Introduction

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CircuitPython module for the LSM9DS1 accelerometer, magnetometer, gyroscope.

Dependencies

This driver depends on:

Please ensure all dependencies are available on the CircuitPython filesystem. This is easily achieved by downloading the Adafruit library and driver bundle.

Usage Example

See examples/lsm9ds1_simpletest.py for a demo of the usage.

Contributing

Contributions are welcome! Please read our Code of Conduct before contributing to help this project stay welcoming.

Building locally

To build this library locally you’ll need to install the circuitpython-build-tools package.

python3 -m venv .env
source .env/bin/activate
pip install circuitpython-build-tools

Once installed, make sure you are in the virtual environment:

source .env/bin/activate

Then run the build:

circuitpython-build-bundles --filename_prefix adafruit-circuitpython-lsm9ds1 --library_location .

Sphinx documentation

Sphinx is used to build the documentation based on rST files and comments in the code. First, install dependencies (feel free to reuse the virtual environment from above):

python3 -m venv .env
source .env/bin/activate
pip install Sphinx sphinx-rtd-theme

Now, once you have the virtual environment activated:

cd docs
sphinx-build -E -W -b html . _build/html

This will output the documentation to docs/_build/html. Open the index.html in your browser to view them. It will also (due to -W) error out on any warning like Travis will. This is a good way to locally verify it will pass.

Table of Contents

Simple test

Ensure your device works with this simple test.

examples/lsm9ds1_simpletest.py
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# Simple demo of the LSM9DS1 accelerometer, magnetometer, gyroscope.
# Will print the acceleration, magnetometer, and gyroscope values every second.
import time

import board
import busio
# import digitalio # Use when connected over SPI

import adafruit_lsm9ds1


# You have a couple options for wiring this sensor, either I2C (recommended)
# or a SPI connection.  Choose _one_ option below and uncomment it:

# I2C connection:
i2c = busio.I2C(board.SCL, board.SDA)
sensor = adafruit_lsm9ds1.LSM9DS1_I2C(i2c)

# SPI connection:
#spi = busio.SPI(board.SCK, MOSI=board.MOSI, MISO=board.MISO)
#xgcs = digitalio.DigitalInOut(board.D5)  # Pin connected to XGCS (accel/gyro chip select).
#mcs  = digitalio.DigitalInOut(board.D6)  # Pin connected to MCS (magnetometer chip select).
#sensor = adafruit_lsm9ds1.LSM9DS1_SPI(spi, xgcs, mcs)

# Main loop will read the acceleration, magnetometer, gyroscope, Temperature
# values every second and print them out.
while True:
    # Read acceleration, magnetometer, gyroscope, temperature.
    accel_x, accel_y, accel_z = sensor.accelerometer
    mag_x, mag_y, mag_z = sensor.magnetometer
    gyro_x, gyro_y, gyro_z = sensor.gyroscope
    temp = sensor.temperature
    # Print values.
    print('Acceleration (m/s^2): ({0:0.3f},{1:0.3f},{2:0.3f})'.format(accel_x, accel_y, accel_z))
    print('Magnetometer (gauss): ({0:0.3f},{1:0.3f},{2:0.3f})'.format(mag_x, mag_y, mag_z))
    print('Gyroscope (degrees/sec): ({0:0.3f},{1:0.3f},{2:0.3f})'.format(gyro_x, gyro_y, gyro_z))
    print('Temperature: {0:0.3f}C'.format(temp))
    # Delay for a second.
    time.sleep(1.0)

adafruit_lsm9ds1

CircuitPython module for the LSM9DS1 accelerometer, magnetometer, gyroscope. Based on the driver from: https://github.com/adafruit/Adafruit_LSM9DS1

See examples/simpletest.py for a demo of the usage.

  • Author(s): Tony DiCola

Implementation Notes

Hardware:

Software and Dependencies:

class adafruit_lsm9ds1.LSM9DS1[source]

Driver for the LSM9DS1 accelerometer, magnetometer, gyroscope.

accel_range

The accelerometer range. Must be a value of: - ACCELRANGE_2G - ACCELRANGE_4G - ACCELRANGE_8G - ACCELRANGE_16G

accelerometer

The accelerometer X, Y, Z axis values as a 3-tuple of m/s^2 values.

gyro_scale

The gyroscope scale. Must be a value of: - GYROSCALE_245DPS - GYROSCALE_500DPS - GYROSCALE_2000DPS

gyroscope

The gyroscope X, Y, Z axis values as a 3-tuple of degrees/second values.

mag_gain

The magnetometer gain. Must be a value of: - MAGGAIN_4GAUSS - MAGGAIN_8GAUSS - MAGGAIN_12GAUSS - MAGGAIN_16GAUSS

magnetometer

The magnetometer X, Y, Z axis values as a 3-tuple of gauss values.

read_accel_raw()[source]

Read the raw accelerometer sensor values and return it as a 3-tuple of X, Y, Z axis values that are 16-bit unsigned values. If you want the acceleration in nice units you probably want to use the accelerometer property!

read_gyro_raw()[source]

Read the raw gyroscope sensor values and return it as a 3-tuple of X, Y, Z axis values that are 16-bit unsigned values. If you want the gyroscope in nice units you probably want to use the gyroscope property!

read_mag_raw()[source]

Read the raw magnetometer sensor values and return it as a 3-tuple of X, Y, Z axis values that are 16-bit unsigned values. If you want the magnetometer in nice units you probably want to use the magnetometer property!

read_temp_raw()[source]

Read the raw temperature sensor value and return it as a 12-bit signed value. If you want the temperature in nice units you probably want to use the temperature property!

temperature

The temperature of the sensor in degrees Celsius.

class adafruit_lsm9ds1.LSM9DS1_I2C(i2c)[source]

Driver for the LSM9DS1 connect over I2C.

class adafruit_lsm9ds1.LSM9DS1_SPI(spi, xgcs, mcs)[source]

Driver for the LSM9DS1 connect over SPI.

Indices and tables