Diff: main.cpp

Revision:

1:9e6bd185745d

Parent:

0:e693d5bf0a25

Child:

3:201ee5790c15

--- a/main.cpp	Wed Feb 03 18:47:07 2016 +0000
+++ b/main.cpp	Thu Jun 25 09:19:10 2020 +0000
@@ -1,79 +1,40 @@
 #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);
-}
+Serial pc(USBTX, USBRX);
 
 
 
 
 int main()
 {
-    //LSM9DS1 lol(p9, p10, 0x6B, 0x1E);
-    LSM9DS1 IMU(p28, p27, 0xD6, 0x3C);
+    
+    LSM9DS1 IMU(PC4, PC5,0xD6, 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);
+        
+        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\n",acc) ;
+        wait(0.1) ; 
+         
+        
+        
+        
+      
     }
 }