(SKU:RB-02S073)LSM9DS0- 9轴姿态传感器

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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

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