F("------------------------------------"));
	Serial.println(F(""));

	Serial.println(F("------------------------------------"));
	Serial.print (F("Sensor: ")); Serial.println(temp.name);
	Serial.print (F("Driver Ver: ")); Serial.println(temp.version);
	Serial.print (F("Unique ID: ")); Serial.println(temp.sensor_id);
	Serial.print (F("Max Value: ")); Serial.print(temp.max_value); Serial.println(F(" C"));
	Serial.print (F("Min Value: ")); Serial.print(temp.min_value); Serial.println(F(" C"));
	Serial.print (F("Resolution: ")); Serial.print(temp.resolution); Serial.println(F(" C"));
	Serial.println(F("------------------------------------"));
	Serial.println(F(""));

	delay(500);
	}

	/**************************************************************************/
	/*
	Configures the gain and integration time for the TSL2561
	*/
	/**************************************************************************/
	void configureSensor(void)
	{
	// 1.) Set the accelerometer range
	//lsm.setupAccel(lsm.LSM9DS0_ACCELRANGE_2G);
	//lsm.setupAccel(lsm.LSM9DS0_ACCELRANGE_4G);
	//lsm.setupAccel(lsm.LSM9DS0_ACCELRANGE_6G);
	//lsm.setupAccel(lsm.LSM9DS0_ACCELRANGE_8G);
	lsm.setupAccel(lsm.LSM9DS0_ACCELRANGE_16G);

	// 2.) Set the magnetometer sensitivity
	//lsm.setupMag(lsm.LSM9DS0_MAGGAIN_2GAUSS);
	//lsm.setupMag(lsm.LSM9DS0_MAGGAIN_4GAUSS);
	//lsm.setupMag(lsm.LSM9DS0_MAGGAIN_8GAUSS);
	lsm.setupMag(lsm.LSM9DS0_MAGGAIN_12GAUSS);

	// 3.) Setup the gyroscope
	//lsm.setupGyro(lsm.LSM9DS0_GYROSCALE_245DPS);
	lsm.setupGyro(lsm.LSM9DS0_GYROSCALE_500DPS);
	//lsm.setupGyro(lsm.LSM9DS0_GYROSCALE_2000DPS);
	}

	/**************************************************************************/
	/*
	Arduino setup function (automatically called at startup)
	*/
	/**************************************************************************/
	void setup(void)
	{
	#ifndef ESP8266
	while (!Serial); // will pause Zero, Leonardo, etc until serial console opens
	#endif
	Serial.begin(230400);
	//Serial.println(F("LSM9DS0 9DOF Sensor Test")); Serial.println("");

	/* Initialise the sensor */
	if(!lsm.begin())
	{
	/* There was a problem detecting the LSM9DS0 ... check your connections */
	Serial.print(F("Ooops, no LSM9DS0 detected ... Check your wiring or I2C ADDR!"));
	while(1);
	}
	//Serial.println(F("Found LSM9DS0 9DOF"));

	/* Display some basic information on this sensor */
	//displaySensorDetails();

	/* Setup the sensor gain and integration time */
	//configureSensor();

	/* We're ready to go! */
	//Serial.println("");
	}

	/**************************************************************************/
	/*
	Arduino loop function, called once 'setup' is complete (your own code
	should go here)
	*/
	/**************************************************************************/
	void loop(void)
	{
	/* Get a new sensor event */
	sensors_event_t accel, mag, gyro, temp;

	lsm.getEvent(&accel, &mag, &gyro, &temp);

	Serial.print(accel.acceleration.x);
	Serial.print(", ");
	Serial.print(accel.acceleration.y);
	Serial.print(", ");
	Serial.print(accel.acceleration.z);
	Serial.print(", ");

	Serial.print(gyro.gyro.x);
	Serial.print(", ");
	Serial.print(gyro.gyro.y);
	Serial.print(", ");
	Serial.print(gyro.gyro.z);
	Serial.print(", ");

	Serial.print(mag.magnetic.x);
	Serial.print(", ");
	Serial.print(mag.magnetic.y);
	Serial.print(", ");
	Serial.print(mag.magnetic.z);
	Serial.print(", ");

	Serial.print(temp.temperature);

	Serial.println("");

	delay(1000.0 / 30.0);
	return;

	// print out accelleration data
	Serial.print("Accel X: "); Serial.print(accel.acceleration.x); Serial.print(" ");
	Serial.print(" \tY: "); Serial.print(accel.acceleration.y); Serial.print(" ");
	Serial.print(" \tZ: "); Serial.print(accel.acceleration.z); Serial.println(" \tm/s^2");

	// print out magnetometer data
	Serial.print("Magn. X: "); Serial.print(mag.magnetic.x); Serial.print(" ");
	Serial.print(" \tY: "); Serial.print(mag.magnetic.y); Serial.print(" ");
	Serial.print(" \tZ: "); Serial.print(mag.magnetic.z); Serial.println(" \tgauss");

	// print out gyroscopic data
	Serial.print("Gyro X: "); Serial.print(gyro. gyro.x); Serial.print(" ");
	Serial.print(" \tY: "); Serial.print(gyro.gyro.y); Serial.print(" ");
	Serial.print(" \tZ: "); Serial.print(gyro.gyro.z); Serial.println(" \tdps");

	// print out temperature data
	Serial.print("Temp: "); Serial.print(temp.temperature); Serial.println(" *C");

	Serial.println("**********************\n");

	delay(250);
	}
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