The driver is for the usage with the ESP8266 and esp-open-rtos. If you can't find it in folder extras/lsm9ds0 of original repository, it is not yet merged. Please take a look to branch lsm9ds0 of my fork in that case.
It is also working with ESP32 and ESP-IDF using a wrapper component for ESP8266 functions, see folder components/esp8266_wrapper, as well as Linux based systems using a wrapper library.
LSM9DS0 is simply a combination of two sensors
- the LSM303D 3D accelerometer and 3D magnetometer module, and
- the L3GD20 3D gyroscope sensor
in only one package. Both sensors are addressable seperatly either using different I2C addresses or different SPI CS slave select signals.
The LSM9DS0 driver is simply a wrapper around the L3GD20H and LSM303D drivers, see example lsm9ds0_example.c.
Please note: Alternatively, you could use the sensors with both drivers separately.
For each L3GD20H symbol and each LSM303 symbol there is a mapping to LSM9DS symbols. Thereby, the starts with lsm9ds0_ and are extended according to following rules
| Extension | Meaning |
|---|---|
_am_ |
symbols related to the whole LSM303D sensor |
_a_ |
symbols related to LSM303D's accelerometer functionality |
_m_ |
symbols related to LSM303D's magnetometer functionality |
_g_ |
symbols refering the whole L3GD20H sensor and its functionality |
Following table is showing some examples. Please refer file lsm9ds0.h for complete mapping.
| Symbol | Related to | Mapped to |
|---|---|---|
lsm9ds0_init_am_sensor |
whole LSM303D sensor | lsm303d_init_sensor |
lsm9ds0_init_g_sensor |
whole L3GD20 sensor | l3gd20h_init_sensor |
lsm9ds0_set_a_fifo_mode |
LMS303D accelerator FIFO | lsm303d_set_fifo_mode |
lsm9ds0_set_g_fifo_mode |
L3GD20 FIFO | l3gd20h_set_fifo_mode |
lsm9ds0_int_am_signal1 |
LSM303D sensor interrupt signal INT1 | lsm303d_int1_signal |
lsm9ds0_set_a_mode |
LSM303D accelerator mode | lsm303d_set_a_mode |
lsm9ds0_set_m_mode |
LSM303D magnetometer mode | lsm303d_set_m_mode |
lsm9ds0_set_g_mode |
L3GD20 gyroscope mode | l3gd20h_set_mode |
lsm9ds0_get_int_am_data_source |
LSM303D data source | lsm303d_get_int_data_source |
lsm9ds0_get_int_g_data_source |
L3GD20 gyroscope data source | l3gd20h_get_int_data_source |
lsm9ds0_get_float_a_data |
LSM303D accelerator data | lsm303d_get_float_a_data |
lsm9ds0_get_float_m_data |
LSM303D magnetometer data | lsm303d_get_float_m_data |
lsm9ds0_get_float_g_data |
L3GD20 gyroscope data | l3gd20h_get_float_data |
| ... | ... | ... |
Please refer the README.md of the respective sensor drivers for details how to use. (LSM303D and L3GD20H).
Hardware configuration might be a challenge especially with ESP8266 since the LSM9DS0 sensor needs up to 9 GPIOs if you want to use SPI together with all 4 interrupt signals. Possible configurations for I2C and SPI are shown in followng pseudo graphics.
