Diff: main.cpp

Revision:

0:a78e30188b92

Child:

1:182761476d79

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Jun 21 07:14:46 2017 +0000
@@ -0,0 +1,51 @@
+#include "LSM9DS1.h"
+
+void timerInterrupt();
+
+DigitalOut myled(LED1);
+Serial pc(USBTX, USBRX);
+
+Ticker timer1;
+#define PERIOD 10000 // unit: us
+
+// IMU in SPI mode
+SPI imuSpi(PC_12, PC_11, PC_10); // MOSI, MISO, SCLK
+DigitalOut agCS(PA_13);
+DigitalOut mCS(PA_14);
+LSM9DS1 imu(&imuSpi, &agCS, &mCS, 0xD6, 0x3C);
+
+float dpsZ = 0.0f, degree = 0.0f;
+
+int main() {
+        
+    pc.baud(115200);
+    
+    bool status = imu.begin();
+    pc.printf("connect or not: %d\n\r", status);
+   
+    imu.calibrate();
+    
+    timer1.attach_us(&timerInterrupt, PERIOD);
+    
+    while(1) {
+        
+        /*myled = 1;
+        imu.readGyro();
+        
+        dpsZ = imu.calcGyro(imu.gz);
+        degree += dpsZ * 0.01f;
+        myled = 0;*/
+        
+        pc.printf("gryo z: %.3f degree: %.3f \n\r", dpsZ, degree);
+               
+        wait(0.01);
+    }
+}
+
+void timerInterrupt()
+{
+    imu.readGyro();
+        
+    dpsZ = imu.calcGyro(imu.gz);
+    degree += dpsZ * PERIOD / 1000000.0f;
+}