Diff: main.cpp

Revision:

3:fd549671e512

Parent:

0:e8167f37725c

--- a/main.cpp	Wed Feb 03 18:24:29 2016 +0000
+++ b/main.cpp	Sun Mar 13 21:40:10 2016 +0000
@@ -1,29 +1,84 @@
 #include "LSM9DS1.h"
+#include "MadgwickUpdate.h"
 
-DigitalOut myled(LED1);
 Serial pc(USBTX, USBRX);
 
+Timer t;
+int lastPrint = 0;
+int printInterval = 500;
+
+RawSerial dev( p13, p14 );
+
+int calibrate = 1;
+
+void dev_recv()
+{
+    while(dev.readable()) {
+        if ( dev.getc() == 'r' ){
+                calibrate = 1;
+        }
+    }
+}
+
 int main() {
-    //LSM9DS1 lol(p9, p10, 0x6B, 0x1E);
-    LSM9DS1 lol(p9, p10, 0xD6, 0x3C);
+    
+    LSM9DS1 lol(p28, p27, 0xD6, 0x3C);
+    
+    t.start();
+
+    dev.baud(9600);
+    dev.attach(&dev_recv, Serial::RxIrq);
+
     lol.begin();
     if (!lol.begin()) {
         pc.printf("Failed to communicate with LSM9DS1.\n");
     }
-    lol.calibrate();
+
     while(1) {
-        lol.readTemp();
-        lol.readMag();
-        lol.readGyro();
+
+        if( calibrate ){
+            lol.calibrate();
+            firstUpdate = t.read_us();
+            lastUpdate = firstUpdate;
+            q[0] = 1.0f; q[1] = 0.0f; q[2] = 0.0f; q[3] = 0.0f; 
+            calibrate = 0;
+        }
         
-        //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);
+        if ( lol.accelAvailable() || lol.gyroAvailable() ) {
+         
+            lol.readAccel();
+            lol.readGyro();
+            
+            Now = t.read_us();
+            deltat = (float)((Now - lastUpdate)/1000000.0f);
+            lastUpdate = Now;
+            
+            float ax = lol.calcAccel(lol.ax);
+            float ay = lol.calcAccel(lol.ay);
+            float az = lol.calcAccel(lol.az);
+            
+            float gx = lol.calcGyro(lol.gx);
+            float gy = lol.calcGyro(lol.gy);
+            float gz = lol.calcGyro(lol.gz);
+            
+            
+            // switch x and y to convert to right handed coordinate system
+            MadgwickQuaternionUpdate( ay, ax, az, gy*PI/180.0f, gx*PI/180.0f, gz*PI/180.0f );
+            
+            int nowMs = t.read_ms();
+            if( nowMs - lastPrint > printInterval ){
+                lastPrint = nowMs;
+                pc.printf("gyro: %f %f %f\n\r", gx, gy, gz);
+                pc.printf("accel: %f %f %f\n\r", ax, ay, az);
+                pc.printf("quat: %f %f %f %f\n\r", q[0], q[1], q[2], q[3]);
+                char* str = (char*) &q;
+                int i = 0;
+                while (i < 16){
+                    dev.putc( str[i] );
+                    i += 1;   
+                }
+            }
+            
+        }
     }
 }