File content as of revision 8:ac38b8f1190d:

// <- remove this if you want to code this and comment Georges
#include "mbed.h"
#include "LSM9DS1.h"
#define PI 3.14159
// --------------------------------------------------------------------------------

//// AnalogOut sine wave complete
//AnalogOut aout(p18);
//
//int main(){
//    const double pi = 3.141592653589793238462;
//    const double amplitude = 1;
//    const double offset = 65535/2;
//    double rads = 0.0;
//    uint16_t sample = 0;
//
//    while(1){
//        // sinewave output
//        for (int i = 0; i < 360; i++) {
//            rads = (pi * i) / 180.0f;
//            sample = (uint16_t)(amplitude * (offset * (cos(rads + pi))) + offset);
//            aout.write_u16(sample);
//        }
//    }
//}
// --------------------------------------------------------------------------------

//// Sharp IR sensor complete
//
//Serial pc(USBTX, USBRX);
//
//AnalogIn sensor(p15);
//DigitalOut led1(LED1);
//DigitalOut led2(LED2);
//DigitalOut led3(LED3);
//DigitalOut led4(LED4);
//
//int main(){
//  while(1){
//
//     if(sensor > 0.61){
//       led1 = 1;
//       led2 = 1;
//       led3 = 1;
//       led4 = 1;
//     }
//     else if(sensor > 0.46){
//       led1 = 1;
//       led2 = 1;
//       led3 = 1;
//       led4 = 0;
//     }
//     else if(sensor > 0.30){
//       led1 = 1;
//       led2 = 1;
//       led3 = 0;
//       led4 = 0;
//     }
//     else if(sensor > 0.15){
//       led1 = 1;
//       led2 = 0;
//       led3 = 0;
//       led4 = 0;
//     }
//     else{
//       led1 = 0;
//       led2 = 0;
//       led3 = 0;
//       led4 = 0;
//     }
//
////    pc.printf("%f\n", sensor.read());
////    wait(.5);
//  }
//}
// --------------------------------------------------------------------------------

// I2C Bus and USB Virtual Com Port

// Earth's magnetic field varies by location. Add or subtract
// a declination to get a more accurate heading. Calculate
// your's here:
// http://www.ngdc.noaa.gov/geomag-web/#declination
#define DECLINATION -4.94 // Declination (degrees) in Atlanta,GA.

DigitalOut myled(LED1);
Serial pc(USBTX, USBRX);
// Calculate pitch, roll, and heading.
// Pitch/roll calculations taken from this app note:
// http://cache.freescale.com/files/sensors/doc/app_note/AN3461.pdf?fpsp=1
// Heading calculations taken from this app note:
// http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/Magnetic__Literature_Application_notes-documents/AN203_Compass_Heading_Using_Magnetometers.pdf
void printAttitude(float ax, float ay, float az, float mx, float my, float mz)
{
    float roll = atan2(ay, az);
    float pitch = atan2(-ax, sqrt(ay * ay + az * az));
// touchy trig stuff to use arctan to get compass heading (scale is 0..360)
    mx = -mx;
    float heading;
    if (my == 0.0)
        heading = (mx < 0.0) ? 180.0 : 0.0;
    else
        heading = atan2(mx, my)*360.0/(2.0*PI);
    //pc.printf("heading atan=%f \n\r",heading);
    heading -= DECLINATION; //correct for geo location
    if(heading>180.0) heading = heading - 360.0;
    else if(heading<-180.0) heading = 360.0 + heading;
    else if(heading<0.0) heading = 360.0  + heading;


    // Convert everything from radians to degrees:
    //heading *= 180.0 / PI;
    pitch *= 180.0 / PI;
    roll  *= 180.0 / PI;

    pc.printf("Pitch: %f,    Roll: %f degress\n\r",pitch,roll);
    pc.printf("Magnetic Heading: %f degress\n\r",heading);
}




int main()
{
    //LSM9DS1 lol(p9, p10, 0x6B, 0x1E);
    LSM9DS1 IMU(p9, p10, 0xD6, 0x3C);
    IMU.begin();
    if (!IMU.begin()) {
        pc.printf("Failed to communicate with LSM9DS1.\n");
    }
    IMU.calibrate(1);
    IMU.calibrateMag(0);
    while(1) {
        while(!IMU.tempAvailable());
        IMU.readTemp();
        while(!IMU.magAvailable(X_AXIS));
        IMU.readMag();
        while(!IMU.accelAvailable());
        IMU.readAccel();
        while(!IMU.gyroAvailable());
        IMU.readGyro();
        pc.printf("\nIMU Temperature = %f C\n\r",25.0 + IMU.temperature/16.0);
        pc.printf("        X axis    Y axis    Z axis\n\r");
        pc.printf("gyro:  %9f %9f %9f in deg/s\n\r", IMU.calcGyro(IMU.gx), IMU.calcGyro(IMU.gy), IMU.calcGyro(IMU.gz));
        pc.printf("accel: %9f %9f %9f in Gs\n\r", IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az));
        pc.printf("mag:   %9f %9f %9f in gauss\n\r", IMU.calcMag(IMU.mx), IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz));
        printAttitude(IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az), IMU.calcMag(IMU.mx),
                      IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz));
        myled = 1;
        wait(0.5);
        myled = 0;
        wait(0.5);
    }
}