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IMU for lab 2 part 2, part 3 and part 4.
Dependencies: 4DGL-uLCD-SE LSM9DS0 mbed
Fork of 4180_lab2_part2_LSM9DS0 by
main.cpp
- Committer:
- ldeng31
- Date:
- 2015-10-06
- Revision:
- 8:4927aa0ab07a
- Parent:
- 7:8c458123a665
File content as of revision 8:4927aa0ab07a:
// LSM9DS90/uLCD Demo // ECE 4180 Lab Code Template #include "mbed.h" #include "LSM9DS0.h" #include "uLCD_4DGL.h" // uncomment this line to enable the uLCD for Part 4 of the lab #define PART_4 // SDO_XM and SDO_G are pulled up, so our addresses are: #define LSM9DS0_XM_ADDR 0x1D // Would be 0x1E if SDO_XM is LOW #define LSM9DS0_G_ADDR 0x6B // Would be 0x6A if SDO_G is LOW // refresh time. set to 500 for part 2 and 50 for part 4 #define REFRESH_TIME_MS 500 // Verify that the pin assignments below match your breadboard LSM9DS0 imu(p9, p10, LSM9DS0_G_ADDR, LSM9DS0_XM_ADDR); Serial pc(USBTX, USBRX); #ifdef PART_4 uLCD_4DGL lcd(p28, p27, p30); #endif //Init Serial port and LSM9DS0 chip void setup() { #ifdef PART_4 lcd.baudrate(3000000); lcd.background_color(0); lcd.cls(); lcd.printf("Initializing..."); #endif // Use the begin() function to initialize the LSM9DS0 library. // You can either call it with no parameters (the easy way): uint16_t status = imu.begin(); //Make sure communication is working pc.printf("LSM9DS0 WHO_AM_I's returned: 0x%X\n", status); pc.printf("Should be 0x49D4\n\n"); } int main() { setup(); //Setup sensor and Serial pc.printf("------ LSM0DS0 Demo -----------\n"); lcd.cls(); lcd.circle(64, 64, 63, WHITE); float fx = 64.0, fy = 64.0; int x = 64, y = 64, radius = 4; float vx, vy; while (true) { // Compass Trigonometry tip: you can retrieve the compass heading (in degrees) directly from // the IMU library. Example: // imu.readMag(); // float heading = imu.calcHeading(); // Remember that x = length*cos(heading) and y = length*sin(heading) // to convert from degrees to radians (for sin/cos functions), multiply by pi/180 // Part 2 read compass heading, accelerometer data, and temperature // and print it to the USB serial port imu.readGyro(); imu.readMag(); imu.readAccel(); float heading = imu.calcHeading(); //calculate compass heading imu.readTemp(); pc.printf("Compass heading: %2f\n", heading); pc.printf("Accelerometer data: %2f, %2f, %2f\n", imu.ax, imu.ay, imu.az); pc.printf("Temperature in Fahr: %3.2f\n", imu.temperature_f); //Part3 display through real serial COM //pc.printf("C: %2f\n", heading); //pc.printf("A: %2f, %2f, %2f\n", imu.ax, imu.ay, imu.az); //pc.printf("T: %3.2f\n", imu.temperature_f); //Part4 display bubble level on the uLCD lcd.filled_circle(x, y, radius, RED); wait(0.5); vx = imu.ax * 58; vy = imu.ay * 58; lcd.filled_circle(x, y, radius, BLACK); fx = 64 - vx; fy = 64 + vy; x = int(fx); y = int(fy); // wait_ms(REFRESH_TIME_MS); } }