+-----------------+ +----------+ +-----------------+ +----------+
| ESP32 | | LSM9DS0 | | ESP8266 | | LSM9DS0 |
| | | | | | | |
| GPIO 14 (SCL) ------> SCL | | GPIO 14 (SCL) ------> SCL |
| GPIO 13 (SDA) <-----> SDA | | GPIO 13 (SDA) <-----> SDA |
| GPIO 5 <------ INT1_XM | | GPIO 5 <------ INT1_XM |
| GPIO 4 <------ INT2_XM | | GPIO 4 <------ INT2_XM |
| GPIO 22 <------ INT_G | | GPIO 2 <------ INT_G |
| GPIO 23 <------ DRDY_G | | GPIO 0 <------ DRDY_G |
+-----------------+ +----------+ +-----------------+ +----------+
+-----------------+ +----------+ +-----------------+ +----------+
| ESP32 | | LSM9DS0 | | ESP8266 | | LSM9DS0 |
| | | | | | | |
| GPIO 16 (SCK) ------> SCK | | GPIO 14 (SCK) ------> SCK |
| GPIO 17 (MOSI)------> SDI | | GPIO 13 (MOSI)------> SDI |
| GPIO 18 (MISO)<--+--- SDO_XM/G | | GPIO 12 (MISO)<--+--- SDO_XM/G |
| | +--- SDO_G | | | +--- SDO_G |
| GPIO 19 (CS1) ------> CS_XM | | GPIO 2 (CS1) ------> CS_XM |
| GPIO 21 (CS2) ------> CS_G | | GPIO 0 (CS2) ------> CS_G |
| GPIO 5 <------ INT1_XM | | GPIO 5 <------ INT1_XM |
| GPIO 4 <------ INT2_XM | | GPIO 4 <------ INT2_XM |
| GPIO 22 <------ INT_G | | GPIO 16 !!! <------ INT_G |
| GPIO 23 <------ DRDY_G | | GPIO 15 !!! <------ DRDY_G |
+-----------------+ +---------+ +-----------------+ +---------+
Please note Using GPIOs 15 and 16 as interrupts signals might lead to problems on ESP8266 when you flash the program. SPI configuration works without any problems if interrupts are not used or only GPIO 5 and 4 are used as interrupt signals.
/* -- use following constants to define the example mode ----------- */
// #define SPI_USED // SPI interface is used, otherwise I2C
// #define FIFO_MODE // multiple sample read mode
// #define TEMP_USED // temperature sensor used
// #define INT_DATA // data interrupts used (data ready and FIFO status)
// #define INT_A_EVENT // inertial event interrupts used (axis movement or 6D/4D orientation)
// #define INT_A_CLICK // click detection interrupts used
// #define INT_M_THRESH // magnetic value exceeds threshold interrupt used
// #define INT_G_EVENT // angular rate event interrupts used
#if defined(INT_DATA) || defined(INT_A_EVENT) || defined(INT_G_EVENT) || defined(INT_A_CLICK) || defined(INT_M_THRESH)
#define INT_USED
#endif
/* -- includes ----------------------------------------------------- */
#include "lsm9ds0.h"
/** -- platform dependent definitions ------------------------------ */
#ifdef ESP_PLATFORM // ESP32 (ESP-IDF)
// user task stack depth for ESP32
#define TASK_STACK_DEPTH 2048
// interrupt GPIOs defintions for ESP32
#define PIN_INT1_XM 5
#define PIN_INT2_XM 4
#define PIN_INT_G 22
#define PIN_DRDY_G 23
// SPI interface definitions for ESP32
#define SPI_BUS HSPI_HOST
#define SPI_SCK_GPIO 16
#define SPI_MOSI_GPIO 17
#define SPI_MISO_GPIO 18
#define SPI_CS1_GPIO 19
#define SPI_CS2_GPIO 21
#else // ESP8266 (esp-open-rtos)
// user task stack depth for ESP8266
#define TASK_STACK_DEPTH 512
// interrupt GPIOs defintions for ESP32
#define PIN_INT1_XM 5
#define PIN_INT2_XM 4
#ifdef SPI_USED
#define PIN_INT_G 16
#define PIN_DRDY_G 15
#else
#define PIN_INT_G 2
#define PIN_DRDY_G 0
#endif
// SPI interface definitions for ESP8266
#define SPI_BUS 1
#define SPI_SCK_GPIO 14
#define SPI_MOSI_GPIO 13
#define SPI_MISO_GPIO 12
#define SPI_CS1_GPIO 2 // GPIO 15, the default CS of SPI bus 1, can't be used
#define SPI_CS2_GPIO 0 // GPIO 15, the default CS of SPI bus 1, can't be used
#endif // ESP_PLATFORM
// I2C interface defintions for ESP32 and ESP8266
#define I2C_BUS 0
#define I2C_SCL_PIN 14
#define I2C_SDA_PIN 13
#define I2C_FREQ I2C_FREQ_100K
/* -- user tasks --------------------------------------------------- */
static lsm9ds0_am_sensor_t* sensor_am;
static lsm9ds0_g_sensor_t* sensor_g;
/**
* Common function used to get sensor data.
