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‎LICENSE

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The MIT License (MIT)
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Copyright (c) 2015 SparkFun Electronics
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.
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‎README.md

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## SparkFun LSM9DS1 Particle Library
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Firmware library SparkFun's Photon IMU Shield and the LSM9DS1 Breakout.
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About
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-------------------
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This is a firmware library for [SparkFun's Photon IMU Shield](https://www.sparkfun.com/products/13629).
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[![Photon IMU Shield](https://cdn.sparkfun.com//assets/parts/1/1/0/1/6/13629-01a.jpg)](https://www.sparkfun.com/products/13629).
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The Photon IMU Shield connects the Photon WiFi development board up to an [ST LSM9DS1](http://www.st.com/web/catalog/sense_power/FM89/SC1448/PF259998) 9DOF IMU - providing it access to an accelerometer, gyroscope, and magnetometer.
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Repository Contents
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-------------------
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* **/doc** - Additional documentation for the user. These files are ignored by the IDE.
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* **/firmware** - Source files for the library (.cpp, .h).
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* **/firmware/examples** - Example sketches for the library (.cpp). Run these from the Particle IDE.
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* **spark.json** - General library properties for the Particel library manager.
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Example Usage
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-------------------
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#### Initializing the Library
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Include the library, declare an IMU object, and set it up with these snippets of code:
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#include "SparkFunLSM9DS1/SparkFunLSM9DS1.h"
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// Use the LSM9DS1 class to create an object. [imu] can be
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// named anything, we'll refer to that throught the sketch.
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LSM9DS1 imu;
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// SDO_XM and SDO_G are both pulled high, so our addresses are:
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#define LSM9DS1_M 0x1E // Would be 0x1C if SDO_M is LOW
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#define LSM9DS1_AG 0x6B // Would be 0x6A if SDO_AG is LOW
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void setup()
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{
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Serial.begin(115200);
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// Before initializing the IMU, there are a few settings
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// we may need to adjust. Use the settings struct to set
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// the device's communication mode and addresses:
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imu.settings.device.commInterface = IMU_MODE_I2C;
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imu.settings.device.mAddress = LSM9DS1_M;
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imu.settings.device.agAddress = LSM9DS1_AG;
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// The above lines will only take effect AFTER calling
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// imu.begin(), which verifies communication with the IMU
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// and turns it on.
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if (!imu.begin())
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{
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Serial.println("Failed to communicate with LSM9DS1.");
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Serial.println("Double-check wiring.");
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Serial.println("Default settings in this sketch will " \
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"work for an out of the box LSM9DS1 " \
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"Breakout, but may need to be modified " \
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"if the board jumpers are.");
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while (1)
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;
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}
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}
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#### Reading Sensor Data
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To get data out of the IMU, call `imu.readAccel()`, `imu.readGyro()`, and `imu.readMag()`. Those functions will update the objects member variables: `imu.ax`, `imu.ay`, `imu.az`, `imu.gx`, `imu.gy`, `imu.gz`, `imu.mx`, `imu.my`, and`imu.mz`. Here, some example functions can probably make it more clear:
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void printAccel()
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{
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// To read from the accelerometer, you must first call the
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// readAccel() function. When this exits, it'll update the
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// ax, ay, and az variables with the most current data.
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imu.readAccel();
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// Now we can use the ax, ay, and az variables as we please.
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Serial.print("A: ");
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Serial.print(imu.ax);
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Serial.print(", ");
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Serial.print(imu.ay);
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Serial.print(", ");
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Serial.println(imu.az);
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}
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void printGyro()
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{
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// To read from the gyroscope, you must first call the
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// readGyro() function. When this exits, it'll update the
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// gx, gy, and gz variables with the most current data.
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imu.readGyro();
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// Now we can use the gx, gy, and gz variables as we please.
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Serial.print("G: ");
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Serial.print(imu.gx);
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Serial.print(", ");
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Serial.print(imu.gy);
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Serial.print(", ");
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Serial.println(imu.gz);
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}
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void printMag()
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{
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// To read from the magnetometer, you must first call the
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// readMag() function. When this exits, it'll update the
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// mx, my, and mz variables with the most current data.
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imu.readMag();
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// Now we can use the mx, my, and mz variables as we please.
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Serial.print("M: ");
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Serial.print(imu.mx);
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Serial.print(", ");
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Serial.print(imu.my);
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Serial.print(", ");
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Serial.println(imu.mz);
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}
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---
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Check out the example files in the [examples directory](https://github.com/sparkfun/SparkFun_LSM9DS1_Particle_Library/tree/master/firmware/examples) for more guidance.
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Recommended Components
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-------------------
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* [Particle Photon](https://www.sparkfun.com/products/13345)
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* [SparkFun Photon IMU Shield](https://www.sparkfun.com/products/13629)
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License Information
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-------------------
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This product is _**open source**_!
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Please review the LICENSE.md file for license information.
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If you have any questions or concerns on licensing, please contact [email protected].
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Distributed as-is; no warranty is given.
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- Your friends at SparkFun.

