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Driver for the LSM6DS33 Acceleration and Gyro Sensor #426

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Jul 4, 2020
Merged

Driver for the LSM6DS33 Acceleration and Gyro Sensor #426

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b5a66c6
Added driver for LSM6DS33 Sensor
nesos Jul 2, 2020
e233708
Added an example for the LSM6DS33
nesos Jul 2, 2020
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11 changes: 6 additions & 5 deletions README.md
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Expand Up @@ -210,38 +210,39 @@ can easily configure them for you specific needs.
<td align="center">LM75</td>
<td align="center">LP503X</td>
<td align="center">LSM303A</td>
<td align="center">LSM6DS33</td>
<td align="center">LTC2984</td>
<td align="center">MAX6966</td>
<td align="center">MAX7219</td>
</tr><tr>
<td align="center">MAX7219</td>
<td align="center">MCP23X17</td>
<td align="center">MCP2515</td>
<td align="center">NOKIA5110</td>
<td align="center">NRF24</td>
<td align="center">TFT-DISPLAY</td>
<td align="center">PAT9125EL</td>
</tr><tr>
<td align="center">PAT9125EL</td>
<td align="center">PCA8574</td>
<td align="center">PCA9535</td>
<td align="center">PCA9548A</td>
<td align="center">PCA9685</td>
<td align="center">SIEMENS-S65</td>
<td align="center">SIEMENS-S75</td>
</tr><tr>
<td align="center">SIEMENS-S75</td>
<td align="center">SK6812</td>
<td align="center">SK9822</td>
<td align="center">SSD1306</td>
<td align="center">SX1276</td>
<td align="center">TCS3414</td>
<td align="center">TCS3472</td>
</tr><tr>
<td align="center">TCS3472</td>
<td align="center">TLC594X</td>
<td align="center">TMP102</td>
<td align="center">TMP175</td>
<td align="center">VL53L0</td>
<td align="center">VL6180</td>
<td align="center">WS2812</td>
</tr><tr>
<td align="center">WS2812</td>
</tr>
</table>
<!--/drivertable-->
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76 changes: 76 additions & 0 deletions 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;
}
11 changes: 11 additions & 0 deletions 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>
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