foo.c

#include <Wire.h>
#include <SPI.h>
#include <Adafruit_LSM9DS1.h>
#include <Adafruit_Sensor.h>  // not used in this demo but required!
// i2c
Adafruit_LSM9DS1 lsm = Adafruit_LSM9DS1();
#define LSM9DS1_SCK A5
#define LSM9DS1_MISO 12
#define LSM9DS1_MOSI A4
#define LSM9DS1_XGCS 6
#define LSM9DS1_MCS 5
// You can also use software SPI
//Adafruit_LSM9DS1 lsm = Adafruit_LSM9DS1(LSM9DS1_SCK, LSM9DS1_MISO, LSM9DS1_MOSI, LSM9DS1_XGCS, LSM9DS1_MCS);
// Or hardware SPI! In this case, only CS pins are passed in
//Adafruit_LSM9DS1 lsm = Adafruit_LSM9DS1(LSM9DS1_XGCS, LSM9DS1_MCS);
void setupSensor()
{
  // 1.) Set the accelerometer range
  lsm.setupAccel(lsm.LSM9DS1_ACCELRANGE_2G);
  //lsm.setupAccel(lsm.LSM9DS1_ACCELRANGE_4G);
  //lsm.setupAccel(lsm.LSM9DS1_ACCELRANGE_8G);
  //lsm.setupAccel(lsm.LSM9DS1_ACCELRANGE_16G);
  
  // 2.) Set the magnetometer sensitivity
  lsm.setupMag(lsm.LSM9DS1_MAGGAIN_4GAUSS);
  //lsm.setupMag(lsm.LSM9DS1_MAGGAIN_8GAUSS);
  //lsm.setupMag(lsm.LSM9DS1_MAGGAIN_12GAUSS);
  //lsm.setupMag(lsm.LSM9DS1_MAGGAIN_16GAUSS);
// 3.) Setup the gyroscope
  lsm.setupGyro(lsm.LSM9DS1_GYROSCALE_245DPS);
  //lsm.setupGyro(lsm.LSM9DS1_GYROSCALE_500DPS);
  //lsm.setupGyro(lsm.LSM9DS1_GYROSCALE_2000DPS);
}
void setup() 
{
  //For measuring serial write times
  pinMode(9, OUTPUT);
  
  Serial1.begin(115200);
while (!Serial1) {
    delay(1);
  }
  
  //Serial.println("LSM9DS1 data read demo");
  
  // Try to initialise and warn if we couldn't detect the chip
  if (!lsm.begin())
  {
    //Serial.println("Oops ... unable to initialize the LSM9DS1. Check your wiring!");
    //while (1);
  }
  //Serial.println("Found LSM9DS1 9DOF");
// helper to just set the default scaling we want, see above!
  setupSensor();
}
static bool run_test = false;
void loop() 
{
  
  if(Serial1.available() > 0){
    char c = Serial1.read();
    if('s' == c){
      run_test = true;
    }else if ('p' == c){
      run_test = false;
    }
  }
if(run_test){
    lsm.read();  //ask it to read in the data */
//Get a new sensor event
    sensors_event_t a, m, g, temp;
lsm.getEvent(&a, &m, &g, &temp);
digitalWrite(9,HIGH);
    Serial1.write((const char *)a.acceleration.v,sizeof(a.acceleration.v));
    Serial1.write((const char *)g.orientation.v,sizeof(g.orientation.v));
    Serial1.write((const char *)m.magnetic.v,sizeof(m.magnetic.v));
    digitalWrite(9,LOW);
  
  }
}