Project #28 – Sensors – LSM9DS1 – Mk11

Published December 2, 2023 | By DonLuc

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#DonLucElectronics #DonLuc #Sensors #LSM9DS1 #IMU #GPSReceiver #Adafruit #SparkFun #Arduino #Project #Fritzing #Programming #Electronics #Microcontrollers #Consultant

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SparkFun 9DoF IMU Breakout – LSM9DS1

The SparkFun LSM9DS1 Breakout is a versatile, motion-sensing System-In-A-Chip. It houses a 3-axis accelerometer, 3-axis gyroscope, and 3-axis magnetometer, nine degrees of freedom (9DOF) on a single board. The LSM9DS1 from STMicroelectronics is equipped with a digital interface, but even that is flexible. This IMU-In-A-Chip is so cool we put it on the quarter-sized breakout board you are currently viewing.

The LSM9DS1 is one of only a handful of IC’s that can measure three key properties of movement, angular velocity, acceleration, and heading, in a single IC. By measuring these three properties, you can gain a great deal of knowledge about an object’s movement and orientation. The LSM9DS1 measures each of these movement properties in three dimensions. That means it produces nine pieces of data: acceleration in x/y/z, angular rotation in x/y/z, and magnetic force in x/y/z. The LSM9DS1 Breakout has labels indicating the accelerometer and gyroscope axis orientations, which share a right-hand rule relationship with each other.

DL2309Mk05

1 x SparkFun Thing Plus – ESP32 WROOM
1 x DS3231 Precision RTC FeatherWing
1 x GPS Receiver – GP-20U7 (56 Channel)
1 x SparkFun 9DoF IMU Breakout – LSM9DS1
1 x Rocker Switch – SPST
1 x Resistor 10K Ohm
1 x CR1220 3V Lithium Coin Cell Battery
1 x 1 x Lithium Ion Battery – 1000mAh
1 x Terminal Block Breakout FeatherWing
1 x SparkFun Cerberus USB Cable

SparkFun Thing Plus – ESP32 WROOM

LED – LED_BUILTIN
SDA – Digital 23
SCL – Digital 22
SW1 – Digital 21
GPT – Digital 17
GPR – Digital 16
VIN – +3.3V
GND – GND

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DL2309Mk05p.ino

/****** Don Luc Electronics © ******
Software Version Information
Project #28 - Sensors - LSM9DS1 - Mk11
28-11
DL2309Mk05p.ino
1 x SparkFun Thing Plus - ESP32 WROOM
1 x DS3231 Precision RTC FeatherWing
1 x GPS Receiver - GP-20U7 (56 Channel)
1 x SparkFun 9DoF IMU Breakout - LSM9DS1
1 x Rocker Switch - SPST
1 x Resistor 10K Ohm
1 x Lithium Ion Battery - 1000mAh
1 x CR1220 3V Lithium Coin Cell Battery
1 x Terminal Block Breakout FeatherWing
1 x SparkFun Cerberus USB Cable
*/

// Include the Library Code
// Bluetooth LE keyboard
#include <BleKeyboard.h>
// Two Wire Interface (TWI/I2C)
#include <Wire.h>
// Serial Peripheral Interface
#include <SPI.h>
// DS3231 Precision RTC 
#include <RTClib.h>
// GPS Receiver
#include <TinyGPS++.h>
// ESP32 Hardware Serial
#include <HardwareSerial.h>
// LSM9DS1 9DOF Sensor
#include <SparkFunLSM9DS1.h>

// Bluetooth LE Keyboard
BleKeyboard bleKeyboard;
String sKeyboard = "";
// Send Size
byte sendSize = 0;

// DS3231 Precision RTC 
RTC_DS3231 rtc;
String dateRTC = "";
String timeRTC = "";

// GPS Receiver
#define gpsRXPIN 16
// This one is unused and doesnt have a conection
#define gpsTXPIN 17
// The TinyGPS++ object
TinyGPSPlus gps;
// Latitude
float TargetLat;
// Longitude
float TargetLon;
// GPS Date, Time
// GPS Date
String TargetDat;
// GPS Time
String TargetTim;
// GPS Status
String GPSSt = "";

// ESP32 HardwareSerial
HardwareSerial tGPS(2);

// LSM9DS1 9DOF Sensor
LSM9DS1 imu;
#define PRINT_CALCULATED
// Earth's magnetic field varies by location. Add or subtract
// a declination to get a more accurate heading. Calculate
// your's here: http://www.ngdc.noaa.gov/geomag-web/#declination
// Declination (degrees) in El Centro, CA
#define DECLINATION 10.4
// Gyro
float fGyroX;
float fGyroY;
float fGyroZ;
// Accel
float fAccelX;
float fAccelY;
float fAccelZ;
// Mag
float fMagX;
float fMagY;
float fMagZ;
// Attitude
float fRoll;
float fPitch;
float fHeading;

// The number of the Rocker Switch pin
int iSwitch = 21;
// Variable for reading the button status
int SwitchState = 0;

// Software Version Information
String sver = "28-11";

void loop() {

  // Date and Time RTC
  isRTC ();

