ENSMM
/
IMU
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Revision 4:681443188833, committed 2020-01-27
- Comitter:
- zmoutaou
- Date:
- Mon Jan 27 10:47:24 2020 +0000
- Parent:
- 3:fd549671e512
- Commit message:
- LSM9DS1 first example
Changed in this revision
--- a/LSM9DS1.cpp Sun Mar 13 21:40:10 2016 +0000
+++ b/LSM9DS1.cpp Mon Jan 27 10:47:24 2020 +0000
@@ -41,8 +41,9 @@
LSM9DS1::LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr)
:i2c(sda, scl)
{
- init(IMU_MODE_I2C, xgAddr, mAddr); // dont know about 0xD6 or 0x3B
-}
+I2C i2c(PB_9, PB_8);
+init(IMU_MODE_I2C, xgAddr, mAddr);} // dont know about 0xD6 or 0x3B
+
/*
LSM9DS1::LSM9DS1()
{
@@ -55,6 +56,7 @@
}
*/
+
void LSM9DS1::init(interface_mode interface, uint8_t xgAddr, uint8_t mAddr)
{
settings.device.commInterface = interface;
@@ -170,7 +172,7 @@
// each device. Store those in a variable so we can return them.
uint8_t mTest = mReadByte(WHO_AM_I_M); // Read the gyro WHO_AM_I
uint8_t xgTest = xgReadByte(WHO_AM_I_XG); // Read the accel/mag WHO_AM_I
- pc.printf("%x, %x, %x, %x\n\r", mTest, xgTest, _xgAddress, _mAddress);
+ ////pc.printf("%x, %x, %x, %x\n\r", mTest, xgTest, _xgAddress, _mAddress);
uint16_t whoAmICombined = (xgTest << 8) | mTest;
if (whoAmICombined != ((WHO_AM_I_AG_RSP << 8) | WHO_AM_I_M_RSP))
@@ -1195,3 +1197,5 @@
}
return count;
}
+
+
--- a/LSM9DS1.h Sun Mar 13 21:40:10 2016 +0000
+++ b/LSM9DS1.h Mon Jan 27 10:47:24 2020 +0000
@@ -34,8 +34,11 @@
#include "LSM9DS1_Registers.h"
#include "LSM9DS1_Types.h"
-#define LSM9DS1_AG_ADDR(sa0) ((sa0) == 0 ? 0x6A : 0x6B)
-#define LSM9DS1_M_ADDR(sa1) ((sa1) == 0 ? 0x1C : 0x1E)
+#define LSM9DS1_AG_ADDR 0xD4 // Device address when ADO = 1
+#define LSM9DS1_M_ADDR 0x38 // Address of magnetometer
+
+//#define LSM9DS1_AG_ADDR(sa0) ((sa0) == 0 ? 0x6A : 0x6B)
+//#define LSM9DS1_M_ADDR(sa1) ((sa1) == 0 ? 0x1C : 0x1E)
enum lsm9ds1_axis {
X_AXIS,
@@ -83,7 +86,8 @@
* in the IMUSettings struct will take effect after calling this function.
*/
uint16_t begin();
-
+ void selftestLSM9DS1();
+ void accelgyrocalLSM9DS1(float * dest1, float * dest2);
void calibrate(bool autoCalc = true);
void calibrateMag(bool loadIn = true);
void magOffset(uint8_t axis, int16_t offset);
@@ -550,6 +554,7 @@
// all stored in the *dest array given.