*/
void read_data ()
{
#ifdef FIFO_MODE
lsm9ds0_float_a_data_fifo_t a_fifo;
// test for new accelerator data data
if (lsm9ds0_new_a_data (sensor_am))
{
// fetch the accelerator data stored in FIFO
uint8_t num = lsm9ds0_get_float_a_data_fifo (sensor_am, a_fifo);
printf("%.3f LSM9DS0 a_num=%d\n", (double)sdk_system_get_time()*1e-3, num);
for (int i=0; i < num; i++)
// max. full scale is +-16 g and best resolution is 1 mg, i.e. 5 digits
printf("%.3f LSM9DS0 (xyz)[g] ax=%+7.3f ay=%+7.3f az=%+7.3f\n",
(double)sdk_system_get_time()*1e-3,
a_fifo[i].ax, a_fifo[i].ay, a_fifo[i].az);
}
lsm9ds0_float_g_data_fifo_t g_fifo;
// test for new accelerator data data
if (lsm9ds0_new_g_data (sensor_g))
{
// fetch the accelerator data stored in FIFO
uint8_t num = lsm9ds0_get_float_g_data_fifo (sensor_g, g_fifo);
printf("%.3f LSM9DS0 g_num=%d\n", (double)sdk_system_get_time()*1e-3, num);
for (int i=0; i < num; i++)
// max. full scale is +-2000 dps and best sensitivity is 1 mdps, i.e. 7 digits
printf("%.3f LSM9DS0 (xyz)[dps] dx=%+9.3f dx=%+9.3f dx=%+9.3f\n",
(double)sdk_system_get_time()*1e-3,
g_fifo[i].x, g_fifo[i].y, g_fifo[i].z);
}
#else
lsm9ds0_float_a_data_t a_data;
// test for new accelerator data and fetch them
if (lsm9ds0_new_a_data (sensor_am) &&
lsm9ds0_get_float_a_data (sensor_am, &a_data))
// max. full scale is +-16 g and best resolution is 1 mg, i.e. 5 digits
printf("%.3f LSM9DS0 (xyz)[g] ax=%+9.3f ay=%+9.3f az=%+9.3f\n",
(double)sdk_system_get_time()*1e-3,
a_data.ax, a_data.ay, a_data.az);
lsm9ds0_float_g_data_t g_data;
if (lsm9ds0_new_g_data (sensor_g) &&
lsm9ds0_get_float_g_data (sensor_g, &g_data))
// max. full scale is +-2000 dps and best sensitivity is 1 mdps, i.e. 7 digits
printf("%.3f LSM9DS0 (xyz)[dps] dx=%+9.3f dx=%+9.3f dx=%+9.3f\n",
(double)sdk_system_get_time()*1e-3, g_data.x, g_data.y, g_data.z);
#endif // FIFO_MODE
lsm9ds0_float_m_data_t m_data;
// test for new magnetometer data and fetch them
if (lsm9ds0_new_m_data (sensor_am) &&
lsm9ds0_get_float_m_data (sensor_am, &m_data))
// max. full scale is +-12 Gs and best resolution is 1 mGs, i.e. 5 digits
printf("%.3f LSM9DS0 (xyz)[Gs] mx=%+9.3f my=%+9.3f mz=%+9.3f\n",
(double)sdk_system_get_time()*1e-3,
m_data.mx, m_data.my, m_data.mz);
#ifdef TEMP_USED
float temp = lsm9ds0_get_temperature (sensor_am);
printf("%.3f LSM9DS0 (tmp)[°C] %+7.3f\n", (double)sdk_system_get_time()*1e-3, temp);
#endif
}
#ifdef INT_USED
/**
* In this case, any of the possible interrupts on interrupt signal *INT1* is
* used to fetch the data.