  // isGPS
  isGPS();
  
  // GPS Keyboard
  isGPSKeyboard();

  // Gyro
  isGyro();

  // Accel
  isAccel();

  // Mag
  isMag();

  // Attitude
  isAttitude();

  // Read the state of the Switch value:
  SwitchState = digitalRead(iSwitch);

  // Check if the button is pressed. If it is, the SwitchState is HIGH:
  if (SwitchState == HIGH) {

    // Bluetooth LE Keyboard
    isBluetooth();

  }

  // Delay 1 Second
  delay(1000);

}

getBleKeyboard.ino

// Ble Keyboard
// Bluetooth
// isBluetooth
void isBluetooth() {

  // ESP32 BLE Keyboard
  if(bleKeyboard.isConnected()) {

    // Send Size Length
    sendSize = sKeyboard.length();

    // Send Size, charAt
    for(byte i = 0; i < sendSize+1; i++){

       // Write
       bleKeyboard.write(sKeyboard.charAt(i));
       delay(50);
    
    }
    bleKeyboard.write(KEY_RETURN);

  }

}

getGPS.ino

// GPS Receiver
// Setup GPS
void setupGPS() {

  // Setup GPS
  //tGPS.begin( 9600 );
  // Setup GPS
  tGPS.begin(  9600 , SERIAL_8N1 , gpsRXPIN , gpsTXPIN );

}
// isGPS
void isGPS(){

  // Receives NEMA data from GPS receiver
  // This sketch displays information every time a new sentence is correctly encoded
  while ( tGPS.available() > 0)
    
    if (gps.encode( tGPS.read() ))
    {
     
       // GPS Vector Pointer Target
       displayInfo();

       // GPS Date, Time
       displayDTS();

    }
 
  if (millis() > 5000 && gps.charsProcessed() < 10)
  {
   
     while(true);
    
  }

}
// GPS Vector Pointer Target
void displayInfo(){

  // Location
  if (gps.location.isValid())
  {
    
     // Latitude
     TargetLat = gps.location.lat();
     // Longitude
     TargetLon = gps.location.lng();
     // GPS Status 2
     GPSSt = "Yes";
    
  }
  else
  {

     // GPS Status 0
     GPSSt = "No";
     TargetLat = 0;
     TargetLon = 0;
    
  }

  

}
// GPS Date, Time
void displayDTS(){

  // Date
  TargetDat = ""; 
  if (gps.date.isValid())
  {
    
     // Date
     // Year
     TargetDat += String(gps.date.year(), DEC);
     TargetDat += "/";
     // Month
     TargetDat += String(gps.date.month(), DEC);
     TargetDat += "/";
     // Day
     TargetDat += String(gps.date.day(), DEC);
    
  }

  // Time
  TargetTim = "";
  if (gps.time.isValid())
  {
    
     // Time
     // Hour
     TargetTim += String(gps.time.hour(), DEC);
     TargetTim += ":";
     // Minute
     TargetTim += String(gps.time.minute(), DEC);
     TargetTim += ":";
     // Secound
     TargetTim += String(gps.time.second(), DEC);
    
  }

}
// GPS Keyboard
void isGPSKeyboard(){

  // GPS Keyboard
  // bleKeyboard
  // GPS Vector Pointer Target
  sKeyboard = sKeyboard + GPSSt + "|" + String(TargetLat) 
  + "|" + String(TargetLon) + "|";

  // bleKeyboard
  // GPS Date, Time
  sKeyboard = sKeyboard + TargetDat + "|" + 
  TargetTim + "|";

}

getLSM9DS1.ino

// LSM9DS1 9DOF Sensor
// Gyro
void isGyro(){

  // Update the sensor values whenever new data is available
  if ( imu.gyroAvailable() )
  {
    
    // To read from the gyroscope,  first call the
    // readGyro() function. When it exits, it'll update the
    // gx, gy, and gz variables with the most current data.
    imu.readGyro();
    // If you want to print calculated values, you can use the
    // calcGyro helper function to convert a raw ADC value to
    // DPS. Give the function the value that you want to convert.
    fGyroX = imu.calcGyro(imu.gx);
    fGyroY = imu.calcGyro(imu.gy);
    fGyroZ = imu.calcGyro(imu.gz);

    // bleKeyboard
    // Gyro
    sKeyboard = sKeyboard + String(fGyroX)  + "|" + String(fGyroY) 
    + "|" + String(fGyroZ) + "|";
    
  }
  
}
// Accel
void isAccel(){

    // Update the sensor values whenever new data is available
  if ( imu.accelAvailable() )
  {
    
    // To read from the accelerometer, first call the
    // readAccel() function. When it exits, it'll update the
    // ax, ay, and az variables with the most current data.
    imu.readAccel();
    // If you want to print calculated values, you can use the
    // calcAccel helper function to convert a raw ADC value to
    // g's. Give the function the value that you want to convert.
    fAccelX = imu.calcAccel(imu.ax);
    fAccelY = imu.calcAccel(imu.ay);
    fAccelZ = imu.calcAccel(imu.az);

