This is a P8X32A/Propeller, P2X8C4M64P/Propeller 2 driver object for the STMicroelectronics LSM9DS1 9-DoF IMU.
IMPORTANT: This software is meant to be used with the spin-standard-library (P8X32A) or p2-spin-standard-library (P2X8C4M64P). Please install the applicable library first before attempting to use this code, otherwise you will be missing several files required to build the project.
- 3-Wire or 4-wire SPI connection at 1MHz (P1), up to 10MHz (P2)
- I2C connection at up to 400kHz
- Accelerometer data in raw or calculated output (micro-G's)
- Gyroscope data in raw or calculated output (micro-degrees per second)
- Magnetometer data in raw or calculated output (micro-Gauss)
- Temperature data in calculated output (centi-degrees C)
- Common functions for all three sensors: Full-scale, Output data rate, Per-axis Output enable, Flag indicating new data available, perform on-chip calibration, or write manually derived values, data endianness, soft-reset, read interrupts state
- Additional Accelerometer functionality: Set high-resolution mode
- Additional Gyroscope functionality: Set data output high-pass filter cut-off freq, set inactivity: duration, threshold, sleep on/off, low-power mode, sleep mode
- Additional Magnetometer functionality: Built-in self-test, performance mode, flag indicating measurement overflow/saturation
P1/SPIN1:
- spin-standard-library
- 1 extra core/cog for the PASM I2C or SPI engine (none, if bytecode engine is used)
- sensor.accel.common.spinh (provided by spin-standard-library)
- sensor.gyroscope.common.spinh (provided by spin-standard-library)
- sensor.magnetometer.common.spinh (provided by spin-standard-library)
- sensor.temp.common.spinh (provided by spin-standard-library)
P2/SPIN2:
- p2-spin-standard-library
- sensor.accel.common.spin2h (provided by p2-spin-standard-library)
- sensor.gyroscope.common.spin2h (provided by p2-spin-standard-library)
- sensor.magnetometer.common.spin2h (provided by p2-spin-standard-library)
- sensor.temp.common.spin2h (provided by p2-spin-standard-library)
| Processor | Language | Compiler | Backend | Status |
|---|---|---|---|---|
| P1 | SPIN1 | FlexSpin (6.9.4) | Bytecode | OK |
| P1 | SPIN1 | FlexSpin (6.9.4) | Native/PASM | OK |
| P2 | SPIN2 | FlexSpin (6.9.4) | NuCode | Build: OK Runtime: Bad |
| P2 | SPIN2 | FlexSpin (6.9.4) | Native/PASM2 | OK |
(other versions or toolchains not listed are not supported, and may or may not work)
- Alternate I2C address bits of Accel/Gyro module and Mag module are currently linked (i.e., if address bit 1 is set on driver startup, both modules use that alternate address bit)