#include <Adafruit_LSM9DS1.h>

Classes
class	Sensor

struct	vector_s

Public Types
enum	lsm9ds1AccGyroRegisters_t { LSM9DS1_REGISTER_WHO_AM_I_XG = 0x0F, LSM9DS1_REGISTER_CTRL_REG1_G = 0x10, LSM9DS1_REGISTER_CTRL_REG2_G = 0x11, LSM9DS1_REGISTER_CTRL_REG3_G = 0x12, LSM9DS1_REGISTER_TEMP_OUT_L = 0x15, LSM9DS1_REGISTER_TEMP_OUT_H = 0x16, LSM9DS1_REGISTER_STATUS_REG = 0x17, LSM9DS1_REGISTER_OUT_X_L_G = 0x18, LSM9DS1_REGISTER_OUT_X_H_G = 0x19, LSM9DS1_REGISTER_OUT_Y_L_G = 0x1A, LSM9DS1_REGISTER_OUT_Y_H_G = 0x1B, LSM9DS1_REGISTER_OUT_Z_L_G = 0x1C, LSM9DS1_REGISTER_OUT_Z_H_G = 0x1D, LSM9DS1_REGISTER_CTRL_REG4 = 0x1E, LSM9DS1_REGISTER_CTRL_REG5_XL = 0x1F, LSM9DS1_REGISTER_CTRL_REG6_XL = 0x20, LSM9DS1_REGISTER_CTRL_REG7_XL = 0x21, LSM9DS1_REGISTER_CTRL_REG8 = 0x22, LSM9DS1_REGISTER_CTRL_REG9 = 0x23, LSM9DS1_REGISTER_CTRL_REG10 = 0x24, LSM9DS1_REGISTER_OUT_X_L_XL = 0x28, LSM9DS1_REGISTER_OUT_X_H_XL = 0x29, LSM9DS1_REGISTER_OUT_Y_L_XL = 0x2A, LSM9DS1_REGISTER_OUT_Y_H_XL = 0x2B, LSM9DS1_REGISTER_OUT_Z_L_XL = 0x2C, LSM9DS1_REGISTER_OUT_Z_H_XL = 0x2D }

enum	lsm9ds1AccelRange_t { LSM9DS1_ACCELRANGE_2G = (0b00 << 3), LSM9DS1_ACCELRANGE_16G = (0b01 << 3), LSM9DS1_ACCELRANGE_4G = (0b10 << 3), LSM9DS1_ACCELRANGE_8G = (0b11 << 3) }

enum	lsm9ds1AccelDataRate_t { LSM9DS1_ACCELDATARATE_POWERDOWN = (0b0000 << 5), LSM9DS1_ACCELDATARATE_10HZ = (0b001 << 5), LSM9DS1_ACCELDATARATE_50HZ = (0b010 << 5), LSM9DS1_ACCELDATARATE_119HZ = (0b011 << 5), LSM9DS1_ACCELDATARATE_238HZ = (0b100 << 5), LSM9DS1_ACCELDATARATE_476HZ = (0b101 << 5), LSM9DS1_ACCELDATARATE_952HZ = (0b110 << 5) }

enum	lsm9ds1MagGain_t { LSM9DS1_MAGGAIN_4GAUSS = (0b00 << 5), LSM9DS1_MAGGAIN_8GAUSS = (0b01 << 5), LSM9DS1_MAGGAIN_12GAUSS = (0b10 << 5), LSM9DS1_MAGGAIN_16GAUSS = (0b11 << 5) }

enum	lsm9ds1GyroScale_t { LSM9DS1_GYROSCALE_245DPS, LSM9DS1_GYROSCALE_500DPS, LSM9DS1_GYROSCALE_2000DPS }

typedef struct Adafruit_LSM9DS1::vector_s	lsm9ds1Vector_t

Public Member Functions
	Adafruit_LSM9DS1 (int32_t sensorID=0)
	Instantiate with default hardware I2C interface. More...

	Adafruit_LSM9DS1 (TwoWire *wireBus, int32_t sensorID=0)
	Instantiate with hardware I2C interface. More...

	Adafruit_LSM9DS1 (int8_t xmcs, int8_t gcs, int32_t sensorID=0)
	Instantiate with hardware SPI interface. More...

