Diff: main.cpp

Revision:

0:1b975a6ae539

Child:

3:7ede465deae1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Oct 21 18:11:45 2014 +0000
@@ -0,0 +1,157 @@
+#include "LSM9DS0.h"
+#include "mbed.h"
+
+// SDO_XM and SDO_G are both grounded, so our addresses are:
+#define LSM9DS0_XM  0x1E // Would be 0x1E if SDO_XM is LOW
+#define LSM9DS0_G   0x6A // Would be 0x6A if SDO_G is LOW
+
+// Create an instance of the LSM9DS0 library called `dof` the
+// parameters for this constructor are:
+// pins,[gyro I2C address],[xm I2C add.]
+LSM9DS0 dof(p28, p27, LSM9DS0_G, LSM9DS0_XM);
+DigitalIn DReady(p23);
+
+Serial pc(USBTX, USBRX); // tx, rx
+
+bool printMag = true;
+bool printAccel = true;
+bool printGyro = true;
+bool printHead = true;
+
+void setup()
+{
+    pc.baud(115200); // Start serial at 115200 bps
+    // Use the begin() function to initialize the LSM9DS0 library.
+    // You can either call it with no parameters (the easy way):
+    uint16_t status = dof.begin();
+    
+    // Or call it with declarations for sensor scales and data rates:
+    //uint16_t status = dof.begin(dof.G_SCALE_2000DPS,
+    //                            dof.A_SCALE_6G, dof.M_SCALE_2GS);
+    
+    // begin() returns a 16-bit value which includes both the gyro
+    // and accelerometers WHO_AM_I response. You can check this to
+    // make sure communication was successful.
+    pc.printf("LSM9DS0 WHO_AM_I's returned: 0x");
+    pc.printf("%x\n",status);
+    pc.printf("Should be 0x49D4\n");
+    pc.printf("\n");
+}
+
+void printGyro() {
+    dof.readGyro();
+    
+    pc.printf("G: ");
+    
+    pc.printf("%2f",dof.calcGyro(dof.gx));
+    pc.printf(", ");
+    pc.printf("%2f",dof.calcGyro(dof.gy));
+    pc.printf(", ");
+    pc.printf("%2f\n",dof.calcGyro(dof.gz));
+}
+
+void printAccel() {
+    dof.readAccel();
+    
+    pc.printf("A: ");
+    
+    pc.printf("%2f",dof.calcAccel(dof.ax));
+    pc.printf(", ");
+    pc.printf("%2f",dof.calcAccel(dof.ay));
+    pc.printf(", ");
+    pc.printf("%2f\n",dof.calcAccel(dof.az));
+    
+}
+
+void printMag() {
+    dof.readMag();
+    
+    pc.printf("M: ");
+    
+    pc.printf("%2f",dof.calcMag(dof.mx));
+    pc.printf(", ");
+    pc.printf("%2f",dof.calcMag(dof.my));
+    pc.printf(", ");
+    pc.printf("%2f\n",dof.calcMag(dof.mz));
+}
+
+// Here's a fun function to calculate your heading, using Earth's
+// magnetic field.
+// It only works if the sensor is flat (z-axis normal to Earth).
+// Additionally, you may need to add or subtract a declination
+// angle to get the heading normalized to your location.
+// See: http://www.ngdc.noaa.gov/geomag/declination.shtml
+void printHeading(float hx, float hy)
+{
+    float heading;
+    
+    if (hy > 0) heading = 90 - (atan(hx / hy) * (180 / 3.14));
+    else if (hy < 0) heading = - (atan(hx / hy) * (180 / 3.14));
+    else // hy = 0
+    {
+        if (hx < 0) heading = 180;
+        else heading = 0;
+    }
+    
+    pc.printf("Heading: ");
+    pc.printf("%2f\n",heading);
+}
+
+// Another fun function that does calculations based on the
+// acclerometer data. This function will print your LSM9DS0's
+// orientation -- it's roll and pitch angles.
+void printOrientation(float x, float y, float z)
+{
+    float pitch, roll;
+    
+    pitch = atan2(x, sqrt(y * y) + (z * z));
+    roll = atan2(y, sqrt(x * x) + (z * z));
+    pitch *= 180.0 / 3.14;
+    roll *= 180.0 / 3.14;
+    
+    pc.printf("Pitch, Roll: ");
+    pc.printf("%2f",pitch);
+    pc.printf(", ");
+    pc.printf("%2f\n",roll);
+}
+
+void readData() {
+    // To read from the device, you must first call the
+    // readMag(), readAccel(), and readGyro() functions.
+    // When this exits, it'll update the appropriate
+    // variables ([mx, my, mz], [ax, ay, az], [gx, gy, gz])
+    // with the most current data.
+
+    dof.readMag();
+    dof.readAccel();
+    dof.readGyro();
+}
+
+void loop() {
+    // Loop until the Data Ready signal goes high
+    while (!Dready) {}
+    
+    readData();
+    
+    if (printGyro) printGyro();  // Print "G: gx, gy, gz"
+    if (printAccel) printAccel(); // Print "A: ax, ay, az"
+    if (printMag) printMag();   // Print "M: mx, my, mz"
+    
+    // Print the heading and orientation for fun!
+    if (printHead) printHeading((float) dof.mx, (float) dof.my);
+    //printOrientation(dof.calcAccel(dof.ax), dof.calcAccel(dof.ay),
+                    // dof.calcAccel(dof.az));
+    pc.printf("\n");
+    
+    wait(2);
+}
+
+
+int main()
+{
+    setup();
+    while (true)
+    {
+      loop();
+    }
+}