Skip to content
This repository was archived by the owner on Oct 4, 2021. It is now read-only.

Switch to LSM9D1 on new carrier #6

Merged
merged 7 commits into from
Mar 13, 2019
Merged

Switch to LSM9D1 on new carrier #6

Changes from 3 commits
Commits
Show all changes
7 commits
Select commit Hold shift + click to select a range
fd0ae6c
WIP: switch to LSM9D1
facchinm Feb 14, 2019
d4118c6
Fix lib manager links
facchinm Feb 15, 2019
e8c5e72
Change RESISTOR_AUX pin for new HW revision
facchinm Feb 15, 2019
e1843c1
Improved resistance reading
agdl Mar 8, 2019
e26c9b0
Commented debug
agdl Mar 11, 2019
cdf0064
Reduced imu update time
agdl Mar 11, 2019
cfea0d3
Reviewed update time with Valentina
agdl Mar 11, 2019
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
43 changes: 29 additions & 14 deletions examples/PhysicsLabFirmware/PhysicsLabFirmware.ino
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -17,8 +17,9 @@
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
*/

#include <ArduinoBLE.h>
#include <MKRIMU.h>
#include <ArduinoBLE.h> // click here to install the library: http://librarymanager#ArduinoBLE
#include <Adafruit_LSM9DS1.h> // click here to install the library: http://librarymanager#Adafruit&LSM9DS1
#include <Adafruit_Sensor.h> // click here to install the library: http://librarymanager#Adafruit&unified&Sensor&abstraction

#include "INA226.h"

Expand Down Expand Up @@ -46,7 +47,7 @@ const int INPUT3_PIN = A0;
const int OUTPUT1_PIN = 5;
const int OUTPUT2_PIN = 1;
const int RESISTANCE_PIN = A2;
const int RESISTANCE_AUX_PIN = 13;
const int RESISTANCE_AUX_PIN = 8;

String name;
unsigned long lastNotify = 0;
Expand All @@ -56,6 +57,8 @@ unsigned long lastNotify = 0;

//#define DEBUG //uncomment to debug the code :)

Adafruit_LSM9DS1 imu = Adafruit_LSM9DS1();

void setup() {
Serial.begin(9600);
#ifdef DEBUG
Expand All @@ -79,12 +82,16 @@ void setup() {
while (1);
}

if (!IMU.begin()) {
if (!imu.begin()) {
Serial.println("Failled to initialized IMU!");

while (1);
}

imu.setupAccel(imu.LSM9DS1_ACCELRANGE_2G);
imu.setupMag(imu.LSM9DS1_MAGGAIN_4GAUSS);
imu.setupGyro(imu.LSM9DS1_GYROSCALE_245DPS);

if (!BLE.begin()) {
Serial.println("Failled to initialized BLE!");

Expand Down Expand Up @@ -213,7 +220,7 @@ void updateSubscribedCharacteristics() {
} else if ((resistanceAuxHigh == INFINITY) && (resistanceAuxLow != INFINITY)) {
resistanceAvg = resistanceAuxLow;
}

#ifdef DEBUG
Serial.print("Resistance (AVG): ");
Serial.print(resistanceAvg);
Expand Down Expand Up @@ -248,27 +255,35 @@ int analogReadAverage(int pin, int numberOfSamples) {
}

void updateSubscribedIMUCharacteristics() {

imu.read();
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

@facchinm is this throttled to wait for a new sample?

Copy link
Contributor Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Nope, should we throttle it?

Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Yes!

The MKRIMU lib call's to available() return the data at 10 Hz (from what I remember). This has two purposes, limited BLE bandwidth and reduces the load on the mobile phone app.

Copy link
Contributor Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

It makes sense; @agdl can you take a look at this maybe?

Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Look at last commit and let me know if this is ok!

Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I think we can do better and look at the datasheet of the part ... and see if the Adafruit lib is using it properly.

sensors_event_t a, m, g, temp;
imu.getEvent(&a, &m, &g, &temp);

if (accelerationCharacteristic.subscribed()) {
float acceleration[3];

if (IMU.accelerationAvailable() && IMU.readAcceleration(acceleration[0], acceleration[1], acceleration[2])) {
accelerationCharacteristic.writeValue((byte*)acceleration, sizeof(acceleration));
}
acceleration[0] = a.acceleration.x;
acceleration[1] = a.acceleration.y;
acceleration[2] = a.acceleration.z;
accelerationCharacteristic.writeValue((byte*)acceleration, sizeof(acceleration));
}

if (gyroscopeCharacteristic.subscribed()) {
float gyroscope[3];

if (IMU.gyroscopeAvailable() && IMU.readGyroscope(gyroscope[0], gyroscope[1], gyroscope[2])) {
gyroscopeCharacteristic.writeValue((byte*)gyroscope, sizeof(gyroscope));
}
gyroscope[0] = g.gyro.x;
gyroscope[1] = g.gyro.y;
gyroscope[2] = g.gyro.z;
gyroscopeCharacteristic.writeValue((byte*)gyroscope, sizeof(gyroscope));
}

if (magneticFieldCharacteristic.subscribed()) {
float magneticField[3];

if (IMU.magneticFieldAvailable() && IMU.readMagneticField(magneticField[0], magneticField[1], magneticField[2])) {
magneticFieldCharacteristic.writeValue((byte*)magneticField, sizeof(magneticField));
}
magneticField[0] = m.magnetic.x;
magneticField[1] = m.magnetic.y;
magneticField[2] = m.magnetic.z;
magneticFieldCharacteristic.writeValue((byte*)magneticField, sizeof(magneticField));
}
}