    // bleKeyboard
    // Accel
    sKeyboard = sKeyboard + String(fAccelX)  + "|" + String(fAccelY) 
    + "|" + String(fAccelZ) + "|";
    
  }
  
}
// Mag
void isMag(){

  // Update the sensor values whenever new data is available
  if ( imu.magAvailable() )
  {
    
    // To read from the magnetometer, first call the
    // readMag() function. When it exits, it'll update the
    // mx, my, and mz variables with the most current data.
    imu.readMag();
    // If you want to print calculated values, you can use the
    // calcMag helper function to convert a raw ADC value to
    // Gauss. Give the function the value that you want to convert.
    fMagX = imu.calcMag(imu.mx);
    fMagY = imu.calcMag(imu.my);
    fMagZ = imu.calcMag(imu.mz);

    // bleKeyboard
    // Mag
    sKeyboard = sKeyboard + String(fMagX)  + "|" + String(fMagY) 
    + "|" + String(fMagZ) + "|";
    
  }
  
}
// Attitude
void isAttitude(){

  // Attitude
  // Roll
  fRoll = atan2(fAccelY, fAccelZ);
  // Pitch
  fPitch = atan2(-fAccelX, sqrt(fAccelY * fAccelY + fAccelZ * fAccelZ)); 
  // Heading
  if (fMagY == 0) {
    fHeading = (fMagX < 0) ? PI : 0;
  }
  else {
    fHeading = atan2(fMagX, fMagY);
  }

  fHeading -= DECLINATION * PI / 180;

  if (fHeading > PI) fHeading -= (2 * PI);
  else if (fHeading < -PI) fHeading += (2 * PI);

  // Convert everything from radians to degrees:
  fHeading *= 180.0 / PI;
  fPitch *= 180.0 / PI;
  fRoll  *= 180.0 / PI;

  // bleKeyboard
  // Attitude
  sKeyboard = sKeyboard + String(fHeading)  + "|" + String(fPitch) 
  + "|" + String(fRoll) + "|*";
  
}

getRTC.ino

// Date & Time
// DS3231 Precision RTC
void setupRTC() {

  // DS3231 Precision RTC
  if (! rtc.begin()) {
    //Serial.println("Couldn't find RTC");
    //Serial.flush();
    while (1) delay(10);
  }

  if (rtc.lostPower()) {
    //Serial.println("RTC lost power, let's set the time!");
    // When time needs to be set on a new device, or after a power loss, the
    // following line sets the RTC to the date & time this sketch was compiled
    rtc.adjust(DateTime(F(__DATE__), F(__TIME__)));
    // This line sets the RTC with an explicit date & time, for example to set
    // January 21, 2014 at 3am you would call:
    //rtc.adjust(DateTime(2023, 8, 10, 11, 0, 0));
  }
  
}
// Date and Time RTC
void isRTC () {

  // Date and Time
  dateRTC = "";
  timeRTC = "";
  DateTime now = rtc.now();
  
  // Date
  dateRTC = now.year(), DEC; 
  dateRTC = dateRTC + "/";
  dateRTC = dateRTC + now.month(), DEC;
  dateRTC = dateRTC + "/";
  dateRTC = dateRTC + now.day(), DEC;

  // Time
  timeRTC = now.hour(), DEC;
  timeRTC = timeRTC + ":";
  timeRTC = timeRTC + now.minute(), DEC;
  timeRTC = timeRTC + ":";
  timeRTC = timeRTC + now.second(), DEC;

  // bleKeyboard
  sKeyboard = "SEN|" + sver + "|" + String(dateRTC) 
  + "|" + String(timeRTC) + "|";

}

setup.ino

// Setup
void setup()
{
  
  // Give display time to power on
  delay(100);

  // Bluetooth LE keyboard
  bleKeyboard.begin();
  
  // Wire - Inialize I2C Hardware
  Wire.begin();

  // Give display time to power on
  delay(100);

  // Date & Time RTC
  // DS3231 Precision RTC 
  setupRTC();

  // Give display time to power on
  delay(100);
  
  // GPS Receiver
  // Setup GPS
  setupGPS();

  // LSM9DS1 9DOF Sensor
  imu.begin();

  // Initialize the Switch pin as an input
  pinMode(iSwitch, INPUT);

  // Initialize digital pin LED_BUILTIN as an output
  pinMode(LED_BUILTIN, OUTPUT);
  // Turn the LED on HIGH
  digitalWrite(LED_BUILTIN, HIGH);

  // Delay 5 Second
  delay( 5000 );

}

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Posted in #28 - Sensors, Adafruit, Arduino, Consultant, Digital Electronics, Fritzing, Microcontrollers, Program, Program ESP32, Projects, SparkFun | Tagged Accelerometer, Arduino, Bluetooth, Components, Consultant, Electronics, ESP32, Fritzing, GPS Receiver, Gyroscope, LSM9DS1, Magnetometer, Microcontrollers, Programming, Programming ESP32, Project, Sensors, SparkFun, Technology, Video Blog, Vlog | Leave a comment