Revision 2:0e123c149624, committed 2021-03-12

Comitter:

boro

Date:

Fri Mar 12 13:05:46 2021 +0000

Parent:

1:87d535bf8c53

Commit message:

d

Changed in this revision

diff -r 87d535bf8c53 -r 0e123c149624 LSM9DS1.cpp
--- a/LSM9DS1.cpp	Mon Oct 26 16:14:04 2015 +0000
+++ b/LSM9DS1.cpp	Fri Mar 12 13:05:46 2021 +0000
@@ -19,6 +19,8 @@
 local, and you've found our code helpful, please buy us a round!
 
 Distributed as-is; no warranty is given.
+
+Modified: Nicolas Borla, 20.01.2019
 ******************************************************************************/
 
 #include "LSM9DS1.h"
@@ -36,7 +38,7 @@
 #define LSM9DS1_COMMUNICATION_TIMEOUT 1000
 
 float magSensitivity[4] = {0.00014, 0.00029, 0.00043, 0.00058};
-extern Serial pc;
+//extern Serial pc;
 
 LSM9DS1::LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr)
     :i2c(sda, scl)
@@ -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);
+    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))
@@ -524,6 +526,9 @@
         ay -= aBiasRaw[Y_AXIS];
         az -= aBiasRaw[Z_AXIS];
     }
+    accX = static_cast<float>(ax)/32768.0f*2.0f*9.81f;
+    accY = static_cast<float>(ay)/32768.0f*2.0f*9.81f;
+    accZ = static_cast<float>(az)/32768.0f*2.0f*9.81f;
 }
 
 int16_t LSM9DS1::readAccel(lsm9ds1_axis axis)
@@ -546,6 +551,10 @@
     mx = (temp[1] << 8) | temp[0]; // Store x-axis values into mx
     my = (temp[3] << 8) | temp[2]; // Store y-axis values into my
     mz = (temp[5] << 8) | temp[4]; // Store z-axis values into mz
+    
+    magX = static_cast<float>(mx)/32768.0f*4.0f;
+    magY = static_cast<float>(my)/32768.0f*4.0f;
+    magZ = static_cast<float>(mz)/32768.0f*4.0f;
 }
 
 int16_t LSM9DS1::readMag(lsm9ds1_axis axis)
@@ -575,6 +584,9 @@
         gy -= gBiasRaw[Y_AXIS];
         gz -= gBiasRaw[Z_AXIS];
     }
+    gyroX = static_cast<float>(gx)/32768.0f*245.0f*3.14159265358979323846f/180.0f;
+    gyroY = static_cast<float>(gy)/32768.0f*245.0f*3.14159265358979323846f/180.0f;
+    gyroZ = static_cast<float>(gz)/32768.0f*245.0f*3.14159265358979323846f/180.0f;
 }
 
 int16_t LSM9DS1::readGyro(lsm9ds1_axis axis)

diff -r 87d535bf8c53 -r 0e123c149624 LSM9DS1.h
--- a/LSM9DS1.h	Mon Oct 26 16:14:04 2015 +0000
+++ b/LSM9DS1.h	Fri Mar 12 13:05:46 2021 +0000
@@ -61,6 +61,10 @@
     float gBias[3], aBias[3], mBias[3];
     int16_t gBiasRaw[3], aBiasRaw[3], mBiasRaw[3];
     
+    float gyroX, gyroY, gyroZ; // x, y, and z axis readings of the gyroscope (float value)
+    float accX, accY, accZ; // x, y, and z axis readings of the accelerometer (float value)
+    float magX, magY, magZ; // x, y, and z axis readings of the magnetometer (float value)
+    
     // LSM9DS1 -- LSM9DS1 class constructor
     // The constructor will set up a handful of private variables, and set the
     // communication mode as well.
@@ -312,7 +316,8 @@
     *    Any OR'd combination of ZIEN, YIEN, XIEN
     *  - activeLow = Interrupt active configuration
     *    Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
-    */  - latch: latch gyroscope interrupt request.
+    *  - latch: latch gyroscope interrupt request.
+    */  
     void configMagInt(uint8_t generator, h_lactive activeLow, bool latch = true);
     
     /** configMagThs() -- Configure the threshold of a gyroscope axis

diff -r 87d535bf8c53 -r 0e123c149624 main.cpp
--- a/main.cpp	Mon Oct 26 16:14:04 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,29 +0,0 @@
-#include "LSM9DS1.h"
-
-DigitalOut myled(LED1);
-Serial pc(USBTX, USBRX);
-
-int main() {
-    //LSM9DS1 lol(p9, p10, 0x6B, 0x1E);
-    LSM9DS1 lol(p9, p10, 0xD6, 0x3C);
-    lol.begin();
-    if (!lol.begin()) {
-        pc.printf("Failed to communicate with LSM9DS1.\n");
-    }
-    lol.calibrate();
-    while(1) {
-        lol.readTemp();
-        lol.readMag();
-        lol.readGyro();
-        
-        //pc.printf("%d %d %d %d %d %d %d %d %d\n\r", lol.calcGyro(lol.gx), lol.calcGyro(lol.gy), lol.calcGyro(lol.gz), lol.ax, lol.ay, lol.az, lol.mx, lol.my, lol.mz);
-        //pc.printf("%d %d %d\n\r", lol.calcGyro(lol.gx), lol.calcGyro(lol.gy), lol.calcGyro(lol.gz));
-        pc.printf("gyro: %d %d %d\n\r", lol.gx, lol.gy, lol.gz);
-        pc.printf("accel: %d %d %d\n\r", lol.ax, lol.ay, lol.az);
-        pc.printf("mag: %d %d %d\n\n\r", lol.mx, lol.my, lol.mz);
-        myled = 1;
-        wait(2);
-        myled = 0;
-        wait(2);
-    }
-}