查看(SKU:RB-02S073)LSM9DS0- 9軸姿態(tài)傳感器的源代碼

[[文件:9zzt.jpg|500px|縮略圖|右]]
==產(chǎn)品概述==
LSM9DS0-9軸姿態(tài)傳感器選用的是LSM9DS0芯片，它是一種可實現(xiàn)動作感應的系統(tǒng)芯片，里面包括了一個3軸加速計，一個3軸陀螺儀和一個3軸磁力計。在LSM9DS0中，每種傳感器都有良好的檢測范圍：LSM9DS0線性加速滿量程為±2g／±4g／±6g／±8g／±16g；磁場滿量程為±2 /±4 /±8 /±12高斯；陀螺儀滿量程為±245 /±500 /±2000°/S。9軸姿態(tài)傳感器還包含了I2C串行總線接口，支持標準和快速模式（100 kHz和400 kHz）及SPI串行接口標準。
==規(guī)格參數(shù)==
#模擬電源電壓范圍：2.4V~3.6V
#3軸加速度計：±2/±4/±6/±8/±16 g
#3軸陀螺儀：±245/±500/±2000°/S
#3軸磁力計：±2/±4/±8/±12高斯
#16位的數(shù)據(jù)輸出
#SPI/ I2C串行接口
#嵌入式FIFO（先入先出的隊列）；
#可編程中斷發(fā)生
#嵌入式自測試
#嵌入式溫度傳感器
#尺寸大?。?3.302cm x 1.524cm
#重量大?。?0g
==使用方法==
===引腳定義===
{|border="1" cellspacing="0" align="center" cellpadding="5" width="400px"
|-
|align="center"|9軸姿態(tài)傳感器
|align="center"|引腳定義
|-
|align="center"|CSG
|align="center"|陀螺儀芯片操作方式選擇引腳
|-
|align="center"|CSXM
|align="center"|加速度芯片操作方式選擇引腳
|-
|align="center"|SDOG
|align="center"|地址選擇引腳
|-
|align="center"|SDOX
|align="center"|SPI模式輸出陀螺儀數(shù)據(jù)
|-
|align="center"|SCL
|align="center"|信號時鐘引腳
|-
|align="center"|SDA
|align="center"|數(shù)據(jù)引腳
|-
|align="center"|VDD
|align="center"|電源正極
|-
|align="center"|GND
|align="center"|電源地
|-
|align="center"|DEN
|align="center"|陀螺儀數(shù)據(jù)使能引腳
|-
|align="center"|INTG
|align="center"|陀螺儀可編程中斷
|-
|align="center"|DRDYG
|align="center"|陀螺儀數(shù)據(jù)準備引腳
|-
|align="center"|INT1XM
|align="center"|加速度中斷1
|-
|align="center"|INT2XM
|align="center"|加速度中斷2
|}
<br/>

===連接圖示===
首先需要安裝一下LSM9DS0的Arduino庫，然后圖中右側的小紅色芯片為電平轉換芯片。<br/>
{|border="1" cellspacing="0" align="center" cellpadding="5" width="400px"
|-
|align="center"|9軸姿態(tài)傳感器
|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|縮略圖|居中]]

==應用例程==
===示例代碼===
[https://github.com/sparkfun/SparkFun_LSM9DS0_Arduino_Library 庫文件官方下載地址]<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===
下載完程序，然后打開串口監(jiān)視器，將波特率調(diào)到115200，然后按照顯示的內(nèi)容輸入相應數(shù)字進行功能選擇，可以觀察到多種數(shù)據(jù)。
[[文件:RB-02S0731.jpg|700px|縮略圖|居中]]
==產(chǎn)品相關推薦==
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===產(chǎn)品購買地址===
[http://m.gharee.com/goods-565.htm 9軸姿態(tài)傳感器]<br/>
===周邊產(chǎn)品推薦===
[https://item.taobao.com/item.htm?spm=a1z10.3-c.w4002-3667083713.20.QyL8Qd&id=522174307810 Arduino 9 Axes Motion Shield 9軸運動擴展板 ]<br/>
===相關問題解答===
[http://www.makerspace.cn/forum.php?mod=viewthread&tid=5505&fromuid=10780 Arduino 9 Axes Motion Shield 9軸運動擴展板 三軸加速度計]<br/>
===相關學習資料===
[https://www.sparkfun.com/videos#all/E4L8bYt6lCs/153 產(chǎn)品應用視頻]
[https://cdn.sparkfun.com/assets/8/c/c/4/9/lsm9ds0_breakout-v10-schematic-.pdf 電路原理圖]<br/>
[https://cdn.sparkfun.com/assets/f/6/1/f/0/LSM9DS0.pdf 數(shù)據(jù)表（lmv324）]<br/>
[https://learn.sparkfun.com/tutorials/lsm9ds0-hookup-guide 安裝指南]<br/>
[https://github.com/sparkfun/LSM9DS0_Breakout GitHub（設計文件）]<br/>
[http://www.makerspace.cn/portal.php 奧松機器人技術論壇]<br/>