Naoya Muramatsu / Mbed 2 deprecated LSM9DS0

publish

Dependencies:   mbed

Dependents:   RoboCup_2015

Fork of LSM9DS0 by Taylor Andrews

main.cpp@5:bf8f4e7c9905, 2014-12-03 (annotated)

Committer:
randrews33
Date:
Wed Dec 03 23:08:09 2014 +0000
Revision:
5:bf8f4e7c9905
Parent:
4:7ede465deae1
Child:
6:e6a15dcba942
Issues with the previous versions caused very strange values to be read back. This was due to the wrong addresses being read. Fixed here

Who changed what in which revision?

UserRevisionLine numberNew contents of line
randrews33 5:bf8f4e7c9905 1 //Most of the Credit goes to jimblom
randrews33 0:1b975a6ae539 2 #include "LSM9DS0.h"
randrews33 0:1b975a6ae539 3 #include "mbed.h"
randrews33 0:1b975a6ae539 4
randrews33 0:1b975a6ae539 5 // SDO_XM and SDO_G are both grounded, so our addresses are:
randrews33 5:bf8f4e7c9905 6 #define LSM9DS0_XM 0x1D // Would be 0x1E if SDO_XM is LOW
randrews33 5:bf8f4e7c9905 7 #define LSM9DS0_G 0x6B // Would be 0x6A if SDO_G is LOW
randrews33 0:1b975a6ae539 8
randrews33 0:1b975a6ae539 9
randrews33 5:bf8f4e7c9905 10 LSM9DS0 dof(p9, p10,LSM9DS0_G, LSM9DS0_XM);
randrews33 0:1b975a6ae539 11 Serial pc(USBTX, USBRX); // tx, rx
randrews33 0:1b975a6ae539 12
randrews33 5:bf8f4e7c9905 13 //Uncomment If you want to use interrupts
randrews33 5:bf8f4e7c9905 14 /*DigitalIn pinDRDYG(p14);
randrews33 5:bf8f4e7c9905 15 DigitalIn pinINTG(p13);
randrews33 5:bf8f4e7c9905 16 DigitalIn pinINT1_XM(p14);
randrews33 5:bf8f4e7c9905 17 DigitalIn pinINT2_XM(p15);*/
randrews33 0:1b975a6ae539 18
randrews33 5:bf8f4e7c9905 19 #define PRINT_CALCULATED
randrews33 5:bf8f4e7c9905 20 #define PRINT_SPEED 500 // 500 ms between prints
randrews33 5:bf8f4e7c9905 21
randrews33 5:bf8f4e7c9905 22 //Init Serial port and LSM9DS0 chip
randrews33 0:1b975a6ae539 23 void setup()
randrews33 0:1b975a6ae539 24 {
randrews33 0:1b975a6ae539 25 pc.baud(115200); // Start serial at 115200 bps
randrews33 0:1b975a6ae539 26 // Use the begin() function to initialize the LSM9DS0 library.
randrews33 0:1b975a6ae539 27 // You can either call it with no parameters (the easy way):
randrews33 0:1b975a6ae539 28 uint16_t status = dof.begin();
randrews33 0:1b975a6ae539 29
randrews33 5:bf8f4e7c9905 30
randrews33 5:bf8f4e7c9905 31 //Make sure communication is working
randrews33 0:1b975a6ae539 32 pc.printf("LSM9DS0 WHO_AM_I's returned: 0x");
randrews33 0:1b975a6ae539 33 pc.printf("%x\n",status);
randrews33 0:1b975a6ae539 34 pc.printf("Should be 0x49D4\n");
randrews33 0:1b975a6ae539 35 pc.printf("\n");
randrews33 0:1b975a6ae539 36 }
randrews33 0:1b975a6ae539 37
randrews33 5:bf8f4e7c9905 38
randrews33 5:bf8f4e7c9905 39 void printGyro()
randrews33 5:bf8f4e7c9905 40 {
randrews33 5:bf8f4e7c9905 41 // To read from the gyroscope, you must first call the
randrews33 5:bf8f4e7c9905 42 // readGyro() function. When this exits, it'll update the
randrews33 5:bf8f4e7c9905 43 // gx, gy, and gz variables with the most current data.
randrews33 0:1b975a6ae539 44
randrews33 5:bf8f4e7c9905 45 //Uncomment code if you plan on using interrupts
randrews33 5:bf8f4e7c9905 46 /*while(pinDRDYG == 0)
randrews33 5:bf8f4e7c9905 47 {
randrews33 5:bf8f4e7c9905 48 ;
randrews33 5:bf8f4e7c9905 49 }*/
randrews33 5:bf8f4e7c9905 50
