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Final version of project
Dependencies: FSR LSM9DS1_Library_cal USBMIDI mbed
Fork of LSM9DS1_Demo_wCal by
Diff: main.cpp
- Revision:
- 0:e693d5bf0a25
- Child:
- 1:a81deeb5ba58
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Wed Feb 03 18:47:07 2016 +0000 @@ -0,0 +1,79 @@ +#include "mbed.h" +#include "LSM9DS1.h" +#define PI 3.14159 +// 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(p28, p27, 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); + } +} +