	Adafruit_LSM9DS1 (int8_t clk, int8_t miso, int8_t mosi, int8_t xmcs, int8_t gcs, int32_t sensorID=0)
	Instantiate with software SPI interface. More...

bool	begin (void)
	Initialize I2C or SPI and detect/initialize subsensors. More...

void	read (void)
	Read all four sensor subcomponents.

void	readAccel (void)
	Read the sensor accelerometer sensor component.

void	readGyro (void)
	Read the sensor gyroscope sensor component.

void	readMag (void)
	Read the sensor magnetometer sensor component.

void	readTemp (void)
	Read the sensor temperature sensor component.

void	setupAccel (lsm9ds1AccelRange_t range, lsm9ds1AccelDataRate_t rate=LSM9DS1_ACCELDATARATE_10HZ)
	Configure the accelerometer ranging. More...

void	setupMag (lsm9ds1MagGain_t gain)
	Configure the magnetometer gain. More...

void	setupGyro (lsm9ds1GyroScale_t scale)
	Configure the gyroscope scaling. More...

bool	getEvent (sensors_event_t accel, sensors_event_t mag, sensors_event_t gyro, sensors_event_t temp)
	Gets the most recent accel sensor events for all 4 sensors. More...

void	getSensor (sensor_t accel, sensor_t mag, sensor_t gyro, sensor_t temp)
	Gets the sensor_t data for all 4 sub-sensors at once call. More...

Sensor &	getAccel (void)
	Return Adafruit_Sensor compatible interface for accelerometer. More...

Sensor &	getGyro (void)
	Return Adafruit_Sensor compatible interface for gyroscope. More...

Sensor &	getTemp (void)
	Return Adafruit_Sensor compatible interface for temperature. More...

Adafruit_Sensor &	getMag (void)
	Return Adafruit_Sensor compatible interface for magnetometer. More...

Public Attributes
lsm9ds1Vector_t	accelData
	Last read accelerometer data will be available here.

lsm9ds1Vector_t	gyroData
	Last read gyroscope data will be available here.

lsm9ds1Vector_t	magData
	Last read magnetometer data will be available here.

int16_t	temperature
	Last read temperzture data will be available here.

Detailed Description

! Interface object for LSM9DS1 9-DoF sensor

Member Typedef Documentation

◆ lsm9ds1Vector_t

typedef struct Adafruit_LSM9DS1::vector_s Adafruit_LSM9DS1::lsm9ds1Vector_t

! 3D floating point vector with X Y Z components

Member Enumeration Documentation

◆ lsm9ds1AccGyroRegisters_t

enum Adafruit_LSM9DS1::lsm9ds1AccGyroRegisters_t

! Register mapping for accelerometer/gyroscope component

◆ lsm9ds1AccelRange_t

enum Adafruit_LSM9DS1::lsm9ds1AccelRange_t

! Enumeration for accelerometer range (2/4/8/16 g)

◆ lsm9ds1AccelDataRate_t

enum Adafruit_LSM9DS1::lsm9ds1AccelDataRate_t

! Enumeration for accelerometer data rate 10 - 952 Hz

◆ lsm9ds1MagGain_t

enum Adafruit_LSM9DS1::lsm9ds1MagGain_t

! Enumeration for magnetometer scaling (4/8/12/16 gauss)

◆ lsm9ds1GyroScale_t

enum Adafruit_LSM9DS1::lsm9ds1GyroScale_t

! Enumeration for gyroscope scaling (245/500/2000 dps)

Constructor & Destructor Documentation

◆ Adafruit_LSM9DS1() [1/4]

Adafruit_LSM9DS1::Adafruit_LSM9DS1 ( int32_t sensorID = 0 )

Instantiate with default hardware I2C interface.

Parameters

sensorID Unique identifier you'd like for the sensors

◆ Adafruit_LSM9DS1() [2/4]

Adafruit_LSM9DS1::Adafruit_LSM9DS1	(	TwoWire *	wireBus,
		int32_t	sensorID = `0`
	)

Instantiate with hardware I2C interface.

Parameters

wireBus	The I2C wire interface you'd like to use
sensorID	Unique identifier you'd like for the sensors

◆ Adafruit_LSM9DS1() [3/4]

Adafruit_LSM9DS1::Adafruit_LSM9DS1	(	int8_t	xgcs,
		int8_t	mcs,
		int32_t	sensorID = `0`
	)

Instantiate with hardware SPI interface.

Parameters

xgcs	SPI CS pin for accelerometer/gyro subchip
mcs	SPI CS pin for magnetometer subchip
sensorID	Unique identifier you'd like for the sensors

◆ Adafruit_LSM9DS1() [4/4]

Adafruit_LSM9DS1::Adafruit_LSM9DS1	(	int8_t	sclk,
		int8_t	smiso,
		int8_t	smosi,
		int8_t	xgcs,
		int8_t	mcs,
		int32_t	sensorID = `0`
	)

Instantiate with software SPI interface.

Parameters

sclk	SPI clock pin
smiso	SPI MISO pin
smosi	SPI MOSI pin
xgcs	SPI CS pin for accelerometer/gyro subchip
mcs	SPI CS pin for magnetometer subchip
sensorID	Unique identifier you'd like for the sensors

Member Function Documentation

◆ begin()

bool Adafruit_LSM9DS1::begin ( void )

Initialize I2C or SPI and detect/initialize subsensors.

