Frederic Thierry / Mbed 2 deprecated Nucleo_test_accelero

Only for Future hands-on

Dependencies:   LSM6DS0 mbed

main.cpp@1:4eaf2ea6eb62, 2016-03-07 (annotated)

Committer:
Future_FThierry
Date:
Mon Mar 07 17:38:22 2016 +0000
Revision:
1:4eaf2ea6eb62
Parent:
0:24c9d0b3277e 
demo LSM6;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Future_FThierry 0:24c9d0b3277e 1 #include "mbed.h"
Future_FThierry 1:4eaf2ea6eb62 2 #include "math.h"
Future_FThierry 1:4eaf2ea6eb62 3 #include <FT_LSM6DS0.h>
Future_FThierry 0:24c9d0b3277e 4
Future_FThierry 0:24c9d0b3277e 5 I2C i2c(I2C_SDA, I2C_SCL);
Future_FThierry 0:24c9d0b3277e 6
Future_FThierry 0:24c9d0b3277e 7 DigitalOut myled(LED1);
Future_FThierry 0:24c9d0b3277e 8
Future_FThierry 0:24c9d0b3277e 9 Serial pc(SERIAL_TX, SERIAL_RX);
Future_FThierry 0:24c9d0b3277e 10
Future_FThierry 0:24c9d0b3277e 11 int main()
Future_FThierry 0:24c9d0b3277e 12 {
Future_FThierry 0:24c9d0b3277e 13 char data_write[6];
Future_FThierry 0:24c9d0b3277e 14 char data_read[6];
Future_FThierry 1:4eaf2ea6eb62 15 short X_Acc, Y_Acc;
Future_FThierry 1:4eaf2ea6eb62 16 float alpha;
Future_FThierry 0:24c9d0b3277e 17
Future_FThierry 0:24c9d0b3277e 18 data_write[0] = LSM6DS0_WHO_AM_I;
Future_FThierry 0:24c9d0b3277e 19 i2c.write(LSM6DS0_ADDR, data_write, 1, 1); // no stop
Future_FThierry 0:24c9d0b3277e 20 i2c.read(LSM6DS0_ADDR, data_read, 2, 0);
Future_FThierry 0:24c9d0b3277e 21
Future_FThierry 0:24c9d0b3277e 22 pc.printf("who am I= %2x%c%c",data_read[0],0x0D,0X0A);
Future_FThierry 0:24c9d0b3277e 23
Future_FThierry 0:24c9d0b3277e 24 data_write[0]=LSM6DS0_CTRL_REG6_XL;
Future_FThierry 0:24c9d0b3277e 25 data_write[1]=0x20; // Set output Data Rate to 10Hz, exiting sleep mode
Future_FThierry 0:24c9d0b3277e 26
Future_FThierry 0:24c9d0b3277e 27 i2c.write(LSM6DS0_ADDR, data_write,2,0);
Future_FThierry 0:24c9d0b3277e 28
Future_FThierry 0:24c9d0b3277e 29 data_write[0]=LSM6DS0_CTRL_REG5_XL;
Future_FThierry 1:4eaf2ea6eb62 30 data_write[1]=0xD8; //Enable X-Axis Accelerometer
Future_FThierry 0:24c9d0b3277e 31
Future_FThierry 0:24c9d0b3277e 32 i2c.write(LSM6DS0_ADDR, data_write,2,0);
Future_FThierry 0:24c9d0b3277e 33
Future_FThierry 0:24c9d0b3277e 34 while(1)
Future_FThierry 0:24c9d0b3277e 35 {
Future_FThierry 0:24c9d0b3277e 36 data_write[0]=LSM6DS0_OUT_X_XL;
Future_FThierry 0:24c9d0b3277e 37 i2c.write(LSM6DS0_ADDR, data_write, 1, 1); // no stop
Future_FThierry 1:4eaf2ea6eb62 38 i2c.read(LSM6DS0_ADDR, data_read,4,0);
Future_FThierry 0:24c9d0b3277e 39
Future_FThierry 0:24c9d0b3277e 40 X_Acc= (short)(((unsigned char)data_read[1]) << 8 | ((unsigned char)data_read[0]));
Future_FThierry 1:4eaf2ea6eb62 41 Y_Acc= (short)(((unsigned char)data_read[3]) << 8 | ((unsigned char)data_read[2]));
Future_FThierry 0:24c9d0b3277e 42
Future_FThierry 1:4eaf2ea6eb62 43 alpha= 180*atan2((double)Y_Acc,(double)X_Acc)/3.14159;
Future_FThierry 1:4eaf2ea6eb62 44
Future_FThierry 1:4eaf2ea6eb62 45 pc.printf("X_Acc= %d Y_Acc= %d alpha= %.2f \n",X_Acc,Y_Acc,alpha);
Future_FThierry 0:24c9d0b3277e 46 wait(1);
Future_FThierry 0:24c9d0b3277e 47 }
Future_FThierry 0:24c9d0b3277e 48
Future_FThierry 0:24c9d0b3277e 49 }