gabrielesartor / melopero_lsm9ds1

A Python3 library for interfacing the Melopero LMS9DS1 9-DOF breakout board with a Raspberry Pi.

Melopero LSM9DS1 Python3 library

A library for interfacing the Melopero LSM9DS1 9-DOF breakout board with the Rasberry Pi.
If you were looking for the Arduino library click HERE

Melopero LSM9DS1 breakout board

Pinouts

Melopero LSM9DS1	Description
3V3	Input power pin. Apply 3.3V to this pin
SCL	I2C or SPI Serial Clock pin
SDA	I2C SDA pin or SPI MOSI pin
GND	Ground pin
CSAG	Accelerometer/Gyroscope SPI Chip Select
CSM	Magnetometer SPI Chip Select
SDOAG	Accelerometer/Gyroscope SPI MISO pin
SDOM	Magnetometer SPI MISO pin
INT1	Accelerometer/Gyroscope Interrupt pin
INTM	Magnetometer Interrupt pin
INT2	Another Interrupt pin for the Accelerometer/Gyroscope. This pin is not supported in our library
DEN	Gyroscope data enable pin. This pin is not supported in our library
DRDY	Magnetometer data ready pin. This pin is not supported in our library

Getting Started

Prerequisites

You will need:

• Python3 installed, you can download it here: download python3
• Melopero LSM9DS1 breakout: buy here

Install the library

You can install the melopero-lsm9ds1 module by typing this line in a terminal window:

sudo pip3 install melopero-lsm9ds1

Connect the sensor to the Raspberry Pi
(use only 3.3V power and logic, do not connect this sensor board directly to 5V)

You can find a description of the GPIO connector of the Raspberry Pi HERE
This sensor communicates over I2C or SPI.
I2C connections:

Melopero LSM9DS1	Raspberry Pi
3V3	3.3V
SCL	SCL
SDA	SDA
GND	GND

SPI connections:

Melopero LSM9DS1	Raspberry Pi
3V3	3.3V
SCL	SCLK
SDA	MOSI
SDOAG, SDOM	MISO
CSAG	CE_0 (BOARD pin 24, GPIO 8)
CSM	CE_1 (BOARD pin 26, GPIO 7)

Optional interrupt pins:

Melopero LSM9DS1	Raspberry Pi
INT1 (Interrupt pin for Accelerometer and Gyroscope)	Any pin that supports interrupts
INTM (interrupt pin for Magnetometer)	Any pin that supports interrupts

Usage

Import the melopero_lsm9ds1 and time modules in your Python3 script:

import melopero_lsm9ds1 as mp
import time

Create and initialize the sensor object

sensor = mp.LSM9DS1()

Select I2C or SPI as communication bus.
To select I2C (if no parameters are given the default i2c addresses will be used):

sensor.use_i2c()
#sensor.use_spi(gyro_cs, mag_cs) to use spi

If you want to use SPI bus, first you must initialize gyro_cs (CSAG pin on the sensor) and mag_cs (CSM on the sensor)
Note: the module uses GPIO.BOARD pin numbers:

gyro_cs = 24 #Chip Enable 0 (CE_0) pin on the Raspberry Pi
mag_cs = 26 #Chip Enable 1 (CE_1) pin on the Raspberry Pi  

Now select SPI bus

sensor.use_spi(gyro_cs, mag_cs)

Set the output data rate

sensor.set_gyro_odr(mp.LSM9DS1.ODR_119Hz)
sensor.set_acc_odr(mp.LSM9DS1.ODR_119Hz)
sensor.set_mag_odr(mp.LSM9DS1.MAG_ODR_20Hz)

Print out 100 measurments at a .5s interval

for _ in range(100):
    #read the data from the sensor
    gyro_measurements = sensor.get_gyro()
    acc_measurements = sensor.get_acc()
    mag_measurements = sensor.get_mag()

    print("*" * 20)
    print("[Gyro]: {:.2f} dps {:.2f} dps {:.2f} dps".format(*gyro_measurements))
    print("[Accelerometer]: {:.2f} g {:.2f} g {:.2f} g".format(*acc_measurements))
    print("[Magnetometer]: {:.2f} G {:.2f} G {:.2f} G".format(*mag_measurements))
    print("*" * 20)

    time.sleep(.5)
    

Close the connection after using the sensor

sensor.close()

Example using I2C bus

The following example will Print out 100 measurments of the accelerometer, gyroscope and magnetometer at a .5s interval.

#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
@author: Leonardo La Rocca
"""

#First you need to import the module
import melopero_lsm9ds1 as mp
import time

#Then you create and initialize the sensor object
sensor = mp.LSM9DS1()

#You can set the sensor to use i2c or spi
sensor.use_i2c() #if no parameters are given the default i2c addresses will be used
#sensor.use_spi(gyro_cs, mag_cs) to use spi

#next you can set the output data rate you like
sensor.set_gyro_odr(mp.LSM9DS1.ODR_119Hz)
sensor.set_acc_odr(mp.LSM9DS1.ODR_119Hz)
sensor.set_mag_odr(mp.LSM9DS1.MAG_ODR_20Hz)

#now you can read the measurements!
#Print out 100 measurments at a .5s interval

for _ in range(100):
    #read the data from the sensor
    gyro_measurements = sensor.get_gyro()
    acc_measurements = sensor.get_acc()
    mag_measurements = sensor.get_mag()

    print("*" * 20)
    print("[Gyro]: {:.2f} dps {:.2f} dps {:.2f} dps".format(*gyro_measurements))
    print("[Accelerometer]: {:.2f} g {:.2f} g {:.2f} g".format(*acc_measurements))
    print("[Magnetometer]: {:.2f} G {:.2f} G {:.2f} G".format(*mag_measurements))
    print("*" * 20)

    time.sleep(.5)
    
#Close the device correctly!
sensor.close()

Example using SPI bus

The following example will Print out 100 measurments of the accelerometer, gyroscope and magnetometer at a .5s interval.

#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
@author: Leonardo La Rocca
"""

#First you need to import the module
import melopero_lsm9ds1 as mp
import time

#Then you create and initialize the sensor object
sensor = mp.LSM9DS1()

#Gyro and Mag chip select pins
#Note: the module uses GPIO.BOARD pin numbers
gyro_cs = 24 #Chip enable 0 pin on raspberry pi
mag_cs = 26 #Chip enable 1 pin on raspberry pi  

#Setup the device to use SPI communication protocol
sensor.use_spi(gyro_cs, mag_cs) 

#next you can set the output data rate you like
sensor.set_gyro_odr(mp.LSM9DS1.ODR_119Hz)
sensor.set_acc_odr(mp.LSM9DS1.ODR_119Hz)
sensor.set_mag_odr(mp.LSM9DS1.MAG_ODR_20Hz)

#now you can read the measurements!
#Print out 100 measurments at a .5s interval

for _ in range(100):
    #read the data from the sensor
    gyro_measurements = sensor.get_gyro()
    acc_measurements = sensor.get_acc()
    mag_measurements = sensor.get_mag()

    print("*" * 20)
    print("[Gyro]: {:.2f} dps {:.2f} dps {:.2f} dps".format(*gyro_measurements))
    print("[Accelerometer]: {:.2f} g {:.2f} g {:.2f} g".format(*acc_measurements))
    print("[Magnetometer]: {:.2f} G {:.2f} G {:.2f} G".format(*mag_measurements))
    print("*" * 20)

    time.sleep(.5)
    
#Close the device correctly!
sensor.close()

Attention:

The module is written in python3 and by now supports only python3, remember to use always pip3 when you install the module and python3 when you run the code.