main.cpp

00001 #include "main.h"
00002 
00003 DigitalOut myled(LED);
00004 //D12 TRIGGER D11 ECHO
00005 HCSR04 sensor(D12, D11);
00006 /* Instantiate the expansion board */
00007 XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);
00008 volatile int mems_event = 0;
00009 volatile int notification = 0;
00010 
00011 /* Sensor initialization */
00012 HTS221Sensor *hum_temp = mems_expansion_board->ht_sensor;
00013 LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
00014 
00015 int main() { 
00016     /*
00017      * inits the Serial or USBSerial when available (230400 baud).
00018      * If the serial uart is not is not connected it swiches to USB Serial
00019      * blinking LED means USBSerial detected, waiting for a connect.
00020      * It waits up to 30 seconds for a USB terminal connections 
00021      */
00022     InitSerial(30*1000, &myled); 
00023     hum_temp->enable();
00024     
00025     /* Enable LSM6DSL accelerometer */
00026     acc_gyro->enable_x();
00027     /* Enable 6D Orientation. */
00028     acc_gyro->enable_6d_orientation();
00029     
00030     print_stuff();
00031     bool empty = true;
00032     //WAIT
00033     wait(30.0f);
00034     while(1){
00035         
00036         char distance[4], empty_distance[4], temperature[4];//Message to be sent
00037         get_distance(distance);
00038         get_temperature(temperature);
00039         notification = send_orientation(); 
00040         
00041         if(empty) {
00042             memcpy(empty_distance, distance, 4);
00043             SendAndBack((uint8_t*)distance, (uint8_t*)empty_distance, (uint8_t*)temperature, notification); //invia due volte
00044             empty = false;
00045             }
00046         else{
00047             SendAndBack((uint8_t*)distance, (uint8_t*)empty_distance, (uint8_t*)temperature, notification);
00048         }
00049         
00050     }
00051 }
00052 
00053 void get_distance(char message[]){
00054     //Ultrasonic measurement
00055     long distance = 401;
00056     while (distance >= 400) distance = sensor.distance();
00057     dprintf("distance  %d  \n",distance);
00058     
00059     sprintf(message, "%d", distance);
00060 }
00061 
00062 void get_temperature(char message[]){
00063     float value;
00064     hum_temp->get_temperature(&value);
00065     dprintf("temperature %f", value);
00066     
00067     sprintf(message, "%f", value);
00068     dprintf(message);
00069     
00070 }
00071 
00072 /* Print the orientation. */
00073 bool send_orientation() {
00074   uint8_t xl = 0;
00075   uint8_t xh = 0;
00076   uint8_t yl = 0;
00077   uint8_t yh = 0;
00078   uint8_t zl = 0;
00079   uint8_t zh = 0;
00080   
00081   acc_gyro->get_6d_orientation_xl(&xl);
00082   acc_gyro->get_6d_orientation_xh(&xh);
00083   acc_gyro->get_6d_orientation_yl(&yl);
00084   acc_gyro->get_6d_orientation_yh(&yh);
00085   acc_gyro->get_6d_orientation_zl(&zl);
00086   acc_gyro->get_6d_orientation_zh(&zh);
00087   
00088   
00089   if ( xl == 0 && yl == 0 && zl == 0 && xh == 0 && yh == 0 && zh == 1 ) {
00090     return false;
00091   }
00092   
00093   else {
00094     return true;
00095   }
00096 }