Diff: main.cpp

Revision:

3:201ee5790c15

Parent:

1:9e6bd185745d

--- a/main.cpp	Thu Jun 25 10:38:41 2020 +0000
+++ b/main.cpp	Wed Jul 08 11:06:21 2020 +0000
@@ -20,15 +20,48 @@
     if (!IMU.begin()) {
         pc.printf("Failed to communicate with LSM9DS1.\n");
     }
-    
+    int i=0 ; 
     while(1) {
         
         while(!IMU.accelAvailable());
         IMU.readAccel();
         
-        float acc = sqrt(IMU.calcAccel(IMU.ax)*IMU.calcAccel(IMU.ax)+IMU.calcAccel(IMU.ay)*IMU.calcAccel(IMU.ay)+IMU.calcAccel(IMU.az)*IMU.calcAccel(IMU.az));
+         
+       while( !IMU.gyroAvailable() )
+        
+        IMU.readGyro();
+        
+        
+        //float acc = sqrt(IMU.calcAccel(IMU.ax)*IMU.calcAccel(IMU.ax)+IMU.calcAccel(IMU.ay)*IMU.calcAccel(IMU.ay)+IMU.calcAccel(IMU.az)*IMU.calcAccel(IMU.az));
+        
+        //pc.printf("%9f",acc) ;
+           pc.printf("%d",i) ;
         
-        pc.printf("%9f\n",acc) ;
+         pc.printf(",") ;
+        pc.printf("%9f",IMU.calcAccel(IMU.ax)) ;
+         pc.printf(",") ;
+        pc.printf("%9f",IMU.calcAccel(IMU.ay)) ;
+         pc.printf(",") ;
+        pc.printf("%9f",IMU.calcAccel(IMU.az)) ;
+        pc.printf(",") ;
+        
+        
+        pc.printf("%9f",IMU.calcAccel(IMU.gx)) ;
+         pc.printf(",") ;
+        pc.printf("%9f",IMU.calcAccel(IMU.gy)) ;
+         pc.printf(",") ;
+        pc.printf("%9f",IMU.calcAccel(IMU.gz)) ;
+        pc.printf(",") ;        
+        
+        
+           pc.printf("%9f",IMU.calcAccel(IMU.mx)) ;
+         pc.printf(",") ;
+        pc.printf("%9f",IMU.calcAccel(IMU.my)) ;
+         pc.printf(",") ;
+        pc.printf("%9f",IMU.calcAccel(IMU.mz)) ;
+        pc.printf("%\n\r") ;    
+        
+        i++ ;
         wait(0.1) ;