Returns: True if both subsensors were detected on the desired interface

◆ setupAccel()

void Adafruit_LSM9DS1::setupAccel	(	lsm9ds1AccelRange_t	range,
		lsm9ds1AccelDataRate_t	rate = `LSM9DS1_ACCELDATARATE_10HZ`
	)

Configure the accelerometer ranging.

Parameters

range	Can be LSM9DS1_ACCELRANGE_2G, LSM9DS1_ACCELRANGE_4G, LSM9DS1_ACCELRANGE_8G, LSM9DS1_ACCELRANGE_16G
rate	Can be LSM9DS1_ACCELDATARATE_10HZ, LSM9DS1_ACCELDATARATE_50HZ, LSM9DS1_ACCELDATARATE_119HZ, LSM9DS1_ACCELDATARATE_238HZ, LSM9DS1_ACCELDATARATE_476HZ, LSM9DS1_ACCELDATARATE_952HZ

◆ setupMag()

void Adafruit_LSM9DS1::setupMag ( lsm9ds1MagGain_t gain )

Configure the magnetometer gain.

Parameters

gain	Can be LSM9DS1_MAGGAIN_4GAUSS, LSM9DS1_MAGGAIN_8GAUSS, LSM9DS1_MAGGAIN_12GAUSS, LSM9DS1_MAGGAIN_16GAUSS

◆ setupGyro()

void Adafruit_LSM9DS1::setupGyro ( lsm9ds1GyroScale_t scale )

Configure the gyroscope scaling.

Parameters

scale Can be LSM9DS1_GYROSCALE_245DPS, LSM9DS1_GYROSCALE_500DPS or LSM9DS1_GYROSCALE_2000DPS

◆ getEvent()

bool Adafruit_LSM9DS1::getEvent	(	sensors_event_t *	accelEvent,
		sensors_event_t *	magEvent,
		sensors_event_t *	gyroEvent,
		sensors_event_t *	tempEvent
	)

Gets the most recent accel sensor events for all 4 sensors.

Parameters

accelEvent	The accelerometer event object we will fill, pass NULL to skip
magEvent	The magnetometer event object we will fill, pass NULL to skip
gyroEvent	The gyroscope event object we will fill, pass NULL to skip
tempEvent	The temperature event object we will fill, pass NULL to skip

Returns: True on successful reads

◆ getSensor()

void Adafruit_LSM9DS1::getSensor	(	sensor_t *	accel,
		sensor_t *	mag,
		sensor_t *	gyro,
		sensor_t *	temp
	)

Gets the sensor_t data for all 4 sub-sensors at once call.

Parameters

accel	The accelerometer sensor_t object we will fill, pass NULL to skip
mag	The magnetometer sensor_t object we will fill, pass NULL to skip
gyro	The gyroscope sensor_t object we will fill, pass NULL to skip
temp	The temperature sensor_t object we will fill, pass NULL to skip

◆ getAccel()

Sensor& Adafruit_LSM9DS1::getAccel ( void )

inline

Return Adafruit_Sensor compatible interface for accelerometer.

Returns: Reference to Adafruit_Sensor subclassed object

◆ getGyro()

Sensor& Adafruit_LSM9DS1::getGyro ( void )

inline

Return Adafruit_Sensor compatible interface for gyroscope.

Returns: Reference to Adafruit_Sensor subclassed object

◆ getTemp()

Sensor& Adafruit_LSM9DS1::getTemp ( void )

inline

Return Adafruit_Sensor compatible interface for temperature.

Returns: Reference to Adafruit_Sensor subclassed object

◆ getMag()

Adafruit_Sensor& Adafruit_LSM9DS1::getMag ( void )

inline

Return Adafruit_Sensor compatible interface for magnetometer.

Returns: Reference to Adafruit_Sensor subclassed object

The documentation for this class was generated from the following files:

Adafruit_LSM9DS1.h
Adafruit_LSM9DS1.cpp

Classes

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ lsm9ds1Vector_t

Member Enumeration Documentation

◆ lsm9ds1AccGyroRegisters_t

◆ lsm9ds1AccelRange_t

◆ lsm9ds1AccelDataRate_t

◆ lsm9ds1MagGain_t

◆ lsm9ds1GyroScale_t

Constructor & Destructor Documentation

◆ Adafruit_LSM9DS1() [1/4]

◆ Adafruit_LSM9DS1() [2/4]

◆ Adafruit_LSM9DS1() [3/4]

◆ Adafruit_LSM9DS1() [4/4]

Member Function Documentation

◆ begin()

◆ setupAccel()

◆ setupMag()

◆ setupGyro()

◆ getEvent()

◆ getSensor()

◆ getAccel()

◆ getGyro()

◆ getTemp()

◆ getMag()