walid chebbi / Mbed 2 deprecated LSM9DS1_works

LSM9DS1 with EFM32WG

Dependencies:   mbed PinDetect LSM9DS1_works

Dependents:   WORKS_VERSION_1_sERIAL_PROCESSING LSM9DS1_works

main.cpp@3:64a8188c5a44, 2020-03-02 (annotated)

Committer:
chebbi
Date:
Mon Mar 02 10:08:57 2020 +0000
Revision:
3:64a8188c5a44
Parent:
0:e8167f37725c
Child:
4:6c3cdc717a1f
Child:
5:b7855a02ddf6
that lsm9ds1 works with EFM32WG

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jmar7 0:e8167f37725c 1 #include "LSM9DS1.h"
jmar7 0:e8167f37725c 2
chebbi 3:64a8188c5a44 3 //DigitalOut myled(LED1);
jmar7 0:e8167f37725c 4 Serial pc(USBTX, USBRX);
chebbi 3:64a8188c5a44 5 #define PI 3,14
chebbi 3:64a8188c5a44 6 #define printff_CALCULATED
chebbi 3:64a8188c5a44 7 #define printff_SPEED 250
chebbi 3:64a8188c5a44 8 #define DECLINATION -8.58
jmar7 0:e8167f37725c 9
chebbi 3:64a8188c5a44 10 void printfGyro();
chebbi 3:64a8188c5a44 11 void printfAccel();
chebbi 3:64a8188c5a44 12 void printfMag();
chebbi 3:64a8188c5a44 13 void printfAttitude(float ax, float ay, float az, float mx, float my, float mz);
chebbi 3:64a8188c5a44 14
chebbi 3:64a8188c5a44 15 LSM9DS1 lol(PC4, PC5,0xD6, 0x3C);
jmar7 0:e8167f37725c 16 int main() {
jmar7 0:e8167f37725c 17 //LSM9DS1 lol(p9, p10, 0x6B, 0x1E);
chebbi 3:64a8188c5a44 18
jmar7 0:e8167f37725c 19 lol.begin();
jmar7 0:e8167f37725c 20 if (!lol.begin()) {
jmar7 0:e8167f37725c 21 pc.printf("Failed to communicate with LSM9DS1.\n");
chebbi 3:64a8188c5a44 22 while(1) ;
jmar7 0:e8167f37725c 23 }
jmar7 0:e8167f37725c 24 lol.calibrate();
jmar7 0:e8167f37725c 25 while(1) {
chebbi 3:64a8188c5a44 26
chebbi 3:64a8188c5a44 27 //lol.readTemp();
chebbi 3:64a8188c5a44 28
chebbi 3:64a8188c5a44 29 if ( lol.magAvailable() )
chebbi 3:64a8188c5a44 30 {
jmar7 0:e8167f37725c 31 lol.readMag();
chebbi 3:64a8188c5a44 32 }
chebbi 3:64a8188c5a44 33 if ( lol.accelAvailable() )
chebbi 3:64a8188c5a44 34 {
chebbi 3:64a8188c5a44 35 lol.readAccel();
chebbi 3:64a8188c5a44 36 }
chebbi 3:64a8188c5a44 37 if ( lol.gyroAvailable() )
chebbi 3:64a8188c5a44 38 {
jmar7 0:e8167f37725c 39 lol.readGyro();
chebbi 3:64a8188c5a44 40 }
chebbi 3:64a8188c5a44 41
chebbi 3:64a8188c5a44 42 printfGyro(); // printfff "G: gx, gy, gz"
chebbi 3:64a8188c5a44 43 pc.printf("\n") ;
chebbi 3:64a8188c5a44 44 printfAccel(); // printfff "A: ax, ay, az"
chebbi 3:64a8188c5a44 45 pc.printf("\n") ;
chebbi 3:64a8188c5a44 46 printfMag(); // printfff "M: mx, my, mz"
chebbi 3:64a8188c5a44 47 pc.printf("\n") ;
chebbi 3:64a8188c5a44 48 // printff the heading and orientation for fun!
chebbi 3:64a8188c5a44 49 // Call printfff attitude. The LSM9DS1's mag x and y
chebbi 3:64a8188c5a44 50 // axes are opposite to the accelerometer, so my, mx are
chebbi 3:64a8188c5a44 51 // substituted for each other.
chebbi 3:64a8188c5a44 52 printfAttitude(lol.ax, lol.ay, lol.az,-lol.my, -lol.mx, lol.mz);
chebbi 3:64a8188c5a44 53 pc.printf("\n") ;
chebbi 3:64a8188c5a44 54 wait(1);
chebbi 3:64a8188c5a44 55 }
chebbi 3:64a8188c5a44 56 }
jmar7 0:e8167f37725c 57
chebbi 3:64a8188c5a44 58 void printfGyro()