*
* When interrupts are used, the user has to define interrupt handlers that
* either fetches the data directly or triggers a task which is waiting to
* fetch the data. In this example, the interrupt handler sends an event to
* a waiting task to trigger the data gathering.
*/
static QueueHandle_t gpio_evt_queue = NULL;
// User task that fetches the sensor values.
void user_task_interrupt (void *pvParameters)
{
uint8_t gpio;
while (1)
{
if (xQueueReceive(gpio_evt_queue, &gpio, portMAX_DELAY))
{
lsm9ds0_int_am_data_source_t am_data_src = {};
lsm9ds0_int_a_event_source_t a_event_src = {};
lsm9ds0_int_a_click_source_t a_click_src = {};
lsm9ds0_int_m_thresh_source_t m_thresh_src = {};
lsm9ds0_int_g_data_source_t g_data_src = {};
lsm9ds0_int_g_event_source_t g_event_src = {};
// get the source of the interrupt that reset *INTx* signals
#ifdef INT_DATA
lsm9ds0_get_int_am_data_source (sensor_am, &am_data_src);
lsm9ds0_get_int_g_data_source (sensor_g , &g_data_src);
#endif
#ifdef INT_A_EVENT
lsm9ds0_get_int_a_event_source (sensor_am, &a_event_src, lsm9ds0_int_a_event1_gen);
#endif
#ifdef INT_A_CLICK
lsm9ds0_get_int_a_click_source (sensor_am, &a_click_src);
#endif
#ifdef INT_M_THRESH
lsm9ds0_get_int_m_thresh_source(sensor_am, &m_thresh_src);
#endif
#ifdef INT_G_EVENT
lsm9ds0_get_int_g_event_source (sensor_g , &g_event_src);
#endif
// in case of DRDY interrupt
if (am_data_src.a_data_ready || am_data_src.m_data_ready || g_data_src.data_ready)
read_data ();
// in case of FIFO interrupts read the whole FIFO
else if (am_data_src.fifo_thresh || am_data_src.fifo_overrun ||
g_data_src.fifo_threshold || g_data_src.fifo_overrun)
read_data ();
// in case of magnetic threshold interrupt
else if (m_thresh_src.active)
{
printf("%.3f LSM9DS0 ", (double)sdk_system_get_time()*1e-3);
if (m_thresh_src.x_pos) printf("mx exceeds threshold on positive side\n");
if (m_thresh_src.y_pos) printf("my exceeds threshold on positive side\n");
if (m_thresh_src.z_pos) printf("mz exceeds threshold on positive side\n");
if (m_thresh_src.x_neg) printf("mx exceeds threshold on negative side\n");
if (m_thresh_src.y_neg) printf("my exceeds threshold on negative side\n");
if (m_thresh_src.z_neg) printf("mz exceeds threshold on negative side\n");
}
// in case of event interrupt
else if (a_event_src.active)
{
printf("%.3f LSM9DS0 ", (double)sdk_system_get_time()*1e-3);
if (a_event_src.x_low) printf("ax is lower than threshold\n");
if (a_event_src.y_low) printf("ay is lower than threshold\n");
if (a_event_src.z_low) printf("az is lower than threshold\n");
if (a_event_src.x_high) printf("ax is higher than threshold\n");
if (a_event_src.y_high) printf("ay is higher than threshold\n");
if (a_event_src.z_high) printf("az is higher than threshold\n");
}
// in case of click detection interrupt
else if (a_click_src.active)
