LSM9DS1 IMU Sensor

Measure linear acceleration, angular rate, and magnetic field along X, Y, and Z axis

Since R2020b

Add-On Required: This feature requires the Simulink Support Package for Arduino Hardware add-on.

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Libraries:
Simulink Support Package for Arduino Hardware / Sensors

Description

The LSM9DS1 IMU Sensor block measures linear acceleration, angular rate, and magnetic field along the X, Y, and Z axis using the LSM9DS1 Inertial Measurement Unit (IMU) sensor interfaced with the Arduino^® hardware. This 9-Degree of Freedom (DoF) IMU sensor comprises of an accelerometer, gyroscope, and magnetometer used to measure linear acceleration, angular rate, and magnetic field, respectively.

Note

If you are using Arduino Nano 33 BLE Sense hardware, which always includes an embedded sensor, reading data from a breakout board containing LSM9DS1 sensor is not supported.

Ports

Output

You can select the active sensor(s) to measure angular velocity, acceleration, magnetic field, or a combination of these measurements.

Acceleration (m/s^2) — Acceleration along each axis as measured by accelerometer

vector

The block outputs acceleration as a n-by-3 vector, where n is the value specified as Samples per frame. Each value represents the measurement of acceleration in g(9.8 m/s^2) along the X, Y, and Z axes.

Dependencies

This output port appears only if you select the Acceleration parameter.

Data Types: double

Angular rate (dps) — Angular velocity along each axis as measured by gyroscope

vector

The block outputs velocity as a n-by-3 vector, where n is the value specified as Samples per frame. Each value represents the measurement of angular velocity in degrees per second (dps) along the X, Y, and Z axes.

Dependencies

This output port appears only if you select the Angular rate parameter.

Data Types: double

Magnetic Field (µT) — Strength of magnetic field along each axis as measured by magnetometer

vector

The block outputs magnetic field as a n-by-3 vector, where n is the value specified as Samples per frame. Each value represents the measurement of magnetic field in micro Tesla (µT) along the X, Y, and Z axes.

Dependencies

This output port appears only if you select the Magnetic field parameter.

Data Types: double

Timestamp — Timestamp at which data is read

matrix | (n)-by-1

Timestamp (in seconds) at which data is read from the sensor, returned as n-by-1 matrix, where n is the value specified as Samples per frame.

Dependencies

This output port appears only if you select the Timestamp parameter.

Data Types: double

Parameters

I2C module — I2C communication module

0 (default) | scalar

Specify the I2C module on the Arduino hardware to communicate with sensor peripherals. For more information on the Arduino pin mapping and modules that hardware boards support, see Pin Mapping for Arduino Timer-Independent Blocks.

I2C addresses — Peripheral addresses to communicate with sensors

Accelerometer/Gyroscope: 0x6A and Magnetometer: 0x1C (default) | 0x6B | 0x1E

The peripheral addresses to communicate with the accelerometer, gyroscope, and magnetometer peripherals on the LSM9DS1 sensor are decided by the state of the SDA_M and SDA_AG pins on the hardware board. This table provides the peripheral addresses corresponding to the pins and their state.

Pin Name	Pin State	Peripheral Address
SDA_M (Magnetometer)	0	0x1C
	1	0x1E
SDA_AG (Accelerometer and Gyroscope)	0	0x6A
	1	0x6B

Data Types: uint8

Select sensor outputs

Acceleration (m/s²) — Set output port for reading acceleration

on (default) | off

Select this parameter to set Acceleration as one of the output ports.

Angular rate (dps) — Set output port for reading angular velocity

on (default) | off

Select this parameter to set Angular Rate as one of the output ports.

Magnetic field (uT) — Set output port for obtaining magnetic field

on (default) | off

Select this parameter to set Magnetic Field as one of the output ports.

Timestamp (s) — Set output port for obtaining timestamp

off (default) | on

Select this parameter to set Timestamp as one of the output ports.

Advanced sensor settings (optional)

Accelerometer Output Data Rate — Rate of measurement of acceleration

119 Hz (default) | 10 Hz | 50 Hz | 238 Hz | 476 Hz | 952 Hz

Select the rate at which you want the accelerometer to measure the acceleration.

Accelerometer Full Scale Range — Sensitivity of Accelerometer

+/-2 g (default) | +/-4 g | +/-8 g | +/-16 g

Select the required sensitivity for measurement of acceleration. This parameter specifies the upper and lower limits of what the sensor can measure. In general, for all sensors, you get a more precise measurement with a low full-scale range.

