Diff: 2_check_LSM9DS1/main2.cpp

Revision:

0:f1a10797d9f6

Child:

1:cce280da16d4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/2_check_LSM9DS1/main2.cpp	Fri Feb 07 01:21:16 2020 +0000
@@ -0,0 +1,84 @@
+/*
+ * Mbed Application program
+ *  Nano 33 BLE Sense board runs on mbed-OS5
+ *  LSM9DS1 -> iNEMO inertial module:
+ *    3D accelerometer, 3D gyroscope, 3D magnetometer
+ *      by STMicroelectronics
+ *
+ * Copyright (c) 2020 Kenji Arai / JH1PJL
+ *      http://www7b.biglobe.ne.jp/~kenjia/
+ *      https://os.mbed.com/users/kenjiArai/
+ *      Started:    January   22nd, 2020
+ *      Revised:    Feburary   5th, 2020
+ */
+
+//  Pre-selection --------------------------------------------------------------
+#include    "select_example.h"
+//#define EXAMPLE_2_CHECK_LSM9DS1
+#ifdef EXAMPLE_2_CHECK_LSM9DS1
+
+//  Include --------------------------------------------------------------------
+#include    "mbed.h"
+#include    "nano33blesense_iodef.h"
+#include    "LSM9DS1.h"
+
+//  Definition -----------------------------------------------------------------
+
+//  Constructor ----------------------------------------------------------------
+RawSerial       pc(STDIO_UART_TX, STDIO_UART_RX, 115200);
+DigitalOut      sen_pwr(PIN_VDD_ENV, 1);
+DigitalOut      i2c_pullup(PIN_I2C_PULLUP, 1);
+I2C             i2c(PIN_SDA1, PIN_SCL1);
+LSM9DS1         *imu = NULL;
+Timer           t;
+
+//  RAM ------------------------------------------------------------------------
+
+//  ROM / Constant data --------------------------------------------------------
+
+//  Function prototypes --------------------------------------------------------
+extern void check_i2c_connected_devices(void);
+
+//------------------------------------------------------------------------------
+//  Control Program
+//------------------------------------------------------------------------------
+int main()
+{
+    i2c_pullup = 1;
+    sen_pwr = 1;
+    pc.printf("\r\nCheck LSM9DS1\r\n");
+    thread_sleep_for(200);
+    check_i2c_connected_devices();
+    imu = new LSM9DS1(PIN_SDA1, PIN_SCL1);
+    uint16_t reg = imu->begin();
+    pc.printf("IMU(LSM9DS1) 0x%x\r\n", reg);
+    imu->calibration();
+    //  check I2C line
+    check_i2c_connected_devices();
+    if (reg == 0x683d){
+        pc.printf("ACC+GYR+MAG are ready!\r\n");
+    } else {
+        pc.printf("ACC+GYR+MAG are NOT ready!\r\n");
+    }
+    uint32_t n = 0;
+    while(true) {
+        t.reset();
+        t.start();
+        imu->readAccel();
+        imu->readGyro();
+        imu->readMag();
+        imu->readTemp();
+        pc.printf("acc = %+5.3f, %+5.3f, %+5.3f, ", imu->ax, imu->ay, imu->az);
+        pc.printf("gyr = %+8.3f, %+8.3f, %+8.3f, ", imu->gx, imu->gy, imu->gz);
+        pc.printf("mag = %+5.3f, %+5.3f, %+5.3f, ", imu->mx, imu->my, imu->mz);
+        pc.printf("temperature = %+5.1f, ", imu->temperature_c);
+        ++n;
+        uint32_t passed_time = t.read_ms();
+        pc.printf("processing time: %d [ms], count: %4d\r\n", passed_time, n);
+        if (passed_time < 199){
+            thread_sleep_for(200 - t.read_ms());
+        }
+    }
+}
+
+#endif // EXAMPLE_2_CHECK_LSM9DS1
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