Diff: main.cpp

Revision:

0:05e5a0fe0f9d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Feb 18 14:51:57 2015 +0000
@@ -0,0 +1,106 @@
+// LSM9DS90/uLCD Demo
+// ECE 4180 Lab Code Template
+
+#include "mbed.h"
+#include "LSM9DS0.h"
+#include "uLCD_4DGL.h"
+
+// uncomment this line to enable the uLCD for Part 4 of the lab
+#define PART_4
+
+// SDO_XM and SDO_G are pulled up, so our addresses are:
+#define LSM9DS0_XM_ADDR  0x1D // Would be 0x1E if SDO_XM is LOW
+#define LSM9DS0_G_ADDR   0x6B // Would be 0x6A if SDO_G is LOW
+
+// refresh time. set to 500 for part 2 and 50 for part 4
+#define REFRESH_TIME_MS 300
+
+// Verify that the pin assignments below match your breadboard
+LSM9DS0 imu(p9, p10, LSM9DS0_G_ADDR, LSM9DS0_XM_ADDR);
+Serial pc(USBTX, USBRX);
+DigitalIn sw(p18);
+
+#ifdef PART_4
+uLCD_4DGL lcd(p28, p27, p30);
+#endif
+
+//Init Serial port and LSM9DS0 chip
+void setup()
+{
+#ifdef PART_4
+	lcd.baudrate(3000000);
+	lcd.background_color(0);
+	lcd.cls();
+	
+	lcd.printf("Initializing...");
+#endif
+
+	// Use the begin() function to initialize the LSM9DS0 library.
+    // You can either call it with no parameters (the easy way):
+    uint16_t status = imu.begin();
+
+    //Make sure communication is working
+    pc.printf("LSM9DS0 WHO_AM_I's returned: 0x%X\n", status);
+    pc.printf("Should be 0x49D4\n\n");
+}
+
+int main()
+{
+    setup();  //Setup sensor and Serial
+    pc.printf("------ LSM0DS0 Demo -----------\n");
+    lcd.cls();
+	float prevheading = imu.calcHeading();
+	float pi = 3.14;
+	float prevline_x = 30*cos(prevheading*pi/180) + 64;
+	float prevline_y = 30*sin(prevheading*pi/180) + 64;
+	float prevcirc_x = 64;
+	float prevcirc_y = 64;
+	if (sw == 1) {
+		lcd.line(64,64,prevline_x, prevline_y, BLUE);
+		lcd.circle(64, 64, 30, GREEN);
+	} else {
+		lcd.circle(64, 64, 10, BLUE);
+	}	
+    while (true)
+    {
+    	// TODO - add code here to read compass or accelerometer data
+    	// and print it to the USB serial port (part 2) and display it on the uLCD (part 3)
+    	
+    	// Compass Trigonometry tip: you can retrieve the compass heading (in degrees) directly from
+    	// the IMU library. Example:
+    	// 		imu.readMag();
+    	//		float heading = imu.calcHeading();
+    	// Remember that x = length*cos(heading) and y = length*sin(heading)
+    	// to convert from degrees to radians (for sin/cos functions), multiply by pi/180
+    	sw.read();
+    	if (sw) {
+    		imu.readMag();
+			imu.readAccel();
+			imu.readTemp();
+			float heading = imu.calcHeading();
+			//lcd.circle(64, 64, 30, WHITE);
+			lcd.line(64,64,prevline_x,prevline_y, BLACK);
+			lcd.circle(prevcirc_x,prevcirc_y, 10, BLACK);
+			float line_x = 30*cos(heading*pi/180) + 64;
+			float line_y = 30*sin(heading*pi/180) + 64;
+			lcd.circle(64, 64, 30, GREEN);
+			lcd.line(64,64,line_x, line_y, BLUE);
+			prevline_x = line_x;
+			prevline_y = line_y;
+			wait_ms(REFRESH_TIME_MS);
+		} else {
+			imu.readMag();
+			imu.readAccel();
+			//lcd.circle(64, 64, 30, WHITE);
+			lcd.line(64,64,prevline_x,prevline_y, BLACK);
+			lcd.circle(64, 64, 30, BLACK);
+			lcd.circle(prevcirc_x,prevcirc_y, 10, BLACK);
+			float circ_x = imu.ax_raw*0.01 + 64;
+			float circ_y = imu.ay_raw*0.01 + 64;
+			lcd.circle(circ_x,circ_y,10, BLUE);
+			prevcirc_x = circ_x;
+			prevcirc_y = circ_y;
+			wait_ms(REFRESH_TIME_MS);
+		}
+	}
+}