Added an example for the LSM6DS33

examples/nucleo_f042k6/lsm6ds33/main.cpp

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+/*
+ * Copyright (c) 2020, Benjamin Carrick
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+
+#include <modm/board.hpp>
+#include <modm/driver/inertial/lsm6ds33.hpp>
+
+using namespace Board;
+using namespace std::chrono_literals;
+
+using I2cSda	= GpioA10;
+using I2cScl	= GpioA9;
+
+int
+main()
+{
+	Board::initialize();
+	LedD13::setOutput();
+
+	MODM_LOG_INFO << "LSM6DS33 demo" << modm::endl;
+
+	I2cMaster1::connect<I2cSda::Sda, I2cScl::Scl>();
+	I2cMaster1::initialize<SystemClock, 400_kBd>();
+
+	// Create a sensor object with the adress of the sensor built onto the Pololu AltIMU-10 v5
+	modm::Lsm6ds33<I2cMaster1> sensor(0x6B);
+
+	// Turn on and configure the acceleration sensor
+	bool accSuccess = RF_CALL_BLOCKING(sensor.configureAccelerationSensor(modm::lsm6ds33::AccDataRate::Rate_13_Hz,
+																		  modm::lsm6ds33::AccScale::Scale_16_G));
+	// Turn on and configure the gyroscope
+	bool gyroSuccess = RF_CALL_BLOCKING(sensor.configureGyroscope(modm::lsm6ds33::GyroDataRate::Rate_13_Hz,
+														 modm::lsm6ds33::GyroScale::Scale_125_dps));
+
+	if(!(accSuccess && gyroSuccess))
+	{
+		MODM_LOG_INFO << "Sensor could not be configured!" << modm::endl;
+	}
+
+	modm::Vector3f accVector;
+	modm::Vector3f gyroVector;
+
+	while (true)
+	{
+		//Read the sensor data and print it out
+		accSuccess = RF_CALL_BLOCKING(sensor.readAcceleration(accVector));
+		gyroSuccess = RF_CALL_BLOCKING(sensor.readGyroscope(gyroVector));
+		if(accSuccess && gyroSuccess)
+		{
+			MODM_LOG_INFO << "Acceleration Vector:" << modm::endl;
+			MODM_LOG_INFO << "X: "<< accVector.x << " g" << modm::endl;
+			MODM_LOG_INFO << "Y: "<< accVector.y << " g" << modm::endl;
+			MODM_LOG_INFO << "Z: "<< accVector.z << " g" << modm::endl;
+			MODM_LOG_INFO  << modm::endl;
+
+			MODM_LOG_INFO << "Spin Rates Vector:" << modm::endl;
+			MODM_LOG_INFO << "X: "<< gyroVector.x << " deg/s" << modm::endl;
+			MODM_LOG_INFO << "Y: "<< gyroVector.y << " deg/s" << modm::endl;
+			MODM_LOG_INFO << "Z: "<< gyroVector.z << " deg/s" << modm::endl;
+			MODM_LOG_INFO  << modm::endl;
+
+		}
+		else
+		{
+			MODM_LOG_INFO << "Sensor could not be read!" << modm::endl;
+		}
+		modm::delay(1s);
+	}
+	return 0;
+}

examples/nucleo_f042k6/lsm6ds33/project.xml

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+<library>
+  <extends>modm:nucleo-f042k6</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/nucleo_f042k6/lsm6ds33</option>
+  </options>
+  <modules>
+    <module>modm:build:scons</module>
+    <module>modm:driver:lsm6ds33</module>
+    <module>modm:platform:i2c:1</module>
+  </modules>
+</library>