BerryIMU and mbed

[Osairiis]

Hello,

I am trying to use the BerryIMU with a NUCLEO L053R8 board. For some reason I am not receiving any data back from the IMU. Can anyone suggest anything? Thanks a lot! The code I used is below:

———————

#include “LSM9DS0.h”
#include “mbed.h”
#include “I2C.h”
#include “DigitalOut.h”

/*
#define MAG_ADDRESS 0x1E
#define ACC_ADDRESS 0x1E
#define GYR_ADDRESS 0x6A
*/

I2C berry_i2c(PB_9, PB_8); // PB_9 -> SDA
// PB_8 -> SCL

Serial pc(SERIAL_TX, SERIAL_RX);

void berryWrite(uint8_t addr, uint8_t reg, uint8_t data) {

char dat_tx[2];

dat_tx[0] = (char) reg;
dat_tx[1] = (char) data;

berry_i2c.write(addr, dat_tx, 2);
}

/*
char berryReadACC(int addr, char cmd, ) {

char dat_rx[2];
berry_i2c.read(addr, dat_rx, 1);
}

*/

void berry_init() {
// Enable accelerometer
berryWrite(ACC_ADDRESS, CTRL_REG1_XM, ‘0b01100111’); // z,y,x axis enabled, continuous update, 100Hz data rate
berryWrite(ACC_ADDRESS, CTRL_REG2_XM, ‘0b00100000’); // +/- 16G full scale

//Enable magnetometer
berryWrite(MAG_ADDRESS, CTRL_REG5_XM, ‘0b11110000’); // Temp enable, M data rate = 50Hz
berryWrite(MAG_ADDRESS, CTRL_REG6_XM, ‘0b01100000’); // +/-12gauss
berryWrite(MAG_ADDRESS, CTRL_REG7_XM, ‘0b00000000’); // Continuous-conversion mode

// Enable gyro
berryWrite(GYR_ADDRESS, CTRL_REG1_G, ‘0b00001111’); // Normal power mode, all axes enabled
berryWrite(GYR_ADDRESS, CTRL_REG4_G, ‘0b00110000’); // Continious update, 2000 dps full scale
}

// Main function
int main()
{
// uint8_t buf_rx[6];
char cmd;
char buf_rx[6];
int accRaw[3];
int magRaw[3];

// init berryIMU
berry_init();

// infinite loop
while(1) {

// read from i2c

// acc values
cmd = (0x80 | OUT_X_L_A);

berry_i2c.write(ACC_ADDRESS, &cmd, 1);
berry_i2c.read(ACC_ADDRESS, buf_rx, 6);

accRaw[0] = (int)(buf_rx[0] | (buf_rx[1] << 8));
accRaw[1] = (int)(buf_rx[2] | (buf_rx[3] << 8));
accRaw[2] = (int)(buf_rx[4] | (buf_rx[5] << 8));

// Send to PC
pc.printf(“X- acc is ‘%d’. “, accRaw[0]);
pc.printf(“Y- acc is ‘%d’. “, accRaw[1]);
pc.printf(“Z- acc is ‘%d’. \r\n”, accRaw[2]);

// mag values
cmd = (0x80 | OUT_X_L_M);

berry_i2c.write(MAG_ADDRESS, &cmd, 1);
berry_i2c.read(MAG_ADDRESS, buf_rx, 6);

magRaw[0] = (int)(buf_rx[0] | (buf_rx[1] << 8));
magRaw[1] = (int)(buf_rx[2] | (buf_rx[3] << 8));
magRaw[2] = (int)(buf_rx[4] | (buf_rx[5] << 8));

// Send to PC
pc.printf(“X- mag is ‘%d’. “, magRaw[0]);
pc.printf(“Y- mag is ‘%d’. “, magRaw[1]);
pc.printf(“Z- mag is ‘%d’. \r\n”, magRaw[2]);

wait(0.5);
}

}

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