printf("%.3f LSM9DS0 %s\n", (double)sdk_system_get_time()*1e-3,
a_click_src.s_click ? "single click" : "double click");
else if (g_event_src.active)
{
printf("%.3f LSM9DS0 ", (double)sdk_system_get_time()*1e-3);
if (g_event_src.x_low) printf("gx is lower than threshold\n");
if (g_event_src.y_low) printf("gy is lower than threshold\n");
if (g_event_src.z_low) printf("gz is lower than threshold\n");
if (g_event_src.x_high) printf("gx is higher than threshold\n");
if (g_event_src.y_high) printf("gy is higher than threshold\n");
if (g_event_src.z_high) printf("gz is higher than threshold\n");
}
}
}
}
// Interrupt handler which resumes user_task_interrupt on interrupt
void IRAM int_signal_handler (uint8_t gpio)
{
// send an event with GPIO to the interrupt user task
xQueueSendFromISR(gpio_evt_queue, &gpio, NULL);
}
#else // !INT_USED
/*
* In this example, user task fetches the sensor values every seconds.
*/
void user_task_periodic(void *pvParameters)
{
while (1)
{
// read sensor data
read_data ();
// passive waiting until 1 second is over
vTaskDelay(200/portTICK_PERIOD_MS);
}
}
#endif // INT_USED
/* -- main program ------------------------------------------------- */
void user_init(void)
{
// Set UART Parameter.
uart_set_baud(0, 115200);
// Give the UART some time to settle
vTaskDelay(1);
/** -- MANDATORY PART -- */
#ifdef SPI_USED
// init the SPI interface at which LMS303D sensors are connected
spi_bus_init (SPI_BUS, SPI_SCK_GPIO, SPI_MISO_GPIO, SPI_MOSI_GPIO);
// init the sensor connected to SPI_BUS with SPI_CS_GPIO as chip select.
sensor_am = lsm9ds0_init_am_sensor (SPI_BUS, 0, SPI_CS1_GPIO);
sensor_g = lsm9ds0_init_g_sensor (SPI_BUS, 0, SPI_CS2_GPIO);
#else // I2C
// init all I2C busses at which LSM9DS0 sensors are connected
i2c_init (I2C_BUS, I2C_SCL_PIN, I2C_SDA_PIN, I2C_FREQ);
// init the sensor connected to I2C_BUS.
sensor_am = lsm9ds0_init_am_sensor (I2C_BUS, LSM9DS0_I2C_AM_ADDRESS_2, 0);
sensor_g = lsm9ds0_init_g_sensor (I2C_BUS, LSM9DS0_I2C_G_ADDRESS_2 , 0);
#endif
if (sensor_am)
{
#ifdef INT_USED
/** --- INTERRUPT CONFIGURATION PART ---- */
// Interrupt configuration has to be done before the sensor is set
// into measurement mode to avoid losing interrupts
// create an event queue to send interrupt events from interrupt
// handler to the interrupt task
gpio_evt_queue = xQueueCreate(10, sizeof(uint8_t));
// configure interupt pins signals and set the interrupt handler
gpio_enable(PIN_INT1_XM, GPIO_INPUT);
gpio_enable(PIN_INT2_XM, GPIO_INPUT);
gpio_enable(PIN_INT_G , GPIO_INPUT);
gpio_enable(PIN_DRDY_G , GPIO_INPUT);
gpio_set_interrupt(PIN_INT1_XM, GPIO_INTTYPE_EDGE_POS, int_signal_handler);
gpio_set_interrupt(PIN_INT2_XM, GPIO_INTTYPE_EDGE_POS, int_signal_handler);
gpio_set_interrupt(PIN_INT_G , GPIO_INTTYPE_EDGE_POS, int_signal_handler);
gpio_set_interrupt(PIN_DRDY_G , GPIO_INTTYPE_EDGE_POS, int_signal_handler);
