LSM9DS1 internally uses 2 buses:
- Accelerometer and gyroscope
- Magnetometer
and therefore functionality has been split into 2 classes which allows using them independently.
- You can find the datasheet here
Important: make sure you properly setup the I2C pins especially for ESP32 before creating the I2cDevice, make sure you install the nanoFramework.Hardware.ESP32 nuget:
//////////////////////////////////////////////////////////////////////
// when connecting to an ESP32 device, need to configure the I2C GPIOs
// used for the bus
Configuration.SetPinFunction(21, DeviceFunction.I2C1_DATA);
Configuration.SetPinFunction(22, DeviceFunction.I2C1_CLOCK);For other devices like STM32, please make sure you're using the preset pins for the I2C bus you want to use.
class Program
{
public const int I2cAddress = 0x6A;
static void Main(string[] args)
{
using (var ag = new Lsm9Ds1AccelerometerAndGyroscope(CreateI2cDevice()))
{
while (true)
{
Debug.WriteLine($"Acceleration={ag.Acceleration}");
Debug.WriteLine($"AngularRate={ag.AngularRate}");
Thread.Sleep(100);
}
}
}
private static I2cDevice CreateI2cDevice()
{
var settings = new I2cConnectionSettings(1, I2cAddress);
return I2cDevice.Create(settings);
}
}class Magnetometer
{
public const int I2cAddress = 0x1C;
public static void Run()
{
using (var m = new Lsm9Ds1Magnetometer(CreateI2cDevice()))
{
Debug.WriteLine("Calibrating...");
Debug.WriteLine("Move the sensor around Z for the next 20 seconds, try covering every angle");
Stopwatch sw = Stopwatch.StartNew();
Vector3 min = m.MagneticInduction;
Vector3 max = m.MagneticInduction;
while (sw.ElapsedMilliseconds < 20 * 1000)
{
Vector3 sample = m.MagneticInduction;
min = Vector3.Min(min, sample);
max = Vector3.Max(max, sample);
Thread.Sleep(50);
}
Debug.WriteLine("Stop moving for some time...");
Thread.Sleep(3000);
const int intervals = 32;
bool[,] data = new bool[32,32];
Vector3 size = max - min;
int n = 0;
while (true)
{
n++;
Vector3 sample = m.MagneticInduction;
Vector3 pos = Vector3.Divide(Vector3.Multiply((sample - min), intervals - 1), size);
int x = Math.Clamp((int)pos.X, 0, intervals - 1);
int y = Math.Clamp((int)pos.Y, 0, intervals - 1);
data[x, y] = true;
if (n % 10 == 0)
{
Debug.WriteLine("Now move the sensor around again but slower...");
for (int i = 0; i < intervals; i++)
{
for (int j = 0; j < intervals; j++)
{
if (i == x && y == j)
{
Debug.Write('#');
}
else
{
Debug.Write(data[i, j] ? '#' : ' ');
}
}
Debug.WriteLine();
}
}
Thread.Sleep(50);
}
}
}
private static I2cDevice CreateI2cDevice()
{
var settings = new I2cConnectionSettings(1, I2cAddress);
return I2cDevice.Create(settings);
}
}