查看(SKU:RB-02S073)LSM9DS0- 9轴姿态传感器的源代码

[[文件:9zzt.jpg|500px|缩略图|右]]
==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==
#模拟电源电压范围：2.4V~3.6V
#3轴加速度计：±2/±4/±6/±8/±16 g
#3轴陀螺仪：±245/±500/±2000°/S
#3轴磁力计：±2/±4/±8/±12高斯
#16位的数据输出
#SPI/ I2C串行接口
#嵌入式FIFO（先入先出的队列）；
#可编程中断发生
#嵌入式自测试
#嵌入式温度传感器
#尺寸大小： 3.302cm x 1.524cm
#重量大小：10g
==使用方法==
===引脚定义===
{|border="1" cellspacing="0" align="center" cellpadding="5" width="400px"
|-
|align="center"|9轴姿态传感器
|align="center"|引脚定义
|-
|align="center"|CSG
|align="center"|陀螺仪芯片操作方式选择引脚
|-
|align="center"|CSXM
|align="center"|加速度芯片操作方式选择引脚
|-
|align="center"|SDOG
|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"|信号时钟引脚
|-
|align="center"|SDA
|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"|DEN
|align="center"|陀螺仪数据使能引脚
|-
|align="center"|INTG
|align="center"|陀螺仪可编程中断
|-
|align="center"|DRDYG
|align="center"|陀螺仪数据准备引脚
|-
|align="center"|INT1XM
|align="center"|加速度中断1
|-
|align="center"|INT2XM
|align="center"|加速度中断2
|}
<br/>

===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。<br/>
{|border="1" cellspacing="0" align="center" cellpadding="5" width="400px"
|-
|align="center"|9轴姿态传感器
|align="center"|Arduino
|-
|align="center"|CSG、CSXM、SDOG、SDOXM、DEN、INTG
|align="center"|不接
|-
|align="center"|SCL
|align="center"|SCL
|-
|align="center"|SDA
|align="center"|SDA
|-
|align="center"|VDD
|align="center"|3.3V
|-
|align="center"|GND
|align="center"|GND
|-
|align="center"|DRDYG
|align="center"|D4
|-
|align="center"|INT1XM
|align="center"|D2
|-
|align="center"|INT2XM
|align="center"|D3
|}
<br>
[[文件:9zzt1.jpg|700px|缩略图|居中]]

==应用例程==
===示例代码===
[https://github.com/sparkfun/SparkFun_LSM9DS0_Arduino_Library 库文件官方下载地址]<br/>
<pre style='color:blue'>
#include <SPI.h> 
#include <Wire.h>
#include <SFE_LSM9DS0.h>
#define LSM9DS0_XM  0x1D 
#define LSM9DS0_G   0x6B 
LSM9DS0 dof(MODE_I2C, LSM9DS0_G, LSM9DS0_XM);
#define PRINT_CALCULATED
#define PRINT_SPEED 500
void setup()
{
  Serial.begin(115200); 
  uint16_t status = dof.begin();
  Serial.print("LSM9DS0 WHO_AM_I's returned: 0x");
  Serial.println(status, HEX);
  Serial.println("Should be 0x49D4");
  Serial.println();
}

void loop()
{
  printGyro();  // Print "G: gx, gy, gz"
  printAccel(); // Print "A: ax, ay, az"
  printMag();   // Print "M: mx, my, mz"
  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()
{
  dof.readGyro();
  Serial.print("G: ");
#ifdef PRINT_CALCULATED
  Serial.print(dof.calcGyro(dof.gx), 2);
  Serial.print(", ");
  Serial.print(dof.calcGyro(dof.gy), 2);
  Serial.print(", ");
  Serial.println(dof.calcGyro(dof.gz), 2);
#elif defined PRINT_RAW
  Serial.print(dof.gx);
  Serial.print(", ");
  Serial.print(dof.gy);
  Serial.print(", ");
  Serial.println(dof.gz);
#endif
}

void printAccel()
{
  dof.readAccel();
  Serial.print("A: ");
#ifdef PRINT_CALCULATED
  Serial.print(dof.calcAccel(dof.ax), 2);
  Serial.print(", ");
  Serial.print(dof.calcAccel(dof.ay), 2);
  Serial.print(", ");
  Serial.println(dof.calcAccel(dof.az), 2);
#elif defined PRINT_RAW 
  Serial.print(dof.ax);
  Serial.print(", ");
  Serial.print(dof.ay);
  Serial.print(", ");
  Serial.println(dof.az);
#endif

}

void printMag()
{
  dof.readMag();
  Serial.print("M: ");
#ifdef PRINT_CALCULATED
  Serial.print(dof.calcMag(dof.mx), 2);
  Serial.print(", ");
  Serial.print(dof.calcMag(dof.my), 2);
  Serial.print(", ");
  Serial.println(dof.calcMag(dof.mz), 2);
#elif defined PRINT_RAW
  Serial.print(dof.mx);
  Serial.print(", ");
  Serial.print(dof.my);
  Serial.print(", ");
  Serial.println(dof.mz);
#endif
}
void printHeading(float hx, float hy)
{
  float heading;
  
  if (hy > 0)
  {
    heading = 90 - (atan(hx / hy) * (180 / PI));
  }
  else if (hy < 0)
  {
    heading = - (atan(hx / hy) * (180 / PI));
  }
  else // hy = 0
  {
    if (hx < 0) heading = 180;
    else heading = 0;
  }
  
  Serial.print("Heading: ");
  Serial.println(heading, 2);
}
void printOrientation(float x, float y, float z)
{
  float pitch, roll;  
  pitch = atan2(x, sqrt(y * y) + (z * z));
  roll = atan2(y, sqrt(x * x) + (z * z));
  pitch *= 180.0 / PI;
  roll *= 180.0 / PI;
  Serial.print("Pitch, Roll: ");
  Serial.print(pitch, 2);
  Serial.print(", ");
  Serial.println(roll, 2);
}
</pre>
===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。
[[文件:RB-02S0731.jpg|700px|缩略图|居中]]
==产品相关推荐==
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===产品购买地址===
[http://www.alsrobot.cn/goods-565.htm 9轴姿态传感器]<br/>
===周边产品推荐===
[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===
[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===
[https://www.sparkfun.com/videos#all/E4L8bYt6lCs/153 产品应用视频]
[https://cdn.sparkfun.com/assets/8/c/c/4/9/lsm9ds0_breakout-v10-schematic-.pdf 电路原理图]<br/>
[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 安装指南]<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/>