nanoFramework.Iot.Device.Lsm9Ds1 1.2.590

LSM9DS1 - 3D 加速计、陀螺仪和磁力计

LSM9DS1 内部使用2个总线

• 加速度计和陀螺仪
• 磁力计

因此功能已被分割成2个类，允许独立使用。

文档

• 您可以在此处找到数据表

使用方法

重要：在创建“I2cDevice”之前，确保您已正确设置了I2C引脚，特别是对于ESP32之前的ESPLink，确保已安装“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);

对于STM32等其他设备，请确保您正在使用您想要使用的I2C总线的预设引脚。

加速度计和陀螺仪

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);
    }
}

磁力计

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);
    }
}