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• Adafruit LSM9DS1 Library

API Reference — Adafruit LSM9DS1 Library 1.0 documentation

CircuitPython module for the LSM9DS1 accelerometer, magnetometer, gyroscope. Based on the driver from: https://github.com/adafruit/Adafruit_LSM9DS1

See examples/simpletest.py for a demo of the usage.

• Author(s): Tony DiCola

Hardware:

• Adafruit 9-DOF Accel/Mag/Gyro+Temp Breakout Board - LSM9DS1 (Product ID: 3387)

Software and Dependencies:

• Adafruit CircuitPython firmware for the supported boards: https://circuitpython.org/downloads

• Adafruit’s Bus Device library: https://github.com/adafruit/Adafruit_CircuitPython_BusDevice

class adafruit_lsm9ds1.LSM9DS1[source]

Driver for the LSM9DS1 accelerometer, magnetometer, gyroscope.

property accel_range: int

The accelerometer range. Must be a value of:

• ACCELRANGE_2G

• ACCELRANGE_4G

• ACCELRANGE_8G

• ACCELRANGE_16G

property acceleration: Tuple[float, float, float]

The accelerometer X, Y, Z axis values as a 3-tuple of \(m/s^2\) values.

property gyro: Tuple[float, float, float]

The gyroscope X, Y, Z axis values as a 3-tuple of rad/s values.

property gyro_scale: int

The gyroscope scale. Must be a value of:

• GYROSCALE_245DPS

• GYROSCALE_500DPS

• GYROSCALE_2000DPS

property mag_gain: int

The magnetometer gain. Must be a value of:

• MAGGAIN_4GAUSS

• MAGGAIN_8GAUSS

• MAGGAIN_12GAUSS

• MAGGAIN_16GAUSS

property magnetic: Tuple[float, float, float]

The magnetometer X, Y, Z axis values as a 3-tuple of gauss values.

read_accel_raw() → Tuple[int, int, int][source]

Read the raw accelerometer sensor values and return it as a 3-tuple of X, Y, Z axis values that are 16-bit unsigned values. If you want the acceleration in nice units you probably want to use the acceleration property!

read_gyro_raw() → Tuple[int, int, int][source]

Read the raw gyroscope sensor values and return it as a 3-tuple of X, Y, Z axis values that are 16-bit unsigned values. If you want the gyroscope in nice units you probably want to use the gyro property!

read_mag_raw() → Tuple[int, int, int][source]

Read the raw magnetometer sensor values and return it as a 3-tuple of X, Y, Z axis values that are 16-bit unsigned values. If you want the magnetometer in nice units you probably want to use the magnetic property!

read_temp_raw() → int[source]

Read the raw temperature sensor value and return it as a 12-bit signed value. If you want the temperature in nice units you probably want to use the temperature property!

property temperature: float

The temperature of the sensor in degrees Celsius.

class adafruit_lsm9ds1.LSM9DS1_I2C(i2c: I2C, mag_address: int = 30, xg_address: int = 107)[source]

Driver for the LSM9DS1 connect over I2C.

Parameters:

• i2c (I2C) – The I2C bus the device is connected to

• mag_address (int) – A 8-bit integer that represents the i2c address of the LSM9DS1’s magnetometer. Options are limited to 0x1C or 0x1E Defaults to 0x1E.

• xg_address (int) – A 8-bit integer that represents the i2c address of the LSM9DS1’s accelerometer and gyroscope. Options are limited to 0x6A or 0x6B. Defaults to 0x6B.

Quickstart: Importing and using the device

Here is an example of using the LSM9DS1 class. First you will need to import the libraries to use the sensor

import board
import adafruit_lsm9ds1

Once this is done you can define your board.I2C object and define your sensor object

i2c = board.I2C()  # uses board.SCL and board.SDA
sensor = adafruit_lsm9ds1.LSM9DS1_I2C(i2c)

Now you have access to the acceleration, magnetic gyro and temperature attributes

acc_x, acc_y, acc_z = sensor.acceleration
mag_x, mag_y, mag_z = sensor.magnetic
gyro_x, gyro_y, gyro_z = sensor.gyro
temp = sensor.temperature

class adafruit_lsm9ds1.LSM9DS1_SPI(spi: SPI, xgcs: DigitalInOut, mcs: DigitalInOut)[source]

Driver for the LSM9DS1 connect over SPI.

Parameters:

• spi (SPI) – The SPI bus the device is connected to

• mcs (DigitalInOut) – The digital output pin connected to the LSM9DS1’s CSM (Chip Select Magnetometer) pin.

• xgcs (DigitalInOut) – The digital output pin connected to the LSM9DS1’s CSAG (Chip Select Accelerometer/Gyroscope) pin.

Quickstart: Importing and using the device

Here is an example of using the LSM9DS1 class. First you will need to import the libraries to use the sensor

import board
import adafruit_lsm9ds1

Once this is done you can define your board.SPI object and define your sensor object

spi = board.SPI()
sensor = adafruit_lsm9ds1.LSM9DS1_SPI(spi)

Now you have access to the acceleration, magnetic gyro and temperature attributes

acc_x, acc_y, acc_z = sensor.acceleration
mag_x, mag_y, mag_z = sensor.magnetic
gyro_x, gyro_y, gyro_z = sensor.gyro
temp = sensor.temperature

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