uint8_t I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count);
+
private:
I2C i2c;
};
--- a/PinDetect.lib Sun Mar 13 21:40:10 2016 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://mbed.org/users/AjK/code/PinDetect/#cb3afc45028b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/USBDevice.lib Mon Jan 27 10:47:24 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/USBDevice/#53949e6131f6
--- a/main.cpp Sun Mar 13 21:40:10 2016 +0000
+++ b/main.cpp Mon Jan 27 10:47:24 2020 +0000
@@ -1,84 +1,53 @@
#include "LSM9DS1.h"
#include "MadgwickUpdate.h"
-Serial pc(USBTX, USBRX);
-
+#include "USBSerial.h"
+USBSerial pc(0x1f00, 0x2012, 0x0001, false);
Timer t;
int lastPrint = 0;
-int printInterval = 500;
-
-RawSerial dev( p13, p14 );
-
-int calibrate = 1;
-
-void dev_recv()
+int printInterval = 3;
+// https://github.com/kriswiner/LSM9DS1/blob/master/LSM9DS1_MS5611_BasicAHRS_t3.ino
+int main()
{
- while(dev.readable()) {
- if ( dev.getc() == 'r' ){
- calibrate = 1;
- }
- }
-}
-int main() {
-
- LSM9DS1 lol(p28, p27, 0xD6, 0x3C);
-
+ wait(1);
+ pc.printf("HOLLA ! .\n");
+ LSM9DS1 lol(PB_9, PB_8, 0xD4, 0x38);
t.start();
-
- dev.baud(9600);
- dev.attach(&dev_recv, Serial::RxIrq);
-
lol.begin();
if (!lol.begin()) {
pc.printf("Failed to communicate with LSM9DS1.\n");
}
-
+ lol.calibrate();
while(1) {
+ firstUpdate = t.read_ms();
+ lastUpdate = firstUpdate;
+ q[0] = 1.0f;q[1] = 0.0f;q[2] = 0.0f;q[3] = 0.0f;
+ if ( lol.accelAvailable() || lol.gyroAvailable() ) {
- if( calibrate ){
- lol.calibrate();
- firstUpdate = t.read_us();
- lastUpdate = firstUpdate;
- q[0] = 1.0f; q[1] = 0.0f; q[2] = 0.0f; q[3] = 0.0f;
- calibrate = 0;
- }
-
- if ( lol.accelAvailable() || lol.gyroAvailable() ) {
-
lol.readAccel();
lol.readGyro();
-
- Now = t.read_us();
+
+ Now = t.read_ms();
deltat = (float)((Now - lastUpdate)/1000000.0f);
lastUpdate = Now;
-
- float ax = lol.calcAccel(lol.ax);
- float ay = lol.calcAccel(lol.ay);
- float az = lol.calcAccel(lol.az);
-
- float gx = lol.calcGyro(lol.gx);
- float gy = lol.calcGyro(lol.gy);
- float gz = lol.calcGyro(lol.gz);
-
-
+
+ float ax = lol.calcAccel(lol.ax);float ay = lol.calcAccel(lol.ay);float az = lol.calcAccel(lol.az);
+ float gx = lol.calcGyro(lol.gx);float gy = lol.calcGyro(lol.gy);float gz = lol.calcGyro(lol.gz);
+ float mx = lol.calcMag(lol.mx);float my = lol.calcMag(lol.my);float mz = lol.calcMag(lol.mz);
// switch x and y to convert to right handed coordinate system
- MadgwickQuaternionUpdate( ay, ax, az, gy*PI/180.0f, gx*PI/180.0f, gz*PI/180.0f );
-
+ //MadgwickQuaternionUpdate( ay, ax, az, gy*PI/180.0f, gx*PI/180.0f, gz*PI/180.0f );
+
int nowMs = t.read_ms();
- if( nowMs - lastPrint > printInterval ){
+ if( nowMs - lastPrint > printInterval ) {
lastPrint = nowMs;
- pc.printf("gyro: %f %f %f\n\r", gx, gy, gz);
- pc.printf("accel: %f %f %f\n\r", ax, ay, az);
- pc.printf("quat: %f %f %f %f\n\r", q[0], q[1], q[2], q[3]);
- char* str = (char*) &q;
- int i = 0;
- while (i < 16){
- dev.putc( str[i] );
- i += 1;
- }
+ //pc.printf("gyro: %f %f %f\n\r", gx, gy, gz);
+ //pc.printf("accel: %f %f %f\n\r", ax, ay, az);
+ //pc.printf("quat: %f %f %f %f\n\r", q[0], q[1], q[2], q[3]);
+ pc.printf("%d %f,%f,%f,%f,%f,%f\n",nowMs,ax,ay,az,gx,gy,gz);
+
}
-
}
}
}
+
--- a/mbed.bld Sun Mar 13 21:40:10 2016 +0000 +++ b/mbed.bld Mon Jan 27 10:47:24 2020 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/mbed_official/code/mbed/builds/f141b2784e32 \ No newline at end of file +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file