randrews33 0:1b975a6ae539 51
randrews33 5:bf8f4e7c9905 52 dof.readGyro();
randrews33 5:bf8f4e7c9905 53
randrews33 5:bf8f4e7c9905 54 // Now we can use the gx, gy, and gz variables as we please.
randrews33 5:bf8f4e7c9905 55 // Either print them as raw ADC values, or calculated in DPS.
randrews33 5:bf8f4e7c9905 56 pc.printf("G: ");
randrews33 5:bf8f4e7c9905 57 #ifdef PRINT_CALCULATED
randrews33 5:bf8f4e7c9905 58 // If you want to print calculated values, you can use the
randrews33 5:bf8f4e7c9905 59 // calcGyro helper function to convert a raw ADC value to
randrews33 5:bf8f4e7c9905 60 // DPS. Give the function the value that you want to convert.
randrews33 5:bf8f4e7c9905 61 //pc.printf("The bias: %2f, %2f, %2f \n", dof.gbias[0], dof.gbias[1], dof.gbias[2]);
randrews33 5:bf8f4e7c9905 62 pc.printf("%2f",dof.calcGyro(dof.gx) - dof.gbias[0]);
randrews33 0:1b975a6ae539 63 pc.printf(", ");
randrews33 5:bf8f4e7c9905 64 pc.printf("%2f",dof.calcGyro(dof.gy) - dof.gbias[1]);
randrews33 0:1b975a6ae539 65 pc.printf(", ");
randrews33 5:bf8f4e7c9905 66 pc.printf("%2f\n",dof.calcGyro(dof.gz) - dof.gbias[2]);
randrews33 5:bf8f4e7c9905 67 #elif defined PRINT_RAW
randrews33 5:bf8f4e7c9905 68 pc.printf("%d", dof.gx);
randrews33 5:bf8f4e7c9905 69 pc.printf(", ");
randrews33 5:bf8f4e7c9905 70 pc.printf("%d",dof.gy);
randrews33 5:bf8f4e7c9905 71 pc.printf(", ");
randrews33 5:bf8f4e7c9905 72 pc.printf("%d\n",dof.gz);
randrews33 5:bf8f4e7c9905 73 #endif
randrews33 0:1b975a6ae539 74 }
randrews33 0:1b975a6ae539 75
randrews33 5:bf8f4e7c9905 76 void printAccel()
randrews33 5:bf8f4e7c9905 77 {
randrews33 5:bf8f4e7c9905 78 //Uncomment code if you plan on using interrupts
randrews33 5:bf8f4e7c9905 79 /*while(pinINT1_XM == 0)
randrews33 5:bf8f4e7c9905 80 {
randrews33 5:bf8f4e7c9905 81 ;
randrews33 5:bf8f4e7c9905 82 }*/
randrews33 5:bf8f4e7c9905 83
randrews33 5:bf8f4e7c9905 84
randrews33 0:1b975a6ae539 85 dof.readAccel();
randrews33 0:1b975a6ae539 86
randrews33 5:bf8f4e7c9905 87 // Now we can use the ax, ay, and az variables as we please.
randrews33 5:bf8f4e7c9905 88 // Either print them as raw ADC values, or calculated in g's.
randrews33 0:1b975a6ae539 89 pc.printf("A: ");
randrews33 5:bf8f4e7c9905 90 #ifdef PRINT_CALCULATED
randrews33 5:bf8f4e7c9905 91 // If you want to print calculated values, you can use the
randrews33 5:bf8f4e7c9905 92 // calcAccel helper function to convert a raw ADC value to
randrews33 5:bf8f4e7c9905 93 // g's. Give the function the value that you want to convert.
randrews33 5:bf8f4e7c9905 94 //pc.printf("The bias: %2f, %2f, %2f \n", dof.abias[0], dof.abias[1], dof.abias[2]);
randrews33 5:bf8f4e7c9905 95 pc.printf("%2f",dof.calcAccel(dof.ax) - dof.abias[0]);
randrews33 0:1b975a6ae539 96 pc.printf(", ");
randrews33 5:bf8f4e7c9905 97 pc.printf("%2f",dof.calcAccel(dof.ay) - dof.abias[1]);
randrews33 0:1b975a6ae539 98 pc.printf(", ");
randrews33 5:bf8f4e7c9905 99 pc.printf("%2f\n",dof.calcAccel(dof.az) - dof.abias[2]);
randrews33 5:bf8f4e7c9905 100 #elif defined PRINT_RAW
randrews33 5:bf8f4e7c9905 101 pc.printf("%d",dof.ax);
randrews33 5:bf8f4e7c9905 102 pc.printf(", ");
randrews33 5:bf8f4e7c9905 103 pc.printf("%d",dof.ay);
randrews33 5:bf8f4e7c9905 104 pc.printf(", ");
