mirror of
https://github.com/tinygo-org/drivers.git
synced 2026-07-26 10:38:41 +00:00
Yurii Soldak
104 lines
2.2 KiB
Go
104 lines
2.2 KiB
Go
// LSM9DS1, 9 axis Inertial Measurement Unit (IMU)
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package main
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import (
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"fmt"
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"machine"
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"time"
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"tinygo.org/x/drivers/lsm9ds1"
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)
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const (
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PLOTTER = false
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SHOW_ACCELERATION = true
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SHOW_ROTATION = true
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SHOW_MAGNETIC_FIELD = true
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SHOW_TEMPERATURE = true
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)
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func main() {
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// I2C configure
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machine.I2C0.Configure(machine.I2CConfig{})
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// LSM9DS1 setup
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device := lsm9ds1.New(machine.I2C0)
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err := device.Configure(lsm9ds1.Configuration{
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AccelRange: lsm9ds1.ACCEL_2G,
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AccelSampleRate: lsm9ds1.ACCEL_SR_119,
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GyroRange: lsm9ds1.GYRO_250DPS,
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GyroSampleRate: lsm9ds1.GYRO_SR_119,
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MagRange: lsm9ds1.MAG_4G,
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MagSampleRate: lsm9ds1.MAG_SR_40,
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})
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if err != nil {
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for {
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println("Failed to configure", err.Error())
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time.Sleep(time.Second)
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}
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}
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for {
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if !device.Connected() {
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println("LSM9DS1 not connected")
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time.Sleep(time.Second)
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continue
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}
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ax, ay, az, _ := device.ReadAcceleration()
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gx, gy, gz, _ := device.ReadRotation()
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mx, my, mz, _ := device.ReadMagneticField()
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t, _ := device.ReadTemperature()
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if PLOTTER {
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printPlotter(ax, ay, az, gx, gy, gz, mx, my, mz, t)
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time.Sleep(time.Millisecond * 100)
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} else {
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printMonitor(ax, ay, az, gx, gy, gz, mx, my, mz, t)
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time.Sleep(time.Millisecond * 1000)
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}
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}
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}
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// Arduino IDE's Serial Plotter
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func printPlotter(ax, ay, az, gx, gy, gz, mx, my, mz, t int32) {
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if SHOW_ACCELERATION {
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fmt.Printf("AX:%f, AY:%f, AZ:%f,", axis(ax), axis(ay), axis(az))
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}
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if SHOW_ROTATION {
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fmt.Printf("GX:%f, GY:%f, GZ:%f,", axis(gx), axis(gy), axis(gz))
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}
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if SHOW_MAGNETIC_FIELD {
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fmt.Printf("MX:%d, MY:%d, MZ:%d,", mx, my, mz)
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}
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if SHOW_TEMPERATURE {
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fmt.Printf("T:%f", float32(t)/1000)
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}
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println()
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}
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// Any Serial Monitor
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func printMonitor(ax, ay, az, gx, gy, gz, mx, my, mz, t int32) {
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if SHOW_ACCELERATION {
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fmt.Printf("Acceleration (g): %f, %f, %f\r\n", axis(ax), axis(ay), axis(az))
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}
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if SHOW_ROTATION {
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fmt.Printf("Rotation (dps): %f, %f, %f\r\n", axis(gx), axis(gy), axis(gz))
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}
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if SHOW_MAGNETIC_FIELD {
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fmt.Printf("Magnetic field (nT): %d, %d, %d\r\n", mx, my, mz)
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}
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if SHOW_TEMPERATURE {
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fmt.Printf("Temperature C: %f\r\n", float32(t)/1000)
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}
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println()
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}
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func axis(raw int32) float32 {
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return float32(raw) / 1000000
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}
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