chebbi 3:64a8188c5a44 59 {
chebbi 3:64a8188c5a44 60 // Now we can use the gx, gy, and gz variables as we please.
chebbi 3:64a8188c5a44 61 // Either printfff them as raw ADC values, or calculated in DPS.
chebbi 3:64a8188c5a44 62 pc.printf("G: ");
chebbi 3:64a8188c5a44 63 #ifdef printff_CALCULATED
chebbi 3:64a8188c5a44 64 // If you want to printffff calculated values, you can use the
chebbi 3:64a8188c5a44 65 // calcGyro helper function to convert a raw ADC value to
chebbi 3:64a8188c5a44 66 // DPS. Give the function the value that you want to convert.
chebbi 3:64a8188c5a44 67 pc.printf("%f" , lol.calcGyro(lol.gx), 2);
chebbi 3:64a8188c5a44 68 pc.printf(", ");
chebbi 3:64a8188c5a44 69 pc.printf("%f" , lol.calcGyro(lol.gy), 2);
chebbi 3:64a8188c5a44 70 pc.printf(", ");
chebbi 3:64a8188c5a44 71 pc.printf("%f" , lol.calcGyro(lol.gz), 2);
chebbi 3:64a8188c5a44 72 pc.printf(" deg/s ");
chebbi 3:64a8188c5a44 73 pc.printf("\n") ;
chebbi 3:64a8188c5a44 74 /*#elif defined printfff_RAW
chebbi 3:64a8188c5a44 75 pc.printf(lol.gx);
chebbi 3:64a8188c5a44 76 pc.printf(", ");
chebbi 3:64a8188c5a44 77 pc.printf(lol.gy);
chebbi 3:64a8188c5a44 78 pc.printf(", ");
chebbi 3:64a8188c5a44 79 pc.printfln(lol.gz);*/
chebbi 3:64a8188c5a44 80 #endif
chebbi 3:64a8188c5a44 81 }
chebbi 3:64a8188c5a44 82
chebbi 3:64a8188c5a44 83 void printfAccel()
chebbi 3:64a8188c5a44 84 {
chebbi 3:64a8188c5a44 85 // Now we can use the ax, ay, and az variables as we please.
chebbi 3:64a8188c5a44 86 // Either printfff them as raw ADC values, or calculated in g's.
chebbi 3:64a8188c5a44 87 pc.printf("A: ");
chebbi 3:64a8188c5a44 88 #ifdef printff_CALCULATED
chebbi 3:64a8188c5a44 89 // If you want to printffff calculated values, you can use the
chebbi 3:64a8188c5a44 90 // calcAccel helper function to convert a raw ADC value to
chebbi 3:64a8188c5a44 91 // g's. Give the function the value that you want to convert.
chebbi 3:64a8188c5a44 92 pc.printf("%f" , lol.calcAccel(lol.ax), 2);
chebbi 3:64a8188c5a44 93 pc.printf(", ");
chebbi 3:64a8188c5a44 94 pc.printf("%f" , lol.calcAccel(lol.ay), 2);
chebbi 3:64a8188c5a44 95 pc.printf(", ");
chebbi 3:64a8188c5a44 96 pc.printf("%f" , lol.calcAccel(lol.az), 2);
chebbi 3:64a8188c5a44 97 pc.printf(" g");
chebbi 3:64a8188c5a44 98 /*#elif defined printfff_RAW
chebbi 3:64a8188c5a44 99 pc.printf(lol.ax);
chebbi 3:64a8188c5a44 100 pc.printf(", ");
chebbi 3:64a8188c5a44 101 pc.printf(lol.ay);
chebbi 3:64a8188c5a44 102 pc.printf(", ");
chebbi 3:64a8188c5a44 103 pc.printfln(lol.az);*/
chebbi 3:64a8188c5a44 104
chebbi 3:64a8188c5a44 105 #endif
chebbi 3:64a8188c5a44 106
jmar7 0:e8167f37725c 107 }
chebbi 3:64a8188c5a44 108
chebbi 3:64a8188c5a44 109 void printfMag()
chebbi 3:64a8188c5a44 110 {
chebbi 3:64a8188c5a44 111 // Now we can use the mx, my, and mz variables as we please.
chebbi 3:64a8188c5a44 112 // Either printfff them as raw ADC values, or calculated in Gauss.
chebbi 3:64a8188c5a44 113 pc.printf("M: ");
chebbi 3:64a8188c5a44 114 #ifdef printff_CALCULATED
chebbi 3:64a8188c5a44 115 // If you want to printffff calculated values, you can use the