randrews33 5:bf8f4e7c9905 105 pc.printf("%d\n",dof.az);
randrews33 5:bf8f4e7c9905 106 #endif
randrews33 0:1b975a6ae539 107
randrews33 0:1b975a6ae539 108 }
randrews33 0:1b975a6ae539 109
randrews33 5:bf8f4e7c9905 110 void printMag()
randrews33 5:bf8f4e7c9905 111 {
randrews33 5:bf8f4e7c9905 112 //Uncomment code if you plan on using interrupts
randrews33 5:bf8f4e7c9905 113 /*while(pinINT2_XM == 0)
randrews33 5:bf8f4e7c9905 114 {
randrews33 5:bf8f4e7c9905 115 ;
randrews33 5:bf8f4e7c9905 116 }*/
randrews33 5:bf8f4e7c9905 117
randrews33 5:bf8f4e7c9905 118 // To read from the magnetometer, you must first call the
randrews33 5:bf8f4e7c9905 119 // readMag() function. When this exits, it'll update the
randrews33 5:bf8f4e7c9905 120 // mx, my, and mz variables with the most current data.
randrews33 0:1b975a6ae539 121 dof.readMag();
randrews33 0:1b975a6ae539 122
randrews33 5:bf8f4e7c9905 123 // Now we can use the mx, my, and mz variables as we please.
randrews33 5:bf8f4e7c9905 124 // Either print them as raw ADC values, or calculated in Gauss.
randrews33 0:1b975a6ae539 125 pc.printf("M: ");
randrews33 5:bf8f4e7c9905 126 #ifdef PRINT_CALCULATED
randrews33 5:bf8f4e7c9905 127 // If you want to print calculated values, you can use the
randrews33 5:bf8f4e7c9905 128 // calcMag helper function to convert a raw ADC value to
randrews33 5:bf8f4e7c9905 129 // Gauss. Give the function the value that you want to convert.
randrews33 0:1b975a6ae539 130 pc.printf("%2f",dof.calcMag(dof.mx));
randrews33 0:1b975a6ae539 131 pc.printf(", ");
randrews33 0:1b975a6ae539 132 pc.printf("%2f",dof.calcMag(dof.my));
randrews33 0:1b975a6ae539 133 pc.printf(", ");
randrews33 0:1b975a6ae539 134 pc.printf("%2f\n",dof.calcMag(dof.mz));
randrews33 5:bf8f4e7c9905 135 #elif defined PRINT_RAW
randrews33 5:bf8f4e7c9905 136 pc.printf("%d", dof.mx);
randrews33 5:bf8f4e7c9905 137 pc.printf(", ");
randrews33 5:bf8f4e7c9905 138 pc.printf("%d", dof.my);
randrews33 5:bf8f4e7c9905 139 pc.printf(", ");
randrews33 5:bf8f4e7c9905 140 pc.printf("%d\n", dof.mz);
randrews33 5:bf8f4e7c9905 141 #endif
randrews33 0:1b975a6ae539 142 }
randrews33 0:1b975a6ae539 143
randrews33 5:bf8f4e7c9905 144 void loop()
randrews33 0:1b975a6ae539 145 {
randrews33 5:bf8f4e7c9905 146 printGyro(); // Print "G: gx, gy, gz"
randrews33 5:bf8f4e7c9905 147 printAccel(); // Print "A: ax, ay, az"
randrews33 5:bf8f4e7c9905 148 printMag(); // Print "M: mx, my, mz"
randrews33 5:bf8f4e7c9905 149 wait_ms(PRINT_SPEED);
randrews33 0:1b975a6ae539 150 }
randrews33 0:1b975a6ae539 151
randrews33 0:1b975a6ae539 152
randrews33 0:1b975a6ae539 153 int main()
randrews33 0:1b975a6ae539 154 {
randrews33 5:bf8f4e7c9905 155 setup(); //Setup sensor and Serial
randrews33 5:bf8f4e7c9905 156 pc.printf("Hello World\n");
randrews33 5:bf8f4e7c9905 157
randrews33 0:1b975a6ae539 158 while (true)
randrews33 0:1b975a6ae539 159 {
randrews33 5:bf8f4e7c9905 160 //Calculate bias
randrews33 5:bf8f4e7c9905 161 dof.calLSM9DS0(dof.gbias, dof.abias);
randrews33 5:bf8f4e7c9905 162 //pc.printf("Setup Done\n");
randrews33 5:bf8f4e7c9905 163 loop(); //Get sensor values
randrews33 5:bf8f4e7c9905 164 }
randrews33 0:1b975a6ae539 165 }
randrews33 5:bf8f4e7c9905 166