Michael Ernst Peter / Mbed OS Test_GPS

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Dependencies:   Eigen

Files at this revision

API Documentation at this revision

Revision 20:7e7325edcf5c, committed 2022-02-23

Comitter:
pmic
Date:
Wed Feb 23 07:17:16 2022 +0000
Parent:
19:6c1a1c6faaf2
Child:
21:9bda49bd381b
Commit message:
Included driver for LSM9DS1 IMU.

Changed in this revision

PM2_Libary.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/PM2_Libary.lib	Thu Feb 10 15:50:27 2022 +0000
+++ b/PM2_Libary.lib	Wed Feb 23 07:17:16 2022 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/users/pmic/code/PM2_Libary/#76c40ecf8316
+https://os.mbed.com/users/pmic/code/PM2_Libary/#2542b22a84d2

--- a/main.cpp	Thu Feb 10 15:50:27 2022 +0000
+++ b/main.cpp	Wed Feb 23 07:17:16 2022 +0000
@@ -72,8 +72,12 @@
 float       dist_us_sensor = 0.0f;
 
 
+// LSM9DS1 IMU
+// create imu comunication objects, carefull: not all PES boards have an imu (chip shortage)
+LSM9DS1 imu(PC_9, PA_8);
+
 int main()
-{
+{    
     /* attach button fall and rise functions */
     user_button.fall(&button_fall);
     user_button.rise(&button_rise);
@@ -148,6 +152,7 @@
         }
 
         /* do only output via serial what's really necessary (this makes your code slow)*/
+        /*
         printf("%3.3f, %3d, %3.3f, %3.3f, %3d, %3d, %3.3f;\r\n",
                dist_ir_sensor * 1e3,
                encoder_M1.read(),
@@ -156,7 +161,13 @@
                servo_position_S1_mus,
                servo_position_S2_mus,
                dist_us_sensor);
+        */
 
+        imu.updateGyro();
+        imu.updateAcc();
+        imu.updateMag();
+        printf("%.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f\r\n", imu.readGyroX(), imu.readGyroY(), imu.readGyroZ(),
+        imu.readAccX(), imu.readAccY(), imu.readAccZ(), imu.readMagX(), imu.readMagY(), imu.readMagZ());
 
         /* ------------- stop hacking ----------------------------------------*/