曾 宗圓 / Mbed 2 deprecated LSM9DS1_project

Implement sensor fusion algorithm based on LSM9DS1 IMU.

Dependencies:   mbed

Fork of LSM9DS1_project by 曾 宗圓

main.cpp@0:9632b831b6c1, 2015-10-19 (annotated)

Committer:
beanmachine44
Date:
Mon Oct 19 16:52:59 2015 +0000
Revision:
0:9632b831b6c1
Child:
1:b1562831bbaf
Initial commit of LSM9DS1 demo program.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
beanmachine44 0:9632b831b6c1 1 // LSM9DS91 Demo
beanmachine44 0:9632b831b6c1 2
beanmachine44 0:9632b831b6c1 3 #include "mbed.h"
beanmachine44 0:9632b831b6c1 4 #include "LSM9DS1.h"
beanmachine44 0:9632b831b6c1 5
beanmachine44 0:9632b831b6c1 6 // refresh time. set to 500 for part 2 and 50 for part 4
beanmachine44 0:9632b831b6c1 7 #define REFRESH_TIME_MS 1000
beanmachine44 0:9632b831b6c1 8
beanmachine44 0:9632b831b6c1 9 // Verify that the pin assignments below match your breadboard
beanmachine44 0:9632b831b6c1 10 LSM9DS1 imu(p9, p10);
beanmachine44 0:9632b831b6c1 11
beanmachine44 0:9632b831b6c1 12 Serial pc(USBTX, USBRX);
beanmachine44 0:9632b831b6c1 13
beanmachine44 0:9632b831b6c1 14 //Init Serial port and LSM9DS1 chip
beanmachine44 0:9632b831b6c1 15 void setup()
beanmachine44 0:9632b831b6c1 16 {
beanmachine44 0:9632b831b6c1 17 // Use the begin() function to initialize the LSM9DS0 library.
beanmachine44 0:9632b831b6c1 18 // You can either call it with no parameters (the easy way):
beanmachine44 0:9632b831b6c1 19 uint16_t status = imu.begin();
beanmachine44 0:9632b831b6c1 20
beanmachine44 0:9632b831b6c1 21 //Make sure communication is working
beanmachine44 0:9632b831b6c1 22 pc.printf("LSM9DS1 WHO_AM_I's returned: 0x%X\r\n", status);
beanmachine44 0:9632b831b6c1 23 pc.printf("Should be 0x683D\r\n");
beanmachine44 0:9632b831b6c1 24 }
beanmachine44 0:9632b831b6c1 25
beanmachine44 0:9632b831b6c1 26 int main()
beanmachine44 0:9632b831b6c1 27 {
beanmachine44 0:9632b831b6c1 28 setup(); //Setup sensor and Serial
beanmachine44 0:9632b831b6c1 29 pc.printf("------ LSM9DS1 Demo -----------\r\n");
beanmachine44 0:9632b831b6c1 30
beanmachine44 0:9632b831b6c1 31 while (true)
beanmachine44 0:9632b831b6c1 32 {
beanmachine44 0:9632b831b6c1 33
beanmachine44 0:9632b831b6c1 34 imu.readAccel();
beanmachine44 0:9632b831b6c1 35
beanmachine44 0:9632b831b6c1 36 pc.printf("A: %2f, %2f, %2f\r\n", imu.ax, imu.ay, imu.az);
beanmachine44 0:9632b831b6c1 37
beanmachine44 0:9632b831b6c1 38 imu.readGyro();
beanmachine44 0:9632b831b6c1 39
beanmachine44 0:9632b831b6c1 40 pc.printf("G: %2f, %2f, %2f\r\n", imu.gx, imu.gy, imu.gz);
beanmachine44 0:9632b831b6c1 41
beanmachine44 0:9632b831b6c1 42 imu.readMag();
beanmachine44 0:9632b831b6c1 43
beanmachine44 0:9632b831b6c1 44 pc.printf("M: %2f, %2f, %2f\r\n\r\n", imu.mx, imu.my, imu.mz);
beanmachine44 0:9632b831b6c1 45
beanmachine44 0:9632b831b6c1 46 wait_ms(REFRESH_TIME_MS);
beanmachine44 0:9632b831b6c1 47 }
beanmachine44 0:9632b831b6c1 48 }