‎doc/LSM9DS1 Datasheet.pdf

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‎firmware/LSM9DS1_Registers.h

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/******************************************************************************
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LSM9DS1_Registers.h
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SparkFunLSM9DS1 Particle Library - LSM9DS1 Register Map
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Jim Lindblom @ SparkFun Electronics
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Original Creation Date: April 21, 2015
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https://github.com/sparkfun/SparkFun_LSM9DS1_Particle_Library
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This file defines all registers internal to the gyro/accel and magnetometer
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devices in the LSM9DS1.
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Development environment specifics:
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IDE: Particle Build
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Hardware Platform: Particle Photon
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SparkFun Photon IMU Shield
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This code is released under the MIT license.
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Distributed as-is; no warranty is given.
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******************************************************************************/
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#ifndef __LSM9DS1_Registers_H__
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#define __LSM9DS1_Registers_H__
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/////////////////////////////////////////
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// LSM9DS1 Accel/Gyro (XL/G) Registers //
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/////////////////////////////////////////
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#define ACT_THS 0x04
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#define ACT_DUR 0x05
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#define INT_GEN_CFG_XL 0x06
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#define INT_GEN_THS_X_XL 0x07
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#define INT_GEN_THS_Y_XL 0x08
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#define INT_GEN_THS_Z_XL 0x09
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#define INT_GEN_DUR_XL 0x0A
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#define REFERENCE_G 0x0B
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#define INT1_CTRL 0x0C
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#define INT2_CTRL 0x0D
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#define WHO_AM_I_XG 0x0F
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#define CTRL_REG1_G 0x10
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#define CTRL_REG2_G 0x11
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#define CTRL_REG3_G 0x12
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#define ORIENT_CFG_G 0x13
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#define INT_GEN_SRC_G 0x14
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#define OUT_TEMP_L 0x15
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#define OUT_TEMP_H 0x16
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#define STATUS_REG_0 0x17
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#define OUT_X_L_G 0x18
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#define OUT_X_H_G 0x19
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#define OUT_Y_L_G 0x1A
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#define OUT_Y_H_G 0x1B
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#define OUT_Z_L_G 0x1C
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#define OUT_Z_H_G 0x1D
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#define CTRL_REG4 0x1E
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#define CTRL_REG5_XL 0x1F
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#define CTRL_REG6_XL 0x20
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#define CTRL_REG7_XL 0x21
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#define CTRL_REG8 0x22
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#define CTRL_REG9 0x23
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#define CTRL_REG10 0x24
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#define INT_GEN_SRC_XL 0x26
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#define STATUS_REG_1 0x27
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#define OUT_X_L_XL 0x28
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#define OUT_X_H_XL 0x29
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#define OUT_Y_L_XL 0x2A
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#define OUT_Y_H_XL 0x2B
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#define OUT_Z_L_XL 0x2C
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#define OUT_Z_H_XL 0x2D
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#define FIFO_CTRL 0x2E
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#define FIFO_SRC 0x2F
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#define INT_GEN_CFG_G 0x30
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#define INT_GEN_THS_XH_G 0x31
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#define INT_GEN_THS_XL_G 0x32
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#define INT_GEN_THS_YH_G 0x33
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#define INT_GEN_THS_YL_G 0x34
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#define INT_GEN_THS_ZH_G 0x35
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#define INT_GEN_THS_ZL_G 0x36
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#define INT_GEN_DUR_G 0x37
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///////////////////////////////
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// LSM9DS1 Magneto Registers //
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///////////////////////////////
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#define OFFSET_X_REG_L_M 0x05
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#define OFFSET_X_REG_H_M 0x06
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#define OFFSET_Y_REG_L_M 0x07
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#define OFFSET_Y_REG_H_M 0x08
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#define OFFSET_Z_REG_L_M 0x09
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#define OFFSET_Z_REG_H_M 0x0A
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#define WHO_AM_I_M 0x0F
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#define CTRL_REG1_M 0x20
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#define CTRL_REG2_M 0x21
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#define CTRL_REG3_M 0x22
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#define CTRL_REG4_M 0x23
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#define CTRL_REG5_M 0x24
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#define STATUS_REG_M 0x27
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#define OUT_X_L_M 0x28
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#define OUT_X_H_M 0x29
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#define OUT_Y_L_M 0x2A
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#define OUT_Y_H_M 0x2B
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#define OUT_Z_L_M 0x2C
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#define OUT_Z_H_M 0x2D
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#define INT_CFG_M 0x30
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#define INT_SRC_M 0x30
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#define INT_THS_L_M 0x32
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#define INT_THS_H_M 0x33
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////////////////////////////////
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// LSM9DS1 WHO_AM_I Responses //
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////////////////////////////////
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#define WHO_AM_I_AG_RSP 0x68
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#define WHO_AM_I_M_RSP 0x3D
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#endif

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