#endif // INT_USED
/** -- SENSOR CONFIGURATION PART --- */
// set the type of INTx signals if necessary
lsm9ds0_config_int_am_signals (sensor_am, lsm9ds0_int_push_pull);
lsm9ds0_config_int_g_signals (sensor_g, lsm9ds0_int_g_high_active, lsm9ds0_int_push_pull);
#ifdef INT_DATA
// enable data interrupts on *INT2* (data ready or FIFO overrun and FIFO threshold)
// data ready and FIFO status interrupts must not be enabled at the same time
#ifdef FIFO_MODE
lsm9ds0_enable_int_am (sensor_am, lsm9ds0_int_a_fifo_overrun, lsm9ds0_int_am_signal2, true);
lsm9ds0_enable_int_am (sensor_am, lsm9ds0_int_a_fifo_thresh , lsm9ds0_int_am_signal2, true);
lsm9ds0_enable_int_g (sensor_g , lsm9ds0_int_g_fifo_overrun, true);
lsm9ds0_enable_int_g (sensor_g , lsm9ds0_int_g_fifo_thresh , true);
#else
lsm9ds0_enable_int_am (sensor_am, lsm9ds0_int_a_data_ready, lsm9ds0_int_am_signal2, true);
lsm9ds0_enable_int_am (sensor_am, lsm9ds0_int_m_data_ready, lsm9ds0_int_am_signal2, true);
lsm9ds0_enable_int_g (sensor_g , lsm9ds0_int_g_data_ready, true);
#endif // FIFO_MODE
#endif // INT_DATA
#ifdef INT_M_THRESH
// enable magnetic threshold interrupts on signal *INT1*
lsm9ds0_int_m_thresh_config_t m_thresh_config;
m_thresh_config.threshold = 2000;
m_thresh_config.x_enabled = true;
m_thresh_config.y_enabled = true;
m_thresh_config.z_enabled = true;
m_thresh_config.latch = true;
m_thresh_config.signal_level = lsm9ds0_int_m_high_active;
lsm9ds0_set_int_m_thresh_config (sensor_am, &m_thresh_config);
lsm9ds0_enable_int_am (sensor_am, lsm9ds0_int_m_thresh, lsm9ds0_int_am_signal1, true);
#endif // INT_M_THRESH
#ifdef INT_A_EVENT
// enable inertial event interrupts on *INT1*
lsm9ds0_int_a_event_config_t a_event_config;
a_event_config.mode = lsm9ds0_or; // axes movement wake-up
// a_event_config.mode = lsm9ds0_and; // free fall
// a_event_config.mode = lsm9ds0_6d_movement;
// a_event_config.mode = lsm9ds0_6d_position;
// a_event_config.mode = lsm9ds0_4d_movement;
// a_event_config.mode = lsm9ds0_4d_position;
a_event_config.threshold = 10;
a_event_config.x_low_enabled = false;
a_event_config.x_high_enabled = true;
a_event_config.y_low_enabled = false;
a_event_config.y_high_enabled = true;
a_event_config.z_low_enabled = false;
a_event_config.z_high_enabled = true;
a_event_config.duration = 0;
a_event_config.latch = true;
lsm9ds0_set_int_a_event_config (sensor_am, &a_event_config, lsm9ds0_int_a_event1_gen);
lsm9ds0_enable_int_am (sensor_am, lsm9ds0_int_a_event1, lsm9ds0_int_am_signal1, true);
#endif // INT_A_EVENT
#ifdef INT_A_CLICK
// enable single click interrupt for z-axis on signal *INT1*
lsm9ds0_int_a_click_config_t a_click_config;
a_click_config.threshold = 10;
a_click_config.x_single = false;
a_click_config.x_double = false;
a_click_config.y_single = false;
a_click_config.y_double = false;
a_click_config.z_single = true;
