Merge pull request #42 from ASU-ASCEND/LSM9DS1-Calibration

Added LSM9DS1 sensor calibration code.

Testing/LSM9DS1-Calibration/LSM9DS1-Calibration.cpp

@@ -0,0 +1,47 @@
+//LSM9DS1 Calibration Code
+
+#include <SparkFunLSM9DS1.h>
+
+LSM9DS1 IMU(SPI_MODE, 10); // Adjust CS pin accordingly
+
+void setup() {
+  Serial.begin(115200);
+  if (!IMU.begin()) {
+    Serial.println("Failed to communicate with LSM9DS1.");
+    while (1);
+  }
+
+  // Calibrate sensors
+  calibrateGyro();
+  calibrateAccel();
+}
+
+void loop() {
+  // Read and output calibrated data
+}
+
+void calibrateGyro() {
+  // Implement gyroscope calibration as shown earlier
+  // Example
+  float gx, gy, gz;
+  int samples = 1000;
+  float gx_offset = 0, gy_offset = 0, gz_offset = 0;
+
+  for (int i = 0; i < samples; i++) {
+    IMU.readGyroscope(gx, gy, gz);
+    gx_offset += gx;
+    gy_offset += gy;
+    gz_offset += gz;
+    delay(2);
+  }
+
+  gx_offset /= samples;
+  gy_offset /= samples;
+  gz_offset /= samples;
+
+  // Store offsets for later use
+}
+
+void calibrateAccel() {
+  // Implement accelerometer calibration
+}

Testing/README.md

@@ -33,8 +33,13 @@ Protocol: **I<sup>2</sup>C**
 Calibration: No calibration required as the INA260 is factory-calibrated.
 
 #### [LSM9DS1](https://www.st.com/en/mems-and-sensors/lsm9ds1.html): 9-axis IMU
-Protocol: 
-<br/>Calibration:  
+Protocol: I2C: Easy to use but slower data rates.
+SPI: Preferred for faster sampling rates; recommended for high-speed applications.
+
+<br/>Calibration: Necessary for accurate measurements. Perform offset calibration for accelerometer and gyroscope. Magnetometer calibration requires hard iron offset correction.
+
+Libraries: SparkFun LSM9DS1 Library: Supports both I²C and SPI.
+GitHub Repository: SparkFun_LSM9DS1_Arduino_Library
 
 #### [MTK3339](https://www.adafruit.com/product/746): GPS
 Protocol: