Kenji Arai / Mbed OS Arduino_Nano33BLESense_examples

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Dependencies:   APDS_9960 LPS22HB LSM9DS1 HTS221

2_check_LSM9DS1/main2.cpp@1:cce280da16d4, 2021-02-28 (annotated)

Committer:
kenjiArai
Date:
Sun Feb 28 07:31:58 2021 +0000
Revision:
1:cce280da16d4
Parent:
0:f1a10797d9f6 
run on mbed-os6.8.0 (compile on Mbed Studio 1.3.1)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kenjiArai 0:f1a10797d9f6 1 /*
kenjiArai 0:f1a10797d9f6 2 * Mbed Application program
kenjiArai 1:cce280da16d4 3 * Nano 33 BLE Sense board runs on mbed-OS6
kenjiArai 0:f1a10797d9f6 4 * LSM9DS1 -> iNEMO inertial module:
kenjiArai 0:f1a10797d9f6 5 * 3D accelerometer, 3D gyroscope, 3D magnetometer
kenjiArai 0:f1a10797d9f6 6 * by STMicroelectronics
kenjiArai 0:f1a10797d9f6 7 *
kenjiArai 1:cce280da16d4 8 * Copyright (c) 2020,'21 Kenji Arai / JH1PJL
kenjiArai 0:f1a10797d9f6 9 * http://www7b.biglobe.ne.jp/~kenjia/
kenjiArai 0:f1a10797d9f6 10 * https://os.mbed.com/users/kenjiArai/
kenjiArai 0:f1a10797d9f6 11 * Started: January 22nd, 2020
kenjiArai 1:cce280da16d4 12 * Revised: February 28th, 2021
kenjiArai 0:f1a10797d9f6 13 */
kenjiArai 0:f1a10797d9f6 14
kenjiArai 0:f1a10797d9f6 15 // Pre-selection --------------------------------------------------------------
kenjiArai 0:f1a10797d9f6 16 #include "select_example.h"
kenjiArai 0:f1a10797d9f6 17 //#define EXAMPLE_2_CHECK_LSM9DS1
kenjiArai 0:f1a10797d9f6 18 #ifdef EXAMPLE_2_CHECK_LSM9DS1
kenjiArai 0:f1a10797d9f6 19
kenjiArai 0:f1a10797d9f6 20 // Include --------------------------------------------------------------------
kenjiArai 0:f1a10797d9f6 21 #include "mbed.h"
kenjiArai 0:f1a10797d9f6 22 #include "nano33blesense_iodef.h"
kenjiArai 0:f1a10797d9f6 23 #include "LSM9DS1.h"
kenjiArai 0:f1a10797d9f6 24
kenjiArai 0:f1a10797d9f6 25 // Definition -----------------------------------------------------------------
kenjiArai 0:f1a10797d9f6 26
kenjiArai 0:f1a10797d9f6 27 // Constructor ----------------------------------------------------------------
kenjiArai 0:f1a10797d9f6 28 DigitalOut sen_pwr(PIN_VDD_ENV, 1);
kenjiArai 0:f1a10797d9f6 29 DigitalOut i2c_pullup(PIN_I2C_PULLUP, 1);
kenjiArai 0:f1a10797d9f6 30 I2C i2c(PIN_SDA1, PIN_SCL1);
kenjiArai 0:f1a10797d9f6 31 LSM9DS1 *imu = NULL;
kenjiArai 0:f1a10797d9f6 32 Timer t;
kenjiArai 0:f1a10797d9f6 33
kenjiArai 0:f1a10797d9f6 34 // RAM ------------------------------------------------------------------------
kenjiArai 0:f1a10797d9f6 35
kenjiArai 0:f1a10797d9f6 36 // ROM / Constant data --------------------------------------------------------
kenjiArai 0:f1a10797d9f6 37
kenjiArai 0:f1a10797d9f6 38 // Function prototypes --------------------------------------------------------
kenjiArai 1:cce280da16d4 39
kenjiArai 1:cce280da16d4 40 // subroutin (must be at this below line and do NOT change order) -------------
kenjiArai 1:cce280da16d4 41 #include "usb_serial_as_stdio.h"
kenjiArai 1:cce280da16d4 42 #include "check_revision.h"
kenjiArai 1:cce280da16d4 43 #include "common.h"
kenjiArai 0:f1a10797d9f6 44
kenjiArai 0:f1a10797d9f6 45 //------------------------------------------------------------------------------
kenjiArai 0:f1a10797d9f6 46 // Control Program
kenjiArai 0:f1a10797d9f6 47 //------------------------------------------------------------------------------
kenjiArai 0:f1a10797d9f6 48 int main()
kenjiArai 0:f1a10797d9f6 49 {
kenjiArai 1:cce280da16d4 50 usb_serial_initialize();
kenjiArai 1:cce280da16d4 51 print_revision();
kenjiArai 0:f1a10797d9f6 52 i2c_pullup = 1;
kenjiArai 0:f1a10797d9f6 53 sen_pwr = 1;
kenjiArai 1:cce280da16d4 54 print_usb("Check LSM9DS1\r\n");
kenjiArai 1:cce280da16d4 55 ThisThread::sleep_for(200ms);
kenjiArai 0:f1a10797d9f6 56 imu = new LSM9DS1(PIN_SDA1, PIN_SCL1);
kenjiArai 0:f1a10797d9f6 57 uint16_t reg = imu->begin();
kenjiArai 1:cce280da16d4 58 print_usb("IMU(LSM9DS1) 0x%x\r\n", reg);
kenjiArai 0:f1a10797d9f6 59 imu->calibration();
kenjiArai 0:f1a10797d9f6 60 // check I2C line
kenjiArai 0:f1a10797d9f6 61 check_i2c_connected_devices();
kenjiArai 0:f1a10797d9f6 62 if (reg == 0x683d){
kenjiArai 1:cce280da16d4 63 print_usb("ACC+GYR+MAG are ready!\r\n");
kenjiArai 0:f1a10797d9f6 64 } else {
kenjiArai 1:cce280da16d4 65 print_usb("ACC+GYR+MAG are NOT ready!\r\n");
kenjiArai 0:f1a10797d9f6 66 }
kenjiArai 0:f1a10797d9f6 67 uint32_t n = 0;
kenjiArai 0:f1a10797d9f6 68 while(true) {
kenjiArai 0:f1a10797d9f6 69 t.reset();
kenjiArai 0:f1a10797d9f6 70 t.start();
kenjiArai 0:f1a10797d9f6 71 imu->readAccel();
kenjiArai 0:f1a10797d9f6 72 imu->readGyro();
kenjiArai 0:f1a10797d9f6 73 imu->readMag();
kenjiArai 0:f1a10797d9f6 74 imu->readTemp();
kenjiArai 1:cce280da16d4 75 print_usb("acc=,%+5.3f,%+5.3f,%+5.3f,", imu->ax, imu->ay, imu->az);
kenjiArai 1:cce280da16d4 76 print_usb("gyr=,%+8.3f,%+8.3f,%+8.3f,", imu->gx, imu->gy, imu->gz);
kenjiArai 1:cce280da16d4 77 print_usb("mag=,%+5.3f,%+5.3f,%+5.3f,", imu->mx, imu->my, imu->mz);
kenjiArai 1:cce280da16d4 78 print_usb("temperature=,%+5.1f,", imu->temperature_c);
kenjiArai 0:f1a10797d9f6 79 ++n;
kenjiArai 1:cce280da16d4 80 uint32_t passed_time = chrono::duration_cast<chrono::milliseconds>(
kenjiArai 1:cce280da16d4 81 t.elapsed_time()).count();
kenjiArai 1:cce280da16d4 82 print_usb("processing time:,%2d,[ms],count:,%4d\r\n", passed_time, n);
kenjiArai 0:f1a10797d9f6 83 if (passed_time < 199){
kenjiArai 1:cce280da16d4 84 ThisThread::sleep_for(chrono::milliseconds(200 - passed_time));
kenjiArai 0:f1a10797d9f6 85 }
kenjiArai 0:f1a10797d9f6 86 }
kenjiArai 0:f1a10797d9f6 87 }
kenjiArai 0:f1a10797d9f6 88
kenjiArai 0:f1a10797d9f6 89 #endif // EXAMPLE_2_CHECK_LSM9DS1