This is a C++11 library for the LSM9DS1 on a Raspberry PI using a callback handler for the data. The callback handler is called at the sampling rate of the gyroscope of the LSM9DS1.
It's based on the SparkFun_LSM9DS1_Arduino_Library.
Included is also a PCB design to connect the IMU with a long cable via level shifters to the Raspberry PI.
You can use the SparkFun 9DoF IMU Breakout board
or make your own PCB (see the pcbs folder).
- Connect the 3.3V power (pin 1) and GND (pin 9) to the LSM9DS1.
- Connect the I2C SDA (pin 3) & I2C SCL (pin 5) to the LSM9DS1.
- Connect the GPIO22 (pin 15) to the INT2 output of the LSM9DS1.
sudo apt-get install libpigpio-dev
Run raspi-config and enable i2c.
If you are not the pi user make sure that in /etc/group you are member of the i2c-group.
cmake .
make
sudo make install
sudo ldconfig
cd example
sudo ./LSM9DS1_demo
The relevant public sections of the header files have docstrings.
The online documentation is here: https://berndporr.github.io/LSM9DS1_RaspberryPi_CPP_Library/
This demo runs with a callback handler and it's called at the default sampling rate of 50Hz.
The subdirectory PCBs contains two PCBs: one hat which plugs into the raspberry PI and the PCB which contains the IMU. The PCBs are connected via a standard telephone cable and can be over 10m long.