Zhen Liu
problem 4 for HW 2
Dependencies: 4DGL-uLCD-SE LSM9DS0 mbed
Revision 0:05e5a0fe0f9d, committed 2015-02-18
- Comitter:
- lzzcd001
- Date:
- Wed Feb 18 14:51:57 2015 +0000
- Commit message:
- problem 4 for HW 2
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/4DGL-uLCD-SE.lib Wed Feb 18 14:51:57 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/4180_1/code/4DGL-uLCD-SE/#e39a44de229a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LSM9DS0.lib Wed Feb 18 14:51:57 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/aswild/code/LSM9DS0/#5556e6fb99f5
--- /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);
+ }
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Feb 18 14:51:57 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/e188a91d3eaa \ No newline at end of file