main.cpp

00001 /**
00002  ******************************************************************************
00003  * @file    main.cpp
00004  * @author  CLab
00005  * @version V1.0.0
00006  * @date    2-December-2016
00007  * @brief   Simple Example application for using the X_NUCLEO_IKS01A1 
00008  *          MEMS Inertial & Environmental Sensor Nucleo expansion board.
00009  ******************************************************************************
00010  * @attention
00011  *
00012  * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
00013  *
00014  * Redistribution and use in source and binary forms, with or without modification,
00015  * are permitted provided that the following conditions are met:
00016  *   1. Redistributions of source code must retain the above copyright notice,
00017  *      this list of conditions and the following disclaimer.
00018  *   2. Redistributions in binary form must reproduce the above copyright notice,
00019  *      this list of conditions and the following disclaimer in the documentation
00020  *      and/or other materials provided with the distribution.
00021  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00022  *      may be used to endorse or promote products derived from this software
00023  *      without specific prior written permission.
00024  *
00025  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00028  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00029  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00030  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00031  *  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00033  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00034  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  ******************************************************************************
00037 */ 
00038 
00039 /* Includes */
00040 #include "mbed.h"
00041 #include "XNucleoIKS01A2.h"
00042 
00043 /* Instantiate the expansion board */
00044 static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);
00045 
00046 /* Retrieve the LSM6DSL Object */
00047 static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
00048 
00049 /*Initialize Serial port object*/
00050 Serial pc(USBTX, USBRX);
00051 Timer t;
00052 
00053 /* Helper function for printing floats & doubles. Not using at the moment! */
00054 static char *print_double(char* str, double v, int decimalDigits=2)
00055 {
00056   int i = 1;
00057   int intPart, fractPart;
00058   int len;
00059   char *ptr;
00060 
00061   /* prepare decimal digits multiplicator */
00062   for (;decimalDigits!=0; i*=10, decimalDigits--);
00063 
00064   /* calculate integer & fractinal parts */
00065   intPart = (int)v;
00066   fractPart = (int)((v-(double)(int)v)*i);
00067 
00068   /* fill in integer part */
00069   sprintf(str, "%i.", intPart);
00070 
00071   /* prepare fill in of fractional part */
00072   len = strlen(str);
00073   ptr = &str[len];
00074 
00075   /* fill in leading fractional zeros */
00076   for (i/=10;i>1; i/=10, ptr++) {
00077     if (fractPart >= i) {
00078       break;
00079     }
00080     *ptr = '0';
00081   }
00082 
00083   /* fill in (rest of) fractional part */
00084   sprintf(ptr, "%i", fractPart);
00085 
00086   return str;
00087 }
00088 
00089 /* Simple main function */
00090 int main() {
00091   uint8_t id;
00092   //float value1, value2;
00093   //char buffer1[32], buffer2[32];
00094   int32_t a_axes[3];
00095   int32_t g_axes[3];
00096   
00097   /* Set port speed*/
00098   pc.baud(115200);
00099   
00100   /* Enable gyro and accel sensors */
00101   acc_gyro->enable_x();
00102   acc_gyro->enable_g();
00103   
00104   pc.printf("\r\n--- Starting new run ---\r\n");
00105 
00106   acc_gyro->read_id(&id);
00107   pc.printf("LSM6DSL accelerometer & gyroscope = 0x%X\r\n", id);\
00108   
00109   t.start();
00110  
00111   while(1) {
00112     
00113     acc_gyro->get_x_axes(a_axes);
00114     acc_gyro->get_g_axes(g_axes);
00115     pc.printf("mg ,mdps:  %d %6ld, %6ld, %6ld, %6ld, %6ld, %6ld,\r\n", t.read_ms(), a_axes[0], a_axes[1], a_axes[2],g_axes[0], g_axes[1], g_axes[2]);
00116     
00117     //wait_ms(10);
00118   }
00119 }