AdvRobot_Team / Mbed 2 deprecated LSM9DS1_SPI

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Dependencies:   LSM9DS1_ADVRO mbed

main.cpp@1:182761476d79, 2017-06-21 (annotated)

Committer:
ChangYuHsuan
Date:
Wed Jun 21 09:07:13 2017 +0000
Revision:
1:182761476d79
Parent:
0:a78e30188b92 
LSM9DS1 SPI ver 1.01;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ChangYuHsuan 0:a78e30188b92 1 #include "LSM9DS1.h"
ChangYuHsuan 0:a78e30188b92 2
ChangYuHsuan 0:a78e30188b92 3 void timerInterrupt();
ChangYuHsuan 0:a78e30188b92 4
ChangYuHsuan 0:a78e30188b92 5 DigitalOut myled(LED1);
ChangYuHsuan 0:a78e30188b92 6 Serial pc(USBTX, USBRX);
ChangYuHsuan 0:a78e30188b92 7
ChangYuHsuan 0:a78e30188b92 8 Ticker timer1;
ChangYuHsuan 0:a78e30188b92 9 #define PERIOD 10000 // unit: us
ChangYuHsuan 0:a78e30188b92 10
ChangYuHsuan 0:a78e30188b92 11 // IMU in SPI mode
ChangYuHsuan 0:a78e30188b92 12 SPI imuSpi(PC_12, PC_11, PC_10); // MOSI, MISO, SCLK
ChangYuHsuan 0:a78e30188b92 13 DigitalOut agCS(PA_13);
ChangYuHsuan 0:a78e30188b92 14 DigitalOut mCS(PA_14);
ChangYuHsuan 0:a78e30188b92 15 LSM9DS1 imu(&imuSpi, &agCS, &mCS, 0xD6, 0x3C);
ChangYuHsuan 0:a78e30188b92 16
ChangYuHsuan 1:182761476d79 17 float degree = 0.0f;
ChangYuHsuan 0:a78e30188b92 18
ChangYuHsuan 0:a78e30188b92 19 int main() {
ChangYuHsuan 0:a78e30188b92 20
ChangYuHsuan 0:a78e30188b92 21 pc.baud(115200);
ChangYuHsuan 0:a78e30188b92 22
ChangYuHsuan 1:182761476d79 23 pc.printf("Start LSM9DS1\n\r");
ChangYuHsuan 1:182761476d79 24
ChangYuHsuan 0:a78e30188b92 25 bool status = imu.begin();
ChangYuHsuan 0:a78e30188b92 26 pc.printf("connect or not: %d\n\r", status);
ChangYuHsuan 1:182761476d79 27
ChangYuHsuan 0:a78e30188b92 28 imu.calibrate();
ChangYuHsuan 1:182761476d79 29 wait(1);
ChangYuHsuan 0:a78e30188b92 30
ChangYuHsuan 0:a78e30188b92 31 timer1.attach_us(&timerInterrupt, PERIOD);
ChangYuHsuan 0:a78e30188b92 32
ChangYuHsuan 0:a78e30188b92 33 while(1) {
ChangYuHsuan 0:a78e30188b92 34
ChangYuHsuan 1:182761476d79 35 pc.printf("gz: %.3f gzBias: %.3f degree: %.3f \n\r", imu.gz, imu.gBias[2], degree);
ChangYuHsuan 0:a78e30188b92 36
ChangYuHsuan 0:a78e30188b92 37 wait(0.01);
ChangYuHsuan 0:a78e30188b92 38 }
ChangYuHsuan 0:a78e30188b92 39 }
ChangYuHsuan 0:a78e30188b92 40
ChangYuHsuan 0:a78e30188b92 41 void timerInterrupt()
ChangYuHsuan 0:a78e30188b92 42 {
ChangYuHsuan 0:a78e30188b92 43 imu.readGyro();
ChangYuHsuan 0:a78e30188b92 44
ChangYuHsuan 1:182761476d79 45 degree += imu.gz * PERIOD / 1000000.0f;
ChangYuHsuan 1:182761476d79 46 }