a_click_config.z_double = false;
a_click_config.latch = true;
a_click_config.time_limit = 1;
a_click_config.time_latency = 1;
a_click_config.time_window = 3;
lsm9ds0_set_int_a_click_config (sensor_am, &a_click_config);
lsm9ds0_enable_int_am (sensor_am, lsm9ds0_int_a_click, lsm9ds0_int_am_signal1, true);
#endif // INT_A_CLICK
#ifdef INT_G_EVENT
// enable angular rate event interrupts on *INT1*
lsm9ds0_int_g_event_config_t g_event_config = {};
g_event_config.x_high_enabled = true;
g_event_config.y_high_enabled = true;
g_event_config.z_high_enabled = true;
g_event_config.x_low_enabled = false;
g_event_config.y_low_enabled = false;
g_event_config.z_low_enabled = false;
g_event_config.x_threshold = 3000;
g_event_config.y_threshold = 3000;
g_event_config.z_threshold = 3000;
g_event_config.filter = lsm9ds0_g_hpf_only;
g_event_config.and_or = false;
g_event_config.duration = 0;
g_event_config.latch = true;
lsm9ds0_set_int_g_event_config (sensor_g, &g_event_config);
lsm9ds0_enable_int_g (sensor_g, lsm9ds0_int_g_event, true);
#endif // INT_G_EVENT
#ifdef FIFO_MODE
// clear the FIFO
lsm9ds0_set_a_fifo_mode (sensor_am, lsm9ds0_bypass, 0);
lsm9ds0_set_g_fifo_mode (sensor_g , lsm9ds0_bypass, 0);
// activate the FIFO with a threshold of 10 samples (max. 31); if
// FIFO threshold interrupt is enabled, an interrupt is
// generated when the FIFO content exceeds this threshold, i.e.,
// when 11 samples are stored in FIFO
lsm9ds0_set_a_fifo_mode (sensor_am, lsm9ds0_stream, 10);
lsm9ds0_set_g_fifo_mode (sensor_g , lsm9ds0_stream, 10);
#endif
// configure HPF and implicitly reset the reference by a dummy read
lsm9ds0_config_a_hpf (sensor_am, lsm9ds0_hpf_normal, true, true, true, true);
#ifdef TEMP_USED
// enable the temperature sensor_am
lsm9ds0_enable_temperature (sensor_am, true);
#endif
// LAST STEP: Finally set scale and mode to start measurements
lsm9ds0_set_a_scale(sensor_am, lsm9ds0_a_scale_2_g);
lsm9ds0_set_m_scale(sensor_am, lsm9ds0_m_scale_4_Gs);
lsm9ds0_set_g_scale(sensor_g , lsm9ds0_g_scale_245_dps);
lsm9ds0_set_a_mode (sensor_am, lsm9ds0_a_odr_12_5, lsm9ds0_a_aaf_bw_773, true, true, true);
lsm9ds0_set_m_mode (sensor_am, lsm9ds0_m_odr_12_5, lsm9ds0_m_low_res, lsm9ds0_m_continuous);
lsm9ds0_set_g_mode (sensor_g , lsm9ds0_g_odr_95, 3, true, true, true);
/** -- TASK CREATION PART --- */
// must be done last to avoid concurrency situations with the sensor
// configuration part
#ifdef INT_USED
// create a task that is triggered only in case of interrupts to fetch the data
xTaskCreate(user_task_interrupt, "user_task_interrupt", TASK_STACK_DEPTH, NULL, 2, NULL);
#else // INT_USED
// create a user task that fetches data from sensor periodically
xTaskCreate(user_task_periodic, "user_task_periodic", TASK_STACK_DEPTH, NULL, 2, NULL);
#endif
}
else
printf("Could not initialize LSM9DS0 sensor\n");
}