chebbi 3:64a8188c5a44 116 // calcMag helper function to convert a raw ADC value to
chebbi 3:64a8188c5a44 117 // Gauss. Give the function the value that you want to convert.
chebbi 3:64a8188c5a44 118 pc.printf("%f" , lol.calcMag(lol.mx), 2);
chebbi 3:64a8188c5a44 119 pc.printf(", ");
chebbi 3:64a8188c5a44 120 pc.printf("%f" , lol.calcMag(lol.my), 2);
chebbi 3:64a8188c5a44 121 pc.printf(", ");
chebbi 3:64a8188c5a44 122 pc.printf("%f" , lol.calcMag(lol.mz), 2);
chebbi 3:64a8188c5a44 123 pc.printf(" gauss");
chebbi 3:64a8188c5a44 124
chebbi 3:64a8188c5a44 125 /*#elif defined printfff_RAW
chebbi 3:64a8188c5a44 126 pc.printf(lol.mx);
chebbi 3:64a8188c5a44 127 pc.printf(", ");
chebbi 3:64a8188c5a44 128 pc.printf(lol.my);
chebbi 3:64a8188c5a44 129 pc.printf(", ");
chebbi 3:64a8188c5a44 130 pc.printfln(lol.mz);*/
chebbi 3:64a8188c5a44 131 #endif
chebbi 3:64a8188c5a44 132 }
chebbi 3:64a8188c5a44 133
chebbi 3:64a8188c5a44 134 void printfAttitude(float ax, float ay, float az, float mx, float my, float mz)
chebbi 3:64a8188c5a44 135 {
chebbi 3:64a8188c5a44 136 float roll = atan2(ay, az);
chebbi 3:64a8188c5a44 137 float pitch = atan2(-ax, sqrt(ay * ay + az * az));
chebbi 3:64a8188c5a44 138
chebbi 3:64a8188c5a44 139 float heading;
chebbi 3:64a8188c5a44 140 if (my == 0)
chebbi 3:64a8188c5a44 141 heading = (mx < 0) ? PI : 0;
chebbi 3:64a8188c5a44 142 else
chebbi 3:64a8188c5a44 143 heading = atan2(mx, my);
chebbi 3:64a8188c5a44 144
chebbi 3:64a8188c5a44 145 heading -= DECLINATION * PI / 180;
chebbi 3:64a8188c5a44 146
chebbi 3:64a8188c5a44 147 if (heading > PI) heading -= (2 * PI);
chebbi 3:64a8188c5a44 148 else if (heading < -PI) heading += (2 * PI);
chebbi 3:64a8188c5a44 149
chebbi 3:64a8188c5a44 150 // Convert everything from radians to degrees:
chebbi 3:64a8188c5a44 151 heading *= 180.0 / PI;
chebbi 3:64a8188c5a44 152 pitch *= 180.0 / PI;
chebbi 3:64a8188c5a44 153 roll *= 180.0 / PI;
chebbi 3:64a8188c5a44 154
chebbi 3:64a8188c5a44 155 pc.printf("Pitch, Roll: ");
chebbi 3:64a8188c5a44 156 pc.printf("%f" , pitch, 2);
chebbi 3:64a8188c5a44 157 pc.printf(", ");
chebbi 3:64a8188c5a44 158 pc.printf("%f" , roll, 2);
chebbi 3:64a8188c5a44 159 pc.printf("\n") ;
chebbi 3:64a8188c5a44 160 pc.printf("Heading: "); pc.printf("%f" , heading, 2);
chebbi 3:64a8188c5a44 161
chebbi 3:64a8188c5a44 162 }
chebbi 3:64a8188c5a44 163
chebbi 3:64a8188c5a44 164 //pc.printffff("%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);
chebbi 3:64a8188c5a44 165 //pc.printffff("%d %d %d\n\r", lol.calcGyro(lol.gx), lol.calcGyro(lol.gy), lol.calcGyro(lol.gz));
chebbi 3:64a8188c5a44 166 //pc.printffff("gyro: %d %d %d\n\r", lol.gx, lol.gy, lol.gz);
chebbi 3:64a8188c5a44 167 //pc.printffff("accel: %d %d %d\n\r", lol.ax, lol.ay, lol.az);
chebbi 3:64a8188c5a44 168 //pc.printffff("mag: %d %d %d\n\n\r", lol.mx, lol.my, lol.mz);
chebbi 3:64a8188c5a44 169 //myled = 1;
chebbi 3:64a8188c5a44 170 //wait_ms(500);
chebbi 3:64a8188c5a44 171 //myled = 0;
chebbi 3:64a8188c5a44 172 //wait_ms(500);
chebbi 3:64a8188c5a44 173
chebbi 3:64a8188c5a44 174