Accelerometer Bandwidth — Frequency range for sensor operation

50 Hz (default) | 105 Hz | 211 Hz | 408 Hz

Set the bandwidth for the low-pass filter associated with the measurement of acceleration.

Refer to the LSM9DS1 Sensor data sheet for further information.

Gyroscope Output Data Rate — Rate of measurement of angular velocity

119 Hz (default) | 14.9 Hz | 59.5 Hz | 238 Hz | 476 Hz | 952 Hz

Select the rate at which you want the gyroscope to measure the angular velocity.

Gyroscope Full Scale Range — Sensitivity of gyroscope

245 dps (default) | 500 dps | 2000 dps

Select the required sensitivity for measurement of angular velocity. This parameter specifies the upper and lower limits of what the sensor can measure. In general, for all the sensors, you get a more precise measurement from a sensor with a low full-scale range.

Gyroscope Bandwidth Mode — Frequency range for sensor operation

0 (default) | 1 | 2 | 3

Select the desired bandwidth mode to set the cutoff frequency for the low-pass filter associated with the gyroscope. Refer to this table for information regarding the cutoff frequencies.

Output Data Rate (ODR) and Bandwidth Configuration Setting After Low-Pass Filter 2 (LPF2)

Bandwidth Mode	ODR (Hz)	Cutoff (Hz)
0	14.9	NA
1	14.9	NA
2	14.9	NA
3	14.9	NA
0	59.5	16
1	59.5	16
2	59.5	16
3	59.5	16
0	119	14
1	119	31
2	119	31
3	119	31
0	238	14
1	238	29
2	238	63
3	238	78
0	476	21
1	476	28
2	476	57
3	476	100
0	952	33
1	952	40
2	952	58
3	952	100

Enable High Pass Filter — Option to enable high-pass filter for gyroscope

on (default) | off

Select this option to enable the high-pass filter for the gyroscope.

Gyroscope High Pass Filter Mode — Mode of operation for gyroscope high-pass filter

0 (default) | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9

Select the high-pass filter mode to set the desired cutoff frequencies for the high-pass filter. Refer to this table given to select the desired cutoff frequency.

Gyroscope High Pass Filter Cutoff Frequency Configuration (Hz)

HPF Mode	ODR=14.9 Hz	ODR=59.5 Hz	ODR=119 Hz	ODR=238 Hz	ODR=476 Hz	ODR=952 Hz
0	1	4	8	15	30	57
1	0.5	2	4	8	15	30
2	0.2	1	2	4	8	15
3	0.1	0.5	1	2	4	8
4	0.05	0.2	0.5	1	2	4
5	0.02	0.1	0.2	0.5	1	2
6	0.01	0.05	0.1	0.2	0.5	1
7	0.005	0.02	0.05	0.1	0.2	0.5
8	0.002	0.01	0.02	0.005	0.1	0.2
9	0.001	0.005	0.01	0.002	0.005	0.1

Refer to the LSM9DS1 Sensor data sheet for further information.

Magnetometer Output Data Rate — Rate of measurement of magnetic field

40 Hz (default) | 0.625 Hz | 1.25 Hz | 25 Hz | 5 Hz | 10 Hz | 20 Hz | 80 Hz

Select the required rate at which you want the Magnetometer to measure the magnetic field.

Magnetometer Full Scale Range — Sensitivity of Magnetometer

+/-4 gauss (default) | +/-8 gauss | +/-12 gauss | +/-16 gauss

Select the required sensitivity for measurement of magnetic field. This parameter specifies the upper and lower limits of what the sensor can measure. In general, for all the sensors, you get a more precise measurement with a low full-scale range.

Timestamp — Set output port for obtaining timestamp

off (default) | on

Select this parameter to set Timestamp as one of the output ports.

Samples per frame — Number of samples that the block outputs

1 (default) | positive integer

Specify the number of samples that the block outputs.

The value that you specify here is also used to compute the output sample time:

Output sample time = Samples per frame * Sample time * Sample time.

Sample time — Time at which data is read from active sensors

0.1 (default) | scalar

Enter the time interval in seconds at which the block reads values from the active sensors. The output sample time is the product of Samples per frame and Sample time that you specify.

Version History

Introduced in R2020b